Fresh import of the PX4 firmware sources.

2026-05-25 16:56:25 +08:00 · 2012-08-04 15:12:36 -07:00
commit 8a365179ea
2425 changed files with 609220 additions and 0 deletions
@@ -0,0 +1,211 @@
+#
+# Generic GDB macros for working with NuttX
+#
+
+echo Loading NuttX GDB macros.  Use 'help nuttx' for more information.\n
+
+define nuttx
+	echo Use 'help nuttx' for more information.\n
+end
+
+document nuttx
+. Various macros for working with NuttX.
+.
+.    showheap
+.        Prints the contents of the malloc heap(s).
+.    showtasks
+.        Prints a list of all tasks.
+.    showtask <address>
+.        Prints information about the task at <address>
+.
+. Use 'help <macro>' for more specific help.
+end
+
+################################################################################
+# Heap display
+################################################################################
+
+define _showheap
+	set $index = $arg0
+	if (sizeof(struct mm_allocnode_s) == 4)
+		set $MM_ALLOC_BIT = 0x8000
+	else
+		set $MM_ALLOC_BIT = 0x80000000
+	end
+	printf "HEAP %d  %p - %p\n", $index, g_heapstart[$index], g_heapend[$index]
+	printf "ptr      size\n"
+	set $node = (char *)g_heapstart[$index] + sizeof(struct mm_allocnode_s)
+	while $node < g_heapend[$index]
+		printf "  %p", $node
+		set $nodestruct = (struct mm_allocnode_s *)$node
+		printf "  %u", $nodestruct->size
+		if !($nodestruct->preceding & $MM_ALLOC_BIT)
+			printf " FREE"
+		end
+		if ($nodestruct->size > g_heapsize) || (($node + $nodestruct->size) > g_heapend[$index])
+			printf "  (BAD SIZE)"
+		end
+		printf "\n"
+		set $node = $node + $nodestruct->size
+	end
+end
+
+define showheap
+	set $nheaps = sizeof(g_heapstart) / sizeof(g_heapstart[0])
+	printf "Printing %d heaps\n", $nheaps
+	set $heapindex = (int)0
+	while $heapindex < $nheaps
+		showheap $heapindex
+		set $heapindex = $heapindex + 1
+	end
+end
+
+document showheap
+.    showheap
+.        Prints the contents of the malloc heap(s).
+end
+
+################################################################################
+# Task display
+################################################################################
+
+define _showtask_oneline
+	set $task = (struct _TCB *)$arg0
+	printf "    %p  %.2d %.3d %s\n", $task, $task->pid, $task->sched_priority, $task->name
+end
+
+define _showtasklist
+	set $queue = (dq_queue_t *)$arg0
+	set $cursor = (dq_entry_t *)$queue->head
+
+	if $cursor != 0
+		printf "    TCB        PID PRI\n"
+	else
+		printf "    <none>\n"
+	end
+
+	while $cursor != 0
+
+		_showtask_oneline $cursor
+
+		if $cursor == $queue->tail
+			set $cursor = 0
+		else
+			set $next = $cursor->flink
+
+			if $next->blink != $cursor
+				printf "task linkage corrupt\n"
+				set $cursor = 0
+			else
+				set $cursor = $next
+			end
+		end
+	end
+end
+
+#
+# Print task registers for a NuttX v7em target with FPU enabled.
+#
+define _showtaskregs_v7em
+	set $task = (struct _TCB *)$arg0
+	set $regs = (uint32_t *)&($task->xcp.regs[0])
+
+	printf "    r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[27], $regs[28], $regs[29], $regs[30], $regs[2], $regs[3], $regs[4], $regs[5]
+	printf "    r8: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[6], $regs[7], $regs[8], $regs[9], $regs[31], $regs[0], $regs[32], $regs[33]
+	printf "    XPSR 0x%08x EXC_RETURN 0x%08x PRIMASK 0x%08x\n", $regs[34], $regs[10], $regs[1]
+end
+
+#
+# Print current registers for a NuttX v7em target with FPU enabled.
+#
+define _showcurrentregs_v7em
+	printf "    r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $r0, $r1, $r2, $r3, $r4, $r5, $r6, $r7
+	printf "    r8: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $r8, $r9, $r10, $r11, $r12, $r13, $r14, $r15
+	printf "    XPSR 0x%08x\n", $xpsr
+end
+
+#
+# Print details of a semaphore
+#
+define _showsemaphore
+	printf "count %d ", $arg0->semcount
+	if $arg0->hlist.holder != 0
+		set $_task = (struct _TCB *)$arg0->hlist.holder
+		printf "held by %s", $_task->name
+	end
+	printf "\n"
+end
+
+define showtask
+	set $task = (struct _TCB *)$arg0
+
+	printf "%p %.2d ", $task, $task->pid
+	_showtaskstate $task
+	printf " %s\n", $task->name
+	set $stack_free = 0
+	while ($stack_free < $task->adj_stack_size) && *(uint8_t *)($task->stack_alloc_ptr + $stack_free)
+		set $stack_free = $stack_free + 1
+	end
+	printf"    stack 0x%08x-0x%08x (%d) %d free\n", $task->stack_alloc_ptr, $task->adj_stack_ptr, $task->adj_stack_size, $stack_free
+
+	if $task->task_state == TSTATE_WAIT_SEM
+		printf "    waiting on %p ", $task->waitsem
+		_showsemaphore $task->waitsem
+	end
+
+	if $task->task_state != TSTATE_TASK_RUNNING
+		_showtaskregs_v7em $task
+	else
+		_showcurrentregs_v7em
+	end
+
+	# XXX print registers here
+end
+
+document showtask
+.    showtask <TCB pointer>
+.        Print details of a task.
+end
+
+define _showtaskstate
+	if $arg0->task_state == TSTATE_TASK_INVALID
+		printf "INVALID"
+	end
+	if $arg0->task_state == TSTATE_TASK_PENDING
+		printf "PENDING"
+	end
+	if $arg0->task_state == TSTATE_TASK_READYTORUN
+		printf "READYTORUN"
+	end
+	if $arg0->task_state == TSTATE_TASK_RUNNING
+		printf "RUNNING"
+	end
+	if $arg0->task_state == TSTATE_TASK_INACTIVE
+		printf "INACTIVE"
+	end
+	if $arg0->task_state == TSTATE_WAIT_SEM
+		printf "WAIT_SEM"
+	end
+	if $arg0->task_state == TSTATE_WAIT_SIG
+		printf "WAIT_SIG"
+	end
+	if $arg0->task_state > TSTATE_WAIT_SIG
+		printf "%d", $arg0->task_state
+	end
+end
+
+define showtasks
+	printf "PENDING\n"
+	_showtasklist &g_pendingtasks
+	printf "RUNNABLE\n"
+	_showtasklist &g_readytorun
+	printf "WAITING\n"
+	_showtasklist &g_waitingforsemaphore
+	printf "INACTIVE\n"
+	_showtasklist &g_inactivetasks
+end
+
+document showtasks
+.    showtasks
+.        Print a list of all tasks in the system, separated into their respective queues.
+end
@@ -0,0 +1,6 @@
+#
+# Setup macros for the BlackMagic debug probe and NuttX.
+#
+
+mon swdp_scan
+attach 1
@@ -0,0 +1,11 @@
+define f4_memdump
+	shell mkdir -p /tmp/dump
+	printf "Dumping CCSRAM to /tmp/dump/ccsram\n"
+	dump memory /tmp/dump/ccsram 0x10000000 0x10010000
+	printf "Dumping SRAM to /tmp/dump/sram\n"
+	dump memory /tmp/dump/sram 0x20000000 0x20020000
+end
+
+document f4_memdump
+Dumps the STM32F4 memory to files in /tmp/dump.
+end
@@ -0,0 +1,64 @@
+# script for stm32f2xxx
+
+if { [info exists CHIPNAME] } {
+   set  _CHIPNAME $CHIPNAME
+} else {
+   set  _CHIPNAME stm32f4xxx
+}
+
+if { [info exists ENDIAN] } {
+   set  _ENDIAN $ENDIAN
+} else {
+   set  _ENDIAN little
+}
+
+# Work-area is a space in RAM used for flash programming
+# By default use 64kB
+if { [info exists WORKAREASIZE] } {
+   set  _WORKAREASIZE $WORKAREASIZE
+} else {
+   set  _WORKAREASIZE 0x10000
+}
+
+# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
+#
+# Since we may be running of an RC oscilator, we crank down the speed a
+# bit more to be on the safe side. Perhaps superstition, but if are
+# running off a crystal, we can run closer to the limit. Note
+# that there can be a pretty wide band where things are more or less stable.
+jtag_khz 1000
+
+jtag_nsrst_delay 100
+jtag_ntrst_delay 100
+
+#jtag scan chain
+if { [info exists CPUTAPID ] } {
+   set _CPUTAPID $CPUTAPID
+} else {
+  # See STM Document RM0033
+  # Section 32.6.3 - corresponds to Cortex-M3 r2p0
+   set _CPUTAPID 0x4ba00477
+}
+jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
+
+if { [info exists BSTAPID ] } {
+   set _BSTAPID $BSTAPID
+} else {
+  # See STM Document RM0033
+  # Section 32.6.2
+  # 
+  set _BSTAPID 0x06413041
+}
+jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID
+
+set _TARGETNAME $_CHIPNAME.cpu
+target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto
+
+$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
+
+set _FLASHNAME $_CHIPNAME.flash
+flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME
+
+# if srst is not fitted use SYSRESETREQ to
+# perform a soft reset
+cortex_m3 reset_config sysresetreq
@@ -0,0 +1,37 @@
+Linux/Mac OS X
+==============
+To install doxygen: 
+$sudo apt-get install doxygen
+
+If the above does not work go to:
+http://www.stack.nl/~dimitri/doxygen/download.html for the correct download.
+
+Then go to the following website for inforamtion on the install:
+http://www.stack.nl/~dimitri/doxygen/install.html
+
+Then to generate the html, run the following code while you are in the qgroundcontrol/doc directory:
+$doxygen Doxyfile
+
+The html file index.html should be in doc/html unless you changed the output directory. 
+
+The other option for generating the documentation is to use the wizard:
+$doxywizard &
+
+doxywizard information:
+http://www.stack.nl/~dimitri/doxygen/doxywizard_usage.html
+
+Or go to the Doxygen Manual for information at the website noted below.
+
+Windows
+=======
+Go to the following website for the correct download and follow the wizard to install:
+http://www.stack.nl/~dimitri/doxygen/download.html
+
+Run the wizard to generate the documentation. 
+Go to the website below or the Doxygen Manual for information on running doxywizard.
+http://www.stack.nl/~dimitri/doxygen/doxywizard_usage.html
+
+Doxygen Manual
+==============
+http://www.stack.nl/~dimitri/doxygen/
+
@@ -0,0 +1,3 @@
+#!/bin/sh
+rm -rf html
+doxygen
@@ -0,0 +1,2 @@
+#!/bin/sh
+git log --pretty=format:"Last change: commit %h - %aN, %ar : %s" -1 $1 || echo no git
@@ -0,0 +1,22 @@
+{
+	"folders":
+	[
+		{
+			"path": "."
+		}
+	],
+	"settings":
+	{
+		"tab_size": 8,
+		"translate_tabs_to_spaces": false
+	},
+	"build_systems":
+	[
+		{
+			"name": "PX4",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make"]
+		}
+	]
+}
@@ -0,0 +1,12 @@
+{
+    "board_id": 5, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the PX4FMU board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4FMU",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,12 @@
+{
+    "board_id": 7, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the PX4IO board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4IO",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,142 @@
+#
+# Top-level Makefile for building PX4 firmware images.
+#
+#
+# Note that this is a transitional process; the eventual goal is for this
+# project to slim down and simply generate PX4 link kits via the NuttX
+# 'make export' mechanism.
+#
+#
+
+#
+# Some useful paths.
+#
+export PX4BASE		 = $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
+export NUTTX_SRC	 = $(PX4BASE)/nuttx
+export NUTTX_APPS	 = $(PX4BASE)/apps
+export MAVLINK_SRC	 = $(PX4BASE)/mavlink
+export ROMFS_SRC	 = $(PX4BASE)/ROMFS
+export IMAGE_DIR	 = $(PX4BASE)/Images
+
+#
+# Tools
+#
+MKFW			 = $(PX4BASE)/Tools/px_mkfw.py
+UPLOADER		 = $(PX4BASE)/Tools/px_uploader.py
+
+#
+# What are we currently configured for?
+#
+CONFIGURED		 = $(PX4BASE)/.configured
+ifeq ($(wildcard $(CONFIGURED)),)
+# the $(CONFIGURED) target will make this a reality before building
+export TARGET		 = px4fmu
+$(shell echo $(TARGET) > $(CONFIGURED))
+else
+export TARGET		 = $(shell cat $(CONFIGURED))
+endif
+
+#
+# What we will build
+#
+FIRMWARE_BUNDLE		 = $(IMAGE_DIR)/$(TARGET).px4
+FIRMWARE_BINARY		 = $(IMAGE_DIR)/$(TARGET).bin
+FIRMWARE_PROTOTYPE	 = $(IMAGE_DIR)/$(TARGET).prototype
+
+#
+# Debugging
+#
+MQUIET			 = --no-print-directory
+#MQUIET			 = --print-directory
+
+all:			$(FIRMWARE_BUNDLE)
+
+#
+# Generate a wrapped .px4 file from the built binary
+#
+$(FIRMWARE_BUNDLE):	$(FIRMWARE_BINARY) $(MKFW) $(FIRMWARE_PROTOTYPE)
+	@echo Generating $@
+	@$(MKFW) --prototype $(FIRMWARE_PROTOTYPE) \
+		--git_identity $(PX4BASE) \
+		--image $(FIRMWARE_BINARY) > $@
+#
+# Build the firmware binary.
+#
+.PHONY:			$(FIRMWARE_BINARY)
+$(FIRMWARE_BINARY):	configure_$(TARGET) setup_$(TARGET)
+	@echo Building $@
+	@make -C $(NUTTX_SRC) -r $(MQUIET) all
+	@cp $(NUTTX_SRC)/nuttx.bin $@
+
+#
+# The 'configure' targets select one particular firmware configuration
+# and makes it current.
+#
+configure_px4fmu:
+ifneq ($(TARGET),px4fmu)
+	@make -C $(PX4BASE) distclean
+endif
+	@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4fmu/nsh
+	@echo px4fmu > $(CONFIGURED)
+
+configure_px4io:
+ifneq ($(TARGET),px4io)
+	@make -C $(PX4BASE) distclean
+endif
+	@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4io/io
+	@echo px4io > $(CONFIGURED)
+
+#
+# Per-configuration additional targets
+#
+.PHONY:			px4fmu_setup
+setup_px4fmu:
+	@echo Generating ROMFS
+	@make -C $(ROMFS_SRC) all
+
+setup_px4io:
+
+#
+# Firmware uploading.
+#
+
+# serial port defaults by operating system.
+SYSTYPE			 = $(shell uname)
+ifeq ($(SYSTYPE),Darwin)
+SERIAL_PORTS		?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4"
+endif
+ifeq ($(SYSTYPE),Linux)
+SERIAL_PORTS		?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
+endif
+ifeq ($(SERIAL_PORTS),)
+SERIAL_PORTS		 = "\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
+endif
+
+upload:		$(FIRMWARE_BUNDLE) $(UPLOADER)
+	@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(FIRMWARE_BUNDLE)
+
+#
+# Hacks and fixups
+#
+
+ifeq ($(SYSTYPE),Darwin)
+# PATH inherited by Eclipse may not include toolchain install location 
+export PATH			 := $(PATH):/usr/local/bin
+endif
+
+#
+# Cleanup targets.  'clean' should remove all built products and force
+# a complete re-compilation, 'distclean' should remove everything 
+# that's generated leaving only files that are in source control.
+#
+.PHONY:	clean
+clean:
+	@make -C $(NUTTX_SRC) -r $(MQUIET) clean
+	@make -C $(ROMFS_SRC) -r $(MQUIET) clean
+
+.PHONY:	distclean
+distclean:
+	@rm -f $(CONFIGURED)
+	@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	@make -C $(ROMFS_SRC) -r $(MQUIET) distclean
+
@@ -0,0 +1 @@
+/img
@@ -0,0 +1,102 @@
+#
+# Makefile to generate a PX4FMU ROMFS image.
+#
+# In normal use, 'make install' will generate a new ROMFS header and place it
+# into the px4fmu configuration in the appropriate location.
+#
+
+#
+# Directories of interest
+#
+SRCROOT		?= $(dir $(lastword $(MAKEFILE_LIST)))
+BUILDROOT	?= $(SRCROOT)/img
+ROMFS_HEADER	?= $(SRCROOT)/../nuttx/configs/px4fmu/include/nsh_romfsimg.h
+
+#
+# List of files to install in the ROMFS, specified as <source>~<destination>
+#
+ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
+		   $(SRCROOT)/scripts/rc.sensors~init.d/rc.sensors \
+		   $(SRCROOT)/scripts/rc.logging~init.d/rc.logging \
+		   $(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
+		   $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
+		   $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR
+
+#
+# Add the PX4IO firmware to the spec if someone has dropped it into the
+# source directory, or otherwise specified its location.
+#
+# Normally this is only something you'd do when working on PX4IO; most
+# users will upgrade with firmware off the microSD card.
+#
+PX4IO_FIRMWARE	?= $(SRCROOT)/px4io.bin
+ifneq ($(wildcard $(PX4IO_FIRMWARE)),)
+ROMFS_FSSPEC	+=  $(PX4IO_FIRMWARE)~px4io.bin
+endif
+
+################################################################################
+# No user-serviceable parts below
+################################################################################
+
+#
+# Just the source files from the ROMFS spec, so that we can fail cleanly if they don't
+# exist
+#
+ROMFS_SRCFILES	 = $(foreach spec,$(ROMFS_FSSPEC),$(firstword $(subst ~, ,$(spec))))
+
+#
+# Just the destination directories from the ROMFS spec
+#
+ROMFS_DIRS	 = $(sort $(dir $(foreach spec,$(ROMFS_FSSPEC),$(lastword $(subst ~, ,$(spec))))))
+
+
+#
+# Intermediate products
+#
+ROMFS_IMG	 = $(BUILDROOT)/romfs.img
+ROMFS_WORKDIR	 = $(BUILDROOT)/romfs
+
+#
+# Convenience target for rebuilding the ROMFS header
+#
+all:		$(ROMFS_HEADER)
+
+$(ROMFS_HEADER): $(ROMFS_IMG) $(dir $(ROMFS_HEADER))
+	@echo Generating the ROMFS header...
+	@(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) > $@
+
+$(ROMFS_IMG):	$(ROMFS_WORKDIR)
+	@echo Generating the ROMFS image...
+	@genromfs -f $@ -d $(ROMFS_WORKDIR) -V "NSHInitVol"
+
+$(ROMFS_WORKDIR): $(ROMFS_SRCFILES)
+	@echo Rebuilding the ROMFS work area...
+	@rm -rf $(ROMFS_WORKDIR)
+	@mkdir -p $(ROMFS_WORKDIR)
+	@for dir in $(ROMFS_DIRS) ; do mkdir -p $(ROMFS_WORKDIR)/$$dir; done
+	@for spec in $(ROMFS_FSSPEC) ; do \
+		echo $$spec | sed -e 's%^.*~%  %' ;\
+		`echo "cp $$spec" | sed -e 's%~% $(ROMFS_WORKDIR)/%'` ;\
+	 done
+
+$(BUILDROOT):
+	@mkdir -p $(BUILDROOT)
+
+clean:
+	@rm -rf $(BUILDROOT)
+
+distclean:	clean
+	@rm -f $(PX4IO_FIRMWARE) $(ROMFS_HEADER)
+
+.PHONY:	all install clean distclean
+
+#
+# Hacks and fixups
+#
+SYSTYPE			 = $(shell uname)
+
+ifeq ($(SYSTYPE),Darwin)
+# PATH inherited by Eclipse may not include toolchain install location 
+export PATH			 := $(PATH):/usr/local/bin
+endif
+
@@ -0,0 +1,74 @@
+#!nsh
+#
+# Flight startup script for PX4FMU with PX4IO carrier board.
+#
+
+echo "[init] doing PX4IO startup..."
+
+#
+# Start the ORB
+#
+uorb start
+
+#
+# Start the sensors.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start MAVLink
+#
+mavlink -d /dev/ttyS0 -b 57600 &
+
+#
+# Start the commander.
+#
+# XXX this should be '<command> start'.
+#
+commander &
+
+#
+# Start the attitude estimator
+#
+# XXX this should be '<command> start'.
+#
+attitude_estimator_bm &
+#position_estimator &
+
+#
+# Configure PX4FMU for operation with PX4IO
+#
+# XXX arguments?
+#
+px4fmu start
+
+#
+# Start the fixed-wing controller
+#
+# XXX this should be '<command> start'.
+#
+fixedwing_control &
+
+#
+# Fire up the PX4IO interface.
+#
+px4io start
+
+#
+# Start looking for a GPS.
+#
+# XXX this should not need to be backgrounded
+#
+gps -d /dev/ttyS3 -m all &
+
+#
+# Start logging to microSD if we can
+#
+sh /etc/init.d/rc.logging
+
+#
+# startup is done; we don't want the shell because we
+# use the same UART for telemetry (dumb).
+#
+echo "[init] startup done, exiting."
+exit
@@ -0,0 +1,69 @@
+#!nsh
+#
+# Flight startup script for PX4FMU on PX4IOAR carrier board.
+#
+
+echo "[init] doing PX4IOAR startup..."
+
+#
+# Start the ORB
+#
+uorb start
+
+#
+# Start the sensors.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start MAVLink
+#
+mavlink -d /dev/ttyS0 -b 57600 &
+
+#
+# Start the commander.
+#
+# XXX this should be '<command> start'.
+#
+commander &
+
+#
+# Start the attitude estimator
+#
+# XXX this should be '<command> start'.
+#
+attitude_estimator_bm &
+#position_estimator &
+
+#
+# Configure PX4FMU for operation with PX4IOAR
+#
+# XXX arguments?
+#
+px4fmu start
+
+#
+# Fire up the AR.Drone controller.
+#
+# XXX this should be '<command> start'.
+#
+ardrone_control -d /dev/ttyS1 -m attitude &
+
+#
+# Start looking for a GPS.
+#
+# XXX this should not need to be backgrounded
+#
+gps -d /dev/ttyS3 -m all &
+
+#
+# Start logging to microSD if we can
+#
+sh /etc/init.d/rc.logging
+
+#
+# startup is done; we don't want the shell because we
+# use the same UART for telemetry (dumb).
+#
+echo "[init] startup done, exiting."
+exit
@@ -0,0 +1,10 @@
+#!nsh
+#
+# Test jig startup script
+#
+
+echo "[testing] doing production test.."
+
+tests jig
+
+echo "[testing] testing done"
@@ -0,0 +1,10 @@
+#!nsh
+#
+# Initialise logging services.
+#
+
+if [ -d /fs/microsd ]
+then
+	# XXX this should be '<command> start'.
+	# sdlog &
+fi
@@ -0,0 +1,28 @@
+#!nsh
+#
+# Standard startup script for PX4FMU onboard sensor drivers.
+#
+
+#
+# Start sensor drivers here.
+#
+
+#ms5611 start
+
+#
+# Start the sensor collection task.
+#
+# XXX should be 'sensors start'
+#
+sensors &
+
+#
+# Test sensor functionality
+#
+# XXX integrate with 'sensors start' ?
+#
+#if sensors quicktest
+#then
+#	echo "[init] sensor initialisation FAILED."
+#	reboot
+#fi
@@ -0,0 +1,67 @@
+#!nsh
+#
+# Flight startup script for PX4FMU standalone configuration.
+#
+
+echo "[init] doing standalone PX4FMU startup..."
+
+#
+# Start the ORB
+#
+#uorb start
+
+#
+# Start the sensors.
+#
+#sh /etc/init.d/rc.sensors
+
+#
+# Start MAVLink
+#
+# mavlink -d /dev/ttyS0 -b 57600 &
+
+#
+# Start the commander.
+#
+# XXX this should be 'commander start'.
+#
+#commander &
+
+#
+# Start the attitude estimator
+#
+# XXX this should be '<command> start'.
+#
+#attitude_estimator_bm &
+#position_estimator &
+
+#
+# Start the fixed-wing controller.
+#
+# XXX should this be looking for configuration to decide
+# whether the board is configured for fixed-wing use?
+#
+# XXX this should be 'fixedwing_control start'.
+#
+#fixedwing_control &
+
+#
+# Configure FMU for standalone mode
+#
+# XXX arguments?
+#
+#px4fmu start
+
+#
+# Start looking for a GPS.
+#
+# XXX this should not need to be backgrounded
+#
+#gps -d /dev/ttyS3 -m all &
+
+#
+# Start logging to microSD if we can
+#
+sh /etc/init.d/rc.logging
+
+echo "[init] startup done"
@@ -0,0 +1,120 @@
+#!nsh
+#
+# PX4FMU startup script.
+#
+# This script is responsible for:
+#
+# - mounting the microSD card (if present)
+# - running the user startup script from the microSD card (if present)
+# - detecting the configuration of the system and picking a suitable
+#   startup script to continue with
+#
+# Note: DO NOT add configuration-specific commands to this script;
+#       add them to the per-configuration scripts instead.
+#
+
+#
+# Default to auto-start mode.  An init script on the microSD card
+# can change this to prevent automatic startup of the flight script.
+#
+set MODE autostart
+set USB_ALLOWED yes
+set USB no
+
+#
+# Try to mount the microSD card.
+#
+echo "[init] looking for microSD..."
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	echo "[init] card mounted at /fs/microsd"
+else
+	echo "[init] no microSD card found"
+fi
+
+#
+# Look for an init script on the microSD card.
+#
+# To prevent automatic startup in the current flight mode,
+# the script should set MODE to some other value.
+#
+if [ -f /fs/microsd/etc/rc ]
+then
+	echo "[init] reading /fs/microsd/etc/rc"
+	sh /fs/microsd/etc/rc
+fi
+
+#
+# Check for USB host
+#
+if [ $USB_ALLOWED == yes ]
+then
+	if sercon
+	then
+		echo "[init] USB interface connected"
+	fi
+fi
+
+#
+# If we are still in flight mode, work out what airframe 
+# configuration we have and start up accordingly.
+#
+if [ $MODE != autostart ]
+then
+	echo "[init] automatic startup cancelled by user script"
+else
+	echo "[init] detecting attached hardware..."
+
+	#
+	# Assume that we are PX4FMU in standalone mode
+	#
+	set BOARD PX4FMU
+
+	#
+	# Are we attached to a PX4IOAR (AR.Drone carrier board)?
+	#
+	if boardinfo -t 7
+	then
+		set BOARD PX4IOAR
+		if [ -f /etc/init.d/rc.PX4IOAR ]
+		then
+			echo "[init] reading /etc/init.d/rc.PX4IOAR"
+			sh /etc/init.d/rc.PX4IOAR
+		fi
+	else
+		echo "[init] PX4IOAR not detected"
+	fi
+
+	#
+	# Are we attached to a PX4IO?
+	#
+	if boardinfo -t 6
+	then
+		set BOARD PX4IO
+		if [ -f /etc/init.d/rc.PX4IO ]
+		then
+			echo "[init] reading /etc/init.d/rc.PX4IO"
+			sh /etc/init.d/rc.PX4IO
+		fi
+	else
+		echo "[init] PX4IO not detected"
+	fi
+
+	#
+	# Looks like we are stand-alone
+	#
+	if [ $BOARD == PX4FMU ]
+	then
+		echo "[init] no expansion board detected"
+		if [ -f /etc/init.d/rc.standalone ]
+		then
+			echo "[init] reading /etc/init.d/rc.standalone"
+			sh /etc/init.d/rc.standalone
+		fi
+	fi
+
+	#
+	# We may not reach here if the airframe-specific script exits the shell.
+	#
+	echo "[init] startup done."
+fi
@@ -0,0 +1,19 @@
+#!/bin/sh
+astyle \
+    --style=linux		\
+    --indent=force-tab=8	\
+    --indent-cases		\
+    --indent-preprocessor	\
+    --break-blocks=all		\
+    --pad-oper			\
+    --pad-header		\
+    --unpad-paren		\
+    --keep-one-line-blocks	\
+    --keep-one-line-statements	\
+    --align-pointer=name	\
+    --align-reference=name	\
+    --suffix=none		\
+    --ignore-exclude-errors-x	\
+    --lineend=linux		\
+    --exclude=EASTL		\
+    $*
@@ -0,0 +1,110 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# PX4 firmware image generator
+#
+# The PX4 firmware file is a JSON-encoded Python object, containing
+# metadata fields and a zlib-compressed base64-encoded firmware image.
+#
+
+import sys
+import argparse
+import json
+import base64
+import zlib
+import time
+import subprocess
+
+#
+# Construct a basic firmware description
+#
+def mkdesc():
+	proto = {}
+	proto['magic']		= "PX4FWv1"
+	proto['board_id']	= 0
+	proto['board_revision']	= 0
+	proto['version']	= ""
+	proto['summary']	= ""
+	proto['description']	= ""
+	proto['git_identity']	= ""
+	proto['build_time']	= 0
+	proto['image']		= base64.b64encode(bytearray())
+	proto['image_size']	= 0
+	return proto
+
+# Parse commandline
+parser = argparse.ArgumentParser(description="Firmware generator for the PX autopilot system.")
+parser.add_argument("--prototype",	action="store", help="read a prototype description from a file")
+parser.add_argument("--board_id",	action="store", help="set the board ID required")
+parser.add_argument("--board_revision",	action="store", help="set the board revision required")
+parser.add_argument("--version",	action="store", help="set a version string")
+parser.add_argument("--summary",	action="store", help="set a brief description")
+parser.add_argument("--description",	action="store", help="set a longer description")
+parser.add_argument("--git_identity",	action="store", help="the working directory to check for git identity")
+parser.add_argument("--image",		action="store", help="the firmware image")
+args = parser.parse_args()
+
+# Fetch the firmware descriptor prototype if specified
+if args.prototype != None:
+	f = open(args.prototype,"r")
+	desc = json.load(f)
+	f.close()
+else:
+	desc = mkdesc()
+
+desc['build_time'] 		= int(time.time())
+
+if args.board_id != None:
+	desc['board_id']	= int(args.board_id)
+if args.board_revision != None:
+	desc['board_revision']	= int(args.board_revision)
+if args.version != None:
+	desc['version']		= str(args.version)
+if args.summary != None:
+	desc['summary']		= str(args.summary)
+if args.description != None:
+	desc['description']	= str(args.description)
+if args.git_identity != None:
+	cmd = " ".join(["git", "--git-dir", args.git_identity + "/.git", "describe", "--always", "--dirty"])
+	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
+	desc['git_identity']	= p.read().strip()
+	p.close()
+if args.image != None:
+	f = open(args.image, "rb")
+	bytes = f.read()
+	desc['image_size'] = len(bytes)
+	desc['image'] = base64.b64encode(zlib.compress(bytes,9))
+
+print json.dumps(desc, indent=4)
@@ -0,0 +1,318 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Serial firmware uploader for the PX4FMU bootloader
+#
+# The PX4 firmware file is a JSON-encoded Python object, containing
+# metadata fields and a zlib-compressed base64-encoded firmware image.
+#
+# The uploader uses the following fields from the firmware file:
+#
+# image
+#	The firmware that will be uploaded.
+# image_size
+#	The size of the firmware in bytes.
+# board_id
+#	The board for which the firmware is intended.
+# board_revision
+#	Currently only used for informational purposes.
+#
+
+import sys
+import argparse
+import binascii
+import serial
+import os
+import struct
+import json
+import zlib
+import base64
+import time
+
+from sys import platform as _platform
+
+class firmware(object):
+	'''Loads a firmware file'''
+
+	desc = {}
+	image = bytearray()
+
+	def __init__(self, path):
+
+		# read the file
+		f = open(path, "r")
+		self.desc = json.load(f)
+		f.close()
+
+		self.image = zlib.decompress(base64.b64decode(self.desc['image']))
+
+	def property(self, propname):
+		return self.desc[propname]
+
+
+class uploader(object):
+	'''Uploads a firmware file to the PX FMU bootloader'''
+
+	NOP		= chr(0x00)
+	OK		= chr(0x10)
+	FAILED		= chr(0x11)
+	INSYNC		= chr(0x12)
+	EOC		= chr(0x20)
+	GET_SYNC	= chr(0x21)
+	GET_DEVICE	= chr(0x22)
+	CHIP_ERASE	= chr(0x23)
+	CHIP_VERIFY	= chr(0x24)
+	PROG_MULTI	= chr(0x27)
+	READ_MULTI	= chr(0x28)
+	REBOOT		= chr(0x30)
+	
+	INFO_BL_REV	= chr(1)	# bootloader protocol revision
+	BL_REV		= 2		# supported bootloader protocol 
+	INFO_BOARD_ID	= chr(2)	# board type
+	INFO_BOARD_REV	= chr(3)	# board revision
+	INFO_FLASH_SIZE	= chr(4)	# max firmware size in bytes
+
+	PROG_MULTI_MAX	= 60		# protocol max is 255, must be multiple of 4
+	READ_MULTI_MAX	= 60		# protocol max is 255, something overflows with >= 64
+
+	def __init__(self, portname, baudrate):
+		# open the port
+		self.port = serial.Serial(portname, baudrate, timeout=10)
+
+	def close(self):
+		if self.port is not None:
+			self.port.close()
+
+	def __send(self, c):
+#		print("send " + binascii.hexlify(c))
+		self.port.write(str(c))
+
+	def __recv(self, count = 1):
+		c = self.port.read(count)
+		if (len(c) < 1):
+			raise RuntimeError("timeout waiting for data")
+#		print("recv " + binascii.hexlify(c))
+		return c
+
+	def __getSync(self):
+		self.port.flush()
+		c = self.__recv()
+		if (c != self.INSYNC):
+			raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c))
+		c = self.__recv()
+		if (c != self.OK):
+			raise RuntimeError("unexpected 0x%x instead of OK" % ord(c))
+
+	# attempt to get back into sync with the bootloader
+	def __sync(self):
+		# send a stream of ignored bytes longer than the longest possible conversation
+		# that we might still have in progress
+#		self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
+		self.port.flushInput()
+		self.__send(uploader.GET_SYNC 
+				+ uploader.EOC)
+		self.__getSync()
+		
+	def __trySync(self):
+		c = self.__recv()
+		if (c != self.INSYNC):
+			#print("unexpected 0x%x instead of INSYNC" % ord(c))
+			return False;
+		c = self.__recv()
+		if (c != self.OK):
+			#print("unexpected 0x%x instead of OK" % ord(c))
+			return False
+		return True
+
+	# send the GET_DEVICE command and wait for an info parameter
+	def __getInfo(self, param):
+		self.__send(uploader.GET_DEVICE + param + uploader.EOC)
+		raw = self.__recv(4)
+		self.__getSync()
+		value = struct.unpack_from('<I', raw)
+		return value[0]
+
+	# send the CHIP_ERASE command and wait for the bootloader to become ready
+	def __erase(self):
+		self.__send(uploader.CHIP_ERASE 
+				+ uploader.EOC)
+		self.__getSync()
+
+	# send a PROG_MULTI command to write a collection of bytes
+	def __program_multi(self, data):
+		self.__send(uploader.PROG_MULTI
+				+ chr(len(data)))
+		self.__send(data)
+		self.__send(uploader.EOC)
+		self.__getSync()
+		
+	# verify multiple bytes in flash
+	def __verify_multi(self, data):
+		self.__send(uploader.READ_MULTI
+				+ chr(len(data))
+				+ uploader.EOC)
+		programmed = self.__recv(len(data))
+		if (programmed != data):
+			print("got    " + binascii.hexlify(programmed))
+			print("expect " + binascii.hexlify(data))
+			return False
+		self.__getSync()
+		return True
+		
+	# send the reboot command
+	def __reboot(self):
+		self.__send(uploader.REBOOT)
+		self.port.flush()
+
+	# split a sequence into a list of size-constrained pieces
+	def __split_len(self, seq, length):
+    		return [seq[i:i+length] for i in range(0, len(seq), length)]
+
+	# upload code
+	def __program(self, fw):
+		code = fw.image
+		groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
+		for bytes in groups:
+			self.__program_multi(bytes)
+
+	# verify code
+	def __verify(self, fw):
+		self.__send(uploader.CHIP_VERIFY
+				+ uploader.EOC)
+		self.__getSync()
+		code = fw.image
+		groups = self.__split_len(code, uploader.READ_MULTI_MAX)
+		for bytes in groups:
+			if (not self.__verify_multi(bytes)):
+				raise RuntimeError("Verification failed")
+
+	# get basic data about the board
+	def identify(self):
+		# make sure we are in sync before starting
+		self.__sync()
+
+		# get the bootloader protocol ID first
+		bl_rev = self.__getInfo(uploader.INFO_BL_REV)
+		if bl_rev != uploader.BL_REV:
+			raise RuntimeError("Bootloader protocol mismatch")
+
+		self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
+		self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
+		self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
+
+	# upload the firmware
+	def upload(self, fw):
+		# Make sure we are doing the right thing
+		if self.board_type != fw.property('board_id'):
+			raise RuntimeError("Firmware not suitable for this board")
+		if self.fw_maxsize < fw.property('image_size'):
+			raise RuntimeError("Firmware image is too large for this board")
+
+		print("erase...")
+		self.__erase()
+
+		print("program...")
+		self.__program(fw)
+
+		print("verify...")
+		self.__verify(fw)
+
+		print("done, rebooting.")
+		self.__reboot()
+		self.port.close()
+	
+
+# Parse commandline arguments
+parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
+parser.add_argument('--port', action="store", required=True, help="Serial port(s) to which the FMU may be attached")
+parser.add_argument('--baud', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200), only required for true serial ports.")
+parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
+args = parser.parse_args()
+
+# Load the firmware file
+fw = firmware(args.firmware)
+print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))
+
+# Spin waiting for a device to show up
+while True:
+	for port in args.port.split(","):
+
+		#print("Trying %s" % port)
+
+		# create an uploader attached to the port
+		try:
+			if "linux" in _platform:
+			# Linux, don't open Mac OS and Win ports
+				if not "COM" in port and not "tty.usb" in port:
+					up = uploader(port, args.baud)
+			elif "darwin" in _platform:
+				# OS X, don't open Windows and Linux ports
+				if not "COM" in port and not "ACM" in port:
+					up = uploader(port, args.baud)
+			elif "win" in _platform:
+				# Windows, don't open POSIX ports
+				if not "/" in port:
+					up = uploader(port, args.baud)
+		except:
+			# open failed, rate-limit our attempts
+			time.sleep(0.05)
+
+			# and loop to the next port
+			continue
+
+		# port is open, try talking to it
+		try:
+			# identify the bootloader
+			up.identify()
+			print("Found board %x,%x on %s" % (up.board_type, up.board_rev, port))
+
+		except:
+			# most probably a timeout talking to the port, no bootloader
+			continue
+
+		try:
+			# ok, we have a bootloader, try flashing it
+			up.upload(fw)
+
+		except RuntimeError as ex:
+
+			# print the error
+			print("ERROR: %s" % ex.args)
+
+		finally:
+			# always close the port
+			up.close()
+
+		# we could loop here if we wanted to wait for more boards...
+		sys.exit(0)
@@ -0,0 +1,272 @@
+5.19 2011-03-12 Gregory Nutt <gnutt@nuttx.org>
+
+	* Initial version of the apps/ directory was released as contributed by
+	  Uros Platise.
+
+6.0 2011-03-21 Gregory Nutt <gnutt@nuttx.org>
+
+	* README.txt -- README cosmetics
+	* hello/ -- hello world minor changes
+	* Makefile -- Makefile cosmetics (I am slowly adding the Darjeeling JVM)
+	* Make.defs -- New file adds common make definitions for applications.
+	* hello/Makefile -- Now uses new Make.defs definitions.  Added README.txt.
+	* apps/poweroff -- New application to turn off board power.
+	* Moved NSH library, netutils, and examples from the nuttx/ directory to
+	  the apps/ directory
+	* Moved exec_nuttapp machinery into the nuttapp/ directory.
+
+6.1 2011-04-10 Gregory Nutt <gnutt@nuttx.org>
+
+	* Creation of auto-generated header files now occurs during the context
+	  build phase.
+	* Added sdcard insert and eject, nsh command '?' and some code remarks
+	* Renamed nuttapp to namedapp
+	* namedapp/binfs.c -- Create a tiny filesystem that can be used
+	  to show the internal named apps under /bin.
+	* Numerous fixes to build system required to support building with native
+	  Windows toolchain.
+
+6.2 2011-05-06 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/examples/nxffs:  Add a test a a configuration that will be used to
+	  verify NXFFS.
+
+6.3 2011-05-15 Gregory Nutt <gnutt@nuttx.org>
+
+    * 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/.
+	* apps/netutils/dhcpc, dhcpcd, and tftp.  If these directories are included
+	  in the configuration but CONFIG_NET_UDP is disable (which is not very wise),
+	  then a make error occurs because tools/mkdep.sh is called with no files.
+	* system/free: Move Uros' custom free command from vsn/free
+	* system/install: Add a new install command submitted by Uros Platise.
+	* examples/rgmp.  Add a placeholder for an RGMP build example.
+	  RGMP is a project for running GPOS and RTOS simultaneously on
+	  multi-processor platforms. See http://rgmp.sourceforge.net/wiki/index.php/Main_Page
+	  for further information about RGMP.  NOTE:  This is an empty example
+	  on initial check-in.
+
+6.4 2011-06-06 Gregory Nutt <gnutt@nuttx.org>
+
+	* nshlib/nsh_netcmds.c: If a network device name and IP address are provided
+	  with the ifconfig command, then this command will now set the network address.
+	  (Contributed by Yu Qiang).
+	* netutils/ftpc: A library to support client-side FTP.
+	* examples/ftpc: A simple add-on to the NSH.  From NSH, you can start
+	  this simple FTP shell to transfer files to/from a remote FTP server.
+
+6.5 2011-06-21 Gregory Nutt <gnutt@nuttx.org>
+
+	* netutils/ftpc:  Simpflication and size reduction.
+
+6.6 2011-07-11 Gregory Nutt <gnutt@nuttx.org>
+
+	* Make.defs, namedapp/namedapp.c: Several structural changes made to get a
+	  clean compile under the ez80 ZDS-II toolchain (no design changes).
+	* apps/examples/buttons: Add a test for the new standardized button interfaces
+	* apps/examples/nxtext: Add another NX graphics test.  This one focus on
+	  placing text on the background while pop-up windows occur.  Text should
+	  continue to update normally with or without the popup windows present.
+
+6.7 2011-08-02 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/examples/nx and nxtext:  These examples can now be built as NSH
+	  "built-in" commands.
+	* apps/examples/nxhello:  The simplest graphics example:  It just says
+	  "Hello, World!" in the center of the display. This example can also be
+	  built as an NSH "built-in" command.
+	* apps/examples/nx, ntext, and nxhello:  All updated to use the new
+	  NuttX font interfaces.
+	* apps/examples/nximage:  Another super simple  graphics example:  It just puts
+	  the NuttX logo in the center of the display. This example can also be
+	  built as an NSH "built-in" command.
+	* apps/examples/usbstorage: Can now be built as two NSH "built-in" commands:
+	  'msconn' will connect the USB mass storage device; 'msdis' will disconnect
+	  the USB storage device.
+	* apps/examples/nx*:  All NX header files moved from nuttx/include/nuttx to 
+	  nuttx/include/nuttx/nx.
+	* apps/examples/usbstorage: Added instrumentation to monitor memory usage
+	  to check for memory leaks in the USB storage driver.
+	* apps/examples/nxhello/nxhello_bkgd.c:  Fix handling of allocated glyph
+	  memory.
+
+6.8 2011-08-11 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/examples/nxlines:  Added a test for NX line drawing capabilities.
+
+6.9 2011-09-11 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/examples/nxlines:  Extend the line drawing text to include drawing
+	  of circles.
+	* apps/system/i2c:  Add an I2C test tool that should help to bring up I2C
+	  devices (when it is fully functional).
+	* apps/nshlib/nsh_timcmds.c:  Add the date command that can be used to
+	  show or set the time (only if CONFIG_RTC is set).
+
+6.10 2011-10-06 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/system/i2c:  Add repitition and address auto-incrementing so that
+	  and command can be executed numerous times.  Add a new verify command
+	  that will write to a register, read from register, and verify that
+	  returned value.
+	* apps/graphics/tiff:  Add a library that can be used to create TIFF files.
+	* apps/examples/tiff:  Add a unit test for the TIFF file creation logic
+	* apps/examples/lcdrw:  Add a test to verify if you can or can or read
+	  data from an LCD correctly.
+	* apps/examples/usbterm:  A USB terminal example.. more of a USB chat or
+	  serial bridge:  Data received on local console echoed via USB serial; 
+	  data received on USB serial is echoed on the local console.
+	* apps/examples/touchscreen:  Add a simple, generic test for any
+	  touschscreen driver.
+	* Makefile:  The apps/ Makefile now checks for an apps/external directory
+	  or symbolic link.  If such a directory/link exists (and has a Makefile),
+	  it will be added to the apps/ build.  This allows external directories
+	  to be included into the apps/ build by simply creating a symbolic link.
+
+6.11 2011-11-12 Gregory Nutt <gnutt@nuttx.org>
+
+	(No major changes from 6.10)
+
+6.12 2011-12-06 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/examples/buttons:  The button test can now be executed as an NSH
+	  built in command.
+
+6.13 2012-12-26 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/examples/dhcpd: May now be built as an NSH built-in application
+	  by setting CONFIG_NSH_BUILTIN_APPS.
+	* apps/netutils/dhcpd/dhcpd.c: Fix several problems using host order address
+	  where network addresses expected (and vice versa).
+	* apps/examples/nettest: May now be built as an NSH built-in application
+	  by setting CONFIG_NSH_BUILTIN_APPS.
+	* apps/examples/nettest: Correct some build issues with the nettest is
+	  built for performance evaluation.
+	* apps/examples/adc:  Add a very simple test to drive and test an ADC
+	  driver.
+	* apps/examples/pwm:  Add an NSH PWM command to drive and test a PWM
+	  driver.
+	* apps/examples/can:  Add an NSH CAN command to drive and test a CAN
+	  driver in loopback mode.
+
+6.14 2012-01-15 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/examples/buttons/main.c:  The test needs to call up_buttoninit() to
+	  properly configure the button interrupt GPIOs.
+	* apps/examples/pwm:  Add support to test the pulse count option recently
+	  added to the PWM interface.
+
+6.15 2012-02-12 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/nshlib/nsh_serial.c and nsh_usbdev.c:  If NuttX is configured to use
+	  a USB serial console, then NSH needs to wait until the USB console is
+	  connected and available.
+	* apps/examples/composite:  Add a test of the USB composite device.
+	* apps/examples/Telnetd:  Move the tiny uIP shell example from
+	  netutils/Telnetd to examples/Telnetd.  Enhanced the Telnetd daemon so that
+	  it supports Telnetd via a TTY device driver: A new TTY device driver is
+	  created when each new Telnet connection is created.  The shell thread
+	  is started with stdin, stdout, and stderr mapped to the TTY device.
+	* netutils/Telnetd:  The old uIP Telnet demo is gone.  In its place is a new
+	  Telnet infrastructure. The new Telnet daemon creates sessions that are
+	  "wrapped" as character devices and mapped to stdin, stdout, and stderr.
+	  Now the Telnet session can be inherited by spawned tasks.
+	* examples/Telnetd:  Add a test for the new Telnet daemon.
+	* examples/Telnetd/telnetd_driver.c: Move the internal socket structure from
+	  the daemon's socket array into the driver's state data so that it will be
+	  independent from the the Telnetd daemon.
+	* apps/system/readline:  Moved the old nuttx/lib/stdio/lib_fgets.c here
+	  and renamed it as readline().  The old fgets was simplied and the overloaded
+	  readline functionality was removed.
+	* apps/netutils/ftpd:  Add an FTPD server (does not even compile on initial
+	  checkin).
+	* apps/examples/ftpd:  Add a test for the FTPD server (untest on initial
+	  check-in).
+	* apps/nshlib/nsh_fscmds.c:  Add support for a 'dmesg' command that will
+	  dump the system log if CONFIG_SYSLOG is selected.
+
+6.16 2012-03-10 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/examples/qencoder:  Add a quadrature driver test.
+	* apps/examples/ostest/fpu.c:  Add a test to verify that FPU registers
+	  are properly saved and restored on context switches.
+	* apps/system/readline/readline.c:  readline() will now treat either a
+	  backspace or a DEL character as a backspace (i.e., deleting the character
+	  to the left of the cursor).  This makes NSH less dependent on particular
+	  keyboard mappings of the Backspace key.  Submitted by Mike Smith.
+	* apps/examples/cdcacm:  An example that illustrates how the CDC/ACM driver
+	  may to connected and disconnected through software control.
+	* apps/examples/nsh/nsh_main.c:  If available, call up_cxxinitialize() to
+	  initialize all statically defined C++ classes.
+	* apps/nshlib:  Now supports a USB serial device for NSH console I/O.  This
+	  allows NSH to be used on boards that have USB but no serial connectors.
+
+6.17 2012-04-14 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/examples/can:  Add conditional compilation so that the test can be
+	  configured to only send messages or to only receive messages.  This will
+	  let the test work in other modes than simple loopback testing.
+	* apps/examples/hello and apps/examples/ostest:  Can now be built as NSH
+	  built-int functions.
+	* vsn/hello:  Removed.  The modified apps/examples/hello is enough "Hello,
+	  World!"
+	* apps/examples/nxconsole:  Add a test of the NX console device.
+	* apps/examples/nxconsole:  The NX console example now supports running
+	  the NuttShell (NSH) within an NX window.
+	* apps/system/readline:  Now uses standard definitions from
+	  include/nuttx/ascii.h and vt100.h
+	* Kconfig, */Kconfig:  Added skeleton Kconfig files to all directories that
+	  may need them.
+
+6.18 2012-05-19 Gregory Nutt <gnutt@nuttx.org>
+
+	* Kconfig:  Continued Kconfig file updates (no longer tracking on a per-file
+	  basis in the ChangeLog)
+	* apps/examples/watchdog:  Add a watchdog timer example.
+	* apps/examples/tiff:  Fix wrong path used for temporary file.
+	* apps/examples/touchscreen:  Standardize the board-specific, touchscreen
+	  initialization interfaces.
+
+6.19 2012-06-15 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/nshlib/nsh_usbdev.c:  Add the capability to use an arbitrary USB
+	  device as the console (not necessarily /dev/console).  This is a useful
+	  option because then you can still use the serial console to debug with.
+	* apps/nshlib/nsh_usbdev.c:  User now has to press ENTER 3 times before
+	  USB console will start.  Otherwise, the USB console starts before there
+	  is anyone at the other end to listen.
+	* apps/nshlib/nsh_usbdev.c and nsh_consolemain.c:  Add support for the USB
+	  capability when a USB console is used.
+	* apps/nshlib/nsh_fscmds.c:  Add the 'mv' command
+
+6.20 2012-07-12 Gregory Nutt <gnutt@nuttx.org>
+
+	* namedapp/exec_namedapp.c - Correct an error when round robin scheduling
+	  is enabled.  The priority of the new, named application was erroneously
+	  being set to the priority of the parent thread; losing its configured
+	  priority.  Reported by Mike Smith.
+
+6.21 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/include/: Stylistic clean-up of all header files.
+	* apps/modbus and apps/include/modbus:  A port of freemodbus-v1.5.0
+	  has been added to the NuttX apps/ source tree.
+	* apps/examples/modbus:  A port of the freemodbus-v1.5.0 "demo"
+	  program that will be used to verify the FreeModBus port
+	* apps/modbus:  Don't use strerror().  It is just too big.
+	* apps/modbus:  Add CONFIG_MB_TERMIOS.  If the driver doesn't support
+	  termios ioctls, then don't bother trying to configure the baud, parity
+	  etc.
+	* apps/nslib:  If waitpid() is supported, then NSH not catches the
+	  return value from spawned applications (provided by Mike Smith)
+	* apps/nslib:  Lock the schedule while starting built-in applications
+	  in order to eliminate race conditions (also from Mike Smith).
+	* apps/examples/adc, pwm, and qencoder:  Add support for testing
+	  devices with multiple ADC, PWM, and QE devices.
+	* apps/nshlib/nsh_mntcmds.c:  Separated mount-related commands out of
+	  nsh_fscmds.c.  Extended to the mount command so that if no arguments
+	  are provided, then the current mountpoints are enumerated.
+	* apps/nshlib/nsh_mntcmds.c:  Add an NSH df command to list the
+	  properties of mounted file systems.
@@ -0,0 +1,36 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+menu "Named Applications"
+source "$APPSDIR/namedapp/Kconfig"
+endmenu
+
+menu "Examples"
+source "$APPSDIR/examples/Kconfig"
+endmenu
+
+menu "Interpreters"
+source "$APPSDIR/interpreters/Kconfig"
+endmenu
+
+menu "Network Utilities"
+source "$APPSDIR/netutils/Kconfig"
+endmenu
+
+menu "ModBus"
+source "$APPSDIR/modbus/Kconfig"
+endmenu
+
+menu "NSH Library"
+source "$APPSDIR/nshlib/Kconfig"
+endmenu
+
+menu "System NSH Add-Ons"
+source "$APPSDIR/system/Kconfig"
+endmenu
+
+menu "VSN board Add-Ons"
+source "$APPSDIR/vsn/Kconfig"
+endmenu
@@ -0,0 +1,41 @@
+############################################################################
+# apps/Make.defs
+# Common make definitions provided to all applications
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+define REGISTER
+	@echo "Register: $1"
+	@echo "{ \"$1\", $2, $3, $4 }," >> "$(APPDIR)/namedapp/namedapp_list.h"
+	@echo "EXTERN int $4(int argc, char *argv[]);" >> "$(APPDIR)/namedapp/namedapp_proto.h"
+endef
@@ -0,0 +1,176 @@
+############################################################################
+# apps/Makefile
+#
+#   Copyright (C) 2011-2012 Uros Platise. All rights reserved.
+#   Authors: Uros Platise <uros.platise@isotel.eu>
+#            Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+-include $(TOPDIR)/.config
+
+APPDIR = ${shell pwd}
+
+# Application Directories
+
+# CONFIGURED_APPS is the list of all configured built-in directories/built
+#   action. It is created by the configured appconfig file (a copy of which
+#   appears in this directory as .config)
+# SUBDIRS is the list of all directories containing Makefiles.  It is used
+#   only for cleaning. namedapp must always be the first in the list.  This
+#   list can be extended by the .config file as well
+
+CONFIGURED_APPS =
+#SUBDIRS = examples graphics interpreters modbus namedapp nshlib netutils system vsn
+ALL_SUBDIRS = $(dir $(shell /usr/bin/find . -name Makefile))
+SUBDIRS = namedapp/ $(filter-out ./ ./namedapp/ ./examples/,$(ALL_SUBDIRS))
+
+
+# There are two different mechanisms for obtaining the list of configured
+# directories:
+#
+# (1) In the legacy method, these paths are all provided in the appconfig
+#     file that is copied to the top-level apps/ directory as .config
+# (2) With the development of the NuttX configuration tool, however, the
+#     selected applications are now enabled by the configuration tool.
+#     The apps/.config file is no longer used.  Instead, the set of
+#     configured build directories can be found by including a Make.defs
+#     file contained in each of the apps/subdirectories.
+#
+# When the NuttX configuration tools executes, it will always define the
+# configure CONFIG_NUTTX_NEWCONFIG to select between these two cases.  Then
+# legacy appconfig files will still work but newly configuration files will
+# also work.  Eventually the CONFIG_NUTTX_NEWCONFIG option will be phased
+# out.
+
+ifeq ($(CONFIG_NUTTX_NEWCONFIG),y)
+
+-include examples/Make.defs
+-include graphics/Make.defs
+-include interpreters/Make.defs
+-include modbus/Make.defs
+-include namedapp/Make.defs
+-include netutils/Make.defs
+-include nshlib/Make.defs
+-include system/Make.defs
+-include vsn/Make.defs
+
+# INSTALLED_APPS is the list of currently available application directories.  It
+# is the same as CONFIGURED_APPS, but filtered to exclude any non-existent
+# application directory. namedapp is always in the list of applications to be
+# built.
+
+INSTALLED_APPS =
+
+# The legacy case:
+
+else
+-include .config
+
+# INSTALLED_APPS is the list of currently available application directories.  It
+# is the same as CONFIGURED_APPS, but filtered to exclude any non-existent
+# application directory. namedapp is always in the list of applications to be
+# built.
+
+INSTALLED_APPS = namedapp
+endif
+
+# Create the list of available applications (INSTALLED_APPS)
+
+define ADD_BUILTIN
+INSTALLED_APPS += ${shell if [ -r $1/Makefile ]; then echo "$1"; fi}
+endef
+
+$(foreach BUILTIN, $(CONFIGURED_APPS), $(eval $(call ADD_BUILTIN,$(BUILTIN))))
+
+# The external/ directory may also be added to the INSTALLED_APPS.  But there
+# is no external/ directory in the repository.  Rather, this directory may be
+# 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}
+SUBDIRS += ${shell if [ -r external/Makefile ]; then echo "external"; fi}
+
+# The final build target
+
+BIN = libapps$(LIBEXT)
+
+# Build targets
+
+all: $(BIN)
+.PHONY: $(INSTALLED_APPS) context depend clean distclean
+
+$(INSTALLED_APPS):
+	@$(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 \
+		rm -f $$dir/.context ; \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)"  APPDIR="$(APPDIR)" context ; \
+	done
+	@touch $@
+
+context: .context
+
+.depend: context Makefile $(SRCS)
+	@for dir in $(INSTALLED_APPS) ; do \
+		rm -f $$dir/.depend ; \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)"  APPDIR="$(APPDIR)" depend ; \
+	done
+	@touch $@
+
+depend: .depend
+
+clean:
+	@for dir in $(SUBDIRS) ; do \
+		$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
+	done
+	@rm -f $(BIN) *~ .*.swp *.o
+	$(call CLEAN)
+
+distclean: # clean
+	@for dir in $(SUBDIRS) ; do \
+		$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
+	done
+	@rm -f .config .context .depend
+	@( if [ -e external ]; then \
+		echo "********************************************************"; \
+		echo "* The external directory/link must be removed manually *"; \
+		echo "********************************************************"; \
+	   fi; \
+	) 
+
+
@@ -0,0 +1,211 @@
+Application Folder
+==================
+
+Contents
+--------
+
+  General
+  Directory Location
+  Named Applications
+  Named Startup main() function
+  NuttShell (NSH) Built-In Commands
+  Synchronous Built-In Commands
+  Application Configuration File
+  Example Named Application
+  Building NuttX with Board-Specific Pieces Outside the Source Tree
+
+General
+-------
+This folder provides various applications found in sub-directories.  These
+applications are not inherently a part of NuttX but are provided you help
+you develop your own applications.  The apps/ directory is a "break away"
+part of the configuration that you may chose to use or not.
+
+Directory Location
+------------------
+The default application directory used by the NuttX build should be named
+apps/ (or apps-x.y/ where x.y is the NuttX version number).  This apps/
+directory should appear in the directory tree at the same level as the
+NuttX directory.  Like:
+
+ .
+ |- nuttx
+ |
+ `- apps
+
+If all of the above conditions are TRUE, then NuttX will be able to
+find the application directory.  If your application directory has a 
+different name or is location at a different position, then you will
+have to inform the NuttX build system of that location.  There are several
+ways to do that:
+
+1) You can define CONFIG_APPS_DIR to be the full path to your application
+   directory in the NuttX configuration file.
+2) You can provide the path to the application directory on the command line
+   like:  make APPDIR=<path> or make CONFIG_APPS_DIR=<path>
+3) When you configure NuttX using tools/configure.sh, you can provide that
+   path to the application directory on the configuration command line
+   like: ./configure.sh -a <app-dir> <board-name>/<config-name>
+
+Named Applications
+------------------
+NuttX also supports applications that can be started using a name string.
+In this case, application entry points with their requirements are gathered
+together in two files:
+
+  - namedapp/namedapp_proto.h  Entry points, prototype function
+  - namedapp/namedapp_list.h  Application specific information and requirements
+
+The build occurs in several phases as different build targets are executed:
+(1) context, (2) depend, and (3) default (all). Application information is
+collected during the make context build phase.
+
+To execute an application function:
+
+  exec_namedapp() is defined in the nuttx/include/apps/apps.h 
+
+NuttShell (NSH) Built-In Commands
+---------------------------------
+One use of named applications is to provide a way of invoking your custom
+application through the NuttShell (NSH) command line.  NSH will support
+a seamless method invoking the applications, when the following option is
+enabled in the NuttX configuration file:
+
+  CONFIG_NSH_BUILTIN_APPS=y
+
+Applications registered in the apps/namedapp/namedapp_list.h file will then
+be accessible from the NSH command line.  If you type 'help' at the NSH
+prompt, you will see a list of the registered commands.
+
+Synchronous Built-In Commands
+-----------------------------
+By default, built-in commands started from the NSH command line will run
+asynchronously with NSH.  If you want to force NSH to execute commands
+then wait for the command to execute, you can enable that feature by
+adding the following to the NuttX configuration file:
+
+CONFIG_SCHED_WAITPID=y
+
+The configuration option enables support for the waitpid() RTOS interface.
+When that interface is enabled, NSH will use it to wait, sleeping until
+the built-in command executes to completion.
+
+Of course, even with CONFIG_SCHED_WAITPID=y defined, specific commands
+can still be forced to run asynchronously by adding the ampersand (&)
+after the NSH command.
+
+Application Configuration File
+------------------------------
+A special configuration file is used to configure which applications
+are to be included in the build.  The source for this file is 
+configs/<board>/<configuration>/appconfig.  The existence of the appconfig
+file in the board configuration directory is sufficient to enable building
+of applications.
+
+The appconfig file is copied into the apps/ directory as .config when
+NuttX is configured.  .config is included in the toplevel apps/Makefile.
+As a minimum, this configuration file must define files to add to the
+CONFIGURED_APPS list like:
+
+  CONFIGURED_APPS  += examples/hello vsn/poweroff
+
+Named Start-Up main() function
+------------------------------
+A named application can even be used as the main, start-up entry point
+into your embedded software.  When the user defines this option in
+the NuttX configuration file:
+
+  CONFIG_BUILTIN_APP_START=<application name>
+  
+that application shall be invoked immediately after system starts
+*instead* of the normal, default "user_start" entry point.
+Note that <application name> must be provided as: "hello", 
+will call:
+
+  int hello_main(int argc, char *argv[])
+
+Example Named Application
+-------------------------
+An example application skeleton can be found under the examples/hello
+sub-directory.  This example shows how a named application can be added
+to the project. One must define:
+
+ 1. create sub-directory as: appname
+ 2. provide entry point: appname_main()
+ 3. set the requirements in the file: Makefile, specially the lines:
+
+  APPNAME    = appname
+  PRIORITY  = SCHED_PRIORITY_DEFAULT
+  STACKSIZE  = 768
+  ASRCS    = asm source file list as a.asm b.asm ...
+  CSRCS    = C source file list as foo1.c foo2.c ..
+
+ 4. add application in the apps/.config
+
+Building NuttX with Board-Specific Pieces Outside the Source Tree
+-----------------------------------------------------------------
+
+Q: Has anyone come up with a tidy way to build NuttX with board-
+   specific pieces outside the source tree?
+A: Here are four:
+
+   1) There is a make target called 'make export'. It will build
+      NuttX, then bundle all of the header files, libaries, startup
+      objects, and other build components into a .zip file. You
+      can can move that .zip file into any build environment you
+      want. You even build NuttX under a DOS CMD window.
+
+      This make target is documented in the top level nuttx/README.txt.
+
+   2) You can replace the entire apps/ directory. If there is
+      nothing in the apps/ directory that you need, you can define
+      CONFIG_APPS_DIR in your .config file so that it points to a
+      different, custom application directory.
+
+      You can copy any pieces that you like from the old apps/directory
+      to your custom apps directory as necessary.
+
+      This is documented in NuttX/configs/README.txt and
+      nuttx/Documentation/NuttxPortingGuide.html (Online at
+      http://nuttx.sourceforge.net/NuttxPortingGuide.html#apndxconfigs
+      under Build options). And in the apps/README.txt file.
+
+   3) If you like the random collection of stuff in the apps/ directory
+      but just want to expand the existing components with your own,
+      external sub-directory then there is an easy way to that too:
+      You just create the sympolic link at apps/external that
+      redirects to your application sub-directory. The apps/Makefile
+      will always automatically check for the existence of an
+      apps/external directory and if it exists, it will automatically
+      incorporate it into the build.
+
+      This feature of the apps/Makefile is documented only here.
+
+      You can, for example, create a script called install.sh that
+      installs a custom application, configuration, and board specific
+      directory:
+
+      a) Copy 'MyBoard' directory to configs/MyBoard.
+      b) Add a symbolic link to MyApplication at apps/external
+      c) Configure NuttX (usually by:
+      
+         tools/configure.sh MyBoard/MyConfiguration
+
+         or simply by copying defconfig->nutt/.config,
+         setenv.sh->nuttx/setenv.sh, Make.defs->nuttx/Make.defs,
+         appconfig->apps/.config
+
+      Using the 'external' link makes it especially easy to add a
+      'built-in' application an existing configuration.
+
+   4) Add any link to apps/
+
+      a) Add symbolic links apps/ to as many other directories as you
+         want.
+      b) Then just add the (relative) paths to the links in your
+         appconfig file (that becomes the apps/.config file).
+
+      That is basically the same as my option #3 but doesn't use the
+      magic 'external' link. The toplevel apps/Makefile will always
+      to build whatever in finds in the apps/.config file (plus the
+      external link if present).
@@ -0,0 +1,45 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Makefile to build uORB
+#
+
+APPNAME		 = ardrone_control
+PRIORITY	 = SCHED_PRIORITY_MAX - 15
+STACKSIZE	 = 2048
+
+# explicit list of sources - not everything is built currently
+CSRCS		 = ardrone_control.c ardrone_motor_control.c ardrone_control_helper.c rate_control.c attitude_control.c pid.c
+
+include $(APPDIR)/mk/app.mk
@@ -0,0 +1,272 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 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 Implementation of AR.Drone 1.0 / 2.0 control interface
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <debug.h>
+#include <termios.h>
+#include <time.h>
+#include <sys/prctl.h>
+#include <arch/board/up_hrt.h>
+#include "ardrone_control.h"
+#include "attitude_control.h"
+#include "rate_control.h"
+#include "ardrone_motor_control.h"
+#include "position_control.h"
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/ardrone_control.h>
+#include <uORB/topics/rc_channels.h>
+#include <uORB/topics/ardrone_motors_setpoint.h>
+#include <uORB/topics/sensor_combined.h>
+
+#include "ardrone_control_helper.h"
+
+__EXPORT int ardrone_control_main(int argc, char *argv[]);
+
+/****************************************************************************
+ * Internal Definitions
+ ****************************************************************************/
+
+
+enum {
+	CONTROL_MODE_RATES = 0,
+	CONTROL_MODE_ATTITUDE = 1,
+} control_mode;
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/*File descriptors */
+int ardrone_write;
+int gpios;
+
+bool position_control_thread_started;
+
+/****************************************************************************
+ * pthread loops
+ ****************************************************************************/
+static void *position_control_loop(void *arg)
+{
+	struct vehicle_status_s *state = (struct vehicle_status_s *)arg;
+	// Set thread name
+	prctl(PR_SET_NAME, "ardrone pos ctrl", getpid());
+
+	while (1) {
+		if (state->state_machine == SYSTEM_STATE_AUTO) {
+//			control_position();   //FIXME TODO XXX
+			/* temporary 50 Hz execution */
+			usleep(20000);
+
+		} else {
+			position_control_thread_started = false;
+			break;
+		}
+	}
+
+	return NULL;
+}
+
+/****************************************************************************
+ * main
+ ****************************************************************************/
+
+int ardrone_control_main(int argc, char *argv[])
+{
+	/* welcome user */
+	printf("[ardrone_control] Control started, taking over motors\n");
+
+	/* default values for arguments */
+	char *ardrone_uart_name = "/dev/ttyS1";
+	control_mode = CONTROL_MODE_RATES;
+
+	char *commandline_usage = "\tusage: ardrone_control -d ardrone-devicename -m mode\n\tmodes are:\n\t\trates\n\t\tattitude\n";
+
+	/* read commandline arguments */
+	int i;
+
+	for (i = 1; i < argc; i++) {
+		if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //ardrone set
+			if (argc > i + 1) {
+				ardrone_uart_name = argv[i + 1];
+
+			} else {
+				printf(commandline_usage);
+				return 0;
+			}
+
+		} else if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) {
+			if (argc > i + 1) {
+				if (strcmp(argv[i + 1], "rates") == 0) {
+					control_mode = CONTROL_MODE_RATES;
+
+				} else if (strcmp(argv[i + 1], "attitude") == 0) {
+					control_mode = CONTROL_MODE_ATTITUDE;
+
+				} else {
+					printf(commandline_usage);
+					return 0;
+				}
+
+			} else {
+				printf(commandline_usage);
+				return 0;
+			}
+		}
+	}
+
+	/* open uarts */
+	printf("[ardrone_control] AR.Drone UART is %s\n", ardrone_uart_name);
+	ardrone_write = open(ardrone_uart_name, O_RDWR | O_NOCTTY | O_NDELAY);
+
+	/* initialize motors */
+	ar_init_motors(ardrone_write, &gpios);
+	int counter = 0;
+
+	/* pthread for position control */
+	pthread_t position_control_thread;
+	position_control_thread_started = false;
+
+	/* structures */
+	struct vehicle_status_s state;
+	struct vehicle_attitude_s att;
+	struct ardrone_control_s ar_control;
+	struct rc_channels_s rc;
+	struct sensor_combined_s raw;
+	struct ardrone_motors_setpoint_s setpoint;
+
+	/* subscribe to attitude, motor setpoints and system state */
+	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
+	int rc_sub = orb_subscribe(ORB_ID(rc_channels));
+	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint));
+
+	/* publish AR.Drone motor control state */
+	int ardrone_pub = orb_advertise(ORB_ID(ardrone_control), &ar_control);
+
+	while (1) {
+		/* get a local copy of the vehicle state */
+		orb_copy(ORB_ID(vehicle_status), state_sub, &state);
+		/* get a local copy of rc */
+		orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
+		/* get a local copy of attitude */
+		orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+
+		if (state.state_machine == SYSTEM_STATE_AUTO) {
+			if (false == position_control_thread_started) {
+				pthread_attr_t position_control_thread_attr;
+				pthread_attr_init(&position_control_thread_attr);
+				pthread_attr_setstacksize(&position_control_thread_attr, 2048);
+				pthread_create(&position_control_thread, &position_control_thread_attr, position_control_loop, &state);
+				position_control_thread_started = true;
+			}
+
+			control_attitude(&rc, &att, &state, ardrone_pub, &ar_control);
+
+			//No check for remote sticks to disarm in auto mode, land/disarm with ground station
+
+		} else if (state.state_machine == SYSTEM_STATE_MANUAL) {
+			if (control_mode == CONTROL_MODE_RATES) {
+				orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
+				orb_copy(ORB_ID(ardrone_motors_setpoint), setpoint_sub, &setpoint);
+				control_rates(&raw, &setpoint);
+
+			} else if (control_mode == CONTROL_MODE_ATTITUDE) {
+				control_attitude(&rc, &att, &state, ardrone_pub, &ar_control);
+			}
+
+		} else {
+
+		}
+
+		//fancy led animation...
+		static int blubb = 0;
+
+		if (counter % 20 == 0) {
+			if (blubb == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0);
+
+			if (blubb == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0);
+
+			if (blubb == 2) ar_set_leds(ardrone_write, 1, 0, 0, 0, 0, 0, 0 , 0);
+
+			if (blubb == 3) ar_set_leds(ardrone_write, 0, 0, 0, 1, 0, 0, 0 , 0);
+
+			if (blubb == 4) ar_set_leds(ardrone_write, 0, 0, 1, 1, 0, 0, 0 , 0);
+
+			if (blubb == 5) ar_set_leds(ardrone_write, 0, 0, 1, 0, 0, 0, 0 , 0);
+
+			if (blubb == 6) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 1, 0 , 0);
+
+			if (blubb == 7) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 1, 0 , 0);
+
+			if (blubb == 8) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 0, 0 , 0);
+
+			if (blubb == 9) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 0 , 1);
+
+			if (blubb == 10) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 1);
+
+			if (blubb == 11) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 0);
+
+			blubb++;
+
+			if (blubb == 12) blubb = 0;
+		}
+
+		/* run at approximately 200 Hz */
+		usleep(5000);
+		counter++;
+	}
+
+	/* close uarts */
+	close(ardrone_write);
+	ar_multiplexing_deinit(gpios);
+
+	printf("[ardrone_control] ending now...\r\n");
+	fflush(stdout);
+	return 0;
+}
+
@@ -0,0 +1,12 @@
+/*
+ * ardrone_control.h
+ *
+ *  Created on: Mar 23, 2012
+ *      Author: thomasgubler
+ */
+
+#ifndef ARDRONE_CONTROL_H_
+#define ARDRONE_CONTROL_H_
+
+
+#endif /* ARDRONE_CONTROL_H_ */
@@ -0,0 +1,60 @@
+#include "ardrone_control_helper.h"
+#include <unistd.h>
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+// int read_sensors_raw(sensors_raw_t *sensors_raw)
+// {
+// 	static int ret;
+// 	ret = global_data_wait(&global_data_sensors_raw->access_conf_rate_full);
+
+// 	if (ret == 0) {
+// 		memcpy(sensors_raw->gyro_raw, global_data_sensors_raw->gyro_raw, sizeof(sensors_raw->gyro_raw));
+// //		printf("Timestamp %d\n", &global_data_sensors_raw->timestamp);
+
+// 	} else {
+// 		printf("Controller timeout, no new sensor values available\n");
+// 	}
+
+// 	global_data_unlock(&global_data_sensors_raw->access_conf_rate_full);
+// 	return ret;
+// }
+
+// int read_attitude(global_data_attitude_t *attitude)
+// {
+
+// 	static int ret;
+// 	ret = global_data_wait(&global_data_attitude->access_conf);
+
+// 	if (ret == 0) {
+// 		memcpy(&attitude->roll, &global_data_attitude->roll, sizeof(global_data_attitude->roll));
+// 		memcpy(&attitude->pitch, &global_data_attitude->pitch, sizeof(global_data_attitude->pitch));
+// 		memcpy(&attitude->yaw, &global_data_attitude->yaw, sizeof(global_data_attitude->yaw));
+// 		memcpy(&attitude->rollspeed, &global_data_attitude->rollspeed, sizeof(global_data_attitude->rollspeed));
+// 		memcpy(&attitude->pitchspeed, &global_data_attitude->pitchspeed, sizeof(global_data_attitude->pitchspeed));
+// 		memcpy(&attitude->yawspeed, &global_data_attitude->yawspeed, sizeof(global_data_attitude->yawspeed));
+
+// 	} else {
+// 		printf("Controller timeout, no new attitude values available\n");
+// 	}
+
+// 	global_data_unlock(&global_data_attitude->access_conf);
+
+
+
+// 	return ret;
+// }
+
+// void read_quad_motors_setpoint(quad_motors_setpoint_t *rate_setpoint)
+// {
+
+// 	if (0 == global_data_trylock(&global_data_quad_motors_setpoint->access_conf)) { //TODO: check if trylock is the right choice, maybe only lock?
+// 		rate_setpoint->motor_front_nw = global_data_quad_motors_setpoint->motor_front_nw;
+// 		rate_setpoint->motor_right_ne = global_data_quad_motors_setpoint->motor_right_ne;
+// 		rate_setpoint->motor_back_se = global_data_quad_motors_setpoint->motor_back_se;
+// 		rate_setpoint->motor_left_sw = global_data_quad_motors_setpoint->motor_left_sw;
+
+// 		global_data_unlock(&global_data_quad_motors_setpoint->access_conf);
+// 	}
+// }
@@ -0,0 +1,21 @@
+/*
+ * ardrone_control_helper.h
+ *
+ *  Created on: May 15, 2012
+ *      Author: thomasgubler
+ */
+
+#ifndef ARDRONE_CONTROL_HELPER_H_
+#define ARDRONE_CONTROL_HELPER_H_
+
+#include <stdint.h>
+
+// typedef struct {
+// 	int16_t	gyro_raw[3]; // l3gd20
+// } sensors_raw_t;
+
+// /* Copy quad_motors_setpoint values from global memory to private variables */ //TODO: change this once the new mavlink message for rates is available
+// void read_quad_motors_setpoint(quad_motors_setpoint_t *rate_setpoint);
+
+
+#endif /* ARDRONE_CONTROL_HELPER_H_ */
@@ -0,0 +1,277 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 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 Implementation of AR.Drone 1.0 / 2.0 motor control interface
+ */
+
+
+
+#include "ardrone_motor_control.h"
+
+static const unsigned long motor_gpios = GPIO_EXT_1 | GPIO_EXT_2 | GPIO_MULTI_1 | GPIO_MULTI_2;
+static const unsigned long motor_gpio[4] = { GPIO_EXT_1, GPIO_EXT_2, GPIO_MULTI_1, GPIO_MULTI_2 };
+
+typedef union {
+	uint16_t motor_value;
+	uint8_t bytes[2];
+} motor_union_t;
+
+/**
+ * @brief Generate the 8-byte motor set packet
+ *
+ * @return the number of bytes (8)
+ */
+void ar_get_motor_packet(uint8_t *motor_buf, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4)
+{
+	motor_buf[0] = 0x20;
+	motor_buf[1] = 0x00;
+	motor_buf[2] = 0x00;
+	motor_buf[3] = 0x00;
+	motor_buf[4] = 0x00;
+	/*
+	 * {0x20, 0x00, 0x00, 0x00, 0x00};
+	 * 0x20 is start sign / motor command
+	 */
+	motor_union_t curr_motor;
+	uint16_t nineBitMask = 0x1FF;
+
+	/* Set motor 1 */
+	curr_motor.motor_value = (motor1 & nineBitMask) << 4;
+	motor_buf[0] |= curr_motor.bytes[1];
+	motor_buf[1] |= curr_motor.bytes[0];
+
+	/* Set motor 2 */
+	curr_motor.motor_value = (motor2 & nineBitMask) << 3;
+	motor_buf[1] |= curr_motor.bytes[1];
+	motor_buf[2] |= curr_motor.bytes[0];
+
+	/* Set motor 3 */
+	curr_motor.motor_value = (motor3 & nineBitMask) << 2;
+	motor_buf[2] |= curr_motor.bytes[1];
+	motor_buf[3] |= curr_motor.bytes[0];
+
+	/* Set motor 4 */
+	curr_motor.motor_value = (motor4 & nineBitMask) << 1;
+	motor_buf[3] |= curr_motor.bytes[1];
+	motor_buf[4] |= curr_motor.bytes[0];
+}
+
+void ar_enable_broadcast(int fd)
+{
+	ar_select_motor(fd, 0);
+}
+
+int ar_multiplexing_init()
+{
+	int		fd;
+	
+	fd = open("/dev/gpio", O_RDONLY | O_NONBLOCK);
+
+	if (fd < 0) {
+		printf("GPIO: open fail\n");
+		return fd;
+	}
+
+	if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) {
+		printf("GPIO: output set fail\n");
+		close(fd);
+		return -1;
+	}
+
+	/* deactivate all outputs */
+	int ret = 0;
+	ret += ioctl(fd, GPIO_SET, motor_gpios);
+
+	if (ret < 0) {
+		printf("GPIO: clearing pins fail\n");
+		close(fd);
+		return -1;
+	}
+
+	return fd;
+}
+
+int ar_multiplexing_deinit(int fd)
+{
+	if (fd < 0) {
+		printf("GPIO: no valid descriptor\n");
+		return fd;
+	}
+
+	int ret = 0;
+
+	/* deselect motor 1-4 */
+	ret += ioctl(fd, GPIO_SET, motor_gpios);
+
+	if (ret != 0) {
+		printf("GPIO: clear failed %d times\n", ret);
+	}
+
+	if (ioctl(fd, GPIO_SET_INPUT, motor_gpios) != 0) {
+		printf("GPIO: input set fail\n");
+		return -1;
+	}
+
+	close(fd);
+
+	return ret;
+}
+
+int ar_select_motor(int fd, uint8_t motor)
+{
+	int ret = 0;
+	unsigned long gpioset;
+	/*
+	 *  Four GPIOS:
+	 *		GPIO_EXT1
+	 *		GPIO_EXT2
+	 *		GPIO_UART2_CTS
+	 *		GPIO_UART2_RTS
+	 */
+
+	/* select motor 0 to enable broadcast */
+	if (motor == 0) {
+		/* select motor 1-4 */
+		ret += ioctl(fd, GPIO_CLEAR, motor_gpios);
+
+	} else {
+		/* select reqested motor */	
+		ret += ioctl(fd, GPIO_CLEAR, motor_gpio[motor - 1]);
+
+		/* deselect all others */
+		gpioset = motor_gpios ^ motor_gpio[motor - 1];
+		ret += ioctl(fd, GPIO_SET, gpioset);
+	}
+
+	return ret;
+}
+
+void ar_init_motors(int ardrone_uart, int *gpios_pin)
+{
+	/* Initialize multiplexing */
+	*gpios_pin = ar_multiplexing_init();
+
+	/* Write ARDrone commands on UART2 */
+	uint8_t initbuf[] = {0xE0, 0x91, 0xA1, 0x00, 0x40};
+	uint8_t multicastbuf[] = {0xA0, 0xA0, 0xA0, 0xA0, 0xA0, 0xA0};
+
+	/* initialize all motors
+	 * - select one motor at a time
+	 * - configure motor
+	 */
+	int i;
+	int errcounter = 0;
+
+	for (i = 1; i < 5; ++i) {
+		/* Initialize motors 1-4 */
+		initbuf[3] = i;
+		errcounter += ar_select_motor(*gpios_pin, i);
+
+		write(ardrone_uart, initbuf + 0, 1);
+
+		/* sleep 400 ms */
+		usleep(200000);
+		usleep(200000);
+
+		write(ardrone_uart, initbuf + 1, 1);
+		/* wait 50 ms */
+		usleep(50000);
+
+		write(ardrone_uart, initbuf + 2, 1);
+		/* wait 50 ms */
+		usleep(50000);
+
+		write(ardrone_uart, initbuf + 3, 1);
+		/* wait 50 ms */
+		usleep(50000);
+
+		write(ardrone_uart, initbuf + 4, 1);
+		/* wait 50 ms */
+		usleep(50000);
+
+		/* enable multicast */
+		write(ardrone_uart, multicastbuf + 0, 1);
+		/* wait 1 ms */
+		usleep(1000);
+
+		write(ardrone_uart, multicastbuf + 1, 1);
+		/* wait 1 ms */
+		usleep(1000);
+
+		write(ardrone_uart, multicastbuf + 2, 1);
+		/* wait 1 ms */
+		usleep(1000);
+
+		write(ardrone_uart, multicastbuf + 3, 1);
+		/* wait 1 ms */
+		usleep(1000);
+
+		write(ardrone_uart, multicastbuf + 4, 1);
+		/* wait 1 ms */
+		usleep(1000);
+
+		write(ardrone_uart, multicastbuf + 5, 1);
+		/* wait 5 ms */
+		usleep(50000);
+	}
+
+	/* start the multicast part */
+	errcounter += ar_select_motor(*gpios_pin, 0);
+
+	if (errcounter != 0) {
+		printf("AR: init sequence incomplete, failed %d times", -errcounter);
+		fflush(stdout);
+	}
+}
+
+/*
+ * Sets the leds on the motor controllers, 1 turns led on, 0 off.
+ */
+void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green)
+{
+	/*
+	 * 2 bytes are sent. The first 3 bits describe the command: 011 means led control
+	 * the following 4 bits are the red leds for motor 4, 3, 2, 1
+	 * then 4 bits with unknown function, then 4 bits for green leds for motor 4, 3, 2, 1
+	 * the last bit is unknown.
+	 *
+	 * The packet is therefore:
+	 * 011 rrrr 0000 gggg 0
+	 */
+	uint8_t leds[2];
+	leds[0] = 0x60 | ((led4_red & 0x01) << 4) | ((led3_red & 0x01) << 3) | ((led2_red & 0x01) << 2) | ((led1_red & 0x01) << 1);
+	leds[1] = ((led4_green & 0x01) << 4) | ((led3_green & 0x01) << 3) | ((led2_green & 0x01) << 2) | ((led1_green & 0x01) << 1);
+	write(ardrone_uart, leds, 2);
+}
--- a/Show More
+++ b/Show More