Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge_attctlposctl

4 files changed, 55 insertions, 37 deletions

diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index 077bc47c9..9f13edb18 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -36,7 +36,7 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  * @author Julian Oes <joes@student.ethz.ch>
  *
- * config tool.
+ * config tool. Takes the device name as the first parameter.
  */
 
 #include <nuttx/config.h>
@@ -71,18 +71,18 @@ int
 config_main(int argc, char *argv[])
 {
 	if (argc >= 2) {
-		if (!strcmp(argv[1], "gyro")) {
-			do_gyro(argc - 2, argv + 2);
-		} else if (!strcmp(argv[1], "accel")) {
-			do_accel(argc - 2, argv + 2);
-		} else if (!strcmp(argv[1], "mag")) {
-			do_mag(argc - 2, argv + 2);
+		if (!strncmp(argv[1], "/dev/gyro",9)) {
+			do_gyro(argc - 1, argv + 1);
+		} else if (!strncmp(argv[1], "/dev/accel",10)) {
+			do_accel(argc - 1, argv + 1);
+		} else if (!strncmp(argv[1], "/dev/mag",8)) {
+			do_mag(argc - 1, argv + 1);
 		} else {
 			do_device(argc - 1, argv + 1);
 		}
 	}
 	
-	errx(1, "expected a command, try 'gyro', 'accel', 'mag'");
+	errx(1, "expected a device, try '/dev/gyro', '/dev/accel', '/dev/mag'");
 }
 
 static void
@@ -133,41 +133,41 @@ do_gyro(int argc, char *argv[])
 {
 	int	fd;
 
-	fd = open(GYRO_DEVICE_PATH, 0);
+	fd = open(argv[0], 0);
 
 	if (fd < 0) {
-		warn("%s", GYRO_DEVICE_PATH);
+		warn("%s", argv[0]);
 		errx(1, "FATAL: no gyro found");
 
 	} else {
 
 		int ret;
 
-		if (argc == 2 && !strcmp(argv[0], "sampling")) {
+		if (argc == 3 && !strcmp(argv[1], "sampling")) {
 
 			/* set the gyro internal sampling rate up to at least i Hz */
-			ret = ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
+			ret = ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[2], NULL, 0));
 
 			if (ret)
 				errx(ret,"sampling rate could not be set");
 
-		} else if (argc == 2 && !strcmp(argv[0], "rate")) {
+		} else if (argc == 3 && !strcmp(argv[1], "rate")) {
 
 			/* set the driver to poll at i Hz */
-			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
+			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));
 
 			if (ret)
 				errx(ret,"pollrate could not be set");
 
-		} else if (argc == 2 && !strcmp(argv[0], "range")) {
+		} else if (argc == 3 && !strcmp(argv[1], "range")) {
 
 			/* set the range to i dps */
-			ret = ioctl(fd, GYROIOCSRANGE, strtoul(argv[1], NULL, 0));
+			ret = ioctl(fd, GYROIOCSRANGE, strtoul(argv[2], NULL, 0));
 
 			if (ret)
 				errx(ret,"range could not be set");
 
-		} else if (argc == 1 && !strcmp(argv[0], "check")) {
+		} else if (argc == 2 && !strcmp(argv[1], "check")) {
 			ret = ioctl(fd, GYROIOCSELFTEST, 0);
 
 			if (ret) {
@@ -206,41 +206,41 @@ do_mag(int argc, char *argv[])
 {
 	int fd;
 
-	fd = open(MAG_DEVICE_PATH, 0);
+	fd = open(argv[0], 0);
 
 	if (fd < 0) {
-		warn("%s", MAG_DEVICE_PATH);
+		warn("%s", argv[0]);
 		errx(1, "FATAL: no magnetometer found");
 
 	} else {
 
 		int ret;
 
-		if (argc == 2 && !strcmp(argv[0], "sampling")) {
+		if (argc == 3 && !strcmp(argv[1], "sampling")) {
 
 			/* set the mag internal sampling rate up to at least i Hz */
-			ret = ioctl(fd, MAGIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
+			ret = ioctl(fd, MAGIOCSSAMPLERATE, strtoul(argv[2], NULL, 0));
 
 			if (ret)
 				errx(ret,"sampling rate could not be set");
 
-		} else if (argc == 2 && !strcmp(argv[0], "rate")) {
+		} else if (argc == 3 && !strcmp(argv[1], "rate")) {
 
 			/* set the driver to poll at i Hz */
-			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
+			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));
 
 			if (ret)
 				errx(ret,"pollrate could not be set");
 
-		} else if (argc == 2 && !strcmp(argv[0], "range")) {
+		} else if (argc == 3 && !strcmp(argv[1], "range")) {
 
 			/* set the range to i G */
-			ret = ioctl(fd, MAGIOCSRANGE, strtoul(argv[1], NULL, 0));
+			ret = ioctl(fd, MAGIOCSRANGE, strtoul(argv[2], NULL, 0));
 
 			if (ret)
 				errx(ret,"range could not be set");
 
-		} else if(argc == 1 && !strcmp(argv[0], "check")) {
+		} else if(argc == 2 && !strcmp(argv[1], "check")) {
 			ret = ioctl(fd, MAGIOCSELFTEST, 0);
 
 			if (ret) {
@@ -282,41 +282,41 @@ do_accel(int argc, char *argv[])
 {
 	int	fd;
 
-	fd = open(ACCEL_DEVICE_PATH, 0);
+	fd = open(argv[0], 0);
 
 	if (fd < 0) {
-		warn("%s", ACCEL_DEVICE_PATH);
+		warn("%s", argv[0]);
 		errx(1, "FATAL: no accelerometer found");
 
 	} else {
 
 		int ret;
 
-		if (argc == 2 && !strcmp(argv[0], "sampling")) {
+		if (argc == 3 && !strcmp(argv[1], "sampling")) {
 
 			/* set the accel internal sampling rate up to at least i Hz */
-			ret = ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
+			ret = ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[2], NULL, 0));
 
 			if (ret)
 				errx(ret,"sampling rate could not be set");
 
-		} else if (argc == 2 && !strcmp(argv[0], "rate")) {
+		} else if (argc == 3 && !strcmp(argv[1], "rate")) {
 
 			/* set the driver to poll at i Hz */
-			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
+			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));
 
 			if (ret)
 				errx(ret,"pollrate could not be set");
 
-		} else if (argc == 2 && !strcmp(argv[0], "range")) {
+		} else if (argc == 3 && !strcmp(argv[1], "range")) {
 
 			/* set the range to i G */
-			ret = ioctl(fd, ACCELIOCSRANGE, strtoul(argv[1], NULL, 0));
+			ret = ioctl(fd, ACCELIOCSRANGE, strtoul(argv[2], NULL, 0));
 
 			if (ret)
 				errx(ret,"range could not be set");
 
-		} else if(argc == 1 && !strcmp(argv[0], "check")) {
+		} else if(argc == 2 && !strcmp(argv[1], "check")) {
 			ret = ioctl(fd, ACCELIOCSELFTEST, 0);
 
 			if (ret) {
diff --git a/src/systemcmds/nshterm/module.mk b/src/systemcmds/nshterm/module.mk
index a12bc369e..4e2710572 100644
--- a/src/systemcmds/nshterm/module.mk
+++ b/src/systemcmds/nshterm/module.mk
@@ -38,7 +38,7 @@
 MODULE_COMMAND	 = nshterm
 SRCS		 = nshterm.c
 
-MODULE_STACKSIZE = 1600
+MODULE_STACKSIZE = 1500
 
 MAXOPTIMIZATION	 = -Os
 
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
index ceaea35b6..50547a562 100644
--- a/src/systemcmds/nshterm/nshterm.c
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -50,6 +50,7 @@
 #include <apps/nsh.h>
 #include <fcntl.h>
 #include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
 
 #include <uORB/topics/actuator_armed.h>
 
@@ -67,6 +68,11 @@ nshterm_main(int argc, char *argv[])
     int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
     struct actuator_armed_s armed;
 
+    /* back off 800 ms to avoid running into the USB setup timing */
+    while (hrt_absolute_time() < 800U * 1000U) {
+        usleep(50000);
+    }
+
     /* try to bring up the console - stop doing so if the system gets armed */
     while (true) {
 
diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c
index 2ead3e632..087eb52e3 100644
--- a/src/systemcmds/ver/ver.c
+++ b/src/systemcmds/ver/ver.c
@@ -54,6 +54,7 @@ static const char sz_ver_bdate_str[] = "bdate";
 static const char sz_ver_gcc_str[] 	= "gcc";
 static const char sz_ver_all_str[] 	= "all";
 static const char mcu_ver_str[]		= "mcu";
+static const char mcu_uid_str[]		= "uid";
 
 static void usage(const char *reason)
 {
@@ -61,7 +62,7 @@ static void usage(const char *reason)
 		printf("%s\n", reason);
 	}
 
-	printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu}\n\n");
+	printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu|uid}\n\n");
 }
 
 __EXPORT int ver_main(int argc, char *argv[]);
@@ -141,6 +142,17 @@ int ver_main(int argc, char *argv[])
 				ret = 0;
 			}
 
+			if (show_all || !strncmp(argv[1], mcu_uid_str, sizeof(mcu_uid_str))) {
+				uint32_t uid[3];
+
+				mcu_unique_id(uid);
+
+				printf("UID: %X:%X:%X \n",uid[0],uid[1],uid[2]);
+
+				ret = 0;
+			}
+
+
 			if (ret == 1) {
 				errx(1, "unknown command.\n");
 			}