Merged master into indoor branch

20 files changed, 1324 insertions, 230 deletions

diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp
index 3a1e1b7b5..6db6713c4 100644
--- a/src/drivers/airspeed/airspeed.cpp
+++ b/src/drivers/airspeed/airspeed.cpp
@@ -159,13 +159,15 @@ out:
 int
 Airspeed::probe()
 {
-	/* on initial power up the device needs more than one retry
-	   for detection. Once it is running then retries aren't
-	   needed 
+	/* on initial power up the device may need more than one retry
+	   for detection. Once it is running the number of retries can
+	   be reduced
 	*/
 	_retries = 4;
 	int ret = measure();
-	_retries = 0;
+
+        // drop back to 2 retries once initialised
+	_retries = 2;
 	return ret;
 }
 
diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index 9d2c1441d..7f1b21a95 100644
--- a/src/drivers/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
@@ -121,7 +121,7 @@ int ardrone_interface_main(int argc, char *argv[])
 						    SCHED_PRIORITY_MAX - 15,
 						    1100,
 						    ardrone_interface_thread_main,
-						    (argv) ? (const char **)&argv[2] : (const char **)NULL);
+						    (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
diff --git a/src/drivers/boards/aerocore/aerocore_led.c b/src/drivers/boards/aerocore/aerocore_led.c
index e40d1730c..94a716029 100644
--- a/src/drivers/boards/aerocore/aerocore_led.c
+++ b/src/drivers/boards/aerocore/aerocore_led.c
@@ -45,6 +45,7 @@
 #include "board_config.h"
 
 #include <arch/board/board.h>
+#include <systemlib/err.h>
 
 /*
  * Ideally we'd be able to get these from up_internal.h,
@@ -54,7 +55,7 @@
  * CONFIG_ARCH_LEDS configuration switch.
  */
 __BEGIN_DECLS
-extern void led_init();
+extern void led_init(void);
 extern void led_on(int led);
 extern void led_off(int led);
 extern void led_toggle(int led);
diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c
index bccdf1190..5035600ef 100644
--- a/src/drivers/frsky_telemetry/frsky_telemetry.c
+++ b/src/drivers/frsky_telemetry/frsky_telemetry.c
@@ -221,7 +221,7 @@ int frsky_telemetry_main(int argc, char *argv[])
 					  SCHED_PRIORITY_DEFAULT,
 					  2000,
 					  frsky_telemetry_thread_main,
-					  (const char **)argv);
+					  (char * const *)argv);
 
 		while (!thread_running) {
 			usleep(200);
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 5fb4b9ff8..47c907bd3 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -274,7 +274,6 @@ GPS::task_main_trampoline(void *arg)
 void
 GPS::task_main()
 {
-	log("starting");
 
 	/* open the serial port */
 	_serial_fd = ::open(_port, O_RDWR);
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index 81f767965..d4dbf3778 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -1349,7 +1349,7 @@ HMC5883	*g_dev_ext = nullptr;
 void	start(int bus, enum Rotation rotation);
 void	test(int bus);
 void	reset(int bus);
-void	info(int bus);
+int	info(int bus);
 int	calibrate(int bus);
 void	usage();
 
@@ -1595,17 +1595,23 @@ reset(int bus)
 /**
  * Print a little info about the driver.
  */
-void
+int
 info(int bus)
 {
-	HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext);
-	if (g_dev == nullptr)
-		errx(1, "driver not running");
+	int ret = 1;
+
+	HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
+	if (g_dev == nullptr) {
+		warnx("not running on bus %d", bus);
+	} else {
 
-	printf("state @ %p\n", g_dev);
-	g_dev->print_info();
+		warnx("running on bus: %d (%s)\n", bus, ((PX4_I2C_BUS_ONBOARD) ? "onboard" : "offboard"));
 
-	exit(0);
+		g_dev->print_info();
+		ret = 0;
+	}
+
+	return ret;
 }
 
 void
@@ -1685,8 +1691,21 @@ hmc5883_main(int argc, char *argv[])
 	/*
 	 * Print driver information.
 	 */
-	if (!strcmp(verb, "info") || !strcmp(verb, "status"))
-		hmc5883::info(bus);
+	if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
+		if (bus == -1) {
+			int ret = 0;
+			if (hmc5883::info(PX4_I2C_BUS_ONBOARD)) {
+				ret = 1;
+			}
+
+			if (hmc5883::info(PX4_I2C_BUS_EXPANSION)) {
+				ret = 1;
+			}
+			exit(ret);
+		} else {
+			exit(hmc5883::info(bus));
+		}
+	}
 
 	/*
 	 * Autocalibrate the scaling
diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp
index 8ab9d8d55..4b8e0c0b0 100644
--- a/src/drivers/hott/hott_sensors/hott_sensors.cpp
+++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp
@@ -214,7 +214,7 @@ hott_sensors_main(int argc, char *argv[])
 					     SCHED_PRIORITY_DEFAULT,
 					     1024,
 					     hott_sensors_thread_main,
-					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
index edbb14172..17a24d104 100644
--- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
@@ -240,7 +240,7 @@ hott_telemetry_main(int argc, char *argv[])
 					 SCHED_PRIORITY_DEFAULT,
 					 2048,
 					 hott_telemetry_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
diff --git a/src/drivers/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp
index 6793acd81..4676c6ad7 100644
--- a/src/drivers/ll40ls/ll40ls.cpp
+++ b/src/drivers/ll40ls/ll40ls.cpp
@@ -89,7 +89,7 @@
 
 /* Device limits */
 #define LL40LS_MIN_DISTANCE (0.00f)
-#define LL40LS_MAX_DISTANCE (14.00f)
+#define LL40LS_MAX_DISTANCE (60.00f)
 
 #define LL40LS_CONVERSION_INTERVAL 100000 /* 100ms */
 
@@ -233,11 +233,11 @@ LL40LS::~LL40LS()
 	if (_reports != nullptr) {
 		delete _reports;
 	}
-	
+
 	if (_class_instance != -1) {
 		unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
 	}
-	
+
 	// free perf counters
 	perf_free(_sample_perf);
 	perf_free(_comms_errors);
@@ -263,7 +263,7 @@ LL40LS::init()
 
 	_class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
 
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {	
+	if (_class_instance == CLASS_DEVICE_PRIMARY) {
 		/* get a publish handle on the range finder topic */
 		struct range_finder_report rf_report;
 		measure();
@@ -314,9 +314,9 @@ LL40LS::probe()
 			goto ok;
 		}
 
-		debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n", 
-		      (unsigned)who_am_i, 
-		      LL40LS_WHO_AM_I_REG_VAL, 
+		debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n",
+		      (unsigned)who_am_i,
+		      LL40LS_WHO_AM_I_REG_VAL,
 		      (unsigned)val);
 	}
 
@@ -581,6 +581,8 @@ LL40LS::collect()
 	report.timestamp = hrt_absolute_time();
 	report.error_count = perf_event_count(_comms_errors);
 	report.distance = si_units;
+	report.minimum_distance = get_minimum_distance();
+	report.maximum_distance = get_maximum_distance();
 	if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) {
 		report.valid = 1;
 	}
@@ -704,7 +706,7 @@ LL40LS::print_info()
 	perf_print_counter(_buffer_overflows);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
 	_reports->print_info("report queue");
-	printf("distance: %ucm (0x%04x)\n", 
+	printf("distance: %ucm (0x%04x)\n",
 	       (unsigned)_last_distance, (unsigned)_last_distance);
 }
 
@@ -969,8 +971,8 @@ ll40ls_main(int argc, char *argv[])
 		}
 	}
 
-	const char *verb = argv[optind];	
-	
+	const char *verb = argv[optind];
+
 	/*
 	 * Start/load the driver.
 	 */
diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp
index beb6c8e35..9cf568658 100644
--- a/src/drivers/mb12xx/mb12xx.cpp
+++ b/src/drivers/mb12xx/mb12xx.cpp
@@ -520,6 +520,8 @@ MB12XX::collect()
 	report.timestamp = hrt_absolute_time();
 	report.error_count = perf_event_count(_comms_errors);
 	report.distance = si_units;
+	report.minimum_distance = get_minimum_distance();
+	report.maximum_distance = get_maximum_distance();
 	report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
 
 	/* publish it, if we are the primary */
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index a95e041a1..c9c27892f 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -194,6 +194,8 @@ public:
 	 */
 	void			print_info();
 
+	void			print_registers();
+
 protected:
 	virtual int		probe();
 
@@ -1414,6 +1416,21 @@ MPU6000::print_info()
 	_gyro_reports->print_info("gyro queue");
 }
 
+void
+MPU6000::print_registers()
+{
+	printf("MPU6000 registers\n");
+	for (uint8_t reg=MPUREG_PRODUCT_ID; reg<=108; reg++) {
+		uint8_t v = read_reg(reg);
+		printf("%02x:%02x ",(unsigned)reg, (unsigned)v);
+		if ((reg - (MPUREG_PRODUCT_ID-1)) % 13 == 0) {
+			printf("\n");
+		}
+	}
+	printf("\n");
+}
+
+
 MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
 	CDev("MPU6000_gyro", path),
 	_parent(parent),
@@ -1479,6 +1496,7 @@ void	start(bool, enum Rotation);
 void	test(bool);
 void	reset(bool);
 void	info(bool);
+void	regdump(bool);
 void	usage();
 
 /**
@@ -1654,10 +1672,26 @@ info(bool external_bus)
 	exit(0);
 }
 
+/**
+ * Dump the register information
+ */
+void
+regdump(bool external_bus)
+{
+	MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int;
+	if (*g_dev_ptr == nullptr)
+		errx(1, "driver not running");
+
+	printf("regdump @ %p\n", *g_dev_ptr);
+	(*g_dev_ptr)->print_registers();
+
+	exit(0);
+}
+
 void
 usage()
 {
-	warnx("missing command: try 'start', 'info', 'test', 'reset'");
+	warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump'");
 	warnx("options:");
 	warnx("    -X    (external bus)");
 	warnx("    -R rotation");
@@ -1714,5 +1748,11 @@ mpu6000_main(int argc, char *argv[])
 	if (!strcmp(verb, "info"))
 		mpu6000::info(external_bus);
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	/*
+	 * Print register information.
+	 */
+	if (!strcmp(verb, "regdump"))
+		mpu6000::regdump(external_bus);
+
+	errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info' or 'regdump'");
 }
diff --git a/src/drivers/px4flow/module.mk b/src/drivers/px4flow/module.mk
index 460bec7b9..ecd3e804a 100644
--- a/src/drivers/px4flow/module.mk
+++ b/src/drivers/px4flow/module.mk
@@ -40,3 +40,5 @@ MODULE_COMMAND	= px4flow
 SRCS		= px4flow.cpp
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS = -Wno-attributes
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
index 804027b05..62308fc65 100644
--- a/src/drivers/px4flow/px4flow.cpp
+++ b/src/drivers/px4flow/px4flow.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -73,15 +73,13 @@
 #include <board_config.h>
 
 /* Configuration Constants */
-#define PX4FLOW_BUS 			PX4_I2C_BUS_EXPANSION
 #define I2C_FLOW_ADDRESS 		0x42 //* 7-bit address. 8-bit address is 0x84
 //range 0x42 - 0x49
 
 /* PX4FLOW Registers addresses */
-#define PX4FLOW_REG	0x00		/* Measure Register */
-
-#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz */
+#define PX4FLOW_REG		0x16	/* Measure Register 22*/
 
+#define PX4FLOW_CONVERSION_INTERVAL 20000 //in microseconds! 20000 = 50 Hz 100000 = 10Hz
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
 # undef ERROR
@@ -92,28 +90,42 @@ static const int ERROR = -1;
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
 
-//struct i2c_frame
-//{
-//    uint16_t frame_count;
-//    int16_t pixel_flow_x_sum;
-//    int16_t pixel_flow_y_sum;
-//    int16_t flow_comp_m_x;
-//    int16_t flow_comp_m_y;
-//    int16_t qual;
-//    int16_t gyro_x_rate;
-//    int16_t gyro_y_rate;
-//    int16_t gyro_z_rate;
-//    uint8_t gyro_range;
-//    uint8_t sonar_timestamp;
-//    int16_t ground_distance;
-//};
-//
-//struct i2c_frame f;
-
-class PX4FLOW : public device::I2C
+struct i2c_frame {
+	uint16_t frame_count;
+	int16_t pixel_flow_x_sum;
+	int16_t pixel_flow_y_sum;
+	int16_t flow_comp_m_x;
+	int16_t flow_comp_m_y;
+	int16_t qual;
+	int16_t gyro_x_rate;
+	int16_t gyro_y_rate;
+	int16_t gyro_z_rate;
+	uint8_t gyro_range;
+	uint8_t sonar_timestamp;
+	int16_t ground_distance;
+};
+struct i2c_frame f;
+
+struct i2c_integral_frame {
+	uint16_t frame_count_since_last_readout;
+	int16_t pixel_flow_x_integral;
+	int16_t pixel_flow_y_integral;
+	int16_t gyro_x_rate_integral;
+	int16_t gyro_y_rate_integral;
+	int16_t gyro_z_rate_integral;
+	uint32_t integration_timespan;
+	uint32_t time_since_last_sonar_update;
+	uint16_t ground_distance;
+	int16_t gyro_temperature;
+	uint8_t qual;
+} __attribute__((packed));
+struct i2c_integral_frame f_integral;
+
+
+class PX4FLOW: public device::I2C
 {
 public:
-	PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS);
+	PX4FLOW(int bus, int address = I2C_FLOW_ADDRESS);
 	virtual ~PX4FLOW();
 
 	virtual int 		init();
@@ -122,8 +134,8 @@ public:
 	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
 
 	/**
-	* Diagnostics - print some basic information about the driver.
-	*/
+	 * Diagnostics - print some basic information about the driver.
+	 */
 	void				print_info();
 
 protected:
@@ -144,42 +156,41 @@ private:
 	perf_counter_t		_buffer_overflows;
 
 	/**
-	* Test whether the device supported by the driver is present at a
-	* specific address.
-	*
-	* @param address	The I2C bus address to probe.
-	* @return		True if the device is present.
-	*/
+	 * Test whether the device supported by the driver is present at a
+	 * specific address.
+	 *
+	 * @param address	The I2C bus address to probe.
+	 * @return		True if the device is present.
+	 */
 	int					probe_address(uint8_t address);
 
 	/**
-	* Initialise the automatic measurement state machine and start it.
-	*
-	* @note This function is called at open and error time.  It might make sense
-	*       to make it more aggressive about resetting the bus in case of errors.
-	*/
+	 * Initialise the automatic measurement state machine and start it.
+	 *
+	 * @note This function is called at open and error time.  It might make sense
+	 *       to make it more aggressive about resetting the bus in case of errors.
+	 */
 	void				start();
 
 	/**
-	* Stop the automatic measurement state machine.
-	*/
+	 * Stop the automatic measurement state machine.
+	 */
 	void				stop();
 
 	/**
-	* Perform a poll cycle; collect from the previous measurement
-	* and start a new one.
-	*/
+	 * Perform a poll cycle; collect from the previous measurement
+	 * and start a new one.
+	 */
 	void				cycle();
 	int					measure();
 	int					collect();
 	/**
-	* Static trampoline from the workq context; because we don't have a
-	* generic workq wrapper yet.
-	*
-	* @param arg		Instance pointer for the driver that is polling.
-	*/
-	static void		cycle_trampoline(void *arg);
-
+	 * Static trampoline from the workq context; because we don't have a
+	 * generic workq wrapper yet.
+	 *
+	 * @param arg		Instance pointer for the driver that is polling.
+	 */
+	static void			cycle_trampoline(void *arg);
 
 };
 
@@ -189,7 +200,7 @@ private:
 extern "C" __EXPORT int px4flow_main(int argc, char *argv[]);
 
 PX4FLOW::PX4FLOW(int bus, int address) :
-	I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000),//400khz
+	I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000), //400khz
 	_reports(nullptr),
 	_sensor_ok(false),
 	_measure_ticks(0),
@@ -228,21 +239,12 @@ PX4FLOW::init()
 	}
 
 	/* allocate basic report buffers */
-	_reports = new RingBuffer(2, sizeof(struct optical_flow_s));
+	_reports = new RingBuffer(2, sizeof(optical_flow_s));
 
 	if (_reports == nullptr) {
 		goto out;
 	}
 
-	/* get a publish handle on the px4flow topic */
-	struct optical_flow_s zero_report;
-	memset(&zero_report, 0, sizeof(zero_report));
-	_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
-
-	if (_px4flow_topic < 0) {
-		warnx("failed to create px4flow object. Did you start uOrb?");
-	}
-
 	ret = OK;
 	/* sensor is ok, but we don't really know if it is within range */
 	_sensor_ok = true;
@@ -410,9 +412,6 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
 			break;
 		}
 
-		/* wait for it to complete */
-		usleep(PX4FLOW_CONVERSION_INTERVAL);
-
 		/* run the collection phase */
 		if (OK != collect()) {
 			ret = -EIO;
@@ -442,6 +441,7 @@ PX4FLOW::measure()
 
 	if (OK != ret) {
 		perf_count(_comms_errors);
+		debug("i2c::transfer returned %d", ret);
 		return ret;
 	}
 
@@ -453,14 +453,20 @@ PX4FLOW::measure()
 int
 PX4FLOW::collect()
 {
-	int	ret = -EIO;
+	int ret = -EIO;
 
 	/* read from the sensor */
-	uint8_t val[22] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+	uint8_t val[47] = { 0 };
 
 	perf_begin(_sample_perf);
 
-	ret = transfer(nullptr, 0, &val[0], 22);
+	if (PX4FLOW_REG == 0x00) {
+		ret = transfer(nullptr, 0, &val[0], 47); // read 47 bytes (22+25 : frame1 + frame2)
+	}
+
+	if (PX4FLOW_REG == 0x16) {
+		ret = transfer(nullptr, 0, &val[0], 25); // read 25 bytes (only frame2)
+	}
 
 	if (ret < 0) {
 		debug("error reading from sensor: %d", ret);
@@ -469,36 +475,74 @@ PX4FLOW::collect()
 		return ret;
 	}
 
-//	f.frame_count = val[1] << 8 | val[0];
-//	f.pixel_flow_x_sum= val[3] << 8 | val[2];
-//	f.pixel_flow_y_sum= val[5] << 8 | val[4];
-//	f.flow_comp_m_x= val[7] << 8 | val[6];
-//	f.flow_comp_m_y= val[9] << 8 | val[8];
-//	f.qual= val[11] << 8 | val[10];
-//	f.gyro_x_rate= val[13] << 8 | val[12];
-//	f.gyro_y_rate= val[15] << 8 | val[14];
-//	f.gyro_z_rate= val[17] << 8 | val[16];
-//	f.gyro_range= val[18];
-//	f.sonar_timestamp= val[19];
-//	f.ground_distance= val[21] << 8 | val[20];
+	if (PX4FLOW_REG == 0) {
+		f.frame_count = val[1] << 8 | val[0];
+		f.pixel_flow_x_sum = val[3] << 8 | val[2];
+		f.pixel_flow_y_sum = val[5] << 8 | val[4];
+		f.flow_comp_m_x = val[7] << 8 | val[6];
+		f.flow_comp_m_y = val[9] << 8 | val[8];
+		f.qual = val[11] << 8 | val[10];
+		f.gyro_x_rate = val[13] << 8 | val[12];
+		f.gyro_y_rate = val[15] << 8 | val[14];
+		f.gyro_z_rate = val[17] << 8 | val[16];
+		f.gyro_range = val[18];
+		f.sonar_timestamp = val[19];
+		f.ground_distance = val[21] << 8 | val[20];
+
+		f_integral.frame_count_since_last_readout = val[23] << 8 | val[22];
+		f_integral.pixel_flow_x_integral = val[25] << 8 | val[24];
+		f_integral.pixel_flow_y_integral = val[27] << 8 | val[26];
+		f_integral.gyro_x_rate_integral = val[29] << 8 | val[28];
+		f_integral.gyro_y_rate_integral = val[31] << 8 | val[30];
+		f_integral.gyro_z_rate_integral = val[33] << 8 | val[32];
+		f_integral.integration_timespan = val[37] << 24 | val[36] << 16
+						  | val[35] << 8 | val[34];
+		f_integral.time_since_last_sonar_update = val[41] << 24 | val[40] << 16
+				| val[39] << 8 | val[38];
+		f_integral.ground_distance = val[43] << 8 | val[42];
+		f_integral.gyro_temperature = val[45] << 8 | val[44];
+		f_integral.qual = val[46];
+	}
+
+	if (PX4FLOW_REG == 0x16) {
+		f_integral.frame_count_since_last_readout = val[1] << 8 | val[0];
+		f_integral.pixel_flow_x_integral = val[3] << 8 | val[2];
+		f_integral.pixel_flow_y_integral = val[5] << 8 | val[4];
+		f_integral.gyro_x_rate_integral = val[7] << 8 | val[6];
+		f_integral.gyro_y_rate_integral = val[9] << 8 | val[8];
+		f_integral.gyro_z_rate_integral = val[11] << 8 | val[10];
+		f_integral.integration_timespan = val[15] << 24 | val[14] << 16 | val[13] << 8 | val[12];
+		f_integral.time_since_last_sonar_update = val[19] << 24 | val[18] << 16 | val[17] << 8 | val[16];
+		f_integral.ground_distance = val[21] << 8 | val[20];
+		f_integral.gyro_temperature = val[23] << 8 | val[22];
+		f_integral.qual = val[24];
+	}
 
-	int16_t flowcx = val[7] << 8 | val[6];
-	int16_t flowcy = val[9] << 8 | val[8];
-	int16_t gdist = val[21] << 8 | val[20];
 
 	struct optical_flow_s report;
-	report.flow_comp_x_m = float(flowcx) / 1000.0f;
-	report.flow_comp_y_m = float(flowcy) / 1000.0f;
-	report.flow_raw_x = val[3] << 8 | val[2];
-	report.flow_raw_y = val[5] << 8 | val[4];
-	report.ground_distance_m = float(gdist) / 1000.0f;
-	report.quality =  val[10];
-	report.sensor_id = 0;
+
 	report.timestamp = hrt_absolute_time();
+	report.pixel_flow_x_integral = static_cast<float>(f_integral.pixel_flow_x_integral) / 10000.0f;//convert to radians
+	report.pixel_flow_y_integral = static_cast<float>(f_integral.pixel_flow_y_integral) / 10000.0f;//convert to radians
+	report.frame_count_since_last_readout = f_integral.frame_count_since_last_readout;
+	report.ground_distance_m = static_cast<float>(f_integral.ground_distance) / 1000.0f;//convert to meters
+	report.quality = f_integral.qual; //0:bad ; 255 max quality
+	report.gyro_x_rate_integral = static_cast<float>(f_integral.gyro_x_rate_integral) / 10000.0f; //convert to radians
+	report.gyro_y_rate_integral = static_cast<float>(f_integral.gyro_y_rate_integral) / 10000.0f; //convert to radians
+	report.gyro_z_rate_integral = static_cast<float>(f_integral.gyro_z_rate_integral) / 10000.0f; //convert to radians
+	report.integration_timespan = f_integral.integration_timespan; //microseconds
+	report.time_since_last_sonar_update = f_integral.time_since_last_sonar_update;//microseconds
+	report.gyro_temperature = f_integral.gyro_temperature;//Temperature * 100 in centi-degrees Celsius
+
+	report.sensor_id = 0;
 
+	if (_px4flow_topic < 0) {
+		_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);
 
-	/* publish it */
-	orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report);
+	} else {
+		/* publish it */
+		orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report);
+	}
 
 	/* post a report to the ring */
 	if (_reports->force(&report)) {
@@ -558,50 +602,21 @@ PX4FLOW::cycle_trampoline(void *arg)
 void
 PX4FLOW::cycle()
 {
-	/* collection phase? */
-	if (_collect_phase) {
-
-		/* perform collection */
-		if (OK != collect()) {
-			debug("collection error");
-			/* restart the measurement state machine */
-			start();
-			return;
-		}
-
-		/* next phase is measurement */
-		_collect_phase = false;
-
-		/*
-		 * Is there a collect->measure gap?
-		 */
-		if (_measure_ticks > USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) {
-
-			/* schedule a fresh cycle call when we are ready to measure again */
-			work_queue(HPWORK,
-				   &_work,
-				   (worker_t)&PX4FLOW::cycle_trampoline,
-				   this,
-				   _measure_ticks - USEC2TICK(PX4FLOW_CONVERSION_INTERVAL));
-
-			return;
-		}
-	}
-
-	/* measurement phase */
 	if (OK != measure()) {
 		debug("measure error");
 	}
 
-	/* next phase is collection */
-	_collect_phase = true;
+	/* perform collection */
+	if (OK != collect()) {
+		debug("collection error");
+		/* restart the measurement state machine */
+		start();
+		return;
+	}
+
+	work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this,
+		   _measure_ticks);
 
-	/* schedule a fresh cycle call when the measurement is done */
-	work_queue(HPWORK,
-		   &_work,
-		   (worker_t)&PX4FLOW::cycle_trampoline,
-		   this,
-		   USEC2TICK(PX4FLOW_CONVERSION_INTERVAL));
 }
 
 void
@@ -647,14 +662,41 @@ start()
 	}
 
 	/* create the driver */
-	g_dev = new PX4FLOW(PX4FLOW_BUS);
+	g_dev = new PX4FLOW(PX4_I2C_BUS_EXPANSION);
 
 	if (g_dev == nullptr) {
 		goto fail;
 	}
 
 	if (OK != g_dev->init()) {
-		goto fail;
+
+		#ifdef PX4_I2C_BUS_ESC
+		delete g_dev;
+		/* try 2nd bus */
+		g_dev = new PX4FLOW(PX4_I2C_BUS_ESC);
+
+		if (g_dev == nullptr) {
+			goto fail;
+		}
+
+		if (OK != g_dev->init()) {
+		#endif
+
+			delete g_dev;
+			/* try 3rd bus */
+			g_dev = new PX4FLOW(PX4_I2C_BUS_ONBOARD);
+
+			if (g_dev == nullptr) {
+				goto fail;
+			}
+
+			if (OK != g_dev->init()) {
+				goto fail;
+			}
+
+		#ifdef PX4_I2C_BUS_ESC
+		}
+		#endif
 	}
 
 	/* set the poll rate to default, starts automatic data collection */
@@ -683,7 +725,8 @@ fail:
 /**
  * Stop the driver
  */
-void stop()
+void
+stop()
 {
 	if (g_dev != nullptr) {
 		delete g_dev;
@@ -714,6 +757,7 @@ test()
 		err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH);
 	}
 
+
 	/* do a simple demand read */
 	sz = read(fd, &report, sizeof(report));
 
@@ -723,18 +767,18 @@ test()
 	}
 
 	warnx("single read");
-	warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
-	warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m);
-	warnx("time:        %lld", report.timestamp);
-
+	warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
+	warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
+	warnx("framecount_integral: %u",
+	      f_integral.frame_count_since_last_readout);
 
-	/* start the sensor polling at 2Hz */
-	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
-		errx(1, "failed to set 2Hz poll rate");
+	/* start the sensor polling at 10Hz */
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 10)) {
+		errx(1, "failed to set 10Hz poll rate");
 	}
 
 	/* read the sensor 5x and report each value */
-	for (unsigned i = 0; i < 5; i++) {
+	for (unsigned i = 0; i < 10; i++) {
 		struct pollfd fds;
 
 		/* wait for data to be ready */
@@ -754,9 +798,22 @@ test()
 		}
 
 		warnx("periodic read %u", i);
-		warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
-		warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m);
-		warnx("time:        %lld", report.timestamp);
+
+		warnx("framecount_total: %u", f.frame_count);
+		warnx("framecount_integral: %u",
+		      f_integral.frame_count_since_last_readout);
+		warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
+		warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
+		warnx("gyro_x_rate_integral: %i", f_integral.gyro_x_rate_integral);
+		warnx("gyro_y_rate_integral: %i", f_integral.gyro_y_rate_integral);
+		warnx("gyro_z_rate_integral: %i", f_integral.gyro_z_rate_integral);
+		warnx("integration_timespan [us]: %u", f_integral.integration_timespan);
+		warnx("ground_distance: %0.2f m",
+		      (double) f_integral.ground_distance / 1000);
+		warnx("time since last sonar update [us]: %i",
+		      f_integral.time_since_last_sonar_update);
+		warnx("quality integration average : %i", f_integral.qual);
+		warnx("quality : %i", f.qual);
 
 
 	}
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 519ba663a..58390ba4c 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -817,6 +817,11 @@ PX4IO::init()
 
 	}
 
+	/* set safety to off if circuit breaker enabled */
+	if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
+		(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
+	}
+
 	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
 	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
 
@@ -1155,52 +1160,54 @@ PX4IO::io_set_arming_state()
 	actuator_armed_s	armed;		///< system armed state
 	vehicle_control_mode_s	control_mode;	///< vehicle_control_mode
 
-	orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
-	orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
+	int have_armed = orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
+	int have_control_mode = orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
 
 	uint16_t set = 0;
 	uint16_t clear = 0;
 
-	if (armed.armed) {
-		set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
-
-	} else {
-		clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
-	}
-
-	if (armed.lockdown && !_lockdown_override) {
-		set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
-	} else {
-		clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
-	}
+        if (have_armed == OK) {
+		if (armed.armed) {
+			set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
+		} else {
+			clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
+		}
 
-	/* Do not set failsafe if circuit breaker is enabled */
-	if (armed.force_failsafe && !_cb_flighttermination) {
-		set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
-	} else {
-		clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
-	}
+		if (armed.lockdown && !_lockdown_override) {
+			set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
+		} else {
+			clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
+		}
 
-	// XXX this is for future support in the commander
-	// but can be removed if unneeded
-	// if (armed.termination_failsafe) {
-	// 	set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
-	// } else {
-	// 	clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
-	// }
+		/* Do not set failsafe if circuit breaker is enabled */
+		if (armed.force_failsafe && !_cb_flighttermination) {
+			set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
+		} else {
+			clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
+		}
 
-	if (armed.ready_to_arm) {
-		set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
+		// XXX this is for future support in the commander
+		// but can be removed if unneeded
+		// if (armed.termination_failsafe) {
+		// 	set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
+		// } else {
+		// 	clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
+		// }
 
-	} else {
-		clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
+		if (armed.ready_to_arm) {
+			set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
+			
+		} else {
+			clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
+		}
 	}
 
-	if (control_mode.flag_external_manual_override_ok) {
-		set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
-
-	} else {
-		clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
+	if (have_control_mode == OK) {
+		if (control_mode.flag_external_manual_override_ok) {
+			set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
+		} else {
+			clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
+		}
 	}
 
 	return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
@@ -2193,7 +2200,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
 		if (pwm->channel_count > _max_actuators)
 			/* fail with error */
-			return E2BIG;
+			return -E2BIG;
 
 		/* copy values to registers in IO */
 		ret = io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, pwm->channel_count);
@@ -2212,7 +2219,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
 		if (pwm->channel_count > _max_actuators)
 			/* fail with error */
-			return E2BIG;
+			return -E2BIG;
 
 		/* copy values to registers in IO */
 		ret = io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, pwm->channel_count);
@@ -2231,7 +2238,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
 		if (pwm->channel_count > _max_actuators)
 			/* fail with error */
-			return E2BIG;
+			return -E2BIG;
 
 		/* copy values to registers in IO */
 		ret = io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, pwm->channel_count);
@@ -2250,7 +2257,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
 		if (pwm->channel_count > _max_actuators)
 			/* fail with error */
-			return E2BIG;
+			return -E2BIG;
 
 		/* copy values to registers in IO */
 		ret = io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, pwm->channel_count);
@@ -2587,9 +2594,9 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		   on param_get() 
 		*/
 		struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
-		if (config->channel >= _max_actuators) {
+		if (config->channel >= RC_INPUT_MAX_CHANNELS) {
 			/* fail with error */
-			return E2BIG;
+			return -E2BIG;
 		}
 
 		/* copy values to registers in IO */
diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp
index 13cbfdfa8..d35722244 100644
--- a/src/drivers/rgbled/rgbled.cpp
+++ b/src/drivers/rgbled/rgbled.cpp
@@ -121,7 +121,7 @@ private:
 /* for now, we only support one RGBLED */
 namespace
 {
-RGBLED *g_rgbled;
+RGBLED *g_rgbled = nullptr;
 }
 
 void rgbled_usage();
@@ -680,15 +680,15 @@ rgbled_main(int argc, char *argv[])
 
 		ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_OFF);
 		close(fd);
+		/* delete the rgbled object if stop was requested, in addition to turning off the LED. */
+		if (!strcmp(verb, "stop")) {
+			delete g_rgbled;
+			g_rgbled = nullptr;
+			exit(0);
+		}
 		exit(ret);
 	}
 
-	if (!strcmp(verb, "stop")) {
-		delete g_rgbled;
-		g_rgbled = nullptr;
-		exit(0);
-	}
-
 	if (!strcmp(verb, "rgb")) {
 		if (argc < 5) {
 			errx(1, "Usage: rgbled rgb <red> <green> <blue>");
diff --git a/src/drivers/roboclaw/roboclaw_main.cpp b/src/drivers/roboclaw/roboclaw_main.cpp
index 44ed03254..83086fd7c 100644
--- a/src/drivers/roboclaw/roboclaw_main.cpp
+++ b/src/drivers/roboclaw/roboclaw_main.cpp
@@ -109,7 +109,7 @@ int roboclaw_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 10,
 					 2048,
 					 roboclaw_thread_main,
-					 (const char **)argv);
+					 (char * const *)argv);
 		exit(0);
 
 	} else if (!strcmp(argv[1], "test")) {
diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp
index 795d61704..8e62e0d4b 100644
--- a/src/drivers/sf0x/sf0x.cpp
+++ b/src/drivers/sf0x/sf0x.cpp
@@ -547,7 +547,7 @@ SF0X::collect()
 
 	float si_units;
 	bool valid = false;
-	
+
 	for (int i = 0; i < ret; i++) {
 		if (OK == sf0x_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &si_units)) {
 			valid = true;
@@ -566,6 +566,8 @@ SF0X::collect()
 	report.timestamp = hrt_absolute_time();
 	report.error_count = perf_event_count(_comms_errors);
 	report.distance = si_units;
+	report.minimum_distance = get_minimum_distance();
+	report.maximum_distance = get_maximum_distance();
 	report.valid = valid && (si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0);
 
 	/* publish it */
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index 281f918d7..603c2eb9d 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -253,9 +253,11 @@ static uint16_t			latency_baseline;
 static uint16_t			latency_actual;
 
 /* latency histogram */
-#define LATENCY_BUCKET_COUNT	8
-static const uint16_t		latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
-static uint32_t			latency_counters[LATENCY_BUCKET_COUNT + 1];
+#define LATENCY_BUCKET_COUNT 8
+__EXPORT const uint16_t latency_bucket_count = LATENCY_BUCKET_COUNT;
+__EXPORT const uint16_t	latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
+__EXPORT uint32_t		latency_counters[LATENCY_BUCKET_COUNT + 1];
+
 
 /* timer-specific functions */
 static void		hrt_tim_init(void);
diff --git a/src/drivers/trone/module.mk b/src/drivers/trone/module.mk
new file mode 100644
index 000000000..38499c6c3
--- /dev/null
+++ b/src/drivers/trone/module.mk
@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Makefile to build the TeraRanger One range finder driver
+#
+
+MODULE_COMMAND	= trone
+
+SRCS		= trone.cpp
+
+MODULE_STACKSIZE = 1200
+
+MAXOPTIMIZATION = -Os
diff --git a/src/drivers/trone/trone.cpp b/src/drivers/trone/trone.cpp
new file mode 100644
index 000000000..cf3546669
--- /dev/null
+++ b/src/drivers/trone/trone.cpp
@@ -0,0 +1,915 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file trone.cpp
+ * @author Luis Rodrigues
+ *
+ * Driver for the TeraRanger One range finders connected via I2C.
+ */
+
+#include <nuttx/config.h>
+
+#include <drivers/device/i2c.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_range_finder.h>
+#include <drivers/device/ringbuffer.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/subsystem_info.h>
+
+#include <board_config.h>
+
+/* Configuration Constants */
+#define TRONE_BUS 		PX4_I2C_BUS_EXPANSION
+#define TRONE_BASEADDR 		0x30 /* 7-bit address */
+#define TRONE_DEVICE_PATH 	"/dev/trone"
+
+/* TRONE Registers addresses */
+
+#define TRONE_MEASURE_REG	0x00		/* Measure range register */
+
+/* Device limits */
+#define TRONE_MIN_DISTANCE (0.20f)
+#define TRONE_MAX_DISTANCE (14.00f)
+
+#define TRONE_CONVERSION_INTERVAL 50000 /* 50ms */
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+class TRONE : public device::I2C
+{
+public:
+	TRONE(int bus = TRONE_BUS, int address = TRONE_BASEADDR);
+	virtual ~TRONE();
+
+	virtual int 		init();
+
+	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
+	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	/**
+	* Diagnostics - print some basic information about the driver.
+	*/
+	void				print_info();
+
+protected:
+	virtual int			probe();
+
+private:
+	float				_min_distance;
+	float				_max_distance;
+	work_s				_work;
+	RingBuffer			*_reports;
+	bool				_sensor_ok;
+	int					_measure_ticks;
+	bool				_collect_phase;
+	int					_class_instance;
+
+	orb_advert_t		_range_finder_topic;
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_comms_errors;
+	perf_counter_t		_buffer_overflows;
+
+	/**
+	* Test whether the device supported by the driver is present at a
+	* specific address.
+	*
+	* @param address	The I2C bus address to probe.
+	* @return		True if the device is present.
+	*/
+	int					probe_address(uint8_t address);
+
+	/**
+	* Initialise the automatic measurement state machine and start it.
+	*
+	* @note This function is called at open and error time.  It might make sense
+	*       to make it more aggressive about resetting the bus in case of errors.
+	*/
+	void				start();
+
+	/**
+	* Stop the automatic measurement state machine.
+	*/
+	void				stop();
+
+	/**
+	* Set the min and max distance thresholds if you want the end points of the sensors
+	* range to be brought in at all, otherwise it will use the defaults TRONE_MIN_DISTANCE
+	* and TRONE_MAX_DISTANCE
+	*/
+	void				set_minimum_distance(float min);
+	void				set_maximum_distance(float max);
+	float				get_minimum_distance();
+	float				get_maximum_distance();
+
+	/**
+	* Perform a poll cycle; collect from the previous measurement
+	* and start a new one.
+	*/
+	void				cycle();
+	int					measure();
+	int					collect();
+	/**
+	* Static trampoline from the workq context; because we don't have a
+	* generic workq wrapper yet.
+	*
+	* @param arg		Instance pointer for the driver that is polling.
+	*/
+	static void		cycle_trampoline(void *arg);
+
+
+};
+
+static const uint8_t crc_table[] = {
+    0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
+    0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
+    0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
+    0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
+    0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
+    0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
+    0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
+    0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
+    0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
+    0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
+    0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
+    0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
+    0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
+    0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
+    0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
+    0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
+    0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
+    0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
+    0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
+    0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
+    0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
+    0xfa, 0xfd, 0xf4, 0xf3
+};
+
+static uint8_t crc8(uint8_t *p, uint8_t len) {
+        uint16_t i;
+        uint16_t crc = 0x0;
+
+        while (len--) {
+                i = (crc ^ *p++) & 0xFF;
+                crc = (crc_table[i] ^ (crc << 8)) & 0xFF;
+        }
+
+        return crc & 0xFF;
+}
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int trone_main(int argc, char *argv[]);
+
+TRONE::TRONE(int bus, int address) :
+	I2C("TRONE", TRONE_DEVICE_PATH, bus, address, 100000),
+	_min_distance(TRONE_MIN_DISTANCE),
+	_max_distance(TRONE_MAX_DISTANCE),
+	_reports(nullptr),
+	_sensor_ok(false),
+	_measure_ticks(0),
+	_collect_phase(false),
+	_class_instance(-1),
+	_range_finder_topic(-1),
+	_sample_perf(perf_alloc(PC_ELAPSED, "trone_read")),
+	_comms_errors(perf_alloc(PC_COUNT, "trone_comms_errors")),
+	_buffer_overflows(perf_alloc(PC_COUNT, "trone_buffer_overflows"))
+{
+	// up the retries since the device misses the first measure attempts
+	I2C::_retries = 3;
+
+	// enable debug() calls
+	_debug_enabled = false;
+
+	// work_cancel in the dtor will explode if we don't do this...
+	memset(&_work, 0, sizeof(_work));
+}
+
+TRONE::~TRONE()
+{
+	/* make sure we are truly inactive */
+	stop();
+
+	/* free any existing reports */
+	if (_reports != nullptr) {
+		delete _reports;
+	}
+
+	if (_class_instance != -1) {
+		unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
+	}
+
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_buffer_overflows);
+}
+
+int
+TRONE::init()
+{
+	int ret = ERROR;
+
+	/* do I2C init (and probe) first */
+	if (I2C::init() != OK) {
+		goto out;
+	}
+
+	/* allocate basic report buffers */
+	_reports = new RingBuffer(2, sizeof(range_finder_report));
+
+	if (_reports == nullptr) {
+		goto out;
+	}
+
+	_class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
+
+	if (_class_instance == CLASS_DEVICE_PRIMARY) {
+		/* get a publish handle on the range finder topic */
+		struct range_finder_report rf_report;
+		measure();
+		_reports->get(&rf_report);
+		_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report);
+
+		if (_range_finder_topic < 0) {
+			debug("failed to create sensor_range_finder object. Did you start uOrb?");
+		}
+	}
+
+	ret = OK;
+	/* sensor is ok, but we don't really know if it is within range */
+	_sensor_ok = true;
+out:
+	return ret;
+}
+
+int
+TRONE::probe()
+{
+	return measure();
+}
+
+void
+TRONE::set_minimum_distance(float min)
+{
+	_min_distance = min;
+}
+
+void
+TRONE::set_maximum_distance(float max)
+{
+	_max_distance = max;
+}
+
+float
+TRONE::get_minimum_distance()
+{
+	return _min_distance;
+}
+
+float
+TRONE::get_maximum_distance()
+{
+	return _max_distance;
+}
+
+int
+TRONE::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+	case SENSORIOCSPOLLRATE: {
+			switch (arg) {
+
+			/* switching to manual polling */
+			case SENSOR_POLLRATE_MANUAL:
+				stop();
+				_measure_ticks = 0;
+				return OK;
+
+			/* external signalling (DRDY) not supported */
+			case SENSOR_POLLRATE_EXTERNAL:
+
+			/* zero would be bad */
+			case 0:
+				return -EINVAL;
+
+			/* set default/max polling rate */
+			case SENSOR_POLLRATE_MAX:
+			case SENSOR_POLLRATE_DEFAULT: {
+					/* do we need to start internal polling? */
+					bool want_start = (_measure_ticks == 0);
+
+					/* set interval for next measurement to minimum legal value */
+					_measure_ticks = USEC2TICK(TRONE_CONVERSION_INTERVAL);
+
+					/* if we need to start the poll state machine, do it */
+					if (want_start) {
+						start();
+					}
+
+					return OK;
+				}
+
+			/* adjust to a legal polling interval in Hz */
+			default: {
+					/* do we need to start internal polling? */
+					bool want_start = (_measure_ticks == 0);
+
+					/* convert hz to tick interval via microseconds */
+					unsigned ticks = USEC2TICK(1000000 / arg);
+
+					/* check against maximum rate */
+					if (ticks < USEC2TICK(TRONE_CONVERSION_INTERVAL)) {
+						return -EINVAL;
+					}
+
+					/* update interval for next measurement */
+					_measure_ticks = ticks;
+
+					/* if we need to start the poll state machine, do it */
+					if (want_start) {
+						start();
+					}
+
+					return OK;
+				}
+			}
+		}
+
+	case SENSORIOCGPOLLRATE:
+		if (_measure_ticks == 0) {
+			return SENSOR_POLLRATE_MANUAL;
+		}
+
+		return (1000 / _measure_ticks);
+
+	case SENSORIOCSQUEUEDEPTH: {
+			/* lower bound is mandatory, upper bound is a sanity check */
+			if ((arg < 1) || (arg > 100)) {
+				return -EINVAL;
+			}
+
+			irqstate_t flags = irqsave();
+
+			if (!_reports->resize(arg)) {
+				irqrestore(flags);
+				return -ENOMEM;
+			}
+
+			irqrestore(flags);
+
+			return OK;
+		}
+
+	case SENSORIOCGQUEUEDEPTH:
+		return _reports->size();
+
+	case SENSORIOCRESET:
+		/* XXX implement this */
+		return -EINVAL;
+
+	case RANGEFINDERIOCSETMINIUMDISTANCE: {
+			set_minimum_distance(*(float *)arg);
+			return 0;
+		}
+		break;
+
+	case RANGEFINDERIOCSETMAXIUMDISTANCE: {
+			set_maximum_distance(*(float *)arg);
+			return 0;
+		}
+		break;
+
+	default:
+		/* give it to the superclass */
+		return I2C::ioctl(filp, cmd, arg);
+	}
+}
+
+ssize_t
+TRONE::read(struct file *filp, char *buffer, size_t buflen)
+{
+	unsigned count = buflen / sizeof(struct range_finder_report);
+	struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
+	int ret = 0;
+
+	/* buffer must be large enough */
+	if (count < 1) {
+		return -ENOSPC;
+	}
+
+	/* if automatic measurement is enabled */
+	if (_measure_ticks > 0) {
+
+		/*
+		 * While there is space in the caller's buffer, and reports, copy them.
+		 * Note that we may be pre-empted by the workq thread while we are doing this;
+		 * we are careful to avoid racing with them.
+		 */
+		while (count--) {
+			if (_reports->get(rbuf)) {
+				ret += sizeof(*rbuf);
+				rbuf++;
+			}
+		}
+
+		/* if there was no data, warn the caller */
+		return ret ? ret : -EAGAIN;
+	}
+
+	/* manual measurement - run one conversion */
+	do {
+		_reports->flush();
+
+		/* trigger a measurement */
+		if (OK != measure()) {
+			ret = -EIO;
+			break;
+		}
+
+		/* wait for it to complete */
+		usleep(TRONE_CONVERSION_INTERVAL);
+
+		/* run the collection phase */
+		if (OK != collect()) {
+			ret = -EIO;
+			break;
+		}
+
+		/* state machine will have generated a report, copy it out */
+		if (_reports->get(rbuf)) {
+			ret = sizeof(*rbuf);
+		}
+
+	} while (0);
+
+	return ret;
+}
+
+int
+TRONE::measure()
+{
+	int ret;
+
+	/*
+	 * Send the command to begin a measurement.
+	 */
+	const uint8_t cmd = TRONE_MEASURE_REG;
+	ret = transfer(&cmd, sizeof(cmd), nullptr, 0);
+
+	if (OK != ret) {
+		perf_count(_comms_errors);
+		log("i2c::transfer returned %d", ret);
+		return ret;
+	}
+
+	ret = OK;
+
+	return ret;
+}
+
+int
+TRONE::collect()
+{
+	int	ret = -EIO;
+
+        /* read from the sensor */
+	uint8_t val[3] = {0, 0, 0};
+
+	perf_begin(_sample_perf);
+
+	ret = transfer(nullptr, 0, &val[0], 3);
+
+	if (ret < 0) {
+		log("error reading from sensor: %d", ret);
+		perf_count(_comms_errors);
+		perf_end(_sample_perf);
+		return ret;
+	}
+
+	uint16_t distance = (val[0] << 8) | val[1];
+	float si_units = distance *  0.001f; /* mm to m */
+	struct range_finder_report report;
+
+	/* this should be fairly close to the end of the measurement, so the best approximation of the time */
+	report.timestamp = hrt_absolute_time();
+	report.error_count = perf_event_count(_comms_errors);
+	report.distance = si_units;
+	report.minimum_distance = get_minimum_distance();
+	report.maximum_distance = get_maximum_distance();
+	report.valid = crc8(val, 2) == val[2] && si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
+
+
+	/* publish it, if we are the primary */
+	if (_range_finder_topic >= 0) {
+		orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
+	}
+
+	if (_reports->force(&report)) {
+		perf_count(_buffer_overflows);
+	}
+
+	/* notify anyone waiting for data */
+	poll_notify(POLLIN);
+
+	ret = OK;
+
+	perf_end(_sample_perf);
+	return ret;
+}
+
+void
+TRONE::start()
+{
+	/* reset the report ring and state machine */
+	_collect_phase = false;
+	_reports->flush();
+
+	/* schedule a cycle to start things */
+	work_queue(HPWORK, &_work, (worker_t)&TRONE::cycle_trampoline, this, 1);
+
+	/* notify about state change */
+	struct subsystem_info_s info = {
+		true,
+		true,
+		true,
+		SUBSYSTEM_TYPE_RANGEFINDER
+	};
+	static orb_advert_t pub = -1;
+
+	if (pub > 0) {
+		orb_publish(ORB_ID(subsystem_info), pub, &info);
+
+	} else {
+		pub = orb_advertise(ORB_ID(subsystem_info), &info);
+	}
+}
+
+void
+TRONE::stop()
+{
+	work_cancel(HPWORK, &_work);
+}
+
+void
+TRONE::cycle_trampoline(void *arg)
+{
+	TRONE *dev = (TRONE *)arg;
+
+	dev->cycle();
+}
+
+void
+TRONE::cycle()
+{
+	/* collection phase? */
+	if (_collect_phase) {
+
+		/* perform collection */
+		if (OK != collect()) {
+			log("collection error");
+			/* restart the measurement state machine */
+			start();
+			return;
+		}
+
+		/* next phase is measurement */
+		_collect_phase = false;
+
+		/*
+		 * Is there a collect->measure gap?
+		 */
+		if (_measure_ticks > USEC2TICK(TRONE_CONVERSION_INTERVAL)) {
+
+			/* schedule a fresh cycle call when we are ready to measure again */
+			work_queue(HPWORK,
+				   &_work,
+				   (worker_t)&TRONE::cycle_trampoline,
+				   this,
+				   _measure_ticks - USEC2TICK(TRONE_CONVERSION_INTERVAL));
+
+			return;
+		}
+	}
+
+	/* measurement phase */
+	if (OK != measure()) {
+		log("measure error");
+	}
+
+	/* next phase is collection */
+	_collect_phase = true;
+
+	/* schedule a fresh cycle call when the measurement is done */
+	work_queue(HPWORK,
+		   &_work,
+		   (worker_t)&TRONE::cycle_trampoline,
+		   this,
+		   USEC2TICK(TRONE_CONVERSION_INTERVAL));
+}
+
+void
+TRONE::print_info()
+{
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+	perf_print_counter(_buffer_overflows);
+	printf("poll interval:  %u ticks\n", _measure_ticks);
+	_reports->print_info("report queue");
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace trone
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+const int ERROR = -1;
+
+TRONE	*g_dev;
+
+void	start();
+void	stop();
+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 TRONE(TRONE_BUS);
+
+
+	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(TRONE_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");
+}
+
+/**
+ * Stop the driver
+ */
+void stop()
+{
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+
+	} else {
+		errx(1, "driver not running");
+	}
+
+	exit(0);
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test()
+{
+	struct range_finder_report report;
+	ssize_t sz;
+	int ret;
+
+	int fd = open(TRONE_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0) {
+		err(1, "%s open failed (try 'trone start' if the driver is not running", TRONE_DEVICE_PATH);
+	}
+
+	/* do a simple demand read */
+	sz = read(fd, &report, sizeof(report));
+
+	if (sz != sizeof(report)) {
+		err(1, "immediate read failed");
+	}
+
+	warnx("single read");
+	warnx("measurement: %0.2f m", (double)report.distance);
+	warnx("time:        %lld", report.timestamp);
+
+	/* start the sensor polling at 2Hz */
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
+		errx(1, "failed to set 2Hz poll rate");
+	}
+
+	/* read the sensor 50x and report each value */
+	for (unsigned i = 0; i < 50; i++) {
+		struct pollfd fds;
+
+		/* wait for data to be ready */
+		fds.fd = fd;
+		fds.events = POLLIN;
+		ret = poll(&fds, 1, 2000);
+
+		if (ret != 1) {
+			errx(1, "timed out waiting for sensor data");
+		}
+
+		/* now go get it */
+		sz = read(fd, &report, sizeof(report));
+
+		if (sz != sizeof(report)) {
+			err(1, "periodic read failed");
+		}
+
+		warnx("periodic read %u", i);
+		warnx("valid %u", report.valid);
+		warnx("measurement: %0.3f", (double)report.distance);
+		warnx("time:        %lld", report.timestamp);
+	}
+
+	/* reset the sensor polling to default rate */
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
+		errx(1, "failed to set default poll rate");
+	}
+
+	errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+	int fd = open(TRONE_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
+trone_main(int argc, char *argv[])
+{
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(argv[1], "start")) {
+		trone::start();
+	}
+
+	/*
+	 * Stop the driver
+	 */
+	if (!strcmp(argv[1], "stop")) {
+		trone::stop();
+	}
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[1], "test")) {
+		trone::test();
+	}
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(argv[1], "reset")) {
+		trone::reset();
+	}
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
+		trone::info();
+	}
+
+	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+}