Tweak configs for CF2

Fix build error

Capitalization mistake for headers

Non-Mac compiler issue

Baudrate for crazyflie nrf and fix code style

Save space

Cleanup mpu9250 driver

ROMFS/px4fmu_common/init.d/rcS

@@ -628,8 +628,23 @@ then
 		px4flow start &
 	fi
 
-	# Start USB shell if no microSD present, MAVLink else
+
+	set DEBUG_MODE no
+
 	if [ $LOG_FILE == /dev/null ]
+	then
+		set DEBUG_MODE yes
+	fi
+
+
+	if ver hwcmp CRAZYFLIE
+	then
+		set DEBUG_MODE no
+	fi
+
+
+	# Start USB shell if no microSD present, MAVLink else
+	if [ $DEBUG_MODE == yes ]
 	then
 		# Try to get an USB console
 		nshterm /dev/ttyACM0 &
@@ -681,15 +696,6 @@ then
 		ardrone_interface start -d /dev/ttyS1
 	fi
 
-
-	#
-	# Start Crazyflie driver
-	#
-	if ver hwcmp CRAZYFLIE
-	then
-		crazyflie start
-	fi
-
 	#
 	# Fixed wing setup
 	#

cmake/configs/nuttx_crazyflie_default.cmake

@@ -9,13 +9,11 @@ set(config_module_list
 	drivers/device
 	drivers/stm32
 	drivers/led
+	drivers/px4fmu
 	drivers/boards/crazyflie
-	drivers/crazyflie
 	drivers/mpu9250
-	#drivers/ak8963
 	drivers/lps25h
 	drivers/gps
-	# drivers/pwm_out_sim
 	modules/sensors
 
 	#
@@ -70,7 +68,6 @@ set(config_module_list
 	# Logging
 	#
 	modules/sdlog2
-	modules/screen
 
 	#
 	# Library modules
@@ -84,7 +81,6 @@ set(config_module_list
 	#
 	# Libraries
 	#
-	#lib/mathlib/CMSIS
 	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter

src/drivers/boards/crazyflie/board_config.h

@@ -112,17 +112,17 @@ __BEGIN_DECLS
 #define ADC_BATTERY_CURRENT_CHANNEL	((uint8_t)(-1))
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	((uint8_t)(-1))
 
- /* PWM
+/* PWM
- *
+*
- * Four PWM motor outputs are configured.
+* Four PWM motor outputs are configured.
- *
+*
- * Pins:
+* Pins:
- *
+*
- * CH1 : PA1  : TIM2_CH2
+* CH1 : PA1  : TIM2_CH2
- * CH2 : PB11 : TIM2_CH4
+* CH2 : PB11 : TIM2_CH4
- * CH3 : PA15 : TIM2_CH1
+* CH3 : PA15 : TIM2_CH1
- * CH4 : PB9  : TIM4_CH4
+* CH4 : PB9  : TIM4_CH4
- */
+*/
 
 #define GPIO_TIM2_CH2OUT	GPIO_TIM2_CH2OUT_1
 #define GPIO_TIM2_CH4OUT	GPIO_TIM2_CH4OUT_2

src/drivers/boards/crazyflie/crazyflie_init.c

@@ -102,6 +102,17 @@
  * Public Functions
  ****************************************************************************/
 
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+
+}
+
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
@@ -129,20 +140,6 @@ stm32_boardinitialize(void)
 
 #include <math.h>
 
-#if 0
-#ifdef __cplusplus
-__EXPORT int matherr(struct __exception *e)
-{
-	return 1;
-}
-#else
-__EXPORT int matherr(struct exception *e)
-{
-	return 1;
-}
-#endif
-#endif
-
 __EXPORT int nsh_archinitialize(void)
 {
 	int result;
@@ -177,13 +174,9 @@ __EXPORT int nsh_archinitialize(void)
 	result = board_i2c_initialize();
 
 	if (result != OK) {
-//		up_ledon(LED_AMBER);
+		led_on(1);
 		return -ENODEV;
 	}
 
-
-
-	// TODO: Initialize i2c buses right here
-
 	return OK;
 }

src/drivers/crazyflie/crazyflie.cpp

@@ -428,7 +428,7 @@ Crazyflie::cycle()
 
 			/* the PWM limit call takes care of out of band errors, NaN and constrains */
 			pwm_limit_calc(_servo_armed, arm_nothrottle(), num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm,
-					   outputs, pwm_limited, &_pwm_limit);
+				       outputs, pwm_limited, &_pwm_limit);
 
 			/* output to the servos */
 			for (size_t i = 0; i < num_outputs; i++) {
@@ -499,9 +499,9 @@ void Crazyflie::work_stop()
 
 int
 Crazyflie::control_callback(uintptr_t handle,
-			 uint8_t control_group,
+			    uint8_t control_group,
-			 uint8_t control_index,
+			    uint8_t control_index,
-			 float &input)
+			    float &input)
 {
 	const actuator_controls_s *controls = (actuator_controls_s *)handle;
 
@@ -518,7 +518,7 @@ Crazyflie::control_callback(uintptr_t handle,
 	/* motor spinup phase - lock throttle to zero */
 	if (_pwm_limit.state == PWM_LIMIT_STATE_RAMP) {
 		if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
-			control_index == actuator_controls_s::INDEX_THROTTLE) {
+		    control_index == actuator_controls_s::INDEX_THROTTLE) {
 			/* limit the throttle output to zero during motor spinup,
 			 * as the motors cannot follow any demand yet
 			 */
@@ -529,7 +529,7 @@ Crazyflie::control_callback(uintptr_t handle,
 	/* throttle not arming - mark throttle input as invalid */
 	if (arm_nothrottle()) {
 		if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
-			control_index == actuator_controls_s::INDEX_THROTTLE) {
+		    control_index == actuator_controls_s::INDEX_THROTTLE) {
 			/* set the throttle to an invalid value */
 			input = NAN_VALUE;
 		}
@@ -770,7 +770,7 @@ Crazyflie::ioctl(file *filp, int cmd, unsigned long arg)
 			mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
 
 			SimpleMixer *mixer = new SimpleMixer(control_callback,
-								 (uintptr_t)_controls, mixinfo);
+							     (uintptr_t)_controls, mixinfo);
 
 			if (mixer->check()) {
 				delete mixer;
@@ -1077,8 +1077,8 @@ crazyflie_main(int argc, char *argv[])
 	if (!strcmp(verb, "start")) {
 		if (crazyflie_start() == OK) {
 			errx(0, "Crazyflie driver started");
-		}
+
-		else {
+		} else {
 			errx(1, "failed to start the Crazyflie driver");
 		}
 

src/drivers/lps25h/lps25h.cpp

@@ -830,7 +830,7 @@ LPS25H::collect()
 
 		} else {
 			_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &new_report,
-							 &_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
+							  &_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
 
 			if (_baro_topic == nullptr) {
 				DEVICE_DEBUG("ADVERT FAIL");
@@ -1306,6 +1306,7 @@ lps25h_main(int argc, char *argv[])
 	while ((ch = getopt(argc, argv, "XIS:CT")) != EOF) {
 		switch (ch) {
 #if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
+
 		case 'I':
 			busid = LPS25H_BUS_I2C_INTERNAL;
 			break;

src/drivers/mpu9250/mag.cpp

@@ -68,87 +68,6 @@
 #include "mpu9250.h"
 
 
-/* in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit */
-
-#define MPU9250_MAG_RANGE_GA        1.5e-3f;
-
-/* we are using the continuous fixed sampling rate of 100Hz */
-
-#define MPU9250_AK8963_SAMPLE_RATE 100
-
-
-/* mpu9250 master i2c bus specific register address and bit definitions */
-
-#define MPUREG_I2C_MST_STATUS       0x36
-
-#define BIT_I2C_READ_FLAG           0x80
-
-#define MPUREG_I2C_MST_CTRL         0x24
-#define MPUREG_I2C_SLV0_ADDR        0x25
-#define MPUREG_I2C_SLV0_REG         0x26
-#define MPUREG_I2C_SLV0_CTRL        0x27
-
-#define MPUREG_I2C_SLV4_ADDR        0x31
-#define MPUREG_I2C_SLV4_REG         0x32
-#define MPUREG_I2C_SLV4_DO          0x33
-#define MPUREG_I2C_SLV4_CTRL        0x34
-#define MPUREG_I2C_SLV4_DI          0x35
-
-#define MPUREG_EXT_SENS_DATA_00     0x49
-
-#define MPUREG_I2C_SLV0_D0          0x63
-#define MPUREG_I2C_MST_DELAY_CTRL   0x67
-#define MPUREG_USER_CTRL            0x6A
-
-#define BIT_I2C_SLV0_NACK           0x01
-#define BIT_I2C_FIFO_EN             0x40
-#define BIT_I2C_MST_EN              0x20
-#define BIT_I2C_IF_DIS              0x10
-#define BIT_FIFO_RST                0x04
-#define BIT_I2C_MST_RST             0x02
-#define BIT_SIG_COND_RST            0x01
-
-#define BIT_I2C_SLV0_EN             0x80
-#define BIT_I2C_SLV0_BYTE_SW        0x40
-#define BIT_I2C_SLV0_REG_DIS        0x20
-#define BIT_I2C_SLV0_REG_GRP        0x10
-
-#define BIT_I2C_MST_MULT_MST_EN     0x80
-#define BIT_I2C_MST_WAIT_FOR_ES     0x40
-#define BIT_I2C_MST_SLV_3_FIFO_EN   0x20
-#define BIT_I2C_MST_P_NSR           0x10
-#define BITS_I2C_MST_CLOCK_258HZ    0x08
-#define BITS_I2C_MST_CLOCK_400HZ    0x0D
-
-#define BIT_I2C_SLV0_DLY_EN         0x01
-#define BIT_I2C_SLV1_DLY_EN         0x02
-#define BIT_I2C_SLV2_DLY_EN         0x04
-#define BIT_I2C_SLV3_DLY_EN         0x08
-
-
-/* ak8963 register address and bit definitions */
-
-#define AK8963_I2C_ADDR         0x0C
-#define AK8963_DEVICE_ID        0x48
-
-#define AK8963REG_WIA           0x00
-#define AK8963REG_ST1           0x02
-#define AK8963REG_HXL           0x03
-#define AK8963REG_ASAX          0x10
-#define AK8963REG_CNTL1         0x0A
-#define AK8963REG_CNTL2         0x0B
-
-#define AK8963_SINGLE_MEAS_MODE 0x01
-#define AK8963_CONTINUOUS_MODE1 0x02
-#define AK8963_CONTINUOUS_MODE2 0x06
-#define AK8963_POWERDOWN_MODE   0x00
-#define AK8963_SELFTEST_MODE    0x08
-#define AK8963_FUZE_MODE        0x0F
-#define AK8963_16BIT_ADC        0x10
-#define AK8963_14BIT_ADC        0x00
-#define AK8963_RESET            0x01
-
-
 // If interface is non-null, then it will used for interacting with the device.
 // Otherwise, it will passthrough the parent MPU9250
 MPU9250_mag::MPU9250_mag(MPU9250 *parent, device::Device *interface, const char *path) :
@@ -255,7 +174,8 @@ void
 MPU9250_mag::measure()
 {
 	struct ak8963_regs data;
-	if(OK == _interface->read(AK8963REG_ST1, &data, sizeof(struct ak8963_regs))){
+
+	if (OK == _interface->read(AK8963REG_ST1, &data, sizeof(struct ak8963_regs))) {
 		_measure(data);
 	}
 }
@@ -536,12 +456,14 @@ uint8_t
 MPU9250_mag::read_reg(unsigned int reg)
 {
 	uint8_t buf;
+
 	if (_interface == nullptr) {
 		passthrough_read(reg, &buf, 0x01);
-	}
+
-	else {
+	} else {
 		_interface->read(reg, &buf, 1);
 	}
+
 	return buf;
 }
 
@@ -580,8 +502,8 @@ MPU9250_mag::write_reg(unsigned reg, uint8_t value)
 	// general register transfer at low clock speed
 	if (_interface == nullptr) {
 		passthrough_write(reg, value);
-	}
+
-	else {
+	} else {
 		_interface->write(MPU9250_LOW_SPEED_OP(reg), &value, 1);
 	}
 }
@@ -603,12 +525,14 @@ MPU9250_mag::ak8963_read_adjustments(void)
 
 	write_reg(AK8963REG_CNTL1, AK8963_FUZE_MODE | AK8963_16BIT_ADC);
 	usleep(50);
+
 	if (_interface != nullptr) {
 		_interface->read(AK8963REG_ASAX, response, 3);
-	}
+
-	else {
+	} else {
 		passthrough_read(AK8963REG_ASAX, response, 3);
 	}
+
 	write_reg(AK8963REG_CNTL1, AK8963_POWERDOWN_MODE);
 
 	for (int i = 0; i < 3; i++) {
@@ -633,12 +557,12 @@ MPU9250_mag::ak8963_setup(void)
 	int retries = 10;
 
 	/* Configures the parent to act in master mode */
-	if(_interface == nullptr) {
+	if (_interface == nullptr) {
 		uint8_t user_ctrl = _parent->read_reg(MPUREG_USER_CTRL);
 		_parent->write_checked_reg(MPUREG_USER_CTRL, user_ctrl | BIT_I2C_MST_EN);
 		_parent->write_reg(MPUREG_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | BIT_I2C_MST_WAIT_FOR_ES | BITS_I2C_MST_CLOCK_400HZ);
-	}
+
-	else {
+	} else {
 		//	uint8_t user_ctrl = _parent->read_reg(MPUREG_USER_CTRL);
 
 		//	// Passthrough mode
@@ -659,7 +583,7 @@ MPU9250_mag::ak8963_setup(void)
 	write_reg(AK8963REG_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
 
 
-	if(_interface == NULL) {
+	if (_interface == NULL) {
 		/* Configure mpu to internally read ak8963 data  */
 		set_passthrough(AK8963REG_ST1, sizeof(struct ak8963_regs));
 	}

src/drivers/mpu9250/mag.h

@@ -33,6 +33,39 @@
 
 #pragma once
 
+
+/* in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit */
+
+#define MPU9250_MAG_RANGE_GA        1.5e-3f;
+
+/* we are using the continuous fixed sampling rate of 100Hz */
+
+#define MPU9250_AK8963_SAMPLE_RATE 100
+
+/* ak8963 register address and bit definitions */
+
+#define AK8963_I2C_ADDR         0x0C
+#define AK8963_DEVICE_ID        0x48
+
+#define AK8963REG_WIA           0x00
+#define AK8963REG_ST1           0x02
+#define AK8963REG_HXL           0x03
+#define AK8963REG_ASAX          0x10
+#define AK8963REG_CNTL1         0x0A
+#define AK8963REG_CNTL2         0x0B
+
+#define AK8963_SINGLE_MEAS_MODE 0x01
+#define AK8963_CONTINUOUS_MODE1 0x02
+#define AK8963_CONTINUOUS_MODE2 0x06
+#define AK8963_POWERDOWN_MODE   0x00
+#define AK8963_SELFTEST_MODE    0x08
+#define AK8963_FUZE_MODE        0x0F
+#define AK8963_16BIT_ADC        0x10
+#define AK8963_14BIT_ADC        0x00
+#define AK8963_RESET            0x01
+
+
+
 class MPU9250;
 
 #pragma pack(push, 1)

src/drivers/mpu9250/mag_i2c.cpp

@@ -55,20 +55,12 @@
 #include <drivers/drv_accel.h>
 #include <drivers/drv_device.h>
 
-#include "MPU9250.h"
+#include "mpu9250.h"
 #include "mag.h"
 
 #include "board_config.h"
 
 
-// TODO: This is redundant with mag.cpp
-#define AK8963_I2C_ADDR         0x0C
-#define ADDR_ID			0x00
-
-#define ID_WHO_AM_I		0x48
-
-
-
 #ifdef USE_I2C
 
 device::Device *AK8963_I2C_interface(int bus, bool external_bus);
@@ -163,9 +155,9 @@ int
 AK8963_I2C::probe()
 {
 	uint8_t whoami = 0;
-	uint8_t expected = ID_WHO_AM_I;
+	uint8_t expected = AK8963_DEVICE_ID;
 
-	if (read(ADDR_ID, &whoami, 1)) {
+	if (read(AK8963REG_WIA, &whoami, 1)) {
 		return -EIO;
 	}
 

src/drivers/mpu9250/main.cpp

@@ -69,8 +69,6 @@
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
 
-#include "mag.h"
-#include "gyro.h"
 #include "mpu9250.h"
 
 #define MPU_DEVICE_PATH_ACCEL		"/dev/mpu9250_accel"
@@ -125,7 +123,7 @@ struct mpu9250_bus_option {
 	{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, NULL },
 #endif
 #if defined(PX4_SPI_BUS_EXT)
-	{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, NULL },
+	{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, NULL },
 #endif
 };
 
@@ -189,9 +187,11 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
 #ifdef USE_I2C
 	/* For i2c interfaces, connect to the magnetomer directly */
 	bool is_i2c = bus.busid == MPU9250_BUS_I2C_INTERNAL || bus.busid == MPU9250_BUS_I2C_EXTERNAL;
+
 	if (is_i2c) {
 		mag_interface = AK8963_I2C_interface(bus.busnum, external);
 	}
+
 #endif
 
 	bus.dev = new MPU9250(interface, mag_interface, bus.accelpath, bus.gyropath, bus.magpath, rotation);
@@ -494,7 +494,6 @@ mpu9250_main(int argc, char *argv[])
 	int ch;
 	bool external = false;
 	enum Rotation rotation = ROTATION_NONE;
-	//int accel_range = 8;
 
 	/* jump over start/off/etc and look at options first */
 	while ((ch = getopt(argc, argv, "XISsR:")) != EOF) {

src/drivers/mpu9250/mpu9250.cpp

@@ -109,7 +109,8 @@ const uint8_t MPU9250::_checked_registers[MPU9250_NUM_CHECKED_REGISTERS] = { MPU
 									   };
 
 
-MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel, const char *path_gyro, const char *path_mag,
+MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel,
+		 const char *path_gyro, const char *path_mag,
 		 enum Rotation rotation) :
 	CDev("MPU9250", path_accel),
 	_interface(interface),
@@ -122,7 +123,7 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
 #else
 	_use_hrt(true),
 #endif
-	_call{},
+	_call {},
 	_call_interval(0),
 	_accel_reports(nullptr),
 	_accel_scale{},
@@ -195,7 +196,9 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
 	_gyro_scale.z_scale  = 1.0f;
 
 	memset(&_call, 0, sizeof(_call));
+#if defined(USE_I2C)
 	memset(&_work, 0, sizeof(_work));
+#endif
 }
 
 MPU9250::~MPU9250()
@@ -305,11 +308,14 @@ MPU9250::init()
 		return ret;
 	}
 
+#ifdef USE_I2C
 
 	if (!_mag->is_passthrough() && _mag->_interface->init() != OK) {
 		warnx("failed to setup ak8963 interface");
 	}
 
+#endif
+
 	/* do CDev init for the mag device node, keep it optional */
 	ret = _mag->init();
 
@@ -390,7 +396,15 @@ int MPU9250::reset()
 	// INT CFG => Interrupt on Data Ready
 	write_checked_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN);        // INT: Raw data ready
 	usleep(1000);
-	write_checked_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR | (_mag->is_passthrough()? 0 : BIT_INT_BYPASS_EN)); // INT: Clear on any read, also use i2c bypass is master mode isn't needed
+
+#ifdef USE_I2C
+	bool bypass = !_mag->is_passthrough();
+#else
+	bool bypass = false;
+#endif
+	write_checked_reg(MPUREG_INT_PIN_CFG,
+			  BIT_INT_ANYRD_2CLEAR | (bypass ? BIT_INT_BYPASS_EN :
+					  0)); // INT: Clear on any read, also use i2c bypass is master mode isn't needed
 	usleep(1000);
 
 	write_checked_reg(MPUREG_ACCEL_CONFIG2, BITS_ACCEL_CONFIG2_41HZ);
@@ -1018,7 +1032,7 @@ MPU9250::write_checked_reg(unsigned reg, uint8_t value)
 		if (reg == _checked_registers[i]) {
 			_checked_values[i] = value;
 			_checked_bad[i] = value;
-			break; // TODO: Assumes no duplicates
+			break;
 		}
 	}
 }
@@ -1075,6 +1089,7 @@ MPU9250::start()
 			       1000,
 			       _call_interval - MPU9250_TIMER_REDUCTION,
 			       (hrt_callout)&MPU9250::measure_trampoline, this);;
+
 	} else {
 #ifdef USE_I2C
 		/* schedule a cycle to start things */
@@ -1267,15 +1282,12 @@ MPU9250::measure()
 	/* start measuring */
 	perf_begin(_sample_perf);
 
-	// TODO: Don't fetch magnetometer data if it isn't being managed
-	// In that case, trigger a magnetometer read
-
 	/*
 	 * Fetch the full set of measurements from the MPU9250 in one pass.
 	 */
 	if (OK != _interface->read(MPU9250_SET_SPEED(MPUREG_INT_STATUS, MPU9250_HIGH_BUS_SPEED),
-			(uint8_t *)&mpu_report,
+				   (uint8_t *)&mpu_report,
-			sizeof(mpu_report))) {
+				   sizeof(mpu_report))) {
 		return;
 	}
 
@@ -1285,13 +1297,19 @@ MPU9250::measure()
 		return;
 	}
 
+#ifdef USE_I2C
+
 	if (_mag->is_passthrough()) {
+#endif
 		_mag->_measure(mpu_report.mag);
-	}
+#ifdef USE_I2C
-	else {
+
+	} else {
 		_mag->measure();
 	}
 
+#endif
+
 	/*
 	 * Convert from big to little endian
 	 */

src/drivers/mpu9250/mpu9250.h

@@ -31,37 +31,16 @@
  *
  ****************************************************************************/
 
-
-#pragma once
-
-
-
-// TODO: All these includes are from main.cpp
-#include <px4_config.h>
-
-#include <sys/types.h>
 #include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <stdio.h>
-#include <getopt.h>
 
 #include <systemlib/perf_counter.h>
-#include <systemlib/err.h>
 #include <systemlib/conversions.h>
 
-// TODO: These three are new
-#include <nuttx/arch.h>
 #include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
 
 #include <board_config.h>
 #include <drivers/drv_hrt.h>
 
-#include <drivers/device/spi.h>
-#include <drivers/device/i2c.h>
 #include <drivers/device/ringbuffer.h>
 #include <drivers/device/integrator.h>
 #include <drivers/drv_accel.h>
@@ -79,8 +58,6 @@
 #  define USE_I2C
 #endif
 
-#define DIR_READ			0x80
-#define DIR_WRITE			0x00
 
 // MPU 9250 registers
 #define MPUREG_WHOAMI			0x75
@@ -143,7 +120,7 @@
 #define MPUREG_FIFO_COUNTL		0x73
 #define MPUREG_FIFO_R_W			0x74
 
- // Configuration bits MPU 9250
+// Configuration bits MPU 9250
 #define BIT_SLEEP			0x40
 #define BIT_H_RESET			0x80
 #define MPU_CLK_SEL_AUTO		0x01
@@ -173,6 +150,33 @@
 #define BIT_INT_ANYRD_2CLEAR		0x10
 #define BIT_INT_BYPASS_EN		0x02
 
+#define BIT_I2C_READ_FLAG           0x80
+
+#define BIT_I2C_SLV0_NACK           0x01
+#define BIT_I2C_FIFO_EN             0x40
+#define BIT_I2C_MST_EN              0x20
+#define BIT_I2C_IF_DIS              0x10
+#define BIT_FIFO_RST                0x04
+#define BIT_I2C_MST_RST             0x02
+#define BIT_SIG_COND_RST            0x01
+
+#define BIT_I2C_SLV0_EN             0x80
+#define BIT_I2C_SLV0_BYTE_SW        0x40
+#define BIT_I2C_SLV0_REG_DIS        0x20
+#define BIT_I2C_SLV0_REG_GRP        0x10
+
+#define BIT_I2C_MST_MULT_MST_EN     0x80
+#define BIT_I2C_MST_WAIT_FOR_ES     0x40
+#define BIT_I2C_MST_SLV_3_FIFO_EN   0x20
+#define BIT_I2C_MST_P_NSR           0x10
+#define BITS_I2C_MST_CLOCK_258HZ    0x08
+#define BITS_I2C_MST_CLOCK_400HZ    0x0D
+
+#define BIT_I2C_SLV0_DLY_EN         0x01
+#define BIT_I2C_SLV1_DLY_EN         0x02
+#define BIT_I2C_SLV2_DLY_EN         0x04
+#define BIT_I2C_SLV3_DLY_EN         0x08
+
 #define MPU_WHOAMI_9250			0x71
 
 #define MPU9250_ACCEL_DEFAULT_RATE	1000
@@ -209,7 +213,6 @@ struct MPUReport {
 };
 #pragma pack(pop)
 
-// TODO: Big enough?
 #define MPU_MAX_WRITE_BUFFER_SIZE (2)
 
 
@@ -244,7 +247,8 @@ class MPU9250_gyro;
 class MPU9250 : public device::CDev
 {
 public:
-	MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel, const char *path_gyro, const char *path_mag,
+	MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel, const char *path_gyro,
+		const char *path_mag,
 		enum Rotation rotation);
 	virtual ~MPU9250();
 
@@ -375,7 +379,7 @@ private:
 	/**
 	 * When the I2C interfase is on
 	 * Perform a poll cycle; collect from the previous measurement
- 	 * and start a new one.
+	 * and start a new one.
 	 *
 	 * This is the heart of the measurement state machine.  This function
 	 * alternately starts a measurement, or collects the data from the

src/drivers/mpu9250/mpu9250_spi.cpp

@@ -58,7 +58,7 @@
 #include <drivers/drv_accel.h>
 #include <drivers/drv_device.h>
 
-#include "MPU9250.h"
+#include "mpu9250.h"
 #include <board_config.h>
 
 #define DIR_READ			0x80
@@ -118,6 +118,7 @@ MPU9250_SPI_interface(int bus, bool external_bus)
 #else
 		errx(0, "External SPI not available");
 #endif
+
 	} else {
 		cs = (spi_dev_e) PX4_SPIDEV_MPU;
 	}

src/modules/mavlink/mavlink_main.cpp

@@ -642,6 +642,10 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name)
 #define B921600 921600
 #endif
 
+#ifndef B1000000
+	#define B1000000 1000000
+#endif
+
 	/* process baud rate */
 	int speed;
 
@@ -2630,6 +2634,3 @@ int mavlink_main(int argc, char *argv[])
 
 	return 0;
 }
-
-
-

src/modules/screen/CMakeLists.txt

@@ -1,43 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-px4_add_module(
-	MODULE modules__screen
-	MAIN screen
-	COMPILE_FLAGS
-		-Os
-	SRCS
-		screen.c
-	DEPENDS
-		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/modules/screen/screen.c

@@ -1,134 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: Anton Babushkin <anton.babushkin@me.com>
- *
- * 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 screen.c
- *
- * Using screen to read serial ports.
- *
- * @author Tim Dyer <>
- */
-
-#include <px4_defines.h>
-#include <fcntl.h>
-#include <stdio.h>
-#include <sys/ioctl.h>
-#include <systemlib/err.h>
-#include <poll.h>
-#include <termios.h>
-
-__EXPORT int screen_main(int argc, char *argv[]);
-
-int
-open_uart(const char *device);
-
-
-int screen_main(int argc, char *argv[])
-{
-	int uart = open_uart("/dev/ttyS2");
-
-	//static const int timeout_ms = 1000;
-
-	for (;;)
-	{
-		char c;
-		ssize_t size = read(uart, &c, 1);
-		if (size)
-		{
-			printf("%c", c);
-		}
-
-		/*
-		struct pollfd fds;
-		fds.fd = uart;
-		fds.events = POLLIN;
-
-		char c;
-
-		if (poll(&fds, 1, timeout_ms) > 0) {
-			read(uart, &c, 1);
-			printf("%c", c);
-		} else {
-			warnx("UART timeout on TX/RX port");
-			//return ERROR;
-		}
-		*/
-	}
-
-	return OK;
-}
-
-int
-open_uart(const char *device)
-{
-	/* baud rate */
-	static const speed_t speed = B1000000;
-
-	/* open uart */
-	const int uart = open(device, O_RDWR | O_NOCTTY);
-
-	if (uart < 0) {
-		err(1, "ERR: opening %s", device);
-	}
-
-	/* Back up the original uart configuration to restore it after exit */
-	int termios_state;
-	struct termios uart_config_original;
-
-	if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) {
-		close(uart);
-		err(1, "ERR: %s: %d", device, termios_state);
-	}
-
-	/* Fill the struct for the new configuration */
-	struct termios uart_config;
-	tcgetattr(uart, &uart_config);
-
-	/* Clear ONLCR flag (which appends a CR for every LF) */
-	uart_config.c_oflag &= ~ONLCR;
-
-	/* Set baud rate */
-	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-		close(uart);
-		err(1, "ERR: %s: %d (cfsetispeed, cfsetospeed)",
-		    device, termios_state);
-	}
-
-	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
-		close(uart);
-		err(1, "ERR: %s (tcsetattr)", device);
-	}
-
-	return uart;
-}