Put console and syslog on UART8, added support to nshterm for proper serial port config

ROMFS/px4fmu_common/init.d/rcS

@@ -58,6 +58,15 @@ fi
 if [ $MODE == autostart ]
 then
 
+#
+# Start terminal
+#
+if sercon
+then
+	echo "USB connected"
+	nshterm /dev/ttyACM0 &
+fi
+
 #
 # Start the ORB (first app to start)
 #

makefiles/config_px4fmu-v1_default.mk

@@ -54,6 +54,7 @@ MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/top
 MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
+MODULES		+= systemcmds/nshterm
 
 #
 # General system control

makefiles/config_px4fmu-v2_default.mk

@@ -52,6 +52,8 @@ MODULES		+= systemcmds/pwm
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/top
 MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/config
+MODULES		+= systemcmds/nshterm
 
 #
 # General system control

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -420,7 +420,7 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_START_YEAR=1970
 CONFIG_START_MONTH=1
 CONFIG_START_DAY=1
-# CONFIG_DEV_CONSOLE is not set
+CONFIG_DEV_CONSOLE=y
 # CONFIG_MUTEX_TYPES is not set
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_SEM_PREALLOCHOLDERS=8
@@ -523,7 +523,7 @@ CONFIG_PIPES=y
 # CONFIG_POWER is not set
 # CONFIG_SENSORS is not set
 CONFIG_SERIAL=y
-# CONFIG_DEV_LOWCONSOLE is not set
+CONFIG_DEV_LOWCONSOLE=y
 CONFIG_SERIAL_REMOVABLE=y
 # CONFIG_16550_UART is not set
 CONFIG_ARCH_HAVE_UART4=y
@@ -542,8 +542,8 @@ CONFIG_SERIAL_NPOLLWAITERS=2
 # CONFIG_UART4_SERIAL_CONSOLE is not set
 # CONFIG_USART6_SERIAL_CONSOLE is not set
 # CONFIG_UART7_SERIAL_CONSOLE is not set
-# CONFIG_UART8_SERIAL_CONSOLE is not set
+CONFIG_UART8_SERIAL_CONSOLE=y
-CONFIG_NO_SERIAL_CONSOLE=y
+# CONFIG_NO_SERIAL_CONSOLE is not set
 
 #
 # USART1 Configuration
@@ -650,7 +650,7 @@ CONFIG_USBDEV_MAXPOWER=500
 # CONFIG_USBDEV_COMPOSITE is not set
 # CONFIG_PL2303 is not set
 CONFIG_CDCACM=y
-CONFIG_CDCACM_CONSOLE=y
+CONFIG_CDCACM_CONSOLE=n
 CONFIG_CDCACM_EP0MAXPACKET=64
 CONFIG_CDCACM_EPINTIN=1
 CONFIG_CDCACM_EPINTIN_FSSIZE=64
@@ -716,10 +716,10 @@ CONFIG_FS_BINFS=y
 #
 # System Logging
 #
-# CONFIG_SYSLOG_ENABLE is not set
+CONFIG_SYSLOG_ENABLE=y
 CONFIG_SYSLOG=y
 CONFIG_SYSLOG_CHAR=y
-CONFIG_SYSLOG_DEVPATH="/dev/ttyS0"
+CONFIG_SYSLOG_DEVPATH="/dev/ttyS6"
 
 #
 # Graphics Support

src/systemcmds/nshterm/nshterm.c

@@ -40,6 +40,7 @@
  */
 
 #include <nuttx/config.h>
+#include <termios.h>
 #include <stdbool.h>
 #include <stdio.h>
 #include <stdarg.h>
@@ -48,6 +49,7 @@
 #include <errno.h>
 #include <apps/nsh.h>
 #include <fcntl.h>
+#include <systemlib/err.h>
 
 __EXPORT int nshterm_main(int argc, char *argv[]);
 
@@ -61,8 +63,8 @@ nshterm_main(int argc, char *argv[])
     uint8_t retries = 0;
     int fd = -1;
     while (retries < 5) {
-        // the retries are to cope with the behaviour of /dev/ttyACM0
+        /* the retries are to cope with the behaviour of /dev/ttyACM0 */
-        // which may not be ready immediately.
+        /* which may not be ready immediately. */
         fd = open(argv[1], O_RDWR);
         if (fd != -1) {
             break;
@@ -74,7 +76,30 @@ nshterm_main(int argc, char *argv[])
         perror(argv[1]);
         exit(1);
     }
-    // setup standard file descriptors
+
+    /* set up the serial port with output processing */
+    
+    /* Try to set baud rate */
+    struct termios uart_config;
+    int termios_state;
+
+    /* Back up the original uart configuration to restore it after exit */
+    if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
+        warnx("ERROR get termios config %s: %d\n", argv[1], termios_state);
+        close(fd);
+        return -1;
+    }
+
+    /* Set ONLCR flag (which appends a CR for every LF) */
+    uart_config.c_oflag |= (ONLCR | OPOST | OCRNL);
+
+    if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
+        warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", argv[1]);
+        close(fd);
+        return -1;
+    }
+
+    /* setup standard file descriptors */
     close(0);
     close(1);
     close(2);