Merged master into nuttx_bringup / nuttx_noappconfig

18 files changed, 89 insertions, 28 deletions

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/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h
index ee365e47c..2fd8bc724 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -105,6 +105,7 @@ __BEGIN_DECLS
 #define GPIO_SPI_CS_ACCEL_MAG	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
 #define GPIO_SPI_CS_BARO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
 #define GPIO_SPI_CS_FRAM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
+#define GPIO_SPI_CS_HMC		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1)
 #define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
 #define GPIO_SPI_CS_EXT0	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
 #define GPIO_SPI_CS_EXT1	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
@@ -119,6 +120,7 @@ __BEGIN_DECLS
 #define PX4_SPIDEV_ACCEL_MAG	2
 #define PX4_SPIDEV_BARO		3
 #define PX4_SPIDEV_MPU		4
+#define PX4_SPIDEV_HMC		5
 
 /* External bus */
 #define PX4_SPIDEV_EXT0		1
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
index 297ff406e..b98cd999b 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
@@ -73,6 +73,7 @@ __EXPORT void weak_function stm32_spiinitialize(void)
 	stm32_configgpio(GPIO_SPI_CS_GYRO);
 	stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
 	stm32_configgpio(GPIO_SPI_CS_BARO);
+	stm32_configgpio(GPIO_SPI_CS_HMC);
 	stm32_configgpio(GPIO_SPI_CS_MPU);
 
 	/* De-activate all peripherals,
@@ -82,6 +83,7 @@ __EXPORT void weak_function stm32_spiinitialize(void)
 	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 	stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
 	stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 
 	stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
@@ -117,6 +119,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
@@ -125,6 +128,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
@@ -133,6 +137,16 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		break;
+
+	case PX4_SPIDEV_HMC:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_HMC, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
@@ -141,6 +155,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
 		break;
 
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/hott/comms.h b/src/drivers/hott/comms.h
index f5608122f..0a586a8fd 100644
--- a/src/drivers/hott/comms.h
+++ b/src/drivers/hott/comms.h
@@ -41,6 +41,6 @@
 #ifndef COMMS_H_
 #define COMMS_H
 
-int open_uart(const char *device);
+__EXPORT int open_uart(const char *device);
 
 #endif /* COMMS_H_ */
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_sensors/module.mk b/src/drivers/hott/hott_sensors/module.mk
index 47aea6caf..25a6f0ac0 100644
--- a/src/drivers/hott/hott_sensors/module.mk
+++ b/src/drivers/hott/hott_sensors/module.mk
@@ -37,8 +37,6 @@
 
 MODULE_COMMAND	= hott_sensors
 
-SRCS		= hott_sensors.cpp \
-		  ../messages.cpp \
-		  ../comms.cpp
+SRCS		= hott_sensors.cpp
 
 MAXOPTIMIZATION	 = -Os
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/hott/hott_telemetry/module.mk b/src/drivers/hott/hott_telemetry/module.mk
index cd7bdbc85..9de47b356 100644
--- a/src/drivers/hott/hott_telemetry/module.mk
+++ b/src/drivers/hott/hott_telemetry/module.mk
@@ -37,8 +37,6 @@
 
 MODULE_COMMAND	= hott_telemetry
 
-SRCS		= hott_telemetry.cpp \
-		  ../messages.cpp \
-		  ../comms.cpp
+SRCS		= hott_telemetry.cpp
 
 MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/hott/messages.h b/src/drivers/hott/messages.h
index 224f8fc56..a116a50dd 100644
--- a/src/drivers/hott/messages.h
+++ b/src/drivers/hott/messages.h
@@ -235,15 +235,15 @@ struct gps_module_msg {
 // The maximum size of a message.
 #define MAX_MESSAGE_BUFFER_SIZE 45
 
-void init_sub_messages(void);
-void init_pub_messages(void);
-void build_gam_request(uint8_t *buffer, size_t *size);
-void publish_gam_message(const uint8_t *buffer);
-void build_eam_response(uint8_t *buffer, size_t *size);
-void build_gam_response(uint8_t *buffer, size_t *size);
-void build_gps_response(uint8_t *buffer, size_t *size);
-float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
-void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec);
+__EXPORT void init_sub_messages(void);
+__EXPORT void init_pub_messages(void);
+__EXPORT void build_gam_request(uint8_t *buffer, size_t *size);
+__EXPORT void publish_gam_message(const uint8_t *buffer);
+__EXPORT void build_eam_response(uint8_t *buffer, size_t *size);
+__EXPORT void build_gam_response(uint8_t *buffer, size_t *size);
+__EXPORT void build_gps_response(uint8_t *buffer, size_t *size);
+__EXPORT float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
+__EXPORT void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec);
 
 
 #endif /* MESSAGES_H_ */
diff --git a/src/drivers/hott/module.mk b/src/drivers/hott/module.mk
new file mode 100644
index 000000000..31a66d491
--- /dev/null
+++ b/src/drivers/hott/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Graupner HoTT Sensors messages.
+#
+
+SRCS		= messages.cpp \
+			  comms.cpp
+
+MAXOPTIMIZATION	 = -Os
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 09ec4bf96..62308fc65 100644
--- a/src/drivers/px4flow/px4flow.cpp
+++ b/src/drivers/px4flow/px4flow.cpp
@@ -106,7 +106,7 @@ struct i2c_frame {
 };
 struct i2c_frame f;
 
-typedef struct i2c_integral_frame {
+struct i2c_integral_frame {
 	uint16_t frame_count_since_last_readout;
 	int16_t pixel_flow_x_integral;
 	int16_t pixel_flow_y_integral;
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 4301750f0..8e62e0d4b 100644
--- a/src/drivers/sf0x/sf0x.cpp
+++ b/src/drivers/sf0x/sf0x.cpp
@@ -90,7 +90,9 @@ static const int ERROR = -1;
 #define SF0X_TAKE_RANGE_REG		'd'
 #define SF02F_MIN_DISTANCE		0.0f
 #define SF02F_MAX_DISTANCE		40.0f
-#define SF0X_DEFAULT_PORT		"/dev/ttyS2"
+
+// designated SERIAL4/5 on Pixhawk
+#define SF0X_DEFAULT_PORT		"/dev/ttyS6"
 
 class SF0X : public device::CDev
 {
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/trone.cpp b/src/drivers/trone/trone.cpp
index 83b5c987e..cf3546669 100644
--- a/src/drivers/trone/trone.cpp
+++ b/src/drivers/trone/trone.cpp
@@ -206,7 +206,7 @@ static const uint8_t crc_table[] = {
     0xfa, 0xfd, 0xf4, 0xf3
 };
 
-uint8_t crc8(uint8_t *p, uint8_t len){
+static uint8_t crc8(uint8_t *p, uint8_t len) {
         uint16_t i;
         uint16_t crc = 0x0;