Merged

.gitignore

@@ -8,8 +8,10 @@
 apps/namedapp/namedapp_list.h
 apps/namedapp/namedapp_proto.h
 Make.dep
+*.pyc
 *.o
 *.a
+*.d
 *~
 *.dSYM
 Images/*.bin
@@ -42,3 +44,9 @@ cscope.out
 .configX-e
 nuttx-export.zip
 dot.gdbinit
+mavlink/include/mavlink/v0.9/
+.*.swp
+.swp
+core
+.gdbinit
+mkdeps

Debug/PX4

@@ -0,0 +1,54 @@
+#
+# Various PX4-specific macros
+#
+source Debug/NuttX
+
+echo Loading PX4 GDB macros.  Use 'help px4' for more information.\n
+
+define px4
+	echo Use 'help px4' for more information.\n
+end
+
+document px4
+. Various macros for working with the PX4 firmware.
+.
+.    perf
+.        Prints the state of all performance counters.
+.
+. Use 'help <macro>' for more specific help.
+end
+
+
+define _perf_print
+	set $hdr = (struct perf_ctr_header *)$arg0
+	printf "%p\n", $hdr
+	printf "%s: ", $hdr->name
+	# PC_COUNT
+	if $hdr->type == 0
+		set $count = (struct perf_ctr_count *)$hdr
+		printf "%llu events,\n", $count->event_count;
+	end
+	# PC_ELPASED
+	if $hdr->type == 1
+		set $elapsed = (struct perf_ctr_elapsed *)$hdr
+		printf "%llu events, %lluus elapsed, min %lluus, max %lluus\n", $elapsed->event_count, $elapsed->time_total, $elapsed->time_least, $elapsed->time_most
+	end
+	# PC_INTERVAL
+	if $hdr->type == 2
+		set $interval = (struct perf_ctr_interval *)$hdr
+		printf "%llu events, %llu avg, min %lluus max %lluus\n", $interval->event_count, ($interval->time_last - $interval->time_first) / $interval->event_count, $interval->time_least, $interval->time_most
+	end
+end
+
+define perf
+	set $ctr = (sq_entry_t *)(perf_counters.head)
+	while $ctr != 0
+		_perf_print $ctr
+		set $ctr = $ctr->flink
+	end
+end
+
+document perf
+.    perf
+.        Prints performance counters.
+end

Makefile

@@ -28,12 +28,8 @@ UPLOADER		 = $(PX4BASE)/Tools/px_uploader.py
 # What are we currently configured for?
 #
 CONFIGURED		 = $(PX4BASE)/.configured
-ifeq ($(wildcard $(CONFIGURED)),)
+ifneq ($(wildcard $(CONFIGURED)),)
-# the $(CONFIGURED) target will make this a reality before building
+export TARGET		:= $(shell cat $(CONFIGURED))
-export TARGET		 = px4fmu
-$(shell echo $(TARGET) > $(CONFIGURED))
-else
-export TARGET		 = $(shell cat $(CONFIGURED))
 endif
 
 #
@@ -59,12 +55,13 @@ $(FIRMWARE_BUNDLE):	$(FIRMWARE_BINARY) $(MKFW) $(FIRMWARE_PROTOTYPE)
 	@$(MKFW) --prototype $(FIRMWARE_PROTOTYPE) \
 		--git_identity $(PX4BASE) \
 		--image $(FIRMWARE_BINARY) > $@
+
 #
 # Build the firmware binary.
 #
 .PHONY:			$(FIRMWARE_BINARY)
-$(FIRMWARE_BINARY):	configure_$(TARGET) setup_$(TARGET)
+$(FIRMWARE_BINARY):	setup_$(TARGET) configure-check
-	@echo Building $@
+	@echo Building $@ for $(TARGET)
 	@make -C $(NUTTX_SRC) -r $(MQUIET) all
 	@cp $(NUTTX_SRC)/nuttx.bin $@
 
@@ -73,19 +70,26 @@ $(FIRMWARE_BINARY):	configure_$(TARGET) setup_$(TARGET)
 # and makes it current.
 #
 configure_px4fmu:
-ifneq ($(TARGET),px4fmu)
+	@echo Configuring for px4fmu
 	@make -C $(PX4BASE) distclean
-endif
 	@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4fmu/nsh
 	@echo px4fmu > $(CONFIGURED)
 
 configure_px4io:
-ifneq ($(TARGET),px4io)
+	@echo Configuring for px4io
 	@make -C $(PX4BASE) distclean
-endif
 	@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4io/io
 	@echo px4io > $(CONFIGURED)
 
+configure-check:
+ifeq ($(wildcard $(CONFIGURED)),)
+	@echo
+	@echo "Not configured - use 'make configure_px4fmu' or 'make configure_px4io' first"
+	@echo
+	@exit 1
+endif
+
+
 #
 # Per-configuration additional targets
 #
@@ -96,6 +100,9 @@ setup_px4fmu:
 
 setup_px4io:
 
+# fake target to make configure-check happy if TARGET is not set
+setup_:
+
 #
 # Firmware uploading.
 #

apps/ChangeLog.txt

@@ -33,7 +33,7 @@
 
 6.3 2011-05-15 Gregory Nutt <gnutt@nuttx.org>
 
-    * apps/interpreter: Add a directory to hold interpreters.  The Pascal add-
+	* apps/interpreter: Add a directory to hold interpreters.  The Pascal add-
 	  on module now installs and builds under this directory.
 	* apps/interpreter/ficl: Added logic to build Ficl (the "Forth Inspired
 	  Command Language").  See http://ficl.sourceforge.net/.
@@ -349,7 +349,7 @@
 	* apps/NxWidgets/Kconfig:  Add option to turn on the memory monitor
 	  feature of the NxWidgets/NxWM unit tests.
 
-6.23 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+6.23 2012-11-05 Gregory Nutt <gnutt@nuttx.org>
 
 	* vsn: Moved all NSH commands from vsn/ to system/.  Deleted the vsn/
 	  directory.
@@ -368,3 +368,70 @@
 	  recent check-ins (Darcy Gong).
 	* apps/netutils/webclient/webclient.c:  Fix another but that I introduced
 	  when I was trying to add correct handling for loss of connection (Darcy Gong)
+	* apps/nshlib/nsh_telnetd.c:  Add support for login to Telnet session via
+	  username and password (Darcy Gong).
+	* apps/netutils/resolv/resolv.c (and files using the DNS resolver): Various
+	  DNS address resolution improvements from Darcy Gong.
+	* apps/nshlib/nsh_netcmds.c:  The ping command now passes a maximum round
+	  trip time to uip_icmpping().  This allows pinging of hosts on complex
+	  networks where the ICMP ECHO round trip time may exceed the ping interval.
+	* apps/examples/nxtext/nxtext_main.c:  Fix bad conditional compilation
+	  when CONFIG_NX_KBD is not defined.  Submitted by Petteri Aimonen.
+	* apps/examples/nximage/nximage_main.c:  Add a 5 second delay after the
+	  NX logo is presented so that there is time for the image to be verified.
+	  Suggested by Petteri Aimonen.
+	* apps/Makefile: Small change that reduces the number of shell invocations
+	  by one (Mike Smith).
+	* apps/examples/elf:  Test example for the ELF loader.
+	* apps/examples/elf:  The ELF module test example appears fully functional.
+	* apps/netutils/json:  Add a snapshot of the cJSON project.  Contributed by
+	  Darcy Gong.
+	* apps/examples/json:  Test example for cJSON from Darcy Gong
+	* apps/nshlib/nsh_netinit.c: Fix static IP DNS problem (Darcy Gong)
+	* apps/netutils/resolv/resolv.c: DNS fixes from Darcy Gong.
+	* COPYING: Licensing information added.
+	* apps/netutils/codec and include/netutils/urldecode.h, base64.h, and md5.h:
+	  A port of the BASE46, MD5 and URL CODEC library from Darcy Gong.
+	* nsnlib/nsh_codeccmd.c:  NSH commands to use the CODEC library.
+	  Contributed by Darcy Gong.
+	* apps/examples/wgetjson: Test example contributed by Darcy Gong
+	* apps/examples/cxxtest:  A test for the uClibc++ library provided by
+	  Qiang Yu and the RGMP team.
+	* apps/netutils/webclient, apps/netutils.codes, and apps/examples/wgetjson:
+	  Add support for wget POST interface.  Contributed by Darcy Gong.
+	* apps/examples/relays:  A relay example contributed by Darcy Gong.
+	* apps/nshlib/nsh_netcmds: Add ifup and ifdown commands (from Darcy
+	  Gong).
+	* apps/nshlib/nsh_netcmds: Extend the ifconfig command so that it
+	  supports setting IP addresses, network masks, name server addresses,
+	  and hardware address (from Darcy Gong).
+
+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
+	  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.
+
+6.25 2013-xx-xx Gregory Nutt <gnutt@nuttx.org>

apps/Makefile

@@ -107,7 +107,7 @@ endif
 # Create the list of available applications (INSTALLED_APPS)
 
 define ADD_BUILTIN
-INSTALLED_APPS += ${shell if [ -r $1/Makefile ]; then echo "$1"; fi}
+  INSTALLED_APPS += $(if $(wildcard $1$(DELIM)Makefile),$1,)
 endef
 
 $(foreach BUILTIN, $(CONFIGURED_APPS), $(eval $(call ADD_BUILTIN,$(BUILTIN))))
@@ -120,8 +120,10 @@ INSTALLED_APPS += $(EXTERNAL_APPS)
 # provided by the user (possibly as a symbolic link) to add libraries and
 # applications to the standard build from the repository.
 
-INSTALLED_APPS += ${shell if [ -r external/Makefile ]; then echo "external"; fi}
+EXTERNAL_DIR := $(dir $(wildcard external$(DELIM)Makefile))
-SUBDIRS += ${shell if [ -r external/Makefile ]; then echo "external"; fi}
+
+INSTALLED_APPS += $(EXTERNAL_DIR)
+SUBDIRS += $(EXTERNAL_DIR)
 
 # The final build target
 
@@ -133,48 +135,81 @@ all: $(BIN)
 .PHONY: $(INSTALLED_APPS) context depend clean distclean
 
 $(INSTALLED_APPS):
-	@$(MAKE) -C $@ TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)";
+	$(Q) $(MAKE) -C $@ TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
 
 $(BIN):	$(INSTALLED_APPS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
 
 .context:
-	@for dir in $(INSTALLED_APPS) ; do \
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) for %%G in ($(INSTALLED_APPS)) do ( \
+		if exist %%G\.context del /f /q %%G\.context \
+		$(MAKE) -C %%G TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" context \
+	)
+else
+	$(Q) for dir in $(INSTALLED_APPS) ; do \
 		rm -f $$dir/.context ; \
-		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)"  APPDIR="$(APPDIR)" context ; \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" context ; \
 	done
-	@touch $@
+endif
+	$(Q) touch $@
 
 context: .context
 
 .depend: context Makefile $(SRCS)
-	@for dir in $(INSTALLED_APPS) ; do \
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) for %%G in ($(INSTALLED_APPS)) do ( \
+		if exist %%G\.depend del /f /q %%G\.depend \
+		$(MAKE) -C %%G TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" depend \
+	)
+else
+	$(Q) for dir in $(INSTALLED_APPS) ; do \
 		rm -f $$dir/.depend ; \
-		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)"  APPDIR="$(APPDIR)" depend ; \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" depend ; \
 	done
-	@touch $@
+endif
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@for dir in $(SUBDIRS) ; do \
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) for %%G in ($(SUBDIRS)) do ( \
+		$(MAKE) -C %%G clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" \
+	)
+else
+	$(Q) for dir in $(SUBDIRS) ; do \
 		$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
 	done
-	@rm -f $(BIN) *~ .*.swp *.o
+endif
+	$(call DELFILE, $(BIN))
 	$(call CLEAN)
 
 distclean: # clean
-	@for dir in $(SUBDIRS) ; do \
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) for %%G in ($(SUBDIRS)) do ( \
+		$(MAKE) -C %%G distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" \
+	)
+	$(call DELFILE, .config)
+	$(call DELFILE, .context)
+	$(call DELFILE, .depend)
+	$(Q) ( if exist  external ( \
+		echo ********************************************************" \
+		echo * The external directory/link must be removed manually *" \
+		echo ********************************************************" \
+	)
+else
+	$(Q) for dir in $(SUBDIRS) ; do \
 		$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
 	done
-	@rm -f .config .context .depend
+	$(call DELFILE, .config)
-	@( if [ -e external ]; then \
+	$(call DELFILE, .context)
+	$(call DELFILE, .depend)
+	$(Q) ( if [ -e external ]; then \
 		echo "********************************************************"; \
 		echo "* The external directory/link must be removed manually *"; \
 		echo "********************************************************"; \
 	   fi; \
 	) 
+endif
 
 

apps/commander/commander.c

@@ -72,8 +72,10 @@
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/offboard_control_setpoint.h>
+#include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/subsystem_info.h>
 #include <uORB/topics/actuator_controls.h>
@@ -1251,6 +1253,7 @@ int commander_thread_main(int argc, char *argv[])
 {
 	/* not yet initialized */
 	commander_initialized = false;
+	bool home_position_set = false;
 
 	/* set parameters */
 	failsafe_lowlevel_timeout_ms = 0;
@@ -1302,6 +1305,11 @@ int commander_thread_main(int argc, char *argv[])
 	/* publish current state machine */
 	state_machine_publish(stat_pub, &current_status, mavlink_fd);
 
+	/* home position */
+	orb_advert_t home_pub = -1;
+	struct home_position_s home;
+	memset(&home, 0, sizeof(home));
+
 	if (stat_pub < 0) {
 		warnx("ERROR: orb_advertise for topic vehicle_status failed.\n");
 		exit(ERROR);
@@ -1319,9 +1327,9 @@ int commander_thread_main(int argc, char *argv[])
 	uint16_t counter = 0;
 	uint8_t flight_env;
 
-	/* Initialize to 3.0V to make sure the low-pass loads below valid threshold */
+	/* Initialize to 0.0V */
-	float battery_voltage = 12.0f;
+	float battery_voltage = 0.0f;
-	bool battery_voltage_valid = true;
+	bool battery_voltage_valid = false;
 	bool low_battery_voltage_actions_done = false;
 	bool critical_battery_voltage_actions_done = false;
 	uint8_t low_voltage_counter = 0;
@@ -1332,10 +1340,6 @@ int commander_thread_main(int argc, char *argv[])
 	uint16_t stick_off_counter = 0;
 	uint16_t stick_on_counter = 0;
 
-	float hdop = 65535.0f;
-
-	int gps_quality_good_counter = 0;
-
 	/* Subscribe to manual control data */
 	int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	struct manual_control_setpoint_s sp_man;
@@ -1356,6 +1360,15 @@ int commander_thread_main(int argc, char *argv[])
 	memset(&local_position, 0, sizeof(local_position));
 	uint64_t last_local_position_time = 0;
 
+	/* 
+	 * The home position is set based on GPS only, to prevent a dependency between
+	 * position estimator and commander. RAW GPS is more than good enough for a
+	 * non-flying vehicle.
+	 */
+	int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	struct vehicle_gps_position_s gps_position;
+	memset(&gps_position, 0, sizeof(gps_position));
+
 	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
 	struct sensor_combined_s sensors;
 	memset(&sensors, 0, sizeof(sensors));
@@ -1411,9 +1424,6 @@ int commander_thread_main(int argc, char *argv[])
 
 		if (new_data) {
 			orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
-
-		} else {
-			sensors.battery_voltage_valid = false;
 		}
 
 		orb_check(cmd_sub, &new_data);
@@ -1473,8 +1483,8 @@ int commander_thread_main(int argc, char *argv[])
 			last_local_position_time = local_position.timestamp;
 		}
 
+		/* update battery status */
 		orb_check(battery_sub, &new_data);
-
 		if (new_data) {
 			orb_copy(ORB_ID(battery_status), battery_sub, &battery);
 			battery_voltage = battery.voltage_v;
@@ -1663,65 +1673,57 @@ int commander_thread_main(int argc, char *argv[])
 			state_changed = true;
 		}
 
+		if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) {
 
-		/* Check if last transition deserved an audio event */
+			orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
-// #warning This code depends on state that is no longer? maintained
-// #if 0
-// 		trigger_audio_alarm(vehicle_mode_previous, vehicle_state_previous, current_status.mode, current_status.state_machine);
-// #endif
 
-		/* only check gps fix if we are outdoor */
+			/* check for first, long-term and valid GPS lock -> set home position */
-//		if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
+			float hdop_m = gps_position.eph / 100.0f;
-//
+			float vdop_m = gps_position.epv / 100.0f;
-//			hdop = (float)(gps.eph) / 100.0f;
-//
-//			/* check if gps fix is ok */
-//			if (gps.fix_type == GPS_FIX_TYPE_3D) { //TODO: is 2d-fix ok? //see http://en.wikipedia.org/wiki/Dilution_of_precision_%28GPS%29
-//
-//				if (gotfix_counter >= GPS_GOTFIX_COUNTER_REQUIRED) { //TODO: add also a required time?
-//					update_state_machine_got_position_fix(stat_pub, &current_status);
-//					gotfix_counter = 0;
-//				} else {
-//					gotfix_counter++;
-//				}
-//				nofix_counter = 0;
-//
-//				if (hdop < 5.0f) { //TODO: this should be a parameter
-//					if (gps_quality_good_counter > GPS_QUALITY_GOOD_COUNTER_LIMIT) {
-//						current_status.gps_valid = true;//--> position estimator can use the gps measurements
-//					}
-//
-//					gps_quality_good_counter++;
-//
-//
-////					if(counter%10 == 0)//for testing only
-////						warnx("gps_quality_good_counter = %u\n", gps_quality_good_counter);//for testing only
-//
-//				} else {
-//					gps_quality_good_counter = 0;
-//					current_status.gps_valid = false;//--> position estimator can not use the gps measurements
-//				}
-//
-//			} else {
-//				gps_quality_good_counter = 0;
-//				current_status.gps_valid = false;//--> position estimator can not use the gps measurements
-//
-//				if (nofix_counter > GPS_NOFIX_COUNTER_LIMIT) { //TODO: add also a timer limit?
-//					update_state_machine_no_position_fix(stat_pub, &current_status);
-//					nofix_counter = 0;
-//				} else {
-//					nofix_counter++;
-//				}
-//				gotfix_counter = 0;
-//			}
-//
-//		}
-//
-//
-//		if (flight_env == PX4_FLIGHT_ENVIRONMENT_TESTING) //simulate position fix for quick indoor tests
-		//update_state_machine_got_position_fix(stat_pub, &current_status, mavlink_fd);
-		/* end: check gps */
 
+			/* check if gps fix is ok */
+			// XXX magic number
+			float dop_threshold_m = 2.0f;
+
+			/*
+			 * If horizontal dilution of precision (hdop / eph)
+			 * and vertical diluation of precision (vdop / epv)
+			 * are below a certain threshold (e.g. 4 m), AND
+			 * home position is not yet set AND the last GPS
+			 * GPS measurement is not older than two seconds AND
+			 * 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)
+				&& !home_position_set
+				&& (hrt_absolute_time() - gps_position.timestamp < 2000000)
+				&& !current_status.flag_system_armed) {
+				warnx("setting home position");
+
+				/* copy position data to uORB home message, store it locally as well */
+				home.lat = gps_position.lat;
+				home.lon = gps_position.lon;
+				home.alt = gps_position.alt;
+
+				home.eph = gps_position.eph;
+				home.epv = gps_position.epv;
+
+				home.s_variance = gps_position.s_variance;
+				home.p_variance = gps_position.p_variance;
+
+				/* announce new home position */
+				if (home_pub > 0) {
+					orb_publish(ORB_ID(home_position), home_pub, &home);
+				} else {
+					home_pub = orb_advertise(ORB_ID(home_position), &home);
+				}
+
+				/* mark home position as set */
+				home_position_set = true;
+				tune_confirm();
+			}
+		}
 
 		/* ignore RC signals if in offboard control mode */
 		if (!current_status.offboard_control_signal_found_once && sp_man.timestamp != 0) {
@@ -1848,15 +1850,16 @@ int commander_thread_main(int argc, char *argv[])
 					update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
 
 				} else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) {
-					/* check auto mode switch for correct mode */
+					// /* check auto mode switch for correct mode */
-					if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
+					// if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
-						/* enable guided mode */
+					// 	/* enable guided mode */
-						update_state_machine_mode_guided(stat_pub, &current_status, mavlink_fd);
+					// 	update_state_machine_mode_guided(stat_pub, &current_status, mavlink_fd);
 
-					} else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) {
+					// } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) {
+						// XXX hardcode to auto for now
 						update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
 
-					}
+					// }
 
 				} else {
 					/* center stick position, set SAS for all vehicle types */
@@ -2044,4 +2047,3 @@ int commander_thread_main(int argc, char *argv[])
 
 	return 0;
 }
-

apps/commander/state_machine_helper.c

@@ -134,7 +134,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 
 	case SYSTEM_STATE_REBOOT:
 		if (current_status->state_machine == SYSTEM_STATE_STANDBY
-		    || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
+			|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT
+			|| current_status->flag_hil_enabled) {
 			invalid_state = false;
 			/* set system flags according to state */
 			current_status->flag_system_armed = false;
@@ -708,7 +709,9 @@ uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_
 	case SYSTEM_STATE_REBOOT:
 		printf("try to reboot\n");
 
-		if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT) {
+		if (current_system_state == SYSTEM_STATE_STANDBY
+				|| current_system_state == SYSTEM_STATE_PREFLIGHT
+				|| current_status->flag_hil_enabled) {
 			printf("system will reboot\n");
 			mavlink_log_critical(mavlink_fd, "Rebooting..");
 			usleep(200000);

apps/controllib/Makefile

@@ -43,11 +43,4 @@ CXXSRCS		 = block/Block.cpp \
 		   blocks.cpp \
 		   fixedwing.cpp
 
-CXXHDRS		 = block/Block.hpp \
-		   block/BlockParam.hpp \
-		   block/UOrbPublication.hpp \
-		   block/UOrbSubscription.hpp \
-		   blocks.hpp \
-		   fixedwing.hpp
-
 include $(APPDIR)/mk/app.mk

apps/drivers/blinkm/blinkm.cpp

@@ -35,9 +35,61 @@
  * @file blinkm.cpp
  *
  * Driver for the BlinkM LED controller connected via I2C.
+ *
+ * Connect the BlinkM to I2C3 and put the following line to the rc startup-script:
+ * blinkm start
+ *
+ * To start the system monitor put in the next line after the blinkm start:
+ * blinkm systemmonitor
+ *
+ *
+ * Description:
+ * After startup, the Application checked how many lipo cells are connected to the System.
+ * The recognized number off cells, will be blinked 5 times in purple color.
+ * 2 Cells = 2 blinks
+ * ...
+ * 5 Cells = 5 blinks
+ * Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts.
+ *
+ * System disarmed:
+ * The BlinkM should lit solid red.
+ *
+ * System armed:
+ * One message is made of 4 Blinks and a pause in the same length as the 4 blinks.
+ *
+ * X-X-X-X-_-_-_-_-
+ * -------------------------
+ * G G G M
+ * P P P O
+ * S S S D
+ *       E
+ *
+ * (X = on, _=off)
+ *
+ * The first 3 blinks indicates the status of the GPS-Signal (red):
+ * 0-4 satellites = X-X-X-X-_-_-_-_-
+ *   5 satellites = X-X-_-X-_-_-_-_-
+ *   6 satellites = X-_-_-X-_-_-_-_-
+ * >=7 satellites = _-_-_-X-_-_-_-_-
+ * If no GPS is found the first 3 blinks are white
+ *
+ * The fourth Blink indicates the Flightmode:
+ * MANUAL     : off
+ * STABILIZED : yellow
+ * HOLD		  : blue
+ * AUTO       : green
+ *
+ * Battery Warning (low Battery Level):
+ * Continuously blinking in yellow X-X-X-X-X-X-X-X
+ *
+ * Battery Alert (critical Battery Level)
+ * Continuously blinking in red X-X-X-X-X-X-X-X
+ *
+ * General Error (no uOrb Data)
+ * Continuously blinking in white X-X-X-X-X-X-X-X
+ *
  */
 
-
 #include <nuttx/config.h>
 
 #include <drivers/device/i2c.h>
@@ -59,15 +111,28 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
+#include <systemlib/systemlib.h>
+#include <poll.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_gps_position.h>
+
+static const float MAX_CELL_VOLTAGE	= 4.3f;
+static const int LED_ONTIME = 100;
+static const int LED_OFFTIME = 100;
+static const int LED_BLINK = 1;
+static const int LED_NOBLINK = 0;
+
 class BlinkM : public device::I2C
 {
 public:
 	BlinkM(int bus);
 	~BlinkM();
 
+
 	virtual int		init();
 	virtual int		probe();
-
+	virtual int		setMode(int mode);
 	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
 
 	static const char	*script_names[];
@@ -95,11 +160,31 @@ private:
 		MORSE_CODE
 	};
 
-	work_s			_work;
+	enum ledColors {
-	static const unsigned	_monitor_interval = 250;
+		LED_OFF,
+		LED_RED,
+		LED_YELLOW,
+		LED_PURPLE,
+		LED_GREEN,
+		LED_BLUE,
+		LED_WHITE
+	};
 
-	static void		monitor_trampoline(void *arg);
+	work_s			_work;
-	void			monitor();
+
+	int led_color_1;
+	int led_color_2;
+	int led_color_3;
+	int led_color_4;
+	int led_color_5;
+	int led_color_6;
+	int led_blink;
+
+	bool systemstate_run;
+
+	void 			setLEDColor(int ledcolor);
+	static void		led_trampoline(void *arg);
+	void			led();
 
 	int			set_rgb(uint8_t r, uint8_t g, uint8_t b);
 
@@ -127,8 +212,7 @@ private:
 /* for now, we only support one BlinkM */
 namespace
 {
-BlinkM *g_blinkm;
+	BlinkM *g_blinkm;
-
 }
 
 /* list of script names, must match script ID numbers */
@@ -155,11 +239,21 @@ const char *BlinkM::script_names[] = {
 	nullptr
 };
 
+
 extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
 
 BlinkM::BlinkM(int bus) :
-	I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000)
+	I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000),
+	led_color_1(LED_OFF),
+	led_color_2(LED_OFF),
+	led_color_3(LED_OFF),
+	led_color_4(LED_OFF),
+	led_color_5(LED_OFF),
+	led_color_6(LED_OFF),
+	led_blink(LED_NOBLINK),
+	systemstate_run(false)
 {
+	memset(&_work, 0, sizeof(_work));
 }
 
 BlinkM::~BlinkM()
@@ -170,7 +264,6 @@ int
 BlinkM::init()
 {
 	int ret;
-
 	ret = I2C::init();
 
 	if (ret != OK) {
@@ -178,14 +271,25 @@ BlinkM::init()
 		return ret;
 	}
 
-	/* set some sensible defaults */
+	stop_script();
-	set_fade_speed(25);
+	set_rgb(0,0,0);
 
-	/* turn off by default */
+	return OK;
-	play_script(BLACK);
+}
 
-	/* start the system monitor as a low-priority workqueue entry */
+int
-	work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, 1);
+BlinkM::setMode(int mode)
+{
+	if(mode == 1) {
+		if(systemstate_run == false) {
+			stop_script();
+			set_rgb(0,0,0);
+			systemstate_run = true;
+			work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, 1);
+		}
+	} else {
+		systemstate_run = false;
+	}
 
 	return OK;
 }
@@ -249,21 +353,300 @@ BlinkM::ioctl(struct file *filp, int cmd, unsigned long arg)
 	return ret;
 }
 
+
 void
-BlinkM::monitor_trampoline(void *arg)
+BlinkM::led_trampoline(void *arg)
 {
 	BlinkM *bm = (BlinkM *)arg;
 
-	bm->monitor();
+	bm->led();
 }
 
-void
-BlinkM::monitor()
-{
-	/* check system state, possibly update LED to suit */
 
-	/* re-queue ourselves to run again later */
+
-	work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, _monitor_interval);
+void
+BlinkM::led()
+{
+
+	static int vehicle_status_sub_fd;
+	static int vehicle_gps_position_sub_fd;
+
+	static int num_of_cells = 0;
+	static int detected_cells_runcount = 0;
+
+	static int t_led_color[6] = { 0, 0, 0, 0, 0, 0};
+	static int t_led_blink = 0;
+	static int led_thread_runcount=0;
+	static int led_interval = 1000;
+
+	static int no_data_vehicle_status = 0;
+	static int no_data_vehicle_gps_position = 0;
+
+	static bool topic_initialized = false;
+	static bool detected_cells_blinked = false;
+	static bool led_thread_ready = true;
+
+	int num_of_used_sats = 0;
+
+	if(!topic_initialized) {
+		vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
+		orb_set_interval(vehicle_status_sub_fd, 1000);
+
+		vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position));
+		orb_set_interval(vehicle_gps_position_sub_fd, 1000);
+
+		topic_initialized = true;
+	}
+
+	if(led_thread_ready == true) {
+		if(!detected_cells_blinked) {
+			if(num_of_cells > 0) {
+				t_led_color[0] = LED_PURPLE;
+			}
+			if(num_of_cells > 1) {
+				t_led_color[1] = LED_PURPLE;
+			}
+			if(num_of_cells > 2) {
+				t_led_color[2] = LED_PURPLE;
+			}
+			if(num_of_cells > 3) {
+				t_led_color[3] = LED_PURPLE;
+			}
+			if(num_of_cells > 4) {
+				t_led_color[4] = LED_PURPLE;
+			}
+			t_led_color[5] = LED_OFF;
+			t_led_blink = LED_BLINK;
+		} else {
+			t_led_color[0] = led_color_1;
+			t_led_color[1] = led_color_2;
+			t_led_color[2] = led_color_3;
+			t_led_color[3] = led_color_4;
+			t_led_color[4] = led_color_5;
+			t_led_color[5] = led_color_6;
+			t_led_blink = led_blink;
+		}
+		led_thread_ready = false;
+	}
+
+	if (led_thread_runcount & 1) {
+		if (t_led_blink)
+			setLEDColor(LED_OFF);
+		led_interval = LED_OFFTIME;
+	} else {
+		setLEDColor(t_led_color[(led_thread_runcount / 2) % 6]);
+		//led_interval = (led_thread_runcount & 1) : LED_ONTIME;
+		led_interval = LED_ONTIME;
+	}
+
+	if (led_thread_runcount == 11) {
+		/* obtained data for the first file descriptor */
+		struct vehicle_status_s vehicle_status_raw;
+		struct vehicle_gps_position_s vehicle_gps_position_raw;
+
+		bool new_data_vehicle_status;
+		bool new_data_vehicle_gps_position;
+
+		orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
+
+		if (new_data_vehicle_status) {
+			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
+			no_data_vehicle_status = 0;
+		} else {
+			no_data_vehicle_status++;
+			if(no_data_vehicle_status >= 3)
+				no_data_vehicle_status = 3;
+		}
+
+		orb_check(vehicle_gps_position_sub_fd, &new_data_vehicle_gps_position);
+
+		if (new_data_vehicle_gps_position) {
+			orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub_fd, &vehicle_gps_position_raw);
+			no_data_vehicle_gps_position = 0;
+		} else {
+			no_data_vehicle_gps_position++;
+			if(no_data_vehicle_gps_position >= 3)
+				no_data_vehicle_gps_position = 3;
+		}
+
+
+
+		/* get number of used satellites in navigation */
+		num_of_used_sats = 0;
+		for(int satloop=0; satloop<20; satloop++) {
+			if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
+				num_of_used_sats++;
+			}
+		}
+
+		if(new_data_vehicle_status || no_data_vehicle_status < 3){
+			if(num_of_cells == 0) {
+				/* looking for lipo cells that are connected */
+				printf("<blinkm> checking cells\n");
+				for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) {
+					if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break;
+				}
+				printf("<blinkm> cells found:%u\n", num_of_cells);
+
+			} else {
+				if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_WARNING) {
+					/* LED Pattern for battery low warning */
+					led_color_1 = LED_YELLOW;
+					led_color_2 = LED_YELLOW;
+					led_color_3 = LED_YELLOW;
+					led_color_4 = LED_YELLOW;
+					led_color_5 = LED_YELLOW;
+					led_color_6 = LED_YELLOW;
+					led_blink = LED_BLINK;
+
+				} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) {
+					/* LED Pattern for battery critical alerting */
+					led_color_1 = LED_RED;
+					led_color_2 = LED_RED;
+					led_color_3 = LED_RED;
+					led_color_4 = LED_RED;
+					led_color_5 = LED_RED;
+					led_color_6 = LED_RED;
+					led_blink = LED_BLINK;
+
+				} else {
+					/* no battery warnings here */
+
+					if(vehicle_status_raw.flag_system_armed == false) {
+						/* system not armed */
+						led_color_1 = LED_RED;
+						led_color_2 = LED_RED;
+						led_color_3 = LED_RED;
+						led_color_4 = LED_RED;
+						led_color_5 = LED_RED;
+						led_color_6 = LED_RED;
+						led_blink = LED_NOBLINK;
+
+					} else {
+						/* armed system - initial led pattern */
+						led_color_1 = LED_RED;
+						led_color_2 = LED_RED;
+						led_color_3 = LED_RED;
+						led_color_4 = LED_OFF;
+						led_color_5 = LED_OFF;
+						led_color_6 = LED_OFF;
+						led_blink = LED_BLINK;
+
+						/* handle 4th led - flightmode indicator */
+						switch((int)vehicle_status_raw.flight_mode) {
+							case VEHICLE_FLIGHT_MODE_MANUAL:
+								led_color_4 = LED_OFF;
+								break;
+
+							case VEHICLE_FLIGHT_MODE_STAB:
+								led_color_4 = LED_YELLOW;
+								break;
+
+							case VEHICLE_FLIGHT_MODE_HOLD:
+								led_color_4 = LED_BLUE;
+								break;
+
+							case VEHICLE_FLIGHT_MODE_AUTO:
+								led_color_4 = LED_GREEN;
+								break;
+						}
+
+						if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) {
+							/* handling used sat´s */
+							if(num_of_used_sats >= 7) {
+								led_color_1 = LED_OFF;
+								led_color_2 = LED_OFF;
+								led_color_3 = LED_OFF;
+							} else if(num_of_used_sats == 6) {
+								led_color_2 = LED_OFF;
+								led_color_3 = LED_OFF;
+							} else if(num_of_used_sats == 5) {
+								led_color_3 = LED_OFF;
+							}
+
+						} else {
+							/* no vehicle_gps_position data */
+							led_color_1 = LED_WHITE;
+							led_color_2 = LED_WHITE;
+							led_color_3 = LED_WHITE;
+
+						}
+
+					}
+				}
+			}
+		} else {
+			/* LED Pattern for general Error - no vehicle_status can retrieved */
+			led_color_1 = LED_WHITE;
+			led_color_2 = LED_WHITE;
+			led_color_3 = LED_WHITE;
+			led_color_4 = LED_WHITE;
+			led_color_5 = LED_WHITE;
+			led_color_6 = LED_WHITE;
+			led_blink = LED_BLINK;
+
+		}
+
+		/*
+		printf( "<blinkm> Volt:%8.4f\tArmed:%4u\tMode:%4u\tCells:%4u\tNDVS:%4u\tNDSAT:%4u\tSats:%4u\tFix:%4u\tVisible:%4u\n",
+		vehicle_status_raw.voltage_battery,
+		vehicle_status_raw.flag_system_armed,
+		vehicle_status_raw.flight_mode,
+		num_of_cells,
+		no_data_vehicle_status,
+		no_data_vehicle_gps_position,
+		num_of_used_sats,
+		vehicle_gps_position_raw.fix_type,
+		vehicle_gps_position_raw.satellites_visible);
+		*/
+
+		led_thread_runcount=0;
+		led_thread_ready = true;
+		led_interval = LED_OFFTIME;
+
+		if(detected_cells_runcount < 4){
+			detected_cells_runcount++;
+		} else {
+			detected_cells_blinked = true;
+		}
+
+	} else {
+		led_thread_runcount++;
+	}
+
+	if(systemstate_run == true) {
+		/* re-queue ourselves to run again later */
+		work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, led_interval);
+	} else {
+		stop_script();
+		set_rgb(0,0,0);
+	}
+}
+
+void BlinkM::setLEDColor(int ledcolor) {
+	switch (ledcolor) {
+		case LED_OFF:	// off
+			set_rgb(0,0,0);
+			break;
+		case LED_RED:	// red
+			set_rgb(255,0,0);
+			break;
+		case LED_YELLOW:	// yellow
+			set_rgb(255,70,0);
+			break;
+		case LED_PURPLE:	// purple
+			set_rgb(255,0,255);
+			break;
+		case LED_GREEN:	// green
+			set_rgb(0,255,0);
+			break;
+		case LED_BLUE:	// blue
+			set_rgb(0,0,255);
+			break;
+		case LED_WHITE:	// white
+			set_rgb(255,255,255);
+			break;
+	}
 }
 
 int
@@ -413,7 +796,6 @@ BlinkM::get_rgb(uint8_t &r, uint8_t &g, uint8_t &b)
 	return ret;
 }
 
-
 int
 BlinkM::get_firmware_version(uint8_t version[2])
 {
@@ -443,9 +825,21 @@ blinkm_main(int argc, char *argv[])
 		exit(0);
 	}
 
+
 	if (g_blinkm == nullptr)
 		errx(1, "not started");
 
+	if (!strcmp(argv[1], "systemstate")) {
+		g_blinkm->setMode(1);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "ledoff")) {
+		g_blinkm->setMode(0);
+		exit(0);
+	}
+
+
 	if (!strcmp(argv[1], "list")) {
 		for (unsigned i = 0; BlinkM::script_names[i] != nullptr; i++)
 			fprintf(stderr, "    %s\n", BlinkM::script_names[i]);
@@ -458,8 +852,9 @@ blinkm_main(int argc, char *argv[])
 	if (fd < 0)
 		err(1, "can't open BlinkM device");
 
+	g_blinkm->setMode(0);
 	if (ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)argv[1]) == OK)
 		exit(0);
 
-	errx(1, "missing command, try 'start', 'list' or a script name");
+	errx(1, "missing command, try 'start', 'systemstate', 'ledoff', 'list' or a script name.");
 }

apps/drivers/boards/px4fmu/px4fmu_init.c

@@ -226,7 +226,7 @@ __EXPORT int nsh_archinitialize(void)
 	stm32_configgpio(GPIO_ADC1_IN10);
 	stm32_configgpio(GPIO_ADC1_IN11);
 	stm32_configgpio(GPIO_ADC1_IN12);
-	//stm32_configgpio(GPIO_ADC1_IN13);	// jumperable to MPU6000 DRDY on some boards
+	stm32_configgpio(GPIO_ADC1_IN13);	// jumperable to MPU6000 DRDY on some boards
 
 	return OK;
 }

apps/drivers/stm32/adc/adc.cpp

@@ -366,8 +366,8 @@ int
 adc_main(int argc, char *argv[])
 {
 	if (g_adc == nullptr) {
-		/* XXX this hardcodes the minimum channel set for PX4FMU - should be configurable */
+		/* XXX this hardcodes the default channel set for PX4FMU - should be configurable */
-		g_adc = new ADC((1 << 10) | (1 << 11));
+		g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
 
 		if (g_adc == nullptr)
 			errx(1, "couldn't allocate the ADC driver");

apps/examples/Kconfig

@@ -3,206 +3,60 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-menu "ADC Example"
 source "$APPSDIR/examples/adc/Kconfig"
-endmenu
-
-menu "Buttons Example"
 source "$APPSDIR/examples/buttons/Kconfig"
-endmenu
-
-menu "CAN Example"
 source "$APPSDIR/examples/can/Kconfig"
-endmenu
-
-menu "USB CDC/ACM Class Driver Example"
 source "$APPSDIR/examples/cdcacm/Kconfig"
-endmenu
-
-menu "USB composite Class Driver Example"
 source "$APPSDIR/examples/composite/Kconfig"
-endmenu
+source "$APPSDIR/examples/cxxtest/Kconfig"
-
-menu "DHCP Server Example"
 source "$APPSDIR/examples/dhcpd/Kconfig"
-endmenu
+source "$APPSDIR/examples/elf/Kconfig"
-
-menu "FTP Client Example"
 source "$APPSDIR/examples/ftpc/Kconfig"
-endmenu
-
-menu "FTP Server Example"
 source "$APPSDIR/examples/ftpd/Kconfig"
-endmenu
-
-menu "\"Hello, World!\" Example"
 source "$APPSDIR/examples/hello/Kconfig"
-endmenu
-
-menu "\"Hello, World!\" C++ Example"
 source "$APPSDIR/examples/helloxx/Kconfig"
-endmenu
+source "$APPSDIR/examples/json/Kconfig"
-
-menu "USB HID Keyboard Example"
 source "$APPSDIR/examples/hidkbd/Kconfig"
-endmenu
+source "$APPSDIR/examples/keypadtest/Kconfig"
-
-menu "IGMP Example"
 source "$APPSDIR/examples/igmp/Kconfig"
-endmenu
-
-menu "LCD Read/Write Example"
 source "$APPSDIR/examples/lcdrw/Kconfig"
-endmenu
-
-menu "Memory Management Example"
 source "$APPSDIR/examples/mm/Kconfig"
-endmenu
-
-menu "File System Mount Example"
 source "$APPSDIR/examples/mount/Kconfig"
-endmenu
-
-menu "FreeModBus Example"
 source "$APPSDIR/examples/modbus/Kconfig"
-endmenu
-
-menu "Network Test Example"
 source "$APPSDIR/examples/nettest/Kconfig"
-endmenu
-
-menu "NuttShell (NSH) Example"
 source "$APPSDIR/examples/nsh/Kconfig"
-endmenu
-
-menu "NULL Example"
 source "$APPSDIR/examples/null/Kconfig"
-endmenu
-
-menu "NX Graphics Example"
 source "$APPSDIR/examples/nx/Kconfig"
-endmenu
-
-menu "NxConsole Example"
 source "$APPSDIR/examples/nxconsole/Kconfig"
-endmenu
-
-menu "NXFFS File System Example"
 source "$APPSDIR/examples/nxffs/Kconfig"
-endmenu
-
-menu "NXFLAT Example"
 source "$APPSDIR/examples/nxflat/Kconfig"
-endmenu
-
-menu "NX Graphics \"Hello, World!\" Example"
 source "$APPSDIR/examples/nxhello/Kconfig"
-endmenu
-
-menu "NX Graphics image Example"
 source "$APPSDIR/examples/nximage/Kconfig"
-endmenu
-
-menu "NX Graphics lines Example"
 source "$APPSDIR/examples/nxlines/Kconfig"
-endmenu
-
-menu "NX Graphics Text Example"
 source "$APPSDIR/examples/nxtext/Kconfig"
-endmenu
-
-menu "OS Test Example"
 source "$APPSDIR/examples/ostest/Kconfig"
-endmenu
-
-menu "Pascal \"Hello, World!\"example"
 source "$APPSDIR/examples/pashello/Kconfig"
-endmenu
-
-menu "Pipe Example"
 source "$APPSDIR/examples/pipe/Kconfig"
-endmenu
-
-menu "Poll Example"
 source "$APPSDIR/examples/poll/Kconfig"
-endmenu
-
-menu "Pulse Width Modulation (PWM) Example"
 source "$APPSDIR/examples/pwm/Kconfig"
-endmenu
-
-menu "Quadrature Encoder Example"
 source "$APPSDIR/examples/qencoder/Kconfig"
-endmenu
+source "$APPSDIR/examples/relays/Kconfig"
-
-menu "RGMP Example"
 source "$APPSDIR/examples/rgmp/Kconfig"
-endmenu
-
-menu "ROMFS Example"
 source "$APPSDIR/examples/romfs/Kconfig"
-endmenu
-
-menu "sendmail Example"
 source "$APPSDIR/examples/sendmail/Kconfig"
-endmenu
-
-menu "Serial Loopback Example"
 source "$APPSDIR/examples/serloop/Kconfig"
-endmenu
-
-menu "Telnet Daemon Example"
 source "$APPSDIR/examples/telnetd/Kconfig"
-endmenu
-
-menu "THTTPD Web Server Example"
 source "$APPSDIR/examples/thttpd/Kconfig"
-endmenu
-
-menu "TIFF Generation Example"
 source "$APPSDIR/examples/tiff/Kconfig"
-endmenu
-
-menu "Touchscreen Example"
 source "$APPSDIR/examples/touchscreen/Kconfig"
-endmenu
-
-menu "UDP Example"
 source "$APPSDIR/examples/udp/Kconfig"
-endmenu
-
-menu "UDP Discovery Daemon Example"
 source "$APPSDIR/examples/discover/Kconfig"
-endmenu
-
-menu "uIP Web Server Example"
 source "$APPSDIR/examples/uip/Kconfig"
-endmenu
-
-menu "USB Serial Test Example"
 source "$APPSDIR/examples/usbserial/Kconfig"
-endmenu
-
-menu "USB Mass Storage Class Example"
 source "$APPSDIR/examples/usbstorage/Kconfig"
-endmenu
-
-menu "USB Serial Terminal Example"
 source "$APPSDIR/examples/usbterm/Kconfig"
-endmenu
-
-menu "Watchdog timer Example"
 source "$APPSDIR/examples/watchdog/Kconfig"
-endmenu
-
-menu "wget Example"
 source "$APPSDIR/examples/wget/Kconfig"
-endmenu
+source "$APPSDIR/examples/wgetjson/Kconfig"
-
-menu "WLAN Example"
 source "$APPSDIR/examples/wlan/Kconfig"
-endmenu
-
-menu "XML RPC Example"
 source "$APPSDIR/examples/xmlrpc/Kconfig"
-endmenu

apps/examples/Make.defs

@@ -54,6 +54,10 @@ ifeq ($(CONFIG_EXAMPLES_COMPOSITE),y)
 CONFIGURED_APPS += examples/composite
 endif
 
+ifeq ($(CONFIG_EXAMPLES_CXXTEST),y)
+CONFIGURED_APPS += examples/cxxtest
+endif
+
 ifeq ($(CONFIG_EXAMPLES_DHCPD),y)
 CONFIGURED_APPS += examples/dhcpd
 endif
@@ -62,6 +66,10 @@ ifeq ($(CONFIG_EXAMPLES_DISCOVER),y)
 CONFIGURED_APPS += examples/discover
 endif
 
+ifeq ($(CONFIG_EXAMPLES_ELF),y)
+CONFIGURED_APPS += examples/elf
+endif
+
 ifeq ($(CONFIG_EXAMPLES_FTPC),y)
 CONFIGURED_APPS += examples/ftpc
 endif
@@ -86,6 +94,14 @@ ifeq ($(CONFIG_EXAMPLES_IGMP),y)
 CONFIGURED_APPS += examples/igmp
 endif
 
+ifeq ($(CONFIG_EXAMPLES_JSON),y)
+CONFIGURED_APPS += examples/json
+endif
+
+ifeq ($(CONFIG_EXAMPLES_KEYPADTEST),y)
+CONFIGURED_APPS += examples/keypadtest
+endif
+
 ifeq ($(CONFIG_EXAMPLES_LCDRW),y)
 CONFIGURED_APPS += examples/lcdrw
 endif
@@ -94,6 +110,10 @@ ifeq ($(CONFIG_EXAMPLES_MM),y)
 CONFIGURED_APPS += examples/mm
 endif
 
+ifeq ($(CONFIG_EXAMPLES_MODBUS),y)
+CONFIGURED_APPS += examples/modbus
+endif
+
 ifeq ($(CONFIG_EXAMPLES_MOUNT),y)
 CONFIGURED_APPS += examples/mount
 endif
@@ -166,6 +186,10 @@ ifeq ($(CONFIG_EXAMPLES_QENCODER),y)
 CONFIGURED_APPS += examples/qencoder
 endif
 
+ifeq ($(CONFIG_EXAMPLES_RELAYS),y)
+CONFIGURED_APPS += examples/relays
+endif
+
 ifeq ($(CONFIG_EXAMPLES_RGMP),y)
 CONFIGURED_APPS += examples/rgmp
 endif
@@ -226,6 +250,10 @@ ifeq ($(CONFIG_EXAMPLES_WGET),y)
 CONFIGURED_APPS += examples/wget
 endif
 
+ifeq ($(CONFIG_EXAMPLES_WGETJSON),y)
+CONFIGURED_APPS += examples/wgetjson
+endif
+
 ifeq ($(CONFIG_EXAMPLES_WLAN),y)
 CONFIGURED_APPS += examples/wlan
 endif

apps/examples/Makefile

@@ -37,12 +37,12 @@
 
 # Sub-directories
 
-SUBDIRS  = adc buttons can cdcacm composite dhcpd discover ftpc ftpd hello
+SUBDIRS  = adc buttons can cdcacm composite cxxtest dhcpd discover elf ftpc
-SUBDIRS += helloxx hidkbd igmp lcdrw mm modbus mount nettest nsh null nx
+SUBDIRS += ftpd hello helloxx hidkbd igmp json keypadtest lcdrw mm modbus mount
-SUBDIRS += nxconsole nxffs nxflat nxhello nximage nxlines nxtext ostest
+SUBDIRS += nettest nsh null nx nxconsole nxffs nxflat nxhello nximage
-SUBDIRS += pashello pipe poll pwm qencoder rgmp romfs serloop telnetd
+SUBDIRS += nxlines nxtext ostest  pashello pipe poll pwm qencoder relays
-SUBDIRS += thttpd tiff touchscreen udp uip usbserial sendmail usbstorage
+SUBDIRS += rgmp romfs serloop telnetd thttpd tiff touchscreen udp uip
-SUBDIRS += usbterm watchdog wget wlan
+SUBDIRS += usbserial sendmail usbstorage usbterm watchdog wget wgetjson wlan
 
 # Sub-directories that might need context setup.  Directories may need
 # context setup for a variety of reasons, but the most common is because
@@ -57,8 +57,8 @@ SUBDIRS += usbterm watchdog wget wlan
 CNTXTDIRS = pwm
 
 ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CNTXTDIRS += adc can cdcacm composite discover ftpd dhcpd modbus nettest
+CNTXTDIRS += adc can cdcacm composite cxxtest dhcpd discover ftpd json keypadtest
-CNTXTDIRS += qencoder telnetd watchdog
+CNTXTDIRS += modbus nettest nxlines relays qencoder telnetd watchdog wgetjson
 endif
 
 ifeq ($(CONFIG_EXAMPLES_HELLO_BUILTIN),y)
@@ -79,9 +79,6 @@ endif
 ifeq ($(CONFIG_EXAMPLES_NXIMAGE_BUILTIN),y)
 CNTXTDIRS += nximage
 endif
-ifeq ($(CONFIG_EXAMPLES_LINES_BUILTIN),y)
-CNTXTDIRS += nxlines
-endif
 ifeq ($(CONFIG_EXAMPLES_NXTEXT_BUILTIN),y)
 CNTXTDIRS += nxtext
 endif
@@ -105,27 +102,25 @@ all: nothing
 
 .PHONY: nothing context depend clean distclean
 
+define SDIR_template
+$(1)_$(2):
+	$(Q) $(MAKE) -C $(1) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+endef
+
+$(foreach SDIR, $(CNTXTDIRS), $(eval $(call SDIR_template,$(SDIR),context)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),depend)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
+
 nothing:
 
-context:
+context: $(foreach SDIR, $(CNTXTDIRS), $(SDIR)_context)
-	@for dir in $(CNTXTDIRS) ; do \
-		$(MAKE) -C $$dir context TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
 
-depend:
+depend: $(foreach SDIR, $(SUBDIRS), $(SDIR)_depend)
-	@for dir in $(SUBDIRS) ; do \
-		$(MAKE) -C $$dir depend TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
 
-clean:
+clean: $(foreach SDIR, $(SUBDIRS), $(SDIR)_clean)
-	@for dir in $(SUBDIRS) ; do \
-		$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
 
-distclean: clean
+distclean: clean $(foreach SDIR, $(SUBDIRS), $(SDIR)_distclean)
-	@for dir in $(SUBDIRS) ; do \
-		$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
 
 -include Make.dep
 

apps/examples/README.txt

@@ -239,6 +239,29 @@ examples/composite
   CONFIG_EXAMPLES_COMPOSITE_TRACEINTERRUPTS
     Show interrupt-related events.
 
+examples/cxxtest
+^^^^^^^^^^^^^^^^
+
+  This is a test of the C++ standard library.  At present a port of the uClibc++
+  C++ library is available.  Due to licensinging issues, the uClibc++ C++ library
+  is not included in the NuttX source tree by default, but must be installed
+  (see misc/uClibc++/README.txt for installation).
+
+  The  NuttX setting that are required include:
+
+    CONFIG_HAVE_CXX=y
+    CONFIG_HAVE_CXXINITIALIZE=y
+    CONFIG_UCLIBCXX=y
+
+  Additional uClibc++ settings may be required in your build environment.
+
+  The uClibc++ test includes simple test of:
+
+    - iostreams,
+    - STL,
+    - RTTI, and
+    - Exceptions
+
 examples/dhcpd
 ^^^^^^^^^^^^^^
 
@@ -297,6 +320,68 @@ examples/discover
     CONFIG_EXAMPLES_DISCOVER_DRIPADDR - Router IP address
     CONFIG_EXAMPLES_DISCOVER_NETMASK - Network Mask
 
+examples/elf
+^^^^^^^^^^^^
+
+  This example builds a small ELF loader test case.  This includes several
+  test programs under examples/elf tests.  These tests are build using
+  the relocatable ELF format and installed in a ROMFS file system.  At run time,
+  each program in the ROMFS file system is executed.  Requires CONFIG_ELF.
+  Other configuration options:
+
+    CONFIG_EXAMPLES_ELF_DEVMINOR - The minor device number of the ROMFS block.
+      For example, the N in /dev/ramN. Used for registering the RAM block driver
+      that will hold the ROMFS file system containing the ELF executables to be
+      tested.  Default: 0
+
+    CONFIG_EXAMPLES_ELF_DEVPATH - The path to the ROMFS block driver device.  This
+      must match EXAMPLES_ELF_DEVMINOR. Used for registering the RAM block driver
+      that will hold the ROMFS file system containing the ELF executables to be
+      tested.  Default: "/dev/ram0"
+
+  NOTES:
+
+  1. CFLAGS should be provided in CELFFLAGS.  RAM and FLASH memory regions
+     may require long allcs.  For ARM, this might be:
+
+       CELFFLAGS = $(CFLAGS) -mlong-calls
+
+     Similarly for C++ flags which must be provided in CXXELFFLAGS.
+
+  2. Your top-level nuttx/Make.defs file must alos include an approproate definition,
+     LDELFFLAGS, to generate a relocatable ELF object.  With GNU LD, this should
+     include '-r' and '-e main' (or _main on some platforms).
+
+       LDELFFLAGS = -r -e main
+
+     If you use GCC to link, you make also need to include '-nostdlib' or 
+     '-nostartfiles' and '-nodefaultlibs'.
+
+  3. This example also requires genromfs.  genromfs can be build as part of the
+     nuttx toolchain.  Or can built from the genromfs sources that can be found
+     at misc/tools/genromfs-0.5.2.tar.gz.  In any event, the PATH variable must
+     include the path to the genromfs executable.
+
+  4. ELF size:  The ELF files in this example are, be default, quite large
+     because they include a lot of "build garbage".  You can greatly reduce the
+     size of the ELF binaries are using the 'objcopy --strip-unneeded' command to
+     remove un-necessary information from the ELF files.
+
+  5. Simulator.  You cannot use this example with the the NuttX simulator on
+     Cygwin.  That is because the Cygwin GCC does not generate ELF file but
+     rather some Windows-native binary format.
+
+     If you really want to do this, you can create a NuttX x86 buildroot toolchain
+     and use that be build the ELF executables for the ROMFS file system.
+
+  6. Linker scripts.  You might also want to use a linker scripts to combine
+     sections better.  An example linker script is at nuttx/binfmt/libelf/gnu-elf.ld.
+     That example might have to be tuned for your particular linker output to
+     position additional sections correctly.  The GNU LD LDELFFLAGS then might
+     be:
+
+       LDELFFLAGS = -r -e main -T$(TOPDIR)/binfmt/libelf/gnu-elf.ld
+
 examples/ftpc
 ^^^^^^^^^^^^^
 
@@ -482,6 +567,32 @@ examples/igmp
 
   CONFIGURED_APPS += uiplib
 
+examples/json
+^^^^^^^^^^^^^
+
+  This example exercises the cJSON implementation at apps/netutils/json.
+  This example contains logic taken from the cJSON project:
+
+    http://sourceforge.net/projects/cjson/
+
+  The example corresponds to SVN revision r42 (with lots of changes for
+  NuttX coding standards).  As of r42, the SVN repository was last updated
+  on 2011-10-10 so I presume that the code is stable and there is no risk
+  of maintaining duplicate logic in the NuttX repository.
+
+examples/keypadtest
+^^^^^^^^^^^^^^^^^^^
+
+  This is a generic keypad test example.  It is similar to the USB hidkbd
+  example, but makes no assumptions about the underlying keyboard interface.
+  It uses the interfaces of include/nuttx/input/keypad.h.
+
+  CONFIG_EXAMPLES_KEYPADTEST - Selects the keypadtest example (only need
+    if the mconf/Kconfig tool is used.
+
+  CONFIG_EXAMPLES_KEYPAD_DEVNAME - The name of the keypad device that will
+    be opened in order to perform the keypad test.  Default: "/dev/keypad"
+
 examples/lcdrw
 ^^^^^^^^^^^^^^
 
@@ -496,6 +607,11 @@ examples/lcdrw
   * CONFIG_EXAMPLES_LDCRW_YRES
       LCD Y resolution.  Default: 320
   
+  NOTE: This test exercises internal lcd driver interfaces.  As such, it
+  relies on internal OS interfaces that are not normally available to a
+  user-space program.  As a result, this example cannot be used if a
+  NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
+
 examples/mm
 ^^^^^^^^^^^
 
@@ -838,8 +954,6 @@ examplex/nxlines
 
   The following configuration options can be selected:
 
-    CONFIG_EXAMPLES_NXLINES_BUILTIN -- Build the NXLINES example as a "built-in"
-      that can be executed from the NSH command line    
     CONFIG_EXAMPLES_NXLINES_VPLANE -- The plane to select from the frame-
       buffer driver for use in the test.  Default: 0
     CONFIG_EXAMPLES_NXLINES_DEVNO - The LCD device to select from the LCD
@@ -877,6 +991,9 @@ examplex/nxlines
       FAR struct fb_vtable_s *up_nxdrvinit(unsigned int devno);
       #endif
 
+    CONFIG_NSH_BUILTIN_APPS - Build the NX lines examples as an NSH built-in
+      function.
+
 examples/nxtext
 ^^^^^^^^^^^^^^^
 
@@ -984,6 +1101,17 @@ examples/ostest
       Specifies the number of threads to create in the barrier
       test.  The default is 8 but a smaller number may be needed on
       systems without sufficient memory to start so many threads.
+  * CONFIG_EXAMPLES_OSTEST_RR_RANGE
+      During round-robin scheduling test two threads are created. Each of the threads
+      searches for prime numbers in the configurable range, doing that configurable
+      number of times.
+      This value specifies the end of search range and together with number of runs
+      allows to configure the length of this test - it should last at least a few
+      tens of seconds. Allowed values [1; 32767], default 10000
+  * CONFIG_EXAMPLES_OSTEST_RR_RUNS
+      During round-robin scheduling test two threads are created. Each of the threads
+      searches for prime numbers in the configurable range, doing that configurable
+      number of times.
 
 examples/pashello
 ^^^^^^^^^^^^^^^^^
@@ -1110,17 +1238,28 @@ examples/qencoder
 
   Specific configuration options for this example include:
  
-  CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
+    CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
-    /dev/qe0
+      /dev/qe0
-  CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
+    CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
-    is defined, then the number of samples is provided on the command line
+      is defined, then the number of samples is provided on the command line
-    and this value is ignored.  Otherwise, this number of samples is
+      and this value is ignored.  Otherwise, this number of samples is
-    collected and the program terminates.  Default:  Samples are collected
+      collected and the program terminates.  Default:  Samples are collected
-    indefinitely.
+      indefinitely.
-  CONFIG_EXAMPLES_QENCODER_DELAY - This value provides the delay (in
+    CONFIG_EXAMPLES_QENCODER_DELAY - This value provides the delay (in
-    milliseonds) between each sample.  If CONFIG_NSH_BUILTIN_APPS
+      milliseonds) between each sample.  If CONFIG_NSH_BUILTIN_APPS
-    is defined, then this value is the default delay if no other delay is
+      is defined, then this value is the default delay if no other delay is
-    provided on the command line.  Default:  100 milliseconds
+      provided on the command line.  Default:  100 milliseconds
+
+examples/relays
+^^^^^^^^^^^^^^^
+
+  Requires CONFIG_ARCH_RELAYS.
+  Contributed by Darcy Gong.
+
+  NOTE: This test exercises internal relay driver interfaces.  As such, it
+  relies on internal OS interfaces that are not normally available to a
+  user-space program.  As a result, this example cannot be used if a
+  NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
 
 examples/rgmp
 ^^^^^^^^^^^^^
@@ -1672,7 +1811,16 @@ examples/wget
     CONFIGURED_APPS += resolv
     CONFIGURED_APPS += webclient
 
+examples/wget
+^^^^^^^^^^^^^
+
+  Uses wget to get a JSON encoded file, then decodes the file.
+
+    CONFIG_EXAMPLES_WDGETJSON_MAXSIZE - Max. JSON Buffer Size
+    CONFIG_EXAMPLES_EXAMPLES_WGETJSON_URL - wget URL
+
 examples/xmlrpc
+^^^^^^^^^^^^^^^
 
   This example exercises the "Embeddable Lightweight XML-RPC Server" which
   is discussed at:

apps/examples/adc/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/adc/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 .context:
@@ -90,16 +92,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/examples/adc/adc_main.c

@@ -289,7 +289,7 @@ int adc_main(int argc, char *argv[])
     {
       message("adc_main: open %s failed: %d\n", g_adcstate.devpath, errno);
       errval = 2;
-      goto errout_with_dev;
+      goto errout;
     }
 
   /* Now loop the appropriate number of times, displaying the collected
@@ -357,6 +357,11 @@ int adc_main(int argc, char *argv[])
       }
   }
 
+  close(fd);
+  return OK;
+
+  /* Error exits */
+
 errout_with_dev:
   close(fd);
 

apps/examples/buttons/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/buttons/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 .context:
@@ -90,16 +92,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/examples/can/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/can/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 .context:
@@ -90,16 +92,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/examples/cdcacm/Makefile

@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -80,9 +84,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 .context:
@@ -93,17 +95,18 @@ $(COBJS): %$(OBJEXT): %.c
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
 

apps/examples/control_demo/control_demo.cpp

@@ -108,7 +108,7 @@ int control_demo_main(int argc, char *argv[])
 		deamon_task = task_spawn("control_demo",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
-					 4096,
+					 5120,
 					 control_demo_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);

apps/examples/control_demo/params.c

@@ -6,58 +6,58 @@
 // 16 is max name length
 
 // gyro low pass filter
-PARAM_DEFINE_FLOAT(FWB_P_LP, 10.0f); // roll rate low pass cut freq
+PARAM_DEFINE_FLOAT(FWB_P_LP, 300.0f); // roll rate low pass cut freq
-PARAM_DEFINE_FLOAT(FWB_Q_LP, 10.0f); // pitch rate low pass cut freq
+PARAM_DEFINE_FLOAT(FWB_Q_LP, 300.0f); // pitch rate low pass cut freq
-PARAM_DEFINE_FLOAT(FWB_R_LP, 10.0f); // yaw rate low pass cut freq
+PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq
 
 // yaw washout
 PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
 
 // stabilization mode
-PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.1f); // roll rate 2 aileron
+PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.3f); // roll rate 2 aileron
 PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator
 PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder
 
 //  psi -> phi -> p
-PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 2.0f);      // heading 2 roll
+PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f);      // heading 2 roll
-PARAM_DEFINE_FLOAT(FWB_PHI2P, 2.0f);        // roll to roll rate
+PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f);        // roll to roll rate
-PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 1.0f);  // roll limit
+PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f);  // roll limit, 28 deg
 
 // velocity -> theta
-PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.5f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f);      // velocity to pitch angle PID, prop gain
-PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);      // integral gain
-PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);      // derivative gain
-PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);   // derivative low-pass
-PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);  // integrator wind up guard
-PARAM_DEFINE_FLOAT(FWB_THE_MIN, -1.0f);
+PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f);     // the max commanded pitch angle
-PARAM_DEFINE_FLOAT(FWB_THE_MAX, 1.0f);
+PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f);      // the min commanded pitch angle
 
 
 // theta -> q
-PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);      // pitch angle to pitch-rate PID
 PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
 PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
 PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
 PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
 
 //  h -> thr
-PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.005f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f);     // altitude to throttle PID
-PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.001f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.01f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 1.0f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 250.0f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f);
 
 // crosstrack
-PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.0f);
+PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f);  // cross-track to yaw angle limit 90 deg
-PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.01f);
+PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f);     // cross-track to yaw angle gain
 
 // speed command
-PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);
+PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);       // minimum commanded velocity
-PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f);
+PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f);       // commanded velocity
-PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);
+PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);       // maximum commanded velocity
 
 // trim
-PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);     // trim aileron, normalized (-1,1)
-PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f);   // trim elevator (-1,1)
-PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);     // trim rudder (-1,1)
-PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.7f);
+PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f);     // trim throttle (0,1)

apps/examples/hello/Makefile

@@ -54,10 +54,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 .context:
@@ -90,16 +92,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/examples/helloxx/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/helloxx/Makefile
 #
-#   Copyright (C) 2009-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2009-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -50,10 +50,14 @@ CXXOBJS		= $(CXXSRCS:.cxx=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS) $(CXXSRCS)
 OBJS		= $(AOBJS) $(COBJS) $(CXXOBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -69,7 +73,7 @@ STACKSIZE	= 2048
 VPATH		= 
 
 all: .built
-.PHONY:	clean depend disclean chkcxx
+.PHONY:	clean depend distclean chkcxx
 
 chkcxx:
 ifneq ($(CONFIG_HAVE_CXX),y)
@@ -93,9 +97,7 @@ $(CXXOBJS): %$(OBJEXT): %.cxx
 	$(call COMPILEXX, $<, $@)
 
 .built: chkcxx $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 .context:
@@ -107,16 +109,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/examples/kalman_demo/KalmanNav.cpp

@@ -42,10 +42,12 @@
 #include "KalmanNav.hpp"
 
 // constants
+// Titterton pg. 52
 static const float omega = 7.2921150e-5f; // earth rotation rate, rad/s
-static const float R = 6.371000e6f; // earth radius, m
+static const float R0 = 6378137.0f; // earth radius, m
-static const float RSq = 4.0589641e13f; // radius squared
+static const float g0 = 9.806f; // standard gravitational accel. m/s^2
-static const float g = 9.8f; // gravitational accel. m/s^2
+static const int8_t ret_ok = 0; 		// no error in function
+static const int8_t ret_error = -1; 	// error occurred
 
 KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
 	SuperBlock(parent, name),
@@ -53,33 +55,36 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
 	F(9, 9),
 	G(9, 6),
 	P(9, 9),
+	P0(9, 9),
 	V(6, 6),
 	// attitude measurement ekf matrices
 	HAtt(6, 9),
 	RAtt(6, 6),
-	// gps measurement ekf matrices
+	// position measurement ekf matrices
-	HGps(6, 9),
+	HPos(5, 9),
-	RGps(6, 6),
+	RPos(5, 5),
 	// attitude representations
 	C_nb(),
 	q(),
 	// subscriptions
 	_sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz
-	_gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 1000), // limit to 1 Hz
+	_gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz
 	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
 	// publications
 	_pos(&getPublications(), ORB_ID(vehicle_global_position)),
 	_att(&getPublications(), ORB_ID(vehicle_attitude)),
 	// timestamps
 	_pubTimeStamp(hrt_absolute_time()),
-	_fastTimeStamp(hrt_absolute_time()),
+	_predictTimeStamp(hrt_absolute_time()),
-	_slowTimeStamp(hrt_absolute_time()),
 	_attTimeStamp(hrt_absolute_time()),
 	_outTimeStamp(hrt_absolute_time()),
 	// frame count
 	_navFrames(0),
-	// state
+	// miss counts
+	_miss(0),
+	// accelerations
 	fN(0), fE(0), fD(0),
+	// state
 	phi(0), theta(0), psi(0),
 	vN(0), vE(0), vD(0),
 	lat(0), lon(0), alt(0),
@@ -87,36 +92,35 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
 	_vGyro(this, "V_GYRO"),
 	_vAccel(this, "V_ACCEL"),
 	_rMag(this, "R_MAG"),
-	_rGpsV(this, "R_GPS_V"),
+	_rGpsVel(this, "R_GPS_VEL"),
-	_rGpsGeo(this, "R_GPS_GEO"),
+	_rGpsPos(this, "R_GPS_POS"),
 	_rGpsAlt(this, "R_GPS_ALT"),
-	_rAccel(this, "R_ACCEL")
+	_rAccel(this, "R_ACCEL"),
+	_magDip(this, "ENV_MAG_DIP"),
+	_magDec(this, "ENV_MAG_DEC"),
+	_g(this, "ENV_G"),
+	_faultPos(this, "FAULT_POS"),
+	_faultAtt(this, "FAULT_ATT"),
+	_attitudeInitialized(false),
+	_positionInitialized(false),
+	_attitudeInitCounter(0)
 {
 	using namespace math;
 
 	// initial state covariance matrix
-	P = Matrix::identity(9) * 1.0f;
+	P0 = Matrix::identity(9) * 0.01f;
-
+	P = P0;
-	// wait for gps lock
-	while (1) {
-		updateSubscriptions();
-
-		if (_gps.fix_type > 2) break;
-
-		printf("[kalman_demo] waiting for gps lock\n");
-		usleep(1000000);
-	}
 
 	// initial state
 	phi = 0.0f;
 	theta = 0.0f;
 	psi = 0.0f;
-	vN = _gps.vel_n;
+	vN = 0.0f;
-	vE = _gps.vel_e;
+	vE = 0.0f;
-	vD = _gps.vel_d;
+	vD = 0.0f;
-	setLatDegE7(_gps.lat);
+	lat = 0.0f;
-	setLonDegE7(_gps.lon);
+	lon = 0.0f;
-	setAltE3(_gps.alt);
+	alt = 0.0f;
 
 	// initialize quaternions
 	q = Quaternion(EulerAngles(phi, theta, psi));
@@ -124,16 +128,12 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
 	// initialize dcm
 	C_nb = Dcm(q);
 
-	// initialize F to identity
+	// HPos is constant
-	F = Matrix::identity(9);
+	HPos(0, 3) = 1.0f;
-
+	HPos(1, 4) = 1.0f;
-	// HGps is constant
+	HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F;
-	HGps(0, 3) = 1.0f;
+	HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F;
-	HGps(1, 4) = 1.0f;
+	HPos(4, 8) = 1.0f;
-	HGps(2, 5) = 1.0f;
-	HGps(3, 6) = 1.0f;
-	HGps(4, 7) = 1.0f;
-	HGps(5, 8) = 1.0f;
 
 	// initialize all parameters
 	updateParams();
@@ -143,68 +143,95 @@ void KalmanNav::update()
 {
 	using namespace math;
 
-	struct pollfd fds[2];
+	struct pollfd fds[1];
 	fds[0].fd = _sensors.getHandle();
 	fds[0].events = POLLIN;
-	fds[1].fd = _param_update.getHandle();
-	fds[1].events = POLLIN;
 
-	// poll 20 milliseconds for new data
+	// poll for new data
-	int ret = poll(fds, 2, 20);
+	int ret = poll(fds, 1, 1000);
 
-	// check return value
 	if (ret < 0) {
 		// XXX this is seriously bad - should be an emergency
 		return;
 
 	} else if (ret == 0) { // timeout
-		// run anyway
+		return;
-	} else if (ret > 0) {
-		// update params when requested
-		if (fds[1].revents & POLLIN) {
-			printf("updating params\n");
-			updateParams();
-		}
-
-		// if no new sensor data, return
-		if (!(fds[0].revents & POLLIN)) return;
 	}
 
 	// get new timestamp
 	uint64_t newTimeStamp = hrt_absolute_time();
 
 	// check updated subscriptions
+	if (_param_update.updated()) updateParams();
+
 	bool gpsUpdate = _gps.updated();
+	bool sensorsUpdate = _sensors.updated();
 
 	// get new information from subscriptions
 	// this clears update flag
 	updateSubscriptions();
 
-	// count fast frames
+	// initialize attitude when sensors online
-	_navFrames += 1;
+	if (!_attitudeInitialized && sensorsUpdate &&
+	    _sensors.accelerometer_counter > 10 &&
+	    _sensors.gyro_counter > 10 &&
+	    _sensors.magnetometer_counter > 10) {
+		if (correctAtt() == ret_ok) _attitudeInitCounter++;
 
-	// fast prediciton step
+		if (_attitudeInitCounter > 100) {
-	// note, using sensors timestamp so we can account
+			printf("[kalman_demo] initialized EKF attitude\n");
-	// for packet lag
+			printf("phi: %8.4f, theta: %8.4f, psi: %8.4f\n",
-	float dtFast = (_sensors.timestamp - _fastTimeStamp) / 1.0e6f;
+			       double(phi), double(theta), double(psi));
-	_fastTimeStamp = _sensors.timestamp;
+			_attitudeInitialized = true;
-	predictFast(dtFast);
+		}
-
-	// slow prediction step
-	float dtSlow = (_sensors.timestamp - _slowTimeStamp) / 1.0e6f;
-
-	if (dtSlow > 1.0f / 200) { // 200 Hz
-		_slowTimeStamp = _sensors.timestamp;
-		predictSlow(dtSlow);
 	}
 
+	// initialize position when gps received
+	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;
+		setLatDegE7(_gps.lat);
+		setLonDegE7(_gps.lon);
+		setAltE3(_gps.alt);
+		_positionInitialized = true;
+		printf("[kalman_demo] initialized EKF state with GPS\n");
+		printf("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
+		       double(vN), double(vE), double(vD),
+		       lat, lon, alt);
+	}
+
+	// prediciton step
+	// using sensors timestamp so we can account for packet lag
+	float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f;
+	//printf("dt: %15.10f\n", double(dt));
+	_predictTimeStamp = _sensors.timestamp;
+
+	// don't predict if time greater than a second
+	if (dt < 1.0f) {
+		predictState(dt);
+		predictStateCovariance(dt);
+		// count fast frames
+		_navFrames += 1;
+	}
+
+	// count times 100 Hz rate isn't met
+	if (dt > 0.01f) _miss++;
+
 	// gps correction step
-	if (gpsUpdate) {
+	if (_positionInitialized && gpsUpdate) {
-		correctGps();
+		correctPos();
 	}
 
 	// attitude correction step
-	if (_sensors.timestamp - _attTimeStamp > 1e6 / 1) { // 1 Hz
+	if (_attitudeInitialized 								// initialized
+	    && sensorsUpdate 								// new data
+	    && _sensors.timestamp - _attTimeStamp > 1e6 / 20 	// 20 Hz
+	   ) {
 		_attTimeStamp = _sensors.timestamp;
 		correctAtt();
 	}
@@ -212,14 +239,17 @@ void KalmanNav::update()
 	// publication
 	if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz
 		_pubTimeStamp = newTimeStamp;
+
 		updatePublications();
 	}
 
 	// output
-	if (newTimeStamp - _outTimeStamp > 1e6) { // 1 Hz
+	if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz
 		_outTimeStamp = newTimeStamp;
-		printf("nav: %4d Hz\n", _navFrames);
+		printf("nav: %4d Hz, miss #: %4d\n",
+		       _navFrames / 10, _miss / 10);
 		_navFrames = 0;
+		_miss = 0;
 	}
 }
 
@@ -262,66 +292,87 @@ void KalmanNav::updatePublications()
 	_att.q_valid = true;
 	_att.counter = _navFrames;
 
-	// update publications
+	// selectively update publications,
-	SuperBlock::updatePublications();
+	// do NOT call superblock do-all method
+	if (_positionInitialized)
+		_pos.update();
+
+	if (_attitudeInitialized)
+		_att.update();
 }
 
-void KalmanNav::predictFast(float dt)
+int KalmanNav::predictState(float dt)
 {
 	using namespace math;
-	Vector3 w(_sensors.gyro_rad_s);
-
-	// attitude
-	q = q + q.derivative(w) * dt;
-
-	// renormalize quaternion if needed
-	if (fabsf(q.norm() - 1.0f) > 1e-4f) {
-		q = q.unit();
-	}
-
-	// C_nb update
-	C_nb = Dcm(q);
-
-	// euler update
-	EulerAngles euler(C_nb);
-	phi = euler.getPhi();
-	theta = euler.getTheta();
-	psi = euler.getPsi();
-
-	// specific acceleration in nav frame
-	Vector3 accelB(_sensors.accelerometer_m_s2);
-	Vector3 accelN = C_nb * accelB;
-	fN = accelN(0);
-	fE = accelN(1);
-	fD = accelN(2);
 
 	// trig
 	float sinL = sinf(lat);
 	float cosL = cosf(lat);
+	float cosLSing = cosf(lat);
 
-	// position update
+	// prevent singularity
-	// neglects angular deflections in local gravity
+	if (fabsf(cosLSing) < 0.01f) {
-	// see Titerton pg. 70
+		if (cosLSing > 0) cosLSing = 0.01;
-	float LDot = vN / (R + float(alt));
+		else cosLSing = -0.01;
-	float lDot = vE / (cosL * (R + float(alt)));
+	}
-	float vNDot = fN - vE * (2 * omega +
-				 lDot) * sinL +
-		      vD * LDot;
-	float vDDot = fD - vE * (2 * omega + lDot) * cosL -
-		      vN * LDot + g;
-	float vEDot = fE + vN * (2 * omega + lDot) * sinL +
-		      vDDot * (2 * omega * cosL);
 
-	// rectangular integration
+	// attitude prediction
-	vN += vNDot * dt;
+	if (_attitudeInitialized) {
-	vE += vEDot * dt;
+		Vector3 w(_sensors.gyro_rad_s);
-	vD += vDDot * dt;
+
-	lat += double(LDot * dt);
+		// attitude
-	lon += double(lDot * dt);
+		q = q + q.derivative(w) * dt;
-	alt += double(-vD * dt);
+
+		// renormalize quaternion if needed
+		if (fabsf(q.norm() - 1.0f) > 1e-4f) {
+			q = q.unit();
+		}
+
+		// C_nb update
+		C_nb = Dcm(q);
+
+		// euler update
+		EulerAngles euler(C_nb);
+		phi = euler.getPhi();
+		theta = euler.getTheta();
+		psi = euler.getPsi();
+
+		// specific acceleration in nav frame
+		Vector3 accelB(_sensors.accelerometer_m_s2);
+		Vector3 accelN = C_nb * accelB;
+		fN = accelN(0);
+		fE = accelN(1);
+		fD = accelN(2);
+	}
+
+	// position prediction
+	if (_positionInitialized) {
+		// neglects angular deflections in local gravity
+		// see Titerton pg. 70
+		float R = R0 + float(alt);
+		float LDot = vN / R;
+		float lDot = vE / (cosLSing * R);
+		float rotRate = 2 * omega + lDot;
+		float vNDot = fN - vE * rotRate * sinL +
+			      vD * LDot;
+		float vDDot = fD - vE * rotRate * cosL -
+			      vN * LDot + _g.get();
+		float vEDot = fE + vN * rotRate * sinL +
+			      vDDot * rotRate * cosL;
+
+		// rectangular integration
+		vN += vNDot * dt;
+		vE += vEDot * dt;
+		vD += vDDot * dt;
+		lat += double(LDot * dt);
+		lon += double(lDot * dt);
+		alt += double(-vD * dt);
+	}
+
+	return ret_ok;
 }
 
-void KalmanNav::predictSlow(float dt)
+int KalmanNav::predictStateCovariance(float dt)
 {
 	using namespace math;
 
@@ -331,90 +382,94 @@ void KalmanNav::predictSlow(float dt)
 	float cosLSq = cosL * cosL;
 	float tanL = tanf(lat);
 
+	// prepare for matrix
+	float R = R0 + float(alt);
+	float RSq = R * R;
+
 	// F Matrix
 	// Titterton pg. 291
-	//
-	// difference from Jacobian
-	// multiplity by dt for all elements
-	// add 1.0 to diagonal elements
 
-	F(0, 1) = (-(omega * sinL + vE * tanL / R)) * dt;
+	F(0, 1) = -(omega * sinL + vE * tanL / R);
-	F(0, 2) = (vN / R) * dt;
+	F(0, 2) = vN / R;
-	F(0, 4) = (1.0f / R) * dt;
+	F(0, 4) = 1.0f / R;
-	F(0, 6) = (-omega * sinL) * dt;
+	F(0, 6) = -omega * sinL;
-	F(0, 8) = (-vE / RSq) * dt;
+	F(0, 8) = -vE / RSq;
 
-	F(1, 0) = (omega * sinL + vE * tanL / R) * dt;
+	F(1, 0) = omega * sinL + vE * tanL / R;
-	F(1, 2) = (omega * cosL + vE / R) * dt;
+	F(1, 2) = omega * cosL + vE / R;
-	F(1, 3) = (-1.0f / R) * dt;
+	F(1, 3) = -1.0f / R;
-	F(1, 8) = (vN / RSq) * dt;
+	F(1, 8) = vN / RSq;
 
-	F(2, 0) = (-vN / R) * dt;
+	F(2, 0) = -vN / R;
-	F(2, 1) = (-omega * cosL - vE / R) * dt;
+	F(2, 1) = -omega * cosL - vE / R;
-	F(2, 4) = (-tanL / R) * dt;
+	F(2, 4) = -tanL / R;
-	F(2, 6) = (-omega * cosL - vE / (R * cosLSq)) * dt;
+	F(2, 6) = -omega * cosL - vE / (R * cosLSq);
-	F(2, 8) = (vE * tanL / RSq) * dt;
+	F(2, 8) = vE * tanL / RSq;
 
-	F(3, 1) = (-fD) * dt;
+	F(3, 1) = -fD;
-	F(3, 2) = (fE) * dt;
+	F(3, 2) = fE;
-	F(3, 3) = 1.0f + (vD / R) * dt; // on diagonal
+	F(3, 3) = vD / R;
-	F(3, 4) = (-2 * (omega * sinL + vE * tanL / R)) * dt;
+	F(3, 4) = -2 * (omega * sinL + vE * tanL / R);
-	F(3, 5) = (vN / R) * dt;
+	F(3, 5) = vN / R;
-	F(3, 6) = (-vE * (2 * omega * cosL + vE / (R * cosLSq))) * dt;
+	F(3, 6) = -vE * (2 * omega * cosL + vE / (R * cosLSq));
-	F(3, 8) = ((vE * vE * tanL - vN * vD) / RSq) * dt;
+	F(3, 8) = (vE * vE * tanL - vN * vD) / RSq;
 
-	F(4, 0) = (fD) * dt;
+	F(4, 0) = fD;
-	F(4, 2) = (-fN) * dt;
+	F(4, 2) = -fN;
-	F(4, 3) = (2 * omega * sinL + vE * tanL / R) * dt;
+	F(4, 3) = 2 * omega * sinL + vE * tanL / R;
-	F(4, 4) = 1.0f + ((vN * tanL + vD) / R) * dt; // on diagonal
+	F(4, 4) = (vN * tanL + vD) / R;
-	F(4, 5) = (2 * omega * cosL + vE / R) * dt;
+	F(4, 5) = 2 * omega * cosL + vE / R;
-	F(4, 6) = (2 * omega * (vN * cosL - vD * sinL) +
+	F(4, 6) = 2 * omega * (vN * cosL - vD * sinL) +
-		   vN * vE / (R * cosLSq)) * dt;
+		  vN * vE / (R * cosLSq);
-	F(4, 8) = (-vE * (vN * tanL + vD) / RSq) * dt;
+	F(4, 8) = -vE * (vN * tanL + vD) / RSq;
 
-	F(5, 0) = (-fE) * dt;
+	F(5, 0) = -fE;
-	F(5, 1) = (fN) * dt;
+	F(5, 1) = fN;
-	F(5, 3) = (-2 * vN / R) * dt;
+	F(5, 3) = -2 * vN / R;
-	F(5, 4) = (-2 * (omega * cosL + vE / R)) * dt;
+	F(5, 4) = -2 * (omega * cosL + vE / R);
-	F(5, 6) = (2 * omega * vE * sinL) * dt;
+	F(5, 6) = 2 * omega * vE * sinL;
-	F(5, 8) = ((vN * vN + vE * vE) / RSq) * dt;
+	F(5, 8) = (vN * vN + vE * vE) / RSq;
 
-	F(6, 3) = (1 / R) * dt;
+	F(6, 3) = 1 / R;
-	F(6, 8) = (-vN / RSq) * dt;
+	F(6, 8) = -vN / RSq;
 
-	F(7, 4) = (1 / (R * cosL)) * dt;
+	F(7, 4) = 1 / (R * cosL);
-	F(7, 6) = (vE * tanL / (R * cosL)) * dt;
+	F(7, 6) = vE * tanL / (R * cosL);
-	F(7, 8) = (-vE / (cosL * RSq)) * dt;
+	F(7, 8) = -vE / (cosL * RSq);
 
-	F(8, 5) = (-1) * dt;
+	F(8, 5) = -1;
 
 	// G Matrix
 	// Titterton pg. 291
-	G(0, 0) = -C_nb(0, 0) * dt;
+	G(0, 0) = -C_nb(0, 0);
-	G(0, 1) = -C_nb(0, 1) * dt;
+	G(0, 1) = -C_nb(0, 1);
-	G(0, 2) = -C_nb(0, 2) * dt;
+	G(0, 2) = -C_nb(0, 2);
-	G(1, 0) = -C_nb(1, 0) * dt;
+	G(1, 0) = -C_nb(1, 0);
-	G(1, 1) = -C_nb(1, 1) * dt;
+	G(1, 1) = -C_nb(1, 1);
-	G(1, 2) = -C_nb(1, 2) * dt;
+	G(1, 2) = -C_nb(1, 2);
-	G(2, 0) = -C_nb(2, 0) * dt;
+	G(2, 0) = -C_nb(2, 0);
-	G(2, 1) = -C_nb(2, 1) * dt;
+	G(2, 1) = -C_nb(2, 1);
-	G(2, 2) = -C_nb(2, 2) * dt;
+	G(2, 2) = -C_nb(2, 2);
 
-	G(3, 3) = C_nb(0, 0) * dt;
+	G(3, 3) = C_nb(0, 0);
-	G(3, 4) = C_nb(0, 1) * dt;
+	G(3, 4) = C_nb(0, 1);
-	G(3, 5) = C_nb(0, 2) * dt;
+	G(3, 5) = C_nb(0, 2);
-	G(4, 3) = C_nb(1, 0) * dt;
+	G(4, 3) = C_nb(1, 0);
-	G(4, 4) = C_nb(1, 1) * dt;
+	G(4, 4) = C_nb(1, 1);
-	G(4, 5) = C_nb(1, 2) * dt;
+	G(4, 5) = C_nb(1, 2);
-	G(5, 3) = C_nb(2, 0) * dt;
+	G(5, 3) = C_nb(2, 0);
-	G(5, 4) = C_nb(2, 1) * dt;
+	G(5, 4) = C_nb(2, 1);
-	G(5, 5) = C_nb(2, 2) * dt;
+	G(5, 5) = C_nb(2, 2);
 
-	// predict equations for kalman filter
+	// continuous predictioon equations
-	P = F * P * F.transpose() + G * V * G.transpose();
+	// for discrte time EKF
+	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
+	P = P + (F * P + P * F.transpose() + G * V * G.transpose()) * dt;
+
+	return ret_ok;
 }
 
-void KalmanNav::correctAtt()
+int KalmanNav::correctAtt()
 {
 	using namespace math;
 
@@ -428,13 +483,14 @@ void KalmanNav::correctAtt()
 
 	// mag measurement
 	Vector3 zMag(_sensors.magnetometer_ga);
+	//float magNorm = zMag.norm();
 	zMag = zMag.unit();
 
 	// mag predicted measurement
 	// choosing some typical magnetic field properties,
 	//  TODO dip/dec depend on lat/ lon/ time
-	static const float dip = 60.0f / M_RAD_TO_DEG_F; // dip, inclination with level
+	float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level
-	static const float dec = 0.0f / M_RAD_TO_DEG_F; // declination, clockwise rotation from north
+	float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north
 	float bN = cosf(dip) * cosf(dec);
 	float bE = cosf(dip) * sinf(dec);
 	float bD = sinf(dip);
@@ -443,10 +499,25 @@ void KalmanNav::correctAtt()
 
 	// accel measurement
 	Vector3 zAccel(_sensors.accelerometer_m_s2);
+	float accelMag = zAccel.norm();
 	zAccel = zAccel.unit();
 
+	// ignore accel correction when accel mag not close to g
+	Matrix RAttAdjust = RAtt;
+
+	bool ignoreAccel = fabsf(accelMag - _g.get()) > 1.1f;
+
+	if (ignoreAccel) {
+		RAttAdjust(3, 3) = 1.0e10;
+		RAttAdjust(4, 4) = 1.0e10;
+		RAttAdjust(5, 5) = 1.0e10;
+
+	} else {
+		//printf("correcting attitude with accel\n");
+	}
+
 	// accel predicted measurement
-	Vector3 zAccelHat = (C_nb.transpose() * Vector3(0, 0, -1)).unit();
+	Vector3 zAccelHat = (C_nb.transpose() * Vector3(0, 0, -_g.get())).unit();
 
 	// combined measurement
 	Vector zAtt(6);
@@ -498,8 +569,9 @@ void KalmanNav::correctAtt()
 	HAtt(5, 1) = cosPhi * sinTheta;
 
 	// compute correction
+	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
 	Vector y = zAtt - zAttHat; // residual
-	Matrix S = HAtt * P * HAtt.transpose() + RAtt; // residual covariance
+	Matrix S = HAtt * P * HAtt.transpose() + RAttAdjust; // residual covariance
 	Matrix K = P * HAtt.transpose() * S.inverse();
 	Vector xCorrect = K * y;
 
@@ -510,46 +582,65 @@ void KalmanNav::correctAtt()
 		if (isnan(val) || isinf(val)) {
 			// abort correction and return
 			printf("[kalman_demo] numerical failure in att correction\n");
-			return;
+			// reset P matrix to P0
+			P = P0;
+			return ret_error;
 		}
 	}
 
 	// correct state
-	phi += xCorrect(PHI);
+	if (!ignoreAccel) {
-	theta += xCorrect(THETA);
+		phi += xCorrect(PHI);
+		theta += xCorrect(THETA);
+	}
+
 	psi += xCorrect(PSI);
 
+	// attitude also affects nav velocities
+	if (_positionInitialized) {
+		vN += xCorrect(VN);
+		vE += xCorrect(VE);
+		vD += xCorrect(VD);
+	}
+
 	// update state covariance
+	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
 	P = P - K * HAtt * P;
 
 	// fault detection
 	float beta = y.dot(S.inverse() * y);
-	printf("attitude: beta = %8.4f\n", (double)beta);
 
-	if (beta > 10.0f) {
+	if (beta > _faultAtt.get()) {
-		//printf("fault in attitude: beta = %8.4f\n", (double)beta);
+		printf("fault in attitude: beta = %8.4f\n", (double)beta);
-		//printf("y:\n"); y.print();
+		printf("y:\n"); y.print();
+		printf("zMagHat:\n"); zMagHat.print();
+		printf("zMag:\n"); zMag.print();
+		printf("bNav:\n"); bNav.print();
 	}
 
 	// update quaternions from euler
 	// angle correction
 	q = Quaternion(EulerAngles(phi, theta, psi));
+
+	return ret_ok;
 }
 
-void KalmanNav::correctGps()
+int KalmanNav::correctPos()
 {
 	using namespace math;
-	Vector y(6);
+
+	// residual
+	Vector y(5);
 	y(0) = _gps.vel_n - vN;
 	y(1) = _gps.vel_e - vE;
-	y(2) = _gps.vel_d - vD;
+	y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG;
-	y(3) = double(_gps.lat) / 1.0e7 / M_RAD_TO_DEG - lat;
+	y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG;
-	y(4) = double(_gps.lon) / 1.0e7 / M_RAD_TO_DEG - lon;
+	y(4) = double(_gps.alt) / 1.0e3 - alt;
-	y(5) = double(_gps.alt) / 1.0e3 - alt;
 
 	// compute correction
-	Matrix S = HGps * P * HGps.transpose() + RGps; // residual covariance
+	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
-	Matrix K = P * HGps.transpose() * S.inverse();
+	Matrix S = HPos * P * HPos.transpose() + RPos; // residual covariance
+	Matrix K = P * HPos.transpose() * S.inverse();
 	Vector xCorrect = K * y;
 
 	// check correction is sane
@@ -566,7 +657,9 @@ void KalmanNav::correctGps()
 			setLatDegE7(_gps.lat);
 			setLonDegE7(_gps.lon);
 			setAltE3(_gps.alt);
-			return;
+			// reset P matrix to P0
+			P = P0;
+			return ret_error;
 		}
 	}
 
@@ -579,16 +672,23 @@ void KalmanNav::correctGps()
 	alt += double(xCorrect(ALT));
 
 	// update state covariance
-	P = P - K * HGps * P;
+	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
+	P = P - K * HPos * P;
 
 	// fault detetcion
 	float beta = y.dot(S.inverse() * y);
-	printf("gps: beta = %8.4f\n", (double)beta);
 
-	if (beta > 100.0f) {
+	if (beta > _faultPos.get()) {
-		//printf("fault in gps: beta = %8.4f\n", (double)beta);
+		printf("fault in gps: beta = %8.4f\n", (double)beta);
-		//printf("y:\n"); y.print();
+		printf("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
+		       double(y(0) / sqrtf(RPos(0, 0))),
+		       double(y(1) / sqrtf(RPos(1, 1))),
+		       double(y(2) / sqrtf(RPos(2, 2))),
+		       double(y(3) / sqrtf(RPos(3, 3))),
+		       double(y(4) / sqrtf(RPos(4, 4))));
 	}
+
+	return ret_ok;
 }
 
 void KalmanNav::updateParams()
@@ -608,20 +708,54 @@ void KalmanNav::updateParams()
 	V(5, 5) = _vAccel.get();   // accel z
 
 	// magnetometer noise
-	RAtt(0, 0) = _rMag.get(); // normalized direction
+	float noiseMin = 1e-6f;
-	RAtt(1, 1) = _rMag.get();
+	float noiseMagSq = _rMag.get() * _rMag.get();
-	RAtt(2, 2) = _rMag.get();
+
+	if (noiseMagSq < noiseMin) noiseMagSq = noiseMin;
+
+	RAtt(0, 0) = noiseMagSq; // normalized direction
+	RAtt(1, 1) = noiseMagSq;
+	RAtt(2, 2) = noiseMagSq;
 
 	// accelerometer noise
-	RAtt(3, 3) = _rAccel.get(); // normalized direction
+	float noiseAccelSq = _rAccel.get() * _rAccel.get();
-	RAtt(4, 4) = _rAccel.get();
+
-	RAtt(5, 5) = _rAccel.get();
+	// bound noise to prevent singularities
+	if (noiseAccelSq < noiseMin) noiseAccelSq = noiseMin;
+
+	RAtt(3, 3) = noiseAccelSq; // normalized direction
+	RAtt(4, 4) = noiseAccelSq;
+	RAtt(5, 5) = noiseAccelSq;
 
 	// gps noise
-	RGps(0, 0) = _rGpsV.get(); // vn, m/s
+	float R = R0 + float(alt);
-	RGps(1, 1) = _rGpsV.get(); // ve
+	float cosLSing = cosf(lat);
-	RGps(2, 2) = _rGpsV.get(); // vd
+
-	RGps(3, 3) = _rGpsGeo.get(); // L, rad
+	// prevent singularity
-	RGps(4, 4) = _rGpsGeo.get(); // l, rad
+	if (fabsf(cosLSing) < 0.01f) {
-	RGps(5, 5) = _rGpsAlt.get(); // h, m
+		if (cosLSing > 0) cosLSing = 0.01;
+		else cosLSing = -0.01;
+	}
+
+	float noiseVel = _rGpsVel.get();
+	float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R;
+	float noiseLonDegE7 = noiseLatDegE7 / cosLSing;
+	float noiseAlt = _rGpsAlt.get();
+
+	// bound noise to prevent singularities
+	if (noiseVel < noiseMin) noiseVel = noiseMin;
+
+	if (noiseLatDegE7 < noiseMin) noiseLatDegE7 = noiseMin;
+
+	if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin;
+
+	if (noiseAlt < noiseMin) noiseAlt = noiseMin;
+
+	RPos(0, 0) = noiseVel * noiseVel; // vn
+	RPos(1, 1) = noiseVel * noiseVel; // ve
+	RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat
+	RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon
+	RPos(4, 4) = noiseAlt * noiseAlt; // h
+	// XXX, note that RPos depends on lat, so updateParams should
+	// be called if lat changes significantly
 }

apps/examples/kalman_demo/KalmanNav.hpp

@@ -60,53 +60,116 @@
 #include <poll.h>
 #include <unistd.h>
 
+/**
+ * Kalman filter navigation class
+ * http://en.wikipedia.org/wiki/Extended_Kalman_filter
+ * Discrete-time extended Kalman filter
+ */
 class KalmanNav : public control::SuperBlock
 {
 public:
+	/**
+	 * Constructor
+	 */
 	KalmanNav(SuperBlock *parent, const char *name);
+
+	/**
+	 * Deconstuctor
+	 */
+
 	virtual ~KalmanNav() {};
+	/**
+	 * The main callback function for the class
+	 */
 	void update();
+
+
+	/**
+	 * Publication update
+	 */
 	virtual void updatePublications();
-	void predictFast(float dt);
+
-	void predictSlow(float dt);
+	/**
-	void correctAtt();
+	 * State prediction
-	void correctGps();
+	 * Continuous, non-linear
+	 */
+	int predictState(float dt);
+
+	/**
+	 * State covariance prediction
+	 * Continuous, linear
+	 */
+	int predictStateCovariance(float dt);
+
+	/**
+	 * Attitude correction
+	 */
+	int correctAtt();
+
+	/**
+	 * Position correction
+	 */
+	int correctPos();
+
+	/**
+	 * Overloaded update parameters
+	 */
 	virtual void updateParams();
 protected:
-	math::Matrix F;
+	// kalman filter
-	math::Matrix G;
+	math::Matrix F;             /**< Jacobian(f,x), where dx/dt = f(x,u) */
-	math::Matrix P;
+	math::Matrix G;             /**< noise shaping matrix for gyro/accel */
-	math::Matrix V;
+	math::Matrix P;             /**< state covariance matrix */
-	math::Matrix HAtt;
+	math::Matrix P0;            /**< initial state covariance matrix */
-	math::Matrix RAtt;
+	math::Matrix V;             /**< gyro/ accel noise matrix */
-	math::Matrix HGps;
+	math::Matrix HAtt;          /**< attitude measurement matrix */
-	math::Matrix RGps;
+	math::Matrix RAtt;          /**< attitude measurement noise matrix */
-	math::Dcm C_nb;
+	math::Matrix HPos;          /**< position measurement jacobian matrix */
-	math::Quaternion q;
+	math::Matrix RPos;          /**< position measurement noise matrix */
-	control::UOrbSubscription<sensor_combined_s> _sensors;
+	// attitude
-	control::UOrbSubscription<vehicle_gps_position_s> _gps;
+	math::Dcm C_nb;             /**< direction cosine matrix from body to nav frame */
-	control::UOrbSubscription<parameter_update_s> _param_update;
+	math::Quaternion q;         /**< quaternion from body to nav frame */
-	control::UOrbPublication<vehicle_global_position_s> _pos;
+	// subscriptions
-	control::UOrbPublication<vehicle_attitude_s> _att;
+	control::UOrbSubscription<sensor_combined_s> _sensors;          /**< sensors sub. */
-	uint64_t _pubTimeStamp;
+	control::UOrbSubscription<vehicle_gps_position_s> _gps;         /**< gps sub. */
-	uint64_t _fastTimeStamp;
+	control::UOrbSubscription<parameter_update_s> _param_update;    /**< parameter update sub. */
-	uint64_t _slowTimeStamp;
+	// publications
-	uint64_t _attTimeStamp;
+	control::UOrbPublication<vehicle_global_position_s> _pos;       /**< position pub. */
-	uint64_t _outTimeStamp;
+	control::UOrbPublication<vehicle_attitude_s> _att;              /**< attitude pub. */
-	uint16_t _navFrames;
+	// time stamps
-	float fN, fE, fD;
+	uint64_t _pubTimeStamp;     /**< output data publication time stamp */
+	uint64_t _predictTimeStamp; /**< prediction time stamp */
+	uint64_t _attTimeStamp;     /**< attitude correction time stamp */
+	uint64_t _outTimeStamp;     /**< output time stamp */
+	// frame count
+	uint16_t _navFrames;        /**< navigation frames completed in output cycle */
+	// miss counts
+	uint16_t _miss;         	/**< number of times fast prediction loop missed */
+	// accelerations
+	float fN, fE, fD;           /**< navigation frame acceleration */
 	// states
-	enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT};
+	enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT};  /**< state enumeration */
-	float phi, theta, psi;
+	float phi, theta, psi;                  /**< 3-2-1 euler angles */
-	float vN, vE, vD;
+	float vN, vE, vD;                       /**< navigation velocity, m/s */
-	double lat, lon, alt;
+	double lat, lon, alt;                   /**< lat, lon, alt, radians */
-	control::BlockParam<float> _vGyro;
+	// parameters
-	control::BlockParam<float> _vAccel;
+	control::BlockParam<float> _vGyro;      /**< gyro process noise */
-	control::BlockParam<float> _rMag;
+	control::BlockParam<float> _vAccel;     /**< accelerometer process noise  */
-	control::BlockParam<float> _rGpsV;
+	control::BlockParam<float> _rMag;       /**< magnetometer measurement noise  */
-	control::BlockParam<float> _rGpsGeo;
+	control::BlockParam<float> _rGpsVel;    /**< gps velocity measurement noise */
-	control::BlockParam<float> _rGpsAlt;
+	control::BlockParam<float> _rGpsPos;    /**< gps position measurement noise */
-	control::BlockParam<float> _rAccel;
+	control::BlockParam<float> _rGpsAlt;    /**< gps altitude measurement noise */
+	control::BlockParam<float> _rAccel;     /**< accelerometer measurement noise */
+	control::BlockParam<float> _magDip;     /**< magnetic inclination with level */
+	control::BlockParam<float> _magDec;     /**< magnetic declination, clockwise rotation */
+	control::BlockParam<float> _g;          /**< gravitational constant */
+	control::BlockParam<float> _faultPos;   /**< fault detection threshold for position */
+	control::BlockParam<float> _faultAtt;   /**< fault detection threshold for attitude */
+	// status
+	bool _attitudeInitialized;
+	bool _positionInitialized;
+	uint16_t _attitudeInitCounter;
+	// accessors
 	int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); }
 	void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; }
 	int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); }

apps/examples/kalman_demo/params.c

@@ -1,10 +1,16 @@
 #include <systemlib/param/param.h>
 
 /*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
-PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.01f);
+PARAM_DEFINE_FLOAT(KF_V_GYRO, 1.0f);
-PARAM_DEFINE_FLOAT(KF_V_ACCEL, 0.01f);
+PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
-PARAM_DEFINE_FLOAT(KF_R_MAG, 0.01f);
+PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f);
-PARAM_DEFINE_FLOAT(KF_R_GPS_V, 0.1f);
+PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f);
-PARAM_DEFINE_FLOAT(KF_R_GPS_GEO, 1.0e-7f);
+PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f);
-PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 10.0f);
+PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f);
-PARAM_DEFINE_FLOAT(KF_R_ACCEL, 0.01f);
+PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f);
+PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f);
+PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f);
+PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f);
+PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f);
+PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f);
+

apps/examples/mm/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/mm/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/examples/mount/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/Makefile
 #
-#   Copyright (C) 2007-2008, 2010-2010 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2007-2008, 2010-2010, 2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/examples/nsh/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/nsh/Makefile
 #
-#   Copyright (C) 2007-2008, 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2007-2008, 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/examples/null/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # examples/null/Makefile
 #
-#   Copyright (C) 2007-2008, 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2007-2008, 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/examples/ostest/Kconfig

@@ -39,4 +39,31 @@ config EXAMPLES_OSTEST_NBARRIER_THREADS
 		is 8 but a smaller number may be needed on systems without sufficient memory
 		to start so many threads.
 
+config EXAMPLES_OSTEST_RR_RANGE
+	int "Round-robin test - end of search range"
+	default 10000
+	range 1 32767
+	---help---
+		During round-robin scheduling test two threads are created. Each of the threads
+		searches for prime numbers in the configurable range, doing that configurable
+		number of times.
+
+		This value specifies the end of search range and together with number of runs
+		allows to configure the length of this test - it should last at least a few
+		tens of seconds. Allowed values [1; 32767], default 10000
+
+config EXAMPLES_OSTEST_RR_RUNS
+	int "Round-robin test - number of runs"
+	default 10
+	range 1 32767
+	---help---
+		During round-robin scheduling test two threads are created. Each of the threads
+		searches for prime numbers in the configurable range, doing that configurable
+		number of times.
+
+		This value specifies the number of times the thread searches the range for
+		prime numbers and together with end of search range allows to configure the
+		length of this test - it should last at least a few tens of seconds. Allowed
+		values [1; 32767], default 10
+
 endif

apps/examples/ostest/Makefile

@@ -98,10 +98,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -120,9 +124,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 .context:
@@ -134,16 +136,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/examples/ostest/roundrobin.c

@@ -1,7 +1,7 @@
 /********************************************************************************
  * examples/ostest/roundrobin.c
  *
- *   Copyright (C) 2007, 2008 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007, 2008, 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -39,6 +39,7 @@
 
 #include <nuttx/config.h>
 #include <stdio.h>
+#include <stdbool.h>
 #include "ostest.h"
 
 #if CONFIG_RR_INTERVAL > 0
@@ -47,115 +48,87 @@
  * Definitions
  ********************************************************************************/
 
-/* This number may need to be tuned for different processor speeds.  Since these
+/* This numbers should be tuned for different processor speeds via .config file.
- * arrays must be large to very correct SCHED_RR behavior, this test may require
+ * With default values the test takes about 30s on Cortex-M3 @ 24MHz. With 32767
- * too much memory on many targets.
+ * range and 10 runs it takes ~320s. */
- */
 
-/* #define CONFIG_NINTEGERS 32768 Takes forever on 60Mhz ARM7 */
+#ifndef CONFIG_EXAMPLES_OSTEST_RR_RANGE
+#  define CONFIG_EXAMPLES_OSTEST_RR_RANGE 10000
+#  warning "CONFIG_EXAMPLES_OSTEST_RR_RANGE undefined, using default value = 10000"
+#elif (CONFIG_EXAMPLES_OSTEST_RR_RANGE < 1) || (CONFIG_EXAMPLES_OSTEST_RR_RANGE > 32767)
+#  define CONFIG_EXAMPLES_OSTEST_RR_RANGE 10000
+#  warning "Invalid value of CONFIG_EXAMPLES_OSTEST_RR_RANGE, using default value = 10000"
+#endif
 
-#define CONFIG_NINTEGERS 2048
+#ifndef CONFIG_EXAMPLES_OSTEST_RR_RUNS
-
+#  define CONFIG_EXAMPLES_OSTEST_RR_RUNS 10
-/********************************************************************************
+#  warning "CONFIG_EXAMPLES_OSTEST_RR_RUNS undefined, using default value = 10"
- * Private Data
+#elif (CONFIG_EXAMPLES_OSTEST_RR_RUNS < 1) || (CONFIG_EXAMPLES_OSTEST_RR_RUNS > 32767)
- ********************************************************************************/
+#  define CONFIG_EXAMPLES_OSTEST_RR_RUNS 10
-
+#  warning "Invalid value of CONFIG_EXAMPLES_OSTEST_RR_RUNS, using default value = 10"
-static int prime1[CONFIG_NINTEGERS];
+#endif
-static int prime2[CONFIG_NINTEGERS];
 
 /********************************************************************************
  * Private Functions
  ********************************************************************************/
 
 /********************************************************************************
- * Name: dosieve
+ * Name: get_primes
  *
  * Description
- *   This implements a "sieve of aristophanes" algorithm for finding prime number.
+ *   This function searches for prime numbers in the most primitive way possible.
- *   Credit for this belongs to someone, but I am not sure who anymore.  Anyway,
- *   the only purpose here is that we need some algorithm that takes a long period 
- *   of time to execute.
- *
  ********************************************************************************/
 
-static void dosieve(int *prime)
+static void get_primes(int *count, int *last)
 {
-  int a,d;
+  int number;
-  int i;
+  int local_count = 0;
-  int j;
+  *last = 0;    // to make compiler happy
 
-  a = 2;
+  for (number = 1; number < CONFIG_EXAMPLES_OSTEST_RR_RANGE; number++)
-  d = a;
+  {
+    int div;
+    bool is_prime = true;
 
-  for (i = 0; i < CONFIG_NINTEGERS; i++)
+    for (div = 2; div <= number / 2; div++)
+      if (number % div == 0)
+      {
+        is_prime = false;
+        break;
+      }
+
+    if (is_prime)
     {
-      prime[i] = i+2;
+      local_count++;
-    }
+      *last = number;
-
-  for (i = 1; i < 10; i++)
-    {
-      for (j = 0; j < CONFIG_NINTEGERS; j++)
-        {
-          d = a + d;
-          if (d < CONFIG_NINTEGERS)
-            {
-              prime[d]=0;
-            }
-        }
-      a++;
-      d = a;
-      i++;
-    }
-
 #if 0 /* We don't really care what the numbers are */
-  for (i = 0, j= 0; i < CONFIG_NINTEGERS; i++)
+      printf(" Prime %d: %d\n", local_count, number);
-    {
-      if (prime[i] != 0)
-       {
-         printf(" Prime %d: %d\n", j, prime[i]);
-         j++;
-       }
-    }
 #endif
+    }
+  }
+
+  *count = local_count;
 }
 
 /********************************************************************************
- * Name: sieve1
+ * Name: get_primes_thread
  ********************************************************************************/
 
-static void *sieve1(void *parameter)
+static void *get_primes_thread(void *parameter)
 {
-  int i;
+  int id = (int)parameter;
+  int i, count, last;
 
-  printf("sieve1 started\n");
+  printf("get_primes_thread id=%d started, looking for primes < %d, doing %d run(s)\n",
+         id, CONFIG_EXAMPLES_OSTEST_RR_RANGE, CONFIG_EXAMPLES_OSTEST_RR_RUNS);
 
-  for (i = 0; i < 1000; i++)
+  for (i = 0; i < CONFIG_EXAMPLES_OSTEST_RR_RUNS; i++)
     {
-      dosieve(prime1);
+      get_primes(&count, &last);
     }
 
-  printf("sieve1 finished\n");
+  printf("get_primes_thread id=%d finished, found %d primes, last one was %d\n",
-
+         id, count, last);
-  pthread_exit(NULL);
-  return NULL; /* To keep some compilers happy */
-}
-
-/********************************************************************************
- * Name: sieve2
- ********************************************************************************/
-
-static void *sieve2(void *parameter)
-{
-  int i;
-
-  printf("sieve2 started\n");
-
-  for (i = 0; i < 1000; i++)
-    {
-      dosieve(prime2);
-    }
-
-  printf("sieve2 finished\n");
 
   pthread_exit(NULL);
   return NULL; /* To keep some compilers happy */
@@ -171,14 +144,13 @@ static void *sieve2(void *parameter)
 
 void rr_test(void)
 {
-  pthread_t sieve1_thread;
+  pthread_t get_primes1_thread;
-  pthread_t sieve2_thread;
+  pthread_t get_primes2_thread;
   struct sched_param sparam;
   pthread_attr_t attr;
   pthread_addr_t result;
   int status;
 
-  printf("rr_test: Starting sieve1 thread \n");
   status = pthread_attr_init(&attr);
   if (status != OK)
     {
@@ -203,29 +175,31 @@ void rr_test(void)
     }
   else
     {
-      printf("rr_test: Set thread policty to SCHED_RR\n");
+      printf("rr_test: Set thread policy to SCHED_RR\n");
     }
 
-  status = pthread_create(&sieve1_thread, &attr, sieve1, NULL);
+  printf("rr_test: Starting first get_primes_thread\n");
+
+  status = pthread_create(&get_primes1_thread, &attr, get_primes_thread, (void*)1);
   if (status != 0)
     {
       printf("rr_test: Error in thread 1 creation, status=%d\n",  status);
     }
 
-  printf("rr_test: Starting sieve1 thread \n");
+  printf("rr_test: Starting second get_primes_thread\n");
 
-  status = pthread_create(&sieve2_thread, &attr, sieve2, NULL);
+  status = pthread_create(&get_primes2_thread, &attr, get_primes_thread, (void*)2);
   if (status != 0)
     {
       printf("rr_test: Error in thread 2 creation, status=%d\n",  status);
     }
 
-  printf("rr_test: Waiting for sieves to complete -- this should take awhile\n");
+  printf("rr_test: Waiting for threads to complete -- this should take awhile\n");
   printf("rr_test: If RR scheduling is working, they should start and complete at\n");
   printf("rr_test: about the same time\n");
 
-  pthread_join(sieve2_thread, &result);
+  pthread_join(get_primes2_thread, &result);
-  pthread_join(sieve1_thread, &result);
+  pthread_join(get_primes1_thread, &result);
   printf("rr_test: Done\n");
 }
 

apps/examples/pipe/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/pipe/Makefile
 #
-#   Copyright (C) 2008, 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2008, 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/examples/poll/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/poll/Makefile
 #
-#   Copyright (C) 2008, 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2008, 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,25 +74,25 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 # Register application
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend host
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+	$(call DELFILE, host$(HOSTEXEEXT))
 
 -include Make.dep

apps/examples/pwm/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/pwm/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 .context:
@@ -88,16 +90,17 @@ $(COBJS): %$(OBJEXT): %.c
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/examples/pwm/pwm_main.c

@@ -48,6 +48,7 @@
 #include <fcntl.h>
 #include <errno.h>
 #include <debug.h>
+#include <string.h>
 
 #include <nuttx/pwm.h>
 

apps/examples/qencoder/Makefile

@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 .context:
@@ -90,16 +92,17 @@ endif
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/examples/romfs/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/romfs/Makefile
 #
-#   Copyright (C) 2008, 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2008, 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -61,7 +65,7 @@ ROOTDEPPATH	= --dep-path .
 VPATH		= 
 
 all: .built
-.PHONY:	checkgenromfs clean depend disclean
+.PHONY:	checkgenromfs clean depend distclean
 
 $(AOBJS): %$(OBJEXT): %.S
 	$(call ASSEMBLE, $<, $@)
@@ -86,26 +90,26 @@ romfs_testdir.h : testdir.img
 	@xxd -i $< >$@ || { echo "xxd of $< failed" ; exit 1 ; }
 
 .built: romfs_testdir.h $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 # Register application
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend testdir.img
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+	$(call DELFILE, testdir.img)
 
 -include Make.dep
 

apps/examples/serloop/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/examples/serloop/Makefile
 #
-#   Copyright (C) 2008, 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2008, 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -70,26 +74,25 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 # Register application
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
 

apps/examples/watchdog/Makefile

@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 .context:
@@ -88,16 +90,17 @@ $(COBJS): %$(OBJEXT): %.c
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/gps/gps.c

@@ -107,8 +107,8 @@ enum GPS_MODES {
 
 
 #define AUTO_DETECTION_COUNT 8
-const int autodetection_baudrates[] = {B9600, B38400, B38400, B9600, B9600, B38400, B9600, B38400};
+const int autodetection_baudrates[] = {B38400, B9600, B38400, B9600, B38400, B9600, B38400, B9600};
-const enum GPS_MODES autodetection_gpsmodes[] = {GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_MTK, 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
+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
@@ -368,7 +368,6 @@ int gps_thread_main(int argc, char *argv[]) {
 				args.thread_should_exit_ptr = &thread_should_exit;
 
 				pthread_create(&ubx_thread, &ubx_loop_attr, ubx_loop, (void *)&args);
-				sleep(2); // XXX TODO Check if this is too short, try to lower sleeps in UBX driver
                 
 				pthread_attr_t ubx_wd_attr;
 				pthread_attr_init(&ubx_wd_attr);

apps/gps/ubx.c

@@ -52,7 +52,7 @@
 #define UBX_HEALTH_FAIL_COUNTER_LIMIT 3
 #define UBX_HEALTH_PROBE_COUNTER_LIMIT 4
 
-#define UBX_BUFFER_SIZE 1000
+#define UBX_BUFFER_SIZE 500
 
 extern bool gps_mode_try_all;
 extern bool gps_mode_success;
@@ -63,18 +63,10 @@ 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;
 
 
-//Definitions for ubx, last two bytes are checksum which is calculated below
-uint8_t UBX_CONFIG_MESSAGE_PRT[] = {0xB5 , 0x62 , 0x06 , 0x00 , 0x14 , 0x00 , 0x01 , 0x00 , 0x00 , 0x00 , 0xD0 , 0x08 , 0x00 , 0x00 , 0x80 , 0x25 , 0x00 , 0x00 , 0x07 , 0x00 , 0x01 , 0x00 , 0x00 , 0x00 , 0x00 , 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00,   0x01, 0x02,   0x00, 0x01, 0x00, 0x00, 0x00, 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x21, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_DOP[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00,   0x01, 0x04,   0x00, 0x01, 0x00, 0x00, 0x00, 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00,   0x01, 0x30,   0x00, 0x02, 0x00, 0x00, 0x00, 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_SOL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00,   0x01, 0x06,   0x00, 0x02, 0x00, 0x00, 0x00, 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_VELNED[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00,   0x01, 0x12,   0x00, 0x01, 0x00, 0x00, 0x00, 0x00};
-uint8_t UBX_CONFIG_MESSAGE_MSG_RXM_SVSI[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00,   0x02, 0x20,   0x00, 0x02, 0x00, 0x00, 0x00, 0x00};
 
 void ubx_decode_init(void)
 {
@@ -100,15 +92,15 @@ void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b)
 
 int ubx_parse(uint8_t b,  char *gps_rx_buffer)
 {
-//	printf("b=%x\n",b);
+	//printf("b=%x\n",b);
 	if (ubx_state->decode_state == UBX_DECODE_UNINIT) {
 
-		if (b == 0xb5) {
+		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 == 0x62) {
+		if (b == UBX_SYNC_2) {
 			ubx_state->decode_state = UBX_DECODE_GOT_SYNC2;
 
 		} else {
@@ -122,16 +114,25 @@ int ubx_parse(uint8_t b,  char *gps_rx_buffer)
 
 		//check for known class
 		switch (b) {
-		case UBX_CLASS_NAV: //NAV
+		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: //RXM
+		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;
@@ -193,9 +194,36 @@ int ubx_parse(uint8_t b,  char *gps_rx_buffer)
 				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;
@@ -542,6 +570,75 @@ int ubx_parse(uint8_t b,  char *gps_rx_buffer)
 					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();
 
@@ -574,53 +671,105 @@ void calculate_ubx_checksum(uint8_t *message, uint8_t length)
 
 	message[length - 2] = ck_a;
 	message[length - 1] = ck_b;
-
-//	printf("[%x,%x]", ck_a, ck_b);
-
-//	printf("[%x,%x]\n", message[length-2], message[length-1]);
 }
 
 int configure_gps_ubx(int *fd)
 {
-	//fflush(((FILE *)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
+	};
 
-	//TODO: write this in a loop once it is tested
+	// only needed once like this
-	//UBX_CFG_PRT_PART:
+	const type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet = {
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_PRT, sizeof(UBX_CONFIG_MESSAGE_PRT) / sizeof(uint8_t) , *fd);
+		.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
+	};
 
-	usleep(100000);
+	// 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
+	};
 
-	//NAV_POSLLH:
+	uint64_t time_before_config = hrt_absolute_time();
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH) / sizeof(uint8_t) , *fd);
-	usleep(100000);
 
-	//NAV_TIMEUTC:
+	while(hrt_absolute_time() < time_before_config + UBX_CONFIG_TIMEOUT) {
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC) / sizeof(uint8_t) , *fd);
-	usleep(100000);
 
-	//NAV_DOP:
+//		if (gps_verbose) printf("[gps] ubx config state: %d\n", ubx_config_state);
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_DOP, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_DOP) / sizeof(uint8_t) , *fd);
-	usleep(100000);
 
-	//NAV_SOL:
+		switch (ubx_config_state) {
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SOL, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SOL) / sizeof(uint8_t) , *fd);
+			case UBX_CONFIG_STATE_PRT:
-	usleep(100000);
+//				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);
-	//NAV_SVINFO:
+				break;
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO) / sizeof(uint8_t) , *fd);
+			case UBX_CONFIG_STATE_NAV5:
-	usleep(100000);
+				write_config_message_ubx((uint8_t*)(&cfg_nav5_packet), sizeof(cfg_nav5_packet), fd);
-
+				break;
-	//NAV_VELNED:
+			case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED) / sizeof(uint8_t) , *fd);
+				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-	usleep(100000);
+				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH;
-
+				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-
+				break;
-	//RXM_SVSI:
+			case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI, sizeof(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI) / sizeof(uint8_t) , *fd);
+				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-	usleep(100000);
+				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
-
+				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-	return 0;
+				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;
 }
 
 
@@ -637,22 +786,17 @@ int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size)
 	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) {
-//			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);
+//				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.
@@ -671,7 +815,7 @@ int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size)
 				int msg_read = ubx_parse(c, gps_rx_buffer);
 
 				if (msg_read > 0) {
-					//			printf("Found sequence\n");
+					//printf("Found sequence\n");
 					break;
 				}
 
@@ -688,28 +832,41 @@ int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size)
 	return ret;
 }
 
-int write_config_message_ubx(uint8_t *message, size_t length, int fd)
+int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd)
 {
-	//calculate and write checksum to the end
 	uint8_t ck_a = 0;
 	uint8_t ck_b = 0;
 
 	unsigned int i;
 
-	for (i = 2; i < length; 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;
 	}
 
-//	printf("[%x,%x]\n", ck_a, ck_b);
+	// write sync bytes first
+	buffer[0] = UBX_SYNC_1;
+	buffer[1] = UBX_SYNC_2;
 
-	unsigned int result_write =  write(fd, message, length);
+	// write config message without the checksum
-	result_write +=  write(fd, &ck_a, 1);
+	result_write  = write(*fd, buffer, sizeof(buffer));
-	result_write +=  write(fd, &ck_b, 1);
+	result_write += write(*fd, message, length-2);
-	fsync(fd);
 
-	return (result_write != length + 2); //return 0 as success
+	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)
@@ -723,6 +880,10 @@ void *ubx_watchdog_loop(void *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;
@@ -780,7 +941,9 @@ void *ubx_watchdog_loop(void *args)
 				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);
@@ -833,23 +996,6 @@ void *ubx_loop(void *args)
 
 	/* set parameters for ubx */
 
-	if (configure_gps_ubx(fd) != 0) {
-		printf("[gps] Configuration of gps module to ubx failed\n");
-
-		/* Write shared variable sys_status */
-		// TODO enable this again
-		//global_data_send_subsystem_info(&ubx_present);
-
-	} else {
-		if (gps_verbose) printf("[gps] Attempting to configure GPS to UBX binary protocol\n");
-
-		// XXX Shouldn't the system status only change if the module is known to work ok?
-
-		/* Write shared variable sys_status */
-		// TODO enable this again
-		//global_data_send_subsystem_info(&ubx_present_enabled);
-	}
-
 	struct vehicle_gps_position_s ubx_gps_d = {.counter = 0};
 
 	ubx_gps = &ubx_gps_d;

apps/gps/ubx.h

@@ -49,15 +49,17 @@
 
 
 //internal definitions (not depending on the ubx protocol
-#define CONFIGURE_UBX_FINISHED 0
-#define CONFIGURE_UBX_MESSAGE_ACKNOWLEDGED 1
-#define CONFIGURE_UBX_MESSAGE_NOT_ACKNOWLEDGED 2
 #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 500000			/**< Check for current state every 0.4 seconds */
+#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
@@ -72,6 +74,24 @@
 #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 */
 
 
 // ************
@@ -216,7 +236,7 @@ typedef type_gps_bin_rxm_svsi_packet gps_bin_rxm_svsi_packet_t;
 
 typedef struct {
 	uint8_t clsID;
-	uint8_t msgId;
+	uint8_t msgID;
 
 	uint8_t ck_a;
 	uint8_t ck_b;
@@ -226,7 +246,7 @@ typedef type_gps_bin_ack_ack_packet gps_bin_ack_ack_packet_t;
 
 typedef struct {
 	uint8_t clsID;
-	uint8_t msgId;
+	uint8_t msgID;
 
 	uint8_t ck_a;
 	uint8_t ck_b;
@@ -234,15 +254,91 @@ typedef struct {
 
 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
+	ACK = 3,
+	CFG = 4
 };
 
 enum UBX_MESSAGE_IDS {
@@ -254,7 +350,10 @@ enum UBX_MESSAGE_IDS {
 	NAV_DOP = 4,
 	NAV_SVINFO = 5,
 	NAV_VELNED = 6,
-	RXM_SVSI = 7
+	RXM_SVSI = 7,
+	CFG_NAV5 = 8,
+	ACK_ACK = 9,
+	ACK_NAK = 10
 };
 
 enum UBX_DECODE_STATES {
@@ -304,7 +403,7 @@ int configure_gps_ubx(int *fd);
 
 int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size);
 
-int write_config_message_ubx(uint8_t *message, size_t length, int fd);
+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);
 

apps/interpreters/Kconfig

@@ -7,7 +7,7 @@ comment "Interpreters"
 
 source "$APPSDIR/interpreters/ficl/Kconfig"
 
-config PCODE
+config INTERPRETERS_PCODE
 	bool "Pascal p-code interpreter"
 	default n
 	---help---
@@ -16,6 +16,6 @@ config PCODE
 		configuration implies that you have performed the required installation of the
 		Pascal run-time code.
 
-if PCODE
+if INTERPRETERS_PCODE
 endif
 

apps/interpreters/Make.defs

@@ -34,10 +34,10 @@
 #
 ############################################################################
 
-ifeq ($(CONFIG_PCODE),y)
+ifeq ($(CONFIG_INTERPRETERS_PCODE),y)
 CONFIGURED_APPS += interpreters/pcode
 endif
 
-ifeq ($(CONFIG_FICL),y)
+ifeq ($(CONFIG_INTERPRETERS_FICL),y)
 CONFIGURED_APPS += interpreters/ficl
 endif

apps/interpreters/Makefile

@@ -33,7 +33,7 @@
 #
 ############################################################################
 
--include $(TOPDIR)/.config	# Current configuration
+-include $(TOPDIR)/.config
 
 # Sub-directories containing interpreter runtime
 
@@ -41,30 +41,36 @@ SUBDIRS = pcode ficl
 
 # Create the list of installed runtime modules (INSTALLED_DIRS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+define ADD_DIRECTORY
+INSTALLED_DIRS  += ${shell if exist $1\Makefile (echo $1)}
+endef
+else
 define ADD_DIRECTORY
 INSTALLED_DIRS  += ${shell if [ -r $1/Makefile ]; then echo "$1"; fi}
 endef
+endif
 
 $(foreach DIR, $(SUBDIRS), $(eval $(call ADD_DIRECTORY,$(DIR))))
 
 all: nothing
 .PHONY: nothing context depend clean distclean
 
+define SDIR_template
+$(1)_$(2):
+	$(Q) $(MAKE) -C $(1) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+endef
+
+$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),depend)))
+$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
+$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
+
 nothing:
 
 context:
 
-depend:
+depend: $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_depend)
-	@for dir in $(INSTALLED_DIRS) ; do \
-		$(MAKE) -C $$dir depend TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
 
-clean:
+clean: $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_clean)
-	@for dir in $(INSTALLED_DIRS) ; do \
-		$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
 
-distclean: clean
+distclean: clean $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_distclean)
-	@for dir in $(INSTALLED_DIRS) ; do \
-		$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done

apps/interpreters/ficl/Kconfig

@@ -3,7 +3,7 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-config FICL
+config INTERPRETERS_FICL
 	bool "Ficl Forth interpreter"
 	default n
 	---help---
@@ -11,6 +11,6 @@ config FICL
 		apps/interpreters/ficl directory.  Use of this configuration assumes
 		that you have performed the required installation of the Ficl run-time code.
 
-if FICL
+if INTERPRETERS_FICL
 endif
 

apps/interpreters/ficl/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/interpreters/ficl/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -35,14 +35,11 @@
 
 BUILDDIR := ${shell pwd | sed -e 's/ /\\ /g'}
 
--include $(TOPDIR)/.config
 -include $(TOPDIR)/Make.defs
 include $(APPDIR)/Make.defs
 
 # Tools
 
-INCDIR = $(TOPDIR)/tools/incdir.sh
-
 ifeq ($(WINTOOL),y)
 INCDIROPT = -w
 endif
@@ -69,10 +66,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
 SRCS = $(ASRCS) $(CSRCS)
 OBJS = $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOT_DEPPATH = --dep-path .
@@ -95,24 +96,24 @@ debug:
 	@#echo "CFLAGS: $(CFLAGS)"
 
 .built: debug $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
+	$(Q) touch .built
-	done ; )
-	@touch .built
 
 context:
 
 .depend: debug Makefile $(SRCS)
-	@$(MKDEP) $(ROOT_DEPPATH) $(SRC_DEPPATH) $(FICL_DEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) $(MKDEP) $(ROOT_DEPPATH) $(SRC_DEPPATH) $(FICL_DEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .context)
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/mathlib/CMSIS/Include/arm_math.h

@@ -5520,7 +5520,7 @@ extern "C"
     *pIa = Ialpha;
 
     /* Calculating pIb from Ialpha and Ibeta by equation pIb = -(1/2) * Ialpha + (sqrt(3)/2) * Ibeta */
-    *pIb = -0.5 * Ialpha + (float32_t) 0.8660254039 *Ibeta;
+    *pIb = -0.5f * Ialpha + (float32_t) 0.8660254039f *Ibeta;
 
   }
 
@@ -5898,7 +5898,7 @@ extern "C"
       /* Iniatilize output for below specified range as least output value of table */
       y = pYData[0];
     }
-    else if(i >= S->nValues)
+    else if((unsigned)i >= S->nValues)
     {
       /* Iniatilize output for above specified range as last output value of table */
       y = pYData[S->nValues - 1];

apps/mathlib/CMSIS/Makefile

@@ -45,6 +45,13 @@ INCLUDES		+= $(DSPLIB_SRCDIR)/Include \
 			   $(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \
 			   $(DSPLIB_SRCDIR)/Device/ARM/ARMCM3/Include
 
+# Suppress some warnings that ARM should fix, but haven't.
+EXTRADEFINES		+= -Wno-unsuffixed-float-constants \
+			   -Wno-sign-compare \
+			   -Wno-shadow \
+			   -Wno-float-equal \
+			   -Wno-unused-variable
+
 #
 # Override the default visibility for symbols, since the CMSIS DSPLib doesn't
 # have anything we can use to mark exported symbols.

apps/mathlib/Makefile

@@ -31,8 +31,6 @@
 #
 ############################################################################
 
-include $(TOPDIR)/.config
-
 #
 # Math library
 #
@@ -44,27 +42,21 @@ CXXSRCS		 = math/test/test.cpp \
 		   math/Dcm.cpp \
 		   math/Matrix.cpp
 
-CXXHDRS		 = math/test/test.hpp \
+#
-		   math/Vector.hpp \
+# In order to include .config we first have to save off the
-		   math/Vector3.hpp \
+# current makefile name, since app.mk needs it.
-		   math/EulerAngles.hpp \
+#
-		   math/Quaternion.hpp \
+APP_MAKEFILE	:= $(lastword $(MAKEFILE_LIST))
-		   math/Dcm.hpp \
+-include $(TOPDIR)/.config
-		   math/Matrix.hpp
 
-# XXX this really should be a CONFIG_* test
 ifeq ($(CONFIG_ARCH_CORTEXM4)$(CONFIG_ARCH_FPU),yy)
 INCLUDES	+= math/arm
 CXXSRCS		+= math/arm/Vector.cpp \
 		   math/arm/Matrix.cpp
-CXXHDRS		+= math/arm/Vector.hpp \
-		   math/arm/Matrix.hpp
 else
 INCLUDES	+= math/generic
 CXXSRCS		+= math/generic/Vector.cpp \
 		   math/generic/Matrix.cpp
-CXXHDRS		+= math/generic/Vector.hpp \
-		   math/generic/Matrix.hpp
 endif
 
 include $(APPDIR)/mk/app.mk

apps/mathlib/math/Dcm.cpp

@@ -52,6 +52,23 @@ Dcm::Dcm() :
 {
 }
 
+Dcm::Dcm(float c00, float c01, float c02,
+	 float c10, float c11, float c12,
+	 float c20, float c21, float c22) :
+	Matrix(3, 3)
+{
+	Dcm &dcm = *this;
+	dcm(0, 0) = c00;
+	dcm(0, 1) = c01;
+	dcm(0, 2) = c02;
+	dcm(1, 0) = c10;
+	dcm(1, 1) = c11;
+	dcm(1, 2) = c12;
+	dcm(2, 0) = c20;
+	dcm(2, 1) = c21;
+	dcm(2, 2) = c22;
+}
+
 Dcm::Dcm(const float *data) :
 	Matrix(3, 3, data)
 {
@@ -61,22 +78,22 @@ Dcm::Dcm(const Quaternion &q) :
 	Matrix(3, 3)
 {
 	Dcm &dcm = *this;
-	float a = q.getA();
+	double a = q.getA();
-	float b = q.getB();
+	double b = q.getB();
-	float c = q.getC();
+	double c = q.getC();
-	float d = q.getD();
+	double d = q.getD();
-	float aSq = a * a;
+	double aSq = a * a;
-	float bSq = b * b;
+	double bSq = b * b;
-	float cSq = c * c;
+	double cSq = c * c;
-	float dSq = d * d;
+	double dSq = d * d;
 	dcm(0, 0) = aSq + bSq - cSq - dSq;
-	dcm(0, 1) = 2 * (b * c - a * d);
+	dcm(0, 1) = 2.0 * (b * c - a * d);
-	dcm(0, 2) = 2 * (a * c + b * d);
+	dcm(0, 2) = 2.0 * (a * c + b * d);
-	dcm(1, 0) = 2 * (b * c + a * d);
+	dcm(1, 0) = 2.0 * (b * c + a * d);
 	dcm(1, 1) = aSq - bSq + cSq - dSq;
-	dcm(1, 2) = 2 * (c * d - a * b);
+	dcm(1, 2) = 2.0 * (c * d - a * b);
-	dcm(2, 0) = 2 * (b * d - a * c);
+	dcm(2, 0) = 2.0 * (b * d - a * c);
-	dcm(2, 1) = 2 * (a * b + c * d);
+	dcm(2, 1) = 2.0 * (a * b + c * d);
 	dcm(2, 2) = aSq - bSq - cSq + dSq;
 }
 
@@ -84,12 +101,12 @@ Dcm::Dcm(const EulerAngles &euler) :
 	Matrix(3, 3)
 {
 	Dcm &dcm = *this;
-	float cosPhi = cosf(euler.getPhi());
+	double cosPhi = cos(euler.getPhi());
-	float sinPhi = sinf(euler.getPhi());
+	double sinPhi = sin(euler.getPhi());
-	float cosThe = cosf(euler.getTheta());
+	double cosThe = cos(euler.getTheta());
-	float sinThe = sinf(euler.getTheta());
+	double sinThe = sin(euler.getTheta());
-	float cosPsi = cosf(euler.getPsi());
+	double cosPsi = cos(euler.getPsi());
-	float sinPsi = sinf(euler.getPsi());
+	double sinPsi = sin(euler.getPsi());
 
 	dcm(0, 0) = cosThe * cosPsi;
 	dcm(0, 1) = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
@@ -116,18 +133,30 @@ Dcm::~Dcm()
 int __EXPORT dcmTest()
 {
 	printf("Test DCM\t\t: ");
+	// default ctor
+	ASSERT(matrixEqual(Dcm(),
+			   Matrix::identity(3)));
+	// quaternion ctor
+	ASSERT(matrixEqual(
+		       Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)),
+		       Dcm(0.9362934f, -0.2750958f,  0.2183507f,
+			   0.2896295f,  0.9564251f, -0.0369570f,
+			   -0.1986693f,  0.0978434f,  0.9751703f)));
+	// euler angle ctor
+	ASSERT(matrixEqual(
+		       Dcm(EulerAngles(0.1f, 0.2f, 0.3f)),
+		       Dcm(0.9362934f, -0.2750958f,  0.2183507f,
+			   0.2896295f,  0.9564251f, -0.0369570f,
+			   -0.1986693f,  0.0978434f,  0.9751703f)));
+	// rotations
 	Vector3 vB(1, 2, 3);
-	ASSERT(matrixEqual(Dcm(Quaternion(1, 0, 0, 0)),
+	ASSERT(vectorEqual(Vector3(-2.0f, 1.0f, 3.0f),
-			   Matrix::identity(3)));
+			   Dcm(EulerAngles(0.0f, 0.0f, M_PI_2_F))*vB));
-	ASSERT(matrixEqual(Dcm(EulerAngles(0, 0, 0)),
+	ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
-			   Matrix::identity(3)));
+			   Dcm(EulerAngles(0.0f, M_PI_2_F, 0.0f))*vB));
-	ASSERT(vectorEqual(Vector3(-2, 1, 3),
+	ASSERT(vectorEqual(Vector3(1.0f, -3.0f, 2.0f),
-			   Dcm(EulerAngles(0, 0, M_PI_2_F))*vB));
+			   Dcm(EulerAngles(M_PI_2_F, 0.0f, 0.0f))*vB));
-	ASSERT(vectorEqual(Vector3(3, 2, -1),
+	ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
-			   Dcm(EulerAngles(0, M_PI_2_F, 0))*vB));
-	ASSERT(vectorEqual(Vector3(1, -3, 2),
-			   Dcm(EulerAngles(M_PI_2_F, 0, 0))*vB));
-	ASSERT(vectorEqual(Vector3(3, 2, -1),
 			   Dcm(EulerAngles(
 				       M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB));
 	printf("PASS\n");

apps/mathlib/math/Dcm.hpp

@@ -64,6 +64,13 @@ public:
 	 */
 	Dcm();
 
+	/**
+	 * scalar ctor
+	 */
+	Dcm(float c00, float c01, float c02,
+	    float c10, float c11, float c12,
+	    float c20, float c21, float c22);
+
 	/**
 	 * data ctor
 	 */

apps/mathlib/math/EulerAngles.cpp

@@ -97,23 +97,27 @@ EulerAngles::~EulerAngles()
 int __EXPORT eulerAnglesTest()
 {
 	printf("Test EulerAngles\t: ");
-	EulerAngles euler(1, 2, 3);
+	EulerAngles euler(0.1f, 0.2f, 0.3f);
 
 	// test ctor
-	ASSERT(vectorEqual(Vector3(1, 2, 3), euler));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
-	ASSERT(equal(euler.getPhi(), 1));
+	ASSERT(equal(euler.getPhi(), 0.1f));
-	ASSERT(equal(euler.getTheta(), 2));
+	ASSERT(equal(euler.getTheta(), 0.2f));
-	ASSERT(equal(euler.getPsi(), 3));
+	ASSERT(equal(euler.getPsi(), 0.3f));
 
 	// test dcm ctor
+	euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
+
+	// test quat ctor
+	euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
 
 	// test assignment
-	euler.setPhi(4);
+	euler.setPhi(0.4f);
-	ASSERT(equal(euler.getPhi(), 4));
+	euler.setTheta(0.5f);
-	euler.setTheta(5);
+	euler.setPsi(0.6f);
-	ASSERT(equal(euler.getTheta(), 5));
+	ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f), euler));
-	euler.setPsi(6);
-	ASSERT(equal(euler.getPsi(), 6));
 
 	printf("PASS\n");
 	return 0;

apps/mathlib/math/Quaternion.cpp

@@ -79,32 +79,34 @@ Quaternion::Quaternion(const Vector &v) :
 Quaternion::Quaternion(const Dcm &dcm) :
 	Vector(4)
 {
-	setA(0.5f * sqrtf(1 + dcm(0, 0) +
+	// avoiding singularities by not using
-			  dcm(1, 1) + dcm(2, 2)));
+	// division equations
-	setB((dcm(2, 1) - dcm(1, 2)) /
+	setA(0.5 * sqrt(1.0 +
-	     (4 * getA()));
+			double(dcm(0, 0) + dcm(1, 1) + dcm(2, 2))));
-	setC((dcm(0, 2) - dcm(2, 0)) /
+	setB(0.5 * sqrt(1.0 +
-	     (4 * getA()));
+			double(dcm(0, 0) - dcm(1, 1) - dcm(2, 2))));
-	setD((dcm(1, 0) - dcm(0, 1)) /
+	setC(0.5 * sqrt(1.0 +
-	     (4 * getA()));
+			double(-dcm(0, 0) + dcm(1, 1) - dcm(2, 2))));
+	setD(0.5 * sqrt(1.0 +
+			double(-dcm(0, 0) - dcm(1, 1) + dcm(2, 2))));
 }
 
 Quaternion::Quaternion(const EulerAngles &euler) :
 	Vector(4)
 {
-	float cosPhi_2 = cosf(euler.getPhi() / 2.0f);
+	double cosPhi_2 = cos(double(euler.getPhi()) / 2.0);
-	float cosTheta_2 = cosf(euler.getTheta() / 2.0f);
+	double sinPhi_2 = sin(double(euler.getPhi()) / 2.0);
-	float cosPsi_2 = cosf(euler.getPsi() / 2.0f);
+	double cosTheta_2 = cos(double(euler.getTheta()) / 2.0);
-	float sinPhi_2 = sinf(euler.getPhi() / 2.0f);
+	double sinTheta_2 = sin(double(euler.getTheta()) / 2.0);
-	float sinTheta_2 = sinf(euler.getTheta() / 2.0f);
+	double cosPsi_2 = cos(double(euler.getPsi()) / 2.0);
-	float sinPsi_2 = sinf(euler.getPsi() / 2.0f);
+	double sinPsi_2 = sin(double(euler.getPsi()) / 2.0);
 	setA(cosPhi_2 * cosTheta_2 * cosPsi_2 +
 	     sinPhi_2 * sinTheta_2 * sinPsi_2);
 	setB(sinPhi_2 * cosTheta_2 * cosPsi_2 -
 	     cosPhi_2 * sinTheta_2 * sinPsi_2);
 	setC(cosPhi_2 * sinTheta_2 * cosPsi_2 +
 	     sinPhi_2 * cosTheta_2 * sinPsi_2);
-	setD(cosPhi_2 * cosTheta_2 * sinPsi_2 +
+	setD(cosPhi_2 * cosTheta_2 * sinPsi_2 -
 	     sinPhi_2 * sinTheta_2 * cosPsi_2);
 }
 
@@ -142,38 +144,29 @@ int __EXPORT quaternionTest()
 	printf("Test Quaternion\t\t: ");
 	// test default ctor
 	Quaternion q;
-	ASSERT(equal(q.getA(), 1));
+	ASSERT(equal(q.getA(), 1.0f));
-	ASSERT(equal(q.getB(), 0));
+	ASSERT(equal(q.getB(), 0.0f));
-	ASSERT(equal(q.getC(), 0));
+	ASSERT(equal(q.getC(), 0.0f));
-	ASSERT(equal(q.getD(), 0));
+	ASSERT(equal(q.getD(), 0.0f));
 	// test float ctor
-	q = Quaternion(0, 1, 0, 0);
+	q = Quaternion(0.1825742f, 0.3651484f, 0.5477226f, 0.7302967f);
-	ASSERT(equal(q.getA(), 0));
+	ASSERT(equal(q.getA(), 0.1825742f));
-	ASSERT(equal(q.getB(), 1));
+	ASSERT(equal(q.getB(), 0.3651484f));
-	ASSERT(equal(q.getC(), 0));
+	ASSERT(equal(q.getC(), 0.5477226f));
-	ASSERT(equal(q.getD(), 0));
+	ASSERT(equal(q.getD(), 0.7302967f));
 	// test euler ctor
-	q = Quaternion(EulerAngles(0, 0, 0));
+	q = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
-	ASSERT(equal(q.getA(), 1));
+	ASSERT(vectorEqual(q, Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)));
-	ASSERT(equal(q.getB(), 0));
-	ASSERT(equal(q.getC(), 0));
-	ASSERT(equal(q.getD(), 0));
 	// test dcm ctor
 	q = Quaternion(Dcm());
-	ASSERT(equal(q.getA(), 1));
+	ASSERT(vectorEqual(q, Quaternion(1.0f, 0.0f, 0.0f, 0.0f)));
-	ASSERT(equal(q.getB(), 0));
-	ASSERT(equal(q.getC(), 0));
-	ASSERT(equal(q.getD(), 0));
 	// TODO test derivative
 	// test accessors
-	q.setA(0.1);
+	q.setA(0.1f);
-	q.setB(0.2);
+	q.setB(0.2f);
-	q.setC(0.3);
+	q.setC(0.3f);
-	q.setD(0.4);
+	q.setD(0.4f);
-	ASSERT(equal(q.getA(), 0.1));
+	ASSERT(vectorEqual(q, Quaternion(0.1f, 0.2f, 0.3f, 0.4f)));
-	ASSERT(equal(q.getB(), 0.2));
-	ASSERT(equal(q.getC(), 0.3));
-	ASSERT(equal(q.getD(), 0.4));
 	printf("PASS\n");
 	return 0;
 }

apps/mathlib/math/test_math.sce

@@ -0,0 +1,63 @@
+clc
+clear
+function out = float_truncate(in, digits)
+    out = round(in*10^digits)
+    out = out/10^digits
+endfunction
+
+phi = 0.1
+theta = 0.2
+psi = 0.3
+
+cosPhi = cos(phi)
+cosPhi_2 = cos(phi/2)
+sinPhi = sin(phi)
+sinPhi_2 = sin(phi/2)
+
+cosTheta = cos(theta)
+cosTheta_2 = cos(theta/2)
+sinTheta = sin(theta)
+sinTheta_2 = sin(theta/2)
+
+cosPsi = cos(psi)
+cosPsi_2 = cos(psi/2)
+sinPsi = sin(psi)
+sinPsi_2 = sin(psi/2)
+
+C_nb = [cosTheta*cosPsi, -cosPhi*sinPsi + sinPhi*sinTheta*cosPsi, sinPhi*sinPsi + cosPhi*sinTheta*cosPsi;
+        cosTheta*sinPsi, cosPhi*cosPsi + sinPhi*sinTheta*sinPsi, -sinPhi*cosPsi + cosPhi*sinTheta*sinPsi;
+        -sinTheta, sinPhi*cosTheta, cosPhi*cosTheta]
+    
+disp(C_nb)
+//C_nb = float_truncate(C_nb,3)
+//disp(C_nb)
+
+theta = asin(-C_nb(3,1))
+phi = atan(C_nb(3,2), C_nb(3,3))
+psi = atan(C_nb(2,1), C_nb(1,1))
+printf('phi %f\n', phi)
+printf('theta %f\n', theta)
+printf('psi %f\n', psi)
+
+q = [cosPhi_2*cosTheta_2*cosPsi_2 + sinPhi_2*sinTheta_2*sinPsi_2;
+     sinPhi_2*cosTheta_2*cosPsi_2 - cosPhi_2*sinTheta_2*sinPsi_2;
+     cosPhi_2*sinTheta_2*cosPsi_2 + sinPhi_2*cosTheta_2*sinPsi_2;
+     cosPhi_2*cosTheta_2*sinPsi_2 - sinPhi_2*sinTheta_2*cosPsi_2]
+     
+//q = float_truncate(q,3)
+
+a = q(1)
+b = q(2)
+c = q(3)
+d = q(4)
+printf('q: %f %f %f %f\n', a, b, c, d)
+a2 = a*a
+b2 = b*b
+c2 = c*c
+d2 = d*d
+
+C2_nb = [a2 + b2 - c2 - d2, 2*(b*c - a*d), 2*(b*d + a*c);
+         2*(b*c + a*d), a2 - b2 + c2 - d2, 2*(c*d - a*b);
+         2*(b*d - a*c), 2*(c*d + a*b), a2 - b2 - c2 + d2]
+
+disp(C2_nb)

apps/mavlink/mavlink.c

@@ -77,7 +77,7 @@
 /* define MAVLink specific parameters */
 PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
 PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
-PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_QUADROTOR);
+PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
 
 __EXPORT int mavlink_main(int argc, char *argv[]);
 
@@ -98,7 +98,7 @@ static bool mavlink_link_termination_allowed = false;
 mavlink_system_t mavlink_system = {
 	100,
 	50,
-	MAV_TYPE_QUADROTOR,
+	MAV_TYPE_FIXED_WING,
 	0,
 	0,
 	0
@@ -148,6 +148,10 @@ set_hil_on_off(bool hil_enabled)
 		pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
 		pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
 
+		/* sensore level hil */
+		pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
+		pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
+
 		mavlink_hil_enabled = true;
 
 		/* ramp up some HIL-related subscriptions */

apps/mavlink/mavlink_hil.h

@@ -43,8 +43,12 @@ extern bool mavlink_hil_enabled;
 
 extern struct vehicle_global_position_s hil_global_pos;
 extern struct vehicle_attitude_s hil_attitude;
+extern struct sensor_combined_s hil_sensors;
+extern struct vehicle_gps_position_s hil_gps;
 extern orb_advert_t pub_hil_global_pos;
 extern orb_advert_t pub_hil_attitude;
+extern orb_advert_t pub_hil_sensors;
+extern orb_advert_t pub_hil_gps;
 
 /**
  * Enable / disable Hardware in the Loop simulation mode.

apps/mavlink/mavlink_receiver.c

@@ -86,8 +86,12 @@ static struct offboard_control_setpoint_s offboard_control_sp;
 
 struct vehicle_global_position_s hil_global_pos;
 struct vehicle_attitude_s hil_attitude;
+struct vehicle_gps_position_s hil_gps;
+struct sensor_combined_s hil_sensors;
 orb_advert_t pub_hil_global_pos = -1;
 orb_advert_t pub_hil_attitude = -1;
+orb_advert_t pub_hil_gps = -1;
+orb_advert_t pub_hil_sensors = -1;
 
 static orb_advert_t cmd_pub = -1;
 static orb_advert_t flow_pub = -1;
@@ -302,6 +306,166 @@ handle_message(mavlink_message_t *msg)
 
 	if (mavlink_hil_enabled) {
 
+		uint64_t timestamp = hrt_absolute_time();
+
+		if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) {
+
+			mavlink_raw_imu_t imu;
+			mavlink_msg_raw_imu_decode(msg, &imu);
+
+			/* packet counter */
+			static uint16_t hil_counter = 0;
+			static uint16_t hil_frames = 0;
+			static uint64_t old_timestamp = 0;
+
+			/* sensors general */
+			hil_sensors.timestamp = imu.time_usec;
+
+			/* hil gyro */
+			static const float mrad2rad = 1.0e-3f;
+			hil_sensors.gyro_counter = hil_counter;
+			hil_sensors.gyro_raw[0] = imu.xgyro;
+			hil_sensors.gyro_raw[1] = imu.ygyro;
+			hil_sensors.gyro_raw[2] = imu.zgyro;
+			hil_sensors.gyro_rad_s[0] = imu.xgyro * mrad2rad;
+			hil_sensors.gyro_rad_s[1] = imu.ygyro * mrad2rad;
+			hil_sensors.gyro_rad_s[2] = imu.zgyro * mrad2rad;
+
+			/* accelerometer */
+			hil_sensors.accelerometer_counter = hil_counter;
+			static const float mg2ms2 = 9.8f / 1000.0f;
+			hil_sensors.accelerometer_raw[0] = imu.xacc;
+			hil_sensors.accelerometer_raw[1] = imu.yacc;
+			hil_sensors.accelerometer_raw[2] = imu.zacc;
+			hil_sensors.accelerometer_m_s2[0] = mg2ms2 * imu.xacc;
+			hil_sensors.accelerometer_m_s2[1] = mg2ms2 * imu.yacc;
+			hil_sensors.accelerometer_m_s2[2] = mg2ms2 * imu.zacc;
+			hil_sensors.accelerometer_mode = 0; // TODO what is this?
+			hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
+
+			/* adc */
+			hil_sensors.adc_voltage_v[0] = 0;
+			hil_sensors.adc_voltage_v[1] = 0;
+			hil_sensors.adc_voltage_v[2] = 0;
+
+			/* magnetometer */
+			float mga2ga = 1.0e-3f;
+			hil_sensors.magnetometer_counter = hil_counter;
+			hil_sensors.magnetometer_raw[0] = imu.xmag;
+			hil_sensors.magnetometer_raw[1] = imu.ymag;
+			hil_sensors.magnetometer_raw[2] = imu.zmag;
+			hil_sensors.magnetometer_ga[0] = imu.xmag * mga2ga;
+			hil_sensors.magnetometer_ga[1] = imu.ymag * mga2ga;
+			hil_sensors.magnetometer_ga[2] = imu.zmag * mga2ga;
+			hil_sensors.magnetometer_range_ga = 32.7f; // int16
+			hil_sensors.magnetometer_mode = 0; // TODO what is this
+			hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
+
+			/* publish */
+			orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
+
+			// increment counters
+			hil_counter += 1 ;
+			hil_frames += 1 ;
+
+			// output
+			if ((timestamp - old_timestamp) > 10000000) {
+				printf("receiving hil imu at %d hz\n", hil_frames/10);
+				old_timestamp = timestamp;
+				hil_frames = 0;
+			}
+		}
+
+		if (msg->msgid == MAVLINK_MSG_ID_GPS_RAW_INT) {
+
+			mavlink_gps_raw_int_t gps;
+			mavlink_msg_gps_raw_int_decode(msg, &gps);
+
+			/* packet counter */
+			static uint16_t hil_counter = 0;
+			static uint16_t hil_frames = 0;
+			static uint64_t old_timestamp = 0;
+
+			/* gps */
+			hil_gps.timestamp = 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.fix_type = gps.fix_type;
+			hil_gps.satellites_visible = gps.satellites_visible;
+
+			/* publish */
+			orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
+
+			// increment counters
+			hil_counter += 1 ;
+			hil_frames += 1 ;
+
+			// output
+			if ((timestamp - old_timestamp) > 10000000) {
+				printf("receiving hil gps at %d hz\n", hil_frames/10);
+				old_timestamp = timestamp;
+				hil_frames = 0;
+			}
+		}
+
+		if (msg->msgid == MAVLINK_MSG_ID_RAW_PRESSURE) {
+
+			mavlink_raw_pressure_t press;
+			mavlink_msg_raw_pressure_decode(msg, &press);
+
+			/* packet counter */
+			static uint16_t hil_counter = 0;
+			static uint16_t hil_frames = 0;
+			static uint64_t old_timestamp = 0;
+
+			/* sensors general */
+			hil_sensors.timestamp = press.time_usec;
+
+			/* baro */
+			/* TODO, set ground_press/ temp during calib */
+			static const float ground_press = 1013.25f; // mbar
+			static const float ground_tempC = 21.0f;
+			static const float ground_alt = 0.0f;
+			static const float T0 = 273.15;
+			static const float R = 287.05f;
+			static const float g = 9.806f;
+
+			float tempC =  press.temperature / 100.0f;
+			float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f;
+			float h =  ground_alt + (R / g) * tempAvgK * logf(ground_press / press.press_abs);
+			hil_sensors.baro_counter = hil_counter;
+			hil_sensors.baro_pres_mbar = press.press_abs;
+			hil_sensors.baro_alt_meter = h;
+			hil_sensors.baro_temp_celcius = tempC;
+
+			/* publish */
+			orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
+
+			// increment counters
+			hil_counter += 1 ;
+			hil_frames += 1 ;
+
+			// output
+			if ((timestamp - old_timestamp) > 10000000) {
+				printf("receiving hil pressure at %d hz\n", hil_frames/10);
+				old_timestamp = timestamp;
+				hil_frames = 0;
+			}
+		}
+
 		if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
 
 			mavlink_hil_state_t hil_state;
@@ -412,7 +576,7 @@ receive_thread(void *arg)
 	int uart_fd = *((int *)arg);
 
 	const int timeout = 1000;
-	uint8_t ch;
+	uint8_t buf[32];
 
 	mavlink_message_t msg;
 
@@ -423,13 +587,12 @@ receive_thread(void *arg)
 		struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
 
 		if (poll(fds, 1, timeout) > 0) {
-			/* non-blocking read until buffer is empty */
+			/* non-blocking read */
-			int nread = 0;
+			size_t nread = read(uart_fd, buf, sizeof(buf));
+			ASSERT(nread > 0)
 
-			do {
+			for (size_t i = 0; i < nread; i++) {
-				nread = read(uart_fd, &ch, 1);
+				if (mavlink_parse_char(chan, buf[i], &msg, &status)) { //parse the char
-
-				if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
 					/* handle generic messages and commands */
 					handle_message(&msg);
 
@@ -439,7 +602,7 @@ receive_thread(void *arg)
 					/* Handle packet with parameter component */
 					mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
 				}
-			} while (nread > 0);
+			}
 		}
 	}
 
@@ -452,6 +615,10 @@ receive_start(int uart)
 	pthread_attr_t receiveloop_attr;
 	pthread_attr_init(&receiveloop_attr);
 
+	// set to non-blocking read
+	int flags = fcntl(uart, F_GETFL, 0);
+	fcntl(uart, F_SETFL, flags | O_NONBLOCK);
+
 	struct sched_param param;
 	param.sched_priority = SCHED_PRIORITY_MAX - 40;
 	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);

apps/mavlink/orb_listener.c

@@ -114,6 +114,7 @@ static void	l_vehicle_attitude_controls(struct listener *l);
 static void	l_debug_key_value(struct listener *l);
 static void	l_optical_flow(struct listener *l);
 static void	l_vehicle_rates_setpoint(struct listener *l);
+static void	l_home(struct listener *l);
 
 struct listener listeners[] = {
 	{l_sensor_combined,		&mavlink_subs.sensor_sub,	0},
@@ -137,6 +138,7 @@ struct listener listeners[] = {
 	{l_debug_key_value,		&mavlink_subs.debug_key_value,	0},
 	{l_optical_flow,		&mavlink_subs.optical_flow,	0},
 	{l_vehicle_rates_setpoint,	&mavlink_subs.rates_setpoint_sub,	0},
+	{l_home,			&mavlink_subs.home_sub,		0},
 };
 
 static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
@@ -621,6 +623,16 @@ l_optical_flow(struct listener *l)
 				      flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
 }
 
+void
+l_home(struct listener *l)
+{
+	struct home_position_s home;
+
+	orb_copy(ORB_ID(home_position), mavlink_subs.home_sub, &home);
+
+	mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, home.lat, home.lon, home.alt);
+}
+
 static void *
 uorb_receive_thread(void *arg)
 {
@@ -688,6 +700,10 @@ uorb_receive_start(void)
 	mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
 	orb_set_interval(mavlink_subs.gps_sub, 1000);	/* 1Hz updates */
 
+	/* --- HOME POSITION --- */
+	mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position));
+	orb_set_interval(mavlink_subs.home_sub, 1000);	/* 1Hz updates */
+
 	/* --- SYSTEM STATE --- */
 	status_sub = orb_subscribe(ORB_ID(vehicle_status));
 	orb_set_interval(status_sub, 300);		/* max 3.33 Hz updates */
@@ -702,7 +718,7 @@ uorb_receive_start(void)
 
 	/* --- GLOBAL POS VALUE --- */
 	mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	orb_set_interval(mavlink_subs.global_pos_sub, 1000);	/* 1Hz active updates */
+	orb_set_interval(mavlink_subs.global_pos_sub, 100);	/* 10 Hz active updates */
 
 	/* --- LOCAL POS VALUE --- */
 	mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));

apps/mavlink/orb_topics.h

@@ -45,6 +45,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/offboard_control_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
@@ -81,6 +82,7 @@ struct mavlink_subscriptions {
 	int input_rc_sub;
 	int optical_flow;
 	int rates_setpoint_sub;
+	int home_sub;
 };
 
 extern struct mavlink_subscriptions mavlink_subs;

apps/mavlink/waypoints.c

@@ -408,9 +408,10 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
 					cur_wp->current = 0;
 
 					if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
-						//the last waypoint was reached, if auto continue is
+						/* the last waypoint was reached, if auto continue is
-						//activated restart the waypoint list from the beginning
+						 * activated restart the waypoint list from the beginning
-						wpm->current_active_wp_id = 1;
+						 */
+						wpm->current_active_wp_id = 0;
 
 					} else {
 						if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)

apps/mavlink/waypoints.h

@@ -98,8 +98,8 @@ struct mavlink_wpm_storage {
 	uint16_t max_size;
 	uint16_t rcv_size;
 	enum MAVLINK_WPM_STATES current_state;
-	uint16_t current_wp_id;							///< Waypoint in current transmission
+	int16_t current_wp_id;							///< Waypoint in current transmission
-	uint16_t current_active_wp_id;					///< Waypoint the system is currently heading towards
+	int16_t current_active_wp_id;					///< Waypoint the system is currently heading towards
 	uint16_t current_count;
 	uint8_t current_partner_sysid;
 	uint8_t current_partner_compid;

apps/mk/app.mk

@@ -81,7 +81,9 @@
 # Work out who included us so we can report decent errors
 #
 THIS_MAKEFILE	:= $(lastword $(MAKEFILE_LIST))
-PARENT_MAKEFILE	:= $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
+ifeq ($(APP_MAKEFILE),)
+APP_MAKEFILE	:= $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
+endif
 
 ############################################################################
 # Get configuration
@@ -93,7 +95,7 @@ include $(APPDIR)/Make.defs
 ############################################################################
 # Sanity-check the information we've been given and set any defaults
 #
-SRCDIR		?= $(dir $(PARENT_MAKEFILE))
+SRCDIR		?= $(dir $(APP_MAKEFILE))
 PRIORITY	?= SCHED_PRIORITY_DEFAULT
 STACKSIZE	?= CONFIG_PTHREAD_STACK_DEFAULT
 
@@ -112,14 +114,14 @@ endif
 
 # there has to be a source file
 ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS),)
-$(error $(realpath $(PARENT_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set)
+$(error $(realpath $(APP_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set)
 endif
 
 # check that C++ is configured if we have C++ source files and we are building
 ifneq ($(CXXSRCS),)
 ifneq ($(CONFIG_HAVE_CXX),y)
 ifeq ($(MAKECMDGOALS),build)
-$(error $(realpath $(PARENT_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration)
+$(error $(realpath $(APP_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration)
 endif
 endif
 endif
@@ -153,6 +155,11 @@ COBJS		 = $(patsubst %.c,%.o,$(CSRCS))
 CXXOBJS		 = $(patsubst %.cpp,%.o,$(CXXSRCS))
 OBJS		 = $(AOBJS) $(COBJS) $(CXXOBJS)
 
+# Automatic depdendency generation
+DEPS		 = $(OBJS:$(OBJEXT)=.d)
+CFLAGS		+= -MD
+CXXFLAGS	+= -MD
+
 # The prelinked object that we are ultimately going to build
 ifneq ($(APPNAME),)
 PRELINKOBJ	 = $(APPNAME).pre.o
@@ -160,7 +167,7 @@ else
 PRELINKOBJ	 = $(LIBNAME).pre.o
 endif
 
-# The archive that the object file will be placed in
+# The archive the prelinked object will be linked into
 # XXX does WINTOOL ever get set?
 ifeq ($(WINTOOL),y)
   INCDIROPT	= -w
@@ -186,11 +193,8 @@ all:		.built
 #
 # Source dependencies
 #
-depend:		.depend
+depend:
-.depend:	$(MAKEFILE_LIST) $(SRCS)
+	@exit 0
-	@$(MKDEP) --dep-path . $(CC) -- $(CFLAGS) -- $(CSRCS) $(CHDRS) >Make.dep
-	@$(MKDEP) --dep-path . $(CXX) -- $(CXXFLAGS) -- $(CXXSRCS) $(CXXHDRS) >>Make.dep
-	@touch $@
 
 ifneq ($(APPNAME),)
 #
@@ -202,6 +206,7 @@ context:	.context
 	@touch $@
 else
 context:
+	@exit 0
 endif
 
 #
@@ -210,23 +215,23 @@ endif
 $(PRELINKOBJ):	$(OBJS)
 	$(call PRELINK, $@, $(OBJS))
 
-$(AOBJS): %.o : %.S
+$(AOBJS): %.o : %.S $(MAKEFILE_LIST)
 	$(call ASSEMBLE, $<, $@)
 
-$(COBJS): %.o : %.c
+$(COBJS): %.o : %.c $(MAKEFILE_LIST)
 	$(call COMPILE, $<, $@)
 
-$(CXXOBJS): %.o : %.cpp
+$(CXXOBJS): %.o : %.cpp $(MAKEFILE_LIST)
 	$(call COMPILEXX, $<, $@)
 
 #
 # Tidying up
 #
 clean:
-	@rm -f $(OBJS) $(PRELINKOBJ) Make.dep .built
+	@rm -f $(OBJS) $(DEPS) $(PRELINKOBJ) .built
 	$(call CLEAN)
 
 distclean:	clean
 	@rm -f Make.dep .depend
 
--include Make.dep
+-include $(DEPS)

apps/namedapp/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/nshlib/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -54,10 +54,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\libapps$(LIBEXT)
+else
+  BIN		= ../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -75,32 +79,32 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
+	$(Q) touch .built
-	done ; )
-	@touch .built
 
 .context:
 	@echo "/* List of application requirements, generated during make context. */" > namedapp_list.h
 	@echo "/* List of application entry points, generated during make context. */" > namedapp_proto.h
-	@touch $@
+	$(Q) touch $@
 
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f .context Make.dep .depend
+	$(call DELFILE, .context)
-	@rm -f namedapp_list.h
+	$(call DELFILE, Make.dep)
-	@rm -f namedapp_proto.h
+	$(call DELFILE, .depend)
+	$(call DELFILE, namedapp_list.h)
+	$(call DELFILE, namedapp_proto.h)
 
 -include Make.dep
 

apps/nshlib/Kconfig

@@ -23,122 +23,194 @@ config NSH_BUILTIN_APPS
 		(NAMEDAPP).
 
 menu "Disable Individual commands"
+
+config NSH_DISABLE_BASE64DEC
+	bool "Disable base64dec"
+	default n
+	depends on NETUTILS_CODECS && CODECS_BASE64
+
+config NSH_DISABLE_BASE64ENC
+	bool "Disable base64enc"
+	default n
+	depends on NETUTILS_CODECS && CODECS_BASE64
+
 config NSH_DISABLE_CAT
 	bool "Disable cat"
 	default n
+
 config NSH_DISABLE_CD
 	bool "Disable cd"
 	default n
+
 config NSH_DISABLE_CP
 	bool "Disable cp"
 	default n
+
 config NSH_DISABLE_DD
 	bool "Disable dd"
 	default n
+
 config NSH_DISABLE_ECHO
 	bool "Disable echo"
 	default n
+
 config NSH_DISABLE_EXEC
 	bool "Disable exec"
 	default n
+
 config NSH_DISABLE_EXIT
 	bool "Disable exit"
 	default n
+
 config NSH_DISABLE_FREE
 	bool "Disable free"
 	default n
+
 config NSH_DISABLE_GET
 	bool "Disable get"
 	default n
+
 config NSH_DISABLE_HELP
 	bool "Disable help"
 	default n
+
+config NSH_DISABLE_HEXDUMP
+	bool "Disable hexdump"
+	default n
+
 config NSH_DISABLE_IFCONFIG
 	bool "Disable ifconfig"
 	default n
+
 config NSH_DISABLE_KILL
 	bool "Disable kill"
 	default n
+
 config NSH_DISABLE_LOSETUP
 	bool "Disable losetup"
 	default n
+
 config NSH_DISABLE_LS
 	bool "Disable ls"
 	default n
+
 config NSH_DISABLE_MB
 	bool "Disable mb"
 	default n
+
+config NSH_DISABLE_MD5
+	bool "Disable md5"
+	default n
+	depends on NETUTILS_CODECS && CODECS_HASH_MD5
+
 config NSH_DISABLE_MKDIR
 	bool "Disable mkdir"
 	default n
+
 config NSH_DISABLE_MKFATFS
 	bool "Disable mkfatfs"
 	default n
+
 config NSH_DISABLE_MKFIFO
 	bool "Disable mkfifo"
 	default n
+
 config NSH_DISABLE_MKRD
 	bool "Disable mkrd"
 	default n
+
 config NSH_DISABLE_MH
 	bool "Disable mh"
 	default n
+
 config NSH_DISABLE_MOUNT
 	bool "Disable mount"
 	default n
+
 config NSH_DISABLE_MW
 	bool "Disable mw"
 	default n
+
 config NSH_DISABLE_NSFMOUNT
 	bool "Disable nfsmount"
 	default n
+
 config NSH_DISABLE_PS
 	bool "Disable ps"
 	default n
+
 config NSH_DISABLE_PING
 	bool "Disable ping"
 	default n
+
 config NSH_DISABLE_PUT
 	bool "Disable put"
 	default n
+
 config NSH_DISABLE_PWD
 	bool "Disable pwd"
 	default n
+
 config NSH_DISABLE_RM
 	bool "Disable rm"
 	default n
+
 config NSH_DISABLE_RMDIR
 	bool "Disable rmdir"
 	default n
+
 config NSH_DISABLE_SET
 	bool "Disable set"
 	default n
+
 config NSH_DISABLE_SH
 	bool "Disable sh"
 	default n
+
 config NSH_DISABLE_SLEEP
 	bool "Disable sleep"
 	default n
+
 config NSH_DISABLE_TEST
 	bool "Disable test"
 	default n
+
 config NSH_DISABLE_UMOUNT
 	bool "Disable umount"
 	default n
+
 config NSH_DISABLE_UNSET
 	bool "Disable unset"
 	default n
+
+config NSH_DISABLE_URLDECODE
+	bool "Disable urldecode"
+	default n
+	depends on NETUTILS_CODECS && CODECS_URLCODE
+
+config NSH_DISABLE_URLENCODE
+	bool "Disable urlencode"
+	default n
+	depends on NETUTILS_CODECS && CODECS_URLCODE
+
 config NSH_DISABLE_USLEEP
 	bool "Disable usleep"
 	default n
+
 config NSH_DISABLE_WGET
 	bool "Disable wget"
 	default n
+
 config NSH_DISABLE_XD
 	bool "Disable xd"
 	default n
+
 endmenu
 
+config NSH_CODECS_BUFSIZE
+	int "File buffer size used by CODEC commands"
+	default 128
+
 config NSH_FILEIOSIZE
 	int "NSH I/O buffer size"
 	default 1024
@@ -490,7 +562,7 @@ config NSH_DHCPC
 
 config NSH_IPADDR
 	hex "Target IP address"
-	default 0x10000002
+	default 0xa0000002
 	depends on NSH_LIBRARY && NET && !NSH_DHCPC
 	---help---
 		If NSH_DHCPC is NOT set, then the static IP address must be provided.
@@ -499,7 +571,7 @@ config NSH_IPADDR
 
 config NSH_DRIPADDR
 	hex "Router IP address"
-	default 0x10000001
+	default 0xa0000001
 	depends on NSH_LIBRARY && NET && !NSH_DHCPC
 	---help---
 		Default router IP address (aka, Gateway).  This is a 32-bit integer
@@ -513,6 +585,21 @@ config NSH_NETMASK
 		Network mask.  This is a 32-bit integer value in host order.  So, as
 		an example, 0xffffff00 would be 255.255.255.0.
 
+config NSH_DNS
+	bool "Use DNS"
+	default n
+	depends on NSH_LIBRARY && NET && NET_UDP && NET_BROADCAST
+	---help---
+		Configure to use a DNS.
+
+config NSH_DNSIPADDR
+	hex "DNS IP address"
+	default 0xa0000001
+	depends on NSH_DNS
+	---help---
+		Configure the DNS address.  This is a 32-bit integer value in host
+		order.  So, as an example, 0xa0000001 would be 10.0.0.1.
+
 config NSH_NOMAC
 	bool "Hardware has no MAC address"
 	default n
@@ -520,3 +607,12 @@ config NSH_NOMAC
 	---help---
 		Set if your ethernet hardware has no built-in MAC address.
 		If set, a bogus MAC will be assigned.
+
+config NSH_MAX_ROUNDTRIP
+	int "Max Ping Round-Trip (DSEC)"
+	default 20
+	depends on NSH_LIBRARY && NET && !NSH_DISABLE_PING
+	---help---
+		This is the maximum round trip for a response to a ICMP ECHO request.
+		It is in units of deciseconds.  The default is 20 (2 seconds).
+

apps/nshlib/Makefile

@@ -39,64 +39,72 @@ include $(APPDIR)/Make.defs
 
 # NSH Library
 
-ASRCS	=
+ASRCS =
-CSRCS	= nsh_init.c nsh_parse.c nsh_console.c nsh_fscmds.c nsh_ddcmd.c \
+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
 
 ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CSRCS	+= nsh_apps.c
+CSRCS += nsh_apps.c
 endif
 
 ifeq ($(CONFIG_NSH_ROMFSETC),y)
-CSRCS	+= nsh_romfsetc.c
+CSRCS += nsh_romfsetc.c
 endif
 
 ifeq ($(CONFIG_NET),y)
-CSRCS	+= nsh_netinit.c nsh_netcmds.c
+CSRCS += nsh_netinit.c nsh_netcmds.c
 endif
 
 ifeq ($(CONFIG_RTC),y)
-CSRCS	+= nsh_timcmds.c
+CSRCS += nsh_timcmds.c
 endif
 
 ifneq ($(CONFIG_DISABLE_MOUNTPOINT),y)
-CSRCS	+= nsh_mntcmds.c
+CSRCS += nsh_mntcmds.c
 endif
 
 ifeq ($(CONFIG_NSH_CONSOLE),y)
-CSRCS	+= nsh_consolemain.c
+CSRCS += nsh_consolemain.c
 endif
 
 ifeq ($(CONFIG_NSH_TELNET),y)
-CSRCS	+= nsh_telnetd.c
+CSRCS += nsh_telnetd.c
 endif
 
 ifneq ($(CONFIG_NSH_DISABLESCRIPT),y)
-CSRCS	+= nsh_test.c
+CSRCS += nsh_test.c
 endif
 
 ifeq ($(CONFIG_USBDEV),y)
-CSRCS	+= nsh_usbdev.c
+CSRCS += nsh_usbdev.c
 endif
 
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
+ifeq ($(CONFIG_NETUTILS_CODECS),y)
-COBJS		= $(CSRCS:.c=$(OBJEXT))
+CSRCS += nsh_codeccmd.c
+endif
 
-SRCS		= $(ASRCS) $(CSRCS)
+AOBJS = $(ASRCS:.S=$(OBJEXT))
-OBJS		= $(AOBJS) $(COBJS)
+COBJS = $(CSRCS:.c=$(OBJEXT))
 
-ifeq ($(WINTOOL),y)
+SRCS = $(ASRCS) $(CSRCS)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+OBJS = $(AOBJS) $(COBJS)
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\libapps$(LIBEXT)
+else
+  BIN		= ../libapps$(LIBEXT)
+endif
 endif
 
-ROOTDEPPATH	= --dep-path .
+ROOTDEPPATH = --dep-path .
-VPATH		= 
+VPATH = 
 
 # Build targets
 
-all:	.built
+all: .built
 .PHONY: context .depend depend clean distclean
 
 $(AOBJS): %$(OBJEXT): %.S
@@ -106,26 +114,25 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
-	done ; )
 	@touch .built
 
 context:
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) \
+	@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
-	  $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
 	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, .context)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
 

apps/nshlib/README.txt

@@ -235,6 +235,10 @@ o test <expression>
                       integer -gt integer | integer -le integer |
                       integer -lt integer | integer -ne integer
 
+o base64dec [-w] [-f] <string or filepath>
+
+o base64dec [-w] [-f] <string or filepath>
+
 o cat <path> [<path> [<path> ...]]
 
   This command copies and concatentates all of the files at <path>
@@ -381,7 +385,11 @@ o help [-v] [<cmd>]
   <cmd>
     Show full command usage only for this command
 
-o ifconfig
+o hexdump <file or device>
+
+  Dump data in hexadecimal format from a file or character device.
+
+o ifconfig [nic_name [<ip-address>|dhcp]] [dr|gw|gateway <dr-address>] [netmask <net-mask>] [dns <dns-address>] [hw <hw-mac>]
 
   Show the current configuration of the network, for example:
 
@@ -392,6 +400,22 @@ o ifconfig
   if uIP statistics are enabled (CONFIG_NET_STATISTICS), then
   this command will also show the detailed state of uIP.
 
+o ifdown <nic-name>
+
+  Take down the interface identified by the name <nic-name>.
+
+  Example:
+
+    ifdown eth0
+
+o ifup <nic-name>
+
+  Bring up down the interface identified by the name <nic-name>.
+
+  Example:
+
+    ifup eth0
+
 o kill -<signal> <pid>
 
   Send the <signal> to the task identified by <pid>.
@@ -449,6 +473,8 @@ o ls [-lRs] <dir-path>
      -l Show size and mode information along with the filenames
         in the listing.
 
+o md5 [-f] <string or filepath>
+
 o mb <hex-address>[=<hex-value>][ <hex-byte-count>]
 o mh <hex-address>[=<hex-value>][ <hex-byte-count>]
 o mw <hex-address>[=<hex-value>][ <hex-byte-count>]
@@ -781,6 +807,10 @@ o unset <name>
 
     nsh>
 
+ o urldecode [-f] <string or filepath>
+ 
+ o urlencode [-f] <string or filepath>
+
 o usleep <usec>
 
   Pause execution (sleep) of <usec> microseconds.
@@ -826,6 +856,8 @@ Command Dependencies on Configuration Settings
   Command    Depends on Configuration
   ---------- --------------------------
   [          !CONFIG_NSH_DISABLESCRIPT
+  base64dec  CONFIG_NETUTILS_CODECS && CONFIG_CODECS_BASE64
+  base64enc  CONFIG_NETUTILS_CODECS && CONFIG_CODECS_BASE64
   cat        CONFIG_NFILE_DESCRIPTORS > 0
   cd         !CONFIG_DISABLE_ENVIRON && CONFIG_NFILE_DESCRIPTORS > 0
   cp         CONFIG_NFILE_DESCRIPTORS > 0
@@ -837,10 +869,14 @@ Command Dependencies on Configuration Settings
   free       --
   get        CONFIG_NET && CONFIG_NET_UDP && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NET_BUFSIZE >= 558  (see note 1)
   help       --
+  hexdump    CONFIG_NFILE_DESCRIPTORS > 0
   ifconfig   CONFIG_NET
+  ifdown     CONFIG_NET
+  ifup       CONFIG_NET
   kill       !CONFIG_DISABLE_SIGNALS
   losetup    !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0
   ls         CONFIG_NFILE_DESCRIPTORS > 0
+  md5        CONFIG_NETUTILS_CODECS && CONFIG_CODECS_HASH_MD5
   mb,mh,mw   ---
   mkdir      !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_FS_WRITABLE (see note 4)
   mkfatfs    !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_FS_FAT
@@ -861,6 +897,8 @@ Command Dependencies on Configuration Settings
   test       !CONFIG_NSH_DISABLESCRIPT
   umount     !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_FS_READABLE
   unset      !CONFIG_DISABLE_ENVIRON
+  urldecode  CONFIG_NETUTILS_CODECS && CONFIG_CODECS_URLCODE
+  urlencode  CONFIG_NETUTILS_CODECS && CONFIG_CODECS_URLCODE
   usleep     !CONFIG_DISABLE_SIGNALS
   get        CONFIG_NET && CONFIG_NET_TCP && CONFIG_NFILE_DESCRIPTORS > 0
   xd         ---
@@ -880,20 +918,22 @@ In addition, each NSH command can be individually disabled via one of the follow
 settings.  All of these settings make the configuration of NSH potentially complex but
 also allow it to squeeze into very small memory footprints.
 
-  CONFIG_NSH_DISABLE_CAT,      CONFIG_NSH_DISABLE_CD,       CONFIG_NSH_DISABLE_CP,
+  CONFIG_NSH_DISABLE_BASE64DEC, CONFIG_NSH_DISABLE_BASE64ENC, CONFIG_NSH_DISABLE_CAT,
-  CONFIG_NSH_DISABLE_DD,       CONFIG_NSH_DISABLE_DF,       CONFIG_NSH_DISABLE_ECHO,
+  CONFIG_NSH_DISABLE_CD,        CONFIG_NSH_DISABLE_CP,        CONFIG_NSH_DISABLE_DD,
-  CONFIG_NSH_DISABLE_EXEC,     CONFIG_NSH_DISABLE_EXIT,     CONFIG_NSH_DISABLE_FREE,
+  CONFIG_NSH_DISABLE_DF,        CONFIG_NSH_DISABLE_ECHO,      CONFIG_NSH_DISABLE_EXEC,
-  CONFIG_NSH_DISABLE_GET,      CONFIG_NSH_DISABLE_HELP,     CONFIG_NSH_DISABLE_IFCONFIG,
+  CONFIG_NSH_DISABLE_EXIT,      CONFIG_NSH_DISABLE_FREE,      CONFIG_NSH_DISABLE_GET,
-  CONFIG_NSH_DISABLE_KILL,     CONFIG_NSH_DISABLE_LOSETUP,  CONFIG_NSH_DISABLE_LS,
+  CONFIG_NSH_DISABLE_HELP,      CONFIG_NSH_DISABLE_HEXDUMP,   CONFIG_NSH_DISABLE_IFCONFIG,
-  CONFIG_NSH_DISABLE_MB,       CONFIG_NSH_DISABLE_MKDIR,    CONFIG_NSH_DISABLE_MKFATFS,
+  CONFIG_NSH_DISABLE_IFUPDOWN,  CONFIG_NSH_DISABLE_KILL,      CONFIG_NSH_DISABLE_LOSETUP,
-  CONFIG_NSH_DISABLE_MKFIFO,   CONFIG_NSH_DISABLE_MKRD,     CONFIG_NSH_DISABLE_MH,
+  CONFIG_NSH_DISABLE_LS,        CONFIG_NSH_DISABLE_MD5        CONFIG_NSH_DISABLE_MB,
-  CONFIG_NSH_DISABLE_MOUNT,    CONFIG_NSH_DISABLE_MW,       CONFIG_NSH_DISABLE_MV,
+  CONFIG_NSH_DISABLE_MKDIR,     CONFIG_NSH_DISABLE_MKFATFS,   CONFIG_NSH_DISABLE_MKFIFO,
-  CONFIG_NSH_DISABLE_NFSMOUNT, CONFIG_NSH_DISABLE_PS,       CONFIG_NSH_DISABLE_PING,
+  CONFIG_NSH_DISABLE_MKRD,      CONFIG_NSH_DISABLE_MH,        CONFIG_NSH_DISABLE_MOUNT,
-  CONFIG_NSH_DISABLE_PUT,      CONFIG_NSH_DISABLE_PWD,      CONFIG_NSH_DISABLE_RM,
+  CONFIG_NSH_DISABLE_MW,        CONFIG_NSH_DISABLE_MV,        CONFIG_NSH_DISABLE_NFSMOUNT,
-  CONFIG_NSH_DISABLE_RMDIR,    CONFIG_NSH_DISABLE_SET,      CONFIG_NSH_DISABLE_SH,
+  CONFIG_NSH_DISABLE_PS,        CONFIG_NSH_DISABLE_PING,      CONFIG_NSH_DISABLE_PUT,
-  CONFIG_NSH_DISABLE_SLEEP,    CONFIG_NSH_DISABLE_TEST,     CONFIG_NSH_DISABLE_UMOUNT,
+  CONFIG_NSH_DISABLE_PWD,       CONFIG_NSH_DISABLE_RM,        CONFIG_NSH_DISABLE_RMDIR,
-  CONFIG_NSH_DISABLE_UNSET,    CONFIG_NSH_DISABLE_USLEEP,   CONFIG_NSH_DISABLE_WGET,
+  CONFIG_NSH_DISABLE_SET,       CONFIG_NSH_DISABLE_SH,        CONFIG_NSH_DISABLE_SLEEP,
-  CONFIG_NSH_DISABLE_XD
+  CONFIG_NSH_DISABLE_TEST,      CONFIG_NSH_DISABLE_UMOUNT,    CONFIG_NSH_DISABLE_UNSET,
+  CONFIG_NSH_DISABLE_URLDECODE, CONFIG_NSH_DISABLE_URLENCODE, CONFIG_NSH_DISABLE_USLEEP,
+  CONFIG_NSH_DISABLE_WGET,      CONFIG_NSH_DISABLE_XD
 
 Verbose help output can be suppressed by defining CONFIG_NSH_HELP_TERSE.  In that
 case, the help command is still available but will be slightly smaller.
@@ -1084,6 +1124,10 @@ NSH-Specific Configuration Settings
       Set if your ethernet hardware has no built-in MAC address.
       If set, a bogus MAC will be assigned.
 
+  * CONFIG_NSH_MAX_ROUNDTRIP
+     This is the maximum round trip for a response to a ICMP ECHO request.
+    It is in units of deciseconds.  The default is 20 (2 seconds).
+
   If you use DHCPC, then some special configuration network options are
   required.  These include:
 

apps/nshlib/nsh.h

@@ -47,6 +47,7 @@
 #include <stdio.h>
 #include <stdint.h>
 #include <stdbool.h>
+#include <unistd.h>
 #include <errno.h>
 
 #include <nuttx/usb/usbdev_trace.h>
@@ -215,6 +216,15 @@
 
 #endif /* CONFIG_NSH_TELNET_LOGIN */
 
+/* CONFIG_NSH_MAX_ROUNDTRIP - This is the maximum round trip for a response to
+ *   a ICMP ECHO request. It is in units of deciseconds.  The default is 20
+ *   (2 seconds).
+ */
+
+#ifndef CONFIG_NSH_MAX_ROUNDTRIP
+#  define CONFIG_NSH_MAX_ROUNDTRIP 20
+#endif
+
 /* Verify support for ROMFS /etc directory support options */
 
 #ifdef CONFIG_NSH_ROMFSETC
@@ -258,12 +268,36 @@
 #  undef CONFIG_NSH_ROMFSSECTSIZE
 #endif
 
-/* This is the maximum number of arguments that will be accepted for a command */
+/* This is the maximum number of arguments that will be accepted for a
-#ifdef CONFIG_NSH_MAX_ARGUMENTS
+ * command.  Here we attempt to select the smallest number possible depending
-#  define NSH_MAX_ARGUMENTS CONFIG_NSH_MAX_ARGUMENTS
+ * upon the of commands that are available.  Most commands use six or fewer
-#else
+ * arguments, but there are a few that require more.
-#  define NSH_MAX_ARGUMENTS 10
+ *
+ * This value is also configurable with CONFIG_NSH_MAXARGUMENTS.  This
+ * configurability is necessary since there may also be external, "built-in"
+ * commands that require more commands than NSH is aware of.
+ */
+
+#ifndef CONFIG_NSH_MAXARGUMENTS
+#  define CONFIG_NSH_MAXARGUMENTS 6
 #endif
+
+#if CONFIG_NSH_MAXARGUMENTS < 11
+#  if defined(CONFIG_NET) && !defined(CONFIG_NSH_DISABLE_IFCONFIG)
+#    undef CONFIG_NSH_MAXARGUMENTS
+#    define CONFIG_NSH_MAXARGUMENTS 11
+#  endif
+#endif
+
+#if CONFIG_NSH_MAXARGUMENTS < 7
+#  if defined(CONFIG_NET_UDP) && CONFIG_NFILE_DESCRIPTORS > 0
+#    if !defined(CONFIG_NSH_DISABLE_GET) || !defined(CONFIG_NSH_DISABLE_PUT)
+#      undef CONFIG_NSH_MAXARGUMENTS
+#      define CONFIG_NSH_MAXARGUMENTS 7
+#    endif
+# endif
+#endif
+
 /* strerror() produces much nicer output but is, however, quite large and
  * will only be used if CONFIG_NSH_STRERROR is defined.  Note that the strerror
  * interface must also have been enabled with CONFIG_LIBC_STRERROR.
@@ -529,6 +563,9 @@ void nsh_usbtrace(void);
 #  ifndef CONFIG_NSH_DISABLE_DD
       int cmd_dd(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
 #  endif
+#  ifndef CONFIG_NSH_DISABLE_HEXDUMP
+      int cmd_hexdump(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#   endif
 #  ifndef CONFIG_NSH_DISABLE_LS
       int cmd_ls(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
 #  endif
@@ -595,6 +632,10 @@ void nsh_usbtrace(void);
 #  ifndef CONFIG_NSH_DISABLE_IFCONFIG
       int cmd_ifconfig(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
 #  endif
+#  ifndef CONFIG_NSH_DISABLE_IFUPDOWN
+      int cmd_ifup(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+      int cmd_ifdown(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#  endif
 #if defined(CONFIG_NET_UDP) && CONFIG_NFILE_DESCRIPTORS > 0
 #  ifndef CONFIG_NSH_DISABLE_GET
       int cmd_get(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
@@ -643,4 +684,28 @@ void nsh_usbtrace(void);
 #  endif
 #endif /* CONFIG_DISABLE_SIGNALS */
 
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_BASE64)
+#  ifndef CONFIG_NSH_DISABLE_BASE64DEC
+      int cmd_base64decode(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#  endif
+#  ifndef CONFIG_NSH_DISABLE_BASE64ENC
+      int cmd_base64encode(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#  endif
+#endif
+
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_HASH_MD5)
+#  ifndef CONFIG_NSH_DISABLE_MD5
+      int cmd_md5(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#  endif
+#endif
+
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_URLCODE)
+#  ifndef CONFIG_NSH_DISABLE_URLDECODE
+      int cmd_urlencode(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#  endif
+#  ifndef CONFIG_NSH_DISABLE_URLENCODE
+      int cmd_urldecode(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
+#  endif
+#endif
+
 #endif /* __APPS_NSHLIB_NSH_H */

apps/nshlib/nsh_apps.c

@@ -122,13 +122,28 @@ int nsh_execapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
   ret = exec_namedapp(cmd, (FAR const char **)argv);
   if (ret >= 0)
     {
-      /* The application was successfully started (but still blocked because the
+      /* The application was successfully started (but still blocked because
-       * scheduler is locked).  If the application was not backgrounded, then we
+       * the scheduler is locked).  If the application was not backgrounded,
-       * need to wait here for the application to exit.
+       * then we need to wait here for the application to exit.  These really
+       * only works works with the following options:
+       *
+       * - CONFIG_NSH_DISABLEBG - Do not run commands in background
+       * - CONFIG_SCHED_WAITPID - Required to run external commands in
+       *     foreground
+       *
+       * These concepts do not apply cleanly to the external applications.
        */
 
 #ifdef CONFIG_SCHED_WAITPID
+
+      /* CONFIG_SCHED_WAITPID is selected, so we may run the command in
+       * foreground unless we were specifically requested to run the command
+       * in background (and running commands in background is enabled).
+       */
+
+#  ifndef CONFIG_NSH_DISABLEBG
       if (vtbl->np.np_bg == false)
+#  endif /* CONFIG_NSH_DISABLEBG */
         {
           int rc = 0;
 
@@ -155,8 +170,25 @@ int nsh_execapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
               */
             }
         }
+#  ifndef CONFIG_NSH_DISABLEBG
       else
-#endif
+#  endif /* CONFIG_NSH_DISABLEBG */
+#endif /* CONFIG_SCHED_WAITPID */
+
+      /* We get here if either:
+       *
+       * - CONFIG_SCHED_WAITPID is not selected meaning that all commands
+       *   have to be run in background, or
+       * - CONFIG_SCHED_WAITPID and CONFIG_NSH_DISABLEBG are both selected, but the
+       *   user requested to run the command in background.
+       *
+       * NOTE that the case of a) CONFIG_SCHED_WAITPID is not selected and
+       * b) CONFIG_NSH_DISABLEBG selected cannot be supported.  In that event, all
+       * commands will have to run in background.  The waitpid() API must be
+       * available to support running the command in foreground.
+       */
+
+#if !defined(CONFIG_SCHED_WAITPID) || !defined(CONFIG_NSH_DISABLEBG)
         {
           struct sched_param param;
           sched_getparam(0, &param);
@@ -168,6 +200,7 @@ int nsh_execapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
 
           ret = OK;
         }
+#endif /* !CONFIG_SCHED_WAITPID || !CONFIG_NSH_DISABLEBG */
     }
 
   sched_unlock();

apps/nshlib/nsh_consolemain.c

@@ -160,11 +160,11 @@ int nsh_consolemain(int argc, char *argv[])
         }
     }
 
-  /* Clean up */
+  /* 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.
+   */
 
   nsh_exit(&pstate->cn_vtbl, 0);
-
-  /* We do not get here, but this is necessary to keep some compilers happy */
-
   return OK;
 }

apps/nshlib/nsh_dbgcmds.c

@@ -46,6 +46,10 @@
 #include <string.h>
 #include <errno.h>
 
+#if CONFIG_NFILE_DESCRIPTORS > 0
+# include <fcntl.h>
+#endif
+
 #include "nsh.h"
 #include "nsh_console.h"
 
@@ -99,7 +103,7 @@ int mem_parse(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv,
       pcvalue++;
 
       lvalue = (unsigned long)strtol(pcvalue, NULL, 16);
-      if (lvalue > 0xffffffff)
+      if (lvalue > 0xffffffffL)
         {
           return -EINVAL;
         }
@@ -127,6 +131,7 @@ int mem_parse(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv,
     {
       mem->dm_count = 1;
     }
+
   return OK;
 }
 
@@ -327,7 +332,7 @@ void nsh_dumpbuffer(FAR struct nsh_vtbl_s *vtbl, const char *msg,
 }
 
 /****************************************************************************
- * Name: cmd_xd
+ * Name: cmd_xd, hex dump of memory
  ****************************************************************************/
 
 #ifndef CONFIG_NSH_DISABLE_XD
@@ -353,3 +358,58 @@ int cmd_xd(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
   return OK;
 }
 #endif
+
+/****************************************************************************
+ * Name: cmd_hexdump, hex dump of files
+ ****************************************************************************/
+
+#if CONFIG_NFILE_DESCRIPTORS > 0
+#ifndef CONFIG_NSH_DISABLE_HEXDUMP
+int cmd_hexdump(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
+{
+  uint8_t buffer[IOBUFFERSIZE];
+  char msg[32];
+  int position;
+  int fd;
+  int ret = OK;
+  
+  /* Open the file for reading */
+
+  fd = open(argv[1], O_RDONLY);
+  if (fd < 0)
+    {
+      nsh_output(vtbl, g_fmtcmdfailed, "hexdump", "open", NSH_ERRNO);
+      return ERROR;
+    }
+  
+  position = 0;
+  for (;;)
+  {
+    int nbytesread = read(fd, buffer, IOBUFFERSIZE);
+
+    /* Check for read errors */
+
+    if (nbytesread < 0)
+      {
+        int errval = errno;
+        nsh_output(vtbl, g_fmtcmdfailed, "hexdump", "read", NSH_ERRNO_OF(errval));
+        ret = ERROR;
+        break;
+      }
+    else if (nbytesread > 0)
+      {
+        snprintf(msg, sizeof(msg), "%s at %08x", argv[1], position);
+        nsh_dumpbuffer(vtbl, msg, buffer, nbytesread);
+        position += nbytesread;
+      }
+    else
+      {
+        break; // EOF
+      }
+  }
+  
+  (void)close(fd);
+  return ret;
+}
+#endif
+#endif

apps/nshlib/nsh_netcmds.c

@@ -51,6 +51,7 @@
 #include <fcntl.h>       /* Needed for open */
 #include <libgen.h>      /* Needed for basename */
 #include <errno.h>
+#include <debug.h>
 
 #include <nuttx/net/net.h>
 #include <nuttx/clock.h>
@@ -80,6 +81,15 @@
 #  endif
 #endif
 
+#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
+#  ifdef CONFIG_HAVE_GETHOSTBYNAME
+#    include <netdb.h>
+#  else
+#    include <apps/netutils/resolv.h>
+#  endif
+#  include <apps/netutils/dhcpc.h>
+#endif
+
 #include "nsh.h"
 #include "nsh_console.h"
 
@@ -87,8 +97,16 @@
  * Definitions
  ****************************************************************************/
 
+/* Size of the ECHO data */
+
 #define DEFAULT_PING_DATALEN 56
 
+/* Get the larger value */
+
+#ifndef MAX
+#  define MAX(a,b) (a > b ? a : b)
+#endif
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -262,14 +280,34 @@ int ifconfig_callback(FAR struct uip_driver_s *dev, void *arg)
 {
   struct nsh_vtbl_s *vtbl = (struct nsh_vtbl_s*)arg;
   struct in_addr addr;
+  bool is_running = false;
+  int ret;
+
+  ret = uip_getifstatus(dev->d_ifname,&is_running);
+  if (ret != OK)
+    {
+      nsh_output(vtbl, "\tGet %s interface flags error: %d\n",
+                 dev->d_ifname, ret);
+    }
+
+  nsh_output(vtbl, "%s\tHWaddr %s at %s\n",
+             dev->d_ifname, ether_ntoa(&dev->d_mac), (is_running)?"UP":"DOWN");
 
-  nsh_output(vtbl, "%s\tHWaddr %s\n", dev->d_ifname, ether_ntoa(&dev->d_mac));
   addr.s_addr = dev->d_ipaddr;
   nsh_output(vtbl, "\tIPaddr:%s ", inet_ntoa(addr));
+
   addr.s_addr = dev->d_draddr;
   nsh_output(vtbl, "DRaddr:%s ", inet_ntoa(addr));
+
   addr.s_addr = dev->d_netmask;
-  nsh_output(vtbl, "Mask:%s\n\n", inet_ntoa(addr));
+  nsh_output(vtbl, "Mask:%s\n", inet_ntoa(addr));
+
+#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
+  resolv_getserver(&addr);
+  nsh_output(vtbl, "\tDNSaddr:%s\n", inet_ntoa(addr));
+#endif
+
+  nsh_output(vtbl, "\n");
   return OK;
 }
 
@@ -468,6 +506,54 @@ int cmd_get(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 #endif
 #endif
 
+/****************************************************************************
+ * Name: cmd_ifup
+ ****************************************************************************/
+
+#ifndef CONFIG_NSH_DISABLE_IFUPDOWN
+int cmd_ifup(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
+{
+  FAR char *intf = NULL;
+  int ret;
+
+  if (argc != 2)
+    {
+      nsh_output(vtbl, "Please select nic_name:\n");
+      netdev_foreach(ifconfig_callback, vtbl);
+      return OK;
+    }
+
+  intf = argv[1];
+  ret  = uip_ifup(intf);
+  nsh_output(vtbl, "ifup %s...%s\n", intf, (ret == OK) ? "OK" : "Failed");
+  return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: cmd_ifdown
+ ****************************************************************************/
+
+#ifndef CONFIG_NSH_DISABLE_IFUPDOWN
+int cmd_ifdown(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
+{
+  FAR char *intf = NULL;
+  int ret;
+
+  if (argc != 2)
+    {
+      nsh_output(vtbl, "Please select nic_name:\n");
+      netdev_foreach(ifconfig_callback, vtbl);
+      return OK;
+    }
+
+  intf = argv[1];
+  ret = uip_ifdown(intf);
+  nsh_output(vtbl, "ifdown %s...%s\n", intf, (ret == OK) ? "OK" : "Failed");
+  return ret;
+}
+#endif
+
 /****************************************************************************
  * Name: cmd_ifconfig
  ****************************************************************************/
@@ -476,7 +562,20 @@ int cmd_get(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 int cmd_ifconfig(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 {
   struct in_addr addr;
-  in_addr_t ip;
+  in_addr_t gip;
+  int i;
+  FAR char *intf = NULL;
+  FAR char *hostip = NULL;
+  FAR char *gwip = NULL;
+  FAR char *mask = NULL;
+  FAR char *tmp = NULL;
+  FAR char *hw = NULL;
+  FAR char *dns = NULL;
+  bool badarg = false;
+  uint8_t mac[IFHWADDRLEN];
+#if defined(CONFIG_NSH_DHCPC)
+  FAR void *handle;
+#endif
 
   /* With one or no arguments, ifconfig simply shows the status of ethernet
    * device:
@@ -498,24 +597,201 @@ int cmd_ifconfig(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
    *    ifconfig nic_name ip_address
    */
 
-  /* Set host ip address */
+  if (argc > 2)
+    {
+      for(i = 0; i < argc; i++)
+        {
+          if (i == 1)
+            {
+              intf = argv[i];
+            }
+          else if (i == 2)
+            {
+              hostip = argv[i];
+            }
+          else
+            {
+              tmp = argv[i];
+              if (!strcmp(tmp, "dr") || !strcmp(tmp, "gw") || !strcmp(tmp, "gateway"))
+                {
+                  if (argc-1 >= i+1)
+                    {
+                      gwip = argv[i+1];
+                      i++;
+                    }
+                  else
+                    {
+                      badarg = true;
+                    }
+                }
+              else if(!strcmp(tmp, "netmask"))
+                {
+                  if (argc-1 >= i+1)
+                    {
+                      mask = argv[i+1];
+                      i++;
+                    }
+                  else
+                    {
+                      badarg = true;
+                    }
+                }
+              else if(!strcmp(tmp, "hw"))
+                {
+                  if (argc-1>=i+1)
+                    {
+                      hw = argv[i+1];
+                      i++;
+                      badarg = !uiplib_hwmacconv(hw, mac);
+                    }
+                  else
+                    {
+                      badarg = true;
+                    }
+                }
+              else if(!strcmp(tmp, "dns"))
+                {
+                  if (argc-1 >= i+1)
+                    {
+                      dns = argv[i+1];
+                      i++;
+                    }
+                  else
+                    {
+                      badarg = true;
+                    }
+                }
+            }
+        }
+    }
 
-  ip = addr.s_addr = inet_addr(argv[2]);
+  if (badarg)
-  uip_sethostaddr(argv[1], &addr);
+    {
+      nsh_output(vtbl, g_fmtargrequired, argv[0]);
+      return ERROR;
+    }
+
+  /* Set Hardware ethernet MAC addr */
+
+  if (hw)
+    {
+      ndbg("HW MAC: %s\n", hw);
+      uip_setmacaddr(intf, mac);
+    }
+
+#if defined(CONFIG_NSH_DHCPC)
+  if (!strcmp(hostip, "dhcp"))
+    {
+      /* Set DHCP addr */
+
+      ndbg("DHCPC Mode\n");
+      gip = addr.s_addr = 0;
+    }
+  else
+#endif
+    {
+      /* Set host IP address */
+
+      ndbg("Host IP: %s\n", hostip);
+      gip = addr.s_addr = inet_addr(hostip);
+    }
+
+  uip_sethostaddr(intf, &addr);
 
   /* Set gateway */
 
-  ip = NTOHL(ip);
+  if (gwip)
-  ip &= ~0x000000ff;
+    {
-  ip |= 0x00000001;
+      ndbg("Gateway: %s\n", gwip);
+      gip = addr.s_addr = inet_addr(gwip);
+    }
+  else
+    {
+      if (gip)
+        {
+          ndbg("Gateway: default\n");
+          gip  = NTOHL(gip);
+          gip &= ~0x000000ff;
+          gip |= 0x00000001;
+          gip  = HTONL(gip);
+        }
 
-  addr.s_addr = HTONL(ip);
+      addr.s_addr = gip;
-  uip_setdraddr(argv[1], &addr);
+    }
 
-  /* Set netmask */
+  uip_setdraddr(intf, &addr);
 
-  addr.s_addr = inet_addr("255.255.255.0");
+  /* Set network mask */
-  uip_setnetmask(argv[1], &addr);
+
+  if (mask)
+    {
+      ndbg("Netmask: %s\n",mask);
+      addr.s_addr = inet_addr(mask);
+    }
+  else
+    {
+      ndbg("Netmask: Default\n");
+      addr.s_addr = inet_addr("255.255.255.0");
+    }
+
+  uip_setnetmask(intf, &addr);
+
+#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
+  if (dns)
+    {
+      ndbg("DNS: %s\n", dns);
+      addr.s_addr = inet_addr(dns);
+    }
+  else
+    {
+      ndbg("DNS: Default\n");
+      addr.s_addr = gip;
+    }
+
+  resolv_conf(&addr);
+#endif
+
+#if defined(CONFIG_NSH_DHCPC)
+  /* Get the MAC address of the NIC */
+
+  if (!gip)
+    {
+      uip_getmacaddr("eth0", mac);
+
+      /* Set up the DHCPC modules */
+
+      handle = dhcpc_open(&mac, IFHWADDRLEN);
+
+      /* Get an IP address.  Note that there is no logic for renewing the IP address in this
+       * example.  The address should be renewed in ds.lease_time/2 seconds.
+       */
+
+      if (handle)
+        {
+          struct dhcpc_state ds;
+
+          (void)dhcpc_request(handle, &ds);
+          uip_sethostaddr("eth0", &ds.ipaddr);
+
+          if (ds.netmask.s_addr != 0)
+            {
+              uip_setnetmask("eth0", &ds.netmask);
+            }
+
+          if (ds.default_router.s_addr != 0)
+            {
+              uip_setdraddr("eth0", &ds.default_router);
+            }
+
+          if (ds.dnsaddr.s_addr != 0)
+            {
+              resolv_conf(&ds.dnsaddr);
+            }
+
+          dhcpc_close(handle);
+        }
+    }
+#endif
 
   return OK;
 }
@@ -536,6 +812,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
   uint32_t start;
   uint32_t next;
   uint32_t dsec = 10;
+  uint32_t maxwait;
   uint16_t id;
   bool badarg = false;
   int count = 10;
@@ -599,7 +876,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
   if (optind == argc-1)
     {
       staddr = argv[optind];
-      if (!uiplib_ipaddrconv(staddr, (FAR unsigned char*)&ipaddr))
+      if (dns_gethostip(staddr, &ipaddr) < 0)
         {
           goto errout;
         }
@@ -619,16 +896,26 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 
   id = ping_newid();
 
+  /* The maximum wait for a response will be the larger of the inter-ping time and
+   * the configured maximum round-trip time.
+   */
+
+  maxwait = MAX(dsec, CONFIG_NSH_MAX_ROUNDTRIP);
+
   /* Loop for the specified count */
 
-  nsh_output(vtbl, "PING %s %d bytes of data\n", staddr, DEFAULT_PING_DATALEN);
+  nsh_output(vtbl, "PING %d.%d.%d.%d %d bytes of data\n",
+            (ipaddr       ) & 0xff, (ipaddr >> 8  ) & 0xff,
+            (ipaddr >> 16 ) & 0xff, (ipaddr >> 24 ) & 0xff,
+            DEFAULT_PING_DATALEN);
+
   start = g_system_timer;
   for (i = 1; i <= count; i++)
     {
       /* Send the ECHO request and wait for the response */
 
       next  = g_system_timer;
-      seqno = uip_ping(ipaddr, id, i, DEFAULT_PING_DATALEN, dsec);
+      seqno = uip_ping(ipaddr, id, i, DEFAULT_PING_DATALEN, maxwait);
 
       /* Was any response returned? We can tell if a non-negative sequence
        * number was returned.
@@ -636,7 +923,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 
       if (seqno >= 0 && seqno <= i)
         {
-          /* Get the elpased time from the time that the request was
+          /* Get the elapsed time from the time that the request was
            * sent until the response was received.  If we got a response
            * to an earlier request, then fudge the elpased time.
            */
@@ -644,7 +931,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
           elapsed = TICK2MSEC(g_system_timer - next);
           if (seqno < i)
             {
-              elapsed += 100*dsec*(i - seqno);
+              elapsed += 100 * dsec * (i - seqno);
             }
 
           /* Report the receipt of the reply */
@@ -662,7 +949,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
       elapsed = TICK2DSEC(g_system_timer - next);
       if (elapsed < dsec)
         {
-          usleep(100000*dsec);
+          usleep(100000 * (dsec - elapsed));
         }
     }
 

apps/nshlib/nsh_netinit.c

@@ -47,7 +47,7 @@
 #include <net/if.h>
 
 #include <apps/netutils/uiplib.h>
-#if defined(CONFIG_NSH_DHCPC)
+#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
 #  include <apps/netutils/resolv.h>
 #  include <apps/netutils/dhcpc.h>
 #endif
@@ -60,6 +60,10 @@
  * Definitions
  ****************************************************************************/
 
+#if defined(CONFIG_NSH_DRIPADDR) && !defined(CONFIG_NSH_DNSIPADDR)
+#  define CONFIG_NSH_DNSIPADDR CONFIG_NSH_DRIPADDR
+#endif
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -125,10 +129,14 @@ int nsh_netinit(void)
   addr.s_addr = HTONL(CONFIG_NSH_NETMASK);
   uip_setnetmask("eth0", &addr);
 
-#if defined(CONFIG_NSH_DHCPC)
+#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
   /* Set up the resolver */
 
   resolv_init();
+#if defined(CONFIG_NSH_DNS)
+  addr.s_addr = HTONL(CONFIG_NSH_DNSIPADDR);
+  resolv_conf(&addr);
+#endif
 #endif
 
 #if defined(CONFIG_NSH_DHCPC)
@@ -148,7 +156,7 @@ int nsh_netinit(void)
     {
         struct dhcpc_state ds;
         (void)dhcpc_request(handle, &ds);
-        uip_sethostaddr("eth1", &ds.ipaddr);
+        uip_sethostaddr("eth0", &ds.ipaddr);
         if (ds.netmask.s_addr != 0)
           {
             uip_setnetmask("eth0", &ds.netmask);

apps/nshlib/nsh_parse.c

@@ -73,19 +73,19 @@
 /* Argument list size
  *
  *   argv[0]:      The command name. 
- *   argv[1]:      The beginning of argument (up to NSH_MAX_ARGUMENTS)
+ *   argv[1]:      The beginning of argument (up to CONFIG_NSH_MAXARGUMENTS)
  *   argv[argc-3]: Possibly '>' or '>>'
  *   argv[argc-2]: Possibly <file>
  *   argv[argc-1]: Possibly '&' (if pthreads are enabled)
  *   argv[argc]:   NULL terminating pointer
  *
- * Maximum size is NSH_MAX_ARGUMENTS+5
+ * Maximum size is CONFIG_NSH_MAXARGUMENTS+5
  */
 
 #ifndef CONFIG_NSH_DISABLEBG
-#  define MAX_ARGV_ENTRIES (NSH_MAX_ARGUMENTS+5)
+#  define MAX_ARGV_ENTRIES (CONFIG_NSH_MAXARGUMENTS+5)
 #else
-#  define MAX_ARGV_ENTRIES (NSH_MAX_ARGUMENTS+4)
+#  define MAX_ARGV_ENTRIES (CONFIG_NSH_MAXARGUMENTS+4)
 #endif
 
 /* Help command summary layout */
@@ -146,16 +146,25 @@ static const char g_failure[]    = "1";
 static const struct cmdmap_s g_cmdmap[] =
 {
 #if !defined(CONFIG_NSH_DISABLESCRIPT) && !defined(CONFIG_NSH_DISABLE_TEST)
-  { "[",        cmd_lbracket, 4, NSH_MAX_ARGUMENTS, "<expression> ]" },
+  { "[",        cmd_lbracket, 4, CONFIG_NSH_MAXARGUMENTS, "<expression> ]" },
 #endif
 
 #ifndef CONFIG_NSH_DISABLE_HELP
   { "?",        cmd_help,     1, 1, NULL },
 #endif
 
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_BASE64)
+#  ifndef CONFIG_NSH_DISABLE_BASE64DEC
+  { "base64dec", cmd_base64decode, 2, 4, "[-w] [-f] <string or filepath>" },
+#  endif
+#  ifndef CONFIG_NSH_DISABLE_BASE64ENC
+  { "base64enc", cmd_base64encode, 2, 4, "[-w] [-f] <string or filepath>" },
+#  endif
+#endif
+
 #if CONFIG_NFILE_DESCRIPTORS > 0
 # ifndef CONFIG_NSH_DISABLE_CAT
-  { "cat",      cmd_cat,      2, NSH_MAX_ARGUMENTS, "<path> [<path> [<path> ...]]" },
+  { "cat",      cmd_cat,      2, CONFIG_NSH_MAXARGUMENTS, "<path> [<path> [<path> ...]]" },
 # endif
 #ifndef CONFIG_DISABLE_ENVIRON
 # ifndef CONFIG_NSH_DISABLE_CD
@@ -187,9 +196,9 @@ static const struct cmdmap_s g_cmdmap[] =
 
 #ifndef CONFIG_NSH_DISABLE_ECHO
 # ifndef CONFIG_DISABLE_ENVIRON
-  { "echo",     cmd_echo,     0, NSH_MAX_ARGUMENTS, "[<string|$name> [<string|$name>...]]" },
+  { "echo",     cmd_echo,     0, CONFIG_NSH_MAXARGUMENTS, "[<string|$name> [<string|$name>...]]" },
 # else
-  { "echo",     cmd_echo,     0, NSH_MAX_ARGUMENTS, "[<string> [<string>...]]" },
+  { "echo",     cmd_echo,     0, CONFIG_NSH_MAXARGUMENTS, "[<string> [<string>...]]" },
 # endif
 #endif
 
@@ -218,9 +227,19 @@ static const struct cmdmap_s g_cmdmap[] =
 # endif
 #endif
   
+#if CONFIG_NFILE_DESCRIPTORS > 0
+#ifndef CONFIG_NSH_DISABLE_HEXDUMP
+  { "hexdump",  cmd_hexdump,  2, 2, "<file or device>" },
+#endif
+#endif
+
 #ifdef CONFIG_NET
 # ifndef CONFIG_NSH_DISABLE_IFCONFIG
-  { "ifconfig", cmd_ifconfig, 1, 3, "[nic_name [ip]]" },
+  { "ifconfig", cmd_ifconfig, 1, 11, "[nic_name [<ip-address>|dhcp]] [dr|gw|gateway <dr-address>] [netmask <net-mask>] [dns <dns-address>] [hw <hw-mac>]" },
+# endif
+# ifndef CONFIG_NSH_DISABLE_IFUPDOWN
+  { "ifdown",   cmd_ifdown,   2, 2,  "<nic_name>" },
+  { "ifup",     cmd_ifup,     2, 2,  "<nic_name>" },
 # endif
 #endif
 
@@ -246,6 +265,12 @@ static const struct cmdmap_s g_cmdmap[] =
   { "mb",       cmd_mb,       2, 3, "<hex-address>[=<hex-value>][ <hex-byte-count>]" },
 #endif
 
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_HASH_MD5)
+#  ifndef CONFIG_NSH_DISABLE_MD5
+  { "md5",      cmd_md5,      2, 3, "[-f] <string or filepath>" },
+#  endif
+#endif
+
 #if !defined(CONFIG_DISABLE_MOUNTPOINT) && CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_FS_WRITABLE)
 # ifndef CONFIG_NSH_DISABLE_MKDIR
   { "mkdir",    cmd_mkdir,    2, 2, "<path>" },
@@ -348,7 +373,7 @@ static const struct cmdmap_s g_cmdmap[] =
 #endif
 
 #if !defined(CONFIG_NSH_DISABLESCRIPT) && !defined(CONFIG_NSH_DISABLE_TEST)
-  { "test",     cmd_test,     3, NSH_MAX_ARGUMENTS, "<expression>" },
+  { "test",     cmd_test,     3, CONFIG_NSH_MAXARGUMENTS, "<expression>" },
 #endif
 
 #if !defined(CONFIG_DISABLE_MOUNTPOINT) && CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_FS_READABLE)
@@ -363,6 +388,15 @@ static const struct cmdmap_s g_cmdmap[] =
 # endif
 #endif
 
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_URLCODE)
+#  ifndef CONFIG_NSH_DISABLE_URLDECODE
+  { "urldecode", cmd_urldecode, 2, 3, "[-f] <string or filepath>" },
+#  endif
+#  ifndef CONFIG_NSH_DISABLE_URLENCODE
+  { "urlencode", cmd_urlencode, 2, 3, "[-f] <string or filepath>" },
+#  endif
+#endif
+
 #ifndef CONFIG_DISABLE_SIGNALS
 # ifndef CONFIG_NSH_DISABLE_USLEEP
   { "usleep",   cmd_usleep,   2, 2, "<usec>" },
@@ -378,6 +412,7 @@ static const struct cmdmap_s g_cmdmap[] =
 #ifndef CONFIG_NSH_DISABLE_XD
   { "xd",       cmd_xd,       3, 3, "<hex-address> <byte-count>" },
 #endif
+
   { NULL,       NULL,         1, 1, NULL }
 };
 
@@ -711,7 +746,7 @@ static int nsh_execute(FAR struct nsh_vtbl_s *vtbl, int argc, char *argv[])
    *
    * argv[0]:      The command name.  This is argv[0] when the arguments
    *               are, finally, received by the command vtblr
-   * argv[1]:      The beginning of argument (up to NSH_MAX_ARGUMENTS)
+   * argv[1]:      The beginning of argument (up to CONFIG_NSH_MAXARGUMENTS)
    * argv[argc]:   NULL terminating pointer
    */
 
@@ -1318,13 +1353,13 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
    * of argv is:
    *
    *   argv[0]:      The command name. 
-   *   argv[1]:      The beginning of argument (up to NSH_MAX_ARGUMENTS)
+   *   argv[1]:      The beginning of argument (up to CONFIG_NSH_MAXARGUMENTS)
    *   argv[argc-3]: Possibly '>' or '>>'
    *   argv[argc-2]: Possibly <file>
    *   argv[argc-1]: Possibly '&'
    *   argv[argc]:   NULL terminating pointer
    *
-   * Maximum size is NSH_MAX_ARGUMENTS+5
+   * Maximum size is CONFIG_NSH_MAXARGUMENTS+5
    */
 
   argv[0] = cmd;
@@ -1398,7 +1433,7 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
 
   /* Check if the maximum number of arguments was exceeded */
 
-  if (argc > NSH_MAX_ARGUMENTS)
+  if (argc > CONFIG_NSH_MAXARGUMENTS)
     {
       nsh_output(vtbl, g_fmttoomanyargs, cmd);
     }

apps/px4/tests/test_adc.c

@@ -53,96 +53,40 @@
 #include "tests.h"
 
 #include <nuttx/analog/adc.h>
+#include <drivers/drv_adc.h>
+#include <systemlib/err.h>
 
 int test_adc(int argc, char *argv[])
 {
-	int		fd0 = 0;
+	int fd = open(ADC_DEVICE_PATH, O_RDONLY);
-	int		ret = 0;
 
-	#pragma pack(push,1)
+	if (fd < 0)
-	struct adc_msg4_s {
+		err(1, "can't open ADC device");
-		uint8_t      am_channel1;	/**< The 8-bit ADC Channel 1 */
-		int32_t      am_data1;		/**< ADC convert result 1 (4 bytes) */
-		uint8_t      am_channel2;	/**< The 8-bit ADC Channel 2 */
-		int32_t      am_data2;		/**< ADC convert result 2 (4 bytes) */
-		uint8_t      am_channel3;	/**< The 8-bit ADC Channel 3 */
-		int32_t      am_data3;		/**< ADC convert result 3 (4 bytes) */
-		uint8_t      am_channel4;	/**< The 8-bit ADC Channel 4 */
-		int32_t      am_data4;		/**< ADC convert result 4 (4 bytes) */
-	};
-	#pragma pack(pop)
 
-	struct adc_msg4_s sample1;
+	for (unsigned i = 0; i < 5; i++) {
+		/* make space for a maximum of eight channels */
+		struct adc_msg_s data[8];
+		/* read all channels available */
+		ssize_t count = read(fd, data, sizeof(data));
 
-	ssize_t nbytes;
+		if (count < 0)
-	int j;
+			goto errout_with_dev;
-	int errval;
 
-	fd0 = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
+		unsigned channels = count / sizeof(data[0]);
 
-	if (fd0 <= 0) {
+		for (unsigned j = 0; j < channels; j++) {
-		message("/dev/adc0 open fail: %d\n", errno);
+			printf("%d: %u  ", data[j].am_channel, data[j].am_data);
-		return ERROR;
-
-	} else {
-		message("opened /dev/adc0 successfully\n");
-	}
-	usleep(10000);
-
-	for (j = 0; j < 10; j++) {
-
-		/* sleep 20 milliseconds */
-		usleep(20000);
-		nbytes = read(fd0, &sample1, sizeof(sample1));
-
-		/* Handle unexpected return values */
-
-		if (nbytes < 0) {
-			errval = errno;
-
-			if (errval != EINTR) {
-				message("reading /dev/adc0 failed: %d\n", errval);
-				errval = 3;
-				goto errout_with_dev;
-			}
-
-			message("\tinterrupted read..\n");
-
-		} else if (nbytes == 0) {
-			message("\tno data read, ignoring.\n");
-			ret = ERROR;
 		}
 
-		/* Print the sample data on successful return */
+		printf("\n");
-
+		usleep(150000);
-		else {
-			if (nbytes != sizeof(sample1)) {
-				message("\tsample 1 size %d is not matching struct size %d, ignoring\n",
-					nbytes, sizeof(sample1));
-				ret = ERROR;
-
-			} else {
-
-				message("CYCLE %d:\n", j);
-
-				message("channel: %d value: %d\n",
-					(int)sample1.am_channel1, sample1.am_data1);
-				message("channel: %d value: %d\n",
-					(int)sample1.am_channel2, sample1.am_data2);
-				message("channel: %d value: %d\n",
-					(int)sample1.am_channel3, sample1.am_data3);
-				message("channel: %d value: %d\n",
-					(int)sample1.am_channel4, sample1.am_data4);
-			}
-		}
-		fflush(stdout);
 	}
 
 	message("\t ADC test successful.\n");
 
 errout_with_dev:
 
-	if (fd0 != 0) close(fd0);
+	if (fd != 0) close(fd);
 
-	return ret;
+	return OK;
 }

apps/px4/tests/test_bson.c

@@ -240,5 +240,5 @@ test_bson(int argc, char *argv[])
 	decode(&decoder);
 	free(buf);
 
-	exit(0);
+	return OK;
 }

apps/px4/tests/test_jig_voltages.c

@@ -52,7 +52,8 @@
 #include "tests.h"
 
 #include <nuttx/analog/adc.h>
-
+#include <drivers/drv_adc.h>
+#include <systemlib/err.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -89,129 +90,79 @@
 
 int test_jig_voltages(int argc, char *argv[])
 {
-	int		fd0 = 0;
+	int fd = open(ADC_DEVICE_PATH, O_RDONLY);
-	int		ret = OK;
+	int ret = OK;
-	const int nchannels = 4;
 
-	struct adc_msg4_s
+	if (fd < 0) {
-	{
+		warnx("can't open ADC device");
-	  uint8_t      am_channel1;               /* The 8-bit ADC Channel */
+		return 1;
-	  int32_t      am_data1;                  /* ADC convert result (4 bytes) */
-	  uint8_t      am_channel2;               /* The 8-bit ADC Channel */
-	  int32_t      am_data2;                  /* ADC convert result (4 bytes) */
-	  uint8_t      am_channel3;               /* The 8-bit ADC Channel */
-	  int32_t      am_data3;                  /* ADC convert result (4 bytes) */
-	  uint8_t      am_channel4;               /* The 8-bit ADC Channel */
-	  int32_t      am_data4;                  /* ADC convert result (4 bytes) */
-	}__attribute__((__packed__));;
-
-	struct adc_msg4_s sample1[4];
-
-	size_t readsize;
-	ssize_t nbytes;
-	int i = 0;
-	int j = 0;
-	int errval;
-
-	char name[11];
-	sprintf(name, "/dev/adc%d", j);
-	fd0 = open(name, O_RDONLY | O_NONBLOCK);
-	if (fd0 < 0)
-	{
-		printf("ADC: %s open fail\n", name);
-		return ERROR;
-	} else {
-		printf("Opened %s successfully\n", name);
 	}
 
+	/* make space for a maximum of eight channels */
+	struct adc_msg_s data[8];
+	/* read all channels available */
+	ssize_t count = read(fd, data, sizeof(data));
+
+	if (count < 0) {
+		close(fd);
+		warnx("can't read from ADC driver. Forgot 'adc start' command?");
+		return 1;
+	}
+
+	unsigned channels = count / sizeof(data[0]);
+
+	for (unsigned j = 0; j < channels; j++) {
+		printf("%d: %u  ", data[j].am_channel, data[j].am_data);
+	}
+
+	printf("\n");
+
+	warnx("\t ADC operational.\n");
 
 	/* Expected values */
-	int16_t expected_min[] = {2700, 2700, 2200, 2000};
+	int16_t expected_min[] = {2800, 2800, 1800,  800};
-	int16_t expected_max[] = {3000, 3000, 2500, 2200};
+	int16_t expected_max[] = {3100, 3100, 2100, 1100};
-	char* check_res[nchannels];
+	char *check_res[channels];
 
-	/* first adc read round */
+	if (channels < 4) {
-	readsize = 4 * sizeof(struct adc_msg_s);
+		close(fd);
+		warnx("not all four test channels available, aborting.");
+		return 1;
 
-	/* Empty all buffers */
+	} else {
-	do {
+		/* Check values */
-		nbytes = read(fd0, sample1, readsize);
+		check_res[0] = (expected_min[0] < data[0].am_data && expected_max[0] > data[0].am_data) ? "OK" : "FAIL";
+		check_res[1] = (expected_min[1] < data[1].am_data && expected_max[1] > data[1].am_data) ? "OK" : "FAIL";
+		check_res[2] = (expected_min[2] < data[2].am_data && expected_max[2] > data[2].am_data) ? "OK" : "FAIL";
+		check_res[3] = (expected_min[3] < data[3].am_data && expected_max[3] > data[3].am_data) ? "OK" : "FAIL";
+
+		/* Accumulate result */
+		ret += (expected_min[0] > data[0].am_data || expected_max[0] < data[0].am_data) ? 1 : 0;
+		ret += (expected_min[1] > data[1].am_data || expected_max[1] < data[1].am_data) ? 1 : 0;
+		ret += (expected_min[2] > data[2].am_data || expected_max[2] < data[2].am_data) ? 1 : 0;
+		ret += (expected_min[3] > data[3].am_data || expected_max[3] < data[3].am_data) ? 1 : 0;
+
+		message("Sample:");
+		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
+			data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]);
+		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
+			data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]);
+		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
+			data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]);
+		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
+			data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]);
+
+		if (ret != OK) {
+			printf("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.\n");
+			goto errout_with_dev;
+		}
 	}
-	while (nbytes > 0);
 
-	up_udelay(20000);//microseconds
+	printf("\t JIG voltages test successful.\n");
-	/* Take measurements */
-	nbytes = read(fd0, sample1, readsize);
 
-    /* Handle unexpected return values */
+errout_with_dev:
 
-    if (nbytes <= 0)
+	if (fd != 0) close(fd);
-      {
-        errval = errno;
-        if (errval != EINTR)
-          {
-            message("read %s failed: %d\n",
-                    name, errval);
-            errval = 3;
-            goto errout_with_dev;
-          }
-
-        message("\tInterrupted read...\n");
-      }
-    else if (nbytes == 0)
-      {
-        message("\tNo data read, Ignoring\n");
-      }
-
-    /* Print the sample data on successful return */
-
-    else
-    {
-    	int nsamples = nbytes / sizeof(struct adc_msg_s);
-    	if (nsamples * sizeof(struct adc_msg_s) != nbytes)
-    	{
-    		message("\tread size=%d is not a multiple of sample size=%d, Ignoring\n",
-    				nbytes, sizeof(struct adc_msg_s));
-    	}
-    	else
-    	{
-    		/* Check values */
-    		check_res[0] = (expected_min[0] < sample1[i].am_data1 && expected_max[0] > sample1[i].am_data1) ? "OK" : "FAIL";
-    		check_res[1] = (expected_min[1] < sample1[i].am_data2 && expected_max[1] > sample1[i].am_data2) ? "OK" : "FAIL";
-    		check_res[2] = (expected_min[2] < sample1[i].am_data3 && expected_max[2] > sample1[i].am_data3) ? "OK" : "FAIL";
-    		check_res[3] = (expected_min[3] < sample1[i].am_data4 && expected_max[3] > sample1[i].am_data4) ? "OK" : "FAIL";
-
-    		/* Accumulate result */
-    		ret += (expected_min[0] > sample1[i].am_data1 || expected_max[0] < sample1[i].am_data1) ? 1 : 0;
-    		// XXX Chan 11 not connected on test setup
-    		//ret += (expected_min[1] > sample1[i].am_data2 || expected_max[1] < sample1[i].am_data2) ? 1 : 0;
-    		ret += (expected_min[2] > sample1[i].am_data3 || expected_max[2] < sample1[i].am_data3) ? 1 : 0;
-    		ret += (expected_min[3] > sample1[i].am_data4 || expected_max[3] < sample1[i].am_data4) ? 1 : 0;
-
-    		message("Sample:");
-    		message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-    					i, sample1[i].am_channel1, sample1[i].am_data1, expected_min[0], expected_max[0], check_res[0]);
-        	message("Sample:");
-    		message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-						i, sample1[i].am_channel2, sample1[i].am_data2, expected_min[1], expected_max[1], check_res[1]);
-        	message("Sample:");
-    		message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-						i, sample1[i].am_channel3, sample1[i].am_data3, expected_min[2], expected_max[2], check_res[2]);
-        	message("Sample:");
-    		message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-						i, sample1[i].am_channel4, sample1[i].am_data4, expected_min[3], expected_max[3], check_res[3]);
-
-    		if (ret != OK) {
-    			printf("\t ADC test FAILED. Some channels where out of allowed range. Check supply voltages.\n");
-    		 	goto errout_with_dev;
-    		}
-    	}
-    }
-
-	printf("\t ADC test successful.\n");
-
-	errout_with_dev:
-	  if (fd0 != 0) close(fd0);
 
 	return ret;
 }

apps/px4/tests/test_sleep.c

@@ -90,9 +90,8 @@ int test_sleep(int argc, char *argv[])
 	printf("\t %d 100ms sleeps\n", nsleeps);
 	fflush(stdout);
 
-	for (int i = 0; i < nsleeps; i++) {
+	for (unsigned int i = 0; i < nsleeps; i++) {
 		usleep(100000);
-		//printf("\ttick\n");
 	}
 
 	printf("\t Sleep test successful.\n");

apps/px4/tests/test_time.c

@@ -95,7 +95,7 @@ cycletime(void)
 
 	lasttime = cycles;
 
-	return (basetime + cycles) / 168;
+	return (basetime + cycles) / 168;	/* XXX magic number */
 }
 
 /****************************************************************************
@@ -133,9 +133,9 @@ int test_time(int argc, char *argv[])
 	lowdelta = abs(delta / 100);
 
 	/* loop checking the time */
-	for (unsigned i = 0; i < 100000; i++) {
+	for (unsigned i = 0; i < 100; i++) {
 
-		usleep(rand() * 10);
+		usleep(rand());
 
 		uint32_t flags = irqsave();
 
@@ -154,7 +154,7 @@ int test_time(int argc, char *argv[])
 			fprintf(stderr, "h %llu  c %llu  d %lld\n", h, c, delta - lowdelta);
 	}
 
-	printf("Maximum jitter %lld\n", maxdelta);
+	printf("Maximum jitter %lldus\n", maxdelta);
 
 	return 0;
 }

apps/px4/tests/tests_file.c

@@ -37,6 +37,7 @@
  * File write test.
  */
 
+#include <sys/stat.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <fcntl.h>
@@ -51,6 +52,13 @@
 int
 test_file(int argc, char *argv[])
 {
+	/* check if microSD card is mounted */
+	struct stat buffer;
+	if (stat("/fs/microsd/", &buffer)) {
+		warnx("no microSD card mounted, aborting file test");
+		return 1;
+	}
+
 	uint8_t buf[512];
 	hrt_abstime start, end;
 	perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes");

apps/px4/tests/tests_main.c

@@ -78,43 +78,44 @@ static int test_jig(int argc, char *argv[]);
  * Private Data
  ****************************************************************************/
 
-struct {
+const struct {
 	const char 	*name;
 	int	(* fn)(int argc, char *argv[]);
 	unsigned	options;
-	int			passed;
 #define OPT_NOHELP	(1<<0)
 #define OPT_NOALLTEST	(1<<1)
 #define OPT_NOJIGTEST	(1<<2)
 } tests[] = {
-	{"led",			test_led,	0, 0},
+	{"led",			test_led,	0},
-	{"int",			test_int,	0, 0},
+	{"int",			test_int,	0},
-	{"float",		test_float,	0, 0},
+	{"float",		test_float,	0},
-	{"sensors",		test_sensors,	0, 0},
+	{"sensors",		test_sensors,	0},
-	{"gpio",		test_gpio,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
+	{"gpio",		test_gpio,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"hrt",			test_hrt,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
+	{"hrt",			test_hrt,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"ppm",			test_ppm,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
+	{"ppm",			test_ppm,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"servo",		test_servo,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
+	{"servo",		test_servo,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"adc",			test_adc,	OPT_NOJIGTEST, 0},
+	{"adc",			test_adc,	OPT_NOJIGTEST},
-	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST, 0},
+	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST},
-	{"uart_loopback",	test_uart_loopback,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
+	{"uart_loopback",	test_uart_loopback,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"uart_baudchange",	test_uart_baudchange,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
+	{"uart_baudchange",	test_uart_baudchange,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"uart_send",		test_uart_send,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
+	{"uart_send",		test_uart_send,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"uart_console",	test_uart_console,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
+	{"uart_console",	test_uart_console,	OPT_NOJIGTEST | OPT_NOALLTEST},
-    {"hott_telemetry",	test_hott_telemetry,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
+	{"hott_telemetry",	test_hott_telemetry,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"tone",		test_tone,	0, 0},
+	{"tone",		test_tone,	0},
-	{"sleep",		test_sleep,	OPT_NOJIGTEST, 0},
+	{"sleep",		test_sleep,	OPT_NOJIGTEST},
-	{"time",		test_time,	OPT_NOJIGTEST, 0},
+	{"time",		test_time,	OPT_NOJIGTEST},
-	{"perf",		test_perf,	OPT_NOJIGTEST, 0},
+	{"perf",		test_perf,	OPT_NOJIGTEST},
-	{"all",			test_all,	OPT_NOALLTEST | OPT_NOJIGTEST, 0},
+	{"all",			test_all,	OPT_NOALLTEST | OPT_NOJIGTEST},
-	{"jig",			test_jig,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
+	{"jig",			test_jig,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"param",		test_param,	0, 0},
+	{"param",		test_param,	0},
-	{"bson",		test_bson,	0, 0},
+	{"bson",		test_bson,	0},
-	{"file",		test_file,	0, 0},
+	{"file",		test_file,	0},
-	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST, 0},
+	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
-	{NULL,			NULL, 		0, 0}
+	{NULL,			NULL, 		0}
 };
 
+#define NTESTS (sizeof(tests) / sizeof(tests[0]))
+
 static int
 test_help(int argc, char *argv[])
 {
@@ -134,6 +135,7 @@ test_all(int argc, char *argv[])
 	unsigned	i;
 	char		*args[2] = {"all", NULL};
 	unsigned int failcount = 0;
+	bool		passed[NTESTS];
 
 	printf("\nRunning all tests...\n\n");
 
@@ -148,11 +150,11 @@ test_all(int argc, char *argv[])
 				fprintf(stderr, "  [%s] \t\t\tFAIL\n", tests[i].name);
 				fflush(stderr);
 				failcount++;
-
+				passed[i] = false;
 			} else {
-				tests[i].passed = 1;
 				printf("  [%s] \t\t\tPASS\n", tests[i].name);
 				fflush(stdout);
+				passed[i] = true;
 			}
 		}
 	}
@@ -196,7 +198,7 @@ test_all(int argc, char *argv[])
 	unsigned int k;
 
 	for (k = 0; k < i; k++) {
-		if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOALLTEST)) {
+		if (!passed[k] && !(tests[k].options & OPT_NOALLTEST)) {
 			printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
 		}
 	}
@@ -243,6 +245,7 @@ int test_jig(int argc, char *argv[])
 	unsigned	i;
 	char		*args[2] = {"jig", NULL};
 	unsigned int failcount = 0;
+	bool		passed[NTESTS];
 
 	printf("\nRunning all tests...\n\n");
 	for (i = 0; tests[i].name; i++) {
@@ -255,10 +258,11 @@ int test_jig(int argc, char *argv[])
 				fprintf(stderr, "  [%s] \t\t\tFAIL\n", tests[i].name);
 				fflush(stderr);
 				failcount++;
+				passed[i] = false;
 			} else {
-				tests[i].passed = 1;
 				printf("  [%s] \t\t\tPASS\n", tests[i].name);
 				fflush(stdout);
+				passed[i] = true;
 			}
 		}
 	}
@@ -297,7 +301,7 @@ int test_jig(int argc, char *argv[])
 	unsigned int k;
 	for (k = 0; k < i; k++)
 	{
-		if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOJIGTEST))
+		if (!passed[i] && !(tests[k].options & OPT_NOJIGTEST))
 		{
 			printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
 		}

apps/px4io/mixer.cpp

@@ -100,7 +100,6 @@ mixer_tick(void)
 		/* too many frames without FMU input, time to go to failsafe */
 		system_state.mixer_manual_override = true;
 		system_state.mixer_fmu_available = false;
-		lib_lowprintf("RX timeout\n");
 	}
 
 	/*

apps/sdlog/sdlog.c

@@ -51,6 +51,7 @@
 #include <poll.h>
 #include <stdlib.h>
 #include <string.h>
+#include <ctype.h>
 #include <systemlib/err.h>
 #include <unistd.h>
 #include <drivers/drv_hrt.h>
@@ -73,6 +74,8 @@
 
 #include <systemlib/systemlib.h>
 
+#include <mavlink/mavlink_log.h>
+
 #include "sdlog_ringbuffer.h"
 
 static bool thread_should_exit = false;		/**< Deamon exit flag */
@@ -83,6 +86,7 @@ static const int MAX_NO_LOGFOLDER = 999;	/**< Maximum number of log folders */
 static const char *mountpoint = "/fs/microsd";
 static const char *mfile_in = "/etc/logging/logconv.m";
 int sysvector_file = -1;
+int mavlink_fd = -1;
 struct sdlog_logbuffer lb;
 
 /* mutex / condition to synchronize threads */
@@ -118,6 +122,8 @@ static int file_exist(const char *filename);
 
 static int file_copy(const char *file_old, const char *file_new);
 
+static void handle_command(struct vehicle_command_s *cmd);
+
 /**
  * Print the current status.
  */
@@ -134,7 +140,7 @@ usage(const char *reason)
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
 
-	errx(1, "usage: sdlog {start|stop|status} [-p <additional params>]\n\n");
+	errx(1, "usage: sdlog {start|stop|status} [-s <number of skipped lines>]\n\n");
 }
 
 // XXX turn this into a C++ class
@@ -145,6 +151,9 @@ unsigned sysvector_bytes = 0;
 unsigned blackbox_file_bytes = 0;
 uint64_t starttime = 0;
 
+/* logging on or off, default to true */
+bool logging_enabled = true;
+
 /**
  * The sd log deamon app only briefly exists to start
  * the background job. The stack size assigned in the
@@ -172,7 +181,7 @@ int sdlog_main(int argc, char *argv[])
 					 SCHED_PRIORITY_DEFAULT - 30,
 					 4096,
 					 sdlog_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (const char **)argv);
 		exit(0);
 	}
 
@@ -318,8 +327,54 @@ sysvector_write_start(struct sdlog_logbuffer *logbuf)
 
 int sdlog_thread_main(int argc, char *argv[])
 {
+	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 
-	warnx("starting\n");
+	if (mavlink_fd < 0) {
+		warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
+	}
+
+	/* log every n'th value (skip three per default) */
+	int skip_value = 3;
+
+	/* work around some stupidity in task_create's argv handling */
+	argc -= 2;
+	argv += 2;
+	int ch;
+
+	while ((ch = getopt(argc, argv, "s:r")) != EOF) {
+		switch (ch) {
+		case 's':
+			{
+			/* log only every n'th (gyro clocked) value */
+			unsigned s = strtoul(optarg, NULL, 10);
+
+			if (s < 1 || s > 250) {
+				errx(1, "Wrong skip value of %d, out of range (1..250)\n", s);
+			} else {
+				skip_value = s;
+			}
+			}
+			break;
+
+		case 'r':
+			/* log only on request, disable logging per default */
+			logging_enabled = false;
+			break;
+
+		case '?':
+			if (optopt == 'c') {
+				warnx("Option -%c requires an argument.\n", optopt);
+			} else if (isprint(optopt)) {
+				warnx("Unknown option `-%c'.\n", optopt);
+			} else {
+				warnx("Unknown option character `\\x%x'.\n", optopt);
+			}
+
+		default:
+			usage("unrecognized flag");
+			errx(1, "exiting.");
+		}
+	}
 
 	if (file_exist(mountpoint) != OK) {
 		errx(1, "logging mount point %s not present, exiting.", mountpoint);
@@ -330,31 +385,15 @@ int sdlog_thread_main(int argc, char *argv[])
 	if (create_logfolder(folder_path))
 		errx(1, "unable to create logging folder, exiting.");
 
-	/* create sensorfile */
-	int sensorfile = -1;
-	int actuator_outputs_file = -1;
-	int actuator_controls_file = -1;
 	FILE *gpsfile;
 	FILE *blackbox_file;
-	// FILE *vehiclefile;
 
-	char path_buf[64] = ""; // string to hold the path to the sensorfile
+	/* string to hold the path to the sensorfile */
+	char path_buf[64] = "";
 
+	/* only print logging path, important to find log file later */
 	warnx("logging to directory %s\n", folder_path);
 
-	/* set up file path: e.g. /mnt/sdcard/session0001/sensor_combined.bin */
-	sprintf(path_buf, "%s/%s.bin", folder_path, "sensor_combined");
-
-	if (0 == (sensorfile = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
-		errx(1, "opening %s failed.\n", path_buf);
-	}
-
-	// /* set up file path: e.g. /mnt/sdcard/session0001/actuator_outputs0.bin */
-	// sprintf(path_buf, "%s/%s.bin", folder_path, "actuator_outputs0");
-	// if (0 == (actuator_outputs_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
-	// 	errx(1, "opening %s failed.\n", path_buf);
-	// }
-
 	/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
 	sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector");
 
@@ -362,13 +401,6 @@ int sdlog_thread_main(int argc, char *argv[])
 		errx(1, "opening %s failed.\n", path_buf);
 	}
 
-	/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
-	sprintf(path_buf, "%s/%s.bin", folder_path, "actuator_controls0");
-
-	if (0 == (actuator_controls_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
-		errx(1, "opening %s failed.\n", path_buf);
-	}
-
 	/* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
 	sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
 
@@ -385,6 +417,7 @@ int sdlog_thread_main(int argc, char *argv[])
 		errx(1, "opening %s failed.\n", path_buf);
 	}
 
+	// XXX for fsync() calls
 	int blackbox_file_no = fileno(blackbox_file);
 
 	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
@@ -432,18 +465,24 @@ int sdlog_thread_main(int argc, char *argv[])
 	} subs;
 
 	/* --- MANAGEMENT - LOGGING COMMAND --- */
-	/* subscribe to ORB for sensors raw */
+	/* subscribe to ORB for vehicle command */
 	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
 	fds[fdsc_count].fd = subs.cmd_sub;
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- GPS POSITION --- */
+	/* subscribe to ORB for global position */
+	subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	fds[fdsc_count].fd = subs.gps_pos_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* --- SENSORS RAW VALUE --- */
 	/* subscribe to ORB for sensors raw */
 	subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
 	fds[fdsc_count].fd = subs.sensor_sub;
-	/* rate-limit raw data updates to 200Hz */
+	/* do not rate limit, instead use skip counter (aliasing on rate limit) */
-	orb_set_interval(subs.sensor_sub, 5);
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
@@ -496,13 +535,6 @@ int sdlog_thread_main(int argc, char *argv[])
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
-	/* --- GPS POSITION --- */
-	/* subscribe to ORB for global position */
-	subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	fds[fdsc_count].fd = subs.gps_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
 	/* --- VICON POSITION --- */
 	/* subscribe to ORB for vicon position */
 	subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
@@ -560,22 +592,13 @@ int sdlog_thread_main(int argc, char *argv[])
 
 	starttime = hrt_absolute_time();
 
-	// XXX clock the log for now with the gyro output rate / 2
-	struct pollfd gyro_fd;
-	gyro_fd.fd = subs.sensor_sub;
-	gyro_fd.events = POLLIN;
-
-	/* log every 2nd value (skip one) */
-	int skip_value = 0;
 	/* track skipping */
 	int skip_count = 0;
 
 	while (!thread_should_exit) {
 
-		// XXX only use gyro for now
+		/* only poll for commands, gps and sensor_combined */
-		int poll_ret = poll(&gyro_fd, 1, 1000);
+		int poll_ret = poll(fds, 3, 1000);
-
-		// int poll_ret = poll(fds, fdsc_count, timeout);
 
 		/* handle the poll result */
 		if (poll_ret == 0) {
@@ -584,159 +607,129 @@ int sdlog_thread_main(int argc, char *argv[])
 			/* XXX this is seriously bad - should be an emergency */
 		} else {
 
-			/* always copy sensors raw data into local buffer, since poll flags won't clear else */
+			int ifds = 0;
-			orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
-			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
-			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
-			/* copy actuator data into local buffer */
-			orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
-			orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
-			orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
-			orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
-			orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
-			orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
-			orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
-			orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
 
-			if (skip_count < skip_value) {
+			/* --- VEHICLE COMMAND VALUE --- */
-				skip_count++;
+			if (fds[ifds++].revents & POLLIN) {
-				/* do not log data */
+				/* copy command into local buffer */
-				continue;
+				orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
-			} else {
+
-				/* log data, reset */
+				/* always log to blackbox, even when logging disabled */
-				skip_count = 0;
+				blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
+					buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
+					(double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
+
+				handle_command(&buf.cmd);
 			}
 
-		// 	int ifds = 0;
+			/* --- VEHICLE GPS VALUE --- */
+			if (fds[ifds++].revents & POLLIN) {
+				/* copy gps position into local buffer */
+				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
 
-		// 	if (poll_count % 5000 == 0) {
+				/* if logging disabled, continue */
-		// 		fsync(sensorfile);
+				if (logging_enabled) {
-		// 		fsync(actuator_outputs_file);
-		// 		fsync(actuator_controls_file);
-		// 		fsync(blackbox_file_no);
-		// 	}
 
+				/* write KML line */
+				}
+			}
 
+			/* --- SENSORS RAW VALUE --- */
+			if (fds[ifds++].revents & POLLIN) {
 
-		// 	/* --- VEHICLE COMMAND VALUE --- */
+				// /* copy sensors raw data into local buffer */
-		// 	if (fds[ifds++].revents & POLLIN) {
+				// orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
-		// 		/* copy command into local buffer */
+				// /* write out */
-		// 		orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
+				// sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
-		// 		blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
-		// 			buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
-		// 			(double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
-		// 	}
 
-		// 	/* --- SENSORS RAW VALUE --- */
+				/* always copy sensors raw data into local buffer, since poll flags won't clear else */
-		// 	if (fds[ifds++].revents & POLLIN) {
+				orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
+				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
+				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
+				orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
+				orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
+				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
+				orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
+				orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
+				orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
+				orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
+				orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
+				orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure);
+				orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt);
 
-		// 		/* copy sensors raw data into local buffer */
+				/* if skipping is on or logging is disabled, ignore */
-		// 		orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
+				if (skip_count < skip_value || !logging_enabled) {
-		// 		/* write out */
+					skip_count++;
-		// 		sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
+					/* do not log data */
-		// 	}
+					continue;
+				} else {
+					/* log data, reset */
+					skip_count = 0;
+				}
 
-		// 	/* --- ATTITUDE VALUE --- */
+				struct sdlog_sysvector sysvect = {
-		// 	if (fds[ifds++].revents & POLLIN) {
+					.timestamp = buf.raw.timestamp,
+					.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
+					.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
+					.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
+					.baro = buf.raw.baro_pres_mbar,
+					.baro_alt = buf.raw.baro_alt_meter,
+					.baro_temp = buf.raw.baro_temp_celcius,
+					.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
+					.actuators = {
+						buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
+						buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]
+					},
+					.vbat = buf.batt.voltage_v,
+					.bat_current = buf.batt.current_a,
+					.bat_discharged = buf.batt.discharged_mah,
+					.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]},
+					.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
+					.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
+					.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
+					.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
+					.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
+					.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
+					.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
+					.diff_pressure = buf.diff_pressure.differential_pressure_mbar,
+					.ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s,
+					.true_airspeed = buf.diff_pressure.true_airspeed_m_s
+				};
 
-		// 		/* copy attitude data into local buffer */
+				/* put into buffer for later IO */
-		// 		orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
+				pthread_mutex_lock(&sysvector_mutex);
+				sdlog_logbuffer_write(&lb, &sysvect);
+				/* signal the other thread new data, but not yet unlock */
+				if ((unsigned)lb.count > (lb.size / 2)) {
+					/* only request write if several packets can be written at once */
+					pthread_cond_signal(&sysvector_cond);
+				}
+				/* unlock, now the writer thread may run */
+				pthread_mutex_unlock(&sysvector_mutex);
+			}
 
-
-		// 	}
-
-		// 	/* --- VEHICLE ATTITUDE SETPOINT --- */
-		// 	if (fds[ifds++].revents & POLLIN) {
-		// 		/* copy local position data into local buffer */
-		// 		orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
-
-		// 	}
-
-		// 	/* --- ACTUATOR OUTPUTS 0 --- */
-		// 	if (fds[ifds++].revents & POLLIN) {
-		// 		/* copy actuator data into local buffer */
-		// 		orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
-		// 		/* write out */
-		// 		// actuator_outputs_bytes += write(actuator_outputs_file, (const char*)&buf.act_outputs, sizeof(buf.act_outputs));
-		// 	}
-
-		// 	/* --- ACTUATOR CONTROL --- */
-		// 	if (fds[ifds++].revents & POLLIN) {
-		// 		orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls0_sub, &buf.act_controls);
-		// 		/* write out */
-		// 		actuator_controls_bytes += write(actuator_controls_file, (const char*)&buf.act_controls, sizeof(buf.act_controls));
-		// 	}
-
-
-			/* copy sensors raw data into local buffer */
-			orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
-			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
-			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
-			/* copy actuator data into local buffer */
-			orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
-			orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
-			orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
-			orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
-			orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
-			orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
-			orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
-			orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
-			orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure);
-			orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt);
-
-			struct sdlog_sysvector sysvect = {
-				.timestamp = buf.raw.timestamp,
-				.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
-				.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
-				.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
-				.baro = buf.raw.baro_pres_mbar,
-				.baro_alt = buf.raw.baro_alt_meter,
-				.baro_temp = buf.raw.baro_temp_celcius,
-				.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
-				.actuators = {
-					buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
-					buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]
-				},
-				.vbat = buf.batt.voltage_v,
-				.bat_current = buf.batt.current_a,
-				.bat_discharged = buf.batt.discharged_mah,
-				.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]},
-				.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
-				.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
-				.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
-				.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
-				.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
-				.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
-				.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
-				.diff_pressure = buf.diff_pressure.differential_pressure_mbar,
-				.ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s,
-				.true_airspeed = buf.diff_pressure.true_airspeed_m_s
-			};
-
-			/* put into buffer for later IO */
-			pthread_mutex_lock(&sysvector_mutex);
-			sdlog_logbuffer_write(&lb, &sysvect);
-			/* signal the other thread new data, but not yet unlock */
-			pthread_cond_signal(&sysvector_cond);
-			/* unlock, now the writer thread may run */
-			pthread_mutex_unlock(&sysvector_mutex);
 		}
 
 	}
 
 	print_sdlog_status();
 
+	/* wake up write thread one last time */
+	pthread_mutex_lock(&sysvector_mutex);
+	pthread_cond_signal(&sysvector_cond);
+	/* unlock, now the writer thread may return */
+	pthread_mutex_unlock(&sysvector_mutex);
+
 	/* wait for write thread to return */
 	(void)pthread_join(sysvector_pthread, NULL);
 
   	pthread_mutex_destroy(&sysvector_mutex);
   	pthread_cond_destroy(&sysvector_cond);
 
-	warnx("exiting.\n");
+	warnx("exiting.\n\n");
 
-	close(sensorfile);
+	/* finish KML file */
-	close(actuator_outputs_file);
+	// XXX
-	close(actuator_controls_file);
 	fclose(gpsfile);
 	fclose(blackbox_file);
 
@@ -803,4 +796,34 @@ int file_copy(const char *file_old, const char *file_new)
 	return ret;
 }
 
+void handle_command(struct vehicle_command_s *cmd)
+{
+	/* result of the command */
+	uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 
+	/* request to set different system mode */
+	switch (cmd->command) {
+
+	case VEHICLE_CMD_PREFLIGHT_STORAGE:
+
+		if (((int)(cmd->param3)) == 1)	{
+
+			/* enable logging */
+			mavlink_log_info(mavlink_fd, "[log] file:");
+			mavlink_log_info(mavlink_fd, "logdir");
+			logging_enabled = true;
+		}
+		if (((int)(cmd->param3)) == 0)	{
+
+			/* disable logging */
+			mavlink_log_info(mavlink_fd, "[log] stopped.");
+			logging_enabled = false;
+		}
+		break;
+
+	default:
+		/* silently ignore */
+		break;
+	}
+
+}

apps/sensors/sensors.cpp

@@ -43,7 +43,6 @@
 
 #include <fcntl.h>
 #include <poll.h>
-#include <nuttx/analog/adc.h>
 #include <unistd.h>
 #include <stdlib.h>
 #include <string.h>
@@ -52,13 +51,15 @@
 #include <errno.h>
 #include <math.h>
 
-#include <drivers/drv_hrt.h>
+#include <nuttx/analog/adc.h>
 
+#include <drivers/drv_hrt.h>
 #include <drivers/drv_accel.h>
 #include <drivers/drv_gyro.h>
 #include <drivers/drv_mag.h>
 #include <drivers/drv_baro.h>
 #include <drivers/drv_rc_input.h>
+#include <drivers/drv_adc.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
@@ -87,7 +88,7 @@
 #define BARO_HEALTH_COUNTER_LIMIT_OK 5
 #define ADC_HEALTH_COUNTER_LIMIT_OK  5
 
-#define ADC_BATTERY_VOLATGE_CHANNEL  10
+#define ADC_BATTERY_VOLTAGE_CHANNEL  10
 
 #define BAT_VOL_INITIAL 12.f
 #define BAT_VOL_LOWPASS_1 0.99f
@@ -373,7 +374,7 @@ Sensors::Sensors() :
 	_hil_enabled(false),
 	_publishing(true),
 
-	/* subscriptions */
+/* subscriptions */
 	_gyro_sub(-1),
 	_accel_sub(-1),
 	_mag_sub(-1),
@@ -383,13 +384,13 @@ Sensors::Sensors() :
 	_params_sub(-1),
 	_manual_control_sub(-1),
 
-	/* publications */
+/* publications */
 	_sensor_pub(-1),
 	_manual_control_pub(-1),
 	_rc_pub(-1),
 	_battery_pub(-1),
 
-	/* performance counters */
+/* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update"))
 {
 
@@ -487,6 +488,7 @@ Sensors::~Sensors()
 
 		/* wait for a second for the task to quit at our request */
 		unsigned i = 0;
+
 		do {
 			/* wait 20ms */
 			usleep(20000);
@@ -513,15 +515,19 @@ Sensors::parameters_update()
 		if (param_get(_parameter_handles.min[i], &(_parameters.min[i])) != OK) {
 			warnx("Failed getting min for chan %d", i);
 		}
+
 		if (param_get(_parameter_handles.trim[i], &(_parameters.trim[i])) != OK) {
 			warnx("Failed getting trim for chan %d", i);
 		}
+
 		if (param_get(_parameter_handles.max[i], &(_parameters.max[i])) != OK) {
 			warnx("Failed getting max for chan %d", i);
 		}
+
 		if (param_get(_parameter_handles.rev[i], &(_parameters.rev[i])) != OK) {
 			warnx("Failed getting rev for chan %d", i);
 		}
+
 		if (param_get(_parameter_handles.dz[i], &(_parameters.dz[i])) != OK) {
 			warnx("Failed getting dead zone for chan %d", i);
 		}
@@ -530,8 +536,8 @@ Sensors::parameters_update()
 
 		/* handle blowup in the scaling factor calculation */
 		if (!isfinite(_parameters.scaling_factor[i]) ||
-			_parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f ||
+		    _parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f ||
-			_parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) {
+		    _parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) {
 
 			/* scaling factors do not make sense, lock them down */
 			_parameters.scaling_factor[i] = 0;
@@ -553,18 +559,23 @@ Sensors::parameters_update()
 	if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
 		warnx("Failed getting roll chan index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
 		warnx("Failed getting pitch chan index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
 		warnx("Failed getting yaw chan index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
 		warnx("Failed getting throttle chan index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_manual_override_sw, &(_parameters.rc_map_manual_override_sw)) != OK) {
 		warnx("Failed getting override sw chan index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_auto_mode_sw, &(_parameters.rc_map_auto_mode_sw)) != OK) {
 		warnx("Failed getting auto mode sw chan index");
 	}
@@ -576,12 +587,15 @@ Sensors::parameters_update()
 	if (param_get(_parameter_handles.rc_map_manual_mode_sw, &(_parameters.rc_map_manual_mode_sw)) != OK) {
 		warnx("Failed getting manual mode sw chan index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_rtl_sw, &(_parameters.rc_map_rtl_sw)) != OK) {
 		warnx("Failed getting rtl sw chan index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_sas_mode_sw, &(_parameters.rc_map_sas_mode_sw)) != OK) {
 		warnx("Failed getting sas mode sw chan index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
 		warnx("Failed getting offboard control mode sw chan index");
 	}
@@ -589,15 +603,19 @@ Sensors::parameters_update()
 	if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) {
 		warnx("Failed getting mode aux 1 index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) {
 		warnx("Failed getting mode aux 2 index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) {
 		warnx("Failed getting mode aux 3 index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)) != OK) {
 		warnx("Failed getting mode aux 4 index");
 	}
+
 	if (param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)) != OK) {
 		warnx("Failed getting mode aux 5 index");
 	}
@@ -605,12 +623,15 @@ Sensors::parameters_update()
 	if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) {
 		warnx("Failed getting rc scaling for roll");
 	}
+
 	if (param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)) != OK) {
 		warnx("Failed getting rc scaling for pitch");
 	}
+
 	if (param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)) != OK) {
 		warnx("Failed getting rc scaling for yaw");
 	}
+
 	if (param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)) != OK) {
 		warnx("Failed getting rc scaling for flaps");
 	}
@@ -673,9 +694,11 @@ Sensors::accel_init()
 	int	fd;
 
 	fd = open(ACCEL_DEVICE_PATH, 0);
+
 	if (fd < 0) {
 		warn("%s", ACCEL_DEVICE_PATH);
 		errx(1, "FATAL: no accelerometer found");
+
 	} else {
 		/* set the accel internal sampling rate up to at leat 500Hz */
 		ioctl(fd, ACCELIOCSSAMPLERATE, 500);
@@ -694,9 +717,11 @@ Sensors::gyro_init()
 	int	fd;
 
 	fd = open(GYRO_DEVICE_PATH, 0);
+
 	if (fd < 0) {
 		warn("%s", GYRO_DEVICE_PATH);
 		errx(1, "FATAL: no gyro found");
+
 	} else {
 		/* set the gyro internal sampling rate up to at leat 500Hz */
 		ioctl(fd, GYROIOCSSAMPLERATE, 500);
@@ -715,6 +740,7 @@ Sensors::mag_init()
 	int	fd;
 
 	fd = open(MAG_DEVICE_PATH, 0);
+
 	if (fd < 0) {
 		warn("%s", MAG_DEVICE_PATH);
 		errx(1, "FATAL: no magnetometer found");
@@ -735,6 +761,7 @@ Sensors::baro_init()
 	int	fd;
 
 	fd = open(BARO_DEVICE_PATH, 0);
+
 	if (fd < 0) {
 		warn("%s", BARO_DEVICE_PATH);
 		warnx("No barometer found, ignoring");
@@ -750,9 +777,10 @@ void
 Sensors::adc_init()
 {
 
-	_fd_adc = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
+	_fd_adc = open(ADC_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
+
 	if (_fd_adc < 0) {
-		warnx("/dev/adc0");
+		warn(ADC_DEVICE_PATH);
 		warnx("FATAL: no ADC found");
 	}
 }
@@ -853,6 +881,7 @@ Sensors::vehicle_status_poll()
 
 	/* Check HIL state if vehicle status has changed */
 	orb_check(_vstatus_sub, &vstatus_updated);
+
 	if (vstatus_updated) {
 
 		orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &vstatus);
@@ -880,8 +909,7 @@ Sensors::parameter_update_poll(bool forced)
 	/* Check if any parameter has changed */
 	orb_check(_params_sub, &param_updated);
 
-	if (param_updated || forced)
+	if (param_updated || forced) {
-	{
 		/* read from param to clear updated flag */
 		struct parameter_update_s update;
 		orb_copy(ORB_ID(parameter_update), _params_sub, &update);
@@ -899,8 +927,10 @@ Sensors::parameter_update_poll(bool forced)
 			_parameters.gyro_offset[2],
 			1.0f,
 		};
+
 		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
 			warn("WARNING: failed to set scale / offsets for gyro");
+
 		close(fd);
 
 		fd = open(ACCEL_DEVICE_PATH, 0);
@@ -912,8 +942,10 @@ Sensors::parameter_update_poll(bool forced)
 			_parameters.accel_offset[2],
 			_parameters.accel_scale[2],
 		};
+
 		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
 			warn("WARNING: failed to set scale / offsets for accel");
+
 		close(fd);
 
 		fd = open(MAG_DEVICE_PATH, 0);
@@ -925,14 +957,16 @@ Sensors::parameter_update_poll(bool forced)
 			_parameters.mag_offset[2],
 			_parameters.mag_scale[2],
 		};
+
 		if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
 			warn("WARNING: failed to set scale / offsets for mag");
+
 		close(fd);
 
 #if 0
-		printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n",  (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor*10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
+		printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
-		printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n",  (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor*10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
+		printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
-		printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled*100), (int)(_rc.chan[1].scaled*100));
+		printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100));
 		fflush(stdout);
 		usleep(5000);
 #endif
@@ -942,45 +976,48 @@ Sensors::parameter_update_poll(bool forced)
 void
 Sensors::adc_poll(struct sensor_combined_s &raw)
 {
-	#pragma pack(push,1)
-	struct adc_msg4_s {
-		uint8_t      am_channel1;	/**< The 8-bit ADC Channel 1 */
-		int32_t      am_data1;		/**< ADC convert result 1 (4 bytes) */
-		uint8_t      am_channel2;	/**< The 8-bit ADC Channel 2 */
-		int32_t      am_data2;		/**< ADC convert result 2 (4 bytes) */
-		uint8_t      am_channel3;	/**< The 8-bit ADC Channel 3 */
-		int32_t      am_data3;		/**< ADC convert result 3 (4 bytes) */
-		uint8_t      am_channel4;	/**< The 8-bit ADC Channel 4 */
-		int32_t      am_data4;		/**< ADC convert result 4 (4 bytes) */
-	} buf_adc;
-	#pragma pack(pop)
 
+	/* rate limit to 100 Hz */
 	if (hrt_absolute_time() - _last_adc >= 10000) {
-		read(_fd_adc, &buf_adc, sizeof(buf_adc));
+		/* make space for a maximum of eight channels */
+		struct adc_msg_s buf_adc[8];
+		/* read all channels available */
+		int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
 
-		if (ADC_BATTERY_VOLATGE_CHANNEL == buf_adc.am_channel1) {
+		/* look for battery channel */
-			/* Voltage in volts */
-			float voltage = (buf_adc.am_data1 * _parameters.battery_voltage_scaling);
 
-			if (voltage > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
+		for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
 
-				_battery_status.timestamp = hrt_absolute_time();
+			if (ret >= sizeof(buf_adc[0]) && ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
-				_battery_status.voltage_v = (BAT_VOL_LOWPASS_1 * (_battery_status.voltage_v + BAT_VOL_LOWPASS_2 * voltage));;
+				/* Voltage in volts */
-				/* current and discharge are unknown */
+				float voltage = (buf_adc[i].am_data * _parameters.battery_voltage_scaling);
-				_battery_status.current_a = -1.0f;
-				_battery_status.discharged_mah = -1.0f;
 
-				/* announce the battery voltage if needed, just publish else */
+				if (voltage > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
-				if (_battery_pub > 0) {
+
-					orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
+					/* one-time initialization of low-pass value to avoid long init delays */
-				} else {
+					if (_battery_status.voltage_v < 3.0f) {
-					_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
+						_battery_status.voltage_v = voltage;
+					}
+
+					_battery_status.timestamp = hrt_absolute_time();
+					_battery_status.voltage_v = (BAT_VOL_LOWPASS_1 * (_battery_status.voltage_v + BAT_VOL_LOWPASS_2 * voltage));;
+					/* current and discharge are unknown */
+					_battery_status.current_a = -1.0f;
+					_battery_status.discharged_mah = -1.0f;
+
+					/* announce the battery voltage if needed, just publish else */
+					if (_battery_pub > 0) {
+						orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
+
+					} else {
+						_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
+					}
 				}
-			}
 
-			raw.battery_voltage_counter++;
+				_last_adc = hrt_absolute_time();
+				break;
+			}
 		}
-		_last_adc = hrt_absolute_time();
 	}
 }
 
@@ -1012,6 +1049,7 @@ Sensors::ppm_poll()
 		/* publish to object request broker */
 		if (rc_input_pub <= 0) {
 			rc_input_pub = orb_advertise(ORB_ID(input_rc), &raw);
+
 		} else {
 			orb_publish(ORB_ID(input_rc), rc_input_pub, &raw);
 		}
@@ -1052,6 +1090,7 @@ Sensors::ppm_poll()
 			return;
 
 		unsigned channel_limit = rc_input.channel_count;
+
 		if (channel_limit > _rc_max_chan_count)
 			channel_limit = _rc_max_chan_count;
 
@@ -1064,6 +1103,7 @@ Sensors::ppm_poll()
 			/* scale around the mid point differently for lower and upper range */
 			if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
 				_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]);
+
 			} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
 				/* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */
 				_rc.chan[i].scaled = -((_parameters.trim[i] - rc_input.values[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
@@ -1078,6 +1118,7 @@ Sensors::ppm_poll()
 				if ((int)_parameters.rev[i] == -1) {
 					_rc.chan[i].scaled = 1.0f + -1.0f * _rc.chan[i].scaled;
 				}
+
 			} else {
 				_rc.chan[i].scaled *= _parameters.rev[i];
 			}
@@ -1103,7 +1144,9 @@ Sensors::ppm_poll()
 		manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled);
 		/* throttle input */
 		manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
+
 		if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
+
 		if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;
 
 		/* scale output */
@@ -1175,6 +1218,7 @@ Sensors::ppm_poll()
 		/* check if ready for publishing */
 		if (_rc_pub > 0) {
 			orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
+
 		} else {
 			/* advertise the rc topic */
 			_rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc);
@@ -1183,6 +1227,7 @@ Sensors::ppm_poll()
 		/* check if ready for publishing */
 		if (_manual_control_pub > 0) {
 			orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
+
 		} else {
 			_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
 		}
@@ -1329,6 +1374,7 @@ Sensors::start()
 		warn("task start failed");
 		return -errno;
 	}
+
 	return OK;
 }
 
@@ -1343,6 +1389,7 @@ int sensors_main(int argc, char *argv[])
 			errx(1, "sensors task already running");
 
 		sensors::g_sensors = new Sensors;
+
 		if (sensors::g_sensors == nullptr)
 			errx(1, "sensors task alloc failed");
 
@@ -1351,12 +1398,14 @@ int sensors_main(int argc, char *argv[])
 			sensors::g_sensors = nullptr;
 			err(1, "sensors task start failed");
 		}
+
 		exit(0);
 	}
 
 	if (!strcmp(argv[1], "stop")) {
 		if (sensors::g_sensors == nullptr)
 			errx(1, "sensors task not running");
+
 		delete sensors::g_sensors;
 		sensors::g_sensors = nullptr;
 		exit(0);
@@ -1365,6 +1414,7 @@ int sensors_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (sensors::g_sensors) {
 			errx(0, "task is running");
+
 		} else {
 			errx(1, "task is not running");
 		}

apps/system/Makefile

@@ -41,31 +41,36 @@ SUBDIRS = free i2c install readline poweroff ramtron sdcard sysinfo
 
 # Create the list of installed runtime modules (INSTALLED_DIRS)
 
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
 define ADD_DIRECTORY
-INSTALLED_DIRS  += ${shell if [ -r $1/Makefile ]; then echo "$1"; fi}
+  INSTALLED_DIRS  += $(if $(wildcard .\$1\Makefile),$1,)
 endef
+else
+define ADD_DIRECTORY
+  INSTALLED_DIRS  += $(if $(wildcard ./$1/Makefile),$1,)
+endef
+endif
 
 $(foreach DIR, $(SUBDIRS), $(eval $(call ADD_DIRECTORY,$(DIR))))
 
 all: nothing
 .PHONY: nothing context depend clean distclean
 
+define SDIR_template
+$(1)_$(2):
+	$(Q) $(MAKE) -C $(1) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+endef
+
+$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),depend)))
+$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
+$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
+
 nothing:
 
 context:
 
-depend:
+depend: $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_depend)
-	@for dir in $(INSTALLED_DIRS) ; do \
-		$(MAKE) -C $$dir depend TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
 
-clean:
+clean: $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_clean)
-	@for dir in $(INSTALLED_DIRS) ; do \
-		$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
-
-distclean: clean
-	@for dir in $(INSTALLED_DIRS) ; do \
-		$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
 
+distclean: clean $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_distclean)

apps/system/free/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # apps/system/free/Makefile
 #
-#   Copyright (C) 2011 Uros Platise. All rights reserved.
+#   Copyright (C) 2011-2012 Uros Platise. All rights reserved.
 #   Author: Uros Platise <uros.platise@isotel.eu>
 #           Gregory Nutt <gnutt@nuttx.org>
 #
@@ -61,10 +61,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -83,32 +87,32 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
+	$(Q) touch .built
-	done ; )
-	@touch .built
 
 # Register application
 
 .context:
 	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
-	@touch $@
+	$(Q) touch $@
 
 context: .context
 
 # Create dependencies
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f .context Make.dep .depend
+	$(call DELFILE, .context)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/system/i2c/Makefile

@@ -48,10 +48,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -73,30 +77,29 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
+	$(Q) touch .built
-	done ; )
-	@touch .built
 
 .context:
 	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
-	@touch $@
+	$(Q) touch $@
 
 context: .context
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) \
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
-	  $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
-	@touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, .context)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
 

apps/system/install/Makefile

@@ -2,6 +2,7 @@
 # apps/system/install/Makefile
 #
 #   Copyright (C) 2011 Uros Platise. All rights reserved.
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
 #   Author: Uros Platise <uros.platise@isotel.eu>
 #           Gregory Nutt <gnutt@nuttx.org>
 #
@@ -61,10 +62,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -83,32 +88,32 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
+	$(Q) touch .built
-	done ; )
-	@touch .built
 
 # Register application
 
 .context:
 	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
-	@touch $@
+	$(Q) touch $@
 
 context: .context
 
 # Create dependencies
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f .context Make.dep .depend
+	$(call DELFILE, .context)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/system/readline/Makefile

@@ -52,10 +52,14 @@ COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(ASRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(WINTOOL),y)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+  BIN		= ..\..\libapps$(LIBEXT)
 else
-  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
 endif
 
 ROOTDEPPATH	= --dep-path .
@@ -74,10 +78,8 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 .built: $(OBJS)
-	@( for obj in $(OBJS) ; do \
+	$(call ARCHIVE, $(BIN), $(OBJS))
-		$(call ARCHIVE, $(BIN), $${obj}); \
+	$(Q) touch .built
-	done ; )
-	@touch .built
 
 # Context build phase target
 
@@ -86,18 +88,20 @@ context:
 # Dependency build phase target
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) touch $@
 
 depend: .depend
 
 # Housekeeping targets
 
 clean:
-	@rm -f *.o *~ .*.swp .built
+	$(call DELFILE, .built)
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f .context Make.dep .depend
+	$(call DELFILE, .context)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep

apps/systemcmds/eeprom/24xxxx_mtd.c

@@ -163,6 +163,8 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock,
 			    size_t nblocks, FAR const uint8_t *buf);
 static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg);
 
+void at24c_test(void);
+
 /************************************************************************************
  * Private Data
  ************************************************************************************/
@@ -218,6 +220,31 @@ static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nbloc
 	return (int)nblocks;
 }
 
+/************************************************************************************
+ * Name: at24c_test
+ ************************************************************************************/
+
+void at24c_test(void)
+{
+	uint8_t buf[CONFIG_AT24XX_MTD_BLOCKSIZE];
+	unsigned count = 0;
+	unsigned errors = 0;
+
+	for (count = 0; count < 10000; count++) {
+		ssize_t result = at24c_bread(&g_at24c.mtd, 0, 1, buf);
+		if (result == ERROR) {
+			if (errors++ > 2) {
+				vdbg("too many errors\n");
+				return;
+			}
+		} else if (result != 1) {
+			vdbg("unexpected %u\n", result);
+		}
+		if ((count % 100) == 0)
+			vdbg("test %u errors %u\n", count, errors);
+	}
+}
+
 /************************************************************************************
  * Name: at24c_bread
  ************************************************************************************/

apps/systemcmds/eeprom/eeprom.c

@@ -73,6 +73,7 @@ static void	eeprom_erase(void);
 static void	eeprom_ioctl(unsigned operation);
 static void	eeprom_save(const char *name);
 static void	eeprom_load(const char *name);
+static void	eeprom_test(void);
 
 static bool attached = false;
 static bool started = false;
@@ -93,6 +94,9 @@ int eeprom_main(int argc, char *argv[])
 		if (!strcmp(argv[1], "erase"))
 			eeprom_erase();
 
+		if (!strcmp(argv[1], "test"))
+			eeprom_test();
+
 		if (0) {	/* these actually require a file on the filesystem... */
 
 			if (!strcmp(argv[1], "reformat"))
@@ -250,3 +254,12 @@ eeprom_load(const char *name)
 
 	exit(0);
 }
+
+extern void at24c_test(void);
+
+static void
+eeprom_test(void)
+{
+	at24c_test();
+	exit(0);
+}

apps/uORB/objects_common.cpp

@@ -68,6 +68,9 @@ ORB_DEFINE(sensor_combined, struct sensor_combined_s);
 #include "topics/vehicle_gps_position.h"
 ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
 
+#include "topics/home_position.h"
+ORB_DEFINE(home_position, struct home_position_s);
+
 #include "topics/vehicle_status.h"
 ORB_DEFINE(vehicle_status, struct vehicle_status_s);
 

apps/uORB/topics/home_position.h

@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 home_position.h
+ * Definition of the GPS home position uORB topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#ifndef TOPIC_HOME_POSITION_H_
+#define TOPIC_HOME_POSITION_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * GPS home position in WGS84 coordinates.
+ */
+struct home_position_s
+{
+	uint64_t timestamp;             /**< Timestamp (microseconds since system boot)   */
+	uint64_t time_gps_usec;         /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module   */
+	
+	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 */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(home_position);
+
+#endif

apps/uORB/topics/sensor_combined.h

@@ -102,8 +102,6 @@ struct sensor_combined_s {
 	float adc_voltage_v[4];			/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
 	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
 	uint32_t baro_counter;			/**< Number of raw baro measurements taken        */
-	uint32_t battery_voltage_counter;	/**< Number of voltage measurements taken         */
-	bool battery_voltage_valid;		/**< True if battery voltage can be measured      */
 
 };
 

nuttx/COPYING

@@ -163,6 +163,57 @@ dtoa():
   "This product includes software developed by the University of
    California, Berkeley and its contributors."
 
+libc/string/lib_vikmemcpy.c
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+  If you enable CONFIG_MEMCPY_VIK, then you will build with the optimized
+  version of memcpy from Daniel Vik.  Licensing information for that version
+  of memcpy() follows:
+
+  Copyright (C) 1999-2010 Daniel Vik
+
+  This software is provided 'as-is', without any express or implied
+  warranty. In no event will the authors be held liable for any
+  damages arising from the use of this software.
+  Permission is granted to anyone to use this software for any
+  purpose, including commercial applications, and to alter it and
+  redistribute it freely, subject to the following restrictions:
+ 
+  1. The origin of this software must not be misrepresented; you
+     must not claim that you wrote the original software. If you
+     use this software in a product, an acknowledgment in the
+     use this software in a product, an acknowledgment in the
+     product documentation would be appreciated but is not
+     required.
+ 
+  2. Altered source versions must be plainly marked as such, and
+     must not be misrepresented as being the original software.
+ 
+  3. This notice may not be removed or altered from any source
+     distribution.
+ 
+libc/math
+^^^^^^^^^
+
+  If you enable CONFIG_LIB, you will build the math library at libc/math.
+  This library was taken from the math library developed for the Rhombus
+  OS by Nick Johnson (https://github.com/nickbjohnson4224/rhombus).  This
+  port was contributed by Darcy Gong.  The Rhombus math library has this
+  compatible MIT license:
+
+    Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+  
+  Permission to use, copy, modify, and distribute this software for any
+  purpose with or without fee is hereby granted, provided that the above
+  copyright notice and this permission notice appear in all copies.
+ 
+  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+  MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+  ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+
 Documents/rss.gif
 ^^^^^^^^^^^^^^^^^
 

nuttx/ChangeLog

@@ -3453,7 +3453,7 @@
 	* net/uip/uip_icmpping.c:  Fix problem that prevented ping from
 	  going outside of local network.  Submitted by Darcy Gong
 
-6.23 2012-09-29 Gregory Nutt <gnutt@nuttx.org>
+6.23 2012-11-05 Gregory Nutt <gnutt@nuttx.org>
 
 	* arch/arm/src/stm32/stm32_rng.c, chip/stm32_rng.h, and other files:
 	  Implementation of /dev/random using the STM32 Random Number
@@ -3470,4 +3470,334 @@
 	* configs/shenzhou/*/Make.defs:  Now uses the new buildroot 4.6.3
 	  EABI toolchain.
 	* lib/stdio/lib_libdtoa.c:  Another dtoa() fix from Mike Smith.
+	* configs/shenzhou/src/up_adc.c:  Add ADC support for the Shenzhou
+	  board (Darcy Gong).
+	* configs/shenzhou/thttpd:  Add a THTTPD configuration for the
+	  Shenzhou board (Darcy Gong).
+	* include/termios.h and lib/termios/libcf*speed.c: The non-standard,
+	  "hidden" c_speed cannot be type const or else static instantiations
+	  of termios will be required to initialize it (Mike Smith).
+	* drivers/input/max11802.c/h, and include/nuttx/input max11802.h:  Adds
+	  support for the Maxim MAX11802 touchscreen controller (contributed by
+	  Petteri Aimonen).
+	* graphics/nxtk/nxtk_events.c:  Missing implementation of the blocked
+	  method.  This is a critical bugfix for graphics support (contributed
+	  by Petteri Aimonen).
+	* drivers/usbdev/pl2303.c, drivers/usbdev/usbmsc.h, and
+	  include/nuttx/usb/cdcacm.h: USB_CONFIG_ATTR_SELFPOWER vs.
+	  USB_CONFIG_ATT_SELFPOWER (contributed by Petteri Aimonen).
+	* arch/arm/src/armv7-m/up_memcpy.S:  An optimized memcpy() function for
+	  the ARMv7-M family contributed by Mike Smith.
+	* lib/strings/lib_vikmemcpy.c:  As an option, the larger but faster
+	  implemementation of memcpy from Daniel Vik is now available (this is
+	  from http://www.danielvik.com/2010/02/fast-memcpy-in-c.html).
+	* lib/strings/lib_memset.c: CONFIG_MEMSET_OPTSPEED will select a
+	  version of memset() optimized for speed.  By default, memset() is
+	  optimized for size.
+	* lib/strings/lib_memset.c: CONFIG_MEMSET_64BIT will perform 64-bit
+	  aligned memset() operations.
+	* arch/arm/src/stm32/stm32_adc.c:  Need to put the ADC back into the
+	  initial reset in the open/setup logic.  Opening the ADC driver works
+	  the first time, but not the second because the device is left in a
+	  powered down state on the last close.
+	* configs/olimex-lpc1766stck/scripts:  Replace all of the identical
+	  ld.script files with the common one in this directory.
+	* configs/stm3220g-eval/scripts:  Replace all of the identical
+	  ld.script files with the common one in this directory.
+	* configs/hymini-stm32v/scripts:  Replace all of the identical
+	  ld.script files with the common one in this directory.
+	* configs/lpcxpresso-lpc1768/scripts:  Replace all of the identical
+	  ld.script files with the common one in this directory.
+	* binfmt/elf.c, binfmt/libelf, include/elf.h, include/nuttx/elf.h: Add
+	  basic framework for loadable ELF module support.  The initial check-
+	  in is non-functional and is simply the framework for ELF support.
+	* include/nuttx/binfmt.h, nxflat.h, elf.h, and symtab.h:  Moved to
+	  include/nuttx/binfmt/.
+	* arch/sim/src/up_elf.c and arch/x86/src/common/up_elf.c:  Add
+	  for ELF modules.
+	* arch/arm/include/elf.h:  Added ARM ELF header file.
+	* include/elf32.h:  Renamed elf.h to elf32.h.
+	* configs/stm32f4discovery/ostest:  Converted to use the new
+	  Kconfig-based configuration system.
+	* configs/stm32f4discovery/elf and configs/stm32f4discovery/scripts/gnu-elf.ld
+	  Add a configuration for testing the ARM ELF loader.
+	* binfmt/libelf:  Can't use fstat(). NuttX does not yet support it.  Damn!
+	* binfmt/libelf:  The basic ELF module execution appears fully functional.
+	* configs/shenzhou/src/up_relays.c:  Add support for relays from the
+	  Shenzhou board.  Contributed by Darcy Gong.
+	* lib/fixedmath: Moved the old lib/math to lib/fixedmath to make room for
+	  the math library from the Rhombus OS
+	* lib/math: Now contains the math library from the Rhombus OS by Nick Johnson
+	  (submitted by Darcy Gong).
+	* include/float.h:  Add a first cut at the float.h header file.  This
+	  really should be an architecture/toolchain-specific header file.  It
+	  is only used if CONFIG_ARCH_FLOAT_H is defined.
+	* lib/math: Files now conform to coding standards.  Separated float,
+	  double, and long double versions of code into separate files so that
+	  they don't draw in so much un-necessary code when doing a dumb link.
+	* binfmt/libelf:  The ELF loader is working correctly with C++ static
+	  constructors and destructors and all.
+	* Documentation/NuttXBinfmt.html:  Add documentation of the binary loader.
+	* configs/sim/ostest:  Converted to use the mconf configuration tool.
+	* configs/sim/cxxtest:  New test that will be used to verify the uClibc++
+	  port (eventually).
+	* include/nuttx/fs/fs.h, lib/stdio/lib_libfread.c, lib_ferror.c,
+	  lib_feof.c, and lib_clearerr.c:  Add support for ferror(), feof(),
+	  and clearerror().  ferror() support is bogus at the moment (it
+	  is equivalent to !feof()); the others should be good.
+	* configs/stm32f4discovery/include/board.h:  Correct timer 2-7
+	  base frequency (provided by Freddie Chopin).
+	* include/nuttx/sched.h, sched/atexit.c, and sched/task_deletehook.c:
+	  If both atexit() and on_exit() are enabled, then implement atexit()
+	  as just a special caseof on_exit().  This assumes that the ABI can
+	  handle receipt of more call parameters than the receiving function
+	  expects.  That is usually the case if parameters are passed in
+	  registers.
+	* libxx/libxx_cxa_atexit():  Implements __cxa_atexit()
+	* configs/stm32f4discovery/cxxtest:  New test that will be used to
+	  verify the uClibc++ port (eventually).  The sim platform turned not
+	  to be a good platform for testing uClibc++.  The sim example will not
+	  run because the simulator will attempt to execute the static
+	  constructors before main() starts. BUT... NuttX is not initialized
+	  and this results in a crash.  On the STM324Discovery, I will have
+	  better control over when the static constructors run.
+	* RGMP 4.0 updated from Qiany Yu.
+	* configs/*/Make.defs and configs/*/ld.script:  Massive clean-up
+	  and standardization of linker scripts from Freddie Chopin.
+	* net/netdev_ioctl.c:  Add interface state flags and ioctl calls
+	  to bring network interfaces up and down (from Darcy Gong).
+	* config/stm32f4discovery: Enable C++ exceptions.  Now the entire
+	  apps/examples/cxxtest works -- meaning the the uClibc++ is
+	  complete and verified for the STM32 platform.
 
+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.
+
+6.25 2013-xx-xx Gregory Nutt <gnutt@nuttx.org>