gumstix utils: add char-driver, gpio-event, i2c and microwindows

5 files changed, 891 insertions, 0 deletions

diff --git a/packages/robostix-utils/robostix-cmdline.bb b/packages/robostix-utils/robostix-cmdline.bb
new file mode 100644
index 0000000000..0eecfc2e14
--- /dev/null
+++ b/packages/robostix-utils/robostix-cmdline.bb
@@ -0,0 +1,28 @@
+DESCRIPTION = "robostix programs"
+SECTION = "base"
+PRIORITY = "required"
+PR = "r1"
+
+DEPENDS = robostix-module
+
+SRC_URI = " \
+   file://robostix.h \
+   file://robostix.c \
+  "
+
+CMD_NAME=robostix
+
+S = "${WORKDIR}"
+
+do_compile () {
+	${CC} -o ${CMD_NAME} *.c
+}
+
+do_install () {
+  install -d ${D}${bindir}/
+	install -m 0755 ${WORKDIR}/${CMD_NAME} ${D}${bindir}/
+}
+
+PACKAGES = "${PN}"
+FILES_${PN} = "${bindir}/*"
+
diff --git a/packages/robostix-utils/robostix-cmdline/robostix.c b/packages/robostix-utils/robostix-cmdline/robostix.c
new file mode 100644
index 0000000000..be47b5c5a9
--- /dev/null
+++ b/packages/robostix-utils/robostix-cmdline/robostix.c
@@ -0,0 +1,278 @@
+/****************************************************************************
+*
+*   Copyright (c) 2006 Dave Hylands     <dhylands@gmail.com>
+*
+*   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.
+*
+*   Alternatively, this software may be distributed under the terms of BSD
+*   license.
+*
+*   See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+*  robostix.c
+*
+*  PURPOSE:
+*
+*   This implements the usermode program for talking to the robostix.
+*
+*****************************************************************************/
+
+/* ---- Include Files ---------------------------------------------------- */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+
+#include "robostix.h"
+
+/* ---- Public Variables ------------------------------------------------- */
+
+int gFd = -1;
+
+int gVal;
+
+/* ---- Private Constants and Types -------------------------------------- */
+/* ---- Private Variables ------------------------------------------------ */
+
+typedef struct
+{
+    const   char   *cmdStr;
+    const   char   *argStr;
+    const   char   *helpStr;
+    int           (*parseArgs)( int argc, char **argv );
+    void          (*execFunc)( int cmd );
+    int             cmd;
+
+} Cmd;
+
+int     ParseNone( int argc, char **argv );
+int     ParseOnOffArg( int argc, char **argv );
+int     ParseOnOffPulseArg( int argc, char **argv );
+void    Usage( void );
+
+void    Power( int cmd );
+void    ReadIOctl( int cmd );
+void    SimpleIOctl( int cmd );
+
+Cmd gCmd[] =
+{
+    { "power",  "on|off",           "Controls the robostix voltage regulators", ParseOnOffArg,      Power, -1 },
+    { "reset",  "on|off|pulse",     "Resets the robostix",                      ParseOnOffPulseArg, SimpleIOctl, ROBOSTIX_IOCTL_RESET },
+    { "245",    "on|off",           "Controls the 245 buffer chip",             ParseOnOffArg,      SimpleIOctl, ROBOSTIX_IOCTL_245_ENABLE },
+
+    { "sck",    "on|off",           "Sets/clears the SCK line",                 ParseOnOffArg,      SimpleIOctl, ROBOSTIX_IOCTL_SET_SCK },
+    { "ss",     "on|off",           "Sets/clears the SS line",                  ParseOnOffArg,      SimpleIOctl, ROBOSTIX_IOCTL_SET_SS },
+    { "txd",    "on|off",           "Sets/clears the IR-TXD line",              ParseOnOffArg,      SimpleIOctl, ROBOSTIX_IOCTL_SET_IR_TXD },
+    { "mosi",   "on|off",           "Sets/clears the MOSI line",                ParseOnOffArg,      SimpleIOctl, ROBOSTIX_IOCTL_SET_MOSI },
+
+    { "rxd",    "",                 "Reads the IR-RXD line",                    ParseNone,          ReadIOctl,   ROBOSTIX_IOCTL_GET_IR_RXD },
+    { "irq",    "",                 "Reads the TM-IRQ line",                    ParseNone,          ReadIOctl,   ROBOSTIX_IOCTL_GET_IRQ },
+    { "miso",   "",                 "Reads the MISO line",                      ParseNone,          ReadIOctl,   ROBOSTIX_IOCTL_GET_MISO },
+
+    { NULL }
+};
+
+/* ---- Private Function Prototypes -------------------------------------- */
+/* ---- Functions -------------------------------------------------------- */
+
+
+/****************************************************************************
+*
+*  main
+*
+***************************************************************************/
+
+int main( int argc, char **argv )
+{
+    char   *cmdStr;
+    int     argIdx;
+    Cmd    *cmd;
+
+    if ( argc == 1 )
+    {
+        Usage( );
+        exit( 0 );
+    }
+
+    if (( gFd = open( "/dev/robostix",  O_RDWR )) < 0 )
+    {
+        perror( "Unable to open /dev/robostix" );
+        exit( 1 );
+    }
+
+    argIdx = 1;
+    cmdStr = argv[ argIdx++ ];
+
+    for ( cmd = gCmd; cmd->cmdStr != NULL; cmd++ ) 
+    {
+        if ( strcasecmp( cmdStr, cmd->cmdStr ) == 0 )
+        {
+            break;
+        }
+    }
+    if ( cmd->cmdStr == NULL )
+    {
+        fprintf( stderr, "Unrecognized command: '%s'\n", cmdStr );
+        exit( 1 );
+    }
+
+    if ( cmd->parseArgs( argc - argIdx, &argv[ argIdx ] ))
+    {
+        cmd->execFunc( cmd->cmd );
+    }
+
+    close( gFd );
+
+    exit( 0 );
+    return 0;
+
+} // main
+
+/****************************************************************************
+*
+*  Checks to see if the argument is on/off (or equivalent)
+*
+***************************************************************************/
+
+int IsOnOffArg( int argc, char **argv )
+{
+    if (( strcasecmp( *argv, "on" ) == 0 )
+    ||  ( strcasecmp( *argv, "t" ) == 0 )
+    ||  ( strcasecmp( *argv, "1" ) == 0 ))
+    {
+        gVal = 1;
+        return 1;
+    }
+
+    if (( strcasecmp( *argv, "off" ) == 0 )
+    ||  ( strcasecmp( *argv, "f" ) == 0 )
+    ||  ( strcasecmp( *argv, "0" ) == 0 ))
+    {
+        gVal = 0;
+        return 1;
+    }
+
+    return 0;
+
+} // IsOnOffArg
+
+/****************************************************************************
+*
+*  Parses no arguments
+*
+***************************************************************************/
+
+int ParseNone( int argc, char **argv )
+{
+    return 1;
+
+} // ParseNone
+
+/****************************************************************************
+*
+*  Parses a command line argument for legel on/off values
+*
+***************************************************************************/
+
+int ParseOnOffArg( int argc, char **argv )
+{
+    if ( IsOnOffArg( argc, argv ))
+    {
+        return 1;
+    }
+
+    fprintf( stderr, "Expecting on/off, found: '%s'\n", *argv );
+    return 0;
+
+} // ParseOnOffArg
+
+/****************************************************************************
+*
+*  Parses a command line argument for legel on/off values
+*
+***************************************************************************/
+
+int ParseOnOffPulseArg( int argc, char **argv )
+{
+    if (( strcasecmp( *argv, "pulse" ) == 0 )
+    ||  ( strcasecmp( *argv, "2" ) == 0 ))
+    {
+        gVal = 2;
+        return 1;
+    }
+
+    if ( IsOnOffArg( argc, argv ))
+    {
+        return 1;
+    }
+
+    fprintf( stderr, "Expecting on/off/pulse, found: '%s'\n", *argv );
+    return 0;
+
+} // ParseOnoffPulseArg
+
+/****************************************************************************
+*
+*  Power
+*
+***************************************************************************/
+
+void Power( int cmd )
+{
+    SimpleIOctl( ROBOSTIX_IOCTL_POWER_VCC5 );
+
+} // Power
+
+/****************************************************************************
+*
+*  SimpleIOctl
+*
+***************************************************************************/
+
+void SimpleIOctl( int cmd )
+{
+    if ( ioctl( gFd, cmd, gVal ) != 0 )
+    {
+        fprintf( stderr, "ioctl call failed: %d\n", errno );
+    }
+
+} // SimpleIOctl
+
+/****************************************************************************
+*
+*  SimpleIOctl
+*
+***************************************************************************/
+
+void ReadIOctl( int cmd )
+{
+    if ( ioctl( gFd, cmd, &gVal ) != 0 )
+    {
+        fprintf( stderr, "ioctl call failed: %d\n", errno );
+    }
+
+} // ReadIOctl
+
+/****************************************************************************
+*
+*  Usage
+*
+***************************************************************************/
+
+void Usage( void )
+{
+    Cmd *cmd;
+
+    for ( cmd = gCmd; cmd->cmdStr != NULL; cmd++ ) 
+    {
+        printf( "%-12s %-12s %s\n", cmd->cmdStr, cmd->argStr, cmd->helpStr );
+    }
+
+} // Usage
+
diff --git a/packages/robostix-utils/robostix-cmdline/robostix.h b/packages/robostix-utils/robostix-cmdline/robostix.h
new file mode 100644
index 0000000000..0d860bc7a4
--- /dev/null
+++ b/packages/robostix-utils/robostix-cmdline/robostix.h
@@ -0,0 +1,114 @@
+/****************************************************************************
+*
+*   Copyright (c) 2006 Dave Hylands     <dhylands@gmail.com>
+*
+*   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.
+*
+*   Alternatively, this software may be distributed under the terms of BSD
+*   license.
+*
+*   See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+*  robostix_drv.h
+*
+*  PURPOSE:
+*
+*   This implements a driver for using the robostix from the gumstix
+*
+*   Initially, this contains the required support to emulate enough of the
+*   parallel port interface to allow avrdude to program the ATMega128.
+*
+*****************************************************************************/
+
+#if !defined( LINUX_ROBOSTIX_H )
+#define LINUX_ROBOSTIX_H )
+
+/* ---- Include Files ----------------------------------------------------- */
+
+#include <linux/ioctl.h>
+
+/* ---- Constants and Types ----------------------------------------------- */
+
+#define ROBOSTIX_MAJOR          240
+
+#define ROBOSTIX_IOCTL_MAGIC    'R'
+
+/**
+ *  Deefines for each of the commands. Note that since we want to reduce
+ *  the possibility that a user mode program gets out of sync with a given 
+ *  driver, we explicitly assign a value to each enumeration. This makes
+ *  it more difficult to stick new ioctl's in the middle of the list.
+ */
+
+typedef enum
+{
+    ROBOSTIX_CMD_FIRST          = 0x80,
+
+    ROBOSTIX_CMD_POWER_VCC5     = 0x80,
+    ROBOSTIX_CMD_RESET          = 0x81,
+    ROBOSTIX_CMD_245_ENABLE     = 0x82,
+    ROBOSTIX_CMD_SET_SCK        = 0x83,
+    ROBOSTIX_CMD_SET_SS         = 0x84,
+    ROBOSTIX_CMD_SET_IR_TXD     = 0x85,
+    ROBOSTIX_CMD_GET_IR_RXD     = 0x86,
+    ROBOSTIX_CMD_SET_MOSI       = 0x87,
+    ROBOSTIX_CMD_GET_MISO       = 0x88,
+    ROBOSTIX_CMD_GET_IRQ        = 0x89,
+    ROBOSTIX_CMD_DELAY_USEC     = 0x8A,     // value is hardocded in uisp DAPA.C
+
+    /* Insert new ioctls here                                               */
+
+    ROBOSTIX_CMD_LAST,
+
+} ROBOSTIX_CMD;
+
+/*
+ * The following are arguments to the various ioctl's
+ */
+
+#define ROBOSTIX_PIN_OFF        0
+#define ROBOSTIX_PIN_ON         1
+#define ROBOSTIX_PIN_PULSE      2   // only used or Reset
+
+/*
+ * Definitions for the actual ioctl commands
+ */
+
+#define ROBOSTIX_IOCTL_POWER_VCC5   _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_POWER_VCC5 )         // arg is int
+#define ROBOSTIX_IOCTL_RESET        _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_RESET )              // arg is int
+#define ROBOSTIX_IOCTL_245_ENABLE   _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_245_ENABLE )         // arg is int
+#define ROBOSTIX_IOCTL_SET_SCK      _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_SCK )            // arg is int
+#define ROBOSTIX_IOCTL_SET_SS       _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_SS )             // arg is int
+#define ROBOSTIX_IOCTL_SET_IR_TXD   _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_IR_TXD )         // arg is int
+#define ROBOSTIX_IOCTL_GET_IR_RXD   _IOR(   ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_IR_RXD, int )    // arg is int *
+#define ROBOSTIX_IOCTL_SET_MOSI     _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_MOSI )           // arg is int
+#define ROBOSTIX_IOCTL_GET_MISO     _IOR(   ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_MISO, int )      // arg is int *
+#define ROBOSTIX_IOCTL_GET_IRQ      _IOR(   ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_IRQ, int )       // arg is int *
+#define ROBOSTIX_IOCTL_DELAY_USEC   _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_DELAY_USEC )         // arg is int
+
+
+/*
+ * Definitions for sysctl. The top level define has to be unique system wide.
+ * The kernel defines values 1 thru about 10 (see include/linunx/sysctl.h)
+ */
+
+#define CTL_ROBOSTIX    0x526F626F  /* 'Robo' in hex form */
+
+/*
+ * The following are for entries in /proc/sys/robostix
+ */
+
+enum
+{
+    CTL_ROBOSTIX_DEBUG_TRACE    = 101,
+    CTL_ROBOSTIX_DEBUG_IOCTL    = 102,
+    CTL_ROBOSTIX_DEBUG_ERROR    = 103
+};
+
+#endif  // LINUX_ROBOSTIX_H
+
diff --git a/packages/robostix-utils/robostix-sertest.bb b/packages/robostix-utils/robostix-sertest.bb
new file mode 100644
index 0000000000..0196f6c8f3
--- /dev/null
+++ b/packages/robostix-utils/robostix-sertest.bb
@@ -0,0 +1,28 @@
+DESCRIPTION = "robostix programs"
+SECTION = "base"
+PRIORITY = "required"
+PR = "r1"
+
+DEPENDS = robostix-module
+
+SRC_URI = " \
+   file://sertest.c \
+  "
+
+CMD_NAME=sertest
+LDLIBS = -lpthread
+
+S = "${WORKDIR}"
+
+do_compile () {
+	${CC} ${LDLIBS} -o ${CMD_NAME} *.c
+}
+
+do_install () {
+  install -d ${D}${bindir}/
+	install -m 0755 ${WORKDIR}/${CMD_NAME} ${D}${bindir}/
+}
+
+PACKAGES = "${PN}"
+FILES_${PN} = "${bindir}/*"
+
diff --git a/packages/robostix-utils/robostix-sertest/sertest.c b/packages/robostix-utils/robostix-sertest/sertest.c
new file mode 100644
index 0000000000..3f0cf7a6fc
--- /dev/null
+++ b/packages/robostix-utils/robostix-sertest/sertest.c
@@ -0,0 +1,443 @@
+/****************************************************************************
+*
+*   Copyright (c) 2006 Dave Hylands     <dhylands@gmail.com>
+*
+*   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.
+*
+*   Alternatively, this software may be distributed under the terms of BSD
+*   license.
+*
+*   See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+*  sertest.c
+*
+*  PURPOSE:
+*
+*   This implements a sample program for accessing the serial port.
+*
+*****************************************************************************/
+
+/* ---- Include Files ---------------------------------------------------- */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <sys/unistd.h>
+#include <pthread.h>
+#include <getopt.h>
+#include <termios.h>
+
+/* ---- Public Variables ------------------------------------------------- */
+
+int gFd = -1;
+
+int gVal;
+
+/* ---- Private Constants and Types -------------------------------------- */
+/* ---- Private Variables ------------------------------------------------ */
+
+struct option gLongOption[] =
+{
+    // option       A  Flag   V  (has_arg, flag, val)
+    // -----------  -  ----  ---
+    { "baud",       1, NULL, 'b' },
+    { "debug",      0, NULL, 'd' },
+    { "help",       0, NULL, 'h' },
+    { "port",       1, NULL, 'p' },
+    { "verbose",    0, NULL, 'v' },
+    { 0 },
+
+};
+
+struct
+{
+    speed_t     speed;
+    unsigned    baudRate;
+} gBaudTable[] =
+{
+    { B50,          50 },
+    { B75,          75 },
+    { B110,        110 },
+    { B134,        134 },
+    { B150,        150 },
+    { B200,        200 },
+    { B300,        300 },
+    { B600,        600 },
+    { B1200,      1200 },
+    { B1800,      1800 },
+    { B2400,      2400 },
+    { B4800,      4800 },
+    { B9600,      9600 },
+    { B19200,    19200 },
+    { B38400,    38400 },
+    { B57600,    57600 },
+    { B115200,  115200 },
+    { B230400,  230400 }
+};
+
+#define ARRAY_LEN(x)    ( sizeof( x ) / sizeof( x[ 0 ]))
+
+int gVerbose = 0;
+int gDebug = 0;
+
+int gPortFd = -1;
+
+/* ---- Private Function Prototypes -------------------------------------- */
+
+void *ReaderThread( void *param );
+char *StrMaxCpy( char *dst, const char *src, size_t maxLen );
+char *StrMaxCat( char *dst, const char *src, size_t maxLen );
+void  Usage( void );
+
+/* ---- Functions -------------------------------------------------------- */
+
+
+/***************************************************************************
+*
+*  main
+*
+****************************************************************************/
+
+int main( int argc, char **argv )
+{
+    int         rc;
+    int         opt;
+    char        devName[ 40 ];
+    const char *baudStr = NULL;
+    const char *portStr = "ttyS2";
+    speed_t     baudRate;
+    pthread_t   readerThreadId;
+
+    struct termios attr;
+
+    // Parse the command line options
+
+    while (( opt = getopt_long( argc, argv, "b:dhp:v", gLongOption, NULL )) > 0 )
+    {
+        switch ( opt )
+        {
+            case 'b':
+            {
+                baudStr = optarg;
+                break;
+            }
+
+            case 'd':
+            {
+                gDebug = 1;
+                break;
+            }
+
+            case 'p':
+            {
+                portStr = optarg;
+                break;
+            }
+
+            case 'v':
+            {
+                gVerbose = 1;
+                break;
+            }
+            case '?':
+            case 'h':
+            {
+                Usage();
+                return 1;
+            }
+        }
+    }
+
+    devName[ 0 ] = '\0';
+    if ( portStr[ 0 ] != '/' )
+    {
+        StrMaxCpy( devName, "/dev/", sizeof( devName ));
+    }
+    StrMaxCat( devName, portStr, sizeof( devName ));
+
+
+    baudRate = B0;
+    if ( baudStr == NULL )
+    {
+        baudRate = B9600;
+    }
+    else
+    {
+        int baudIdx;
+        int testBaud = atoi( baudStr );
+
+        for ( baudIdx = 0; baudIdx < ARRAY_LEN( gBaudTable ); baudIdx++ ) 
+        {
+            if ( gBaudTable[ baudIdx ].baudRate == testBaud )
+            {
+                baudRate = gBaudTable[ baudIdx ].speed;
+                break;
+            }
+        }
+
+        if ( baudRate == B0 )
+        {
+            fprintf( stderr, "Unrecognized baud rate: '%s'\n", baudStr );
+            exit( 1 );
+        }
+    }
+
+    if (( gPortFd = open( devName, O_RDWR | O_EXCL )) < 0 )
+    {
+        fprintf( stderr, "Unable to open serial port '%s': %s\n", devName, strerror( errno ));
+        exit( 2 );
+    }
+
+    if ( tcgetattr( gPortFd, &attr ) < 0 )
+    {
+        fprintf( stderr, "Call to tcgetattr failed: %s\n", strerror( errno ));
+        exit( 3 );
+    }
+
+    attr.c_iflag = 0;
+    attr.c_oflag = 0;
+    attr.c_cflag = CLOCAL | CREAD | CS8;
+    attr.c_lflag = 0;
+    attr.c_cc[ VTIME ] = 0; // timeout in tenths of a second
+    attr.c_cc[ VMIN ] = 1;  // Only wait for a single char
+
+    cfsetispeed( &attr, baudRate );
+    cfsetospeed( &attr, baudRate );
+
+    if ( tcsetattr( gPortFd, TCSAFLUSH, &attr ) < 0 )
+    {
+        fprintf( stderr, "Call to tcsetattr failed: %s\n", strerror( errno ));
+        exit( 4 );
+    }
+
+    // Put stdin & stdout in unbuffered mode.
+
+    setbuf( stdin, NULL );
+    setbuf( stdout, NULL );
+
+    // Put stdin in raw mode (i.e. turn off canonical mode). Canonical mode
+    // causes the driver to wait for the RETURN character so that line editing
+    // can take place. We also want to turn off ECHO.
+
+    {
+        struct termios tio;
+
+        if ( tcgetattr( fileno( stdin ), &tio ) < 0 )
+        {
+            fprintf( stderr, "Unable to retrieve terminal settings: %s\n", strerror( errno ));
+            exit( 5 );
+        }
+
+        tio.c_lflag &= ~( ICANON | ECHO );
+        tio.c_cc[VTIME] = 0;
+        tio.c_cc[VMIN] = 1;
+
+        if ( tcsetattr( fileno( stdin ), TCSANOW, &tio ) < 0 )
+        {
+            fprintf( stderr, "Unable to update terminal settings: %s\n", strerror( errno ));
+            exit( 6 );
+        }
+    }
+
+    // Kick off the serial port reader thread.
+
+    rc = pthread_create( &readerThreadId, NULL, ReaderThread, NULL );
+    if ( rc != 0 )
+    {
+        fprintf( stderr, "Error creating ReaderThread: %s\n", strerror( rc ));
+        exit( 7 );
+    }
+
+    // Read stdin and send rcvd chars to the serial port
+
+    while ( 1 )
+    {
+        char    ch;
+        int     chInt = fgetc( stdin );
+        if ( chInt < 0 )
+        {
+            fprintf( stderr, "Exiting...\n" );
+            break;
+        }
+        ch = (char)chInt;
+
+        if ( gDebug )
+        {
+            if (( ch < ' ' ) || ( ch > '~' ))
+            {
+                fprintf( stderr, "stdin Read: 0x%02x '.'\n", ch );
+            }
+            else
+            {
+                fprintf( stderr, "stdin Read: 0x%02x '%c'\n", ch, ch );
+            }
+
+        }
+
+        if ( write( gPortFd, &ch, 1 ) != 1 )
+        {
+            fprintf( stderr, "write to serial port failed: %s\n", strerror( errno ));
+            break;
+        }
+    }
+
+
+    close( gPortFd );
+
+    exit( 0 );
+    return 0;   // Get rid of warning about not returning anything
+}
+
+/***************************************************************************/
+/**
+*   Thread which processes the incoming serial data.
+*/
+
+void *ReaderThread( void *param )
+{
+    while ( 1 )
+    {
+        char    ch;
+        int     bytesRead;
+
+        if (( bytesRead  = read( gPortFd, &ch, 1 )) < 0 )
+        {
+            fprintf( stderr, "Serial port read failed: %s\n", strerror( errno ));
+            exit( 1 );
+        }
+
+        if ( gDebug )
+        {
+            if (( ch < ' ' ) || ( ch > '~' ))
+            {
+                fprintf( stderr, "Serial Read: 0x%02x '.'\n", ch );
+            }
+            else
+            {
+                fprintf( stderr, "Serial Read: 0x%02x '%c'\n", ch, ch );
+            }
+
+        }
+
+        putc( ch, stdout );
+    }
+
+    return 0;
+
+} // ReaderThread
+
+/***************************************************************************/
+/**
+*  Concatenates source to the destination, but makes sure that the 
+*  destination string (including terminating null), doesn't exceed maxLen.
+*
+*  @param   dst      (mod) String to concatnate onto.
+*  @param   src      (in)  String to being added to the end of @a dst.
+*  @param   maxLen   (in)  Maximum length that @a dst is allowed to be.
+*
+*  @return  A pointer to the destination string.
+*/
+
+char *StrMaxCat( char *dst, const char *src, size_t maxLen )
+{
+	size_t	dstLen = strlen( dst );
+
+	if ( dstLen < maxLen )
+	{
+		StrMaxCpy( &dst[ dstLen ], src, maxLen - dstLen );
+	}
+
+	return dst;
+
+} /* StrMaxCat */
+
+/***************************************************************************/
+/**
+*   Copies the source to the destination, but makes sure that the 
+*   destination string (including terminating null), doesn't exceed 
+*   maxLen.
+*
+*   @param  dst     (out) Place to store the string copy.
+*   @param  src     (in)  String to copy.
+*   @param  maxLen  (in)  Maximum number of characters to copy into @a dst.
+*
+*   @return A pointer to the destination string.
+*/
+
+char *StrMaxCpy( char *dst, const char *src, size_t maxLen )
+{
+	if ( maxLen < 1 )
+	{
+		/*
+		 * There's no room in the buffer?
+		 */
+
+		return "";
+	}
+
+	if ( maxLen == 1 )
+	{
+		/*
+		 * There's only room for the terminating null character
+		 */
+
+		dst[ 0 ] = '\0';
+		return dst;
+	}
+
+	/*
+	 * The Visual C++ version of strncpy writes to every single character
+	 * of the destination buffer, so we use a length one character smaller
+	 * and write in our own null (if required).
+     *
+     * This allows the caller to store a sentinel in the last byte of the
+     * buffer to detect overflows (if desired).
+	 */
+
+	strncpy( dst, src, maxLen - 1 );
+	if (( strlen( src ) + 1 ) >= maxLen )
+	{
+		/*
+		 * The string exactly fits, or probably overflows the buffer.
+		 * Write in the terminating null character since strncpy doesn't in
+		 * this particular case.
+		 *
+		 * We don't do this arbitrarily so that the caller can use a sentinel 
+		 * in the very end of the buffer to detect buffer overflows.
+		 */
+
+		dst[ maxLen - 1 ] = '\0';
+	}
+
+	return dst;
+
+} /* StrMaxCpy */
+
+/***************************************************************************
+*
+*  Usage
+*
+****************************************************************************/
+
+void Usage()
+{
+    fprintf( stderr, "Usage: sertest [option(s)]\n" );
+    fprintf( stderr, "  Download a program via serial/i2c\n" );
+    fprintf( stderr, "\n" );
+    fprintf( stderr, "  -b, --baud=baud   Set the baudrate used\n" );
+    fprintf( stderr, "  -d, --debug       Turn on debug output\n" );
+    fprintf( stderr, "  -h, --help        Display this message\n" );
+    fprintf( stderr, "  -p, --port=port   Set the I/O port\n" );
+    fprintf( stderr, "  -v, --verbose     Turn on verbose messages\n" );
+
+} // Usage
+
+