QuRT and POSIX changes

Partial commit of the changes for QuRT and related changes for POSIX

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

makefiles/qurt.mk

@@ -35,6 +35,5 @@
 #
 
 MODULES += \
-		platforms/common \
+		platforms/common 
-		platforms/qurt/px4_layer 
 

makefiles/qurt/config_qurt_default.mk

@@ -10,17 +10,17 @@
 #
 # Board support modules
 #
-#MODULES		+= drivers/device
+MODULES		+= drivers/device
-#MODULES		+= drivers/blinkm
+MODULES		+= drivers/blinkm
-#MODULES		+= drivers/hil
+MODULES		+= drivers/hil
-#MODULES		+= drivers/rgbled
+MODULES		+= drivers/rgbled
-#MODULES		+= modules/sensors
+MODULES		+= modules/sensors
 #MODULES		+= drivers/ms5611
 
 #
 # System commands
 #
-#MODULES	+= systemcmds/param
+MODULES	+= systemcmds/param
 
 #
 # General system control
@@ -30,8 +30,8 @@
 #
 # Estimation modules (EKF/ SO3 / other filters)
 #
-#MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_ekf
-#MODULES		+= modules/ekf_att_pos_estimator
+MODULES		+= modules/ekf_att_pos_estimator
 
 #
 # Vehicle Control
@@ -41,37 +41,37 @@
 #
 # Library modules
 #
-#MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib
-#MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/systemlib/mixer
-#MODULES		+= modules/uORB
+MODULES		+= modules/uORB
 #MODULES		+= modules/dataman
 #MODULES		+= modules/sdlog2
-#MODULES		+= modules/simulator
+MODULES		+= modules/simulator
-#MODULES		+= modules/commander
+MODULES		+= modules/commander
 
 #
 # Libraries
 #
-#MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib
-#MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/mathlib/math/filter
-#MODULES		+= lib/geo
+MODULES		+= lib/geo
-#MODULES		+= lib/geo_lookup
+MODULES		+= lib/geo_lookup
-#MODULES		+= lib/conversion
+MODULES		+= lib/conversion
 
 #
 # QuRT port
 #
 MODULES		+= platforms/qurt/px4_layer
-#MODULES		+= platforms/linux/drivers/accelsim
+MODULES		+= platforms/posix/drivers/accelsim
-#MODULES		+= platforms/linux/drivers/gyrosim
+MODULES		+= platforms/posix/drivers/gyrosim
-#MODULES		+= platforms/linux/drivers/adcsim
+MODULES		+= platforms/posix/drivers/adcsim
-#MODULES		+= platforms/linux/drivers/barosim
+MODULES		+= platforms/posix/drivers/barosim
 
 #
 # Unit tests
 #
 MODULES		+= platforms/qurt/tests/hello
-#MODULES		+= platforms/linux/tests/vcdev_test
+#MODULES		+= platforms/posix/tests/vcdev_test
-#MODULES		+= platforms/linux/tests/hrt_test
+#MODULES		+= platforms/posix/tests/hrt_test
-#MODULES		+= platforms/linux/tests/wqueue
+#MODULES		+= platforms/posix/tests/wqueue
 

makefiles/toolchain_hexagon.mk

@@ -68,7 +68,7 @@ endif
 
 # XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
 
-MAXOPTIMIZATION		 ?= -O2
+MAXOPTIMIZATION		 ?= -Os
 
 # Base CPU flags for each of the supported architectures.
 #
@@ -81,10 +81,11 @@ ifeq ($(CONFIG_BOARD),)
 $(error Board config does not define CONFIG_BOARD)
 endif
 ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-			    -D__PX4_QURT \
+			    -D__PX4_QURT -D__PX4_POSIX \
 			    -D__EXPORT= \
 			    -Dnoreturn_function= \
 			    -Drestrict= \
+			    -I/opt/6.4.05/gnu/hexagon/include \
 			    -I$(PX4_BASE)/src/lib/eigen \
 			    -I$(PX4_BASE)/src/platforms/qurt/include \
 			    -I$(PX4_BASE)/../dspal/include \
@@ -116,7 +117,9 @@ ARCHWARNINGS		 = -Wall \
 			   -Wextra \
 			   -Werror \
 			   -Wno-unused-parameter \
+			   -Wno-unused-function \
 			   -Wno-unused-variable \
+			   -Wno-gnu-array-member-paren-init \
 			   -Wno-cast-align \
 			   -Wno-missing-braces \
 			   -Wno-strict-aliasing
@@ -206,6 +209,7 @@ DEP_INCLUDES		 = $(subst .o,.d,$(OBJS))
 define COMPILE
 	@$(ECHO) "CC:      $1"
 	@$(MKDIR) -p $(dir $2)
+	@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
 	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
 endef
 

src/drivers/device/vdev_posix.cpp

@@ -37,7 +37,8 @@
  * POSIX-like API for virtual character device
  */
 
-#include "px4_posix.h"
+#include <px4_posix.h>
+#include <px4_time.h>
 #include "device.h"
 
 #include <stdlib.h>

src/drivers/hil/hil_posix.cpp

@@ -50,6 +50,8 @@
 
 #include <px4_config.h>
 #include <px4_tasks.h>
+#include <px4_time.h>
+#include <px4_common.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -61,7 +63,8 @@
 #include <poll.h>
 #include <errno.h>
 #include <stdio.h>
-#include <math.h>
+#include <string.h>
+#include <cmath>
 #include <unistd.h>
 
 #include <drivers/device/device.h>
@@ -409,7 +412,7 @@ HIL::task_main()
 
 					/* last resort: catch NaN, INF and out-of-band errors */
 					if (i < outputs.noutputs &&
-						isfinite(outputs.output[i]) &&
+						PX4_ISFINITE(outputs.output[i]) &&
 						outputs.output[i] >= -1.0f &&
 						outputs.output[i] <= 1.0f) {
 						/* scale for PWM output 900 - 2100us */

src/modules/sensors/sensors.cpp

@@ -49,6 +49,7 @@
 #include <px4_config.h>
 #include <px4_tasks.h>
 #include <px4_posix.h>
+#include <px4_time.h>
 
 #include <fcntl.h>
 #include <poll.h>
@@ -62,6 +63,7 @@
 #include <mathlib/mathlib.h>
 
 #include <px4_adc.h>
+//#include <nuttx/analog/adc.h>
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_accel.h>
@@ -113,7 +115,7 @@
 
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 #define ADC_BATTERY_VOLTAGE_CHANNEL	10
-#define ADC_BATTERY_CURRENT_CHANNEL	-1
+#define ADC_BATTERY_CURRENT_CHANNEL	((uint8_t)(-1))
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	11
 #endif
 
@@ -126,8 +128,8 @@
 
 #ifdef CONFIG_ARCH_BOARD_AEROCORE
 #define ADC_BATTERY_VOLTAGE_CHANNEL	10
-#define ADC_BATTERY_CURRENT_CHANNEL	-1
+#define ADC_BATTERY_CURRENT_CHANNEL	((uint8_t)(-1))
-#define ADC_AIRSPEED_VOLTAGE_CHANNEL	-1
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL	((uint8_t)(-1))
 #endif
 
 #define BATT_V_LOWPASS			0.001f
@@ -147,7 +149,7 @@
 #endif
 static const int ERROR = -1;
 
-#define CAL_FAILED_APPLY_CAL_MSG "FAILED APPLYING SENSOR CAL"
+#define CAL_FAILED_APPLY_CAL_MSG "FAILED APPLYING %s CAL #%u"
 
 /**
  * Sensor app start / stop handling function
@@ -225,7 +227,7 @@ private:
 	int 		_rc_sub;			/**< raw rc channels data subscription */
 	int		_baro_sub;			/**< raw baro data subscription */
 	int		_baro1_sub;			/**< raw baro data subscription */
-	int		_airspeed_sub;			/**< airspeed subscription */
+	//int		_airspeed_sub;			/**< airspeed subscription */
 	int		_diff_pres_sub;			/**< raw differential pressure subscription */
 	int		_vcontrol_mode_sub;			/**< vehicle control mode subscription */
 	int 		_params_sub;			/**< notification of parameter updates */
@@ -671,11 +673,7 @@ Sensors::parameters_update()
 		tmpRevFactor = tmpScaleFactor * _parameters.rev[i];
 
 		/* handle blowup in the scaling factor calculation */
-#ifdef __PX4_NUTTX
+		if (!PX4_ISFINITE(tmpScaleFactor) ||
-		if (!isfinite(tmpScaleFactor) ||
-#else
-		if (!std::isfinite(tmpScaleFactor) ||
-#endif
 		    (tmpRevFactor < 0.000001f) ||
 		    (tmpRevFactor > 0.2f)) {
 			warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, (double)tmpScaleFactor, (int)(_parameters.rev[i]));
@@ -855,7 +853,7 @@ Sensors::parameters_update()
 	barofd = px4_open(BARO0_DEVICE_PATH, 0);
 
 	if (barofd < 0) {
-		warnx("ERROR: no barometer found on %s", BARO0_DEVICE_PATH);
+		warnx("ERROR: no barometer foundon %s", BARO0_DEVICE_PATH);
 		return ERROR;
 
 	} else {
@@ -1021,6 +1019,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 
 		raw.accelerometer_timestamp = accel_report.timestamp;
 		raw.accelerometer_errcount = accel_report.error_count;
+		raw.accelerometer_temp = accel_report.temperature;
 	}
 
 	orb_check(_accel1_sub, &accel_updated);
@@ -1043,6 +1042,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 
 		raw.accelerometer1_timestamp = accel_report.timestamp;
 		raw.accelerometer1_errcount = accel_report.error_count;
+		raw.accelerometer1_temp = accel_report.temperature;
 	}
 
 	orb_check(_accel2_sub, &accel_updated);
@@ -1065,6 +1065,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 
 		raw.accelerometer2_timestamp = accel_report.timestamp;
 		raw.accelerometer2_errcount = accel_report.error_count;
+		raw.accelerometer2_temp = accel_report.temperature;
 	}
 }
 
@@ -1092,6 +1093,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 
 		raw.timestamp = gyro_report.timestamp;
 		raw.gyro_errcount = gyro_report.error_count;
+		raw.gyro_temp = gyro_report.temperature;
 	}
 
 	orb_check(_gyro1_sub, &gyro_updated);
@@ -1114,6 +1116,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 
 		raw.gyro1_timestamp = gyro_report.timestamp;
 		raw.gyro1_errcount = gyro_report.error_count;
+		raw.gyro1_temp = gyro_report.temperature;
 	}
 
 	orb_check(_gyro2_sub, &gyro_updated);
@@ -1136,6 +1139,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 
 		raw.gyro2_timestamp = gyro_report.timestamp;
 		raw.gyro2_errcount = gyro_report.error_count;
+		raw.gyro2_temp = gyro_report.temperature;
 	}
 }
 
@@ -1164,6 +1168,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
 
 		raw.magnetometer_timestamp = mag_report.timestamp;
 		raw.magnetometer_errcount = mag_report.error_count;
+		raw.magnetometer_temp = mag_report.temperature;
 	}
 
 	orb_check(_mag1_sub, &mag_updated);
@@ -1187,6 +1192,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
 
 		raw.magnetometer1_timestamp = mag_report.timestamp;
 		raw.magnetometer1_errcount = mag_report.error_count;
+		raw.magnetometer1_temp = mag_report.temperature;
 	}
 
 	orb_check(_mag2_sub, &mag_updated);
@@ -1210,6 +1216,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
 
 		raw.magnetometer2_timestamp = mag_report.timestamp;
 		raw.magnetometer2_errcount = mag_report.error_count;
+		raw.magnetometer2_temp = mag_report.temperature;
 	}
 }
 
@@ -1379,14 +1386,13 @@ Sensors::parameter_update_poll(bool forced)
 					failed = failed || (OK != param_get(param_find(str), &gscale.z_scale));
 
 					if (failed) {
-						warnx("%s: gyro #%u", CAL_FAILED_APPLY_CAL_MSG, gyro_count);
+						warnx(CAL_FAILED_APPLY_CAL_MSG, "gyro", i);
 					} else {
 						/* apply new scaling and offsets */
 						res = px4_ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale);
 						if (res) {
-							warnx(CAL_FAILED_APPLY_CAL_MSG);
+							warnx(CAL_FAILED_APPLY_CAL_MSG, "gyro", i);
 						} else {
-							gyro_count++;
 							config_ok = true;
 						}
 					}
@@ -1394,11 +1400,11 @@ Sensors::parameter_update_poll(bool forced)
 				}
 			}
 
-			px4_close(fd);
+			if (config_ok) {
-
+				gyro_count++;
-			if (!config_ok) {
-				warnx("NO CONFIG FOR GYRO #%u", s);
 			}
+
+			px4_close(fd);
 		}
 
 		/* run through all accel sensors */
@@ -1446,14 +1452,13 @@ Sensors::parameter_update_poll(bool forced)
 					failed = failed || (OK != param_get(param_find(str), &gscale.z_scale));
 
 					if (failed) {
-						warnx("%s: acc #%u", CAL_FAILED_APPLY_CAL_MSG, accel_count);
+						warnx(CAL_FAILED_APPLY_CAL_MSG, "accel", i);
 					} else {
 						/* apply new scaling and offsets */
 						res = px4_ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&gscale);
 						if (res) {
-							warnx(CAL_FAILED_APPLY_CAL_MSG);
+							warnx(CAL_FAILED_APPLY_CAL_MSG, "accel", i);
 						} else {
-							accel_count++;
 							config_ok = true;
 						}
 					}
@@ -1461,11 +1466,11 @@ Sensors::parameter_update_poll(bool forced)
 				}
 			}
 
-			px4_close(fd);
+			if (config_ok) {
-
+				accel_count++;
-			if (!config_ok) {
-				warnx("NO CONFIG FOR ACCEL #%u", s);
 			}
+
+			px4_close(fd);
 		}
 
 		/* run through all mag sensors */
@@ -1477,9 +1482,16 @@ Sensors::parameter_update_poll(bool forced)
 			int fd = px4_open(str, 0);
 
 			if (fd < 0) {
+				/* the driver is not running, abort */
 				continue;
 			}
 
+			/* set a valid default rotation (same as board).
+			 * if the mag is configured, this might be replaced
+			 * in the section below.
+			 */
+			_mag_rotation[s] = _board_rotation;
+
 			bool config_ok = false;
 
 			/* run through all stored calibrations */ 
@@ -1563,14 +1575,13 @@ Sensors::parameter_update_poll(bool forced)
 					}
 
 					if (failed) {
-						warnx("%s: mag #%u", CAL_FAILED_APPLY_CAL_MSG, mag_count);
+						warnx(CAL_FAILED_APPLY_CAL_MSG, "mag", i);
 					} else {
 						/* apply new scaling and offsets */
 						res = px4_ioctl(fd, MAGIOCSSCALE, (long unsigned int)&gscale);
 						if (res) {
-							warnx(CAL_FAILED_APPLY_CAL_MSG);
+							warnx(CAL_FAILED_APPLY_CAL_MSG, "mag", i);
 						} else {
-							mag_count++;
 							config_ok = true;
 						}
 					}
@@ -1578,11 +1589,11 @@ Sensors::parameter_update_poll(bool forced)
 				}
 			}
 
-			px4_close(fd);
+			if (config_ok) {
-
+				mag_count++;
-			if (!config_ok) {
-				warnx("NO CONFIG FOR MAG #%u", s);
 			}
+
+			px4_close(fd);
 		}
 
 		int fd = px4_open(AIRSPEED0_DEVICE_PATH, 0);
@@ -1602,7 +1613,7 @@ Sensors::parameter_update_poll(bool forced)
 			px4_close(fd);
 		}
 
-		warnx("config: %u gyros, %u mags, %u accels", gyro_count, mag_count, accel_count);
+		warnx("valid configs: %u gyros, %u mags, %u accels", gyro_count, mag_count, accel_count);
 	}
 }
 
@@ -1947,11 +1958,7 @@ Sensors::rc_poll()
 			_rc.channels[i] *= _parameters.rev[i];
 
 			/* handle any parameter-induced blowups */
-#ifdef __PX4_NUTTX
+			if (!PX4_ISFINITE(_rc.channels[i])) {
-			if (!isfinite(_rc.channels[i])) {
-#else
-			if (!std::isfinite(_rc.channels[i])) {
-#endif
 				_rc.channels[i] = 0.0f;
 			}
 		}
@@ -2152,12 +2159,8 @@ Sensors::task_main()
 	/* advertise the sensor_combined topic and make the initial publication */
 	_sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw);
 
-	if (_sensor_pub < 0) {
-		warnx("Sensors::task_main ERROR - uORB not started");
-	}
-
 	/* wakeup source(s) */
-	struct pollfd fds[1];
+	px4_pollfd_struct_t fds[1];
 
 	/* use the gyro to pace output - XXX BROKEN if we are using the L3GD20 */
 	fds[0].fd = _gyro_sub;
@@ -2168,7 +2171,7 @@ Sensors::task_main()
 	while (!_task_should_exit) {
 
 		/* wait for up to 50ms for data */
-		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50);
+		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50);
 
 		/* if pret == 0 it timed out - periodic check for _task_should_exit, etc. */
 

src/modules/simulator/simulator.cpp

@@ -37,13 +37,15 @@
  */
 
 #include <px4_tasks.h>
-#include <err.h>
+#include <systemlib/err.h>
 #include <errno.h>
 #include <stdio.h>
 #include <string.h>
 #include <sys/types.h> 
+#ifndef __PX4_QURT
 #include <sys/socket.h>
 #include <netinet/in.h>
+#endif
 #include "simulator.h"
 
 using namespace simulator;
@@ -76,8 +78,11 @@ int Simulator::start(int argc, char *argv[])
 {
 	int ret = 0;
 	_instance = new Simulator();
-	if (_instance) 
+	if (_instance) {
+#ifndef __PX4_QURT
 		_instance->updateSamples();
+#endif
+	}
 	else {
 		printf("Simulator creation failed\n");
 		ret = 1;
@@ -86,6 +91,7 @@ int Simulator::start(int argc, char *argv[])
 }
 
 
+#ifndef __PX4_QURT
 void Simulator::updateSamples()
 {
 	// get samples from external provider
@@ -133,6 +139,7 @@ void Simulator::updateSamples()
                 }
         }
 }
+#endif
 
 static void usage()
 {

src/modules/simulator/simulator.h

@@ -148,7 +148,9 @@ private:
 	Simulator() : _accel(1), _mpu(1), _baro(1) {}
 	~Simulator() { _instance=NULL; }
 
+#ifndef __PX4_QURT
 	void updateSamples();
+#endif
 
 	static Simulator *_instance;
 

src/modules/uORB/MuORB.cpp

@@ -37,6 +37,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_time.h>
 
 #include <drivers/device/device.h>
 

src/platforms/posix/drivers/adcsim/adcsim.cpp

@@ -41,6 +41,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_time.h>
 #include <px4_adc.h>
 #include <board_config.h>
 #include <drivers/device/device.h>
@@ -89,8 +90,6 @@ private:
 	unsigned		_channel_count;
 	adc_msg_s		*_samples;		/**< sample buffer */
 
-	orb_advert_t		_to_system_power;
-
 	/** work trampoline */
 	static void		_tick_trampoline(void *arg);
 
@@ -114,8 +113,7 @@ ADCSIM::ADCSIM(uint32_t channels) :
 	VDev("adcsim", ADCSIM0_DEVICE_PATH),
 	_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
 	_channel_count(0),
-	_samples(nullptr),
+	_samples(nullptr)
-	_to_system_power(0)
 {
 	//_debug_enabled = true;
 
@@ -259,7 +257,7 @@ test(void)
 		unsigned channels = count / sizeof(data[0]);
 
 		for (unsigned j = 0; j < channels; j++) {
-			printf ("%d: %u  ", data[j].am_channel, data[j].am_data);
+			printf ("%d: %lu  ", data[j].am_channel, (unsigned long)data[j].am_data);
 		}
 
 		printf("\n");

src/platforms/posix/drivers/airspeedsim/airspeedsim.cpp

@@ -0,0 +1,407 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ets_airspeed.cpp
+ * @author Simon Wilks
+ *
+ * Driver for the Eagle Tree Airspeed V3 connected via I2C.
+ */
+
+#include <px4_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 <drivers/device/ringbuffer.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/differential_pressure.h>
+#include <uORB/topics/subsystem_info.h>
+
+#include <drivers/airspeed/airspeed.h>
+
+AirspeedSim::AirspeedSim(int bus, int address, unsigned conversion_interval, const char* path) :
+	I2C("Airspeed", path, bus, address),
+	_reports(nullptr),
+	_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")),
+	_max_differential_pressure_pa(0),
+	_sensor_ok(false),
+	_last_published_sensor_ok(true), /* initialize differently to force publication */
+	_measure_ticks(0),
+	_collect_phase(false),
+	_diff_pres_offset(0.0f),
+	_airspeed_pub(-1),
+	_subsys_pub(-1),
+	_class_instance(-1),
+	_conversion_interval(conversion_interval),
+	_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
+	_comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors"))
+{
+	// enable debug() calls
+	_debug_enabled = false;
+
+	// work_cancel in the dtor will explode if we don't do this...
+	memset(&_work, 0, sizeof(_work));
+}
+
+AirspeedSim::~AirspeedSim()
+{
+	/* make sure we are truly inactive */
+	stop();
+
+	if (_class_instance != -1)
+		unregister_class_devname(AIRSPEED_BASE_DEVICE_PATH, _class_instance);
+
+	/* free any existing reports */
+	if (_reports != nullptr)
+		delete _reports;
+
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_buffer_overflows);
+}
+
+int
+AirspeedSim::init()
+{
+	int ret = ERROR;
+
+	/* do I2C init (and probe) first */
+	if (I2C::init() != OK)
+		goto out;
+
+	/* allocate basic report buffers */
+	_reports = new RingBuffer(2, sizeof(differential_pressure_s));
+	if (_reports == nullptr)
+		goto out;
+
+	/* register alternate interfaces if we have to */
+	_class_instance = register_class_devname(AIRSPEED_BASE_DEVICE_PATH);
+
+	/* publication init */
+	if (_class_instance == CLASS_DEVICE_PRIMARY) {
+
+		/* advertise sensor topic, measure manually to initialize valid report */
+		struct differential_pressure_s arp;
+		measure();
+		_reports->get(&arp);
+
+		/* measurement will have generated a report, publish */
+		_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
+
+		if (_airspeed_pub < 0)
+			warnx("uORB started?");
+	}
+
+	ret = OK;
+
+out:
+	return ret;
+}
+
+int
+AirspeedSim::probe()
+{
+	/* on initial power up the device may need more than one retry
+	   for detection. Once it is running the number of retries can
+	   be reduced
+	*/
+	_retries = 4;
+	int ret = measure();
+
+        // drop back to 2 retries once initialised
+	_retries = 2;
+	return ret;
+}
+
+int
+AirspeedSim::ioctl(px4_dev_handle_t *handlep, 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: {
+			/* lower bound is mandatory, upper bound is a sanity check */
+			if ((arg < 1) || (arg > 100))
+				return -EINVAL;
+
+			irqstate_t flags = irqsave();
+			if (!_reports->resize(arg)) {
+				irqrestore(flags);
+				return -ENOMEM;
+			}
+			irqrestore(flags);
+
+			return OK;
+		}
+
+	case SENSORIOCGQUEUEDEPTH:
+		return _reports->size();
+
+	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(handlep, cmd, arg);
+	}
+}
+
+ssize_t
+AirspeedSim::read(px4_dev_handle_t *handlep, char *buffer, size_t buflen)
+{
+	unsigned count = buflen / sizeof(differential_pressure_s);
+	differential_pressure_s *abuf = reinterpret_cast<differential_pressure_s *>(buffer);
+	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 (_reports->get(abuf)) {
+				ret += sizeof(*abuf);
+				abuf++;
+			}
+		}
+
+		/* if there was no data, warn the caller */
+		return ret ? ret : -EAGAIN;
+	}
+
+	/* manual measurement - run one conversion */
+	do {
+		_reports->flush();
+
+		/* 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 */
+		if (_reports->get(abuf)) {
+			ret = sizeof(*abuf);
+		}
+
+	} while (0);
+
+	return ret;
+}
+
+void
+AirspeedSim::start()
+{
+	/* reset the report ring and state machine */
+	_collect_phase = false;
+	_reports->flush();
+
+	/* schedule a cycle to start things */
+	work_queue(HPWORK, &_work, (worker_t)&AirspeedSim::cycle_trampoline, this, 1);
+}
+
+void
+AirspeedSim::stop()
+{
+	work_cancel(HPWORK, &_work);
+}
+
+void
+AirspeedSim::update_status()
+{
+	if (_sensor_ok != _last_published_sensor_ok) {
+		/* notify about state change */
+		struct subsystem_info_s info = {
+			true,
+			true,
+			_sensor_ok,
+			SUBSYSTEM_TYPE_DIFFPRESSURE
+		};
+
+		if (_subsys_pub > 0) {
+			orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
+		} else {
+			_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);
+		}
+
+		_last_published_sensor_ok = _sensor_ok;
+	}
+}
+
+void
+AirspeedSim::cycle_trampoline(void *arg)
+{
+	Airspeed *dev = (Airspeed *)arg;
+
+	dev->cycle();
+	// XXX we do not know if this is
+	// really helping - do not update the
+	// subsys state right now
+	//dev->update_status();
+}
+
+void
+AirspeedSim::print_info()
+{
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+	perf_print_counter(_buffer_overflows);
+	warnx("poll interval:  %u ticks", _measure_ticks);
+	_reports->print_info("report queue");
+}
+
+void
+AirspeedSim::new_report(const differential_pressure_s &report)
+{
+	if (!_reports->force(&report))
+		perf_count(_buffer_overflows);
+}

src/platforms/posix/drivers/airspeedsim/airspeedsim.h

@@ -0,0 +1,187 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file airspeed.h
+ * @author Simon Wilks
+ *
+ * Generic driver for airspeed sensors connected via I2C.
+ */
+
+#include <px4_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 <drivers/device/ringbuffer.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 AirspeedSim : public device::I2C
+{
+public:
+	AirspeedSim(int bus, int address, unsigned conversion_interval, const char *path);
+	virtual ~AirspeedSim();
+
+	virtual int	init();
+
+	virtual ssize_t	read(px4_dev_handle_t *handlep, char *buffer, size_t buflen);
+	virtual int	ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+
+	/**
+	 * Diagnostics - print some basic information about the driver.
+	 */
+	virtual void	print_info();
+
+private:
+	RingBuffer		*_reports;
+	perf_counter_t		_buffer_overflows;
+
+	/* this class has pointer data members and should not be copied */
+	AirspeedSim(const AirspeedSim &);
+	AirspeedSim &operator=(const AirspeedSim &);
+
+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;
+
+	/**
+	 * Update the subsystem status
+	 */
+	void update_status();
+
+	work_s			_work;
+	float			_max_differential_pressure_pa;
+	bool			_sensor_ok;
+	bool			_last_published_sensor_ok;
+	int			_measure_ticks;
+	bool			_collect_phase;
+	float			_diff_pres_offset;
+
+	orb_advert_t		_airspeed_pub;
+	orb_advert_t		_subsys_pub;
+
+	int			_class_instance;
+
+	unsigned		_conversion_interval;
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_comms_errors;
+
+
+	/**
+	* 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);
+
+	/**
+	* add a new report to the reports queue
+	*
+	* @param report		differential_pressure_s report
+	*/
+	void	new_report(const differential_pressure_s &report);
+};
+
+

src/platforms/posix/drivers/airspeedsim/module.mk

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   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			= airspeedsim.cpp
+
+MAXOPTIMIZATION	 = -Os

src/platforms/posix/drivers/barosim/baro.cpp

@@ -38,6 +38,7 @@
 
 #include <px4_config.h>
 #include <px4_defines.h>
+#include <px4_time.h>
 #include <px4_getopt.h>
 
 #include <sys/types.h>
@@ -755,7 +756,7 @@ BAROSIM::print_info()
 	perf_print_counter(_buffer_overflows);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
 	_reports->print_info("report queue");
-	printf("TEMP:           %d\n", _TEMP);
+	printf("TEMP:           %ld\n", (long)_TEMP);
 	printf("SENS:           %lld\n", (long long)_SENS);
 	printf("OFF:            %lld\n", (long long)_OFF);
 	printf("P:              %.3f\n", (double)_P);
@@ -964,12 +965,12 @@ test()
 
 	/* read the sensor 5x and report each value */
 	for (unsigned i = 0; i < 5; i++) {
-		struct pollfd fds;
+		px4_pollfd_struct_t fds;
 
 		/* wait for data to be ready */
 		fds.fd = fd;
 		fds.events = POLLIN;
-		ret = poll(&fds, 1, 2000);
+		ret = px4_poll(&fds, 1, 2000);
 
 		if (ret != 1) {
 			warnx("timed out waiting for sensor data");
@@ -990,7 +991,7 @@ test()
 		warnx("time:        %lld", (long long)report.timestamp);
 	}
 
-	close(fd);
+	px4_close(fd);
 	warnx("PASS");
 	return 0;
 }
@@ -1004,7 +1005,7 @@ reset()
 	struct barosim_bus_option &bus = bus_options[0];
 	int fd;
 
-	fd = open(bus.devpath, O_RDONLY);
+	fd = px4_open(bus.devpath, O_RDONLY);
 	if (fd < 0) {
 		warn("failed ");
 		return 1;
@@ -1068,14 +1069,14 @@ calibrate(unsigned altitude)
 	pressure = 0.0f;
 
 	for (unsigned i = 0; i < 20; i++) {
-		struct pollfd fds;
+		px4_pollfd_struct_t fds;
 		int ret;
 		ssize_t sz;
 
 		/* wait for data to be ready */
 		fds.fd = fd;
 		fds.events = POLLIN;
-		ret = poll(&fds, 1, 1000);
+		ret = px4_poll(&fds, 1, 1000);
 
 		if (ret != 1) {
 			warnx("timed out waiting for sensor data");
@@ -1116,7 +1117,7 @@ calibrate(unsigned altitude)
 		return 1;
 	}
 
-	close(fd);
+	px4_close(fd);
 	return 0;
 }
 

src/platforms/posix/drivers/barosim/baro_sim.cpp

@@ -69,7 +69,7 @@ public:
 	virtual int	transfer(const uint8_t *send, unsigned send_len,
 				 uint8_t *recv, unsigned recv_len);
 private:
-	barosim::prom_u	&_prom;
+	//barosim::prom_u	&_prom;
 
 	/**
 	 * Send a reset command to the barometer simulator.
@@ -101,8 +101,7 @@ BAROSIM_sim_interface(barosim::prom_u &prom_buf, uint8_t busnum)
 }
 
 BARO_SIM::BARO_SIM(uint8_t bus, barosim::prom_u &prom) :
-	SIM("BARO_SIM", "/dev/BARO_SIM", bus, 0),
+	SIM("BARO_SIM", "/dev/BARO_SIM", bus, 0)
-	_prom(prom)
 {
 }
 

src/platforms/posix/drivers/gyrosim/gyrosim.cpp

@@ -57,7 +57,6 @@
 #include <stdio.h>
 #include <math.h>
 #include <unistd.h>
-#include <getopt.h>
 
 #include <simulator/simulator.h>
 

src/platforms/px4_common.h

@@ -0,0 +1,8 @@
+#pragma once
+
+#ifdef __PX4_QURT
+#include <types.h>
+size_t strnlen(const char *s, size_t maxlen);
+
+//inline bool isfinite(int x) { return true; }
+#endif

src/platforms/px4_time.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#include <sys/types.h>
+#include <time.h>
+
+#ifdef __PX4_LINUX
+
+#define px4_clock_gettime clock_gettime
+#define px4_clock_settime clock_settime
+
+#elif defined(__PX4_QURT)
+
+#define CLOCK_REALTIME 1
+
+__BEGIN_DECLS
+
+#if !defined(__cplusplus)
+struct timespec
+{
+	time_t tv_sec;
+	long tv_nsec;
+};
+#endif
+int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
+int px4_clock_settime(clockid_t clk_id, struct timespec *tp);
+
+__EXPORT int usleep(useconds_t usec);
+__EXPORT unsigned int sleep(unsigned int sec);
+
+__END_DECLS
+#endif

src/platforms/qurt/include/i2c.h

@@ -0,0 +1,43 @@
+/****************************************************************************
+ * include/nuttx/i2c.h
+ *
+ *   Copyright(C) 2009-2012 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.
+ *
+ ****************************************************************************/
+#pragma once
+
+struct i2c_msg_s
+{
+  uint16_t  addr;                  /* Slave address */
+  uint16_t  flags;                 /* See I2C_M_* definitions */
+  uint8_t  *buffer;
+  int       length;
+};

src/platforms/qurt/include/poll.h

@@ -1,3 +1,40 @@
+/****************************************************************************
+ * include/poll.h
+ *
+ *   Copyright (C) 2008-2009 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.
+ *
+ ****************************************************************************/
+
 #pragma once
 
 typedef unsigned int nfds_t;
+
+#define POLLIN       (0x01)

src/platforms/qurt/include/sys/ioctl.h

@@ -0,0 +1,3 @@
+#pragma once
+
+#define _IO(x,y) (x+y)

src/platforms/qurt/main.cpp

@@ -49,25 +49,29 @@
 //typedef int (*px4_main_t)(int argc, char *argv[]);
 
 #include "apps.h"
-//#include "px4_middleware.h"
+#include "px4_middleware.h"
 
-static const char *commands = "hello start\n";
+static const char *commands = "hello start\n"
+			      "list_tasks";
 
 static void run_cmd(const vector<string> &appargs) {
 	// command is appargs[0]
 	string command = appargs[0];
 	printf("Looking for %s\n", command.c_str());
 	if (apps.find(command) != apps.end()) {
-		const char *arg[appargs.size()+2];
+		const char *arg[2+1];
 
 		unsigned int i = 0;
-		while (i < appargs.size() && appargs[i] != "") {
+		printf("size = %d\n", appargs.size());
+		while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
 			arg[i] = (char *)appargs[i].c_str();
 			printf("  arg = '%s'\n", arg[i]);
 			++i;
 		}
 		arg[i] = (char *)0;
+		//printf("BEFORE argc = %d %s %s %p\n", i, arg[0], arg[1], arg[2]);
 		apps[command](i,(char **)arg);
+		//printf("AFTER argc = %d %s %s %p\n", i, arg[0], arg[1], arg[2]);
 	}
 	else
 	{
@@ -76,35 +80,39 @@ static void run_cmd(const vector<string> &appargs) {
 	}
 }
 
+void eat_whitespace(const char *&b, int &i)
+{
+	// Eat whitespace
+	while (b[i] == ' ' || b[i] == '\t') { ++i; }
+	b = &b[i];
+	i=0;
+}
+
 static void process_commands(const char *cmds)
 {
-	vector<string> appargs(5);
+	vector<string> appargs;
 	int i=0;
-	int j=0;
 	const char *b = cmds;
 	bool found_first_char = false;
 	char arg[20];
 
 	// Eat leading whitespace
-	while (b[i] == ' ') { ++i; };
+	eat_whitespace(b, i);
-	b = &b[i];
 
 	for(;;) {
 		// End of command line
 		if (b[i] == '\n' || b[i] == '\0') {
 			strncpy(arg, b, i);
 			arg[i] = '\0';
-			appargs[j] = arg;
+			appargs.push_back(arg);
 
 			// If we have a command to run
-			if (i > 0 || j > 0)
+			if (appargs.size() > 0) {
 				run_cmd(appargs);
-			j=0;
+			}
+			appargs.clear();
 			if (b[i] == '\n') {
-				// Eat whitespace
+				eat_whitespace(b, ++i);
-				while (b[++i] == ' ');
-				b = &b[i];
-				i=0;
 				continue;
 			}
 			else {
@@ -115,12 +123,8 @@ static void process_commands(const char *cmds)
 		else if (b[i] == ' ') {
 			strncpy(arg, b, i);
 			arg[i] = '\0';
-			appargs[j] = arg;
+			appargs.push_back(arg);
-			j++;
+			eat_whitespace(b, ++i);
-			// Eat whitespace
-			while (b[++i] == ' ');
-			b = &b[i];
-			i=0;
 			continue;
 		}
 		++i;
@@ -129,6 +133,7 @@ static void process_commands(const char *cmds)
 
 int main(int argc, char **argv)
 {
+	px4::init(argc, argv, "mainapp");
 	process_commands(commands);
 	for (;;) {}
 }

src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp

@@ -79,14 +79,17 @@ typedef struct
 
 static void entry_adapter ( void *ptr )
 {
-	pthdata_t *data;            
+	pthdata_t *data = (pthdata_t *) ptr;
-	data = (pthdata_t *) ptr;  
 
-	data->entry(data->argc, data->argv);
+	printf("TEST3\n");
-	free(ptr);
+#if 0
+	//data->entry(data->argc, data->argv);
+	printf("TEST4\n");
 	printf("Before px4_task_exit\n");
 	px4_task_exit(0); 
+	//free(ptr);
 	printf("After px4_task_exit\n");
+#endif
 } 
 
 void
@@ -95,7 +98,7 @@ px4_systemreset(bool to_bootloader)
 	printf("Called px4_system_reset\n");
 }
 
-px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const argv[])
+px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const *argv)
 {
 	int rv;
 	int argc = 0;
@@ -105,14 +108,18 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 	unsigned long structsize;
 	char * p;
 
+	//printf("arg %d %s %s %p\n", argc, argv[0], argv[1], argv[2]);
+	printf("arg %d %p\n", argc, argv);
 	// Calculate argc
-	for(;;) {
+	if (argv) {
-		p = argv[argc];
+		for(;;) {
-		printf("arg %d %s\n", argc, argv[argc]);
+			p = argv[argc];
-		if (p == (char *)0)
+			if (p == (char *)0)
-			break;
+				break;
-		++argc;
+			printf("arg %d %s\n", argc, argv[argc]);
-		len += strlen(p)+1;
+			++argc;
+			len += strlen(p)+1;
+		}
 	}
         structsize = sizeof(pthdata_t)+(argc+1)*sizeof(char *);
 	pthdata_t *taskdata;
@@ -125,6 +132,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 	taskdata->argc = argc;
 
 	for (i=0; i<argc; i++) {
+		printf("TEST\n");
 		printf("arg %d %s\n", i, argv[i]);
 		taskdata->argv[i] = (char *)offset;
 		strcpy((char *)offset, argv[i]);
@@ -138,10 +146,11 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 			taskmap[i].pid = i+1;
 			taskmap[i].name = name;
 			taskmap[i].isused = true;
-			taskmap[i].sp = malloc(stack_size);;
+			taskmap[i].sp = malloc(stack_size);
 			break;
 		}
 	}
+	printf("TEST2\n");
 	thread_create(entry_adapter, taskmap[i].sp, i+1, (void *) taskdata);
 
         return i+1;
@@ -156,6 +165,8 @@ int px4_task_delete(px4_task_t id)
 void px4_task_exit(int ret)
 {
 	thread_stop();
+
+	// Free stack
 }
 
 void px4_killall(void)

src/platforms/qurt/tests/hello/hello_start_qurt.cpp

@@ -56,7 +56,7 @@ static void usage()
 }
 int hello_main(int argc, char *argv[])
 {
-	printf("argc = %d %s %s\n", argc, argv[0], argv[1]);
+	printf("argc = %d %s %s %p\n", argc, argv[0], argv[1], argv[2]);
 	if (argc < 2) {
 		usage();
 		return 1;