Merge branch 'master' of github.com:PX4/Firmware into ardrone

Tools/px_uploader.py

@@ -103,7 +103,8 @@ class uploader(object):
 	REBOOT		= chr(0x30)
 	
 	INFO_BL_REV	= chr(1)	# bootloader protocol revision
-	BL_REV		= 2		# supported bootloader protocol 
+	BL_REV_MIN	= 2		# minimum supported bootloader protocol 
+	BL_REV_MAX	= 3		# maximum 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
@@ -240,7 +241,8 @@ class uploader(object):
 
 		# get the bootloader protocol ID first
 		bl_rev = self.__getInfo(uploader.INFO_BL_REV)
-		if bl_rev != uploader.BL_REV:
+		if (bl_rev < uploader.BL_REV_MIN) or (bl_rev > uploader.BL_REV_MAX):
+			print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
 			raise RuntimeError("Bootloader protocol mismatch")
 
 		self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)

apps/ChangeLog.txt

@@ -329,4 +329,10 @@
 	  discussed at http://www.drdobbs.com/web-development/\
 	  an-embeddable-lightweight-xml-rpc-server/184405364.  Contributed by
 	  Max Holtzberg.
-
+	* apps/netutils/uip_listenon.c:  Logic in uip_server.c that creates
+	  the listening socket was moved to this new file to support re-use.
+	  Contributed by Kate.
+	* apps/netutils/webserver/httpd.c:  The option CONFIG_NETUTILS_HTTPD_SINGLECONNECT
+	  can now be used to limit the server to a single thread.  Option
+	  CONFIG_NETUTILS_HTTPD_TIMEOUT can be used to generate HTTP 408 errors.
+	  Both from Kate.

apps/gps/gps.c

@@ -38,7 +38,6 @@
  */
 
 #include "gps.h"
-
 #include <nuttx/config.h>
 #include <unistd.h>
 #include <stdlib.h>
@@ -58,9 +57,9 @@
 #include <v1.0/common/mavlink.h>
 #include <mavlink/mavlink_log.h>
 
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
+static bool thread_should_exit;				/**< Deamon status flag */
+static bool thread_running = false;				/**< Deamon status flag */
+static int deamon_task;							/**< Handle of deamon task / thread */
 
 /**
  * GPS module readout and publishing.
@@ -82,16 +81,6 @@ int gps_thread_main(int argc, char *argv[]);
  */
 static void usage(const char *reason);
 
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-	fprintf(stderr, "\tusage: %s -d devicename -b baudrate -m mode\n\tmodes are:\n\t\tubx\n\t\tmtkcustom\n\t\tnmea\n\t\tall\n");
-	exit(1);
-}
-
 /****************************************************************************
  * Definitions
  ****************************************************************************/
@@ -115,7 +104,6 @@ enum GPS_MODES {
 };
 
 
-
 #define AUTO_DETECTION_COUNT 8
 const int autodetection_baudrates[] = {B9600, B38400, B38400, B9600, B9600, B38400, B9600, B38400};
 const enum GPS_MODES autodetection_gpsmodes[] = {GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_NMEA, GPS_MODE_NMEA}; //nmea is the fall-back if nothing else works, therefore we try the standard modes again before finally trying nmea
@@ -125,40 +113,9 @@ const enum GPS_MODES autodetection_gpsmodes[] = {GPS_MODE_UBX, GPS_MODE_MTK, GPS
  ****************************************************************************/
 int open_port(char *port);
 
-void close_port(int fd);
+void close_port(int *fd);
 
-void setup_port(char *device, int speed, int *fd)
-{
-
-	/* open port (baud rate is set in defconfig file) */
-	*fd = open_port(device);
-
-	if (*fd != -1) {
-		if (gps_verbose) printf("[gps] Port opened: %s at %d speed\r\n", device, speed);
-
-	} else {
-		fprintf(stderr, "[gps] Could not open port, exiting gps app!\r\n");
-		fflush(stdout);
-	}
-
-	/* Try to set baud rate */
-	struct termios uart_config;
-	int termios_state;
-
-	if ((termios_state = tcgetattr(*fd, &uart_config)) < 0) {
-		fprintf(stderr, "[gps] ERROR getting baudrate / termios config for %s: %d\r\n", device, termios_state);
-		close(*fd);
-	}
-
-	/* Set baud rate */
-	cfsetispeed(&uart_config, speed);
-	cfsetospeed(&uart_config, speed);
-
-	if ((termios_state = tcsetattr(*fd, TCSANOW, &uart_config)) < 0) {
-		fprintf(stderr, "[gps] ERROR setting baudrate / termios config for %s (tcsetattr)\r\n", device);
-		close(*fd);
-	}
-}
+void setup_port(char *device, int speed, int *fd);
 
 
 /**
@@ -195,8 +152,8 @@ int gps_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\gps is running\n");
-		} else {
+			printf("\tgps is running\n");
+		} else {	
 			printf("\tgps not started\n");
 		}
 		exit(0);
@@ -215,7 +172,7 @@ int gps_thread_main(int argc, char *argv[]) {
 	printf("[gps] Initialized. Searching for GPS receiver..\n");
 
 	/* default values */
-	const char *commandline_usage = "\tusage: %s -d devicename -b baudrate -m mode\n\tmodes are:\n\t\tubx\n\t\tmtkcustom\n\t\tnmea\n\t\tall\n";
+	const char *commandline_usage = "\tusage: %s {start|stop|status} -d devicename -b baudrate -m mode\n\tmodes are:\n\t\tubx\n\t\tmtkcustom\n\t\tnmea\n\t\tall\n";
 	char *device = "/dev/ttyS3";
 	char mode[10];
 	strcpy(mode, "all");
@@ -235,6 +192,7 @@ int gps_thread_main(int argc, char *argv[]) {
 	for (i = 0; i < argc; i++) {
 		if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) { //device set
 			printf(commandline_usage, argv[0]);
+			thread_running = false;
 			return 0;
 		}
 
@@ -244,6 +202,7 @@ int gps_thread_main(int argc, char *argv[]) {
 
 			} else {
 				printf(commandline_usage, argv[0]);
+				thread_running = false;
 				return 0;
 			}
 		}
@@ -254,6 +213,7 @@ int gps_thread_main(int argc, char *argv[]) {
 
 			} else {
 				printf(commandline_usage, argv[0]);
+				thread_running = false;
 				return 0;
 			}
 		}
@@ -264,6 +224,7 @@ int gps_thread_main(int argc, char *argv[]) {
 
 			} else {
 				printf(commandline_usage, argv[0]);
+				thread_running = false;
 				return 0;
 			}
 		}
@@ -274,6 +235,7 @@ int gps_thread_main(int argc, char *argv[]) {
 
 			} else {
 				printf(commandline_usage, argv[0]);
+				thread_running = false;
 				return 0;
 			}
 		}
@@ -294,45 +256,25 @@ int gps_thread_main(int argc, char *argv[]) {
 	case -1:     gps_baud_try_all = true; break;
 
 	case 0:      current_gps_speed = B0;      break;
-
 	case 50:     current_gps_speed = B50;     break;
-
 	case 75:     current_gps_speed = B75;     break;
-
 	case 110:    current_gps_speed = B110;    break;
-
 	case 134:    current_gps_speed = B134;    break;
-
 	case 150:    current_gps_speed = B150;    break;
-
 	case 200:    current_gps_speed = B200;    break;
-
 	case 300:    current_gps_speed = B300;    break;
-
 	case 600:    current_gps_speed = B600;    break;
-
 	case 1200:   current_gps_speed = B1200;   break;
-
 	case 1800:   current_gps_speed = B1800;   break;
-
 	case 2400:   current_gps_speed = B2400;   break;
-
 	case 4800:   current_gps_speed = B4800;   break;
-
 	case 9600:   current_gps_speed = B9600;   break;
-
 	case 19200:  current_gps_speed = B19200;  break;
-
 	case 38400:  current_gps_speed = B38400;  break;
-
 	case 57600:  current_gps_speed = B57600;  break;
-
 	case 115200: current_gps_speed = B115200; break;
-
 	case 230400: current_gps_speed = B230400; break;
-
 	case 460800: current_gps_speed = B460800; break;
-
 	case 921600: current_gps_speed = B921600; break;
 
 	default:
@@ -359,9 +301,12 @@ int gps_thread_main(int argc, char *argv[]) {
 	} else {
 		fprintf(stderr, "\t[gps] Invalid mode argument\n");
 		printf(commandline_usage);
+		thread_running = false;
 		return ERROR;
 	}
 
+	/* Declare file descriptor for gps here, open port later in setup_port */
+	int fd;
 
 	while (!thread_should_exit) {
 		/* Infinite retries or break if retry == false */
@@ -388,15 +333,14 @@ int gps_thread_main(int argc, char *argv[]) {
 			 * if the gps was once running the wtachdog thread will not return but instead try to reconfigure the gps (depending on the mode/protocol)
 			 */
 
-			if (current_gps_mode == GPS_MODE_UBX) { //TODO: make a small enum with all modes to avoid all the strcpy
+			if (current_gps_mode == GPS_MODE_UBX) {
 
 				if (gps_verbose) printf("[gps] Trying UBX mode at %d baud\n", current_gps_speed);
 
-				mavlink_log_info(mavlink_fd, "GPS: trying to connect to a ubx module");
-
-				int fd;
+				mavlink_log_info(mavlink_fd, "[gps] trying to connect to a ubx module");
+                
 				setup_port(device, current_gps_speed, &fd);
-
+                
 				/* start ubx thread and watchdog */
 				pthread_t ubx_thread;
 				pthread_t ubx_watchdog_thread;
@@ -411,13 +355,18 @@ int gps_thread_main(int argc, char *argv[]) {
 				pthread_attr_t ubx_loop_attr;
 				pthread_attr_init(&ubx_loop_attr);
 				pthread_attr_setstacksize(&ubx_loop_attr, 3000);
-				pthread_create(&ubx_thread, &ubx_loop_attr, ubx_loop, (void *)&fd);
-				sleep(2); // XXX TODO Check if this is too short, try to lower sleeps in UBX driver
 
+				struct arg_struct args;
+				args.fd_ptr = &fd;
+				args.thread_should_exit_ptr = &thread_should_exit;
+
+				pthread_create(&ubx_thread, &ubx_loop_attr, ubx_loop, (void *)&args);
+				sleep(2); // XXX TODO Check if this is too short, try to lower sleeps in UBX driver
+                
 				pthread_attr_t ubx_wd_attr;
 				pthread_attr_init(&ubx_wd_attr);
 				pthread_attr_setstacksize(&ubx_wd_attr, 1400);
-				int pthread_create_res = pthread_create(&ubx_watchdog_thread, &ubx_wd_attr, ubx_watchdog_loop, (void *)&fd);
+				int pthread_create_res = pthread_create(&ubx_watchdog_thread, &ubx_wd_attr, ubx_watchdog_loop, (void *)&args);
 
 				if (pthread_create_res != 0) fprintf(stderr, "[gps] ERROR: could not create ubx watchdog thread, pthread_create =%d\n", pthread_create_res);
 
@@ -432,18 +381,23 @@ int gps_thread_main(int argc, char *argv[]) {
 
 					gps_mode_success = true;
 					terminate_gps_thread = false;
+
+				/* maybe the watchdog was stopped through the thread_should_exit flag */
+				} else if (thread_should_exit) {
+					pthread_join(ubx_thread, NULL);
+					if (gps_verbose) printf("[gps] ubx watchdog and ubx loop threads have been terminated, exiting.");
+					close(mavlink_fd);
+					close_port(&fd);
+					thread_running = false;
+					return 0;
 				}
 
-				close_port(fd);
-			}
-
-			if (current_gps_mode == GPS_MODE_MTK) {
+				close_port(&fd);
+			} else if (current_gps_mode == GPS_MODE_MTK) {
 				if (gps_verbose) printf("[gps] trying MTK binary mode at %d baud\n", current_gps_speed);
 
 				mavlink_log_info(mavlink_fd, "[gps] trying to connect to a MTK module");
 
-
-				int fd;
 				setup_port(device, current_gps_speed, &fd);
 
 				/* start mtk thread and watchdog */
@@ -463,9 +417,14 @@ int gps_thread_main(int argc, char *argv[]) {
 				pthread_attr_t mtk_loop_attr;
 				pthread_attr_init(&mtk_loop_attr);
 				pthread_attr_setstacksize(&mtk_loop_attr, 2048);
-				pthread_create(&mtk_thread, &mtk_loop_attr, mtk_loop, (void *)&fd);
+
+				struct arg_struct args;
+				args.fd_ptr = &fd;
+				args.thread_should_exit_ptr = &thread_should_exit;
+
+				pthread_create(&mtk_thread, &mtk_loop_attr, mtk_loop, (void *)&args);
 				sleep(2);
-				pthread_create(&mtk_watchdog_thread, NULL, mtk_watchdog_loop, (void *)&fd);
+				pthread_create(&mtk_watchdog_thread, NULL, mtk_watchdog_loop, (void *)&args);
 
 				/* wait for threads to complete */
 				pthread_join(mtk_watchdog_thread, (void *)&fd);
@@ -476,23 +435,21 @@ int gps_thread_main(int argc, char *argv[]) {
 					terminate_gps_thread = true;
 					pthread_join(mtk_thread, NULL);
 
-					//				if(true == gps_mode_try_all)
-					//					strcpy(mode, "nmea");
+					//if(true == gps_mode_try_all)
+					//strcpy(mode, "nmea");
 
 					gps_mode_success = true;
 					terminate_gps_thread = false;
 				}
 
-				close_port(fd);
+				close_port(&fd);
 
-			}
-
-			if (current_gps_mode == GPS_MODE_NMEA) {
+			} else if (current_gps_mode == GPS_MODE_NMEA) {
 				if (gps_verbose) printf("[gps] Trying NMEA mode at %d baud\n", current_gps_speed);
 
 				mavlink_log_info(mavlink_fd, "[gps] trying to connect to a NMEA module");
 
-				int fd;
+
 				setup_port(device, current_gps_speed, &fd);
 
 				/* start nmea thread and watchdog */
@@ -509,9 +466,14 @@ int gps_thread_main(int argc, char *argv[]) {
 				pthread_attr_t nmea_loop_attr;
 				pthread_attr_init(&nmea_loop_attr);
 				pthread_attr_setstacksize(&nmea_loop_attr, 4096);
-				pthread_create(&nmea_thread, &nmea_loop_attr, nmea_loop, (void *)&fd);
+
+				struct arg_struct args;
+				args.fd_ptr = &fd;
+				args.thread_should_exit_ptr = &thread_should_exit;
+
+				pthread_create(&nmea_thread, &nmea_loop_attr, nmea_loop, (void *)&args);
 				sleep(2);
-				pthread_create(&nmea_watchdog_thread, NULL, nmea_watchdog_loop, (void *)&fd);
+				pthread_create(&nmea_watchdog_thread, NULL, nmea_watchdog_loop, (void *)&args);
 
 				/* wait for threads to complete */
 				pthread_join(nmea_watchdog_thread, (void *)&fd);
@@ -526,14 +488,23 @@ int gps_thread_main(int argc, char *argv[]) {
 					terminate_gps_thread = false;
 				}
 
-				close_port(fd);
+				close_port(&fd);
 			}
 
+			/* exit quickly if stop command has been received */
+			if (thread_should_exit) {
+				printf("[gps] stopped, exiting.\n");
+				close(mavlink_fd);
+				thread_running = false;
+				return 0;
+	        }
+
 			/* if both, mode and baud is set by argument, we only need one loop*/
 			if (gps_mode_try_all == false && gps_baud_try_all == false)
 				break;
 		}
 
+	        
 		if (retry) {
 			printf("[gps] No configuration was successful, retrying in %d seconds \n", RETRY_INTERVAL_SECONDS);
 			mavlink_log_info(mavlink_fd, "[gps] No configuration was successful, retrying...");
@@ -549,13 +520,21 @@ int gps_thread_main(int argc, char *argv[]) {
 		sleep(RETRY_INTERVAL_SECONDS);
 	}
 
-	close(mavlink_fd);
-
 	printf("[gps] exiting.\n");
-
+	close(mavlink_fd);
+	thread_running = false;
 	return 0;
 }
 
+
+static void usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "\tusage: gps {start|status|stop} -d devicename -b baudrate -m mode\n\tmodes are:\n\t\tubx\n\t\tmtkcustom\n\t\tnmea\n\t\tall\n");
+	exit(1);
+}
+
 int open_port(char *port)
 {
 	int fd; /**< File descriptor for the gps port */
@@ -566,11 +545,39 @@ int open_port(char *port)
 }
 
 
-void close_port(int fd)
+void close_port(int *fd)
 {
 	/* Close serial port */
-	close(fd);
+	close(*fd);
 }
 
+void setup_port(char *device, int speed, int *fd)
+{
+	/* open port (baud rate is set in defconfig file) */
+	*fd = open_port(device);
 
+	if (*fd != -1) {
+		if (gps_verbose) printf("[gps] Port opened: %s at %d speed\r\n", device, speed);
 
+	} else {
+		fprintf(stderr, "[gps] Could not open port, exiting gps app!\r\n");
+		fflush(stdout);
+	}
+
+	/* Try to set baud rate */
+	struct termios uart_config;
+	int termios_state;
+
+	if ((termios_state = tcgetattr(*fd, &uart_config)) < 0) {
+		fprintf(stderr, "[gps] ERROR getting baudrate / termios config for %s: %d\r\n", device, termios_state);
+		close(*fd);
+	}
+	if (gps_verbose) printf("[gps] Try to set baud rate %d now\n",speed);
+	/* Set baud rate */
+	cfsetispeed(&uart_config, speed);
+	cfsetospeed(&uart_config, speed);
+	if ((termios_state = tcsetattr(*fd, TCSANOW, &uart_config)) < 0) {
+		fprintf(stderr, "[gps] ERROR setting baudrate / termios config for %s (tcsetattr)\r\n", device);
+		close(*fd);
+	}
+}

apps/gps/gps.h

@@ -6,15 +6,13 @@
  */
 
 #ifndef GPS_H_
-#define GPS_H_
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-int gps_fd;
-
-//extern gps_bin_ubx_state_t * ubx_state;
+#define GPS_H
 
+#include <stdbool.h>
 
+struct arg_struct {
+    int *fd_ptr;
+    bool *thread_should_exit_ptr;
+};
 
 #endif /* GPS_H_ */

apps/gps/mtk.c

@@ -35,12 +35,14 @@
 
 /* @file MTK custom binary (3DR) protocol implementation */
 
+#include "gps.h"
 #include "mtk.h"
 #include <nuttx/config.h>
 #include <unistd.h>
 #include <sys/prctl.h>
 #include <pthread.h>
 #include <poll.h>
+#include <fcntl.h>
 #include <arch/board/up_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_gps_position.h>
@@ -180,7 +182,7 @@ int mtk_parse(uint8_t b,  char *gps_rx_buffer)
 
 }
 
-int read_gps_mtk(int fd, char *gps_rx_buffer, int buffer_size)  // returns 1 if the thread should terminate
+int read_gps_mtk(int *fd, char *gps_rx_buffer, int buffer_size)  // returns 1 if the thread should terminate
 {
 //	printf("in read_gps_mtk\n");
 	uint8_t ret = 0;
@@ -191,7 +193,7 @@ int read_gps_mtk(int fd, char *gps_rx_buffer, int buffer_size)  // returns 1 if
 	int gpsRxOverflow = 0;
 
 	struct pollfd fds;
-	fds.fd = fd;
+	fds.fd = *fd;
 	fds.events = POLLIN;
 
 	// This blocks the task until there is something on the buffer
@@ -206,7 +208,7 @@ int read_gps_mtk(int fd, char *gps_rx_buffer, int buffer_size)  // returns 1 if
 		}
 
 		if (poll(&fds, 1, 1000) > 0) {
-			if (read(fd, &c, 1) > 0) {
+			if (read(*fd, &c, 1) > 0) {
 //				printf("Read %x\n",c);
 				if (rx_count >= buffer_size) {
 					// The buffer is already full and we haven't found a valid NMEA sentence.
@@ -243,11 +245,11 @@ int read_gps_mtk(int fd, char *gps_rx_buffer, int buffer_size)  // returns 1 if
 	return ret;
 }
 
-int configure_gps_mtk(int fd)
+int configure_gps_mtk(int *fd)
 {
 	int success = 0;
 	size_t result_write;
-	result_write =  write(fd, MEDIATEK_REFRESH_RATE_10HZ, strlen(MEDIATEK_REFRESH_RATE_10HZ));
+	result_write =  write(*fd, MEDIATEK_REFRESH_RATE_10HZ, strlen(MEDIATEK_REFRESH_RATE_10HZ));
 
 	if (result_write != strlen(MEDIATEK_REFRESH_RATE_10HZ)) {
 		printf("[gps] Set update speed to 10 Hz failed\r\n");
@@ -258,7 +260,7 @@ int configure_gps_mtk(int fd)
 	}
 
 	//set custom mode
-	result_write =  write(fd, MEDIATEK_CUSTOM_BINARY_MODE, strlen(MEDIATEK_CUSTOM_BINARY_MODE));
+	result_write =  write(*fd, MEDIATEK_CUSTOM_BINARY_MODE, strlen(MEDIATEK_CUSTOM_BINARY_MODE));
 
 	if (result_write != strlen(MEDIATEK_CUSTOM_BINARY_MODE)) {
 		//global_data_send_subsystem_info(&mtk_present);
@@ -273,7 +275,7 @@ int configure_gps_mtk(int fd)
 	return success;
 }
 
-void *mtk_loop(void *arg)
+void *mtk_loop(void *args)
 {
 //	int oldstate;
 //	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, oldstate);
@@ -282,8 +284,10 @@ void *mtk_loop(void *arg)
 	/* Set thread name */
 	prctl(PR_SET_NAME, "gps mtk read", getpid());
 
-	/* Retrieve file descriptor */
-	int fd = *((int *)arg);
+	/* Retrieve file descriptor and thread flag */
+	struct arg_struct *arguments = (struct arg_struct *)args;
+	int *fd = arguments->fd_ptr;
+	bool *thread_should_exit = arguments->thread_should_exit_ptr;
 
 	/* Initialize gps stuff */
 //	int buffer_size = 1000;
@@ -313,7 +317,7 @@ void *mtk_loop(void *arg)
 	mtk_gps = &mtk_gps_d;
 	orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), mtk_gps);
 
-	while (1) {
+	while (!(*thread_should_exit)) {
 		/* Parse a message from the gps receiver */
 		if (OK == read_gps_mtk(fd, gps_rx_buffer, MTK_BUFFER_SIZE)) {
 
@@ -321,15 +325,19 @@ void *mtk_loop(void *arg)
 			orb_publish(ORB_ID(vehicle_gps_position), gps_handle, mtk_gps);
 
 		} else {
+			/* de-advertise */
+			close(gps_handle);
 			break;
 		}
 
 	}
 
+	close(gps_handle);
+	if(gps_verbose) printf("[gps] mtk loop is going to terminate\n");
 	return NULL;
 }
 
-void *mtk_watchdog_loop(void *arg)
+void *mtk_watchdog_loop(void *args)
 {
 //	printf("in mtk watchdog loop\n");
 	fflush(stdout);
@@ -337,8 +345,10 @@ void *mtk_watchdog_loop(void *arg)
 	/* Set thread name */
 	prctl(PR_SET_NAME, "gps mtk watchdog", getpid());
 
-	/* Retrieve file descriptor */
-	int fd = *((int *)arg);
+	/* Retrieve file descriptor and thread flag */
+	struct arg_struct *arguments = (struct arg_struct *)args;
+	int *fd = arguments->fd_ptr;
+	bool *thread_should_exit = arguments->thread_should_exit_ptr;
 
 	bool mtk_healthy = false;
 
@@ -349,7 +359,7 @@ void *mtk_watchdog_loop(void *arg)
 	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 
 
-	while (1) {
+	while (!(*thread_should_exit)) {
 		fflush(stdout);
 
 		/* if we have no update for a long time reconfigure gps */
@@ -416,8 +426,7 @@ void *mtk_watchdog_loop(void *arg)
 
 		usleep(MTK_WATCHDOG_WAIT_TIME_MICROSECONDS);
 	}
-
+	if(gps_verbose) printf("[gps] mtk watchdog is going to terminate\n");
 	close(mavlink_fd);
-
 	return NULL;
 }

apps/gps/mtk.h

@@ -87,12 +87,12 @@ void mtk_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b);
 
 int mtk_parse(uint8_t b,  char *gps_rx_buffer);
 
-int read_gps_mtk(int fd, char *gps_rx_buffer, int buffer_size);
+int read_gps_mtk(int *fd, char *gps_rx_buffer, int buffer_size);
 
-int configure_gps_mtk(int fd);
+int configure_gps_mtk(int *fd);
 
-void *mtk_loop(void *arg);
+void *mtk_loop(void *args);
 
-void *mtk_watchdog_loop(void *arg);
+void *mtk_watchdog_loop(void *args);
 
 #endif /* MTK_H_ */

apps/gps/nmea_helper.c

@@ -34,13 +34,17 @@
  ****************************************************************************/
 
 /* @file NMEA protocol implementation */
-
+#include "gps.h"
 #include "nmea_helper.h"
 #include <sys/prctl.h>
+#include <unistd.h>
 #include <poll.h>
+#include <fcntl.h>
+#include <unistd.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <mavlink/mavlink_log.h>
+#include <arch/board/up_hrt.h>
 
 #define NMEA_HEALTH_SUCCESS_COUNTER_LIMIT 2
 #define NMEA_HEALTH_FAIL_COUNTER_LIMIT 2
@@ -59,7 +63,7 @@ extern bool gps_verbose;
 extern int current_gps_speed;
 
 
-int read_gps_nmea(int fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser)
+int read_gps_nmea(int *fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser)
 {
 	int ret = 1;
 	char c;
@@ -69,7 +73,7 @@ int read_gps_nmea(int fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info,
 	int gpsRxOverflow = 0;
 
 	struct pollfd fds;
-	fds.fd = fd;
+	fds.fd = *fd;
 	fds.events = POLLIN;
 
 	// NMEA or SINGLE-SENTENCE GPS mode
@@ -86,7 +90,7 @@ int read_gps_nmea(int fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info,
 		}
 
 		if (poll(&fds, 1, 1000) > 0) {
-			if (read(fd, &c, 1) > 0) {
+			if (read(*fd, &c, 1) > 0) {
 				// detect start while acquiring stream
 				//		printf("Char = %c\n", c);
 				if (!start_flag && (c == '$')) {
@@ -155,13 +159,15 @@ float ndeg2degree(float val)
 	return val;
 }
 
-void *nmea_loop(void *arg)
+void *nmea_loop(void *args)
 {
 	/* Set thread name */
 	prctl(PR_SET_NAME, "gps nmea read", getpid());
 
-	/* Retrieve file descriptor */
-	int fd = *((int *)arg);
+	/* Retrieve file descriptor and thread flag */
+	struct arg_struct *arguments = (struct arg_struct *)args;
+	int *fd = arguments->fd_ptr;
+	bool *thread_should_exit = arguments->thread_should_exit_ptr;
 
 	/* Initialize gps stuff */
 	nmeaINFO info_d;
@@ -174,11 +180,11 @@ void *nmea_loop(void *arg)
 	nmea_zero_INFO(info);
 
 	/* advertise GPS topic */
-	struct vehicle_gps_position_s nmea_gps_d = {0};
+	struct vehicle_gps_position_s nmea_gps_d = {.counter=0};
 	nmea_gps = &nmea_gps_d;
 	orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps);
 
-	while (1) {
+	while (!(*thread_should_exit)) {
 		/* Parse a message from the gps receiver */
 		uint8_t read_res = read_gps_nmea(fd, gps_rx_buffer, NMEA_BUFFER_SIZE, info, &parser);
 
@@ -200,11 +206,11 @@ void *nmea_loop(void *arg)
 			//			printf("%d.%d.%d %d:%d:%d:%d\n", timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, info->utc.hsec);
 
 			nmea_gps->timestamp = hrt_absolute_time();
-			nmea_gps->time_gps_usec =  epoch * 1e6 + info->utc.hsec * 1e4;
+			nmea_gps->time_gps_usec = (uint64_t)((epoch)*1000000 + (info->utc.hsec)*10000);
 			nmea_gps->fix_type = (uint8_t)info->fix;
-			nmea_gps->lat = (int32_t)(ndeg2degree(info->lat) * 1e7);
-			nmea_gps->lon = (int32_t)(ndeg2degree(info->lon) * 1e7);
-			nmea_gps->alt = (int32_t)(info->elv * 1e3);
+			nmea_gps->lat = (int32_t)(ndeg2degree(info->lat) * 1e7f);
+			nmea_gps->lon = (int32_t)(ndeg2degree(info->lon) * 1e7f);
+			nmea_gps->alt = (int32_t)(info->elv * 1000.0f);
 			nmea_gps->eph = (uint16_t)(info->HDOP * 100); //TODO:test scaling
 			nmea_gps->epv = (uint16_t)(info->VDOP * 100); //TODO:test scaling
 			nmea_gps->vel = (uint16_t)(info->speed * 1000 / 36); //*1000/3600*100
@@ -251,12 +257,12 @@ void *nmea_loop(void *arg)
 
 	//destroy gps parser
 	nmea_parser_destroy(&parser);
-
+	if(gps_verbose) printf("[gps] nmea loop is going to terminate\n");
 	return NULL;
 
 }
 
-void *nmea_watchdog_loop(void *arg)
+void *nmea_watchdog_loop(void *args)
 {
 	/* Set thread name */
 	prctl(PR_SET_NAME, "gps nmea watchdog", getpid());
@@ -267,9 +273,14 @@ void *nmea_watchdog_loop(void *arg)
 	uint8_t nmea_success_count = 0;
 	bool once_ok = false;
 
+	/* Retrieve file descriptor and thread flag */
+	struct arg_struct *arguments = (struct arg_struct *)args;
+	//int *fd = arguments->fd_ptr;
+	bool *thread_should_exit = arguments->thread_should_exit_ptr;
+
 	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 
-	while (1) {
+	while (!(*thread_should_exit)) {
 //		printf("nmea_watchdog_loop : while ");
 		/* if we have no update for a long time print warning (in nmea mode there is no reconfigure) */
 		pthread_mutex_lock(nmea_mutex);
@@ -328,8 +339,7 @@ void *nmea_watchdog_loop(void *arg)
 
 		usleep(NMEA_WATCHDOG_WAIT_TIME_MICROSECONDS);
 	}
-
+	if(gps_verbose) printf("[gps] nmea watchdog loop is going to terminate\n");
 	close(mavlink_fd);
-
 	return NULL;
 }

apps/gps/nmea_helper.h

@@ -30,7 +30,7 @@ extern pthread_mutex_t *nmea_mutex;
 
 
 
-int read_gps_nmea(int fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser);
+int read_gps_nmea(int *fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser);
 
 void *nmea_loop(void *arg);
 

apps/gps/ubx.c

@@ -35,12 +35,16 @@
 
 /* @file U-Blox protocol implementation */
 
+
 #include "ubx.h"
+#include "gps.h"
 #include <sys/prctl.h>
 #include <poll.h>
 #include <arch/board/up_hrt.h>
 #include <uORB/uORB.h>
 #include <string.h>
+#include <stdbool.h>
+#include <fcntl.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <mavlink/mavlink_log.h>
 
@@ -340,8 +344,8 @@ int ubx_parse(uint8_t b,  char *gps_rx_buffer)
 
 
 
-						ubx_gps->time_gps_usec = (uint64_t)epoch * 1e6; //TODO: test this
-						ubx_gps->time_gps_usec += packet->time_nanoseconds * 1e-3;
+						ubx_gps->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
+						ubx_gps->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
 
 						ubx_gps->timestamp = hrt_absolute_time();
 						ubx_gps->counter++;
@@ -474,7 +478,7 @@ int ubx_parse(uint8_t b,  char *gps_rx_buffer)
 					if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
 
 						ubx_gps->vel = (uint16_t)packet->speed;
-						ubx_gps->cog = (uint16_t)((float)(packet->heading) * 1e-3);
+						ubx_gps->cog = (uint16_t)((float)(packet->heading) * 1e-3f);
 
 						ubx_gps->timestamp = hrt_absolute_time();
 						ubx_gps->counter++;
@@ -570,44 +574,44 @@ void calculate_ubx_checksum(uint8_t *message, uint8_t length)
 //	printf("[%x,%x]\n", message[length-2], message[length-1]);
 }
 
-int configure_gps_ubx(int fd)
+int configure_gps_ubx(int *fd)
 {
-	fflush((FILE *)fd);
+	//fflush(((FILE *)fd));
 
 	//TODO: write this in a loop once it is tested
 	//UBX_CFG_PRT_PART:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_PRT, sizeof(UBX_CONFIG_MESSAGE_PRT) / sizeof(uint8_t) , fd);
+	write_config_message_ubx(UBX_CONFIG_MESSAGE_PRT, sizeof(UBX_CONFIG_MESSAGE_PRT) / sizeof(uint8_t) , *fd);
 
 	usleep(100000);
 
 	//NAV_POSLLH:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH) / sizeof(uint8_t) , fd);
+	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH) / sizeof(uint8_t) , *fd);
 	usleep(100000);
 
 	//NAV_TIMEUTC:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC) / sizeof(uint8_t) , fd);
+	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC) / sizeof(uint8_t) , *fd);
 	usleep(100000);
 
 	//NAV_DOP:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_DOP, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_DOP) / sizeof(uint8_t) , fd);
+	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_DOP, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_DOP) / sizeof(uint8_t) , *fd);
 	usleep(100000);
 
 	//NAV_SOL:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SOL, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SOL) / sizeof(uint8_t) , fd);
+	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SOL, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SOL) / sizeof(uint8_t) , *fd);
 	usleep(100000);
 
 
 	//NAV_SVINFO:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO) / sizeof(uint8_t) , fd);
+	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO) / sizeof(uint8_t) , *fd);
 	usleep(100000);
 
 	//NAV_VELNED:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED) / sizeof(uint8_t) , fd);
+	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED) / sizeof(uint8_t) , *fd);
 	usleep(100000);
 
 
 	//RXM_SVSI:
-	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI, sizeof(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI) / sizeof(uint8_t) , fd);
+	write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI, sizeof(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI) / sizeof(uint8_t) , *fd);
 	usleep(100000);
 
 	return 0;
@@ -615,16 +619,15 @@ int configure_gps_ubx(int fd)
 
 
 
-int read_gps_ubx(int fd, char *gps_rx_buffer, int buffer_size)
+int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size)
 {
-
 	uint8_t ret = 0;
 	uint8_t c;
 	int rx_count = 0;
 	int gpsRxOverflow = 0;
 
 	struct pollfd fds;
-	fds.fd = fd;
+	fds.fd = *fd;
 	fds.events = POLLIN;
 
 	// UBX GPS mode
@@ -641,7 +644,7 @@ int read_gps_ubx(int fd, char *gps_rx_buffer, int buffer_size)
 		}
 
 		if (poll(&fds, 1, 1000) > 0) {
-			if (read(fd, &c, 1) > 0) {
+			if (read(*fd, &c, 1) > 0) {
 
 				//		printf("Read %x\n",c);
 				if (rx_count >= buffer_size) {
@@ -685,7 +688,7 @@ int write_config_message_ubx(uint8_t *message, size_t length, int fd)
 	uint8_t ck_a = 0;
 	uint8_t ck_b = 0;
 
-	int i;
+	unsigned int i;
 
 	for (i = 2; i < length; i++) {
 		ck_a = ck_a + message[i];
@@ -702,14 +705,16 @@ int write_config_message_ubx(uint8_t *message, size_t length, int fd)
 
 }
 
-void *ubx_watchdog_loop(void *arg)
+void *ubx_watchdog_loop(void *args)
 {
 	/* Set thread name */
 	prctl(PR_SET_NAME, "gps ubx watchdog", getpid());
 
 
-	/* Retrieve file descriptor */
-	int fd = *((int *)arg);
+	/* Retrieve file descriptor and thread flag */
+	struct arg_struct *arguments = (struct arg_struct *)args;
+	int *fd = arguments->fd_ptr;
+	bool *thread_should_exit = arguments->thread_should_exit_ptr;
 
 	/* GPS watchdog error message skip counter */
 
@@ -721,7 +726,9 @@ void *ubx_watchdog_loop(void *arg)
 
 	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 
-	while (1) {
+	//int err_skip_counter = 0;
+
+	while (!(*thread_should_exit)) {
 		/* if some values are to old reconfigure gps */
 		int i;
 		pthread_mutex_lock(ubx_mutex);
@@ -732,7 +739,7 @@ void *ubx_watchdog_loop(void *arg)
 //			printf("timestamp_now=%llu\n", timestamp_now);
 //			printf("last_message_timestamps=%llu\n", ubx_state->last_message_timestamps[i]);
 			if (timestamp_now - ubx_state->last_message_timestamps[i] > UBX_WATCHDOG_CRITICAL_TIME_MICROSECONDS) {
-//				printf("Warning: GPS ubx message %d not received for a long time\n", i);
+				//printf("Warning: GPS ubx message %d not received for a long time\n", i);
 				all_okay = false;
 			}
 		}
@@ -748,7 +755,7 @@ void *ubx_watchdog_loop(void *arg)
 //				err_skip_counter = 20;
 //			}
 //			err_skip_counter--;
-//			printf("gps_mode_try_all =%u, ubx_fail_count=%u, ubx_healthy=%u, once_ok=%u\n", gps_mode_try_all, ubx_fail_count, ubx_healthy, once_ok);
+			//printf("gps_mode_try_all =%u, ubx_fail_count=%u, ubx_healthy=%u, once_ok=%u\n", gps_mode_try_all, ubx_fail_count, ubx_healthy, once_ok);
 
 
 			/* If we have too many failures and another mode or baud should be tried, exit... */
@@ -766,7 +773,6 @@ void *ubx_watchdog_loop(void *arg)
 				ubx_healthy = false;
 				ubx_success_count = 0;
 			}
-
 			/* trying to reconfigure the gps configuration */
 			configure_gps_ubx(fd);
 			fflush(stdout);
@@ -777,7 +783,7 @@ void *ubx_watchdog_loop(void *arg)
 			ubx_success_count++;
 
 			if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) {
-				printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
+				//printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
 				// global_data_send_subsystem_info(&ubx_present_enabled_healthy);
 				mavlink_log_info(mavlink_fd, "[gps] UBX module found, status ok\n");
 				ubx_healthy = true;
@@ -790,18 +796,20 @@ void *ubx_watchdog_loop(void *arg)
 		usleep(UBX_WATCHDOG_WAIT_TIME_MICROSECONDS);
 	}
 
+	if(gps_verbose) printf("[gps] ubx loop is going to terminate\n");
 	close(mavlink_fd);
-
 	return NULL;
 }
 
-void *ubx_loop(void *arg)
+void *ubx_loop(void *args)
 {
 	/* Set thread name */
 	prctl(PR_SET_NAME, "gps ubx read", getpid());
-
-	/* Retrieve file descriptor */
-	int fd = *((int *)arg);
+	
+	/* Retrieve file descriptor and thread flag */
+	struct arg_struct *arguments = (struct arg_struct *)args;
+	int *fd = arguments->fd_ptr;
+	bool *thread_should_exit = arguments->thread_should_exit_ptr;
 
 	/* Initialize gps stuff */
 	char gps_rx_buffer[UBX_BUFFER_SIZE];
@@ -809,14 +817,13 @@ void *ubx_loop(void *arg)
 
 	if (gps_verbose) printf("[gps] UBX protocol driver starting..\r\n");
 
-	//set parameters for ubx
+	//set parameters for ubx_state
 
-
-//	    	//ubx state
-//			gps_bin_ubx_state_t * ubx_state = malloc(sizeof(gps_bin_ubx_state_t));
-//		   	printf("gps: ubx_state created\n");
-//			ubx_decode_init();
-//			ubx_state->print_errors = false;
+	//ubx state
+	ubx_state = malloc(sizeof(gps_bin_ubx_state_t));
+	//printf("gps: ubx_state created\n");
+	ubx_decode_init();
+	ubx_state->print_errors = false;
 
 
 	/* set parameters for ubx */
@@ -825,7 +832,7 @@ void *ubx_loop(void *arg)
 		printf("[gps] Configuration of gps module to ubx failed\r\n");
 
 		/* Write shared variable sys_status */
-
+		// TODO enable this again
 		//global_data_send_subsystem_info(&ubx_present);
 
 	} else {
@@ -834,17 +841,17 @@ void *ubx_loop(void *arg)
 		// XXX Shouldn't the system status only change if the module is known to work ok?
 
 		/* Write shared variable sys_status */
-
+		// TODO enable this again
 		//global_data_send_subsystem_info(&ubx_present_enabled);
 	}
 
-	struct vehicle_gps_position_s ubx_gps_d = {0};
+	struct vehicle_gps_position_s ubx_gps_d = {.counter = 0};
 
 	ubx_gps = &ubx_gps_d;
 
 	orb_advert_t gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &ubx_gps);
 
-	while (1) {
+	while (!(*thread_should_exit)) {
 		/* Parse a message from the gps receiver */
 		if (0 == read_gps_ubx(fd, gps_rx_buffer, UBX_BUFFER_SIZE)) {
 			/* publish new GPS position */
@@ -857,7 +864,8 @@ void *ubx_loop(void *arg)
 		}
 	}
 
-
+	if(gps_verbose) printf("[gps] ubx read is going to terminate\n");
+	close(gps_pub);
 	return NULL;
 
 }

apps/gps/ubx.h

@@ -298,17 +298,17 @@ void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b);
 
 int ubx_parse(uint8_t b,  char *gps_rx_buffer);
 
-int configure_gps_ubx(int fd);
+int configure_gps_ubx(int *fd);
 
-int read_gps_ubx(int fd, char *gps_rx_buffer, int buffer_size);
+int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size);
 
 int write_config_message_ubx(uint8_t *message, size_t length, int fd);
 
 void calculate_ubx_checksum(uint8_t *message, uint8_t length);
 
-void *ubx_watchdog_loop(void *arg);
+void *ubx_watchdog_loop(void *args);
 
-void *ubx_loop(void *arg);
+void *ubx_loop(void *args);
 
 
 #endif /* UBX_H_ */

apps/nshlib/nsh.h

@@ -234,9 +234,11 @@
 #endif
 
 /* This is the maximum number of arguments that will be accepted for a command */
-
-#define NSH_MAX_ARGUMENTS 6
-
+#ifdef CONFIG_NSH_MAX_ARGUMENTS
+#  define NSH_MAX_ARGUMENTS CONFIG_NSH_MAX_ARGUMENTS
+#else
+#  define NSH_MAX_ARGUMENTS 10
+#endif
 /* strerror() produces much nicer output but is, however, quite large and
  * will only be used if CONFIG_NSH_STRERROR is defined.  Note that the strerror
  * interface must also have been enabled with CONFIG_LIBC_STRERROR.

apps/system/Makefile

@@ -68,3 +68,4 @@ distclean: clean
 	@for dir in $(INSTALLED_DIRS) ; do \
 		$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
 	done
+

nuttx/ChangeLog

@@ -1458,7 +1458,7 @@
 	* Renamed arc/hc/include/mc9s12ne64 and src/mc9s12ne64 to m9s12.  That name is
 	  shorter and more general.
 	* The NuttX repository has been converted to SVN and can now be found here
-	  http://nuttx.svn.sourceforge.net/viewvc/nuttx/
+	  http://svn.code.sf.net/p/nuttx/code/trunk/
 	* configs/mbed/hidkbd: Added USB host support for the mbed LPC1768 board; add
 	  a USB host HID keyboard configuraion.
 	* drivers/usbhost/hid_parser.c: Leverages the LUFA HID parser written by
@@ -3367,4 +3367,13 @@
 	  this header file.
 	* drivers/mtd/w25.c:  The Windbond SPI FLASH W25 FLASH driver is
 	  code complete (but still untested).
-
+	* arch/arm/src/stm32/stm32_i2c.c:  I2C improvements from Mike Smith.
+	  Unified configuration logic; dynamic timeout calculations;
+	  I2C reset logic to recover from locked devices on the bus.
+	* configs/*/*/Make.defs, tools/Config.mk, Makefile:  Refactor all
+	  common make definitions from the various Make.defs files into
+	  the common tools/Make.mk.  Add support for a verbosity options:
+	  Specify V=1 on the make command line in order to see the exact
+	  commands used in the build (Contributed by Richard Cochran).
+	* drivers/net/enc28j60.c:  The ENC28J60 Ethernet driver is
+	  now functional.

nuttx/Makefile

@@ -38,6 +38,13 @@ TOPDIR		:= ${shell pwd | sed -e 's/ /\\ /g'}
 -include ${TOPDIR}/tools/Config.mk
 -include ${TOPDIR}/Make.defs
 
+# Control build verbosity.
+ifeq ($(V),1)
+export Q :=
+else
+export Q := @
+endif
+
 # Default tools
 
 ifeq ($(DIRLINK),)

nuttx/README.txt

@@ -17,7 +17,7 @@ README
   o Building NuttX
     - Building
     - Re-building 
-    - Build Targets
+    - Build Targets and Options
   o Cygwin Build Problems
     - Strange Path Problems
     - Window Native Toolchain Issues
@@ -118,7 +118,7 @@ Installation Directories with Spaces in the Path
   I work around spaces in the home directory name, by creating a
   new directory that does not contain any spaces, such as /home/nuttx.
   Then I install NuttX in /home/nuttx and always build from 
-  /home/nuttx/nuttx.
+  /home/nuttx/nuttx-code.
 
 Notes about Header Files
 ------------------------
@@ -380,9 +380,10 @@ Re-building
   This 'make' command will remove of the copied directories, re-copy them,
   then make NuttX.
 
-Build Targets
--------------
+Build Targets and Options
+-------------------------
 
+  Build Targets:
   Below is a summary of the build targets available in the top-level
   NuttX Makefile:
 
@@ -450,10 +451,22 @@ Build Targets
     the config.h and version.h header files in the include/nuttx directory and
     the establishment of symbolic links to configured directories.
 
-   clean_context
+  clean_context
 
-     This is part of the distclean target.  It removes all of the header files
-     and symbolic links created by the context target.
+    This is part of the distclean target.  It removes all of the header files
+    and symbolic links created by the context target.
+
+  Build Options:
+  Of course, the value any make variable an be overriden from the make command
+  line.  However, there is one particular variable assignment option that may
+  be useful to you:
+
+  V=1
+
+    This is the build "verbosity flag."  If you specify V=1 on the make command
+    line, you will see the exact commands used in the build. This can be very
+    useful when adding new boards or tracking down compile time errors and
+    warnings (Contributed by Richard Cochran).
 
 CYGWIN BUILD PROBLEMS
 ^^^^^^^^^^^^^^^^^^^^^
@@ -461,27 +474,27 @@ CYGWIN BUILD PROBLEMS
 Strange Path Problems
 ---------------------
 
-If you see strange behavior when building under Cygwin then you may have
-a problem with your PATH variable.  For example, if you see failures to
-locate files that are clearly present, that may mean that you are using
-the wrong version of a tool.  For example, you may not be using Cygwin's
-'make' program at /usr/bin/make.  Try:
+  If you see strange behavior when building under Cygwin then you may have
+  a problem with your PATH variable.  For example, if you see failures to
+  locate files that are clearly present, that may mean that you are using
+  the wrong version of a tool.  For example, you may not be using Cygwin's
+  'make' program at /usr/bin/make.  Try:
 
     $ which make
     /usr/bin/make
 
-When you install some toolchains (such as Yargarto or CodeSourcery tools),
-they may modify your PATH variable to include a path to their binaries.
-At that location, they make have GNUWin32 versions of the tools.  So you
-might actually be using a version of make that does not understand Cygwin
-paths.
+  When you install some toolchains (such as Yargarto or CodeSourcery tools),
+  they may modify your PATH variable to include a path to their binaries.
+  At that location, they make have GNUWin32 versions of the tools.  So you
+  might actually be using a version of make that does not understand Cygwin
+  paths.
 
-The solution is either:
+  The solution is either:
 
-1. Edit your PATH to remove the path to the GNUWin32 tools, or
-2. Put /usr/local/bin, /usr/bin, and /bin at the front of your path:
+  1. Edit your PATH to remove the path to the GNUWin32 tools, or
+  2. Put /usr/local/bin, /usr/bin, and /bin at the front of your path:
 
-   $ export PATH=/usr/local/bin:/usr/bin:/bin:$PATH
+     $ export PATH=/usr/local/bin:/usr/bin:/bin:$PATH
 
 Window Native Toolchain Issues
 ------------------------------
@@ -568,7 +581,7 @@ General Pre-built Toolchain Issues
   And finally you may not be able to use NXFLAT.
 
   7. NXFLAT. If you use a pre-built toolchain, you will lose all support
-    for NXFLAT.  NXFLAT is a binary format described in
+     for NXFLAT.  NXFLAT is a binary format described in
      Documentation/NuttXNxFlat.html.  It may be possible to build
      standalone versions of the NXFLAT tools; there are a few examples
      of this in the misc/buildroot/configs directory.  However, it

nuttx/ReleaseNotes

@@ -1968,7 +1968,7 @@ release includes several new features:
     small for the MCU usage and has some limitations.  No formal
     documentation of NXFFS yet exists.  See the fs/nxffs/README.txt
     file for details (see
-    http://nuttx.svn.sourceforge.net/viewvc/nuttx/trunk/nuttx/fs/nxffs/README.txt?view=log)
+    http://svn.code.sf.net/p/nuttx/code/trunk/nuttx/fs/nxffs/README.txt?view=log)
   * Support for NXP LPCXpresso LPC1768 board on the Embedded
     Artists base board.  The Code Red toolchain is supported under
     either Linux or Windows.   Verified configurations include

nuttx/arch/arm/Kconfig

@@ -103,6 +103,7 @@ config ARCH_CHIP_STM32
 	bool "STMicro STM32"
 	select ARCH_HAVE_CMNVECTOR
 	select ARCH_HAVE_MPU
+	select ARCH_HAVE_I2CRESET
 	---help---
 		STMicro STM32 architectures (ARM Cortex-M3/4).
 

nuttx/arch/arm/src/stm32/Kconfig

@@ -191,14 +191,17 @@ menu "STM32 Peripheral Support"
 config STM32_ADC1
 	bool "ADC1"
 	default n
+	select STM32_ADC
 
 config STM32_ADC2
 	bool "ADC2"
 	default n
+	select STM32_ADC
 
 config STM32_ADC3
 	bool "ADC3"
 	default n
+	select STM32_ADC
 
 config STM32_CRC
 	bool "CRC"
@@ -228,12 +231,14 @@ config STM32_CAN1
 	bool "CAN1"
 	default n
 	select CAN
+	select STM32_CAN
 
 config STM32_CAN2
 	bool "CAN2"
 	default n
 	depends on STM32_STM32F20XX || STM32_STM32F40XX
 	select CAN
+	select STM32_CAN
 
 config STM32_CCMDATARAM
 	bool "CMD/DATA RAM"
@@ -248,10 +253,12 @@ config STM32_CRYP
 config STM32_DAC1
 	bool "DAC1"
 	default n
+	select STM32_DAC
 
 config STM32_DAC2
 	bool "DAC2"
 	default n
+	select STM32_DAC
 
 config STM32_DCMI
 	bool "DCMI"
@@ -276,15 +283,18 @@ config STM32_HASH
 config STM32_I2C1
 	bool "I2C1"
 	default n
+	select STM32_I2C
 
 config STM32_I2C2
 	bool "I2C2"
 	default n
+	select STM32_I2C
 
 config STM32_I2C3
 	bool "I2C3"
 	default n
 	depends on STM32_STM32F20XX || STM32_STM32F40XX
+	select STM32_I2C
 
 config STM32_IWDG
 	bool "IWDG"
@@ -319,23 +329,27 @@ config STM32_SPI1
 	bool "SPI1"
 	default n
 	select SPI
+	select STM32_SPI
 
 config STM32_SPI2
 	bool "SPI2"
 	default n
 	select SPI
+	select STM32_SPI
 
 config STM32_SPI3
 	bool "SPI3"
 	default n
 	depends on STM32_STM32F20XX || STM32_STM32F40XX
 	select SPI
+	select STM32_SPI
 
 config STM32_SPI4
 	bool "SPI4"
 	default n
 	depends on STM32_STM32F10XX
 	select SPI
+	select STM32_SPI
 
 config STM32_SYSCFG
 	bool "SYSCFG"
@@ -450,19 +464,18 @@ endmenu
 
 config STM32_ADC
 	bool
-	default y if STM32_ADC1 || STM32_ADC2 || STM32_ADC3
 
 config STM32_DAC
 	bool
-	default y if STM32_DAC1 || STM32_ADC2
 
 config STM32_SPI
 	bool
-	default y if STM32_SPI1 || STM32_SPI2 || STM32_SPI3 || STM32_SPI4
+
+config STM32_I2C
+	bool
 
 config STM32_CAN
 	bool
-	default y if STM32_CAN1 || STM32_CAN2
 
 menu "Alternate Pin Mapping"
 
@@ -571,10 +584,10 @@ choice
 config STM32_CAN1_NO_REMAP
 	bool "No pin remapping"
 
-config CONFIG_STM32_CAN1_REMAP1
+config STM32_CAN1_REMAP1
 	bool "CAN1 alternate pin remapping #1"
 
-config CONFIG_STM32_CAN1_REMAP2
+config STM32_CAN1_REMAP2
 	bool "CAN1 alternate pin remapping #2"
 
 endchoice
@@ -1600,6 +1613,46 @@ config STM32_SPI_DMA
 
 endmenu
 
+menu "I2C Configuration"
+	depends on STM32_I2C
+
+config STM32_I2C_DYNTIMEO
+	bool "Use dynamic timeouts"
+	default n
+	depends on STM32_I2C
+
+config STM32_I2C_DYNTIMEO_USECPERBYTE
+	int "Timeout Microseconds per Byte"
+	default 0
+	depends on STM32_I2C_DYNTIMEO
+
+config STM32_I2C_DYNTIMEO_STARTSTOP
+	int "Timeout for Start/Stop (Milliseconds)"
+	default 5000
+	depends on STM32_I2C_DYNTIMEO
+
+config STM32_I2CTIMEOSEC
+	int "Timeout seconds"
+	default 0
+	depends on STM32_I2C
+
+config STM32_I2CTIMEOMS
+	int "Timeout Milliseconds"
+	default 500
+	depends on STM32_I2C && !STM32_I2C_DYNTIMEO
+
+config STM32_I2CTIMEOTICKS
+	int "Timeout for Done and Stop (ticks)"
+	default 500
+	depends on STM32_I2C && !STM32_I2C_DYNTIMEO
+
+config STM32_I2C_DUTY16_9
+	bool "Frequency with Tlow/Thigh = 16/9 "
+	default n
+	depends on STM32_I2C
+
+endmenu
+
 menu "SDIO Configuration"
 	depends on STM32_SDIO
 
@@ -1826,13 +1879,13 @@ config STM32_USBHOST_REGDEBUG
 	default n
 	depends on USBHOST && STM32_OTGFS
 	---help---
-		Enable very low-level register access debug.  Depends on CONFIG_DEBUG.
+		Enable very low-level register access debug.  Depends on DEBUG.
  
 config STM32_USBHOST_PKTDUMP
 	bool "Packet Dump Debug"
 	default n
 	depends on USBHOST && STM32_OTGFS
 	---help---
-		Dump all incoming and outgoing USB packets. Depends on CONFIG_DEBUG.
+		Dump all incoming and outgoing USB packets. Depends on DEBUG.
 
 endmenu

nuttx/configs/README.txt

@@ -1805,7 +1805,7 @@ configs/z16f2800100zcog
 configs/z80sim
   z80 Microcontroller.  This port uses a Z80 instruction set simulator.
   That simulator can be found in the NuttX SVN at
-  http://nuttx.svn.sourceforge.net/viewvc/nuttx/trunk/misc/sims/z80sim.
+  http://svn.code.sf.net/p/nuttx/code/trunk/misc/sims/z80sim.
   This port also uses the SDCC toolchain (http://sdcc.sourceforge.net/")
   (verified with version 2.6.0).
 

nuttx/configs/px4fmu/nsh/defconfig

@@ -941,6 +941,7 @@ CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v1.6"
 # CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer
 # CONFIG_NSH_STRERROR - Use strerror(errno)
 # CONFIG_NSH_LINELEN - Maximum length of one command line
+# CONFIG_NSH_MAX_ARGUMENTS - Maximum number of arguments for command line
 # CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi
 # CONFIG_NSH_DISABLESCRIPT - Disable scripting support
 # CONFIG_NSH_DISABLEBG - Disable background commands
@@ -972,6 +973,7 @@ CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_FILEIOSIZE=512
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAX_ARGUMENTS=12
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_DISABLESCRIPT=n
 CONFIG_NSH_DISABLEBG=n

nuttx/drivers/Kconfig

@@ -119,6 +119,14 @@ config I2C_NTRACE
 	default n
 	depends on I2C_TRACE
 
+config ARCH_HAVE_I2CRESET
+	bool
+
+config I2C_RESET
+	bool "Support up_i2creset"
+	default n
+	depends on I2C && ARCH_HAVE_I2CRESET
+
 menuconfig SPI
 	bool "SPI Driver Support"
 	default n

nuttx/drivers/net/Kconfig

@@ -70,8 +70,15 @@ config ENC28J60_DUMPPACKET
 		If selected, the ENC28J60 driver  will dump the contents of each
 		packet to the console.
 
+config ENC28J60_REGDEBUG
+	bool "Register-Level Debug"
+	default n
+	depends on DEBUG && DEBUG_NET
+	---help---
+		Enable very low-level register access debug.  Depends on DEBUG and DEBUG_NET.
+
 endif
-	
+
 config NET_E1000
 	bool "E1000 support"
 	default n

nuttx/drivers/net/enc28j60.h

@@ -304,7 +304,7 @@
 #define ENC_MAADR3      REGADDR(0x02, 3, 1) /* MAC Address Byte 3 (MAADR<31:24>), OUI Byte 3 */
 #define ENC_MAADR4      REGADDR(0x03, 3, 1) /* MAC Address Byte 4 (MAADR<23:16>) */
 #define ENC_MAADR1      REGADDR(0x04, 3, 1) /* MAC Address Byte 1 (MAADR<47:40>), OUI Byte 1 */
-#define ENC_MAADR2      REGADDR(0x05, 3, 1) /* MAC Address Byte 2 (MAADR<39:32>), OUI Byte  */
+#define ENC_MAADR2      REGADDR(0x05, 3, 1) /* MAC Address Byte 2 (MAADR<39:32>), OUI Byte 2 */
 #define ENC_EBSTSD      REGADDR(0x06, 3, 0) /* Built-in Self-Test Fill Seed (EBSTSD<7:0>) */
 #define ENC_EBSTCON     REGADDR(0x07, 3, 0) /* Built-in Self-Test Control */
 #define ENC_EBSTCSL     REGADDR(0x08, 3, 0) /* Built-in Self-Test Checksum Low Byte (EBSTCS<7:0>) */
@@ -360,12 +360,12 @@
 
 /* PHY Control Register 1 Register Bit Definitions */
 
-#define PHCON1_PDPXMD     (1 << 8)  /* Bit 8:  PHY Power-Down */
+#define PHCON1_PDPXMD     (1 << 8)  /* Bit 8:  PHY Duplex Mode */
 #define PHCON1_PPWRSV     (1 << 11) /* Bit 11: PHY Power-Down */
 #define PHCON1_PLOOPBK    (1 << 14) /* Bit 14: PHY Loopback */
 #define PHCON1_PRST       (1 << 15) /* Bit 15: PHY Software Reset */
 
-/* HY Status 1 Register Bit Definitions */
+/* PHY Status 1 Register Bit Definitions */
 
 #define PHSTAT1_JBSTAT    (1 << 1)  /* Bit 1: PHY Latching Jabber Status */
 #define PHSTAT1_LLSTAT    (1 << 2)  /* Bit 2: PHY Latching Link Status */
@@ -399,7 +399,6 @@
 #define PHIR_PLNKIF       (1 << 4)  /* Bit 4:  PHY Link Change Interrupt */
 
 /* PHLCON Regiser Bit Definitions */
-
                                     /* Bit 0:  Reserved */
 #define PHLCON_STRCH      (1 << 1)  /* Bit 1:  LED Pulse Stretching Enable */
 #define PHLCON_LFRQ0      (1 << 2)  /* Bit 2:  LED Pulse Stretch Time Configuration */

nuttx/graphics/nxbe/nxbe_clipper.c

@@ -2,7 +2,7 @@
  * graphics/nxbe/nxbe_clipper.c
  *
  *   Copyright (C) 2008-2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxbe/nxbe_closewindow.c

@@ -2,7 +2,7 @@
  * graphics/nxbe/nxbe_closewindow.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxbe/nxbe_colormap.c

@@ -2,7 +2,7 @@
  * graphics/nxbe/nxbe_colormap.c
  *
  *   Copyright (C) 2008-2009,2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxbe/nxbe_fill.c

@@ -2,7 +2,7 @@
  * graphics/nxbe/nxbe_fill.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxbe/nxbe_redraw.c

@@ -2,7 +2,7 @@
  * graphics/nxbe/nxbe_redraw.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxbe/nxbe_setposition.c

@@ -2,7 +2,7 @@
  * graphics/nxbe/nxbe_setposition.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxbe/nxbe_setsize.c

@@ -2,7 +2,7 @@
  * graphics/nxbe/nxbe_setsize.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxbe/nxbe_visible.c

@@ -2,7 +2,7 @@
  * graphics/nxbe/nxbe_redraw.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxconsole/nxcon_redraw.c

@@ -0,0 +1,152 @@
+/****************************************************************************
+ * nuttx/graphics/nxconsole/nxcon_bkgd.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <semaphore.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/nx/nx.h>
+#include <nuttx/nx/nxglib.h>
+
+#include "nxcon_internal.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxcon_redraw
+ *
+ * Description:
+ *   Re-draw a portion of the NX console.  This function should be called
+ *   from the appropriate window callback logic.
+ *
+ * Input Parameters:
+ *   handle - A handle previously returned by nx_register, nxtk_register, or
+ *     nxtool_register.
+ *   rect - The rectangle that needs to be re-drawn (in window relative
+ *          coordinates)
+ *   more - true:  More re-draw requests will follow
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void nxcon_redraw(NXCONSOLE handle, FAR const struct nxgl_rect_s *rect, bool more)
+{
+  FAR struct nxcon_state_s *priv;
+  int ret;
+  int i;
+
+  DEBUGASSERT(handle && rect);
+  gvdbg("rect={(%d,%d),(%d,%d)} more=%s\n",
+        rect->pt1.x, rect->pt1.y, rect->pt2.x, rect->pt2.y,
+        more ? "true" : "false");
+
+  /* Recover our private state structure */
+
+  priv = (FAR struct nxcon_state_s *)handle;
+
+  /* Get exclusive access to the state structure */
+
+  do
+    {
+      ret = nxcon_semwait(priv);
+
+      /* Check for errors */
+
+      if (ret < 0)
+        {
+          /* The only expected error is if the wait failed because of it
+           * was interrupted by a signal.
+           */
+
+          DEBUGASSERT(errno == EINTR);
+        }
+    }
+  while (ret < 0);
+
+  /* Fill the rectangular region with the window background color */
+
+  ret = priv->ops->fill(priv, rect, priv->wndo.wcolor);
+  if (ret < 0)
+    {
+      gdbg("fill failed: %d\n", errno);
+    }
+
+  /* Then redraw each character on the display (Only the characters within
+   * the rectangle will actually be redrawn).
+   */
+
+  for (i = 0; i < priv->nchars; i++)
+    {
+      nxcon_fillchar(priv, rect, &priv->bm[i]);
+    }
+  ret = nxcon_sempost(priv);
+}

nuttx/graphics/nxfonts/Make.defs

@@ -2,7 +2,7 @@
 # graphics/nxfonts/Make.defs
 #
 #   Copyright (C) 2008 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions

nuttx/graphics/nxfonts/Makefile.sources

@@ -2,7 +2,7 @@
 # graphics/nxfonts/Makefile.sources
 #
 #   Copyright (C) 2008 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions

nuttx/graphics/nxfonts/nxfonts_bitmaps.c

@@ -2,7 +2,7 @@
  * graphics/nxfonts/nxfonts_bitmaps.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxfonts/nxfonts_convert.c

@@ -2,7 +2,7 @@
  * graphics/nxfonts/nxfonts_convert.c
  *
  *   Copyright (C) 2008-2010 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxfonts/nxfonts_getfont.c

@@ -2,7 +2,7 @@
  * graphics/nxfonts/nxfonts_getfont.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxfonts/nxfonts_internal.h

@@ -0,0 +1,88 @@
+/****************************************************************************
+ * graphics/nxfonts/nxfonts_internal.h
+ *
+ *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
+ *   Author: 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.
+ *
+ ****************************************************************************/
+
+#ifndef __GRAPHICS_NXFONTS_NXFONTS_INTERNAL_H
+#define __GRAPHICS_NXFONTS_NXFONTS_INTERNAL_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <nuttx/nx/nxfonts.h>
+
+/****************************************************************************
+ * Pre-processor definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#ifndef CONFIG_NXFONTS_CHARBITS
+#  define CONFIG_NXFONTS_CHARBITS 7
+#endif
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+# define EXTERN extern "C"
+extern "C" {
+#else
+# define EXTERN extern
+#endif
+
+EXTERN struct nx_fontset_s g_7bitfonts;
+#if CONFIG_NXFONTS_CHARBITS >= 8
+EXTERN struct nx_fontset_s g_8bitfonts;
+#endif
+EXTERN struct nx_font_s g_fonts;
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __GRAPHICS_NXFONTS_NXFONTS_INTERNAL_H */

nuttx/graphics/nxglib/fb/nxglib_copyrectangle.c

@@ -2,7 +2,7 @@
  * graphics/nxglib/fb/nxsglib_copyrectangle.c
  *
  *   Copyright (C) 2008-2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxglib/fb/nxglib_fillrectangle.c

@@ -2,7 +2,7 @@
  * graphics/nxglib/fb/nxglib_fillrectangle.c
  *
  *   Copyright (C) 2008-2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxglib/lcd/nxglib_copyrectangle.c

@@ -2,7 +2,7 @@
  * graphics/nxglib/lcd/nxsglib_copyrectangle.c
  *
  *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxglib/lcd/nxglib_fillrectangle.c

@@ -2,7 +2,7 @@
  * graphics/nxglib/lcd/nxglib_fillrectangle.c
  *
  *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxglib/lcd/nxglib_moverectangle.c

@@ -2,7 +2,7 @@
  * graphics/nxglib/lcd/nxglib_moverectangle.c
  *
  *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxglib/nxglib_bitblit.h

@@ -2,7 +2,7 @@
  * graphics/nxglib/nxglib_bitblit.h
  *
  *   Copyright (C) 2008-2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxglib/nxglib_circlepts.c

@@ -2,7 +2,7 @@
  * graphics/nxglib/nxglib_circlepts.c
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxglib/nxglib_circletraps.c

@@ -2,7 +2,7 @@
  * graphics/nxglib/nxglib_circletraps.c
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxglib/nxglib_colorcopy.c

@@ -2,7 +2,7 @@
  * graphics/nxglib/nxsglib_colorcopy.c
  *
  *   Copyright (C) 2008-2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxglib/nxglib_copyrun.h

@@ -2,7 +2,7 @@
  * graphics/nxglib/nxsglib_copyrun.h
  *
  *   Copyright (C) 2010 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

nuttx/graphics/nxglib/nxglib_fillrun.h

@@ -2,7 +2,7 @@
  * graphics/nxglib/nxsglib_fullrun.h
  *
  *   Copyright (C) 2010 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions