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

Conflicts:
	src/lib/mathlib/math/Matrix.hpp
	src/modules/mc_att_control/mc_att_control_main.cpp
	src/modules/uORB/topics/vehicle_status.h
	src/platforms/px4_includes.h

src/drivers/batt_smbus/batt_smbus.cpp

@@ -0,0 +1,585 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 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 batt_smbus.cpp
+ *
+ * Driver for a battery monitor connected via SMBus (I2C).
+ *
+ * @author Randy Mackay <rmackay9@yahoo.com>
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <sched.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <ctype.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+
+#include <board_config.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/subsystem_info.h>
+#include <uORB/topics/battery_status.h>
+
+#include <float.h>
+
+#include <drivers/device/i2c.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_batt_smbus.h>
+#include <drivers/device/ringbuffer.h>
+
+#define BATT_SMBUS_ADDR_MIN			0x08	///< lowest possible address
+#define BATT_SMBUS_ADDR_MAX			0x7F	///< highest possible address
+
+#define BATT_SMBUS_I2C_BUS			PX4_I2C_BUS_EXPANSION
+#define BATT_SMBUS_ADDR				0x0B	///< I2C address
+#define BATT_SMBUS_TEMP				0x08	///< temperature register
+#define BATT_SMBUS_VOLTAGE			0x09	///< voltage register
+#define BATT_SMBUS_DESIGN_CAPACITY		0x18	///< design capacity register
+#define BATT_SMBUS_DESIGN_VOLTAGE		0x19	///< design voltage register
+#define BATT_SMBUS_SERIALNUM			0x1c	///< serial number register
+#define BATT_SMBUS_MANUFACTURE_NAME		0x20	///< manufacturer name
+#define BATT_SMBUS_MANUFACTURE_INFO		0x25	///< cell voltage register
+#define BATT_SMBUS_CURRENT			0x2a	///< current register
+#define BATT_SMBUS_MEASUREMENT_INTERVAL_MS	(1000000 / 10)	///< time in microseconds, measure at 10hz
+
+#define BATT_SMBUS_PEC_POLYNOMIAL		0x07	///< Polynomial for calculating PEC
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+class BATT_SMBUS : public device::I2C
+{
+public:
+	BATT_SMBUS(int bus = PX4_I2C_BUS_EXPANSION, uint16_t batt_smbus_addr = BATT_SMBUS_ADDR);
+	virtual ~BATT_SMBUS();
+
+	/**
+	 * Initialize device
+	 *
+	 * Calls probe() to check for device on bus.
+	 *
+	 * @return 0 on success, error code on failure
+	 */
+	virtual int		init();
+
+	/**
+	 * Test device
+	 *
+	 * @return 0 on success, error code on failure
+	 */
+	virtual int		test();
+
+	/**
+	 * Search all possible slave addresses for a smart battery
+	 */
+	int			search();
+
+protected:
+	/**
+	 * Check if the device can be contacted
+	 */
+	virtual int		probe();
+
+private:
+
+	/**
+	 * Start periodic reads from the battery
+	 */
+	void			start();
+
+	/**
+	 * Stop periodic reads from the battery
+	 */
+	void			stop();
+
+	/**
+	 * static function that is called by worker queue
+	 */
+	static void		cycle_trampoline(void *arg);
+
+	/**
+	 * perform a read from the battery
+	 */
+	void			cycle();
+
+	/**
+	 * Read a word from specified register
+	 */
+	int			read_reg(uint8_t reg, uint16_t &val);
+
+	/**
+	 * Read block from bus
+	 * @return returns number of characters read if successful, zero if unsuccessful
+	 */
+	uint8_t			read_block(uint8_t reg, uint8_t *data, uint8_t max_len, bool append_zero);
+
+	/**
+	 * Calculate PEC for a read or write from the battery
+	 * @param buff is the data that was read or will be written
+	 */
+	uint8_t			get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const;
+
+	// internal variables
+	work_s			_work;		///< work queue for scheduling reads
+	RingBuffer		*_reports;	///< buffer of recorded voltages, currents
+	struct battery_status_s _last_report;	///< last published report, used for test()
+	orb_advert_t		_batt_topic;	///< uORB battery topic
+	orb_id_t		_batt_orb_id;	///< uORB battery topic ID
+};
+
+namespace
+{
+BATT_SMBUS *g_batt_smbus;	///< device handle. For now, we only support one BATT_SMBUS device
+}
+
+void batt_smbus_usage();
+
+extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]);
+
+BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) :
+	I2C("batt_smbus", BATT_SMBUS_DEVICE_PATH, bus, batt_smbus_addr, 400000),
+	_work{},
+	_reports(nullptr),
+	_batt_topic(-1),
+	_batt_orb_id(nullptr)
+{
+	// work_cancel in the dtor will explode if we don't do this...
+	memset(&_work, 0, sizeof(_work));
+}
+
+BATT_SMBUS::~BATT_SMBUS()
+{
+	// make sure we are truly inactive
+	stop();
+
+	if (_reports != nullptr) {
+		delete _reports;
+	}
+}
+
+int
+BATT_SMBUS::init()
+{
+	int ret = ENOTTY;
+
+	// attempt to initialise I2C bus
+	ret = I2C::init();
+
+	if (ret != OK) {
+		errx(1, "failed to init I2C");
+		return ret;
+
+	} else {
+		// allocate basic report buffers
+		_reports = new RingBuffer(2, sizeof(struct battery_status_s));
+
+		if (_reports == nullptr) {
+			ret = ENOTTY;
+
+		} else {
+			// start work queue
+			start();
+		}
+	}
+
+	// init orb id
+	_batt_orb_id = ORB_ID(battery_status);
+
+	return ret;
+}
+
+int
+BATT_SMBUS::test()
+{
+	int sub = orb_subscribe(ORB_ID(battery_status));
+	bool updated = false;
+	struct battery_status_s status;
+	uint64_t start_time = hrt_absolute_time();
+
+	// loop for 5 seconds
+	while ((hrt_absolute_time() - start_time) < 5000000) {
+
+		// display new info that has arrived from the orb
+		orb_check(sub, &updated);
+
+		if (updated) {
+			if (orb_copy(ORB_ID(battery_status), sub, &status) == OK) {
+				warnx("V=%4.2f C=%4.2f", status.voltage_v, status.current_a);
+			}
+		}
+
+		// sleep for 0.05 seconds
+		usleep(50000);
+	}
+
+	return OK;
+}
+
+int
+BATT_SMBUS::search()
+{
+	bool found_slave = false;
+	uint16_t tmp;
+
+	// search through all valid SMBus addresses
+	for (uint8_t i = BATT_SMBUS_ADDR_MIN; i <= BATT_SMBUS_ADDR_MAX; i++) {
+		set_address(i);
+
+		if (read_reg(BATT_SMBUS_VOLTAGE, tmp) == OK) {
+			warnx("battery found at 0x%x", (int)i);
+			found_slave = true;
+		}
+
+		// short sleep
+		usleep(1);
+	}
+
+	// display completion message
+	if (found_slave) {
+		warnx("Done.");
+
+	} else {
+		warnx("No smart batteries found.");
+	}
+
+	return OK;
+}
+
+int
+BATT_SMBUS::probe()
+{
+	// always return OK to ensure device starts
+	return OK;
+}
+
+void
+BATT_SMBUS::start()
+{
+	// reset the report ring and state machine
+	_reports->flush();
+
+	// schedule a cycle to start things
+	work_queue(HPWORK, &_work, (worker_t)&BATT_SMBUS::cycle_trampoline, this, 1);
+}
+
+void
+BATT_SMBUS::stop()
+{
+	work_cancel(HPWORK, &_work);
+}
+
+void
+BATT_SMBUS::cycle_trampoline(void *arg)
+{
+	BATT_SMBUS *dev = (BATT_SMBUS *)arg;
+
+	dev->cycle();
+}
+
+void
+BATT_SMBUS::cycle()
+{
+	// read data from sensor
+	struct battery_status_s new_report;
+
+	// set time of reading
+	new_report.timestamp = hrt_absolute_time();
+
+	// read voltage
+	uint16_t tmp;
+
+	if (read_reg(BATT_SMBUS_VOLTAGE, tmp) == OK) {
+		// initialise new_report
+		memset(&new_report, 0, sizeof(new_report));
+
+		// convert millivolts to volts
+		new_report.voltage_v = ((float)tmp) / 1000.0f;
+
+		// read current
+		usleep(1);
+		uint8_t buff[4];
+
+		if (read_block(BATT_SMBUS_CURRENT, buff, 4, false) == 4) {
+			new_report.current_a = (float)((int32_t)((uint32_t)buff[3] << 24 | (uint32_t)buff[2] << 16 | (uint32_t)buff[1] << 8 |
+						       (uint32_t)buff[0])) / 1000.0f;
+		}
+
+		// publish to orb
+		if (_batt_topic != -1) {
+			orb_publish(_batt_orb_id, _batt_topic, &new_report);
+
+		} else {
+			_batt_topic = orb_advertise(_batt_orb_id, &new_report);
+
+			if (_batt_topic < 0) {
+				errx(1, "ADVERT FAIL");
+			}
+		}
+
+		// copy report for test()
+		_last_report = new_report;
+
+		// post a report to the ring
+		_reports->force(&new_report);
+
+		// notify anyone waiting for data
+		poll_notify(POLLIN);
+	}
+
+	// schedule a fresh cycle call when the measurement is done
+	work_queue(HPWORK, &_work, (worker_t)&BATT_SMBUS::cycle_trampoline, this,
+		   USEC2TICK(BATT_SMBUS_MEASUREMENT_INTERVAL_MS));
+}
+
+int
+BATT_SMBUS::read_reg(uint8_t reg, uint16_t &val)
+{
+	uint8_t buff[3];	// 2 bytes of data + PEC
+
+	// read from register
+	int ret = transfer(&reg, 1, buff, 3);
+
+	if (ret == OK) {
+		// check PEC
+		uint8_t pec = get_PEC(reg, true, buff, 2);
+
+		if (pec == buff[2]) {
+			val = (uint16_t)buff[1] << 8 | (uint16_t)buff[0];
+
+		} else {
+			ret = ENOTTY;
+		}
+	}
+
+	// return success or failure
+	return ret;
+}
+
+uint8_t
+BATT_SMBUS::read_block(uint8_t reg, uint8_t *data, uint8_t max_len, bool append_zero)
+{
+	uint8_t buff[max_len + 2];  // buffer to hold results
+
+	usleep(1);
+
+	// read bytes including PEC
+	int ret = transfer(&reg, 1, buff, max_len + 2);
+
+	// return zero on failure
+	if (ret != OK) {
+		return 0;
+	}
+
+	// get length
+	uint8_t bufflen = buff[0];
+
+	// sanity check length returned by smbus
+	if (bufflen == 0 || bufflen > max_len) {
+		return 0;
+	}
+
+	// check PEC
+	uint8_t pec = get_PEC(reg, true, buff, bufflen + 1);
+
+	if (pec != buff[bufflen + 1]) {
+		// debug
+		warnx("CurrPEC:%x vs MyPec:%x", (int)buff[bufflen + 1], (int)pec);
+		return 0;
+
+	}
+
+	// copy data
+	memcpy(data, &buff[1], bufflen);
+
+	// optionally add zero to end
+	if (append_zero) {
+		data[bufflen] = '\0';
+	}
+
+	// return success
+	return bufflen;
+}
+
+uint8_t
+BATT_SMBUS::get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const
+{
+	// exit immediately if no data
+	if (len <= 0) {
+		return 0;
+	}
+
+	// prepare temp buffer for calcing crc
+	uint8_t tmp_buff[len + 3];
+	tmp_buff[0] = (uint8_t)get_address() << 1;
+	tmp_buff[1] = cmd;
+	tmp_buff[2] = tmp_buff[0] | (uint8_t)reading;
+	memcpy(&tmp_buff[3], buff, len);
+
+	// initialise crc to zero
+	uint8_t crc = 0;
+	uint8_t shift_reg = 0;
+	bool do_invert;
+
+	// for each byte in the stream
+	for (uint8_t i = 0; i < sizeof(tmp_buff); i++) {
+		// load next data byte into the shift register
+		shift_reg = tmp_buff[i];
+
+		// for each bit in the current byte
+		for (uint8_t j = 0; j < 8; j++) {
+			do_invert = (crc ^ shift_reg) & 0x80;
+			crc <<= 1;
+			shift_reg <<= 1;
+
+			if (do_invert) {
+				crc ^= BATT_SMBUS_PEC_POLYNOMIAL;
+			}
+		}
+	}
+
+	// return result
+	return crc;
+}
+
+///////////////////////// shell functions ///////////////////////
+
+void
+batt_smbus_usage()
+{
+	warnx("missing command: try 'start', 'test', 'stop', 'search'");
+	warnx("options:");
+	warnx("    -b i2cbus (%d)", BATT_SMBUS_I2C_BUS);
+	warnx("    -a addr (0x%x)", BATT_SMBUS_ADDR);
+}
+
+int
+batt_smbus_main(int argc, char *argv[])
+{
+	int i2cdevice = BATT_SMBUS_I2C_BUS;
+	int batt_smbusadr = BATT_SMBUS_ADDR; // 7bit address
+
+	int ch;
+
+	// jump over start/off/etc and look at options first
+	while ((ch = getopt(argc, argv, "a:b:")) != EOF) {
+		switch (ch) {
+		case 'a':
+			batt_smbusadr = strtol(optarg, NULL, 0);
+			break;
+
+		case 'b':
+			i2cdevice = strtol(optarg, NULL, 0);
+			break;
+
+		default:
+			batt_smbus_usage();
+			exit(0);
+		}
+	}
+
+	if (optind >= argc) {
+		batt_smbus_usage();
+		exit(1);
+	}
+
+	const char *verb = argv[optind];
+
+	if (!strcmp(verb, "start")) {
+		if (g_batt_smbus != nullptr) {
+			errx(1, "already started");
+
+		} else {
+			// create new global object
+			g_batt_smbus = new BATT_SMBUS(i2cdevice, batt_smbusadr);
+
+			if (g_batt_smbus == nullptr) {
+				errx(1, "new failed");
+			}
+
+			if (OK != g_batt_smbus->init()) {
+				delete g_batt_smbus;
+				g_batt_smbus = nullptr;
+				errx(1, "init failed");
+			}
+		}
+
+		exit(0);
+	}
+
+	// need the driver past this point
+	if (g_batt_smbus == nullptr) {
+		warnx("not started");
+		batt_smbus_usage();
+		exit(1);
+	}
+
+	if (!strcmp(verb, "test")) {
+		g_batt_smbus->test();
+		exit(0);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		delete g_batt_smbus;
+		g_batt_smbus = nullptr;
+		exit(0);
+	}
+
+	if (!strcmp(verb, "search")) {
+		g_batt_smbus->search();
+		exit(0);
+	}
+
+	batt_smbus_usage();
+	exit(0);
+}

src/drivers/batt_smbus/module.mk

@@ -0,0 +1,8 @@
+#
+# driver for SMBus smart batteries
+#
+
+MODULE_COMMAND	 = batt_smbus
+SRCS		 = batt_smbus.cpp
+
+MAXOPTIMIZATION	 = -Os

src/drivers/device/device.h

@@ -445,6 +445,13 @@ protected:
 	 */
 	virtual int unregister_class_devname(const char *class_devname, unsigned class_instance);
 
+	/**
+	 * Get the device name.
+	 *
+	 * @return the file system string of the device handle
+	 */
+	const char*	get_devname() { return _devname; }
+
 	bool		_pub_blocked;		/**< true if publishing should be blocked */
 
 private:

src/drivers/device/i2c.h

@@ -58,7 +58,7 @@ public:
 	/**
 	 * Get the address
 	 */
-	int16_t		get_address() { return _address; }
+	int16_t		get_address() const { return _address; }
 	
 protected:
 	/**
@@ -132,6 +132,7 @@ protected:
 	 */
 	void		set_address(uint16_t address) {
 		_address = address;
+		_device_id.devid_s.address = _address;
 	}
 
 private:

src/drivers/drv_baro.h

@@ -65,6 +65,7 @@ struct baro_report {
  */
 ORB_DECLARE(sensor_baro0);
 ORB_DECLARE(sensor_baro1);
+ORB_DECLARE(sensor_baro2);
 
 /*
  * ioctl() definitions

src/drivers/drv_batt_smbus.h

@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_batt_smbus.h
+ *
+ * SMBus battery monitor device API
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+#include "drv_orb_dev.h"
+
+/* device path */
+#define BATT_SMBUS_DEVICE_PATH "/dev/batt_smbus"

src/drivers/drv_px4flow.h

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file Rangefinder driver interface.
+ * @file PX4Flow driver interface.
  */
 
 #ifndef _DRV_PX4FLOW_H

src/drivers/drv_sensor.h

@@ -82,8 +82,19 @@
 #define SENSORIOCGQUEUEDEPTH	_SENSORIOC(3)
 
 /**
- * Reset the sensor to its default configuration.
+ * Reset the sensor to its default configuration
  */
 #define SENSORIOCRESET		_SENSORIOC(4)
 
-#endif /* _DRV_SENSOR_H */
+/**
+ * Set the sensor orientation
+ */
+#define SENSORIOCSROTATION	_SENSORIOC(5)
+
+/**
+ * Get the sensor orientation
+ */
+#define SENSORIOCGROTATION	_SENSORIOC(6)
+
+#endif /* _DRV_SENSOR_H */
+

src/drivers/frsky_telemetry/frsky_data.c

@@ -223,7 +223,7 @@ void frsky_send_frame2(int uart)
 	char lat_ns = 0, lon_ew = 0;
 	int sec = 0;
 	if (global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
-		time_t time_gps = global_pos.time_gps_usec / 1000000;
+		time_t time_gps = global_pos.time_utc_usec / 1000000ULL;
 		struct tm *tm_gps = gmtime(&time_gps);
 
 		course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
@@ -274,7 +274,7 @@ void frsky_send_frame3(int uart)
 	orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
 
 	/* send formatted frame */
-	time_t time_gps = global_pos.time_gps_usec / 1000000;
+	time_t time_gps = global_pos.time_utc_usec / 1000000ULL;
 	struct tm *tm_gps = gmtime(&time_gps);
 	uint16_t hour_min = (tm_gps->tm_min << 8) | (tm_gps->tm_hour & 0xff);
 	frsky_send_data(uart, FRSKY_ID_GPS_DAY_MONTH, tm_gps->tm_mday);

src/drivers/gps/ashtech.cpp

@@ -38,7 +38,7 @@ ASHTECH::~ASHTECH()
 int ASHTECH::handle_message(int len)
 {
 	char * endp;
-	
+
 	if (len < 7) { return 0; }
 
 	int uiCalcComma = 0;
@@ -99,8 +99,26 @@ int ASHTECH::handle_message(int len)
 		timeinfo.tm_sec = int(ashtech_sec);
 		time_t epoch = mktime(&timeinfo);
 
-		_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
-		_gps_position->time_gps_usec += (uint64_t)((ashtech_sec - int(ashtech_sec)) * 1e6);
+		if (epoch > GPS_EPOCH_SECS) {
+			uint64_t usecs = static_cast<uint64_t>((ashtech_sec - static_cast<uint64_t>(ashtech_sec))) * 1e6;
+
+			// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
+			// and control its drift. Since we rely on the HRT for our monotonic
+			// clock, updating it from time to time is safe.
+
+			timespec ts;
+			ts.tv_sec = epoch;
+			ts.tv_nsec = usecs * 1000;
+			if (clock_settime(CLOCK_REALTIME, &ts)) {
+				warn("failed setting clock");
+			}
+
+			_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
+			_gps_position->time_utc_usec += usecs;
+		} else {
+			_gps_position->time_utc_usec = 0;
+		}
+
 		_gps_position->timestamp_time = hrt_absolute_time();
 	}
 
@@ -611,8 +629,8 @@ void ASHTECH::decode_init(void)
 
 }
 
-/* 
- * ashtech board configuration script 
+/*
+ * ashtech board configuration script
  */
 
 const char comm[] = "$PASHS,POP,20\r\n"\

src/drivers/gps/gps.cpp

@@ -552,7 +552,7 @@ start(const char *uart_path, bool fake_gps, bool enable_sat_info)
 	fd = open(GPS_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0) {
-		errx(1, "Could not open device path: %s\n", GPS_DEVICE_PATH);
+		errx(1, "open: %s\n", GPS_DEVICE_PATH);
 		goto fail;
 	}
 
@@ -565,7 +565,7 @@ fail:
 		g_dev = nullptr;
 	}
 
-	errx(1, "driver start failed");
+	errx(1, "start failed");
 }
 
 /**
@@ -604,7 +604,7 @@ reset()
 		err(1, "failed ");
 
 	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
-		err(1, "driver reset failed");
+		err(1, "reset failed");
 
 	exit(0);
 }
@@ -616,7 +616,7 @@ void
 info()
 {
 	if (g_dev == nullptr)
-		errx(1, "driver not running");
+		errx(1, "not running");
 
 	g_dev->print_info();
 

src/drivers/gps/gps_helper.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -91,7 +91,7 @@ GPS_Helper::set_baudrate(const int &fd, unsigned baud)
 		warnx("try baudrate: %d\n", speed);
 
 	default:
-		warnx("ERROR: Unsupported baudrate: %d\n", baud);
+		warnx("ERR: baudrate: %d\n", baud);
 		return -EINVAL;
 	}
 
@@ -109,20 +109,19 @@ GPS_Helper::set_baudrate(const int &fd, unsigned baud)
 
 	/* set baud rate */
 	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
-		warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state);
+		warnx("ERR: %d (cfsetispeed)\n", termios_state);
 		return -1;
 	}
 
 	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
-		warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state);
+		warnx("ERR: %d (cfsetospeed)\n", termios_state);
 		return -1;
 	}
 
 	if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
-		warnx("ERROR setting baudrate (tcsetattr)\n");
+		warnx("ERR: %d (tcsetattr)\n", termios_state);
 		return -1;
 	}
 
-	/* XXX if resetting the parser here, ensure it does exist (check for null pointer) */
 	return 0;
 }

src/drivers/gps/gps_helper.h

@@ -43,6 +43,8 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_gps_position.h>
 
+#define GPS_EPOCH_SECS 1234567890ULL
+
 class GPS_Helper
 {
 public:

src/drivers/gps/mtk.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -73,39 +73,38 @@ MTK::configure(unsigned &baudrate)
 
 	/* Write config messages, don't wait for an answer */
 	if (strlen(MTK_OUTPUT_5HZ) != write(_fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ))) {
-		warnx("mtk: config write failed");
-		return -1;
+		goto errout;
 	}
 
 	usleep(10000);
 
 	if (strlen(MTK_SET_BINARY) != write(_fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) {
-		warnx("mtk: config write failed");
-		return -1;
+		goto errout;
 	}
 
 	usleep(10000);
 
 	if (strlen(SBAS_ON) != write(_fd, SBAS_ON, strlen(SBAS_ON))) {
-		warnx("mtk: config write failed");
-		return -1;
+		goto errout;
 	}
 
 	usleep(10000);
 
 	if (strlen(WAAS_ON) != write(_fd, WAAS_ON, strlen(WAAS_ON))) {
-		warnx("mtk: config write failed");
-		return -1;
+		goto errout;
 	}
 
 	usleep(10000);
 
 	if (strlen(MTK_NAVTHRES_OFF) != write(_fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) {
-		warnx("mtk: config write failed");
-		return -1;
+		goto errout;
 	}
 
 	return 0;
+
+errout:
+	warnx("mtk: config write failed");
+	return -1;
 }
 
 int
@@ -222,7 +221,6 @@ MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet)
 				ret = 1;
 
 			} else {
-				warnx("MTK Checksum invalid");
 				ret = -1;
 			}
 
@@ -282,8 +280,8 @@ MTK::handle_message(gps_mtk_packet_t &packet)
 	timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3;
 	time_t epoch = mktime(&timeinfo);
 
-	_gps_position->time_gps_usec = epoch * 1e6; //TODO: test this
-	_gps_position->time_gps_usec += timeinfo_conversion_temp * 1e3;
+	_gps_position->time_utc_usec = epoch * 1e6; //TODO: test this
+	_gps_position->time_utc_usec += timeinfo_conversion_temp * 1e3;
 	_gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time();
 
 	// Position and velocity update always at the same time

src/drivers/gps/ubx.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013, 2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -748,17 +748,23 @@ UBX::payload_rx_done(void)
 			timeinfo.tm_sec		= _buf.payload_rx_nav_pvt.sec;
 			time_t epoch = mktime(&timeinfo);
 
-#ifndef CONFIG_RTC
-			//Since we lack a hardware RTC, set the system time clock based on GPS UTC
-			//TODO generalize this by moving into gps.cpp?
-			timespec ts;
-			ts.tv_sec = epoch;
-			ts.tv_nsec = _buf.payload_rx_nav_pvt.nano;
-			clock_settime(CLOCK_REALTIME, &ts);
-#endif
+			if (epoch > GPS_EPOCH_SECS) {
+				// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
+				// and control its drift. Since we rely on the HRT for our monotonic
+				// clock, updating it from time to time is safe.
 
-			_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
-			_gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_pvt.nano * 1e-3f);
+				timespec ts;
+				ts.tv_sec = epoch;
+				ts.tv_nsec = _buf.payload_rx_nav_pvt.nano;
+				if (clock_settime(CLOCK_REALTIME, &ts)) {
+					warn("failed setting clock");
+				}
+
+				_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
+				_gps_position->time_utc_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
+			} else {
+				_gps_position->time_utc_usec = 0;
+			}
 		}
 
 		_gps_position->timestamp_time		= hrt_absolute_time();
@@ -808,7 +814,7 @@ UBX::payload_rx_done(void)
 		UBX_TRACE_RXMSG("Rx NAV-TIMEUTC\n");
 
 		{
-			/* convert to unix timestamp */
+			// convert to unix timestamp
 			struct tm timeinfo;
 			timeinfo.tm_year	= _buf.payload_rx_nav_timeutc.year - 1900;
 			timeinfo.tm_mon		= _buf.payload_rx_nav_timeutc.month - 1;
@@ -818,17 +824,25 @@ UBX::payload_rx_done(void)
 			timeinfo.tm_sec		= _buf.payload_rx_nav_timeutc.sec;
 			time_t epoch = mktime(&timeinfo);
 
-#ifndef CONFIG_RTC
-			//Since we lack a hardware RTC, set the system time clock based on GPS UTC
-			//TODO generalize this by moving into gps.cpp?
-			timespec ts;
-			ts.tv_sec = epoch;
-			ts.tv_nsec = _buf.payload_rx_nav_timeutc.nano;
-			clock_settime(CLOCK_REALTIME, &ts);
-#endif
+			// only set the time if it makes sense
 
-			_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
-			_gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_timeutc.nano * 1e-3f);
+			if (epoch > GPS_EPOCH_SECS) {
+				// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
+				// and control its drift. Since we rely on the HRT for our monotonic
+				// clock, updating it from time to time is safe.
+
+				timespec ts;
+				ts.tv_sec = epoch;
+				ts.tv_nsec = _buf.payload_rx_nav_timeutc.nano;
+				if (clock_settime(CLOCK_REALTIME, &ts)) {
+					warn("failed setting clock");
+				}
+
+				_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
+				_gps_position->time_utc_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
+			} else {
+				_gps_position->time_utc_usec = 0;
+			}
 		}
 
 		_gps_position->timestamp_time = hrt_absolute_time();

src/drivers/hmc5883/hmc5883.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -34,7 +34,7 @@
 /**
  * @file hmc5883.cpp
  *
- * Driver for the HMC5883 magnetometer connected via I2C.
+ * Driver for the HMC5883 / HMC5983 magnetometer connected via I2C or SPI.
  */
 
 #include <nuttx/config.h>
@@ -74,11 +74,12 @@
 #include <getopt.h>
 #include <lib/conversion/rotation.h>
 
+#include "hmc5883.h"
+
 /*
  * HMC5883 internal constants and data structures.
  */
 
-#define HMC5883L_ADDRESS		PX4_I2C_OBDEV_HMC5883
 #define HMC5883L_DEVICE_PATH_INT	"/dev/hmc5883_int"
 #define HMC5883L_DEVICE_PATH_EXT	"/dev/hmc5883_ext"
 
@@ -95,9 +96,6 @@
 #define ADDR_DATA_OUT_Y_MSB		0x07
 #define ADDR_DATA_OUT_Y_LSB		0x08
 #define ADDR_STATUS			0x09
-#define ADDR_ID_A			0x0a
-#define ADDR_ID_B			0x0b
-#define ADDR_ID_C			0x0c
 
 /* modes not changeable outside of driver */
 #define HMC5883L_MODE_NORMAL		(0 << 0)  /* default */
@@ -115,10 +113,11 @@
 #define STATUS_REG_DATA_OUT_LOCK	(1 << 1) /* page 16: set if data is only partially read, read device to reset */
 #define STATUS_REG_DATA_READY		(1 << 0) /* page 16: set if all axes have valid measurements */
 
-#define ID_A_WHO_AM_I			'H'
-#define ID_B_WHO_AM_I			'4'
-#define ID_C_WHO_AM_I			'3'
-
+enum HMC5883_BUS {
+	HMC5883_BUS_ALL,
+	HMC5883_BUS_INTERNAL,
+	HMC5883_BUS_EXTERNAL
+};
 
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
@@ -130,10 +129,10 @@ static const int ERROR = -1;
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
 
-class HMC5883 : public device::I2C
+class HMC5883 : public device::CDev
 {
 public:
-	HMC5883(int bus, const char *path, enum Rotation rotation);
+	HMC5883(device::Device *interface, const char *path, enum Rotation rotation);
 	virtual ~HMC5883();
 
 	virtual int		init();
@@ -147,7 +146,7 @@ public:
 	void			print_info();
 
 protected:
-	virtual int		probe();
+	Device			*_interface;
 
 private:
 	work_s			_work;
@@ -174,7 +173,6 @@ private:
 	bool			_sensor_ok;		/**< sensor was found and reports ok */
 	bool			_calibrated;		/**< the calibration is valid */
 
-	int			_bus;			/**< the bus the device is connected to */
 	enum Rotation		_rotation;
 
 	struct mag_report	_last_report;           /**< used for info() */
@@ -182,15 +180,6 @@ private:
 	uint8_t			_range_bits;
 	uint8_t			_conf_reg;
 
-	/**
-	 * Test whether the device supported by the driver is present at a
-	 * specific address.
-	 *
-	 * @param address	The I2C bus address to probe.
-	 * @return		True if the device is present.
-	 */
-	int			probe_address(uint8_t address);
-
 	/**
 	 * Initialise the automatic measurement state machine and start it.
 	 *
@@ -349,8 +338,9 @@ private:
 extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]);
 
 
-HMC5883::HMC5883(int bus, const char *path, enum Rotation rotation) :
-	I2C("HMC5883", path, bus, HMC5883L_ADDRESS, 400000),
+HMC5883::HMC5883(device::Device *interface, const char *path, enum Rotation rotation) :
+	CDev("HMC5883", path),
+	_interface(interface),
 	_work{},
 	_measure_ticks(0),
 	_reports(nullptr),
@@ -369,7 +359,6 @@ HMC5883::HMC5883(int bus, const char *path, enum Rotation rotation) :
 	_conf_errors(perf_alloc(PC_COUNT, "hmc5883_conf_errors")),
 	_sensor_ok(false),
 	_calibrated(false),
-	_bus(bus),
 	_rotation(rotation),
 	_last_report{0},
 	_range_bits(0),
@@ -416,9 +405,11 @@ HMC5883::init()
 {
 	int ret = ERROR;
 
-	/* do I2C init (and probe) first */
-	if (I2C::init() != OK)
+	ret = CDev::init();
+	if (ret != OK) {
+		debug("CDev init failed");
 		goto out;
+	}
 
 	/* allocate basic report buffers */
 	_reports = new RingBuffer(2, sizeof(mag_report));
@@ -429,20 +420,7 @@ HMC5883::init()
 	reset();
 
 	_class_instance = register_class_devname(MAG_DEVICE_PATH);
-
-	switch (_class_instance) {
-		case CLASS_DEVICE_PRIMARY:
-			_mag_orb_id = ORB_ID(sensor_mag0);
-			break;
-
-		case CLASS_DEVICE_SECONDARY:
-			_mag_orb_id = ORB_ID(sensor_mag1);
-			break;
-
-		case CLASS_DEVICE_TERTIARY:
-			_mag_orb_id = ORB_ID(sensor_mag2);
-			break;
-	}
+	_mag_orb_id = ORB_ID_TRIPLE(sensor_mag, _class_instance);
 
 	ret = OK;
 	/* sensor is ok, but not calibrated */
@@ -559,30 +537,6 @@ void HMC5883::check_conf(void)
 	}
 }
 
-int
-HMC5883::probe()
-{
-	uint8_t data[3] = {0, 0, 0};
-
-	_retries = 10;
-
-	if (read_reg(ADDR_ID_A, data[0]) ||
-	    read_reg(ADDR_ID_B, data[1]) ||
-	    read_reg(ADDR_ID_C, data[2]))
-		debug("read_reg fail");
-
-	_retries = 2;
-
-	if ((data[0] != ID_A_WHO_AM_I) ||
-	    (data[1] != ID_B_WHO_AM_I) ||
-	    (data[2] != ID_C_WHO_AM_I)) {
-		debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]);
-		return -EIO;
-	}
-
-	return OK;
-}
-
 ssize_t
 HMC5883::read(struct file *filp, char *buffer, size_t buflen)
 {
@@ -643,6 +597,8 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen)
 int
 HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
 {
+	unsigned dummy = arg;
+
 	switch (cmd) {
 	case SENSORIOCSPOLLRATE: {
 		switch (arg) {
@@ -768,14 +724,12 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return check_calibration();
 
 	case MAGIOCGEXTERNAL:
-		if (_bus == PX4_I2C_BUS_EXPANSION)
-			return 1;
-		else
-			return 0;
+		debug("MAGIOCGEXTERNAL in main driver");
+		return _interface->ioctl(cmd, dummy);
 
 	default:
 		/* give it to the superclass */
-		return I2C::ioctl(filp, cmd, arg);
+		return CDev::ioctl(filp, cmd, arg);
 	}
 }
 
@@ -890,7 +844,6 @@ HMC5883::collect()
 	} report;
 
 	int	ret;
-	uint8_t	cmd;
 	uint8_t check_counter;
 
 	perf_begin(_sample_perf);
@@ -908,8 +861,7 @@ HMC5883::collect()
 	 */
 
 	/* get measurements from the device */
-	cmd = ADDR_DATA_OUT_X_MSB;
-	ret = transfer(&cmd, 1, (uint8_t *)&hmc_report, sizeof(hmc_report));
+	ret = _interface->read(ADDR_DATA_OUT_X_MSB, (uint8_t *)&hmc_report, sizeof(hmc_report));
 
 	if (ret != OK) {
 		perf_count(_comms_errors);
@@ -946,14 +898,14 @@ HMC5883::collect()
 
 	/* scale values for output */
 
-#ifdef PX4_I2C_BUS_ONBOARD
-	if (_bus == PX4_I2C_BUS_ONBOARD) {
+	// XXX revisit for SPI part, might require a bus type IOCTL
+	unsigned dummy;
+	if (!_interface->ioctl(MAGIOCGEXTERNAL, dummy)) {
 		// convert onboard so it matches offboard for the
 		// scaling below
 		report.y = -report.y;
 		report.x = -report.x;
         }
-#endif
 
 	/* the standard external mag by 3DR has x pointing to the
 	 * right, y pointing backwards, and z down, therefore switch x
@@ -1291,15 +1243,17 @@ int HMC5883::set_excitement(unsigned enable)
 int
 HMC5883::write_reg(uint8_t reg, uint8_t val)
 {
-	uint8_t cmd[] = { reg, val };
-
-	return transfer(&cmd[0], 2, nullptr, 0);
+	uint8_t buf = val;
+	return _interface->write(reg, &buf, 1);
 }
 
 int
 HMC5883::read_reg(uint8_t reg, uint8_t &val)
 {
-	return transfer(&reg, 1, &val, 1);
+	uint8_t buf = val;
+	int ret = _interface->read(reg, &buf, 1);
+	val = buf;
+	return ret;
 }
 
 float
@@ -1351,6 +1305,7 @@ void	test(int bus);
 void	reset(int bus);
 int	info(int bus);
 int	calibrate(int bus);
+const char* get_path(int bus);
 void	usage();
 
 /**
@@ -1360,43 +1315,99 @@ void	usage();
  * is either successfully up and running or failed to start.
  */
 void
-start(int bus, enum Rotation rotation)
+start(int external_bus, enum Rotation rotation)
 {
 	int fd;
 
 	/* create the driver, attempt expansion bus first */
-	if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) {
-		if (g_dev_ext != nullptr)
-			errx(0, "already started external");
-		g_dev_ext = new HMC5883(PX4_I2C_BUS_EXPANSION, HMC5883L_DEVICE_PATH_EXT, rotation);
-		if (g_dev_ext != nullptr && OK != g_dev_ext->init()) {
-			delete g_dev_ext;
-			g_dev_ext = nullptr;
+	if (g_dev_ext != nullptr) {
+			warnx("already started external");
+	} else if (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_EXTERNAL) {
+
+		device::Device *interface = nullptr;
+
+		/* create the driver, only attempt I2C for the external bus */
+		if (interface == nullptr && (HMC5883_I2C_interface != nullptr)) {
+			interface = HMC5883_I2C_interface(PX4_I2C_BUS_EXPANSION);
+
+			if (interface->init() != OK) {
+				delete interface;
+				interface = nullptr;
+				warnx("no device on I2C bus #%u", PX4_I2C_BUS_EXPANSION);
+			}
+		}
+
+#ifdef PX4_I2C_BUS_ONBOARD
+		if (interface == nullptr && (HMC5883_I2C_interface != nullptr)) {
+			interface = HMC5883_I2C_interface(PX4_I2C_BUS_ONBOARD);
+
+			if (interface->init() != OK) {
+				delete interface;
+				interface = nullptr;
+				warnx("no device on I2C bus #%u", PX4_I2C_BUS_ONBOARD);
+			}
+		}
+#endif
+
+		/* interface will be null if init failed */
+		if (interface != nullptr) {
+
+			g_dev_ext = new HMC5883(interface, HMC5883L_DEVICE_PATH_EXT, rotation);
+			if (g_dev_ext != nullptr && OK != g_dev_ext->init()) {
+				delete g_dev_ext;
+				g_dev_ext = nullptr;
+			}
+
 		}
 	}
 			
 
-#ifdef PX4_I2C_BUS_ONBOARD
 	/* if this failed, attempt onboard sensor */
-	if (bus == -1 || bus == PX4_I2C_BUS_ONBOARD) {
-		if (g_dev_int != nullptr)
-			errx(0, "already started internal");
-		g_dev_int = new HMC5883(PX4_I2C_BUS_ONBOARD, HMC5883L_DEVICE_PATH_INT, rotation);
-		if (g_dev_int != nullptr && OK != g_dev_int->init()) {
+	if (g_dev_int != nullptr) {
+		warnx("already started internal");
+	} else if (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_INTERNAL) {
 
-			/* tear down the failing onboard instance */
-			delete g_dev_int;
-			g_dev_int = nullptr;
+		device::Device *interface = nullptr;
 
-			if (bus == PX4_I2C_BUS_ONBOARD) {
+		/* create the driver, try SPI first, fall back to I2C if unsuccessful */
+#ifdef PX4_SPIDEV_HMC
+		if (HMC5883_SPI_interface != nullptr) {
+			interface = HMC5883_SPI_interface(PX4_SPI_BUS_SENSORS);
+		}
+#endif
+
+#ifdef PX4_I2C_BUS_ONBOARD
+		/* this device is already connected as external if present above */
+		if (interface == nullptr && (HMC5883_I2C_interface != nullptr)) {
+			interface = HMC5883_I2C_interface(PX4_I2C_BUS_ONBOARD);
+		}
+#endif
+		if (interface == nullptr) {
+			warnx("no internal bus scanned");
+			goto fail;
+		}
+
+		if (interface->init() != OK) {
+			delete interface;
+			warnx("no device on internal bus");
+		} else {
+
+			g_dev_int = new HMC5883(interface, HMC5883L_DEVICE_PATH_INT, rotation);
+			if (g_dev_int != nullptr && OK != g_dev_int->init()) {
+
+				/* tear down the failing onboard instance */
+				delete g_dev_int;
+				g_dev_int = nullptr;
+
+				if (external_bus == HMC5883_BUS_INTERNAL) {
+					goto fail;
+				}
+			}
+			if (g_dev_int == nullptr && external_bus == HMC5883_BUS_INTERNAL) {
 				goto fail;
 			}
 		}
-		if (g_dev_int == nullptr && bus == PX4_I2C_BUS_ONBOARD) {
-			goto fail;
-		}
 	}
-#endif
 
 	if (g_dev_int == nullptr && g_dev_ext == nullptr)
 		goto fail;
@@ -1425,11 +1436,11 @@ start(int bus, enum Rotation rotation)
 	exit(0);
 
 fail:
-	if (g_dev_int != nullptr && (bus == -1 || bus == PX4_I2C_BUS_ONBOARD)) {
+	if (g_dev_int != nullptr && (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_INTERNAL)) {
 		delete g_dev_int;
 		g_dev_int = nullptr;
 	}
-	if (g_dev_ext != nullptr && (bus == -1 || bus == PX4_I2C_BUS_EXPANSION)) {
+	if (g_dev_ext != nullptr && (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_EXTERNAL)) {
 		delete g_dev_ext;
 		g_dev_ext = nullptr;
 	}
@@ -1448,7 +1459,7 @@ test(int bus)
 	struct mag_report report;
 	ssize_t sz;
 	int ret;
-	const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT);
+	const char *path = get_path(bus);
 
 	int fd = open(path, O_RDONLY);
 
@@ -1549,7 +1560,7 @@ test(int bus)
 int calibrate(int bus)
 {
 	int ret;
-	const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT);
+	const char *path = get_path(bus);
 
 	int fd = open(path, O_RDONLY);
 
@@ -1576,7 +1587,7 @@ int calibrate(int bus)
 void
 reset(int bus)
 {
-	const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT);
+	const char *path = get_path(bus);
 
 	int fd = open(path, O_RDONLY);
 
@@ -1600,12 +1611,12 @@ info(int bus)
 {
 	int ret = 1;
 
-	HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
+	HMC5883 *g_dev = (bus == HMC5883_BUS_INTERNAL ? g_dev_int : g_dev_ext);
 	if (g_dev == nullptr) {
 		warnx("not running on bus %d", bus);
 	} else {
 
-		warnx("running on bus: %d (%s)\n", bus, ((PX4_I2C_BUS_ONBOARD) ? "onboard" : "offboard"));
+		warnx("running on bus: %d (%s)\n", bus, ((HMC5883_BUS_INTERNAL) ? "onboard" : "offboard"));
 
 		g_dev->print_info();
 		ret = 0;
@@ -1614,6 +1625,12 @@ info(int bus)
 	return ret;
 }
 
+const char*
+get_path(int bus)
+{
+	return ((bus == HMC5883_BUS_INTERNAL) ? HMC5883L_DEVICE_PATH_INT : HMC5883L_DEVICE_PATH_EXT);
+}
+
 void
 usage()
 {
@@ -1622,7 +1639,7 @@ usage()
 	warnx("    -R rotation");
 	warnx("    -C calibrate on start");
 	warnx("    -X only external bus");
-#ifdef PX4_I2C_BUS_ONBOARD
+#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
 	warnx("    -I only internal bus");
 #endif
 }
@@ -1633,7 +1650,7 @@ int
 hmc5883_main(int argc, char *argv[])
 {
 	int ch;
-	int bus = -1;
+	int bus = HMC5883_BUS_ALL;
 	enum Rotation rotation = ROTATION_NONE;
         bool calibrate = false;
 
@@ -1642,13 +1659,13 @@ hmc5883_main(int argc, char *argv[])
 		case 'R':
 			rotation = (enum Rotation)atoi(optarg);
 			break;
-#ifdef PX4_I2C_BUS_ONBOARD
+#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
 		case 'I':
-			bus = PX4_I2C_BUS_ONBOARD;
+			bus = HMC5883_BUS_INTERNAL;
 			break;
 #endif
 		case 'X':
-			bus = PX4_I2C_BUS_EXPANSION;
+			bus = HMC5883_BUS_EXTERNAL;
 			break;
 		case 'C':
 			calibrate = true;
@@ -1692,13 +1709,13 @@ hmc5883_main(int argc, char *argv[])
 	 * Print driver information.
 	 */
 	if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
-		if (bus == -1) {
+		if (bus == HMC5883_BUS_ALL) {
 			int ret = 0;
-			if (hmc5883::info(PX4_I2C_BUS_ONBOARD)) {
+			if (hmc5883::info(HMC5883_BUS_INTERNAL)) {
 				ret = 1;
 			}
 
-			if (hmc5883::info(PX4_I2C_BUS_EXPANSION)) {
+			if (hmc5883::info(HMC5883_BUS_EXTERNAL)) {
 				ret = 1;
 			}
 			exit(ret);

src/drivers/hmc5883/hmc5883.h

@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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 hmc5883.h
+ *
+ * Shared defines for the hmc5883 driver.
+ */
+
+#pragma once
+
+#define ADDR_ID_A			0x0a
+#define ADDR_ID_B			0x0b
+#define ADDR_ID_C			0x0c
+
+#define ID_A_WHO_AM_I			'H'
+#define ID_B_WHO_AM_I			'4'
+#define ID_C_WHO_AM_I			'3'
+
+/* interface factories */
+extern device::Device *HMC5883_SPI_interface(int bus) weak_function;
+extern device::Device *HMC5883_I2C_interface(int bus) weak_function;

src/drivers/hmc5883/hmc5883_i2c.cpp

@@ -0,0 +1,175 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2015 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 HMC5883_I2C.cpp
+  *
+  * I2C interface for HMC5883 / HMC 5983
+  */
+
+/* XXX trim includes */
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/device/i2c.h>
+#include <drivers/drv_mag.h>
+
+#include "hmc5883.h"
+
+#include "board_config.h"
+
+#ifdef PX4_I2C_OBDEV_HMC5883
+
+#define HMC5883L_ADDRESS		PX4_I2C_OBDEV_HMC5883
+
+device::Device *HMC5883_I2C_interface(int bus);
+
+class HMC5883_I2C : public device::I2C
+{
+public:
+	HMC5883_I2C(int bus);
+	virtual ~HMC5883_I2C();
+
+	virtual int	init();
+	virtual int	read(unsigned address, void *data, unsigned count); 
+	virtual int	write(unsigned address, void *data, unsigned count);
+
+	virtual int	ioctl(unsigned operation, unsigned &arg);
+
+protected:
+	virtual int	probe();
+
+};
+
+device::Device *
+HMC5883_I2C_interface(int bus)
+{
+	return new HMC5883_I2C(bus);
+}
+
+HMC5883_I2C::HMC5883_I2C(int bus) :
+	I2C("HMC5883_I2C", nullptr, bus, HMC5883L_ADDRESS, 400000)
+{
+}
+
+HMC5883_I2C::~HMC5883_I2C()
+{
+}
+
+int
+HMC5883_I2C::init()
+{
+	/* this will call probe() */
+	return I2C::init();
+}
+
+int
+HMC5883_I2C::ioctl(unsigned operation, unsigned &arg)
+{
+	int ret;
+
+	switch (operation) {
+
+	case MAGIOCGEXTERNAL:
+		if (_bus == PX4_I2C_BUS_EXPANSION) {
+			return 1;
+		} else {
+			return 0;
+		}
+
+	default:
+		ret = -EINVAL;
+	}
+
+	return ret;
+}
+
+int
+HMC5883_I2C::probe()
+{
+	uint8_t data[3] = {0, 0, 0};
+
+	_retries = 10;
+
+	if (read(ADDR_ID_A, &data[0], 1) ||
+	    read(ADDR_ID_B, &data[1], 1) ||
+	    read(ADDR_ID_C, &data[2], 1)) {
+		debug("read_reg fail");
+		return -EIO;
+	}
+
+	_retries = 2;
+
+	if ((data[0] != ID_A_WHO_AM_I) ||
+	    (data[1] != ID_B_WHO_AM_I) ||
+	    (data[2] != ID_C_WHO_AM_I)) {
+		debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]);
+		return -EIO;
+	}
+
+	return OK;
+}
+
+int
+HMC5883_I2C::write(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address;
+	memcpy(&buf[1], data, count);
+
+	return transfer(&buf[0], count + 1, nullptr, 0);
+}
+
+int
+HMC5883_I2C::read(unsigned address, void *data, unsigned count)
+{
+	uint8_t cmd = address;
+	return transfer(&cmd, 1, (uint8_t *)data, count);
+}
+
+#endif /* PX4_I2C_OBDEV_HMC5883 */

src/drivers/hmc5883/hmc5883_spi.cpp

@@ -0,0 +1,189 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2015 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 HMC5883_SPI.cpp
+  *
+  * SPI interface for HMC5983
+  */
+
+/* XXX trim includes */
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/drv_mag.h>
+
+#include "hmc5883.h"
+#include <board_config.h>
+
+#ifdef PX4_SPIDEV_HMC
+
+/* SPI protocol address bits */
+#define DIR_READ			(1<<7)
+#define DIR_WRITE			(0<<7)
+#define ADDR_INCREMENT			(1<<6)
+
+#define HMC_MAX_SEND_LEN		4
+#define HMC_MAX_RCV_LEN			8
+
+device::Device *HMC5883_SPI_interface(int bus);
+
+class HMC5883_SPI : public device::SPI
+{
+public:
+	HMC5883_SPI(int bus, spi_dev_e device);
+	virtual ~HMC5883_SPI();
+
+	virtual int	init();
+	virtual int	read(unsigned address, void *data, unsigned count); 
+	virtual int	write(unsigned address, void *data, unsigned count);
+
+	virtual int	ioctl(unsigned operation, unsigned &arg);
+
+};
+
+device::Device *
+HMC5883_SPI_interface(int bus)
+{
+	return new HMC5883_SPI(bus, (spi_dev_e)PX4_SPIDEV_HMC);
+}
+
+HMC5883_SPI::HMC5883_SPI(int bus, spi_dev_e device) :
+	SPI("HMC5883_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */)
+{
+}
+
+HMC5883_SPI::~HMC5883_SPI()
+{
+}
+
+int
+HMC5883_SPI::init()
+{
+	int ret;
+
+	ret = SPI::init();
+	if (ret != OK) {
+		debug("SPI init failed");
+		return -EIO;
+	}
+
+	// read WHO_AM_I value
+	uint8_t data[3] = {0, 0, 0};
+
+	if (read(ADDR_ID_A, &data[0], 1) ||
+	    read(ADDR_ID_B, &data[1], 1) ||
+	    read(ADDR_ID_C, &data[2], 1)) {
+		debug("read_reg fail");
+	}
+
+	if ((data[0] != ID_A_WHO_AM_I) ||
+	    (data[1] != ID_B_WHO_AM_I) ||
+	    (data[2] != ID_C_WHO_AM_I)) {
+		debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]);
+		return -EIO;
+	}
+
+	return OK;
+}
+
+int
+HMC5883_SPI::ioctl(unsigned operation, unsigned &arg)
+{
+	int ret;
+
+	switch (operation) {
+
+	case MAGIOCGEXTERNAL:
+
+#ifdef PX4_SPI_BUS_EXT
+		if (_bus == PX4_SPI_BUS_EXT) {
+			return 1;
+		} else 
+#endif
+		{
+			return 0;
+		}
+
+	default:
+	{
+		ret = -EINVAL;
+	}
+	}
+
+	return ret;
+}
+
+int
+HMC5883_SPI::write(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address | DIR_WRITE;
+	memcpy(&buf[1], data, count);
+
+	return transfer(&buf[0], &buf[0], count + 1);
+}
+
+int
+HMC5883_SPI::read(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address | DIR_READ | ADDR_INCREMENT;
+
+	int ret = transfer(&buf[0], &buf[0], count + 1);
+	memcpy(data, &buf[1], count);
+	return ret;
+}
+
+#endif /* PX4_SPIDEV_HMC */

src/drivers/hmc5883/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2015 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
@@ -37,7 +37,7 @@
 
 MODULE_COMMAND	= hmc5883
 
-SRCS		= hmc5883.cpp
+SRCS		= hmc5883_i2c.cpp hmc5883_spi.cpp hmc5883.cpp
 
 MODULE_STACKSIZE	= 1200
 

src/drivers/hott/hott_sensors/hott_sensors.cpp

@@ -157,7 +157,7 @@ hott_sensors_thread_main(int argc, char *argv[])
 	/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
 	const int uart = open_uart(device);
 	if (uart < 0) {
-		errx(1, "Failed opening HoTT UART, exiting.");
+		errx(1, "Open fail, exiting.");
 		thread_running = false;
 	}
 

src/drivers/l3gd20/l3gd20.cpp

@@ -142,6 +142,7 @@ static const int ERROR = -1;
 #define ADDR_INT1_TSH_ZH		0x36
 #define ADDR_INT1_TSH_ZL		0x37
 #define ADDR_INT1_DURATION		0x38
+#define ADDR_LOW_ODR			0x39
 
 
 /* Internal configuration values */
@@ -200,6 +201,12 @@ public:
 	 */
 	void			print_info();
 
+	// print register dump
+	void			print_registers();
+
+	// trigger an error
+	void			test_error();
+
 protected:
 	virtual int		probe();
 
@@ -225,6 +232,9 @@ private:
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_reschedules;
 	perf_counter_t		_errors;
+	perf_counter_t		_bad_registers;
+
+	uint8_t			_register_wait;
 
 	math::LowPassFilter2p	_gyro_filter_x;
 	math::LowPassFilter2p	_gyro_filter_y;
@@ -235,6 +245,14 @@ private:
 
 	enum Rotation		_rotation;
 
+	// this is used to support runtime checking of key
+	// configuration registers to detect SPI bus errors and sensor
+	// reset
+#define L3GD20_NUM_CHECKED_REGISTERS 8
+	static const uint8_t	_checked_registers[L3GD20_NUM_CHECKED_REGISTERS];
+	uint8_t			_checked_values[L3GD20_NUM_CHECKED_REGISTERS];
+	uint8_t			_checked_next;
+
 	/**
 	 * Start automatic measurement.
 	 */
@@ -266,6 +284,11 @@ private:
 	 */
 	static void		measure_trampoline(void *arg);
 
+	/**
+	 * check key registers for correct values
+	 */
+	void			check_registers(void);
+
 	/**
 	 * Fetch measurements from the sensor and update the report ring.
 	 */
@@ -298,6 +321,14 @@ private:
 	 */
 	void			modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
 
+	/**
+	 * Write a register in the L3GD20, updating _checked_values
+	 *
+	 * @param reg		The register to write.
+	 * @param value		The new value to write.
+	 */
+	void			write_checked_reg(unsigned reg, uint8_t value);
+
 	/**
 	 * Set the L3GD20 measurement range.
 	 *
@@ -338,6 +369,19 @@ private:
 	L3GD20 operator=(const L3GD20&);
 };
 
+/*
+  list of registers that will be checked in check_registers(). Note
+  that ADDR_WHO_AM_I must be first in the list.
+ */
+const uint8_t L3GD20::_checked_registers[L3GD20_NUM_CHECKED_REGISTERS] = { ADDR_WHO_AM_I,
+                                                                           ADDR_CTRL_REG1,
+                                                                           ADDR_CTRL_REG2,
+                                                                           ADDR_CTRL_REG3,
+                                                                           ADDR_CTRL_REG4,
+                                                                           ADDR_CTRL_REG5,
+                                                                           ADDR_FIFO_CTRL_REG,
+									   ADDR_LOW_ODR };
+
 L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotation) :
 	SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for L3GD20 */),
 	_call{},
@@ -355,11 +399,14 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotati
 	_sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")),
 	_reschedules(perf_alloc(PC_COUNT, "l3gd20_reschedules")),
 	_errors(perf_alloc(PC_COUNT, "l3gd20_errors")),
+	_bad_registers(perf_alloc(PC_COUNT, "l3gd20_bad_registers")),
+	_register_wait(0),
 	_gyro_filter_x(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
 	_gyro_filter_y(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
 	_gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
 	_is_l3g4200d(false),
-        _rotation(rotation)                                            
+	_rotation(rotation),
+	_checked_next(0)
 {
 	// enable debug() calls
 	_debug_enabled = true;
@@ -389,6 +436,7 @@ L3GD20::~L3GD20()
 	perf_free(_sample_perf);
 	perf_free(_reschedules);
 	perf_free(_errors);
+	perf_free(_bad_registers);
 }
 
 int
@@ -448,29 +496,27 @@ L3GD20::probe()
 	(void)read_reg(ADDR_WHO_AM_I);
 
 	bool success = false;
+	uint8_t v = 0;
 
-	/* verify that the device is attached and functioning, accept L3GD20 and L3GD20H */
-	if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) {
-
+	/* verify that the device is attached and functioning, accept
+	 * L3GD20, L3GD20H and L3G4200D */
+	if ((v=read_reg(ADDR_WHO_AM_I)) == WHO_I_AM) {
 		_orientation = SENSOR_BOARD_ROTATION_DEFAULT;
 		success = true;
-	}
-
-
-	if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM_H) {
+	} else if ((v=read_reg(ADDR_WHO_AM_I)) == WHO_I_AM_H) {
 		_orientation = SENSOR_BOARD_ROTATION_180_DEG;
 		success = true;
-	}
-
-	/* Detect the L3G4200D used on AeroCore */
-	if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM_L3G4200D) {
+	} else if ((v=read_reg(ADDR_WHO_AM_I)) == WHO_I_AM_L3G4200D) {
+		/* Detect the L3G4200D used on AeroCore */
 		_is_l3g4200d = true;
 		_orientation = SENSOR_BOARD_ROTATION_DEFAULT;
 		success = true;
 	}
 
-	if (success)
+	if (success) {
+		_checked_values[0] = v;
 		return OK;
+	}
 
 	return -EIO;
 }
@@ -672,6 +718,18 @@ L3GD20::write_reg(unsigned reg, uint8_t value)
 	transfer(cmd, nullptr, sizeof(cmd));
 }
 
+void
+L3GD20::write_checked_reg(unsigned reg, uint8_t value)
+{
+	write_reg(reg, value);
+	for (uint8_t i=0; i<L3GD20_NUM_CHECKED_REGISTERS; i++) {
+		if (reg == _checked_registers[i]) {
+			_checked_values[i] = value;
+		}
+	}
+}
+
+
 void
 L3GD20::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
 {
@@ -680,7 +738,7 @@ L3GD20::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
 	val = read_reg(reg);
 	val &= ~clearbits;
 	val |= setbits;
-	write_reg(reg, val);
+	write_checked_reg(reg, val);
 }
 
 int
@@ -714,7 +772,7 @@ L3GD20::set_range(unsigned max_dps)
 
 	_gyro_range_rad_s = new_range / 180.0f * M_PI_F;
 	_gyro_range_scale = new_range_scale_dps_digit / 180.0f * M_PI_F;
-	write_reg(ADDR_CTRL_REG4, bits);
+	write_checked_reg(ADDR_CTRL_REG4, bits);
 
 	return OK;
 }
@@ -750,7 +808,7 @@ L3GD20::set_samplerate(unsigned frequency)
 		return -EINVAL;
 	}
 
-	write_reg(ADDR_CTRL_REG1, bits);
+	write_checked_reg(ADDR_CTRL_REG1, bits);
 
 	return OK;
 }
@@ -791,6 +849,11 @@ L3GD20::disable_i2c(void)
 		uint8_t a = read_reg(0x05);
 		write_reg(0x05, (0x20 | a));
 		if (read_reg(0x05) == (a | 0x20)) {
+			// this sets the I2C_DIS bit on the
+			// L3GD20H. The l3gd20 datasheet doesn't
+			// mention this register, but it does seem to
+			// accept it.
+			write_checked_reg(ADDR_LOW_ODR, 0x08);
 			return;
 		}
 	}
@@ -804,18 +867,18 @@ L3GD20::reset()
 	disable_i2c();
 
 	/* set default configuration */
-	write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
-	write_reg(ADDR_CTRL_REG2, 0);		/* disable high-pass filters */
-	write_reg(ADDR_CTRL_REG3, 0x08);        /* DRDY enable */
-	write_reg(ADDR_CTRL_REG4, REG4_BDU);
-	write_reg(ADDR_CTRL_REG5, 0);
-
-	write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE);		/* disable wake-on-interrupt */
+	write_checked_reg(ADDR_CTRL_REG1, 
+                          REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
+	write_checked_reg(ADDR_CTRL_REG2, 0);		/* disable high-pass filters */
+	write_checked_reg(ADDR_CTRL_REG3, 0x08);        /* DRDY enable */
+	write_checked_reg(ADDR_CTRL_REG4, REG4_BDU);
+	write_checked_reg(ADDR_CTRL_REG5, 0);
+	write_checked_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE);		/* disable wake-on-interrupt */
 
 	/* disable FIFO. This makes things simpler and ensures we
 	 * aren't getting stale data. It means we must run the hrt
 	 * callback fast enough to not miss data. */
-	write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE);
+	write_checked_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE);
 
 	set_samplerate(0); // 760Hz or 800Hz
 	set_range(L3GD20_DEFAULT_RANGE_DPS);
@@ -839,20 +902,36 @@ L3GD20::measure_trampoline(void *arg)
 # define L3GD20_USE_DRDY 0
 #endif
 
+void
+L3GD20::check_registers(void)
+{
+	uint8_t v;
+	if ((v=read_reg(_checked_registers[_checked_next])) != _checked_values[_checked_next]) {
+		/*
+		  if we get the wrong value then we know the SPI bus
+		  or sensor is very sick. We set _register_wait to 20
+		  and wait until we have seen 20 good values in a row
+		  before we consider the sensor to be OK again. 
+		 */
+		perf_count(_bad_registers);
+
+		/*
+		  try to fix the bad register value. We only try to
+		  fix one per loop to prevent a bad sensor hogging the
+		  bus. We skip zero as that is the WHO_AM_I, which
+		  is not writeable
+		 */
+		if (_checked_next != 0) {
+			write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]);
+		}
+		_register_wait = 20;
+        }
+        _checked_next = (_checked_next+1) % L3GD20_NUM_CHECKED_REGISTERS;
+}
+
 void
 L3GD20::measure()
 {
-#if L3GD20_USE_DRDY
-	// if the gyro doesn't have any data ready then re-schedule
-	// for 100 microseconds later. This ensures we don't double
-	// read a value and then miss the next value
-	if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) {
-		perf_count(_reschedules);
-		hrt_call_delay(&_call, 100);
-		return;
-	}
-#endif
-
 	/* status register and data as read back from the device */
 #pragma pack(push, 1)
 	struct {
@@ -870,6 +949,20 @@ L3GD20::measure()
 	/* start the performance counter */
 	perf_begin(_sample_perf);
 
+        check_registers();
+
+#if L3GD20_USE_DRDY
+	// if the gyro doesn't have any data ready then re-schedule
+	// for 100 microseconds later. This ensures we don't double
+	// read a value and then miss the next value
+	if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) {
+		perf_count(_reschedules);
+		hrt_call_delay(&_call, 100);
+                perf_end(_sample_perf);
+		return;
+	}
+#endif
+
 	/* fetch data from the sensor */
 	memset(&raw_report, 0, sizeof(raw_report));
 	raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
@@ -900,7 +993,7 @@ L3GD20::measure()
 	 *		  74 from all measurements centers them around zero.
 	 */
 	report.timestamp = hrt_absolute_time();
-        report.error_count = 0; // not recorded
+        report.error_count = perf_event_count(_bad_registers);
 	
 	switch (_orientation) {
 
@@ -973,7 +1066,39 @@ L3GD20::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_reschedules);
 	perf_print_counter(_errors);
+	perf_print_counter(_bad_registers);
 	_reports->print_info("report queue");
+        ::printf("checked_next: %u\n", _checked_next);
+        for (uint8_t i=0; i<L3GD20_NUM_CHECKED_REGISTERS; i++) {
+            uint8_t v = read_reg(_checked_registers[i]);
+            if (v != _checked_values[i]) {
+                ::printf("reg %02x:%02x should be %02x\n", 
+                         (unsigned)_checked_registers[i],
+                         (unsigned)v,
+                         (unsigned)_checked_values[i]);
+            }
+        }
+}
+
+void
+L3GD20::print_registers()
+{
+	printf("L3GD20 registers\n");
+	for (uint8_t reg=0; reg<=0x40; reg++) {
+		uint8_t v = read_reg(reg);
+		printf("%02x:%02x ",(unsigned)reg, (unsigned)v);
+		if ((reg+1) % 16 == 0) {
+			printf("\n");
+		}
+	}
+	printf("\n");
+}
+
+void
+L3GD20::test_error()
+{
+	// trigger a deliberate error
+        write_reg(ADDR_CTRL_REG3, 0);
 }
 
 int
@@ -1011,6 +1136,8 @@ void	start(bool external_bus, enum Rotation rotation);
 void	test();
 void	reset();
 void	info();
+void	regdump();
+void	test_error();
 
 /**
  * Start the driver.
@@ -1149,10 +1276,40 @@ info()
 	exit(0);
 }
 
+/**
+ * Dump the register information
+ */
+void
+regdump(void)
+{
+	if (g_dev == nullptr)
+		errx(1, "driver not running");
+
+	printf("regdump @ %p\n", g_dev);
+	g_dev->print_registers();
+
+	exit(0);
+}
+
+/**
+ * trigger an error
+ */
+void
+test_error(void)
+{
+	if (g_dev == nullptr)
+		errx(1, "driver not running");
+
+	printf("regdump @ %p\n", g_dev);
+	g_dev->test_error();
+
+	exit(0);
+}
+
 void
 usage()
 {
-	warnx("missing command: try 'start', 'info', 'test', 'reset'");
+	warnx("missing command: try 'start', 'info', 'test', 'reset', 'testerror' or 'regdump'");
 	warnx("options:");
 	warnx("    -X    (external bus)");
 	warnx("    -R rotation");
@@ -1209,5 +1366,17 @@ l3gd20_main(int argc, char *argv[])
 	if (!strcmp(verb, "info"))
 		l3gd20::info();
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	/*
+	 * Print register information.
+	 */
+	if (!strcmp(verb, "regdump"))
+		l3gd20::regdump();
+
+	/*
+	 * trigger an error
+	 */
+	if (!strcmp(verb, "testerror"))
+		l3gd20::test_error();
+
+	errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'testerror' or 'regdump'");
 }

src/drivers/ll40ls/ll40ls.cpp

@@ -746,6 +746,9 @@ start(int bus)
 		if (g_dev_ext != nullptr && OK != g_dev_ext->init()) {
 			delete g_dev_ext;
 			g_dev_ext = nullptr;
+			if (bus == PX4_I2C_BUS_EXPANSION) {
+				goto fail;
+			}
 		}
 	}
 

src/drivers/lsm303d/lsm303d.cpp

@@ -77,10 +77,6 @@
 #endif
 static const int ERROR = -1;
 
-// enable this to debug the buggy lsm303d sensor in very early
-// prototype pixhawk boards
-#define CHECK_EXTREMES 0
-
 /* SPI protocol address bits */
 #define DIR_READ				(1<<7)
 #define DIR_WRITE				(0<<7)
@@ -242,14 +238,9 @@ public:
 	void			print_registers();
 
 	/**
-	 * toggle logging
+	 * deliberately trigger an error
 	 */
-	void			toggle_logging();
-
-	/**
-	 * check for extreme accel values
-	 */
-	void			check_extremes(const accel_report *arb);
+	void			test_error();
 
 protected:
 	virtual int		probe();
@@ -292,30 +283,30 @@ private:
 
 	perf_counter_t		_accel_sample_perf;
 	perf_counter_t		_mag_sample_perf;
-	perf_counter_t		_reg1_resets;
-	perf_counter_t		_reg7_resets;
-	perf_counter_t		_extreme_values;
 	perf_counter_t		_accel_reschedules;
+	perf_counter_t		_bad_registers;
+	perf_counter_t		_bad_values;
+
+	uint8_t			_register_wait;
 
 	math::LowPassFilter2p	_accel_filter_x;
 	math::LowPassFilter2p	_accel_filter_y;
 	math::LowPassFilter2p	_accel_filter_z;
 
-	// expceted values of reg1 and reg7 to catch in-flight
-	// brownouts of the sensor
-	uint8_t			_reg1_expected;
-	uint8_t			_reg7_expected;
-
-	// accel logging
-	int			_accel_log_fd;
-	bool			_accel_logging_enabled;
-	uint64_t		_last_extreme_us;	
-	uint64_t		_last_log_us;	
-	uint64_t		_last_log_sync_us;	
-	uint64_t		_last_log_reg_us;	
-	uint64_t		_last_log_alarm_us;
 	enum Rotation		_rotation;
 
+	// values used to 
+	float			_last_accel[3];
+	uint8_t			_constant_accel_count;
+
+	// this is used to support runtime checking of key
+	// configuration registers to detect SPI bus errors and sensor
+	// reset
+#define LSM303D_NUM_CHECKED_REGISTERS 8
+	static const uint8_t	_checked_registers[LSM303D_NUM_CHECKED_REGISTERS];
+	uint8_t			_checked_values[LSM303D_NUM_CHECKED_REGISTERS];
+	uint8_t			_checked_next;
+
 	/**
 	 * Start automatic measurement.
 	 */
@@ -356,6 +347,11 @@ private:
 	 */
 	static void		mag_measure_trampoline(void *arg);
 
+	/**
+	 * check key registers for correct values
+	 */
+	void			check_registers(void);
+
 	/**
 	 * Fetch accel measurements from the sensor and update the report ring.
 	 */
@@ -407,6 +403,14 @@ private:
 	 */
 	void			modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
 
+	/**
+	 * Write a register in the LSM303D, updating _checked_values
+	 *
+	 * @param reg		The register to write.
+	 * @param value		The new value to write.
+	 */
+	void			write_checked_reg(unsigned reg, uint8_t value);
+
 	/**
 	 * Set the LSM303D accel measurement range.
 	 *
@@ -468,6 +472,19 @@ private:
 	LSM303D operator=(const LSM303D&);
 };
 
+/*
+  list of registers that will be checked in check_registers(). Note
+  that ADDR_WHO_AM_I must be first in the list.
+ */
+const uint8_t LSM303D::_checked_registers[LSM303D_NUM_CHECKED_REGISTERS] = { ADDR_WHO_AM_I,
+									     ADDR_CTRL_REG1,
+									     ADDR_CTRL_REG2,
+									     ADDR_CTRL_REG3,
+									     ADDR_CTRL_REG4,
+									     ADDR_CTRL_REG5,
+									     ADDR_CTRL_REG6,
+                                                                             ADDR_CTRL_REG7 };
+
 /**
  * Helper class implementing the mag driver node.
  */
@@ -528,23 +545,16 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota
 	_mag_read(0),
 	_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")),
 	_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_mag_read")),
-	_reg1_resets(perf_alloc(PC_COUNT, "lsm303d_reg1_resets")),
-	_reg7_resets(perf_alloc(PC_COUNT, "lsm303d_reg7_resets")),
-	_extreme_values(perf_alloc(PC_COUNT, "lsm303d_extremes")),
 	_accel_reschedules(perf_alloc(PC_COUNT, "lsm303d_accel_resched")),
+	_bad_registers(perf_alloc(PC_COUNT, "lsm303d_bad_registers")),
+	_bad_values(perf_alloc(PC_COUNT, "lsm303d_bad_values")),
+	_register_wait(0),
 	_accel_filter_x(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
 	_accel_filter_y(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
 	_accel_filter_z(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
-	_reg1_expected(0),
-	_reg7_expected(0),
-	_accel_log_fd(-1),
-	_accel_logging_enabled(false),
-	_last_extreme_us(0),
-	_last_log_us(0),
-	_last_log_sync_us(0),
-	_last_log_reg_us(0),
-	_last_log_alarm_us(0),
-	_rotation(rotation)
+	_rotation(rotation),
+	_constant_accel_count(0),
+	_checked_next(0)
 {
 	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LSM303D;
 
@@ -586,9 +596,8 @@ LSM303D::~LSM303D()
 	/* delete the perf counter */
 	perf_free(_accel_sample_perf);
 	perf_free(_mag_sample_perf);
-	perf_free(_reg1_resets);
-	perf_free(_reg7_resets);
-	perf_free(_extreme_values);
+	perf_free(_bad_registers);
+	perf_free(_bad_values);
 	perf_free(_accel_reschedules);
 }
 
@@ -703,15 +712,14 @@ LSM303D::reset()
 	disable_i2c();
 
 	/* enable accel*/
-	_reg1_expected = REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A;
-	write_reg(ADDR_CTRL_REG1, _reg1_expected);
+	write_checked_reg(ADDR_CTRL_REG1, 
+			  REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A);
 
 	/* enable mag */
-	_reg7_expected = REG7_CONT_MODE_M;
-	write_reg(ADDR_CTRL_REG7, _reg7_expected);
-	write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M);
-	write_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1
-	write_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2
+	write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
+	write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M);
+	write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1
+	write_checked_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2
 
 	accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G);
 	accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE);
@@ -739,128 +747,14 @@ LSM303D::probe()
 	/* verify that the device is attached and functioning */
 	bool success = (read_reg(ADDR_WHO_AM_I) == WHO_I_AM);
 	
-	if (success)
+	if (success) {
+		_checked_values[0] = WHO_I_AM;
 		return OK;
+        }
 
 	return -EIO;
 }
 
-#define ACCEL_LOGFILE "/fs/microsd/lsm303d.log"
-
-/**
-   check for extreme accelerometer values and log to a file on the SD card
- */
-void
-LSM303D::check_extremes(const accel_report *arb)
-{
-	const float extreme_threshold = 30;
-        static bool boot_ok = false;
-	bool is_extreme = (fabsf(arb->x) > extreme_threshold && 
-			   fabsf(arb->y) > extreme_threshold && 
-			   fabsf(arb->z) > extreme_threshold);
-	if (is_extreme) {
-		perf_count(_extreme_values);
-		// force accel logging on if we see extreme values
-		_accel_logging_enabled = true;
-	} else {
-            boot_ok = true;
-        }
-
-	if (! _accel_logging_enabled) {
-		// logging has been disabled by user, close
-		if (_accel_log_fd != -1) {
-			::close(_accel_log_fd);
-			_accel_log_fd = -1;
-		}
-		return;
-	}
-	if (_accel_log_fd == -1) {
-		// keep last 10 logs
-		::unlink(ACCEL_LOGFILE ".9");
-		for (uint8_t i=8; i>0; i--) {
-			uint8_t len = strlen(ACCEL_LOGFILE)+3;
-			char log1[len], log2[len];
-			snprintf(log1, sizeof(log1), "%s.%u", ACCEL_LOGFILE, (unsigned)i);
-			snprintf(log2, sizeof(log2), "%s.%u", ACCEL_LOGFILE, (unsigned)(i+1));
-			::rename(log1, log2);
-		}
-		::rename(ACCEL_LOGFILE, ACCEL_LOGFILE ".1");
-
-		// open the new logfile
-		_accel_log_fd = ::open(ACCEL_LOGFILE, O_WRONLY|O_CREAT|O_TRUNC, 0666);
-		if (_accel_log_fd == -1) {
-			return;
-		}
-	}
-
-	uint64_t now = hrt_absolute_time();
-	// log accels at 1Hz
-	if (_last_log_us == 0 ||
-	    now - _last_log_us > 1000*1000) {
-		_last_log_us = now;
-		::dprintf(_accel_log_fd, "ARB %llu %.3f %.3f %.3f %d %d %d boot_ok=%u\r\n",
-			  (unsigned long long)arb->timestamp, 
-			  (double)arb->x, (double)arb->y, (double)arb->z,
-			  (int)arb->x_raw,
-			  (int)arb->y_raw,
-			  (int)arb->z_raw,
-			  (unsigned)boot_ok);
-	}
-
-        const uint8_t reglist[] = { ADDR_WHO_AM_I, 0x02, 0x15, ADDR_STATUS_A, ADDR_STATUS_M, ADDR_CTRL_REG0, ADDR_CTRL_REG1, 
-                                    ADDR_CTRL_REG2, ADDR_CTRL_REG3, ADDR_CTRL_REG4, ADDR_CTRL_REG5, ADDR_CTRL_REG6, 
-                                    ADDR_CTRL_REG7, ADDR_OUT_TEMP_L, ADDR_OUT_TEMP_H, ADDR_INT_CTRL_M, ADDR_INT_SRC_M, 
-                                    ADDR_REFERENCE_X, ADDR_REFERENCE_Y, ADDR_REFERENCE_Z, ADDR_OUT_X_L_A, ADDR_OUT_X_H_A, 
-                                    ADDR_OUT_Y_L_A, ADDR_OUT_Y_H_A, ADDR_OUT_Z_L_A, ADDR_OUT_Z_H_A, ADDR_FIFO_CTRL, 
-                                    ADDR_FIFO_SRC, ADDR_IG_CFG1, ADDR_IG_SRC1, ADDR_IG_THS1, ADDR_IG_DUR1, ADDR_IG_CFG2, 
-                                    ADDR_IG_SRC2, ADDR_IG_THS2, ADDR_IG_DUR2, ADDR_CLICK_CFG, ADDR_CLICK_SRC, 
-                                    ADDR_CLICK_THS, ADDR_TIME_LIMIT, ADDR_TIME_LATENCY, ADDR_TIME_WINDOW, 
-                                    ADDR_ACT_THS, ADDR_ACT_DUR,
-                                    ADDR_OUT_X_L_M, ADDR_OUT_X_H_M, 
-                                    ADDR_OUT_Y_L_M, ADDR_OUT_Y_H_M, ADDR_OUT_Z_L_M, ADDR_OUT_Z_H_M, 0x02, 0x15, ADDR_WHO_AM_I};
-        uint8_t regval[sizeof(reglist)];
-        for (uint8_t i=0; i<sizeof(reglist); i++) {
-            regval[i] = read_reg(reglist[i]);
-        }
-
-	// log registers at 10Hz when we have extreme values, or 0.5 Hz without
-	if (_last_log_reg_us == 0 ||
-	    (is_extreme && (now - _last_log_reg_us > 250*1000)) ||
-	    (now - _last_log_reg_us > 10*1000*1000)) {
-		_last_log_reg_us = now;
-		::dprintf(_accel_log_fd, "XREG %llu", (unsigned long long)hrt_absolute_time());
-		for (uint8_t i=0; i<sizeof(reglist); i++) {
-			::dprintf(_accel_log_fd, " %02x:%02x", (unsigned)reglist[i], (unsigned)regval[i]);
-		}
-		::dprintf(_accel_log_fd, "\n");
-	}
-
-	// fsync at 0.1Hz
-	if (now - _last_log_sync_us > 10*1000*1000) {
-		_last_log_sync_us = now;
-		::fsync(_accel_log_fd);
-	}
-
-	// play alarm every 10s if we have had an extreme value
-	if (perf_event_count(_extreme_values) != 0 && 
-	    (now - _last_log_alarm_us > 10*1000*1000)) {
-		_last_log_alarm_us = now;
-		int tfd = ::open(TONEALARM_DEVICE_PATH, 0);
-		if (tfd != -1) {
-			uint8_t tone = 3;
-			if (!is_extreme) {
-				tone = 3;
-			} else if (boot_ok) {
-				tone = 4;
-			} else {
-				tone = 5;
-			}
-			::ioctl(tfd, TONE_SET_ALARM, tone);
-			::close(tfd);
-		}		
-	}
-}
-
 ssize_t
 LSM303D::read(struct file *filp, char *buffer, size_t buflen)
 {
@@ -879,9 +773,6 @@ LSM303D::read(struct file *filp, char *buffer, size_t buflen)
 		 */
 		while (count--) {
 			if (_accel_reports->get(arb)) {
-#if CHECK_EXTREMES
-				check_extremes(arb);
-#endif
 				ret += sizeof(*arb);
 				arb++;
 			}
@@ -1262,6 +1153,17 @@ LSM303D::write_reg(unsigned reg, uint8_t value)
 	transfer(cmd, nullptr, sizeof(cmd));
 }
 
+void
+LSM303D::write_checked_reg(unsigned reg, uint8_t value)
+{
+	write_reg(reg, value);
+	for (uint8_t i=0; i<LSM303D_NUM_CHECKED_REGISTERS; i++) {
+		if (reg == _checked_registers[i]) {
+			_checked_values[i] = value;
+		}
+	}
+}
+
 void
 LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
 {
@@ -1270,7 +1172,7 @@ LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
 	val = read_reg(reg);
 	val &= ~clearbits;
 	val |= setbits;
-	write_reg(reg, val);
+	write_checked_reg(reg, val);
 }
 
 int
@@ -1439,7 +1341,6 @@ LSM303D::accel_set_samplerate(unsigned frequency)
 	}
 
 	modify_reg(ADDR_CTRL_REG1, clearbits, setbits);
-	_reg1_expected = (_reg1_expected & ~clearbits) | setbits;
 
 	return OK;
 }
@@ -1514,25 +1415,36 @@ LSM303D::mag_measure_trampoline(void *arg)
 	dev->mag_measure();
 }
 
+void
+LSM303D::check_registers(void)
+{
+	uint8_t v;
+	if ((v=read_reg(_checked_registers[_checked_next])) != _checked_values[_checked_next]) {
+		/*
+		  if we get the wrong value then we know the SPI bus
+		  or sensor is very sick. We set _register_wait to 20
+		  and wait until we have seen 20 good values in a row
+		  before we consider the sensor to be OK again. 
+		 */
+		perf_count(_bad_registers);
+
+		/*
+		  try to fix the bad register value. We only try to
+		  fix one per loop to prevent a bad sensor hogging the
+		  bus. We skip zero as that is the WHO_AM_I, which
+		  is not writeable
+		 */
+		if (_checked_next != 0) {
+			write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]);
+		}
+		_register_wait = 20;
+        }
+        _checked_next = (_checked_next+1) % LSM303D_NUM_CHECKED_REGISTERS;
+}
+
 void
 LSM303D::measure()
 {
-	// if the accel doesn't have any data ready then re-schedule
-	// for 100 microseconds later. This ensures we don't double
-	// read a value and then miss the next value.
-	// Note that DRDY is not available when the lsm303d is
-	// connected on the external bus
-	if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) {
-		perf_count(_accel_reschedules);
-		hrt_call_delay(&_accel_call, 100);
-		return;
-	}
-	if (read_reg(ADDR_CTRL_REG1) != _reg1_expected) {
-		perf_count(_reg1_resets);
-		reset();
-		return;
-	}
-
 	/* status register and data as read back from the device */
 
 #pragma pack(push, 1)
@@ -1550,6 +1462,30 @@ LSM303D::measure()
 	/* start the performance counter */
 	perf_begin(_accel_sample_perf);
 
+	check_registers();
+
+	// if the accel doesn't have any data ready then re-schedule
+	// for 100 microseconds later. This ensures we don't double
+	// read a value and then miss the next value.
+	// Note that DRDY is not available when the lsm303d is
+	// connected on the external bus
+#ifdef GPIO_EXTI_ACCEL_DRDY
+	if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) {
+		perf_count(_accel_reschedules);
+		hrt_call_delay(&_accel_call, 100);
+                perf_end(_accel_sample_perf);
+		return;
+	}
+#endif
+
+	if (_register_wait != 0) {
+		// we are waiting for some good transfers before using
+		// the sensor again.
+		_register_wait--;
+		perf_end(_accel_sample_perf);
+		return;
+	}
+
 	/* fetch data from the sensor */
 	memset(&raw_accel_report, 0, sizeof(raw_accel_report));
 	raw_accel_report.cmd = ADDR_STATUS_A | DIR_READ | ADDR_INCREMENT;
@@ -1572,7 +1508,12 @@ LSM303D::measure()
 
 
 	accel_report.timestamp = hrt_absolute_time();
-        accel_report.error_count = 0; // not reported
+
+	// report the error count as the sum of the number of bad
+	// register reads and bad values. This allows the higher level
+	// code to decide if it should use this sensor based on
+	// whether it has had failures
+        accel_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
 
 	accel_report.x_raw = raw_accel_report.x;
 	accel_report.y_raw = raw_accel_report.y;
@@ -1582,6 +1523,36 @@ LSM303D::measure()
 	float y_in_new = ((accel_report.y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
 	float z_in_new = ((accel_report.z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
 
+	/*
+	  we have logs where the accelerometers get stuck at a fixed
+	  large value. We want to detect this and mark the sensor as
+	  being faulty
+	 */
+	if (fabsf(_last_accel[0] - x_in_new) < 0.001f &&
+	    fabsf(_last_accel[1] - y_in_new) < 0.001f &&
+	    fabsf(_last_accel[2] - z_in_new) < 0.001f &&
+	    fabsf(x_in_new) > 20 &&
+	    fabsf(y_in_new) > 20 &&
+	    fabsf(z_in_new) > 20) {
+		_constant_accel_count += 1;
+	} else {
+		_constant_accel_count = 0;
+	}
+	if (_constant_accel_count > 100) {
+		// we've had 100 constant accel readings with large
+		// values. The sensor is almost certainly dead. We
+		// will raise the error_count so that the top level
+		// flight code will know to avoid this sensor, but
+		// we'll still give the data so that it can be logged
+		// and viewed
+		perf_count(_bad_values);
+		_constant_accel_count = 0;
+	}
+	    
+	_last_accel[0] = x_in_new;
+	_last_accel[1] = y_in_new;
+	_last_accel[2] = z_in_new;
+
 	accel_report.x = _accel_filter_x.apply(x_in_new);
 	accel_report.y = _accel_filter_y.apply(y_in_new);
 	accel_report.z = _accel_filter_z.apply(z_in_new);
@@ -1611,12 +1582,6 @@ LSM303D::measure()
 void
 LSM303D::mag_measure()
 {
-	if (read_reg(ADDR_CTRL_REG7) != _reg7_expected) {
-		perf_count(_reg7_resets);
-		reset();
-		return;
-	}
-
 	/* status register and data as read back from the device */
 #pragma pack(push, 1)
 	struct {
@@ -1691,8 +1656,22 @@ LSM303D::print_info()
 	printf("accel reads:          %u\n", _accel_read);
 	printf("mag reads:            %u\n", _mag_read);
 	perf_print_counter(_accel_sample_perf);
+	perf_print_counter(_mag_sample_perf);
+	perf_print_counter(_bad_registers);
+	perf_print_counter(_bad_values);
+	perf_print_counter(_accel_reschedules);
 	_accel_reports->print_info("accel reports");
 	_mag_reports->print_info("mag reports");
+        ::printf("checked_next: %u\n", _checked_next);
+        for (uint8_t i=0; i<LSM303D_NUM_CHECKED_REGISTERS; i++) {
+            uint8_t v = read_reg(_checked_registers[i]);
+            if (v != _checked_values[i]) {
+                ::printf("reg %02x:%02x should be %02x\n", 
+                         (unsigned)_checked_registers[i],
+                         (unsigned)v,
+                         (unsigned)_checked_values[i]);
+            }
+        }
 }
 
 void
@@ -1750,20 +1729,13 @@ LSM303D::print_registers()
 	for (uint8_t i=0; i<sizeof(regmap)/sizeof(regmap[0]); i++) {
 		printf("0x%02x %s\n", read_reg(regmap[i].reg), regmap[i].name);
 	}
-	printf("_reg1_expected=0x%02x\n", _reg1_expected);
-	printf("_reg7_expected=0x%02x\n", _reg7_expected);
 }
 
 void
-LSM303D::toggle_logging()
+LSM303D::test_error()
 {
-	if (! _accel_logging_enabled) {
-		_accel_logging_enabled = true;
-		printf("Started logging to %s\n", ACCEL_LOGFILE);
-	} else {
-		_accel_logging_enabled = false;
-		printf("Stopped logging\n");
-	}
+	// trigger an error
+        write_reg(ADDR_CTRL_REG3, 0);
 }
 
 LSM303D_mag::LSM303D_mag(LSM303D *parent) :
@@ -1839,8 +1811,8 @@ void	test();
 void	reset();
 void	info();
 void	regdump();
-void	logging();
 void	usage();
+void	test_error();
 
 /**
  * Start the driver.
@@ -2047,15 +2019,15 @@ regdump()
 }
 
 /**
- * toggle logging
+ * trigger an error
  */
 void
-logging()
+test_error()
 {
 	if (g_dev == nullptr)
 		errx(1, "driver not running\n");
 
-	g_dev->toggle_logging();
+	g_dev->test_error();
 
 	exit(0);
 }
@@ -2063,7 +2035,7 @@ logging()
 void
 usage()
 {
-	warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'logging'");
+	warnx("missing command: try 'start', 'info', 'test', 'reset', 'testerror' or 'regdump'");
 	warnx("options:");
 	warnx("    -X    (external bus)");
 	warnx("    -R rotation");
@@ -2127,10 +2099,10 @@ lsm303d_main(int argc, char *argv[])
 		lsm303d::regdump();
 
 	/*
-	 * dump device registers
+	 * trigger an error
 	 */
-	if (!strcmp(verb, "logging"))
-		lsm303d::logging();
+	if (!strcmp(verb, "testerror"))
+		lsm303d::test_error();
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'logging' or 'regdump'");
+	errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'testerror' or 'regdump'");
 }

src/drivers/mpu6000/mpu6000.cpp

@@ -113,6 +113,10 @@
 #define MPUREG_FIFO_COUNTL		0x73
 #define MPUREG_FIFO_R_W			0x74
 #define MPUREG_PRODUCT_ID		0x0C
+#define MPUREG_TRIM1			0x0D
+#define MPUREG_TRIM2			0x0E
+#define MPUREG_TRIM3			0x0F
+#define MPUREG_TRIM4			0x10
 
 // Configuration bits MPU 3000 and MPU 6000 (not revised)?
 #define BIT_SLEEP			0x40
@@ -121,6 +125,9 @@
 #define MPU_CLK_SEL_PLLGYROX		0x01
 #define MPU_CLK_SEL_PLLGYROZ		0x03
 #define MPU_EXT_SYNC_GYROX		0x02
+#define BITS_GYRO_ST_X			0x80
+#define BITS_GYRO_ST_Y			0x40
+#define BITS_GYRO_ST_Z			0x20
 #define BITS_FS_250DPS			0x00
 #define BITS_FS_500DPS			0x08
 #define BITS_FS_1000DPS			0x10
@@ -196,6 +203,16 @@ public:
 
 	void			print_registers();
 
+	/**
+	 * Test behaviour against factory offsets
+	 *
+	 * @return 0 on success, 1 on failure
+	 */
+	int 			factory_self_test();
+
+	// deliberately cause a sensor error
+	void 			test_error();
+
 protected:
 	virtual int		probe();
 
@@ -231,7 +248,12 @@ private:
 	perf_counter_t		_gyro_reads;
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_bad_transfers;
+	perf_counter_t		_bad_registers;
 	perf_counter_t		_good_transfers;
+	perf_counter_t		_reset_retries;
+
+	uint8_t			_register_wait;
+	uint64_t		_reset_wait;
 
 	math::LowPassFilter2p	_accel_filter_x;
 	math::LowPassFilter2p	_accel_filter_y;
@@ -242,6 +264,18 @@ private:
 
 	enum Rotation		_rotation;
 
+	// this is used to support runtime checking of key
+	// configuration registers to detect SPI bus errors and sensor
+	// reset
+#define MPU6000_NUM_CHECKED_REGISTERS 9
+	static const uint8_t	_checked_registers[MPU6000_NUM_CHECKED_REGISTERS];
+	uint8_t			_checked_values[MPU6000_NUM_CHECKED_REGISTERS];
+	uint8_t			_checked_next;
+
+	// use this to avoid processing measurements when in factory
+	// self test
+	volatile bool		_in_factory_test;
+
 	/**
 	 * Start automatic measurement.
 	 */
@@ -257,7 +291,7 @@ private:
 	 *
 	 * Resets the chip and measurements ranges, but not scale and offset.
 	 */
-	void			reset();
+	int			reset();
 
 	/**
 	 * Static trampoline from the hrt_call context; because we don't have a
@@ -281,7 +315,7 @@ private:
 	 * @param		The register to read.
 	 * @return		The value that was read.
 	 */
-	uint8_t			read_reg(unsigned reg);
+	uint8_t			read_reg(unsigned reg, uint32_t speed=MPU6000_LOW_BUS_SPEED);
 	uint16_t		read_reg16(unsigned reg);
 
 	/**
@@ -303,6 +337,14 @@ private:
 	 */
 	void			modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
 
+	/**
+	 * Write a register in the MPU6000, updating _checked_values
+	 *
+	 * @param reg		The register to write.
+	 * @param value		The new value to write.
+	 */
+	void			write_checked_reg(unsigned reg, uint8_t value);
+
 	/**
 	 * Set the MPU6000 measurement range.
 	 *
@@ -347,11 +389,50 @@ private:
 	*/
 	void _set_sample_rate(uint16_t desired_sample_rate_hz);
 
+	/*
+	  check that key registers still have the right value
+	 */
+	void check_registers(void);
+
 	/* do not allow to copy this class due to pointer data members */
 	MPU6000(const MPU6000&);
 	MPU6000 operator=(const MPU6000&);
+
+#pragma pack(push, 1)
+	/**
+	 * Report conversation within the MPU6000, including command byte and
+	 * interrupt status.
+	 */
+	struct MPUReport {
+		uint8_t		cmd;
+		uint8_t		status;
+		uint8_t		accel_x[2];
+		uint8_t		accel_y[2];
+		uint8_t		accel_z[2];
+		uint8_t		temp[2];
+		uint8_t		gyro_x[2];
+		uint8_t		gyro_y[2];
+		uint8_t		gyro_z[2];
+	};
+#pragma pack(pop)
 };
 
+/*
+  list of registers that will be checked in check_registers(). Note
+  that MPUREG_PRODUCT_ID must be first in the list.
+ */
+const uint8_t MPU6000::_checked_registers[MPU6000_NUM_CHECKED_REGISTERS] = { MPUREG_PRODUCT_ID,
+									     MPUREG_PWR_MGMT_1,
+									     MPUREG_USER_CTRL,
+									     MPUREG_SMPLRT_DIV,
+                                                                             MPUREG_CONFIG,
+									     MPUREG_GYRO_CONFIG,
+									     MPUREG_ACCEL_CONFIG,
+									     MPUREG_INT_ENABLE,
+									     MPUREG_INT_PIN_CFG };
+
+					   
+
 /**
  * Helper class implementing the gyro driver node.
  */
@@ -407,14 +488,20 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
 	_gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")),
 	_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")),
 	_bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")),
+	_bad_registers(perf_alloc(PC_COUNT, "mpu6000_bad_registers")),
 	_good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")),
+	_reset_retries(perf_alloc(PC_COUNT, "mpu6000_reset_retries")),
+	_register_wait(0),
+	_reset_wait(0),
 	_accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
 	_accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
 	_accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
 	_gyro_filter_x(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
 	_gyro_filter_y(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
 	_gyro_filter_z(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
-	_rotation(rotation)
+	_rotation(rotation),
+	_checked_next(0),
+	_in_factory_test(false)
 {
 	// disable debug() calls
 	_debug_enabled = false;
@@ -460,6 +547,7 @@ MPU6000::~MPU6000()
 	perf_free(_accel_reads);
 	perf_free(_gyro_reads);
 	perf_free(_bad_transfers);
+	perf_free(_bad_registers);
 	perf_free(_good_transfers);
 }
 
@@ -486,7 +574,8 @@ MPU6000::init()
 	if (_gyro_reports == nullptr)
 		goto out;
 
-	reset();
+	if (reset() != OK)
+		goto out;
 
 	/* Initialize offsets and scales */
 	_accel_scale.x_offset = 0;
@@ -571,27 +660,39 @@ out:
 	return ret;
 }
 
-void MPU6000::reset()
+int MPU6000::reset()
 {
 	// if the mpu6000 is initialised after the l3gd20 and lsm303d
 	// then if we don't do an irqsave/irqrestore here the mpu6000
 	// frequenctly comes up in a bad state where all transfers
 	// come as zero
-	irqstate_t state;
-	state = irqsave();
+	uint8_t tries = 5;
+	while (--tries != 0) {
+		irqstate_t state;
+		state = irqsave();
 
-	write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
-	up_udelay(10000);
+		write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
+		up_udelay(10000);
 
-	// Wake up device and select GyroZ clock. Note that the
-	// MPU6000 starts up in sleep mode, and it can take some time
-	// for it to come out of sleep
-	write_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
-	up_udelay(1000);
+		// Wake up device and select GyroZ clock. Note that the
+		// MPU6000 starts up in sleep mode, and it can take some time
+		// for it to come out of sleep
+		write_checked_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
+		up_udelay(1000);
+		
+		// Disable I2C bus (recommended on datasheet)
+		write_checked_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
+		irqrestore(state);
 
-	// Disable I2C bus (recommended on datasheet)
-	write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
-        irqrestore(state);
+		if (read_reg(MPUREG_PWR_MGMT_1) == MPU_CLK_SEL_PLLGYROZ) {
+			break;
+		}
+		perf_count(_reset_retries);
+		usleep(2000);
+	}
+	if (read_reg(MPUREG_PWR_MGMT_1) != MPU_CLK_SEL_PLLGYROZ) {
+		return -EIO;
+	}
 
 	usleep(1000);
 
@@ -605,7 +706,7 @@ void MPU6000::reset()
 	_set_dlpf_filter(MPU6000_DEFAULT_ONCHIP_FILTER_FREQ);
 	usleep(1000);
 	// Gyro scale 2000 deg/s ()
-	write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
+	write_checked_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
 	usleep(1000);
 
 	// correct gyro scale factors
@@ -624,7 +725,7 @@ void MPU6000::reset()
 	case MPU6000_REV_C5:
 		// Accel scale 8g (4096 LSB/g)
 		// Rev C has different scaling than rev D
-		write_reg(MPUREG_ACCEL_CONFIG, 1 << 3);
+		write_checked_reg(MPUREG_ACCEL_CONFIG, 1 << 3);
 		break;
 
 	case MPU6000ES_REV_D6:
@@ -639,7 +740,7 @@ void MPU6000::reset()
 	// presumably won't have the accel scaling bug		
 	default:
 		// Accel scale 8g (4096 LSB/g)
-		write_reg(MPUREG_ACCEL_CONFIG, 2 << 3);
+		write_checked_reg(MPUREG_ACCEL_CONFIG, 2 << 3);
 		break;
 	}
 
@@ -651,15 +752,16 @@ void MPU6000::reset()
 	usleep(1000);
 
 	// INT CFG => Interrupt on Data Ready
-	write_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN);        // INT: Raw data ready
+	write_checked_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN);        // INT: Raw data ready
 	usleep(1000);
-	write_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
+	write_checked_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
 	usleep(1000);
 
 	// Oscillator set
 	// write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ);
 	usleep(1000);
 
+	return OK;
 }
 
 int
@@ -684,6 +786,7 @@ MPU6000::probe()
 	case MPU6000_REV_D9:
 	case MPU6000_REV_D10:
 		debug("ID 0x%02x", _product);
+		_checked_values[0] = _product;
 		return OK;
 	}
 
@@ -700,7 +803,7 @@ MPU6000::_set_sample_rate(uint16_t desired_sample_rate_hz)
   uint8_t div = 1000 / desired_sample_rate_hz;
   if(div>200) div=200;
   if(div<1) div=1;
-  write_reg(MPUREG_SMPLRT_DIV, div-1);
+  write_checked_reg(MPUREG_SMPLRT_DIV, div-1);
   _sample_rate = 1000 / div;
 }
 
@@ -734,7 +837,7 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz)
 	} else {
 		filter = BITS_DLPF_CFG_2100HZ_NOLPF;
 	}
-	write_reg(MPUREG_CONFIG, filter);
+	write_checked_reg(MPUREG_CONFIG, filter);
 }
 
 ssize_t
@@ -833,6 +936,173 @@ MPU6000::gyro_self_test()
 	return 0;
 }
 
+
+/*
+  perform a self-test comparison to factory trim values. This takes
+  about 200ms and will return OK if the current values are within 14%
+  of the expected values (as per datasheet)
+ */
+int
+MPU6000::factory_self_test()
+{
+	_in_factory_test = true;
+	uint8_t saved_gyro_config = read_reg(MPUREG_GYRO_CONFIG);
+	uint8_t saved_accel_config = read_reg(MPUREG_ACCEL_CONFIG);
+	const uint16_t repeats = 100;
+	int ret = OK;
+
+	// gyro self test has to be done at 250DPS
+	write_reg(MPUREG_GYRO_CONFIG, BITS_FS_250DPS);
+
+	struct MPUReport mpu_report;	
+	float accel_baseline[3];
+	float gyro_baseline[3];
+	float accel[3];
+	float gyro[3];
+	float accel_ftrim[3];
+	float gyro_ftrim[3];
+
+	// get baseline values without self-test enabled
+        set_frequency(MPU6000_HIGH_BUS_SPEED);
+
+	memset(accel_baseline, 0, sizeof(accel_baseline));
+	memset(gyro_baseline, 0, sizeof(gyro_baseline));
+	memset(accel, 0, sizeof(accel));
+	memset(gyro, 0, sizeof(gyro));
+
+	for (uint8_t i=0; i<repeats; i++) {
+		up_udelay(1000);
+		mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS;
+		transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report));
+
+		accel_baseline[0] += int16_t_from_bytes(mpu_report.accel_x);
+		accel_baseline[1] += int16_t_from_bytes(mpu_report.accel_y);
+		accel_baseline[2] += int16_t_from_bytes(mpu_report.accel_z);
+		gyro_baseline[0] += int16_t_from_bytes(mpu_report.gyro_x);
+		gyro_baseline[1] += int16_t_from_bytes(mpu_report.gyro_y);
+		gyro_baseline[2] += int16_t_from_bytes(mpu_report.gyro_z);
+	}
+
+#if 1
+	write_reg(MPUREG_GYRO_CONFIG, 
+		  BITS_FS_250DPS | 
+		  BITS_GYRO_ST_X | 
+		  BITS_GYRO_ST_Y | 
+		  BITS_GYRO_ST_Z);
+
+	// accel 8g, self-test enabled all axes
+	write_reg(MPUREG_ACCEL_CONFIG, saved_accel_config | 0xE0);
+#endif
+
+	up_udelay(20000);
+
+	// get values with self-test enabled
+        set_frequency(MPU6000_HIGH_BUS_SPEED);
+
+
+	for (uint8_t i=0; i<repeats; i++) {
+		up_udelay(1000);
+		mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS;
+		transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report));
+		accel[0] += int16_t_from_bytes(mpu_report.accel_x);
+		accel[1] += int16_t_from_bytes(mpu_report.accel_y);
+		accel[2] += int16_t_from_bytes(mpu_report.accel_z);
+		gyro[0] += int16_t_from_bytes(mpu_report.gyro_x);
+		gyro[1] += int16_t_from_bytes(mpu_report.gyro_y);
+		gyro[2] += int16_t_from_bytes(mpu_report.gyro_z);
+	}
+
+	for (uint8_t i=0; i<3; i++) {
+		accel_baseline[i] /= repeats;
+		gyro_baseline[i] /= repeats;
+		accel[i] /= repeats;
+		gyro[i] /= repeats;
+	}
+
+	// extract factory trim values
+	uint8_t trims[4];
+	trims[0] = read_reg(MPUREG_TRIM1);
+	trims[1] = read_reg(MPUREG_TRIM2);
+	trims[2] = read_reg(MPUREG_TRIM3);
+	trims[3] = read_reg(MPUREG_TRIM4);
+	uint8_t atrim[3];
+	uint8_t gtrim[3];
+
+	atrim[0] = ((trims[0]>>3)&0x1C) | ((trims[3]>>4)&0x03);
+	atrim[1] = ((trims[1]>>3)&0x1C) | ((trims[3]>>2)&0x03);
+	atrim[2] = ((trims[2]>>3)&0x1C) | ((trims[3]>>0)&0x03);
+	gtrim[0] = trims[0] & 0x1F;
+	gtrim[1] = trims[1] & 0x1F;
+	gtrim[2] = trims[2] & 0x1F;
+
+	// convert factory trims to right units
+	for (uint8_t i=0; i<3; i++) {
+		accel_ftrim[i] = 4096 * 0.34f * powf(0.92f/0.34f, (atrim[i]-1)/30.0f);
+		gyro_ftrim[i] = 25 * 131.0f * powf(1.046f, gtrim[i]-1);
+	}
+	// Y gyro trim is negative
+	gyro_ftrim[1] *= -1;
+
+	for (uint8_t i=0; i<3; i++) {
+		float diff = accel[i]-accel_baseline[i];
+		float err = 100*(diff - accel_ftrim[i]) / accel_ftrim[i];
+		::printf("ACCEL[%u] baseline=%d accel=%d diff=%d ftrim=%d err=%d\n",
+			 (unsigned)i,
+			 (int)(1000*accel_baseline[i]),
+			 (int)(1000*accel[i]),
+			 (int)(1000*diff),
+			 (int)(1000*accel_ftrim[i]),
+			 (int)err);
+		if (fabsf(err) > 14) {
+			::printf("FAIL\n");
+			ret = -EIO;
+		}
+	}	
+	for (uint8_t i=0; i<3; i++) {
+		float diff = gyro[i]-gyro_baseline[i];
+		float err = 100*(diff - gyro_ftrim[i]) / gyro_ftrim[i];
+		::printf("GYRO[%u] baseline=%d gyro=%d diff=%d ftrim=%d err=%d\n",
+			 (unsigned)i,
+			 (int)(1000*gyro_baseline[i]),
+			 (int)(1000*gyro[i]),
+			 (int)(1000*(gyro[i]-gyro_baseline[i])),
+			 (int)(1000*gyro_ftrim[i]),
+			 (int)err);
+		if (fabsf(err) > 14) {
+			::printf("FAIL\n");
+			ret = -EIO;
+		}
+	}	
+
+	write_reg(MPUREG_GYRO_CONFIG, saved_gyro_config);
+	write_reg(MPUREG_ACCEL_CONFIG, saved_accel_config);
+
+	_in_factory_test = false;
+	if (ret == OK) {
+		::printf("PASSED\n");
+	}
+
+	return ret;
+}
+
+
+/*
+  deliberately trigger an error in the sensor to trigger recovery
+ */
+void
+MPU6000::test_error()
+{
+	_in_factory_test = true;
+	// deliberately trigger an error. This was noticed during
+	// development as a handy way to test the reset logic
+	uint8_t data[16];
+	memset(data, 0, sizeof(data));
+	transfer(data, data, sizeof(data));
+	::printf("error triggered\n");
+	print_registers();
+	_in_factory_test = false;
+}
+
 ssize_t
 MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
 {
@@ -874,8 +1144,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 	switch (cmd) {
 
 	case SENSORIOCRESET:
-		reset();
-		return OK;
+		return reset();
 
 	case SENSORIOCSPOLLRATE: {
 			switch (arg) {
@@ -1094,12 +1363,12 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 uint8_t
-MPU6000::read_reg(unsigned reg)
+MPU6000::read_reg(unsigned reg, uint32_t speed)
 {
 	uint8_t cmd[2] = { (uint8_t)(reg | DIR_READ), 0};
 
         // general register transfer at low clock speed
-        set_frequency(MPU6000_LOW_BUS_SPEED);
+        set_frequency(speed);
 
 	transfer(cmd, cmd, sizeof(cmd));
 
@@ -1144,6 +1413,17 @@ MPU6000::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
 	write_reg(reg, val);
 }
 
+void
+MPU6000::write_checked_reg(unsigned reg, uint8_t value)
+{
+	write_reg(reg, value);
+	for (uint8_t i=0; i<MPU6000_NUM_CHECKED_REGISTERS; i++) {
+		if (reg == _checked_registers[i]) {
+			_checked_values[i] = value;
+		}
+	}
+}
+
 int
 MPU6000::set_range(unsigned max_g)
 {
@@ -1215,27 +1495,72 @@ MPU6000::measure_trampoline(void *arg)
 	dev->measure();
 }
 
+void
+MPU6000::check_registers(void)
+{
+	/*
+	  we read the register at full speed, even though it isn't
+	  listed as a high speed register. The low speed requirement
+	  for some registers seems to be a propgation delay
+	  requirement for changing sensor configuration, which should
+	  not apply to reading a single register. It is also a better
+	  test of SPI bus health to read at the same speed as we read
+	  the data registers.
+	*/
+	uint8_t v;
+	if ((v=read_reg(_checked_registers[_checked_next], MPU6000_HIGH_BUS_SPEED)) != 
+	    _checked_values[_checked_next]) {
+		/*
+		  if we get the wrong value then we know the SPI bus
+		  or sensor is very sick. We set _register_wait to 20
+		  and wait until we have seen 20 good values in a row
+		  before we consider the sensor to be OK again. 
+		 */
+		perf_count(_bad_registers);
+
+		/*
+		  try to fix the bad register value. We only try to
+		  fix one per loop to prevent a bad sensor hogging the
+		  bus.
+		 */
+		if (_register_wait == 0 || _checked_next == 0) {
+			// if the product_id is wrong then reset the
+			// sensor completely
+			write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
+			// after doing a reset we need to wait a long
+			// time before we do any other register writes
+			// or we will end up with the mpu6000 in a
+			// bizarre state where it has all correct
+			// register values but large offsets on the
+			// accel axes
+			_reset_wait = hrt_absolute_time() + 10000;
+                        _checked_next = 0;
+		} else {
+			write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]);
+			// waiting 3ms between register writes seems
+			// to raise the chance of the sensor
+			// recovering considerably
+			_reset_wait = hrt_absolute_time() + 3000;
+		}
+		_register_wait = 20;
+	}
+	_checked_next = (_checked_next+1) % MPU6000_NUM_CHECKED_REGISTERS;
+}
+
 void
 MPU6000::measure()
 {
-#pragma pack(push, 1)
-	/**
-	 * Report conversation within the MPU6000, including command byte and
-	 * interrupt status.
-	 */
-	struct MPUReport {
-		uint8_t		cmd;
-		uint8_t		status;
-		uint8_t		accel_x[2];
-		uint8_t		accel_y[2];
-		uint8_t		accel_z[2];
-		uint8_t		temp[2];
-		uint8_t		gyro_x[2];
-		uint8_t		gyro_y[2];
-		uint8_t		gyro_z[2];
-	} mpu_report;
-#pragma pack(pop)
+	if (_in_factory_test) {
+		// don't publish any data while in factory test mode
+		return;
+	}
 
+	if (hrt_absolute_time() < _reset_wait) {
+		// we're waiting for a reset to complete
+		return;
+	}
+
+	struct MPUReport mpu_report;
 	struct Report {
 		int16_t		accel_x;
 		int16_t		accel_y;
@@ -1254,6 +1579,8 @@ MPU6000::measure()
 	 */
 	mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS;
 
+	check_registers();
+
         // sensor transfer at high clock speed
         set_frequency(MPU6000_HIGH_BUS_SPEED);
 
@@ -1292,6 +1619,14 @@ MPU6000::measure()
 	}
 
 	perf_count(_good_transfers);
+
+	if (_register_wait != 0) {
+		// we are waiting for some good transfers before using
+		// the sensor again. We still increment
+		// _good_transfers, but don't return any data yet
+		_register_wait--;
+		return;
+	}
 	    
 
 	/*
@@ -1321,7 +1656,12 @@ MPU6000::measure()
 	 * Adjust and scale results to m/s^2.
 	 */
 	grb.timestamp = arb.timestamp = hrt_absolute_time();
-        grb.error_count = arb.error_count = 0; // not reported
+
+	// report the error count as the sum of the number of bad
+	// transfers and bad register reads. This allows the higher
+	// level code to decide if it should use this sensor based on
+	// whether it has had failures
+        grb.error_count = arb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers);
 
 	/*
 	 * 1) Scale raw value to SI units using scaling from datasheet.
@@ -1411,9 +1751,21 @@ MPU6000::print_info()
 	perf_print_counter(_accel_reads);
 	perf_print_counter(_gyro_reads);
 	perf_print_counter(_bad_transfers);
+	perf_print_counter(_bad_registers);
 	perf_print_counter(_good_transfers);
+	perf_print_counter(_reset_retries);
 	_accel_reports->print_info("accel queue");
 	_gyro_reports->print_info("gyro queue");
+        ::printf("checked_next: %u\n", _checked_next);
+        for (uint8_t i=0; i<MPU6000_NUM_CHECKED_REGISTERS; i++) {
+            uint8_t v = read_reg(_checked_registers[i], MPU6000_HIGH_BUS_SPEED);
+            if (v != _checked_values[i]) {
+                ::printf("reg %02x:%02x should be %02x\n", 
+                         (unsigned)_checked_registers[i],
+                         (unsigned)v,
+                         (unsigned)_checked_values[i]);
+            }
+        }
 }
 
 void
@@ -1497,6 +1849,8 @@ void	test(bool);
 void	reset(bool);
 void	info(bool);
 void	regdump(bool);
+void	testerror(bool);
+void	factorytest(bool);
 void	usage();
 
 /**
@@ -1688,10 +2042,40 @@ regdump(bool external_bus)
 	exit(0);
 }
 
+/**
+ * deliberately produce an error to test recovery
+ */
+void
+testerror(bool external_bus)
+{
+	MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int;
+	if (*g_dev_ptr == nullptr)
+		errx(1, "driver not running");
+
+	(*g_dev_ptr)->test_error();
+
+	exit(0);
+}
+
+/**
+ * Dump the register information
+ */
+void
+factorytest(bool external_bus)
+{
+	MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int;
+	if (*g_dev_ptr == nullptr)
+		errx(1, "driver not running");
+
+	(*g_dev_ptr)->factory_self_test();
+
+	exit(0);
+}
+
 void
 usage()
 {
-	warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump'");
+	warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'factorytest', 'testerror'");
 	warnx("options:");
 	warnx("    -X    (external bus)");
 	warnx("    -R rotation");
@@ -1754,5 +2138,11 @@ mpu6000_main(int argc, char *argv[])
 	if (!strcmp(verb, "regdump"))
 		mpu6000::regdump(external_bus);
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info' or 'regdump'");
+	if (!strcmp(verb, "factorytest"))
+		mpu6000::factorytest(external_bus);
+
+	if (!strcmp(verb, "testerror"))
+		mpu6000::testerror(external_bus);
+
+	errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'regdump', 'factorytest' or 'testerror'");
 }

src/drivers/ms5611/ms5611.cpp

@@ -91,12 +91,13 @@ static const int ERROR = -1;
 /* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */
 #define MS5611_CONVERSION_INTERVAL	10000	/* microseconds */
 #define MS5611_MEASUREMENT_RATIO	3	/* pressure measurements per temperature measurement */
-#define MS5611_BARO_DEVICE_PATH		"/dev/ms5611"
+#define MS5611_BARO_DEVICE_PATH_EXT	"/dev/ms5611_ext"
+#define MS5611_BARO_DEVICE_PATH_INT	"/dev/ms5611_int"
 
 class MS5611 : public device::CDev
 {
 public:
-	MS5611(device::Device *interface, ms5611::prom_u &prom_buf);
+	MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path);
 	~MS5611();
 
 	virtual int		init();
@@ -133,6 +134,7 @@ protected:
 	unsigned		_msl_pressure;	/* in Pa */
 
 	orb_advert_t		_baro_topic;
+	orb_id_t		_orb_id;
 
 	int			_class_instance;
 
@@ -195,8 +197,8 @@ protected:
  */
 extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
 
-MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) :
-	CDev("MS5611", MS5611_BARO_DEVICE_PATH),
+MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path) :
+	CDev("MS5611", path),
 	_interface(interface),
 	_prom(prom_buf.s),
 	_measure_ticks(0),
@@ -224,7 +226,7 @@ MS5611::~MS5611()
 	stop_cycle();
 
 	if (_class_instance != -1)
-		unregister_class_devname(MS5611_BARO_DEVICE_PATH, _class_instance);
+		unregister_class_devname(get_devname(), _class_instance);
 
 	/* free any existing reports */
 	if (_reports != nullptr)
@@ -261,6 +263,7 @@ MS5611::init()
 
 	/* register alternate interfaces if we have to */
 	_class_instance = register_class_devname(BARO_DEVICE_PATH);
+	_orb_id = ORB_ID_TRIPLE(sensor_baro, _class_instance);
 
 	struct baro_report brp;
 	/* do a first measurement cycle to populate reports with valid data */
@@ -300,14 +303,7 @@ MS5611::init()
 
 		ret = OK;
 
-		switch (_class_instance) {
-			case CLASS_DEVICE_PRIMARY:
-				_baro_topic = orb_advertise(ORB_ID(sensor_baro0), &brp);
-				break;
-			case CLASS_DEVICE_SECONDARY:
-				_baro_topic = orb_advertise(ORB_ID(sensor_baro1), &brp);
-				break;
-		}
+		_baro_topic = orb_advertise(_orb_id, &brp);
 
 		if (_baro_topic < 0) {
 			warnx("failed to create sensor_baro publication");
@@ -729,15 +725,7 @@ MS5611::collect()
 		/* publish it */
 		if (!(_pub_blocked)) {
 			/* publish it */
-			switch (_class_instance) {
-				case CLASS_DEVICE_PRIMARY:
-					orb_publish(ORB_ID(sensor_baro0), _baro_topic, &report);
-					break;
-
-				case CLASS_DEVICE_SECONDARY:
-					orb_publish(ORB_ID(sensor_baro1), _baro_topic, &report);
-					break;
-			}
+			orb_publish(_orb_id, _baro_topic, &report);
 		}
 
 		if (_reports->force(&report)) {
@@ -787,13 +775,15 @@ MS5611::print_info()
 namespace ms5611
 {
 
-MS5611	*g_dev;
+/* initialize explicitely for clarity */
+MS5611	*g_dev_ext = nullptr;
+MS5611	*g_dev_int = nullptr;
 
 void	start(bool external_bus);
-void	test();
-void	reset();
+void	test(bool external_bus);
+void	reset(bool external_bus);
 void	info();
-void	calibrate(unsigned altitude);
+void	calibrate(unsigned altitude, bool external_bus);
 void	usage();
 
 /**
@@ -852,9 +842,13 @@ start(bool external_bus)
 	int fd;
 	prom_u prom_buf;
 
-	if (g_dev != nullptr)
+	if (external_bus && (g_dev_ext != nullptr)) {
 		/* if already started, the still command succeeded */
-		errx(0, "already started");
+		errx(0, "ext already started");
+	} else if (!external_bus && (g_dev_int != nullptr)) {
+		/* if already started, the still command succeeded */
+		errx(0, "int already started");
+	}
 
 	device::Device *interface = nullptr;
 
@@ -872,16 +866,35 @@ start(bool external_bus)
 		errx(1, "interface init failed");
 	}
 
-	g_dev = new MS5611(interface, prom_buf);
-	if (g_dev == nullptr) {
-		delete interface;
-		errx(1, "failed to allocate driver");
+	if (external_bus) {
+		g_dev_ext = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_EXT);
+		if (g_dev_ext == nullptr) {
+			delete interface;
+			errx(1, "failed to allocate driver");
+		}
+
+		if (g_dev_ext->init() != OK)
+			goto fail;
+
+		fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
+
+	} else {
+
+		g_dev_int = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_INT);
+		if (g_dev_int == nullptr) {
+			delete interface;
+			errx(1, "failed to allocate driver");
+		}
+
+		if (g_dev_int->init() != OK)
+			goto fail;
+
+		fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
+
 	}
-	if (g_dev->init() != OK)
-		goto fail;
 
 	/* set the poll rate to default, starts automatic data collection */
-	fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0) {
 		warnx("can't open baro device");
 		goto fail;
@@ -895,9 +908,14 @@ start(bool external_bus)
 
 fail:
 
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
+	if (g_dev_int != nullptr) {
+		delete g_dev_int;
+		g_dev_int = nullptr;
+	}
+
+	if (g_dev_ext != nullptr) {
+		delete g_dev_ext;
+		g_dev_ext = nullptr;
 	}
 
 	errx(1, "driver start failed");
@@ -909,16 +927,22 @@ fail:
  * and automatic modes.
  */
 void
-test()
+test(bool external_bus)
 {
 	struct baro_report report;
 	ssize_t sz;
 	int ret;
 
-	int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
+	int fd;
+
+	if (external_bus) {
+		fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
+	} else {
+		fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
+	}
 
 	if (fd < 0)
-		err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH);
+		err(1, "open failed (try 'ms5611 start' if the driver is not running)");
 
 	/* do a simple demand read */
 	sz = read(fd, &report, sizeof(report));
@@ -972,9 +996,15 @@ test()
  * Reset the driver.
  */
 void
-reset()
+reset(bool external_bus)
 {
-	int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
+	int fd;
+
+	if (external_bus) {
+		fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
+	} else {
+		fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
+	}
 
 	if (fd < 0)
 		err(1, "failed ");
@@ -994,11 +1024,18 @@ reset()
 void
 info()
 {
-	if (g_dev == nullptr)
+	if (g_dev_ext == nullptr && g_dev_int == nullptr)
 		errx(1, "driver not running");
 
-	printf("state @ %p\n", g_dev);
-	g_dev->print_info();
+	if (g_dev_ext) {
+		warnx("ext:");
+		g_dev_ext->print_info();
+	}
+
+	if (g_dev_int) {
+		warnx("int:");
+		g_dev_int->print_info();
+	}
 
 	exit(0);
 }
@@ -1007,16 +1044,22 @@ info()
  * Calculate actual MSL pressure given current altitude
  */
 void
-calibrate(unsigned altitude)
+calibrate(unsigned altitude, bool external_bus)
 {
 	struct baro_report report;
 	float	pressure;
 	float	p1;
 
-	int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
+	int fd;
+
+	if (external_bus) {
+		fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
+	} else {
+		fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
+	}
 
 	if (fd < 0)
-		err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH);
+		err(1, "open failed (try 'ms5611 start' if the driver is not running)");
 
 	/* start the sensor polling at max */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX))
@@ -1101,6 +1144,12 @@ ms5611_main(int argc, char *argv[])
 
 	const char *verb = argv[optind];
 
+	if (argc > optind+1) {
+		if (!strcmp(argv[optind+1], "-X")) {
+			external_bus = true;
+		}
+	}
+
 	/*
 	 * Start/load the driver.
 	 */
@@ -1111,13 +1160,13 @@ ms5611_main(int argc, char *argv[])
 	 * Test the driver/device.
 	 */
 	if (!strcmp(verb, "test"))
-		ms5611::test();
+		ms5611::test(external_bus);
 
 	/*
 	 * Reset the driver.
 	 */
 	if (!strcmp(verb, "reset"))
-		ms5611::reset();
+		ms5611::reset(external_bus);
 
 	/*
 	 * Print driver information.
@@ -1134,7 +1183,7 @@ ms5611_main(int argc, char *argv[])
 
 		long altitude = strtol(argv[optind+1], nullptr, 10);
 
-		ms5611::calibrate(altitude);
+		ms5611::calibrate(altitude, external_bus);
 	}
 
 	errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");

src/drivers/px4flow/px4flow.cpp

@@ -62,6 +62,8 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
+#include <conversion/rotation.h>
+
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_px4flow.h>
 #include <drivers/device/ringbuffer.h>
@@ -73,13 +75,14 @@
 #include <board_config.h>
 
 /* Configuration Constants */
-#define I2C_FLOW_ADDRESS 		0x42 //* 7-bit address. 8-bit address is 0x84
-//range 0x42 - 0x49
+#define I2C_FLOW_ADDRESS 		0x42	///< 7-bit address. 8-bit address is 0x84, range 0x42 - 0x49
 
 /* PX4FLOW Registers addresses */
-#define PX4FLOW_REG		0x16	/* Measure Register 22*/
+#define PX4FLOW_REG			0x16	///< Measure Register 22
+
+#define PX4FLOW_CONVERSION_INTERVAL	20000	///< in microseconds! 20000 = 50 Hz 100000 = 10Hz
+#define PX4FLOW_I2C_MAX_BUS_SPEED	400000	///< 400 KHz maximum speed
 
-#define PX4FLOW_CONVERSION_INTERVAL 20000 //in microseconds! 20000 = 50 Hz 100000 = 10Hz
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
 # undef ERROR
@@ -125,7 +128,7 @@ struct i2c_integral_frame f_integral;
 class PX4FLOW: public device::I2C
 {
 public:
-	PX4FLOW(int bus, int address = I2C_FLOW_ADDRESS);
+	PX4FLOW(int bus, int address = I2C_FLOW_ADDRESS, enum Rotation rotation = (enum Rotation)0);
 	virtual ~PX4FLOW();
 
 	virtual int 		init();
@@ -154,6 +157,8 @@ private:
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
 	perf_counter_t		_buffer_overflows;
+	
+	enum Rotation				_sensor_rotation;
 
 	/**
 	 * Test whether the device supported by the driver is present at a
@@ -199,8 +204,8 @@ private:
  */
 extern "C" __EXPORT int px4flow_main(int argc, char *argv[]);
 
-PX4FLOW::PX4FLOW(int bus, int address) :
-	I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000), //400khz
+PX4FLOW::PX4FLOW(int bus, int address, enum Rotation rotation) :
+	I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, PX4FLOW_I2C_MAX_BUS_SPEED), /* 100-400 KHz */
 	_reports(nullptr),
 	_sensor_ok(false),
 	_measure_ticks(0),
@@ -208,7 +213,8 @@ PX4FLOW::PX4FLOW(int bus, int address) :
 	_px4flow_topic(-1),
 	_sample_perf(perf_alloc(PC_ELAPSED, "px4flow_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "px4flow_comms_errors")),
-	_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows"))
+	_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows")),
+	_sensor_rotation(rotation)
 {
 	// enable debug() calls
 	_debug_enabled = false;
@@ -361,6 +367,13 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case SENSORIOCGQUEUEDEPTH:
 		return _reports->size();
 
+	case SENSORIOCSROTATION:
+		_sensor_rotation = (enum Rotation)arg;
+		return OK;
+
+	case SENSORIOCGROTATION:
+		return _sensor_rotation;
+
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;
@@ -535,6 +548,10 @@ PX4FLOW::collect()
 	report.gyro_temperature = f_integral.gyro_temperature;//Temperature * 100 in centi-degrees Celsius
 
 	report.sensor_id = 0;
+	
+	/* rotate measurements according to parameter */
+	float zeroval = 0.0f;
+	rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval); 
 
 	if (_px4flow_topic < 0) {
 		_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);