From 04a905041009e4763cdc9e08a853c16a7e0b7dca Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 1 Feb 2015 12:07:16 +1100
Subject: [PATCH 01/12] ms5611: allow for all 4 bus combinations in ms5611
 driver

this uses the same table driven approach as the hmc5883 driver, and
allows for a ms5611 baro on any of the 4 bus combinations. A simple
"ms5611 start" will start all baros that are found.
---
 src/drivers/ms5611/ms5611.cpp     | 262 ++++++++++++++++--------------
 src/drivers/ms5611/ms5611.h       |   6 +-
 src/drivers/ms5611/ms5611_i2c.cpp |  18 +-
 src/drivers/ms5611/ms5611_spi.cpp |  25 +--
 4 files changed, 162 insertions(+), 149 deletions(-)

diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index 75b1f65fdb..f03d6404f1 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -69,6 +69,14 @@
 
 #include "ms5611.h"
 
+enum MS5611_BUS {
+	MS5611_BUS_ALL = 0,
+	MS5611_BUS_I2C_INTERNAL,
+	MS5611_BUS_I2C_EXTERNAL,
+	MS5611_BUS_SPI_INTERNAL,
+	MS5611_BUS_SPI_EXTERNAL
+};
+
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
 # undef ERROR
@@ -784,15 +792,38 @@ MS5611::print_info()
 namespace ms5611
 {
 
-/* initialize explicitely for clarity */
-MS5611	*g_dev_ext = nullptr;
-MS5611	*g_dev_int = nullptr;
+/*
+  list of supported bus configurations
+ */
+struct ms5611_bus_option {
+	enum MS5611_BUS busid;
+	const char *devpath;
+	MS5611_constructor interface_constructor;
+	uint8_t busnum;
+	MS5611 *dev;
+} bus_options[] = {
+#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
+	{ MS5611_BUS_SPI_EXTERNAL, "/dev/ms5611_spi_ext", &MS5611_spi_interface, PX4_SPI_BUS_EXT, NULL },
+#endif
+#ifdef PX4_SPIDEV_BARO
+	{ MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_SENSORS, NULL },
+#endif
+#ifdef PX4_I2C_BUS_ONBOARD
+	{ MS5611_BUS_I2C_INTERNAL, "/dev/ms5611_int", &MS5611_i2c_interface, PX4_I2C_BUS_ONBOARD, NULL },
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION
+	{ MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION, NULL },
+#endif
+};
+#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
 
-void	start(bool external_bus);
-void	test(bool external_bus);
-void	reset(bool external_bus);
+bool	start_bus(struct ms5611_bus_option &bus);
+struct ms5611_bus_option &find_bus(enum MS5611_BUS busid);
+void	start(enum MS5611_BUS busid);
+void	test(enum MS5611_BUS busid);
+void	reset(enum MS5611_BUS busid);
 void	info();
-void	calibrate(unsigned altitude, bool external_bus);
+void	calibrate(unsigned altitude, enum MS5611_BUS busid);
 void	usage();
 
 /**
@@ -845,89 +876,89 @@ crc4(uint16_t *n_prom)
 /**
  * Start the driver.
  */
-void
-start(bool external_bus)
+bool
+start_bus(struct ms5611_bus_option &bus)
 {
-	int fd;
+	::printf("starting bus %s\n", bus.devpath);
+	usleep(5000);
+	if (bus.dev != nullptr)
+		errx(1,"bus option already started");
+
 	prom_u prom_buf;
-
-	if (external_bus && (g_dev_ext != nullptr)) {
-		/* if already started, the still command succeeded */
-		errx(0, "ext already started");
-	} else if (!external_bus && (g_dev_int != nullptr)) {
-		/* if already started, the still command succeeded */
-		errx(0, "int already started");
-	}
-
-	device::Device *interface = nullptr;
-
-	/* create the driver, try SPI first, fall back to I2C if unsuccessful */
-	if (MS5611_spi_interface != nullptr)
-            interface = MS5611_spi_interface(prom_buf, external_bus);
-	if (interface == nullptr && (MS5611_i2c_interface != nullptr))
-		interface = MS5611_i2c_interface(prom_buf);
-
-	if (interface == nullptr)
-		errx(1, "failed to allocate an interface");
-
+	device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum);
 	if (interface->init() != OK) {
 		delete interface;
-		errx(1, "interface init failed");
+		warnx("no device on bus %u", (unsigned)bus.busid);
+		return false;
 	}
 
-	if (external_bus) {
-		g_dev_ext = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_EXT);
-		if (g_dev_ext == nullptr) {
-			delete interface;
-			errx(1, "failed to allocate driver");
-		}
-
-		if (g_dev_ext->init() != OK)
-			goto fail;
-
-		fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
-
-	} else {
-
-		g_dev_int = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_INT);
-		if (g_dev_int == nullptr) {
-			delete interface;
-			errx(1, "failed to allocate driver");
-		}
-
-		if (g_dev_int->init() != OK)
-			goto fail;
-
-		fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
-
+	bus.dev = new MS5611(interface, prom_buf, bus.devpath);
+	if (bus.dev != nullptr && OK != bus.dev->init()) {
+		delete bus.dev;
+		bus.dev = NULL;
+		return false;
 	}
+			
+	int fd = open(bus.devpath, O_RDONLY);
 
 	/* set the poll rate to default, starts automatic data collection */
-
-	if (fd < 0) {
-		warnx("can't open baro device");
-		goto fail;
+	if (fd == -1) {
+		errx(1, "can't open baro device");
 	}
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		warnx("failed setting default poll rate");
-		goto fail;
+		close(fd);
+		errx(1, "failed setting default poll rate");
 	}
 
+	close(fd);
+	return true;
+}
+
+
+/**
+ * Start the driver.
+ *
+ * This function call only returns once the driver
+ * is either successfully up and running or failed to start.
+ */
+void
+start(enum MS5611_BUS busid)
+{
+	uint8_t i;
+	bool started = false;
+
+	for (i=0; i<NUM_BUS_OPTIONS; i++) {
+		if (busid == MS5611_BUS_ALL && bus_options[i].dev != NULL) {
+			// this device is already started
+			continue;
+		}
+		if (busid != MS5611_BUS_ALL && bus_options[i].busid != busid) {
+			// not the one that is asked for
+			continue;
+		}
+		started |= start_bus(bus_options[i]);
+	}
+
+	if (!started)
+		errx(1, "driver start failed");
+
+	// one or more drivers started OK
 	exit(0);
+}
 
-fail:
 
-	if (g_dev_int != nullptr) {
-		delete g_dev_int;
-		g_dev_int = nullptr;
-	}
-
-	if (g_dev_ext != nullptr) {
-		delete g_dev_ext;
-		g_dev_ext = nullptr;
-	}
-
-	errx(1, "driver start failed");
+/**
+ * find a bus structure for a busid
+ */
+struct ms5611_bus_option &find_bus(enum MS5611_BUS busid)
+{
+	for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
+		if ((busid == MS5611_BUS_ALL ||
+		     busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
+			return bus_options[i];
+		}
+	}	
+	errx(1,"bus %u not started", (unsigned)busid);
 }
 
 /**
@@ -936,20 +967,16 @@ fail:
  * and automatic modes.
  */
 void
-test(bool external_bus)
+test(enum MS5611_BUS busid)
 {
+	struct ms5611_bus_option &bus = find_bus(busid);
 	struct baro_report report;
 	ssize_t sz;
 	int ret;
 
 	int fd;
 
-	if (external_bus) {
-		fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
-	} else {
-		fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
-	}
-
+	fd = open(bus.devpath, O_RDONLY);
 	if (fd < 0)
 		err(1, "open failed (try 'ms5611 start' if the driver is not running)");
 
@@ -998,6 +1025,7 @@ test(bool external_bus)
 		warnx("time:        %lld", report.timestamp);
 	}
 
+	close(fd);
 	errx(0, "PASS");
 }
 
@@ -1005,16 +1033,12 @@ test(bool external_bus)
  * Reset the driver.
  */
 void
-reset(bool external_bus)
+reset(enum MS5611_BUS busid)
 {
+	struct ms5611_bus_option &bus = find_bus(busid);
 	int fd;
 
-	if (external_bus) {
-		fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
-	} else {
-		fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
-	}
-
+	fd = open(bus.devpath, O_RDONLY);
 	if (fd < 0)
 		err(1, "failed ");
 
@@ -1033,19 +1057,13 @@ reset(bool external_bus)
 void
 info()
 {
-	if (g_dev_ext == nullptr && g_dev_int == nullptr)
-		errx(1, "driver not running");
-
-	if (g_dev_ext) {
-		warnx("ext:");
-		g_dev_ext->print_info();
+	for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
+		struct ms5611_bus_option &bus = bus_options[i];
+		if (bus.dev != nullptr) {
+			warnx("%s", bus.devpath);
+			bus.dev->print_info();
+		}
 	}
-
-	if (g_dev_int) {
-		warnx("int:");
-		g_dev_int->print_info();
-	}
-
 	exit(0);
 }
 
@@ -1053,19 +1071,16 @@ info()
  * Calculate actual MSL pressure given current altitude
  */
 void
-calibrate(unsigned altitude, bool external_bus)
+calibrate(unsigned altitude, enum MS5611_BUS busid)
 {
+	struct ms5611_bus_option &bus = find_bus(busid);
 	struct baro_report report;
 	float	pressure;
 	float	p1;
 
 	int fd;
 
-	if (external_bus) {
-		fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
-	} else {
-		fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
-	}
+	fd = open(bus.devpath, O_RDONLY);
 
 	if (fd < 0)
 		err(1, "open failed (try 'ms5611 start' if the driver is not running)");
@@ -1120,6 +1135,7 @@ calibrate(unsigned altitude, bool external_bus)
 	if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK)
 		err(1, "BAROIOCSMSLPRESSURE");
 
+	close(fd);
 	exit(0);
 }
 
@@ -1128,7 +1144,10 @@ usage()
 {
 	warnx("missing command: try 'start', 'info', 'test', 'test2', 'reset', 'calibrate'");
 	warnx("options:");
-	warnx("    -X    (external bus)");
+	warnx("    -X    (external I2C bus)");
+	warnx("    -I    (intternal I2C bus)");
+	warnx("    -S    (external SPI bus)");
+	warnx("    -s    (internal SPI bus)");
 }
 
 } // namespace
@@ -1136,14 +1155,23 @@ usage()
 int
 ms5611_main(int argc, char *argv[])
 {
-	bool external_bus = false;
+	enum MS5611_BUS busid = MS5611_BUS_ALL;
 	int ch;
 
 	/* jump over start/off/etc and look at options first */
-	while ((ch = getopt(argc, argv, "X")) != EOF) {
+	while ((ch = getopt(argc, argv, "XISs")) != EOF) {
 		switch (ch) {
 		case 'X':
-			external_bus = true;
+			busid = MS5611_BUS_I2C_EXTERNAL;
+			break;
+		case 'I':
+			busid = MS5611_BUS_I2C_INTERNAL;
+			break;
+		case 'S':
+			busid = MS5611_BUS_SPI_EXTERNAL;
+			break;
+		case 's':
+			busid = MS5611_BUS_SPI_INTERNAL;
 			break;
 		default:
 			ms5611::usage();
@@ -1153,29 +1181,23 @@ ms5611_main(int argc, char *argv[])
 
 	const char *verb = argv[optind];
 
-	if (argc > optind+1) {
-		if (!strcmp(argv[optind+1], "-X")) {
-			external_bus = true;
-		}
-	}
-
 	/*
 	 * Start/load the driver.
 	 */
 	if (!strcmp(verb, "start"))
-		ms5611::start(external_bus);
+		ms5611::start(busid);
 
 	/*
 	 * Test the driver/device.
 	 */
 	if (!strcmp(verb, "test"))
-		ms5611::test(external_bus);
+		ms5611::test(busid);
 
 	/*
 	 * Reset the driver.
 	 */
 	if (!strcmp(verb, "reset"))
-		ms5611::reset(external_bus);
+		ms5611::reset(busid);
 
 	/*
 	 * Print driver information.
@@ -1192,7 +1214,7 @@ ms5611_main(int argc, char *argv[])
 
 		long altitude = strtol(argv[optind+1], nullptr, 10);
 
-		ms5611::calibrate(altitude, external_bus);
+		ms5611::calibrate(altitude, busid);
 	}
 
 	errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
diff --git a/src/drivers/ms5611/ms5611.h b/src/drivers/ms5611/ms5611.h
index 3f1f6c4738..c8211b8dd1 100644
--- a/src/drivers/ms5611/ms5611.h
+++ b/src/drivers/ms5611/ms5611.h
@@ -80,6 +80,6 @@ extern bool crc4(uint16_t *n_prom);
 } /* namespace */
 
 /* interface factories */
-extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus) weak_function;
-extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf) weak_function;
-
+extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum) weak_function;
+extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum) weak_function;
+typedef device::Device* (*MS5611_constructor)(ms5611::prom_u &prom_buf, uint8_t busnum);
diff --git a/src/drivers/ms5611/ms5611_i2c.cpp b/src/drivers/ms5611/ms5611_i2c.cpp
index 87d9b94a6e..ca651409f9 100644
--- a/src/drivers/ms5611/ms5611_i2c.cpp
+++ b/src/drivers/ms5611/ms5611_i2c.cpp
@@ -56,14 +56,6 @@
 
 #include "board_config.h"
 
-#ifdef PX4_I2C_OBDEV_MS5611
-
-#ifndef PX4_I2C_BUS_ONBOARD
-	#define MS5611_BUS		1
-#else
-	#define MS5611_BUS		PX4_I2C_BUS_ONBOARD
-#endif
-
 #define MS5611_ADDRESS_1		0x76	/* address select pins pulled high (PX4FMU series v1.6+) */
 #define MS5611_ADDRESS_2		0x77    /* address select pins pulled low (PX4FMU prototypes) */
 
@@ -74,7 +66,7 @@ device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf);
 class MS5611_I2C : public device::I2C
 {
 public:
-	MS5611_I2C(int bus, ms5611::prom_u &prom_buf);
+	MS5611_I2C(uint8_t bus, ms5611::prom_u &prom_buf);
 	virtual ~MS5611_I2C();
 
 	virtual int	init();
@@ -113,12 +105,12 @@ private:
 };
 
 device::Device *
-MS5611_i2c_interface(ms5611::prom_u &prom_buf)
+MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
 {
-	return new MS5611_I2C(MS5611_BUS, prom_buf);
+	return new MS5611_I2C(busnum, prom_buf);
 }
 
-MS5611_I2C::MS5611_I2C(int bus, ms5611::prom_u &prom) :
+MS5611_I2C::MS5611_I2C(uint8_t bus, ms5611::prom_u &prom) :
 	I2C("MS5611_I2C", nullptr, bus, 0, 400000),
 	_prom(prom)
 {
@@ -274,5 +266,3 @@ MS5611_I2C::_read_prom()
 	/* calculate CRC and return success/failure accordingly */
 	return ms5611::crc4(&_prom.c[0]) ? OK : -EIO;
 }
-
-#endif /* PX4_I2C_OBDEV_MS5611 */
diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp
index 5234ce8d6b..554a1d6596 100644
--- a/src/drivers/ms5611/ms5611_spi.cpp
+++ b/src/drivers/ms5611/ms5611_spi.cpp
@@ -60,14 +60,14 @@
 #define DIR_WRITE			(0<<7)
 #define ADDR_INCREMENT			(1<<6)
 
-#ifdef PX4_SPIDEV_BARO
+#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
 
 device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus);
 
 class MS5611_SPI : public device::SPI
 {
 public:
-	MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf);
+	MS5611_SPI(uint8_t bus, spi_dev_e device, ms5611::prom_u &prom_buf);
 	virtual ~MS5611_SPI();
 
 	virtual int	init();
@@ -115,20 +115,21 @@ private:
 };
 
 device::Device *
-MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus)
+MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
 {
-	if (external_bus) {
-		#ifdef PX4_SPI_BUS_EXT
-		return new MS5611_SPI(PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_BARO, prom_buf);
-		#else
+#ifdef PX4_SPI_BUS_EXT
+	if (busnum == PX4_SPI_BUS_EXT) {
+#ifdef PX4_SPIDEV_EXT_BARO
+		return new MS5611_SPI(busnum, (spi_dev_e)PX4_SPIDEV_EXT_BARO, prom_buf);
+#else
 		return nullptr;
-		#endif
-	} else {
-		return new MS5611_SPI(PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
+#endif
 	}
+#endif
+	return new MS5611_SPI(busnum, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
 }
 
-MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
+MS5611_SPI::MS5611_SPI(uint8_t bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
 	SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */),
 	_prom(prom_buf)
 {
@@ -281,4 +282,4 @@ MS5611_SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	return transfer(send, recv, len);
 }
 
-#endif /* PX4_SPIDEV_BARO */
+#endif /* PX4_SPIDEV_BARO || PX4_SPIDEV_EXT_BARO */

From 2f25469bbe129873e4456fe0408bdf476db515f7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 1 Feb 2015 12:08:06 +1100
Subject: [PATCH 02/12] px4fmu-v1: removed baro I2C address in board_config.h

the ms5611 can be on two addresses. The driver handles this, not the
board config
---
 src/drivers/boards/px4fmu-v1/board_config.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h
index 188885be2d..882ec6aa2d 100644
--- a/src/drivers/boards/px4fmu-v1/board_config.h
+++ b/src/drivers/boards/px4fmu-v1/board_config.h
@@ -114,7 +114,6 @@ __BEGIN_DECLS
  * 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_LED	0x55
 

From f51dd7556e1977dc58d3bb9893b8634c77e3fba6 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 1 Feb 2015 13:10:45 +0100
Subject: [PATCH 03/12] FMUv1: Re-enable missing sensors

---
 makefiles/config_px4fmu-v1_default.mk | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 852edb788c..8d27330513 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -24,18 +24,18 @@ MODULES		+= drivers/l3gd20
 MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
-#MODULES		+= drivers/ll40ls
+MODULES		+= drivers/ll40ls
 MODULES		+= drivers/trone
-#MODULES		+= drivers/mb12xx
+MODULES		+= drivers/mb12xx
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
-#MODULES		+= drivers/blinkm
+MODULES		+= drivers/blinkm
 MODULES		+= drivers/rgbled
 MODULES		+= drivers/mkblctrl
 MODULES		+= drivers/airspeed
-#MODULES		+= drivers/ets_airspeed
+MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
-#MODULES		+= drivers/frsky_telemetry
+MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
 
 #

From a3f577e64297602beea587bfb3c2c6b003f53ab0 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 1 Feb 2015 13:11:05 +0100
Subject: [PATCH 04/12] FMUv2: Re-enable missing sensors

---
 makefiles/config_px4fmu-v2_default.mk | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index 3abebd82fa..3e2d942363 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -27,15 +27,15 @@ MODULES		+= drivers/l3gd20
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
 MODULES		+= drivers/mb12xx
-# MODULES		+= drivers/sf0x
+MODULES		+= drivers/sf0x
 MODULES		+= drivers/ll40ls
-# MODULES		+= drivers/trone
+MODULES		+= drivers/trone
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
-# MODULES		+= drivers/hott
-# MODULES		+= drivers/hott/hott_telemetry
-# MODULES		+= drivers/hott/hott_sensors
-# MODULES		+= drivers/blinkm
+MODULES		+= drivers/hott
+MODULES		+= drivers/hott/hott_telemetry
+MODULES		+= drivers/hott/hott_sensors
+MODULES		+= drivers/blinkm
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed

From 344e9694289a12a8e962a589c99000ed9dab5928 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 1 Feb 2015 13:11:24 +0100
Subject: [PATCH 05/12] FMUv2 test: Enable sensors module

---
 makefiles/config_px4fmu-v2_test.mk | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index 91fc2a7512..7c63839ad6 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -26,6 +26,9 @@ MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
 MODULES		+= drivers/pca8574
 MODULES		+= drivers/roboclaw
+MODULES		+= drivers/airspeed
+MODULES		+= drivers/ets_airspeed
+MODULES		+= drivers/meas_airspeed
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/tests
@@ -33,6 +36,7 @@ MODULES		+= systemcmds/nshterm
 MODULES		+= systemcmds/mtd
 MODULES		+= systemcmds/ver
 MODULES		+= systemcmds/top
+MODULES		+= modules/sensors
 
 #
 # Testing modules

From f7d875d58d1286f9a3c63482772f4addbaf74eb0 Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Wed, 28 Jan 2015 17:10:25 -0800
Subject: [PATCH 06/12] px4io: add safety_arm and safety_disarm commands

This will be used to make updating firmware on boot for vehicles with
no safety switch possible without power cycling. The startup script
needs to be able to force safety on to allow the reboot to work.
---
 src/drivers/px4io/px4io.cpp | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 653d0d5d7f..3b42afb6cf 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -3267,7 +3267,23 @@ px4io_main(int argc, char *argv[])
 		exit(0);
 	}
 
+	if (!strcmp(argv[1], "safety_arm")) {
+		int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
+		if (ret != OK) {
+			printf("failed to arm px4io\n");
+			exit(1);
+		}
+		exit(0);
+	}
 
+	if (!strcmp(argv[1], "safety_disarm")) {
+		int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_ON, 0);
+		if (ret != OK) {
+			printf("failed to disarm px4io\n");
+			exit(1);
+		}
+		exit(0);
+	}
 
 	if (!strcmp(argv[1], "recovery")) {
 
@@ -3396,6 +3412,6 @@ px4io_main(int argc, char *argv[])
 
 out:
 	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug <level>',\n"
-	        "'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc',\n"
+	        "'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc', 'safety_arm', 'safety_disarm',\n"
 	        "'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm'");
 }

From 99a4724ef166d4ce71d873cb58229130fdb2d219 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 1 Feb 2015 13:14:30 +0100
Subject: [PATCH 07/12] IO driver: Fix naming of safety command line argument

---
 src/drivers/px4io/px4io.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 3b42afb6cf..24ece42988 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -3267,19 +3267,19 @@ px4io_main(int argc, char *argv[])
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "safety_arm")) {
+	if (!strcmp(argv[1], "safety_off")) {
 		int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
 		if (ret != OK) {
-			printf("failed to arm px4io\n");
+			printf("failed to disable safety\n");
 			exit(1);
 		}
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "safety_disarm")) {
+	if (!strcmp(argv[1], "safety_on")) {
 		int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_ON, 0);
 		if (ret != OK) {
-			printf("failed to disarm px4io\n");
+			printf("failed to enable safety\n");
 			exit(1);
 		}
 		exit(0);
@@ -3412,6 +3412,6 @@ px4io_main(int argc, char *argv[])
 
 out:
 	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug <level>',\n"
-	        "'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc', 'safety_arm', 'safety_disarm',\n"
+	        "'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc', 'safety_on', 'safety_off',\n"
 	        "'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm'");
 }

From 5d56a1c6a9a259ce9ff669192e54c88631e0effe Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 1 Feb 2015 13:58:47 +0100
Subject: [PATCH 08/12] Test latency of publication.

---
 src/modules/uORB/uORB.cpp | 85 ++++++++++++++++++++++++++++++++++-----
 1 file changed, 75 insertions(+), 10 deletions(-)

diff --git a/src/modules/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp
index 6f021459ce..764e33179c 100644
--- a/src/modules/uORB/uORB.cpp
+++ b/src/modules/uORB/uORB.cpp
@@ -56,6 +56,7 @@
 #include <nuttx/arch.h>
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
+#include <systemlib/systemlib.h>
 
 #include <drivers/drv_hrt.h>
 
@@ -682,9 +683,11 @@ namespace
 {
 
 ORBDevMaster	*g_dev;
+bool pubsubtest_passed = false;
 
 struct orb_test {
 	int val;
+	hrt_abstime time;
 };
 
 ORB_DEFINE(orb_test, struct orb_test);
@@ -718,6 +721,46 @@ test_note(const char *fmt, ...)
 	return OK;
 }
 
+int pubsublatency_main(void)
+{
+	/* poll on test topic and output latency */
+	float latency_integral = 0.0f;
+
+	/* wakeup source(s) */
+	struct pollfd fds[1];
+
+	int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_multitest), 0);
+
+	fds[0].fd = test_multi_sub;
+	fds[0].events = POLLIN;
+
+	struct orb_test t;
+
+	const unsigned maxruns = 10;
+
+	for (unsigned i = 0; i < maxruns; i++) {
+		/* wait for up to 500ms for data */
+		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
+		orb_copy(ORB_ID(orb_multitest), test_multi_sub, &t);
+
+		if (pret < 0) {
+			warn("poll error %d, %d", pret, errno);
+			continue;
+		}
+
+		hrt_abstime elt = hrt_elapsed_time(&t.time);
+		latency_integral += elt;
+	}
+
+	orb_unsubscribe(test_multi_sub);
+
+	warnx("mean: %8.4f", static_cast<double>(latency_integral / maxruns));
+
+	pubsubtest_passed = true;
+
+	return OK;
+}
+
 int
 test()
 {
@@ -779,8 +822,7 @@ test()
 	int instance0;
 	int pfd0 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0, ORB_PRIO_MAX);
 
-		test_note("advertised");
-	usleep(300000);
+	test_note("advertised");
 
 	int instance1;
 	int pfd1 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
@@ -795,8 +837,7 @@ test()
 	if (OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t))
 		return test_fail("mult. pub0 fail");
 
-		test_note("published");
-	usleep(300000);
+	test_note("published");
 
 	t.val = 203;
 	if (OK != orb_publish(ORB_ID(orb_multitest), pfd1, &t))
@@ -805,19 +846,19 @@ test()
 	/* subscribe to both topics and ensure valid data is received */
 	int sfd0 = orb_subscribe_multi(ORB_ID(orb_multitest), 0);
 
-	if (OK != orb_copy(ORB_ID(orb_multitest), sfd0, &t))
+	if (OK != orb_copy(ORB_ID(orb_multitest), sfd0, &u))
 		return test_fail("sub #0 copy failed: %d", errno);
 
-	if (t.val != 103)
-		return test_fail("sub #0 val. mismatch: %d", t.val);
+	if (u.val != 103)
+		return test_fail("sub #0 val. mismatch: %d", u.val);
 
 	int sfd1 = orb_subscribe_multi(ORB_ID(orb_multitest), 1);
 
-	if (OK != orb_copy(ORB_ID(orb_multitest), sfd1, &t))
+	if (OK != orb_copy(ORB_ID(orb_multitest), sfd1, &u))
 		return test_fail("sub #1 copy failed: %d", errno);
 
-	if (t.val != 203)
-		return test_fail("sub #1 val. mismatch: %d", t.val);
+	if (u.val != 203)
+		return test_fail("sub #1 val. mismatch: %d", u.val);
 
 	/* test priorities */
 	int prio;
@@ -833,6 +874,30 @@ test()
 	if (prio != ORB_PRIO_MIN)
 		return test_fail("prio: %d", prio);
 
+	/* test pub / sub latency */
+
+	int pubsub_task = task_spawn_cmd("uorb_latency",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       1500,
+				       (main_t)&pubsublatency_main,
+				       nullptr);
+
+	/* give the test task some data */
+	while (!pubsubtest_passed) {
+		t.val = 303;
+		t.time = hrt_absolute_time();
+		if (OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t))
+			return test_fail("mult. pub0 timing fail");
+
+		/* simulate >800 Hz system operation */
+		usleep(1000);
+	}
+
+	if (pubsub_task < 0) {
+		return test_fail("failed launching task");
+	}
+
 	return test_note("PASS");
 }
 

From b0f2796aeb1ea05702220bd6fe334b346966cec4 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 1 Feb 2015 18:23:35 +0100
Subject: [PATCH 09/12] Remove MTD test

---
 src/systemcmds/tests/test_mtd.c   | 236 ------------------------------
 src/systemcmds/tests/tests.h      |   3 +-
 src/systemcmds/tests/tests_main.c |   3 +-
 3 files changed, 2 insertions(+), 240 deletions(-)
 delete mode 100644 src/systemcmds/tests/test_mtd.c

diff --git a/src/systemcmds/tests/test_mtd.c b/src/systemcmds/tests/test_mtd.c
deleted file mode 100644
index 43231ccad8..0000000000
--- a/src/systemcmds/tests/test_mtd.c
+++ /dev/null
@@ -1,236 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file test_mtd.c
- *
- * Param storage / file test.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#include <sys/stat.h>
-#include <poll.h>
-#include <dirent.h>
-#include <stdio.h>
-#include <stddef.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <systemlib/err.h>
-#include <systemlib/perf_counter.h>
-#include <string.h>
-
-#include <drivers/drv_hrt.h>
-
-#include "tests.h"
-
-#define PARAM_FILE_NAME "/fs/mtd_params"
-
-static int check_user_abort(int fd);
-static void print_fail(void);
-static void print_success(void);
-
-int check_user_abort(int fd) {
-	/* check if user wants to abort */
-	char c;
-
-	struct pollfd fds;
-	int ret;
-	fds.fd = 0; /* stdin */
-	fds.events = POLLIN;
-	ret = poll(&fds, 1, 0);
-
-	if (ret > 0) {
-
-		read(0, &c, 1);
-
-		switch (c) {
-		case 0x03: // ctrl-c
-		case 0x1b: // esc
-		case 'c':
-		case 'q':
-		{
-			warnx("Test aborted.");
-			fsync(fd);
-			close(fd);
-			return OK;
-			/* not reached */
-			}
-		}
-	}
-
-	return 1;
-}
-
-void print_fail()
-{
-	printf("<[T]: MTD: FAIL>\n");
-}
-
-void print_success()
-{
-	printf("<[T]: MTD: OK>\n");
-}
-
-int
-test_mtd(int argc, char *argv[])
-{
-	unsigned iterations= 0;
-
-	/* check if microSD card is mounted */
-	struct stat buffer;
-	if (stat(PARAM_FILE_NAME, &buffer)) {
-		warnx("file %s not found, aborting MTD test", PARAM_FILE_NAME);
-		print_fail();
-		return 1;
-	}
-
-	// XXX get real storage space here
-	unsigned file_size = 4096;
-
-	/* perform tests for a range of chunk sizes */
-	unsigned chunk_sizes[] = {256, 512, 4096};
-
-	for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {
-
-		printf("\n====== FILE TEST: %u bytes chunks ======\n", chunk_sizes[c]);
-
-		uint8_t write_buf[chunk_sizes[c]] __attribute__((aligned(64)));
-
-		/* fill write buffer with known values */
-		for (unsigned i = 0; i < sizeof(write_buf); i++) {
-			/* this will wrap, but we just need a known value with spacing */
-			write_buf[i] = i+11;
-		}
-
-		uint8_t read_buf[chunk_sizes[c]] __attribute__((aligned(64)));
-		hrt_abstime start, end;
-
-		int fd = open(PARAM_FILE_NAME, O_RDONLY);
-		int rret = read(fd, read_buf, chunk_sizes[c]);
-		close(fd);
-		if (rret <= 0) {
-			err(1, "read error");
-		}
-
-		fd = open(PARAM_FILE_NAME, O_WRONLY);
-
-		printf("printing 2 percent of the first chunk:\n");
-		for (unsigned i = 0; i < sizeof(read_buf) / 50; i++) {
-			printf("%02X", read_buf[i]);
-		}
-		printf("\n");
-
-		iterations = file_size / chunk_sizes[c];
-
-		start = hrt_absolute_time();
-		for (unsigned i = 0; i < iterations; i++) {
-			int wret = write(fd, write_buf, chunk_sizes[c]);
-
-			if (wret != (int)chunk_sizes[c]) {
-				warn("WRITE ERROR!");
-				print_fail();
-				return 1;
-			}
-
-			fsync(fd);
-
-			if (!check_user_abort(fd))
-				return OK;
-
-		}
-		end = hrt_absolute_time();
-
-		warnx("write took %llu us", (end - start));
-
-		close(fd);
-		fd = open(PARAM_FILE_NAME, O_RDONLY);
-
-		/* read back data for validation */
-		for (unsigned i = 0; i < iterations; i++) {
-			int rret2 = read(fd, read_buf, chunk_sizes[c]);
-
-			if (rret2 != (int)chunk_sizes[c]) {
-				warnx("READ ERROR!");
-				print_fail();
-				return 1;
-			}
-			
-			/* compare value */
-			bool compare_ok = true;
-
-			for (unsigned j = 0; j < chunk_sizes[c]; j++) {
-				if (read_buf[j] != write_buf[j]) {
-					warnx("COMPARISON ERROR: byte %d", j);
-					print_fail();
-					compare_ok = false;
-					break;
-				}
-			}
-
-			if (!compare_ok) {
-				warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
-				print_fail();
-				return 1;
-			}
-
-			if (!check_user_abort(fd))
-				return OK;
-
-		}
-
-
-		close(fd);
-
-	}
-
-	/* fill the file with 0xFF to make it look new again */
-	char ffbuf[64];
-	memset(ffbuf, 0xFF, sizeof(ffbuf));
-	int fd = open(PARAM_FILE_NAME, O_WRONLY);
-	for (unsigned i = 0; i < file_size / sizeof(ffbuf); i++) {
-		int ret = write(fd, ffbuf, sizeof(ffbuf));
-
-		if (ret != sizeof(ffbuf)) {
-			warnx("ERROR! Could not fill file with 0xFF");
-			close(fd);
-			print_fail();
-			return 1;
-		}
-	}
-
-	(void)close(fd);
-	print_success();
-
-	return 0;
-}
diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h
index ad55e14102..69fb0e57bd 100644
--- a/src/systemcmds/tests/tests.h
+++ b/src/systemcmds/tests/tests.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -112,7 +112,6 @@ extern int	test_mixer(int argc, char *argv[]);
 extern int	test_rc(int argc, char *argv[]);
 extern int	test_conv(int argc, char *argv[]);
 extern int	test_mount(int argc, char *argv[]);
-extern int	test_mtd(int argc, char *argv[]);
 extern int	test_mathlib(int argc, char *argv[]);
 
 __END_DECLS
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index 0f56704e6f..2f586fa85b 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -109,7 +109,6 @@ const struct {
 	{"rc",			test_rc,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"conv",		test_conv,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"mount",		test_mount,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"mtd",			test_mtd,	0},
 #ifndef TESTS_MATHLIB_DISABLE
 	{"mathlib",		test_mathlib,	0},
 #endif

From 21d3e18e3ca424093fb60e04ead3678fa09dd11d Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 1 Feb 2015 22:11:20 +0100
Subject: [PATCH 10/12] Remove C file from build

---
 src/systemcmds/tests/module.mk | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk
index 0dc333f0ad..1d728e8579 100644
--- a/src/systemcmds/tests/module.mk
+++ b/src/systemcmds/tests/module.mk
@@ -32,8 +32,7 @@ SRCS			 = test_adc.c \
 			   test_ppm_loopback.c \
 			   test_rc.c \
 			   test_conv.cpp \
-			   test_mount.c \
-			   test_mtd.c
+			   test_mount.c
 
 EXTRACXXFLAGS = -Wframe-larger-than=2500 -Wno-float-equal -Wno-double-promotion
 

From 52bff670766cb338afbb131c0dc326f3b19a8817 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 2 Feb 2015 07:21:27 +1100
Subject: [PATCH 11/12] ms5611: removed debug code

---
 src/drivers/ms5611/ms5611.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index f03d6404f1..31dbdbcd3f 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -879,8 +879,6 @@ crc4(uint16_t *n_prom)
 bool
 start_bus(struct ms5611_bus_option &bus)
 {
-	::printf("starting bus %s\n", bus.devpath);
-	usleep(5000);
 	if (bus.dev != nullptr)
 		errx(1,"bus option already started");
 

From e6a7dc7a3ffd4eb988e9039171f1460f656b28c8 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 2 Feb 2015 21:03:19 +0100
Subject: [PATCH 12/12] Fixed unit test usage of visibility macros

---
 src/modules/systemlib/err.h | 3 ++-
 unittests/CMakeLists.txt    | 3 +++
 unittests/sbus2_test.cpp    | 2 +-
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/modules/systemlib/err.h b/src/modules/systemlib/err.h
index ca13d62655..af90c25600 100644
--- a/src/modules/systemlib/err.h
+++ b/src/modules/systemlib/err.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -66,6 +66,7 @@
 #define _SYSTEMLIB_ERR_H
 
 #include <stdarg.h>
+#include "visibility.h"
 
 __BEGIN_DECLS
 
diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 666570a71e..3e44f822da 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -23,8 +23,11 @@ include_directories(${CMAKE_SOURCE_DIR})
 include_directories(${PX_SRC})
 include_directories(${PX_SRC}/modules)
 include_directories(${PX_SRC}/lib)
+include_directories(${PX_SRC}/drivers)
 
 add_definitions(-D__EXPORT=)
+add_definitions(-DERROR=-1)
+add_definitions(-DOK=0)
 
 # check
 add_custom_target(unittests COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
diff --git a/unittests/sbus2_test.cpp b/unittests/sbus2_test.cpp
index ee4f3d1d68..15a21c86b7 100644
--- a/unittests/sbus2_test.cpp
+++ b/unittests/sbus2_test.cpp
@@ -11,7 +11,7 @@
 #include "gtest/gtest.h"
 
 TEST(SBUS2Test, SBUS2) {
-	char *filepath = "testdata/sbus2_r7008SB.txt";
+	const char *filepath = "testdata/sbus2_r7008SB.txt";
 
 	FILE *fp;
 	fp = fopen(filepath,"rt");