Merge branch 'master' into new_state_machine_drton

Firmware.sublime-project

@@ -32,7 +32,8 @@
 	"settings":
 	{
 		"tab_size": 8,
-		"translate_tabs_to_spaces": false
+		"translate_tabs_to_spaces": false,
+	       "highlight_line": true
 	},
 	"build_systems":
 	[

Makefile

@@ -100,7 +100,7 @@ all:			$(STAGED_FIRMWARES)
 #     is taken care of.
 #
 $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
-	@echo %% Copying $@
+	@$(ECHO) %% Copying $@
 	$(Q) $(COPY) $< $@
 	$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
 
@@ -111,9 +111,9 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
 $(BUILD_DIR)%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
 $(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
 $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
-	@echo %%%%
-	@echo %%%% Building $(config) in $(work_dir)
-	@echo %%%%
+	@$(ECHO) %%%%
+	@$(ECHO) %%%% Building $(config) in $(work_dir)
+	@$(ECHO) %%%%
 	$(Q) mkdir -p $(work_dir)
 	$(Q) make -r -C $(work_dir) \
 		-f $(PX4_MK_DIR)firmware.mk \
@@ -132,8 +132,6 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
 # XXX Should support fetching/unpacking from a separate directory to permit
 #     downloads of the prebuilt archives as well...
 #
-# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4"
-#
 NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
 .PHONY:			archives
 archives:		$(NUTTX_ARCHIVES)
@@ -146,15 +144,54 @@ endif
 
 $(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
 $(ARCHIVE_DIR)%.export:	configuration = nsh
-$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
-	@echo %% Configuring NuttX for $(board)
+$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
+	@$(ECHO) %% Configuring NuttX for $(board)
 	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
 	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
 	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
-	@echo %% Exporting NuttX for $(board)
-	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
+	@$(ECHO) %% Exporting NuttX for $(board)
+	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
 	$(Q) mkdir -p $(dir $@)
 	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
+	$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
+
+#
+# The user can run the NuttX 'menuconfig' tool for a single board configuration with
+# make BOARDS=<boardname> menuconfig
+#
+ifeq ($(MAKECMDGOALS),menuconfig)
+ifneq ($(words $(BOARDS)),1)
+$(error BOARDS must specify exactly one board for the menuconfig goal)
+endif
+BOARD			 = $(BOARDS)
+menuconfig: $(NUTTX_SRC)
+	@$(ECHO) %% Configuring NuttX for $(BOARD)
+	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
+	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
+	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
+	@$(ECHO) %% Running menuconfig for $(BOARD)
+	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
+	@$(ECHO) %% Saving configuration file
+	$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
+else
+menuconfig:
+	@$(ECHO) ""
+	@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
+	@$(ECHO) ""
+endif
+
+$(NUTTX_SRC):
+	@$(ECHO) ""
+	@$(ECHO) "NuttX sources missing - clone https://github.com/PX4/NuttX.git and try again."
+	@$(ECHO) ""
+
+#
+# Testing targets
+#
+testbuild:
+	$(Q) (cd $(PX4_BASE) && make distclean && make archives && make -j8)
 
 #
 # Cleanup targets.  'clean' should remove all built products and force
@@ -176,40 +213,43 @@ distclean: clean
 #
 .PHONY: help
 help:
-	@echo ""
-	@echo " PX4 firmware builder"
-	@echo " ===================="
-	@echo ""
-	@echo "  Available targets:"
-	@echo "  ------------------"
-	@echo ""
-	@echo "  archives"
-	@echo "    Build the NuttX RTOS archives that are used by the firmware build."
-	@echo ""
-	@echo "  all"
-	@echo "    Build all firmware configs: $(CONFIGS)"
-	@echo "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
-	@echo ""
+	@$(ECHO) ""
+	@$(ECHO) " PX4 firmware builder"
+	@$(ECHO) " ===================="
+	@$(ECHO) ""
+	@$(ECHO) "  Available targets:"
+	@$(ECHO) "  ------------------"
+	@$(ECHO) ""
+	@$(ECHO) "  archives"
+	@$(ECHO) "    Build the NuttX RTOS archives that are used by the firmware build."
+	@$(ECHO) ""
+	@$(ECHO) "  all"
+	@$(ECHO) "    Build all firmware configs: $(CONFIGS)"
+	@$(ECHO) "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
+	@$(ECHO) ""
 	@for config in $(CONFIGS); do \
 		echo "  $$config"; \
 		echo "    Build just the $$config firmware configuration."; \
 		echo ""; \
 	done
-	@echo "  clean"
-	@echo "    Remove all firmware build pieces."
-	@echo ""
-	@echo "  distclean"
-	@echo "    Remove all compilation products, including NuttX RTOS archives."
-	@echo ""
-	@echo "  upload"
-	@echo "    When exactly one config is being built, add this target to upload the"
-	@echo "    firmware to the board when the build is complete. Not supported for"
-	@echo "    all configurations."
-	@echo ""
-	@echo "  Common options:"
-	@echo "  ---------------"
-	@echo ""
-	@echo "  V=1"
-	@echo "    If V is set, more verbose output is printed during the build. This can"
-	@echo "    help when diagnosing issues with the build or toolchain."
-	@echo ""
+	@$(ECHO) "  clean"
+	@$(ECHO) "    Remove all firmware build pieces."
+	@$(ECHO) ""
+	@$(ECHO) "  distclean"
+	@$(ECHO) "    Remove all compilation products, including NuttX RTOS archives."
+	@$(ECHO) ""
+	@$(ECHO) "  upload"
+	@$(ECHO) "    When exactly one config is being built, add this target to upload the"
+	@$(ECHO) "    firmware to the board when the build is complete. Not supported for"
+	@$(ECHO) "    all configurations."
+	@$(ECHO) ""
+	@$(ECHO) "  testbuild"
+	@$(ECHO) "    Perform a complete clean build of the entire tree."
+	@$(ECHO) ""
+	@$(ECHO) "  Common options:"
+	@$(ECHO) "  ---------------"
+	@$(ECHO) ""
+	@$(ECHO) "  V=1"
+	@$(ECHO) "    If V is set, more verbose output is printed during the build. This can"
+	@$(ECHO) "    help when diagnosing issues with the build or toolchain."
+	@$(ECHO) ""

ROMFS/px4fmu_common/init.d/02_io_quad_x

@@ -39,28 +39,6 @@ fi
 #
 param set MAV_TYPE 2
  
-#
-# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
-#
-if [ -f /fs/microsd/px4io.bin ]
-then
-	echo "PX4IO Firmware found. Checking Upgrade.."
-	if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
-	then
-		echo "No newer version, skipping upgrade."
-	else
-		echo "Loading /fs/microsd/px4io.bin"
-		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
-		then
-			cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
-			echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
-		else
-			echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
-			echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
-		fi
-	fi
-fi
- 
 #
 # Start MAVLink (depends on orb)
 #

ROMFS/px4fmu_common/init.d/10_io_f330

@@ -15,20 +15,19 @@ then
 	# Set all params here, then disable autoconfig
 	param set SYS_AUTOCONFIG 0
 
-	param set MC_ATTRATE_D	         0.007
+	param set MC_ATTRATE_D	         0.005
 	param set MC_ATTRATE_I	         0.0
-	param set MC_ATTRATE_P	         0.13
+	param set MC_ATTRATE_P	         0.1
 	param set MC_ATT_D	         0.0
 	param set MC_ATT_I	         0.0
-	param set MC_ATT_P	         7.0
-	param set MC_POS_P	         0.1
+	param set MC_ATT_P	         4.5
 	param set MC_RCLOSS_THR	         0.0
 	param set MC_YAWPOS_D	         0.0
-	param set MC_YAWPOS_I	         0.5
-	param set MC_YAWPOS_P	         1.0
+	param set MC_YAWPOS_I	         0.3
+	param set MC_YAWPOS_P	         0.6
 	param set MC_YAWRATE_D	         0.0
 	param set MC_YAWRATE_I	         0.0
-	param set MC_YAWRATE_P	         0.2
+	param set MC_YAWRATE_P	         0.1
 
 	param save /fs/microsd/params
 fi
@@ -40,28 +39,6 @@ fi
 #
 param set MAV_TYPE 2
  
-#
-# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
-#
-if [ -f /fs/microsd/px4io2.bin ]
-then
-	echo "PX4IO Firmware found. Checking Upgrade.."
-	if cmp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
-	then
-		echo "No newer version, skipping upgrade."
-	else
-		echo "Loading /fs/microsd/px4io2.bin"
-		if px4io update /fs/microsd/px4io2.bin > /fs/microsd/px4io2.log
-		then
-			cp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
-			echo "Flashed /fs/microsd/px4io2.bin OK" >> /fs/microsd/px4io2.log
-		else
-			echo "Failed flashing /fs/microsd/px4io2.bin" >> /fs/microsd/px4io2.log
-			echo "Failed to upgrade PX4IO2 firmware - check if PX4IO2 is in bootloader mode"
-		fi
-	fi
-fi
- 
 #
 # Start MAVLink (depends on orb)
 #
@@ -128,7 +105,7 @@ multirotor_att_control start
 #
 # Start logging
 #
-sdlog2 start -r 20 -a -b 14
+sdlog2 start -r 20 -a -b 16
  
 #
 # Start system state

ROMFS/px4fmu_common/init.d/40_io_segway

@@ -0,0 +1,122 @@
+#!nsh
+#
+# Flight startup script for PX4FMU+PX4IO
+#
+ 
+# disable USB and autostart
+set USB no
+set MODE custom
+ 
+#
+# Start the ORB (first app to start)
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/params
+if [ -f /fs/microsd/params ]
+then
+	param load /fs/microsd/params
+fi
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+	param save /fs/microsd/params
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 10
+ 
+#
+# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
+#
+if [ -f /fs/microsd/px4io.bin ]
+then
+	echo "PX4IO Firmware found. Checking Upgrade.."
+	if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+	then
+		echo "No newer version, skipping upgrade."
+	else
+		echo "Loading /fs/microsd/px4io.bin"
+		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
+		then
+			cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+			echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
+		else
+			echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
+			echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
+		fi
+	fi
+fi
+ 
+#
+# Start MAVLink (depends on orb)
+#
+mavlink start -d /dev/ttyS1 -b 57600
+usleep 5000
+ 
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+ 
+#
+# Start PX4IO interface (depends on orb, commander)
+#
+px4io start
+ 
+#
+# Allow PX4IO to recover from midair restarts.
+# this is very unlikely, but quite safe and robust.
+px4io recovery
+
+#
+# Disable px4io topic limiting
+#
+px4io limit 200
+ 
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude estimator (depends on orb)
+#
+attitude_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+md25 start 3 0x58
+segway start
+ 
+#
+# Start logging
+#
+sdlog2 start -r 50 -a -b 14
+ 
+#
+# Start system state
+#
+if blinkm start
+then
+	blinkm systemstate
+fi

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -25,7 +25,7 @@ then
 else
 	echo "using L3GD20 and LSM303D"
 	l3gd20 start
-	lsm303 start
+	lsm303d start
 fi
 
 #
@@ -40,4 +40,4 @@ then
 	# Check sensors - run AFTER 'sensors start'
 	#
 	preflight_check &
-fi
+fi

ROMFS/px4fmu_common/init.d/rc.usb

@@ -13,35 +13,46 @@ if mavlink stop
 then
 	echo "stopped other MAVLink instance"
 fi
+sleep 2
 mavlink start -b 230400 -d /dev/ttyACM0
 
-if [ $MODE == autostart ]
+# Start the commander
+if commander start
 then
+	echo "Commander started"
+fi
 
-	# Start the commander
-	commander start
-
-	# Start sensors
-	sh /etc/init.d/rc.sensors
-
-	# Start one of the estimators
-	if attitude_estimator_ekf status
+# Start px4io if present
+if px4io start
+then
+	echo "PX4IO driver started"
+else
+	if fmu mode_serial
 	then
-		echo "multicopter att filter running"
+		echo "FMU driver started"
+	fi
+fi
+
+# Start sensors
+sh /etc/init.d/rc.sensors
+
+# Start one of the estimators
+if attitude_estimator_ekf status
+then
+	echo "multicopter att filter running"
+else
+	if att_pos_estimator_ekf status
+	then
+		echo "fixedwing att filter running"
 	else
-		if att_pos_estimator_ekf status
-		then
-			echo "fixedwing att filter running"
-		else
-			attitude_estimator_ekf start
-		fi
+		attitude_estimator_ekf start
 	fi
+fi
 
-	# Start GPS
-	if gps start
-	then
-		echo "GPS started"
-	fi
+# Start GPS
+if gps start
+then
+	echo "GPS started"
 fi
 
 echo "MAVLink started, exiting shell.."

ROMFS/px4fmu_common/init.d/rcS

@@ -81,6 +81,26 @@ else
 	fi
 fi
 
+#
+# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
+#
+if [ -f /fs/microsd/px4io.bin ]
+then
+	echo "PX4IO Firmware found. Checking Upgrade.."
+	if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
+	then
+		echo "No newer version, skipping upgrade."
+	else
+		echo "Loading /fs/microsd/px4io.bin"
+		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
+		then
+			cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
+			echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
+		else
+			echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
+			echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
+		fi
+	fi
 fi
 
 #
@@ -121,3 +141,6 @@ if param compare SYS_AUTOSTART 31
 then
 	sh /etc/init.d/31_io_phantom
 fi
+
+# End of autostart
+fi

Tools/README.txt

@@ -0,0 +1,13 @@
+====== PX4 LOG CONVERSION ======
+
+On each log session (commonly started and stopped by arming and disarming the vehicle) a new file logxxx.bin is created. In many cases there will be only one logfile named log001.bin (only one flight).
+
+There are two conversion scripts in this ZIP file:
+
+logconv.m: This is a MATLAB script which will automatically convert and display the flight data with a GUI. If running this script, the second script can be ignored.
+
+sdlog2_dump.py: This is a Python script (compatible with v2 and v3) which converts the self-describing binary log format to a CSV file. To export a CSV file from within a shell (Windows CMD or BASH on Linux / Mac OS), run:
+
+python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n ""
+
+Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.

Tools/logconv.m

@@ -16,7 +16,7 @@ close all
 % ************************************************************************
 
 % Set the path to your sysvector.bin file here
-filePath = 'sysvector.bin';
+filePath = 'log001.bin';
 
 % Set the minimum and maximum times to plot here [in seconds]
 mintime=0;        %The minimum time/timestamp to display, as set by the user [0 for first element / start]
@@ -26,8 +26,8 @@ maxtime=0;        %The maximum time/timestamp to display, as set by the user [0
 bDisplayGPS=true;
 
 %conversion factors
-fconv_gpsalt=1E-3; %[mm] to [m]
-fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg]
+fconv_gpsalt=1; %[mm] to [m]
+fconv_gpslatlong=1; %[gps_raw_position_unit] to [deg]
 fconv_timestamp=1E-6; % [microseconds] to [seconds]
 
 % ************************************************************************
@@ -36,7 +36,7 @@ fconv_timestamp=1E-6; % [microseconds] to [seconds]
 ImportPX4LogData();
 
 %Translate min and max plot times to indices
-time=double(sysvector.timestamp) .*fconv_timestamp;
+time=double(sysvector.TIME_StartTime) .*fconv_timestamp;
 mintime_log=time(1);        %The minimum time/timestamp found in the log
 maxtime_log=time(end);      %The maximum time/timestamp found in the log
 CurTime=mintime_log;        %The current time at which to draw the aircraft position
@@ -69,6 +69,13 @@ DrawCurrentAircraftState();
 %  ************************************************************************
 
 
+%% ************************************************************************
+%  IMPORTPX4LOGDATA (nested function)
+%  ************************************************************************
+%  Attention:  This is the import routine for firmware from ca. 03/2013.
+%              Other firmware versions might require different import 
+%              routines.
+
 %% ************************************************************************
 %  IMPORTPX4LOGDATA (nested function)
 %  ************************************************************************
@@ -77,108 +84,40 @@ DrawCurrentAircraftState();
 %              routines.
 
 function ImportPX4LogData()
-    % Work around a Matlab bug (not related to PX4)
-    % where timestamps from 1.1.1970 do not allow to
-    % read the file's size
-    if ismac
-        system('touch -t 201212121212.12 sysvector.bin');
-    end
 
     % ************************************************************************
     % RETRIEVE SYSTEM VECTOR
     % *************************************************************************
     % //All measurements in NED frame
-    %
-    % uint64_t timestamp; //[us]
-    % float gyro[3]; //[rad/s]
-    % float accel[3]; //[m/s^2]
-    % float mag[3]; //[gauss] 
-    % float baro; //pressure [millibar]
-    % float baro_alt; //altitude above MSL [meter]
-    % float baro_temp; //[degree celcius]
-    % float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
-    % float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
-    % float vbat; //battery voltage in [volt]
-    % float bat_current - current drawn from battery at this time instant
-    % float bat_discharged - discharged energy in mAh
-    % float adc[4]; //remaining auxiliary ADC ports [volt]
-    % float local_position[3]; //tangent plane mapping into x,y,z [m]
-    % int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
-    % float attitude[3]; //pitch, roll, yaw [rad]
-    % float rotMatrix[9]; //unitvectors
-    % float actuator_control[4]; //unitvector
-    % float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
-    % float diff_pressure; - pressure difference in millibar
-    % float ind_airspeed;
-    % float true_airspeed;
-
-    % Definition of the logged values
-    logFormat{1} = struct('name', 'timestamp',             'bytes', 8, 'array', 1, 'precision', 'uint64',  'machineformat', 'ieee-le.l64');
-    logFormat{2} = struct('name', 'gyro',                  'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{3} = struct('name', 'accel',                 'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{4} = struct('name', 'mag',                   'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{5} = struct('name', 'baro',                  'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{6} = struct('name', 'baro_alt',              'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{7} = struct('name', 'baro_temp',             'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{8} = struct('name', 'control',               'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{9} = struct('name', 'actuators',             'bytes', 4, 'array', 8, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{10} = struct('name', 'vbat',                 'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{11} = struct('name', 'bat_current',          'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{12} = struct('name', 'bat_discharged',       'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{13} = struct('name', 'adc',                  'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{14} = struct('name', 'local_position',       'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{15} = struct('name', 'gps_raw_position',     'bytes', 4, 'array', 3, 'precision', 'uint32',  'machineformat', 'ieee-le');
-    logFormat{16} = struct('name', 'attitude',             'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{17} = struct('name', 'rot_matrix',           'bytes', 4, 'array', 9, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{18} = struct('name', 'vicon_position',       'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{19} = struct('name', 'actuator_control',     'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{20} = struct('name', 'optical_flow',         'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{21} = struct('name', 'diff_pressure',        'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{22} = struct('name', 'ind_airspeed',         'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-    logFormat{23} = struct('name', 'true_airspeed',        'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-
-    % First get length of one line
-    columns = length(logFormat);
-    lineLength = 0;
-
-    for i=1:columns
-        lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
+    
+    % Convert to CSV
+    %arg1 = 'log-fx61-20130721-2.bin';
+    arg1 = filePath;
+    delim = ',';
+    time_field = 'TIME';
+    data_file = 'data.csv';
+    csv_null = '';
+    
+    if not(exist(data_file, 'file'))
+        s = system( sprintf('python sdlog2_dump.py "%s" -f "%s" -t"%s" -d"%s" -n"%s"', arg1, data_file, time_field, delim, csv_null) );
     end
 
+    if exist(data_file, 'file')
 
-    if exist(filePath, 'file')
-
-        fileInfo = dir(filePath);
-        fileSize = fileInfo.bytes;
-
-        elements = int64(fileSize./(lineLength));
-
-        fid = fopen(filePath, 'r');
-        offset = 0;
-        for i=1:columns
-            % using fread with a skip speeds up the import drastically, do not
-            % import the values one after the other
-            sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
-                fid, ...
-                [logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
-                lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
-                logFormat{i}.machineformat) ...
-            );
-            offset = offset + logFormat{i}.bytes*logFormat{i}.array;
-            fseek(fid, offset,'bof');
-        end
+        %data = csvread(data_file);
+        sysvector = tdfread(data_file, ',');
 
         % shot the flight time
-        time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
-        time_s = time_us*1e-6;
-        time_m = time_s/60;
+        time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1);
+        time_s = uint64(time_us*1e-6);
+        time_m = uint64(time_s/60);
+        time_s = time_s - time_m * 60;
+        
+        disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s) char(10)]);
 
-        % close the logfile
-        fclose(fid);
-
-        disp(['end log2matlab conversion' char(10)]);
+        disp(['logfile conversion finished.' char(10)]);
     else
-        disp(['file: ' filePath ' does not exist' char(10)]);
+        disp(['file: ' data_file ' does not exist' char(10)]);
     end
 end
 
@@ -296,11 +235,11 @@ function DrawRawData()
     %  ************************************************************************
     figure(h.figures(2));
     % Only plot GPS data if available
-    if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS)
+    if (sum(double(sysvector.GPS_Lat(imintime:imaxtime)))>0) && (bDisplayGPS)
         %Draw data
-        plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ...
-                        double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ...
-                        double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.');
+        plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:imaxtime))*fconv_gpslatlong, ...
+                        double(sysvector.GPS_Lon(imintime:imaxtime))*fconv_gpslatlong, ...
+                        double(sysvector.GPS_Alt(imintime:imaxtime))*fconv_gpsalt,'r.');
         title(h.axes(1),'GPS Position Data(if available)');
         xlabel(h.axes(1),'Latitude [deg]');
         ylabel(h.axes(1),'Longitude [deg]');
@@ -315,19 +254,19 @@ function DrawRawData()
     %  PLOT WINDOW 2: IMU, baro altitude
     %  ************************************************************************
     figure(h.figures(3));
-    plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:));
+    plot(h.axes(2),time(imintime:imaxtime),[sysvector.IMU_MagX(imintime:imaxtime), sysvector.IMU_MagY(imintime:imaxtime), sysvector.IMU_MagZ(imintime:imaxtime)]);
     title(h.axes(2),'Magnetometers [Gauss]');
     legend(h.axes(2),'x','y','z');
-    plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:));
+    plot(h.axes(3),time(imintime:imaxtime),[sysvector.IMU_AccX(imintime:imaxtime), sysvector.IMU_AccY(imintime:imaxtime), sysvector.IMU_AccZ(imintime:imaxtime)]);
     title(h.axes(3),'Accelerometers [m/s²]');
     legend(h.axes(3),'x','y','z');
-    plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:));
+    plot(h.axes(4),time(imintime:imaxtime),[sysvector.IMU_GyroX(imintime:imaxtime), sysvector.IMU_GyroY(imintime:imaxtime), sysvector.IMU_GyroZ(imintime:imaxtime)]);
     title(h.axes(4),'Gyroscopes [rad/s]');
     legend(h.axes(4),'x','y','z');
-    plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue');
+    plot(h.axes(5),time(imintime:imaxtime),sysvector.SENS_BaroAlt(imintime:imaxtime),'color','blue');
     if(bDisplayGPS)
         hold on;
-        plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red');
+        plot(h.axes(5),time(imintime:imaxtime),double(sysvector.GPS_Alt(imintime:imaxtime)).*fconv_gpsalt,'color','red');
         hold off
         legend('Barometric Altitude [m]','GPS Altitude [m]');
     else
@@ -340,22 +279,22 @@ function DrawRawData()
     % ************************************************************************
     figure(h.figures(4));
     %Attitude Estimate
-    plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159);
+    plot(h.axes(6),time(imintime:imaxtime), [sysvector.ATT_Roll(imintime:imaxtime), sysvector.ATT_Pitch(imintime:imaxtime), sysvector.ATT_Yaw(imintime:imaxtime)] .*180./3.14159);
     title(h.axes(6),'Estimated attitude [deg]');
     legend(h.axes(6),'roll','pitch','yaw');
     %Actuator Controls
-    plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:));
+    plot(h.axes(7),time(imintime:imaxtime), [sysvector.ATTC_Roll(imintime:imaxtime), sysvector.ATTC_Pitch(imintime:imaxtime), sysvector.ATTC_Yaw(imintime:imaxtime), sysvector.ATTC_Thrust(imintime:imaxtime)]);
     title(h.axes(7),'Actuator control [-]');
-    legend(h.axes(7),'0','1','2','3');
+    legend(h.axes(7),'ATT CTRL Roll [-1..+1]','ATT CTRL Pitch [-1..+1]','ATT CTRL Yaw [-1..+1]','ATT CTRL Thrust [0..+1]');
     %Actuator Controls
-    plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8));
+    plot(h.axes(8),time(imintime:imaxtime), [sysvector.OUT0_Out0(imintime:imaxtime), sysvector.OUT0_Out1(imintime:imaxtime), sysvector.OUT0_Out2(imintime:imaxtime), sysvector.OUT0_Out3(imintime:imaxtime), sysvector.OUT0_Out4(imintime:imaxtime), sysvector.OUT0_Out5(imintime:imaxtime), sysvector.OUT0_Out6(imintime:imaxtime), sysvector.OUT0_Out7(imintime:imaxtime)]);
     title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');
     legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');
     set(h.axes(8), 'YLim',[800 2200]);
     %Airspeeds
-    plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime));
+    plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_IndSpeed(imintime:imaxtime));
     hold on
-    plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime));
+    plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_TrueSpeed(imintime:imaxtime));
     hold off
     %add GPS total airspeed here
     title(h.axes(9),'Airspeed [m/s]');
@@ -385,33 +324,43 @@ function DrawCurrentAircraftState()
     %**********************************************************************
     % Current aircraft state label update
     %**********************************************************************
-    acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong),'°, ',...
-                        'lon=',num2str(double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong),'°, ',...
-                        'alt=',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
-    acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.mag(i,1)),...
-                               ', y=',num2str(sysvector.mag(i,2)),...
-                               ', z=',num2str(sysvector.mag(i,3)),']'];
-    acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.accel(i,1)),...
-                               ', y=',num2str(sysvector.accel(i,2)),...
-                               ', z=',num2str(sysvector.accel(i,3)),']'];
-    acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.gyro(i,1)),...
-                               ', y=',num2str(sysvector.gyro(i,2)),...
-                               ', z=',num2str(sysvector.gyro(i,3)),']'];
-    acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.baro_alt(i)),'m, GPS: ',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
-    acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.attitude(i,1).*180./3.14159),...
-                               ', Pitch=',num2str(sysvector.attitude(i,2).*180./3.14159),...
-                               ', Yaw=',num2str(sysvector.attitude(i,3).*180./3.14159),']'];
+    acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.GPS_Lat(i))*fconv_gpslatlong),'°, ',...
+                        'lon=',num2str(double(sysvector.GPS_Lon(i))*fconv_gpslatlong),'°, ',...
+                        'alt=',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
+    acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.IMU_MagX(i)),...
+                               ', y=',num2str(sysvector.IMU_MagY(i)),...
+                               ', z=',num2str(sysvector.IMU_MagZ(i)),']'];
+    acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.IMU_AccX(i)),...
+                               ', y=',num2str(sysvector.IMU_AccY(i)),...
+                               ', z=',num2str(sysvector.IMU_AccZ(i)),']'];
+    acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.IMU_GyroX(i)),...
+                               ', y=',num2str(sysvector.IMU_GyroY(i)),...
+                               ', z=',num2str(sysvector.IMU_GyroZ(i)),']'];
+    acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.SENS_BaroAlt(i)),'m, GPS: ',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
+    acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.ATT_Roll(i).*180./3.14159),...
+                               ', Pitch=',num2str(sysvector.ATT_Pitch(i).*180./3.14159),...
+                               ', Yaw=',num2str(sysvector.ATT_Yaw(i).*180./3.14159),']'];
     acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
-    for j=1:4
-        acstate{7,:}=[acstate{7,:},num2str(sysvector.actuator_control(i,j)),','];
-    end
+    %for j=1:4
+    acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Roll(i)),','];
+    acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Pitch(i)),','];
+    acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Yaw(i)),','];
+    acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Thrust(i)),','];
+    %end
     acstate{7,:}=[acstate{7,:},']'];
     acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');
-    for j=1:8
-        acstate{8,:}=[acstate{8,:},num2str(sysvector.actuators(i,j)),','];
-    end
+    %for j=1:8
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out0(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out1(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out2(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out3(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out4(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out5(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out6(i)),','];
+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out7(i)),','];
+    %end
     acstate{8,:}=[acstate{8,:},']'];
-    acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.ind_airspeed(i)),', TAS: ',num2str(sysvector.true_airspeed(i)),']'];
+    acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.AIRS_IndSpeed(i)),', TAS: ',num2str(sysvector.AIRS_TrueSpeed(i)),']'];
     
     set(h.edits.AircraftState,'String',acstate);
     
@@ -422,13 +371,13 @@ function DrawCurrentAircraftState()
     figure(h.figures(2));
     hold on;
     if(CurTime>mintime+1) %the +1 is only a small bugfix
-        h.pathline=plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:i,1))*fconv_gpslatlong, ...
-                                    double(sysvector.gps_raw_position(imintime:i,2))*fconv_gpslatlong, ...
-                                    double(sysvector.gps_raw_position(imintime:i,3))*fconv_gpsalt,'b','LineWidth',2); 
+        h.pathline=plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:i))*fconv_gpslatlong, ...
+                                    double(sysvector.GPS_Lon(imintime:i))*fconv_gpslatlong, ...
+                                    double(sysvector.GPS_Alt(imintime:i))*fconv_gpsalt,'b','LineWidth',2); 
     end;
     hold off
     %Plot current position
-    newpoint=[double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong double(sysvector.gps_raw_position(i,3))*fconv_gpsalt];
+    newpoint=[double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Alt(i))*fconv_gpsalt];
     if(numel(h.pathpoints)<=3) %empty path
         h.pathpoints(1,1:3)=newpoint;
     else %Not empty, append new point 
@@ -443,8 +392,8 @@ function DrawCurrentAircraftState()
     if(isvalidhandle(h.markertext))
             delete(h.markertext); %delete old text
     end 
-    h.markertext=text(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong,double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong,...
-                        double(sysvector.gps_raw_position(i,3))*fconv_gpsalt,textdesc);
+    h.markertext=text(double(sysvector.GPS_Lat(i))*fconv_gpslatlong,double(sysvector.GPS_Lon(i))*fconv_gpslatlong,...
+                        double(sysvector.GPS_Alt(i))*fconv_gpsalt,textdesc);
     set(h.edits.CurTime,'String',CurTime);
         
     %**********************************************************************
@@ -549,11 +498,11 @@ end
 %  FINDMINMAXINDICES (nested function)
 %  ************************************************************************
 function [idxmin,idxmax] = FindMinMaxTimeIndices()
-    for i=1:size(sysvector.timestamp,1)
+    for i=1:size(sysvector.TIME_StartTime,1)
         if time(i)>=mintime; idxmin=i; break; end
     end
-    for i=1:size(sysvector.timestamp,1)
-        if maxtime==0; idxmax=size(sysvector.timestamp,1); break; end
+    for i=1:size(sysvector.TIME_StartTime,1)
+        if maxtime==0; idxmax=size(sysvector.TIME_StartTime,1); break; end
         if time(i)>=maxtime; idxmax=i; break; end
     end
     mintime=time(idxmin); 

Tools/logconv.py

@@ -1,59 +0,0 @@
-#!/usr/bin/env python
-
-"""Convert binary log generated by sdlog to CSV format
-    
-Usage: python logconv.py <log.bin>"""
-
-__author__  = "Anton Babushkin"
-__version__ = "0.1"
-
-import struct, sys
-
-def _unpack_packet(data):
-    s = ""
-    s += "Q"    #.timestamp = buf.raw.timestamp,
-    s += "fff"  #.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
-    s += "fff"  #.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
-    s += "fff"  #.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
-    s += "f"    #.baro = buf.raw.baro_pres_mbar,
-    s += "f"    #.baro_alt = buf.raw.baro_alt_meter,
-    s += "f"    #.baro_temp = buf.raw.baro_temp_celcius,
-    s += "ffff" #.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
-    s += "ffffffff"    #.actuators = {buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]},
-    s += "f"    #.vbat = buf.batt.voltage_v,
-    s += "f"    #.bat_current = buf.batt.current_a,
-    s += "f"    #.bat_discharged = buf.batt.discharged_mah,
-    s += "ffff" #.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]},
-    s += "fff"  #.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
-    s += "iii"  #.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
-    s += "fff"  #.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
-    s += "fffffffff"    #.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
-    s += "fff"  #.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
-    s += "ffff" #.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
-    s += "ffffff"    #.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
-    s += "f"    #.diff_pressure = buf.diff_pres.differential_pressure_pa,
-    s += "f"    #.ind_airspeed = buf.airspeed.indicated_airspeed_m_s,
-    s += "f"    #.true_airspeed = buf.airspeed.true_airspeed_m_s
-    s += "iii"  # to align to 280
-    d = struct.unpack(s, data)
-    return d
-
-def _main():
-    if len(sys.argv) < 2:
-        print "Usage:\npython logconv.py <log.bin>"
-        return
-    fn = sys.argv[1]
-    sysvector_size = 280
-    f = open(fn, "r")
-    while True:
-        data = f.read(sysvector_size)
-        if len(data) < sysvector_size:
-            break
-        a = []
-        for i in _unpack_packet(data):
-            a.append(str(i))
-        print ";".join(a)
-    f.close()
-
-if __name__ == "__main__":
-    _main()

Tools/sdlog2_dump.py

@@ -1,6 +1,8 @@
 #!/usr/bin/env python
 
-"""Dump binary log generated by sdlog2 or APM as CSV
+from __future__ import print_function
+
+"""Dump binary log generated by PX4's sdlog2 or APM as CSV
     
 Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]]
     
@@ -21,6 +23,11 @@ __version__ = "1.2"
 
 import struct, sys
 
+if sys.hexversion >= 0x030000F0:
+    runningPython3 = True
+else:
+    runningPython3 = False
+
 class SDLog2Parser:
     BLOCK_SIZE = 8192
     MSG_HEADER_LEN = 3
@@ -55,6 +62,8 @@ class SDLog2Parser:
     __time_msg = None
     __debug_out = False
     __correct_errors = False
+    __file_name = None
+    __file = None
     
     def __init__(self):
         return
@@ -63,7 +72,7 @@ class SDLog2Parser:
         self.__msg_descrs = {}      # message descriptions by message type map
         self.__msg_labels = {}      # message labels by message name map
         self.__msg_names = []       # message names in the same order as FORMAT messages
-        self.__buffer = ""          # buffer for input binary data
+        self.__buffer = bytearray() # buffer for input binary data
         self.__ptr = 0              # read pointer in buffer
         self.__csv_columns = []     # CSV file columns in correct order in format "MSG.label"
         self.__csv_data = {}        # current values for all columns
@@ -87,6 +96,14 @@ class SDLog2Parser:
 
     def setCorrectErrors(self, correct_errors):
         self.__correct_errors = correct_errors
+
+    def setFileName(self, file_name):
+    	self.__file_name = file_name
+    	if file_name != None:
+    		self.__file = open(file_name, 'w+')
+    	else:
+    		self.__file = None
+
     
     def process(self, fn):
         self.reset()
@@ -95,7 +112,7 @@ class SDLog2Parser:
             for msg_name, show_fields in self.__msg_filter:
                 self.__msg_filter_map[msg_name] = show_fields
         first_data_msg = True
-        f = open(fn, "r")
+        f = open(fn, "rb")
         bytes_read = 0
         while True:
             chunk = f.read(self.BLOCK_SIZE)
@@ -104,15 +121,15 @@ class SDLog2Parser:
             self.__buffer = self.__buffer[self.__ptr:] + chunk
             self.__ptr = 0
             while self.__bytesLeft() >= self.MSG_HEADER_LEN:
-                head1 = ord(self.__buffer[self.__ptr])
-                head2 = ord(self.__buffer[self.__ptr+1])
+                head1 = self.__buffer[self.__ptr]
+                head2 = self.__buffer[self.__ptr+1]
                 if (head1 != self.MSG_HEAD1 or head2 != self.MSG_HEAD2):
                     if self.__correct_errors:
                         self.__ptr += 1
                         continue
                     else:
                         raise Exception("Invalid header at %i (0x%X): %02X %02X, must be %02X %02X" % (bytes_read + self.__ptr, bytes_read + self.__ptr, head1, head2, self.MSG_HEAD1, self.MSG_HEAD2))
-                msg_type = ord(self.__buffer[self.__ptr+2])
+                msg_type = self.__buffer[self.__ptr+2]
                 if msg_type == self.MSG_TYPE_FORMAT:
                     # parse FORMAT message
                     if self.__bytesLeft() < self.MSG_FORMAT_PACKET_LEN:
@@ -154,10 +171,13 @@ class SDLog2Parser:
                 show_fields = self.__msg_labels.get(msg_name, [])
             self.__msg_filter_map[msg_name] = show_fields
             for field in show_fields:
-                full_label = msg_name + "." + field
+                full_label = msg_name + "_" + field
                 self.__csv_columns.append(full_label)
                 self.__csv_data[full_label] = None
-        print self.__csv_delim.join(self.__csv_columns)
+        if self.__file != None:
+                print(self.__csv_delim.join(self.__csv_columns), file=self.__file)
+        else:
+                print(self.__csv_delim.join(self.__csv_columns))
 
     def __printCSVRow(self):
         s = []
@@ -168,16 +188,28 @@ class SDLog2Parser:
             else:
                 v = str(v)
             s.append(v)
-        print self.__csv_delim.join(s)
+
+        if self.__file != None:
+                print(self.__csv_delim.join(s), file=self.__file)
+        else:
+                print(self.__csv_delim.join(s))
 
     def __parseMsgDescr(self):
-        data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
+        if runningPython3:
+            data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
+        else:
+            data = struct.unpack(self.MSG_FORMAT_STRUCT, str(self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN]))
         msg_type = data[0]
         if msg_type != self.MSG_TYPE_FORMAT:
             msg_length = data[1]
-            msg_name = data[2].strip("\0")
-            msg_format = data[3].strip("\0")
-            msg_labels = data[4].strip("\0").split(",")
+            if runningPython3:
+                msg_name = str(data[2], 'ascii').strip("\0")
+                msg_format = str(data[3], 'ascii').strip("\0")
+                msg_labels = str(data[4], 'ascii').strip("\0").split(",")
+            else:
+                msg_name = str(data[2]).strip("\0")
+                msg_format = str(data[3]).strip("\0")
+                msg_labels = str(data[4]).strip("\0").split(",")
             # Convert msg_format to struct.unpack format string
             msg_struct = ""
             msg_mults = []
@@ -194,8 +226,8 @@ class SDLog2Parser:
             self.__msg_names.append(msg_name)
             if self.__debug_out:
                 if self.__filterMsg(msg_name) != None:
-                    print "MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
-                                msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults)
+                    print("MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
+                                msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults))
         self.__ptr += self.MSG_FORMAT_PACKET_LEN
     
     def __parseMsg(self, msg_descr):
@@ -205,8 +237,11 @@ class SDLog2Parser:
             self.__csv_updated = False
         show_fields = self.__filterMsg(msg_name)
         if (show_fields != None):
-            data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
-            for i in xrange(len(data)):
+            if runningPython3:
+                data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
+            else:
+                data = list(struct.unpack(msg_struct, str(self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length])))
+            for i in range(len(data)):
                 if type(data[i]) is str:
                     data[i] = data[i].strip("\0")
                 m = msg_mults[i]
@@ -214,17 +249,17 @@ class SDLog2Parser:
                     data[i] = data[i] * m
             if self.__debug_out:
                 s = []
-                for i in xrange(len(data)):
+                for i in range(len(data)):
                     label = msg_labels[i]
                     if show_fields == "*" or label in show_fields:
                         s.append(label + "=" + str(data[i]))
-                print "MSG %s: %s" % (msg_name, ", ".join(s))
+                print("MSG %s: %s" % (msg_name, ", ".join(s)))
             else:
                 # update CSV data buffer
-                for i in xrange(len(data)):
+                for i in range(len(data)):
                     label = msg_labels[i]
                     if label in show_fields:
-                        self.__csv_data[msg_name + "." + label] = data[i]
+                        self.__csv_data[msg_name + "_" + label] = data[i]
                         if self.__time_msg != None and msg_name != self.__time_msg:
                             self.__csv_updated = True
                 if self.__time_msg == None:
@@ -233,13 +268,14 @@ class SDLog2Parser:
 
 def _main():
     if len(sys.argv) < 2:
-        print "Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n"
-        print "\t-v\tUse plain debug output instead of CSV.\n"
-        print "\t-e\tRecover from errors.\n"
-        print "\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n"
-        print "\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n"
-        print "\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed."
-        print "\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n"
+        print("Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n")
+        print("\t-v\tUse plain debug output instead of CSV.\n")
+        print("\t-e\tRecover from errors.\n")
+        print("\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n")
+        print("\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n")
+        print("\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed.")
+        print("\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n")
+        print("\t-fPrint to file instead of stdout")
         return
     fn = sys.argv[1]
     debug_out = False
@@ -247,7 +283,8 @@ def _main():
     msg_filter = []
     csv_null = ""
     csv_delim = ","
-    time_msg = None
+    time_msg = "TIME"
+    file_name = None
     opt = None
     for arg in sys.argv[2:]:
         if opt != None:
@@ -257,9 +294,11 @@ def _main():
                 csv_null = arg
             elif opt == "t":
                 time_msg = arg
+            elif opt == "f":
+            	file_name = arg
             elif opt == "m":
                 show_fields = "*"
-                a = arg.split(".")
+                a = arg.split("_")
                 if len(a) > 1:
                     show_fields = a[1].split(",")
                 msg_filter.append((a[0], show_fields))
@@ -277,6 +316,8 @@ def _main():
                 opt = "m"
             elif arg == "-t":
                 opt = "t"
+            elif arg == "-f":
+                opt = "f"
 
     if csv_delim == "\\t":
         csv_delim = "\t"
@@ -285,6 +326,7 @@ def _main():
     parser.setCSVNull(csv_null)
     parser.setMsgFilter(msg_filter)
     parser.setTimeMsg(time_msg)
+    parser.setFileName(file_name)
     parser.setDebugOut(debug_out)
     parser.setCorrectErrors(correct_errors)
     parser.process(fn)

makefiles/board_px4fmu-v1.mk

@@ -6,5 +6,6 @@
 # Configure the toolchain
 #
 CONFIG_ARCH			 = CORTEXM4F
+CONFIG_BOARD			 = PX4FMU_V1
 
 include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk

makefiles/board_px4io-v1.mk

@@ -6,5 +6,6 @@
 # Configure the toolchain
 #
 CONFIG_ARCH			 = CORTEXM3
+CONFIG_BOARD			 = PX4IO_V1
 
 include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk

makefiles/config_px4fmu-v1_default.mk

@@ -32,13 +32,16 @@ MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
 MODULES		+= drivers/mkblctrl
 MODULES		+= drivers/md25
+MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
+MODULES		+= drivers/meas_airspeed
 MODULES		+= modules/sensors
 
 #
 # System commands
 #
 MODULES		+= systemcmds/eeprom
+MODULES		+= systemcmds/ramtron
 MODULES		+= systemcmds/bl_update
 MODULES		+= systemcmds/boardinfo
 MODULES		+= systemcmds/i2c
@@ -51,6 +54,7 @@ MODULES		+= systemcmds/esc_calib
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/top
 MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/config
 
 #
 # General system control
@@ -72,6 +76,7 @@ MODULES		+= examples/flow_position_estimator
 #
 # Vehicle Control
 #
+MODULES		+= modules/segway
 MODULES		+= modules/fixedwing_backside
 MODULES		+= modules/fixedwing_att_control
 MODULES		+= modules/fixedwing_pos_control
@@ -91,6 +96,7 @@ MODULES		+= modules/sdlog2
 MODULES		+= modules/systemlib
 MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/mathlib
+MODULES		+= modules/mathlib/math/filter
 MODULES		+= modules/controllib
 MODULES		+= modules/uORB
 

makefiles/firmware.mk

@@ -153,6 +153,7 @@ ifeq ($(BOARD_FILE),)
 $(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
 endif
 export BOARD
+export BOARD_FILE
 include $(BOARD_FILE)
 $(info %  BOARD               = $(BOARD))
 
@@ -385,7 +386,7 @@ define BUILTIN_DEF
 endef
 
 # Don't generate until modules have updated their command files
-$(BUILTIN_CSRC):	$(GLOBAL_DEPS) $(MODULE_OBJS) $(BUILTIN_COMMAND_FILES)
+$(BUILTIN_CSRC):	$(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES)
 	@$(ECHO) "CMDS:    $@"
 	$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
 	$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@

makefiles/module.mk

@@ -98,6 +98,7 @@
 #
 # CONFIG
 # BOARD
+# BOARD_FILE
 # MODULE_WORK_DIR
 # MODULE_OBJ
 # MODULE_MK
@@ -117,7 +118,7 @@ $(info %% MODULE_MK           = $(MODULE_MK))
 #
 # Get the board/toolchain config
 #
-include $(PX4_MK_DIR)/board_$(BOARD).mk
+include $(BOARD_FILE)
 
 #
 # Get the module's config

makefiles/setup.mk

@@ -65,6 +65,7 @@ export INCLUDE_DIRS	:= $(PX4_MODULE_SRC) \
 export MKFW		 = $(PX4_BASE)/Tools/px_mkfw.py
 export UPLOADER		 = $(PX4_BASE)/Tools/px_uploader.py
 export COPY		 = cp
+export COPYDIR		 = cp -Rf
 export REMOVE		 = rm -f
 export RMDIR		 = rm -rf
 export GENROMFS		 = genromfs

makefiles/toolchain_gnu-arm-eabi.mk

@@ -85,6 +85,13 @@ ifeq ($(ARCHCPUFLAGS),)
 $(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3)
 endif
 
+# Set the board flags
+#
+ifeq ($(CONFIG_BOARD),)
+$(error Board config does not define CONFIG_BOARD)
+endif
+ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
+
 # optimisation flags
 #
 ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \

makefiles/upload.mk

@@ -27,8 +27,6 @@ all:	upload-$(METHOD)-$(BOARD)
 upload-serial-px4fmu-v1:	$(BUNDLE) $(UPLOADER)
 	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
-upload-serial-px4fmuv2:	$(BUNDLE) $(UPLOADER)
-	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
 #
 # JTAG firmware uploading with OpenOCD

nuttx-configs/px4fmu-v1/include/board.h

@@ -0,0 +1,391 @@
+/************************************************************************************
+ * configs/stm32f4discovery/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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_PX4FMU_V1_INCLUDE_BOARD_H
+#define __CONFIG_PX4FMU_V1_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdio.h"
+#include "stm32.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The PX4FMU uses a 24MHz crystal connected to the HSE.
+ *
+ * This is the canonical configuration:
+ *   System Clock source           : PLL (HSE)
+ *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
+ *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
+ *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
+ *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
+ *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
+ *   HSE Frequency(Hz)             : 24000000     (STM32_BOARD_XTAL)
+ *   PLLM                          : 24           (STM32_PLLCFG_PLLM)
+ *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
+ *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
+ *   PLLQ                          : 7            (STM32_PLLCFG_PLLQ)
+ *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
+ *   Flash Latency(WS)             : 5
+ *   Prefetch Buffer               : OFF
+ *   Instruction cache             : ON
+ *   Data cache                    : ON
+ *   Require 48MHz for USB OTG FS, : Enabled
+ *   SDIO and RNG clock
+ */
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 24MHz
+ * LSE - not installed
+ */
+
+#define STM32_BOARD_XTAL        24000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+//#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ *         = (8,000,000 / 8) * 336
+ *         = 336,000,000
+ * SYSCLK  = PLL_VCO / PLLP
+ *         = 336,000,000 / 2 = 168,000,000
+ * USB OTG FS, SDIO and RNG Clock
+ *         =  PLL_VCO / PLLQ
+ *         = 48,000,000
+ */
+
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(24)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
+
+#define STM32_SYSCLK_FREQUENCY  168000000ul
+
+/* AHB clock (HCLK) is SYSCLK (168MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8 are on APB2, others on APB1
+ */
+
+#define STM32_TIM18_FREQUENCY   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_TIM27_FREQUENCY   (2*STM32_PCLK1_FREQUENCY)
+
+/* High-resolution timer
+ */
+#define HRT_TIMER		1	/* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
+
+/* LED definitions ******************************************************************/
+/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
+ * way.  The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with stm32_setled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_NLEDS       2
+
+#define BOARD_LED_BLUE    BOARD_LED1
+#define BOARD_LED_RED     BOARD_LED2
+
+/* LED bits for use with stm32_setleds() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+
+/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board the
+ * px4fmu-v1.  The following definitions describe how NuttX controls the LEDs:
+ */
+
+#define LED_STARTED       0  /* LED1 */
+#define LED_HEAPALLOCATE  1  /* LED2 */
+#define LED_IRQSENABLED   2  /* LED1 */
+#define LED_STACKCREATED  3  /* LED1 + LED2 */
+#define LED_INIRQ         4  /* LED1 */
+#define LED_SIGNAL        5  /* LED2 */
+#define LED_ASSERTION     6  /* LED1 + LED2 */
+#define LED_PANIC         7  /* LED1 + LED2 */
+
+/* Alternate function pin selections ************************************************/
+
+/*
+ * UARTs.
+ *
+ * Note that UART5 has no optional pinout, so it is not listed here.
+ */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+#define GPIO_USART1_TX	GPIO_USART1_TX_2
+
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+#define GPIO_USART2_RTS	GPIO_USART2_RTS_1
+#define GPIO_USART2_CTS	GPIO_USART2_CTS_1
+
+#define GPIO_USART6_RX	GPIO_USART6_RX_1
+#define GPIO_USART6_TX	GPIO_USART6_TX_1
+
+/* UART DMA configuration for USART1/6 */
+#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
+#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
+ 
+/*
+ * PWM
+ *
+ * Four PWM outputs can be configured on pins otherwise shared with
+ * USART2; two can take the flow control pins if they are not being used.
+ *
+ * Pins:
+ *
+ * CTS - PA0 - TIM2CH1
+ * RTS - PA1 - TIM2CH2
+ * TX  - PA2 - TIM2CH3
+ * RX  - PA3 - TIM2CH4
+ *
+ */
+#define GPIO_TIM2_CH1OUT	GPIO_TIM2_CH1OUT_1
+#define GPIO_TIM2_CH2OUT	GPIO_TIM2_CH2OUT_1
+#define GPIO_TIM2_CH3OUT	GPIO_TIM2_CH3OUT_1
+#define GPIO_TIM2_CH4OUT	GPIO_TIM2_CH4OUT_1
+
+/*
+ * PPM
+ *
+ * PPM input is handled by the HRT timer.
+ */
+#define HRT_PPM_CHANNEL	3	/* use capture/compare channel 3 */
+#define GPIO_PPM_IN	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
+
+/*
+ * CAN
+ *
+ * CAN2 is routed to the expansion connector.
+ */
+
+#define GPIO_CAN2_RX	GPIO_CAN2_RX_1
+#define GPIO_CAN2_TX	GPIO_CAN2_TX_1
+
+/*
+ * I2C
+ *
+ * The optional _GPIO configurations allow the I2C driver to manually
+ * reset the bus to clear stuck slaves.  They match the pin configuration,
+ * but are normally-high GPIOs.
+ */
+#define GPIO_I2C1_SCL		GPIO_I2C1_SCL_2
+#define GPIO_I2C1_SDA		GPIO_I2C1_SDA_2
+#define GPIO_I2C1_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
+#define GPIO_I2C2_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
+
+#define GPIO_I2C3_SCL		GPIO_I2C3_SCL_1
+#define GPIO_I2C3_SDA		GPIO_I2C3_SDA_1
+#define GPIO_I2C3_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+#define GPIO_I2C3_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
+
+/*
+ * I2C busses
+ */
+#define PX4_I2C_BUS_ESC		1
+#define PX4_I2C_BUS_ONBOARD	2
+#define PX4_I2C_BUS_EXPANSION	3
+
+/*
+ * Devices on the onboard bus.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define PX4_I2C_OBDEV_HMC5883	0x1e
+#define PX4_I2C_OBDEV_MS5611	0x76
+#define PX4_I2C_OBDEV_EEPROM	NOTDEFINED
+
+#define PX4_I2C_OBDEV_PX4IO_BL	0x18
+#define PX4_I2C_OBDEV_PX4IO	0x1a
+
+/*
+ * SPI
+ *
+ * There are sensors on SPI1, and SPI3 is connected to the microSD slot.
+ */
+#define GPIO_SPI1_MISO	GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI	GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK	GPIO_SPI1_SCK_1
+
+#define GPIO_SPI3_MISO	GPIO_SPI3_MISO_2
+#define GPIO_SPI3_MOSI	GPIO_SPI3_MOSI_1
+#define GPIO_SPI3_SCK	GPIO_SPI3_SCK_2
+#define GPIO_SPI3_NSS	GPIO_SPI3_NSS_2
+
+/* SPI DMA configuration for SPI3 (microSD) */
+#define DMACHAN_SPI3_RX DMAMAP_SPI3_RX_1
+#define DMACHAN_SPI3_TX DMAMAP_SPI3_TX_2
+/* XXX since we allocate the HP work stack from CCM RAM on normal system startup,
+   SPI1 will never run in DMA mode - so we can just give it a random config here.
+   What we really need to do is to make DMA configurable per channel, and always
+   disable it for SPI1. */
+#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
+
+/*
+ * Use these in place of the spi_dev_e enumeration to
+ * select a specific SPI device on SPI1
+ */
+#define PX4_SPIDEV_GYRO		1
+#define PX4_SPIDEV_ACCEL	2
+#define PX4_SPIDEV_MPU		3
+
+/*
+ * Optional devices on IO's external port
+ */
+#define PX4_SPIDEV_ACCEL_MAG 2
+
+/*
+ * Tone alarm output
+ */
+#define TONE_ALARM_TIMER	3	/* timer 3 */
+#define TONE_ALARM_CHANNEL	3	/* channel 3 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/************************************************************************************
+ * Public Function Prototypes
+ ************************************************************************************/
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 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.
+ *
+ ************************************************************************************/
+
+EXTERN void stm32_boardinitialize(void);
+
+/************************************************************************************
+ * Name:  stm32_ledinit, stm32_setled, and stm32_setleds
+ *
+ * Description:
+ *   If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs.  If
+ *   CONFIG_ARCH_LEDS is not defined, then the following interfacesare available to
+ *   control the LEDs from user applications.
+ *
+ ************************************************************************************/
+
+#ifndef CONFIG_ARCH_LEDS
+EXTERN void stm32_ledinit(void);
+EXTERN void stm32_setled(int led, bool ledon);
+EXTERN void stm32_setleds(uint8_t ledset);
+#endif
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif  /* __CONFIG_PX4FMU_V1_INCLUDE_BOARD_H */

nuttx-configs/px4fmu-v1/include/nsh_romfsimg.h

@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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.
+ *
+ ****************************************************************************/
+
+/**
+ * nsh_romfsetc.h
+ *
+ * This file is a stub for 'make export' purposes; the actual ROMFS
+ * must be supplied by the library client.
+ */
+
+extern unsigned char romfs_img[];
+extern unsigned int romfs_img_len;

nuttx-configs/px4fmu-v1/nsh/Make.defs

@@ -0,0 +1,179 @@
+############################################################################
+# configs/px4fmu-v1/nsh/Make.defs
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# 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 ${TOPDIR}/.config
+include ${TOPDIR}/tools/Config.mk
+
+#
+# We only support building with the ARM bare-metal toolchain from
+# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
+#
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
+
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+CC			 = $(CROSSDEV)gcc
+CXX			 = $(CROSSDEV)g++
+CPP			 = $(CROSSDEV)gcc -E
+LD			 = $(CROSSDEV)ld
+AR			 = $(CROSSDEV)ar rcs
+NM			 = $(CROSSDEV)nm
+OBJCOPY			 = $(CROSSDEV)objcopy
+OBJDUMP			 = $(CROSSDEV)objdump
+
+MAXOPTIMIZATION		 = -O3
+ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
+			   -mthumb \
+			   -march=armv7e-m \
+			   -mfpu=fpv4-sp-d16 \
+			   -mfloat-abi=hard
+
+
+# enable precise stack overflow tracking
+INSTRUMENTATIONDEFINES	 = -finstrument-functions \
+			   -ffixed-r10
+
+# pull in *just* libm from the toolchain ... this is grody
+LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
+EXTRA_LIBS		+= $(LIBM)
+
+# use our linker script
+LDSCRIPT		 = ld.script
+
+ifeq ($(WINTOOL),y)
+  # Windows-native toolchains
+  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
+  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
+  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
+  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
+else
+  ifeq ($(PX4_WINTOOL),y)
+    # Windows-native toolchains (MSYS)
+    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  else
+    # Linux/Cygwin-native toolchain 
+    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  endif
+endif
+
+# tool versions
+ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
+ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
+
+# optimisation flags
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -fno-strict-aliasing \
+			   -fno-strength-reduce \
+			   -fomit-frame-pointer \
+   			   -funsafe-math-optimizations \
+   			   -fno-builtin-printf \
+   			   -ffunction-sections \
+   			   -fdata-sections
+
+ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
+ARCHOPTIMIZATION	+= -g
+endif
+
+ARCHCFLAGS		 = -std=gnu99
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS		 = -Wall \
+			   -Wextra \
+			   -Wdouble-promotion \
+			   -Wshadow \
+			   -Wfloat-equal \
+			   -Wframe-larger-than=1024 \
+			   -Wpointer-arith \
+			   -Wlogical-op \
+			   -Wmissing-declarations \
+			   -Wpacked \
+			   -Wno-unused-parameter
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+ARCHCWARNINGS		 = $(ARCHWARNINGS) \
+			   -Wbad-function-cast \
+			   -Wstrict-prototypes \
+			   -Wold-style-declaration \
+			   -Wmissing-parameter-type \
+			   -Wmissing-prototypes \
+			   -Wnested-externs \
+			   -Wunsuffixed-float-constants
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
+			   -Wno-psabi
+ARCHDEFINES		 =
+ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
+
+# this seems to be the only way to add linker flags
+EXTRA_LIBS		+= --warn-common \
+			   --gc-sections
+
+CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1		 = -r -d -warn-common
+NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+LDNXFLATFLAGS		 = -e main -s 2048
+
+OBJEXT			 = .o
+LIBEXT			 = .a
+EXEEXT			 =
+
+
+# produce partially-linked $1 from files in $2
+define PRELINK
+	@echo "PRELINK: $1"
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+endef
+
+HOSTCC			 = gcc
+HOSTINCLUDES		 = -I.
+HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
+HOSTLDFLAGS		 =
+

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -0,0 +1,964 @@
+#
+# Automatically generated file; DO NOT EDIT.
+# Nuttx/ Configuration
+#
+CONFIG_NUTTX_NEWCONFIG=y
+
+#
+# Build Setup
+#
+# CONFIG_EXPERIMENTAL is not set
+# CONFIG_HOST_LINUX is not set
+CONFIG_HOST_OSX=y
+# CONFIG_HOST_WINDOWS is not set
+# CONFIG_HOST_OTHER is not set
+
+#
+# Build Configuration
+#
+CONFIG_APPS_DIR="../apps"
+# CONFIG_BUILD_2PASS is not set
+
+#
+# Binary Output Formats
+#
+# CONFIG_RRLOAD_BINARY is not set
+# CONFIG_INTELHEX_BINARY is not set
+# CONFIG_MOTOROLA_SREC is not set
+CONFIG_RAW_BINARY=y
+
+#
+# Customize Header Files
+#
+# CONFIG_ARCH_STDBOOL_H is not set
+CONFIG_ARCH_MATH_H=y
+# CONFIG_ARCH_FLOAT_H is not set
+# CONFIG_ARCH_STDARG_H is not set
+
+#
+# Debug Options
+#
+# CONFIG_DEBUG is not set
+CONFIG_DEBUG_SYMBOLS=y
+
+#
+# System Type
+#
+# CONFIG_ARCH_8051 is not set
+CONFIG_ARCH_ARM=y
+# CONFIG_ARCH_AVR is not set
+# CONFIG_ARCH_HC is not set
+# CONFIG_ARCH_MIPS is not set
+# CONFIG_ARCH_RGMP is not set
+# CONFIG_ARCH_SH is not set
+# CONFIG_ARCH_SIM is not set
+# CONFIG_ARCH_X86 is not set
+# CONFIG_ARCH_Z16 is not set
+# CONFIG_ARCH_Z80 is not set
+CONFIG_ARCH="arm"
+
+#
+# ARM Options
+#
+# CONFIG_ARCH_CHIP_C5471 is not set
+# CONFIG_ARCH_CHIP_CALYPSO is not set
+# CONFIG_ARCH_CHIP_DM320 is not set
+# CONFIG_ARCH_CHIP_IMX is not set
+# CONFIG_ARCH_CHIP_KINETIS is not set
+# CONFIG_ARCH_CHIP_KL is not set
+# CONFIG_ARCH_CHIP_LM is not set
+# CONFIG_ARCH_CHIP_LPC17XX is not set
+# CONFIG_ARCH_CHIP_LPC214X is not set
+# CONFIG_ARCH_CHIP_LPC2378 is not set
+# CONFIG_ARCH_CHIP_LPC31XX is not set
+# CONFIG_ARCH_CHIP_LPC43XX is not set
+# CONFIG_ARCH_CHIP_NUC1XX is not set
+# CONFIG_ARCH_CHIP_SAM34 is not set
+CONFIG_ARCH_CHIP_STM32=y
+# CONFIG_ARCH_CHIP_STR71X is not set
+CONFIG_ARCH_CORTEXM4=y
+CONFIG_ARCH_FAMILY="armv7-m"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARCH_HAVE_CMNVECTOR=y
+CONFIG_ARMV7M_CMNVECTOR=y
+CONFIG_ARCH_HAVE_FPU=y
+CONFIG_ARCH_FPU=y
+CONFIG_ARCH_HAVE_MPU=y
+# CONFIG_ARMV7M_MPU is not set
+
+#
+# ARMV7M Configuration Options
+#
+# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
+CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
+CONFIG_ARMV7M_STACKCHECK=y
+CONFIG_SERIAL_TERMIOS=y
+
+#
+# STM32 Configuration Options
+#
+# CONFIG_ARCH_CHIP_STM32L151C6 is not set
+# CONFIG_ARCH_CHIP_STM32L151C8 is not set
+# CONFIG_ARCH_CHIP_STM32L151CB is not set
+# CONFIG_ARCH_CHIP_STM32L151R6 is not set
+# CONFIG_ARCH_CHIP_STM32L151R8 is not set
+# CONFIG_ARCH_CHIP_STM32L151RB is not set
+# CONFIG_ARCH_CHIP_STM32L151V6 is not set
+# CONFIG_ARCH_CHIP_STM32L151V8 is not set
+# CONFIG_ARCH_CHIP_STM32L151VB is not set
+# CONFIG_ARCH_CHIP_STM32L152C6 is not set
+# CONFIG_ARCH_CHIP_STM32L152C8 is not set
+# CONFIG_ARCH_CHIP_STM32L152CB is not set
+# CONFIG_ARCH_CHIP_STM32L152R6 is not set
+# CONFIG_ARCH_CHIP_STM32L152R8 is not set
+# CONFIG_ARCH_CHIP_STM32L152RB is not set
+# CONFIG_ARCH_CHIP_STM32L152V6 is not set
+# CONFIG_ARCH_CHIP_STM32L152V8 is not set
+# CONFIG_ARCH_CHIP_STM32L152VB is not set
+# CONFIG_ARCH_CHIP_STM32F100C8 is not set
+# CONFIG_ARCH_CHIP_STM32F100CB is not set
+# CONFIG_ARCH_CHIP_STM32F100R8 is not set
+# CONFIG_ARCH_CHIP_STM32F100RB is not set
+# CONFIG_ARCH_CHIP_STM32F100RC is not set
+# CONFIG_ARCH_CHIP_STM32F100RD is not set
+# CONFIG_ARCH_CHIP_STM32F100RE is not set
+# CONFIG_ARCH_CHIP_STM32F100V8 is not set
+# CONFIG_ARCH_CHIP_STM32F100VB is not set
+# CONFIG_ARCH_CHIP_STM32F100VC is not set
+# CONFIG_ARCH_CHIP_STM32F100VD is not set
+# CONFIG_ARCH_CHIP_STM32F100VE is not set
+# CONFIG_ARCH_CHIP_STM32F103C4 is not set
+# CONFIG_ARCH_CHIP_STM32F103C8 is not set
+# CONFIG_ARCH_CHIP_STM32F103RET6 is not set
+# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set
+# CONFIG_ARCH_CHIP_STM32F103VET6 is not set
+# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set
+# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set
+# CONFIG_ARCH_CHIP_STM32F107VC is not set
+# CONFIG_ARCH_CHIP_STM32F207IG is not set
+# CONFIG_ARCH_CHIP_STM32F302CB is not set
+# CONFIG_ARCH_CHIP_STM32F302CC is not set
+# CONFIG_ARCH_CHIP_STM32F302RB is not set
+# CONFIG_ARCH_CHIP_STM32F302RC is not set
+# CONFIG_ARCH_CHIP_STM32F302VB is not set
+# CONFIG_ARCH_CHIP_STM32F302VC is not set
+# CONFIG_ARCH_CHIP_STM32F303CB is not set
+# CONFIG_ARCH_CHIP_STM32F303CC is not set
+# CONFIG_ARCH_CHIP_STM32F303RB is not set
+# CONFIG_ARCH_CHIP_STM32F303RC is not set
+# CONFIG_ARCH_CHIP_STM32F303VB is not set
+# CONFIG_ARCH_CHIP_STM32F303VC is not set
+CONFIG_ARCH_CHIP_STM32F405RG=y
+# CONFIG_ARCH_CHIP_STM32F405VG is not set
+# CONFIG_ARCH_CHIP_STM32F405ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407VE is not set
+# CONFIG_ARCH_CHIP_STM32F407VG is not set
+# CONFIG_ARCH_CHIP_STM32F407ZE is not set
+# CONFIG_ARCH_CHIP_STM32F407ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407IE is not set
+# CONFIG_ARCH_CHIP_STM32F407IG is not set
+# CONFIG_ARCH_CHIP_STM32F427V is not set
+# CONFIG_ARCH_CHIP_STM32F427Z is not set
+# CONFIG_ARCH_CHIP_STM32F427I is not set
+# CONFIG_STM32_STM32L15XX is not set
+# CONFIG_STM32_ENERGYLITE is not set
+# CONFIG_STM32_STM32F10XX is not set
+# CONFIG_STM32_VALUELINE is not set
+# CONFIG_STM32_CONNECTIVITYLINE is not set
+# CONFIG_STM32_PERFORMANCELINE is not set
+# CONFIG_STM32_HIGHDENSITY is not set
+# CONFIG_STM32_MEDIUMDENSITY is not set
+# CONFIG_STM32_LOWDENSITY is not set
+# CONFIG_STM32_STM32F20XX is not set
+# CONFIG_STM32_STM32F30XX is not set
+CONFIG_STM32_STM32F40XX=y
+# CONFIG_STM32_DFU is not set
+
+#
+# STM32 Peripheral Support
+#
+CONFIG_STM32_ADC1=y
+# CONFIG_STM32_ADC2 is not set
+# CONFIG_STM32_ADC3 is not set
+CONFIG_STM32_BKPSRAM=y
+# CONFIG_STM32_CAN1 is not set
+# CONFIG_STM32_CAN2 is not set
+CONFIG_STM32_CCMDATARAM=y
+# CONFIG_STM32_CRC is not set
+# CONFIG_STM32_CRYP is not set
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+# CONFIG_STM32_DAC1 is not set
+# CONFIG_STM32_DAC2 is not set
+# CONFIG_STM32_DCMI is not set
+# CONFIG_STM32_ETHMAC is not set
+# CONFIG_STM32_FSMC is not set
+# CONFIG_STM32_HASH is not set
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_I2C3=y
+CONFIG_STM32_OTGFS=y
+# CONFIG_STM32_OTGHS is not set
+CONFIG_STM32_PWR=y
+# CONFIG_STM32_RNG is not set
+# CONFIG_STM32_SDIO is not set
+CONFIG_STM32_SPI1=y
+# CONFIG_STM32_SPI2 is not set
+CONFIG_STM32_SPI3=y
+CONFIG_STM32_SYSCFG=y
+# CONFIG_STM32_TIM1 is not set
+# CONFIG_STM32_TIM2 is not set
+# CONFIG_STM32_TIM3 is not set
+CONFIG_STM32_TIM4=y
+CONFIG_STM32_TIM5=y
+CONFIG_STM32_TIM6=y
+CONFIG_STM32_TIM7=y
+# CONFIG_STM32_TIM8 is not set
+CONFIG_STM32_TIM9=y
+CONFIG_STM32_TIM10=y
+CONFIG_STM32_TIM11=y
+CONFIG_STM32_TIM12=y
+CONFIG_STM32_TIM13=y
+CONFIG_STM32_TIM14=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+# CONFIG_STM32_USART3 is not set
+# CONFIG_STM32_UART4 is not set
+CONFIG_STM32_UART5=y
+CONFIG_STM32_USART6=y
+# CONFIG_STM32_IWDG is not set
+CONFIG_STM32_WWDG=y
+CONFIG_STM32_ADC=y
+CONFIG_STM32_SPI=y
+CONFIG_STM32_I2C=y
+
+#
+# Alternate Pin Mapping
+#
+CONFIG_STM32_FLASH_PREFETCH=y
+# CONFIG_STM32_JTAG_DISABLE is not set
+CONFIG_STM32_JTAG_FULL_ENABLE=y
+# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set
+# CONFIG_STM32_JTAG_SW_ENABLE is not set
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+# CONFIG_STM32_FORCEPOWER is not set
+# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
+# CONFIG_STM32_CCMEXCLUDE is not set
+CONFIG_STM32_DMACAPABLE=y
+# CONFIG_STM32_TIM4_PWM is not set
+# CONFIG_STM32_TIM5_PWM is not set
+# CONFIG_STM32_TIM9_PWM is not set
+# CONFIG_STM32_TIM10_PWM is not set
+# CONFIG_STM32_TIM11_PWM is not set
+# CONFIG_STM32_TIM12_PWM is not set
+# CONFIG_STM32_TIM13_PWM is not set
+# CONFIG_STM32_TIM14_PWM is not set
+# CONFIG_STM32_TIM4_ADC is not set
+# CONFIG_STM32_TIM5_ADC is not set
+CONFIG_STM32_USART=y
+
+#
+# U[S]ART Configuration
+#
+# CONFIG_USART1_RS485 is not set
+# CONFIG_USART1_RXDMA is not set
+# CONFIG_USART2_RS485 is not set
+CONFIG_USART2_RXDMA=y
+# CONFIG_USART3_RXDMA is not set
+# CONFIG_UART4_RXDMA is not set
+# CONFIG_UART5_RS485 is not set
+CONFIG_UART5_RXDMA=y
+# CONFIG_USART6_RS485 is not set
+CONFIG_USART6_RXDMA=y
+# CONFIG_USART7_RXDMA is not set
+# CONFIG_USART8_RXDMA is not set
+CONFIG_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+
+#
+# SPI Configuration
+#
+# CONFIG_STM32_SPI_INTERRUPTS is not set
+# CONFIG_STM32_SPI_DMA is not set
+
+#
+# I2C Configuration
+#
+# CONFIG_STM32_I2C_DYNTIMEO is not set
+CONFIG_STM32_I2CTIMEOSEC=0
+CONFIG_STM32_I2CTIMEOMS=10
+CONFIG_STM32_I2CTIMEOTICKS=500
+# CONFIG_STM32_I2C_DUTY16_9 is not set
+
+#
+# USB Host Configuration
+#
+
+#
+# USB Device Configuration
+#
+
+#
+# External Memory Configuration
+#
+
+#
+# Architecture Options
+#
+# CONFIG_ARCH_NOINTC is not set
+# CONFIG_ARCH_VECNOTIRQ is not set
+CONFIG_ARCH_DMA=y
+CONFIG_ARCH_IRQPRIO=y
+# CONFIG_CUSTOM_STACK is not set
+# CONFIG_ADDRENV is not set
+CONFIG_ARCH_HAVE_VFORK=y
+CONFIG_ARCH_STACKDUMP=y
+# CONFIG_ENDIAN_BIG is not set
+# CONFIG_ARCH_HAVE_RAMFUNCS is not set
+CONFIG_ARCH_HAVE_RAMVECTORS=y
+# CONFIG_ARCH_RAMVECTORS is not set
+
+#
+# Board Settings
+#
+CONFIG_BOARD_LOOPSPERMSEC=16717
+# CONFIG_ARCH_CALIBRATION is not set
+CONFIG_DRAM_START=0x20000000
+CONFIG_DRAM_SIZE=196608
+CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+
+#
+# Boot options
+#
+# CONFIG_BOOT_RUNFROMEXTSRAM is not set
+CONFIG_BOOT_RUNFROMFLASH=y
+# CONFIG_BOOT_RUNFROMISRAM is not set
+# CONFIG_BOOT_RUNFROMSDRAM is not set
+# CONFIG_BOOT_COPYTORAM is not set
+
+#
+# Board Selection
+#
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD=""
+
+#
+# Common Board Options
+#
+CONFIG_NSH_MMCSDMINOR=0
+CONFIG_NSH_MMCSDSLOTNO=0
+CONFIG_NSH_MMCSDSPIPORTNO=3
+
+#
+# Board-Specific Options
+#
+
+#
+# RTOS Features
+#
+# CONFIG_BOARD_INITIALIZE is not set
+CONFIG_MSEC_PER_TICK=1
+CONFIG_RR_INTERVAL=0
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_TASK_NAME_SIZE=24
+# CONFIG_SCHED_HAVE_PARENT is not set
+# CONFIG_JULIAN_TIME is not set
+CONFIG_START_YEAR=1970
+CONFIG_START_MONTH=1
+CONFIG_START_DAY=1
+# CONFIG_DEV_CONSOLE is not set
+# CONFIG_MUTEX_TYPES is not set
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_NNESTPRIO=8
+# CONFIG_FDCLONE_DISABLE is not set
+CONFIG_FDCLONE_STDIO=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SCHED_WAITPID=y
+# CONFIG_SCHED_STARTHOOK is not set
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_ATEXIT_MAX=1
+# CONFIG_SCHED_ONEXIT is not set
+CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_DISABLE_OS_API=y
+# CONFIG_DISABLE_CLOCK is not set
+# CONFIG_DISABLE_POSIX_TIMERS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_DISABLE_SIGNALS is not set
+# CONFIG_DISABLE_MQUEUE is not set
+# CONFIG_DISABLE_ENVIRON is not set
+
+#
+# Signal Numbers
+#
+CONFIG_SIG_SIGUSR1=1
+CONFIG_SIG_SIGUSR2=2
+CONFIG_SIG_SIGALARM=3
+CONFIG_SIG_SIGCONDTIMEDOUT=16
+CONFIG_SIG_SIGWORK=4
+
+#
+# Sizes of configurable things (0 disables)
+#
+CONFIG_MAX_TASKS=32
+CONFIG_MAX_TASK_ARGS=10
+CONFIG_NPTHREAD_KEYS=4
+CONFIG_NFILE_DESCRIPTORS=32
+CONFIG_NFILE_STREAMS=25
+CONFIG_NAME_MAX=32
+CONFIG_PREALLOC_MQ_MSGS=4
+CONFIG_MQ_MAXMSGSIZE=32
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_PREALLOC_WDOGS=50
+CONFIG_PREALLOC_TIMERS=50
+
+#
+# Stack and heap information
+#
+CONFIG_IDLETHREAD_STACKSIZE=6000
+CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_PTHREAD_STACK_DEFAULT=2048
+
+#
+# Device Drivers
+#
+# CONFIG_DISABLE_POLL is not set
+CONFIG_DEV_NULL=y
+# CONFIG_DEV_ZERO is not set
+# CONFIG_LOOP is not set
+# CONFIG_RAMDISK is not set
+# CONFIG_CAN is not set
+# CONFIG_PWM is not set
+CONFIG_I2C=y
+# CONFIG_I2C_SLAVE is not set
+CONFIG_I2C_TRANSFER=y
+# CONFIG_I2C_WRITEREAD is not set
+# CONFIG_I2C_POLLED is not set
+# CONFIG_I2C_TRACE is not set
+CONFIG_ARCH_HAVE_I2CRESET=y
+CONFIG_I2C_RESET=y
+CONFIG_SPI=y
+# CONFIG_SPI_OWNBUS is not set
+CONFIG_SPI_EXCHANGE=y
+# CONFIG_SPI_CMDDATA is not set
+# CONFIG_RTC is not set
+CONFIG_WATCHDOG=y
+# CONFIG_ANALOG is not set
+# CONFIG_AUDIO_DEVICES is not set
+# CONFIG_BCH is not set
+# CONFIG_INPUT is not set
+# CONFIG_LCD is not set
+CONFIG_MMCSD=y
+CONFIG_MMCSD_NSLOTS=1
+# CONFIG_MMCSD_READONLY is not set
+# CONFIG_MMCSD_MULTIBLOCK_DISABLE is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_HAVECARDDETECT is not set
+CONFIG_MMCSD_SPI=y
+CONFIG_MMCSD_SPICLOCK=24000000
+# CONFIG_MMCSD_SDIO is not set
+# CONFIG_MTD is not set
+CONFIG_PIPES=y
+# CONFIG_PM is not set
+# CONFIG_POWER is not set
+# CONFIG_SENSORS is not set
+CONFIG_SERIAL=y
+# CONFIG_DEV_LOWCONSOLE is not set
+CONFIG_SERIAL_REMOVABLE=y
+# CONFIG_16550_UART is not set
+CONFIG_ARCH_HAVE_UART5=y
+CONFIG_ARCH_HAVE_USART1=y
+CONFIG_ARCH_HAVE_USART2=y
+CONFIG_ARCH_HAVE_USART6=y
+CONFIG_MCU_SERIAL=y
+CONFIG_STANDARD_SERIAL=y
+CONFIG_SERIAL_NPOLLWAITERS=2
+# CONFIG_USART1_SERIAL_CONSOLE is not set
+# CONFIG_USART2_SERIAL_CONSOLE is not set
+# CONFIG_UART5_SERIAL_CONSOLE is not set
+# CONFIG_USART6_SERIAL_CONSOLE is not set
+CONFIG_NO_SERIAL_CONSOLE=y
+
+#
+# USART1 Configuration
+#
+CONFIG_USART1_RXBUFSIZE=512
+CONFIG_USART1_TXBUFSIZE=512
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_BITS=8
+CONFIG_USART1_PARITY=0
+CONFIG_USART1_2STOP=0
+# CONFIG_USART1_IFLOWCONTROL is not set
+# CONFIG_USART1_OFLOWCONTROL is not set
+
+#
+# USART2 Configuration
+#
+CONFIG_USART2_RXBUFSIZE=512
+CONFIG_USART2_TXBUFSIZE=512
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_BITS=8
+CONFIG_USART2_PARITY=0
+CONFIG_USART2_2STOP=0
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+
+#
+# UART5 Configuration
+#
+CONFIG_UART5_RXBUFSIZE=32
+CONFIG_UART5_TXBUFSIZE=32
+CONFIG_UART5_BAUD=57600
+CONFIG_UART5_BITS=8
+CONFIG_UART5_PARITY=0
+CONFIG_UART5_2STOP=0
+# CONFIG_UART5_IFLOWCONTROL is not set
+# CONFIG_UART5_OFLOWCONTROL is not set
+
+#
+# USART6 Configuration
+#
+CONFIG_USART6_RXBUFSIZE=512
+CONFIG_USART6_TXBUFSIZE=512
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_BITS=8
+CONFIG_USART6_PARITY=0
+CONFIG_USART6_2STOP=0
+# CONFIG_USART6_IFLOWCONTROL is not set
+# CONFIG_USART6_OFLOWCONTROL is not set
+CONFIG_SERIAL_IFLOWCONTROL=y
+CONFIG_SERIAL_OFLOWCONTROL=y
+CONFIG_USBDEV=y
+
+#
+# USB Device Controller Driver Options
+#
+# CONFIG_USBDEV_ISOCHRONOUS is not set
+# CONFIG_USBDEV_DUALSPEED is not set
+# CONFIG_USBDEV_SELFPOWERED is not set
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+# CONFIG_USBDEV_REMOTEWAKEUP is not set
+# CONFIG_USBDEV_DMA is not set
+# CONFIG_USBDEV_TRACE is not set
+
+#
+# USB Device Class Driver Options
+#
+# CONFIG_USBDEV_COMPOSITE is not set
+# CONFIG_PL2303 is not set
+CONFIG_CDCACM=y
+CONFIG_CDCACM_CONSOLE=y
+CONFIG_CDCACM_EP0MAXPACKET=64
+CONFIG_CDCACM_EPINTIN=1
+CONFIG_CDCACM_EPINTIN_FSSIZE=64
+CONFIG_CDCACM_EPINTIN_HSSIZE=64
+CONFIG_CDCACM_EPBULKOUT=3
+CONFIG_CDCACM_EPBULKOUT_FSSIZE=64
+CONFIG_CDCACM_EPBULKOUT_HSSIZE=512
+CONFIG_CDCACM_EPBULKIN=2
+CONFIG_CDCACM_EPBULKIN_FSSIZE=64
+CONFIG_CDCACM_EPBULKIN_HSSIZE=512
+CONFIG_CDCACM_NWRREQS=4
+CONFIG_CDCACM_NRDREQS=4
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_RXBUFSIZE=256
+CONFIG_CDCACM_TXBUFSIZE=256
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_PRODUCTID=0x0010
+CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v1.x"
+# CONFIG_USBMSC is not set
+# CONFIG_USBHOST is not set
+# CONFIG_WIRELESS is not set
+
+#
+# System Logging Device Options
+#
+
+#
+# System Logging
+#
+# CONFIG_RAMLOG is not set
+
+#
+# Networking Support
+#
+# CONFIG_NET is not set
+
+#
+# File Systems
+#
+
+#
+# File system configuration
+#
+# CONFIG_DISABLE_MOUNTPOINT is not set
+# CONFIG_FS_RAMMAP is not set
+CONFIG_FS_FAT=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_MAXFNAME=32
+CONFIG_FS_FATTIME=y
+# CONFIG_FAT_DMAMEMORY is not set
+CONFIG_FS_NXFFS=y
+CONFIG_NXFFS_PREALLOCATED=y
+CONFIG_NXFFS_ERASEDSTATE=0xff
+CONFIG_NXFFS_PACKTHRESHOLD=32
+CONFIG_NXFFS_MAXNAMLEN=32
+CONFIG_NXFFS_TAILTHRESHOLD=2048
+CONFIG_FS_ROMFS=y
+# CONFIG_FS_SMARTFS is not set
+CONFIG_FS_BINFS=y
+
+#
+# System Logging
+#
+# CONFIG_SYSLOG_ENABLE is not set
+CONFIG_SYSLOG=y
+CONFIG_SYSLOG_CHAR=y
+CONFIG_SYSLOG_DEVPATH="/dev/ttyS0"
+
+#
+# Graphics Support
+#
+# CONFIG_NX is not set
+
+#
+# Memory Management
+#
+# CONFIG_MM_MULTIHEAP is not set
+# CONFIG_MM_SMALL is not set
+CONFIG_MM_REGIONS=2
+CONFIG_GRAN=y
+CONFIG_GRAN_SINGLE=y
+CONFIG_GRAN_INTR=y
+
+#
+# Audio Support
+#
+# CONFIG_AUDIO is not set
+
+#
+# Binary Formats
+#
+# CONFIG_BINFMT_DISABLE is not set
+# CONFIG_BINFMT_EXEPATH is not set
+# CONFIG_NXFLAT is not set
+# CONFIG_ELF is not set
+CONFIG_BUILTIN=y
+# CONFIG_PIC is not set
+# CONFIG_SYMTAB_ORDEREDBYNAME is not set
+
+#
+# Library Routines
+#
+
+#
+# Standard C Library Options
+#
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STDIO_LINEBUFFER=y
+CONFIG_NUNGET_CHARS=2
+CONFIG_LIB_HOMEDIR="/"
+# CONFIG_NOPRINTF_FIELDWIDTH is not set
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIB_RAND_ORDER=1
+# CONFIG_EOL_IS_CR is not set
+# CONFIG_EOL_IS_LF is not set
+# CONFIG_EOL_IS_BOTH_CRLF is not set
+CONFIG_EOL_IS_EITHER_CRLF=y
+# CONFIG_LIBC_EXECFUNCS is not set
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024
+CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048
+CONFIG_LIBC_STRERROR=y
+# CONFIG_LIBC_STRERROR_SHORT is not set
+# CONFIG_LIBC_PERROR_STDOUT is not set
+CONFIG_ARCH_LOWPUTC=y
+CONFIG_LIB_SENDFILE_BUFSIZE=512
+# CONFIG_ARCH_ROMGETC is not set
+CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y
+CONFIG_ARCH_MEMCPY=y
+# CONFIG_ARCH_MEMCMP is not set
+# CONFIG_ARCH_MEMMOVE is not set
+# CONFIG_ARCH_MEMSET is not set
+# CONFIG_MEMSET_OPTSPEED is not set
+# CONFIG_ARCH_STRCHR is not set
+# CONFIG_ARCH_STRCMP is not set
+# CONFIG_ARCH_STRCPY is not set
+# CONFIG_ARCH_STRNCPY is not set
+# CONFIG_ARCH_STRLEN is not set
+# CONFIG_ARCH_STRNLEN is not set
+# CONFIG_ARCH_BZERO is not set
+
+#
+# Non-standard Library Support
+#
+CONFIG_SCHED_WORKQUEUE=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_WORKPRIORITY=192
+CONFIG_SCHED_WORKPERIOD=5000
+CONFIG_SCHED_WORKSTACKSIZE=2048
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKPERIOD=50000
+CONFIG_SCHED_LPWORKSTACKSIZE=2048
+# CONFIG_LIB_KBDCODEC is not set
+# CONFIG_LIB_SLCDCODEC is not set
+
+#
+# Basic CXX Support
+#
+# CONFIG_C99_BOOL8 is not set
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+# CONFIG_CXX_NEWLONG is not set
+
+#
+# uClibc++ Standard C++ Library
+#
+# CONFIG_UCLIBCXX is not set
+
+#
+# Application Configuration
+#
+
+#
+# Built-In Applications
+#
+CONFIG_BUILTIN_PROXY_STACKSIZE=1024
+
+#
+# Examples
+#
+# CONFIG_EXAMPLES_BUTTONS is not set
+# CONFIG_EXAMPLES_CAN is not set
+CONFIG_EXAMPLES_CDCACM=y
+# CONFIG_EXAMPLES_COMPOSITE is not set
+# CONFIG_EXAMPLES_CXXTEST is not set
+# CONFIG_EXAMPLES_DHCPD is not set
+# CONFIG_EXAMPLES_ELF is not set
+# CONFIG_EXAMPLES_FTPC is not set
+# CONFIG_EXAMPLES_FTPD is not set
+# CONFIG_EXAMPLES_HELLO is not set
+# CONFIG_EXAMPLES_HELLOXX is not set
+# CONFIG_EXAMPLES_JSON is not set
+# CONFIG_EXAMPLES_HIDKBD is not set
+# CONFIG_EXAMPLES_KEYPADTEST is not set
+# CONFIG_EXAMPLES_IGMP is not set
+# CONFIG_EXAMPLES_LCDRW is not set
+# CONFIG_EXAMPLES_MM is not set
+# CONFIG_EXAMPLES_MODBUS is not set
+CONFIG_EXAMPLES_MOUNT=y
+# CONFIG_EXAMPLES_NRF24L01TERM is not set
+CONFIG_EXAMPLES_NSH=y
+# CONFIG_EXAMPLES_NULL is not set
+# CONFIG_EXAMPLES_NX is not set
+# CONFIG_EXAMPLES_NXCONSOLE is not set
+# CONFIG_EXAMPLES_NXFFS is not set
+# CONFIG_EXAMPLES_NXFLAT is not set
+# CONFIG_EXAMPLES_NXHELLO is not set
+# CONFIG_EXAMPLES_NXIMAGE is not set
+# CONFIG_EXAMPLES_NXLINES is not set
+# CONFIG_EXAMPLES_NXTEXT is not set
+# CONFIG_EXAMPLES_OSTEST is not set
+# CONFIG_EXAMPLES_PASHELLO is not set
+# CONFIG_EXAMPLES_PIPE is not set
+# CONFIG_EXAMPLES_POSIXSPAWN is not set
+# CONFIG_EXAMPLES_QENCODER is not set
+# CONFIG_EXAMPLES_RGMP is not set
+# CONFIG_EXAMPLES_ROMFS is not set
+# CONFIG_EXAMPLES_SENDMAIL is not set
+# CONFIG_EXAMPLES_SERLOOP is not set
+# CONFIG_EXAMPLES_SLCD is not set
+# CONFIG_EXAMPLES_SMART_TEST is not set
+# CONFIG_EXAMPLES_SMART is not set
+# CONFIG_EXAMPLES_TCPECHO is not set
+# CONFIG_EXAMPLES_TELNETD is not set
+# CONFIG_EXAMPLES_THTTPD is not set
+# CONFIG_EXAMPLES_TIFF is not set
+# CONFIG_EXAMPLES_TOUCHSCREEN is not set
+# CONFIG_EXAMPLES_UDP is not set
+# CONFIG_EXAMPLES_UIP is not set
+# CONFIG_EXAMPLES_USBSERIAL is not set
+# CONFIG_EXAMPLES_USBMSC is not set
+# CONFIG_EXAMPLES_USBTERM is not set
+# CONFIG_EXAMPLES_WATCHDOG is not set
+
+#
+# Graphics Support
+#
+# CONFIG_TIFF is not set
+
+#
+# Interpreters
+#
+# CONFIG_INTERPRETERS_FICL is not set
+# CONFIG_INTERPRETERS_PCODE is not set
+
+#
+# Network Utilities
+#
+
+#
+# Networking Utilities
+#
+# CONFIG_NETUTILS_CODECS is not set
+# CONFIG_NETUTILS_DHCPC is not set
+# CONFIG_NETUTILS_DHCPD is not set
+# CONFIG_NETUTILS_FTPC is not set
+# CONFIG_NETUTILS_FTPD is not set
+# CONFIG_NETUTILS_JSON is not set
+# CONFIG_NETUTILS_RESOLV is not set
+# CONFIG_NETUTILS_SMTP is not set
+# CONFIG_NETUTILS_TELNETD is not set
+# CONFIG_NETUTILS_TFTPC is not set
+# CONFIG_NETUTILS_THTTPD is not set
+# CONFIG_NETUTILS_UIPLIB is not set
+# CONFIG_NETUTILS_WEBCLIENT is not set
+
+#
+# FreeModBus
+#
+# CONFIG_MODBUS is not set
+
+#
+# NSH Library
+#
+CONFIG_NSH_LIBRARY=y
+CONFIG_NSH_BUILTIN_APPS=y
+
+#
+# Disable Individual commands
+#
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DD is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOSETUP is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MB is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MKFIFO is not set
+# CONFIG_NSH_DISABLE_MKRD is not set
+# CONFIG_NSH_DISABLE_MH is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MW is not set
+# CONFIG_NSH_DISABLE_NSFMOUNT is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PING is not set
+# CONFIG_NSH_DISABLE_PUT is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SH is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_NSH_DISABLE_WGET is not set
+# CONFIG_NSH_DISABLE_XD is not set
+
+#
+# Configure Command Options
+#
+# CONFIG_NSH_CMDOPT_DF_H is not set
+CONFIG_NSH_CODECS_BUFSIZE=128
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=12
+CONFIG_NSH_NESTDEPTH=8
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLEBG is not set
+CONFIG_NSH_ROMFSETC=y
+# CONFIG_NSH_ROMFSRC is not set
+CONFIG_NSH_ROMFSMOUNTPT="/etc"
+CONFIG_NSH_INITSCRIPT="init.d/rcS"
+CONFIG_NSH_ROMFSDEVNO=0
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_FATDEVNO=1
+CONFIG_NSH_FATSECTSIZE=512
+CONFIG_NSH_FATNSECTORS=1024
+CONFIG_NSH_FATMOUNTPT="/tmp"
+CONFIG_NSH_CONSOLE=y
+# CONFIG_NSH_USBCONSOLE is not set
+
+#
+# USB Trace Support
+#
+# CONFIG_NSH_CONDEV is not set
+CONFIG_NSH_ARCHINIT=y
+
+#
+# NxWidgets/NxWM
+#
+
+#
+# System NSH Add-Ons
+#
+
+#
+# Custom Free Memory Command
+#
+# CONFIG_SYSTEM_FREE is not set
+
+#
+# I2C tool
+#
+# CONFIG_SYSTEM_I2CTOOL is not set
+
+#
+# FLASH Program Installation
+#
+# CONFIG_SYSTEM_INSTALL is not set
+
+#
+# FLASH Erase-all Command
+#
+
+#
+# readline()
+#
+CONFIG_SYSTEM_READLINE=y
+CONFIG_READLINE_ECHO=y
+
+#
+# Power Off
+#
+# CONFIG_SYSTEM_POWEROFF is not set
+
+#
+# RAMTRON
+#
+# CONFIG_SYSTEM_RAMTRON is not set
+
+#
+# SD Card
+#
+# CONFIG_SYSTEM_SDCARD is not set
+
+#
+# Sysinfo
+#
+CONFIG_SYSTEM_SYSINFO=y
+
+#
+# USB Monitor
+#

nuttx-configs/px4fmu-v1/nsh/setenv.sh

@@ -0,0 +1,75 @@
+#!/bin/bash
+# configs/px4fmu-v1/usbnsh/setenv.sh
+#
+#   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# 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.
+#
+
+if [ "$_" = "$0" ] ; then
+  echo "You must source this script, not run it!" 1>&2
+  exit 1
+fi
+
+WD=`pwd`
+if [ ! -x "setenv.sh" ]; then
+  echo "This script must be executed from the top-level NuttX build directory"
+  exit 1
+fi
+
+if [ -z "${PATH_ORIG}" ]; then
+  export PATH_ORIG="${PATH}"
+fi
+
+# This is the Cygwin path to the location where I installed the RIDE
+# toolchain under windows.  You will also have to edit this if you install
+# the RIDE toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
+
+# This is the Cygwin path to the location where I installed the CodeSourcery
+# toolchain under windows.  You will also have to edit this if you install
+# the CodeSourcery toolchain in any other location
+export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
+
+# These are the Cygwin paths to the locations where I installed the Atollic
+# toolchain under windows.  You will also have to edit this if you install
+# the Atollic toolchain in any other location.  /usr/bin is added before
+# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
+# at those locations as well.
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
+
+# This is the Cygwin path to the location where I build the buildroot
+# toolchain.
+#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
+
+# Add the path to the toolchain to the PATH varialble
+export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"

nuttx-configs/px4fmu-v1/scripts/ld.script

@@ -0,0 +1,149 @@
+/****************************************************************************
+ * configs/px4fmu-v1/scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
+ * 192Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of CCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x4000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 1008K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 128K
+    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/* 
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.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;
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	/*
+	 * Construction data for parameters.
+	 */
+	__param ALIGN(4): {
+		__param_start = ABSOLUTE(.);
+		KEEP(*(__param*))
+		__param_end = ABSOLUTE(.);
+	} > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* 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) }
+}

nuttx-configs/px4fmu-v1/src/Makefile

@@ -0,0 +1,84 @@
+############################################################################
+# configs/px4fmu-v1/src/Makefile
+#
+#   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# 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 $(TOPDIR)/Make.defs
+
+CFLAGS		+= -I$(TOPDIR)/sched
+
+ASRCS		= 
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+
+CSRCS		= empty.c
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+ifeq ($(WINTOOL),y)
+  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
+  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
+  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+else
+  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
+endif
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+libboard$(LIBEXT): $(OBJS)
+	$(call ARCHIVE, $@, $(OBJS))
+
+.depend: Makefile $(SRCS)
+	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
+
+depend: .depend
+
+clean:
+	$(call DELFILE, libboard$(LIBEXT))
+	$(call CLEAN)
+
+distclean: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+
+-include Make.dep
+

nuttx-configs/px4fmu-v1/src/empty.c

@@ -0,0 +1,4 @@
+/*
+ * There are no source files here, but libboard.a can't be empty, so 
+ * we have this empty source file to keep it company.
+ */

nuttx-configs/px4io-v1/include/README.txt

@@ -0,0 +1 @@
+This directory contains header files unique to the PX4IO board.

nuttx-configs/px4io-v1/include/board.h

@@ -0,0 +1,168 @@
+/************************************************************************************
+ * configs/px4io/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *   Copyright (C) 2012 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 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 __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+# include <stdbool.h>
+#endif
+#include <stm32_rcc.h>
+#include <stm32_sdio.h>
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+
+/* On-board crystal frequency is 24MHz (HSE) */
+
+#define STM32_BOARD_XTAL        24000000ul
+
+/* Use the HSE output as the system clock */
+
+#define STM32_SYSCLK_SW         RCC_CFGR_SW_HSE
+#define STM32_SYSCLK_SWS        RCC_CFGR_SWS_HSE
+#define STM32_SYSCLK_FREQUENCY  STM32_BOARD_XTAL
+
+/* AHB clock (HCLK) is SYSCLK (24MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY    /* same as above, to satisfy compiler */
+
+/* APB2 clock (PCLK2) is HCLK (24MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK
+#define STM32_PCLK2_FREQUENCY   STM32_HCLK_FREQUENCY
+#define STM32_APB2_CLKIN        (STM32_PCLK2_FREQUENCY)   /* Timers 2-4 */
+
+/* APB2 timer 1 will receive PCLK2. */
+
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+
+/* APB1 clock (PCLK1) is HCLK (24MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLK
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* All timers run off PCLK */
+
+#define STM32_APB1_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB1_TIM2_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (STM32_PCLK1_FREQUENCY)
+
+/*
+ * Some of the USART pins are not available; override the GPIO
+ * definitions with an invalid pin configuration.
+ */
+#undef GPIO_USART2_CTS
+#define GPIO_USART2_CTS	0xffffffff
+#undef GPIO_USART2_RTS
+#define GPIO_USART2_RTS	0xffffffff
+#undef GPIO_USART2_CK
+#define GPIO_USART2_CK 	0xffffffff
+#undef GPIO_USART3_TX
+#define GPIO_USART3_TX 	0xffffffff
+#undef GPIO_USART3_CK
+#define GPIO_USART3_CK 	0xffffffff
+#undef GPIO_USART3_CTS
+#define GPIO_USART3_CTS	0xffffffff
+#undef GPIO_USART3_RTS
+#define GPIO_USART3_RTS	0xffffffff
+
+/* 
+ * High-resolution timer
+ */
+#define HRT_TIMER		1	/* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
+
+/*
+ * PPM
+ *
+ * PPM input is handled by the HRT timer.
+ *
+ * Pin is PA8, timer 1, channel 1
+ */
+#define HRT_PPM_CHANNEL	1	/* use capture/compare channel 1 */
+#define GPIO_PPM_IN		GPIO_TIM1_CH1IN
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/************************************************************************************
+ * Public Function Prototypes
+ ************************************************************************************/
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 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.
+ *
+ ************************************************************************************/
+
+EXTERN void stm32_boardinitialize(void);
+    
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif  /* __ARCH_BOARD_BOARD_H */

nuttx-configs/px4io-v1/nsh/Make.defs

@@ -0,0 +1,166 @@
+############################################################################
+# configs/px4io-v1/nsh/Make.defs
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# 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 ${TOPDIR}/.config
+include ${TOPDIR}/tools/Config.mk
+
+#
+# We only support building with the ARM bare-metal toolchain from
+# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
+#
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
+
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+CC			 = $(CROSSDEV)gcc
+CXX			 = $(CROSSDEV)g++
+CPP			 = $(CROSSDEV)gcc -E
+LD			 = $(CROSSDEV)ld
+AR			 = $(CROSSDEV)ar rcs
+NM			 = $(CROSSDEV)nm
+OBJCOPY			 = $(CROSSDEV)objcopy
+OBJDUMP			 = $(CROSSDEV)objdump
+
+MAXOPTIMIZATION		 = -O3
+ARCHCPUFLAGS		 = -mcpu=cortex-m3 \
+			   -mthumb \
+			   -march=armv7-m
+
+# use our linker script
+LDSCRIPT		 = ld.script
+
+ifeq ($(WINTOOL),y)
+  # Windows-native toolchains
+  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
+  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
+  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
+  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
+else
+  ifeq ($(PX4_WINTOOL),y)
+    # Windows-native toolchains (MSYS)
+    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  else
+    # Linux/Cygwin-native toolchain 
+    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  endif
+endif
+
+# tool versions
+ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
+ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
+
+# optimisation flags
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -fno-strict-aliasing \
+			   -fno-strength-reduce \
+			   -fomit-frame-pointer \
+   			   -funsafe-math-optimizations \
+   			   -fno-builtin-printf \
+   			   -ffunction-sections \
+   			   -fdata-sections
+
+ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
+ARCHOPTIMIZATION	+= -g
+endif
+
+ARCHCFLAGS		 = -std=gnu99
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS		 = -Wall \
+			   -Wextra \
+			   -Wdouble-promotion \
+			   -Wshadow \
+			   -Wfloat-equal \
+			   -Wframe-larger-than=1024 \
+			   -Wpointer-arith \
+			   -Wlogical-op \
+			   -Wmissing-declarations \
+			   -Wpacked \
+			   -Wno-unused-parameter
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+ARCHCWARNINGS		 = $(ARCHWARNINGS) \
+			   -Wbad-function-cast \
+			   -Wstrict-prototypes \
+			   -Wold-style-declaration \
+			   -Wmissing-parameter-type \
+			   -Wmissing-prototypes \
+			   -Wnested-externs \
+			   -Wunsuffixed-float-constants
+ARCHWARNINGSXX		 = $(ARCHWARNINGS)
+ARCHDEFINES		 = 
+ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
+
+# this seems to be the only way to add linker flags
+EXTRA_LIBS		+= --warn-common \
+			   --gc-sections
+
+CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1		 = -r -d -warn-common
+NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+LDNXFLATFLAGS		 = -e main -s 2048
+
+OBJEXT			 = .o
+LIBEXT			 = .a
+EXEEXT			 =
+
+# produce partially-linked $1 from files in $2
+define PRELINK
+	@echo "PRELINK: $1"
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+endef
+
+HOSTCC			 = gcc
+HOSTINCLUDES		 = -I.
+HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
+HOSTLDFLAGS		 =
+

nuttx-configs/px4io-v1/nsh/appconfig

@@ -0,0 +1,32 @@
+############################################################################
+#
+#   Copyright (C) 2012 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.
+#
+############################################################################

nuttx-configs/px4io-v1/nsh/defconfig

@@ -0,0 +1,537 @@
+############################################################################
+# configs/px4io-v1/nsh/defconfig
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# 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.
+#
+############################################################################
+#
+# architecture selection
+#
+# CONFIG_ARCH - identifies the arch subdirectory and, hence, the
+#   processor architecture.
+# CONFIG_ARCH_family - for use in C code.  This identifies the
+#   particular chip family that the architecture is implemented
+#   in.
+# CONFIG_ARCH_architecture - for use in C code.  This identifies the
+#   specific architecture within the chip family.
+# CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
+# CONFIG_ARCH_CHIP_name - For use in C code
+# CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence,
+#   the board that supports the particular chip or SoC.
+# CONFIG_ARCH_BOARD_name - for use in C code
+# CONFIG_ENDIAN_BIG - define if big endian (default is little endian)
+# CONFIG_BOARD_LOOPSPERMSEC - for delay loops
+# CONFIG_DRAM_SIZE - Describes the installed DRAM.
+# CONFIG_DRAM_START - The start address of DRAM (physical)
+# CONFIG_ARCH_IRQPRIO - The ST32F100CB supports interrupt prioritization
+# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
+#   stack. If defined, this symbol is the size of the interrupt
+#   stack in bytes.  If not defined, the user task stacks will be
+#   used during interrupt handling.
+# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
+# CONFIG_ARCH_BOOTLOADER - Set if you are using a bootloader.
+# CONFIG_ARCH_LEDS -  Use LEDs to show state. Unique to board architecture.
+# CONFIG_ARCH_BUTTONS -  Enable support for buttons. Unique to board architecture.
+# CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
+#   cause a 100 second delay during boot-up.  This 100 second delay
+#   serves no purpose other than it allows you to calibrate
+#   CONFIG_BOARD_LOOPSPERMSEC.  You simply use a stop watch to measure
+#   the 100 second delay then adjust CONFIG_BOARD_LOOPSPERMSEC until
+#   the delay actually is 100 seconds.
+# CONFIG_ARCH_DMA - Support DMA initialization
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_ARM=y
+CONFIG_ARCH_CORTEXM3=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32F100C8=y
+#
+# Board Selection
+#
+CONFIG_ARCH_BOARD_PX4IO_V1=y
+# CONFIG_ARCH_BOARD_CUSTOM is not set
+CONFIG_ARCH_BOARD="px4io-v1"
+CONFIG_BOARD_LOOPSPERMSEC=2000
+CONFIG_DRAM_SIZE=0x00002000
+CONFIG_DRAM_START=0x20000000
+CONFIG_ARCH_IRQPRIO=y
+CONFIG_ARCH_INTERRUPTSTACK=n
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_BOOTLOADER=n
+CONFIG_ARCH_LEDS=n
+CONFIG_ARCH_BUTTONS=n
+CONFIG_ARCH_CALIBRATION=n
+CONFIG_ARCH_DMA=y
+CONFIG_ARCH_MATH_H=y
+
+CONFIG_ARMV7M_CMNVECTOR=y
+# CONFIG_ARMV7M_STACKCHECK is not set
+
+#
+# JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
+#
+#   CONFIG_STM32_DFU - Use the DFU bootloader, not JTAG
+#
+# JTAG Enable options:
+#
+#   CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
+#   CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
+#     but without JNTRST.
+#   CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
+#
+CONFIG_STM32_DFU=n
+CONFIG_STM32_JTAG_FULL_ENABLE=y
+CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n
+CONFIG_STM32_JTAG_SW_ENABLE=n
+
+#
+# Individual subsystems can be enabled:
+#
+# AHB: 
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=n
+CONFIG_STM32_CRC=n
+# APB1:
+# Timers 2,3 and 4 are owned by the PWM driver
+CONFIG_STM32_TIM2=n
+CONFIG_STM32_TIM3=n
+CONFIG_STM32_TIM4=n
+CONFIG_STM32_TIM5=n
+CONFIG_STM32_TIM6=n
+CONFIG_STM32_TIM7=n
+CONFIG_STM32_WWDG=n
+CONFIG_STM32_SPI2=n
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=n
+CONFIG_STM32_BKP=n
+CONFIG_STM32_PWR=n
+CONFIG_STM32_DAC=n
+# APB2:
+# We use our own ADC driver, but leave this on for clocking purposes.
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_ADC2=n
+# TIM1 is owned by the HRT
+CONFIG_STM32_TIM1=n
+CONFIG_STM32_SPI1=n
+CONFIG_STM32_TIM8=n
+CONFIG_STM32_USART1=y
+CONFIG_STM32_ADC3=n
+
+
+#
+# STM32F100 specific serial device driver settings
+#
+# CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the
+#   console and ttys0 (default is the USART1).
+# CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received.
+#   This specific the size of the receive buffer
+# CONFIG_USARTn_TXBUFSIZE - Characters are buffered before
+#   being sent.  This specific the size of the transmit buffer
+# CONFIG_USARTn_BAUD - The configure BAUD of the UART.  Must be
+# CONFIG_USARTn_BITS - The number of bits.  Must be either 7 or 8.
+# CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
+# CONFIG_USARTn_2STOP - Two stop bits
+#
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_STANDARD_SERIAL=y
+
+CONFIG_USART1_SERIAL_CONSOLE=y
+CONFIG_USART2_SERIAL_CONSOLE=n
+CONFIG_USART3_SERIAL_CONSOLE=n
+
+CONFIG_USART1_TXBUFSIZE=64
+CONFIG_USART2_TXBUFSIZE=64
+CONFIG_USART3_TXBUFSIZE=64
+
+CONFIG_USART1_RXBUFSIZE=64
+CONFIG_USART2_RXBUFSIZE=64
+CONFIG_USART3_RXBUFSIZE=64
+
+CONFIG_USART1_BAUD=115200
+CONFIG_USART2_BAUD=115200
+CONFIG_USART3_BAUD=115200
+
+CONFIG_USART1_BITS=8
+CONFIG_USART2_BITS=8
+CONFIG_USART3_BITS=8
+
+CONFIG_USART1_PARITY=0
+CONFIG_USART2_PARITY=0
+CONFIG_USART3_PARITY=0
+
+CONFIG_USART1_2STOP=0
+CONFIG_USART2_2STOP=0
+CONFIG_USART3_2STOP=0
+
+CONFIG_USART1_RXDMA=y
+SERIAL_HAVE_CONSOLE_DMA=y
+# Conflicts with I2C1 DMA
+CONFIG_USART2_RXDMA=n
+CONFIG_USART3_RXDMA=y
+
+#
+# General build options
+#
+# CONFIG_RRLOAD_BINARY - make the rrload binary format used with
+#   BSPs from www.ridgerun.com using the tools/mkimage.sh script
+# CONFIG_INTELHEX_BINARY - make the Intel HEX binary format
+#   used with many different loaders using the GNU objcopy program
+#   Should not be selected if you are not using the GNU toolchain.
+# CONFIG_MOTOROLA_SREC - make the Motorola S-Record binary format
+#   used with many different loaders using the GNU objcopy program
+#   Should not be selected if you are not using the GNU toolchain.
+# CONFIG_RAW_BINARY - make a raw binary format file used with many
+#   different loaders using the GNU objcopy program.  This option
+#   should not be selected if you are not using the GNU toolchain.
+# CONFIG_HAVE_LIBM - toolchain supports libm.a
+#
+CONFIG_RRLOAD_BINARY=n
+CONFIG_INTELHEX_BINARY=n
+CONFIG_MOTOROLA_SREC=n
+CONFIG_RAW_BINARY=y
+CONFIG_HAVE_LIBM=n
+
+#
+# General OS setup
+#
+# CONFIG_APPS_DIR - Identifies the relative path to the directory
+#   that builds the application to link with NuttX.  Default: ../apps
+# CONFIG_DEBUG - enables built-in debug options
+# CONFIG_DEBUG_VERBOSE - enables verbose debug output
+# CONFIG_DEBUG_SYMBOLS - build without optimization and with
+#   debug symbols (needed for use with a debugger).
+# CONFIG_HAVE_CXX - Enable support for C++
+# CONFIG_HAVE_CXXINITIALIZE - The platform-specific logic includes support
+#   for initialization of static C++ instances for this architecture
+#   and for the selected toolchain (via up_cxxinitialize()).
+# CONFIG_MM_REGIONS - If the architecture includes multiple
+#   regions of memory to allocate from, this specifies the
+#   number of memory regions that the memory manager must
+#   handle and enables the API mm_addregion(start, end);
+# CONFIG_ARCH_LOWPUTC - architecture supports low-level, boot
+#   time console output
+# CONFIG_MSEC_PER_TICK - The default system timer is 100Hz
+#   or MSEC_PER_TICK=10.  This setting may be defined to
+#   inform NuttX that the processor hardware is providing
+#   system timer interrupts at some interrupt interval other
+#   than 10 msec.
+# CONFIG_RR_INTERVAL - The round robin timeslice will be set
+#   this number of milliseconds;  Round robin scheduling can
+#   be disabled by setting this value to zero.
+# CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in 
+#   scheduler to monitor system performance
+# CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a
+#   task name to save in the TCB.  Useful if scheduler
+#   instrumentation is selected.  Set to zero to disable.
+# CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY -
+#   Used to initialize the internal time logic.
+# CONFIG_GREGORIAN_TIME - Enables Gregorian time conversions.
+#   You would only need this if you are concerned about accurate
+#   time conversions in the past or in the distant future.
+# CONFIG_JULIAN_TIME - Enables Julian time conversions. You
+#   would only need this if you are concerned about accurate
+#   time conversion in the distand past.  You must also define
+#   CONFIG_GREGORIAN_TIME in order to use Julian time.
+# CONFIG_DEV_CONSOLE - Set if architecture-specific logic
+#   provides /dev/console.  Enables stdout, stderr, stdin.
+# CONFIG_DEV_LOWCONSOLE - Use the simple, low-level serial console
+#   driver (minimul support)
+# CONFIG_MUTEX_TYPES: Set to enable support for recursive and
+#   errorcheck mutexes. Enables pthread_mutexattr_settype().
+# CONFIG_PRIORITY_INHERITANCE : Set to enable support for priority
+#   inheritance on mutexes and semaphores. 
+# CONFIG_SEM_PREALLOCHOLDERS: This setting is only used if priority
+#   inheritance is enabled.  It defines the maximum number of
+#   different threads (minus one) that can take counts on a
+#   semaphore with priority inheritance support.  This may be 
+#   set to zero if priority inheritance is disabled OR if you
+#   are only using semaphores as mutexes (only one holder) OR
+#   if no more than two threads participate using a counting
+#   semaphore.
+# CONFIG_SEM_NNESTPRIO.  If priority inheritance is enabled,
+#   then this setting is the maximum number of higher priority
+#   threads (minus 1) than can be waiting for another thread
+#   to release a count on a semaphore.  This value may be set
+#   to zero if no more than one thread is expected to wait for
+#   a semaphore.
+# CONFIG_FDCLONE_DISABLE. Disable cloning of all file descriptors
+#   by task_create() when a new task is started.  If set, all
+#   files/drivers will appear to be closed in the new task.
+# CONFIG_FDCLONE_STDIO. Disable cloning of all but the first
+#   three file descriptors (stdin, stdout, stderr) by task_create()
+#   when a new task is started. If set, all files/drivers will
+#   appear to be closed in the new task except for stdin, stdout,
+#   and stderr.
+# CONFIG_SDCLONE_DISABLE. Disable cloning of all socket
+#   desciptors by task_create() when a new task is started. If
+#   set, all sockets will appear to be closed in the new task.
+# CONFIG_SCHED_WORKQUEUE.  Create a dedicated "worker" thread to
+#  handle delayed processing from interrupt handlers.  This feature
+#  is required for some drivers but, if there are not complaints,
+#  can be safely disabled.  The worker thread also performs
+#  garbage collection -- completing any delayed memory deallocations
+#  from interrupt handlers.  If the worker thread is disabled,
+#  then that clean will be performed by the IDLE thread instead
+#  (which runs at the lowest of priority and may not be appropriate
+#  if memory reclamation is of high priority).  If CONFIG_SCHED_WORKQUEUE
+#  is enabled, then the following options can also be used:
+# CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker
+#  thread.  Default: 50
+# CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for
+#  work in units of microseconds.  Default: 50*1000 (50 MS).
+# CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker
+#  thread.  Default: CONFIG_IDLETHREAD_STACKSIZE.
+# CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up
+#  the worker thread.  Default: 4
+# CONFIG_SCHED_WAITPID - Enable the waitpid() API
+# CONFIG_SCHED_ATEXIT - Enabled the atexit() API
+#
+CONFIG_USER_ENTRYPOINT="user_start"
+#CONFIG_APPS_DIR=
+CONFIG_DEBUG=n
+CONFIG_DEBUG_VERBOSE=n
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_FS=n
+CONFIG_DEBUG_GRAPHICS=n
+CONFIG_DEBUG_LCD=n
+CONFIG_DEBUG_USB=n
+CONFIG_DEBUG_NET=n
+CONFIG_DEBUG_RTC=n
+CONFIG_DEBUG_ANALOG=n
+CONFIG_DEBUG_PWM=n
+CONFIG_DEBUG_CAN=n
+CONFIG_DEBUG_I2C=n
+CONFIG_DEBUG_INPUT=n
+
+CONFIG_MSEC_PER_TICK=1
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_MM_REGIONS=1
+CONFIG_MM_SMALL=y
+CONFIG_ARCH_LOWPUTC=y
+CONFIG_RR_INTERVAL=0
+CONFIG_SCHED_INSTRUMENTATION=n
+CONFIG_TASK_NAME_SIZE=8
+CONFIG_START_YEAR=1970
+CONFIG_START_MONTH=1
+CONFIG_START_DAY=1
+CONFIG_GREGORIAN_TIME=n
+CONFIG_JULIAN_TIME=n
+# this eats ~1KiB of RAM ... work out why
+CONFIG_DEV_CONSOLE=y
+CONFIG_DEV_LOWCONSOLE=n
+CONFIG_MUTEX_TYPES=n
+CONFIG_PRIORITY_INHERITANCE=n
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_NNESTPRIO=0
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SCHED_WORKQUEUE=n
+CONFIG_SCHED_WORKPRIORITY=50
+CONFIG_SCHED_WORKPERIOD=50000
+CONFIG_SCHED_WORKSTACKSIZE=1024
+CONFIG_SIG_SIGWORK=4
+CONFIG_SCHED_WAITPID=n
+CONFIG_SCHED_ATEXIT=n
+
+#
+# The following can be used to disable categories of
+# APIs supported by the OS.  If the compiler supports
+# weak functions, then it should not be necessary to
+# disable functions unless you want to restrict usage
+# of those APIs.
+#
+# There are certain dependency relationships in these
+# features.
+#
+# o mq_notify logic depends on signals to awaken tasks
+#   waiting for queues to become full or empty.
+# o pthread_condtimedwait() depends on signals to wake
+#   up waiting tasks.
+#
+CONFIG_DISABLE_CLOCK=n
+CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_DISABLE_SIGNALS=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_ENVIRON=y
+CONFIG_DISABLE_POLL=y
+
+#
+# Misc libc settings
+#
+# CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a
+#   little smaller if we do not support fieldwidthes
+#
+CONFIG_NOPRINTF_FIELDWIDTH=n
+
+#
+# Allow for architecture optimized implementations
+#
+# The architecture can provide optimized versions of the
+# following to improve system performance
+#
+CONFIG_ARCH_MEMCPY=n
+CONFIG_ARCH_MEMCMP=n
+CONFIG_ARCH_MEMMOVE=n
+CONFIG_ARCH_MEMSET=n
+CONFIG_ARCH_STRCMP=n
+CONFIG_ARCH_STRCPY=n
+CONFIG_ARCH_STRNCPY=n
+CONFIG_ARCH_STRLEN=n
+CONFIG_ARCH_STRNLEN=n
+CONFIG_ARCH_BZERO=n
+
+#
+# Sizes of configurable things (0 disables)
+#
+# CONFIG_MAX_TASKS - The maximum number of simultaneously
+#   active tasks.  This value must be a power of two.
+# CONFIG_MAX_TASK_ARGS - This controls the maximum number of
+#   of parameters that a task may receive (i.e., maxmum value
+#   of 'argc')
+# CONFIG_NPTHREAD_KEYS - The number of items of thread-
+#   specific data that can be retained
+# CONFIG_NFILE_DESCRIPTORS - The maximum number of file
+#   descriptors (one for each open)
+# CONFIG_NFILE_STREAMS - The maximum number of streams that
+#   can be fopen'ed
+# CONFIG_NAME_MAX - The maximum size of a file name.
+# CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate
+#   on fopen. (Only if CONFIG_NFILE_STREAMS > 0)
+# CONFIG_STDIO_LINEBUFFER - If standard C buffered I/O is enabled
+#   (CONFIG_STDIO_BUFFER_SIZE > 0), then this option may be added
+#   to force automatic, line-oriented flushing the output buffer
+#   for putc(), fputc(), putchar(), puts(), fputs(), printf(),
+#   fprintf(), and vfprintf().  When a newline is encountered in
+#   the output string, the output buffer will be flushed.  This
+#   (slightly) increases the NuttX footprint but supports the kind
+#   of behavior that people expect for printf().
+# CONFIG_NUNGET_CHARS - Number of characters that can be
+#   buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0)
+# CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message
+#   structures.  The system manages a pool of preallocated
+#   message structures to minimize dynamic allocations
+# CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with
+#   a fixed payload size given by this settin (does not include
+#   other message structure overhead.
+# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that
+#   can be passed to a watchdog handler
+# CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog
+#   structures.  The system manages a pool of preallocated
+#   watchdog structures to minimize dynamic allocations
+# CONFIG_PREALLOC_TIMERS - The number of pre-allocated POSIX
+#   timer structures.  The system manages a pool of preallocated
+#   timer structures to minimize dynamic allocations.  Set to
+#   zero for all dynamic allocations.
+#
+CONFIG_MAX_TASKS=4
+CONFIG_MAX_TASK_ARGS=4
+CONFIG_NPTHREAD_KEYS=2
+CONFIG_NFILE_DESCRIPTORS=8
+CONFIG_NFILE_STREAMS=0
+CONFIG_NAME_MAX=12
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STDIO_LINEBUFFER=n
+CONFIG_NUNGET_CHARS=2
+CONFIG_PREALLOC_MQ_MSGS=4
+CONFIG_MQ_MAXMSGSIZE=32
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_PREALLOC_WDOGS=4
+CONFIG_PREALLOC_TIMERS=0
+
+
+#
+# Settings for apps/nshlib
+#
+# CONFIG_NSH_BUILTIN_APPS - Support external registered,
+#   "named" applications that can be executed from the NSH
+#   command line (see apps/README.txt for more information).
+# CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer
+# CONFIG_NSH_STRERROR - Use strerror(errno)
+# CONFIG_NSH_LINELEN - Maximum length of one command line
+# CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi
+# CONFIG_NSH_DISABLESCRIPT - Disable scripting support
+# CONFIG_NSH_DISABLEBG - Disable background commands
+# CONFIG_NSH_ROMFSETC - Use startup script in /etc
+# CONFIG_NSH_CONSOLE - Use serial console front end
+# CONFIG_NSH_TELNET - Use telnetd console front end
+# CONFIG_NSH_ARCHINIT - Platform provides architecture
+#   specific initialization (nsh_archinitialize()).
+#
+
+# Disable NSH completely
+CONFIG_NSH_CONSOLE=n
+
+#
+# Stack and heap information
+#
+# CONFIG_BOOT_RUNFROMFLASH - Some configurations support XIP
+#   operation from FLASH but must copy initialized .data sections to RAM.
+#   (should also be =n for the STM3210E-EVAL which always runs from flash)
+# CONFIG_BOOT_COPYTORAM -  Some configurations boot in FLASH
+#   but copy themselves entirely into RAM for better performance.
+# CONFIG_CUSTOM_STACK - The up_ implementation will handle
+#   all stack operations outside of the nuttx model.
+# CONFIG_STACK_POINTER - The initial stack pointer (arm7tdmi only)
+# CONFIG_IDLETHREAD_STACKSIZE - The size of the initial stack.
+#  This is the thread that (1) performs the inital boot of the system up
+#  to the point where user_start() is spawned, and (2) there after is the
+#  IDLE thread that executes only when there is no other thread ready to
+#  run.
+# CONFIG_USERMAIN_STACKSIZE - The size of the stack to allocate
+#  for the main user thread that begins at the user_start() entry point.
+# CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size
+# CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size
+# CONFIG_HEAP_BASE - The beginning of the heap
+# CONFIG_HEAP_SIZE - The size of the heap
+#
+CONFIG_BOOT_RUNFROMFLASH=n
+CONFIG_BOOT_COPYTORAM=n
+CONFIG_CUSTOM_STACK=n
+CONFIG_STACK_POINTER=
+CONFIG_IDLETHREAD_STACKSIZE=1024
+CONFIG_USERMAIN_STACKSIZE=1200
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_PTHREAD_STACK_DEFAULT=1024
+CONFIG_HEAP_BASE=
+CONFIG_HEAP_SIZE=
+
+#
+# NSH Library
+#
+# CONFIG_NSH_LIBRARY is not set
+# CONFIG_NSH_BUILTIN_APPS is not set

nuttx-configs/px4io-v1/nsh/setenv.sh

@@ -0,0 +1,47 @@
+#!/bin/bash
+# configs/stm3210e-eval/dfu/setenv.sh
+#
+#   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# 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.
+#
+
+if [ "$(basename $0)" = "setenv.sh" ] ; then
+  echo "You must source this script, not run it!" 1>&2
+  exit 1
+fi
+
+if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
+
+WD=`pwd`
+export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
+export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
+export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"

nuttx-configs/px4io-v1/scripts/ld.script

@@ -0,0 +1,129 @@
+/****************************************************************************
+ * configs/stm3210e-eval/nsh/ld.script
+ *
+ *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 STM32F100C8 has 64Kb of FLASH beginning at address 0x0800:0000 and
+ * 8Kb of SRAM beginning at address 0x2000:0000.  When booting from FLASH,
+ * FLASH memory is aliased to address 0x0000:0000 where the code expects to
+ * begin execution by jumping to the entry point in the 0x0800:0000 address
+ * range.
+ */
+
+MEMORY
+{
+    flash (rx) : ORIGIN = 0x08001000, LENGTH = 60K
+    sram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
+}
+
+OUTPUT_ARCH(arm)
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/* 
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)        
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)        
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	/* The STM32F100CB has 8Kb of SRAM beginning at the following address */
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* 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) }
+}

nuttx-configs/px4io-v1/src/Makefile

@@ -0,0 +1,84 @@
+############################################################################
+# configs/stm3210e-eval/src/Makefile
+#
+#   Copyright (C) 2009-2010 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# 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 $(TOPDIR)/Make.defs
+
+CFLAGS		+= -I$(TOPDIR)/sched
+
+ASRCS		= 
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+
+CSRCS		= empty.c
+
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+ifeq ($(WINTOOL),y)
+  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
+  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
+  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+else
+  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
+endif
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+libboard$(LIBEXT): $(OBJS)
+	$(call ARCHIVE, $@, $(OBJS))
+
+.depend: Makefile $(SRCS)
+	@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@touch $@
+
+depend: .depend
+
+clean:
+	$(call DELFILE, libboard$(LIBEXT))
+	$(call CLEAN)
+
+distclean: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+
+-include Make.dep

nuttx-configs/px4io-v1/src/empty.c

@@ -0,0 +1,4 @@
+/*
+ * There are no source files here, but libboard.a can't be empty, so 
+ * we have this empty source file to keep it company.
+ */

src/drivers/airspeed/airspeed.cpp

@@ -0,0 +1,378 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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 ets_airspeed.cpp
+ * @author Simon Wilks
+ *
+ * Driver for the Eagle Tree Airspeed V3 connected via I2C.
+ */
+
+#include <nuttx/config.h>
+
+#include <drivers/device/i2c.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+
+#include <arch/board/board.h>
+
+#include <systemlib/airspeed.h>
+#include <systemlib/err.h>
+#include <systemlib/param/param.h>
+#include <systemlib/perf_counter.h>
+
+#include <drivers/drv_airspeed.h>
+#include <drivers/drv_hrt.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/differential_pressure.h>
+#include <uORB/topics/subsystem_info.h>
+
+#include <drivers/airspeed/airspeed.h>
+
+Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) :
+	I2C("Airspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000),
+	_num_reports(0),
+	_next_report(0),
+	_oldest_report(0),
+	_reports(nullptr),
+	_sensor_ok(false),
+	_measure_ticks(0),
+	_collect_phase(false),
+	_diff_pres_offset(0.0f),
+	_airspeed_pub(-1),
+	_conversion_interval(conversion_interval),
+	_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
+	_comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors")),
+	_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows"))
+{
+	// enable debug() calls
+	_debug_enabled = true;
+
+	// work_cancel in the dtor will explode if we don't do this...
+	memset(&_work, 0, sizeof(_work));
+}
+
+Airspeed::~Airspeed()
+{
+	/* make sure we are truly inactive */
+	stop();
+
+	/* free any existing reports */
+	if (_reports != nullptr)
+		delete[] _reports;
+}
+
+int
+Airspeed::init()
+{
+	int ret = ERROR;
+
+	/* do I2C init (and probe) first */
+	if (I2C::init() != OK)
+		goto out;
+
+	/* allocate basic report buffers */
+	_num_reports = 2;
+	_reports = new struct differential_pressure_s[_num_reports];
+
+	for (unsigned i = 0; i < _num_reports; i++)
+		_reports[i].max_differential_pressure_pa = 0;
+
+	if (_reports == nullptr)
+		goto out;
+
+	_oldest_report = _next_report = 0;
+
+	/* get a publish handle on the airspeed topic */
+	memset(&_reports[0], 0, sizeof(_reports[0]));
+	_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_reports[0]);
+
+	if (_airspeed_pub < 0)
+		warnx("failed to create airspeed sensor object. Did you start uOrb?");
+
+	ret = OK;
+	/* sensor is ok, but we don't really know if it is within range */
+	_sensor_ok = true;
+out:
+	return ret;
+}
+
+int
+Airspeed::probe()
+{
+	return measure();
+}
+
+int
+Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+	case SENSORIOCSPOLLRATE: {
+			switch (arg) {
+
+				/* switching to manual polling */
+			case SENSOR_POLLRATE_MANUAL:
+				stop();
+				_measure_ticks = 0;
+				return OK;
+
+				/* external signalling (DRDY) not supported */
+			case SENSOR_POLLRATE_EXTERNAL:
+
+				/* zero would be bad */
+			case 0:
+				return -EINVAL;
+
+				/* set default/max polling rate */
+			case SENSOR_POLLRATE_MAX:
+			case SENSOR_POLLRATE_DEFAULT: {
+					/* do we need to start internal polling? */
+					bool want_start = (_measure_ticks == 0);
+
+					/* set interval for next measurement to minimum legal value */
+					_measure_ticks = USEC2TICK(_conversion_interval);
+
+					/* if we need to start the poll state machine, do it */
+					if (want_start)
+						start();
+
+					return OK;
+				}
+
+				/* adjust to a legal polling interval in Hz */
+			default: {
+					/* do we need to start internal polling? */
+					bool want_start = (_measure_ticks == 0);
+
+					/* convert hz to tick interval via microseconds */
+					unsigned ticks = USEC2TICK(1000000 / arg);
+
+					/* check against maximum rate */
+					if (ticks < USEC2TICK(_conversion_interval))
+						return -EINVAL;
+
+					/* update interval for next measurement */
+					_measure_ticks = ticks;
+
+					/* if we need to start the poll state machine, do it */
+					if (want_start)
+						start();
+
+					return OK;
+				}
+			}
+		}
+
+	case SENSORIOCGPOLLRATE:
+		if (_measure_ticks == 0)
+			return SENSOR_POLLRATE_MANUAL;
+
+		return (1000 / _measure_ticks);
+
+	case SENSORIOCSQUEUEDEPTH: {
+			/* add one to account for the sentinel in the ring */
+			arg++;
+
+			/* lower bound is mandatory, upper bound is a sanity check */
+			if ((arg < 2) || (arg > 100))
+				return -EINVAL;
+
+			/* allocate new buffer */
+			struct differential_pressure_s *buf = new struct differential_pressure_s[arg];
+
+			if (nullptr == buf)
+				return -ENOMEM;
+
+			/* reset the measurement state machine with the new buffer, free the old */
+			stop();
+			delete[] _reports;
+			_num_reports = arg;
+			_reports = buf;
+			start();
+
+			return OK;
+		}
+
+	case SENSORIOCGQUEUEDEPTH:
+		return _num_reports - 1;
+
+	case SENSORIOCRESET:
+		/* XXX implement this */
+		return -EINVAL;
+
+	case AIRSPEEDIOCSSCALE: {
+		struct airspeed_scale *s = (struct airspeed_scale*)arg;
+		_diff_pres_offset = s->offset_pa;
+		return OK;
+		}
+
+	case AIRSPEEDIOCGSCALE: {
+		struct airspeed_scale *s = (struct airspeed_scale*)arg;
+		s->offset_pa = _diff_pres_offset;
+		s->scale = 1.0f;
+		return OK;
+		}
+
+	default:
+		/* give it to the superclass */
+		return I2C::ioctl(filp, cmd, arg);
+	}
+}
+
+ssize_t
+Airspeed::read(struct file *filp, char *buffer, size_t buflen)
+{
+	unsigned count = buflen / sizeof(struct differential_pressure_s);
+	int ret = 0;
+
+	/* buffer must be large enough */
+	if (count < 1)
+		return -ENOSPC;
+
+	/* if automatic measurement is enabled */
+	if (_measure_ticks > 0) {
+
+		/*
+		 * While there is space in the caller's buffer, and reports, copy them.
+		 * Note that we may be pre-empted by the workq thread while we are doing this;
+		 * we are careful to avoid racing with them.
+		 */
+		while (count--) {
+			if (_oldest_report != _next_report) {
+				memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
+				ret += sizeof(_reports[0]);
+				INCREMENT(_oldest_report, _num_reports);
+			}
+		}
+
+		/* if there was no data, warn the caller */
+		return ret ? ret : -EAGAIN;
+	}
+
+	/* manual measurement - run one conversion */
+	/* XXX really it'd be nice to lock against other readers here */
+	do {
+		_oldest_report = _next_report = 0;
+
+		/* trigger a measurement */
+		if (OK != measure()) {
+			ret = -EIO;
+			break;
+		}
+
+		/* wait for it to complete */
+		usleep(_conversion_interval);
+
+		/* run the collection phase */
+		if (OK != collect()) {
+			ret = -EIO;
+			break;
+		}
+
+		/* state machine will have generated a report, copy it out */
+		memcpy(buffer, _reports, sizeof(*_reports));
+		ret = sizeof(*_reports);
+
+	} while (0);
+
+	return ret;
+}
+
+void
+Airspeed::start()
+{
+	/* reset the report ring and state machine */
+	_collect_phase = false;
+	_oldest_report = _next_report = 0;
+
+	/* schedule a cycle to start things */
+	work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1);
+
+	/* notify about state change */
+	struct subsystem_info_s info = {
+		true,
+		true,
+		true,
+		SUBSYSTEM_TYPE_DIFFPRESSURE
+	};
+	static orb_advert_t pub = -1;
+
+	if (pub > 0) {
+		orb_publish(ORB_ID(subsystem_info), pub, &info);
+
+	} else {
+		pub = orb_advertise(ORB_ID(subsystem_info), &info);
+	}
+}
+
+void
+Airspeed::stop()
+{
+	work_cancel(HPWORK, &_work);
+}
+
+void
+Airspeed::cycle_trampoline(void *arg)
+{
+	Airspeed *dev = (Airspeed *)arg;
+
+	dev->cycle();
+}
+
+void
+Airspeed::print_info()
+{
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+	perf_print_counter(_buffer_overflows);
+	warnx("poll interval:  %u ticks", _measure_ticks);
+	warnx("report queue:   %u (%u/%u @ %p)",
+	       _num_reports, _oldest_report, _next_report, _reports);
+}

src/drivers/airspeed/airspeed.h

@@ -0,0 +1,169 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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 airspeed.h
+ * @author Simon Wilks
+ *
+ * Generic driver for airspeed sensors connected via I2C.
+ */
+
+#include <nuttx/config.h>
+
+#include <drivers/device/i2c.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+
+#include <arch/board/board.h>
+
+#include <systemlib/airspeed.h>
+#include <systemlib/err.h>
+#include <systemlib/param/param.h>
+#include <systemlib/perf_counter.h>
+
+#include <drivers/drv_airspeed.h>
+#include <drivers/drv_hrt.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/differential_pressure.h>
+#include <uORB/topics/subsystem_info.h>
+
+/* Default I2C bus */
+#define PX4_I2C_BUS_DEFAULT		PX4_I2C_BUS_EXPANSION
+
+/* Oddly, ERROR is not defined for C++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+class __EXPORT Airspeed : public device::I2C
+{
+public:
+	Airspeed(int bus, int address, unsigned conversion_interval);
+	virtual ~Airspeed();
+
+	virtual int	init();
+
+	virtual ssize_t	read(struct file *filp, char *buffer, size_t buflen);
+	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	/**
+	 * Diagnostics - print some basic information about the driver.
+	 */
+	virtual void	print_info();
+
+protected:
+	virtual int	probe();
+
+	/**
+	* Perform a poll cycle; collect from the previous measurement
+	* and start a new one.
+	*/
+	virtual void	cycle() = 0;
+	virtual int	measure() = 0;
+	virtual int	collect() = 0;
+
+	work_s			_work;
+	unsigned		_num_reports;
+	volatile unsigned	_next_report;
+	volatile unsigned	_oldest_report;
+	differential_pressure_s	*_reports;
+	bool			_sensor_ok;
+	int			_measure_ticks;
+	bool			_collect_phase;
+	float			_diff_pres_offset;
+
+	orb_advert_t		_airspeed_pub;
+
+	unsigned		_conversion_interval;
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_comms_errors;
+	perf_counter_t		_buffer_overflows;
+
+
+	/**
+	* Test whether the device supported by the driver is present at a
+	* specific address.
+	*
+	* @param address	The I2C bus address to probe.
+	* @return		True if the device is present.
+	*/
+	int	probe_address(uint8_t address);
+
+	/**
+	* Initialise the automatic measurement state machine and start it.
+	*
+	* @note This function is called at open and error time.  It might make sense
+	*       to make it more aggressive about resetting the bus in case of errors.
+	*/
+	void	start();
+
+	/**
+	* Stop the automatic measurement state machine.
+	*/
+	void	stop();
+
+	/**
+	* Static trampoline from the workq context; because we don't have a
+	* generic workq wrapper yet.
+	*
+	* @param arg		Instance pointer for the driver that is polling.
+	*/
+	static void	cycle_trampoline(void *arg);
+
+};
+
+/* helper macro for handling report buffer indices */
+#define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)
+

src/drivers/airspeed/module.mk

@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (c) 2013 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.
+#
+############################################################################
+
+#
+# Makefile to build the generic airspeed driver.
+#
+
+SRCS			= airspeed.cpp

src/drivers/device/cdev.cpp

@@ -111,21 +111,21 @@ CDev::~CDev()
 int
 CDev::init()
 {
-	int ret = OK;
-
 	// base class init first
-	ret = Device::init();
+	int ret = Device::init();
 
 	if (ret != OK)
 		goto out;
 
 	// now register the driver
-	ret = register_driver(_devname, &fops, 0666, (void *)this);
+	if (_devname != nullptr) {
+		ret = register_driver(_devname, &fops, 0666, (void *)this);
 
-	if (ret != OK)
-		goto out;
+		if (ret != OK)
+			goto out;
 
-	_registered = true;
+		_registered = true;
+	}
 
 out:
 	return ret;
@@ -395,4 +395,4 @@ cdev_poll(struct file *filp, struct pollfd *fds, bool setup)
 	return cdev->poll(filp, fds, setup);
 }
 
-} // namespace device
+} // namespace device

src/drivers/device/device.cpp

@@ -223,5 +223,22 @@ interrupt(int irq, void *context)
 	return OK;
 }
 
+int
+Device::read(unsigned offset, void *data, unsigned count)
+{
+	return -ENODEV;
+}
 
-} // namespace device
+int
+Device::write(unsigned offset, void *data, unsigned count)
+{
+	return -ENODEV;
+}
+
+int
+Device::ioctl(unsigned operation, unsigned &arg)
+{
+	return -ENODEV;
+}
+
+} // namespace device

src/drivers/device/device.h

@@ -68,11 +68,62 @@ namespace device __EXPORT
 class __EXPORT Device
 {
 public:
+	/**
+	 * Destructor.
+	 *
+	 * Public so that anonymous devices can be destroyed.
+	 */
+	virtual ~Device();
+
 	/**
 	 * Interrupt handler.
 	 */
 	virtual void	interrupt(void *ctx);	/**< interrupt handler */
 
+	/*
+	 * Direct access methods.
+	 */
+
+	/**
+	 * Initialise the driver and make it ready for use.
+	 *
+	 * @return	OK if the driver initialized OK, negative errno otherwise;
+	 */
+	virtual int	init();
+
+	/**
+	 * Read directly from the device.
+	 *
+	 * The actual size of each unit quantity is device-specific.
+	 *
+	 * @param offset	The device address at which to start reading
+	 * @param data		The buffer into which the read values should be placed.
+	 * @param count		The number of items to read.
+	 * @return		The number of items read on success, negative errno otherwise.
+	 */
+	virtual int	read(unsigned address, void *data, unsigned count);
+
+	/**
+	 * Write directly to the device.
+	 *
+	 * The actual size of each unit quantity is device-specific.
+	 *
+	 * @param address	The device address at which to start writing.
+	 * @param data		The buffer from which values should be read.
+	 * @param count		The number of items to write.
+	 * @return		The number of items written on success, negative errno otherwise.
+	 */	 
+	virtual int	write(unsigned address, void *data, unsigned count);
+
+	/**
+	 * Perform a device-specific operation.
+	 *
+	 * @param operation	The operation to perform.
+	 * @param arg		An argument to the operation.
+	 * @return		Negative errno on error, OK or positive value on success.
+	 */
+	virtual int	ioctl(unsigned operation, unsigned &arg);
+
 protected:
 	const char	*_name;			/**< driver name */
 	bool		_debug_enabled;		/**< if true, debug messages are printed */
@@ -85,14 +136,6 @@ protected:
 	 */
 	Device(const char *name,
 	       int irq = 0);
-	~Device();
-
-	/**
-	 * Initialise the driver and make it ready for use.
-	 *
-	 * @return	OK if the driver initialised OK.
-	 */
-	virtual int	init();
 
 	/**
 	 * Enable the device interrupt
@@ -189,7 +232,7 @@ public:
 	/**
 	 * Destructor
 	 */
-	~CDev();
+	virtual ~CDev();
 
 	virtual int	init();
 
@@ -282,6 +325,7 @@ public:
 	 * Test whether the device is currently open.
 	 *
 	 * This can be used to avoid tearing down a device that is still active.
+	 * Note - not virtual, cannot be overridden by a subclass.
 	 *
 	 * @return              True if the device is currently open.
 	 */
@@ -396,9 +440,9 @@ public:
 	    const char *devname,
 	    uint32_t base,
 	    int irq = 0);
-	~PIO();
+	virtual ~PIO();
 
-	int		init();
+	virtual int	init();
 
 protected:
 
@@ -407,7 +451,7 @@ protected:
 	 *
 	 * @param offset	Register offset in bytes from the base address.
 	 */
-	uint32_t reg(uint32_t offset) {
+	uint32_t	reg(uint32_t offset) {
 		return *(volatile uint32_t *)(_base + offset);
 	}
 
@@ -444,4 +488,4 @@ private:
 
 } // namespace device
 
-#endif /* _DEVICE_DEVICE_H */
+#endif /* _DEVICE_DEVICE_H */

src/drivers/device/i2c.h

@@ -55,13 +55,11 @@ class __EXPORT I2C : public CDev
 
 public:
 
-    /**
-     * Get the address
-     */
-    uint16_t get_address() {
-      return _address;
-    }
-
+	/**
+	 * Get the address
+	 */
+	int16_t		get_address() { return _address; }
+	
 protected:
 	/**
 	 * The number of times a read or write operation will be retried on
@@ -90,7 +88,7 @@ protected:
 	    uint16_t address,
 	    uint32_t frequency,
 	    int irq = 0);
-	~I2C();
+	virtual ~I2C();
 
 	virtual int	init();
 

src/drivers/device/ringbuffer.h

@@ -0,0 +1,203 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 ringbuffer.h
+ *
+ * A simple ringbuffer template.
+ */
+
+#pragma once
+
+template<typename T>
+class RingBuffer {
+public:
+	RingBuffer(unsigned size);
+	virtual ~RingBuffer();
+
+	/**
+	 * Put an item into the buffer.
+	 *
+	 * @param val		Item to put
+	 * @return		true if the item was put, false if the buffer is full
+	 */
+	bool			put(T &val);
+
+	/**
+	 * Put an item into the buffer.
+	 *
+	 * @param val		Item to put
+	 * @return		true if the item was put, false if the buffer is full
+	 */
+	bool			put(const T &val);
+
+	/**
+	 * Get an item from the buffer.
+	 *
+	 * @param val		Item that was gotten
+	 * @return		true if an item was got, false if the buffer was empty.
+	 */
+	bool			get(T &val);
+
+	/**
+	 * Get an item from the buffer (scalars only).
+	 *
+	 * @return		The value that was fetched, or zero if the buffer was
+	 *			empty.
+	 */
+	T			get(void);
+
+	/*
+	 * Get the number of slots free in the buffer.
+	 *
+	 * @return		The number of items that can be put into the buffer before
+	 *			it becomes full.
+	 */
+	unsigned		space(void);
+
+	/*
+	 * Get the number of items in the buffer.
+	 *
+	 * @return		The number of items that can be got from the buffer before
+	 *			it becomes empty.
+	 */
+	unsigned		count(void);
+
+	/*
+	 * Returns true if the buffer is empty.
+	 */
+	bool			empty() { return _tail == _head; }
+
+	/*
+	 * Returns true if the buffer is full.
+	 */
+	bool			full() { return _next(_head) == _tail; }
+
+	/*
+	 * Returns the capacity of the buffer, or zero if the buffer could
+	 * not be allocated.
+	 */
+	unsigned		size() { return (_buf != nullptr) ? _size : 0; }
+
+	/*
+	 * Empties the buffer.
+	 */
+	void			flush() { _head = _tail = _size; }
+
+private:
+	T			*const _buf;	
+	const unsigned		_size;
+	volatile unsigned	_head;	/**< insertion point */
+	volatile unsigned	_tail;	/**< removal point */
+
+	unsigned		_next(unsigned index);
+};
+
+template <typename T>
+RingBuffer<T>::RingBuffer(unsigned with_size) :
+	_buf(new T[with_size + 1]),
+	_size(with_size),
+ 	_head(with_size),
+ 	_tail(with_size)
+{}
+
+template <typename T>
+RingBuffer<T>::~RingBuffer()
+{
+	if (_buf != nullptr)
+		delete[] _buf;
+}
+
+template <typename T>
+bool RingBuffer<T>::put(T &val) 
+{
+	unsigned next = _next(_head);
+	if (next != _tail) {
+		_buf[_head] = val;
+		_head = next;
+		return true;
+	} else {
+		return false;
+	}
+}
+
+template <typename T>
+bool RingBuffer<T>::put(const T &val) 
+{
+	unsigned next = _next(_head);
+	if (next != _tail) {
+		_buf[_head] = val;
+		_head = next;
+		return true;
+	} else {
+		return false;
+	}
+}
+
+template <typename T>
+bool RingBuffer<T>::get(T &val) 
+{
+	if (_tail != _head) {
+		val = _buf[_tail];
+		_tail = _next(_tail);
+		return true;
+	} else {
+		return false;
+	}
+}
+
+template <typename T>
+T RingBuffer<T>::get(void) 
+{
+	T val;
+	return get(val) ? val : 0;
+}
+
+template <typename T>
+unsigned RingBuffer<T>::space(void) 
+{
+	return (_tail >= _head) ? (_size - (_tail - _head)) : (_head - _tail - 1);
+}
+
+template <typename T>
+unsigned RingBuffer<T>::count(void) 
+{
+	return _size - space();
+}
+
+template <typename T>
+unsigned RingBuffer<T>::_next(unsigned index) 
+{
+	return (0 == index) ? _size : (index - 1);
+}

src/drivers/device/spi.h

@@ -71,7 +71,7 @@ protected:
 	    enum spi_mode_e mode,
 	    uint32_t frequency,
 	    int irq = 0);
-	~SPI();
+	virtual ~SPI();
 
 	virtual int	init();
 

src/drivers/drv_airspeed.h

@@ -57,5 +57,14 @@
 #define _AIRSPEEDIOCBASE		(0x7700)
 #define __AIRSPEEDIOC(_n)		(_IOC(_AIRSPEEDIOCBASE, _n))
 
+#define AIRSPEEDIOCSSCALE		__AIRSPEEDIOC(0)
+#define AIRSPEEDIOCGSCALE		__AIRSPEEDIOC(1)
+
+
+/** airspeed scaling factors; out = (in * Vscale) + offset */
+struct airspeed_scale {
+	float	offset_pa;
+	float	scale;
+};
 
 #endif /* _DRV_AIRSPEED_H */

src/drivers/drv_pwm_output.h

@@ -118,11 +118,8 @@ ORB_DECLARE(output_pwm);
 /** start DSM bind */
 #define DSM_BIND_START	_IOC(_PWM_SERVO_BASE, 7)
 
-/** stop DSM bind */
-#define DSM_BIND_STOP	_IOC(_PWM_SERVO_BASE, 8)
-
 /** Power up DSM receiver */
-#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 9)
+#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 8)
 
 /** set a single servo to a specific value */
 #define PWM_SERVO_SET(_servo)	_IOC(_PWM_SERVO_BASE, 0x20 + _servo)

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -72,9 +72,7 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/subsystem_info.h>
-
-/* Default I2C bus */
-#define PX4_I2C_BUS_DEFAULT		PX4_I2C_BUS_EXPANSION
+#include <drivers/airspeed/airspeed.h>
 
 /* I2C bus address */
 #define I2C_ADDRESS	0x75	/* 7-bit address. 8-bit address is 0xEA */
@@ -91,336 +89,32 @@
 /* Measurement rate is 100Hz */
 #define CONVERSION_INTERVAL	(1000000 / 100)	/* microseconds */
 
-/* Oddly, ERROR is not defined for C++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
-#ifndef CONFIG_SCHED_WORKQUEUE
-# error This requires CONFIG_SCHED_WORKQUEUE.
-#endif
-
-class ETSAirspeed : public device::I2C
+class ETSAirspeed : public Airspeed
 {
 public:
 	ETSAirspeed(int bus, int address = I2C_ADDRESS);
-	virtual ~ETSAirspeed();
-
-	virtual int	init();
-
-	virtual ssize_t	read(struct file *filp, char *buffer, size_t buflen);
-	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
-
-	/**
-	 * Diagnostics - print some basic information about the driver.
-	 */
-	void		print_info();
 
 protected:
-	virtual int	probe();
-
-private:
-	work_s			_work;
-	unsigned		_num_reports;
-	volatile unsigned	_next_report;
-	volatile unsigned	_oldest_report;
-	differential_pressure_s	*_reports;
-	bool			_sensor_ok;
-	int			_measure_ticks;
-	bool			_collect_phase;
-	int			_diff_pres_offset;
-
-	orb_advert_t		_airspeed_pub;
-
-	perf_counter_t		_sample_perf;
-	perf_counter_t		_comms_errors;
-	perf_counter_t		_buffer_overflows;
-
-
-	/**
-	* Test whether the device supported by the driver is present at a
-	* specific address.
-	*
-	* @param address	The I2C bus address to probe.
-	* @return		True if the device is present.
-	*/
-	int	probe_address(uint8_t address);
-
-	/**
-	* Initialise the automatic measurement state machine and start it.
-	*
-	* @note This function is called at open and error time.  It might make sense
-	*       to make it more aggressive about resetting the bus in case of errors.
-	*/
-	void	start();
-
-	/**
-	* Stop the automatic measurement state machine.
-	*/
-	void	stop();
 
 	/**
 	* Perform a poll cycle; collect from the previous measurement
 	* and start a new one.
 	*/
-	void	cycle();
-	int	measure();
-	int	collect();
-
-	/**
-	* Static trampoline from the workq context; because we don't have a
-	* generic workq wrapper yet.
-	*
-	* @param arg		Instance pointer for the driver that is polling.
-	*/
-	static void	cycle_trampoline(void *arg);
-
+	virtual void	cycle();
+	virtual int	measure();
+	virtual int	collect();
 
 };
 
-/* helper macro for handling report buffer indices */
-#define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)
-
 /*
  * Driver 'main' command.
  */
 extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]);
 
-ETSAirspeed::ETSAirspeed(int bus, int address) :
-	I2C("ETSAirspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000),
-	_num_reports(0),
-	_next_report(0),
-	_oldest_report(0),
-	_reports(nullptr),
-	_sensor_ok(false),
-	_measure_ticks(0),
-	_collect_phase(false),
-	_diff_pres_offset(0),
-	_airspeed_pub(-1),
-	_sample_perf(perf_alloc(PC_ELAPSED, "ets_airspeed_read")),
-	_comms_errors(perf_alloc(PC_COUNT, "ets_airspeed_comms_errors")),
-	_buffer_overflows(perf_alloc(PC_COUNT, "ets_airspeed_buffer_overflows"))
+ETSAirspeed::ETSAirspeed(int bus, int address) : Airspeed(bus, address,
+	CONVERSION_INTERVAL)
 {
-	// enable debug() calls
-	_debug_enabled = true;
 
-	// work_cancel in the dtor will explode if we don't do this...
-	memset(&_work, 0, sizeof(_work));
-}
-
-ETSAirspeed::~ETSAirspeed()
-{
-	/* make sure we are truly inactive */
-	stop();
-
-	/* free any existing reports */
-	if (_reports != nullptr)
-		delete[] _reports;
-}
-
-int
-ETSAirspeed::init()
-{
-	int ret = ERROR;
-
-	/* do I2C init (and probe) first */
-	if (I2C::init() != OK)
-		goto out;
-
-	/* allocate basic report buffers */
-	_num_reports = 2;
-	_reports = new struct differential_pressure_s[_num_reports];
-
-	for (unsigned i = 0; i < _num_reports; i++)
-		_reports[i].max_differential_pressure_pa = 0;
-
-	if (_reports == nullptr)
-		goto out;
-
-	_oldest_report = _next_report = 0;
-
-	/* get a publish handle on the airspeed topic */
-	memset(&_reports[0], 0, sizeof(_reports[0]));
-	_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_reports[0]);
-
-	if (_airspeed_pub < 0)
-		debug("failed to create airspeed sensor object. Did you start uOrb?");
-
-	ret = OK;
-	/* sensor is ok, but we don't really know if it is within range */
-	_sensor_ok = true;
-out:
-	return ret;
-}
-
-int
-ETSAirspeed::probe()
-{
-	return measure();
-}
-
-int
-ETSAirspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	switch (cmd) {
-
-	case SENSORIOCSPOLLRATE: {
-			switch (arg) {
-
-				/* switching to manual polling */
-			case SENSOR_POLLRATE_MANUAL:
-				stop();
-				_measure_ticks = 0;
-				return OK;
-
-				/* external signalling (DRDY) not supported */
-			case SENSOR_POLLRATE_EXTERNAL:
-
-				/* zero would be bad */
-			case 0:
-				return -EINVAL;
-
-				/* set default/max polling rate */
-			case SENSOR_POLLRATE_MAX:
-			case SENSOR_POLLRATE_DEFAULT: {
-					/* do we need to start internal polling? */
-					bool want_start = (_measure_ticks == 0);
-
-					/* set interval for next measurement to minimum legal value */
-					_measure_ticks = USEC2TICK(CONVERSION_INTERVAL);
-
-					/* if we need to start the poll state machine, do it */
-					if (want_start)
-						start();
-
-					return OK;
-				}
-
-				/* adjust to a legal polling interval in Hz */
-			default: {
-					/* do we need to start internal polling? */
-					bool want_start = (_measure_ticks == 0);
-
-					/* convert hz to tick interval via microseconds */
-					unsigned ticks = USEC2TICK(1000000 / arg);
-
-					/* check against maximum rate */
-					if (ticks < USEC2TICK(CONVERSION_INTERVAL))
-						return -EINVAL;
-
-					/* update interval for next measurement */
-					_measure_ticks = ticks;
-
-					/* if we need to start the poll state machine, do it */
-					if (want_start)
-						start();
-
-					return OK;
-				}
-			}
-		}
-
-	case SENSORIOCGPOLLRATE:
-		if (_measure_ticks == 0)
-			return SENSOR_POLLRATE_MANUAL;
-
-		return (1000 / _measure_ticks);
-
-	case SENSORIOCSQUEUEDEPTH: {
-			/* add one to account for the sentinel in the ring */
-			arg++;
-
-			/* lower bound is mandatory, upper bound is a sanity check */
-			if ((arg < 2) || (arg > 100))
-				return -EINVAL;
-
-			/* allocate new buffer */
-			struct differential_pressure_s *buf = new struct differential_pressure_s[arg];
-
-			if (nullptr == buf)
-				return -ENOMEM;
-
-			/* reset the measurement state machine with the new buffer, free the old */
-			stop();
-			delete[] _reports;
-			_num_reports = arg;
-			_reports = buf;
-			start();
-
-			return OK;
-		}
-
-	case SENSORIOCGQUEUEDEPTH:
-		return _num_reports - 1;
-
-	case SENSORIOCRESET:
-		/* XXX implement this */
-		return -EINVAL;
-
-	default:
-		/* give it to the superclass */
-		return I2C::ioctl(filp, cmd, arg);
-	}
-}
-
-ssize_t
-ETSAirspeed::read(struct file *filp, char *buffer, size_t buflen)
-{
-	unsigned count = buflen / sizeof(struct differential_pressure_s);
-	int ret = 0;
-
-	/* buffer must be large enough */
-	if (count < 1)
-		return -ENOSPC;
-
-	/* if automatic measurement is enabled */
-	if (_measure_ticks > 0) {
-
-		/*
-		 * While there is space in the caller's buffer, and reports, copy them.
-		 * Note that we may be pre-empted by the workq thread while we are doing this;
-		 * we are careful to avoid racing with them.
-		 */
-		while (count--) {
-			if (_oldest_report != _next_report) {
-				memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
-				ret += sizeof(_reports[0]);
-				INCREMENT(_oldest_report, _num_reports);
-			}
-		}
-
-		/* if there was no data, warn the caller */
-		return ret ? ret : -EAGAIN;
-	}
-
-	/* manual measurement - run one conversion */
-	/* XXX really it'd be nice to lock against other readers here */
-	do {
-		_oldest_report = _next_report = 0;
-
-		/* trigger a measurement */
-		if (OK != measure()) {
-			ret = -EIO;
-			break;
-		}
-
-		/* wait for it to complete */
-		usleep(CONVERSION_INTERVAL);
-
-		/* run the collection phase */
-		if (OK != collect()) {
-			ret = -EIO;
-			break;
-		}
-
-		/* state machine will have generated a report, copy it out */
-		memcpy(buffer, _reports, sizeof(*_reports));
-		ret = sizeof(*_reports);
-
-	} while (0);
-
-	return ret;
 }
 
 int
@@ -463,9 +157,15 @@ ETSAirspeed::collect()
 	}
 
 	uint16_t diff_pres_pa = val[1] << 8 | val[0];
+        if (diff_pres_pa == 0) {
+            // a zero value means the pressure sensor cannot give us a
+            // value. We need to return, and not report a value or the
+            // caller could end up using this value as part of an
+            // average
+            log("zero value from sensor"); 
+            return -1;
+        }
 
-	// XXX move the parameter read out of the driver.
-	param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);
 	if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
 		diff_pres_pa = 0;
 
@@ -505,47 +205,6 @@ ETSAirspeed::collect()
 	return ret;
 }
 
-void
-ETSAirspeed::start()
-{
-	/* reset the report ring and state machine */
-	_collect_phase = false;
-	_oldest_report = _next_report = 0;
-
-	/* schedule a cycle to start things */
-	work_queue(HPWORK, &_work, (worker_t)&ETSAirspeed::cycle_trampoline, this, 1);
-
-	/* notify about state change */
-	struct subsystem_info_s info = {
-		true,
-		true,
-		true,
-		SUBSYSTEM_TYPE_DIFFPRESSURE
-	};
-	static orb_advert_t pub = -1;
-
-	if (pub > 0) {
-		orb_publish(ORB_ID(subsystem_info), pub, &info);
-
-	} else {
-		pub = orb_advertise(ORB_ID(subsystem_info), &info);
-	}
-}
-
-void
-ETSAirspeed::stop()
-{
-	work_cancel(HPWORK, &_work);
-}
-
-void
-ETSAirspeed::cycle_trampoline(void *arg)
-{
-	ETSAirspeed *dev = (ETSAirspeed *)arg;
-
-	dev->cycle();
-}
-
 void
 ETSAirspeed::cycle()
 {
@@ -571,7 +230,7 @@ ETSAirspeed::cycle()
 			/* schedule a fresh cycle call when we are ready to measure again */
 			work_queue(HPWORK,
 				   &_work,
-				   (worker_t)&ETSAirspeed::cycle_trampoline,
+				   (worker_t)&Airspeed::cycle_trampoline,
 				   this,
 				   _measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
 
@@ -589,22 +248,11 @@ ETSAirspeed::cycle()
 	/* schedule a fresh cycle call when the measurement is done */
 	work_queue(HPWORK,
 		   &_work,
-		   (worker_t)&ETSAirspeed::cycle_trampoline,
+		   (worker_t)&Airspeed::cycle_trampoline,
 		   this,
 		   USEC2TICK(CONVERSION_INTERVAL));
 }
 
-void
-ETSAirspeed::print_info()
-{
-	perf_print_counter(_sample_perf);
-	perf_print_counter(_comms_errors);
-	perf_print_counter(_buffer_overflows);
-	printf("poll interval:  %u ticks\n", _measure_ticks);
-	printf("report queue:   %u (%u/%u @ %p)\n",
-	       _num_reports, _oldest_report, _next_report, _reports);
-}
-
 /**
  * Local functions in support of the shell command.
  */
@@ -642,7 +290,7 @@ start(int i2c_bus)
 	if (g_dev == nullptr)
 		goto fail;
 
-	if (OK != g_dev->init())
+	if (OK != g_dev->Airspeed::init())
 		goto fail;
 
 	/* set the poll rate to default, starts automatic data collection */
@@ -735,6 +383,10 @@ test()
 		warnx("diff pressure: %d pa", report.differential_pressure_pa);
 	}
 
+	/* reset the sensor polling to its default rate */
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT))
+		errx(1, "failed to set default rate");
+
 	errx(0, "PASS");
 }
 
@@ -779,11 +431,11 @@ info()
 static void
 ets_airspeed_usage()
 {
-	fprintf(stderr, "usage: ets_airspeed command [options]\n");
-	fprintf(stderr, "options:\n");
-	fprintf(stderr, "\t-b --bus i2cbus (%d)\n", PX4_I2C_BUS_DEFAULT);
-	fprintf(stderr, "command:\n");
-	fprintf(stderr, "\tstart|stop|reset|test|info\n");
+	warnx("usage: ets_airspeed command [options]");
+	warnx("options:");
+	warnx("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
+	warnx("command:");
+	warnx("\tstart|stop|reset|test|info");
 }
 
 int

src/drivers/ets_airspeed/module.mk

@@ -36,6 +36,6 @@
 #
 
 MODULE_COMMAND		= ets_airspeed
-MODULE_STACKSIZE	= 1024
+MODULE_STACKSIZE	= 2048
 
 SRCS			= ets_airspeed.cpp

src/drivers/l3gd20/l3gd20.cpp

@@ -333,8 +333,13 @@ L3GD20::init()
 	write_reg(ADDR_CTRL_REG4, REG4_BDU);
 	write_reg(ADDR_CTRL_REG5, 0);
 
-	write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE);	  /* disable wake-on-interrupt */
-	write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */
+
+	write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE);		/* disable wake-on-interrupt */
+
+        /* disable FIFO. This makes things simpler and ensures we
+         * aren't getting stale data. It means we must run the hrt
+         * callback fast enough to not miss data. */
+	write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE);	
 
 	set_range(500);				/* default to 500dps */
 	set_samplerate(0);			/* max sample rate */

src/drivers/md25/BlockSysIdent.cpp

@@ -0,0 +1,8 @@
+#include "BlockSysIdent.hpp"
+
+BlockSysIdent::BlockSysIdent() :
+	Block(NULL, "SYSID"),
+	_freq(this, "FREQ"),
+	_ampl(this, "AMPL")
+{
+}

src/drivers/md25/BlockSysIdent.hpp

@@ -0,0 +1,10 @@
+#include <controllib/block/Block.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+class BlockSysIdent : public control::Block {
+public:
+	BlockSysIdent();
+private:
+	control::BlockParam<float> _freq;
+	control::BlockParam<float> _ampl;
+};

src/drivers/md25/md25.cpp

@@ -45,9 +45,16 @@
 #include "md25.hpp"
 #include <poll.h>
 #include <stdio.h>
+#include <math.h>
+#include <string.h>
 
 #include <systemlib/err.h>
 #include <arch/board/board.h>
+#include <mavlink/mavlink_log.h>
+
+#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/topics/debug_key_value.h>
+#include <drivers/drv_hrt.h>
 
 // registers
 enum {
@@ -72,6 +79,9 @@ enum {
 	REG_COMMAND_RW,
 };
 
+// File descriptors
+static int mavlink_fd;
+
 MD25::MD25(const char *deviceName, int bus,
 	   uint16_t address, uint32_t speed) :
 	I2C("MD25", deviceName, bus, address, speed),
@@ -106,7 +116,8 @@ MD25::MD25(const char *deviceName, int bus,
 	setMotor2Speed(0);
 	resetEncoders();
 	_setMode(MD25::MODE_UNSIGNED_SPEED);
-	setSpeedRegulation(true);
+	setSpeedRegulation(false);
+	setMotorAccel(10);
 	setTimeout(true);
 }
 
@@ -298,6 +309,12 @@ int MD25::setDeviceAddress(uint8_t address)
 	return OK;
 }
 
+int MD25::setMotorAccel(uint8_t accel)
+{
+	return _writeUint8(REG_ACCEL_RATE_RW,
+			   accel);
+}
+
 int MD25::setMotor1Speed(float value)
 {
 	return _writeUint8(REG_SPEED1_RW,
@@ -451,12 +468,12 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
 	MD25 md25("/dev/md25", bus, address);
 
 	// print status
-	char buf[200];
+	char buf[400];
 	md25.status(buf, sizeof(buf));
 	printf("%s\n", buf);
 
 	// setup for test
-	md25.setSpeedRegulation(true);
+	md25.setSpeedRegulation(false);
 	md25.setTimeout(true);
 	float dt = 0.1;
 	float speed = 0.2;
@@ -550,4 +567,68 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
 	return 0;
 }
 
+int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency)
+{
+	printf("md25 sine: starting\n");
+
+	// setup
+	MD25 md25("/dev/md25", bus, address);
+
+	// print status
+	char buf[400];
+	md25.status(buf, sizeof(buf));
+	printf("%s\n", buf);
+
+	// setup for test
+	md25.setSpeedRegulation(false);
+	md25.setTimeout(true);
+	float dt = 0.01;
+	float t_final = 60.0;
+	float prev_revolution = md25.getRevolutions1();
+
+	// debug publication
+	control::UOrbPublication<debug_key_value_s> debug_msg(NULL,
+			ORB_ID(debug_key_value));
+
+	// sine wave for motor 1
+	md25.resetEncoders();
+	while (true) {
+
+		// input
+		uint64_t timestamp = hrt_absolute_time();
+		float t = timestamp/1000000.0f;
+
+		float input_value = amplitude*sinf(2*M_PI*frequency*t);
+		md25.setMotor1Speed(input_value);
+
+		// output
+		md25.readData();
+		float current_revolution = md25.getRevolutions1();
+
+		// send input message
+		//strncpy(debug_msg.key, "md25 in   ", 10);
+		//debug_msg.timestamp_ms = 1000*timestamp;
+		//debug_msg.value = input_value;
+		//debug_msg.update();
+
+		// send output message
+		strncpy(debug_msg.key, "md25 out  ", 10);
+		debug_msg.timestamp_ms = 1000*timestamp;
+		debug_msg.value = current_revolution;
+		debug_msg.update();
+
+		if (t > t_final) break;
+
+		// update for next step
+		prev_revolution = current_revolution;
+
+		// sleep
+		usleep(1000000 * dt);
+	}
+	md25.setMotor1Speed(0);
+
+	printf("md25 sine complete\n");
+	return 0;
+}
+
 // vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78

src/drivers/md25/md25.hpp

@@ -46,7 +46,7 @@
 
 #include <poll.h>
 #include <stdio.h>
-#include <controllib/block/UOrbSubscription.hpp>
+#include <controllib/uorb/UOrbSubscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <drivers/device/i2c.h>
 
@@ -212,6 +212,19 @@ public:
 	 */
 	int setDeviceAddress(uint8_t address);
 
+	/**
+	 * set motor acceleration
+	 * @param accel
+	 * controls motor speed change (1-10)
+	 * accel rate  | time for full fwd. to full rev.
+	 *  1          | 6.375 s
+	 *  2          | 1.6 s
+	 *  3          | 0.675 s
+	 *  5(default) | 1.275 s
+	 * 10          | 0.65 s
+	 */
+	int setMotorAccel(uint8_t accel);
+
 	/**
 	 * set motor 1 speed
 	 * @param normSpeed normalize speed between -1 and 1
@@ -290,4 +303,7 @@ private:
 // unit testing
 int md25Test(const char *deviceName, uint8_t bus, uint8_t address);
 
+// sine testing
+int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency);
+
 // vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78

src/drivers/md25/md25_main.cpp

@@ -82,7 +82,7 @@ usage(const char *reason)
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
 
-	fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n");
+	fprintf(stderr, "usage: md25 {start|stop|read|status|search|test|change_address}\n\n");
 	exit(1);
 }
 
@@ -136,6 +136,28 @@ int md25_main(int argc, char *argv[])
 		exit(0);
 	}
 
+	if (!strcmp(argv[1], "sine")) {
+
+		if (argc < 6) {
+			printf("usage: md25 sine bus address amp freq\n");
+			exit(0);
+		}
+
+		const char *deviceName = "/dev/md25";
+
+		uint8_t bus = strtoul(argv[2], nullptr, 0);
+
+		uint8_t address = strtoul(argv[3], nullptr, 0);
+
+		float amplitude = atof(argv[4]);
+
+		float frequency = atof(argv[5]);
+
+		md25Sine(deviceName, bus, address, amplitude, frequency);
+
+		exit(0);
+	}
+
 	if (!strcmp(argv[1], "probe")) {
 		if (argc < 4) {
 			printf("usage: md25 probe bus address\n");
@@ -162,6 +184,29 @@ int md25_main(int argc, char *argv[])
 		exit(0);
 	}
 
+	if (!strcmp(argv[1], "read")) {
+		if (argc < 4) {
+			printf("usage: md25 read bus address\n");
+			exit(0);
+		}
+
+		const char *deviceName = "/dev/md25";
+
+		uint8_t bus = strtoul(argv[2], nullptr, 0);
+
+		uint8_t address = strtoul(argv[3], nullptr, 0);
+
+		MD25 md25(deviceName, bus, address);
+
+		// print status
+		char buf[400];
+		md25.status(buf, sizeof(buf));
+		printf("%s\n", buf);
+
+		exit(0);
+	}
+	
+
 	if (!strcmp(argv[1], "search")) {
 		if (argc < 3) {
 			printf("usage: md25 search bus\n");
@@ -246,7 +291,7 @@ int md25_thread_main(int argc, char *argv[])
 	uint8_t address = strtoul(argv[4], nullptr, 0);
 
 	// start
-	MD25 md25("/dev/md25", bus, address);
+	MD25 md25(deviceName, bus, address);
 
 	thread_running = true;
 

src/drivers/meas_airspeed/meas_airspeed.cpp

@@ -0,0 +1,520 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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 meas_airspeed.cpp
+ * @author Lorenz Meier
+ * @author Sarthak Kaingade
+ * @author Simon Wilks
+ *
+ * Driver for the MEAS Spec series connected via I2C.
+ *
+ * Supported sensors:
+ *
+ *    - MS4525DO (http://www.meas-spec.com/downloads/MS4525DO.pdf)
+ *    - untested: MS5525DSO (http://www.meas-spec.com/downloads/MS5525DSO.pdf)
+ *
+ * Interface application notes:
+ *
+ *    - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/downloads/Interfacing_to_MEAS_Digital_Pressure_Modules.pdf)
+ */
+
+#include <nuttx/config.h>
+
+#include <drivers/device/i2c.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+
+#include <arch/board/board.h>
+
+#include <systemlib/airspeed.h>
+#include <systemlib/err.h>
+#include <systemlib/param/param.h>
+#include <systemlib/perf_counter.h>
+
+#include <drivers/drv_airspeed.h>
+#include <drivers/drv_hrt.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/differential_pressure.h>
+#include <uORB/topics/subsystem_info.h>
+
+#include <drivers/airspeed/airspeed.h>
+
+/* I2C bus address is 1010001x */
+#define I2C_ADDRESS_MS4525DO	0x28	//0x51 /* 7-bit address. */
+/* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */
+#define I2C_ADDRESS_MS5525DSO	0x77	//0x77/* 7-bit address, addr. pin pulled low */
+
+/* Register address */
+#define ADDR_READ_MR			0x00	/* write to this address to start conversion */
+
+/* Measurement rate is 100Hz */
+#define CONVERSION_INTERVAL	(1000000 / 100)	/* microseconds */
+
+class MEASAirspeed : public Airspeed
+{
+public:
+	MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO);
+
+protected:
+
+	/**
+	* Perform a poll cycle; collect from the previous measurement
+	* and start a new one.
+	*/
+	virtual void	cycle();
+	virtual int	measure();
+	virtual int	collect();
+
+};
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
+
+MEASAirspeed::MEASAirspeed(int bus, int address) : Airspeed(bus, address,
+			CONVERSION_INTERVAL)
+{
+
+}
+
+int
+MEASAirspeed::measure()
+{
+	int ret;
+
+	/*
+	 * Send the command to begin a measurement.
+	 */
+	uint8_t cmd = 0;
+	ret = transfer(&cmd, 1, nullptr, 0);
+
+	if (OK != ret) {
+		perf_count(_comms_errors);
+		log("i2c::transfer returned %d", ret);
+		return ret;
+	}
+
+	ret = OK;
+
+	return ret;
+}
+
+int
+MEASAirspeed::collect()
+{
+	int	ret = -EIO;
+
+	/* read from the sensor */
+	uint8_t val[4] = {0, 0, 0, 0};
+
+
+	perf_begin(_sample_perf);
+
+	ret = transfer(nullptr, 0, &val[0], 4);
+
+	if (ret < 0) {
+		log("error reading from sensor: %d", ret);
+		return ret;
+	}
+
+	uint8_t status = val[0] & 0xC0;
+
+	if (status == 2) {
+		log("err: stale data");
+
+	} else if (status == 3) {
+		log("err: fault");
+	}
+
+	//uint16_t diff_pres_pa = (val[1]) | ((val[0] & ~(0xC0)) << 8);
+	uint16_t temp = (val[3] & 0xE0) << 8 | val[2];
+
+	// XXX leaving this in until new calculation method has been cross-checked
+	//diff_pres_pa = abs(diff_pres_pa - (16384 / 2.0f));
+	//diff_pres_pa -= _diff_pres_offset;
+	int16_t dp_raw = 0, dT_raw = 0;
+	dp_raw = (val[0] << 8) + val[1];
+	dp_raw = 0x3FFF & dp_raw;
+	dT_raw = (val[2] << 8) + val[3];
+	dT_raw = (0xFFE0 & dT_raw) >> 5;
+	float temperature = ((200 * dT_raw) / 2047) - 50;
+
+	// XXX we may want to smooth out the readings to remove noise.
+
+	// Calculate differential pressure. As its centered around 8000
+	// and can go positive or negative, enforce absolute value
+	uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
+
+	_reports[_next_report].timestamp = hrt_absolute_time();
+	_reports[_next_report].temperature = temperature;
+	_reports[_next_report].differential_pressure_pa = diff_press_pa;
+
+	// Track maximum differential pressure measured (so we can work out top speed).
+	if (diff_press_pa > _reports[_next_report].max_differential_pressure_pa) {
+		_reports[_next_report].max_differential_pressure_pa = diff_press_pa;
+	}
+
+	/* announce the airspeed if needed, just publish else */
+	orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_reports[_next_report]);
+
+	/* post a report to the ring - note, not locked */
+	INCREMENT(_next_report, _num_reports);
+
+	/* if we are running up against the oldest report, toss it */
+	if (_next_report == _oldest_report) {
+		perf_count(_buffer_overflows);
+		INCREMENT(_oldest_report, _num_reports);
+	}
+
+	/* notify anyone waiting for data */
+	poll_notify(POLLIN);
+
+	ret = OK;
+
+	perf_end(_sample_perf);
+
+	return ret;
+}
+
+void
+MEASAirspeed::cycle()
+{
+	/* collection phase? */
+	if (_collect_phase) {
+
+		/* perform collection */
+		if (OK != collect()) {
+			log("collection error");
+			/* restart the measurement state machine */
+			start();
+			return;
+		}
+
+		/* next phase is measurement */
+		_collect_phase = false;
+
+		/*
+		 * Is there a collect->measure gap?
+		 */
+		if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
+
+			/* schedule a fresh cycle call when we are ready to measure again */
+			work_queue(HPWORK,
+				   &_work,
+				   (worker_t)&Airspeed::cycle_trampoline,
+				   this,
+				   _measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
+
+			return;
+		}
+	}
+
+	/* measurement phase */
+	if (OK != measure())
+		log("measure error");
+
+	/* next phase is collection */
+	_collect_phase = true;
+
+	/* schedule a fresh cycle call when the measurement is done */
+	work_queue(HPWORK,
+		   &_work,
+		   (worker_t)&Airspeed::cycle_trampoline,
+		   this,
+		   USEC2TICK(CONVERSION_INTERVAL));
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace meas_airspeed
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+const int ERROR = -1;
+
+MEASAirspeed	*g_dev = nullptr;
+
+void	start(int i2c_bus);
+void	stop();
+void	test();
+void	reset();
+void	info();
+
+/**
+ * Start the driver.
+ */
+void
+start(int i2c_bus)
+{
+	int fd;
+
+	if (g_dev != nullptr)
+		errx(1, "already started");
+
+	/* create the driver, try the MS4525DO first */
+	g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO);
+
+	/* check if the MS4525DO was instantiated */
+	if (g_dev == nullptr)
+		goto fail;
+
+	/* try the MS5525DSO next if init fails */
+	if (OK != g_dev->Airspeed::init()) {
+		delete g_dev;
+		g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS5525DSO);
+
+		/* check if the MS5525DSO was instantiated */
+		if (g_dev == nullptr)
+			goto fail;
+
+		/* both versions failed if the init for the MS5525DSO fails, give up */
+		if (OK != g_dev->Airspeed::init())
+			goto fail;
+	}
+
+	/* set the poll rate to default, starts automatic data collection */
+	fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0)
+		goto fail;
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+		goto fail;
+
+	exit(0);
+
+fail:
+
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+
+	errx(1, "driver start failed");
+}
+
+/**
+ * Stop the driver
+ */
+void
+stop()
+{
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+
+	} else {
+		errx(1, "driver not running");
+	}
+
+	exit(0);
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test()
+{
+	struct differential_pressure_s report;
+	ssize_t sz;
+	int ret;
+
+	int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "%s open failed (try 'meas_airspeed start' if the driver is not running", AIRSPEED_DEVICE_PATH);
+
+	/* do a simple demand read */
+	sz = read(fd, &report, sizeof(report));
+
+	if (sz != sizeof(report))
+		err(1, "immediate read failed");
+
+	warnx("single read");
+	warnx("diff pressure: %d pa", report.differential_pressure_pa);
+
+	/* start the sensor polling at 2Hz */
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
+		errx(1, "failed to set 2Hz poll rate");
+
+	/* read the sensor 5x and report each value */
+	for (unsigned i = 0; i < 5; i++) {
+		struct pollfd fds;
+
+		/* wait for data to be ready */
+		fds.fd = fd;
+		fds.events = POLLIN;
+		ret = poll(&fds, 1, 2000);
+
+		if (ret != 1)
+			errx(1, "timed out waiting for sensor data");
+
+		/* now go get it */
+		sz = read(fd, &report, sizeof(report));
+
+		if (sz != sizeof(report))
+			err(1, "periodic read failed");
+
+		warnx("periodic read %u", i);
+		warnx("diff pressure: %d pa", report.differential_pressure_pa);
+		warnx("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
+	}
+
+	/* reset the sensor polling to its default rate */
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT))
+		errx(1, "failed to set default rate");
+
+	errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+	int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "failed ");
+
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
+		err(1, "driver reset failed");
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+		err(1, "driver poll restart failed");
+
+	exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
+info()
+{
+	if (g_dev == nullptr)
+		errx(1, "driver not running");
+
+	printf("state @ %p\n", g_dev);
+	g_dev->print_info();
+
+	exit(0);
+}
+
+} // namespace
+
+
+static void
+meas_airspeed_usage()
+{
+	warnx("usage: meas_airspeed command [options]");
+	warnx("options:");
+	warnx("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
+	warnx("command:");
+	warnx("\tstart|stop|reset|test|info");
+}
+
+int
+meas_airspeed_main(int argc, char *argv[])
+{
+	int i2c_bus = PX4_I2C_BUS_DEFAULT;
+
+	int i;
+
+	for (i = 1; i < argc; i++) {
+		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
+			if (argc > i + 1) {
+				i2c_bus = atoi(argv[i + 1]);
+			}
+		}
+	}
+
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(argv[1], "start"))
+		meas_airspeed::start(i2c_bus);
+
+	/*
+	 * Stop the driver
+	 */
+	if (!strcmp(argv[1], "stop"))
+		meas_airspeed::stop();
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[1], "test"))
+		meas_airspeed::test();
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(argv[1], "reset"))
+		meas_airspeed::reset();
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
+		meas_airspeed::info();
+
+	meas_airspeed_usage();
+	exit(0);
+}

src/drivers/meas_airspeed/module.mk

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2013 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.
+#
+############################################################################
+
+#
+# Makefile to build the MEAS Spec airspeed sensor driver.
+#
+
+MODULE_COMMAND		= meas_airspeed
+MODULE_STACKSIZE	= 2048
+
+SRCS			= meas_airspeed.cpp

src/drivers/mpu6000/mpu6000.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 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
@@ -35,6 +35,9 @@
  * @file mpu6000.cpp
  *
  * Driver for the Invensense MPU6000 connected via SPI.
+ *
+ * @author Andrew Tridgell
+ * @author Pat Hickey
  */
 
 #include <nuttx/config.h>
@@ -64,8 +67,10 @@
 #include <drivers/drv_hrt.h>
 
 #include <drivers/device/spi.h>
+#include <drivers/device/ringbuffer.h>
 #include <drivers/drv_accel.h>
 #include <drivers/drv_gyro.h>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
 
 #define DIR_READ			0x80
 #define DIR_WRITE			0x00
@@ -178,21 +183,33 @@ private:
 	struct hrt_call		_call;
 	unsigned		_call_interval;
 
-	struct accel_report	_accel_report;
+	typedef RingBuffer<accel_report> AccelReportBuffer;
+	AccelReportBuffer	*_accel_reports;
+
 	struct accel_scale	_accel_scale;
 	float			_accel_range_scale;
 	float			_accel_range_m_s2;
 	orb_advert_t		_accel_topic;
 
-	struct gyro_report	_gyro_report;
+	typedef RingBuffer<gyro_report> GyroReportBuffer;
+	GyroReportBuffer	*_gyro_reports;
+
 	struct gyro_scale	_gyro_scale;
 	float			_gyro_range_scale;
 	float			_gyro_range_rad_s;
 	orb_advert_t		_gyro_topic;
 
 	unsigned		_reads;
+	unsigned		_sample_rate;
 	perf_counter_t		_sample_perf;
 
+	math::LowPassFilter2p	_accel_filter_x;
+	math::LowPassFilter2p	_accel_filter_y;
+	math::LowPassFilter2p	_accel_filter_z;
+	math::LowPassFilter2p	_gyro_filter_x;
+	math::LowPassFilter2p	_gyro_filter_y;
+	math::LowPassFilter2p	_gyro_filter_z;
+
 	/**
 	 * Start automatic measurement.
 	 */
@@ -203,6 +220,13 @@ private:
 	 */
 	void			stop();
 
+	/**
+	 * Reset chip.
+	 *
+	 * Resets the chip and measurements ranges, but not scale and offset.
+	 */
+	void			reset();
+
 	/**
 	 * Static trampoline from the hrt_call context; because we don't have a
 	 * generic hrt wrapper yet.
@@ -215,7 +239,7 @@ private:
 	static void		measure_trampoline(void *arg);
 
 	/**
-	 * Fetch measurements from the sensor and update the report ring.
+	 * Fetch measurements from the sensor and update the report buffers.
 	 */
 	void			measure();
 
@@ -307,14 +331,23 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
 	_gyro(new MPU6000_gyro(this)),
 	_product(0),
 	_call_interval(0),
+	_accel_reports(nullptr),
 	_accel_range_scale(0.0f),
 	_accel_range_m_s2(0.0f),
 	_accel_topic(-1),
+	_gyro_reports(nullptr),
 	_gyro_range_scale(0.0f),
 	_gyro_range_rad_s(0.0f),
 	_gyro_topic(-1),
 	_reads(0),
-	_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read"))
+	_sample_rate(1000),
+	_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")),
+	_accel_filter_x(1000, 30),
+	_accel_filter_y(1000, 30),
+	_accel_filter_z(1000, 30),
+	_gyro_filter_x(1000, 30),
+        _gyro_filter_y(1000, 30),
+        _gyro_filter_z(1000, 30)
 {
 	// disable debug() calls
 	_debug_enabled = false;
@@ -335,8 +368,6 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
 	_gyro_scale.z_offset = 0;
 	_gyro_scale.z_scale  = 1.0f;
 
-	memset(&_accel_report, 0, sizeof(_accel_report));
-	memset(&_gyro_report, 0, sizeof(_gyro_report));
 	memset(&_call, 0, sizeof(_call));
 }
 
@@ -348,6 +379,12 @@ MPU6000::~MPU6000()
 	/* delete the gyro subdriver */
 	delete _gyro;
 
+	/* free any existing reports */
+	if (_accel_reports != nullptr)
+		delete _accel_reports;
+	if (_gyro_reports != nullptr)
+		delete _gyro_reports;
+
 	/* delete the perf counter */
 	perf_free(_sample_perf);
 }
@@ -356,6 +393,7 @@ int
 MPU6000::init()
 {
 	int ret;
+	int gyro_ret;
 
 	/* do SPI init (and probe) first */
 	ret = SPI::init();
@@ -366,9 +404,58 @@ MPU6000::init()
 		return ret;
 	}
 
-	/* advertise sensor topics */
-	_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report);
-	_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report);
+	/* allocate basic report buffers */
+	_accel_reports = new AccelReportBuffer(2);
+	if (_accel_reports == nullptr)
+		goto out;
+
+	_gyro_reports = new GyroReportBuffer(2);
+	if (_gyro_reports == nullptr)
+		goto out;
+
+	reset();
+
+	/* Initialize offsets and scales */
+	_accel_scale.x_offset = 0;
+	_accel_scale.x_scale  = 1.0f;
+	_accel_scale.y_offset = 0;
+	_accel_scale.y_scale  = 1.0f;
+	_accel_scale.z_offset = 0;
+	_accel_scale.z_scale  = 1.0f;
+
+	_gyro_scale.x_offset = 0;
+	_gyro_scale.x_scale  = 1.0f;
+	_gyro_scale.y_offset = 0;
+	_gyro_scale.y_scale  = 1.0f;
+	_gyro_scale.z_offset = 0;
+	_gyro_scale.z_scale  = 1.0f;
+
+	/* do CDev init for the gyro device node, keep it optional */
+	gyro_ret = _gyro->init();
+
+	/* fetch an initial set of measurements for advertisement */
+	measure();
+
+	if (gyro_ret != OK) {
+		_gyro_topic = -1;
+	} else {
+		gyro_report gr;
+		_gyro_reports->get(gr);
+
+		_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr);
+	}
+
+	/* advertise accel topic */
+	accel_report ar;
+	_accel_reports->get(ar);
+	_accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar);
+
+out:
+	return ret;
+}
+
+void MPU6000::reset()
+{
 
 	// Chip reset
 	write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
@@ -384,13 +471,13 @@ MPU6000::init()
 
 	// SAMPLE RATE
 	//write_reg(MPUREG_SMPLRT_DIV, 0x04);     // Sample rate = 200Hz    Fsample= 1Khz/(4+1) = 200Hz
-	_set_sample_rate(200); // default sample rate = 200Hz
+	_set_sample_rate(_sample_rate); // default sample rate = 200Hz
 	usleep(1000);
 
 	// FS & DLPF   FS=2000 deg/s, DLPF = 20Hz (low pass filter)
 	// was 90 Hz, but this ruins quality and does not improve the
 	// system response
-	_set_dlpf_filter(20);
+	_set_dlpf_filter(42);
 	usleep(1000);
 	// Gyro scale 2000 deg/s ()
 	write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
@@ -401,12 +488,6 @@ MPU6000::init()
 	// 2000 deg/s = (2000/180)*PI = 34.906585 rad/s
 	// scaling factor:
 	// 1/(2^15)*(2000/180)*PI
-	_gyro_scale.x_offset = 0;
-	_gyro_scale.x_scale  = 1.0f;
-	_gyro_scale.y_offset = 0;
-	_gyro_scale.y_scale  = 1.0f;
-	_gyro_scale.z_offset = 0;
-	_gyro_scale.z_scale  = 1.0f;
 	_gyro_range_scale = (0.0174532 / 16.4);//1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F);
 	_gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F;
 
@@ -439,12 +520,6 @@ MPU6000::init()
 
 	// Correct accel scale factors of 4096 LSB/g
 	// scale to m/s^2 ( 1g = 9.81 m/s^2)
-	_accel_scale.x_offset = 0;
-	_accel_scale.x_scale  = 1.0f;
-	_accel_scale.y_offset = 0;
-	_accel_scale.y_scale  = 1.0f;
-	_accel_scale.z_offset = 0;
-	_accel_scale.z_scale  = 1.0f;
 	_accel_range_scale = (9.81f / 4096.0f);
 	_accel_range_m_s2 = 8.0f * 9.81f;
 
@@ -460,14 +535,6 @@ MPU6000::init()
 	// write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ);
 	usleep(1000);
 
-	/* do CDev init for the gyro device node, keep it optional */
-	int gyro_ret = _gyro->init();
-
-	if (gyro_ret != OK) {
-		_gyro_topic = -1;
-	}
-
-	return ret;
 }
 
 int
@@ -509,6 +576,7 @@ MPU6000::_set_sample_rate(uint16_t desired_sample_rate_hz)
   if(div>200) div=200;
   if(div<1) div=1;
   write_reg(MPUREG_SMPLRT_DIV, div-1);
+  _sample_rate = 1000 / div;
 }
 
 /*
@@ -545,21 +613,33 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz)
 ssize_t
 MPU6000::read(struct file *filp, char *buffer, size_t buflen)
 {
-	int ret = 0;
+	unsigned count = buflen / sizeof(accel_report);
 
 	/* buffer must be large enough */
-	if (buflen < sizeof(_accel_report))
+	if (count < 1)
 		return -ENOSPC;
 
-	/* if automatic measurement is not enabled */
-	if (_call_interval == 0)
+	/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
+	if (_call_interval == 0) {
+		_accel_reports->flush();
 		measure();
+	}
 
-	/* copy out the latest reports */
-	memcpy(buffer, &_accel_report, sizeof(_accel_report));
-	ret = sizeof(_accel_report);
+	/* if no data, error (we could block here) */
+	if (_accel_reports->empty())
+		return -EAGAIN;
 
-	return ret;
+	/* copy reports out of our buffer to the caller */
+	accel_report *arp = reinterpret_cast<accel_report *>(buffer);
+	int transferred = 0;
+	while (count--) {
+		if (!_accel_reports->get(*arp++))
+			break;
+		transferred++;
+	}
+
+	/* return the number of bytes transferred */
+	return (transferred * sizeof(accel_report));
 }
 
 int
@@ -576,21 +656,33 @@ MPU6000::self_test()
 ssize_t
 MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
 {
-	int ret = 0;
+	unsigned count = buflen / sizeof(gyro_report);
 
 	/* buffer must be large enough */
-	if (buflen < sizeof(_gyro_report))
+	if (count < 1)
 		return -ENOSPC;
 
-	/* if automatic measurement is not enabled */
-	if (_call_interval == 0)
+	/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
+	if (_call_interval == 0) {
+		_gyro_reports->flush();
 		measure();
+	}
 
-	/* copy out the latest report */
-	memcpy(buffer, &_gyro_report, sizeof(_gyro_report));
-	ret = sizeof(_gyro_report);
+	/* if no data, error (we could block here) */
+	if (_gyro_reports->empty())
+		return -EAGAIN;
 
-	return ret;
+	/* copy reports out of our buffer to the caller */
+	gyro_report *arp = reinterpret_cast<gyro_report *>(buffer);
+	int transferred = 0;
+	while (count--) {
+		if (!_gyro_reports->get(*arp++))
+			break;
+		transferred++;
+	}
+
+	/* return the number of bytes transferred */
+	return (transferred * sizeof(gyro_report));
 }
 
 int
@@ -598,6 +690,10 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
+	case SENSORIOCRESET:
+		reset();
+		return OK;
+
 	case SENSORIOCSPOLLRATE: {
 			switch (arg) {
 
@@ -617,8 +713,8 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 				/* set default/max polling rate */
 			case SENSOR_POLLRATE_MAX:
 			case SENSOR_POLLRATE_DEFAULT:
-				/* XXX 500Hz is just a wild guess */
-				return ioctl(filp, SENSORIOCSPOLLRATE, 500);
+				/* set to same as sample rate per default */
+				return ioctl(filp, SENSORIOCSPOLLRATE, _sample_rate);
 
 				/* adjust to a legal polling interval in Hz */
 			default: {
@@ -632,6 +728,19 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 					if (ticks < 1000)
 						return -EINVAL;
 
+					// adjust filters
+					float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
+					float sample_rate = 1.0e6f/ticks;
+					_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
+					_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
+					_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
+
+
+					float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
+					_gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
+					_gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
+					_gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
+
 					/* update interval for next measurement */
 					/* XXX this is a bit shady, but no other way to adjust... */
 					_call.period = _call_interval = ticks;
@@ -651,23 +760,51 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 		return 1000000 / _call_interval;
 
-	case SENSORIOCSQUEUEDEPTH:
-		/* XXX not implemented */
-		return -EINVAL;
+	case SENSORIOCSQUEUEDEPTH: {
+			/* lower bound is mandatory, upper bound is a sanity check */
+			if ((arg < 1) || (arg > 100))
+				return -EINVAL;
+
+			/* allocate new buffer */
+			AccelReportBuffer *buf = new AccelReportBuffer(arg);
+
+			if (nullptr == buf)
+				return -ENOMEM;
+			if (buf->size() == 0) {
+				delete buf;
+				return -ENOMEM;
+			}
+
+			/* reset the measurement state machine with the new buffer, free the old */
+			stop();
+			delete _accel_reports;
+			_accel_reports = buf;
+			start();
+
+			return OK;
+		}
 
 	case SENSORIOCGQUEUEDEPTH:
-		/* XXX not implemented */
-		return -EINVAL;
+		return _accel_reports->size();
 
+	case ACCELIOCGSAMPLERATE:
+		return _sample_rate;
 
 	case ACCELIOCSSAMPLERATE:
-	case ACCELIOCGSAMPLERATE:
-	  _set_sample_rate(arg);
-	  return OK;
+		_set_sample_rate(arg);
+		return OK;
+
+	case ACCELIOCGLOWPASS:
+		return _accel_filter_x.get_cutoff_freq();
 
 	case ACCELIOCSLOWPASS:
-	case ACCELIOCGLOWPASS:
-		_set_dlpf_filter((uint16_t)arg);
+		
+		// XXX decide on relationship of both filters
+		// i.e. disable the on-chip filter
+		//_set_dlpf_filter((uint16_t)arg);
+                _accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
+                _accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
+                _accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
 		return OK;
 
 	case ACCELIOCSSCALE:
@@ -689,12 +826,13 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return OK;
 
 	case ACCELIOCSRANGE:
-	case ACCELIOCGRANGE:
 		/* XXX not implemented */
 		// XXX change these two values on set:
 		// _accel_range_scale = (9.81f / 4096.0f);
-		// _accel_range_rad_s = 8.0f * 9.81f;
+		// _accel_range_m_s2 = 8.0f * 9.81f;
 		return -EINVAL;
+	case ACCELIOCGRANGE:
+		return _accel_range_m_s2;
 
 	case ACCELIOCSELFTEST:
 		return self_test();
@@ -713,19 +851,51 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		/* these are shared with the accel side */
 	case SENSORIOCSPOLLRATE:
 	case SENSORIOCGPOLLRATE:
-	case SENSORIOCSQUEUEDEPTH:
-	case SENSORIOCGQUEUEDEPTH:
 	case SENSORIOCRESET:
 		return ioctl(filp, cmd, arg);
 
-	case GYROIOCSSAMPLERATE:
-	case GYROIOCGSAMPLERATE:
-	  _set_sample_rate(arg);
-	  return OK;
+	case SENSORIOCSQUEUEDEPTH: {
+			/* lower bound is mandatory, upper bound is a sanity check */
+			if ((arg < 1) || (arg > 100))
+				return -EINVAL;
+
+			/* allocate new buffer */
+			GyroReportBuffer *buf = new GyroReportBuffer(arg);
+
+			if (nullptr == buf)
+				return -ENOMEM;
+			if (buf->size() == 0) {
+				delete buf;
+				return -ENOMEM;
+			}
+
+			/* reset the measurement state machine with the new buffer, free the old */
+			stop();
+			delete _gyro_reports;
+			_gyro_reports = buf;
+			start();
+
+			return OK;
+		}
+
+	case SENSORIOCGQUEUEDEPTH:
+		return _gyro_reports->size();
+
+	case GYROIOCGSAMPLERATE:
+		return _sample_rate;
+
+	case GYROIOCSSAMPLERATE:
+		_set_sample_rate(arg);
+		return OK;
 
-	case GYROIOCSLOWPASS:
 	case GYROIOCGLOWPASS:
-		_set_dlpf_filter((uint16_t)arg);
+		return _gyro_filter_x.get_cutoff_freq();
+	case GYROIOCSLOWPASS:
+		_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
+		_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
+		_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
+		// XXX check relation to the internal lowpass
+		//_set_dlpf_filter((uint16_t)arg);
 		return OK;
 
 	case GYROIOCSSCALE:
@@ -739,12 +909,13 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		return OK;
 
 	case GYROIOCSRANGE:
-	case GYROIOCGRANGE:
 		/* XXX not implemented */
 		// XXX change these two values on set:
 		// _gyro_range_scale = xx
-		// _gyro_range_m_s2 = xx
+		// _gyro_range_rad_s = xx
 		return -EINVAL;
+	case GYROIOCGRANGE:
+		return _gyro_range_rad_s;
 
 	case GYROIOCSELFTEST:
 		return self_test();
@@ -849,6 +1020,10 @@ MPU6000::start()
 	/* make sure we are stopped first */
 	stop();
 
+	/* discard any stale data in the buffers */
+	_accel_reports->flush();
+	_gyro_reports->flush();
+
 	/* start polling at the specified rate */
 	hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&MPU6000::measure_trampoline, this);
 }
@@ -862,7 +1037,7 @@ MPU6000::stop()
 void
 MPU6000::measure_trampoline(void *arg)
 {
-	MPU6000 *dev = (MPU6000 *)arg;
+	MPU6000 *dev = reinterpret_cast<MPU6000 *>(arg);
 
 	/* make another measurement */
 	dev->measure();
@@ -943,10 +1118,16 @@ MPU6000::measure()
 	report.gyro_x = gyro_xt;
 	report.gyro_y = gyro_yt;
 
+	/*
+	 * Report buffers.
+	 */
+	accel_report		arb;
+	gyro_report		grb;
+
 	/*
 	 * Adjust and scale results to m/s^2.
 	 */
-	_gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time();
+	grb.timestamp = arb.timestamp = hrt_absolute_time();
 
 
 	/*
@@ -967,40 +1148,53 @@ MPU6000::measure()
 
 	/* NOTE: Axes have been swapped to match the board a few lines above. */
 
-	_accel_report.x_raw = report.accel_x;
-	_accel_report.y_raw = report.accel_y;
-	_accel_report.z_raw = report.accel_z;
+	arb.x_raw = report.accel_x;
+	arb.y_raw = report.accel_y;
+	arb.z_raw = report.accel_z;
 
-	_accel_report.x = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
-	_accel_report.y = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
-	_accel_report.z = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
-	_accel_report.scaling = _accel_range_scale;
-	_accel_report.range_m_s2 = _accel_range_m_s2;
+	float x_in_new = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
+	float y_in_new = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
+	float z_in_new = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
+	
+	arb.x = _accel_filter_x.apply(x_in_new);
+	arb.y = _accel_filter_y.apply(y_in_new);
+	arb.z = _accel_filter_z.apply(z_in_new);
 
-	_accel_report.temperature_raw = report.temp;
-	_accel_report.temperature = (report.temp) / 361.0f + 35.0f;
+	arb.scaling = _accel_range_scale;
+	arb.range_m_s2 = _accel_range_m_s2;
 
-	_gyro_report.x_raw = report.gyro_x;
-	_gyro_report.y_raw = report.gyro_y;
-	_gyro_report.z_raw = report.gyro_z;
+	arb.temperature_raw = report.temp;
+	arb.temperature = (report.temp) / 361.0f + 35.0f;
 
-	_gyro_report.x = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
-	_gyro_report.y = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
-	_gyro_report.z = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
-	_gyro_report.scaling = _gyro_range_scale;
-	_gyro_report.range_rad_s = _gyro_range_rad_s;
+	grb.x_raw = report.gyro_x;
+	grb.y_raw = report.gyro_y;
+	grb.z_raw = report.gyro_z;
 
-	_gyro_report.temperature_raw = report.temp;
-	_gyro_report.temperature = (report.temp) / 361.0f + 35.0f;
+	float x_gyro_in_new = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
+	float y_gyro_in_new = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
+	float z_gyro_in_new = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
+	
+	grb.x = _gyro_filter_x.apply(x_gyro_in_new);
+	grb.y = _gyro_filter_y.apply(y_gyro_in_new);
+	grb.z = _gyro_filter_z.apply(z_gyro_in_new);
+
+	grb.scaling = _gyro_range_scale;
+	grb.range_rad_s = _gyro_range_rad_s;
+
+	grb.temperature_raw = report.temp;
+	grb.temperature = (report.temp) / 361.0f + 35.0f;
+
+	_accel_reports->put(arb);
+	_gyro_reports->put(grb);
 
 	/* notify anyone waiting for data */
 	poll_notify(POLLIN);
 	_gyro->parent_poll_notify();
 
 	/* and publish for subscribers */
-	orb_publish(ORB_ID(sensor_accel), _accel_topic, &_accel_report);
+	orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
 	if (_gyro_topic != -1) {
-		orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &_gyro_report);
+		orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb);
 	}
 
 	/* stop measuring */
@@ -1103,21 +1297,19 @@ fail:
 void
 test()
 {
-	int fd = -1;
-	int fd_gyro = -1;
-	struct accel_report a_report;
-	struct gyro_report g_report;
+	accel_report a_report;
+	gyro_report g_report;
 	ssize_t sz;
 
 	/* get the driver */
-	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+	int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0)
 		err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
 		    ACCEL_DEVICE_PATH);
 
 	/* get the driver */
-	fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
+	int fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
 
 	if (fd_gyro < 0)
 		err(1, "%s open failed", GYRO_DEVICE_PATH);
@@ -1129,8 +1321,10 @@ test()
 	/* do a simple demand read */
 	sz = read(fd, &a_report, sizeof(a_report));
 
-	if (sz != sizeof(a_report))
+	if (sz != sizeof(a_report)) {
+		warnx("ret: %d, expected: %d", sz, sizeof(a_report));
 		err(1, "immediate acc read failed");
+	}
 
 	warnx("single read");
 	warnx("time:     %lld", a_report.timestamp);
@@ -1146,8 +1340,10 @@ test()
 	/* do a simple demand read */
 	sz = read(fd_gyro, &g_report, sizeof(g_report));
 
-	if (sz != sizeof(g_report))
+	if (sz != sizeof(g_report)) {
+		warnx("ret: %d, expected: %d", sz, sizeof(g_report));
 		err(1, "immediate gyro read failed");
+	}
 
 	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
 	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);

src/drivers/px4io/px4io.cpp

@@ -206,6 +206,12 @@ private:
 
 	bool			_dsm_vcc_ctl;
 
+	/**
+	 * System armed
+	 */
+
+	bool			_system_armed;
+
 	/**
 	 * Trampoline to the worker task
 	 */
@@ -374,7 +380,8 @@ PX4IO::PX4IO() :
 	_battery_amp_bias(0),
 	_battery_mamphour_total(0),
 	_battery_last_timestamp(0),
-	_dsm_vcc_ctl(false)
+	_dsm_vcc_ctl(false),
+	_system_armed(false)
 {
 	/* we need this potentially before it could be set in task_main */
 	g_dev = this;
@@ -633,9 +640,11 @@ void
 PX4IO::task_main()
 {
 	hrt_abstime last_poll_time = 0;
+	int mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
 
 	log("starting");
 
+
 	/*
 	 * Subscribe to the appropriate PWM output topic based on whether we are the
 	 * primary PWM output or not.
@@ -735,6 +744,25 @@ PX4IO::task_main()
 			 */
 			if (fds[3].revents & POLLIN) {
 				parameter_update_s pupdate;
+				int32_t dsm_bind_val;
+				param_t dsm_bind_param;
+
+				// See if bind parameter has been set, and reset it to 0
+				param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
+				if (dsm_bind_val) {
+					if (!_system_armed) {
+						if ((dsm_bind_val == 1) || (dsm_bind_val == 2)) {
+							mavlink_log_info(mavlink_fd, "[IO] binding dsm%c rx", dsm_bind_val == 1 ? '2' : 'x');
+							ioctl(nullptr, DSM_BIND_START, dsm_bind_val == 1 ? 3 : 7);
+						} else {
+							mavlink_log_info(mavlink_fd, "[IO] invalid bind type, bind request rejected");
+						}
+					} else {
+						mavlink_log_info(mavlink_fd, "[IO] system armed, bind request rejected"); 
+					}
+					dsm_bind_val = 0;
+					param_set(dsm_bind_param, &dsm_bind_val);
+				}
 
 				/* copy to reset the notification */
 				orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
@@ -842,6 +870,8 @@ PX4IO::io_set_arming_state()
 	uint16_t set = 0;
 	uint16_t clear = 0;
 
+	_system_armed = vstatus.flag_system_armed;
+
 	if (armed.armed && !armed.lockdown) {
 		set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
 	} else {
@@ -1578,16 +1608,11 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down); 
 		usleep(500000);
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
-		usleep(1000);
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
-		usleep(100000);
+		usleep(50000);
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
-		break;
-
-	case DSM_BIND_STOP:
-		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
+		usleep(50000);
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
-		usleep(500000);
 		break;
 
 	case DSM_BIND_POWER_UP:
@@ -1829,30 +1854,12 @@ bind(int argc, char *argv[])
 	else 
 		errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
 
-	/* Open console directly to grab CTRL-C signal */
-	int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
-	if (!console)
-		errx(1, "failed opening console");
-
 	warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1.");
-	warnx("Press CTRL-C or 'c' when done.");
 
 	g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
 
-	for (;;) {
-		usleep(500000L);
-		/* Check if user wants to quit */
-		char c;
-		if (read(console, &c, 1) == 1) {
-			if (c == 0x03 || c == 0x63) {
-				warnx("Done\n");
-				g_dev->ioctl(nullptr, DSM_BIND_STOP, 0);
-				g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0);
-				close(console);
-	            exit(0);
-            }
-		}
-	}
+	exit(0);
+
 }
 
 void

src/drivers/stm32/drv_hrt.c

@@ -70,7 +70,7 @@
 #include "stm32_gpio.h"
 #include "stm32_tim.h"
 
-#ifdef CONFIG_HRT_TIMER
+#ifdef HRT_TIMER
 
 /* HRT configuration */
 #if   HRT_TIMER == 1
@@ -155,7 +155,7 @@
 #  error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11
 # endif
 #else
-# error HRT_TIMER must be set in board.h if CONFIG_HRT_TIMER=y
+# error HRT_TIMER must be a value between 1 and 11
 #endif
 
 /*
@@ -275,7 +275,7 @@ static void		hrt_call_invoke(void);
 /*
  * Specific registers and bits used by PPM sub-functions
  */
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
 /* 
  * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
  *
@@ -326,7 +326,7 @@ static void		hrt_call_invoke(void);
 #  define CCER_PPM	(GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP) /* CC4, both edges */
 #  define CCER_PPM_FLIP	GTIM_CCER_CC4P
 # else
-#  error HRT_PPM_CHANNEL must be a value between 1 and 4 if CONFIG_HRT_PPM is set
+#  error HRT_PPM_CHANNEL must be a value between 1 and 4
 # endif
 
 /*
@@ -377,7 +377,7 @@ static void	hrt_ppm_decode(uint32_t status);
 # define CCMR1_PPM	0
 # define CCMR2_PPM	0
 # define CCER_PPM	0
-#endif /* CONFIG_HRT_PPM */
+#endif /* HRT_PPM_CHANNEL */
 
 /*
  * Initialise the timer we are going to use.
@@ -424,7 +424,7 @@ hrt_tim_init(void)
 	up_enable_irq(HRT_TIMER_VECTOR);
 }
 
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
 /*
  * Handle the PPM decoder state machine.
  */
@@ -526,7 +526,7 @@ error:
 	ppm_decoded_channels = 0;
 
 }
-#endif /* CONFIG_HRT_PPM */
+#endif /* HRT_PPM_CHANNEL */
 
 /*
  * Handle the compare interupt by calling the callout dispatcher
@@ -546,7 +546,7 @@ hrt_tim_isr(int irq, void *context)
 	/* ack the interrupts we just read */
 	rSR = ~status;
 
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
 
 	/* was this a PPM edge? */
 	if (status & (SR_INT_PPM | SR_OVF_PPM)) {
@@ -686,7 +686,7 @@ hrt_init(void)
 	sq_init(&callout_queue);
 	hrt_tim_init();
 
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
 	/* configure the PPM input pin */
 	stm32_configgpio(GPIO_PPM_IN);
 #endif
@@ -907,4 +907,4 @@ hrt_latency_update(void)
 }
 
 
-#endif /* CONFIG_HRT_TIMER */
+#endif /* HRT_TIMER */

src/drivers/stm32/drv_pwm_servo.c

@@ -88,6 +88,7 @@
 #define rCCR4(_tmr)   	REG(_tmr, STM32_GTIM_CCR4_OFFSET)
 #define rDCR(_tmr)    	REG(_tmr, STM32_GTIM_DCR_OFFSET)
 #define rDMAR(_tmr)   	REG(_tmr, STM32_GTIM_DMAR_OFFSET)
+#define rBDTR(_tmr)	REG(_tmr, STM32_ATIM_BDTR_OFFSET)
 
 static void		pwm_timer_init(unsigned timer);
 static void		pwm_timer_set_rate(unsigned timer, unsigned rate);
@@ -110,6 +111,11 @@ pwm_timer_init(unsigned timer)
 	rCCER(timer) = 0;
 	rDCR(timer) = 0;
 
+	if ((pwm_timers[timer].base == STM32_TIM1_BASE) || (pwm_timers[timer].base == STM32_TIM8_BASE)) {
+		/* master output enable = on */
+		rBDTR(timer) = ATIM_BDTR_MOE;
+	}
+
 	/* configure the timer to free-run at 1MHz */
 	rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1;
 

src/drivers/stm32/tone_alarm/tone_alarm.cpp

@@ -117,10 +117,6 @@
 
 #include <systemlib/err.h>
 
-#ifndef CONFIG_HRT_TIMER
-# error This driver requires CONFIG_HRT_TIMER
-#endif
-
 /* Tone alarm configuration */
 #if   TONE_ALARM_TIMER == 2
 # define TONE_ALARM_BASE		STM32_TIM2_BASE

src/modules/att_pos_estimator_ekf/KalmanNav.hpp

@@ -47,8 +47,8 @@
 #include <mathlib/mathlib.h>
 #include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
-#include <controllib/block/UOrbSubscription.hpp>
-#include <controllib/block/UOrbPublication.hpp>
+#include <controllib/uorb/UOrbSubscription.hpp>
+#include <controllib/uorb/UOrbPublication.hpp>
 
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_global_position.h>

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -224,8 +224,8 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 
 	/* subscribe to raw data */
 	int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
-	/* rate-limit raw data updates to 200Hz */
-	orb_set_interval(sub_raw, 4);
+	/* rate-limit raw data updates to 333 Hz (sensors app publishes at 200, so this is just paranoid) */
+	orb_set_interval(sub_raw, 3);
 
 	/* subscribe to param changes */
 	int sub_params = orb_subscribe(ORB_ID(parameter_update));
@@ -236,7 +236,6 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	/* advertise attitude */
 	orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
 
-
 	int loopcounter = 0;
 	int printcounter = 0;
 
@@ -384,7 +383,7 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 					static bool const_initialized = false;
 
 					/* initialize with good values once we have a reasonable dt estimate */
-					if (!const_initialized && dt < 0.05f && dt > 0.005f) {
+					if (!const_initialized && dt < 0.05f && dt > 0.001f) {
 						dt = 0.005f;
 						parameters_update(&ekf_param_handles, &ekf_params);
 
@@ -424,7 +423,8 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 						continue;
 					}
 
-					if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
+					if (last_data > 0 && raw.timestamp - last_data > 12000)
+						printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
 
 					last_data = raw.timestamp;
 

src/modules/commander/accelerometer_calibration.cpp

@@ -275,8 +275,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
 	float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
 	/* EMA time constant in seconds*/
 	float ema_len = 0.2f;
-	/* set "still" threshold to 0.1 m/s^2 */
-	float still_thr2 = pow(0.1f, 2);
+	/* set "still" threshold to 0.25 m/s^2 */
+	float still_thr2 = pow(0.25f, 2);
 	/* set accel error threshold to 5m/s^2 */
 	float accel_err_thr = 5.0f;
 	/* still time required in us */

src/modules/commander/commander.cpp

@@ -1317,6 +1317,7 @@ toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, vehicle_gp
 			/* ready to arm, blink at 2.5Hz */
 			if (leds_counter & 8) {
 				led_on(LED_AMBER);
+
 			} else {
 				led_off(LED_AMBER);
 			}
@@ -1552,6 +1553,7 @@ void *commander_low_prio_loop(void *arg)
 				mavlink_log_critical(mavlink_fd, "[cmd] parameters load ERROR");
 				tune_error();
 			}
+
 			low_prio_task = LOW_PRIO_TASK_NONE;
 			break;
 
@@ -1564,6 +1566,7 @@ void *commander_low_prio_loop(void *arg)
 				mavlink_log_critical(mavlink_fd, "[cmd] parameters save error");
 				tune_error();
 			}
+
 			low_prio_task = LOW_PRIO_TASK_NONE;
 			break;
 

src/modules/controllib/block/Block.cpp

@@ -43,8 +43,8 @@
 
 #include "Block.hpp"
 #include "BlockParam.hpp"
-#include "UOrbSubscription.hpp"
-#include "UOrbPublication.hpp"
+#include "../uorb/UOrbSubscription.hpp"
+#include "../uorb/UOrbPublication.hpp"
 
 namespace control
 {

src/modules/controllib/blocks.hpp

@@ -42,6 +42,7 @@
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
+#include <math.h>
 #include <mathlib/math/test/test.hpp>
 
 #include "block/Block.hpp"

src/modules/controllib/module.mk

@@ -37,7 +37,7 @@
 SRCS		 = test_params.c \
 		   block/Block.cpp \
 		   block/BlockParam.cpp \
-		   block/UOrbPublication.cpp \
-		   block/UOrbSubscription.cpp \
-		   blocks.cpp \
-		   fixedwing.cpp
+		   uorb/UOrbPublication.cpp \
+		   uorb/UOrbSubscription.cpp \
+		   uorb/blocks.cpp \
+		   blocks.cpp

src/modules/controllib/uorb/UOrbPublication.hpp

@@ -39,8 +39,8 @@
 #pragma once
 
 #include <uORB/uORB.h>
-#include "Block.hpp"
-#include "List.hpp"
+#include "../block/Block.hpp"
+#include "../block/List.hpp"
 
 
 namespace control

src/modules/controllib/uorb/UOrbSubscription.hpp

@@ -39,8 +39,8 @@
 #pragma once
 
 #include <uORB/uORB.h>
-#include "Block.hpp"
-#include "List.hpp"
+#include "../block/Block.hpp"
+#include "../block/List.hpp"
 
 
 namespace control

src/modules/controllib/uorb/blocks.cpp

@@ -0,0 +1,101 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 uorb_blocks.cpp
+ *
+ * uorb block library code
+ */
+
+#include "blocks.hpp"
+
+namespace control
+{
+
+BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_xtYawLimit(this, "XT2YAW"),
+	_xt2Yaw(this, "XT2YAW"),
+	_psiCmd(0)
+{
+}
+
+BlockWaypointGuidance::~BlockWaypointGuidance() {};
+
+void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
+				   vehicle_attitude_s &att,
+				   vehicle_global_position_setpoint_s &posCmd,
+				   vehicle_global_position_setpoint_s &lastPosCmd)
+{
+
+	// heading to waypoint
+	float psiTrack = get_bearing_to_next_waypoint(
+				 (double)pos.lat / (double)1e7d,
+				 (double)pos.lon / (double)1e7d,
+				 (double)posCmd.lat / (double)1e7d,
+				 (double)posCmd.lon / (double)1e7d);
+
+	// cross track
+	struct crosstrack_error_s xtrackError;
+	get_distance_to_line(&xtrackError,
+			     (double)pos.lat / (double)1e7d,
+			     (double)pos.lon / (double)1e7d,
+			     (double)lastPosCmd.lat / (double)1e7d,
+			     (double)lastPosCmd.lon / (double)1e7d,
+			     (double)posCmd.lat / (double)1e7d,
+			     (double)posCmd.lon / (double)1e7d);
+
+	_psiCmd = _wrap_2pi(psiTrack -
+			    _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
+}
+
+BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	// subscriptions
+	_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
+	_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
+	_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
+	_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
+	_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20),
+	_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
+	_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
+	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
+	// publications
+	_actuators(&getPublications(), ORB_ID(actuator_controls_0))
+{
+}
+
+BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
+
+} // namespace control
+

src/modules/controllib/uorb/blocks.hpp

@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 uorb_blocks.h
+ *
+ * uorb block library code
+ */
+
+#pragma once
+
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_global_position_set_triplet.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/parameter_update.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <drivers/drv_hrt.h>
+#include <poll.h>
+
+extern "C" {
+#include <systemlib/geo/geo.h>
+}
+
+#include "../blocks.hpp"
+#include "UOrbSubscription.hpp"
+#include "UOrbPublication.hpp"
+
+namespace control
+{
+
+/**
+ * Waypoint Guidance block
+ */
+class __EXPORT BlockWaypointGuidance : public SuperBlock
+{
+private:
+	BlockLimitSym _xtYawLimit;
+	BlockP _xt2Yaw;
+	float _psiCmd;
+public:
+	BlockWaypointGuidance(SuperBlock *parent, const char *name);
+	virtual ~BlockWaypointGuidance();
+	void update(vehicle_global_position_s &pos,
+		    vehicle_attitude_s &att,
+		    vehicle_global_position_setpoint_s &posCmd,
+		    vehicle_global_position_setpoint_s &lastPosCmd);
+	float getPsiCmd() { return _psiCmd; }
+};
+
+/**
+ * UorbEnabledAutopilot
+ */
+class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
+{
+protected:
+	// subscriptions
+	UOrbSubscription<vehicle_attitude_s> _att;
+	UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
+	UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
+	UOrbSubscription<vehicle_global_position_s> _pos;
+	UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd;
+	UOrbSubscription<manual_control_setpoint_s> _manual;
+	UOrbSubscription<vehicle_status_s> _status;
+	UOrbSubscription<parameter_update_s> _param_update;
+	// publications
+	UOrbPublication<actuator_controls_s> _actuators;
+public:
+	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
+	virtual ~BlockUorbEnabledAutopilot();
+};
+
+} // namespace control
+

src/modules/fixedwing_backside/fixedwing.cpp

@@ -88,61 +88,6 @@ void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
 	_yawDamper.update(rCmd, r, outputScale);
 }
 
-BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
-	SuperBlock(parent, name),
-	_xtYawLimit(this, "XT2YAW"),
-	_xt2Yaw(this, "XT2YAW"),
-	_psiCmd(0)
-{
-}
-
-BlockWaypointGuidance::~BlockWaypointGuidance() {};
-
-void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
-				   vehicle_attitude_s &att,
-				   vehicle_global_position_setpoint_s &posCmd,
-				   vehicle_global_position_setpoint_s &lastPosCmd)
-{
-
-	// heading to waypoint
-	float psiTrack = get_bearing_to_next_waypoint(
-				 (double)pos.lat / (double)1e7d,
-				 (double)pos.lon / (double)1e7d,
-				 (double)posCmd.lat / (double)1e7d,
-				 (double)posCmd.lon / (double)1e7d);
-
-	// cross track
-	struct crosstrack_error_s xtrackError;
-	get_distance_to_line(&xtrackError,
-			     (double)pos.lat / (double)1e7d,
-			     (double)pos.lon / (double)1e7d,
-			     (double)lastPosCmd.lat / (double)1e7d,
-			     (double)lastPosCmd.lon / (double)1e7d,
-			     (double)posCmd.lat / (double)1e7d,
-			     (double)posCmd.lon / (double)1e7d);
-
-	_psiCmd = _wrap_2pi(psiTrack -
-			    _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
-}
-
-BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
-	SuperBlock(parent, name),
-	// subscriptions
-	_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
-	_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
-	_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
-	_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
-	_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20),
-	_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
-	_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
-	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
-	// publications
-	_actuators(&getPublications(), ORB_ID(actuator_controls_0))
-{
-}
-
-BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
-
 BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) :
 	BlockUorbEnabledAutopilot(parent, name),
 	_stabilization(this, ""), // no name needed, already unique
@@ -385,4 +330,4 @@ BlockMultiModeBacksideAutopilot::~BlockMultiModeBacksideAutopilot()
 
 } // namespace control
 
-#endif
+#endif

src/modules/fixedwing_backside/fixedwing.hpp

@@ -39,31 +39,8 @@
 
 #pragma once
 
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_set_triplet.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/parameter_update.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-
-#include <drivers/drv_hrt.h>
-#include <poll.h>
-
-#include "blocks.hpp"
-#include "block/UOrbSubscription.hpp"
-#include "block/UOrbPublication.hpp"
-
-extern "C" {
-#include <systemlib/geo/geo.h>
-}
+#include <controllib/blocks.hpp>
+#include <controllib/uorb/blocks.hpp>
 
 namespace control
 {
@@ -250,47 +227,6 @@ public:
  * than frontside at high speeds.
  */
 
-/**
- * Waypoint Guidance block
- */
-class __EXPORT BlockWaypointGuidance : public SuperBlock
-{
-private:
-	BlockLimitSym _xtYawLimit;
-	BlockP _xt2Yaw;
-	float _psiCmd;
-public:
-	BlockWaypointGuidance(SuperBlock *parent, const char *name);
-	virtual ~BlockWaypointGuidance();
-	void update(vehicle_global_position_s &pos,
-		    vehicle_attitude_s &att,
-		    vehicle_global_position_setpoint_s &posCmd,
-		    vehicle_global_position_setpoint_s &lastPosCmd);
-	float getPsiCmd() { return _psiCmd; }
-};
-
-/**
- * UorbEnabledAutopilot
- */
-class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
-{
-protected:
-	// subscriptions
-	UOrbSubscription<vehicle_attitude_s> _att;
-	UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
-	UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
-	UOrbSubscription<vehicle_global_position_s> _pos;
-	UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd;
-	UOrbSubscription<manual_control_setpoint_s> _manual;
-	UOrbSubscription<vehicle_status_s> _status;
-	UOrbSubscription<parameter_update_s> _param_update;
-	// publications
-	UOrbPublication<actuator_controls_s> _actuators;
-public:
-	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
-	virtual ~BlockUorbEnabledAutopilot();
-};
-
 /**
  * Multi-mode Autopilot
  */

src/modules/fixedwing_backside/fixedwing_backside_main.cpp

@@ -45,12 +45,13 @@
 #include <stdlib.h>
 #include <string.h>
 #include <systemlib/systemlib.h>
-#include <controllib/fixedwing.hpp>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
 #include <math.h>
 
+#include "fixedwing.hpp"
+
 static bool thread_should_exit = false;     /**< Deamon exit flag */
 static bool thread_running = false;     /**< Deamon status flag */
 static int deamon_task;             /**< Handle of deamon task / thread */

src/modules/fixedwing_backside/module.mk

@@ -38,4 +38,5 @@
 MODULE_COMMAND	= fixedwing_backside
 
 SRCS		= fixedwing_backside_main.cpp \
+		  fixedwing.cpp \
 		  params.c

src/modules/mathlib/math/filter/LowPassFilter2p.cpp

@@ -0,0 +1,77 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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	LowPassFilter.cpp
+/// @brief	A class to implement a second order low pass filter 
+/// Author: Leonard Hall <LeonardTHall@gmail.com>
+
+#include "LowPassFilter2p.hpp"
+#include "math.h"
+
+namespace math
+{
+
+void LowPassFilter2p::set_cutoff_frequency(float sample_freq, float cutoff_freq)
+{
+    _cutoff_freq = cutoff_freq;
+    float fr = sample_freq/_cutoff_freq;
+    float ohm = tanf(M_PI_F/fr);
+    float c = 1.0f+2.0f*cosf(M_PI_F/4.0f)*ohm + ohm*ohm;
+    _b0 = ohm*ohm/c;
+    _b1 = 2.0f*_b0;
+    _b2 = _b0;
+    _a1 = 2.0f*(ohm*ohm-1.0f)/c;
+    _a2 = (1.0f-2.0f*cosf(M_PI_F/4.0f)*ohm+ohm*ohm)/c;
+}
+
+float LowPassFilter2p::apply(float sample)
+{
+    // do the filtering
+    float delay_element_0 = sample - _delay_element_1 * _a1 - _delay_element_2 * _a2;
+    if (isnan(delay_element_0) || isinf(delay_element_0)) {
+        // don't allow bad values to propogate via the filter
+        delay_element_0 = sample;
+    }
+    float output = delay_element_0 * _b0 + _delay_element_1 * _b1 + _delay_element_2 * _b2;
+    
+    _delay_element_2 = _delay_element_1;
+    _delay_element_1 = delay_element_0;
+
+    // return the value.  Should be no need to check limits
+    return output;
+}
+
+} // namespace math
+

src/modules/mathlib/math/filter/LowPassFilter2p.hpp

@@ -0,0 +1,78 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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	LowPassFilter.h
+/// @brief	A class to implement a second order low pass filter 
+/// Author: Leonard Hall <LeonardTHall@gmail.com>
+/// Adapted for PX4 by Andrew Tridgell
+
+#pragma once
+
+namespace math
+{
+class __EXPORT LowPassFilter2p
+{
+public:
+    // constructor
+    LowPassFilter2p(float sample_freq, float cutoff_freq) {
+        // set initial parameters
+        set_cutoff_frequency(sample_freq, cutoff_freq);
+        _delay_element_1 = _delay_element_2 = 0;
+    }
+
+    // change parameters
+    void set_cutoff_frequency(float sample_freq, float cutoff_freq);
+
+    // apply - Add a new raw value to the filter 
+    // and retrieve the filtered result
+    float apply(float sample);
+
+    // return the cutoff frequency
+    float get_cutoff_freq(void) const {
+        return _cutoff_freq;
+    }
+
+private:
+    float           _cutoff_freq; 
+    float           _a1;
+    float           _a2;
+    float           _b0;
+    float           _b1;
+    float           _b2;
+    float           _delay_element_1;        // buffered sample -1
+    float           _delay_element_2;        // buffered sample -2
+};
+
+} // namespace math

src/modules/mathlib/math/filter/module.mk

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 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.
+#
+############################################################################
+
+#
+# filter library
+#
+SRCS		 = LowPassFilter2p.cpp
+
+#
+# In order to include .config we first have to save off the
+# current makefile name, since app.mk needs it.
+#
+APP_MAKEFILE	:= $(lastword $(MAKEFILE_LIST))
+-include $(TOPDIR)/.config

src/modules/px4iofirmware/controls.c

@@ -300,6 +300,8 @@ controls_tick() {
 		} else {
 			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
 		}
+	} else {
+		r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
 	}
 }