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

10 files changed, 1020 insertions, 461 deletions

diff --git a/.gitignore b/.gitignore
index 3da1c5c7a..8d468a56d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -34,3 +34,4 @@ nuttx/nuttx.hex
 Firmware.sublime-workspace
 .DS_Store
 nsh_romfsimg.h
+cscope.out
diff --git a/apps/drivers/device/device.h.orig b/apps/drivers/device/device.h.orig
deleted file mode 100644
index 5030666e1..000000000
--- a/apps/drivers/device/device.h.orig
+++ /dev/null
@@ -1,430 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Definitions for the generic base classes in the device framework.
- */
-
-#ifndef _DEVICE_DEVICE_H
-#define _DEVICE_DEVICE_H
-
-/*
- * Includes here should only cover the needs of the framework definitions.
- */
-#include <nuttx/config.h>
-
-#include <errno.h>
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-#include <poll.h>
-
-#include <nuttx/fs/fs.h>
-
-/**
- * Namespace encapsulating all device framework classes, functions and data.
- */
-namespace device __EXPORT 
-{
-
-/**
- * Fundamental base class for all device drivers.
- *
- * This class handles the basic "being a driver" things, including
- * interrupt registration and dispatch.
- */
-class __EXPORT Device
-{
-public:
-	/**
-	 * Interrupt handler.
-	 */
-	virtual void	interrupt(void *ctx);	/**< interrupt handler */
-
-protected:
-	const char	*_name;			/**< driver name */
-	bool		_debug_enabled;		/**< if true, debug messages are printed */
-
-	/**
-	 * Constructor
-	 *
-	 * @param name		Driver name
-	 * @param irq		Interrupt assigned to the device.
-	 */
-	Device(const char *name,
-	       int irq = 0);
-	~Device();
-
-	/**
-	 * Initialise the driver and make it ready for use.
-	 *
-	 * @return	OK if the driver initialised OK.
-	 */
-	virtual int	init();
-
-	/**
-	 * Enable the device interrupt
-	 */
-	void		interrupt_enable();
-
-	/**
-	 * Disable the device interrupt
-	 */
-	void		interrupt_disable();
-
-	/**
-	 * Take the driver lock.
-	 *
-	 * Each driver instance has its own lock/semaphore.
-	 *
-	 * Note that we must loop as the wait may be interrupted by a signal.
-	 */
-	void		lock() {
-		do {} while (sem_wait(&_lock) != 0);
-	}
-
-	/**
-	 * Release the driver lock.
-	 */
-	void		unlock() {
-		sem_post(&_lock);
-	}
-
-	/**
-	 * Log a message.
-	 *
-	 * The message is prefixed with the driver name, and followed
-	 * by a newline.
-	 */
-	void		log(const char *fmt, ...);
-
-	/**
-	 * Print a debug message.
-	 *
-	 * The message is prefixed with the driver name, and followed
-	 * by a newline.
-	 */
-	void		debug(const char *fmt, ...);
-
-private:
-	int		_irq;
-	bool		_irq_attached;
-	sem_t		_lock;
-
-	/** disable copy construction for this and all subclasses */
-	Device(const Device &);
-
-	/** disable assignment for this and all subclasses */
-	Device &operator = (const Device &);
-
-	/**
-	 * Register ourselves as a handler for an interrupt
-	 *
-	 * @param irq		The interrupt to claim
-	 * @return		OK if the interrupt was registered
-	 */
-	int		dev_register_interrupt(int irq);
-
-	/**
-	 * Unregister ourselves as a handler for any interrupt
-	 */
-	void		dev_unregister_interrupt();
-
-	/**
-	 * Interrupt dispatcher
-	 *
-	 * @param irq		The interrupt that has been triggered.
-	 * @param context	Pointer to the interrupted context.
-	 */
-	static void	dev_interrupt(int irq, void *context);
-};
-
-/**
- * Abstract class for any character device
- */
-class __EXPORT CDev : public Device
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param name		Driver name
-	 * @param devname	Device node name
-	 * @param irq		Interrupt assigned to the device
-	 */
-	CDev(const char *name, const char *devname, int irq = 0);
-
-	/**
-	 * Destructor
-	 */
-	~CDev();
-
-	virtual int	init();
-
-	/**
-	 * Handle an open of the device.
-	 *
-	 * This function is called for every open of the device. The default
-	 * implementation maintains _open_count and always returns OK.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @return		OK if the open is allowed, -errno otherwise.
-	 */
-	virtual int	open(struct file *filp);
-
-	/**
-	 * Handle a close of the device.
-	 *
-	 * This function is called for every close of the device. The default
-	 * implementation maintains _open_count and returns OK as long as it is not zero.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @return		OK if the close was successful, -errno otherwise.
-	 */
-	virtual int	close(struct file *filp);
-
-	/**
-	 * Perform a read from the device.
-	 *
-	 * The default implementation returns -ENOSYS.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @param buffer	Pointer to the buffer into which data should be placed.
-	 * @param buflen	The number of bytes to be read.
-	 * @return		The number of bytes read or -errno otherwise.
-	 */
-	virtual ssize_t	read(struct file *filp, char *buffer, size_t buflen);
-
-	/**
-	 * Perform a write to the device.
-	 *
-	 * The default implementation returns -ENOSYS.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @param buffer	Pointer to the buffer from which data should be read.
-	 * @param buflen	The number of bytes to be written.
-	 * @return		The number of bytes written or -errno otherwise.
-	 */
-	virtual ssize_t	write(struct file *filp, const char *buffer, size_t buflen);
-
-	/**
-	 * Perform a logical seek operation on the device.
-	 *
-	 * The default implementation returns -ENOSYS.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @param offset	The new file position relative to whence.
-	 * @param whence	SEEK_OFS, SEEK_CUR or SEEK_END.
-	 * @return		The previous offset, or -errno otherwise.
-	 */
-	virtual off_t	seek(struct file *filp, off_t offset, int whence);
-
-	/**
-	 * Perform an ioctl operation on the device.
-	 *
-	 * The default implementation handles DIOC_GETPRIV, and otherwise
-	 * returns -ENOTTY. Subclasses should call the default implementation
-	 * for any command they do not handle themselves.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @param cmd		The ioctl command value.
-	 * @param arg		The ioctl argument value.
-	 * @return		OK on success, or -errno otherwise.
-	 */
-	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
-
-	/**
-	 * Perform a poll setup/teardown operation.
-	 *
-	 * This is handled internally and should not normally be overridden.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @param fds		Poll descriptor being waited on.
-	 * @param arg		True if this is establishing a request, false if
-	 *			it is being torn down.
-	 * @return		OK on success, or -errno otherwise.
-	 */
-	virtual int	poll(struct file *filp, struct pollfd *fds, bool setup);
-
-protected:
-	/**
-	 * Check the current state of the device for poll events from the
-	 * perspective of the file.
-	 *
-	 * This function is called by the default poll() implementation when
-	 * a poll is set up to determine whether the poll should return immediately.
-	 *
-	 * The default implementation returns no events.
-	 *
-	 * @param filp		The file that's interested.
-	 * @return		The current set of poll events.
-	 */
-	virtual pollevent_t poll_state(struct file *filp);
-
-	/**
-	 * Report new poll events.
-	 *
-	 * This function should be called anytime the state of the device changes
-	 * in a fashion that might be interesting to a poll waiter.
-	 *
-	 * @param events	The new event(s) being announced.
-	 */
-	virtual void	poll_notify(pollevent_t events);
-
-	/**
-	 * Internal implementation of poll_notify.
-	 *
-	 * @param fds		A poll waiter to notify.
-	 * @param events	The event(s) to send to the waiter.
-	 */
-	virtual void	poll_notify_one(struct pollfd *fds, pollevent_t events);
-
-	/**
-	 * Notification of the first open.
-	 *
-	 * This function is called when the device open count transitions from zero
-	 * to one.  The driver lock is held for the duration of the call.
-	 *
-	 * The default implementation returns OK.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @return		OK if the open should proceed, -errno otherwise.
-	 */
-	virtual int	open_first(struct file *filp);
-
-	/**
-	 * Notification of the last close.
-	 *
-	 * This function is called when the device open count transitions from
-	 * one to zero.  The driver lock is held for the duration of the call.
-	 *
-	 * The default implementation returns OK.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @return		OK if the open should return OK, -errno otherwise.
-	 */
-	virtual int	close_last(struct file *filp);
-
-private:
-	static const unsigned _max_pollwaiters = 8;
-
-	const char	*_devname;		/**< device node name */
-	bool		_registered;		/**< true if device name was registered */
-	unsigned	_open_count;		/**< number of successful opens */
-
-	struct pollfd	*_pollset[_max_pollwaiters];
-
-	/**
-	 * Store a pollwaiter in a slot where we can find it later.
-	 *
-	 * Expands the pollset as required.  Must be called with the driver locked.
-	 *
-	 * @return		OK, or -errno on error.
-	 */
-	int		store_poll_waiter(struct pollfd *fds);
-
-	/**
-	 * Remove a poll waiter.
-	 *
-	 * @return		OK, or -errno on error.
-	 */
-	int		remove_poll_waiter(struct pollfd *fds);
-};
-
-/**
- * Abstract class for character device accessed via PIO
- */
-class __EXPORT PIO : public CDev
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param name		Driver name
-	 * @param devname	Device node name
-	 * @param base		Base address of the device PIO area
-	 * @param irq		Interrupt assigned to the device (or zero if none)
-	 */
-	PIO(const char *name,
-	    const char *devname,
-	    uint32_t base,
-	    int irq = 0);
-	~PIO();
-
-	int		init();
-
-protected:
-
-	/**
-	 * Read a register
-	 *
-	 * @param offset	Register offset in bytes from the base address.
-	 */
-	uint32_t reg(uint32_t offset) {
-		return *(volatile uint32_t *)(_base + offset);
-	}
-
-	/**
-	 * Write a register
-	 *
-	 * @param offset	Register offset in bytes from the base address.
-	 * @param value	Value to write.
-	 */
-	void		reg(uint32_t offset, uint32_t value) {
-		*(volatile uint32_t *)(_base + offset) = value;
-	}
-
-	/**
-	 * Modify a register
-	 *
-	 * Note that there is a risk of a race during the read/modify/write cycle
-	 * that must be taken care of by the caller.
-	 *
-	 * @param offset	Register offset in bytes from the base address.
-	 * @param clearbits	Bits to clear in the register
-	 * @param setbits	Bits to set in the register
-	 */
-	void		modify(uint32_t offset, uint32_t clearbits, uint32_t setbits) {
-		uint32_t val = reg(offset);
-		val &= ~clearbits;
-		val |= setbits;
-		reg(offset, val);
-	}
-
-private:
-	uint32_t	_base;
-};
-
-} // namespace device
-
-#endif /* _DEVICE_DEVICE_H */
\ No newline at end of file
diff --git a/apps/drivers/device/spi.cpp b/apps/drivers/device/spi.cpp
index d0647bef6..3ccdaae36 100644
--- a/apps/drivers/device/spi.cpp
+++ b/apps/drivers/device/spi.cpp
@@ -127,6 +127,7 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	SPI_LOCK(_dev, true);
 	SPI_SETFREQUENCY(_dev, _frequency);
 	SPI_SETMODE(_dev, _mode);
+	SPI_SETBITS(_dev, 8);
 	SPI_SELECT(_dev, _device, true);
 
 	/* do the transfer */
@@ -139,4 +140,4 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	return OK;
 }
 
-} // namespace device
\ No newline at end of file
+} // namespace device
diff --git a/apps/drivers/mpu6000/Makefile b/apps/drivers/mpu6000/Makefile
new file mode 100644
index 000000000..e03eef67d
--- /dev/null
+++ b/apps/drivers/mpu6000/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Makefile to build the BMA180 driver.
+#
+
+APPNAME		 = mpu6000
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp
new file mode 100644
index 000000000..70e3e41c5
--- /dev/null
+++ b/apps/drivers/mpu6000/mpu6000.cpp
@@ -0,0 +1,918 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mpu6000.cpp
+ *
+ * Driver for the Invensense MPU6000 connected via SPI.
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.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 <systemlib/perf_counter.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/clock.h>
+
+#include <arch/board/board.h>
+#include <arch/board/up_hrt.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+
+#define DIR_READ			0x80
+#define DIR_WRITE			0x00
+
+// MPU 6000 registers
+#define MPUREG_WHOAMI			0x75
+#define MPUREG_SMPLRT_DIV		0x19
+#define MPUREG_CONFIG			0x1A
+#define MPUREG_GYRO_CONFIG		0x1B
+#define MPUREG_ACCEL_CONFIG		0x1C
+#define MPUREG_FIFO_EN			0x23
+#define MPUREG_INT_PIN_CFG		0x37
+#define MPUREG_INT_ENABLE		0x38
+#define MPUREG_INT_STATUS		0x3A
+#define MPUREG_ACCEL_XOUT_H		0x3B
+#define MPUREG_ACCEL_XOUT_L		0x3C
+#define MPUREG_ACCEL_YOUT_H		0x3D
+#define MPUREG_ACCEL_YOUT_L		0x3E
+#define MPUREG_ACCEL_ZOUT_H		0x3F
+#define MPUREG_ACCEL_ZOUT_L		0x40
+#define MPUREG_TEMP_OUT_H		0x41
+#define MPUREG_TEMP_OUT_L		0x42
+#define MPUREG_GYRO_XOUT_H		0x43
+#define MPUREG_GYRO_XOUT_L		0x44
+#define MPUREG_GYRO_YOUT_H		0x45
+#define MPUREG_GYRO_YOUT_L		0x46
+#define MPUREG_GYRO_ZOUT_H		0x47
+#define MPUREG_GYRO_ZOUT_L		0x48
+#define MPUREG_USER_CTRL		0x6A
+#define MPUREG_PWR_MGMT_1		0x6B
+#define MPUREG_PWR_MGMT_2		0x6C
+#define MPUREG_FIFO_COUNTH		0x72
+#define MPUREG_FIFO_COUNTL		0x73
+#define MPUREG_FIFO_R_W			0x74
+#define MPUREG_PRODUCT_ID		0x0C
+
+// Configuration bits MPU 3000 and MPU 6000 (not revised)?
+#define BIT_SLEEP			0x40
+#define BIT_H_RESET			0x80
+#define BITS_CLKSEL			0x07
+#define MPU_CLK_SEL_PLLGYROX		0x01
+#define MPU_CLK_SEL_PLLGYROZ		0x03
+#define MPU_EXT_SYNC_GYROX		0x02
+#define BITS_FS_250DPS			0x00
+#define BITS_FS_500DPS			0x08
+#define BITS_FS_1000DPS			0x10
+#define BITS_FS_2000DPS			0x18
+#define BITS_FS_MASK			0x18
+#define BITS_DLPF_CFG_256HZ_NOLPF2	0x00
+#define BITS_DLPF_CFG_188HZ		0x01
+#define BITS_DLPF_CFG_98HZ		0x02
+#define BITS_DLPF_CFG_42HZ		0x03
+#define BITS_DLPF_CFG_20HZ		0x04
+#define BITS_DLPF_CFG_10HZ		0x05
+#define BITS_DLPF_CFG_5HZ		0x06
+#define BITS_DLPF_CFG_2100HZ_NOLPF	0x07
+#define BITS_DLPF_CFG_MASK		0x07
+#define BIT_INT_ANYRD_2CLEAR		0x10
+#define BIT_RAW_RDY_EN			0x01
+#define BIT_I2C_IF_DIS			0x10
+#define BIT_INT_STATUS_DATA		0x01
+
+// Product ID Description for MPU6000
+// high 4 bits 	low 4 bits
+// Product Name	Product Revision
+#define MPU6000ES_REV_C4		0x14
+#define MPU6000ES_REV_C5		0x15
+#define MPU6000ES_REV_D6		0x16
+#define MPU6000ES_REV_D7		0x17
+#define MPU6000ES_REV_D8		0x18
+#define MPU6000_REV_C4			0x54
+#define MPU6000_REV_C5			0x55
+#define MPU6000_REV_D6			0x56
+#define MPU6000_REV_D7			0x57
+#define MPU6000_REV_D8			0x58
+#define MPU6000_REV_D9			0x59
+#define MPU6000_REV_D10			0x5A
+
+
+class MPU6000_gyro;
+
+class MPU6000 : public device::SPI
+{
+public:
+	MPU6000(int bus, spi_dev_e device);
+	~MPU6000();
+
+	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);
+
+	virtual int		open_first(struct file *filp);
+	virtual int		close_last(struct file *filp);
+
+	/**
+	 * Diagnostics - print some basic information about the driver.
+	 */
+	void			print_info();
+
+protected:
+	virtual int		probe();
+
+	friend class MPU6000_gyro;
+
+	virtual ssize_t		gyro_read(struct file *filp, char *buffer, size_t buflen);
+	virtual int		gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
+
+private:
+	MPU6000_gyro		*_gyro;
+	uint8_t			_product;	/** product code */
+
+	struct hrt_call		_call;
+	unsigned		_call_interval;
+
+	struct accel_report	_accel_report;
+	struct accel_scale	_accel_scale;
+	float			_accel_range_scale;
+	int			_accel_topic;
+
+	struct gyro_report	_gyro_report;
+	struct gyro_scale	_gyro_scale;
+	float			_gyro_range_scale;
+	int			_gyro_topic;
+
+	unsigned		_reads;
+	perf_counter_t		_sample_perf;
+
+	/**
+	 * Start automatic measurement.
+	 */
+	void			start();
+
+	/**
+	 * Stop automatic measurement.
+	 */
+	void			stop();
+
+	/**
+	 * Static trampoline from the hrt_call context; because we don't have a
+	 * generic hrt wrapper yet.
+	 *
+	 * Called by the HRT in interrupt context at the specified rate if
+	 * automatic polling is enabled.
+	 *
+	 * @param arg		Instance pointer for the driver that is polling.
+	 */
+	static void		measure_trampoline(void *arg);
+
+	/**
+	 * Fetch measurements from the sensor and update the report ring.
+	 */
+	void			measure();
+
+	/**
+	 * Read a register from the MPU6000
+	 *
+	 * @param		The register to read.
+	 * @return		The value that was read.
+	 */
+	uint8_t			read_reg(unsigned reg);
+	uint16_t		read_reg16(unsigned reg);
+
+	/**
+	 * Write a register in the MPU6000
+	 *
+	 * @param reg		The register to write.
+	 * @param value		The new value to write.
+	 */
+	void			write_reg(unsigned reg, uint8_t value);
+
+	/**
+	 * Modify a register in the MPU6000
+	 *
+	 * Bits are cleared before bits are set.
+	 *
+	 * @param reg		The register to modify.
+	 * @param clearbits	Bits in the register to clear.
+	 * @param setbits	Bits in the register to set.
+	 */
+	void			modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
+
+	/**
+	 * Set the MPU6000 measurement range.
+	 *
+	 * @param max_g		The maximum G value the range must support.
+	 * @return		OK if the value can be supported, -ERANGE otherwise.
+	 */
+	int			set_range(unsigned max_g);
+
+	/**
+	 * Swap a 16-bit value read from the MPU6000 to native byte order.
+	 */
+	uint16_t		swap16(uint16_t val) { return (val >> 8) | (val << 8);	}
+
+};
+
+/**
+ * Helper class implementing the gyro driver node.
+ */
+class MPU6000_gyro : public device::CDev
+{
+public:
+	MPU6000_gyro(MPU6000 *parent);
+	~MPU6000_gyro();
+
+	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+
+protected:
+	friend class MPU6000;
+
+	void			parent_poll_notify();
+private:
+	MPU6000			*_parent;
+};
+
+/** driver 'main' command */
+extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); }
+
+MPU6000::MPU6000(int bus, spi_dev_e device) :
+	SPI("MPU6000", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 10000000),
+	_gyro(new MPU6000_gyro(this)),
+	_product(0),
+	_call_interval(0),
+	_accel_range_scale(1.0f),
+	_accel_topic(-1),
+	_gyro_range_scale(1.0f),
+	_gyro_topic(-1),
+	_reads(0),
+	_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read"))
+{
+	// enable debug() calls
+	_debug_enabled = true;
+
+	// default accel scale factors
+	_accel_scale.x_offset = 0;
+	_accel_scale.x_scale  = 1.0f;
+	_accel_scale.y_offset = 0;
+	_accel_scale.y_scale  = 1.0f;
+	_accel_scale.z_offset = 0;
+	_accel_scale.z_scale  = 1.0f;
+
+	// default gyro scale factors
+	_gyro_scale.x_offset = 0;
+	_gyro_scale.x_scale  = 1.0f;
+	_gyro_scale.y_offset = 0;
+	_gyro_scale.y_scale  = 1.0f;
+	_gyro_scale.z_offset = 0;
+	_gyro_scale.z_scale  = 1.0f;
+
+	memset(&_accel_report, 0, sizeof(_accel_report));
+	memset(&_gyro_report, 0, sizeof(_gyro_report));
+}
+
+MPU6000::~MPU6000()
+{
+	/* make sure we are truly inactive */
+	stop();
+
+	/* delete the gyro subdriver */
+	delete _gyro;
+
+	/* delete the perf counter */
+	perf_free(_sample_perf);
+}
+
+int
+MPU6000::init()
+{
+	int ret;
+
+	/* do SPI init (and probe) first */
+	ret = SPI::init();
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		debug("SPI setup failed");
+		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);
+
+	// Wake up device and select GyroZ clock (better performance)
+	write_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
+	up_udelay(1000);
+
+	// Disable I2C bus (recommended on datasheet)
+	write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
+	up_udelay(1000);
+
+	// SAMPLE RATE
+	write_reg(MPUREG_SMPLRT_DIV, 0x04);     // Sample rate = 200Hz    Fsample= 1Khz/(4+1) = 200Hz
+	usleep(1000);
+
+	// FS & DLPF   FS=2000¼/s, DLPF = 98Hz (low pass filter)
+	write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ);
+	usleep(1000);
+	write_reg(MPUREG_GYRO_CONFIG,BITS_FS_2000DPS);  // Gyro scale 2000¼/s
+	usleep(1000);
+
+	// product-specific scaling
+	switch (_product) {
+	case MPU6000ES_REV_C4:
+	case MPU6000ES_REV_C5:
+	case MPU6000_REV_C4:
+	case MPU6000_REV_C5:
+		// Accel scale 8g (4096 LSB/g)
+		// Rev C has different scaling than rev D
+		write_reg(MPUREG_ACCEL_CONFIG, 1 << 3);
+		break;
+
+	case MPU6000ES_REV_D6:
+	case MPU6000ES_REV_D7:
+	case MPU6000ES_REV_D8:
+	case MPU6000_REV_D6:
+	case MPU6000_REV_D7:
+	case MPU6000_REV_D8:
+	case MPU6000_REV_D9:
+	case MPU6000_REV_D10:
+		// Accel scale 8g (4096 LSB/g)
+		write_reg(MPUREG_ACCEL_CONFIG,2<<3);
+		break;
+	}
+	usleep(1000);
+
+	// INT CFG => Interrupt on Data Ready
+	write_reg(MPUREG_INT_ENABLE,BIT_RAW_RDY_EN);         // INT: Raw data ready
+	usleep(1000);
+	write_reg(MPUREG_INT_PIN_CFG,BIT_INT_ANYRD_2CLEAR);  // INT: Clear on any read
+	usleep(1000);
+
+	// Oscillator set
+	// write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ);
+	usleep(1000);
+
+
+	return ret;
+}
+
+int
+MPU6000::open_first(struct file *filp)
+{
+	/* reset to manual-poll mode */
+	_call_interval = 0;
+
+	/* XXX set default sampling/acquisition parameters */
+
+	return OK;
+}
+
+int
+MPU6000::close_last(struct file *filp)
+{
+	/* stop measurement */
+	stop();
+
+	return OK;
+}
+
+int
+MPU6000::probe()
+{
+
+	/* look for a product ID we recognise */
+	_product = read_reg(MPUREG_PRODUCT_ID);
+
+	// verify product revision
+	switch (_product) {
+	case MPU6000ES_REV_C4:
+	case MPU6000ES_REV_C5:
+	case MPU6000_REV_C4:
+	case MPU6000_REV_C5:
+	case MPU6000ES_REV_D6:
+	case MPU6000ES_REV_D7:
+	case MPU6000ES_REV_D8:
+	case MPU6000_REV_D6:
+	case MPU6000_REV_D7:
+	case MPU6000_REV_D8:
+	case MPU6000_REV_D9:
+	case MPU6000_REV_D10:
+		log("ID 0x%02x", _product);
+		return OK;
+	}
+
+	debug("unexpected ID 0x%02x", _product);
+	return -EIO;
+}
+
+ssize_t
+MPU6000::read(struct file *filp, char *buffer, size_t buflen)
+{
+	int ret = 0;
+
+	/* buffer must be large enough */
+	if (buflen < sizeof(_accel_report))
+		return -ENOSPC;
+
+	/* if automatic measurement is not enabled */
+	if (_call_interval == 0)
+		measure();
+
+	/* copy out the latest report */
+	memcpy(buffer, &_accel_report, sizeof(_accel_report));
+	ret = sizeof(_accel_report);
+
+	return ret;
+}
+
+ssize_t
+MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
+{
+	int ret = 0;
+
+	/* buffer must be large enough */
+	if (buflen < sizeof(_gyro_report))
+		return -ENOSPC;
+
+	/* if automatic measurement is not enabled */
+	if (_call_interval == 0)
+		measure();
+
+	/* copy out the latest report */
+	memcpy(buffer, &_gyro_report, sizeof(_gyro_report));
+	ret = sizeof(_gyro_report);
+
+	return ret;
+}
+
+int
+MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+	case ACCELIOCSPOLLRATE: {
+			switch (arg) {
+
+				/* switching to manual polling */
+			case ACC_POLLRATE_MANUAL:
+				stop();
+				_call_interval = 0;
+				return OK;
+
+				/* external signalling not supported */
+			case ACC_POLLRATE_EXTERNAL:
+
+				/* zero would be bad */
+			case 0:
+				return -EINVAL;
+
+				/* adjust to a legal polling interval in Hz */
+			default: {
+					/* do we need to start internal polling? */
+					bool want_start = (_call_interval == 0);
+
+					/* convert hz to hrt interval via microseconds */
+					unsigned ticks = 1000000 / arg;
+
+					/* check against maximum sane rate */
+					if (ticks < 1000)
+						return -EINVAL;
+
+					/* update interval for next measurement */
+					/* XXX this is a bit shady, but no other way to adjust... */
+					_call.period = _call_interval;
+
+					/* if we need to start the poll state machine, do it */
+					if (want_start)
+						start();
+
+					return OK;
+				}
+			}
+		}
+
+	case ACCELIOCSQUEUEDEPTH:
+		/* XXX not implemented */
+		return -EINVAL;
+
+	case ACCELIOCSLOWPASS:
+		/* XXX not implemented */
+		return -EINVAL;
+
+	case ACCELIORANGE:
+		/* XXX not implemented really */
+		return set_range(arg);
+
+	case ACCELIOCSSAMPLERATE:	/* sensor sample rate is not (really) adjustable */
+	case ACCELIOCSREPORTFORMAT:	/* no alternate report formats */
+		return -EINVAL;
+
+	default:
+		/* give it to the superclass */
+		return SPI::ioctl(filp, cmd, arg);
+	}
+}
+
+int
+MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+	case GYROIOCSPOLLRATE:
+		/* gyro and accel poll rates are shared */
+		return ioctl(filp, ACCELIOCSPOLLRATE, arg);
+
+	case GYROIOCSQUEUEDEPTH:
+		/* XXX not implemented */
+		return -EINVAL;
+
+	case GYROIOCSLOWPASS:
+		/* XXX not implemented */
+		return -EINVAL;
+
+	case GYROIOCSSCALE:
+		/* XXX not implemented really */
+		return set_range(arg);
+
+	case GYROIOCSSAMPLERATE:	/* sensor sample rate is not (really) adjustable */
+	case GYROIOCSREPORTFORMAT:	/* no alternate report formats */
+		return -EINVAL;
+
+	default:
+		/* give it to the superclass */
+		return SPI::ioctl(filp, cmd, arg);
+	}
+}
+
+uint8_t
+MPU6000::read_reg(unsigned reg)
+{
+	uint8_t cmd[2];
+
+	cmd[0] = reg | DIR_READ;
+
+	transfer(cmd, cmd, sizeof(cmd));
+
+	return cmd[1];
+}
+
+uint16_t
+MPU6000::read_reg16(unsigned reg)
+{
+	uint8_t cmd[3];
+
+	cmd[0] = reg | DIR_READ;
+
+	transfer(cmd, cmd, sizeof(cmd));
+
+	return (uint16_t)(cmd[1] << 8) | cmd[2];
+}
+
+void
+MPU6000::write_reg(unsigned reg, uint8_t value)
+{
+	uint8_t	cmd[2];
+
+	cmd[0] = reg | DIR_WRITE;
+	cmd[1] = value;
+
+	transfer(cmd, nullptr, sizeof(cmd));
+}
+
+void
+MPU6000::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
+{
+	uint8_t	val;
+
+	val = read_reg(reg);
+	val &= ~clearbits;
+	val |= setbits;
+	write_reg(reg, val);
+}
+
+int
+MPU6000::set_range(unsigned max_g)
+{
+#if 0
+	uint8_t rangebits;
+	float rangescale;
+
+	if (max_g > 16) {
+		return -ERANGE;
+
+	} else if (max_g > 8) {		/* 16G */
+		rangebits = OFFSET_LSB1_RANGE_16G;
+		rangescale = 1.98;
+
+	} else if (max_g > 4) {		/* 8G */
+		rangebits = OFFSET_LSB1_RANGE_8G;
+		rangescale = 0.99;
+
+	} else if (max_g > 3) {		/* 4G */
+		rangebits = OFFSET_LSB1_RANGE_4G;
+		rangescale = 0.5;
+
+	} else if (max_g > 2) {		/* 3G */
+		rangebits = OFFSET_LSB1_RANGE_3G;
+		rangescale = 0.38;
+
+	} else if (max_g > 1) {		/* 2G */
+		rangebits = OFFSET_LSB1_RANGE_2G;
+		rangescale = 0.25;
+
+	} else {			/* 1G */
+		rangebits = OFFSET_LSB1_RANGE_1G;
+		rangescale = 0.13;
+	}
+
+	/* adjust sensor configuration */
+	modify_reg(ADDR_OFFSET_LSB1, OFFSET_LSB1_RANGE_MASK, rangebits);
+	_range_scale = rangescale;
+#endif
+	return OK;
+}
+
+void
+MPU6000::start()
+{
+	/* make sure we are stopped first */
+	stop();
+
+	/* start polling at the specified rate */
+	hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&MPU6000::measure_trampoline, this);
+}
+
+void
+MPU6000::stop()
+{
+	hrt_cancel(&_call);
+}
+
+void
+MPU6000::measure_trampoline(void *arg)
+{
+	MPU6000 *dev = (MPU6000 *)arg;
+
+	/* make another measurement */
+	dev->measure();
+}
+
+void
+MPU6000::measure()
+{
+#pragma pack(push, 1)
+	/**
+	 * Report conversation within the MPU6000, including command byte and
+	 * interrupt status.
+	 */
+	struct Report {
+		uint8_t		cmd;
+		uint8_t		status;
+		uint16_t	accel_x;
+		uint16_t	accel_y;
+		uint16_t	accel_z;
+		uint16_t	temp;
+		uint16_t	gyro_x;
+		uint16_t	gyro_y;
+		uint16_t	gyro_z;
+	} report;
+#pragma pack(pop)
+
+	/* start measuring */
+	perf_begin(_sample_perf);
+
+	/*
+	 * Fetch the full set of measurements from the MPU6000 in one pass.
+	 */
+	report.cmd = DIR_READ | MPUREG_INT_STATUS;
+	transfer((uint8_t *)&report, (uint8_t *)&report, sizeof(report));
+
+	/*
+	 * Adjust and scale results to mg.
+	 */
+	_gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time();
+
+	_accel_report.x = report.accel_x * _accel_range_scale;
+	_accel_report.y = report.accel_y * _accel_range_scale;
+	_accel_report.z = report.accel_z * _accel_range_scale;
+
+	_gyro_report.x = report.gyro_x * _gyro_range_scale;
+	_gyro_report.y = report.gyro_y * _gyro_range_scale;
+	_gyro_report.z = report.gyro_z * _gyro_range_scale;
+
+	/* notify anyone waiting for data */
+	poll_notify(POLLIN);
+	_gyro->parent_poll_notify();
+
+	/* and publish for subscribers */
+	orb_publish(ORB_ID(sensor_accel), _accel_topic, &_accel_report);
+	orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &_gyro_report);
+
+	/* stop measuring */
+	perf_end(_sample_perf);
+}
+
+void
+MPU6000::print_info()
+{
+	printf("reads:          %u\n", _reads);
+}
+
+MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) :
+	CDev("MPU6000_gyro", GYRO_DEVICE_PATH),
+	_parent(parent)
+{
+}
+
+MPU6000_gyro::~MPU6000_gyro()
+{
+}
+
+void
+MPU6000_gyro::parent_poll_notify()
+{
+	poll_notify(POLLIN);
+}
+
+ssize_t
+MPU6000_gyro::read(struct file *filp, char *buffer, size_t buflen)
+{
+	return _parent->gyro_read(filp, buffer, buflen);
+}
+
+int
+MPU6000_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	return _parent->gyro_ioctl(filp, cmd, arg);
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace
+{
+
+MPU6000	*g_dev;
+
+/*
+ * XXX this should just be part of the generic sensors test...
+ */
+
+int
+test()
+{
+	int fd = -1;
+	struct accel_report report;
+	ssize_t sz;
+	const char *reason = "test OK";
+
+	do {
+
+		/* get the driver */
+		fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
+		if (fd < 0) {
+			reason = "can't open driver";
+			break;
+		}
+
+		/* do a simple demand read */
+		sz = read(fd, &report, sizeof(report));
+
+		if (sz != sizeof(report)) {
+			reason = "immediate read failed";
+			break;
+		}
+
+		printf("single read\n");
+		fflush(stdout);
+		printf("time:        %lld\n", report.timestamp);
+		printf("x:           %f\n", report.x);
+		printf("y:           %f\n", report.y);
+		printf("z:           %f\n", report.z);
+
+	} while (0);
+
+	printf("MPU6000: %s\n", reason);
+
+	return OK;
+}
+
+int
+info()
+{
+	if (g_dev == nullptr) {
+		fprintf(stderr, "MPU6000: driver not running\n");
+		return -ENOENT;
+	}
+
+	printf("state @ %p\n", g_dev);
+	g_dev->print_info();
+
+	return OK;
+}
+
+
+} // namespace
+
+int
+mpu6000_main(int argc, char *argv[])
+{
+	/*
+	 * Start/load the driver.
+	 *
+	 * XXX it would be nice to have a wrapper for this...
+	 */
+	if (!strcmp(argv[1], "start")) {
+
+		if (g_dev != nullptr) {
+			fprintf(stderr, "MPU6000: already loaded\n");
+			return -EBUSY;
+		}
+
+		/* create the driver */
+		g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU);
+
+		if (g_dev == nullptr) {
+			fprintf(stderr, "MPU6000: driver alloc failed\n");
+			return -ENOMEM;
+		}
+
+		if (OK != g_dev->init()) {
+			fprintf(stderr, "MPU6000: driver init failed\n");
+			usleep(100000);
+			delete g_dev;
+			g_dev = nullptr;
+			return -EIO;
+		}
+		return OK;
+	}
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[1], "test"))
+		return test();
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(argv[1], "info"))
+		return info();
+
+	fprintf(stderr, "unrecognised command, try 'start', 'test' or 'info'\n");
+	return -EINVAL;
+}
diff --git a/apps/drivers/ms5611/ms5611.cpp b/apps/drivers/ms5611/ms5611.cpp
index 1f75ceb4b..6c6951d9b 100644
--- a/apps/drivers/ms5611/ms5611.cpp
+++ b/apps/drivers/ms5611/ms5611.cpp
@@ -58,6 +58,8 @@
 
 #include <arch/board/up_hrt.h>
 
+#include <systemlib/perf_counter.h>
+
 #include <drivers/drv_baro.h>
 
 /**
@@ -123,13 +125,15 @@ private:
 	int32_t			_dT;
 	int64_t			_temp64;
 
-	int			_orbject;
+	int			_baro_topic;
 
 	unsigned		_reads;
 	unsigned		_measure_errors;
 	unsigned		_read_errors;
 	unsigned		_buf_overflows;
 
+	perf_counter_t		_sample_perf;
+
 	/**
 	 * Test whether the device supported by the driver is present at a
 	 * specific address.
@@ -245,7 +249,8 @@ MS5611::MS5611(int bus) :
 	_reads(0),
 	_measure_errors(0),
 	_read_errors(0),
-	_buf_overflows(0)
+	_buf_overflows(0),
+	_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read"))
 {
 	// enable debug() calls
 	_debug_enabled = true;
@@ -278,9 +283,9 @@ MS5611::init()
 
 		/* if this fails (e.g. no object in the system) that's OK */
 		memset(&b, 0, sizeof(b));
-		_orbject = orb_advertise(ORB_ID(sensor_baro), &b);
+		_baro_topic = orb_advertise(ORB_ID(sensor_baro), &b);
 
-		if (_orbject < 0)
+		if (_baro_topic < 0)
 			debug("failed to create sensor_baro object");
 	}
 
@@ -610,6 +615,8 @@ MS5611::collect()
 	/* read the most recent measurement */
 	cmd = 0;
 
+	perf_begin(_sample_perf);
+
 	/* this should be fairly close to the end of the conversion, so the best approximation of the time */
 	_reports[_next_report].timestamp = hrt_absolute_time();
 
@@ -655,7 +662,7 @@ MS5611::collect()
 		_reports[_next_report].altitude = (44330.0 * (1.0 - pow((press_int64 / 101325.0), 0.190295)));
 
 		/* publish it */
-		orb_publish(ORB_ID(sensor_baro), _orbject, &_reports[_next_report]);
+		orb_publish(ORB_ID(sensor_baro), _baro_topic, &_reports[_next_report]);
 
 		/* post a report to the ring - note, not locked */
 		INCREMENT(_next_report, _num_reports);
@@ -670,10 +677,11 @@ MS5611::collect()
 		poll_notify(POLLIN);
 	}
 
-
 	/* update the measurement state machine */
 	INCREMENT(_measure_phase, MS5611_MEASUREMENT_RATIO + 1);
 
+	perf_end(_sample_perf);
+
 	return OK;
 }
 
diff --git a/apps/px4/px4io/driver/px4io.cpp b/apps/px4/px4io/driver/px4io.cpp
index 3a3ff6407..fafec77f9 100644
--- a/apps/px4/px4io/driver/px4io.cpp
+++ b/apps/px4/px4io/driver/px4io.cpp
@@ -536,7 +536,7 @@ px4io_main(int argc, char *argv[])
 		case OK:
 			break;
 		case -ENOENT:
-			fprintf(stderr, "PX4IO firmware file '%s' not found\n", fn);
+			fprintf(stderr, "PX4IO firmware file not found\n");
 			break;
 		case -EEXIST:
 		case -EIO:
diff --git a/nuttx/arch/arm/src/stm32/stm32_spi.c b/nuttx/arch/arm/src/stm32/stm32_spi.c
index 06a994524..a65f1e1eb 100644
--- a/nuttx/arch/arm/src/stm32/stm32_spi.c
+++ b/nuttx/arch/arm/src/stm32/stm32_spi.c
@@ -1368,15 +1368,21 @@ FAR struct spi_dev_s *up_spiinitialize(int port)
 
       priv = &g_spi1dev;
 
-      /* Configure SPI1 pins: SCK, MISO, and MOSI */
+      /* Only configure if the port is not already configured */
 
-      stm32_configgpio(GPIO_SPI1_SCK);
-      stm32_configgpio(GPIO_SPI1_MISO);
-      stm32_configgpio(GPIO_SPI1_MOSI);
+      if (!(spi_getreg(priv, STM32_SPI_CR1_OFFSET) & SPI_CR1_SPE))
+        {
+
+          /* Configure SPI1 pins: SCK, MISO, and MOSI */
+
+          stm32_configgpio(GPIO_SPI1_SCK);
+          stm32_configgpio(GPIO_SPI1_MISO);
+          stm32_configgpio(GPIO_SPI1_MOSI);
 
-      /* Set up default configuration: Master, 8-bit, etc. */
+          /* Set up default configuration: Master, 8-bit, etc. */
 
-      spi_portinitialize(priv);
+          spi_portinitialize(priv);
+        }
     }
   else
 #endif
@@ -1387,15 +1393,21 @@ FAR struct spi_dev_s *up_spiinitialize(int port)
 
       priv = &g_spi2dev;
 
-      /* Configure SPI2 pins: SCK, MISO, and MOSI */
+      /* Only configure if the port is not already configured */
+
+      if (!(spi_getreg(priv, STM32_SPI_CR1_OFFSET) & SPI_CR1_SPE))
+        {
+
+        /* Configure SPI2 pins: SCK, MISO, and MOSI */
 
-      stm32_configgpio(GPIO_SPI2_SCK);
-      stm32_configgpio(GPIO_SPI2_MISO);
-      stm32_configgpio(GPIO_SPI2_MOSI);
+        stm32_configgpio(GPIO_SPI2_SCK);
+        stm32_configgpio(GPIO_SPI2_MISO);
+        stm32_configgpio(GPIO_SPI2_MOSI);
 
-      /* Set up default configuration: Master, 8-bit, etc. */
+        /* Set up default configuration: Master, 8-bit, etc. */
 
-      spi_portinitialize(priv);
+        spi_portinitialize(priv);
+      }
     }
   else
 #endif
@@ -1406,15 +1418,21 @@ FAR struct spi_dev_s *up_spiinitialize(int port)
 
       priv = &g_spi3dev;
 
-      /* Configure SPI3 pins: SCK, MISO, and MOSI */
+      /* Only configure if the port is not already configured */
+
+      if (!(spi_getreg(priv, STM32_SPI_CR1_OFFSET) & SPI_CR1_SPE))
+        {
+
+          /* Configure SPI3 pins: SCK, MISO, and MOSI */
 
-      stm32_configgpio(GPIO_SPI3_SCK);
-      stm32_configgpio(GPIO_SPI3_MISO);
-      stm32_configgpio(GPIO_SPI3_MOSI);
+          stm32_configgpio(GPIO_SPI3_SCK);
+          stm32_configgpio(GPIO_SPI3_MISO);
+          stm32_configgpio(GPIO_SPI3_MOSI);
 
-      /* Set up default configuration: Master, 8-bit, etc. */
+          /* Set up default configuration: Master, 8-bit, etc. */
 
-      spi_portinitialize(priv);
+          spi_portinitialize(priv);
+      }
     }
 #endif
 
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index 84bfc653a..36db854e3 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -75,7 +75,8 @@ CONFIGURED_APPS += attitude_estimator_ekf
 
 # Communication and Drivers
 CONFIGURED_APPS	+= drivers/device
-#CONFIGURED_APPS += drivers/ms5611
+CONFIGURED_APPS += drivers/ms5611
+CONFIGURED_APPS += drivers/mpu6000
 CONFIGURED_APPS	+= px4/px4io/driver
 CONFIGURED_APPS += px4/fmu
 
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index 58c9ca45c..a87ce7ffa 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -537,10 +537,10 @@ CONFIG_SEM_NNESTPRIO=8
 CONFIG_FDCLONE_DISABLE=n
 CONFIG_FDCLONE_STDIO=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SCHED_WORKQUEUE=n
-CONFIG_SCHED_WORKPRIORITY=50
-CONFIG_SCHED_WORKPERIOD=(50*1000)
-CONFIG_SCHED_WORKSTACKSIZE=1024
+CONFIG_SCHED_WORKQUEUE=y
+CONFIG_SCHED_WORKPRIORITY=199
+CONFIG_SCHED_WORKPERIOD=(5*1000)
+CONFIG_SCHED_WORKSTACKSIZE=2048
 CONFIG_SIG_SIGWORK=4
 CONFIG_SCHED_WAITPID=y
 CONFIG_SCHED_ATEXIT=n