Moved the bulk of sensor drivers to the new world

2 files changed, 1262 insertions, 0 deletions

diff --git a/src/drivers/mpu6000/module.mk b/src/drivers/mpu6000/module.mk
new file mode 100644
index 000000000..c7d9cd3ef
--- /dev/null
+++ b/src/drivers/mpu6000/module.mk
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Makefile to build the MPU6000 driver.
+#
+
+MODULE_COMMAND	= mpu6000
+
+# XXX seems excessive, check if 2048 is not sufficient
+MODULE_STACKSIZE	 = 4096
+
+SRCS		= mpu6000.cpp
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
new file mode 100644
index 000000000..df1958186
--- /dev/null
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -0,0 +1,1219 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @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 <stdlib.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 <systemlib/err.h>
+#include <systemlib/conversions.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/clock.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_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);
+	virtual ~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);
+
+	/**
+	 * 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;
+	float			_accel_range_m_s2;
+	orb_advert_t		_accel_topic;
+
+	struct gyro_report	_gyro_report;
+	struct gyro_scale	_gyro_scale;
+	float			_gyro_range_scale;
+	float			_gyro_range_rad_s;
+	orb_advert_t		_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);	}
+
+	/**
+	 * Self test
+	 *
+	 * @return 0 on success, 1 on failure
+	 */
+	 int 			self_test();
+
+	/*
+	  set low pass filter frequency
+	 */
+	void _set_dlpf_filter(uint16_t frequency_hz);
+
+};
+
+/**
+ * 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(0.0f),
+	_accel_range_m_s2(0.0f),
+	_accel_topic(-1),
+	_gyro_range_scale(0.0f),
+	_gyro_range_rad_s(0.0f),
+	_gyro_topic(-1),
+	_reads(0),
+	_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read"))
+{
+	// disable debug() calls
+	_debug_enabled = false;
+
+	// 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));
+	memset(&_call, 0, sizeof(_call));
+}
+
+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=2000 deg/s, DLPF = 20Hz (low pass filter)
+	// was 90 Hz, but this ruins quality and does not improve the
+	// system response
+	_set_dlpf_filter(20);
+	usleep(1000);
+	// Gyro scale 2000 deg/s ()
+	write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
+	usleep(1000);
+
+	// correct gyro scale factors
+	// scale to rad/s in SI units
+	// 2000 deg/s = (2000/180)*PI = 34.906585 rad/s
+	// scaling factor:
+	// 1/(2^15)*(2000/180)*PI
+	_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;
+	_gyro_range_scale = (0.0174532 / 16.4);//1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F);
+	_gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F;
+
+	// 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:
+	// default case to cope with new chip revisions, which
+	// presumably won't have the accel scaling bug		
+	default:
+		// Accel scale 8g (4096 LSB/g)
+		write_reg(MPUREG_ACCEL_CONFIG, 2 << 3);
+		break;
+	}
+
+	// Correct accel scale factors of 4096 LSB/g
+	// scale to m/s^2 ( 1g = 9.81 m/s^2)
+	_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;
+	_accel_range_scale = (9.81f / 4096.0f);
+	_accel_range_m_s2 = 8.0f * 9.81f;
+
+	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);
+
+	/* do CDev init for the gyro device node, keep it optional */
+	int gyro_ret = _gyro->init();
+
+	if (gyro_ret != OK) {
+		_gyro_topic = -1;
+	}
+
+	return ret;
+}
+
+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:
+		debug("ID 0x%02x", _product);
+		return OK;
+	}
+
+	debug("unexpected ID 0x%02x", _product);
+	return -EIO;
+}
+
+/*
+  set the DLPF filter frequency. This affects both accel and gyro.
+ */
+void
+MPU6000::_set_dlpf_filter(uint16_t frequency_hz)
+{
+	uint8_t filter;
+
+	/* 
+	   choose next highest filter frequency available
+	 */
+	if (frequency_hz <= 5) {
+		filter = BITS_DLPF_CFG_5HZ;
+	} else if (frequency_hz <= 10) {
+		filter = BITS_DLPF_CFG_10HZ;
+	} else if (frequency_hz <= 20) {
+		filter = BITS_DLPF_CFG_20HZ;
+	} else if (frequency_hz <= 42) {
+		filter = BITS_DLPF_CFG_42HZ;
+	} else if (frequency_hz <= 98) {
+		filter = BITS_DLPF_CFG_98HZ;
+	} else if (frequency_hz <= 188) {
+		filter = BITS_DLPF_CFG_188HZ;
+	} else if (frequency_hz <= 256) {
+		filter = BITS_DLPF_CFG_256HZ_NOLPF2;
+	} else {
+		filter = BITS_DLPF_CFG_2100HZ_NOLPF;
+	}
+	write_reg(MPUREG_CONFIG, filter);
+}
+
+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 reports */
+	memcpy(buffer, &_accel_report, sizeof(_accel_report));
+	ret = sizeof(_accel_report);
+
+	return ret;
+}
+
+int
+MPU6000::self_test()
+{
+	if (_reads == 0) {
+		measure();
+	}
+
+	/* return 0 on success, 1 else */
+	return (_reads > 0) ? 0 : 1;
+}
+
+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 SENSORIOCSPOLLRATE: {
+			switch (arg) {
+
+				/* switching to manual polling */
+			case SENSOR_POLLRATE_MANUAL:
+				stop();
+				_call_interval = 0;
+				return OK;
+
+				/* external signalling 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:
+				/* XXX 500Hz is just a wild guess */
+				return ioctl(filp, SENSORIOCSPOLLRATE, 500);
+
+				/* 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 = ticks;
+
+					/* if we need to start the poll state machine, do it */
+					if (want_start)
+						start();
+
+					return OK;
+				}
+			}
+		}
+
+	case SENSORIOCGPOLLRATE:
+		if (_call_interval == 0)
+			return SENSOR_POLLRATE_MANUAL;
+
+		return 1000000 / _call_interval;
+
+	case SENSORIOCSQUEUEDEPTH:
+		/* XXX not implemented */
+		return -EINVAL;
+
+	case SENSORIOCGQUEUEDEPTH:
+		/* XXX not implemented */
+		return -EINVAL;
+
+
+	case ACCELIOCSSAMPLERATE:
+	case ACCELIOCGSAMPLERATE:
+		/* XXX not implemented */
+		return -EINVAL;
+
+	case ACCELIOCSLOWPASS:
+	case ACCELIOCGLOWPASS:
+		_set_dlpf_filter((uint16_t)arg);
+		return OK;
+
+	case ACCELIOCSSCALE:
+		{
+			/* copy scale, but only if off by a few percent */
+			struct accel_scale *s = (struct accel_scale *) arg;
+			float sum = s->x_scale + s->y_scale + s->z_scale;
+			if (sum > 2.0f && sum < 4.0f) {
+				memcpy(&_accel_scale, s, sizeof(_accel_scale));
+				return OK;
+			} else {
+				return -EINVAL;
+			}
+		}
+
+	case ACCELIOCGSCALE:
+		/* copy scale out */
+		memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
+		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;
+		return -EINVAL;
+
+	case ACCELIOCSELFTEST:
+		return self_test();
+
+	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) {
+
+		/* these are shared with the accel side */
+	case SENSORIOCSPOLLRATE:
+	case SENSORIOCGPOLLRATE:
+	case SENSORIOCSQUEUEDEPTH:
+	case SENSORIOCGQUEUEDEPTH:
+	case SENSORIOCRESET:
+		return ioctl(filp, cmd, arg);
+
+	case GYROIOCSSAMPLERATE:
+	case GYROIOCGSAMPLERATE:
+		/* XXX not implemented */
+		return -EINVAL;
+
+	case GYROIOCSLOWPASS:
+	case GYROIOCGLOWPASS:
+		_set_dlpf_filter((uint16_t)arg);
+		return OK;
+
+	case GYROIOCSSCALE:
+		/* copy scale in */
+		memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
+		return OK;
+
+	case GYROIOCGSCALE:
+		/* copy scale out */
+		memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
+		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
+		return -EINVAL;
+
+	case GYROIOCSELFTEST:
+		return self_test();
+
+	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 MPUReport {
+		uint8_t		cmd;
+		uint8_t		status;
+		uint8_t		accel_x[2];
+		uint8_t		accel_y[2];
+		uint8_t		accel_z[2];
+		uint8_t		temp[2];
+		uint8_t		gyro_x[2];
+		uint8_t		gyro_y[2];
+		uint8_t		gyro_z[2];
+	} mpu_report;
+#pragma pack(pop)
+
+	struct Report {
+		int16_t		accel_x;
+		int16_t		accel_y;
+		int16_t		accel_z;
+		int16_t		temp;
+		int16_t		gyro_x;
+		int16_t		gyro_y;
+		int16_t		gyro_z;
+	} report;
+
+	/* start measuring */
+	perf_begin(_sample_perf);
+
+	/*
+	 * Fetch the full set of measurements from the MPU6000 in one pass.
+	 */
+	mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS;
+	if (OK != transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report)))
+		return;
+
+	/* count measurement */
+	_reads++;
+
+	/*
+	 * Convert from big to little endian
+	 */
+
+	report.accel_x = int16_t_from_bytes(mpu_report.accel_x);
+	report.accel_y = int16_t_from_bytes(mpu_report.accel_y);
+	report.accel_z = int16_t_from_bytes(mpu_report.accel_z);
+
+	report.temp = int16_t_from_bytes(mpu_report.temp);
+
+	report.gyro_x = int16_t_from_bytes(mpu_report.gyro_x);
+	report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y);
+	report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z);
+
+	/*
+	 * Swap axes and negate y
+	 */
+	int16_t accel_xt = report.accel_y;
+	int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x);
+
+	int16_t gyro_xt = report.gyro_y;
+	int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x);
+
+	/*
+	 * Apply the swap
+	 */
+	report.accel_x = accel_xt;
+	report.accel_y = accel_yt;
+	report.gyro_x = gyro_xt;
+	report.gyro_y = gyro_yt;
+
+	/*
+	 * Adjust and scale results to m/s^2.
+	 */
+	_gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time();
+
+
+	/*
+	 * 1) Scale raw value to SI units using scaling from datasheet.
+	 * 2) Subtract static offset (in SI units)
+	 * 3) Scale the statically calibrated values with a linear
+	 *    dynamically obtained factor
+	 *
+	 * Note: the static sensor offset is the number the sensor outputs
+	 * 	 at a nominally 'zero' input. Therefore the offset has to
+	 * 	 be subtracted.
+	 *
+	 *	 Example: A gyro outputs a value of 74 at zero angular rate
+	 *	 	  the offset is 74 from the origin and subtracting
+	 *		  74 from all measurements centers them around zero.
+	 */
+
+
+	/* NOTE: Axes have been swapped to match the board a few lines above. */
+
+	_accel_report.x_raw = report.accel_x;
+	_accel_report.y_raw = report.accel_y;
+	_accel_report.z_raw = report.accel_z;
+
+	_accel_report.x = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
+	_accel_report.y = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
+	_accel_report.z = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
+	_accel_report.scaling = _accel_range_scale;
+	_accel_report.range_m_s2 = _accel_range_m_s2;
+
+	_accel_report.temperature_raw = report.temp;
+	_accel_report.temperature = (report.temp) / 361.0f + 35.0f;
+
+	_gyro_report.x_raw = report.gyro_x;
+	_gyro_report.y_raw = report.gyro_y;
+	_gyro_report.z_raw = report.gyro_z;
+
+	_gyro_report.x = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
+	_gyro_report.y = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
+	_gyro_report.z = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
+	_gyro_report.scaling = _gyro_range_scale;
+	_gyro_report.range_rad_s = _gyro_range_rad_s;
+
+	_gyro_report.temperature_raw = report.temp;
+	_gyro_report.temperature = (report.temp) / 361.0f + 35.0f;
+
+	/* 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);
+	if (_gyro_topic != -1) {
+		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
+{
+
+MPU6000	*g_dev;
+
+void	start();
+void	test();
+void	reset();
+void	info();
+
+/**
+ * Start the driver.
+ */
+void
+start()
+{
+	int fd;
+
+	if (g_dev != nullptr)
+		errx(1, "already started");
+
+	/* create the driver */
+	g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU);
+
+	if (g_dev == nullptr)
+		goto fail;
+
+	if (OK != g_dev->init())
+		goto fail;
+
+	/* set the poll rate to default, starts automatic data collection */
+	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0)
+		goto fail;
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+		goto fail;
+
+	exit(0);
+fail:
+
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+
+	errx(1, "driver start failed");
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test()
+{
+	int fd = -1;
+	int fd_gyro = -1;
+	struct accel_report a_report;
+	struct gyro_report g_report;
+	ssize_t sz;
+
+	/* get the driver */
+	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
+		    ACCEL_DEVICE_PATH);
+
+	/* get the driver */
+	fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
+
+	if (fd_gyro < 0)
+		err(1, "%s open failed", GYRO_DEVICE_PATH);
+
+	/* reset to manual polling */
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
+		err(1, "reset to manual polling");
+
+	/* do a simple demand read */
+	sz = read(fd, &a_report, sizeof(a_report));
+
+	if (sz != sizeof(a_report))
+		err(1, "immediate acc read failed");
+
+	warnx("single read");
+	warnx("time:     %lld", a_report.timestamp);
+	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
+	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
+	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
+	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
+	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
+	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
+	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
+	      (double)(a_report.range_m_s2 / 9.81f));
+
+	/* do a simple demand read */
+	sz = read(fd_gyro, &g_report, sizeof(g_report));
+
+	if (sz != sizeof(g_report))
+		err(1, "immediate gyro read failed");
+
+	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
+	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
+	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
+	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
+	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
+	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
+	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
+	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
+
+	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
+	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+
+
+	/* XXX add poll-rate tests here too */
+
+	reset();
+	errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+	int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "failed ");
+
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
+		err(1, "driver reset failed");
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+		err(1, "driver poll restart failed");
+
+	exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
+info()
+{
+	if (g_dev == nullptr)
+		errx(1, "driver not running");
+
+	printf("state @ %p\n", g_dev);
+	g_dev->print_info();
+
+	exit(0);
+}
+
+
+} // namespace
+
+int
+mpu6000_main(int argc, char *argv[])
+{
+	/*
+	 * Start/load the driver.
+
+	 */
+	if (!strcmp(argv[1], "start"))
+		mpu6000::start();
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[1], "test"))
+		mpu6000::test();
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(argv[1], "reset"))
+		mpu6000::reset();
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(argv[1], "info"))
+		mpu6000::info();
+
+	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+}