Merge branch 'master' of github.com:PX4/Firmware into mpu6k_queue

7 files changed, 118 insertions, 43 deletions

diff --git a/src/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp
index 422321850..47ebcd40a 100644
--- a/src/drivers/device/cdev.cpp
+++ b/src/drivers/device/cdev.cpp
@@ -111,21 +111,21 @@ CDev::~CDev()
 int
 CDev::init()
 {
-	int ret = OK;
-
 	// base class init first
-	ret = Device::init();
+	int ret = Device::init();
 
 	if (ret != OK)
 		goto out;
 
 	// now register the driver
-	ret = register_driver(_devname, &fops, 0666, (void *)this);
+	if (_devname != nullptr) {
+		ret = register_driver(_devname, &fops, 0666, (void *)this);
 
-	if (ret != OK)
-		goto out;
+		if (ret != OK)
+			goto out;
 
-	_registered = true;
+		_registered = true;
+	}
 
 out:
 	return ret;
@@ -395,4 +395,4 @@ cdev_poll(struct file *filp, struct pollfd *fds, bool setup)
 	return cdev->poll(filp, fds, setup);
 }
 
-} // namespace device
\ No newline at end of file
+} // namespace device
diff --git a/src/drivers/device/device.cpp b/src/drivers/device/device.cpp
index 04a5222c3..c3ee77b1c 100644
--- a/src/drivers/device/device.cpp
+++ b/src/drivers/device/device.cpp
@@ -223,5 +223,22 @@ interrupt(int irq, void *context)
 	return OK;
 }
 
+int
+Device::read(unsigned offset, void *data, unsigned count)
+{
+	return -ENODEV;
+}
+
+int
+Device::write(unsigned offset, void *data, unsigned count)
+{
+	return -ENODEV;
+}
+
+int
+Device::ioctl(unsigned operation, unsigned &arg)
+{
+	return -ENODEV;
+}
 
-} // namespace device
\ No newline at end of file
+} // namespace device
diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h
index 7d375aab9..a9ed5d77c 100644
--- a/src/drivers/device/device.h
+++ b/src/drivers/device/device.h
@@ -69,10 +69,61 @@ class __EXPORT Device
 {
 public:
 	/**
+	 * Destructor.
+	 *
+	 * Public so that anonymous devices can be destroyed.
+	 */
+	virtual ~Device();
+
+	/**
 	 * Interrupt handler.
 	 */
 	virtual void	interrupt(void *ctx);	/**< interrupt handler */
 
+	/*
+	 * Direct access methods.
+	 */
+
+	/**
+	 * Initialise the driver and make it ready for use.
+	 *
+	 * @return	OK if the driver initialized OK, negative errno otherwise;
+	 */
+	virtual int	init();
+
+	/**
+	 * Read directly from the device.
+	 *
+	 * The actual size of each unit quantity is device-specific.
+	 *
+	 * @param offset	The device address at which to start reading
+	 * @param data		The buffer into which the read values should be placed.
+	 * @param count		The number of items to read.
+	 * @return		The number of items read on success, negative errno otherwise.
+	 */
+	virtual int	read(unsigned address, void *data, unsigned count);
+
+	/**
+	 * Write directly to the device.
+	 *
+	 * The actual size of each unit quantity is device-specific.
+	 *
+	 * @param address	The device address at which to start writing.
+	 * @param data		The buffer from which values should be read.
+	 * @param count		The number of items to write.
+	 * @return		The number of items written on success, negative errno otherwise.
+	 */	 
+	virtual int	write(unsigned address, void *data, unsigned count);
+
+	/**
+	 * Perform a device-specific operation.
+	 *
+	 * @param operation	The operation to perform.
+	 * @param arg		An argument to the operation.
+	 * @return		Negative errno on error, OK or positive value on success.
+	 */
+	virtual int	ioctl(unsigned operation, unsigned &arg);
+
 protected:
 	const char	*_name;			/**< driver name */
 	bool		_debug_enabled;		/**< if true, debug messages are printed */
@@ -85,14 +136,6 @@ protected:
 	 */
 	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
@@ -189,7 +232,7 @@ public:
 	/**
 	 * Destructor
 	 */
-	~CDev();
+	virtual ~CDev();
 
 	virtual int	init();
 
@@ -282,6 +325,7 @@ public:
 	 * Test whether the device is currently open.
 	 *
 	 * This can be used to avoid tearing down a device that is still active.
+	 * Note - not virtual, cannot be overridden by a subclass.
 	 *
 	 * @return              True if the device is currently open.
 	 */
@@ -396,9 +440,9 @@ public:
 	    const char *devname,
 	    uint32_t base,
 	    int irq = 0);
-	~PIO();
+	virtual ~PIO();
 
-	int		init();
+	virtual int	init();
 
 protected:
 
@@ -407,7 +451,7 @@ protected:
 	 *
 	 * @param offset	Register offset in bytes from the base address.
 	 */
-	uint32_t reg(uint32_t offset) {
+	uint32_t	reg(uint32_t offset) {
 		return *(volatile uint32_t *)(_base + offset);
 	}
 
@@ -444,4 +488,4 @@ private:
 
 } // namespace device
 
-#endif /* _DEVICE_DEVICE_H */
\ No newline at end of file
+#endif /* _DEVICE_DEVICE_H */
diff --git a/src/drivers/device/i2c.h b/src/drivers/device/i2c.h
index b4a9cdd53..549879352 100644
--- a/src/drivers/device/i2c.h
+++ b/src/drivers/device/i2c.h
@@ -55,13 +55,11 @@ class __EXPORT I2C : public CDev
 
 public:
 
-    /**
-     * Get the address
-     */
-    uint16_t get_address() {
-      return _address;
-    }
-
+	/**
+	 * Get the address
+	 */
+	int16_t		get_address() { return _address; }
+	
 protected:
 	/**
 	 * The number of times a read or write operation will be retried on
@@ -90,7 +88,7 @@ protected:
 	    uint16_t address,
 	    uint32_t frequency,
 	    int irq = 0);
-	~I2C();
+	virtual ~I2C();
 
 	virtual int	init();
 
diff --git a/src/drivers/device/spi.h b/src/drivers/device/spi.h
index d2d01efb3..e0122372a 100644
--- a/src/drivers/device/spi.h
+++ b/src/drivers/device/spi.h
@@ -71,7 +71,7 @@ protected:
 	    enum spi_mode_e mode,
 	    uint32_t frequency,
 	    int irq = 0);
-	~SPI();
+	virtual ~SPI();
 
 	virtual int	init();
 
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index 7a2e22c01..ebae21cf7 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -34,6 +34,7 @@
 /**
  * @file meas_airspeed.cpp
  * @author Lorenz Meier
+ * @author Sarthak Kaingade
  * @author Simon Wilks
  *
  * Driver for the MEAS Spec series connected via I2C.
@@ -92,9 +93,6 @@
 
 /* Register address */
 #define ADDR_READ_MR			0x00	/* write to this address to start conversion */
-#define ADDR_READ_DF2			0x00	/* read from this address to read pressure only */
-#define ADDR_READ_DF3			0x01
-#define ADDR_READ_DF4			0x02	/* read from this address to read pressure and temp */
 
 /* Measurement rate is 100Hz */
 #define CONVERSION_INTERVAL	(1000000 / 100)	/* microseconds */
@@ -122,7 +120,7 @@ protected:
 extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
 
 MEASAirspeed::MEASAirspeed(int bus, int address) : Airspeed(bus, address,
-	CONVERSION_INTERVAL)
+			CONVERSION_INTERVAL)
 {
 
 }
@@ -160,7 +158,7 @@ MEASAirspeed::collect()
 
 	perf_begin(_sample_perf);
 
-	ret = transfer(nullptr, 0, &val[0], 2);
+	ret = transfer(nullptr, 0, &val[0], 4);
 
 	if (ret < 0) {
 		log("error reading from sensor: %d", ret);
@@ -171,25 +169,37 @@ MEASAirspeed::collect()
 
 	if (status == 2) {
 		log("err: stale data");
+
 	} else if (status == 3) {
 		log("err: fault");
 	}
 
-	uint16_t diff_pres_pa = (val[1]) | ((val[0] & ~(0xC0)) << 8);
+	//uint16_t diff_pres_pa = (val[1]) | ((val[0] & ~(0xC0)) << 8);
 	uint16_t temp = (val[3] & 0xE0) << 8 | val[2];
 
-	diff_pres_pa = abs(diff_pres_pa - (16384 / 2.0f));
-	diff_pres_pa -= _diff_pres_offset;
+	// XXX leaving this in until new calculation method has been cross-checked
+	//diff_pres_pa = abs(diff_pres_pa - (16384 / 2.0f));
+	//diff_pres_pa -= _diff_pres_offset;
+	int16_t dp_raw = 0, dT_raw = 0;
+	dp_raw = (val[0] << 8) + val[1];
+	dp_raw = 0x3FFF & dp_raw;
+	dT_raw = (val[2] << 8) + val[3];
+	dT_raw = (0xFFE0 & dT_raw) >> 5;
+	float temperature = ((200 * dT_raw) / 2047) - 50;
 
 	// XXX we may want to smooth out the readings to remove noise.
 
+	// Calculate differential pressure. As its centered around 8000
+	// and can go positive or negative, enforce absolute value
+	uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
+
 	_reports[_next_report].timestamp = hrt_absolute_time();
-	_reports[_next_report].temperature = temp;
-	_reports[_next_report].differential_pressure_pa = diff_pres_pa;
+	_reports[_next_report].temperature = temperature;
+	_reports[_next_report].differential_pressure_pa = diff_press_pa;
 
 	// Track maximum differential pressure measured (so we can work out top speed).
-	if (diff_pres_pa > _reports[_next_report].max_differential_pressure_pa) {
-		_reports[_next_report].max_differential_pressure_pa = diff_pres_pa;
+	if (diff_press_pa > _reports[_next_report].max_differential_pressure_pa) {
+		_reports[_next_report].max_differential_pressure_pa = diff_press_pa;
 	}
 
 	/* announce the airspeed if needed, just publish else */
diff --git a/src/drivers/stm32/drv_pwm_servo.c b/src/drivers/stm32/drv_pwm_servo.c
index 7b060412c..dbb45a138 100644
--- a/src/drivers/stm32/drv_pwm_servo.c
+++ b/src/drivers/stm32/drv_pwm_servo.c
@@ -88,6 +88,7 @@
 #define rCCR4(_tmr)   	REG(_tmr, STM32_GTIM_CCR4_OFFSET)
 #define rDCR(_tmr)    	REG(_tmr, STM32_GTIM_DCR_OFFSET)
 #define rDMAR(_tmr)   	REG(_tmr, STM32_GTIM_DMAR_OFFSET)
+#define rBDTR(_tmr)	REG(_tmr, STM32_ATIM_BDTR_OFFSET)
 
 static void		pwm_timer_init(unsigned timer);
 static void		pwm_timer_set_rate(unsigned timer, unsigned rate);
@@ -110,6 +111,11 @@ pwm_timer_init(unsigned timer)
 	rCCER(timer) = 0;
 	rDCR(timer) = 0;
 
+	if ((pwm_timers[timer].base == STM32_TIM1_BASE) || (pwm_timers[timer].base == STM32_TIM8_BASE)) {
+		/* master output enable = on */
+		rBDTR(timer) = ATIM_BDTR_MOE;
+	}
+
 	/* configure the timer to free-run at 1MHz */
 	rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1;