Merge remote-tracking branch 'apps/NxWidgets'

.gitignore

@@ -1,3 +1,5 @@
+.depend
+Make.dep
 *.o
 *.a
 *.d
@@ -8,3 +10,15 @@
 core
 .gdbinit
 cscope.out
+/Kconfig
+/bin
+/exe
+/external
+/.context
+/.config
+/.depend
+/*.lib
+/romfs.img
+/boot_romfsimg.h
+/*/*/.built
+

Application.mk

@@ -0,0 +1,258 @@
+############################################################################
+# apps/Application.mk
+#
+#   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
+#   Authors: Gregory Nutt <gnutt@nuttx.org>
+#            Paul Alexander Patience <paul-a.patience@polymtl.ca>
+#
+# 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 $(APPDIR)/Make.defs
+
+# If this is an executable program (with MAINSRC), we must build it as a
+# loadable module for the KERNEL build (always) or if the tristate module
+# has the value "m"
+
+ifneq ($(MAINSRC),)
+  ifeq ($($(MODULE)),m)
+    BUILD_MODULE = y
+  endif
+endif
+
+ifeq ($(CONFIG_BUILD_KERNEL),y)
+  BUILD_MODULE = y
+endif
+
+# Pass the definition to the C/C++ code via the CFLAGS/CXXFLAGS
+
+ifeq ($(BUILD_MODULE),y)
+  CFLAGS += ${shell $(DEFINE) "$(CC)" BUILD_MODULE}
+  CXXFLAGS += ${shell $(DEFINE) "$(CC)" BUILD_MODULE}
+endif
+
+# File extensions
+
+CXXEXT ?= .cxx
+
+# Object files
+
+AOBJS = $(ASRCS:.S=$(OBJEXT))
+COBJS = $(CSRCS:.c=$(OBJEXT))
+CXXOBJS = $(CXXSRCS:$(CXXEXT)=$(OBJEXT))
+
+ifeq ($(suffix $(MAINSRC)),$(CXXEXT))
+  MAINOBJ = $(MAINSRC:$(CXXEXT)=$(OBJEXT))
+else
+  MAINOBJ = $(MAINSRC:.c=$(OBJEXT))
+endif
+
+SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS) $(MAINSRC)
+OBJS = $(AOBJS) $(COBJS) $(CXXOBJS)
+
+ifneq ($(BUILD_MODULE),y)
+  OBJS += $(MAINOBJ)
+endif
+
+# Module install directory
+
+ifeq ($(WINTOOL),y)
+  BIN = "${shell cygpath -w $(APPDIR)$(DELIM)libapps$(LIBEXT)}"
+  INSTALL_DIR = "${shell cygpath -w $(BIN_DIR)}"
+else
+  BIN = $(APPDIR)$(DELIM)libapps$(LIBEXT)
+  INSTALL_DIR = $(BIN_DIR)
+endif
+
+ROOTDEPPATH += --dep-path .
+
+VPATH += :.
+
+# Targets follow
+
+all:: .built
+.PHONY: clean preconfig depend distclean
+.PRECIOUS: $(APPDIR)/libapps$(LIBEXT)
+
+ifneq ($(CONFIG_BUILD_LOADABLE),y)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+$(CXXOBJS): %$(OBJEXT): %$(CXXEXT)
+	$(call COMPILEXX, $<, $@)
+
+ifeq ($(suffix $(MAINSRC)),$(CXXEXT))
+$(MAINOBJ): %$(OBJEXT): %$(CXXEXT)
+	$(call COMPILEXX, $<, $@)
+else
+$(MAINOBJ): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+endif
+
+else
+
+define ELFASSEMBLE
+	@echo "AS: $1"
+	$(Q) $(CC) -c $(AELFFLAGS) $1 -o $2
+endef
+
+define ELFCOMPILE
+	@echo "CC: $1"
+	$(Q) $(CC) -c $(CELFFLAGS) $1 -o $2
+endef
+
+define ELFCOMPILEXX
+	@echo "CXX: $1"
+	$(Q) $(CXX) -c $(CXXELFFLAGS) $1 -o $2
+endef
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(if $(AELFFLAGS), \
+			$(call ELFASSEMBLE, $<, $@), \
+			$(call ASSEMBLE, $<, $@) \
+	)
+
+$(COBJS): %$(OBJEXT): %.c
+	$(if $(CELFFLAGS), \
+			$(call ELFCOMPILE, $<, $@), \
+			$(call COMPILE, $<, $@) \
+	)
+
+$(CXXOBJS): %$(OBJEXT): %$(CXXEXT)
+	$(if $(CXXELFFLAGS), \
+			$(call ELFCOMPILEXX, $<, $@), \
+			$(call COMPILEXX, $<, $@) \
+	)
+
+ifeq ($(suffix $(MAINSRC)),$(CXXEXT))
+$(MAINOBJ): %$(OBJEXT): %$(CXXEXT)
+	$(if $(CXXELFFLAGS), \
+			$(call ELFCOMPILEXX, $<, $@), \
+			$(call COMPILEXX, $<, $@) \
+	)
+else
+$(MAINOBJ): %$(OBJEXT): %.c
+	$(if $(CELFFLAGS), \
+			$(call ELFCOMPILE, $<, $@), \
+			$(call COMPILE, $<, $@) \
+	)
+endif
+
+endif
+
+.built: $(OBJS)
+	$(call ARCHIVE, $(BIN), $(OBJS))
+	$(Q) touch $@
+
+ifeq ($(BUILD_MODULE), y)
+
+ifeq ($(WINTOOL), y)
+  PROGPRFX = ${cygpath -u $(INSTALL_DIR)$(DELIM)}
+else
+  PROGPRFX = $(INSTALL_DIR)$(DELIM)
+endif
+
+PROGLIST := $(addprefix $(PROGPRFX),$(PROGNAME))
+PROGOBJ := $(MAINOBJ)
+
+$(PROGLIST): $(MAINOBJ) $(OBJS)
+ifneq ($(PROGOBJ),)
+	$(Q) $(LD) $(LDELFFLAGS) $(LDLIBPATH) $(ARCHCRT0OBJ) $(firstword $(PROGOBJ)) $(LDLIBS) -o $(strip $(firstword $(PROGLIST)))_
+	$(Q) $(NM) -u $(strip $(firstword $(PROGLIST)))_
+	$(Q) install -m 0755 -D $(strip $(firstword $(PROGLIST)))_ $(firstword $(PROGLIST))
+	$(call DELFILE, $(strip $(firstword $(PROGLIST)))_)
+#	$(Q) $(STRIP) $(firstword $(PROGLIST))
+	$(eval PROGLIST=$(filter-out $(firstword $(PROGLIST)),$(PROGLIST)))
+	$(eval PROGOBJ=$(filter-out $(firstword $(PROGOBJ)),$(PROGOBJ)))
+endif
+
+install:: $(PROGLIST)
+
+else
+install::
+
+endif # BUILD_MODULE
+
+preconfig::
+
+ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
+ifneq ($(BUILD_MODULE),y)
+REGLIST := $(addprefix $(BUILTIN_REGISTRY)$(DELIM),$(APPNAME)_main.bdat)
+APPLIST := $(APPNAME)
+
+ifneq ($(APPNAME),)
+ifneq ($(PRIORITY),)
+ifneq ($(STACKSIZE),)
+$(REGLIST): $(DEPCONFIG) Makefile
+	$(call REGISTER,$(firstword $(APPLIST)),$(firstword $(PRIORITY)),$(firstword $(STACKSIZE)),$(if $(BUILD_MODULE),,$(firstword $(APPLIST))_main))
+	$(eval APPLIST=$(filter-out $(firstword $(APPLIST)),$(APPLIST)))
+	$(if $(filter-out $(firstword $(PRIORITY)),$(PRIORITY)),$(eval PRIORITY=$(filter-out $(firstword $(PRIORITY)),$(PRIORITY))))
+	$(if $(filter-out $(firstword $(STACKSIZE)),$(STACKSIZE)),$(eval STACKSIZE=$(filter-out $(firstword $(STACKSIZE)),$(STACKSIZE))))
+
+context:: $(REGLIST)
+else
+context::
+endif
+else
+context::
+endif
+else
+context::
+endif
+else
+context::
+endif
+else
+context::
+endif
+
+.depend: Makefile $(SRCS)
+ifeq ($(filter %$(CXXEXT),$(SRCS)),)
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(filter-out Makefile,$^) >Make.dep
+else
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CXX)" -- $(CXXFLAGS) -- $(filter-out Makefile,$^) >Make.dep
+endif
+	$(Q) touch $@
+
+depend:: .depend
+
+clean::
+	$(call DELFILE, .built)
+	$(call CLEAN)
+
+distclean:: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+
+-include Make.dep

COPYING

@@ -0,0 +1,188 @@
+COPYING -- Describes the terms under which Nuttx is distributed. A
+copy of the BSD-style licensing is included in this file. In my
+words -- I believe that you should free to use NuttX in any
+environment, private, private, commercial, open, closed, etc.
+provided only that you repect the modest copyright notices as
+described in license (below).  Please feel free to contact me if you
+have any licensing concerns.
+
+NuttX
+^^^^^^
+
+License for NuttX in general (authorship of individual files may vary):
+
+  Copyright (C) 2007-2012 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.
+
+uIP
+^^^
+
+Some lower-level networking middle-ware components of NuttX
+derive from uIP which has a similar BSD style license:
+
+   Copyright (c) 2001-2003, Adam Dunkels.
+   All rights reserved.
+
+FreeModbus
+^^^^^^^^^
+
+FreeModbus Libary: A portable Modbus implementation for Modbus ASCII/RTU.
+Copyright (c) 2006 Christian Walter <wolti@sil.at>
+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. The name of the author may not be used to endorse or promote products
+   derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+
+Mini Basic
+^^^^^^^^^^
+
+The Mini Basic implementation at apps/interpreters derives from version 1.0
+by Malcolm McLean, Leeds University, and was released under the Creative
+Commons Attibution license.  I am not legal expert, but this license
+appears to be compatible with the NuttX BSD license see:
+https://creativecommons.org/licenses/ .  I, however, cannot take
+responsibility for any actions that you might take based on my
+understanding.  Please use your own legal judgement.
+
+THTTPD
+^^^^^^
+
+Derived from the original THTTPD package:
+
+  Copyright © 1995,1998,1999,2000,2001 by Jef Poskanzer <jef@mail.acme.com>.
+  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.
+
+THIS SOFTWARE IS PROVIDED BY THE AUTHOR 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 AUTHOR 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.
+
+cJSON
+^^^^^
+
+Derives from the cJSON Project which has an MIT license:
+
+  Copyright (c) 2009 Dave Gamble
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+apps/netutils/pppd
+^^^^^^^^^^^^^^^^^^
+
+  This implementation of PPPD has a license that is mostly compatible the
+  NuttX 3-clause BSD license, but includes a fourth clause that required
+  acknowledgement of Mike Johnson/Mycal Labs if it is built into your
+  product:
+
+      Copyright (C) 2000, Mycal Labs www.mycal.com
+      Copyright (c) 2003, Mike Johnson, Mycal Labs, www.mycal.net
+      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. All advertising materials mentioning features or use of this software
+       must display the following acknowledgement:
+       This product includes software developed by Mike Johnson/Mycal Labs
+       www.mycal.net.
+    4. The name of the author may not be used to endorse or promote
+       products derived from this software without specific prior
+       written permission.
+
+    THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.

Directory.mk

@@ -0,0 +1,76 @@
+############################################################################
+# apps/Directory.mk
+#
+#   Copyright (C) 2011-2015, 2018 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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+include $(APPDIR)/Make.defs
+
+# Sub-directories
+
+SUBDIRS = $(dir $(wildcard */Makefile))
+
+all: nothing
+
+.PHONY: nothing context depend clean distclean
+
+define SDIR_template
+$(1)_$(2):
+	$(Q) cd $(1) && $(MAKE) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+endef
+
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),preconfig)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),context)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),depend)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
+
+nothing:
+
+install:
+
+preconfig: $(foreach SDIR, $(SUBDIRS), $(SDIR)_preconfig)
+	$(Q) $(MKKCONFIG) -m $(MENUDESC)
+
+context: $(foreach SDIR, $(SUBDIRS), $(SDIR)_context)
+
+depend: $(foreach SDIR, $(SUBDIRS), $(SDIR)_depend)
+
+clean: $(foreach SDIR, $(SUBDIRS), $(SDIR)_clean)
+
+distclean: $(foreach SDIR, $(SUBDIRS), $(SDIR)_distclean)
+ifneq ($(MENUDESC),)
+	$(call DELFILE, Kconfig)
+endif
+
+-include Make.dep

Make.defs

@@ -0,0 +1,128 @@
+############################################################################
+# apps/Make.defs
+# Common make definitions provided to all applications
+#
+#   Copyright (C) 2011, 2014, 2016, 2018 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.
+#
+############################################################################
+
+# Builtin Registration
+
+BUILTIN_REGISTRY = $(APPDIR)$(DELIM)builtin$(DELIM)registry
+
+DEPCONFIG = $(TOPDIR)$(DELIM).config
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+define REGISTER
+	$(Q) echo Register: $1
+	$(Q) echo { "$1", $2, $3, $4 }, > "$(BUILTIN_REGISTRY)$(DELIM)$1.bdat"
+	$(Q) if [ ! -z $4 ]; then \
+	        echo "int $4(int argc, char *argv[]);" > "$(BUILTIN_REGISTRY)$(DELIM)$1.pdat"; \
+	     fi;
+	$(Q) touch $(BUILTIN_REGISTRY)$(DELIM).updated"
+endef
+else
+define REGISTER
+	$(Q) echo "Register: $1  $4"
+	$(Q) echo "{ \"$1\", $2, $3, $4 }," > "$(BUILTIN_REGISTRY)$(DELIM)$1.bdat"
+	$(Q) if [ ! -z $4 ]; then \
+	        echo "int $4(int argc, char *argv[]);" > "$(BUILTIN_REGISTRY)$(DELIM)$1.pdat"; \
+	     fi;
+	$(Q) touch "$(BUILTIN_REGISTRY)$(DELIM).updated"
+endef
+endif
+
+# Tools
+#
+# In a normal build, tools will reside in the nuttx/tools sub-directory and
+# TOPDIR will refer to that nuttx/ directory.  This, however, is not the
+# case when building apps/ with a NuttX export directory; there is no
+# apps/import/tools directory.  In that case copies of the NuttX tools in
+# the apps/tools directory are used.
+
+DELIM ?= $(strip /)
+ifneq (,$(wildcard $(TOPDIR)$(DELIM)tools))
+  TOOLDIR = $(TOPDIR)$(DELIM)tools
+else
+  TOOLDIR = $(APPDIR)$(DELIM)tools
+endif
+
+ifeq ($(DIRLINK),)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  DIRLINK   = $(TOOLDIR)$(DELIM)link.bat
+  DIRUNLINK = $(TOOLDIR)$(DELIM)unlink.bat
+else ifeq ($(CONFIG_WINDOWS_MSYS),y)
+  DIRLINK   = $(TOOLDIR)$(DELIM)copydir.sh
+  DIRUNLINK = $(TOOLDIR)$(DELIM)unlink.sh
+else
+  DIRUNLINK = $(TOOLDIR)$(DELIM)unlink.sh
+ifeq ($(WINTOOL),y)
+  DIRLINK   = $(TOOLDIR)$(DELIM)copydir.sh
+else
+  DIRLINK   = $(TOOLDIR)$(DELIM)link.sh
+endif
+endif
+endif
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  MKKCONFIG = $(APPDIR)$(DELIM)tools$(DELIM)mkkconfig.bat
+else
+  MKKCONFIG = $(APPDIR)$(DELIM)tools$(DELIM)mkkconfig.sh
+endif
+
+ifeq ($(INCDIR),)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  INCDIR = $(TOOLDIR)$(DELIM)incdir.bat
+else
+  INCDIR = $(TOOLDIR)$(DELIM)incdir.sh
+endif
+endif
+
+ifeq ($(DEFINE),)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  DEFINE = $(APPDIR)$(DELIM)tools$(DELIM)define.bat
+else
+  DEFINE = $(APPDIR)$(DELIM)tools$(DELIM)define.sh
+endif
+endif
+
+ifeq ($(WINTOOL),y)
+  INCDIROPT = -w
+endif
+
+# Standard include path
+
+CFLAGS   += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" "$(APPDIR)$(DELIM)include"}
+CXXFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" "$(APPDIR)$(DELIM)include"}
+
+ifneq ($(CONFIG_BUILD_KERNEL),y)
+  LDLIBS = $(APPDIR)/libapps.a
+endif

Makefile

@@ -0,0 +1,226 @@
+############################################################################
+# apps/Makefile
+#
+#   Copyright (C) 2011 Uros Platise. All rights reserved.
+#   Copyright (C) 2011-2014, 2018 Gregory Nutt. 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.
+#
+############################################################################
+
+APPDIR = ${shell pwd}
+TOPDIR ?= $(APPDIR)/import
+
+-include $(TOPDIR)/Make.defs
+-include $(APPDIR)/Make.defs
+
+# Application Directories
+
+# BUILDIRS is the list of top-level directories containing Make.defs files
+# CLEANDIRS is the list of all top-level directories containing Makefiles.
+#   It is used only for cleaning.
+
+BUILDIRS   := $(dir $(filter-out import/Make.defs,$(wildcard */Make.defs)))
+CLEANDIRS  := $(dir $(wildcard */Makefile))
+
+# CONFIGURED_APPS is the application directories that should be built in
+#   the current configuration.
+
+CONFIGURED_APPS =
+
+define Add_Application
+  include $(1)Make.defs
+endef
+
+$(foreach BDIR, $(BUILDIRS), $(eval $(call Add_Application,$(BDIR))))
+
+# Library path
+
+LIBPATH ?= $(TOPDIR)$(DELIM)staging
+
+# The install path
+
+EXE_DIR = $(APPDIR)$(DELIM)exe
+BIN_DIR = $(EXE_DIR)$(DELIM)system$(DELIM)bin
+
+# The final build target
+
+BIN = libapps$(LIBEXT)
+
+# Symbol table for loadable apps.
+
+SYMTABSRC = $(EXE_DIR)$(DELIM)symtab_apps.c
+SYMTABOBJ = $(SYMTABSRC:.c=$(OBJEXT))
+
+# Build targets
+
+all: $(BIN)
+.PHONY: import install dirlinks context context_serialize clean_context context_rest .depdirs preconfig depend clean distclean
+.PRECIOUS: libapps$(LIBEXT)
+
+define MAKE_template
+	$(Q) cd $(1) && $(MAKE) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" BIN_DIR="$(BIN_DIR)"
+
+endef
+
+define SDIR_template
+$(1)_$(2):
+	$(Q) cd $(1) && $(MAKE) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" BIN_DIR="$(BIN_DIR)"
+
+endef
+
+$(foreach SDIR, $(CONFIGURED_APPS), $(eval $(call SDIR_template,$(SDIR),all)))
+$(foreach SDIR, $(CONFIGURED_APPS), $(eval $(call SDIR_template,$(SDIR),install)))
+$(foreach SDIR, $(CONFIGURED_APPS), $(eval $(call SDIR_template,$(SDIR),context)))
+$(foreach SDIR, $(CONFIGURED_APPS), $(eval $(call SDIR_template,$(SDIR),depend)))
+$(foreach SDIR, $(CLEANDIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
+$(foreach SDIR, $(CLEANDIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
+
+# In the KERNEL build, we must build and install all of the modules.  No
+# symbol table is needed
+
+ifeq ($(CONFIG_BUILD_KERNEL),y)
+
+.install: $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_install)
+
+install: $(BIN_DIR) .install
+
+$(BIN_DIR):
+	$(Q) mkdir -p $(BIN_DIR)
+
+.import: $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_all)
+	$(Q) $(MAKE) install TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+
+import: $(BIN_DIR)
+	$(Q) $(MAKE) .import TOPDIR="$(APPDIR)$(DELIM)import"
+
+else
+
+# In FLAT and protected modes, the modules have already been created.  A
+# symbol table is required.
+
+ifeq ($(CONFIG_BUILD_LOADABLE),)
+
+$(BIN): $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_all)
+
+else
+
+$(SYMTABSRC): $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_all)
+	$(Q) $(MAKE) install TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+	$(Q) $(APPDIR)$(DELIM)tools$(DELIM)mksymtab.sh $(EXE_DIR)$(DELIM)system $(SYMTABSRC)
+
+$(SYMTABOBJ): %$(OBJEXT): %.c
+ifeq ($(WINTOOL),y)
+	$(call COMPILE, -fno-lto "${shell cygpath -w $<}", "${shell cygpath -w $@}")
+else
+	$(call COMPILE, -fno-lto $<, $@)
+endif
+
+$(BIN): $(SYMTABOBJ)
+ifeq ($(WINTOOL),y)
+	$(call ARCHIVE, $(BIN), "${shell cygpath -w $^}")
+else
+	$(call ARCHIVE, $(BIN), $^)
+endif
+endif # !CONFIG_BUILD_KERNEL && CONFIG_BUILD_LOADABLE
+
+.install: $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_install)
+
+$(BIN_DIR):
+	$(Q) mkdir -p $(BIN_DIR)
+
+install: $(BIN_DIR) .install
+
+.import: $(BIN) install
+
+import:
+	$(Q) $(MAKE) .import TOPDIR="$(APPDIR)$(DELIM)import"
+
+endif # CONFIG_BUILD_KERNEL
+
+dirlinks:
+	$(Q) $(MAKE) -C platform dirlinks TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"  BIN_DIR="$(BIN_DIR)"
+
+context_rest: $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_context)
+
+context_serialize:
+	$(Q) $(MAKE) -C builtin context TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+	$(Q) $(MAKE) context_rest
+
+context: context_serialize
+
+Kconfig:
+	$(foreach SDIR, $(BUILDIRS), $(call MAKE_template,$(SDIR),preconfig))
+	$(Q) $(MKKCONFIG)
+
+preconfig: Kconfig
+
+.depdirs: $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_depend)
+
+.depend: context Makefile .depdirs
+	$(Q) touch $@
+
+depend: .depend
+
+clean_context:
+	$(Q) $(MAKE) -C platform clean_context TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" BIN_DIR="$(BIN_DIR)"
+
+clean: $(foreach SDIR, $(CLEANDIRS), $(SDIR)_clean)
+	$(call DELFILE, $(SYMTABSRC))
+	$(call DELFILE, $(SYMTABOBJ))
+	$(call DELFILE, $(BIN))
+	$(call DELFILE, Kconfig)
+	$(call DELDIR, $(BIN_DIR))
+	$(call DELDIR, $(EXE_DIR))
+	$(call CLEAN)
+
+distclean: $(foreach SDIR, $(CLEANDIRS), $(SDIR)_distclean)
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) ( if exist  external ( \
+		echo ********************************************************" \
+		echo * The external directory/link must be removed manually *" \
+		echo ********************************************************" \
+	)
+else
+	$(Q) ( if [ -e external ]; then \
+		echo "********************************************************"; \
+		echo "* The external directory/link must be removed manually *"; \
+		echo "********************************************************"; \
+	   fi; \
+	)
+endif
+	$(call DELFILE, .depend)
+	$(call DELFILE, $(SYMTABSRC))
+	$(call DELFILE, $(SYMTABOBJ))
+	$(call DELFILE, $(BIN))
+	$(call DELFILE, Kconfig)
+	$(call DELDIR, $(BIN_DIR))
+	$(call DELDIR, $(EXE_DIR))
+	$(call CLEAN)

README.txt

@@ -0,0 +1,223 @@
+Application Folder
+==================
+
+Contents
+--------
+
+  General
+  Directory Location
+  Built-In Applications
+  NuttShell (NSH) Built-In Commands
+  Synchronous Built-In Commands
+  Application Configuration File
+  Example Built-In 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 to help
+you develop your own applications.  The apps/ directory is a "break away"
+part of the configuration that you may choose 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>
+
+Built-In 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:
+
+  - builtin/builtin_proto.h  Entry points, prototype function
+  - builtin/builtin_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_builtin() is defined in the nuttx/include/apps/builtin/builtin.h
+
+NuttShell (NSH) Built-In Commands
+---------------------------------
+One use of builtin 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/builtin/builtin_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
+------------------------------
+The NuttX configuration uses kconfig-frontends tools and the NuttX
+configuration file (.config) file.  For example, the NuttX .config
+may have:
+
+  CONFIG_EXAMPLES_HELLO=y
+
+This will select the apps/examples/hello in the following way:
+
+- The top-level make will include examples/Make.defs
+- examples/Make.defs will set CONFIGURED_APPS += examples/hello
+  like this:
+
+  ifeq ($(CONFIG_EXAMPLES_HELLO),y)
+  CONFIGURED_APPS += examples/hello
+  endif
+
+Example Built-In Application
+----------------------------
+An example application skeleton can be found under the examples/hello
+sub-directory.  This example shows how a builtin application can be added
+to the project. One must:
+
+ 1. Create sub-directory as: appname
+
+ 2. In this directory there should be:
+
+    - A Make.defs file that would be included by the apps/Makefile
+    - A Kconfig file that would be used by the configuration tool (see the
+      file kconfig-language.txt in the NuttX tools repository).  This
+      Kconfig file should be included by the apps/Kconfig file
+    - A Makefile, and
+    - The application source code.
+
+ 3. The application source code should provide the entry point:
+    appname_main()
+
+ 4. Set the requirements in the file: Makefile, specially the lines:
+
+    APPNAME    = appname
+    PRIORITY   = SCHED_PRIORITY_DEFAULT
+    STACKSIZE  = 768
+    ASRCS      = asm source file list as a.asm b.asm ...
+    CSRCS      = C source file list as foo1.c foo2.c ..
+
+ 4b. The Make.defs file should include a line like:
+
+    ifeq ($(CONFIG_APPNAME),y)
+    CONFIGURED_APPS += appname
+    endif
+
+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 three:
+
+   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
+      https://bitbucket.org/nuttx/documentation/src/master/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 a sympolic link in the apps/ directory that
+      redirects to your application sub-directory.
+
+      In order to be incorporated into the build, the directory that
+      you link under the apps/ directory should contain (1) a Makefile
+      that supports the clean and distclean targets (see other Makefiles
+      for examples), and (2) a tiny Make.defs file that simply adds the
+      custon build directories to the variable CONFIGURED_APPS like:
+
+        CONFIGURED_APPS += my_directory1 my_directory2
+
+      The apps/Makefile will always automatically check for the
+      existence of subdirectories containing a Makefile and a Make.defs
+      file.  The Makefile will be used only to support cleaning operations.
+      The Make.defs file provides the set of directories to be built; these
+      directories must also contain a Makefile.  That Makefile must be able
+      to build the sources and add the objects to the apps/libapps.a archive.
+      (see other Makefiles for examples).  It should support the all,
+      install, context, and depend targets.
+
+      apps/Makefile does not depend on any hardcoded lists of directories.
+      Instead, it does a wildcard search to find all appropriate
+      directories.  This means that to install a new application, you
+      simply have to copy the directory (or link it) into the apps/
+      directory.  If the new directory includes a Makefile and Make.defs
+      file, then it will automatically be included in the build.
+
+      If the directory that you add also includes a Kconfig file, then it
+      will automatically be included in the NuttX configuration system as
+      well.  apps/Makefile uses a tool at apps/tools/mkkconfig.sh that
+      dynamically builds the apps/Kconfig file at pre-configuration time.
+
+      You could, 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
+
+      Use of the name ''apps/external'' is suggested because that name
+      is included in the .gitignore file and will save you some nuisance
+      when working with GIT.

builtin/.gitignore

@@ -0,0 +1,11 @@
+/.context
+/.depend
+/.built
+/Make.dep
+/builtin_list.h
+/builtin_proto.h
+/*.src
+/*.obj
+/*.lst
+/*.asm
+/*.sym

builtin/Kconfig

@@ -0,0 +1,18 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+menu "Built-In Applications"
+	depends on BUILTIN
+
+config BUILTIN_PROXY_STACKSIZE
+	int "Builtin Proxy Stack Size"
+	default 1024
+	---help---
+		If exec_builtin uses I/O redirection options, then it will require
+		an intermediary/proxy task to muck with the file descriptors.  This
+		configuration item specifies the stack size used for the proxy. Default:
+		1024 bytes.
+
+endmenu # Built-In Applications

builtin/Make.defs

@@ -0,0 +1,40 @@
+############################################################################
+# apps/builtin/Make.defs
+# Adds selected applications to apps/ build
+#
+#   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.
+#
+############################################################################
+
+ifeq ($(CONFIG_BUILTIN),y)
+CONFIGURED_APPS += builtin
+endif
+

builtin/Makefile

@@ -0,0 +1,83 @@
+############################################################################
+# apps/builtin/Makefile
+#
+#   Copyright (C) 2011-2012, 2018 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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+# Source and object files
+
+CSRCS = builtin_forindex.c builtin_list.c exec_builtin.c
+
+# Registry entry lists
+
+PDATLIST = $(strip $(call RWILDCARD, registry, *.pdat))
+BDATLIST = $(strip $(call RWILDCARD, registry, *.bdat))
+
+registry$(DELIM).updated:
+	$(Q) $(MAKE) -C registry .updated TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+
+builtin_list$(OBJEXT): builtin_list.h builtin_proto.h
+
+builtin_list.h: registry$(DELIM).updated
+	$(call DELFILE, .xx_builtin_list.h)
+	$(Q) touch .xx_builtin_list.h
+ifneq ($(BDATLIST),)
+	$(call CATFILE, .xx_builtin_list.h, $(BDATLIST))
+endif
+	$(Q) mv .xx_builtin_list.h builtin_list.h
+
+builtin_proto.h: registry$(DELIM).updated
+	$(call DELFILE, .xx_builtin_proto.h)
+	$(Q) touch .xx_builtin_proto.h
+ifneq ($(PDATLIST),)
+	$(call CATFILE, .xx_builtin_proto.h, $(PDATLIST))
+endif
+	$(Q) mv .xx_builtin_proto.h builtin_proto.h
+
+context::
+	$(Q) $(MAKE) -C registry context TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+
+depend:: builtin_list.h builtin_proto.h
+
+clean::
+	$(Q) $(MAKE) -C registry clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+	$(call DELFILE, .xx_builtin_list.h)
+	$(call DELFILE, .xx_builtin_proto.h)
+
+distclean::
+	$(Q) $(MAKE) -C registry distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+	$(call DELFILE, builtin_list.h)
+	$(call DELFILE, builtin_proto.h)
+
+include $(APPDIR)/Application.mk

builtin/builtin_forindex.c

@@ -0,0 +1,65 @@
+/****************************************************************************
+ * apps/builtin/builtin_forindex.c
+ *
+ *   Copyright (C) 2011 Uros Platise. All rights reserved.
+ *   Copyright (C) 2011, 2016 Gregory Nutt. 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <nuttx/binfmt/builtin.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+extern const struct builtin_s g_builtins[];
+extern const int g_builtin_count;
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+FAR const struct builtin_s *builtin_for_index(int index)
+{
+  if (index < g_builtin_count)
+    {
+      return &g_builtins[index];
+    }
+
+  return NULL;
+}

builtin/builtin_list.c

@@ -0,0 +1,79 @@
+/****************************************************************************
+ * apps/builtin/builtin_list.c
+ *
+ *   Copyright (C) 2011 Uros Platise. All rights reserved.
+ *   Copyright (C) 2011 Gregory Nutt. 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <nuttx/binfmt/builtin.h>
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#include "builtin_proto.h"
+
+const struct builtin_s g_builtins[] =
+{
+# include "builtin_list.h"
+  { NULL, 0, 0, 0 }
+};
+
+const int g_builtin_count = sizeof(g_builtins) / sizeof(g_builtins[0]);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+

builtin/exec_builtin.c

@@ -0,0 +1,233 @@
+/****************************************************************************
+ * apps/builtin/exec_builtin.c
+ *
+ * Originally by:
+ *
+ *   Copyright (C) 2011 Uros Platise. All rights reserved.
+ *   Author: Uros Platise <uros.platise@isotel.eu>
+ *
+ * With subsequent updates, modifications, and general maintenance by:
+ *
+ *   Copyright (C) 2012-2013 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 <spawn.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <debug.h>
+
+#include "builtin/builtin.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: exec_builtin
+ *
+ * Description:
+ *   Executes builtin applications registered during 'make context' time.
+ *   New application is run in a separate task context (and thread).
+ *
+ * Input Parameter:
+ *   filename  - Name of the linked-in binary to be started.
+ *   argv      - Argument list
+ *   redirfile - If output if redirected, this parameter will be non-NULL
+ *               and will provide the full path to the file.
+ *   oflags    - If output is redirected, this parameter will provide the
+ *               open flags to use.  This will support file replacement
+ *               of appending to an existing file.
+ *
+ * Returned Value:
+ *   This is an end-user function, so it follows the normal convention:
+ *   Returns the PID of the exec'ed module.  On failure, it.returns
+ *   -1 (ERROR) and sets errno appropriately.
+ *
+ ****************************************************************************/
+
+int exec_builtin(FAR const char *appname, FAR char * const *argv,
+                 FAR const char *redirfile, int oflags)
+{
+  FAR const struct builtin_s *builtin;
+  posix_spawnattr_t attr;
+  posix_spawn_file_actions_t file_actions;
+  struct sched_param param;
+  pid_t pid;
+  int index;
+  int ret;
+
+  /* Verify that an application with this name exists */
+
+  index = builtin_isavail(appname);
+  if (index < 0)
+    {
+      ret = ENOENT;
+      goto errout_with_errno;
+    }
+
+  /* Get information about the builtin */
+
+  builtin = builtin_for_index(index);
+  if (builtin == NULL)
+    {
+      ret = ENOENT;
+      goto errout_with_errno;
+    }
+
+  /* Initialize attributes for task_spawn(). */
+
+  ret = posix_spawnattr_init(&attr);
+  if (ret != 0)
+    {
+      goto errout_with_errno;
+    }
+
+  ret = posix_spawn_file_actions_init(&file_actions);
+  if (ret != 0)
+    {
+      goto errout_with_attrs;
+    }
+
+  /* Set the correct task size and priority */
+
+  param.sched_priority = builtin->priority;
+  ret = posix_spawnattr_setschedparam(&attr, &param);
+  if (ret != 0)
+    {
+      goto errout_with_actions;
+    }
+
+  ret = task_spawnattr_setstacksize(&attr, builtin->stacksize);
+  if (ret != 0)
+    {
+      goto errout_with_actions;
+    }
+
+   /* If robin robin scheduling is enabled, then set the scheduling policy
+    * of the new task to SCHED_RR before it has a chance to run.
+    */
+
+#if CONFIG_RR_INTERVAL > 0
+  ret = posix_spawnattr_setschedpolicy(&attr, SCHED_RR);
+  if (ret != 0)
+    {
+      goto errout_with_actions;
+    }
+
+  ret = posix_spawnattr_setflags(&attr,
+                                 POSIX_SPAWN_SETSCHEDPARAM |
+                                 POSIX_SPAWN_SETSCHEDULER);
+  if (ret != 0)
+    {
+      goto errout_with_actions;
+    }
+
+#else
+  ret = posix_spawnattr_setflags(&attr, POSIX_SPAWN_SETSCHEDPARAM);
+  if (ret != 0)
+    {
+      goto errout_with_actions;
+    }
+
+#endif
+
+  /* Is output being redirected? */
+
+  if (redirfile)
+    {
+      /* Set up to close open redirfile and set to stdout (1) */
+
+      ret = posix_spawn_file_actions_addopen(&file_actions, 1,
+                                             redirfile, oflags, 0644);
+      if (ret != 0)
+        {
+          serr("ERROR: posix_spawn_file_actions_addopen failed: %d\n", ret);
+          goto errout_with_actions;
+        }
+    }
+
+#ifdef CONFIG_LIBC_EXECFUNCS
+  /* A NULL entry point implies that the task is a loadable application */
+
+  if (builtin->main == NULL)
+    {
+      /* Load and execute the application. */
+
+      ret = posix_spawn(&pid, builtin->name, &file_actions,
+                        &attr, (argv) ? &argv[1] : (FAR char * const *)NULL,
+                        NULL);
+    }
+  else
+#endif
+    {
+      /* Start the built-in */
+
+      ret = task_spawn(&pid, builtin->name, builtin->main, &file_actions,
+                       &attr, (argv) ? &argv[1] : (FAR char * const *)NULL,
+                       (FAR char * const *)NULL);
+    }
+
+  if (ret != 0)
+    {
+      serr("ERROR: task_spawn failed: %d\n", ret);
+      goto errout_with_actions;
+    }
+
+  /* Free attributes and file actions.  Ignoring return values in the case
+   * of an error.
+   */
+
+  /* Return the task ID of the new task if the task was successfully
+   * started.  Otherwise, ret will be ERROR (and the errno value will
+   * be set appropriately).
+   */
+
+  (void)posix_spawn_file_actions_destroy(&file_actions);
+  (void)posix_spawnattr_destroy(&attr);
+  return pid;
+
+errout_with_actions:
+  (void)posix_spawn_file_actions_destroy(&file_actions);
+
+errout_with_attrs:
+  (void)posix_spawnattr_destroy(&attr);
+
+errout_with_errno:
+  set_errno(ret);
+  return ERROR;
+}

builtin/registry/.gitignore

@@ -0,0 +1,5 @@
+.updated
+*.pdat
+*.bdat
+
+

builtin/registry/Makefile

@@ -0,0 +1,64 @@
+############################################################################
+# apps/builtin/registry/Makefile
+#
+#   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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+include $(APPDIR)/Make.defs
+
+# NSH Library
+
+all:
+.PHONY: context depend clean distclean
+.PRECIOUS: ../../libapps$(LIBEXT)
+
+.updated: $(DEPCONFIG)
+	$(call DELFILE, *.bdat)
+	$(call DELFILE, *.pdat)
+	$(Q) touch .updated
+
+# This must run before any other context target
+
+install:
+
+context: .updated
+
+depend:
+
+clean:
+	$(call CLEAN)
+
+distclean: clean
+	$(call DELFILE, *.bdat)
+	$(call DELFILE, *.pdat)
+	$(call DELFILE, .updated)

canutils/.gitignore

@@ -0,0 +1,2 @@
+/Kconfig
+

canutils/Make.defs

@@ -0,0 +1,37 @@
+############################################################################
+# apps/canutils/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2012, 2015 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.
+#
+############################################################################
+
+include $(wildcard canutils/*/Make.defs)

canutils/Makefile

@@ -0,0 +1,38 @@
+############################################################################
+# apps/canutils/Makefile
+#
+#   Copyright (C) 2011-2015 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.
+#
+############################################################################
+
+MENUDESC = "CAN Utilities"
+
+include $(APPDIR)/Directory.mk

canutils/canlib/Kconfig

@@ -0,0 +1,15 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config CANUTILS_CANLIB
+	bool "CAN utility library"
+	default n
+	depends on CAN
+	---help---
+		Enable the CAN utility library
+
+if CANUTILS_CANLIB
+
+endif

canutils/canlib/Make.defs

@@ -0,0 +1,39 @@
+############################################################################
+# apps/canutils/canlib/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
+#   Author: Sebastien Lorquet <sebastien@lorquet.fr>
+#
+# 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.
+#
+############################################################################
+
+ifeq ($(CONFIG_CANUTILS_CANLIB),y)
+CONFIGURED_APPS += canutils/canlib
+endif

canutils/canlib/Makefile

@@ -0,0 +1,47 @@
+############################################################################
+# apps/canutils/canlib/Makefile
+#
+#   Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
+#   Author: Sebastien Lorquet <sebastien@lorquet.fr>
+#
+# 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
+
+# CAN utility library
+
+ASRCS  =
+CSRCS  = canlib_getbaud.c canlib_setbaud.c
+CSRCS += canlib_getloopback.c canlib_setloopback.c
+CSRCS += canlib_getsilent.c canlib_setsilent.c
+
+APPNAME = canlib
+
+include $(APPDIR)/Application.mk

canutils/canlib/canlib_getbaud.c

@@ -0,0 +1,82 @@
+/****************************************************************************
+ * canutils/canlib/canlib_getbaud.c
+ *
+ *   Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
+ *   Author: Sebastien Lorquet <sebastien@lorquet.fr>
+ *
+ * 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 <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <nuttx/can/can.h>
+
+/****************************************************************************
+ * Name: canlib_getbaud
+ *
+ * Description:
+ *   Wrapper for CANIOC_GET_BITTIMING
+ *
+ * Input Parameter:
+ *   fd   - file descriptor of an opened can device
+ *   baud - pointer to a buffer to store the current baud rate
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success.  Otherwise -1 (ERROR)
+ *   is returned with the errno variable set to indicate the
+ *   nature of the error.
+ *
+ ****************************************************************************/
+
+int canlib_getbaud(int fd, FAR int *bauds)
+{
+  int ret;
+  struct canioc_bittiming_s timings;
+
+  ret = ioctl(fd, CANIOC_GET_BITTIMING, (unsigned long)&timings);
+  if (ret != OK)
+    {
+      canerr("CANIOC_GET_BITTIMING failed, errno=%d\n", errno);
+      return 0;
+    }
+
+  *bauds = timings.bt_baud;
+
+  return ret;
+}

canutils/canlib/canlib_getloopback.c

@@ -0,0 +1,83 @@
+/****************************************************************************
+ * canutils/canlib/canlib_getloopback.c
+ *
+ *   Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
+ *   Author: Sebastien Lorquet <sebastien@lorquet.fr>
+ *
+ * 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 <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <nuttx/can/can.h>
+
+/****************************************************************************
+ * Name: canlib_getloopback
+ *
+ * Description:
+ *   Wrapper for CANIOC_GET_CONNMODES.
+ *
+ * Input Parameter:
+ *   fd       - file descriptor of an opened can device
+ *   loopback - pointer to a buffer to store the current loopback mode state.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success.  Otherwise -1 (ERROR)
+ *   is returned with the errno variable set to indicate the
+ *   nature of the error.
+ *
+ ****************************************************************************/
+
+int canlib_getloopback(int fd, FAR bool *loopback)
+{
+  int ret;
+  struct canioc_connmodes_s connmodes;
+
+  ret = ioctl(fd, CANIOC_GET_CONNMODES, (unsigned long)&connmodes);
+  if (ret != OK)
+    {
+      canerr("CANIOC_GET_CONNMODES failed, errno=%d\n", errno);
+      return FALSE;
+    }
+
+  *loopback = (bool)connmodes.bm_loopback;
+
+  return ret;
+}

canutils/canlib/canlib_getsilent.c

@@ -0,0 +1,84 @@
+/****************************************************************************
+ * canutils/canlib/canlib_getsilent.c
+ *
+ *   Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
+ *   Author: Sebastien Lorquet <sebastien@lorquet.fr>
+ *
+ * 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 <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <nuttx/can/can.h>
+
+/****************************************************************************
+ * Name: canlib_getsilent
+ *
+ * Description:
+ *   Wrapper for CANIOC_GET_CONNMODES.
+ *
+ * Input Parameter:
+ *   fd       - file descriptor of an opened can device
+ *   loopback - pointer to a buffer to store the current silent mode state.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success.  Otherwise -1 (ERROR)
+ *   is returned with the errno variable set to indicate the
+ *   nature of the error.
+ *
+ ****************************************************************************/
+
+int canlib_getsilent(int fd, FAR bool *silent)
+{
+  int ret;
+  struct canioc_connmodes_s connmodes;
+
+  ret = ioctl(fd, CANIOC_GET_CONNMODES, (unsigned long)&connmodes);
+  if (ret != OK)
+    {
+      canerr("CANIOC_GET_CONNMODES failed, errno=%d\n", errno);
+      return FALSE;
+    }
+
+  *silent = (bool)connmodes.bm_silent;
+
+  return ret;
+}
+

canutils/canlib/canlib_setbaud.c

@@ -0,0 +1,88 @@
+/****************************************************************************
+ * canutils/canlib/canlib_setbaud.c
+ *
+ *   Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
+ *   Author: Sebastien Lorquet <sebastien@lorquet.fr>
+ *
+ * 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 <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <nuttx/can/can.h>
+
+/****************************************************************************
+ * Name: canlib_setbaud
+ *
+ * Description:
+ *   Wrapper for CANIOC_SET_BITTIMING
+ *
+ * Input Parameter:
+ *   fd   - file descriptor of an opened can device
+ *   baud - baud rate to use on the CAN bus
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success.  Otherwise -1 (ERROR)
+ *   is returned with the errno variable set to indicate the
+ *   nature of the error.
+ *
+ ****************************************************************************/
+
+int canlib_setbaud(int fd, int bauds)
+{
+  int ret;
+  struct canioc_bittiming_s timings;
+
+  ret = ioctl(fd, CANIOC_GET_BITTIMING, (unsigned long)&timings);
+  if (ret != OK)
+    {
+      canerr("CANIOC_GET_BITTIMING failed, errno=%d\n", errno);
+      return ret;
+    }
+
+  timings.bt_baud = bauds;
+
+  ret = ioctl(fd, CANIOC_SET_BITTIMING, (unsigned long)&timings);
+  if (ret != OK)
+    {
+      canerr("CANIOC_SET_BITTIMING failed, errno=%d\n", errno);
+    }
+
+  return ret;
+}

canutils/canlib/canlib_setloopback.c

@@ -0,0 +1,90 @@
+/****************************************************************************
+ * canutils/canlib/canlib_setloopback.c
+ *
+ *   Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
+ *   Author: Sebastien Lorquet <sebastien@lorquet.fr>
+ *
+ * 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 <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <nuttx/can/can.h>
+
+/****************************************************************************
+ * Name: canlib_setloopback
+ *
+ * Description:
+ *   Wrapper for CANIOC_SET_CONNMODES. When loopback mode is enabled, the CAN
+ *   peripheral transmits on the bus, but only receives its own sent messages.
+ *
+ * Input Parameter:
+ *   fd       - file descriptor of an opened can device
+ *   loopback - wether to use loopback mode.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success.  Otherwise -1 (ERROR)
+ *   is returned with the errno variable set to indicate the
+ *   nature of the error.
+ *
+ ****************************************************************************/
+
+int canlib_setloopback(int fd, bool loopback)
+{
+  int ret;
+  struct canioc_connmodes_s connmodes;
+
+  ret = ioctl(fd, CANIOC_GET_CONNMODES, (unsigned long)&connmodes);
+  if (ret != OK)
+    {
+      canerr("CANIOC_GET_CONNMODES failed, errno=%d\n", errno);
+      return ret;
+    }
+
+  connmodes.bm_loopback = !!loopback;
+
+  ret = ioctl(fd, CANIOC_SET_CONNMODES, (unsigned long)&connmodes);
+  if (ret != OK)
+    {
+      canerr("CANIOC_SET_CONNMODES failed, errno=%d\n", errno);
+    }
+
+  return ret;
+}

canutils/canlib/canlib_setsilent.c

@@ -0,0 +1,90 @@
+/****************************************************************************
+ * canutils/canlib/canlib_setsilent.c
+ *
+ *   Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
+ *   Author: Sebastien Lorquet <sebastien@lorquet.fr>
+ *
+ * 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 <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <nuttx/can/can.h>
+
+/****************************************************************************
+ * Name: canlib_setsilent
+ *
+ * Description:
+ *   Wrapper for CANIOC_SET_CONNMODES. When silent mode is enabled, the CAN
+ *   peripheral never transmits on the bus, but receives all bus traffic.
+ *
+ * Input Parameter:
+ *   fd       - file descriptor of an opened can device
+ *   loopback - wether to use loopback mode.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success.  Otherwise -1 (ERROR)
+ *   is returned with the errno variable set to indicate the
+ *   nature of the error.
+ *
+ ****************************************************************************/
+
+int canlib_setsilent(int fd, bool silent)
+{
+  int ret;
+  struct canioc_connmodes_s connmodes;
+
+  ret = ioctl(fd, CANIOC_GET_CONNMODES, (unsigned long)&connmodes);
+  if (ret != OK)
+    {
+      canerr("CANIOC_GET_CONNMODES failed, errno=%d\n", errno);
+      return ret;
+    }
+
+  connmodes.bm_silent = !!silent;
+
+  ret = ioctl(fd, CANIOC_SET_CONNMODES, (unsigned long)&connmodes);
+  if (ret != OK)
+    {
+      canerr("CANIOC_SET_CONNMODES failed, errno=%d\n", errno);
+    }
+
+  return ret;
+}

canutils/libcanard/.gitignore

@@ -0,0 +1,2 @@
+/.built
+/libcanard-*

canutils/libcanard/Kconfig

@@ -0,0 +1,27 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config CANUTILS_LIBCANARD
+	bool "libcanard UAVCAN Library"
+	default n
+	depends on CAN && CAN_EXTID && !DISABLE_POLL
+	---help---
+		Enable the libcanard UAVCAN library.
+
+if CANUTILS_LIBCANARD
+
+config LIBCANARD_URL
+	string "libcanard URL"
+	default "https://github.com/UAVCAN/libcanard/archive"
+	---help---
+		libcanard URL.
+
+config LIBCANARD_VERSION
+	string "libcanard Version"
+	default "5ad65c6a4efda60cda7a8f0512da0f465822bbb8"
+	---help---
+		libcanard version.
+
+endif

canutils/libcanard/Make.defs

@@ -0,0 +1,39 @@
+############################################################################
+# apps/canutils/libcanard/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2016 Omni Hoverboards Inc. All rights reserved.
+#   Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
+#
+# 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.
+#
+############################################################################
+
+ifeq ($(CONFIG_CANUTILS_LIBCANARD),y)
+CONFIGURED_APPS += canutils/libcanard
+endif

canutils/libcanard/Makefile

@@ -0,0 +1,86 @@
+############################################################################
+# apps/canutils/libcanard/Makefile
+#
+#   Copyright (C) 2016 Omni Hoverboards Inc. All rights reserved.
+#   Authors: Paul Alexander Patience <paul-a.patience@polymtl.ca>
+#
+# 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
+
+WGET = wget
+UNPACK = unzip
+PACKEXT = .zip
+
+LIBCANARD_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBCANARD_URL)))
+LIBCANARD_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBCANARD_VERSION)))
+LIBCANARD_UNPACKNAME = libcanard-$(LIBCANARD_VERSION)
+LIBCANARD_PACKNAME = $(LIBCANARD_UNPACKNAME)$(PACKEXT)
+LIBCANARD_SRCDIR = $(LIBCANARD_UNPACKNAME)
+LIBCANARD_DRVDIR = $(LIBCANARD_SRCDIR)$(DELIM)drivers$(DELIM)nuttx
+
+APPS_INCDIR = $(APPDIR)$(DELIM)include$(DELIM)canutils
+
+CFLAGS += -std=c99 -I$(APPS_INCDIR) -DCANARD_ASSERT=DEBUGASSERT
+
+CSRCS = $(LIBCANARD_SRCDIR)$(DELIM)canard.c $(LIBCANARD_DRVDIR)$(DELIM)canard_nuttx.c
+
+$(LIBCANARD_PACKNAME):
+	@echo "Downloading: $@"
+	$(Q) $(WGET) -O $@ $(LIBCANARD_URL)$(DELIM)$(LIBCANARD_VERSION)$(PACKEXT)
+
+$(LIBCANARD_UNPACKNAME): $(LIBCANARD_PACKNAME)
+	@echo "Unpacking: $< -> $@"
+	$(call DELDIR, $@)
+	$(Q) $(UNPACK) $<
+	$(Q) touch $@
+
+$(LIBCANARD_SRCDIR)$(DELIM)canard.h: $(LIBCANARD_UNPACKNAME)
+
+$(LIBCANARD_DRVDIR)$(DELIM)canard_nuttx.h: $(LIBCANARD_UNPACKNAME)
+
+$(APPS_INCDIR)$(DELIM)canard.h: $(LIBCANARD_SRCDIR)$(DELIM)canard.h
+	$(Q) cp $< $@
+
+$(APPS_INCDIR)$(DELIM)canard_nuttx.h: $(LIBCANARD_DRVDIR)$(DELIM)canard_nuttx.h
+	$(Q) cp $< $@
+
+context:: $(APPS_INCDIR)$(DELIM)canard.h $(APPS_INCDIR)$(DELIM)canard_nuttx.h
+
+clean::
+	$(foreach OBJ, $(OBJS), $(call DELFILE, $(OBJ)))
+
+distclean::
+	$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard.h)
+	$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard_nuttx.h)
+	$(call DELDIR, $(LIBCANARD_UNPACKNAME))
+	$(call DELFILE, $(LIBCANARD_PACKNAME))
+
+include $(APPDIR)/Application.mk

canutils/libobd2/.gitignore

@@ -0,0 +1,2 @@
+/.built
+/libcanard-*

canutils/libobd2/Kconfig

@@ -0,0 +1,22 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config CANUTILS_LIBOBD2
+	bool "OBD-II Library"
+	default n
+	depends on CAN
+	---help---
+		Enable the OBD-II Library
+
+if CANUTILS_LIBOBD2
+
+config LIBOBD2_MULTIFRAME
+	bool "Enable to Multi-Frame support (increases 4KB RAM)"
+	default n
+	---help---
+		Enable the support for multi-frames of the OBD-II protocol.
+		In the multi-frame mode the ECU can send frame up to 4096 bytes.
+
+endif

canutils/libobd2/Make.defs

@@ -0,0 +1,39 @@
+############################################################################
+# apps/canutils/libobd2/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2017 Alan Carvalho de Assis. All rights reserved.
+#   Author: Alan Carvalho de Assis <acassis@gmail.com>
+#
+# 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.
+#
+############################################################################
+
+ifeq ($(CONFIG_CANUTILS_LIBOBD2),y)
+CONFIGURED_APPS += canutils/libobd2
+endif

canutils/libobd2/Makefile

@@ -0,0 +1,45 @@
+############################################################################
+# apps/canutils/libobd2/Makefile
+#
+#   Copyright (C) 2017 Alan Carvalho de Assis. All rights reserved.
+#   Author: Alan Carvalho de Assis <acassis@gmail.com>
+#
+# 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
+
+# CAN utility library
+
+ASRCS  =
+CSRCS  = obd2.c obd_sendrequest.c obd_waitresponse.c obd_decodepid.c
+
+APPNAME = libobd2
+
+include $(APPDIR)/Application.mk

canutils/libobd2/obd2.c

@@ -0,0 +1,126 @@
+/****************************************************************************
+ * canutils/libobd2/obd2.c
+ *
+ *   Copyright (C) 2017 Alan Carvalho de Assis. All rights reserved.
+ *   Author: Alan Carvalho de Assis <acassis@gmail.com>
+ *
+ * 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 <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <nuttx/can/can.h>
+
+#include "canutils/obd.h"
+#include "canutils/obd_pid.h"
+#include "canutils/obd_frame.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: obd_init
+ *
+ * Description:
+ *   Initialize the OBD-II with initial baudrate
+ *
+ *   Returns a obd_dev_s with initial values or NULL if error.
+ *
+ ****************************************************************************/
+
+struct obd_dev_s *obd_init(char *devfile, int baudate, int mode)
+{
+  struct obd_dev_s *dev;
+  int ret;
+
+  /* Alloc memory for this device */
+
+  dev = malloc(sizeof(struct obd_dev_s));
+  if (!dev)
+    {
+      printf("ERROR: Failed to alloc memory for obd_dev!\n");
+      return NULL;
+    }
+
+  /* Open the CAN device for reading/writing */
+
+  dev->can_fd = open(devfile, O_RDWR);
+  if (dev->can_fd < 0)
+    {
+      printf("ERROR: open %s failed: %d\n", devfile, errno);
+      return NULL;
+    }
+
+  /* Show bit timing information if provided by the driver.  Not all CAN
+   * drivers will support this IOCTL.
+   */
+
+  ret = ioctl(dev->can_fd, CANIOC_GET_BITTIMING,
+              (unsigned long)((uintptr_t)&dev->can_bt));
+  if (ret < 0)
+    {
+      printf("Bit timing not available: %d\n", errno);
+      return NULL;
+    }
+  else
+    {
+      printf("Bit timing:\n");
+      printf("   Baud: %lu\n", (unsigned long)dev->can_bt.bt_baud);
+      printf("  TSEG1: %u\n", dev->can_bt.bt_tseg1);
+      printf("  TSEG2: %u\n", dev->can_bt.bt_tseg2);
+      printf("    SJW: %u\n", dev->can_bt.bt_sjw);
+    }
+
+  /* FIXME: Setup the baudrate */
+
+  /* Setup the initial mode */
+
+  if (mode != CAN_STD && mode != CAN_EXT)
+    {
+      printf("ERROR: Invalid mode, it needs to be CAN_STD or CAN_EXT!\n");
+      return NULL;
+    }
+
+  dev->can_mode = mode;
+
+  printf("OBD-II device initialized!\n");
+
+  return dev;
+}

canutils/libobd2/obd_decodepid.c

@@ -0,0 +1,135 @@
+/****************************************************************************
+ * canutils/libobd2/obd_decodepid.c
+ *
+ *   Copyright (C) 2017 Alan Carvalho de Assis. All rights reserved.
+ *   Author: Alan Carvalho de Assis <acassis@gmail.com>
+ *
+ * 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 <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <nuttx/can/can.h>
+
+#include "canutils/obd.h"
+#include "canutils/obd_pid.h"
+#include "canutils/obd_frame.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define MAXDATA 16
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static char g_data[MAXDATA];
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: obd_decode_pid
+ *
+ * Description:
+ *   Decode the value returned for a determined PID.
+ *
+ *   It will return the data decode as text string or NULL if error.
+ *
+ ****************************************************************************/
+
+FAR char *obd_decode_pid(FAR struct obd_dev_s *dev, uint8_t pid)
+{
+  uint32_t pids;
+  int rpm;
+
+  /* Verify if received data is valid */
+
+  if (dev->data[2] != pid)
+    {
+      printf("Expecting PID %02x but received %02x!\n", pid, dev->data[2]);
+      return NULL;
+    }
+
+  switch (dev->data[2])
+    {
+      case OBD_PID_SUPPORTED:
+        pids = (dev->data[3] << 24) | (dev->data[4] << 16) | \
+               (dev->data[5] << 8) | dev->data[6];
+        snprintf(g_data, MAXDATA, "%08X", pids);
+#ifdef CONFIG_DEBUG_INFO
+        printf("Supported PIDs: %08X\n");
+#endif
+        break;
+
+      case OBD_PID_ENGINE_TEMPERATURE:
+        snprintf(g_data, MAXDATA, "%d", dev->data[3] - 40);
+#ifdef CONFIG_DEBUG_INFO
+        printf("Engine Temperature = %d\n", dev->data[3] - 40);
+#endif
+        break;
+
+      case OBD_PID_RPM:
+        rpm = ((256 * dev->data[3]) + dev->data[4])/4;
+        snprintf(g_data, MAXDATA, "%d", rpm);
+#ifdef CONFIG_DEBUG_INFO
+        printf("RPM = %d\n", rpm);
+#endif
+        break;
+
+      case OBD_PID_SPEED:
+        snprintf(g_data, MAXDATA, "%d", dev->data[3]);
+#ifdef CONFIG_DEBUG_INFO
+        printf("SPEED = %d Km/h\n", dev->data[3]);
+#endif
+        break;
+
+      case OBD_PID_THROTTLE_POSITION:
+        snprintf(g_data, MAXDATA, "%d", (100 * dev->data[3])/255);
+#ifdef CONFIG_DEBUG_INFO
+        printf("Throttle position = %d\% \n", (100 * dev->data[3])/255);
+#endif
+        break;
+    }
+
+  return g_data;
+}

canutils/libobd2/obd_sendrequest.c

@@ -0,0 +1,151 @@
+/****************************************************************************
+ * canutils/libobd2/obd_sendrequest.c
+ *
+ *   Copyright (C) 2017 Alan Carvalho de Assis. All rights reserved.
+ *   Author: Alan Carvalho de Assis <acassis@gmail.com>
+ *
+ * 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 <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <nuttx/can/can.h>
+
+#include "canutils/obd.h"
+#include "canutils/obd_pid.h"
+#include "canutils/obd_frame.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: obd_sent_request
+ *
+ * Description:
+ *   Send a "Request Message" to ECUs with requested PID.
+ *
+ *   It will return an error case the message fails to be sent.
+ *
+ ****************************************************************************/
+
+int obd_send_request(FAR struct obd_dev_s *dev, uint8_t opmode, uint8_t pid)
+{
+  int nbytes;
+  int msgdlc;
+  int msgsize;
+  uint8_t extended;
+
+#ifdef CONFIG_DEBUG_INFO
+  printf("Going SendRequest opmode=%d pid=%d\n", opmode, pid);
+#endif
+
+  /* Verify what is the current mode */
+
+  if (dev->can_mode == CAN_EXT)
+    {
+      extended = 1;
+    }
+  else
+    {
+      extended = 0;
+    }
+
+  /* Define the CAN Data Length */
+
+  msgdlc = 8;
+
+  /* Construct the TX message header */
+
+  if (extended)
+    {
+      dev->can_txmsg.cm_hdr.ch_id     = OBD_PID_STD_REQUEST; /* MSG ID for PID Request */
+    }
+  else
+    {
+#ifdef CONFIG_CAN_EXTID
+      dev->can_txmsg.cm_hdr.ch_id     = OBD_PID_EXT_REQUEST; /* MSG ID for PID Request */
+#endif
+    }
+
+  dev->can_txmsg.cm_hdr.ch_rtr    = false;               /* Not a Remote Frame     */
+  dev->can_txmsg.cm_hdr.ch_dlc    = msgdlc;              /* Data length is 8 bytes */
+#ifdef CONFIG_CAN_EXTID
+  dev->can_txmsg.cm_hdr.ch_extid  = extended;            /* Standard/Extend mode   */
+#endif
+  dev->can_txmsg.cm_hdr.ch_unused = 0;                   /* Unused                 */
+
+  /* Single Frame with two bytes data */
+
+  dev->can_txmsg.cm_data[0] = OBD_SINGLE_FRAME | OBD_SF_DATA_LEN(2);
+
+  /* Setup the Operation Mode */
+
+  dev->can_txmsg.cm_data[1] = opmode;
+
+  /* Setup the PID we are requesting */
+
+  dev->can_txmsg.cm_data[2] = pid;
+
+  /* Padding */
+
+  dev->can_txmsg.cm_data[3] = 0;
+  dev->can_txmsg.cm_data[4] = 0;
+  dev->can_txmsg.cm_data[5] = 0;
+  dev->can_txmsg.cm_data[6] = 0;
+  dev->can_txmsg.cm_data[7] = 0;
+
+  /* Send the TX message */
+
+  msgsize = CAN_MSGLEN(msgdlc);
+  nbytes = write(dev->can_fd, &dev->can_txmsg, msgsize);
+  if (nbytes != msgsize)
+    {
+      printf("ERROR: write(%ld) returned %ld\n",
+             (long)msgsize, (long)nbytes);
+      return -EAGAIN;
+    }
+
+#ifdef CONFIG_DEBUG_INFO
+  printf("PID Request sent correctly!\n");
+  fflush(stdout);
+#endif
+
+  return OK;
+}

canutils/libobd2/obd_waitresponse.c

@@ -0,0 +1,160 @@
+/****************************************************************************
+ * canutils/libobd2/obd_waitresponse.c
+ *
+ *   Copyright (C) 2017 Alan Carvalho de Assis. All rights reserved.
+ *   Author: Alan Carvalho de Assis <acassis@gmail.com>
+ *
+ * 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 <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <nuttx/can/can.h>
+
+#include "canutils/obd.h"
+#include "canutils/obd_pid.h"
+#include "canutils/obd_frame.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: obd_wait_response
+ *
+ * Description:
+ *   Wait for a message from ECUs with requested PID that was sent using
+ *   obd_send_request().
+ *
+ *   It will return an error case it doesn't receive the msg after the elapsed
+ *   "timeout" time.
+ *
+ ****************************************************************************/
+
+int obd_wait_response(FAR struct obd_dev_s *dev, uint8_t opmode, uint8_t pid,
+                      int timeout)
+{
+  int i;
+  int nbytes;
+  int msgdlc;
+  int msgsize;
+  uint8_t extended;
+
+#ifdef CONFIG_DEBUG_INFO
+  printf("Waiting Response for pid=%d\n", pid);
+#endif
+
+  /* Verify what is the current mode */
+
+  if (dev->can_mode == CAN_EXT)
+    {
+      extended = 1;
+    }
+  else
+    {
+      extended = 0;
+    }
+
+  for (; ; )
+    {
+      /* Read the RX message */
+
+      msgsize = sizeof(struct can_msg_s);
+      nbytes = read(dev->can_fd, &dev->can_rxmsg, msgsize);
+      if (nbytes < CAN_MSGLEN(0) || nbytes > msgsize)
+        {
+          printf("ERROR: read(%ld) returned %ld\n",
+                 (long)msgsize, (long)nbytes);
+          return -EAGAIN;
+        }
+
+      #ifdef CONFIG_DEBUG_INFO
+        printf("  ID: %4u DLC: %u\n",
+               dev->can_rxmsg.cm_hdr.ch_id, dev->can_rxmsg.cm_hdr.ch_dlc);
+      #endif
+
+      msgdlc = dev->can_rxmsg.cm_hdr.ch_dlc;
+
+#ifdef CONFIG_DEBUG_INFO
+      printf("Data received:\n");
+      for (i = 0; i < msgdlc; i++)
+        {
+          printf("  %d: 0x%02x\n", i, dev->can_rxmsg.cm_data[i]);
+        }
+
+      fflush(stdout);
+#endif
+
+      /* Check if we received a Response Message */
+
+      if ((extended && dev->can_rxmsg.cm_hdr.ch_id == OBD_PID_EXT_RESPONSE) || \
+          (!extended && dev->can_rxmsg.cm_hdr.ch_id == OBD_PID_STD_RESPONSE))
+        {
+
+          /* Check if the Response if for the PID we are interested! */
+
+          if (dev->can_rxmsg.cm_data[1] == (opmode + OBD_RESP_BASE) && \
+              dev->can_rxmsg.cm_data[2] == pid)
+            {
+              /* Save received data (important for multi-frame mode) */
+
+              memcpy(dev->data, dev->can_rxmsg.cm_data, msgdlc);
+              return OK;
+            }
+        }
+
+      /* Verify if we timed out */
+
+      timeout--;
+      if (timeout < 0)
+        {
+          printf("Timeout trying to receive PID %d\n", pid);
+          return -ETIMEDOUT;
+        }
+
+      /* Wait 10ms */
+
+      usleep(10000);
+    }
+
+  /* Never should come here */
+
+  return OK;
+}

examples/.gitignore

@@ -0,0 +1,2 @@
+/Kconfig
+

examples/Make.defs

@@ -0,0 +1,37 @@
+############################################################################
+# apps/examples/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2012, 2015 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.
+#
+############################################################################
+
+include $(wildcard examples/*/Make.defs)

examples/Makefile

@@ -0,0 +1,38 @@
+############################################################################
+# apps/examples/Makefile
+#
+#   Copyright (C) 2011-2015 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.
+#
+############################################################################
+
+MENUDESC = "Examples"
+
+include $(APPDIR)/Directory.mk

examples/adc/.gitignore

@@ -0,0 +1,11 @@
+/Make.dep
+/.depend
+/.built
+/*.asm
+/*.obj
+/*.rel
+/*.lst
+/*.sym
+/*.adb
+/*.lib
+/*.src

examples/adc/Kconfig

@@ -0,0 +1,49 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_ADC
+	tristate "ADC example"
+	default n
+	depends on ADC && LIB_BOARDCTL
+	select BOARDCTL_ADCTEST
+	---help---
+		Enable the ADC example
+
+if EXAMPLES_ADC
+
+config EXAMPLES_ADC_DEVPATH
+	string "ADC device path"
+	default "/dev/adc0"
+	---help---
+		The default path to the ADC device. Default: /dev/adc0
+
+config EXAMPLES_ADC_NSAMPLES
+	int "Number of Sample Groups"
+	default 0
+	depends on !NSH_BUILTIN_APPS
+	---help---
+		If NSH_BUILTIN_APPS is defined, then the number of samples is provided
+		on the command line and this value is ignored.  Otherwise, this number
+		of samples is collected and the program terminates.  Default:  0 (samples
+		are collected indefinitely).
+
+config EXAMPLES_ADC_GROUPSIZE
+	int "Number of Samples per Group"
+	default 4
+	---help---
+		The number of samples to read at once. Default: 4
+
+config EXAMPLES_ADC_SWTRIG
+	bool "Use software trigger"
+	default n
+	---help---
+		Some ADCs may be configured so there is no automatic or periodic
+		conversion of samples.  Rather, the ADC sampling must be trigger by
+		software via an ioctl command.  Select this option only if
+		applicable for your ADC configuration.  In this case, the test will
+		issue the software trigger ioctl before attempting to read from the
+		ADC.
+
+endif

examples/adc/Make.defs

@@ -0,0 +1,39 @@
+############################################################################
+# apps/examples/adc/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2015 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.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_ADC),)
+CONFIGURED_APPS += examples/adc
+endif

examples/adc/Makefile

@@ -0,0 +1,55 @@
+############################################################################
+# apps/examples/adc/Makefile
+#
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# 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 $(TOPDIR)/Make.defs
+
+# ADC example
+
+ASRCS =
+CSRCS =
+MAINSRC = adc_main.c
+
+CONFIG_XYZ_PROGNAME ?= adc$(EXEEXT)
+PROGNAME = $(CONFIG_XYZ_PROGNAME)
+
+# application info
+
+APPNAME = adc
+PRIORITY = SCHED_PRIORITY_DEFAULT
+STACKSIZE = 2048
+
+MODULE = CONFIG_EXAMPLES_ADC
+
+include $(APPDIR)/Application.mk

examples/adc/adc.h

@@ -0,0 +1,94 @@
+/****************************************************************************
+ * examples/examples/adc/adc.h
+ *
+ *   Copyright (C) 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 __APPS_EXAMPLES_ADC_ADC_H
+#define __APPS_EXAMPLES_ADC_ADC_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************/
+/* CONFIG_NSH_BUILTIN_APPS - Build the ADC test as an NSH built-in function.
+ *  Default: Built as a standalone program
+ * CONFIG_EXAMPLES_ADC_DEVPATH - The default path to the ADC device. Default: /dev/adc0
+ * CONFIG_EXAMPLES_ADC_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
+ *   is defined, then the number of samples is provided on the command line
+ *   and this value is ignored.  Otherwise, this number of samples is
+ *   collected and the program terminates.  Default:  Samples are collected
+ *   indefinitely.
+ * CONFIG_EXAMPLES_ADC_GROUPSIZE - The number of samples to read at once.
+ *   Default: 4
+ */
+
+#ifndef CONFIG_ADC
+#  error "ADC device support is not enabled (CONFIG_ADC)"
+#endif
+
+#ifndef CONFIG_EXAMPLES_ADC_DEVPATH
+#  define CONFIG_EXAMPLES_ADC_DEVPATH "/dev/adc0"
+#endif
+
+#ifndef CONFIG_EXAMPLES_ADC_GROUPSIZE
+#  define CONFIG_EXAMPLES_ADC_GROUPSIZE 4
+#endif
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+struct adc_state_s
+{
+  bool      initialized;
+  FAR char *devpath;
+#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_ADC_NSAMPLES)
+  int       count;
+#endif
+};
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#endif /* __APPS_EXAMPLES_ADC_ADC_H */

examples/adc/adc_main.c

@@ -0,0 +1,385 @@
+/****************************************************************************
+ * examples/adc/adc_main.c
+ *
+ *   Copyright (C) 2011-2012, 2015, 2017 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 <sys/types.h>
+#include <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/analog/adc.h>
+#include <nuttx/analog/ioctl.h>
+
+#include "adc.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Use CONFIG_EXAMPLES_ADC_NSAMPLES == 0 to mean to collect samples
+ * indefinitely.
+ */
+
+#ifndef CONFIG_EXAMPLES_ADC_NSAMPLES
+#  define CONFIG_EXAMPLES_ADC_NSAMPLES 0
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static struct adc_state_s g_adcstate;
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: adc_devpath
+ ****************************************************************************/
+
+static void adc_devpath(FAR struct adc_state_s *adc, FAR const char *devpath)
+{
+  /* Get rid of any old device path */
+
+  if (adc->devpath)
+    {
+      free(adc->devpath);
+    }
+
+  /* Then set-up the new device path by copying the string */
+
+  adc->devpath = strdup(devpath);
+}
+
+/****************************************************************************
+ * Name: adc_help
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+static void adc_help(FAR struct adc_state_s *adc)
+{
+  printf("Usage: adc [OPTIONS]\n");
+  printf("\nArguments are \"sticky\".  For example, once the ADC device is\n");
+  printf("specified, that device will be re-used until it is changed.\n");
+  printf("\n\"sticky\" OPTIONS include:\n");
+  printf("  [-p devpath] selects the ADC device.  "
+         "Default: %s Current: %s\n",
+         CONFIG_EXAMPLES_ADC_DEVPATH, g_adcstate.devpath ? g_adcstate.devpath : "NONE");
+  printf("  [-n count] selects the samples to collect.  "
+         "Default: 1 Current: %d\n", adc->count);
+  printf("  [-h] shows this message and exits\n");
+}
+#endif
+
+/****************************************************************************
+ * Name: arg_string
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+static int arg_string(FAR char **arg, FAR char **value)
+{
+  FAR char *ptr = *arg;
+
+  if (ptr[2] == '\0')
+    {
+      *value = arg[1];
+      return 2;
+    }
+  else
+    {
+      *value = &ptr[2];
+      return 1;
+    }
+}
+#endif
+
+/****************************************************************************
+ * Name: arg_decimal
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+static int arg_decimal(FAR char **arg, FAR long *value)
+{
+  FAR char *string;
+  int ret;
+
+  ret = arg_string(arg, &string);
+  *value = strtol(string, NULL, 10);
+  return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: parse_args
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+static void parse_args(FAR struct adc_state_s *adc, int argc, FAR char **argv)
+{
+  FAR char *ptr;
+  FAR char *str;
+  long value;
+  int index;
+  int nargs;
+
+  for (index = 1; index < argc; )
+    {
+      ptr = argv[index];
+      if (ptr[0] != '-')
+        {
+          printf("Invalid options format: %s\n", ptr);
+          exit(0);
+        }
+
+      switch (ptr[1])
+        {
+          case 'n':
+            nargs = arg_decimal(&argv[index], &value);
+            if (value < 0)
+              {
+                printf("Count must be non-negative: %ld\n", value);
+                exit(1);
+              }
+
+            adc->count = (uint32_t)value;
+            index += nargs;
+            break;
+
+          case 'p':
+            nargs = arg_string(&argv[index], &str);
+            adc_devpath(adc, str);
+            index += nargs;
+            break;
+
+          case 'h':
+            adc_help(adc);
+            exit(0);
+
+          default:
+            printf("Unsupported option: %s\n", ptr);
+            adc_help(adc);
+            exit(1);
+        }
+    }
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: adc_main
+ ****************************************************************************/
+
+#ifdef BUILD_MODULE
+int main(int argc, FAR char *argv[])
+#else
+int adc_main(int argc, char *argv[])
+#endif
+{
+  struct adc_msg_s sample[CONFIG_EXAMPLES_ADC_GROUPSIZE];
+  size_t readsize;
+  ssize_t nbytes;
+  int fd;
+  int errval = 0;
+  int ret;
+  int i;
+
+  UNUSED(ret);
+
+  /* Check if we have initialized */
+
+  if (!g_adcstate.initialized)
+    {
+      /* Initialization of the ADC hardware must be performed by board-specific
+       * logic prior to running this test.
+       */
+
+      /* Set the default values */
+
+      adc_devpath(&g_adcstate, CONFIG_EXAMPLES_ADC_DEVPATH);
+
+      g_adcstate.initialized = true;
+    }
+
+#if CONFIG_EXAMPLES_ADC_NSAMPLES > 0
+  g_adcstate.count = CONFIG_EXAMPLES_ADC_NSAMPLES;
+#else
+  g_adcstate.count = 1;
+#endif
+
+  /* Parse the command line */
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+  parse_args(&g_adcstate, argc, argv);
+#endif
+
+  /* If this example is configured as an NX add-on, then limit the number of
+   * samples that we collect before returning.  Otherwise, we never return
+   */
+
+#if defined(CONFIG_NSH_BUILTIN_APPS) || CONFIG_EXAMPLES_ADC_NSAMPLES > 0
+  printf("adc_main: g_adcstate.count: %d\n", g_adcstate.count);
+#endif
+
+  /* Open the ADC device for reading */
+
+  printf("adc_main: Hardware initialized. Opening the ADC device: %s\n",
+         g_adcstate.devpath);
+
+  fd = open(g_adcstate.devpath, O_RDONLY);
+  if (fd < 0)
+    {
+      printf("adc_main: open %s failed: %d\n", g_adcstate.devpath, errno);
+      errval = 2;
+      goto errout;
+    }
+
+  /* Now loop the appropriate number of times, displaying the collected
+   * ADC samples.
+   */
+
+#if defined(CONFIG_NSH_BUILTIN_APPS)
+  for (; g_adcstate.count > 0; g_adcstate.count--)
+#elif CONFIG_EXAMPLES_ADC_NSAMPLES > 0
+  for (g_adcstate.count = 0;
+       g_adcstate.count < CONFIG_EXAMPLES_ADC_NSAMPLES;
+       g_adcstate.count++)
+#else
+  for (;;)
+#endif
+  {
+    /* Flush any output before the loop entered or from the previous pass
+     * through the loop.
+     */
+
+    fflush(stdout);
+
+#ifdef CONFIG_EXAMPLES_ADC_SWTRIG
+    /* Issue the software trigger to start ADC conversion */
+
+    ret = ioctl(fd, ANIOC_TRIGGER, 0);
+    if (ret < 0)
+      {
+        int errcode = errno;
+        printf("adc_main: ANIOC_TRIGGER ioctl failed: %d\n", errcode);
+      }
+#endif
+
+    /* Read up to CONFIG_EXAMPLES_ADC_GROUPSIZE samples */
+
+    readsize = CONFIG_EXAMPLES_ADC_GROUPSIZE * sizeof(struct adc_msg_s);
+    nbytes = read(fd, sample, readsize);
+
+    /* Handle unexpected return values */
+
+    if (nbytes < 0)
+      {
+        errval = errno;
+        if (errval != EINTR)
+          {
+            printf("adc_main: read %s failed: %d\n",
+                   g_adcstate.devpath, errval);
+            errval = 3;
+            goto errout_with_dev;
+          }
+
+        printf("adc_main: Interrupted read...\n");
+      }
+    else if (nbytes == 0)
+      {
+        printf("adc_main: No data read, Ignoring\n");
+      }
+
+    /* Print the sample data on successful return */
+
+    else
+      {
+        int nsamples = nbytes / sizeof(struct adc_msg_s);
+        if (nsamples * sizeof(struct adc_msg_s) != nbytes)
+          {
+            printf("adc_main: read size=%ld is not a multiple of sample size=%d, Ignoring\n",
+                   (long)nbytes, sizeof(struct adc_msg_s));
+          }
+        else
+          {
+            printf("Sample:\n");
+            for (i = 0; i < nsamples; i++)
+              {
+                printf("%d: channel: %d value: %d\n",
+                       i+1, sample[i].am_channel, sample[i].am_data);
+              }
+          }
+      }
+  }
+
+  close(fd);
+  return OK;
+
+  /* Error exits */
+
+errout_with_dev:
+  close(fd);
+
+errout:
+  printf("Terminating!\n");
+  fflush(stdout);
+  return errval;
+}

examples/adxl372_test/.gitignore

@@ -0,0 +1,11 @@
+/Make.dep
+/.depend
+/.built
+/*.asm
+/*.obj
+/*.rel
+/*.lst
+/*.sym
+/*.adb
+/*.lib
+/*.src

examples/adxl372_test/Kconfig

@@ -0,0 +1,30 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_ADXL372_TEST
+	tristate "ADXL372 test program"
+	default n
+	---help---
+		Enable the ADXL372 sensor SPI test program.
+
+if EXAMPLES_ADXL372_TEST
+
+config EXAMPLES_ADXL372_TEST_PROGNAME
+	string "Program name"
+	default "ADXL372_test"
+	depends on BUILD_LOADABLE
+	---help---
+		This is the name of the program that will be use when the NSH ELF
+		program is installed.
+
+config EXAMPLES_ADXL372_TEST_PRIORITY
+	int "ADXL372_test task priority"
+	default 100
+
+config EXAMPLES_ADXL372_TEST_STACKSIZE
+	int "ADXL372_test stack size"
+	default 2048
+
+endif

examples/adxl372_test/Make.defs

@@ -0,0 +1,39 @@
+############################################################################
+# apps/examples/adxl372_test/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2018 RAF Research. All rights reserved.
+#   Author: Bob Feretich <bob.feretich@rafresearch/com>
+#
+# 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.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_ADXL372_TEST),)
+CONFIGURED_APPS += examples/adxl372_test
+endif

examples/adxl372_test/Makefile

@@ -0,0 +1,56 @@
+############################################################################
+# apps/examples/adxl372_test/Makefile
+#
+#  Copyright (C) 2018 RAF Research. All rights reserved.
+#  Author: Bob Feretich <bob.feretich@rafresearch/com>
+#
+# 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
+
+CONFIG_EXAMPLES_ADXL372_TEST_PRIORITY ?= SCHED_PRIORITY_DEFAULT
+CONFIG_EXAMPLES_ADXL372_TEST_STACKSIZE ?= 2048
+
+APPNAME = adxl372_test
+PRIORITY = $(CONFIG_EXAMPLES_ADXL372_TEST_PRIORITY)
+STACKSIZE = $(CONFIG_EXAMPLES_ADXL372_TEST_STACKSIZE)
+
+# ADXL372 sensor test Example
+
+ASRCS =
+CSRCS =
+MAINSRC = adxl372_test_main.c
+
+CONFIG_EXAMPLES_ADXL372_TEST_PROGNAME ?= adxl372_test$(EXEEXT)
+PROGNAME = $(CONFIG_EXAMPLES_ADXL372_TEST_PROGNAME)
+
+MODULE = CONFIG_EXAMPLES_ADXL372_TEST
+
+include $(APPDIR)/Application.mk

examples/adxl372_test/adxl372_test_main.c

@@ -0,0 +1,559 @@
+/****************************************************************************
+ * examples/adxl372_test/adxl372_test_main.c
+ *
+ *   Copyright (C) 2018 RAF Research. All rights reserved.
+ *   Author: Bob Feretich <bob.feretich@rafresearch/com>
+ *
+ * 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 <stdio.h>
+#include <string.h>
+#include <fcntl.h>
+#include <nuttx/fs/fs.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <unistd.h>
+#include <errno.h>
+#include <nuttx/spi/spi.h>
+#undef __KERNEL__
+#include <arch/board/board.h>
+#include <nuttx/fs/fs.h>
+#include <nuttx/sensors/adxl372.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define ARRAYSIZE(x) (sizeof((x)) / sizeof((x)[0]))
+#define PASSED        0
+
+#define SUB_PROMPT   "stst >"
+#define CRED         "\x1b[31m"
+#define CGREEN       "\x1b[32m"
+#define CYELLOW      "\x1b[33m"
+#define CBLUE        "\x1b[34m"
+#define CMAGENTA     "\x1b[35m"
+#define CCYAN        "\x1b[36m"
+#define CRESET       "\x1b[0m"
+
+/* Return codes */
+
+#define RC_OPENFAIL  (-1)
+#define RC_OPENRONLY (-2)
+#define RC_SEEKFAIL  (-3)
+#define RC_READFAIL  (-4)
+#define RC_IDFAIL    (-5)
+#define RC_SEEK2FAIL (-6)
+#define RC_WRITEFAIL (-7)
+#define RC_READ2FAIL (-8)
+#define RC_WRMFAIL   (-9)
+#define RC_SEEK3FAIL (-10)
+#define RC_READ3FAIL (-11)
+#define RC_INVALPATH (-41)
+#define RC_INVALPARM (-42)
+
+/****************************************************************************
+ * Private types
+ ****************************************************************************/
+
+typedef CODE int (*test_ptr_t)(int, FAR char *);
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: subtest_prompt()
+ *
+ * Description:
+ *   1. Display the prompt.
+ *   2. Receive a character from the console port.
+ *   3. Filter the input character. Invalid characters convert to either
+ *     '!' (error) of '*' (invalid character).
+ *   4. Echo the character.
+ *
+ ****************************************************************************/
+
+static char subtest_prompt(FAR char *prompt)
+{
+  char c;
+
+  printf("%s", prompt);
+  fflush(stdout);
+  c = getchar();
+  if (c < 1)
+    {
+      c = '!';
+    }
+  else if ((c < 0x20 || c > 0x7e) && c != '\r')
+    {
+      c = '*';
+    }
+
+  if (c != '\r')
+    {
+      putchar(c);
+    }
+
+  printf("\n");
+  return c;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/******************************************************************************
+ * Name: adxl372_test
+ *
+ * Description:
+ *   This function is public so that it can be called by board diagnostic
+ *   programs that contain the ADXL372.
+ *
+ ******************************************************************************/
+
+static int adxl372_test(int is_interactive, FAR char *path)
+{
+  int fd;
+  int ret;
+  int errcode;
+  int i;
+  char ch1 = 0;
+  struct XYZ
+  {
+    int16_t d[3];
+  };
+  unsigned char tstchars[] =
+  {
+    0x5e, 0xc5, 0x00
+  };
+  char bfr[32] __attribute__((aligned(2)));  /* REVISIT: GCC dependent attribute */
+  FAR struct XYZ *pxyz = (FAR struct XYZ *) bfr;
+  int rc = PASSED;
+  int rc_step = PASSED;
+
+  printf("\nADXL372 accelerometer diagnostic started...\n");
+  fd = open (path, O_RDWR);
+  if (fd < 0 || (errno != EROFS && errno != 0))
+    {
+      errcode = errno;
+      printf(CRED "ERROR: Failed to open %s: %d" CRESET "\n", path, errcode);
+      return RC_OPENFAIL;
+    }
+  else if (errno == EROFS)
+    {
+      printf(CRED "ERROR: Accelerometer mounted as Read Only." CRESET "\n", path, errno);
+      rc = RC_OPENRONLY;
+    }
+
+  printf("open errno=%d\n", errno);
+
+  do
+    {
+      /* read id register */
+
+      printf("Reading ADXL372 ID_REG...\n");
+      ret = lseek(fd, ADXL372_DEVID_AD, SEEK_SET);
+      if (ret < 0)
+        {
+          errcode = errno;
+          printf(CRED "ERROR: Failed to seek to reg 0x%02X in  %s: %d" CRESET "\n",
+                 ADXL372_DEVID_AD, path, errcode);
+          rc = RC_SEEKFAIL;
+          goto error_exit;
+        }
+
+      memset(bfr, 0xAA, sizeof(bfr));
+      ret = read(fd, bfr, 4);   /* read the sensor id regs */
+      if (ret < 0)
+        {
+          errcode = errno;
+          printf(CRED "ERROR: Failed to read sensor ID from %s: %d" CRESET "\n",
+                 path, errcode);
+          rc = RC_READFAIL;
+          goto error_exit;
+        }
+
+      if (bfr[0] != ADXL372_DEVID_AD_VALUE &&
+          bfr[1] != ADXL372_DEVID_MST_VALUE &&
+          bfr[2] != ADXL372_PARTID_VALUE)
+        {
+          printf(CRED "ERROR: Sensor ID is 0x%02X%02X%02X%02X, expected 0x%02X%02X%02Xxx." CRESET "\n",
+                 bfr[0], bfr[1], bfr[2], bfr[3],
+                 ADXL372_DEVID_AD_VALUE, ADXL372_DEVID_MST_VALUE,
+                 ADXL372_PARTID_VALUE);
+
+          if (rc == 0)
+            {
+              rc = RC_IDFAIL;
+            }
+
+          if (!is_interactive)
+            {
+              goto error_exit;
+            }
+        }
+      else
+        {
+          printf("Sensor ID 0x%02X%02X%02X%02X is correct!\n",
+            bfr[0], bfr[1], bfr[2], bfr[3]);
+        }
+
+      if (is_interactive)
+        {
+          ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n"
+                               SUB_PROMPT);
+        }
+
+      if (ch1 == 'x')
+        {
+          goto quick_exit;
+        }
+    }
+  while (ch1 == 'l');
+
+  do
+    {
+      /* Write and read a scratch register */
+
+      printf("Writing and reading a scratch register...\n");
+      ret = lseek(fd, ADXL372_SCRATCH, SEEK_SET);
+      if (ret < 0)
+        {
+          errcode = errno;
+          printf(CRED "ERROR: Failed to seek to reg 0x%02X in  %s: %d" CRESET "\n",
+                 ADXL372_SCRATCH, path, errcode);
+          rc = RC_SEEK2FAIL;
+          goto error_exit;
+        }
+
+      rc_step = PASSED;
+      for (i = 0; i < sizeof(tstchars); i++)
+        {
+          memset(bfr, 0xAA, sizeof(bfr));
+          bfr[0] = (char)tstchars[i];
+          ret = write(fd, bfr, 1);  /* write the scratch register */
+          if (ret < 0 && rc != RC_OPENRONLY)
+            {
+              errcode = errno;
+              printf(CRED "ERROR: Write operation failed to %s: %d" CRESET "\n",
+                     path, errcode);
+              rc = RC_WRITEFAIL;
+              goto error_exit;
+            }
+
+          memset(bfr, 0xAA, sizeof(bfr));
+          ret = read(fd, bfr, 1);   /* read the scratch register */
+          if (ret < 0)
+            {
+              errcode = errno;
+              printf(CRED "ERROR: Read operation failed from %s: %d" CRESET "\n",
+                     path, errcode);
+              rc = RC_READ2FAIL;
+              goto error_exit;
+            }
+
+          if (bfr[0] != (char)tstchars[i])
+            {
+              printf(CRED "ERROR: Wrote 0x%02X, read back 0x%02X." CRESET "\n",
+                     tstchars[i], bfr[0]);
+              rc_step = RC_WRMFAIL;
+              if (rc == 0)
+                {
+                  rc = RC_WRMFAIL;
+                }
+
+              if (!is_interactive)
+                {
+                  goto error_exit;
+                }
+            }
+        }
+
+      if (rc_step == PASSED)
+        {
+          printf("Read/write test passed!\n");
+        }
+
+      if (is_interactive)
+        {
+          ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n"
+                               SUB_PROMPT);
+        }
+
+      if (ch1 == 'x')
+        {
+          goto quick_exit;
+        }
+    }
+  while (ch1 == 'l');
+
+  do
+    {
+      /* Read live data */
+
+      printf("Reading Live Data...\n");
+      ret = lseek(fd, 0, SEEK_END);
+      if (ret < 0)
+        {
+          errcode = errno;
+          printf(CRED "ERROR: Failed to seek to reg 0x%02X in  %s: %d" CRESET "\n",
+                 ADXL372_XDATA_H, path, errcode);
+          rc = RC_SEEK3FAIL;
+          goto error_exit;
+        }
+
+      memset(bfr, 0xAA, sizeof(bfr));
+      ret = read(fd, bfr, 6);   /* read live accelerometer data */
+      if (ret < 0)
+        {
+          errcode = errno;
+          printf(CRED "ERROR: Read operation failed from %s: %d" CRESET "\n",
+                 path, errcode);
+          rc = RC_READ3FAIL;
+          goto error_exit;
+        }
+
+      printf("ADXL372 = ( %6d, %6d, %6d))\n",
+             pxyz->d[0], pxyz->d[1], pxyz->d[2]);
+      printf("ADXL372 = ( 0x%04X, 0x%04X, 0x%04X)\n",
+             pxyz->d[0], pxyz->d[1], pxyz->d[2]);
+      printf("ADXL372 raw = ( 0x%02X%02X, 0x%02X%02X, 0x%02X%02X)\n",
+             bfr[1], bfr[0], bfr[3], bfr[2], bfr[5], bfr[4]);
+
+      if (is_interactive)
+        {
+          ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n"
+                               SUB_PROMPT);
+        }
+
+      if (ch1 == 'x')
+        {
+          goto quick_exit;
+        }
+    }
+  while (ch1 == 'l');
+
+error_exit:
+quick_exit:
+  close(fd);
+  if (rc == PASSED)
+    {
+      printf(CGREEN "ADXL372 accelerometer diagnostic completed successfully." CRESET "\n");
+    }
+
+  return rc;
+}
+
+/****************************************************************************
+ * Name: adxl372_test_main
+ *
+ * Description:
+ *   This program defaults to testing in interactive mode.
+ *   To run in batch mode use a first parameter of b. E.g. adxl372_test -b
+ *
+ ****************************************************************************/
+
+#ifdef BUILD_MODULE
+int main(int argc, FAR char *argv[])
+#else
+int adxl372_test_main(int argc, FAR char *argv[])
+#endif
+{
+  int rc = 0;
+  int step_rc = 0;
+  uint8_t ch;
+  int is_interactive = 1; /* Program defaults to interactive */
+  int flag_present = 0;   /* Default to no flag coded */
+  uint32_t ui;
+  struct stat sbuf;
+
+  /* The two arrays below must be synchronized */
+
+  test_ptr_t test_ptr_array[] = /* Array of test programs */
+  {
+    adxl372_test,   /* ADXL372 accelerometer tests */
+  };
+
+  FAR char *test_path[sizeof(test_ptr_array) / sizeof(test_ptr_array[0])];
+
+  if (argc < 1 || *argv[1] == 0 || *(argv[1] + 1) == 0)
+    {
+      goto print_help;
+    }
+
+  /* We have at least 1 parameters, and the first parameter has at least two characters. */
+
+  if (*argv[1] == '-')
+    {
+      flag_present = 1;
+      if (*(argv[1]+1) == 'b')
+        {
+          is_interactive = 0;
+        }
+      else if (*(argv[1]+1) == 'i')
+        {
+          is_interactive = 1;
+        }
+      else
+        {
+          goto print_help;
+        }
+    }
+
+  if (flag_present && argc < 2)
+    {
+      goto print_help;
+    }
+
+  test_path[0] = argv[1 + flag_present];
+
+  printf("path=%s\n", test_path[0]);
+
+  if (stat(test_path[0], &sbuf))
+    {
+      printf(CRED "Error: Accelerometer path not found. Path=%s" CRESET "\n",
+             test_path[0]);
+      rc = RC_INVALPATH;
+    }
+
+  if (rc)
+    {
+      return rc;
+    }
+
+  if (is_interactive)
+    {
+      printf("LSM330 diagnostic started in interactive mode... \n");
+      ch = 0;
+      while (ch != 'x')
+        {
+          printf("Enter test section...\n");
+          printf("  1 = SPI ADXL Tests.\n");
+          printf("  i = Toggle interactive mode.\n");
+          printf("  x = Exit. (at anytime).\n");
+          printf("stst> ");
+          fflush(stdout);
+
+          ch = getchar();
+          if (ch < 1)
+            {
+              ch = '!';
+            }
+          else if ((ch < 0x20 || ch > 0x7e) && ch != '\r')
+            {
+              ch = '*';
+            }
+
+          if (ch != '\r')
+            {
+              putchar(ch);
+            }
+
+          printf("\n");
+          if (ch == 'x')
+            {
+              return 0;
+            }
+
+          ui = ch - 0x31; /* make index zero origin */
+
+          if (ch == 'i')
+            {
+              if (is_interactive == 0)
+                {
+                  is_interactive = 1;
+                  printf("Set to interactive mode.\n");
+                }
+              else
+                {
+                  is_interactive = 0;
+                  printf("Set to batch mode.\n");
+                }
+            }
+          else if (ui >= (sizeof(test_ptr_array) / sizeof(test_ptr_array[0])))
+            {
+              printf("Huh?\n");
+            }
+          else
+            {
+              if (test_ptr_array[ui] == 0)
+                {
+                  printf ("Test not supported yet.\n");
+                }
+              else
+                {
+                  test_ptr_array[ui](is_interactive, test_path[ui]);
+                }
+            }
+        }
+    }
+  else /* not interactive mode */
+    {
+      printf("ADXL372 sensor diagnostic started in batch mode...\n");
+
+      for (ui = 0; ui < (sizeof(test_ptr_array) / sizeof(test_ptr_array[0])); ui++)
+        {
+          step_rc = 0;
+          if (test_ptr_array[ui] != 0)
+            {
+              /* call the next test routine */
+
+              step_rc = test_ptr_array[ui](is_interactive, test_path[ui]);
+            }
+
+          if (step_rc != 0 && rc == 0)
+            {
+              rc = step_rc;
+            }
+
+          sleep(1);
+        }
+    }
+
+  printf("ADXL372 sensor diagnostic completed.\n");
+  return rc;
+
+print_help:
+  printf("Usage...\n");
+  printf("adxl372_test [-b | -i] <dev_path>\n");
+  printf("    -b = batch mode execution\n");
+  printf("    -i = interactive mode execution (default)\n");
+  printf("    <dev_path> = Device path and name for the ADXL372 accelerometer\n");
+  printf(" Example:\n");
+  printf("   adxl372_test -b /dev/adxl372_0\n");
+  return RC_INVALPARM;
+}

examples/ajoystick/.gitignore

@@ -0,0 +1,11 @@
+/Make.dep
+/.context
+/.depend
+/.built
+/*.asm
+/*.rel
+/*.lst
+/*.sym
+/*.adb
+/*.lib
+/*.src

examples/ajoystick/Kconfig

@@ -0,0 +1,23 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_AJOYSTICK
+	tristate "Analog joystick example"
+	default n
+	depends on AJOYSTICK && !DISABLE_SIGNALS
+	---help---
+		Enable the analog joystick example
+
+if EXAMPLES_AJOYSTICK
+
+config EXAMPLES_AJOYSTICK_DEVNAME
+	string "Joystick device name"
+	default "/dev/ajoy0"
+
+config EXAMPLES_AJOYSTICK_SIGNO
+	int "Joystick signal"
+	default 13
+
+endif

examples/ajoystick/Make.defs

@@ -0,0 +1,39 @@
+############################################################################
+# apps/examples/ajoystick/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2015 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.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_AJOYSTICK),)
+CONFIGURED_APPS += examples/ajoystick
+endif

examples/ajoystick/Makefile

@@ -0,0 +1,56 @@
+############################################################################
+# apps/examples/ajoystick/Makefile
+#
+#   Copyright (C) 2014 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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+# Hello, World! Example
+
+ASRCS =
+CSRCS =
+MAINSRC = ajoy_main.c
+
+CONFIG_AJOY_PROGNAME ?= ajoy$(EXEEXT)
+PROGNAME = $(CONFIG_AJOY_PROGNAME)
+
+# Buttons built-in application info
+
+APPNAME = ajoy
+PRIORITY = SCHED_PRIORITY_DEFAULT
+STACKSIZE = 2048
+
+MODULE = CONFIG_EXAMPLES_AJOYSTICK
+
+include $(APPDIR)/Application.mk
+

examples/ajoystick/ajoy_main.c

@@ -0,0 +1,467 @@
+/****************************************************************************
+ * examplex/ajoystick/ajoy_main.c
+ *
+ *   Copyright (C) 2014-2015 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 <sys/ioctl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <fixedmath.h>
+#include <debug.h>
+
+#include <nuttx/input/ajoystick.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************/
+
+#ifndef CONFIG_AJOYSTICK
+#  error "CONFIG_AJOYSTICK is not defined in the configuration"
+#endif
+
+#ifndef CONFIG_EXAMPLES_AJOYSTICK_DEVNAME
+#  define CONFIG_EXAMPLES_AJOYSTICK_DEVNAME "/dev/ajoy0"
+#endif
+
+#ifndef CONFIG_EXAMPLES_AJOYSTICK_SIGNO
+#  define CONFIG_EXAMPLES_AJOYSTICK_SIGNO 13
+#endif
+
+#define FULL_RANGE 16
+
+/* Helpers ******************************************************************/
+
+#ifndef MIN
+#  define MIN(a,b) (a < b ? a : b)
+#endif
+#ifndef MAX
+#  define MAX(a,b) (a > b ? a : b)
+#endif
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static void show_buttons(ajoy_buttonset_t oldset, ajoy_buttonset_t newset);
+static void show_joystick(FAR const struct ajoy_sample_s *sample);
+static int ajoy_wait(int fd, FAR const struct timespec *timeout);
+static int ajoy_read(int fd, FAR struct ajoy_sample_s *sample);
+static int ajoy_calibrate(int fd);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+/* The set of supported joystick buttons */
+
+static ajoy_buttonset_t g_ajoysupported;
+
+/* Last sampled button set */
+
+static ajoy_buttonset_t g_ajoylast;
+
+/* Calibration data */
+
+static bool    g_calibrated;
+static bool    g_lispositive;
+static bool    g_fispositive;
+static int16_t g_xcenter;
+static int16_t g_ycenter;
+static b16_t   g_xlslope;
+static b16_t   g_xrslope;
+static b16_t   g_yfslope;
+static b16_t   g_ybslope;
+
+/* Joystick button names */
+
+static const char *g_ajoynames[AJOY_NBUTTONS] =
+{
+  "SELECT",   "FIRE",     "JUMP",     "BUTTON 4",
+  "BUTTON 5", "BUTTON 6", "BUTTON 7", "BUTTON 8",
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void show_buttons(ajoy_buttonset_t oldset, ajoy_buttonset_t newset)
+{
+  ajoy_buttonset_t chgset = oldset ^ newset;
+  int i;
+
+  if (chgset != 0)
+    {
+      /* Show each button state change */
+
+      for (i = 0; i <= AJOY_NBUTTONS; i++)
+        {
+          ajoy_buttonset_t mask = (1 << i);
+          if ((chgset & mask) != 0)
+            {
+             FAR const char *state;
+
+              /* Get the button state */
+
+              if ((newset & mask) != 0)
+                {
+                  state = "selected";
+                }
+              else
+                {
+                  state = "released";
+                }
+
+              printf("  %-6s: %s\n", g_ajoynames[i], state);
+            }
+        }
+    }
+}
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void show_joystick(FAR const struct ajoy_sample_s *sample)
+{
+  printf("  RAW: X=%d Y=%d\n", sample->as_x, sample->as_y);
+  if (g_calibrated)
+    {
+      int tmp;
+      int x;
+      int y;
+
+      tmp = sample->as_x - g_xcenter;
+      if ((g_lispositive && tmp >= 0) ||
+          (!g_lispositive && tmp < 0))
+        {
+           x = tmp * g_xlslope;
+        }
+      else
+        {
+           x = tmp * g_xrslope;
+        }
+
+      tmp = sample->as_y - g_ycenter;
+      if ((g_fispositive && tmp >= 0) ||
+          (!g_fispositive && tmp < 0))
+        {
+           y = tmp * g_yfslope;
+        }
+      else
+        {
+           y = tmp * g_ybslope;
+        }
+
+      printf("  Calibrated: X=%d Y=%d\n", x, y);
+    }
+}
+
+static int ajoy_wait(int fd, FAR const struct timespec *timeout)
+{
+  sigset_t set;
+  struct siginfo value;
+  ajoy_buttonset_t newset;
+  int ret;
+
+  /* Wait for a signal */
+
+  (void)sigemptyset(&set);
+  (void)sigaddset(&set, CONFIG_EXAMPLES_AJOYSTICK_SIGNO);
+  ret = sigtimedwait(&set, &value, timeout);
+  if (ret < 0)
+    {
+      int errcode = errno;
+
+      if (!timeout || errcode != EAGAIN)
+        {
+          fprintf(stderr, "ERROR: sigtimedwait() failed: %d\n", errcode);
+          return -errcode;
+        }
+
+      /* Timeout is not an error */
+
+      printf("Timeout!\n");
+      return OK;
+    }
+
+  /* Show the set of joystick buttons accompanying the signal */
+
+  printf("Signalled button set\n");
+  newset = (ajoy_buttonset_t)value.si_value.sival_int;
+  show_buttons(g_ajoylast, newset);
+  g_ajoylast = newset;
+  return OK;
+}
+
+static int ajoy_read(int fd, FAR struct ajoy_sample_s *sample)
+{
+  ssize_t nread;
+
+  /* Read the joystack sample */
+
+  nread = read(fd, sample, sizeof(struct ajoy_sample_s));
+  if (nread < 0)
+    {
+      int errcode = errno;
+      fprintf(stderr, "ERROR: read() failed: %d\n", errcode);
+      return -errcode;
+    }
+  else if (nread != sizeof(struct ajoy_sample_s))
+    {
+      fprintf(stderr, "ERROR: read() unexpected size: %ld vs %d\n",
+              (long)nread, sizeof(struct ajoy_sample_s));
+      return -EIO;
+    }
+
+  /* Show the joystick position and set buttons accompanying the signal */
+  /* Show the set of joystick buttons that we just read */
+
+  printf("Read position and button set\n");
+  show_joystick(sample);
+  show_buttons(g_ajoylast, sample->as_buttons);
+  g_ajoylast =  sample->as_buttons;
+  return OK;
+}
+
+static int ajoy_waitread(int fd, FAR const struct timespec *timeout,
+                         FAR struct ajoy_sample_s *sample)
+{
+  int ret;
+
+  /* Wait for a signal */
+
+  ret = ajoy_wait(fd, timeout);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_wait() failed: %d\n", ret);
+      return ret;
+    }
+
+  /* Read the joystick sample */
+
+  ret = ajoy_read(fd, sample);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_read() failed: %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+}
+
+static b16_t ajoy_slope(int16_t value, int32_t full_range)
+{
+  return itob16(full_range) / (int32_t)value;
+}
+
+static int ajoy_calibrate(int fd)
+{
+  struct ajoy_sample_s sample;
+  int ret;
+
+  printf("Calibrating the joystick...\n");
+
+  /* Get the center position */
+
+  printf("Center the joystick and press any button\n");
+  ret = ajoy_waitread(fd, NULL, &sample);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
+      return ret;
+    }
+
+  g_xcenter = sample.as_x;
+  g_ycenter = sample.as_y;
+
+  /* Get the left/right calibration data */
+
+  printf("Move the joystick to the far RIGHT and press any button\n");
+  ret = ajoy_waitread(fd, NULL, &sample);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
+      return ret;
+    }
+
+  g_lispositive = (sample.as_x > g_xcenter);
+  g_xlslope = ajoy_slope(sample.as_x - g_xcenter, FULL_RANGE);
+
+  printf("Move the joystick to the far LEFT and press any button\n");
+  ret = ajoy_waitread(fd, NULL, &sample);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
+      return ret;
+    }
+
+  g_xrslope = ajoy_slope(sample.as_x - g_xcenter, -FULL_RANGE);
+
+  /* Get the forward/backward calibration data */
+
+  printf("Move the joystick to the far FORWARD and press any button\n");
+  ret = ajoy_waitread(fd, NULL, &sample);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
+      return ret;
+    }
+
+  g_fispositive = (sample.as_y > g_ycenter);
+  g_yfslope = ajoy_slope(sample.as_y - g_ycenter, FULL_RANGE);
+
+  printf("Move the joystick to the far BACKWARD and press any button\n");
+  ret = ajoy_waitread(fd, NULL, &sample);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
+      return ret;
+    }
+
+  g_ybslope = ajoy_slope(sample.as_y - g_ycenter, -FULL_RANGE);
+
+  printf("Calibrated:\n");
+  g_calibrated = true;
+
+  printf("  X: center=%d, R-slope=%08lx L-slope=%08lx\n",
+         g_xcenter, g_xrslope, g_xlslope);
+  printf("  Y: center=%d, F-slope=%08lx B-slope=%08lx\n",
+         g_ycenter, g_yfslope, g_ybslope);
+  return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * ajoy_main
+ ****************************************************************************/
+
+#ifdef BUILD_MODULE
+int main(int argc, FAR char *argv[])
+#else
+int ajoy_main(int argc, char *argv[])
+#endif
+{
+  struct timespec timeout;
+  struct ajoy_notify_s notify;
+  int fd;
+  int tmp;
+  int ret;
+  int errcode = EXIT_FAILURE;
+
+  /* Reset some globals that might been been left in a bad state */
+
+  g_ajoylast = 0;
+
+  /* Open the ajoystick device */
+
+  fd = open(CONFIG_EXAMPLES_AJOYSTICK_DEVNAME, O_RDONLY);
+  if (fd < 0)
+    {
+      fprintf(stderr, "ERROR: Failed to open %s: %d\n",
+              CONFIG_EXAMPLES_AJOYSTICK_DEVNAME, errno);
+      return EXIT_FAILURE;
+    }
+
+  /* Get the set of supported buttons */
+
+  ret = ioctl(fd, AJOYIOC_SUPPORTED,  (unsigned long)((uintptr_t)&tmp));
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ioctl(AJOYIOC_SUPPORTED) failed: %d\n", errno);
+      goto errout_with_fd;
+    }
+
+  g_ajoysupported = (ajoy_buttonset_t)tmp;
+  printf("Supported joystick buttons:\n");
+  show_buttons(0, g_ajoysupported);
+
+  /* Register to receive a signal on any change in the joystick buttons. */
+
+  notify.an_press   = g_ajoysupported;
+  notify.an_release = g_ajoysupported;
+  notify.an_signo   = CONFIG_EXAMPLES_AJOYSTICK_SIGNO;
+
+  ret = ioctl(fd, AJOYIOC_REGISTER, (unsigned long)((uintptr_t)&notify));
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: ioctl(AJOYIOC_REGISTER) failed: %d\n", errno);
+      goto errout_with_fd;
+    }
+
+  /* Calibrate the joystick */
+
+  ajoy_calibrate(fd);
+
+  /* Then loop, receiving signals indicating joystick events.  If this is an
+   * NSH builtin application, we will turn as soon as the SELECT button is
+   * depressed.
+   */
+
+  timeout.tv_sec  = 0;
+  timeout.tv_nsec = 600*1000*1000;
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+  while ((g_ajoylast & AJOY_BUTTON_SELECT_BIT) == 0)
+#else
+  for (;;)
+#endif
+    {
+      struct ajoy_sample_s sample;
+
+      /* Wait for a signal and read the sample */
+
+      ret = ajoy_waitread(fd, &timeout, &sample);
+      if (ret < 0)
+        {
+          fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
+          goto errout_with_fd;
+        }
+    }
+
+  errcode = EXIT_SUCCESS;
+
+errout_with_fd:
+  close(fd);
+  return errcode;
+}

examples/alarm/.gitignore

@@ -0,0 +1,11 @@
+/Make.dep
+/.depend
+/.built
+/*.asm
+/*.obj
+/*.rel
+/*.lst
+/*.sym
+/*.adb
+/*.lib
+/*.src

examples/alarm/Kconfig

@@ -0,0 +1,39 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_ALARM
+	tristate "RTC alarm driver example"
+	default n
+	depends on RTC_DRIVER && RTC_ALARM
+	---help---
+		Enable the RTC driver alarm test
+
+if EXAMPLES_ALARM
+
+config EXAMPLES_ALARM_PROGNAME
+	string "Program name"
+	default "alarm"
+	depends on BUILD_LOADABLE
+	---help---
+		This is the name of the program that will be use when the NSH ELF
+		program is installed.
+
+config EXAMPLES_ALARM_PRIORITY
+	int "Alarm task priority"
+	default 100
+
+config EXAMPLES_ALARM_STACKSIZE
+	int "Alarm stack size"
+	default 2048
+
+config EXAMPLES_ALARM_DEVPATH
+	string "RTC device path"
+	default "/dev/rtc0"
+
+config EXAMPLES_ALARM_SIGNO
+	int "Alarm signal"
+	default 1
+
+endif # EXAMPLES_ALARM

examples/alarm/Make.defs

@@ -0,0 +1,39 @@
+############################################################################
+# apps/examples/alarm/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2016 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.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_ALARM),)
+CONFIGURED_APPS += examples/alarm
+endif

examples/alarm/Makefile

@@ -0,0 +1,58 @@
+############################################################################
+# apps/examples/alarm/Makefile
+#
+#   Copyright (C) 2016 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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+# RTC driver alarm test built-in application info
+
+CONFIG_EXAMPLES_ALARM_PRIORITY ?= SCHED_PRIORITY_DEFAULT
+CONFIG_EXAMPLES_ALARM_STACKSIZE ?= 2048
+
+APPNAME = alarm
+PRIORITY = $(CONFIG_EXAMPLES_ALARM_PRIORITY)
+STACKSIZE = $(CONFIG_EXAMPLES_ALARM_STACKSIZE)
+
+# RTC driver alarm test
+
+ASRCS =
+CSRCS =
+MAINSRC = alarm_main.c
+
+CONFIG_EXAMPLES_ALARM_PROGNAME ?= alarm$(EXEEXT)
+PROGNAME = $(CONFIG_EXAMPLES_ALARM_PROGNAME)
+
+MODULE = CONFIG_EXAMPLES_ALARM
+
+include $(APPDIR)/Application.mk

examples/alarm/alarm_main.c

@@ -0,0 +1,424 @@
+/****************************************************************************
+ * examples/alarm/alarm_main.c
+ *
+ *   Copyright (C) 2016 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 <sys/ioctl.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <fcntl.h>
+#include <sched.h>
+#include <errno.h>
+
+#include <nuttx/timers/rtc.h>
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static bool g_alarm_daemon_started;
+static pid_t g_alarm_daemon_pid;
+static bool g_alarm_received[CONFIG_RTC_NALARMS];
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: alarm_handler
+ ****************************************************************************/
+
+static void alarm_handler(int signo, FAR siginfo_t *info, FAR void *ucontext)
+{
+  int almndx = info->si_value.sival_int;
+  if (almndx >= 0 && almndx < CONFIG_RTC_NALARMS)
+    {
+      g_alarm_received[almndx] = true;
+    }
+}
+
+/****************************************************************************
+ * Name: alarm_daemon
+ ****************************************************************************/
+
+static int alarm_daemon(int argc, FAR char *argv[])
+{
+  struct sigaction act;
+  sigset_t set;
+  int ret;
+  int i;
+
+  /* Indicate that we are running */
+
+  g_alarm_daemon_started = true;
+  printf("alarm_daemon: Running\n");
+
+  /* Make sure that the alarm signal is unmasked */
+
+  (void)sigemptyset(&set);
+  (void)sigaddset(&set, CONFIG_EXAMPLES_ALARM_SIGNO);
+  ret = sigprocmask(SIG_UNBLOCK, &set, NULL);
+  if (ret != OK)
+    {
+      int errcode = errno;
+      fprintf(stderr, "ERROR: sigprocmask failed: %d\n",
+              errcode);
+      goto errout;
+    }
+
+  /* Register alarm signal handler */
+
+  act.sa_sigaction = alarm_handler;
+  act.sa_flags     = SA_SIGINFO;
+
+  (void)sigfillset(&act.sa_mask);
+  (void)sigdelset(&act.sa_mask, CONFIG_EXAMPLES_ALARM_SIGNO);
+
+  ret = sigaction(CONFIG_EXAMPLES_ALARM_SIGNO, &act, NULL);
+  if (ret < 0)
+    {
+      int errcode = errno;
+      fprintf(stderr, "ERROR: sigaction failed: %d\n",
+              errcode);
+      goto errout;
+    }
+
+  /* Now loop forever, waiting for alarm signals */
+
+  for (; ; )
+    {
+      /* Check if any alarms fired.
+       *
+       * NOTE that there are race conditions here... if we missing an alarm,
+       * we will just report it a half second late.
+       */
+
+      for (i = 0; i < CONFIG_RTC_NALARMS; i++)
+        {
+          if (g_alarm_received[i])
+            {
+              printf("alarm_demon: alarm %d received\n", i)  ;
+              g_alarm_received[i] = false;
+            }
+        }
+
+      /* Now wait a little while and poll again.  If a signal is received
+       * this should cuase us to awken earlier.
+       */
+
+      usleep(500*1000L);
+    }
+
+errout:
+  g_alarm_daemon_started = false;
+
+  printf("alarm_daemon: Terminating\n");
+  return EXIT_FAILURE;
+}
+
+/****************************************************************************
+ * Name: start_daemon
+ ****************************************************************************/
+
+static int start_daemon(void)
+{
+  if (!g_alarm_daemon_started)
+    {
+      g_alarm_daemon_pid =
+        task_create("alarm_daemon", CONFIG_EXAMPLES_ALARM_PRIORITY,
+                    CONFIG_EXAMPLES_ALARM_STACKSIZE, alarm_daemon,
+                    NULL);
+      if (g_alarm_daemon_pid < 0)
+        {
+          int errcode = errno;
+          fprintf(stderr, "ERROR: Failed to start alarm_daemon: %d\n",
+                 errcode);
+          return -errcode;
+        }
+
+      printf("alarm_daemon started\n");
+      usleep(500*1000L);
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: show_usage
+ ****************************************************************************/
+
+static void show_usage(FAR const char *progname)
+{
+  fprintf(stderr, "USAGE:\n");
+  fprintf(stderr, "\t%s [-a <alarmid>] [-cr] [<seconds>]\n", progname);
+  fprintf(stderr, "Where:\n");
+  fprintf(stderr, "\t-a <alarmid>\n");
+  fprintf(stderr, "\t\t<alarmid> selects the alarm: 0..%d (default: 0)\n",
+          CONFIG_RTC_NALARMS - 1);
+  fprintf(stderr, "\t-c\tCancel previously set alarm\n");
+  fprintf(stderr, "\t-r\tRead previously set alarm\n");
+  fprintf(stderr, "\t<seconds>\n");
+  fprintf(stderr, "\t\tThe number of seconds until the alarm expires.\n");
+  fprintf(stderr, "\t\t(only if no -c or -r option given.)\n");
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * alarm_main
+ ****************************************************************************/
+
+#ifdef BUILD_MODULE
+int main(int argc, FAR char *argv[])
+#else
+int alarm_main(int argc, FAR char *argv[])
+#endif
+{
+  unsigned long seconds = 0;
+  bool badarg = false;
+  bool readmode = false;
+  bool cancelmode = false;
+  bool setmode;
+  int opt;
+  int alarmid = 0;
+  int fd;
+  int ret;
+
+  /* Make sure that the alarm daemon is running */
+
+  ret = start_daemon();
+  if (ret < 0)
+    {
+      return EXIT_FAILURE;
+    }
+
+  /* Parse commandline parameters. NOTE: getopt() is not thread safe nor re-entrant.
+   * To keep its state proper for the next usage, it is necessary to parse to
+   * the end of the line even if an error occurs.  If an error occurs, this
+   * logic just sets 'badarg' and continues.
+   */
+
+  while ((opt = getopt(argc, argv, ":a:cr")) != ERROR)
+    {
+      switch (opt)
+        {
+        case 'a': /* -a: Select alarm id */
+          alarmid = strtol(optarg, NULL, 0);
+          if (alarmid < 0 || alarmid >= CONFIG_RTC_NALARMS)
+            {
+              badarg = true;
+            }
+          break;
+        case 'c':
+          cancelmode = true;
+          break;
+        case 'r':
+          readmode = true;
+          break;
+        default:
+          fprintf(stderr, "<unknown parameter '-%c'>\n\n", opt);
+          /* fall through */
+        case '?':
+        case ':':
+          badarg = true;
+        }
+    }
+
+  /* Both -r and -c can be given at the same time, setting is exclusive. */
+
+  setmode = !readmode && !cancelmode;
+
+  if (setmode)
+    {
+      if (optind >= argc)
+        {
+          badarg = true;
+        }
+    }
+  else if (optind < argc)
+    {
+       badarg = true;
+    }
+
+  if (badarg)
+    {
+      show_usage(argv[0]);
+      return EXIT_FAILURE;
+    }
+
+  if (setmode)
+    {
+      /* Get the number of seconds until the alarm expiration */
+
+      seconds = strtoul(argv[optind], NULL, 10);
+      if (seconds < 1)
+        {
+          fprintf(stderr, "ERROR: Invalid number of seconds: %lu\n", seconds);
+          show_usage(argv[0]);
+          return EXIT_FAILURE;
+        }
+    }
+
+  /* Open the RTC driver */
+
+  printf("Opening %s\n", CONFIG_EXAMPLES_ALARM_DEVPATH);
+
+  fd = open(CONFIG_EXAMPLES_ALARM_DEVPATH, O_WRONLY);
+  if (fd < 0)
+    {
+      int errcode = errno;
+      fprintf(stderr, "ERROR: Failed to open %s: %d\n",
+              CONFIG_EXAMPLES_ALARM_DEVPATH, errcode);
+      return EXIT_FAILURE;
+    }
+
+  if (readmode)
+    {
+      struct rtc_rdalarm_s rd = { 0 };
+      long timeleft;
+      time_t now;
+
+      rd.id = alarmid;
+      time(&now);
+
+      ret = ioctl(fd, RTC_RD_ALARM, (unsigned long)((uintptr_t)&rd));
+      if (ret < 0)
+        {
+          int errcode = errno;
+
+          fprintf(stderr, "ERROR: RTC_RD_ALARM ioctl failed: %d\n",
+                  errcode);
+
+          (void)close(fd);
+          return EXIT_FAILURE;
+        }
+
+      /* Some of the NuttX RTC implementations do not support alarms
+       * longer than one month. There RTC_RD_ALARM can return partial
+       * calendar values without month and year fields.
+       * TODO: fix this in lower layers?
+       */
+
+      if (rd.time.tm_year > 0)
+        {
+          /* Normal sane case, assuming we did not actually request an
+           * alarm expiring in year 1900.
+           */
+
+          timeleft = mktime((struct tm *)&rd.time) - now;
+        }
+      else
+        {
+          struct tm now_tm;
+
+          /* Periodic extend "partial" alarms by "unfolding" months,
+           * until we get alarm that is in future. Note that mktime()
+           * normalizes fields that are out of their valid values,
+           * so we don't have to handle carry to tm_year by ourselves.
+           */
+
+          gmtime_r(&now, &now_tm);
+          rd.time.tm_mon = now_tm.tm_mon;
+          rd.time.tm_year = now_tm.tm_year;
+
+          do {
+            timeleft = mktime((struct tm *)&rd.time) - now;
+            if (timeleft < 0)
+              {
+                rd.time.tm_mon++;
+              }
+          } while (timeleft < 0);
+        }
+
+      printf("Alarm %d is %s with %ld seconds to expiration\n", alarmid,
+             rd.active ? "active" : "inactive", timeleft);
+    }
+
+  if (cancelmode)
+    {
+      ret = ioctl(fd, RTC_CANCEL_ALARM, (unsigned long)alarmid);
+      if (ret < 0)
+        {
+          int errcode = errno;
+
+          fprintf(stderr, "ERROR: RTC_CANCEL_ALARM ioctl failed: %d\n",
+                  errcode);
+
+          (void)close(fd);
+          return EXIT_FAILURE;
+        }
+
+      printf("Alarm %d has been canceled\n", alarmid);
+    }
+
+  if (setmode)
+    {
+      struct rtc_setrelative_s setrel;
+
+      /* Set the alarm */
+
+      setrel.id      = alarmid;
+      setrel.signo   = CONFIG_EXAMPLES_ALARM_SIGNO;
+      setrel.pid     = g_alarm_daemon_pid;
+      setrel.reltime = (time_t)seconds;
+
+      setrel.sigvalue.sival_int = alarmid;
+
+      ret = ioctl(fd, RTC_SET_RELATIVE, (unsigned long)((uintptr_t)&setrel));
+      if (ret < 0)
+        {
+          int errcode = errno;
+
+          fprintf(stderr, "ERROR: RTC_SET_RELATIVE ioctl failed: %d\n",
+                  errcode);
+
+          (void)close(fd);
+          return EXIT_FAILURE;
+        }
+
+      printf("Alarm %d set in %lu seconds\n", alarmid, seconds);
+    }
+
+  (void)close(fd);
+  return EXIT_SUCCESS;
+}

examples/apa102/.gitignore

@@ -0,0 +1,11 @@
+/Make.dep
+/.depend
+/.built
+/*.asm
+/*.obj
+/*.rel
+/*.lst
+/*.sym
+/*.adb
+/*.lib
+/*.src

examples/apa102/Kconfig

@@ -0,0 +1,22 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_APA102
+	tristate "APA102 LED Strip example"
+	default n
+	---help---
+		Enable the APA102 example
+
+if EXAMPLES_APA102
+
+config EXAMPLES_APA102_PROGNAME
+	string "Program name"
+	default "apa102"
+	depends on BUILD_LOADABLE
+	---help---
+		This is the name of the program that will be use when the NSH ELF
+		program is installed.
+
+endif

examples/apa102/Make.defs

@@ -0,0 +1,39 @@
+############################################################################
+# apps/examples/apa102/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2015 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.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_APA102),)
+CONFIGURED_APPS += examples/apa102
+endif

examples/apa102/Makefile

@@ -0,0 +1,55 @@
+############################################################################
+# apps/examples/apa102/Makefile
+#
+#   Copyright (C) 2017 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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+# APA102 built-in application info
+
+APPNAME = apa102
+PRIORITY = SCHED_PRIORITY_DEFAULT
+STACKSIZE = 2048
+
+# APA102 Test
+
+ASRCS =
+CSRCS =
+MAINSRC = apa102_main.c
+
+CONFIG_EXAMPLES_APA102_PROGNAME ?= apa102$(EXEEXT)
+PROGNAME = $(CONFIG_EXAMPLES_APA102_PROGNAME)
+
+MODULE = CONFIG_EXAMPLES_APA102
+
+include $(APPDIR)/Application.mk

examples/apa102/apa102_main.c

@@ -0,0 +1,196 @@
+/****************************************************************************
+ * examples/apa102/apa102_main.c
+ *
+ *   Copyright (C) 2017 Gregory Nutt. All rights reserved.
+ *   Copyright (c) 2015-2017 Pololu Corporation.
+ *   Author: Alan Carvalho de Assis <acassis@gmail.com>
+ *
+ * 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 <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <stdio.h>
+
+#include <nuttx/leds/apa102.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define CONFIG_EXAMPLES_APA102_DEVNAME "/dev/leddrv0"
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#define NUM_LEDS  30
+#define US_DELAY  1000
+
+struct apa102_ledstrip_s ledstrip[NUM_LEDS];
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: hsvtorgb
+ *
+ * Description:
+ *   Converts a color from HSV to RGB.
+ *
+ *   Note: This function is based on Pololu example:
+ *   https://github.com/pololu/apa102-arduino/blob/master/examples/Rainbow/Rainbow.ino
+ *
+ * Input Parameters:
+ *   h is hue, as a number between 0 and 360.
+ *   s is the saturation, as a number between 0 and 255.
+ *   v is the value, as a number between 0 and 255.
+ *
+ ****************************************************************************/
+
+static struct apa102_ledstrip_s hsvtorgb(uint16_t h, uint8_t s, uint8_t v)
+{
+  struct apa102_ledstrip_s led;
+  uint8_t f = (h % 60) * 255 / 60;
+  uint8_t p = (255 - s) * (uint16_t)v / 255;
+  uint8_t q = (255 - f * (uint16_t)s / 255) * (uint16_t)v / 255;
+  uint8_t t = (255 - (255 - f) * (uint16_t)s / 255) * (uint16_t)v / 255;
+  uint8_t r = 0;
+  uint8_t g = 0;
+  uint8_t b = 0;
+
+  switch((h / 60) % 6)
+    {
+      case 0:
+        r = v;
+        g = t;
+        b = p;
+        break;
+
+      case 1:
+        r = q;
+        g = v;
+        b = p;
+        break;
+
+      case 2:
+        r = p;
+        g = v;
+        b = t;
+        break;
+
+      case 3:
+        r = p;
+        g = q;
+        b = v;
+        break;
+
+      case 4:
+        r = t;
+        g = p;
+        b = v;
+        break;
+
+      case 5:
+        r = v;
+        g = p;
+        b = q;
+        break;
+    }
+
+  led.red    = r;
+  led.green  = g;
+  led.blue   = b;
+  led.bright = 0;
+
+  return led;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * apa102_main
+ ****************************************************************************/
+
+#ifdef BUILD_MODULE
+int main(int argc, FAR char *argv[])
+#else
+int apa102_main(int argc, char *argv[])
+#endif
+{
+  int fd;
+  int ret;
+  int led;
+  int miles = 10000;
+
+  fd = open(CONFIG_EXAMPLES_APA102_DEVNAME, O_RDWR);
+  if (fd < 0)
+    {
+      fprintf(stderr, "ERROR: Failed to open %s: %d\n",
+              CONFIG_EXAMPLES_APA102_DEVNAME, errno);
+      return -1;
+    }
+
+  for (; ; )
+    {
+      /* Fill the LED Strip */
+
+      for (led = 0; led < NUM_LEDS; led++)
+        {
+          uint8_t p = miles - led * 8;
+          ledstrip[led] = hsvtorgb((uint32_t)p * 359 / 256, 255, 255);
+        }
+
+      /* Write the new colors in all the LEDs */
+
+      ret = write(fd, ledstrip, 4 * NUM_LEDS);
+      if (ret < 0)
+        {
+          _err("ERROR: write LED Strip failed: %d\n", errno);
+        }
+
+      usleep(US_DELAY);
+      miles += (US_DELAY / 1000);
+    }
+
+  close(fd);
+  return 0;
+}

examples/apds9960/.gitignore

@@ -0,0 +1,11 @@
+/Make.dep
+/.depend
+/.built
+/*.asm
+/*.obj
+/*.rel
+/*.lst
+/*.sym
+/*.adb
+/*.lib
+/*.src

examples/apds9960/Kconfig

@@ -0,0 +1,37 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_APDS9960
+	tristate "APDS-9960 Test Application"
+	default n
+	depends on SENSORS_APDS9960
+	---help---
+		Enable the APDS-9960 test application.
+
+if EXAMPLES_APDS9960
+
+config EXAMPLES_APDS9960_PROGNAME
+	string "APDS-9960 Test Program name"
+	default "apds9960"
+	depends on BUILD_LOADABLE
+	---help---
+		This is the name of the program that will be use when the NSH ELF
+		program is installed.
+
+config EXAMPLES_APDS9960_DEVNAME
+	string "APDS-9960 device file name"
+	default "/dev/gest0"
+	---help---
+		This is the name of device file name created by APDS9960 driver.
+
+config EXAMPLES_APDS9960_PRIORITY
+	int "APDS-9960 Test task priority"
+	default 100
+
+config EXAMPLES_APDS9960_STACKSIZE
+	int "APDS-9960 Test stack size"
+	default 2048
+
+endif

examples/apds9960/Make.defs

@@ -0,0 +1,39 @@
+############################################################################
+# apps/examples/apds9960/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2017 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.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_APDS9960),)
+CONFIGURED_APPS += examples/apds9960
+endif

examples/apds9960/Makefile

@@ -0,0 +1,58 @@
+############################################################################
+# apps/examples/apds9960/Makefile
+#
+#   Copyright (C) 2017 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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+# Hello, World! built-in application info
+
+CONFIG_EXAMPLES_APDS9960_PRIORITY ?= SCHED_PRIORITY_DEFAULT
+CONFIG_EXAMPLES_APDS9960_STACKSIZE ?= 2048
+
+APPNAME = apds9960
+PRIORITY = $(CONFIG_EXAMPLES_APDS9960_PRIORITY)
+STACKSIZE = $(CONFIG_EXAMPLES_APDS9960_STACKSIZE)
+
+# Hello, World! Example
+
+ASRCS =
+CSRCS =
+MAINSRC = apds9960_main.c
+
+CONFIG_EXAMPLES_APDS9960_PROGNAME ?= apds9960$(EXEEXT)
+PROGNAME = $(CONFIG_EXAMPLES_APDS9960_PROGNAME)
+
+MODULE = CONFIG_EXAMPLES_APDS9960
+
+include $(APPDIR)/Application.mk

examples/apds9960/apds9960_main.c

@@ -0,0 +1,120 @@
+/****************************************************************************
+ * examples/apds9960/apds9960_main.c
+ *
+ *   Copyright (C) 2017 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 <stdio.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <fcntl.h>
+
+#include <nuttx/sensors/apds9960.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifndef CONFIG_EXAMPLES_APDS9960_DEVNAME
+#  define CONFIG_EXAMPLES_APDS9960_DEVNAME "/dev/gest0"
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * apds9960_main
+ ****************************************************************************/
+
+#ifdef BUILD_MODULE
+int main(int argc, FAR char *argv[])
+#else
+int apds9960_main(int argc, char *argv[])
+#endif
+{
+  int fd;
+  int nbytes;
+  char gest;
+
+  fd = open(CONFIG_EXAMPLES_APDS9960_DEVNAME, O_RDONLY|O_NONBLOCK);
+  if (fd < 0)
+    {
+      int errcode = errno;
+      printf("ERROR: Failed to open %s: %d\n",
+             CONFIG_EXAMPLES_APDS9960_DEVNAME, errcode);
+      goto errout;
+    }
+
+  while (1)
+    {
+      nbytes = read(fd, (void *)&gest, sizeof(gest));
+      if (nbytes == 1)
+        {
+          switch (gest)
+            {
+              case DIR_LEFT:
+                printf("LEFT\n");
+                break;
+
+              case DIR_RIGHT:
+                printf("RIGHT\n");
+                break;
+
+              case DIR_UP:
+                printf("UP\n");
+                break;
+
+              case DIR_DOWN:
+                printf("DOWN\n");
+                break;
+            }
+        }
+
+      fflush(stdout);
+
+      /* Wait 10ms */
+
+      usleep(10000);
+    }
+
+  return 0;
+
+errout:
+  return EXIT_FAILURE;
+}

examples/bastest/.gitignore

@@ -0,0 +1,13 @@
+/Make.dep
+/.depend
+/.built
+/romfs.img
+/romfs.h
+/*.asm
+/*.obj
+/*.rel
+/*.lst
+/*.sym
+/*.adb
+/*.lib
+/*.src

examples/bastest/Kconfig

@@ -0,0 +1,39 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_BASTEST
+	tristate "Setup Test Files for BAS"
+	default n
+	depends on FS_ROMFS && INTERPRETERS_BAS
+	---help---
+		Mount the ROMFS file system containing the BAS test files at
+		/mnt/romfs.  This selection depends both on INTERPRETER_BAS to provide
+		the BASIC interpreter and and upon FS_ROMFS to provide support for the
+		ROMFS file system.
+
+		The logic in certain tests (test33.bas and test36.bas will also fail
+		if there is no writable file system mount at /tmp.
+
+if EXAMPLES_BASTEST
+
+config EXAMPLES_BASTEST_DEVMINOR
+	int "ROMFS Minor Device Number"
+	default 0
+	---help---
+		The minor device number of the ROMFS block. For example, the N in
+		/dev/ramN. Used for registering the RAM block driver that will hold
+		the ROMFS file system containing the BASIC files to be tested.
+		Default: 0
+
+config EXAMPLES_BASTEST_DEVPATH
+	string "ROMFS Device Path"
+	default "/dev/ram0"
+	---help---
+		The path to the ROMFS block driver device.  This must match
+		EXAMPLES_BASTEST_DEVMINOR. Used for registering the RAM block driver
+		that will hold the ROMFS file system containing the BASIC files to
+		be tested.  Default: "/dev/ram0"
+
+endif

examples/bastest/Make.defs

@@ -0,0 +1,39 @@
+############################################################################
+# apps/examples/bastest/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2015 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.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_BASTEST),)
+CONFIGURED_APPS += examples/bastest
+endif

examples/bastest/Makefile

@@ -0,0 +1,75 @@
+############################################################################
+# apps/examples/bastest/Makefile
+#
+#   Copyright (C) 2014 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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+# BAS test volume mounter
+
+APPNAME = bastest
+PRIORITY = SCHED_PRIORITY_DEFAULT
+STACKSIZE = 2048
+
+# Hello, World! Example
+
+MAINSRC = bastest_main.c
+
+BASTEST_DIR = $(APPDIR)$(DELIM)examples$(DELIM)bastest
+TESTS_DIR = $(BASTEST_DIR)$(DELIM)tests
+ROMFS_IMG = romfs.img
+ROMFS_HDR = romfs.h
+
+PROGNAME = bastest$(EXEEXT)
+
+# Common build
+
+# Create the romfs.h header file from the tests/ directory
+
+$(ROMFS_IMG) :
+	$(Q) genromfs -f $@ -d $(TESTS_DIR) -V "BASTEST"
+
+$(ROMFS_HDR) : $(ROMFS_IMG)
+	$(Q) (xxd -i $(ROMFS_IMG) | sed -e "s/^unsigned/static const unsigned/g" >$@)
+
+# Add the BASTEST object to the archive
+
+context:: $(ROMFS_HDR)
+
+distclean::
+	$(call DELFILE, $(ROMFS_HDR))
+	$(call DELFILE, $(ROMFS_IMG))
+
+MODULE = CONFIG_EXAMPLES_BASTEST
+
+include $(APPDIR)/Application.mk

examples/bastest/bastest_main.c

@@ -0,0 +1,128 @@
+/****************************************************************************
+ * examples/bastest/bastest_main.c
+ *
+ *   Copyright (C) 2014 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 <sys/mount.h>
+#include <stdio.h>
+#include <errno.h>
+
+#include <nuttx/drivers/ramdisk.h>
+
+#include "romfs.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* Check configuration.  This is not all of the configuration settings that
+ * are required -- only the more obvious.
+ */
+
+#if CONFIG_NFILE_DESCRIPTORS < 1
+#  error "You must provide file descriptors via CONFIG_NFILE_DESCRIPTORS in your configuration file"
+#endif
+
+#ifndef CONFIG_FS_ROMFS
+#  error "You must select CONFIG_FS_ROMFS in your configuration file"
+#endif
+
+#ifdef CONFIG_DISABLE_MOUNTPOINT
+#  error "You must not disable mountpoints via CONFIG_DISABLE_MOUNTPOINT in your configuration file"
+#endif
+
+/* Describe the ROMFS file system */
+
+#define SECTORSIZE   512
+#define NSECTORS(b)  (((b)+SECTORSIZE-1)/SECTORSIZE)
+#define MOUNTPT      "/mnt/romfs"
+
+#ifndef CONFIG_EXAMPLES_BASTEST_DEVMINOR
+#  define CONFIG_EXAMPLES_BASTEST_DEVMINOR 0
+#endif
+
+#ifndef CONFIG_EXAMPLES_BASTEST_DEVPATH
+#  define CONFIG_EXAMPLES_BASTEST_DEVPATH "/dev/ram0"
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * bastest_main
+ ****************************************************************************/
+
+#ifdef BUILD_MODULE
+int main(int argc, FAR char *argv[])
+#else
+int bastest_main(int argc, char *argv[])
+#endif
+{
+  int ret;
+
+  /* Create a ROM disk for the ROMFS filesystem */
+
+  printf("Registering romdisk at /dev/ram%d\n", CONFIG_EXAMPLES_BASTEST_DEVMINOR);
+  ret = romdisk_register(CONFIG_EXAMPLES_BASTEST_DEVMINOR, (FAR uint8_t *)romfs_img,
+                         NSECTORS(romfs_img_len), SECTORSIZE);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: romdisk_register failed: %d\n", ret);
+      return 1;
+    }
+
+  /* Mount the file system */
+
+  printf("Mounting ROMFS filesystem at target=%s with source=%s\n",
+         MOUNTPT, CONFIG_EXAMPLES_BASTEST_DEVPATH);
+
+  ret = mount(CONFIG_EXAMPLES_BASTEST_DEVPATH, MOUNTPT, "romfs", MS_RDONLY, NULL);
+  if (ret < 0)
+    {
+      fprintf(stderr, "ERROR: mount(%s,%s,romfs) failed: %s\n",
+              CONFIG_EXAMPLES_BASTEST_DEVPATH, MOUNTPT, errno);
+      return 1;
+    }
+
+  return 0;
+}

examples/bastest/tests/test01.bas

@@ -0,0 +1,10 @@
+10 a=1
+20 print a
+30 a$="hello"
+40 print a$
+50 a=0.0002
+60 print a
+70 a=2.e-6
+80 print a
+90 a=.2e-6
+100 print a

examples/bastest/tests/test02.bas

@@ -0,0 +1,8 @@
+10 dim a(1)
+20 a(0)=10
+30 a(1)=11
+40 a=12
+50 print a(0)
+60 print a(1)
+70 print a
+

examples/bastest/tests/test03.bas

@@ -0,0 +1,16 @@
+ 10 for i=0 to 10
+ 20   print i
+ 30   if i=5 then exit for
+ 40 next
+ 50 for i=0 to 0
+ 60   print i
+ 70 next I
+ 80 for i=1 to 0 step -1
+ 90   print i
+100 next
+110 for i=1 to 0
+120   print i
+130 next
+140 for i$="" to "aaaaaaaaaa" step "a"
+150   print i$
+160 next

examples/bastest/tests/test04.bas

@@ -0,0 +1,6 @@
+10 a=1
+20 repeat
+30   print a
+40   a=a+1
+50 until a=10
+

examples/bastest/tests/test05.bas

@@ -0,0 +1,8 @@
+10 gosub 100
+20 gosub 100
+30 end
+100 gosub 200
+110 gosub 200
+120 return
+200 print "hello, world":return
+

examples/bastest/tests/test06.bas

@@ -0,0 +1,12 @@
+10 def fnloop
+20   if n=0.0 then
+30     r=0.0
+40   else
+50     print n
+60     n=n-1.0
+70     r=fnloop()
+80   end if
+90 =r
+100 n=10
+110 print fnloop
+

examples/bastest/tests/test07.bas

@@ -0,0 +1,5 @@
+10 def fna(x)
+20   if x=0 then r=1 else r=x*fna(x-1)
+30 =r
+40 print fna(7)
+

examples/bastest/tests/test08.bas

@@ -0,0 +1,10 @@
+10 data "a",b
+20 data "c","d
+40 read j$
+50 print "j=";j$
+60 restore 20
+70 for i=1 to 3
+80 read j$,k$
+90 print "j=";j$;" k=";k$
+100 next
+

examples/bastest/tests/test09.bas

@@ -0,0 +1,9 @@
+10 def fna(a)
+20   local b
+30   b=a+1
+40 =b
+60 b=3
+70 print b
+80 print fna(4)
+90 print b
+

examples/bastest/tests/test10.bas

@@ -0,0 +1,31 @@
+ 10 print using "!";"abcdef"
+ 20 print using "\ \";"abcdef"
+ 30 print using "###-";-1
+ 40 print using "###-";0
+ 50 print using "###-";1
+ 60 print using "###+";-1
+ 70 print using "###+";0
+ 80 print using "###+";1
+ 90 print using "#####,";1000
+100 print using "**#,##.##";1000.00
+110 print using "+##.##";1
+120 print using "+##.##";1.23400
+130 print using "+##.##";123.456
+140 print using "+##.";123.456
+150 print using "+##";123.456
+160 print using "abc def ###.## efg";1.3
+170 print using "###.##^^^^^";5
+180 print using "###.##^^^^";1000
+190 print using ".##^^^^";5.0
+200 print using "##^^^^";2.3e-9
+210 print using ".##^^^^";2.3e-9
+220 print using "#.#^^^^";2.3e-9
+230 print using ".####^^^^^";-011466
+240 print using "$*,***,***,***.**";3729825.24
+250 print using "$**********.**";3729825.24
+260 print using "$$###.##";456.78
+270 print using "a!b";"S"
+280 print using "a!b";"S","T"
+290 print using "a!b!c";"S"
+300 print using "a!b!c";"S","T"
+

examples/bastest/tests/test11.bas

@@ -0,0 +1,6 @@
+10 open "i",1,"test.bas"
+20 while not eof(1)
+30 line input #1,a$
+40 print a$
+50 wend
+

examples/bastest/tests/test12.bas

@@ -0,0 +1,10 @@
+10 on error print "global handler 1 caught error in line ";erl : resume 30
+20 print mid$("",-1)
+30 on error print "global handler 2 caught error in line ";erl : end
+40 def procx
+50   on error print "local handler caught error in line";erl : goto 70
+60   print 1/0
+70 end proc
+80 procx
+90 print 1 mod 0
+

examples/bastest/tests/test13.bas

@@ -0,0 +1,4 @@
+print "a"
+goto 20
+print "b"
+20 print "c"

examples/bastest/tests/test14.bas

@@ -0,0 +1,22 @@
+ 10 for i=0 to 9
+ 20   for j=0 to 9
+ 30     print i,j
+ 40     select case i
+ 50       case 0
+ 60         print "i after case 0"
+ 70       case 1
+ 80         print "i after case 1"
+ 90         select case j
+100           case 0
+110             print "j after case 0"
+120         end select
+130       case 3 to 5,7
+140         print "i after case 3 to 5, 7"
+150       case is <9
+160         print "is after case is <9"
+170       case else
+180         print "i after case else"
+190     end select
+200   next
+210 next
+

examples/bastest/tests/test15.bas

@@ -0,0 +1,18 @@
+a$="a"
+open "r",1,"test.dat",128
+print "before field a$=";a$
+field #1,10 as a$
+field #1,5 as b$,5 as c$
+lset b$="hi"
+rset c$="ya"
+print "a$=";a$
+put #1
+close #1
+print "after close a$=";a$
+open "r",2,"test.dat",128
+field #2,10 as b$
+get #2
+print "after get b$=";b$
+close #2
+kill "test.dat"
+

examples/bastest/tests/test16.bas

@@ -0,0 +1,10 @@
+a=1 : b=2
+print "a=";a;"b=";b
+swap a,b
+print "a=";a;"b=";b
+dim a$(1,1),b$(1,1)
+a$(1,0)="a" : b$(0,1)="b"
+print "a$(1,0)=";a$(1,0);"b$(0,1)=";b$(0,1)
+swap a$(1,0),b$(0,1)
+print "a$(1,0)=";a$(1,0);"b$(0,1)=";b$(0,1)
+

examples/bastest/tests/test17.bas

@@ -0,0 +1,9 @@
+print "loop started"
+i=1
+do
+  print "i is";i
+  i=i+1
+  if i>10 then exit do
+loop
+print "loop ended"
+

examples/bastest/tests/test18.bas

@@ -0,0 +1,13 @@
+print "loop started"
+x$=""
+do while len(x$)<3
+  print "x$ is ";x$
+  x$=x$+"a"
+  y$=""
+  do while len(y$)<2
+    print "y$ is ";y$
+    y$=y$+"b"
+  loop
+loop
+print "loop ended"
+