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

7 files changed, 206 insertions, 140 deletions

diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c
index 39e574c04..e1a4e8e8a 100644
--- a/apps/mavlink/mavlink_receiver.c
+++ b/apps/mavlink/mavlink_receiver.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   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
@@ -35,6 +35,8 @@
 /**
  * @file mavlink_receiver.c
  * MAVLink protocol message receive and dispatch
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 /* XXX trim includes */
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index 50cf9cf3d..928de5a38 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   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
@@ -35,6 +35,8 @@
 /**
  * @file orb_listener.c
  * Monitors ORB topics and sends update messages as appropriate.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 // XXX trim includes
diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/apps/multirotor_pos_control/multirotor_pos_control.c
index 9821fc7e5..7b8d83aa8 100644
--- a/apps/multirotor_pos_control/multirotor_pos_control.c
+++ b/apps/multirotor_pos_control/multirotor_pos_control.c
@@ -32,8 +32,10 @@
  *
  ****************************************************************************/
 
-/*
- * @file Implementation of AR.Drone 1.0 / 2.0 control interface
+/**
+ * @file multirotor_pos_control.c
+ *
+ * Skeleton for multirotor position controller
  */
 
 #include <nuttx/config.h>
diff --git a/apps/px4/tests/test_adc.c b/apps/px4/tests/test_adc.c
index 7795f07ac..c33af1311 100644
--- a/apps/px4/tests/test_adc.c
+++ b/apps/px4/tests/test_adc.c
@@ -1,7 +1,6 @@
 /****************************************************************************
- * px4/sensors/test_gpio.c
  *
- *  Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -13,7 +12,7 @@
  *    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
+ * 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.
  *
@@ -32,9 +31,10 @@
  *
  ****************************************************************************/
 
-/****************************************************************************
- * Included Files
- ****************************************************************************/
+/**
+ * @file test_adc.c
+ * Test for the analog to digital converter.
+ */
 
 #include <nuttx/config.h>
 #include <nuttx/arch.h>
@@ -54,91 +54,46 @@
 
 #include <nuttx/analog/adc.h>
 
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_gpio
- ****************************************************************************/
-
 int test_adc(int argc, char *argv[])
 {
-	int		fd0;
+	int		fd0 = 0;
 	int		ret = 0;
-	//struct adc_msg_s sample[4],sample2[4],sample3[4],sample4[4],sample5[4],sample6[4],sample7[4],sample8[4],sample9[4];
 
+	#pragma pack(push,1)
 	struct adc_msg4_s {
-		uint8_t      am_channel1;               /* The 8-bit ADC Channel */
-		int32_t      am_data1;                  /* ADC convert result (4 bytes) */
-		uint8_t      am_channel2;               /* The 8-bit ADC Channel */
-		int32_t      am_data2;                  /* ADC convert result (4 bytes) */
-		uint8_t      am_channel3;               /* The 8-bit ADC Channel */
-		int32_t      am_data3;                  /* ADC convert result (4 bytes) */
-		uint8_t      am_channel4;               /* The 8-bit ADC Channel */
-		int32_t      am_data4;                  /* ADC convert result (4 bytes) */
-	} __attribute__((__packed__));;
-
-	struct adc_msg4_s sample1[4], sample2[4];
-
-	size_t readsize;
-	ssize_t nbytes, nbytes2;
-	int i;
+		uint8_t      am_channel1;	/**< The 8-bit ADC Channel 1 */
+		int32_t      am_data1;		/**< ADC convert result 1 (4 bytes) */
+		uint8_t      am_channel2;	/**< The 8-bit ADC Channel 2 */
+		int32_t      am_data2;		/**< ADC convert result 2 (4 bytes) */
+		uint8_t      am_channel3;	/**< The 8-bit ADC Channel 3 */
+		int32_t      am_data3;		/**< ADC convert result 3 (4 bytes) */
+		uint8_t      am_channel4;	/**< The 8-bit ADC Channel 4 */
+		int32_t      am_data4;		/**< ADC convert result 4 (4 bytes) */
+	};
+	#pragma pack(pop)
+
+	struct adc_msg4_s sample1;
+
+	ssize_t nbytes;
 	int j;
 	int errval;
 
-	for (j = 0; j < 1; j++) {
-		char name[11];
-		sprintf(name, "/dev/adc%d", j);
-		fd0 = open(name, O_RDONLY | O_NONBLOCK);
+	fd0 = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
 
-		if (fd0 < 0) {
-			printf("ADC: %s open fail\n", name);
-			return ERROR;
+	if (fd0 <= 0) {
+		message("/dev/adc0 open fail: %d\n", errno);
+		return ERROR;
 
-		} else {
-			printf("Opened %s successfully\n", name);
-		}
+	} else {
+		message("opened /dev/adc0 successfully\n");
+	}
+	usleep(10000);
 
-		/* first adc read round */
-		readsize = 4 * sizeof(struct adc_msg_s);
-		up_udelay(10000);//microseconds
-		nbytes = read(fd0, sample1, readsize);
-		up_udelay(10000);//microseconds
-		nbytes2 = read(fd0, sample2, readsize);
-//	nbytes2 = read(fd0, sample3, readsize);
-//	nbytes2 = read(fd0, sample4, readsize);
-//	nbytes2 = read(fd0, sample5, readsize);
-//	nbytes2 = read(fd0, sample6, readsize);
-//	nbytes2 = read(fd0, sample7, readsize);
-//	nbytes2 = read(fd0, sample8, readsize);
-		//nbytes2 = read(fd0, sample9, readsize);
+	for (j = 0; j < 10; j++) {
+
+		/* sleep 20 milliseconds */
+		usleep(20000);
+		nbytes = read(fd0, &sample1, sizeof(sample1));
 
 		/* Handle unexpected return values */
 
@@ -146,62 +101,44 @@ int test_adc(int argc, char *argv[])
 			errval = errno;
 
 			if (errval != EINTR) {
-				message("read %s failed: %d\n",
-					name, errval);
+				message("reading /dev/adc0 failed: %d\n", errval);
 				errval = 3;
 				goto errout_with_dev;
 			}
 
-			message("\tInterrupted read...\n");
+			message("\tinterrupted read..\n");
 
 		} else if (nbytes == 0) {
-			message("\tNo data read, Ignoring\n");
+			message("\tno data read, ignoring.\n");
+			ret = ERROR;
 		}
 
 		/* Print the sample data on successful return */
 
 		else {
-			int nsamples = nbytes / sizeof(struct adc_msg_s);
-
-			if (nsamples * sizeof(struct adc_msg_s) != nbytes) {
-				message("\tread size=%d is not a multiple of sample size=%d, Ignoring\n",
-					nbytes, sizeof(struct adc_msg_s));
+			if (nbytes != sizeof(sample1)) {
+				message("\tsample 1 size %d is not matching struct size %d, ignoring\n",
+					nbytes, sizeof(sample1));
+				ret = ERROR;
 
 			} else {
-				message("Sample:");
-
-				for (i = 0; i < 1 ; i++) {
-					message("%d: channel: %d value: %d\n",
-						i, sample1[i].am_channel1, sample1[i].am_data1);
-					message("Sample:");
-					message("%d: channel: %d value: %d\n",
-						i, sample1[i].am_channel2, sample1[i].am_data2);
-					message("Sample:");
-					message("%d: channel: %d value: %d\n",
-						i, sample1[i].am_channel3, sample1[i].am_data3);
-					message("Sample:");
-					message("%d: channel: %d value: %d\n",
-						i, sample1[i].am_channel4, sample1[i].am_data4);
-					message("Sample:");
-					message("%d: channel: %d value: %d\n",
-						i + 1, sample2[i].am_channel1, sample2[i].am_data1);
-					message("Sample:");
-					message("%d: channel: %d value: %d\n",
-						i + 1, sample2[i].am_channel2, sample2[i].am_data2);
-					message("Sample:");
-					message("%d: channel: %d value: %d\n",
-						i + 1, sample2[i].am_channel3, sample2[i].am_data3);
-					message("Sample:");
-					message("%d: channel: %d value: %d\n",
-						i + 1, sample2[i].am_channel4, sample2[i].am_data4);
-//    			message("%d: channel: %d value: %d\n",
-//						i, sample9[i].am_channel, sample9[i].am_data);
-				}
+
+				message("CYCLE %d:\n", j);
+
+				message("channel: %d value: %d\n",
+					(int)sample1.am_channel1, sample1.am_data1);
+				message("channel: %d value: %d",
+					(int)sample1.am_channel2, sample1.am_data2);
+				message("channel: %d value: %d",
+					(int)sample1.am_channel3, sample1.am_data3);
+				message("channel: %d value: %d",
+					(int)sample1.am_channel4, sample1.am_data4);
 			}
 		}
+		fflush(stdout);
 	}
 
-	printf("\t ADC test successful.\n");
+	message("\t ADC test successful.");
 
 errout_with_dev:
 
diff --git a/apps/px4/tests/test_sensors.c b/apps/px4/tests/test_sensors.c
index c801869ab..ad7c74064 100644
--- a/apps/px4/tests/test_sensors.c
+++ b/apps/px4/tests/test_sensors.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   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
@@ -36,7 +36,7 @@
  * @file test_sensors.c
  * Tests the onboard sensors.
  * 
- * The sensors app must not be running when performing this test.
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include <nuttx/config.h>
@@ -56,7 +56,10 @@
 
 #include "tests.h"
 
+#include <drivers/drv_gyro.h>
 #include <drivers/drv_accel.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_baro.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -70,8 +73,10 @@
  * Private Function Prototypes
  ****************************************************************************/
 
-//static int	lis331(int argc, char *argv[]);
-static int mpu6000(int argc, char *argv[]);
+static int accel(int argc, char *argv[]);
+static int gyro(int argc, char *argv[]);
+static int mag(int argc, char *argv[]);
+static int baro(int argc, char *argv[]);
 
 /****************************************************************************
  * Private Data
@@ -82,7 +87,10 @@ struct {
 	const char	*path;
 	int	(* test)(int argc, char *argv[]);
 } sensors[] = {
-	{"mpu6000",	"/dev/accel",	mpu6000},
+	{"accel",	"/dev/accel",	accel},
+	{"gyro",	"/dev/gyro",	gyro},
+	{"mag",		"/dev/mag",	mag},
+	{"baro",	"/dev/baro",	baro},
 	{NULL, NULL, NULL}
 };
 
@@ -95,9 +103,9 @@ struct {
  ****************************************************************************/
 
 static int
-mpu6000(int argc, char *argv[])
+accel(int argc, char *argv[])
 {
-	printf("\tMPU-6000: test start\n");
+	printf("\tACCEL: test start\n");
 	fflush(stdout);
 
 	int		fd;
@@ -107,7 +115,7 @@ mpu6000(int argc, char *argv[])
 	fd = open("/dev/accel", O_RDONLY);
 
 	if (fd < 0) {
-		printf("\tMPU-6000: open fail, run <mpu6000 start> first.\n");
+		printf("\tACCEL: open fail, run <mpu6000 start> or <lsm303 start> or <bma180 start> first.\n");
 		return ERROR;
 	}
 
@@ -118,11 +126,11 @@ mpu6000(int argc, char *argv[])
 	ret = read(fd, &buf, sizeof(buf));
 
 	if (ret < 3) {
-		printf("\tMPU-6000: read1 fail (%d)\n", ret);
+		printf("\tACCEL: read1 fail (%d)\n", ret);
 		return ERROR;
 
 	} else {
-		printf("\tMPU-6000 values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);//\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
+		printf("\tACCEL values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
 	// /* wait at least 10ms, sensor should have data after no more than 2ms */
@@ -141,7 +149,118 @@ mpu6000(int argc, char *argv[])
 	/* XXX more tests here */
 
 	/* Let user know everything is ok */
-	printf("\tOK: MPU-6000 passed all tests successfully\n");
+	printf("\tOK: ACCEL passed all tests successfully\n");
+
+	return OK;
+}
+
+static int
+gyro(int argc, char *argv[])
+{
+	printf("\tGYRO: test start\n");
+	fflush(stdout);
+
+	int		fd;
+	struct gyro_report buf;
+	int		ret;
+
+	fd = open("/dev/gyro", O_RDONLY);
+
+	if (fd < 0) {
+		printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
+		return ERROR;
+	}
+
+	/* wait at least 5 ms, sensor should have data after that */
+	usleep(5000);
+
+	/* read data - expect samples */
+	ret = read(fd, &buf, sizeof(buf));
+
+	if (ret < 3) {
+		printf("\tGYRO: read fail (%d)\n", ret);
+		return ERROR;
+
+	} else {
+		printf("\tGYRO values: rates: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
+	}
+
+	/* Let user know everything is ok */
+	printf("\tOK: GYRO passed all tests successfully\n");
+
+	return OK;
+}
+
+static int
+mag(int argc, char *argv[])
+{
+	printf("\tMAG: test start\n");
+	fflush(stdout);
+
+	int		fd;
+	struct mag_report buf;
+	int		ret;
+
+	fd = open("/dev/mag", O_RDONLY);
+
+	if (fd < 0) {
+		printf("\tMAG: open fail, run <hmc5883 start> or <lsm303 start> first.\n");
+		return ERROR;
+	}
+
+	/* wait at least 5 ms, sensor should have data after that */
+	usleep(5000);
+
+	/* read data - expect samples */
+	ret = read(fd, &buf, sizeof(buf));
+
+	if (ret < 3) {
+		printf("\tMAG: read fail (%d)\n", ret);
+		return ERROR;
+
+	} else {
+		printf("\tMAG values: mag. field: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
+	}
+
+	/* Let user know everything is ok */
+	printf("\tOK: MAG passed all tests successfully\n");
+
+	return OK;
+}
+
+static int
+baro(int argc, char *argv[])
+{
+	printf("\tBARO: test start\n");
+	fflush(stdout);
+
+	int		fd;
+	struct baro_report buf;
+	int		ret;
+
+	fd = open("/dev/baro", O_RDONLY);
+
+	if (fd < 0) {
+		printf("\tBARO: open fail, run <ms5611 start> or <lps331 start> first.\n");
+		return ERROR;
+	}
+
+	/* wait at least 5 ms, sensor should have data after that */
+	usleep(5000);
+
+	/* read data - expect samples */
+	ret = read(fd, &buf, sizeof(buf));
+
+	if (ret < 3) {
+		printf("\tBARO: read fail (%d)\n", ret);
+		return ERROR;
+
+	} else {
+		printf("\tBARO values: pressure: %8.4f mbar\taltitude: %8.4f m\ttemperature: %8.4f deg Celsius\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
+	}
+
+	/* Let user know everything is ok */
+	printf("\tOK: BARO passed all tests successfully\n");
 
 	return OK;
 }
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index 3e9f35eaf..675a8602a 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -34,9 +34,9 @@
 
 /**
  * @file sensors.cpp
- * @author Lorenz Meier <lm@inf.ethz.ch>
- *
  * Sensor readout process.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include <nuttx/config.h>
diff --git a/apps/uORB/topics/subsystem_info.h b/apps/uORB/topics/subsystem_info.h
index 89b397478..c3e039d66 100644
--- a/apps/uORB/topics/subsystem_info.h
+++ b/apps/uORB/topics/subsystem_info.h
@@ -1,9 +1,9 @@
 /****************************************************************************
  *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *           Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +37,10 @@
 /**
  * @file subsystem_info.h
  * Definition of the subsystem info topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
  */
 
 #ifndef TOPIC_SUBSYSTEM_INFO_H_