From f914a905566ed97b414c4475a22ff8a7a6f222a0 Mon Sep 17 00:00:00 2001 From: patacongo Date: Thu, 24 Jan 2013 16:28:15 +0000 Subject: apps/examples/nettest and poll: Complete Kconfig files git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5556 42af7a65-404d-4744-a932-0658087f49c3 --- apps/ChangeLog.txt | 1 + apps/examples/README.txt | 4 ++-- apps/examples/nettest/Kconfig | 43 +++++++++++++++++++++++++++++++++++++++++ apps/examples/nettest/Makefile | 2 +- apps/examples/nettest/nettest.h | 4 ++-- apps/examples/poll/Kconfig | 18 +++++++++++++++++ 6 files changed, 67 insertions(+), 5 deletions(-) (limited to 'apps') diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt index bcc0ac172..5f3440897 100644 --- a/apps/ChangeLog.txt +++ b/apps/ChangeLog.txt @@ -492,3 +492,4 @@ the entrypoint. Should be ftpd_main (from Yan T.) * apps/netutils/telnetd/telnetd_driver: Was stuck in a loop if recv[from]() ever returned a value <= 0. + * apps/examples/nettest and poll: Complete Kconfig files. diff --git a/apps/examples/README.txt b/apps/examples/README.txt index 5996cbb70..03d43f1a0 100644 --- a/apps/examples/README.txt +++ b/apps/examples/README.txt @@ -675,8 +675,8 @@ examples/mount when CONFIG_EXAMPLES_MOUNT_DEVNAME is not defined. The default is zero (meaning that "/dev/ram0" will be used). -examples/netttest -^^^^^^^^^^^^^^^^^ +examples/nettest +^^^^^^^^^^^^^^^^ This is a simple network test for verifying client- and server- functionality in a TCP/IP connection. diff --git a/apps/examples/nettest/Kconfig b/apps/examples/nettest/Kconfig index 63d34ec3f..613b8ea91 100644 --- a/apps/examples/nettest/Kconfig +++ b/apps/examples/nettest/Kconfig @@ -6,8 +6,51 @@ config EXAMPLES_NETTEST bool "Network test example" default n + depends on NET_TCP ---help--- Enable the network test example if EXAMPLES_NETTEST + +config EXAMPLES_NETTEST_SERVER + bool "Target is server" + default n + ---help--- + Select to use the host as the client side of the test. Default: The + target is the client side of the test + +config EXAMPLES_NETTEST_PERFORMANCE + bool "Test for Performance" + default n + ---help--- + Configure the example to test for network performance. Default: Test + is for network functionality. + +config EXAMPLES_NETTEST_NOMAC + bool "Use Canned MAC Address" + default n + +config EXAMPLES_NETTEST_IPADDR + hex "Target IP address" + default 0x0a000002 + +config EXAMPLES_NETTEST_DRIPADDR + hex "Default Router IP address (Gateway)" + default 0x0a000001 + +config EXAMPLES_NETTEST_NETMASK + hex "Network Mask" + default 0xffffff00 + +config EXAMPLES_NETTEST_CLIENTIP + hex "Client IP Address" + default 0x0a000001 if !EXAMPLES_NETTEST_SERVER + default 0x0a000002 if EXAMPLES_NETTEST_SERVER + ---help--- + IP address of the client. If the target is the client, then + EXAMPLES_NETTEST_CLIENTIP should be the same as + EXAMPLES_NETTEST_IPADDR (default). If the target is the server, + then the default value of EXAMPLES_NETTEST_CLIENTIP is set to the + gateway address, EXAMPLES_NETTEST_DRIPADDR. + endif diff --git a/apps/examples/nettest/Makefile b/apps/examples/nettest/Makefile index 5368bdefc..c533c9dd5 100644 --- a/apps/examples/nettest/Makefile +++ b/apps/examples/nettest/Makefile @@ -64,7 +64,7 @@ else endif endif -HOSTCFLAGS += -DCONFIG_EXAMPLES_NETTEST_HOST=1 +HOSTCFLAGS += -DNETTEST_HOST=1 ifeq ($(CONFIG_EXAMPLES_NETTEST_SERVER),y) HOSTCFLAGS += -DCONFIG_EXAMPLES_NETTEST_SERVER=1 -DCONFIG_EXAMPLES_NETTEST_CLIENTIP="$(CONFIG_EXAMPLES_NETTEST_CLIENTIP)" endif diff --git a/apps/examples/nettest/nettest.h b/apps/examples/nettest/nettest.h index f05038584..37ac470d1 100644 --- a/apps/examples/nettest/nettest.h +++ b/apps/examples/nettest/nettest.h @@ -40,7 +40,7 @@ * Included Files ****************************************************************************/ -#ifdef CONFIG_EXAMPLES_NETTEST_HOST +#ifdef NETTEST_HOST #else # include #endif @@ -49,7 +49,7 @@ * Definitions ****************************************************************************/ -#ifdef CONFIG_EXAMPLES_NETTEST_HOST +#ifdef NETTEST_HOST /* HTONS/L macros are unique to uIP */ # define HTONS(a) htons(a) diff --git a/apps/examples/poll/Kconfig b/apps/examples/poll/Kconfig index c52827496..f35a9200b 100644 --- a/apps/examples/poll/Kconfig +++ b/apps/examples/poll/Kconfig @@ -6,8 +6,26 @@ config EXAMPLES_POLL bool "Poll example" default n + depends on !NSH_BUILTIN_APPS ---help--- Enable the poll example if EXAMPLES_POLL + +config EXAMPLES_POLL_NOMAC + bool "Use Canned MAC Address" + default n + +config EXAMPLES_POLL_IPADDR + hex "Target IP address" + default 0x0a000002 + +config EXAMPLES_POLL_DRIPADDR + hex "Default Router IP address (Gateway)" + default 0x0a000001 + +config EXAMPLES_POLL_NETMASK + hex "Network Mask" + default 0xffffff00 + endif -- cgit v1.2.3 From 888306f7280390e610544289429660d444a637c0 Mon Sep 17 00:00:00 2001 From: patacongo Date: Thu, 24 Jan 2013 18:39:53 +0000 Subject: Add psock_poll(); Fix some warnings reported by Lorenz Meier; lm4f logic from JP git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5557 42af7a65-404d-4744-a932-0658087f49c3 --- apps/nshlib/nsh_ddcmd.c | 2 +- nuttx/ChangeLog | 1 + nuttx/arch/arm/include/lm/chip.h | 26 +++++++++- nuttx/configs/lm3s6965-ek/tools/oocd.sh | 2 +- nuttx/include/nuttx/net/net.h | 85 ++++++++++++++++++--------------- nuttx/libc/stdio/lib_libfread.c | 4 +- nuttx/net/send.c | 2 +- nuttx/sched/mq_sndinternal.c | 2 +- 8 files changed, 78 insertions(+), 46 deletions(-) (limited to 'apps') diff --git a/apps/nshlib/nsh_ddcmd.c b/apps/nshlib/nsh_ddcmd.c index 40a3710b1..e6ef2523c 100644 --- a/apps/nshlib/nsh_ddcmd.c +++ b/apps/nshlib/nsh_ddcmd.c @@ -545,7 +545,7 @@ int cmd_dd(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv) } #endif - if (dd.skip < 0 || dd.skip > dd.nsectors) + if (dd.skip > dd.nsectors) { nsh_output(vtbl, g_fmtarginvalid, g_dd); goto errout_with_paths; diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index 36286c77f..ffd1b66ae 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -4020,4 +4020,5 @@ Denis Carikli). * configs/olimex-lpc1766stk/nettest: Configuration converted to use the kconfig-frontends tools. + * net/net_poll.c: Split net_poll() to create psock_poll() too. diff --git a/nuttx/arch/arm/include/lm/chip.h b/nuttx/arch/arm/include/lm/chip.h index 6b49fe2ce..6214a50d0 100644 --- a/nuttx/arch/arm/include/lm/chip.h +++ b/nuttx/arch/arm/include/lm/chip.h @@ -3,6 +3,7 @@ * * Copyright (C) 2009-2010, 2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt + * Author: Jose Pablo Carballo * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -50,6 +51,7 @@ #if defined(CONFIG_ARCH_CHIP_LM3S6918) # define LM_NTIMERS 4 /* Four general purpose timers */ +# define LM_NWIDETIMERS 0 /* No general purpose wide timers */ # define LM_NETHCONTROLLERS 1 /* One Ethernet controller */ # undef LM_ETHTS /* No timestamp register */ # define LM_NSSI 2 /* Two SSI modules */ @@ -59,8 +61,10 @@ # define LM_NPWM 0 /* No PWM generator modules */ # define LM_NQEI 0 /* No quadrature encoders */ # define LM_NPORTS 8 /* 8 Ports (GPIOA-H) 5-38 GPIOs */ +# define LM_NCANCONTROLLER 0 /* No CAN controllers */ #elif defined(CONFIG_ARCH_CHIP_LM3S6432) # define LM_NTIMERS 3 /* Three general purpose timers */ +# define LM_NWIDETIMERS 0 /* No general purpose wide timers */ # define LM_NETHCONTROLLERS 1 /* One Ethernet controller */ # undef LM_ETHTS /* No timestamp register */ # define LM_NSSI 1 /* One SSI module */ @@ -70,8 +74,10 @@ # define LM_NPWM 1 /* One PWM generator module */ # define LM_NQEI 0 /* No quadrature encoders */ # define LM_NPORTS 7 /* 7 Ports (GPIOA-G), 0-42 GPIOs */ +# define LM_NCANCONTROLLER 0 /* No CAN controllers */ #elif defined(CONFIG_ARCH_CHIP_LM3S6965) # define LM_NTIMERS 4 /* Four general purpose timers */ +# define LM_NWIDETIMERS 0 /* No general purpose wide timers */ # define LM_NETHCONTROLLERS 1 /* One Ethernet controller */ # undef LM_ETHTS /* No timestamp register */ # define LM_NSSI 1 /* One SSI module */ @@ -81,8 +87,10 @@ # define LM_NPWM 3 /* Three PWM generator modules */ # define LM_NQEI 2 /* Two quadrature encoders */ # define LM_NPORTS 7 /* 7 Ports (GPIOA-G), 0-42 GPIOs */ +# define LM_NCANCONTROLLER 0 /* No CAN controllers */ #elif defined(CONFIG_ARCH_CHIP_LM3S9B96) # define LM_NTIMERS 4 /* Four general purpose timers */ +# define LM_NWIDETIMERS 0 /* No general purpose wide timers */ # define LM_NETHCONTROLLERS 1 /* One Ethernet controller */ # undef LM_ETHTS /* No timestamp register */ # define LM_NSSI 2 /* Two SSI modules */ @@ -93,8 +101,10 @@ # define LM_NPWM 4 /* Four PWM generator modules */ # define LM_NQEI 2 /* Two quadrature encoders */ # define LM_NPORTS 9 /* 9 Ports (GPIOA-H,J) 0-65 GPIOs */ +# define LM_NCANCONTROLLER 0 /* No CAN controllers */ #elif defined(CONFIG_ARCH_CHIP_LM3S8962) -# define LM_NTIMERS 4 /* Four general purpose timers */ +# define LM_NTIMERS 6 /* Four general purpose timers */ +# define LM_NWIDETIMERS 0 /* No general purpose wide timers */ # define LM_NETHCONTROLLERS 1 /* One Ethernet controller */ # define LM_NSSI 1 /* One SSI module */ # define LM_NUARTS 3 /* Two UART modules */ @@ -103,7 +113,19 @@ # define LM_NPWM 3 /* Three PWM generator modules */ # define LM_NQEI 2 /* Two quadrature encoders */ # define LM_NPORTS 7 /* 7 Ports (GPIOA-G), 5-42 GPIOs */ -# define LM_CANCONTROLLER 1 /* One CAN controller */ +# define LM_NCANCONTROLLER 1 /* One CAN controller */ +#elif defined(CONFIG_ARCH_CHIP_LM4F120) +# define LM_NTIMERS 6 /* Six general purpose timers */ +# define LM_NWIDETIMERS 6 /* Six general purpose wide timers */ +# define LM_NETHCONTROLLERS 0 /* No Ethernet controller */ +# define LM_NSSI 4 /* Four SSI module */ +# define LM_NUARTS 8 /* Eight UART modules */ +# define LM_NI2C 4 /* Four I2C modules */ +# define LM_NADC 2 /* Two ADC modules */ +# define LM_NPWM 0 /* No PWM generator modules */ +# define LM_NQEI 0 /* No quadrature encoders */ +# define LM_NPORTS 6 /* 6 Ports (GPIOA-F), 0-43 GPIOs */ +# define LM_NCANCONTROLLER 1 /* One CAN controller */ #else # error "Capabilities not specified for this Stellaris chip" #endif diff --git a/nuttx/configs/lm3s6965-ek/tools/oocd.sh b/nuttx/configs/lm3s6965-ek/tools/oocd.sh index 28bcc48a7..758d11450 100755 --- a/nuttx/configs/lm3s6965-ek/tools/oocd.sh +++ b/nuttx/configs/lm3s6965-ek/tools/oocd.sh @@ -22,7 +22,7 @@ TARGET_PATH="/usr/share/openocd/scripts" # like environment #OPENOCD_EXE=openocd.exe OPENOCD_EXE=openocd -OPENOCD_CFG="${TOPDIR}/configs/lm3s6965-ek/tools/ek-lm3s6965.cfg" +OPENOCD_CFG="${TOPDIR}/configs/lm3s6965-ek/tools/lm3s6965-ek.cfg" OPENOCD_ARGS="-f ${OPENOCD_CFG} -s ${TARGET_PATH}" if [ "X$2" = "X-d" ]; then diff --git a/nuttx/include/nuttx/net/net.h b/nuttx/include/nuttx/net/net.h index b79dda755..b625b2fbe 100644 --- a/nuttx/include/nuttx/net/net.h +++ b/nuttx/include/nuttx/net/net.h @@ -117,110 +117,115 @@ struct uip_driver_s; /* Forward reference. See nuttx/net/uip/uip-arch.h */ typedef int (*netdev_callback_t)(FAR struct uip_driver_s *dev, void *arg); /**************************************************************************** - * Public Function Prototypes + * Public Data ****************************************************************************/ #ifdef __cplusplus #define EXTERN extern "C" -extern "C" { +extern "C" +{ #else #define EXTERN extern #endif +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + /* net_checksd.c *************************************************************/ /* Check if the socket descriptor is valid for the provided TCB and if it * supports the requested access. */ -EXTERN int net_checksd(int fd, int oflags); +int net_checksd(int fd, int oflags); /* net_sockets.c *************************************************************/ /* There interfaces are called only from OS scheduling and iniialization logic * under sched/ */ -EXTERN void weak_function net_initialize(void); -EXTERN FAR struct socketlist *net_alloclist(void); -EXTERN int net_addreflist(FAR struct socketlist *list); -EXTERN int net_releaselist(FAR struct socketlist *list); +void weak_function net_initialize(void); +FAR struct socketlist *net_alloclist(void); +int net_addreflist(FAR struct socketlist *list); +int net_releaselist(FAR struct socketlist *list); /* Given a socket descriptor, return the underly NuttX-specific socket * structure. */ -EXTERN FAR struct socket *sockfd_socket(int sockfd); +FAR struct socket *sockfd_socket(int sockfd); /* socket.c ******************************************************************/ /* socket using underlying socket structure */ -EXTERN int psock_socket(int domain, int type, int protocol, - FAR struct socket *psock); +int psock_socket(int domain, int type, int protocol, FAR struct socket *psock); /* net_close.c ***************************************************************/ /* The standard close() operation redirects operations on socket descriptors * to this function. */ -EXTERN int net_close(int sockfd); +int net_close(int sockfd); /* Performs the close operation on a socket instance */ -EXTERN int psock_close(FAR struct socket *psock); +int psock_close(FAR struct socket *psock); /* net_close.c ***************************************************************/ /* Performs the bind() operation on a socket instance */ -EXTERN int psock_bind(FAR struct socket *psock, - FAR const struct sockaddr *addr, socklen_t addrlen); +int psock_bind(FAR struct socket *psock, FAR const struct sockaddr *addr, + socklen_t addrlen); /* connect.c *****************************************************************/ /* Performs the connect() operation on a socket instance */ -EXTERN int psock_connect(FAR struct socket *psock, - FAR const struct sockaddr *addr, socklen_t addrlen); +int psock_connect(FAR struct socket *psock, FAR const struct sockaddr *addr, + socklen_t addrlen); /* send.c ********************************************************************/ /* Send using underlying socket structure */ -EXTERN ssize_t psock_send(FAR struct socket *psock, const void *buf, - size_t len, int flags); +ssize_t psock_send(FAR struct socket *psock, const void *buf, size_t len, + int flags); /* sendto.c ******************************************************************/ /* Sendto using underlying socket structure */ -EXTERN ssize_t psock_sendto(FAR struct socket *psock, FAR const void *buf, - size_t len, int flags, FAR const struct sockaddr *to, - socklen_t tolen); +ssize_t psock_sendto(FAR struct socket *psock, FAR const void *buf, + size_t len, int flags, FAR const struct sockaddr *to, + socklen_t tolen); /* recvfrom.c ****************************************************************/ /* recvfrom using the underlying socket structure */ -EXTERN ssize_t psock_recvfrom(FAR struct socket *psock, FAR void *buf, - size_t len, int flags,FAR struct sockaddr *from, - FAR socklen_t *fromlen); +ssize_t psock_recvfrom(FAR struct socket *psock, FAR void *buf, size_t len, + int flags,FAR struct sockaddr *from, + FAR socklen_t *fromlen); /* recv using the underlying socket structure */ -#define psock_recv(psock,buf,len,flags) psock_recvfrom(psock,buf,len,flags,NULL,0) +#define psock_recv(psock,buf,len,flags) \ + psock_recvfrom(psock,buf,len,flags,NULL,0) /* getsockopt.c **************************************************************/ /* getsockopt using the underlying socket structure */ -EXTERN int psock_getsockopt(FAR struct socket *psock, int level, int option, - FAR void *value, FAR socklen_t *value_len); +int psock_getsockopt(FAR struct socket *psock, int level, int option, + FAR void *value, FAR socklen_t *value_len); /* setsockopt.c **************************************************************/ /* setsockopt using the underlying socket structure */ -EXTERN int psock_setsockopt(FAR struct socket *psock, int level, int option, - FAR const void *value, socklen_t value_len); +int psock_setsockopt(FAR struct socket *psock, int level, int option, + FAR const void *value, socklen_t value_len); /* net_ioctl.c ***************************************************************/ /* The standard ioctl() operation redirects operations on socket descriptors * to this function. */ -EXTERN int netdev_ioctl(int sockfd, int cmd, unsigned long arg); +int netdev_ioctl(int sockfd, int cmd, unsigned long arg); /* net_poll.c ****************************************************************/ /* The standard poll() operation redirects operations on socket descriptors @@ -229,7 +234,9 @@ EXTERN int netdev_ioctl(int sockfd, int cmd, unsigned long arg); #ifndef CONFIG_DISABLE_POLL struct pollfd; /* Forward reference -- see poll.h */ -EXTERN int net_poll(int sockfd, struct pollfd *fds, bool setup); + +int psock_poll(FAR struct socket *psock, struct pollfd *fds, bool setup); +int net_poll(int sockfd, struct pollfd *fds, bool setup); #endif /* net_dup.c *****************************************************************/ @@ -237,7 +244,7 @@ EXTERN int net_poll(int sockfd, struct pollfd *fds, bool setup); * this function */ -EXTERN int net_dup(int sockfd, int minsd); +int net_dup(int sockfd, int minsd); /* net_dup2.c ****************************************************************/ /* The standard dup2() operation redirects operations on socket descriptors to @@ -245,7 +252,7 @@ EXTERN int net_dup(int sockfd, int minsd); */ #if CONFIG_NFILE_DESCRIPTORS > 0 -EXTERN int net_dup2(int sockfd1, int sockfd2); +int net_dup2(int sockfd1, int sockfd2); #else # define net_dup2(sockfd1, sockfd2) dup2(sockfd1, sockfd2) #endif @@ -253,12 +260,12 @@ EXTERN int net_dup2(int sockfd1, int sockfd2); /* net_clone.c ***************************************************************/ /* Performs the low level, common portion of net_dup() and net_dup2() */ -EXTERN int net_clone(FAR struct socket *psock1, FAR struct socket *psock2); +int net_clone(FAR struct socket *psock1, FAR struct socket *psock2); /* net_vfcntl.c **************************************************************/ /* Performs fcntl operations on socket */ -EXTERN int net_vfcntl(int sockfd, int cmd, va_list ap); +int net_vfcntl(int sockfd, int cmd, va_list ap); /* netdev-register.c *********************************************************/ /* This function is called by network interface device drivers to inform the @@ -267,23 +274,23 @@ EXTERN int net_vfcntl(int sockfd, int cmd, va_list ap); * addresses */ -EXTERN int netdev_register(FAR struct uip_driver_s *dev); +int netdev_register(FAR struct uip_driver_s *dev); /* netdev-unregister.c *********************************************************/ /* Unregister a network device driver. */ -EXTERN int netdev_unregister(FAR struct uip_driver_s *dev); +int netdev_unregister(FAR struct uip_driver_s *dev); /* net_foreach.c ************************************************************/ /* Enumerates all registered network devices */ -EXTERN int netdev_foreach(netdev_callback_t callback, void *arg); +int netdev_foreach(netdev_callback_t callback, void *arg); /* drivers/net/slip.c ******************************************************/ /* Instantiate a SLIP network interface. */ #ifdef CONFIG_NET_SLIP -EXTERN int slip_initialize(int intf, const char *devname); +int slip_initialize(int intf, const char *devname); #endif #undef EXTERN diff --git a/nuttx/libc/stdio/lib_libfread.c b/nuttx/libc/stdio/lib_libfread.c index 3e851bf17..f8cf0f40a 100644 --- a/nuttx/libc/stdio/lib_libfread.c +++ b/nuttx/libc/stdio/lib_libfread.c @@ -1,7 +1,7 @@ /**************************************************************************** * libc/stdio/lib_libfread.c * - * Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved. + * Copyright (C) 2007-2009, 2011-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without @@ -88,7 +88,9 @@ ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream) { unsigned char *dest = (unsigned char*)ptr; ssize_t bytes_read; +#if CONFIG_STDIO_BUFFER_SIZE > 0 int ret; +#endif /* Make sure that reading from this stream is allowed */ diff --git a/nuttx/net/send.c b/nuttx/net/send.c index 79dfef4ec..b26a0e5bb 100644 --- a/nuttx/net/send.c +++ b/nuttx/net/send.c @@ -448,7 +448,7 @@ end_wait: * equivalent to sendto(sockfd,buf,len,flags,NULL,0). * * Parameters: - * psock And instance of the internal socket structure. + * psock An instance of the internal socket structure. * buf Data to send * len Length of data to send * flags Send flags diff --git a/nuttx/sched/mq_sndinternal.c b/nuttx/sched/mq_sndinternal.c index 51f898875..f16f7de1a 100644 --- a/nuttx/sched/mq_sndinternal.c +++ b/nuttx/sched/mq_sndinternal.c @@ -124,7 +124,7 @@ int mq_verifysend(mqd_t mqdes, const void *msg, size_t msglen, int prio) return ERROR; } - if (msglen < 0 || msglen > (size_t)mqdes->msgq->maxmsgsize) + if (msglen > (size_t)mqdes->msgq->maxmsgsize) { set_errno(EMSGSIZE); return ERROR; -- cgit v1.2.3 From a2ec48846f786e72a976038c9467b25a61ad5a9f Mon Sep 17 00:00:00 2001 From: patacongo Date: Thu, 24 Jan 2013 23:18:32 +0000 Subject: Fix some missing logic and inconsistencies in child status logic; Fix a bug introduced into sigaction() git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5560 42af7a65-404d-4744-a932-0658087f49c3 --- apps/examples/ostest/ostest_main.c | 28 ++++++++ nuttx/TODO | 15 +++- nuttx/net/net_poll.c | 4 +- nuttx/sched/Kconfig | 7 ++ nuttx/sched/os_internal.h | 1 + nuttx/sched/sched_waitid.c | 136 +++++++++++++++++++++++++++---------- nuttx/sched/sched_waitpid.c | 132 ++++++++++++++++++++++------------- nuttx/sched/sig_action.c | 22 +++--- nuttx/sched/task_childstatus.c | 36 ++++++++++ nuttx/sched/task_reparent.c | 24 ++++++- nuttx/sched/task_setup.c | 23 ++++--- 11 files changed, 322 insertions(+), 106 deletions(-) (limited to 'apps') diff --git a/apps/examples/ostest/ostest_main.c b/apps/examples/ostest/ostest_main.c index aab1ff045..3e4197fdc 100644 --- a/apps/examples/ostest/ostest_main.c +++ b/apps/examples/ostest/ostest_main.c @@ -43,8 +43,11 @@ #include #include #include +#include #include #include +#include + #include #include "ostest.h" @@ -264,6 +267,31 @@ static int user_main(int argc, char *argv[]) } check_test_memory_usage(); + /* If retention of child status is enable, then suppress it for this task. + * This task may produce many, many children (especially if + * CONFIG_EXAMPLES_OSTEST_LOOPS) and it does not harvest their exit status. + * As a result, the test may fail inappropriately unless retention of + * child exit status is disabled. + * + * So basically, this tests that child status can be disabled, but cannot + * verify that status is retained correctly. + */ + +#if defined(CONFIG_SCHED_HAVE_PARENT) && defined(CONFIG_SCHED_CHILD_STATUS) + { + struct sigaction sa; + int ret; + + sa.sa_handler = SIG_IGN; + sa.sa_flags = SA_NOCLDWAIT; + ret = sigaction(SIGCHLD, &sa, NULL); + if (ret < 0) + { + printf("user_main: ERROR: sigaction failed: %d\n", errno); + } + } +#endif + /* Check environment variables */ #ifndef CONFIG_DISABLE_ENVIRON show_environment(true, true, true); diff --git a/nuttx/TODO b/nuttx/TODO index ed91515ba..d6bd18d12 100644 --- a/nuttx/TODO +++ b/nuttx/TODO @@ -7,7 +7,7 @@ standards, things that could be improved, and ideas for enhancements. nuttx/ (11) Task/Scheduler (sched/) - (1) Memory Managment (mm/) + (2) Memory Managment (mm/) (3) Signals (sched/, arch/) (2) pthreads (sched/) (2) C++ Support @@ -278,6 +278,19 @@ o Memory Managment (mm/) Priority: Medium/Low, a good feature to prevent memory leaks but would have negative impact on memory usage and code size. + Title: CONTAINER ALLOCATOR + Description: There are several places where the logic requires allocation of + a tiny structure that just contains pointers to other things or + small amounts of data that needs to be bundled together. There + are examples net/net_poll.c and numerous other places. + + I am wondering if it would not be good create a pool of generic + containers (say void *[4]). There re-use these when we need + small containers. The code in sched/task_childstatus.c might + be generalized for this purpose. + Status: Open + Priority: Very low (I am not even sure that this is a good idea yet). + o Signals (sched/, arch/) ^^^^^^^^^^^^^^^^^^^^^^^ diff --git a/nuttx/net/net_poll.c b/nuttx/net/net_poll.c index ea6f54a6b..3021ac35e 100644 --- a/nuttx/net/net_poll.c +++ b/nuttx/net/net_poll.c @@ -367,8 +367,7 @@ int psock_poll(FAR struct socket *psock, FAR struct pollfd *fds, bool setup) if (psock->s_type != SOCK_STREAM) { - ret = -ENOSYS; - goto errout; + return -ENOSYS; } #endif @@ -387,7 +386,6 @@ int psock_poll(FAR struct socket *psock, FAR struct pollfd *fds, bool setup) ret = net_pollteardown(psock, fds); } -errout: return ret; } #endif diff --git a/nuttx/sched/Kconfig b/nuttx/sched/Kconfig index 7ea301600..7745c2c25 100644 --- a/nuttx/sched/Kconfig +++ b/nuttx/sched/Kconfig @@ -124,6 +124,13 @@ config PREALLOC_CHILDSTATUS sa.sa_flags = SA_NOCLDWAIT; int ret = sigaction(SIGCHLD, &sa, NULL); +config DEBUG_CHILDSTATUS + bool "Enable Child Status Debug Output" + default n + depends on SCHED_CHILD_STATUS && DEBUG + ---help--- + Very detailed... I am sure that you do not want this. + config JULIAN_TIME bool "Enables Julian time conversions" default n diff --git a/nuttx/sched/os_internal.h b/nuttx/sched/os_internal.h index 7d5095bad..dc87cb9a4 100644 --- a/nuttx/sched/os_internal.h +++ b/nuttx/sched/os_internal.h @@ -274,6 +274,7 @@ void weak_function task_initialize(void); FAR struct child_status_s *task_allocchild(void); void task_freechild(FAR struct child_status_s *status); void task_addchild(FAR _TCB *tcb, FAR struct child_status_s *child); +FAR struct child_status_s *task_exitchild(FAR _TCB *tcb); FAR struct child_status_s *task_findchild(FAR _TCB *tcb, pid_t pid); FAR struct child_status_s *task_removechild(FAR _TCB *tcb, pid_t pid); void task_removechildren(FAR _TCB *tcb); diff --git a/nuttx/sched/sched_waitid.c b/nuttx/sched/sched_waitid.c index 37ee26ce0..e73bc223c 100644 --- a/nuttx/sched/sched_waitid.c +++ b/nuttx/sched/sched_waitid.c @@ -53,6 +53,36 @@ * Private Functions *****************************************************************************/ +/***************************************************************************** + * Name: exitted_child + * + * Description: + * Handle the case where a child exitted properlay was we (apparently) lost + * the detch of child signal. + * + *****************************************************************************/ + +#ifdef CONFIG_SCHED_CHILD_STATUS +static void exitted_child(FAR _TCB *rtcb, FAR struct child_status_s *child, + FAR siginfo_t *info) +{ + /* The child has exited. Return the saved exit status (and some fudged + * information. + */ + + info->si_signo = SIGCHLD; + info->si_code = CLD_EXITED; + info->si_value.sival_ptr = NULL; + info->si_pid = child->ch_pid; + info->si_status = child->ch_status; + + /* Discard the child entry */ + + (void)task_removechild(rtcb, child->ch_pid); + task_freechild(child); +} +#endif + /***************************************************************************** * Public Functions *****************************************************************************/ @@ -120,9 +150,14 @@ * *****************************************************************************/ -int waitid(idtype_t idtype, id_t id, siginfo_t *info, int options) +int waitid(idtype_t idtype, id_t id, FAR siginfo_t *info, int options) { FAR _TCB *rtcb = (FAR _TCB *)g_readytorun.head; + FAR _TCB *ctcb; +#ifdef CONFIG_SCHED_CHILD_STATUS + FAR struct child_status_s *child; + bool retains; +#endif sigset_t sigset; int err; int ret; @@ -160,7 +195,11 @@ int waitid(idtype_t idtype, id_t id, siginfo_t *info, int options) */ #ifdef CONFIG_SCHED_CHILD_STATUS - if (rtcb->children == NULL) + /* Does this task retain child status? */ + + retains = ((rtcb->flags && TCB_FLAG_NOCLDWAIT) == 0); + + if (rtcb->children == NULL && retains) { /* There are no children */ @@ -169,13 +208,29 @@ int waitid(idtype_t idtype, id_t id, siginfo_t *info, int options) } else if (idtype == P_PID) { - if (task_findchild(rtcb, (pid_t)id) == NULL) - { - /* This specific pid is not a child */ + /* Get the TCB corresponding to this PID and make sure it is our child. */ + ctcb = sched_gettcb((pid_t)id); + if (!ctcb || ctcb->parent != rtcb->pid) + { err = ECHILD; goto errout_with_errno; } + + /* Does this task retain child status? */ + + if (retains) + { + /* Check if this specific pid has allocated child status? */ + + if (task_findchild(rtcb, (pid_t)id) == NULL) + { + /* This specific pid is not a child */ + + err = ECHILD; + goto errout_with_errno; + } + } } #else if (rtcb->nchildren == 0) @@ -189,7 +244,7 @@ int waitid(idtype_t idtype, id_t id, siginfo_t *info, int options) { /* Get the TCB corresponding to this PID and make sure it is our child. */ - FAR _TCB *ctcb = sched_gettcb((pid_t)id); + ctcb = sched_gettcb((pid_t)id); if (!ctcb || ctcb->parent != rtcb->pid) { err = ECHILD; @@ -209,48 +264,61 @@ int waitid(idtype_t idtype, id_t id, siginfo_t *info, int options) * instead). */ - DEBUGASSERT(rtcb->children); - if (rtcb->children == NULL) + DEBUGASSERT(!retains || rtcb->children); + if (idtype == P_ALL) { - /* This should not happen. I am just wasting your FLASH. */ + /* We are waiting for any child to exit */ - err = ECHILD; - goto errout_with_errno; + if (retains && (child = task_exitchild(rtcb)) != NULL) + { + /* A child has exitted. Apparently we missed the signal. + * Return the exit status and break out of the loop. + */ + + exitted_child(rtcb, child, info); + break; + } } - else if (idtype == P_PID) - { - FAR struct child_status_s *child; - /* We are waiting for a specific PID. Get the current status - * of the child task. - */ + /* We are waiting for a specific PID. Does this task retain child status? */ + + else if (retains) + { + /* Yes ... Get the current status of the child task. */ child = task_findchild(rtcb, (pid_t)id); DEBUGASSERT(child); - if (!child) - { - /* Yikes! The child status entry just disappeared! */ - - err = ECHILD; - goto errout_with_errno; - } - + /* Did the child exit? */ if ((child->ch_flags & CHILD_FLAG_EXITED) != 0) { - /* The child has exited. Return the saved exit status */ + /* The child has exited. Return the exit status and break out + * of the loop. + */ - info->si_signo = SIGCHLD; - info->si_code = CLD_EXITED; - info->si_value.sival_ptr = NULL; - info->si_pid = (pid_t)id; - info->si_status = child->ch_status; + exitted_child(rtcb, child, info); + break; + } + } + else + { + /* We can use kill() with signal number 0 to determine if that + * task is still alive. + */ - /* Discard the child entry and break out of the loop */ + ret = kill((pid_t)id, 0); + if (ret < 0) + { + /* It is no longer running. We know that the child task + * was running okay when we started, so we must have lost + * the signal. In this case, we know that the task exit'ed, + * but we do not know its exit status. It would be better + * to reported ECHILD than bogus status. + */ - (void)task_removechild(rtcb, (pid_t)id); - task_freechild(child); + err = ECHILD; + goto errout_with_errno; } } #else diff --git a/nuttx/sched/sched_waitpid.c b/nuttx/sched/sched_waitpid.c index fe3f7167d..ecdc60a2c 100644 --- a/nuttx/sched/sched_waitpid.c +++ b/nuttx/sched/sched_waitpid.c @@ -185,7 +185,7 @@ #ifndef CONFIG_SCHED_HAVE_PARENT pid_t waitpid(pid_t pid, int *stat_loc, int options) { - _TCB *tcb; + _TCB *ctcb; bool mystat; int err; int ret; @@ -208,8 +208,8 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options) /* Get the TCB corresponding to this PID */ - tcb = sched_gettcb(pid); - if (!tcb) + ctcb = sched_gettcb(pid); + if (!ctcb) { err = ECHILD; goto errout_with_errno; @@ -221,15 +221,15 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options) * others? */ - if (stat_loc != NULL && tcb->stat_loc == NULL) + if (stat_loc != NULL && ctcb->stat_loc == NULL) { - tcb->stat_loc = stat_loc; - mystat = true; + ctcb->stat_loc = stat_loc; + mystat = true; } /* Then wait for the task to exit */ - ret = sem_wait(&tcb->exitsem); + ret = sem_wait(&ctcb->exitsem); if (ret < 0) { /* Unlock pre-emption and return the ERROR (sem_wait has already set @@ -239,7 +239,7 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options) if (mystat) { - tcb->stat_loc = NULL; + ctcb->stat_loc = NULL; } goto errout; @@ -274,8 +274,10 @@ errout: pid_t waitpid(pid_t pid, int *stat_loc, int options) { FAR _TCB *rtcb = (FAR _TCB *)g_readytorun.head; + FAR _TCB *ctcb; #ifdef CONFIG_SCHED_CHILD_STATUS FAR struct child_status_s *child; + bool retains; #endif FAR struct siginfo info; sigset_t sigset; @@ -303,27 +305,43 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options) sched_lock(); - /* Verify that this task actually has children and that the the request - * TCB is actually a child of this task. + /* Verify that this task actually has children and that the requested PID + * is actually a child of this task. */ #ifdef CONFIG_SCHED_CHILD_STATUS - if (rtcb->children == NULL) - { - /* There are no children */ + /* Does this task retain child status? */ + retains = ((rtcb->flags && TCB_FLAG_NOCLDWAIT) == 0); + + if (rtcb->children == NULL && retains) + { err = ECHILD; goto errout_with_errno; } else if (pid != (pid_t)-1) { - /* This specific pid is not a child */ + /* Get the TCB corresponding to this PID and make sure it is our child. */ - if (task_findchild(rtcb, pid) == NULL) + ctcb = sched_gettcb(pid); + if (!ctcb || ctcb->parent != rtcb->pid) { err = ECHILD; goto errout_with_errno; } + + /* Does this task retain child status? */ + + if (retains) + { + /* Check if this specific pid has allocated child status? */ + + if (task_findchild(rtcb, pid) == NULL) + { + err = ECHILD; + goto errout_with_errno; + } + } } #else if (rtcb->nchildren == 0) @@ -337,7 +355,7 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options) { /* Get the TCB corresponding to this PID and make sure it is our child. */ - FAR _TCB *ctcb = sched_gettcb(pid); + ctcb = sched_gettcb(pid); if (!ctcb || ctcb->parent != rtcb->pid) { err = ECHILD; @@ -350,6 +368,7 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options) for (;;) { +#ifdef CONFIG_SCHED_CHILD_STATUS /* Check if the task has already died. Signals are not queued in * NuttX. So a possibility is that the child has died and we * missed the death of child signal (we got some other signal @@ -362,39 +381,33 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options) * chilren. */ -#ifdef CONFIG_SCHED_CHILD_STATUS - DEBUGASSERT(rtcb->children); - if (rtcb->children == NULL) -#else - if (rtcb->nchildren == 0) -#endif + DEBUGASSERT(!retains || rtcb->children); + if (retains && (child = task_exitchild(rtcb)) != NULL) { - /* There were one or more children when we started so they - * must have exit'ed. There are just no bread crumbs left - * behind to tell us the PID(s) of the existed children. - * Reporting ECHLD is about all we can do in this case. + /* A child has exitted. Apparently we missed the signal. + * Return the saved exit status. */ - err = ECHILD; - goto errout_with_errno; + /* The child has exited. Return the saved exit status */ + + *stat_loc = child->ch_status; + + /* Discard the child entry and break out of the loop */ + + (void)task_removechild(rtcb, child->ch_pid); + task_freechild(child); + break; } } - else + + /* We are waiting for a specific PID. Does this task retain child status? */ + + else if (retains) { -#ifdef CONFIG_SCHED_CHILD_STATUS - /* We are waiting for a specific PID. Get the current status - * of the child task. - */ + /* Get the current status of the child task. */ child = task_findchild(rtcb, pid); DEBUGASSERT(child); - if (!child) - { - /* Yikes! The child status entry just disappeared! */ - - err = ECHILD; - goto errout_with_errno; - } /* Did the child exit? */ @@ -408,27 +421,48 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options) (void)task_removechild(rtcb, pid); task_freechild(child); + break; } -#else - /* We are waiting for a specific PID. We can use kill() with - * signal number 0 to determine if that task is still alive. + } + else + { + /* We can use kill() with signal number 0 to determine if that + * task is still alive. */ ret = kill(pid, 0); if (ret < 0) { - /* It is no longer running. We know that the child task was - * running okay when we started, so we must have lost the - * signal. In this case, we know that the task exit'ed, but - * we do not know its exit status. It would be better to - * reported ECHILD that bogus status. + /* It is no longer running. We know that the child task + * was running okay when we started, so we must have lost + * the signal. In this case, we know that the task exit'ed, + * but we do not know its exit status. It would be better + * to reported ECHILD than bogus status. */ err = ECHILD; goto errout_with_errno; } -#endif } +#else + /* Check if the task has already died. Signals are not queued in + * NuttX. So a possibility is that the child has died and we + * missed the death of child signal (we got some other signal + * instead). + */ + + if (rtcb->nchildren == 0 || + (pid != (pid_t)-1 && (ret = kill((pid_t)id, 0)) < 0)) + { + /* We know that the child task was running okay we stared, + * so we must have lost the signal. What can we do? + * Let's claim we were interrupted by a signal. + */ + + err = EINTR; + goto errout_with_errno; + } +#endif /* Wait for any death-of-child signal */ diff --git a/nuttx/sched/sig_action.c b/nuttx/sched/sig_action.c index 708667993..7d84b6291 100644 --- a/nuttx/sched/sig_action.c +++ b/nuttx/sched/sig_action.c @@ -169,7 +169,6 @@ int sigaction(int signo, FAR const struct sigaction *act, FAR struct sigaction * { FAR _TCB *rtcb = (FAR _TCB*)g_readytorun.head; FAR sigactq_t *sigact; - int ret; /* Since sigactions can only be installed from the running thread of * execution, no special precautions should be necessary. @@ -251,24 +250,31 @@ int sigaction(int signo, FAR const struct sigaction *act, FAR struct sigaction * if (act->sa_u._sa_handler == SIG_IGN) { - /* If there is a old sigaction, remove it from sigactionq */ + /* Do we still have a sigaction container from the previous setting? */ - sq_rem((FAR sq_entry_t*)sigact, &rtcb->sigactionq); + if (sigact) + { + /* Yes.. Remove it from sigactionq */ + + sq_rem((FAR sq_entry_t*)sigact, &rtcb->sigactionq); - /* And deallocate it */ + /* And deallocate it */ - sig_releaseaction(sigact); + sig_releaseaction(sigact); + } } /* A sigaction has been supplied */ else { - /* Check if a sigaction was found */ + /* Do we still have a sigaction container from the previous setting? + * If so, then re-use for the new signal action. + */ if (!sigact) { - /* No sigaction was found, but one is needed. Allocate one. */ + /* No.. Then we need to allocate one for the new action. */ sigact = sig_allocateaction(); @@ -294,7 +300,7 @@ int sigaction(int signo, FAR const struct sigaction *act, FAR struct sigaction * COPY_SIGACTION(&sigact->act, act); } - return ret; + return OK; } /**************************************************************************** diff --git a/nuttx/sched/task_childstatus.c b/nuttx/sched/task_childstatus.c index 0f6d36c29..09aa48135 100644 --- a/nuttx/sched/task_childstatus.c +++ b/nuttx/sched/task_childstatus.c @@ -297,6 +297,42 @@ FAR struct child_status_s *task_findchild(FAR _TCB *tcb, pid_t pid) return NULL; } +/***************************************************************************** + * Name: task_exitchild + * + * Description: + * Search for any child that has exitted. + * + * Parameters: + * tcb - The TCB of the parent task to containing the child status. + * + * Return Value: + * On success, a non-NULL pointer to a child status structure for the + * exited child. NULL is returned if not child has exited. + * + * Assumptions: + * Called during SIGCHLD processing in a safe context. No special precautions + * are required here. + * + *****************************************************************************/ + +FAR struct child_status_s *task_exitchild(FAR _TCB *tcb) +{ + FAR struct child_status_s *child; + + /* Find the status structure with the matching PID */ + + for (child = tcb->children; child; child = child->flink) + { + if ((child->ch_flags & CHILD_FLAG_EXITED) != 0) + { + return child; + } + } + + return NULL; +} + /***************************************************************************** * Name: task_removechild * diff --git a/nuttx/sched/task_reparent.c b/nuttx/sched/task_reparent.c index 28d371bf1..3a7ece37d 100644 --- a/nuttx/sched/task_reparent.c +++ b/nuttx/sched/task_reparent.c @@ -138,14 +138,32 @@ int task_reparent(pid_t ppid, pid_t chpid) child = task_removechild(otcb, chpid); if (child) { - /* Add the child status entry to the new parent TCB */ + /* Has the new parent supressed child exit status? */ + + if ((ptcb->flags && TCB_FLAG_NOCLDWAIT) == 0) + { + /* No.. Add the child status entry to the new parent TCB */ + + task_addchild(ptcb, child); + } + else + { + /* Yes.. Discard the child status entry */ + + task_freechild(child); + } + + /* Either case is a success */ - task_addchild(ptcb, child); ret = OK; } else { - ret = -ENOENT; + /* This would not be an error if the original parent has + * suppressed child exit status. + */ + + ret = ((otcb->flags && TCB_FLAG_NOCLDWAIT) == 0) ? -ENOENT : OK; } #else DEBUGASSERT(otcb->nchildren > 0); diff --git a/nuttx/sched/task_setup.c b/nuttx/sched/task_setup.c index 8f54b2e93..66c948cfd 100644 --- a/nuttx/sched/task_setup.c +++ b/nuttx/sched/task_setup.c @@ -150,7 +150,8 @@ static int task_assignpid(FAR _TCB *tcb) * Name: task_saveparent * * Description: - * Save the task ID of the parent task in the child task's TCB. + * Save the task ID of the parent task in the child task's TCB and allocate + * a child status structure to catch the child task's exit status. * * Parameters: * tcb - The TCB of the new, child task. @@ -177,11 +178,15 @@ static inline void task_saveparent(FAR _TCB *tcb, uint8_t ttype) tcb->parent = rtcb->pid; - /* Exit status only needs to be retained for the case of tasks, however */ +#ifdef CONFIG_SCHED_CHILD_STATUS + /* Exit status only needs to be retained for the case of tasks, however. + * Tasks can also suppress retention of their child status by applying + * the SA_NOCLDWAIT flag with sigaction()/ + */ - if (ttype == TCB_FLAG_TTYPE_TASK) + if (ttype == TCB_FLAG_TTYPE_TASK && + (rtcb->flags && TCB_FLAG_NOCLDWAIT) == 0) { -#ifdef CONFIG_SCHED_CHILD_STATUS FAR struct child_status_s *child; /* Make sure that there is not already a structure for this PID in the @@ -212,11 +217,11 @@ static inline void task_saveparent(FAR _TCB *tcb, uint8_t ttype) task_addchild(rtcb, child); } + } #else - DEBUGASSERT(rtcb->nchildren < UINT16_MAX); - rtcb->nchildren++; + DEBUGASSERT(rtcb->nchildren < UINT16_MAX); + rtcb->nchildren++; #endif - } } #else # define task_saveparent(tcb,ttype) @@ -318,7 +323,9 @@ int task_schedsetup(FAR _TCB *tcb, int priority, start_t start, main_t main, tcb->flags &= ~TCB_FLAG_TTYPE_MASK; tcb->flags |= ttype; - /* Save the task ID of the parent task in the TCB */ + /* Save the task ID of the parent task in the TCB and allocate + * a child status structure. + */ task_saveparent(tcb, ttype); -- cgit v1.2.3 From b6472b58dcce32d4ab2051f13cef89a6f0296c28 Mon Sep 17 00:00:00 2001 From: patacongo Date: Fri, 25 Jan 2013 00:01:08 +0000 Subject: Fix some compilation errors when child status disabled; new waitpid logic not encoding/decoding status properly git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5561 42af7a65-404d-4744-a932-0658087f49c3 --- apps/ChangeLog.txt | 2 ++ apps/examples/ostest/waitpid.c | 18 +++++++++--------- nuttx/sched/pthread_join.c | 2 +- nuttx/sched/sched_waitid.c | 12 ++++++------ nuttx/sched/sched_waitpid.c | 10 +++++----- nuttx/sched/task_childstatus.c | 4 ++-- nuttx/sched/timer_initialize.c | 2 +- 7 files changed, 26 insertions(+), 24 deletions(-) (limited to 'apps') diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt index 5f3440897..494ce34eb 100644 --- a/apps/ChangeLog.txt +++ b/apps/ChangeLog.txt @@ -493,3 +493,5 @@ * apps/netutils/telnetd/telnetd_driver: Was stuck in a loop if recv[from]() ever returned a value <= 0. * apps/examples/nettest and poll: Complete Kconfig files. + * apps/examples/ostest/waitpid.c: Need to use WEXITSTATUS() + to decode the correct exit status. diff --git a/apps/examples/ostest/waitpid.c b/apps/examples/ostest/waitpid.c index e53b49213..d45410265 100644 --- a/apps/examples/ostest/waitpid.c +++ b/apps/examples/ostest/waitpid.c @@ -113,14 +113,14 @@ static void waitpid_last(void) printf("waitpid_last: ERROR: PID %d waitpid failed: %d\n", g_waitpids[NCHILDREN-1], errcode); } - else if (stat_loc != RETURN_STATUS) + else if (WEXITSTATUS(stat_loc) != RETURN_STATUS) { printf("waitpid_last: ERROR: PID %d return status is %d, expected %d\n", - g_waitpids[NCHILDREN-1], stat_loc, RETURN_STATUS); + g_waitpids[NCHILDREN-1], WEXITSTATUS(stat_loc), RETURN_STATUS); } else { - printf("waitpid_last: PID %d waitpid succeeded with stat_loc=%d\n", + printf("waitpid_last: PID %d waitpid succeeded with stat_loc=%04x\n", g_waitpids[NCHILDREN-1], stat_loc); } } @@ -155,14 +155,14 @@ int waitpid_test(void) printf("waitpid_test: ERROR: PID %d wait returned PID %d\n", g_waitpids[0], ret); } - else if (stat_loc != RETURN_STATUS) + else if (WEXITSTATUS(stat_loc) != RETURN_STATUS) { printf("waitpid_test: ERROR: PID %d return status is %d, expected %d\n", - g_waitpids[0], stat_loc, RETURN_STATUS); + g_waitpids[0], WEXITSTATUS(stat_loc), RETURN_STATUS); } else { - printf("waitpid_test: PID %d waitpid succeeded with stat_loc=%d\n", + printf("waitpid_test: PID %d waitpid succeeded with stat_loc=%04x\n", g_waitpids[0], stat_loc); } @@ -246,14 +246,14 @@ int waitpid_test(void) int errcode = errno; printf("waitpid_test: ERROR: wait failed: %d\n", errcode); } - else if (stat_loc != RETURN_STATUS) + else if (WEXITSTATUS(stat_loc) != RETURN_STATUS) { printf("waitpid_test: ERROR: PID %d return status is %d, expected %d\n", - ret, stat_loc, RETURN_STATUS); + ret, WEXITSTATUS(stat_loc), RETURN_STATUS); } else { - printf("waitpid_test: PID %d wait succeeded with stat_loc=%d\n", + printf("waitpid_test: PID %d wait succeeded with stat_loc=%04x\n", ret, stat_loc); } diff --git a/nuttx/sched/pthread_join.c b/nuttx/sched/pthread_join.c index 6a02af352..d3f648dc7 100644 --- a/nuttx/sched/pthread_join.c +++ b/nuttx/sched/pthread_join.c @@ -123,7 +123,7 @@ int pthread_join(pthread_t thread, FAR pthread_addr_t *pexit_value) * This can fail for one of three reasons: (1) There is no * thread associated with 'thread,' (2) the thread is a task * and does not have join information, or (3) the thread - * was detached and has exitted. + * was detached and has exited. */ pjoin = pthread_findjoininfo((pid_t)thread); diff --git a/nuttx/sched/sched_waitid.c b/nuttx/sched/sched_waitid.c index e73bc223c..56bfb36f0 100644 --- a/nuttx/sched/sched_waitid.c +++ b/nuttx/sched/sched_waitid.c @@ -54,16 +54,16 @@ *****************************************************************************/ /***************************************************************************** - * Name: exitted_child + * Name: exited_child * * Description: - * Handle the case where a child exitted properlay was we (apparently) lost + * Handle the case where a child exited properlay was we (apparently) lost * the detch of child signal. * *****************************************************************************/ #ifdef CONFIG_SCHED_CHILD_STATUS -static void exitted_child(FAR _TCB *rtcb, FAR struct child_status_s *child, +static void exited_child(FAR _TCB *rtcb, FAR struct child_status_s *child, FAR siginfo_t *info) { /* The child has exited. Return the saved exit status (and some fudged @@ -271,11 +271,11 @@ int waitid(idtype_t idtype, id_t id, FAR siginfo_t *info, int options) if (retains && (child = task_exitchild(rtcb)) != NULL) { - /* A child has exitted. Apparently we missed the signal. + /* A child has exited. Apparently we missed the signal. * Return the exit status and break out of the loop. */ - exitted_child(rtcb, child, info); + exited_child(rtcb, child, info); break; } } @@ -297,7 +297,7 @@ int waitid(idtype_t idtype, id_t id, FAR siginfo_t *info, int options) * of the loop. */ - exitted_child(rtcb, child, info); + exited_child(rtcb, child, info); break; } } diff --git a/nuttx/sched/sched_waitpid.c b/nuttx/sched/sched_waitpid.c index ecdc60a2c..d7484fca9 100644 --- a/nuttx/sched/sched_waitpid.c +++ b/nuttx/sched/sched_waitpid.c @@ -384,13 +384,13 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options) DEBUGASSERT(!retains || rtcb->children); if (retains && (child = task_exitchild(rtcb)) != NULL) { - /* A child has exitted. Apparently we missed the signal. + /* A child has exited. Apparently we missed the signal. * Return the saved exit status. */ /* The child has exited. Return the saved exit status */ - *stat_loc = child->ch_status; + *stat_loc = child->ch_status << 8; /* Discard the child entry and break out of the loop */ @@ -415,7 +415,7 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options) { /* The child has exited. Return the saved exit status */ - *stat_loc = child->ch_status; + *stat_loc = child->ch_status << 8; /* Discard the child entry and break out of the loop */ @@ -452,7 +452,7 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options) */ if (rtcb->nchildren == 0 || - (pid != (pid_t)-1 && (ret = kill((pid_t)id, 0)) < 0)) + (pid != (pid_t)-1 && (ret = kill(pid, 0)) < 0)) { /* We know that the child task was running okay we stared, * so we must have lost the signal. What can we do? @@ -481,7 +481,7 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options) { /* Yes... return the status and PID (in the event it was -1) */ - *stat_loc = info.si_status; + *stat_loc = info.si_status << 8; pid = info.si_pid; break; } diff --git a/nuttx/sched/task_childstatus.c b/nuttx/sched/task_childstatus.c index 09aa48135..6007f03e5 100644 --- a/nuttx/sched/task_childstatus.c +++ b/nuttx/sched/task_childstatus.c @@ -121,7 +121,7 @@ static void task_dumpchildren(FAR _TCB *tcb, FAR const char *msg) } } #else -# task_dumpchildren(t,m) +# define task_dumpchildren(t,m) #endif /***************************************************************************** @@ -320,7 +320,7 @@ FAR struct child_status_s *task_exitchild(FAR _TCB *tcb) { FAR struct child_status_s *child; - /* Find the status structure with the matching PID */ + /* Find the status structure of any child task that has exitted. */ for (child = tcb->children; child; child = child->flink) { diff --git a/nuttx/sched/timer_initialize.c b/nuttx/sched/timer_initialize.c index 05980bb1a..2651469ef 100644 --- a/nuttx/sched/timer_initialize.c +++ b/nuttx/sched/timer_initialize.c @@ -137,7 +137,7 @@ void weak_function timer_initialize(void) * resources are referenced. * * Parameters: - * pid - the task ID of the thread that exitted + * pid - the task ID of the thread that exited * * Return Value: * None -- cgit v1.2.3 From e96d8f046b6bce6c4e810b302c1cc1cc578bdae3 Mon Sep 17 00:00:00 2001 From: patacongo Date: Sun, 27 Jan 2013 15:52:58 +0000 Subject: Add a start hook that can be setup to call a function in the context of a new thread before the new threads main() has been called. git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5571 42af7a65-404d-4744-a932-0658087f49c3 --- apps/examples/elf/tests/signal/signal.c | 2 +- apps/examples/nxflat/tests/signal/signal.c | 2 +- nuttx/ChangeLog | 6 ++ nuttx/TODO | 17 +++- nuttx/binfmt/Kconfig | 5 +- nuttx/binfmt/binfmt_execmodule.c | 61 +++++-------- nuttx/binfmt/binfmt_internal.h | 2 +- nuttx/configs/stm32f4discovery/elf/defconfig | 45 ++++++++-- .../configs/stm32f4discovery/posix_spawn/defconfig | 1 + nuttx/include/nuttx/sched.h | 24 ++++- nuttx/sched/Kconfig | 10 +++ nuttx/sched/Makefile | 4 + nuttx/sched/group_setupidlefiles.c | 1 + nuttx/sched/group_setupstreams.c | 2 + nuttx/sched/group_setuptaskfiles.c | 5 +- nuttx/sched/task_start.c | 9 ++ nuttx/sched/task_starthook.c | 100 +++++++++++++++++++++ 17 files changed, 239 insertions(+), 57 deletions(-) create mode 100644 nuttx/sched/task_starthook.c (limited to 'apps') diff --git a/apps/examples/elf/tests/signal/signal.c b/apps/examples/elf/tests/signal/signal.c index b40da7a86..d43f012cb 100644 --- a/apps/examples/elf/tests/signal/signal.c +++ b/apps/examples/elf/tests/signal/signal.c @@ -161,7 +161,7 @@ int main(int argc, char **argv) /* Send SIGUSR1 to ourselves via kill() */ printf("Kill-ing SIGUSR1 from pid=%d\n", mypid); - status = kill(0, SIGUSR1); + status = kill(mypid, SIGUSR1); if (status != 0) { fprintf(stderr, "Failed to kill SIGUSR1, errno=%d\n", errno); diff --git a/apps/examples/nxflat/tests/signal/signal.c b/apps/examples/nxflat/tests/signal/signal.c index c5ea6bdcc..ac03f6d33 100644 --- a/apps/examples/nxflat/tests/signal/signal.c +++ b/apps/examples/nxflat/tests/signal/signal.c @@ -161,7 +161,7 @@ int main(int argc, char **argv) /* Send SIGUSR1 to ourselves via kill() */ printf("Kill-ing SIGUSR1 from pid=%d\n", mypid); - status = kill(0, SIGUSR1); + status = kill(mypid, SIGUSR1); if (status != 0) { fprintf(stderr, "Failed to kill SIGUSR1, errno=%d\n", errno); diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index 255d69a3d..32112f358 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -4040,3 +4040,9 @@ Move stream data from the TCB to the task group structure. * net/, sched/, and include/nuttx/net/net.h: Move socket data from the TCB to the task group structure. + * sched/task_starthook.c, sched/task_start.c, and include/nuttx/sched.h: + Add a task start hook that will be called before the task main + is started. This can be used to schedule C++ constructors to run + automatically in the context of the new task. + * binfmt/binfmt_execmodule: Execute constructors as a start hook. + diff --git a/nuttx/TODO b/nuttx/TODO index cb99f1bf7..05e0fa99b 100644 --- a/nuttx/TODO +++ b/nuttx/TODO @@ -1,4 +1,4 @@ -NuttX TODO List (Last updated January 26, 2013) +NuttX TODO List (Last updated January 27, 2013) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ This file summarizes known NuttX bugs, limitations, inconsistencies with @@ -6,7 +6,7 @@ standards, things that could be improved, and ideas for enhancements. nuttx/ - (10) Task/Scheduler (sched/) + (11) Task/Scheduler (sched/) (2) Memory Managment (mm/) (3) Signals (sched/, arch/) (2) pthreads (sched/) @@ -193,6 +193,16 @@ o Task/Scheduler (sched/) Status: Open Priority: Low (it might as well be low since it isn't going to be fixed). + Title: errno IS NOT SHARED AMONG THREADS + Description: In NuttX, the errno value is unique for each thread. But for + bug-for-bug compatibility, the same errno should be shared by + the task and each thread that it creates. It is *very* easy + to make this change: Just move the pterrno field from + _TCB to struct task_group_s. However, I am still not sure + if this should be done or not. + Status: Open + Priority: Low + o Memory Managment (mm/) ^^^^^^^^^^^^^^^^^^^^^^ @@ -407,6 +417,9 @@ o Binary loaders (binfmt/) Description: Not all of the NXFLAT test under apps/examples/nxflat are working. Most simply do not compile yet. tests/mutex runs okay but outputs garbage on completion. + + Update: 13-27-1, tests/mutex crashed with a memory corruption + problem the last time that I ran it. Status: Open Priority: High diff --git a/nuttx/binfmt/Kconfig b/nuttx/binfmt/Kconfig index 8d6c0bb18..6e5f7c251 100644 --- a/nuttx/binfmt/Kconfig +++ b/nuttx/binfmt/Kconfig @@ -72,9 +72,10 @@ config PIC config BINFMT_CONSTRUCTORS bool "C++ Static Constructor Support" default n - depends on HAVE_CXX && ELF # FIX ME: Currently only supported for ELF + depends on HAVE_CXX && SCHED_STARTHOOK && ELF ---help--- - Build in support for C++ constructors in loaded modules. + Build in support for C++ constructors in loaded modules. Currently + only support for ELF binary formats. config SYMTAB_ORDEREDBYNAME bool "Symbol Tables Ordered by Name" diff --git a/nuttx/binfmt/binfmt_execmodule.c b/nuttx/binfmt/binfmt_execmodule.c index afa445abb..10068b482 100644 --- a/nuttx/binfmt/binfmt_execmodule.c +++ b/nuttx/binfmt/binfmt_execmodule.c @@ -58,6 +58,14 @@ /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ +/* If C++ constructors are used, then CONFIG_SCHED_STARTHOOK must also be + * selected be the start hook is used to schedule execution of the + * constructors. + */ + +#if defined(CONFIG_BINFMT_CONSTRUCTORS) && !defined(CONFIG_SCHED_STARTHOOK) +# errror "CONFIG_SCHED_STARTHOOK must be defined to use constructors" +#endif /**************************************************************************** * Private Function Prototypes @@ -75,7 +83,9 @@ * Name: exec_ctors * * Description: - * Execute C++ static constructors. + * Execute C++ static constructors. This function is registered as a + * start hook and runs on the thread of the newly created task before + * the new task's main function is called. * * Input Parameters: * loadinfo - Load state information @@ -87,26 +97,12 @@ ****************************************************************************/ #ifdef CONFIG_BINFMT_CONSTRUCTORS -static inline int exec_ctors(FAR const struct binary_s *binp) +static void exec_ctors(FAR void *arg) { + FAR const struct binary_s *binp = (FAR const struct binary_s *)arg; binfmt_ctor_t *ctor = binp->ctors; -#ifdef CONFIG_ADDRENV - hw_addrenv_t oldenv; - int ret; -#endif int i; - /* Instantiate the address enviroment containing the constructors */ - -#ifdef CONFIG_ADDRENV - ret = up_addrenv_select(binp->addrenv, &oldenv); - if (ret < 0) - { - bdbg("up_addrenv_select() failed: %d\n", ret); - return ret; - } -#endif - /* Execute each constructor */ for (i = 0; i < binp->nctors; i++) @@ -116,14 +112,6 @@ static inline int exec_ctors(FAR const struct binary_s *binp) (*ctor)(); ctor++; } - - /* Restore the address enviroment */ - -#ifdef CONFIG_ADDRENV - return up_addrenv_restore(oldenv); -#else - return OK; -#endif } #endif @@ -139,7 +127,7 @@ static inline int exec_ctors(FAR const struct binary_s *binp) * * Returned Value: * This is an end-user function, so it follows the normal convention: - * Returns the PID of the exec'ed module. On failure, it.returns + * Returns the PID of the exec'ed module. On failure, it returns * -1 (ERROR) and sets errno appropriately. * ****************************************************************************/ @@ -229,22 +217,19 @@ int exec_module(FAR const struct binary_s *binp) } #endif - /* Get the assigned pid before we start the task */ - - pid = tcb->pid; - - /* Execute all of the C++ static constructors */ + /* Setup a start hook that will execute all of the C++ static constructors + * on the newly created thread. The struct binary_s must persist at least + * until the new task has been started. + */ #ifdef CONFIG_BINFMT_CONSTRUCTORS - ret = exec_ctors(binp); - if (ret < 0) - { - err = -ret; - bdbg("exec_ctors() failed: %d\n", ret); - goto errout_with_stack; - } + task_starthook(tcb, exec_ctors, (FAR void *)binp); #endif + /* Get the assigned pid before we start the task */ + + pid = tcb->pid; + /* Then activate the task at the provided priority */ ret = task_activate(tcb); diff --git a/nuttx/binfmt/binfmt_internal.h b/nuttx/binfmt/binfmt_internal.h index 4fab9724d..fa750543a 100644 --- a/nuttx/binfmt/binfmt_internal.h +++ b/nuttx/binfmt/binfmt_internal.h @@ -71,7 +71,7 @@ EXTERN FAR struct binfmt_s *g_binfmts; * Public Function Prototypes ***********************************************************************/ -/* Dump the contents of strtuc binary_s */ +/* Dump the contents of struct binary_s */ #if defined(CONFIG_DEBUG) && defined(CONFIG_DEBUG_BINFMT) EXTERN int dump_module(FAR const struct binary_s *bin); diff --git a/nuttx/configs/stm32f4discovery/elf/defconfig b/nuttx/configs/stm32f4discovery/elf/defconfig index 3f5a5d0fc..f7e0dc5f2 100644 --- a/nuttx/configs/stm32f4discovery/elf/defconfig +++ b/nuttx/configs/stm32f4discovery/elf/defconfig @@ -69,7 +69,7 @@ CONFIG_ARCH="arm" # CONFIG_ARCH_CHIP_DM320 is not set # CONFIG_ARCH_CHIP_IMX is not set # CONFIG_ARCH_CHIP_KINETIS is not set -# CONFIG_ARCH_CHIP_LM3S is not set +# CONFIG_ARCH_CHIP_LM is not set # CONFIG_ARCH_CHIP_LPC17XX is not set # CONFIG_ARCH_CHIP_LPC214X is not set # CONFIG_ARCH_CHIP_LPC2378 is not set @@ -81,6 +81,7 @@ CONFIG_ARCH_CHIP_STM32=y CONFIG_ARCH_CORTEXM4=y CONFIG_ARCH_FAMILY="armv7-m" CONFIG_ARCH_CHIP="stm32" +CONFIG_ARMV7M_USEBASEPRI=y CONFIG_ARCH_HAVE_CMNVECTOR=y # CONFIG_ARMV7M_CMNVECTOR is not set # CONFIG_ARCH_FPU is not set @@ -201,26 +202,35 @@ CONFIG_STM32_JTAG_SW_ENABLE=y # CONFIG_STM32_FORCEPOWER is not set # CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set CONFIG_STM32_CCMEXCLUDE=y +CONFIG_STM32_USART=y # # U[S]ART Configuration # # CONFIG_USART2_RS485 is not set +# CONFIG_STM32_USART_SINGLEWIRE is not set # # USB Host Configuration # +# +# External Memory Configuration +# + # # Architecture Options # # CONFIG_ARCH_NOINTC is not set +# CONFIG_ARCH_VECNOTIRQ is not set # CONFIG_ARCH_DMA is not set CONFIG_ARCH_IRQPRIO=y # CONFIG_CUSTOM_STACK is not set # CONFIG_ADDRENV is not set +CONFIG_ARCH_HAVE_VFORK=y CONFIG_ARCH_STACKDUMP=y # CONFIG_ENDIAN_BIG is not set +# CONFIG_ARCH_HAVE_RAMFUNCS is not set # # Board Settings @@ -266,6 +276,7 @@ CONFIG_MSEC_PER_TICK=10 CONFIG_RR_INTERVAL=200 # CONFIG_SCHED_INSTRUMENTATION is not set CONFIG_TASK_NAME_SIZE=0 +# CONFIG_SCHED_HAVE_PARENT is not set # CONFIG_JULIAN_TIME is not set CONFIG_START_YEAR=2012 CONFIG_START_MONTH=10 @@ -278,6 +289,7 @@ CONFIG_DEV_CONSOLE=y CONFIG_SDCLONE_DISABLE=y # CONFIG_SCHED_WORKQUEUE is not set # CONFIG_SCHED_WAITPID is not set +CONFIG_SCHED_STARTHOOK=y # CONFIG_SCHED_ATEXIT is not set # CONFIG_SCHED_ONEXIT is not set CONFIG_USER_ENTRYPOINT="elf_main" @@ -287,9 +299,15 @@ CONFIG_DISABLE_OS_API=y # CONFIG_DISABLE_PTHREAD is not set # CONFIG_DISABLE_SIGNALS is not set # CONFIG_DISABLE_MQUEUE is not set -# CONFIG_DISABLE_MOUNTPOINT is not set # CONFIG_DISABLE_ENVIRON is not set -# CONFIG_DISABLE_POLL is not set + +# +# Signal Numbers +# +CONFIG_SIG_SIGUSR1=1 +CONFIG_SIG_SIGUSR2=2 +CONFIG_SIG_SIGALARM=3 +CONFIG_SIG_SIGCONDTIMEDOUT=16 # # Sizes of configurable things (0 disables) @@ -317,6 +335,7 @@ CONFIG_PTHREAD_STACK_DEFAULT=2048 # # Device Drivers # +# CONFIG_DISABLE_POLL is not set CONFIG_DEV_NULL=y # CONFIG_DEV_ZERO is not set # CONFIG_LOOP is not set @@ -381,8 +400,9 @@ CONFIG_USART2_2STOP=0 # # File system configuration # -# CONFIG_FS_FAT is not set +# CONFIG_DISABLE_MOUNTPOINT is not set # CONFIG_FS_RAMMAP is not set +# CONFIG_FS_FAT is not set # CONFIG_FS_NXFFS is not set CONFIG_FS_ROMFS=y @@ -415,6 +435,7 @@ CONFIG_ELF_ALIGN_LOG2=2 CONFIG_ELF_STACKSIZE=2048 CONFIG_ELF_BUFFERSIZE=128 CONFIG_ELF_BUFFERINCR=32 +# CONFIG_BUILTIN is not set # CONFIG_PIC is not set CONFIG_BINFMT_CONSTRUCTORS=y CONFIG_SYMTAB_ORDEREDBYNAME=y @@ -422,6 +443,10 @@ CONFIG_SYMTAB_ORDEREDBYNAME=y # # Library Routines # + +# +# Standard C Library Options +# CONFIG_STDIO_BUFFER_SIZE=256 CONFIG_STDIO_LINEBUFFER=y CONFIG_NUNGET_CHARS=2 @@ -433,6 +458,7 @@ CONFIG_LIB_HOMEDIR="/" # CONFIG_EOL_IS_LF is not set # CONFIG_EOL_IS_BOTH_CRLF is not set CONFIG_EOL_IS_EITHER_CRLF=y +# CONFIG_LIBC_EXECFUNCS is not set # CONFIG_LIBC_STRERROR is not set # CONFIG_LIBC_PERROR_STDOUT is not set CONFIG_ARCH_LOWPUTC=y @@ -440,6 +466,11 @@ CONFIG_LIB_SENDFILE_BUFSIZE=512 # CONFIG_ARCH_ROMGETC is not set # CONFIG_ARCH_OPTIMIZED_FUNCTIONS is not set +# +# Non-standard Helper Functions +# +# CONFIG_LIB_KBDCODEC is not set + # # Basic CXX Support # @@ -458,9 +489,8 @@ CONFIG_HAVE_CXX=y # # -# Named Applications +# Built-In Applications # -# CONFIG_BUILTIN is not set # # Examples @@ -486,7 +516,6 @@ CONFIG_EXAMPLES_ELF_DEVPATH="/dev/ram0" # CONFIG_EXAMPLES_MM is not set # CONFIG_EXAMPLES_MOUNT is not set # CONFIG_EXAMPLES_MODBUS is not set -# CONFIG_EXAMPLES_NETTEST is not set # CONFIG_EXAMPLES_NSH is not set # CONFIG_EXAMPLES_NULL is not set # CONFIG_EXAMPLES_NX is not set @@ -501,6 +530,7 @@ CONFIG_EXAMPLES_ELF_DEVPATH="/dev/ram0" # CONFIG_EXAMPLES_PASHELLO is not set # CONFIG_EXAMPLES_PIPE is not set # CONFIG_EXAMPLES_POLL is not set +# CONFIG_EXAMPLES_POSIXSPAWN is not set # CONFIG_EXAMPLES_QENCODER is not set # CONFIG_EXAMPLES_RGMP is not set # CONFIG_EXAMPLES_ROMFS is not set @@ -516,7 +546,6 @@ CONFIG_EXAMPLES_ELF_DEVPATH="/dev/ram0" # CONFIG_EXAMPLES_USBMSC is not set # CONFIG_EXAMPLES_USBTERM is not set # CONFIG_EXAMPLES_WATCHDOG is not set -# CONFIG_EXAMPLES_WLAN is not set # # Interpreters diff --git a/nuttx/configs/stm32f4discovery/posix_spawn/defconfig b/nuttx/configs/stm32f4discovery/posix_spawn/defconfig index 9e30ada8a..97cf84ab4 100644 --- a/nuttx/configs/stm32f4discovery/posix_spawn/defconfig +++ b/nuttx/configs/stm32f4discovery/posix_spawn/defconfig @@ -279,6 +279,7 @@ CONFIG_DEV_CONSOLE=y CONFIG_SDCLONE_DISABLE=y # CONFIG_SCHED_WORKQUEUE is not set # CONFIG_SCHED_WAITPID is not set +CONFIG_SCHED_STARTHOOK=y # CONFIG_SCHED_ATEXIT is not set # CONFIG_SCHED_ONEXIT is not set CONFIG_USER_ENTRYPOINT="spawn_main" diff --git a/nuttx/include/nuttx/sched.h b/nuttx/include/nuttx/sched.h index 244455cd4..f8b4eb0dc 100644 --- a/nuttx/include/nuttx/sched.h +++ b/nuttx/include/nuttx/sched.h @@ -183,7 +183,13 @@ union entry_u }; typedef union entry_u entry_t; -/* These is the types of the functions that are executed with exit() is called +/* This is the type of the function called at task startup */ + +#ifdef CONFIG_SCHED_STARTHOOK +typedef CODE void (*starthook_t)(FAR void *arg); +#endif + +/* These are the types of the functions that are executed with exit() is called * (if registered via atexit() on on_exit()). */ @@ -298,7 +304,10 @@ struct task_group_s #endif /* PIC data space and address environments ************************************/ - /* Not yet (see struct dspace_s) */ + /* Logically the PIC data space belongs here (see struct dspace_s). The + * current logic needs review: There are differences in the away that the + * life of the PIC data is managed. + */ /* File descriptors ***********************************************************/ @@ -354,6 +363,11 @@ struct _TCB start_t start; /* Thread start function */ entry_t entry; /* Entry Point into the thread */ +#ifdef CONFIG_SCHED_STARTHOOK + starthook_t starthook; /* Task startup function */ + FAR void *starthookarg; /* The argument passed to the function */ +#endif + #if defined(CONFIG_SCHED_ATEXIT) && !defined(CONFIG_SCHED_ONEXIT) # if defined(CONFIG_SCHED_ATEXIT_MAX) && CONFIG_SCHED_ATEXIT_MAX > 1 atexitfunc_t atexitfunc[CONFIG_SCHED_ATEXIT_MAX]; @@ -516,6 +530,12 @@ FAR struct streamlist *sched_getstreams(void); FAR struct socketlist *sched_getsockets(void); #endif /* CONFIG_NSOCKET_DESCRIPTORS */ +/* Setup up a start hook */ + +#ifdef CONFIG_SCHED_STARTHOOK +void task_starthook(FAR _TCB *tcb, starthook_t starthook, FAR void *arg); +#endif + /* Internal vfork support.The overall sequence is: * * 1) User code calls vfork(). vfork() is provided in architecture-specific diff --git a/nuttx/sched/Kconfig b/nuttx/sched/Kconfig index 7745c2c25..097dd1993 100644 --- a/nuttx/sched/Kconfig +++ b/nuttx/sched/Kconfig @@ -296,6 +296,16 @@ config SCHED_WAITPID compliant) and will enable the waitid() and wait() interfaces as well. +config SCHED_STARTHOOK + bool "Enable startup hook" + default n + ---help--- + Enable a non-standard, internal OS API call task_starthook(). + task_starthook() registers a function that will be called on task + startup before that actual task entry point is called. The + starthook is useful, for example, for setting up automatic + configuration of C++ constructors. + config SCHED_ATEXIT bool "Enable atexit() API" default n diff --git a/nuttx/sched/Makefile b/nuttx/sched/Makefile index 7710ae058..961560176 100644 --- a/nuttx/sched/Makefile +++ b/nuttx/sched/Makefile @@ -54,6 +54,10 @@ TSK_SRCS += task_posixspawn.c endif endif +ifeq ($(CONFIG_SCHED_STARTHOOK),y) +TSK_SRCS += task_starthook.c +endif + SCHED_SRCS = sched_setparam.c sched_setpriority.c sched_getparam.c SCHED_SRCS += sched_setscheduler.c sched_getscheduler.c SCHED_SRCS += sched_yield.c sched_rrgetinterval.c sched_foreach.c diff --git a/nuttx/sched/group_setupidlefiles.c b/nuttx/sched/group_setupidlefiles.c index 98cc7885e..ceb9f3e2c 100644 --- a/nuttx/sched/group_setupidlefiles.c +++ b/nuttx/sched/group_setupidlefiles.c @@ -50,6 +50,7 @@ #include #include "os_internal.h" +#include "group_internal.h" #if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0 diff --git a/nuttx/sched/group_setupstreams.c b/nuttx/sched/group_setupstreams.c index 88e266280..08399ae41 100644 --- a/nuttx/sched/group_setupstreams.c +++ b/nuttx/sched/group_setupstreams.c @@ -46,6 +46,8 @@ #include #include +#include "group_internal.h" + /* Make sure that there are file or socket descriptors in the system and * that some number of streams have been configured. */ diff --git a/nuttx/sched/group_setuptaskfiles.c b/nuttx/sched/group_setuptaskfiles.c index d52adcfee..e2e7d4634 100644 --- a/nuttx/sched/group_setuptaskfiles.c +++ b/nuttx/sched/group_setuptaskfiles.c @@ -46,6 +46,7 @@ #include #include "os_internal.h" +#include "group_internal.h" #if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0 @@ -159,8 +160,8 @@ static inline void sched_dupsockets(FAR _TCB *tcb) /* Get pointers to the parent and child task socket lists */ - parent = rtcb->group->tg_sockets->sl_sockets; - child = tcb->group->tg_sockets->sl_sockets; + parent = rtcb->group->tg_socketlist.sl_sockets; + child = tcb->group->tg_socketlist.sl_sockets; /* Check each socket in the parent socket list */ diff --git a/nuttx/sched/task_start.c b/nuttx/sched/task_start.c index a9cc38dfc..5a32a5dd8 100644 --- a/nuttx/sched/task_start.c +++ b/nuttx/sched/task_start.c @@ -94,6 +94,15 @@ void task_start(void) FAR _TCB *tcb = (FAR _TCB*)g_readytorun.head; int argc; + /* Execute the start hook if one has been registered */ + +#ifdef CONFIG_SCHED_STARTHOOK + if (tcb->starthook) + { + tcb->starthook(tcb->starthookarg); + } +#endif + /* Count how many non-null arguments we are passing */ for (argc = 1; argc <= CONFIG_MAX_TASK_ARGS; argc++) diff --git a/nuttx/sched/task_starthook.c b/nuttx/sched/task_starthook.c new file mode 100644 index 000000000..1cb29349f --- /dev/null +++ b/nuttx/sched/task_starthook.c @@ -0,0 +1,100 @@ +/**************************************************************************** + * sched/task_start.c + * + * Copyright (C) 2007-2010 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#ifdef CONFIG_SCHED_STARTHOOK + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Type Declarations + ****************************************************************************/ + +/**************************************************************************** + * Global Variables + ****************************************************************************/ + +/**************************************************************************** + * Private Variables + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: task_starthook + * + * Description: + * Configure a start hook... a function that will be called on the thread + * of the new task before the new task's main entry point is called. + * The start hook is useful, for example, for setting up automatic + * configuration of C++ constructors. + * + * Inputs: + * tcb - The new, unstarted task task that needs the start hook + * starthook - The pointer to the start hook function + * arg - The argument to pass to the start hook function. + * + * Return: + * None + * + ****************************************************************************/ + +void task_starthook(FAR _TCB *tcb, starthook_t starthook, FAR void *arg) +{ + DEBUGASSERT(tcb); + tcb->starthook = starthook; + tcb->starthookarg = arg; +} + +#endif /* CONFIG_SCHED_STARTHOOK */ -- cgit v1.2.3 From d3e4a31ac5b12f763cf1e04448437ae646d6c121 Mon Sep 17 00:00:00 2001 From: patacongo Date: Sun, 27 Jan 2013 20:05:29 +0000 Subject: configs/stm32f4discovery/nsh converted to use kconfig-frontends git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5573 42af7a65-404d-4744-a932-0658087f49c3 --- apps/builtin/exec_builtin.c | 2 +- nuttx/ChangeLog | 2 + nuttx/configs/stm32f4discovery/README.txt | 59 +- nuttx/configs/stm32f4discovery/nsh/appconfig | 67 -- nuttx/configs/stm32f4discovery/nsh/defconfig | 1161 +++++++++++++------------- nuttx/configs/stm32f4discovery/pm/defconfig | 2 +- 6 files changed, 616 insertions(+), 677 deletions(-) delete mode 100644 nuttx/configs/stm32f4discovery/nsh/appconfig (limited to 'apps') diff --git a/apps/builtin/exec_builtin.c b/apps/builtin/exec_builtin.c index 60e8b742d..5d3a1c08a 100644 --- a/apps/builtin/exec_builtin.c +++ b/apps/builtin/exec_builtin.c @@ -309,7 +309,7 @@ static inline int builtin_startproxy(int index, FAR const char **argv, { struct sched_param param; pid_t proxy; - int errcode; + int errcode = OK; #ifdef CONFIG_SCHED_WAITPID int status; #endif diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index 76ed2b603..4fc75c084 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -4048,4 +4048,6 @@ * sched/os_start.c: Fix ordering of group initialization. * configs/stm32f4discovery/usbnsh: Add an NSH STM32F4Discovery configuration that uses USB CDC/ACM for the NSH console. + * configs/stm32f4discovery/nsh: Converted to use the kconfig-frontends + tools. diff --git a/nuttx/configs/stm32f4discovery/README.txt b/nuttx/configs/stm32f4discovery/README.txt index 0e295c429..207ee6cde 100644 --- a/nuttx/configs/stm32f4discovery/README.txt +++ b/nuttx/configs/stm32f4discovery/README.txt @@ -1165,14 +1165,30 @@ Where is one of the following: nsh: --- Configures the NuttShell (nsh) located at apps/examples/nsh. The - Configuration enables both the serial and telnet NSH interfaces. + Configuration enables the serial interfaces on UART2. Support for + builtin applications is enabled, but in the base configuration no + builtin applications are selected (see NOTES below). - Default toolchain: + NOTES: + + 1. This configuration uses the mconf-based configuration tool. To + change this configuration using that tool, you should: - CONFIG_STM32_CODESOURCERYL=y : CodeSourcery under Linux / Mac OS X + a. Build and install the kconfig-mconf tool. See nuttx/README.txt + and misc/tools/ - NOTES: - 1. This example supports the PWM test (apps/examples/pwm) but this must + b. Execute 'make menuconfig' in nuttx/ in order to start the + reconfiguration process. + + 2. By default, this configuration uses the CodeSourcery toolchain + for Windows and builds under Cygwin (or probably MSYS). That + can easily be reconfigured, of course. + + CONFIG_HOST_WINDOWS=y : Builds under Windows + CONFIG_WINDOWS_CYGWIN=y : Using Cygwin + CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery for Windows + + 3. This example supports the PWM test (apps/examples/pwm) but this must be manually enabled by selecting: CONFIG_PWM=y : Enable the generic PWM infrastructure @@ -1185,27 +1201,28 @@ Where is one of the following: CONFIG_DEBUG_PWM - 2. This example supports the Quadrature Encode test (apps/examples/qencoder) + 5. This example supports the Quadrature Encode test (apps/examples/qencoder) but this must be manually enabled by selecting: - CONFIG_QENCODER=y : Enable the generic Quadrature Encoder infrastructure - CONFIG_STM32_TIM8=y : Enable TIM8 - CONFIG_STM32_TIM2=n : (Or optionally TIM2) - CONFIG_STM32_TIM8_QE=y : Use TIM8 as the quadrature encoder - CONFIG_STM32_TIM2_QE=y : (Or optionally TIM2) + CONFIG_EXAMPLES_QENCODER=y : Enable the apps/examples/qencoder + CONFIG_SENSORS=y : Enable support for sensors + CONFIG_QENCODER=y : Enable the generic Quadrature Encoder infrastructure + CONFIG_STM32_TIM8=y : Enable TIM8 + CONFIG_STM32_TIM2=n : (Or optionally TIM2) + CONFIG_STM32_TIM8_QE=y : Use TIM8 as the quadrature encoder + CONFIG_STM32_TIM2_QE=y : (Or optionally TIM2) - See also apps/examples/README.txt - - Special PWM-only debug options: + See also apps/examples/README.tx. Special PWM-only debug options: CONFIG_DEBUG_QENCODER - 3. This example supports the watchdog timer test (apps/examples/watchdog) + 6. This example supports the watchdog timer test (apps/examples/watchdog) but this must be manually enabled by selecting: - CONFIG_WATCHDOG=y : Enables watchdog timer driver support - CONFIG_STM32_WWDG=y : Enables the WWDG timer facility, OR - CONFIG_STM32_IWDG=y : Enables the IWDG timer facility (but not both) + CONFIG_EXAMPLES_WATCHDOG=y : Enable the apps/examples/watchdog + CONFIG_WATCHDOG=y : Enables watchdog timer driver support + CONFIG_STM32_WWDG=y : Enables the WWDG timer facility, OR + CONFIG_STM32_IWDG=y : Enables the IWDG timer facility (but not both) The WWDG watchdog is driven off the (fast) 42MHz PCLK1 and, as result, has a maximum timeout value of 49 milliseconds. for WWDG watchdog, you @@ -1216,14 +1233,14 @@ Where is one of the following: The IWDG timer has a range of about 35 seconds and should not be an issue. - 4. USB Support (CDC/ACM device) + 7. USB Support (CDC/ACM device) CONFIG_STM32_OTGFS=y : STM32 OTG FS support CONFIG_USBDEV=y : USB device support must be enabled CONFIG_CDCACM=y : The CDC/ACM driver must be built CONFIG_NSH_BUILTIN_APPS=y : NSH built-in application support must be enabled - 5. Using the USB console. + 8. Using the USB console. The STM32F4Discovery NSH configuration can be set up to use a USB CDC/ACM (or PL2303) USB console. The normal way that you would configure the @@ -1268,7 +1285,7 @@ Where is one of the following: you can still use certain kinds of debug output (see include/debug.h, all of the interfaces based on lib_lowprintf will work in this configuration). - 6. USB OTG FS Host Support. The following changes will enable support for + 9. USB OTG FS Host Support. The following changes will enable support for a USB host on the STM32F4Discovery, including support for a mass storage class driver: diff --git a/nuttx/configs/stm32f4discovery/nsh/appconfig b/nuttx/configs/stm32f4discovery/nsh/appconfig deleted file mode 100644 index 097948c87..000000000 --- a/nuttx/configs/stm32f4discovery/nsh/appconfig +++ /dev/null @@ -1,67 +0,0 @@ -############################################################################ -# configs/stm32f4discovery/nsh/appconfig -# -# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved. -# Author: Gregory Nutt -# -# 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 NuttX 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. -# -############################################################################ - -# Path to example in apps/examples containing the user_start entry point - -CONFIGURED_APPS += examples/nsh - -# The NSH application library - -CONFIGURED_APPS += system/readline -CONFIGURED_APPS += nshlib - -# Applications configured as an NX built-in commands - -ifeq ($(CONFIG_ADC),y) -CONFIGURED_APPS += examples/adc -endif - -ifeq ($(CONFIG_PWM),y) -CONFIGURED_APPS += examples/pwm -endif - -ifeq ($(CONFIG_QENCODER),y) -CONFIGURED_APPS += examples/qencoder -endif - -ifeq ($(CONFIG_USBDEV),y) -ifeq ($(CONFIG_CDCACM),y) -CONFIGURED_APPS += examples/cdcacm -endif -endif - -ifeq ($(CONFIG_WATCHDOG),y) -CONFIGURED_APPS += examples/watchdog -endif diff --git a/nuttx/configs/stm32f4discovery/nsh/defconfig b/nuttx/configs/stm32f4discovery/nsh/defconfig index 3ec117055..ea97dfeff 100644 --- a/nuttx/configs/stm32f4discovery/nsh/defconfig +++ b/nuttx/configs/stm32f4discovery/nsh/defconfig @@ -1,713 +1,700 @@ -############################################################################ -# configs/stm32f4discovery/nsh/defconfig -# -# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved. -# Author: Gregory Nutt -# -# 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 NuttX 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. -# -############################################################################ -# -# Architecture Selection # -CONFIG_ARCH="arm" -CONFIG_ARCH_ARM=y -CONFIG_ARCH_CORTEXM4=y -CONFIG_ARCH_CHIP="stm32" -CONFIG_ARCH_CHIP_STM32F407VG=y -CONFIG_ARCH_BOARD="stm32f4discovery" -CONFIG_ARCH_BOARD_STM32F4_DISCOVERY=y -CONFIG_BOARD_LOOPSPERMSEC=16717 -CONFIG_DRAM_SIZE=114688 -CONFIG_DRAM_START=0x20000000 -CONFIG_ARCH_IRQPRIO=y -CONFIG_ARCH_FPU=n -CONFIG_ARCH_INTERRUPTSTACK=0 -CONFIG_ARCH_STACKDUMP=y -CONFIG_ARCH_BOOTLOADER=n -CONFIG_ARCH_LEDS=y -CONFIG_ARCH_BUTTONS=y -CONFIG_ARCH_CALIBRATION=n -CONFIG_ARCH_DMA=n +# Automatically generated file; DO NOT EDIT. +# Nuttx/ Configuration +# +CONFIG_NUTTX_NEWCONFIG=y # -# Identify toolchain and linker options +# Build Setup # -CONFIG_STM32_CODESOURCERYW=n -CONFIG_STM32_CODESOURCERYL=y -CONFIG_STM32_ATOLLIC_LITE=n -CONFIG_STM32_ATOLLIC_PRO=n -CONFIG_STM32_DEVKITARM=n -CONFIG_STM32_RAISONANCE=n -CONFIG_STM32_BUILDROOT=n +# CONFIG_EXPERIMENTAL is not set +# CONFIG_HOST_LINUX is not set +# CONFIG_HOST_OSX is not set +CONFIG_HOST_WINDOWS=y +# CONFIG_HOST_OTHER is not set +# CONFIG_WINDOWS_NATIVE is not set +CONFIG_WINDOWS_CYGWIN=y +# CONFIG_WINDOWS_MSYS is not set +# CONFIG_WINDOWS_OTHER is not set # -# JTAG Enable settings (by default only SW-DP is enabled): +# Build Configuration # -CONFIG_STM32_DFU=n -CONFIG_STM32_JTAG_FULL_ENABLE=n -CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n -CONFIG_STM32_JTAG_SW_ENABLE=y +# CONFIG_APPS_DIR="../apps" +# CONFIG_BUILD_2PASS is not set # -# Individual subsystems can be enabled: -# -# AHB1: -CONFIG_STM32_CRC=n -CONFIG_STM32_BKPSRAM=n -CONFIG_STM32_CCMDATARAM=n -CONFIG_STM32_DMA1=n -CONFIG_STM32_DMA2=n -CONFIG_STM32_ETHMAC=n -CONFIG_STM32_OTGHS=n -# AHB2: -CONFIG_STM32_DCMI=n -CONFIG_STM32_CRYP=n -CONFIG_STM32_HASH=n -CONFIG_STM32_RNG=n +# Binary Output Formats +# +# CONFIG_RRLOAD_BINARY is not set +CONFIG_INTELHEX_BINARY=y +# CONFIG_MOTOROLA_SREC is not set +CONFIG_RAW_BINARY=y + +# +# Customize Header Files +# +# CONFIG_ARCH_STDBOOL_H is not set +# CONFIG_ARCH_MATH_H is not set +# CONFIG_ARCH_FLOAT_H is not set +# CONFIG_ARCH_STDARG_H is not set + +# +# Debug Options +# +# CONFIG_DEBUG is not set +# CONFIG_DEBUG_SYMBOLS is not set + +# +# System Type +# +# CONFIG_ARCH_8051 is not set +CONFIG_ARCH_ARM=y +# CONFIG_ARCH_AVR is not set +# CONFIG_ARCH_HC is not set +# CONFIG_ARCH_MIPS is not set +# CONFIG_ARCH_RGMP is not set +# CONFIG_ARCH_SH is not set +# CONFIG_ARCH_SIM is not set +# CONFIG_ARCH_X86 is not set +# CONFIG_ARCH_Z16 is not set +# CONFIG_ARCH_Z80 is not set +CONFIG_ARCH="arm" + +# +# ARM Options +# +# CONFIG_ARCH_CHIP_C5471 is not set +# CONFIG_ARCH_CHIP_CALYPSO is not set +# CONFIG_ARCH_CHIP_DM320 is not set +# CONFIG_ARCH_CHIP_IMX is not set +# CONFIG_ARCH_CHIP_KINETIS is not set +# CONFIG_ARCH_CHIP_LM is not set +# CONFIG_ARCH_CHIP_LPC17XX is not set +# CONFIG_ARCH_CHIP_LPC214X is not set +# CONFIG_ARCH_CHIP_LPC2378 is not set +# CONFIG_ARCH_CHIP_LPC31XX is not set +# CONFIG_ARCH_CHIP_LPC43XX is not set +# CONFIG_ARCH_CHIP_SAM3U is not set +CONFIG_ARCH_CHIP_STM32=y +# CONFIG_ARCH_CHIP_STR71X is not set +CONFIG_ARCH_CORTEXM4=y +CONFIG_ARCH_FAMILY="armv7-m" +CONFIG_ARCH_CHIP="stm32" +# CONFIG_ARMV7M_USEBASEPRI is not set +CONFIG_ARCH_HAVE_CMNVECTOR=y +# CONFIG_ARMV7M_CMNVECTOR is not set +# CONFIG_ARCH_FPU is not set +CONFIG_ARCH_HAVE_MPU=y +# CONFIG_ARMV7M_MPU is not set +CONFIG_BOARD_LOOPSPERMSEC=16717 +# CONFIG_ARCH_CALIBRATION is not set + +# +# ARMV7M Configuration Options +# +# CONFIG_ARMV7M_TOOLCHAIN_ATOLLIC is not set +# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set +# CONFIG_ARMV7M_TOOLCHAIN_CODEREDW is not set +CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYW=y +# CONFIG_ARMV7M_TOOLCHAIN_DEVKITARM is not set +# CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI is not set +# CONFIG_ARMV7M_TOOLCHAIN_RAISONANCE is not set +# CONFIG_SERIAL_TERMIOS is not set + +# +# STM32 Configuration Options +# +# CONFIG_ARCH_CHIP_STM32F100C8 is not set +# CONFIG_ARCH_CHIP_STM32F100CB is not set +# CONFIG_ARCH_CHIP_STM32F100R8 is not set +# CONFIG_ARCH_CHIP_STM32F100RB is not set +# CONFIG_ARCH_CHIP_STM32F100RC is not set +# CONFIG_ARCH_CHIP_STM32F100RD is not set +# CONFIG_ARCH_CHIP_STM32F100RE is not set +# CONFIG_ARCH_CHIP_STM32F100V8 is not set +# CONFIG_ARCH_CHIP_STM32F100VB is not set +# CONFIG_ARCH_CHIP_STM32F100VC is not set +# CONFIG_ARCH_CHIP_STM32F100VD is not set +# CONFIG_ARCH_CHIP_STM32F100VE is not set +# CONFIG_ARCH_CHIP_STM32F103RET6 is not set +# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set +# CONFIG_ARCH_CHIP_STM32F103VET6 is not set +# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set +# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set +# CONFIG_ARCH_CHIP_STM32F107VC is not set +# CONFIG_ARCH_CHIP_STM32F207IG is not set +# CONFIG_ARCH_CHIP_STM32F405RG is not set +# CONFIG_ARCH_CHIP_STM32F405VG is not set +# CONFIG_ARCH_CHIP_STM32F405ZG is not set +# CONFIG_ARCH_CHIP_STM32F407VE is not set +CONFIG_ARCH_CHIP_STM32F407VG=y +# CONFIG_ARCH_CHIP_STM32F407ZE is not set +# CONFIG_ARCH_CHIP_STM32F407ZG is not set +# CONFIG_ARCH_CHIP_STM32F407IE is not set +# CONFIG_ARCH_CHIP_STM32F407IG is not set +CONFIG_STM32_STM32F40XX=y +# CONFIG_STM32_DFU is not set + +# +# STM32 Peripheral Support +# +# CONFIG_STM32_ADC1 is not set +# CONFIG_STM32_ADC2 is not set +# CONFIG_STM32_ADC3 is not set +# CONFIG_STM32_BKPSRAM is not set +# CONFIG_STM32_CAN1 is not set +# CONFIG_STM32_CAN2 is not set +# CONFIG_STM32_CCMDATARAM is not set +# CONFIG_STM32_CRC is not set +# CONFIG_STM32_CRYP is not set +# CONFIG_STM32_DMA1 is not set +# CONFIG_STM32_DMA2 is not set +# CONFIG_STM32_DAC1 is not set +# CONFIG_STM32_DAC2 is not set +# CONFIG_STM32_DCMI is not set +# CONFIG_STM32_ETHMAC is not set +# CONFIG_STM32_FSMC is not set +# CONFIG_STM32_HASH is not set +# CONFIG_STM32_I2C1 is not set +# CONFIG_STM32_I2C2 is not set +# CONFIG_STM32_I2C3 is not set +# CONFIG_STM32_IWDG is not set CONFIG_STM32_OTGFS=y -# AHB3: -CONFIG_STM32_FSMC=n -# APB1: -CONFIG_STM32_TIM2=n -CONFIG_STM32_TIM3=n -CONFIG_STM32_TIM4=n -CONFIG_STM32_TIM5=n -CONFIG_STM32_TIM6=n -CONFIG_STM32_TIM7=n -CONFIG_STM32_TIM12=n -CONFIG_STM32_TIM13=n -CONFIG_STM32_TIM14=n -CONFIG_STM32_WWDG=n -CONFIG_STM32_IWDG=n -CONFIG_STM32_SPI2=n -CONFIG_STM32_SPI3=n -CONFIG_STM32_USART2=y -CONFIG_STM32_USART3=n -CONFIG_STM32_UART4=n -CONFIG_STM32_UART5=n -CONFIG_STM32_I2C1=n -CONFIG_STM32_I2C2=n -CONFIG_STM32_I2C3=n -CONFIG_STM32_CAN1=n -CONFIG_STM32_CAN2=n -CONFIG_STM32_DAC=n +# CONFIG_STM32_OTGHS is not set CONFIG_STM32_PWR=y -# APB2: -CONFIG_STM32_TIM1=n -CONFIG_STM32_TIM8=n -CONFIG_STM32_USART1=n -CONFIG_STM32_USART6=n -CONFIG_STM32_ADC1=n -CONFIG_STM32_ADC2=n -CONFIG_STM32_ADC3=n -CONFIG_STM32_SDIO=n +# CONFIG_STM32_RNG is not set +# CONFIG_STM32_SDIO is not set CONFIG_STM32_SPI1=y +# CONFIG_STM32_SPI2 is not set +# CONFIG_STM32_SPI3 is not set CONFIG_STM32_SYSCFG=y -CONFIG_STM32_TIM9=n -CONFIG_STM32_TIM10=n -CONFIG_STM32_TIM11=n +# CONFIG_STM32_TIM1 is not set +# CONFIG_STM32_TIM2 is not set +# CONFIG_STM32_TIM3 is not set +# CONFIG_STM32_TIM4 is not set +# CONFIG_STM32_TIM5 is not set +# CONFIG_STM32_TIM6 is not set +# CONFIG_STM32_TIM7 is not set +# CONFIG_STM32_TIM8 is not set +# CONFIG_STM32_TIM9 is not set +# CONFIG_STM32_TIM10 is not set +# CONFIG_STM32_TIM11 is not set +# CONFIG_STM32_TIM12 is not set +# CONFIG_STM32_TIM13 is not set +# CONFIG_STM32_TIM14 is not set +# CONFIG_STM32_USART1 is not set +CONFIG_STM32_USART2=y +# CONFIG_STM32_USART3 is not set +# CONFIG_STM32_UART4 is not set +# CONFIG_STM32_UART5 is not set +# CONFIG_STM32_USART6 is not set +# CONFIG_STM32_WWDG is not set +CONFIG_STM32_SPI=y # -# STM32F40xxx specific serial device driver settings +# Alternate Pin Mapping # -CONFIG_USART1_SERIAL_CONSOLE=n -CONFIG_USART2_SERIAL_CONSOLE=y -CONFIG_USART3_SERIAL_CONSOLE=n -CONFIG_UART4_SERIAL_CONSOLE=n -CONFIG_UART5_SERIAL_CONSOLE=n - -CONFIG_USART1_TXBUFSIZE=128 -CONFIG_USART2_TXBUFSIZE=128 -CONFIG_USART3_TXBUFSIZE=128 -CONFIG_UART4_TXBUFSIZE=128 -CONFIG_UART5_TXBUFSIZE=128 - -CONFIG_USART1_RXBUFSIZE=128 -CONFIG_USART2_RXBUFSIZE=128 -CONFIG_USART3_RXBUFSIZE=128 -CONFIG_UART4_RXBUFSIZE=128 -CONFIG_UART5_RXBUFSIZE=128 - -CONFIG_USART1_BAUD=115200 -CONFIG_USART2_BAUD=115200 -CONFIG_USART3_BAUD=115200 -CONFIG_UART4_BAUD=115200 -CONFIG_UART5_BAUD=115200 +# CONFIG_STM32_FLASH_PREFETCH is not set +# CONFIG_STM32_JTAG_DISABLE is not set +# CONFIG_STM32_JTAG_FULL_ENABLE is not set +# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set +CONFIG_STM32_JTAG_SW_ENABLE=y +# CONFIG_STM32_FORCEPOWER is not set +# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set +# CONFIG_STM32_CCMEXCLUDE is not set +CONFIG_STM32_USART=y -CONFIG_USART1_BITS=8 -CONFIG_USART2_BITS=8 -CONFIG_USART3_BITS=8 -CONFIG_UART4_BITS=8 -CONFIG_UART5_BITS=8 +# +# U[S]ART Configuration +# +# CONFIG_USART2_RS485 is not set +# CONFIG_STM32_USART_SINGLEWIRE is not set -CONFIG_USART1_PARITY=0 -CONFIG_USART2_PARITY=0 -CONFIG_USART3_PARITY=0 -CONFIG_UART4_PARITY=0 -CONFIG_UART5_PARITY=0 +# +# SPI Configuration +# +# CONFIG_STM32_SPI_INTERRUPTS is not set +# CONFIG_STM32_SPI_DMA is not set -CONFIG_USART1_2STOP=0 -CONFIG_USART2_2STOP=0 -CONFIG_USART3_2STOP=0 -CONFIG_UART4_2STOP=0 -CONFIG_UART5_2STOP=0 +# +# USB Host Configuration +# # -# STM32F40xxx specific SPI device driver settings +# External Memory Configuration # -CONFIG_SPI_EXCHANGE=y # -# STM32F40xxx specific CAN device driver settings +# Architecture Options # -CONFIG_CAN=n -CONFIG_CAN_EXTID=n -#CONFIG_CAN_FIFOSIZE -#CONFIG_CAN_NPENDINGRTR -CONFIG_CAN_LOOPBACK=n -CONFIG_CAN1_BAUD=700000 -CONFIG_CAN2_BAUD=700000 +# CONFIG_ARCH_NOINTC is not set +# CONFIG_ARCH_VECNOTIRQ is not set +# CONFIG_ARCH_DMA is not set +CONFIG_ARCH_IRQPRIO=y +# CONFIG_CUSTOM_STACK is not set +# CONFIG_ADDRENV is not set +CONFIG_ARCH_HAVE_VFORK=y +CONFIG_ARCH_STACKDUMP=y +# CONFIG_ENDIAN_BIG is not set +# CONFIG_ARCH_HAVE_RAMFUNCS is not set # -# STM32F40xxx Ethernet device driver settings +# Board Settings # -CONFIG_STM32_PHYADDR=1 -CONFIG_STM32_MII=y -CONFIG_STM32_MII_MCO1=y -CONFIG_STM32_MII_MCO2=n -CONFIG_STM32_RMII=n -CONFIG_STM32_AUTONEG=y -#CONFIG_STM32_ETHFD -#CONFIG_STM32_ETH100MB -CONFIG_STM32_PHYSR=16 -CONFIG_STM32_PHYSR_SPEED=0x0002 -CONFIG_STM32_PHYSR_100MBPS=0x0000 -CONFIG_STM32_PHYSR_MODE=0x0004 -CONFIG_STM32_PHYSR_FULLDUPLEX=0x0004 -CONFIG_STM32_ETH_PTP=n -CONFIG_STM32_ETHMAC_REGDEBUG=n +CONFIG_DRAM_START=0x20000000 +CONFIG_DRAM_SIZE=114688 +CONFIG_ARCH_HAVE_INTERRUPTSTACK=y +CONFIG_ARCH_INTERRUPTSTACK=0 # -# PWM configuration +# Boot options # -# The stm32f4discovery has no real on-board PWM devices, but the board can be configured to output -# a pulse train using TIM4 CH2. (Don't forget to set CONFIG_STM32_TIM4=y above) +# CONFIG_BOOT_RUNFROMEXTSRAM is not set +CONFIG_BOOT_RUNFROMFLASH=y +# CONFIG_BOOT_RUNFROMISRAM is not set +# CONFIG_BOOT_RUNFROMSDRAM is not set +# CONFIG_BOOT_COPYTORAM is not set + # -CONFIG_PWM=n -CONFIG_STM32_TIM4_PWM=y -CONFIG_STM32_TIM4_CHANNEL=2 +# Board Selection +# +CONFIG_ARCH_BOARD_STM32F4_DISCOVERY=y +# CONFIG_ARCH_BOARD_CUSTOM is not set +CONFIG_ARCH_BOARD="stm32f4discovery" # -# Quadrature Encoder configuration. +# Common Board Options # -CONFIG_QENCODER=n -CONFIG_STM32_TIM2_QE=n -CONFIG_STM32_TIM2_QECLKOUT=28000000 -CONFIG_STM32_TIM8_QE=y -CONFIG_STM32_TIM8_QECLKOUT=28000000 +CONFIG_ARCH_HAVE_LEDS=y +CONFIG_ARCH_LEDS=y +CONFIG_ARCH_HAVE_BUTTONS=y +CONFIG_ARCH_BUTTONS=y +CONFIG_ARCH_HAVE_IRQBUTTONS=y +# CONFIG_ARCH_IRQBUTTONS is not set +CONFIG_NSH_MMCSDMINOR=0 # -# General build options +# Board-Specific Options # -CONFIG_RRLOAD_BINARY=n -CONFIG_INTELHEX_BINARY=y -CONFIG_MOTOROLA_SREC=n -CONFIG_RAW_BINARY=y # -# General OS setup +# RTOS Features # -CONFIG_USER_ENTRYPOINT="nsh_main" -CONFIG_DEBUG=n -CONFIG_DEBUG_VERBOSE=n -CONFIG_DEBUG_SYMBOLS=n -CONFIG_DEBUG_FS=n -CONFIG_DEBUG_GRAPHICS=n -CONFIG_DEBUG_LCD=n -CONFIG_DEBUG_USB=n -CONFIG_DEBUG_NET=n -CONFIG_DEBUG_RTC=n -CONFIG_DEBUG_ANALOG=n -CONFIG_DEBUG_PWM=n -CONFIG_DEBUG_CAN=n -CONFIG_DEBUG_QENCODER=n -CONFIG_HAVE_CXX=y -CONFIG_HAVE_CXXINITIALIZE=y -CONFIG_MM_REGIONS=2 -CONFIG_ARCH_LOWPUTC=y +CONFIG_MSEC_PER_TICK=10 CONFIG_RR_INTERVAL=200 -CONFIG_SCHED_INSTRUMENTATION=n +# CONFIG_SCHED_INSTRUMENTATION is not set CONFIG_TASK_NAME_SIZE=0 +# CONFIG_SCHED_HAVE_PARENT is not set +# CONFIG_JULIAN_TIME is not set CONFIG_START_YEAR=2011 CONFIG_START_MONTH=12 CONFIG_START_DAY=6 -CONFIG_GREGORIAN_TIME=n -CONFIG_JULIAN_TIME=n CONFIG_DEV_CONSOLE=y -CONFIG_DEV_LOWCONSOLE=n -CONFIG_MUTEX_TYPES=n -CONFIG_PRIORITY_INHERITANCE=n -CONFIG_SEM_PREALLOCHOLDERS=0 -CONFIG_SEM_NNESTPRIO=0 -CONFIG_FDCLONE_DISABLE=n -CONFIG_FDCLONE_STDIO=n +# CONFIG_MUTEX_TYPES is not set +# CONFIG_PRIORITY_INHERITANCE is not set +# CONFIG_FDCLONE_DISABLE is not set +# CONFIG_FDCLONE_STDIO is not set CONFIG_SDCLONE_DISABLE=y -CONFIG_SCHED_WORKQUEUE=n -CONFIG_SCHED_WORKPRIORITY=192 -CONFIG_SCHED_WORKPERIOD=50000 -CONFIG_SCHED_WORKSTACKSIZE=1024 -CONFIG_SIG_SIGWORK=17 +# CONFIG_SCHED_WORKQUEUE is not set CONFIG_SCHED_WAITPID=y -CONFIG_SCHED_ATEXIT=n +# CONFIG_SCHED_STARTHOOK is not set +# CONFIG_SCHED_ATEXIT is not set +# CONFIG_SCHED_ONEXIT is not set +CONFIG_USER_ENTRYPOINT="nsh_main" +CONFIG_DISABLE_OS_API=y +# CONFIG_DISABLE_CLOCK is not set +# CONFIG_DISABLE_POSIX_TIMERS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_DISABLE_SIGNALS is not set +# CONFIG_DISABLE_MQUEUE is not set +# CONFIG_DISABLE_ENVIRON is not set # -# Settings for NXFLAT +# Signal Numbers # -CONFIG_NXFLAT=n -CONFIG_NXFLAT_DUMPBUFFER=n -CONFIG_SYMTAB_ORDEREDBYNAME=y +CONFIG_SIG_SIGUSR1=1 +CONFIG_SIG_SIGUSR2=2 +CONFIG_SIG_SIGALARM=3 +CONFIG_SIG_SIGCONDTIMEDOUT=16 # -# The following can be used to disable categories of -# APIs supported by the OS. If the compiler supports -# weak functions, then it should not be necessary to -# disable functions unless you want to restrict usage -# of those APIs. +# Sizes of configurable things (0 disables) # -# There are certain dependency relationships in these -# features. +CONFIG_MAX_TASKS=16 +CONFIG_MAX_TASK_ARGS=4 +CONFIG_NPTHREAD_KEYS=4 +CONFIG_NFILE_DESCRIPTORS=8 +CONFIG_NFILE_STREAMS=8 +CONFIG_NAME_MAX=32 +CONFIG_PREALLOC_MQ_MSGS=4 +CONFIG_MQ_MAXMSGSIZE=32 +CONFIG_MAX_WDOGPARMS=2 +CONFIG_PREALLOC_WDOGS=4 +CONFIG_PREALLOC_TIMERS=4 + # -# o mq_notify logic depends on signals to awaken tasks -# waiting for queues to become full or empty. -# o pthread_condtimedwait() depends on signals to wake -# up waiting tasks. +# Stack and heap information +# +CONFIG_IDLETHREAD_STACKSIZE=1024 +CONFIG_USERMAIN_STACKSIZE=2048 +CONFIG_PTHREAD_STACK_MIN=256 +CONFIG_PTHREAD_STACK_DEFAULT=2048 + +# +# Device Drivers # -CONFIG_DISABLE_CLOCK=n -CONFIG_DISABLE_POSIX_TIMERS=n -CONFIG_DISABLE_PTHREAD=n -CONFIG_DISABLE_SIGNALS=n -CONFIG_DISABLE_MQUEUE=n -CONFIG_DISABLE_MOUNTPOINT=n -CONFIG_DISABLE_ENVIRON=n CONFIG_DISABLE_POLL=y +CONFIG_DEV_NULL=y +# CONFIG_DEV_ZERO is not set +# CONFIG_LOOP is not set +# CONFIG_RAMDISK is not set +# CONFIG_CAN is not set +# CONFIG_PWM is not set +# CONFIG_I2C is not set +CONFIG_ARCH_HAVE_I2CRESET=y +CONFIG_SPI=y +# CONFIG_SPI_OWNBUS is not set +CONFIG_SPI_EXCHANGE=y +# CONFIG_SPI_CMDDATA is not set +# CONFIG_RTC is not set +# CONFIG_WATCHDOG is not set +# CONFIG_ANALOG is not set +# CONFIG_BCH is not set +# CONFIG_INPUT is not set +# CONFIG_LCD is not set +# CONFIG_MMCSD is not set +# CONFIG_MTD is not set +# CONFIG_PIPES is not set +# CONFIG_PM is not set +# CONFIG_POWER is not set +# CONFIG_SENSORS is not set +# CONFIG_SERCOMM_CONSOLE is not set +CONFIG_SERIAL=y +# CONFIG_DEV_LOWCONSOLE is not set +# CONFIG_16550_UART is not set +CONFIG_ARCH_HAVE_USART2=y +CONFIG_MCU_SERIAL=y +CONFIG_STANDARD_SERIAL=y +CONFIG_USART2_SERIAL_CONSOLE=y +# CONFIG_NO_SERIAL_CONSOLE is not set # -# Misc libc settings +# USART2 Configuration # -CONFIG_NOPRINTF_FIELDWIDTH=n +CONFIG_USART2_RXBUFSIZE=128 +CONFIG_USART2_TXBUFSIZE=128 +CONFIG_USART2_BAUD=115200 +CONFIG_USART2_BITS=8 +CONFIG_USART2_PARITY=0 +CONFIG_USART2_2STOP=0 +# CONFIG_USBDEV is not set +# CONFIG_USBHOST is not set +# CONFIG_WIRELESS is not set # -# Allow for architecture optimized implementations +# System Logging Device Options +# + # -# The architecture can provide optimized versions of the -# following to improve system performance +# System Logging # -CONFIG_ARCH_MEMCPY=n -CONFIG_ARCH_MEMCMP=n -CONFIG_ARCH_MEMMOVE=n -CONFIG_ARCH_MEMSET=n -CONFIG_ARCH_STRCMP=n -CONFIG_ARCH_STRCPY=n -CONFIG_ARCH_STRNCPY=n -CONFIG_ARCH_STRLEN=n -CONFIG_ARCH_STRNLEN=n -CONFIG_ARCH_BZERO=n +# CONFIG_RAMLOG is not set # -# Sizes of configurable things (0 disables) +# Networking Support +# +# CONFIG_NET is not set + +# +# File Systems +# + +# +# File system configuration +# +# CONFIG_DISABLE_MOUNTPOINT is not set +# CONFIG_FS_RAMMAP is not set +# CONFIG_FS_FAT is not set +# CONFIG_FS_NXFFS is not set +# CONFIG_FS_ROMFS is not set +# CONFIG_FS_BINFS is not set + +# +# System Logging +# +# CONFIG_SYSLOG is not set + +# +# Graphics Support +# +# CONFIG_NX is not set + +# +# Memory Management +# +# CONFIG_MM_SMALL is not set +CONFIG_MM_REGIONS=2 +# CONFIG_GRAN is not set + +# +# Binary Formats +# +# CONFIG_BINFMT_DISABLE is not set +# CONFIG_BINFMT_EXEPATH is not set +# CONFIG_NXFLAT is not set +# CONFIG_ELF is not set +CONFIG_BUILTIN=y +# CONFIG_PIC is not set +# CONFIG_SYMTAB_ORDEREDBYNAME is not set + +# +# Library Routines +# + +# +# Standard C Library Options # -CONFIG_MAX_TASKS=16 -CONFIG_MAX_TASK_ARGS=4 -CONFIG_NPTHREAD_KEYS=4 -CONFIG_NFILE_DESCRIPTORS=8 -CONFIG_NFILE_STREAMS=8 -CONFIG_NAME_MAX=32 CONFIG_STDIO_BUFFER_SIZE=256 CONFIG_STDIO_LINEBUFFER=y CONFIG_NUNGET_CHARS=2 -CONFIG_PREALLOC_MQ_MSGS=4 -CONFIG_MQ_MAXMSGSIZE=32 -CONFIG_MAX_WDOGPARMS=2 -CONFIG_PREALLOC_WDOGS=4 -CONFIG_PREALLOC_TIMERS=4 +CONFIG_LIB_HOMEDIR="/" +# CONFIG_LIBM is not set +# CONFIG_NOPRINTF_FIELDWIDTH is not set +# CONFIG_LIBC_FLOATINGPOINT is not set +# CONFIG_EOL_IS_CR is not set +# CONFIG_EOL_IS_LF is not set +# CONFIG_EOL_IS_BOTH_CRLF is not set +CONFIG_EOL_IS_EITHER_CRLF=y +# CONFIG_LIBC_EXECFUNCS is not set +# CONFIG_LIBC_STRERROR is not set +# CONFIG_LIBC_PERROR_STDOUT is not set +CONFIG_ARCH_LOWPUTC=y +CONFIG_LIB_SENDFILE_BUFSIZE=512 +# CONFIG_ARCH_ROMGETC is not set +# CONFIG_ARCH_OPTIMIZED_FUNCTIONS is not set # -# Framebuffer driver options +# Non-standard Helper Functions # -CONFIG_FB_CMAP=n -CONFIG_FB_HWCURSOR=n -CONFIG_FB_HWCURSORIMAGE=n -#CONFIG_FB_HWCURSORSIZE -#CONFIG_FB_TRANSPARENCY +# CONFIG_LIB_KBDCODEC is not set # -# Filesystem configuration +# Basic CXX Support # -CONFIG_FS_FAT=n -CONFIG_FAT_LCNAMES=y -CONFIG_FAT_LFN=y -CONFIG_FAT_MAXFNAME=32 -CONFIG_FS_NXFFS=n -CONFIG_FS_ROMFS=n +# CONFIG_C99_BOOL8 is not set +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +# CONFIG_CXX_NEWLONG is not set # -# SPI-based MMC/SD driver +# uClibc++ Standard C++ Library # -CONFIG_MMCSD_NSLOTS=0 -CONFIG_MMCSD_READONLY=n -CONFIG_MMCSD_SPICLOCK=12500000 +# CONFIG_UCLIBCXX is not set # -# Block driver buffering +# Application Configuration # -CONFIG_FS_READAHEAD=n -CONFIG_FS_WRITEBUFFER=n # -# STM32 SDIO-based MMC/SD driver +# Built-In Applications # -CONFIG_SDIO_DMA=n -#CONFIG_SDIO_PRI=128 -#CONFIG_SDIO_DMAPRIO -#CONFIG_SDIO_WIDTH_D1_ONLY -CONFIG_MMCSD_MULTIBLOCK_DISABLE=y -CONFIG_MMCSD_MMCSUPPORT=n -CONFIG_MMCSD_HAVECARDDETECT=n +CONFIG_BUILTIN_PROXY_STACKSIZE=1024 # -# TCP/IP and UDP support via uIP +# Examples # -CONFIG_NET=n -CONFIG_NET_NOINTS=n -CONFIG_NET_MULTIBUFFER=y -CONFIG_NET_IPv6=n -CONFIG_NSOCKET_DESCRIPTORS=10 -CONFIG_NET_SOCKOPTS=y -CONFIG_NET_BUFSIZE=562 -CONFIG_NET_TCP=y -CONFIG_NET_TCP_CONNS=40 -#CONFIG_NET_TCP_READAHEAD_BUFSIZE -CONFIG_NET_NTCP_READAHEAD_BUFFERS=16 -CONFIG_NET_TCPBACKLOG=y -CONFIG_NET_MAX_LISTENPORTS=40 -CONFIG_NET_UDP=y -CONFIG_NET_UDP_CHECKSUMS=y -#CONFIG_NET_UDP_CONNS=10 -CONFIG_NET_ICMP=y -CONFIG_NET_ICMP_PING=y -#CONFIG_NET_PINGADDRCONF=0 -CONFIG_NET_STATISTICS=y -#CONFIG_NET_RECEIVE_WINDOW= -CONFIG_NET_BROADCAST=n -#CONFIG_NET_ARPTAB_SIZE=8 -CONFIG_NET_ARP_IPIN=n -CONFIG_NET_MULTICAST=n - -# -# UIP Network Utilities +# CONFIG_EXAMPLES_BUTTONS is not set +# CONFIG_EXAMPLES_CAN is not set +# CONFIG_EXAMPLES_CDCACM is not set +# CONFIG_EXAMPLES_COMPOSITE is not set +# CONFIG_EXAMPLES_CXXTEST is not set +# CONFIG_EXAMPLES_DHCPD is not set +# CONFIG_EXAMPLES_ELF is not set +# CONFIG_EXAMPLES_FTPC is not set +# CONFIG_EXAMPLES_FTPD is not set +# CONFIG_EXAMPLES_HELLO is not set +# CONFIG_EXAMPLES_HELLOXX is not set +# CONFIG_EXAMPLES_JSON is not set +# CONFIG_EXAMPLES_HIDKBD is not set +# CONFIG_EXAMPLES_KEYPADTEST is not set +# CONFIG_EXAMPLES_IGMP is not set +# CONFIG_EXAMPLES_LCDRW is not set +# CONFIG_EXAMPLES_MM is not set +# CONFIG_EXAMPLES_MOUNT is not set +# CONFIG_EXAMPLES_MODBUS is not set +CONFIG_EXAMPLES_NSH=y +# CONFIG_EXAMPLES_NULL is not set +# CONFIG_EXAMPLES_NX is not set +# CONFIG_EXAMPLES_NXCONSOLE is not set +# CONFIG_EXAMPLES_NXFFS is not set +# CONFIG_EXAMPLES_NXFLAT is not set +# CONFIG_EXAMPLES_NXHELLO is not set +# CONFIG_EXAMPLES_NXIMAGE is not set +# CONFIG_EXAMPLES_NXLINES is not set +# CONFIG_EXAMPLES_NXTEXT is not set +# CONFIG_EXAMPLES_OSTEST is not set +# CONFIG_EXAMPLES_PASHELLO is not set +# CONFIG_EXAMPLES_PIPE is not set +# CONFIG_EXAMPLES_POSIXSPAWN is not set +# CONFIG_EXAMPLES_QENCODER is not set +# CONFIG_EXAMPLES_RGMP is not set +# CONFIG_EXAMPLES_ROMFS is not set +# CONFIG_EXAMPLES_SENDMAIL is not set +# CONFIG_EXAMPLES_SERLOOP is not set +# CONFIG_EXAMPLES_TELNETD is not set +# CONFIG_EXAMPLES_THTTPD is not set +# CONFIG_EXAMPLES_TIFF is not set +# CONFIG_EXAMPLES_TOUCHSCREEN is not set +# CONFIG_EXAMPLES_UDP is not set +# CONFIG_EXAMPLES_UIP is not set +# CONFIG_EXAMPLES_USBSERIAL is not set +# CONFIG_EXAMPLES_USBMSC is not set +# CONFIG_EXAMPLES_USBTERM is not set +# CONFIG_EXAMPLES_WATCHDOG is not set + +# +# Interpreters # -CONFIG_NET_DHCP_LIGHT=n -CONFIG_NET_RESOLV_ENTRIES=4 # -# RTC Configuration +# Interpreters # -CONFIG_RTC=n -CONFIG_RTC_DATETIME=y -CONFIG_RTC_HIRES=n -CONFIG_RTC_FREQUENCY=1 -CONFIG_RTC_ALARM=n - -# -# STM32 USB OTG FS Device Configuration -# -CONFIG_USBDEV=n -CONFIG_USBDEV_ISOCHRONOUS=n -CONFIG_USBDEV_DUALSPEED=n -CONFIG_USBDEV_SELFPOWERED=y -CONFIG_USBDEV_REMOTEWAKEUP=n -CONFIG_USBDEV_MAXPOWER=100 -CONFIG_USBDEV_TRACE=n -CONFIG_USBDEV_TRACE_NRECORDS=128 - -# -# STM32 USB OTG FS Host Configuration -# -CONFIG_USBHOST=n -#CONFIG_STM32_OTGFS_RXFIFO_SIZE -#CONFIG_STM32_OTGFS_NPTXFIFO_SIZE -#CONFIG_STM32_OTGFS_PTXFIFO_SIZE -#CONFIG_STM32_OTGFS_DESCSIZE -CONFIG_STM32_OTGFS_SOFINTR=n -CONFIG_STM32_USBHOST_REGDEBUG=n -CONFIG_STM32_USBHOST_PKTDUMP=n - -# -# USB Serial Device Configuration (Prolifics PL2303 emulation) -# -CONFIG_PL2303=n -CONFIG_PL2303_EPINTIN=1 -CONFIG_PL2303_EPBULKOUT=2 -CONFIG_PL2303_EPBULKIN=3 -CONFIG_PL2303_NWRREQS=4 -CONFIG_PL2303_NRDREQS=4 -CONFIG_PL2303_VENDORID=0x067b -CONFIG_PL2303_PRODUCTID=0x2303 -CONFIG_PL2303_VENDORSTR="Nuttx" -CONFIG_PL2303_PRODUCTSTR="USBdev Serial" -CONFIG_PL2303_RXBUFSIZE=512 -CONFIG_PL2303_TXBUFSIZE=512 - -# -# USB serial device class driver (Standard CDC ACM class) -# -CONFIG_CDCACM=n -CONFIG_CDCACM_CONSOLE=n -#CONFIG_CDCACM_EP0MAXPACKET -CONFIG_CDCACM_EPINTIN=1 -#CONFIG_CDCACM_EPINTIN_FSSIZE -#CONFIG_CDCACM_EPINTIN_HSSIZE -CONFIG_CDCACM_EPBULKOUT=3 -#CONFIG_CDCACM_EPBULKOUT_FSSIZE -#CONFIG_CDCACM_EPBULKOUT_HSSIZE -CONFIG_CDCACM_EPBULKIN=2 -#CONFIG_CDCACM_EPBULKIN_FSSIZE -#CONFIG_CDCACM_EPBULKIN_HSSIZE -#CONFIG_CDCACM_NWRREQS -#CONFIG_CDCACM_NRDREQS -#CONFIG_CDCACM_VENDORID -#CONFIG_CDCACM_VENDORSTR -#CONFIG_CDCACM_PRODUCTID -#CONFIG_CDCACM_PRODUCTSTR -#CONFIG_CDCACM_RXBUFSIZE -#CONFIG_CDCACM_TXBUFSIZE - -# -# USB Storage Device Configuration -# -CONFIG_USBMSC=n -CONFIG_USBMSC_EP0MAXPACKET=64 -CONFIG_USBMSC_EPBULKOUT=2 -CONFIG_USBMSC_EPBULKIN=5 -CONFIG_USBMSC_NRDREQS=2 -CONFIG_USBMSC_NWRREQS=2 -CONFIG_USBMSC_BULKINREQLEN=256 -CONFIG_USBMSC_BULKOUTREQLEN=256 -CONFIG_USBMSC_VENDORID=0x584e -CONFIG_USBMSC_VENDORSTR="NuttX" -CONFIG_USBMSC_PRODUCTID=0x5342 -CONFIG_USBMSC_PRODUCTSTR="USBdev Storage" -CONFIG_USBMSC_VERSIONNO=0x0399 -CONFIG_USBMSC_REMOVABLE=y - -# -# Watchdog timer configuration -# -CONFIG_WATCHDOG=n - -# -# Graphics related configuration settings -# -CONFIG_NX=n -CONFIG_NX_MULTIUSER=n -CONFIG_NX_NPLANES=1 -CONFIG_NX_DISABLE_1BPP=y -CONFIG_NX_DISABLE_2BPP=y -CONFIG_NX_DISABLE_4BPP=y -CONFIG_NX_DISABLE_8BPP=y -CONFIG_NX_DISABLE_16BPP=n -CONFIG_NX_DISABLE_24BPP=y -CONFIG_NX_DISABLE_32BPP=y -CONFIG_NX_PACKEDMSFIRST=n -CONFIG_NX_LCDDRIVER=y -CONFIG_LCD_MAXPOWER=1 -CONFIG_LCD_MAXCONTRAST=1 -CONFIG_NX_MOUSE=y -CONFIG_NX_KBD=y -#CONFIG_NXTK_BORDERWIDTH=4 -CONFIG_NXTK_BORDERCOLOR1=0xd69a -CONFIG_NXTK_BORDERCOLOR2=0xad55 -CONFIG_NXTK_AUTORAISE=n -CONFIG_NXFONT_SANS17X22=y -CONFIG_NXFONT_SANS20X26=n -CONFIG_NXFONT_SANS22X29=n -CONFIG_NXFONT_SANS23X27=n -CONFIG_NXFONT_SANS28X37=n -CONFIG_NXFONT_SANS17X23B=n -CONFIG_NXFONT_SANS20X27B=y -CONFIG_NXFONT_SANS22X29B=y -CONFIG_NXFONT_SANS28X37B=n -CONFIG_NXFONT_SANS40X49B=n -CONFIG_NXFONT_SERIF22X29=n -CONFIG_NXFONT_SERIF29X37=n -CONFIG_NXFONT_SERIF38X48=n -CONFIG_NXFONT_SERIF22X28B=n -CONFIG_NXFONT_SERIF27X38B=n -CONFIG_NXFONT_SERIF38X49B=n -CONFIG_NXFONTS_CHARBITS=7 -CONFIG_NX_BLOCKING=y -CONFIG_NX_MXSERVERMSGS=32 -CONFIG_NX_MXCLIENTMSGS=16 - -# -# Settings for examples/uip -# -CONFIG_EXAMPLES_UIP_IPADDR=0x0a000002 -CONFIG_EXAMPLES_UIP_DRIPADDR=0x0a000001 -CONFIG_EXAMPLES_UIP_NETMASK=0xffffff00 -CONFIG_EXAMPLES_UIP_DHCPC=n - -# -# Settings for examples/nettest -CONFIG_EXAMPLES_NETTEST_SERVER=n -CONFIG_EXAMPLES_NETTEST_PERFORMANCE=n -CONFIG_EXAMPLES_NETTEST_NOMAC=y -CONFIG_EXAMPLES_NETTEST_IPADDR=0x0a000002 -CONFIG_EXAMPLES_NETTEST_DRIPADDR=0x0a000001 -CONFIG_EXAMPLES_NETTEST_NETMASK=0xffffff00 -CONFIG_EXAMPLES_NETTEST_CLIENTIP=0x0a000001 - -# -# Settings for examples/ostest -# -CONFIG_EXAMPLES_OSTEST_LOOPS=1 -CONFIG_EXAMPLES_OSTEST_STACKSIZE=2048 -CONFIG_EXAMPLES_OSTEST_NBARRIER_THREADS=3 - -# -# Settings for apps/nshlib +# CONFIG_INTERPRETERS_FICL is not set +# CONFIG_INTERPRETERS_PCODE is not set + # -CONFIG_BUILTIN=y +# Network Utilities +# + +# +# Networking Utilities +# +# CONFIG_NETUTILS_CODECS is not set +# CONFIG_NETUTILS_DHCPC is not set +# CONFIG_NETUTILS_DHCPD is not set +# CONFIG_NETUTILS_FTPC is not set +# CONFIG_NETUTILS_FTPD is not set +# CONFIG_NETUTILS_JSON is not set +# CONFIG_NETUTILS_RESOLV is not set +# CONFIG_NETUTILS_SMTP is not set +# CONFIG_NETUTILS_TELNETD is not set +# CONFIG_NETUTILS_TFTPC is not set +# CONFIG_NETUTILS_THTTPD is not set +# CONFIG_NETUTILS_UIPLIB is not set +# CONFIG_NETUTILS_WEBCLIENT is not set + +# +# ModBus +# + +# +# FreeModbus +# +# CONFIG_MODBUS is not set + +# +# NSH Library +# +CONFIG_NSH_LIBRARY=y CONFIG_NSH_BUILTIN_APPS=y + +# +# Disable Individual commands +# +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DD is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_HEXDUMP is not set +# CONFIG_NSH_DISABLE_IFCONFIG is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOSETUP is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MB is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MKFIFO is not set +# CONFIG_NSH_DISABLE_MKRD is not set +# CONFIG_NSH_DISABLE_MH is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MW is not set +# CONFIG_NSH_DISABLE_NSFMOUNT is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PING is not set +# CONFIG_NSH_DISABLE_PUT is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SH is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +# CONFIG_NSH_DISABLE_WGET is not set +# CONFIG_NSH_DISABLE_XD is not set +CONFIG_NSH_CODECS_BUFSIZE=128 CONFIG_NSH_FILEIOSIZE=512 -CONFIG_NSH_STRERROR=n CONFIG_NSH_LINELEN=64 CONFIG_NSH_NESTDEPTH=3 -CONFIG_NSH_DISABLESCRIPT=n -CONFIG_NSH_DISABLEBG=n -CONFIG_NSH_ROMFSETC=n +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLEBG is not set CONFIG_NSH_CONSOLE=y -CONFIG_NSH_TELNET=n -CONFIG_NSH_USBCONSOLE=n -CONFIG_NSH_USBCONDEV="/dev/ttyACM0" -CONFIG_NSH_UBSDEV_MINOR=0 -CONFIG_NSH_USBDEV_TRACEINIT=n -CONFIG_NSH_USBDEV_TRACECLASS=n -CONFIG_NSH_USBDEV_TRACETRANSFERS=n -CONFIG_NSH_USBDEV_TRACECONTROLLER=n -CONFIG_NSH_USBDEV_TRACEINTERRUPTS=n -#CONFIG_NSH_CONDEV -CONFIG_NSH_ARCHINIT=n -CONFIG_NSH_IOBUFFER_SIZE=512 -CONFIG_NSH_DHCPC=n -CONFIG_NSH_NOMAC=y -CONFIG_NSH_IPADDR=0x0a000002 -CONFIG_NSH_DRIPADDR=0x0a000001 -CONFIG_NSH_NETMASK=0xffffff00 -CONFIG_NSH_ROMFSMOUNTPT="/etc" -CONFIG_NSH_INITSCRIPT="init.d/rcS" -CONFIG_NSH_ROMFSDEVNO=0 -CONFIG_NSH_ROMFSSECTSIZE=64 -CONFIG_NSH_FATDEVNO=1 -CONFIG_NSH_FATSECTSIZE=512 -CONFIG_NSH_FATNSECTORS=1024 -CONFIG_NSH_FATMOUNTPT="/tmp" - -# -# Architecture-specific NSH options -# -CONFIG_NSH_MMCSDSPIPORTNO=0 -CONFIG_NSH_MMCSDSLOTNO=0 -CONFIG_NSH_MMCSDMINOR=0 +# CONFIG_NSH_CONDEV is not set +# CONFIG_NSH_ARCHINIT is not set # -# Settings for examples/usbserial +# NxWidgets/NxWM # -CONFIG_EXAMPLES_USBSERIAL_INONLY=n -CONFIG_EXAMPLES_USBSERIAL_OUTONLY=n -CONFIG_EXAMPLES_USBSERIAL_ONLYSMALL=n -CONFIG_EXAMPLES_USBSERIAL_ONLYBIG=n - -CONFIG_EXAMPLES_USBSERIAL_TRACEINIT=n -CONFIG_EXAMPLES_USBSERIAL_TRACECLASS=n -CONFIG_EXAMPLES_USBSERIAL_TRACETRANSFERS=n -CONFIG_EXAMPLES_USBSERIAL_TRACECONTROLLER=n -CONFIG_EXAMPLES_USBSERIAL_TRACEINTERRUPTS=n # -# Settings for examples/cdcacm -# -# Configuration prequisites: +# System NSH Add-Ons # -CONFIG_EXAMPLES_CDCACM_DEVMINOR=0 -CONFIG_EXAMPLES_CDCACM_TRACEINIT=n -CONFIG_EXAMPLES_CDCACM_TRACECLASS=n -CONFIG_EXAMPLES_CDCACM_TRACETRANSFERS=n -CONFIG_EXAMPLES_CDCACM_TRACECONTROLLER=n -CONFIG_EXAMPLES_CDCACM_TRACEINTERRUPTS=n # -# Settings for examples/adc +# Custom Free Memory Command # +# CONFIG_SYSTEM_FREE is not set # -# Settings for examples/can +# I2C tool # # -# Settings for examples/pwm +# FLASH Program Installation # +# CONFIG_SYSTEM_INSTALL is not set # -# Settings for examples/watchdog +# readline() # +CONFIG_SYSTEM_READLINE=y +CONFIG_READLINE_ECHO=y -# This test depends on these specific Watchdog/NSH configurations settings (your -# specific watchdog hardware settings might require additional settings). # +# Power Off +# +# CONFIG_SYSTEM_POWEROFF is not set # -# Settings for examples/watchdog +# RAMTRON +# +# CONFIG_SYSTEM_RAMTRON is not set + # -# This test depends on these specific Watchdog/NSH configurations settings (your -# specific watchdog hardware settings might require additional settings). +# SD Card # +# CONFIG_SYSTEM_SDCARD is not set # -# Stack and heap information +# Sysinfo # -CONFIG_BOOT_RUNFROMFLASH=n -CONFIG_BOOT_COPYTORAM=n -CONFIG_CUSTOM_STACK=n -CONFIG_IDLETHREAD_STACKSIZE=1024 -CONFIG_USERMAIN_STACKSIZE=2048 -CONFIG_PTHREAD_STACK_MIN=256 -CONFIG_PTHREAD_STACK_DEFAULT=2048 -CONFIG_HEAP_BASE= -CONFIG_HEAP_SIZE= +# CONFIG_SYSTEM_SYSINFO is not set diff --git a/nuttx/configs/stm32f4discovery/pm/defconfig b/nuttx/configs/stm32f4discovery/pm/defconfig index 332235050..981a8abb2 100644 --- a/nuttx/configs/stm32f4discovery/pm/defconfig +++ b/nuttx/configs/stm32f4discovery/pm/defconfig @@ -635,7 +635,7 @@ CONFIG_NSH_CONSOLE=y CONFIG_NSH_TELNET=n CONFIG_NSH_USBCONSOLE=n CONFIG_NSH_USBCONDEV="/dev/ttyACM0" -CONFIG_NSH_UBSDEV_MINOR=0 +CONFIG_NSH_USBDEV_MINOR=0 CONFIG_NSH_USBDEV_TRACEINIT=n CONFIG_NSH_USBDEV_TRACECLASS=n CONFIG_NSH_USBDEV_TRACETRANSFERS=n -- cgit v1.2.3 From 433dae74225a98c5ed65834b8574eea90259e220 Mon Sep 17 00:00:00 2001 From: patacongo Date: Mon, 28 Jan 2013 18:45:09 +0000 Subject: Beginning of apps/system/usbmonitor (incomplete); more LM4F changes from JP git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5577 42af7a65-404d-4744-a932-0658087f49c3 --- apps/ChangeLog.txt | 2 + apps/system/Kconfig | 4 + apps/system/Make.defs | 3 + apps/system/Makefile | 2 +- apps/system/free/README.txt | 6 -- apps/system/poweroff/README.txt | 5 - apps/system/ramtron/README.txt | 7 -- apps/system/sdcard/README.txt | 7 -- apps/system/sysinfo/README.txt | 6 -- apps/system/usbmonitor/Kconfig | 33 ++++++ apps/system/usbmonitor/Makefile | 116 ++++++++++++++++++++ apps/system/usbmonitor/usbmonitor.c | 162 ++++++++++++++++++++++++++++ nuttx/ChangeLog | 3 + nuttx/Documentation/README.html | 8 +- nuttx/README.txt | 12 +-- nuttx/arch/arm/src/lm/chip/lm3s_memorymap.h | 18 ++-- nuttx/arch/arm/src/lm/chip/lm4f_memorymap.h | 89 ++++++++++++++- 17 files changed, 421 insertions(+), 62 deletions(-) delete mode 100644 apps/system/free/README.txt delete mode 100644 apps/system/poweroff/README.txt delete mode 100644 apps/system/ramtron/README.txt delete mode 100644 apps/system/sdcard/README.txt delete mode 100644 apps/system/sysinfo/README.txt create mode 100644 apps/system/usbmonitor/Kconfig create mode 100644 apps/system/usbmonitor/Makefile create mode 100644 apps/system/usbmonitor/usbmonitor.c (limited to 'apps') diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt index 494ce34eb..778f1fcf2 100644 --- a/apps/ChangeLog.txt +++ b/apps/ChangeLog.txt @@ -495,3 +495,5 @@ * apps/examples/nettest and poll: Complete Kconfig files. * apps/examples/ostest/waitpid.c: Need to use WEXITSTATUS() to decode the correct exit status. + * system/usbmonitor: A daemon that can be used to monitor USB + trace outpout. diff --git a/apps/system/Kconfig b/apps/system/Kconfig index d4d434665..6c8651088 100644 --- a/apps/system/Kconfig +++ b/apps/system/Kconfig @@ -34,3 +34,7 @@ endmenu menu "Sysinfo" source "$APPSDIR/system/sysinfo/Kconfig" endmenu + +menu "USB Monitor" +source "$APPSDIR/system/usbmonitor/Kconfig" +endmenu diff --git a/apps/system/Make.defs b/apps/system/Make.defs index 3d10f84e5..3c679f112 100644 --- a/apps/system/Make.defs +++ b/apps/system/Make.defs @@ -66,3 +66,6 @@ ifeq ($(CONFIG_SYSTEM_SYSINFO),y) CONFIGURED_APPS += system/sysinfo endif +ifeq ($(CONFIG_SYSTEM_USBMONITOR),y) +CONFIGURED_APPS += system/usbmonitor +endif diff --git a/apps/system/Makefile b/apps/system/Makefile index 057fbcf77..f39eedec4 100644 --- a/apps/system/Makefile +++ b/apps/system/Makefile @@ -37,7 +37,7 @@ # Sub-directories containing system task -SUBDIRS = free i2c install readline poweroff ramtron sdcard sysinfo +SUBDIRS = free i2c install readline poweroff ramtron sdcard sysinfo usbmonitor # Create the list of installed runtime modules (INSTALLED_DIRS) diff --git a/apps/system/free/README.txt b/apps/system/free/README.txt deleted file mode 100644 index 1c2d380d4..000000000 --- a/apps/system/free/README.txt +++ /dev/null @@ -1,6 +0,0 @@ - -This application provides UNIX style memory free information. - - Source: NuttX - Author: Gregory Nutt - Date: 17. March 2011 diff --git a/apps/system/poweroff/README.txt b/apps/system/poweroff/README.txt deleted file mode 100644 index e02180e5a..000000000 --- a/apps/system/poweroff/README.txt +++ /dev/null @@ -1,5 +0,0 @@ - -This application provides poweroff command - - Source: NuttX - Date: 13. March 2011 diff --git a/apps/system/ramtron/README.txt b/apps/system/ramtron/README.txt deleted file mode 100644 index 152774b66..000000000 --- a/apps/system/ramtron/README.txt +++ /dev/null @@ -1,7 +0,0 @@ - -This application provides RAMTRON tool/lib to start, stop or to perform -RAMTRON custom operations. - - Source: NuttX - Author: Uros Platise - Date: 18. March 2011 diff --git a/apps/system/sdcard/README.txt b/apps/system/sdcard/README.txt deleted file mode 100644 index 332aa26cf..000000000 --- a/apps/system/sdcard/README.txt +++ /dev/null @@ -1,7 +0,0 @@ - -This application provides SDcard tool/lib to start, stop, eject or insert -a memory card. - - Source: NuttX - Author: Uros Platise - Date: 18. March 2011 diff --git a/apps/system/sysinfo/README.txt b/apps/system/sysinfo/README.txt deleted file mode 100644 index 3792f4a59..000000000 --- a/apps/system/sysinfo/README.txt +++ /dev/null @@ -1,6 +0,0 @@ - -This application provides access to System Information - - Source: NuttX - Date: 15. April 2011 - Author: Uros Platise diff --git a/apps/system/usbmonitor/Kconfig b/apps/system/usbmonitor/Kconfig new file mode 100644 index 000000000..7199845b1 --- /dev/null +++ b/apps/system/usbmonitor/Kconfig @@ -0,0 +1,33 @@ +# +# For a description of the syntax of this configuration file, +# see misc/tools/kconfig-language.txt. +# + +config SYSTEM_USBMONITOR + bool "USB Monitor" + default n + depends on USBDEV && USBDEV_TRACE && SYSLOG + ---help--- + If USB device tracing is enabled (USBDEV_TRACE), then this option + will select the USB monitor. The USB monitor is a daemon that will + periodically collect the buffered USB trace data and dump it to the + SYSLOG device. + +if SYSTEM_USBMONITOR + +config SYSTEM_USBMONITOR_STACKSIZE + int "USB Monitor Stack Size" + default 2048 + depends on NSH_BUILTIN_APPS + ---help--- + The stack size to use the the USB monitor daemon. Default: 2048 + +config SYSTEM_USBMONITOR_PRIORITY + int "USB Monitor Stack Size" + default 50 + depends on NSH_BUILTIN_APPS + ---help--- + The priority to use the the USB monitor daemon. Default: 50 + +endif + diff --git a/apps/system/usbmonitor/Makefile b/apps/system/usbmonitor/Makefile new file mode 100644 index 000000000..04fcaf0ac --- /dev/null +++ b/apps/system/usbmonitor/Makefile @@ -0,0 +1,116 @@ +############################################################################ +# apps/system/usbmonitor/Makefile +# +# Copyright (C) 2013 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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 NuttX 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. +# +############################################################################ + +-include $(TOPDIR)/.config +-include $(TOPDIR)/Make.defs +include $(APPDIR)/Make.defs + +ifeq ($(WINTOOL),y) +INCDIROPT = -w +endif + +# Hello Application +# TODO: appname can be automatically extracted from the directory name + +APPNAME = usbmon +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 768 + +ASRCS = +CSRCS = usbmonitor.c + +AOBJS = $(ASRCS:.S=$(OBJEXT)) +COBJS = $(CSRCS:.c=$(OBJEXT)) + +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) + +ifeq ($(CONFIG_WINDOWS_NATIVE),y) + BIN = ..\..\libapps$(LIBEXT) +else +ifeq ($(WINTOOL),y) + BIN = ..\\..\\libapps$(LIBEXT) +else + BIN = ../../libapps$(LIBEXT) +endif +endif + +ROOTDEPPATH = --dep-path . + +# Common build + +VPATH = + +all: .built +.PHONY: context depend clean distclean + +$(AOBJS): %$(OBJEXT): %.S + $(call ASSEMBLE, $<, $@) + +$(COBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + +.built: $(OBJS) + $(call ARCHIVE, $(BIN), $(OBJS)) + $(Q) touch .built + +# Register application + +ifeq ($(CONFIG_NSH_BUILTIN_APPS),y) +$(BUILTIN_REGISTRY)$(DELIM)$(APPNAME)_main.bdat: $(DEPCONFIG) Makefile + $(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main) + +context: $(BUILTIN_REGISTRY)$(DELIM)$(APPNAME)_main.bdat +else +context: +endif + +# Create dependencies + +.depend: Makefile $(SRCS) + $(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep + $(Q) touch $@ + +depend: .depend + +clean: + $(call DELFILE, .built) + $(call CLEAN) + +distclean: clean + $(call DELFILE, Make.dep) + $(call DELFILE, .depend) + +-include Make.dep diff --git a/apps/system/usbmonitor/usbmonitor.c b/apps/system/usbmonitor/usbmonitor.c new file mode 100644 index 000000000..b101b128c --- /dev/null +++ b/apps/system/usbmonitor/usbmonitor.c @@ -0,0 +1,162 @@ +/**************************************************************************** + * apps/system/free/free.c + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#include +#include + +/**************************************************************************** + * Private Typs + ****************************************************************************/ + +struct usbmon_state_s +{ +#ifdef CONFIG_NSH_BUILTIN_APPS + volatile bool started; + volatile bool stop; + pid_t pid; +#endif +}; + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static struct usbmon_state_s g_usbmonitor; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int usbmonitor_daemon(int argc, char **argv) +{ +#ifdef CONFIG_NSH_BUILTIN_APPS + print("USB Monitor running: %d\n", g_usbmonitor.pid); +#endif + +#ifdef CONFIG_NSH_BUILTIN_APPS + /* If we are running as an NSH command, then loop until we detect that + * there is a request to stop. + */ + + while (!g_usbmonitor.stop) +#else + /* If we are running as a standalone program, then loop forever */ + + for (;;) +#endif + { +#warning "Missing logic" + } + + /* Stopped */ + +#ifdef CONFIG_NSH_BUILTIN_APPS + g_usbmonitor.stop = false; + g_usbmonitor.started = false; + print("USB Monitor stopped: %d\n", g_usbmonitor.pid); +#endif + return 0; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int usbmonitor_main(int argc, char **argv) +{ +#ifdef CONFIG_NSH_BUILTIN_APPS + /* Has the monitor already started? */ + + sched_lock(); + if (!g_usbmonitor.started) + { + int ret; + + /* No.. start it now */ + + g_usbmonitor.started = true; + g_usbmonitor.stop = false; + + ret = TASK_CREATE("USB Monitor", CONFIG_SYSTEM_USBMONITOR_PRIORITY, + CONFIG_SYSTEM_USBMONITOR_STACKSIZE, + (main_t)usbmonitor_daemon, (const char **)NULL); + if (ret < 0) + { + int errcode = errno; + fprintf(stderr, "ERROR: Failed to start the USB monitor: %d\n", + errcode); + } + else + { + g_usbmonitor.pid = ret; + print("USB Monitor started: %d\n", g_usbmonitor.pid); + } + + sched_unlock(); + return 0; + } + + sched_unlock(); + print("USB Monitor running: %d\n", g_usbmonitor.pid); + return 0; +#else + return usbmonitor_daemon(argc, argv); +#endif +} + +#ifdef CONFIG_NSH_BUILTIN_APPS +int usbmonitor_stop(int argc, char **argv) +{ + /* Has the monitor already started? */ + + if (g_usbmonitor.started) + { + print("USB Monitor stopping: %d\n", g_usbmonitor.pid); + g_usbmonitor.stop = true; + return 0; + } + + print("USB Monitor stopped: %d\n", g_usbmonitor.pid); + return 0; +} +#endif + diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index 039a79f62..759177fca 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -4067,3 +4067,6 @@ * libc/stdio/lib_syslogstream.c: Checking of return value from syslog_putc was bogus. Switching to EOF for all errors solves this. + * arch/arm/src/lm/chip/lm4f_memorymap.h: More LM4F changes from + Jose Pablo Carballo. + diff --git a/nuttx/Documentation/README.html b/nuttx/Documentation/README.html index 281b738b8..44b663188 100644 --- a/nuttx/Documentation/README.html +++ b/nuttx/Documentation/README.html @@ -278,13 +278,7 @@ | | `- README.txt | `- system/ | |- i2c/README.txt - | |- free/README.txt - | |- install/README.txt - | |- poweroff/README.txt - | |- ramtron/README.txt - | |- sdcard/README.txt - | |- sysinfo/README.txt - | `- README.txt + | `- install/README.txt `- NxWidgets |- Doxygen | `- README.txt diff --git a/nuttx/README.txt b/nuttx/README.txt index c597091dc..340087791 100644 --- a/nuttx/README.txt +++ b/nuttx/README.txt @@ -1181,17 +1181,9 @@ apps |- NxWidgets/ | `- README.txt |- system/ - | |- i2c/README.txt - | |- free/README.txt - | |- install + | |- i2c | | `- README.txt - | |- poweroff - | | `- README.txt - | |- ramtron - | | `- README.txt - | |- sdcard - | | `- README.txt - | `- sysinfo + | `- install | `- README.txt `- README.txt diff --git a/nuttx/arch/arm/src/lm/chip/lm3s_memorymap.h b/nuttx/arch/arm/src/lm/chip/lm3s_memorymap.h index 32b7a9f18..8caeada17 100644 --- a/nuttx/arch/arm/src/lm/chip/lm3s_memorymap.h +++ b/nuttx/arch/arm/src/lm/chip/lm3s_memorymap.h @@ -58,7 +58,7 @@ /* -0x3fffffff: Reserved */ # define LM_PERIPH_BASE 0x40000000 /* -0x4001ffff: FiRM Peripherals */ /* -0x41ffffff: Peripherals */ -# define LM_APERIPH_BASE 0x42000000 /* -0x43ffffff: Bit-band alise of 40000000- */ +# define LM_APERIPH_BASE 0x42000000 /* -0x43ffffff: Bit-band alias of 40000000- */ /* -0xdfffffff: Reserved */ # define LM_ITM_BASE 0xe0000000 /* -0xe0000fff: Instrumentation Trace Macrocell */ # define LM_DWT_BASE 0xe0001000 /* -0xe0001fff: Data Watchpoint and Trace */ @@ -327,19 +327,19 @@ /* -0x57fff: Reserved */ # define LM_GPIOAAHB_BASE (LM_PERIPH_BASE + 0x58000) /* -0x58fff: GPIO Port A (AHB aperture) */ # define LM_GPIOBAHB_BASE (LM_PERIPH_BASE + 0x59000) /* -0x59fff: GPIO Port B (AHB aperture) */ -# define LM_GPIOCAHB_BASE (LM_PERIPH_BASE + 0x5A000) /* -0x5afff: GPIO Port C (AHB aperture) */ -# define LM_GPIODAHB_BASE (LM_PERIPH_BASE + 0x5B000) /* -0x5bfff: GPIO Port D (AHB aperture) */ -# define LM_GPIOEAHB_BASE (LM_PERIPH_BASE + 0x5C000) /* -0x5cfff: GPIO Port E (AHB aperture) */ -# define LM_GPIOFAHB_BASE (LM_PERIPH_BASE + 0x5D000) /* -0x5dfff: GPIO Port F (AHB aperture) */ -# define LM_GPIOGAHB_BASE (LM_PERIPH_BASE + 0x5E000) /* -0x5efff: GPIO Port G (AHB aperture) */ -# define LM_GPIOHAHB_BASE (LM_PERIPH_BASE + 0x5F000) /* -0x5ffff: GPIO Port H (AHB aperture) */ +# define LM_GPIOCAHB_BASE (LM_PERIPH_BASE + 0x5a000) /* -0x5afff: GPIO Port C (AHB aperture) */ +# define LM_GPIODAHB_BASE (LM_PERIPH_BASE + 0x5b000) /* -0x5bfff: GPIO Port D (AHB aperture) */ +# define LM_GPIOEAHB_BASE (LM_PERIPH_BASE + 0x5c000) /* -0x5cfff: GPIO Port E (AHB aperture) */ +# define LM_GPIOFAHB_BASE (LM_PERIPH_BASE + 0x5d000) /* -0x5dfff: GPIO Port F (AHB aperture) */ +# define LM_GPIOGAHB_BASE (LM_PERIPH_BASE + 0x5e000) /* -0x5efff: GPIO Port G (AHB aperture) */ +# define LM_GPIOHAHB_BASE (LM_PERIPH_BASE + 0x5f000) /* -0x5ffff: GPIO Port H (AHB aperture) */ # define LM_GPIOJAHB_BASE (LM_PERIPH_BASE + 0x60000) /* -0x60fff: GPIO Port J (AHB aperture) */ /* -0xcffff: Reserved */ -# define LM_EPI0_BASE (LM_PERIPH_BASE + 0xD0000) /* -0xd0fff: EPI 0 */ +# define LM_EPI0_BASE (LM_PERIPH_BASE + 0xd0000) /* -0xd0fff: EPI 0 */ /* -0xfcfff: Reserved */ # define LM_FLASHCON_BASE (LM_PERIPH_BASE + 0xfd000) /* -0xfdfff: FLASH Control */ # define LM_SYSCON_BASE (LM_PERIPH_BASE + 0xfe000) /* -0xfefff: System Control */ -# define LM_UDMA_BASE (LM_PERIPH_BASE + 0xff000) /* -0xfffff: System Control */ +# define LM_UDMA_BASE (LM_PERIPH_BASE + 0xff000) /* -0xfffff: Micro Direct Memory Access */ /* -0x1ffffff: Reserved */ #else # error "Peripheral base addresses not specified for this Stellaris chip" diff --git a/nuttx/arch/arm/src/lm/chip/lm4f_memorymap.h b/nuttx/arch/arm/src/lm/chip/lm4f_memorymap.h index 6963545fe..c8c62d4b4 100644 --- a/nuttx/arch/arm/src/lm/chip/lm4f_memorymap.h +++ b/nuttx/arch/arm/src/lm/chip/lm4f_memorymap.h @@ -1,5 +1,5 @@ /************************************************************************************ - * arch/arm/src/lm/chip/lm3s_memorymap.h + * arch/arm/src/lm/chip/lm4f_memorymap.h * * Copyright (C) 2013 Gregory Nutt. All rights reserved. * Authors: Gregory Nutt @@ -55,9 +55,21 @@ # define LM_ROM_BASE 0x01000000 /* -0x1fffffff: Reserved for ROM */ # define LM_SRAM_BASE 0x20000000 /* -0x20007fff: Bit-banded on-chip SRAM */ /* -0x21ffffff: Reserved */ -/* @TODO */ -#endif - +# define LM_ASRAM_BASE 0x22000000 /* -0x220fffff: Bit-band alias of 20000000- */ + /* -0x3fffffff: Reserved */ +# define LM_PERIPH_BASE 0x40000000 /* -0x4001ffff: FiRM Peripherals */ + /* -0x41ffffff: Peripherals */ +# define LM_APERIPH_BASE 0x42000000 /* -0x43ffffff: Bit-band alias of 40000000- */ + /* -0xdfffffff: Reserved */ +# define LM_ITM_BASE 0xe0000000 /* -0xe0000fff: Instrumentation Trace Macrocell */ +# define LM_DWT_BASE 0xe0001000 /* -0xe0001fff: Data Watchpoint and Trace */ +# define LM_FPB_BASE 0xe0002000 /* -0xe0002fff: Flash Patch and Breakpoint */ + /* -0xe000dfff: Reserved */ +# define LM_NVIC_BASE 0xe000e000 /* -0xe000efff: Nested Vectored Interrupt Controller */ + /* -0xe003ffff: Reserved */ +# define LM_TPIU_BASE 0xe0040000 /* -0xe0040fff: Trace Port Interface Unit */ +# define LM_ETM_BASE 0xe0041000 /* -0xe0041fff: Embedded Trace Macrocell */ + /* -0xffffffff: Reserved */ #else # error "Memory map not specified for this LM4F chip" #endif @@ -65,6 +77,75 @@ /* Peripheral base addresses ********************************************************/ #if defined(CONFIG_ARCH_CHIP_LM4F120) +/* FiRM Peripheral Base Addresses */ + +# define LM_WDOG0_BASE (LM_PERIPH_BASE + 0x00000) /* -0x00fff: Watchdog Timer 0 */ +# define LM_WDOG1_BASE (LM_PERIPH_BASE + 0x01000) /* -0x00fff: Watchdog Timer 1 */ + /* -0x03fff: Reserved */ +# define LM_GPIOA_BASE (LM_PERIPH_BASE + 0x04000) /* -0x04fff: GPIO Port A */ +# define LM_GPIOB_BASE (LM_PERIPH_BASE + 0x05000) /* -0x05fff: GPIO Port B */ +# define LM_GPIOC_BASE (LM_PERIPH_BASE + 0x06000) /* -0x06fff: GPIO Port C */ +# define LM_GPIOD_BASE (LM_PERIPH_BASE + 0x07000) /* -0x07fff: GPIO Port D */ +# define LM_SSI0_BASE (LM_PERIPH_BASE + 0x08000) /* -0x08fff: SSI0 */ +# define LM_SSI1_BASE (LM_PERIPH_BASE + 0x09000) /* -0x09fff: SSI1 */ +# define LM_SSI2_BASE (LM_PERIPH_BASE + 0x0a000) /* -0x0afff: SSI2 */ +# define LM_SSI3_BASE (LM_PERIPH_BASE + 0x0b000) /* -0x0bfff: SSI3 */ +# define LM_UART0_BASE (LM_PERIPH_BASE + 0x0c000) /* -0x0cfff: UART0 */ +# define LM_UART1_BASE (LM_PERIPH_BASE + 0x0d000) /* -0x0dfff: UART1 */ +# define LM_UART2_BASE (LM_PERIPH_BASE + 0x0e000) /* -0x0efff: UART2 */ +# define LM_UART3_BASE (LM_PERIPH_BASE + 0x0f000) /* -0x0ffff: UART3 */ +# define LM_UART4_BASE (LM_PERIPH_BASE + 0x10000) /* -0x10fff: UART4 */ +# define LM_UART5_BASE (LM_PERIPH_BASE + 0x11000) /* -0x11fff: UART5 */ +# define LM_UART6_BASE (LM_PERIPH_BASE + 0x12000) /* -0x12fff: UART6 */ +# define LM_UART7_BASE (LM_PERIPH_BASE + 0x13000) /* -0x13fff: UART7 */ + /* -0x1ffff: Reserved */ +/* Peripheral Base Addresses */ + +# define LM_I2CM0_BASE (LM_PERIPH_BASE + 0x20000) /* -0x207ff: I2C Master 0 */ +# define LM_I2CS0_BASE (LM_PERIPH_BASE + 0x20800) /* -0x20fbf: I2C Slave 0 */ +# define LM_I2CSC0_BASE (LM_PERIPH_BASE + 0x20fc0) /* -0x20fff: I2C Status and Control 0 */ +# define LM_I2CM1_BASE (LM_PERIPH_BASE + 0x21000) /* -0x217ff: I2C Master 1 */ +# define LM_I2CS1_BASE (LM_PERIPH_BASE + 0x21800) /* -0x21fbf: I2C Slave 1 */ +# define LM_I2CSC1_BASE (LM_PERIPH_BASE + 0x21fc0) /* -0x21fff: I2C Status and Control 1 */ +# define LM_I2CM2_BASE (LM_PERIPH_BASE + 0x22000) /* -0x227ff: I2C Master 2 */ +# define LM_I2CS2_BASE (LM_PERIPH_BASE + 0x22800) /* -0x22fbf: I2C Slave 2 */ +# define LM_I2CSC2_BASE (LM_PERIPH_BASE + 0x22fc0) /* -0x22fff: I2C Status and Control 2 */ +# define LM_I2CM3_BASE (LM_PERIPH_BASE + 0x23000) /* -0x237ff: I2C Master 3 */ +# define LM_I2CS3_BASE (LM_PERIPH_BASE + 0x23800) /* -0x23fbf: I2C Slave 3 */ +# define LM_I2CSC3_BASE (LM_PERIPH_BASE + 0x23fc0) /* -0x23fff: I2C Status and Control 3 */ +# define LM_GPIOE_BASE (LM_PERIPH_BASE + 0x24000) /* -0x24fff: GPIO Port E */ +# define LM_GPIOF_BASE (LM_PERIPH_BASE + 0x25000) /* -0x25fff: GPIO Port F */ + /* -0x2ffff: Reserved */ +# define LM_TIMER0_BASE (LM_PERIPH_BASE + 0x30000) /* -0x30fff: 16/32 Timer 0 */ +# define LM_TIMER1_BASE (LM_PERIPH_BASE + 0x31000) /* -0x31fff: 16/32 Timer 1 */ +# define LM_TIMER2_BASE (LM_PERIPH_BASE + 0x32000) /* -0x32fff: 16/32 Timer 2 */ +# define LM_TIMER3_BASE (LM_PERIPH_BASE + 0x33000) /* -0x33fff: 16/32 Timer 3 */ +# define LM_TIMER4_BASE (LM_PERIPH_BASE + 0x34000) /* -0x34fff: 16/32 Timer 4 */ +# define LM_TIMER5_BASE (LM_PERIPH_BASE + 0x35000) /* -0x35fff: 16/32 Timer 5 */ +# define LM_WTIMER0_BASE (LM_PERIPH_BASE + 0x36000) /* -0x36fff: 32/64 Wide Timer 0 */ +# define LM_WTIMER1_BASE (LM_PERIPH_BASE + 0x37000) /* -0x37fff: 32/64 Wide Timer 1 */ +# define LM_ADC0_BASE (LM_PERIPH_BASE + 0x38000) /* -0x38fff: ADC 0 */ +# define LM_ADC1_BASE (LM_PERIPH_BASE + 0x39000) /* -0x39fff: ADC 1 */ + /* -0x3bfff: Reserved */ +# define LM_COMPARE_BASE (LM_PERIPH_BASE + 0x3c000) /* -0x3cfff: Analog Comparators */ + /* -0x43fff: Reserved */ +# define LM_CANCON_BASE (LM_PERIPH_BASE + 0x40000) /* -0x40fff: CAN Controller */ + /* -0x4bfff: Reserved */ +# define LM_WTIMER2_BASE (LM_PERIPH_BASE + 0x4c000) /* -0x4cfff: 32/64 Wide Timer 2 */ +# define LM_WTIMER3_BASE (LM_PERIPH_BASE + 0x4d000) /* -0x4dfff: 32/64 Wide Timer 3 */ +# define LM_WTIMER4_BASE (LM_PERIPH_BASE + 0x4e000) /* -0x4efff: 32/64 Wide Timer 4 */ +# define LM_WTIMER5_BASE (LM_PERIPH_BASE + 0x4f000) /* -0x4ffff: 32/64 Wide Timer 5 */ +# define LM_USB_BASE (LM_PERIPH_BASE + 0x50000) /* -0x50fff: USB */ + /* -0x57fff: Reserved */ +# define LM_GPIOAAHB_BASE (LM_PERIPH_BASE + 0x58000) /* -0x58fff: GPIO Port A (AHB aperture) */ +# define LM_GPIOBAHB_BASE (LM_PERIPH_BASE + 0x59000) /* -0x59fff: GPIO Port B (AHB aperture) */ +# define LM_GPIOCAHB_BASE (LM_PERIPH_BASE + 0x5A000) /* -0x5afff: GPIO Port C (AHB aperture) */ +# define LM_GPIODAHB_BASE (LM_PERIPH_BASE + 0x5B000) /* -0x5bfff: GPIO Port D (AHB aperture) */ +# define LM_GPIOEAHB_BASE (LM_PERIPH_BASE + 0x5C000) /* -0x5cfff: GPIO Port E (AHB aperture) */ +# define LM_GPIOFAHB_BASE (LM_PERIPH_BASE + 0x5D000) /* -0x5dfff: GPIO Port F (AHB aperture) */ + /* -0xaefff: Reserved */ +# define LM_EEPROM_BASE (LM_PERIPH_BASE + 0xaf000) /* -0xaffff: EEPROM and Key Locker */ + /* -0xf8fff: Reserved */ /* @TODO */ #else # error "Peripheral base addresses not specified for this Stellaris chip" -- cgit v1.2.3 From 79ccfa4ae6db4b085703b12c8f6846716fc69df7 Mon Sep 17 00:00:00 2001 From: patacongo Date: Mon, 28 Jan 2013 21:55:16 +0000 Subject: Add syslog.h; rename lib_rawprintf() to syslog() git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5578 42af7a65-404d-4744-a932-0658087f49c3 --- .../UnitTests/CButtonArray/cbuttonarraytest.hxx | 4 +- NxWidgets/UnitTests/CCheckBox/ccheckboxtest.hxx | 4 +- .../UnitTests/CGlyphButton/cglyphbuttontest.hxx | 4 +- NxWidgets/UnitTests/CImage/cimagetest.hxx | 4 +- NxWidgets/UnitTests/CKeypad/ckeypadtest.hxx | 4 +- .../CLatchButtonArray/clatchbuttonarraytest.hxx | 4 +- NxWidgets/UnitTests/CListBox/clistboxtest.hxx | 4 +- .../UnitTests/CProgressBar/cprogressbartest.hxx | 4 +- .../UnitTests/CRadioButton/cradiobuttontest.hxx | 4 +- .../cscrollbarhorizontaltest.hxx | 4 +- .../CScrollbarVertical/cscrollbarverticaltest.hxx | 4 +- .../CSliderHorizonal/csliderhorizontaltest.hxx | 4 +- .../CSliderVertical/csliderverticaltest.hxx | 4 +- apps/examples/adc/adc.h | 4 +- apps/examples/buttons/buttons_main.c | 28 ++-- apps/examples/can/can.h | 4 +- apps/examples/cdcacm/cdcacm.h | 4 +- apps/examples/composite/composite.h | 4 +- apps/examples/igmp/igmp.h | 6 +- apps/examples/nettest/nettest.h | 6 +- apps/examples/nx/nx_internal.h | 4 +- apps/examples/nxconsole/nxcon_internal.h | 4 +- apps/examples/nxffs/nxffs_main.c | 2 +- apps/examples/nxhello/nxhello.h | 4 +- apps/examples/nximage/nximage.h | 4 +- apps/examples/nxlines/nxlines.h | 4 +- apps/examples/nxtext/nxtext_internal.h | 4 +- apps/examples/poll/poll_internal.h | 6 +- apps/examples/pwm/pwm.h | 4 +- apps/examples/qencoder/qe.h | 4 +- apps/examples/thttpd/thttpd_main.c | 4 +- apps/examples/touchscreen/tc.h | 4 +- apps/examples/udp/udp-internal.h | 4 +- apps/examples/uip/uip_main.c | 4 +- apps/examples/usbserial/usbserial_main.c | 8 +- apps/examples/usbstorage/usbmsc.h | 4 +- apps/examples/usbterm/usbterm.h | 8 +- apps/examples/watchdog/watchdog.h | 4 +- apps/include/usbmonitor.h | 96 +++++++++++++ apps/nshlib/nsh_usbdev.c | 2 +- apps/system/usbmonitor/Makefile | 4 +- apps/system/usbmonitor/usbmonitor.c | 68 ++++----- misc/tools/README.txt | 4 +- nuttx/Documentation/NuttxPortingGuide.html | 10 +- nuttx/Kconfig | 5 +- nuttx/TODO | 17 +-- nuttx/arch/arm/src/arm/up_assert.c | 4 +- nuttx/arch/arm/src/arm/up_dataabort.c | 2 +- nuttx/arch/arm/src/arm/up_prefetchabort.c | 2 +- nuttx/arch/arm/src/arm/up_syscall.c | 2 +- nuttx/arch/arm/src/arm/up_undefinedinsn.c | 2 +- nuttx/arch/arm/src/armv7-m/up_assert.c | 4 +- nuttx/arch/arm/src/dm320/dm320_decodeirq.c | 2 +- nuttx/arch/arm/src/imx/imx_decodeirq.c | 2 +- nuttx/arch/arm/src/lpc214x/lpc214x_decodeirq.c | 2 +- nuttx/arch/arm/src/lpc2378/lpc23xx_decodeirq.c | 2 +- nuttx/arch/arm/src/lpc31xx/lpc31_decodeirq.c | 2 +- nuttx/arch/arm/src/stm32/stm32_i2c.c | 6 +- nuttx/arch/arm/src/str71x/str71x_decodeirq.c | 2 +- nuttx/arch/avr/src/avr/up_dumpstate.c | 2 +- nuttx/arch/avr/src/avr32/up_dumpstate.c | 2 +- nuttx/arch/avr/src/common/up_assert.c | 4 +- nuttx/arch/hc/src/m9s12/m9s12_assert.c | 4 +- nuttx/arch/mips/src/mips32/up_assert.c | 4 +- nuttx/arch/mips/src/mips32/up_dumpstate.c | 2 +- nuttx/arch/sh/src/common/up_assert.c | 2 +- nuttx/arch/sh/src/m16c/m16c_dumpstate.c | 2 +- nuttx/arch/sh/src/sh1/sh1_dumpstate.c | 2 +- nuttx/arch/sim/src/up_initialize.c | 4 +- nuttx/arch/sim/src/up_tapdev.c | 26 ++-- nuttx/arch/x86/src/common/up_assert.c | 4 +- nuttx/arch/x86/src/i486/up_regdump.c | 2 +- nuttx/arch/z16/src/common/up_assert.c | 2 +- nuttx/arch/z16/src/common/up_registerdump.c | 2 +- nuttx/arch/z16/src/common/up_stackdump.c | 2 +- nuttx/arch/z16/src/z16f/z16f_sysexec.c | 4 +- nuttx/arch/z80/src/common/up_assert.c | 2 +- nuttx/arch/z80/src/common/up_doirq.c | 2 +- nuttx/arch/z80/src/common/up_stackdump.c | 2 +- nuttx/arch/z80/src/ez80/ez80_registerdump.c | 2 +- nuttx/arch/z80/src/z180/z180_registerdump.c | 2 +- nuttx/arch/z80/src/z8/z8_registerdump.c | 2 +- nuttx/arch/z80/src/z80/z80_registerdump.c | 2 +- nuttx/binfmt/libelf/libelf_read.c | 2 +- nuttx/binfmt/libnxflat/libnxflat_read.c | 2 +- nuttx/configs/README.txt | 2 +- nuttx/configs/cloudctrl/src/up_nsh.c | 4 +- nuttx/configs/cloudctrl/src/up_usbmsc.c | 4 +- nuttx/configs/demo9s12ne64/src/up_nsh.c | 4 +- nuttx/configs/ea3131/src/up_nsh.c | 4 +- nuttx/configs/ea3131/src/up_usbmsc.c | 4 +- nuttx/configs/ea3152/src/up_nsh.c | 4 +- nuttx/configs/ea3152/src/up_usbmsc.c | 4 +- nuttx/configs/eagle100/src/up_nsh.c | 4 +- nuttx/configs/ekk-lm3s9b96/src/up_nsh.c | 4 +- nuttx/configs/ez80f910200kitg/ostest/defconfig | 2 +- nuttx/configs/ez80f910200zco/ostest/defconfig | 2 +- nuttx/configs/fire-stm32v2/src/up_composite.c | 4 +- nuttx/configs/fire-stm32v2/src/up_nsh.c | 4 +- nuttx/configs/fire-stm32v2/src/up_usbmsc.c | 4 +- nuttx/configs/hymini-stm32v/src/up_nsh.c | 4 +- nuttx/configs/hymini-stm32v/src/up_usbmsc.c | 4 +- nuttx/configs/kwikstik-k40/src/up_nsh.c | 4 +- nuttx/configs/kwikstik-k40/src/up_usbmsc.c | 4 +- nuttx/configs/lincoln60/src/up_nsh.c | 4 +- nuttx/configs/lm3s6432-s2e/src/up_nsh.c | 4 +- nuttx/configs/lm3s6965-ek/src/up_nsh.c | 4 +- nuttx/configs/lm3s8962-ek/src/up_nsh.c | 4 +- nuttx/configs/lpcxpresso-lpc1768/src/up_nsh.c | 4 +- nuttx/configs/lpcxpresso-lpc1768/src/up_usbmsc.c | 4 +- nuttx/configs/mbed/src/up_nsh.c | 4 +- nuttx/configs/mcu123-lpc214x/src/up_composite.c | 4 +- nuttx/configs/mcu123-lpc214x/src/up_nsh.c | 4 +- nuttx/configs/mcu123-lpc214x/src/up_usbmsc.c | 4 +- nuttx/configs/ne64badge/src/up_nsh.c | 4 +- nuttx/configs/nucleus2g/src/up_nsh.c | 4 +- nuttx/configs/nucleus2g/src/up_usbmsc.c | 4 +- nuttx/configs/olimex-lpc1766stk/src/up_nsh.c | 4 +- nuttx/configs/olimex-lpc1766stk/src/up_usbmsc.c | 4 +- nuttx/configs/olimex-lpc2378/src/up_nsh.c | 4 +- nuttx/configs/olimex-strp711/src/up_nsh.c | 4 +- nuttx/configs/pic32-starterkit/src/up_nsh.c | 4 +- nuttx/configs/pic32-starterkit/src/up_usbmsc.c | 4 +- nuttx/configs/pic32mx7mmb/src/up_nsh.c | 4 +- nuttx/configs/pic32mx7mmb/src/up_usbmsc.c | 4 +- nuttx/configs/rgmp/include/README.txt | 2 +- nuttx/configs/rgmp/src/README.txt | 2 +- nuttx/configs/sam3u-ek/src/up_nsh.c | 4 +- nuttx/configs/sam3u-ek/src/up_usbmsc.c | 4 +- nuttx/configs/shenzhou/src/up_composite.c | 4 +- nuttx/configs/shenzhou/src/up_ili93xx.c | 6 +- nuttx/configs/shenzhou/src/up_nsh.c | 4 +- nuttx/configs/shenzhou/src/up_usbmsc.c | 4 +- nuttx/configs/sim/cxxtest/defconfig | 2 +- nuttx/configs/sim/ostest/defconfig | 2 +- nuttx/configs/stm3210e-eval/src/up_composite.c | 4 +- nuttx/configs/stm3210e-eval/src/up_lcd.c | 6 +- nuttx/configs/stm3210e-eval/src/up_nsh.c | 4 +- nuttx/configs/stm3210e-eval/src/up_pmbuttons.c | 6 +- nuttx/configs/stm3210e-eval/src/up_usbmsc.c | 4 +- nuttx/configs/stm3220g-eval/src/up_lcd.c | 6 +- nuttx/configs/stm3220g-eval/src/up_nsh.c | 4 +- nuttx/configs/stm3240g-eval/discover/defconfig | 2 +- nuttx/configs/stm3240g-eval/src/up_lcd.c | 6 +- nuttx/configs/stm3240g-eval/src/up_nsh.c | 4 +- nuttx/configs/stm3240g-eval/xmlrpc/defconfig | 2 +- nuttx/configs/stm32f4discovery/src/up_nsh.c | 4 +- nuttx/configs/stm32f4discovery/src/up_pmbuttons.c | 2 +- nuttx/configs/sure-pic32mx/src/up_nsh.c | 4 +- nuttx/configs/teensy/src/up_usbmsc.c | 4 +- nuttx/configs/twr-k60n512/src/up_nsh.c | 4 +- nuttx/configs/twr-k60n512/src/up_usbmsc.c | 4 +- nuttx/configs/ubw32/src/up_nsh.c | 4 +- nuttx/configs/vsn/src/usbmsc.c | 4 +- nuttx/configs/vsn/src/vsn.h | 4 +- nuttx/configs/z16f2800100zcog/ostest/defconfig | 2 +- nuttx/configs/z16f2800100zcog/pashello/README.txt | 24 ++-- nuttx/configs/z16f2800100zcog/pashello/defconfig | 2 +- nuttx/configs/z8encore000zco/ostest/defconfig | 2 +- nuttx/configs/z8f64200100kit/ostest/defconfig | 2 +- nuttx/drivers/lcd/mio283qt2.c | 6 +- nuttx/drivers/lcd/ssd1289.c | 6 +- nuttx/drivers/mmcsd/mmcsd_debug.c | 4 +- nuttx/drivers/net/enc28j60.c | 96 ++++++------- nuttx/drivers/syslog/ramlog.c | 6 +- nuttx/drivers/usbdev/usbdev_trace.c | 4 +- nuttx/drivers/usbdev/usbmsc.h | 8 +- nuttx/fs/fs_syslog.c | 6 +- nuttx/fs/nxffs/nxffs_dump.c | 2 +- nuttx/include/debug.h | 37 ++--- nuttx/include/nuttx/syslog.h | 6 +- nuttx/include/syslog.h | 94 +++++++++++++ nuttx/libc/lib.csv | 6 +- nuttx/libc/lib_internal.h | 12 +- nuttx/libc/misc/lib_dbg.c | 36 ++--- nuttx/libc/misc/lib_dumpbuffer.c | 8 +- nuttx/libc/stdio/Make.defs | 2 +- nuttx/libc/stdio/lib_lowprintf.c | 130 ----------------- nuttx/libc/stdio/lib_lowsyslog.c | 130 +++++++++++++++++ nuttx/libc/stdio/lib_printf.c | 4 +- nuttx/libc/stdio/lib_rawprintf.c | 154 --------------------- nuttx/libc/stdio/lib_syslog.c | 154 +++++++++++++++++++++ 182 files changed, 943 insertions(+), 786 deletions(-) create mode 100644 apps/include/usbmonitor.h create mode 100644 nuttx/include/syslog.h delete mode 100644 nuttx/libc/stdio/lib_lowprintf.c create mode 100644 nuttx/libc/stdio/lib_lowsyslog.c delete mode 100644 nuttx/libc/stdio/lib_rawprintf.c create mode 100644 nuttx/libc/stdio/lib_syslog.c (limited to 'apps') diff --git a/NxWidgets/UnitTests/CButtonArray/cbuttonarraytest.hxx b/NxWidgets/UnitTests/CButtonArray/cbuttonarraytest.hxx index b8a9e15e5..1dc794a48 100644 --- a/NxWidgets/UnitTests/CButtonArray/cbuttonarraytest.hxx +++ b/NxWidgets/UnitTests/CButtonArray/cbuttonarraytest.hxx @@ -75,11 +75,11 @@ # define CONFIG_CBUTTONARRAYTEST_FONTCOLOR CONFIG_NXWIDGETS_DEFAULT_FONTCOLOR #endif -// If debug is enabled, use the debug function, lib_rawprintf() instead +// If debug is enabled, use the debug function, syslog() instead // of printf() so that the output is synchronized. #ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog #else # define message printf #endif diff --git a/NxWidgets/UnitTests/CCheckBox/ccheckboxtest.hxx b/NxWidgets/UnitTests/CCheckBox/ccheckboxtest.hxx index 0397b37dd..58099acdf 100644 --- a/NxWidgets/UnitTests/CCheckBox/ccheckboxtest.hxx +++ b/NxWidgets/UnitTests/CCheckBox/ccheckboxtest.hxx @@ -69,11 +69,11 @@ # define CONFIG_CCHECKBOXTEST_BGCOLOR CONFIG_NXWIDGETS_DEFAULT_BACKGROUNDCOLOR #endif -// If debug is enabled, use the debug function, lib_rawprintf() instead +// If debug is enabled, use the debug function, syslog() instead // of printf() so that the output is synchronized. #ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog #else # define message printf #endif diff --git a/NxWidgets/UnitTests/CGlyphButton/cglyphbuttontest.hxx b/NxWidgets/UnitTests/CGlyphButton/cglyphbuttontest.hxx index b3e5bb656..2c21d4cb1 100644 --- a/NxWidgets/UnitTests/CGlyphButton/cglyphbuttontest.hxx +++ b/NxWidgets/UnitTests/CGlyphButton/cglyphbuttontest.hxx @@ -76,11 +76,11 @@ # define CONFIG_CGLYPHBUTTONTEST_FONTCOLOR CONFIG_NXWIDGETS_DEFAULT_FONTCOLOR #endif -// If debug is enabled, use the debug function, lib_rawprintf() instead +// If debug is enabled, use the debug function, syslog() instead // of printf() so that the output is synchronized. #ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog #else # define message printf #endif diff --git a/NxWidgets/UnitTests/CImage/cimagetest.hxx b/NxWidgets/UnitTests/CImage/cimagetest.hxx index 9592f2936..5b5901bb1 100644 --- a/NxWidgets/UnitTests/CImage/cimagetest.hxx +++ b/NxWidgets/UnitTests/CImage/cimagetest.hxx @@ -71,11 +71,11 @@ # define CONFIG_CIMAGETEST_BGCOLOR CONFIG_NXWIDGETS_DEFAULT_BACKGROUNDCOLOR #endif -// If debug is enabled, use the debug function, lib_rawprintf() instead +// If debug is enabled, use the debug function, syslog() instead // of printf() so that the output is synchronized. #ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog #else # define message printf #endif diff --git a/NxWidgets/UnitTests/CKeypad/ckeypadtest.hxx b/NxWidgets/UnitTests/CKeypad/ckeypadtest.hxx index d11c92375..12d7e18fa 100644 --- a/NxWidgets/UnitTests/CKeypad/ckeypadtest.hxx +++ b/NxWidgets/UnitTests/CKeypad/ckeypadtest.hxx @@ -72,11 +72,11 @@ # define CONFIG_CKEYPADTEST_BGCOLOR CONFIG_NXWIDGETS_DEFAULT_BACKGROUNDCOLOR #endif -// If debug is enabled, use the debug function, lib_rawprintf() instead +// If debug is enabled, use the debug function, syslog() instead // of printf() so that the output is synchronized. #ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog #else # define message printf #endif diff --git a/NxWidgets/UnitTests/CLatchButtonArray/clatchbuttonarraytest.hxx b/NxWidgets/UnitTests/CLatchButtonArray/clatchbuttonarraytest.hxx index 98c0a3bb3..80bf8fb71 100644 --- a/NxWidgets/UnitTests/CLatchButtonArray/clatchbuttonarraytest.hxx +++ b/NxWidgets/UnitTests/CLatchButtonArray/clatchbuttonarraytest.hxx @@ -75,11 +75,11 @@ # define CONFIG_CLATCHBUTTONARRAYTEST_FONTCOLOR CONFIG_NXWIDGETS_DEFAULT_FONTCOLOR #endif -// If debug is enabled, use the debug function, lib_rawprintf() instead +// If debug is enabled, use the debug function, syslog() instead // of printf() so that the output is synchronized. #ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog #else # define message printf #endif diff --git a/NxWidgets/UnitTests/CListBox/clistboxtest.hxx b/NxWidgets/UnitTests/CListBox/clistboxtest.hxx index a19a2fabc..dfe179503 100644 --- a/NxWidgets/UnitTests/CListBox/clistboxtest.hxx +++ b/NxWidgets/UnitTests/CListBox/clistboxtest.hxx @@ -69,11 +69,11 @@ # define CONFIG_CLISTBOXTEST_BGCOLOR CONFIG_NXWIDGETS_DEFAULT_BACKGROUNDCOLOR #endif -// If debug is enabled, use the debug function, lib_rawprintf() instead +// If debug is enabled, use the debug function, syslog() instead // of printf() so that the output is synchronized. #ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog #else # define message printf #endif diff --git a/NxWidgets/UnitTests/CProgressBar/cprogressbartest.hxx b/NxWidgets/UnitTests/CProgressBar/cprogressbartest.hxx index a7a4238e7..2223d8081 100644 --- a/NxWidgets/UnitTests/CProgressBar/cprogressbartest.hxx +++ b/NxWidgets/UnitTests/CProgressBar/cprogressbartest.hxx @@ -69,11 +69,11 @@ # define CONFIG_CPROGRESSBARTEST_BGCOLOR CONFIG_NXWIDGETS_DEFAULT_BACKGROUNDCOLOR #endif -// If debug is enabled, use the debug function, lib_rawprintf() instead +// If debug is enabled, use the debug function, syslog() instead // of printf() so that the output is synchronized. #ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog #else # define message printf #endif diff --git a/NxWidgets/UnitTests/CRadioButton/cradiobuttontest.hxx b/NxWidgets/UnitTests/CRadioButton/cradiobuttontest.hxx index 540d5019b..3f81371db 100644 --- a/NxWidgets/UnitTests/CRadioButton/cradiobuttontest.hxx +++ b/NxWidgets/UnitTests/CRadioButton/cradiobuttontest.hxx @@ -70,11 +70,11 @@ # define CONFIG_CRADIOBUTTONTEST_BGCOLOR CONFIG_NXWIDGETS_DEFAULT_BACKGROUNDCOLOR #endif -// If debug is enabled, use the debug function, lib_rawprintf() instead +// If debug is enabled, use the debug function, syslog() instead // of printf() so that the output is synchronized. #ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog #else # define message printf #endif diff --git a/NxWidgets/UnitTests/CScrollbarHorizontal/cscrollbarhorizontaltest.hxx b/NxWidgets/UnitTests/CScrollbarHorizontal/cscrollbarhorizontaltest.hxx index 774225091..30f66ca45 100644 --- a/NxWidgets/UnitTests/CScrollbarHorizontal/cscrollbarhorizontaltest.hxx +++ b/NxWidgets/UnitTests/CScrollbarHorizontal/cscrollbarhorizontaltest.hxx @@ -69,11 +69,11 @@ # define CONFIG_CSCROLLBARHORIZONTALTEST_BGCOLOR CONFIG_NXWIDGETS_DEFAULT_BACKGROUNDCOLOR #endif -// If debug is enabled, use the debug function, lib_rawprintf() instead +// If debug is enabled, use the debug function, syslog() instead // of printf() so that the output is synchronized. #ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog #else # define message printf #endif diff --git a/NxWidgets/UnitTests/CScrollbarVertical/cscrollbarverticaltest.hxx b/NxWidgets/UnitTests/CScrollbarVertical/cscrollbarverticaltest.hxx index 8b9fb1ee8..6323b0f26 100644 --- a/NxWidgets/UnitTests/CScrollbarVertical/cscrollbarverticaltest.hxx +++ b/NxWidgets/UnitTests/CScrollbarVertical/cscrollbarverticaltest.hxx @@ -69,11 +69,11 @@ # define CONFIG_CSCROLLBARVERTICALTEST_BGCOLOR CONFIG_NXWIDGETS_DEFAULT_BACKGROUNDCOLOR #endif -// If debug is enabled, use the debug function, lib_rawprintf() instead +// If debug is enabled, use the debug function, syslog() instead // of printf() so that the output is synchronized. #ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog #else # define message printf #endif diff --git a/NxWidgets/UnitTests/CSliderHorizonal/csliderhorizontaltest.hxx b/NxWidgets/UnitTests/CSliderHorizonal/csliderhorizontaltest.hxx index 9709a2b7c..fd333af5c 100644 --- a/NxWidgets/UnitTests/CSliderHorizonal/csliderhorizontaltest.hxx +++ b/NxWidgets/UnitTests/CSliderHorizonal/csliderhorizontaltest.hxx @@ -69,11 +69,11 @@ # define CONFIG_CSLIDERHORIZONTALTEST_BGCOLOR CONFIG_NXWIDGETS_DEFAULT_BACKGROUNDCOLOR #endif -// If debug is enabled, use the debug function, lib_rawprintf() instead +// If debug is enabled, use the debug function, syslog() instead // of printf() so that the output is synchronized. #ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog #else # define message printf #endif diff --git a/NxWidgets/UnitTests/CSliderVertical/csliderverticaltest.hxx b/NxWidgets/UnitTests/CSliderVertical/csliderverticaltest.hxx index 3bb174ba0..6a893e395 100644 --- a/NxWidgets/UnitTests/CSliderVertical/csliderverticaltest.hxx +++ b/NxWidgets/UnitTests/CSliderVertical/csliderverticaltest.hxx @@ -69,11 +69,11 @@ # define CONFIG_CSLIDERVERTICALTEST_BGCOLOR CONFIG_NXWIDGETS_DEFAULT_BACKGROUNDCOLOR #endif -// If debug is enabled, use the debug function, lib_rawprintf() instead +// If debug is enabled, use the debug function, syslog() instead // of printf() so that the output is synchronized. #ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog #else # define message printf #endif diff --git a/apps/examples/adc/adc.h b/apps/examples/adc/adc.h index 9f79db92a..2d8af87e1 100644 --- a/apps/examples/adc/adc.h +++ b/apps/examples/adc/adc.h @@ -74,7 +74,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_rawprintf(__VA_ARGS__) +# define message(...) syslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -82,7 +82,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_rawprintf +# define message syslog # define msgflush() # else # define message printf diff --git a/apps/examples/buttons/buttons_main.c b/apps/examples/buttons/buttons_main.c index 5f25c1ef1..655080def 100644 --- a/apps/examples/buttons/buttons_main.c +++ b/apps/examples/buttons/buttons_main.c @@ -299,11 +299,11 @@ static void show_buttons(uint8_t oldset, uint8_t newset) state = "released"; } - /* Use lib_lowprintf() because we make be executing from an + /* Use lowsyslog() because we make be executing from an * interrupt handler. */ - lib_lowprintf(" %s %s\n", g_buttoninfo[BUTTON_INDEX(i)].name, state); + lowsyslog(" %s %s\n", g_buttoninfo[BUTTON_INDEX(i)].name, state); } } } @@ -313,8 +313,8 @@ static void button_handler(int id, int irq) { uint8_t newset = up_buttons(); - lib_lowprintf("IRQ:%d Button %d:%s SET:%02x:\n", - irq, id, g_buttoninfo[BUTTON_INDEX(id)].name, newset); + lowsyslog("IRQ:%d Button %d:%s SET:%02x:\n", + irq, id, g_buttoninfo[BUTTON_INDEX(id)].name, newset); show_buttons(g_oldset, newset); g_oldset = newset; } @@ -409,7 +409,7 @@ int buttons_main(int argc, char *argv[]) { maxbuttons = strtol(argv[1], NULL, 10); } - lib_lowprintf("maxbuttons: %d\n", maxbuttons); + lowsyslog("maxbuttons: %d\n", maxbuttons); #endif /* Initialize the button GPIOs */ @@ -423,11 +423,11 @@ int buttons_main(int argc, char *argv[]) { xcpt_t oldhandler = up_irqbutton(i, g_buttoninfo[BUTTON_INDEX(i)].handler); - /* Use lib_lowprintf() for compatibility with interrrupt handler output. */ + /* Use lowsyslog() for compatibility with interrrupt handler output. */ - lib_lowprintf("Attached handler at %p to button %d [%s], oldhandler:%p\n", - g_buttoninfo[BUTTON_INDEX(i)].handler, i, - g_buttoninfo[BUTTON_INDEX(i)].name, oldhandler); + lowsyslog("Attached handler at %p to button %d [%s], oldhandler:%p\n", + g_buttoninfo[BUTTON_INDEX(i)].handler, i, + g_buttoninfo[BUTTON_INDEX(i)].name, oldhandler); /* Some hardware multiplexes different GPIO button sources to the same * physical interrupt. If we register multiple such multiplexed button @@ -438,9 +438,9 @@ int buttons_main(int argc, char *argv[]) if (oldhandler != NULL) { - lib_lowprintf("WARNING: oldhandler:%p is not NULL! " - "Button events may be lost or aliased!\n", - oldhandler); + lowsyslog("WARNING: oldhandler:%p is not NULL! " + "Button events may be lost or aliased!\n", + oldhandler); } } #endif @@ -468,11 +468,11 @@ int buttons_main(int argc, char *argv[]) flags = irqsave(); - /* Use lib_lowprintf() for compatibility with interrrupt handler + /* Use lowsyslog() for compatibility with interrrupt handler * output. */ - lib_lowprintf("POLL SET:%02x:\n", newset); + lowsyslog("POLL SET:%02x:\n", newset); show_buttons(g_oldset, newset); g_oldset = newset; irqrestore(flags); diff --git a/apps/examples/can/can.h b/apps/examples/can/can.h index 53a6b63ea..d9f9236f7 100644 --- a/apps/examples/can/can.h +++ b/apps/examples/can/can.h @@ -89,7 +89,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_rawprintf(__VA_ARGS__) +# define message(...) syslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -97,7 +97,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_rawprintf +# define message syslog # define msgflush() # else # define message printf diff --git a/apps/examples/cdcacm/cdcacm.h b/apps/examples/cdcacm/cdcacm.h index 18570bff0..1b3b2511c 100644 --- a/apps/examples/cdcacm/cdcacm.h +++ b/apps/examples/cdcacm/cdcacm.h @@ -112,7 +112,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -120,7 +120,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/apps/examples/composite/composite.h b/apps/examples/composite/composite.h index 73a4453be..3f7f7ebad 100644 --- a/apps/examples/composite/composite.h +++ b/apps/examples/composite/composite.h @@ -173,7 +173,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -181,7 +181,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/apps/examples/igmp/igmp.h b/apps/examples/igmp/igmp.h index 093f58c1f..5e1fa8d95 100644 --- a/apps/examples/igmp/igmp.h +++ b/apps/examples/igmp/igmp.h @@ -46,12 +46,12 @@ * Definitions ****************************************************************************/ -/* Used lib_rawprintf() so that there is no confusion from buffered IO */ +/* Used syslog() so that there is no confusion from buffered IO */ #ifdef CONFIG_CPP_HAVE_VARARGS -# define message(...) lib_rawprintf(__VA_ARGS__) +# define message(...) syslog(__VA_ARGS__) #else -# define message lib_rawprintf +# define message syslog #endif /**************************************************************************** diff --git a/apps/examples/nettest/nettest.h b/apps/examples/nettest/nettest.h index 37ac470d1..5021e05d6 100644 --- a/apps/examples/nettest/nettest.h +++ b/apps/examples/nettest/nettest.h @@ -69,12 +69,12 @@ #else - /* Used lib_rawprintf() so that there is not confusion from buffered IO */ + /* Used syslog() so that there is not confusion from buffered IO */ # ifdef CONFIG_CPP_HAVE_VARARGS -# define message(...) lib_rawprintf(__VA_ARGS__) +# define message(...) syslog(__VA_ARGS__) # else -# define message lib_rawprintf +# define message syslog # endif /* At present, uIP does only abortive disconnects */ diff --git a/apps/examples/nx/nx_internal.h b/apps/examples/nx/nx_internal.h index d9a6a2ade..53f1763b4 100644 --- a/apps/examples/nx/nx_internal.h +++ b/apps/examples/nx/nx_internal.h @@ -168,7 +168,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -176,7 +176,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/apps/examples/nxconsole/nxcon_internal.h b/apps/examples/nxconsole/nxcon_internal.h index c5ad760ad..c921bed38 100644 --- a/apps/examples/nxconsole/nxcon_internal.h +++ b/apps/examples/nxconsole/nxcon_internal.h @@ -239,7 +239,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -247,7 +247,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/apps/examples/nxffs/nxffs_main.c b/apps/examples/nxffs/nxffs_main.c index 5401fc932..8bb5cd1fe 100644 --- a/apps/examples/nxffs/nxffs_main.c +++ b/apps/examples/nxffs/nxffs_main.c @@ -120,7 +120,7 @@ #endif #if defined(CONFIG_DEBUG) && defined(CONFIG_DEBUG_FS) -# define message lib_rawprintf +# define message syslog # define msgflush() #else # define message printf diff --git a/apps/examples/nxhello/nxhello.h b/apps/examples/nxhello/nxhello.h index 2dce7bf6c..f395b7018 100644 --- a/apps/examples/nxhello/nxhello.h +++ b/apps/examples/nxhello/nxhello.h @@ -96,7 +96,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -104,7 +104,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/apps/examples/nximage/nximage.h b/apps/examples/nximage/nximage.h index eac0f5dc2..ef475ca29 100644 --- a/apps/examples/nximage/nximage.h +++ b/apps/examples/nximage/nximage.h @@ -111,7 +111,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -119,7 +119,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/apps/examples/nxlines/nxlines.h b/apps/examples/nxlines/nxlines.h index a26db9f29..c9101124e 100644 --- a/apps/examples/nxlines/nxlines.h +++ b/apps/examples/nxlines/nxlines.h @@ -120,7 +120,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -128,7 +128,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/apps/examples/nxtext/nxtext_internal.h b/apps/examples/nxtext/nxtext_internal.h index f0001e0bb..1e64193a3 100644 --- a/apps/examples/nxtext/nxtext_internal.h +++ b/apps/examples/nxtext/nxtext_internal.h @@ -194,7 +194,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -202,7 +202,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/apps/examples/poll/poll_internal.h b/apps/examples/poll/poll_internal.h index b2400932e..759d23f1c 100644 --- a/apps/examples/poll/poll_internal.h +++ b/apps/examples/poll/poll_internal.h @@ -71,7 +71,7 @@ # undef HAVE_NETPOLL #endif -/* If debug is enabled, then use lib_rawprintf so that OS debug output and +/* If debug is enabled, then use syslog so that OS debug output and * the test output are synchronized. * * These macros will differ depending upon if the toolchain supports @@ -80,7 +80,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_rawprintf(__VA_ARGS__) +# define message(...) syslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -88,7 +88,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_rawprintf +# define message syslog # define msgflush() # else # define message printf diff --git a/apps/examples/pwm/pwm.h b/apps/examples/pwm/pwm.h index 5c049a8f8..a6132ca8b 100644 --- a/apps/examples/pwm/pwm.h +++ b/apps/examples/pwm/pwm.h @@ -92,7 +92,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_rawprintf(__VA_ARGS__) +# define message(...) syslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -100,7 +100,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_rawprintf +# define message syslog # define msgflush() # else # define message printf diff --git a/apps/examples/qencoder/qe.h b/apps/examples/qencoder/qe.h index 4c03689ab..3c20511ca 100644 --- a/apps/examples/qencoder/qe.h +++ b/apps/examples/qencoder/qe.h @@ -77,7 +77,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_rawprintf(__VA_ARGS__) +# define message(...) syslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -85,7 +85,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_rawprintf +# define message syslog # define msgflush() # else # define message printf diff --git a/apps/examples/thttpd/thttpd_main.c b/apps/examples/thttpd/thttpd_main.c index 97f922a76..9d08824e6 100644 --- a/apps/examples/thttpd/thttpd_main.c +++ b/apps/examples/thttpd/thttpd_main.c @@ -125,7 +125,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -133,7 +133,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/apps/examples/touchscreen/tc.h b/apps/examples/touchscreen/tc.h index 654b1d874..dddff11c3 100644 --- a/apps/examples/touchscreen/tc.h +++ b/apps/examples/touchscreen/tc.h @@ -82,7 +82,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_rawprintf(__VA_ARGS__) +# define message(...) syslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -90,7 +90,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_rawprintf +# define message syslog # define msgflush() # else # define message printf diff --git a/apps/examples/udp/udp-internal.h b/apps/examples/udp/udp-internal.h index 2a966c746..c8010e6c8 100644 --- a/apps/examples/udp/udp-internal.h +++ b/apps/examples/udp/udp-internal.h @@ -63,12 +63,12 @@ #else - /* If debug is enabled, use the synchronous lib_lowprintf so that the + /* If debug is enabled, use the synchronous lowsyslog so that the * program output does not get disassociated in the debug output. */ # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif diff --git a/apps/examples/uip/uip_main.c b/apps/examples/uip/uip_main.c index 6c2f96f39..8e485441c 100644 --- a/apps/examples/uip/uip_main.c +++ b/apps/examples/uip/uip_main.c @@ -86,13 +86,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message (void) # endif diff --git a/apps/examples/usbserial/usbserial_main.c b/apps/examples/usbserial/usbserial_main.c index 016c8b292..dc7e1959a 100644 --- a/apps/examples/usbserial/usbserial_main.c +++ b/apps/examples/usbserial/usbserial_main.c @@ -109,16 +109,16 @@ TRACE_TRANSFER_BITS|TRACE_CONTROLLER_BITS|TRACE_INTERRUPT_BITS) #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) -# define trmessage lib_lowprintf +# define message(...) lowsyslog(__VA_ARGS__) +# define trmessage lowsyslog # else # define message(...) printf(__VA_ARGS__) # define trmessage printf # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf -# define trmessage lib_lowprintf +# define message lowsyslog +# define trmessage lowsyslog # else # define message printf # define trmessage printf diff --git a/apps/examples/usbstorage/usbmsc.h b/apps/examples/usbstorage/usbmsc.h index 9d48c4521..95453198a 100644 --- a/apps/examples/usbstorage/usbmsc.h +++ b/apps/examples/usbstorage/usbmsc.h @@ -85,7 +85,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -93,7 +93,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/apps/examples/usbterm/usbterm.h b/apps/examples/usbterm/usbterm.h index 2534c2f3c..560e55346 100644 --- a/apps/examples/usbterm/usbterm.h +++ b/apps/examples/usbterm/usbterm.h @@ -101,16 +101,16 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_rawprintf(__VA_ARGS__) -# define trmessage lib_rawprintf +# define message(...) syslog(__VA_ARGS__) +# define trmessage syslog # else # define message(...) printf(__VA_ARGS__) # define trmessage printf # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf -# define trmessage lib_lowprintf +# define message lowsyslog +# define trmessage lowsyslog # else # define message printf # define trmessage printf diff --git a/apps/examples/watchdog/watchdog.h b/apps/examples/watchdog/watchdog.h index dc2dea944..dd4daebb9 100644 --- a/apps/examples/watchdog/watchdog.h +++ b/apps/examples/watchdog/watchdog.h @@ -89,7 +89,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_rawprintf(__VA_ARGS__) +# define message(...) syslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -97,7 +97,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_rawprintf +# define message syslog # define msgflush() # else # define message printf diff --git a/apps/include/usbmonitor.h b/apps/include/usbmonitor.h new file mode 100644 index 000000000..01fa060b0 --- /dev/null +++ b/apps/include/usbmonitor.h @@ -0,0 +1,96 @@ +/**************************************************************************** + * apps/include/usbmonitor.h + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 NuttX 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. + * + ****************************************************************************/ + +#ifndef __APPS_INCLUDE_USBMONITOR_H +#define __APPS_INCLUDE_USBMONITOR_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#ifdef CONFIG_SYSTEM_USBMONITOR + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +#ifdef __cplusplus +#define EXTERN extern "C" +extern "C" +{ +#else +#define EXTERN extern +#endif + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Name: usbmon_start and usbmon_stop + * + * Start and top the USB monitor daemon. These are normally controlled + * from the USB command line, but the ability to control these + * programmatically is also helpful (for example, so that the daemon is + * running before NSH starts). + * + * Input Parameters: + * Standard task parameters. These can be called or spawned. Since the + * return almost immediately, it is fine to just call the functions. The + * parameters are not used so you can pass 0 and NULL, respectivley; this + * is done this way so that these functions can be NSH builtin + * applications. + * + * Returned values: + * Standard task return values (zero meaning success). + * + **************************************************************************/ + +int usbmonitor_start(int argc, char **argv); +int usbmonitor_stop(int argc, char **argv); + +#undef EXTERN +#ifdef __cplusplus +} +#endif + +#endif /* CONFIG_SYSTEM_USBMONITOR */ +#endif /* __APPS_INCLUDE_USBMONITOR_H */ diff --git a/apps/nshlib/nsh_usbdev.c b/apps/nshlib/nsh_usbdev.c index 3d123532a..d137e3dae 100644 --- a/apps/nshlib/nsh_usbdev.c +++ b/apps/nshlib/nsh_usbdev.c @@ -63,7 +63,7 @@ ****************************************************************************/ #if defined(CONFIG_DEBUG) || defined(CONFIG_NSH_USBCONSOLE) -# define trmessage lib_lowprintf +# define trmessage lowsyslog #else # define trmessage printf #endif diff --git a/apps/system/usbmonitor/Makefile b/apps/system/usbmonitor/Makefile index 04fcaf0ac..b4c323eb7 100644 --- a/apps/system/usbmonitor/Makefile +++ b/apps/system/usbmonitor/Makefile @@ -44,7 +44,6 @@ endif # Hello Application # TODO: appname can be automatically extracted from the directory name -APPNAME = usbmon PRIORITY = SCHED_PRIORITY_DEFAULT STACKSIZE = 768 @@ -90,7 +89,8 @@ $(COBJS): %$(OBJEXT): %.c ifeq ($(CONFIG_NSH_BUILTIN_APPS),y) $(BUILTIN_REGISTRY)$(DELIM)$(APPNAME)_main.bdat: $(DEPCONFIG) Makefile - $(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main) + $(call REGISTER,"usbmon_start",$(PRIORITY),$(STACKSIZE),usbmonitor_start) + $(call REGISTER,"usbmon_stop",$(PRIORITY),$(STACKSIZE),usbmonintor_stop) context: $(BUILTIN_REGISTRY)$(DELIM)$(APPNAME)_main.bdat else diff --git a/apps/system/usbmonitor/usbmonitor.c b/apps/system/usbmonitor/usbmonitor.c index b101b128c..b615b99f9 100644 --- a/apps/system/usbmonitor/usbmonitor.c +++ b/apps/system/usbmonitor/usbmonitor.c @@ -40,20 +40,29 @@ #include #include -#include -#include +#include +#include +#include + +#include event, trace->value); + return 0; +} + static int usbmonitor_daemon(int argc, char **argv) { -#ifdef CONFIG_NSH_BUILTIN_APPS - print("USB Monitor running: %d\n", g_usbmonitor.pid); -#endif + syslog(USBMON_PREFIX "Running: %d\n", g_usbmonitor.pid); -#ifdef CONFIG_NSH_BUILTIN_APPS - /* If we are running as an NSH command, then loop until we detect that - * there is a request to stop. - */ + /* Loop until we detect that there is a request to stop. */ while (!g_usbmonitor.stop) -#else - /* If we are running as a standalone program, then loop forever */ - - for (;;) -#endif { -#warning "Missing logic" + (void)usbmonitor_enumerate(nsh_tracecallback, NULL); } /* Stopped */ -#ifdef CONFIG_NSH_BUILTIN_APPS g_usbmonitor.stop = false; g_usbmonitor.started = false; - print("USB Monitor stopped: %d\n", g_usbmonitor.pid); -#endif + syslog(USBMON_PREFIX "Stopped: %d\n", g_usbmonitor.pid); + return 0; } @@ -101,9 +105,8 @@ static int usbmonitor_daemon(int argc, char **argv) * Public Functions ****************************************************************************/ -int usbmonitor_main(int argc, char **argv) +int usbmonitor_start(int argc, char **argv) { -#ifdef CONFIG_NSH_BUILTIN_APPS /* Has the monitor already started? */ sched_lock(); @@ -122,13 +125,14 @@ int usbmonitor_main(int argc, char **argv) if (ret < 0) { int errcode = errno; - fprintf(stderr, "ERROR: Failed to start the USB monitor: %d\n", - errcode); + syslog(USBMON_PREFIX + "ERROR: Failed to start the USB monitor: %d\n", + errcode); } else { g_usbmonitor.pid = ret; - print("USB Monitor started: %d\n", g_usbmonitor.pid); + syslog(USBMON_PREFIX "Started: %d\n", g_usbmonitor.pid); } sched_unlock(); @@ -136,27 +140,23 @@ int usbmonitor_main(int argc, char **argv) } sched_unlock(); - print("USB Monitor running: %d\n", g_usbmonitor.pid); + syslog(USBMON_PREFIX "Running: %d\n", g_usbmonitor.pid); return 0; -#else - return usbmonitor_daemon(argc, argv); -#endif } -#ifdef CONFIG_NSH_BUILTIN_APPS int usbmonitor_stop(int argc, char **argv) { /* Has the monitor already started? */ if (g_usbmonitor.started) { - print("USB Monitor stopping: %d\n", g_usbmonitor.pid); + syslog(USBMON_PREFIX "Stopping: %d\n", g_usbmonitor.pid); g_usbmonitor.stop = true; return 0; } - print("USB Monitor stopped: %d\n", g_usbmonitor.pid); + syslog(USBMON_PREFIX "Stopped: %d\n", g_usbmonitor.pid); return 0; } -#endif +#endif /* CONFIG_SYSTEM_USBMONITOR */ diff --git a/misc/tools/README.txt b/misc/tools/README.txt index e1c67c5f0..1eb8790f1 100644 --- a/misc/tools/README.txt +++ b/misc/tools/README.txt @@ -45,14 +45,14 @@ kconfig-frontends To suppress the 'nconf' and the graphical front-ends which are not used by NuttX, you can add: - ./configure --enable-mconfig --disable-nconf --disable-gconf --disable-qconf + ./configure --enable-mconf --disable-nconf --disable-gconf --disable-qconf make make install To suppress the graphical interfaces, use static libraries, and disable creation of other utilities: - ./configure --disable-shared --enable-static --enable-mconfig --disable-nconf --disable-gconf --disable-qconf --disable-nconf --disable-utils + ./configure --disable-shared --enable-static --enable-mconf --disable-nconf --disable-gconf --disable-qconf --disable-nconf --disable-utils make make install diff --git a/nuttx/Documentation/NuttxPortingGuide.html b/nuttx/Documentation/NuttxPortingGuide.html index fd358f423..f2f7ada02 100644 --- a/nuttx/Documentation/NuttxPortingGuide.html +++ b/nuttx/Documentation/NuttxPortingGuide.html @@ -4324,17 +4324,17 @@ build
  • CONFIG_DEBUG: enables built-in debug options. This includes more extensive parameter checking, debug assertions, and other debug logic. - This option is also necessary (but not sufficient) to enable debug console output; - Debug console output must also be enabled on a subsystem-by-subsystem basis as described below. + This option is also necessary (but not sufficient) to enable debug syslog output; + Debug syslog output must also be enabled on a subsystem-by-subsystem basis as described below.
  • - CONFIG_DEBUG_VERBOSE: If debug console output is enabled, the option enables more verbose debug output. + CONFIG_DEBUG_VERBOSE: If debug syslog output is enabled, the option enables more verbose debug output. Ignored if CONFIG_DEBUG is not defined. If only CONFIG_DEBUG then the only output will be errors, warnings, and critical information. - If CONFIG_DEBUG_VERBOSE is defined in addition, then general debug comments will also be included in the console output. + If CONFIG_DEBUG_VERBOSE is defined in addition, then general debug comments will also be included in the syslog output.
  • - CONFIG_DEBUG_ENABLE: Support an interface to enable or disable debug output. + CONFIG_SYSLOG_ENABLE: Support an interface to enable or disable syslog output.
  • CONFIG_DEBUG_SYMBOLS: build without optimization and with debug symbols (needed for use with a debugger). diff --git a/nuttx/Kconfig b/nuttx/Kconfig index 10d624efb..937bab2be 100644 --- a/nuttx/Kconfig +++ b/nuttx/Kconfig @@ -312,11 +312,12 @@ config DEBUG_VERBOSE often annoying) output will be generated. This means there are two levels of debug output: errors-only and everything. -config DEBUG_ENABLE +config SYSLOG_ENABLE bool "Enable Debug Controls" default n ---help--- - Support an interface to dynamically enable or disable debug output. + Support an interface called syslog_enable to dynamically enable or + disable debug output. comment "Subsystem Debug Options" diff --git a/nuttx/TODO b/nuttx/TODO index 05e0fa99b..6b2c6c883 100644 --- a/nuttx/TODO +++ b/nuttx/TODO @@ -1,4 +1,4 @@ -NuttX TODO List (Last updated January 27, 2013) +NuttX TODO List (Last updated January 28, 2013) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ This file summarizes known NuttX bugs, limitations, inconsistencies with @@ -14,7 +14,7 @@ nuttx/ (6) Binary loaders (binfmt/) (16) Network (net/, drivers/net) (4) USB (drivers/usbdev, drivers/usbhost) - (12) Libraries (libc/, ) + (11) Libraries (libc/, ) (9) File system/Generic drivers (fs/, drivers/) (5) Graphics subystem (graphics/) (1) Pascal add-on (pcode/) @@ -812,19 +812,6 @@ o Libraries (libc/) Status: Open Priority: ?? - Title: SYSLOG INTEGRATION - Description: There are the beginnings of some system logging capabilities (see - drivers/syslog, fs/fs_syslog.c, and libc/stdio/lib_librawprintf.c and - lib_liblowprintf.c. For NuttX, SYSLOG is a concept and includes, - extends, and replaces the legacy NuttX debug ouput. Some additional - integration is required to formalized this. For example: - - o lib_rawprintf() shjould be renamed syslog(). - o debug.h should be renamed syslog.h - o And what about lib_lowprintf()? llsyslog? - Status: Open - Priority: Low -- more of a roadmap - Title: FLOATING POINT FORMATS Description: Only the %f floating point format is supported. Others are accepted but treated like %f. diff --git a/nuttx/arch/arm/src/arm/up_assert.c b/nuttx/arch/arm/src/arm/up_assert.c index 3d75a4655..3cc79df01 100644 --- a/nuttx/arch/arm/src/arm/up_assert.c +++ b/nuttx/arch/arm/src/arm/up_assert.c @@ -62,7 +62,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /* The following is just intended to keep some ugliness out of the mainline @@ -70,7 +70,7 @@ * * CONFIG_TASK_NAME_SIZE > 0 && <-- The task has a name * (defined(CONFIG_DEBUG) || <-- And the debug is enabled (lldbg used) - * defined(CONFIG_ARCH_STACKDUMP) <-- Or lib_lowprintf() is used + * defined(CONFIG_ARCH_STACKDUMP) <-- Or lowsyslog() is used */ #undef CONFIG_PRINT_TASKNAME diff --git a/nuttx/arch/arm/src/arm/up_dataabort.c b/nuttx/arch/arm/src/arm/up_dataabort.c index f01941968..60ef8385e 100644 --- a/nuttx/arch/arm/src/arm/up_dataabort.c +++ b/nuttx/arch/arm/src/arm/up_dataabort.c @@ -62,7 +62,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/arm/src/arm/up_prefetchabort.c b/nuttx/arch/arm/src/arm/up_prefetchabort.c index 9af644fc0..9d028b0d4 100644 --- a/nuttx/arch/arm/src/arm/up_prefetchabort.c +++ b/nuttx/arch/arm/src/arm/up_prefetchabort.c @@ -62,7 +62,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/arm/src/arm/up_syscall.c b/nuttx/arch/arm/src/arm/up_syscall.c index 1bcd66502..eb9bac8ad 100644 --- a/nuttx/arch/arm/src/arm/up_syscall.c +++ b/nuttx/arch/arm/src/arm/up_syscall.c @@ -56,7 +56,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/arm/src/arm/up_undefinedinsn.c b/nuttx/arch/arm/src/arm/up_undefinedinsn.c index d61abe11b..88e3a79d9 100644 --- a/nuttx/arch/arm/src/arm/up_undefinedinsn.c +++ b/nuttx/arch/arm/src/arm/up_undefinedinsn.c @@ -54,7 +54,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/arm/src/armv7-m/up_assert.c b/nuttx/arch/arm/src/armv7-m/up_assert.c index ab30b09f3..8e29bfe80 100644 --- a/nuttx/arch/arm/src/armv7-m/up_assert.c +++ b/nuttx/arch/arm/src/armv7-m/up_assert.c @@ -62,7 +62,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /* The following is just intended to keep some ugliness out of the mainline @@ -70,7 +70,7 @@ * * CONFIG_TASK_NAME_SIZE > 0 && <-- The task has a name * (defined(CONFIG_DEBUG) || <-- And the debug is enabled (lldbg used) - * defined(CONFIG_ARCH_STACKDUMP) <-- Or lib_lowprintf() is used + * defined(CONFIG_ARCH_STACKDUMP) <-- Or lowsyslog() is used */ #undef CONFIG_PRINT_TASKNAME diff --git a/nuttx/arch/arm/src/dm320/dm320_decodeirq.c b/nuttx/arch/arm/src/dm320/dm320_decodeirq.c index c7032c4b1..98ba76097 100644 --- a/nuttx/arch/arm/src/dm320/dm320_decodeirq.c +++ b/nuttx/arch/arm/src/dm320/dm320_decodeirq.c @@ -74,7 +74,7 @@ void up_decodeirq(uint32_t* regs) { #ifdef CONFIG_SUPPRESS_INTERRUPTS - lib_lowprintf("Unexpected IRQ\n"); + lowsyslog("Unexpected IRQ\n"); current_regs = regs; PANIC(OSERR_ERREXCEPTION); #else diff --git a/nuttx/arch/arm/src/imx/imx_decodeirq.c b/nuttx/arch/arm/src/imx/imx_decodeirq.c index ba37a60a2..230a4fc20 100644 --- a/nuttx/arch/arm/src/imx/imx_decodeirq.c +++ b/nuttx/arch/arm/src/imx/imx_decodeirq.c @@ -74,7 +74,7 @@ void up_decodeirq(uint32_t* regs) { #ifdef CONFIG_SUPPRESS_INTERRUPTS - lib_lowprintf("Unexpected IRQ\n"); + lowsyslog("Unexpected IRQ\n"); current_regs = regs; PANIC(OSERR_ERREXCEPTION); #else diff --git a/nuttx/arch/arm/src/lpc214x/lpc214x_decodeirq.c b/nuttx/arch/arm/src/lpc214x/lpc214x_decodeirq.c index 652fe4d61..057e526c2 100644 --- a/nuttx/arch/arm/src/lpc214x/lpc214x_decodeirq.c +++ b/nuttx/arch/arm/src/lpc214x/lpc214x_decodeirq.c @@ -112,7 +112,7 @@ static void lpc214x_decodeirq( uint32_t *regs) #endif { #ifdef CONFIG_SUPPRESS_INTERRUPTS - lib_lowprintf("Unexpected IRQ\n"); + lowsyslog("Unexpected IRQ\n"); current_regs = regs; PANIC(OSERR_ERREXCEPTION); #else diff --git a/nuttx/arch/arm/src/lpc2378/lpc23xx_decodeirq.c b/nuttx/arch/arm/src/lpc2378/lpc23xx_decodeirq.c index a55ed339d..3a50beb50 100644 --- a/nuttx/arch/arm/src/lpc2378/lpc23xx_decodeirq.c +++ b/nuttx/arch/arm/src/lpc2378/lpc23xx_decodeirq.c @@ -111,7 +111,7 @@ static void lpc23xx_decodeirq(uint32_t *regs) #endif { #ifdef CONFIG_SUPPRESS_INTERRUPTS - lib_lowprintf("Unexpected IRQ\n"); + lowsyslog("Unexpected IRQ\n"); current_regs = regs; PANIC(OSERR_ERREXCEPTION); #else diff --git a/nuttx/arch/arm/src/lpc31xx/lpc31_decodeirq.c b/nuttx/arch/arm/src/lpc31xx/lpc31_decodeirq.c index 41e1d3e13..0e73f131b 100644 --- a/nuttx/arch/arm/src/lpc31xx/lpc31_decodeirq.c +++ b/nuttx/arch/arm/src/lpc31xx/lpc31_decodeirq.c @@ -77,7 +77,7 @@ void up_decodeirq(uint32_t *regs) { #ifdef CONFIG_SUPPRESS_INTERRUPTS - lib_lowprintf("Unexpected IRQ\n"); + lowsyslog("Unexpected IRQ\n"); current_regs = regs; PANIC(OSERR_ERREXCEPTION); #else diff --git a/nuttx/arch/arm/src/stm32/stm32_i2c.c b/nuttx/arch/arm/src/stm32/stm32_i2c.c index 18687c6f4..c2d638dd4 100644 --- a/nuttx/arch/arm/src/stm32/stm32_i2c.c +++ b/nuttx/arch/arm/src/stm32/stm32_i2c.c @@ -159,7 +159,7 @@ #endif /* I2C event trace logic. NOTE: trace uses the internal, non-standard, low-level - * debug interface lib_rawprintf() but does not require that any other debug + * debug interface syslog() but does not require that any other debug * is enabled. */ @@ -899,11 +899,11 @@ static void stm32_i2c_tracedump(FAR struct stm32_i2c_priv_s *priv) struct stm32_trace_s *trace; int i; - lib_rawprintf("Elapsed time: %d\n", clock_systimer() - priv->start_time); + syslog("Elapsed time: %d\n", clock_systimer() - priv->start_time); for (i = 0; i <= priv->tndx; i++) { trace = &priv->trace[i]; - lib_rawprintf("%2d. STATUS: %08x COUNT: %3d EVENT: %2d PARM: %08x TIME: %d\n", + syslog("%2d. STATUS: %08x COUNT: %3d EVENT: %2d PARM: %08x TIME: %d\n", i+1, trace->status, trace->count, trace->event, trace->parm, trace->time - priv->start_time); } diff --git a/nuttx/arch/arm/src/str71x/str71x_decodeirq.c b/nuttx/arch/arm/src/str71x/str71x_decodeirq.c index 326abd763..48c9aa7e4 100644 --- a/nuttx/arch/arm/src/str71x/str71x_decodeirq.c +++ b/nuttx/arch/arm/src/str71x/str71x_decodeirq.c @@ -91,7 +91,7 @@ void up_decodeirq(uint32_t *regs) { #ifdef CONFIG_SUPPRESS_INTERRUPTS up_ledon(LED_INIRQ); - lib_lowprintf("Unexpected IRQ\n"); + lowsyslog("Unexpected IRQ\n"); current_regs = regs; PANIC(OSERR_ERREXCEPTION); #else diff --git a/nuttx/arch/avr/src/avr/up_dumpstate.c b/nuttx/arch/avr/src/avr/up_dumpstate.c index 902c2ce9f..3ce595bf0 100644 --- a/nuttx/arch/avr/src/avr/up_dumpstate.c +++ b/nuttx/arch/avr/src/avr/up_dumpstate.c @@ -63,7 +63,7 @@ */ #undef lldbg -#define lldbg lib_lowprintf +#define lldbg lowsyslog /**************************************************************************** * Private Data diff --git a/nuttx/arch/avr/src/avr32/up_dumpstate.c b/nuttx/arch/avr/src/avr32/up_dumpstate.c index 15a3e7ef8..d6113d40b 100644 --- a/nuttx/arch/avr/src/avr32/up_dumpstate.c +++ b/nuttx/arch/avr/src/avr32/up_dumpstate.c @@ -63,7 +63,7 @@ */ #undef lldbg -#define lldbg lib_lowprintf +#define lldbg lowsyslog /**************************************************************************** * Private Data diff --git a/nuttx/arch/avr/src/common/up_assert.c b/nuttx/arch/avr/src/common/up_assert.c index 12bb564d3..3e90094eb 100644 --- a/nuttx/arch/avr/src/common/up_assert.c +++ b/nuttx/arch/avr/src/common/up_assert.c @@ -61,7 +61,7 @@ * * CONFIG_TASK_NAME_SIZE > 0 && <-- The task has a name * (defined(CONFIG_DEBUG) || <-- And the debug is enabled (lldbg used) - * defined(CONFIG_ARCH_STACKDUMP)) <-- Or lib_lowprintf() is used + * defined(CONFIG_ARCH_STACKDUMP)) <-- Or lowsyslog() is used */ #undef CONFIG_PRINT_TASKNAME @@ -75,7 +75,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/hc/src/m9s12/m9s12_assert.c b/nuttx/arch/hc/src/m9s12/m9s12_assert.c index ff9ce5ca4..65cc75590 100644 --- a/nuttx/arch/hc/src/m9s12/m9s12_assert.c +++ b/nuttx/arch/hc/src/m9s12/m9s12_assert.c @@ -62,7 +62,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /* The following is just intended to keep some ugliness out of the mainline @@ -70,7 +70,7 @@ * * CONFIG_TASK_NAME_SIZE > 0 && <-- The task has a name * (defined(CONFIG_DEBUG) || <-- And the debug is enabled (lldbg used) - * defined(CONFIG_ARCH_STACKDUMP) <-- Or lib_lowprintf() is used + * defined(CONFIG_ARCH_STACKDUMP) <-- Or lowsyslog() is used */ #undef CONFIG_PRINT_TASKNAME diff --git a/nuttx/arch/mips/src/mips32/up_assert.c b/nuttx/arch/mips/src/mips32/up_assert.c index ed4ee4cf7..7d98e7427 100644 --- a/nuttx/arch/mips/src/mips32/up_assert.c +++ b/nuttx/arch/mips/src/mips32/up_assert.c @@ -62,7 +62,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /* The following is just intended to keep some ugliness out of the mainline @@ -70,7 +70,7 @@ * * CONFIG_TASK_NAME_SIZE > 0 && <-- The task has a name * (defined(CONFIG_DEBUG) || <-- And the debug is enabled (lldbg used) - * defined(CONFIG_ARCH_STACKDUMP) <-- Or lib_lowprintf() is used + * defined(CONFIG_ARCH_STACKDUMP) <-- Or lowsyslog() is used */ #undef CONFIG_PRINT_TASKNAME diff --git a/nuttx/arch/mips/src/mips32/up_dumpstate.c b/nuttx/arch/mips/src/mips32/up_dumpstate.c index 866c17b4f..1cd426767 100644 --- a/nuttx/arch/mips/src/mips32/up_dumpstate.c +++ b/nuttx/arch/mips/src/mips32/up_dumpstate.c @@ -63,7 +63,7 @@ */ #undef lldbg -#define lldbg lib_lowprintf +#define lldbg lowsyslog /**************************************************************************** * Private Data diff --git a/nuttx/arch/sh/src/common/up_assert.c b/nuttx/arch/sh/src/common/up_assert.c index ccc0c98e6..5b56e7731 100644 --- a/nuttx/arch/sh/src/common/up_assert.c +++ b/nuttx/arch/sh/src/common/up_assert.c @@ -61,7 +61,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/sh/src/m16c/m16c_dumpstate.c b/nuttx/arch/sh/src/m16c/m16c_dumpstate.c index 438ff21d2..38571a7e1 100644 --- a/nuttx/arch/sh/src/m16c/m16c_dumpstate.c +++ b/nuttx/arch/sh/src/m16c/m16c_dumpstate.c @@ -62,7 +62,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/sh/src/sh1/sh1_dumpstate.c b/nuttx/arch/sh/src/sh1/sh1_dumpstate.c index 296e20a45..f54ea46ce 100644 --- a/nuttx/arch/sh/src/sh1/sh1_dumpstate.c +++ b/nuttx/arch/sh/src/sh1/sh1_dumpstate.c @@ -61,7 +61,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/sim/src/up_initialize.c b/nuttx/arch/sim/src/up_initialize.c index de11c7947..f8ae563e0 100644 --- a/nuttx/arch/sim/src/up_initialize.c +++ b/nuttx/arch/sim/src/up_initialize.c @@ -85,13 +85,13 @@ void up_initialize(void) { - /* The real purpose of the following is to make sure that lib_rawprintf + /* The real purpose of the following is to make sure that syslog * is drawn into the link. It is needed by up_tapdev which is linked * separately. */ #ifdef CONFIG_NET - lib_rawprintf("SIM: Initializing"); + syslog("SIM: Initializing"); #endif /* Register devices */ diff --git a/nuttx/arch/sim/src/up_tapdev.c b/nuttx/arch/sim/src/up_tapdev.c index f2bbcc14a..197049a34 100644 --- a/nuttx/arch/sim/src/up_tapdev.c +++ b/nuttx/arch/sim/src/up_tapdev.c @@ -61,7 +61,7 @@ #include #include -extern int lib_rawprintf(const char *format, ...); +extern int syslog(const char *format, ...); extern int uipdriver_setmacaddr(unsigned char *macaddr); /**************************************************************************** @@ -119,14 +119,14 @@ static int gtapdevfd; #ifdef TAPDEV_DEBUG static inline void dump_ethhdr(const char *msg, unsigned char *buf, int buflen) { - lib_rawprintf("TAPDEV: %s %d bytes\n", msg, buflen); - lib_rawprintf(" %02x:%02x:%02x:%02x:%02x:%02x %02x:%02x:%02x:%02x:%02x:%02x %02x%02x\n", - buf[0], buf[1], buf[2], buf[3], buf[4], buf[5], - buf[6], buf[7], buf[8], buf[9], buf[10], buf[11], + syslog("TAPDEV: %s %d bytes\n", msg, buflen); + syslog(" %02x:%02x:%02x:%02x:%02x:%02x %02x:%02x:%02x:%02x:%02x:%02x %02x%02x\n", + buf[0], buf[1], buf[2], buf[3], buf[4], buf[5], + buf[6], buf[7], buf[8], buf[9], buf[10], buf[11], #ifdef CONFIG_ENDIAN_BIG - buf[13], buf[12]); + buf[13], buf[12]); #else - buf[12], buf[13]); + buf[12], buf[13]); #endif } #else @@ -179,7 +179,7 @@ void tapdev_init(void) gtapdevfd = open(DEVTAP, O_RDWR, 0644); if (gtapdevfd < 0) { - lib_rawprintf("TAPDEV: open failed: %d\n", -gtapdevfd ); + syslog("TAPDEV: open failed: %d\n", -gtapdevfd ); return; } @@ -190,7 +190,7 @@ void tapdev_init(void) ret = ioctl(gtapdevfd, TUNSETIFF, (unsigned long) &ifr); if (ret < 0) { - lib_rawprintf("TAPDEV: ioctl failed: %d\n", -ret ); + syslog("TAPDEV: ioctl failed: %d\n", -ret ); return; } @@ -235,7 +235,7 @@ unsigned int tapdev_read(unsigned char *buf, unsigned int buflen) ret = read(gtapdevfd, buf, buflen); if (ret < 0) { - lib_rawprintf("TAPDEV: read failed: %d\n", -ret); + syslog("TAPDEV: read failed: %d\n", -ret); return 0; } @@ -247,12 +247,12 @@ void tapdev_send(unsigned char *buf, unsigned int buflen) { int ret; #ifdef TAPDEV_DEBUG - lib_rawprintf("tapdev_send: sending %d bytes\n", buflen); + syslog("tapdev_send: sending %d bytes\n", buflen); gdrop++; if(gdrop % 8 == 7) { - lib_rawprintf("Dropped a packet!\n"); + syslog("Dropped a packet!\n"); return; } #endif @@ -260,7 +260,7 @@ void tapdev_send(unsigned char *buf, unsigned int buflen) ret = write(gtapdevfd, buf, buflen); if (ret < 0) { - lib_rawprintf("TAPDEV: write failed: %d", -ret); + syslog("TAPDEV: write failed: %d", -ret); exit(1); } dump_ethhdr("write", buf, buflen); diff --git a/nuttx/arch/x86/src/common/up_assert.c b/nuttx/arch/x86/src/common/up_assert.c index aa752f84e..87958baa6 100644 --- a/nuttx/arch/x86/src/common/up_assert.c +++ b/nuttx/arch/x86/src/common/up_assert.c @@ -63,7 +63,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /* The following is just intended to keep some ugliness out of the mainline @@ -71,7 +71,7 @@ * * CONFIG_TASK_NAME_SIZE > 0 && <-- The task has a name * (defined(CONFIG_DEBUG) || <-- And the debug is enabled (lldbg used) - * defined(CONFIG_ARCH_STACKDUMP) <-- Or lib_lowprintf() is used + * defined(CONFIG_ARCH_STACKDUMP) <-- Or lowsyslog() is used */ #undef CONFIG_PRINT_TASKNAME diff --git a/nuttx/arch/x86/src/i486/up_regdump.c b/nuttx/arch/x86/src/i486/up_regdump.c index b7547aec4..e30670128 100644 --- a/nuttx/arch/x86/src/i486/up_regdump.c +++ b/nuttx/arch/x86/src/i486/up_regdump.c @@ -51,7 +51,7 @@ /* Output debug info -- even if debug is not selected. */ #undef lldbg -#define lldbg lib_lowprintf +#define lldbg lowsyslog /**************************************************************************** * Private Data diff --git a/nuttx/arch/z16/src/common/up_assert.c b/nuttx/arch/z16/src/common/up_assert.c index 5832ead45..661d88833 100644 --- a/nuttx/arch/z16/src/common/up_assert.c +++ b/nuttx/arch/z16/src/common/up_assert.c @@ -62,7 +62,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/z16/src/common/up_registerdump.c b/nuttx/arch/z16/src/common/up_registerdump.c index dd1f210f7..178320dd2 100644 --- a/nuttx/arch/z16/src/common/up_registerdump.c +++ b/nuttx/arch/z16/src/common/up_registerdump.c @@ -58,7 +58,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/z16/src/common/up_stackdump.c b/nuttx/arch/z16/src/common/up_stackdump.c index b4930f620..077b0c8f7 100644 --- a/nuttx/arch/z16/src/common/up_stackdump.c +++ b/nuttx/arch/z16/src/common/up_stackdump.c @@ -55,7 +55,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/z16/src/z16f/z16f_sysexec.c b/nuttx/arch/z16/src/z16f/z16f_sysexec.c index 2fbc1e2c9..e824076b0 100644 --- a/nuttx/arch/z16/src/z16f/z16f_sysexec.c +++ b/nuttx/arch/z16/src/z16f/z16f_sysexec.c @@ -53,9 +53,9 @@ ***************************************************************************/ #ifdef CONFIG_ARCH_LOWPUTC -# define SYSDBG lib_lowprintf +# define SYSDBG lowsyslog #else -# define SYSDBG lib_rawprintf +# define SYSDBG syslog #endif /*************************************************************************** diff --git a/nuttx/arch/z80/src/common/up_assert.c b/nuttx/arch/z80/src/common/up_assert.c index ff4e569fb..11a2a4f2a 100644 --- a/nuttx/arch/z80/src/common/up_assert.c +++ b/nuttx/arch/z80/src/common/up_assert.c @@ -62,7 +62,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/z80/src/common/up_doirq.c b/nuttx/arch/z80/src/common/up_doirq.c index 4b57f8f7b..ad318e17f 100644 --- a/nuttx/arch/z80/src/common/up_doirq.c +++ b/nuttx/arch/z80/src/common/up_doirq.c @@ -76,7 +76,7 @@ FAR chipreg_t *up_doirq(uint8_t irq, FAR chipreg_t *regs) #ifdef CONFIG_SUPPRESS_INTERRUPTS - lib_lowprintf("Unexpected IRQ\n"); + lowsyslog("Unexpected IRQ\n"); IRQ_ENTER(regs); PANIC(OSERR_ERREXCEPTION); return NULL; /* Won't get here */ diff --git a/nuttx/arch/z80/src/common/up_stackdump.c b/nuttx/arch/z80/src/common/up_stackdump.c index 817c2d315..f9c515337 100644 --- a/nuttx/arch/z80/src/common/up_stackdump.c +++ b/nuttx/arch/z80/src/common/up_stackdump.c @@ -56,7 +56,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/z80/src/ez80/ez80_registerdump.c b/nuttx/arch/z80/src/ez80/ez80_registerdump.c index a43bd6459..bf53f81f7 100644 --- a/nuttx/arch/z80/src/ez80/ez80_registerdump.c +++ b/nuttx/arch/z80/src/ez80/ez80_registerdump.c @@ -58,7 +58,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/z80/src/z180/z180_registerdump.c b/nuttx/arch/z80/src/z180/z180_registerdump.c index 65ae791db..17a44b059 100644 --- a/nuttx/arch/z80/src/z180/z180_registerdump.c +++ b/nuttx/arch/z80/src/z180/z180_registerdump.c @@ -58,7 +58,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/z80/src/z8/z8_registerdump.c b/nuttx/arch/z80/src/z8/z8_registerdump.c index 36b6cdd37..f1ce13a24 100644 --- a/nuttx/arch/z80/src/z8/z8_registerdump.c +++ b/nuttx/arch/z80/src/z8/z8_registerdump.c @@ -59,7 +59,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/arch/z80/src/z80/z80_registerdump.c b/nuttx/arch/z80/src/z80/z80_registerdump.c index 0d09a243a..7bf21a26f 100644 --- a/nuttx/arch/z80/src/z80/z80_registerdump.c +++ b/nuttx/arch/z80/src/z80/z80_registerdump.c @@ -58,7 +58,7 @@ #ifdef CONFIG_ARCH_STACKDUMP # undef lldbg -# define lldbg lib_lowprintf +# define lldbg lowsyslog #endif /**************************************************************************** diff --git a/nuttx/binfmt/libelf/libelf_read.c b/nuttx/binfmt/libelf/libelf_read.c index f4b725183..25ee7ba29 100644 --- a/nuttx/binfmt/libelf/libelf_read.c +++ b/nuttx/binfmt/libelf/libelf_read.c @@ -54,7 +54,7 @@ ****************************************************************************/ #undef ELF_DUMP_READDATA /* Define to dump all file data read */ -#define DUMPER lib_rawprintf /* If ELF_DUMP_READDATA is defined, this +#define DUMPER syslog /* If ELF_DUMP_READDATA is defined, this * is the API used to dump data */ /**************************************************************************** diff --git a/nuttx/binfmt/libnxflat/libnxflat_read.c b/nuttx/binfmt/libnxflat/libnxflat_read.c index 8deeb0805..103a81f81 100644 --- a/nuttx/binfmt/libnxflat/libnxflat_read.c +++ b/nuttx/binfmt/libnxflat/libnxflat_read.c @@ -55,7 +55,7 @@ ****************************************************************************/ #undef NXFLAT_DUMP_READDATA /* Define to dump all file data read */ -#define DUMPER lib_rawprintf /* If NXFLAT_DUMP_READDATA is defined, this +#define DUMPER syslog /* If NXFLAT_DUMP_READDATA is defined, this * is the API used to dump data */ /**************************************************************************** diff --git a/nuttx/configs/README.txt b/nuttx/configs/README.txt index 1b78567a3..8d9bb381f 100644 --- a/nuttx/configs/README.txt +++ b/nuttx/configs/README.txt @@ -261,7 +261,7 @@ defconfig -- This is a configuration file similar to the Linux CONFIG_DEBUG - enables built-in debug options CONFIG_DEBUG_VERBOSE - enables verbose debug output - CCONFIG_DEBUG_ENABLE - Support an interface to enable or disable debug output. + CCONFIG_SYSLOG_ENABLE - Support an interface to enable or disable debug output. CONFIG_DEBUG_SYMBOLS - build without optimization and with debug symbols (needed for use with a debugger). CONFIG_DEBUG_SCHED - enable OS debug output (disabled by diff --git a/nuttx/configs/cloudctrl/src/up_nsh.c b/nuttx/configs/cloudctrl/src/up_nsh.c index f389460bb..6baeeeab8 100644 --- a/nuttx/configs/cloudctrl/src/up_nsh.c +++ b/nuttx/configs/cloudctrl/src/up_nsh.c @@ -101,13 +101,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/cloudctrl/src/up_usbmsc.c b/nuttx/configs/cloudctrl/src/up_usbmsc.c index 1e74e6f24..95fc0189a 100644 --- a/nuttx/configs/cloudctrl/src/up_usbmsc.c +++ b/nuttx/configs/cloudctrl/src/up_usbmsc.c @@ -61,7 +61,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -69,7 +69,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/demo9s12ne64/src/up_nsh.c b/nuttx/configs/demo9s12ne64/src/up_nsh.c index 7e53f7f07..c4773c0ac 100644 --- a/nuttx/configs/demo9s12ne64/src/up_nsh.c +++ b/nuttx/configs/demo9s12ne64/src/up_nsh.c @@ -54,13 +54,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/ea3131/src/up_nsh.c b/nuttx/configs/ea3131/src/up_nsh.c index 29ee7ed2c..b763c26f0 100644 --- a/nuttx/configs/ea3131/src/up_nsh.c +++ b/nuttx/configs/ea3131/src/up_nsh.c @@ -100,13 +100,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/ea3131/src/up_usbmsc.c b/nuttx/configs/ea3131/src/up_usbmsc.c index 5f4850ea1..e1869af4d 100644 --- a/nuttx/configs/ea3131/src/up_usbmsc.c +++ b/nuttx/configs/ea3131/src/up_usbmsc.c @@ -91,8 +91,8 @@ int usbmsc_archinitialize(void) pbuffer = (uint8_t *) malloc (BUFFER_SIZE); if (!pbuffer) { - lib_lowprintf ("usbmsc_archinitialize: Failed to allocate ramdisk of size %d\n", - BUFFER_SIZE); + lowsyslog("usbmsc_archinitialize: Failed to allocate ramdisk of size %d\n", + BUFFER_SIZE); return -ENOMEM; } diff --git a/nuttx/configs/ea3152/src/up_nsh.c b/nuttx/configs/ea3152/src/up_nsh.c index 2b523b44a..d4ac3da27 100644 --- a/nuttx/configs/ea3152/src/up_nsh.c +++ b/nuttx/configs/ea3152/src/up_nsh.c @@ -100,13 +100,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/ea3152/src/up_usbmsc.c b/nuttx/configs/ea3152/src/up_usbmsc.c index 2c3356b4e..ee67f0eed 100644 --- a/nuttx/configs/ea3152/src/up_usbmsc.c +++ b/nuttx/configs/ea3152/src/up_usbmsc.c @@ -91,8 +91,8 @@ int usbmsc_archinitialize(void) pbuffer = (uint8_t *) malloc (BUFFER_SIZE); if (!pbuffer) { - lib_lowprintf ("usbmsc_archinitialize: Failed to allocate ramdisk of size %d\n", - BUFFER_SIZE); + lowsyslog("usbmsc_archinitialize: Failed to allocate ramdisk of size %d\n", + BUFFER_SIZE); return -ENOMEM; } diff --git a/nuttx/configs/eagle100/src/up_nsh.c b/nuttx/configs/eagle100/src/up_nsh.c index 65fd30023..b1df8cde6 100644 --- a/nuttx/configs/eagle100/src/up_nsh.c +++ b/nuttx/configs/eagle100/src/up_nsh.c @@ -95,13 +95,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/ekk-lm3s9b96/src/up_nsh.c b/nuttx/configs/ekk-lm3s9b96/src/up_nsh.c index 6f9aac6b1..f54fb726c 100644 --- a/nuttx/configs/ekk-lm3s9b96/src/up_nsh.c +++ b/nuttx/configs/ekk-lm3s9b96/src/up_nsh.c @@ -55,13 +55,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/ez80f910200kitg/ostest/defconfig b/nuttx/configs/ez80f910200kitg/ostest/defconfig index d86177828..1abc3fb58 100644 --- a/nuttx/configs/ez80f910200kitg/ostest/defconfig +++ b/nuttx/configs/ez80f910200kitg/ostest/defconfig @@ -44,7 +44,7 @@ CONFIG_WINDOWS_CYGWIN=y # CONFIG_DEBUG=y # CONFIG_DEBUG_VERBOSE is not set -# CONFIG_DEBUG_ENABLE is not set +# CONFIG_SYSLOG_ENABLE is not set # # Subsystem Debug Options diff --git a/nuttx/configs/ez80f910200zco/ostest/defconfig b/nuttx/configs/ez80f910200zco/ostest/defconfig index e414cfcc1..146b56327 100644 --- a/nuttx/configs/ez80f910200zco/ostest/defconfig +++ b/nuttx/configs/ez80f910200zco/ostest/defconfig @@ -44,7 +44,7 @@ CONFIG_WINDOWS_CYGWIN=y # CONFIG_DEBUG=y # CONFIG_DEBUG_VERBOSE is not set -# CONFIG_DEBUG_ENABLE is not set +# CONFIG_SYSLOG_ENABLE is not set # # Subsystem Debug Options diff --git a/nuttx/configs/fire-stm32v2/src/up_composite.c b/nuttx/configs/fire-stm32v2/src/up_composite.c index 6ebc06176..15200caa8 100644 --- a/nuttx/configs/fire-stm32v2/src/up_composite.c +++ b/nuttx/configs/fire-stm32v2/src/up_composite.c @@ -60,7 +60,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -68,7 +68,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/fire-stm32v2/src/up_nsh.c b/nuttx/configs/fire-stm32v2/src/up_nsh.c index ba93d714f..fa261f561 100644 --- a/nuttx/configs/fire-stm32v2/src/up_nsh.c +++ b/nuttx/configs/fire-stm32v2/src/up_nsh.c @@ -127,13 +127,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/fire-stm32v2/src/up_usbmsc.c b/nuttx/configs/fire-stm32v2/src/up_usbmsc.c index 8a8269539..f1f6ee69c 100644 --- a/nuttx/configs/fire-stm32v2/src/up_usbmsc.c +++ b/nuttx/configs/fire-stm32v2/src/up_usbmsc.c @@ -60,7 +60,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -68,7 +68,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/hymini-stm32v/src/up_nsh.c b/nuttx/configs/hymini-stm32v/src/up_nsh.c index ae1ea03a6..5b823012d 100644 --- a/nuttx/configs/hymini-stm32v/src/up_nsh.c +++ b/nuttx/configs/hymini-stm32v/src/up_nsh.c @@ -110,13 +110,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/hymini-stm32v/src/up_usbmsc.c b/nuttx/configs/hymini-stm32v/src/up_usbmsc.c index 1ce55adcc..da8f02533 100644 --- a/nuttx/configs/hymini-stm32v/src/up_usbmsc.c +++ b/nuttx/configs/hymini-stm32v/src/up_usbmsc.c @@ -78,7 +78,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -86,7 +86,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/kwikstik-k40/src/up_nsh.c b/nuttx/configs/kwikstik-k40/src/up_nsh.c index 884ff3c44..1e52c931e 100644 --- a/nuttx/configs/kwikstik-k40/src/up_nsh.c +++ b/nuttx/configs/kwikstik-k40/src/up_nsh.c @@ -109,13 +109,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/kwikstik-k40/src/up_usbmsc.c b/nuttx/configs/kwikstik-k40/src/up_usbmsc.c index 8051ea1ba..ea97cb99f 100644 --- a/nuttx/configs/kwikstik-k40/src/up_usbmsc.c +++ b/nuttx/configs/kwikstik-k40/src/up_usbmsc.c @@ -74,7 +74,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -82,7 +82,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/lincoln60/src/up_nsh.c b/nuttx/configs/lincoln60/src/up_nsh.c index 2c829837a..a4a679415 100644 --- a/nuttx/configs/lincoln60/src/up_nsh.c +++ b/nuttx/configs/lincoln60/src/up_nsh.c @@ -56,13 +56,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/lm3s6432-s2e/src/up_nsh.c b/nuttx/configs/lm3s6432-s2e/src/up_nsh.c index 46726e753..75107be22 100644 --- a/nuttx/configs/lm3s6432-s2e/src/up_nsh.c +++ b/nuttx/configs/lm3s6432-s2e/src/up_nsh.c @@ -57,13 +57,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/lm3s6965-ek/src/up_nsh.c b/nuttx/configs/lm3s6965-ek/src/up_nsh.c index 409b351f0..24b8b0206 100644 --- a/nuttx/configs/lm3s6965-ek/src/up_nsh.c +++ b/nuttx/configs/lm3s6965-ek/src/up_nsh.c @@ -95,13 +95,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/lm3s8962-ek/src/up_nsh.c b/nuttx/configs/lm3s8962-ek/src/up_nsh.c index 693862184..f12c48988 100644 --- a/nuttx/configs/lm3s8962-ek/src/up_nsh.c +++ b/nuttx/configs/lm3s8962-ek/src/up_nsh.c @@ -95,13 +95,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/lpcxpresso-lpc1768/src/up_nsh.c b/nuttx/configs/lpcxpresso-lpc1768/src/up_nsh.c index b9c39ed16..6165cd9e9 100644 --- a/nuttx/configs/lpcxpresso-lpc1768/src/up_nsh.c +++ b/nuttx/configs/lpcxpresso-lpc1768/src/up_nsh.c @@ -103,13 +103,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/lpcxpresso-lpc1768/src/up_usbmsc.c b/nuttx/configs/lpcxpresso-lpc1768/src/up_usbmsc.c index c43028f1e..937c7857a 100644 --- a/nuttx/configs/lpcxpresso-lpc1768/src/up_usbmsc.c +++ b/nuttx/configs/lpcxpresso-lpc1768/src/up_usbmsc.c @@ -74,7 +74,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -82,7 +82,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/mbed/src/up_nsh.c b/nuttx/configs/mbed/src/up_nsh.c index 3a23ca7a5..883a0da15 100644 --- a/nuttx/configs/mbed/src/up_nsh.c +++ b/nuttx/configs/mbed/src/up_nsh.c @@ -72,13 +72,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/mcu123-lpc214x/src/up_composite.c b/nuttx/configs/mcu123-lpc214x/src/up_composite.c index 3540cdb8a..8feacc971 100644 --- a/nuttx/configs/mcu123-lpc214x/src/up_composite.c +++ b/nuttx/configs/mcu123-lpc214x/src/up_composite.c @@ -75,7 +75,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -83,7 +83,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/mcu123-lpc214x/src/up_nsh.c b/nuttx/configs/mcu123-lpc214x/src/up_nsh.c index 14b5d7d97..c4a56784f 100644 --- a/nuttx/configs/mcu123-lpc214x/src/up_nsh.c +++ b/nuttx/configs/mcu123-lpc214x/src/up_nsh.c @@ -95,13 +95,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/mcu123-lpc214x/src/up_usbmsc.c b/nuttx/configs/mcu123-lpc214x/src/up_usbmsc.c index 79d9344a4..f003d4c3c 100644 --- a/nuttx/configs/mcu123-lpc214x/src/up_usbmsc.c +++ b/nuttx/configs/mcu123-lpc214x/src/up_usbmsc.c @@ -74,7 +74,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -82,7 +82,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/ne64badge/src/up_nsh.c b/nuttx/configs/ne64badge/src/up_nsh.c index 17a52819b..10e0e74d5 100644 --- a/nuttx/configs/ne64badge/src/up_nsh.c +++ b/nuttx/configs/ne64badge/src/up_nsh.c @@ -54,13 +54,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/nucleus2g/src/up_nsh.c b/nuttx/configs/nucleus2g/src/up_nsh.c index 9986c8282..4453d73a1 100644 --- a/nuttx/configs/nucleus2g/src/up_nsh.c +++ b/nuttx/configs/nucleus2g/src/up_nsh.c @@ -97,13 +97,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/nucleus2g/src/up_usbmsc.c b/nuttx/configs/nucleus2g/src/up_usbmsc.c index 8c71a5ce7..f4a533cb6 100644 --- a/nuttx/configs/nucleus2g/src/up_usbmsc.c +++ b/nuttx/configs/nucleus2g/src/up_usbmsc.c @@ -74,7 +74,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -82,7 +82,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/olimex-lpc1766stk/src/up_nsh.c b/nuttx/configs/olimex-lpc1766stk/src/up_nsh.c index 99e9c4d9c..f201c8a1b 100644 --- a/nuttx/configs/olimex-lpc1766stk/src/up_nsh.c +++ b/nuttx/configs/olimex-lpc1766stk/src/up_nsh.c @@ -124,13 +124,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/olimex-lpc1766stk/src/up_usbmsc.c b/nuttx/configs/olimex-lpc1766stk/src/up_usbmsc.c index ce7c75771..5f97aff81 100644 --- a/nuttx/configs/olimex-lpc1766stk/src/up_usbmsc.c +++ b/nuttx/configs/olimex-lpc1766stk/src/up_usbmsc.c @@ -77,7 +77,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -85,7 +85,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/olimex-lpc2378/src/up_nsh.c b/nuttx/configs/olimex-lpc2378/src/up_nsh.c index 6279a7668..f5ec1fed8 100644 --- a/nuttx/configs/olimex-lpc2378/src/up_nsh.c +++ b/nuttx/configs/olimex-lpc2378/src/up_nsh.c @@ -84,13 +84,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/olimex-strp711/src/up_nsh.c b/nuttx/configs/olimex-strp711/src/up_nsh.c index 21c3efb83..7499a8d8f 100644 --- a/nuttx/configs/olimex-strp711/src/up_nsh.c +++ b/nuttx/configs/olimex-strp711/src/up_nsh.c @@ -99,13 +99,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/pic32-starterkit/src/up_nsh.c b/nuttx/configs/pic32-starterkit/src/up_nsh.c index 0f0f0dffe..f0e745112 100644 --- a/nuttx/configs/pic32-starterkit/src/up_nsh.c +++ b/nuttx/configs/pic32-starterkit/src/up_nsh.c @@ -154,13 +154,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/pic32-starterkit/src/up_usbmsc.c b/nuttx/configs/pic32-starterkit/src/up_usbmsc.c index c645c0fe5..51e450c56 100644 --- a/nuttx/configs/pic32-starterkit/src/up_usbmsc.c +++ b/nuttx/configs/pic32-starterkit/src/up_usbmsc.c @@ -50,7 +50,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -58,7 +58,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/pic32mx7mmb/src/up_nsh.c b/nuttx/configs/pic32mx7mmb/src/up_nsh.c index d063450d3..a1bfbeaa2 100644 --- a/nuttx/configs/pic32mx7mmb/src/up_nsh.c +++ b/nuttx/configs/pic32mx7mmb/src/up_nsh.c @@ -153,13 +153,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/pic32mx7mmb/src/up_usbmsc.c b/nuttx/configs/pic32mx7mmb/src/up_usbmsc.c index fbebaa3d1..d1f473d4f 100644 --- a/nuttx/configs/pic32mx7mmb/src/up_usbmsc.c +++ b/nuttx/configs/pic32mx7mmb/src/up_usbmsc.c @@ -50,7 +50,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -58,7 +58,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/rgmp/include/README.txt b/nuttx/configs/rgmp/include/README.txt index 006f13e7c..78da4eb92 100644 --- a/nuttx/configs/rgmp/include/README.txt +++ b/nuttx/configs/rgmp/include/README.txt @@ -1 +1 @@ -This directory is reserved for RGMP header files +This directory is reserved for RGMP header files diff --git a/nuttx/configs/rgmp/src/README.txt b/nuttx/configs/rgmp/src/README.txt index d7d216e24..3d0f237c0 100644 --- a/nuttx/configs/rgmp/src/README.txt +++ b/nuttx/configs/rgmp/src/README.txt @@ -1 +1 @@ -This directory is reserved for RGMP source files +This directory is reserved for RGMP source files diff --git a/nuttx/configs/sam3u-ek/src/up_nsh.c b/nuttx/configs/sam3u-ek/src/up_nsh.c index e8c0df87b..7b3174a74 100644 --- a/nuttx/configs/sam3u-ek/src/up_nsh.c +++ b/nuttx/configs/sam3u-ek/src/up_nsh.c @@ -100,13 +100,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_rawprintf(__VA_ARGS__) +# define message(...) syslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_rawprintf +# define message syslog # else # define message printf # endif diff --git a/nuttx/configs/sam3u-ek/src/up_usbmsc.c b/nuttx/configs/sam3u-ek/src/up_usbmsc.c index 7e04ee04a..dfe2e2c49 100644 --- a/nuttx/configs/sam3u-ek/src/up_usbmsc.c +++ b/nuttx/configs/sam3u-ek/src/up_usbmsc.c @@ -76,7 +76,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -84,7 +84,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/shenzhou/src/up_composite.c b/nuttx/configs/shenzhou/src/up_composite.c index 81c33dcc8..fb1640908 100644 --- a/nuttx/configs/shenzhou/src/up_composite.c +++ b/nuttx/configs/shenzhou/src/up_composite.c @@ -60,7 +60,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -68,7 +68,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/shenzhou/src/up_ili93xx.c b/nuttx/configs/shenzhou/src/up_ili93xx.c index a89e20d02..1a099f820 100644 --- a/nuttx/configs/shenzhou/src/up_ili93xx.c +++ b/nuttx/configs/shenzhou/src/up_ili93xx.c @@ -833,14 +833,14 @@ static void stm32_dumprun(FAR const char *msg, FAR uint16_t *run, size_t npixels { int i, j; - lib_rawprintf("\n%s:\n", msg); + syslog("\n%s:\n", msg); for (i = 0; i < npixels; i += 16) { up_putc(' '); - lib_rawprintf(" "); + syslog(" "); for (j = 0; j < 16; j++) { - lib_rawprintf(" %04x", *run++); + syslog(" %04x", *run++); } up_putc('\n'); } diff --git a/nuttx/configs/shenzhou/src/up_nsh.c b/nuttx/configs/shenzhou/src/up_nsh.c index 685281f5d..d68a734e0 100644 --- a/nuttx/configs/shenzhou/src/up_nsh.c +++ b/nuttx/configs/shenzhou/src/up_nsh.c @@ -149,13 +149,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/shenzhou/src/up_usbmsc.c b/nuttx/configs/shenzhou/src/up_usbmsc.c index 8566aedfd..eaecfb496 100644 --- a/nuttx/configs/shenzhou/src/up_usbmsc.c +++ b/nuttx/configs/shenzhou/src/up_usbmsc.c @@ -60,7 +60,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -68,7 +68,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/sim/cxxtest/defconfig b/nuttx/configs/sim/cxxtest/defconfig index 6ac45d44d..b12eda172 100644 --- a/nuttx/configs/sim/cxxtest/defconfig +++ b/nuttx/configs/sim/cxxtest/defconfig @@ -36,7 +36,7 @@ CONFIG_ARCH_FLOAT_H=y # CONFIG_DEBUG=y CONFIG_DEBUG_VERBOSE=y -# CONFIG_DEBUG_ENABLE is not set +# CONFIG_SYSLOG_ENABLE is not set # # Subsystem Debug Options diff --git a/nuttx/configs/sim/ostest/defconfig b/nuttx/configs/sim/ostest/defconfig index 65f5330fc..07a0f71b4 100644 --- a/nuttx/configs/sim/ostest/defconfig +++ b/nuttx/configs/sim/ostest/defconfig @@ -40,7 +40,7 @@ CONFIG_HOST_LINUX=y # CONFIG_DEBUG=y CONFIG_DEBUG_VERBOSE=y -# CONFIG_DEBUG_ENABLE is not set +# CONFIG_SYSLOG_ENABLE is not set # # Subsystem Debug Options diff --git a/nuttx/configs/stm3210e-eval/src/up_composite.c b/nuttx/configs/stm3210e-eval/src/up_composite.c index e80e0fcb4..de5759c78 100644 --- a/nuttx/configs/stm3210e-eval/src/up_composite.c +++ b/nuttx/configs/stm3210e-eval/src/up_composite.c @@ -79,7 +79,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -87,7 +87,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/stm3210e-eval/src/up_lcd.c b/nuttx/configs/stm3210e-eval/src/up_lcd.c index 8b832aafb..81cc3f20a 100644 --- a/nuttx/configs/stm3210e-eval/src/up_lcd.c +++ b/nuttx/configs/stm3210e-eval/src/up_lcd.c @@ -704,14 +704,14 @@ static void stm3210e_dumprun(FAR const char *msg, FAR uint16_t *run, size_t npix { int i, j; - lib_rawprintf("\n%s:\n", msg); + syslog("\n%s:\n", msg); for (i = 0; i < npixels; i += 16) { up_putc(' '); - lib_rawprintf(" "); + syslog(" "); for (j = 0; j < 16; j++) { - lib_rawprintf(" %04x", *run++); + syslog(" %04x", *run++); } up_putc('\n'); } diff --git a/nuttx/configs/stm3210e-eval/src/up_nsh.c b/nuttx/configs/stm3210e-eval/src/up_nsh.c index 3e7c2013c..544a0e75e 100644 --- a/nuttx/configs/stm3210e-eval/src/up_nsh.c +++ b/nuttx/configs/stm3210e-eval/src/up_nsh.c @@ -108,13 +108,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/stm3210e-eval/src/up_pmbuttons.c b/nuttx/configs/stm3210e-eval/src/up_pmbuttons.c index c0f16ee8c..cc6f3cae0 100644 --- a/nuttx/configs/stm3210e-eval/src/up_pmbuttons.c +++ b/nuttx/configs/stm3210e-eval/src/up_pmbuttons.c @@ -308,9 +308,9 @@ void up_pmbuttons(void) if (oldhandler != NULL) { - lib_lowprintf("WARNING: oldhandler:%p is not NULL! " - "Button events may be lost or aliased!\n", - oldhandler); + lowsyslog("WARNING: oldhandler:%p is not NULL! " + "Button events may be lost or aliased!\n", + oldhandler); } } #endif diff --git a/nuttx/configs/stm3210e-eval/src/up_usbmsc.c b/nuttx/configs/stm3210e-eval/src/up_usbmsc.c index dce463abc..d1727174e 100644 --- a/nuttx/configs/stm3210e-eval/src/up_usbmsc.c +++ b/nuttx/configs/stm3210e-eval/src/up_usbmsc.c @@ -78,7 +78,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -86,7 +86,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/stm3220g-eval/src/up_lcd.c b/nuttx/configs/stm3220g-eval/src/up_lcd.c index a1fcceef7..4a1ce0953 100644 --- a/nuttx/configs/stm3220g-eval/src/up_lcd.c +++ b/nuttx/configs/stm3220g-eval/src/up_lcd.c @@ -550,14 +550,14 @@ static void stm3220g_dumprun(FAR const char *msg, FAR uint16_t *run, size_t npix { int i, j; - lib_rawprintf("\n%s:\n", msg); + syslog("\n%s:\n", msg); for (i = 0; i < npixels; i += 16) { up_putc(' '); - lib_rawprintf(" "); + syslog(" "); for (j = 0; j < 16; j++) { - lib_rawprintf(" %04x", *run++); + syslog(" %04x", *run++); } up_putc('\n'); } diff --git a/nuttx/configs/stm3220g-eval/src/up_nsh.c b/nuttx/configs/stm3220g-eval/src/up_nsh.c index e1359de96..068deb1a6 100644 --- a/nuttx/configs/stm3220g-eval/src/up_nsh.c +++ b/nuttx/configs/stm3220g-eval/src/up_nsh.c @@ -122,13 +122,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/stm3240g-eval/discover/defconfig b/nuttx/configs/stm3240g-eval/discover/defconfig index e11d39ce1..37b74972f 100644 --- a/nuttx/configs/stm3240g-eval/discover/defconfig +++ b/nuttx/configs/stm3240g-eval/discover/defconfig @@ -35,7 +35,7 @@ CONFIG_RAW_BINARY=y # CONFIG_DEBUG=y # CONFIG_DEBUG_VERBOSE is not set -# CONFIG_DEBUG_ENABLE is not set +# CONFIG_SYSLOG_ENABLE is not set # # Subsystem Debug Options diff --git a/nuttx/configs/stm3240g-eval/src/up_lcd.c b/nuttx/configs/stm3240g-eval/src/up_lcd.c index 45e4a2b57..74088dc5e 100644 --- a/nuttx/configs/stm3240g-eval/src/up_lcd.c +++ b/nuttx/configs/stm3240g-eval/src/up_lcd.c @@ -550,14 +550,14 @@ static void stm3240g_dumprun(FAR const char *msg, FAR uint16_t *run, size_t npix { int i, j; - lib_rawprintf("\n%s:\n", msg); + syslog("\n%s:\n", msg); for (i = 0; i < npixels; i += 16) { up_putc(' '); - lib_rawprintf(" "); + syslog(" "); for (j = 0; j < 16; j++) { - lib_rawprintf(" %04x", *run++); + syslog(" %04x", *run++); } up_putc('\n'); } diff --git a/nuttx/configs/stm3240g-eval/src/up_nsh.c b/nuttx/configs/stm3240g-eval/src/up_nsh.c index c106e9918..596f902db 100644 --- a/nuttx/configs/stm3240g-eval/src/up_nsh.c +++ b/nuttx/configs/stm3240g-eval/src/up_nsh.c @@ -128,13 +128,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/stm3240g-eval/xmlrpc/defconfig b/nuttx/configs/stm3240g-eval/xmlrpc/defconfig index 4f621d453..daa1efb8a 100644 --- a/nuttx/configs/stm3240g-eval/xmlrpc/defconfig +++ b/nuttx/configs/stm3240g-eval/xmlrpc/defconfig @@ -35,7 +35,7 @@ CONFIG_RAW_BINARY=y # CONFIG_DEBUG=y # CONFIG_DEBUG_VERBOSE is not set -# CONFIG_DEBUG_ENABLE is not set +# CONFIG_SYSLOG_ENABLE is not set # # Subsystem Debug Options diff --git a/nuttx/configs/stm32f4discovery/src/up_nsh.c b/nuttx/configs/stm32f4discovery/src/up_nsh.c index 2a933569f..fd3fe5cd9 100644 --- a/nuttx/configs/stm32f4discovery/src/up_nsh.c +++ b/nuttx/configs/stm32f4discovery/src/up_nsh.c @@ -89,13 +89,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/stm32f4discovery/src/up_pmbuttons.c b/nuttx/configs/stm32f4discovery/src/up_pmbuttons.c index aa72e3da1..4bc241fce 100644 --- a/nuttx/configs/stm32f4discovery/src/up_pmbuttons.c +++ b/nuttx/configs/stm32f4discovery/src/up_pmbuttons.c @@ -139,7 +139,7 @@ void up_pmbuttons(void) if (oldhandler != NULL) { - lib_lowprintf("WARNING: oldhandler:%p is not NULL! " + lowsyslog("WARNING: oldhandler:%p is not NULL! " "Button events may be lost or aliased!\n", oldhandler); } diff --git a/nuttx/configs/sure-pic32mx/src/up_nsh.c b/nuttx/configs/sure-pic32mx/src/up_nsh.c index 4b68350ed..94ae10d21 100644 --- a/nuttx/configs/sure-pic32mx/src/up_nsh.c +++ b/nuttx/configs/sure-pic32mx/src/up_nsh.c @@ -124,13 +124,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/teensy/src/up_usbmsc.c b/nuttx/configs/teensy/src/up_usbmsc.c index fcf7fe2f5..0b944eda3 100644 --- a/nuttx/configs/teensy/src/up_usbmsc.c +++ b/nuttx/configs/teensy/src/up_usbmsc.c @@ -78,7 +78,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -86,7 +86,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/twr-k60n512/src/up_nsh.c b/nuttx/configs/twr-k60n512/src/up_nsh.c index 3bb4e8527..8069e3f96 100644 --- a/nuttx/configs/twr-k60n512/src/up_nsh.c +++ b/nuttx/configs/twr-k60n512/src/up_nsh.c @@ -109,13 +109,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/twr-k60n512/src/up_usbmsc.c b/nuttx/configs/twr-k60n512/src/up_usbmsc.c index 1a8f7a70d..c893551ca 100644 --- a/nuttx/configs/twr-k60n512/src/up_usbmsc.c +++ b/nuttx/configs/twr-k60n512/src/up_usbmsc.c @@ -74,7 +74,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -82,7 +82,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/ubw32/src/up_nsh.c b/nuttx/configs/ubw32/src/up_nsh.c index 5e5895b63..7c6452004 100644 --- a/nuttx/configs/ubw32/src/up_nsh.c +++ b/nuttx/configs/ubw32/src/up_nsh.c @@ -54,13 +54,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/vsn/src/usbmsc.c b/nuttx/configs/vsn/src/usbmsc.c index c0eebf6bf..198e27dea 100644 --- a/nuttx/configs/vsn/src/usbmsc.c +++ b/nuttx/configs/vsn/src/usbmsc.c @@ -79,7 +79,7 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # define msgflush() # else # define message(...) printf(__VA_ARGS__) @@ -87,7 +87,7 @@ # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # define msgflush() # else # define message printf diff --git a/nuttx/configs/vsn/src/vsn.h b/nuttx/configs/vsn/src/vsn.h index eb999f246..f8414f36c 100644 --- a/nuttx/configs/vsn/src/vsn.h +++ b/nuttx/configs/vsn/src/vsn.h @@ -175,13 +175,13 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG -# define message(...) lib_lowprintf(__VA_ARGS__) +# define message(...) lowsyslog(__VA_ARGS__) # else # define message(...) printf(__VA_ARGS__) # endif #else # ifdef CONFIG_DEBUG -# define message lib_lowprintf +# define message lowsyslog # else # define message printf # endif diff --git a/nuttx/configs/z16f2800100zcog/ostest/defconfig b/nuttx/configs/z16f2800100zcog/ostest/defconfig index 64828738f..50c3a96c6 100644 --- a/nuttx/configs/z16f2800100zcog/ostest/defconfig +++ b/nuttx/configs/z16f2800100zcog/ostest/defconfig @@ -44,7 +44,7 @@ CONFIG_WINDOWS_CYGWIN=y # CONFIG_DEBUG=y # CONFIG_DEBUG_VERBOSE is not set -# CONFIG_DEBUG_ENABLE is not set +# CONFIG_SYSLOG_ENABLE is not set # # Subsystem Debug Options diff --git a/nuttx/configs/z16f2800100zcog/pashello/README.txt b/nuttx/configs/z16f2800100zcog/pashello/README.txt index bc9828184..97d326097 100644 --- a/nuttx/configs/z16f2800100zcog/pashello/README.txt +++ b/nuttx/configs/z16f2800100zcog/pashello/README.txt @@ -1,12 +1,12 @@ -README.txt -^^^^^^^^^^ - -pashello.zfpproj is a simple ZDS-II project that will allow you - to use the ZDS-II debugger. Before using, copy the following - files from the toplevel directory: - - nuttx.hex, nuttx.map, nuttx.lod - - to this directory as: - - pashello.hex, pashello.map, pashello.lod +README.txt +^^^^^^^^^^ + +pashello.zfpproj is a simple ZDS-II project that will allow you + to use the ZDS-II debugger. Before using, copy the following + files from the toplevel directory: + + nuttx.hex, nuttx.map, nuttx.lod + + to this directory as: + + pashello.hex, pashello.map, pashello.lod diff --git a/nuttx/configs/z16f2800100zcog/pashello/defconfig b/nuttx/configs/z16f2800100zcog/pashello/defconfig index ba99283d3..96bff8dee 100644 --- a/nuttx/configs/z16f2800100zcog/pashello/defconfig +++ b/nuttx/configs/z16f2800100zcog/pashello/defconfig @@ -44,7 +44,7 @@ CONFIG_WINDOWS_CYGWIN=y # CONFIG_DEBUG=y # CONFIG_DEBUG_VERBOSE is not set -# CONFIG_DEBUG_ENABLE is not set +# CONFIG_SYSLOG_ENABLE is not set # # Subsystem Debug Options diff --git a/nuttx/configs/z8encore000zco/ostest/defconfig b/nuttx/configs/z8encore000zco/ostest/defconfig index 7bd512727..605bec669 100644 --- a/nuttx/configs/z8encore000zco/ostest/defconfig +++ b/nuttx/configs/z8encore000zco/ostest/defconfig @@ -44,7 +44,7 @@ CONFIG_WINDOWS_CYGWIN=y # CONFIG_DEBUG=y # CONFIG_DEBUG_VERBOSE is not set -# CONFIG_DEBUG_ENABLE is not set +# CONFIG_SYSLOG_ENABLE is not set # # Subsystem Debug Options diff --git a/nuttx/configs/z8f64200100kit/ostest/defconfig b/nuttx/configs/z8f64200100kit/ostest/defconfig index e98e41561..aabfc6ee4 100644 --- a/nuttx/configs/z8f64200100kit/ostest/defconfig +++ b/nuttx/configs/z8f64200100kit/ostest/defconfig @@ -44,7 +44,7 @@ CONFIG_WINDOWS_CYGWIN=y # CONFIG_DEBUG=y # CONFIG_DEBUG_VERBOSE is not set -# CONFIG_DEBUG_ENABLE is not set +# CONFIG_SYSLOG_ENABLE is not set # # Subsystem Debug Options diff --git a/nuttx/drivers/lcd/mio283qt2.c b/nuttx/drivers/lcd/mio283qt2.c index 1758e230c..4c8835eef 100644 --- a/nuttx/drivers/lcd/mio283qt2.c +++ b/nuttx/drivers/lcd/mio283qt2.c @@ -495,14 +495,14 @@ static void mio283qt2_dumprun(FAR const char *msg, FAR uint16_t *run, size_t npi { int i, j; - lib_rawprintf("\n%s:\n", msg); + syslog("\n%s:\n", msg); for (i = 0; i < npixels; i += 16) { up_putc(' '); - lib_rawprintf(" "); + syslog(" "); for (j = 0; j < 16; j++) { - lib_rawprintf(" %04x", *run++); + syslog(" %04x", *run++); } up_putc('\n'); } diff --git a/nuttx/drivers/lcd/ssd1289.c b/nuttx/drivers/lcd/ssd1289.c index e42b5bded..d78688be5 100644 --- a/nuttx/drivers/lcd/ssd1289.c +++ b/nuttx/drivers/lcd/ssd1289.c @@ -497,14 +497,14 @@ static void ssd1289_dumprun(FAR const char *msg, FAR uint16_t *run, size_t npixe { int i, j; - lib_rawprintf("\n%s:\n", msg); + syslog("\n%s:\n", msg); for (i = 0; i < npixels; i += 16) { up_putc(' '); - lib_rawprintf(" "); + syslog(" "); for (j = 0; j < 16; j++) { - lib_rawprintf(" %04x", *run++); + syslog(" %04x", *run++); } up_putc('\n'); } diff --git a/nuttx/drivers/mmcsd/mmcsd_debug.c b/nuttx/drivers/mmcsd/mmcsd_debug.c index 0bd7f896e..8cb5b2a2a 100644 --- a/nuttx/drivers/mmcsd/mmcsd_debug.c +++ b/nuttx/drivers/mmcsd/mmcsd_debug.c @@ -56,9 +56,9 @@ /* This needs to match the logic in include/debug.h */ #ifdef CONFIG_CPP_HAVE_VARARGS -# define message(format, arg...) lib_rawprintf(format, ##arg) +# define message(format, arg...) syslog(format, ##arg) #else -# define message lib_rawprintf +# define message syslog #endif /**************************************************************************** diff --git a/nuttx/drivers/net/enc28j60.c b/nuttx/drivers/net/enc28j60.c index 2346ee2d6..203259aeb 100644 --- a/nuttx/drivers/net/enc28j60.c +++ b/nuttx/drivers/net/enc28j60.c @@ -179,10 +179,10 @@ /* Debug ********************************************************************/ #ifdef CONFIG_ENC28J60_REGDEBUG -# define enc_wrdump(a,v) lib_lowprintf("ENC28J60: %02x<-%02x\n", a, v); -# define enc_rddump(a,v) lib_lowprintf("ENC28J60: %02x->%02x\n", a, v); -# define enc_cmddump(c) lib_lowprintf("ENC28J60: CMD: %02x\n", c); -# define enc_bmdump(c,b,s) lib_lowprintf("ENC28J60: CMD: %02x buffer: %p length: %d\n", c,b,s); +# define enc_wrdump(a,v) lowsyslog("ENC28J60: %02x<-%02x\n", a, v); +# define enc_rddump(a,v) lowsyslog("ENC28J60: %02x->%02x\n", a, v); +# define enc_cmddump(c) lowsyslog("ENC28J60: CMD: %02x\n", c); +# define enc_bmdump(c,b,s) lowsyslog("ENC28J60: CMD: %02x buffer: %p length: %d\n", c,b,s); #else # define enc_wrdump(a,v) # define enc_rddump(a,v) @@ -773,56 +773,56 @@ static int enc_waitbreg(FAR struct enc_driver_s *priv, uint8_t ctrlreg, #if 0 /* Sometimes useful */ static void enc_rxdump(FAR struct enc_driver_s *priv) { - lib_lowprintf("Rx Registers:\n"); - lib_lowprintf(" EIE: %02x EIR: %02x\n", - enc_rdgreg(priv, ENC_EIE), enc_rdgreg(priv, ENC_EIR)); - lib_lowprintf(" ESTAT: %02x ECON1: %02x ECON2: %02x\n", - enc_rdgreg(priv, ENC_ESTAT), enc_rdgreg(priv, ENC_ECON1), - enc_rdgreg(priv, ENC_ECON2)); - lib_lowprintf(" ERXST: %02x %02x\n", - enc_rdbreg(priv, ENC_ERXSTH), enc_rdbreg(priv, ENC_ERXSTL)); - lib_lowprintf(" ERXND: %02x %02x\n", - enc_rdbreg(priv, ENC_ERXNDH), enc_rdbreg(priv, ENC_ERXNDL)); - lib_lowprintf(" ERXRDPT: %02x %02x\n", - enc_rdbreg(priv, ENC_ERXRDPTH), enc_rdbreg(priv, ENC_ERXRDPTL)); - lib_lowprintf(" ERXFCON: %02x EPKTCNT: %02x\n", - enc_rdbreg(priv, ENC_ERXFCON), enc_rdbreg(priv, ENC_EPKTCNT)); - lib_lowprintf(" MACON1: %02x MACON3: %02x\n", - enc_rdbreg(priv, ENC_MACON1), enc_rdbreg(priv, ENC_MACON3)); - lib_lowprintf(" MAMXFL: %02x %02x\n", - enc_rdbreg(priv, ENC_MAMXFLH), enc_rdbreg(priv, ENC_MAMXFLL)); - lib_lowprintf(" MAADR: %02x:%02x:%02x:%02x:%02x:%02x\n", - enc_rdbreg(priv, ENC_MAADR1), enc_rdbreg(priv, ENC_MAADR2), - enc_rdbreg(priv, ENC_MAADR3), enc_rdbreg(priv, ENC_MAADR4), - enc_rdbreg(priv, ENC_MAADR5), enc_rdbreg(priv, ENC_MAADR6)); + lowsyslog("Rx Registers:\n"); + lowsyslog(" EIE: %02x EIR: %02x\n", + enc_rdgreg(priv, ENC_EIE), enc_rdgreg(priv, ENC_EIR)); + lowsyslog(" ESTAT: %02x ECON1: %02x ECON2: %02x\n", + enc_rdgreg(priv, ENC_ESTAT), enc_rdgreg(priv, ENC_ECON1), + enc_rdgreg(priv, ENC_ECON2)); + lowsyslog(" ERXST: %02x %02x\n", + enc_rdbreg(priv, ENC_ERXSTH), enc_rdbreg(priv, ENC_ERXSTL)); + lowsyslog(" ERXND: %02x %02x\n", + enc_rdbreg(priv, ENC_ERXNDH), enc_rdbreg(priv, ENC_ERXNDL)); + lowsyslog(" ERXRDPT: %02x %02x\n", + enc_rdbreg(priv, ENC_ERXRDPTH), enc_rdbreg(priv, ENC_ERXRDPTL)); + lowsyslog(" ERXFCON: %02x EPKTCNT: %02x\n", + enc_rdbreg(priv, ENC_ERXFCON), enc_rdbreg(priv, ENC_EPKTCNT)); + lowsyslog(" MACON1: %02x MACON3: %02x\n", + enc_rdbreg(priv, ENC_MACON1), enc_rdbreg(priv, ENC_MACON3)); + lowsyslog(" MAMXFL: %02x %02x\n", + enc_rdbreg(priv, ENC_MAMXFLH), enc_rdbreg(priv, ENC_MAMXFLL)); + lowsyslog(" MAADR: %02x:%02x:%02x:%02x:%02x:%02x\n", + enc_rdbreg(priv, ENC_MAADR1), enc_rdbreg(priv, ENC_MAADR2), + enc_rdbreg(priv, ENC_MAADR3), enc_rdbreg(priv, ENC_MAADR4), + enc_rdbreg(priv, ENC_MAADR5), enc_rdbreg(priv, ENC_MAADR6)); } #endif #if 0 /* Sometimes useful */ static void enc_txdump(FAR struct enc_driver_s *priv) { - lib_lowprintf("Tx Registers:\n"); - lib_lowprintf(" EIE: %02x EIR: %02x ESTAT: %02x\n", - enc_rdgreg(priv, ENC_EIE), enc_rdgreg(priv, ENC_EIR),); - lib_lowprintf(" ESTAT: %02x ECON1: %02x\n", - enc_rdgreg(priv, ENC_ESTAT), enc_rdgreg(priv, ENC_ECON1)); - lib_lowprintf(" ETXST: %02x %02x\n", - enc_rdbreg(priv, ENC_ETXSTH), enc_rdbreg(priv, ENC_ETXSTL)); - lib_lowprintf(" ETXND: %02x %02x\n", - enc_rdbreg(priv, ENC_ETXNDH), enc_rdbreg(priv, ENC_ETXNDL)); - lib_lowprintf(" MACON1: %02x MACON3: %02x MACON4: %02x\n", - enc_rdbreg(priv, ENC_MACON1), enc_rdbreg(priv, ENC_MACON3), - enc_rdbreg(priv, ENC_MACON4)); - lib_lowprintf(" MACON1: %02x MACON3: %02x MACON4: %02x\n", - enc_rdbreg(priv, ENC_MACON1), enc_rdbreg(priv, ENC_MACON3), - enc_rdbreg(priv, ENC_MACON4)); - lib_lowprintf(" MABBIPG: %02x MAIPG %02x %02x\n", - enc_rdbreg(priv, ENC_MABBIPG), enc_rdbreg(priv, ENC_MAIPGH), - enc_rdbreg(priv, ENC_MAIPGL)); - lib_lowprintf(" MACLCON1: %02x MACLCON2: %02x\n", - enc_rdbreg(priv, ENC_MACLCON1), enc_rdbreg(priv, ENC_MACLCON2)); - lib_lowprintf(" MAMXFL: %02x %02x\n", - enc_rdbreg(priv, ENC_MAMXFLH), enc_rdbreg(priv, ENC_MAMXFLL)); + lowsyslog("Tx Registers:\n"); + lowsyslog(" EIE: %02x EIR: %02x ESTAT: %02x\n", + enc_rdgreg(priv, ENC_EIE), enc_rdgreg(priv, ENC_EIR),); + lowsyslog(" ESTAT: %02x ECON1: %02x\n", + enc_rdgreg(priv, ENC_ESTAT), enc_rdgreg(priv, ENC_ECON1)); + lowsyslog(" ETXST: %02x %02x\n", + enc_rdbreg(priv, ENC_ETXSTH), enc_rdbreg(priv, ENC_ETXSTL)); + lowsyslog(" ETXND: %02x %02x\n", + enc_rdbreg(priv, ENC_ETXNDH), enc_rdbreg(priv, ENC_ETXNDL)); + lowsyslog(" MACON1: %02x MACON3: %02x MACON4: %02x\n", + enc_rdbreg(priv, ENC_MACON1), enc_rdbreg(priv, ENC_MACON3), + enc_rdbreg(priv, ENC_MACON4)); + lowsyslog(" MACON1: %02x MACON3: %02x MACON4: %02x\n", + enc_rdbreg(priv, ENC_MACON1), enc_rdbreg(priv, ENC_MACON3), + enc_rdbreg(priv, ENC_MACON4)); + lowsyslog(" MABBIPG: %02x MAIPG %02x %02x\n", + enc_rdbreg(priv, ENC_MABBIPG), enc_rdbreg(priv, ENC_MAIPGH), + enc_rdbreg(priv, ENC_MAIPGL)); + lowsyslog(" MACLCON1: %02x MACLCON2: %02x\n", + enc_rdbreg(priv, ENC_MACLCON1), enc_rdbreg(priv, ENC_MACLCON2)); + lowsyslog(" MAMXFL: %02x %02x\n", + enc_rdbreg(priv, ENC_MAMXFLH), enc_rdbreg(priv, ENC_MAMXFLL)); } #endif diff --git a/nuttx/drivers/syslog/ramlog.c b/nuttx/drivers/syslog/ramlog.c index b3a2ad0f5..08bbbfb59 100644 --- a/nuttx/drivers/syslog/ramlog.c +++ b/nuttx/drivers/syslog/ramlog.c @@ -726,10 +726,10 @@ int ramlog_sysloginit(void) * * Description: * This is the low-level system logging interface. The debugging/syslogging - * interfaces are lib_rawprintf() and lib_lowprinf(). The difference is - * the lib_rawprintf() writes to fd=1 (stdout) and lib_lowprintf() uses + * interfaces are syslog() and lowsyslog(). The difference is that + * the syslog() internface writes to fd=1 (stdout) whereas lowsyslog() uses * a lower level interface that works from interrupt handlers. This - * function is a a low-level interface used to implement lib_lowprintf() + * function is a a low-level interface used to implement lowsyslog() * when CONFIG_RAMLOG_SYSLOG=y and CONFIG_SYSLOG=y * ****************************************************************************/ diff --git a/nuttx/drivers/usbdev/usbdev_trace.c b/nuttx/drivers/usbdev/usbdev_trace.c index c8cc09292..c332c1358 100644 --- a/nuttx/drivers/usbdev/usbdev_trace.c +++ b/nuttx/drivers/usbdev/usbdev_trace.c @@ -168,9 +168,9 @@ void usbtrace(uint16_t event, uint16_t value) } } #else - /* Just print the data using lib_lowprintf */ + /* Just print the data using lowsyslog */ - usbtrace_trprintf((trprintf_t)lib_lowprintf, event, value); + usbtrace_trprintf((trprintf_t)lowsyslog, event, value); #endif } irqrestore(flags); diff --git a/nuttx/drivers/usbdev/usbmsc.h b/nuttx/drivers/usbdev/usbmsc.h index 883a49951..da35ae923 100644 --- a/nuttx/drivers/usbdev/usbmsc.h +++ b/nuttx/drivers/usbdev/usbmsc.h @@ -199,9 +199,9 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_DEBUG # ifdef CONFIG_ARCH_LOWPUTC -# define dbgprintf(format, arg...) lib_lowprintf(format, ##arg) +# define dbgprintf(format, arg...) lowsyslog(format, ##arg) # else -# define dbgprintf(format, arg...) lib_rawprintf(format, ##arg) +# define dbgprintf(format, arg...) syslog(format, ##arg) # endif # else # define dbgprintf(x...) @@ -209,9 +209,9 @@ #else # ifdef CONFIG_DEBUG # ifdef CONFIG_ARCH_LOWPUTC -# define dbgprintf lib_lowprintf +# define dbgprintf lowsyslog # else -# define dbgprintf lib_rawprintf +# define dbgprintf syslog # endif # else # define dbgprintf (void) diff --git a/nuttx/fs/fs_syslog.c b/nuttx/fs/fs_syslog.c index ab6cec51e..779263a3c 100644 --- a/nuttx/fs/fs_syslog.c +++ b/nuttx/fs/fs_syslog.c @@ -357,10 +357,10 @@ int syslog_initialize(void) * * Description: * This is the low-level system logging interface. The debugging/syslogging - * interfaces are lib_rawprintf() and lib_lowprinf(). The difference is - * the lib_rawprintf() writes to fd=1 (stdout) and lib_lowprintf() uses + * interfaces are syslog() and lowsyslog(). The difference is is that + * the syslog() function writes to fd=1 (stdout) whereas lowsyslog() uses * a lower level interface that works from interrupt handlers. This - * function is a a low-level interface used to implement lib_lowprintf(). + * function is a a low-level interface used to implement lowsyslog(). * ****************************************************************************/ diff --git a/nuttx/fs/nxffs/nxffs_dump.c b/nuttx/fs/nxffs/nxffs_dump.c index 6a89aaf1d..9caac4c4b 100644 --- a/nuttx/fs/nxffs/nxffs_dump.c +++ b/nuttx/fs/nxffs/nxffs_dump.c @@ -60,7 +60,7 @@ */ #undef fdbg -#define fdbg lib_rawprintf +#define fdbg syslog /**************************************************************************** * Private Types diff --git a/nuttx/include/debug.h b/nuttx/include/debug.h index aa5efd432..70ae2ee18 100644 --- a/nuttx/include/debug.h +++ b/nuttx/include/debug.h @@ -1,7 +1,7 @@ /**************************************************************************** * include/debug.h * - * Copyright (C) 2007-2011 Gregory Nutt. All rights reserved. + * Copyright (C) 2007-2011, 2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without @@ -43,7 +43,7 @@ #include #include -#include +#include /**************************************************************************** * Pre-processor Definitions @@ -104,22 +104,22 @@ #ifdef CONFIG_DEBUG # define dbg(format, arg...) \ - lib_rawprintf(EXTRA_FMT format EXTRA_ARG, ##arg) + syslog(EXTRA_FMT format EXTRA_ARG, ##arg) # ifdef CONFIG_ARCH_LOWPUTC # define lldbg(format, arg...) \ - lib_lowprintf(EXTRA_FMT format EXTRA_ARG, ##arg) + lowsyslog(EXTRA_FMT format EXTRA_ARG, ##arg) # else # define lldbg(x...) # endif # ifdef CONFIG_DEBUG_VERBOSE # define vdbg(format, arg...) \ - lib_rawprintf(EXTRA_FMT format EXTRA_ARG, ##arg) + syslog(EXTRA_FMT format EXTRA_ARG, ##arg) # ifdef CONFIG_ARCH_LOWPUTC # define llvdbg(format, arg...) \ - lib_lowprintf(EXTRA_FMT format EXTRA_ARG, ##arg) + lowsyslog(EXTRA_FMT format EXTRA_ARG, ##arg) # else # define llvdbg(x...) # endif @@ -576,29 +576,16 @@ extern "C" { #endif -/* These low-level debug APIs are provided by the NuttX library. If the - * cross-compiler's pre-processor supports a variable number of macro - * arguments, then the macros below will map all debug statements to one - * or the other of the following. - */ - -int lib_rawprintf(FAR const char *format, ...); - -#ifdef CONFIG_ARCH_LOWPUTC -int lib_lowprintf(FAR const char *format, ...); -#endif - /* Dump a buffer of data */ void lib_dumpbuffer(FAR const char *msg, FAR const uint8_t *buffer, unsigned int buflen); -/* Enable or disable debug output */ - -#ifdef CONFIG_DEBUG_ENABLE -void dbg_enable(bool enable); -#endif - -/* If the cross-compiler's pre-processor does not support variable length +/* The system logging interfaces are pnormally accessed via the macros + * provided above. If the cross-compiler's C pre-processor supports a + * variable number of macro arguments, then those macros below will map all + * debug statements to the logging interfaces declared in syslog.h. + * + * If the cross-compiler's pre-processor does not support variable length * arguments, then these additional APIs will be built. */ diff --git a/nuttx/include/nuttx/syslog.h b/nuttx/include/nuttx/syslog.h index 3c340d23a..bb3c8f493 100644 --- a/nuttx/include/nuttx/syslog.h +++ b/nuttx/include/nuttx/syslog.h @@ -116,10 +116,10 @@ EXTERN int syslog_initialize(void); * * Description: * This is the low-level system logging interface. The debugging/syslogging - * interfaces are lib_rawprintf() and lib_lowprinf(). The difference is - * the lib_rawprintf() writes to fd=1 (stdout) and lib_lowprintf() uses + * interfaces are syslog() and lowsyslog(). The difference is that + * the syslog() internface writes to fd=1 (stdout) whereas lowsyslog() uses * a lower level interface that works from interrupt handlers. This - * function is a a low-level interface used to implement lib_lowprintf(). + * function is a a low-level interface used to implement lowsyslog(). * ****************************************************************************/ diff --git a/nuttx/include/syslog.h b/nuttx/include/syslog.h new file mode 100644 index 000000000..cfb2db97b --- /dev/null +++ b/nuttx/include/syslog.h @@ -0,0 +1,94 @@ +/**************************************************************************** + * include/syslog.h + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 NuttX 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. + * + ****************************************************************************/ + +#ifndef __INCLUDE_SYSLOG_H +#define __INCLUDE_SYSLOG_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Public Type Declarations + ****************************************************************************/ + +/**************************************************************************** + * Public Variables + ****************************************************************************/ + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +#if defined(__cplusplus) +extern "C" +{ +#endif + +/* These low-level debug APIs are provided by the NuttX library. These are + * normally accessed via the macros in debug.h. If the cross-compiler's + * C pre-processor supports a variable number of macro arguments, then those + * macros below will map all debug statements to one or the other of the + * following. + */ + +int syslog(FAR const char *format, ...); +int vsyslog(const char *src, va_list ap); + +#ifdef CONFIG_ARCH_LOWPUTC +int lowsyslog(FAR const char *format, ...); +int lowvsyslog(const char *src, va_list ap); +#endif + +/* Enable or disable syslog output */ + +#ifdef CONFIG_SYSLOG_ENABLE +void syslog_enable(bool enable); +#endif + +#if defined(__cplusplus) +} +#endif + +#endif /* __INCLUDE_SYSLOG_H */ diff --git a/nuttx/libc/lib.csv b/nuttx/libc/lib.csv index 171f64e9b..29cdf39a6 100644 --- a/nuttx/libc/lib.csv +++ b/nuttx/libc/lib.csv @@ -16,7 +16,6 @@ "crc32","crc32.h","","uint32_t","FAR const uint8_t *","size_t" "crc32part","crc32.h","","uint32_t","FAR const uint8_t *","size_t","uint32_t" "dbg","debug.h","!defined(CONFIG_CPP_HAVE_VARARGS) && defined(CONFIG_DEBUG)","int","const char *","..." -"dbg_enable","debug.h","defined(CONFIG_DEBUG_ENABLE)","void","bool" "dirname","libgen.h","","FAR char","FAR char *" "dq_addafter","queue.h","","void","FAR dq_entry_t *","FAR dq_entry_t *","FAR dq_queue_t *" "dq_addbefore","queue.h","","void","FAR dq_entry_t *","FAR dq_entry_t *","FAR dq_queue_t *" @@ -59,11 +58,10 @@ "inet_pton","arpa/inet.h","","int","int","FAR const char *","FAR void *" "labs","stdlib.h","","long int","long int" "lib_dumpbuffer","debug.h","","void","FAR const char *","FAR const uint8_t *","unsigned int" -"lib_lowprintf","debug.h","","int","FAR const char *","..." -"lib_rawprintf","debug.h","","int","FAR const char *","..." "llabs","stdlib.h","defined(CONFIG_HAVE_LONG_LONG)","long long int","long long int" "lldbg","debug.h","!defined(CONFIG_CPP_HAVE_VARARGS) && defined(CONFIG_DEBUG) && defined(CONFIG_ARCH_LOWPUTC)","int","const char *","..." "llvdbg","debug.h","!defined(CONFIG_CPP_HAVE_VARARGS) && defined(CONFIG_DEBUG) && defined(CONFIG_DEBUG_VERBOSE) && defined(CONFIG_ARCH_LOWPUTC)","int","const char *","..." +"lowsyslog","syslog.h","","int","FAR const char *","..." "match","","","int","const char *","const char *" "memccpy","string.h","","FAR void","FAR void *","FAR const void *","int c","size_t" "memchr","string.h","","FAR void","FAR const void *","int c","size_t" @@ -154,6 +152,8 @@ "strtoll","stdlib.h","defined(CONFIG_HAVE_LONG_LONG)","long long","const char *nptr","char **endptr","int base" "strtoul","stdlib.h","","unsigned long","const char *","char **","int" "strtoull","stdlib.h","defined(CONFIG_HAVE_LONG_LONG)","unsigned long long","const char *","char **","int" +"syslog","syslog.h","","int","FAR const char *","..." +"syslog_enable","syslog.h","defined(CONFIG_SYSLOG_ENABLE)","void","bool" "tcflush","termios.h","CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_SERIAL_TERMIOS)","int","int","int" "tcgetattr","termios.h","CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_SERIAL_TERMIOS)","int","int","FAR struct termios *" "tcsetattr","termios.h","CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_SERIAL_TERMIOS)","int","int","int","FAR const struct termios *" diff --git a/nuttx/libc/lib_internal.h b/nuttx/libc/lib_internal.h index c09c751d4..17adff417 100644 --- a/nuttx/libc/lib_internal.h +++ b/nuttx/libc/lib_internal.h @@ -106,8 +106,8 @@ /* Debug output is initially disabled */ -#ifdef CONFIG_DEBUG_ENABLE -extern bool g_dbgenable; +#ifdef CONFIG_SYSLOG_ENABLE +extern bool g_syslogenable; #endif /**************************************************************************** @@ -137,14 +137,6 @@ int lib_sprintf(FAR struct lib_outstream_s *obj, int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list ap); -/* Defined lib_rawprintf.c */ - -int lib_rawvprintf(const char *src, va_list ap); - -/* Defined lib_lowprintf.c */ - -int lib_lowvprintf(const char *src, va_list ap); - /* Defined in lib_dtoa.c */ #ifdef CONFIG_LIBC_FLOATINGPOINT diff --git a/nuttx/libc/misc/lib_dbg.c b/nuttx/libc/misc/lib_dbg.c index 5605ff828..921a4e24d 100644 --- a/nuttx/libc/misc/lib_dbg.c +++ b/nuttx/libc/misc/lib_dbg.c @@ -50,8 +50,8 @@ /* Debug output is initially disabled */ -#ifdef CONFIG_DEBUG_ENABLE -bool g_dbgenable; +#ifdef CONFIG_SYSLOG_ENABLE +bool g_syslogenable; #endif /**************************************************************************** @@ -59,17 +59,17 @@ bool g_dbgenable; ****************************************************************************/ /**************************************************************************** - * Name: dbg_enable + * Name: syslog_enable * * Description: * Enable or disable debug output. * ****************************************************************************/ -#ifdef CONFIG_DEBUG_ENABLE -void dbg_enable(bool enable) +#ifdef CONFIG_SYSLOG_ENABLE +void syslog_enable(bool enable) { - g_dbgenable = enable; + g_syslogenable = enable; } #endif @@ -89,13 +89,13 @@ int dbg(const char *format, ...) va_list ap; int ret; -#ifdef CONFIG_DEBUG_ENABLE +#ifdef CONFIG_SYSLOG_ENABLE ret = 0; - if (g_dbgenable) + if (g_syslogenable) #endif { va_start(ap, format); - ret = lib_rawvprintf(format, ap); + ret = vsyslog(format, ap); va_end(ap); } @@ -108,13 +108,13 @@ int lldbg(const char *format, ...) va_list ap; int ret; -#ifdef CONFIG_DEBUG_ENABLE +#ifdef CONFIG_SYSLOG_ENABLE ret = 0; - if (g_dbgenable) + if (g_syslogenable) #endif { va_start(ap, format); - ret = lib_lowvprintf(format, ap); + ret = lowvsyslog(format, ap); va_end(ap); } @@ -128,13 +128,13 @@ int vdbg(const char *format, ...) va_list ap; int ret; -#ifdef CONFIG_DEBUG_ENABLE +#ifdef CONFIG_SYSLOG_ENABLE ret = 0; - if (g_dbgenable) + if (g_syslogenable) #endif { va_start(ap, format); - ret = lib_rawvprintf(format, ap); + ret = vsyslog(format, ap); va_end(ap); } @@ -147,13 +147,13 @@ int llvdbg(const char *format, ...) va_list ap; int ret; -#ifdef CONFIG_DEBUG_ENABLE +#ifdef CONFIG_SYSLOG_ENABLE ret = 0; - if (g_dbgenable) + if (g_syslogenable) #endif { va_start(ap, format); - ret = lib_lowvprintf(format, ap); + ret = lowvsyslog(format, ap); va_end(ap); } diff --git a/nuttx/libc/misc/lib_dumpbuffer.c b/nuttx/libc/misc/lib_dumpbuffer.c index 52158b220..5194560fd 100644 --- a/nuttx/libc/misc/lib_dumpbuffer.c +++ b/nuttx/libc/misc/lib_dumpbuffer.c @@ -51,15 +51,15 @@ #ifdef CONFIG_CPP_HAVE_VARARGS # ifdef CONFIG_ARCH_LOWPUTC -# define message(format, arg...) lib_lowprintf(format, ##arg) +# define message(format, arg...) lowsyslog(format, ##arg) # else -# define message(format, arg...) lib_rawprintf(format, ##arg) +# define message(format, arg...) syslog(format, ##arg) # endif #else # ifdef CONFIG_ARCH_LOWPUTC -# define message lib_lowprintf +# define message lowsyslog # else -# define message lib_rawprintf +# define message syslog # endif #endif diff --git a/nuttx/libc/stdio/Make.defs b/nuttx/libc/stdio/Make.defs index e18ab0220..ffc9b1a75 100644 --- a/nuttx/libc/stdio/Make.defs +++ b/nuttx/libc/stdio/Make.defs @@ -37,7 +37,7 @@ # This first group of C files do not depend on having file descriptors or # C streams. -CSRCS += lib_fileno.c lib_printf.c lib_rawprintf.c lib_lowprintf.c \ +CSRCS += lib_fileno.c lib_printf.c lib_syslog.c lib_lowsyslog.c\ lib_sprintf.c lib_asprintf.c lib_snprintf.c lib_libsprintf.c \ lib_vsprintf.c lib_avsprintf.c lib_vsnprintf.c lib_libvsprintf.c \ lib_meminstream.c lib_memoutstream.c lib_lowinstream.c \ diff --git a/nuttx/libc/stdio/lib_lowprintf.c b/nuttx/libc/stdio/lib_lowprintf.c deleted file mode 100644 index 667fad7be..000000000 --- a/nuttx/libc/stdio/lib_lowprintf.c +++ /dev/null @@ -1,130 +0,0 @@ -/**************************************************************************** - * libc/stdio/lib_lowprintf.c - * - * Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * 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 NuttX 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. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include -#include - -#include "lib_internal.h" - -/* This interface can only be used from within the kernel */ - -#if !defined(CONFIG_NUTTX_KERNEL) || defined(__KERNEL__) - -/**************************************************************************** - * Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Type Declarations - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Global Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Global Constant Data - ****************************************************************************/ - -/**************************************************************************** - * Global Variables - ****************************************************************************/ - -/**************************************************************************** - * Private Constant Data - ****************************************************************************/ - -/**************************************************************************** - * Private Variables - ****************************************************************************/ - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: lib_lowvprintf - ****************************************************************************/ - -#if defined(CONFIG_ARCH_LOWPUTC) || defined(CONFIG_SYSLOG) - -int lib_lowvprintf(const char *fmt, va_list ap) -{ - struct lib_outstream_s stream; - - /* Wrap the stdout in a stream object and let lib_vsprintf do the work. */ - -#ifdef CONFIG_SYSLOG - lib_syslogstream((FAR struct lib_outstream_s *)&stream); -#else - lib_lowoutstream((FAR struct lib_outstream_s *)&stream); -#endif - return lib_vsprintf((FAR struct lib_outstream_s *)&stream, fmt, ap); -} - -/**************************************************************************** - * Name: lib_lowprintf - ****************************************************************************/ - -int lib_lowprintf(const char *fmt, ...) -{ - va_list ap; - int ret; - -#ifdef CONFIG_DEBUG_ENABLE - ret = 0; - if (g_dbgenable) -#endif - { - va_start(ap, fmt); - ret = lib_lowvprintf(fmt, ap); - va_end(ap); - } - - return ret; -} - -#endif /* CONFIG_ARCH_LOWPUTC || CONFIG_SYSLOG */ -#endif /* __KERNEL__ */ diff --git a/nuttx/libc/stdio/lib_lowsyslog.c b/nuttx/libc/stdio/lib_lowsyslog.c new file mode 100644 index 000000000..bfe6a2cce --- /dev/null +++ b/nuttx/libc/stdio/lib_lowsyslog.c @@ -0,0 +1,130 @@ +/**************************************************************************** + * libc/stdio/lib_lowsyslog.c + * + * Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include + +#include "lib_internal.h" + +/* This interface can only be used from within the kernel */ + +#if !defined(CONFIG_NUTTX_KERNEL) || defined(__KERNEL__) + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Type Declarations + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Global Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Global Constant Data + ****************************************************************************/ + +/**************************************************************************** + * Global Variables + ****************************************************************************/ + +/**************************************************************************** + * Private Constant Data + ****************************************************************************/ + +/**************************************************************************** + * Private Variables + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: lowvsyslog + ****************************************************************************/ + +#if defined(CONFIG_ARCH_LOWPUTC) || defined(CONFIG_SYSLOG) + +int lowvsyslog(const char *fmt, va_list ap) +{ + struct lib_outstream_s stream; + + /* Wrap the stdout in a stream object and let lib_vsprintf do the work. */ + +#ifdef CONFIG_SYSLOG + lib_syslogstream((FAR struct lib_outstream_s *)&stream); +#else + lib_lowoutstream((FAR struct lib_outstream_s *)&stream); +#endif + return lib_vsprintf((FAR struct lib_outstream_s *)&stream, fmt, ap); +} + +/**************************************************************************** + * Name: lowsyslog + ****************************************************************************/ + +int lowsyslog(const char *fmt, ...) +{ + va_list ap; + int ret; + +#ifdef CONFIG_SYSLOG_ENABLE + ret = 0; + if (g_syslogenable) +#endif + { + va_start(ap, fmt); + ret = lowvsyslog(fmt, ap); + va_end(ap); + } + + return ret; +} + +#endif /* CONFIG_ARCH_LOWPUTC || CONFIG_SYSLOG */ +#endif /* __KERNEL__ */ diff --git a/nuttx/libc/stdio/lib_printf.c b/nuttx/libc/stdio/lib_printf.c index 0e90c7ca5..b035aa14f 100644 --- a/nuttx/libc/stdio/lib_printf.c +++ b/nuttx/libc/stdio/lib_printf.c @@ -93,9 +93,9 @@ int printf(const char *fmt, ...) #if CONFIG_NFILE_STREAMS > 0 ret = vfprintf(stdout, fmt, ap); #elif CONFIG_NFILE_DESCRIPTORS > 0 - ret = lib_rawvprintf(fmt, ap); + ret = vsyslog(fmt, ap); #elif defined(CONFIG_ARCH_LOWPUTC) - ret = lib_lowvprintf(fmt, ap); + ret = lowvsyslog(fmt, ap); #else # ifdef CONFIG_CPP_HAVE_WARNING # warning "printf has no data sink" diff --git a/nuttx/libc/stdio/lib_rawprintf.c b/nuttx/libc/stdio/lib_rawprintf.c deleted file mode 100644 index d8deba12d..000000000 --- a/nuttx/libc/stdio/lib_rawprintf.c +++ /dev/null @@ -1,154 +0,0 @@ -/**************************************************************************** - * libc/stdio/lib_rawprintf.c - * - * Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * 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 NuttX 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. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include -#include - -#include "lib_internal.h" - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/* Some output destinations are only available from within the kernel */ - -#if defined(CONFIG_NUTTX_KERNEL) && !defined(__KERNEL__) -# undef CONFIG_SYSLOG -# undef CONFIG_ARCH_LOWPUTC -#endif - -/**************************************************************************** - * Private Type Declarations - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Global Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Global Constant Data - ****************************************************************************/ - -/**************************************************************************** - * Global Variables - ****************************************************************************/ - -/**************************************************************************** - * Private Constant Data - ****************************************************************************/ - -/**************************************************************************** - * Private Variables - ****************************************************************************/ - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: lib_rawvprintf - ****************************************************************************/ - -int lib_rawvprintf(const char *fmt, va_list ap) -{ -#if defined(CONFIG_SYSLOG) - - struct lib_outstream_s stream; - - /* Wrap the low-level output in a stream object and let lib_vsprintf - * do the work. - */ - - lib_syslogstream((FAR struct lib_outstream_s *)&stream); - return lib_vsprintf((FAR struct lib_outstream_s *)&stream, fmt, ap); - -#elif CONFIG_NFILE_DESCRIPTORS > 0 - - struct lib_rawoutstream_s rawoutstream; - - /* Wrap the stdout in a stream object and let lib_vsprintf - * do the work. - */ - - lib_rawoutstream(&rawoutstream, 1); - return lib_vsprintf(&rawoutstream.public, fmt, ap); - -#elif defined(CONFIG_ARCH_LOWPUTC) - - struct lib_outstream_s stream; - - /* Wrap the low-level output in a stream object and let lib_vsprintf - * do the work. - */ - - lib_lowoutstream((FAR struct lib_outstream_s *)&stream); - return lib_vsprintf((FAR struct lib_outstream_s *)&stream, fmt, ap); - -#else - return 0; -#endif -} - -/**************************************************************************** - * Name: lib_rawprintf - ****************************************************************************/ - -int lib_rawprintf(const char *fmt, ...) -{ - va_list ap; - int ret; - -#ifdef CONFIG_DEBUG_ENABLE - ret = 0; - if (g_dbgenable) -#endif - { - va_start(ap, fmt); - ret = lib_rawvprintf(fmt, ap); - va_end(ap); - } - - return ret; -} diff --git a/nuttx/libc/stdio/lib_syslog.c b/nuttx/libc/stdio/lib_syslog.c new file mode 100644 index 000000000..bbf7860d2 --- /dev/null +++ b/nuttx/libc/stdio/lib_syslog.c @@ -0,0 +1,154 @@ +/**************************************************************************** + * libc/stdio/lib_syslog.c + * + * Copyright (C) 2007-2009, 2011-2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include + +#include "lib_internal.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Some output destinations are only available from within the kernel */ + +#if defined(CONFIG_NUTTX_KERNEL) && !defined(__KERNEL__) +# undef CONFIG_SYSLOG +# undef CONFIG_ARCH_LOWPUTC +#endif + +/**************************************************************************** + * Private Type Declarations + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Global Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Global Constant Data + ****************************************************************************/ + +/**************************************************************************** + * Global Variables + ****************************************************************************/ + +/**************************************************************************** + * Private Constant Data + ****************************************************************************/ + +/**************************************************************************** + * Private Variables + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: vsyslog + ****************************************************************************/ + +int vsyslog(const char *fmt, va_list ap) +{ +#if defined(CONFIG_SYSLOG) + + struct lib_outstream_s stream; + + /* Wrap the low-level output in a stream object and let lib_vsprintf + * do the work. + */ + + lib_syslogstream((FAR struct lib_outstream_s *)&stream); + return lib_vsprintf((FAR struct lib_outstream_s *)&stream, fmt, ap); + +#elif CONFIG_NFILE_DESCRIPTORS > 0 + + struct lib_rawoutstream_s rawoutstream; + + /* Wrap the stdout in a stream object and let lib_vsprintf + * do the work. + */ + + lib_rawoutstream(&rawoutstream, 1); + return lib_vsprintf(&rawoutstream.public, fmt, ap); + +#elif defined(CONFIG_ARCH_LOWPUTC) + + struct lib_outstream_s stream; + + /* Wrap the low-level output in a stream object and let lib_vsprintf + * do the work. + */ + + lib_lowoutstream((FAR struct lib_outstream_s *)&stream); + return lib_vsprintf((FAR struct lib_outstream_s *)&stream, fmt, ap); + +#else + return 0; +#endif +} + +/**************************************************************************** + * Name: syslog + ****************************************************************************/ + +int syslog(const char *fmt, ...) +{ + va_list ap; + int ret; + +#ifdef CONFIG_SYSLOG_ENABLE + ret = 0; + if (g_syslogenable) +#endif + { + va_start(ap, fmt); + ret = vsyslog(fmt, ap); + va_end(ap); + } + + return ret; +} -- cgit v1.2.3 From 2946cb47a8d70406a85c37f2d210e539c240a22b Mon Sep 17 00:00:00 2001 From: patacongo Date: Tue, 29 Jan 2013 13:30:10 +0000 Subject: USB monitor daemon updates git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5579 42af7a65-404d-4744-a932-0658087f49c3 --- apps/system/usbmonitor/Makefile | 11 ++--- apps/system/usbmonitor/usbmonitor.c | 10 +++-- nuttx/Kconfig | 56 +++++++++++------------- nuttx/configs/stm32f4discovery/README.txt | 58 ++++++++++++++++++++++--- nuttx/configs/stm32f4discovery/src/up_nsh.c | 31 +++++++++++-- nuttx/configs/stm32f4discovery/usbnsh/defconfig | 2 +- nuttx/drivers/usbdev/Kconfig | 10 ++--- nuttx/fs/Kconfig | 15 ++++++- nuttx/graphics/nxfonts/nxfonts_getfont.c | 2 +- 9 files changed, 139 insertions(+), 56 deletions(-) (limited to 'apps') diff --git a/apps/system/usbmonitor/Makefile b/apps/system/usbmonitor/Makefile index b4c323eb7..56b6ccee1 100644 --- a/apps/system/usbmonitor/Makefile +++ b/apps/system/usbmonitor/Makefile @@ -41,8 +41,7 @@ ifeq ($(WINTOOL),y) INCDIROPT = -w endif -# Hello Application -# TODO: appname can be automatically extracted from the directory name +# USB Monitor Application PRIORITY = SCHED_PRIORITY_DEFAULT STACKSIZE = 768 @@ -88,11 +87,13 @@ $(COBJS): %$(OBJEXT): %.c # Register application ifeq ($(CONFIG_NSH_BUILTIN_APPS),y) -$(BUILTIN_REGISTRY)$(DELIM)$(APPNAME)_main.bdat: $(DEPCONFIG) Makefile +$(BUILTIN_REGISTRY)$(DELIM)usbmonitor_start.bdat: $(DEPCONFIG) Makefile $(call REGISTER,"usbmon_start",$(PRIORITY),$(STACKSIZE),usbmonitor_start) - $(call REGISTER,"usbmon_stop",$(PRIORITY),$(STACKSIZE),usbmonintor_stop) -context: $(BUILTIN_REGISTRY)$(DELIM)$(APPNAME)_main.bdat +$(BUILTIN_REGISTRY)$(DELIM)usbmonitor_stop.bdat: $(DEPCONFIG) Makefile + $(call REGISTER,"usbmon_stop",$(PRIORITY),$(STACKSIZE),usbmonitor_stop) + +context: $(BUILTIN_REGISTRY)$(DELIM)usbmonitor_start.bdat $(BUILTIN_REGISTRY)$(DELIM)usbmonitor_stop.bdat else context: endif diff --git a/apps/system/usbmonitor/usbmonitor.c b/apps/system/usbmonitor/usbmonitor.c index b615b99f9..b386c3c2e 100644 --- a/apps/system/usbmonitor/usbmonitor.c +++ b/apps/system/usbmonitor/usbmonitor.c @@ -42,9 +42,12 @@ #include #include -#include +#include +#include +#include +#include -#include #ifdef CONFIG_SYSTEM_USBMONITOR @@ -89,7 +92,8 @@ static int usbmonitor_daemon(int argc, char **argv) while (!g_usbmonitor.stop) { - (void)usbmonitor_enumerate(nsh_tracecallback, NULL); + sleep(2); + (void)usbtrace_enumerate(usbmonitor_tracecallback, NULL); } /* Stopped */ diff --git a/nuttx/Kconfig b/nuttx/Kconfig index 937bab2be..af743b9db 100644 --- a/nuttx/Kconfig +++ b/nuttx/Kconfig @@ -297,27 +297,21 @@ config DEBUG ---help--- Enables built-in debug features. Selecting this option will (1) Enable debug assertions in the code, (2) enable extended parameter testing in - many functions, and (3) enable support for debug output. Note that enabling - this option by itself does not produce debug output. Debug output must - also be selected on a subsystem-by-subsystem basis. + many functions, and (3) enable support for debug output to the SYSLOG. + Note that enabling this option by itself does not produce debug output. + Debug output must also be selected on a subsystem-by-subsystem basis. if DEBUG config DEBUG_VERBOSE bool "Enable Debug Verbose Output" default n ---help--- - Enables verbose debug output (assuming debug output is enabled). As a - general rule, when DEBUG is enabled only errors will be reported in the debug - output. But if you also enable DEBUG_VERBOSE, then very chatty (and - often annoying) output will be generated. This means there are two levels - of debug output: errors-only and everything. - -config SYSLOG_ENABLE - bool "Enable Debug Controls" - default n - ---help--- - Support an interface called syslog_enable to dynamically enable or - disable debug output. + Enables verbose debug output (assuming debug featurses are enabled). + As a general rule, when DEBUG is enabled only errors will be + reported in the debug SYSLOG output. But if you also enable + DEBUG_VERBOSE, then very chatty (and often annoying) output will be + generated. This means there are two levels of debug output: + errors-only and everything. comment "Subsystem Debug Options" @@ -325,58 +319,58 @@ config DEBUG_MM bool "Enable Memory Manager Debug Output" default n ---help--- - Enable memory management debug output (disabled by default) + Enable memory management debug SYSLOG output (disabled by default) config DEBUG_SCHED bool "Enable Scheduler Debug Output" default n ---help--- - Enable OS debug output (disabled by default) + Enable OS debug SYSLOG output (disabled by default) config DEBUG_PAGING bool "Enable Demand Paging Debug Output" default n depends on PAGING ---help--- - Enable demand paging debug output (disabled by default) + Enable demand paging debug SYSLOG output (disabled by default) config DEBUG_NET bool "Enable Network Debug Output" default n depends on NET ---help--- - Enable network debug output (disabled by default) + Enable network debug SYSLOG output (disabled by default) config DEBUG_USB bool "Enable USB Debug Output" default n depends on USBDEV || USBHOST ---help--- - Enable usb debug output (disabled by default) + Enable usb debug SYSLOG output (disabled by default) config DEBUG_FS bool "Enable File System Debug Output" default n ---help--- - Enable file system debug output (disabled by default) + Enable file system debug SYSLOG output (disabled by default) config DEBUG_LIB bool "Enable C Library Debug Output" default n ---help--- - Enable C library debug output (disabled by default) + Enable C library debug SYSLOG output (disabled by default) config DEBUG_BINFMT bool "Enable Binary Loader Debug Output" default n ---help--- - Enable binary loader debug output (disabled by default) + Enable binary loader debug SYSLOG output (disabled by default) config DEBUG_GRAPHICS bool "Enable Graphics Debug Output" default n ---help--- - Enable NX graphics debug output (disabled by default) + Enable NX graphics debug SYSLOG output (disabled by default) comment "Driver Debug Options" @@ -385,21 +379,21 @@ config DEBUG_LCD default n depends on LCD ---help--- - Enable low level debug output from the LCD driver (disabled by default) + Enable low level debug SYSLOG output from the LCD driver (disabled by default) config DEBUG_INPUT bool "Enable Input Device Debug Output" default n depends on INPUT ---help--- - Enable low level debug output from the input device drivers such as + Enable low level debug SYSLOG output from the input device drivers such as mice and touchscreens (disabled by default) config DEBUG_ANALOG bool "Enable Analog Device Debug Output" default n ---help--- - Enable low level debug output from the analog device drivers such as + Enable low level debug SYSLOG output from the analog device drivers such as A/D and D/A converters (disabled by default) config DEBUG_I2C @@ -407,27 +401,27 @@ config DEBUG_I2C default n depends on I2C ---help--- - Enable I2C driver debug output (disabled by default) + Enable I2C driver debug SYSLOG output (disabled by default) config DEBUG_SPI bool "Enable SPI Debug Output" default n depends on SPI ---help--- - Enable I2C driver debug output (disabled by default) + Enable I2C driver debug SYSLOG output (disabled by default) config DEBUG_DMA bool "Enable DMA Debug Output" default n ---help--- - Enable DMA-releated debug output (disabled by default) + Enable DMA-releated debug SYSLOG output (disabled by default) config DEBUG_WATCHDOG bool "Enable Watchdog Timer Debug Output" default n depends on WATCHDOG ---help--- - Enable watchdog timer debug output (disabled by default) + Enable watchdog timer debug SYSLOG output (disabled by default) endif diff --git a/nuttx/configs/stm32f4discovery/README.txt b/nuttx/configs/stm32f4discovery/README.txt index 378509be8..41207fafa 100644 --- a/nuttx/configs/stm32f4discovery/README.txt +++ b/nuttx/configs/stm32f4discovery/README.txt @@ -1258,7 +1258,36 @@ Where is one of the following: times before NSH starts. The logic does this to prevent sending USB data before there is anything on the host side listening for USB serial input. - 9. USB OTG FS Host Support. The following changes will enable support for + 9. Here is an alternative USB console configuration. The following + configuration will also create a NSH USB console but this version + will use /dev/console. Instead, it will use the normal /dev/ttyACM0 + USB serial device for the console: + + CONFIG_STM32_OTGFS=y : STM32 OTG FS support + CONFIG_USART2_SERIAL_CONSOLE=y : Keep the USART2 console + CONFIG_DEV_CONSOLE=y : /dev/console exists (but NSH won't use it) + CONFIG_USBDEV=y : USB device support must be enabled + CONFIG_CDCACM=y : The CDC/ACM driver must be built + CONFIG_CDCACM_CONSOLE=n : Don't use the CDC/ACM USB console. + CONFIG_NSH_USBCONSOLE=y : Instead use some other USB device for the console + + The particular USB device that is used is: + + CONFIG_NSH_USBCONDEV="/dev/ttyACM0" + + The advantage of this configuration is only that it is easier to + bet working. This alternative does has some side effects: + + - When any other device other than /dev/console is used for a user + interface, linefeeds (\n) will not be expanded to carriage return / + linefeeds (\r\n). You will need to set your terminal program to account + for this. + + - /dev/console still exists and still refers to the serial port. So + you can still use certain kinds of debug output (see include/debug.h, all + of the interfaces based on lowsyslog will work in this configuration). + + 10. USB OTG FS Host Support. The following changes will enable support for a USB host on the STM32F4Discovery, including support for a mass storage class driver: @@ -1497,10 +1526,29 @@ Where is one of the following: CONFIG_SYSLOG_CHAR=y : Use a character device for system logging CONFIG_SYSLOG_DEVPATH="/dev/ttyS0" : UART2 will be /dev/ttyS0 - Debug, however, is not enable so in the default configuration nothing - should appear on UART2 unless you enable some debug output. - - 4. By default, this project assumes that you are *NOT* using the DFU + However, there is nothing to generate SYLOG output in the default + configuration so nothing should appear on UART2 unless you enable + some debug output or enable the USB monitor. + + 4. Enabling USB monitor SYSLOG output. If tracing is enabled, the USB + device will save encoded trace output in in-memory buffer; if the + USB monitor is enabled, that trace buffer will be periodically + emptied and dumped to the system loggin device (UART2 in this + configuraion): + + CONFIG_USBDEV_TRACE=y : Enable USB trace feature + CONFIG_USBDEV_TRACE_NRECORDS=128 : Buffer 128 records in memory + CONFIG_SYSTEM_USBMONITOR=y : Start the USB monitor daemon + CONFIG_SYSTEM_USBMONITOR_STACKSIZE=2048 : USB monitor daemon stack size + CONFIG_SYSTEM_USBMONITOR_PRIORITY=50 : USB monitor daemon priority + + CONFIG_NSH_USBDEV_TRACEINIT=y : Enable TRACE output + CONFIG_NSH_USBDEV_TRACECLASS=y + CONFIG_NSH_USBDEV_TRACETRANSFERS=y + CONFIG_NSH_USBDEV_TRACECONTROLLER=y + CONFIG_NSH_USBDEV_TRACEINTERRUPTS=y + + 5. By default, this project assumes that you are *NOT* using the DFU bootloader. Using the Prolifics PL2303 Emulation diff --git a/nuttx/configs/stm32f4discovery/src/up_nsh.c b/nuttx/configs/stm32f4discovery/src/up_nsh.c index fd3fe5cd9..565aac724 100644 --- a/nuttx/configs/stm32f4discovery/src/up_nsh.c +++ b/nuttx/configs/stm32f4discovery/src/up_nsh.c @@ -50,6 +50,10 @@ # include #endif +#ifdef CONFIG_SYSTEM_USBMONITOR +# include +#endif + #ifdef CONFIG_STM32_OTGFS # include "stm32_usbhost.h" #endif @@ -63,20 +67,23 @@ /* Configuration ************************************************************/ -#define HAVE_USBDEV 1 -#define HAVE_USBHOST 1 +#define HAVE_USBDEV 1 +#define HAVE_USBHOST 1 +#define HAVE_USBMONITOR 1 /* Can't support USB host or device features if USB OTG FS is not enabled */ #ifndef CONFIG_STM32_OTGFS # undef HAVE_USBDEV # undef HAVE_USBHOST +# undef HAVE_USBMONITOR #endif /* Can't support USB device is USB device is not enabled */ #ifndef CONFIG_USBDEV # undef HAVE_USBDEV +# undef HAVE_USBMONITOR #endif /* Can't support USB host is USB host is not enabled */ @@ -85,6 +92,12 @@ # undef HAVE_USBHOST #endif +/* Check if we should enable the USB monitor before starting NSH */ + +#if !defined(CONFIG_USBDEV_TRACE) || !defined(CONFIG_SYSTEM_USBMONITOR) +# undef HAVE_USBMONITOR +#endif + /* Debug ********************************************************************/ #ifdef CONFIG_CPP_HAVE_VARARGS @@ -115,9 +128,11 @@ int nsh_archinitialize(void) { -#ifdef HAVE_USBHOST +#if defined(HAVE_USBHOST) || defined(HAVE_USBMONITOR) int ret; +#endif +#ifdef HAVE_USBHOST /* Initialize USB host operation. stm32_usbhost_initialize() starts a thread * will monitor for USB connection and disconnection events. */ @@ -130,5 +145,15 @@ int nsh_archinitialize(void) } #endif +#ifdef HAVE_USBMONITOR + /* Start the USB Monitor */ + + ret = usbmonitor_start(0, NULL); + if (ret != OK) + { + message("nsh_archinitialize: Start USB monitor: %d\n", ret); + } +#endif + return OK; } diff --git a/nuttx/configs/stm32f4discovery/usbnsh/defconfig b/nuttx/configs/stm32f4discovery/usbnsh/defconfig index 534445f01..ba704001a 100644 --- a/nuttx/configs/stm32f4discovery/usbnsh/defconfig +++ b/nuttx/configs/stm32f4discovery/usbnsh/defconfig @@ -422,7 +422,7 @@ CONFIG_CDCACM_TXBUFSIZE=256 CONFIG_CDCACM_VENDORID=0x0525 CONFIG_CDCACM_PRODUCTID=0xa4a7 CONFIG_CDCACM_VENDORSTR="NuttX" -CONFIG_CDCACM_PRODUCTSTR="USBdev Serial" +CONFIG_CDCACM_PRODUCTSTR="CDC/ACM Serial" # CONFIG_USBMSC is not set # CONFIG_USBHOST is not set # CONFIG_WIRELESS is not set diff --git a/nuttx/drivers/usbdev/Kconfig b/nuttx/drivers/usbdev/Kconfig index 5ab6bb8fa..e17b38022 100644 --- a/nuttx/drivers/usbdev/Kconfig +++ b/nuttx/drivers/usbdev/Kconfig @@ -148,7 +148,7 @@ config COMPOSITE_VERSIONNO endif menuconfig PL2303 - bool "Emulates the Prolific PL2303 serial/USB converter" + bool "Prolific PL2303 serial/USB converter emulation" default n ---help--- This logic emulates the Prolific PL2303 serial/USB converter @@ -216,7 +216,7 @@ config PL2303_VENDORSTR config PL2303_PRODUCTSTR string "Product string" - default "USBdev Serial" + default "PL2303 Emulation" endif menuconfig CDCACM @@ -380,7 +380,7 @@ config CDCACM_VENDORSTR config CDCACM_PRODUCTSTR string "Product string" - default "USBdev Serial" + default "CDC/ACM Serial" endif menuconfig USBMSC @@ -495,8 +495,8 @@ config USBMSC_PRODUCTID default 0x00 config USBMSC_PRODUCTSTR - string "Mass stroage product string" - default "Mass stroage" + string "Mass storage product string" + default "Mass Storage" config USBMSC_VERSIONNO hex "USB MSC Version Number" diff --git a/nuttx/fs/Kconfig b/nuttx/fs/Kconfig index e6647f516..6aac7a3f7 100644 --- a/nuttx/fs/Kconfig +++ b/nuttx/fs/Kconfig @@ -18,11 +18,22 @@ source fs/binfs/Kconfig comment "System Logging" +config SYSLOG_ENABLE + bool "Enable SYSLOG Controls" + default n + ---help--- + Support an interface called syslog_enable to dynamically enable or + disable SYSLOG output. Default: SYSLOG output is always enabled. + config SYSLOG - bool "System logging" + bool "Advanced SYSLOG features" default n ---help--- - Enables generic system logging features. + Enables generic system logging features. NOTE: This setting is not + required to enable system logging. If this feature is not enable + system logging will still be available and will log to the system + console (like printf()). This setting is required to enable + customization of the basic system loggin capability. if SYSLOG diff --git a/nuttx/graphics/nxfonts/nxfonts_getfont.c b/nuttx/graphics/nxfonts/nxfonts_getfont.c index c2af977f2..0eb48e9df 100644 --- a/nuttx/graphics/nxfonts/nxfonts_getfont.c +++ b/nuttx/graphics/nxfonts/nxfonts_getfont.c @@ -242,7 +242,7 @@ static FAR const struct nx_fontpackage_s *g_fontpackages[] = * Name: nxf_getglyphset * * Description: - * Return information about the font set containtined he selected + * Return information about the font set contained in the selected * character encoding. * * Input Parameters: -- cgit v1.2.3 From fb94bc1258c9fe4e78fe0d5515f6a6131a8d1e65 Mon Sep 17 00:00:00 2001 From: patacongo Date: Tue, 29 Jan 2013 17:42:58 +0000 Subject: The USB monitor now works with the stm32f4discover/nsh configuration (but not with the usbnsh configuration) git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5580 42af7a65-404d-4744-a932-0658087f49c3 --- apps/nshlib/Kconfig | 20 ++++++-- apps/nshlib/README.txt | 12 +++-- apps/nshlib/nsh.h | 80 ++++++++++++++++++------------- apps/nshlib/nsh_usbdev.c | 23 +++++---- apps/system/usbmonitor/Kconfig | 42 ++++++++++++++-- apps/system/usbmonitor/usbmonitor.c | 76 +++++++++++++++++++++++++++-- nuttx/configs/stm32f4discovery/README.txt | 42 ++++++++++------ nuttx/fs/fs_syslog.c | 2 + nuttx/libc/stdio/lib_syslogstream.c | 1 - 9 files changed, 225 insertions(+), 73 deletions(-) (limited to 'apps') diff --git a/apps/nshlib/Kconfig b/apps/nshlib/Kconfig index f6a5aa045..589476baf 100644 --- a/apps/nshlib/Kconfig +++ b/apps/nshlib/Kconfig @@ -406,7 +406,7 @@ config NSH_USBCONDEV readable/write-able USB driver such as: NSH_USBCONDEV="/dev/ttyACM0". -config UBSDEV_MINOR +config USBDEV_MINOR int "USB console device minor number" default 0 depends on NSH_USBCONSOLE @@ -414,8 +414,22 @@ config UBSDEV_MINOR If there are more than one USB devices, then a USB device minor number may also need to be provided. Default: 0 -menu "USB Trace Support" +comment "USB Trace Support" +config NSH_USBDEV_TRACE + bool "Enable Builtin USB Trace Support" + default n depends on USBDEV && (DEBUG || USBDEV_TRACE) + ---help--- + Enable builtin USB trace support in NSH. If selected, buffered USB + trace data will be presented each time a command is provided to NSH. + The USB trace data will be sent to the console unless DEBUG set or + unless you are using a USB console. In those cases, the trace data + will go to the SYSLOG device. + + If not enabled, the USB trace support can be provided by external + logic such as apps/system/usbmonitor. + +if NSH_USBDEV_TRACE config NSH_USBDEV_TRACEINIT bool "Show initialization events" @@ -447,7 +461,7 @@ config NSH_USBDEV_TRACEINTERRUPTS ---help--- Show interrupt-related events -endmenu +endif config NSH_CONDEV bool "Default console device" diff --git a/apps/nshlib/README.txt b/apps/nshlib/README.txt index 006839628..a03f4a8ee 100644 --- a/apps/nshlib/README.txt +++ b/apps/nshlib/README.txt @@ -1025,12 +1025,16 @@ NSH-Specific Configuration Settings If there are more than one USB devices, then a USB device minor number may also need to be provided: - CONFIG_NSH_UBSDEV_MINOR + CONFIG_NSH_USBDEV_MINOR The minor device number of the USB device. Default: 0 - If USB tracing is enabled (CONFIG_USBDEV_TRACE), then NSH will - initialize USB tracing as requested by the following. Default: - Only USB errors are traced. + CONFIG_NSH_USBDEV_TRACE + If USB tracing is enabled (CONFIG_USBDEV_TRACE), then NSH can + be configured to show the buffered USB trace data afer each + NSH command: + + If CONFIG_NSH_USBDEV_TRACE is selected, then USB trace data + can be filtered as follows. Default: Only USB errors are traced. CONFIG_NSH_USBDEV_TRACEINIT Show initialization events diff --git a/apps/nshlib/nsh.h b/apps/nshlib/nsh.h index 64099a8df..705375e7e 100644 --- a/apps/nshlib/nsh.h +++ b/apps/nshlib/nsh.h @@ -1,7 +1,7 @@ /**************************************************************************** * apps/nshlib/nsh.h * - * Copyright (C) 2007-2012 Gregory Nutt. All rights reserved. + * Copyright (C) 2007-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without @@ -93,7 +93,9 @@ # elif defined(CONFIG_CDCACM) && defined(CONFIG_CDCACM_CONSOLE) # define HAVE_USB_CONSOLE 1 -/* Check for other USB console. USB console device must be provided in CONFIG_NSH_CONDEV */ +/* Check for other USB console. USB console device must be provided in + * CONFIG_NSH_CONDEV. + */ # elif defined(CONFIG_NSH_USBCONSOLE) # define HAVE_USB_CONSOLE 1 @@ -106,8 +108,8 @@ /* The default USB console device minor number is 0*/ -# ifndef CONFIG_NSH_UBSDEV_MINOR -# define CONFIG_NSH_UBSDEV_MINOR 0 +# ifndef CONFIG_NSH_USBDEV_MINOR +# define CONFIG_NSH_USBDEV_MINOR 0 # endif /* The default console device is always /dev/console */ @@ -118,42 +120,52 @@ /* USB trace settings */ -#ifdef CONFIG_NSH_USBDEV_TRACEINIT -# define TRACE_INIT_BITS (TRACE_INIT_BIT) -#else -# define TRACE_INIT_BITS (0) -#endif +#ifndef CONFIG_USBDEV_TRACE +# undef CONFIG_NSH_USBDEV_TRACE +#endif -#define TRACE_ERROR_BITS (TRACE_DEVERROR_BIT|TRACE_CLSERROR_BIT) +#ifdef CONFIG_NSH_USBDEV_TRACE +# ifdef CONFIG_NSH_USBDEV_TRACEINIT +# define TRACE_INIT_BITS (TRACE_INIT_BIT) +# else +# define TRACE_INIT_BITS (0) +# endif -#ifdef CONFIG_NSH_USBDEV_TRACECLASS -# define TRACE_CLASS_BITS (TRACE_CLASS_BIT|TRACE_CLASSAPI_BIT|TRACE_CLASSSTATE_BIT) -#else -# define TRACE_CLASS_BITS (0) -#endif +# define TRACE_ERROR_BITS (TRACE_DEVERROR_BIT|TRACE_CLSERROR_BIT) -#ifdef CONFIG_NSH_USBDEV_TRACETRANSFERS -# define TRACE_TRANSFER_BITS (TRACE_OUTREQQUEUED_BIT|TRACE_INREQQUEUED_BIT|TRACE_READ_BIT|\ - TRACE_WRITE_BIT|TRACE_COMPLETE_BIT) -#else -# define TRACE_TRANSFER_BITS (0) -#endif +# ifdef CONFIG_NSH_USBDEV_TRACECLASS +# define TRACE_CLASS_BITS (TRACE_CLASS_BIT|TRACE_CLASSAPI_BIT|\ + TRACE_CLASSSTATE_BIT) +# else +# define TRACE_CLASS_BITS (0) +# endif -#ifdef CONFIG_NSH_USBDEV_TRACECONTROLLER -# define TRACE_CONTROLLER_BITS (TRACE_EP_BIT|TRACE_DEV_BIT) -#else -# define TRACE_CONTROLLER_BITS (0) -#endif +# ifdef CONFIG_NSH_USBDEV_TRACETRANSFERS +# define TRACE_TRANSFER_BITS (TRACE_OUTREQQUEUED_BIT|TRACE_INREQQUEUED_BIT|\ + TRACE_READ_BIT|TRACE_WRITE_BIT|\ + TRACE_COMPLETE_BIT) +# else +# define TRACE_TRANSFER_BITS (0) +# endif -#ifdef CONFIG_NSH_USBDEV_TRACEINTERRUPTS -# define TRACE_INTERRUPT_BITS (TRACE_INTENTRY_BIT|TRACE_INTDECODE_BIT|TRACE_INTEXIT_BIT) -#else -# define TRACE_INTERRUPT_BITS (0) -#endif +# ifdef CONFIG_NSH_USBDEV_TRACECONTROLLER +# define TRACE_CONTROLLER_BITS (TRACE_EP_BIT|TRACE_DEV_BIT) +# else +# define TRACE_CONTROLLER_BITS (0) +# endif -#define TRACE_BITSET (TRACE_INIT_BITS|TRACE_ERROR_BITS|TRACE_CLASS_BITS|\ - TRACE_TRANSFER_BITS|TRACE_CONTROLLER_BITS|TRACE_INTERRUPT_BITS) +# ifdef CONFIG_NSH_USBDEV_TRACEINTERRUPTS +# define TRACE_INTERRUPT_BITS (TRACE_INTENTRY_BIT|TRACE_INTDECODE_BIT|\ + TRACE_INTEXIT_BIT) +# else +# define TRACE_INTERRUPT_BITS (0) +# endif +# define TRACE_BITSET (TRACE_INIT_BITS|TRACE_ERROR_BITS|\ + TRACE_CLASS_BITS|TRACE_TRANSFER_BITS|\ + TRACE_CONTROLLER_BITS|TRACE_INTERRUPT_BITS) + +# endif #endif /* If Telnet is selected for the NSH console, then we must configure @@ -515,7 +527,7 @@ void nsh_dumpbuffer(FAR struct nsh_vtbl_s *vtbl, const char *msg, /* USB debug support */ -#if defined(CONFIG_USBDEV_TRACE) && defined(HAVE_USB_CONSOLE) +#if defined(CONFIG_NSH_USBDEV_TRACE) && defined(HAVE_USB_CONSOLE) void nsh_usbtrace(void); #else # define nsh_usbtrace() diff --git a/apps/nshlib/nsh_usbdev.c b/apps/nshlib/nsh_usbdev.c index d137e3dae..2064cbd84 100644 --- a/apps/nshlib/nsh_usbdev.c +++ b/apps/nshlib/nsh_usbdev.c @@ -61,9 +61,15 @@ /**************************************************************************** * Definitions ****************************************************************************/ - -#if defined(CONFIG_DEBUG) || defined(CONFIG_NSH_USBCONSOLE) -# define trmessage lowsyslog +/* Output USB trace data to the console device using printf() unless (1) + * debug is enabled, then we want to keep the trace output in sync with the + * debug output by using syslog()we are using a USB console. In that case, + * we don't want the trace output on the USB console; let's try sending it + * a SYSLOG device (hopefully one is set up!) + */ + +#if defined(CONFIG_DEBUG) || defined(HAVE_USB_CONSOLE) +# define trmessage syslog #else # define trmessage printf #endif @@ -92,7 +98,7 @@ * Name: nsh_tracecallback ****************************************************************************/ -#ifdef CONFIG_USBDEV_TRACE +#ifdef CONFIG_NSH_USBDEV_TRACE static int nsh_tracecallback(struct usbtrace_s *trace, void *arg) { usbtrace_trprintf((trprintf_t)trmessage, trace->event, trace->value); @@ -119,7 +125,7 @@ int nsh_usbconsole(void) /* Initialize any USB tracing options that were requested */ -#ifdef CONFIG_USBDEV_TRACE +#ifdef CONFIG_NSH_USBDEV_TRACE usbtrace_enable(TRACE_BITSET); #endif @@ -133,9 +139,9 @@ int nsh_usbconsole(void) #if defined(CONFIG_PL2303) || defined(CONFIG_CDCACM) #ifdef CONFIG_CDCACM - ret = cdcacm_initialize(CONFIG_NSH_UBSDEV_MINOR, NULL); + ret = cdcacm_initialize(CONFIG_NSH_USBDEV_MINOR, NULL); #else - ret = usbdev_serialinitialize(CONFIG_NSH_UBSDEV_MINOR); + ret = usbdev_serialinitialize(CONFIG_NSH_USBDEV_MINOR); #endif DEBUGASSERT(ret == OK); #endif @@ -224,6 +230,7 @@ int nsh_usbconsole(void) (void)fdopen(0, "r"); (void)fdopen(1, "a"); (void)fdopen(2, "a"); + return OK; } @@ -233,7 +240,7 @@ int nsh_usbconsole(void) * Name: nsh_usbtrace ****************************************************************************/ -#if defined(CONFIG_USBDEV_TRACE) && defined(HAVE_USB_CONSOLE) +#if defined(CONFIG_NSH_USBDEV_TRACE) && defined(HAVE_USB_CONSOLE) void nsh_usbtrace(void) { (void)usbtrace_enumerate(nsh_tracecallback, NULL); diff --git a/apps/system/usbmonitor/Kconfig b/apps/system/usbmonitor/Kconfig index 7199845b1..bde97de15 100644 --- a/apps/system/usbmonitor/Kconfig +++ b/apps/system/usbmonitor/Kconfig @@ -16,18 +16,52 @@ config SYSTEM_USBMONITOR if SYSTEM_USBMONITOR config SYSTEM_USBMONITOR_STACKSIZE - int "USB Monitor Stack Size" + int "USB Monitor daemon stack size" default 2048 - depends on NSH_BUILTIN_APPS ---help--- The stack size to use the the USB monitor daemon. Default: 2048 config SYSTEM_USBMONITOR_PRIORITY - int "USB Monitor Stack Size" + int "USB Monitor daemon priority" default 50 - depends on NSH_BUILTIN_APPS ---help--- The priority to use the the USB monitor daemon. Default: 50 +config SYSTEM_USBMONITOR_INTERVAL + int "USB Monitor dump frequency" + default 2 + ---help--- + The rate in seconds that the USB monitor will wait before dumping + the next set of buffered USB trace data. Default: 2 seconds. + +config SYSTEM_USBMONITOR_TRACEINIT + bool "Show initialization events" + default n + ---help--- + Show initialization events + +config SYSTEM_USBMONITOR_TRACECLASS + bool "Show class driver events" + default n + ---help--- + Show class driver events + +config SYSTEM_USBMONITOR_TRACETRANSFERS + bool "Show data transfer events" + default n + ---help--- + Show data transfer events + +config SYSTEM_USBMONITOR_TRACECONTROLLER + bool "Show controller events" + default n + ---help--- + Show controller events + +config SYSTEM_USBMONITOR_TRACEINTERRUPTS + bool "Show interrupt-related events" + default n + ---help--- + Show interrupt-related events endif diff --git a/apps/system/usbmonitor/usbmonitor.c b/apps/system/usbmonitor/usbmonitor.c index b386c3c2e..cde945b43 100644 --- a/apps/system/usbmonitor/usbmonitor.c +++ b/apps/system/usbmonitor/usbmonitor.c @@ -1,5 +1,5 @@ /**************************************************************************** - * apps/system/free/free.c + * apps/system/usbmonitor/usbmonitor.c * * Copyright (C) 2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt @@ -57,6 +57,60 @@ #define USBMON_PREFIX "USB Monitor: " +/* Configuration ************************************************************/ + +#ifndef CONFIG_SYSTEM_USBMONITOR_STACKSIZE +# define CONFIG_SYSTEM_USBMONITOR_STACKSIZE 2048 +#endif + +#ifndef CONFIG_SYSTEM_USBMONITOR_PRIORITY +# define CONFIG_SYSTEM_USBMONITOR_PRIORITY 50 +#endif + +#ifndef CONFIG_SYSTEM_USBMONITOR_INTERVAL +# define CONFIG_SYSTEM_USBMONITOR_INTERVAL 2 +#endif + +#ifdef CONFIG_SYSTEM_USBMONITOR_TRACEINIT +# define TRACE_INIT_BITS (TRACE_INIT_BIT) +#else +# define TRACE_INIT_BITS (0) +#endif + +#define TRACE_ERROR_BITS (TRACE_DEVERROR_BIT|TRACE_CLSERROR_BIT) + +#ifdef CONFIG_SYSTEM_USBMONITOR_TRACECLASS +# define TRACE_CLASS_BITS (TRACE_CLASS_BIT|TRACE_CLASSAPI_BIT|\ + TRACE_CLASSSTATE_BIT) +#else +# define TRACE_CLASS_BITS (0) +#endif + +#ifdef CONFIG_SYSTEM_USBMONITOR_TRACETRANSFERS +# define TRACE_TRANSFER_BITS (TRACE_OUTREQQUEUED_BIT|TRACE_INREQQUEUED_BIT|\ + TRACE_READ_BIT|TRACE_WRITE_BIT|\ + TRACE_COMPLETE_BIT) +#else +# define TRACE_TRANSFER_BITS (0) +#endif + +#ifdef CONFIG_SYSTEM_USBMONITOR_TRACECONTROLLER +# define TRACE_CONTROLLER_BITS (TRACE_EP_BIT|TRACE_DEV_BIT) +#else +# define TRACE_CONTROLLER_BITS (0) +#endif + +#ifdef CONFIG_SYSTEM_USBMONITOR_TRACEINTERRUPTS +# define TRACE_INTERRUPT_BITS (TRACE_INTENTRY_BIT|TRACE_INTDECODE_BIT|\ + TRACE_INTEXIT_BIT) +#else +# define TRACE_INTERRUPT_BITS (0) +#endif + +#define TRACE_BITSET (TRACE_INIT_BITS|TRACE_ERROR_BITS|\ + TRACE_CLASS_BITS|TRACE_TRANSFER_BITS|\ + TRACE_CONTROLLER_BITS|TRACE_INTERRUPT_BITS) + /**************************************************************************** * Private Types ****************************************************************************/ @@ -92,7 +146,7 @@ static int usbmonitor_daemon(int argc, char **argv) while (!g_usbmonitor.stop) { - sleep(2); + sleep(CONFIG_SYSTEM_USBMONITOR_INTERVAL); (void)usbtrace_enumerate(usbmonitor_tracecallback, NULL); } @@ -120,6 +174,12 @@ int usbmonitor_start(int argc, char **argv) /* No.. start it now */ + /* First, initialize any USB tracing options that were requested */ + + usbtrace_enable(TRACE_BITSET); + + /* Then start the USB monitoring daemon */ + g_usbmonitor.started = true; g_usbmonitor.stop = false; @@ -144,7 +204,8 @@ int usbmonitor_start(int argc, char **argv) } sched_unlock(); - syslog(USBMON_PREFIX "Running: %d\n", g_usbmonitor.pid); + syslog(USBMON_PREFIX "%s: %d\n", + g_usbmonitor.stop ? "Stopping" : "Running", g_usbmonitor.pid); return 0; } @@ -154,9 +215,16 @@ int usbmonitor_stop(int argc, char **argv) if (g_usbmonitor.started) { + /* Stop the USB monitor. The next time the monitor wakes up, + * it will see the the stop indication and will exist. + */ + syslog(USBMON_PREFIX "Stopping: %d\n", g_usbmonitor.pid); g_usbmonitor.stop = true; - return 0; + + /* We may as well disable tracing since there is no listener */ + + usbtrace_enable(0); } syslog(USBMON_PREFIX "Stopped: %d\n", g_usbmonitor.pid); diff --git a/nuttx/configs/stm32f4discovery/README.txt b/nuttx/configs/stm32f4discovery/README.txt index 41207fafa..25a770012 100644 --- a/nuttx/configs/stm32f4discovery/README.txt +++ b/nuttx/configs/stm32f4discovery/README.txt @@ -1287,19 +1287,29 @@ Where is one of the following: you can still use certain kinds of debug output (see include/debug.h, all of the interfaces based on lowsyslog will work in this configuration). + - But don't enable USB debug output! Since USB is console is used for + USB debug output and you are using a USB console, there will be + infinite loops and deadlocks: Debug output generates USB debug + output which generatates USB debug output, etc. If you want USB + debug output, you should consider enabling USB trace + (CONFIG_USBDEV_TRACE) and perhaps the USB monitor (CONFIG_SYSTEM_USBMONITOR). + + See the usbnsh configuration below for more information on configuring + USB trace output and the USB monitor. + 10. USB OTG FS Host Support. The following changes will enable support for a USB host on the STM32F4Discovery, including support for a mass storage class driver: - - CONFIG_USBDEV=n - Make sure tht USB device support is disabled - CONFIG_USBHOST=y - Enable USB host support - CONFIG_STM32_OTGFS=y - Enable the STM32 USB OTG FS block - CONFIG_STM32_SYSCFG=y - Needed for all USB OTF FS support - CONFIG_SCHED_WORKQUEUE=y - Worker thread support is required for the mass + + CONFIG_USBDEV=n : Make sure tht USB device support is disabled + CONFIG_USBHOST=y : Enable USB host support + CONFIG_STM32_OTGFS=y : Enable the STM32 USB OTG FS block + CONFIG_STM32_SYSCFG=y : Needed for all USB OTF FS support + CONFIG_SCHED_WORKQUEUE=y : Worker thread support is required for the mass storage class driver. - CONFIG_NSH_ARCHINIT=y - Architecture specific USB initialization + CONFIG_NSH_ARCHINIT=y : Architecture specific USB initialization is needed for NSH - CONFIG_FS_FAT=y - Needed by the USB host mass storage class. + CONFIG_FS_FAT=y : Needed by the USB host mass storage class. With those changes, you can use NSH with a FLASH pen driver as shown belong. Here NSH is started with nothing in the USB host slot: @@ -1466,7 +1476,6 @@ Where is one of the following: STANDBY mode. This used of the RTC alarm could conflict with other uses of the RTC alarm in your application. - posix_spawn: ------------ This configuration directory, performs a simple test os the posix_spawn @@ -1538,15 +1547,18 @@ Where is one of the following: CONFIG_USBDEV_TRACE=y : Enable USB trace feature CONFIG_USBDEV_TRACE_NRECORDS=128 : Buffer 128 records in memory - CONFIG_SYSTEM_USBMONITOR=y : Start the USB monitor daemon + CONFIG_NSH_USBDEV_TRACE=n : No builtin tracing from NSH + CONFIG_NSH_ARCHINIT=y : Automatically start the USB monitor + CONFIG_SYSTEM_USBMONITOR=y : Enable the USB monitor daemon CONFIG_SYSTEM_USBMONITOR_STACKSIZE=2048 : USB monitor daemon stack size CONFIG_SYSTEM_USBMONITOR_PRIORITY=50 : USB monitor daemon priority + CONFIG_SYSTEM_USBMONITOR_INTERVAL=2 : Dump trace data every 2 seconds - CONFIG_NSH_USBDEV_TRACEINIT=y : Enable TRACE output - CONFIG_NSH_USBDEV_TRACECLASS=y - CONFIG_NSH_USBDEV_TRACETRANSFERS=y - CONFIG_NSH_USBDEV_TRACECONTROLLER=y - CONFIG_NSH_USBDEV_TRACEINTERRUPTS=y + CONFIG_SYSTEM_USBMONITOR_TRACEINIT=y : Enable TRACE output + CONFIG_SYSTEM_USBMONITOR_TRACECLASS=y + CONFIG_SYSTEM_USBMONITOR_TRACETRANSFERS=y + CONFIG_SYSTEM_USBMONITOR_TRACECONTROLLER=y + CONFIG_SYSTEM_USBMONITOR_TRACEINTERRUPTS=y 5. By default, this project assumes that you are *NOT* using the DFU bootloader. diff --git a/nuttx/fs/fs_syslog.c b/nuttx/fs/fs_syslog.c index 779263a3c..d9ad29e0f 100644 --- a/nuttx/fs/fs_syslog.c +++ b/nuttx/fs/fs_syslog.c @@ -168,8 +168,10 @@ static inline int syslog_takesem(void) static inline void syslog_givesem(void) { +#ifdef CONFIG_DEBUG pid_t me = getpid(); DEBUGASSERT(g_sysdev.sl_holder == me); +#endif /* Relinquish the semaphore */ diff --git a/nuttx/libc/stdio/lib_syslogstream.c b/nuttx/libc/stdio/lib_syslogstream.c index 121227d3c..e29c5ca3d 100644 --- a/nuttx/libc/stdio/lib_syslogstream.c +++ b/nuttx/libc/stdio/lib_syslogstream.c @@ -63,7 +63,6 @@ static void syslogstream_putc(FAR struct lib_outstream_s *this, int ch) { - int errcode; int ret; /* Try writing until the write was successful or until an irrecoverable -- cgit v1.2.3 From 6ebd56f299b9f855b5bfdca3b48163f335ce44e8 Mon Sep 17 00:00:00 2001 From: patacongo Date: Tue, 29 Jan 2013 18:32:04 +0000 Subject: The USB monitor now works with configs/stm32f4discovery/usbnsh git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5581 42af7a65-404d-4744-a932-0658087f49c3 --- apps/nshlib/nsh.h | 78 +++++++++++++++++++++++++------------------------- nuttx/tools/mkconfig.c | 22 ++++++++------ 2 files changed, 52 insertions(+), 48 deletions(-) (limited to 'apps') diff --git a/apps/nshlib/nsh.h b/apps/nshlib/nsh.h index 705375e7e..168503580 100644 --- a/apps/nshlib/nsh.h +++ b/apps/nshlib/nsh.h @@ -120,53 +120,53 @@ /* USB trace settings */ -#ifndef CONFIG_USBDEV_TRACE -# undef CONFIG_NSH_USBDEV_TRACE -#endif +# ifndef CONFIG_USBDEV_TRACE +# undef CONFIG_NSH_USBDEV_TRACE +# endif -#ifdef CONFIG_NSH_USBDEV_TRACE -# ifdef CONFIG_NSH_USBDEV_TRACEINIT -# define TRACE_INIT_BITS (TRACE_INIT_BIT) -# else -# define TRACE_INIT_BITS (0) -# endif +# ifdef CONFIG_NSH_USBDEV_TRACE +# ifdef CONFIG_NSH_USBDEV_TRACEINIT +# define TRACE_INIT_BITS (TRACE_INIT_BIT) +# else +# define TRACE_INIT_BITS (0) +# endif -# define TRACE_ERROR_BITS (TRACE_DEVERROR_BIT|TRACE_CLSERROR_BIT) +# define TRACE_ERROR_BITS (TRACE_DEVERROR_BIT|TRACE_CLSERROR_BIT) -# ifdef CONFIG_NSH_USBDEV_TRACECLASS -# define TRACE_CLASS_BITS (TRACE_CLASS_BIT|TRACE_CLASSAPI_BIT|\ - TRACE_CLASSSTATE_BIT) -# else -# define TRACE_CLASS_BITS (0) -# endif +# ifdef CONFIG_NSH_USBDEV_TRACECLASS +# define TRACE_CLASS_BITS (TRACE_CLASS_BIT|TRACE_CLASSAPI_BIT|\ + TRACE_CLASSSTATE_BIT) +# else +# define TRACE_CLASS_BITS (0) +# endif -# ifdef CONFIG_NSH_USBDEV_TRACETRANSFERS -# define TRACE_TRANSFER_BITS (TRACE_OUTREQQUEUED_BIT|TRACE_INREQQUEUED_BIT|\ - TRACE_READ_BIT|TRACE_WRITE_BIT|\ - TRACE_COMPLETE_BIT) -# else -# define TRACE_TRANSFER_BITS (0) -# endif +# ifdef CONFIG_NSH_USBDEV_TRACETRANSFERS +# define TRACE_TRANSFER_BITS (TRACE_OUTREQQUEUED_BIT|TRACE_INREQQUEUED_BIT|\ + TRACE_READ_BIT|TRACE_WRITE_BIT|\ + TRACE_COMPLETE_BIT) +# else +# define TRACE_TRANSFER_BITS (0) +# endif -# ifdef CONFIG_NSH_USBDEV_TRACECONTROLLER -# define TRACE_CONTROLLER_BITS (TRACE_EP_BIT|TRACE_DEV_BIT) -# else -# define TRACE_CONTROLLER_BITS (0) -# endif +# ifdef CONFIG_NSH_USBDEV_TRACECONTROLLER +# define TRACE_CONTROLLER_BITS (TRACE_EP_BIT|TRACE_DEV_BIT) +# else +# define TRACE_CONTROLLER_BITS (0) +# endif -# ifdef CONFIG_NSH_USBDEV_TRACEINTERRUPTS -# define TRACE_INTERRUPT_BITS (TRACE_INTENTRY_BIT|TRACE_INTDECODE_BIT|\ - TRACE_INTEXIT_BIT) -# else -# define TRACE_INTERRUPT_BITS (0) -# endif +# ifdef CONFIG_NSH_USBDEV_TRACEINTERRUPTS +# define TRACE_INTERRUPT_BITS (TRACE_INTENTRY_BIT|TRACE_INTDECODE_BIT|\ + TRACE_INTEXIT_BIT) +# else +# define TRACE_INTERRUPT_BITS (0) +# endif -# define TRACE_BITSET (TRACE_INIT_BITS|TRACE_ERROR_BITS|\ - TRACE_CLASS_BITS|TRACE_TRANSFER_BITS|\ - TRACE_CONTROLLER_BITS|TRACE_INTERRUPT_BITS) +# define TRACE_BITSET (TRACE_INIT_BITS|TRACE_ERROR_BITS|\ + TRACE_CLASS_BITS|TRACE_TRANSFER_BITS|\ + TRACE_CONTROLLER_BITS|TRACE_INTERRUPT_BITS) -# endif -#endif +# endif /* CONFIG_NSH_USBDEV_TRACE */ +#endif /* HAVE_USB_CONSOLE */ /* If Telnet is selected for the NSH console, then we must configure * the resources used by the Telnet daemon and by the Telnet clients. diff --git a/nuttx/tools/mkconfig.c b/nuttx/tools/mkconfig.c index d8d09df34..a622743a0 100644 --- a/nuttx/tools/mkconfig.c +++ b/nuttx/tools/mkconfig.c @@ -126,17 +126,23 @@ int main(int argc, char **argv, char **envp) printf("#ifndef CONFIG_RR_INTERVAL\n"); printf("# define CONFIG_RR_INTERVAL 0\n"); printf("#endif\n\n"); - printf("/* The correct way to disable filesystem supuport is to set the\n"); - printf(" * number of file descriptors to zero.\n"); + printf("/* The correct way to disable filesystem supuport is to set the number of\n"); + printf(" * file descriptors to zero.\n"); printf(" */\n\n"); printf("#ifndef CONFIG_NFILE_DESCRIPTORS\n"); printf("# define CONFIG_NFILE_DESCRIPTORS 0\n"); printf("#endif\n\n"); - printf("/* If a console is selected, then make sure that there are\n"); - printf(" * resources for 3 file descriptors and, if any streams are\n"); - printf(" * selected, also for 3 file streams.\n"); + printf("/* If a console is selected, then make sure that there are resources for\n"); + printf(" * three file descriptors and, if any streams are selected, also for three\n"); + printf(" * file streams.\n"); + printf(" *\n"); + printf(" * CONFIG_DEV_CONSOLE means that a builtin console device exists at /dev/console\n"); + printf(" * and can be opened during boot-up. Other consoles, such as USB consoles, may\n"); + printf(" * not exist at boot-upand have to be handled in a different way. Three file\n"); + printf(" * descriptors and three file streams are still needed.\n"); printf(" */\n\n"); - printf("#ifdef CONFIG_DEV_CONSOLE\n"); + printf("#if defined(CONFIG_DEV_CONSOLE) || defined(CONFIG_CDCACM_CONSOLE) || \\\n"); + printf(" defined(CONFIG_PL2303_CONSOLE)\n"); printf("# if CONFIG_NFILE_DESCRIPTORS < 3\n"); printf("# undef CONFIG_NFILE_DESCRIPTORS\n"); printf("# define CONFIG_NFILE_DESCRIPTORS 3\n"); @@ -145,12 +151,10 @@ int main(int argc, char **argv, char **envp) printf("# undef CONFIG_NFILE_STREAMS\n"); printf("# define CONFIG_NFILE_STREAMS 3\n"); printf("# endif\n\n"); - printf("/* If no console is selected, then disable all console devices */\n\n"); + printf("/* If no console is selected, then disable all builtin console devices */\n\n"); printf("#else\n"); printf("# undef CONFIG_DEV_LOWCONSOLE\n"); printf("# undef CONFIG_RAMLOG_CONSOLE\n"); - printf("# undef CONFIG_CDCACM_CONSOLE\n"); - printf("# undef CONFIG_PL2303_CONSOLE\n"); printf("#endif\n\n"); printf("/* If priority inheritance is disabled, then do not allocate any\n"); printf(" * associated resources.\n"); -- cgit v1.2.3 From 7f22c14077e8aa4edb0d35ca1c8a75f7a978c929 Mon Sep 17 00:00:00 2001 From: patacongo Date: Tue, 29 Jan 2013 22:11:04 +0000 Subject: Add support for a login script (in addition to the init script); Add logic so that a USB console session can connect and reconnect to the USB serial device git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5582 42af7a65-404d-4744-a932-0658087f49c3 --- apps/ChangeLog.txt | 7 +- apps/include/nsh.h | 71 +++++++++--- apps/nshlib/Kconfig | 22 ++++ apps/nshlib/Makefile | 9 +- apps/nshlib/nsh.h | 47 ++++++-- apps/nshlib/nsh_consolemain.c | 88 +++++---------- apps/nshlib/nsh_fscmds.c | 67 +----------- apps/nshlib/nsh_script.c | 195 +++++++++++++++++++++++++++++++++ apps/nshlib/nsh_session.c | 163 ++++++++++++++++++++++++++++ apps/nshlib/nsh_telnetd.c | 33 +++++- apps/nshlib/nsh_usbdev.c | 245 +++++++++++++++++++++++++++++++++--------- 11 files changed, 732 insertions(+), 215 deletions(-) create mode 100644 apps/nshlib/nsh_script.c create mode 100644 apps/nshlib/nsh_session.c (limited to 'apps') diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt index 778f1fcf2..6a2c1d4c9 100644 --- a/apps/ChangeLog.txt +++ b/apps/ChangeLog.txt @@ -495,5 +495,10 @@ * apps/examples/nettest and poll: Complete Kconfig files. * apps/examples/ostest/waitpid.c: Need to use WEXITSTATUS() to decode the correct exit status. - * system/usbmonitor: A daemon that can be used to monitor USB + * apps/system/usbmonitor: A daemon that can be used to monitor USB trace outpout. + * apps/nshlib/nsh_usbdev.c, nsh_consolemain.c, nsh_session.c, nsh_script.c: + Add support for a login script. The init.d/rcS script will be executed + once when NSH starts; the .nshrc script will be executed for each session: + Once for serial, once for each USB connection, once for each Telnet + session. diff --git a/apps/include/nsh.h b/apps/include/nsh.h index 4b5a3cd31..8e469a555 100644 --- a/apps/include/nsh.h +++ b/apps/include/nsh.h @@ -1,7 +1,7 @@ /**************************************************************************** * apps/include/nsh.h * - * Copyright (C) 2011 Gregory Nutt. All rights reserved. + * Copyright (C) 2011, 2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without @@ -45,6 +45,31 @@ /**************************************************************************** * Pre-Processor Definitions ****************************************************************************/ +/* If a USB device is selected for the NSH console then we need to handle some + * special start-up conditions. + */ + +#undef HAVE_USB_CONSOLE +#if defined(CONFIG_USBDEV) + +/* Check for a PL2303 serial console. Use console device "/dev/console". */ + +# if defined(CONFIG_PL2303) && defined(CONFIG_PL2303_CONSOLE) +# define HAVE_USB_CONSOLE 1 + +/* Check for a CDC/ACM serial console. Use console device "/dev/console". */ + +# elif defined(CONFIG_CDCACM) && defined(CONFIG_CDCACM_CONSOLE) +# define HAVE_USB_CONSOLE 1 + +/* Check for a generic USB console. In this case, the USB console device + * must be provided in CONFIG_NSH_CONDEV. + */ + +# elif defined(CONFIG_NSH_USBCONSOLE) +# define HAVE_USB_CONSOLE 1 +# endif +#endif #if CONFIG_RR_INTERVAL > 0 # define SCHED_NSH SCHED_RR @@ -58,7 +83,8 @@ #ifdef __cplusplus #define EXTERN extern "C" -extern "C" { +extern "C" +{ #else #define EXTERN extern #endif @@ -83,35 +109,54 @@ extern "C" { * ****************************************************************************/ -EXTERN void nsh_initialize(void); +void nsh_initialize(void); /**************************************************************************** * Name: nsh_consolemain * * Description: * This interfaces maybe to called or started with task_start to start a - * single an NSH instance that operates on stdin and stdout (/dev/console). - * This function does not return. + * single an NSH instance that operates on stdin and stdout. This + * function does not return. * + * This function handles generic /dev/console character devices, or + * special USB console devices. The USB console requires some special + * operations to handle the cases where the session is lost when the + * USB device is unplugged and restarted when the USB device is plugged + * in again. + * * Input Parameters: - * Standard task start-up arguements. These are not used. argc may be + * Standard task start-up arguments. These are not used. argc may be * zero and argv may be NULL. * * Returned Values: * This function does not normally return. exit() is usually called to * terminate the NSH session. This function will return in the event of - * an error. In that case, a nonzero value is returned (1). + * an error. In that case, a nonzero value is returned (EXIT_FAILURE=1). * ****************************************************************************/ -EXTERN int nsh_consolemain(int argc, char *argv[]); +int nsh_consolemain(int argc, char *argv[]); -/* nsh_telnetstart() starts a telnet daemon that will allow multiple - * NSH connections via telnet. This function returns immediately after - * the daemon has been started. - */ +/**************************************************************************** + * Name: nsh_telnetstart + * + * Description: + * nsh_telnetstart() starts the Telnet daemon that will allow multiple + * NSH connections via Telnet. This function returns immediately after + * the daemon has been started. + * + * Input Parameters: + * None. All of the properties of the Telnet daemon are controlled by + * NuttX configuration setting. + * + * Returned Values: + * The task ID of the Telnet daemon was successfully started. A negated + * errno value will be returned on failure. + * + ****************************************************************************/ -EXTERN int nsh_telnetstart(void); +int nsh_telnetstart(void); #undef EXTERN #ifdef __cplusplus diff --git a/apps/nshlib/Kconfig b/apps/nshlib/Kconfig index 589476baf..92bc83cfd 100644 --- a/apps/nshlib/Kconfig +++ b/apps/nshlib/Kconfig @@ -292,6 +292,19 @@ config NSH_ROMFSETC endif if NSH_ROMFSETC + +config NSH_ROMFSRC + bool "Support ROMFS login script" + default n + ---help--- + The ROMFS start-up script will be executed excactly once. For + simple, persistence consoles (like a serial console). But with + other other kinds of consoles, there may be multiple, transient + sessions (such as Telnet and USB consoles). In these cases, you + may need another script that is executed at the beginning of each + session. Selecting this option enables support for such a login + script + config NSH_ROMFSMOUNTPT string "ROMFS mount point" default "/etc" @@ -308,6 +321,15 @@ config NSH_INITSCRIPT The default is init.d/rcS. This is a relative path and must not start with '/'. +config NSH_RCSCRIPT + string "Relative path to login script" + default ".nshrc" + depends on NSH_ROMFSRC + ---help--- + This is the relative path to the login script within the mountpoint. + The default is .nshrc. This is a relative path and must not + start with '/'. + config NSH_ROMFSDEVNO int "ROMFS block device minor number" default 0 diff --git a/apps/nshlib/Makefile b/apps/nshlib/Makefile index 948f43d52..76cdac40d 100644 --- a/apps/nshlib/Makefile +++ b/apps/nshlib/Makefile @@ -1,7 +1,7 @@ ############################################################################ # apps/nshlib/Makefile # -# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved. +# Copyright (C) 2011-2013 Gregory Nutt. All rights reserved. # Author: Gregory Nutt # # Redistribution and use in source and binary forms, with or without @@ -39,9 +39,10 @@ include $(APPDIR)/Make.defs # NSH Library -ASRCS = -CSRCS = nsh_init.c nsh_parse.c nsh_console.c nsh_fscmds.c nsh_ddcmd.c \ - nsh_proccmds.c nsh_mmcmds.c nsh_envcmds.c nsh_dbgcmds.c +ASRCS = +CSRCS = nsh_init.c nsh_parse.c nsh_console.c nsh_script.c nsh_session.c +CSRCS += nsh_fscmds.c nsh_ddcmd.c nsh_proccmds.c nsh_mmcmds.c nsh_envcmds.c +CSRCS += nsh_dbgcmds.c ifeq ($(CONFIG_NSH_BUILTIN_APPS),y) CSRCS += nsh_builtin.c diff --git a/apps/nshlib/nsh.h b/apps/nshlib/nsh.h index 168503580..23209dba5 100644 --- a/apps/nshlib/nsh.h +++ b/apps/nshlib/nsh.h @@ -93,8 +93,8 @@ # elif defined(CONFIG_CDCACM) && defined(CONFIG_CDCACM_CONSOLE) # define HAVE_USB_CONSOLE 1 -/* Check for other USB console. USB console device must be provided in - * CONFIG_NSH_CONDEV. +/* Check for a generic USB console. In this case, the USB console device + * must be provided in CONFIG_NSH_CONDEV. */ # elif defined(CONFIG_NSH_USBCONSOLE) @@ -244,40 +244,59 @@ # error "Mountpoint support is disabled" # undef CONFIG_NSH_ROMFSETC # endif + # if CONFIG_NFILE_DESCRIPTORS < 4 # error "Not enough file descriptors" # undef CONFIG_NSH_ROMFSETC # endif + # ifndef CONFIG_FS_ROMFS # error "ROMFS support not enabled" # undef CONFIG_NSH_ROMFSETC # endif + # ifndef CONFIG_NSH_ROMFSMOUNTPT # define CONFIG_NSH_ROMFSMOUNTPT "/etc" # endif -# ifdef CONFIG_NSH_INIT -# ifndef CONFIG_NSH_INITSCRIPT -# define CONFIG_NSH_INITSCRIPT "init.d/rcS" -# endif + +# ifndef CONFIG_NSH_INITSCRIPT +# define CONFIG_NSH_INITSCRIPT "init.d/rcS" # endif + # undef NSH_INITPATH # define NSH_INITPATH CONFIG_NSH_ROMFSMOUNTPT "/" CONFIG_NSH_INITSCRIPT + +# ifdef CONFIG_NSH_ROMFSRC +# ifndef CONFIG_NSH_RCSCRIPT +# define CONFIG_NSH_RCSCRIPT ".nshrc" +# endif + +# undef NSH_RCPATH +# define NSH_RCPATH CONFIG_NSH_ROMFSMOUNTPT "/" CONFIG_NSH_RCSCRIPT +# endif + # ifndef CONFIG_NSH_ROMFSDEVNO # define CONFIG_NSH_ROMFSDEVNO 0 # endif + # ifndef CONFIG_NSH_ROMFSSECTSIZE # define CONFIG_NSH_ROMFSSECTSIZE 64 # endif + # define NSECTORS(b) (((b)+CONFIG_NSH_ROMFSSECTSIZE-1)/CONFIG_NSH_ROMFSSECTSIZE) # define STR_RAMDEVNO(m) #m # define MKMOUNT_DEVNAME(m) "/dev/ram" STR_RAMDEVNO(m) # define MOUNT_DEVNAME MKMOUNT_DEVNAME(CONFIG_NSH_ROMFSDEVNO) + #else + +# undef CONFIG_NSH_ROMFSRC # undef CONFIG_NSH_ROMFSMOUNTPT -# undef CONFIG_NSH_INIT # undef CONFIG_NSH_INITSCRIPT +# undef CONFIG_NSH_RCSCRIPT # undef CONFIG_NSH_ROMFSDEVNO # undef CONFIG_NSH_ROMFSSECTSIZE + #endif /* This is the maximum number of arguments that will be accepted for a @@ -486,6 +505,12 @@ int nsh_usbconsole(void); #if CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0 && !defined(CONFIG_NSH_DISABLESCRIPT) int nsh_script(FAR struct nsh_vtbl_s *vtbl, const char *cmd, const char *path); +#ifdef CONFIG_NSH_ROMFSETC +int nsh_initscript(FAR struct nsh_vtbl_s *vtbl); +#ifdef CONFIG_NSH_ROMFSRC +int nsh_loginscript(FAR struct nsh_vtbl_s *vtbl); +#endif +#endif #endif /* Architecture-specific initialization */ @@ -496,8 +521,10 @@ int nsh_archinitialize(void); # define nsh_archinitialize() (-ENOSYS) #endif -/* Message handler */ +/* Basic session and message handling */ +struct console_stdio_s; +int nsh_session(FAR struct console_stdio_s *pstate); int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline); /* Application interface */ @@ -527,10 +554,8 @@ void nsh_dumpbuffer(FAR struct nsh_vtbl_s *vtbl, const char *msg, /* USB debug support */ -#if defined(CONFIG_NSH_USBDEV_TRACE) && defined(HAVE_USB_CONSOLE) +#ifdef CONFIG_NSH_USBDEV_TRACE void nsh_usbtrace(void); -#else -# define nsh_usbtrace() #endif /* Shell command handlers */ diff --git a/apps/nshlib/nsh_consolemain.c b/apps/nshlib/nsh_consolemain.c index f05447a64..8be44f7aa 100644 --- a/apps/nshlib/nsh_consolemain.c +++ b/apps/nshlib/nsh_consolemain.c @@ -1,7 +1,7 @@ /**************************************************************************** * apps/nshlib/nsh_consolemain.c * - * Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved. + * Copyright (C) 2007-2009, 2011-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without @@ -47,6 +47,8 @@ #include "nsh.h" #include "nsh_console.h" +#ifndef HAVE_USB_CONSOLE + /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ @@ -76,21 +78,25 @@ ****************************************************************************/ /**************************************************************************** - * Name: nsh_consolemain + * Name: nsh_consolemain (Normal character device version) * * Description: * This interfaces maybe to called or started with task_start to start a - * single an NSH instance that operates on stdin and stdout (/dev/console). - * This function does not return. + * single an NSH instance that operates on stdin and stdout. This + * function does not normally return (see below). * + * This version of nsh_consolmain handles generic /dev/console character + * devices (see nsh_usbdev.c for another version for special USB console + * devices). + * * Input Parameters: - * Standard task start-up arguements. These are not used. argc may be + * Standard task start-up arguments. These are not used. argc may be * zero and argv may be NULL. * * Returned Values: * This function does not normally return. exit() is usually called to * terminate the NSH session. This function will return in the event of - * an error. In that case, a nonzero value is returned (1). + * an error. In that case, a nonzero value is returned (EXIT_FAILURE=1). * ****************************************************************************/ @@ -101,70 +107,26 @@ int nsh_consolemain(int argc, char *argv[]) DEBUGASSERT(pstate); - /* If we are using a USB serial console, then we will have to wait for the - * USB to be connected to the host. - */ - -#ifdef HAVE_USB_CONSOLE - ret = nsh_usbconsole(); - DEBUGASSERT(ret == OK); -#endif - - /* Present a greeting */ - - fputs(g_nshgreeting, pstate->cn_outstream); - fflush(pstate->cn_outstream); - - /* Execute the startup script */ + /* Execute the start-up script */ #ifdef CONFIG_NSH_ROMFSETC - (void)nsh_script(&pstate->cn_vtbl, "init", NSH_INITPATH); + (void)nsh_initscript(&pstate->cn_vtbl); #endif - /* Then enter the command line parsing loop */ - - for (;;) - { - /* For the case of debugging the USB console... dump collected USB trace data */ + /* Initialize any USB tracing options that were requested */ - nsh_usbtrace(); - - /* Display the prompt string */ - - fputs(g_nshprompt, pstate->cn_outstream); - fflush(pstate->cn_outstream); - - /* Get the next line of input */ - - ret = readline(pstate->cn_line, CONFIG_NSH_LINELEN, - INSTREAM(pstate), OUTSTREAM(pstate)); - if (ret > 0) - { - /* Parse process the command */ - - (void)nsh_parse(&pstate->cn_vtbl, pstate->cn_line); - fflush(pstate->cn_outstream); - } +#ifdef CONFIG_NSH_USBDEV_TRACE + usbtrace_enable(TRACE_BITSET); +#endif - /* Readline normally returns the number of characters read, - * but will return 0 on end of file or a negative value - * if an error occurs. Either will cause the session to - * terminate. - */ + /* Execute the session */ - else - { - fprintf(pstate->cn_outstream, g_fmtcmdfailed, "nsh_consolemain", - "readline", NSH_ERRNO_OF(-ret)); - nsh_exit(&pstate->cn_vtbl, 1); - } - } + ret = nsh_session(pstate); - /* Clean up. We do not get here, but this is necessary to keep some - * compilers happy. But others will complain that this code is not - * reachable. - */ + /* Exit upon return */ - nsh_exit(&pstate->cn_vtbl, 0); - return OK; + nsh_exit(&pstate->cn_vtbl, ret); + return ret; } + +#endif /* !HAVE_USB_CONSOLE */ diff --git a/apps/nshlib/nsh_fscmds.c b/apps/nshlib/nsh_fscmds.c index 1a9f2eb57..f47dca896 100644 --- a/apps/nshlib/nsh_fscmds.c +++ b/apps/nshlib/nsh_fscmds.c @@ -1,7 +1,7 @@ /**************************************************************************** * apps/nshlib/nsh_fscmds.c * - * Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved. + * Copyright (C) 2007-2009, 2011-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without @@ -1220,71 +1220,6 @@ int cmd_rmdir(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv) #endif #endif -/**************************************************************************** - * Name: nsh_script - ****************************************************************************/ - -#if CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0 && !defined(CONFIG_NSH_DISABLESCRIPT) -int nsh_script(FAR struct nsh_vtbl_s *vtbl, const char *cmd, const char *path) -{ - char *fullpath; - FILE *stream; - char *buffer; - char *pret; - int ret = ERROR; - - /* The path to the script may be relative to the current working directory */ - - fullpath = nsh_getfullpath(vtbl, path); - if (!fullpath) - { - return ERROR; - } - - /* Get a reference to the common input buffer */ - - buffer = nsh_linebuffer(vtbl); - if (buffer) - { - /* Open the file containing the script */ - - stream = fopen(fullpath, "r"); - if (!stream) - { - nsh_output(vtbl, g_fmtcmdfailed, cmd, "fopen", NSH_ERRNO); - nsh_freefullpath(fullpath); - return ERROR; - } - - /* Loop, processing each command line in the script file (or - * until an error occurs) - */ - - do - { - /* Get the next line of input from the file */ - - fflush(stdout); - pret = fgets(buffer, CONFIG_NSH_LINELEN, stream); - if (pret) - { - /* Parse process the command. NOTE: this is recursive... - * we got to cmd_sh via a call to nsh_parse. So some - * considerable amount of stack may be used. - */ - - ret = nsh_parse(vtbl, buffer); - } - } - while (pret && ret == OK); - fclose(stream); - } - - nsh_freefullpath(fullpath); - return ret; -} -#endif - /**************************************************************************** * Name: cmd_sh ****************************************************************************/ diff --git a/apps/nshlib/nsh_script.c b/apps/nshlib/nsh_script.c new file mode 100644 index 000000000..3aa698b31 --- /dev/null +++ b/apps/nshlib/nsh_script.c @@ -0,0 +1,195 @@ +/**************************************************************************** + * apps/nshlib/nsh_script.c + * + * Copyright (C) 2007-2009, 2011-2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include "nsh.h" +#include "nsh_console.h" + +#if CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0 && !defined(CONFIG_NSH_DISABLESCRIPT) + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: nsh_script + * + * Description: + * Execute the NSH script at path. + * + ****************************************************************************/ + +int nsh_script(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd, + FAR const char *path) +{ + char *fullpath; + FILE *stream; + char *buffer; + char *pret; + int ret = ERROR; + + /* The path to the script may be relative to the current working directory */ + + fullpath = nsh_getfullpath(vtbl, path); + if (!fullpath) + { + return ERROR; + } + + /* Get a reference to the common input buffer */ + + buffer = nsh_linebuffer(vtbl); + if (buffer) + { + /* Open the file containing the script */ + + stream = fopen(fullpath, "r"); + if (!stream) + { + nsh_output(vtbl, g_fmtcmdfailed, cmd, "fopen", NSH_ERRNO); + nsh_freefullpath(fullpath); + return ERROR; + } + + /* Loop, processing each command line in the script file (or + * until an error occurs) + */ + + do + { + /* Get the next line of input from the file */ + + fflush(stdout); + pret = fgets(buffer, CONFIG_NSH_LINELEN, stream); + if (pret) + { + /* Parse process the command. NOTE: this is recursive... + * we got to cmd_sh via a call to nsh_parse. So some + * considerable amount of stack may be used. + */ + + ret = nsh_parse(vtbl, buffer); + } + } + while (pret && ret == OK); + fclose(stream); + } + + nsh_freefullpath(fullpath); + return ret; +} + +/**************************************************************************** + * Name: nsh_initscript + * + * Description: + * Attempt to execute the configured initialization script. This script + * should be executed once when NSH starts. nsh_initscript is idempotent + * and may, however, be called multiple times (the script will be executed + * once. + * + ****************************************************************************/ + +#ifdef CONFIG_NSH_ROMFSETC +int nsh_initscript(FAR struct nsh_vtbl_s *vtbl) +{ + static bool initialized; + bool already; + int ret = OK; + + /* Atomic test and set of the initialized flag */ + + sched_lock(); + already = initialized; + initialized = true; + sched_unlock(); + + /* If we have not already executed the init script, then do so now */ + + if (!already) + { + ret = nsh_script(vtbl, "init", NSH_INITPATH); + } + + return ret; +} + +/**************************************************************************** + * Name: nsh_loginscript + * + * Description: + * Attempt to execute the configured login script. This script + * should be executed when each NSH session starts. + * + ****************************************************************************/ + +#ifdef CONFIG_NSH_ROMFSRC +int nsh_loginscript(FAR struct nsh_vtbl_s *vtbl) +{ + return nsh_script(vtbl, "login", NSH_RCPATH); +} +#endif +#endif /* CONFIG_NSH_ROMFSETC */ + +#endif /* CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0 && !CONFIG_NSH_DISABLESCRIPT */ diff --git a/apps/nshlib/nsh_session.c b/apps/nshlib/nsh_session.c new file mode 100644 index 000000000..8079b2de5 --- /dev/null +++ b/apps/nshlib/nsh_session.c @@ -0,0 +1,163 @@ +/**************************************************************************** + * apps/nshlib/nsh_session.c + * + * Copyright (C) 2007-2009, 2011-2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 Gregory Nutt 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include + +#include + +#include "nsh.h" +#include "nsh_console.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: nsh_session + * + * Description: + * This is the common session logic or any NSH session. This function + * return when an error reading from the input stream occurs, presumably + * signaling the end of the session. + * + * This function: + * - Executes the NSH logic script + * - Presents a greeting + * - Then provides a prompt then gets and processes the command line. + * - This continues until an error occurs, then the session returns. + * + * Input Parameters: + * pstate - Abstracts the underlying session. + * + * Returned Values: + * EXIT_SUCESS or EXIT_FAILURE is returned. + * + ****************************************************************************/ + +int nsh_session(FAR struct console_stdio_s *pstate) +{ + int ret; + + DEBUGASSERT(pstate); + + /* Present a greeting */ + + fputs(g_nshgreeting, pstate->cn_outstream); + fflush(pstate->cn_outstream); + + /* Execute the login script */ + +#ifdef CONFIG_NSH_ROMFSRC + (void)nsh_loginscript(&pstate->cn_vtbl); +#endif + + /* Then enter the command line parsing loop */ + + for (;;) + { + /* For the case of debugging the USB console... dump collected USB trace data */ + +#ifdef CONFIG_NSH_USBDEV_TRACE + nsh_usbtrace(); +#endif + + /* Display the prompt string */ + + fputs(g_nshprompt, pstate->cn_outstream); + fflush(pstate->cn_outstream); + + /* Get the next line of input */ + + ret = readline(pstate->cn_line, CONFIG_NSH_LINELEN, + INSTREAM(pstate), OUTSTREAM(pstate)); + if (ret > 0) + { + /* Parse process the command */ + + (void)nsh_parse(&pstate->cn_vtbl, pstate->cn_line); + fflush(pstate->cn_outstream); + } + + /* Readline normally returns the number of characters read, + * but will return 0 on end of file or a negative value + * if an error occurs. Either will cause the session to + * terminate. + */ + + else + { + fprintf(pstate->cn_outstream, g_fmtcmdfailed, "nsh_session", + "readline", NSH_ERRNO_OF(-ret)); + return ret == 0 ? EXIT_SUCCESS : EXIT_FAILURE; + } + } + + /* We do not get here, but this is necessary to keep some compilers happy. + * But others will complain that this code is not reachable. + */ + + return EXIT_SUCCESS; +} diff --git a/apps/nshlib/nsh_telnetd.c b/apps/nshlib/nsh_telnetd.c index 478935d7f..76ed81086 100644 --- a/apps/nshlib/nsh_telnetd.c +++ b/apps/nshlib/nsh_telnetd.c @@ -1,7 +1,7 @@ /**************************************************************************** * apps/nshlib/nsh_telnetd.c * - * Copyright (C) 2007-2012 Gregory Nutt. All rights reserved. + * Copyright (C) 2007-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without @@ -198,15 +198,29 @@ int nsh_telnetmain(int argc, char *argv[]) } #endif /* CONFIG_NSH_TELNET_LOGIN */ + /* The following logic mostly the same as the login in nsh_session.c. It + * differs only in that gets() is called to get the command instead of + * readline(). + */ + /* Present the NSH greeting */ fputs(g_nshgreeting, pstate->cn_outstream); fflush(pstate->cn_outstream); - /* Execute the startup script */ + /* Execute the startup script. If standard console is also defined, then + * we will not bother with the initscript here (although it is safe to + * call nshinitscript multiple times). + */ #if defined(CONFIG_NSH_ROMFSETC) && !defined(CONFIG_NSH_CONSOLE) - (void)nsh_script(&pstate->cn_vtbl, "init", NSH_INITPATH); + (void)nsh_initscript(&pstate->cn_vtbl); +#endif + + /* Execute the login script */ + +#ifdef CONFIG_NSH_ROMFSRC + (void)nsh_loginscript(&pstate->cn_vtbl); #endif /* Then enter the command line parsing loop */ @@ -261,8 +275,8 @@ int nsh_telnetmain(int argc, char *argv[]) * NuttX configuration setting. * * Returned Values: - * Zero if the Telnet daemon was successfully started. A negated errno - * value will be returned on failure. + * The task ID of the Telnet daemon was successfully started. A negated + * errno value will be returned on failure. * ****************************************************************************/ @@ -271,6 +285,15 @@ int nsh_telnetstart(void) struct telnetd_config_s config; int ret; + /* Initialize any USB tracing options that were requested. If standard + * console is also defined, then we will defer this step to the standard + * console. + */ + +#if defined(CONFIG_NSH_USBDEV_TRACE) && !defined(CONFIG_NSH_CONSOLE) + usbtrace_enable(TRACE_BITSET); +#endif + /* Configure the telnet daemon */ config.d_port = HTONS(CONFIG_NSH_TELNETD_PORT); diff --git a/apps/nshlib/nsh_usbdev.c b/apps/nshlib/nsh_usbdev.c index 2064cbd84..193fe0d79 100644 --- a/apps/nshlib/nsh_usbdev.c +++ b/apps/nshlib/nsh_usbdev.c @@ -1,7 +1,7 @@ /**************************************************************************** * apps/nshlib/nsh_usbdev.c * - * Copyright (C) 2012 Gregory Nutt. All rights reserved. + * Copyright (C) 2012-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without @@ -55,11 +55,10 @@ #endif #include "nsh.h" - -#ifdef CONFIG_USBDEV +#include "nsh_console.h" /**************************************************************************** - * Definitions + * Pre-processor Definitions ****************************************************************************/ /* Output USB trace data to the console device using printf() unless (1) * debug is enabled, then we want to keep the trace output in sync with the @@ -98,6 +97,14 @@ * Name: nsh_tracecallback ****************************************************************************/ +/**************************************************************************** + * Name: nsh_tracecallback + * + * Description: + * This is part of the USB trace logic + * + ****************************************************************************/ + #ifdef CONFIG_NSH_USBDEV_TRACE static int nsh_tracecallback(struct usbtrace_s *trace, void *arg) { @@ -107,27 +114,96 @@ static int nsh_tracecallback(struct usbtrace_s *trace, void *arg) #endif /**************************************************************************** - * Public Functions + * Name: nsh_configstdio + * + * Description: + * Configure standard I/O + * + ****************************************************************************/ + +#ifdef HAVE_USB_CONSOLE +static void nsh_configstdio(int fd) +{ + /* Make sure the stdin, stdout, and stderr are closed */ + + (void)fclose(stdin); + (void)fclose(stdout); + (void)fclose(stderr); + + /* Dup the fd to create standard fd 0-2 */ + + (void)dup2(fd, 0); + (void)dup2(fd, 1); + (void)dup2(fd, 2); + + /* fdopen to get the stdin, stdout and stderr streams. The following logic depends + * on the fact that the library layer will allocate FILEs in order. And since + * we closed stdin, stdout, and stderr above, that is what we should get. + * + * fd = 0 is stdin (read-only) + * fd = 1 is stdout (write-only, append) + * fd = 2 is stderr (write-only, append) + */ + + (void)fdopen(0, "r"); + (void)fdopen(1, "a"); + (void)fdopen(2, "a"); +} +#endif + +/**************************************************************************** + * Name: nsh_nullstdio + * + * Description: + * Use /dev/null for standard I/O + * ****************************************************************************/ +#ifdef HAVE_USB_CONSOLE +static int nsh_nullstdio(void) +{ + int fd; + + /* Open /dev/null for read/write access */ + + fd = open("/dev/null", O_RDWR); + if (fd >= 0) + { + /* Configure standard I/O to use /dev/null */ + + nsh_configstdio(fd); + + /* We can close the original file descriptor now (unless it was one of + * 0-2) + */ + + if (fd > 2) + { + close(fd); + } + + return OK; + } + + return fd; +} +#endif + /**************************************************************************** - * Name: nsh_usbconsole + * Name: nsh_waitusbready + * + * Description: + * Wait for the USB console device to be ready + * ****************************************************************************/ #ifdef HAVE_USB_CONSOLE -int nsh_usbconsole(void) +static int nsh_waitusbready(void) { char inch; ssize_t nbytes; int nlc; int fd; - int ret; - - /* Initialize any USB tracing options that were requested */ - -#ifdef CONFIG_NSH_USBDEV_TRACE - usbtrace_enable(TRACE_BITSET); -#endif /* Don't start the NSH console until the console device is ready. Chances * are, we get here with no functional console. The USB console will not @@ -135,17 +211,6 @@ int nsh_usbconsole(void) * host-side application opens the connection. */ - /* Initialize the USB serial driver */ - -#if defined(CONFIG_PL2303) || defined(CONFIG_CDCACM) -#ifdef CONFIG_CDCACM - ret = cdcacm_initialize(CONFIG_NSH_USBDEV_MINOR, NULL); -#else - ret = usbdev_serialinitialize(CONFIG_NSH_USBDEV_MINOR); -#endif - DEBUGASSERT(ret == OK); -#endif - /* Open the USB serial device for read/write access */ do @@ -199,17 +264,9 @@ int nsh_usbconsole(void) } while (nlc < 3); - /* Make sure the stdin, stdout, and stderr are closed */ - - (void)fclose(stdin); - (void)fclose(stdout); - (void)fclose(stderr); - - /* Dup the fd to create standard fd 0-2 */ + /* Configure standard I/O */ - (void)dup2(fd, 0); - (void)dup2(fd, 1); - (void)dup2(fd, 2); + nsh_configstdio(fd); /* We can close the original file descriptor now (unless it was one of 0-2) */ @@ -218,33 +275,117 @@ int nsh_usbconsole(void) close(fd); } - /* fdopen to get the stdin, stdout and stderr streams. The following logic depends - * on the fact that the library layer will allocate FILEs in order. And since - * we closed stdin, stdout, and stderr above, that is what we should get. - * - * fd = 0 is stdin (read-only) - * fd = 1 is stdout (write-only, append) - * fd = 2 is stderr (write-only, append) - */ - - (void)fdopen(0, "r"); - (void)fdopen(1, "a"); - (void)fdopen(2, "a"); - return OK; } +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: nsh_consolemain (USB console version) + * + * Description: + * This interfaces maybe to called or started with task_start to start a + * single an NSH instance that operates on stdin and stdout. This + * function does not return. + * + * This function handles generic /dev/console character devices, or + * special USB console devices. The USB console requires some special + * operations to handle the cases where the session is lost when the + * USB device is unplugged and restarted when the USB device is plugged + * in again. + * + * Input Parameters: + * Standard task start-up arguments. These are not used. argc may be + * zero and argv may be NULL. + * + * Returned Values: + * This function does not return nor does it ever exit (unless the user + * executes the NSH exit command). + * + ****************************************************************************/ + +#ifdef HAVE_USB_CONSOLE +int nsh_consolemain(int argc, char *argv[]) +{ + FAR struct console_stdio_s *pstate = nsh_newconsole(); + int ret; -#endif /* HAVE_USB_CONSOLE */ + DEBUGASSERT(pstate); + + /* Initialize any USB tracing options that were requested */ + +#ifdef CONFIG_NSH_USBDEV_TRACE + usbtrace_enable(TRACE_BITSET); +#endif + + /* Initialize the USB serial driver */ + +#if defined(CONFIG_PL2303) || defined(CONFIG_CDCACM) +#ifdef CONFIG_CDCACM + ret = cdcacm_initialize(CONFIG_NSH_USBDEV_MINOR, NULL); +#else + ret = usbdev_serialinitialize(CONFIG_NSH_USBDEV_MINOR); +#endif + DEBUGASSERT(ret == OK); +#endif + + /* Configure to use /dev/null if we do not have a valid console. */ + +#ifndef CONFIG_DEV_CONSOLE + (void)nsh_nullstdio(); +#endif + + /* Execute the one-time start-up script (output may go to /dev/null) */ + +#ifdef CONFIG_NSH_ROMFSETC + (void)nsh_initscript(&pstate->cn_vtbl); +#endif + + /* Now loop, executing creating a session for each USB connection */ + + for (;;) + { + /* Wait for the USB to be connected to the host and switch + * standard I/O to the USB serial device. + */ + + ret = nsh_waitusbready(); + DEBUGASSERT(ret == OK); + + /* Execute the session */ + + (void)nsh_session(pstate); + + /* Switch to /dev/null because we probably no longer have a + * valid console device. + */ + + (void)nsh_nullstdio(); + } +} +#endif /**************************************************************************** * Name: nsh_usbtrace + * + * Description: + * The function is called from the nsh_session() to dump USB data to the + * SYSLOG device. + * + * Input Parameters: + * None + * + * Returned Values: + * None + * ****************************************************************************/ -#if defined(CONFIG_NSH_USBDEV_TRACE) && defined(HAVE_USB_CONSOLE) +#ifdef CONFIG_NSH_USBDEV_TRACE void nsh_usbtrace(void) { (void)usbtrace_enumerate(nsh_tracecallback, NULL); } #endif - -#endif /* CONFIG_USBDEV */ -- cgit v1.2.3 From 9de6f4d501826f76a5cce3631c6b98b1a6c01d0a Mon Sep 17 00:00:00 2001 From: patacongo Date: Thu, 31 Jan 2013 16:52:20 +0000 Subject: Fix readline return value; Add support for removable serial devices git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5589 42af7a65-404d-4744-a932-0658087f49c3 --- apps/ChangeLog.txt | 3 + apps/system/readline/readline.c | 53 ++++++--- nuttx/ChangeLog | 6 +- nuttx/configs/stm32f4discovery/usbnsh/defconfig | 12 ++- nuttx/drivers/serial/Kconfig | 3 + nuttx/drivers/serial/serial.c | 137 ++++++++++++++++++++++-- nuttx/drivers/usbdev/Kconfig | 2 + nuttx/drivers/usbdev/cdcacm.c | 47 ++++++-- nuttx/drivers/usbdev/pl2303.c | 45 ++++++-- nuttx/include/nuttx/serial/serial.h | 77 ++++++++----- 10 files changed, 320 insertions(+), 65 deletions(-) (limited to 'apps') diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt index 6a2c1d4c9..e64509be9 100644 --- a/apps/ChangeLog.txt +++ b/apps/ChangeLog.txt @@ -502,3 +502,6 @@ once when NSH starts; the .nshrc script will be executed for each session: Once for serial, once for each USB connection, once for each Telnet session. + * apps/system/readline: Correct realine return value. Was not + any returning special values when end-of-file or read errors + occur (it would return an empty string which is not very useful). diff --git a/apps/system/readline/readline.c b/apps/system/readline/readline.c index f64049ed7..11c53cb50 100644 --- a/apps/system/readline/readline.c +++ b/apps/system/readline/readline.c @@ -132,23 +132,34 @@ static inline int readline_rawgetc(int infd) nread = read(infd, &buffer, 1); - /* Return EOF if the end of file (0) or error (-1) occurs. */ + /* Check for end-of-file. */ - if (nread < 1) + if (nread == 0) + { + /* Return zero on end-of-file */ + + return 0; + } + + /* Check if an error occurred */ + + else if (nread < 0) { /* EINTR is not really an error; it simply means that a signal we * received while watiing for intput. */ - if (nread == 0 || errno != EINTR) + int errcode = errno; + if (errcode != EINTR) + { - return EOF; + return -errcode; } } } while (nread < 1); - /* On success, returnt he character that was read */ + /* On success, return the character that was read */ return (int)buffer; } @@ -275,9 +286,29 @@ ssize_t readline(FAR char *buf, int buflen, FILE *instream, FILE *outstream) int ch = readline_rawgetc(infd); + /* Check for end-of-file or read error */ + + if (ch <= 0) + { + /* Did we already received some data? */ + + if (nch > 0) + { + /* Yes.. Terminate the line (which might be zero length) + * and return the data that was received. The end-of-file + * or error condition will be reported next time. + */ + + buf[nch] = '\0'; + return nch; + } + + return ch; + } + /* Are we processing a VT100 escape sequence */ - if (escape) + else if (escape) { /* Yes, is it an [, 3 byte sequence */ @@ -366,16 +397,6 @@ ssize_t readline(FAR char *buf, int buflen, FILE *instream, FILE *outstream) return nch; } - /* Check for end-of-file */ - - else if (ch == EOF) - { - /* Terminate the line (which might be zero length) */ - - buf[nch] = '\0'; - return nch; - } - /* Otherwise, check if the character is printable and, if so, put the * character in the line buffer */ diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index 759177fca..5c41a0e9c 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -4069,4 +4069,8 @@ this. * arch/arm/src/lm/chip/lm4f_memorymap.h: More LM4F changes from Jose Pablo Carballo. - + * drivers/serial/serial.c, include/nuttx/serial/serial.h, + drivers/usbdev/cdcacm.c, and drivers/pl2303.c: Add support for + removable serial devices (like USB serial). This support is enabled + by CONFIG_SERIAL_REMOVABLE and requires VBUS sensing support from + the board-specific logic. diff --git a/nuttx/configs/stm32f4discovery/usbnsh/defconfig b/nuttx/configs/stm32f4discovery/usbnsh/defconfig index ba704001a..f5e8e7d31 100644 --- a/nuttx/configs/stm32f4discovery/usbnsh/defconfig +++ b/nuttx/configs/stm32f4discovery/usbnsh/defconfig @@ -95,9 +95,7 @@ CONFIG_BOARD_LOOPSPERMSEC=16717 # # CONFIG_ARMV7M_TOOLCHAIN_ATOLLIC is not set # CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set -# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set # CONFIG_ARMV7M_TOOLCHAIN_CODEREDW is not set -# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYW=y # CONFIG_ARMV7M_TOOLCHAIN_DEVKITARM is not set # CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI is not set @@ -374,6 +372,7 @@ CONFIG_SPI_EXCHANGE=y # CONFIG_SERCOMM_CONSOLE is not set CONFIG_SERIAL=y # CONFIG_DEV_LOWCONSOLE is not set +CONFIG_SERIAL_REMOVABLE=y # CONFIG_16550_UART is not set CONFIG_ARCH_HAVE_USART2=y CONFIG_MCU_SERIAL=y @@ -458,6 +457,7 @@ CONFIG_CDCACM_PRODUCTSTR="CDC/ACM Serial" # # System Logging # +# CONFIG_SYSLOG_ENABLE is not set CONFIG_SYSLOG=y CONFIG_SYSLOG_CHAR=y CONFIG_SYSLOG_DEVPATH="/dev/ttyS0" @@ -686,6 +686,10 @@ CONFIG_NSH_NESTDEPTH=3 # CONFIG_NSH_DISABLEBG is not set CONFIG_NSH_CONSOLE=y # CONFIG_NSH_USBCONSOLE is not set + +# +# USB Trace Support +# # CONFIG_NSH_CONDEV is not set CONFIG_NSH_ARCHINIT=y @@ -736,3 +740,7 @@ CONFIG_READLINE_ECHO=y # Sysinfo # # CONFIG_SYSTEM_SYSINFO is not set + +# +# USB Monitor +# diff --git a/nuttx/drivers/serial/Kconfig b/nuttx/drivers/serial/Kconfig index a1e0dff49..119923a69 100644 --- a/nuttx/drivers/serial/Kconfig +++ b/nuttx/drivers/serial/Kconfig @@ -10,6 +10,9 @@ config DEV_LOWCONSOLE ---help--- Use the simple, low-level, write-only serial console driver (minimal support) +config SERIAL_REMOVABLE + bool + config 16550_UART bool "16550 UART Chip support" default n diff --git a/nuttx/drivers/serial/serial.c b/nuttx/drivers/serial/serial.c index 9708eb5bc..0548d8c25 100644 --- a/nuttx/drivers/serial/serial.c +++ b/nuttx/drivers/serial/serial.c @@ -1,7 +1,7 @@ /************************************************************************************ * drivers/serial/serial.c * - * Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved. + * Copyright (C) 2007-2009, 2011-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without @@ -157,7 +157,11 @@ static void uart_pollnotify(FAR uart_dev_t *dev, pollevent_t eventset) struct pollfd *fds = dev->fds[i]; if (fds) { +#ifdef CONFIG_SERIAL_REMOVABLE + fds->revents |= ((fds->events | (POLLERR|POLLHUP)) & eventset); +#else fds->revents |= (fds->events & eventset); +#endif if (fds->revents != 0) { fvdbg("Report events: %02x\n", fds->revents); @@ -219,6 +223,15 @@ static int uart_putxmitchar(FAR uart_dev_t *dev, int ch) uart_disabletxint(dev); irqrestore(flags); +#ifdef CONFIG_SERIAL_REMOVABLE + /* Check if the removable device is no longer connected */ + + if (dev->disconnected) + { + return -ENOTCONN; + } +#endif + /* Check if we were awakened by signal. */ if (ret < 0) @@ -279,6 +292,15 @@ static ssize_t uart_write(FAR struct file *filep, FAR const char *buffer, size_t ssize_t nread = buflen; int ret; +#ifdef CONFIG_SERIAL_REMOVABLE + /* If the removable device is no longer connected, refuse to write to the device */ + + if (dev->disconnected) + { + return -ENOTCONN; + } +#endif + /* We may receive console writes through this path from interrupt handlers and * from debug output in the IDLE task! In these cases, we will need to do things * a little differently. @@ -395,6 +417,15 @@ static ssize_t uart_read(FAR struct file *filep, FAR char *buffer, size_t buflen int16_t tail; int ret; +#ifdef CONFIG_SERIAL_REMOVABLE + /* If the removable device is no longer connected, refuse to read from the device */ + + if (dev->disconnected) + { + return -ENOTCONN; + } +#endif + /* Only one user can access dev->recv.tail at a time */ ret = uart_takesem(&dev->recv.sem, true); @@ -525,9 +556,15 @@ static ssize_t uart_read(FAR struct file *filep, FAR char *buffer, size_t buflen ret = uart_takesem(&dev->recvsem, true); irqrestore(flags); - /* Was a signal received while waiting for data to be received? */ + /* Was a signal received while waiting for data to be + * received? Was a removable device disconnected? + */ +#ifdef CONFIG_SERIAL_REMOVABLE + if (ret < 0 || dev->disconnected) +#else if (ret < 0) +#endif { /* POSIX requires that we return after a signal is received. * If some bytes were read, we need to return the number of bytes @@ -541,7 +578,11 @@ static ssize_t uart_read(FAR struct file *filep, FAR char *buffer, size_t buflen * set the errno value appropriately. */ +#ifdef CONFIG_SERIAL_REMOVABLE + recvd = dev->disconnected ? -ENOTCONN : -EINTR; +#else recvd = -EINTR; +#endif } break; @@ -656,12 +697,12 @@ int uart_poll(FAR struct file *filep, FAR struct pollfd *fds, bool setup) if (ndx != dev->xmit.tail) { - eventset |= POLLOUT; + eventset |= (fds->events & POLLOUT); } uart_givesem(&dev->xmit.sem); - /* Check if the receive buffer is empty + /* Check if the receive buffer is empty. * * Get exclusive access to the recv buffer indices. NOTE: that we do not * let this wait be interrupted by a signal (we probably should, but that @@ -671,11 +712,20 @@ int uart_poll(FAR struct file *filep, FAR struct pollfd *fds, bool setup) (void)uart_takesem(&dev->recv.sem, false); if (dev->recv.head != dev->recv.tail) { - eventset |= POLLIN; + eventset |= (fds->events & POLLIN); } uart_givesem(&dev->recv.sem); +#ifdef CONFIG_SERIAL_REMOVABLE + /* Check if a removable device has been disconnected. */ + + if (dev->disconnected) + { + eventset |= (POLLERR|POLLHUP); + } +#endif + if (eventset) { uart_pollnotify(dev, eventset); @@ -796,6 +846,15 @@ static int uart_open(FAR struct file *filep) uint8_t tmp; int ret; +#ifdef CONFIG_SERIAL_REMOVABLE + /* If the removable device is no longer connected, refuse to open the device */ + + if (dev->disconnected) + { + return -ENOTCONN; + } +#endif + /* If the port is the middle of closing, wait until the close is finished. * If a signal is received while we are waiting, then return EINTR. */ @@ -915,10 +974,12 @@ int uart_register(FAR const char *path, FAR uart_dev_t *dev) void uart_datareceived(FAR uart_dev_t *dev) { - /* Awaken any awaiting read() operations */ + /* Is there a thread waiting for read data? */ if (dev->recvwaiting) { + /* Yes... wake it up */ + dev->recvwaiting = false; (void)sem_post(&dev->recvsem); } @@ -942,8 +1003,12 @@ void uart_datareceived(FAR uart_dev_t *dev) void uart_datasent(FAR uart_dev_t *dev) { + /* Is there a thread waiting for space in xmit.buffer? */ + if (dev->xmitwaiting) { + /* Yes... wake it up */ + dev->xmitwaiting = false; (void)sem_post(&dev->xmitsem); } @@ -953,4 +1018,64 @@ void uart_datasent(FAR uart_dev_t *dev) uart_pollnotify(dev, POLLOUT); } +/************************************************************************************ + * Name: uart_connected + * + * Description: + * Serial devices (like USB serial) can be removed. In that case, the "upper + * half" serial driver must be informed that there is no longer a valid serial + * channel associated with the driver. + * + * In this case, the driver will terminate all pending transfers wint ENOTCONN and + * will refuse all further transactions while the "lower half" is disconnected. + * The driver will continue to be registered, but will be in an unusable state. + * + * Conversely, the "upper half" serial driver needs to know when the serial + * device is reconnected so that it can resume normal operations. + * + * Assumptions/Limitations: + * This function may be called from an interrupt handler. + * + ************************************************************************************/ + +#ifdef CONFIG_SERIAL_REMOVABLE +void uart_connected(FAR uart_dev_t *dev, bool connected) +{ + /* Is the device disconnected? */ + + dev->disconnected = !connected; + if (!connected) + { + /* Yes.. wake up all waiting threads. Each thread should detect the + * disconnection and return the ENOTCONN error. + */ + + /* Is there a thread waiting for space in xmit.buffer? */ + + if (dev->xmitwaiting) + { + /* Yes... wake it up */ + + dev->xmitwaiting = false; + (void)sem_post(&dev->xmitsem); + } + + /* Is there a thread waiting for read data? */ + + if (dev->recvwaiting) + { + /* Yes... wake it up */ + + dev->recvwaiting = false; + (void)sem_post(&dev->recvsem); + } + + /* Notify all poll/select waiters that and hangup/error occurred */ + + uart_pollnotify(dev, (POLLERR|POLLHUP)); + } +} +#endif + + diff --git a/nuttx/drivers/usbdev/Kconfig b/nuttx/drivers/usbdev/Kconfig index e17b38022..0752bb791 100644 --- a/nuttx/drivers/usbdev/Kconfig +++ b/nuttx/drivers/usbdev/Kconfig @@ -150,6 +150,7 @@ endif menuconfig PL2303 bool "Prolific PL2303 serial/USB converter emulation" default n + select SERIAL_REMOVABLE ---help--- This logic emulates the Prolific PL2303 serial/USB converter @@ -222,6 +223,7 @@ endif menuconfig CDCACM bool "USB Modem (CDC ACM) support" default n + select SERIAL_REMOVABLE ---help--- Enables USB Modem (CDC ACM) support diff --git a/nuttx/drivers/usbdev/cdcacm.c b/nuttx/drivers/usbdev/cdcacm.c index 97c9d7c77..9b6fae1d6 100644 --- a/nuttx/drivers/usbdev/cdcacm.c +++ b/nuttx/drivers/usbdev/cdcacm.c @@ -570,6 +570,14 @@ static void cdcacm_resetconfig(FAR struct cdcacm_dev_s *priv) priv->config = CDCACM_CONFIGIDNONE; + /* Inform the "upper half" driver that there is no (functional) USB + * connection. + */ + +#ifdef CONFIG_SERIAL_REMOVABLE + uart_connected(&priv->serdev, false); +#endif + /* Disable endpoints. This should force completion of all pending * transfers. */ @@ -731,10 +739,20 @@ static int cdcacm_setconfig(FAR struct cdcacm_dev_s *priv, uint8_t config) usbtrace(TRACE_CLSERROR(USBSER_TRACEERR_RDSUBMIT), (uint16_t)-ret); goto errout; } + priv->nrdq++; } + /* We are successfully configured */ + priv->config = config; + + /* Inform the "upper half" driver that we are "open for business" */ + +#ifdef CONFIG_SERIAL_REMOVABLE + uart_connected(&priv->serdev, true); +#endif + return OK; errout: @@ -1575,12 +1593,20 @@ static void cdcacm_disconnect(FAR struct usbdevclass_driver_s *driver, } #endif - /* Reset the configuration */ + /* Inform the "upper half serial driver that we have lost the USB serial + * connection. + */ flags = irqsave(); +#ifdef CONFIG_SERIAL_REMOVABLE + uart_connected(&priv->serdev, false); +#endif + + /* Reset the configuration */ + cdcacm_resetconfig(priv); - /* Clear out all data in the circular buffer */ + /* Clear out all outgoing data in the circular buffer */ priv->serdev.xmit.head = 0; priv->serdev.xmit.tail = 0; @@ -2045,12 +2071,17 @@ int cdcacm_classobject(int minor, FAR struct usbdevclass_driver_s **classdev) /* Initialize the serial driver sub-structure */ - priv->serdev.recv.size = CONFIG_CDCACM_RXBUFSIZE; - priv->serdev.recv.buffer = priv->rxbuffer; - priv->serdev.xmit.size = CONFIG_CDCACM_TXBUFSIZE; - priv->serdev.xmit.buffer = priv->txbuffer; - priv->serdev.ops = &g_uartops; - priv->serdev.priv = priv; + /* The initial state is disconnected */ + +#ifdef CONFIG_SERIAL_REMOVABLE + priv->serdev.disconnected = true; +#endif + priv->serdev.recv.size = CONFIG_CDCACM_RXBUFSIZE; + priv->serdev.recv.buffer = priv->rxbuffer; + priv->serdev.xmit.size = CONFIG_CDCACM_TXBUFSIZE; + priv->serdev.xmit.buffer = priv->txbuffer; + priv->serdev.ops = &g_uartops; + priv->serdev.priv = priv; /* Initialize the USB class driver structure */ diff --git a/nuttx/drivers/usbdev/pl2303.c b/nuttx/drivers/usbdev/pl2303.c index d10539fa7..98163f133 100644 --- a/nuttx/drivers/usbdev/pl2303.c +++ b/nuttx/drivers/usbdev/pl2303.c @@ -983,6 +983,14 @@ static void usbclass_resetconfig(FAR struct pl2303_dev_s *priv) priv->config = PL2303_CONFIGIDNONE; + /* Inform the "upper half" driver that there is no (functional) USB + * connection. + */ + +#ifdef CONFIG_SERIAL_REMOVABLE + uart_connected(&priv->serdev, false); +#endif + /* Disable endpoints. This should force completion of all pending * transfers. */ @@ -1112,10 +1120,20 @@ static int usbclass_setconfig(FAR struct pl2303_dev_s *priv, uint8_t config) usbtrace(TRACE_CLSERROR(USBSER_TRACEERR_RDSUBMIT), (uint16_t)-ret); goto errout; } + priv->nrdq++; } + /* We are successfully configured */ + priv->config = config; + + /* Inform the "upper half" driver that we are "open for business" */ + +#ifdef CONFIG_SERIAL_REMOVABLE + uart_connected(&priv->serdev, true); +#endif + return OK; errout: @@ -1844,12 +1862,20 @@ static void usbclass_disconnect(FAR struct usbdevclass_driver_s *driver, } #endif - /* Reset the configuration */ + /* Inform the "upper half serial driver that we have lost the USB serial + * connection. + */ flags = irqsave(); +#ifdef CONFIG_SERIAL_REMOVABLE + uart_connected(&priv->serdev, false); +#endif + + /* Reset the configuration */ + usbclass_resetconfig(priv); - /* Clear out all data in the circular buffer */ + /* Clear out all outgoing data in the circular buffer */ priv->serdev.xmit.head = 0; priv->serdev.xmit.tail = 0; @@ -2185,12 +2211,15 @@ int usbdev_serialinitialize(int minor) /* Initialize the serial driver sub-structure */ - priv->serdev.recv.size = CONFIG_PL2303_RXBUFSIZE; - priv->serdev.recv.buffer = priv->rxbuffer; - priv->serdev.xmit.size = CONFIG_PL2303_TXBUFSIZE; - priv->serdev.xmit.buffer = priv->txbuffer; - priv->serdev.ops = &g_uartops; - priv->serdev.priv = priv; +#ifdef CONFIG_SERIAL_REMOVABLE + priv->serdev.disconnected = true; +#endif + priv->serdev.recv.size = CONFIG_PL2303_RXBUFSIZE; + priv->serdev.recv.buffer = priv->rxbuffer; + priv->serdev.xmit.size = CONFIG_PL2303_TXBUFSIZE; + priv->serdev.xmit.buffer = priv->txbuffer; + priv->serdev.ops = &g_uartops; + priv->serdev.priv = priv; /* Initialize the USB class driver structure */ diff --git a/nuttx/include/nuttx/serial/serial.h b/nuttx/include/nuttx/serial/serial.h index 1c40f1b6b..57bcf1f27 100644 --- a/nuttx/include/nuttx/serial/serial.h +++ b/nuttx/include/nuttx/serial/serial.h @@ -1,7 +1,7 @@ /************************************************************************************ * include/nuttx/serial/serial.h * - * Copyright (C) 2007-2008, 2012 Gregory Nutt. All rights reserved. + * Copyright (C) 2007-2008, 2012-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without @@ -46,6 +46,7 @@ #include #include #include + #include /************************************************************************************ @@ -190,20 +191,23 @@ struct uart_ops_s struct uart_dev_s { - uint8_t open_count; /* Number of times the device has been opened */ - volatile bool xmitwaiting; /* true: User waiting for space in xmit.buffer */ - volatile bool recvwaiting; /* true: User waiting for data in recv.buffer */ - bool isconsole; /* true: This is the serial console */ - sem_t closesem; /* Locks out new open while close is in progress */ - sem_t xmitsem; /* Wakeup user waiting for space in xmit.buffer */ - sem_t recvsem; /* Wakeup user waiting for data in recv.buffer */ + uint8_t open_count; /* Number of times the device has been opened */ + volatile bool xmitwaiting; /* true: User waiting for space in xmit.buffer */ + volatile bool recvwaiting; /* true: User waiting for data in recv.buffer */ +#ifdef CONFIG_SERIAL_REMOVABLE + volatile bool disconnected; /* true: Removable device is not connected */ +#endif + bool isconsole; /* true: This is the serial console */ + sem_t closesem; /* Locks out new open while close is in progress */ + sem_t xmitsem; /* Wakeup user waiting for space in xmit.buffer */ + sem_t recvsem; /* Wakeup user waiting for data in recv.buffer */ #ifndef CONFIG_DISABLE_POLL - sem_t pollsem; /* Manages exclusive access to fds[] */ + sem_t pollsem; /* Manages exclusive access to fds[] */ #endif - struct uart_buffer_s xmit; /* Describes transmit buffer */ - struct uart_buffer_s recv; /* Describes receive buffer */ - FAR const struct uart_ops_s *ops; /* Arch-specific operations */ - FAR void *priv; /* Used by the arch-specific logic */ + struct uart_buffer_s xmit; /* Describes transmit buffer */ + struct uart_buffer_s recv; /* Describes receive buffer */ + FAR const struct uart_ops_s *ops; /* Arch-specific operations */ + FAR void *priv; /* Used by the arch-specific logic */ /* The following is a list if poll structures of threads waiting for * driver events. The 'struct pollfd' reference for each open is also @@ -213,26 +217,27 @@ struct uart_dev_s #ifndef CONFIG_DISABLE_POLL struct pollfd *fds[CONFIG_SERIAL_NPOLLWAITERS]; #endif - }; + typedef struct uart_dev_s uart_dev_t; /************************************************************************************ * Public Data ************************************************************************************/ -/************************************************************************************ - * Public Functions - ************************************************************************************/ - #undef EXTERN #if defined(__cplusplus) #define EXTERN extern "C" -extern "C" { +extern "C" +{ #else #define EXTERN extern #endif +/************************************************************************************ + * Public Functions + ************************************************************************************/ + /************************************************************************************ * Name: uart_register * @@ -241,7 +246,7 @@ extern "C" { * ************************************************************************************/ -EXTERN int uart_register(FAR const char *path, FAR uart_dev_t *dev); +int uart_register(FAR const char *path, FAR uart_dev_t *dev); /************************************************************************************ * Name: uart_xmitchars @@ -254,7 +259,7 @@ EXTERN int uart_register(FAR const char *path, FAR uart_dev_t *dev); * ************************************************************************************/ -EXTERN void uart_xmitchars(FAR uart_dev_t *dev); +void uart_xmitchars(FAR uart_dev_t *dev); /************************************************************************************ * Name: uart_receivechars @@ -267,7 +272,7 @@ EXTERN void uart_xmitchars(FAR uart_dev_t *dev); * ************************************************************************************/ -EXTERN void uart_recvchars(FAR uart_dev_t *dev); +void uart_recvchars(FAR uart_dev_t *dev); /************************************************************************************ * Name: uart_datareceived @@ -279,7 +284,7 @@ EXTERN void uart_recvchars(FAR uart_dev_t *dev); * ************************************************************************************/ -EXTERN void uart_datareceived(FAR uart_dev_t *dev); +void uart_datareceived(FAR uart_dev_t *dev); /************************************************************************************ * Name: uart_datasent @@ -292,7 +297,31 @@ EXTERN void uart_datareceived(FAR uart_dev_t *dev); * ************************************************************************************/ -EXTERN void uart_datasent(FAR uart_dev_t *dev); +void uart_datasent(FAR uart_dev_t *dev); + +/************************************************************************************ + * Name: uart_connected + * + * Description: + * Serial devices (like USB serial) can be removed. In that case, the "upper + * half" serial driver must be informed that there is no longer a valid serial + * channel associated with the driver. + * + * In this case, the driver will terminate all pending transfers wint ENOTCONN and + * will refuse all further transactions while the "lower half" is disconnected. + * The driver will continue to be registered, but will be in an unusable state. + * + * Conversely, the "upper half" serial driver needs to know when the serial + * device is reconnected so that it can resume normal operations. + * + * Assumptions/Limitations: + * This function may be called from an interrupt handler. + * + ************************************************************************************/ + +#ifdef CONFIG_SERIAL_REMOVABLE +void uart_connected(FAR uart_dev_t *dev, bool connected); +#endif #undef EXTERN #if defined(__cplusplus) -- cgit v1.2.3 From 966e801032745429ec2f28f9e5ab0b3fc8a68d3d Mon Sep 17 00:00:00 2001 From: patacongo Date: Thu, 31 Jan 2013 23:29:34 +0000 Subject: Misc clean; mark assertions as non-returning; allow toolchain prefix to be overriden from make command line git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5591 42af7a65-404d-4744-a932-0658087f49c3 --- apps/system/readline/readline.c | 1 - nuttx/ChangeLog | 5 ++++ nuttx/README.txt | 11 ++++++-- nuttx/arch/8051/src/up_assert.c | 3 ++- nuttx/arch/arm/src/arm/Toolchain.defs | 26 +++++++++---------- nuttx/arch/arm/src/arm/up_assert.c | 3 ++- nuttx/arch/arm/src/armv7-m/Toolchain.defs | 42 +++++++++++++++---------------- nuttx/arch/arm/src/armv7-m/up_assert.c | 3 ++- nuttx/arch/arm/src/lpc17xx/lpc17_gpio.c | 2 +- nuttx/arch/avr/src/avr/Toolchain.defs | 10 ++++---- nuttx/arch/avr/src/common/up_assert.c | 3 ++- nuttx/arch/hc/src/m9s12/m9s12_assert.c | 3 ++- nuttx/arch/mips/src/mips32/Toolchain.defs | 24 +++++++++--------- nuttx/arch/mips/src/mips32/up_assert.c | 5 ++-- nuttx/arch/sh/src/common/up_assert.c | 3 ++- nuttx/arch/x86/src/common/up_assert.c | 3 ++- nuttx/drivers/serial/serial.c | 7 +++++- nuttx/include/assert.h | 21 ++++++++++------ 18 files changed, 102 insertions(+), 73 deletions(-) (limited to 'apps') diff --git a/apps/system/readline/readline.c b/apps/system/readline/readline.c index 11c53cb50..bac7eee8c 100644 --- a/apps/system/readline/readline.c +++ b/apps/system/readline/readline.c @@ -151,7 +151,6 @@ static inline int readline_rawgetc(int infd) int errcode = errno; if (errcode != EINTR) - { return -errcode; } diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index 5c41a0e9c..26b82fde4 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -4074,3 +4074,8 @@ removable serial devices (like USB serial). This support is enabled by CONFIG_SERIAL_REMOVABLE and requires VBUS sensing support from the board-specific logic. + * arch/*/src/*/Toolchain.defs: Change assignment so that we can + override CROSSDEV with a make command line argument. + * include/assert.h: Mark assertion functions as non-returning. + * arch/*/src/*/up_assert.h: Mark _up_assert() as non-returning. + diff --git a/nuttx/README.txt b/nuttx/README.txt index 340087791..571f8e04e 100644 --- a/nuttx/README.txt +++ b/nuttx/README.txt @@ -523,8 +523,15 @@ NuttX Buildroot Toolchain Disadvantages: This tool chain is not was well supported as some other toolchains. GNU tools are not my priority and so the buildroot tools - often get behind. For example, the is still no EABI support in the - NuttX buildroot toolchain for ARM. + often get behind. For example, until recently there was no EABI support + in the NuttX buildroot toolchain for ARM. + + NOTE: For Cortex-M3/4, there are OABI and EABI versions of the buildroot + toolchains. If you are using the older OABI toolchain the prefix for + the tools will be arm-nuttx-elf-; for the EABI toolchin the prefix will + be arm-nuttx-eabi-. If you are using the older OABI toolchain with + an ARM Cortex-M3/4, you will need to set CONFIG_ARMV7M_OABI_TOOLCHAIN + in the .config file in order to pick the right tool prefix. SHELLS ^^^^^^ diff --git a/nuttx/arch/8051/src/up_assert.c b/nuttx/arch/8051/src/up_assert.c index 46d731041..5e59d6af0 100644 --- a/nuttx/arch/8051/src/up_assert.c +++ b/nuttx/arch/8051/src/up_assert.c @@ -65,7 +65,8 @@ * Name: _up_assert ************************************************************************/ -static void _up_assert(int errorcode) /* noreturn_function */ +static void _up_assert(int errorcode) noreturn_function; +static void _up_assert(int errorcode) { /* Are we in an interrupt handler or the idle task? */ diff --git a/nuttx/arch/arm/src/arm/Toolchain.defs b/nuttx/arch/arm/src/arm/Toolchain.defs index daa825842..cd16d7ec9 100644 --- a/nuttx/arch/arm/src/arm/Toolchain.defs +++ b/nuttx/arch/arm/src/arm/Toolchain.defs @@ -1,7 +1,7 @@ ############################################################################ # arch/arm/src/armv/Toolchain.defs # -# Copyright (C) 2012 Gregory Nutt. All rights reserved. +# Copyright (C) 2012-2013 Gregory Nutt. All rights reserved. # Author: Gregory Nutt # # Redistribution and use in source and binary forms, with or without @@ -103,11 +103,11 @@ endif ifeq ($(CONFIG_ARM_TOOLCHAIN),BUILDROOT) ifeq ($(CONFIG_ARM_OABI_TOOLCHAIN),y) - CROSSDEV = arm-nuttx-elf- - ARCROSSDEV = arm-nuttx-elf- + CROSSDEV ?= arm-nuttx-elf- + ARCROSSDEV ?= arm-nuttx-elf- else - CROSSDEV = arm-nuttx-eabi- - ARCROSSDEV = arm-nuttx-eabi- + CROSSDEV ?= arm-nuttx-eabi- + ARCROSSDEV ?= arm-nuttx-eabi- endif MAXOPTIMIZATION = -Os endif @@ -115,16 +115,16 @@ endif # CodeSourcery under Linux ifeq ($(CONFIG_ARM_TOOLCHAIN),CODESOURCERYL) - CROSSDEV = arm-none-eabi- - ARCROSSDEV = arm-none-eabi- + CROSSDEV ?= arm-none-eabi- + ARCROSSDEV ?= arm-none-eabi- MAXOPTIMIZATION = -O2 endif # CodeSourcery under Windows ifeq ($(CONFIG_ARM_TOOLCHAIN),CODESOURCERYW) - CROSSDEV = arm-none-eabi- - ARCROSSDEV = arm-none-eabi- + CROSSDEV ?= arm-none-eabi- + ARCROSSDEV ?= arm-none-eabi- MAXOPTIMIZATION = -O2 ifneq ($(CONFIG_WINDOWS_NATIVE),y) WINTOOL = y @@ -134,8 +134,8 @@ endif # devkitARM under Windows ifeq ($(CONFIG_ARM_TOOLCHAIN),DEVKITARM) - CROSSDEV = arm-eabi- - ARCROSSDEV = arm-eabi- + CROSSDEV ?= arm-eabi- + ARCROSSDEV ?= arm-eabi- ifneq ($(CONFIG_WINDOWS_NATIVE),y) WINTOOL = y endif @@ -144,8 +144,8 @@ endif # Generic GNU EABI toolchain on OS X, Linux or any typical Posix system ifeq ($(CONFIG_ARM_TOOLCHAIN),GNU_EABI) - CROSSDEV = arm-none-eabi- - ARCROSSDEV = arm-none-eabi- + CROSSDEV ?= arm-none-eabi- + ARCROSSDEV ?= arm-none-eabi- MAXOPTIMIZATION = -O3 endif diff --git a/nuttx/arch/arm/src/arm/up_assert.c b/nuttx/arch/arm/src/arm/up_assert.c index 3cc79df01..5f713c34d 100644 --- a/nuttx/arch/arm/src/arm/up_assert.c +++ b/nuttx/arch/arm/src/arm/up_assert.c @@ -252,7 +252,8 @@ static void up_dumpstate(void) * Name: _up_assert ****************************************************************************/ -static void _up_assert(int errorcode) /* noreturn_function */ +static void _up_assert(int errorcode) noreturn_function; +static void _up_assert(int errorcode) { /* Are we in an interrupt handler or the idle task? */ diff --git a/nuttx/arch/arm/src/armv7-m/Toolchain.defs b/nuttx/arch/arm/src/armv7-m/Toolchain.defs index 45ee9e36c..4de5b49f4 100644 --- a/nuttx/arch/arm/src/armv7-m/Toolchain.defs +++ b/nuttx/arch/arm/src/armv7-m/Toolchain.defs @@ -1,7 +1,7 @@ ############################################################################ # arch/arm/src/armv7-m/Toolchain.defs # -# Copyright (C) 2012 Gregory Nutt. All rights reserved. +# Copyright (C) 2012-2013 Gregory Nutt. All rights reserved. # Author: Gregory Nutt # # Redistribution and use in source and binary forms, with or without @@ -141,8 +141,8 @@ endif # Atollic toolchain under Windows ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),ATOLLIC) - CROSSDEV = arm-atollic-eabi- - ARCROSSDEV = arm-atollic-eabi- + CROSSDEV ?= arm-atollic-eabi- + ARCROSSDEV ?= arm-atollic-eabi- ifneq ($(CONFIG_WINDOWS_NATIVE),y) WINTOOL = y endif @@ -161,12 +161,12 @@ endif ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),BUILDROOT) ifeq ($(CONFIG_ARMV7M_OABI_TOOLCHAIN),y) - CROSSDEV = arm-nuttx-elf- - ARCROSSDEV = arm-nuttx-elf- + CROSSDEV ?= arm-nuttx-elf- + ARCROSSDEV ?= arm-nuttx-elf- ARCHCPUFLAGS = -mtune=cortex-m3 -march=armv7-m -mfloat-abi=soft else - CROSSDEV = arm-nuttx-eabi- - ARCROSSDEV = arm-nuttx-eabi- + CROSSDEV ?= arm-nuttx-eabi- + ARCROSSDEV ?= arm-nuttx-eabi- ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft endif MAXOPTIMIZATION = -Os @@ -175,8 +175,8 @@ endif # Code Red RedSuite under Linux ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),CODEREDL) - CROSSDEV = arm-none-eabi- - ARCROSSDEV = arm-none-eabi- + CROSSDEV ?= arm-none-eabi- + ARCROSSDEV ?= arm-none-eabi- ifeq ($(CONFIG_ARCH_CORTEXM4),y) ifeq ($(CONFIG_ARCH_FPU),y) ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard @@ -191,8 +191,8 @@ endif # Code Red RedSuite under Windows ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),CODEREDW) - CROSSDEV = arm-none-eabi- - ARCROSSDEV = arm-none-eabi- + CROSSDEV ?= arm-none-eabi- + ARCROSSDEV ?= arm-none-eabi- ifneq ($(CONFIG_WINDOWS_NATIVE),y) WINTOOL = y endif @@ -210,8 +210,8 @@ endif # CodeSourcery under Linux ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),CODESOURCERYL) - CROSSDEV = arm-none-eabi- - ARCROSSDEV = arm-none-eabi- + CROSSDEV ?= arm-none-eabi- + ARCROSSDEV ?= arm-none-eabi- ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft MAXOPTIMIZATION = -O2 endif @@ -219,8 +219,8 @@ endif # CodeSourcery under Windows ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),CODESOURCERYW) - CROSSDEV = arm-none-eabi- - ARCROSSDEV = arm-none-eabi- + CROSSDEV ?= arm-none-eabi- + ARCROSSDEV ?= arm-none-eabi- ifneq ($(CONFIG_WINDOWS_NATIVE),y) WINTOOL = y endif @@ -230,8 +230,8 @@ endif # devkitARM under Windows ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),DEVKITARM) - CROSSDEV = arm-eabi- - ARCROSSDEV = arm-eabi- + CROSSDEV ?= arm-eabi- + ARCROSSDEV ?= arm-eabi- ifneq ($(CONFIG_WINDOWS_NATIVE),y) WINTOOL = y endif @@ -241,8 +241,8 @@ endif # Generic GNU EABI toolchain on OS X, Linux or any typical Posix system ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),GNU_EABI) - CROSSDEV = arm-none-eabi- - ARCROSSDEV = arm-none-eabi- + CROSSDEV ?= arm-none-eabi- + ARCROSSDEV ?= arm-none-eabi- MAXOPTIMIZATION = -O3 ifeq ($(CONFIG_ARCH_CORTEXM4),y) ifeq ($(CONFIG_ARCH_FPU),y) @@ -258,8 +258,8 @@ endif # Raisonance RIDE7 under Windows ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),RAISONANCE) - CROSSDEV = arm-none-eabi- - ARCROSSDEV = arm-none-eabi- + CROSSDEV ?= arm-none-eabi- + ARCROSSDEV ?= arm-none-eabi- ifneq ($(CONFIG_WINDOWS_NATIVE),y) WINTOOL = y endif diff --git a/nuttx/arch/arm/src/armv7-m/up_assert.c b/nuttx/arch/arm/src/armv7-m/up_assert.c index 8e29bfe80..b40b1090c 100644 --- a/nuttx/arch/arm/src/armv7-m/up_assert.c +++ b/nuttx/arch/arm/src/armv7-m/up_assert.c @@ -267,7 +267,8 @@ static void up_dumpstate(void) * Name: _up_assert ****************************************************************************/ -static void _up_assert(int errorcode) /* noreturn_function */ +static void _up_assert(int errorcode) noreturn_function; +static void _up_assert(int errorcode) { /* Are we in an interrupt handler or the idle task? */ diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_gpio.c b/nuttx/arch/arm/src/lpc17xx/lpc17_gpio.c index e3085ff78..84c4e7951 100644 --- a/nuttx/arch/arm/src/lpc17xx/lpc17_gpio.c +++ b/nuttx/arch/arm/src/lpc17xx/lpc17_gpio.c @@ -452,7 +452,7 @@ static inline int lpc17_configinput(lpc17_pinset_t cfgset, unsigned int port, un #endif } -#ifdef defined(LPC176x) +#if defined(LPC176x) /* Set up PINSEL registers */ /* Configure as GPIO */ diff --git a/nuttx/arch/avr/src/avr/Toolchain.defs b/nuttx/arch/avr/src/avr/Toolchain.defs index 96eb273f6..09035a30f 100644 --- a/nuttx/arch/avr/src/avr/Toolchain.defs +++ b/nuttx/arch/avr/src/avr/Toolchain.defs @@ -1,7 +1,7 @@ ############################################################################ # arch/avr/src/avr/Toolchain.defs # -# Copyright (C) 2012 Gregory Nutt. All rights reserved. +# Copyright (C) 2012-2013 Gregory Nutt. All rights reserved. # Author: Gregory Nutt # # Redistribution and use in source and binary forms, with or without @@ -82,7 +82,7 @@ endif # NuttX buildroot GCC toolchain under Linux or Cygwin ifeq ($(CONFIG_AVR_TOOLCHAIN),BUILDROOT) - CROSSDEV = avr-nuttx-elf- + CROSSDEV ?= avr-nuttx-elf- MAXOPTIMIZATION = -O2 LDFLAGS += -nostartfiles -nodefaultlibs endif @@ -90,7 +90,7 @@ endif # AVR CrossPack under OS X ifeq ($(CONFIG_AVR_TOOLCHAIN),CROSSPACK) - CROSSDEV = avr- + CROSSDEV ?= avr- MAXOPTIMIZATION = -O2 LDFLAGS += -nostartfiles -nodefaultlibs endif @@ -98,7 +98,7 @@ endif # GCC toolchain under Linux ifeq ($(CONFIG_AVR_TOOLCHAIN),LINUXGCC) - CROSSDEV = avr- + CROSSDEV ?= avr- MAXOPTIMIZATION = -O2 LDFLAGS += -nostartfiles -nodefaultlibs endif @@ -106,7 +106,7 @@ endif # WinAVR toolchain under Windows/Cygwin ifeq ($(CONFIG_AVR_TOOLCHAIN),WINAVR) - CROSSDEV = avr- + CROSSDEV ?= avr- ifneq ($(CONFIG_WINDOWS_NATIVE),y) WINTOOL = y endif diff --git a/nuttx/arch/avr/src/common/up_assert.c b/nuttx/arch/avr/src/common/up_assert.c index 3e90094eb..be7f635e8 100644 --- a/nuttx/arch/avr/src/common/up_assert.c +++ b/nuttx/arch/avr/src/common/up_assert.c @@ -90,7 +90,8 @@ * Name: _up_assert ****************************************************************************/ -static void _up_assert(int errorcode) /* noreturn_function */ +static void _up_assert(int errorcode) noreturn_function; +static void _up_assert(int errorcode) { /* Are we in an interrupt handler or the idle task? */ diff --git a/nuttx/arch/hc/src/m9s12/m9s12_assert.c b/nuttx/arch/hc/src/m9s12/m9s12_assert.c index 65cc75590..37ad5e30d 100644 --- a/nuttx/arch/hc/src/m9s12/m9s12_assert.c +++ b/nuttx/arch/hc/src/m9s12/m9s12_assert.c @@ -247,7 +247,8 @@ static void up_dumpstate(void) * Name: _up_assert ****************************************************************************/ -static void _up_assert(int errorcode) /* noreturn_function */ +static void _up_assert(int errorcode) noreturn_function; +static void _up_assert(int errorcode) { /* Are we in an interrupt handler or the idle task? */ diff --git a/nuttx/arch/mips/src/mips32/Toolchain.defs b/nuttx/arch/mips/src/mips32/Toolchain.defs index bd509b86c..09c68db12 100644 --- a/nuttx/arch/mips/src/mips32/Toolchain.defs +++ b/nuttx/arch/mips/src/mips32/Toolchain.defs @@ -1,7 +1,7 @@ ############################################################################ # arch/mips/src/mips32/Toolchain.defs # -# Copyright (C) 2012 Gregory Nutt. All rights reserved. +# Copyright (C) 2012-2013 Gregory Nutt. All rights reserved. # Author: Gregory Nutt # # Redistribution and use in source and binary forms, with or without @@ -103,7 +103,7 @@ endif # including Pinguino mips-elf toolchain ifeq ($(CONFIG_MIPS32_TOOLCHAIN),GNU_ELF) - CROSSDEV = mips-elf- + CROSSDEV ?= mips-elf- MAXOPTIMIZATION = -O2 ARCHCPUFLAGS = -mlong32 -membedded-data -msoft-float -march=24kc -EL ARCHPICFLAGS = -fpic -membedded-pic @@ -114,8 +114,8 @@ endif # Microchip C32 toolchain under Linux ifeq ($(CONFIG_MIPS32_TOOLCHAIN),MICROCHIPL) - CROSSDEV = pic32- - # CROSSDEV = xc32- + CROSSDEV ?= pic32- + # CROSSDEV ?= xc32- MAXOPTIMIZATION = -O2 ARCHCPUFLAGS = -mprocessor=elf32pic32mx -mno-float -mlong32 -membedded-data ARCHPICFLAGS = -fpic -membedded-pic @@ -126,8 +126,8 @@ endif # Microchip C32 toolchain under Windows ifeq ($(CONFIG_MIPS32_TOOLCHAIN),MICROCHIPW) - CROSSDEV = pic32- - # CROSSDEV = xc32- + CROSSDEV ?= pic32- + # CROSSDEV ?= xc32- ifneq ($(CONFIG_WINDOWS_NATIVE),y) WINTOOL = y endif @@ -141,8 +141,8 @@ endif # Microchip C32 toolchain under Linux ifeq ($(CONFIG_MIPS32_TOOLCHAIN),MICROCHIPL_LITE) - CROSSDEV = pic32- - # CROSSDEV = xc32- + CROSSDEV ?= pic32- + # CROSSDEV ?= xc32- # MAXOPTIMIZATION = -O2 ARCHCPUFLAGS = -mprocessor=elf32pic32mx -mno-float -mlong32 -membedded-data ARCHPICFLAGS = -fpic -membedded-pic @@ -153,8 +153,8 @@ endif # Microchip C32 toolchain under Windows ifeq ($(CONFIG_MIPS32_TOOLCHAIN),MICROCHIPW_LITE) - CROSSDEV = pic32- - # CROSSDEV = xc32- + CROSSDEV ?= pic32- + # CROSSDEV ?= xc32- ifneq ($(CONFIG_WINDOWS_NATIVE),y) WINTOOL = y endif @@ -168,7 +168,7 @@ endif # microchipOpen toolchain under Linux ifeq ($(CONFIG_MIPS32_TOOLCHAIN),MICROCHIPOPENL) - CROSSDEV = mypic32- + CROSSDEV ?= mypic32- # MAXOPTIMIZATION = -O2 ARCHCPUFLAGS = -mprocessor=elf32pic32mx -mno-float -mlong32 -membedded-data ARCHPICFLAGS = -fpic -membedded-pic @@ -179,7 +179,7 @@ endif # Pinguino mips-elf toolchain under Windows ifeq ($(CONFIG_MIPS32_TOOLCHAIN),PINGUINOW) - CROSSDEV = mips- + CROSSDEV ?= mips- ifneq ($(CONFIG_WINDOWS_NATIVE),y) WINTOOL = y endif diff --git a/nuttx/arch/mips/src/mips32/up_assert.c b/nuttx/arch/mips/src/mips32/up_assert.c index 7d98e7427..f27bc0ebe 100644 --- a/nuttx/arch/mips/src/mips32/up_assert.c +++ b/nuttx/arch/mips/src/mips32/up_assert.c @@ -1,7 +1,7 @@ /**************************************************************************** * arch/mips/src/mips32/up_assert.c * - * Copyright (C) 2011-2012 Gregory Nutt. All rights reserved. + * Copyright (C) 2011-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without @@ -90,7 +90,8 @@ * Name: _up_assert ****************************************************************************/ -static void _up_assert(int errorcode) /* noreturn_function */ +static void _up_assert(int errorcode) noreturn_function; +static void _up_assert(int errorcode) { /* Are we in an interrupt handler or the idle task? */ diff --git a/nuttx/arch/sh/src/common/up_assert.c b/nuttx/arch/sh/src/common/up_assert.c index 5b56e7731..62889fa5a 100644 --- a/nuttx/arch/sh/src/common/up_assert.c +++ b/nuttx/arch/sh/src/common/up_assert.c @@ -76,7 +76,8 @@ * Name: _up_assert ****************************************************************************/ -static void _up_assert(int errorcode) /* noreturn_function */ +static void _up_assert(int errorcode) noreturn_function; +static void _up_assert(int errorcode) { /* Are we in an interrupt handler or the idle task? */ diff --git a/nuttx/arch/x86/src/common/up_assert.c b/nuttx/arch/x86/src/common/up_assert.c index 87958baa6..653e8e562 100644 --- a/nuttx/arch/x86/src/common/up_assert.c +++ b/nuttx/arch/x86/src/common/up_assert.c @@ -209,7 +209,8 @@ static void up_dumpstate(void) * Name: _up_assert ****************************************************************************/ -static void _up_assert(int errorcode) /* noreturn_function */ +static void _up_assert(int errorcode) noreturn_function; +static void _up_assert(int errorcode) { /* Are we in an interrupt handler or the idle task? */ diff --git a/nuttx/drivers/serial/serial.c b/nuttx/drivers/serial/serial.c index 0548d8c25..9c6acf2ee 100644 --- a/nuttx/drivers/serial/serial.c +++ b/nuttx/drivers/serial/serial.c @@ -1041,8 +1041,11 @@ void uart_datasent(FAR uart_dev_t *dev) #ifdef CONFIG_SERIAL_REMOVABLE void uart_connected(FAR uart_dev_t *dev, bool connected) { + irqstate_t flags; + /* Is the device disconnected? */ + flags = irqsave(); dev->disconnected = !connected; if (!connected) { @@ -1070,10 +1073,12 @@ void uart_connected(FAR uart_dev_t *dev, bool connected) (void)sem_post(&dev->recvsem); } - /* Notify all poll/select waiters that and hangup/error occurred */ + /* Notify all poll/select waiters that and hangup occurred */ uart_pollnotify(dev, (POLLERR|POLLHUP)); } + + irqrestore(flags); } #endif diff --git a/nuttx/include/assert.h b/nuttx/include/assert.h index 31c9edf48..62ffb3a6e 100644 --- a/nuttx/include/assert.h +++ b/nuttx/include/assert.h @@ -1,7 +1,7 @@ /**************************************************************************** * include/assert.h * - * Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved. + * Copyright (C) 2007-2009, 2011-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without @@ -100,23 +100,28 @@ ****************************************************************************/ /**************************************************************************** - * Global Function Prototypes + * Public Data ****************************************************************************/ #ifdef __cplusplus #define EXTERN extern "C" -extern "C" { +extern "C" +{ #else #define EXTERN extern #endif +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + #ifdef CONFIG_HAVE_FILENAME -EXTERN void up_assert(FAR const uint8_t *filename, int linenum); -EXTERN void up_assert_code(FAR const uint8_t *filename, int linenum, - int errcode); +void up_assert(FAR const uint8_t *filename, int linenum) noreturn_function; +void up_assert_code(FAR const uint8_t *filename, int linenum, int errcode) + noreturn_function; #else -EXTERN void up_assert(void); -EXTERN void up_assert_code(int errcode); +void up_assert(void) noreturn_function; +void up_assert_code(int errcode) noreturn_function; #endif #undef EXTERN -- cgit v1.2.3 From 7ccc57f3c0c5616347f42a41ae06fc17486ac49e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 1 Feb 2013 13:02:20 +0100 Subject: Fixed test outputs, decoupled tests from NuttX low-level output via message() macro --- apps/px4/tests/test_adc.c | 8 +++++--- apps/px4/tests/tests_main.c | 12 ++++++++---- 2 files changed, 13 insertions(+), 7 deletions(-) (limited to 'apps') diff --git a/apps/px4/tests/test_adc.c b/apps/px4/tests/test_adc.c index 4c021303f..030ac6e23 100644 --- a/apps/px4/tests/test_adc.c +++ b/apps/px4/tests/test_adc.c @@ -60,8 +60,10 @@ int test_adc(int argc, char *argv[]) { int fd = open(ADC_DEVICE_PATH, O_RDONLY); - if (fd < 0) - err(1, "can't open ADC device"); + if (fd < 0) { + warnx("ERROR: can't open ADC device"); + return 1; + } for (unsigned i = 0; i < 5; i++) { /* make space for a maximum of eight channels */ @@ -82,7 +84,7 @@ int test_adc(int argc, char *argv[]) usleep(150000); } - message("\t ADC test successful.\n"); + warnx("\t ADC test successful.\n"); errout_with_dev: diff --git a/apps/px4/tests/tests_main.c b/apps/px4/tests/tests_main.c index ad6828f20..9f8c5c9ea 100644 --- a/apps/px4/tests/tests_main.c +++ b/apps/px4/tests/tests_main.c @@ -135,6 +135,7 @@ test_all(int argc, char *argv[]) unsigned i; char *args[2] = {"all", NULL}; unsigned int failcount = 0; + unsigned int testcount = 0; bool passed[NTESTS]; printf("\nRunning all tests...\n\n"); @@ -156,6 +157,7 @@ test_all(int argc, char *argv[]) fflush(stdout); passed[i] = true; } + testcount++; } } @@ -178,7 +180,7 @@ test_all(int argc, char *argv[]) printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n"); printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n"); printf("\n"); - printf(" All tests passed (%d of %d)\n", i, i); + printf(" All tests passed (%d of %d)\n", testcount, testcount); } else { printf(" ______ ______ __ __ \n"); @@ -187,7 +189,7 @@ test_all(int argc, char *argv[]) printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n"); printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n"); printf("\n"); - printf(" Some tests failed (%d of %d)\n", failcount, i); + printf(" Some tests failed (%d of %d)\n", failcount, testcount); } printf("\n"); @@ -245,6 +247,7 @@ int test_jig(int argc, char *argv[]) unsigned i; char *args[2] = {"jig", NULL}; unsigned int failcount = 0; + unsigned int testcount = 0; bool passed[NTESTS]; printf("\nRunning all tests...\n\n"); @@ -264,6 +267,7 @@ int test_jig(int argc, char *argv[]) fflush(stdout); passed[i] = true; } + testcount++; } } @@ -284,7 +288,7 @@ int test_jig(int argc, char *argv[]) printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n"); printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n"); printf("\n"); - printf(" All tests passed (%d of %d)\n", i, i); + printf(" All tests passed (%d of %d)\n", testcount, testcount); } else { printf(" ______ ______ __ __ \n"); printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n"); @@ -292,7 +296,7 @@ int test_jig(int argc, char *argv[]) printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n"); printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n"); printf("\n"); - printf(" Some tests failed (%d of %d)\n", failcount, i); + printf(" Some tests failed (%d of %d)\n", failcount, testcount); } printf("\n"); -- cgit v1.2.3 From 85417c1a51ae433380fafd86b05806cd8929c54e Mon Sep 17 00:00:00 2001 From: patacongo Date: Fri, 1 Feb 2013 22:37:52 +0000 Subject: Prep for 6.25 release git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5594 42af7a65-404d-4744-a932-0658087f49c3 --- NxWidgets/ChangeLog.txt | 4 +- NxWidgets/ReleaseNotes.txt | 43 ++ apps/ChangeLog.txt | 10 +- nuttx/ChangeLog | 27 +- nuttx/Documentation/NuttX.html | 1207 +++++++++++++++++++++++++++------------- nuttx/ReleaseNotes | 320 +++++++++++ 6 files changed, 1191 insertions(+), 420 deletions(-) (limited to 'apps') diff --git a/NxWidgets/ChangeLog.txt b/NxWidgets/ChangeLog.txt index 88e15d7db..7e2acdea1 100644 --- a/NxWidgets/ChangeLog.txt +++ b/NxWidgets/ChangeLog.txt @@ -219,7 +219,7 @@ * NxWidgets::CNxWidgets and NxWM::CStartWindow: Small changes to make sub- classing easier (from Petteri Aimonen). -1.5 2013-xx-xx Gregory Nutt +1.5 2013-02-01 Gregory Nutt * NxWidgets::CGraphicsPort::move(): Fix typo bug in bounding rectangle calculation (from Petteri Aimonen). @@ -266,3 +266,5 @@ This widget provides a tab panel, which has a button bar at the top and panels below it. Pressing a button will select the corresponding panel. + +1.6 2013-xx-xx Gregory Nutt diff --git a/NxWidgets/ReleaseNotes.txt b/NxWidgets/ReleaseNotes.txt index aaaefe6eb..431d2796c 100644 --- a/NxWidgets/ReleaseNotes.txt +++ b/NxWidgets/ReleaseNotes.txt @@ -144,3 +144,46 @@ Bugfixes (see the change log for details). Some of these are very important * NxWidgets:CText and NxWidgets:CNumericEdite: Fix some memory freeing bugs * NxWidgets::CScrollingPanel: It is borderless for now because there was no easy way to redraw only the required part of the border. + +NxWidgets-1.5 +============= + +The 6th release of the NxWidgets package was made on February 1, 2013. This +release depends on NuttX-6.25 or above and should not be used with older +NuttX releases. This release corresponds to SVN revision r5594. + +Note: Nearly all of the changes between 1.4 and 1.5 were the result of the +efforts of Petteri Aimonen. + +Additional new features and extended functionality in Version 1.5: + +* CNxWidgets::CTabPanel: A new widget contributed by Petteri Aimonen. + This widget provides a tab panel, which has a button bar at the top + and panels below it. Pressing a button will select the corresponding + panel. +* NxWidgets::CGraphicsPort: Many times we only want a constant background. + In that case the old code filled the background, read it back, rendered + the text and then wrote it back. When used with an LCD this causes + some screen flicker. Added a variant of drawText that takes background + color, so that the background and text can both be rendered at one go. +* NxWM::CScrollingPanel::scrollChildren(): Avoid unnecessary redraws in + CScrollingPanel +* Kconfig: Added several "enabling" settings that must be selected to + override the default setting. +* UnitTests: Changes for compatibility with NuttX-6.25 + +Bugfixes: + +* NxWidgets::CGraphicsPort::move(): Fix typo bug in bounding rectangle + calculation. +* NxWM::CCycleButton: Remove the separator from CCycleButton. It draws in + wrong place, and doesn't look very good in the correct place either. +* NxWidgets::CLabel: The label was drawn as a single rectangular region, + then a text was added to the on top of this. The result is that the + text would flicker when the CLabel was updated. With this change, the + two step update is replaced with a five step update: The background + is updated as four rectangulear regions (leaving the previous text in + place), then the new text is updated. This eliminates the flicker. +* CGraphicsPort::_drawText: Renamed from CGraphicsPort::drawText in order + to eliminate some naming collisions when overloaded in some configurations + (i.e., when both bool and nx_pixel_t are uint8_t). diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt index e64509be9..05cd6176a 100644 --- a/apps/ChangeLog.txt +++ b/apps/ChangeLog.txt @@ -434,7 +434,7 @@ tests will now use a relative path to the program and expect the binfmt/ logic to find the absolute path to the program using the PATH variable. -6.25 2013-xx-xx Gregory Nutt +6.25 2013-02-01 Gregory Nutt * Makefiles: Removed dependency of distclean on clean in most top-level files. It makes sense for 'leaf' Makefiles to have this dependency, @@ -461,7 +461,7 @@ the USB HID keyboard report data. * apps/examples/wlan: Remove non-functional example. * apps/examples/ostest/vfork.c: Added a test of vfork(). - * apps/exampes/posix_spawn: Added a test of poxis_spawn(). + * apps/exampes/posix_spawn: Added a test of posix_spawn(). * apps/examples/ostest: Extend signal handler test to catch death-of-child signals (SIGCHLD). * apps/examples/ostest/waitpid.c: Add a test for waitpid(), waitid(), @@ -478,7 +478,7 @@ * apps/include/builtin.h: Some of the content of apps/include/apps.h moved to include/nuttx/binfmt/builtin.h. apps/include/apps.h renamed builtin.h - * apps/builtin/exec_builtins.c: Move utility builtin + * apps/builtin/exec_builtins.c: Move builtin utility functions from apps/builtin/exec_builtins.c to binfmt/libbuiltin/libbuiltin_utils.c * apps/nshlib/nsh_mountcmds.c: The block driver/source @@ -502,6 +502,8 @@ once when NSH starts; the .nshrc script will be executed for each session: Once for serial, once for each USB connection, once for each Telnet session. - * apps/system/readline: Correct realine return value. Was not + * apps/system/readline: Correct readline() return value. Was not any returning special values when end-of-file or read errors occur (it would return an empty string which is not very useful). + +6.26 2013-xx-xx Gregory Nutt diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index db62b9cf4..e2e7ae29b 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -3800,7 +3800,7 @@ * configs/stm32f4discovery/elf: Enable support/test of the PATH to find executables using a relative path. -6.25 2013-xx-xx Gregory Nutt +6.25 2013-02-01 Gregory Nutt * graphics/: Adds 5x8 monospace font. This tiny font is useful for graph labels and for small bitmapped display. Contributed by Petteri @@ -3833,7 +3833,7 @@ * drivers/usbhost/usbhost_hidkbd.c: Correct a logic error in how tasks waiting for read data are awakened. * libc/misc/lib_kbdencode.c and lib_kbddecode.c: Now handles keypress - events too. However, the USB HID keyboard drier has not yet been + events too. However, the USB HID keyboard driver has not yet been updated to detect key release events. That is kind of tricky in the USB HID keyboard report data. * configs/mcu123-214x/nsh: Converted to use the kconfig-frontends @@ -3857,7 +3857,7 @@ buildroot toolchains: They may be EABI or OABI. * include/nuttx/progmem and arch/arm/src/stm32/stm32_flash.c: Fix a counting bug plus change interface to use either relative - or absolut FLASH addressing (from Freddie Chopin). + or absolute FLASH addressing (from Freddie Chopin). * libc/misc/Make.defs: Fix error in conditional for KBD CODEC. * libc/Kconfig and configs/*/defconfig (several): The default setting should be CONFIG_LIB_KBDCODEC=n @@ -3868,7 +3868,7 @@ * tools/configure.bat: configure.bat is a small Windows batch file that can be used as a replacement for configure.sh in a Windows native environment. configure.bat is actually just a - thin layer that execuates configure.exe if it is available. If + thin layer that executes configure.exe if it is available. If configure.exe is not available, then configure.bat will attempt to build it first. * arch/arm/src/lpc17xx/lpc17_syscon.h: Correct some typos in bit @@ -3918,12 +3918,12 @@ the scenario: (1) sched_lock() is called increments the lockcount on the current TCB (i.e., the one at the head of the ready to run list), (2) sched_mergepending is called which may change the task - at the head of the readytorun list, then (2) sched_unlock() is called + at the head of the ready-to-run list, then (3) sched_unlock() is called which decrements the lockcount on the wrong TCB. The failure case that I saw was that pre-emption got disabled in the IDLE thread, locking up the whole system. * sched/sched_waitpid.c: Use SIGCHLD instead of a semaphore. This - is a much more spec-compliant implemenation. However, there are + is a much more spec-compliant implementation. However, there are some issues with overruning signals because NuttX does not support queueing of signals (POSIX does not require it). I think it may need to. @@ -3959,7 +3959,7 @@ CONFIG_APPS_BINDIR rename CONFIG_FS_BINFS * include/nuttx/binfmt/builtin.h: Some of the content of apps/include/apps.h moved to include/nuttx/binfmt/builtin.h - * binfmt/libbuiltin/libbuiltin_utils.c: Move utility builtin + * binfmt/libbuiltin/libbuiltin_utils.c: Move builtin utility functions from apps/builtin/exec_builtins.c to binfmt/libbuiltin/libbuiltin_utils.c * binfmt/builtin.c and binfmt/libbuiltin: Add a binary "loader" @@ -3985,7 +3985,7 @@ * arch/arm/src/[many]: More LPC1788 definitions from Rommel Marcelo incorporated. * configs/open1788: Board configuration for the Wave Share - Open1788 board. Still fragmentary (contribnuted by Rommel + Open1788 board. Still fragmentary (contributed by Rommel Marcelo, adapted to use kconfig-frontends. * net/send(): Add logic to work around delayed ACKs by splitting packets (contributed by Yan T.). @@ -4011,7 +4011,7 @@ * arch/armv7-m/up_hardfault.c: Fail if a hardfault occurs while CONFIG_ARM7VM_USEBASEPRI=y. * arch/arm/src/stm32/stm32_serial.c: Add support for USART - single wire more (Contributed by the PX4 team). + single wire mode (Contributed by the PX4 team). * sched/: Implement support for retaining child task status after the child task exists. This is behavior required by POSIX. But in NuttX is only enabled with CONFIG_SCHED_HAVE_PARENT and @@ -4022,7 +4022,7 @@ use the kconfig-frontends tools. * net/net_poll.c: Split net_poll() to create psock_poll() too. * net/net_poll.c: Fix poll/select issure reported by Qiang: - poll_interrupt() must cat call net_lostconnection() when a + poll_interrupt() must call net_lostconnection() when a loss of connection is reported. Otherwise, the system will not know that the connection has been lost. * sched/group_create.c, group_join.c, and group_leave.c: Add @@ -4051,7 +4051,7 @@ * configs/stm32f4discovery/nsh: Converted to use the kconfig-frontends tools. * configs/*/src/up_userleds.c: Fix a error that was cloned into - all STM32 user LED code. The wrong defintions were being used + all STM32 user LED code. The wrong definitions were being used to set LEDs on or off. * arch/*/common/up_internal.h and arch/*/common/up_initialize.c: Serial was driver was not being built if there is no console @@ -4072,8 +4072,7 @@ * drivers/serial/serial.c, include/nuttx/serial/serial.h, drivers/usbdev/cdcacm.c, and drivers/pl2303.c: Add support for removable serial devices (like USB serial). This support is enabled - by CONFIG_SERIAL_REMOVABLE and requires VBUS sensing support from - the board-specific logic. + by CONFIG_SERIAL_REMOVABLE. * arch/*/src/*/Toolchain.defs: Change assignment so that we can override CROSSDEV with a make command line argument. * include/assert.h: Mark assertion functions as non-returning. @@ -4096,3 +4095,5 @@ * arch/arm/src/stm32/stm32_spi.c: Fixes for SPI DMA work on the STM32F4. Includes untested additions for the F1 implementation as well. From Petteri Aimonen. + +6.26 2013-xx-xx Gregory Nutt diff --git a/nuttx/Documentation/NuttX.html b/nuttx/Documentation/NuttX.html index c5f1ebc9c..b4015bab7 100644 --- a/nuttx/Documentation/NuttX.html +++ b/nuttx/Documentation/NuttX.html @@ -8,7 +8,7 @@

    NuttX RTOS

    -

    Last Updated: January 4, 2013

    +

    Last Updated: February 2, 2013

    @@ -456,6 +456,13 @@
  • ROMFS filesystem support.

    • + +
    + +

    +

  • BINFS pseudo-filesystem support.
    • +

    +
    @@ -468,6 +475,9 @@ Separately linked NXFLAT modules. NXFLAT is a binary format that can be XIP from a file system. +
  • + "Built-In" applications.
    • +

    @@ -1054,311 +1064,594 @@ -

    NuttX-6.24 Release Notes

    +

    nuttx-6.25 Release Notes

    - The 91st release of NuttX, Version 6.24, was made on December 20, 2012, and is available for download from the + The 92nd release of NuttX, Version 6.25, was made on February 1, 2013, and is available for download from the SourceForge website. - Note that the release consists of two tarballs: nuttx-6.24.tar.gz and apps-6.24.tar.gz. + Note that the release consists of two tarballs: nuttx-6.25.tar.gz and apps-6.25.tar.gz. Both may be needed (see the top-level nuttx/README.txt file for build information) The change log associated with the release is available here. Unreleased changes after this release are available in SVN. These unreleased changes are also listed here.

    - This release corresponds with SVN release number: r5447, + This release corresponds with SVN release number: r5594, Note that all SVN information has been stripped from the tarballs. If you need the SVN configuration, you should check out directly from SVN. - Revision r5447 should equivalent to release 6.24 of NuttX: + Revision r5594 should equivalent to release 6.25 of NuttX: 

      -svn checkout -r5447 svn://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+svn checkout -r5594 svn://svn.code.sf.net/p/nuttx/code/trunk nuttx-code

    Or (HTTP):

      -svn checkout -r5447 http://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+svn checkout -r5594 http://svn.code.sf.net/p/nuttx/code/trunk nuttx-code

    Additional new features and extended functionality

    -

    • - RTOS: + OS Initialization +

      +
        +
      • + Removed support for CONFIG_BUILTIN_APP_START. + This is not really a useful feature and creates a violation of the OS layered architecture. +
      +
      • +
    • +

      + Task Creation +

      +
        +
      • + Implement a simple vfork()). + In NuttX-6.25, this interface is available only for ARM7/9, ARMv7-M (Cortext-M3/4), and MIPS32 (PIC32MX) platforms. +
        • +
      • + exec() now sets the priority of the new task to the same priority as the parent task (instead of the arbirtrary value of 50). +
        • +
      • + New, partially complient implementations of execv() and execl(). + These are only partially compliant because they do not overlay any existing "process space" but rather create the new task and exit(). +
        • +
      • + Add a complete implementation of posix_spawn(). + This standard interface is a better match for an MMU-less architecture than are vfork()) plus execv() or execl(). +
        • +
      • + Add a task start hook that will be called before the task main executes. + This can be used, for example, to schedule C++ static constructors to run automatically in the context of the new task. +
        • +
      +
      • +
    • +

      + Task Parentage

      • - Implemented the POSIX pause() function (still has some compiance issues). + Repartitioned tasking data structures. + All shared resources are now collected together in a "task group". + A "task group" includes the resource for the original task that are shared with all of the pthreads created by the task. +
        • +
      • + Added support for remember the parent "task group" when a new task is started. +
        • +
      • + Added optional support to record the membership of each thread in the "task group".
      • - Tasking logic is extended to support the notion of address environments. - An address environment is the key notion underlying "process" vs. tasks. - If tasks are created with address environments (by binfmt), the OS will propogate that environment to child threads and will destroy the address environment when all threads in the "process" exists. + Implement support for retaining child task status in the "task group" after the child task exists. + This is behavior required by POSIX. + But in NuttX is only enabled with CONFIG_SCHED_HAVE_PARENT and CONFIG_SCHED_CHILD_STATUS.
      • - If support for the PATH variable is enabled, the OS start up logic will create an initial environment containing the default PATH setting (CONFIG_PATH_INITIAL). - This initial PATH will then be inherited by all tasks. + Add internal logic to "reparent" a task. + This is useful, for example, where the child task is created through a trampoline task that redirects I/O. + Reparenting allows the caller of posix_spawn() to be reparented for the eventual child thread. +
        • +
      • + Added support for SIGCHLD. + Sent to all members of the parent "task group" when the finall member of the child task group exits. +
        • +
      • + If SIGCHLD and retention of child task exist status are enabled, then a more spec-compliant version of waitpid() is enabled. +
        • +
      • + New interfaces waitid() and wait() are also enabled when SIGCHLD is enabled.

    • - Binfmt: + File System

      • - The NuttX binary loaders have been updated to support the PATH environment variable. - Now, if the PATH is properly defined, programs can be executed from mass storage using only the file name. - This feature is added to support more standard behavior (eventually, NSH will support execution of programs in file systems by just entering the file name, perhaps in 6.25?). + dup() and dup2() can new be used with opened files in a mounted file system. + This supports re-direction of output in NSH to files. +
        • +
      • + The binfs file system was moved from apps/builtin to fs/binfs. + The binfs file system was extended to support execution of "builtin applications" using exec(), execv(), execl(), or posix_spawn().
      • - The NXFLAT and ELF binary loaders have been extended to create address environments for any new tasks executed from the file system. - This feature requires that the architecture support a memory management unit (MMU) and the address environment interfaces declared in include/nuttx/arch.h (currently, this is only supported by the z180). + Added logic based on SIGCHLD to automatically unload and clean-up after running a task that was loaded into memory.

    • - Drivers: - LCD driver for the Univision UG-2864AMBAG01 OLED + Binary Formats +

      +
        +
      • + Much of the logic for "builtin applications" was moved from apps/builtin to nuttx/binfmt/libbuiltin. + Includes some extensions contributed by Mike Smith. +
        • +
      • + A binary loader was added for builtin applications to support execution of "builtin applications" using exec(), execv(), execl(), or posix_spawn(). +
        • +

    • - STM32: - Support for STM32F100 high density chips contributed by Freddie Chopin. + Drivers +

      +
        +
      • + Added logic to marshal and serialized "out-of-band" keyboard commands (such as cursor controls and key release events) intermixed with normal ASCII keypress data. + The encoding is partially integrated in the HID keyboard driver and the decoding is fully integrated into the apps/examples hidkbd/ and keypadtest/ (the latter contributed by Denis Carlikli). +
        • +
      • + Driver for the UG-2864HSWEG01 OLED contributed by Darcy Gong. +
        • +
      • + Add support for removable serial devices (like USB serial). + This support is enabled by CONFIG_SERIAL_REMOVABLE. +
        • +

    • - STM32 Drivers: - Added optional RS-485 direction bit control (from Freddie Chopin). + ARMv7-M +

      +
        +
      • + Added an option to use the BASEPRI register to disable interrupts (instead of the PRIMASK register). + This eliminates some innocuous hardfaults that interfere with some debug tools. + You need to switch to the BASEPRI method only if you have such tool interference. +
        • +

    • - STM32 Boards: + STM32 Drivers

      • - Support for generic STM32F100RC board contributed by Freddie Chopin. + Bring STM32 F1 DMA capabilities up to par with the STM32 F2/F4 (contributed by Mike Smith).
      • - stm32f4discovery/nxlines: STM32F4Discovery support for the UG-2864AMBAG01 OLED. + Add support for USART single wire mode (Contributed by the PX4 team).
      • - stm32f4discovery/winbuild: A version of the NuttX OS test configured to build natively on Windows. + Updates to support for SPI DMA on the STM32 F1/F2/F4. + From Petteri Aimonen.
        • +
      +
      • +
    • +

      + STM32 Boards +

      +
      • - stm32f4discovery/elf: Now uses the PATH variable to find ELF executables. + New configuration to support the UG-2864HSWEG01 OLED on the STM32F4Discovery board.
      • - configs/cloudctrl: Added for Darcy Gong's CloudController board + Added a posix_spawn() test configuration for the STM32F4Discovery.

    • - PIC32 Boards: - Update the Mirtoo configuration for Release 2 of the Mirtoo module. + LM3S/LM4F +

      +
        +
      • + Files and directories repartitioned to support both LM3S and LM4F using the STM32 organization as a model. +
        • +
      • + Partial definitions for the LM4F contributed by Jose Pablo Carballo (this is still a work in progress). +
        • +

    • - Calypso: - Add Calypso keypad driver (from Denis Carilki). + LM3S Boards +

      +
        +
      • + Added scripts and documentation to use OpenOCD with the LM3S (from Jose Pablo Carballo). +
        • +

    • - ZiLOG: + LPC176x/LPC178x

      • - Add support for the z180 chip family and, specifically, for the P112 retro hardware (see http://p112.feedle.net/). + Files and directories repartitioned to support both LPC175x/LPC176x and the LPC177x/LPC178x families using the STM32 organization as a model. + The LPC1788 port is a work in progress by Rommel Marcelo.
        • +
      +
      • +
    • +

      + LPC176x/LPC178x Boards +

      +
      • - All ZiLOG configurations updated to use the current ZDS-II and/or SDCC toolchains. + Added a configuration to support the Wave Share Open1788 board. + This is still a work in progress by Rommel Marcelo.

    • - Graphics: + LPC2148 Boards

      • - Add a semaphore handshake so that operations on buffers from the NXMU client will be blocked until the NX server operates on the buffer data (from Petteri Aimonen). + Add basic support for the The0.net ZP213x/4xPA board (with the LPC2148 and the UG_2864AMBAG01 OLED).
      • - nxtk_subwindowmove() and nxtk_getwindow(): Improvements to clipping logic from Petteri Aimonen. -
        • + Add an nxlines configuration for the ZP213x/4xPA (with the LPC2148 and the UG_2864AMBAG01). +

    • - C Library: - lib/ sub-directory renamed libc/ (there is a new lib/ sub-directory that is used to hold all archives). + Simulator +

      +
        +
      • + Add an nxlines configuration for the simulator. +
        • +

    • - C++: - Exception stubs from Petteri Aimonen. + Networking +

      +
        +
      • + Add logic to work around delayed ACKs by splitting packets (contributed by Yan T.). +
        • +
      • + Split net_poll() to create the internal interface psock_poll(). +
        • +

    • - Applications: + LCDs

      • - Add NSH hexdump command to dump the contents of a file (or character device) to the console (contributed by Petteri Aimonen). -
        • -
      • - Extend the NSH ifconfig command plus various DHCPC improvements (from Darcy Gong). + Added support for LCD1602 alphanumeric LCD (HD4468OU controller).

    • - apps/examples: + Graphics

      • - ostest: Replace large tables with algorithmic prime number generation. - This allows the roundrobin test to run on platforms with minimal SRAM (Freddie Chopin). + Added 5x8 monospace font. + This tiny font is useful for graph labels and for small bitmapped display. + Contributed by Petteri Aimonen.
        • +
      +
      • +
    • +

      + Build System +

      +
      • - keypadtest: A new keypad test example contributed by Denis Carikli. + Add an options to better manage toolchain prefixes.
      • - elf and nxflat: If CONFIG_BINFMT_EXEPATH is defined, these examples will now use a relative path to the program and expect the binfmt/ logic to find the absolute path to the program using the PATH variable. + Redesigned how the context targer works in the apps/ directory. + The old design caused lots of problems when changing configurations because there is no easy way to get the system to rebuild the context. + This change should solve most the problems and eliminate questions like "Why don't I see my builtin application in NSH?"

    • - Build system: + Kconfig Files

      • - New top-level Makefiles: Makefile.unix and Makefile.win (along with numerous changes to other make-related files). - This adds basic support for building NuttX natively under from Windows console (rather than in a POSIX-like environment). - This build: (1) Uses all Windows style paths, (2) Uses primarily standard Windows batch commands with (3) a few additional commands from GNUWin32 (such as GNU make). + There are several new configurations that use the kconfig-frontends tools and several older configurations that have been converted to use these tools. + There is still a long way to go before the conversion is complete:

        -

        - This capability should still be considered a work in progress because: (1) It has not been verfied on all targets and tools, and (2) it still lacks some of the creature-comforts of the more mature environments (like a functional configure.sh script and make menuconfig support). +

          +
        • + configs/sim/nxwm +
          • +
        • + configs/sim/nsh +
          • +
        • + configs/stm3220g-eval/nxwm +
          • +
        • + configs/stm32f4discovery/posix_spawn +
          • +
        • + configs/olimex-lpc1766stk/nsh +
          • +
        • + configs/olimex-lpc1766stk/hidkbd +
          • +
        • + configs/olimex-lpc1766stk/nettest +
          • +
        • + configs/open1788/ostest +
          • +
        • + configs/stm32f4discovery/nsh +
          • +
        • + configs/stm32f4discovery/usbnsh +
          • +
        • + configs/lm326965-ek (all configurations) +
          • +
        • + configs/mcu123-214x/nsh +
          • +
        • + configs/ubw32/ostest +
          • +
        • +
      +
      • +
    • +

      + Tools +

      +
      • - Example Windows native builds for STM32F4Discovery, eZ80, z16f, z8, Z80, and Z180. + tools/kconfig.bat: Kludge to run kconfig-frontends from a DOS shell.
      • - Several configurations have been converted to work the kconfig-frontends mconf configuration tool: stm32f4discovery/nxlines, and all eZ80, z16f, z8, Z80, and Z180 configurations. + tools/configure.c: configure.c can be used to build a work-alike program as a replacement for configure.sh. + This work-alike program would be used in environments that do not support Bash scripting (such as the Windows native environment).
      • - Architectures now include a common Toolchain.defs file that can be used to manage toolchains in a more configurable way (most of this contributed by Mike Smith). + tools/configure.bat: configure.bat is a small Windows batch file that can be used as a replacement for configure.sh in a Windows native environment. + configure.bat is actually just a thin layer that executes configure.exe if it is available. + If configure.exe is not available, then configure.bat will attempt to build it first (assumes the MinGW-GCC is available).

    • - Build tools: + Applications

      • - Renamed tools/winlink.sh to tools/copydir.sh. + New and modified examples: +

        +

          +
        • + apps/examples/wlan: Remove non-functional example. +
          • +
        • + apps/examples/ostest: Added a test of vfork()). + Extend signal handler test to catch death-of-child signals (SIGCHLD). + Add a test for waitpid(), waitid(), and wait(). +
          • +
        • + apps/exampes/posix_spawn: Added a test of posix_spawn(). +
          • +
        +

      • - Several new tools/scripts to support the Windows native build: tools/mkdeps.bat, tools/mkdeps.c, tools/link.bat, tools/unlink.bat, and tools/ copydir.bat. + NSH: +

        +

          +
        • + NSH now supports re-direction of I/O to files (but still not from). +
          • +
        • + The block driver source argument to the mount command is now optional for file systems that do not require a block driver. +
          • +
        +

        +
        • +
      • + NSH can now execute a program from a file system using posix_spawn(). +
        • +
      • + Added support for a login script. + The init.d/rcS script will be executed once when NSH starts; + the .nshrc script will be executed for each session: + Once for a serial console, once for each USB connection, and once for each Telnet session.
      • - tools/incdir.sh and tools/incdir.bat now support an -s option to generate system header file paths. + Supports a new daemon that can be used to monitor USB trace outpout.
      • - tools/b16.c: Fixed precision math conversion utility. + Removed non-functional wlan example.
    -

    Bugfixes (see the change log for details). - Some of these are very important (marked critical): + Some of these are very important:

    • - RTOS: - Fix some backward conditional compilation in the work queue logic (Freddie Chopin). + Tasking +

      +
        +
      • + Fixed a *critical* task exit bug. + Here is the failure scenario: + (1) sched_lock() is called increments the lockcount on the current TCB (i.e., the one at the head of the ready to run list), + (2) sched_mergepending() is called which may change the task at the head of the ready-to-run list, then + (3) sched_unlock() is called which decrements the lockcount on the wrong TCB. + The failure case that I saw was that pre-emption got disabled in the IDLE thread, locking up the whole system. +
        • +

    • - File System: - Uninitialized variable caused assertions (from Lorenz Meier). + Signals +

      +
        +
      • + sigtimedwait() would return a bad signal number if the signal was already pending when the function was called. +
        • +

    • - Drivers: - Partial fix for STM32 OTG FS device drivers and fix for short, unaligned writes in the flash translation layer (drivers/mtd/ftl.c), both from Petteri Aimonen. + Drivers +

      +
        +
      • + Some SD cards will appear busy until switched to SPI mode for first time. + Having a pull-up resistor on MISO may avoid this problem, but this fix from Petteri Aimonen makes it work also without pull-up. +
        • +

    • - STM32 Drivers: + STM32 Drivers

      • - Qencoder driver and TIM3 driver fixes from Ryan Sundberg. + STM32 FLASH driver counting error (from Freddie Chopin).
      • - Fix timeout delay calculation in the STM32 OTG FS host driver. + STM32 F4 maximum SPI frequency was wrong (corrected by Petteri Aimonen).

    • - LPC17xx Drivers: - Resources not being properly released when I2C driver is un-initialized. + STM32 Boards +

      +
        +
      • + Due to cloning of untested code, the logic to control on-board LEDs did not work on any STM32 boards. +
        • +
      • + Serial devices number /dev/ttyS0-5 is there is a serial console, but /dev/ttyS1-6 if there is no serial console. +
        • +

    • - Graphics: + Binary Formats

      • - Fix logic when the mouse drags outside of the window; fix another "blocked message" handling case (both from Petteri Aimonen). + C++ static constructors execute now using a start taskhook so that they execute in the context of the child task (instead of in the context of the parent task).
        • +
      +
      • +
    • +

      + File Systems +

      +
      • - nxtk_filltrapwindow(): Correct an offset problem (also from Peterri Aimonen). + Several FAT-related bugs fixed by Petteri Aimonen.
        • +
      +
      • +
    • +

      + Networking +

      +
      • - nxglib_splitline(): Correct the "fat flat line" bug. + Fix poll/select issure reported by Qiang: poll_interrupt() must call net_lostconnection() when a loss of connection is reported. + Otherwise, the system will not remember that the connection has been lost and will hang waiting on a unconnected socket later. +
        • +
      • + Similar issues corrected for recvfrom() and send(). +
        • +
      • + Telnetd would hang in a loop if recv() ever returned a value <= 0.

    • - C Library: + Libraries

      • - nrand() changes to prevent coefficients from becoming zero which would "lock up" the random number generate. + fread() could hang on certain error conditions.
      • - Add rounding functions to the math library (contributed by Petteri Aimonen). + Can't handle SYSLOG output to a character device from the IDLE task (because the IDLE task can't block).

    • - Build system: - Changes to MIN definitions in all limit.h header files to avoid integer overflows. - For example from (-128) to (-127 - 1) (from Petteri Aimonen). + Build System +

      +
        +
      • + Serial was driver was not being built if there is no console device. + Obviously, the serial driver may be needed even in this case. +
        • +

    • - Applications: - Modbus fixes from Freddie Chopin. + Additional Bugfixes +

      +
        +
      • + sig_timedwait() and clock_time2ticks.c: Timing "rounding" logic +
        • +
      • + ARM9 Compilation issue with low vectors. +
        • +
      • + readline() return value +
        • +
      • + As well as other, less critical bugs as detailed in the ChangeLog: HID keyboard, LPC17xx bit definitions, strndup(), PL2303, SYSLOG error handling, AT25, apps/examples. +
        • +
    -

    - As well as other, less critical bugs. See the ChangeLog for additional, detailed changes.

    @@ -3432,311 +3725,421 @@ Other memory: 
      -nuttx-6.24 2012-12-20 Gregory Nutt <gnutt@nuttx.org>
-
-    * arch/arm/src/stm32:  Support for STM32F100 high density chips
-      added by Freddie Chopin.
-    * configs/stm32f100_generic:  Support for generic STM32F100RC board
-      contributed by Freddie Chopin.
-    * arch/arm/src/stm32_otgfsdev.c:  Partial fix from Petteri Aimonen.
-    * drivers/lcd/ug-2864ambag01.c and include/nuttx/lcd/ug_2864ambag01.h:
-      LCD driver for the Univision OLED of the same name (untested on
-      initial check-in).
-    * configs/stm32f4discovery/nxlines:  Configure to use mconf/Kconfig
-      tool.
-    * configs/stm32f4discovery/src/up_ug2864ambag01.c:  Board-specific
-      initialization for UG-2864AMBAG01 OLED connecte to STM32F4Disovery.
-    * libxx/libxx_stdthrow.cxx:  Exception stubs from Petteri Aimonen.
-    * configs/stm32f4discovery/src/up_ug2864ambag01.c: Driver has been
-      verified on the STM32F4Discovery platform.  Some tuning of the
-      configuration could improve the presentation.  Lower resolution displays
-      are also more subject to the "fat, flat line bug" that I need to fix
-      someday.  See http://www.nuttx.org/doku.php?id=wiki:graphics:nxgraphics
-      for a description of the fat, flat line bug.
-    * libc:  Renamed nuttx/lib to nuttx/libc to make space for a true lib/
-      directory that will be forthcoming.  Also rename libraries:  liblib.a -> libc.a,
-      libulib.a -> libuc.a, libklib.a -> libkc.a, liblibxx.a ->libcxx.a.
-      (I will probably, eventually rename libxx to libcxx for consistency)
-    * Makefile, lib/: A new, empty directory that will hold generated libraries.
-      This simplifies the library patch calculations and lets me get rid of some
-      bash logic.  The change is functional, but only partially complete;
-      additional logic is needed in the arch/*/src/Makefile's as well.  Right
-      now that logic generate multiple library paths, all pointing to the lib/
-      directory.
-    * arch/*/src/Makefile:  Now uses only the libraries in lib/
-      Replace bash fragments that test for board/Makefile.
-    * Makefile.win:  The beginnings of a Windows-native build.  This is just
-      the beginning and not yet ready for prime time use.
-    * configs/stm32f4discovery/winbuild:  This is a version of the standard
-      NuttX OS test, but configured to build natively on Windows.  Its only
-      real purpose is to very the native Windows build logic.
-    * tools/mkdeps.bat and tools/mkdeps.c:  mkdeps.bat is a failed attempt
-      to leverage mkdeps.sh to CMD.exe.  It fails because the are certain
-      critical CFLAG values that cannot be passed on the CMD.exe command line
-      (like '=').  mkdeps.c is a work in progress that will, hopefully,
-      replace both mkdeps.sh and mkdeps.bat.
-    * tools/Config.mk:  Centralize the definition of the script that will be
-      used to generated header file include paths for the compiler.  This
-      needs to be centralized in order to support the Windows native build.
-    * tools/incdir.bat:  A replacement for tools/incdir.sh for use with the
-      the Windows native build.
-    * Makefile.unix:  The existing top-level Makefile has been renamed
-      Makefile.unix.
-    * Makefile:  This is a new top-level Makefile that just includes
-      either Makefile.unix or Makefile.win
-    * configs/stm3240g-eval/src:  Qencoder fixes from Ryan Sundberg.
-    * arch/arm/src/stm32/stm32_qencoder.c: TIM3 bug fix from Ryan Sundberg.
-    * tools/mkromfsimg.sh: Correct typo in an error message (Ryan Sundberg)
-    * arch/*/src/Makefile:  Remove tftboot install and creation of System.map
-      for Windows native build.  The first is a necessary change, the second
-      just needs re-implemented.
-    * configs/mirtoo: Update Mirtoo pin definitions for Release 2.  Provided
-      by Konstantin Dimitrov.
-    * Fixed an uninitialized variable in the file system that can cause 
-      assertions if DEBUG on (contributed by Lorenz Meier).
-    * Config.mk:  Defined DELIM to be either / or \, depending upon
-      CONFIG_WINDOWS_NATIVE.  This will allow me to eliminate a lot of
-      conditional logic elsewhere.
-    * nuttx/graphics: One a mouse button is pressed, continue to report all
-      mouse button events to the first window that received the the initial
-      button down event, even if the mouse attempts to drag outside the
-      window. From Petteri Aimonen.
-    * nuttx/graphics/nxmu/nx_block.c:  One more fix to the NX block message
-      logic from Petteri Aimonen.
-    * include/nuttx/wqueue.h: Some basic definitions to support a user-
-      space work queue (someday in the future).
-    * graphics/nxmu:  Add semaphores so buffers messages that send buffers
-      will block until the buffer data has been acted upon.
-    * graphics/nxmw:  Extended the blocked messages to cover mouse movement
-      and redraw events.  These will also cause problems if sent to a window
-      while it is closing.
-    * arch/several:  Change UARTs are enabled for i.MX, LM3S, ez80, and M16C to
-      match how they are enabled for other architectures.
-    * configs/ez80f910200kitg:  Convert to use mconf configuration.
-    * sched/pause.c:  Implements the POSIX pause() function.
-    * ez80: Lots of changes to ez80 configurations and build logic as I
-      struggle to get a clean Windows build (still not working).
-    * configs/cloudctrl:   Darcy Gong's CloudController board.  This is a
-      small network relay development board. Based on the Shenzhou IV development
-      board design.  It is based on the STM32F107VC MCU.
-    * arch/arm/src/stm32_serial.c and stm32_lowputc.c:  Added optional RS-485
-      direction bit control. From Freddie Chopin.
-    * Lots of build files:  ARMv7-M and MIPS32 Make.defs now include a common
-      Toolchain.defs file that can be used to manage toolchains in a more
-      configurable way.  Contributed by Mike Smith
-    * configs/stm32f4discovery/winbuild and configs/cloudctrl:  Adapted to use
-      Mike's Toolchain.defs.
-    * tools/configure.sh:  Adapted to handle paths and setenv.bat files correctly
-      for native Windows builds.
-    * More of build files:  AVR and AVR32 Make.defs now include a common
-      Toolchain.defs file that can be used to manage toolchains in a more
-      configurable way.  Contributed by Mike Smith
-    * tools/incdir.sh and incdir.bat: Add -s option to generate system header
-      file paths.
-    * nuttx/arch/arm/src/arm/Toolchain.defs: Add support for more ARM toolchains
-      (from Mike Smith).
-    * arch/arm/src/stm32/stm32f40xxx_rcc.c:  Enabled FLASH prefetch (from Petteri
-      Aimonen).
-    * graphics/nxtk/nxtk_filltrapwindow.c:  Correct an offset problem (from
-      Peterri Aimonen).
-    * graphics/nxglib/nxglib_splitline.c:  Fix error in drawing of near horizontal
-      lines (from Peterri Aimonen).
-    * sched/task_exithook.c:  Missing right bracket with certain conditional
-      compilation (thanks James Goppert).
-    * arch/arm/srch/stm32/stm32_otgfshost.c:  Replace timeout handling; use
-      system tick instead of frame counter.  The frame counter gets reset to
-      zero at 0x3fff making it error prone.
-    * arch/arm/src/stm32/stm32f20xx_rcc.c and stm32f40xx_rcc.c: Added option
-      CONFIG_STM32_FLASH_PREFETCH.  FLASH prefetch will now only be enabled
-      if this option is selected.
-    * confgs/ez80f910200zco/ostest:  Now uses Kconfig/mconf configuration
-      tool. Updated to build in native Windows environment.  Other ez80f910200zco
-      build scripts also updated.
-    * configs/z8f64200100kit/ostest: Update to same level as ez80 configurations.
-    * nuttx/configs/z8f64200100kit/scripts/setenv.bat: Add support for native
-      Windows build.
-    * nuttx/arch/arm/src/lpc17xx/lpc17_i2c.c: Resources not being released when
-      I2C is uninitialized.
-    * cloudctrl/src/up_chipid.c and shenzhou/src/up_chipid.c:  Add functions to
-      get chip ID.  Contributed by Darcy Gong.  These should not be board-dependent,
-      but should be in arch/arm/src/stm32 where they can be used from any board.
-    * sched/work_thread.c: Fix backward conditional compilation.  This might
-      has caused a memory leak.  From Freddie Chopin.
-    * configs/<many>/Make.defs:  Fix typo -wstrict-prototypes should be
-      -Wstrict-prototypes (From Denis Carilki).
-    * arch/arm/src/calapyso/calypso_keypad.c:  Add Calypso keypad driver.  From
-      Denis Carilki.
-    * z8encore000zco/ostest and z8f64200100kit/ostest:  Converted to use Kconfig/
-      mconf configuration tool.
-    * arch/arm/src/armv7-m/up_exception.S: missing curly braces for push/pop
-      From Freddie Chopin.
-    * z8encore000zco/ostest and z8f64200100kit/ostest:  Can now be modified to
-      support the Windows native builds (see corresponding README.txt files).
-    * configs/z16f2800100zcog - All configurations updated to use the ZDS-II
-      5.0.1 toolchain.
-    * configs/z16f2800100zcog - All configurations updated to use Kconfig/mconf
-      configuration tools.
-    * configs/z16f2800100zcog/ostest - Now supports a native Windows build
-      (other ZNEO configs may also support the native build, but this has not
-      been verfiied).
-    * include/nuttx/input/keypad.h, arch/arm/src/calypso/calypso_keypad.c, and
-      configs/compal_e99/nsh_highram: First cut at a standard keypad interface
-      definition.  Contributed by Denis Carikli.
-    * libc/stdlib/lib_rand.c:  Always add one to result congruential generators
-      to avoid the value zero.  Suggested by Freddie Chopin.
-    * tools/b16.c:  Fixed precision math conversion utility.
-    * graphics/nxglib/nxglib_splitline.c:  Fix the "fat, flat line bug"
-    * arch/z80/src/*/Toolchain.defs:  Add dummy Toolchain.defs files for the
-      z80 family.
-    * configs/z80sim/ostest:  Converted to build with the Kconfig/mconf tool.
-      Current configuration failed to build for me (Ubuntu 12.10, SDCC 3.2.0
-      pre-built for Linux) due to a glibc memory corruptionerror in SDCC.
-    * configs/z80sim/ostest: Default is now the Windows native build.  See
-      configs/z80sim/README.txt for instructions to convert back to a Linux or
-      or Cygwin build.
-    * arch/z80/src/Makefile.sdccw:  Renamed makefiles with extensions zdiil,
-      zdiiw, sdccl, and sdccw for the ZDS-II vs SDCC compilers and for the
-      POSIX vs Windows native builds.
-    * nuttx/drivers/mtd/ftl.c:  Fix for the flash translation layer. Short
-      unaligned writes were buggy.  From Petteri Aimonen.
-    * nuttx/libc/math/lib_round*.c:  Add rounding functions to the math
-      library.  Contributed by Petteri Aimonen.
-    * include/cxx/cstdlib:  Add stroul().  From Petteri Aimonen.
-    * arch/*/include/limits.h:  Change signed minimum values from, for example,
-      (-128) to (-127 - 1) to avoid overflows under certain conditions.  From
-      Peterri Aimonen.
-    * graphics/nxtk/nxtk_subwindowmove.c: Previously it was very difficult to
-      do e.g. "scroll by dx, dy". When given the full window area, nxtk_subwindowmove
-      would clip the offset always to 0,0. It makes more sense for it to clip the
-      source area and not modify the offset.  From Petteri Aimonen.
-    * graphics/nxtk/nxtk_getwindow.c: Clipping would change the offset of returned
-      data, and caller has no way to know what the new offset would be. This messes
-      up font drawing when the text is partially out of window, e.g. when scrolling.
-      Also from Petteri Aimonen.
-    * include/stdbool.h: Can now be disabled for C++ files if CONFIG_C99_BOOL8 is
-      defined.  CONFIG_C99_BOOL8 indicates (1) that the sizeof(_Bool) is one in both
-      C and C++, and (2) the the C compiler is C99 and supports the _Bool intrinsic
-      type. Requested by Freddie Chopin.
-    * include/stdlib/lib_rand.c:  Various additional changes so that the integer
-      value zero can be returned.  Requested by Freddie Chopin.
-    * arch/z80/src/Makefile.sdcc*, z80/up_mem.h:  Redesign Z80 build so that it
-      no longer depends on Bash scripts.
-    * configs/z80sim/nsh and pashello:  Converted to (1) use the kconfig-frontends
-      configuration tool, and (2) to build natively under Windows.  The NSH
-      configuration is verified; the pashello configuration needs a more TLC.
-    * tools/copydir.sh:  Rename tools/winlink.sh to tools/copydir.sh
-    * tools/link.bat, unlink.bat, and copydir.bat:  Add Windows counterparts
-      to the link.sh, unlink.sh, and copydir.sh Bash scripts.
-    * configs/z80sim/pashello:  Now builds correctly.
-    * configs/xtrs/ostest, nsh, and pashello:  Converted to (1) use the kconfig-
-      frontends configuration tool, and (2) to build natively under Windows.
-    * drivers/serial/Kconfig and sched/Kconfig:  Two names for same configuration:
-      CONFIG_LOWLEVEL_CONSOLE is bogus and CONFIG_DEV_LOWCONSOLE is in the wrong
-      Kconfig file.  Moved to drivers/serial/Kconfig replacing CONFIG_LOWLEVEL_CONSOLE.
-    * arch/z80/include/z180:  Add header files for z180 chips.  Initial versions
-      are just clones of z80 header files.
-    * arch/z80/src/z180:  Add source files for z180 chips.  Initial versions
-      are just clones of z80 source files.
-    * include/nuttx/arch.h:  Add address environment control interfaces (for use
-      with CPUs the provide MCUs and support process-like address environments).
-    * arch/z80/src/z180/z180_mmu.*:  Add MMU support for z180 tasks.
-    * configs/p112:  Add very basic board support and an examples/ostest
-      configuration for the venerable P112 board.
-    * sched/os_bringup.c: If CONFIG_PATH_INITIAL is defined, then the initial
-      environment of the task started by os_bringup() will have the PATH
-      environment variable defined to be that string.
-    * binfmt/binfmt_exepath.c:  If CONFIG_BINFMT_EXEPATH is defined, then this
-      file will be built.  It contains logic to search for regular files at
-      the absolutes paths found in the current PATH environment variable
-      setting.  This is untested and not yet hooked into the binfmt exec()
-      logic on initial check-in
-    * binfmt/binfmt_loadmodule.c: load_module() will now traverse the PATH
-      variable to locate files from their relative path.
-    * include/nuttx/arch.h and arch/z80/src/z180/z180_mmu.c:  Restructure the
-      address environment interfaces so that they will better integrate with
-      binfmt/.
-    * binfmt/libelf/*, binfmt/libnxflat/* and other files:  Integrate the
-      address environment interfaces.  If CONFIG_ADDRENV=y, then binfmt/
-      will now create an address environment for new tasks (instead of
-      just malloc'ing the task memory).
-    * configs/stm32f4discovery/elf:  Enable support/test of the PATH
-      to find executables using a relative path.
-
-apps-6.24 2012-12-20 Gregory Nutt <gnutt@nuttx.org>
-
-    * apps/examples/ostest/roundrobin.c:  Replace large tables with
-      algorithmic prime number generation.  This allows the roundrobin
-      test to run on platforms with minimal SRAM (Freddie Chopin).
-    * apps/nshlib/nsh_dbgcmds.c:  Add hexdump command to dump the contents
-      of a file (or character device) to the console  Contributed by Petteri
+nuttx-6.25 2013-02-01 Gregory Nutt <gnutt@nuttx.org>
+
+    * graphics/: Adds 5x8 monospace font. This tiny font is useful for graph
+      labels and for small bitmapped display.  Contributed by Petteri
       Aimonen.
-    * apps/examples/modbus:  Fixes from Freddie Chopin
-    * apps/examples/modbus/Kconfig: Kconfig logic for FreeModBus contributed
-      by Freddie Chopin.
-    * Makefile, */Makefile:  Various fixes for Windows native build.  Now uses
-      make foreach loops instead of shell loops.
-    * apps/examples/elf/test/*/Makefile: OSX doesn't support install -D, use
-      mkdir -p then install without the -D.  From Mike Smith.
-    * apps/examples/relays/Makefile: Reduced stack requirement (Darcy Gong).
-    * apps/nshlib and apps/netutils/dhcpc:  Extend the NSH ifconfig command plus
-      various DHCPC improvements(Darcy Gong).
-    * apps/nshlib/nsh_apps.c: Fix compilation errors when CONFIG_NSH_DISABLEBG=y.
-      From Freddie Chopin.
-    * Rename CONFIG_PCODE and CONFIG_FICL as CONFIG_INTERPRETERS_PCODE and
-      CONFIG_INTERPRETERS_FICL for consistency with other configuration naming.
-    * apps/examples/keypadtest:  A keypad test example contributed by Denis
-      Carikli.
-    * apps/examples/elf and nxflat:  If CONFIG_BINFMT_EXEPATH is defined, these
-      tests will now use a relative path to the program and expect the binfmt/
-      logic to find the absolute path to the program using the PATH variable.
-
-NxWidgets-1.4 2012-12-20 Gregory Nutt <gnutt@nuttx.org>
-
-    * libnxwidgets/Makefile, NxWidgets/nxwm/Makefile, and
-      NxWidgets/UnitTests/nxwm/Makefile:  Makefile improvements from
-      submitted by Petteri Aimonen.  Other Makefiles in the UnitTests
-      directory probably also need these changes.
-    * libnxwidgets/src/ccallback.cxx: Fix misplaced #endif.  Provided
-      by Petteri Aimonen.
-    * libnxwidgets/src/cnxserver.cxx:  Reduce delay to allow NX server
-      to start.  One second was un-necessarily long.  Reduced to 50 MS.
-      Reduction suggested by Petteri Aimonen.
-    * tools/bitmap_converter.py:  This script converts from any image type
-      supported by Python imaging library to the RLE-encoded format used by
-      NxWidgets.
-    * NxWidgets/nxwm/src/capplicationwindow.cxx: If the "desktop" is empty,
-      users have no need to minimize any windows. If the buttons are small,
-      it's easy to hit minimize button accidentally when trying to close an
-      application.  Contributed by Petteri Aimonen.
-    * NxWidgets/nxwm/src/ctaskbar.cxx:  Add an option to eliminate the
-      background image.  Contributed by Petteri Aimonen.
-    * NxWidgets/nxwm/src/chexcalculator.cxx and NxWidgets/nxwm/src/cstartwindow.cxx:
-      The config settings CONFIG_NXWM_STARTWINDOW_ICON and CONFIG_NXWM_HEXCALCULATOR_ICON
-      allow changing the icons used for these applications. However, to declare symbols
-      for these icons user would need to modify NxWidgets header files.
-      This commit adds a simple forward declaration to the relevant files, based on the
-      configured icon. If the icon does not exist, linker will give an error about it.
-      Contributed by Petteri Aimonen.
-    * NxWidgets::CTaskBar: Highlight the current window in the task bar.
-      Contributed by Petteri Aimonen.
-    * NxWidgets/libnxwidgets/src/glyph_cycle.cxx:  Width of glyph_cycle was wrong;
-      Destructor needs to by public.  From Petteri Aimonen.
-    * NxWidgets::CNumericEdit.  This is basically a label with plus and minus buttons.
-      Contributed by Petteri, Aimonen.
-    * NxWM::CStartWindow:  Fix mq_receive error handling with signal is recieved.
+    * configs/stm3220g-eval/nxwm:  Converted to use the kconfig-frontends
+      configuration tool.
+    * configs/sim/nxwm:  Converted to use the kconfig-frontends configuration
+      tool.
+    * include/pthread.h:  In sys/prctl.h because it is needed by
+      pthread_[set|get]name_np()
+    * tools/kconfig.bat:  Kludge to run kconfig-frontends from a DOS shell.
+    * sched/sig_timedwait.c:  Should always move the time up to the next
+      largest number of system ticks.  The logic was rounding.  Noted by
+      Petteri Aimonen.
+    * arch/arm/src/up_head.S:  Fix backward conditional compilation.  NOTE
+      there is a issue of ARM9 systems with low vectors and large memories
+      that will have to be addressed in the future.
+    * libc/misc/lib_kbdencode.c and lib_kbddecode.c:  Add logic to marshal
+      and serialized "out-of-band" keyboard commands intermixed with normal
+      ASCII data (not yet hooked into anything).
+    * drivers/usbhost/usbhost_hidkbd.c:  If CONFIG_HIDKBD_ENCODED is
+      defined, this driver will now use libc/misc/lib_kbdencode.c to
+      encode special function keys.
+    * configs/olimex-lpc1766stk/hidkbd:  This configuration has been
+      converted to use the kconfig-frontends configuration tool.
+    * drivers/lcd/ug-2864hsweg01.c and include/nuttx/lcd/ug-2864hsweg01.h:
+      Driver for UG-2864HSWEG01 OLED contributed by Darcy Gong.
+    * configs/stm32f4discovery/src/up_ug2864hsweg01.c: Support for the
+      UG-2864HSWEG01 OLED for the STM32F4Discovery board.
+    * drivers/usbhost/usbhost_hidkbd.c:  Correct a logic error in how
+      tasks waiting for read data are awakened.
+    * libc/misc/lib_kbdencode.c and lib_kbddecode.c:  Now handles keypress
+      events too.  However, the USB HID keyboard driver has not yet been
+      updated to detect key release events.  That is kind of tricky in
+      the USB HID keyboard report data.
+    * configs/mcu123-214x/nsh:  Converted to use the kconfig-frontends
+      configuration tool.
+    * configs/zp214xpa:  Add basic support for the The0.net ZP213x/4xPA
+      board (with the LPC2148 and the UG_2864AMBAG01).
+    * configs/sim/nxlines:  Add an nxlines configuration for the
+      simulator.
+    * configs/zp214xpa/nxlines:  Add an nxlines configuration for the
+      ZP213x/4xPA (with the LPC2148 and the UG_2864AMBAG01).  Working
+      as of 2012-12-30.
+    * configs/olimex-lpc1766stk/wlan:  Remove non-functional
+      configuration.
+    * configs/stm32f4discovery/src and nuttx/drivers/lcd/ug-2864hsweg01.c:
+      Updates and correctinos for the UG-2864HSWEG01 from Darcy Gong.
+    * configs/lm326965-ek:  All configurations converted to use the
+      kconfig-frontends configuration tool.
+    * configs/Kconfig: NSH_MMCSDSPIPORTNO should depend on MMCSD_SPI,
+      not just SPI (from Jose Pablo Carballo).
+    * arch/arm/src/arm/Kconfig and armv7m/Kconfig:  Add an option for
+      buildroot toolchains:  They may be EABI or OABI.
+    * include/nuttx/progmem and arch/arm/src/stm32/stm32_flash.c:
+      Fix a counting bug plus change interface to use either relative
+      or absolute FLASH addressing (from Freddie Chopin).
+    * libc/misc/Make.defs:  Fix error in conditional for KBD CODEC.
+    * libc/Kconfig and configs/*/defconfig (several):  The default
+      setting should be CONFIG_LIB_KBDCODEC=n
+    * tools/configure.c:  configure.c can be used to build a work-alike
+      program as a replacement for configure.sh.  This work-alike
+      program would be used in environments that do not support Bash
+      scripting (such as the Windows native environment).
+    * tools/configure.bat: configure.bat is a small Windows batch
+      file that can be used as a replacement for configure.sh in a
+      Windows native environment.  configure.bat is actually just a
+      thin layer that executes configure.exe if it is available. If
+      configure.exe is not available, then configure.bat will attempt
+      to build it first.
+    * arch/arm/src/lpc17xx/lpc17_syscon.h:  Correct some typos in bit
+      definitions (from Rommel Marcelo).
+    * libc/string/lib_strndup.c: strndup() should use strnlen(), not
+      strlen(), to determine the size of the string.
+    * sched/os_bringup.c:  Remove support for CONFIG_BUILTIN_APP_START.
+      This is not really a useful feature and creates a violation of the
+      OS layered architecture.
+    * include/unistd.h, arch/arch/src/*:  Implement a simple vfork().
+      On initial checkin, this API is available only for ARM platforms.
+    * binfmt/binfmt_exec.c: exec() now sets the priority of the new task
+      to the same priority as the current task (instead of the arbirtrary
+      value of 50).
+    * libc/unisted/lib_execv.c and lib_execl.c:  New, somewhat flawed,
+      implementations of execv() and execl().
+    * tools/cfgdefine.c:  Strips quotes from CONFIG_EXECFUNCS_SYMTAB
+      value.
+    * arch/arm/include/lm3s/chip.h:  Move chip definitions into
+      public include area for compatibility with other architectures.
+    * arch/arm/src/lm3s/chip:  Move register definition header files
+      into a new chip/ sub-directory.
+    * arch/arm/src/lm3s/lm3s_internal.h:  Broke up into several
+      smaller header files.
+    * arch/arm/src/lm:  Rename the arch/arm/src/lm3s directory to
+      arch/arm/src/lm so that is can support other members of the
+      Stellaris family.
+    * libc/spawn:  Add file action interfaces needed by posix_spawn().
+    * sched/clock_time2ticks.c:  Another case where time was being
+      rounded down instead of up (from Mike Smith).
+    * libc/spawn:  Implementation of posix_spawn() is complete but
+      untested and undocumented.
+    * drivers/usbdev/pl2303.c:  Fix typols in the PL2303 driver
+      (from Max Holtzberg).
+    * configs/stm32f4discovery/posix_spawn:  Added a configuration
+      that can be used for testing posix_spawn().
+    * arch/arm/src/stm32: Bring F1 support for general DMA and serial
+      DMA in paricular up to parity with F2/F4 (from Mike Smith).
+    * libc/stdio/lib_libfread.c:  Correct some error handling when
+      lib_fread() was passed a bad stream.  Needed to move the
+      releasing of a semaphore inside of some conditional logic
+      (cosmetic).
+    * include/nuttx/sched.h, sched/task_setup.c, and sched/task_exithook.c:
+      Add support for remembering the parent task and sending
+      SIGCHLD to the parent when the task exists.
+    * sched/task_exithook.c:  Fixed a *critical* bug.  Here is
+      the scenario: (1) sched_lock() is called increments the lockcount
+      on the current TCB (i.e., the one at the head of the ready to run
+      list), (2) sched_mergepending is called which may change the task
+      at the head of the ready-to-run list, then (3) sched_unlock() is called
+      which decrements the lockcount on the wrong TCB.  The failure case
+      that I saw was that pre-emption got disabled in the IDLE thread,
+      locking up the whole system.
+    * sched/sched_waitpid.c:  Use SIGCHLD instead of a semaphore.  This
+      is a much more spec-compliant implementation.  However, there are
+      some issues with overruning signals because NuttX does not support
+      queueing of signals (POSIX does not require it).  I think it may
+      need to.
+    * sched/sched_waitid.c and sched_wait.c:  Add support for waitid()
+      and wait().  See issues with waitpid() above.
+    * include/nuttx/fs/fs.h and fs/fs_files.c:  Add a dup() method to
+      the struct mountpt_operations.  When dup'ing a file that resides
+      on a mounted volume, let the file system's dup() method do the
+      work.
+    * fs/romfs/fs_romfs.c: Implemented the dup() method for the ROMFS
+      file system.
+    * fs/fat/fs_fat32.c, fs/nxffs/nxffs_initialize, and
+      fs/nfs/nfs_vfsops.c:  Add hooks for dup() method (not yet
+      implemented).
+    * fs/romfs:  Remove the rf_open flag.  It looks good, but actually
+      does nothing.
+    * fs/fat:  Remove the ff_open flag.  Same story as for the ROMFS
+      rf_open flag.
+    * fs/fat/fs_fat32.c, fs/nxffs/nxffs_initialize, and
+      fs/nfs/nfs_vfsops.c:  Completed implementation of the dup() methods.
+      There is still no good test available.
+    * sched/sig_timedwait.c:  sigtimedwait() would return a bad signal
+      number if the signal was already pending when the function was
+      called.
+    * configs/ubw32/scripts:  All common linker scripts moved to this
+      scripts sub-directory
+    * configs/ubw32/ostest:  Configuration configured to use the
+      kconfig-frontends tools.
+    * arch/mips/src/mips32/up_vfork.c, up_vfork.h, and vfork.S:
+      Implement vfork() for MIPS32 (no floating point support)
+    * configs/ubw32/ostest: Enable the vfork() test.
+    * fs/binfs:  Move apps/builtin/binfs.c to fs/binfs/fs_binfs.c
+      CONFIG_APPS_BINDIR rename CONFIG_FS_BINFS
+    * include/nuttx/binfmt/builtin.h:  Some of the content of
+      apps/include/apps.h moved to include/nuttx/binfmt/builtin.h
+    * binfmt/libbuiltin/libbuiltin_utils.c:  Move builtin
+      utility functions from apps/builtin/exec_builtins.c to
+      binfmt/libbuiltin/libbuiltin_utils.c
+    * binfmt/builtin.c and binfmt/libbuiltin:  Add a binary "loader"
+      that can be used to execute builtin programs from the BINFS
+      file system.
+    * configs/sim/nsh: Convert to use kconfig-frontends configuration
+      tool.
+    * binfmt/binfmt_schedunload.c:  Add logic based on SIGCHLD to
+      automatically unload and clean-up after running a task that
+      was loaded into memory.
+    * binfmt/libbuiltin: Extensions from Mike Smith
+    * sched/task_reparent.c:  Add internal interface to change the
+      parent task.
+    * sched/task_posixspawn():  Move libc/spawn/lib_ps.c to
+      sched/task_posixspawn() now it requires internal, reparenting
+      interfaces
+    * include/nuttx/spawn():  Move libc/spawn.h to include/nuttx/spawn.h
+    * arch/arm/include/lpc17xx/chip.h, irq178x.h:  Integrate Marcelo
+      Rommel's LPC1788 definitions into the base LPC17xx.
+    * configs/olimex-lpc1766stk/nsh:  Convert configuration to use
+      the kconfig-frontends tools.
+    * sched/task_reparent.c:  Simplify reparenting interface.
+    * arch/arm/src/[many]: More LPC1788 definitions from Rommel
+      Marcelo incorporated.
+    * configs/open1788:  Board configuration for the Wave Share
+      Open1788 board.  Still fragmentary (contributed by Rommel
+      Marcelo, adapted to use kconfig-frontends.
+    * net/send():  Add logic to work around delayed ACKs by splitting
+      packets (contributed by Yan T.).
+    * net/recvfrom():  Fix a bug.  When the host closes a connection
+      (gracefully).  recv[from]() returned success and the closure
+      was never detected.  Hmmm.. I don't know why the network monitor
+      did not catch this event.  This is an important bug fix.
+    * net/recvfrom():  Fix a introduced with the last bugfix.  If
+      the peer does an orderly closure of the socket, report 0 not
+      -ENOTCONN
+    * configs/lm3s6965-ek/README.txt and tools/:  Add an OpenOCD
+      configuration for the LM3S (from Jose Pablo Carballo).
+    * nuttx/lcd/hd4478ou.h and configs/pcblogic-pic32mx/src/up_lcd1602:
+      Start of support of LCD1602 alphanumeric LCD.  I need a few
+      more parts before I can finish integrating this one.
+    * arch/arm/src/*/chip.h and arch/arm/include/*/chip.h:  Move all
+      priority ranges from the src to the include chip.h header file.
+    * arch/arm/include/armv7-m/irq.h:  Add inline functions to enable
+      and disable interrupts via the BASEPRI register.
+    * arch/arm/Kconfig:  Add new option CONFIG_ARM7VM_USEBASEI
+    * arch/arm/src/*/*_irq.c:  Set the priority of the SVCALL exception
+      to the highest possible value.
+    * arch/armv7-m/up_hardfault.c:  Fail if a hardfault occurs
+      while CONFIG_ARM7VM_USEBASEPRI=y.
+    * arch/arm/src/stm32/stm32_serial.c:  Add support for USART
+      single wire mode (Contributed by the PX4 team).
+    * sched/: Implement support for retaining child task status after
+      the child task exists.  This is behavior required by POSIX.
+      But in NuttX is only enabled with CONFIG_SCHED_HAVE_PARENT and
+      CONFIG_SCHED_CHILD_STATUS
+    * Add support for keyboard encode to the keypad test (from
+      Denis Carikli).
+    * configs/olimex-lpc1766stk/nettest:  Configuration converted to
+      use the kconfig-frontends tools.
+    * net/net_poll.c:  Split net_poll() to create psock_poll() too.
+    * net/net_poll.c:  Fix poll/select issure reported by Qiang:
+      poll_interrupt() must call net_lostconnection() when a
+      loss of connection is reported.  Otherwise, the system will
+      not know that the connection has been lost.
+    * sched/group_create.c, group_join.c, and group_leave.c:  Add
+      support for task groups.
+    * sched/group_signal.c and task_exithook.c:  Send signal to all
+      members for the parent task group.
+    * include/nuttx/sched.h and sched/env_*.c:  Move environment
+      variables into task group structure.
+    * sched/: Lots of file changed.  Don't keep the parent task's
+      task ID in the child task's TCB.  Instead, keep the parent
+      task group IN the child task's task group.
+    * fs/, sched/, include/nuttx/sched.h, and include/nutts/fs/fs.h:
+      Move file data from the TCB to the task group structure.
+    * libc/stdio/, sched/, include/nuttx/lib.h, and include/nutts/fs/fs.h:
+      Move stream data from the TCB to the task group structure.
+    * net/, sched/, and include/nuttx/net/net.h:  Move socket data
+      from the TCB to the task group structure.
+    * sched/task_starthook.c, sched/task_start.c, and include/nuttx/sched.h:
+      Add a task start hook that will be called before the task main
+      is started. This can be used to schedule C++ constructors to run
+      automatically in the context of the new task.
+    * binfmt/binfmt_execmodule: Execute constructors as a start hook.
+    * sched/os_start.c: Fix ordering of group initialization.
+    * configs/stm32f4discovery/usbnsh:  Add an NSH STM32F4Discovery
+      configuration that uses USB CDC/ACM for the NSH console.
+    * configs/stm32f4discovery/nsh: Converted to use the kconfig-frontends
+      tools.
+    * configs/*/src/up_userleds.c: Fix a error that was cloned into
+      all STM32 user LED code.  The wrong definitions were being used
+      to set LEDs on or off.
+    * arch/*/common/up_internal.h and arch/*/common/up_initialize.c:
+      Serial was driver was not being built if there is no console
+      device.  Obviously, the serial driver may be needed even in
+      this case.
+    * arch/arm/src/stm32/stm32_serial.c: If there is a serial console,
+      it would be ttyS0 and the others would be ttyS1-5.  If there
+      is not serial console, was labeling them ttyS1-6; now labels them
+      ttyS0-5.
+    * fs/fs_syslog.c: Can't handle SYSLOG output to character device from
+      the IDLE task (because it can't block). syslog_putc now returns EOF
+      on failure and sets errno.  Fixed some errors in error handling.
+    * libc/stdio/lib_syslogstream.c:  Checking of return value from
+      syslog_putc was bogus.  Switching to EOF for all errors solves
+      this.
+    * arch/arm/src/lm/chip/lm4f_memorymap.h: More LM4F changes from
+      Jose Pablo Carballo.
+    * drivers/serial/serial.c, include/nuttx/serial/serial.h,
+      drivers/usbdev/cdcacm.c, and drivers/pl2303.c: Add support for
+      removable serial devices (like USB serial).  This support is enabled
+      by CONFIG_SERIAL_REMOVABLE.
+    * arch/*/src/*/Toolchain.defs: Change assignment so that we can
+      override CROSSDEV with a make command line argument.
+    * include/assert.h:  Mark assertion functions as non-returning.
+    * arch/*/src/*/up_assert.h:  Mark _up_assert() as non-returning.
+    * drivers/mtd/at25.c: When the AT25 device was not available the
+      initialization did not fail like it should. From Petteri Aimonen.
+    * fs/fat/fs_configfat.c:  Fix some errors in FAT formatting logic
+      for large devices and for FAT32. From Petteri Aimonen.
+    * fs/fat/fs_fat32util.c:  Fix an initialization error found by
+      Petteri Aimonen.  freecount and next freecount initialization were
+      reversed.
+    * drivers/mmcsd/mmcsd_spi.c: Some SD cards will appear busy until
+      switched to SPI mode for first time.  Having a pull-up resistor on
+      MISO may avoid this problem, but this patch makes it work also
+      without pull-up.  From Petteri Aimonen.
+    * fs/fat/fs_fat32.c: Fix a compilation error when FAT_DMAMEMORY=y. 
       From Petteri Aimonen.
-    * NxWidgets::CNxTimer:  Replace the original (apparently non-functional) signal-
-      based solution with a work queue-based solution.  This raises some isses about
-      using the internal work queues from user space.  I have decided to implemented
-      user-space work queues (someday) in order to accomplish that functionaliy.
-      Submitted by Petteri Aimonen.
-    * NxWidgets:CText and NxWidgets:CNumericEdite:  Fix some memory freeing bugs
+    * arch/arm/src/stm32/chip/stm32_spi.h: STM32F4 max SPI clock freq is
+      37.5 MHz.  Patch from Petteri Aimonen.
+    * arch/arm/src/stm32/stm32_spi.c: Fixes for SPI DMA work on the
+      STM32F4. Includes untested additions for the F1 implementation as
+      well.  From Petteri Aimonen.
+
+apps-6.25 2013-02-01 Gregory Nutt <gnutt@nuttx.org>
+
+    * Makefiles: Removed dependency of distclean on clean in most top-level
+      files.  It makes sense for 'leaf' Makefiles to have this dependency,
+      but it does not make sense for upper-level Makefiles.
+    * apps/namedapp/: Renamed to builtins in preparation for another change.
+    * .context:  Removed the .context kludge.  This caused lots of problems
+      when changing configurations because there is no easy way to get the
+      system to rebuild the context.  Now, the context will be rebuilt
+      whenever there is a change in either .config or the Makefile.
+    * apps/builtin/registry:  Updated new built-in registration logic to handle
+      cases where (1) old apps/.config is used, and (2) applications ared
+      removed, not just added.
+    * apps/examples/nettest/Makefile:  Fix an error that crept in during
+      some of the recent, massive build system changes.
+    * apps/builtin/Makefile:  Need to have auto-generated header files
+      in place early in the dependency generation phase to avoid warnings.
+      It is not important if they are only stubbed out header files at
+      this build phase.
+    * apps/examples/hidbkd: Now supports decoding of encoded special keys
+      if CONFIG_EXAMPLES_HIDKBD_ENCODED is defined.
+    * apps/examples/hidbkd:  Add support for decoding key release events
+      as well.  However, the USB HID keyboard drier has not yet been
+      updated to detect key release events.  That is kind of tricky in
+      the USB HID keyboard report data.
+    * apps/examples/wlan: Remove non-functional example.
+    * apps/examples/ostest/vfork.c:  Added a test of vfork().
+    * apps/exampes/posix_spawn: Added a test of posix_spawn().
+    * apps/examples/ostest:  Extend signal handler test to catch
+      death-of-child signals (SIGCHLD).
+    * apps/examples/ostest/waitpid.c:  Add a test for waitpid(), waitid(),
+      and wait().
+    * builtin/binfs.c:  Add hooks for dup() method (not implemented).
+    * builtin/exec_builtin.c, nshlib/nsh_parse.c, and nshlib/nsh_builtin.c:
+      NSH now supports re-direction of I/O to files (but still not from).
+    * builtin/binfs.c:  Greatly simplified (it is going to need to be
+      very lightweight).  Now supports open, close, and a new ioctl to recover
+      the builtin filename.  The latter will be needed to support a binfs
+      binfmt.
+    * builtin/binfs.c:  Move apps/builtin/binfs.c to fs/binfs/fs_binfs.c
+      CONFIG_APPS_BINDIR rename CONFIG_FS_BINFS
+    * apps/include/builtin.h:  Some of the content of
+      apps/include/apps.h moved to include/nuttx/binfmt/builtin.h.
+      apps/include/apps.h renamed builtin.h
+    * apps/builtin/exec_builtins.c:  Move builtin
+      utility functions from apps/builtin/exec_builtins.c to
+      binfmt/libbuiltin/libbuiltin_utils.c
+    * apps/nshlib/nsh_mountcmds.c:  The block driver/source
+      argument is now optional.  Many files systems do not need
+      a source and it is really stupid to have to enter a bogus
+      source parameter.
+    * apps/nshlib/nsh_fileapp.c:  Add the ability to execute a file
+      from a file system using posix_spawn().
+    * apps/builtin/: Extensions from Mike Smith.
+    * apps/examples/ftpd/Makefile: Name ftpd_start is not the name of
+      the entrypoint.  Should be ftpd_main (from Yan T.)
+    * apps/netutils/telnetd/telnetd_driver: Was stuck in a loop if
+      recv[from]() ever returned a value <= 0.
+    * apps/examples/nettest and poll:  Complete Kconfig files.
+    * apps/examples/ostest/waitpid.c:  Need to use WEXITSTATUS()
+      to decode the correct exit status.
+    * apps/system/usbmonitor:  A daemon that can be used to monitor USB
+      trace outpout.
+    * apps/nshlib/nsh_usbdev.c, nsh_consolemain.c, nsh_session.c, nsh_script.c:
+      Add support for a login script.  The init.d/rcS script will be executed
+      once when NSH starts; the .nshrc script will be executed for each session:
+      Once for serial, once for each USB connection, once for each Telnet
+      session.
+    * apps/system/readline: Correct readline() return value.  Was not
+      any returning special values when end-of-file or read errors
+      occur (it would return an empty string which is not very useful).
+
+NxWidgets-1.5 2013-02-01 Gregory Nutt <gnutt@nuttx.org>
+
+    * NxWidgets::CGraphicsPort::move():  Fix typo bug in bounding rectangle
+      calculation (from Petteri Aimonen).
+    * NxWM::CScrollingPanel::scrollChildren(): Avoid unnecessary redraws in
+      CScrollingPanel (contributed by Petteri Aimonen).
+    * NxWM::CCycleButton:  Remove the separator from CCycleButton. It draws in
+      wrong place, and doesnt look very good in the correct place either.
       (from Petteri Aimonen).
-    * NxWidgets::CScrollingPanel:  Usability improvements.  It is borderless for now,
-      because there was no easy way to redraw only the required part of the border.
-      Contributed by Petteri Aimonen.
-    * NxWidgets::CNxWidgets and NxWM::CStartWindow: Small changes to make sub-
-      classing easier (from Petteri Aimonen).
+    * NxWidgets::CGraphicsPort: Many times we only want a constant background.
+      In that case the old code fills the background, reads it back, renders
+      the text and then writes it back. When used with LCD's (instead of
+      framebuffers) this causes unnecessary delay and screen flicker.
+      This commit adds a variant of drawText that takes background color,
+      so that the background and text can both be rendered at one go.
+      The old functions still function as before (Petteri Aimonen).
+    * NxWidgets::CLabel: The label was drawn as a single rectangular region,
+      then a text was added to the on top of this.  The result is that the
+      text would flicker when the CLabel was updated. With this change, the
+      two step update is replaced with a five step update:  The background
+      is updated as four rectangulear regions (leaving the previous text in
+      place), then the new text is updated.  This eliminates the flicker
+      (Petteri Aimonen).
+    * Kconfig: Many NxWidgets/NxWM settings do not have meaningful, generic
+      default values.  Colors, for example, depend on pixel depth.  Some
+      geometry settings depending on other geometry settings.  Font IDs are
+      not know-able by the configuration system.  etc.  In these cases, it
+      is best if the settings are just not undefined so that the system can
+      calculate a reasonable default.  however, if no default is provided
+      in the .config file, mconf will complain and generate errors.  So work
+      around this, I added several "enabling" settings to override the
+      default setting.  This is awkward and I preferred the configuration as
+      it was before, but this avoids the mconf errors and warnings.
+    * UnitTests:  Changed occurrences of lib_rawprintf() and lib_lowprintf()
+      to match recent changes to NuttX (will be in NuttX-6.25)
+    * CGraphicsPort::_drawText:  Renamed from CGraphicsPort::drawText in order
+      to eliminate some naming collisions when overloaded in some configurations
+      (i.e., when both bool and nx_pixel_t are uint8_t).  From Petteri Aimonen.
+    * CNxWidgets::drawContents: Change base drawContents from a do-nothing
+      function to a function that fills the widget with the background color.
+      This is useful when using CNxWidgets as a "panel" , i.e. a container
+      for other widgets. Subclasses will override drawContents and decide
+      themselves how to draw the background.
+    * CNxWidgets::CTabPanel:  A new widget contributed by Petteri Aimonen.
+      This widget provides a tab panel, which has a button bar at the top
+      and panels below it. Pressing a button will select the corresponding
+      panel.
 
 uClibc++-1.0 2011-11-05 <gnutt@nuttx.org>
 
diff --git a/nuttx/ReleaseNotes b/nuttx/ReleaseNotes
index 02cb8158d..9d146e90a 100644
--- a/nuttx/ReleaseNotes
+++ b/nuttx/ReleaseNotes
@@ -3440,3 +3440,323 @@ Bugfixes (see the change log for details).  Some of these are very important
     * Applications: Modbus fixes from Freddie Chopin.
 
 As well as other, less critical bugs (see the ChangeLog for details)
+
+NuttX-6.25
+^^^^^^^^^^
+
+The 92nd release of NuttX, Version 6.25, was made on February 1, 2013,
+and is available for download from the SourceForge website.  Note
+that release consists of two tarballs:  nuttx-6.25.tar.gz and
+apps-6.25.tar.gz.  Both may be needed (see the top-level nuttx/README.txt
+file for build information).
+
+This release corresponds with SVN release number: r5594
+
+Note that all SVN information has been stripped from the tarballs.  If you
+need the SVN configuration information, you should check out directly from
+SVN.  Revision r5594 should equivalent to release 6.25 of NuttX:
+
+    svn checkout -r5594 svn://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+
+Or (HTTP):
+
+    svn checkout -r5594 http://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+
+Additional new features and extended functionality:
+
+    * OS Initialization
+
+      - Removed support for CONFIG_BUILTIN_APP_START.  This is not really a
+        useful feature and creates a violation of the OS layered
+        architecture.
+
+    * Task Creation:
+
+      - Implement a simple vfork().  In NuttX-6.25, this interface is
+        available only for ARM7/9, ARMv7-M (Cortext-M3/4), and MIPS32
+        (PIC32MX) platforms.
+      - exec() now sets the priority of the new task to the same priority as
+        the parent task (instead of the arbirtrary value of 50).
+      - New, partially complient implementations of execv() and execl().
+        These are only partially compliant because they do not overlay any
+        existing "process space" but rather create the new task and exit().
+      - Add a complete implementation of posix_spawn().  This standard
+        interface is a better match for an MMU-less architecture than are
+        vfork() plus execv() or execl().
+      - Add a task start hook that will be called before the task main
+        is started.  This can be used, for example, to schedule C++
+        static constructors to run automatically in the context of the
+        new task.
+
+    * Task Parentage
+
+      - Repartitioned tasking data structures.  All shared resources are now
+        collected together in a "task group".  A task group includes the
+        original task plus all of the pthreads created by the task.
+      - Added support for remember the parent "task group" when a new task is
+        started.
+      - Added optional support to record the membership of each thread in
+        the "task group".
+      - Implement support for retaining child task status in the "task group"
+        after the child task exists.  This is behavior required by POSIX.
+        But in NuttX is only enabled with CONFIG_SCHED_HAVE_PARENT and
+        CONFIG_SCHED_CHILD_STATUS
+      - Add internal logic to "reparent" a task.  This is useful,
+        for example, where the child task is created through a trampoline
+        task that redirects I/O.  Reparenting allows the caller of posix_spawn()
+        to be reparented for the eventual child thread.
+      - Added support for SIGCHLD.  Sent to all members of the parent task
+        group when the file member of the child task group exits.
+      - If SIGCHLD and retention of child task exist status are enabled, then
+        a more spec-compliant version of waitpid() is enabled.
+      - New interfaces waitid() and wait() are also enabled when SIGCHLD
+        is enabled.
+
+    * File System
+ 
+      - dup() and dup2() can new be used with opened files in a mounted file
+        system.  This supports re-direction of output in NSH to files.
+      - The binfs file system was moved from apps/builtin to fs/binfs.  The
+        binfs file system was extended to support execution of "builtin
+        applications" using exec(), execv(), execl(), or posix_spawn().
+      - Added logic based on SIGCHLD to automatically unload and clean-up
+        after running a task that was loaded into memory.
+
+    * Binary Formats
+
+      - Much of the logic for "builtin applications" was moved from
+        apps/builtin to nuttx/binfmt/libbuiltin.  Includes some extensions
+        contributed by Mike Smith.
+      - A binary loader was added for builtin applications to support
+        execution of "builtin applications" using exec(), execv(),
+        execl(), or posix_spawn().
+
+    * Drivers:
+ 
+      - Added logic to marshal and serialized "out-of-band" keyboard
+        commands (such as cursor controls and key release events) intermixed
+        with normal ASCII keypress data.  The encoding is partially integrated
+        in the HID keyboard driver and the decoding full integrated into the
+        apps/examples hidkbd and keypadtest (the latter contributed by Denis
+        Carlikli).
+      - Driver for the UG-2864HSWEG01 OLED contributed by Darcy Gong.
+      - Add support for removable serial devices (like USB serial).  This
+        support is enabled by CONFIG_SERIAL_REMOVABLE.
+
+    * ARMv7-M:
+
+      - Added an option to use the BASEPRI register to disable interrupts
+        (instead of the PRIMASK).  This eliminates some innocuous hardfaults
+        that interfere with some debug tools.  You need to switch to the
+        BASEPRI method only if you have such tool interference.
+
+    * STM32 Drivers
+
+      - Bring STM32 F1 DMA capabilities up to par with the STM32 F2/F4
+        (contributed by Mike Smith).
+      - Add support for USART single wire mode (Contributed by the PX4
+        team).
+      - Updates to support for SPI DMA on the STM32 F1/F2/F4.  From
+        Petteri Aimonen.
+
+    * STM32 Boards:
+
+      - New configuration to support the UG-2864HSWEG01 OLED on the
+        STM32F4Discovery board.
+      - Added a posix_spawn() test configuration for the STM32F4Discovery.
+
+    * LM3S/LM4F
+
+       - Files and directories repartitioned to support both LM3S and LM4F
+         using the STM32 organization as a model.
+       - Partial definitions for the LM4F contributed by Jose Pablo Carballo
+         (this is still a work in progress).
+
+    * LM3S Boards
+ 
+       - Added scripts and documentation to use OpenOCD with the LM3S (from
+         Jose Pablo Carballo).
+
+    * LPC176x/LPC178x
+
+       - Files and directories repartitioned to support both LPC175x/LPC176x
+         and the LPC177x/LPC178x families using the STM32 organization as a
+         model.  The LPC1788 port is a work in progress by Rommel Marcelo.
+
+    * LPC176x/LPC178x Boards:
+
+      - Added a configuration to support the Wave Share Open1788 board.
+        This is still a work in progress by Rommel Marcelo.
+
+    * LPC2148 Boards:
+ 
+      - Add basic support for the The0.net ZP213x/4xPA board (with the LPC2148
+        and the UG_2864AMBAG01 OLED).
+      - Add an nxlines configuration for the ZP213x/4xPA (with the LPC2148
+        and the UG_2864AMBAG01).
+ 
+    * Simulator:
+ 
+      - Add an nxlines configuration for the simulator.
+
+    * Networking:
+
+      - Add logic to work around delayed ACKs by splitting packets
+        (contributed by Yan T.).
+      - Split net_poll() to create the internal interface psock_poll().
+
+    * LCDs:
+
+      - Added support for LCD1602 alphanumeric LCD (HD4468OU controller).
+
+    * Graphics:
+
+      - Added 5x8 monospace font. This tiny font is useful for graph
+        labels and for small bitmapped display.  Contributed by Petteri
+        Aimonen.
+
+    * Build System:
+
+      - Add an options to better manage toolchain prefixes.
+      - Redesigned how the context targer works in the apps/ directory.
+        The old design caused lots of problems when changing configurations
+        because there is no easy way to get the system to rebuild the
+        context.  This change should solve most the problems and eliminate
+        questions like "Why don't I see my builtin application in NSH?"
+
+    * Kconfig Files:
+
+      - There are several new configurations that use the kconfig-frontends
+        tools and several older configurations that have been converted to
+        use these tools.  There is still a long way to go before the conversion
+        is complete:
+
+        configs/sim/nxwm
+        configs/sim/nsh
+        configs/stm3220g-eval/nxwm
+        configs/stm32f4discovery/posix_spawn
+        configs/olimex-lpc1766stk/nsh
+        configs/olimex-lpc1766stk/hidkbd
+        configs/olimex-lpc1766stk/nettest
+        configs/open1788/ostest
+        configs/stm32f4discovery/nsh
+        configs/stm32f4discovery/usbnsh
+        configs/lm326965-ek (all configurations)
+        configs/mcu123-214x/nsh
+        configs/ubw32/ostest
+
+    * Tools:
+
+      - tools/kconfig.bat:  Kludge to run kconfig-frontends from a DOS shell.
+      - tools/configure.c:  configure.c can be used to build a work-alike
+        program as a replacement for configure.sh.  This work-alike
+        program would be used in environments that do not support Bash
+        scripting (such as the Windows native environment).
+      - tools/configure.bat: configure.bat is a small Windows batch
+        file that can be used as a replacement for configure.sh in a
+        Windows native environment.  configure.bat is actually just a
+        thin layer that executes configure.exe if it is available. If
+        configure.exe is not available, then configure.bat will attempt
+        to build it first.
+
+    * Applications:
+
+      - New and modified examples:
+      
+        apps/examples/wlan: Remove non-functional example.
+        apps/examples/ostest: Added a test of vfork(). Extend signal
+          handler test to catch death-of-child signals (SIGCHLD). Add a
+          test for waitpid(), waitid(), and wait().
+        apps/exampes/posix_spawn: Added a test of posix_spawn().
+
+      - NSH:
+
+        NSH now supports re-direction of I/O to files (but still not from).
+        The block driver source argument to the mount command is now
+          optional for file systems that do not require a block driver.
+        NSH can now execute a program from a file system using posix_spawn().
+        Added support for a login script.  The init.d/rcS script will be
+          executed once when NSH starts; the .nshrc script will be executed
+          for each session:  Once for serial, once for each USB connection,
+          once for each Telnet session.
+
+      - Supports a new daemon that can be used to monitor USB trace outpout.
+      - Removed non-functional wlan example.
+
+Bugfixes (see the ChangeLog for details).  Some of these are very important:
+
+    * Tasking:
+
+      - Fixed a *critical* task exit bug.  Here is the failure scenario:
+        (1) sched_lock() is called increments the lockcount on the current
+        TCB (i.e., the one at the head of the ready to run list), (2)
+        sched_mergepending is called which may change the task at the head
+        of the ready-to-run list, then (3) sched_unlock() is called which
+        decrements the lockcount on the wrong TCB.  The failure case that
+        I saw was that pre-emption got disabled in the IDLE thread, locking
+        up the whole system.
+
+    * Signals:
+
+      - sigtimedwait() would return a bad signal number if the signal was
+        already pending when the function was called.
+
+    * Drivers:
+
+      - Some SD cards will appear busy until switched to SPI mode for
+        first time.  Having a pull-up resistor on MISO may avoid this
+        problem, but this fix from Petteri Aimonen makes it work also
+        without pull-up.
+
+    * STM32 Drivers:
+
+      - STM32 FLASH driver counting error (from Freddie Chopin).
+      - STM32 F4 maximum SPI frequency was wrong (corrected by Petteri
+        Aimonen).
+
+    * STM32 Boards
+
+      - Due to cloning of untested code, the logic to control on-board
+        LEDs did not work on any STM32 boards.
+      - Serial devices number /dev/ttyS0-5 is there is a serial console,
+        but /dev/ttyS1-6 if there is no serial console.
+
+    * Binary Formats
+
+      - C++ static constructors execute now using a start taskhook
+        so that they execute in the context of the child task (instead
+        of in the context of the parent task).
+
+    * File Systems:
+
+      - Several FAT-related bugs fixed by Petteri Aimonen.
+
+    * Networking:
+
+      - Fix poll/select issure reported by Qiang: poll_interrupt() must call
+        net_lostconnection() when a loss of connection is reported.  Otherwise,
+        the system will not remember that the connection has been lost and will
+        hang waiting on a unconnected socket later.
+      - Similar issues corrected for recvfrom() and send().
+      - Telnetd would hang in a loop if recv() ever returned a value <= 0.
+
+    * Libraries:
+
+      - fread() could hang on certain error conditions.
+      - Can't handle SYSLOG output to a character device from  the IDLE task
+        (because the IDLE task can't block). 
+
+    * Build System:
+
+      - Serial was driver was not being built if there is no console
+        device.  Obviously, the serial driver may be needed even in
+        this case.
+
+    * Additional Bugfixes:
+
+      - sig_timedwait() and clock_time2ticks.c: Timing "rounding" logic
+      - ARM9 Compilation issue with low vectors.
+      - readline() return value
+      - Others as detailed in the ChangeLog: HID keyboard, LPC17xx bit
+        definitions, strndup(), PL2303, SYSLOG error handling, AT25,
+        apps/examples.
-- 
cgit v1.2.3


From 50b736333f97761e4613354ee853071c652736ca Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Mon, 4 Feb 2013 15:57:12 +0100
Subject: Reduced, but functional u-blox series driver

---
 apps/drivers/drv_gps.h        |  80 +++++
 apps/drivers/gps/Makefile     |  42 +++
 apps/drivers/gps/gps.cpp      | 627 ++++++++++++++++++++++++++++++++
 apps/drivers/gps/gps_helper.h |  47 +++
 apps/drivers/gps/ubx.cpp      | 818 ++++++++++++++++++++++++++++++++++++++++++
 apps/drivers/gps/ubx.h        | 369 +++++++++++++++++++
 6 files changed, 1983 insertions(+)
 create mode 100644 apps/drivers/drv_gps.h
 create mode 100644 apps/drivers/gps/Makefile
 create mode 100644 apps/drivers/gps/gps.cpp
 create mode 100644 apps/drivers/gps/gps_helper.h
 create mode 100644 apps/drivers/gps/ubx.cpp
 create mode 100644 apps/drivers/gps/ubx.h

(limited to 'apps')

diff --git a/apps/drivers/drv_gps.h b/apps/drivers/drv_gps.h
new file mode 100644
index 000000000..89fc54b0d
--- /dev/null
+++ b/apps/drivers/drv_gps.h
@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file GPS driver interface.
+ */
+
+#ifndef _DRV_GPS_H
+#define _DRV_GPS_H
+
+#include 
+#include 
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define GPS_DEVICE_PATH	"/dev/gps"
+
+typedef enum {
+	GPS_DRIVER_MODE_UBX = 0,
+	GPS_DRIVER_MODE_MTK19,
+	GPS_DRIVER_MODE_MTK16,
+	GPS_DRIVER_MODE_NMEA,
+} gps_driver_mode_t;
+
+
+
+
+/*
+ * ObjDev tag for GPS data.
+ */
+ORB_DECLARE(gps);
+
+/*
+ * ioctl() definitions
+ */
+#define _GPSIOCBASE			(0x2800)            //TODO: arbitrary choice...
+#define _GPSIOC(_n)		(_IOC(_GPSIOCBASE, _n))
+
+/** configure ubx mode */
+#define GPS_CONFIGURE_UBX	_GPSIOC(0)
+
+/** configure mtk mode */
+#define GPS_CONFIGURE_MTK19	_GPSIOC(1)
+#define GPS_CONFIGURE_MTK16	_GPSIOC(2)
+
+/** configure mtk mode */
+#define GPS_CONFIGURE_NMEA	_GPSIOC(3)
+
+#endif /* _DRV_GPS_H */
diff --git a/apps/drivers/gps/Makefile b/apps/drivers/gps/Makefile
new file mode 100644
index 000000000..3859a88a5
--- /dev/null
+++ b/apps/drivers/gps/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# GPS driver
+#
+
+APPNAME		 = gps
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
new file mode 100644
index 000000000..7d6f7144e
--- /dev/null
+++ b/apps/drivers/gps/gps.cpp
@@ -0,0 +1,627 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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 gps.cpp
+ * Driver for the GPS on UART6
+ */
+
+#include 
+
+#include 
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include 
+#include 
+
+#include 
+
+#include 
+
+#include 
+#include 
+#include 
+
+#include 
+
+#include 
+
+#include "ubx.h"
+
+#define SEND_BUFFER_LENGTH 100
+#define TIMEOUT 1000000 //1s
+
+#define NUMBER_OF_BAUDRATES 4
+#define CONFIG_TIMEOUT 2000000
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+
+
+class GPS : public device::CDev
+{
+public:
+	GPS();
+	~GPS();
+
+	virtual int			init();
+
+	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	/**
+	 * Diagnostics - print some basic information about the driver.
+	 */
+	void				print_info();
+
+private:
+
+	int					_task_should_exit;
+	int					_serial_fd;		///< serial interface to GPS
+	unsigned			_baudrate;
+	unsigned			_baudrates_to_try[NUMBER_OF_BAUDRATES];
+	uint8_t				_send_buffer[SEND_BUFFER_LENGTH];
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_comms_errors;
+	perf_counter_t		_buffer_overflows;
+	volatile int		_task;		///< worker task
+
+	bool				_response_received;
+	bool				_config_needed;
+	bool 				_baudrate_changed;
+	bool				_mode_changed;
+	bool				_healthy;
+	gps_driver_mode_t	_mode;
+	unsigned 			_messages_received;
+
+	GPS_Helper			*_Helper;	///< Class for either UBX, MTK or NMEA helper
+
+	struct vehicle_gps_position_s _report;
+	orb_advert_t		_report_pub;
+
+	orb_advert_t		_gps_topic;
+
+	void				recv();
+
+	void				config();
+
+	static void			task_main_trampoline(void *arg);
+
+
+	/**
+	 * worker task
+	 */
+	void			task_main(void);
+
+	int			set_baudrate(unsigned baud);
+
+	/**
+	 * Send a reset command to the GPS
+	 */
+	void			cmd_reset();
+
+};
+
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int gps_main(int argc, char *argv[]);
+
+namespace
+{
+
+GPS	*g_dev;
+
+}
+
+
+GPS::GPS() :
+	CDev("gps", GPS_DEVICE_PATH),
+	_task_should_exit(false),
+	_baudrates_to_try({9600, 38400, 57600, 115200}),
+	_config_needed(true),
+	_baudrate_changed(false),
+	_mode_changed(true),
+	_healthy(false),
+	_mode(GPS_DRIVER_MODE_UBX),
+	_messages_received(0),
+	_Helper(nullptr)
+{
+	/* we need this potentially before it could be set in task_main */
+	g_dev = this;
+
+	_debug_enabled = true;
+	debug("[gps driver] instantiated");
+}
+
+GPS::~GPS()
+{
+	/* tell the task we want it to go away */
+	_task_should_exit = true;
+
+	/* spin waiting for the task to stop */
+	for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
+		/* give it another 100ms */
+		usleep(100000);
+	}
+
+	/* well, kill it anyway, though this will probably crash */
+	if (_task != -1)
+		task_delete(_task);
+	g_dev = nullptr;
+}
+
+int
+GPS::init()
+{
+	int ret = ERROR;
+
+	/* do regular cdev init */
+	if (CDev::init() != OK)
+		goto out;
+
+	/* start the IO interface task */
+	_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 4096, (main_t)&GPS::task_main_trampoline, nullptr);
+
+	if (_task < 0) {
+		debug("task start failed: %d", errno);
+		return -errno;
+	}
+
+//	if (_gps_topic < 0)
+//		debug("failed to create GPS object");
+
+	ret = OK;
+out:
+	return ret;
+}
+
+int
+GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	int ret = OK;
+
+	switch (cmd) {
+	case GPS_CONFIGURE_UBX:
+		if (_mode != GPS_DRIVER_MODE_UBX) {
+			_mode = GPS_DRIVER_MODE_UBX;
+			_mode_changed = true;
+		}
+		break;
+	case GPS_CONFIGURE_MTK19:
+		if (_mode != GPS_DRIVER_MODE_MTK19) {
+			_mode = GPS_DRIVER_MODE_MTK19;
+			_mode_changed = true;
+		}
+		break;
+	case GPS_CONFIGURE_MTK16:
+		if (_mode != GPS_DRIVER_MODE_MTK16) {
+			_mode = GPS_DRIVER_MODE_MTK16;
+			_mode_changed = true;
+		}
+		break;
+	case GPS_CONFIGURE_NMEA:
+		if (_mode != GPS_DRIVER_MODE_NMEA) {
+			_mode = GPS_DRIVER_MODE_NMEA;
+			_mode_changed = true;
+		}
+		break;
+	case SENSORIOCRESET:
+		cmd_reset();
+		break;
+	}
+
+	return ret;
+}
+
+void
+GPS::config()
+{
+	int length = 0;
+
+	_Helper->configure(_config_needed, _baudrate_changed, _baudrate, _send_buffer, length, SEND_BUFFER_LENGTH);
+
+	/* the message needs to be sent at the old baudrate */
+	if (length > 0) {
+		if (length != ::write(_serial_fd, _send_buffer, length)) {
+			debug("write config failed");
+			return;
+		}
+	}
+
+	if (_baudrate_changed) {
+		set_baudrate(_baudrate);
+		_baudrate_changed = false;
+	}
+}
+
+void
+GPS::task_main_trampoline(void *arg)
+{
+	g_dev->task_main();
+}
+
+void
+GPS::task_main()
+{
+	log("starting");
+
+	_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+
+	memset(&_report, 0, sizeof(_report));
+
+	/* open the serial port */
+	_serial_fd = ::open("/dev/ttyS3", O_RDWR);
+
+	uint8_t buf[256];
+	int baud_i = 0;
+	uint64_t time_before_configuration;
+
+	if (_serial_fd < 0) {
+		log("failed to open serial port: %d", errno);
+		goto out;
+	}
+
+	/* poll descriptor */
+	pollfd fds[1];
+	fds[0].fd = _serial_fd;
+	fds[0].events = POLLIN;
+	debug("ready");
+
+	/* lock against the ioctl handler */
+	lock();
+
+
+	_baudrate = _baudrates_to_try[baud_i];
+	set_baudrate(_baudrate);
+
+	time_before_configuration = hrt_absolute_time();
+
+	/* loop handling received serial bytes */
+	while (!_task_should_exit) {
+
+		if (_mode_changed) {
+			if (_Helper != nullptr) {
+				delete(_Helper);
+				_Helper = nullptr; // XXX is this needed?
+			}
+
+			switch (_mode) {
+			case GPS_DRIVER_MODE_UBX:
+				_Helper = new UBX();
+				break;
+			case GPS_DRIVER_MODE_MTK19:
+				//_Helper = new MTK19();
+				break;
+			case GPS_DRIVER_MODE_MTK16:
+				//_Helper = new MTK16();
+				break;
+			case GPS_DRIVER_MODE_NMEA:
+				//_Helper = new NMEA();
+				break;
+			default:
+				break;
+			}
+			_mode_changed = false;
+		}
+
+		if (_config_needed && time_before_configuration + CONFIG_TIMEOUT < hrt_absolute_time()) {
+			baud_i = (baud_i+1)%NUMBER_OF_BAUDRATES;
+			_baudrate = _baudrates_to_try[baud_i];
+			set_baudrate(_baudrate);
+			time_before_configuration = hrt_absolute_time();
+		}
+
+
+		int poll_timeout;
+		if (_config_needed) {
+			poll_timeout = 50;
+		} else {
+			poll_timeout = 250;
+		}
+		/* sleep waiting for data, but no more than 1000ms */
+		unlock();
+		int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), poll_timeout);
+		lock();
+
+
+
+
+		/* this would be bad... */
+		if (ret < 0) {
+			log("poll error %d", errno);
+		} else if (ret == 0) {
+			config();
+			if (_config_needed == false) {
+				_config_needed = true;
+				debug("Lost GPS module");
+			}
+		} else if (ret > 0) {
+			/* if we have new data from GPS, go handle it */
+			if (fds[0].revents & POLLIN) {
+				int count;
+
+				/*
+				 * We are here because poll says there is some data, so this
+				 * won't block even on a blocking device.  If more bytes are
+				 * available, we'll go back to poll() again...
+				 */
+				count = ::read(_serial_fd, buf, sizeof(buf));
+
+				/* pass received bytes to the packet decoder */
+				int j;
+				for (j = 0; j < count; j++) {
+					_messages_received += _Helper->parse(buf[j], &_report);
+				}
+				if (_messages_received > 0) {
+					if (_config_needed == true) {
+						_config_needed = false;
+						debug("Found GPS module");
+					}
+
+					orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+					_messages_received = 0;
+				}
+			}
+		}
+	}
+out:
+	debug("exiting");
+
+	::close(_serial_fd);
+
+	/* tell the dtor that we are exiting */
+	_task = -1;
+	_exit(0);
+}
+
+int
+GPS::set_baudrate(unsigned baud)
+{
+	/* process baud rate */
+	int speed;
+
+	switch (baud) {
+	case 9600:   speed = B9600;   break;
+
+	case 19200:  speed = B19200;  break;
+
+	case 38400:  speed = B38400;  break;
+
+	case 57600:  speed = B57600;  break;
+
+	case 115200: speed = B115200; break;
+
+	default:
+		warnx("ERROR: Unsupported baudrate: %d\n", baud);
+		return -EINVAL;
+	}
+
+	struct termios uart_config;
+	int termios_state;
+
+	/* fill the struct for the new configuration */
+	tcgetattr(_serial_fd, &uart_config);
+
+	/* clear ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag &= ~ONLCR;
+	/* no parity, one stop bit */
+	uart_config.c_cflag &= ~(CSTOPB | PARENB);
+
+	/* set baud rate */
+	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+		warnx("ERROR setting config: %d (cfsetispeed, cfsetospeed)\n", termios_state);
+		return -1;
+	}
+
+
+	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
+		warnx("ERROR setting baudrate (tcsetattr)\n");
+		return -1;
+	}
+}
+
+void
+GPS::cmd_reset()
+{
+	_healthy = false;
+}
+
+void
+GPS::print_info()
+{
+
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace gps
+{
+
+GPS	*g_dev;
+
+void	start();
+void	stop();
+void	test();
+void	reset();
+void	info();
+
+/**
+ * Start the driver.
+ */
+void
+start()
+{
+	int fd;
+
+	if (g_dev != nullptr)
+		errx(1, "already started");
+
+	/* create the driver */
+	g_dev = new GPS;
+
+	if (g_dev == nullptr)
+		goto fail;
+
+	if (OK != g_dev->init())
+		goto fail;
+
+	/* set the poll rate to default, starts automatic data collection */
+	fd = open(GPS_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0) {
+		printf("Could not open device path: %s\n", GPS_DEVICE_PATH);
+		goto fail;
+	}
+	exit(0);
+
+fail:
+
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+
+	errx(1, "driver start failed");
+}
+
+void
+stop()
+{
+	delete g_dev;
+	g_dev = nullptr;
+
+	exit(0);
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test()
+{
+
+	errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+	int fd = open(GPS_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "failed ");
+
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
+		err(1, "driver reset failed");
+
+	exit(0);
+}
+
+/**
+ * Print the status of the driver.
+ */
+void
+info()
+{
+	if (g_dev == nullptr)
+		errx(1, "driver not running");
+
+	printf("state @ %p\n", g_dev);
+	g_dev->print_info();
+
+	exit(0);
+}
+
+} // namespace
+
+
+int
+gps_main(int argc, char *argv[])
+{
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(argv[1], "start"))
+		gps::start();
+
+	if (!strcmp(argv[1], "stop"))
+		gps::stop();
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[1], "test"))
+		gps::test();
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(argv[1], "reset"))
+		gps::reset();
+
+	/*
+	 * Print driver status.
+	 */
+	if (!strcmp(argv[1], "status"))
+		gps::info();
+
+	errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status'");
+}
diff --git a/apps/drivers/gps/gps_helper.h b/apps/drivers/gps/gps_helper.h
new file mode 100644
index 000000000..baacf7cb4
--- /dev/null
+++ b/apps/drivers/gps/gps_helper.h
@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler 
+ *           Julian Oes 
+ *
+ * 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 U-Blox protocol definitions */
+
+#ifndef GPS_HELPER_H
+
+class GPS_Helper
+{
+public:
+	virtual void			configure(bool&, bool&, unsigned&, uint8_t*, int&, const unsigned) = 0;
+	virtual int 			parse(uint8_t, struct vehicle_gps_position_s*) = 0;
+};
+
+#endif /* GPS_HELPER_H */
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp
new file mode 100644
index 000000000..981b023e5
--- /dev/null
+++ b/apps/drivers/gps/ubx.cpp
@@ -0,0 +1,818 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler 
+ *           Julian Oes 
+ *
+ * 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 U-Blox protocol implementation */
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "ubx.h"
+
+
+UBX::UBX() :
+_waited(0),
+_config_state(UBX_CONFIG_STATE_PRT),
+_new_nav_posllh(false),
+_new_nav_timeutc(false),
+_new_nav_dop(false),
+_new_nav_sol(false),
+_new_nav_velned(false)
+{
+	decodeInit();
+	_waiting_for_ack = false;
+}
+
+UBX::~UBX()
+{
+}
+
+void
+UBX::configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate, uint8_t *buffer, int &length, const unsigned max_length)
+{
+	/* make sure the buffer to write the message is long enough */
+	assert(sizeof(type_gps_bin_cfg_prt_packet_t)+2 <= max_length);
+
+	/* try again after 10 times */
+	if (_waited > 10) {
+		_waiting_for_ack = false;
+	}
+
+	if (!_waiting_for_ack) {
+		_waiting_for_ack = true;
+		_waited = 0;
+		if (_config_state == UBX_CONFIG_STATE_CONFIGURED) {
+			config_needed = false;
+			length = 0;
+			_config_state = UBX_CONFIG_STATE_PRT; /* set the state for next time */
+			_waiting_for_ack = false;
+			return;
+		} else if (_config_state == UBX_CONFIG_STATE_PRT) {
+			/* send a CFT-PRT message to define set ubx protocol and leave the baudrate as is, we just want an ACK-ACK from this */
+			type_gps_bin_cfg_prt_packet_t cfg_prt_packet;
+			memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet));
+
+			cfg_prt_packet.clsID		= UBX_CLASS_CFG;
+			cfg_prt_packet.msgID		= UBX_MESSAGE_CFG_PRT;
+			cfg_prt_packet.length		= UBX_CFG_PRT_LENGTH;
+			cfg_prt_packet.portID		= UBX_CFG_PRT_PAYLOAD_PORTID;
+			cfg_prt_packet.mode			= UBX_CFG_PRT_PAYLOAD_MODE;
+			cfg_prt_packet.baudRate		= baudrate;
+			cfg_prt_packet.inProtoMask	= UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
+			cfg_prt_packet.outProtoMask	= UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
+
+			addChecksumToMessage((uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
+
+			buffer[0] = UBX_SYNC1;
+			buffer[1] = UBX_SYNC2;
+			memcpy(&(buffer[2]), &cfg_prt_packet, sizeof(cfg_prt_packet));
+			length = sizeof(cfg_prt_packet)+2;
+
+		} else if (_config_state == UBX_CONFIG_STATE_PRT_NEW_BAUDRATE) {
+
+//			printf("Send change of baudrate now\n");
+
+			/* send a CFT-PRT message to define set ubx protocol and and baudrate, now let's try to switch the baudrate */
+			type_gps_bin_cfg_prt_packet_t cfg_prt_packet;
+			memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet));
+
+			cfg_prt_packet.clsID		= UBX_CLASS_CFG;
+			cfg_prt_packet.msgID		= UBX_MESSAGE_CFG_PRT;
+			cfg_prt_packet.length		= UBX_CFG_PRT_LENGTH;
+			cfg_prt_packet.portID		= UBX_CFG_PRT_PAYLOAD_PORTID;
+			cfg_prt_packet.mode			= UBX_CFG_PRT_PAYLOAD_MODE;
+			cfg_prt_packet.baudRate		= UBX_CFG_PRT_PAYLOAD_BAUDRATE;
+			cfg_prt_packet.inProtoMask	= UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
+			cfg_prt_packet.outProtoMask	= UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
+
+			addChecksumToMessage((uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
+
+			buffer[0] = UBX_SYNC1;
+			buffer[1] = UBX_SYNC2;
+			memcpy(&(buffer[2]), &cfg_prt_packet, sizeof(cfg_prt_packet));
+			length = sizeof(cfg_prt_packet)+2;
+
+			/* detection when the baudrate has been changed in the first step */
+			if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) {
+				/* set a flag and exit */
+				baudrate=UBX_CFG_PRT_PAYLOAD_BAUDRATE;
+				baudrate_changed = true;
+				_config_state = UBX_CONFIG_STATE_RATE;
+				_waiting_for_ack = false;
+				return;
+			}
+
+
+
+		} else if (_config_state == UBX_CONFIG_STATE_RATE) {
+
+			/* send a CFT-RATE message to define update rate */
+			type_gps_bin_cfg_rate_packet_t cfg_rate_packet;
+			memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet));
+
+			cfg_rate_packet.clsID		= UBX_CLASS_CFG;
+			cfg_rate_packet.msgID		= UBX_MESSAGE_CFG_RATE;
+			cfg_rate_packet.length		= UBX_CFG_RATE_LENGTH;
+			cfg_rate_packet.measRate	= UBX_CFG_RATE_PAYLOAD_MEASRATE;
+			cfg_rate_packet.navRate		= UBX_CFG_RATE_PAYLOAD_NAVRATE;
+			cfg_rate_packet.timeRef		= UBX_CFG_RATE_PAYLOAD_TIMEREF;
+
+			addChecksumToMessage((uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet));
+
+			buffer[0] = UBX_SYNC1;
+			buffer[1] = UBX_SYNC2;
+			memcpy(&(buffer[2]), &cfg_rate_packet, sizeof(cfg_rate_packet));
+			length = sizeof(cfg_rate_packet)+2;
+
+		} else if (_config_state == UBX_CONFIG_STATE_NAV5) {
+			/* send a NAV5 message to set the options for the internal estimator */
+			type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet;
+			memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet)); //set everything to 0
+
+			cfg_nav5_packet.clsID        = UBX_CLASS_CFG;
+			cfg_nav5_packet.msgID        = UBX_MESSAGE_CFG_NAV5;
+			cfg_nav5_packet.length       = UBX_CFG_NAV5_LENGTH;
+			cfg_nav5_packet.mask         = UBX_CFG_NAV5_PAYLOAD_MASK;
+			cfg_nav5_packet.dynModel     = UBX_CFG_NAV5_PAYLOAD_DYNMODEL;
+			cfg_nav5_packet.fixMode      = UBX_CFG_NAV5_PAYLOAD_FIXMODE;
+
+			addChecksumToMessage((uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet));
+
+			buffer[0] = UBX_SYNC1;
+			buffer[1] = UBX_SYNC2;
+			memcpy(&(buffer[2]), &cfg_nav5_packet, sizeof(cfg_nav5_packet));
+			length = sizeof(cfg_nav5_packet)+2;
+
+		} else {
+			/* catch the remaining config states here */
+
+			type_gps_bin_cfg_msg_packet_t cfg_msg_packet;
+			memset(&cfg_msg_packet, 0, sizeof(cfg_msg_packet)); //set everything to 0
+
+			cfg_msg_packet.clsID        = UBX_CLASS_CFG;
+			cfg_msg_packet.msgID        = UBX_MESSAGE_CFG_MSG;
+			cfg_msg_packet.length       = UBX_CFG_MSG_LENGTH;
+			cfg_msg_packet.rate[1]      = UBX_CFG_MSG_PAYLOAD_RATE1;
+
+			switch (_config_state) {
+				case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
+					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH;
+					break;
+				case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
+					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
+					break;
+				case UBX_CONFIG_STATE_MSG_NAV_DOP:
+					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
+					break;
+				case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
+					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
+					cfg_msg_packet.rate[1] = 5;
+					break;
+				case UBX_CONFIG_STATE_MSG_NAV_SOL:
+					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL;
+					break;
+				case UBX_CONFIG_STATE_MSG_NAV_VELNED:
+					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED;
+					break;
+//				case UBX_CONFIG_STATE_MSG_RXM_SVSI:
+//					cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM;
+//					cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI;
+//					break;
+				default:
+					break;
+			}
+
+			addChecksumToMessage((uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
+
+			buffer[0] = UBX_SYNC1;
+			buffer[1] = UBX_SYNC2;
+			memcpy(&(buffer[2]), &cfg_msg_packet, sizeof(cfg_msg_packet));
+			length = sizeof(cfg_msg_packet)+2;
+		}
+	} else {
+		_waited++;
+	}
+}
+
+int
+UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
+{
+	int ret = 0;
+	//printf("Received char: %c\n", b);
+
+	switch (_decode_state) {
+		/* First, look for sync1 */
+		case UBX_DECODE_UNINIT:
+			if (b == UBX_SYNC1) {
+				_decode_state = UBX_DECODE_GOT_SYNC1;
+			}
+			break;
+		/* Second, look for sync2 */
+		case UBX_DECODE_GOT_SYNC1:
+			if (b == UBX_SYNC2) {
+				_decode_state = UBX_DECODE_GOT_SYNC2;
+			} else {
+				/* Second start symbol was wrong, reset state machine */
+				decodeInit();
+			}
+			break;
+		/* Now look for class */
+		case UBX_DECODE_GOT_SYNC2:
+			/* everything except sync1 and sync2 needs to be added to the checksum */
+			addByteToChecksum(b);
+			/* check for known class */
+			switch (b) {
+				case UBX_CLASS_ACK:
+					_decode_state = UBX_DECODE_GOT_CLASS;
+					_message_class = ACK;
+					break;
+
+				case UBX_CLASS_NAV:
+					_decode_state = UBX_DECODE_GOT_CLASS;
+					_message_class = NAV;
+					break;
+
+//				case UBX_CLASS_RXM:
+//					_decode_state = UBX_DECODE_GOT_CLASS;
+//					_message_class = RXM;
+//					break;
+
+				case UBX_CLASS_CFG:
+					_decode_state = UBX_DECODE_GOT_CLASS;
+					_message_class = CFG;
+					break;
+				default: //unknown class: reset state machine
+					decodeInit();
+					break;
+			}
+			break;
+		case UBX_DECODE_GOT_CLASS:
+			addByteToChecksum(b);
+			switch (_message_class) {
+				case NAV:
+					switch (b) {
+					case UBX_MESSAGE_NAV_POSLLH:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = NAV_POSLLH;
+						break;
+
+					case UBX_MESSAGE_NAV_SOL:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = NAV_SOL;
+						break;
+
+					case UBX_MESSAGE_NAV_TIMEUTC:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = NAV_TIMEUTC;
+						break;
+
+					case UBX_MESSAGE_NAV_DOP:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = NAV_DOP;
+						break;
+
+					case UBX_MESSAGE_NAV_SVINFO:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = NAV_SVINFO;
+						break;
+
+					case UBX_MESSAGE_NAV_VELNED:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = NAV_VELNED;
+						break;
+
+					default: //unknown class: reset state machine, should not happen
+						decodeInit();
+						break;
+					}
+					break;
+//				case RXM:
+//					switch (b) {
+//					case UBX_MESSAGE_RXM_SVSI:
+//						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+//						_message_id = RXM_SVSI;
+//						break;
+//
+//					default: //unknown class: reset state machine, should not happen
+//						decodeInit();
+//						break;
+//					}
+//					break;
+
+				case CFG:
+					switch (b) {
+					case UBX_MESSAGE_CFG_NAV5:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = CFG_NAV5;
+						break;
+
+					default: //unknown class: reset state machine, should not happen
+						decodeInit();
+						break;
+					}
+					break;
+
+				case ACK:
+					switch (b) {
+					case UBX_MESSAGE_ACK_ACK:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = ACK_ACK;
+						break;
+					case UBX_MESSAGE_ACK_NAK:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = ACK_NAK;
+						break;
+					default: //unknown class: reset state machine, should not happen
+						decodeInit();
+						break;
+					}
+					break;
+				default: //should not happen because we set the class
+					printf("UBX Error, we set a class that we don't know\n");
+					decodeInit();
+					break;
+				}
+				break;
+			case UBX_DECODE_GOT_MESSAGEID:
+				addByteToChecksum(b);
+				_payload_size = b; //this is the first length byte
+				_decode_state = UBX_DECODE_GOT_LENGTH1;
+				break;
+			case UBX_DECODE_GOT_LENGTH1:
+				addByteToChecksum(b);
+				_payload_size += b << 8; // here comes the second byte of length
+				_decode_state = UBX_DECODE_GOT_LENGTH2;
+				break;
+			case UBX_DECODE_GOT_LENGTH2:
+				/* Add to checksum if not yet at checksum byte */
+				if (_rx_count < _payload_size)
+					addByteToChecksum(b);
+					_rx_buffer[_rx_count] = b;
+					/* once the payload has arrived, we can process the information */
+					if (_rx_count >= _payload_size + 1) { //+1 because of 2 checksum bytes
+						switch (_message_id) { //this enum is unique for all ids --> no need to check the class
+							case NAV_POSLLH: {
+//								printf("GOT NAV_POSLLH MESSAGE\n");
+								gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) _rx_buffer;
+
+								//Check if checksum is valid and the store the gps information
+								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
+									gps_position->lat = packet->lat;
+									gps_position->lon = packet->lon;
+									gps_position->alt = packet->height_msl;
+
+									gps_position->counter_pos_valid++;
+									gps_position->counter++;
+
+									_new_nav_posllh = true;
+
+								} else {
+									printf("[gps] NAV_POSLLH: checksum invalid\n");
+								}
+
+								// Reset state machine to decode next packet
+								decodeInit();
+								return ret;
+
+								break;
+							}
+
+							case NAV_SOL: {
+//								printf("GOT NAV_SOL MESSAGE\n");
+								gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer;
+
+								//Check if checksum is valid and the store the gps information
+								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
+
+									gps_position->fix_type = packet->gpsFix;
+
+									gps_position->timestamp = hrt_absolute_time();
+									gps_position->counter++;
+									gps_position->s_variance = packet->sAcc;
+									gps_position->p_variance = packet->pAcc;
+
+									_new_nav_sol = true;
+
+								} else {
+									printf("[gps] NAV_SOL: checksum invalid\n");
+								}
+
+								// Reset state machine to decode next packet
+								decodeInit();
+								return ret;
+
+								break;
+							}
+
+							case NAV_DOP: {
+//								printf("GOT NAV_DOP MESSAGE\n");
+								gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer;
+
+								//Check if checksum is valid and the store the gps information
+								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
+
+									gps_position->eph =  packet->hDOP;
+									gps_position->epv =  packet->vDOP;
+
+									gps_position->timestamp = hrt_absolute_time();
+									gps_position->counter++;
+
+									_new_nav_dop = true;
+
+								} else {
+									printf("[gps] NAV_DOP: checksum invalid\n");
+								}
+
+								// Reset state machine to decode next packet
+								decodeInit();
+								return ret;
+
+								break;
+							}
+
+							case NAV_TIMEUTC: {
+//								printf("GOT NAV_TIMEUTC MESSAGE\n");
+								gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) _rx_buffer;
+
+								//Check if checksum is valid and the store the gps information
+								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
+									//convert to unix timestamp
+									struct tm timeinfo;
+									timeinfo.tm_year = packet->year - 1900;
+									timeinfo.tm_mon = packet->month - 1;
+									timeinfo.tm_mday = packet->day;
+									timeinfo.tm_hour = packet->hour;
+									timeinfo.tm_min = packet->min;
+									timeinfo.tm_sec = packet->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)(packet->time_nanoseconds * 1e-3f);
+
+									gps_position->timestamp = hrt_absolute_time();
+									gps_position->counter++;
+
+									_new_nav_timeutc = true;
+
+								} else {
+									printf("\t[gps] NAV_TIMEUTC: checksum invalid\n");
+								}
+
+								// Reset state machine to decode next packet
+								decodeInit();
+								return ret;
+
+								break;
+							}
+
+							case NAV_SVINFO: {
+//								printf("GOT NAV_SVINFO MESSAGE\n");
+
+								//this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message
+								const int length_part1 = 8;
+								char _rx_buffer_part1[length_part1];
+								memcpy(_rx_buffer_part1, _rx_buffer, length_part1);
+								gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer_part1;
+
+								//read checksum
+								const int length_part3 = 2;
+								char _rx_buffer_part3[length_part3];
+								memcpy(_rx_buffer_part3, &(_rx_buffer[_rx_count - 1]), length_part3);
+								gps_bin_nav_svinfo_part3_packet_t *packet_part3 = (gps_bin_nav_svinfo_part3_packet_t *) _rx_buffer_part3;
+
+								//Check if checksum is valid and then store the gps information
+								if (_rx_ck_a == packet_part3->ck_a && _rx_ck_b == packet_part3->ck_b) {
+									//definitions needed to read numCh elements from the buffer:
+									const int length_part2 = 12;
+									gps_bin_nav_svinfo_part2_packet_t *packet_part2;
+									char _rx_buffer_part2[length_part2]; //for temporal storage
+
+									uint8_t satellites_used = 0;
+									int i;
+
+									for (i = 0; i < packet_part1->numCh; i++) { //for each channel
+
+										/* Get satellite information from the buffer */
+										memcpy(_rx_buffer_part2, &(_rx_buffer[length_part1 + i * length_part2]), length_part2);
+										packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) _rx_buffer_part2;
+
+
+										/* Write satellite information in the global storage */
+										gps_position->satellite_prn[i] = packet_part2->svid;
+
+										//if satellite information is healthy store the data
+										uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield
+
+										if (!unhealthy) {
+											if ((packet_part2->flags) & 1) { //flags is a bitfield
+												gps_position->satellite_used[i] = 1;
+												satellites_used++;
+
+											} else {
+												gps_position->satellite_used[i] = 0;
+											}
+
+											gps_position->satellite_snr[i] = packet_part2->cno;
+											gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
+											gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
+
+										} else {
+											gps_position->satellite_used[i] = 0;
+											gps_position->satellite_snr[i] = 0;
+											gps_position->satellite_elevation[i] = 0;
+											gps_position->satellite_azimuth[i] = 0;
+										}
+
+									}
+
+									for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused
+										/* Unused channels have to be set to zero for e.g. MAVLink */
+										gps_position->satellite_prn[i] = 0;
+										gps_position->satellite_used[i] = 0;
+										gps_position->satellite_snr[i] = 0;
+										gps_position->satellite_elevation[i] = 0;
+										gps_position->satellite_azimuth[i] = 0;
+									}
+
+									/* set flag if any sat info is available */
+									if (!packet_part1->numCh > 0) {
+										gps_position->satellite_info_available = 1;
+
+									} else {
+										gps_position->satellite_info_available = 0;
+									}
+
+									gps_position->satellites_visible = satellites_used++; // visible ~= used but we are interested in the used ones
+									gps_position->timestamp = hrt_absolute_time();
+									gps_position->counter++;
+
+									// as this message arrives only with 1Hz and is not essential, we don't take it into account for the report
+
+								} else {
+									printf("\t[gps] NAV_SVINFO: checksum invalid\n");
+								}
+
+								// Reset state machine to decode next packet
+								decodeInit();
+								return ret;
+
+								break;
+							}
+
+							case NAV_VELNED: {
+//								printf("GOT NAV_VELNED MESSAGE\n");
+								gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer;
+
+								//Check if checksum is valid and the store the gps information
+								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
+
+									gps_position->vel = (uint16_t)packet->speed;
+									gps_position->vel_n = packet->velN / 100.0f;
+									gps_position->vel_e = packet->velE / 100.0f;
+									gps_position->vel_d = packet->velD / 100.0f;
+									gps_position->vel_ned_valid = true;
+									gps_position->cog = (uint16_t)((float)(packet->heading) * 1e-3f);
+
+									gps_position->timestamp = hrt_absolute_time();
+									gps_position->counter++;
+
+
+									_new_nav_velned = true;
+
+								} else {
+									printf("[gps] NAV_VELNED: checksum invalid\n");
+								}
+
+								// Reset state machine to decode next packet
+								decodeInit();
+								return ret;
+
+								break;
+							}
+
+//							case RXM_SVSI: {
+//								printf("GOT RXM_SVSI MESSAGE\n");
+//								const int length_part1 = 7;
+//								char _rx_buffer_part1[length_part1];
+//								memcpy(_rx_buffer_part1, _rx_buffer, length_part1);
+//								gps_bin_rxm_svsi_packet_t *packet = (gps_bin_rxm_svsi_packet_t *) _rx_buffer_part1;
+//
+//								//Check if checksum is valid and the store the gps information
+//								if (_rx_ck_a == _rx_buffer[_rx_count - 1] && _rx_ck_b == _rx_buffer[_rx_count]) {
+//
+//									gps_position->satellites_visible = packet->numVis;
+//									gps_position->timestamp = hrt_absolute_time();
+//									gps_position->counter++;
+//									_last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time();
+//									ret = 1;
+//
+//								} else {
+//									printf("[gps] RXM_SVSI: checksum invalid\n");
+//								}
+//
+//								// Reset state machine to decode next packet
+//								decodeInit();
+//								return ret;
+//
+//								break;
+//							}
+
+						case ACK_ACK: {
+//							printf("GOT ACK_ACK\n");
+							gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) _rx_buffer;
+
+							//Check if checksum is valid
+							if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
+
+								_waiting_for_ack = false;
+
+								switch (_config_state) {
+									case UBX_CONFIG_STATE_PRT:
+										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_PRT)
+											_config_state = UBX_CONFIG_STATE_PRT_NEW_BAUDRATE;
+										break;
+									case UBX_CONFIG_STATE_PRT_NEW_BAUDRATE:
+										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_PRT)
+											_config_state = UBX_CONFIG_STATE_RATE;
+										break;
+									case UBX_CONFIG_STATE_RATE:
+										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_RATE)
+											_config_state = UBX_CONFIG_STATE_NAV5;
+										break;
+									case UBX_CONFIG_STATE_NAV5:
+										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_NAV5)
+											_config_state = UBX_CONFIG_STATE_MSG_NAV_POSLLH;
+										break;
+									case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
+										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
+											_config_state = UBX_CONFIG_STATE_MSG_NAV_TIMEUTC;
+										break;
+									case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
+										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
+											_config_state = UBX_CONFIG_STATE_MSG_NAV_DOP;
+										break;
+									case UBX_CONFIG_STATE_MSG_NAV_DOP:
+										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
+											_config_state = UBX_CONFIG_STATE_MSG_NAV_SVINFO;
+										break;
+									case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
+										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
+											_config_state = UBX_CONFIG_STATE_MSG_NAV_SOL;
+										break;
+									case UBX_CONFIG_STATE_MSG_NAV_SOL:
+										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
+											_config_state = UBX_CONFIG_STATE_MSG_NAV_VELNED;
+										break;
+									case UBX_CONFIG_STATE_MSG_NAV_VELNED:
+										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
+											_config_state = UBX_CONFIG_STATE_CONFIGURED;
+										break;
+//									case UBX_CONFIG_STATE_MSG_RXM_SVSI:
+//										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
+//											_config_state = UBX_CONFIG_STATE_CONFIGURED;
+//										break;
+									default:
+										break;
+								}
+							} else {
+								printf("[gps] ACK_ACK: checksum invalid\n");
+							}
+
+							// Reset state machine to decode next packet
+							decodeInit();
+							return ret;
+
+							break;
+						}
+
+						case ACK_NAK: {
+//							printf("GOT ACK_NAK\n");
+							gps_bin_ack_nak_packet_t *packet = (gps_bin_ack_nak_packet_t *) _rx_buffer;
+
+							//Check if checksum is valid
+							if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
+
+								printf("[gps] the ubx gps returned: not acknowledged\n");
+								ret = 1;
+
+							} else {
+								printf("[gps] ACK_NAK: checksum invalid\n");
+							}
+
+							// Reset state machine to decode next packet
+							decodeInit();
+							return ret;
+
+							break;
+						}
+
+						default: //we don't know the message
+							printf("Unknown message received: %d-%d\n",_message_class,_message_id);
+							decodeInit();
+
+							break;
+						}
+					} // end if _rx_count high enough
+					if (_rx_count < RECV_BUFFER_SIZE) {
+						_rx_count++;
+					} else {
+						printf("Buffer full");
+						decodeInit();
+					}
+				break;
+		default:
+			break;
+	}
+
+	/* return 1 when all needed messages have arrived */
+	if(_new_nav_posllh &&_new_nav_timeutc && _new_nav_dop && _new_nav_sol && _new_nav_velned) {
+
+		gps_position->timestamp = hrt_absolute_time();
+		ret = 1;
+		_new_nav_posllh = false;
+		_new_nav_timeutc = false;
+		_new_nav_dop = false;
+		_new_nav_sol = false;
+		_new_nav_velned = false;
+	}
+
+	return ret;
+}
+
+void
+UBX::decodeInit(void)
+{
+	_rx_ck_a = 0;
+	_rx_ck_b = 0;
+	_rx_count = 0;
+	_decode_state = UBX_DECODE_UNINIT;
+	_message_class = CLASS_UNKNOWN;
+	_message_id = ID_UNKNOWN;
+	_payload_size = 0;
+}
+
+void
+UBX::addByteToChecksum(uint8_t b)
+{
+	_rx_ck_a = _rx_ck_a + b;
+	_rx_ck_b = _rx_ck_b + _rx_ck_a;
+}
+
+void
+UBX::addChecksumToMessage(uint8_t* message, const unsigned length)
+{
+	uint8_t ck_a = 0;
+	uint8_t ck_b = 0;
+	unsigned i;
+
+	for (i = 0; i < length-2; i++) {
+		ck_a = ck_a + message[i];
+		ck_b = ck_b + ck_a;
+	}
+	message[length-2] = ck_a;
+	message[length-1] = ck_b;
+}
diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h
new file mode 100644
index 000000000..dff25a518
--- /dev/null
+++ b/apps/drivers/gps/ubx.h
@@ -0,0 +1,369 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler 
+ *           Julian Oes 
+ *
+ * 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 U-Blox protocol definitions */
+
+#ifndef UBX_H_
+#define UBX_H_
+
+#include "gps_helper.h"
+
+#define UBX_NO_OF_MESSAGES 7								/**< Read 7 UBX GPS messages */
+
+#define UBX_SYNC1 0xB5
+#define UBX_SYNC2 0x62
+
+//UBX Protocol definitions (this is the subset of the messages that are parsed)
+#define UBX_CLASS_NAV 0x01
+//#define UBX_CLASS_RXM 0x02
+#define UBX_CLASS_ACK 0x05
+#define UBX_CLASS_CFG 0x06
+#define UBX_MESSAGE_NAV_POSLLH 0x02
+#define UBX_MESSAGE_NAV_SOL 0x06
+#define UBX_MESSAGE_NAV_TIMEUTC 0x21
+#define UBX_MESSAGE_NAV_DOP 0x04
+#define UBX_MESSAGE_NAV_SVINFO 0x30
+#define UBX_MESSAGE_NAV_VELNED 0x12
+//#define UBX_MESSAGE_RXM_SVSI 0x20
+#define UBX_MESSAGE_ACK_ACK 0x01
+#define UBX_MESSAGE_ACK_NAK 0x00
+#define UBX_MESSAGE_CFG_PRT 0x00
+#define UBX_MESSAGE_CFG_NAV5 0x24
+#define UBX_MESSAGE_CFG_MSG 0x01
+#define UBX_MESSAGE_CFG_RATE 0x08
+
+#define UBX_CFG_PRT_LENGTH 20
+#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01         /**< port 1 */
+#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0     /**< 0b0000100011010000: 8N1 */
+#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400      /**< always choose 38400 as GPS baudrate */
+#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01    /**< ubx in */
+#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01   /**< ubx out */
+
+#define UBX_CFG_RATE_LENGTH 6
+#define UBX_CFG_RATE_PAYLOAD_MEASRATE 200		/**< 200ms for 5Hz */
+#define UBX_CFG_RATE_PAYLOAD_NAVRATE 1			/**< cannot be changed */
+#define UBX_CFG_RATE_PAYLOAD_TIMEREF 0			/**< 0: UTC, 1: GPS time */
+
+
+#define UBX_CFG_NAV5_LENGTH 36
+#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001		/**< only update dynamic model and fix mode */
+#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7			/**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */
+#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2          /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */
+
+#define UBX_CFG_MSG_LENGTH 8
+#define UBX_CFG_MSG_PAYLOAD_RATE1 0x01 			/**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} UART1 chosen */
+
+
+// ************
+/** the structures of the binary packets */
+#pragma pack(push, 1)
+
+typedef struct {
+	uint32_t time_milliseconds; // GPS Millisecond Time of Week
+	int32_t lon;  // Longitude * 1e-7, deg
+	int32_t lat; // Latitude * 1e-7, deg
+	int32_t height;  // Height above Ellipsoid, mm
+	int32_t height_msl;  // Height above mean sea level, mm
+	uint32_t hAcc;  // Horizontal Accuracy Estimate, mm
+	uint32_t vAcc;  // Vertical Accuracy Estimate, mm
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_nav_posllh_packet_t;
+
+typedef struct {
+	uint32_t time_milliseconds; // GPS Millisecond Time of Week
+	int32_t time_nanoseconds; // Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000
+	int16_t week; // GPS week (GPS time)
+	uint8_t gpsFix; //GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix
+	uint8_t flags;
+	int32_t ecefX;
+	int32_t ecefY;
+	int32_t ecefZ;
+	uint32_t pAcc;
+	int32_t ecefVX;
+	int32_t ecefVY;
+	int32_t ecefVZ;
+	uint32_t sAcc;
+	uint16_t pDOP;
+	uint8_t reserved1;
+	uint8_t numSV;
+	uint32_t reserved2;
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_nav_sol_packet_t;
+
+typedef struct {
+	uint32_t time_milliseconds; // GPS Millisecond Time of Week
+	uint32_t time_accuracy;  //Time Accuracy Estimate, ns
+	int32_t time_nanoseconds; //Nanoseconds of second, range -1e9 .. 1e9 (UTC)
+	uint16_t year; //Year, range 1999..2099 (UTC)
+	uint8_t month; //Month, range 1..12 (UTC)
+	uint8_t day; //Day of Month, range 1..31 (UTC)
+	uint8_t hour; //Hour of Day, range 0..23 (UTC)
+	uint8_t min; //Minute of Hour, range 0..59 (UTC)
+	uint8_t sec; //Seconds of Minute, range 0..59 (UTC)
+	uint8_t valid_flag; //Validity Flags (see ubx documentation)
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_nav_timeutc_packet_t;
+
+typedef struct {
+	uint32_t time_milliseconds; // GPS Millisecond Time of Week
+	uint16_t gDOP; //Geometric DOP (scaling 0.01)
+	uint16_t pDOP; //Position DOP (scaling 0.01)
+	uint16_t tDOP; //Time DOP (scaling 0.01)
+	uint16_t vDOP; //Vertical DOP (scaling 0.01)
+	uint16_t hDOP; //Horizontal DOP (scaling 0.01)
+	uint16_t nDOP; //Northing DOP (scaling 0.01)
+	uint16_t eDOP; //Easting DOP (scaling 0.01)
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_nav_dop_packet_t;
+
+typedef struct {
+	uint32_t time_milliseconds; // GPS Millisecond Time of Week
+	uint8_t numCh; //Number of channels
+	uint8_t globalFlags;
+	uint16_t reserved2;
+
+} gps_bin_nav_svinfo_part1_packet_t;
+
+typedef struct {
+	uint8_t chn; //Channel number, 255 for SVs not assigned to a channel
+	uint8_t svid; //Satellite ID
+	uint8_t flags;
+	uint8_t quality;
+	uint8_t cno; //Carrier to Noise Ratio (Signal Strength), dbHz
+	int8_t elev; //Elevation in integer degrees
+	int16_t azim; //Azimuth in integer degrees
+	int32_t prRes; //Pseudo range residual in centimetres
+
+} gps_bin_nav_svinfo_part2_packet_t;
+
+typedef struct {
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_nav_svinfo_part3_packet_t;
+
+typedef struct {
+	uint32_t time_milliseconds; // GPS Millisecond Time of Week
+	int32_t velN; //NED north velocity, cm/s
+	int32_t velE; //NED east velocity, cm/s
+	int32_t velD; //NED down velocity, cm/s
+	uint32_t speed; //Speed (3-D), cm/s
+	uint32_t gSpeed; //Ground Speed (2-D), cm/s
+	int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5
+	uint32_t sAcc; //Speed Accuracy Estimate, cm/s
+	uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_nav_velned_packet_t;
+
+//typedef struct {
+//	int32_t time_milliseconds; // Measurement integer millisecond GPS time of week
+//	int16_t week; //Measurement GPS week number
+//	uint8_t numVis; //Number of visible satellites
+//
+//	//... rest of package is not used in this implementation
+//
+//} gps_bin_rxm_svsi_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_ack_ack_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_ack_nak_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint16_t length;
+	uint8_t portID;
+	uint8_t res0;
+	uint16_t res1;
+	uint32_t mode;
+	uint32_t baudRate;
+	uint16_t inProtoMask;
+	uint16_t outProtoMask;
+	uint16_t flags;
+	uint16_t pad;
+	uint8_t ck_a;
+	uint8_t ck_b;
+} type_gps_bin_cfg_prt_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint16_t length;
+	uint16_t measRate;
+	uint16_t navRate;
+	uint16_t timeRef;
+	uint8_t ck_a;
+	uint8_t ck_b;
+} type_gps_bin_cfg_rate_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint16_t length;
+	uint16_t mask;
+	uint8_t dynModel;
+	uint8_t fixMode;
+	int32_t fixedAlt;
+	uint32_t fixedAltVar;
+	int8_t minElev;
+	uint8_t drLimit;
+	uint16_t pDop;
+	uint16_t tDop;
+	uint16_t pAcc;
+	uint16_t tAcc;
+	uint8_t staticHoldThresh;
+	uint8_t dgpsTimeOut;
+	uint32_t reserved2;
+	uint32_t reserved3;
+	uint32_t reserved4;
+	uint8_t ck_a;
+	uint8_t ck_b;
+} type_gps_bin_cfg_nav5_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint16_t length;
+	uint8_t msgClass_payload;
+	uint8_t msgID_payload;
+	uint8_t rate[6];
+	uint8_t ck_a;
+	uint8_t ck_b;
+} type_gps_bin_cfg_msg_packet_t;
+
+
+// END the structures of the binary packets
+// ************
+
+typedef enum {
+	UBX_CONFIG_STATE_PRT = 0,
+	UBX_CONFIG_STATE_PRT_NEW_BAUDRATE,
+	UBX_CONFIG_STATE_RATE,
+	UBX_CONFIG_STATE_NAV5,
+	UBX_CONFIG_STATE_MSG_NAV_POSLLH,
+	UBX_CONFIG_STATE_MSG_NAV_TIMEUTC,
+	UBX_CONFIG_STATE_MSG_NAV_DOP,
+	UBX_CONFIG_STATE_MSG_NAV_SVINFO,
+	UBX_CONFIG_STATE_MSG_NAV_SOL,
+	UBX_CONFIG_STATE_MSG_NAV_VELNED,
+//	UBX_CONFIG_STATE_MSG_RXM_SVSI,
+	UBX_CONFIG_STATE_CONFIGURED
+} ubx_config_state_t;
+
+typedef enum {
+	CLASS_UNKNOWN = 0,
+	NAV = 1,
+	RXM = 2,
+	ACK = 3,
+	CFG = 4
+} ubx_message_class_t;
+
+typedef enum {
+	//these numbers do NOT correspond to the message id numbers of the ubx protocol
+	ID_UNKNOWN = 0,
+	NAV_POSLLH,
+	NAV_SOL,
+	NAV_TIMEUTC,
+	NAV_DOP,
+	NAV_SVINFO,
+	NAV_VELNED,
+//	RXM_SVSI,
+	CFG_NAV5,
+	ACK_ACK,
+	ACK_NAK,
+} ubx_message_id_t;
+
+typedef enum {
+	UBX_DECODE_UNINIT = 0,
+	UBX_DECODE_GOT_SYNC1,
+	UBX_DECODE_GOT_SYNC2,
+	UBX_DECODE_GOT_CLASS,
+	UBX_DECODE_GOT_MESSAGEID,
+	UBX_DECODE_GOT_LENGTH1,
+	UBX_DECODE_GOT_LENGTH2
+} ubx_decode_state_t;
+
+//typedef type_gps_bin_ubx_state gps_bin_ubx_state_t;
+#pragma pack(pop)
+
+#define RECV_BUFFER_SIZE 500 //The NAV-SOL messages really need such a big buffer
+
+class UBX : public GPS_Helper
+{
+public:
+	UBX();
+	~UBX();
+
+	void				configure(bool&, bool&, unsigned&, uint8_t*, int&, const unsigned);
+	int 				parse(uint8_t, struct vehicle_gps_position_s*);
+
+private:
+	void				decodeInit(void);
+	void				addByteToChecksum(uint8_t);
+	void				addChecksumToMessage(uint8_t*, const unsigned);
+	unsigned			_waited;
+	bool 				_waiting_for_ack;
+	ubx_config_state_t	_config_state;
+	ubx_decode_state_t	_decode_state;
+	uint8_t				_rx_buffer[RECV_BUFFER_SIZE];
+	unsigned			_rx_count;
+	uint8_t 			_rx_ck_a;
+	uint8_t				_rx_ck_b;
+	ubx_message_class_t _message_class;
+	ubx_message_id_t	_message_id;
+	unsigned			_payload_size;
+	bool				_new_nav_posllh;
+	bool				_new_nav_timeutc;
+	bool				_new_nav_dop;
+	bool				_new_nav_sol;
+	bool				_new_nav_velned;
+};
+
+#endif /* UBX_H_ */
-- 
cgit v1.2.3


From 3fd8c73bfbdad1fdb9b5b31337cf6eb3fa46c34c Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Mon, 4 Feb 2013 15:58:53 +0100
Subject: Disabled old-style gps interface, enabled GPS driver

---
 apps/drivers/gps/gps.cpp           | 2 ++
 nuttx/configs/px4fmu/nsh/appconfig | 2 +-
 2 files changed, 3 insertions(+), 1 deletion(-)

(limited to 'apps')

diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index 7d6f7144e..9fd679240 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -471,6 +471,8 @@ GPS::set_baudrate(unsigned baud)
 		warnx("ERROR setting baudrate (tcsetattr)\n");
 		return -1;
 	}
+
+	/* XXX if resetting the parser here, ensure it does exist (check for null pointer) */
 }
 
 void
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index 653f97de1..710e2fb5f 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -80,7 +80,6 @@ CONFIGURED_APPS += uORB
 
 CONFIGURED_APPS += mavlink
 CONFIGURED_APPS += mavlink_onboard
-CONFIGURED_APPS += gps
 CONFIGURED_APPS += commander
 CONFIGURED_APPS += sdlog
 CONFIGURED_APPS += sensors
@@ -114,6 +113,7 @@ CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS += drivers/stm32/adc
 CONFIGURED_APPS += drivers/px4fmu
 CONFIGURED_APPS += drivers/hil
+CONFIGURED_APPS += drivers/gps
 
 # Testing stuff
 CONFIGURED_APPS += px4/sensors_bringup
-- 
cgit v1.2.3


From 12f4cb2dc38303b58750a8f3b120738a291ac8d1 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Mon, 4 Feb 2013 16:13:17 +0100
Subject: Tuned GPS update rates

---
 apps/mavlink/mavlink.c | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

(limited to 'apps')

diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index ceb7c2554..09abcf269 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -625,7 +625,9 @@ int mavlink_thread_main(int argc, char *argv[])
 		/* 20 Hz / 50 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
-		/* 2 Hz */
+		/* 10 Hz */
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW, 100);
+		/* 10 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
 
 	} else if (baudrate >= 115200) {
@@ -634,8 +636,10 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
-		/* 5 Hz / 100 ms */
+		/* 5 Hz / 200 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
+		/* 5 Hz / 200 ms */
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW, 200);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
 
@@ -651,6 +655,8 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
+		/* 2 Hz */
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW, 500);
 
 	} else {
 		/* very low baud rate, limit to 1 Hz / 1000 ms */
-- 
cgit v1.2.3


From 30f028908a69db058c05b9af7e31c8c52c3bc339 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Mon, 4 Feb 2013 16:15:48 +0100
Subject: Fixed typo

---
 apps/mavlink/mavlink.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'apps')

diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 09abcf269..b958d5f96 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -626,7 +626,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
 		/* 10 Hz */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW, 100);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 100);
 		/* 10 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
 
@@ -639,7 +639,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		/* 5 Hz / 200 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
 		/* 5 Hz / 200 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW, 200);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 200);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
 
@@ -656,7 +656,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
 		/* 2 Hz */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW, 500);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 500);
 
 	} else {
 		/* very low baud rate, limit to 1 Hz / 1000 ms */
-- 
cgit v1.2.3


From 13ec0675703ecc9c7bccb22ef3cd049888dd1abb Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Mon, 4 Feb 2013 17:55:58 +0100
Subject: Minor quick cleanups

---
 apps/drivers/gps/gps.cpp | 108 ++++++++++++++++++++++++++++++++---------------
 apps/drivers/gps/ubx.cpp |  28 ++++++------
 2 files changed, 89 insertions(+), 47 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index 9fd679240..6f7310cc5 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -107,30 +107,29 @@ public:
 
 private:
 
-	int					_task_should_exit;
-	int					_serial_fd;		///< serial interface to GPS
+	int				_task_should_exit;
+	int				_serial_fd;					///< serial interface to GPS
 	unsigned			_baudrate;
 	unsigned			_baudrates_to_try[NUMBER_OF_BAUDRATES];
 	uint8_t				_send_buffer[SEND_BUFFER_LENGTH];
-	perf_counter_t		_sample_perf;
-	perf_counter_t		_comms_errors;
-	perf_counter_t		_buffer_overflows;
-	volatile int		_task;		///< worker task
+	perf_counter_t			_sample_perf;
+	perf_counter_t			_comms_errors;
+	perf_counter_t			_buffer_overflows;
+	volatile int			_task;						///< worker task
 
 	bool				_response_received;
 	bool				_config_needed;
 	bool 				_baudrate_changed;
 	bool				_mode_changed;
 	bool				_healthy;
-	gps_driver_mode_t	_mode;
+	gps_driver_mode_t		_mode;
 	unsigned 			_messages_received;
+	float				_rate;						///< position update rate
 
-	GPS_Helper			*_Helper;	///< Class for either UBX, MTK or NMEA helper
+	GPS_Helper			*_Helper;					///< class for either UBX, MTK or NMEA helper
 
-	struct vehicle_gps_position_s _report;
-	orb_advert_t		_report_pub;
-
-	orb_advert_t		_gps_topic;
+	struct vehicle_gps_position_s	_report;					///< the current GPS report
+	orb_advert_t			_report_pub;					///< the publication topic, only valid on first valid GPS module message
 
 	void				recv();
 
@@ -140,16 +139,19 @@ private:
 
 
 	/**
-	 * worker task
+	 * Worker task.
 	 */
-	void			task_main(void);
+	void				task_main(void);
 
-	int			set_baudrate(unsigned baud);
+	/**
+	 * Set the module baud rate
+	 */
+	int				set_baudrate(unsigned baud);
 
 	/**
 	 * Send a reset command to the GPS
 	 */
-	void			cmd_reset();
+	void				cmd_reset();
 
 };
 
@@ -177,13 +179,15 @@ GPS::GPS() :
 	_healthy(false),
 	_mode(GPS_DRIVER_MODE_UBX),
 	_messages_received(0),
-	_Helper(nullptr)
+	_Helper(nullptr),
+	_rate(0.0f),
+	_report_pub(-1)
 {
 	/* we need this potentially before it could be set in task_main */
 	g_dev = this;
+	memset(&_report, 0, sizeof(_report));
 
 	_debug_enabled = true;
-	debug("[gps driver] instantiated");
 }
 
 GPS::~GPS()
@@ -213,16 +217,13 @@ GPS::init()
 		goto out;
 
 	/* start the IO interface task */
-	_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 4096, (main_t)&GPS::task_main_trampoline, nullptr);
+	_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
 
 	if (_task < 0) {
-		debug("task start failed: %d", errno);
+		warnx("task start failed: %d", errno);
 		return -errno;
 	}
 
-//	if (_gps_topic < 0)
-//		debug("failed to create GPS object");
-
 	ret = OK;
 out:
 	return ret;
@@ -231,6 +232,8 @@ out:
 int
 GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
 {
+	lock();
+
 	int ret = OK;
 
 	switch (cmd) {
@@ -263,6 +266,8 @@ GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
 		break;
 	}
 
+	unlock();
+
 	return ret;
 }
 
@@ -298,10 +303,6 @@ GPS::task_main()
 {
 	log("starting");
 
-	_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
-
-	memset(&_report, 0, sizeof(_report));
-
 	/* open the serial port */
 	_serial_fd = ::open("/dev/ttyS3", O_RDWR);
 
@@ -311,7 +312,9 @@ GPS::task_main()
 
 	if (_serial_fd < 0) {
 		log("failed to open serial port: %d", errno);
-		goto out;
+		/* tell the dtor that we are exiting, set error code */
+		_task = -1;
+		_exit(1);
 	}
 
 	/* poll descriptor */
@@ -329,6 +332,9 @@ GPS::task_main()
 
 	time_before_configuration = hrt_absolute_time();
 
+	uint64_t last_rate_measurement = hrt_absolute_time();
+	unsigned last_rate_count = 0;
+
 	/* loop handling received serial bytes */
 	while (!_task_should_exit) {
 
@@ -369,9 +375,9 @@ GPS::task_main()
 		if (_config_needed) {
 			poll_timeout = 50;
 		} else {
-			poll_timeout = 250;
+			poll_timeout = 400;
 		}
-		/* sleep waiting for data, but no more than 1000ms */
+		/* sleep waiting for data, but no more than the poll timeout */
 		unlock();
 		int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), poll_timeout);
 		lock();
@@ -386,7 +392,7 @@ GPS::task_main()
 			config();
 			if (_config_needed == false) {
 				_config_needed = true;
-				debug("Lost GPS module");
+				warnx("lost GPS module");
 			}
 		} else if (ret > 0) {
 			/* if we have new data from GPS, go handle it */
@@ -411,8 +417,22 @@ GPS::task_main()
 						debug("Found GPS module");
 					}
 
-					orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+					/* opportunistic publishing - else invalid data would end up on the bus */
+					if (_report_pub > 0) {
+						orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+					} else {
+						_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+					}
+
 					_messages_received = 0;
+					last_rate_count++;
+
+					/* measure update rate every 5 seconds */
+					if (hrt_absolute_time() - last_rate_measurement > 5000000) {
+						_rate = last_rate_count / (float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f;
+						last_rate_measurement = hrt_absolute_time();
+						last_rate_count = 0;
+					}
 				}
 			}
 		}
@@ -484,7 +504,29 @@ GPS::cmd_reset()
 void
 GPS::print_info()
 {
-
+	switch (_mode) {
+		case GPS_DRIVER_MODE_UBX:
+			warnx("protocol: UBX");
+			break;
+		case GPS_DRIVER_MODE_MTK19:
+			warnx("protocol: MTK 1.9");
+			break;
+		case GPS_DRIVER_MODE_MTK16:
+			warnx("protocol: MTK 1.6");
+			break;
+		case GPS_DRIVER_MODE_NMEA:
+			warnx("protocol: NMEA");
+			break;
+		default:
+			break;
+	}
+	warnx("baudrate: %d, status: %s", _baudrate, (_config_needed) ? "NOT OK" : "OK");
+	if (_report.timestamp != 0) {
+		warnx("position lock: %dD, last update %d seconds ago", (int)_report.fix_type,
+			int((hrt_absolute_time() - _report.timestamp) / 1000000));
+		warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
+		warnx("update rate: %6.2f Hz", (double)_rate);
+	}
 }
 
 /**
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp
index 981b023e5..7e95514dd 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/apps/drivers/gps/ubx.cpp
@@ -371,7 +371,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 					}
 					break;
 				default: //should not happen because we set the class
-					printf("UBX Error, we set a class that we don't know\n");
+					warnx("UBX Error, we set a class that we don't know\n");
 					decodeInit();
 					break;
 				}
@@ -410,7 +410,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									_new_nav_posllh = true;
 
 								} else {
-									printf("[gps] NAV_POSLLH: checksum invalid\n");
+									warnx("NAV_POSLLH: checksum invalid\n");
 								}
 
 								// Reset state machine to decode next packet
@@ -437,7 +437,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									_new_nav_sol = true;
 
 								} else {
-									printf("[gps] NAV_SOL: checksum invalid\n");
+									warnx("NAV_SOL: checksum invalid\n");
 								}
 
 								// Reset state machine to decode next packet
@@ -463,7 +463,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									_new_nav_dop = true;
 
 								} else {
-									printf("[gps] NAV_DOP: checksum invalid\n");
+									warnx("NAV_DOP: checksum invalid\n");
 								}
 
 								// Reset state machine to decode next packet
@@ -624,7 +624,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									_new_nav_velned = true;
 
 								} else {
-									printf("[gps] NAV_VELNED: checksum invalid\n");
+									warnx("NAV_VELNED: checksum invalid\n");
 								}
 
 								// Reset state machine to decode next packet
@@ -651,7 +651,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 //									ret = 1;
 //
 //								} else {
-//									printf("[gps] RXM_SVSI: checksum invalid\n");
+//									warnx("RXM_SVSI: checksum invalid\n");
 //								}
 //
 //								// Reset state machine to decode next packet
@@ -719,7 +719,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 										break;
 								}
 							} else {
-								printf("[gps] ACK_ACK: checksum invalid\n");
+								warnx("ACK_ACK: checksum invalid\n");
 							}
 
 							// Reset state machine to decode next packet
@@ -736,11 +736,11 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 							//Check if checksum is valid
 							if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
 
-								printf("[gps] the ubx gps returned: not acknowledged\n");
+								warnx("the ubx gps returned: not acknowledged\n");
 								ret = 1;
 
 							} else {
-								printf("[gps] ACK_NAK: checksum invalid\n");
+								warnx("ACK_NAK: checksum invalid\n");
 							}
 
 							// Reset state machine to decode next packet
@@ -768,16 +768,16 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 			break;
 	}
 
-	/* return 1 when all needed messages have arrived */
+	/* return 1 when position updates and the remaining packets updated at least once */
 	if(_new_nav_posllh &&_new_nav_timeutc && _new_nav_dop && _new_nav_sol && _new_nav_velned) {
 
 		gps_position->timestamp = hrt_absolute_time();
 		ret = 1;
 		_new_nav_posllh = false;
-		_new_nav_timeutc = false;
-		_new_nav_dop = false;
-		_new_nav_sol = false;
-		_new_nav_velned = false;
+		// _new_nav_timeutc = false;
+		// _new_nav_dop = false;
+		// _new_nav_sol = false;
+		// _new_nav_velned = false;
 	}
 
 	return ret;
-- 
cgit v1.2.3


From d4bd7225baa8c46e6a93dcd063f66ce53fe88e69 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Mon, 4 Feb 2013 18:00:10 +0100
Subject: More cleanup

---
 apps/drivers/gps/gps.cpp |  3 ++-
 apps/drivers/gps/ubx.cpp | 22 +++++++++++-----------
 2 files changed, 13 insertions(+), 12 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index 6f7310cc5..bd77e8969 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -341,7 +341,8 @@ GPS::task_main()
 		if (_mode_changed) {
 			if (_Helper != nullptr) {
 				delete(_Helper);
-				_Helper = nullptr; // XXX is this needed?
+				/* set to zero to ensure parser is not used while not instantiated */
+				_Helper = nullptr;
 			}
 
 			switch (_mode) {
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp
index 7e95514dd..fe4758d8c 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/apps/drivers/gps/ubx.cpp
@@ -371,7 +371,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 					}
 					break;
 				default: //should not happen because we set the class
-					warnx("UBX Error, we set a class that we don't know\n");
+					warnx("UBX Error, we set a class that we don't know");
 					decodeInit();
 					break;
 				}
@@ -410,7 +410,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									_new_nav_posllh = true;
 
 								} else {
-									warnx("NAV_POSLLH: checksum invalid\n");
+									warnx("NAV_POSLLH: checksum invalid");
 								}
 
 								// Reset state machine to decode next packet
@@ -437,7 +437,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									_new_nav_sol = true;
 
 								} else {
-									warnx("NAV_SOL: checksum invalid\n");
+									warnx("NAV_SOL: checksum invalid");
 								}
 
 								// Reset state machine to decode next packet
@@ -463,7 +463,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									_new_nav_dop = true;
 
 								} else {
-									warnx("NAV_DOP: checksum invalid\n");
+									warnx("NAV_DOP: checksum invalid");
 								}
 
 								// Reset state machine to decode next packet
@@ -499,7 +499,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									_new_nav_timeutc = true;
 
 								} else {
-									printf("\t[gps] NAV_TIMEUTC: checksum invalid\n");
+									warnx("NAV_TIMEUTC: checksum invalid");
 								}
 
 								// Reset state machine to decode next packet
@@ -593,7 +593,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									// as this message arrives only with 1Hz and is not essential, we don't take it into account for the report
 
 								} else {
-									printf("\t[gps] NAV_SVINFO: checksum invalid\n");
+									warnx("NAV_SVINFO: checksum invalid");
 								}
 
 								// Reset state machine to decode next packet
@@ -624,7 +624,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									_new_nav_velned = true;
 
 								} else {
-									warnx("NAV_VELNED: checksum invalid\n");
+									warnx("NAV_VELNED: checksum invalid");
 								}
 
 								// Reset state machine to decode next packet
@@ -719,7 +719,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 										break;
 								}
 							} else {
-								warnx("ACK_ACK: checksum invalid\n");
+								warnx("ACK_ACK: checksum invalid");
 							}
 
 							// Reset state machine to decode next packet
@@ -736,7 +736,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 							//Check if checksum is valid
 							if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
 
-								warnx("the ubx gps returned: not acknowledged\n");
+								warnx("UBX: NO ACK");
 								ret = 1;
 
 							} else {
@@ -751,7 +751,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 						}
 
 						default: //we don't know the message
-							printf("Unknown message received: %d-%d\n",_message_class,_message_id);
+							warnx("UBX: Unknown message received: %d-%d\n",_message_class,_message_id);
 							decodeInit();
 
 							break;
@@ -760,7 +760,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 					if (_rx_count < RECV_BUFFER_SIZE) {
 						_rx_count++;
 					} else {
-						printf("Buffer full");
+						warnx("buffer overflow");
 						decodeInit();
 					}
 				break;
-- 
cgit v1.2.3


From cb0fd834ae15c45cf6993f8c9eea9c99b2b153dd Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Mon, 4 Feb 2013 18:14:55 +0100
Subject: Minor polishing, fixed rate and last measurement indication

---
 apps/drivers/gps/gps.cpp    | 6 +++---
 apps/drivers/gps/ubx.cpp    | 6 ------
 apps/mavlink/orb_listener.c | 2 +-
 3 files changed, 4 insertions(+), 10 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index bd77e8969..49b94fc2e 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -430,7 +430,7 @@ GPS::task_main()
 
 					/* measure update rate every 5 seconds */
 					if (hrt_absolute_time() - last_rate_measurement > 5000000) {
-						_rate = last_rate_count / (float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f;
+						_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
 						last_rate_measurement = hrt_absolute_time();
 						last_rate_count = 0;
 					}
@@ -523,8 +523,8 @@ GPS::print_info()
 	}
 	warnx("baudrate: %d, status: %s", _baudrate, (_config_needed) ? "NOT OK" : "OK");
 	if (_report.timestamp != 0) {
-		warnx("position lock: %dD, last update %d seconds ago", (int)_report.fix_type,
-			int((hrt_absolute_time() - _report.timestamp) / 1000000));
+		warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
+			((float)(hrt_absolute_time() - _report.timestamp) / 1000000.0f));
 		warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
 		warnx("update rate: %6.2f Hz", (double)_rate);
 	}
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp
index fe4758d8c..1105e0da4 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/apps/drivers/gps/ubx.cpp
@@ -429,7 +429,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 
 									gps_position->fix_type = packet->gpsFix;
 
-									gps_position->timestamp = hrt_absolute_time();
 									gps_position->counter++;
 									gps_position->s_variance = packet->sAcc;
 									gps_position->p_variance = packet->pAcc;
@@ -457,7 +456,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									gps_position->eph =  packet->hDOP;
 									gps_position->epv =  packet->vDOP;
 
-									gps_position->timestamp = hrt_absolute_time();
 									gps_position->counter++;
 
 									_new_nav_dop = true;
@@ -493,7 +491,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
 									gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
 
-									gps_position->timestamp = hrt_absolute_time();
 									gps_position->counter++;
 
 									_new_nav_timeutc = true;
@@ -587,7 +584,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									}
 
 									gps_position->satellites_visible = satellites_used++; // visible ~= used but we are interested in the used ones
-									gps_position->timestamp = hrt_absolute_time();
 									gps_position->counter++;
 
 									// as this message arrives only with 1Hz and is not essential, we don't take it into account for the report
@@ -617,7 +613,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 									gps_position->vel_ned_valid = true;
 									gps_position->cog = (uint16_t)((float)(packet->heading) * 1e-3f);
 
-									gps_position->timestamp = hrt_absolute_time();
 									gps_position->counter++;
 
 
@@ -645,7 +640,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 //								if (_rx_ck_a == _rx_buffer[_rx_count - 1] && _rx_ck_b == _rx_buffer[_rx_count]) {
 //
 //									gps_position->satellites_visible = packet->numVis;
-//									gps_position->timestamp = hrt_absolute_time();
 //									gps_position->counter++;
 //									_last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time();
 //									ret = 1;
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index ec5149745..18da70f61 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -698,7 +698,7 @@ uorb_receive_start(void)
 
 	/* --- GPS VALUE --- */
 	mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	orb_set_interval(mavlink_subs.gps_sub, 1000);	/* 1Hz updates */
+	orb_set_interval(mavlink_subs.gps_sub, 200);	/* 5Hz updates */
 
 	/* --- HOME POSITION --- */
 	mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position));
-- 
cgit v1.2.3


From 039d394c207830a2c9c3a22e03302c867bd57af6 Mon Sep 17 00:00:00 2001
From: Julian Oes 
Date: Mon, 4 Feb 2013 16:27:01 -0800
Subject: Merged with newer, cleaned up code, fixed the checksum error

---
 apps/drivers/drv_gps.h        |   2 -
 apps/drivers/gps/gps.cpp      | 130 +++++++++++++++++++++++-------------------
 apps/drivers/gps/gps_helper.h |   5 +-
 apps/drivers/gps/ubx.cpp      | 107 +++++++++++++++++-----------------
 apps/drivers/gps/ubx.h        | 114 +++++++++++++++++++-----------------
 5 files changed, 191 insertions(+), 167 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/drv_gps.h b/apps/drivers/drv_gps.h
index 89fc54b0d..1ae27ed2f 100644
--- a/apps/drivers/drv_gps.h
+++ b/apps/drivers/drv_gps.h
@@ -54,8 +54,6 @@ typedef enum {
 } gps_driver_mode_t;
 
 
-
-
 /*
  * ObjDev tag for GPS data.
  */
diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index 49b94fc2e..450b3091b 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -33,7 +33,7 @@
 
 /**
  * @file gps.cpp
- * Driver for the GPS on UART6
+ * Driver for the GPS on a serial port
  */
 
 #include 
@@ -107,46 +107,41 @@ public:
 
 private:
 
-	int				_task_should_exit;
-	int				_serial_fd;					///< serial interface to GPS
-	unsigned			_baudrate;
-	unsigned			_baudrates_to_try[NUMBER_OF_BAUDRATES];
-	uint8_t				_send_buffer[SEND_BUFFER_LENGTH];
-	perf_counter_t			_sample_perf;
-	perf_counter_t			_comms_errors;
-	perf_counter_t			_buffer_overflows;
-	volatile int			_task;						///< worker task
+	bool				_task_should_exit;						///< flag to make the main worker task exit
+	int					_serial_fd;								///< serial interface to GPS
+	unsigned			_baudrate;								///< current baudrate
+	unsigned			_baudrates_to_try[NUMBER_OF_BAUDRATES]; ///< try different baudrates that GPS could be set to
+	volatile int		_task;									///< worker task
+	bool				_config_needed;							///< flag to signal that configuration of GPS is needed
+	bool 				_baudrate_changed;						///< flag to signal that the baudrate with the GPS has changed
+	bool				_mode_changed;							///< flag that the GPS mode has changed
+	gps_driver_mode_t	_mode;									///< current mode
+	GPS_Helper			*_Helper;								///< Class for either UBX, MTK or NMEA helper
+	struct vehicle_gps_position_s _report;						///< uORB topic for gps position
+	orb_advert_t		_report_pub;							///< uORB pub for gps position
+	float				_rate;									///< position update rate
 
-	bool				_response_received;
-	bool				_config_needed;
-	bool 				_baudrate_changed;
-	bool				_mode_changed;
-	bool				_healthy;
-	gps_driver_mode_t		_mode;
-	unsigned 			_messages_received;
-	float				_rate;						///< position update rate
-
-	GPS_Helper			*_Helper;					///< class for either UBX, MTK or NMEA helper
-
-	struct vehicle_gps_position_s	_report;					///< the current GPS report
-	orb_advert_t			_report_pub;					///< the publication topic, only valid on first valid GPS module message
-
-	void				recv();
 
+	/**
+	 * Try to configure the GPS, handle outgoing communication to the GPS
+	 */
 	void				config();
 
+	/**
+	 * Trampoline to the worker task
+	 */
 	static void			task_main_trampoline(void *arg);
 
 
 	/**
-	 * Worker task.
+	 * Worker task: main GPS thread that configures the GPS and parses incoming data, always running
 	 */
 	void				task_main(void);
 
 	/**
-	 * Set the module baud rate
+	 * Set the baudrate of the UART to the GPS
 	 */
-	int				set_baudrate(unsigned baud);
+	int					set_baudrate(unsigned baud);
 
 	/**
 	 * Send a reset command to the GPS
@@ -176,12 +171,10 @@ GPS::GPS() :
 	_config_needed(true),
 	_baudrate_changed(false),
 	_mode_changed(true),
-	_healthy(false),
 	_mode(GPS_DRIVER_MODE_UBX),
-	_messages_received(0),
 	_Helper(nullptr),
-	_rate(0.0f),
-	_report_pub(-1)
+	_report_pub(-1),
+	_rate(0.0f)
 {
 	/* we need this potentially before it could be set in task_main */
 	g_dev = this;
@@ -216,7 +209,7 @@ GPS::init()
 	if (CDev::init() != OK)
 		goto out;
 
-	/* start the IO interface task */
+	/* start the GPS driver worker task */
 	_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
 
 	if (_task < 0) {
@@ -275,17 +268,22 @@ void
 GPS::config()
 {
 	int length = 0;
+	uint8_t	send_buffer[SEND_BUFFER_LENGTH];
 
-	_Helper->configure(_config_needed, _baudrate_changed, _baudrate, _send_buffer, length, SEND_BUFFER_LENGTH);
+	_Helper->configure(_config_needed, _baudrate_changed, _baudrate, send_buffer, length, SEND_BUFFER_LENGTH);
 
-	/* the message needs to be sent at the old baudrate */
+	/* The config message is sent sent at the old baudrate */
 	if (length > 0) {
-		if (length != ::write(_serial_fd, _send_buffer, length)) {
+
+		if (length != ::write(_serial_fd, send_buffer, length)) {
 			debug("write config failed");
 			return;
 		}
 	}
 
+	/* Sometimes the baudrate needs to be changed, for instance UBX with factory settings are changed
+	 * from 9600 to 38400
+	 */
 	if (_baudrate_changed) {
 		set_baudrate(_baudrate);
 		_baudrate_changed = false;
@@ -304,11 +302,10 @@ GPS::task_main()
 	log("starting");
 
 	/* open the serial port */
-	_serial_fd = ::open("/dev/ttyS3", O_RDWR);
+	_serial_fd = ::open("/dev/ttyS3", O_RDWR); //TODO make the device dynamic depending on startup parameters
 
-	uint8_t buf[256];
-	int baud_i = 0;
-	uint64_t time_before_configuration;
+	/* buffer to read from the serial port */
+	uint8_t buf[32];
 
 	if (_serial_fd < 0) {
 		log("failed to open serial port: %d", errno);
@@ -326,16 +323,16 @@ GPS::task_main()
 	/* lock against the ioctl handler */
 	lock();
 
-
+	unsigned baud_i = 0;
 	_baudrate = _baudrates_to_try[baud_i];
 	set_baudrate(_baudrate);
 
-	time_before_configuration = hrt_absolute_time();
+	uint64_t time_before_configuration = hrt_absolute_time();
 
 	uint64_t last_rate_measurement = hrt_absolute_time();
 	unsigned last_rate_count = 0;
 
-	/* loop handling received serial bytes */
+	/* loop handling received serial bytes and also configuring in between */
 	while (!_task_should_exit) {
 
 		if (_mode_changed) {
@@ -364,14 +361,17 @@ GPS::task_main()
 			_mode_changed = false;
 		}
 
+		/* If a configuration does not finish in the config timeout, change the baudrate */
 		if (_config_needed && time_before_configuration + CONFIG_TIMEOUT < hrt_absolute_time()) {
 			baud_i = (baud_i+1)%NUMBER_OF_BAUDRATES;
 			_baudrate = _baudrates_to_try[baud_i];
 			set_baudrate(_baudrate);
+			_Helper->reset();
 			time_before_configuration = hrt_absolute_time();
 		}
 
-
+		/* during configuration, the timeout should be small, so that we can send config messages in between parsing,
+		 * but during normal operation, it should never timeout because updates should arrive with 5Hz */
 		int poll_timeout;
 		if (_config_needed) {
 			poll_timeout = 50;
@@ -409,11 +409,21 @@ GPS::task_main()
 
 				/* pass received bytes to the packet decoder */
 				int j;
+				int ret_parse = 0;
 				for (j = 0; j < count; j++) {
-					_messages_received += _Helper->parse(buf[j], &_report);
+					ret_parse += _Helper->parse(buf[j], &_report);
 				}
-				if (_messages_received > 0) {
-					if (_config_needed == true) {
+
+				if (ret_parse < 0) {
+					/* This means something went wrong in the parser, let's reconfigure */
+					if (!_config_needed) {
+						_config_needed = true;
+						debug("Lost GPS module");
+					}
+					config();
+				} else if (ret_parse > 0) {
+					/* Looks like we got a valid position update, stop configuring and publish it */
+					if (_config_needed) {
 						_config_needed = false;
 						debug("Found GPS module");
 					}
@@ -424,8 +434,6 @@ GPS::task_main()
 					} else {
 						_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
 					}
-
-					_messages_received = 0;
 					last_rate_count++;
 
 					/* measure update rate every 5 seconds */
@@ -435,10 +443,10 @@ GPS::task_main()
 						last_rate_count = 0;
 					}
 				}
+				/* else if ret_parse == 0: just keep parsing */
 			}
 		}
 	}
-out:
 	debug("exiting");
 
 	::close(_serial_fd);
@@ -469,7 +477,6 @@ GPS::set_baudrate(unsigned baud)
 		warnx("ERROR: Unsupported baudrate: %d\n", baud);
 		return -EINVAL;
 	}
-
 	struct termios uart_config;
 	int termios_state;
 
@@ -482,24 +489,26 @@ GPS::set_baudrate(unsigned baud)
 	uart_config.c_cflag &= ~(CSTOPB | PARENB);
 
 	/* set baud rate */
-	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-		warnx("ERROR setting config: %d (cfsetispeed, cfsetospeed)\n", termios_state);
+	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
+		warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state);
+		return -1;
+	}
+	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
+		warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state);
 		return -1;
 	}
-
-
 	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
 		warnx("ERROR setting baudrate (tcsetattr)\n");
 		return -1;
 	}
-
 	/* XXX if resetting the parser here, ensure it does exist (check for null pointer) */
+	return 0;
 }
 
 void
 GPS::cmd_reset()
 {
-	_healthy = false;
+	_config_needed = true;
 }
 
 void
@@ -524,10 +533,12 @@ GPS::print_info()
 	warnx("baudrate: %d, status: %s", _baudrate, (_config_needed) ? "NOT OK" : "OK");
 	if (_report.timestamp != 0) {
 		warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
-			((float)(hrt_absolute_time() - _report.timestamp) / 1000000.0f));
+			(double)((float)(hrt_absolute_time() - _report.timestamp) / 1000000.0f));
 		warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
 		warnx("update rate: %6.2f Hz", (double)_rate);
 	}
+
+	usleep(100000);
 }
 
 /**
@@ -583,6 +594,9 @@ fail:
 	errx(1, "driver start failed");
 }
 
+/**
+ * Stop the driver.
+ */
 void
 stop()
 {
diff --git a/apps/drivers/gps/gps_helper.h b/apps/drivers/gps/gps_helper.h
index baacf7cb4..8a6b0148b 100644
--- a/apps/drivers/gps/gps_helper.h
+++ b/apps/drivers/gps/gps_helper.h
@@ -40,8 +40,9 @@
 class GPS_Helper
 {
 public:
-	virtual void			configure(bool&, bool&, unsigned&, uint8_t*, int&, const unsigned) = 0;
-	virtual int 			parse(uint8_t, struct vehicle_gps_position_s*) = 0;
+	virtual void			reset() = 0;
+	virtual void			configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate, uint8_t *buffer, int &length, const unsigned max_length) = 0;
+	virtual int 			parse(uint8_t b, struct vehicle_gps_position_s *gps_position) = 0;
 };
 
 #endif /* GPS_HELPER_H */
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp
index 1105e0da4..66a891da4 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/apps/drivers/gps/ubx.cpp
@@ -48,36 +48,41 @@
 
 
 UBX::UBX() :
-_waited(0),
 _config_state(UBX_CONFIG_STATE_PRT),
+_waiting_for_ack(false),
 _new_nav_posllh(false),
 _new_nav_timeutc(false),
 _new_nav_dop(false),
 _new_nav_sol(false),
 _new_nav_velned(false)
 {
-	decodeInit();
-	_waiting_for_ack = false;
+	reset();
 }
 
 UBX::~UBX()
 {
 }
 
+void
+UBX::reset()
+{
+	decodeInit();
+	_config_state = UBX_CONFIG_STATE_PRT;
+	_waiting_for_ack = false;
+}
+
 void
 UBX::configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate, uint8_t *buffer, int &length, const unsigned max_length)
 {
-	/* make sure the buffer to write the message is long enough */
+	/* make sure the buffer, where the message is written to, is long enough */
 	assert(sizeof(type_gps_bin_cfg_prt_packet_t)+2 <= max_length);
 
-	/* try again after 10 times */
-	if (_waited > 10) {
-		_waiting_for_ack = false;
-	}
-
+	/* Only send a new config message when we got the ACK of the last one,
+	 * otherwise we might not configure all the messages because the ACK comes from an older/previos CFD command
+	 * reason being that the ACK only includes CFG-MSG but not to which NAV MSG it belongs.
+	 */
 	if (!_waiting_for_ack) {
 		_waiting_for_ack = true;
-		_waited = 0;
 		if (_config_state == UBX_CONFIG_STATE_CONFIGURED) {
 			config_needed = false;
 			length = 0;
@@ -85,10 +90,15 @@ UBX::configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate,
 			_waiting_for_ack = false;
 			return;
 		} else if (_config_state == UBX_CONFIG_STATE_PRT) {
-			/* send a CFT-PRT message to define set ubx protocol and leave the baudrate as is, we just want an ACK-ACK from this */
+
+			/* Send a CFG-PRT message to set the UBX protocol for in and out
+			 * and leave the baudrate as it is, we just want an ACK-ACK from this
+			 */
 			type_gps_bin_cfg_prt_packet_t cfg_prt_packet;
+			/* Set everything else of the packet to 0, otherwise the module wont accept it */
 			memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet));
 
+			/* Define the package contents, don't change the baudrate */
 			cfg_prt_packet.clsID		= UBX_CLASS_CFG;
 			cfg_prt_packet.msgID		= UBX_MESSAGE_CFG_PRT;
 			cfg_prt_packet.length		= UBX_CFG_PRT_LENGTH;
@@ -98,18 +108,20 @@ UBX::configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate,
 			cfg_prt_packet.inProtoMask	= UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
 			cfg_prt_packet.outProtoMask	= UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
 
+			/* Calculate the checksum now */
 			addChecksumToMessage((uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
 
+			/* Start with the two sync bytes */
 			buffer[0] = UBX_SYNC1;
 			buffer[1] = UBX_SYNC2;
+			/* Copy it to the buffer that will be written back in the main gps driver */
 			memcpy(&(buffer[2]), &cfg_prt_packet, sizeof(cfg_prt_packet));
+			/* Set the length of the packet (plus the 2 sync bytes) */
 			length = sizeof(cfg_prt_packet)+2;
 
 		} else if (_config_state == UBX_CONFIG_STATE_PRT_NEW_BAUDRATE) {
 
-//			printf("Send change of baudrate now\n");
-
-			/* send a CFT-PRT message to define set ubx protocol and and baudrate, now let's try to switch the baudrate */
+			/* Send a CFG-PRT message again, this time change the baudrate */
 			type_gps_bin_cfg_prt_packet_t cfg_prt_packet;
 			memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet));
 
@@ -129,18 +141,15 @@ UBX::configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate,
 			memcpy(&(buffer[2]), &cfg_prt_packet, sizeof(cfg_prt_packet));
 			length = sizeof(cfg_prt_packet)+2;
 
-			/* detection when the baudrate has been changed in the first step */
+			/* If the new baudrate will be different from the current one, we should report that back to the driver */
 			if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) {
-				/* set a flag and exit */
 				baudrate=UBX_CFG_PRT_PAYLOAD_BAUDRATE;
 				baudrate_changed = true;
-				_config_state = UBX_CONFIG_STATE_RATE;
-				_waiting_for_ack = false;
-				return;
+				/* Don't wait for an ACK, we're switching baudrate and we might never get,
+				 * after that, start fresh */
+				reset();
 			}
 
-
-
 		} else if (_config_state == UBX_CONFIG_STATE_RATE) {
 
 			/* send a CFT-RATE message to define update rate */
@@ -162,9 +171,9 @@ UBX::configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate,
 			length = sizeof(cfg_rate_packet)+2;
 
 		} else if (_config_state == UBX_CONFIG_STATE_NAV5) {
-			/* send a NAV5 message to set the options for the internal estimator */
+			/* send a NAV5 message to set the options for the internal filter */
 			type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet;
-			memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet)); //set everything to 0
+			memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet));
 
 			cfg_nav5_packet.clsID        = UBX_CLASS_CFG;
 			cfg_nav5_packet.msgID        = UBX_MESSAGE_CFG_NAV5;
@@ -181,15 +190,16 @@ UBX::configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate,
 			length = sizeof(cfg_nav5_packet)+2;
 
 		} else {
-			/* catch the remaining config states here */
+			/* Catch the remaining config states here, they all need the same packet type */
 
 			type_gps_bin_cfg_msg_packet_t cfg_msg_packet;
-			memset(&cfg_msg_packet, 0, sizeof(cfg_msg_packet)); //set everything to 0
+			memset(&cfg_msg_packet, 0, sizeof(cfg_msg_packet));
 
 			cfg_msg_packet.clsID        = UBX_CLASS_CFG;
 			cfg_msg_packet.msgID        = UBX_MESSAGE_CFG_MSG;
 			cfg_msg_packet.length       = UBX_CFG_MSG_LENGTH;
-			cfg_msg_packet.rate[1]      = UBX_CFG_MSG_PAYLOAD_RATE1;
+			/* Choose fast 5Hz rate for all messages except SVINFO which is big and not important */
+			cfg_msg_packet.rate[1]      = UBX_CFG_MSG_PAYLOAD_RATE1_5HZ;
 
 			switch (_config_state) {
 				case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
@@ -207,7 +217,8 @@ UBX::configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate,
 				case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
 					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
 					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
-					cfg_msg_packet.rate[1] = 5;
+					/* For satelites info 1Hz is enough */
+					cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_1HZ;
 					break;
 				case UBX_CONFIG_STATE_MSG_NAV_SOL:
 					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
@@ -232,16 +243,14 @@ UBX::configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate,
 			memcpy(&(buffer[2]), &cfg_msg_packet, sizeof(cfg_msg_packet));
 			length = sizeof(cfg_msg_packet)+2;
 		}
-	} else {
-		_waited++;
 	}
 }
 
 int
-UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
+UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 {
+	/* if no error happens and no new report is ready yet, ret will stay 0 */
 	int ret = 0;
-	//printf("Received char: %c\n", b);
 
 	switch (_decode_state) {
 		/* First, look for sync1 */
@@ -373,6 +382,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 				default: //should not happen because we set the class
 					warnx("UBX Error, we set a class that we don't know");
 					decodeInit();
+					ret = -1;
 					break;
 				}
 				break;
@@ -415,8 +425,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 
 								// Reset state machine to decode next packet
 								decodeInit();
-								return ret;
-
 								break;
 							}
 
@@ -441,8 +449,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 
 								// Reset state machine to decode next packet
 								decodeInit();
-								return ret;
-
 								break;
 							}
 
@@ -466,8 +472,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 
 								// Reset state machine to decode next packet
 								decodeInit();
-								return ret;
-
 								break;
 							}
 
@@ -501,8 +505,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 
 								// Reset state machine to decode next packet
 								decodeInit();
-								return ret;
-
 								break;
 							}
 
@@ -594,8 +596,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 
 								// Reset state machine to decode next packet
 								decodeInit();
-								return ret;
-
 								break;
 							}
 
@@ -615,7 +615,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 
 									gps_position->counter++;
 
-
 									_new_nav_velned = true;
 
 								} else {
@@ -624,8 +623,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 
 								// Reset state machine to decode next packet
 								decodeInit();
-								return ret;
-
 								break;
 							}
 
@@ -718,7 +715,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 
 							// Reset state machine to decode next packet
 							decodeInit();
-							return ret;
 
 							break;
 						}
@@ -730,7 +726,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 							//Check if checksum is valid
 							if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
 
-								warnx("UBX: NO ACK");
+								warnx("UBX: Received: Not Acknowledged");
 								ret = 1;
 
 							} else {
@@ -751,11 +747,12 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 							break;
 						}
 					} // end if _rx_count high enough
-					if (_rx_count < RECV_BUFFER_SIZE) {
+					else if (_rx_count < RECV_BUFFER_SIZE) {
 						_rx_count++;
 					} else {
-						warnx("buffer overflow");
+						warnx("buffer full, restarting");
 						decodeInit();
+						ret = -1;
 					}
 				break;
 		default:
@@ -765,13 +762,16 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
 	/* return 1 when position updates and the remaining packets updated at least once */
 	if(_new_nav_posllh &&_new_nav_timeutc && _new_nav_dop && _new_nav_sol && _new_nav_velned) {
 
+		/* Add timestamp to finish the report */
 		gps_position->timestamp = hrt_absolute_time();
-		ret = 1;
+		/* Reset the flags */
 		_new_nav_posllh = false;
-		// _new_nav_timeutc = false;
-		// _new_nav_dop = false;
-		// _new_nav_sol = false;
-		// _new_nav_velned = false;
+		_new_nav_timeutc = false;
+		_new_nav_dop = false;
+		_new_nav_sol = false;
+		_new_nav_velned = false;
+
+		ret = 1;
 	}
 
 	return ret;
@@ -807,6 +807,7 @@ UBX::addChecksumToMessage(uint8_t* message, const unsigned length)
 		ck_a = ck_a + message[i];
 		ck_b = ck_b + ck_a;
 	}
+	/* The checksum is written to the last to bytes of a message */
 	message[length-2] = ck_a;
 	message[length-1] = ck_b;
 }
diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h
index dff25a518..0cac10f0a 100644
--- a/apps/drivers/gps/ubx.h
+++ b/apps/drivers/gps/ubx.h
@@ -40,16 +40,17 @@
 
 #include "gps_helper.h"
 
-#define UBX_NO_OF_MESSAGES 7								/**< Read 7 UBX GPS messages */
 
 #define UBX_SYNC1 0xB5
 #define UBX_SYNC2 0x62
 
-//UBX Protocol definitions (this is the subset of the messages that are parsed)
+/* ClassIDs (the ones that are used) */
 #define UBX_CLASS_NAV 0x01
 //#define UBX_CLASS_RXM 0x02
 #define UBX_CLASS_ACK 0x05
 #define UBX_CLASS_CFG 0x06
+
+/* MessageIDs (the ones that are used) */
 #define UBX_MESSAGE_NAV_POSLLH 0x02
 #define UBX_MESSAGE_NAV_SOL 0x06
 #define UBX_MESSAGE_NAV_TIMEUTC 0x21
@@ -65,11 +66,11 @@
 #define UBX_MESSAGE_CFG_RATE 0x08
 
 #define UBX_CFG_PRT_LENGTH 20
-#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01         /**< port 1 */
+#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01         /**< UART1 */
 #define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0     /**< 0b0000100011010000: 8N1 */
 #define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400      /**< always choose 38400 as GPS baudrate */
-#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01    /**< ubx in */
-#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01   /**< ubx out */
+#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01    /**< UBX in */
+#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01   /**< UBX out */
 
 #define UBX_CFG_RATE_LENGTH 6
 #define UBX_CFG_RATE_PAYLOAD_MEASRATE 200		/**< 200ms for 5Hz */
@@ -83,30 +84,30 @@
 #define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2          /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */
 
 #define UBX_CFG_MSG_LENGTH 8
-#define UBX_CFG_MSG_PAYLOAD_RATE1 0x01 			/**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} UART1 chosen */
-
+#define UBX_CFG_MSG_PAYLOAD_RATE1_5HZ 0x01 		/**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
+#define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05		/**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
 
 // ************
 /** the structures of the binary packets */
 #pragma pack(push, 1)
 
 typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	int32_t lon;  // Longitude * 1e-7, deg
-	int32_t lat; // Latitude * 1e-7, deg
-	int32_t height;  // Height above Ellipsoid, mm
-	int32_t height_msl;  // Height above mean sea level, mm
-	uint32_t hAcc;  // Horizontal Accuracy Estimate, mm
-	uint32_t vAcc;  // Vertical Accuracy Estimate, mm
+	uint32_t time_milliseconds;		/**<  GPS Millisecond Time of Week */
+	int32_t lon;					/**<  Longitude * 1e-7, deg */
+	int32_t lat;					/**<  Latitude * 1e-7, deg */
+	int32_t height;					/**<  Height above Ellipsoid, mm */
+	int32_t height_msl;				/**<  Height above mean sea level, mm */
+	uint32_t hAcc;  				/**< Horizontal Accuracy Estimate, mm */
+	uint32_t vAcc;  				/**< Vertical Accuracy Estimate, mm */
 	uint8_t ck_a;
 	uint8_t ck_b;
 } gps_bin_nav_posllh_packet_t;
 
 typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	int32_t time_nanoseconds; // Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000
-	int16_t week; // GPS week (GPS time)
-	uint8_t gpsFix; //GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix
+	uint32_t time_milliseconds; 	/**< GPS Millisecond Time of Week */
+	int32_t time_nanoseconds;		/**< Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 */
+	int16_t week;					/**< GPS week (GPS time) */
+	uint8_t gpsFix;					/**< GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */
 	uint8_t flags;
 	int32_t ecefX;
 	int32_t ecefY;
@@ -125,50 +126,50 @@ typedef struct {
 } gps_bin_nav_sol_packet_t;
 
 typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	uint32_t time_accuracy;  //Time Accuracy Estimate, ns
-	int32_t time_nanoseconds; //Nanoseconds of second, range -1e9 .. 1e9 (UTC)
-	uint16_t year; //Year, range 1999..2099 (UTC)
-	uint8_t month; //Month, range 1..12 (UTC)
-	uint8_t day; //Day of Month, range 1..31 (UTC)
-	uint8_t hour; //Hour of Day, range 0..23 (UTC)
-	uint8_t min; //Minute of Hour, range 0..59 (UTC)
-	uint8_t sec; //Seconds of Minute, range 0..59 (UTC)
-	uint8_t valid_flag; //Validity Flags (see ubx documentation)
+	uint32_t time_milliseconds;		/**< GPS Millisecond Time of Week */
+	uint32_t time_accuracy; 		/**< Time Accuracy Estimate, ns */
+	int32_t time_nanoseconds; 		/**< Nanoseconds of second, range -1e9 .. 1e9 (UTC) */
+	uint16_t year; 					/**< Year, range 1999..2099 (UTC) */
+	uint8_t month; 					/**< Month, range 1..12 (UTC) */
+	uint8_t day; 					/**< Day of Month, range 1..31 (UTC) */
+	uint8_t hour; 					/**< Hour of Day, range 0..23 (UTC) */
+	uint8_t min; 					/**< Minute of Hour, range 0..59 (UTC) */
+	uint8_t sec; 					/**< Seconds of Minute, range 0..59 (UTC) */
+	uint8_t valid_flag; 			/**< Validity Flags (see ubx documentation) */
 	uint8_t ck_a;
 	uint8_t ck_b;
 } gps_bin_nav_timeutc_packet_t;
 
 typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	uint16_t gDOP; //Geometric DOP (scaling 0.01)
-	uint16_t pDOP; //Position DOP (scaling 0.01)
-	uint16_t tDOP; //Time DOP (scaling 0.01)
-	uint16_t vDOP; //Vertical DOP (scaling 0.01)
-	uint16_t hDOP; //Horizontal DOP (scaling 0.01)
-	uint16_t nDOP; //Northing DOP (scaling 0.01)
-	uint16_t eDOP; //Easting DOP (scaling 0.01)
+	uint32_t time_milliseconds; 	/**<  GPS Millisecond Time of Week */
+	uint16_t gDOP; 					/**< Geometric DOP (scaling 0.01) */
+	uint16_t pDOP; 					/**< Position DOP (scaling 0.01) */
+	uint16_t tDOP; 					/**< Time DOP (scaling 0.01) */
+	uint16_t vDOP; 					/**< Vertical DOP (scaling 0.01) */
+	uint16_t hDOP; 					/**< Horizontal DOP (scaling 0.01) */
+	uint16_t nDOP; 					/**< Northing DOP (scaling 0.01) */
+	uint16_t eDOP; 					/**< Easting DOP (scaling 0.01) */
 	uint8_t ck_a;
 	uint8_t ck_b;
 } gps_bin_nav_dop_packet_t;
 
 typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	uint8_t numCh; //Number of channels
+	uint32_t time_milliseconds; 	/**<  GPS Millisecond Time of Week */
+	uint8_t numCh; 					/**< Number of channels */
 	uint8_t globalFlags;
 	uint16_t reserved2;
 
 } gps_bin_nav_svinfo_part1_packet_t;
 
 typedef struct {
-	uint8_t chn; //Channel number, 255 for SVs not assigned to a channel
-	uint8_t svid; //Satellite ID
+	uint8_t chn; 					/**< Channel number, 255 for SVs not assigned to a channel */
+	uint8_t svid; 					/**< Satellite ID */
 	uint8_t flags;
 	uint8_t quality;
-	uint8_t cno; //Carrier to Noise Ratio (Signal Strength), dbHz
-	int8_t elev; //Elevation in integer degrees
-	int16_t azim; //Azimuth in integer degrees
-	int32_t prRes; //Pseudo range residual in centimetres
+	uint8_t cno; 					/**< Carrier to Noise Ratio (Signal Strength), dbHz */
+	int8_t elev; 					/**< Elevation in integer degrees */
+	int16_t azim; 					/**< Azimuth in integer degrees */
+	int32_t prRes; 					/**< Pseudo range residual in centimetres */
 
 } gps_bin_nav_svinfo_part2_packet_t;
 
@@ -192,9 +193,9 @@ typedef struct {
 } gps_bin_nav_velned_packet_t;
 
 //typedef struct {
-//	int32_t time_milliseconds; // Measurement integer millisecond GPS time of week
-//	int16_t week; //Measurement GPS week number
-//	uint8_t numVis; //Number of visible satellites
+//	int32_t time_milliseconds; 		/**< Measurement integer millisecond GPS time of week */
+//	int16_t week; 					/**< Measurement GPS week number */
+//	uint8_t numVis;					/**< Number of visible satellites */
 //
 //	//... rest of package is not used in this implementation
 //
@@ -210,7 +211,6 @@ typedef struct {
 typedef struct {
 	uint8_t clsID;
 	uint8_t msgID;
-
 	uint8_t ck_a;
 	uint8_t ck_b;
 } gps_bin_ack_nak_packet_t;
@@ -340,17 +340,27 @@ class UBX : public GPS_Helper
 public:
 	UBX();
 	~UBX();
-
-	void				configure(bool&, bool&, unsigned&, uint8_t*, int&, const unsigned);
+	void				reset(void);
+	void				configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate, uint8_t *buffer, int &length, const unsigned max_length);
 	int 				parse(uint8_t, struct vehicle_gps_position_s*);
 
 private:
+	/**
+	 * Reset the parse state machine for a fresh start
+	 */
 	void				decodeInit(void);
+
+	/**
+	 * While parsing add every byte (except the sync bytes) to the checksum
+	 */
 	void				addByteToChecksum(uint8_t);
+
+	/**
+	 * Add the two checksum bytes to an outgoing message
+	 */
 	void				addChecksumToMessage(uint8_t*, const unsigned);
-	unsigned			_waited;
-	bool 				_waiting_for_ack;
 	ubx_config_state_t	_config_state;
+	bool 				_waiting_for_ack;
 	ubx_decode_state_t	_decode_state;
 	uint8_t				_rx_buffer[RECV_BUFFER_SIZE];
 	unsigned			_rx_count;
-- 
cgit v1.2.3


From 53c11f87cb9b231cfb9199ce797d983f4e2c6a40 Mon Sep 17 00:00:00 2001
From: Julian Oes 
Date: Mon, 4 Feb 2013 17:57:30 -0800
Subject: Small corrections

---
 apps/drivers/gps/gps.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index 450b3091b..f4fd7b88e 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -110,13 +110,13 @@ private:
 	bool				_task_should_exit;						///< flag to make the main worker task exit
 	int					_serial_fd;								///< serial interface to GPS
 	unsigned			_baudrate;								///< current baudrate
-	unsigned			_baudrates_to_try[NUMBER_OF_BAUDRATES]; ///< try different baudrates that GPS could be set to
+	const unsigned		_baudrates_to_try[NUMBER_OF_BAUDRATES]; ///< try different baudrates that GPS could be set to
 	volatile int		_task;									///< worker task
 	bool				_config_needed;							///< flag to signal that configuration of GPS is needed
 	bool 				_baudrate_changed;						///< flag to signal that the baudrate with the GPS has changed
 	bool				_mode_changed;							///< flag that the GPS mode has changed
 	gps_driver_mode_t	_mode;									///< current mode
-	GPS_Helper			*_Helper;								///< Class for either UBX, MTK or NMEA helper
+	GPS_Helper			*_Helper;								///< Class for a GPS interface
 	struct vehicle_gps_position_s _report;						///< uORB topic for gps position
 	orb_advert_t		_report_pub;							///< uORB pub for gps position
 	float				_rate;									///< position update rate
-- 
cgit v1.2.3


From 368ba0056f4a4597c13781b6b5fd6e65930f9fee Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Tue, 5 Feb 2013 13:47:31 +0100
Subject: Added option to select port name, minor tweaks to status printing,
 sacrificied 20 bytes for better status / user debuggability

---
 apps/drivers/gps/gps.cpp | 76 ++++++++++++++++++++++++++++++------------------
 1 file changed, 47 insertions(+), 29 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index f4fd7b88e..5905db6b8 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -42,6 +42,7 @@
 
 #include 
 #include 
+#include 
 #include 
 #include 
 #include 
@@ -93,7 +94,7 @@ static const int ERROR = -1;
 class GPS : public device::CDev
 {
 public:
-	GPS();
+	GPS(const char* uart_path);
 	~GPS();
 
 	virtual int			init();
@@ -107,19 +108,20 @@ public:
 
 private:
 
-	bool				_task_should_exit;						///< flag to make the main worker task exit
-	int					_serial_fd;								///< serial interface to GPS
-	unsigned			_baudrate;								///< current baudrate
-	const unsigned		_baudrates_to_try[NUMBER_OF_BAUDRATES]; ///< try different baudrates that GPS could be set to
-	volatile int		_task;									///< worker task
-	bool				_config_needed;							///< flag to signal that configuration of GPS is needed
-	bool 				_baudrate_changed;						///< flag to signal that the baudrate with the GPS has changed
-	bool				_mode_changed;							///< flag that the GPS mode has changed
-	gps_driver_mode_t	_mode;									///< current mode
-	GPS_Helper			*_Helper;								///< Class for a GPS interface
-	struct vehicle_gps_position_s _report;						///< uORB topic for gps position
-	orb_advert_t		_report_pub;							///< uORB pub for gps position
-	float				_rate;									///< position update rate
+	bool				_task_should_exit;				///< flag to make the main worker task exit
+	int				_serial_fd;					///< serial interface to GPS
+	unsigned			_baudrate;					///< current baudrate
+	char				_port[20];					///< device / serial port path
+	const unsigned			_baudrates_to_try[NUMBER_OF_BAUDRATES];		///< try different baudrates that GPS could be set to
+	volatile int			_task;						//< worker task
+	bool				_config_needed;					///< flag to signal that configuration of GPS is needed
+	bool 				_baudrate_changed;				///< flag to signal that the baudrate with the GPS has changed
+	bool				_mode_changed;					///< flag that the GPS mode has changed
+	gps_driver_mode_t		_mode;						///< current mode
+	GPS_Helper			*_Helper;					///< instance of GPS parser
+	struct vehicle_gps_position_s 	_report;					///< uORB topic for gps position
+	orb_advert_t			_report_pub;					///< uORB pub for gps position
+	float				_rate;						///< position update rate
 
 
 	/**
@@ -141,7 +143,7 @@ private:
 	/**
 	 * Set the baudrate of the UART to the GPS
 	 */
-	int					set_baudrate(unsigned baud);
+	int				set_baudrate(unsigned baud);
 
 	/**
 	 * Send a reset command to the GPS
@@ -164,7 +166,7 @@ GPS	*g_dev;
 }
 
 
-GPS::GPS() :
+GPS::GPS(const char* uart_path) :
 	CDev("gps", GPS_DEVICE_PATH),
 	_task_should_exit(false),
 	_baudrates_to_try({9600, 38400, 57600, 115200}),
@@ -176,6 +178,11 @@ GPS::GPS() :
 	_report_pub(-1),
 	_rate(0.0f)
 {
+	/* store port name */
+	strncpy(_port, uart_path, sizeof(_port));
+	/* enforce null termination */
+	_port[sizeof(_port) - 1] = '\0';
+
 	/* we need this potentially before it could be set in task_main */
 	g_dev = this;
 	memset(&_report, 0, sizeof(_report));
@@ -198,6 +205,7 @@ GPS::~GPS()
 	if (_task != -1)
 		task_delete(_task);
 	g_dev = nullptr;
+
 }
 
 int
@@ -302,13 +310,13 @@ GPS::task_main()
 	log("starting");
 
 	/* open the serial port */
-	_serial_fd = ::open("/dev/ttyS3", O_RDWR); //TODO make the device dynamic depending on startup parameters
+	_serial_fd = ::open(_port, O_RDWR); //TODO make the device dynamic depending on startup parameters
 
 	/* buffer to read from the serial port */
 	uint8_t buf[32];
 
 	if (_serial_fd < 0) {
-		log("failed to open serial port: %d", errno);
+		log("failed to open serial port: %s err: %d", _port, errno);
 		/* tell the dtor that we are exiting, set error code */
 		_task = -1;
 		_exit(1);
@@ -318,7 +326,6 @@ GPS::task_main()
 	pollfd fds[1];
 	fds[0].fd = _serial_fd;
 	fds[0].events = POLLIN;
-	debug("ready");
 
 	/* lock against the ioctl handler */
 	lock();
@@ -418,14 +425,12 @@ GPS::task_main()
 					/* This means something went wrong in the parser, let's reconfigure */
 					if (!_config_needed) {
 						_config_needed = true;
-						debug("Lost GPS module");
 					}
 					config();
 				} else if (ret_parse > 0) {
 					/* Looks like we got a valid position update, stop configuring and publish it */
 					if (_config_needed) {
 						_config_needed = false;
-						debug("Found GPS module");
 					}
 
 					/* opportunistic publishing - else invalid data would end up on the bus */
@@ -530,7 +535,7 @@ GPS::print_info()
 		default:
 			break;
 	}
-	warnx("baudrate: %d, status: %s", _baudrate, (_config_needed) ? "NOT OK" : "OK");
+	warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_config_needed) ? "NOT OK" : "OK");
 	if (_report.timestamp != 0) {
 		warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
 			(double)((float)(hrt_absolute_time() - _report.timestamp) / 1000000.0f));
@@ -549,7 +554,7 @@ namespace gps
 
 GPS	*g_dev;
 
-void	start();
+void	start(const char *uart_path);
 void	stop();
 void	test();
 void	reset();
@@ -559,7 +564,7 @@ void	info();
  * Start the driver.
  */
 void
-start()
+start(const char *uart_path)
 {
 	int fd;
 
@@ -567,7 +572,7 @@ start()
 		errx(1, "already started");
 
 	/* create the driver */
-	g_dev = new GPS;
+	g_dev = new GPS(uart_path);
 
 	if (g_dev == nullptr)
 		goto fail;
@@ -644,7 +649,6 @@ info()
 	if (g_dev == nullptr)
 		errx(1, "driver not running");
 
-	printf("state @ %p\n", g_dev);
 	g_dev->print_info();
 
 	exit(0);
@@ -656,11 +660,24 @@ info()
 int
 gps_main(int argc, char *argv[])
 {
+
+	/* set to default */
+	char* device_name = "/dev/ttyS3";
+
 	/*
 	 * Start/load the driver.
 	 */
-	if (!strcmp(argv[1], "start"))
-		gps::start();
+	if (!strcmp(argv[1], "start")) {
+		/* work around getopt unreliability */
+		if (argc > 3) {
+			if (!strcmp(argv[2], "-d")) {
+				device_name = argv[3];
+			} else {
+				goto out;
+			}
+		}
+		gps::start(device_name);
+	}
 
 	if (!strcmp(argv[1], "stop"))
 		gps::stop();
@@ -682,5 +699,6 @@ gps_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status"))
 		gps::info();
 
-	errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status'");
+out:
+	errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]");
 }
-- 
cgit v1.2.3


From fbbeef7e29cc6aa82e653916b7d5e8005948b815 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Tue, 5 Feb 2013 18:54:06 +0100
Subject: Update on every position change, do not wait for other measurements

---
 apps/drivers/gps/ubx.cpp | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp
index 66a891da4..a6f181a73 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/apps/drivers/gps/ubx.cpp
@@ -765,11 +765,13 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 		/* Add timestamp to finish the report */
 		gps_position->timestamp = hrt_absolute_time();
 		/* Reset the flags */
+
+		/* update on every position change, accept minor delay on other measurements */
 		_new_nav_posllh = false;
-		_new_nav_timeutc = false;
-		_new_nav_dop = false;
-		_new_nav_sol = false;
-		_new_nav_velned = false;
+		// _new_nav_timeutc = false;
+		// _new_nav_dop = false;
+		// _new_nav_sol = false;
+		// _new_nav_velned = false;
 
 		ret = 1;
 	}
-- 
cgit v1.2.3


From a79ad17f09ac69bf2a19a4f617fa1df16bcaa6be Mon Sep 17 00:00:00 2001
From: Julian Oes 
Date: Tue, 5 Feb 2013 23:16:32 -0800
Subject: Changed parse interface, differentiation between config needed and
 position updated, working but might be solved more elegant

---
 apps/drivers/drv_gps.h        |  2 ++
 apps/drivers/gps/gps.cpp      | 73 ++++++++++++++++++++++++-------------------
 apps/drivers/gps/gps_helper.h |  6 ++--
 apps/drivers/gps/ubx.cpp      | 65 ++++++++++++++++++++------------------
 apps/drivers/gps/ubx.h        |  4 +--
 5 files changed, 81 insertions(+), 69 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/drv_gps.h b/apps/drivers/drv_gps.h
index 1ae27ed2f..dfde115ef 100644
--- a/apps/drivers/drv_gps.h
+++ b/apps/drivers/drv_gps.h
@@ -44,6 +44,8 @@
 #include "drv_sensor.h"
 #include "drv_orb_dev.h"
 
+#define GPS_DEFAULT_UART_PORT "/dev/ttyS3"
+
 #define GPS_DEVICE_PATH	"/dev/gps"
 
 typedef enum {
diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index 5905db6b8..28dc949d4 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -278,7 +278,7 @@ GPS::config()
 	int length = 0;
 	uint8_t	send_buffer[SEND_BUFFER_LENGTH];
 
-	_Helper->configure(_config_needed, _baudrate_changed, _baudrate, send_buffer, length, SEND_BUFFER_LENGTH);
+	_Helper->configure(send_buffer, length, SEND_BUFFER_LENGTH, _baudrate_changed, _baudrate);
 
 	/* The config message is sent sent at the old baudrate */
 	if (length > 0) {
@@ -339,6 +339,9 @@ GPS::task_main()
 	uint64_t last_rate_measurement = hrt_absolute_time();
 	unsigned last_rate_count = 0;
 
+	bool pos_updated;
+	bool config_needed_res;
+
 	/* loop handling received serial bytes and also configuring in between */
 	while (!_task_should_exit) {
 
@@ -391,17 +394,17 @@ GPS::task_main()
 		lock();
 
 
-
-
 		/* this would be bad... */
 		if (ret < 0) {
 			log("poll error %d", errno);
 		} else if (ret == 0) {
-			config();
+			/* no response from the GPS */
 			if (_config_needed == false) {
 				_config_needed = true;
-				warnx("lost GPS module");
+				warnx("GPS module timeout");
+				_Helper->reset();
 			}
+			config();
 		} else if (ret > 0) {
 			/* if we have new data from GPS, go handle it */
 			if (fds[0].revents & POLLIN) {
@@ -416,39 +419,43 @@ GPS::task_main()
 
 				/* pass received bytes to the packet decoder */
 				int j;
-				int ret_parse = 0;
 				for (j = 0; j < count; j++) {
-					ret_parse += _Helper->parse(buf[j], &_report);
-				}
+					pos_updated = false;
+					config_needed_res = _config_needed;
+					_Helper->parse(buf[j], &_report, config_needed_res, pos_updated);
+
+					if (pos_updated) {
+						/* opportunistic publishing - else invalid data would end up on the bus */
+						if (_report_pub > 0) {
+							orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+						} else {
+							_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+						}
+						last_rate_count++;
+
+						/* measure update rate every 5 seconds */
+						if (hrt_absolute_time() - last_rate_measurement > 5000000) {
+							_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
+							last_rate_measurement = hrt_absolute_time();
+							last_rate_count = 0;
+						}
 
-				if (ret_parse < 0) {
-					/* This means something went wrong in the parser, let's reconfigure */
-					if (!_config_needed) {
-						_config_needed = true;
 					}
-					config();
-				} else if (ret_parse > 0) {
-					/* Looks like we got a valid position update, stop configuring and publish it */
-					if (_config_needed) {
+					if (config_needed_res == true && _config_needed == false) {
+						/* the parser told us that an error happened and reconfiguration is needed */
+						_config_needed = true;
+						warnx("GPS module lost");
+						_Helper->reset();
+						config();
+					} else if (config_needed_res == true && _config_needed == true) {
+						/* we are still configuring */
+						config();
+					} else if (config_needed_res == false && _config_needed == true) {
+						/* the parser is happy, stop configuring */
+						warnx("GPS module found");
 						_config_needed = false;
 					}
-
-					/* opportunistic publishing - else invalid data would end up on the bus */
-					if (_report_pub > 0) {
-						orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
-					} else {
-						_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
-					}
-					last_rate_count++;
-
-					/* measure update rate every 5 seconds */
-					if (hrt_absolute_time() - last_rate_measurement > 5000000) {
-						_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
-						last_rate_measurement = hrt_absolute_time();
-						last_rate_count = 0;
-					}
 				}
-				/* else if ret_parse == 0: just keep parsing */
 			}
 		}
 	}
@@ -662,7 +669,7 @@ gps_main(int argc, char *argv[])
 {
 
 	/* set to default */
-	char* device_name = "/dev/ttyS3";
+	char* device_name = GPS_DEFAULT_UART_PORT;
 
 	/*
 	 * Start/load the driver.
diff --git a/apps/drivers/gps/gps_helper.h b/apps/drivers/gps/gps_helper.h
index 8a6b0148b..176b7eba8 100644
--- a/apps/drivers/gps/gps_helper.h
+++ b/apps/drivers/gps/gps_helper.h
@@ -40,9 +40,9 @@
 class GPS_Helper
 {
 public:
-	virtual void			reset() = 0;
-	virtual void			configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate, uint8_t *buffer, int &length, const unsigned max_length) = 0;
-	virtual int 			parse(uint8_t b, struct vehicle_gps_position_s *gps_position) = 0;
+	virtual void			reset(void) = 0;
+	virtual void			configure(uint8_t *buffer, int &length, const unsigned max_length, bool &baudrate_changed, unsigned &baudrate) = 0;
+	virtual void 			parse(uint8_t, struct vehicle_gps_position_s*, bool &config_needed, bool &pos_updated) = 0;
 };
 
 #endif /* GPS_HELPER_H */
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp
index a6f181a73..440ec74c5 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/apps/drivers/gps/ubx.cpp
@@ -72,7 +72,7 @@ UBX::reset()
 }
 
 void
-UBX::configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate, uint8_t *buffer, int &length, const unsigned max_length)
+UBX::configure(uint8_t *buffer, int &length, const unsigned max_length, bool &baudrate_changed, unsigned &baudrate)
 {
 	/* make sure the buffer, where the message is written to, is long enough */
 	assert(sizeof(type_gps_bin_cfg_prt_packet_t)+2 <= max_length);
@@ -84,9 +84,10 @@ UBX::configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate,
 	if (!_waiting_for_ack) {
 		_waiting_for_ack = true;
 		if (_config_state == UBX_CONFIG_STATE_CONFIGURED) {
-			config_needed = false;
-			length = 0;
-			_config_state = UBX_CONFIG_STATE_PRT; /* set the state for next time */
+			/* This should never happen, the parser should set the flag,
+			 * if it should be reconfigured, reset() should be called first.
+			 */
+			warnx("ubx: already configured");
 			_waiting_for_ack = false;
 			return;
 		} else if (_config_state == UBX_CONFIG_STATE_PRT) {
@@ -246,12 +247,9 @@ UBX::configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate,
 	}
 }
 
-int
-UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
+void
+UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_needed, bool &pos_updated)
 {
-	/* if no error happens and no new report is ready yet, ret will stay 0 */
-	int ret = 0;
-
 	switch (_decode_state) {
 		/* First, look for sync1 */
 		case UBX_DECODE_UNINIT:
@@ -382,7 +380,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 				default: //should not happen because we set the class
 					warnx("UBX Error, we set a class that we don't know");
 					decodeInit();
-					ret = -1;
+					config_needed = true;
 					break;
 				}
 				break;
@@ -417,7 +415,12 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 									gps_position->counter_pos_valid++;
 									gps_position->counter++;
 
+									/* Add timestamp to finish the report */
+									gps_position->timestamp = hrt_absolute_time();
+
 									_new_nav_posllh = true;
+									/* set flag to trigger publishing of new position */
+									pos_updated = true;
 
 								} else {
 									warnx("NAV_POSLLH: checksum invalid");
@@ -436,11 +439,13 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
 
 									gps_position->fix_type = packet->gpsFix;
-
-									gps_position->counter++;
 									gps_position->s_variance = packet->sAcc;
 									gps_position->p_variance = packet->pAcc;
 
+									gps_position->counter++;
+									gps_position->timestamp = hrt_absolute_time();
+
+
 									_new_nav_sol = true;
 
 								} else {
@@ -463,6 +468,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 									gps_position->epv =  packet->vDOP;
 
 									gps_position->counter++;
+									gps_position->timestamp = hrt_absolute_time();
 
 									_new_nav_dop = true;
 
@@ -496,6 +502,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 									gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
 
 									gps_position->counter++;
+									gps_position->timestamp = hrt_absolute_time();
 
 									_new_nav_timeutc = true;
 
@@ -587,6 +594,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 
 									gps_position->satellites_visible = satellites_used++; // visible ~= used but we are interested in the used ones
 									gps_position->counter++;
+									gps_position->timestamp = hrt_absolute_time();
 
 									// as this message arrives only with 1Hz and is not essential, we don't take it into account for the report
 
@@ -614,6 +622,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 									gps_position->cog = (uint16_t)((float)(packet->heading) * 1e-3f);
 
 									gps_position->counter++;
+									gps_position->timestamp = hrt_absolute_time();
 
 									_new_nav_velned = true;
 
@@ -647,8 +656,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 //
 //								// Reset state machine to decode next packet
 //								decodeInit();
-//								return ret;
-//
 //								break;
 //							}
 
@@ -701,6 +708,8 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 									case UBX_CONFIG_STATE_MSG_NAV_VELNED:
 										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
 											_config_state = UBX_CONFIG_STATE_CONFIGURED;
+											/* set the flag to tell the driver that configuration was successful */
+											config_needed = false;
 										break;
 //									case UBX_CONFIG_STATE_MSG_RXM_SVSI:
 //										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
@@ -715,7 +724,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 
 							// Reset state machine to decode next packet
 							decodeInit();
-
 							break;
 						}
 
@@ -727,16 +735,14 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 							if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
 
 								warnx("UBX: Received: Not Acknowledged");
-								ret = 1;
-
+								/* configuration obviously not successful */
+								config_needed = true;
 							} else {
 								warnx("ACK_NAK: checksum invalid\n");
 							}
 
 							// Reset state machine to decode next packet
 							decodeInit();
-							return ret;
-
 							break;
 						}
 
@@ -752,7 +758,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 					} else {
 						warnx("buffer full, restarting");
 						decodeInit();
-						ret = -1;
+						config_needed = true;
 					}
 				break;
 		default:
@@ -762,21 +768,18 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position)
 	/* return 1 when position updates and the remaining packets updated at least once */
 	if(_new_nav_posllh &&_new_nav_timeutc && _new_nav_dop && _new_nav_sol && _new_nav_velned) {
 
-		/* Add timestamp to finish the report */
-		gps_position->timestamp = hrt_absolute_time();
-		/* Reset the flags */
+		/* we have received everything, this most probably means that the configuration is fine */
+		config_needed = false;
 
-		/* update on every position change, accept minor delay on other measurements */
+		/* Reset the flags */
 		_new_nav_posllh = false;
-		// _new_nav_timeutc = false;
-		// _new_nav_dop = false;
-		// _new_nav_sol = false;
-		// _new_nav_velned = false;
+		_new_nav_timeutc = false;
+		_new_nav_dop = false;
+		_new_nav_sol = false;
+		_new_nav_velned = false;
 
-		ret = 1;
 	}
-
-	return ret;
+	return;
 }
 
 void
diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h
index 0cac10f0a..d3c6c6d4c 100644
--- a/apps/drivers/gps/ubx.h
+++ b/apps/drivers/gps/ubx.h
@@ -341,8 +341,8 @@ public:
 	UBX();
 	~UBX();
 	void				reset(void);
-	void				configure(bool &config_needed, bool &baudrate_changed, unsigned &baudrate, uint8_t *buffer, int &length, const unsigned max_length);
-	int 				parse(uint8_t, struct vehicle_gps_position_s*);
+	void				configure(uint8_t *buffer, int &length, const unsigned max_length, bool &baudrate_changed, unsigned &baudrate);
+	void 				parse(uint8_t, struct vehicle_gps_position_s*, bool &config_needed, bool &pos_updated);
 
 private:
 	/**
-- 
cgit v1.2.3


From fc4be3e7280db480b67b7c6cec11e35481969bbb Mon Sep 17 00:00:00 2001
From: Julian Oes 
Date: Wed, 6 Feb 2013 12:41:05 -0800
Subject: Changed gps position topic mostly to SI units and float, removed
 counters and added specifig timestamps

---
 apps/commander/commander.c              |  14 ++--
 apps/drivers/gps/gps.cpp                |   4 +-
 apps/drivers/gps/ubx.cpp                | 110 +++++++++++++++-----------------
 apps/drivers/gps/ubx.h                  |  30 ++++-----
 apps/examples/kalman_demo/KalmanNav.cpp |  23 +++----
 apps/mavlink/mavlink_receiver.c         |  24 +++----
 apps/mavlink/orb_listener.c             |  10 +--
 apps/uORB/topics/home_position.h        |   8 +--
 apps/uORB/topics/vehicle_gps_position.h |  55 ++++++++--------
 9 files changed, 139 insertions(+), 139 deletions(-)

(limited to 'apps')

diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 3a6fecf74..f19f1d0e6 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -1678,8 +1678,8 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
 
 			/* check for first, long-term and valid GPS lock -> set home position */
-			float hdop_m = gps_position.eph / 100.0f;
-			float vdop_m = gps_position.epv / 100.0f;
+			float hdop_m = gps_position.eph_m;
+			float vdop_m = gps_position.epv_m;
 
 			/* check if gps fix is ok */
 			// XXX magic number
@@ -1697,7 +1697,7 @@ int commander_thread_main(int argc, char *argv[])
 			if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < dop_threshold_m)
 				&& (vdop_m < dop_threshold_m)
 				&& !home_position_set
-				&& (hrt_absolute_time() - gps_position.timestamp < 2000000)
+				&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
 				&& !current_status.flag_system_armed) {
 				warnx("setting home position");
 
@@ -1706,11 +1706,11 @@ int commander_thread_main(int argc, char *argv[])
 				home.lon = gps_position.lon;
 				home.alt = gps_position.alt;
 
-				home.eph = gps_position.eph;
-				home.epv = gps_position.epv;
+				home.eph_m = gps_position.eph_m;
+				home.epv_m = gps_position.epv_m;
 
-				home.s_variance = gps_position.s_variance;
-				home.p_variance = gps_position.p_variance;
+				home.s_variance_m_s = gps_position.s_variance_m_s;
+				home.p_variance_m = gps_position.p_variance_m;
 
 				/* announce new home position */
 				if (home_pub > 0) {
diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index 28dc949d4..8c2775adb 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -543,9 +543,9 @@ GPS::print_info()
 			break;
 	}
 	warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_config_needed) ? "NOT OK" : "OK");
-	if (_report.timestamp != 0) {
+	if (_report.timestamp_position != 0) {
 		warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
-			(double)((float)(hrt_absolute_time() - _report.timestamp) / 1000000.0f));
+			(double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f));
 		warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
 		warnx("update rate: %6.2f Hz", (double)_rate);
 	}
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp
index 440ec74c5..eec1df980 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/apps/drivers/gps/ubx.cpp
@@ -37,6 +37,7 @@
 
 #include 
 #include 
+#include 
 #include 
 #include 
 #include 
@@ -52,7 +53,7 @@ _config_state(UBX_CONFIG_STATE_PRT),
 _waiting_for_ack(false),
 _new_nav_posllh(false),
 _new_nav_timeutc(false),
-_new_nav_dop(false),
+//_new_nav_dop(false),
 _new_nav_sol(false),
 _new_nav_velned(false)
 {
@@ -211,10 +212,10 @@ UBX::configure(uint8_t *buffer, int &length, const unsigned max_length, bool &ba
 					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
 					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
 					break;
-				case UBX_CONFIG_STATE_MSG_NAV_DOP:
-					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
-					break;
+//				case UBX_CONFIG_STATE_MSG_NAV_DOP:
+//					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+//					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
+//					break;
 				case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
 					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
 					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
@@ -316,10 +317,10 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 						_message_id = NAV_TIMEUTC;
 						break;
 
-					case UBX_MESSAGE_NAV_DOP:
-						_decode_state = UBX_DECODE_GOT_MESSAGEID;
-						_message_id = NAV_DOP;
-						break;
+//					case UBX_MESSAGE_NAV_DOP:
+//						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+//						_message_id = NAV_DOP;
+//						break;
 
 					case UBX_MESSAGE_NAV_SVINFO:
 						_decode_state = UBX_DECODE_GOT_MESSAGEID;
@@ -412,11 +413,11 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 									gps_position->lon = packet->lon;
 									gps_position->alt = packet->height_msl;
 
-									gps_position->counter_pos_valid++;
-									gps_position->counter++;
+									gps_position->eph_m = (float)packet->hAcc * 1e-2f; // from mm to m
+									gps_position->epv_m = (float)packet->vAcc * 1e-2f; // from mm to m
 
 									/* Add timestamp to finish the report */
-									gps_position->timestamp = hrt_absolute_time();
+									gps_position->timestamp_position = hrt_absolute_time();
 
 									_new_nav_posllh = true;
 									/* set flag to trigger publishing of new position */
@@ -439,11 +440,10 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
 
 									gps_position->fix_type = packet->gpsFix;
-									gps_position->s_variance = packet->sAcc;
-									gps_position->p_variance = packet->pAcc;
+									gps_position->s_variance_m_s = packet->sAcc;
+									gps_position->p_variance_m = packet->pAcc;
 
-									gps_position->counter++;
-									gps_position->timestamp = hrt_absolute_time();
+									gps_position->timestamp_variance = hrt_absolute_time();
 
 
 									_new_nav_sol = true;
@@ -457,29 +457,28 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 								break;
 							}
 
-							case NAV_DOP: {
-//								printf("GOT NAV_DOP MESSAGE\n");
-								gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer;
-
-								//Check if checksum is valid and the store the gps information
-								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
-
-									gps_position->eph =  packet->hDOP;
-									gps_position->epv =  packet->vDOP;
-
-									gps_position->counter++;
-									gps_position->timestamp = hrt_absolute_time();
-
-									_new_nav_dop = true;
-
-								} else {
-									warnx("NAV_DOP: checksum invalid");
-								}
-
-								// Reset state machine to decode next packet
-								decodeInit();
-								break;
-							}
+//							case NAV_DOP: {
+////								printf("GOT NAV_DOP MESSAGE\n");
+//								gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer;
+//
+//								//Check if checksum is valid and the store the gps information
+//								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
+//
+//									gps_position->eph_m =  packet->hDOP;
+//									gps_position->epv =  packet->vDOP;
+//
+//									gps_position->timestamp_posdilution = hrt_absolute_time();
+//
+//									_new_nav_dop = true;
+//
+//								} else {
+//									warnx("NAV_DOP: checksum invalid");
+//								}
+//
+//								// Reset state machine to decode next packet
+//								decodeInit();
+//								break;
+//							}
 
 							case NAV_TIMEUTC: {
 //								printf("GOT NAV_TIMEUTC MESSAGE\n");
@@ -501,8 +500,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 									gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
 									gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
 
-									gps_position->counter++;
-									gps_position->timestamp = hrt_absolute_time();
+									gps_position->timestamp_time = hrt_absolute_time();
 
 									_new_nav_timeutc = true;
 
@@ -593,8 +591,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 									}
 
 									gps_position->satellites_visible = satellites_used++; // visible ~= used but we are interested in the used ones
-									gps_position->counter++;
-									gps_position->timestamp = hrt_absolute_time();
+									gps_position->timestamp_satellites = hrt_absolute_time();
 
 									// as this message arrives only with 1Hz and is not essential, we don't take it into account for the report
 
@@ -614,18 +611,17 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 								//Check if checksum is valid and the store the gps information
 								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
 
-									gps_position->vel = (uint16_t)packet->speed;
-									gps_position->vel_n = packet->velN / 100.0f;
-									gps_position->vel_e = packet->velE / 100.0f;
-									gps_position->vel_d = packet->velD / 100.0f;
+									gps_position->vel_m_s   = (float)packet->speed * 1e-2f;
+									gps_position->vel_n_m_s = (float)packet->velN * 1e-2f;
+									gps_position->vel_e_m_s = (float)packet->velE * 1e-2f;
+									gps_position->vel_d_m_s = (float)packet->velD * 1e-2f;
+									gps_position->cog_rad   = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
 									gps_position->vel_ned_valid = true;
-									gps_position->cog = (uint16_t)((float)(packet->heading) * 1e-3f);
-
-									gps_position->counter++;
-									gps_position->timestamp = hrt_absolute_time();
+									gps_position->timestamp_velocity = hrt_absolute_time();
 
 									_new_nav_velned = true;
 
+
 								} else {
 									warnx("NAV_VELNED: checksum invalid");
 								}
@@ -690,13 +686,13 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 											_config_state = UBX_CONFIG_STATE_MSG_NAV_TIMEUTC;
 										break;
 									case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
-										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
-											_config_state = UBX_CONFIG_STATE_MSG_NAV_DOP;
-										break;
-									case UBX_CONFIG_STATE_MSG_NAV_DOP:
 										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
 											_config_state = UBX_CONFIG_STATE_MSG_NAV_SVINFO;
 										break;
+//									case UBX_CONFIG_STATE_MSG_NAV_DOP:
+//										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
+//											_config_state = UBX_CONFIG_STATE_MSG_NAV_SVINFO;
+//										break;
 									case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
 										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
 											_config_state = UBX_CONFIG_STATE_MSG_NAV_SOL;
@@ -766,7 +762,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 	}
 
 	/* return 1 when position updates and the remaining packets updated at least once */
-	if(_new_nav_posllh &&_new_nav_timeutc && _new_nav_dop && _new_nav_sol && _new_nav_velned) {
+	if(_new_nav_posllh &&_new_nav_timeutc /*&& _new_nav_dop*/ && _new_nav_sol && _new_nav_velned) {
 
 		/* we have received everything, this most probably means that the configuration is fine */
 		config_needed = false;
@@ -774,7 +770,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 		/* Reset the flags */
 		_new_nav_posllh = false;
 		_new_nav_timeutc = false;
-		_new_nav_dop = false;
+//		_new_nav_dop = false;
 		_new_nav_sol = false;
 		_new_nav_velned = false;
 
diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h
index d3c6c6d4c..43cded02f 100644
--- a/apps/drivers/gps/ubx.h
+++ b/apps/drivers/gps/ubx.h
@@ -54,7 +54,7 @@
 #define UBX_MESSAGE_NAV_POSLLH 0x02
 #define UBX_MESSAGE_NAV_SOL 0x06
 #define UBX_MESSAGE_NAV_TIMEUTC 0x21
-#define UBX_MESSAGE_NAV_DOP 0x04
+//#define UBX_MESSAGE_NAV_DOP 0x04
 #define UBX_MESSAGE_NAV_SVINFO 0x30
 #define UBX_MESSAGE_NAV_VELNED 0x12
 //#define UBX_MESSAGE_RXM_SVSI 0x20
@@ -140,18 +140,18 @@ typedef struct {
 	uint8_t ck_b;
 } gps_bin_nav_timeutc_packet_t;
 
-typedef struct {
-	uint32_t time_milliseconds; 	/**<  GPS Millisecond Time of Week */
-	uint16_t gDOP; 					/**< Geometric DOP (scaling 0.01) */
-	uint16_t pDOP; 					/**< Position DOP (scaling 0.01) */
-	uint16_t tDOP; 					/**< Time DOP (scaling 0.01) */
-	uint16_t vDOP; 					/**< Vertical DOP (scaling 0.01) */
-	uint16_t hDOP; 					/**< Horizontal DOP (scaling 0.01) */
-	uint16_t nDOP; 					/**< Northing DOP (scaling 0.01) */
-	uint16_t eDOP; 					/**< Easting DOP (scaling 0.01) */
-	uint8_t ck_a;
-	uint8_t ck_b;
-} gps_bin_nav_dop_packet_t;
+//typedef struct {
+//	uint32_t time_milliseconds; 	/**<  GPS Millisecond Time of Week */
+//	uint16_t gDOP; 					/**< Geometric DOP (scaling 0.01) */
+//	uint16_t pDOP; 					/**< Position DOP (scaling 0.01) */
+//	uint16_t tDOP; 					/**< Time DOP (scaling 0.01) */
+//	uint16_t vDOP; 					/**< Vertical DOP (scaling 0.01) */
+//	uint16_t hDOP; 					/**< Horizontal DOP (scaling 0.01) */
+//	uint16_t nDOP; 					/**< Northing DOP (scaling 0.01) */
+//	uint16_t eDOP; 					/**< Easting DOP (scaling 0.01) */
+//	uint8_t ck_a;
+//	uint8_t ck_b;
+//} gps_bin_nav_dop_packet_t;
 
 typedef struct {
 	uint32_t time_milliseconds; 	/**<  GPS Millisecond Time of Week */
@@ -311,7 +311,7 @@ typedef enum {
 	NAV_POSLLH,
 	NAV_SOL,
 	NAV_TIMEUTC,
-	NAV_DOP,
+//	NAV_DOP,
 	NAV_SVINFO,
 	NAV_VELNED,
 //	RXM_SVSI,
@@ -371,7 +371,7 @@ private:
 	unsigned			_payload_size;
 	bool				_new_nav_posllh;
 	bool				_new_nav_timeutc;
-	bool				_new_nav_dop;
+//	bool				_new_nav_dop;
 	bool				_new_nav_sol;
 	bool				_new_nav_velned;
 };
diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp
index 7e89dffb2..b7f651d8a 100644
--- a/apps/examples/kalman_demo/KalmanNav.cpp
+++ b/apps/examples/kalman_demo/KalmanNav.cpp
@@ -190,11 +190,12 @@ void KalmanNav::update()
 	if (!_positionInitialized &&
 	    _attitudeInitialized && // wait for attitude first
 	    gpsUpdate &&
-	    _gps.fix_type > 2 &&
-	    _gps.counter_pos_valid > 10) {
-		vN = _gps.vel_n;
-		vE = _gps.vel_e;
-		vD = _gps.vel_d;
+	    _gps.fix_type > 2
+	    //&& _gps.counter_pos_valid > 10
+	    ) {
+		vN = _gps.vel_n_m_s;
+		vE = _gps.vel_e_m_s;
+		vD = _gps.vel_d_m_s;
 		setLatDegE7(_gps.lat);
 		setLonDegE7(_gps.lon);
 		setAltE3(_gps.alt);
@@ -259,7 +260,7 @@ void KalmanNav::updatePublications()
 
 	// position publication
 	_pos.timestamp = _pubTimeStamp;
-	_pos.time_gps_usec = _gps.timestamp;
+	_pos.time_gps_usec = _gps.timestamp_position;
 	_pos.valid = true;
 	_pos.lat = getLatDegE7();
 	_pos.lon = getLonDegE7();
@@ -631,8 +632,8 @@ int KalmanNav::correctPos()
 
 	// residual
 	Vector y(5);
-	y(0) = _gps.vel_n - vN;
-	y(1) = _gps.vel_e - vE;
+	y(0) = _gps.vel_n_m_s - vN;
+	y(1) = _gps.vel_e_m_s - vE;
 	y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG;
 	y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG;
 	y(4) = double(_gps.alt) / 1.0e3 - alt;
@@ -651,9 +652,9 @@ int KalmanNav::correctPos()
 			// abort correction and return
 			printf("[kalman_demo] numerical failure in gps correction\n");
 			// fallback to GPS
-			vN = _gps.vel_n;
-			vE = _gps.vel_e;
-			vD = _gps.vel_d;
+			vN = _gps.vel_n_m_s;
+			vE = _gps.vel_e_m_s;
+			vD = _gps.vel_d_m_s;
 			setLatDegE7(_gps.lat);
 			setLonDegE7(_gps.lon);
 			setAltE3(_gps.alt);
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c
index 86732d07c..b3b4b1e0b 100644
--- a/apps/mavlink/mavlink_receiver.c
+++ b/apps/mavlink/mavlink_receiver.c
@@ -387,22 +387,22 @@ handle_message(mavlink_message_t *msg)
 			static uint64_t old_timestamp = 0;
 
 			/* gps */
-			hil_gps.timestamp = gps.time_usec;
-			hil_gps.counter = hil_counter++;
+			hil_gps.timestamp_position = gps.time_usec;
+//			hil_gps.counter = hil_counter++;
 			hil_gps.time_gps_usec = gps.time_usec;
 			hil_gps.lat = gps.lat;
 			hil_gps.lon = gps.lon;
 			hil_gps.alt = gps.alt;
-			hil_gps.counter_pos_valid = hil_counter++;
-			hil_gps.eph = gps.eph;
-			hil_gps.epv = gps.epv;
-			hil_gps.s_variance = 100;
-			hil_gps.p_variance = 100;
-			hil_gps.vel = gps.vel;
-			hil_gps.vel_n = gps.vel / 100.0f * cosf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
-			hil_gps.vel_e = gps.vel / 100.0f * sinf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
-			hil_gps.vel_d = 0.0f;
-			hil_gps.cog = gps.cog;
+//			hil_gps.counter_pos_valid = hil_counter++;
+			hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
+			hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
+			hil_gps.s_variance_m_s = 100; // XXX 100 m/s variance?
+			hil_gps.p_variance_m = 100; // XXX 100 m variance?
+			hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
+			hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
+			hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
+			hil_gps.vel_d_m_s = 0.0f;
+			hil_gps.cog_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; // from deg*100 to rad
 			hil_gps.fix_type = gps.fix_type;
 			hil_gps.satellites_visible = gps.satellites_visible;
 
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index 18da70f61..9f85d5801 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -231,15 +231,15 @@ l_vehicle_gps_position(struct listener *l)
 
 	/* GPS position */
 	mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
-				     gps.timestamp,
+				     gps.timestamp_position,
 				     gps.fix_type,
 				     gps.lat,
 				     gps.lon,
 				     gps.alt,
-				     gps.eph,
-				     gps.epv,
-				     gps.vel,
-				     gps.cog,
+				     (uint16_t)(gps.eph_m * 1e2f), // from m to cm
+				     (uint16_t)(gps.epv_m * 1e2f), // from m to cm
+				     (uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s
+				     (uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100
 				     gps.satellites_visible);
 
 	if (gps.satellite_info_available && (gps_counter % 4 == 0)) {
diff --git a/apps/uORB/topics/home_position.h b/apps/uORB/topics/home_position.h
index dec34b6ab..7e1b82a0f 100644
--- a/apps/uORB/topics/home_position.h
+++ b/apps/uORB/topics/home_position.h
@@ -61,10 +61,10 @@ struct home_position_s
 	int32_t lat;                    /**< Latitude in 1E7 degrees */
 	int32_t lon;                    /**< Longitude in 1E7 degrees */
 	int32_t alt;                    /**< Altitude in 1E3 meters (millimeters) above MSL */
-	uint16_t eph;                   /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
-	uint16_t epv;                   /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
-	float s_variance;               /**< speed accuracy estimate cm/s */
-	float p_variance;               /**< position accuracy estimate cm */
+	float eph_m;                   /**< GPS HDOP horizontal dilution of position in m */
+	float epv_m;                   /**< GPS VDOP horizontal dilution of position in m */
+	float s_variance_m_s;               /**< speed accuracy estimate m/s */
+	float p_variance_m;               /**< position accuracy estimate m */
 };
 
 /**
diff --git a/apps/uORB/topics/vehicle_gps_position.h b/apps/uORB/topics/vehicle_gps_position.h
index db529da06..aa75c22ac 100644
--- a/apps/uORB/topics/vehicle_gps_position.h
+++ b/apps/uORB/topics/vehicle_gps_position.h
@@ -55,35 +55,38 @@
  */
 struct vehicle_gps_position_s
 {
-	uint64_t timestamp;			/**< Timestamp (microseconds since system boot)   */
-	uint32_t counter;			/**< Count of GPS messages */
-	uint64_t time_gps_usec;			/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
+	uint64_t timestamp_position;		/**< Timestamp for position information */
+	int32_t lat;						/**< Latitude in 1E7 degrees */
+	int32_t lon;						/**< Longitude in 1E7 degrees */
+	int32_t alt;						/**< Altitude in 1E3 meters (millimeters) above MSL  */
 	
-	int32_t lat;				/**< Latitude in 1E7 degrees //LOGME   */
-	int32_t lon;				/**< Longitude in 1E7 degrees //LOGME   */
-	int32_t alt;				/**< Altitude in 1E3 meters (millimeters) above MSL //LOGME   */
-	uint16_t counter_pos_valid;		/**< is only increased when new lat/lon/alt information was added   */
-	uint16_t eph;				/**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME   */
-	uint16_t epv;				/**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535   */
-	float s_variance;			/**< speed accuracy estimate cm/s */
-	float p_variance;			/**< position accuracy estimate cm */
-	uint16_t vel;				/**< GPS ground speed (m/s * 100). If unknown, set to: 65535   */
-	float vel_n;				/**< GPS ground speed in m/s */
-	float vel_e;				/**< GPS ground speed in m/s */
-	float vel_d;				/**< GPS ground speed in m/s */
-	uint16_t cog;				/**< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535   */
-	uint8_t fix_type; 			/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
-	uint8_t satellites_visible;		/**< Number of satellites visible. If unknown, set to 255   */
+	uint64_t timestamp_variance;
+	float s_variance_m_s;				/**< speed accuracy estimate m/s */
+	float p_variance_m;					/**< position accuracy estimate m */
+	uint8_t fix_type; 					/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
 
-	uint8_t satellite_prn[20]; 		/**< Global satellite ID   */
-	uint8_t satellite_used[20];		/**< 0: Satellite not used, 1: used for localization   */
-	uint8_t satellite_elevation[20]; 	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite   */
-	uint8_t satellite_azimuth[20];		/**< Direction of satellite, 0: 0 deg, 255: 360 deg.   */
-	uint8_t satellite_snr[20];		/**< Signal to noise ratio of satellite   */
-	uint8_t satellite_info_available;	/**< 0 for no info, 1 for info available   */
+	float eph_m;						/**< GPS HDOP horizontal dilution of position in m */
+	float epv_m;						/**< GPS VDOP horizontal dilution of position in m */
 
-	/* flags */
-	float vel_ned_valid;			/**< Flag to indicate if NED speed is valid */
+	uint64_t timestamp_velocity;		/**< Timestamp for velocity informations */
+	float vel_m_s;						/**< GPS ground speed (m/s) */
+	float vel_n_m_s;					/**< GPS ground speed in m/s */
+	float vel_e_m_s;					/**< GPS ground speed in m/s */
+	float vel_d_m_s;					/**< GPS ground speed in m/s */
+	float cog_rad;						/**< Course over ground (NOT heading, but direction of movement) in rad */
+	bool vel_ned_valid;					/**< Flag to indicate if NED speed is valid */
+
+	uint64_t timestamp_time;			/**< Timestamp for time information */
+	uint64_t time_gps_usec;				/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
+
+	uint64_t timestamp_satellites;		/**< Timestamp for sattelite information */
+	uint8_t satellites_visible;			/**< Number of satellites visible. If unknown, set to 255 */
+	uint8_t satellite_prn[20]; 			/**< Global satellite ID */
+	uint8_t satellite_used[20];			/**< 0: Satellite not used, 1: used for localization */
+	uint8_t satellite_elevation[20]; 	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
+	uint8_t satellite_azimuth[20];		/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
+	uint8_t satellite_snr[20];			/**< Signal to noise ratio of satellite   */
+	uint8_t satellite_info_available;	/**< 0 for no info, 1 for info available */
 };
 
 /**
-- 
cgit v1.2.3


From d962e6c403678e14a64a6b01be8773e98660bb24 Mon Sep 17 00:00:00 2001
From: Julian Oes 
Date: Wed, 6 Feb 2013 13:50:32 -0800
Subject: Removed some unnecessairy flags, home position back working

---
 apps/commander/commander.c              |  9 ++++--
 apps/drivers/gps/gps.cpp                |  2 +-
 apps/drivers/gps/ubx.cpp                | 49 ++++++---------------------------
 apps/drivers/gps/ubx.h                  |  5 ----
 apps/uORB/topics/vehicle_gps_position.h |  2 +-
 5 files changed, 16 insertions(+), 51 deletions(-)

(limited to 'apps')

diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index f19f1d0e6..6b1bc0f9b 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -1683,7 +1683,8 @@ int commander_thread_main(int argc, char *argv[])
 
 			/* check if gps fix is ok */
 			// XXX magic number
-			float dop_threshold_m = 2.0f;
+			float hdop_threshold_m = 4.0f;
+			float vdop_threshold_m = 8.0f;
 
 			/*
 			 * If horizontal dilution of precision (hdop / eph)
@@ -1694,8 +1695,10 @@ int commander_thread_main(int argc, char *argv[])
 			 * the system is currently not armed, set home
 			 * position to the current position.
 			 */
-			if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < dop_threshold_m)
-				&& (vdop_m < dop_threshold_m)
+
+			if (gps_position.fix_type == GPS_FIX_TYPE_3D
+				&& (hdop_m < hdop_threshold_m)
+				&& (vdop_m < vdop_threshold_m)
 				&& !home_position_set
 				&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
 				&& !current_status.flag_system_armed) {
diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index 8c2775adb..45f18158f 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -591,7 +591,7 @@ start(const char *uart_path)
 	fd = open(GPS_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0) {
-		printf("Could not open device path: %s\n", GPS_DEVICE_PATH);
+		errx(1, "Could not open device path: %s\n", GPS_DEVICE_PATH);
 		goto fail;
 	}
 	exit(0);
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp
index eec1df980..a82327175 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/apps/drivers/gps/ubx.cpp
@@ -50,12 +50,7 @@
 
 UBX::UBX() :
 _config_state(UBX_CONFIG_STATE_PRT),
-_waiting_for_ack(false),
-_new_nav_posllh(false),
-_new_nav_timeutc(false),
-//_new_nav_dop(false),
-_new_nav_sol(false),
-_new_nav_velned(false)
+_waiting_for_ack(false)
 {
 	reset();
 }
@@ -413,13 +408,12 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 									gps_position->lon = packet->lon;
 									gps_position->alt = packet->height_msl;
 
-									gps_position->eph_m = (float)packet->hAcc * 1e-2f; // from mm to m
-									gps_position->epv_m = (float)packet->vAcc * 1e-2f; // from mm to m
+									gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m
+									gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m
 
 									/* Add timestamp to finish the report */
 									gps_position->timestamp_position = hrt_absolute_time();
 
-									_new_nav_posllh = true;
 									/* set flag to trigger publishing of new position */
 									pos_updated = true;
 
@@ -445,9 +439,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 
 									gps_position->timestamp_variance = hrt_absolute_time();
 
-
-									_new_nav_sol = true;
-
 								} else {
 									warnx("NAV_SOL: checksum invalid");
 								}
@@ -502,8 +493,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 
 									gps_position->timestamp_time = hrt_absolute_time();
 
-									_new_nav_timeutc = true;
-
 								} else {
 									warnx("NAV_TIMEUTC: checksum invalid");
 								}
@@ -581,20 +570,16 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 										gps_position->satellite_elevation[i] = 0;
 										gps_position->satellite_azimuth[i] = 0;
 									}
+									gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones
 
-									/* set flag if any sat info is available */
-									if (!packet_part1->numCh > 0) {
-										gps_position->satellite_info_available = 1;
-
+									/* set timestamp if any sat info is available */
+									if (packet_part1->numCh > 0) {
+										gps_position->satellite_info_available = true;
 									} else {
-										gps_position->satellite_info_available = 0;
+										gps_position->satellite_info_available = false;
 									}
-
-									gps_position->satellites_visible = satellites_used++; // visible ~= used but we are interested in the used ones
 									gps_position->timestamp_satellites = hrt_absolute_time();
 
-									// as this message arrives only with 1Hz and is not essential, we don't take it into account for the report
-
 								} else {
 									warnx("NAV_SVINFO: checksum invalid");
 								}
@@ -619,9 +604,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 									gps_position->vel_ned_valid = true;
 									gps_position->timestamp_velocity = hrt_absolute_time();
 
-									_new_nav_velned = true;
-
-
 								} else {
 									warnx("NAV_VELNED: checksum invalid");
 								}
@@ -760,21 +742,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 		default:
 			break;
 	}
-
-	/* return 1 when position updates and the remaining packets updated at least once */
-	if(_new_nav_posllh &&_new_nav_timeutc /*&& _new_nav_dop*/ && _new_nav_sol && _new_nav_velned) {
-
-		/* we have received everything, this most probably means that the configuration is fine */
-		config_needed = false;
-
-		/* Reset the flags */
-		_new_nav_posllh = false;
-		_new_nav_timeutc = false;
-//		_new_nav_dop = false;
-		_new_nav_sol = false;
-		_new_nav_velned = false;
-
-	}
 	return;
 }
 
diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h
index 43cded02f..a23bb5502 100644
--- a/apps/drivers/gps/ubx.h
+++ b/apps/drivers/gps/ubx.h
@@ -369,11 +369,6 @@ private:
 	ubx_message_class_t _message_class;
 	ubx_message_id_t	_message_id;
 	unsigned			_payload_size;
-	bool				_new_nav_posllh;
-	bool				_new_nav_timeutc;
-//	bool				_new_nav_dop;
-	bool				_new_nav_sol;
-	bool				_new_nav_velned;
 };
 
 #endif /* UBX_H_ */
diff --git a/apps/uORB/topics/vehicle_gps_position.h b/apps/uORB/topics/vehicle_gps_position.h
index aa75c22ac..5463a460d 100644
--- a/apps/uORB/topics/vehicle_gps_position.h
+++ b/apps/uORB/topics/vehicle_gps_position.h
@@ -86,7 +86,7 @@ struct vehicle_gps_position_s
 	uint8_t satellite_elevation[20]; 	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
 	uint8_t satellite_azimuth[20];		/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
 	uint8_t satellite_snr[20];			/**< Signal to noise ratio of satellite   */
-	uint8_t satellite_info_available;	/**< 0 for no info, 1 for info available */
+	bool satellite_info_available;	/**< 0 for no info, 1 for info available */
 };
 
 /**
-- 
cgit v1.2.3


From 6ed5d97aea29a284015708a6089b7910afea8369 Mon Sep 17 00:00:00 2001
From: Julian Oes 
Date: Wed, 6 Feb 2013 18:47:32 -0800
Subject: Merged mtk16 and mtk19 helper classes, configure() now writes
 directly instead of buffering

---
 apps/drivers/drv_gps.h        | 13 +--------
 apps/drivers/gps/gps.cpp      | 53 +++++-------------------------------
 apps/drivers/gps/gps_helper.h |  3 ++-
 apps/drivers/gps/ubx.cpp      | 62 +++++++++++++++++--------------------------
 apps/drivers/gps/ubx.h        | 11 +++++---
 5 files changed, 41 insertions(+), 101 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/drv_gps.h b/apps/drivers/drv_gps.h
index dfde115ef..67248efcd 100644
--- a/apps/drivers/drv_gps.h
+++ b/apps/drivers/drv_gps.h
@@ -50,8 +50,7 @@
 
 typedef enum {
 	GPS_DRIVER_MODE_UBX = 0,
-	GPS_DRIVER_MODE_MTK19,
-	GPS_DRIVER_MODE_MTK16,
+	GPS_DRIVER_MODE_MTK,
 	GPS_DRIVER_MODE_NMEA,
 } gps_driver_mode_t;
 
@@ -67,14 +66,4 @@ ORB_DECLARE(gps);
 #define _GPSIOCBASE			(0x2800)            //TODO: arbitrary choice...
 #define _GPSIOC(_n)		(_IOC(_GPSIOCBASE, _n))
 
-/** configure ubx mode */
-#define GPS_CONFIGURE_UBX	_GPSIOC(0)
-
-/** configure mtk mode */
-#define GPS_CONFIGURE_MTK19	_GPSIOC(1)
-#define GPS_CONFIGURE_MTK16	_GPSIOC(2)
-
-/** configure mtk mode */
-#define GPS_CONFIGURE_NMEA	_GPSIOC(3)
-
 #endif /* _DRV_GPS_H */
diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index 45f18158f..3e1aca810 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -72,6 +72,7 @@
 #include 
 
 #include "ubx.h"
+#include "mtk.h"
 
 #define SEND_BUFFER_LENGTH 100
 #define TIMEOUT 1000000 //1s
@@ -238,30 +239,6 @@ GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
 	int ret = OK;
 
 	switch (cmd) {
-	case GPS_CONFIGURE_UBX:
-		if (_mode != GPS_DRIVER_MODE_UBX) {
-			_mode = GPS_DRIVER_MODE_UBX;
-			_mode_changed = true;
-		}
-		break;
-	case GPS_CONFIGURE_MTK19:
-		if (_mode != GPS_DRIVER_MODE_MTK19) {
-			_mode = GPS_DRIVER_MODE_MTK19;
-			_mode_changed = true;
-		}
-		break;
-	case GPS_CONFIGURE_MTK16:
-		if (_mode != GPS_DRIVER_MODE_MTK16) {
-			_mode = GPS_DRIVER_MODE_MTK16;
-			_mode_changed = true;
-		}
-		break;
-	case GPS_CONFIGURE_NMEA:
-		if (_mode != GPS_DRIVER_MODE_NMEA) {
-			_mode = GPS_DRIVER_MODE_NMEA;
-			_mode_changed = true;
-		}
-		break;
 	case SENSORIOCRESET:
 		cmd_reset();
 		break;
@@ -275,19 +252,7 @@ GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
 void
 GPS::config()
 {
-	int length = 0;
-	uint8_t	send_buffer[SEND_BUFFER_LENGTH];
-
-	_Helper->configure(send_buffer, length, SEND_BUFFER_LENGTH, _baudrate_changed, _baudrate);
-
-	/* The config message is sent sent at the old baudrate */
-	if (length > 0) {
-
-		if (length != ::write(_serial_fd, send_buffer, length)) {
-			debug("write config failed");
-			return;
-		}
-	}
+	_Helper->configure(_serial_fd, _baudrate_changed, _baudrate);
 
 	/* Sometimes the baudrate needs to be changed, for instance UBX with factory settings are changed
 	 * from 9600 to 38400
@@ -356,11 +321,8 @@ GPS::task_main()
 			case GPS_DRIVER_MODE_UBX:
 				_Helper = new UBX();
 				break;
-			case GPS_DRIVER_MODE_MTK19:
-				//_Helper = new MTK19();
-				break;
-			case GPS_DRIVER_MODE_MTK16:
-				//_Helper = new MTK16();
+			case GPS_DRIVER_MODE_MTK:
+				_Helper = new MTK();
 				break;
 			case GPS_DRIVER_MODE_NMEA:
 				//_Helper = new NMEA();
@@ -530,11 +492,8 @@ GPS::print_info()
 		case GPS_DRIVER_MODE_UBX:
 			warnx("protocol: UBX");
 			break;
-		case GPS_DRIVER_MODE_MTK19:
-			warnx("protocol: MTK 1.9");
-			break;
-		case GPS_DRIVER_MODE_MTK16:
-			warnx("protocol: MTK 1.6");
+		case GPS_DRIVER_MODE_MTK:
+			warnx("protocol: MTK");
 			break;
 		case GPS_DRIVER_MODE_NMEA:
 			warnx("protocol: NMEA");
diff --git a/apps/drivers/gps/gps_helper.h b/apps/drivers/gps/gps_helper.h
index 176b7eba8..576692c2a 100644
--- a/apps/drivers/gps/gps_helper.h
+++ b/apps/drivers/gps/gps_helper.h
@@ -36,12 +36,13 @@
 /* @file U-Blox protocol definitions */
 
 #ifndef GPS_HELPER_H
+#define GPS_HELPER_H
 
 class GPS_Helper
 {
 public:
 	virtual void			reset(void) = 0;
-	virtual void			configure(uint8_t *buffer, int &length, const unsigned max_length, bool &baudrate_changed, unsigned &baudrate) = 0;
+	virtual void			configure(const int &fd, bool &baudrate_changed, unsigned &baudrate) = 0;
 	virtual void 			parse(uint8_t, struct vehicle_gps_position_s*, bool &config_needed, bool &pos_updated) = 0;
 };
 
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp
index a82327175..8e2396564 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/apps/drivers/gps/ubx.cpp
@@ -68,11 +68,8 @@ UBX::reset()
 }
 
 void
-UBX::configure(uint8_t *buffer, int &length, const unsigned max_length, bool &baudrate_changed, unsigned &baudrate)
+UBX::configure(const int &fd, bool &baudrate_changed, unsigned &baudrate)
 {
-	/* make sure the buffer, where the message is written to, is long enough */
-	assert(sizeof(type_gps_bin_cfg_prt_packet_t)+2 <= max_length);
-
 	/* Only send a new config message when we got the ACK of the last one,
 	 * otherwise we might not configure all the messages because the ACK comes from an older/previos CFD command
 	 * reason being that the ACK only includes CFG-MSG but not to which NAV MSG it belongs.
@@ -105,16 +102,7 @@ UBX::configure(uint8_t *buffer, int &length, const unsigned max_length, bool &ba
 			cfg_prt_packet.inProtoMask	= UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
 			cfg_prt_packet.outProtoMask	= UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
 
-			/* Calculate the checksum now */
-			addChecksumToMessage((uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
-
-			/* Start with the two sync bytes */
-			buffer[0] = UBX_SYNC1;
-			buffer[1] = UBX_SYNC2;
-			/* Copy it to the buffer that will be written back in the main gps driver */
-			memcpy(&(buffer[2]), &cfg_prt_packet, sizeof(cfg_prt_packet));
-			/* Set the length of the packet (plus the 2 sync bytes) */
-			length = sizeof(cfg_prt_packet)+2;
+			sendConfigPacket(fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
 
 		} else if (_config_state == UBX_CONFIG_STATE_PRT_NEW_BAUDRATE) {
 
@@ -131,12 +119,7 @@ UBX::configure(uint8_t *buffer, int &length, const unsigned max_length, bool &ba
 			cfg_prt_packet.inProtoMask	= UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
 			cfg_prt_packet.outProtoMask	= UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
 
-			addChecksumToMessage((uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
-
-			buffer[0] = UBX_SYNC1;
-			buffer[1] = UBX_SYNC2;
-			memcpy(&(buffer[2]), &cfg_prt_packet, sizeof(cfg_prt_packet));
-			length = sizeof(cfg_prt_packet)+2;
+			sendConfigPacket(fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
 
 			/* If the new baudrate will be different from the current one, we should report that back to the driver */
 			if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) {
@@ -160,12 +143,7 @@ UBX::configure(uint8_t *buffer, int &length, const unsigned max_length, bool &ba
 			cfg_rate_packet.navRate		= UBX_CFG_RATE_PAYLOAD_NAVRATE;
 			cfg_rate_packet.timeRef		= UBX_CFG_RATE_PAYLOAD_TIMEREF;
 
-			addChecksumToMessage((uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet));
-
-			buffer[0] = UBX_SYNC1;
-			buffer[1] = UBX_SYNC2;
-			memcpy(&(buffer[2]), &cfg_rate_packet, sizeof(cfg_rate_packet));
-			length = sizeof(cfg_rate_packet)+2;
+			sendConfigPacket(fd, (uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet));
 
 		} else if (_config_state == UBX_CONFIG_STATE_NAV5) {
 			/* send a NAV5 message to set the options for the internal filter */
@@ -179,12 +157,7 @@ UBX::configure(uint8_t *buffer, int &length, const unsigned max_length, bool &ba
 			cfg_nav5_packet.dynModel     = UBX_CFG_NAV5_PAYLOAD_DYNMODEL;
 			cfg_nav5_packet.fixMode      = UBX_CFG_NAV5_PAYLOAD_FIXMODE;
 
-			addChecksumToMessage((uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet));
-
-			buffer[0] = UBX_SYNC1;
-			buffer[1] = UBX_SYNC2;
-			memcpy(&(buffer[2]), &cfg_nav5_packet, sizeof(cfg_nav5_packet));
-			length = sizeof(cfg_nav5_packet)+2;
+			sendConfigPacket(fd, (uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet));
 
 		} else {
 			/* Catch the remaining config states here, they all need the same packet type */
@@ -233,12 +206,7 @@ UBX::configure(uint8_t *buffer, int &length, const unsigned max_length, bool &ba
 					break;
 			}
 
-			addChecksumToMessage((uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
-
-			buffer[0] = UBX_SYNC1;
-			buffer[1] = UBX_SYNC2;
-			memcpy(&(buffer[2]), &cfg_msg_packet, sizeof(cfg_msg_packet));
-			length = sizeof(cfg_msg_packet)+2;
+			sendConfigPacket(fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
 		}
 	}
 }
@@ -779,3 +747,21 @@ UBX::addChecksumToMessage(uint8_t* message, const unsigned length)
 	message[length-2] = ck_a;
 	message[length-1] = ck_b;
 }
+
+void
+UBX::sendConfigPacket(const int &fd, uint8_t *packet, const unsigned length)
+{
+	ssize_t ret = 0;
+
+	/* Calculate the checksum now */
+	addChecksumToMessage(packet, length);
+
+	const uint8_t sync_bytes[] = {UBX_SYNC1, UBX_SYNC2};
+
+	/* Start with the two sync bytes */
+	ret += write(fd, sync_bytes, sizeof(sync_bytes));
+	ret += write(fd, packet, length);
+
+	if (ret != (int)length + (int)sizeof(sync_bytes)) // XXX is there a neater way to get rid of the unsigned signed warning?
+		warnx("ubx: config write fail");
+}
diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h
index a23bb5502..c420e83b9 100644
--- a/apps/drivers/gps/ubx.h
+++ b/apps/drivers/gps/ubx.h
@@ -40,7 +40,6 @@
 
 #include "gps_helper.h"
 
-
 #define UBX_SYNC1 0xB5
 #define UBX_SYNC2 0x62
 
@@ -341,7 +340,7 @@ public:
 	UBX();
 	~UBX();
 	void				reset(void);
-	void				configure(uint8_t *buffer, int &length, const unsigned max_length, bool &baudrate_changed, unsigned &baudrate);
+	void				configure(const int &fd, bool &baudrate_changed, unsigned &baudrate);
 	void 				parse(uint8_t, struct vehicle_gps_position_s*, bool &config_needed, bool &pos_updated);
 
 private:
@@ -358,7 +357,13 @@ private:
 	/**
 	 * Add the two checksum bytes to an outgoing message
 	 */
-	void				addChecksumToMessage(uint8_t*, const unsigned);
+	void				addChecksumToMessage(uint8_t* message, const unsigned length);
+
+	/**
+	 * Helper to send a config packet
+	 */
+	void				sendConfigPacket(const int &fd, uint8_t *packet, const unsigned length);
+
 	ubx_config_state_t	_config_state;
 	bool 				_waiting_for_ack;
 	ubx_decode_state_t	_decode_state;
-- 
cgit v1.2.3


From 0d54661ce90dfe2440daea2639a9853520d8366c Mon Sep 17 00:00:00 2001
From: Julian Oes 
Date: Wed, 6 Feb 2013 20:04:49 -0800
Subject: Added MTK 1.6, works after some seconds, work in progress

---
 apps/drivers/gps/gps.cpp |  43 +++++++----
 apps/drivers/gps/mtk.cpp | 184 +++++++++++++++++++++++++++++++++++++++++++++++
 apps/drivers/gps/mtk.h   | 108 ++++++++++++++++++++++++++++
 3 files changed, 320 insertions(+), 15 deletions(-)
 create mode 100644 apps/drivers/gps/mtk.cpp
 create mode 100644 apps/drivers/gps/mtk.h

(limited to 'apps')

diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index 3e1aca810..c749e8b7f 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -77,7 +77,7 @@
 #define SEND_BUFFER_LENGTH 100
 #define TIMEOUT 1000000 //1s
 
-#define NUMBER_OF_BAUDRATES 4
+#define NUMBER_OF_TRIES 5
 #define CONFIG_TIMEOUT 2000000
 
 /* oddly, ERROR is not defined for c++ */
@@ -113,7 +113,8 @@ private:
 	int				_serial_fd;					///< serial interface to GPS
 	unsigned			_baudrate;					///< current baudrate
 	char				_port[20];					///< device / serial port path
-	const unsigned			_baudrates_to_try[NUMBER_OF_BAUDRATES];		///< try different baudrates that GPS could be set to
+	const unsigned			_baudrates_to_try[NUMBER_OF_TRIES];		///< try different baudrates that GPS could be set to
+	const gps_driver_mode_t	_modes_to_try[NUMBER_OF_TRIES];			///< try different modes
 	volatile int			_task;						//< worker task
 	bool				_config_needed;					///< flag to signal that configuration of GPS is needed
 	bool 				_baudrate_changed;				///< flag to signal that the baudrate with the GPS has changed
@@ -170,11 +171,11 @@ GPS	*g_dev;
 GPS::GPS(const char* uart_path) :
 	CDev("gps", GPS_DEVICE_PATH),
 	_task_should_exit(false),
-	_baudrates_to_try({9600, 38400, 57600, 115200}),
+	_baudrates_to_try({9600, 38400, 57600, 115200, 38400}),
+	_modes_to_try({GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_MTK}),
 	_config_needed(true),
 	_baudrate_changed(false),
-	_mode_changed(true),
-	_mode(GPS_DRIVER_MODE_UBX),
+	_mode_changed(false),
 	_Helper(nullptr),
 	_report_pub(-1),
 	_rate(0.0f)
@@ -295,8 +296,10 @@ GPS::task_main()
 	/* lock against the ioctl handler */
 	lock();
 
-	unsigned baud_i = 0;
-	_baudrate = _baudrates_to_try[baud_i];
+	unsigned try_i = 0;
+	_baudrate = _baudrates_to_try[try_i];
+	_mode = _modes_to_try[try_i];
+	_mode_changed = true;
 	set_baudrate(_baudrate);
 
 	uint64_t time_before_configuration = hrt_absolute_time();
@@ -310,6 +313,23 @@ GPS::task_main()
 	/* loop handling received serial bytes and also configuring in between */
 	while (!_task_should_exit) {
 
+		/* If a configuration does not finish in the config timeout, change the baudrate */
+		if (_config_needed && time_before_configuration + CONFIG_TIMEOUT < hrt_absolute_time()) {
+			/* loop through possible modes/baudrates */
+			try_i = (try_i + 1) % NUMBER_OF_TRIES;
+			_baudrate = _baudrates_to_try[try_i];
+			set_baudrate(_baudrate);
+			if (_mode != _modes_to_try[try_i]) {
+				_mode_changed = true;
+			}
+			_mode = _modes_to_try[try_i];
+
+			if (_Helper != nullptr) {
+				_Helper->reset();
+			}
+			time_before_configuration = hrt_absolute_time();
+		}
+
 		if (_mode_changed) {
 			if (_Helper != nullptr) {
 				delete(_Helper);
@@ -333,14 +353,7 @@ GPS::task_main()
 			_mode_changed = false;
 		}
 
-		/* If a configuration does not finish in the config timeout, change the baudrate */
-		if (_config_needed && time_before_configuration + CONFIG_TIMEOUT < hrt_absolute_time()) {
-			baud_i = (baud_i+1)%NUMBER_OF_BAUDRATES;
-			_baudrate = _baudrates_to_try[baud_i];
-			set_baudrate(_baudrate);
-			_Helper->reset();
-			time_before_configuration = hrt_absolute_time();
-		}
+
 
 		/* during configuration, the timeout should be small, so that we can send config messages in between parsing,
 		 * but during normal operation, it should never timeout because updates should arrive with 5Hz */
diff --git a/apps/drivers/gps/mtk.cpp b/apps/drivers/gps/mtk.cpp
new file mode 100644
index 000000000..555fb7a51
--- /dev/null
+++ b/apps/drivers/gps/mtk.cpp
@@ -0,0 +1,184 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler 
+ *           Julian Oes 
+ *
+ * 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 mkt.cpp */
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "mtk.h"
+
+
+MTK::MTK()
+{
+	decodeInit();
+}
+
+MTK::~MTK()
+{
+}
+
+void
+MTK::reset()
+{
+
+}
+
+void
+MTK::configure(const int &fd, bool &baudrate_changed, unsigned &baudrate)
+{
+	if (strlen(MTK_OUTPUT_5HZ) != write(fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ)))
+		warnx("mtk: config write failed");
+	usleep(10000);
+
+	if (strlen(MTK_SET_BINARY) != write(fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY)))
+		warnx("mtk: config write failed");
+	usleep(10000);
+
+	if (strlen(SBAS_ON) != write(fd, SBAS_ON, strlen(SBAS_ON)))
+		warnx("mtk: config write failed");
+	usleep(10000);
+
+	if (strlen(WAAS_ON) != write(fd, WAAS_ON, strlen(WAAS_ON)))
+		warnx("mtk: config write failed");
+	usleep(10000);
+
+	if (strlen(MTK_NAVTHRES_OFF) != write(fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF)))
+		warnx("mtk: config write failed");
+
+	return;
+}
+
+void
+MTK::decodeInit(void)
+{
+	_rx_ck_a = 0;
+	_rx_ck_b = 0;
+	_rx_count = 0;
+	_decode_state = MTK_DECODE_UNINIT;
+}
+
+void
+MTK::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_needed, bool &pos_updated)
+{
+	if (_decode_state == MTK_DECODE_UNINIT) {
+
+		if (b == 0xd0) {
+			_decode_state = MTK_DECODE_GOT_CK_A;
+			config_needed = false;
+		}
+
+	} else if (_decode_state == MTK_DECODE_GOT_CK_A) {
+		if (b == 0xdd) {
+			_decode_state = MTK_DECODE_GOT_CK_B;
+
+		} else {
+			// Second start symbol was wrong, reset state machine
+			decodeInit();
+		}
+
+	} else if (_decode_state == MTK_DECODE_GOT_CK_B) {
+		// Add to checksum
+		if (_rx_count < 33)
+			addByteToChecksum(b);
+
+		// Fill packet buffer
+		_rx_buffer[_rx_count] = b;
+		_rx_count++;
+
+		/* Packet size minus checksum */
+		if (_rx_count >= 35) {
+			type_gps_mtk_packet *packet = (type_gps_mtk_packet *) _rx_buffer;;
+
+			/* Check if checksum is valid */
+			if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
+				gps_position->lat = packet->latitude * 10; // from degrees*1e6 to degrees*1e7
+				gps_position->lon = packet->longitude * 10; // from degrees*1e6 to degrees*1e7
+				gps_position->alt = (int32_t)(packet->msl_altitude * 10); // from cm to mm
+				gps_position->fix_type = packet->fix_type;
+				gps_position->eph_m = packet->hdop;
+				gps_position->epv_m = 0.0; //unknown in mtk custom mode
+				gps_position->vel_m_s = ((float)packet->ground_speed)*1e-2f; // from cm/s to m/s
+				gps_position->cog_rad = ((float)packet->heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
+				gps_position->satellites_visible = packet->satellites;
+
+				/* convert time and date information to unix timestamp */
+				struct tm timeinfo; //TODO: test this conversion
+				uint32_t timeinfo_conversion_temp;
+
+				timeinfo.tm_mday = packet->date * 1e-4;
+				timeinfo_conversion_temp = packet->date - timeinfo.tm_mday * 1e4;
+				timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1;
+				timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100;
+
+				timeinfo.tm_hour = packet->utc_time * 1e-7;
+				timeinfo_conversion_temp = packet->utc_time - timeinfo.tm_hour * 1e7;
+				timeinfo.tm_min = timeinfo_conversion_temp * 1e-5;
+				timeinfo_conversion_temp -= timeinfo.tm_min * 1e5;
+				timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3;
+				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->timestamp_position = gps_position->timestamp_time = hrt_absolute_time();
+
+				pos_updated = true;
+
+
+			} else {
+				warnx("mtk Checksum invalid, 0x%x, 0x%x instead of 0x%x, 0x%x", _rx_ck_a, packet->ck_a, _rx_ck_b, packet->ck_b);
+			}
+
+			// Reset state machine to decode next packet
+			decodeInit();
+		}
+	}
+	return;
+}
+
+void
+MTK::addByteToChecksum(uint8_t b)
+{
+	_rx_ck_a = _rx_ck_a + b;
+	_rx_ck_b = _rx_ck_b + _rx_ck_a;
+}
diff --git a/apps/drivers/gps/mtk.h b/apps/drivers/gps/mtk.h
new file mode 100644
index 000000000..8929eb041
--- /dev/null
+++ b/apps/drivers/gps/mtk.h
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler 
+ *           Julian Oes 
+ *
+ * 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 mtk.h */
+
+#ifndef MTK_H_
+#define MTK_H_
+
+#include "gps_helper.h"
+
+#define MTK_SYNC1 0xd0
+#define MTK_SYNC2 0xdd
+
+#define MTK_OUTPUT_5HZ		"$PMTK220,200*2C\r\n"
+#define MTK_SET_BINARY		"$PGCMD,16,0,0,0,0,0*6A\r\n"
+#define SBAS_ON	        	"$PMTK313,1*2E\r\n"
+#define WAAS_ON				"$PMTK301,2*2E\r\n"
+#define MTK_NAVTHRES_OFF 	"$PMTK397,0*23\r\n"
+
+typedef enum {
+	MTK_DECODE_UNINIT = 0,
+	MTK_DECODE_GOT_CK_A = 1,
+	MTK_DECODE_GOT_CK_B = 2
+} mtk_decode_state_t;
+
+/** the structures of the binary packets */
+#pragma pack(push, 1)
+
+typedef struct {
+	uint8_t payload; ///< Number of payload bytes
+	int32_t latitude;  ///< Latitude in degrees * 10^7
+	int32_t longitude; ///< Longitude in degrees * 10^7
+	uint32_t msl_altitude;  ///< MSL altitude in meters * 10^2
+	uint32_t ground_speed; ///< FIXME SPEC UNCLEAR
+	int32_t heading;
+	uint8_t satellites;
+	uint8_t fix_type;
+	uint32_t date;
+	uint32_t utc_time;
+	uint16_t hdop;
+	uint8_t ck_a;
+	uint8_t ck_b;
+} type_gps_mtk_packet;
+
+#pragma pack(pop)
+
+#define MTK_RECV_BUFFER_SIZE 40
+
+class MTK : public GPS_Helper
+{
+public:
+	MTK();
+	~MTK();
+	void				reset(void);
+	void				configure(const int &fd, bool &baudrate_changed, unsigned &baudrate);
+	void 				parse(uint8_t, struct vehicle_gps_position_s*, bool &config_needed, bool &pos_updated);
+
+private:
+	/**
+	 * Reset the parse state machine for a fresh start
+	 */
+	void				decodeInit(void);
+
+	/**
+	 * While parsing add every byte (except the sync bytes) to the checksum
+	 */
+	void				addByteToChecksum(uint8_t);
+
+	mtk_decode_state_t _decode_state;
+	uint8_t				_rx_buffer[MTK_RECV_BUFFER_SIZE];
+	unsigned			_rx_count;
+	uint8_t 			_rx_ck_a;
+	uint8_t				_rx_ck_b;
+};
+
+#endif /* MTK_H_ */
-- 
cgit v1.2.3


From b620136af4f8de913fd12872a91a80f62861dc4c Mon Sep 17 00:00:00 2001
From: Julian Oes 
Date: Wed, 6 Feb 2013 22:58:52 -0800
Subject: Added support for MTK revision 19, working condition but
 configuration of MTK is very slow and needs improvement

---
 apps/drivers/gps/mtk.cpp | 25 +++++++++++++++++++------
 apps/drivers/gps/mtk.h   |  4 +++-
 2 files changed, 22 insertions(+), 7 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/gps/mtk.cpp b/apps/drivers/gps/mtk.cpp
index 555fb7a51..bed388c49 100644
--- a/apps/drivers/gps/mtk.cpp
+++ b/apps/drivers/gps/mtk.cpp
@@ -48,7 +48,8 @@
 #include "mtk.h"
 
 
-MTK::MTK()
+MTK::MTK() :
+_mtk_revision(0)
 {
 	decodeInit();
 }
@@ -102,13 +103,18 @@ MTK::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 {
 	if (_decode_state == MTK_DECODE_UNINIT) {
 
-		if (b == 0xd0) {
+		if (b == MTK_SYNC1_V16) {
 			_decode_state = MTK_DECODE_GOT_CK_A;
 			config_needed = false;
+			_mtk_revision = 16;
+		} else if (b == MTK_SYNC1_V19) {
+			_decode_state = MTK_DECODE_GOT_CK_A;
+			config_needed = false;
+			_mtk_revision = 19;
 		}
 
 	} else if (_decode_state == MTK_DECODE_GOT_CK_A) {
-		if (b == 0xdd) {
+		if (b == MTK_SYNC2) {
 			_decode_state = MTK_DECODE_GOT_CK_B;
 
 		} else {
@@ -131,11 +137,18 @@ MTK::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 
 			/* Check if checksum is valid */
 			if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
-				gps_position->lat = packet->latitude * 10; // from degrees*1e6 to degrees*1e7
-				gps_position->lon = packet->longitude * 10; // from degrees*1e6 to degrees*1e7
+				if (_mtk_revision == 16) {
+					gps_position->lat = packet->latitude * 10; // from degrees*1e6 to degrees*1e7
+					gps_position->lon = packet->longitude * 10; // from degrees*1e6 to degrees*1e7
+				} else if (_mtk_revision == 19) {
+					gps_position->lat = packet->latitude; // both degrees*1e7
+					gps_position->lon = packet->longitude; // both degrees*1e7
+				} else {
+					warnx("mtk: unknown revision");
+				}
 				gps_position->alt = (int32_t)(packet->msl_altitude * 10); // from cm to mm
 				gps_position->fix_type = packet->fix_type;
-				gps_position->eph_m = packet->hdop;
+				gps_position->eph_m = packet->hdop; // XXX: Check this because eph_m is in m and hdop is without unit
 				gps_position->epv_m = 0.0; //unknown in mtk custom mode
 				gps_position->vel_m_s = ((float)packet->ground_speed)*1e-2f; // from cm/s to m/s
 				gps_position->cog_rad = ((float)packet->heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
diff --git a/apps/drivers/gps/mtk.h b/apps/drivers/gps/mtk.h
index 8929eb041..7a4b4f197 100644
--- a/apps/drivers/gps/mtk.h
+++ b/apps/drivers/gps/mtk.h
@@ -40,7 +40,8 @@
 
 #include "gps_helper.h"
 
-#define MTK_SYNC1 0xd0
+#define MTK_SYNC1_V16 0xd0
+#define MTK_SYNC1_V19 0xd1
 #define MTK_SYNC2 0xdd
 
 #define MTK_OUTPUT_5HZ		"$PMTK220,200*2C\r\n"
@@ -99,6 +100,7 @@ private:
 	void				addByteToChecksum(uint8_t);
 
 	mtk_decode_state_t _decode_state;
+	uint8_t				_mtk_revision;
 	uint8_t				_rx_buffer[MTK_RECV_BUFFER_SIZE];
 	unsigned			_rx_count;
 	uint8_t 			_rx_ck_a;
-- 
cgit v1.2.3


From d36eb8a3fcce358409a7205bbd75576a447ac7b4 Mon Sep 17 00:00:00 2001
From: Julian Oes 
Date: Wed, 6 Feb 2013 23:25:09 -0800
Subject: Sped up MTK configuration but the detection time can still be
 improved: timeouts/usleeps

---
 apps/drivers/gps/mtk.cpp | 34 ++++++++++++++++++++--------------
 apps/drivers/gps/mtk.h   |  3 ++-
 2 files changed, 22 insertions(+), 15 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/gps/mtk.cpp b/apps/drivers/gps/mtk.cpp
index bed388c49..026b0660b 100644
--- a/apps/drivers/gps/mtk.cpp
+++ b/apps/drivers/gps/mtk.cpp
@@ -49,6 +49,7 @@
 
 
 MTK::MTK() :
+_config_sent(false),
 _mtk_revision(0)
 {
 	decodeInit();
@@ -67,24 +68,29 @@ MTK::reset()
 void
 MTK::configure(const int &fd, bool &baudrate_changed, unsigned &baudrate)
 {
-	if (strlen(MTK_OUTPUT_5HZ) != write(fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ)))
-		warnx("mtk: config write failed");
-	usleep(10000);
+	if (_config_sent == false) {
 
-	if (strlen(MTK_SET_BINARY) != write(fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY)))
-		warnx("mtk: config write failed");
-	usleep(10000);
+		if (strlen(MTK_OUTPUT_5HZ) != write(fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ)))
+			warnx("mtk: config write failed");
+		usleep(10000);
 
-	if (strlen(SBAS_ON) != write(fd, SBAS_ON, strlen(SBAS_ON)))
-		warnx("mtk: config write failed");
-	usleep(10000);
+		if (strlen(MTK_SET_BINARY) != write(fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY)))
+			warnx("mtk: config write failed");
+		usleep(10000);
 
-	if (strlen(WAAS_ON) != write(fd, WAAS_ON, strlen(WAAS_ON)))
-		warnx("mtk: config write failed");
-	usleep(10000);
+		if (strlen(SBAS_ON) != write(fd, SBAS_ON, strlen(SBAS_ON)))
+			warnx("mtk: config write failed");
+		usleep(10000);
 
-	if (strlen(MTK_NAVTHRES_OFF) != write(fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF)))
-		warnx("mtk: config write failed");
+		if (strlen(WAAS_ON) != write(fd, WAAS_ON, strlen(WAAS_ON)))
+			warnx("mtk: config write failed");
+		usleep(10000);
+
+		if (strlen(MTK_NAVTHRES_OFF) != write(fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF)))
+			warnx("mtk: config write failed");
+
+		_config_sent = true;
+	}
 
 	return;
 }
diff --git a/apps/drivers/gps/mtk.h b/apps/drivers/gps/mtk.h
index 7a4b4f197..e43637195 100644
--- a/apps/drivers/gps/mtk.h
+++ b/apps/drivers/gps/mtk.h
@@ -99,7 +99,8 @@ private:
 	 */
 	void				addByteToChecksum(uint8_t);
 
-	mtk_decode_state_t _decode_state;
+	mtk_decode_state_t	_decode_state;
+	bool				_config_sent;
 	uint8_t				_mtk_revision;
 	uint8_t				_rx_buffer[MTK_RECV_BUFFER_SIZE];
 	unsigned			_rx_count;
-- 
cgit v1.2.3


From 5f52d3dc7fe8dee773eb67cb2541ef1d061478e6 Mon Sep 17 00:00:00 2001
From: px4dev 
Date: Sun, 3 Feb 2013 19:19:57 -0800
Subject: lib_lowprintf -> lowsyslog

---
 apps/px4io/mixer.cpp                      | 4 ++--
 apps/systemlib/mixer/mixer_group.cpp      | 2 +-
 apps/systemlib/mixer/mixer_multirotor.cpp | 6 +++---
 3 files changed, 6 insertions(+), 6 deletions(-)

(limited to 'apps')

diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp
index c24cb8e52..8e00781a0 100644
--- a/apps/px4io/mixer.cpp
+++ b/apps/px4io/mixer.cpp
@@ -144,7 +144,7 @@ mixer_tick(void)
 				rc_channel_data[THROTTLE] = 1000;
 			}
 			
-			// lib_lowprintf("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
+			// lowsyslog("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
 			// 	(int)(system_state.rc_min[THROTTLE]), (int)(system_state.rc_trim[THROTTLE]),
 			// 	(int)(system_state.rc_max[THROTTLE]), (int)(rc_channel_data[THROTTLE]));
 
@@ -156,7 +156,7 @@ mixer_tick(void)
 			// XXX builtin failsafe would activate here
 			control_count = 0;
 		}
-		//lib_lowprintf("R: %d P: %d Y: %d T: %d \n", control_values[0], control_values[1], control_values[2], control_values[3]);
+		//lowsyslog("R: %d P: %d Y: %d T: %d \n", control_values[0], control_values[1], control_values[2], control_values[3]);
 
 	/* this is for multicopters, etc. where manual override does not make sense */
 	} else {
diff --git a/apps/systemlib/mixer/mixer_group.cpp b/apps/systemlib/mixer/mixer_group.cpp
index 25d19f9ad..60eeff225 100644
--- a/apps/systemlib/mixer/mixer_group.cpp
+++ b/apps/systemlib/mixer/mixer_group.cpp
@@ -56,7 +56,7 @@
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
 //#include 
-//#define debug(fmt, args...)	lib_lowprintf(fmt "\n", ##args)
+//#define debug(fmt, args...)	lowsyslog(fmt "\n", ##args)
 
 MixerGroup::MixerGroup(ControlCallback control_cb, uintptr_t cb_handle) :
 	Mixer(control_cb, cb_handle),
diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp
index f6e91b1bf..4b9cfc023 100644
--- a/apps/systemlib/mixer/mixer_multirotor.cpp
+++ b/apps/systemlib/mixer/mixer_multirotor.cpp
@@ -57,7 +57,7 @@
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
 //#include 
-//#define debug(fmt, args...)	lib_lowprintf(fmt "\n", ##args)
+//#define debug(fmt, args...)	lowsyslog(fmt "\n", ##args)
 
 /*
  * Clockwise: 1
@@ -217,11 +217,11 @@ unsigned
 MultirotorMixer::mix(float *outputs, unsigned space)
 {
 	float		roll    = get_control(0, 0) * _roll_scale;
-	//lib_lowprintf("roll: %d, get_control0: %d, %d\n", (int)(roll), (int)(get_control(0, 0)), (int)(_roll_scale));
+	//lowsyslog("roll: %d, get_control0: %d, %d\n", (int)(roll), (int)(get_control(0, 0)), (int)(_roll_scale));
 	float		pitch   = get_control(0, 1) * _pitch_scale;
 	float		yaw     = get_control(0, 2) * _yaw_scale;
 	float		thrust  = get_control(0, 3);
-	//lib_lowprintf("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
+	//lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
 	float		max     = 0.0f;
 	float		fixup_scale;
 
-- 
cgit v1.2.3


From 8cb583cf8031f4e7db77e1b88ea164e7ff5994c9 Mon Sep 17 00:00:00 2001
From: px4dev 
Date: Wed, 6 Feb 2013 23:50:55 -0800
Subject: Assorted compile fixes.

---
 apps/drivers/boards/px4fmu/px4fmu_init.c | 4 ++--
 apps/px4/tests/tests.h                   | 4 ++--
 apps/px4io/px4io.c                       | 4 ++--
 apps/px4io/px4io.h                       | 2 +-
 apps/systemlib/err.c                     | 8 ++++----
 nuttx/include/nuttx/serial/serial.h      | 3 ---
 6 files changed, 11 insertions(+), 14 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c
index e88d2861e..9960c6bbd 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_init.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_init.c
@@ -79,13 +79,13 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lib_lowprintf(__VA_ARGS__)
+#    define message(...) lowsyslog(__VA_ARGS__)
 #  else
 #    define message(...) printf(__VA_ARGS__)
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lib_lowprintf
+#    define message lowsyslog
 #  else
 #    define message printf
 #  endif
diff --git a/apps/px4/tests/tests.h b/apps/px4/tests/tests.h
index cc3f5493a..c02ea6808 100644
--- a/apps/px4/tests/tests.h
+++ b/apps/px4/tests/tests.h
@@ -48,7 +48,7 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lib_rawprintf(__VA_ARGS__)
+#    define message(...) lowsyslog(__VA_ARGS__)
 #    define msgflush()
 #  else
 #    define message(...) printf(__VA_ARGS__)
@@ -56,7 +56,7 @@
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lib_rawprintf
+#    define message lowsyslog
 #    define msgflush()
 #  else
 #    define message printf
diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c
index bea9d59bc..88342816e 100644
--- a/apps/px4io/px4io.c
+++ b/apps/px4io/px4io.c
@@ -73,7 +73,7 @@ int user_start(int argc, char *argv[])
 	hrt_init();
 
 	/* print some startup info */
-	lib_lowprintf("\nPX4IO: starting\n");
+	lowsyslog("\nPX4IO: starting\n");
 
 	/* default all the LEDs to off while we start */
 	LED_AMBER(false);
@@ -98,7 +98,7 @@ int user_start(int argc, char *argv[])
 
 
 	struct mallinfo minfo = mallinfo();
-	lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
+	lowsyslog("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
 
 	/* we're done here, go run the communications loop */
 	comms_main();
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
index e388f65e3..3ce6afc31 100644
--- a/apps/px4io/px4io.h
+++ b/apps/px4io/px4io.h
@@ -58,7 +58,7 @@
 
 #ifdef DEBUG
 # include 
-# define debug(fmt, args...)	lib_lowprintf(fmt "\n", ##args)
+# define debug(fmt, args...)	lowsyslog(fmt "\n", ##args)
 #else
 # define debug(fmt, args...)	do {} while(0)
 #endif
diff --git a/apps/systemlib/err.c b/apps/systemlib/err.c
index 3011743a1..daf17ef8b 100644
--- a/apps/systemlib/err.c
+++ b/apps/systemlib/err.c
@@ -85,17 +85,17 @@ warnerr_core(int errcode, const char *fmt, va_list args)
 
 	fprintf(stderr, "\n");
 #elif CONFIG_ARCH_LOWPUTC
-	lib_lowprintf("%s: ", getprogname());
-	lib_lowvprintf(fmt, args);
+	lowsyslog("%s: ", getprogname());
+	lowvyslog(fmt, args);
 
 	/* convenience as many parts of NuttX use negative errno */
 	if (errcode < 0)
 		errcode = -errcode;
 
 	if (errcode < NOCODE)
-		lib_lowprintf(": %s", strerror(errcode));
+		lowsyslog(": %s", strerror(errcode));
 
-	lib_lowprintf("\n");
+	lowsyslog("\n");
 #endif
 }
 
diff --git a/nuttx/include/nuttx/serial/serial.h b/nuttx/include/nuttx/serial/serial.h
index d72038e17..4ee2005ef 100644
--- a/nuttx/include/nuttx/serial/serial.h
+++ b/nuttx/include/nuttx/serial/serial.h
@@ -220,7 +220,6 @@ struct uart_dev_s
 #ifndef CONFIG_DISABLE_POLL
   struct pollfd *fds[CONFIG_SERIAL_NPOLLWAITERS];
 #endif
-<<<<<<< HEAD
 
   /* Terminal control flags */
 
@@ -230,8 +229,6 @@ struct uart_dev_s
   tcflag_t  tc_lflag;        /* Local modes */
 #endif
 
-=======
->>>>>>> 049c93446561c6ad3e59183c139f3916230ddee5
 };
 
 typedef struct uart_dev_s uart_dev_t;
-- 
cgit v1.2.3


From a88b9f4eefe8315cb692779dd300400d8052eb44 Mon Sep 17 00:00:00 2001
From: Julian Oes 
Date: Thu, 7 Feb 2013 14:48:00 -0800
Subject: Restructered the parsing/configuring, MTK working

---
 apps/drivers/gps/gps.cpp        | 243 ++++++++--------------------------------
 apps/drivers/gps/gps_helper.cpp |  90 +++++++++++++++
 apps/drivers/gps/gps_helper.h   |  11 +-
 apps/drivers/gps/mtk.cpp        | 238 ++++++++++++++++++++++++---------------
 apps/drivers/gps/mtk.h          |  35 ++++--
 5 files changed, 314 insertions(+), 303 deletions(-)
 create mode 100644 apps/drivers/gps/gps_helper.cpp

(limited to 'apps')

diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index c749e8b7f..76b5f4533 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -53,7 +53,6 @@
 #include 
 #include 
 #include 
-#include 
 #include 
 
 #include 
@@ -71,7 +70,7 @@
 
 #include 
 
-#include "ubx.h"
+//#include "ubx.h"
 #include "mtk.h"
 
 #define SEND_BUFFER_LENGTH 100
@@ -113,10 +112,8 @@ private:
 	int				_serial_fd;					///< serial interface to GPS
 	unsigned			_baudrate;					///< current baudrate
 	char				_port[20];					///< device / serial port path
-	const unsigned			_baudrates_to_try[NUMBER_OF_TRIES];		///< try different baudrates that GPS could be set to
-	const gps_driver_mode_t	_modes_to_try[NUMBER_OF_TRIES];			///< try different modes
 	volatile int			_task;						//< worker task
-	bool				_config_needed;					///< flag to signal that configuration of GPS is needed
+	bool				_healthy;					///< flag to signal if the GPS is ok
 	bool 				_baudrate_changed;				///< flag to signal that the baudrate with the GPS has changed
 	bool				_mode_changed;					///< flag that the GPS mode has changed
 	gps_driver_mode_t		_mode;						///< current mode
@@ -171,11 +168,9 @@ GPS	*g_dev;
 GPS::GPS(const char* uart_path) :
 	CDev("gps", GPS_DEVICE_PATH),
 	_task_should_exit(false),
-	_baudrates_to_try({9600, 38400, 57600, 115200, 38400}),
-	_modes_to_try({GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_MTK}),
-	_config_needed(true),
-	_baudrate_changed(false),
+	_healthy(false),
 	_mode_changed(false),
+	_mode(GPS_DRIVER_MODE_MTK),
 	_Helper(nullptr),
 	_report_pub(-1),
 	_rate(0.0f)
@@ -250,20 +245,6 @@ GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
 	return ret;
 }
 
-void
-GPS::config()
-{
-	_Helper->configure(_serial_fd, _baudrate_changed, _baudrate);
-
-	/* Sometimes the baudrate needs to be changed, for instance UBX with factory settings are changed
-	 * from 9600 to 38400
-	 */
-	if (_baudrate_changed) {
-		set_baudrate(_baudrate);
-		_baudrate_changed = false;
-	}
-}
-
 void
 GPS::task_main_trampoline(void *arg)
 {
@@ -276,10 +257,7 @@ GPS::task_main()
 	log("starting");
 
 	/* open the serial port */
-	_serial_fd = ::open(_port, O_RDWR); //TODO make the device dynamic depending on startup parameters
-
-	/* buffer to read from the serial port */
-	uint8_t buf[32];
+	_serial_fd = ::open(_port, O_RDWR);
 
 	if (_serial_fd < 0) {
 		log("failed to open serial port: %s err: %d", _port, errno);
@@ -288,151 +266,65 @@ GPS::task_main()
 		_exit(1);
 	}
 
-	/* poll descriptor */
-	pollfd fds[1];
-	fds[0].fd = _serial_fd;
-	fds[0].events = POLLIN;
-
-	/* lock against the ioctl handler */
-	lock();
-
-	unsigned try_i = 0;
-	_baudrate = _baudrates_to_try[try_i];
-	_mode = _modes_to_try[try_i];
-	_mode_changed = true;
-	set_baudrate(_baudrate);
-
-	uint64_t time_before_configuration = hrt_absolute_time();
-
 	uint64_t last_rate_measurement = hrt_absolute_time();
 	unsigned last_rate_count = 0;
 
-	bool pos_updated;
-	bool config_needed_res;
-
 	/* loop handling received serial bytes and also configuring in between */
 	while (!_task_should_exit) {
 
-		/* If a configuration does not finish in the config timeout, change the baudrate */
-		if (_config_needed && time_before_configuration + CONFIG_TIMEOUT < hrt_absolute_time()) {
-			/* loop through possible modes/baudrates */
-			try_i = (try_i + 1) % NUMBER_OF_TRIES;
-			_baudrate = _baudrates_to_try[try_i];
-			set_baudrate(_baudrate);
-			if (_mode != _modes_to_try[try_i]) {
-				_mode_changed = true;
-			}
-			_mode = _modes_to_try[try_i];
-
-			if (_Helper != nullptr) {
-				_Helper->reset();
-			}
-			time_before_configuration = hrt_absolute_time();
+		if (_Helper != nullptr) {
+			delete(_Helper);
+			/* set to zero to ensure parser is not used while not instantiated */
+			_Helper = nullptr;
 		}
 
-		if (_mode_changed) {
-			if (_Helper != nullptr) {
-				delete(_Helper);
-				/* set to zero to ensure parser is not used while not instantiated */
-				_Helper = nullptr;
-			}
-
-			switch (_mode) {
-			case GPS_DRIVER_MODE_UBX:
-				_Helper = new UBX();
-				break;
+		switch (_mode) {
+//			case GPS_DRIVER_MODE_UBX:
+//				_Helper = new UBX();
+//				break;
 			case GPS_DRIVER_MODE_MTK:
+				printf("try new mtk\n");
 				_Helper = new MTK();
 				break;
 			case GPS_DRIVER_MODE_NMEA:
-				//_Helper = new NMEA();
+				//_Helper = new NMEA(); //TODO: add NMEA
 				break;
 			default:
 				break;
-			}
-			_mode_changed = false;
 		}
-
-
-
-		/* during configuration, the timeout should be small, so that we can send config messages in between parsing,
-		 * but during normal operation, it should never timeout because updates should arrive with 5Hz */
-		int poll_timeout;
-		if (_config_needed) {
-			poll_timeout = 50;
-		} else {
-			poll_timeout = 400;
-		}
-		/* sleep waiting for data, but no more than the poll timeout */
+		// XXX unlock/lock makes sense?
 		unlock();
-		int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), poll_timeout);
-		lock();
+		if (_Helper->configure(_serial_fd, _baudrate) == 0) {
+
+			while (_Helper->receive(_serial_fd, _report) > 0 && !_task_should_exit) {
+				/* opportunistic publishing - else invalid data would end up on the bus */
+				if (_report_pub > 0) {
+					orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+				} else {
+					_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+				}
 
+				last_rate_count++;
 
-		/* this would be bad... */
-		if (ret < 0) {
-			log("poll error %d", errno);
-		} else if (ret == 0) {
-			/* no response from the GPS */
-			if (_config_needed == false) {
-				_config_needed = true;
-				warnx("GPS module timeout");
-				_Helper->reset();
-			}
-			config();
-		} else if (ret > 0) {
-			/* if we have new data from GPS, go handle it */
-			if (fds[0].revents & POLLIN) {
-				int count;
-
-				/*
-				 * We are here because poll says there is some data, so this
-				 * won't block even on a blocking device.  If more bytes are
-				 * available, we'll go back to poll() again...
-				 */
-				count = ::read(_serial_fd, buf, sizeof(buf));
-
-				/* pass received bytes to the packet decoder */
-				int j;
-				for (j = 0; j < count; j++) {
-					pos_updated = false;
-					config_needed_res = _config_needed;
-					_Helper->parse(buf[j], &_report, config_needed_res, pos_updated);
-
-					if (pos_updated) {
-						/* opportunistic publishing - else invalid data would end up on the bus */
-						if (_report_pub > 0) {
-							orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
-						} else {
-							_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
-						}
-						last_rate_count++;
-
-						/* measure update rate every 5 seconds */
-						if (hrt_absolute_time() - last_rate_measurement > 5000000) {
-							_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
-							last_rate_measurement = hrt_absolute_time();
-							last_rate_count = 0;
-						}
-
-					}
-					if (config_needed_res == true && _config_needed == false) {
-						/* the parser told us that an error happened and reconfiguration is needed */
-						_config_needed = true;
-						warnx("GPS module lost");
-						_Helper->reset();
-						config();
-					} else if (config_needed_res == true && _config_needed == true) {
-						/* we are still configuring */
-						config();
-					} else if (config_needed_res == false && _config_needed == true) {
-						/* the parser is happy, stop configuring */
-						warnx("GPS module found");
-						_config_needed = false;
-					}
+				/* measure update rate every 5 seconds */
+				if (hrt_absolute_time() - last_rate_measurement > 5000000) {
+					_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
+					last_rate_measurement = hrt_absolute_time();
+					last_rate_count = 0;
+				}
+
+				if (!_healthy) {
+					warnx("module found");
+					_healthy = true;
 				}
 			}
+			if (_healthy) {
+				warnx("module lost");
+				_healthy = false;
+				_rate = 0.0f;
+			}
 		}
+		lock();
 	}
 	debug("exiting");
 
@@ -443,59 +335,12 @@ GPS::task_main()
 	_exit(0);
 }
 
-int
-GPS::set_baudrate(unsigned baud)
-{
-	/* process baud rate */
-	int speed;
-
-	switch (baud) {
-	case 9600:   speed = B9600;   break;
-
-	case 19200:  speed = B19200;  break;
 
-	case 38400:  speed = B38400;  break;
-
-	case 57600:  speed = B57600;  break;
-
-	case 115200: speed = B115200; break;
-
-	default:
-		warnx("ERROR: Unsupported baudrate: %d\n", baud);
-		return -EINVAL;
-	}
-	struct termios uart_config;
-	int termios_state;
-
-	/* fill the struct for the new configuration */
-	tcgetattr(_serial_fd, &uart_config);
-
-	/* clear ONLCR flag (which appends a CR for every LF) */
-	uart_config.c_oflag &= ~ONLCR;
-	/* no parity, one stop bit */
-	uart_config.c_cflag &= ~(CSTOPB | PARENB);
-
-	/* set baud rate */
-	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
-		warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state);
-		return -1;
-	}
-	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
-		warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state);
-		return -1;
-	}
-	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
-		warnx("ERROR setting baudrate (tcsetattr)\n");
-		return -1;
-	}
-	/* XXX if resetting the parser here, ensure it does exist (check for null pointer) */
-	return 0;
-}
 
 void
 GPS::cmd_reset()
 {
-	_config_needed = true;
+	//XXX add reset?
 }
 
 void
@@ -514,7 +359,7 @@ GPS::print_info()
 		default:
 			break;
 	}
-	warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_config_needed) ? "NOT OK" : "OK");
+	warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
 	if (_report.timestamp_position != 0) {
 		warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
 			(double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f));
diff --git a/apps/drivers/gps/gps_helper.cpp b/apps/drivers/gps/gps_helper.cpp
new file mode 100644
index 000000000..2caa82af1
--- /dev/null
+++ b/apps/drivers/gps/gps_helper.cpp
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler 
+ *           Julian Oes 
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#include 
+#include 
+#include 
+#include "gps_helper.h"
+
+/* @file gps_helper.cpp */
+
+int
+GPS_Helper::set_baudrate(const int &fd, unsigned baud)
+{
+	/* process baud rate */
+	int speed;
+
+	switch (baud) {
+	case 9600:   speed = B9600;   break;
+
+	case 19200:  speed = B19200;  break;
+
+	case 38400:  speed = B38400;  break;
+
+	case 57600:  speed = B57600;  break;
+
+	case 115200: speed = B115200; break;
+
+	default:
+		warnx("ERROR: Unsupported baudrate: %d\n", baud);
+		return -EINVAL;
+	}
+	struct termios uart_config;
+	int termios_state;
+
+	/* fill the struct for the new configuration */
+	tcgetattr(fd, &uart_config);
+
+	/* clear ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag &= ~ONLCR;
+	/* no parity, one stop bit */
+	uart_config.c_cflag &= ~(CSTOPB | PARENB);
+
+	/* set baud rate */
+	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
+		warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state);
+		return -1;
+	}
+	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
+		warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state);
+		return -1;
+	}
+	if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
+		warnx("ERROR setting baudrate (tcsetattr)\n");
+		return -1;
+	}
+	/* XXX if resetting the parser here, ensure it does exist (check for null pointer) */
+	return 0;
+}
diff --git a/apps/drivers/gps/gps_helper.h b/apps/drivers/gps/gps_helper.h
index 576692c2a..537ca819c 100644
--- a/apps/drivers/gps/gps_helper.h
+++ b/apps/drivers/gps/gps_helper.h
@@ -33,17 +33,20 @@
  *
  ****************************************************************************/
 
-/* @file U-Blox protocol definitions */
+/* @file gps_helper.h */
 
 #ifndef GPS_HELPER_H
 #define GPS_HELPER_H
 
+#include 
+#include 
+
 class GPS_Helper
 {
 public:
-	virtual void			reset(void) = 0;
-	virtual void			configure(const int &fd, bool &baudrate_changed, unsigned &baudrate) = 0;
-	virtual void 			parse(uint8_t, struct vehicle_gps_position_s*, bool &config_needed, bool &pos_updated) = 0;
+	virtual int				configure(const int &fd, unsigned &baud) = 0;
+	virtual int 			receive(const int &fd, struct vehicle_gps_position_s &gps_position) = 0;
+	int 					set_baudrate(const int &fd, unsigned baud);
 };
 
 #endif /* GPS_HELPER_H */
diff --git a/apps/drivers/gps/mtk.cpp b/apps/drivers/gps/mtk.cpp
index 026b0660b..4ccbbfbe4 100644
--- a/apps/drivers/gps/mtk.cpp
+++ b/apps/drivers/gps/mtk.cpp
@@ -37,85 +37,143 @@
 
 #include 
 #include 
+#include 
 #include 
 #include 
 #include 
 #include 
-#include 
-#include 
 #include 
 
 #include "mtk.h"
 
 
 MTK::MTK() :
-_config_sent(false),
 _mtk_revision(0)
 {
-	decodeInit();
+	decode_init();
 }
 
 MTK::~MTK()
 {
 }
 
-void
-MTK::reset()
+int
+MTK::configure(const int &fd, unsigned &baudrate)
 {
+	/* set baudrate first */
+	if (GPS_Helper::set_baudrate(fd, MTK_BAUDRATE) != 0)
+		return -1;
 
-}
+	baudrate = MTK_BAUDRATE;
 
-void
-MTK::configure(const int &fd, bool &baudrate_changed, unsigned &baudrate)
-{
-	if (_config_sent == false) {
+	/* 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;
+	}
+	usleep(10000);
 
-		if (strlen(MTK_OUTPUT_5HZ) != write(fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ)))
-			warnx("mtk: config write failed");
-		usleep(10000);
+	if (strlen(MTK_SET_BINARY) != write(fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) {
+		warnx("mtk: config write failed");
+		return -1;
+	}
+	usleep(10000);
 
-		if (strlen(MTK_SET_BINARY) != write(fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY)))
-			warnx("mtk: config write failed");
-		usleep(10000);
+	if (strlen(SBAS_ON) != write(fd, SBAS_ON, strlen(SBAS_ON))) {
+		warnx("mtk: config write failed");
+		return -1;
+	}
+	usleep(10000);
 
-		if (strlen(SBAS_ON) != write(fd, SBAS_ON, strlen(SBAS_ON)))
-			warnx("mtk: config write failed");
-		usleep(10000);
+	if (strlen(WAAS_ON) != write(fd, WAAS_ON, strlen(WAAS_ON))) {
+		warnx("mtk: config write failed");
+		return -1;
+	}
+	usleep(10000);
 
-		if (strlen(WAAS_ON) != write(fd, WAAS_ON, strlen(WAAS_ON)))
-			warnx("mtk: config write failed");
-		usleep(10000);
+	if (strlen(MTK_NAVTHRES_OFF) != write(fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) {
+		warnx("mtk: config write failed");
+		return -1;
+	}
 
-		if (strlen(MTK_NAVTHRES_OFF) != write(fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF)))
-			warnx("mtk: config write failed");
+	return 0;
+}
 
-		_config_sent = true;
-	}
+int
+MTK::receive(const int &fd, struct vehicle_gps_position_s &gps_position)
+{
+	/* poll descriptor */
+	pollfd fds[1];
+	fds[0].fd = fd;
+	fds[0].events = POLLIN;
+
+	uint8_t buf[32];
+	gps_mtk_packet_t packet;
+
+	int j = 0;
+	ssize_t count = 0;
+
+	while (true) {
+
+		/* first read whatever is left */
+		if (j < count) {
+			/* pass received bytes to the packet decoder */
+			while (j < count) {
+				if (parse_char(buf[j], packet) > 0) {
+					handle_message(packet, gps_position);
+					return 1;
+				}
+				j++;
+			}
+			/* everything is read */
+			j = count = 0;
+		}
 
-	return;
+		/* then poll for new data */
+		int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), MTK_TIMEOUT_5HZ);
+
+		if (ret < 0) {
+			/* something went wrong when polling */
+			return -1;
+
+		} else if (ret == 0) {
+			/* Timeout */
+			return -1;
+
+		} else if (ret > 0) {
+			/* if we have new data from GPS, go handle it */
+			if (fds[0].revents & POLLIN) {
+				/*
+				 * We are here because poll says there is some data, so this
+				 * won't block even on a blocking device.  If more bytes are
+				 * available, we'll go back to poll() again...
+				 */
+				count = ::read(fd, buf, sizeof(buf));
+			}
+		}
+	}
 }
 
 void
-MTK::decodeInit(void)
+MTK::decode_init(void)
 {
 	_rx_ck_a = 0;
 	_rx_ck_b = 0;
 	_rx_count = 0;
 	_decode_state = MTK_DECODE_UNINIT;
 }
-
-void
-MTK::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_needed, bool &pos_updated)
+int
+MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet)
 {
+	int ret = 0;
+
 	if (_decode_state == MTK_DECODE_UNINIT) {
 
 		if (b == MTK_SYNC1_V16) {
 			_decode_state = MTK_DECODE_GOT_CK_A;
-			config_needed = false;
 			_mtk_revision = 16;
 		} else if (b == MTK_SYNC1_V19) {
 			_decode_state = MTK_DECODE_GOT_CK_A;
-			config_needed = false;
 			_mtk_revision = 19;
 		}
 
@@ -125,78 +183,82 @@ MTK::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 
 		} else {
 			// Second start symbol was wrong, reset state machine
-			decodeInit();
+			decode_init();
 		}
 
 	} else if (_decode_state == MTK_DECODE_GOT_CK_B) {
 		// Add to checksum
 		if (_rx_count < 33)
-			addByteToChecksum(b);
+			add_byte_to_checksum(b);
 
 		// Fill packet buffer
-		_rx_buffer[_rx_count] = b;
+		((uint8_t*)(&packet))[_rx_count] = b;
 		_rx_count++;
 
-		/* Packet size minus checksum */
-		if (_rx_count >= 35) {
-			type_gps_mtk_packet *packet = (type_gps_mtk_packet *) _rx_buffer;;
-
-			/* Check if checksum is valid */
-			if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
-				if (_mtk_revision == 16) {
-					gps_position->lat = packet->latitude * 10; // from degrees*1e6 to degrees*1e7
-					gps_position->lon = packet->longitude * 10; // from degrees*1e6 to degrees*1e7
-				} else if (_mtk_revision == 19) {
-					gps_position->lat = packet->latitude; // both degrees*1e7
-					gps_position->lon = packet->longitude; // both degrees*1e7
-				} else {
-					warnx("mtk: unknown revision");
-				}
-				gps_position->alt = (int32_t)(packet->msl_altitude * 10); // from cm to mm
-				gps_position->fix_type = packet->fix_type;
-				gps_position->eph_m = packet->hdop; // XXX: Check this because eph_m is in m and hdop is without unit
-				gps_position->epv_m = 0.0; //unknown in mtk custom mode
-				gps_position->vel_m_s = ((float)packet->ground_speed)*1e-2f; // from cm/s to m/s
-				gps_position->cog_rad = ((float)packet->heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
-				gps_position->satellites_visible = packet->satellites;
-
-				/* convert time and date information to unix timestamp */
-				struct tm timeinfo; //TODO: test this conversion
-				uint32_t timeinfo_conversion_temp;
-
-				timeinfo.tm_mday = packet->date * 1e-4;
-				timeinfo_conversion_temp = packet->date - timeinfo.tm_mday * 1e4;
-				timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1;
-				timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100;
-
-				timeinfo.tm_hour = packet->utc_time * 1e-7;
-				timeinfo_conversion_temp = packet->utc_time - timeinfo.tm_hour * 1e7;
-				timeinfo.tm_min = timeinfo_conversion_temp * 1e-5;
-				timeinfo_conversion_temp -= timeinfo.tm_min * 1e5;
-				timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3;
-				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->timestamp_position = gps_position->timestamp_time = hrt_absolute_time();
-
-				pos_updated = true;
-
-
+		/* Packet size minus checksum, XXX ? */
+		if (_rx_count >= sizeof(packet)) {
+			/* Compare checksum */
+			if (_rx_ck_a == packet.ck_a && _rx_ck_b == packet.ck_b) {
+				ret = 1;
 			} else {
-				warnx("mtk Checksum invalid, 0x%x, 0x%x instead of 0x%x, 0x%x", _rx_ck_a, packet->ck_a, _rx_ck_b, packet->ck_b);
+				warnx("MTK Checksum invalid");
+				ret = -1;
 			}
-
 			// Reset state machine to decode next packet
-			decodeInit();
+			decode_init();
 		}
 	}
+	return ret;
+}
+
+void
+MTK::handle_message(gps_mtk_packet_t &packet, struct vehicle_gps_position_s &gps_position)
+{
+	if (_mtk_revision == 16) {
+		gps_position.lat = packet.latitude * 10; // from degrees*1e6 to degrees*1e7
+		gps_position.lon = packet.longitude * 10; // from degrees*1e6 to degrees*1e7
+	} else if (_mtk_revision == 19) {
+		gps_position.lat = packet.latitude; // both degrees*1e7
+		gps_position.lon = packet.longitude; // both degrees*1e7
+	} else {
+		warnx("mtk: unknown revision");
+		gps_position.lat = 0;
+		gps_position.lon = 0;
+	}
+	gps_position.alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
+	gps_position.fix_type = packet.fix_type;
+	gps_position.eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit
+	gps_position.epv_m = 0.0; //unknown in mtk custom mode
+	gps_position.vel_m_s = ((float)packet.ground_speed)*1e-2f; // from cm/s to m/s
+	gps_position.cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
+	gps_position.satellites_visible = packet.satellites;
+
+	/* convert time and date information to unix timestamp */
+	struct tm timeinfo; //TODO: test this conversion
+	uint32_t timeinfo_conversion_temp;
+
+	timeinfo.tm_mday = packet.date * 1e-4;
+	timeinfo_conversion_temp = packet.date - timeinfo.tm_mday * 1e4;
+	timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1;
+	timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100;
+
+	timeinfo.tm_hour = packet.utc_time * 1e-7;
+	timeinfo_conversion_temp = packet.utc_time - timeinfo.tm_hour * 1e7;
+	timeinfo.tm_min = timeinfo_conversion_temp * 1e-5;
+	timeinfo_conversion_temp -= timeinfo.tm_min * 1e5;
+	timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3;
+	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.timestamp_position = gps_position.timestamp_time = hrt_absolute_time();
+
 	return;
 }
 
 void
-MTK::addByteToChecksum(uint8_t b)
+MTK::add_byte_to_checksum(uint8_t b)
 {
 	_rx_ck_a = _rx_ck_a + b;
 	_rx_ck_b = _rx_ck_b + _rx_ck_a;
diff --git a/apps/drivers/gps/mtk.h b/apps/drivers/gps/mtk.h
index e43637195..39063beab 100644
--- a/apps/drivers/gps/mtk.h
+++ b/apps/drivers/gps/mtk.h
@@ -50,6 +50,9 @@
 #define WAAS_ON				"$PMTK301,2*2E\r\n"
 #define MTK_NAVTHRES_OFF 	"$PMTK397,0*23\r\n"
 
+#define MTK_TIMEOUT_5HZ 400
+#define MTK_BAUDRATE 38400
+
 typedef enum {
 	MTK_DECODE_UNINIT = 0,
 	MTK_DECODE_GOT_CK_A = 1,
@@ -64,16 +67,16 @@ typedef struct {
 	int32_t latitude;  ///< Latitude in degrees * 10^7
 	int32_t longitude; ///< Longitude in degrees * 10^7
 	uint32_t msl_altitude;  ///< MSL altitude in meters * 10^2
-	uint32_t ground_speed; ///< FIXME SPEC UNCLEAR
-	int32_t heading;
-	uint8_t satellites;
-	uint8_t fix_type;
+	uint32_t ground_speed; ///< velocity in m/s
+	int32_t heading; ///< heading in degrees * 10^2
+	uint8_t satellites; ///< number of sattelites used
+	uint8_t fix_type;  ///< fix type: XXX correct for that
 	uint32_t date;
 	uint32_t utc_time;
-	uint16_t hdop;
+	uint16_t hdop; ///< horizontal dilution of position (without unit)
 	uint8_t ck_a;
 	uint8_t ck_b;
-} type_gps_mtk_packet;
+} gps_mtk_packet_t;
 
 #pragma pack(pop)
 
@@ -84,23 +87,31 @@ class MTK : public GPS_Helper
 public:
 	MTK();
 	~MTK();
-	void				reset(void);
-	void				configure(const int &fd, bool &baudrate_changed, unsigned &baudrate);
-	void 				parse(uint8_t, struct vehicle_gps_position_s*, bool &config_needed, bool &pos_updated);
+	int					receive(const int &fd, struct vehicle_gps_position_s &gps_position);
+	int					configure(const int &fd, unsigned &baudrate);
 
 private:
+	/**
+	 * Parse the binary MTK packet
+	 */
+	int					parse_char(uint8_t b, gps_mtk_packet_t &packet);
+
+	/**
+	 * Handle the package once it has arrived
+	 */
+	void				handle_message(gps_mtk_packet_t &packet, struct vehicle_gps_position_s &gps_position);
+
 	/**
 	 * Reset the parse state machine for a fresh start
 	 */
-	void				decodeInit(void);
+	void				decode_init(void);
 
 	/**
 	 * While parsing add every byte (except the sync bytes) to the checksum
 	 */
-	void				addByteToChecksum(uint8_t);
+	void				add_byte_to_checksum(uint8_t);
 
 	mtk_decode_state_t	_decode_state;
-	bool				_config_sent;
 	uint8_t				_mtk_revision;
 	uint8_t				_rx_buffer[MTK_RECV_BUFFER_SIZE];
 	unsigned			_rx_count;
-- 
cgit v1.2.3


From df6cf142e7d67fa8c868245ff144f4e1d4ebdfb3 Mon Sep 17 00:00:00 2001
From: Julian Oes 
Date: Fri, 8 Feb 2013 11:05:57 -0800
Subject: Another rewrite: most of the polling, reading and writing is now
 inside the GPS classes

---
 apps/drivers/drv_gps.h          |   3 +-
 apps/drivers/gps/gps.cpp        |  62 +--
 apps/drivers/gps/gps_helper.cpp |   2 +
 apps/drivers/gps/gps_helper.h   |   4 +-
 apps/drivers/gps/mtk.cpp        |  69 +--
 apps/drivers/gps/mtk.h          |  10 +-
 apps/drivers/gps/ubx.cpp        | 930 ++++++++++++++++++++--------------------
 apps/drivers/gps/ubx.h          |  32 +-
 8 files changed, 564 insertions(+), 548 deletions(-)

(limited to 'apps')

diff --git a/apps/drivers/drv_gps.h b/apps/drivers/drv_gps.h
index 67248efcd..1dda8ef0b 100644
--- a/apps/drivers/drv_gps.h
+++ b/apps/drivers/drv_gps.h
@@ -49,7 +49,8 @@
 #define GPS_DEVICE_PATH	"/dev/gps"
 
 typedef enum {
-	GPS_DRIVER_MODE_UBX = 0,
+	GPS_DRIVER_MODE_NONE = 0,
+	GPS_DRIVER_MODE_UBX,
 	GPS_DRIVER_MODE_MTK,
 	GPS_DRIVER_MODE_NMEA,
 } gps_driver_mode_t;
diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index 76b5f4533..6d7cfcc68 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -36,10 +36,7 @@
  * Driver for the GPS on a serial port
  */
 
-#include 
-
-#include 
-
+#include 
 #include 
 #include 
 #include 
@@ -54,30 +51,24 @@
 #include 
 #include 
 #include 
-
+#include 
 #include 
-#include 
-
 #include 
-
 #include 
-
+#include 
 #include 
 #include 
 #include 
-
 #include 
-
+#include 
 #include 
 
-//#include "ubx.h"
+#include "ubx.h"
 #include "mtk.h"
 
-#define SEND_BUFFER_LENGTH 100
-#define TIMEOUT 1000000 //1s
 
-#define NUMBER_OF_TRIES 5
-#define CONFIG_TIMEOUT 2000000
+#define TIMEOUT_5HZ 400
+#define RATE_MEASUREMENT_PERIOD 5000000
 
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
@@ -170,7 +161,7 @@ GPS::GPS(const char* uart_path) :
 	_task_should_exit(false),
 	_healthy(false),
 	_mode_changed(false),
-	_mode(GPS_DRIVER_MODE_MTK),
+	_mode(GPS_DRIVER_MODE_UBX),
 	_Helper(nullptr),
 	_report_pub(-1),
 	_rate(0.0f)
@@ -279,12 +270,11 @@ GPS::task_main()
 		}
 
 		switch (_mode) {
-//			case GPS_DRIVER_MODE_UBX:
-//				_Helper = new UBX();
-//				break;
+			case GPS_DRIVER_MODE_UBX:
+				_Helper = new UBX(_serial_fd, &_report);
+				break;
 			case GPS_DRIVER_MODE_MTK:
-				printf("try new mtk\n");
-				_Helper = new MTK();
+				_Helper = new MTK(_serial_fd, &_report);
 				break;
 			case GPS_DRIVER_MODE_NMEA:
 				//_Helper = new NMEA(); //TODO: add NMEA
@@ -292,11 +282,11 @@ GPS::task_main()
 			default:
 				break;
 		}
-		// XXX unlock/lock makes sense?
 		unlock();
-		if (_Helper->configure(_serial_fd, _baudrate) == 0) {
-
-			while (_Helper->receive(_serial_fd, _report) > 0 && !_task_should_exit) {
+		if (_Helper->configure(_baudrate) == 0) {
+			unlock();
+			while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
+//				lock();
 				/* opportunistic publishing - else invalid data would end up on the bus */
 				if (_report_pub > 0) {
 					orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
@@ -307,7 +297,7 @@ GPS::task_main()
 				last_rate_count++;
 
 				/* measure update rate every 5 seconds */
-				if (hrt_absolute_time() - last_rate_measurement > 5000000) {
+				if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) {
 					_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
 					last_rate_measurement = hrt_absolute_time();
 					last_rate_count = 0;
@@ -323,8 +313,26 @@ GPS::task_main()
 				_healthy = false;
 				_rate = 0.0f;
 			}
+
+			lock();
 		}
 		lock();
+
+		/* select next mode */
+		switch (_mode) {
+			case GPS_DRIVER_MODE_UBX:
+				_mode = GPS_DRIVER_MODE_MTK;
+				break;
+			case GPS_DRIVER_MODE_MTK:
+				_mode = GPS_DRIVER_MODE_UBX;
+				break;
+		//				case GPS_DRIVER_MODE_NMEA:
+		//					_mode = GPS_DRIVER_MODE_UBX;
+		//					break;
+			default:
+				break;
+		}
+
 	}
 	debug("exiting");
 
diff --git a/apps/drivers/gps/gps_helper.cpp b/apps/drivers/gps/gps_helper.cpp
index 2caa82af1..9c1fad569 100644
--- a/apps/drivers/gps/gps_helper.cpp
+++ b/apps/drivers/gps/gps_helper.cpp
@@ -57,6 +57,8 @@ GPS_Helper::set_baudrate(const int &fd, unsigned baud)
 
 	case 115200: speed = B115200; break;
 
+	warnx("try baudrate: %d\n", speed);
+
 	default:
 		warnx("ERROR: Unsupported baudrate: %d\n", baud);
 		return -EINVAL;
diff --git a/apps/drivers/gps/gps_helper.h b/apps/drivers/gps/gps_helper.h
index 537ca819c..f3d3bc40b 100644
--- a/apps/drivers/gps/gps_helper.h
+++ b/apps/drivers/gps/gps_helper.h
@@ -44,8 +44,8 @@
 class GPS_Helper
 {
 public:
-	virtual int				configure(const int &fd, unsigned &baud) = 0;
-	virtual int 			receive(const int &fd, struct vehicle_gps_position_s &gps_position) = 0;
+	virtual int				configure(unsigned &baud) = 0;
+	virtual int 			receive(unsigned timeout) = 0;
 	int 					set_baudrate(const int &fd, unsigned baud);
 };
 
diff --git a/apps/drivers/gps/mtk.cpp b/apps/drivers/gps/mtk.cpp
index 4ccbbfbe4..4762bd503 100644
--- a/apps/drivers/gps/mtk.cpp
+++ b/apps/drivers/gps/mtk.cpp
@@ -47,7 +47,9 @@
 #include "mtk.h"
 
 
-MTK::MTK() :
+MTK::MTK(const int &fd, struct vehicle_gps_position_s *gps_position) :
+_fd(fd),
+_gps_position(gps_position),
 _mtk_revision(0)
 {
 	decode_init();
@@ -58,40 +60,40 @@ MTK::~MTK()
 }
 
 int
-MTK::configure(const int &fd, unsigned &baudrate)
+MTK::configure(unsigned &baudrate)
 {
 	/* set baudrate first */
-	if (GPS_Helper::set_baudrate(fd, MTK_BAUDRATE) != 0)
+	if (GPS_Helper::set_baudrate(_fd, MTK_BAUDRATE) != 0)
 		return -1;
 
 	baudrate = MTK_BAUDRATE;
 
 	/* Write config messages, don't wait for an answer */
-	if (strlen(MTK_OUTPUT_5HZ) != write(fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ))) {
+	if (strlen(MTK_OUTPUT_5HZ) != write(_fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ))) {
 		warnx("mtk: config write failed");
 		return -1;
 	}
 	usleep(10000);
 
-	if (strlen(MTK_SET_BINARY) != write(fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) {
+	if (strlen(MTK_SET_BINARY) != write(_fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) {
 		warnx("mtk: config write failed");
 		return -1;
 	}
 	usleep(10000);
 
-	if (strlen(SBAS_ON) != write(fd, SBAS_ON, strlen(SBAS_ON))) {
+	if (strlen(SBAS_ON) != write(_fd, SBAS_ON, strlen(SBAS_ON))) {
 		warnx("mtk: config write failed");
 		return -1;
 	}
 	usleep(10000);
 
-	if (strlen(WAAS_ON) != write(fd, WAAS_ON, strlen(WAAS_ON))) {
+	if (strlen(WAAS_ON) != write(_fd, WAAS_ON, strlen(WAAS_ON))) {
 		warnx("mtk: config write failed");
 		return -1;
 	}
 	usleep(10000);
 
-	if (strlen(MTK_NAVTHRES_OFF) != write(fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) {
+	if (strlen(MTK_NAVTHRES_OFF) != write(_fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) {
 		warnx("mtk: config write failed");
 		return -1;
 	}
@@ -100,16 +102,19 @@ MTK::configure(const int &fd, unsigned &baudrate)
 }
 
 int
-MTK::receive(const int &fd, struct vehicle_gps_position_s &gps_position)
+MTK::receive(unsigned timeout)
 {
 	/* poll descriptor */
 	pollfd fds[1];
-	fds[0].fd = fd;
+	fds[0].fd = _fd;
 	fds[0].events = POLLIN;
 
 	uint8_t buf[32];
 	gps_mtk_packet_t packet;
 
+	/* timeout additional to poll */
+	uint64_t time_started = hrt_absolute_time();
+
 	int j = 0;
 	ssize_t count = 0;
 
@@ -120,9 +125,13 @@ MTK::receive(const int &fd, struct vehicle_gps_position_s &gps_position)
 			/* pass received bytes to the packet decoder */
 			while (j < count) {
 				if (parse_char(buf[j], packet) > 0) {
-					handle_message(packet, gps_position);
+					handle_message(packet);
 					return 1;
 				}
+				/* in case we keep trying but only get crap from GPS */
+				if (time_started + timeout*1000 < hrt_absolute_time() ) {
+					return -1;
+				}
 				j++;
 			}
 			/* everything is read */
@@ -130,7 +139,7 @@ MTK::receive(const int &fd, struct vehicle_gps_position_s &gps_position)
 		}
 
 		/* then poll for new data */
-		int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), MTK_TIMEOUT_5HZ);
+		int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout);
 
 		if (ret < 0) {
 			/* something went wrong when polling */
@@ -148,7 +157,7 @@ MTK::receive(const int &fd, struct vehicle_gps_position_s &gps_position)
 				 * won't block even on a blocking device.  If more bytes are
 				 * available, we'll go back to poll() again...
 				 */
-				count = ::read(fd, buf, sizeof(buf));
+				count = ::read(_fd, buf, sizeof(buf));
 			}
 		}
 	}
@@ -212,26 +221,26 @@ MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet)
 }
 
 void
-MTK::handle_message(gps_mtk_packet_t &packet, struct vehicle_gps_position_s &gps_position)
+MTK::handle_message(gps_mtk_packet_t &packet)
 {
 	if (_mtk_revision == 16) {
-		gps_position.lat = packet.latitude * 10; // from degrees*1e6 to degrees*1e7
-		gps_position.lon = packet.longitude * 10; // from degrees*1e6 to degrees*1e7
+		_gps_position->lat = packet.latitude * 10; // from degrees*1e6 to degrees*1e7
+		_gps_position->lon = packet.longitude * 10; // from degrees*1e6 to degrees*1e7
 	} else if (_mtk_revision == 19) {
-		gps_position.lat = packet.latitude; // both degrees*1e7
-		gps_position.lon = packet.longitude; // both degrees*1e7
+		_gps_position->lat = packet.latitude; // both degrees*1e7
+		_gps_position->lon = packet.longitude; // both degrees*1e7
 	} else {
 		warnx("mtk: unknown revision");
-		gps_position.lat = 0;
-		gps_position.lon = 0;
+		_gps_position->lat = 0;
+		_gps_position->lon = 0;
 	}
-	gps_position.alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
-	gps_position.fix_type = packet.fix_type;
-	gps_position.eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit
-	gps_position.epv_m = 0.0; //unknown in mtk custom mode
-	gps_position.vel_m_s = ((float)packet.ground_speed)*1e-2f; // from cm/s to m/s
-	gps_position.cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
-	gps_position.satellites_visible = packet.satellites;
+	_gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
+	_gps_position->fix_type = packet.fix_type;
+	_gps_position->eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit
+	_gps_position->epv_m = 0.0; //unknown in mtk custom mode
+	_gps_position->vel_m_s = ((float)packet.ground_speed)*1e-2f; // from cm/s to m/s
+	_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
+	_gps_position->satellites_visible = packet.satellites;
 
 	/* convert time and date information to unix timestamp */
 	struct tm timeinfo; //TODO: test this conversion
@@ -250,9 +259,9 @@ MTK::handle_message(gps_mtk_packet_t &packet, struct vehicle_gps_position_s &gps
 	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.timestamp_position = gps_position.timestamp_time = hrt_absolute_time();
+	_gps_position->time_gps_usec = epoch * 1e6; //TODO: test this
+	_gps_position->time_gps_usec += timeinfo_conversion_temp * 1e3;
+	_gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time();
 
 	return;
 }
diff --git a/apps/drivers/gps/mtk.h b/apps/drivers/gps/mtk.h
index 39063beab..d4e390b01 100644
--- a/apps/drivers/gps/mtk.h
+++ b/apps/drivers/gps/mtk.h
@@ -85,10 +85,10 @@ typedef struct {
 class MTK : public GPS_Helper
 {
 public:
-	MTK();
+	MTK(const int &fd, struct vehicle_gps_position_s *gps_position);
 	~MTK();
-	int					receive(const int &fd, struct vehicle_gps_position_s &gps_position);
-	int					configure(const int &fd, unsigned &baudrate);
+	int					receive(unsigned timeout);
+	int					configure(unsigned &baudrate);
 
 private:
 	/**
@@ -99,7 +99,7 @@ private:
 	/**
 	 * Handle the package once it has arrived
 	 */
-	void				handle_message(gps_mtk_packet_t &packet, struct vehicle_gps_position_s &gps_position);
+	void				handle_message(gps_mtk_packet_t &packet);
 
 	/**
 	 * Reset the parse state machine for a fresh start
@@ -111,6 +111,8 @@ private:
 	 */
 	void				add_byte_to_checksum(uint8_t);
 
+	int					_fd;
+	struct vehicle_gps_position_s *_gps_position;
 	mtk_decode_state_t	_decode_state;
 	uint8_t				_mtk_revision;
 	uint8_t				_rx_buffer[MTK_RECV_BUFFER_SIZE];
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp
index 8e2396564..74cbc5aaf 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/apps/drivers/gps/ubx.cpp
@@ -37,6 +37,7 @@
 
 #include 
 #include 
+#include 
 #include 
 #include 
 #include 
@@ -47,172 +48,251 @@
 
 #include "ubx.h"
 
+#define UBX_CONFIG_TIMEOUT 100
 
-UBX::UBX() :
-_config_state(UBX_CONFIG_STATE_PRT),
+UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) :
+_fd(fd),
+_gps_position(gps_position),
 _waiting_for_ack(false)
 {
-	reset();
+	decode_init();
 }
 
 UBX::~UBX()
 {
 }
 
-void
-UBX::reset()
+int
+UBX::configure(unsigned &baudrate)
 {
-	decodeInit();
-	_config_state = UBX_CONFIG_STATE_PRT;
-	_waiting_for_ack = false;
-}
+	_waiting_for_ack = true;
+
+	/* try different baudrates */
+	const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200};
+
+	for (int baud_i = 0; baud_i < 5; baud_i++) {
+		baudrate = baudrates_to_try[baud_i];
+		set_baudrate(_fd, baudrate);
+
+		/* Send a CFG-PRT message to set the UBX protocol for in and out
+		 * and leave the baudrate as it is, we just want an ACK-ACK from this
+		 */
+		type_gps_bin_cfg_prt_packet_t cfg_prt_packet;
+		/* Set everything else of the packet to 0, otherwise the module wont accept it */
+		memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet));
+
+		_clsID_needed = UBX_CLASS_CFG;
+		_msgID_needed = UBX_MESSAGE_CFG_PRT;
+
+		/* Define the package contents, don't change the baudrate */
+		cfg_prt_packet.clsID		= UBX_CLASS_CFG;
+		cfg_prt_packet.msgID		= UBX_MESSAGE_CFG_PRT;
+		cfg_prt_packet.length		= UBX_CFG_PRT_LENGTH;
+		cfg_prt_packet.portID		= UBX_CFG_PRT_PAYLOAD_PORTID;
+		cfg_prt_packet.mode			= UBX_CFG_PRT_PAYLOAD_MODE;
+		cfg_prt_packet.baudRate		= baudrate;
+		cfg_prt_packet.inProtoMask	= UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
+		cfg_prt_packet.outProtoMask	= UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
+
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
 
-void
-UBX::configure(const int &fd, bool &baudrate_changed, unsigned &baudrate)
-{
-	/* Only send a new config message when we got the ACK of the last one,
-	 * otherwise we might not configure all the messages because the ACK comes from an older/previos CFD command
-	 * reason being that the ACK only includes CFG-MSG but not to which NAV MSG it belongs.
-	 */
-	if (!_waiting_for_ack) {
-		_waiting_for_ack = true;
-		if (_config_state == UBX_CONFIG_STATE_CONFIGURED) {
-			/* This should never happen, the parser should set the flag,
-			 * if it should be reconfigured, reset() should be called first.
-			 */
-			warnx("ubx: already configured");
-			_waiting_for_ack = false;
-			return;
-		} else if (_config_state == UBX_CONFIG_STATE_PRT) {
-
-			/* Send a CFG-PRT message to set the UBX protocol for in and out
-			 * and leave the baudrate as it is, we just want an ACK-ACK from this
-			 */
-			type_gps_bin_cfg_prt_packet_t cfg_prt_packet;
-			/* Set everything else of the packet to 0, otherwise the module wont accept it */
-			memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet));
-
-			/* Define the package contents, don't change the baudrate */
-			cfg_prt_packet.clsID		= UBX_CLASS_CFG;
-			cfg_prt_packet.msgID		= UBX_MESSAGE_CFG_PRT;
-			cfg_prt_packet.length		= UBX_CFG_PRT_LENGTH;
-			cfg_prt_packet.portID		= UBX_CFG_PRT_PAYLOAD_PORTID;
-			cfg_prt_packet.mode			= UBX_CFG_PRT_PAYLOAD_MODE;
-			cfg_prt_packet.baudRate		= baudrate;
-			cfg_prt_packet.inProtoMask	= UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
-			cfg_prt_packet.outProtoMask	= UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
-
-			sendConfigPacket(fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
-
-		} else if (_config_state == UBX_CONFIG_STATE_PRT_NEW_BAUDRATE) {
-
-			/* Send a CFG-PRT message again, this time change the baudrate */
-			type_gps_bin_cfg_prt_packet_t cfg_prt_packet;
-			memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet));
-
-			cfg_prt_packet.clsID		= UBX_CLASS_CFG;
-			cfg_prt_packet.msgID		= UBX_MESSAGE_CFG_PRT;
-			cfg_prt_packet.length		= UBX_CFG_PRT_LENGTH;
-			cfg_prt_packet.portID		= UBX_CFG_PRT_PAYLOAD_PORTID;
-			cfg_prt_packet.mode			= UBX_CFG_PRT_PAYLOAD_MODE;
-			cfg_prt_packet.baudRate		= UBX_CFG_PRT_PAYLOAD_BAUDRATE;
-			cfg_prt_packet.inProtoMask	= UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
-			cfg_prt_packet.outProtoMask	= UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
-
-			sendConfigPacket(fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
-
-			/* If the new baudrate will be different from the current one, we should report that back to the driver */
-			if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) {
-				baudrate=UBX_CFG_PRT_PAYLOAD_BAUDRATE;
-				baudrate_changed = true;
-				/* Don't wait for an ACK, we're switching baudrate and we might never get,
-				 * after that, start fresh */
-				reset();
-			}
+		/* Send a CFG-PRT message again, this time change the baudrate */
+
+		cfg_prt_packet.clsID		= UBX_CLASS_CFG;
+		cfg_prt_packet.msgID		= UBX_MESSAGE_CFG_PRT;
+		cfg_prt_packet.length		= UBX_CFG_PRT_LENGTH;
+		cfg_prt_packet.portID		= UBX_CFG_PRT_PAYLOAD_PORTID;
+		cfg_prt_packet.mode			= UBX_CFG_PRT_PAYLOAD_MODE;
+		cfg_prt_packet.baudRate		= UBX_CFG_PRT_PAYLOAD_BAUDRATE;
+		cfg_prt_packet.inProtoMask	= UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
+		cfg_prt_packet.outProtoMask	= UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
+		if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) {
+			set_baudrate(_fd, UBX_CFG_PRT_PAYLOAD_BAUDRATE);
+			baudrate = UBX_CFG_PRT_PAYLOAD_BAUDRATE;
+		}
 
-		} else if (_config_state == UBX_CONFIG_STATE_RATE) {
+		/* no ack is ecpected here, keep going configuring */
 
-			/* send a CFT-RATE message to define update rate */
-			type_gps_bin_cfg_rate_packet_t cfg_rate_packet;
-			memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet));
+		/* send a CFT-RATE message to define update rate */
+		type_gps_bin_cfg_rate_packet_t cfg_rate_packet;
+		memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet));
 
-			cfg_rate_packet.clsID		= UBX_CLASS_CFG;
-			cfg_rate_packet.msgID		= UBX_MESSAGE_CFG_RATE;
-			cfg_rate_packet.length		= UBX_CFG_RATE_LENGTH;
-			cfg_rate_packet.measRate	= UBX_CFG_RATE_PAYLOAD_MEASRATE;
-			cfg_rate_packet.navRate		= UBX_CFG_RATE_PAYLOAD_NAVRATE;
-			cfg_rate_packet.timeRef		= UBX_CFG_RATE_PAYLOAD_TIMEREF;
+		_clsID_needed = UBX_CLASS_CFG;
+		_msgID_needed = UBX_MESSAGE_CFG_RATE;
 
-			sendConfigPacket(fd, (uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet));
+		cfg_rate_packet.clsID		= UBX_CLASS_CFG;
+		cfg_rate_packet.msgID		= UBX_MESSAGE_CFG_RATE;
+		cfg_rate_packet.length		= UBX_CFG_RATE_LENGTH;
+		cfg_rate_packet.measRate	= UBX_CFG_RATE_PAYLOAD_MEASRATE;
+		cfg_rate_packet.navRate		= UBX_CFG_RATE_PAYLOAD_NAVRATE;
+		cfg_rate_packet.timeRef		= UBX_CFG_RATE_PAYLOAD_TIMEREF;
 
-		} else if (_config_state == UBX_CONFIG_STATE_NAV5) {
-			/* send a NAV5 message to set the options for the internal filter */
-			type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet;
-			memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet));
+		send_config_packet(_fd, (uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
 
-			cfg_nav5_packet.clsID        = UBX_CLASS_CFG;
-			cfg_nav5_packet.msgID        = UBX_MESSAGE_CFG_NAV5;
-			cfg_nav5_packet.length       = UBX_CFG_NAV5_LENGTH;
-			cfg_nav5_packet.mask         = UBX_CFG_NAV5_PAYLOAD_MASK;
-			cfg_nav5_packet.dynModel     = UBX_CFG_NAV5_PAYLOAD_DYNMODEL;
-			cfg_nav5_packet.fixMode      = UBX_CFG_NAV5_PAYLOAD_FIXMODE;
+		/* send a NAV5 message to set the options for the internal filter */
+		type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet;
+		memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet));
 
-			sendConfigPacket(fd, (uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet));
+		_clsID_needed = UBX_CLASS_CFG;
+		_msgID_needed = UBX_MESSAGE_CFG_NAV5;
 
-		} else {
-			/* Catch the remaining config states here, they all need the same packet type */
+		cfg_nav5_packet.clsID        = UBX_CLASS_CFG;
+		cfg_nav5_packet.msgID        = UBX_MESSAGE_CFG_NAV5;
+		cfg_nav5_packet.length       = UBX_CFG_NAV5_LENGTH;
+		cfg_nav5_packet.mask         = UBX_CFG_NAV5_PAYLOAD_MASK;
+		cfg_nav5_packet.dynModel     = UBX_CFG_NAV5_PAYLOAD_DYNMODEL;
+		cfg_nav5_packet.fixMode      = UBX_CFG_NAV5_PAYLOAD_FIXMODE;
 
-			type_gps_bin_cfg_msg_packet_t cfg_msg_packet;
-			memset(&cfg_msg_packet, 0, sizeof(cfg_msg_packet));
+		send_config_packet(_fd, (uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
 
-			cfg_msg_packet.clsID        = UBX_CLASS_CFG;
-			cfg_msg_packet.msgID        = UBX_MESSAGE_CFG_MSG;
-			cfg_msg_packet.length       = UBX_CFG_MSG_LENGTH;
-			/* Choose fast 5Hz rate for all messages except SVINFO which is big and not important */
-			cfg_msg_packet.rate[1]      = UBX_CFG_MSG_PAYLOAD_RATE1_5HZ;
+		type_gps_bin_cfg_msg_packet_t cfg_msg_packet;
+		memset(&cfg_msg_packet, 0, sizeof(cfg_msg_packet));
 
-			switch (_config_state) {
-				case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
-					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH;
-					break;
-				case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
-					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
-					break;
-//				case UBX_CONFIG_STATE_MSG_NAV_DOP:
-//					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-//					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
-//					break;
-				case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
-					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
-					/* For satelites info 1Hz is enough */
-					cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_1HZ;
-					break;
-				case UBX_CONFIG_STATE_MSG_NAV_SOL:
-					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL;
-					break;
-				case UBX_CONFIG_STATE_MSG_NAV_VELNED:
-					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED;
-					break;
-//				case UBX_CONFIG_STATE_MSG_RXM_SVSI:
-//					cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM;
-//					cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI;
-//					break;
-				default:
-					break;
+		_clsID_needed = UBX_CLASS_CFG;
+		_msgID_needed = UBX_MESSAGE_CFG_MSG;
+
+		cfg_msg_packet.clsID        = UBX_CLASS_CFG;
+		cfg_msg_packet.msgID        = UBX_MESSAGE_CFG_MSG;
+		cfg_msg_packet.length       = UBX_CFG_MSG_LENGTH;
+		/* Choose fast 5Hz rate for all messages except SVINFO which is big and not important */
+		cfg_msg_packet.rate[1]      = UBX_CFG_MSG_PAYLOAD_RATE1_5HZ;
+
+		cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+		cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
+
+		cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+		cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
+
+		cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+		cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
+		/* For satelites info 1Hz is enough */
+		cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_1HZ;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
+
+		cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+		cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
+
+		cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+		cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
+//		cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+//		cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
+
+//		cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM;
+//		cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI;
+
+		_waiting_for_ack = false;
+		return 0;
+	}
+	return -1;
+}
+
+int
+UBX::receive(unsigned timeout)
+{
+	/* poll descriptor */
+	pollfd fds[1];
+	fds[0].fd = _fd;
+	fds[0].events = POLLIN;
+
+	uint8_t buf[32];
+
+	/* timeout additional to poll */
+	uint64_t time_started = hrt_absolute_time();
+
+	int j = 0;
+	ssize_t count = 0;
+
+	while (true) {
+
+		/* pass received bytes to the packet decoder */
+		while (j < count) {
+			if (parse_char(buf[j]) > 0) {
+				/* return to configure during configuration or to the gps driver during normal work
+				 * if a packet has arrived */
+				 if (handle_message() > 0)
+					return 1;
+			}
+			/* in case we keep trying but only get crap from GPS */
+			if (time_started + timeout*1000 < hrt_absolute_time() ) {
+				return -1;
 			}
+			j++;
+		}
 
-			sendConfigPacket(fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
+		/* everything is read */
+		j = count = 0;
+
+		/* then poll for new data */
+		int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout);
+
+		if (ret < 0) {
+			/* something went wrong when polling */
+			return -1;
+
+		} else if (ret == 0) {
+			/* Timeout */
+			return -1;
+
+		} else if (ret > 0) {
+			/* if we have new data from GPS, go handle it */
+			if (fds[0].revents & POLLIN) {
+				/*
+				 * We are here because poll says there is some data, so this
+				 * won't block even on a blocking device.  If more bytes are
+				 * available, we'll go back to poll() again...
+				 */
+				count = ::read(_fd, buf, sizeof(buf));
+			}
 		}
 	}
 }
 
-void
-UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_needed, bool &pos_updated)
+int
+UBX::parse_char(uint8_t b)
 {
 	switch (_decode_state) {
 		/* First, look for sync1 */
@@ -227,13 +307,13 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 				_decode_state = UBX_DECODE_GOT_SYNC2;
 			} else {
 				/* Second start symbol was wrong, reset state machine */
-				decodeInit();
+				decode_init();
 			}
 			break;
 		/* Now look for class */
 		case UBX_DECODE_GOT_SYNC2:
 			/* everything except sync1 and sync2 needs to be added to the checksum */
-			addByteToChecksum(b);
+			add_byte_to_checksum(b);
 			/* check for known class */
 			switch (b) {
 				case UBX_CLASS_ACK:
@@ -256,12 +336,12 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 					_message_class = CFG;
 					break;
 				default: //unknown class: reset state machine
-					decodeInit();
+					decode_init();
 					break;
 			}
 			break;
 		case UBX_DECODE_GOT_CLASS:
-			addByteToChecksum(b);
+			add_byte_to_checksum(b);
 			switch (_message_class) {
 				case NAV:
 					switch (b) {
@@ -296,7 +376,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 						break;
 
 					default: //unknown class: reset state machine, should not happen
-						decodeInit();
+						decode_init();
 						break;
 					}
 					break;
@@ -308,7 +388,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 //						break;
 //
 //					default: //unknown class: reset state machine, should not happen
-//						decodeInit();
+//						decode_init();
 //						break;
 //					}
 //					break;
@@ -321,7 +401,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 						break;
 
 					default: //unknown class: reset state machine, should not happen
-						decodeInit();
+						decode_init();
 						break;
 					}
 					break;
@@ -337,384 +417,282 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 						_message_id = ACK_NAK;
 						break;
 					default: //unknown class: reset state machine, should not happen
-						decodeInit();
+						decode_init();
 						break;
 					}
 					break;
 				default: //should not happen because we set the class
 					warnx("UBX Error, we set a class that we don't know");
-					decodeInit();
-					config_needed = true;
+					decode_init();
+//					config_needed = true;
 					break;
 				}
 				break;
 			case UBX_DECODE_GOT_MESSAGEID:
-				addByteToChecksum(b);
+				add_byte_to_checksum(b);
 				_payload_size = b; //this is the first length byte
 				_decode_state = UBX_DECODE_GOT_LENGTH1;
 				break;
 			case UBX_DECODE_GOT_LENGTH1:
-				addByteToChecksum(b);
+				add_byte_to_checksum(b);
 				_payload_size += b << 8; // here comes the second byte of length
 				_decode_state = UBX_DECODE_GOT_LENGTH2;
 				break;
 			case UBX_DECODE_GOT_LENGTH2:
 				/* Add to checksum if not yet at checksum byte */
 				if (_rx_count < _payload_size)
-					addByteToChecksum(b);
+					add_byte_to_checksum(b);
 					_rx_buffer[_rx_count] = b;
 					/* once the payload has arrived, we can process the information */
 					if (_rx_count >= _payload_size + 1) { //+1 because of 2 checksum bytes
-						switch (_message_id) { //this enum is unique for all ids --> no need to check the class
-							case NAV_POSLLH: {
-//								printf("GOT NAV_POSLLH MESSAGE\n");
-								gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) _rx_buffer;
 
-								//Check if checksum is valid and the store the gps information
-								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
-									gps_position->lat = packet->lat;
-									gps_position->lon = packet->lon;
-									gps_position->alt = packet->height_msl;
-
-									gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m
-									gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m
+						/* compare checksum */
+						if (_rx_ck_a == _rx_buffer[_rx_count-1] && _rx_ck_b == _rx_buffer[_rx_count]) {
+							return 1;
+						} else {
+							decode_init();
+							return -1;
+							warnx("ubx: Checksum wrong");
+						}
 
-									/* Add timestamp to finish the report */
-									gps_position->timestamp_position = hrt_absolute_time();
+						return 1;
+					} else if (_rx_count < RECV_BUFFER_SIZE) {
+						_rx_count++;
+					} else {
+						warnx("ubx: buffer full");
+						decode_init();
+						return -1;
+					}
+				break;
+		default:
+			break;
+	}
+	return 0; //XXX ?
+}
 
-									/* set flag to trigger publishing of new position */
-									pos_updated = true;
 
-								} else {
-									warnx("NAV_POSLLH: checksum invalid");
-								}
+int
+UBX::handle_message()
+{
+	int ret = 0;
 
-								// Reset state machine to decode next packet
-								decodeInit();
-								break;
-							}
+	switch (_message_id) { //this enum is unique for all ids --> no need to check the class
+		case NAV_POSLLH: {
+//			printf("GOT NAV_POSLLH MESSAGE\n");
+			if (!_waiting_for_ack) {
+				gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) _rx_buffer;
 
-							case NAV_SOL: {
-//								printf("GOT NAV_SOL MESSAGE\n");
-								gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer;
+				_gps_position->lat = packet->lat;
+				_gps_position->lon = packet->lon;
+				_gps_position->alt = packet->height_msl;
 
-								//Check if checksum is valid and the store the gps information
-								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
+				_gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m
+				_gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m
 
-									gps_position->fix_type = packet->gpsFix;
-									gps_position->s_variance_m_s = packet->sAcc;
-									gps_position->p_variance_m = packet->pAcc;
+				/* Add timestamp to finish the report */
+				_gps_position->timestamp_position = hrt_absolute_time();
+				/* only return 1 when new position is available */
+				ret = 1;
+			}
+			break;
+		}
 
-									gps_position->timestamp_variance = hrt_absolute_time();
+		case NAV_SOL: {
+//			printf("GOT NAV_SOL MESSAGE\n");
+			if (!_waiting_for_ack) {
+				gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer;
 
-								} else {
-									warnx("NAV_SOL: checksum invalid");
-								}
+				_gps_position->fix_type = packet->gpsFix;
+				_gps_position->s_variance_m_s = packet->sAcc;
+				_gps_position->p_variance_m = packet->pAcc;
 
-								// Reset state machine to decode next packet
-								decodeInit();
-								break;
-							}
+				_gps_position->timestamp_variance = hrt_absolute_time();
+			}
+			break;
+		}
 
-//							case NAV_DOP: {
-////								printf("GOT NAV_DOP MESSAGE\n");
-//								gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer;
-//
-//								//Check if checksum is valid and the store the gps information
-//								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
-//
-//									gps_position->eph_m =  packet->hDOP;
-//									gps_position->epv =  packet->vDOP;
-//
-//									gps_position->timestamp_posdilution = hrt_absolute_time();
-//
-//									_new_nav_dop = true;
+//		case NAV_DOP: {
+////		printf("GOT NAV_DOP MESSAGE\n");
+//			gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer;
 //
-//								} else {
-//									warnx("NAV_DOP: checksum invalid");
-//								}
+//			_gps_position->eph_m =  packet->hDOP;
+//			_gps_position->epv =  packet->vDOP;
 //
-//								// Reset state machine to decode next packet
-//								decodeInit();
-//								break;
-//							}
-
-							case NAV_TIMEUTC: {
-//								printf("GOT NAV_TIMEUTC MESSAGE\n");
-								gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) _rx_buffer;
-
-								//Check if checksum is valid and the store the gps information
-								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
-									//convert to unix timestamp
-									struct tm timeinfo;
-									timeinfo.tm_year = packet->year - 1900;
-									timeinfo.tm_mon = packet->month - 1;
-									timeinfo.tm_mday = packet->day;
-									timeinfo.tm_hour = packet->hour;
-									timeinfo.tm_min = packet->min;
-									timeinfo.tm_sec = packet->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)(packet->time_nanoseconds * 1e-3f);
-
-									gps_position->timestamp_time = hrt_absolute_time();
-
-								} else {
-									warnx("NAV_TIMEUTC: checksum invalid");
-								}
-
-								// Reset state machine to decode next packet
-								decodeInit();
-								break;
-							}
-
-							case NAV_SVINFO: {
-//								printf("GOT NAV_SVINFO MESSAGE\n");
-
-								//this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message
-								const int length_part1 = 8;
-								char _rx_buffer_part1[length_part1];
-								memcpy(_rx_buffer_part1, _rx_buffer, length_part1);
-								gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer_part1;
-
-								//read checksum
-								const int length_part3 = 2;
-								char _rx_buffer_part3[length_part3];
-								memcpy(_rx_buffer_part3, &(_rx_buffer[_rx_count - 1]), length_part3);
-								gps_bin_nav_svinfo_part3_packet_t *packet_part3 = (gps_bin_nav_svinfo_part3_packet_t *) _rx_buffer_part3;
-
-								//Check if checksum is valid and then store the gps information
-								if (_rx_ck_a == packet_part3->ck_a && _rx_ck_b == packet_part3->ck_b) {
-									//definitions needed to read numCh elements from the buffer:
-									const int length_part2 = 12;
-									gps_bin_nav_svinfo_part2_packet_t *packet_part2;
-									char _rx_buffer_part2[length_part2]; //for temporal storage
-
-									uint8_t satellites_used = 0;
-									int i;
-
-									for (i = 0; i < packet_part1->numCh; i++) { //for each channel
-
-										/* Get satellite information from the buffer */
-										memcpy(_rx_buffer_part2, &(_rx_buffer[length_part1 + i * length_part2]), length_part2);
-										packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) _rx_buffer_part2;
-
-
-										/* Write satellite information in the global storage */
-										gps_position->satellite_prn[i] = packet_part2->svid;
-
-										//if satellite information is healthy store the data
-										uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield
-
-										if (!unhealthy) {
-											if ((packet_part2->flags) & 1) { //flags is a bitfield
-												gps_position->satellite_used[i] = 1;
-												satellites_used++;
-
-											} else {
-												gps_position->satellite_used[i] = 0;
-											}
-
-											gps_position->satellite_snr[i] = packet_part2->cno;
-											gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
-											gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
-
-										} else {
-											gps_position->satellite_used[i] = 0;
-											gps_position->satellite_snr[i] = 0;
-											gps_position->satellite_elevation[i] = 0;
-											gps_position->satellite_azimuth[i] = 0;
-										}
-
-									}
-
-									for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused
-										/* Unused channels have to be set to zero for e.g. MAVLink */
-										gps_position->satellite_prn[i] = 0;
-										gps_position->satellite_used[i] = 0;
-										gps_position->satellite_snr[i] = 0;
-										gps_position->satellite_elevation[i] = 0;
-										gps_position->satellite_azimuth[i] = 0;
-									}
-									gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones
-
-									/* set timestamp if any sat info is available */
-									if (packet_part1->numCh > 0) {
-										gps_position->satellite_info_available = true;
-									} else {
-										gps_position->satellite_info_available = false;
-									}
-									gps_position->timestamp_satellites = hrt_absolute_time();
-
-								} else {
-									warnx("NAV_SVINFO: checksum invalid");
-								}
-
-								// Reset state machine to decode next packet
-								decodeInit();
-								break;
-							}
-
-							case NAV_VELNED: {
-//								printf("GOT NAV_VELNED MESSAGE\n");
-								gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer;
-
-								//Check if checksum is valid and the store the gps information
-								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
-
-									gps_position->vel_m_s   = (float)packet->speed * 1e-2f;
-									gps_position->vel_n_m_s = (float)packet->velN * 1e-2f;
-									gps_position->vel_e_m_s = (float)packet->velE * 1e-2f;
-									gps_position->vel_d_m_s = (float)packet->velD * 1e-2f;
-									gps_position->cog_rad   = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
-									gps_position->vel_ned_valid = true;
-									gps_position->timestamp_velocity = hrt_absolute_time();
-
-								} else {
-									warnx("NAV_VELNED: checksum invalid");
-								}
-
-								// Reset state machine to decode next packet
-								decodeInit();
-								break;
-							}
-
-//							case RXM_SVSI: {
-//								printf("GOT RXM_SVSI MESSAGE\n");
-//								const int length_part1 = 7;
-//								char _rx_buffer_part1[length_part1];
-//								memcpy(_rx_buffer_part1, _rx_buffer, length_part1);
-//								gps_bin_rxm_svsi_packet_t *packet = (gps_bin_rxm_svsi_packet_t *) _rx_buffer_part1;
+//			_gps_position->timestamp_posdilution = hrt_absolute_time();
 //
-//								//Check if checksum is valid and the store the gps information
-//								if (_rx_ck_a == _rx_buffer[_rx_count - 1] && _rx_ck_b == _rx_buffer[_rx_count]) {
+//			_new_nav_dop = true;
 //
-//									gps_position->satellites_visible = packet->numVis;
-//									gps_position->counter++;
-//									_last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time();
-//									ret = 1;
-//
-//								} else {
-//									warnx("RXM_SVSI: checksum invalid\n");
-//								}
-//
-//								// Reset state machine to decode next packet
-//								decodeInit();
-//								break;
-//							}
-
-						case ACK_ACK: {
-//							printf("GOT ACK_ACK\n");
-							gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) _rx_buffer;
-
-							//Check if checksum is valid
-							if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
-
-								_waiting_for_ack = false;
-
-								switch (_config_state) {
-									case UBX_CONFIG_STATE_PRT:
-										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_PRT)
-											_config_state = UBX_CONFIG_STATE_PRT_NEW_BAUDRATE;
-										break;
-									case UBX_CONFIG_STATE_PRT_NEW_BAUDRATE:
-										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_PRT)
-											_config_state = UBX_CONFIG_STATE_RATE;
-										break;
-									case UBX_CONFIG_STATE_RATE:
-										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_RATE)
-											_config_state = UBX_CONFIG_STATE_NAV5;
-										break;
-									case UBX_CONFIG_STATE_NAV5:
-										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_NAV5)
-											_config_state = UBX_CONFIG_STATE_MSG_NAV_POSLLH;
-										break;
-									case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
-										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
-											_config_state = UBX_CONFIG_STATE_MSG_NAV_TIMEUTC;
-										break;
-									case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
-										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
-											_config_state = UBX_CONFIG_STATE_MSG_NAV_SVINFO;
-										break;
-//									case UBX_CONFIG_STATE_MSG_NAV_DOP:
-//										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
-//											_config_state = UBX_CONFIG_STATE_MSG_NAV_SVINFO;
-//										break;
-									case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
-										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
-											_config_state = UBX_CONFIG_STATE_MSG_NAV_SOL;
-										break;
-									case UBX_CONFIG_STATE_MSG_NAV_SOL:
-										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
-											_config_state = UBX_CONFIG_STATE_MSG_NAV_VELNED;
-										break;
-									case UBX_CONFIG_STATE_MSG_NAV_VELNED:
-										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
-											_config_state = UBX_CONFIG_STATE_CONFIGURED;
-											/* set the flag to tell the driver that configuration was successful */
-											config_needed = false;
-										break;
-//									case UBX_CONFIG_STATE_MSG_RXM_SVSI:
-//										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
-//											_config_state = UBX_CONFIG_STATE_CONFIGURED;
-//										break;
-									default:
-										break;
-								}
-							} else {
-								warnx("ACK_ACK: checksum invalid");
-							}
-
-							// Reset state machine to decode next packet
-							decodeInit();
-							break;
-						}
+//			break;
+//		}
 
-						case ACK_NAK: {
-//							printf("GOT ACK_NAK\n");
-							gps_bin_ack_nak_packet_t *packet = (gps_bin_ack_nak_packet_t *) _rx_buffer;
+		case NAV_TIMEUTC: {
+//			printf("GOT NAV_TIMEUTC MESSAGE\n");
 
-							//Check if checksum is valid
-							if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
+			if (!_waiting_for_ack) {
+				gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) _rx_buffer;
 
-								warnx("UBX: Received: Not Acknowledged");
-								/* configuration obviously not successful */
-								config_needed = true;
-							} else {
-								warnx("ACK_NAK: checksum invalid\n");
-							}
+				//convert to unix timestamp
+				struct tm timeinfo;
+				timeinfo.tm_year = packet->year - 1900;
+				timeinfo.tm_mon = packet->month - 1;
+				timeinfo.tm_mday = packet->day;
+				timeinfo.tm_hour = packet->hour;
+				timeinfo.tm_min = packet->min;
+				timeinfo.tm_sec = packet->sec;
 
-							// Reset state machine to decode next packet
-							decodeInit();
-							break;
-						}
+				time_t epoch = mktime(&timeinfo);
 
-						default: //we don't know the message
-							warnx("UBX: Unknown message received: %d-%d\n",_message_class,_message_id);
-							decodeInit();
+				_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
+				_gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
+
+				_gps_position->timestamp_time = hrt_absolute_time();
+			}
+			break;
+		}
 
-							break;
+		case NAV_SVINFO: {
+//			printf("GOT NAV_SVINFO MESSAGE\n");
+
+			if (!_waiting_for_ack) {
+				//this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message
+				const int length_part1 = 8;
+				char _rx_buffer_part1[length_part1];
+				memcpy(_rx_buffer_part1, _rx_buffer, length_part1);
+				gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer_part1;
+
+				//read checksum
+				const int length_part3 = 2;
+				char _rx_buffer_part3[length_part3];
+				memcpy(_rx_buffer_part3, &(_rx_buffer[_rx_count - 1]), length_part3);
+
+				//definitions needed to read numCh elements from the buffer:
+				const int length_part2 = 12;
+				gps_bin_nav_svinfo_part2_packet_t *packet_part2;
+				char _rx_buffer_part2[length_part2]; //for temporal storage
+
+				uint8_t satellites_used = 0;
+				int i;
+
+				for (i = 0; i < packet_part1->numCh; i++) { //for each channel
+
+					/* Get satellite information from the buffer */
+					memcpy(_rx_buffer_part2, &(_rx_buffer[length_part1 + i * length_part2]), length_part2);
+					packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) _rx_buffer_part2;
+
+
+					/* Write satellite information in the global storage */
+					_gps_position->satellite_prn[i] = packet_part2->svid;
+
+					//if satellite information is healthy store the data
+					uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield
+
+					if (!unhealthy) {
+						if ((packet_part2->flags) & 1) { //flags is a bitfield
+							_gps_position->satellite_used[i] = 1;
+							satellites_used++;
+
+						} else {
+							_gps_position->satellite_used[i] = 0;
 						}
-					} // end if _rx_count high enough
-					else if (_rx_count < RECV_BUFFER_SIZE) {
-						_rx_count++;
+
+						_gps_position->satellite_snr[i] = packet_part2->cno;
+						_gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
+						_gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
+
 					} else {
-						warnx("buffer full, restarting");
-						decodeInit();
-						config_needed = true;
+						_gps_position->satellite_used[i] = 0;
+						_gps_position->satellite_snr[i] = 0;
+						_gps_position->satellite_elevation[i] = 0;
+						_gps_position->satellite_azimuth[i] = 0;
 					}
-				break;
-		default:
+
+				}
+
+				for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused
+					/* Unused channels have to be set to zero for e.g. MAVLink */
+					_gps_position->satellite_prn[i] = 0;
+					_gps_position->satellite_used[i] = 0;
+					_gps_position->satellite_snr[i] = 0;
+					_gps_position->satellite_elevation[i] = 0;
+					_gps_position->satellite_azimuth[i] = 0;
+				}
+				_gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones
+
+				/* set timestamp if any sat info is available */
+				if (packet_part1->numCh > 0) {
+					_gps_position->satellite_info_available = true;
+				} else {
+					_gps_position->satellite_info_available = false;
+				}
+				_gps_position->timestamp_satellites = hrt_absolute_time();
+			}
+
 			break;
-	}
-	return;
+		}
+
+		case NAV_VELNED: {
+//			printf("GOT NAV_VELNED MESSAGE\n");
+
+			if (!_waiting_for_ack) {
+				gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer;
+
+				_gps_position->vel_m_s   = (float)packet->speed * 1e-2f;
+				_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f;
+				_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f;
+				_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f;
+				_gps_position->cog_rad   = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
+				_gps_position->vel_ned_valid = true;
+				_gps_position->timestamp_velocity = hrt_absolute_time();
+			}
+
+			break;
+		}
+
+//		case RXM_SVSI: {
+//				printf("GOT RXM_SVSI MESSAGE\n");
+//				const int length_part1 = 7;
+//				char _rx_buffer_part1[length_part1];
+//				memcpy(_rx_buffer_part1, _rx_buffer, length_part1);
+//				gps_bin_rxm_svsi_packet_t *packet = (gps_bin_rxm_svsi_packet_t *) _rx_buffer_part1;
+//
+//				_gps_position->satellites_visible = packet->numVis;
+//				_gps_position->counter++;
+//				_last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time();
+//
+//			break;
+//		}
+		case ACK_ACK: {
+//			printf("GOT ACK_ACK\n");
+			gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) _rx_buffer;
+
+			if (_waiting_for_ack) {
+				if (packet->clsID == _clsID_needed && packet->msgID == _msgID_needed) {
+					ret = 1;
+				}
+			}
+		}
+		break;
+
+		case ACK_NAK: {
+//			printf("GOT ACK_NAK\n");
+			warnx("UBX: Received: Not Acknowledged");
+			/* configuration obviously not successful */
+			ret = -1;
+			break;
+		}
+
+		default: //we don't know the message
+			warnx("UBX: Unknown message received: %d-%d\n",_message_class,_message_id);
+			ret = -1;
+			break;
+		}
+	// end if _rx_count high enough
+	decode_init();
+	return ret; //XXX?
 }
 
 void
-UBX::decodeInit(void)
+UBX::decode_init(void)
 {
 	_rx_ck_a = 0;
 	_rx_ck_b = 0;
@@ -726,14 +704,14 @@ UBX::decodeInit(void)
 }
 
 void
-UBX::addByteToChecksum(uint8_t b)
+UBX::add_byte_to_checksum(uint8_t b)
 {
 	_rx_ck_a = _rx_ck_a + b;
 	_rx_ck_b = _rx_ck_b + _rx_ck_a;
 }
 
 void
-UBX::addChecksumToMessage(uint8_t* message, const unsigned length)
+UBX::add_checksum_to_message(uint8_t* message, const unsigned length)
 {
 	uint8_t ck_a = 0;
 	uint8_t ck_b = 0;
@@ -749,12 +727,12 @@ UBX::addChecksumToMessage(uint8_t* message, const unsigned length)
 }
 
 void
-UBX::sendConfigPacket(const int &fd, uint8_t *packet, const unsigned length)
+UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length)
 {
 	ssize_t ret = 0;
 
 	/* Calculate the checksum now */
-	addChecksumToMessage(packet, length);
+	add_checksum_to_message(packet, length);
 
 	const uint8_t sync_bytes[] = {UBX_SYNC1, UBX_SYNC2};
 
diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h
index c420e83b9..e3dd1c7ea 100644
--- a/apps/drivers/gps/ubx.h
+++ b/apps/drivers/gps/ubx.h
@@ -86,6 +86,8 @@
 #define UBX_CFG_MSG_PAYLOAD_RATE1_5HZ 0x01 		/**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
 #define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05		/**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
 
+#define UBX_MAX_PAYLOAD_LENGTH 500
+
 // ************
 /** the structures of the binary packets */
 #pragma pack(push, 1)
@@ -337,35 +339,49 @@ typedef enum {
 class UBX : public GPS_Helper
 {
 public:
-	UBX();
+	UBX(const int &fd, struct vehicle_gps_position_s *gps_position);
 	~UBX();
-	void				reset(void);
-	void				configure(const int &fd, bool &baudrate_changed, unsigned &baudrate);
-	void 				parse(uint8_t, struct vehicle_gps_position_s*, bool &config_needed, bool &pos_updated);
+	int					receive(unsigned timeout);
+	int					configure(unsigned &baudrate);
 
 private:
+
+	/**
+	 * Parse the binary MTK packet
+	 */
+	int					parse_char(uint8_t b);
+
+	/**
+	 * Handle the package once it has arrived
+	 */
+	int					handle_message(void);
+
 	/**
 	 * Reset the parse state machine for a fresh start
 	 */
-	void				decodeInit(void);
+	void				decode_init(void);
 
 	/**
 	 * While parsing add every byte (except the sync bytes) to the checksum
 	 */
-	void				addByteToChecksum(uint8_t);
+	void				add_byte_to_checksum(uint8_t);
 
 	/**
 	 * Add the two checksum bytes to an outgoing message
 	 */
-	void				addChecksumToMessage(uint8_t* message, const unsigned length);
+	void				add_checksum_to_message(uint8_t* message, const unsigned length);
 
 	/**
 	 * Helper to send a config packet
 	 */
-	void				sendConfigPacket(const int &fd, uint8_t *packet, const unsigned length);
+	void				send_config_packet(const int &fd, uint8_t *packet, const unsigned length);
 
+	int 				_fd;
+	struct vehicle_gps_position_s *_gps_position;
 	ubx_config_state_t	_config_state;
 	bool 				_waiting_for_ack;
+	uint8_t				_clsID_needed;
+	uint8_t				_msgID_needed;
 	ubx_decode_state_t	_decode_state;
 	uint8_t				_rx_buffer[RECV_BUFFER_SIZE];
 	unsigned			_rx_count;
-- 
cgit v1.2.3


From a0780a20b5e10eafa1ddf7e16bce788b94514bba Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Sat, 16 Feb 2013 18:00:58 +0100
Subject: Fixed default airspeed for fixed wing control app

---
 apps/examples/control_demo/params.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'apps')

diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c
index 6525b70f5..8cefc298f 100644
--- a/apps/examples/control_demo/params.c
+++ b/apps/examples/control_demo/params.c
@@ -52,9 +52,9 @@ PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f);  // cross-track to yaw angle limit 90
 PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f);     // cross-track to yaw angle gain
 
 // speed command
-PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);       // minimum commanded velocity
-PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f);       // commanded velocity
-PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);       // maximum commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f);       // minimum commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f);       // commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f);       // maximum commanded velocity
 
 // trim
 PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);     // trim aileron, normalized (-1,1)
-- 
cgit v1.2.3


From 9fb024b1f236ff63c70c9942a2775cec2fb0ddec Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Sun, 17 Feb 2013 13:07:40 +0100
Subject: Removed old GPS app

---
 apps/gps/.context                 |    0
 apps/gps/.gitignore               |    3 -
 apps/gps/Makefile                 |   59 ---
 apps/gps/gps.c                    |  589 ---------------------
 apps/gps/gps.h                    |   18 -
 apps/gps/mtk.c                    |  432 ----------------
 apps/gps/mtk.h                    |   98 ----
 apps/gps/nmea_helper.c            |  345 -------------
 apps/gps/nmea_helper.h            |   47 --
 apps/gps/nmealib/LICENSE.TXT      |  506 ------------------
 apps/gps/nmealib/README.TXT       |   26 -
 apps/gps/nmealib/context.c        |   67 ---
 apps/gps/nmealib/generate.c       |  229 ---------
 apps/gps/nmealib/generator.c      |  399 ---------------
 apps/gps/nmealib/gmath.c          |  376 --------------
 apps/gps/nmealib/info.c           |   21 -
 apps/gps/nmealib/nmea/config.h    |   51 --
 apps/gps/nmealib/nmea/context.h   |   44 --
 apps/gps/nmealib/nmea/generate.h  |   44 --
 apps/gps/nmealib/nmea/generator.h |   79 ---
 apps/gps/nmealib/nmea/gmath.h     |   92 ----
 apps/gps/nmealib/nmea/info.h      |  112 ----
 apps/gps/nmealib/nmea/nmea.h      |   25 -
 apps/gps/nmealib/nmea/parse.h     |   39 --
 apps/gps/nmealib/nmea/parser.h    |   59 ---
 apps/gps/nmealib/nmea/sentence.h  |  128 -----
 apps/gps/nmealib/nmea/time.h      |   47 --
 apps/gps/nmealib/nmea/tok.h       |   31 --
 apps/gps/nmealib/nmea/units.h     |   30 --
 apps/gps/nmealib/parse.c          |  501 ------------------
 apps/gps/nmealib/parser.c         |  400 ---------------
 apps/gps/nmealib/sentence.c       |   54 --
 apps/gps/nmealib/time.c           |   63 ---
 apps/gps/nmealib/tok.c            |  267 ----------
 apps/gps/ubx.c                    | 1022 -------------------------------------
 apps/gps/ubx.h                    |  415 ---------------
 36 files changed, 6718 deletions(-)
 delete mode 100644 apps/gps/.context
 delete mode 100644 apps/gps/.gitignore
 delete mode 100644 apps/gps/Makefile
 delete mode 100644 apps/gps/gps.c
 delete mode 100644 apps/gps/gps.h
 delete mode 100644 apps/gps/mtk.c
 delete mode 100644 apps/gps/mtk.h
 delete mode 100644 apps/gps/nmea_helper.c
 delete mode 100644 apps/gps/nmea_helper.h
 delete mode 100644 apps/gps/nmealib/LICENSE.TXT
 delete mode 100644 apps/gps/nmealib/README.TXT
 delete mode 100644 apps/gps/nmealib/context.c
 delete mode 100644 apps/gps/nmealib/generate.c
 delete mode 100644 apps/gps/nmealib/generator.c
 delete mode 100644 apps/gps/nmealib/gmath.c
 delete mode 100644 apps/gps/nmealib/info.c
 delete mode 100644 apps/gps/nmealib/nmea/config.h
 delete mode 100644 apps/gps/nmealib/nmea/context.h
 delete mode 100644 apps/gps/nmealib/nmea/generate.h
 delete mode 100644 apps/gps/nmealib/nmea/generator.h
 delete mode 100644 apps/gps/nmealib/nmea/gmath.h
 delete mode 100644 apps/gps/nmealib/nmea/info.h
 delete mode 100644 apps/gps/nmealib/nmea/nmea.h
 delete mode 100644 apps/gps/nmealib/nmea/parse.h
 delete mode 100644 apps/gps/nmealib/nmea/parser.h
 delete mode 100644 apps/gps/nmealib/nmea/sentence.h
 delete mode 100644 apps/gps/nmealib/nmea/time.h
 delete mode 100644 apps/gps/nmealib/nmea/tok.h
 delete mode 100644 apps/gps/nmealib/nmea/units.h
 delete mode 100644 apps/gps/nmealib/parse.c
 delete mode 100644 apps/gps/nmealib/parser.c
 delete mode 100644 apps/gps/nmealib/sentence.c
 delete mode 100644 apps/gps/nmealib/time.c
 delete mode 100644 apps/gps/nmealib/tok.c
 delete mode 100644 apps/gps/ubx.c
 delete mode 100644 apps/gps/ubx.h

(limited to 'apps')

diff --git a/apps/gps/.context b/apps/gps/.context
deleted file mode 100644
index e69de29bb..000000000
diff --git a/apps/gps/.gitignore b/apps/gps/.gitignore
deleted file mode 100644
index a02827195..000000000
--- a/apps/gps/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-include
-mavlink-*
-pymavlink-*
diff --git a/apps/gps/Makefile b/apps/gps/Makefile
deleted file mode 100644
index 7aaaf50cb..000000000
--- a/apps/gps/Makefile
+++ /dev/null
@@ -1,59 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Makefile to build the GPS receiver application
-#
-
-APPNAME		 = gps
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-CSRCS		 = gps.c \
-		   ubx.c \
-		   mtk.c \
-		   nmea_helper.c \
-		   nmealib/context.c \
-		   nmealib/generate.c \
-		   nmealib/generator.c \
-		   nmealib/gmath.c \
-		   nmealib/info.c \
-		   nmealib/parse.c \
-		   nmealib/parser.c \
-		   nmealib/sentence.c \
-		   nmealib/time.c \
-		   nmealib/tok.c
-
-INCLUDES	 = $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/gps/gps.c b/apps/gps/gps.c
deleted file mode 100644
index 8a9512054..000000000
--- a/apps/gps/gps.c
+++ /dev/null
@@ -1,589 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler 
- *           Julian Oes 
- *
- * 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 gps.c
- * GPS app main loop.
- */
-
-#include "gps.h"
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include "nmealib/nmea/nmea.h" // the nmea library
-#include "nmea_helper.h" //header files for interacting with the nmea library
-#include "mtk.h" //header files for the custom protocol for the mediatek diydrones chip
-#include "ubx.h" //header files for the ubx protocol
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include 
-
-static bool thread_should_exit;				/**< Deamon status flag */
-static bool thread_running = false;				/**< Deamon status flag */
-static int deamon_task;							/**< Handle of deamon task / thread */
-
-/**
- * GPS module readout and publishing.
- * 
- * This function reads the onboard gps and publishes the vehicle_gps_positon topic.
- *
- * @see vehicle_gps_position_s
- * @ingroup apps
- */
-__EXPORT int gps_main(int argc, char *argv[]);
-
-/**
- * Mainloop of deamon.
- */
-int gps_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-#define IMPORTANT_GPS_BAUD_RATES_N		2
-#define RETRY_INTERVAL_SECONDS			10
-
-//gps_bin_ubx_state_t * ubx_state;
-bool gps_mode_try_all;
-bool gps_baud_try_all;
-bool gps_mode_success;
-bool terminate_gps_thread;
-bool gps_verbose;
-int current_gps_speed;
-
-enum GPS_MODES {
-	GPS_MODE_START = 0,
-	GPS_MODE_UBX = 1,
-	GPS_MODE_MTK = 2,
-	GPS_MODE_NMEA = 3,
-	GPS_MODE_END = 4
-};
-
-
-#define AUTO_DETECTION_COUNT 8
-const int autodetection_baudrates[] = {B38400, B9600, B38400, B9600, B38400, B9600, B38400, B9600};
-const enum GPS_MODES autodetection_gpsmodes[] = {GPS_MODE_UBX, GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_UBX, GPS_MODE_NMEA, GPS_MODE_NMEA}; //nmea is the fall-back if nothing else works, therefore we try the standard modes again before finally trying nmea
-
-/****************************************************************************
- * Private functions
- ****************************************************************************/
-int open_port(char *port);
-
-void close_port(int *fd);
-
-void setup_port(char *device, int speed, int *fd);
-
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- * 
- * The actual stack size should be set in the call
- * to task_create().
- */
-int gps_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("gps already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn("gps",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_DEFAULT,
-					 4096,
-					 gps_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		thread_running = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tgps is running\n");
-		} else {	
-			printf("\tgps not started\n");
-		}
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-/*
- * Main function of gps app.
- */
-int gps_thread_main(int argc, char *argv[]) {
-
-	/* welcome message */
-	printf("[gps] Initialized. Searching for GPS receiver..\n");
-
-	/* default values */
-	const char *commandline_usage = "\tusage: %s {start|stop|status} -d devicename -b baudrate -m mode\n\tmodes are:\n\t\tubx\n\t\tmtkcustom\n\t\tnmea\n\t\tall\n";
-	char *device = "/dev/ttyS3";
-	char mode[10];
-	strcpy(mode, "all");
-	int baudrate = -1;
-	gps_mode_try_all = false;
-	gps_baud_try_all = false;
-	gps_mode_success = true;
-	terminate_gps_thread = false;
-	bool retry = false;
-	gps_verbose = false;
-
-	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-	/* read arguments */
-	int i;
-
-	for (i = 0; i < argc; i++) {
-		if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) { //device set
-			printf(commandline_usage, argv[0]);
-			thread_running = false;
-			return 0;
-		}
-
-		if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set
-			if (argc > i + 1) {
-				device = argv[i + 1];
-
-			} else {
-				printf(commandline_usage, argv[0]);
-				thread_running = false;
-				return 0;
-			}
-		}
-
-		if (strcmp(argv[i], "-r") == 0 || strcmp(argv[i], "--retry") == 0) {
-			if (argc > i + 1) {
-				retry = atoi(argv[i + 1]);
-
-			} else {
-				printf(commandline_usage, argv[0]);
-				thread_running = false;
-				return 0;
-			}
-		}
-
-		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--baud") == 0) {
-			if (argc > i + 1) {
-				baudrate = atoi(argv[i + 1]);
-
-			} else {
-				printf(commandline_usage, argv[0]);
-				thread_running = false;
-				return 0;
-			}
-		}
-
-		if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) {
-			if (argc > i + 1) {
-				strcpy(mode, argv[i + 1]);
-
-			} else {
-				printf(commandline_usage, argv[0]);
-				thread_running = false;
-				return 0;
-			}
-		}
-
-		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-			gps_verbose = true;
-		}
-	}
-
-	/*
-	 * In case a baud rate is set only this baud rate will be tried,
-	 * otherwise a array of usual baud rates for gps receivers is used
-	 */
-
-
-//	printf("baudrate = %d\n",baudrate);
-	switch (baudrate) {
-	case -1:     gps_baud_try_all = true; break;
-
-	case 0:      current_gps_speed = B0;      break;
-	case 50:     current_gps_speed = B50;     break;
-	case 75:     current_gps_speed = B75;     break;
-	case 110:    current_gps_speed = B110;    break;
-	case 134:    current_gps_speed = B134;    break;
-	case 150:    current_gps_speed = B150;    break;
-	case 200:    current_gps_speed = B200;    break;
-	case 300:    current_gps_speed = B300;    break;
-	case 600:    current_gps_speed = B600;    break;
-	case 1200:   current_gps_speed = B1200;   break;
-	case 1800:   current_gps_speed = B1800;   break;
-	case 2400:   current_gps_speed = B2400;   break;
-	case 4800:   current_gps_speed = B4800;   break;
-	case 9600:   current_gps_speed = B9600;   break;
-	case 19200:  current_gps_speed = B19200;  break;
-	case 38400:  current_gps_speed = B38400;  break;
-	case 57600:  current_gps_speed = B57600;  break;
-	case 115200: current_gps_speed = B115200; break;
-	case 230400: current_gps_speed = B230400; break;
-	case 460800: current_gps_speed = B460800; break;
-	case 921600: current_gps_speed = B921600; break;
-
-	default:
-		fprintf(stderr, "[gps] ERROR: Unsupported baudrate: %d\n", baudrate);
-		fflush(stdout);
-		return -EINVAL;
-	}
-
-
-	enum GPS_MODES current_gps_mode = GPS_MODE_UBX;
-
-	if (strcmp(mode, "ubx") == 0) {
-		current_gps_mode = GPS_MODE_UBX;
-
-	} else if (strcmp(mode, "mtkcustom") == 0) {
-		current_gps_mode = GPS_MODE_MTK;
-
-	} else if (strcmp(mode, "nmea") == 0) {
-		current_gps_mode = GPS_MODE_NMEA;
-
-	} else if (strcmp(mode, "all") == 0) {
-		gps_mode_try_all = true;
-
-	} else {
-		fprintf(stderr, "\t[gps] Invalid mode argument\n");
-		printf(commandline_usage);
-		thread_running = false;
-		return ERROR;
-	}
-
-	/* Declare file descriptor for gps here, open port later in setup_port */
-	int fd;
-
-	while (!thread_should_exit) {
-		/* Infinite retries or break if retry == false */
-
-		/* Loop over all configurations of baud rate and protocol */
-		for (i = 0; i < AUTO_DETECTION_COUNT; i++) {
-			if (gps_mode_try_all) {
-				current_gps_mode = autodetection_gpsmodes[i];
-
-				if (false == gps_baud_try_all && autodetection_baudrates[i] != current_gps_speed) //there is no need to try modes which are not configured to run with the selcted baud rate
-					continue;
-			}
-
-			if (gps_baud_try_all) {
-				current_gps_speed = autodetection_baudrates[i];
-
-				if (false == gps_mode_try_all && autodetection_gpsmodes[i] != current_gps_mode) //there is no need to try baud rates which are not usual for the selected mode
-					continue;
-			}
-
-
-			/*
-			 * The watchdog_thread will return and set gps_mode_success to false if no data can be parsed.
-			 * if the gps was once running the wtachdog thread will not return but instead try to reconfigure the gps (depending on the mode/protocol)
-			 */
-
-			if (current_gps_mode == GPS_MODE_UBX) {
-
-				if (gps_verbose) printf("[gps] Trying UBX mode at %d baud\n", current_gps_speed);
-
-				mavlink_log_info(mavlink_fd, "[gps] trying to connect to a ubx module");
-                
-				setup_port(device, current_gps_speed, &fd);
-                
-				/* start ubx thread and watchdog */
-				pthread_t ubx_thread;
-				pthread_t ubx_watchdog_thread;
-
-				pthread_mutex_t  ubx_mutex_d;
-				ubx_mutex = &ubx_mutex_d;
-				pthread_mutex_init(ubx_mutex, NULL);
-				gps_bin_ubx_state_t ubx_state_d;
-				ubx_state = &ubx_state_d;
-				ubx_decode_init();
-
-				pthread_attr_t ubx_loop_attr;
-				pthread_attr_init(&ubx_loop_attr);
-				pthread_attr_setstacksize(&ubx_loop_attr, 3000);
-
-				struct arg_struct args;
-				args.fd_ptr = &fd;
-				args.thread_should_exit_ptr = &thread_should_exit;
-
-				pthread_create(&ubx_thread, &ubx_loop_attr, ubx_loop, (void *)&args);
-                
-				pthread_attr_t ubx_wd_attr;
-				pthread_attr_init(&ubx_wd_attr);
-				pthread_attr_setstacksize(&ubx_wd_attr, 1400);
-				int pthread_create_res = pthread_create(&ubx_watchdog_thread, &ubx_wd_attr, ubx_watchdog_loop, (void *)&args);
-
-				if (pthread_create_res != 0) fprintf(stderr, "[gps] ERROR: could not create ubx watchdog thread, pthread_create =%d\n", pthread_create_res);
-
-				/* wait for threads to complete */
-				pthread_join(ubx_watchdog_thread, NULL);
-
-				if (gps_mode_success == false) {
-					if (gps_verbose) printf("[gps] no success with UBX mode and %d baud\n", current_gps_speed);
-
-					terminate_gps_thread = true;
-					pthread_join(ubx_thread, NULL);
-
-					gps_mode_success = true;
-					terminate_gps_thread = false;
-
-				/* maybe the watchdog was stopped through the thread_should_exit flag */
-				} else if (thread_should_exit) {
-					pthread_join(ubx_thread, NULL);
-					if (gps_verbose) printf("[gps] ubx watchdog and ubx loop threads have been terminated, exiting.");
-					close(mavlink_fd);
-					close_port(&fd);
-					thread_running = false;
-					return 0;
-				}
-
-				close_port(&fd);
-			} else if (current_gps_mode == GPS_MODE_MTK) {
-				if (gps_verbose) printf("[gps] trying MTK binary mode at %d baud\n", current_gps_speed);
-
-				mavlink_log_info(mavlink_fd, "[gps] trying to connect to a MTK module");
-
-				setup_port(device, current_gps_speed, &fd);
-
-				/* start mtk thread and watchdog */
-				pthread_t mtk_thread;
-				pthread_t mtk_watchdog_thread;
-
-				pthread_mutex_t  mtk_mutex_d;
-				mtk_mutex = &mtk_mutex_d;
-				pthread_mutex_init(mtk_mutex, NULL);
-
-
-				gps_bin_mtk_state_t mtk_state_d;
-				mtk_state = &mtk_state_d;
-				mtk_decode_init();
-
-
-				pthread_attr_t mtk_loop_attr;
-				pthread_attr_init(&mtk_loop_attr);
-				pthread_attr_setstacksize(&mtk_loop_attr, 2048);
-
-				struct arg_struct args;
-				args.fd_ptr = &fd;
-				args.thread_should_exit_ptr = &thread_should_exit;
-
-				pthread_create(&mtk_thread, &mtk_loop_attr, mtk_loop, (void *)&args);
-				sleep(2);
-				pthread_create(&mtk_watchdog_thread, NULL, mtk_watchdog_loop, (void *)&args);
-
-				/* wait for threads to complete */
-				pthread_join(mtk_watchdog_thread, (void *)&fd);
-
-				if (gps_mode_success == false) {
-					if (gps_verbose) printf("[gps] No success with MTK binary mode and %d baud\n", current_gps_speed);
-
-					terminate_gps_thread = true;
-					pthread_join(mtk_thread, NULL);
-
-					//if(true == gps_mode_try_all)
-					//strcpy(mode, "nmea");
-
-					gps_mode_success = true;
-					terminate_gps_thread = false;
-				}
-
-				close_port(&fd);
-
-			} else if (current_gps_mode == GPS_MODE_NMEA) {
-				if (gps_verbose) printf("[gps] Trying NMEA mode at %d baud\n", current_gps_speed);
-
-				mavlink_log_info(mavlink_fd, "[gps] trying to connect to a NMEA module");
-
-
-				setup_port(device, current_gps_speed, &fd);
-
-				/* start nmea thread and watchdog */
-				pthread_t nmea_thread;
-				pthread_t nmea_watchdog_thread;
-
-				pthread_mutex_t  nmea_mutex_d;
-				nmea_mutex = &nmea_mutex_d;
-				pthread_mutex_init(nmea_mutex, NULL);
-
-				gps_bin_nmea_state_t nmea_state_d;
-				nmea_state = &nmea_state_d;
-
-				pthread_attr_t nmea_loop_attr;
-				pthread_attr_init(&nmea_loop_attr);
-				pthread_attr_setstacksize(&nmea_loop_attr, 4096);
-
-				struct arg_struct args;
-				args.fd_ptr = &fd;
-				args.thread_should_exit_ptr = &thread_should_exit;
-
-				pthread_create(&nmea_thread, &nmea_loop_attr, nmea_loop, (void *)&args);
-				sleep(2);
-				pthread_create(&nmea_watchdog_thread, NULL, nmea_watchdog_loop, (void *)&args);
-
-				/* wait for threads to complete */
-				pthread_join(nmea_watchdog_thread, (void *)&fd);
-
-				if (gps_mode_success == false) {
-					if (gps_verbose) printf("[gps] No success with NMEA mode and %d baud\r\n", current_gps_speed);
-
-					terminate_gps_thread = true;
-					pthread_join(nmea_thread, NULL);
-
-					gps_mode_success = true;
-					terminate_gps_thread = false;
-				}
-
-				close_port(&fd);
-			}
-
-			/* exit quickly if stop command has been received */
-			if (thread_should_exit) {
-				printf("[gps] stopped, exiting.\n");
-				close(mavlink_fd);
-				thread_running = false;
-				return 0;
-	        }
-
-			/* if both, mode and baud is set by argument, we only need one loop*/
-			if (gps_mode_try_all == false && gps_baud_try_all == false)
-				break;
-		}
-
-	        
-		if (retry) {
-			printf("[gps] No configuration was successful, retrying in %d seconds \n", RETRY_INTERVAL_SECONDS);
-			mavlink_log_info(mavlink_fd, "[gps] No configuration was successful, retrying...");
-			fflush(stdout);
-
-		} else {
-			fprintf(stderr, "[gps] No configuration was successful, exiting... \n");
-			fflush(stdout);
-			mavlink_log_info(mavlink_fd, "[gps] No configuration was successful, exiting...");
-			break;
-		}
-
-		sleep(RETRY_INTERVAL_SECONDS);
-	}
-
-	printf("[gps] exiting.\n");
-	close(mavlink_fd);
-	thread_running = false;
-	return 0;
-}
-
-
-static void usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-	fprintf(stderr, "\tusage: gps {start|status|stop} -d devicename -b baudrate -m mode\n\tmodes are:\n\t\tubx\n\t\tmtkcustom\n\t\tnmea\n\t\tall\n");
-	exit(1);
-}
-
-int open_port(char *port)
-{
-	int fd; /**< File descriptor for the gps port */
-
-	/* Open serial port */
-	fd = open(port, O_CREAT | O_RDWR | O_NOCTTY); /* O_RDWR - Read and write O_NOCTTY - Ignore special chars like CTRL-C */
-	return (fd);
-}
-
-
-void close_port(int *fd)
-{
-	/* Close serial port */
-	close(*fd);
-}
-
-void setup_port(char *device, int speed, int *fd)
-{
-	/* open port (baud rate is set in defconfig file) */
-	*fd = open_port(device);
-
-	if (*fd != -1) {
-		if (gps_verbose) printf("[gps] Port opened: %s at %d baud\n", device, speed);
-
-	} else {
-		fprintf(stderr, "[gps] Could not open port, exiting gps app!\n");
-		fflush(stdout);
-	}
-
-	/* Try to set baud rate */
-	struct termios uart_config;
-	int termios_state;
-
-	if ((termios_state = tcgetattr(*fd, &uart_config)) < 0) {
-		fprintf(stderr, "[gps] ERROR getting baudrate / termios config for %s: %d\n", device, termios_state);
-		close(*fd);
-	}
-	if (gps_verbose) printf("[gps] Try to set baud rate %d now\n",speed);
-	/* Set baud rate */
-	cfsetispeed(&uart_config, speed);
-	cfsetospeed(&uart_config, speed);
-	if ((termios_state = tcsetattr(*fd, TCSANOW, &uart_config)) < 0) {
-		fprintf(stderr, "[gps] ERROR setting baudrate / termios config for %s (tcsetattr)\n", device);
-		close(*fd);
-	}
-}
diff --git a/apps/gps/gps.h b/apps/gps/gps.h
deleted file mode 100644
index 499a6164f..000000000
--- a/apps/gps/gps.h
+++ /dev/null
@@ -1,18 +0,0 @@
-/*
- * gps.h
- *
- *  Created on: Mar 8, 2012
- *      Author: thomasgubler
- */
-
-#ifndef GPS_H_
-#define GPS_H
-
-#include 
-
-struct arg_struct {
-    int *fd_ptr;
-    bool *thread_should_exit_ptr;
-};
-
-#endif /* GPS_H_ */
diff --git a/apps/gps/mtk.c b/apps/gps/mtk.c
deleted file mode 100644
index 3b0ee4565..000000000
--- a/apps/gps/mtk.c
+++ /dev/null
@@ -1,432 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Julian Oes 
- *           Thomas Gubler 
- *
- * 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 MTK custom binary (3DR) protocol implementation */
-
-#include "gps.h"
-#include "mtk.h"
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#define MTK_HEALTH_SUCCESS_COUNTER_LIMIT 2
-#define MTK_HEALTH_FAIL_COUNTER_LIMIT 2
-
-// XXX decrease this substantially, it should be only a few dozen bytes max.
-#warning XXX trying 128 for now
-#define MTK_BUFFER_SIZE 128
-
-pthread_mutex_t *mtk_mutex;
-gps_bin_mtk_state_t *mtk_state;
-static struct vehicle_gps_position_s *mtk_gps;
-
-extern bool gps_mode_try_all;
-extern bool gps_mode_success;
-extern bool terminate_gps_thread;
-extern bool gps_baud_try_all;
-extern bool gps_verbose;
-extern int current_gps_speed;
-
-
-void mtk_decode_init(void)
-{
-	mtk_state->ck_a = 0;
-	mtk_state->ck_b = 0;
-	mtk_state->rx_count = 0;
-	mtk_state->decode_state = MTK_DECODE_UNINIT;
-	mtk_state->print_errors = false;
-}
-
-void mtk_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b)
-{
-	*(ck_a) = *(ck_a) + b;
-	*(ck_b) = *(ck_b) + *(ck_a);
-//	printf("Checksum now: %d\n",*(ck_b));
-}
-
-
-
-int mtk_parse(uint8_t b,  char *gps_rx_buffer)
-{
-//	printf("b=%x\n",b);
-	// Debug output to telemetry port
-	//	PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF, &b, 1);
-	if (mtk_state->decode_state == MTK_DECODE_UNINIT) {
-
-		if (b == 0xd0) {
-			mtk_state->decode_state = MTK_DECODE_GOT_CK_A;
-		}
-
-	} else if (mtk_state->decode_state == MTK_DECODE_GOT_CK_A) {
-		if (b == 0xdd) {
-			mtk_state->decode_state = MTK_DECODE_GOT_CK_B;
-
-		} else {
-			// Second start symbol was wrong, reset state machine
-			mtk_decode_init();
-		}
-
-	} else if (mtk_state->decode_state == MTK_DECODE_GOT_CK_B) {
-		// Add to checksum
-		if (mtk_state->rx_count < 33) mtk_checksum(b, &(mtk_state->ck_a), &(mtk_state->ck_b));
-
-		// Fill packet buffer
-		gps_rx_buffer[mtk_state->rx_count] = b;
-		(mtk_state->rx_count)++;
-//			printf("Rx count: %d\n",mtk_state->rx_count);
-		uint8_t ret = 0;
-
-		/* Packet size minus checksum */
-		if (mtk_state->rx_count >= 35) {
-			gps_bin_mtk_packet_t *packet = (gps_bin_mtk_packet_t *) gps_rx_buffer;
-
-			/* Check if checksum is valid */
-			if (mtk_state->ck_a == packet->ck_a && mtk_state->ck_b == packet->ck_b) {
-				mtk_gps->lat = packet->latitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7
-				mtk_gps->lon = packet->longitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7
-				mtk_gps->alt = (int32_t)(packet->msl_altitude * 10); // conversion from centimeters to millimeters, and from uint32_t to int16_t
-				mtk_gps->fix_type = packet->fix_type;
-				mtk_gps->eph = packet->hdop;
-				mtk_gps->epv = 65535; //unknown in mtk custom mode
-				mtk_gps->vel = packet->ground_speed;
-				mtk_gps->cog = (uint16_t)packet->heading; //mtk: degrees *1e2, mavlink/ubx: degrees *1e2
-				mtk_gps->satellites_visible = packet->satellites;
-
-				/* convert time and date information to unix timestamp */
-				struct tm timeinfo; //TODO: test this conversion
-				uint32_t timeinfo_conversion_temp;
-
-				timeinfo.tm_mday = packet->date * 1e-4;
-				timeinfo_conversion_temp = packet->date - timeinfo.tm_mday * 1e4;
-				timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1;
-				timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100;
-
-				timeinfo.tm_hour = packet->utc_time * 1e-7;
-				timeinfo_conversion_temp = packet->utc_time - timeinfo.tm_hour * 1e7;
-				timeinfo.tm_min = timeinfo_conversion_temp * 1e-5;
-				timeinfo_conversion_temp -= timeinfo.tm_min * 1e5;
-				timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3;
-				timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3;
-				time_t epoch = mktime(&timeinfo);
-				mtk_gps->timestamp = hrt_absolute_time();
-				mtk_gps->time_gps_usec = epoch * 1e6; //TODO: test this
-				mtk_gps->time_gps_usec += timeinfo_conversion_temp * 1e3;
-
-				mtk_gps->counter_pos_valid++;
-
-				mtk_gps->timestamp = hrt_absolute_time();
-
-//					printf("%lu; %lu; %d.%d.%d %d:%d:%d:%d\n", packet->date, packet->utc_time,timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, timeinfo_conversion_temp);
-
-				pthread_mutex_lock(mtk_mutex);
-//					printf("Write timestamp /n");
-				mtk_state->last_message_timestamp = hrt_absolute_time();
-				pthread_mutex_unlock(mtk_mutex);
-
-				ret = 1;
-//					printf("found package\n");
-
-			} else {
-				if (gps_verbose) printf("[gps] Checksum invalid\r\n");
-
-				ret = 0;
-			}
-
-			// Reset state machine to decode next packet
-			mtk_decode_init();
-//				printf("prepared for next state\n");
-			return ret;
-		}
-	}
-
-	return 0;     // no valid packet found
-
-}
-
-int read_gps_mtk(int *fd, char *gps_rx_buffer, int buffer_size)  // returns 1 if the thread should terminate
-{
-//	printf("in read_gps_mtk\n");
-	uint8_t ret = 0;
-
-	uint8_t c;
-
-	int rx_count = 0;
-	int gpsRxOverflow = 0;
-
-	struct pollfd fds;
-	fds.fd = *fd;
-	fds.events = POLLIN;
-
-	// This blocks the task until there is something on the buffer
-	while (1) {
-		//check if the thread should terminate
-		if (terminate_gps_thread == true) {
-//			printf("terminate_gps_thread=%u ", terminate_gps_thread);
-//			printf("exiting mtk thread\n");
-//			fflush(stdout);
-			ret = 1;
-			break;
-		}
-
-		if (poll(&fds, 1, 1000) > 0) {
-			if (read(*fd, &c, 1) > 0) {
-//				printf("Read %x\n",c);
-				if (rx_count >= buffer_size) {
-					// The buffer is already full and we haven't found a valid NMEA sentence.
-					// Flush the buffer and note the overflow event.
-					gpsRxOverflow++;
-					rx_count = 0;
-					mtk_decode_init();
-
-					if (gps_verbose) printf("[gps] Buffer full\r\n");
-
-				} else {
-					//gps_rx_buffer[rx_count] = c;
-					rx_count++;
-
-				}
-
-				int msg_read = mtk_parse(c, gps_rx_buffer);
-
-				if (msg_read > 0) {
-					//			printf("Found sequence\n");
-					break;
-				}
-
-			} else {
-				break;
-			}
-
-		} else {
-			break;
-		}
-
-	}
-
-	return ret;
-}
-
-int configure_gps_mtk(int *fd)
-{
-	int success = 0;
-	size_t result_write;
-	result_write =  write(*fd, MEDIATEK_REFRESH_RATE_10HZ, strlen(MEDIATEK_REFRESH_RATE_10HZ));
-
-	if (result_write != strlen(MEDIATEK_REFRESH_RATE_10HZ)) {
-		printf("[gps] Set update speed to 10 Hz failed\r\n");
-		success = 1;
-
-	} else {
-		if (gps_verbose) printf("[gps] Attempted to set update speed to 10 Hz..\r\n");
-	}
-
-	//set custom mode
-	result_write =  write(*fd, MEDIATEK_CUSTOM_BINARY_MODE, strlen(MEDIATEK_CUSTOM_BINARY_MODE));
-
-	if (result_write != strlen(MEDIATEK_CUSTOM_BINARY_MODE)) {
-		//global_data_send_subsystem_info(&mtk_present);
-		printf("[gps] Set MTK custom mode failed\r\n");
-		success = 1;
-
-	} else {
-		//global_data_send_subsystem_info(&mtk_present_enabled);
-		if (gps_verbose) printf("[gps] Attempted to set MTK custom mode..\r\n");
-	}
-
-	return success;
-}
-
-void *mtk_loop(void *args)
-{
-//	int oldstate;
-//	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, oldstate);
-//
-//	printf("in mtk loop\n");
-	/* Set thread name */
-	prctl(PR_SET_NAME, "gps mtk read", getpid());
-
-	/* Retrieve file descriptor and thread flag */
-	struct arg_struct *arguments = (struct arg_struct *)args;
-	int *fd = arguments->fd_ptr;
-	bool *thread_should_exit = arguments->thread_should_exit_ptr;
-
-	/* Initialize gps stuff */
-//	int buffer_size = 1000;
-//	char * gps_rx_buffer = malloc(buffer_size*sizeof(char));
-	char gps_rx_buffer[MTK_BUFFER_SIZE];
-
-	/* set parameters for mtk custom */
-
-	if (configure_gps_mtk(fd) != 0) {
-		printf("[gps] Could not write serial port..\r\n");
-
-		/* Write shared variable sys_status */
-
-		//global_data_send_subsystem_info(&mtk_present);
-
-	} else {
-		if (gps_verbose) printf("[gps] Configuration finished, awaiting GPS data..\r\n");
-
-
-		/* Write shared variable sys_status */
-
-		//global_data_send_subsystem_info(&mtk_present_enabled);
-	}
-
-	/* advertise GPS topic */
-	struct vehicle_gps_position_s mtk_gps_d;
-	mtk_gps = &mtk_gps_d;
-	orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), mtk_gps);
-
-	while (!(*thread_should_exit)) {
-		/* Parse a message from the gps receiver */
-		if (OK == read_gps_mtk(fd, gps_rx_buffer, MTK_BUFFER_SIZE)) {
-
-			/* publish new GPS position */
-			orb_publish(ORB_ID(vehicle_gps_position), gps_handle, mtk_gps);
-
-		} else {
-			/* de-advertise */
-			close(gps_handle);
-			break;
-		}
-
-	}
-
-	close(gps_handle);
-	if(gps_verbose) printf("[gps] mtk loop is going to terminate\n");
-	return NULL;
-}
-
-void *mtk_watchdog_loop(void *args)
-{
-//	printf("in mtk watchdog loop\n");
-	fflush(stdout);
-
-	/* Set thread name */
-	prctl(PR_SET_NAME, "gps mtk watchdog", getpid());
-
-	/* Retrieve file descriptor and thread flag */
-	struct arg_struct *arguments = (struct arg_struct *)args;
-	int *fd = arguments->fd_ptr;
-	bool *thread_should_exit = arguments->thread_should_exit_ptr;
-
-	bool mtk_healthy = false;
-
-	uint8_t mtk_fail_count = 0;
-	uint8_t mtk_success_count = 0;
-	bool once_ok = false;
-
-	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-
-	while (!(*thread_should_exit)) {
-		fflush(stdout);
-
-		/* if we have no update for a long time reconfigure gps */
-		pthread_mutex_lock(mtk_mutex);
-		uint64_t timestamp_now = hrt_absolute_time();
-		bool all_okay = true;
-
-		if (timestamp_now - mtk_state->last_message_timestamp > MTK_WATCHDOG_CRITICAL_TIME_MICROSECONDS) {
-			all_okay = false;
-		}
-
-		pthread_mutex_unlock(mtk_mutex);
-
-		if (!all_okay) {
-//			printf("mtk unhealthy\n");
-			mtk_fail_count++;
-			/* gps error */
-//			if (err_skip_counter == 0)
-//			{
-//				printf("[gps] GPS module not connected or not responding..\n");
-//				err_skip_counter = 20;
-//			}
-//			err_skip_counter--;
-
-//			printf("gps_mode_try_all =%u, mtk_fail_count=%u, mtk_healthy=%u, once_ok=%u\n", gps_mode_try_all, mtk_fail_count, mtk_healthy, once_ok);
-
-			/* If we have too many failures and another mode or baud should be tried, exit... */
-			if ((gps_mode_try_all == true  || gps_baud_try_all == true) && (mtk_fail_count >= MTK_HEALTH_FAIL_COUNTER_LIMIT) && (mtk_healthy == false) && once_ok == false) {
-				if (gps_verbose) printf("[gps] Connection attempt failed, no MTK module found\r\n");
-
-				gps_mode_success = false;
-				break;
-			}
-
-			if (mtk_healthy && mtk_fail_count >= MTK_HEALTH_FAIL_COUNTER_LIMIT) {
-				printf("[gps] ERROR: MTK GPS module stopped responding\r\n");
-				// global_data_send_subsystem_info(&mtk_present_enabled);
-				mavlink_log_critical(mavlink_fd, "[gps] MTK module stopped responding\n");
-				mtk_healthy = false;
-				mtk_success_count = 0;
-
-			}
-
-			/* trying to reconfigure the gps configuration */
-			configure_gps_mtk(fd);
-			fflush(stdout);
-
-		} else {
-			/* gps healthy */
-			mtk_success_count++;
-			mtk_fail_count = 0;
-			once_ok = true; // XXX Should this be true on a single success, or on same criteria as mtk_healthy?
-
-			if (!mtk_healthy && mtk_success_count >= MTK_HEALTH_SUCCESS_COUNTER_LIMIT) {
-				printf("[gps] MTK module found, status ok (baud=%d)\r\n", current_gps_speed);
-				/* MTK never has sat info */
-				// XXX Check if lock makes sense here
-				mtk_gps->satellite_info_available = 0;
-				// global_data_send_subsystem_info(&mtk_present_enabled_healthy);
-				mavlink_log_info(mavlink_fd, "[gps] MTK custom binary module found, status ok\n");
-				mtk_healthy = true;
-			}
-		}
-
-		usleep(MTK_WATCHDOG_WAIT_TIME_MICROSECONDS);
-	}
-	if(gps_verbose) printf("[gps] mtk watchdog is going to terminate\n");
-	close(mavlink_fd);
-	return NULL;
-}
diff --git a/apps/gps/mtk.h b/apps/gps/mtk.h
deleted file mode 100644
index 9fc1caec8..000000000
--- a/apps/gps/mtk.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/*
- * mtk.h
- *
- *  Created on: Mar 6, 2012
- *      Author: thomasgubler
- */
-
-#ifndef MTK_H_
-#define MTK_H_
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-//Definition for mtk custom mode
-#define MEDIATEK_REFRESH_RATE_4HZ "$PMTK220,250*29\r\n" //refresh rate - 4Hz - 250 milliseconds
-#define MEDIATEK_REFRESH_RATE_5HZ "$PMTK220,200*2C\r\n"
-#define MEDIATEK_REFRESH_RATE_10HZ "$PMTK220,100*2F\r\n" //refresh rate - 10Hz - 100 milliseconds
-#define MEDIATEK_FACTORY_RESET "$PMTK104*37\r\n" //clear current settings
-#define MEDIATEK_CUSTOM_BINARY_MODE "$PGCMD,16,0,0,0,0,0*6A\r\n"
-#define MEDIATEK_FULL_COLD_RESTART "$PMTK104*37\r\n"
-//#define NMEA_GGA_ENABLE "$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0*27\r\n" //Set GGA messages
-
-//definitions for watchdog
-#define MTK_WATCHDOG_CRITICAL_TIME_MICROSECONDS 2000000
-#define MTK_WATCHDOG_WAIT_TIME_MICROSECONDS 800000
-
-
-
-
-// ************
-// the structure of the binary packet
-
-typedef struct {
-	uint8_t payload; ///< Number of payload bytes
-	int32_t latitude;  ///< Latitude in degrees * 10^7
-	int32_t longitude; ///< Longitude in degrees * 10^7
-	uint32_t msl_altitude;  ///< MSL altitude in meters * 10^2
-	uint32_t ground_speed; ///< FIXME SPEC UNCLEAR
-	int32_t heading;
-	uint8_t satellites;
-	uint8_t fix_type;
-	uint32_t date;
-	uint32_t utc_time;
-	uint16_t hdop;
-	uint8_t ck_a;
-	uint8_t ck_b;
-}  __attribute__((__packed__)) type_gps_bin_mtk_packet;
-
-typedef type_gps_bin_mtk_packet gps_bin_mtk_packet_t;
-
-enum MTK_DECODE_STATES {
-	MTK_DECODE_UNINIT = 0,
-	MTK_DECODE_GOT_CK_A = 1,
-	MTK_DECODE_GOT_CK_B = 2
-};
-
-typedef struct {
-	union {
-		uint16_t ck;
-		struct {
-			uint8_t ck_a;
-			uint8_t ck_b;
-		};
-	};
-	uint8_t decode_state;
-//    bool new_data;
-//    uint8_t fix;
-	bool print_errors;
-	int16_t rx_count;
-
-	uint64_t last_message_timestamp;
-}  __attribute__((__packed__)) type_gps_bin_mtk_state;
-
-typedef type_gps_bin_mtk_state gps_bin_mtk_state_t;
-
-extern pthread_mutex_t *mtk_mutex;
-extern gps_bin_mtk_state_t *mtk_state;
-
-void mtk_decode_init(void);
-
-void mtk_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b);
-
-int mtk_parse(uint8_t b,  char *gps_rx_buffer);
-
-int read_gps_mtk(int *fd, char *gps_rx_buffer, int buffer_size);
-
-int configure_gps_mtk(int *fd);
-
-void *mtk_loop(void *args);
-
-void *mtk_watchdog_loop(void *args);
-
-#endif /* MTK_H_ */
diff --git a/apps/gps/nmea_helper.c b/apps/gps/nmea_helper.c
deleted file mode 100644
index 1a50371c1..000000000
--- a/apps/gps/nmea_helper.c
+++ /dev/null
@@ -1,345 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Julian Oes 
- *           Thomas Gubler 
- *
- * 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 NMEA protocol implementation */
-#include "gps.h"
-#include "nmea_helper.h"
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#define NMEA_HEALTH_SUCCESS_COUNTER_LIMIT 2
-#define NMEA_HEALTH_FAIL_COUNTER_LIMIT 2
-
-#define NMEA_BUFFER_SIZE 1000
-
-pthread_mutex_t *nmea_mutex;
-gps_bin_nmea_state_t *nmea_state;
-static struct vehicle_gps_position_s *nmea_gps;
-
-extern bool gps_mode_try_all;
-extern bool gps_mode_success;
-extern bool terminate_gps_thread;
-extern bool gps_baud_try_all;
-extern bool gps_verbose;
-extern int current_gps_speed;
-
-
-int read_gps_nmea(int *fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser)
-{
-	int ret = 1;
-	char c;
-	int start_flag = 0;
-	int found_cr = 0;
-	int rx_count = 0;
-	int gpsRxOverflow = 0;
-
-	struct pollfd fds;
-	fds.fd = *fd;
-	fds.events = POLLIN;
-
-	// NMEA or SINGLE-SENTENCE GPS mode
-
-
-	while (1) {
-		//check if the thread should terminate
-		if (terminate_gps_thread == true) {
-//			printf("terminate_gps_thread=%u ", terminate_gps_thread);
-//			printf("exiting mtk thread\n");
-//			fflush(stdout);
-			ret = 2;
-			break;
-		}
-
-		if (poll(&fds, 1, 1000) > 0) {
-			if (read(*fd, &c, 1) > 0) {
-				// detect start while acquiring stream
-				//		printf("Char = %c\n", c);
-				if (!start_flag && (c == '$')) {
-					start_flag = 1;
-					found_cr = 0;
-					rx_count = 0;
-
-				} else if (!start_flag) { // keep looking for start sign
-					continue;
-				}
-
-				if (rx_count >= buffer_size) {
-					// The buffer is already full and we haven't found a valid NMEA sentence.
-					// Flush the buffer and note the overflow event.
-					gpsRxOverflow++;
-					start_flag = 0;
-					found_cr = 0;
-					rx_count = 0;
-
-					if (gps_verbose) printf("\t[gps] Buffer full\n");
-
-				} else {
-					// store chars in buffer
-					gps_rx_buffer[rx_count] = c;
-					rx_count++;
-				}
-
-				// look for carriage return CR
-				if (start_flag && c == 0x0d) {
-					found_cr = 1;
-				}
-
-				// and then look for line feed LF
-				if (start_flag && found_cr && c == 0x0a) {
-					// parse one NMEA line, use buffer up to rx_count
-					if (nmea_parse(parser, gps_rx_buffer, rx_count, info) > 0) {
-						ret = 0;
-					}
-
-					break;
-				}
-
-			} else {
-				break;
-			}
-
-		} else {
-			break;
-		}
-	}
-
-
-
-	// As soon as one NMEA message has been parsed, we break out of the loop and end here
-	return(ret);
-}
-
-
-/**
- * \brief Convert NDEG (NMEA degree) to fractional degree
- */
-float ndeg2degree(float val)
-{
-	float deg = ((int)(val / 100));
-	val = deg + (val - deg * 100) / 60;
-	return val;
-}
-
-void *nmea_loop(void *args)
-{
-	/* Set thread name */
-	prctl(PR_SET_NAME, "gps nmea read", getpid());
-
-	/* Retrieve file descriptor and thread flag */
-	struct arg_struct *arguments = (struct arg_struct *)args;
-	int *fd = arguments->fd_ptr;
-	bool *thread_should_exit = arguments->thread_should_exit_ptr;
-
-	/* Initialize gps stuff */
-	nmeaINFO info_d;
-	nmeaINFO *info = &info_d;
-	char gps_rx_buffer[NMEA_BUFFER_SIZE];
-
-	/* gps parser (nmea) */
-	nmeaPARSER parser;
-	nmea_parser_init(&parser);
-	nmea_zero_INFO(info);
-
-	/* advertise GPS topic */
-	struct vehicle_gps_position_s nmea_gps_d = {.counter=0};
-	nmea_gps = &nmea_gps_d;
-	orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps);
-
-	while (!(*thread_should_exit)) {
-		/* Parse a message from the gps receiver */
-		uint8_t read_res = read_gps_nmea(fd, gps_rx_buffer, NMEA_BUFFER_SIZE, info, &parser);
-
-		if (0 == read_res) {
-
-			/* convert data, ready it for publishing */
-
-			/* convert nmea utc time to usec */
-			struct tm timeinfo;
-			timeinfo.tm_year = info->utc.year;
-			timeinfo.tm_mon = info->utc.mon;
-			timeinfo.tm_mday = info->utc.day;
-			timeinfo.tm_hour = info->utc.hour;
-			timeinfo.tm_min = info->utc.min;
-			timeinfo.tm_sec = info->utc.sec;
-
-			time_t epoch = mktime(&timeinfo);
-
-			//			printf("%d.%d.%d %d:%d:%d:%d\n", timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, info->utc.hsec);
-
-			nmea_gps->timestamp = hrt_absolute_time();
-			nmea_gps->time_gps_usec = (uint64_t)((epoch)*1000000 + (info->utc.hsec)*10000);
-			nmea_gps->fix_type = (uint8_t)info->fix;
-			nmea_gps->lat = (int32_t)(ndeg2degree(info->lat) * 1e7f);
-			nmea_gps->lon = (int32_t)(ndeg2degree(info->lon) * 1e7f);
-			nmea_gps->alt = (int32_t)(info->elv * 1000.0f);
-			nmea_gps->eph = (uint16_t)(info->HDOP * 100); //TODO:test scaling
-			nmea_gps->epv = (uint16_t)(info->VDOP * 100); //TODO:test scaling
-			nmea_gps->vel = (uint16_t)(info->speed * 1000 / 36); //*1000/3600*100
-			nmea_gps->cog = (uint16_t)info->direction*100; //nmea: degrees float, ubx/mavlink: degrees*1e2
-			nmea_gps->satellites_visible = (uint8_t)info->satinfo.inview;
-
-			int i = 0;
-
-			/* Write info about individual satellites */
-			for (i = 0; i < 12; i++) {
-				nmea_gps->satellite_prn[i] = (uint8_t)info->satinfo.sat[i].id;
-				nmea_gps->satellite_used[i] = (uint8_t)info->satinfo.sat[i].in_use;
-				nmea_gps->satellite_elevation[i] = (uint8_t)info->satinfo.sat[i].elv;
-				nmea_gps->satellite_azimuth[i] = (uint8_t)info->satinfo.sat[i].azimuth;
-				nmea_gps->satellite_snr[i] = (uint8_t)info->satinfo.sat[i].sig;
-			}
-
-			if (nmea_gps->satellites_visible > 0) {
-				nmea_gps->satellite_info_available = 1;
-
-			} else {
-				nmea_gps->satellite_info_available = 0;
-			}
-
-			nmea_gps->counter_pos_valid++;
-
-			nmea_gps->timestamp = hrt_absolute_time();
-			nmea_gps->counter++;
-
-			pthread_mutex_lock(nmea_mutex);
-			nmea_state->last_message_timestamp = hrt_absolute_time();
-			pthread_mutex_unlock(nmea_mutex);
-
-			/* publish new GPS position */
-			orb_publish(ORB_ID(vehicle_gps_position), gps_handle, nmea_gps);
-
-		} else if (read_res == 2) { //termination
-			/* de-advertise */
-			close(gps_handle);
-			break;
-		}
-
-	}
-
-	//destroy gps parser
-	nmea_parser_destroy(&parser);
-	if(gps_verbose) printf("[gps] nmea loop is going to terminate\n");
-	return NULL;
-
-}
-
-void *nmea_watchdog_loop(void *args)
-{
-	/* Set thread name */
-	prctl(PR_SET_NAME, "gps nmea watchdog", getpid());
-
-	bool nmea_healthy = false;
-
-	uint8_t nmea_fail_count = 0;
-	uint8_t nmea_success_count = 0;
-	bool once_ok = false;
-
-	/* Retrieve file descriptor and thread flag */
-	struct arg_struct *arguments = (struct arg_struct *)args;
-	//int *fd = arguments->fd_ptr;
-	bool *thread_should_exit = arguments->thread_should_exit_ptr;
-
-	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-	while (!(*thread_should_exit)) {
-//		printf("nmea_watchdog_loop : while ");
-		/* if we have no update for a long time print warning (in nmea mode there is no reconfigure) */
-		pthread_mutex_lock(nmea_mutex);
-		uint64_t timestamp_now = hrt_absolute_time();
-		bool all_okay = true;
-
-		if (timestamp_now - nmea_state->last_message_timestamp > NMEA_WATCHDOG_CRITICAL_TIME_MICROSECONDS) {
-			all_okay = false;
-		}
-
-		pthread_mutex_unlock(nmea_mutex);
-
-		if (!all_okay) {
-			/* gps error */
-			nmea_fail_count++;
-//			printf("nmea error, nmea_fail_count=%u\n", nmea_fail_count);
-//			fflush(stdout);
-
-			/* If we have too many failures and another mode or baud should be tried, exit... */
-			if ((gps_mode_try_all == true  || gps_baud_try_all == true) && (nmea_fail_count >= NMEA_HEALTH_FAIL_COUNTER_LIMIT) && (nmea_healthy == false) && once_ok == false) {
-				if (gps_verbose) printf("\t[gps] no NMEA module found\n");
-
-				gps_mode_success = false;
-				break;
-			}
-
-			if (nmea_healthy && nmea_fail_count >= NMEA_HEALTH_FAIL_COUNTER_LIMIT) {
-				printf("\t[gps] ERROR: NMEA GPS module stopped responding\n");
-				// global_data_send_subsystem_info(&nmea_present_enabled);
-				mavlink_log_critical(mavlink_fd, "[gps] NMEA module stopped responding\n");
-				nmea_healthy = false;
-				nmea_success_count = 0;
-
-			}
-
-
-
-			fflush(stdout);
-			sleep(1);
-
-		} else {
-			/* gps healthy */
-//			printf("\t[gps] nmea success\n");
-			nmea_success_count++;
-
-			if (!nmea_healthy && nmea_success_count >= NMEA_HEALTH_SUCCESS_COUNTER_LIMIT) {
-				printf("[gps] NMEA module found, status ok (baud=%d)\r\n", current_gps_speed);
-				// global_data_send_subsystem_info(&nmea_present_enabled_healthy);
-				mavlink_log_info(mavlink_fd, "[gps] NMEA module found, status ok\n");
-				nmea_healthy = true;
-				nmea_fail_count = 0;
-				once_ok = true;
-			}
-
-		}
-
-		usleep(NMEA_WATCHDOG_WAIT_TIME_MICROSECONDS);
-	}
-	if(gps_verbose) printf("[gps] nmea watchdog loop is going to terminate\n");
-	close(mavlink_fd);
-	return NULL;
-}
diff --git a/apps/gps/nmea_helper.h b/apps/gps/nmea_helper.h
deleted file mode 100644
index 3a853dd13..000000000
--- a/apps/gps/nmea_helper.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- * nmea_helper.h
- *
- *  Created on: Mar 15, 2012
- *      Author: thomasgubler
- */
-
-#ifndef NMEA_H_
-#define NMEA_H_
-
-#include 
-#include 
-#include 
-#include 
-#include "nmealib/nmea/nmea.h"
-
-
-//definitions for watchdog
-#define NMEA_WATCHDOG_CRITICAL_TIME_MICROSECONDS 2000000
-#define NMEA_WATCHDOG_WAIT_TIME_MICROSECONDS 800000
-
-typedef struct {
-	uint64_t last_message_timestamp;
-}  __attribute__((__packed__)) type_gps_bin_nmea_state;
-
-typedef type_gps_bin_nmea_state gps_bin_nmea_state_t;
-
-extern gps_bin_nmea_state_t *nmea_state;
-extern pthread_mutex_t *nmea_mutex;
-
-
-
-int read_gps_nmea(int *fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser);
-
-void *nmea_loop(void *arg);
-
-void *nmea_watchdog_loop(void *arg);
-
-/**
- * \brief Convert NDEG (NMEA degree) to fractional degree
- */
-float ndeg2degree(float val);
-
-void nmea_init(void);
-
-
-#endif /* NMEA_H_ */
diff --git a/apps/gps/nmealib/LICENSE.TXT b/apps/gps/nmealib/LICENSE.TXT
deleted file mode 100644
index 807db7916..000000000
--- a/apps/gps/nmealib/LICENSE.TXT
+++ /dev/null
@@ -1,506 +0,0 @@
-		  GNU LESSER GENERAL PUBLIC LICENSE
-		       Version 2.1, February 1999
-
- Copyright (C) 1991, 1999 Free Software Foundation, Inc.
-     59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-[This is the first released version of the Lesser GPL.  It also counts
- as the successor of the GNU Library Public License, version 2, hence
- the version number 2.1.]
-
-			    Preamble
-
-  The licenses for most software are designed to take away your
-freedom to share and change it.  By contrast, the GNU General Public
-Licenses are intended to guarantee your freedom to share and change
-free software--to make sure the software is free for all its users.
-
-  This license, the Lesser General Public License, applies to some
-specially designated software packages--typically libraries--of the
-Free Software Foundation and other authors who decide to use it.  You
-can use it too, but we suggest you first think carefully about whether
-this license or the ordinary General Public License is the better
-strategy to use in any particular case, based on the explanations below.
-
-  When we speak of free software, we are referring to freedom of use,
-not price.  Our General Public Licenses are designed to make sure that
-you have the freedom to distribute copies of free software (and charge
-for this service if you wish); that you receive source code or can get
-it if you want it; that you can change the software and use pieces of
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diff --git a/apps/gps/nmealib/README.TXT b/apps/gps/nmealib/README.TXT
deleted file mode 100644
index 8ede6a036..000000000
--- a/apps/gps/nmealib/README.TXT
+++ /dev/null
@@ -1,26 +0,0 @@
-NMEA library see: http://nmea.sourceforge.net/
-
-Disclaimer
-
-The National Marine Electronics Association (NMEA) has developed a specification that defines the interface between various pieces of marine electronic equipment. The standard permits marine electronics to send information to computers and to other marine equipment.
-Most computer programs that provide real time position information understand and expect data to be in NMEA format. This data includes the complete PVT (position, velocity, time) solution computed by the GPS receiver. The idea of NMEA is to send a line of data called a sentence that is totally self contained and independent from other sentences. All NMEA sentences is sequences of ACSII symbols begins with a '$' and ends with a carriage return/line feed sequence and can be no longer than 80 characters of visible text (plus the line terminators).
-
-Introduction
-
-We present library in 'C' programming language for work with NMEA protocol. Small and easy to use. The library build on different compilers under different platforms (see below). The code was tested in real projects. Just download and try...
-
-Features
-
-- Analysis NMEA sentences and granting GPS data in C structures
-- Generate NMEA sentences
-- Supported sentences: GPGGA, GPGSA, GPGSV, GPRMC, GPVTG
-- Multilevel architecture of algorithms
-- Additional functions of geographical mathematics and work with navigation data
-
-Supported (tested) platforms
-
-- Microsoft Windows (MS Visual Studio 8.0, GCC)
-- Windows Mobile, Windows CE (MS Visual Studio 8.0)
-- UNIX (GCC)
-
-Licence: LGPL
diff --git a/apps/gps/nmealib/context.c b/apps/gps/nmealib/context.c
deleted file mode 100644
index 6ee2f5ad3..000000000
--- a/apps/gps/nmealib/context.c
+++ /dev/null
@@ -1,67 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: context.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#include "nmea/context.h"
-
-#include 
-#include 
-#include 
-
-nmeaPROPERTY * nmea_property(void)
-{
-    static nmeaPROPERTY prop = {
-        0, 0, NMEA_DEF_PARSEBUFF
-        };
-
-    return ∝
-}
-
-void nmea_trace(const char *str, ...)
-{
-    int size;
-    va_list arg_list;
-    char buff[NMEA_DEF_PARSEBUFF];
-    nmeaTraceFunc func = nmea_property()->trace_func;
-
-    if(func)
-    {
-        va_start(arg_list, str);
-        size = NMEA_POSIX(vsnprintf)(&buff[0], NMEA_DEF_PARSEBUFF - 1, str, arg_list);
-        va_end(arg_list);
-
-        if(size > 0)
-            (*func)(&buff[0], size);
-    }
-}
-
-void nmea_trace_buff(const char *buff, int buff_size)
-{
-    nmeaTraceFunc func = nmea_property()->trace_func;
-    if(func && buff_size)
-        (*func)(buff, buff_size);
-}
-
-void nmea_error(const char *str, ...)
-{
-    int size;
-    va_list arg_list;
-    char buff[NMEA_DEF_PARSEBUFF];
-    nmeaErrorFunc func = nmea_property()->error_func;
-
-    if(func)
-    {
-        va_start(arg_list, str);
-        size = NMEA_POSIX(vsnprintf)(&buff[0], NMEA_DEF_PARSEBUFF - 1, str, arg_list);
-        va_end(arg_list);
-
-        if(size > 0)
-            (*func)(&buff[0], size);
-    }
-}
diff --git a/apps/gps/nmealib/generate.c b/apps/gps/nmealib/generate.c
deleted file mode 100644
index 4c9389300..000000000
--- a/apps/gps/nmealib/generate.c
+++ /dev/null
@@ -1,229 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: generate.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#include "nmea/tok.h"
-#include "nmea/sentence.h"
-#include "nmea/generate.h"
-#include "nmea/units.h"
-
-#include 
-#include 
-#include 
-
-int nmea_gen_GPGGA(char *buff, int buff_sz, nmeaGPGGA *pack)
-{
-    return nmea_printf(buff, buff_sz,
-        "$GPGGA,%02d%02d%02d.%02d,%07.4f,%C,%07.4f,%C,%1d,%02d,%03.1f,%03.1f,%C,%03.1f,%C,%03.1f,%04d",
-        pack->utc.hour, pack->utc.min, pack->utc.sec, pack->utc.hsec,
-        pack->lat, pack->ns, pack->lon, pack->ew,
-        pack->sig, pack->satinuse, pack->HDOP, pack->elv, pack->elv_units,
-        pack->diff, pack->diff_units, pack->dgps_age, pack->dgps_sid);
-}
-
-int nmea_gen_GPGSA(char *buff, int buff_sz, nmeaGPGSA *pack)
-{
-    return nmea_printf(buff, buff_sz,
-        "$GPGSA,%C,%1d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%03.1f,%03.1f,%03.1f",
-        pack->fix_mode, pack->fix_type,
-        pack->sat_prn[0], pack->sat_prn[1], pack->sat_prn[2], pack->sat_prn[3], pack->sat_prn[4], pack->sat_prn[5],
-        pack->sat_prn[6], pack->sat_prn[7], pack->sat_prn[8], pack->sat_prn[9], pack->sat_prn[10], pack->sat_prn[11],
-        pack->PDOP, pack->HDOP, pack->VDOP);
-}
-
-int nmea_gen_GPGSV(char *buff, int buff_sz, nmeaGPGSV *pack)
-{
-    return nmea_printf(buff, buff_sz,
-        "$GPGSV,%1d,%1d,%02d,"
-        "%02d,%02d,%03d,%02d,"
-        "%02d,%02d,%03d,%02d,"
-        "%02d,%02d,%03d,%02d,"
-        "%02d,%02d,%03d,%02d",
-        pack->pack_count, pack->pack_index + 1, pack->sat_count,
-        pack->sat_data[0].id, pack->sat_data[0].elv, pack->sat_data[0].azimuth, pack->sat_data[0].sig,
-        pack->sat_data[1].id, pack->sat_data[1].elv, pack->sat_data[1].azimuth, pack->sat_data[1].sig,
-        pack->sat_data[2].id, pack->sat_data[2].elv, pack->sat_data[2].azimuth, pack->sat_data[2].sig,
-        pack->sat_data[3].id, pack->sat_data[3].elv, pack->sat_data[3].azimuth, pack->sat_data[3].sig);
-}
-
-int nmea_gen_GPRMC(char *buff, int buff_sz, nmeaGPRMC *pack)
-{
-    return nmea_printf(buff, buff_sz,
-        "$GPRMC,%02d%02d%02d.%02d,%C,%07.4f,%C,%07.4f,%C,%03.1f,%03.1f,%02d%02d%02d,%03.1f,%C,%C",
-        pack->utc.hour, pack->utc.min, pack->utc.sec, pack->utc.hsec,
-        pack->status, pack->lat, pack->ns, pack->lon, pack->ew,
-        pack->speed, pack->direction,
-        pack->utc.day, pack->utc.mon + 1, pack->utc.year - 100,
-        pack->declination, pack->declin_ew, pack->mode);
-}
-
-int nmea_gen_GPVTG(char *buff, int buff_sz, nmeaGPVTG *pack)
-{
-    return nmea_printf(buff, buff_sz,
-        "$GPVTG,%.1f,%C,%.1f,%C,%.1f,%C,%.1f,%C",
-        pack->dir, pack->dir_t,
-        pack->dec, pack->dec_m,
-        pack->spn, pack->spn_n,
-        pack->spk, pack->spk_k);
-}
-
-void nmea_info2GPGGA(const nmeaINFO *info, nmeaGPGGA *pack)
-{
-    nmea_zero_GPGGA(pack);
-
-    pack->utc = info->utc;
-    pack->lat = fabs(info->lat);
-    pack->ns = ((info->lat > 0)?'N':'S');
-    pack->lon = fabs(info->lon);
-    pack->ew = ((info->lon > 0)?'E':'W');
-    pack->sig = info->sig;
-    pack->satinuse = info->satinfo.inuse;
-    pack->HDOP = info->HDOP;
-    pack->elv = info->elv;
-}
-
-void nmea_info2GPGSA(const nmeaINFO *info, nmeaGPGSA *pack)
-{
-    int it;
-
-    nmea_zero_GPGSA(pack);
-
-    pack->fix_type = info->fix;
-    pack->PDOP = info->PDOP;
-    pack->HDOP = info->HDOP;
-    pack->VDOP = info->VDOP;
-
-    for(it = 0; it < NMEA_MAXSAT; ++it)
-    {
-        pack->sat_prn[it] =
-            ((info->satinfo.sat[it].in_use)?info->satinfo.sat[it].id:0);
-    }
-}
-
-int nmea_gsv_npack(int sat_count)
-{
-    int pack_count = (int)ceil(((float)sat_count) / NMEA_SATINPACK);
-
-    if(0 == pack_count)
-        pack_count = 1;
-
-    return pack_count;
-}
-
-void nmea_info2GPGSV(const nmeaINFO *info, nmeaGPGSV *pack, int pack_idx)
-{
-    int sit, pit;
-
-    nmea_zero_GPGSV(pack);
-
-    pack->sat_count = (info->satinfo.inview <= NMEA_MAXSAT)?info->satinfo.inview:NMEA_MAXSAT;
-    pack->pack_count = nmea_gsv_npack(pack->sat_count);
-
-    if(pack->pack_count == 0)
-        pack->pack_count = 1;
-
-    if(pack_idx >= pack->pack_count)
-        pack->pack_index = pack_idx % pack->pack_count;
-    else
-        pack->pack_index = pack_idx;
-
-    for(pit = 0, sit = pack->pack_index * NMEA_SATINPACK; pit < NMEA_SATINPACK; ++pit, ++sit)
-        pack->sat_data[pit] = info->satinfo.sat[sit];
-}
-
-void nmea_info2GPRMC(const nmeaINFO *info, nmeaGPRMC *pack)
-{
-    nmea_zero_GPRMC(pack);
-
-    pack->utc = info->utc;
-    pack->status = ((info->sig > 0)?'A':'V');
-    pack->lat = fabs(info->lat);
-    pack->ns = ((info->lat > 0)?'N':'S');
-    pack->lon = fabs(info->lon);
-    pack->ew = ((info->lon > 0)?'E':'W');
-    pack->speed = info->speed / NMEA_TUD_KNOTS;
-    pack->direction = info->direction;
-    pack->declination = info->declination;
-    pack->declin_ew = 'E';
-    pack->mode = ((info->sig > 0)?'A':'N');
-}
-
-void nmea_info2GPVTG(const nmeaINFO *info, nmeaGPVTG *pack)
-{
-    nmea_zero_GPVTG(pack);
-
-    pack->dir = info->direction;
-    pack->dec = info->declination;
-    pack->spn = info->speed / NMEA_TUD_KNOTS;
-    pack->spk = info->speed;
-}
-
-int nmea_generate(
-    char *buff, int buff_sz,
-    const nmeaINFO *info,
-    int generate_mask
-    )
-{
-    int gen_count = 0, gsv_it, gsv_count;
-    int pack_mask = generate_mask;
-
-    nmeaGPGGA gga;
-    nmeaGPGSA gsa;
-    nmeaGPGSV gsv;
-    nmeaGPRMC rmc;
-    nmeaGPVTG vtg;
-
-    if(!buff)
-        return 0;
-
-    while(pack_mask)
-    {
-        if(pack_mask & GPGGA)
-        {
-            nmea_info2GPGGA(info, &gga);
-            gen_count += nmea_gen_GPGGA(buff + gen_count, buff_sz - gen_count, &gga);
-            pack_mask &= ~GPGGA;
-        }
-        else if(pack_mask & GPGSA)
-        {
-            nmea_info2GPGSA(info, &gsa);
-            gen_count += nmea_gen_GPGSA(buff + gen_count, buff_sz - gen_count, &gsa);
-            pack_mask &= ~GPGSA;
-        }
-        else if(pack_mask & GPGSV)
-        {
-            gsv_count = nmea_gsv_npack(info->satinfo.inview);
-            for(gsv_it = 0; gsv_it < gsv_count && buff_sz - gen_count > 0; ++gsv_it)
-            {
-                nmea_info2GPGSV(info, &gsv, gsv_it);
-                gen_count += nmea_gen_GPGSV(buff + gen_count, buff_sz - gen_count, &gsv);
-            }
-            pack_mask &= ~GPGSV;
-        }
-        else if(pack_mask & GPRMC)
-        {
-            nmea_info2GPRMC(info, &rmc);
-            gen_count += nmea_gen_GPRMC(buff + gen_count, buff_sz - gen_count, &rmc);
-            pack_mask &= ~GPRMC;
-        }
-        else if(pack_mask & GPVTG)
-        {
-            nmea_info2GPVTG(info, &vtg);
-            gen_count += nmea_gen_GPVTG(buff + gen_count, buff_sz - gen_count, &vtg);
-            pack_mask &= ~GPVTG;
-        }
-        else
-            break;
-
-        if(buff_sz - gen_count <= 0)
-            break;
-    }
-
-    return gen_count;
-}
diff --git a/apps/gps/nmealib/generator.c b/apps/gps/nmealib/generator.c
deleted file mode 100644
index ce40b0f1a..000000000
--- a/apps/gps/nmealib/generator.c
+++ /dev/null
@@ -1,399 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: generator.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#include "nmea/gmath.h"
-#include "nmea/generate.h"
-#include "nmea/generator.h"
-#include "nmea/context.h"
-
-#include 
-#include 
-
-#if defined(NMEA_WIN) && defined(_MSC_VER)
-# pragma warning(disable: 4100) /* unreferenced formal parameter */
-#endif
-
-float nmea_random(float min, float max)
-{
-    static float rand_max = MAX_RAND;//RAND_MAX; //nuttx defines MAX_RAND instead of RAND_MAX
-    float rand_val = rand();
-    float bounds = max - min;
-    return min + (rand_val * bounds) / rand_max;
-}
-
-/*
- * low level
- */
-
-int nmea_gen_init(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    int RetVal = 1; int smask = info->smask;
-    nmeaGENERATOR *igen = gen;
-
-    nmea_zero_INFO(info);
-    info->smask = smask;
-
-    info->lat = NMEA_DEF_LAT;
-    info->lon = NMEA_DEF_LON;
-
-    while(RetVal && igen)
-    {
-        if(igen->init_call)
-            RetVal = (*igen->init_call)(igen, info);
-        igen = igen->next;
-    }
-
-    return RetVal;
-}
-
-int nmea_gen_loop(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    int RetVal = 1;
-
-    if(gen->loop_call)
-        RetVal = (*gen->loop_call)(gen, info);
-
-    if(RetVal && gen->next)
-        RetVal = nmea_gen_loop(gen->next, info);
-
-    return RetVal;
-}
-
-int nmea_gen_reset(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    int RetVal = 1;
-
-    if(gen->reset_call)
-        RetVal = (*gen->reset_call)(gen, info);
-
-    return RetVal;
-}
-
-void nmea_gen_destroy(nmeaGENERATOR *gen)
-{
-    if(gen->next)
-    {
-        nmea_gen_destroy(gen->next);
-        gen->next = 0;
-    }
-
-    if(gen->destroy_call)
-        (*gen->destroy_call)(gen);
-
-    free(gen);
-}
-
-void nmea_gen_add(nmeaGENERATOR *to, nmeaGENERATOR *gen)
-{
-    if(to->next)
-        nmea_gen_add(to->next, gen);
-    else
-        to->next = gen;
-}
-
-int nmea_generate_from(
-    char *buff, int buff_sz,
-    nmeaINFO *info,
-    nmeaGENERATOR *gen,
-    int generate_mask
-    )
-{
-    int retval;
-
-    if(0 != (retval = nmea_gen_loop(gen, info)))
-        retval = nmea_generate(buff, buff_sz, info, generate_mask);
-
-    return retval;
-}
-
-/*
- * NOISE generator
- */
-
-int nmea_igen_noise_init(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    return 1;
-}
-
-int nmea_igen_noise_loop(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    int it;
-    int in_use;
-
-    info->sig = (int)nmea_random(1, 3);
-    info->PDOP = nmea_random(0, 9);
-    info->HDOP = nmea_random(0, 9);
-    info->VDOP = nmea_random(0, 9);
-    info->fix = (int)nmea_random(2, 3);
-    info->lat = nmea_random(0, 100);
-    info->lon = nmea_random(0, 100);
-    info->speed = nmea_random(0, 100);
-    info->direction = nmea_random(0, 360);
-    info->declination = nmea_random(0, 360);
-    info->elv = (int)nmea_random(-100, 100);
-
-    info->satinfo.inuse = 0;
-    info->satinfo.inview = 0;
-
-    for(it = 0; it < 12; ++it)
-    {
-        info->satinfo.sat[it].id = it;
-        info->satinfo.sat[it].in_use = in_use = (int)nmea_random(0, 3);
-        info->satinfo.sat[it].elv = (int)nmea_random(0, 90);
-        info->satinfo.sat[it].azimuth = (int)nmea_random(0, 359);
-        info->satinfo.sat[it].sig = (int)(in_use?nmea_random(40, 99):nmea_random(0, 40));
-
-        if(in_use)
-            info->satinfo.inuse++;
-        if(info->satinfo.sat[it].sig > 0)
-            info->satinfo.inview++;
-    }
-
-    return 1;
-}
-
-int nmea_igen_noise_reset(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    return 1;
-}
-
-/*
- * STATIC generator
- */
-
-int nmea_igen_static_loop(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    nmea_time_now(&info->utc);
-    return 1;
-};
-
-int nmea_igen_static_reset(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    info->satinfo.inuse = 4;
-    info->satinfo.inview = 4;
-
-    info->satinfo.sat[0].id = 1;
-    info->satinfo.sat[0].in_use = 1;
-    info->satinfo.sat[0].elv = 50;
-    info->satinfo.sat[0].azimuth = 0;
-    info->satinfo.sat[0].sig = 99;
-
-    info->satinfo.sat[1].id = 2;
-    info->satinfo.sat[1].in_use = 1;
-    info->satinfo.sat[1].elv = 50;
-    info->satinfo.sat[1].azimuth = 90;
-    info->satinfo.sat[1].sig = 99;
-
-    info->satinfo.sat[2].id = 3;
-    info->satinfo.sat[2].in_use = 1;
-    info->satinfo.sat[2].elv = 50;
-    info->satinfo.sat[2].azimuth = 180;
-    info->satinfo.sat[2].sig = 99;
-
-    info->satinfo.sat[3].id = 4;
-    info->satinfo.sat[3].in_use = 1;
-    info->satinfo.sat[3].elv = 50;
-    info->satinfo.sat[3].azimuth = 270;
-    info->satinfo.sat[3].sig = 99;
-
-    return 1;
-}
-
-int nmea_igen_static_init(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    info->sig = 3;
-    info->fix = 3;
-
-    nmea_igen_static_reset(gen, info);
-
-    return 1;
-}
-
-/*
- * SAT_ROTATE generator
- */
-
-int nmea_igen_rotate_loop(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    int it;
-    int count = info->satinfo.inview;
-    float deg = 360 / (count?count:1);
-    float srt = (count?(info->satinfo.sat[0].azimuth):0) + 5;
-
-    nmea_time_now(&info->utc);
-
-    for(it = 0; it < count; ++it)
-    {
-        info->satinfo.sat[it].azimuth =
-            (int)((srt >= 360)?srt - 360:srt);
-        srt += deg;
-    }
-
-    return 1;
-};
-
-int nmea_igen_rotate_reset(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    int it;
-    float deg = 360 / 8;
-    float srt = 0;
-
-    info->satinfo.inuse = 8;
-    info->satinfo.inview = 8;
-
-    for(it = 0; it < info->satinfo.inview; ++it)
-    {
-        info->satinfo.sat[it].id = it + 1;
-        info->satinfo.sat[it].in_use = 1;
-        info->satinfo.sat[it].elv = 5;
-        info->satinfo.sat[it].azimuth = (int)srt;
-        info->satinfo.sat[it].sig = 80;
-        srt += deg;
-    }
-
-    return 1;
-}
-
-int nmea_igen_rotate_init(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    info->sig = 3;
-    info->fix = 3;
-
-    nmea_igen_rotate_reset(gen, info);
-
-    return 1;
-}
-
-/*
- * POS_RANDMOVE generator
- */
-
-int nmea_igen_pos_rmove_init(nmeaGENERATOR *gen, nmeaINFO *info)
-{    
-    info->sig = 3;
-    info->fix = 3;
-    info->direction = info->declination = 0;
-    info->speed = 20;
-    return 1;
-}
-
-int nmea_igen_pos_rmove_loop(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    nmeaPOS crd;
-
-    info->direction += nmea_random(-10, 10);
-    info->speed += nmea_random(-2, 3);
-
-    if(info->direction < 0)
-        info->direction = 359 + info->direction;
-    if(info->direction > 359)
-        info->direction -= 359;
-
-    if(info->speed > 40)
-        info->speed = 40;
-    if(info->speed < 1)
-        info->speed = 1;
-
-    nmea_info2pos(info, &crd);
-    nmea_move_horz(&crd, &crd, info->direction, info->speed / 3600);
-    nmea_pos2info(&crd, info);
-
-    info->declination = info->direction;
-
-    return 1;
-};
-
-int nmea_igen_pos_rmove_destroy(nmeaGENERATOR *gen)
-{
-    return 1;
-};
-
-/*
- * generator create
- */
-
-nmeaGENERATOR * __nmea_create_generator(int type, nmeaINFO *info)
-{
-    nmeaGENERATOR *gen = 0;
-
-    switch(type)
-    {
-    case NMEA_GEN_NOISE:
-        if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
-            nmea_error("Insufficient memory!");
-        else
-        {
-            memset(gen, 0, sizeof(nmeaGENERATOR));
-            gen->init_call = &nmea_igen_noise_init;
-            gen->loop_call = &nmea_igen_noise_loop;
-            gen->reset_call = &nmea_igen_noise_reset;
-        }
-        break;
-    case NMEA_GEN_STATIC:
-    case NMEA_GEN_SAT_STATIC:
-        if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
-            nmea_error("Insufficient memory!");
-        else
-        {
-            memset(gen, 0, sizeof(nmeaGENERATOR));
-            gen->init_call = &nmea_igen_static_init;
-            gen->loop_call = &nmea_igen_static_loop;
-            gen->reset_call = &nmea_igen_static_reset;
-        }
-        break;
-    case NMEA_GEN_SAT_ROTATE:
-        if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
-            nmea_error("Insufficient memory!");
-        else
-        {
-            memset(gen, 0, sizeof(nmeaGENERATOR));
-            gen->init_call = &nmea_igen_rotate_init;
-            gen->loop_call = &nmea_igen_rotate_loop;
-            gen->reset_call = &nmea_igen_rotate_reset;
-        }
-        break;
-    case NMEA_GEN_POS_RANDMOVE:
-        if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
-            nmea_error("Insufficient memory!");
-        else
-        {
-            memset(gen, 0, sizeof(nmeaGENERATOR));
-            gen->init_call = &nmea_igen_pos_rmove_init;
-            gen->loop_call = &nmea_igen_pos_rmove_loop;
-            gen->destroy_call = &nmea_igen_pos_rmove_destroy;
-        }
-        break;
-    case NMEA_GEN_ROTATE:
-        gen = __nmea_create_generator(NMEA_GEN_SAT_ROTATE, info);
-        nmea_gen_add(gen, __nmea_create_generator(NMEA_GEN_POS_RANDMOVE, info));
-        break;
-    };
-
-    return gen;
-}
-
-nmeaGENERATOR * nmea_create_generator(int type, nmeaINFO *info)
-{
-    nmeaGENERATOR *gen = __nmea_create_generator(type, info);
-
-    if(gen)
-        nmea_gen_init(gen, info);
-
-    return gen;
-}
-
-void nmea_destroy_generator(nmeaGENERATOR *gen)
-{
-    nmea_gen_destroy(gen);
-}
-
-#if defined(NMEA_WIN) && defined(_MSC_VER)
-# pragma warning(default: 4100)
-#endif
diff --git a/apps/gps/nmealib/gmath.c b/apps/gps/nmealib/gmath.c
deleted file mode 100644
index 327b982ef..000000000
--- a/apps/gps/nmealib/gmath.c
+++ /dev/null
@@ -1,376 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: gmath.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-/*! \file gmath.h */
-#include "nmea/gmath.h"
-
-#include 
-#include 
-
-/**
- * \fn nmea_degree2radian
- * \brief Convert degree to radian
- */
-float nmea_degree2radian(float val)
-{ return (val * NMEA_PI180); }
-
-/**
- * \fn nmea_radian2degree
- * \brief Convert radian to degree
- */
-float nmea_radian2degree(float val)
-{ return (val / NMEA_PI180); }
-
-/**
- * \brief Convert NDEG (NMEA degree) to fractional degree
- */
-float nmea_ndeg2degree(float val)
-{
-    float deg = ((int)(val / 100));
-    val = deg + (val - deg * 100) / 60;
-    return val;
-}
-
-/**
- * \brief Convert fractional degree to NDEG (NMEA degree)
- */
-float nmea_degree2ndeg(float val)
-{
-    float int_part;
-    float fra_part;
-    fra_part = modf(val, &int_part);
-    val = int_part * 100 + fra_part * 60;
-    return val;
-}
-
-/**
- * \fn nmea_ndeg2radian
- * \brief Convert NDEG (NMEA degree) to radian
- */
-float nmea_ndeg2radian(float val)
-{ return nmea_degree2radian(nmea_ndeg2degree(val)); }
-
-/**
- * \fn nmea_radian2ndeg
- * \brief Convert radian to NDEG (NMEA degree)
- */
-float nmea_radian2ndeg(float val)
-{ return nmea_degree2ndeg(nmea_radian2degree(val)); }
-
-/**
- * \brief Calculate PDOP (Position Dilution Of Precision) factor
- */
-float nmea_calc_pdop(float hdop, float vdop)
-{
-    return sqrt(pow(hdop, 2) + pow(vdop, 2));
-}
-
-float nmea_dop2meters(float dop)
-{ return (dop * NMEA_DOP_FACTOR); }
-
-float nmea_meters2dop(float meters)
-{ return (meters / NMEA_DOP_FACTOR); }
-
-/**
- * \brief Calculate distance between two points
- * \return Distance in meters
- */
-float nmea_distance(
-        const nmeaPOS *from_pos,    /**< From position in radians */
-        const nmeaPOS *to_pos       /**< To position in radians */
-        )
-{
-    float dist = ((float)NMEA_EARTHRADIUS_M) * acos(
-        sin(to_pos->lat) * sin(from_pos->lat) +
-        cos(to_pos->lat) * cos(from_pos->lat) * cos(to_pos->lon - from_pos->lon)
-        );
-    return dist;
-}
-
-/**
- * \brief Calculate distance between two points
- * This function uses an algorithm for an oblate spheroid earth model.
- * The algorithm is described here: 
- * http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf
- * \return Distance in meters
- */
-float nmea_distance_ellipsoid(
-        const nmeaPOS *from_pos,    /**< From position in radians */
-        const nmeaPOS *to_pos,      /**< To position in radians */
-        float *from_azimuth,       /**< (O) azimuth at "from" position in radians */
-        float *to_azimuth          /**< (O) azimuth at "to" position in radians */
-        )
-{
-    /* All variables */
-    float f, a, b, sqr_a, sqr_b;
-    float L, phi1, phi2, U1, U2, sin_U1, sin_U2, cos_U1, cos_U2;
-    float sigma, sin_sigma, cos_sigma, cos_2_sigmam, sqr_cos_2_sigmam, sqr_cos_alpha, lambda, sin_lambda, cos_lambda, delta_lambda;
-    int remaining_steps; 
-    float sqr_u, A, B, delta_sigma;
-
-    /* Check input */
-    //NMEA_ASSERT(from_pos != 0);
-    //NMEA_ASSERT(to_pos != 0);
-
-    if ((from_pos->lat == to_pos->lat) && (from_pos->lon == to_pos->lon))
-    { /* Identical points */
-        if ( from_azimuth != 0 )
-            *from_azimuth = 0;
-        if ( to_azimuth != 0 )
-            *to_azimuth = 0;
-        return 0;    
-    } /* Identical points */
-
-    /* Earth geometry */
-    f = NMEA_EARTH_FLATTENING;
-    a = NMEA_EARTH_SEMIMAJORAXIS_M;
-    b = (1 - f) * a;
-    sqr_a = a * a;
-    sqr_b = b * b;
-
-    /* Calculation */
-    L = to_pos->lon - from_pos->lon;
-    phi1 = from_pos->lat;
-    phi2 = to_pos->lat;
-    U1 = atan((1 - f) * tan(phi1));
-    U2 = atan((1 - f) * tan(phi2));
-    sin_U1 = sin(U1);
-    sin_U2 = sin(U2);
-    cos_U1 = cos(U1);
-    cos_U2 = cos(U2);
-
-    /* Initialize iteration */
-    sigma = 0;
-    sin_sigma = sin(sigma);
-    cos_sigma = cos(sigma);
-    cos_2_sigmam = 0;
-    sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
-    sqr_cos_alpha = 0;
-    lambda = L;
-    sin_lambda = sin(lambda);                            
-    cos_lambda = cos(lambda);                       
-    delta_lambda = lambda;
-    remaining_steps = 20; 
-
-    while ((delta_lambda > 1e-12) && (remaining_steps > 0)) 
-    { /* Iterate */
-        /* Variables */
-        float tmp1, tmp2, tan_sigma, sin_alpha, cos_alpha, C, lambda_prev;
-
-        /* Calculation */
-        tmp1 = cos_U2 * sin_lambda;
-        tmp2 = cos_U1 * sin_U2 - sin_U1 * cos_U2 * cos_lambda;  
-        sin_sigma = sqrt(tmp1 * tmp1 + tmp2 * tmp2);                
-        cos_sigma = sin_U1 * sin_U2 + cos_U1 * cos_U2 * cos_lambda;   
-        tan_sigma = sin_sigma / cos_sigma;                  
-        sin_alpha = cos_U1 * cos_U2 * sin_lambda / sin_sigma;  
-        cos_alpha = cos(asin(sin_alpha));                 
-        sqr_cos_alpha = cos_alpha * cos_alpha;                     
-        cos_2_sigmam = cos_sigma - 2 * sin_U1 * sin_U2 / sqr_cos_alpha;
-        sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam; 
-        C = f / 16 * sqr_cos_alpha * (4 + f * (4 - 3 * sqr_cos_alpha));
-        lambda_prev = lambda; 
-        sigma = asin(sin_sigma); 
-        lambda = L + 
-            (1 - C) * f * sin_alpha
-            * (sigma + C * sin_sigma * (cos_2_sigmam + C * cos_sigma * (-1 + 2 * sqr_cos_2_sigmam)));                                                
-        delta_lambda = lambda_prev - lambda; 
-        if ( delta_lambda < 0 ) delta_lambda = -delta_lambda; 
-        sin_lambda = sin(lambda);
-        cos_lambda = cos(lambda);
-        remaining_steps--; 
-    }  /* Iterate */
-
-    /* More calculation  */
-    sqr_u = sqr_cos_alpha * (sqr_a - sqr_b) / sqr_b; 
-    A = 1 + sqr_u / 16384 * (4096 + sqr_u * (-768 + sqr_u * (320 - 175 * sqr_u)));
-    B = sqr_u / 1024 * (256 + sqr_u * (-128 + sqr_u * (74 - 47 * sqr_u)));
-    delta_sigma = B * sin_sigma * ( 
-        cos_2_sigmam + B / 4 * ( 
-        cos_sigma * (-1 + 2 * sqr_cos_2_sigmam) -
-        B / 6 * cos_2_sigmam * (-3 + 4 * sin_sigma * sin_sigma) * (-3 + 4 * sqr_cos_2_sigmam)
-        ));
-
-    /* Calculate result */
-    if ( from_azimuth != 0 )
-    {
-        float tan_alpha_1 = cos_U2 * sin_lambda / (cos_U1 * sin_U2 - sin_U1 * cos_U2 * cos_lambda);
-        *from_azimuth = atan(tan_alpha_1);
-    }
-    if ( to_azimuth != 0 )
-    {
-        float tan_alpha_2 = cos_U1 * sin_lambda / (-sin_U1 * cos_U2 + cos_U1 * sin_U2 * cos_lambda);
-        *to_azimuth = atan(tan_alpha_2);
-    }
-
-    return b * A * (sigma - delta_sigma);
-}
-
-/**
- * \brief Horizontal move of point position
- */
-int nmea_move_horz(
-    const nmeaPOS *start_pos,   /**< Start position in radians */
-    nmeaPOS *end_pos,           /**< Result position in radians */
-    float azimuth,             /**< Azimuth (degree) [0, 359] */
-    float distance             /**< Distance (km) */
-    )
-{
-    nmeaPOS p1 = *start_pos;
-    int RetVal = 1;
-
-    distance /= NMEA_EARTHRADIUS_KM; /* Angular distance covered on earth's surface */
-    azimuth = nmea_degree2radian(azimuth);
-
-    end_pos->lat = asin(
-        sin(p1.lat) * cos(distance) + cos(p1.lat) * sin(distance) * cos(azimuth));
-    end_pos->lon = p1.lon + atan2(
-        sin(azimuth) * sin(distance) * cos(p1.lat), cos(distance) - sin(p1.lat) * sin(end_pos->lat));
-
-    if(NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon))
-    {
-        end_pos->lat = 0; end_pos->lon = 0;
-        RetVal = 0;
-    }
-
-    return RetVal;
-}
-
-/**
- * \brief Horizontal move of point position
- * This function uses an algorithm for an oblate spheroid earth model.
- * The algorithm is described here: 
- * http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf
- */
-int nmea_move_horz_ellipsoid(
-    const nmeaPOS *start_pos,   /**< Start position in radians */
-    nmeaPOS *end_pos,           /**< (O) Result position in radians */
-    float azimuth,             /**< Azimuth in radians */
-    float distance,            /**< Distance (km) */
-    float *end_azimuth         /**< (O) Azimuth at end position in radians */
-    )
-{
-    /* Variables */
-    float f, a, b, sqr_a, sqr_b;
-    float phi1, tan_U1, sin_U1, cos_U1, s, alpha1, sin_alpha1, cos_alpha1;
-    float tan_sigma1, sigma1, sin_alpha, cos_alpha, sqr_cos_alpha, sqr_u, A, B;
-    float sigma_initial, sigma, sigma_prev, sin_sigma, cos_sigma, cos_2_sigmam, sqr_cos_2_sigmam, delta_sigma;
-    int remaining_steps;
-    float tmp1, phi2, lambda, C, L;
-    
-    /* Check input */
-    //NMEA_ASSERT(start_pos != 0);
-    //NMEA_ASSERT(end_pos != 0);
-    
-    if (fabs(distance) < 1e-12)
-    { /* No move */
-        *end_pos = *start_pos;
-        if ( end_azimuth != 0 ) *end_azimuth = azimuth;
-        return ! (NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon));
-    } /* No move */
-
-    /* Earth geometry */
-    f = NMEA_EARTH_FLATTENING;
-    a = NMEA_EARTH_SEMIMAJORAXIS_M;
-    b = (1 - f) * a;
-    sqr_a = a * a;
-    sqr_b = b * b;
-    
-    /* Calculation */
-    phi1 = start_pos->lat;
-    tan_U1 = (1 - f) * tan(phi1);
-    cos_U1 = 1 / sqrt(1 + tan_U1 * tan_U1);
-    sin_U1 = tan_U1 * cos_U1;
-    s = distance;
-    alpha1 = azimuth;
-    sin_alpha1 = sin(alpha1);
-    cos_alpha1 = cos(alpha1);
-    tan_sigma1 = tan_U1 / cos_alpha1;
-    sigma1 = atan2(tan_U1, cos_alpha1);
-    sin_alpha = cos_U1 * sin_alpha1;
-    sqr_cos_alpha = 1 - sin_alpha * sin_alpha;
-    cos_alpha = sqrt(sqr_cos_alpha);
-    sqr_u = sqr_cos_alpha * (sqr_a - sqr_b) / sqr_b; 
-    A = 1 + sqr_u / 16384 * (4096 + sqr_u * (-768 + sqr_u * (320 - 175 * sqr_u)));
-    B = sqr_u / 1024 * (256 + sqr_u * (-128 + sqr_u * (74 - 47 * sqr_u)));
-    
-    /* Initialize iteration */
-    sigma_initial = s / (b * A);
-    sigma = sigma_initial;
-    sin_sigma = sin(sigma);
-    cos_sigma = cos(sigma);
-    cos_2_sigmam = cos(2 * sigma1 + sigma);
-    sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
-    delta_sigma = 0;
-    sigma_prev = 2 * NMEA_PI;
-    remaining_steps = 20;
-
-    while ((fabs(sigma - sigma_prev) > 1e-12) && (remaining_steps > 0))
-    { /* Iterate */
-        cos_2_sigmam = cos(2 * sigma1 + sigma);
-        sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
-        sin_sigma = sin(sigma);
-        cos_sigma = cos(sigma);
-        delta_sigma = B * sin_sigma * ( 
-             cos_2_sigmam + B / 4 * ( 
-             cos_sigma * (-1 + 2 * sqr_cos_2_sigmam) - 
-             B / 6 * cos_2_sigmam * (-3 + 4 * sin_sigma * sin_sigma) * (-3 + 4 * sqr_cos_2_sigmam)
-             ));
-        sigma_prev = sigma;
-        sigma = sigma_initial + delta_sigma;
-        remaining_steps --;
-    } /* Iterate */
-    
-    /* Calculate result */
-    tmp1 = (sin_U1 * sin_sigma - cos_U1 * cos_sigma * cos_alpha1);
-    phi2 = atan2(
-            sin_U1 * cos_sigma + cos_U1 * sin_sigma * cos_alpha1,
-            (1 - f) * sqrt(sin_alpha * sin_alpha + tmp1 * tmp1)
-            );
-    lambda = atan2(
-            sin_sigma * sin_alpha1,
-            cos_U1 * cos_sigma - sin_U1 * sin_sigma * cos_alpha1
-            );
-    C = f / 16 * sqr_cos_alpha * (4 + f * (4 - 3 * sqr_cos_alpha));
-    L = lambda -
-        (1 - C) * f * sin_alpha * (
-        sigma + C * sin_sigma *
-        (cos_2_sigmam + C * cos_sigma * (-1 + 2 * sqr_cos_2_sigmam))
-        );
-    
-    /* Result */
-    end_pos->lon = start_pos->lon + L;
-    end_pos->lat = phi2;
-    if ( end_azimuth != 0 )
-    {
-        *end_azimuth = atan2(
-            sin_alpha, -sin_U1 * sin_sigma + cos_U1 * cos_sigma * cos_alpha1
-            );
-    }
-    return ! (NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon));
-}
-
-/**
- * \brief Convert position from INFO to radians position
- */
-void nmea_info2pos(const nmeaINFO *info, nmeaPOS *pos)
-{
-    pos->lat = nmea_ndeg2radian(info->lat);
-    pos->lon = nmea_ndeg2radian(info->lon);
-}
-
-/**
- * \brief Convert radians position to INFOs position
- */
-void nmea_pos2info(const nmeaPOS *pos, nmeaINFO *info)
-{
-    info->lat = nmea_radian2ndeg(pos->lat);
-    info->lon = nmea_radian2ndeg(pos->lon);
-}
diff --git a/apps/gps/nmealib/info.c b/apps/gps/nmealib/info.c
deleted file mode 100644
index 1d531ffc4..000000000
--- a/apps/gps/nmealib/info.c
+++ /dev/null
@@ -1,21 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: info.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#include 
-
-#include "nmea/info.h"
-
-void nmea_zero_INFO(nmeaINFO *info)
-{
-    memset(info, 0, sizeof(nmeaINFO));
-    nmea_time_now(&info->utc);
-    info->sig = NMEA_SIG_BAD;
-    info->fix = NMEA_FIX_BAD;
-}
diff --git a/apps/gps/nmealib/nmea/config.h b/apps/gps/nmealib/nmea/config.h
deleted file mode 100644
index 501466218..000000000
--- a/apps/gps/nmealib/nmea/config.h
+++ /dev/null
@@ -1,51 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: config.h 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#ifndef __NMEA_CONFIG_H__
-#define __NMEA_CONFIG_H__
-
-#define NMEA_VERSION        ("0.5.3")
-#define NMEA_VERSION_MAJOR  (0)
-#define NMEA_VERSION_MINOR  (5)
-#define NMEA_VERSION_PATCH  (3)
-
-#define NMEA_CONVSTR_BUF    (256)
-#define NMEA_TIMEPARSE_BUF  (256)
-
-#if defined(WINCE) || defined(UNDER_CE)
-#   define  NMEA_CE
-#endif
-
-#if defined(WIN32) || defined(NMEA_CE)
-#   define  NMEA_WIN
-#else
-#   define  NMEA_UNI
-#endif
-
-#if defined(NMEA_WIN) && (_MSC_VER >= 1400)
-# pragma warning(disable: 4996) /* declared deprecated */
-#endif
-
-#if defined(_MSC_VER)
-# define NMEA_POSIX(x)  _##x
-# define NMEA_INLINE    __inline
-#else
-# define NMEA_POSIX(x)  x
-# define NMEA_INLINE    inline
-#endif
-
-#if !defined(NDEBUG) && !defined(NMEA_CE)
-#   include 
-#   define NMEA_ASSERT(x)   assert(x)
-#else
-#   define NMEA_ASSERT(x)
-#endif
-
-#endif /* __NMEA_CONFIG_H__ */
diff --git a/apps/gps/nmealib/nmea/context.h b/apps/gps/nmealib/nmea/context.h
deleted file mode 100644
index 06e558327..000000000
--- a/apps/gps/nmealib/nmea/context.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: context.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_CONTEXT_H__
-#define __NMEA_CONTEXT_H__
-
-#include "config.h"
-
-#define NMEA_DEF_PARSEBUFF  (1024)
-#define NMEA_MIN_PARSEBUFF  (256)
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-typedef void (*nmeaTraceFunc)(const char *str, int str_size);
-typedef void (*nmeaErrorFunc)(const char *str, int str_size);
-
-typedef struct _nmeaPROPERTY
-{
-    nmeaTraceFunc   trace_func;
-    nmeaErrorFunc   error_func;
-    int             parse_buff_size;
-
-} nmeaPROPERTY;
-
-nmeaPROPERTY * nmea_property(void);
-
-void nmea_trace(const char *str, ...);
-void nmea_trace_buff(const char *buff, int buff_size);
-void nmea_error(const char *str, ...);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_CONTEXT_H__ */
diff --git a/apps/gps/nmealib/nmea/generate.h b/apps/gps/nmealib/nmea/generate.h
deleted file mode 100644
index 9d7fdee51..000000000
--- a/apps/gps/nmealib/nmea/generate.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: generate.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_GENERATE_H__
-#define __NMEA_GENERATE_H__
-
-#include "sentence.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-int     nmea_generate(
-        char *buff, int buff_sz,    /* buffer */
-        const nmeaINFO *info,       /* source info */
-        int generate_mask           /* mask of sentence`s (e.g. GPGGA | GPGSA) */
-        );
-
-int     nmea_gen_GPGGA(char *buff, int buff_sz, nmeaGPGGA *pack);
-int     nmea_gen_GPGSA(char *buff, int buff_sz, nmeaGPGSA *pack);
-int     nmea_gen_GPGSV(char *buff, int buff_sz, nmeaGPGSV *pack);
-int     nmea_gen_GPRMC(char *buff, int buff_sz, nmeaGPRMC *pack);
-int     nmea_gen_GPVTG(char *buff, int buff_sz, nmeaGPVTG *pack);
-
-void    nmea_info2GPGGA(const nmeaINFO *info, nmeaGPGGA *pack);
-void    nmea_info2GPGSA(const nmeaINFO *info, nmeaGPGSA *pack);
-void    nmea_info2GPRMC(const nmeaINFO *info, nmeaGPRMC *pack);
-void    nmea_info2GPVTG(const nmeaINFO *info, nmeaGPVTG *pack);
-
-int     nmea_gsv_npack(int sat_count);
-void    nmea_info2GPGSV(const nmeaINFO *info, nmeaGPGSV *pack, int pack_idx);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_GENERATE_H__ */
diff --git a/apps/gps/nmealib/nmea/generator.h b/apps/gps/nmealib/nmea/generator.h
deleted file mode 100644
index a97b91b13..000000000
--- a/apps/gps/nmealib/nmea/generator.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: generator.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_GENERATOR_H__
-#define __NMEA_GENERATOR_H__
-
-#include "info.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-/*
- * high level
- */
-
-struct _nmeaGENERATOR;
-
-enum nmeaGENTYPE
-{
-    NMEA_GEN_NOISE = 0,
-    NMEA_GEN_STATIC,
-    NMEA_GEN_ROTATE,
-
-    NMEA_GEN_SAT_STATIC,
-    NMEA_GEN_SAT_ROTATE,
-    NMEA_GEN_POS_RANDMOVE,
-
-    NMEA_GEN_LAST
-};
-
-struct _nmeaGENERATOR * nmea_create_generator(int type, nmeaINFO *info);
-void    nmea_destroy_generator(struct _nmeaGENERATOR *gen);
-
-int     nmea_generate_from(
-        char *buff, int buff_sz,    /* buffer */
-        nmeaINFO *info,             /* source info */
-        struct _nmeaGENERATOR *gen, /* generator */
-        int generate_mask           /* mask of sentence`s (e.g. GPGGA | GPGSA) */
-        );
-
-/*
- * low level
- */
-
-typedef int (*nmeaNMEA_GEN_INIT)(struct _nmeaGENERATOR *gen, nmeaINFO *info);
-typedef int (*nmeaNMEA_GEN_LOOP)(struct _nmeaGENERATOR *gen, nmeaINFO *info);
-typedef int (*nmeaNMEA_GEN_RESET)(struct _nmeaGENERATOR *gen, nmeaINFO *info);
-typedef int (*nmeaNMEA_GEN_DESTROY)(struct _nmeaGENERATOR *gen);
-
-typedef struct _nmeaGENERATOR
-{
-    void                *gen_data;
-    nmeaNMEA_GEN_INIT    init_call;
-    nmeaNMEA_GEN_LOOP    loop_call;
-    nmeaNMEA_GEN_RESET   reset_call;
-    nmeaNMEA_GEN_DESTROY destroy_call;
-    struct _nmeaGENERATOR *next;
-
-} nmeaGENERATOR;
-
-int     nmea_gen_init(nmeaGENERATOR *gen, nmeaINFO *info);
-int     nmea_gen_loop(nmeaGENERATOR *gen, nmeaINFO *info);
-int     nmea_gen_reset(nmeaGENERATOR *gen, nmeaINFO *info);
-void    nmea_gen_destroy(nmeaGENERATOR *gen);
-void    nmea_gen_add(nmeaGENERATOR *to, nmeaGENERATOR *gen);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_GENERATOR_H__ */
diff --git a/apps/gps/nmealib/nmea/gmath.h b/apps/gps/nmealib/nmea/gmath.h
deleted file mode 100644
index 3133b7228..000000000
--- a/apps/gps/nmealib/nmea/gmath.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: gmath.h 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#ifndef __NMEA_GMATH_H__
-#define __NMEA_GMATH_H__
-
-#include "info.h"
-
-#define NMEA_PI                     (3.141592653589793)             /**< PI value */
-#define NMEA_PI180                  (NMEA_PI / 180)                 /**< PI division by 180 */
-#define NMEA_EARTHRADIUS_KM         (6378)                          /**< Earth's mean radius in km */
-#define NMEA_EARTHRADIUS_M          (NMEA_EARTHRADIUS_KM * 1000)    /**< Earth's mean radius in m */
-#define NMEA_EARTH_SEMIMAJORAXIS_M  (6378137.0)                     /**< Earth's semi-major axis in m according WGS84 */
-#define NMEA_EARTH_SEMIMAJORAXIS_KM (NMEA_EARTHMAJORAXIS_KM / 1000) /**< Earth's semi-major axis in km according WGS 84 */
-#define NMEA_EARTH_FLATTENING       (1 / 298.257223563)             /**< Earth's flattening according WGS 84 */
-#define NMEA_DOP_FACTOR             (5)                             /**< Factor for translating DOP to meters */
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-/*
- * degree VS radian
- */
-
-float nmea_degree2radian(float val);
-float nmea_radian2degree(float val);
-
-/*
- * NDEG (NMEA degree)
- */
-
-float nmea_ndeg2degree(float val);
-float nmea_degree2ndeg(float val);
-
-float nmea_ndeg2radian(float val);
-float nmea_radian2ndeg(float val);
-
-/*
- * DOP
- */
-
-float nmea_calc_pdop(float hdop, float vdop);
-float nmea_dop2meters(float dop);
-float nmea_meters2dop(float meters);
-
-/*
- * positions work
- */
-
-void nmea_info2pos(const nmeaINFO *info, nmeaPOS *pos);
-void nmea_pos2info(const nmeaPOS *pos, nmeaINFO *info);
-
-float  nmea_distance(
-        const nmeaPOS *from_pos,
-        const nmeaPOS *to_pos
-        );
-
-float  nmea_distance_ellipsoid(
-        const nmeaPOS *from_pos,
-        const nmeaPOS *to_pos,
-        float *from_azimuth,
-        float *to_azimuth
-        );
-
-int     nmea_move_horz(
-        const nmeaPOS *start_pos,
-        nmeaPOS *end_pos,
-        float azimuth,
-        float distance
-        );
-
-int     nmea_move_horz_ellipsoid(
-        const nmeaPOS *start_pos,
-        nmeaPOS *end_pos,
-        float azimuth,
-        float distance,
-        float *end_azimuth
-        );
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_GMATH_H__ */
diff --git a/apps/gps/nmealib/nmea/info.h b/apps/gps/nmealib/nmea/info.h
deleted file mode 100644
index 09ccd4c09..000000000
--- a/apps/gps/nmealib/nmea/info.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: info.h 10 2007-11-15 14:50:15Z xtimor $
- *
- */
-
-/*! \file */
-
-#ifndef __NMEA_INFO_H__
-#define __NMEA_INFO_H__
-
-#include "time.h"
-
-#define NMEA_SIG_BAD        (0)
-#define NMEA_SIG_LOW        (1)
-#define NMEA_SIG_MID        (2)
-#define NMEA_SIG_HIGH       (3)
-
-#define NMEA_FIX_BAD        (1)
-#define NMEA_FIX_2D         (2)
-#define NMEA_FIX_3D         (3)
-
-#define NMEA_MAXSAT         (12)
-#define NMEA_SATINPACK      (4)
-#define NMEA_NSATPACKS      (NMEA_MAXSAT / NMEA_SATINPACK)
-
-#define NMEA_DEF_LAT        (5001.2621)
-#define NMEA_DEF_LON        (3613.0595)
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-/**
- * Position data in fractional degrees or radians
- */
-typedef struct _nmeaPOS
-{
-    float lat;         /**< Latitude */
-    float lon;         /**< Longitude */
-
-} nmeaPOS;
-
-/**
- * Information about satellite
- * @see nmeaSATINFO
- * @see nmeaGPGSV
- */
-typedef struct _nmeaSATELLITE
-{
-    int     id;         /**< Satellite PRN number */
-    int     in_use;     /**< Used in position fix */
-    int     elv;        /**< Elevation in degrees, 90 maximum */
-    int     azimuth;    /**< Azimuth, degrees from true north, 000 to 359 */
-    int     sig;        /**< Signal, 00-99 dB */
-
-} nmeaSATELLITE;
-
-/**
- * Information about all satellites in view
- * @see nmeaINFO
- * @see nmeaGPGSV
- */
-typedef struct _nmeaSATINFO
-{
-    int     inuse;      /**< Number of satellites in use (not those in view) */
-    int     inview;     /**< Total number of satellites in view */
-    nmeaSATELLITE sat[NMEA_MAXSAT]; /**< Satellites information */
-
-} nmeaSATINFO;
-
-/**
- * Summary GPS information from all parsed packets,
- * used also for generating NMEA stream
- * @see nmea_parse
- * @see nmea_GPGGA2info,  nmea_...2info
- */
-typedef struct _nmeaINFO
-{
-    int     smask;      /**< Mask specifying types of packages from which data have been obtained */
-
-    nmeaTIME utc;       /**< UTC of position */
-
-    int     sig;        /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */
-    int     fix;        /**< Operating mode, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D) */
-
-    float  PDOP;       /**< Position Dilution Of Precision */
-    float  HDOP;       /**< Horizontal Dilution Of Precision */
-    float  VDOP;       /**< Vertical Dilution Of Precision */
-
-    float  lat;        /**< Latitude in NDEG - +/-[degree][min].[sec/60] */
-    float  lon;        /**< Longitude in NDEG - +/-[degree][min].[sec/60] */
-    float  elv;        /**< Antenna altitude above/below mean sea level (geoid) in meters */
-    float  speed;      /**< Speed over the ground in kilometers/hour */
-    float  direction;  /**< Track angle in degrees True */
-    float  declination; /**< Magnetic variation degrees (Easterly var. subtracts from true course) */
-
-    nmeaSATINFO satinfo; /**< Satellites information */
-
-} nmeaINFO;
-
-void nmea_zero_INFO(nmeaINFO *info);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_INFO_H__ */
diff --git a/apps/gps/nmealib/nmea/nmea.h b/apps/gps/nmealib/nmea/nmea.h
deleted file mode 100644
index 62692230f..000000000
--- a/apps/gps/nmealib/nmea/nmea.h
+++ /dev/null
@@ -1,25 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: nmea.h 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#ifndef __NMEA_H__
-#define __NMEA_H__
-
-#include "./config.h"
-#include "./units.h"
-#include "./gmath.h"
-#include "./info.h"
-#include "./sentence.h"
-#include "./generate.h"
-#include "./generator.h"
-#include "./parse.h"
-#include "./parser.h"
-#include "./context.h"
-
-#endif /* __NMEA_H__ */
diff --git a/apps/gps/nmealib/nmea/parse.h b/apps/gps/nmealib/nmea/parse.h
deleted file mode 100644
index 3e6b425db..000000000
--- a/apps/gps/nmealib/nmea/parse.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: parse.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_PARSE_H__
-#define __NMEA_PARSE_H__
-
-#include "sentence.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-int nmea_pack_type(const char *buff, int buff_sz);
-int nmea_find_tail(const char *buff, int buff_sz, int *res_crc);
-
-int nmea_parse_GPGGA(const char *buff, int buff_sz, nmeaGPGGA *pack);
-int nmea_parse_GPGSA(const char *buff, int buff_sz, nmeaGPGSA *pack);
-int nmea_parse_GPGSV(const char *buff, int buff_sz, nmeaGPGSV *pack);
-int nmea_parse_GPRMC(const char *buff, int buff_sz, nmeaGPRMC *pack);
-int nmea_parse_GPVTG(const char *buff, int buff_sz, nmeaGPVTG *pack);
-
-void nmea_GPGGA2info(nmeaGPGGA *pack, nmeaINFO *info);
-void nmea_GPGSA2info(nmeaGPGSA *pack, nmeaINFO *info);
-void nmea_GPGSV2info(nmeaGPGSV *pack, nmeaINFO *info);
-void nmea_GPRMC2info(nmeaGPRMC *pack, nmeaINFO *info);
-void nmea_GPVTG2info(nmeaGPVTG *pack, nmeaINFO *info);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_PARSE_H__ */
diff --git a/apps/gps/nmealib/nmea/parser.h b/apps/gps/nmealib/nmea/parser.h
deleted file mode 100644
index 51a3fab7f..000000000
--- a/apps/gps/nmealib/nmea/parser.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: parser.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_PARSER_H__
-#define __NMEA_PARSER_H__
-
-#include "info.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-/*
- * high level
- */
-
-typedef struct _nmeaPARSER
-{
-    void *top_node;
-    void *end_node;
-    unsigned char *buffer;
-    int buff_size;
-    int buff_use;
-
-} nmeaPARSER;
-
-int     nmea_parser_init(nmeaPARSER *parser);
-void    nmea_parser_destroy(nmeaPARSER *parser);
-
-int     nmea_parse(
-        nmeaPARSER *parser,
-        const char *buff, int buff_sz,
-        nmeaINFO *info
-        );
-
-/*
- * low level
- */
-
-int     nmea_parser_push(nmeaPARSER *parser, const char *buff, int buff_sz);
-int     nmea_parser_top(nmeaPARSER *parser);
-int     nmea_parser_pop(nmeaPARSER *parser, void **pack_ptr);
-int     nmea_parser_peek(nmeaPARSER *parser, void **pack_ptr);
-int     nmea_parser_drop(nmeaPARSER *parser);
-int     nmea_parser_buff_clear(nmeaPARSER *parser);
-int     nmea_parser_queue_clear(nmeaPARSER *parser);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_PARSER_H__ */
diff --git a/apps/gps/nmealib/nmea/sentence.h b/apps/gps/nmealib/nmea/sentence.h
deleted file mode 100644
index 2aa975c71..000000000
--- a/apps/gps/nmealib/nmea/sentence.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: sentence.h 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-/*! \file */
-
-#ifndef __NMEA_SENTENCE_H__
-#define __NMEA_SENTENCE_H__
-
-#include "info.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-/**
- * NMEA packets type which parsed and generated by library
- */
-enum nmeaPACKTYPE
-{
-    GPNON   = 0x0000,   /**< Unknown packet type. */
-    GPGGA   = 0x0001,   /**< GGA - Essential fix data which provide 3D location and accuracy data. */
-    GPGSA   = 0x0002,   /**< GSA - GPS receiver operating mode, SVs used for navigation, and DOP values. */
-    GPGSV   = 0x0004,   /**< GSV - Number of SVs in view, PRN numbers, elevation, azimuth & SNR values. */
-    GPRMC   = 0x0008,   /**< RMC - Recommended Minimum Specific GPS/TRANSIT Data. */
-    GPVTG   = 0x0010    /**< VTG - Actual track made good and speed over ground. */
-};
-
-/**
- * GGA packet information structure (Global Positioning System Fix Data)
- */
-typedef struct _nmeaGPGGA
-{
-    nmeaTIME utc;       /**< UTC of position (just time) */
-	float  lat;        /**< Latitude in NDEG - [degree][min].[sec/60] */
-    char    ns;         /**< [N]orth or [S]outh */
-	float  lon;        /**< Longitude in NDEG - [degree][min].[sec/60] */
-    char    ew;         /**< [E]ast or [W]est */
-    int     sig;        /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */
-	int     satinuse;   /**< Number of satellites in use (not those in view) */
-    float  HDOP;       /**< Horizontal dilution of precision */
-    float  elv;        /**< Antenna altitude above/below mean sea level (geoid) */
-    char    elv_units;  /**< [M]eters (Antenna height unit) */
-    float  diff;       /**< Geoidal separation (Diff. between WGS-84 earth ellipsoid and mean sea level. '-' = geoid is below WGS-84 ellipsoid) */
-    char    diff_units; /**< [M]eters (Units of geoidal separation) */
-    float  dgps_age;   /**< Time in seconds since last DGPS update */
-    int     dgps_sid;   /**< DGPS station ID number */
-
-} nmeaGPGGA;
-
-/**
- * GSA packet information structure (Satellite status)
- */
-typedef struct _nmeaGPGSA
-{
-    char    fix_mode;   /**< Mode (M = Manual, forced to operate in 2D or 3D; A = Automatic, 3D/2D) */
-    int     fix_type;   /**< Type, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D) */
-    int     sat_prn[NMEA_MAXSAT]; /**< PRNs of satellites used in position fix (null for unused fields) */
-    float  PDOP;       /**< Dilution of precision */
-    float  HDOP;       /**< Horizontal dilution of precision */
-    float  VDOP;       /**< Vertical dilution of precision */
-
-} nmeaGPGSA;
-
-/**
- * GSV packet information structure (Satellites in view)
- */
-typedef struct _nmeaGPGSV
-{
-    int     pack_count; /**< Total number of messages of this type in this cycle */
-    int     pack_index; /**< Message number */
-    int     sat_count;  /**< Total number of satellites in view */
-    nmeaSATELLITE sat_data[NMEA_SATINPACK];
-
-} nmeaGPGSV;
-
-/**
- * RMC packet information structure (Recommended Minimum sentence C)
- */
-typedef struct _nmeaGPRMC
-{
-    nmeaTIME utc;       /**< UTC of position */
-    char    status;     /**< Status (A = active or V = void) */
-	float  lat;        /**< Latitude in NDEG - [degree][min].[sec/60] */
-    char    ns;         /**< [N]orth or [S]outh */
-	float  lon;        /**< Longitude in NDEG - [degree][min].[sec/60] */
-    char    ew;         /**< [E]ast or [W]est */
-    float  speed;      /**< Speed over the ground in knots */
-    float  direction;  /**< Track angle in degrees True */
-    float  declination; /**< Magnetic variation degrees (Easterly var. subtracts from true course) */
-    char    declin_ew;  /**< [E]ast or [W]est */
-    char    mode;       /**< Mode indicator of fix type (A = autonomous, D = differential, E = estimated, N = not valid, S = simulator) */
-
-} nmeaGPRMC;
-
-/**
- * VTG packet information structure (Track made good and ground speed)
- */
-typedef struct _nmeaGPVTG
-{
-    float  dir;        /**< True track made good (degrees) */
-    char    dir_t;      /**< Fixed text 'T' indicates that track made good is relative to true north */
-    float  dec;        /**< Magnetic track made good */
-    char    dec_m;      /**< Fixed text 'M' */
-    float  spn;        /**< Ground speed, knots */
-    char    spn_n;      /**< Fixed text 'N' indicates that speed over ground is in knots */
-    float  spk;        /**< Ground speed, kilometers per hour */
-    char    spk_k;      /**< Fixed text 'K' indicates that speed over ground is in kilometers/hour */
-
-} nmeaGPVTG;
-
-void nmea_zero_GPGGA(nmeaGPGGA *pack);
-void nmea_zero_GPGSA(nmeaGPGSA *pack);
-void nmea_zero_GPGSV(nmeaGPGSV *pack);
-void nmea_zero_GPRMC(nmeaGPRMC *pack);
-void nmea_zero_GPVTG(nmeaGPVTG *pack);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_SENTENCE_H__ */
diff --git a/apps/gps/nmealib/nmea/time.h b/apps/gps/nmealib/nmea/time.h
deleted file mode 100644
index bbe59f65c..000000000
--- a/apps/gps/nmealib/nmea/time.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: time.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-/*! \file */
-
-#ifndef __NMEA_TIME_H__
-#define __NMEA_TIME_H__
-
-#include "config.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-/**
- * Date and time data
- * @see nmea_time_now
- */
-typedef struct _nmeaTIME
-{
-    int     year;       /**< Years since 1900 */
-    int     mon;        /**< Months since January - [0,11] */
-    int     day;        /**< Day of the month - [1,31] */
-    int     hour;       /**< Hours since midnight - [0,23] */
-    int     min;        /**< Minutes after the hour - [0,59] */
-    int     sec;        /**< Seconds after the minute - [0,59] */
-    int     hsec;       /**< Hundredth part of second - [0,99] */
-
-} nmeaTIME;
-
-/**
- * \brief Get time now to nmeaTIME structure
- */
-void nmea_time_now(nmeaTIME *t);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_TIME_H__ */
diff --git a/apps/gps/nmealib/nmea/tok.h b/apps/gps/nmealib/nmea/tok.h
deleted file mode 100644
index 8f948dd2d..000000000
--- a/apps/gps/nmealib/nmea/tok.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: tok.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_TOK_H__
-#define __NMEA_TOK_H__
-
-#include "config.h"
-#include 
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-int     nmea_calc_crc(const char *buff, int buff_sz);
-int     nmea_atoi(const char *str, int str_sz, int radix);
-float  nmea_atof(const char *str, int str_sz);
-int     nmea_printf(char *buff, int buff_sz, const char *format, ...);
-int     nmea_scanf(const char *buff, int buff_sz, const char *format, ...);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_TOK_H__ */
diff --git a/apps/gps/nmealib/nmea/units.h b/apps/gps/nmealib/nmea/units.h
deleted file mode 100644
index 767f980e2..000000000
--- a/apps/gps/nmealib/nmea/units.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: units.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_UNITS_H__
-#define __NMEA_UNITS_H__
-
-#include "config.h"
-
-/*
- * Distance units
- */
-
-#define NMEA_TUD_YARDS      (1.0936)        /**< Yeards, meter * NMEA_TUD_YARDS = yard */
-#define NMEA_TUD_KNOTS      (1.852)         /**< Knots, kilometer / NMEA_TUD_KNOTS = knot */
-#define NMEA_TUD_MILES      (1.609)         /**< Miles, kilometer / NMEA_TUD_MILES = mile */
-
-/*
- * Speed units
- */
-
-#define NMEA_TUS_MS         (3.6)           /**< Meters per seconds, (k/h) / NMEA_TUS_MS= (m/s) */
-
-#endif /* __NMEA_UNITS_H__ */
diff --git a/apps/gps/nmealib/parse.c b/apps/gps/nmealib/parse.c
deleted file mode 100644
index 99bdf075b..000000000
--- a/apps/gps/nmealib/parse.c
+++ /dev/null
@@ -1,501 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: parse.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-/**
- * \file parse.h
- * \brief Functions of a low level for analysis of
- * packages of NMEA stream.
- *
- * \code
- * ...
- * ptype = nmea_pack_type(
- *     (const char *)parser->buffer + nparsed + 1,
- *     parser->buff_use - nparsed - 1);
- * 
- * if(0 == (node = malloc(sizeof(nmeaParserNODE))))
- *     goto mem_fail;
- * 
- * node->pack = 0;
- * 
- * switch(ptype)
- * {
- * case GPGGA:
- *     if(0 == (node->pack = malloc(sizeof(nmeaGPGGA))))
- *         goto mem_fail;
- *     node->packType = GPGGA;
- *     if(!nmea_parse_GPGGA(
- *         (const char *)parser->buffer + nparsed,
- *         sen_sz, (nmeaGPGGA *)node->pack))
- *     {
- *         free(node);
- *         node = 0;
- *     }
- *     break;
- * case GPGSA:
- *     if(0 == (node->pack = malloc(sizeof(nmeaGPGSA))))
- *         goto mem_fail;
- *     node->packType = GPGSA;
- *     if(!nmea_parse_GPGSA(
- *         (const char *)parser->buffer + nparsed,
- *         sen_sz, (nmeaGPGSA *)node->pack))
- *     {
- *         free(node);
- *         node = 0;
- *     }
- *     break;
- * ...
- * \endcode
- */
-#include "nmea/tok.h"
-#include "nmea/parse.h"
-#include "nmea/context.h"
-#include "nmea/gmath.h"
-#include "nmea/units.h"
-
-#include 
-#include 
-
-int _nmea_parse_time(const char *buff, int buff_sz, nmeaTIME *res)
-{
-    int success = 0;
-
-    switch(buff_sz)
-    {
-    case sizeof("hhmmss") - 1:
-        success = (3 == nmea_scanf(buff, buff_sz,
-            "%2d%2d%2d", &(res->hour), &(res->min), &(res->sec)
-            ));
-        break;
-    case sizeof("hhmmss.s") - 1:
-    case sizeof("hhmmss.ss") - 1:
-    case sizeof("hhmmss.sss") - 1:
-        success = (4 == nmea_scanf(buff, buff_sz,
-            "%2d%2d%2d.%d", &(res->hour), &(res->min), &(res->sec), &(res->hsec)
-            ));
-        break;
-    default:
-        nmea_error("Parse of time error (format error)!");
-        success = 0;
-        break;
-    }
-
-    return (success?0:-1);        
-}
-
-/**
- * \brief Define packet type by header (nmeaPACKTYPE).
- * @param buff a constant character pointer of packet buffer.
- * @param buff_sz buffer size.
- * @return The defined packet type
- * @see nmeaPACKTYPE
- */
-int nmea_pack_type(const char *buff, int buff_sz)
-{
-    static const char *pheads[] = {
-        "GPGGA",
-        "GPGSA",
-        "GPGSV",
-        "GPRMC",
-        "GPVTG",
-    };
-
-    //NMEA_ASSERT(buff);
-
-    if(buff_sz < 5)
-        return GPNON;
-    else if(0 == memcmp(buff, pheads[0], 5))
-        return GPGGA;
-    else if(0 == memcmp(buff, pheads[1], 5))
-        return GPGSA;
-    else if(0 == memcmp(buff, pheads[2], 5))
-        return GPGSV;
-    else if(0 == memcmp(buff, pheads[3], 5))
-        return GPRMC;
-    else if(0 == memcmp(buff, pheads[4], 5))
-        return GPVTG;
-
-    return GPNON;
-}
-
-/**
- * \brief Find tail of packet ("\r\n") in buffer and check control sum (CRC).
- * @param buff a constant character pointer of packets buffer.
- * @param buff_sz buffer size.
- * @param res_crc a integer pointer for return CRC of packet (must be defined).
- * @return Number of bytes to packet tail.
- */
-int nmea_find_tail(const char *buff, int buff_sz, int *res_crc)
-{
-    static const int tail_sz = 3 /* *[CRC] */ + 2 /* \r\n */;
-
-    const char *end_buff = buff + buff_sz;
-    int nread = 0;
-    int crc = 0;
-
-    //NMEA_ASSERT(buff && res_crc);
-
-    *res_crc = -1;
-
-    for(;buff < end_buff; ++buff, ++nread)
-    {
-        if(('$' == *buff) && nread)
-        {
-            buff = 0;
-            break;
-        }
-        else if('*' == *buff)
-        {
-            if(buff + tail_sz <= end_buff && '\r' == buff[3] && '\n' == buff[4])
-            {
-                *res_crc = nmea_atoi(buff + 1, 2, 16);
-                nread = buff_sz - (int)(end_buff - (buff + tail_sz));
-                if(*res_crc != crc)
-                {
-                    *res_crc = -1;
-                    buff = 0;
-                }
-            }
-
-            break;
-        }
-        else if(nread)
-            crc ^= (int)*buff;
-    }
-
-    if(*res_crc < 0 && buff)
-        nread = 0;
-
-    return nread;
-}
-
-/**
- * \brief Parse GGA packet from buffer.
- * @param buff a constant character pointer of packet buffer.
- * @param buff_sz buffer size.
- * @param pack a pointer of packet which will filled by function.
- * @return 1 (true) - if parsed successfully or 0 (false) - if fail.
- */
-int nmea_parse_GPGGA(const char *buff, int buff_sz, nmeaGPGGA *pack)
-{
-    char time_buff[NMEA_TIMEPARSE_BUF];
-
-    //NMEA_ASSERT(buff && pack);
-
-    memset(pack, 0, sizeof(nmeaGPGGA));
-
-    nmea_trace_buff(buff, buff_sz);
-
-    if(14 != nmea_scanf(buff, buff_sz,
-        "$GPGGA,%s,%f,%C,%f,%C,%d,%d,%f,%f,%C,%f,%C,%f,%d*",
-        &(time_buff[0]),
-        &(pack->lat), &(pack->ns), &(pack->lon), &(pack->ew),
-        &(pack->sig), &(pack->satinuse), &(pack->HDOP), &(pack->elv), &(pack->elv_units),
-        &(pack->diff), &(pack->diff_units), &(pack->dgps_age), &(pack->dgps_sid)))
-    {
-        nmea_error("GPGGA parse error!");
-        return 0;
-    }
-
-    if(0 != _nmea_parse_time(&time_buff[0], (int)strlen(&time_buff[0]), &(pack->utc)))
-    {
-        nmea_error("GPGGA time parse error!");
-        return 0;
-    }
-
-    return 1;
-}
-
-/**
- * \brief Parse GSA packet from buffer.
- * @param buff a constant character pointer of packet buffer.
- * @param buff_sz buffer size.
- * @param pack a pointer of packet which will filled by function.
- * @return 1 (true) - if parsed successfully or 0 (false) - if fail.
- */
-int nmea_parse_GPGSA(const char *buff, int buff_sz, nmeaGPGSA *pack)
-{
-    //NMEA_ASSERT(buff && pack);
-
-    memset(pack, 0, sizeof(nmeaGPGSA));
-
-    nmea_trace_buff(buff, buff_sz);
-
-    if(17 != nmea_scanf(buff, buff_sz,
-        "$GPGSA,%C,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f,%f,%f*",
-        &(pack->fix_mode), &(pack->fix_type),
-        &(pack->sat_prn[0]), &(pack->sat_prn[1]), &(pack->sat_prn[2]), &(pack->sat_prn[3]), &(pack->sat_prn[4]), &(pack->sat_prn[5]),
-        &(pack->sat_prn[6]), &(pack->sat_prn[7]), &(pack->sat_prn[8]), &(pack->sat_prn[9]), &(pack->sat_prn[10]), &(pack->sat_prn[11]),
-        &(pack->PDOP), &(pack->HDOP), &(pack->VDOP)))
-    {
-        nmea_error("GPGSA parse error!");
-        return 0;
-    }
-
-    return 1;
-}
-
-/**
- * \brief Parse GSV packet from buffer.
- * @param buff a constant character pointer of packet buffer.
- * @param buff_sz buffer size.
- * @param pack a pointer of packet which will filled by function.
- * @return 1 (true) - if parsed successfully or 0 (false) - if fail.
- */
-int nmea_parse_GPGSV(const char *buff, int buff_sz, nmeaGPGSV *pack)
-{
-    int nsen, nsat;
-
-    //NMEA_ASSERT(buff && pack);
-
-    memset(pack, 0, sizeof(nmeaGPGSV));
-
-    nmea_trace_buff(buff, buff_sz);
-
-    nsen = nmea_scanf(buff, buff_sz,
-        "$GPGSV,%d,%d,%d,"
-        "%d,%d,%d,%d,"
-        "%d,%d,%d,%d,"
-        "%d,%d,%d,%d,"
-        "%d,%d,%d,%d*",
-        &(pack->pack_count), &(pack->pack_index), &(pack->sat_count),
-        &(pack->sat_data[0].id), &(pack->sat_data[0].elv), &(pack->sat_data[0].azimuth), &(pack->sat_data[0].sig),
-        &(pack->sat_data[1].id), &(pack->sat_data[1].elv), &(pack->sat_data[1].azimuth), &(pack->sat_data[1].sig),
-        &(pack->sat_data[2].id), &(pack->sat_data[2].elv), &(pack->sat_data[2].azimuth), &(pack->sat_data[2].sig),
-        &(pack->sat_data[3].id), &(pack->sat_data[3].elv), &(pack->sat_data[3].azimuth), &(pack->sat_data[3].sig));
-
-    nsat = (pack->pack_index - 1) * NMEA_SATINPACK;
-    nsat = (nsat + NMEA_SATINPACK > pack->sat_count)?pack->sat_count - nsat:NMEA_SATINPACK;
-    nsat = nsat * 4 + 3 /* first three sentence`s */;
-
-    if(nsen < nsat || nsen > (NMEA_SATINPACK * 4 + 3))
-    {
-        nmea_error("GPGSV parse error!");
-        return 0;
-    }
-
-    return 1;
-}
-
-/**
- * \brief Parse RMC packet from buffer.
- * @param buff a constant character pointer of packet buffer.
- * @param buff_sz buffer size.
- * @param pack a pointer of packet which will filled by function.
- * @return 1 (true) - if parsed successfully or 0 (false) - if fail.
- */
-int nmea_parse_GPRMC(const char *buff, int buff_sz, nmeaGPRMC *pack)
-{
-    int nsen;
-    char time_buff[NMEA_TIMEPARSE_BUF];
-
-    //NMEA_ASSERT(buff && pack);
-
-    memset(pack, 0, sizeof(nmeaGPRMC));
-
-    nmea_trace_buff(buff, buff_sz);
-
-    nsen = nmea_scanf(buff, buff_sz,
-        "$GPRMC,%s,%C,%f,%C,%f,%C,%f,%f,%2d%2d%2d,%f,%C,%C*",
-        &(time_buff[0]),
-        &(pack->status), &(pack->lat), &(pack->ns), &(pack->lon), &(pack->ew),
-        &(pack->speed), &(pack->direction),
-        &(pack->utc.day), &(pack->utc.mon), &(pack->utc.year),
-        &(pack->declination), &(pack->declin_ew), &(pack->mode));
-
-    if(nsen != 13 && nsen != 14)
-    {
-        nmea_error("GPRMC parse error!");
-        return 0;
-    }
-
-    if(0 != _nmea_parse_time(&time_buff[0], (int)strlen(&time_buff[0]), &(pack->utc)))
-    {
-        nmea_error("GPRMC time parse error!");
-        return 0;
-    }
-
-    if(pack->utc.year < 90)
-        pack->utc.year += 100;
-    pack->utc.mon -= 1;
-
-    return 1;
-}
-
-/**
- * \brief Parse VTG packet from buffer.
- * @param buff a constant character pointer of packet buffer.
- * @param buff_sz buffer size.
- * @param pack a pointer of packet which will filled by function.
- * @return 1 (true) - if parsed successfully or 0 (false) - if fail.
- */
-int nmea_parse_GPVTG(const char *buff, int buff_sz, nmeaGPVTG *pack)
-{
-    //NMEA_ASSERT(buff && pack);
-
-    memset(pack, 0, sizeof(nmeaGPVTG));
-
-    nmea_trace_buff(buff, buff_sz);
-
-    if(8 != nmea_scanf(buff, buff_sz,
-        "$GPVTG,%f,%C,%f,%C,%f,%C,%f,%C*",
-        &(pack->dir), &(pack->dir_t),
-        &(pack->dec), &(pack->dec_m),
-        &(pack->spn), &(pack->spn_n),
-        &(pack->spk), &(pack->spk_k)))
-    {
-        nmea_error("GPVTG parse error!");
-        return 0;
-    }
-
-    if( pack->dir_t != 'T' ||
-        pack->dec_m != 'M' ||
-        pack->spn_n != 'N' ||
-        pack->spk_k != 'K')
-    {
-        nmea_error("GPVTG parse error (format error)!");
-        return 0;
-    }
-
-    return 1;
-}
-
-/**
- * \brief Fill nmeaINFO structure by GGA packet data.
- * @param pack a pointer of packet structure.
- * @param info a pointer of summary information structure.
- */
-void nmea_GPGGA2info(nmeaGPGGA *pack, nmeaINFO *info)
-{
-    //NMEA_ASSERT(pack && info);
-
-    info->utc.hour = pack->utc.hour;
-    info->utc.min = pack->utc.min;
-    info->utc.sec = pack->utc.sec;
-    info->utc.hsec = pack->utc.hsec;
-    info->sig = pack->sig;
-    info->HDOP = pack->HDOP;
-    info->elv = pack->elv;
-    info->lat = ((pack->ns == 'N')?pack->lat:-(pack->lat));
-    info->lon = ((pack->ew == 'E')?pack->lon:-(pack->lon));
-    info->smask |= GPGGA;
-}
-
-/**
- * \brief Fill nmeaINFO structure by GSA packet data.
- * @param pack a pointer of packet structure.
- * @param info a pointer of summary information structure.
- */
-void nmea_GPGSA2info(nmeaGPGSA *pack, nmeaINFO *info)
-{
-    int i, j, nuse = 0;
-
-    //NMEA_ASSERT(pack && info);
-
-    info->fix = pack->fix_type;
-    info->PDOP = pack->PDOP;
-    info->HDOP = pack->HDOP;
-    info->VDOP = pack->VDOP;
-
-    for(i = 0; i < NMEA_MAXSAT; ++i)
-    {
-        for(j = 0; j < info->satinfo.inview; ++j)
-        {
-            if(pack->sat_prn[i] && pack->sat_prn[i] == info->satinfo.sat[j].id)
-            {
-                info->satinfo.sat[j].in_use = 1;
-                nuse++;
-            }
-        }
-    }
-
-    info->satinfo.inuse = nuse;
-    info->smask |= GPGSA;
-}
-
-/**
- * \brief Fill nmeaINFO structure by GSV packet data.
- * @param pack a pointer of packet structure.
- * @param info a pointer of summary information structure.
- */
-void nmea_GPGSV2info(nmeaGPGSV *pack, nmeaINFO *info)
-{
-    int isat, isi, nsat;
-
-    //NMEA_ASSERT(pack && info);
-
-    if(pack->pack_index > pack->pack_count ||
-        pack->pack_index * NMEA_SATINPACK > NMEA_MAXSAT)
-        return;
-
-    if(pack->pack_index < 1)
-        pack->pack_index = 1;
-
-    info->satinfo.inview = pack->sat_count;
-
-    nsat = (pack->pack_index - 1) * NMEA_SATINPACK;
-    nsat = (nsat + NMEA_SATINPACK > pack->sat_count)?pack->sat_count - nsat:NMEA_SATINPACK;
-
-    for(isat = 0; isat < nsat; ++isat)
-    {
-        isi = (pack->pack_index - 1) * NMEA_SATINPACK + isat;
-        info->satinfo.sat[isi].id = pack->sat_data[isat].id;
-        info->satinfo.sat[isi].elv = pack->sat_data[isat].elv;
-        info->satinfo.sat[isi].azimuth = pack->sat_data[isat].azimuth;
-        info->satinfo.sat[isi].sig = pack->sat_data[isat].sig;
-    }
-
-    info->smask |= GPGSV;
-}
-
-/**
- * \brief Fill nmeaINFO structure by RMC packet data.
- * @param pack a pointer of packet structure.
- * @param info a pointer of summary information structure.
- */
-void nmea_GPRMC2info(nmeaGPRMC *pack, nmeaINFO *info)
-{
-    //NMEA_ASSERT(pack && info);
-
-    if('A' == pack->status)
-    {
-        if(NMEA_SIG_BAD == info->sig)
-            info->sig = NMEA_SIG_MID;
-        if(NMEA_FIX_BAD == info->fix)
-            info->fix = NMEA_FIX_2D;
-    }
-    else if('V' == pack->status)
-    {
-        info->sig = NMEA_SIG_BAD;
-        info->fix = NMEA_FIX_BAD;
-    }
-
-
-    info->utc = pack->utc;
-    info->lat = ((pack->ns == 'N')?pack->lat:-(pack->lat));
-    info->lon = ((pack->ew == 'E')?pack->lon:-(pack->lon));
-    info->speed = pack->speed * NMEA_TUD_KNOTS;
-    info->direction = pack->direction;
-    info->smask |= GPRMC;
-}
-
-/**
- * \brief Fill nmeaINFO structure by VTG packet data.
- * @param pack a pointer of packet structure.
- * @param info a pointer of summary information structure.
- */
-void nmea_GPVTG2info(nmeaGPVTG *pack, nmeaINFO *info)
-{
-    //NMEA_ASSERT(pack && info);
-
-    info->direction = pack->dir;
-    info->declination = pack->dec;
-    info->speed = pack->spk;
-    info->smask |= GPVTG;
-}
diff --git a/apps/gps/nmealib/parser.c b/apps/gps/nmealib/parser.c
deleted file mode 100644
index f8b415866..000000000
--- a/apps/gps/nmealib/parser.c
+++ /dev/null
@@ -1,400 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: parser.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-/**
- * \file parser.h
- */
-#include "nmea/tok.h"
-#include "nmea/parse.h"
-#include "nmea/parser.h"
-#include "nmea/context.h"
-
-#include 
-#include 
-
-typedef struct _nmeaParserNODE
-{
-    int packType;
-    void *pack;
-    struct _nmeaParserNODE *next_node;
-
-} nmeaParserNODE;
-
-/*
- * high level
- */
-
-/**
- * \brief Initialization of parser object
- * @return true (1) - success or false (0) - fail
- */
-int nmea_parser_init(nmeaPARSER *parser)
-{
-    int resv = 0;
-    int buff_size = nmea_property()->parse_buff_size;
-
-    //NMEA_ASSERT(parser);
-
-    if(buff_size < NMEA_MIN_PARSEBUFF)
-        buff_size = NMEA_MIN_PARSEBUFF;
-
-    memset(parser, 0, sizeof(nmeaPARSER));
-
-    if(0 == (parser->buffer = malloc(buff_size)))
-        nmea_error("Insufficient memory!");
-    else
-    {
-        parser->buff_size = buff_size;
-        resv = 1;
-    }    
-
-    return resv;
-}
-
-/**
- * \brief Destroy parser object
- */
-void nmea_parser_destroy(nmeaPARSER *parser)
-{
-    //NMEA_ASSERT(parser && parser->buffer);
-    free(parser->buffer);
-    nmea_parser_queue_clear(parser);
-    memset(parser, 0, sizeof(nmeaPARSER));
-}
-
-/**
- * \brief Analysis of buffer and put results to information structure
- * @return Number of packets wos parsed
- */
-int nmea_parse(    
-    nmeaPARSER *parser,
-    const char *buff, int buff_sz,
-    nmeaINFO *info
-    )
-{
-    int ptype, nread = 0;
-    void *pack = 0;
-
-    //NMEA_ASSERT(parser && parser->buffer);
-
-    nmea_parser_push(parser, buff, buff_sz);
-
-    while(GPNON != (ptype = nmea_parser_pop(parser, &pack)))
-    {
-        nread++;
-
-        switch(ptype)
-        {
-        case GPGGA:
-            nmea_GPGGA2info((nmeaGPGGA *)pack, info);
-            break;
-        case GPGSA:
-            nmea_GPGSA2info((nmeaGPGSA *)pack, info);
-            break;
-        case GPGSV:
-            nmea_GPGSV2info((nmeaGPGSV *)pack, info);
-            break;
-        case GPRMC:
-            nmea_GPRMC2info((nmeaGPRMC *)pack, info);
-            break;
-        case GPVTG:
-            nmea_GPVTG2info((nmeaGPVTG *)pack, info);
-            break;
-        };
-
-        free(pack);
-    }
-
-    return nread;
-}
-
-/*
- * low level
- */
-
-int nmea_parser_real_push(nmeaPARSER *parser, const char *buff, int buff_sz)
-{
-    int nparsed = 0, crc, sen_sz, ptype;
-    nmeaParserNODE *node = 0;
-
-    //NMEA_ASSERT(parser && parser->buffer);
-
-    /* clear unuse buffer (for debug) */
-    /*
-    memset(
-        parser->buffer + parser->buff_use, 0,
-        parser->buff_size - parser->buff_use
-        );
-        */
-
-    /* add */
-    if(parser->buff_use + buff_sz >= parser->buff_size)
-        nmea_parser_buff_clear(parser);
-
-    memcpy(parser->buffer + parser->buff_use, buff, buff_sz);
-    parser->buff_use += buff_sz;
-
-    /* parse */
-    for(;;node = 0)
-    {
-        sen_sz = nmea_find_tail(
-            (const char *)parser->buffer + nparsed,
-            (int)parser->buff_use - nparsed, &crc);
-
-        if(!sen_sz)
-        {
-            if(nparsed)
-                memcpy(
-                parser->buffer,
-                parser->buffer + nparsed,
-                parser->buff_use -= nparsed);
-            break;
-        }
-        else if(crc >= 0)
-        {
-            ptype = nmea_pack_type(
-                (const char *)parser->buffer + nparsed + 1,
-                parser->buff_use - nparsed - 1);
-
-            if(0 == (node = malloc(sizeof(nmeaParserNODE))))
-                goto mem_fail;
-
-            node->pack = 0;
-
-            switch(ptype)
-            {
-            case GPGGA:
-                if(0 == (node->pack = malloc(sizeof(nmeaGPGGA))))
-                    goto mem_fail;
-                node->packType = GPGGA;
-                if(!nmea_parse_GPGGA(
-                    (const char *)parser->buffer + nparsed,
-                    sen_sz, (nmeaGPGGA *)node->pack))
-                {
-                    free(node);
-                    node = 0;
-                }
-                break;
-            case GPGSA:
-                if(0 == (node->pack = malloc(sizeof(nmeaGPGSA))))
-                    goto mem_fail;
-                node->packType = GPGSA;
-                if(!nmea_parse_GPGSA(
-                    (const char *)parser->buffer + nparsed,
-                    sen_sz, (nmeaGPGSA *)node->pack))
-                {
-                    free(node);
-                    node = 0;
-                }
-                break;
-            case GPGSV:
-                if(0 == (node->pack = malloc(sizeof(nmeaGPGSV))))
-                    goto mem_fail;
-                node->packType = GPGSV;
-                if(!nmea_parse_GPGSV(
-                    (const char *)parser->buffer + nparsed,
-                    sen_sz, (nmeaGPGSV *)node->pack))
-                {
-                    free(node);
-                    node = 0;
-                }
-                break;
-            case GPRMC:
-                if(0 == (node->pack = malloc(sizeof(nmeaGPRMC))))
-                    goto mem_fail;
-                node->packType = GPRMC;
-                if(!nmea_parse_GPRMC(
-                    (const char *)parser->buffer + nparsed,
-                    sen_sz, (nmeaGPRMC *)node->pack))
-                {
-                    free(node);
-                    node = 0;
-                }
-                break;
-            case GPVTG:
-                if(0 == (node->pack = malloc(sizeof(nmeaGPVTG))))
-                    goto mem_fail;
-                node->packType = GPVTG;
-                if(!nmea_parse_GPVTG(
-                    (const char *)parser->buffer + nparsed,
-                    sen_sz, (nmeaGPVTG *)node->pack))
-                {
-                    free(node);
-                    node = 0;
-                }
-                break;
-            default:
-                free(node);
-                node = 0;
-                break;
-            };
-
-            if(node)
-            {
-                if(parser->end_node)
-                    ((nmeaParserNODE *)parser->end_node)->next_node = node;
-                parser->end_node = node;
-                if(!parser->top_node)
-                    parser->top_node = node;
-                node->next_node = 0;
-            }
-        }
-
-        nparsed += sen_sz;
-    }
-
-    return nparsed;
-
-mem_fail:
-    if(node)
-        free(node);
-
-    nmea_error("Insufficient memory!");
-
-    return -1;
-}
-
-/**
- * \brief Analysis of buffer and keep results into parser
- * @return Number of bytes wos parsed from buffer
- */
-int nmea_parser_push(nmeaPARSER *parser, const char *buff, int buff_sz)
-{
-    int nparse, nparsed = 0;
-
-    do
-    {
-        if(buff_sz > parser->buff_size)
-            nparse = parser->buff_size;
-        else
-            nparse = buff_sz;
-
-        nparsed += nmea_parser_real_push(
-            parser, buff, nparse);
-
-        buff_sz -= nparse;
-
-    } while(buff_sz);
-
-    return nparsed;
-}
-
-/**
- * \brief Get type of top packet keeped into parser
- * @return Type of packet
- * @see nmeaPACKTYPE
- */
-int nmea_parser_top(nmeaPARSER *parser)
-{
-    int retval = GPNON;
-    nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
-
-    //NMEA_ASSERT(parser && parser->buffer);
-
-    if(node)
-        retval = node->packType;
-
-    return retval;
-}
-
-/**
- * \brief Withdraw top packet from parser
- * @return Received packet type
- * @see nmeaPACKTYPE
- */
-int nmea_parser_pop(nmeaPARSER *parser, void **pack_ptr)
-{
-    int retval = GPNON;
-    nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
-
-    //NMEA_ASSERT(parser && parser->buffer);
-
-    if(node)
-    {
-        *pack_ptr = node->pack;
-        retval = node->packType;
-        parser->top_node = node->next_node;
-        if(!parser->top_node)
-            parser->end_node = 0;
-        free(node);
-    }
-
-    return retval;
-}
-
-/**
- * \brief Get top packet from parser without withdraw
- * @return Received packet type
- * @see nmeaPACKTYPE
- */
-int nmea_parser_peek(nmeaPARSER *parser, void **pack_ptr)
-{
-    int retval = GPNON;
-    nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
-
-    //NMEA_ASSERT(parser && parser->buffer);
-
-    if(node)
-    {
-        *pack_ptr = node->pack;
-        retval = node->packType;
-    }
-
-    return retval;
-}
-
-/**
- * \brief Delete top packet from parser
- * @return Deleted packet type
- * @see nmeaPACKTYPE
- */
-int nmea_parser_drop(nmeaPARSER *parser)
-{
-    int retval = GPNON;
-    nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
-
-    //NMEA_ASSERT(parser && parser->buffer);
-
-    if(node)
-    {
-        if(node->pack)
-            free(node->pack);
-        retval = node->packType;
-        parser->top_node = node->next_node;
-        if(!parser->top_node)
-            parser->end_node = 0;
-        free(node);
-    }
-
-    return retval;
-}
-
-/**
- * \brief Clear cache of parser
- * @return true (1) - success
- */
-int nmea_parser_buff_clear(nmeaPARSER *parser)
-{
-    //NMEA_ASSERT(parser && parser->buffer);
-    parser->buff_use = 0;
-    return 1;
-}
-
-/**
- * \brief Clear packets queue into parser
- * @return true (1) - success
- */
-int nmea_parser_queue_clear(nmeaPARSER *parser)
-{
-    //NMEA_ASSERT(parser);
-    while(parser->top_node)
-        nmea_parser_drop(parser);
-    return 1;
-}
diff --git a/apps/gps/nmealib/sentence.c b/apps/gps/nmealib/sentence.c
deleted file mode 100644
index a66393a4d..000000000
--- a/apps/gps/nmealib/sentence.c
+++ /dev/null
@@ -1,54 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: sentence.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#include "nmea/sentence.h"
-
-#include 
-
-void nmea_zero_GPGGA(nmeaGPGGA *pack)
-{
-    memset(pack, 0, sizeof(nmeaGPGGA));
-    nmea_time_now(&pack->utc);
-    pack->ns = 'N';
-    pack->ew = 'E';
-    pack->elv_units = 'M';
-    pack->diff_units = 'M';
-}
-
-void nmea_zero_GPGSA(nmeaGPGSA *pack)
-{
-    memset(pack, 0, sizeof(nmeaGPGSA));
-    pack->fix_mode = 'A';
-    pack->fix_type = NMEA_FIX_BAD;
-}
-
-void nmea_zero_GPGSV(nmeaGPGSV *pack)
-{
-    memset(pack, 0, sizeof(nmeaGPGSV));
-}
-
-void nmea_zero_GPRMC(nmeaGPRMC *pack)
-{
-    memset(pack, 0, sizeof(nmeaGPRMC));
-    nmea_time_now(&pack->utc);
-    pack->status = 'V';
-    pack->ns = 'N';
-    pack->ew = 'E';
-    pack->declin_ew = 'E';
-}
-
-void nmea_zero_GPVTG(nmeaGPVTG *pack)
-{
-    memset(pack, 0, sizeof(nmeaGPVTG));
-    pack->dir_t = 'T';
-    pack->dec_m = 'M';
-    pack->spn_n = 'N';
-    pack->spk_k = 'K';
-}
diff --git a/apps/gps/nmealib/time.c b/apps/gps/nmealib/time.c
deleted file mode 100644
index a24319630..000000000
--- a/apps/gps/nmealib/time.c
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: time.c 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-/*! \file time.h */
-
-#include "nmea/time.h"
-
-#ifdef NMEA_WIN
-#   pragma warning(disable: 4201)
-#   pragma warning(disable: 4214)
-#   pragma warning(disable: 4115)
-#   include 
-#   pragma warning(default: 4201)
-#   pragma warning(default: 4214)
-#   pragma warning(default: 4115)
-#else
-#   include 
-#endif
-
-#ifdef NMEA_WIN
-
-void nmea_time_now(nmeaTIME *stm)
-{
-    SYSTEMTIME st;
-
-    GetSystemTime(&st);
-
-    stm->year = st.wYear - 1900;
-    stm->mon = st.wMonth - 1;
-    stm->day = st.wDay;
-    stm->hour = st.wHour;
-    stm->min = st.wMinute;
-    stm->sec = st.wSecond;
-    stm->hsec = st.wMilliseconds / 10;
-}
-
-#else /* NMEA_WIN */
-
-void nmea_time_now(nmeaTIME *stm)
-{
-    time_t lt;
-    struct tm *tt;
-
-    time(<);
-    tt = gmtime(<);
-
-    stm->year = tt->tm_year;
-    stm->mon = tt->tm_mon;
-    stm->day = tt->tm_mday;
-    stm->hour = tt->tm_hour;
-    stm->min = tt->tm_min;
-    stm->sec = tt->tm_sec;
-    stm->hsec = 0;
-}
-
-#endif
diff --git a/apps/gps/nmealib/tok.c b/apps/gps/nmealib/tok.c
deleted file mode 100644
index c7cf2f4dc..000000000
--- a/apps/gps/nmealib/tok.c
+++ /dev/null
@@ -1,267 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: tok.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-/*! \file tok.h */
-
-#include "nmea/tok.h"
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#define NMEA_TOKS_COMPARE   (1)
-#define NMEA_TOKS_PERCENT   (2)
-#define NMEA_TOKS_WIDTH     (3)
-#define NMEA_TOKS_TYPE      (4)
-
-//memchr replacement
-void *
-memchr(s, c, n)
-    const void *s;
-    unsigned char c;
-    size_t n;
-{
-    if (n != 0) {
-        const unsigned char *p = s;
-
-        do {
-                if (*p++ == c)
-                        return ((void *)(p - 1));
-        } while (--n != 0);
-    }
-    return (NULL);
-}
-
-
-/**
- * \brief Calculate control sum of binary buffer
- */
-int nmea_calc_crc(const char *buff, int buff_sz)
-{
-    int chsum = 0,
-        it;
-
-    for(it = 0; it < buff_sz; ++it)
-        chsum ^= (int)buff[it];
-
-    return chsum;
-}
-
-/**
- * \brief Convert string to number
- */
-int nmea_atoi(const char *str, int str_sz, int radix)
-{
-    char *tmp_ptr;
-    char buff[NMEA_CONVSTR_BUF];
-    int res = 0;
-
-    if(str_sz < NMEA_CONVSTR_BUF)
-    {
-        memcpy(&buff[0], str, str_sz);
-        buff[str_sz] = '\0';
-        res = strtol(&buff[0], &tmp_ptr, radix);
-    }
-    return res;
-}
-
-/**
- * \brief Convert string to fraction number
- */
-float nmea_atof(const char *str, int str_sz)
-{
-    char *tmp_ptr;
-    char buff[NMEA_CONVSTR_BUF];
-    float res = 0;
-
-    if(str_sz < NMEA_CONVSTR_BUF)
-    {
-        memcpy(&buff[0], str, str_sz);
-        buff[str_sz] = '\0';
-        res = (float)strtod(&buff[0], &tmp_ptr);
-    }
-    return res;
-}
-
-/**
- * \brief Formating string (like standart printf) with CRC tail (*CRC)
- */
-int nmea_printf(char *buff, int buff_sz, const char *format, ...)
-{
-    int retval, add = 0;
-    va_list arg_ptr;
-
-    if(buff_sz <= 0)
-        return 0;
-
-    va_start(arg_ptr, format);
-
-    retval = NMEA_POSIX(vsnprintf)(buff, buff_sz, format, arg_ptr);
-
-    if(retval > 0)
-    {
-        add = NMEA_POSIX(snprintf)(
-            buff + retval, buff_sz - retval, "*%02x\r\n",
-            nmea_calc_crc(buff + 1, retval - 1));
-    }
-
-    retval += add;
-
-    if(retval < 0 || retval > buff_sz)
-    {
-        memset(buff, ' ', buff_sz);
-        retval = buff_sz;
-    }
-
-    va_end(arg_ptr);
-
-    return retval;
-}
-
-/**
- * \brief Analyse string (specificate for NMEA sentences)
- */
-int nmea_scanf(const char *buff, int buff_sz, const char *format, ...)
-{
-    const char *beg_tok;
-    const char *end_buf = buff + buff_sz;
-
-    va_list arg_ptr;
-    int tok_type = NMEA_TOKS_COMPARE;
-    int width = 0;
-    const char *beg_fmt = 0;
-    int snum = 0, unum = 0;
-
-    int tok_count = 0;
-    void *parg_target;
-
-    va_start(arg_ptr, format);
-    
-    for(; *format && buff < end_buf; ++format)
-    {
-        switch(tok_type)
-        {
-        case NMEA_TOKS_COMPARE:
-            if('%' == *format)
-                tok_type = NMEA_TOKS_PERCENT;
-            else if(*buff++ != *format)
-                goto fail;
-            break;
-        case NMEA_TOKS_PERCENT:
-            width = 0;
-            beg_fmt = format;
-            tok_type = NMEA_TOKS_WIDTH;
-        case NMEA_TOKS_WIDTH:
-            if(isdigit(*format))
-                break;
-            {
-                tok_type = NMEA_TOKS_TYPE;
-                if(format > beg_fmt)
-                    width = nmea_atoi(beg_fmt, (int)(format - beg_fmt), 10);
-            }
-        case NMEA_TOKS_TYPE:
-            beg_tok = buff;
-
-            if(!width && ('c' == *format || 'C' == *format) && *buff != format[1])
-                width = 1;
-
-            if(width)
-            {
-                if(buff + width <= end_buf)
-                    buff += width;
-                else
-                    goto fail;
-            }
-            else
-            {
-                if(!format[1] || (0 == (buff = (char *)memchr(buff, format[1], end_buf - buff))))
-                    buff = end_buf;
-            }
-
-            if(buff > end_buf)
-                goto fail;
-
-            tok_type = NMEA_TOKS_COMPARE;
-            tok_count++;
-
-            parg_target = 0; width = (int)(buff - beg_tok);
-
-            switch(*format)
-            {
-            case 'c':
-            case 'C':
-                parg_target = (void *)va_arg(arg_ptr, char *);
-                if(width && 0 != (parg_target))
-                    *((char *)parg_target) = *beg_tok;
-                break;
-            case 's':
-            case 'S':
-                parg_target = (void *)va_arg(arg_ptr, char *);
-                if(width && 0 != (parg_target))
-                {
-                    memcpy(parg_target, beg_tok, width);
-                    ((char *)parg_target)[width] = '\0';
-                }
-                break;
-            case 'f':
-            case 'g':
-            case 'G':
-            case 'e':
-            case 'E':
-                parg_target = (void *)va_arg(arg_ptr, float *);
-                if(width && 0 != (parg_target))
-                    *((float *)parg_target) = nmea_atof(beg_tok, width);
-                break;
-            };
-
-            if(parg_target)
-                break;
-            if(0 == (parg_target = (void *)va_arg(arg_ptr, int *)))
-                break;
-            if(!width)
-                break;
-
-            switch(*format)
-            {
-            case 'd':
-            case 'i':
-                snum = nmea_atoi(beg_tok, width, 10);
-                memcpy(parg_target, &snum, sizeof(int));
-                break;
-            case 'u':
-                unum = nmea_atoi(beg_tok, width, 10);
-                memcpy(parg_target, &unum, sizeof(unsigned int));
-                break;
-            case 'x':
-            case 'X':
-                unum = nmea_atoi(beg_tok, width, 16);
-                memcpy(parg_target, &unum, sizeof(unsigned int));
-                break;
-            case 'o':
-                unum = nmea_atoi(beg_tok, width, 8);
-                memcpy(parg_target, &unum, sizeof(unsigned int));
-                break;
-            default:
-                goto fail;
-            };
-
-            break;
-        };
-    }
-
-fail:
-
-    va_end(arg_ptr);
-
-    return tok_count;
-}
diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c
deleted file mode 100644
index b9f8a28a0..000000000
--- a/apps/gps/ubx.c
+++ /dev/null
@@ -1,1022 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler 
- *           Julian Oes 
- *
- * 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 U-Blox protocol implementation */
-
-
-#include "ubx.h"
-#include "gps.h"
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#define UBX_HEALTH_SUCCESS_COUNTER_LIMIT 2
-#define UBX_HEALTH_FAIL_COUNTER_LIMIT 3
-#define UBX_HEALTH_PROBE_COUNTER_LIMIT 4
-
-#define UBX_BUFFER_SIZE 500
-
-extern bool gps_mode_try_all;
-extern bool gps_mode_success;
-extern bool terminate_gps_thread;
-extern bool gps_baud_try_all;
-extern bool gps_verbose;
-extern int current_gps_speed;
-
-pthread_mutex_t *ubx_mutex;
-gps_bin_ubx_state_t *ubx_state;
-enum UBX_CONFIG_STATE ubx_config_state;
-static struct vehicle_gps_position_s *ubx_gps;
-
-
-
-void ubx_decode_init(void)
-{
-	ubx_state->ck_a = 0;
-	ubx_state->ck_b = 0;
-	ubx_state->rx_count = 0;
-	ubx_state->decode_state = UBX_DECODE_UNINIT;
-	ubx_state->message_class = CLASS_UNKNOWN;
-	ubx_state->message_id = ID_UNKNOWN;
-	ubx_state->payload_size = 0;
-	ubx_state->print_errors = false;
-}
-
-void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b)
-{
-	*(ck_a) = *(ck_a) + b;
-	*(ck_b) = *(ck_b) + *(ck_a);
-}
-
-
-
-
-
-int ubx_parse(uint8_t b,  char *gps_rx_buffer)
-{
-	//printf("b=%x\n",b);
-	if (ubx_state->decode_state == UBX_DECODE_UNINIT) {
-
-		if (b == UBX_SYNC_1) {
-			ubx_state->decode_state = UBX_DECODE_GOT_SYNC1;
-		}
-
-	} else if (ubx_state->decode_state == UBX_DECODE_GOT_SYNC1) {
-		if (b == UBX_SYNC_2) {
-			ubx_state->decode_state = UBX_DECODE_GOT_SYNC2;
-
-		} else {
-			// Second start symbol was wrong, reset state machine
-			ubx_decode_init();
-		}
-
-	} else if (ubx_state->decode_state == UBX_DECODE_GOT_SYNC2) {
-		// Add to checksum
-		ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
-
-		//check for known class
-		switch (b) {
-		case UBX_CLASS_ACK:
-			ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
-			ubx_state->message_class = ACK;
-			break;
-
-		case UBX_CLASS_NAV:
-			ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
-			ubx_state->message_class = NAV;
-			break;
-
-		case UBX_CLASS_RXM:
-			ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
-			ubx_state->message_class = RXM;
-			break;
-
-		case UBX_CLASS_CFG:
-			ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
-			ubx_state->message_class = CFG;
-			break;
-		default: //unknown class: reset state machine
-			ubx_decode_init();
-			break;
-		}
-
-	} else if (ubx_state->decode_state == UBX_DECODE_GOT_CLASS) {
-		// Add to checksum
-		ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
-
-		//depending on class look for message id
-		switch (ubx_state->message_class) {
-		case NAV:
-			switch (b) {
-			case UBX_MESSAGE_NAV_POSLLH: //NAV-POSLLH: Geodetic Position Solution
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = NAV_POSLLH;
-				break;
-
-			case UBX_MESSAGE_NAV_SOL:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = NAV_SOL;
-				break;
-
-			case UBX_MESSAGE_NAV_TIMEUTC:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = NAV_TIMEUTC;
-				break;
-
-			case UBX_MESSAGE_NAV_DOP:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = NAV_DOP;
-				break;
-
-			case UBX_MESSAGE_NAV_SVINFO:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = NAV_SVINFO;
-				break;
-
-			case UBX_MESSAGE_NAV_VELNED:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = NAV_VELNED;
-				break;
-
-			default: //unknown class: reset state machine, should not happen
-				ubx_decode_init();
-				break;
-			}
-
-			break;
-
-		case RXM:
-			switch (b) {
-			case UBX_MESSAGE_RXM_SVSI:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = RXM_SVSI;
-				break;
-
-			default: //unknown class: reset state machine, should not happen
-				ubx_decode_init();
-				break;
-			}
-			break;
-
-		case CFG:
-			switch (b) {
-			case UBX_MESSAGE_CFG_NAV5:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = CFG_NAV5;
-				break;
-
-			default: //unknown class: reset state machine, should not happen
-				ubx_decode_init();
-				break;
-			}
-			break;
-
-		case ACK:
-			switch (b) {
-			case UBX_MESSAGE_ACK_ACK:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = ACK_ACK;
-				break;
-			case UBX_MESSAGE_ACK_NAK:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = ACK_NAK;
-				break;
-			default: //unknown class: reset state machine, should not happen
-				ubx_decode_init();
-				break;
-			}
-			break;
-		default: //should not happen
-			ubx_decode_init();
-			break;
-		}
-
-	} else if (ubx_state->decode_state == UBX_DECODE_GOT_MESSAGEID) {
-		// Add to checksum
-		ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
-
-		ubx_state->payload_size = b;
-		ubx_state->decode_state = UBX_DECODE_GOT_LENGTH1;
-
-	} else if (ubx_state->decode_state == UBX_DECODE_GOT_LENGTH1) {
-		// Add to checksum
-		ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
-
-		ubx_state->payload_size += b << 8;
-		ubx_state->decode_state = UBX_DECODE_GOT_LENGTH2;
-
-	} else if (ubx_state->decode_state == UBX_DECODE_GOT_LENGTH2) {
-		uint8_t ret = 0;
-
-		// Add to checksum if not yet at checksum byte
-		if (ubx_state->rx_count < ubx_state->payload_size) ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
-
-		// Fill packet buffer
-		gps_rx_buffer[ubx_state->rx_count] = b;
-
-		//if whole payload + checksum is in buffer:
-		if (ubx_state->rx_count >= ubx_state->payload_size + 1) {
-			//convert to correct struct
-			switch (ubx_state->message_id) { //this enum is unique for all ids --> no need to check the class
-			case NAV_POSLLH: {
-//					printf("GOT NAV_POSLLH MESSAGE\n");
-					gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) gps_rx_buffer;
-
-					//Check if checksum is valid and the store the gps information
-					if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-						ubx_gps->lat = packet->lat;
-						ubx_gps->lon = packet->lon;
-						ubx_gps->alt = packet->height_msl;
-
-						ubx_gps->counter_pos_valid++;
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[NAV_POSLLH - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("[gps] NAV_POSLLH: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case NAV_SOL: {
-//					printf("GOT NAV_SOL MESSAGE\n");
-					gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) gps_rx_buffer;
-
-					//Check if checksum is valid and the store the gps information
-					if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-
-						ubx_gps->fix_type = packet->gpsFix;
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-						ubx_gps->s_variance = packet->sAcc;
-						ubx_gps->p_variance = packet->pAcc;
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[NAV_SOL - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("[gps] NAV_SOL: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case NAV_DOP: {
-//					printf("GOT NAV_DOP MESSAGE\n");
-					gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) gps_rx_buffer;
-
-					//Check if checksum is valid and the store the gps information
-					if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-
-						ubx_gps->eph =  packet->hDOP;
-						ubx_gps->epv =  packet->vDOP;
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[NAV_DOP - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("[gps] NAV_DOP: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case NAV_TIMEUTC: {
-//					printf("GOT NAV_TIMEUTC MESSAGE\n");
-					gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) gps_rx_buffer;
-
-					//Check if checksum is valid and the store the gps information
-					if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-						//convert to unix timestamp
-						struct tm timeinfo;
-						timeinfo.tm_year = packet->year - 1900;
-						timeinfo.tm_mon = packet->month - 1;
-						timeinfo.tm_mday = packet->day;
-						timeinfo.tm_hour = packet->hour;
-						timeinfo.tm_min = packet->min;
-						timeinfo.tm_sec = packet->sec;
-
-						time_t epoch = mktime(&timeinfo);
-
-//						printf("%d.%d.%d %d:%d:%d:%d\n", timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, packet->time_nanoseconds);
-
-
-
-						ubx_gps->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
-						ubx_gps->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[NAV_TIMEUTC - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("\t[gps] NAV_TIMEUTC: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case NAV_SVINFO: {
-//					printf("GOT NAV_SVINFO MESSAGE\n");
-
-					//this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message
-					const int length_part1 = 8;
-					char gps_rx_buffer_part1[length_part1];
-					memcpy(gps_rx_buffer_part1, gps_rx_buffer, length_part1);
-					gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) gps_rx_buffer_part1;
-
-					//read checksum
-					const int length_part3 = 2;
-					char gps_rx_buffer_part3[length_part3];
-					memcpy(gps_rx_buffer_part3, &(gps_rx_buffer[ubx_state->rx_count - 1]), length_part3);
-					gps_bin_nav_svinfo_part3_packet_t *packet_part3 = (gps_bin_nav_svinfo_part3_packet_t *) gps_rx_buffer_part3;
-
-					//Check if checksum is valid and then store the gps information
-					if (ubx_state->ck_a == packet_part3->ck_a && ubx_state->ck_b == packet_part3->ck_b) {
-						//definitions needed to read numCh elements from the buffer:
-						const int length_part2 = 12;
-						gps_bin_nav_svinfo_part2_packet_t *packet_part2;
-						char gps_rx_buffer_part2[length_part2]; //for temporal storage
-
-
-						int i;
-
-						for (i = 0; i < packet_part1->numCh; i++) { //for each channel
-
-							/* Get satellite information from the buffer */
-
-							memcpy(gps_rx_buffer_part2, &(gps_rx_buffer[length_part1 + i * length_part2]), length_part2);
-							packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) gps_rx_buffer_part2;
-
-
-							/* Write satellite information in the global storage */
-
-							ubx_gps->satellite_prn[i] = packet_part2->svid;
-
-							//if satellite information is healthy store the data
-							uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield
-
-							if (!unhealthy) {
-
-								if ((packet_part2->flags) & 1) { //flags is a bitfield
-									ubx_gps->satellite_used[i] = 1;
-
-								} else {
-									ubx_gps->satellite_used[i] = 0;
-								}
-
-								ubx_gps->satellite_snr[i] = packet_part2->cno;
-								ubx_gps->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
-								ubx_gps->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
-
-							} else {
-								ubx_gps->satellite_used[i] = 0;
-								ubx_gps->satellite_snr[i] = 0;
-								ubx_gps->satellite_elevation[i] = 0;
-								ubx_gps->satellite_azimuth[i] = 0;
-							}
-
-						}
-
-						for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused
-							/* Unused channels have to be set to zero for e.g. MAVLink */
-							ubx_gps->satellite_prn[i] = 0;
-							ubx_gps->satellite_used[i] = 0;
-							ubx_gps->satellite_snr[i] = 0;
-							ubx_gps->satellite_elevation[i] = 0;
-							ubx_gps->satellite_azimuth[i] = 0;
-						}
-
-						/* set flag if any sat info is available */
-						if (!packet_part1->numCh > 0) {
-							ubx_gps->satellite_info_available = 1;
-
-						} else {
-							ubx_gps->satellite_info_available = 0;
-						}
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[NAV_SVINFO - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("\t[gps] NAV_SVINFO: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case NAV_VELNED: {
-//					printf("GOT NAV_VELNED MESSAGE\n");
-					gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) gps_rx_buffer;
-
-					//Check if checksum is valid and the store the gps information
-					if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-
-						ubx_gps->vel = (uint16_t)packet->speed;
-						ubx_gps->vel_n = packet->velN / 100.0f;
-						ubx_gps->vel_e = packet->velE / 100.0f;
-						ubx_gps->vel_d = packet->velD / 100.0f;
-						ubx_gps->vel_ned_valid = true;
-						ubx_gps->cog = (uint16_t)((float)(packet->heading) * 1e-3f);
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[NAV_VELNED - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("[gps] NAV_VELNED: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case RXM_SVSI: {
-//					printf("GOT RXM_SVSI MESSAGE\n");
-					const int length_part1 = 7;
-					char gps_rx_buffer_part1[length_part1];
-					memcpy(gps_rx_buffer_part1, gps_rx_buffer, length_part1);
-					gps_bin_rxm_svsi_packet_t *packet = (gps_bin_rxm_svsi_packet_t *) gps_rx_buffer_part1;
-
-					//Check if checksum is valid and the store the gps information
-					if (ubx_state->ck_a == gps_rx_buffer[ubx_state->rx_count - 1] && ubx_state->ck_b == gps_rx_buffer[ubx_state->rx_count]) {
-
-						ubx_gps->satellites_visible = packet->numVis;
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("[gps] RXM_SVSI: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case ACK_ACK: {
-//				printf("GOT ACK_ACK\n");
-				gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) gps_rx_buffer;
-
-				//Check if checksum is valid
-				if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-
-					switch (ubx_config_state) {
-						case UBX_CONFIG_STATE_PRT:
-							if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_PRT)
-								ubx_config_state++;
-							break;
-						case UBX_CONFIG_STATE_NAV5:
-							if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_NAV5)
-								ubx_config_state++;
-							break;
-						case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
-						case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
-						case UBX_CONFIG_STATE_MSG_NAV_DOP:
-						case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
-						case UBX_CONFIG_STATE_MSG_NAV_SOL:
-						case UBX_CONFIG_STATE_MSG_NAV_VELNED:
-						case UBX_CONFIG_STATE_MSG_RXM_SVSI:
-							if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
-								ubx_config_state++;
-							break;
-						default:
-							break;
-					}
-
-
-					ret = 1;
-
-				} else {
-					if (gps_verbose) printf("[gps] ACK_ACK: checksum invalid\n");
-
-					ret = 0;
-				}
-
-				// Reset state machine to decode next packet
-				ubx_decode_init();
-				return ret;
-
-				break;
-			}
-
-			case ACK_NAK: {
-//				printf("GOT ACK_NAK\n");
-				gps_bin_ack_nak_packet_t *packet = (gps_bin_ack_nak_packet_t *) gps_rx_buffer;
-
-				//Check if checksum is valid
-				if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-
-					if (gps_verbose) printf("[gps] the ubx gps returned: not acknowledged\n");
-					ret = 1;
-
-				} else {
-					if (gps_verbose) printf("[gps] ACK_NAK: checksum invalid\n");
-
-					ret = 0;
-				}
-
-				// Reset state machine to decode next packet
-				ubx_decode_init();
-				return ret;
-
-				break;
-			}
-
-			default: //something went wrong
-				ubx_decode_init();
-
-				break;
-			}
-		}
-
-		(ubx_state->rx_count)++;
-
-
-
-	}
-
-
-	return 0;     // no valid packet found
-
-}
-
-void calculate_ubx_checksum(uint8_t *message, uint8_t length)
-{
-	uint8_t ck_a = 0;
-	uint8_t ck_b = 0;
-
-	int i;
-
-	for (i = 2; i < length - 2; i++) {
-		ck_a = ck_a + message[i];
-		ck_b = ck_b + ck_a;
-	}
-
-	message[length - 2] = ck_a;
-	message[length - 1] = ck_b;
-}
-
-int configure_gps_ubx(int *fd)
-{
-	// only needed once like this
-	const type_gps_bin_cfg_prt_packet_t cfg_prt_packet = {
-		.clsID        = UBX_CLASS_CFG,
-		.msgID        = UBX_MESSAGE_CFG_PRT,
-		.length       = UBX_CFG_PRT_LENGTH,
-		.portID       = UBX_CFG_PRT_PAYLOAD_PORTID,
-		.mode         = UBX_CFG_PRT_PAYLOAD_MODE,
-		.baudRate     = current_gps_speed,
-		.inProtoMask  = UBX_CFG_PRT_PAYLOAD_INPROTOMASK,
-		.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK,
-		.ck_a         = 0,
-		.ck_b         = 0
-	};
-
-	// only needed once like this
-	const type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet = {
-		.clsID        = UBX_CLASS_CFG,
-		.msgID        = UBX_MESSAGE_CFG_NAV5,
-		.length       = UBX_CFG_NAV5_LENGTH,
-		.mask         = UBX_CFG_NAV5_PAYLOAD_MASK,
-		.dynModel     = UBX_CFG_NAV5_PAYLOAD_DYNMODEL,
-		.fixMode      = UBX_CFG_NAV5_PAYLOAD_FIXMODE,
-		.ck_a         = 0,
-		.ck_b         = 0
-	};
-
-	// this message is reusable for different configuration commands, so not const
-	type_gps_bin_cfg_msg_packet cfg_msg_packet = {
-		.clsID        = UBX_CLASS_CFG,
-		.msgID        = UBX_MESSAGE_CFG_MSG,
-		.length       = UBX_CFG_MSG_LENGTH,
-		.rate         = UBX_CFG_MSG_PAYLOAD_RATE
-	};
-
-	uint64_t time_before_config = hrt_absolute_time();
-
-	while(hrt_absolute_time() < time_before_config + UBX_CONFIG_TIMEOUT) {
-
-//		if (gps_verbose) printf("[gps] ubx config state: %d\n", ubx_config_state);
-
-		switch (ubx_config_state) {
-			case UBX_CONFIG_STATE_PRT:
-//				if (gps_verbose) printf("[gps] Configuring ubx with baudrate: %d\n", cfg_prt_packet.baudRate);
-
-				write_config_message_ubx((uint8_t*)(&cfg_prt_packet), sizeof(cfg_prt_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_NAV5:
-				write_config_message_ubx((uint8_t*)(&cfg_nav5_packet), sizeof(cfg_nav5_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_NAV_DOP:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_NAV_SOL:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_NAV_VELNED:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_RXM_SVSI:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_CONFIGURED:
-				if (gps_verbose) printf("[gps] ubx configuration finished\n");
-				return OK;
-				break;
-			default:
-				break;
-		}
-		usleep(10000);
-	}
-	if (gps_verbose) printf("[gps] ubx configuration timeout\n");
-	return ERROR;
-}
-
-
-
-int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size)
-{
-	uint8_t ret = 0;
-	uint8_t c;
-	int rx_count = 0;
-	int gpsRxOverflow = 0;
-
-	struct pollfd fds;
-	fds.fd = *fd;
-	fds.events = POLLIN;
-
-	// UBX GPS mode
-	// This blocks the task until there is something on the buffer
-	while (1) {
-		//check if the thread should terminate
-		if (terminate_gps_thread == true) {
-			ret = 1;
-			break;
-		}
-		if (poll(&fds, 1, 1000) > 0) {
-			if (read(*fd, &c, 1) > 0) {
-
-//				printf("Read %x\n",c);
-				if (rx_count >= buffer_size) {
-					// The buffer is already full and we haven't found a valid ubx sentence.
-					// Flush the buffer and note the overflow event.
-					gpsRxOverflow++;
-					rx_count = 0;
-					ubx_decode_init();
-
-					if (gps_verbose) printf("[gps] Buffer full\n");
-
-				} else {
-					//gps_rx_buffer[rx_count] = c;
-					rx_count++;
-
-				}
-
-				int msg_read = ubx_parse(c, gps_rx_buffer);
-
-				if (msg_read > 0) {
-					//printf("Found sequence\n");
-					break;
-				}
-
-			} else {
-				break;
-			}
-
-		} else {
-			break;
-		}
-
-	}
-
-	return ret;
-}
-
-int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd)
-{
-	uint8_t ck_a = 0;
-	uint8_t ck_b = 0;
-
-	unsigned int i;
-
-	uint8_t buffer[2];
-	ssize_t result_write = 0;
-
-	//calculate and write checksum to the end
-	for (i = 0; i < length-2; i++) {
-		ck_a = ck_a + message[i];
-		ck_b = ck_b + ck_a;
-	}
-
-	// write sync bytes first
-	buffer[0] = UBX_SYNC_1;
-	buffer[1] = UBX_SYNC_2;
-
-	// write config message without the checksum
-	result_write  = write(*fd, buffer, sizeof(buffer));
-	result_write += write(*fd, message, length-2);
-
-	buffer[0] = ck_a;
-	buffer[1] = ck_b;
-
-	// write the checksum
-	result_write += write(*fd, buffer, sizeof(buffer));
-
-	fsync(*fd);
-	if ((unsigned int)result_write != length + 2)
-		return ERROR;
-
-	return OK;
-}
-
-void *ubx_watchdog_loop(void *args)
-{
-	/* Set thread name */
-	prctl(PR_SET_NAME, "gps ubx watchdog", getpid());
-
-
-	/* Retrieve file descriptor and thread flag */
-	struct arg_struct *arguments = (struct arg_struct *)args;
-	int *fd = arguments->fd_ptr;
-	bool *thread_should_exit = arguments->thread_should_exit_ptr;
-
-	ubx_config_state = UBX_CONFIG_STATE_PRT;
-	/* first try to configure the GPS anyway */
-	configure_gps_ubx(fd);
-
-	/* GPS watchdog error message skip counter */
-
-	bool ubx_healthy = false;
-
-	uint8_t ubx_fail_count = 0;
-	uint8_t ubx_success_count = 0;
-	bool once_ok = false;
-
-	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-	//int err_skip_counter = 0;
-
-	while (!(*thread_should_exit)) {
-		/* if some values are to old reconfigure gps */
-		int i;
-		pthread_mutex_lock(ubx_mutex);
-		bool all_okay = true;
-		uint64_t timestamp_now = hrt_absolute_time();
-
-		for (i = 0; i < UBX_NO_OF_MESSAGES; i++) {
-//			printf("timestamp_now=%llu\n", timestamp_now);
-//			printf("last_message_timestamps=%llu\n", ubx_state->last_message_timestamps[i]);
-			if (timestamp_now - ubx_state->last_message_timestamps[i] > UBX_WATCHDOG_CRITICAL_TIME_MICROSECONDS) {
-				//printf("Warning: GPS ubx message %d not received for a long time\n", i);
-				all_okay = false;
-			}
-		}
-
-		pthread_mutex_unlock(ubx_mutex);
-
-		if (!all_okay) {
-			/* gps error */
-			ubx_fail_count++;
-//			if (err_skip_counter == 0)
-//			{
-//				printf("GPS Watchdog detected gps not running or having problems\n");
-//				err_skip_counter = 20;
-//			}
-//			err_skip_counter--;
-			//printf("gps_mode_try_all =%u, ubx_fail_count=%u, ubx_healthy=%u, once_ok=%u\n", gps_mode_try_all, ubx_fail_count, ubx_healthy, once_ok);
-
-
-			/* If we have too many failures and another mode or baud should be tried, exit... */
-			if ((gps_mode_try_all == true  || gps_baud_try_all == true) && (ubx_fail_count >= UBX_HEALTH_PROBE_COUNTER_LIMIT) && (ubx_healthy == false) && once_ok == false) {
-				if (gps_verbose) printf("[gps] Connection attempt failed, no UBX module found\n");
-
-				gps_mode_success = false;
-				break;
-			}
-
-			if (ubx_healthy && ubx_fail_count == UBX_HEALTH_FAIL_COUNTER_LIMIT) {
-				printf("[gps] ERROR: UBX GPS module stopped responding\n");
-				// global_data_send_subsystem_info(&ubx_present_enabled);
-				mavlink_log_critical(mavlink_fd, "[gps] UBX module stopped responding\n");
-				ubx_healthy = false;
-				ubx_success_count = 0;
-			}
-
-			/* trying to reconfigure the gps configuration */
-			ubx_config_state = UBX_CONFIG_STATE_PRT;
-			configure_gps_ubx(fd);
-			fflush(stdout);
-			sleep(1);
-
-		} else {
-			/* gps healthy */
-			ubx_success_count++;
-			ubx_fail_count = 0;
-			once_ok = true; // XXX Should this be true on a single success, or on same criteria as ubx_healthy?
-
-			if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) {
-				//printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
-				// global_data_send_subsystem_info(&ubx_present_enabled_healthy);
-				mavlink_log_info(mavlink_fd, "[gps] UBX module found, status ok\n");
-				ubx_healthy = true;
-			}
-		}
-		usleep(UBX_WATCHDOG_WAIT_TIME_MICROSECONDS);
-	}
-
-	if(gps_verbose) printf("[gps] ubx loop is going to terminate\n");
-	close(mavlink_fd);
-	return NULL;
-}
-
-void *ubx_loop(void *args)
-{
-	/* Set thread name */
-	prctl(PR_SET_NAME, "gps ubx read", getpid());
-	
-	/* Retrieve file descriptor and thread flag */
-	struct arg_struct *arguments = (struct arg_struct *)args;
-	int *fd = arguments->fd_ptr;
-	bool *thread_should_exit = arguments->thread_should_exit_ptr;
-
-	/* Initialize gps stuff */
-	char gps_rx_buffer[UBX_BUFFER_SIZE];
-
-
-	if (gps_verbose) printf("[gps] UBX protocol driver starting..\n");
-
-	//set parameters for ubx_state
-
-	//ubx state
-	ubx_state = malloc(sizeof(gps_bin_ubx_state_t));
-	//printf("gps: ubx_state created\n");
-	ubx_decode_init();
-	ubx_state->print_errors = false;
-
-
-	/* set parameters for ubx */
-
-	struct vehicle_gps_position_s ubx_gps_d = {.counter = 0};
-
-	ubx_gps = &ubx_gps_d;
-
-	orb_advert_t gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &ubx_gps);
-
-	while (!(*thread_should_exit)) {
-		/* Parse a message from the gps receiver */
-		if (0 == read_gps_ubx(fd, gps_rx_buffer, UBX_BUFFER_SIZE)) {
-			/* publish new GPS position */
-			orb_publish(ORB_ID(vehicle_gps_position), gps_pub, ubx_gps);
-
-		} else {
-			/* de-advertise */
-			close(gps_pub);
-			break;
-		}
-	}
-
-	if(gps_verbose) printf("[gps] ubx read is going to terminate\n");
-	close(gps_pub);
-	return NULL;
-
-}
diff --git a/apps/gps/ubx.h b/apps/gps/ubx.h
deleted file mode 100644
index f3313a3c6..000000000
--- a/apps/gps/ubx.h
+++ /dev/null
@@ -1,415 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler 
- *           Julian Oes 
- *
- * 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 U-Blox protocol definitions */
-
-#ifndef UBX_H_
-#define UBX_H_
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-
-//internal definitions (not depending on the ubx protocol
-#define UBX_NO_OF_MESSAGES 7								/**< Read 7 UBX GPS messages */
-#define UBX_WATCHDOG_CRITICAL_TIME_MICROSECONDS 3000000		/**< Allow 3 seconds maximum inter-message time */
-#define UBX_WATCHDOG_WAIT_TIME_MICROSECONDS 2000000			/**< Check for current state every two seconds */
-
-#define UBX_CONFIG_TIMEOUT 1000000
-
-#define APPNAME "gps: ubx"
-
-#define UBX_SYNC_1 0xB5
-#define UBX_SYNC_2 0x62
-
-//UBX Protocoll definitions (this is the subset of the messages that are parsed)
-#define UBX_CLASS_NAV 0x01
-#define UBX_CLASS_RXM 0x02
-#define UBX_CLASS_ACK 0x05
-#define UBX_CLASS_CFG 0x06
-#define UBX_MESSAGE_NAV_POSLLH 0x02
-#define UBX_MESSAGE_NAV_SOL 0x06
-#define UBX_MESSAGE_NAV_TIMEUTC 0x21
-#define UBX_MESSAGE_NAV_DOP 0x04
-#define UBX_MESSAGE_NAV_SVINFO 0x30
-#define UBX_MESSAGE_NAV_VELNED 0x12
-#define UBX_MESSAGE_RXM_SVSI 0x20
-#define UBX_MESSAGE_ACK_ACK 0x01
-#define UBX_MESSAGE_ACK_NAK 0x00
-#define UBX_MESSAGE_CFG_PRT 0x00
-#define UBX_MESSAGE_CFG_NAV5 0x24
-#define UBX_MESSAGE_CFG_MSG 0x01
-
-#define UBX_CFG_PRT_LENGTH 20
-#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01         /**< port 1 */
-#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0     /**< 0b0000100011010000: 8N1 */
-#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400      /**< always choose 38400 as GPS baudrate */
-#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01    /**< ubx in */
-#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01   /**< ubx out */
-
-#define UBX_CFG_NAV5_LENGTH 36
-#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001		/**< only update dynamic model and fix mode */
-#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7			/**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */
-#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2          /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */
-
-#define UBX_CFG_MSG_LENGTH 8
-#define UBX_CFG_MSG_PAYLOAD_RATE {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} /**< UART1 chosen */
-
-
-// ************
-/** the structures of the binary packets */
-#pragma pack(push, 1)
-typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	int32_t lon;  // Longitude * 1e-7, deg
-	int32_t lat; // Latitude * 1e-7, deg
-	int32_t height;  // Height above Ellipsoid, mm
-	int32_t height_msl;  // Height above mean sea level, mm
-	uint32_t hAcc;  // Horizontal Accuracy Estimate, mm
-	uint32_t vAcc;  // Vertical Accuracy Estimate, mm
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_nav_posllh_packet;
-
-typedef type_gps_bin_nav_posllh_packet gps_bin_nav_posllh_packet_t;
-
-typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	int32_t time_nanoseconds; // Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000
-	int16_t week; // GPS week (GPS time)
-	uint8_t gpsFix; //GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix
-	uint8_t flags;
-	int32_t ecefX;
-	int32_t ecefY;
-	int32_t ecefZ;
-	uint32_t pAcc;
-	int32_t ecefVX;
-	int32_t ecefVY;
-	int32_t ecefVZ;
-	uint32_t sAcc;
-	uint16_t pDOP;
-	uint8_t reserved1;
-	uint8_t numSV;
-	uint32_t reserved2;
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_nav_sol_packet;
-
-typedef type_gps_bin_nav_sol_packet gps_bin_nav_sol_packet_t;
-
-typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	uint32_t time_accuracy;  //Time Accuracy Estimate, ns
-	int32_t time_nanoseconds; //Nanoseconds of second, range -1e9 .. 1e9 (UTC)
-	uint16_t year; //Year, range 1999..2099 (UTC)
-	uint8_t month; //Month, range 1..12 (UTC)
-	uint8_t day; //Day of Month, range 1..31 (UTC)
-	uint8_t hour; //Hour of Day, range 0..23 (UTC)
-	uint8_t min; //Minute of Hour, range 0..59 (UTC)
-	uint8_t sec; //Seconds of Minute, range 0..59 (UTC)
-	uint8_t valid_flag; //Validity Flags (see ubx documentation)
-
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_nav_timeutc_packet;
-
-typedef type_gps_bin_nav_timeutc_packet gps_bin_nav_timeutc_packet_t;
-
-typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	uint16_t gDOP; //Geometric DOP (scaling 0.01)
-	uint16_t pDOP; //Position DOP (scaling 0.01)
-	uint16_t tDOP; //Time DOP (scaling 0.01)
-	uint16_t vDOP; //Vertical DOP (scaling 0.01)
-	uint16_t hDOP; //Horizontal DOP (scaling 0.01)
-	uint16_t nDOP; //Northing DOP (scaling 0.01)
-	uint16_t eDOP; //Easting DOP (scaling 0.01)
-
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_nav_dop_packet;
-
-typedef type_gps_bin_nav_dop_packet gps_bin_nav_dop_packet_t;
-
-typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	uint8_t numCh; //Number of channels
-	uint8_t globalFlags;
-	uint16_t reserved2;
-
-} type_gps_bin_nav_svinfo_part1_packet;
-
-typedef type_gps_bin_nav_svinfo_part1_packet gps_bin_nav_svinfo_part1_packet_t;
-
-typedef struct {
-	uint8_t chn; //Channel number, 255 for SVs not assigned to a channel
-	uint8_t svid; //Satellite ID
-	uint8_t flags;
-	uint8_t quality;
-	uint8_t cno; //Carrier to Noise Ratio (Signal Strength), dbHz
-	int8_t elev; //Elevation in integer degrees
-	int16_t azim; //Azimuth in integer degrees
-	int32_t prRes; //Pseudo range residual in centimetres
-
-} type_gps_bin_nav_svinfo_part2_packet;
-
-typedef type_gps_bin_nav_svinfo_part2_packet gps_bin_nav_svinfo_part2_packet_t;
-
-typedef struct {
-	uint8_t ck_a;
-	uint8_t ck_b;
-
-} type_gps_bin_nav_svinfo_part3_packet;
-
-typedef type_gps_bin_nav_svinfo_part3_packet gps_bin_nav_svinfo_part3_packet_t;
-
-
-typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	int32_t velN; //NED north velocity, cm/s
-	int32_t velE; //NED east velocity, cm/s
-	int32_t velD; //NED down velocity, cm/s
-	uint32_t speed; //Speed (3-D), cm/s
-	uint32_t gSpeed; //Ground Speed (2-D), cm/s
-	int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5
-	uint32_t sAcc; //Speed Accuracy Estimate, cm/s
-	uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_nav_velned_packet;
-
-typedef type_gps_bin_nav_velned_packet gps_bin_nav_velned_packet_t;
-
-typedef struct {
-	int32_t time_milliseconds; // Measurement integer millisecond GPS time of week
-	int16_t week; //Measurement GPS week number
-	uint8_t numVis; //Number of visible satellites
-
-	//... rest of package is not used in this implementation
-
-} type_gps_bin_rxm_svsi_packet;
-
-typedef type_gps_bin_rxm_svsi_packet gps_bin_rxm_svsi_packet_t;
-
-typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_ack_ack_packet;
-
-typedef type_gps_bin_ack_ack_packet gps_bin_ack_ack_packet_t;
-
-typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_ack_nak_packet;
-
-typedef type_gps_bin_ack_nak_packet gps_bin_ack_nak_packet_t;
-
-typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-	uint16_t length;
-	uint8_t portID;
-	uint8_t res0;
-	uint16_t res1;
-	uint32_t mode;
-	uint32_t baudRate;
-	uint16_t inProtoMask;
-	uint16_t outProtoMask;
-	uint16_t flags;
-	uint16_t pad;
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_cfg_prt_packet;
-
-typedef type_gps_bin_cfg_prt_packet type_gps_bin_cfg_prt_packet_t;
-
-typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-	uint16_t length;
-	uint16_t mask;
-	uint8_t dynModel;
-	uint8_t fixMode;
-	int32_t fixedAlt;
-	uint32_t fixedAltVar;
-	int8_t minElev;
-	uint8_t drLimit;
-	uint16_t pDop;
-	uint16_t tDop;
-	uint16_t pAcc;
-	uint16_t tAcc;
-	uint8_t staticHoldThresh;
-	uint8_t dgpsTimeOut;
-	uint32_t reserved2;
-	uint32_t reserved3;
-	uint32_t reserved4;
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_cfg_nav5_packet;
-
-typedef type_gps_bin_cfg_nav5_packet type_gps_bin_cfg_nav5_packet_t;
-
-typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-	uint16_t length;
-	uint8_t msgClass_payload;
-	uint8_t msgID_payload;
-	uint8_t rate[6];
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_cfg_msg_packet;
-
-typedef type_gps_bin_cfg_msg_packet type_gps_bin_cfg_msg_packet_t;
-
-
-// END the structures of the binary packets
-// ************
-
-enum UBX_CONFIG_STATE {
-	UBX_CONFIG_STATE_NONE = 0,
-	UBX_CONFIG_STATE_PRT = 1,
-	UBX_CONFIG_STATE_NAV5 = 2,
-	UBX_CONFIG_STATE_MSG_NAV_POSLLH = 3,
-	UBX_CONFIG_STATE_MSG_NAV_TIMEUTC = 4,
-	UBX_CONFIG_STATE_MSG_NAV_DOP = 5,
-	UBX_CONFIG_STATE_MSG_NAV_SVINFO = 6,
-	UBX_CONFIG_STATE_MSG_NAV_SOL = 7,
-	UBX_CONFIG_STATE_MSG_NAV_VELNED = 8,
-	UBX_CONFIG_STATE_MSG_RXM_SVSI = 9,
-	UBX_CONFIG_STATE_CONFIGURED = 10
-};
-
-enum UBX_MESSAGE_CLASSES {
-	CLASS_UNKNOWN = 0,
-	NAV = 1,
-	RXM = 2,
-	ACK = 3,
-	CFG = 4
-};
-
-enum UBX_MESSAGE_IDS {
-	//these numbers do NOT correspond to the message id numbers of the ubx protocol
-	ID_UNKNOWN = 0,
-	NAV_POSLLH = 1,
-	NAV_SOL = 2,
-	NAV_TIMEUTC = 3,
-	NAV_DOP = 4,
-	NAV_SVINFO = 5,
-	NAV_VELNED = 6,
-	RXM_SVSI = 7,
-	CFG_NAV5 = 8,
-	ACK_ACK = 9,
-	ACK_NAK = 10
-};
-
-enum UBX_DECODE_STATES {
-	UBX_DECODE_UNINIT = 0,
-	UBX_DECODE_GOT_SYNC1 = 1,
-	UBX_DECODE_GOT_SYNC2 = 2,
-	UBX_DECODE_GOT_CLASS = 3,
-	UBX_DECODE_GOT_MESSAGEID = 4,
-	UBX_DECODE_GOT_LENGTH1 = 5,
-	UBX_DECODE_GOT_LENGTH2 = 6
-};
-
-typedef struct {
-	union {
-		uint16_t ck;
-		struct {
-			uint8_t ck_a;
-			uint8_t ck_b;
-		};
-	};
-	enum UBX_DECODE_STATES decode_state;
-	bool print_errors;
-	int16_t rx_count;
-	uint16_t payload_size;
-
-	enum UBX_MESSAGE_CLASSES  message_class;
-	enum UBX_MESSAGE_IDS message_id;
-	uint64_t last_message_timestamps[UBX_NO_OF_MESSAGES];
-
-} type_gps_bin_ubx_state;
-
-typedef type_gps_bin_ubx_state gps_bin_ubx_state_t;
-#pragma pack(pop)
-
-extern pthread_mutex_t *ubx_mutex;
-extern gps_bin_ubx_state_t *ubx_state;
-
-void ubx_decode_init(void);
-
-void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b);
-
-
-
-int ubx_parse(uint8_t b,  char *gps_rx_buffer);
-
-int configure_gps_ubx(int *fd);
-
-int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size);
-
-int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd);
-
-void calculate_ubx_checksum(uint8_t *message, uint8_t length);
-
-void *ubx_watchdog_loop(void *args);
-
-void *ubx_loop(void *args);
-
-
-#endif /* UBX_H_ */
-- 
cgit v1.2.3


From 3d3a68a7fb8315eb1d28b3f2906bb835f0e72994 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Sun, 17 Feb 2013 18:11:33 +0100
Subject: Removed confusing non-error message, updated start scripts to match
 wiki and most recent SW revs

---
 ROMFS/scripts/rc.FMU_quad_x | 83 +++++++++++++++++++++++++++---------------
 ROMFS/scripts/rc.PX4IO      | 87 ++++++++++++++++++++++++---------------------
 ROMFS/scripts/rc.PX4IOAR    | 36 ++++++++++++++-----
 apps/commander/commander.c  |  3 --
 4 files changed, 129 insertions(+), 80 deletions(-)

(limited to 'apps')

diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/scripts/rc.FMU_quad_x
index d9c9a8457..8787443ea 100644
--- a/ROMFS/scripts/rc.FMU_quad_x
+++ b/ROMFS/scripts/rc.FMU_quad_x
@@ -1,40 +1,67 @@
+#!nsh
+#
+# Flight startup script for PX4FMU with PWM outputs.
+#
+ 
+# Disable the USB interface
+set USB no
+ 
+# Disable autostarting other apps
+set MODE custom
+ 
+echo "[init] doing PX4FMU Quad startup..."
+ 
+#
+# Start the ORB
 #
-# Startup for X-quad on FMU1.5/1.6
-# 
-
-echo "[init] uORB"
 uorb start
-
-echo "[init] eeprom"
-eeprom start
-if [ -f /eeprom/parameters ]
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
 then
-	param load
+	param load /fs/microsd/parameters
 fi
-
-echo "[init] sensors"
-#bma180 start
-#l3gd20 start
-mpu6000 start
-hmc5883 start
-ms5611 start
-
-sensors start
-
-echo "[init] mavlink"
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+ 
+#
+# Start MAVLink
+#
 mavlink start -d /dev/ttyS0 -b 57600
 usleep 5000
-
-echo "[init] commander"
+ 
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start the commander.
+#
 commander start
-
-echo "[init] attitude control"
+ 
+#
+# Start the attitude estimator
+#
 attitude_estimator_ekf start
-multirotor_att_control start
-
+ 
 echo "[init] starting PWM output"
 fmu mode_pwm
 mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
-
+ 
+#
+# Start attitude control
+#
+multirotor_att_control start
+ 
 echo "[init] startup done, exiting"
-exit
+exit
\ No newline at end of file
diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO
index 84e181a5a..1e3963b9a 100644
--- a/ROMFS/scripts/rc.PX4IO
+++ b/ROMFS/scripts/rc.PX4IO
@@ -1,73 +1,80 @@
 #!nsh
-
+ 
+# Disable USB and autostart
 set USB no
-
+set MODE camflyer
+ 
 #
-# Start the object request broker
+# Start the ORB
 #
 uorb start
-
+ 
 #
-# Init the EEPROM
+# Load microSD params
 #
-echo "[init] eeprom"
-eeprom start
-if [ -f /eeprom/parameters ]
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
 then
-	param load
+	param load /fs/microsd/parameters
 fi
-
-#
-# Enable / connect to PX4IO
-#
-px4io start
-
+ 
 #
-# Load an appropriate mixer. FMU_pass.mix is a passthru mixer
-# which is good for testing. See ROMFS/mixers for a full list of mixers.
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
 #
-mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix
-
+param set MAV_TYPE 1
+ 
 #
 # Start the sensors.
 #
 sh /etc/init.d/rc.sensors
-
+ 
 #
-# Start MAVLink on UART1 (dev/ttyS0) at 57600 baud (CLI is now unusable)
+# Start MAVLink
 #
-mavlink start -d /dev/ttyS0 -b 57600
+mavlink start -d /dev/ttyS1 -b 57600
 usleep 5000
-
+ 
 #
 # Start the commander.
 #
 commander start
-
+ 
+#
+# Start GPS interface
+#
+gps start
+ 
 #
 # Start the attitude estimator
 #
-attitude_estimator_ekf start
-
+kalman_demo start
+ 
 #
-# Start the attitude and position controller
+# Start PX4IO interface
 #
-fixedwing_att_control start
-fixedwing_pos_control start
-
+px4io start
+ 
 #
-# Start GPS capture. Comment this out if you do not have a GPS.
+# Load mixer and start controllers
 #
-gps start
-
+mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+control_demo start
+ 
+#
+# Start logging
 #
-# Start logging to microSD if we can
-#	  	
-sh /etc/init.d/rc.logging
+sdlog start -s 10
 
 #
-# startup is done; we don't want the shell because we
-# use the same UART for telemetry
+# Start system state
 #
-echo "[init] startup done"
-exit
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi
diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR
index 640cdf541..72df68e35 100644
--- a/ROMFS/scripts/rc.PX4IOAR
+++ b/ROMFS/scripts/rc.PX4IOAR
@@ -17,7 +17,7 @@ echo "[init] doing PX4IOAR startup..."
 uorb start
  
 #
-# Load microSD params
+# Init the parameter storage
 #
 echo "[init] loading microSD params"
 param select /fs/microsd/parameters
@@ -27,16 +27,23 @@ then
 fi
  
 #
-# Start MAVLink
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
 #
-mavlink start -d /dev/ttyS0 -b 57600
-usleep 5000
+param set MAV_TYPE 2
  
 #
-# Start the sensors and test them.
+# Start the sensors.
 #
 sh /etc/init.d/rc.sensors
  
+#
+# Start MAVLink
+#
+mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
+ 
 #
 # Start the commander.
 #
@@ -62,15 +69,26 @@ multirotor_att_control start
 #
 ardrone_interface start -d /dev/ttyS1
  
+#
+# Start GPS capture
+#
+gps start
+
 #
 # Start logging
 #
-#sdlog start
- 
+sdlog start -s 10
+
 #
-# Start GPS capture
+# Start system state
 #
-gps start
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi
  
 #
 # startup is done; we don't want the shell because we
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 6b1bc0f9b..5dfb7a945 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -1459,9 +1459,6 @@ int commander_thread_main(int argc, char *argv[])
 				} else {
 					current_status.flag_external_manual_override_ok = true;
 				}
-
-			} else {
-				warnx("ARMED, rejecting sys type change\n");
 			}
 		}
 
-- 
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