Merge branch 'master' of https://github.com/PX4/Firmware into fmuv2_bringup

21 files changed, 117 insertions, 98 deletions

diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index aeaf830de..735bdb41a 100644
--- a/src/drivers/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
@@ -114,7 +114,7 @@ int ardrone_interface_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		ardrone_interface_task = task_spawn("ardrone_interface",
+		ardrone_interface_task = task_spawn_cmd("ardrone_interface",
 						    SCHED_DEFAULT,
 						    SCHED_PRIORITY_MAX - 15,
 						    2048,
diff --git a/src/drivers/boards/px4fmu/px4fmu_init.c b/src/drivers/boards/px4fmu/px4fmu_init.c
index 69edc23ab..212a92cfa 100644
--- a/src/drivers/boards/px4fmu/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu/px4fmu_init.c
@@ -58,7 +58,7 @@
 #include <nuttx/mmcsd.h>
 #include <nuttx/analog/adc.h>
 
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4fmu_internal.h"
 #include "stm32_uart.h"
 
diff --git a/src/drivers/boards/px4fmu/px4fmu_internal.h b/src/drivers/boards/px4fmu/px4fmu_internal.h
index 5a73c10bf..56173abf6 100644
--- a/src/drivers/boards/px4fmu/px4fmu_internal.h
+++ b/src/drivers/boards/px4fmu/px4fmu_internal.h
@@ -50,7 +50,7 @@
 __BEGIN_DECLS
 
 /* these headers are not C++ safe */
-#include <stm32_internal.h>
+#include <stm32.h>
 
  
 /****************************************************************************************************
diff --git a/src/drivers/boards/px4fmu/px4fmu_led.c b/src/drivers/boards/px4fmu/px4fmu_led.c
index 34fd194c3..31b25984e 100644
--- a/src/drivers/boards/px4fmu/px4fmu_led.c
+++ b/src/drivers/boards/px4fmu/px4fmu_led.c
@@ -41,7 +41,7 @@
 
 #include <stdbool.h>
 
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4fmu_internal.h"
 
 #include <arch/board/board.h>
diff --git a/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
index cb8918306..d85131dd8 100644
--- a/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
+++ b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/drivers/boards/px4fmu/px4fmu_spi.c b/src/drivers/boards/px4fmu/px4fmu_spi.c
index b5d00eac0..e05ddecf3 100644
--- a/src/drivers/boards/px4fmu/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu/px4fmu_spi.c
@@ -52,7 +52,7 @@
 
 #include "up_arch.h"
 #include "chip.h"
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4fmu_internal.h"
 
 /************************************************************************************
diff --git a/src/drivers/boards/px4fmu/px4fmu_usb.c b/src/drivers/boards/px4fmu/px4fmu_usb.c
index b0b669fbe..0be981c1e 100644
--- a/src/drivers/boards/px4fmu/px4fmu_usb.c
+++ b/src/drivers/boards/px4fmu/px4fmu_usb.c
@@ -52,7 +52,7 @@
 #include <nuttx/usb/usbdev_trace.h>
 
 #include "up_arch.h"
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4fmu_internal.h"
 
 /************************************************************************************
diff --git a/src/drivers/boards/px4io/px4io_init.c b/src/drivers/boards/px4io/px4io_init.c
index d36353c6f..15c59e423 100644
--- a/src/drivers/boards/px4io/px4io_init.c
+++ b/src/drivers/boards/px4io/px4io_init.c
@@ -54,7 +54,7 @@
 
 #include <nuttx/arch.h>
 
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4io_internal.h"
 #include "stm32_uart.h"
 
diff --git a/src/drivers/boards/px4io/px4io_internal.h b/src/drivers/boards/px4io/px4io_internal.h
index eb2820bb7..6638e715e 100644
--- a/src/drivers/boards/px4io/px4io_internal.h
+++ b/src/drivers/boards/px4io/px4io_internal.h
@@ -47,7 +47,7 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 
 /************************************************************************************
  * Definitions
diff --git a/src/drivers/boards/px4io/px4io_pwm_servo.c b/src/drivers/boards/px4io/px4io_pwm_servo.c
index a2f73c429..6df470da6 100644
--- a/src/drivers/boards/px4io/px4io_pwm_servo.c
+++ b/src/drivers/boards/px4io/px4io_pwm_servo.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index e50395e47..b34d3fa5d 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -37,7 +37,7 @@
  *
  * Driver for the Eagle Tree Airspeed V3 connected via I2C.
  */
-	 
+
 #include <nuttx/config.h>
 
 #include <drivers/device/i2c.h>
@@ -77,15 +77,16 @@
 #define PX4_I2C_BUS_DEFAULT		PX4_I2C_BUS_EXPANSION
 
 /* I2C bus address */
-#define I2C_ADDRESS		0x75	/* 7-bit address. 8-bit address is 0xEA */
+#define I2C_ADDRESS	0x75	/* 7-bit address. 8-bit address is 0xEA */
 
 /* Register address */
-#define READ_CMD		0x07		/* Read the data */
-	 
+#define READ_CMD	0x07	/* Read the data */
+
 /**
- * The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h. 
+ * The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h.
+ * You can set this value to 12 if you want a zero reading below 15km/h.
  */
-#define MIN_ACCURATE_DIFF_PRES_PA 12
+#define MIN_ACCURATE_DIFF_PRES_PA 0
 
 /* Measurement rate is 100Hz */
 #define CONVERSION_INTERVAL	(1000000 / 100)	/* microseconds */
@@ -105,38 +106,38 @@ class ETSAirspeed : public device::I2C
 public:
 	ETSAirspeed(int bus, int address = I2C_ADDRESS);
 	virtual ~ETSAirspeed();
-	
-	virtual int 		init();
-	
-	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
-	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
-	
+
+	virtual int	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();
-	
+	void		print_info();
+
 protected:
-	virtual int			probe();
+	virtual int	probe();
 
 private:
-	work_s						_work;
-	unsigned					_num_reports;
-	volatile unsigned			_next_report;
-	volatile unsigned			_oldest_report;
-	differential_pressure_s		*_reports;
-	bool						_sensor_ok;
-	int							_measure_ticks;
-	bool						_collect_phase;
-	int 						_diff_pres_offset;
-	
-	orb_advert_t				_airspeed_pub;
-
-	perf_counter_t				_sample_perf;
-	perf_counter_t				_comms_errors;
-	perf_counter_t				_buffer_overflows;
-
-	
+	work_s			_work;
+	unsigned		_num_reports;
+	volatile unsigned	_next_report;
+	volatile unsigned	_oldest_report;
+	differential_pressure_s	*_reports;
+	bool			_sensor_ok;
+	int			_measure_ticks;
+	bool			_collect_phase;
+	int			_diff_pres_offset;
+
+	orb_advert_t		_airspeed_pub;
+
+	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.
@@ -144,28 +145,28 @@ private:
 	* @param address	The I2C bus address to probe.
 	* @return		True if the device is present.
 	*/
-	int					probe_address(uint8_t address);
-	
+	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();
-	
+	void	start();
+
 	/**
 	* Stop the automatic measurement state machine.
 	*/
-	void				stop();
-	
+	void	stop();
+
 	/**
 	* Perform a poll cycle; collect from the previous measurement
 	* and start a new one.
 	*/
-	void				cycle();
-	int					measure();
-	int					collect();
+	void	cycle();
+	int	measure();
+	int	collect();
 
 	/**
 	* Static trampoline from the workq context; because we don't have a
@@ -173,9 +174,9 @@ private:
 	*
 	* @param arg		Instance pointer for the driver that is polling.
 	*/
-	static void		cycle_trampoline(void *arg);
-	
-	
+	static void	cycle_trampoline(void *arg);
+
+
 };
 
 /* helper macro for handling report buffer indices */
@@ -203,7 +204,7 @@ ETSAirspeed::ETSAirspeed(int bus, int address) :
 {
 	// enable debug() calls
 	_debug_enabled = true;
-	
+
 	// work_cancel in the dtor will explode if we don't do this...
 	memset(&_work, 0, sizeof(_work));
 }
@@ -230,6 +231,7 @@ ETSAirspeed::init()
 	/* allocate basic report buffers */
 	_num_reports = 2;
 	_reports = new struct differential_pressure_s[_num_reports];
+
 	for (unsigned i = 0; i < _num_reports; i++)
 		_reports[i].max_differential_pressure_pa = 0;
 
@@ -351,11 +353,11 @@ ETSAirspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case SENSORIOCGQUEUEDEPTH:
 		return _num_reports - 1;
-		
+
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;
-	
+
 	default:
 		/* give it to the superclass */
 		return I2C::ioctl(filp, cmd, arg);
@@ -432,14 +434,14 @@ ETSAirspeed::measure()
 	uint8_t cmd = READ_CMD;
 	ret = transfer(&cmd, 1, nullptr, 0);
 
-	if (OK != ret)
-	{
+	if (OK != ret) {
 		perf_count(_comms_errors);
 		log("i2c::transfer returned %d", ret);
 		return ret;
 	}
+
 	ret = OK;
-	
+
 	return ret;
 }
 
@@ -447,30 +449,31 @@ int
 ETSAirspeed::collect()
 {
 	int	ret = -EIO;
-	
+
 	/* read from the sensor */
 	uint8_t val[2] = {0, 0};
-	
+
 	perf_begin(_sample_perf);
-	
+
 	ret = transfer(nullptr, 0, &val[0], 2);
-	
+
 	if (ret < 0) {
 		log("error reading from sensor: %d", ret);
 		return ret;
 	}
-	
+
 	uint16_t diff_pres_pa = val[1] << 8 | val[0];
 
+	// XXX move the parameter read out of the driver.
 	param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);
-	
-	if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) { 
+	if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
 		diff_pres_pa = 0;
+
 	} else {
-		diff_pres_pa -= _diff_pres_offset;	
+		diff_pres_pa -= _diff_pres_offset;
 	}
 
-    // XXX we may want to smooth out the readings to remove noise.
+	// XXX we may want to smooth out the readings to remove noise.
 
 	_reports[_next_report].timestamp = hrt_absolute_time();
 	_reports[_next_report].differential_pressure_pa = diff_pres_pa;
@@ -498,7 +501,7 @@ ETSAirspeed::collect()
 	ret = OK;
 
 	perf_end(_sample_perf);
-	
+
 	return ret;
 }
 
@@ -511,17 +514,19 @@ ETSAirspeed::start()
 
 	/* schedule a cycle to start things */
 	work_queue(HPWORK, &_work, (worker_t)&ETSAirspeed::cycle_trampoline, this, 1);
-	
+
 	/* notify about state change */
 	struct subsystem_info_s info = {
 		true,
 		true,
 		true,
-		SUBSYSTEM_TYPE_DIFFPRESSURE};
+		SUBSYSTEM_TYPE_DIFFPRESSURE
+	};
 	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);
 	}
@@ -653,8 +658,7 @@ start(int i2c_bus)
 
 fail:
 
-	if (g_dev != nullptr) 
-	{
+	if (g_dev != nullptr) {
 		delete g_dev;
 		g_dev = nullptr;
 	}
@@ -668,15 +672,14 @@ fail:
 void
 stop()
 {
-	if (g_dev != nullptr)
-	{
+	if (g_dev != nullptr) {
 		delete g_dev;
 		g_dev = nullptr;
-	}
-	else
-	{
+
+	} else {
 		errx(1, "driver not running");
 	}
+
 	exit(0);
 }
 
@@ -773,10 +776,10 @@ info()
 } // namespace
 
 
-static void 
-ets_airspeed_usage() 
+static void
+ets_airspeed_usage()
 {
-	fprintf(stderr, "usage: ets_airspeed [options] command\n");
+	fprintf(stderr, "usage: ets_airspeed command [options]\n");
 	fprintf(stderr, "options:\n");
 	fprintf(stderr, "\t-b --bus i2cbus (%d)\n", PX4_I2C_BUS_DEFAULT);
 	fprintf(stderr, "command:\n");
@@ -789,6 +792,7 @@ ets_airspeed_main(int argc, char *argv[])
 	int i2c_bus = PX4_I2C_BUS_DEFAULT;
 
 	int i;
+
 	for (i = 1; i < argc; i++) {
 		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
 			if (argc > i + 1) {
@@ -802,12 +806,12 @@ ets_airspeed_main(int argc, char *argv[])
 	 */
 	if (!strcmp(argv[1], "start"))
 		ets_airspeed::start(i2c_bus);
-	
-	 /*
-	  * Stop the driver
-	  */
-	 if (!strcmp(argv[1], "stop"))
-		 ets_airspeed::stop();
+
+	/*
+	 * Stop the driver
+	 */
+	if (!strcmp(argv[1], "stop"))
+		ets_airspeed::stop();
 
 	/*
 	 * Test the driver/device.
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp
index d9aa772d4..bd027ce0b 100644
--- a/src/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
@@ -224,7 +224,7 @@ HIL::init()
 	// gpio_reset();
 
 	/* start the HIL interface task */
-	_task = task_spawn("fmuhil",
+	_task = task_spawn_cmd("fmuhil",
 			   SCHED_DEFAULT,
 			   SCHED_PRIORITY_DEFAULT,
 			   2048,
diff --git a/src/drivers/hott_telemetry/hott_telemetry_main.c b/src/drivers/hott_telemetry/hott_telemetry_main.c
index 1d2bdd92e..4699ce5bf 100644
--- a/src/drivers/hott_telemetry/hott_telemetry_main.c
+++ b/src/drivers/hott_telemetry/hott_telemetry_main.c
@@ -271,7 +271,7 @@ hott_telemetry_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn(daemon_name,
+		deamon_task = task_spawn_cmd(daemon_name,
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 40,
 					 2048,
diff --git a/src/drivers/hott_telemetry/messages.c b/src/drivers/hott_telemetry/messages.c
index 369070f8c..0ce56acef 100644
--- a/src/drivers/hott_telemetry/messages.c
+++ b/src/drivers/hott_telemetry/messages.c
@@ -44,6 +44,7 @@
 #include <string.h>
 #include <systemlib/geo/geo.h>
 #include <unistd.h>
+#include <uORB/topics/airspeed.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/sensor_combined.h>
@@ -56,6 +57,7 @@ static int battery_sub = -1;
 static int gps_sub = -1;
 static int home_sub = -1;
 static int sensor_sub = -1;
+static int airspeed_sub = -1;
 
 static bool home_position_set = false;
 static double home_lat = 0.0d;
@@ -68,6 +70,7 @@ messages_init(void)
 	gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
 	home_sub = orb_subscribe(ORB_ID(home_position));
 	sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 }
 
 void 
@@ -100,6 +103,16 @@ build_eam_response(uint8_t *buffer, size_t *size)
 	msg.altitude_L = (uint8_t)alt & 0xff;
 	msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;
 
+	/* get a local copy of the airspeed data */
+	struct airspeed_s airspeed;
+	memset(&airspeed, 0, sizeof(airspeed));
+	orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed);
+
+	uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s * 3.6f);
+	msg.speed_L = (uint8_t)speed & 0xff;
+	msg.speed_H = (uint8_t)(speed >> 8) & 0xff;
+    
+
 	msg.stop = STOP_BYTE;
 	memcpy(buffer, &msg, *size);
 }
diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp
index 80850e708..e62c46b0d 100644
--- a/src/drivers/md25/md25_main.cpp
+++ b/src/drivers/md25/md25_main.cpp
@@ -109,7 +109,7 @@ int md25_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn("md25",
+		deamon_task = task_spawn_cmd("md25",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 2048,
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index c67276f8a..b54b7aba1 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -313,7 +313,7 @@ MK::init(unsigned motors)
 	gpio_reset();
 
 	/* start the IO interface task */
-	_task = task_spawn("mkblctrl",
+	_task = task_spawn_cmd("mkblctrl",
 			   SCHED_DEFAULT,
 			   SCHED_PRIORITY_MAX - 20,
 			   2048,
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index e199a5998..ff99de02f 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -264,7 +264,7 @@ PX4FMU::init()
 	gpio_reset();
 
 	/* start the IO interface task */
-	_task = task_spawn("fmuservo",
+	_task = task_spawn_cmd("fmuservo",
 			   SCHED_DEFAULT,
 			   SCHED_PRIORITY_DEFAULT,
 			   2048,
diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp
index 911def943..1020eb946 100644
--- a/src/drivers/stm32/adc/adc.cpp
+++ b/src/drivers/stm32/adc/adc.cpp
@@ -58,7 +58,7 @@
 #include <drivers/drv_adc.h>
 
 #include <arch/stm32/chip.h>
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 
 #include <systemlib/err.h>
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index fd63681e3..7ef3db970 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -66,7 +66,7 @@
 #include "up_internal.h"
 #include "up_arch.h"
 
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "stm32_gpio.h"
 #include "stm32_tim.h"
 
@@ -278,8 +278,10 @@ static void		hrt_call_invoke(void);
 #ifdef CONFIG_HRT_PPM
 /* 
  * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
+ *
+ * Note that we assume that M3 means STM32F1 (since we don't really care about the F2).
  */
-# ifndef GTIM_CCER_CC1NP
+# ifdef CONFIG_ARCH_CORTEXM3
 #  define GTIM_CCER_CC1NP 0
 #  define GTIM_CCER_CC2NP 0
 #  define GTIM_CCER_CC3NP 0
diff --git a/src/drivers/stm32/drv_pwm_servo.c b/src/drivers/stm32/drv_pwm_servo.c
index c1efb8515..7b060412c 100644
--- a/src/drivers/stm32/drv_pwm_servo.c
+++ b/src/drivers/stm32/drv_pwm_servo.c
@@ -64,7 +64,7 @@
 #include <up_internal.h>
 #include <up_arch.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index ac5511e60..167ef30a8 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -111,7 +111,7 @@
 #include <up_internal.h>
 #include <up_arch.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>