Linux: Added config and stubs to compile I2C device for Linux

Not yet functional. Full implementation will provide an IOCTL interface to
do bi-directional transfer. will model the interface after Linux.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

9 files changed, 321 insertions, 503 deletions

diff --git a/src/drivers/device/i2c.h b/src/drivers/device/i2c.h
index 97ab25672..fb0be9bd5 100644
--- a/src/drivers/device/i2c.h
+++ b/src/drivers/device/i2c.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -30,124 +30,10 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
+#pragma once
 
-/**
- * @file i2c.h
- *
- * Base class for devices connected via I2C.
- */
-
-#ifndef _DEVICE_I2C_H
-#define _DEVICE_I2C_H
-
-#include "device.h"
-
-#include <px4_i2c.h>
-
-namespace device __EXPORT
-{
-
-/**
- * Abstract class for character device on I2C
- */
-class __EXPORT I2C : public CDev
-{
-
-public:
-
-	/**
-	 * Get the address
-	 */
-	int16_t		get_address() const { return _address; }
-
-	static int	set_bus_clock(unsigned bus, unsigned clock_hz);
-
-	static unsigned	int	_bus_clocks[3];
-
-protected:
-	/**
-	 * The number of times a read or write operation will be retried on
-	 * error.
-	 */
-	unsigned		_retries;
-
-	/**
-	 * The I2C bus number the device is attached to.
-	 */
-	int			_bus;
-
-	/**
-	 * @ Constructor
-	 *
-	 * @param name		Driver name
-	 * @param devname	Device node name
-	 * @param bus		I2C bus on which the device lives
-	 * @param address	I2C bus address, or zero if set_address will be used
-	 * @param frequency	I2C bus frequency for the device (currently not used)
-	 * @param irq		Interrupt assigned to the device (or zero if none)
-	 */
-	I2C(const char *name,
-	    const char *devname,
-	    int bus,
-	    uint16_t address,
-	    uint32_t frequency,
-	    int irq = 0);
-	virtual ~I2C();
-
-	virtual int	init();
-
-	/**
-	 * Check for the presence of the device on the bus.
-	 */
-	virtual int	probe();
-
-	/**
-	 * Perform an I2C transaction to the device.
-	 *
-	 * At least one of send_len and recv_len must be non-zero.
-	 *
-	 * @param send		Pointer to bytes to send.
-	 * @param send_len	Number of bytes to send.
-	 * @param recv		Pointer to buffer for bytes received.
-	 * @param recv_len	Number of bytes to receive.
-	 * @return		OK if the transfer was successful, -errno
-	 *			otherwise.
-	 */
-	int		transfer(const uint8_t *send, unsigned send_len,
-				 uint8_t *recv, unsigned recv_len);
-
-	/**
-	 * Perform a multi-part I2C transaction to the device.
-	 *
-	 * @param msgv		An I2C message vector.
-	 * @param msgs		The number of entries in the message vector.
-	 * @return		OK if the transfer was successful, -errno
-	 *			otherwise.
-	 */
-	int		transfer(px4_i2c_msg_t *msgv, unsigned msgs);
-
-	/**
-	 * Change the bus address.
-	 *
-	 * Most often useful during probe() when the driver is testing
-	 * several possible bus addresses.
-	 *
-	 * @param address	The new bus address to set.
-	 */
-	void		set_address(uint16_t address) {
-		_address = address;
-		_device_id.devid_s.address = _address;
-	}
-
-private:
-	uint16_t		_address;
-	uint32_t		_frequency;
-	px4_i2c_dev_t		*_dev;
-
-	I2C(const device::I2C &);
-	I2C operator=(const device::I2C &);
-};
-
-} // namespace device
-
-#endif /* _DEVICE_I2C_H */
+#ifdef __PX4_NUTTX
+#include "i2c_nuttx.h"
+#else
+#include "i2c_linux.h"
+#endif
diff --git a/src/drivers/device/i2c_linux.cpp b/src/drivers/device/i2c_linux.cpp
index 4ab3ff172..52f336b3a 100644
--- a/src/drivers/device/i2c_linux.cpp
+++ b/src/drivers/device/i2c_linux.cpp
@@ -51,8 +51,7 @@ I2C::I2C(const char *name,
 	 const char *devname,
 	 int bus,
 	 uint16_t address,
-	 uint32_t frequency,
-	 int irq) :
+	 uint32_t frequency) :
 	// base class
 	CDev(name, devname),
 	// public
diff --git a/src/drivers/device/i2c_linux.h b/src/drivers/device/i2c_linux.h
new file mode 100644
index 000000000..3de6c9658
--- /dev/null
+++ b/src/drivers/device/i2c_linux.h
@@ -0,0 +1,152 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 i2c.h
+ *
+ * Base class for devices connected via I2C.
+ */
+
+#ifndef _DEVICE_I2C_H
+#define _DEVICE_I2C_H
+
+#include "device.h"
+
+#include <px4_i2c.h>
+
+namespace device __EXPORT
+{
+
+/**
+ * Abstract class for character device on I2C
+ */
+class __EXPORT I2C : public CDev
+{
+
+public:
+
+	/**
+	 * Get the address
+	 */
+	int16_t		get_address() const { return _address; }
+
+	static int	set_bus_clock(unsigned bus, unsigned clock_hz);
+
+	static unsigned	int	_bus_clocks[3];
+	
+protected:
+	/**
+	 * The number of times a read or write operation will be retried on
+	 * error.
+	 */
+	unsigned		_retries;
+
+	/**
+	 * The I2C bus number the device is attached to.
+	 */
+	int			_bus;
+
+	/**
+	 * @ Constructor
+	 *
+	 * @param name		Driver name
+	 * @param devname	Device node name
+	 * @param bus		I2C bus on which the device lives
+	 * @param address	I2C bus address, or zero if set_address will be used
+	 * @param frequency	I2C bus frequency for the device (currently not used)
+	 * @param irq		Interrupt assigned to the device (or zero if none)
+	 */
+	I2C(const char *name,
+	    const char *devname,
+	    int bus,
+	    uint16_t address,
+	    uint32_t frequency);
+	virtual ~I2C();
+
+	virtual int	init();
+
+	/**
+	 * Check for the presence of the device on the bus.
+	 */
+	virtual int	probe();
+
+	/**
+	 * Perform an I2C transaction to the device.
+	 *
+	 * At least one of send_len and recv_len must be non-zero.
+	 *
+	 * @param send		Pointer to bytes to send.
+	 * @param send_len	Number of bytes to send.
+	 * @param recv		Pointer to buffer for bytes received.
+	 * @param recv_len	Number of bytes to receive.
+	 * @return		OK if the transfer was successful, -errno
+	 *			otherwise.
+	 */
+	int		transfer(const uint8_t *send, unsigned send_len,
+				 uint8_t *recv, unsigned recv_len);
+
+	/**
+	 * Perform a multi-part I2C transaction to the device.
+	 *
+	 * @param msgv		An I2C message vector.
+	 * @param msgs		The number of entries in the message vector.
+	 * @return		OK if the transfer was successful, -errno
+	 *			otherwise.
+	 */
+	int		transfer(px4_i2c_msg_t *msgv, unsigned msgs);
+
+	/**
+	 * Change the bus address.
+	 *
+	 * Most often useful during probe() when the driver is testing
+	 * several possible bus addresses.
+	 *
+	 * @param address	The new bus address to set.
+	 */
+	void		set_address(uint16_t address) {
+		_address = address;
+		_device_id.devid_s.address = _address;
+	}
+
+private:
+	uint16_t		_address;
+	uint32_t		_frequency;
+	px4_i2c_dev_t		*_dev;
+
+	I2C(const device::I2C&);
+	I2C operator=(const device::I2C&);
+};
+
+} // namespace device
+
+#endif /* _DEVICE_I2C_H */
diff --git a/src/drivers/device/i2c_nuttx.h b/src/drivers/device/i2c_nuttx.h
new file mode 100644
index 000000000..97ab25672
--- /dev/null
+++ b/src/drivers/device/i2c_nuttx.h
@@ -0,0 +1,153 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 i2c.h
+ *
+ * Base class for devices connected via I2C.
+ */
+
+#ifndef _DEVICE_I2C_H
+#define _DEVICE_I2C_H
+
+#include "device.h"
+
+#include <px4_i2c.h>
+
+namespace device __EXPORT
+{
+
+/**
+ * Abstract class for character device on I2C
+ */
+class __EXPORT I2C : public CDev
+{
+
+public:
+
+	/**
+	 * Get the address
+	 */
+	int16_t		get_address() const { return _address; }
+
+	static int	set_bus_clock(unsigned bus, unsigned clock_hz);
+
+	static unsigned	int	_bus_clocks[3];
+
+protected:
+	/**
+	 * The number of times a read or write operation will be retried on
+	 * error.
+	 */
+	unsigned		_retries;
+
+	/**
+	 * The I2C bus number the device is attached to.
+	 */
+	int			_bus;
+
+	/**
+	 * @ Constructor
+	 *
+	 * @param name		Driver name
+	 * @param devname	Device node name
+	 * @param bus		I2C bus on which the device lives
+	 * @param address	I2C bus address, or zero if set_address will be used
+	 * @param frequency	I2C bus frequency for the device (currently not used)
+	 * @param irq		Interrupt assigned to the device (or zero if none)
+	 */
+	I2C(const char *name,
+	    const char *devname,
+	    int bus,
+	    uint16_t address,
+	    uint32_t frequency,
+	    int irq = 0);
+	virtual ~I2C();
+
+	virtual int	init();
+
+	/**
+	 * Check for the presence of the device on the bus.
+	 */
+	virtual int	probe();
+
+	/**
+	 * Perform an I2C transaction to the device.
+	 *
+	 * At least one of send_len and recv_len must be non-zero.
+	 *
+	 * @param send		Pointer to bytes to send.
+	 * @param send_len	Number of bytes to send.
+	 * @param recv		Pointer to buffer for bytes received.
+	 * @param recv_len	Number of bytes to receive.
+	 * @return		OK if the transfer was successful, -errno
+	 *			otherwise.
+	 */
+	int		transfer(const uint8_t *send, unsigned send_len,
+				 uint8_t *recv, unsigned recv_len);
+
+	/**
+	 * Perform a multi-part I2C transaction to the device.
+	 *
+	 * @param msgv		An I2C message vector.
+	 * @param msgs		The number of entries in the message vector.
+	 * @return		OK if the transfer was successful, -errno
+	 *			otherwise.
+	 */
+	int		transfer(px4_i2c_msg_t *msgv, unsigned msgs);
+
+	/**
+	 * Change the bus address.
+	 *
+	 * Most often useful during probe() when the driver is testing
+	 * several possible bus addresses.
+	 *
+	 * @param address	The new bus address to set.
+	 */
+	void		set_address(uint16_t address) {
+		_address = address;
+		_device_id.devid_s.address = _address;
+	}
+
+private:
+	uint16_t		_address;
+	uint32_t		_frequency;
+	px4_i2c_dev_t		*_dev;
+
+	I2C(const device::I2C &);
+	I2C operator=(const device::I2C &);
+};
+
+} // namespace device
+
+#endif /* _DEVICE_I2C_H */
diff --git a/src/drivers/ms5611/ms5611_linux.cpp b/src/drivers/ms5611/ms5611_linux.cpp
index 7f020c6c3..e914dfaec 100644
--- a/src/drivers/ms5611/ms5611_linux.cpp
+++ b/src/drivers/ms5611/ms5611_linux.cpp
@@ -890,6 +890,7 @@ start_bus(struct ms5611_bus_option &bus)
 	if (bus.dev != nullptr && OK != bus.dev->init()) {
 		delete bus.dev;
 		bus.dev = NULL;
+		warnx("bus init failed %p", bus.dev);
 		return false;
 	}
 			
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 216abe954..3153255b3 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -32,383 +32,8 @@
  ****************************************************************************/
 #pragma once
 
-<<<<<<< HEAD
-#include <stdbool.h>
-#include <nuttx/fs/fs.h>
-#include <systemlib/param/param.h>
-#include <systemlib/perf_counter.h>
-#include <pthread.h>
-#include <mavlink/mavlink_log.h>
-
-#include <uORB/uORB.h>
-#include <uORB/topics/mission.h>
-#include <uORB/topics/mission_result.h>
-#include <uORB/topics/telemetry_status.h>
-
-#include "mavlink_bridge_header.h"
-#include "mavlink_orb_subscription.h"
-#include "mavlink_stream.h"
-#include "mavlink_messages.h"
-#include "mavlink_mission.h"
-#include "mavlink_parameters.h"
-
-class Mavlink
-{
-
-public:
-	/**
-	 * Constructor
-	 */
-	Mavlink();
-
-	/**
-	 * Destructor, also kills the mavlinks task.
-	 */
-	~Mavlink();
-
-	/**
-	* Start the mavlink task.
-	 *
-	 * @return		OK on success.
-	 */
-	static int		start(int argc, char *argv[]);
-
-	/**
-	 * Display the mavlink status.
-	 */
-	void			display_status();
-
-	static int		stream_command(int argc, char *argv[]);
-
-	static int		instance_count();
-
-	static Mavlink		*new_instance();
-
-	static Mavlink		*get_instance(unsigned instance);
-
-	static Mavlink		*get_instance_for_device(const char *device_name);
-
-	static int		destroy_all_instances();
-
-	static int		get_status_all_instances();
-
-	static bool		instance_exists(const char *device_name, Mavlink *self);
-
-	static void		forward_message(const mavlink_message_t *msg, Mavlink *self);
-
-	static int		get_uart_fd(unsigned index);
-
-	int			get_uart_fd();
-
-	/**
-	 * Get the MAVLink system id.
-	 *
-	 * @return		The system ID of this vehicle
-	 */
-	int			get_system_id();
-
-	/**
-	 * Get the MAVLink component id.
-	 *
-	 * @return		The component ID of this vehicle
-	 */
-	int			get_component_id();
-
-	const char *_device_name;
-
-	enum MAVLINK_MODE {
-		MAVLINK_MODE_NORMAL = 0,
-		MAVLINK_MODE_CUSTOM,
-		MAVLINK_MODE_ONBOARD
-	};
-
-	void			set_mode(enum MAVLINK_MODE);
-	enum MAVLINK_MODE	get_mode() { return _mode; }
-
-	bool			get_hil_enabled() { return _hil_enabled; }
-
-	bool			get_use_hil_gps() { return _use_hil_gps; }
-
-	bool			get_forward_externalsp() { return _forward_externalsp; }
-
-	bool			get_flow_control_enabled() { return _flow_control_enabled; }
-
-	bool			get_forwarding_on() { return _forwarding_on; }
-
-	/**
-	 * Get the free space in the transmit buffer
-	 *
-	 * @return free space in the UART TX buffer
-	 */
-	unsigned		get_free_tx_buf();
-
-	static int		start_helper(int argc, char *argv[]);
-
-	/**
-	 * Handle parameter related messages.
-	 */
-	void			mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
-
-	void			get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
-
-	/**
-	 * Enable / disable Hardware in the Loop simulation mode.
-	 *
-	 * @param hil_enabled	The new HIL enable/disable state.
-	 * @return		OK if the HIL state changed, ERROR if the
-	 *			requested change could not be made or was
-	 *			redundant.
-	 */
-	int			set_hil_enabled(bool hil_enabled);
-
-	void			send_message(const uint8_t msgid, const void *msg, uint8_t component_ID = 0);
-
-	/**
-	 * Resend message as is, don't change sequence number and CRC.
-	 */
-	void			resend_message(mavlink_message_t *msg);
-
-	void			handle_message(const mavlink_message_t *msg);
-
-	MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic, int instance=0);
-
-	int			get_instance_id();
-
-	/**
-	 * Enable / disable hardware flow control.
-	 *
-	 * @param enabled	True if hardware flow control should be enabled
-	 */
-	int			enable_flow_control(bool enabled);
-
-	mavlink_channel_t	get_channel();
-
-	void			configure_stream_threadsafe(const char *stream_name, float rate);
-
-	bool			_task_should_exit;	/**< if true, mavlink task should exit */
-
-	int			get_mavlink_fd() { return _mavlink_fd; }
-
-	/**
-	 * Send a status text with loglevel INFO
-	 *
-	 * @param string the message to send (will be capped by mavlink max string length)
-	 */
-	void			send_statustext_info(const char *string);
-
-	/**
-	 * Send a status text with loglevel CRITICAL
-	 *
-	 * @param string the message to send (will be capped by mavlink max string length)
-	 */
-	void			send_statustext_critical(const char *string);
-
-	/**
-	 * Send a status text with loglevel EMERGENCY
-	 *
-	 * @param string the message to send (will be capped by mavlink max string length)
-	 */
-	void			send_statustext_emergency(const char *string);
-
-	/**
-	 * Send a status text with loglevel, the difference from mavlink_log_xxx() is that message sent
-	 * only on this mavlink connection. Useful for reporting communication specific, not system-wide info
-	 * only to client interested in it. Message will be not sent immediately but queued in buffer as
-	 * for mavlink_log_xxx().
-	 *
-	 * @param string the message to send (will be capped by mavlink max string length)
-	 * @param severity the log level
-	 */
-	void			send_statustext(unsigned char severity, const char *string);
-
-	MavlinkStream *		get_streams() const { return _streams; }
-
-	float			get_rate_mult();
-
-	/* Functions for waiting to start transmission until message received. */
-	void			set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
-	bool			get_has_received_messages() { return _received_messages; }
-	void			set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; }
-	bool			get_wait_to_transmit() { return _wait_to_transmit; }
-	bool			should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); }
-
-	bool			message_buffer_write(const void *ptr, int size);
-
-	void			lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
-	void			unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
-
-	/**
-	 * Count a transmision error
-	 */
-	void			count_txerr();
-
-	/**
-	 * Count transmitted bytes
-	 */
-	void			count_txbytes(unsigned n) { _bytes_tx += n; };
-
-	/**
-	 * Count bytes not transmitted because of errors
-	 */
-	void			count_txerrbytes(unsigned n) { _bytes_txerr += n; };
-
-	/**
-	 * Count received bytes
-	 */
-	void			count_rxbytes(unsigned n) { _bytes_rx += n; };
-
-	/**
-	 * Get the receive status of this MAVLink link
-	 */
-	struct telemetry_status_s&	get_rx_status() { return _rstatus; }
-
-	struct mavlink_logbuffer	*get_logbuffer() { return &_logbuffer; }
-
-	unsigned		get_system_type() { return _system_type; }
-
-protected:
-	Mavlink			*next;
-
-private:
-	int			_instance_id;
-
-	int			_mavlink_fd;
-	bool			_task_running;
-
-	/* states */
-	bool			_hil_enabled;		/**< Hardware In the Loop mode */
-	bool			_use_hil_gps;		/**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
-	bool			_forward_externalsp;	/**< Forward external setpoint messages to controllers directly if in offboard mode */
-	bool			_is_usb_uart;		/**< Port is USB */
-	bool        		_wait_to_transmit;  	/**< Wait to transmit until received messages. */
-	bool        		_received_messages;	/**< Whether we've received valid mavlink messages. */
-
-	unsigned		_main_loop_delay;	/**< mainloop delay, depends on data rate */
-
-	MavlinkOrbSubscription	*_subscriptions;
-	MavlinkStream		*_streams;
-
-	MavlinkMissionManager	*_mission_manager;
-	MavlinkParametersManager *_parameters_manager;
-
-	MAVLINK_MODE 		_mode;
-
-	mavlink_channel_t	_channel;
-
-	struct mavlink_logbuffer _logbuffer;
-	unsigned int		_total_counter;
-
-	pthread_t		_receive_thread;
-
-	bool			_verbose;
-	bool			_forwarding_on;
-	bool			_passing_on;
-	bool			_ftp_on;
-	int			_uart_fd;
-	int			_baudrate;
-	int			_datarate;		///< data rate for normal streams (attitude, position, etc.)
-	int			_datarate_events;	///< data rate for params, waypoints, text messages
-	float			_rate_mult;
-
-	/**
-	 * If the queue index is not at 0, the queue sending
-	 * logic will send parameters from the current index
-	 * to len - 1, the end of the param list.
-	 */
-	unsigned int		_mavlink_param_queue_index;
-
-	bool			mavlink_link_termination_allowed;
-
-	char 			*_subscribe_to_stream;
-	float			_subscribe_to_stream_rate;
-
-	bool			_flow_control_enabled;
-	uint64_t		_last_write_success_time;
-	uint64_t		_last_write_try_time;
-
-	unsigned		_bytes_tx;
-	unsigned		_bytes_txerr;
-	unsigned		_bytes_rx;
-	uint64_t		_bytes_timestamp;
-	float			_rate_tx;
-	float			_rate_txerr;
-	float			_rate_rx;
-
-	struct telemetry_status_s	_rstatus;			///< receive status
-
-	struct mavlink_message_buffer {
-		int write_ptr;
-		int read_ptr;
-		int size;
-		char *data;
-	};
-
-	mavlink_message_buffer	_message_buffer;
-
-	pthread_mutex_t		_message_buffer_mutex;
-	pthread_mutex_t		_send_mutex;
-
-	bool			_param_initialized;
-	param_t			_param_system_id;
-	param_t			_param_component_id;
-	param_t			_param_system_type;
-	param_t			_param_use_hil_gps;
-	param_t			_param_forward_externalsp;
-
-	unsigned		_system_type;
-
-	perf_counter_t		_loop_perf;			/**< loop performance counter */
-	perf_counter_t		_txerr_perf;			/**< TX error counter */
-
-	void			mavlink_update_system();
-
-	int			mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
-
-	static unsigned int	interval_from_rate(float rate);
-
-	int configure_stream(const char *stream_name, const float rate);
-
-	/**
-	 * Adjust the stream rates based on the current rate
-	 *
-	 * @param multiplier if greater than 1, the transmission rate will increase, if smaller than one decrease
-	 */
-	void adjust_stream_rates(const float multiplier);
-
-	int message_buffer_init(int size);
-
-	void message_buffer_destroy();
-
-	int message_buffer_count();
-
-	int message_buffer_is_empty();
-
-	int message_buffer_get_ptr(void **ptr, bool *is_part);
-
-	void message_buffer_mark_read(int n);
-
-	void pass_message(const mavlink_message_t *msg);
-
-	/**
-	 * Update rate mult so total bitrate will be equal to _datarate.
-	 */
-	void update_rate_mult();
-
-	static int	mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
-
-	/**
-	 * Main mavlink task.
-	 */
-	int		task_main(int argc, char *argv[]);
-
-	/* do not allow copying this class */
-	Mavlink(const Mavlink&);
-	Mavlink operator=(const Mavlink&);
-};
-=======
 #ifdef __PX4_NUTTX
 #include "mavlink_main_nuttx.h"
 #else
 #include "mavlink_main_linux.h"
 #endif
->>>>>>> Support for building more modules with Linux
diff --git a/src/modules/mavlink/mavlink_main_linux.cpp b/src/modules/mavlink/mavlink_main_linux.cpp
index f2d8ea90f..694a9044d 100644
--- a/src/modules/mavlink/mavlink_main_linux.cpp
+++ b/src/modules/mavlink/mavlink_main_linux.cpp
@@ -244,7 +244,8 @@ Mavlink::~Mavlink()
 		} while (_task_running);
 	}
 
-	LL_DELETE(_mavlink_instances, this);
+	if (_mavlink_instances)
+		LL_DELETE(_mavlink_instances, this);
 }
 
 void
diff --git a/src/platforms/linux/tests/hrt_test/hrt_test.cpp b/src/platforms/linux/tests/hrt_test/hrt_test.cpp
index d5e446bcc..5677f4e1b 100644
--- a/src/platforms/linux/tests/hrt_test/hrt_test.cpp
+++ b/src/platforms/linux/tests/hrt_test/hrt_test.cpp
@@ -53,14 +53,14 @@ int HRTTest::main()
 	hrt_abstime t = hrt_absolute_time();
 	usleep(1000000);
 	hrt_abstime elt = hrt_elapsed_time(&t);
-	printf("Elapsed time %llu in 1 sec (usleep)\n", elt);
-	printf("Start time %llu\n", t);
+	printf("Elapsed time %lu in 1 sec (usleep)\n", elt);
+	printf("Start time %lu\n", t);
 
 	t = hrt_absolute_time();
 	sleep(1);
 	elt = hrt_elapsed_time(&t);
-	printf("Elapsed time %llu in 1 sec (sleep)\n", elt);
-	printf("Start time %llu\n", t);
+	printf("Elapsed time %lu in 1 sec (sleep)\n", elt);
+	printf("Start time %lu\n", t);
 
 	return 0;
 }
diff --git a/src/platforms/px4_config.h b/src/platforms/px4_config.h
index c53fd63d4..a7b9e5500 100644
--- a/src/platforms/px4_config.h
+++ b/src/platforms/px4_config.h
@@ -44,6 +44,7 @@
 #include <px4_config.h>
 #elif defined (__PX4_LINUX)
 #define CONFIG_NFILE_STREAMS 1
+#define PX4_I2C_BUS_ONBOARD  1
 
 #define px4_errx(x, ...) errx(x, __VA_ARGS__)