Merge branch 'master' of github.com:jgoppert/Firmware into md25_dev

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_ATT_P	         4.5
-	param set MC_POS_P	         0.1
 	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_I	         0.3
-	param set MC_YAWPOS_P	         1.0
+	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/rc.sensors

@@ -25,7 +25,7 @@ then
 else
 	echo "using L3GD20 and LSM303D"
 	l3gd20 start
-	lsm303 start
+	lsm303d start
 fi
 
 #

ROMFS/px4fmu_common/init.d/rc.usb

@@ -13,13 +13,25 @@ if mavlink stop
 then
 	echo "stopped other MAVLink instance"
 fi
+sleep 2
 mavlink start -b 230400 -d /dev/ttyACM0
 
-if [ $MODE == autostart ]
-then
-
 # Start the commander
-	commander start
+if commander start
+then
+	echo "Commander started"
+fi
+
+# Start px4io if present
+if px4io start
+then
+	echo "PX4IO driver started"
+else
+	if fmu mode_serial
+	then
+		echo "FMU driver started"
+	fi
+fi
 
 # Start sensors
 sh /etc/init.d/rc.sensors
@@ -42,7 +54,6 @@ then
 then
 	echo "GPS started"
 fi
-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/sdlog2_dump.py

@@ -55,6 +55,8 @@ class SDLog2Parser:
     __time_msg = None
     __debug_out = False
     __correct_errors = False
+    __file_name = None
+    __file = None
     
     def __init__(self):
         return
@@ -88,6 +90,14 @@ 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()
         if self.__debug_out:
@@ -154,9 +164,12 @@ 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
+        if self.__file != None:
+                print >> self.__file, self.__csv_delim.join(self.__csv_columns)
+        else:
                 print self.__csv_delim.join(self.__csv_columns)
 
     def __printCSVRow(self):
@@ -168,6 +181,10 @@ class SDLog2Parser:
             else:
                 v = str(v)
             s.append(v)
+
+        if self.__file != None:
+                print >> self.__file, self.__csv_delim.join(s)
+        else:
                 print self.__csv_delim.join(s)
 
     def __parseMsgDescr(self):
@@ -224,7 +241,7 @@ class SDLog2Parser:
                 for i in xrange(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:
@@ -240,6 +257,7 @@ def _main():
         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 +265,8 @@ 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 +276,11 @@ 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 +298,8 @@ def _main():
                 opt = "m"
             elif arg == "-t":
                 opt = "t"
+            elif arg == "-f":
+                opt = "f"
 
     if csv_delim == "\\t":
         csv_delim = "\t"
@@ -285,6 +308,7 @@ 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/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
@@ -50,6 +53,7 @@ MODULES		+= systemcmds/pwm
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/top
 MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/config
 
 #
 # General system control

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/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/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>
-
+#include <drivers/airspeed/airspeed.h>
-/* Default I2C bus */
-#define PX4_I2C_BUS_DEFAULT		PX4_I2C_BUS_EXPANSION
 
 /* 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++ */
+class ETSAirspeed : public Airspeed
-#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
 {
 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();
+	virtual void	cycle();
-	int	measure();
+	virtual int	measure();
-	int	collect();
+	virtual 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);
-
 
 };
 
-/* 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) :
+ETSAirspeed::ETSAirspeed(int bus, int address) : Airspeed(bus, address,
-	I2C("ETSAirspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000),
+	CONVERSION_INTERVAL)
-	_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"))
 {
-	// 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 */
@@ -779,11 +427,11 @@ info()
 static void
 ets_airspeed_usage()
 {
-	fprintf(stderr, "usage: ets_airspeed command [options]\n");
+	warnx("usage: ets_airspeed command [options]");
-	fprintf(stderr, "options:\n");
+	warnx("options:");
-	fprintf(stderr, "\t-b --bus i2cbus (%d)\n", PX4_I2C_BUS_DEFAULT);
+	warnx("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
-	fprintf(stderr, "command:\n");
+	warnx("command:");
-	fprintf(stderr, "\tstart|stop|reset|test|info\n");
+	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/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>
@@ -191,6 +194,7 @@ private:
 	orb_advert_t		_gyro_topic;
 
 	unsigned		_reads;
+	unsigned		_sample_rate;
 	perf_counter_t		_sample_perf;
 
 	/**
@@ -314,6 +318,7 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
 	_gyro_range_rad_s(0.0f),
 	_gyro_topic(-1),
 	_reads(0),
+	_sample_rate(500),
 	_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read"))
 {
 	// disable debug() calls
@@ -366,10 +371,6 @@ 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);
-
 	// Chip reset
 	write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
 	up_udelay(10000);
@@ -384,7 +385,7 @@ 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)
@@ -463,10 +464,18 @@ MPU6000::init()
 	/* do CDev init for the gyro device node, keep it optional */
 	int gyro_ret = _gyro->init();
 
+	/* ensure we got real values to share */
+	measure();
+
 	if (gyro_ret != OK) {
 		_gyro_topic = -1;
+	} else {
+		_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report);
 	}
 
+	/* advertise sensor topics */
+	_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report);
+
 	return ret;
 }
 
@@ -509,6 +518,7 @@ 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;
 }
 
 /*
@@ -660,8 +670,10 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return -EINVAL;
 
 
-	case ACCELIOCSSAMPLERATE:
 	case ACCELIOCGSAMPLERATE:
+		return _sample_rate;
+
+	case ACCELIOCSSAMPLERATE:
 	  _set_sample_rate(arg);
 	  return OK;
 
@@ -689,12 +701,13 @@ 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();
@@ -718,8 +731,10 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 	case SENSORIOCRESET:
 		return ioctl(filp, cmd, arg);
 
-	case GYROIOCSSAMPLERATE:
 	case GYROIOCGSAMPLERATE:
+		return _sample_rate;
+
+	case GYROIOCSSAMPLERATE:
 		_set_sample_rate(arg);
 		return OK;
 
@@ -739,12 +754,13 @@ 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();

src/modules/commander/accelerometer_calibration.c

@@ -268,8 +268,8 @@ 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 */
+	/* set "still" threshold to 0.25 m/s^2 */
-	float still_thr2 = pow(0.1f, 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.c

@@ -587,6 +587,8 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 
 	close(fd);
 
+	int errcount = 0;
+
 	while (calibration_counter < calibration_count) {
 
 		/* wait blocking for new data */
@@ -602,8 +604,12 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 			calibration_counter++;
 
 		} else if (poll_ret == 0) {
-			/* any poll failure for 1s is a reason to abort */
+			errcount++;
-			mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
+		}
+
+		if (errcount > 1000) {
+			/* any persisting poll error is a reason to abort */
+			mavlink_log_info(mavlink_fd, "permanent gyro error, aborted.");
 			return;
 		}
 	}

src/modules/sensors/sensor_params.c

@@ -68,7 +68,7 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);
 PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);
 PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
 
-PARAM_DEFINE_INT32(SENS_DPRES_OFF, 1667);
+PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 1667);
 
 PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
 PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);

src/modules/sensors/sensors.cpp

@@ -60,6 +60,7 @@
 #include <drivers/drv_baro.h>
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_adc.h>
+#include <drivers/drv_airspeed.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
@@ -197,7 +198,7 @@ private:
 		float mag_scale[3];
 		float accel_offset[3];
 		float accel_scale[3];
-		int diff_pres_offset_pa;
+		float diff_pres_offset_pa;
 
 		int rc_type;
 
@@ -230,6 +231,7 @@ private:
 		float battery_voltage_scaling;
 
 		int   rc_rl1_DSM_VCC_control;
+
 	}		_parameters;			/**< local copies of interesting parameters */
 
 	struct {
@@ -280,6 +282,7 @@ private:
 		param_t battery_voltage_scaling;
 
 		param_t rc_rl1_DSM_VCC_control;
+
 	}		_parameter_handles;		/**< handles for interesting parameters */
 
 
@@ -391,7 +394,7 @@ namespace sensors
 #endif
 static const int ERROR = -1;
 
-Sensors	*g_sensors;
+Sensors	*g_sensors = nullptr;
 }
 
 Sensors::Sensors() :
@@ -554,25 +557,11 @@ Sensors::parameters_update()
 	/* rc values */
 	for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
 
-		if (param_get(_parameter_handles.min[i], &(_parameters.min[i])) != OK) {
+		param_get(_parameter_handles.min[i], &(_parameters.min[i]));
-			warnx("Failed getting min for chan %d", i);
+		param_get(_parameter_handles.trim[i], &(_parameters.trim[i]));
-		}
+		param_get(_parameter_handles.max[i], &(_parameters.max[i]));
-
+		param_get(_parameter_handles.rev[i], &(_parameters.rev[i]));
-		if (param_get(_parameter_handles.trim[i], &(_parameters.trim[i])) != OK) {
+		param_get(_parameter_handles.dz[i], &(_parameters.dz[i]));
-			warnx("Failed getting trim for chan %d", i);
-		}
-
-		if (param_get(_parameter_handles.max[i], &(_parameters.max[i])) != OK) {
-			warnx("Failed getting max for chan %d", i);
-		}
-
-		if (param_get(_parameter_handles.rev[i], &(_parameters.rev[i])) != OK) {
-			warnx("Failed getting rev for chan %d", i);
-		}
-
-		if (param_get(_parameter_handles.dz[i], &(_parameters.dz[i])) != OK) {
-			warnx("Failed getting dead zone for chan %d", i);
-		}
 
 		_parameters.scaling_factor[i] = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
 
@@ -662,21 +651,10 @@ Sensors::parameters_update()
 		warnx("Failed getting mode aux 5 index");
 	}
 
-	if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) {
+	param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll));
-		warnx("Failed getting rc scaling for roll");
+	param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch));
-	}
+	param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw));
-
+	param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps));
-	if (param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)) != OK) {
-		warnx("Failed getting rc scaling for pitch");
-	}
-
-	if (param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)) != OK) {
-		warnx("Failed getting rc scaling for yaw");
-	}
-
-	if (param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)) != OK) {
-		warnx("Failed getting rc scaling for flaps");
-	}
 
 	/* update RC function mappings */
 	_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
@@ -1041,6 +1019,20 @@ Sensors::parameter_update_poll(bool forced)
 
 		close(fd);
 
+		fd = open(AIRSPEED_DEVICE_PATH, 0);
+
+		/* this sensor is optional, abort without error */
+
+		if (fd > 0) {
+			struct airspeed_scale airscale = {
+				_parameters.diff_pres_offset_pa,
+				1.0f,
+			};
+
+			if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale))
+				warn("WARNING: failed to set scale / offsets for airspeed sensor");
+		}
+
 #if 0
 		printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
 		printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);

src/systemcmds/config/config.c

@@ -0,0 +1,200 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 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 config.c
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * config tool.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_mag.h>
+
+#include "systemlib/systemlib.h"
+#include "systemlib/err.h"
+
+__EXPORT int config_main(int argc, char *argv[]);
+
+static void	do_gyro(int argc, char *argv[]);
+static void	do_accel(int argc, char *argv[]);
+static void	do_mag(int argc, char *argv[]);
+
+int
+config_main(int argc, char *argv[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "gyro")) {
+			if (argc >= 3) {
+				do_gyro(argc - 2, argv + 2);
+			} else {
+				errx(1, "not enough parameters.");
+			}
+		}
+
+		if (!strcmp(argv[1], "accel")) {
+			if (argc >= 3) {
+				do_accel(argc - 2, argv + 2);
+			} else {
+				errx(1, "not enough parameters.");
+			}
+		}
+
+		if (!strcmp(argv[1], "mag")) {
+			if (argc >= 3) {
+				do_mag(argc - 2, argv + 2);
+			} else {
+				errx(1, "not enough parameters.");
+			}
+		}
+	}
+	
+	errx(1, "expected a command, try 'gyro', 'accel', 'mag'");
+}
+
+static void
+do_gyro(int argc, char *argv[])
+{
+	int	fd;
+
+	fd = open(GYRO_DEVICE_PATH, 0);
+
+	if (fd < 0) {
+		warn("%s", GYRO_DEVICE_PATH);
+		errx(1, "FATAL: no gyro found");
+
+	} else {
+
+		if (argc >= 2) {
+
+			char* end;
+			int i = strtol(argv[1],&end,10);
+
+			if (!strcmp(argv[0], "sampling")) {
+
+				/* set the accel internal sampling rate up to at leat i Hz */
+				ioctl(fd, GYROIOCSSAMPLERATE, i);
+
+			} else if (!strcmp(argv[0], "rate")) {
+
+				/* set the driver to poll at i Hz */
+				ioctl(fd, SENSORIOCSPOLLRATE, i);
+			} else if (!strcmp(argv[0], "range")) {
+
+				/* set the range to i dps */
+				ioctl(fd, GYROIOCSRANGE, i);
+			}
+
+		} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
+			warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t");
+		}
+
+		int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0);
+		int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
+		int range = ioctl(fd, GYROIOCGRANGE, 0);
+
+		warnx("gyro: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", srate, prate, range);
+
+		close(fd);
+	}
+
+	exit(0);
+}
+
+static void
+do_mag(int argc, char *argv[])
+{
+	exit(0);
+}
+
+static void
+do_accel(int argc, char *argv[])
+{
+	int	fd;
+
+	fd = open(ACCEL_DEVICE_PATH, 0);
+
+	if (fd < 0) {
+		warn("%s", ACCEL_DEVICE_PATH);
+		errx(1, "FATAL: no accelerometer found");
+
+	} else {
+
+		if (argc >= 2) {
+
+			char* end;
+			int i = strtol(argv[1],&end,10);
+
+			if (!strcmp(argv[0], "sampling")) {
+
+				/* set the accel internal sampling rate up to at leat i Hz */
+				ioctl(fd, ACCELIOCSSAMPLERATE, i);
+
+			} else if (!strcmp(argv[0], "rate")) {
+
+				/* set the driver to poll at i Hz */
+				ioctl(fd, SENSORIOCSPOLLRATE, i);
+			} else if (!strcmp(argv[0], "range")) {
+
+				/* set the range to i dps */
+				ioctl(fd, ACCELIOCSRANGE, i);
+			}
+		} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
+			warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2' to set measurement range to 2 G\n\t");
+		}
+
+		int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);
+		int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
+		int range = ioctl(fd, ACCELIOCGRANGE, 0);
+
+		warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d m/s", srate, prate, range);
+
+		close(fd);
+	}
+
+	exit(0);
+}

src/systemcmds/config/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.
+#
+############################################################################
+
+#
+# Build the config tool.
+#
+
+MODULE_COMMAND	 = config
+SRCS		 = config.c
+
+MODULE_STACKSIZE = 4096
+
+MAXOPTIMIZATION	 = -Os
+

src/systemcmds/ramtron/module.mk

@@ -0,0 +1,6 @@
+#
+# RAMTRON file system driver
+#
+
+MODULE_COMMAND	 = ramtron
+SRCS		 = ramtron.c

src/systemcmds/ramtron/ramtron.c

@@ -0,0 +1,279 @@
+/****************************************************************************
+ *
+ *   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 ramtron.c
+ *
+ * ramtron service and utility app.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/mount.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
+
+#include <nuttx/spi.h>
+#include <nuttx/mtd.h>
+#include <nuttx/fs/nxffs.h>
+#include <nuttx/fs/ioctl.h>
+
+#include <arch/board/board.h>
+
+#include "systemlib/systemlib.h"
+#include "systemlib/param/param.h"
+#include "systemlib/err.h"
+
+__EXPORT int ramtron_main(int argc, char *argv[]);
+
+#ifndef CONFIG_MTD_RAMTRON
+
+/* create a fake command with decent message to not confuse users */
+int ramtron_main(int argc, char *argv[])
+{
+	errx(1, "RAMTRON not enabled, skipping.");
+}
+#else
+
+static void	ramtron_attach(void);
+static void	ramtron_start(void);
+static void	ramtron_erase(void);
+static void	ramtron_ioctl(unsigned operation);
+static void	ramtron_save(const char *name);
+static void	ramtron_load(const char *name);
+static void	ramtron_test(void);
+
+static bool attached = false;
+static bool started = false;
+static struct mtd_dev_s *ramtron_mtd;
+
+int ramtron_main(int argc, char *argv[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "start"))
+			ramtron_start();
+
+		if (!strcmp(argv[1], "save_param"))
+			ramtron_save(argv[2]);
+
+		if (!strcmp(argv[1], "load_param"))
+			ramtron_load(argv[2]);
+
+		if (!strcmp(argv[1], "erase"))
+			ramtron_erase();
+
+		if (!strcmp(argv[1], "test"))
+			ramtron_test();
+
+		if (0) {	/* these actually require a file on the filesystem... */
+
+			if (!strcmp(argv[1], "reformat"))
+				ramtron_ioctl(FIOC_REFORMAT);
+
+			if (!strcmp(argv[1], "repack"))
+				ramtron_ioctl(FIOC_OPTIMIZE);
+		}
+	}
+
+	errx(1, "expected a command, try 'start'\n\t'save_param /ramtron/parameters'\n\t'load_param /ramtron/parameters'\n\t'erase'\n");
+}
+
+struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
+
+
+static void
+ramtron_attach(void)
+{
+	/* find the right spi */
+	struct spi_dev_s *spi = up_spiinitialize(2);
+	/* this resets the spi bus, set correct bus speed again */
+    // xxx set in ramtron driver, leave this out
+//	SPI_SETFREQUENCY(spi, 4000000);
+	SPI_SETFREQUENCY(spi, 375000000);
+	SPI_SETBITS(spi, 8);
+	SPI_SETMODE(spi, SPIDEV_MODE3);
+	SPI_SELECT(spi, SPIDEV_FLASH, false);
+
+	if (spi == NULL)
+		errx(1, "failed to locate spi bus");
+
+	/* start the MTD driver, attempt 5 times */
+	for (int i = 0; i < 5; i++) {
+		ramtron_mtd = ramtron_initialize(spi);
+		if (ramtron_mtd) {
+			/* abort on first valid result */
+			if (i > 0) {
+				warnx("warning: ramtron needed %d attempts to attach", i+1);
+			}
+			break;
+		}
+	}
+
+	/* if last attempt is still unsuccessful, abort */
+	if (ramtron_mtd == NULL)
+		errx(1, "failed to initialize ramtron driver");
+
+	attached = true;
+}
+
+static void
+ramtron_start(void)
+{
+	int ret;
+
+	if (started)
+		errx(1, "ramtron already mounted");
+
+	if (!attached)
+		ramtron_attach();
+
+	/* start NXFFS */
+	ret = nxffs_initialize(ramtron_mtd);
+
+	if (ret < 0)
+		errx(1, "failed to initialize NXFFS - erase ramtron to reformat");
+
+	/* mount the ramtron */
+	ret = mount(NULL, "/ramtron", "nxffs", 0, NULL);
+
+	if (ret < 0)
+		errx(1, "failed to mount /ramtron - erase ramtron to reformat");
+
+	started = true;
+	warnx("mounted ramtron at /ramtron");
+	exit(0);
+}
+
+//extern int at24c_nuke(void);
+
+static void
+ramtron_erase(void)
+{
+	if (!attached)
+		ramtron_attach();
+
+//	if (at24c_nuke())
+		errx(1, "erase failed");
+
+	errx(0, "erase done, reboot now");
+}
+
+static void
+ramtron_ioctl(unsigned operation)
+{
+	int fd;
+
+	fd = open("/ramtron/.", 0);
+
+	if (fd < 0)
+		err(1, "open /ramtron");
+
+	if (ioctl(fd, operation, 0) < 0)
+		err(1, "ioctl");
+
+	exit(0);
+}
+
+static void
+ramtron_save(const char *name)
+{
+	if (!started)
+		errx(1, "must be started first");
+
+	if (!name)
+		err(1, "missing argument for device name, try '/ramtron/parameters'");
+
+	warnx("WARNING: 'ramtron save_param' deprecated - use 'param save' instead");
+
+	/* delete the file in case it exists */
+	unlink(name);
+
+	/* create the file */
+	int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
+
+	if (fd < 0)
+		err(1, "opening '%s' failed", name);
+
+	int result = param_export(fd, false);
+	close(fd);
+
+	if (result < 0) {
+		unlink(name);
+		errx(1, "error exporting to '%s'", name);
+	}
+
+	exit(0);
+}
+
+static void
+ramtron_load(const char *name)
+{
+	if (!started)
+		errx(1, "must be started first");
+
+	if (!name)
+		err(1, "missing argument for device name, try '/ramtron/parameters'");
+
+	warnx("WARNING: 'ramtron load_param' deprecated - use 'param load' instead");
+
+	int fd = open(name, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "open '%s'", name);
+
+	int result = param_load(fd);
+	close(fd);
+
+	if (result < 0)
+		errx(1, "error importing from '%s'", name);
+
+	exit(0);
+}
+
+//extern void at24c_test(void);
+
+static void
+ramtron_test(void)
+{
+//	at24c_test();
+	exit(0);
+}
+
+#endif