lauv-aux-rpi/test-rpi: add ftdi_sio to modules.

rpi-boot-firmware/fs/boot/cmdline: change console dev.
lauv-aux-rpi/cfg: change dev of console.
2017-03-30 17:23:40 +01:00 · 2017-03-30 12:56:21 +01:00 · 2017-03-30 12:54:57 +01:00 · 2017-03-30 12:53:18 +01:00 · 2017-02-03 19:39:54 +00:00 · 2017-02-03 18:41:06 +00:00
88 changed files with 9756 additions and 1449 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -9,3 +9,4 @@
 /lauv-aux
 /lauv-aux-rpi
 /ntnu-b2xx
+/stamp9g20
--- a/architectures/arm926ej-s.cfg
+++ b/architectures/arm926ej-s.cfg
@@ -0,0 +1,4 @@
+cfg_target_canonical="armv5te-$cfg_glued_vendor-linux-gnueabi"
+cfg_target_linux='arm'
+cfg_target_gcc_flags='-O2 -pipe -funit-at-a-time -mtune=arm926ej-s -mfloat-abi=soft'
+cfg_target_gcc_configure_flags='--with-arch=armv5te --with-tune=arm926ej-s --with-float=soft'
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -0,0 +1,37 @@
+###########################################################################
+# GLUED: GNU/Linux Uniform Environment Distribution                       #
+# Copyright (C) 2016 OceanScan - Marine Systems & Technology, Lda.        #
+###########################################################################
+# This program is free software; you can redistribute it and/or modify    #
+# it under the terms of the GNU General Public License as published by    #
+# the Free Software Foundation; either version 2 of the License, or (at   #
+# your option) any later version.                                         #
+#                                                                         #
+# This program is distributed in the hope that it will be useful, but     #
+# WITHOUT ANY WARRANTY; without even the implied warranty of              #
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU       #
+# General Public License for more details.                                #
+#                                                                         #
+# You should have received a copy of the GNU General Public License       #
+# along with this program; if not, write to the Free Software             #
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA           #
+# 02110-1301 USA.                                                         #
+###########################################################################
+# Author: Ricardo Martins                                                 #
+###########################################################################
+
+FROM debian:8
+
+MAINTAINER Ricardo Martins <rasm@oceanscan-mst.com>
+
+ENV DEBIAN_FRONTEND noninteractive
+
+# Update distro.
+RUN apt-get update -y
+RUN apt-get dist-upgrade -y
+RUN apt-get install -y wget
+RUN apt-get install -y bzip2
+RUN apt-get install -y git
+RUN apt-get install -y g++-multilib
+RUN apt-get install -y cmake
+RUN apt-get install -y file
--- a/docker/Makefile
+++ b/docker/Makefile
@@ -0,0 +1,31 @@
+###########################################################################
+# GLUED: GNU/Linux Uniform Environment Distribution                       #
+# Copyright (C) 2016 OceanScan - Marine Systems & Technology, Lda.        #
+###########################################################################
+# This program is free software; you can redistribute it and/or modify    #
+# it under the terms of the GNU General Public License as published by    #
+# the Free Software Foundation; either version 2 of the License, or (at   #
+# your option) any later version.                                         #
+#                                                                         #
+# This program is distributed in the hope that it will be useful, but     #
+# WITHOUT ANY WARRANTY; without even the implied warranty of              #
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU       #
+# General Public License for more details.                                #
+#                                                                         #
+# You should have received a copy of the GNU General Public License       #
+# along with this program; if not, write to the Free Software             #
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA           #
+# 02110-1301 USA.                                                         #
+###########################################################################
+# Author: Ricardo Martins                                                 #
+###########################################################################
+
+TAG     := glued
+VERSION := 2016.05.0
+VOLUME  := $(CURDIR)/..
+
+all:
+	docker build -t $(TAG):$(VERSION) .
+
+shell:
+	docker run -w $(VOLUME) -i -a stdin -a stdout -v $(VOLUME):$(VOLUME) -t $(TAG):$(VERSION)
--- a/functions.bash
+++ b/functions.bash
@@ -40,3 +40,15 @@ err()
 {
    echo -e "[$(date +"%Y-%m-%d %H:%M:%S")] \033[0m\033[1;31mERROR: $*\033[0m"
 }
+
+ucat()
+{
+    case "$1" in
+        *.gz)
+            zcat "$1"
+            ;;
+        *)
+            cat "$1"
+            ;;
+    esac
+}
--- a/mkconfig.bash
+++ b/mkconfig.bash
@@ -23,7 +23,7 @@
 ###########################################################################

 # Config: GLUED version.
-cfg_glued_version='2016.03'
+cfg_glued_version='2016.05'
 # Config: GLUED vendor.
 cfg_glued_vendor='lsts'

--- a/mkdisk.bash
+++ b/mkdisk.bash
@@ -103,15 +103,17 @@ create_part_rpiboot()

    for f in "$cfg_sys_family/rootfs/boot/"*; do
        nfo2 installing $f to boot partition
-        cp "$f" mount || die
+        cp -r "$f" mount || die
    done

    nfo2 renaming kernel to kernel7.img
    mv mount/kernel mount/kernel7.img

-    dtb=$(basename "$cfg_target_linux_dtb")
-    nfo2 renaming board.dtb to "$dtb"
-    mv "mount/board.dtb" "mount/$dtb"
+    if [ -f mount/board.dtb ]; then
+        dtb=$(basename "$cfg_target_linux_dtb")
+        nfo2 renaming board.dtb to "$dtb"
+        mv "mount/board.dtb" "mount/$dtb"
+    fi

    cmd_parted "$dev_loop" \
        set "$part_nr" lba on \
--- a/pkrootfs.bash
+++ b/pkrootfs.bash
@@ -60,7 +60,7 @@ done

 # Copy DTB.
 if [ -n "$cfg_target_linux_dtb" ]; then
-    cp -v "$cfg_dir_toolchain/boot/$(basename $cfg_target_linux_dtb)" "$cfg_dir_rootfs/boot/board.dtb"
+    cp -v "$cfg_dir_rootfs/boot/$(basename $cfg_target_linux_dtb)" "$cfg_dir_rootfs/boot/board.dtb"
 fi

 # Write config vars.
--- a/rules/base/host.bash
+++ b/rules/base/host.bash
@@ -26,4 +26,5 @@ requires=\
    'parted/host'
    'dosfstools/host'
    'e2fsprogs/host'
+    'cmake/host'
 )
--- a/rules/busybox/config
+++ b/rules/busybox/config
@@ -1,7 +1,7 @@
 #
 # Automatically generated make config: don't edit
-# Busybox version: 1.22.1
-# Sun Feb  8 18:17:19 2015
+# Busybox version: 1.24.1
+# Tue Apr  5 18:00:54 2016
 #
 CONFIG_HAVE_DOT_CONFIG=y

@@ -36,6 +36,8 @@ CONFIG_LAST_SUPPORTED_WCHAR=767
 # CONFIG_UNICODE_BIDI_SUPPORT is not set
 # CONFIG_UNICODE_NEUTRAL_TABLE is not set
 # CONFIG_UNICODE_PRESERVE_BROKEN is not set
+# CONFIG_PAM is not set
+CONFIG_FEATURE_USE_SENDFILE=y
 CONFIG_LONG_OPTS=y
 CONFIG_FEATURE_DEVPTS=y
 # CONFIG_FEATURE_CLEAN_UP is not set
@@ -73,6 +75,7 @@ CONFIG_EXTRA_LDLIBS=""
 #
 # CONFIG_DEBUG is not set
 # CONFIG_DEBUG_PESSIMIZE is not set
+# CONFIG_UNIT_TEST is not set
 # CONFIG_WERROR is not set
 CONFIG_NO_DEBUG_LIB=y
 # CONFIG_DMALLOC is not set
@@ -153,10 +156,11 @@ CONFIG_XZ=y
 # CONFIG_GZIP is not set
 # CONFIG_FEATURE_GZIP_LONG_OPTIONS is not set
 CONFIG_GZIP_FAST=0
+# CONFIG_FEATURE_GZIP_LEVELS is not set
 # CONFIG_LZOP is not set
 # CONFIG_LZOP_COMPR_HIGH is not set
-# CONFIG_RPM is not set
 # CONFIG_RPM2CPIO is not set
+# CONFIG_RPM is not set
 CONFIG_TAR=y
 # CONFIG_FEATURE_TAR_CREATE is not set
 CONFIG_FEATURE_TAR_AUTODETECT=y
@@ -180,9 +184,17 @@ CONFIG_DATE=y
 CONFIG_FEATURE_DATE_ISOFMT=y
 # CONFIG_FEATURE_DATE_NANO is not set
 CONFIG_FEATURE_DATE_COMPAT=y
+CONFIG_DD=y
+CONFIG_FEATURE_DD_SIGNAL_HANDLING=y
+# CONFIG_FEATURE_DD_THIRD_STATUS_LINE is not set
+# CONFIG_FEATURE_DD_IBS_OBS is not set
+CONFIG_FEATURE_DD_STATUS=y
 # CONFIG_HOSTID is not set
 CONFIG_ID=y
 CONFIG_GROUPS=y
+CONFIG_SHUF=y
+CONFIG_SYNC=y
+CONFIG_FEATURE_SYNC_FANCY=y
 CONFIG_TEST=y
 # CONFIG_FEATURE_TEST_64 is not set
 CONFIG_TOUCH=y
@@ -191,6 +203,8 @@ CONFIG_FEATURE_TOUCH_SUSV3=y
 CONFIG_TR=y
 CONFIG_FEATURE_TR_CLASSES=y
 CONFIG_FEATURE_TR_EQUIV=y
+CONFIG_TRUNCATE=y
+CONFIG_UNLINK=y
 CONFIG_BASE64=y
 # CONFIG_WHO is not set
 # CONFIG_USERS is not set
@@ -206,10 +220,6 @@ CONFIG_CHROOT=y
 CONFIG_CP=y
 # CONFIG_FEATURE_CP_LONG_OPTIONS is not set
 CONFIG_CUT=y
-CONFIG_DD=y
-CONFIG_FEATURE_DD_SIGNAL_HANDLING=y
-# CONFIG_FEATURE_DD_THIRD_STATUS_LINE is not set
-# CONFIG_FEATURE_DD_IBS_OBS is not set
 CONFIG_DF=y
 # CONFIG_FEATURE_DF_FANCY is not set
 CONFIG_DIRNAME=y
@@ -278,7 +288,6 @@ CONFIG_STAT=y
 CONFIG_FEATURE_STAT_FORMAT=y
 CONFIG_STTY=y
 # CONFIG_SUM is not set
-CONFIG_SYNC=y
 # CONFIG_TAC is not set
 CONFIG_TAIL=y
 # CONFIG_FEATURE_FANCY_TAIL is not set
@@ -287,6 +296,7 @@ CONFIG_TEE=y
 CONFIG_TRUE=y
 CONFIG_TTY=y
 CONFIG_UNAME=y
+CONFIG_UNAME_OSNAME="GNU/Linux"
 # CONFIG_UNEXPAND is not set
 # CONFIG_FEATURE_UNEXPAND_LONG_OPTIONS is not set
 CONFIG_UNIQ=y
@@ -298,6 +308,11 @@ CONFIG_WC=y
 CONFIG_WHOAMI=y
 CONFIG_YES=y

+#
+# Common options
+#
+CONFIG_FEATURE_VERBOSE=y
+
 #
 # Common options for cp and mv
 #
@@ -384,6 +399,9 @@ CONFIG_FEATURE_VI_USE_SIGNALS=y
 # CONFIG_FEATURE_VI_SET is not set
 CONFIG_FEATURE_VI_WIN_RESIZE=y
 CONFIG_FEATURE_VI_ASK_TERMINAL=y
+CONFIG_FEATURE_VI_UNDO=y
+CONFIG_FEATURE_VI_UNDO_QUEUE=y
+CONFIG_FEATURE_VI_UNDO_QUEUE_MAX=256
 CONFIG_FEATURE_ALLOW_EXEC=y

 #
@@ -400,6 +418,7 @@ CONFIG_FEATURE_FIND_MAXDEPTH=y
 # CONFIG_FEATURE_FIND_NEWER is not set
 # CONFIG_FEATURE_FIND_INUM is not set
 CONFIG_FEATURE_FIND_EXEC=y
+CONFIG_FEATURE_FIND_EXEC_PLUS=y
 CONFIG_FEATURE_FIND_USER=y
 CONFIG_FEATURE_FIND_GROUP=y
 CONFIG_FEATURE_FIND_NOT=y
@@ -421,6 +440,7 @@ CONFIG_XARGS=y
 CONFIG_FEATURE_XARGS_SUPPORT_QUOTES=y
 # CONFIG_FEATURE_XARGS_SUPPORT_TERMOPT is not set
 CONFIG_FEATURE_XARGS_SUPPORT_ZERO_TERM=y
+CONFIG_FEATURE_XARGS_SUPPORT_REPL_STR=y

 #
 # Init Utilities
@@ -457,6 +477,7 @@ CONFIG_USE_BB_CRYPT=y
 CONFIG_ADDUSER=y
 # CONFIG_FEATURE_ADDUSER_LONG_OPTIONS is not set
 # CONFIG_FEATURE_CHECK_NAMES is not set
+CONFIG_LAST_ID=60000
 CONFIG_FIRST_SYSTEM_ID=100
 CONFIG_LAST_SYSTEM_ID=999
 CONFIG_ADDGROUP=y
@@ -468,7 +489,6 @@ CONFIG_DELGROUP=y
 CONFIG_GETTY=y
 CONFIG_LOGIN=y
 # CONFIG_LOGIN_SESSION_AS_CHILD is not set
-# CONFIG_PAM is not set
 # CONFIG_LOGIN_SCRIPTS is not set
 CONFIG_FEATURE_NOLOGIN=y
 # CONFIG_FEATURE_SECURETTY is not set
@@ -526,6 +546,7 @@ CONFIG_DEFAULT_DEPMOD_FILE="modules.dep"
 # Linux System Utilities
 #
 CONFIG_BLOCKDEV=y
+CONFIG_FATATTR=y
 CONFIG_FSTRIM=y
 CONFIG_MDEV=y
 CONFIG_FEATURE_MDEV_CONF=y
@@ -533,7 +554,18 @@ CONFIG_FEATURE_MDEV_RENAME=y
 CONFIG_FEATURE_MDEV_RENAME_REGEXP=y
 CONFIG_FEATURE_MDEV_EXEC=y
 CONFIG_FEATURE_MDEV_LOAD_FIRMWARE=y
+CONFIG_MOUNT=y
+# CONFIG_FEATURE_MOUNT_FAKE is not set
+# CONFIG_FEATURE_MOUNT_VERBOSE is not set
+# CONFIG_FEATURE_MOUNT_HELPERS is not set
+CONFIG_FEATURE_MOUNT_LABEL=y
+# CONFIG_FEATURE_MOUNT_NFS is not set
+# CONFIG_FEATURE_MOUNT_CIFS is not set
+CONFIG_FEATURE_MOUNT_FLAGS=y
+CONFIG_FEATURE_MOUNT_FSTAB=y
+CONFIG_FEATURE_MOUNT_OTHERTAB=y
 CONFIG_REV=y
+CONFIG_UEVENT=y
 # CONFIG_ACPID is not set
 # CONFIG_FEATURE_ACPID_COMPAT is not set
 CONFIG_BLKID=y
@@ -579,15 +611,6 @@ CONFIG_FEATURE_HWCLOCK_ADJTIME_FHS=y
 # CONFIG_MKSWAP is not set
 # CONFIG_FEATURE_MKSWAP_UUID is not set
 CONFIG_MORE=y
-CONFIG_MOUNT=y
-# CONFIG_FEATURE_MOUNT_FAKE is not set
-# CONFIG_FEATURE_MOUNT_VERBOSE is not set
-# CONFIG_FEATURE_MOUNT_HELPERS is not set
-CONFIG_FEATURE_MOUNT_LABEL=y
-# CONFIG_FEATURE_MOUNT_NFS is not set
-# CONFIG_FEATURE_MOUNT_CIFS is not set
-CONFIG_FEATURE_MOUNT_FLAGS=y
-CONFIG_FEATURE_MOUNT_FSTAB=y
 CONFIG_PIVOT_ROOT=y
 # CONFIG_RDATE is not set
 # CONFIG_RDEV is not set
@@ -597,6 +620,7 @@ CONFIG_PIVOT_ROOT=y
 # CONFIG_SCRIPTREPLAY is not set
 # CONFIG_SETARCH is not set
 # CONFIG_SWAPONOFF is not set
+# CONFIG_FEATURE_SWAPON_DISCARD is not set
 # CONFIG_FEATURE_SWAPON_PRI is not set
 CONFIG_SWITCH_ROOT=y
 CONFIG_UMOUNT=y
@@ -639,10 +663,19 @@ CONFIG_FEATURE_VOLUMEID_SQUASHFS=y
 # Miscellaneous Utilities
 #
 # CONFIG_CONSPY is not set
+# CONFIG_CROND is not set
+# CONFIG_FEATURE_CROND_D is not set
+# CONFIG_FEATURE_CROND_CALL_SENDMAIL is not set
+CONFIG_FEATURE_CROND_DIR=""
+CONFIG_I2CGET=y
+CONFIG_I2CSET=y
+CONFIG_I2CDUMP=y
+CONFIG_I2CDETECT=y
 CONFIG_LESS=y
 CONFIG_FEATURE_LESS_MAXLINES=9999999
 CONFIG_FEATURE_LESS_BRACKETS=y
 CONFIG_FEATURE_LESS_FLAGS=y
+CONFIG_FEATURE_LESS_TRUNCATE=y
 # CONFIG_FEATURE_LESS_MARKS is not set
 # CONFIG_FEATURE_LESS_REGEXP is not set
 # CONFIG_FEATURE_LESS_WINCH is not set
@@ -653,6 +686,8 @@ CONFIG_FEATURE_LESS_FLAGS=y
 # CONFIG_NANDDUMP is not set
 # CONFIG_RFKILL is not set
 CONFIG_SETSERIAL=y
+# CONFIG_TASKSET is not set
+# CONFIG_FEATURE_TASKSET_FANCY is not set
 # CONFIG_UBIATTACH is not set
 # CONFIG_UBIDETACH is not set
 CONFIG_UBIMKVOL=y
@@ -675,10 +710,6 @@ CONFIG_FEATURE_BEEP_LENGTH_MS=0
 # CONFIG_FEATURE_CHAT_VAR_ABORT_LEN is not set
 # CONFIG_FEATURE_CHAT_CLR_ABORT is not set
 # CONFIG_CHRT is not set
-# CONFIG_CROND is not set
-# CONFIG_FEATURE_CROND_D is not set
-# CONFIG_FEATURE_CROND_CALL_SENDMAIL is not set
-CONFIG_FEATURE_CROND_DIR=""
 # CONFIG_CRONTAB is not set
 # CONFIG_DC is not set
 # CONFIG_FEATURE_DC_LIBM is not set
@@ -694,7 +725,7 @@ CONFIG_FEATURE_CROND_DIR=""
 CONFIG_FLASHCP=y
 CONFIG_FLASH_LOCK=y
 CONFIG_FLASH_UNLOCK=y
-# CONFIG_FLASH_ERASEALL is not set
+CONFIG_FLASH_ERASEALL=y
 # CONFIG_IONICE is not set
 # CONFIG_INOTIFYD is not set
 # CONFIG_LAST is not set
@@ -720,8 +751,6 @@ CONFIG_MOUNTPOINT=y
 # CONFIG_RX is not set
 # CONFIG_SETSID is not set
 # CONFIG_STRINGS is not set
-# CONFIG_TASKSET is not set
-# CONFIG_FEATURE_TASKSET_FANCY is not set
 CONFIG_TIME=y
 # CONFIG_TIMEOUT is not set
 # CONFIG_TTYSIZE is not set
@@ -741,6 +770,13 @@ CONFIG_NC_EXTRA=y
 CONFIG_PING=y
 # CONFIG_PING6 is not set
 CONFIG_FEATURE_FANCY_PING=y
+CONFIG_WGET=y
+# CONFIG_FEATURE_WGET_STATUSBAR is not set
+CONFIG_FEATURE_WGET_AUTHENTICATION=y
+# CONFIG_FEATURE_WGET_LONG_OPTIONS is not set
+CONFIG_FEATURE_WGET_TIMEOUT=y
+CONFIG_FEATURE_WGET_OPENSSL=y
+CONFIG_FEATURE_WGET_SSL_HELPER=y
 CONFIG_WHOIS=y
 # CONFIG_FEATURE_IPV6 is not set
 # CONFIG_FEATURE_UNIX_LOCAL is not set
@@ -757,13 +793,13 @@ CONFIG_ETHER_WAKE=y
 CONFIG_FTPD=y
 CONFIG_FEATURE_FTP_WRITE=y
 CONFIG_FEATURE_FTPD_ACCEPT_BROKEN_LIST=y
+CONFIG_FEATURE_FTP_AUTHENTICATION=y
 # CONFIG_FTPGET is not set
 # CONFIG_FTPPUT is not set
 # CONFIG_FEATURE_FTPGETPUT_LONG_OPTIONS is not set
 CONFIG_HOSTNAME=y
 # CONFIG_HTTPD is not set
 # CONFIG_FEATURE_HTTPD_RANGES is not set
-# CONFIG_FEATURE_HTTPD_USE_SENDFILE is not set
 # CONFIG_FEATURE_HTTPD_SETUID is not set
 # CONFIG_FEATURE_HTTPD_BASIC_AUTH is not set
 # CONFIG_FEATURE_HTTPD_AUTH_MD5 is not set
@@ -802,6 +838,7 @@ CONFIG_IP=y
 CONFIG_FEATURE_IP_ADDRESS=y
 CONFIG_FEATURE_IP_LINK=y
 CONFIG_FEATURE_IP_ROUTE=y
+CONFIG_FEATURE_IP_ROUTE_DIR="/etc/iproute2"
 # CONFIG_FEATURE_IP_TUNNEL is not set
 # CONFIG_FEATURE_IP_RULE is not set
 # CONFIG_FEATURE_IP_SHORT_FORMS is not set
@@ -820,6 +857,7 @@ CONFIG_FEATURE_IP_ROUTE=y
 # CONFIG_NSLOOKUP is not set
 # CONFIG_NTPD is not set
 # CONFIG_FEATURE_NTPD_SERVER is not set
+# CONFIG_FEATURE_NTPD_CONF is not set
 # CONFIG_PSCAN is not set
 CONFIG_ROUTE=y
 # CONFIG_SLATTACH is not set
@@ -853,6 +891,7 @@ CONFIG_FEATURE_TELNET_AUTOLOGIN=y
 CONFIG_DHCPD_LEASES_FILE=""
 CONFIG_UDHCPC=y
 # CONFIG_FEATURE_UDHCPC_ARPING is not set
+CONFIG_FEATURE_UDHCPC_SANITIZEOPT=y
 # CONFIG_FEATURE_UDHCP_PORT is not set
 CONFIG_UDHCP_DEBUG=9
 CONFIG_FEATURE_UDHCP_RFC3397=y
@@ -862,11 +901,6 @@ CONFIG_UDHCPC_SLACK_FOR_BUGGY_SERVERS=80
 CONFIG_IFUPDOWN_UDHCPC_CMD_OPTIONS=""
 # CONFIG_UDPSVD is not set
 # CONFIG_VCONFIG is not set
-CONFIG_WGET=y
-# CONFIG_FEATURE_WGET_STATUSBAR is not set
-CONFIG_FEATURE_WGET_AUTHENTICATION=y
-# CONFIG_FEATURE_WGET_LONG_OPTIONS is not set
-CONFIG_FEATURE_WGET_TIMEOUT=y
 # CONFIG_ZCIP is not set

 #
@@ -971,6 +1005,7 @@ CONFIG_ASH_GETOPTS=y
 # CONFIG_ASH_BUILTIN_ECHO is not set
 CONFIG_ASH_BUILTIN_PRINTF=y
 CONFIG_ASH_BUILTIN_TEST=y
+CONFIG_ASH_HELP=y
 # CONFIG_ASH_CMDCMD is not set
 # CONFIG_ASH_MAIL is not set
 CONFIG_ASH_OPTIMIZE_FOR_SIZE=y
--- a/rules/czmq/default.bash
+++ b/rules/czmq/default.bash
@@ -1,52 +0,0 @@
-version=\
-(
-    "3.0.2"
-)
-
-url=\
-(
-    "https://github.com/zeromq/czmq/archive/v$version.tar.gz"
-)
-
-md5=\
-(
-    "23e9885f7ee3ce88d99d0425f52e9be1"
-)
-
-configure()
-{
-    ./autogen.sh && \
-    ./configure \
-        --prefix="${cfg_dir_toolchain_sysroot}/usr" \
-        --target="$cfg_target_canonical" \
-        --host="$cfg_target_canonical" \
-        --build="$cfg_host_canonical"
-}
-
-build()
-{
-    $cmd_make
-}
-
-host_install()
-{
-    $cmd_make install
-}
-
-requires=\
-(
-    'libtool/host'
-    'zeromq'
-)
-
-target_install()
-{
-  # Libs:
-  for f in "$cfg_dir_toolchain_sysroot/usr/lib/"libczmq.*; do
-    if [ -L "$f" ]; then
-      $cmd_cp "$f" "$cfg_dir_rootfs/usr/lib"
-    else
-      $cmd_target_strip -v "$f" -o "$cfg_dir_rootfs/usr/lib/$(basename "$f")"
-    fi
-  done
-}
--- a/rules/dune/default.bash
+++ b/rules/dune/default.bash
@@ -1,37 +0,0 @@
-version=\
-(
-    'mission/necsave'
-)
-
-requires=\
-(
-    'cmake/host'
-)
-
-download()
-{
-    git clone "git@github.com:LSTS/dune.git" dune &&
-        cd dune && git checkout "$version" && cd - &&
-        git clone "git@git.lsts.pt:dune-private.git" dune/private &&
-        cd dune/private && git checkout "$version" && cd -
-}
-
-configure()
-{
-    $cmd_mkdir build &&
-        cd build &&
-        cmake \
-            -DCMAKE_INSTALL_PREFIX="$cfg_dir_toolchain_sysroot/usr" \
-            -DCROSS="$cmd_target_cc" \
-            ../dune
-}
-
-build()
-{
-    $cmd_make -C build
-}
-
-host_install()
-{
-    $cmd_make -C build install
-}
--- a/rules/filesystem/fs/etc/rc.d/upgrade
+++ b/rules/filesystem/fs/etc/rc.d/upgrade
@@ -60,24 +60,17 @@ new_unpack()
    return 1
 }

-kernel_dst()
+kernel_mtd_part()
 {
-    echo -n "* Detecting kernel destination... "
+    echo -n "* Detecting kernel MTD partition... "

-    # Kernel resides in the root filesystem.
    if [ -d /boot/extlinux ]; then
-        echo "filesystem"
+        echo "not present"
        return 0
    fi

    if ! [ -f /proc/mtd ]; then
-        echo "filesystem"
-        return 0
-    fi
-
-    grep 'uboot=ext2' /proc/cmdline > /dev/null 2>&1
-    if [ $? -eq 0 ]; then
-        echo "filesystem"
+        echo "not present"
        return 0
    fi

@@ -85,21 +78,65 @@ kernel_dst()
    if [ -z "$fw_kernel_mtd" ]; then
        export fw_kernel_mtd="$(grep \"Kernel\" /proc/mtd | cut -f1 -d':')"
        if [ -z "$fw_kernel_mtd" ]; then
-            echo "failed to detect kernel's MTD partition"
+            echo "not present"
            return 1
        fi
    fi

-    echo "mtd"
+    echo "$fw_kernel_mtd"
    return 0
 }

-kernel_upgrade()
+uboot_mtd_part()
+{
+    echo -n "* Detecting u-boot MTD partition... "
+    if ! [ -f /proc/mtd ]; then
+        echo "filesystem"
+        return 0
+    fi
+
+    export fw_uboot_mtd="$(grep \"uboot\" /proc/mtd | cut -f1 -d':')"
+    if [ -z "$fw_uboot_mtd" ]; then
+        export fw_uboot_mtd="$(grep \"u-boot\" /proc/mtd | cut -f1 -d':')"
+        if [ -z "$fw_uboot_mtd" ]; then
+            echo "not present"
+            return 1
+        fi
+    fi
+
+    echo "$fw_uboot_mtd"
+    return 0
+}
+
+uboot_mtd_upgrade()
+{
+    bin="$base/.glued-new/boot/u-boot.bin"
+
+    if ! [ -f "$bin" ]; then
+        return 0
+    fi
+
+    if [ -z "$fw_uboot_mtd" ]; then
+        return 0
+    fi
+
+    echo -n "* Upgrading u-boot MTD partition... "
+    "$flashcp" -v "$bin" /dev/"$fw_uboot_mtd"
+    if [ $? -ne 0 ]; then
+        echo "failed"
+        return 1
+    fi
+
+    echo "done"
+    return 0
+}
+
+kernel_mtd_upgrade()
 {
    # Upgrade MTD
    if [ -n "$fw_kernel_mtd" ]; then
        echo -n "* Upgrading kernel... "
-        "$flashcp" -v "$base/.glued-new/boot/kernel" /dev/"$fw_kernel_mtd" > /dev/null 2>&1
+        "$flashcp" -v "$base/.glued-new/boot/kernel" /dev/"$fw_kernel_mtd"
        if [ $? -ne 0 ]; then
            echo "failed"
            return 1
@@ -202,12 +239,19 @@ rpi2_boot_part_upgrade()
        fi
    done

-    dtb="bcm2709-rpi-2-b.dtb"
-    if [ -f "/mnt/$dtb" ]; then
+    for f in overlays; do
+        if [ -d "/mnt/$f" ]; then
+            echo -en "* $label: Replacing $f... "
+	    rm -rf "/mnt/$f" && cp -r "$base/.glued-new/boot/$f" /mnt
+            echo 'done'
+        fi
+    done
+
+    for dtb in "$base/.glued-new/boot/"*.dtb; do
        echo -en "* $label: Replacing $dtb... "
-        cp "$base/.glued-new/boot/board.dtb" "/mnt/$dtb"
+        cp "$dtb" "/mnt"
        echo 'done'
-    fi
+    done

    kernel='kernel7.img'
    if [ -f "/mnt/$kernel" ]; then
@@ -228,15 +272,17 @@ rpi2_boot_part_upgrade()
    return 0
 }

-# Check if board is a Raspberry Pi 2.
+# Check if board is a Raspberry Pi 2/3.
 rpi2_boot_part_upgrade_check()
 {
-    dmesg | grep Machine | grep BCM2709 > /dev/null 2>&1
-    if [ $? -eq 0 ]; then
-        echo "* rpi2: machine detected"
-        rpi2_boot_part_upgrade "rpi2" "/dev/mmcblk0p1"
-        return 0
-    fi
+    for machine in 'bcm2709' 'raspberry pi'; do
+        dmesg | grep Machine | grep -i "$machine" > /dev/null 2>&1
+        if [ $? -eq 0 ]; then
+            echo "* rpi2: machine detected"
+            rpi2_boot_part_upgrade "rpi2" "/dev/mmcblk0p1"
+            return 0
+        fi
+    done
 }

 old_move()
@@ -284,11 +330,13 @@ start()
 {
    clean
    version || return 1
-    kernel_dst || return 1
+    kernel_mtd_part || return 1
+    uboot_mtd_part || return 1
    new_unpack || return 1
    uboot_part_upgrade_check || return 1
    rpi2_boot_part_upgrade_check || return 1
-    kernel_upgrade || return 1
+    kernel_mtd_upgrade || return 1
+    uboot_mtd_upgrade || return 1
    old_move || return 1
 }

--- a/rules/jansson/default.bash
+++ b/rules/jansson/default.bash
@@ -1,45 +0,0 @@
-version=\
-(
-    "2.7"
-)
-
-url=\
-(
-    "http://www.digip.org/jansson/releases/jansson-2.7.tar.gz"
-)
-
-md5=\
-(
-    "3a106a465bbb77637550b422f5b262ef"
-)
-
-configure()
-{
-    ./configure \
-        --prefix="${cfg_dir_toolchain_sysroot}/usr" \
-        --target="$cfg_target_canonical" \
-        --host="$cfg_target_canonical" \
-        --build="$cfg_host_canonical"
-}
-
-build()
-{
-    $cmd_make
-}
-
-host_install()
-{
-    $cmd_make install
-}
-
-target_install()
-{
-  # Libs:
-  for f in "$cfg_dir_toolchain_sysroot/usr/lib/"libjansson.*; do
-    if [ -L "$f" ]; then
-      $cmd_cp "$f" "$cfg_dir_rootfs/usr/lib"
-    else
-      $cmd_target_strip -v "$f" -o "$cfg_dir_rootfs/usr/lib/$(basename "$f")"
-    fi
-  done
-}
--- a/rules/kmod/host.bash
+++ b/rules/kmod/host.bash
@@ -16,5 +16,5 @@ build()
 host_install()
 {
    $cmd_make install &&
-    ln -fs kmod "$cfg_dir_toolchain/sbin/depmod"
+    ln -fs ../bin/kmod "$cfg_dir_toolchain/sbin/depmod"
 }
--- a/rules/libpng/default.bash
+++ b/rules/libpng/default.bash
@@ -1,6 +1,6 @@
 version=\
 (
-    '1.6.19'
+    '1.6.23'
 )

 url=\
@@ -10,7 +10,7 @@ url=\

 md5=\
 (
-    '1e6a458429e850fc93c1f3b6dc00a48f'
+    '9b320a05ed4db1f3f0865c8a951fd9aa '
 )

 configure()
--- a/rules/linux/default.bash
+++ b/rules/linux/default.bash
@@ -25,13 +25,62 @@ requires=\
    'lz4/host'
 )

+# This variable is updated by find_patches().
+patches=()
+
+# Major/Minor version.
+linux_mm_version()
+{
+    echo "$version" | cut -f1-2 -d.
+}
+
+# Major/Minor/Patch version.
+linux_mmp_version()
+{
+    echo "$version" | cut -f1 -d-
+}
+
+find_patches()
+{
+    patches=(\
+        $(ls -1 \
+             "$pkg_dir/patches/$version/"*.patch \
+             "$pkg_dir/patches/$(linux_mmp_version)/"*.patch \
+             "$pkg_dir/patches/$(linux_mm_version)/"*.patch \
+             "$cfg_dir_system/patches/linux/$version/"*.patch \
+             "$cfg_dir_system/patches/linux/$(linux_mmp_version)/"*.patch \
+             "$cfg_dir_system/patches/linux/$(linux_mm_version)/"*.patch \
+             2> /dev/null | awk '!a[$0]++')
+    )
+}
+
+find_patches
+
+# Get configuration file.
+linux_cfg_file()
+{
+    for f in "$version" "$(linux_mmp_version)" "$(linux_mm_version)"; do
+        f="$cfg_dir_system/cfg/linux-$f.cfg"
+        if [ -f "$f" ]; then
+            echo "$f"
+            return 0
+        fi
+
+        echo "Candidate kernel configuration file '$f' doesn't exist." 1>&2
+    done
+
+    echo "ERROR: failed to find a valid kernel configuration file." 1>&2
+    return 1
+}
+
 post_unpack()
 {
-    patches=$(ls "$pkg_dir/patches/$version/"*.patch\
-	"$cfg_dir_system/patches/linux/$version/"*.patch 2>/dev/null)
-    if [ -n "$patches" ]; then
-        cat $patches | patch -p1
-    fi
+    n=0; while [ -n "${patches[$n]}" ]; do
+             patch="${patches[$n]}"
+             echo "* Applying $patch..."
+             (ucat "$patch" | patch -p1) || return 1
+             let n++
+         done

    if [ -d "$cfg_dir_toolchain/firmware" ]; then
        tar -C "$cfg_dir_toolchain/firmware" -c -v -f - . | tar -C firmware -x -v -f -
@@ -41,7 +90,7 @@ post_unpack()
 refresh()
 {
    for rule in configure build target_install; do
-        if [ "$cfg_dir_system/cfg/linux-${version}.cfg" -nt "$cfg_dir_builds/linux/$pkg_var/.$rule" ]; then
+        if [ "$(linux_cfg_file)" -nt "$cfg_dir_builds/linux/$pkg_var/.$rule" ]; then
            rm "$cfg_dir_builds/linux/$pkg_var/.$rule"
        fi
    done
@@ -51,9 +100,11 @@ configure()
 {
    $cmd_make \
        ARCH=${cfg_target_linux} \
-        mrproper &&
+        mrproper || return 1

-    cp "$cfg_dir_system/cfg/linux-${version}.cfg" .config &&
+    cfg="$(linux_cfg_file)"
+    [ -n "$cfg" ] || return 1
+    $cmd_cp "$cfg" .config || return 1

    if [ -f "$cfg_dir_system/files/initramfs_init.sh" ]; then
        $cmd_mkdir initramfs &&
@@ -72,17 +123,20 @@ build()
 {
    $cmd_make \
        CROSS_COMPILE=$cfg_target_canonical- \
-        ARCH=$cfg_target_linux &&
+        ARCH=$cfg_target_linux || return 1
+
    $cmd_make \
        CROSS_COMPILE=$cfg_target_canonical- \
        ARCH=$cfg_target_linux \
-        modules &&
+        DEPMOD="$cfg_dir_toolchain/sbin/depmod" \
+        modules || return 1

    if [ "$(basename $cfg_target_linux_kernel)" = 'uImage' ]; then
        $cmd_make \
            CROSS_COMPILE=$cfg_target_canonical- \
            ARCH=$cfg_target_linux \
-            uImage
+            DEPMOD="$cfg_dir_toolchain/sbin/depmod" \
+            uImage || return 1
    fi

    # Compressed image.
@@ -90,7 +144,8 @@ build()
        $cmd_make \
            CROSS_COMPILE=$cfg_target_canonical- \
            ARCH=$cfg_target_linux \
-            zImage
+            DEPMOD="$cfg_dir_toolchain/sbin/depmod" \
+            zImage || return 1
    fi

    # Device tree blob.
@@ -98,7 +153,8 @@ build()
        $cmd_make \
            CROSS_COMPILE=$cfg_target_canonical- \
            ARCH=$cfg_target_linux \
-            dtbs
+            DEPMOD="$cfg_dir_toolchain/sbin/depmod" \
+            dtbs || return 1
    fi

    if [ -n "${cfg_target_linux_size}" ]; then
@@ -108,15 +164,6 @@ build()
    fi
 }

-host_install()
-{
-    # Device tree blobs.
-    if [ -n "$cfg_target_linux_dtb" ]; then
-        $cmd_mkdir "$cfg_dir_toolchain/boot" &&
-            cp -v "$(dirname $cfg_target_linux_dtb)/"*.dtb "$cfg_dir_toolchain/boot"
-    fi
-}
-
 target_install()
 {
    if [ -n "$(file "$cfg_target_linux_kernel" | grep ELF)" ]; then
@@ -132,15 +179,33 @@ target_install()
        return 1
    fi

+    # Device tree blobs.
+    dts="arch/$cfg_target_linux/boot/dts"
+    if [ -d "$dts" ]; then
+        $cmd_mkdir "$cfg_dir_rootfs/boot" &&
+            cp -v "$dts/"*.dtb "$cfg_dir_rootfs/boot"
+    fi
+
+    # Device tree overlays.
+    overlays_dir="arch/$cfg_target_linux/boot/dts/overlays"
+    if [ -d "$overlays_dir" ]; then
+	$cmd_mkdir "$cfg_dir_rootfs/boot/overlays" || return 1
+        $cmd_cp "$overlays_dir"/*.dtbo "$cfg_dir_rootfs/boot/overlays" || return 1
+    fi
+
    $cmd_make \
        CROSS_COMPILE="$cfg_target_canonical-" \
        ARCH="$cfg_target_linux" \
        INSTALL_MOD_PATH="$cfg_dir_rootfs/usr" \
+        KBUILD_VERBOSE=1 \
+        DEPMOD="$cfg_dir_toolchain/sbin/depmod" \
        modules_install

    $cmd_make \
        CROSS_COMPILE="$cfg_target_canonical-" \
        ARCH="$cfg_target_linux" \
        INSTALL_MOD_PATH="$cfg_dir_rootfs/usr" \
+        KBUILD_VERBOSE=1 \
+        DEPMOD="$cfg_dir_toolchain/sbin/depmod" \
        firmware_install
 }
--- a/rules/linux/rpi.bash
+++ b/rules/linux/rpi.bash
@@ -2,21 +2,19 @@

 version=\
 (
-    '3.18_2015-06-03'
+    '4.4_2017-01-27'
 )

 url=\
 (
-    "https://github.com/rasmartins/rpi-linux/archive/rpi-linux-$version.tar.gz"
+    "http://lsts.pt/glued/rpi-linux-$version.zip"
 )

 md5=\
 (
-    '0b0255e50ca358b619bb78653ac2db2e'
+    'f31d48a9d2c93509b35e750be489b44c'
 )

-post_unpack()
-{
-    rmdir "../linux-$version" &&
-        mv "../rpi-linux-rpi-linux-$version" "../linux-$version"
-}
+build_dir="rpi-linux-rpi-linux-$version"
+
+find_patches
--- a/rules/linux/rt.bash
+++ b/rules/linux/rt.bash
@@ -0,0 +1,27 @@
+. "$cfg_dir_rules/$pkg/default.bash"
+
+version=\
+(
+    '3.14.64-rt67'
+)
+
+url=\
+(
+    "https://www.kernel.org/pub/linux/kernel/v3.x/linux-$(linux_mmp_version).tar.xz"
+    "https://www.kernel.org/pub/linux/kernel/projects/rt/$(linux_mm_version)/patch-$version.patch.gz"
+)
+
+md5=\
+(
+    'd68173a31fb60e2195a4015fe1f83e97'
+    '03be9388659d844c362e507ddba2d777'
+)
+
+maintainer=\
+(
+    'Ricardo Martins <rasm@oceanscan-mst.com>'
+)
+
+patches=("$cfg_dir_downloads/patch-$version.patch.gz" "${patches[@]}")
+
+build_dir="linux-$(linux_mmp_version)"
--- a/rules/necsave/default.bash
+++ b/rules/necsave/default.bash
@@ -1,79 +0,0 @@
-version=\
-(
-    'master'
-)
-
-branch=\
-(
-    'master'
-)
-
-maintainer=\
-(
-    "Jose Pinto <zepinto@fe.up.pt>"
-)
-
-requires=\
-(
-    'jansson/default'
-    'czmq/default'
-    'boost/default'
-    'cmake/host'
-    'dune/default'
-)
-
-download()
-{
-    git clone -b $branch "git@necsave.info:necsave/communications.git" source &&
-    cd source && 
-    ./update.sh &&
-    cd -
-}
-
-configure()
-{
-    $cmd_mkdir build && cd build
-    PKG_CONFIG_PATH="$cfg_dir_toolchain_sysroot/usr/lib/pkgconfig" \
-    cmake \
-        -DCMAKE_INSTALL_PREFIX="$cfg_dir_toolchain_sysroot/usr/necsave" \
-        -DCMAKE_CXX_COMPILER="$cmd_target_cxx" \
-        -DCMAKE_C_COMPILER="$cmd_target_cc" \
-        -DCMAKE_FIND_ROOT_PATH:PATH="$cfg_dir_toolchain_sysroot/usr" \
-        -DDUNE_HOME="$cfg_dir_toolchain_sysroot/usr" \
-        -DCMAKE_SYSTEM_NAME:STRING=Linux \
-        -DCMAKE_FIND_ROOT_PATH_MODE_INCLUDE:STRING=BOTH \
-        -DCMAKE_FIND_ROOT_PATH_MODE_LIBRARY:STRING=ONLY \
-        -DCMAKE_FIND_ROOT_PATH_MODE_PROGRAM:STRING=BOTH \
-        ../source
-}
-
-refresh()
-{
-  cd ../default
-  rm .build .host_install .target_install .postconfigure
-  cd -
-  cd integration && git pull && cd - &&
-  cd source && git pull && cd - &&
-  for r in duneplatform missionplanner perception vehicleplanner; do
-            cd "source/src/Modules/$r" && git pull && cd -
-        done
-}
-
-build()
-{
-    $cmd_make -C build
-}
-
-host_install()
-{
-    $cmd_make -C build install
-}
-
-#target_install()
-#{
-#    rm -rf "$cfg_dir_rootfs/usr/necsave" &&
-#        $cmd_cp -r "$cfg_dir_toolchain_sysroot/usr/necsave" "$cfg_dir_rootfs/usr" &&
-#        ln -fs /opt/lsts/necsave/log "$cfg_dir_rootfs/usr/necsave/log" &&
-#    $cmd_cp -r "integration/REP16"/* "$cfg_dir_rootfs/usr/necsave"
-#
-#}
--- a/rules/opencv/default.bash
+++ b/rules/opencv/default.bash
@@ -1,6 +1,6 @@
 version=\
 (
-    "2.4.11"
+    "2.4.13"
 )

 url=\
@@ -10,7 +10,7 @@ url=\

 md5=\
 (
-    '32f498451bff1817a60e1aabc2939575'
+    '886b0c511209b2f3129649928135967c'
 )

 requires=\
--- a/rules/raspicam/default.bash
+++ b/rules/raspicam/default.bash
@@ -0,0 +1,54 @@
+version=\
+(
+    "1.0.0"
+)
+
+url=\
+(
+    "http://lsts.pt/glued/raspicam-$version.zip"
+)
+
+md5=\
+(
+  "169e62fd17d41455a42711a2f9c54fd1"
+)
+
+maintainer=\
+(
+    'Pedro Gonçalves <pedro@lsts.pt>'
+)
+
+configure()
+{
+    LINKER_ADDED_FLAGS="-Wl,-rpath,${cfg_dir_rootfs}/usr/lib"
+
+    ${cfg_dir_toolchain}/usr/local/bin/cmake \
+        -DCMAKE_SYSTEM_NAME="Linux" \
+        -DCMAKE_SYSTEM_VERSION="1" \
+        -DCMAKE_FIND_ROOT_PATH="${cfg_dir_toolchain_sysroot}/usr ${cfg_dir_rootfs}/usr" \
+        -DCMAKE_FIND_ROOT_PATH_MODE_INCLUDE=ONLY \
+        -DCMAKE_FIND_ROOT_PATH_MODE_LIBRARY=ONLY \
+        -DCMAKE_C_COMPILER="${cmd_target_cc}" \
+        -DCMAKE_CXX_COMPILER="${cmd_target_cxx}" \
+        -DCMAKE_C_FLAGS="${cfg_target_gcc_flags}" \
+	.
+}
+
+build()
+{
+    $cmd_make VERBOSE=1
+}
+
+host_install()
+{
+    cd build/
+    $cmd_cp -r "lib/"* "$cfg_dir_toolchain_sysroot/usr/lib/"
+    $cmd_cp -r "inc/"* "$cfg_dir_toolchain_sysroot/usr/include/"
+}
+
+target_install()
+{
+    cd build/
+    $cmd_cp -r "lib/"* "$cfg_dir_rootfs/usr/lib/"
+    $cmd_cp -r "bin/"* "$cfg_dir_rootfs/usr/bin/"
+}
--- a/rules/rpi-boot-firmware/default.bash
+++ b/rules/rpi-boot-firmware/default.bash
@@ -1,31 +1,29 @@
 version=\
 (
-    '2015-06-03'
+    '2017-02-02'
 )

 url=\
 (
-    "https://github.com/rasmartins/rpi-boot-firmware/archive/rpi-boot-firmware-$version.tar.gz"
+    "http://lsts.pt/glued/rpi-boot-firmware-$version.zip"
 )

 maintainer=\
 (
    'Ricardo Martins <rasm@fe.up.pt>'
+    'Pedro Gonçalves <pedro@lsts.pt>'
 )

 md5=\
 (
-    'a80ee36b66cccda4e9ccb7eb26bd6bb8'
+    'eb42664fce4d73f167064e697dfacb76'
 )

 target_install()
 {
-    $cmd_mkdir \
-        "$cfg_dir_rootfs/boot" &&
+    $cmd_mkdir "$cfg_dir_rootfs/boot"

-    for f in bootcode.bin fixup.dat start.elf; do
-        $cmd_cp -r "../$pkg-$pkg-$version/$f" "$cfg_dir_rootfs/boot"
-    done &&
+    $cmd_cp "../$pkg-$version/"* "$cfg_dir_rootfs/boot/"

    tar -C "$pkg_dir/fs" -c -f - . | tar -C "$cfg_dir_rootfs" -x -v -f -
 }
--- a/rules/rpi-boot-firmware/fs/boot/cmdline.txt
+++ b/rules/rpi-boot-firmware/fs/boot/cmdline.txt
@@ -1 +1 @@
-dwc_otg.lpm_enable=0 console=ttyAMA0,115200,8n1 root=/dev/mmcblk0p2 elevator=deadline rootwait quiet
+dwc_otg.lpm_enable=0 console=tty1 root=/dev/mmcblk0p2 elevator=deadline rootwait quiet
--- a/rules/rpi-boot-firmware/fs/boot/config.txt
+++ b/rules/rpi-boot-firmware/fs/boot/config.txt
@@ -1 +0,0 @@
-arm_freq=1000
--- a/rules/rt-tests/default.bash
+++ b/rules/rt-tests/default.bash
@@ -0,0 +1,32 @@
+version=\
+(
+    '0.96'
+)
+
+url=\
+(
+    "https://www.kernel.org/pub/linux/utils/rt-tests/rt-tests-$version.tar.gz"
+)
+
+md5=\
+(
+    '590b2340f66993a978d9806a734d5ea8'
+)
+
+maintainer=\
+(
+    'Kristian Klausen <kristian.klausen@itk.ntnu.no>'
+)
+
+build()
+{
+    $cmd_make \
+	CC=$cmd_target_cc cyclictest \
+	CFLAGS="$cfg_target_gcc_flags" 
+}
+
+target_install()
+{
+    cp -a cyclictest "$cfg_dir_rootfs/usr/bin/" &&
+    $cmd_target_strip "$cfg_dir_rootfs/usr/bin/cyclictest"
+}
--- a/rules/rtklib/default.bash
+++ b/rules/rtklib/default.bash
@@ -34,7 +34,7 @@ build()
    cd app/str2str/gcc
    $cmd_make \
 	CC=$cmd_target_cc \
-	CTARGET="$cfg_target_gcc_flags" \
+	CTARGET="${cfg_target_gcc_flags} -DSVR_REUSEADDR" \
 	BINDIR="${cfg_dir_toolchain_sysroot}/usr/bin" 
 	
    cd ../../rtkrcv/gcc
--- a/rules/u-boot/default.bash
+++ b/rules/u-boot/default.bash
@@ -43,11 +43,11 @@ host_install()

 target_install()
 {
-    if [ -f MLO ]; then
-        $cmd_cp MLO "$cfg_dir_rootfs/boot"
-    fi
+    $cmd_mkdir "$cfg_dir_rootfs/boot"

-    if [ -f u-boot.img ]; then
-        $cmd_cp u-boot.img "$cfg_dir_rootfs/boot"
-    fi
+    for f in MLO u-boot.img u-boot.bin; do
+        if [ -f "$f" ]; then
+            $cmd_cp "$f" "$cfg_dir_rootfs/boot"
+        fi
+    done
 }
--- a/rules/util-linux/host.bash
+++ b/rules/util-linux/host.bash
@@ -8,6 +8,7 @@ requires=\
 configure()
 {
    cd "$pkg_build_dir" &&
+    CFLAGS="-I$cfg_dir_toolchain/include" \
    "../util-linux-$version/configure" \
        --prefix="$cfg_dir_toolchain" \
        --disable-wall \
--- a/rules/uv4l/default.bash
+++ b/rules/uv4l/default.bash
@@ -0,0 +1,45 @@
+version=\
+(
+  "1.0.0"
+)
+
+url=\
+(
+  "http://lsts.pt/glued/uv4l.$version.tar.bz2"
+)
+
+md5=\
+(
+  "869e884accbfa9c2356e2fd9307dd71c"
+)
+
+maintainer=\
+(
+    'Pedro Gonçalves <pedro@lsts.pt>'
+)
+
+post_unpack()
+{
+    mv "../etc" "../uv4l-$version/"
+    mv "../usr" "../uv4l-$version/"
+    touch startStreamRaspiCam.sh
+    echo "#!/bin/sh" >> startStreamRaspiCam.sh
+    echo "killall uv4l" >> startStreamRaspiCam.sh
+    echo "modprobe cuse" >> startStreamRaspiCam.sh
+    echo "uv4l -nopreview --auto-video_nr --driver raspicam --encoding h264 --width 1080 --height 720 --framerate 20 --quality 10 --server-option '--port=9090' --server-option '--max-queued-connections=30' --server-option '--max-streams=25' --server-option '--max-threads=29'" >> startStreamRaspiCam.sh
+}
+
+host_install()
+{
+  $cmd_cp -r "usr/lib/"*    "$cfg_dir_toolchain_sysroot/usr/lib/"
+  $cmd_cp -r "usr/include/"* "$cfg_dir_toolchain_sysroot/usr/include/"
+}
+
+target_install()
+{
+    $cmd_cp -r "usr/lib/"* "$cfg_dir_rootfs/usr/lib/"
+    $cmd_cp -r "usr/bin/"* "$cfg_dir_rootfs/usr/bin/"
+    $cmd_cp -r "startStreamRaspiCam.sh" "$cfg_dir_rootfs/usr/bin/"
+}
+
+
--- a/rules/zeromq/default.bash
+++ b/rules/zeromq/default.bash
@@ -1,46 +0,0 @@
-version=\
-(
-    "4.1.3"
-)
-
-url=\
-(
-    "http://download.zeromq.org/zeromq-$version.tar.gz"
-)
-
-md5=\
-(
-    "d0824317348cfb44b8692e19cc73dc3a"
-)
-
-configure()
-{
-    ./configure \
-        --prefix="${cfg_dir_toolchain_sysroot}/usr" \
-        --target="$cfg_target_canonical" \
-        --host="$cfg_target_canonical" \
-        --build="$cfg_host_canonical" \
-        --without-libsodium
-}
-
-build()
-{
-    $cmd_make
-}
-
-host_install()
-{
-    $cmd_make install
-}
-
-target_install()
-{
-  # Libs:
-  for f in "$cfg_dir_toolchain_sysroot/usr/lib/"libzmq.*; do
-    if [ -L "$f" ]; then
-      $cmd_cp "$f" "$cfg_dir_rootfs/usr/lib"
-    else
-      $cmd_target_strip -v "$f" -o "$cfg_dir_rootfs/usr/lib/$(basename "$f")"
-    fi
-  done
-}
--- a/systems/lauv-aux-rpi/cfg/linux-4.4_2017-01-27.cfg
+++ b/systems/lauv-aux-rpi/cfg/linux-4.4_2017-01-27.cfg
--- a/systems/lauv-aux-rpi/config
+++ b/systems/lauv-aux-rpi/config
@@ -6,13 +6,12 @@ cfg_services1='lauv-storage-server'
 cfg_services2='dune'
 cfg_packages='dropbear rsync busybox e2fsprogs dosfstools ptpd rpcbind nfs-utils rpi-boot-firmware linux/rpi'
 cfg_target_linux_kernel='arch/arm/boot/zImage'
-cfg_target_linux_dtb='arch/arm/boot/dts/bcm2709-rpi-2-b.dtb'
 cfg_ptpd_interface='eth0'
 cfg_terminal='ttyAMA0'
 cfg_lauv_storage_dir='/opt/lsts/dune/log'
 cfg_partitions=\
 (
-    rpi-boot boot0  512B    32MiB
+    rpi-boot BOOT0  512B    32MiB
    root     root0  32MiB   544MiB
    data     data0  544MiB  -1
 )
--- a/systems/lauv-aux-rpi/fs/boot/config.txt
+++ b/systems/lauv-aux-rpi/fs/boot/config.txt
@@ -0,0 +1,9 @@
+# Core.
+arm_freq=1000
+
+# Disable BT on Rpi3.
+dtoverlay=pi3-disable-bt
+
+# Enable RasPicam
+start_x=1
+gpu_mem=128
--- a/systems/lauv-aux-rpi/lauv-aux-rpi-testbed.cfg
+++ b/systems/lauv-aux-rpi/lauv-aux-rpi-testbed.cfg
@@ -3,3 +3,4 @@ cfg_eth_ext_ip='10.0.200.24'
 cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.0.1'
 cfg_ptpd_interface='eth0'
+cfg_services1=''
--- a/systems/lauv-aux-rpi/lauv-xtreme-2-aux.cfg
+++ b/systems/lauv-aux-rpi/lauv-xtreme-2-aux.cfg
@@ -4,4 +4,3 @@ cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.0.1'
 cfg_ptpd_interface='eth0'
 cfg_lauv_storage='internal'
-cfg_packages="$cfg_packages necsave"
--- a/systems/lauv-aux-rpi/necsave-aux.cfg
+++ b/systems/lauv-aux-rpi/necsave-aux.cfg
@@ -1,9 +0,0 @@
-cfg_hostname='lauv-xplore-2-aux'
-cfg_eth_ext_ip='10.0.10.183'
-cfg_eth_ext_mk='255.255.0.0'
-cfg_eth_ext_gw='10.0.0.1'
-cfg_ptpd_interface='eth0'
-cfg_services0='network dropbear storage upgrade syslog ptpd'
-cfg_services1=''
-cfg_services2='trex'
-cfg_packages='dropbear rsync busybox e2fsprogs dosfstools ptpd rpcbind nfs-utils rpi-boot-firmware linux/rpi libantlr3c jansson zeromq czmq boost europa'
--- a/systems/lauv-aux-rpi/test-rpi.cfg
+++ b/systems/lauv-aux-rpi/test-rpi.cfg
@@ -0,0 +1,10 @@
+cfg_hostname='test-rpi'
+cfg_eth_ext_ip='10.0.10.116'
+cfg_eth_ext_mk='255.255.0.0'
+cfg_eth_ext_gw='10.0.0.1'
+cfg_ptpd_interface='eth0'
+cfg_services1=''
+cfg_packages='dropbear rsync busybox e2fsprogs dosfstools ptpd ntp rpcbind nfs-utils rpi-boot-firmware linux/rpi raspicam libjpeg-turbo v4l-utils uv4l'
+cfg_modules="$cfg_modules ftdi_sio"
+cfg_terminal='tty1'
+
--- a/systems/lctr-a6xx/caravela.cfg
+++ b/systems/lctr-a6xx/caravela.cfg
@@ -1,2 +1,4 @@
 cfg_hostname='caravela'
 cfg_eth_ext_ip='10.0.10.40'
+cfg_packages="$cfg_packages ppp iptables"
+cfg_modules="$cfg_modules ftdi_sio"
--- a/systems/lctr-a6xx/cfg/linux-3.14.63.cfg
+++ b/systems/lctr-a6xx/cfg/linux-3.14.63.cfg
@@ -1529,7 +1529,7 @@ CONFIG_USB_SERIAL_GENERIC=y
 # CONFIG_USB_SERIAL_CP210X is not set
 # CONFIG_USB_SERIAL_CYPRESS_M8 is not set
 # CONFIG_USB_SERIAL_EMPEG is not set
-CONFIG_USB_SERIAL_FTDI_SIO=y
+CONFIG_USB_SERIAL_FTDI_SIO=m
 # CONFIG_USB_SERIAL_VISOR is not set
 # CONFIG_USB_SERIAL_IPAQ is not set
 # CONFIG_USB_SERIAL_IR is not set
@@ -2209,4 +2209,3 @@ CONFIG_ARCH_HAS_ATOMIC64_DEC_IF_POSITIVE=y
 # CONFIG_AVERAGE is not set
 # CONFIG_CORDIC is not set
 # CONFIG_DDR is not set
-
--- a/systems/lctr-a6xx/lauv-xplore-2.cfg
+++ b/systems/lctr-a6xx/lauv-xplore-2.cfg
@@ -1,4 +1,2 @@
 cfg_hostname='lauv-xplore-2'
 cfg_eth_ext_ip='10.0.10.130'
-cfg_packages="$cfg_packages necsave"
-
--- a/systems/lctr-a6xx/lauv-xtreme-2.cfg
+++ b/systems/lctr-a6xx/lauv-xtreme-2.cfg
@@ -1,3 +1,9 @@
 cfg_hostname='lauv-xtreme-2'
 cfg_eth_ext_ip='10.0.10.50'
+cfg_packages="$cfg_packages rpcbind nfs-utils"
+cfg_services1='lauv-storage-client'
+cfg_lauv_storage_host='10.0.10.53'
+cfg_lauv_storage_paths='/opt/lsts/dune/log'
+cfg_lauv_storage_timeout=60
 cfg_escc_script='/etc/escc/hg1700-psimar.sh'
+cfg_dune_i18n='C'
--- a/systems/lctr-a8xx/lauv-xtreme-2-doam.cfg
+++ b/systems/lctr-a8xx/lauv-xtreme-2-doam.cfg
@@ -1,3 +0,0 @@
-cfg_hostname='lauv-xtreme-2-doam'
-cfg_eth_ext_ip='10.0.10.53'
-cfg_kernel_boot_dev='/dev/sda1'
--- a/systems/lctr-a8xx/lauv-xtreme-2-trex.cfg
+++ b/systems/lctr-a8xx/lauv-xtreme-2-trex.cfg
@@ -1,5 +0,0 @@
-cfg_packages='dropbear rsync busybox e2fsprogs libjpeg-turbo ptpd linux syslinux syslinux/host bzip2 libantlr3c boost europa'
-cfg_hostname='lauv-xtreme-2-doam'
-cfg_eth_ext_ip='10.0.10.52'
-cfg_kernel_boot_dev='/dev/sda1'
-cfg_services2='dune trex'
--- a/systems/lctr-b2xx/lauv-noptilus-1-aux.cfg
+++ b/systems/lctr-b2xx/lauv-noptilus-1-aux.cfg
@@ -1,7 +0,0 @@
-cfg_hostname='lauv-noptilus-1-aux'
-cfg_storage='data0:ext4:/opt'
-cfg_eth_ext_ip='10.0.10.83'
-cfg_eth_ext_mk='255.255.0.0'
-cfg_eth_ext_gw='10.0.0.1'
-cfg_ptpd_interface='eth0'
-cfg_packages="$cfg_packages necsave"
--- a/systems/lctr-b2xx/lauv-noptilus-2-aux.cfg
+++ b/systems/lctr-b2xx/lauv-noptilus-2-aux.cfg
@@ -1,7 +0,0 @@
-cfg_hostname='lauv-noptilus-2-aux'
-cfg_storage='data0:ext4:/opt'
-cfg_eth_ext_ip='10.0.10.93'
-cfg_eth_ext_mk='255.255.0.0'
-cfg_eth_ext_gw='10.0.0.1'
-cfg_ptpd_interface='eth0'
-cfg_packages="$cfg_packages necsave"
--- a/systems/lctr-b2xx/lauv-noptilus-3-aux.cfg
+++ b/systems/lctr-b2xx/lauv-noptilus-3-aux.cfg
@@ -4,4 +4,3 @@ cfg_eth_ext_ip='10.0.10.103'
 cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.0.1'
 cfg_ptpd_interface='eth0'
-cfg_packages="$cfg_packages necsave"
--- a/systems/lauv-aux-rpi/cfg/linux-3.18_2015-06-03.cfg
+++ b/systems/lauv-aux-rpi/cfg/linux-3.18_2015-06-03.cfg
--- a/systems/ntnu-b2xx/config
+++ b/systems/ntnu-b2xx/config
@@ -1,11 +1,11 @@
-cfg_architecture='cortex-a8'
+cfg_architecture='cortex-a8-hardfp'
 cfg_storage='data0:ext4:/opt'
 cfg_modules=''
 cfg_services0='network dropbear storage upgrade syslog ptpd'
 cfg_services2='dune'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux'
 cfg_target_linux_kernel='arch/arm/boot/zImage'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx.dtb'
+cfg_target_linux_dtb='arch/arm/boot/dts/am335x-ntnu-b2xx.dtb'
 cfg_target_uboot_config='am335x_bbb'
 cfg_ptpd_interface='eth0'
 cfg_terminal='ttyO0'
--- a/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_rtkrcv
+++ b/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_rtkrcv
@@ -1,6 +1,35 @@
 start()
 {
-    (cd /opt/lsts/rtklib/ && exec rtkrcv -s -o /etc/rtklib/conf/rtkrcv.conf -d /tmp/ttyC0 < /dev/null > /opt/lsts/rtklib/startlog.log 2>&1 &)
+    localBackupPath="/opt/lsts/rtklib/rtklib_cmdfile.cmd"
+    cfgPath="/etc/rtklib/conf/rtkrcv.conf"
+    cfgPathUse="/opt/lsts/rtklib/conf_use.conf"
+    # First, try to get the configuration
+    cmdFile=`wget -q -O -  10.0.60.51:8080/rtklib_cmdfile.cmd`
+    res=$?
+
+    if [ $res -ne 0 ]; then
+        #echo "Could not find file. Trying to read backup."
+        
+        if [ -f $localBackupPath ]; then
+            echo "Error connecting to server. Reading from backup path."
+            cmdFile=`cat ${localBackupPath}`
+        else
+            echo "Error connecting to server. No local backup file. Using default. "
+            cmdFile="GPS_5Hz.cmd"
+        fi  
+    fi
+
+    echo "Using cmd file: ${cmdFile}"
+    #echo "Storing in last used file. "
+    echo ${cmdFile} > ${localBackupPath}
+
+    cfgFileContent=`cat ${cfgPath}`
+
+    cp ${cfgPath} ${cfgPathUse}
+
+    echo "file-cmdfile1 =/etc/rtklib/cmd/${cmdFile}" >> ${cfgPathUse}   
+
+    (cd /opt/lsts/rtklib/ && exec rtkrcv -s -o ${cfgPathUse} -d /tmp/ttyC0 < /dev/null > /opt/lsts/rtklib/startlog.log 2>&1 &)
 }

 stop()
--- a/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_single
+++ b/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_single
@@ -0,0 +1,27 @@
+start()
+{
+    (cd /opt/lsts/rtklib/ && exec rtkrcv -s -o /etc/rtklib/conf/rtkrcv_single.conf -d /tmp/ttyC0 < /dev/null > /opt/lsts/rtklib/startlog.log 2>&1 &)
+}
+
+stop()
+{
+        while [ 1 ]; do
+        echo "* Stopping process..."        
+        killall rtkrcv > /dev/null 2>&1
+
+       
+        for r in 0 1 2 3 4 5 6 7 8 9; do
+            if [ -n "$(pidof rtkrcv)" ]; then
+                echo "* Waiting for process to exit ($r)..."
+                sleep 1
+            else
+                echo "* Process not running."
+                return 1
+            fi
+        done
+
+        echo "* Forcing exit..."
+        killall -9 rtkrcv > /dev/null 2>&1
+        sleep 1
+    done
+}
--- a/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_str2str
+++ b/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_str2str
@@ -1,6 +1,20 @@
 start()
 {
-    str2str -in serial://uart/2:9600:8:n:1:off -c /etc/rtklib/data/ubx_raw_10hz.cmd -out tcpsvr://:50022 < /dev/null > /dev/null 2>&1 &
+   cmdFilePath="/opt/lsts/dune/www/rtklib_cmdfile.cmd"
+    
+    # Exists?
+    if [ ! -f ${cmdFilePath} ]; then
+        echo "No commandfile found. Creating default."        
+        echo "GPS_5Hz.cmd" >> ${cmdFilePath}
+    fi            
+            
+    cmdFile=$(<${cmdFilePath})
+    cmdFile=`cat ${cmdFilePath}`
+    echo "Starting str2str server with command file: ${cmdFile}"
+    
+    str2str -in serial://uart/2:115200:8:n:1:off -c /etc/rtklib/cmd/${cmdFile} -out tcpsvr://:50022 < /dev/null > /dev/null 2>&1 &    
+
+
 }

 stop()
--- a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_10Hz.cmd
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_10Hz.cmd
@@ -0,0 +1,59 @@
+# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs)
+# navigation data update rate 1Hz in ms
+!UBX CFG-RATE 100 1 1
+
+# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 21 0 1 0 0 0 0
+# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 19 0 1 0 0 0 0
+# turn off UBX TIM TM2 messages on first(UART) interface with the same freq
+!UBX CFG-MSG 13 3 0 0 0 0 0 0
+
+# GNSS system settings
+# set GPS 8-16 channels
+!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1
+
+# set SBAS 1-3 channels off
+!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1
+
+# set Galileo 0 channels off
+!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1
+
+# set BeiDou 8-16 channels off
+!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1
+
+# set IMES 0-8 channels off
+!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1
+
+# set QZSS 0-3 channels off
+!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1
+
+# set GLONASS 8-14 channels off 
+!UBX CFG-GNSS 0 32 32 1 6 8 14 0 0 0 1 1
+
+# change NAV5 stationary mode to airborne <4g
+!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+
+# turn off extra messages default messages
+# NMEA GGA
+!UBX CFG-MSG 240 0 0 0 0 0 0 0
+# NMEA GLL
+!UBX CFG-MSG 240 1 0 0 0 0 0 0
+# NMEA GSA
+!UBX CFG-MSG 240 2 0 0 0 0 0 0
+# NMEA GSV
+!UBX CFG-MSG 240 3 0 0 0 0 0 0
+# NMEA RMC
+!UBX CFG-MSG 240 4 0 0 0 0 0 0
+# NMEA VTG
+!UBX CFG-MSG 240 5 0 0 0 0 0 0
+# NMEA ZDA
+!UBX CFG-MSG 240 8 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 6 0 0 0 0 0 0
+!UBX CFG-MSG 1 18 0 0 0 0 0 0
+!UBX CFG-MSG 1 34 0 0 0 0 0 0
+!UBX CFG-MSG 1 48 0 0 0 0 0 0
+@
+!UBX CFG-RATE 1000 1 1
--- a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_14Hz.cmd
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_14Hz.cmd
@@ -0,0 +1,59 @@
+# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs)
+# navigation data update rate 1Hz in ms
+!UBX CFG-RATE 70 1 1
+
+# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 21 0 1 0 0 0 0
+# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 19 0 1 0 0 0 0
+# turn off UBX TIM TM2 messages on first(UART) interface with the same freq
+!UBX CFG-MSG 13 3 0 0 0 0 0 0
+
+# GNSS system settings
+# set GPS 8-16 channels
+!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1
+
+# set SBAS 1-3 channels off
+!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1
+
+# set Galileo 0 channels off
+!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1
+
+# set BeiDou 8-16 channels off
+!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1
+
+# set IMES 0-8 channels off
+!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1
+
+# set QZSS 0-3 channels off
+!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1
+
+# set GLONASS 8-14 channels off 
+!UBX CFG-GNSS 0 32 32 1 6 8 14 0 0 0 1 1
+
+# change NAV5 stationary mode to airborne <4g
+!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+
+# turn off extra messages default messages
+# NMEA GGA
+!UBX CFG-MSG 240 0 0 0 0 0 0 0
+# NMEA GLL
+!UBX CFG-MSG 240 1 0 0 0 0 0 0
+# NMEA GSA
+!UBX CFG-MSG 240 2 0 0 0 0 0 0
+# NMEA GSV
+!UBX CFG-MSG 240 3 0 0 0 0 0 0
+# NMEA RMC
+!UBX CFG-MSG 240 4 0 0 0 0 0 0
+# NMEA VTG
+!UBX CFG-MSG 240 5 0 0 0 0 0 0
+# NMEA ZDA
+!UBX CFG-MSG 240 8 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 6 0 0 0 0 0 0
+!UBX CFG-MSG 1 18 0 0 0 0 0 0
+!UBX CFG-MSG 1 34 0 0 0 0 0 0
+!UBX CFG-MSG 1 48 0 0 0 0 0 0
+@
+!UBX CFG-RATE 1000 1 1
--- a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_5Hz.cmd
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_5Hz.cmd
@@ -0,0 +1,59 @@
+# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs)
+# navigation data update rate 1Hz in ms
+!UBX CFG-RATE 200 1 1
+
+# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 21 0 1 0 0 0 0
+# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 19 0 1 0 0 0 0
+# turn off UBX TIM TM2 messages on first(UART) interface with the same freq
+!UBX CFG-MSG 13 3 0 0 0 0 0 0
+
+# GNSS system settings
+# set GPS 8-16 channels
+!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1
+
+# set SBAS 1-3 channels off
+!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1
+
+# set Galileo 0 channels off
+!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1
+
+# set BeiDou 8-16 channels off
+!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1
+
+# set IMES 0-8 channels off
+!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1
+
+# set QZSS 0-3 channels off
+!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1
+
+# set GLONASS 8-14 channels off 
+!UBX CFG-GNSS 0 32 32 1 6 8 14 0 0 0 1 1
+
+# change NAV5 stationary mode to airborne <4g
+!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+
+# turn off extra messages default messages
+# NMEA GGA
+!UBX CFG-MSG 240 0 0 0 0 0 0 0
+# NMEA GLL
+!UBX CFG-MSG 240 1 0 0 0 0 0 0
+# NMEA GSA
+!UBX CFG-MSG 240 2 0 0 0 0 0 0
+# NMEA GSV
+!UBX CFG-MSG 240 3 0 0 0 0 0 0
+# NMEA RMC
+!UBX CFG-MSG 240 4 0 0 0 0 0 0
+# NMEA VTG
+!UBX CFG-MSG 240 5 0 0 0 0 0 0
+# NMEA ZDA
+!UBX CFG-MSG 240 8 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 6 0 0 0 0 0 0
+!UBX CFG-MSG 1 18 0 0 0 0 0 0
+!UBX CFG-MSG 1 34 0 0 0 0 0 0
+!UBX CFG-MSG 1 48 0 0 0 0 0 0
+@
+!UBX CFG-RATE 1000 1 1
--- a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_5Hz.cmd
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_5Hz.cmd
@@ -0,0 +1,59 @@
+# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs)
+# navigation data update rate 1Hz in ms
+!UBX CFG-RATE 200 1 1
+
+# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 21 0 1 0 0 0 0
+# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 19 0 1 0 0 0 0
+# turn off UBX TIM TM2 messages on first(UART) interface with the same freq
+!UBX CFG-MSG 13 3 0 0 0 0 0 0
+
+# GNSS system settings
+# set GPS 8-16 channels
+!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1
+
+# set SBAS 1-3 channels off
+!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1
+
+# set Galileo 0 channels off
+!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1
+
+# set BeiDou 8-16 channels off
+!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1
+
+# set IMES 0-8 channels off
+!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1
+
+# set QZSS 0-3 channels off
+!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1
+
+# set GLONASS 8-14 channels
+!UBX CFG-GNSS 0 32 32 1 6 8 14 0 1 0 1 1
+
+# change NAV5 stationary mode to airborne <4g
+!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+
+# turn off extra messages default messages
+# NMEA GGA
+!UBX CFG-MSG 240 0 0 0 0 0 0 0
+# NMEA GLL
+!UBX CFG-MSG 240 1 0 0 0 0 0 0
+# NMEA GSA
+!UBX CFG-MSG 240 2 0 0 0 0 0 0
+# NMEA GSV
+!UBX CFG-MSG 240 3 0 0 0 0 0 0
+# NMEA RMC
+!UBX CFG-MSG 240 4 0 0 0 0 0 0
+# NMEA VTG
+!UBX CFG-MSG 240 5 0 0 0 0 0 0
+# NMEA ZDA
+!UBX CFG-MSG 240 8 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 6 0 0 0 0 0 0
+!UBX CFG-MSG 1 18 0 0 0 0 0 0
+!UBX CFG-MSG 1 34 0 0 0 0 0 0
+!UBX CFG-MSG 1 48 0 0 0 0 0 0
+@
+!UBX CFG-RATE 1000 1 1
--- a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_8Hz.cmd
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_8Hz.cmd
@@ -0,0 +1,59 @@
+# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs)
+# navigation data update rate 1Hz in ms
+!UBX CFG-RATE 125 1 1
+
+# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 21 0 1 0 0 0 0
+# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 19 0 1 0 0 0 0
+# turn off UBX TIM TM2 messages on first(UART) interface with the same freq
+!UBX CFG-MSG 13 3 0 0 0 0 0 0
+
+# GNSS system settings
+# set GPS 8-16 channels
+!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1
+
+# set SBAS 1-3 channels off
+!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1
+
+# set Galileo 0 channels off
+!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1
+
+# set BeiDou 8-16 channels off
+!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1
+
+# set IMES 0-8 channels off
+!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1
+
+# set QZSS 0-3 channels off
+!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1
+
+# set GLONASS 8-14 channels
+!UBX CFG-GNSS 0 32 32 1 6 8 14 0 1 0 1 1
+
+# change NAV5 stationary mode to airborne <4g
+!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+
+# turn off extra messages default messages
+# NMEA GGA
+!UBX CFG-MSG 240 0 0 0 0 0 0 0
+# NMEA GLL
+!UBX CFG-MSG 240 1 0 0 0 0 0 0
+# NMEA GSA
+!UBX CFG-MSG 240 2 0 0 0 0 0 0
+# NMEA GSV
+!UBX CFG-MSG 240 3 0 0 0 0 0 0
+# NMEA RMC
+!UBX CFG-MSG 240 4 0 0 0 0 0 0
+# NMEA VTG
+!UBX CFG-MSG 240 5 0 0 0 0 0 0
+# NMEA ZDA
+!UBX CFG-MSG 240 8 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 6 0 0 0 0 0 0
+!UBX CFG-MSG 1 18 0 0 0 0 0 0
+!UBX CFG-MSG 1 34 0 0 0 0 0 0
+!UBX CFG-MSG 1 48 0 0 0 0 0 0
+@
+!UBX CFG-RATE 1000 1 1
--- a/systems/ntnu-b2xx/fs/etc/rtklib/conf/rtkrcv.conf
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/conf/rtkrcv.conf
@@ -20,7 +20,7 @@ pos1-posopt3       =off        # (0:off,1:on)
 pos1-posopt4       =off        # (0:off,1:on)
 pos1-posopt5       =off        # (0:off,1:on)
 pos1-exclsats      =           # (prn ...)
-pos1-navsys        =1          # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
+pos1-navsys        =7          # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
 pos2-armode        =fix-and-hold # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)
 pos2-gloarmode     =off        # (0:off,1:on,2:autocal)
 pos2-bdsarmode     =off        # (0:off,1:on)
@@ -42,7 +42,7 @@ out-solformat      =llh        # (0:llh,1:xyz,2:enu,3:nmea)
 out-outhead        =off        # (0:off,1:on)
 out-outopt         =off        # (0:off,1:on)
 out-timesys        =gpst       # (0:gpst,1:utc,2:jst)
-out-timeform       =hms        # (0:tow,1:hms)
+out-timeform       =tow        # (0:tow,1:hms)
 out-timendec       =3
 out-degform        =deg        # (0:deg,1:dms)
 out-fieldsep       =
--- a/systems/ntnu-b2xx/fs/etc/rtklib/conf/rtkrcv_single.conf
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/conf/rtkrcv_single.conf
@@ -0,0 +1,139 @@
+# RTKNAVI options (2015/10/30 13:05:07, v.2.4.2)
+
+pos1-posmode       =single     # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static)
+pos1-frequency     =l1         # (1:l1,2:l1+l2,3:l1+l2+l5,4:l1+l2+l5+l6,5:l1+l2+l5+l6+l7)
+pos1-soltype       =forward    # (0:forward,1:backward,2:combined)
+pos1-elmask        =10         # (deg)
+pos1-snrmask_r     =off        # (0:off,1:on)
+pos1-snrmask_b     =off        # (0:off,1:on)
+pos1-snrmask_L1    =0,0,0,0,0,0,0,0,0
+pos1-snrmask_L2    =0,0,0,0,0,0,0,0,0
+pos1-snrmask_L5    =0,0,0,0,0,0,0,0,0
+pos1-dynamics      =on        # (0:off,1:on)
+pos1-tidecorr      =off        # (0:off,1:on,2:otl)
+pos1-ionoopt       =brdc       # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc,7:qzs-lex,8:vtec_sf,9:vtec_ef,10:gtec)
+pos1-tropopt       =saas       # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)
+pos1-sateph        =brdc       # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
+pos1-posopt1       =off        # (0:off,1:on)
+pos1-posopt2       =off        # (0:off,1:on)
+pos1-posopt3       =off        # (0:off,1:on)
+pos1-posopt4       =off        # (0:off,1:on)
+pos1-posopt5       =off        # (0:off,1:on)
+pos1-exclsats      =           # (prn ...)
+pos1-navsys        =7          # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
+pos2-armode        =fix-and-hold # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)
+pos2-gloarmode     =off        # (0:off,1:on,2:autocal)
+pos2-bdsarmode     =off        # (0:off,1:on)
+pos2-arthres       =3
+pos2-arlockcnt     =0
+pos2-arelmask      =0          # (deg)
+pos2-arminfix      =10
+pos2-elmaskhold    =0          # (deg)
+pos2-aroutcnt      =5
+pos2-maxage        =30         # (s)
+pos2-syncsol       =on        # (0:off,1:on)
+pos2-slipthres     =0.05       # (m)
+pos2-rejionno      =30         # (m)
+pos2-rejgdop       =30
+pos2-niter         =1
+pos2-baselen       =0          # (m)
+pos2-basesig       =0          # (m)
+out-solformat      =llh        # (0:llh,1:xyz,2:enu,3:nmea)
+out-outhead        =off        # (0:off,1:on)
+out-outopt         =off        # (0:off,1:on)
+out-timesys        =gpst       # (0:gpst,1:utc,2:jst)
+out-timeform       =tow        # (0:tow,1:hms)
+out-timendec       =3
+out-degform        =deg        # (0:deg,1:dms)
+out-fieldsep       =
+out-height         =ellipsoidal # (0:ellipsoidal,1:geodetic)
+out-geoid          =internal   # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
+out-solstatic      =all        # (0:all,1:single)
+out-nmeaintv1      =0          # (s)
+out-nmeaintv2      =0          # (s)
+out-outstat        =state        # (0:off,1:state,2:residual)
+stats-eratio1      =100
+stats-eratio2      =100
+stats-errphase     =0.003      # (m)
+stats-errphaseel   =0.003      # (m)
+stats-errphasebl   =0          # (m/10km)
+stats-errdoppler   =1          # (Hz)
+stats-stdbias      =30         # (m)
+stats-stdiono      =0.03       # (m)
+stats-stdtrop      =0.3        # (m)
+stats-prnaccelh    =10         # (m/s^2)
+stats-prnaccelv    =10         # (m/s^2)
+stats-prnbias      =0.0001     # (m)
+stats-prniono      =0.001      # (m)
+stats-prntrop      =0.0001     # (m)
+stats-clkstab      =5e-12      # (s/s)
+ant1-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
+ant1-pos1          =90         # (deg|m)
+ant1-pos2          =0          # (deg|m)
+ant1-pos3          =-6335367.6285 # (m|m)
+ant1-anttype       =
+ant1-antdele       =0          # (m)
+ant1-antdeln       =0          # (m)
+ant1-antdelu       =0          # (m)
+ant2-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
+ant2-pos1          =90         # (deg|m)
+ant2-pos2          =0          # (deg|m)
+ant2-pos3          =-6335367.6285 # (m|m)
+ant2-anttype       =
+ant2-antdele       =0          # (m)
+ant2-antdeln       =0          # (m)
+ant2-antdelu       =0          # (m)
+misc-timeinterp    =off        # (0:off,1:on)
+misc-sbasatsel     =0          # (0:all)
+misc-rnxopt1       =
+misc-rnxopt2       =
+file-satantfile    =
+file-rcvantfile    =
+file-staposfile    =
+file-geoidfile     =
+file-ionofile      =
+file-dcbfile       =
+file-eopfile       =
+file-blqfile       =
+file-tempdir       =/tmp/
+file-geexefile     =
+file-solstatfile   =
+file-tracefile     =
+# 
+
+inpstr1-type       =tcpcli     # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
+inpstr2-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
+inpstr3-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
+inpstr1-path       =:@127.0.0.1:50022/:
+inpstr2-path       =
+inpstr3-path       =
+inpstr1-format     =ubx        # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,15:sp3)
+inpstr2-format     =ubx        # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,15:sp3)
+inpstr3-format     =rtcm2      # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,15:sp3)
+inpstr2-nmeareq    =off        # (0:off,1:latlon,2:single)
+inpstr2-nmealat    =0          # (deg)
+inpstr2-nmealon    =0          # (deg)
+outstr1-type       =serial        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+outstr2-type       =file        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+outstr1-path       =../tmp/ttyV0:115200:8:n:1:off
+outstr2-path       =/opt/lsts/rtklib/log/rtklib_output_single%Y%m%d%h%M.pos
+outstr1-format     =llh        # (0:llh,1:xyz,2:enu,3:nmea)
+outstr2-format     =llh        # (0:llh,1:xyz,2:enu,3:nmea)
+logstr1-type       =file        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+logstr2-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+logstr3-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+logstr1-path       =/opt/lsts/rtklib/log/rtklib_ubxstream_x8_single_log%Y%m%d%h%M.ubx
+logstr2-path       =
+logstr3-path       =
+misc-svrcycle      =50         # (ms)
+misc-timeout       =30000      # (ms)
+misc-reconnect     =30000      # (ms)
+misc-nmeacycle     =5000       # (ms)
+misc-buffsize      =32768      # (bytes)
+misc-navmsgsel     =all        # (0:all,1:rover,2:base,3:corr)
+misc-proxyaddr     =
+misc-fswapmargin   =30         # (s)
+#misc-startcmd =./rtkstart.sh
+#misc.startcmd =./rtkshut.sh
+#file-cmdfile1 =/etc/rtklib/data/ubx_raw_10hz.cmd
+#file-cmdfile2 =/etc/rtklib/data/ubx_raw_10hz.cmd
--- a/systems/ntnu-b2xx/ntnu-hexa-001.cfg
+++ b/systems/ntnu-b2xx/ntnu-hexa-001.cfg
@@ -4,6 +4,5 @@ cfg_eth_ext_ip='10.0.60.200'
 cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libphidget'
 cfg_services1='rtc-ds3231'
--- a/systems/ntnu-b2xx/ntnu-hexa-002.cfg
+++ b/systems/ntnu-b2xx/ntnu-hexa-002.cfg
@@ -4,6 +4,5 @@ cfg_eth_ext_ip='10.0.60.205'
 cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libphidget'
 cfg_services1='rtc-ds3231'
--- a/systems/ntnu-b2xx/ntnu-hexa-003.cfg
+++ b/systems/ntnu-b2xx/ntnu-hexa-003.cfg
@@ -4,6 +4,5 @@ cfg_eth_ext_ip='10.0.60.210'
 cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
-cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libphidget ethtool'
-cfg_services1='rtc-ds3231 force_10mbit'
+cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib libphidget ethtool socat'
+cfg_services1='vsp_pair rtc-ds3231 force_10mbit rtklib_rtkrcv'
--- a/systems/ntnu-b2xx/ntnu-hexa-004.cfg
+++ b/systems/ntnu-b2xx/ntnu-hexa-004.cfg
@@ -4,6 +4,5 @@ cfg_eth_ext_ip='10.0.60.215'
 cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
-cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libphidget ethtool'
-cfg_services1='rtc-ds3231 force_10mbit'
+cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib libphidget ethtool socat'
+cfg_services1='vsp_pair rtc-ds3231 force_10mbit rtklib_rtkrcv' 
--- a/systems/ntnu-b2xx/ntnu-hexa-testbed.cfg
+++ b/systems/ntnu-b2xx/ntnu-hexa-testbed.cfg
@@ -4,6 +4,5 @@ cfg_eth_ext_ip='10.0.60.220'
 cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libphidget'
 cfg_services1='rtc-ds3231'
--- a/systems/ntnu-b2xx/ntnu-nest-01.cfg
+++ b/systems/ntnu-b2xx/ntnu-nest-01.cfg
@@ -4,5 +4,4 @@ cfg_eth_ext_ip='192.168.1.45'
 cfg_eth_ext_mk='255.255.255.0'
 cfg_eth_ext_gw='192.168.1.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-gpio.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libswiftnav'
--- a/systems/ntnu-b2xx/ntnu-nest-02.cfg
+++ b/systems/ntnu-b2xx/ntnu-nest-02.cfg
@@ -4,6 +4,5 @@ cfg_eth_ext_ip='10.0.60.51'
 cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib'
-cfg_services1='rtklib_str2str'
+cfg_services1='vsp_pair rtklib_str2str rtklib_single'
--- a/systems/ntnu-b2xx/ntnu-nest-03.cfg
+++ b/systems/ntnu-b2xx/ntnu-nest-03.cfg
@@ -0,0 +1,7 @@
+# ntnu-nest-0x
+cfg_hostname='ntnu-nest-03'
+cfg_eth_ext_ip='10.0.60.55'
+cfg_eth_ext_mk='255.255.0.0'
+cfg_eth_ext_gw='10.0.60.1'
+cfg_ptpd_interface='eth0'
+cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux openssl openssh sshpass'
--- a/systems/ntnu-b2xx/ntnu-penguin-001.cfg
+++ b/systems/ntnu-b2xx/ntnu-penguin-001.cfg
@@ -1,8 +1,8 @@
 # ntnu-penguin-00x
 # Adds libav package. 
 cfg_hostname='ntnu-penguin-001'
-cfg_eth_ext_ip='192.168.1.235'
-cfg_eth_ext_mk='255.255.255.0'
-cfg_eth_ext_gw='192.168.1.1'
+cfg_eth_ext_ip='10.0.60.235'
+cfg_eth_ext_mk='255.255.0.0'
+cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libav'
--- a/systems/ntnu-b2xx/ntnu-ptu-02.cfg
+++ b/systems/ntnu-b2xx/ntnu-ptu-02.cfg
@@ -0,0 +1,7 @@
+# ntnu-nest-0x
+cfg_hostname='ntnu-nest-03'
+cfg_eth_ext_ip='10.0.60.55'
+cfg_eth_ext_mk='255.255.0.0'
+cfg_eth_ext_gw='10.0.60.1'
+cfg_ptpd_interface='eth0'
+cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux openssl openssh sshpass'
--- a/systems/ntnu-b2xx/ntnu-x8-001.cfg
+++ b/systems/ntnu-b2xx/ntnu-x8-001.cfg
@@ -1,9 +1,8 @@
 # ntnu-x8-00x
 # Adds libav package. 
 cfg_hostname='ntnu-x8-001'
-cfg_eth_ext_ip='192.168.1.100'
-cfg_eth_ext_mk='255.255.255.0'
-cfg_eth_ext_gw='192.168.1.1'
+cfg_eth_ext_ip='10.0.60.100'
+cfg_eth_ext_mk='255.255.0.0'
+cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-gpio.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libav libswiftnav'
--- a/systems/ntnu-b2xx/ntnu-x8-002.cfg
+++ b/systems/ntnu-b2xx/ntnu-x8-002.cfg
@@ -1,10 +1,8 @@
 # ntnu-x8-00x
-# Adds libav package. 
 cfg_hostname='ntnu-x8-002'
 cfg_eth_ext_ip='10.0.60.105'
 cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib libphidget ethtool socat'
-cfg_services1='vsp_pair rtc-ds3231 force_10mbit rtklib_rtkrcv'
+cfg_services1='vsp_pair rtc-ds3231 rtklib_rtkrcv'
--- a/systems/ntnu-b2xx/ntnu-x8-003.cfg
+++ b/systems/ntnu-b2xx/ntnu-x8-003.cfg
@@ -5,5 +5,4 @@ cfg_eth_ext_ip='10.0.60.110'
 cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-gpio.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libav libswiftnav openssl openssh sshpass'
--- a/systems/ntnu-b2xx/ntnu-x8-004.cfg
+++ b/systems/ntnu-b2xx/ntnu-x8-004.cfg
@@ -5,5 +5,4 @@ cfg_eth_ext_ip='10.0.60.115'
 cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-gpio.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libav libswiftnav openssl openssh sshpass'
--- a/systems/ntnu-b2xx/ntnu-x8-005.cfg
+++ b/systems/ntnu-b2xx/ntnu-x8-005.cfg
@@ -5,5 +5,4 @@ cfg_eth_ext_ip='10.0.60.120'
 cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-gpio.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libav libswiftnav openssl openssh sshpass'
--- a/systems/ntnu-b2xx/ntnu-x8-006.cfg
+++ b/systems/ntnu-b2xx/ntnu-x8-006.cfg
@@ -1,9 +1,8 @@
 # ntnu-x8-00x
 # Adds libav package. 
 cfg_hostname='ntnu-x8-006'
-cfg_eth_ext_ip='192.168.1.125'
-cfg_eth_ext_mk='255.255.255.0'
-cfg_eth_ext_gw='192.168.1.1'
+cfg_eth_ext_ip='10.0.60.125'
+cfg_eth_ext_mk='255.255.0.0'
+cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-gpio.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libav libswiftnav'
--- a/systems/ntnu-b2xx/ntnu-x8-007.cfg
+++ b/systems/ntnu-b2xx/ntnu-x8-007.cfg
@@ -1,9 +1,8 @@
 # ntnu-x8-00x
 # Adds libav package. 
 cfg_hostname='ntnu-x8-007'
-cfg_eth_ext_ip='192.168.1.130'
-cfg_eth_ext_mk='255.255.255.0'
-cfg_eth_ext_gw='192.168.1.1'
+cfg_eth_ext_ip='10.0.60.130'
+cfg_eth_ext_mk='255.255.0.0'
+cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-gpio.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libav libswiftnav'
--- a/systems/ntnu-b2xx/ntnu-x8-008.cfg
+++ b/systems/ntnu-b2xx/ntnu-x8-008.cfg
@@ -1,9 +1,8 @@
 # ntnu-x8-00x
 # Adds libav package. 
 cfg_hostname='ntnu-x8-008'
-cfg_eth_ext_ip='192.168.1.135'
-cfg_eth_ext_mk='255.255.255.0'
-cfg_eth_ext_gw='192.168.1.1'
+cfg_eth_ext_ip='10.0.60.135'
+cfg_eth_ext_mk='255.255.0.0'
+cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-gpio.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libav libswiftnav'
--- a/systems/ntnu-b2xx/ntnu-x8-009.cfg
+++ b/systems/ntnu-b2xx/ntnu-x8-009.cfg
@@ -1,9 +1,8 @@
 # ntnu-x8-00x
 # Adds libav package. 
 cfg_hostname='ntnu-x8-009'
-cfg_eth_ext_ip='192.168.1.140'
-cfg_eth_ext_mk='255.255.255.0'
-cfg_eth_ext_gw='192.168.1.1'
+cfg_eth_ext_ip='10.0.60.140'
+cfg_eth_ext_mk='255.255.0.0'
+cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-gpio.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libav libswiftnav'
--- a/systems/ntnu-b2xx/ntnu-x8-010.cfg
+++ b/systems/ntnu-b2xx/ntnu-x8-010.cfg
@@ -1,9 +1,8 @@
 # ntnu-x8-00x
 # Adds libav package. 
 cfg_hostname='ntnu-x8-010'
-cfg_eth_ext_ip='192.168.1.145'
-cfg_eth_ext_mk='255.255.255.0'
-cfg_eth_ext_gw='192.168.1.1'
+cfg_eth_ext_ip='10.0.60.145'
+cfg_eth_ext_mk='255.255.0.0'
+cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
-cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-gpio.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libav libswiftnav'
--- a/systems/ntnu-b2xx/patches/linux/3.14.63/00-lctr-b2xx-dts.patch
+++ b/systems/ntnu-b2xx/patches/linux/3.14.63/00-lctr-b2xx-dts.patch
@@ -1,92 +0,0 @@
-diff -Nru linux-3.13.1/arch/arm/boot/dts/Makefile linux-3.13.1.rasm/arch/arm/boot/dts/Makefile
--- linux-3.13.1/arch/arm/boot/dts/Makefile	2014-01-29 13:06:37.000000000 +0000
-+++ linux-3.13.1.rasm/arch/arm/boot/dts/Makefile	2014-02-01 06:53:43.968486026 +0000
-@@ -198,6 +198,7 @@
- 	am335x-evmsk.dtb \
- 	am335x-bone.dtb \
- 	am335x-boneblack.dtb \
-+	am335x-lctr-b2xx.dtb \
- 	am335x-nano.dtb \
- 	am335x-base0033.dtb \
- 	am3517-evm.dtb \
-diff -Nru linux-3.13.1/arch/arm/boot/dts/am335x-lctr-b2xx.dts linux-3.13.1.rasm/arch/arm/boot/dts/am335x-lctr-b2xx.dts
--- linux-3.13.1/arch/arm/boot/dts/am335x-lctr-b2xx.dts	1970-01-01 01:00:00.000000000 +0100
-+++ linux-3.13.1.rasm/arch/arm/boot/dts/am335x-lctr-b2xx.dts	2014-02-01 06:51:48.273816483 +0000
-@@ -0,0 +1,77 @@
-+/*
-+ * Copyright (C) 2014 Universidade do Porto - Faculdade de Engenharia
-+ *
-+ * This program is free software; you can redistribute it and/or modify
-+ * it under the terms of the GNU General Public License version 2 as
-+ * published by the Free Software Foundation.
-+ */
-+
-+#include "am335x-boneblack.dts"
-+
-+/ {
-+	/* No need for HDMI. */
-+	hdmi {
-+		status = "disabled";
-+	};
-+
-+	/* PPS. */
-+	pps {
-+		pinctrl-names = "default";
-+		pinctrl-0 = <&pps_pins>;
-+		compatible = "pps-gpio";
-+		status = "okay";
-+		gpios = <&gpio2 13 0>;
-+		assert-rising-edge;
-+	};
-+};
-+
-+&am33xx_pinmux {
-+        pinctrl-names = "default";
-+        pinctrl-0 = <&board_pins>;
-+
-+	/* User space. */
-+	board_pins: pinmux_board_pins {
-+		/* lcd_data6 / gpio2_12 / GPIO 76 */
-+		pinctrl-single,pins = <0xb8 (PIN_OUTPUT_PULLDOWN | MUX_MODE7)>;
-+	};
-+
-+	/* PPS. */
-+	pps_pins: pinmux_pps_pins {
-+		/* lcd_data7 / gpio2_13 */
-+		pinctrl-single,pins = <0xbc (PIN_INPUT_PULLDOWN | MUX_MODE7)>;
-+	};
-+
-+	/* UART1. */
-+	uart1_pins: pinmux_uart1_pins {
-+		pinctrl-single,pins = <
-+			/* uart1_rxd */
-+			0x180 (PIN_INPUT_PULLUP | MUX_MODE0)
-+			/* uart1_txd */
-+			0x184 (PIN_OUTPUT_PULLDOWN | MUX_MODE0)
-+		>;
-+	};
-+
-+	/* UART2. */
-+	uart2_pins: pinmux_uart2_pins {
-+		pinctrl-single,pins = <
-+			/* uart2_rxd */
-+			0x150 (PIN_INPUT_PULLUP | MUX_MODE1)
-+			/* uart2_txd */
-+			0x154 (PIN_OUTPUT_PULLDOWN | MUX_MODE1)
-+		>;
-+	};
-+};
-+
-+/* Enable UART1. */
-+&uart1 {
-+	pinctrl-names = "default";
-+	pinctrl-0 = <&uart1_pins>;
-+	status = "okay";
-+};
-+
-+/* Enable UART2 (actual UART3). */
-+&uart2 {
-+	pinctrl-names = "default";
-+	pinctrl-0 = <&uart2_pins>;
-+	status = "okay";
-+};
--- a/systems/ntnu-b2xx/patches/linux/3.14.63/00-lctr-b2xx-ntnu-x-dts.patch
+++ b/systems/ntnu-b2xx/patches/linux/3.14.63/00-lctr-b2xx-ntnu-x-dts.patch
@@ -1,139 +0,0 @@
-diff -ruN linux-3.14.16/arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dts linux-3.14.16.kk/arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dts
--- linux-3.14.16/arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dts	1970-01-01 01:00:00.000000000 +0100
-+++ linux-3.14.16.kk/arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dts	2015-08-13 13:31:06.308000000 +0200
-@@ -0,0 +1,124 @@
-+/*
-+ * Copyright (C) 2014 Universidade do Porto - Faculdade de Engenharia
-+ *
-+ * This program is free software; you can redistribute it and/or modify
-+ * it under the terms of the GNU General Public License version 2 as
-+ * published by the Free Software Foundation.
-+ */
-+
-+#include "am335x-lctr-b2xx.dts"
-+
-+
-+
-+&am33xx_pinmux {
-+        pinctrl-names = "default";
-+        pinctrl-0 = <&board_pins>;
-+	
-+	
-+	/* UART2. */
-+	uart2_pins: pinmux_uart2_pins {
-+		pinctrl-single,pins = <
-+			/* uart2_rxd */
-+			0x150 (PIN_INPUT_PULLUP | MUX_MODE1)
-+			/* uart2_txd */
-+			0x154 (PIN_OUTPUT_PULLDOWN | MUX_MODE1)
-+		>;
-+	};
-+	
-+	/* GPIO on ntnu cape v1.2. */
-+	gpio_pins: pinmux_gpio_pins {
-+		pinctrl-single,pins = <
-+			/* GPIO 48 - Pin P9 15 - GPIO 1_16 */
-+			0x040 (PIN_INPUT_PULLUP | MUX_MODE7)
-+			/* GPIO 51 - Pin P9 16  - GPIO 1_19 */
-+			0x04c (PIN_OUTPUT_PULLDOWN | MUX_MODE7)
-+			/* GPIO 4  - Pin P9 17  - GPIO 0_5 */
-+			0x15c (PIN_INPUT_PULLUP | MUX_MODE7)
-+			/* GPIO 48 - Pin P9 18  - GPIO 0_4 */
-+			0x158 (PIN_OUTPUT_PULLDOWN | MUX_MODE7)
-+		>;
-+	};
-+	
-+	/* UART4. */
-+	uart4_pins: pinmux_uart4_pins {
-+		pinctrl-single,pins = <
-+			/* uart4_rxd */
-+			0x70 (PIN_INPUT_PULLUP | MUX_MODE6)
-+			/* uart4_txd */
-+			0x74 (PIN_OUTPUT_PULLDOWN | MUX_MODE6)
-+		  >;
-+	  };
-+    
-+    /* SPI1 */
-+    spi1_pins_s0: spi1_pins_s0 {
-+        pinctrl-single,pins = <
-+                0x190 0x33      /* mcasp0_aclkx.spi1_sclk, INPUT_PULLUP | MODE3 */
-+                0x194 0x33      /* mcasp0_fsx.spi1_d0, INPUT_PULLUP | MODE3 */
-+                0x198 0x13      /* mcasp0_axr0.spi1_d1, OUTPUT_PULLUP | MODE3 */
-+                0x19c 0x13      /* mcasp0_ahclkr.spi1_cs0, OUTPUT_PULLUP | MODE3 */
-+                0x164 0x12      /* eCAP0_in_PWM0_out.spi1_cs1 , OUTPUT_PULLUP | MODE2 */
-+        >;
-+    };
-+	
-+	/* I2C 2 */
-+	i2c2_pins: pinmux_i2c2_pins {
-+		pinctrl-single,pins = <
-+				0x178 (PIN_INPUT_PULLUP | MUX_MODE3)   // spi0_d1.i2c2_sda,   IMPUT_PULLUP | MODE3
-+				0x17c (PIN_INPUT_PULLUP | MUX_MODE3)    // spi0_cs0.i2c2_scl, INPUT_PULLUP | MODE3
-+		>;
-+	};
-+};
-+
-+/ {
-+/* GPIO. */
-+	ntnu_gpio {
-+		pinctrl-names = "default";
-+		pinctrl-0 = <&gpio_pins>;
-+		compatible = "ntnu-gpio";
-+		status = "okay";
-+	};
-+};
-+
-+/* Enable UART2. */
-+&uart2 {
-+	pinctrl-names = "default";
-+	pinctrl-0 = <&uart2_pins>;
-+	status = "okay";
-+};
-+
-+/* Enable UART4. */
-+&uart4 {
-+	pinctrl-names = "default";
-+	pinctrl-0 = <&uart4_pins>;
-+	status = "okay";
-+};
-+
-+/* Enable SPI1 */
-+&spi1 {
-+    #address-cells = <1>;
-+    #size-cells = <0>;
-+    status = "okay";
-+    pinctrl-names = "default";
-+    pinctrl-0 = <&spi1_pins_s0>;
-+
-+    spidev@1 {
-+        spi-max-frequency = <24000000>;
-+        reg = <0>;
-+        compatible = "linux,spidev";
-+    };
-+    spidev@2 {
-+        spi-max-frequency = <24000000>;
-+        reg = <1>;
-+        compatible = "linux,spidev";
-+    };
-+};
-+
-+/* Enable i2c-2 */
-+&i2c2 {
-+	pinctrl-names = "default";
-+	pinctrl-0 = <&i2c2_pins>;
-+
-+	status = "okay";
-+	clock-frequency = <400000>;
-+
-+};
-diff -ruN linux-3.14.16/arch/arm/boot/dts/Makefile linux-3.14.16.kk/arch/arm/boot/dts/Makefile
--- linux-3.14.16/arch/arm/boot/dts/Makefile	2014-08-08 01:50:59.000000000 +0200
-+++ linux-3.14.16.kk/arch/arm/boot/dts/Makefile	2015-11-04 13:15:01.096000000 +0100
-@@ -227,6 +227,7 @@
- 	am335x-bone.dtb \
- 	am335x-boneblack.dtb \
- 	am335x-nano.dtb \
-+	am335x-lctr-b2xx-ntnu-uart.dtb \
- 	am335x-base0033.dtb \
- 	am3517-evm.dtb \
- 	am3517_mt_ventoux.dtb \
--- a/systems/ntnu-b2xx/patches/linux/3.14/00-ntnu-b2xx-dts.patch
+++ b/systems/ntnu-b2xx/patches/linux/3.14/00-ntnu-b2xx-dts.patch
@@ -0,0 +1,184 @@
+diff -Nru linux-3.14.16/arch/arm/boot/dts/am335x-ntnu-b2xx.dts linux-3.14.16.kk/arch/arm/boot/dts/am335x-ntnu-b2xx.dts
+--- linux-3.14.16/arch/arm/boot/dts/am335x-ntnu-b2xx.dts	1970-01-01 01:00:00.000000000 +0100
+++ linux-3.14.16.kk/arch/arm/boot/dts/am335x-ntnu-b2xx.dts	2016-03-31 11:45:37.584000000 +0200
+@@ -0,0 +1,169 @@
+/*
+ * Copyright (C) 2014 Universidade do Porto - Faculdade de Engenharia
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ */
+
+#include "am335x-boneblack.dts"
+
+/ {
+	/* No need for HDMI. */
+	hdmi {
+		status = "disabled";
+	};
+	
+	/* PPS. */
+	pps {
+		pinctrl-names = "default";
+		pinctrl-0 = <&pps_pins>;
+		compatible = "pps-gpio";
+		status = "okay";
+		gpios = <&gpio2 13 0>;
+		assert-rising-edge;
+	};
+};
+
+
+
+&am33xx_pinmux {
+		pinctrl-names = "default";
+		pinctrl-0 = <&board_pins>;
+	
+	/* User space. */
+	board_pins: pinmux_board_pins {
+		/* lcd_data6 / gpio2_12 / GPIO 76 */
+		pinctrl-single,pins = <0xb8 (PIN_OUTPUT_PULLDOWN | MUX_MODE7)>;
+	};
+	
+	/* PPS. */
+	pps_pins: pinmux_pps_pins {
+		/* lcd_data7 / gpio2_13 */
+		pinctrl-single,pins = <0xbc (PIN_INPUT_PULLDOWN | MUX_MODE7)>;
+	};
+	
+	/* UART1. */
+	uart1_pins: pinmux_uart1_pins {
+		pinctrl-single,pins = <
+		/* uart1_rxd */
+		0x180 (PIN_INPUT_PULLUP | MUX_MODE0)
+		/* uart1_txd */
+		0x184 (PIN_OUTPUT_PULLDOWN | MUX_MODE0)
+		>;
+	};
+	
+	/* UART2. */
+	uart2_pins: pinmux_uart2_pins {
+		pinctrl-single,pins = <
+		/* uart2_rxd */
+		0x150 (PIN_INPUT_PULLUP | MUX_MODE1)
+		/* uart2_txd */
+		0x154 (PIN_OUTPUT_PULLDOWN | MUX_MODE1)
+		>;
+	};
+	
+	/* UART4. */
+	uart4_pins: pinmux_uart4_pins {
+		pinctrl-single,pins = <
+		/* uart4_rxd */
+		0x70 (PIN_INPUT_PULLUP | MUX_MODE6)
+		/* uart4_txd */
+		0x74 (PIN_OUTPUT_PULLDOWN | MUX_MODE6)
+		>;
+	};
+	
+	/* GPIO on ntnu cape v1.2. */
+	gpio_pins: pinmux_gpio_pins {
+		pinctrl-single,pins = <
+			/* GPIO 48 - Pin P9 15 - GPIO 1_16 */
+			0x040 (PIN_INPUT_PULLUP | MUX_MODE7)
+			/* GPIO 51 - Pin P9 16  - GPIO 1_19 */
+			0x04c (PIN_OUTPUT_PULLDOWN | MUX_MODE7)
+			/* GPIO 4  - Pin P9 17  - GPIO 0_5 */
+			0x15c (PIN_INPUT_PULLUP | MUX_MODE7)
+			/* GPIO 48 - Pin P9 18  - GPIO 0_4 */
+			0x158 (PIN_OUTPUT_PULLDOWN | MUX_MODE7)
+		>;
+	};
+	
+
+	
+	/* SPI1 */
+	spi1_pins_s0: spi1_pins_s0 {
+		pinctrl-single,pins = <
+				0x190 0x33      /* mcasp0_aclkx.spi1_sclk, INPUT_PULLUP | MODE3 */
+				0x194 0x33      /* mcasp0_fsx.spi1_d0, INPUT_PULLUP | MODE3 */
+				0x198 0x13      /* mcasp0_axr0.spi1_d1, OUTPUT_PULLUP | MODE3 */
+				0x19c 0x13      /* mcasp0_ahclkr.spi1_cs0, OUTPUT_PULLUP | MODE3 */
+				0x164 0x12      /* eCAP0_in_PWM0_out.spi1_cs1 , OUTPUT_PULLUP | MODE2 */
+		>;
+	};
+	
+	/* I2C 2 */
+	i2c2_pins: pinmux_i2c2_pins {
+		pinctrl-single,pins = <
+				0x178 (PIN_INPUT_PULLUP | MUX_MODE3)   // spi0_d1.i2c2_sda,   IMPUT_PULLUP | MODE3
+				0x17c (PIN_INPUT_PULLUP | MUX_MODE3)    // spi0_cs0.i2c2_scl, INPUT_PULLUP | MODE3
+		>;
+	};
+};
+
+/ {
+/* GPIO. */
+	ntnu_gpio {
+		pinctrl-names = "default";
+		pinctrl-0 = <&gpio_pins>;
+		compatible = "ntnu-gpio";
+		status = "okay";
+	};
+};
+
+/* Enable UART1. */
+&uart1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&uart1_pins>;
+	status = "okay";
+};
+
+/* Enable UART2 (actual UART3). */
+&uart2 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&uart2_pins>;
+	status = "okay";
+};
+
+/* Enable UART4. */
+&uart4 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&uart4_pins>;
+	status = "okay";
+};
+
+/* Enable SPI1 */
+&spi1 {
+	#address-cells = <1>;
+	#size-cells = <0>;
+	status = "okay";
+	pinctrl-names = "default";
+	pinctrl-0 = <&spi1_pins_s0>;
+
+	spidev@1 {
+		spi-max-frequency = <24000000>;
+		reg = <0>;
+		compatible = "linux,spidev";
+	};
+	spidev@2 {
+		spi-max-frequency = <24000000>;
+		reg = <1>;
+		compatible = "linux,spidev";
+	};
+};
+
+/* Enable i2c-2 */
+&i2c2 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&i2c2_pins>;
+	status = "okay";
+	clock-frequency = <400000>;
+};
+diff -Nru linux-3.14.16/arch/arm/boot/dts/Makefile linux-3.14.16.kk/arch/arm/boot/dts/Makefile
+--- linux-3.14.16/arch/arm/boot/dts/Makefile	2014-08-08 01:50:59.000000000 +0200
+++ linux-3.14.16.kk/arch/arm/boot/dts/Makefile	2016-03-31 11:46:14.640000000 +0200
+@@ -226,6 +226,7 @@
+ 	am335x-evmsk.dtb \
+ 	am335x-bone.dtb \
+ 	am335x-boneblack.dtb \
+	am335x-ntnu-b2xx.dtb \
+ 	am335x-nano.dtb \
+ 	am335x-base0033.dtb \
+ 	am3517-evm.dtb \
--- a/systems/stamp9g20/cfg/linux-3.14.cfg
+++ b/systems/stamp9g20/cfg/linux-3.14.cfg
--- a/systems/stamp9g20/config
+++ b/systems/stamp9g20/config
@@ -0,0 +1,15 @@
+cfg_architecture='arm926ej-s'
+cfg_storage='data0:ext4:/opt'
+cfg_modules=''
+cfg_services0='network dropbear storage upgrade syslog'
+cfg_services1=''
+cfg_services2=''
+cfg_packages='dropbear rsync busybox e2fsprogs dosfstools linux u-boot'
+cfg_target_linux_kernel='arch/arm/boot/zImage'
+cfg_terminal='ttyS0'
+cfg_target_uboot_config='stamp9g20'
+cfg_partitions=\
+(
+    root    root0  512B   544MiB
+    data    data0  544MiB  -1
+)
--- a/systems/stamp9g20/fs/etc/mdev.conf
+++ b/systems/stamp9g20/fs/etc/mdev.conf
@@ -0,0 +1 @@
+ttyS0	root:root	660	>terminal
--- a/systems/stamp9g20/patches/linux/3.14/00-stamp9g20-nand-ecc-bch.patch
+++ b/systems/stamp9g20/patches/linux/3.14/00-stamp9g20-nand-ecc-bch.patch
@@ -0,0 +1,12 @@
+diff -Nru linux-3.14.63/arch/arm/mach-at91/board-stamp9g20.c linux-3.14.63.rasm/arch/arm/mach-at91/board-stamp9g20.c
+--- linux-3.14.63/arch/arm/mach-at91/board-stamp9g20.c	2016-03-03 23:09:05.000000000 +0000
+++ linux-3.14.63.rasm/arch/arm/mach-at91/board-stamp9g20.c	2016-04-06 16:06:11.573456901 +0100
+@@ -49,7 +49,7 @@
+ 	.enable_pin	= AT91_PIN_PC14,
+ 	.bus_width_16	= 0,
+ 	.det_pin	= -EINVAL,
+-	.ecc_mode	= NAND_ECC_SOFT,
+	.ecc_mode	= NAND_ECC_SOFT_BCH,
+ };
+ 
+ static struct sam9_smc_config __initdata nand_smc_config = {
--- a/systems/stamp9g20/patches/u-boot/2014.07/00-stamp9g20-nand-ecc-bch.patch
+++ b/systems/stamp9g20/patches/u-boot/2014.07/00-stamp9g20-nand-ecc-bch.patch
@@ -0,0 +1,30 @@
+diff --git a/include/configs/stamp9g20.h b/include/configs/stamp9g20.h
+index 01085dc..2d2b38b 100644
+--- a/include/configs/stamp9g20.h
+++ b/include/configs/stamp9g20.h
+@@ -25,6 +25,8 @@
+  */
+ #include <asm/hardware.h>
+ 
+#define CONFIG_SYS_GENERIC_BOARD
+
+ /*
+  * Warning: changing CONFIG_SYS_TEXT_BASE requires adapting the initial boot
+  * program. Since the linker has to swallow that define, we must use a pure
+@@ -82,6 +84,8 @@
+ 
+ /* NAND flash settings */
+ #define CONFIG_NAND_ATMEL
+#define CONFIG_BCH
+#define CONFIG_NAND_ECC_BCH
+ #define CONFIG_SYS_NO_FLASH
+ #define CONFIG_SYS_MAX_NAND_DEVICE	1
+ #define CONFIG_SYS_NAND_BASE		ATMEL_BASE_CS3
+@@ -242,6 +246,7 @@
+ #define CONFIG_CMD_USB
+ #define CONFIG_CMD_FAT
+ #define CONFIG_CMD_LED
+#define CONFIG_CMD_BOOTZ
+ 
+ #ifdef CONFIG_MACB
+ # define CONFIG_CMD_PING
--- a/systems/stamp9g20/stamp9g20-testbed.cfg
+++ b/systems/stamp9g20/stamp9g20-testbed.cfg
@@ -0,0 +1,5 @@
+cfg_hostname='stamp9g20-testbed'
+cfg_eth_ext_ip='10.0.200.100'
+cfg_eth_ext_mk='255.255.0.0'
+cfg_eth_ext_gw='10.0.0.1'
+cfg_ptpd_interface='eth0'
Author	SHA1	Message	Date
Pedro Gonçalves	fc659cd451	lauv-aux-rpi/test-rpi: add ftdi_sio to modules.	2017-03-30 17:23:40 +01:00
Pedro Gonçalves	bb0a00c1ee	rpi-boot-firmware/fs/boot/cmdline: change console dev.	2017-03-30 12:56:21 +01:00
Pedro Gonçalves	e5f7d6bfdd	lauv-aux-rpi/cfg: change dev of console.	2017-03-30 12:54:57 +01:00
Pedro Gonçalves	eee43266c8	lauv-aux-rpi/test-rpi: change terminal dev.	2017-03-30 12:53:18 +01:00
Pedro Gonçalves	05a6f19cf3	raspicam: fix path to cmake.	2017-02-03 19:39:54 +00:00
Pedro Gonçalves	9d95b45410	lauv-aux-rpi/test-rpi: update cfg packages.	2017-02-03 18:41:06 +00:00
Pedro Gonçalves	b17eeece35	raspicam: fix problem in path to cmake.	2017-02-03 18:39:48 +00:00
Pedro Gonçalves	29358c9c3e	rpi-boot-firmware: update boot firmware.	2017-02-03 18:38:04 +00:00
Pedro Gonçalves	f0b77fdfc5	linux/rpi: update version of kernel.	2017-02-03 18:37:16 +00:00
Pedro Gonçalves	c6ef0368e7	lauv-aux-rpi/cfg: update kernel config file.	2017-02-03 18:36:11 +00:00
Pedro Gonçalves	4e63f7ea02	linux/default: restore previous version of rule (3.14.63).	2017-01-26 19:19:27 +00:00
Pedro Gonçalves	1b13099af1	uv4l: fix kill process uv4l.	2017-01-25 16:56:32 +00:00
Pedro Gonçalves	082c614dde	uv4l: add new rule for video stream of raspicam.	2017-01-25 15:46:53 +00:00
Pedro Gonçalves	18c53ad585	systems/lauv-aux-rpi/test-rpi: add new rules to config file.	2017-01-25 11:55:15 +00:00
Pedro Gonçalves	a7df46d61a	linux: update kernel to 4.4.10.	2017-01-24 19:59:42 +00:00
Pedro Gonçalves	6a3376b24a	systems/lauv-aux-rpi/cfg: update cfg linux kernel for v4l and fuse modules.	2017-01-24 19:58:55 +00:00
Pedro Gonçalves	24f7c187a9	rpi-boot-firmware: add new url/package of boot rpi firmware.	2017-01-11 15:24:17 +00:00
Pedro Gonçalves	f4933e8c15	systems/lauv-aux-rpi: add option to enable raspicam.	2017-01-11 15:22:39 +00:00
Pedro Gonçalves	a45a415415	linux/rpi: update url package.	2017-01-11 15:20:32 +00:00
Pedro Gonçalves	b2230b577f	feature/raspicam: add test-rpi.cfg to system lauv-aux-rpi, merge feature/rpi-linux-4.4.	2017-01-11 13:49:34 +00:00
Pedro Gonçalves	0c9e3b6622	Merge branch 'feature/rpi-linux-4.4' into feature/raspicam	2017-01-10 19:52:29 +00:00
Pedro Gonçalves	8e99dc6870	raspicam: add new URL for package. Some cleanup in rule.	2017-01-06 17:47:14 +00:00
Pedro Gonçalves	28372cd2fd	raspicam: add new rule for raspicam camera.	2017-01-04 19:45:51 +00:00
Ricardo Martins	cce9bdb98c	lauv-aux-rpi: upgraded linux to v4.4.	2016-11-15 12:06:24 +00:00
Pedro Gonçalves	61dc4d2094	opencv: upgraded to v2.4.13.	2016-11-04 19:01:48 +00:00
mariacosta	15dd2b7bd6	pkrootfs: DTB currently is in root folder.	2016-10-03 17:08:52 +01:00
Ricardo Martins	eddb1c7611	libpng: upgraded to v1.6.23.	2016-06-20 11:21:26 +01:00
Ricardo Martins	6b7b82786e	linux: forced depmod path.	2016-06-14 19:30:56 +01:00
Ricardo Martins	f9b7edea6e	kmod: fixed symlink.	2016-06-14 19:30:29 +01:00
Ricardo Martins	62730377b2	docker: install file package.	2016-06-14 18:54:37 +01:00
Ricardo Martins	4ff07d69e0	docker: added script to create docker container suitable to build GLUED.	2016-06-03 14:23:22 +01:00
João Teixeira	77752d3db9	lctr-a6xx: added FTDI support to caravela	2016-06-01 16:41:30 +01:00
Ricardo Martins	79e474bd3d	filesystem: added support for Raspberry Pi 3.	2016-05-18 12:45:31 +01:00
Ricardo Martins	0e030cb595	linux: install all dtbs to root folder.	2016-05-18 12:44:52 +01:00
Ricardo Martins	08117b4b9a	mkdisk: copy boot files recursively, added support for multiple dtbs.	2016-05-18 12:44:21 +01:00
Ricardo Martins	e24efe0258	lauv-aux-rpi: moved config.txt to system folder.	2016-05-17 19:10:08 +01:00
Ricardo Martins	b648eab591	lauv-aux-rpi: moved config.txt to system folder.	2016-05-17 19:09:55 +01:00
Ricardo Martins	c3f5888e1a	linux: added support for device tree overlays and added function to find patches.	2016-05-17 19:08:51 +01:00
Ricardo Martins	4ad474f096	filesystem: updated upgrade script to support newer kernels.	2016-05-17 19:06:30 +01:00
Ricardo Martins	a61c8e20da	Bumped version to 2016.05.	2016-05-02 15:55:25 +01:00
Ricardo Martins	79439e298c	Merge pull request #30 from krisklau/pr/ntnu-b2xx/update-20160423 ntnu-b2xx: Complete transition from lctr-b2xx, move to hardfp	2016-04-26 13:59:19 +01:00
Kristian Klausen	8b680c11b2	ntnu-b2xx: Added ntnu-nest-03. To be the next ptu control unit.	2016-04-23 12:10:55 +02:00
Kristian Klausen	10bf35de62	ntnu-b2xx: config: Switch to hardfp. Note, a complete rebuild is nescessary.	2016-04-23 12:10:55 +02:00
Kristian Klausen	96006e300a	ntnu-b2xx: All vehicles: Removed override of cfg_target_linux_dtb. Now using default from config, am335x-ntnu-b2xx.dtb	2016-04-23 12:10:55 +02:00
Kristian Klausen	6022716e2d	ntnu-b2xx: config: Use new dtb file (am335x-ntnu-b2xx)	2016-04-23 12:10:55 +02:00
Kristian Klausen	8d81ce635f	ntnu-b2xx: patches/linux: New patch for ntnu-b2xx that consolidates the two older patches. (lctr-b2xx-dts, lctr-b2xx-ntnu-x-dts)	2016-04-23 12:10:55 +02:00
Kristian Klausen	2b75ec733c	ntnu-b2xx: patches/linux: Moved/renamed from 3.14.63/ to 3.14/	2016-04-23 12:10:55 +02:00
Kristian Klausen	3b99e3575c	ntnu-b2xx: cfg: Added config file for linux-rt with PREEMPT_BASE and PREEMPT_RT_FULL. (3.14.64-rt67)	2016-04-23 12:10:55 +02:00
Kristian Klausen	9eed676b32	ntnu-b2xx: All vehicles: Updated IPs.	2016-04-23 12:10:55 +02:00
Kristian Klausen	62c74adb09	lctr-b2xx: Moved all ntnu-* systems to ntnu-b2xx	2016-04-23 12:01:03 +02:00
Jose Braga	46e9d9194d	lctr-a6xx: removed mcclibusb package from lauv-xtreme-2.	2016-04-11 14:35:29 +01:00
Jose Braga	56381e306f	lctr-a6xx: updated lauv-xtreme-2.	2016-04-11 14:32:44 +01:00
Jose Braga	e0635fc1a3	lauv-aux-rpi: added lauv-xtreme-2-aux.	2016-04-11 14:32:07 +01:00
Ricardo Martins	38fd2c73bf	filesystem: revamped upgrade script for MTD storage.	2016-04-06 17:19:47 +01:00
Ricardo Martins	699240998f	u-boot: install u-boot.bin also.	2016-04-06 16:38:22 +01:00
Ricardo Martins	908cfbb684	stamp9g20: added NAND ECC BCH patch.	2016-04-06 16:10:50 +01:00
Ricardo Martins	b31058e7c1	stamp9g20: removed dtb as it is not used.	2016-04-06 16:10:26 +01:00
Ricardo Martins	0d04b0f7c8	stamp9g20: added preliminary support for Taskit Stamp9G20.	2016-04-06 16:01:37 +01:00
Ricardo Martins	108bc4601d	architectures: added arm926ej-s architecture.	2016-04-06 16:00:15 +01:00
Ricardo Martins	8626adb881	linux: improved fail logic.	2016-04-06 15:59:33 +01:00
Ricardo Martins	323bbf7998	busybox: added command flash_eraseall.	2016-04-06 15:59:10 +01:00
Ricardo Martins	aae5c9d856	Merge pull request #29 from krisklau/pr/rtklib/buildfix rtklib: Fix bug where extra compile flag was added incorrectly.	2016-03-31 15:27:10 +01:00
Kristian Klausen	3c4cbb7d63	rtklib: Fix bug where extra compile flag was added incorrectly.	2016-03-31 16:20:49 +02:00
José Braga	72627f94f3	lctr-a6xx: added iptables package to caravela.	2016-03-29 18:36:06 +01:00
José Braga	378cb85275	lctr-a6xx: added ppp package to caravela.	2016-03-29 18:08:09 +01:00
Ricardo Martins	7699d8c06a	Merge branch 'feature/linux-rt'	2016-03-28 10:48:04 +01:00
Ricardo Martins	0e01d8363e	linux: added support for fully preemptive kernel (-rt patches).	2016-03-24 15:27:04 +00:00
Ricardo Martins	73fbb71575	linux: made default rules more flexible and robust.	2016-03-24 15:26:00 +00:00
Ricardo Martins	584337e5bd	functions: added ucat() function to cat regular or gzipped files.	2016-03-24 15:22:03 +00:00
Ricardo Martins	2ed29cdea0	Merge pull request #28 from krisklau/pr/rt-tests rules: rt-tests: Added package rt-tests that install cyclictests for RT performance benchmark	2016-03-24 10:56:03 +00:00
Kristian Klausen	c5d0e3040f	rules: rt-tests: Added package rt-tests that install cyclictests for RT performance benchmark	2016-03-23 19:30:39 +01:00
Ricardo Martins	6f91882231	Merge pull request #25 from krisklau/pr/rtklib/str2str_reuseaddr rules: rtklib: Added flag SVR_REUSEADDR on str2str build.	2016-03-23 10:41:44 +00:00
Ricardo Martins	7c382bdfaf	Merge pull request #26 from krisklau/pr/ntnu-b2xx/update-1603 Updates of ntnu-b2xx	2016-03-23 10:41:29 +00:00
Kristian Klausen	9765c4e8b0	rules: rtklib: Added flag SVR_REUSEADDR on str2str build.	2016-03-22 23:41:14 +01:00
Kristian Klausen	4aec63ad80	ntnu-b2xx: fs/etc/rtklib: Added cmd files for rtklib.	2016-03-22 23:39:57 +01:00
Kristian Klausen	e231dc351c	ntnu-b2xx: ntnu-nest-02: Use correct rtklib service. (single)	2016-03-22 23:39:57 +01:00
Kristian Klausen	efecd4c1d6	ntnu-b2xx: fs/etc/rtklib: Changed config files to utilize GLONASS	2016-03-22 23:39:57 +01:00
Kristian Klausen	fa6027292d	ntnu-b2xx: fs/etc/rc.d: rtklib services now checks the nest for cmd file type.	2016-03-22 23:39:57 +01:00
Kristian Klausen	b1aedc92b4	ntnu-b2xx: ntnu-x8-002: Removed force_10mbit service.	2016-03-22 23:39:57 +01:00
Kristian Klausen	545559fe7f	ntnu-b2xx: ntnu-hexa-003/4: Added rtklib service and package.	2016-03-22 23:39:57 +01:00
Kristian Klausen	6bc755fc4f	ntnu-b2xx: Added some services to ntnu-nest-02	2016-03-22 23:39:57 +01:00
Kristian Klausen	8d14d197fa	ntnu-b2xx: fs/etc/rtklib/conf/rtkrcv_single.conf: New config file for single positioning.	2016-03-22 23:39:57 +01:00
Kristian Klausen	70063de02f	ntnu-b2xx: fs/etc/rc.d/rtklib_single: New service for single position GPS using rtklib.	2016-03-22 23:39:57 +01:00
Kjetil Sørbø	e4127668e3	ntnu-b2xx: etc/rtklib/conf/rtkrcv.conf: Use TOW instead of UTC time.	2016-03-22 23:39:57 +01:00
Ricardo Martins	4dc98209b7	util-linux: forced use of toolchain headers.	2016-03-22 12:07:21 +00:00