save failed integration state

gomspace/gomspace.mk

@@ -5,7 +5,15 @@ CSRC += $(wildcard $(CURRENTPATH)/libcsp/src/rtable/csp_rtable_cidr.c)
 CSRC += $(wildcard $(CURRENTPATH)/libcsp/src/crypto/*.c)
 CSRC += $(wildcard $(CURRENTPATH)/libcsp/src/arch/posix/*.c)
 CSRC += $(wildcard $(CURRENTPATH)/libcsp/src/transport/*.c)
+CSRC += $(wildcard $(CURRENTPATH)/p60-dock_client/src/*.c)
+CSRC += $(wildcard $(CURRENTPATH)/libparam_client/src/*.c)
+CSRC += $(wildcard $(CURRENTPATH)/libparam_client/src/rparam/*.c)
 
 INCLUDES += $(CURRENTPATH)/libcsp/include
 INCLUDES += $(CURRENTPATH)/libcsp/include/csp/crypto
 INCLUDES += $(CURRENTPATH)/libcsp
+INCLUDES += $(CURRENTPATH)/p60-dock_client/include/gs/p60-dock/param
+INCLUDES += $(CURRENTPATH)/libparam_client/include
+INCLUDES += $(CURRENTPATH)/libparam_client/include/deprecated
+INCLUDES += $(CURRENTPATH)/libp60_client/include
+INCLUDES += $(CURRENTPATH)/libutil/include

gomspace/libp60_client/include/p60.h

@@ -0,0 +1,48 @@
+#ifndef _P60_H_
+#define _P60_H_
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#define P60_PORT_RPARAM        7
+#define P60_PORT_GNDWDT_RESET  9
+#define P60_PORT_CMDCONTROL    10
+#define P60_PORT_GSSB_SERVICE  15
+#define P60_PORT_GSCRIPT       22
+
+/** FRAM MEMORY MAP */
+#define P60_FRAM_BOARD         0x0000
+
+/** FRAM FILENAMES */
+#define P60_FNO_BOARD          0
+#define P60_FNO_BOARD_DFL      4
+
+#define P60_FRAM_WP_BEGIN     (0x1000)
+#define P60_FRAM_WP_END       (0x1C00 - 1)
+
+/** GND WD FRAM ADDR **/
+#define P60_FRAM_GNDWDT        0x1F00
+
+/** PARAM INDEX MAP */
+#define P60_BOARD_PARAM        0
+
+#define DEVICE_FM24CL64B       0
+
+typedef enum {
+	UNKNOWN_RST = 0,
+	GND_WDT_RST,
+	I2C_WDT_RST,
+	CAN_WDT_RST,
+	EXT_HARD_RST,
+	EXT_SOFT_RST,
+} p60_reset_cause_t;
+
+extern const uint8_t board_fallback_type;
+extern const uint8_t csp_fallback_addr;
+extern const uint8_t board_rs422_mode;
+
+extern void module_init_early(void);
+extern void module_init(void);
+extern void wdt_gnd_clear(void);
+extern uint16_t command_control(uint8_t *packet, uint16_t length);
+extern void module_task(void * pvParameters);
+
+#endif /* _P60_H_ */

gomspace/libp60_client/include/p60_board.h

@@ -0,0 +1,35 @@
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+ * NanoCom firmware
+ *
+ */
+
+#ifndef P60_PARAM_H_
+#define P60_PARAM_H_
+
+#include <stdint.h>
+#include <param/param_types.h>
+
+/**
+ * Define memory space
+ */
+#define P60_BOARD_UID                   0x00
+#define P60_BOARD_TYPE                  0x10
+#define P60_BOARD_REV                   0x11
+#define P60_BOARD_CSP_ADDR              0x12
+#define P60_BOARD_I2C_ADDR              0x13
+#define P60_BOARD_I2C_SPEED_KHZ         0x14
+#define P60_BOARD_CAN_SPEED_KHZ         0x16
+#define P60_BOARD_KISS_ENABLE           0x18
+#define P60_BOARD_RS422_MODE            0x19
+#define P60_BOARD_RS422_SPEED_KHZ       0x1C
+#define P60_BOARD_RTABLE_STR            0x20  //! This one is 0x60 = 96 bytes
+#define P60_BOARD_RTABLE_STR_SIZE       0x60
+
+/** Define the memory size */
+#define P60_BOARD_PARAM_SIZE            0x80
+
+extern const param_table_t p60_config[];
+extern const int p60_config_count;
+
+#endif /* P60_PARAM_H_ */

gomspace/libp60_client/include/power_if.h

@@ -0,0 +1,62 @@
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+ * NanoPower firmware
+ *
+ */
+
+#ifndef POWER_IF_H_
+#define POWER_IF_H_
+
+#include <stdint.h>
+
+#define POWER_IF_SET            1
+#define POWER_IF_GET            2
+#define POWER_IF_LIST           3
+
+#define POWER_IF_STATUS_OK      0
+#define POWER_IF_STATUS_ERROR   1
+
+#define POWER_IF_NAME_LEN       8
+
+typedef struct __attribute__((packed)) {
+	uint8_t              ch_idx;
+	uint8_t              mode;
+	uint16_t             on_cnt;
+	uint16_t             off_cnt;
+	uint16_t             cur_lu_lim;
+	uint16_t             cur_lim;
+	uint16_t             voltage;
+	int16_t              current;
+	uint16_t             latchup;
+	char                 name[POWER_IF_NAME_LEN];
+} power_if_ch_status_t;
+
+typedef struct __attribute__((packed)) {
+	uint8_t              ch_idx;
+	uint8_t              mode;
+	char                 name[8];
+} power_if_list_t;
+
+typedef struct __attribute__((packed)) {
+	uint8_t              cmd;
+	uint8_t              status;
+	power_if_ch_status_t ch_status;
+} power_if_cmd_request_t;
+
+typedef struct __attribute__((packed)) {
+	uint8_t              cmd;
+	uint8_t              status;
+	power_if_ch_status_t ch_status;
+} power_if_cmd_response_t;
+
+typedef struct __attribute__((packed)) {
+	uint8_t              cmd;
+	uint8_t              status;
+	uint8_t              count;
+	power_if_list_t      list[16];
+} power_if_cmd_list_response_t;
+
+int p60_power_if_cmd(uint8_t node, uint8_t port, uint32_t timeout, uint8_t cmd, void * ch_status_p);
+uint8_t p60_power_if_get_ch_idx(char * ch_name, uint8_t * ch_no, uint8_t ch_no_max);
+
+#endif /* POWER_IF_H_ */

gomspace/libp60_client/src/cmd/power_if_cmd.c

@@ -0,0 +1,147 @@
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <inttypes.h>
+#include <string.h>
+
+#include <csp/csp.h>
+#include <util/console.h>
+
+#include <power_if.h>
+
+static uint8_t power_if_port = 10;
+static uint32_t power_if_timeout = 5000;
+
+static int cmd_power_if_port(struct command_context * ctx) {
+	if (ctx->argc < 2) {
+		printf("Current port is %d\n", power_if_port);
+		return CMD_ERROR_NONE;
+	}
+	power_if_port = atoi(ctx->argv[1]);
+	return CMD_ERROR_NONE;
+}
+
+static int cmd_power_if_timeout(struct command_context *ctx) {
+	if (ctx->argc < 2) {
+		printf("Current timeout is %"PRIu32"\n", power_if_timeout);
+		return CMD_ERROR_NONE;
+	}
+	if (sscanf(command_args(ctx), "%"SCNu32, &power_if_timeout) != 1)
+		return CMD_ERROR_SYNTAX;
+	if (power_if_timeout > 30000) {
+		printf("Timeout set to high, limited to 30000 ms\n");
+		power_if_timeout = 30000;
+	}
+	printf("Timeout set to %"PRIu32"\n", power_if_timeout);
+	return CMD_ERROR_NONE;
+}
+
+static int cmd_power_if_set_get(struct command_context * ctx) {
+	power_if_ch_status_t ch_status;
+
+	if (ctx->argc < 3) {
+		return CMD_ERROR_SYNTAX;
+	}
+	uint8_t node = atoi(ctx->argv[1]);
+	memset(&ch_status, 0, sizeof(ch_status));
+	strncpy(ch_status.name, ctx->argv[2], 7);
+	ch_status.name[7] = 0;
+	char * cmd = ctx->argv[0];
+	if (!strcmp(cmd, "status") && (ctx->argc == 3)) {
+		if (!p60_power_if_cmd(node, power_if_port, power_if_timeout, POWER_IF_GET, &ch_status)) {
+			return CMD_ERROR_FAIL;
+		}
+	} else {
+		if (!strcmp(cmd, "on")) {
+			ch_status.mode = 1;
+		} else if (!strcmp(cmd, "off")) {
+			ch_status.mode = 0;
+		}
+		ch_status.on_cnt = (ctx->argc > 3) ? atoi(ctx->argv[3]) : 0;
+		ch_status.off_cnt = (ctx->argc > 4) ? atoi(ctx->argv[4]) : 0;
+		if (!p60_power_if_cmd(node, power_if_port, power_if_timeout, POWER_IF_SET, &ch_status)) {
+			return CMD_ERROR_FAIL;
+		}
+	}
+	printf("Node %u, Output channel '%s' (%u) is %s\r\n", node, ch_status.name, ch_status.ch_idx, (ch_status.mode ? "ON": "OFF"));
+	printf("  ch_idx:     %u\r\n", ch_status.ch_idx);
+	printf("  mode:       %u\r\n", ch_status.mode);
+	printf("  on_cnt:     %u\r\n", ch_status.on_cnt);
+	printf("  off_cnt:    %u\r\n", ch_status.off_cnt);
+	printf("  cur_lu_lim: %u\r\n", ch_status.cur_lu_lim);
+	printf("  cur_lim:    %u\r\n", ch_status.cur_lim);
+	printf("  voltage:    %u\r\n", ch_status.voltage);
+	printf("  current:    %d\r\n", ch_status.current);
+	printf("  latchup:    %u\r\n", ch_status.latchup);
+
+	return CMD_ERROR_NONE;
+}
+
+static int cmd_power_if_list(struct command_context * ctx) {
+	if (ctx->argc < 2) {
+		return CMD_ERROR_SYNTAX;
+	}
+	uint8_t node = atoi(ctx->argv[1]);
+	power_if_cmd_list_response_t ch_list;
+	if (!p60_power_if_cmd(node, power_if_port, power_if_timeout, POWER_IF_LIST, &ch_list)) {
+		return CMD_ERROR_FAIL;
+	}
+	printf("ch name     status\r\n");
+	for (uint8_t ch = 0; ch < ch_list.count; ch++) {
+		printf("%2u %-8s %s\r\n", ch_list.list[ch].ch_idx, ch_list.list[ch].name, ch_list.list[ch].mode ? "ON": "OFF");
+	}
+	return CMD_ERROR_NONE;
+}
+
+command_t power_if_commands[] = {
+	{
+		.name = "port",
+		.help = "Set power interface port (default is 10)",
+		.usage = "<port>",
+		.handler = cmd_power_if_port,
+	},
+	{
+		.name = "timeout",
+		.help = "Set power interface timeout in milliseconds",
+		.usage = "<timeout>",
+		.handler = cmd_power_if_timeout,
+	},
+	{
+		.name = "status",
+		.help = "Get power channel status",
+		.usage = "<node> <channel>",
+		.handler = cmd_power_if_set_get,
+	},
+	{
+		.name = "on",
+		.help = "Turn power channel on",
+		.usage = "<node> <channel> [<on_cnt> <off_cnt>]",
+		.handler = cmd_power_if_set_get,
+	},
+	{
+		.name = "off",
+		.help = "Turn power channel off",
+		.usage = "<node> <channel> off [<on_cnt> <off_cnt>]",
+		.handler = cmd_power_if_set_get,
+	},
+	{
+		.name = "list",
+		.help = "Get list power channels",
+		.usage = "<node>",
+		.handler = cmd_power_if_list,
+	},
+};
+
+command_t __root_command power_if_root_command[] = {
+	{
+		.name = "power",
+		.help = "client: NanoPower P60",
+		.chain = INIT_CHAIN(power_if_commands),
+	}
+};
+
+void cmd_power_if_setup(void) {
+	command_register(power_if_root_command);
+}

gomspace/libp60_client/src/p60_client.c

@@ -0,0 +1,33 @@
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+ * NanoCom firmware
+ *
+ */
+
+#include <stddef.h>
+#include <stdlib.h>
+#include <csp/csp.h>
+#include <csp/csp_endian.h>
+
+#include <p60.h>
+#include <p60_board.h>
+
+/**
+ * Setup info about board configuration parameters
+ */
+const param_table_t p60_config[] = {
+	{.name = "uid", 		.addr = P60_BOARD_UID,					.type = PARAM_STRING,	.size = 16},
+	{.name = "type", 		.addr = P60_BOARD_TYPE,					.type = PARAM_UINT8,	.size = sizeof(uint8_t)},
+	{.name = "rev", 		.addr = P60_BOARD_REV,					.type = PARAM_UINT8,	.size = sizeof(uint8_t)},
+	{.name = "csp_addr",	.addr = P60_BOARD_CSP_ADDR,				.type = PARAM_UINT8, 	.size = sizeof(uint8_t)},
+	{.name = "i2c_addr", 	.addr = P60_BOARD_I2C_ADDR,				.type = PARAM_UINT8,	.size = sizeof(uint8_t)},
+	{.name = "i2c_speed", 	.addr = P60_BOARD_I2C_SPEED_KHZ,		.type = PARAM_UINT16,	.size = sizeof(uint16_t)},
+	{.name = "can_speed",	.addr = P60_BOARD_CAN_SPEED_KHZ,		.type = PARAM_UINT16, 	.size = sizeof(uint16_t)},
+	{.name = "kiss_en",		.addr = P60_BOARD_KISS_ENABLE,			.type = PARAM_UINT8,	.size = sizeof(uint8_t)},
+	{.name = "rs422_mode",	.addr = P60_BOARD_RS422_MODE,			.type = PARAM_UINT8,	.size = sizeof(uint8_t)},
+	{.name = "rs422_speed",	.addr = P60_BOARD_RS422_SPEED_KHZ,		.type = PARAM_UINT32,	.size = sizeof(uint32_t)},
+	{.name = "csp_rtable",	.addr = P60_BOARD_RTABLE_STR,			.type = PARAM_STRING,	.size = P60_BOARD_RTABLE_STR_SIZE},
+
+};
+
+const int p60_config_count = sizeof(p60_config) / sizeof(p60_config[0]);

gomspace/libp60_client/src/power_if.c

@@ -0,0 +1,91 @@
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+ * NanoPower firmware
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdint.h>
+#include <ctype.h>
+
+#include <csp/csp.h>
+#include <csp/csp_endian.h>
+
+#include <power_if.h>
+
+uint8_t p60_power_if_get_ch_idx(char * ch_name, uint8_t * ch_no, uint8_t ch_no_max) {
+
+	uint8_t result = 1;
+	uint8_t len = strlen(ch_name);
+	for (int i = 0; i < len; i++) {
+		if (!isdigit(ch_name[i])) {
+			result = 0;
+			break;
+		}
+	}
+	if (result) {
+		*ch_no = atoi(ch_name);
+		if (*ch_no >= ch_no_max) {
+			result = 0;
+		}
+	}
+	return result;
+}
+
+int p60_power_if_cmd(uint8_t node, uint8_t port, uint32_t timeout, uint8_t cmd, void * ch_status_p) {
+
+	power_if_cmd_request_t req;
+
+	if ((cmd == POWER_IF_SET) || (cmd == POWER_IF_GET)) {
+		power_if_cmd_response_t resp;
+		power_if_ch_status_t * ch_status = (power_if_ch_status_t *)ch_status_p;
+		if (cmd == POWER_IF_SET) {
+			req.cmd = POWER_IF_SET;
+			req.ch_status.mode = ch_status->mode;
+			req.ch_status.on_cnt = csp_hton16(ch_status->on_cnt);
+			req.ch_status.off_cnt = csp_hton16(ch_status->off_cnt);
+		} else {
+			req.cmd = POWER_IF_GET;
+			req.ch_status.mode = 0;
+			req.ch_status.on_cnt = 0;
+			req.ch_status.off_cnt = 0;
+		}
+		ch_status->name[POWER_IF_NAME_LEN - 1] = 0;
+		strcpy(req.ch_status.name, ch_status->name);
+		if (csp_transaction(CSP_PRIO_HIGH, node, port, timeout, &req, sizeof(power_if_cmd_request_t), &resp, sizeof(power_if_cmd_response_t))) {
+			if ((resp.cmd == POWER_IF_SET) || (resp.cmd == POWER_IF_GET)) {
+				if (resp.status == POWER_IF_STATUS_OK) {
+					ch_status->ch_idx = resp.ch_status.ch_idx;
+					ch_status->mode = resp.ch_status.mode;
+					ch_status->on_cnt = csp_ntoh16(resp.ch_status.on_cnt);
+					ch_status->off_cnt = csp_ntoh16(resp.ch_status.off_cnt);
+					ch_status->cur_lu_lim = csp_ntoh16(resp.ch_status.cur_lu_lim);
+					ch_status->cur_lim = csp_ntoh16(resp.ch_status.cur_lim);
+					ch_status->voltage = csp_ntoh16(resp.ch_status.voltage);
+					ch_status->current = csp_ntoh16(resp.ch_status.current);
+					ch_status->latchup = csp_ntoh16(resp.ch_status.latchup);
+					strncpy(ch_status->name, resp.ch_status.name, POWER_IF_NAME_LEN - 1);
+					/* Ensure zero termination*/
+					ch_status->name[POWER_IF_NAME_LEN - 1] = 0;
+					return 1;
+				}
+			}
+		}
+	} else if (cmd == POWER_IF_LIST) {
+		power_if_cmd_list_response_t * ch_list = (power_if_cmd_list_response_t *)ch_status_p;
+		req.cmd = POWER_IF_LIST;
+		req.ch_status.mode = 0;
+		req.ch_status.on_cnt = 0;
+		req.ch_status.off_cnt = 0;
+		req.ch_status.name[0] = 0;
+		if (csp_transaction(CSP_PRIO_HIGH, node, port, timeout, &req, sizeof(power_if_cmd_request_t), ch_list, sizeof(power_if_cmd_list_response_t))) {
+			if ((ch_list->cmd == POWER_IF_LIST) && (ch_list->status == POWER_IF_STATUS_OK)) {
+				return 1;
+			}
+		}
+	}
+
+	return 0;
+}

gomspace/libp60_client/wscript

@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+# encoding: utf-8
+# Copyright (c) 2013-2018 GomSpace A/S. All rights reserved.
+
+APPNAME = 'p60_client'
+
+
+def options(ctx):
+    gr = ctx.add_option_group('NanoPower-P60 library client options')
+    gr.add_option('--disable-libp60-cmd', action='store_true', help='Disable client cmd code for NanoPower-P60 library')
+
+
+def configure(ctx):
+    ctx.env.append_unique('FILES_LIBP60_CLIENT', ['src/*.c'])
+    if not ctx.options.disable_libp60_cmd:
+        ctx.env.append_unique('FILES_LIBP60_CLIENT', ['src/cmd/*.c'])
+
+
+def build(ctx):
+    public_include = APPNAME + '_h'
+    ctx(export_includes=['include'], name=public_include)
+    ctx.objects(source=ctx.path.ant_glob(ctx.env.FILES_LIBP60_CLIENT),
+                target=APPNAME,
+                use=['csp', 'gosh', 'param', 'param_client', 'util', public_include])
+
+
+def gs_dist(ctx):
+    ctx.add_default_files(source_module=True)

gomspace/libparam_client/include/deprecated/param/param_client.h

@@ -0,0 +1,15 @@
+#ifndef PARAM_PARAM_CLIENT_H
+#define PARAM_PARAM_CLIENT_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Legacy/deprecated include of header files for libparam client.
+*/
+
+#include <param/param_serializer.h>
+#include <param/param_string.h>
+#include <param/param_lock.h>
+#include <param/rparam_client.h>
+
+#endif

gomspace/libparam_client/include/deprecated/param/param_lock.h

@@ -0,0 +1,27 @@
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+ * GomSpace Parameter System.
+ */
+#ifndef PARAM_PARAM_LOCK_H_
+#define PARAM_PARAM_LOCK_H_
+
+#include <gs/param/table.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+static inline void param_lock(param_index_t * mem)
+{
+    gs_param_table_lock((gs_param_table_instance_t *) mem);
+}
+
+static inline void param_unlock(param_index_t * mem)
+{
+    gs_param_table_unlock((gs_param_table_instance_t *) mem);
+}
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libparam_client/include/deprecated/param/param_serializer.h

@@ -0,0 +1,55 @@
+#ifndef PARAM_PARAM_SERIALIZER_H
+#define PARAM_PARAM_SERIALIZER_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+ * GomSpace Parameter System
+ */
+
+#include <param/param_types.h>
+#include <gs/param/serialize.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef gs_param_serialize_flags_t param_serializer_flags;
+    
+static inline int param_betoh(param_type_t type, void * item)
+{
+    return gs_param_betoh(type, item);
+}
+
+static inline int param_htobe(param_type_t type, void * item)
+{
+    return gs_param_htobe(type, item);
+}
+
+static inline int param_serialize_full_table(param_index_t * mem, unsigned int *start, uint8_t * buf, unsigned int maxbuflen, param_serializer_flags flags)
+{
+    unsigned int buf_pos = 0;
+    gs_error_t error = gs_param_serialize_full_table((gs_param_table_instance_t *) mem, start, flags, buf, maxbuflen, &buf_pos);
+    return (error == GS_OK) ? (int) buf_pos : -1;
+}
+
+static inline gs_error_t param_serialize_item(const param_table_t * param, uint16_t addr, uint8_t * buf, uint16_t * pos, unsigned int maxlen, void * item, param_serializer_flags flags)
+{
+    unsigned int tmp_pos = *pos;
+    gs_error_t error = gs_param_serialize_item((const gs_param_table_row_t*) param, addr, item, flags, buf, maxlen, &tmp_pos);
+    *pos = tmp_pos;
+    return (error == GS_OK) ? 0 : -1;
+}
+
+static inline gs_error_t param_deserialize(param_index_t * mem, uint8_t * buf, int len, param_serializer_flags flags)
+{
+    return (gs_param_deserialize((gs_param_table_instance_t *) mem, buf, len, flags) == GS_OK) ? 0 : -1;
+}
+
+static inline gs_error_t param_deserialize_item(const param_table_t * param, uint16_t addr, param_index_t * mem, void * item, param_serializer_flags flags)
+{
+    return (gs_param_deserialize_item((gs_param_table_instance_t *) mem, (const gs_param_table_row_t*)param, addr, item, flags) == GS_OK) ? 0 : -1;
+}
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libparam_client/include/deprecated/param/param_string.h

@@ -0,0 +1,74 @@
+#ifndef PARAM_PARAM_STRING_H
+#define PARAM_PARAM_STRING_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+ * GomSpace Parameter System
+ */
+
+#include <param/param_types.h>
+#include <gs/param/table.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef union {
+    const param_table_t * row3;
+    const gs_param_table_row_t * row4;
+} gs_param_row_align_t;
+
+static inline const param_table_t * param_find_name(const param_table_t rows[], size_t row_count, const char * name)
+{
+    gs_param_row_align_t row_in = {.row3 = rows};
+    gs_param_row_align_t row_out = {.row4 = gs_param_row_by_name(name, row_in.row4, row_count)};
+    return row_out.row3;
+}
+
+static inline const param_table_t * param_find_addr(const param_table_t rows[], size_t row_count, uint16_t addr)
+{
+    gs_param_row_align_t row_in = {.row3 = rows};
+    gs_param_row_align_t row_out = {.row4 = gs_param_row_by_address(addr, row_in.row4, row_count)};
+    return row_out.row3;
+}
+
+static inline void param_list_single(param_table_t * param, param_index_t * mem, int do_read)
+{
+    gs_param_list_single((gs_param_table_instance_t *) mem, (const gs_param_table_row_t *) param, (do_read != 0));
+}
+
+static inline void param_list(param_index_t * mem, int do_read)
+{
+    gs_param_list((gs_param_table_instance_t *) mem, (do_read != 0));
+}
+
+static inline gs_error_t param_from_string(const param_table_t * param , const char * string, void * value)
+{
+    return gs_param_from_string((const gs_param_table_row_t *)param , string, value);
+}
+
+static inline int param_to_string(const param_table_t * param, char * buf, int pos, const void * value, int with_type, int max_size)
+{
+    unsigned int written = 0;
+    gs_param_to_string((const gs_param_table_row_t *)param, value, with_type, buf, max_size, pos, &written);
+    return (int) written;
+}
+
+static inline const char * param_type_to_string(param_type_t type)
+{
+    return gs_param_type_to_string(type);
+}
+
+static inline uint16_t param_index_chksum(param_index_t * mem)
+{
+    return gs_param_table_checksum((gs_param_table_instance_t*)mem);
+}
+
+static inline uint16_t param_index_chksum2(param_index_t * mem)
+{
+    return gs_param_table_checksum2((gs_param_table_instance_t*)mem);
+}
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libparam_client/include/deprecated/param/param_types.h

@@ -0,0 +1,92 @@
+#ifndef PARAM_PARAM_TYPES_H
+#define PARAM_PARAM_TYPES_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Legacy/deprecated parameter types and definitions - use <gs/param/types.h>.
+*/
+
+#include <gs/param/table.h>
+#include <gs/param/rparam.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define MAX_PARAM_NAME_LEN	GS_PARAM_MAX_NAME
+
+/*
+  Legacy parameter type definition - matches gs_param_type_t exactly.
+ */
+typedef gs_param_type_t param_type_t;
+
+/*
+  Legacy table row definition - matches gs_param_table_row_t exactly.
+*/
+typedef struct param_table_s {
+    uint16_t addr;
+    param_type_t type;
+    uint8_t size;
+    uint8_t count; // -> array_size
+    uint8_t flags;
+    char name[MAX_PARAM_NAME_LEN];
+} param_table_t;
+
+#define PARAM_COUNT             gs_max(GS_PGM_UINT8((param)->count), 1)
+#define PARAM_SIZE              GS_PARAM_SIZE(param)
+#define PARAM_TYPE              GS_PARAM_TYPE(param)
+#define PARAM_ADDR              GS_PARAM_ADDR(param)
+#define PARAM_FLAGS             GS_PARAM_FLAGS(param)
+
+#define RPARAM_QUERY_MAX_LEN	GS_RPARAM_MAX_QUERY
+
+#define PARAM_MAX_FILESIZE	0x400
+
+struct param_index_s;    
+
+/*
+  Legacy callback - matches gs_param_callback_func_t exactly.
+*/
+typedef void (*param_callback_func)(uint16_t addr, struct param_index_s * index);
+
+typedef gs_param_table_id_t param_mem;
+
+/*
+  Legacy table instance definition - matches gs_param_table_instance_t exactly.
+*/
+typedef struct param_index_s {
+    const char * name;
+    param_mem mem_id;
+    const param_table_t * table;
+    unsigned int count;
+    void * physaddr;
+    unsigned int size;
+    const gs_param_function_interface_t function_interface;
+    const uint16_t table_chksum;
+    const uint16_t chksum2;
+    const uint16_t checksum_le;
+    const gs_mutex_t lock;
+    param_callback_func callback;
+    const char *   const var1;
+    const char *   const var2;
+    const void *   const var3;
+    const void *   const var4;
+    const void *   const var5;
+    const void *   const var6;
+    const void *   const var7;
+    const uint32_t       var8;
+} param_index_t;
+
+/**
+   Return base size of a parameter type.
+*/
+static inline uint8_t param_type_size(param_type_t type)
+{
+    return gs_param_type_size(type);
+}
+    
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libparam_client/include/deprecated/param/rparam_client.h

@@ -0,0 +1,208 @@
+#ifndef PARAM_RPARAM_CLIENT_H
+#define PARAM_RPARAM_CLIENT_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+ * GomSpace Parameter System
+ */
+
+#include <param/param_types.h>
+#include <gs/param/rparam.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Legacy magic checksum.
+   @deprecated use #GS_RPARAM_MAGIC_CHECKSUM (if remote products supports it).
+*/
+#define GS_RPARAM_LEGACY_MAGIC_CHECKSUM 0xb00b
+    
+static inline int rparam_get_full_table(param_index_t* idx, int node, int port, int index_id, uint32_t timeout_ms)
+{
+    return (gs_rparam_get_full_table((gs_param_table_instance_t *) idx,
+                                     node,
+                                     index_id,
+                                     GS_RPARAM_LEGACY_MAGIC_CHECKSUM,
+                                     timeout_ms) == GS_OK) ? 0 : -1;
+}
+
+static inline int rparam_download_table_spec_from_remote_and_save_to_file2(const char* fname, uint8_t node, uint8_t port, param_index_t* idx, uint16_t* return_checksum, uint32_t timeout_ms)
+{
+    return (gs_rparam_download_table_spec((gs_param_table_instance_t *) idx,
+                                          fname,
+                                          node,
+                                          idx->mem_id,
+                                          timeout_ms,
+                                          return_checksum) == GS_OK) ? 0 : -1;
+}
+
+static inline int rparam_download_table_spec_from_remote_and_save_to_file(const char* fname, uint8_t node, uint8_t port, param_index_t* idx, uint16_t* checksum)
+{
+    return rparam_download_table_spec_from_remote_and_save_to_file2(fname, node, port, idx, checksum, 10000);
+}
+
+static inline int rparam_load_table_spec_from_file(const char* fname, param_index_t* idx, uint16_t* return_checksum)
+{
+    return (gs_rparam_load_table_spec((gs_param_table_instance_t *) idx, fname, return_checksum) == GS_OK) ? 0 : -1;
+}
+    
+static inline int rparam_get_single(void * out, uint16_t addr, param_type_t type, int size, int mem_id, int node, int port, uint32_t timeout_ms)
+{
+    return (gs_rparam_get(node, mem_id, addr, type, GS_RPARAM_LEGACY_MAGIC_CHECKSUM, timeout_ms, out, size) == GS_OK) ? size : -1;
+}
+
+static inline int rparam_set_single(const void * in, uint16_t addr, param_type_t type, int size, int mem_id, int node, int port, uint32_t timeout_ms)
+{
+    return (gs_rparam_set(node, mem_id, addr, type, GS_RPARAM_LEGACY_MAGIC_CHECKSUM, timeout_ms, in, size) == GS_OK) ? size : -1;
+}
+
+static inline int rparam_copy(uint8_t node, uint8_t port, uint32_t timeout_ms, uint8_t from, uint8_t to)
+{
+    return (gs_rparam_copy(node, timeout_ms, from, to) == GS_OK) ? 1 : 0;
+}
+
+static inline int rparam_save(uint8_t node, uint8_t port, uint32_t timeout_ms, uint8_t from, uint8_t to)
+{
+    return (gs_rparam_save(node, timeout_ms, from, to) == GS_OK) ? 1 : 0;
+}
+
+static inline int rparam_load(uint8_t node, uint8_t port, uint32_t timeout_ms, uint8_t from, uint8_t to)
+{
+    return (gs_rparam_load(node, timeout_ms, from, to) == GS_OK) ? 1 : 0;
+}
+
+/**
+ * Remote getters for parameters.
+ * @param out pointer to the output buffer/parameter
+ * @param outlen length of the supplied out-buffer, only applies to rparam_get_string()
+ * @param addr local address of the parameter
+ * @param node CSP address of the node to query
+ * @param port CSP port of the parameter server
+ * @param timeout timeout on remote CSP calls
+ * @returns <0 on error in which case the contents of out is invalid, >0 on success
+ */
+static inline int rparam_get_string(char *out, int outlen, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_get_single(out, addr, PARAM_STRING, outlen, index_id, node, port, timeout_ms);
+}
+
+/**
+ * Remote setters for parameters.
+ * @param in pointer to the buffer/parameter value to set
+ * @param inlen length of the supplied in-buffer, only applies to rparam_set_string()
+ * @param addr local address of the parameter
+ * @param node CSP address of the node to query
+ * @param port CSP port of the parameter server
+ * @param timeout timeout on remote CSP calls
+ * @returns <0 on error in which case the contents of out is invalid, >0 on success
+ */
+static inline int rparam_set_string(const char *in, int inlen, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_set_single(in, addr, PARAM_STRING, inlen, index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_get_uint8(uint8_t * out, uint16_t addr, int tinst_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_get_single(out, addr, PARAM_UINT8, sizeof(uint8_t), tinst_id, node, port, timeout_ms);
+}
+
+static inline int rparam_set_uint8(const uint8_t * in, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_set_single(in, addr, PARAM_UINT8, sizeof(uint8_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_get_uint16(uint16_t * out, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_get_single(out, addr, PARAM_UINT16, sizeof(uint16_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_set_uint16(const uint16_t * in, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_set_single(in, addr, PARAM_UINT16, sizeof(uint16_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_get_uint32(uint32_t * out, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_get_single(out, addr, PARAM_UINT32, sizeof(uint32_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_set_uint32(const uint32_t * in, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_set_single(in, addr, PARAM_UINT32, sizeof(uint32_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_get_uint64(uint64_t * out, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_get_single(out, addr, PARAM_UINT64, sizeof(uint64_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_set_uint64(const uint64_t * in, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_set_single(in, addr, PARAM_UINT64, sizeof(uint64_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_get_int8(int8_t * out, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_get_single(out, addr, PARAM_INT8, sizeof(int8_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_set_int8(const int8_t * in, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_set_single(in, addr, PARAM_INT8, sizeof(int8_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_get_int16(int16_t * out, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_get_single(out, addr, PARAM_INT16, sizeof(int16_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_set_int16(const int16_t * in, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_set_single(in, addr, PARAM_INT16, sizeof(int16_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_get_int32(int32_t * out, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_get_single(out, addr, PARAM_INT32, sizeof(int32_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_set_int32(const int32_t * in, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_set_single(in, addr, PARAM_INT32, sizeof(int32_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_get_int64(int64_t * out, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_get_single(out, addr, PARAM_INT64, sizeof(int64_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_set_int64(const int64_t * in, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_set_single(in, addr, PARAM_INT64, sizeof(int64_t), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_get_float(float * out, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_get_single(out, addr, PARAM_FLOAT, sizeof(float), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_set_float(const float * in, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_set_single(in, addr, PARAM_FLOAT, sizeof(float), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_get_double(double * out, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_get_single(out, addr, PARAM_DOUBLE, sizeof(double), index_id, node, port, timeout_ms);
+}
+
+static inline int rparam_set_double(const double * in, uint16_t addr, int index_id, int node, int port, uint32_t timeout_ms)
+{
+    return rparam_set_single(in, addr, PARAM_DOUBLE, sizeof(double), index_id, node, port, timeout_ms);
+}
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libparam_client/include/gs/param/internal/pp/i2c/i2c.h

@@ -0,0 +1,42 @@
+#ifndef GS_PARAM_INTERNAL_PP_I2C_I2C_H
+#define GS_PARAM_INTERNAL_PP_I2C_I2C_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+
+#if (GS_PARAM_INTERNAL_USE)
+
+#include <gs/param/pp/i2c/i2c.h>
+#include <gs/param/internal/pp/i2c/slave_dispatch.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define GS_PARAM_I2C_LENGTH_TABLE(length, table)  ((length << 3) | (table & 0x07))
+#define GS_PARAM_I2C_LENGTH_TABLE_TO_LENGTH(lt)   ((lt >> 3) & 0x1f)
+#define GS_PARAM_I2C_LENGTH_TABLE_TO_TABLE(lt)    (lt & 0x07)
+
+/**
+   Data structure for setting parameter.
+*/
+typedef struct __attribute__ ((packed)) gs_param_i2c_set_request {
+    gs_i2c_slave_dispatch_header_t header;
+    uint8_t length_table;
+    uint8_t addr;
+    uint8_t data[]; // data (+ checksum)
+} gs_param_i2c_set_request_t;
+
+/**
+   Data structure for getting parameter.
+*/
+typedef struct __attribute__ ((packed)) gs_param_i2c_get_request {
+    gs_i2c_slave_dispatch_header_t header;
+    uint8_t length_table;
+    uint8_t addr;
+    uint8_t checksum; // optional
+} gs_param_i2c_get_request_t;
+
+#ifdef __cplusplus
+}
+#endif
+#endif
+#endif

gomspace/libparam_client/include/gs/param/internal/pp/i2c/slave_dispatch.h

@@ -0,0 +1,71 @@
+#ifndef GS_PARAM_INTERNAL_PP_I2C_SLAVE_DISPATCH_H
+#define GS_PARAM_INTERNAL_PP_I2C_SLAVE_DISPATCH_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+
+#if (GS_PARAM_INTERNAL_USE)
+
+#include <gs/util/drivers/i2c/slave.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Header for I2C slave dispatch protocol - must be first in all protocols.
+*/
+typedef struct __attribute__ ((packed)) gs_i2c_slave_dispatch_header {
+    uint8_t domain_command;
+} gs_i2c_slave_dispatch_header_t;
+
+/**
+   Make header from domain and command.
+*/
+#define GS_I2C_SLAVE_DISPATCH_HEADER(domain, command)   ((domain << 5) | (command & 0x1f))
+
+/**
+   Extract domain from header.
+*/
+#define GS_I2C_SLAVE_DISPATCH_HEADER_TO_DOMAIN(header)  ((header >> 5) & 0x7)
+
+/**
+   Extract comman from header.
+*/
+#define GS_I2C_SLAVE_DISPATCH_HEADER_TO_COMMAND(header) (header & 0x1f)
+
+/**
+   Domain handler.
+
+   Basically same features as normal I2C slave rx callback. The generic I2C dispatch interface will parse the header (first byte)
+   and call the associated handler, based on the domain.
+
+   @param[in] channel I2C channel (handle).
+   @param[in] cmd domain specific command.
+   @param[in] rx_buffer Pointer to start of rx buffer.
+   @param[in] rx number of bytes received so far.
+   @param[in] cswitch If called from within an ISR (embedded platform), this will none NULL.
+   @return total number of bytes to receive before next call back. Return 0 to ignore rest of data - no additional call backs will be done for current I2C transaction.
+*/
+typedef void (* gs_i2c_slave_dispatch_handler_t)(uint8_t channel, uint8_t cmd, const uint8_t * rx, size_t rx_length, gs_context_switch_t * cswitch);
+
+/**
+   Dispatch domains.
+
+   Standard domains should be assigned from the lowest value.
+   Application/board/product should be assigned from highest value.
+*/
+typedef enum {
+    GS_I2C_SLAVE_DISPATCH_DOMAIN_RESERVED = 0, //! Avoid use - reserved for GSSB, GSSB broadcasts UID request on domain=0, cmd=13
+    GS_I2C_SLAVE_DISPATCH_DOMAIN_USER1,        //! Avoid use - overlap with GSSB commands
+    GS_I2C_SLAVE_DISPATCH_DOMAIN_USER2,        //! Avoid use - may overlap with GSSB commands
+    GS_I2C_SLAVE_DISPATCH_DOMAIN_USER3,        //! Avoid use - may overlap with GSSB commands
+    GS_I2C_SLAVE_DISPATCH_DOMAIN_PARAM,        //! Reserved for libparam.
+    GS_I2C_SLAVE_DISPATCH_DOMAIN_USER5,
+    GS_I2C_SLAVE_DISPATCH_DOMAIN_USER6,
+    GS_I2C_SLAVE_DISPATCH_DOMAIN_USER7,
+} gs_i2c_slave_dispatch_domain_t;
+
+#ifdef __cplusplus
+}
+#endif
+#endif
+#endif

gomspace/libparam_client/include/gs/param/internal/pp/spi/slave_dispatch.h

@@ -0,0 +1,80 @@
+#ifndef GS_PARAM_INTERNAL_PP_SPI_SLAVE_DISPATCH_H
+#define GS_PARAM_INTERNAL_PP_SPI_SLAVE_DISPATCH_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+
+#if (GS_PARAM_INTERNAL_USE)
+
+#include <gs/util/drivers/spi/slave.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Header for SPI slave dispatch protocol - must be first in all protocols.
+*/
+typedef struct __attribute__ ((packed)) gs_spi_slave_dispatch_header {
+    uint8_t domain_command;
+} gs_spi_slave_dispatch_header_t;
+
+/**
+   Make header from domain and command.
+*/
+#define GS_SPI_SLAVE_DISPATCH_HEADER(domain, command)   ((domain << 5) | (command & 0x1f))
+
+/**
+   Extract domain from header.
+*/
+#define GS_SPI_SLAVE_DISPATCH_HEADER_TO_DOMAIN(header)  ((header >> 5) & 0x7)
+
+/**
+   Extract comman from header.
+*/
+#define GS_SPI_SLAVE_DISPATCH_HEADER_TO_COMMAND(header) (header & 0x1f)
+
+/**
+   Domain handler.
+
+   Basically same features as normal SPI slave rx callback. The generic SPI dispatch interface will parse the header (first byte)
+   and call the associated handler, based on the domain.
+
+   @param[in] channel SPI channel (handle).
+   @param[in] cmd domain specific command.
+   @param[in] rx_buffer Pointer to start of rx buffer.
+   @param[in] rx number of bytes received so far.
+   @param[in] cswitch If called from within an ISR (embedded platform), this will none NULL.
+   @return total number of bytes to receive before next call back. Return 0 to ignore rest of data - no additional call backs will be done for current SPI transaction.
+*/
+typedef uint8_t (* gs_spi_slave_dispatch_handler_t)(uint8_t channel, uint8_t cmd, const uint8_t * rx_buffer, size_t rx, gs_context_switch_t * cswitch);
+
+/**
+   Dispatch domains.
+
+   Standard domains should be assigned form the lowest value.
+   Application/board/product should be assigned from highest value.
+*/
+typedef enum {
+    GS_SPI_SLAVE_DISPATCH_DOMAIN_RESERVED = 0, //! Avoid using 0,
+    GS_SPI_SLAVE_DISPATCH_DOMAIN_USER1,
+    GS_SPI_SLAVE_DISPATCH_DOMAIN_USER2,
+    GS_SPI_SLAVE_DISPATCH_DOMAIN_USER3,
+    GS_SPI_SLAVE_DISPATCH_DOMAIN_PARAM,
+    GS_SPI_SLAVE_DISPATCH_DOMAIN_USER5,
+    GS_SPI_SLAVE_DISPATCH_DOMAIN_USER6,
+    GS_SPI_SLAVE_DISPATCH_DOMAIN_USER7,
+} gs_spi_slave_dispatch_domain_t;
+
+/**
+   Slave dispatch SPI receiver.
+
+   Must be added on the channel as receiver function, using gs_spi_slave_set_rx().
+
+   @param[in] cswitch If called from within an ISR (embedded platform), this will be set and allow for triggering context switch.
+*/
+uint8_t gs_spi_slave_dispatch_rx(uint8_t channel, const uint8_t * rx_buffer, size_t rx, bool new_request, gs_context_switch_t * cswitch);
+
+#ifdef __cplusplus
+}
+#endif
+#endif
+#endif

gomspace/libparam_client/include/gs/param/internal/pp/spi/spi.h

@@ -0,0 +1,65 @@
+#ifndef GS_PARAM_INTERNAL_PP_SPI_SPI_H
+#define GS_PARAM_INTERNAL_PP_SPI_SPI_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+
+#if (GS_PARAM_INTERNAL_USE)
+
+#include <gs/param/pp/spi/spi.h>
+#include <gs/param/internal/pp/spi/slave_dispatch.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Domain commands.
+*/
+typedef enum {
+    GS_PARAM_SPI_COMMAND_SET = 1,
+    GS_PARAM_SPI_COMMAND_GET = 2,
+    GS_PARAM_SPI_COMMAND_SET_WITH_CHECKSUM = 10,
+    GS_PARAM_SPI_COMMAND_GET_WITH_CHECKSUM = 11,
+} gs_param_spi_command_t;
+
+#define GS_PARAM_SPI_LENGTH_TABLE(length, table)  ((length << 3) | (table & 0x07))
+#define GS_PARAM_SPI_LENGTH_TABLE_TO_LENGTH(lt)   ((lt >> 3) & 0x1f)
+#define GS_PARAM_SPI_LENGTH_TABLE_TO_TABLE(lt)    (lt & 0x07)
+
+/**
+   Data structure for setting parameter.
+*/
+typedef struct __attribute__ ((packed)) gs_param_spi_set {
+    gs_spi_slave_dispatch_header_t header;
+    uint8_t length_table;
+    uint8_t addr;
+    uint8_t data[]; // data (+ checksum)
+} gs_param_spi_set_t;
+
+/**
+   Data structure for getting parameter.
+*/
+typedef struct __attribute__ ((packed)) gs_param_spi_get {
+    gs_spi_slave_dispatch_header_t header;
+    uint8_t length_table;
+    uint8_t addr;
+    uint8_t filler; // filler/delay - allow slave to find and prepare data/response
+    uint8_t data[]; // data
+} gs_param_spi_get_t;
+
+/**
+   Data structure for getting parameter with checksum
+*/
+typedef struct __attribute__ ((packed)) gs_param_spi_get_with_checksum {
+    gs_spi_slave_dispatch_header_t header;
+    uint8_t length_table;
+    uint8_t addr;
+    uint8_t checksum;
+    uint8_t filler; // filler/delay - allow slave to find and prepare data/response
+    uint8_t data[]; // data + checksum
+} gs_param_spi_get_with_checksum_t;
+
+#ifdef __cplusplus
+}
+#endif
+#endif
+#endif

gomspace/libparam_client/include/gs/param/internal/rparam.h

@@ -0,0 +1,146 @@
+#ifndef GS_PARAM_INTERNAL_RPARAM_H
+#define GS_PARAM_INTERNAL_RPARAM_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#if (GS_PARAM_INTERNAL_USE)
+
+#include <gs/param/rparam.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Max query payload in a single message (bytes).
+*/
+#define GS_RPARAM_QUERY_MAX_PAYLOAD	180
+
+/**
+   Macro for calculating total query message size, header + payload.
+*/
+#define RPARAM_QUERY_LENGTH(query, payload_size) (sizeof(*query) - sizeof(query->payload) + payload_size)
+
+/**
+   R(emote) parameter request codes.
+*/
+typedef enum {
+    /**
+       Get one or more parameters.
+    */
+    RPARAM_GET = 0x00,
+    /**
+       Reply to a request.
+    */
+    RPARAM_REPLY = 0x55,
+    /**
+       Set one or more parameters.
+    */
+    RPARAM_SET = 0xFF,
+    // RPARAM_SET_TO_FILE = 0xEE,
+    /**
+       Download table specification.
+    */
+    RPARAM_TABLE = 0x44,
+    /**
+       Copy memory slot to memory slot.
+       @version 4.x: Not supported.
+    */
+    RPARAM_COPY = 0x77,
+    /**
+       Load from file (slot) to memory (slot).
+       @version 4.x: Only load from primary store - file (slot) is ignored.
+    */
+    RPARAM_LOAD = 0x88,
+    /**
+       Load from file (slot) to memory (slot).
+       @version 4.x: load by name(s).
+    */
+    RPARAM_LOAD_FROM_STORE = 0x89,
+    /**
+       Save from memory (slot) to file (slot).
+       @version 4.x: Only save to primary store - file (slot) is ignored.
+    */
+    RPARAM_SAVE = 0x99,
+    /**
+       Save from memory (slot) to file (slot).
+       @version 4.x: save by name(s).
+    */
+    RPARAM_SAVE_TO_STORE = 0x9a,
+    // RPARAM_CLEAR = 0xAA, - completely removed
+} gs_rparam_action_t;
+
+/**
+   R(emote) parameter reply/completion codes.
+*/
+typedef enum {
+    RPARAM_SET_OK = 1,
+    RPARAM_LOAD_OK = 2,
+    RPARAM_SAVE_OK = 3,
+    RPARAM_COPY_OK = 4,
+    // RPARAM_CLEAR_OK = 5,
+    RPARAM_ERROR = 0xFF,
+} gs_rparam_reply_t;
+
+/**
+   Payload - save/load to/from stores
+   @version 4
+*/
+typedef struct __attribute__ ((packed)) {
+    char table[25 + 1];
+    char store[25 + 1];
+    char slot[25 + 1];  
+} gs_rparam_query_payload_store_t;
+
+/**
+   Payload.
+*/
+typedef union __attribute__ ((packed)) {
+    uint16_t addr[0];        //! action = RPARAM_GET
+    uint8_t packed[0];       //! action = RPARAM_REPLY | RPARAM_SET
+    struct {                 //! action = RPARAM_COPY | RPARAM_LOAD | RPARM_SAVE
+        uint8_t from;
+        uint8_t to;
+    } copy;
+} gs_rparam_query_payload_t;
+    
+/**
+   Protocol between client and server.
+   @version 4.x: layout (size) has not changed - only naming of certain fields.
+*/
+typedef struct __attribute__ ((packed)) {
+    /**
+       Request (gs_rparam_action_t) or Reply (gs_rparam_reply_t).
+    */
+    uint8_t action;
+    /**
+       Table id.
+       Name changed in 4.0 from \a mem.
+    */
+    uint8_t table_id;
+    /**
+       Length/size of \a payload in bytes.
+    */
+    uint16_t length;
+    /**
+       Fletcher's checksum.
+    */
+    uint16_t checksum;
+    /**
+       Sequence number when split over multiple frames (messages).
+    */
+    uint16_t seq;
+    /**
+       Total number of frames.
+    */
+    uint16_t total;
+    /**
+       Payload.
+    */
+    gs_rparam_query_payload_t payload;
+} gs_rparam_query_t;
+
+#ifdef __cplusplus
+}
+#endif
+#endif
+#endif

gomspace/libparam_client/include/gs/param/internal/serialize.h

@@ -0,0 +1,29 @@
+#ifndef GS_PARAM_INTERNAL_SERIALIZE_H
+#define GS_PARAM_INTERNAL_SERIALIZE_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#if (GS_PARAM_INTERNAL_USE)
+
+#include <gs/param/serialize.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Serialize data
+ * @param mem Pointer to indexed parameter table
+ * @param addr Array of addresses to serialize
+ * @param addr_count number of items in addr array
+ * @param[in|out] param_offset table parameter offset
+ * @param flags Set options using combination of flags
+ * @param buf Pointer to output
+ * @param buf_size Size of \a buf.
+ */
+gs_error_t gs_param_serialize_list(gs_param_table_instance_t * tinst, const uint16_t addr[], unsigned int addr_count, unsigned int * param_pos, uint32_t flags, uint8_t * buf, unsigned int buf_size, unsigned int * buf_pos);
+
+#ifdef __cplusplus
+}
+#endif
+#endif
+#endif

gomspace/libparam_client/include/gs/param/internal/table.h

@@ -0,0 +1,19 @@
+#ifndef GS_PARAM_INTERNAL_TABLE_H
+#define GS_PARAM_INTERNAL_TABLE_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#if (GS_PARAM_INTERNAL_USE)
+
+#include <gs/param/table.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+gs_error_t gs_param_parse_name_and_array_index(const char * inp, char * name, size_t size_name, uint8_t * array_index, bool * return_is_array);
+
+#ifdef __cplusplus
+}
+#endif
+#endif
+#endif

gomspace/libparam_client/include/gs/param/internal/types.h

@@ -0,0 +1,129 @@
+#ifndef GS_PARAM_INTERNAL_TYPES_H
+#define GS_PARAM_INTERNAL_TYPES_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#if (GS_PARAM_INTERNAL_USE)
+
+#include <gs/param/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Table instance.
+*/
+struct gs_param_table_instance {
+    /**
+       Name of table.
+    */
+    const char * name;
+
+    /**
+       Table id.
+    */
+    gs_param_table_id_t id;
+
+    /**
+       Table elements/rows.
+    */
+    const gs_param_table_row_t * rows;
+    /**
+       Table element/row count.
+    */
+    unsigned int row_count;
+
+    /**
+       Table memory - volatile parameter store.
+       The allocated size must be at least \a memory_size bytes.
+    */
+    void * memory;
+
+    /**
+       Size of table data memory in bytes, normally size of memory allocated \a memory.
+       Size must always be specified, even when using function interface and no memory is allocated.
+    */
+    unsigned int memory_size;
+
+    /**
+       Function interface, e.g. get/set.
+    */
+    gs_param_function_interface_t function_interface;
+
+    /**
+       Checksum - based on host order (e.g. le or be).
+       @see gs_param_table_checksum()
+    */
+    uint16_t checksum;
+
+    /**
+       Checksum - based on big-endian (address converted to big-endian).
+       @see gs_param_table_checksum_be()
+    */
+    uint16_t checksum_be;
+
+    /**
+       Checksum - based on little-endian (address converted to little-endian).
+       @see gs_param_table_checksum_le()
+    */
+    uint16_t checksum_le;
+    
+    /**
+       Lock.
+       Internal access/use only, use gs_param_lock() and gs_param_unlock() to lock and un-lock table.
+    */
+    gs_mutex_t lock;
+
+    /**
+       Callback for table (data) change.
+    */
+    void (*callback)(uint16_t addr, gs_param_table_instance_t * tinst);
+
+    /**
+       Store location(s).
+       CSV format, e.g. \"persistent,protected\".
+    */
+    const char * stores;
+ 
+    /**
+       Auto-persist.
+    */
+    struct {
+        /**
+           Store.
+        */
+        const char * store;
+
+        /**
+           User context(s) for the \a set function.
+        */
+        void * context1;
+        void * context2;
+
+        /**
+           Set/write parameter.
+        */
+        gs_error_t (*set)(gs_param_table_instance_t * tinst, uint16_t addr, gs_param_type_t type, const void * item, size_t size, uint32_t flags);
+    } auto_persist;
+
+    /**
+       Function for initializing table.
+    */
+    gs_error_t (*initializer_function)(gs_param_table_instance_t * tinst);
+
+    /**
+       Default values for initializing table.
+    */
+    const void * default_values;
+    
+    /**
+       Future flags.
+    */
+    uint32_t flags;
+};
+
+#ifdef __cplusplus
+}
+#endif
+#endif
+#endif

gomspace/libparam_client/include/gs/param/pp/i2c/i2c.h

@@ -0,0 +1,60 @@
+#ifndef GS_PARAM_PP_I2C_I2C_H
+#define GS_PARAM_PP_I2C_I2C_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   I2C param protocol client interface.
+*/
+
+#include <gs/param/pp/pp.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Commands.
+*/
+typedef enum {
+    /**
+       Set parameter.
+    */
+    GS_PARAM_I2C_COMMAND_SET = 1,
+    /**
+       Get parameter.
+    */
+    GS_PARAM_I2C_COMMAND_GET = 2,
+    /**
+       Lock table.
+    */
+    GS_PARAM_I2C_COMMAND_SET_LOCK_WITH_CHECKSUM = 3,
+    /**
+       Get table lock state.
+    */
+    GS_PARAM_I2C_COMMAND_GET_LOCK_WITH_CHECKSUM = 4,
+    /**
+       Set parameter with checksum.
+    */
+    GS_PARAM_I2C_COMMAND_SET_WITH_CHECKSUM = 10,
+    /**
+       Get parameter with checksum.
+    */
+    GS_PARAM_I2C_COMMAND_GET_WITH_CHECKSUM = 11,
+} gs_param_i2c_command_t;
+
+/**
+   Initialize the param protocol handle for I2C.
+
+   @param[in] pp handle.
+   @param[in] bus bus to communicate on.
+   @param[in] addr address of node.
+   @param[in] big_endian \a true if slave is big endian. Used to convert to host endian.
+   @return_gs_error_t
+*/
+gs_error_t gs_pp_i2c_init(gs_pp_t * pp, uint8_t bus, uint8_t addr, bool big_endian);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libparam_client/include/gs/param/pp/pp.h

@@ -0,0 +1,214 @@
+#ifndef GS_PARAM_PP_PP_H
+#define GS_PARAM_PP_PP_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Param Protocol (PP) API - generic interface for getting/setting parameters over SPI, I2C, etc.
+*/
+
+#include <gs/util/error.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Flags used in gs_pp_xxx() functions.
+   @{
+*/
+/**
+   Use checksum in transfer.
+   @see gs_pp_checksum8()
+*/
+#define GS_PP_FLAG_CHECKSUM   0x0001
+/**@}*/
+
+/**
+   Handle for a protocol connection.
+*/
+typedef struct gs_pp gs_pp_t;
+
+/**
+   Callback for getting a parameter.
+*/
+typedef gs_error_t (*gs_pp_get_t)(gs_pp_t * pp, uint8_t table_id, uint16_t addr, void * value, size_t value_size, uint32_t flags);
+
+/**
+   Callback for setting a parameter.
+*/
+typedef gs_error_t (*gs_pp_set_t)(gs_pp_t * pp, uint8_t table_id, uint16_t addr, const void * value, size_t value_size, uint32_t flags);
+
+/**
+   Callback for setting table lock.
+*/
+typedef gs_error_t (*gs_pp_get_table_lock_t)(gs_pp_t * pp, uint8_t table_id, bool * value, uint32_t flags);
+
+/**
+   Callback for setting table lock.
+*/
+typedef gs_error_t (*gs_pp_set_table_lock_t)(gs_pp_t * pp, uint8_t table_id, const bool * value, uint32_t flags);
+
+/**
+   Handle for a protocol connection.
+*/
+struct gs_pp {
+    /**
+       Endian type of slave.
+    */
+    bool big_endian;
+    /**
+       Callback function for \a get.
+    */
+    gs_pp_get_t get;
+    /**
+       Callback function for \a set.
+    */
+    gs_pp_set_t set;
+    /**
+       Callback function for \a get_table_lock.
+    */
+    gs_pp_get_table_lock_t get_table_lock;
+    /**
+       Callback function for \a set_table_lock.
+    */
+    gs_pp_set_table_lock_t set_table_lock;
+    /**
+       Protocol specifics.
+    */
+    union {
+        /**
+           SPI connection.
+        */
+        struct {
+            /**
+               SPI slave id.
+            */
+            uint8_t slave;
+        } spi;
+        /**
+           I2C connection.
+        */
+        struct {
+            /**
+               I2C bus.
+            */
+            uint8_t bus;
+            /**
+               I2C address.
+            */
+            uint8_t addr;
+        } i2c;
+    } pp;
+};
+
+/**
+   Calculate very simple 8 bit checksum.
+   The checksum is calculated by adding all bytes. If the checksum is 0 (zero), the checksum is set to 1 (one).
+   @param[in] data data to calculate checksum for.
+   @param[in] length data length.
+   @return checksum
+*/
+uint8_t gs_pp_checksum8(const void * data, size_t length);
+
+/**
+   Get lock value
+
+   @param[in] pp Handle for connection
+   @param[in] table_id Table ID
+   @param[out] value Lock state (0 = unlocked, 1 = locked)
+   @param[in] flags
+   @return_gs_error_t
+ */
+gs_error_t gs_pp_get_table_lock(gs_pp_t * pp, uint8_t table_id, bool * value, uint32_t flags);
+
+/**
+   Set lock value
+
+   @param[in] pp Handle for connection
+   @param[in] table_id Table ID
+   @param[in] value Lock state (0 = unlocked, 1 = locked)
+   @param[in] flags
+   @return_gs_error_t
+*/
+gs_error_t gs_pp_set_table_lock(gs_pp_t * pp, uint8_t table_id, const bool * value, uint32_t flags);
+
+/**
+   Get int8.
+*/
+gs_error_t gs_pp_get_int8(gs_pp_t * pp, uint8_t table_id, uint8_t addr, int8_t * value, size_t count, uint32_t flags);
+
+/**
+   Set int8.
+*/
+gs_error_t gs_pp_set_int8(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const int8_t * value, size_t count, uint32_t flags);
+
+/**
+   Get uint8.
+*/
+gs_error_t gs_pp_get_uint8(gs_pp_t * pp, uint8_t table_id, uint8_t addr, uint8_t * value, size_t count, uint32_t flags);
+
+/**
+   Set uint8.
+*/
+gs_error_t gs_pp_set_uint8(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const uint8_t * value, size_t count, uint32_t flags);
+
+/**
+   Get int16.
+*/
+gs_error_t gs_pp_get_int16(gs_pp_t * pp, uint8_t table_id, uint8_t addr, int16_t * value, size_t count, uint32_t flags);
+
+/**
+   Set int16.
+*/
+gs_error_t gs_pp_set_int16(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const int16_t * value, size_t count, uint32_t flags);
+
+/**
+   Get uint16.
+*/
+gs_error_t gs_pp_get_uint16(gs_pp_t * pp, uint8_t table_id, uint8_t addr, uint16_t * value, size_t count, uint32_t flags);
+
+/**
+   Set uint16.
+*/
+gs_error_t gs_pp_set_uint16(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const uint16_t * value, size_t count, uint32_t flags);
+
+/**
+   Get int32.
+*/
+gs_error_t gs_pp_get_int32(gs_pp_t * pp, uint8_t table_id, uint8_t addr, int32_t * value, size_t count, uint32_t flags);
+
+/**
+   Set int32.
+*/
+gs_error_t gs_pp_set_int32(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const int32_t * value, size_t count, uint32_t flags);
+
+/**
+   Get uint32.
+*/
+gs_error_t gs_pp_get_uint32(gs_pp_t * pp, uint8_t table_id, uint8_t addr, uint32_t * value, size_t count, uint32_t flags);
+
+/**
+   Set uint32.
+*/
+gs_error_t gs_pp_set_uint32(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const uint32_t * value, size_t count, uint32_t flags);
+
+/**
+   Get float.
+*/
+gs_error_t gs_pp_get_float(gs_pp_t * pp, uint8_t table_id, uint8_t addr, float * value, size_t count, uint32_t flags);
+
+/**
+   Set float.
+*/
+gs_error_t gs_pp_set_float(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const float * value, size_t count, uint32_t flags);
+
+/**
+   Register commands.
+*/
+gs_error_t gs_pp_register_commands(void);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libparam_client/include/gs/param/pp/spi/spi.h

@@ -0,0 +1,29 @@
+#ifndef GS_PARAM_PP_SPI_SPI_H
+#define GS_PARAM_PP_SPI_SPI_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   SPI Param Protocol (pp) client interface.
+*/
+
+#include <gs/param/pp/pp.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Initialize the param protocol handle for SPI.
+
+   @param[in] pp handle.
+   @param[in] slave slave to communicate with.
+   @param[in] big_endian \a true if slave is big endian. Used to convert to host endian.
+   @return_gs_error_t
+*/
+gs_error_t gs_pp_spi_init(gs_pp_t * pp, uint8_t slave, bool big_endian);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libparam_client/include/gs/param/rparam.h

@@ -0,0 +1,395 @@
+#ifndef GS_PARAM_REMOTE_H
+#define GS_PARAM_REMOTE_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Remote parameter API - pending refactoring.
+*/
+
+#include <gs/param/types.h>
+#include <gs/util/string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Magic checksum.
+   If specifying a magic checksum, the rparam server will ignore/skip checksum validation.
+*/
+#define GS_RPARAM_MAGIC_CHECKSUM        0x0bb0
+
+/**
+   Register rparam commands.
+   @return_gs_error_t
+*/
+gs_error_t gs_rparam_register_commands(void);
+
+/**
+   Download all (data) values from a remote table to a local instance.
+
+   @param[in] tinst local table instance.
+   @param[in] node CSP address.
+   @param[in] table_id remote table id to download.
+   @param[in] checksum table checksum.
+   @param[in] timeout_ms timeout.
+   @return_gs_error_t
+*/
+gs_error_t gs_rparam_get_full_table(gs_param_table_instance_t * tinst,
+                                    uint8_t node,
+                                    gs_param_table_id_t table_id,
+                                    uint16_t checksum,
+                                    uint32_t timeout_ms);
+
+/**
+   Download a table specification from a remote node, store it in memory and save it to local file system.
+
+   @note Will free existing rows - do not use this on table instances with static assigned rows.
+
+   Table memory will be (re)allocated to match specification.
+
+   @param[in] tinst local table instance.
+   @param[in] fname name of the file to store the table specification in. If NULL, no file will be stored.
+   @param[in] node CSP address
+   @param[in] table_id remote table id to download.
+   @param[in] timeout_ms timeout.
+   @param[out] return_checksum fletcher16 checksum of downloaded specification "as is" - before network/host swapping.
+   @return_gs_error_t
+   @see gs_param_table_free()
+*/
+gs_error_t gs_rparam_download_table_spec(gs_param_table_instance_t * tinst,
+                                         const char * fname,
+                                         uint8_t node,
+                                         gs_param_table_id_t table_id,
+                                         uint32_t timeout_ms,
+                                         uint16_t * return_checksum);
+
+/**
+   Load a table specification from a local file and store it in memory.
+
+   @note Will free existing rows - do not use this on table instances with static assigned rows.
+
+   Table memory will be (re)allocated to match specification.
+
+   @param[in] tinst local table instance.
+   @param[in] fname name of the file to load the table specification from.
+   @param[out] return_checksum fletcher16 checksum stored in file.
+   @return_gs_error_t
+   @see gs_param_table_free()
+*/
+gs_error_t gs_rparam_load_table_spec(gs_param_table_instance_t * tinst, const char* fname, uint16_t * return_checksum);
+
+/**
+   Copy from one table to another table.
+
+   @deprecated Not supported by a param 4 backend and future versions.
+
+   @param[in] node CSP address
+   @param[in] timeout_ms timeout on remote CSP calls
+   @param[in] from from table-id.
+   @param[in] to to table-id.
+   @return_gs_error_t
+*/
+gs_error_t gs_rparam_copy(uint8_t node, uint32_t timeout_ms, uint8_t from, uint8_t to);
+
+/**
+   Save table.
+
+   @note On a param 4 backend, the table will always be saved to it's primary store.
+
+   @param[in] node CSP address
+   @param[in] timeout_ms timeout on remote CSP calls
+   @param[in] id table to save.
+   @param[in] to to file slot - ignored on param 4 backends.
+   @return_gs_error_t
+*/
+gs_error_t gs_rparam_save(uint8_t node, uint32_t timeout_ms, gs_param_table_id_t id, uint8_t to);
+
+/**
+   Save table.
+
+   @version 4
+   @param[in] node CSP address
+   @param[in] timeout_ms timeout on remote CSP calls
+   @param[in] table_id remote table id.
+   @param[in] store store name.
+   @param[in] slot slot within store.
+   @return_gs_error_t
+*/
+gs_error_t gs_rparam_save_to_store(uint8_t node, uint32_t timeout_ms, uint8_t table_id,
+                                   const char * store, const char * slot);
+
+/**
+   Load table from store.
+
+   @note On a param 4 backend, the specified table will be loadded from it's primary store.
+
+   @param[in] node CSP address
+   @param[in] timeout_ms timeout on remote CSP calls
+   @param[in] from from file slot - ignored on param 4 backends.
+   @param[in] id table to load.
+   @return_gs_error_t
+*/
+gs_error_t gs_rparam_load(uint8_t node, uint32_t timeout_ms, uint8_t from, gs_param_table_id_t id);
+
+/**
+   Load table from store.
+
+   @version 4
+   @param[in] node CSP address
+   @param[in] timeout_ms timeout on remote CSP calls
+   @param[in] table_id remote table id.
+   @param[in] store store name.
+   @param[in] slot slot within store.
+   @return_gs_error_t
+*/
+gs_error_t gs_rparam_load_from_store(uint8_t node, uint32_t timeout_ms, uint8_t table_id,
+                                     const char * store, const char * slot);
+    
+/**
+   Get parameter.
+
+   @param[in] node CSP address
+   @param[in] table_id remote table id.
+   @param[in] addr parameter address (remote table).
+   @param[in] type parameter type.
+   @param[in] checksum checksum
+   @param[in] timeout_ms timeout
+   @param[out] value returned value (user allocated)
+   @param[in] value_size size of \a value buffer.
+   @return_gs_error_t
+*/
+gs_error_t gs_rparam_get(uint8_t node,
+                         gs_param_table_id_t table_id,
+                         uint16_t addr,
+                         gs_param_type_t type,
+                         uint16_t checksum,
+                         uint32_t timeout_ms,
+                         void * value,
+                         size_t value_size);
+
+/**
+   Set parameter.
+
+   @param[in] node CSP address
+   @param[in] table_id remote table id.
+   @param[in] addr parameter address (remote table).
+   @param[in] type parameter type.
+   @param[in] checksum checksum
+   @param[in] timeout_ms timeout
+   @param[in] value value to set
+   @param[in] value_size size of \a value.
+   @return_gs_error_t
+*/
+gs_error_t gs_rparam_set(uint8_t node,
+                         gs_param_table_id_t table_id,
+                         uint16_t addr,
+                         gs_param_type_t type,
+                         uint16_t checksum,
+                         uint32_t timeout_ms,
+                         const void * value,
+                         size_t value_size);
+
+/**
+   Get string.
+*/
+static inline gs_error_t gs_rparam_get_string(uint8_t node, gs_param_table_id_t table_id, uint16_t addr,
+                                              uint16_t checksum, uint32_t timeout_ms, char * value, size_t value_size)
+{
+    return gs_rparam_get(node, table_id, addr, GS_PARAM_STRING, checksum, timeout_ms, value, value_size);
+}
+
+/**
+   Set string.
+*/
+static inline gs_error_t gs_rparam_set_string(uint8_t node, gs_param_table_id_t table_id,  uint16_t addr,
+                                              uint16_t checksum, uint32_t timeout_ms, const char * value, size_t value_size)
+{
+    return gs_rparam_set(node, table_id, addr, GS_PARAM_STRING, checksum, timeout_ms, value, (value_size == 0) ? (strlen(value) + 1) : value_size);
+}
+
+/**
+   Get int8.
+*/
+static inline gs_error_t gs_rparam_get_int8(uint8_t node, gs_param_table_id_t table_id, uint16_t addr,
+                                            uint16_t checksum, uint32_t timeout_ms, int8_t * value)
+{
+    return gs_rparam_get(node, table_id, addr, GS_PARAM_INT8, checksum, timeout_ms, value, sizeof(*value));
+}
+
+/**
+   Set int8.
+*/
+static inline gs_error_t gs_rparam_set_int8(uint8_t node, gs_param_table_id_t table_id,  uint16_t addr,
+                                            uint16_t checksum, uint32_t timeout_ms, int8_t value)
+{
+    return gs_rparam_set(node, table_id, addr, GS_PARAM_INT8, checksum, timeout_ms, &value, sizeof(value));
+}
+
+/**
+   Get uint8.
+*/
+static inline gs_error_t gs_rparam_get_uint8(uint8_t node, gs_param_table_id_t table_id, uint16_t addr,
+                                             uint16_t checksum, uint32_t timeout_ms, uint8_t * value)
+{
+    return gs_rparam_get(node, table_id, addr, GS_PARAM_UINT8, checksum, timeout_ms, value, sizeof(*value));
+}
+
+/**
+   Set uint8.
+*/
+static inline gs_error_t gs_rparam_set_uint8(uint8_t node, gs_param_table_id_t table_id,  uint16_t addr,
+                                             uint16_t checksum, uint32_t timeout_ms, uint8_t value)
+{
+    return gs_rparam_set(node, table_id, addr, GS_PARAM_UINT8, checksum, timeout_ms, &value, sizeof(value));
+}
+
+/**
+   Get int16.
+*/
+static inline gs_error_t gs_rparam_get_int16(uint8_t node, gs_param_table_id_t table_id, uint16_t addr,
+                                             uint16_t checksum, uint32_t timeout_ms, int16_t * value)
+{
+    return gs_rparam_get(node, table_id, addr, GS_PARAM_INT16, checksum, timeout_ms, value, sizeof(*value));
+}
+
+/**
+   Set int16.
+*/
+static inline gs_error_t gs_rparam_set_int16(uint8_t node, gs_param_table_id_t table_id,  uint16_t addr,
+                                             uint16_t checksum, uint32_t timeout_ms, int16_t value)
+{
+    return gs_rparam_set(node, table_id, addr, GS_PARAM_INT16, checksum, timeout_ms, &value, sizeof(value));
+}
+
+/**
+   Get uint16.
+*/
+static inline gs_error_t gs_rparam_get_uint16(uint8_t node, gs_param_table_id_t table_id, uint16_t addr,
+                                              uint16_t checksum, uint32_t timeout_ms, uint16_t * value)
+{
+    return gs_rparam_get(node, table_id, addr, GS_PARAM_UINT16, checksum, timeout_ms, value, sizeof(*value));
+}
+
+/**
+   Set uint16.
+*/
+static inline gs_error_t gs_rparam_set_uint16(uint8_t node, gs_param_table_id_t table_id,  uint16_t addr,
+                                              uint16_t checksum, uint32_t timeout_ms, uint16_t value)
+{
+    return gs_rparam_set(node, table_id, addr, GS_PARAM_UINT16, checksum, timeout_ms, &value, sizeof(value));
+}
+
+/**
+   Get int32.
+*/
+static inline gs_error_t gs_rparam_get_int32(uint8_t node, gs_param_table_id_t table_id, uint16_t addr,
+                                             uint16_t checksum, uint32_t timeout_ms, int32_t * value)
+{
+    return gs_rparam_get(node, table_id, addr, GS_PARAM_INT32, checksum, timeout_ms, value, sizeof(*value));
+}
+
+/**
+   Set int32.
+*/
+static inline gs_error_t gs_rparam_set_int32(uint8_t node, gs_param_table_id_t table_id,  uint16_t addr,
+                                             uint16_t checksum, uint32_t timeout_ms, int32_t value)
+{
+    return gs_rparam_set(node, table_id, addr, GS_PARAM_INT32, checksum, timeout_ms, &value, sizeof(value));
+}
+
+/**
+   Get uint32.
+*/
+static inline gs_error_t gs_rparam_get_uint32(uint8_t node, gs_param_table_id_t table_id, uint16_t addr,
+                                              uint16_t checksum, uint32_t timeout_ms, uint32_t * value)
+{
+    return gs_rparam_get(node, table_id, addr, GS_PARAM_UINT32, checksum, timeout_ms, value, sizeof(*value));
+}
+
+/**
+   Set uint32.
+*/
+static inline gs_error_t gs_rparam_set_uint32(uint8_t node, gs_param_table_id_t table_id,  uint16_t addr,
+                                              uint16_t checksum, uint32_t timeout_ms, uint32_t value)
+{
+    return gs_rparam_set(node, table_id, addr, GS_PARAM_UINT32, checksum, timeout_ms, &value, sizeof(value));
+}
+
+/**
+   Get int64.
+*/
+static inline gs_error_t gs_rparam_get_int64(uint8_t node, gs_param_table_id_t table_id, uint16_t addr,
+                                             uint16_t checksum, uint32_t timeout_ms, int64_t * value)
+{
+    return gs_rparam_get(node, table_id, addr, GS_PARAM_INT64, checksum, timeout_ms, value, sizeof(*value));
+}
+
+/**
+   Set int64.
+*/
+static inline gs_error_t gs_rparam_set_int64(uint8_t node, gs_param_table_id_t table_id,  uint16_t addr,
+                                             uint16_t checksum, uint32_t timeout_ms, int64_t value)
+{
+    return gs_rparam_set(node, table_id, addr, GS_PARAM_INT64, checksum, timeout_ms, &value, sizeof(value));
+}
+
+/**
+   Get uint64.
+*/
+static inline gs_error_t gs_rparam_get_uint64(uint8_t node, gs_param_table_id_t table_id, uint16_t addr,
+                                              uint16_t checksum, uint32_t timeout_ms, uint64_t * value)
+{
+    return gs_rparam_get(node, table_id, addr, GS_PARAM_UINT64, checksum, timeout_ms, value, sizeof(*value));
+}
+
+/**
+   Set uint64.
+*/
+static inline gs_error_t gs_rparam_set_uint64(uint8_t node, gs_param_table_id_t table_id,  uint16_t addr,
+                                              uint16_t checksum, uint32_t timeout_ms, uint64_t value)
+{
+    return gs_rparam_set(node, table_id, addr, GS_PARAM_UINT64, checksum, timeout_ms, &value, sizeof(value));
+}
+
+/**
+   Get float.
+*/
+static inline gs_error_t gs_rparam_get_float(uint8_t node, gs_param_table_id_t table_id, uint16_t addr,
+                                             uint16_t checksum, uint32_t timeout_ms, float * value)
+{
+    return gs_rparam_get(node, table_id, addr, GS_PARAM_FLOAT, checksum, timeout_ms, value, sizeof(*value));
+}
+
+/**
+   Set float.
+*/
+static inline gs_error_t gs_rparam_set_float(uint8_t node, gs_param_table_id_t table_id,  uint16_t addr,
+                                             uint16_t checksum, uint32_t timeout_ms, float value)
+{
+    return gs_rparam_set(node, table_id, addr, GS_PARAM_FLOAT, checksum, timeout_ms, &value, sizeof(value));
+}
+
+/**
+   Get double.
+*/
+static inline gs_error_t gs_rparam_get_double(uint8_t node, gs_param_table_id_t table_id, uint16_t addr,
+                                              uint16_t checksum, uint32_t timeout_ms, double * value)
+{
+    return gs_rparam_get(node, table_id, addr, GS_PARAM_DOUBLE, checksum, timeout_ms, value, sizeof(*value));
+}
+
+/**
+   Set double.
+*/
+static inline gs_error_t gs_rparam_set_double(uint8_t node, gs_param_table_id_t table_id,  uint16_t addr,
+                                              uint16_t checksum, uint32_t timeout_ms, double value)
+{
+    return gs_rparam_set(node, table_id, addr, GS_PARAM_DOUBLE, checksum, timeout_ms, &value, sizeof(value));
+}
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libparam_client/include/gs/param/serialize.h

@@ -0,0 +1,101 @@
+#ifndef GS_PARAM_CLIENT_SERIALIZE_H
+#define GS_PARAM_CLIENT_SERIALIZE_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Serialize API - pending refactoring.
+*/
+
+#include <gs/param/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Serialize/deserialize flags
+   Flags must be in range: bit 8 - 15, to avoid clash with other parts of the parameter system.
+*/
+typedef enum {
+    GS_PARAM_SF_DRY_RUN           = (1 <<  8), //!< F_DRY_RUN do not write to memory
+    GS_PARAM_SF_TO_BIG_ENDIAN     = (1 <<  9), //!< F_TO_BIG_ENDIAN Convert from host to big endian
+    GS_PARAM_SF_FROM_BIG_ENDIAN   = (1 << 10), //!< F_FROM_BIG_ENDIAN Confert from big endian to host order
+    GS_PARAM_SF_PACKED            = (1 << 11), //!< F_PACKED Do not pack addresses
+
+    F_DRY_RUN           = GS_PARAM_SF_DRY_RUN,
+    F_TO_BIG_ENDIAN     = GS_PARAM_SF_TO_BIG_ENDIAN,
+    F_FROM_BIG_ENDIAN   = GS_PARAM_SF_FROM_BIG_ENDIAN,
+    F_PACKED            = GS_PARAM_SF_PACKED,
+} gs_param_serialize_flags_t;
+
+/**
+ * In-place conversion of a single parameter from big endian to host byte order
+ * @param type param type
+ * @param item pointer to parameter memory
+ * @return 1 if memory has been swapped, 0 if not
+ */
+bool gs_param_betoh(gs_param_type_t type, void * item);
+
+/**
+ * In-place conversion of a single parameter from host byte order to big endian
+ * @param type param type
+ * @param item porinter to parameter memory
+ * @return 1 if memory has been swapped, 0 if not
+ */
+bool gs_param_htobe(gs_param_type_t type, void * item);
+
+/**
+   Serialize data
+
+   @param[in] tinst table.
+   @param[in,out] param_pos parameter iterator.
+   @param[in] flags flags.
+   @param[out] buf user supplied buffer of \a buf_size.
+   @param[in] buf_size of size of \a buf
+   @param[in,out] buf_pos index into \a buf
+   @return_gs_error_t
+*/
+gs_error_t gs_param_serialize_full_table(gs_param_table_instance_t * tinst, unsigned int * param_pos, uint32_t flags, uint8_t * buf, unsigned int buf_size, unsigned int * buf_pos);
+
+/**
+   Serialize single item
+
+   @param[in] param parameter to serialize
+   @param[in] addr Address of item
+   @param[in] item item to serialize.
+   @param[in] flags flags.
+   @param[out] buf user supplied buffer of \a buf_size.
+   @param[in] buf_size of size of \a buf
+   @param[in,out] buf_pos index into \a buf
+   @return_gs_error_t
+*/
+gs_error_t gs_param_serialize_item(const gs_param_table_row_t * param, uint16_t addr, const void * item, uint32_t flags, uint8_t * buf, unsigned int buf_size, unsigned int * buf_pos);
+
+/**
+   Deserialize packed parameters into memory
+
+   @param[in] tinst table.
+   @param[in] buf serialized data.
+   @param[in] buf_size size \a buf containing serialized data
+   @param[in] flags flags.
+   @return_gs_error_t
+*/
+gs_error_t gs_param_deserialize(gs_param_table_instance_t * tinst, const uint8_t * buf, unsigned int buf_size, uint32_t flags);
+
+/**
+   Deserialize a sginle item from a string into memory
+
+   @param[in] tinst table.
+   @param param Pointer to specific parameter to deserialize
+   @param addr Address of parameter
+   @param item Pointer to memory area where item should be written
+   @param flags Set options using combination of flags
+   @return_gs_error_t
+*/
+gs_error_t gs_param_deserialize_item(gs_param_table_instance_t * tinst, const gs_param_table_row_t * param, uint16_t addr, const void * item, uint32_t flags);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libparam_client/include/gs/param/table.h

@@ -0,0 +1,428 @@
+#ifndef GS_PARAM_TABLE_H
+#define GS_PARAM_TABLE_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Client table API.
+*/
+
+#include <gs/param/types.h>
+#include <gs/util/stdio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Allocate table memory when creating a table.
+
+   Flags must be in range: bit 16 - 23, to avoid clash with other parts of the parameter system.
+*/
+#define GS_PARAM_TABLE_F_ALLOC_MEMORY  0x0100
+/**
+   Allocate table rows.
+
+   Flags must be in range: bit 16 - 23, to avoid clash with other parts of the parameter system.
+*/
+#define GS_PARAM_TABLE_F_ALLOC_ROWS    0x0200
+/**
+   Disable table locking.
+
+   Flags must be in range: bit 16 - 23, to avoid clash with other parts of the parameter system.
+*/
+#define GS_PARAM_TABLE_F_NO_LOCK       0x0400
+
+/**
+   Calculate memory size based on table rows.
+
+   @param[in] rows rows
+   @param[in] row_count row count.
+   @return size of table or 0 in case of invalid arguments.
+*/
+size_t gs_param_calc_table_size(const gs_param_table_row_t * rows, size_t row_count);
+
+/**
+   Return size of table instance.
+*/
+size_t gs_param_table_instance_size(void);
+
+/**
+   Clear (and check size) of memory for table instance.
+
+   @param[in] var user allocated space of at least gs_param_table_instance_size() bytes.
+   @param[in] var_size of \a var.
+   @return table instance
+   @see gs_param_table_instance_size()
+   @see #GS_PARAM_TINST_VAR
+*/
+gs_param_table_instance_t * gs_param_table_instance_clear(void * var, size_t var_size);
+
+/**
+   Allocates aligned space on the stack for a table instance structure.
+   @param[in] var name of table instsance variable.
+*/
+#define GS_PARAM_TINST_VAR(var) uint8_t var##__data [gs_param_table_instance_size()] __attribute__ ((aligned(4))); gs_param_table_instance_t * var = gs_param_table_instance_clear(var##__data, sizeof(var##__data))
+
+/**
+   Allocate memory for table instance.
+
+   Use gs_param_table_free() to free any internal resources.
+
+   Use standard free() to free allocated memory.
+
+   @return table instance on success, otherwise NULL.
+*/
+gs_param_table_instance_t * gs_param_table_instance_alloc(void);
+
+/**
+   Find row by name.
+
+   @param[in] name parameter name.
+   @param[in] rows rows
+   @param[in] row_count row count.
+   @return row or NULL if not found.
+*/
+const gs_param_table_row_t * gs_param_row_by_name(const char * name, const gs_param_table_row_t * rows, size_t row_count);
+
+/**
+   Find row by address.
+
+   @param[in] addr parameter address.
+   @param[in] rows rows
+   @param[in] row_count row count.
+   @return row or NULL if not found.
+*/
+const gs_param_table_row_t * gs_param_row_by_address(uint16_t addr, const gs_param_table_row_t * rows, size_t row_count);
+
+/**
+   Return table memory.
+
+   @note handle with care - any read/write should be atomic to prevent inconsistent data.
+
+   @param[in] tinst table instance
+   @param[out] return_size if not NULL, the memory size is returned.
+   @return pointer to the table's data memory.
+*/
+void * gs_param_table_get_memory(gs_param_table_instance_t * tinst, size_t * return_size);
+
+/**
+   Return table rows.
+
+   @param[in] tinst table instance
+   @param[out] return_count if not NULL, the row count is returned.
+   @return pointer to the table rows.
+*/
+const gs_param_table_row_t * gs_param_table_get_rows(gs_param_table_instance_t * tinst, size_t * return_count);
+    
+/**
+   Lock table (recursive).
+
+   @param[in] tinst table instance
+   @return_gs_error_t
+*/
+gs_error_t gs_param_table_lock(gs_param_table_instance_t * tinst);
+
+/**
+   Unlock table.
+
+   Unlock must be called once for every time gs_param_table_lock() has been called.
+
+   @param[in] tinst table instance
+   @return_gs_error_t
+*/
+gs_error_t gs_param_table_unlock(gs_param_table_instance_t * tinst);
+
+/**
+   Free internal resources and clears instance.
+
+   @param[in] tinst table instance
+   @return_gs_error_t
+*/
+gs_error_t gs_param_table_free(gs_param_table_instance_t * tinst);
+
+/**
+   Print a single parameter on stream.
+
+   @param[in] tinst table instanc.
+   @param[in] row row to print.
+   @param[in] list_data \a true includes parameter value.
+   @param[in] flags flags to control output format: #GS_PARAM_F_SHOW_SCIENTIFIC, #GS_PARAM_F_SHOW_HEX.
+   @param[in] out output stream.
+   @return_gs_error_t
+*/
+gs_error_t gs_param_list_single_to_stream(gs_param_table_instance_t * tinst, const gs_param_table_row_t * row, bool list_data, uint32_t flags, FILE * out);
+
+/**
+   Print a single parameter on stdout.
+
+   @param[in] tinst table instanc.
+   @param[in] row row to print.
+   @param[in] list_data \a true includes parameter value.
+   @return_gs_error_t
+*/
+static inline gs_error_t gs_param_list_single(gs_param_table_instance_t * tinst, const gs_param_table_row_t * row, bool list_data)
+{
+    return gs_param_list_single_to_stream(tinst, row, list_data, 0, stdout);
+}
+
+/**
+   Print entire table on stream.
+
+   @param[in] tinst table instanc.
+   @param[in] list_data \a true includes parameter value.
+   @param[in] flags flags to control output format: #GS_PARAM_F_SHOW_SCIENTIFIC, #GS_PARAM_F_SHOW_HEX.
+   @param[in] out output stream.
+   @return_gs_error_t
+*/
+gs_error_t gs_param_list_to_stream(gs_param_table_instance_t * tinst, bool list_data, uint32_t flags, FILE * out);
+
+/**
+   Print entire table on stdout.
+
+   @param[in] tinst table instanc.
+   @param[in] list_data \a true includes parameter value.
+   @return_gs_error_t
+*/
+static inline gs_error_t gs_param_list(gs_param_table_instance_t * tinst, bool list_data)
+{
+    return gs_param_list_to_stream(tinst, list_data, 0, stdout);
+}
+    
+/**
+   Convert string to parameter.
+
+   @param[in] row row defining the parameter to convert.
+   @param[in] string string to convert.
+   @param[out] return_value user supplied buffer for returning the value - must be at least the size specified in \a row
+   @return_gs_error_t
+*/
+gs_error_t gs_param_from_string(const gs_param_table_row_t * row, const char * string, void * return_value);
+
+/**
+   Convert parameter to string.
+
+   @param[in] row row defining the parameter to convert.
+   @param[in] value parameter value to convert.
+   @param[in] with_type \a true includes data type.
+   @param[in] flags flags to control output format: #GS_PARAM_F_SHOW_SCIENTIFIC, #GS_PARAM_F_SHOW_HEX.
+   @param[out] buf user supplied buffer of \a buf_size bytes.
+   @param[in] buf_size size of \a buf in bytes.
+   @param[in] buf_pos buffer position to insert string.
+   @param[out] return_buf_written number of bytes written to \a buf.
+   @return_gs_error_t
+*/
+gs_error_t gs_param_to_string2(const gs_param_table_row_t * row, const void * value, bool with_type, uint32_t flags, char * buf, unsigned int buf_size, unsigned int buf_pos, unsigned int * return_buf_written);
+
+/**
+   Convert parameter to string.
+
+   @param[in] row row defining the parameter to convert.
+   @param[in] value parameter value to convert.
+   @param[in] with_type \a true includes data type.
+   @param[out] buf user supplied buffer of \a buf_size bytes.
+   @param[in] buf_size size of \a buf in bytes.
+   @param[in] buf_pos buffer position to insert string.
+   @param[out] return_buf_written number of bytes written to \a buf.
+   @return_gs_error_t
+*/
+static inline gs_error_t gs_param_to_string(const gs_param_table_row_t * row, const void * value, bool with_type, char * buf, unsigned int buf_size, unsigned int buf_pos, unsigned int * return_buf_written)
+{
+    return gs_param_to_string2(row, value, with_type, 0, buf, buf_size, buf_pos, return_buf_written);
+}
+
+/**
+   Convert parameter type to string.
+
+   @param[in] type parameter type.
+   @return pointer to a static string.
+*/
+const char * gs_param_type_to_string(gs_param_type_t type);
+
+/**
+   Return size of parameter type.
+
+   @param[in] type parameter type.
+   @return size of parameter type in bytes.
+*/
+uint8_t gs_param_type_size(gs_param_type_t type);
+
+/**
+   Get table checksum - little-endian.
+   @note Use/exchange gs_param_table_checksum_be(), as this is calculated the same on all platforms.
+   @param[in] tinst table instance.
+   @returns 16-bit fletcher checksum
+*/
+uint16_t gs_param_table_checksum_le(gs_param_table_instance_t * tinst);
+
+/**
+   Get table checksum - big-endian/network-order (prefered).
+   @param[in] tinst table instance.
+   @returns 16-bit fletcher checksum
+*/
+uint16_t gs_param_table_checksum_be(gs_param_table_instance_t * tinst);
+
+/**
+   Get table checksum - host-order (not cross-platform).
+   @deprecated use gs_param_table_checksum_be()
+   @param[in] tinst table instance.
+   @returns 16-bit fletcher checksum
+*/
+uint16_t gs_param_table_checksum(gs_param_table_instance_t * tinst);
+
+/**
+   Get table checksum - big-endian.
+   @deprecated use gs_param_table_checksum_be()
+   @param[in] tinst table instance.
+   @returns 16-bit fletcher checksum
+*/
+static inline uint16_t gs_param_table_checksum2(gs_param_table_instance_t * tinst)
+{
+    return gs_param_table_checksum_be(tinst);
+}
+    
+/**
+   Get/read parameter from table.
+
+   @param[in] tinst table instanc.
+   @param[in] addr parameter address (offset in table).
+   @param[in] type parameter type.
+   @param[out] return_value value of parameter - user supplied memory of at least \a size size.
+   @param[in] size number of bytes to get/read - must match \a type, e.g. 4 bytes for an uint32_t.
+   @param[in] flags flags.
+   @return_gs_error_t
+*/
+gs_error_t gs_param_get(gs_param_table_instance_t * tinst, uint16_t addr, gs_param_type_t type, void * return_value, size_t size, uint32_t flags);
+
+/**
+   Set/write parameter in table.
+
+   @param[in] tinst table instanc.
+   @param[in] addr parameter address (offset in table).
+   @param[in] type parameter type.
+   @param[in] value value of parameter.
+   @param[in] size number of bytes to set/write - must match \a type, e.g. 4 bytes for an uint32_t.
+   @param[in] flags flags.
+   @return_gs_error_t
+*/
+gs_error_t gs_param_set(gs_param_table_instance_t * tinst, uint16_t addr, gs_param_type_t type, const void * value, size_t size, uint32_t flags);
+
+/**
+   Get string parameter.
+
+   @param[in] tinst table instanc.
+   @param[in] addr parameter address (offset in table).
+   @param[out] buf value of parameter - user supplied memory of at least parameter size + 1 to hold NUL termination.
+   @param[in] buf_size size of \a buf - ensure room for NUL termination.
+   @param[in] flags flags.
+   @return GS_ERROR_OVERFLOW if string + NUL termination exceeds \a buf_size.
+   @return_gs_error_t
+*/
+gs_error_t gs_param_get_string(gs_param_table_instance_t * tinst, uint16_t addr, char * buf, size_t buf_size, uint32_t flags);
+
+/**
+   Set string parameter.
+
+   @param[in] tinst table.
+   @param[in] addr parameter address (offset in table).
+   @param[in] value string to save - parameter must be able to hold string + NUL termination.
+   @param[in] flags flags.
+   @return GS_ERROR_OVERFLOW if string + NUL termination exceeds parameter size.
+   @return_gs_error_t
+*/
+gs_error_t gs_param_set_string(gs_param_table_instance_t * tinst, uint16_t addr, const char * value, uint32_t flags);
+
+/**
+   Get data parameter.
+
+   @param[in] tinst table instanc.
+   @param[in] addr parameter address (offset in table).
+   @param[out] buf value of parameter - user supplied memory of at least parameter size.
+   @param[in] buf_size size of \a buf.
+   @param[in] flags flags.
+   @return GS_ERROR_OVERFLOW if parameter size is greater than \a buf_size.
+   @return_gs_error_t
+*/
+gs_error_t gs_param_get_data(gs_param_table_instance_t * tinst, uint16_t addr, void * buf, size_t buf_size, uint32_t flags);
+
+/**
+   Set data parameter.
+
+   @param[in] tinst table instanc.
+   @param[in] addr parameter address (offset in table).
+   @param[in] value value of parameter.
+   @param[in] value_size size of \a value.
+   @param[in] flags flags.
+   @return GS_ERROR_OVERFLOW if parameter size is greater than \a buf_size.
+   @return_gs_error_t
+*/
+gs_error_t gs_param_set_data(gs_param_table_instance_t * tinst, uint16_t addr, const void * value, size_t value_size, uint32_t flags);
+
+/**
+   Macro for expanding get/set functions.
+   @param[in] name function suffix name.
+   @param[in] native_type native type
+   @param[in] param_type parameter type
+*/
+#define GS_PARAM_PASTE(name, native_type, param_type)                   \
+    static inline gs_error_t gs_param_get_##name(gs_param_table_instance_t * tinst, uint16_t addr, native_type * buf, uint32_t flags) { \
+        return gs_param_get(tinst, addr, param_type, buf, sizeof(*buf), flags); \
+    }									\
+    static inline native_type gs_param_get_##name##_nc(gs_param_table_instance_t * tinst, uint16_t addr, uint32_t flags) { \
+        native_type value = 0;                                          \
+        gs_param_get(tinst, addr, param_type, &value, sizeof(value), flags); \
+        return value;                                                   \
+    }									\
+    static inline gs_error_t gs_param_set_##name(gs_param_table_instance_t * tinst, uint16_t addr, native_type value, uint32_t flags) { \
+        return gs_param_set(tinst, addr, param_type, &value, sizeof(value), flags); \
+    }
+
+/**
+   Get/set boolean.
+*/
+GS_PARAM_PASTE(bool, bool, GS_PARAM_BOOL)
+/**
+   Get/set uint8.
+*/
+GS_PARAM_PASTE(uint8, uint8_t, GS_PARAM_UINT8)
+/**
+   Get/set uint16.
+*/
+GS_PARAM_PASTE(uint16, uint16_t, GS_PARAM_UINT16)
+/**
+   Get/set uint32.
+*/
+GS_PARAM_PASTE(uint32, uint32_t, GS_PARAM_UINT32)
+/**
+   Get/set uint64.
+*/
+GS_PARAM_PASTE(uint64, uint64_t, GS_PARAM_UINT64)
+/**
+   Get/set int8.
+*/
+GS_PARAM_PASTE(int8, int8_t, GS_PARAM_INT8)
+/**
+   Get/set int16.
+*/
+GS_PARAM_PASTE(int16, int16_t, GS_PARAM_INT16)
+/**
+   Get/set int32.
+*/
+GS_PARAM_PASTE(int32, int32_t, GS_PARAM_INT32)
+/**
+   Get/set int64.
+*/
+GS_PARAM_PASTE(int64, int64_t, GS_PARAM_INT64)
+/**
+   Get/set double.
+*/
+GS_PARAM_PASTE(double, double, GS_PARAM_DOUBLE)
+/**
+   Get/set float.
+*/
+GS_PARAM_PASTE(float, float, GS_PARAM_FLOAT)
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libparam_client/include/gs/param/types.h

@@ -0,0 +1,272 @@
+#ifndef GS_PARAM_TYPES_H
+#define GS_PARAM_TYPES_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Parameter types.
+*/
+
+#include <gs/util/mutex.h>
+#include <gs/util/pgm.h>
+#include <gs/util/minmax.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Macros for accessing table row members.
+   These macros can be used to access members in a cross-platform way, compensating for the AVR8's memory model.
+   @{
+*/
+#define GS_PARAM_ARRAY_SIZE(p)  gs_max(GS_PGM_UINT8((p)->array_size), 1)
+#define GS_PARAM_SIZE(p)        GS_PGM_UINT8((p)->size)
+#define GS_PARAM_TYPE(p)        GS_PGM_UINT8((p)->type)
+#define GS_PARAM_ADDR(p)        GS_PGM_UINT16((p)->addr)
+#define GS_PARAM_FLAGS(p)       GS_PGM_UINT8((p)->flags)
+/** @} */
+
+/**
+   Max parameter name - including 0 termination.
+   @note In some rare/old table definitions, the name may not be NULL terminated.
+*/
+#define GS_PARAM_MAX_NAME	14
+
+/**
+   Parameter flags.
+   Flags must be in range: bit 0 - 7, to avoid clash with other parts of the parameter system.
+*/
+typedef enum {
+    /**
+       Parameter will be stored in configured auto-persist store when set.
+       @note Flag must be specified when setting the parameter.
+    */
+    GS_PARAM_F_AUTO_PERSIST = (1 << 0),
+    /**
+       @deprecated Not supported in version 4.0
+    */
+    PARAM_F_READONLY = (1 << 1),
+    /**
+       Skip callback, when parameter is set.
+       @note Flag must be specified when setting the parameter.
+    */
+    GS_PARAM_F_NO_CALLBACK = (1 << 2),
+    /**
+       Show/display parameter in hex.
+    */
+    GS_PARAM_F_SHOW_HEX = (1 << 3),
+    /**
+       Show double/float using scientific notation.
+    */
+    GS_PARAM_F_SHOW_SCIENTIFIC = (1 << 4),
+
+    PARAM_F_NOCALLBACK = GS_PARAM_F_NO_CALLBACK,
+    PARAM_F_PERSIST = GS_PARAM_F_AUTO_PERSIST,
+} gs_param_flags_t;
+
+/**
+ * Parameter types.
+ */
+typedef enum __attribute__((__packed__)) {
+    /**
+       Unsigned 8 bit (uint8_t).
+    */
+    GS_PARAM_UINT8 = 0,
+    /**
+       Unsigned 16 bit (uint16_t).
+    */
+    GS_PARAM_UINT16 = 1,
+    /**
+       Unsigned 32 bit (uint32_t).
+    */
+    GS_PARAM_UINT32 = 2,
+    /**
+       Unsigned 64 bit (uint64_t).
+    */
+    GS_PARAM_UINT64 = 3,
+    /**
+       Signed 8 bit (int8_t).
+    */
+    GS_PARAM_INT8 = 4,
+    /**
+       Signed 16 bit (int16_t).
+    */
+    GS_PARAM_INT16 = 5,
+    /**
+       Signed 32 bit (int32_t).
+    */
+    GS_PARAM_INT32 = 6,
+    /**
+       Signed 64 bit (int64_t).
+    */
+    GS_PARAM_INT64 = 7,
+    /**
+       @deprecated - use #GS_PARAM_UINT8 and #GS_PARAM_F_SHOW_HEX.
+    */
+    PARAM_X8 = 8,
+    /**
+       @deprecated - use #GS_PARAM_UINT16 and #GS_PARAM_F_SHOW_HEX.
+    */
+    PARAM_X16 = 9,
+    /**
+       @deprecated - use #GS_PARAM_UINT32 and #GS_PARAM_F_SHOW_HEX.
+    */
+    PARAM_X32 = 10,
+    /**
+       @deprecated - use #GS_PARAM_UINT64 and #GS_PARAM_F_SHOW_HEX.
+    */
+    PARAM_X64 = 11,
+    /**
+       Double.
+    */
+    GS_PARAM_DOUBLE = 12,
+    /**
+       Float.
+    */
+    GS_PARAM_FLOAT = 13,
+    /**
+       C or null-terminated string.
+       @note The specified \a size must include space for the NUL character.
+    */
+    GS_PARAM_STRING = 14,
+    /**
+       Data (binary blob).
+       Binary blob: [0, 0x40, 0x4f] -> '00404f'
+    */
+    GS_PARAM_DATA = 15,
+    /**
+       Boolean.
+       Expected same size as uint8_t.
+    */
+    GS_PARAM_BOOL = 16,
+
+    PARAM_UINT8 = GS_PARAM_UINT8,
+    PARAM_UINT16 = GS_PARAM_UINT16,
+    PARAM_UINT32 = GS_PARAM_UINT32,
+    PARAM_UINT64 = GS_PARAM_UINT64,
+    PARAM_INT8 = GS_PARAM_INT8,
+    PARAM_INT16 = GS_PARAM_INT16,
+    PARAM_INT32 = GS_PARAM_INT32,
+    PARAM_INT64 = GS_PARAM_INT64,
+    PARAM_DOUBLE = GS_PARAM_DOUBLE,
+    PARAM_FLOAT = GS_PARAM_FLOAT,
+    PARAM_STRING = GS_PARAM_STRING,
+    PARAM_DATA = GS_PARAM_DATA,
+    PARAM_BOOL = GS_PARAM_BOOL,
+} gs_param_type_t;
+
+/**
+   Table row.
+
+   A table row defines one parameter, and a table is defined by one or more rows.
+
+   @note Make sure to update gs_param_table_checksum2(), if adding fields > 1 byte.
+
+   @note AVR8: Table definitions must be located in \a program memory, i.e. must be const.
+*/
+typedef struct __attribute__((__packed__)) {
+    /**
+       Address (or offset) in table.
+    */
+    uint16_t addr;
+    /**
+       Type.
+    */
+    gs_param_type_t type;
+    /**
+       Size of element.
+       uint32_t = 4, string[5] = 5 (4 characters + 1 for NUL), etc.
+    */
+    uint8_t size;
+    /**
+       Array size.
+       Size greater than 1, will make the parameter an array - if the value is 0 or 1, the parameter is not an array.
+    */
+    uint8_t array_size;
+    /**
+       Flags.
+       @see gs_param_flags_t
+    */
+    uint8_t flags;
+    /**
+       Name (C string).
+       @note In some rare/old table definitions, the name may not be NUL terminated.
+    */
+    char name[GS_PARAM_MAX_NAME];
+} gs_param_table_row_t;
+
+/**
+   Table instance.
+*/
+typedef struct gs_param_table_instance gs_param_table_instance_t;
+
+/**
+   Table id.
+
+   Tables can be associated with a number/id, which normally is unique on a specific node.
+*/
+typedef uint8_t gs_param_table_id_t;
+
+/**
+   Undefined table id.
+*/
+#define GS_PARAM_UNDEFINED_TABLE_ID 255
+
+/**
+   Function for setting a parameter.
+
+   @param[in] context user context/reference.
+   @param[in] tinst table instance.
+   @param[in] addr parameter address.
+   @param[in] type parameter type.
+   @param[in] item parameter value.
+   @param[in] size parameter size (e.g. how many bytes to copy from \a item).
+   @param[in] flags flags related to the operation - these may vary depending on the context.
+   @return_gs_error_t
+*/
+typedef gs_error_t (*gs_param_table_function_set_t)(void * context, gs_param_table_instance_t * tinst, uint16_t addr, gs_param_type_t type, const void * item, size_t size, uint32_t flags);
+
+/**
+   Function for getting a parameter.
+
+   @param[in] context user context/reference.
+   @param[in] tinst table instance.
+   @param[in] addr parameter address.
+   @param[in] type parameter type.
+   @param[out] item parameter buffer (provided by the caller).
+   @param[in] size parameter size (e.g. how many bytes to copy to \a item).
+   @param[in] flags flags related to the operation - these may vary depending on the context.
+   @return_gs_error_t
+*/
+typedef gs_error_t (*gs_param_table_function_get_t)(void * context, gs_param_table_instance_t * tinst, uint16_t addr, gs_param_type_t type, void * item, size_t size, uint32_t flags);
+    
+/**
+   Function interface for setting and getting parameters.
+   Functions will be invoked, when set/get is called on the table instance.
+*/
+typedef struct {
+    /**
+       User context, provided in the callback functions.
+    */
+    void * context;
+    /**
+       Called when setting a parameter.
+    */
+    gs_param_table_function_set_t set;
+    /**
+       Called when getting a parameter.
+    */
+    gs_param_table_function_get_t get;
+} gs_param_function_interface_t;
+
+/**
+   Callback function for changed parameter.
+   See gs_param_table_create() for details.
+*/
+typedef void (*gs_param_callback_func_t)(uint16_t addr, gs_param_table_instance_t * tinst);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libparam_client/src/pp/cmd/master_cmd.c

@@ -0,0 +1,418 @@
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+
+#include <gs/param/pp/spi/spi.h>
+#include <gs/param/pp/i2c/i2c.h>
+#include <gs/util/gosh/command.h>
+#include <gs/util/stdio.h>
+#include <gs/util/string.h>
+#include <gs/util/log.h>
+
+static bool use_checksum;
+
+static gs_pp_t gs_pp;
+
+static int cmd_spi_init(gs_command_context_t *ctx)
+{
+    uint8_t slave;
+    gs_error_t error = gs_string_to_uint8(ctx->argv[1], &slave);
+    if (error) {
+        return error;
+    }
+
+    bool big_endian = false;
+    if (ctx->argc > 2) {
+        error = gs_string_to_bool(ctx->argv[2], &big_endian);
+        if (error) {
+            return error;
+        }
+    }
+
+    error = gs_pp_spi_init(&gs_pp, slave, big_endian);
+    if (error) {
+        memset(&gs_pp, 0, sizeof(gs_pp));
+        return error;
+    }
+
+    return GS_OK;
+}
+
+static int cmd_i2c_init(gs_command_context_t *ctx)
+{
+    uint8_t bus;
+    gs_error_t error = gs_string_to_uint8(ctx->argv[1], &bus);
+    if (error) {
+        return GS_ERROR_ARG;
+    }
+
+    uint8_t addr;
+    error = gs_string_to_uint8(ctx->argv[2], &addr);
+    if (error) {
+        return GS_ERROR_ARG;
+    }
+
+    bool big_endian = false;
+    if (ctx->argc > 3) {
+        error = gs_string_to_bool(ctx->argv[3], &big_endian);
+        if (error) {
+            return GS_ERROR_ARG;
+        }
+    }
+
+    error = gs_pp_i2c_init(&gs_pp, bus, addr, big_endian);
+    if (error) {
+        memset(&gs_pp, 0, sizeof(gs_pp));
+        return error;
+    }
+
+    return GS_OK;
+}
+
+static int cmd_checksum(gs_command_context_t *ctx)
+{
+    if (ctx->argc > 1) {
+        if (gs_string_to_bool(ctx->argv[1], &use_checksum)) {
+            return GS_ERROR_ARG;
+        }
+    }
+    printf("Use CHECKSUM: %d\r\n", use_checksum);
+    return GS_OK;
+}
+
+// get_xxxx <table> <addr>
+static int cmd_parse(gs_command_context_t *ctx,
+                     uint32_t * table, uint32_t * addr)
+{
+    if (ctx->argc < 3) {
+        return GS_ERROR_ARG;
+    }
+
+    gs_error_t error = gs_string_to_uint32(ctx->argv[1], table);
+    if (error || (*table > 7)) {
+        return GS_ERROR_ARG;
+    }
+
+    error = gs_string_to_uint32(ctx->argv[2], addr);
+    if (error || (*addr > 255)) {
+        return GS_ERROR_ARG;
+    }
+
+    return GS_OK;
+}
+
+static int cmd_get_parse(gs_command_context_t * ctx,
+                         uint32_t * table, uint32_t * addr, uint32_t * count)
+{
+    int res = cmd_parse(ctx, table, addr);
+    if (res == GS_OK) {
+        *count = 1;
+        if (ctx->argc > 3) {
+            gs_error_t error = gs_string_to_uint32(ctx->argv[3], count);
+            if (error || (*count > 100)) {
+                return GS_ERROR_ARG;
+            }
+        }
+    }
+
+    return res;
+}
+
+#define CMD_GET(_ctx, _type, _func, _format)                            \
+    {                                                                   \
+        uint32_t table;                                                 \
+        uint32_t addr;                                                  \
+        uint32_t count;                                                 \
+        int res = cmd_get_parse(_ctx, &table, &addr, &count);           \
+        if (res == GS_OK) {                                             \
+            _type value[count];                                         \
+            gs_error_t error = _func(&gs_pp, table, addr, value, count, use_checksum ? GS_PP_FLAG_CHECKSUM : 0); \
+            if (error) {                                                \
+                return error;                                           \
+            }                                                           \
+            printf("value(s): ");                                       \
+            for (unsigned int i = 0; i < count; ++i) {                  \
+                printf("%" _format " ", value[i]);                      \
+            }                                                           \
+            printf("\r\n");                                             \
+        }                                                               \
+        return res;                                                     \
+    }
+
+static int cmd_get_int8(gs_command_context_t * ctx)
+{
+    CMD_GET(ctx, int8_t, gs_pp_get_int8, PRId8);
+}
+
+static int cmd_get_int16(gs_command_context_t * ctx)
+{
+    CMD_GET(ctx, int16_t, gs_pp_get_int16, PRId16);
+}
+
+static int cmd_get_int32(gs_command_context_t * ctx)
+{
+    CMD_GET(ctx, int32_t, gs_pp_get_int32, PRId32);
+}
+
+static int cmd_get_uint8(gs_command_context_t * ctx)
+{
+    CMD_GET(ctx, uint8_t, gs_pp_get_uint8, PRIu8);
+}
+
+static int cmd_get_uint16(gs_command_context_t * ctx)
+{
+    CMD_GET(ctx, uint16_t, gs_pp_get_uint16, PRIu16);
+}
+
+static int cmd_get_uint32(gs_command_context_t * ctx)
+{
+    CMD_GET(ctx, uint32_t, gs_pp_get_uint32, PRIu32);
+}
+
+static int cmd_get_float(gs_command_context_t * ctx)
+{
+    CMD_GET(ctx, float, gs_pp_get_float, "f");
+}
+
+#define CMD_SET(_ctx, _type, _func, _convert)                           \
+    {                                                                   \
+        const unsigned int  MAX_VALUES = 20;                            \
+        uint32_t table;                                                 \
+        uint32_t addr;                                                  \
+        int res = cmd_parse(_ctx, &table, &addr);                       \
+        if (res == GS_OK) {                                             \
+            _type value[MAX_VALUES];                                    \
+            unsigned int count = 0;                                     \
+            for (int i = 3; (i < _ctx->argc) && (count < MAX_VALUES); ++i, ++count) { \
+                res = _convert(_ctx->argv[i], &value[count]);           \
+                if (res) {                                              \
+                    return GS_ERROR_DATA;                               \
+                }                                                       \
+            }                                                           \
+            res = _func(&gs_pp, table, addr, value, count, use_checksum ? GS_PP_FLAG_CHECKSUM : 0); \
+        }                                                               \
+        return res;                                                     \
+    }
+
+static int cmd_set_int8(gs_command_context_t * ctx)
+{
+    CMD_SET(ctx, int8_t, gs_pp_set_int8, gs_string_to_int8);
+}
+
+static int cmd_set_int16(gs_command_context_t * ctx)
+{
+    CMD_SET(ctx, int16_t, gs_pp_set_int16, gs_string_to_int16);
+}
+
+static int cmd_set_int32(gs_command_context_t * ctx)
+{
+    CMD_SET(ctx, int32_t, gs_pp_set_int32, gs_string_to_int32);
+}
+
+static int cmd_set_uint8(gs_command_context_t * ctx)
+{
+    CMD_SET(ctx, uint8_t, gs_pp_set_uint8, gs_string_to_uint8);
+}
+
+static int cmd_set_uint16(gs_command_context_t * ctx)
+{
+    CMD_SET(ctx, uint16_t, gs_pp_set_uint16, gs_string_to_uint16);
+}
+
+static int cmd_set_uint32(gs_command_context_t * ctx)
+{
+    CMD_SET(ctx, uint32_t, gs_pp_set_uint32, gs_string_to_uint32);
+}
+
+static int cmd_set_float(gs_command_context_t * ctx)
+{
+    CMD_SET(ctx, float, gs_pp_set_float, gs_string_to_float);
+}
+
+static int cmd_get_table_lock(gs_command_context_t * ctx)
+{
+    uint32_t table;
+    gs_error_t res = gs_string_to_uint32(ctx->argv[1], &table);
+    if (res == GS_OK) {
+        if (table <= 7) {
+            bool lock;
+            res = gs_pp_get_table_lock(&gs_pp, table, &lock, GS_PP_FLAG_CHECKSUM);
+            if (res == GS_OK) {
+                const char locked[] = "locked\n";
+                const char unlocked[] = "unlocked\n";
+                const char * lock_state = (lock) ? locked : unlocked;
+                printf("Table %s", lock_state);
+            }
+        } else {
+            res = GS_ERROR_ARG;
+        }
+    }
+    return res;
+}
+
+static int cmd_set_table_lock(gs_command_context_t * ctx)
+{
+    uint32_t table;
+    gs_error_t res = gs_string_to_uint32(ctx->argv[1], &table);
+    if (res == GS_OK) {
+        if (table <= 7) {
+            uint32_t lock;
+            res = gs_string_to_uint32(ctx->argv[2], &lock);
+            if (res == GS_OK) {
+                if(lock <= 1) {
+                    res = gs_pp_set_table_lock(&gs_pp, table, (bool *)&lock, GS_PP_FLAG_CHECKSUM);
+                } else {
+                    res = GS_ERROR_ARG;
+                }
+            }
+        } else {
+            res = GS_ERROR_ARG;
+        }
+    }
+    return res;
+}
+
+static const gs_command_t gs_param_cmd_master_pp_sub[] = {
+    {
+        .name = "spi_init",
+        .help = "Initialize/setup SPI device",
+        .usage = "<slave> [big_endian]",
+        .handler = cmd_spi_init,
+        .mandatory_args = 1,
+        .optional_args = 1,
+    },{
+        .name = "i2c_init",
+        .help = "Initialize/setup I2C device",
+        .usage = "<device> <addr> [big_endian]",
+        .handler = cmd_i2c_init,
+        .mandatory_args = 2,
+        .optional_args = 1,
+    },{
+        .name = "checksum",
+        .help = "Enable/disable checksum",
+        .usage = "[0|1]",
+        .handler = cmd_checksum,
+        .optional_args = 1,
+    },{
+        .name = "get_table_lock",
+        .help = "Get table lock (0 = unlocked, 1 = locked)",
+        .usage = "<table>",
+        .mandatory_args = 1,
+        .handler = cmd_get_table_lock,
+    },{
+        .name = "set_table_lock",
+        .help = "Set table lock (0 = unlocked, 1 = locked)",
+        .usage = "<table> <lock/unlock>",
+        .mandatory_args = 2,
+        .handler = cmd_set_table_lock,
+    },{
+        .name = "get_int8",
+        .help = "Get int8",
+        .usage = "<table> <addr> [count]",
+        .handler = cmd_get_int8,
+        .mandatory_args = 2,
+        .optional_args = 1,
+    },{
+        .name = "get_int16",
+        .help = "Get int16",
+        .usage = "<table> <addr> [count]",
+        .handler = cmd_get_int16,
+        .mandatory_args = 2,
+        .optional_args = 1,
+    },{
+        .name = "get_int32",
+        .help = "Get int32",
+        .usage = "<table> <addr> [count]",
+        .handler = cmd_get_int32,
+        .mandatory_args = 2,
+        .optional_args = 1,
+    },{
+        .name = "get_uint8",
+        .help = "Get uint8",
+        .usage = "<table> <addr> [count]",
+        .handler = cmd_get_uint8,
+        .mandatory_args = 2,
+        .optional_args = 1,
+    },{
+        .name = "get_uint16",
+        .help = "Get uint16",
+        .usage = "<table> <addr> [count]",
+        .handler = cmd_get_uint16,
+        .mandatory_args = 2,
+        .optional_args = 1,
+    },{
+        .name = "get_uint32",
+        .help = "Get uint32",
+        .usage = "<table> <addr> [count]",
+        .handler = cmd_get_uint32,
+        .mandatory_args = 2,
+        .optional_args = 1,
+    },{
+        .name = "get_float",
+        .help = "Get float",
+        .usage = "<table> <addr> [count]",
+        .handler = cmd_get_float,
+        .mandatory_args = 2,
+        .optional_args = 1,
+    },{
+        .name = "set_int8",
+        .help = "Set int8",
+        .usage = "<table> <addr> <data> [data] ...",
+        .handler = cmd_set_int8,
+        .mandatory_args = 3,
+        .optional_args = 20,
+    },{
+        .name = "set_int16",
+        .help = "Set int16",
+        .usage = "<table> <addr> <data> [data] ...",
+        .handler = cmd_set_int16,
+        .mandatory_args = 3,
+        .optional_args = 20,
+    },{
+        .name = "set_int32",
+        .help = "Set int32",
+        .usage = "<table> <addr> <data> [data] ...",
+        .handler = cmd_set_int32,
+        .mandatory_args = 3,
+        .optional_args = 20,
+    },{
+        .name = "set_uint8",
+        .help = "Set uint8",
+        .usage = "<table> <addr> <data> [data] ...",
+        .handler = cmd_set_uint8,
+        .mandatory_args = 3,
+        .optional_args = 20,
+    },{
+        .name = "set_uint16",
+        .help = "Set uint16",
+        .usage = "<table> <addr> <data> [data] ...",
+        .handler = cmd_set_uint16,
+        .mandatory_args = 3,
+        .optional_args = 20,
+    },{
+        .name = "set_uint32",
+        .help = "Set uint32",
+        .usage = "<table> <addr> <data> [data] ...",
+        .handler = cmd_set_uint32,
+        .mandatory_args = 3,
+        .optional_args = 20,
+    },{
+        .name = "set_float",
+        .help = "Set float",
+        .usage = "<table> <addr> <data> [data] ...",
+        .handler = cmd_set_float,
+        .mandatory_args = 3,
+        .optional_args = 20,
+    }
+};
+
+static const gs_command_t GS_COMMAND_ROOT gs_param_cmd_master_pp[] = {
+    {
+        .name = "pp",
+        .help = "Param Protocol interface",
+        .chain = GS_COMMAND_INIT_CHAIN(gs_param_cmd_master_pp_sub),
+    }
+};
+
+gs_error_t gs_pp_register_commands(void)
+{
+    return GS_COMMAND_REGISTER(gs_param_cmd_master_pp);
+}

gomspace/libparam_client/src/pp/i2c/i2c.c

@@ -0,0 +1,129 @@
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+
+#define GS_PARAM_INTERNAL_USE 1
+
+#include <gs/param/internal/pp/i2c/i2c.h>
+#include <gs/util/drivers/i2c/master.h>
+#include <gs/util/string.h>
+#include <gs/util/check.h>
+#include <alloca.h>
+
+static gs_error_t gs_pp_i2c_write(gs_param_i2c_command_t cmd, gs_pp_t * pp, uint8_t table_id, uint16_t addr, void * value, size_t value_size, bool checksum)
+{
+    GS_CHECK_RANGE(table_id <= 7);
+    GS_CHECK_RANGE(addr <= 255);
+    GS_CHECK_RANGE((value_size > 0) && (value_size <= 31));
+
+    gs_param_i2c_set_request_t * request;
+    const size_t size = (sizeof(*request) + value_size + (checksum ? 1 : 0));
+    request = alloca(size);
+
+    request->header.domain_command = GS_I2C_SLAVE_DISPATCH_HEADER(GS_I2C_SLAVE_DISPATCH_DOMAIN_PARAM, cmd);
+    request->length_table = GS_PARAM_I2C_LENGTH_TABLE(value_size, table_id);
+    request->addr = addr;
+    memcpy(request->data, value, value_size);
+
+    if (checksum) {
+        request->data[value_size] = gs_pp_checksum8(request, size - 1);
+    }
+    return gs_i2c_master_transaction(pp->pp.i2c.bus, pp->pp.i2c.addr, request, size, NULL, 0, 1000);
+
+}
+
+static gs_error_t gs_pp_i2c_read(gs_param_i2c_command_t cmd, gs_pp_t * pp, uint8_t table_id, uint16_t addr, void * value, size_t value_size, bool checksum)
+{
+    GS_CHECK_RANGE(table_id <= 7);
+    GS_CHECK_RANGE(addr <= 255);
+    GS_CHECK_RANGE((value_size > 0) && (value_size <= 31));
+
+    gs_param_i2c_get_request_t request;
+    memset(&request, 0, sizeof(request));
+    request.length_table = GS_PARAM_I2C_LENGTH_TABLE(value_size, table_id);
+    request.addr = addr;
+    size_t request_size;
+
+    uint8_t reply[value_size + sizeof(request.checksum)]; // + for checksum
+    memset(reply, 0, sizeof(reply));
+    size_t reply_size;
+
+    request.header.domain_command = GS_I2C_SLAVE_DISPATCH_HEADER(GS_I2C_SLAVE_DISPATCH_DOMAIN_PARAM, cmd);
+
+    if (checksum) {
+        request.checksum = gs_pp_checksum8(&request, (sizeof(request) - sizeof(request.checksum)));
+        request_size = sizeof(request);
+        reply_size = sizeof(reply);
+    } else {
+        request_size = sizeof(request) - sizeof(request.checksum);
+        reply_size = sizeof(reply) - sizeof(request.checksum);
+    }
+
+    gs_error_t error = gs_i2c_master_transaction(pp->pp.i2c.bus, pp->pp.i2c.addr, &request, request_size, reply, reply_size, 1000);
+    if (error == GS_OK) {
+        if (checksum) {
+            if (gs_pp_checksum8(reply, value_size) != reply[value_size]) {
+                return GS_ERROR_DATA;
+            }
+        }
+        memcpy(value, reply, value_size);
+    }
+    return error;
+
+}
+
+static gs_error_t gs_pp_i2c_get(gs_pp_t * pp, uint8_t table_id, uint16_t addr, void * value, size_t value_size, uint32_t flags)
+{
+    gs_param_i2c_command_t cmd;
+    bool checksum = false;
+    if (flags & GS_PP_FLAG_CHECKSUM) {
+        checksum = true;
+        cmd = GS_PARAM_I2C_COMMAND_GET_WITH_CHECKSUM;
+    } else {
+        cmd = GS_PARAM_I2C_COMMAND_GET;
+    }
+    return gs_pp_i2c_read(cmd, pp, table_id, addr, value, value_size, checksum);
+}
+
+static gs_error_t gs_pp_i2c_set(gs_pp_t * pp, uint8_t table_id, uint16_t addr, const void * value, size_t value_size, uint32_t flags)
+{
+    gs_param_i2c_command_t cmd;
+    bool checksum = false;
+    if (flags & GS_PP_FLAG_CHECKSUM) {
+        checksum = true;
+        cmd = GS_PARAM_I2C_COMMAND_SET_WITH_CHECKSUM;
+    } else {
+        cmd = GS_PARAM_I2C_COMMAND_SET;
+    }
+    return gs_pp_i2c_write(cmd, pp, table_id, addr, (void *)value, value_size, checksum);
+}
+
+static gs_error_t gs_pp_i2c_set_table_lock(gs_pp_t * pp, uint8_t table_id, const bool * value, uint32_t flags)
+{
+    gs_param_i2c_command_t cmd = GS_PARAM_I2C_COMMAND_SET_LOCK_WITH_CHECKSUM;
+    bool checksum = true;
+    return gs_pp_i2c_write(cmd, pp, table_id, 0, (void *)value, 1, checksum);
+}
+
+static gs_error_t gs_pp_i2c_get_table_lock(gs_pp_t * pp, uint8_t table_id, bool * value, uint32_t flags)
+{
+    gs_param_i2c_command_t cmd = GS_PARAM_I2C_COMMAND_GET_LOCK_WITH_CHECKSUM;
+    bool checksum = true;
+    return gs_pp_i2c_read(cmd, pp, table_id, 0, value, 1, checksum);
+}
+
+gs_error_t gs_pp_i2c_init(gs_pp_t * pp, uint8_t bus, uint8_t addr, bool big_endian)
+{
+    GS_CHECK_HANDLE(pp != NULL);
+
+    memset(pp, 0, sizeof(*pp));
+
+    pp->get = gs_pp_i2c_get;
+    pp->set = gs_pp_i2c_set;
+    pp->set_table_lock = gs_pp_i2c_set_table_lock;
+    pp->get_table_lock = gs_pp_i2c_get_table_lock;
+    pp->big_endian = big_endian;
+
+    pp->pp.i2c.bus = bus;
+    pp->pp.i2c.addr = addr;
+
+    return GS_OK;
+}

gomspace/libparam_client/src/pp/pp.c

@@ -0,0 +1,189 @@
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+
+#include <gs/param/pp/pp.h>
+#include <gs/util/string.h>
+#include <gs/util/check.h>
+#include <gs/util/byteorder.h>
+#include <gs/util/endian.h>
+
+static inline bool gs_pp_endian_convert(gs_pp_t * pp)
+{
+    return (pp && (pp->big_endian != gs_endian_big()));
+}
+
+static gs_error_t gs_pp_get(gs_pp_t * pp, uint8_t table_id, uint16_t addr, void * value, size_t value_size, uint32_t flags)
+{
+    if (pp == NULL) {
+        return GS_ERROR_HANDLE;
+    }
+    if (pp->get == NULL) {
+        return GS_ERROR_NOT_IMPLEMENTED;
+    }
+    return pp->get(pp, table_id, addr, value, value_size, flags);
+}
+
+static gs_error_t gs_pp_set(gs_pp_t * pp, uint8_t table_id, uint16_t addr, const void * value, size_t value_size, uint32_t flags)
+{
+    if (pp == NULL) {
+        return GS_ERROR_HANDLE;
+    }
+    if (pp->set == NULL) {
+        return GS_ERROR_NOT_IMPLEMENTED;
+    }
+    return pp->set(pp, table_id, addr, value, value_size, flags);
+}
+
+uint8_t gs_pp_checksum8(const void * data_in, size_t length)
+{
+    const uint8_t * data = data_in;
+    unsigned int checksum = 0;
+    for (unsigned int i = 0; i < length; ++i) {
+        checksum += *data++;
+    }
+    checksum &= 0xff;
+    return checksum ? checksum : 1;
+}
+
+gs_error_t gs_pp_get_table_lock(gs_pp_t * pp, uint8_t table_id, bool * value, uint32_t flags)
+{
+    GS_CHECK_ARG(value != NULL);
+    GS_CHECK_HANDLE(pp != NULL);
+    if (pp->get_table_lock == NULL) {
+        return GS_ERROR_NOT_IMPLEMENTED;
+    }
+    return pp->get_table_lock(pp, table_id, value, flags);
+}
+
+gs_error_t gs_pp_set_table_lock(gs_pp_t * pp, uint8_t table_id, const bool * value, uint32_t flags)
+{
+    GS_CHECK_ARG(value != NULL);
+    GS_CHECK_HANDLE(pp != NULL);
+    if (pp->set_table_lock == NULL) {
+        return GS_ERROR_NOT_IMPLEMENTED;
+    }
+    return pp->set_table_lock(pp, table_id, value, flags);
+}
+
+// int8_t
+gs_error_t gs_pp_get_int8(gs_pp_t * pp, uint8_t table_id, uint8_t addr, int8_t * value, size_t count, uint32_t flags)
+{
+    return gs_pp_get_uint8(pp, table_id, addr, (uint8_t *) value, count, flags);
+}
+
+gs_error_t gs_pp_set_int8(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const int8_t * value, size_t count, uint32_t flags)
+{
+    return gs_pp_set_uint8(pp, table_id, addr, (const uint8_t *) value, count, flags);
+}
+
+// uint8_t
+
+gs_error_t gs_pp_get_uint8(gs_pp_t * pp, uint8_t table_id, uint8_t addr, uint8_t * value, size_t count, uint32_t flags)
+{
+    GS_CHECK_ARG(value != NULL);
+    GS_CHECK_ARG(count >  0);
+    return gs_pp_get(pp, table_id, addr, value, (sizeof(*value) * count), flags);
+}
+
+gs_error_t gs_pp_set_uint8(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const uint8_t * value, size_t count, uint32_t flags)
+{
+    GS_CHECK_ARG(value != NULL);
+    GS_CHECK_ARG(count >  0);
+    return gs_pp_set(pp, table_id, addr, value, (sizeof(*value) * count), flags);
+}
+
+// int16_t
+
+gs_error_t gs_pp_get_int16(gs_pp_t * pp, uint8_t table_id, uint8_t addr, int16_t * value, size_t count, uint32_t flags)
+{
+    return gs_pp_get_uint16(pp, table_id, addr, (uint16_t *) value, count, flags);
+}
+
+gs_error_t gs_pp_set_int16(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const int16_t * value, size_t count, uint32_t flags)
+{
+    return gs_pp_set_uint16(pp, table_id, addr, (const uint16_t *) value, count, flags);
+}
+
+// uint16_t
+
+gs_error_t gs_pp_get_uint16(gs_pp_t * pp, uint8_t table_id, uint8_t addr, uint16_t * value, size_t count, uint32_t flags)
+{
+    GS_CHECK_ARG(value != NULL);
+    GS_CHECK_ARG(count >  0);
+    gs_error_t error = gs_pp_get(pp, table_id, addr, value, (sizeof(*value) * count), flags);
+    if (gs_pp_endian_convert(pp)) {
+        gs_bswap_16_array(value, value, count);
+    }
+    return error;
+}
+
+gs_error_t gs_pp_set_uint16(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const uint16_t * value, size_t count, uint32_t flags)
+{
+    GS_CHECK_ARG(value != NULL);
+    GS_CHECK_ARG(count >  0);
+    uint16_t _converted[count];
+    if (gs_pp_endian_convert(pp)) {
+        gs_bswap_16_array(value, _converted, count);
+        value = _converted;
+    }
+    return gs_pp_set(pp, table_id, addr, value, (sizeof(*value) * count), flags);
+}
+
+// int32_t
+
+gs_error_t gs_pp_get_int32(gs_pp_t * pp, uint8_t table_id, uint8_t addr, int32_t * value, size_t count, uint32_t flags)
+{
+    return gs_pp_get_uint32(pp, table_id, addr, (uint32_t *) value, count, flags);
+}
+
+gs_error_t gs_pp_set_int32(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const int32_t * value, size_t count, uint32_t flags)
+{
+    return gs_pp_set_uint32(pp, table_id, addr, (const uint32_t *) value, count, flags);
+}
+
+// uint32_t
+
+gs_error_t gs_pp_get_uint32(gs_pp_t * pp, uint8_t table_id, uint8_t addr, uint32_t * value, size_t count, uint32_t flags)
+{
+    GS_CHECK_ARG(value != NULL);
+    GS_CHECK_ARG(count >  0);
+    gs_error_t error = gs_pp_get(pp, table_id, addr, value, (sizeof(*value) * count), flags);
+    if (gs_pp_endian_convert(pp)) {
+        gs_bswap_32_array(value, value, count);
+    }
+    return error;
+}
+
+gs_error_t gs_pp_set_uint32(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const uint32_t * value, size_t count, uint32_t flags)
+{
+    GS_CHECK_ARG(value != NULL);
+    GS_CHECK_ARG(count >  0);
+    uint32_t _converted[count];
+    if (gs_pp_endian_convert(pp)) {
+        gs_bswap_32_array(value, _converted, count);
+        value = _converted;
+    }
+    return gs_pp_set(pp, table_id, addr, value, (sizeof(*value) * count), flags);
+}
+
+gs_error_t gs_pp_get_float(gs_pp_t * pp, uint8_t table_id, uint8_t addr, float * value, size_t count, uint32_t flags)
+{
+    GS_CHECK_ARG(value != NULL);
+    GS_CHECK_ARG(count >  0);
+    gs_error_t error = gs_pp_get(pp, table_id, addr, value, (sizeof(*value) * count), flags);
+    if (gs_pp_endian_convert(pp)) {
+        gs_bswap_float_array(value, value, count);
+    }
+    return error;
+}
+
+gs_error_t gs_pp_set_float(gs_pp_t * pp, uint8_t table_id, uint8_t addr, const float * value, size_t count, uint32_t flags)
+{
+    GS_CHECK_ARG(value != NULL);
+    GS_CHECK_ARG(count >  0);
+    float _converted[count];
+    if (gs_pp_endian_convert(pp)) {
+        gs_bswap_float_array(value, _converted, count);
+        value = _converted;
+    }
+    return gs_pp_set(pp, table_id, addr, value, (sizeof(*value) * count), flags);
+}

gomspace/libparam_client/src/pp/spi/spi.c

@@ -0,0 +1,91 @@
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+
+#define GS_PARAM_INTERNAL_USE 1
+
+#include <gs/param/internal/pp/spi/spi.h>
+#include <gs/util/drivers/spi/master.h>
+#include <gs/util/string.h>
+#include <gs/util/check.h>
+#include <alloca.h>
+
+static gs_error_t gs_pp_spi_get(gs_pp_t * pp, uint8_t table_id, uint16_t addr, void * value, size_t value_size, uint32_t flags)
+{
+    GS_CHECK_RANGE(table_id <= 7);
+    GS_CHECK_RANGE(addr <= 255);
+
+    if (flags & GS_PP_FLAG_CHECKSUM) {
+        gs_param_spi_get_with_checksum_t * request;
+        const size_t size = (sizeof(*request) + value_size + 1); // +1 for CHECKSUM in returned data
+        request = alloca(size);
+        memset(request, 0, size);
+        request->header.domain_command = GS_SPI_SLAVE_DISPATCH_HEADER(GS_SPI_SLAVE_DISPATCH_DOMAIN_PARAM, GS_PARAM_SPI_COMMAND_GET_WITH_CHECKSUM);
+        request->length_table = GS_PARAM_SPI_LENGTH_TABLE(value_size, table_id);
+        request->addr = addr;
+        request->checksum = gs_pp_checksum8(request, (sizeof(*request) - sizeof(request->filler)));
+
+        gs_error_t error = gs_spi_master_transaction(pp->pp.spi.slave, request, request, size, 1000);
+        if (error == GS_OK) {
+            if (gs_pp_checksum8(request->data, value_size) != request->data[value_size]) {
+                return GS_ERROR_DATA;
+            }
+            memcpy(value, request->data, value_size);
+        }
+        return error;
+
+    } else {
+        gs_param_spi_get_t * request;
+        const size_t size = (sizeof(*request) + value_size);
+        request = alloca(size);
+        memset(request, 0, size);
+        request->header.domain_command = GS_SPI_SLAVE_DISPATCH_HEADER(GS_SPI_SLAVE_DISPATCH_DOMAIN_PARAM, GS_PARAM_SPI_COMMAND_GET);
+        request->length_table = GS_PARAM_SPI_LENGTH_TABLE(value_size, table_id);
+        request->addr = addr;
+
+        gs_error_t error = gs_spi_master_transaction(pp->pp.spi.slave, request, request, size, 1000);
+        if (error == GS_OK) {
+            memcpy(value, request->data, value_size);
+        }
+        return error;
+    }
+}
+
+static gs_error_t gs_pp_spi_set(gs_pp_t * pp, uint8_t table_id, uint16_t addr, const void * value, size_t value_size, uint32_t flags)
+{
+    GS_CHECK_RANGE(table_id <= 7);
+    GS_CHECK_RANGE(addr <= 255);
+
+    gs_param_spi_set_t * request;
+    const size_t size = (sizeof(*request) + value_size + ((flags & GS_PP_FLAG_CHECKSUM) ? 1 : 0));
+    request = alloca(size);
+    if (flags & GS_PP_FLAG_CHECKSUM) {
+        request->header.domain_command = GS_SPI_SLAVE_DISPATCH_HEADER(GS_SPI_SLAVE_DISPATCH_DOMAIN_PARAM, GS_PARAM_SPI_COMMAND_SET_WITH_CHECKSUM);
+    } else {
+        request->header.domain_command = GS_SPI_SLAVE_DISPATCH_HEADER(GS_SPI_SLAVE_DISPATCH_DOMAIN_PARAM, GS_PARAM_SPI_COMMAND_SET);
+    }
+    request->length_table = GS_PARAM_SPI_LENGTH_TABLE(value_size, table_id);
+    request->addr = addr;
+    memcpy(request->data, value, value_size);
+
+    if (flags & GS_PP_FLAG_CHECKSUM) {
+        request->data[value_size] = gs_pp_checksum8(request, size - 1);
+    }
+
+    return gs_spi_master_transaction(pp->pp.spi.slave, request, NULL, size, 1000);
+}
+
+gs_error_t gs_pp_spi_init(gs_pp_t * pp, uint8_t slave, bool big_endian)
+{
+    GS_CHECK_HANDLE(pp != NULL);
+
+    memset(pp, 0, sizeof(*pp));
+
+    pp->get = gs_pp_spi_get;
+    pp->set = gs_pp_spi_set;
+    pp->set_table_lock = NULL; // Not implemented
+    pp->get_table_lock = NULL; // Not implemented
+    pp->big_endian = big_endian;
+
+    pp->pp.spi.slave = slave;
+
+    return GS_OK;
+}

gomspace/libparam_client/src/rparam/cmd/cmd_rparam.c

@@ -0,0 +1,354 @@
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#define GS_PARAM_INTERNAL_USE 1
+
+#include <gs/param/internal/rparam.h>
+#include <gs/param/internal/table.h>
+#include <gs/param/internal/serialize.h>
+#include <gs/param/internal/types.h>
+#include "../query.h"
+#include <gs/util/log.h>
+#include <gs/util/gosh/command.h>
+#include <gs/util/stdio.h>
+#include <gs/util/unistd.h>
+#include <gs/csp/csp.h>
+#include <stdlib.h>
+
+#define MAX_FILENAME 100
+
+/** Remote param system setup */
+static gs_param_table_instance_t rparam_tinst;
+static gs_rparam_query_handle_t rquery = {.timeout_ms = 10000};
+static char * rparam_wd;
+
+#define CHECK_TABLE() \
+    if (rparam_tinst.rows == NULL) {                                    \
+        fprintf(ctx->out, "Run download or init to setup table\n");     \
+        return GS_ERROR_NOT_FOUND;                                      \
+    }
+
+static int cmd_rparam_list(gs_command_context_t *ctx)
+{
+    CHECK_TABLE();
+    return gs_param_list_to_stream(&rparam_tinst, true, 0, ctx->out);
+}
+
+static void make_filename(char * fname, size_t fname_size)
+{
+    char cwd[MAX_FILENAME + 1];
+    const char * wd;
+    if (gs_string_empty(rparam_wd) == false) {
+        wd = rparam_wd;
+    } else if (gs_getcwd(cwd, sizeof(cwd)) == GS_OK) {
+        wd = cwd;
+    } else {
+        wd = NULL;
+    }
+    if (gs_string_empty(wd) == false) {
+        snprintf(fname, fname_size, "%s/param-%d-%u.bin", wd, rquery.node, rquery.table_id);
+    } else {
+        fname[0] = 0;
+    }
+}
+
+static int cmd_rparam_init_from_local_file(gs_command_context_t *ctx)
+{
+    if (gs_string_to_uint8(ctx->argv[1], &rquery.node)) {
+        return GS_ERROR_ARG;
+    }
+    if (ctx->argc > 2) {
+        if (gs_string_to_uint8(ctx->argv[2], &rquery.table_id)) {
+            return GS_ERROR_ARG;
+        }
+    }
+
+    char fname[100];
+    make_filename(fname, sizeof(fname));
+    return gs_rparam_load_table_spec(&rparam_tinst, fname, &rquery.checksum);
+}
+
+static int cmd_rparam_init_from_remote_node(gs_command_context_t *ctx)
+{
+    if (gs_string_to_uint8(ctx->argv[1], &rquery.node)) {
+        return GS_ERROR_ARG;
+    }
+    if (ctx->argc > 2) {
+        if (gs_string_to_uint8(ctx->argv[2], &rquery.table_id)) {
+            return GS_ERROR_ARG;
+        }
+    }
+
+    char fname[100];
+    make_filename(fname, sizeof(fname));
+    return gs_rparam_download_table_spec(&rparam_tinst, fname, rquery.node, rquery.table_id, rquery.timeout_ms, &rquery.checksum);
+}
+
+static int cmd_rparam_send(gs_command_context_t *ctx)
+{
+    CHECK_TABLE();
+
+    gs_error_t error = gs_rparam_query_send(&rquery, &rparam_tinst);
+    if (error == GS_OK) {
+        if (rquery.action == RPARAM_GET) {
+            const gs_param_table_row_t * last_print = NULL;
+            for (unsigned int i = 0; i < rquery.length / 2; ++i) {
+                const gs_param_table_row_t * row = gs_param_row_by_address(rquery.payload.addr[i], rparam_tinst.rows, rparam_tinst.row_count);
+                if (row != last_print) { // work-around to avoid duplicate lines for elements within same array
+                    gs_param_list_single_to_stream(&rparam_tinst, row, true, 0, ctx->out);
+                    last_print = row;
+                }
+            }
+        }
+        gs_rparam_query_reset(&rquery);
+    }
+    return error;
+}
+
+static int cmd_rparam_get(gs_command_context_t *ctx)
+{
+    CHECK_TABLE();
+
+    gs_rparam_query_set_quiet(&rquery, false);
+    gs_error_t error = gs_rparam_query_get(&rquery, &rparam_tinst, ctx->argv[1]);
+    if ((error == GS_OK) && rquery.auto_send) {
+        error = cmd_rparam_send(ctx);
+    }
+
+    return error;
+}
+
+static int cmd_rparam_getall(gs_command_context_t *ctx)
+{
+    CHECK_TABLE();
+
+    fprintf(ctx->out, "Downloading table content for table %i from server %u\n", rquery.table_id, rquery.node);
+    gs_error_t error = gs_rparam_get_full_table(&rparam_tinst, rquery.node, rquery.table_id, rquery.checksum, rquery.timeout_ms);
+    if (error == GS_OK) {
+        gs_param_list_to_stream(&rparam_tinst, true, 0, ctx->out);
+    }
+    return error;
+}
+
+static int cmd_rparam_set(gs_command_context_t *ctx)
+{
+    CHECK_TABLE();
+
+    gs_error_t error = gs_rparam_query_set(&rquery, &rparam_tinst, ctx->argv[1], &ctx->argv[2], ctx->argc - 2);
+    if ((error == GS_OK) && rquery.auto_send) {
+        error = cmd_rparam_send(ctx);
+    }
+
+    return error;
+}
+
+static int cmd_rparam_copy(gs_command_context_t *ctx)
+{
+    uint8_t from;
+    if (gs_string_to_uint8(ctx->argv[1], &from)) {
+        return GS_ERROR_ARG;
+    }
+
+    uint8_t to;
+    if (gs_string_to_uint8(ctx->argv[2], &to)) {
+        return GS_ERROR_ARG;
+    }
+
+    return gs_rparam_copy(rquery.node, rquery.timeout_ms, from, to);
+}
+
+static int cmd_rparam_load(gs_command_context_t *ctx)
+{
+    uint8_t table_id;
+    if (gs_string_to_uint8(ctx->argv[2], &table_id)) {
+        return GS_ERROR_ARG;
+    }
+    uint8_t file_id;
+    if (gs_string_to_uint8(ctx->argv[1], &file_id)) {
+        // This may be a store - no way of validating
+        return gs_rparam_load_from_store(rquery.node, rquery.timeout_ms, table_id, ctx->argv[1], NULL);
+    }
+
+    return gs_rparam_load(rquery.node, rquery.timeout_ms, file_id, table_id);
+}
+
+static int cmd_rparam_save(gs_command_context_t *ctx)
+{
+    uint8_t table_id;
+    if (gs_string_to_uint8(ctx->argv[1], &table_id)) {
+        return GS_ERROR_ARG;
+    }
+    uint8_t file_id;
+    if (gs_string_to_uint8(ctx->argv[2], &file_id)) {
+        // This may be a store - no way of validating
+        return gs_rparam_save_to_store(rquery.node, rquery.timeout_ms, table_id, ctx->argv[2], NULL);
+    }
+
+    return gs_rparam_save(rquery.node, rquery.timeout_ms, table_id, file_id);
+}
+
+static int cmd_rparam_reset(gs_command_context_t *ctx)
+{
+    gs_rparam_query_reset(&rquery);
+    return GS_OK;
+}
+
+static int cmd_rparam_set_autosend(gs_command_context_t *ctx)
+{
+    if (ctx->argc > 1) {
+        if (gs_string_to_bool(ctx->argv[1], &rquery.auto_send)) {
+            return GS_ERROR_ARG;
+        }
+    }
+    fprintf(ctx->out, "auto send: %d\r\n", rquery.auto_send);
+    return GS_OK;
+}
+
+static int cmd_set_wd(gs_command_context_t *ctx)
+{
+    if (ctx->argc > 1) {
+        if (rparam_wd == NULL) {
+            rparam_wd = malloc(MAX_FILENAME + 1);
+            if (rparam_wd == NULL) {
+                return GS_ERROR_ALLOC;
+            }
+        }
+        strcpy(rparam_wd, ctx->argv[1]);
+    }
+    fprintf(ctx->out, "working directory: %s\r\n", rparam_wd ? rparam_wd : "not set");
+    return GS_OK;
+}
+
+static int cmd_rparam_set_timeout(gs_command_context_t *ctx)
+{
+    if (ctx->argc > 1) {
+        if (gs_string_to_uint32(ctx->argv[1], &rquery.timeout_ms)) {
+            return GS_ERROR_ARG;
+        }
+    }
+    fprintf(ctx->out, "timeout: %"PRIu32" mS\r\n", rquery.timeout_ms);
+    return GS_OK;
+}
+
+static int cmd_rparam_set_checksum(gs_command_context_t *ctx)
+{
+    if (ctx->argc > 1) {
+        if (strcasecmp(ctx->argv[1], "magic") == 0) {
+            rquery.checksum = GS_RPARAM_MAGIC_CHECKSUM;
+        } else if (gs_string_to_uint16(ctx->argv[1], &rquery.checksum)) {
+            return GS_ERROR_ARG;
+        }
+    }
+    fprintf(ctx->out, "checksum: 0x%04x (magic: 0x%04x)\r\n", rquery.checksum, GS_RPARAM_MAGIC_CHECKSUM);
+    return GS_OK;
+}
+
+static const gs_command_t rparam_commands[] = {
+    {
+        .name = "init",
+        .help = "Set server and load table spec. from file",
+        .usage = "<server> [table-id]",
+        .handler = cmd_rparam_init_from_local_file,
+        .mandatory_args = 1,
+        .optional_args = 1,
+    },{
+        .name = "download",
+        .help = "Set server and download table spec.",
+        .usage = "<server> [table-id]",
+        .handler = cmd_rparam_init_from_remote_node,
+        .mandatory_args = 1,
+        .optional_args = 1,
+    },{
+        .name = "getall",
+        .help = "Download full table contents from server",
+        .handler = cmd_rparam_getall,
+        .mandatory_args = GS_COMMAND_NO_ARGS,
+    },{
+        .name = "list",
+        .help = "Lists the table specification",
+        .handler = cmd_rparam_list,
+        .mandatory_args = GS_COMMAND_NO_ARGS,
+    },{
+        .name = "get",
+        .help = "Add a 'get' to the current query transaction",
+        .usage = "<name>",
+        .handler = cmd_rparam_get,
+        .mandatory_args = 1,
+    },{
+        .name = "set",
+        .help = "Add a 'set' to the current query transaction",
+        .usage = "<parameter> <value> [value] ...",
+        .handler = cmd_rparam_set,
+        .mandatory_args = 2,
+        .optional_args = 100,
+    },{
+        .name = "copy",
+        .usage = "<from table-id> <to table-id>",
+        .help = "Copy table to table (version <= 3 only)",
+        .handler = cmd_rparam_copy,
+        .mandatory_args = 2,
+    },{
+        .name = "load",
+        .usage = "<file-id|store> <table-id>",
+        .help = "Load table",
+        .handler = cmd_rparam_load,
+        .mandatory_args = 2,
+    },{
+        .name = "save",
+        .usage = "<table-id> <file-id|store>",
+        .help = "Save table",
+        .handler = cmd_rparam_save,
+        .mandatory_args = 2,
+    /* },{ */
+    /*     .name = "print", */
+    /*     .help = "Print the current query", */
+    /*     .handler = cmd_rparam_print, */
+    /*     .mandatory_args = GS_COMMAND_NO_ARGS, */
+    },{
+        .name = "reset",
+        .help = "Reset the current query",
+        .handler = cmd_rparam_reset,
+        .mandatory_args = GS_COMMAND_NO_ARGS,
+    },{
+        .name = "send",
+        .help = "Send the current query",
+        .handler = cmd_rparam_send,
+        .mandatory_args = GS_COMMAND_NO_ARGS,
+    },{
+        .name = "wd",
+        .help = "Set working directory for init/download",
+        .usage = "[path]",
+        .handler = cmd_set_wd,
+        .optional_args = 1,
+    },{
+        .name = "timeout",
+        .help = "Set timeout",
+        .usage = "[timeout mS]",
+        .handler = cmd_rparam_set_timeout,
+        .optional_args = 1,
+    },{
+        .name = "checksum",
+        .help = "Set checksum",
+        .usage = "[magic|<checksum>]",
+        .handler = cmd_rparam_set_checksum,
+        .optional_args = 1,
+    },{
+        .name = "autosend",
+        .usage = "[bool]",
+        .help = "Enable/disable autosend for set and get queries",
+        .handler = cmd_rparam_set_autosend,
+        .optional_args = 1,
+    }
+};
+
+static const gs_command_t GS_COMMAND_ROOT rparam_root_command[] = {
+    {
+        .name = "rparam",
+        .help = "Remote access to Parameter System",
+        .chain = GS_COMMAND_INIT_CHAIN(rparam_commands),
+    },
+};
+
+gs_error_t gs_rparam_register_commands(void)
+{
+    return GS_COMMAND_REGISTER(rparam_root_command);
+}

gomspace/libparam_client/src/rparam/deprecated_rparam.c

@@ -0,0 +1,6 @@
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#include <deprecated/param/rparam_client.h>
+
+// Old deprecated API uses common data - making it not thread-safe.
+//gs_rparam_handle_t rparam_handle;

gomspace/libparam_client/src/rparam/query.c

@@ -0,0 +1,212 @@
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#define GS_PARAM_INTERNAL_USE 1
+
+#include "query.h"
+#include <gs/param/internal/rparam.h>
+#include <gs/param/internal/types.h>
+#include <gs/param/internal/table.h>
+#include "../serialize_local.h"
+#include <gs/csp/csp.h>
+#include <csp/csp_endian.h>
+
+bool gs_rparam_query_is_set(gs_rparam_query_handle_t * handle)
+{
+    return (handle->length > 0);
+}
+
+void gs_rparam_query_reset(gs_rparam_query_handle_t * handle)
+{
+    handle->action = RPARAM_GET;
+    handle->length = 0;
+    handle->get_size = 0;
+}
+
+void gs_rparam_query_set_quiet(gs_rparam_query_handle_t * handle, bool quiet)
+{
+    handle->quiet = quiet;
+}
+
+gs_error_t gs_rparam_query_get(gs_rparam_query_handle_t * handle, gs_param_table_instance_t * tinst, const char* param_name)
+{
+    if (tinst->rows == NULL)
+        return GS_ERROR_NOT_FOUND;
+
+    /* Ensure correct header */
+    if (handle->action != RPARAM_GET) {
+        gs_rparam_query_reset(handle);
+        handle->action = RPARAM_GET;
+    }
+
+    char shortname[GS_PARAM_MAX_NAME + 20];
+    uint8_t array_index = 0;
+    bool is_array;
+    if (gs_param_parse_name_and_array_index(param_name, shortname, sizeof(shortname), &array_index, &is_array)) {
+        return GS_ERROR_ARG;
+    }
+
+    const gs_param_table_row_t * param = gs_param_row_by_name(shortname, tinst->rows, tinst->row_count);
+    if (param == NULL) {
+        return GS_ERROR_NOT_FOUND;
+    }
+
+    if (array_index >= GS_PARAM_ARRAY_SIZE(param)) {
+        return GS_ERROR_RANGE;
+    }
+
+    unsigned int start;
+    unsigned int end;
+    if (is_array) {
+        start = array_index;
+        end = start + 1;
+    } else {
+        start = 0;
+        end = GS_PARAM_ARRAY_SIZE(param);
+    }
+    for (unsigned int i = start; i < end; ++i) {
+
+        /* Size check */
+        if (handle->get_size + param->size + sizeof(uint16_t) > GS_RPARAM_QUERY_MAX_PAYLOAD) {
+            return GS_ERROR_OVERFLOW;
+        }
+
+        /* Add to query */
+        handle->payload.addr[handle->length/2] = param->addr + (param->size * i);
+        handle->length += sizeof(uint16_t);
+        handle->get_size += param->size + sizeof(uint16_t);
+    }
+
+    return GS_OK;
+}
+
+gs_error_t gs_rparam_query_set(gs_rparam_query_handle_t * handle, gs_param_table_instance_t * tinst, const char* param_name, char * values[], uint8_t value_count)
+{
+    /* Ensure correct header */
+    if (handle->action != RPARAM_SET) {
+        gs_rparam_query_reset(handle);
+        handle->action = RPARAM_SET;
+    }
+
+    char shortname[GS_PARAM_MAX_NAME + 20];
+    uint8_t array_index = 0;
+    if (gs_param_parse_name_and_array_index(param_name, shortname, sizeof(shortname), &array_index, NULL)) {
+        return GS_ERROR_ARG;
+    }
+
+    const gs_param_table_row_t * param = gs_param_row_by_name(shortname, tinst->rows, tinst->row_count);
+    if (param == NULL) {
+        return GS_ERROR_NOT_FOUND;
+    }
+
+    if (array_index >= GS_PARAM_ARRAY_SIZE(param)) {
+        return GS_ERROR_RANGE;
+    }
+
+    for (unsigned int i = 0; i < value_count; i++) {
+
+        /* Parse input */
+        uint8_t value[param->size];
+        gs_error_t error = gs_param_from_string(param, values[i], value);
+        if (error) {
+            return error;
+        }
+
+        unsigned int bytes = 0;
+        error = gs_param_serialize_item(param, param->addr + (param->size * (array_index + i)), value, F_TO_BIG_ENDIAN,
+                                        &handle->payload.packed[handle->length], GS_RPARAM_QUERY_MAX_PAYLOAD - handle->length, &bytes);
+        if (error) {
+            return error;
+        }
+        handle->length += bytes;
+    }
+
+    return GS_OK;
+}
+
+gs_error_t gs_rparam_query_send(gs_rparam_query_handle_t * handle, gs_param_table_instance_t * tinst)
+{
+    if (tinst->rows == NULL) {
+        return GS_ERROR_NOT_FOUND;
+    }
+
+    if (handle->length == 0) {
+        return GS_ERROR_NO_DATA;
+    }
+
+    gs_rparam_query_t * query;
+
+    /* Allocate outgoing buffer */
+    csp_packet_t * packet = csp_buffer_get(RPARAM_QUERY_LENGTH(query, GS_RPARAM_QUERY_MAX_PAYLOAD));
+    if (packet == NULL) {
+        return GS_ERROR_NO_BUFFERS;
+    }
+
+    csp_conn_t * conn = csp_connect(CSP_PRIO_HIGH, handle->node, GS_CSP_PORT_RPARAM, handle->timeout_ms, CSP_O_CRC32);
+    if (conn == NULL) {
+        csp_buffer_free(packet);
+        return GS_ERROR_IO;
+    }
+
+    query = (gs_rparam_query_t *) packet->data;
+
+    query->action = handle->action;
+    query->table_id = handle->table_id;
+    query->seq = 0;
+    query->total = 0;
+    query->length = csp_hton16(handle->length);
+    query->checksum = csp_hton16(handle->checksum);
+
+    /* Copy payload to message */
+    packet->length = RPARAM_QUERY_LENGTH(query, handle->length);
+    memcpy(&query->payload, &handle->payload, handle->length);
+
+    /* Deal with endianness */
+    if (handle->action == RPARAM_GET) {
+        for (unsigned int i = 0; i < (handle->length/2); i++) {
+            query->payload.addr[i] = csp_hton16(query->payload.addr[i]);
+        }
+    }
+
+    /* Send packet */
+    if (!csp_send(conn, packet, 0)) {
+        csp_buffer_free(packet);
+        csp_close(conn);
+        return GS_ERROR_IO;
+    }
+
+    /* Read reply */
+    packet = csp_read(conn, handle->timeout_ms);
+    if (packet == NULL) {
+        csp_close(conn);
+        return GS_ERROR_TIMEOUT;
+    }
+
+    if (packet->length <= 1) {
+        gs_error_t error = GS_OK;
+        if (packet->length == 1) {
+            if (packet->data[0] == RPARAM_ERROR) {
+                error = GS_ERROR_DATA;
+            }
+        } else {
+            error = GS_ERROR_NO_DATA;
+        }
+        csp_buffer_free(packet);
+        csp_close(conn);
+        return error;
+    }
+
+    /* We have a reply */
+    gs_rparam_query_t * reply = (gs_rparam_query_t *) packet->data;
+    reply->length = csp_ntoh16(reply->length);
+
+    gs_error_t error;
+    if (reply->action == RPARAM_REPLY) {
+        error = gs_param_deserialize(tinst, reply->payload.packed, reply->length, F_FROM_BIG_ENDIAN);
+    } else {
+        error = GS_ERROR_TYPE;
+    }
+
+    csp_buffer_free(packet);
+    csp_close(conn);
+    return error;
+}

gomspace/libparam_client/src/rparam/query.h

@@ -0,0 +1,110 @@
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+
+#include <gs/param/internal/rparam.h>
+
+/**
+   Rparam query handle.
+*/
+typedef struct {
+    /**
+       CSP node.
+    */
+    uint8_t node;
+    /**
+       Remote table id.
+    */
+    gs_param_table_id_t table_id;
+    /**
+       Remote table (definition) checksum.
+    */
+    uint16_t checksum;
+    /**
+       Timeout (mS).
+    */
+    uint32_t timeout_ms;
+    /**
+       If quite - no output to stdout.
+    */
+    bool quiet;
+    /**
+       Auto send.
+    */
+    bool auto_send;
+    /**
+       Type/action.
+    */
+    int action;
+    /**
+       Size of current query.
+    */
+    unsigned int length;
+    /**
+       Estimated total 'get' size.
+    */
+    unsigned int get_size;
+    /**
+       Space for payload data.
+       @note must be last in struct.
+    */
+    union {
+        uint16_t addr[0];
+        uint8_t packed[GS_RPARAM_QUERY_MAX_PAYLOAD];
+    } payload;
+} gs_rparam_query_handle_t;
+
+/**
+   Set whether rparam API should print to stdout or not.
+
+   @param[in] handle handle
+   @param[in] quiet \a true print to stdout.
+*/
+void gs_rparam_query_set_quiet(gs_rparam_query_handle_t * handle, bool quiet);
+
+/**
+   Return true if any query has been set.
+
+   @param[in] handle handle
+   @return \a true if any query has been set.
+*/
+bool gs_rparam_query_is_set(gs_rparam_query_handle_t * handle);
+
+/**
+   Add a 'get' query to the current query, after a succesfull rparam_query_send()
+   the parameter value can be read using rparam_queury_get_value()
+
+   @param[in] handle handle
+   @param[in] tinst table.
+   @param[in] param_name name of the parameter.
+   @return_gs_error_t
+   @see rparam_query_send()
+*/
+gs_error_t gs_rparam_query_get(gs_rparam_query_handle_t * handle, gs_param_table_instance_t * tinst, const char* param_name);
+
+/**
+   Add a 'set' query to the current query. Use rparam_query_send() to execute the set query.
+
+   @param[in] handle handle
+   @param[in] tinst table.
+   @param[in] param_name name of the parameter to set
+   @param[in] values array of values to set, multiple values can be set for array type parameters
+   @param[in] value_count number of elements in \a values
+   @return_gs_error_t
+   @see rparam_query_send()
+*/
+gs_error_t gs_rparam_query_set(gs_rparam_query_handle_t * handle, gs_param_table_instance_t * tinst, const char* param_name, char * values[], uint8_t value_count);
+
+/**
+   Send the current query
+
+   @param[in] handle handle
+   @param[in] tinst table.
+   @return_gs_error_t
+*/
+gs_error_t gs_rparam_query_send(gs_rparam_query_handle_t * handle, gs_param_table_instance_t * tinst);
+
+/**
+   Reset/clear the current query
+   @param[in] handle handle
+*/
+void gs_rparam_query_reset(gs_rparam_query_handle_t * handle);

gomspace/libparam_client/src/rparam/rparam.c

@@ -0,0 +1,474 @@
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#define GS_PARAM_INTERNAL_USE 1
+
+#include <gs/param/internal/rparam.h>
+#include <gs/param/internal/types.h>
+#include <gs/param/internal/table.h>
+#include "../serialize_local.h"
+#include <stdio.h>
+#include <alloca.h>
+#include <stdlib.h>
+#include <sys/stat.h>
+#include <gs/csp/csp.h>
+#include <csp/csp_endian.h>
+#include <gs/util/log.h>
+#include <gs/util/fletcher.h>
+#include <gs/util/check.h>
+
+static gs_error_t gs_rparam_command(uint8_t node, uint32_t timeout_ms, uint8_t action, uint8_t table_id,
+                                    const void * payload, size_t payload_size, char reply_ok)
+{
+    gs_rparam_query_t * query = alloca(RPARAM_QUERY_LENGTH(query, payload_size));
+    query->action = action;
+    query->table_id = table_id;
+    query->length = csp_hton16(payload_size);
+    query->checksum = csp_hton16(GS_RPARAM_MAGIC_CHECKSUM); // Ignore checksum
+    query->seq = 0;
+    query->total = 0;
+    memcpy(&query->payload, payload, payload_size);
+
+    /* Run single packet transaction */
+    char reply = 0;
+    if (csp_transaction2(CSP_PRIO_HIGH, node, GS_CSP_PORT_RPARAM, timeout_ms, query, RPARAM_QUERY_LENGTH(query, payload_size),
+                         &reply, 1, CSP_O_CRC32) <= 0) {
+        return GS_ERROR_IO;
+    }
+
+    return (reply == reply_ok) ? GS_OK : GS_ERROR_UNKNOWN;
+}
+
+gs_error_t gs_rparam_copy(uint8_t node, uint32_t timeout_ms, uint8_t from, uint8_t to)
+{
+    gs_rparam_query_payload_t payload;
+    payload.copy.from = from;
+    payload.copy.to = to;
+    return gs_rparam_command(node, timeout_ms, RPARAM_COPY, from, &payload, sizeof(payload.copy), RPARAM_COPY_OK);
+}
+
+static gs_error_t gs_rparam_store(uint8_t node, uint32_t timeout_ms, uint8_t action, char reply_ok, uint8_t table_id,
+                                  const char * table, const char * store, const char * slot)
+{
+    gs_rparam_query_payload_store_t payload;
+    memset(&payload, 0, sizeof(payload));
+    if (table && (gs_string_empty(table) == false)) {
+        GS_STRNCPY(payload.table, table);
+    }
+    if (store && (gs_string_empty(store) == false)) {
+        GS_STRNCPY(payload.store, store);
+    }
+    if (slot && (gs_string_empty(slot) == false)) {
+        GS_STRNCPY(payload.slot, slot);
+    }
+    return gs_rparam_command(node, timeout_ms, action, table_id, &payload, sizeof(payload), reply_ok);
+}
+
+gs_error_t gs_rparam_save_to_store(uint8_t node, uint32_t timeout_ms, uint8_t table_id,
+                                   const char * store, const char * slot)
+{
+    return gs_rparam_store(node, timeout_ms, RPARAM_SAVE_TO_STORE, RPARAM_SAVE_OK, table_id, NULL, store, slot);
+}
+
+gs_error_t gs_rparam_load_from_store(uint8_t node, uint32_t timeout_ms, uint8_t table_id,
+                                     const char * store, const char * slot)
+{
+    return gs_rparam_store(node, timeout_ms, RPARAM_LOAD_FROM_STORE, RPARAM_LOAD_OK, table_id, NULL, store, slot);
+}
+
+gs_error_t gs_rparam_save(uint8_t node, uint32_t timeout_ms, uint8_t from, uint8_t to)
+{
+    gs_rparam_query_payload_t payload;
+    payload.copy.from = from;
+    payload.copy.to = to;
+    return gs_rparam_command(node, timeout_ms, RPARAM_SAVE, from, &payload, sizeof(payload.copy), RPARAM_SAVE_OK);
+}
+
+gs_error_t gs_rparam_load(uint8_t node, uint32_t timeout_ms, uint8_t from, uint8_t to)
+{
+    gs_rparam_query_payload_t payload;
+    payload.copy.from = from;
+    payload.copy.to = to;
+    return gs_rparam_command(node, timeout_ms, RPARAM_LOAD, to, &payload, sizeof(payload.copy), RPARAM_LOAD_OK);
+}
+
+static gs_error_t update_table(const char * func,
+                               gs_param_table_instance_t * tinst,
+                               gs_param_table_row_t * rows, unsigned int row_count,
+                               uint16_t checksum)
+{
+    size_t memory_size = gs_param_calc_table_size(rows, row_count);
+    if ((tinst->memory == NULL) || (tinst->memory_size < memory_size)) {
+        // (re)allocate memory
+        if (memory_size == 0) {
+            return GS_ERROR_NOT_SUPPORTED;
+        }
+        memory_size = gs_max(1000U, memory_size);
+        void * memory = calloc(1, memory_size);
+        if (memory == NULL) {
+            return GS_ERROR_ALLOC;
+        }
+
+        free(tinst->memory);
+        tinst->memory = memory;
+        tinst->memory_size = memory_size;
+        tinst->flags |= GS_PARAM_TABLE_F_ALLOC_MEMORY;
+    }
+
+    free((void*)tinst->rows);
+    tinst->rows = rows;
+    tinst->row_count = row_count;
+    tinst->checksum_be = tinst->checksum_le = 0;
+    tinst->flags |= GS_PARAM_TABLE_F_ALLOC_ROWS;
+
+    if ((checksum != gs_param_table_checksum_le(tinst)) && (checksum != gs_param_table_checksum_be(tinst))) {
+        log_error("%s: table specification has invalid checksum: %u - different from LE: %u and BE: %u",
+                  func, checksum, gs_param_table_checksum_le(tinst), gs_param_table_checksum_be(tinst));
+        return GS_ERROR_DATA;
+    }
+
+    return GS_OK;
+}
+
+gs_error_t gs_rparam_load_table_spec(gs_param_table_instance_t * tinst, const char* fname, uint16_t * return_checksum)
+{
+    GS_CHECK_HANDLE(tinst != NULL);
+    GS_CHECK_ARG(fname != NULL);
+
+    FILE * fd = fopen(fname, "r");
+    if (fd == NULL) {
+        return GS_ERROR_NOT_FOUND;
+    }
+
+    struct stat file_stat;
+    if (fstat(fileno(fd), &file_stat) != 0) {
+        log_error("%s: failed to stat file [%s]", __FUNCTION__, fname);
+        fclose(fd);
+        return GS_ERROR_IO;
+    }
+
+    void * rows = calloc(file_stat.st_size, 1);
+    if (rows == NULL) {
+        fclose(fd);
+        return GS_ERROR_ALLOC;
+    }
+
+    uint16_t checksum = 0;
+    size_t rs1 = fread(&checksum, 1, sizeof(checksum), fd);
+    size_t rs2 = fread(rows, 1, file_stat.st_size, fd);
+    fclose(fd);
+
+    const unsigned int single_row_size = sizeof(*tinst->rows);
+    const unsigned int all_row_size = (file_stat.st_size - sizeof(checksum));
+    const unsigned int row_count = (all_row_size) / single_row_size;
+    if ((rs1 != sizeof(checksum)) || (rs2 != all_row_size) || (rs2 != (single_row_size * row_count))) {
+        log_error("%s: incomplete/invalid read, expected %u + %u - read %u + %u, single row size: %u", __FUNCTION__,
+                  (unsigned int) sizeof(checksum), row_count,
+                  (unsigned int) rs1, (unsigned int) rs2, single_row_size);
+        free(rows);
+        return GS_ERROR_IO;
+    }
+
+    gs_error_t error = update_table(__FUNCTION__, tinst, rows, row_count, checksum);
+
+    if (error == GS_OK) {
+        if (return_checksum) {
+            *return_checksum = checksum;
+        }
+    }
+
+    return error;
+}
+
+gs_error_t gs_rparam_download_table_spec(gs_param_table_instance_t * tinst,
+                                         const char * fname,
+                                         uint8_t node,
+                                         gs_param_table_id_t table_id,
+                                         uint32_t timeout_ms,
+                                         uint16_t * return_checksum)
+{
+    csp_conn_t * conn = csp_connect(CSP_PRIO_HIGH, node, GS_CSP_PORT_RPARAM, timeout_ms, CSP_O_CRC32);
+    if (conn == NULL) {
+        return GS_ERROR_IO;
+    }
+
+    /* Allocate outgoing buffer */
+    gs_rparam_query_t * query;
+    csp_packet_t * packet = csp_buffer_get(RPARAM_QUERY_LENGTH(query, 0));
+    if (packet == NULL) {
+        csp_close(conn);
+        return GS_ERROR_NO_BUFFERS;
+    }
+
+    // setup request
+    query = (gs_rparam_query_t *) packet->data;
+    query->action = RPARAM_TABLE;
+    query->table_id = table_id;
+    query->length = 0;
+    query->checksum = csp_hton16(GS_RPARAM_MAGIC_CHECKSUM); // Ignore checksum
+    query->seq = 0;
+    query->total = 0;
+
+    packet->length = RPARAM_QUERY_LENGTH(query, 0);
+    if (!csp_send(conn, packet, 0)) {
+        csp_buffer_free(packet);
+        csp_close(conn);
+        return GS_ERROR_IO;
+    }
+
+    /* Receive remote parameter table, in host byte order
+     * Note: This is necessary, because the SFP functions does not know the dataformat
+     * and hence cannot be converted server-side. */
+    void * dataout = NULL;
+    int totalsize = 0;
+    int result = csp_sfp_recv(conn, &dataout, &totalsize, timeout_ms);
+    csp_close(conn);
+
+    if (result < 0) {
+        free(dataout);
+        return GS_ERROR_IO;
+    }
+
+    gs_param_table_row_t * rows = dataout;
+    const uint8_t row_count = totalsize / sizeof(*rows);
+
+    /* Calculate checksum on table (before converting endians!) */
+    const uint16_t checksum = gs_fletcher16(rows, totalsize);
+
+    /* Autodetect Endians */
+    int sum_first = 0;
+    int sum_last = 0;
+    for (unsigned int i = 0; i < row_count; i++) {
+        sum_first += (rows[i].addr & 0xFF00) >> 8;
+        sum_last += rows[i].addr & 0xFF;
+    }
+
+    /* Correct endians */
+    if (sum_first > sum_last) {
+        for (unsigned int i = 0; i < row_count; i++) {
+            rows[i].addr = (((rows[i].addr & 0xff00) >> 8) | ((rows[i].addr & 0x00ff) << 8));
+        }
+    }
+
+    gs_error_t error = update_table(__FUNCTION__, tinst, rows, row_count, checksum);
+    if (error == GS_OK) {
+
+        if (return_checksum) {
+            *return_checksum = checksum;
+        }
+
+        // If filename provided, store table specification to file.
+        if (gs_string_empty(fname) == false) {
+            FILE * fd = fopen(fname, "w");
+            if (fd == NULL) {
+                log_error("%s: failed to open/create file: [%s]", __FUNCTION__, fname);
+                return GS_ERROR_IO;
+            }
+            const size_t ws1_size = sizeof(checksum);
+            const size_t ws1 = fwrite(&checksum, 1, ws1_size, fd);
+            const size_t ws2 = fwrite(rows, 1, totalsize, fd);
+            fclose(fd);
+            if ((ws1 != ws1_size) || (ws2 != (size_t) totalsize)) {
+                log_error("%s: failed to write %u + %d - wrote %u + %u", __FUNCTION__,
+                          (unsigned int) sizeof(checksum), totalsize, (unsigned int) ws1, (unsigned int) ws2);
+                return GS_ERROR_IO;
+            }
+        }
+    }
+
+    return error;
+}
+
+gs_error_t gs_rparam_get_full_table(gs_param_table_instance_t * tinst,
+                                    uint8_t node,
+                                    gs_param_table_id_t table_id,
+                                    uint16_t checksum,
+                                    uint32_t timeout_ms)
+{
+    GS_CHECK_HANDLE(tinst != NULL);
+    GS_CHECK_HANDLE(tinst->rows != NULL);
+    GS_CHECK_HANDLE(tinst->memory != NULL);
+
+    unsigned int expected_bytes = 0;
+    {
+        unsigned int param_pos = 0;
+        gs_error_t error = gs_param_serialize_full_table(tinst, &param_pos, GS_PARAM_SF_DRY_RUN, NULL, 10000, &expected_bytes);
+        if (error) {
+            return error;
+        }
+    }
+
+    gs_rparam_query_t * query;
+    csp_packet_t * request = csp_buffer_get(RPARAM_QUERY_LENGTH(query, 0));
+    if (request == NULL) {
+        return GS_ERROR_NO_BUFFERS;
+    }
+
+    csp_conn_t * conn = csp_connect(CSP_PRIO_HIGH, node, GS_CSP_PORT_RPARAM, timeout_ms, CSP_O_CRC32);
+    if (!conn) {
+        csp_buffer_free(request);
+        return GS_ERROR_IO;
+    }
+
+    query = (gs_rparam_query_t *) request->data;
+    query->action = RPARAM_GET;
+    query->table_id = table_id;
+    query->length = 0; // == get full table
+    query->checksum = csp_hton16(checksum);
+    query->seq = 0;
+    query->total = 0;
+
+    request->length = RPARAM_QUERY_LENGTH(query, 0);
+    if (!csp_send(conn, request, timeout_ms)) {
+        csp_buffer_free(request);
+        csp_close(conn);
+        return GS_ERROR_IO;
+    }
+
+    csp_packet_t * reply;
+    gs_error_t error = GS_OK;
+    unsigned int total_bytes = 0;
+    while ((reply = csp_read(conn, timeout_ms)) != NULL) {
+
+        /* We have a reply */
+        query = (void *) reply->data;
+        const uint16_t qlength = csp_ntoh16(query->length);
+        total_bytes += qlength;
+        const uint16_t seq = csp_ntoh16(query->seq);
+        const uint16_t total = csp_ntoh16(query->total);
+
+        if (query->action == RPARAM_REPLY) {
+            error = gs_param_deserialize(tinst, query->payload.packed, qlength, F_FROM_BIG_ENDIAN);
+        }
+        csp_buffer_free(reply);
+
+        if (error || (seq >= total)) {
+            break;
+        }
+    }
+
+    if (reply == NULL) {
+        error = GS_ERROR_TIMEOUT;
+    }
+
+    if ((error == GS_OK) && (expected_bytes != total_bytes)) {
+        log_warning("%s: expected %u != received %u bytes", __FUNCTION__, expected_bytes, total_bytes);
+        error = GS_ERROR_DATA;
+    }
+
+    csp_close(conn);
+
+    return error;
+}
+
+gs_error_t gs_rparam_get(uint8_t node,
+                         gs_param_table_id_t table_id,
+                         uint16_t addr,
+                         gs_param_type_t type,
+                         uint16_t checksum,
+                         uint32_t timeout_ms,
+                         void * value,
+                         size_t value_size)
+{
+    /* Calculate length */
+    gs_rparam_query_t * query;
+    const size_t query_size = RPARAM_QUERY_LENGTH(query, sizeof(query->payload.addr[0]));
+    const size_t reply_payload_size = (value_size + sizeof(query->payload.addr[0]));
+    const size_t reply_size = RPARAM_QUERY_LENGTH(query, reply_payload_size);
+
+    query = alloca(reply_size);
+    query->action = RPARAM_GET;
+    query->table_id = table_id;
+    query->checksum = csp_hton16(checksum);
+    query->seq = 0;
+    query->total = 0;
+    query->payload.addr[0] = csp_hton16(addr);
+    query->length = csp_hton16(sizeof(query->payload.addr[0]));
+
+    /* Run single packet transaction */
+    if (csp_transaction2(CSP_PRIO_HIGH, node, GS_CSP_PORT_RPARAM, timeout_ms, query, query_size, query, reply_size, CSP_O_CRC32) <= 0) {
+        return GS_ERROR_IO;
+    }
+
+    /* We have a reply */
+    query->length = csp_ntoh16(query->length);
+
+    if (query->length != reply_payload_size) {
+        log_warning("%s: Invalid reply size %u - expected %u", __FUNCTION__, query->length, (unsigned int) reply_payload_size);
+        return GS_ERROR_DATA;
+    }
+
+    /* Read address */
+    query->payload.addr[0] = csp_betoh16(query->payload.addr[0]);
+    if (query->payload.addr[0] != addr) {
+        log_warning("%s: Invalid address in reply %u", __FUNCTION__, query->payload.addr[0]);
+        return GS_ERROR_DATA;
+    }
+
+    /* Read value */
+    memcpy(value, &query->payload.packed[2], value_size);
+    gs_param_betoh(type, value);
+
+    return GS_OK;
+}
+
+gs_error_t gs_rparam_set(uint8_t node,
+                         gs_param_table_id_t table_id,
+                         uint16_t addr,
+                         gs_param_type_t type,
+                         uint16_t checksum,
+                         uint32_t timeout_ms,
+                         const void * value,
+                         size_t value_size)
+{
+    /* Calculate length */
+    gs_rparam_query_t * query;
+    const size_t payload_size = (value_size + sizeof(query->payload.addr[0]));
+    const size_t query_size = RPARAM_QUERY_LENGTH(query, payload_size);
+
+    query = alloca(query_size);
+    query->action = RPARAM_SET;
+    query->table_id = table_id;
+    query->seq = 0;
+    query->total = 0;
+    query->checksum = csp_hton16(checksum);
+
+    /* Actual set query */
+    unsigned int bytes = 0;
+    gs_error_t error = gs_param_serialize_item_direct(type, value_size, addr, value, F_TO_BIG_ENDIAN, query->payload.packed, payload_size, &bytes);
+    if (error) {
+        return error;
+    }
+
+    /* Add to query */
+    query->length = csp_hton16(bytes);
+
+    /* Run single packet transaction */
+    if (csp_transaction2(CSP_PRIO_HIGH, node, GS_CSP_PORT_RPARAM, timeout_ms, query, query_size, query, 1, CSP_O_CRC32) <= 0) {
+        return GS_ERROR_IO;
+    }
+
+    /* We have a reply */
+    query->length = csp_ntoh16(query->length);
+
+    if ((query->action != RPARAM_SET_OK) || (query->length != bytes)) {
+        log_warning("%s: Invalid reply: size %u - expected %u, action %u - expected %u",
+                    __FUNCTION__, query->length, bytes, query->action, RPARAM_SET_OK);
+        return GS_ERROR_DATA;
+    }
+
+    return GS_OK;
+}
+
+gs_error_t gs_rparam_query_get_value(gs_param_table_instance_t * tinst, const char* param_name, uint16_t param_no, void* val_p, size_t val_size)
+{
+    const gs_param_table_row_t * t = gs_param_row_by_name(param_name, tinst->rows, tinst->row_count);
+    if (t == NULL) {
+        return GS_ERROR_NOT_FOUND;
+    }
+
+    if (val_size < t->size) {
+        return GS_ERROR_OVERFLOW;
+    }
+
+    return gs_param_get(tinst, t->addr + (param_no * t->size), t->type, val_p, t->size, 0);
+}

gomspace/libparam_client/src/serialize.c

@@ -0,0 +1,353 @@
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#define GS_PARAM_INTERNAL_USE 1
+
+#include "serialize_local.h"
+#include <gs/param/table.h>
+#include <gs/param/internal/types.h>
+#include <gs/util/byteorder.h>
+#include <gs/util/endian.h>
+#include <alloca.h>
+#include <string.h>
+#include <stdio.h>
+
+#include <param/param_types.h> // need PARM_X??? definitions
+
+bool gs_param_betoh(gs_param_type_t type, void * item)
+{
+    if (item) {
+        switch (type) {
+            case GS_PARAM_UINT16:
+            case GS_PARAM_INT16:
+            case PARAM_X16:
+                {
+                    *(uint16_t *) item = util_betoh16(*(uint16_t *) item);
+                    return true;
+                }
+            case GS_PARAM_UINT32:
+            case GS_PARAM_INT32:
+            case PARAM_X32:
+                {
+                    *(uint32_t *) item = util_betoh32(*(uint32_t *) item);
+                    return true;
+                }
+            case GS_PARAM_UINT64:
+            case GS_PARAM_INT64:
+            case PARAM_X64:
+                {
+                    *(uint64_t *) item = util_betoh64(*(uint64_t *) item);
+                    return true;
+                }
+            case GS_PARAM_FLOAT:
+                {
+                    *(float *) item = util_ntohflt(*(float *) item);
+                    return true;
+                }
+            case GS_PARAM_DOUBLE:
+                {
+                    *(double *) item = util_ntohdbl(*(double *) item);
+                    return true;
+                }
+
+            case GS_PARAM_UINT8:
+            case GS_PARAM_INT8:
+            case PARAM_X8:
+            case GS_PARAM_STRING:
+            case GS_PARAM_DATA:
+            case GS_PARAM_BOOL:
+                // no swap
+                break;
+        }
+    }
+    return false;
+}
+
+bool gs_param_htobe(gs_param_type_t type, void * item)
+{
+    if (item) {
+        switch (type) {
+            case PARAM_UINT16:
+            case PARAM_INT16:
+            case PARAM_X16:
+                {
+                    *(uint16_t *) item = util_htobe16(*(uint16_t *) item);
+                    return true;
+                }
+            case PARAM_UINT32:
+            case PARAM_INT32:
+            case PARAM_X32:
+                {
+                    *(uint32_t *) item = util_htobe32(*(uint32_t *) item);
+                    return true;
+                }
+            case PARAM_UINT64:
+            case PARAM_INT64:
+            case PARAM_X64:
+                {
+                    *(uint64_t *) item = util_htobe64(*(uint64_t *) item);
+                    return true;
+                }
+            case PARAM_FLOAT:
+                {
+                    *(float *) item = util_htonflt(*(float *) item);
+                    return true;
+                }
+            case PARAM_DOUBLE:
+                {
+                    *(double *) item = util_htondbl(*(double *) item);
+                    return true;
+                }
+
+            case PARAM_UINT8:
+            case PARAM_INT8:
+            case PARAM_X8:
+            case PARAM_STRING:
+            case PARAM_DATA:
+            case PARAM_BOOL:
+                // no swap
+                break;
+        }
+    }
+    return false;
+}
+
+static bool gs_param_require_endian_swap(gs_param_type_t type)
+{
+    switch (type) {
+        case PARAM_UINT16:
+        case PARAM_INT16:
+        case PARAM_X16:
+        case PARAM_UINT32:
+        case PARAM_INT32:
+        case PARAM_X32:
+        case PARAM_UINT64:
+        case PARAM_INT64:
+        case PARAM_X64:
+        case PARAM_FLOAT:
+        case PARAM_DOUBLE:
+            // swap
+            break;
+
+        case PARAM_UINT8:
+        case PARAM_INT8:
+        case PARAM_X8:
+        case PARAM_STRING:
+        case PARAM_DATA:
+        case PARAM_BOOL:
+            // no swap
+            return false;
+
+        default:
+            break;
+    }
+    return true;
+}
+
+static gs_error_t gs_param_serialize_array(gs_param_table_instance_t * tinst, const gs_param_table_row_t * param, uint32_t flags, uint8_t * buf, unsigned int buf_size, unsigned int * buf_pos)
+{
+    const unsigned int param_size = GS_PARAM_SIZE(param);
+    const unsigned int param_array_size = GS_PARAM_ARRAY_SIZE(param);
+    const gs_param_type_t param_type = GS_PARAM_TYPE(param);
+
+    /* Calculate total parameter size (full array) */
+    {
+        unsigned int size = param_size * param_array_size;
+        if ((flags & F_PACKED) == 0) {
+            size += param_array_size * sizeof(uint16_t); // address
+        }
+
+        /* Return if parameter array would exceed maxbuf */
+        if (*buf_pos + size > buf_size) {
+            return GS_ERROR_OVERFLOW;
+        }
+    }
+
+    uint8_t value[param_size];
+    gs_error_t error = GS_OK;
+    for (unsigned int j = 0; (j < param_array_size) && (error == GS_OK); j++) {
+        const uint16_t addr = GS_PARAM_ADDR(param) + (param_size * j);
+        error = gs_param_get(tinst, addr, param_type, value, param_size, 0);
+        if (error == GS_OK) {
+            error = gs_param_serialize_item(param, addr, value, flags, buf, buf_size, buf_pos);
+        }
+    }
+
+    return error;
+}
+
+gs_error_t gs_param_serialize_item_direct(gs_param_type_t param_type, unsigned int param_size, uint16_t addr, const void * item, uint32_t flags, uint8_t * buf, unsigned int buf_size, unsigned int * buf_pos)
+{
+    /* Check length */
+    if ((((flags & F_PACKED) ? 0 : sizeof(addr)) + param_size + *buf_pos) > buf_size) {
+        return GS_ERROR_OVERFLOW;
+    }
+
+    /* Include address if not packed */
+    if ((flags & F_PACKED) == 0) {
+
+        if (flags & F_TO_BIG_ENDIAN) {
+            addr = util_htobe16(addr);
+        }
+
+        if ((flags & F_DRY_RUN) == 0) {
+            memcpy(&buf[*buf_pos], &addr, sizeof(addr));
+        }
+
+        *buf_pos += sizeof(addr);
+    }
+
+    if ((flags & F_DRY_RUN) == 0) {
+        if (flags & F_TO_BIG_ENDIAN) {
+            void * tmp = alloca(param_size); // this must be aligned
+            memcpy(tmp, item, param_size);
+            gs_param_htobe(param_type, tmp);
+            item = tmp;
+        }
+        memcpy(&buf[*buf_pos], item, param_size);
+    }
+
+    *buf_pos += param_size;
+
+    return GS_OK;
+}
+
+gs_error_t gs_param_serialize_item(const gs_param_table_row_t * param, uint16_t addr, const void * item, uint32_t flags, uint8_t * buf, unsigned int buf_size, unsigned int * buf_pos)
+{
+    const gs_param_type_t param_type = GS_PARAM_TYPE(param);
+    const unsigned int param_size = GS_PARAM_SIZE(param);
+    return gs_param_serialize_item_direct(param_type, param_size, addr, item, flags, buf, buf_size, buf_pos);
+}
+
+gs_error_t gs_param_serialize_full_table(gs_param_table_instance_t * tinst, unsigned int * param_pos, uint32_t flags, uint8_t * buf, unsigned int buf_size, unsigned int * buf_pos)
+{
+    if (flags & GS_PARAM_SF_DRY_RUN) {
+        buf = NULL;
+        buf_size = -1; // Max size
+    }
+    gs_error_t error = GS_OK;
+    unsigned int i = *param_pos;
+    for (; i < tinst->row_count; i++) {
+        const gs_param_table_row_t * param = &tinst->rows[i];
+        error = gs_param_serialize_array(tinst, param, flags, buf, buf_size, buf_pos);
+        if (error) {
+            break;
+        }
+    }
+    *param_pos = i;
+    return error;
+}
+
+gs_error_t gs_param_serialize_list(gs_param_table_instance_t * tinst,
+                                   const uint16_t addr[], unsigned int addr_count,
+                                   unsigned int * param_pos, uint32_t flags,
+                                   uint8_t * buf, unsigned int buf_size, unsigned int * buf_pos)
+{
+    if (tinst == NULL) {
+        return GS_ERROR_HANDLE;
+    }
+
+    gs_error_t error = GS_OK;
+    unsigned int i = *param_pos;
+    for (; i < addr_count; ++i) {
+        const gs_param_table_row_t * param = gs_param_row_by_address(addr[i], tinst->rows, tinst->row_count);
+        if (param == NULL) {
+            continue;
+        }
+
+        const gs_param_type_t param_type = GS_PARAM_TYPE(param);
+        const unsigned int param_size = GS_PARAM_SIZE(param);
+        uint8_t value[param_size];
+        error = gs_param_get(tinst, addr[i], param_type, value, param_size, 0);
+        if (error) {
+            break;
+        }
+        error = gs_param_serialize_item(param, addr[i], value, flags, buf, buf_size, buf_pos);
+        if (error) {
+            break;
+        }
+    }
+    *param_pos = i;
+
+    return error;
+}
+
+gs_error_t gs_param_deserialize_item(gs_param_table_instance_t * tinst,
+                                     const gs_param_table_row_t * param,
+                                     uint16_t addr,
+                                     const void * item,
+                                     uint32_t flags)
+{
+    const gs_param_type_t param_type = GS_PARAM_TYPE(param);
+    const unsigned int param_size = GS_PARAM_SIZE(param);
+
+    if (flags & F_FROM_BIG_ENDIAN) {
+        if (gs_param_require_endian_swap(param_type)) {
+
+            // Copy to temporary storage, so we don't mess with input memory
+            void * tmp = alloca(param_size);
+            memcpy(tmp, item, param_size);
+
+            gs_param_betoh(param_type, tmp);
+
+            // Replace input pointer
+            item = tmp;
+        }
+    }
+
+    gs_error_t error = GS_OK;
+    if ((flags & F_DRY_RUN) == 0) {
+        error = gs_param_set(tinst, addr, param_type, item, param_size, GS_PARAM_FLAGS(param));
+    }
+
+    return error;
+}
+
+gs_error_t gs_param_deserialize(gs_param_table_instance_t * tinst, const uint8_t * buf, unsigned int buf_size, uint32_t flags)
+{
+    unsigned int pos = 0;
+    unsigned int count = 0;
+    gs_error_t error = GS_OK;
+    while ((pos < buf_size) && (error == GS_OK)) {
+
+        if (flags & F_PACKED) {
+            /** PACKED */
+
+            /* Find in table */
+            const gs_param_table_row_t * param = &tinst->rows[count];
+            const unsigned int param_array_size = GS_PARAM_ARRAY_SIZE(param);
+            const unsigned int param_size = GS_PARAM_SIZE(param);
+
+            /* For each item in array */
+            for (unsigned int j = 0; (j < param_array_size) && (error == GS_OK); j++) {
+                uint16_t addr = GS_PARAM_ADDR(param) + (param_size * j);
+                error = gs_param_deserialize_item(tinst, param, addr, &buf[pos], flags);
+                pos += param_size;
+            }
+
+        } else {
+            /** NOT PACKED */
+
+            /* Read address from data */
+            uint16_t addr;
+            memcpy(&addr, &buf[pos], sizeof(addr));
+            if (flags & F_FROM_BIG_ENDIAN) {
+                addr = util_betoh16(addr);
+            }
+            pos += sizeof(addr);
+
+            /* Find in table */
+            const gs_param_table_row_t * param = gs_param_row_by_address(addr, tinst->rows, tinst->row_count);
+            if (param == NULL) {
+                return GS_ERROR_NOT_FOUND;
+            }
+
+            /* Copy value */
+            error = gs_param_deserialize_item(tinst, param, addr, &buf[pos], flags);
+            pos += GS_PARAM_SIZE(param);
+        }
+
+        count++;
+    }
+
+    return error;
+}

gomspace/libparam_client/src/serialize_local.h

@@ -0,0 +1,9 @@
+#ifndef SRC_SERIALIZE_LOCAL_H
+#define SRC_SERIALIZE_LOCAL_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#include <gs/param/internal/serialize.h>
+
+gs_error_t gs_param_serialize_item_direct(gs_param_type_t param_type, unsigned int param_size, uint16_t addr, const void * item, uint32_t flags, uint8_t * buf, unsigned int buf_size, unsigned int * buf_pos);
+
+#endif

gomspace/libparam_client/src/string.c

@@ -0,0 +1,589 @@
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+
+#define GS_PARAM_INTERNAL_USE 1
+
+#include <gs/param/internal/types.h>
+#include <gs/param/internal/table.h>
+#include <gs/util/string.h>
+#include <gs/util/log.h>
+#include <gs/util/check.h>
+#include <gs/util/bytebuffer.h>
+#include <ctype.h>
+
+size_t gs_param_calc_table_size(const gs_param_table_row_t * rows, size_t row_count)
+{
+    if (rows && row_count) {
+        const gs_param_table_row_t * last_row = rows;
+        // table rows may not be in assending address- so we have to run through the entire table.
+        for (size_t i = 0; i < row_count; ++i, ++rows) {
+            if (GS_PARAM_ADDR(rows) > GS_PARAM_ADDR(last_row)) {
+                last_row = rows;
+            }
+        }
+        return (GS_PARAM_ADDR(last_row) + (GS_PARAM_SIZE(last_row) * GS_PARAM_ARRAY_SIZE(last_row)));
+    }
+    return 0;
+}
+
+const gs_param_table_row_t * gs_param_row_by_name(const char * name, const gs_param_table_row_t * rows, size_t row_count)
+{
+    if (rows) {
+        for (unsigned int i = 0; i < row_count; ++i, ++rows) {
+            if (GS_PGM_STRNCASECMP(name, rows->name, GS_PARAM_MAX_NAME) == 0) {
+                return rows;
+            }
+        }
+    }
+    return NULL;
+}
+
+const gs_param_table_row_t * gs_param_row_by_address(uint16_t addr, const gs_param_table_row_t * rows, size_t row_count)
+{
+    if (rows) {
+        for (unsigned int i = 0; i < row_count; ++i, ++rows) {
+            const unsigned int param_array_size = GS_PARAM_ARRAY_SIZE(rows);
+            const unsigned int param_size = GS_PARAM_SIZE(rows);
+            const unsigned int param_addr = GS_PARAM_ADDR(rows);
+            for (unsigned int j = 0; j < param_array_size; ++j) {
+                if ((param_addr + (j * param_size)) == addr) {
+                    return rows;
+                }
+            }
+        }
+    }
+    return NULL;
+}
+
+/**
+   memcpy is used, because data/value may not be aligned correctly and cause crash if accessed directly.
+*/
+gs_error_t gs_param_to_string_buffer(const gs_param_table_row_t * param, const void * value, bool with_type, uint32_t flags, gs_bytebuffer_t *bb)
+{
+    flags |= param->flags;
+    const uint8_t param_type = GS_PARAM_TYPE(param);
+    switch (param_type) {
+        case GS_PARAM_BOOL: {
+            if (with_type == 1) {
+                gs_bytebuffer_printf(bb, "BL  ");
+            }
+            gs_bytebuffer_printf(bb, "%s", *(uint8_t *) value ? "true" : "false");
+            break;
+        }
+        case GS_PARAM_INT8: {
+            if (with_type == 1) {
+                gs_bytebuffer_printf(bb, "I8  ");
+            }
+            gs_bytebuffer_printf(bb, "%d", *(int8_t *) value);
+            break;
+        }
+        case PARAM_X8:
+            flags |= GS_PARAM_F_SHOW_HEX;
+            // fallthrough
+        case GS_PARAM_UINT8: {
+            if (with_type == 1) {
+                gs_bytebuffer_printf(bb, "U8  ");
+            }
+            if (flags & GS_PARAM_F_SHOW_HEX) {
+                gs_bytebuffer_printf(bb, "0x%02"PRIx8, *(uint8_t *) value);
+            } else {
+                gs_bytebuffer_printf(bb, "%u", *(uint8_t *) value);
+            }
+            break;
+        }
+        case GS_PARAM_INT16: {
+            int16_t tmp;
+            memcpy(&tmp, value, sizeof(tmp));
+            if (with_type == 1) {
+                gs_bytebuffer_printf(bb, "I16 ");
+            }
+            gs_bytebuffer_printf(bb, "%"PRId16, tmp);
+            break;
+        }
+        case PARAM_X16:
+            flags |= GS_PARAM_F_SHOW_HEX;
+            // fallthrough
+        case GS_PARAM_UINT16: {
+            uint16_t tmp;
+            memcpy(&tmp, value, sizeof(tmp));
+            if (with_type == 1) {
+                gs_bytebuffer_printf(bb, "U16 ");
+            }
+            if (flags & GS_PARAM_F_SHOW_HEX) {
+                gs_bytebuffer_printf(bb, "0x%04"PRIx16, tmp);
+            } else {
+                gs_bytebuffer_printf(bb, "%"PRIu16, tmp);
+            }
+            break;
+        }
+        case GS_PARAM_INT32: {
+            int32_t tmp;
+            memcpy(&tmp, value, sizeof(tmp));
+            if (with_type == 1) {
+                gs_bytebuffer_printf(bb, "I32 ");
+            }
+            gs_bytebuffer_printf(bb, "%"PRId32, tmp);
+            break;
+        }
+        case PARAM_X32:
+            flags |= GS_PARAM_F_SHOW_HEX;
+            // fallthrough
+        case GS_PARAM_UINT32: {
+            uint32_t tmp;
+            memcpy(&tmp, value, sizeof(tmp));
+            if (with_type == 1) {
+                gs_bytebuffer_printf(bb, "U32 ");
+            }
+            if (flags & GS_PARAM_F_SHOW_HEX) {
+                gs_bytebuffer_printf(bb, "0x%08"PRIx32, tmp);
+            } else {
+                gs_bytebuffer_printf(bb, "%"PRIu32, tmp);
+            }
+            break;
+        }
+#ifdef PRIu64
+        case GS_PARAM_INT64: {
+            int64_t tmp;
+            memcpy(&tmp, value, sizeof(tmp));
+            if (with_type == 1) {
+                gs_bytebuffer_printf(bb, "I64 ");
+            }
+            gs_bytebuffer_printf(bb, "%"PRId64, tmp);
+            break;
+        }
+        case PARAM_X64:
+            flags |= GS_PARAM_F_SHOW_HEX;
+            // fallthrough
+        case GS_PARAM_UINT64: {
+            uint64_t tmp;
+            memcpy(&tmp, value, sizeof(tmp));
+            if (with_type == 1) {
+                gs_bytebuffer_printf(bb, "U64 ");
+            }
+            if (flags & GS_PARAM_F_SHOW_HEX) {
+                gs_bytebuffer_printf(bb, "0x%016"PRIx64, tmp);
+            } else {
+                gs_bytebuffer_printf(bb, "%"PRIu64, tmp);
+            }
+            break;
+        }
+#endif
+        case GS_PARAM_FLOAT: {
+            float tmp;
+            memcpy(&tmp, value, sizeof(tmp));
+            if (with_type == 1) {
+                gs_bytebuffer_printf(bb, "FLT ");
+            }
+            if (flags & GS_PARAM_F_SHOW_SCIENTIFIC) {
+                gs_bytebuffer_printf(bb, "%e", (double) tmp);
+            } else {
+                gs_bytebuffer_printf(bb, "%f", (double) tmp);
+            }
+            break;
+        }
+        case GS_PARAM_DOUBLE: {
+            double tmp;
+            memcpy(&tmp, value, sizeof(tmp));
+            if (with_type == 1) {
+                gs_bytebuffer_printf(bb, "DBL ");
+            }
+            if (flags & GS_PARAM_F_SHOW_SCIENTIFIC) {
+                gs_bytebuffer_printf(bb, "%e", tmp);
+            } else {
+                gs_bytebuffer_printf(bb, "%f", tmp);
+            }
+            break;
+        }
+        case GS_PARAM_STRING: {
+            if (with_type == 1) {
+                gs_bytebuffer_printf(bb, "STR ");
+            }
+            gs_bytebuffer_append(bb, "\"", 1);
+            // handle missing NUL termination.
+            const size_t len = strnlen((const char*)value, GS_PARAM_SIZE(param));
+            gs_bytebuffer_append(bb, value, len);
+            gs_bytebuffer_append(bb, "\"", 1);
+            break;
+        }
+        case GS_PARAM_DATA: {
+            if (with_type == 1) {
+                gs_bytebuffer_printf(bb, "DAT ");
+            }
+            for (int i = 0; i < GS_PARAM_SIZE(param); i++) {
+                gs_bytebuffer_printf(bb, "%02"PRIX8, ((uint8_t *) value)[i]);
+            }
+            break;
+        }
+        default: {
+            log_error("%s: Unknown param type %u", __FUNCTION__, param_type);
+            break;
+        }
+    }
+
+    return GS_OK;
+}
+
+gs_error_t gs_param_to_string2(const gs_param_table_row_t * param, const void * value, bool with_type, uint32_t flags, char * buf, unsigned int buf_size, unsigned int buf_pos, unsigned int * buf_written)
+{
+    GS_CHECK_ARG(buf_pos <= buf_size);
+    gs_bytebuffer_t bb;
+    gs_bytebuffer_init(&bb, &buf[buf_pos], (buf_size - buf_pos));
+    gs_error_t error = gs_param_to_string_buffer(param, value, with_type, flags, &bb);
+    if (error == GS_OK) {
+        gs_bytebuffer_get_as_string(&bb, &error); // this will add NUL termination, but may truncate buffer
+        error = gs_bytebuffer_get_state(&bb);
+        if (buf_written) {
+            *buf_written = bb.used;
+        }
+    }
+    return error;
+}
+
+const char * gs_param_type_to_string(gs_param_type_t type)
+{
+    switch (type) {
+	case GS_PARAM_BOOL:     return "bool";
+	case GS_PARAM_UINT8:    return "uint8_t";
+	case GS_PARAM_UINT16:   return "uint16_t";
+	case GS_PARAM_UINT32:   return "uint32_t";
+	case GS_PARAM_UINT64:   return "uint65_t";
+	case GS_PARAM_INT8:     return "int8_t";
+	case GS_PARAM_INT16:    return "int16_t";
+	case GS_PARAM_INT32:    return "int32_t";
+	case GS_PARAM_INT64:    return "int64_t";
+	case PARAM_X8:          return "uint8_t";
+	case PARAM_X16:         return "uint16_t";
+	case PARAM_X32:         return "uint32_t";
+	case PARAM_X64:         return "uint64_t";
+	case GS_PARAM_FLOAT:    return "float";
+	case GS_PARAM_DOUBLE:   return "double";
+	case GS_PARAM_STRING:   return "char";
+	case GS_PARAM_DATA:     return "char";
+    }
+    return "";
+}
+
+static inline int to_int(char c)
+{
+    if (c >= '0' && c <= '9') return      c - '0';
+    if (c >= 'A' && c <= 'F') return 10 + c - 'A';
+    if (c >= 'a' && c <= 'f') return 10 + c - 'a';
+    return -1;
+}
+
+gs_error_t gs_param_from_string(const gs_param_table_row_t * param, const char * string, void * value)
+{
+    if ((param == NULL) || (string == NULL) || (value == NULL)) {
+        return GS_ERROR_ARG;
+    }
+
+    if (GS_PARAM_TYPE(param) != GS_PARAM_STRING) {
+        // skip only space -  not white-space, e.g. isspace()
+        for (; *string == ' '; ++string);
+    }
+
+    gs_error_t error = GS_OK;
+
+    switch(GS_PARAM_TYPE(param)) {
+
+        case GS_PARAM_BOOL:
+            {
+                bool parsein = false;
+                error = gs_string_to_bool(string, &parsein);
+                if (error == GS_OK) {
+                    *((uint8_t *) value) = parsein;
+                }
+            }
+            break;
+
+        case GS_PARAM_UINT8:
+            {
+                uint8_t parsein;
+                error = gs_string_to_uint8(string, &parsein);
+                if (error == GS_OK) {
+                    *((uint8_t *) value) = parsein;
+                }
+            }
+            break;
+
+        case GS_PARAM_UINT16:
+            {
+                uint16_t parsein;
+                error = gs_string_to_uint16(string, &parsein);
+                if (error == GS_OK) {
+                    *((uint16_t *) value) = parsein;
+                }
+            }
+            break;
+
+        case GS_PARAM_UINT32:
+            {
+                uint32_t parsein;
+                error = gs_string_to_uint32(string, &parsein);
+                if (error == GS_OK) {
+                    *((uint32_t *) value) = parsein;
+                }
+            }
+            break;
+
+        case GS_PARAM_UINT64:
+            {
+                uint64_t parsein;
+                error = gs_string_to_uint64(string, &parsein);
+                if (error == GS_OK) {
+                    *((uint64_t *) value) = parsein;
+                }
+            }
+            break;
+
+        case GS_PARAM_INT8:
+            {
+                int8_t parsein;
+                error = gs_string_to_int8(string, &parsein);
+                if (error == GS_OK) {
+                    *((int8_t *) value) = parsein;
+                }
+            }
+            break;
+
+        case GS_PARAM_INT16:
+            {
+                int16_t parsein;
+                error = gs_string_to_int16(string, &parsein);
+                if (error == GS_OK) {
+                    *((int16_t *) value) = parsein;
+                }
+            }
+            break;
+
+        case GS_PARAM_INT32:
+            {
+                int32_t parsein;
+                error = gs_string_to_int32(string, &parsein);
+                if (error == GS_OK) {
+                    *((int32_t *) value) = parsein;
+                }
+            }
+            break;
+
+        case GS_PARAM_INT64:
+            {
+                int64_t parsein;
+                error = gs_string_to_int64(string, &parsein);
+                if (error == GS_OK) {
+                    *((int64_t *) value) = parsein;
+                }
+            }
+            break;
+
+        case PARAM_X8:
+            {
+                uint32_t parsein;
+                error = gs_string_hex_to_uint32(string, &parsein);
+                if (error == GS_OK) {
+                    if (parsein <= UINT8_MAX) {
+                        *((uint8_t *) value) = parsein;
+                    } else {
+                        error = GS_ERROR_OVERFLOW;
+                    }
+                }
+            }
+            break;
+
+        case PARAM_X16:
+            {
+                uint32_t parsein;
+                error = gs_string_hex_to_uint32(string, &parsein);
+                if (error == GS_OK) {
+                    if (parsein <= UINT16_MAX) {
+                        *((uint16_t *) value) = parsein;
+                    } else {
+                        error = GS_ERROR_OVERFLOW;
+                    }
+                }
+            }
+            break;
+
+        case PARAM_X32:
+            {
+                uint32_t parsein;
+                error = gs_string_hex_to_uint32(string, &parsein);
+                if (error == GS_OK) {
+                    *((uint32_t *) value) = parsein;
+                }
+            }
+            break;
+
+        case PARAM_X64:
+            {
+                uint64_t parsein;
+                error = gs_string_hex_to_uint64(string, &parsein);
+                if (error == GS_OK) {
+                    *((uint64_t *) value) = parsein;
+                }
+            }
+            break;
+
+        case GS_PARAM_FLOAT:
+            {
+                float parsein;
+                error = gs_string_to_float(string, &parsein);
+                if (error == GS_OK) {
+                    *((float *) value) = parsein;
+                }
+            }
+            break;
+
+        case GS_PARAM_DOUBLE:
+            {
+                double parsein;
+                error = gs_string_to_double(string, &parsein);
+                if (error == GS_OK) {
+                    *((double *) value) = parsein;
+                }
+            }
+            break;
+
+        case GS_PARAM_STRING:
+            {
+                const size_t ilen = strnlen(string, GS_PARAM_SIZE(param) + 1); // 0 terminator
+                if (ilen <= GS_PARAM_SIZE(param)) {
+                    memset(value, 0, GS_PARAM_SIZE(param));
+                    memcpy(value, string, ilen);
+                } else {
+                    error = GS_ERROR_OVERFLOW;
+                }
+            }
+            break;
+
+        case GS_PARAM_DATA:
+            {
+                const size_t MAX_LEN = (GS_PARAM_SIZE(param) * 2);
+                const size_t ilen = strnlen(string, MAX_LEN + 1);
+                if (ilen > MAX_LEN) {
+                    error = GS_ERROR_OVERFLOW;
+                } else if ((ilen % 2) == 0) {
+                    
+                    // validate data first - not to end up with invalid/strange data
+                    for (unsigned int i = 0; i < ilen; ++i) {
+                        if (to_int(string[i]) < 0) {
+                            error = GS_ERROR_DATA;
+                            break;
+                        }
+                    }
+                    if (error == GS_OK) {
+                        uint8_t * out = (uint8_t *) value;
+                        memset(out, 0, GS_PARAM_SIZE(param));
+                        for (unsigned int i = 0; i < ilen; i += 2, ++out) {
+                            *out = (16 * to_int(string[i])) + to_int(string[i+1]);
+                        }
+                        error = GS_OK;
+                    }
+                } else {
+                    error = GS_ERROR_DATA;
+                }
+            }
+            break;
+    }
+
+    return error;
+}
+
+gs_error_t gs_param_list_single_to_stream(gs_param_table_instance_t * tinst, const gs_param_table_row_t * param,
+                                          bool list_data, uint32_t flags, FILE * out)
+{
+    if (param == NULL) {
+        return GS_ERROR_HANDLE;
+    }
+
+    gs_error_t error = GS_OK;
+    const uint16_t addr = GS_PARAM_ADDR(param);
+
+    fprintf(out, "  0x%04X %-16.14"GS_PGM_FMT_STR, addr, param->name); // ensure missing NUL termination doesn't cause problems.
+
+    if (list_data) {
+        const gs_param_type_t param_type = GS_PARAM_TYPE(param);
+        const unsigned int param_array_size = GS_PARAM_ARRAY_SIZE(param);
+        const unsigned int param_size = GS_PARAM_SIZE(param);
+        uint8_t value[param_size];
+        char buf[100];
+        for (unsigned int j = 0; (j < param_array_size) && (error == GS_OK); j++) {
+            error = gs_param_get(tinst, addr + (param_size * j), param_type, value, param_size, 0);
+            if (error == GS_OK) {
+                gs_param_to_string2(param, value, (j == 0) ? 1 : 0, flags, buf, sizeof(buf), 0, NULL);
+                fprintf(out, "%s ", buf);
+            }
+        }
+    }
+    fprintf(out, "\r\n");
+    return error;
+}
+
+gs_error_t gs_param_list_to_stream(gs_param_table_instance_t * tinst, bool list_data, uint32_t flags, FILE * out)
+{
+    GS_CHECK_HANDLE(tinst != NULL);
+
+    gs_error_t error = GS_OK;
+    for (unsigned int i = 0; (i < tinst->row_count) && (error == GS_OK); ++i) {
+        error = gs_param_list_single_to_stream(tinst, &tinst->rows[i], list_data, flags, out);
+    }
+
+    return error;
+}
+
+gs_error_t gs_param_parse_name_and_array_index(const char * inp, char * name, size_t size_name, uint8_t * return_index, bool * return_is_array)
+{
+    if (inp == NULL) {
+        return GS_ERROR_ARG;
+    }
+
+    uint8_t a_index;
+    size_t name_len;
+    gs_error_t error;
+    bool is_array;
+    const char * pai = strchr(inp, '['); // look for array index
+    if (pai) {
+        name_len = pai - inp;
+        char tmp[20];
+        GS_STRNCPY(tmp, pai+1);
+        char * endp = strchr(tmp, ']');
+        if (endp) {
+            *endp = 0;
+        }
+        error = gs_string_to_uint8(tmp, &a_index);
+        is_array = true;
+    } else {
+        error = GS_OK;
+        name_len = strlen(inp);
+        is_array = false;
+        a_index = 0;
+    }
+
+    if (error == GS_OK) {
+        if (name_len >= size_name) {
+            error = GS_ERROR_OVERFLOW;
+        } else {
+            strncpy(name, inp, name_len);
+            name[name_len] = 0;
+
+            // remove trailing white-space
+            if (name_len) {
+                for (int i = name_len-1; i >= 0; --i) {
+                    if (name[i] && isspace((int)name[i])) {
+                        name[i] = 0;
+                    } else {
+                        break;
+                    }
+                }
+            }
+
+            if (return_index) {
+                *return_index = (is_array) ? a_index : 0;
+            }
+            if (return_is_array) {
+                *return_is_array = is_array;
+            }
+        }
+    }
+
+    return error;
+}

gomspace/libparam_client/src/table.c

@@ -0,0 +1,393 @@
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#define GS_PARAM_INTERNAL_USE 1
+
+#include <gs/param/internal/types.h>
+#include <gs/param/internal/table.h>
+#include <gs/param/serialize.h>
+#include <gs/util/check.h>
+#include <gs/util/byteorder.h>
+#include <gs/util/endian.h>
+#include <gs/util/fletcher.h>
+
+#include <alloca.h>
+#include <stdlib.h>
+
+static void _copy_data(gs_param_type_t type, void * dst, const void * src, size_t size)
+{
+#if (GS_PARAM_ATOMIC_ACCESS)
+    switch (type) {
+        case GS_PARAM_UINT8:
+        case GS_PARAM_INT8:
+        case PARAM_X8:
+        case GS_PARAM_STRING:
+        case GS_PARAM_DATA:
+        case GS_PARAM_BOOL:
+            break;
+
+        case GS_PARAM_UINT16:
+        case GS_PARAM_INT16:
+        case PARAM_X16:
+            if (!((intptr_t)src & 1) && !((intptr_t)dst & 1)) {
+                // (u)int16 aligned correctly
+                const uint16_t * s = src;
+                uint16_t * d = dst;
+                const unsigned int count = (size / sizeof(*d));
+                for (unsigned int i = 0; i < count; ++i, ++d, ++s) {
+                    *d = *s;
+                }
+                //printf("%s:int16\r\n", __FUNCTION__);
+                return;
+            }
+            break;
+
+        case GS_PARAM_UINT32:
+        case GS_PARAM_INT32:
+        case PARAM_X32:
+        case GS_PARAM_FLOAT:
+            if (!((intptr_t)src & 3) && !((intptr_t)dst & 3)) {
+                // (u)int32 aligned correctly
+                const uint32_t * s = src;
+                uint32_t * d = dst;
+                const unsigned int count = (size / sizeof(*d));
+                for (unsigned int i = 0; i < count; ++i, ++d, ++s) {
+                    *d = *s;
+                }
+                //printf("%s:int32\r\n", __FUNCTION__);
+                return;
+            }
+            break;
+
+        case GS_PARAM_UINT64:
+        case GS_PARAM_INT64:
+        case PARAM_X64:
+        case GS_PARAM_DOUBLE:
+            break;
+    }
+#endif
+
+    // fallback - do byte copy
+    memcpy(dst, src, size);
+}
+
+gs_error_t gs_param_table_lock(gs_param_table_instance_t * tinst)
+{
+    if (tinst->lock) {
+        return gs_mutex_lock(tinst->lock);
+    }
+    return GS_OK;
+}
+
+gs_error_t gs_param_table_unlock(gs_param_table_instance_t * tinst)
+{
+    if (tinst->lock) {
+        return gs_mutex_unlock(tinst->lock);
+    }
+    return GS_OK;
+}
+
+static gs_error_t gs_param_table_lock_free(gs_param_table_instance_t * tinst)
+{
+    if (tinst && tinst->lock) {
+        gs_mutex_destroy(tinst->lock);
+        tinst->lock = NULL;
+    }
+    return GS_OK;
+}
+
+gs_error_t gs_param_table_free(gs_param_table_instance_t * tinst)
+{
+    if (tinst) {
+        if (tinst->flags & GS_PARAM_TABLE_F_ALLOC_MEMORY) {
+            free(tinst->memory);
+        }
+        if (tinst->flags & GS_PARAM_TABLE_F_ALLOC_ROWS) {
+            free((void*)tinst->rows);
+        }
+        if (tinst->lock) {
+            gs_param_table_lock_free(tinst);
+        }
+        memset(tinst, 0, sizeof(*tinst));
+    }
+    return GS_OK;
+}
+
+static void checksum_update(gs_param_table_instance_t * tinst)
+{
+    const uint16_t no_swap = gs_fletcher16(tinst->rows, (sizeof(*tinst->rows) * tinst->row_count));
+
+    // fletcher16 with swapped fields > 1 byte
+    gs_fletcher16_t f16;
+    gs_fletcher16_init(&f16);
+    for (unsigned int i = 0; i < tinst->row_count; ++i) {
+        gs_param_table_row_t row = tinst->rows[i];
+        row.addr = gs_bswap_16(row.addr);
+        gs_fletcher16_update(&f16, &row, sizeof(row));
+    }
+    const uint16_t swap = gs_fletcher16_finalize(&f16);
+
+    if (gs_endian_big()) {
+        tinst->checksum_be = no_swap;
+        tinst->checksum_le = swap;
+    } else {
+        tinst->checksum_be = swap;
+        tinst->checksum_le = no_swap;
+    }
+}
+
+uint16_t gs_param_table_checksum_be(gs_param_table_instance_t * tinst)
+{
+    if (tinst && tinst->rows && tinst->row_count) {
+        if (tinst->checksum_be == 0) {
+            checksum_update(tinst);
+        }
+        return tinst->checksum_be;
+    }
+    return 0;
+}
+
+uint16_t gs_param_table_checksum_le(gs_param_table_instance_t * tinst)
+{
+    if (tinst && tinst->rows && tinst->row_count) {
+        if (tinst->checksum_le == 0) {
+            checksum_update(tinst);
+        }
+        return tinst->checksum_le;
+    }
+    return 0;
+}
+
+uint16_t gs_param_table_checksum(gs_param_table_instance_t * tinst)
+{
+    if (gs_endian_big()) {
+        return gs_param_table_checksum_be(tinst);
+    } else {
+        return gs_param_table_checksum_le(tinst);
+    }
+}
+
+gs_error_t gs_param_get(gs_param_table_instance_t * tinst, uint16_t addr, gs_param_type_t type, void * value, size_t value_size, uint32_t flags)
+{
+    if (tinst == NULL) {
+        return GS_ERROR_HANDLE;
+    }
+
+    if ((addr + value_size) > tinst->memory_size) {
+        return GS_ERROR_RANGE;
+    }
+
+    gs_error_t error = GS_ERROR_NOT_SUPPORTED;
+    if (tinst->function_interface.get) {
+        error = (tinst->function_interface.get)(tinst->function_interface.context, tinst, addr, type, value, value_size, flags);
+    } else if (tinst->memory) {
+        gs_param_table_lock(tinst);
+        _copy_data(type, value, ((uint8_t*)(tinst->memory)) + addr, value_size);
+        gs_param_table_unlock(tinst);
+        error = GS_OK;
+    }
+
+    if ((error == GS_OK) && (flags & GS_PARAM_SF_TO_BIG_ENDIAN) && !gs_endian_big()) {
+        gs_param_htobe(type, value);
+    }
+
+    return error;
+}
+
+gs_error_t gs_param_set(gs_param_table_instance_t * tinst, uint16_t addr, gs_param_type_t type, const void * value, size_t value_size, uint32_t flags)
+{
+    if (tinst == NULL) {
+        return GS_ERROR_HANDLE;
+    }
+
+    if ((addr + value_size) > tinst->memory_size) {
+        return GS_ERROR_RANGE;
+    }
+
+    if ((flags & GS_PARAM_SF_FROM_BIG_ENDIAN) && !gs_endian_big()) {
+        void * tmp = alloca(value_size); // this must be aligned
+        memcpy(tmp, value, value_size);
+        value = tmp;
+        gs_param_betoh(type, tmp);
+    }
+
+    gs_error_t error = GS_ERROR_NOT_SUPPORTED;
+    if (tinst->function_interface.set) {
+        error = (tinst->function_interface.set)(tinst->function_interface.context, tinst, addr, type, value, value_size, flags);
+    } else if (tinst->memory) {
+        gs_param_table_lock(tinst);
+        _copy_data(type, ((uint8_t*)(tinst->memory)) + addr, value, value_size);
+        gs_param_table_unlock(tinst);
+
+        if (tinst->auto_persist.set && (flags & GS_PARAM_F_AUTO_PERSIST)) {
+            (tinst->auto_persist.set)(tinst, addr, type, value, value_size, flags);
+        }
+        error = GS_OK;
+    }
+
+    // Callbacks
+    if ((error == GS_OK) && tinst->callback && ((flags & GS_PARAM_F_NO_CALLBACK) == 0)) {
+        (tinst->callback)(addr, tinst);
+    }
+
+    return error;
+}
+
+uint8_t gs_param_type_size(gs_param_type_t type)
+{
+    switch (type) {
+        case GS_PARAM_UINT8:
+        case GS_PARAM_INT8:
+        case PARAM_X8:
+        case GS_PARAM_STRING:
+        case GS_PARAM_DATA:
+            return sizeof(int8_t);
+        case GS_PARAM_INT16:
+        case GS_PARAM_UINT16:
+        case PARAM_X16:
+            return sizeof(int16_t);
+        case GS_PARAM_INT32:
+        case GS_PARAM_UINT32:
+        case PARAM_X32:
+            return sizeof(int32_t);
+        case GS_PARAM_INT64:
+        case GS_PARAM_UINT64:
+        case PARAM_X64:
+            return sizeof(int64_t);
+        case GS_PARAM_DOUBLE:
+            return sizeof(double);
+        case GS_PARAM_FLOAT:
+            return sizeof(float);
+        case GS_PARAM_BOOL:
+            return sizeof(bool);
+    }
+    return 0;
+}
+
+void * gs_param_table_get_memory(gs_param_table_instance_t * tinst, size_t * return_size)
+{
+    if (tinst && tinst->memory) {
+        if (return_size) {
+            *return_size = tinst->memory_size;
+        }
+        return tinst->memory;
+    }
+    return NULL;
+}
+
+const gs_param_table_row_t * gs_param_table_get_rows(gs_param_table_instance_t * tinst, size_t * return_count)
+{
+    if (tinst && tinst->rows && tinst->row_count) {
+        if (return_count) {
+            *return_count = tinst->row_count;
+        }
+        return tinst->rows;
+    }
+    return NULL;
+}
+
+size_t gs_param_table_instance_size(void)
+{
+    return sizeof(gs_param_table_instance_t);
+}
+
+gs_param_table_instance_t * gs_param_table_instance_clear(void * var, size_t var_size)
+{
+    gs_param_table_instance_t * tinst = NULL;
+    if (var && (var_size >= sizeof(*tinst))) {
+        tinst = (gs_param_table_instance_t *) var;
+        memset(tinst, 0, sizeof(*tinst));
+    }
+    return tinst;
+}
+
+gs_param_table_instance_t * gs_param_table_instance_alloc(void)
+{
+    return calloc(1, sizeof(gs_param_table_instance_t));
+}
+
+gs_error_t gs_param_get_string(gs_param_table_instance_t * tinst, uint16_t addr, char * buf, size_t buf_size, uint32_t flags)
+{
+    if (tinst == NULL) {
+        return GS_ERROR_HANDLE;
+    }
+    if (buf == NULL) {
+        return GS_ERROR_ARG;
+    }
+
+    const gs_param_table_row_t * param = gs_param_row_by_address(addr, tinst->rows, tinst->row_count);
+    if (param == NULL) {
+        return GS_ERROR_RANGE;
+    }
+
+    if (buf_size <= param->size) {
+        return GS_ERROR_OVERFLOW;
+    }
+
+    gs_error_t error = gs_param_get(tinst, addr, param->type, buf, param->size, flags);
+    buf[param->size] = 0;
+    return error;
+}
+
+gs_error_t gs_param_set_string(gs_param_table_instance_t * tinst, uint16_t addr, const char * value, uint32_t flags)
+{
+    if (tinst == NULL) {
+        return GS_ERROR_HANDLE;
+    }
+    if (value == NULL) {
+        return GS_ERROR_ARG;
+    }
+
+    const gs_param_table_row_t * param = gs_param_row_by_address(addr, tinst->rows, tinst->row_count);
+    if (param == NULL) {
+        return GS_ERROR_RANGE;
+    }
+
+    const size_t len = strlen(value) + 1;
+    if (len > GS_PARAM_SIZE(param)) {
+        return GS_ERROR_OVERFLOW;
+    }
+
+    return gs_param_set(tinst, addr, param->type, value, len, flags); // flags have full control
+}
+
+gs_error_t gs_param_get_data(gs_param_table_instance_t * tinst, uint16_t addr, void * buf, size_t buf_size, uint32_t flags)
+{
+    if (tinst == NULL) {
+        return GS_ERROR_HANDLE;
+    }
+    if (buf == NULL) {
+        return GS_ERROR_ARG;
+    }
+
+    const gs_param_table_row_t * param = gs_param_row_by_address(addr, tinst->rows, tinst->row_count);
+    if (param == NULL) {
+        return GS_ERROR_RANGE;
+    }
+
+    if (buf_size < param->size) {
+        return GS_ERROR_OVERFLOW;
+    }
+
+    return gs_param_get(tinst, addr, param->type, buf, param->size, flags);
+}
+
+gs_error_t gs_param_set_data(gs_param_table_instance_t * tinst, uint16_t addr, const void * value, size_t value_size, uint32_t flags)
+{
+    if (tinst == NULL) {
+        return GS_ERROR_HANDLE;
+    }
+    if (value == NULL) {
+        return GS_ERROR_ARG;
+    }
+
+    const gs_param_table_row_t * param = gs_param_row_by_address(addr, tinst->rows, tinst->row_count);
+    if (param == NULL) {
+        return GS_ERROR_RANGE;
+    }
+
+    if (value_size > GS_PARAM_SIZE(param)) {
+        return GS_ERROR_OVERFLOW;
+    }
+
+    return gs_param_set(tinst, addr, param->type, value, value_size, flags); // flags have full control
+}

gomspace/libparam_client/wscript

@@ -0,0 +1,69 @@
+#!/usr/bin/env python
+# encoding: utf-8
+# Copyright (c) 2013-2018 GomSpace A/S. All rights reserved.
+
+import os
+import gs_gcc
+import gs_doc
+
+APPNAME = 'param_client'
+
+
+def options(ctx):
+    ctx.load('gs_gcc gs_doc')
+    gs_gcc.gs_recurse(ctx)
+
+    gr = ctx.add_option_group('libparam client options')
+    gr.add_option('--param_client-disable-cmd', action='store_true', help='Disable GOSH commands')
+    gr.add_option('--param-enable-atomic-access', action='store_true', help='Enable atomic read/write of 16/32/float')
+
+
+def configure(ctx):
+    ctx.load('gs_gcc gs_doc')
+
+    ctx.env.append_unique('USE_PARAM_CLIENT', ['gscsp', 'util'])
+
+    ctx.env.append_unique('FILES_PARAM_CLIENT', ['src/*.c', 'src/rparam/*.c',
+                                                 'src/pp/*.c', 'src/pp/i2c/*.c', 'src/pp/spi/*.c'])
+
+    if not ctx.options.param_client_disable_cmd:
+        ctx.env.append_unique('FILES_PARAM_CLIENT', ['src/rparam/cmd/*.c', 'src/pp/cmd/*.c'])
+
+    if ctx.options.param_enable_atomic_access:
+        ctx.env.append_unique('DEFINES_PARAM_CLIENT', ['GS_PARAM_ATOMIC_ACCESS=1'])
+
+    ctx.gs_register_handler(function='param_gen_4_0', filepath='./tools/waf_param.py')
+    ctx.gs_register_handler(function='param_gen_4_2', filepath='./tools/waf_param.py')
+    ctx.gs_register_handler(function='param_gen_4_3', filepath='./tools/waf_param.py')
+
+    ctx.gs_add_doxygen(exclude=['*/include/deprecated/param/*', '*/include/gs/param/internal/*'])
+
+    gs_gcc.gs_recurse(ctx)
+
+
+def build(ctx):
+    gs_gcc.gs_recurse(ctx)
+
+    public_include = ctx.gs_include(name=APPNAME,
+                                    includes=['include', 'include/deprecated', 'include/deprecated/param'])
+
+    if ctx.env.GS_ARCH not in ['avr8']:
+        ctx.gs_objects(source=ctx.path.ant_glob(ctx.env.FILES_PARAM_CLIENT),
+                       target=APPNAME,
+                       defines=ctx.env.DEFINES_PARAM_CLIENT,
+                       use=ctx.env.USE_PARAM_CLIENT + [public_include])
+
+        ctx.gs_shlib(source=ctx.path.ant_glob(ctx.env.FILES_PARAM_CLIENT),
+                     target=APPNAME,
+                     defines=ctx.env.DEFINES_PARAM_CLIENT,
+                     gs_use_shlib=ctx.env.USE_PARAM_CLIENT + [public_include])
+
+        ctx.gs_python_bindings(source=ctx.path.ant_glob('src/bindings/python/pyparam.c'),
+                               target=APPNAME,
+                               gs_use_shlib=ctx.env.USE_PARAM_CLIENT + [APPNAME, public_include],
+                               package='libparam')
+
+
+def gs_dist(ctx):
+    gs_gcc.gs_recurse(ctx)
+    ctx.add_default_files(source_module=True)

gomspace/libutil/include/conf_util.h

@@ -0,0 +1,12 @@
+/* WARNING! All changes made to this file will be lost! */
+
+#ifndef W_INCLUDE_CONF_UTIL_H_WAF
+#define W_INCLUDE_CONF_UTIL_H_WAF
+
+#define UTIL_LITTLE_ENDIAN 1
+/* #undef UTIL_BIG_ENDIAN */
+#define GS_CONSOLE_HISTORY_LEN 10
+#define GS_CONSOLE_INPUT_LEN 100
+/* #undef GS_LOG_ENABLE_ISR_LOGS */
+
+#endif /* W_INCLUDE_CONF_UTIL_H_WAF */

gomspace/libutil/include/deprecated/gs/gosh/command/command.h

@@ -0,0 +1,49 @@
+#ifndef GS_GOSH_COMMAND_COMMAND_H
+#define GS_GOSH_COMMAND_COMMAND_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   Legacy header file - use gs/util/gosh/command.h
+*/
+
+#include <gs/util/gosh/command.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define CMD_ERROR_NONE           GS_OK
+#define CMD_ERROR_FAIL           GS_ERROR_UNKNOWN
+#define CMD_ERROR_SYNTAX         GS_ERROR_ARG
+#define CMD_ERROR_NOMEM          GS_ERROR_ALLOC
+#define CMD_ERROR_INVALID        GS_ERROR_DATA
+#define CMD_ERROR_NOTFOUND       GS_ERROR_NOT_FOUND
+
+#define CMD_HIDDEN               GS_COMMAND_FLAG_HIDDEN
+
+#define __root_command           GS_COMMAND_ROOT
+#define __sub_command            GS_COMMAND_SUB
+
+#define INIT_CHAIN(__list)       GS_COMMAND_INIT_CHAIN(__list)
+#define command_register(__cmd)  GS_COMMAND_REGISTER(__cmd)
+
+typedef struct command command_t;
+
+static inline const char * command_args(gs_command_context_t *ctx)
+{
+    return gs_command_args(ctx);
+}
+
+static inline int command_run(char *line)
+{
+    gs_error_t result = GS_OK;
+    gs_error_t error = gs_command_run(line, &result);
+    if (error == GS_OK) {
+        return result;
+    }
+    return error;
+}
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/deprecated/gs/gosh/gosh/getopt.h

@@ -0,0 +1,22 @@
+#ifndef GS_GOSH_GOSH_GETOPT_H
+#define GS_GOSH_GOSH_GETOPT_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   Legacy header file - use gs/util/gosh/getopt.h
+*/
+
+#include <gs/util/gosh/command.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+static inline int gosh_getopt(gs_command_context_t *ctx, const char *opts)
+{
+    return gs_command_getopt(ctx, opts);
+}
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/deprecated/gs/gosh/util/console.h

@@ -0,0 +1,43 @@
+#ifndef GS_GOSH_UTIL_CONSOLE_H
+#define GS_GOSH_UTIL_CONSOLE_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   Legacy header file - use gs/util/gosh/console.h
+*/
+
+#include <gs/util/gosh/console.h>
+#include <gs/gosh/command/command.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+static inline int console_init(void)
+{
+    return gs_console_init();
+}
+
+static inline int console_exit(void)
+{
+    return gs_console_exit();
+}
+
+static inline void console_set_hostname(const char *host)
+{
+    gs_console_set_prompt(host);
+}
+
+static inline void console_clear(void)
+{
+    gs_console_clear();
+}
+
+static inline void console_update(void)
+{
+    gs_console_update();
+}
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/deprecated/util/color_printf.h

@@ -0,0 +1,26 @@
+#ifndef DEPRECATED_UTIL_COLOR_PRINTF_H
+#define DEPRECATED_UTIL_COLOR_PRINTF_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+
+#include <gs/util/stdio.h>
+
+typedef enum color_printf_e {
+    /* Colors */
+    COLOR_COLORS   = GS_COLOR_COLORS,
+    COLOR_NONE     = GS_COLOR_NONE,
+    COLOR_BLACK    = GS_COLOR_BLACK,
+    COLOR_RED      = GS_COLOR_RED,
+    COLOR_GREEN    = GS_COLOR_GREEN,
+    COLOR_YELLOW   = GS_COLOR_YELLOW,
+    COLOR_BLUE     = GS_COLOR_BLUE,
+    COLOR_MAGENTA  = GS_COLOR_MAGENTA,
+    COLOR_CYAN     = GS_COLOR_CYAN,
+    COLOR_WHITE    = GS_COLOR_WHITE,
+    /* Attributes */
+    COLOR_ATTRS    = GS_COLOR_ATTRS,
+    COLOR_BOLD     = GS_COLOR_BOLD,
+} color_printf_t;
+
+#define color_printf gs_color_printf
+
+#endif

gomspace/libutil/include/gs/uthash/utarray.h

@@ -0,0 +1,231 @@
+/*
+Copyright (c) 2008-2014, Troy D. Hanson   http://troydhanson.github.com/uthash/
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
+OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/* a dynamic array implementation using macros
+ */
+#ifndef UTARRAY_H
+#define UTARRAY_H
+
+#define UTARRAY_VERSION 1.9.9
+
+#ifdef __GNUC__
+#define _UNUSED_ __attribute__ ((__unused__))
+#else
+#define _UNUSED_
+#endif
+
+#include <stddef.h>  /* size_t */
+#include <string.h>  /* memset, etc */
+#include <stdlib.h>  /* exit */
+
+#define oom() exit(-1)
+
+typedef void (ctor_f)(void *dst, const void *src);
+typedef void (dtor_f)(void *elt);
+typedef void (init_f)(void *elt);
+typedef struct {
+    size_t sz;
+    init_f *init;
+    ctor_f *copy;
+    dtor_f *dtor;
+} UT_icd;
+
+typedef struct {
+    unsigned i,n;/* i: index of next available slot, n: num slots */
+    UT_icd icd;  /* initializer, copy and destructor functions */
+    char *d;     /* n slots of size icd->sz*/
+} UT_array;
+
+#define utarray_init(a,_icd) do {                                             \
+  memset(a,0,sizeof(UT_array));                                               \
+  (a)->icd=*_icd;                                                             \
+} while(0)
+
+#define utarray_done(a) do {                                                  \
+  if ((a)->n) {                                                               \
+    if ((a)->icd.dtor) {                                                      \
+      size_t _ut_i;                                                           \
+      for(_ut_i=0; _ut_i < (a)->i; _ut_i++) {                                 \
+        (a)->icd.dtor(utarray_eltptr(a,_ut_i));                               \
+      }                                                                       \
+    }                                                                         \
+    free((a)->d);                                                             \
+  }                                                                           \
+  (a)->n=0;                                                                   \
+} while(0)
+
+#define utarray_new(a,_icd) do {                                              \
+  a=(UT_array*)malloc(sizeof(UT_array));                                      \
+  utarray_init(a,_icd);                                                       \
+} while(0)
+
+#define utarray_free(a) do {                                                  \
+  utarray_done(a);                                                            \
+  free(a);                                                                    \
+} while(0)
+
+#define utarray_reserve(a,by) do {                                            \
+  if (((a)->i+by) > ((a)->n)) {                                               \
+    while(((a)->i+by) > ((a)->n)) { (a)->n = ((a)->n ? (2*(a)->n) : 8); }     \
+    if ( ((a)->d=(char*)realloc((a)->d, (a)->n*(a)->icd.sz)) == NULL) oom();  \
+  }                                                                           \
+} while(0)
+
+#define utarray_push_back(a,p) do {                                           \
+  utarray_reserve(a,1);                                                       \
+  if ((a)->icd.copy) { (a)->icd.copy( _utarray_eltptr(a,(a)->i++), p); }      \
+  else { memcpy(_utarray_eltptr(a,(a)->i++), p, (a)->icd.sz); };              \
+} while(0)
+
+#define utarray_pop_back(a) do {                                              \
+  if ((a)->icd.dtor) { (a)->icd.dtor( _utarray_eltptr(a,--((a)->i))); }       \
+  else { (a)->i--; }                                                          \
+} while(0)
+
+#define utarray_extend_back(a) do {                                           \
+  utarray_reserve(a,1);                                                       \
+  if ((a)->icd.init) { (a)->icd.init(_utarray_eltptr(a,(a)->i)); }            \
+  else { memset(_utarray_eltptr(a,(a)->i),0,(a)->icd.sz); }                   \
+  (a)->i++;                                                                   \
+} while(0)
+
+#define utarray_len(a) ((a)->i)
+
+#define utarray_eltptr(a,j) (((j) < (a)->i) ? _utarray_eltptr(a,j) : NULL)
+#define _utarray_eltptr(a,j) ((char*)((a)->d + ((a)->icd.sz*(j) )))
+
+#define utarray_insert(a,p,j) do {                                            \
+  if (j > (a)->i) utarray_resize(a,j);                                        \
+  utarray_reserve(a,1);                                                       \
+  if ((j) < (a)->i) {                                                         \
+    memmove( _utarray_eltptr(a,(j)+1), _utarray_eltptr(a,j),                  \
+             ((a)->i - (j))*((a)->icd.sz));                                   \
+  }                                                                           \
+  if ((a)->icd.copy) { (a)->icd.copy( _utarray_eltptr(a,j), p); }             \
+  else { memcpy(_utarray_eltptr(a,j), p, (a)->icd.sz); };                     \
+  (a)->i++;                                                                   \
+} while(0)
+
+#define utarray_inserta(a,w,j) do {                                           \
+  if (utarray_len(w) == 0) break;                                             \
+  if (j > (a)->i) utarray_resize(a,j);                                        \
+  utarray_reserve(a,utarray_len(w));                                          \
+  if ((j) < (a)->i) {                                                         \
+    memmove(_utarray_eltptr(a,(j)+utarray_len(w)),                            \
+            _utarray_eltptr(a,j),                                             \
+            ((a)->i - (j))*((a)->icd.sz));                                    \
+  }                                                                           \
+  if ((a)->icd.copy) {                                                        \
+    size_t _ut_i;                                                             \
+    for(_ut_i=0;_ut_i<(w)->i;_ut_i++) {                                       \
+      (a)->icd.copy(_utarray_eltptr(a,j+_ut_i), _utarray_eltptr(w,_ut_i));    \
+    }                                                                         \
+  } else {                                                                    \
+    memcpy(_utarray_eltptr(a,j), _utarray_eltptr(w,0),                        \
+           utarray_len(w)*((a)->icd.sz));                                     \
+  }                                                                           \
+  (a)->i += utarray_len(w);                                                   \
+} while(0)
+
+#define utarray_resize(dst,num) do {                                          \
+  size_t _ut_i;                                                               \
+  if (dst->i > (size_t)(num)) {                                               \
+    if ((dst)->icd.dtor) {                                                    \
+      for(_ut_i=num; _ut_i < dst->i; _ut_i++) {                               \
+        (dst)->icd.dtor(utarray_eltptr(dst,_ut_i));                           \
+      }                                                                       \
+    }                                                                         \
+  } else if (dst->i < (size_t)(num)) {                                        \
+    utarray_reserve(dst,num-dst->i);                                          \
+    if ((dst)->icd.init) {                                                    \
+      for(_ut_i=dst->i; _ut_i < num; _ut_i++) {                               \
+        (dst)->icd.init(utarray_eltptr(dst,_ut_i));                           \
+      }                                                                       \
+    } else {                                                                  \
+      memset(_utarray_eltptr(dst,dst->i),0,(dst)->icd.sz*(num-dst->i));       \
+    }                                                                         \
+  }                                                                           \
+  dst->i = num;                                                               \
+} while(0)
+
+#define utarray_concat(dst,src) do {                                          \
+  utarray_inserta((dst),(src),utarray_len(dst));                              \
+} while(0)
+
+#define utarray_erase(a,pos,len) do {                                         \
+  if ((a)->icd.dtor) {                                                        \
+    size_t _ut_i;                                                             \
+    for(_ut_i=0; _ut_i < len; _ut_i++) {                                      \
+      (a)->icd.dtor(utarray_eltptr((a),pos+_ut_i));                           \
+    }                                                                         \
+  }                                                                           \
+  if ((a)->i > (pos+len)) {                                                   \
+    memmove( _utarray_eltptr((a),pos), _utarray_eltptr((a),pos+len),          \
+            (((a)->i)-(pos+len))*((a)->icd.sz));                              \
+  }                                                                           \
+  (a)->i -= (len);                                                            \
+} while(0)
+
+#define utarray_renew(a,u) do {                                               \
+  if (a) utarray_clear(a); \
+  else utarray_new((a),(u));   \
+} while(0)
+
+#define utarray_clear(a) do {                                                 \
+  if ((a)->i > 0) {                                                           \
+    if ((a)->icd.dtor) {                                                      \
+      size_t _ut_i;                                                           \
+      for(_ut_i=0; _ut_i < (a)->i; _ut_i++) {                                 \
+        (a)->icd.dtor(utarray_eltptr(a,_ut_i));                               \
+      }                                                                       \
+    }                                                                         \
+    (a)->i = 0;                                                               \
+  }                                                                           \
+} while(0)
+
+#define utarray_sort(a,cmp) do {                                              \
+  qsort((a)->d, (a)->i, (a)->icd.sz, cmp);                                    \
+} while(0)
+
+#define utarray_find(a,v,cmp) bsearch((v),(a)->d,(a)->i,(a)->icd.sz,cmp)
+
+#define utarray_front(a) (((a)->i) ? (_utarray_eltptr(a,0)) : NULL)
+#define utarray_next(a,e) (((e)==NULL) ? utarray_front(a) : ((((a)->i) > (utarray_eltidx(a,e)+1)) ? _utarray_eltptr(a,utarray_eltidx(a,e)+1) : NULL))
+#define utarray_prev(a,e) (((e)==NULL) ? utarray_back(a) : ((utarray_eltidx(a,e) > 0) ? _utarray_eltptr(a,utarray_eltidx(a,e)-1) : NULL))
+#define utarray_back(a) (((a)->i) ? (_utarray_eltptr(a,(a)->i-1)) : NULL)
+#define utarray_eltidx(a,e) (((char*)(e) >= (char*)((a)->d)) ? (((char*)(e) - (char*)((a)->d))/(size_t)(a)->icd.sz) : -1)
+
+/* last we pre-define a few icd for common utarrays of ints and strings */
+static void utarray_str_cpy(void *dst, const void *src) {
+  char **_src = (char**)src, **_dst = (char**)dst;
+  *_dst = (*_src == NULL) ? NULL : strdup(*_src);
+}
+static void utarray_str_dtor(void *elt) {
+  char **eltc = (char**)elt;
+  if (*eltc) free(*eltc);
+}
+static const UT_icd ut_str_icd _UNUSED_ = {sizeof(char*),NULL,utarray_str_cpy,utarray_str_dtor};
+static const UT_icd ut_int_icd _UNUSED_ = {sizeof(int),NULL,NULL,NULL};
+static const UT_icd ut_ptr_icd _UNUSED_ = {sizeof(void*),NULL,NULL,NULL};
+
+#endif /* UTARRAY_H */

gomspace/libutil/include/gs/uthash/uthash.h

@@ -0,0 +1,960 @@
+/*
+Copyright (c) 2003-2014, Troy D. Hanson     http://troydhanson.github.com/uthash/
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
+OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef UTHASH_H
+#define UTHASH_H
+
+#include <string.h>   /* memcmp,strlen */
+#include <stddef.h>   /* ptrdiff_t */
+#include <stdlib.h>   /* exit() */
+
+/* These macros use decltype or the earlier __typeof GNU extension.
+   As decltype is only available in newer compilers (VS2010 or gcc 4.3+
+   when compiling c++ source) this code uses whatever method is needed
+   or, for VS2008 where neither is available, uses casting workarounds. */
+#if defined(_MSC_VER)   /* MS compiler */
+#if _MSC_VER >= 1600 && defined(__cplusplus)  /* VS2010 or newer in C++ mode */
+#define DECLTYPE(x) (decltype(x))
+#else                   /* VS2008 or older (or VS2010 in C mode) */
+#define NO_DECLTYPE
+#define DECLTYPE(x)
+#endif
+#elif defined(__BORLANDC__) || defined(__LCC__) || defined(__WATCOMC__)
+#define NO_DECLTYPE
+#define DECLTYPE(x)
+#else                   /* GNU, Sun and other compilers */
+#define DECLTYPE(x) (__typeof(x))
+#endif
+
+#ifdef NO_DECLTYPE
+#define DECLTYPE_ASSIGN(dst,src)                                                 \
+do {                                                                             \
+  char **_da_dst = (char**)(&(dst));                                             \
+  *_da_dst = (char*)(src);                                                       \
+} while(0)
+#else
+#define DECLTYPE_ASSIGN(dst,src)                                                 \
+do {                                                                             \
+  (dst) = DECLTYPE(dst)(src);                                                    \
+} while(0)
+#endif
+
+/* a number of the hash function use uint32_t which isn't defined on Pre VS2010 */
+#if defined (_WIN32)
+#if defined(_MSC_VER) && _MSC_VER >= 1600
+#include <stdint.h>
+#elif defined(__WATCOMC__)
+#include <stdint.h>
+#else
+typedef unsigned int uint32_t;
+typedef unsigned char uint8_t;
+#endif
+#else
+#include <stdint.h>
+#endif
+
+#define UTHASH_VERSION 1.9.9
+
+#ifndef uthash_fatal
+#define uthash_fatal(msg) exit(-1)        /* fatal error (out of memory,etc) */
+#endif
+#ifndef uthash_malloc
+#define uthash_malloc(sz) malloc(sz)      /* malloc fcn                      */
+#endif
+#ifndef uthash_free
+#define uthash_free(ptr,sz) free(ptr)     /* free fcn                        */
+#endif
+
+#ifndef uthash_noexpand_fyi
+#define uthash_noexpand_fyi(tbl)          /* can be defined to log noexpand  */
+#endif
+#ifndef uthash_expand_fyi
+#define uthash_expand_fyi(tbl)            /* can be defined to log expands   */
+#endif
+
+/* initial number of buckets */
+#define HASH_INITIAL_NUM_BUCKETS 32      /* initial number of buckets        */
+#define HASH_INITIAL_NUM_BUCKETS_LOG2 5  /* lg2 of initial number of buckets */
+#define HASH_BKT_CAPACITY_THRESH 10      /* expand when bucket count reaches */
+
+/* calculate the element whose hash handle address is hhe */
+#define ELMT_FROM_HH(tbl,hhp) ((void*)(((char*)(hhp)) - ((tbl)->hho)))
+
+#define HASH_FIND(hh,head,keyptr,keylen,out)                                     \
+do {                                                                             \
+  out=NULL;                                                                      \
+  if (head) {                                                                    \
+     unsigned _hf_bkt,_hf_hashv;                                                 \
+     HASH_FCN(keyptr,keylen, (head)->hh.tbl->num_buckets, _hf_hashv, _hf_bkt);   \
+     if (HASH_BLOOM_TEST((head)->hh.tbl, _hf_hashv)) {                           \
+       HASH_FIND_IN_BKT((head)->hh.tbl, hh, (head)->hh.tbl->buckets[ _hf_bkt ],  \
+                        keyptr,keylen,out);                                      \
+     }                                                                           \
+  }                                                                              \
+} while (0)
+
+#ifdef HASH_BLOOM
+#define HASH_BLOOM_BITLEN (1ULL << HASH_BLOOM)
+#define HASH_BLOOM_BYTELEN (HASH_BLOOM_BITLEN/8) + ((HASH_BLOOM_BITLEN%8) ? 1:0)
+#define HASH_BLOOM_MAKE(tbl)                                                     \
+do {                                                                             \
+  (tbl)->bloom_nbits = HASH_BLOOM;                                               \
+  (tbl)->bloom_bv = (uint8_t*)uthash_malloc(HASH_BLOOM_BYTELEN);                 \
+  if (!((tbl)->bloom_bv))  { uthash_fatal( "out of memory"); }                   \
+  memset((tbl)->bloom_bv, 0, HASH_BLOOM_BYTELEN);                                \
+  (tbl)->bloom_sig = HASH_BLOOM_SIGNATURE;                                       \
+} while (0)
+
+#define HASH_BLOOM_FREE(tbl)                                                     \
+do {                                                                             \
+  uthash_free((tbl)->bloom_bv, HASH_BLOOM_BYTELEN);                              \
+} while (0)
+
+#define HASH_BLOOM_BITSET(bv,idx) (bv[(idx)/8] |= (1U << ((idx)%8)))
+#define HASH_BLOOM_BITTEST(bv,idx) (bv[(idx)/8] & (1U << ((idx)%8)))
+
+#define HASH_BLOOM_ADD(tbl,hashv)                                                \
+  HASH_BLOOM_BITSET((tbl)->bloom_bv, (hashv & (uint32_t)((1ULL << (tbl)->bloom_nbits) - 1)))
+
+#define HASH_BLOOM_TEST(tbl,hashv)                                               \
+  HASH_BLOOM_BITTEST((tbl)->bloom_bv, (hashv & (uint32_t)((1ULL << (tbl)->bloom_nbits) - 1)))
+
+#else
+#define HASH_BLOOM_MAKE(tbl)
+#define HASH_BLOOM_FREE(tbl)
+#define HASH_BLOOM_ADD(tbl,hashv)
+#define HASH_BLOOM_TEST(tbl,hashv) (1)
+#define HASH_BLOOM_BYTELEN 0
+#endif
+
+#define HASH_MAKE_TABLE(hh,head)                                                 \
+do {                                                                             \
+  (head)->hh.tbl = (UT_hash_table*)uthash_malloc(                                \
+                  sizeof(UT_hash_table));                                        \
+  if (!((head)->hh.tbl))  { uthash_fatal( "out of memory"); }                    \
+  memset((head)->hh.tbl, 0, sizeof(UT_hash_table));                              \
+  (head)->hh.tbl->tail = &((head)->hh);                                          \
+  (head)->hh.tbl->num_buckets = HASH_INITIAL_NUM_BUCKETS;                        \
+  (head)->hh.tbl->log2_num_buckets = HASH_INITIAL_NUM_BUCKETS_LOG2;              \
+  (head)->hh.tbl->hho = (char*)(&(head)->hh) - (char*)(head);                    \
+  (head)->hh.tbl->buckets = (UT_hash_bucket*)uthash_malloc(                      \
+          HASH_INITIAL_NUM_BUCKETS*sizeof(struct UT_hash_bucket));               \
+  if (! (head)->hh.tbl->buckets) { uthash_fatal( "out of memory"); }             \
+  memset((head)->hh.tbl->buckets, 0,                                             \
+          HASH_INITIAL_NUM_BUCKETS*sizeof(struct UT_hash_bucket));               \
+  HASH_BLOOM_MAKE((head)->hh.tbl);                                               \
+  (head)->hh.tbl->signature = HASH_SIGNATURE;                                    \
+} while(0)
+
+#define HASH_ADD(hh,head,fieldname,keylen_in,add)                                \
+        HASH_ADD_KEYPTR(hh,head,&((add)->fieldname),keylen_in,add)
+
+#define HASH_REPLACE(hh,head,fieldname,keylen_in,add,replaced)                   \
+do {                                                                             \
+  replaced=NULL;                                                                 \
+  HASH_FIND(hh,head,&((add)->fieldname),keylen_in,replaced);                     \
+  if (replaced!=NULL) {                                                          \
+     HASH_DELETE(hh,head,replaced);                                              \
+  };                                                                             \
+  HASH_ADD(hh,head,fieldname,keylen_in,add);                                     \
+} while(0)
+
+#define HASH_ADD_KEYPTR(hh,head,keyptr,keylen_in,add)                            \
+do {                                                                             \
+ unsigned _ha_bkt;                                                               \
+ (add)->hh.next = NULL;                                                          \
+ (add)->hh.key = (char*)(keyptr);                                                \
+ (add)->hh.keylen = (unsigned)(keylen_in);                                       \
+ if (!(head)) {                                                                  \
+    head = (add);                                                                \
+    (head)->hh.prev = NULL;                                                      \
+    HASH_MAKE_TABLE(hh,head);                                                    \
+ } else {                                                                        \
+    (head)->hh.tbl->tail->next = (add);                                          \
+    (add)->hh.prev = ELMT_FROM_HH((head)->hh.tbl, (head)->hh.tbl->tail);         \
+    (head)->hh.tbl->tail = &((add)->hh);                                         \
+ }                                                                               \
+ (head)->hh.tbl->num_items++;                                                    \
+ (add)->hh.tbl = (head)->hh.tbl;                                                 \
+ HASH_FCN(keyptr,keylen_in, (head)->hh.tbl->num_buckets,                         \
+         (add)->hh.hashv, _ha_bkt);                                              \
+ HASH_ADD_TO_BKT((head)->hh.tbl->buckets[_ha_bkt],&(add)->hh);                   \
+ HASH_BLOOM_ADD((head)->hh.tbl,(add)->hh.hashv);                                 \
+ HASH_EMIT_KEY(hh,head,keyptr,keylen_in);                                        \
+ HASH_FSCK(hh,head);                                                             \
+} while(0)
+
+#define HASH_TO_BKT( hashv, num_bkts, bkt )                                      \
+do {                                                                             \
+  bkt = ((hashv) & ((num_bkts) - 1));                                            \
+} while(0)
+
+/* delete "delptr" from the hash table.
+ * "the usual" patch-up process for the app-order doubly-linked-list.
+ * The use of _hd_hh_del below deserves special explanation.
+ * These used to be expressed using (delptr) but that led to a bug
+ * if someone used the same symbol for the head and deletee, like
+ *  HASH_DELETE(hh,users,users);
+ * We want that to work, but by changing the head (users) below
+ * we were forfeiting our ability to further refer to the deletee (users)
+ * in the patch-up process. Solution: use scratch space to
+ * copy the deletee pointer, then the latter references are via that
+ * scratch pointer rather than through the repointed (users) symbol.
+ */
+#define HASH_DELETE(hh,head,delptr)                                              \
+do {                                                                             \
+    struct UT_hash_handle *_hd_hh_del;                                           \
+    if ( ((delptr)->hh.prev == NULL) && ((delptr)->hh.next == NULL) )  {         \
+        uthash_free((head)->hh.tbl->buckets,                                     \
+                    (head)->hh.tbl->num_buckets*sizeof(struct UT_hash_bucket) ); \
+        HASH_BLOOM_FREE((head)->hh.tbl);                                         \
+        uthash_free((head)->hh.tbl, sizeof(UT_hash_table));                      \
+        head = NULL;                                                             \
+    } else {                                                                     \
+        unsigned _hd_bkt;                                                        \
+        _hd_hh_del = &((delptr)->hh);                                            \
+        if ((delptr) == ELMT_FROM_HH((head)->hh.tbl,(head)->hh.tbl->tail)) {     \
+            (head)->hh.tbl->tail =                                               \
+                (UT_hash_handle*)((ptrdiff_t)((delptr)->hh.prev) +               \
+                (head)->hh.tbl->hho);                                            \
+        }                                                                        \
+        if ((delptr)->hh.prev) {                                                 \
+            ((UT_hash_handle*)((ptrdiff_t)((delptr)->hh.prev) +                  \
+                    (head)->hh.tbl->hho))->next = (delptr)->hh.next;             \
+        } else {                                                                 \
+            DECLTYPE_ASSIGN(head,(delptr)->hh.next);                             \
+        }                                                                        \
+        if (_hd_hh_del->next) {                                                  \
+            ((UT_hash_handle*)((ptrdiff_t)_hd_hh_del->next +                     \
+                    (head)->hh.tbl->hho))->prev =                                \
+                    _hd_hh_del->prev;                                            \
+        }                                                                        \
+        HASH_TO_BKT( _hd_hh_del->hashv, (head)->hh.tbl->num_buckets, _hd_bkt);   \
+        HASH_DEL_IN_BKT(hh,(head)->hh.tbl->buckets[_hd_bkt], _hd_hh_del);        \
+        (head)->hh.tbl->num_items--;                                             \
+    }                                                                            \
+    HASH_FSCK(hh,head);                                                          \
+} while (0)
+
+
+/* convenience forms of HASH_FIND/HASH_ADD/HASH_DEL */
+#define HASH_FIND_STR(head,findstr,out)                                          \
+    HASH_FIND(hh,head,findstr,(unsigned)strlen(findstr),out)
+#define HASH_ADD_STR(head,strfield,add)                                          \
+    HASH_ADD(hh,head,strfield[0],strlen(add->strfield),add)
+#define HASH_REPLACE_STR(head,strfield,add,replaced)                             \
+    HASH_REPLACE(hh,head,strfield[0],(unsigned)strlen(add->strfield),add,replaced)
+#define HASH_FIND_INT(head,findint,out)                                          \
+    HASH_FIND(hh,head,findint,sizeof(int),out)
+#define HASH_ADD_INT(head,intfield,add)                                          \
+    HASH_ADD(hh,head,intfield,sizeof(int),add)
+#define HASH_REPLACE_INT(head,intfield,add,replaced)                             \
+    HASH_REPLACE(hh,head,intfield,sizeof(int),add,replaced)
+#define HASH_FIND_PTR(head,findptr,out)                                          \
+    HASH_FIND(hh,head,findptr,sizeof(void *),out)
+#define HASH_ADD_PTR(head,ptrfield,add)                                          \
+    HASH_ADD(hh,head,ptrfield,sizeof(void *),add)
+#define HASH_REPLACE_PTR(head,ptrfield,add,replaced)                             \
+    HASH_REPLACE(hh,head,ptrfield,sizeof(void *),add,replaced)
+#define HASH_DEL(head,delptr)                                                    \
+    HASH_DELETE(hh,head,delptr)
+
+/* HASH_FSCK checks hash integrity on every add/delete when HASH_DEBUG is defined.
+ * This is for uthash developer only; it compiles away if HASH_DEBUG isn't defined.
+ */
+#ifdef HASH_DEBUG
+#define HASH_OOPS(...) do { fprintf(stderr,__VA_ARGS__); exit(-1); } while (0)
+#define HASH_FSCK(hh,head)                                                       \
+do {                                                                             \
+    struct UT_hash_handle *_thh;                                                 \
+    if (head) {                                                                  \
+        unsigned _bkt_i;                                                         \
+        unsigned _count;                                                         \
+        char *_prev;                                                             \
+        _count = 0;                                                              \
+        for( _bkt_i = 0; _bkt_i < (head)->hh.tbl->num_buckets; _bkt_i++) {       \
+            unsigned _bkt_count = 0;                                             \
+            _thh = (head)->hh.tbl->buckets[_bkt_i].hh_head;                      \
+            _prev = NULL;                                                        \
+            while (_thh) {                                                       \
+               if (_prev != (char*)(_thh->hh_prev)) {                            \
+                   HASH_OOPS("invalid hh_prev %p, actual %p\n",                  \
+                    _thh->hh_prev, _prev );                                      \
+               }                                                                 \
+               _bkt_count++;                                                     \
+               _prev = (char*)(_thh);                                            \
+               _thh = _thh->hh_next;                                             \
+            }                                                                    \
+            _count += _bkt_count;                                                \
+            if ((head)->hh.tbl->buckets[_bkt_i].count !=  _bkt_count) {          \
+               HASH_OOPS("invalid bucket count %u, actual %u\n",                 \
+                (head)->hh.tbl->buckets[_bkt_i].count, _bkt_count);              \
+            }                                                                    \
+        }                                                                        \
+        if (_count != (head)->hh.tbl->num_items) {                               \
+            HASH_OOPS("invalid hh item count %u, actual %u\n",                   \
+                (head)->hh.tbl->num_items, _count );                             \
+        }                                                                        \
+        /* traverse hh in app order; check next/prev integrity, count */         \
+        _count = 0;                                                              \
+        _prev = NULL;                                                            \
+        _thh =  &(head)->hh;                                                     \
+        while (_thh) {                                                           \
+           _count++;                                                             \
+           if (_prev !=(char*)(_thh->prev)) {                                    \
+              HASH_OOPS("invalid prev %p, actual %p\n",                          \
+                    _thh->prev, _prev );                                         \
+           }                                                                     \
+           _prev = (char*)ELMT_FROM_HH((head)->hh.tbl, _thh);                    \
+           _thh = ( _thh->next ?  (UT_hash_handle*)((char*)(_thh->next) +        \
+                                  (head)->hh.tbl->hho) : NULL );                 \
+        }                                                                        \
+        if (_count != (head)->hh.tbl->num_items) {                               \
+            HASH_OOPS("invalid app item count %u, actual %u\n",                  \
+                (head)->hh.tbl->num_items, _count );                             \
+        }                                                                        \
+    }                                                                            \
+} while (0)
+#else
+#define HASH_FSCK(hh,head)
+#endif
+
+/* When compiled with -DHASH_EMIT_KEYS, length-prefixed keys are emitted to
+ * the descriptor to which this macro is defined for tuning the hash function.
+ * The app can #include <unistd.h> to get the prototype for write(2). */
+#ifdef HASH_EMIT_KEYS
+#define HASH_EMIT_KEY(hh,head,keyptr,fieldlen)                                   \
+do {                                                                             \
+    unsigned _klen = fieldlen;                                                   \
+    write(HASH_EMIT_KEYS, &_klen, sizeof(_klen));                                \
+    write(HASH_EMIT_KEYS, keyptr, fieldlen);                                     \
+} while (0)
+#else
+#define HASH_EMIT_KEY(hh,head,keyptr,fieldlen)
+#endif
+
+/* default to Jenkin's hash unless overridden e.g. DHASH_FUNCTION=HASH_SAX */
+#ifdef HASH_FUNCTION
+#define HASH_FCN HASH_FUNCTION
+#else
+#define HASH_FCN HASH_JEN
+#endif
+
+/* The Bernstein hash function, used in Perl prior to v5.6. Note (x<<5+x)=x*33. */
+#define HASH_BER(key,keylen,num_bkts,hashv,bkt)                                  \
+do {                                                                             \
+  unsigned _hb_keylen=keylen;                                                    \
+  char *_hb_key=(char*)(key);                                                    \
+  (hashv) = 0;                                                                   \
+  while (_hb_keylen--)  { (hashv) = (((hashv) << 5) + (hashv)) + *_hb_key++; }   \
+  bkt = (hashv) & (num_bkts-1);                                                  \
+} while (0)
+
+
+/* SAX/FNV/OAT/JEN hash functions are macro variants of those listed at
+ * http://eternallyconfuzzled.com/tuts/algorithms/jsw_tut_hashing.aspx */
+#define HASH_SAX(key,keylen,num_bkts,hashv,bkt)                                  \
+do {                                                                             \
+  unsigned _sx_i;                                                                \
+  char *_hs_key=(char*)(key);                                                    \
+  hashv = 0;                                                                     \
+  for(_sx_i=0; _sx_i < keylen; _sx_i++)                                          \
+      hashv ^= (hashv << 5) + (hashv >> 2) + _hs_key[_sx_i];                     \
+  bkt = hashv & (num_bkts-1);                                                    \
+} while (0)
+/* FNV-1a variation */
+#define HASH_FNV(key,keylen,num_bkts,hashv,bkt)                                  \
+do {                                                                             \
+  unsigned _fn_i;                                                                \
+  char *_hf_key=(char*)(key);                                                    \
+  hashv = 2166136261UL;                                                          \
+  for(_fn_i=0; _fn_i < keylen; _fn_i++) {                                        \
+      hashv = hashv ^ _hf_key[_fn_i];                                            \
+      hashv = hashv * 16777619;                                                  \
+  }                                                                              \
+  bkt = hashv & (num_bkts-1);                                                    \
+} while(0)
+
+#define HASH_OAT(key,keylen,num_bkts,hashv,bkt)                                  \
+do {                                                                             \
+  unsigned _ho_i;                                                                \
+  char *_ho_key=(char*)(key);                                                    \
+  hashv = 0;                                                                     \
+  for(_ho_i=0; _ho_i < keylen; _ho_i++) {                                        \
+      hashv += _ho_key[_ho_i];                                                   \
+      hashv += (hashv << 10);                                                    \
+      hashv ^= (hashv >> 6);                                                     \
+  }                                                                              \
+  hashv += (hashv << 3);                                                         \
+  hashv ^= (hashv >> 11);                                                        \
+  hashv += (hashv << 15);                                                        \
+  bkt = hashv & (num_bkts-1);                                                    \
+} while(0)
+
+#define HASH_JEN_MIX(a,b,c)                                                      \
+do {                                                                             \
+  a -= b; a -= c; a ^= ( c >> 13 );                                              \
+  b -= c; b -= a; b ^= ( a << 8 );                                               \
+  c -= a; c -= b; c ^= ( b >> 13 );                                              \
+  a -= b; a -= c; a ^= ( c >> 12 );                                              \
+  b -= c; b -= a; b ^= ( a << 16 );                                              \
+  c -= a; c -= b; c ^= ( b >> 5 );                                               \
+  a -= b; a -= c; a ^= ( c >> 3 );                                               \
+  b -= c; b -= a; b ^= ( a << 10 );                                              \
+  c -= a; c -= b; c ^= ( b >> 15 );                                              \
+} while (0)
+
+#define HASH_JEN(key,keylen,num_bkts,hashv,bkt)                                  \
+do {                                                                             \
+  unsigned _hj_i,_hj_j,_hj_k;                                                    \
+  unsigned char *_hj_key=(unsigned char*)(key);                                  \
+  hashv = 0xfeedbeef;                                                            \
+  _hj_i = _hj_j = 0x9e3779b9;                                                    \
+  _hj_k = (unsigned)(keylen);                                                    \
+  while (_hj_k >= 12) {                                                          \
+    _hj_i +=    (_hj_key[0] + ( (unsigned)_hj_key[1] << 8 )                      \
+        + ( (unsigned)_hj_key[2] << 16 )                                         \
+        + ( (unsigned)_hj_key[3] << 24 ) );                                      \
+    _hj_j +=    (_hj_key[4] + ( (unsigned)_hj_key[5] << 8 )                      \
+        + ( (unsigned)_hj_key[6] << 16 )                                         \
+        + ( (unsigned)_hj_key[7] << 24 ) );                                      \
+    hashv += (_hj_key[8] + ( (unsigned)_hj_key[9] << 8 )                         \
+        + ( (unsigned)_hj_key[10] << 16 )                                        \
+        + ( (unsigned)_hj_key[11] << 24 ) );                                     \
+                                                                                 \
+     HASH_JEN_MIX(_hj_i, _hj_j, hashv);                                          \
+                                                                                 \
+     _hj_key += 12;                                                              \
+     _hj_k -= 12;                                                                \
+  }                                                                              \
+  hashv += keylen;                                                               \
+  switch ( _hj_k ) {                                                             \
+     case 11: hashv += ( (unsigned)_hj_key[10] << 24 );                          \
+     case 10: hashv += ( (unsigned)_hj_key[9] << 16 );                           \
+     case 9:  hashv += ( (unsigned)_hj_key[8] << 8 );                            \
+     case 8:  _hj_j += ( (unsigned)_hj_key[7] << 24 );                           \
+     case 7:  _hj_j += ( (unsigned)_hj_key[6] << 16 );                           \
+     case 6:  _hj_j += ( (unsigned)_hj_key[5] << 8 );                            \
+     case 5:  _hj_j += _hj_key[4];                                               \
+     case 4:  _hj_i += ( (unsigned)_hj_key[3] << 24 );                           \
+     case 3:  _hj_i += ( (unsigned)_hj_key[2] << 16 );                           \
+     case 2:  _hj_i += ( (unsigned)_hj_key[1] << 8 );                            \
+     case 1:  _hj_i += _hj_key[0];                                               \
+  }                                                                              \
+  HASH_JEN_MIX(_hj_i, _hj_j, hashv);                                             \
+  bkt = hashv & (num_bkts-1);                                                    \
+} while(0)
+
+/* The Paul Hsieh hash function */
+#undef get16bits
+#if (defined(__GNUC__) && defined(__i386__)) || defined(__WATCOMC__)             \
+  || defined(_MSC_VER) || defined (__BORLANDC__) || defined (__TURBOC__)
+#define get16bits(d) (*((const uint16_t *) (d)))
+#endif
+
+#if !defined (get16bits)
+#define get16bits(d) ((((uint32_t)(((const uint8_t *)(d))[1])) << 8)             \
+                       +(uint32_t)(((const uint8_t *)(d))[0]) )
+#endif
+#define HASH_SFH(key,keylen,num_bkts,hashv,bkt)                                  \
+do {                                                                             \
+  unsigned char *_sfh_key=(unsigned char*)(key);                                 \
+  uint32_t _sfh_tmp, _sfh_len = keylen;                                          \
+                                                                                 \
+  int _sfh_rem = _sfh_len & 3;                                                   \
+  _sfh_len >>= 2;                                                                \
+  hashv = 0xcafebabe;                                                            \
+                                                                                 \
+  /* Main loop */                                                                \
+  for (;_sfh_len > 0; _sfh_len--) {                                              \
+    hashv    += get16bits (_sfh_key);                                            \
+    _sfh_tmp       = (uint32_t)(get16bits (_sfh_key+2)) << 11  ^ hashv;          \
+    hashv     = (hashv << 16) ^ _sfh_tmp;                                        \
+    _sfh_key += 2*sizeof (uint16_t);                                             \
+    hashv    += hashv >> 11;                                                     \
+  }                                                                              \
+                                                                                 \
+  /* Handle end cases */                                                         \
+  switch (_sfh_rem) {                                                            \
+    case 3: hashv += get16bits (_sfh_key);                                       \
+            hashv ^= hashv << 16;                                                \
+            hashv ^= (uint32_t)(_sfh_key[sizeof (uint16_t)] << 18);              \
+            hashv += hashv >> 11;                                                \
+            break;                                                               \
+    case 2: hashv += get16bits (_sfh_key);                                       \
+            hashv ^= hashv << 11;                                                \
+            hashv += hashv >> 17;                                                \
+            break;                                                               \
+    case 1: hashv += *_sfh_key;                                                  \
+            hashv ^= hashv << 10;                                                \
+            hashv += hashv >> 1;                                                 \
+  }                                                                              \
+                                                                                 \
+    /* Force "avalanching" of final 127 bits */                                  \
+    hashv ^= hashv << 3;                                                         \
+    hashv += hashv >> 5;                                                         \
+    hashv ^= hashv << 4;                                                         \
+    hashv += hashv >> 17;                                                        \
+    hashv ^= hashv << 25;                                                        \
+    hashv += hashv >> 6;                                                         \
+    bkt = hashv & (num_bkts-1);                                                  \
+} while(0)
+
+#ifdef HASH_USING_NO_STRICT_ALIASING
+/* The MurmurHash exploits some CPU's (x86,x86_64) tolerance for unaligned reads.
+ * For other types of CPU's (e.g. Sparc) an unaligned read causes a bus error.
+ * MurmurHash uses the faster approach only on CPU's where we know it's safe.
+ *
+ * Note the preprocessor built-in defines can be emitted using:
+ *
+ *   gcc -m64 -dM -E - < /dev/null                  (on gcc)
+ *   cc -## a.c (where a.c is a simple test file)   (Sun Studio)
+ */
+#if (defined(__i386__) || defined(__x86_64__)  || defined(_M_IX86))
+#define MUR_GETBLOCK(p,i) p[i]
+#else /* non intel */
+#define MUR_PLUS0_ALIGNED(p) (((unsigned long)p & 0x3) == 0)
+#define MUR_PLUS1_ALIGNED(p) (((unsigned long)p & 0x3) == 1)
+#define MUR_PLUS2_ALIGNED(p) (((unsigned long)p & 0x3) == 2)
+#define MUR_PLUS3_ALIGNED(p) (((unsigned long)p & 0x3) == 3)
+#define WP(p) ((uint32_t*)((unsigned long)(p) & ~3UL))
+#if (defined(__BIG_ENDIAN__) || defined(SPARC) || defined(__ppc__) || defined(__ppc64__))
+#define MUR_THREE_ONE(p) ((((*WP(p))&0x00ffffff) << 8) | (((*(WP(p)+1))&0xff000000) >> 24))
+#define MUR_TWO_TWO(p)   ((((*WP(p))&0x0000ffff) <<16) | (((*(WP(p)+1))&0xffff0000) >> 16))
+#define MUR_ONE_THREE(p) ((((*WP(p))&0x000000ff) <<24) | (((*(WP(p)+1))&0xffffff00) >>  8))
+#else /* assume little endian non-intel */
+#define MUR_THREE_ONE(p) ((((*WP(p))&0xffffff00) >> 8) | (((*(WP(p)+1))&0x000000ff) << 24))
+#define MUR_TWO_TWO(p)   ((((*WP(p))&0xffff0000) >>16) | (((*(WP(p)+1))&0x0000ffff) << 16))
+#define MUR_ONE_THREE(p) ((((*WP(p))&0xff000000) >>24) | (((*(WP(p)+1))&0x00ffffff) <<  8))
+#endif
+#define MUR_GETBLOCK(p,i) (MUR_PLUS0_ALIGNED(p) ? ((p)[i]) :           \
+                            (MUR_PLUS1_ALIGNED(p) ? MUR_THREE_ONE(p) : \
+                             (MUR_PLUS2_ALIGNED(p) ? MUR_TWO_TWO(p) :  \
+                                                      MUR_ONE_THREE(p))))
+#endif
+#define MUR_ROTL32(x,r) (((x) << (r)) | ((x) >> (32 - (r))))
+#define MUR_FMIX(_h) \
+do {                 \
+  _h ^= _h >> 16;    \
+  _h *= 0x85ebca6b;  \
+  _h ^= _h >> 13;    \
+  _h *= 0xc2b2ae35l; \
+  _h ^= _h >> 16;    \
+} while(0)
+
+#define HASH_MUR(key,keylen,num_bkts,hashv,bkt)                        \
+do {                                                                   \
+  const uint8_t *_mur_data = (const uint8_t*)(key);                    \
+  const int _mur_nblocks = (keylen) / 4;                               \
+  uint32_t _mur_h1 = 0xf88D5353;                                       \
+  uint32_t _mur_c1 = 0xcc9e2d51;                                       \
+  uint32_t _mur_c2 = 0x1b873593;                                       \
+  uint32_t _mur_k1 = 0;                                                \
+  const uint8_t *_mur_tail;                                            \
+  const uint32_t *_mur_blocks = (const uint32_t*)(_mur_data+_mur_nblocks*4); \
+  int _mur_i;                                                          \
+  for(_mur_i = -_mur_nblocks; _mur_i; _mur_i++) {                      \
+    _mur_k1 = MUR_GETBLOCK(_mur_blocks,_mur_i);                        \
+    _mur_k1 *= _mur_c1;                                                \
+    _mur_k1 = MUR_ROTL32(_mur_k1,15);                                  \
+    _mur_k1 *= _mur_c2;                                                \
+                                                                       \
+    _mur_h1 ^= _mur_k1;                                                \
+    _mur_h1 = MUR_ROTL32(_mur_h1,13);                                  \
+    _mur_h1 = _mur_h1*5+0xe6546b64;                                    \
+  }                                                                    \
+  _mur_tail = (const uint8_t*)(_mur_data + _mur_nblocks*4);            \
+  _mur_k1=0;                                                           \
+  switch((keylen) & 3) {                                               \
+    case 3: _mur_k1 ^= _mur_tail[2] << 16;                             \
+    case 2: _mur_k1 ^= _mur_tail[1] << 8;                              \
+    case 1: _mur_k1 ^= _mur_tail[0];                                   \
+    _mur_k1 *= _mur_c1;                                                \
+    _mur_k1 = MUR_ROTL32(_mur_k1,15);                                  \
+    _mur_k1 *= _mur_c2;                                                \
+    _mur_h1 ^= _mur_k1;                                                \
+  }                                                                    \
+  _mur_h1 ^= (keylen);                                                 \
+  MUR_FMIX(_mur_h1);                                                   \
+  hashv = _mur_h1;                                                     \
+  bkt = hashv & (num_bkts-1);                                          \
+} while(0)
+#endif  /* HASH_USING_NO_STRICT_ALIASING */
+
+/* key comparison function; return 0 if keys equal */
+#define HASH_KEYCMP(a,b,len) memcmp(a,b,len)
+
+/* iterate over items in a known bucket to find desired item */
+#define HASH_FIND_IN_BKT(tbl,hh,head,keyptr,keylen_in,out)                       \
+do {                                                                             \
+ if (head.hh_head) DECLTYPE_ASSIGN(out,ELMT_FROM_HH(tbl,head.hh_head));          \
+ else out=NULL;                                                                  \
+ while (out) {                                                                   \
+    if ((out)->hh.keylen == keylen_in) {                                           \
+        if ((HASH_KEYCMP((out)->hh.key,keyptr,keylen_in)) == 0) break;             \
+    }                                                                            \
+    if ((out)->hh.hh_next) DECLTYPE_ASSIGN(out,ELMT_FROM_HH(tbl,(out)->hh.hh_next)); \
+    else out = NULL;                                                             \
+ }                                                                               \
+} while(0)
+
+/* add an item to a bucket  */
+#define HASH_ADD_TO_BKT(head,addhh)                                              \
+do {                                                                             \
+ head.count++;                                                                   \
+ (addhh)->hh_next = head.hh_head;                                                \
+ (addhh)->hh_prev = NULL;                                                        \
+ if (head.hh_head) { (head).hh_head->hh_prev = (addhh); }                        \
+ (head).hh_head=addhh;                                                           \
+ if (head.count >= ((head.expand_mult+1) * HASH_BKT_CAPACITY_THRESH)             \
+     && (addhh)->tbl->noexpand != 1) {                                           \
+       HASH_EXPAND_BUCKETS((addhh)->tbl);                                        \
+ }                                                                               \
+} while(0)
+
+/* remove an item from a given bucket */
+#define HASH_DEL_IN_BKT(hh,head,hh_del)                                          \
+    (head).count--;                                                              \
+    if ((head).hh_head == hh_del) {                                              \
+      (head).hh_head = hh_del->hh_next;                                          \
+    }                                                                            \
+    if (hh_del->hh_prev) {                                                       \
+        hh_del->hh_prev->hh_next = hh_del->hh_next;                              \
+    }                                                                            \
+    if (hh_del->hh_next) {                                                       \
+        hh_del->hh_next->hh_prev = hh_del->hh_prev;                              \
+    }
+
+/* Bucket expansion has the effect of doubling the number of buckets
+ * and redistributing the items into the new buckets. Ideally the
+ * items will distribute more or less evenly into the new buckets
+ * (the extent to which this is true is a measure of the quality of
+ * the hash function as it applies to the key domain).
+ *
+ * With the items distributed into more buckets, the chain length
+ * (item count) in each bucket is reduced. Thus by expanding buckets
+ * the hash keeps a bound on the chain length. This bounded chain
+ * length is the essence of how a hash provides constant time lookup.
+ *
+ * The calculation of tbl->ideal_chain_maxlen below deserves some
+ * explanation. First, keep in mind that we're calculating the ideal
+ * maximum chain length based on the *new* (doubled) bucket count.
+ * In fractions this is just n/b (n=number of items,b=new num buckets).
+ * Since the ideal chain length is an integer, we want to calculate
+ * ceil(n/b). We don't depend on floating point arithmetic in this
+ * hash, so to calculate ceil(n/b) with integers we could write
+ *
+ *      ceil(n/b) = (n/b) + ((n%b)?1:0)
+ *
+ * and in fact a previous version of this hash did just that.
+ * But now we have improved things a bit by recognizing that b is
+ * always a power of two. We keep its base 2 log handy (call it lb),
+ * so now we can write this with a bit shift and logical AND:
+ *
+ *      ceil(n/b) = (n>>lb) + ( (n & (b-1)) ? 1:0)
+ *
+ */
+#define HASH_EXPAND_BUCKETS(tbl)                                                 \
+do {                                                                             \
+    unsigned _he_bkt;                                                            \
+    unsigned _he_bkt_i;                                                          \
+    struct UT_hash_handle *_he_thh, *_he_hh_nxt;                                 \
+    UT_hash_bucket *_he_new_buckets, *_he_newbkt;                                \
+    _he_new_buckets = (UT_hash_bucket*)uthash_malloc(                            \
+             2 * tbl->num_buckets * sizeof(struct UT_hash_bucket));              \
+    if (!_he_new_buckets) { uthash_fatal( "out of memory"); }                    \
+    memset(_he_new_buckets, 0,                                                   \
+            2 * tbl->num_buckets * sizeof(struct UT_hash_bucket));               \
+    tbl->ideal_chain_maxlen =                                                    \
+       (tbl->num_items >> (tbl->log2_num_buckets+1)) +                           \
+       ((tbl->num_items & ((tbl->num_buckets*2)-1)) ? 1 : 0);                    \
+    tbl->nonideal_items = 0;                                                     \
+    for(_he_bkt_i = 0; _he_bkt_i < tbl->num_buckets; _he_bkt_i++)                \
+    {                                                                            \
+        _he_thh = tbl->buckets[ _he_bkt_i ].hh_head;                             \
+        while (_he_thh) {                                                        \
+           _he_hh_nxt = _he_thh->hh_next;                                        \
+           HASH_TO_BKT( _he_thh->hashv, tbl->num_buckets*2, _he_bkt);            \
+           _he_newbkt = &(_he_new_buckets[ _he_bkt ]);                           \
+           if (++(_he_newbkt->count) > tbl->ideal_chain_maxlen) {                \
+             tbl->nonideal_items++;                                              \
+             _he_newbkt->expand_mult = _he_newbkt->count /                       \
+                                        tbl->ideal_chain_maxlen;                 \
+           }                                                                     \
+           _he_thh->hh_prev = NULL;                                              \
+           _he_thh->hh_next = _he_newbkt->hh_head;                               \
+           if (_he_newbkt->hh_head) _he_newbkt->hh_head->hh_prev =               \
+                _he_thh;                                                         \
+           _he_newbkt->hh_head = _he_thh;                                        \
+           _he_thh = _he_hh_nxt;                                                 \
+        }                                                                        \
+    }                                                                            \
+    uthash_free( tbl->buckets, tbl->num_buckets*sizeof(struct UT_hash_bucket) ); \
+    tbl->num_buckets *= 2;                                                       \
+    tbl->log2_num_buckets++;                                                     \
+    tbl->buckets = _he_new_buckets;                                              \
+    tbl->ineff_expands = (tbl->nonideal_items > (tbl->num_items >> 1)) ?         \
+        (tbl->ineff_expands+1) : 0;                                              \
+    if (tbl->ineff_expands > 1) {                                                \
+        tbl->noexpand=1;                                                         \
+        uthash_noexpand_fyi(tbl);                                                \
+    }                                                                            \
+    uthash_expand_fyi(tbl);                                                      \
+} while(0)
+
+
+/* This is an adaptation of Simon Tatham's O(n log(n)) mergesort */
+/* Note that HASH_SORT assumes the hash handle name to be hh.
+ * HASH_SRT was added to allow the hash handle name to be passed in. */
+#define HASH_SORT(head,cmpfcn) HASH_SRT(hh,head,cmpfcn)
+#define HASH_SRT(hh,head,cmpfcn)                                                 \
+do {                                                                             \
+  unsigned _hs_i;                                                                \
+  unsigned _hs_looping,_hs_nmerges,_hs_insize,_hs_psize,_hs_qsize;               \
+  struct UT_hash_handle *_hs_p, *_hs_q, *_hs_e, *_hs_list, *_hs_tail;            \
+  if (head) {                                                                    \
+      _hs_insize = 1;                                                            \
+      _hs_looping = 1;                                                           \
+      _hs_list = &((head)->hh);                                                  \
+      while (_hs_looping) {                                                      \
+          _hs_p = _hs_list;                                                      \
+          _hs_list = NULL;                                                       \
+          _hs_tail = NULL;                                                       \
+          _hs_nmerges = 0;                                                       \
+          while (_hs_p) {                                                        \
+              _hs_nmerges++;                                                     \
+              _hs_q = _hs_p;                                                     \
+              _hs_psize = 0;                                                     \
+              for ( _hs_i = 0; _hs_i  < _hs_insize; _hs_i++ ) {                  \
+                  _hs_psize++;                                                   \
+                  _hs_q = (UT_hash_handle*)((_hs_q->next) ?                      \
+                          ((void*)((char*)(_hs_q->next) +                        \
+                          (head)->hh.tbl->hho)) : NULL);                         \
+                  if (! (_hs_q) ) break;                                         \
+              }                                                                  \
+              _hs_qsize = _hs_insize;                                            \
+              while ((_hs_psize > 0) || ((_hs_qsize > 0) && _hs_q )) {           \
+                  if (_hs_psize == 0) {                                          \
+                      _hs_e = _hs_q;                                             \
+                      _hs_q = (UT_hash_handle*)((_hs_q->next) ?                  \
+                              ((void*)((char*)(_hs_q->next) +                    \
+                              (head)->hh.tbl->hho)) : NULL);                     \
+                      _hs_qsize--;                                               \
+                  } else if ( (_hs_qsize == 0) || !(_hs_q) ) {                   \
+                      _hs_e = _hs_p;                                             \
+                      if (_hs_p){                                                \
+                        _hs_p = (UT_hash_handle*)((_hs_p->next) ?                \
+                                ((void*)((char*)(_hs_p->next) +                  \
+                                (head)->hh.tbl->hho)) : NULL);                   \
+                       }                                                         \
+                      _hs_psize--;                                               \
+                  } else if ((                                                   \
+                      cmpfcn(DECLTYPE(head)(ELMT_FROM_HH((head)->hh.tbl,_hs_p)), \
+                             DECLTYPE(head)(ELMT_FROM_HH((head)->hh.tbl,_hs_q))) \
+                             ) <= 0) {                                           \
+                      _hs_e = _hs_p;                                             \
+                      if (_hs_p){                                                \
+                        _hs_p = (UT_hash_handle*)((_hs_p->next) ?                \
+                               ((void*)((char*)(_hs_p->next) +                   \
+                               (head)->hh.tbl->hho)) : NULL);                    \
+                       }                                                         \
+                      _hs_psize--;                                               \
+                  } else {                                                       \
+                      _hs_e = _hs_q;                                             \
+                      _hs_q = (UT_hash_handle*)((_hs_q->next) ?                  \
+                              ((void*)((char*)(_hs_q->next) +                    \
+                              (head)->hh.tbl->hho)) : NULL);                     \
+                      _hs_qsize--;                                               \
+                  }                                                              \
+                  if ( _hs_tail ) {                                              \
+                      _hs_tail->next = ((_hs_e) ?                                \
+                            ELMT_FROM_HH((head)->hh.tbl,_hs_e) : NULL);          \
+                  } else {                                                       \
+                      _hs_list = _hs_e;                                          \
+                  }                                                              \
+                  if (_hs_e) {                                                   \
+                  _hs_e->prev = ((_hs_tail) ?                                    \
+                     ELMT_FROM_HH((head)->hh.tbl,_hs_tail) : NULL);              \
+                  }                                                              \
+                  _hs_tail = _hs_e;                                              \
+              }                                                                  \
+              _hs_p = _hs_q;                                                     \
+          }                                                                      \
+          if (_hs_tail){                                                         \
+            _hs_tail->next = NULL;                                               \
+          }                                                                      \
+          if ( _hs_nmerges <= 1 ) {                                              \
+              _hs_looping=0;                                                     \
+              (head)->hh.tbl->tail = _hs_tail;                                   \
+              DECLTYPE_ASSIGN(head,ELMT_FROM_HH((head)->hh.tbl, _hs_list));      \
+          }                                                                      \
+          _hs_insize *= 2;                                                       \
+      }                                                                          \
+      HASH_FSCK(hh,head);                                                        \
+ }                                                                               \
+} while (0)
+
+/* This function selects items from one hash into another hash.
+ * The end result is that the selected items have dual presence
+ * in both hashes. There is no copy of the items made; rather
+ * they are added into the new hash through a secondary hash
+ * hash handle that must be present in the structure. */
+#define HASH_SELECT(hh_dst, dst, hh_src, src, cond)                              \
+do {                                                                             \
+  unsigned _src_bkt, _dst_bkt;                                                   \
+  void *_last_elt=NULL, *_elt;                                                   \
+  UT_hash_handle *_src_hh, *_dst_hh, *_last_elt_hh=NULL;                         \
+  ptrdiff_t _dst_hho = ((char*)(&(dst)->hh_dst) - (char*)(dst));                 \
+  if (src) {                                                                     \
+    for(_src_bkt=0; _src_bkt < (src)->hh_src.tbl->num_buckets; _src_bkt++) {     \
+      for(_src_hh = (src)->hh_src.tbl->buckets[_src_bkt].hh_head;                \
+          _src_hh;                                                               \
+          _src_hh = _src_hh->hh_next) {                                          \
+          _elt = ELMT_FROM_HH((src)->hh_src.tbl, _src_hh);                       \
+          if (cond(_elt)) {                                                      \
+            _dst_hh = (UT_hash_handle*)(((char*)_elt) + _dst_hho);               \
+            _dst_hh->key = _src_hh->key;                                         \
+            _dst_hh->keylen = _src_hh->keylen;                                   \
+            _dst_hh->hashv = _src_hh->hashv;                                     \
+            _dst_hh->prev = _last_elt;                                           \
+            _dst_hh->next = NULL;                                                \
+            if (_last_elt_hh) { _last_elt_hh->next = _elt; }                     \
+            if (!dst) {                                                          \
+              DECLTYPE_ASSIGN(dst,_elt);                                         \
+              HASH_MAKE_TABLE(hh_dst,dst);                                       \
+            } else {                                                             \
+              _dst_hh->tbl = (dst)->hh_dst.tbl;                                  \
+            }                                                                    \
+            HASH_TO_BKT(_dst_hh->hashv, _dst_hh->tbl->num_buckets, _dst_bkt);    \
+            HASH_ADD_TO_BKT(_dst_hh->tbl->buckets[_dst_bkt],_dst_hh);            \
+            (dst)->hh_dst.tbl->num_items++;                                      \
+            _last_elt = _elt;                                                    \
+            _last_elt_hh = _dst_hh;                                              \
+          }                                                                      \
+      }                                                                          \
+    }                                                                            \
+  }                                                                              \
+  HASH_FSCK(hh_dst,dst);                                                         \
+} while (0)
+
+#define HASH_CLEAR(hh,head)                                                      \
+do {                                                                             \
+  if (head) {                                                                    \
+    uthash_free((head)->hh.tbl->buckets,                                         \
+                (head)->hh.tbl->num_buckets*sizeof(struct UT_hash_bucket));      \
+    HASH_BLOOM_FREE((head)->hh.tbl);                                             \
+    uthash_free((head)->hh.tbl, sizeof(UT_hash_table));                          \
+    (head)=NULL;                                                                 \
+  }                                                                              \
+} while(0)
+
+#define HASH_OVERHEAD(hh,head)                                                   \
+ ((head) ? (                                                                     \
+ (size_t)((((head)->hh.tbl->num_items   * sizeof(UT_hash_handle))   +            \
+           ((head)->hh.tbl->num_buckets * sizeof(UT_hash_bucket))   +            \
+            (sizeof(UT_hash_table))                                 +            \
+            (HASH_BLOOM_BYTELEN)))) : 0)
+
+#ifdef NO_DECLTYPE
+#define HASH_ITER(hh,head,el,tmp)                                                \
+for((el)=(head), (*(char**)(&(tmp)))=(char*)((head)?(head)->hh.next:NULL);       \
+  el; (el)=(tmp),(*(char**)(&(tmp)))=(char*)((tmp)?(tmp)->hh.next:NULL))
+#else
+#define HASH_ITER(hh,head,el,tmp)                                                \
+for((el)=(head),(tmp)=DECLTYPE(el)((head)?(head)->hh.next:NULL);                 \
+  el; (el)=(tmp),(tmp)=DECLTYPE(el)((tmp)?(tmp)->hh.next:NULL))
+#endif
+
+/* obtain a count of items in the hash */
+#define HASH_COUNT(head) HASH_CNT(hh,head)
+#define HASH_CNT(hh,head) ((head)?((head)->hh.tbl->num_items):0)
+
+typedef struct UT_hash_bucket {
+   struct UT_hash_handle *hh_head;
+   unsigned count;
+
+   /* expand_mult is normally set to 0. In this situation, the max chain length
+    * threshold is enforced at its default value, HASH_BKT_CAPACITY_THRESH. (If
+    * the bucket's chain exceeds this length, bucket expansion is triggered).
+    * However, setting expand_mult to a non-zero value delays bucket expansion
+    * (that would be triggered by additions to this particular bucket)
+    * until its chain length reaches a *multiple* of HASH_BKT_CAPACITY_THRESH.
+    * (The multiplier is simply expand_mult+1). The whole idea of this
+    * multiplier is to reduce bucket expansions, since they are expensive, in
+    * situations where we know that a particular bucket tends to be overused.
+    * It is better to let its chain length grow to a longer yet-still-bounded
+    * value, than to do an O(n) bucket expansion too often.
+    */
+   unsigned expand_mult;
+
+} UT_hash_bucket;
+
+/* random signature used only to find hash tables in external analysis */
+#define HASH_SIGNATURE 0xa0111fe1
+#define HASH_BLOOM_SIGNATURE 0xb12220f2
+
+typedef struct UT_hash_table {
+   UT_hash_bucket *buckets;
+   unsigned num_buckets, log2_num_buckets;
+   unsigned num_items;
+   struct UT_hash_handle *tail; /* tail hh in app order, for fast append    */
+   ptrdiff_t hho; /* hash handle offset (byte pos of hash handle in element */
+
+   /* in an ideal situation (all buckets used equally), no bucket would have
+    * more than ceil(#items/#buckets) items. that's the ideal chain length. */
+   unsigned ideal_chain_maxlen;
+
+   /* nonideal_items is the number of items in the hash whose chain position
+    * exceeds the ideal chain maxlen. these items pay the penalty for an uneven
+    * hash distribution; reaching them in a chain traversal takes >ideal steps */
+   unsigned nonideal_items;
+
+   /* ineffective expands occur when a bucket doubling was performed, but
+    * afterward, more than half the items in the hash had nonideal chain
+    * positions. If this happens on two consecutive expansions we inhibit any
+    * further expansion, as it's not helping; this happens when the hash
+    * function isn't a good fit for the key domain. When expansion is inhibited
+    * the hash will still work, albeit no longer in constant time. */
+   unsigned ineff_expands, noexpand;
+
+   uint32_t signature; /* used only to find hash tables in external analysis */
+#ifdef HASH_BLOOM
+   uint32_t bloom_sig; /* used only to test bloom exists in external analysis */
+   uint8_t *bloom_bv;
+   char bloom_nbits;
+#endif
+
+} UT_hash_table;
+
+typedef struct UT_hash_handle {
+   struct UT_hash_table *tbl;
+   void *prev;                       /* prev element in app order      */
+   void *next;                       /* next element in app order      */
+   struct UT_hash_handle *hh_prev;   /* previous hh in bucket order    */
+   struct UT_hash_handle *hh_next;   /* next hh in bucket order        */
+   void *key;                        /* ptr to enclosing struct's key  */
+   unsigned keylen;                  /* enclosing struct's key len     */
+   unsigned hashv;                   /* result of hash-fcn(key)        */
+} UT_hash_handle;
+
+#endif /* UTHASH_H */

gomspace/libutil/include/gs/uthash/utlist.h

@@ -0,0 +1,757 @@
+/*
+Copyright (c) 2007-2014, Troy D. Hanson   http://troydhanson.github.com/uthash/
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
+OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef UTLIST_H
+#define UTLIST_H
+
+#define UTLIST_VERSION 1.9.9
+
+#include <assert.h>
+
+/*
+ * This file contains macros to manipulate singly and doubly-linked lists.
+ *
+ * 1. LL_ macros:  singly-linked lists.
+ * 2. DL_ macros:  doubly-linked lists.
+ * 3. CDL_ macros: circular doubly-linked lists.
+ *
+ * To use singly-linked lists, your structure must have a "next" pointer.
+ * To use doubly-linked lists, your structure must "prev" and "next" pointers.
+ * Either way, the pointer to the head of the list must be initialized to NULL.
+ *
+ * ----------------.EXAMPLE -------------------------
+ * struct item {
+ *      int id;
+ *      struct item *prev, *next;
+ * }
+ *
+ * struct item *list = NULL:
+ *
+ * int main() {
+ *      struct item *item;
+ *      ... allocate and populate item ...
+ *      DL_APPEND(list, item);
+ * }
+ * --------------------------------------------------
+ *
+ * For doubly-linked lists, the append and delete macros are O(1)
+ * For singly-linked lists, append and delete are O(n) but prepend is O(1)
+ * The sort macro is O(n log(n)) for all types of single/double/circular lists.
+ */
+
+/* These macros use decltype or the earlier __typeof GNU extension.
+   As decltype is only available in newer compilers (VS2010 or gcc 4.3+
+   when compiling c++ code), this code uses whatever method is needed
+   or, for VS2008 where neither is available, uses casting workarounds. */
+#ifdef _MSC_VER            /* MS compiler */
+#if _MSC_VER >= 1600 && defined(__cplusplus)  /* VS2010 or newer in C++ mode */
+#define LDECLTYPE(x) decltype(x)
+#else                     /* VS2008 or older (or VS2010 in C mode) */
+#define NO_DECLTYPE
+#define LDECLTYPE(x) char*
+#endif
+#elif defined(__ICCARM__)
+#define NO_DECLTYPE
+#define LDECLTYPE(x) char*
+#else                      /* GNU, Sun and other compilers */
+#define LDECLTYPE(x) __typeof(x)
+#endif
+
+/* for VS2008 we use some workarounds to get around the lack of decltype,
+ * namely, we always reassign our tmp variable to the list head if we need
+ * to dereference its prev/next pointers, and save/restore the real head.*/
+#ifdef NO_DECLTYPE
+#define _SV(elt,list) _tmp = (char*)(list); {char **_alias = (char**)&(list); *_alias = (elt); }
+#define _NEXT(elt,list,next) ((char*)((list)->next))
+#define _NEXTASGN(elt,list,to,next) { char **_alias = (char**)&((list)->next); *_alias=(char*)(to); }
+/* #define _PREV(elt,list,prev) ((char*)((list)->prev)) */
+#define _PREVASGN(elt,list,to,prev) { char **_alias = (char**)&((list)->prev); *_alias=(char*)(to); }
+#define _RS(list) { char **_alias = (char**)&(list); *_alias=_tmp; }
+#define _CASTASGN(a,b) { char **_alias = (char**)&(a); *_alias=(char*)(b); }
+#else
+#define _SV(elt,list)
+#define _NEXT(elt,list,next) ((elt)->next)
+#define _NEXTASGN(elt,list,to,next) ((elt)->next)=(to)
+/* #define _PREV(elt,list,prev) ((elt)->prev) */
+#define _PREVASGN(elt,list,to,prev) ((elt)->prev)=(to)
+#define _RS(list)
+#define _CASTASGN(a,b) (a)=(b)
+#endif
+
+/******************************************************************************
+ * The sort macro is an adaptation of Simon Tatham's O(n log(n)) mergesort    *
+ * Unwieldy variable names used here to avoid shadowing passed-in variables.  *
+ *****************************************************************************/
+#define LL_SORT(list, cmp)                                                                     \
+    LL_SORT2(list, cmp, next)
+
+#define LL_SORT2(list, cmp, next)                                                              \
+do {                                                                                           \
+  LDECLTYPE(list) _ls_p;                                                                       \
+  LDECLTYPE(list) _ls_q;                                                                       \
+  LDECLTYPE(list) _ls_e;                                                                       \
+  LDECLTYPE(list) _ls_tail;                                                                    \
+  int _ls_insize, _ls_nmerges, _ls_psize, _ls_qsize, _ls_i, _ls_looping;                       \
+  if (list) {                                                                                  \
+    _ls_insize = 1;                                                                            \
+    _ls_looping = 1;                                                                           \
+    while (_ls_looping) {                                                                      \
+      _CASTASGN(_ls_p,list);                                                                   \
+      list = NULL;                                                                             \
+      _ls_tail = NULL;                                                                         \
+      _ls_nmerges = 0;                                                                         \
+      while (_ls_p) {                                                                          \
+        _ls_nmerges++;                                                                         \
+        _ls_q = _ls_p;                                                                         \
+        _ls_psize = 0;                                                                         \
+        for (_ls_i = 0; _ls_i < _ls_insize; _ls_i++) {                                         \
+          _ls_psize++;                                                                         \
+          _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list,next); _RS(list);                          \
+          if (!_ls_q) break;                                                                   \
+        }                                                                                      \
+        _ls_qsize = _ls_insize;                                                                \
+        while (_ls_psize > 0 || (_ls_qsize > 0 && _ls_q)) {                                    \
+          if (_ls_psize == 0) {                                                                \
+            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q =                                            \
+              _NEXT(_ls_q,list,next); _RS(list); _ls_qsize--;                                  \
+          } else if (_ls_qsize == 0 || !_ls_q) {                                               \
+            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p =                                            \
+              _NEXT(_ls_p,list,next); _RS(list); _ls_psize--;                                  \
+          } else if (cmp(_ls_p,_ls_q) <= 0) {                                                  \
+            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p =                                            \
+              _NEXT(_ls_p,list,next); _RS(list); _ls_psize--;                                  \
+          } else {                                                                             \
+            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q =                                            \
+              _NEXT(_ls_q,list,next); _RS(list); _ls_qsize--;                                  \
+          }                                                                                    \
+          if (_ls_tail) {                                                                      \
+            _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,_ls_e,next); _RS(list);                \
+          } else {                                                                             \
+            _CASTASGN(list,_ls_e);                                                             \
+          }                                                                                    \
+          _ls_tail = _ls_e;                                                                    \
+        }                                                                                      \
+        _ls_p = _ls_q;                                                                         \
+      }                                                                                        \
+      if (_ls_tail) {                                                                          \
+        _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,NULL,next); _RS(list);                     \
+      }                                                                                        \
+      if (_ls_nmerges <= 1) {                                                                  \
+        _ls_looping=0;                                                                         \
+      }                                                                                        \
+      _ls_insize *= 2;                                                                         \
+    }                                                                                          \
+  }                                                                                            \
+} while (0)
+
+
+#define DL_SORT(list, cmp)                                                                     \
+    DL_SORT2(list, cmp, prev, next)
+
+#define DL_SORT2(list, cmp, prev, next)                                                        \
+do {                                                                                           \
+  LDECLTYPE(list) _ls_p;                                                                       \
+  LDECLTYPE(list) _ls_q;                                                                       \
+  LDECLTYPE(list) _ls_e;                                                                       \
+  LDECLTYPE(list) _ls_tail;                                                                    \
+  int _ls_insize, _ls_nmerges, _ls_psize, _ls_qsize, _ls_i, _ls_looping;                       \
+  if (list) {                                                                                  \
+    _ls_insize = 1;                                                                            \
+    _ls_looping = 1;                                                                           \
+    while (_ls_looping) {                                                                      \
+      _CASTASGN(_ls_p,list);                                                                   \
+      list = NULL;                                                                             \
+      _ls_tail = NULL;                                                                         \
+      _ls_nmerges = 0;                                                                         \
+      while (_ls_p) {                                                                          \
+        _ls_nmerges++;                                                                         \
+        _ls_q = _ls_p;                                                                         \
+        _ls_psize = 0;                                                                         \
+        for (_ls_i = 0; _ls_i < _ls_insize; _ls_i++) {                                         \
+          _ls_psize++;                                                                         \
+          _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list,next); _RS(list);                          \
+          if (!_ls_q) break;                                                                   \
+        }                                                                                      \
+        _ls_qsize = _ls_insize;                                                                \
+        while (_ls_psize > 0 || (_ls_qsize > 0 && _ls_q)) {                                    \
+          if (_ls_psize == 0) {                                                                \
+            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q =                                            \
+              _NEXT(_ls_q,list,next); _RS(list); _ls_qsize--;                                  \
+          } else if (_ls_qsize == 0 || !_ls_q) {                                               \
+            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p =                                            \
+              _NEXT(_ls_p,list,next); _RS(list); _ls_psize--;                                  \
+          } else if (cmp(_ls_p,_ls_q) <= 0) {                                                  \
+            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p =                                            \
+              _NEXT(_ls_p,list,next); _RS(list); _ls_psize--;                                  \
+          } else {                                                                             \
+            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q =                                            \
+              _NEXT(_ls_q,list,next); _RS(list); _ls_qsize--;                                  \
+          }                                                                                    \
+          if (_ls_tail) {                                                                      \
+            _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,_ls_e,next); _RS(list);                \
+          } else {                                                                             \
+            _CASTASGN(list,_ls_e);                                                             \
+          }                                                                                    \
+          _SV(_ls_e,list); _PREVASGN(_ls_e,list,_ls_tail,prev); _RS(list);                     \
+          _ls_tail = _ls_e;                                                                    \
+        }                                                                                      \
+        _ls_p = _ls_q;                                                                         \
+      }                                                                                        \
+      _CASTASGN(list->prev, _ls_tail);                                                         \
+      _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,NULL,next); _RS(list);                       \
+      if (_ls_nmerges <= 1) {                                                                  \
+        _ls_looping=0;                                                                         \
+      }                                                                                        \
+      _ls_insize *= 2;                                                                         \
+    }                                                                                          \
+  }                                                                                            \
+} while (0)
+
+#define CDL_SORT(list, cmp)                                                                    \
+    CDL_SORT2(list, cmp, prev, next)
+
+#define CDL_SORT2(list, cmp, prev, next)                                                       \
+do {                                                                                           \
+  LDECLTYPE(list) _ls_p;                                                                       \
+  LDECLTYPE(list) _ls_q;                                                                       \
+  LDECLTYPE(list) _ls_e;                                                                       \
+  LDECLTYPE(list) _ls_tail;                                                                    \
+  LDECLTYPE(list) _ls_oldhead;                                                                 \
+  LDECLTYPE(list) _tmp;                                                                        \
+  int _ls_insize, _ls_nmerges, _ls_psize, _ls_qsize, _ls_i, _ls_looping;                       \
+  if (list) {                                                                                  \
+    _ls_insize = 1;                                                                            \
+    _ls_looping = 1;                                                                           \
+    while (_ls_looping) {                                                                      \
+      _CASTASGN(_ls_p,list);                                                                   \
+      _CASTASGN(_ls_oldhead,list);                                                             \
+      list = NULL;                                                                             \
+      _ls_tail = NULL;                                                                         \
+      _ls_nmerges = 0;                                                                         \
+      while (_ls_p) {                                                                          \
+        _ls_nmerges++;                                                                         \
+        _ls_q = _ls_p;                                                                         \
+        _ls_psize = 0;                                                                         \
+        for (_ls_i = 0; _ls_i < _ls_insize; _ls_i++) {                                         \
+          _ls_psize++;                                                                         \
+          _SV(_ls_q,list);                                                                     \
+          if (_NEXT(_ls_q,list,next) == _ls_oldhead) {                                         \
+            _ls_q = NULL;                                                                      \
+          } else {                                                                             \
+            _ls_q = _NEXT(_ls_q,list,next);                                                    \
+          }                                                                                    \
+          _RS(list);                                                                           \
+          if (!_ls_q) break;                                                                   \
+        }                                                                                      \
+        _ls_qsize = _ls_insize;                                                                \
+        while (_ls_psize > 0 || (_ls_qsize > 0 && _ls_q)) {                                    \
+          if (_ls_psize == 0) {                                                                \
+            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q =                                            \
+              _NEXT(_ls_q,list,next); _RS(list); _ls_qsize--;                                  \
+            if (_ls_q == _ls_oldhead) { _ls_q = NULL; }                                        \
+          } else if (_ls_qsize == 0 || !_ls_q) {                                               \
+            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p =                                            \
+              _NEXT(_ls_p,list,next); _RS(list); _ls_psize--;                                  \
+            if (_ls_p == _ls_oldhead) { _ls_p = NULL; }                                        \
+          } else if (cmp(_ls_p,_ls_q) <= 0) {                                                  \
+            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p =                                            \
+              _NEXT(_ls_p,list,next); _RS(list); _ls_psize--;                                  \
+            if (_ls_p == _ls_oldhead) { _ls_p = NULL; }                                        \
+          } else {                                                                             \
+            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q =                                            \
+              _NEXT(_ls_q,list,next); _RS(list); _ls_qsize--;                                  \
+            if (_ls_q == _ls_oldhead) { _ls_q = NULL; }                                        \
+          }                                                                                    \
+          if (_ls_tail) {                                                                      \
+            _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,_ls_e,next); _RS(list);                \
+          } else {                                                                             \
+            _CASTASGN(list,_ls_e);                                                             \
+          }                                                                                    \
+          _SV(_ls_e,list); _PREVASGN(_ls_e,list,_ls_tail,prev); _RS(list);                     \
+          _ls_tail = _ls_e;                                                                    \
+        }                                                                                      \
+        _ls_p = _ls_q;                                                                         \
+      }                                                                                        \
+      _CASTASGN(list->prev,_ls_tail);                                                          \
+      _CASTASGN(_tmp,list);                                                                    \
+      _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,_tmp,next); _RS(list);                       \
+      if (_ls_nmerges <= 1) {                                                                  \
+        _ls_looping=0;                                                                         \
+      }                                                                                        \
+      _ls_insize *= 2;                                                                         \
+    }                                                                                          \
+  }                                                                                            \
+} while (0)
+
+/******************************************************************************
+ * singly linked list macros (non-circular)                                   *
+ *****************************************************************************/
+#define LL_PREPEND(head,add)                                                                   \
+    LL_PREPEND2(head,add,next)
+
+#define LL_PREPEND2(head,add,next)                                                             \
+do {                                                                                           \
+  (add)->next = head;                                                                          \
+  head = add;                                                                                  \
+} while (0)
+
+#define LL_CONCAT(head1,head2)                                                                 \
+    LL_CONCAT2(head1,head2,next)
+
+#define LL_CONCAT2(head1,head2,next)                                                           \
+do {                                                                                           \
+  LDECLTYPE(head1) _tmp;                                                                       \
+  if (head1) {                                                                                 \
+    _tmp = head1;                                                                              \
+    while (_tmp->next) { _tmp = _tmp->next; }                                                  \
+    _tmp->next=(head2);                                                                        \
+  } else {                                                                                     \
+    (head1)=(head2);                                                                           \
+  }                                                                                            \
+} while (0)
+
+#define LL_APPEND(head,add)                                                                    \
+    LL_APPEND2(head,add,next)
+
+#define LL_APPEND2(head,add,next)                                                              \
+do {                                                                                           \
+  LDECLTYPE(head) _tmp;                                                                        \
+  (add)->next=NULL;                                                                            \
+  if (head) {                                                                                  \
+    _tmp = head;                                                                               \
+    while (_tmp->next) { _tmp = _tmp->next; }                                                  \
+    _tmp->next=(add);                                                                          \
+  } else {                                                                                     \
+    (head)=(add);                                                                              \
+  }                                                                                            \
+} while (0)
+
+#define LL_DELETE(head,del)                                                                    \
+    LL_DELETE2(head,del,next)
+
+#define LL_DELETE2(head,del,next)                                                              \
+do {                                                                                           \
+  LDECLTYPE(head) _tmp;                                                                        \
+  if ((head) == (del)) {                                                                       \
+    (head)=(head)->next;                                                                       \
+  } else {                                                                                     \
+    _tmp = head;                                                                               \
+    while (_tmp->next && (_tmp->next != (del))) {                                              \
+      _tmp = _tmp->next;                                                                       \
+    }                                                                                          \
+    if (_tmp->next) {                                                                          \
+      _tmp->next = ((del)->next);                                                              \
+    }                                                                                          \
+  }                                                                                            \
+} while (0)
+
+/* Here are VS2008 replacements for LL_APPEND and LL_DELETE */
+#define LL_APPEND_VS2008(head,add)                                                             \
+    LL_APPEND2_VS2008(head,add,next)
+
+#define LL_APPEND2_VS2008(head,add,next)                                                       \
+do {                                                                                           \
+  if (head) {                                                                                  \
+    (add)->next = head;     /* use add->next as a temp variable */                             \
+    while ((add)->next->next) { (add)->next = (add)->next->next; }                             \
+    (add)->next->next=(add);                                                                   \
+  } else {                                                                                     \
+    (head)=(add);                                                                              \
+  }                                                                                            \
+  (add)->next=NULL;                                                                            \
+} while (0)
+
+#define LL_DELETE_VS2008(head,del)                                                             \
+    LL_DELETE2_VS2008(head,del,next)
+
+#define LL_DELETE2_VS2008(head,del,next)                                                       \
+do {                                                                                           \
+  if ((head) == (del)) {                                                                       \
+    (head)=(head)->next;                                                                       \
+  } else {                                                                                     \
+    char *_tmp = (char*)(head);                                                                \
+    while ((head)->next && ((head)->next != (del))) {                                          \
+      head = (head)->next;                                                                     \
+    }                                                                                          \
+    if ((head)->next) {                                                                        \
+      (head)->next = ((del)->next);                                                            \
+    }                                                                                          \
+    {                                                                                          \
+      char **_head_alias = (char**)&(head);                                                    \
+      *_head_alias = _tmp;                                                                     \
+    }                                                                                          \
+  }                                                                                            \
+} while (0)
+#ifdef NO_DECLTYPE
+#undef LL_APPEND
+#define LL_APPEND LL_APPEND_VS2008
+#undef LL_DELETE
+#define LL_DELETE LL_DELETE_VS2008
+#undef LL_DELETE2
+#define LL_DELETE2 LL_DELETE2_VS2008
+#undef LL_APPEND2
+#define LL_APPEND2 LL_APPEND2_VS2008
+#undef LL_CONCAT /* no LL_CONCAT_VS2008 */
+#undef DL_CONCAT /* no DL_CONCAT_VS2008 */
+#endif
+/* end VS2008 replacements */
+
+#define LL_COUNT(head,el,counter)                                                              \
+    LL_COUNT2(head,el,counter,next)                                                            \
+
+#define LL_COUNT2(head,el,counter,next)                                                        \
+{                                                                                              \
+    counter = 0;                                                                               \
+    LL_FOREACH2(head,el,next){ ++counter; }                                                    \
+}
+
+#define LL_FOREACH(head,el)                                                                    \
+    LL_FOREACH2(head,el,next)
+
+#define LL_FOREACH2(head,el,next)                                                              \
+    for(el=head;el;el=(el)->next)
+
+#define LL_FOREACH_SAFE(head,el,tmp)                                                           \
+    LL_FOREACH_SAFE2(head,el,tmp,next)
+
+#define LL_FOREACH_SAFE2(head,el,tmp,next)                                                     \
+  for((el)=(head);(el) && (tmp = (el)->next, 1); (el) = tmp)
+
+#define LL_SEARCH_SCALAR(head,out,field,val)                                                   \
+    LL_SEARCH_SCALAR2(head,out,field,val,next)
+
+#define LL_SEARCH_SCALAR2(head,out,field,val,next)                                             \
+do {                                                                                           \
+    LL_FOREACH2(head,out,next) {                                                               \
+      if ((out)->field == (val)) break;                                                        \
+    }                                                                                          \
+} while(0)
+
+#define LL_SEARCH(head,out,elt,cmp)                                                            \
+    LL_SEARCH2(head,out,elt,cmp,next)
+
+#define LL_SEARCH2(head,out,elt,cmp,next)                                                      \
+do {                                                                                           \
+    LL_FOREACH2(head,out,next) {                                                               \
+      if ((cmp(out,elt))==0) break;                                                            \
+    }                                                                                          \
+} while(0)
+
+#define LL_REPLACE_ELEM(head, el, add)                                                         \
+do {                                                                                           \
+ LDECLTYPE(head) _tmp;                                                                         \
+ assert(head != NULL);                                                                         \
+ assert(el != NULL);                                                                           \
+ assert(add != NULL);                                                                          \
+ (add)->next = (el)->next;                                                                     \
+ if ((head) == (el)) {                                                                         \
+  (head) = (add);                                                                              \
+ } else {                                                                                      \
+  _tmp = head;                                                                                 \
+  while (_tmp->next && (_tmp->next != (el))) {                                                 \
+   _tmp = _tmp->next;                                                                          \
+  }                                                                                            \
+  if (_tmp->next) {                                                                            \
+    _tmp->next = (add);                                                                        \
+  }                                                                                            \
+ }                                                                                             \
+} while (0)
+
+#define LL_PREPEND_ELEM(head, el, add)                                                         \
+do {                                                                                           \
+ LDECLTYPE(head) _tmp;                                                                         \
+ assert(head != NULL);                                                                         \
+ assert(el != NULL);                                                                           \
+ assert(add != NULL);                                                                          \
+ (add)->next = (el);                                                                           \
+ if ((head) == (el)) {                                                                         \
+  (head) = (add);                                                                              \
+ } else {                                                                                      \
+  _tmp = head;                                                                                 \
+  while (_tmp->next && (_tmp->next != (el))) {                                                 \
+   _tmp = _tmp->next;                                                                          \
+  }                                                                                            \
+  if (_tmp->next) {                                                                            \
+    _tmp->next = (add);                                                                        \
+  }                                                                                            \
+ }                                                                                             \
+} while (0)                                                                                    \
+
+
+/******************************************************************************
+ * doubly linked list macros (non-circular)                                   *
+ *****************************************************************************/
+#define DL_PREPEND(head,add)                                                                   \
+    DL_PREPEND2(head,add,prev,next)
+
+#define DL_PREPEND2(head,add,prev,next)                                                        \
+do {                                                                                           \
+ (add)->next = head;                                                                           \
+ if (head) {                                                                                   \
+   (add)->prev = (head)->prev;                                                                 \
+   (head)->prev = (add);                                                                       \
+ } else {                                                                                      \
+   (add)->prev = (add);                                                                        \
+ }                                                                                             \
+ (head) = (add);                                                                               \
+} while (0)
+
+#define DL_APPEND(head,add)                                                                    \
+    DL_APPEND2(head,add,prev,next)
+
+#define DL_APPEND2(head,add,prev,next)                                                         \
+do {                                                                                           \
+  if (head) {                                                                                  \
+      (add)->prev = (head)->prev;                                                              \
+      (head)->prev->next = (add);                                                              \
+      (head)->prev = (add);                                                                    \
+      (add)->next = NULL;                                                                      \
+  } else {                                                                                     \
+      (head)=(add);                                                                            \
+      (head)->prev = (head);                                                                   \
+      (head)->next = NULL;                                                                     \
+  }                                                                                            \
+} while (0)
+
+#define DL_CONCAT(head1,head2)                                                                 \
+    DL_CONCAT2(head1,head2,prev,next)
+
+#define DL_CONCAT2(head1,head2,prev,next)                                                      \
+do {                                                                                           \
+  LDECLTYPE(head1) _tmp;                                                                       \
+  if (head2) {                                                                                 \
+    if (head1) {                                                                               \
+        _tmp = (head2)->prev;                                                                  \
+        (head2)->prev = (head1)->prev;                                                         \
+        (head1)->prev->next = (head2);                                                         \
+        (head1)->prev = _tmp;                                                                  \
+    } else {                                                                                   \
+        (head1)=(head2);                                                                       \
+    }                                                                                          \
+  }                                                                                            \
+} while (0)
+
+#define DL_DELETE(head,del)                                                                    \
+    DL_DELETE2(head,del,prev,next)
+
+#define DL_DELETE2(head,del,prev,next)                                                         \
+do {                                                                                           \
+  assert((del)->prev != NULL);                                                                 \
+  if ((del)->prev == (del)) {                                                                  \
+      (head)=NULL;                                                                             \
+  } else if ((del)==(head)) {                                                                  \
+      (del)->next->prev = (del)->prev;                                                         \
+      (head) = (del)->next;                                                                    \
+  } else {                                                                                     \
+      (del)->prev->next = (del)->next;                                                         \
+      if ((del)->next) {                                                                       \
+          (del)->next->prev = (del)->prev;                                                     \
+      } else {                                                                                 \
+          (head)->prev = (del)->prev;                                                          \
+      }                                                                                        \
+  }                                                                                            \
+} while (0)
+
+#define DL_COUNT(head,el,counter)                                                              \
+    DL_COUNT2(head,el,counter,next)                                                            \
+
+#define DL_COUNT2(head,el,counter,next)                                                        \
+{                                                                                              \
+    counter = 0;                                                                               \
+    DL_FOREACH2(head,el,next){ ++counter; }                                                    \
+}
+
+#define DL_FOREACH(head,el)                                                                    \
+    DL_FOREACH2(head,el,next)
+
+#define DL_FOREACH2(head,el,next)                                                              \
+    for(el=head;el;el=(el)->next)
+
+/* this version is safe for deleting the elements during iteration */
+#define DL_FOREACH_SAFE(head,el,tmp)                                                           \
+    DL_FOREACH_SAFE2(head,el,tmp,next)
+
+#define DL_FOREACH_SAFE2(head,el,tmp,next)                                                     \
+  for((el)=(head);(el) && (tmp = (el)->next, 1); (el) = tmp)
+
+/* these are identical to their singly-linked list counterparts */
+#define DL_SEARCH_SCALAR LL_SEARCH_SCALAR
+#define DL_SEARCH LL_SEARCH
+#define DL_SEARCH_SCALAR2 LL_SEARCH_SCALAR2
+#define DL_SEARCH2 LL_SEARCH2
+
+#define DL_REPLACE_ELEM(head, el, add)                                                         \
+do {                                                                                           \
+ assert(head != NULL);                                                                         \
+ assert(el != NULL);                                                                           \
+ assert(add != NULL);                                                                          \
+ if ((head) == (el)) {                                                                         \
+  (head) = (add);                                                                              \
+  (add)->next = (el)->next;                                                                    \
+  if ((el)->next == NULL) {                                                                    \
+   (add)->prev = (add);                                                                        \
+  } else {                                                                                     \
+   (add)->prev = (el)->prev;                                                                   \
+   (add)->next->prev = (add);                                                                  \
+  }                                                                                            \
+ } else {                                                                                      \
+  (add)->next = (el)->next;                                                                    \
+  (add)->prev = (el)->prev;                                                                    \
+  (add)->prev->next = (add);                                                                   \
+  if ((el)->next == NULL) {                                                                    \
+   (head)->prev = (add);                                                                       \
+  } else {                                                                                     \
+   (add)->next->prev = (add);                                                                  \
+  }                                                                                            \
+ }                                                                                             \
+} while (0)
+
+#define DL_PREPEND_ELEM(head, el, add)                                                         \
+do {                                                                                           \
+ assert(head != NULL);                                                                         \
+ assert(el != NULL);                                                                           \
+ assert(add != NULL);                                                                          \
+ (add)->next = (el);                                                                           \
+ (add)->prev = (el)->prev;                                                                     \
+ (el)->prev = (add);                                                                           \
+ if ((head) == (el)) {                                                                         \
+  (head) = (add);                                                                              \
+ } else {                                                                                      \
+  (add)->prev->next = (add);                                                                   \
+ }                                                                                             \
+} while (0)                                                                                    \
+
+
+/******************************************************************************
+ * circular doubly linked list macros                                         *
+ *****************************************************************************/
+#define CDL_PREPEND(head,add)                                                                  \
+    CDL_PREPEND2(head,add,prev,next)
+
+#define CDL_PREPEND2(head,add,prev,next)                                                       \
+do {                                                                                           \
+ if (head) {                                                                                   \
+   (add)->prev = (head)->prev;                                                                 \
+   (add)->next = (head);                                                                       \
+   (head)->prev = (add);                                                                       \
+   (add)->prev->next = (add);                                                                  \
+ } else {                                                                                      \
+   (add)->prev = (add);                                                                        \
+   (add)->next = (add);                                                                        \
+ }                                                                                             \
+(head)=(add);                                                                                  \
+} while (0)
+
+#define CDL_DELETE(head,del)                                                                   \
+    CDL_DELETE2(head,del,prev,next)
+
+#define CDL_DELETE2(head,del,prev,next)                                                        \
+do {                                                                                           \
+  if ( ((head)==(del)) && ((head)->next == (head))) {                                          \
+      (head) = 0L;                                                                             \
+  } else {                                                                                     \
+     (del)->next->prev = (del)->prev;                                                          \
+     (del)->prev->next = (del)->next;                                                          \
+     if ((del) == (head)) (head)=(del)->next;                                                  \
+  }                                                                                            \
+} while (0)
+
+#define CDL_COUNT(head,el,counter)                                                             \
+    CDL_COUNT2(head,el,counter,next)                                                           \
+
+#define CDL_COUNT2(head, el, counter,next)                                                     \
+{                                                                                              \
+    counter = 0;                                                                               \
+    CDL_FOREACH2(head,el,next){ ++counter; }                                                   \
+}
+
+#define CDL_FOREACH(head,el)                                                                   \
+    CDL_FOREACH2(head,el,next)
+
+#define CDL_FOREACH2(head,el,next)                                                             \
+    for(el=head;el;el=((el)->next==head ? 0L : (el)->next))
+
+#define CDL_FOREACH_SAFE(head,el,tmp1,tmp2)                                                    \
+    CDL_FOREACH_SAFE2(head,el,tmp1,tmp2,prev,next)
+
+#define CDL_FOREACH_SAFE2(head,el,tmp1,tmp2,prev,next)                                         \
+  for((el)=(head), ((tmp1)=(head)?((head)->prev):NULL);                                        \
+      (el) && ((tmp2)=(el)->next, 1);                                                          \
+      ((el) = (((el)==(tmp1)) ? 0L : (tmp2))))
+
+#define CDL_SEARCH_SCALAR(head,out,field,val)                                                  \
+    CDL_SEARCH_SCALAR2(head,out,field,val,next)
+
+#define CDL_SEARCH_SCALAR2(head,out,field,val,next)                                            \
+do {                                                                                           \
+    CDL_FOREACH2(head,out,next) {                                                              \
+      if ((out)->field == (val)) break;                                                        \
+    }                                                                                          \
+} while(0)
+
+#define CDL_SEARCH(head,out,elt,cmp)                                                           \
+    CDL_SEARCH2(head,out,elt,cmp,next)
+
+#define CDL_SEARCH2(head,out,elt,cmp,next)                                                     \
+do {                                                                                           \
+    CDL_FOREACH2(head,out,next) {                                                              \
+      if ((cmp(out,elt))==0) break;                                                            \
+    }                                                                                          \
+} while(0)
+
+#define CDL_REPLACE_ELEM(head, el, add)                                                        \
+do {                                                                                           \
+ assert(head != NULL);                                                                         \
+ assert(el != NULL);                                                                           \
+ assert(add != NULL);                                                                          \
+ if ((el)->next == (el)) {                                                                     \
+  (add)->next = (add);                                                                         \
+  (add)->prev = (add);                                                                         \
+  (head) = (add);                                                                              \
+ } else {                                                                                      \
+  (add)->next = (el)->next;                                                                    \
+  (add)->prev = (el)->prev;                                                                    \
+  (add)->next->prev = (add);                                                                   \
+  (add)->prev->next = (add);                                                                   \
+  if ((head) == (el)) {                                                                        \
+   (head) = (add);                                                                             \
+  }                                                                                            \
+ }                                                                                             \
+} while (0)
+
+#define CDL_PREPEND_ELEM(head, el, add)                                                        \
+do {                                                                                           \
+ assert(head != NULL);                                                                         \
+ assert(el != NULL);                                                                           \
+ assert(add != NULL);                                                                          \
+ (add)->next = (el);                                                                           \
+ (add)->prev = (el)->prev;                                                                     \
+ (el)->prev = (add);                                                                           \
+ (add)->prev->next = (add);                                                                    \
+ if ((head) == (el)) {                                                                         \
+  (head) = (add);                                                                              \
+ }                                                                                             \
+} while (0)                                                                                    \
+
+#endif /* UTLIST_H */
+

gomspace/libutil/include/gs/uthash/utstring.h

@@ -0,0 +1,393 @@
+/*
+Copyright (c) 2008-2014, Troy D. Hanson   http://troydhanson.github.com/uthash/
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
+OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/* a dynamic string implementation using macros
+ */
+#ifndef UTSTRING_H
+#define UTSTRING_H
+
+#define UTSTRING_VERSION 1.9.9
+
+#ifdef __GNUC__
+#define _UNUSED_ __attribute__ ((__unused__))
+#else
+#define _UNUSED_
+#endif
+
+#include <stdlib.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdarg.h>
+#define oom() exit(-1)
+
+typedef struct {
+    char *d;
+    size_t n; /* allocd size */
+    size_t i; /* index of first unused byte */
+} UT_string;
+
+#define utstring_reserve(s,amt)                            \
+do {                                                       \
+  if (((s)->n - (s)->i) < (size_t)(amt)) {                 \
+     (s)->d = (char*)realloc((s)->d, (s)->n + amt);        \
+     if ((s)->d == NULL) oom();                            \
+     (s)->n += amt;                                        \
+  }                                                        \
+} while(0)
+
+#define utstring_init(s)                                   \
+do {                                                       \
+  (s)->n = 0; (s)->i = 0; (s)->d = NULL;                   \
+  utstring_reserve(s,100);                                 \
+  (s)->d[0] = '\0'; \
+} while(0)
+
+#define utstring_done(s)                                   \
+do {                                                       \
+  if ((s)->d != NULL) free((s)->d);                        \
+  (s)->n = 0;                                              \
+} while(0)
+
+#define utstring_free(s)                                   \
+do {                                                       \
+  utstring_done(s);                                        \
+  free(s);                                                 \
+} while(0)
+
+#define utstring_new(s)                                    \
+do {                                                       \
+   s = (UT_string*)calloc(sizeof(UT_string),1);            \
+   if (!s) oom();                                          \
+   utstring_init(s);                                       \
+} while(0)
+
+#define utstring_renew(s)                                  \
+do {                                                       \
+   if (s) {                                                \
+     utstring_clear(s);                                    \
+   } else {                                                \
+     utstring_new(s);                                      \
+   }                                                       \
+} while(0)
+
+#define utstring_clear(s)                                  \
+do {                                                       \
+  (s)->i = 0;                                              \
+  (s)->d[0] = '\0';                                        \
+} while(0)
+
+#define utstring_bincpy(s,b,l)                             \
+do {                                                       \
+  utstring_reserve((s),(l)+1);                               \
+  if (l) memcpy(&(s)->d[(s)->i], b, l);                    \
+  (s)->i += l;                                               \
+  (s)->d[(s)->i]='\0';                                         \
+} while(0)
+
+#define utstring_concat(dst,src)                                 \
+do {                                                             \
+  utstring_reserve((dst),((src)->i)+1);                          \
+  if ((src)->i) memcpy(&(dst)->d[(dst)->i], (src)->d, (src)->i); \
+  (dst)->i += (src)->i;                                          \
+  (dst)->d[(dst)->i]='\0';                                       \
+} while(0)
+
+#define utstring_len(s) ((unsigned)((s)->i))
+
+#define utstring_body(s) ((s)->d)
+
+_UNUSED_ static void utstring_printf_va(UT_string *s, const char *fmt, va_list ap) {
+   int n;
+   va_list cp;
+   while (1) {
+#ifdef _WIN32
+      cp = ap;
+#else
+      va_copy(cp, ap);
+#endif
+      n = vsnprintf (&s->d[s->i], s->n-s->i, fmt, cp);
+      va_end(cp);
+
+      if ((n > -1) && ((size_t) n < (s->n-s->i))) {
+        s->i += n;
+        return;
+      }
+
+      /* Else try again with more space. */
+      if (n > -1) utstring_reserve(s,n+1); /* exact */
+      else utstring_reserve(s,(s->n)*2);   /* 2x */
+   }
+}
+#ifdef __GNUC__
+/* support printf format checking (2=the format string, 3=start of varargs) */
+static void utstring_printf(UT_string *s, const char *fmt, ...)
+  __attribute__ (( format( printf, 2, 3) ));
+#endif
+_UNUSED_ static void utstring_printf(UT_string *s, const char *fmt, ...) {
+   va_list ap;
+   va_start(ap,fmt);
+   utstring_printf_va(s,fmt,ap);
+   va_end(ap);
+}
+
+/*******************************************************************************
+ * begin substring search functions                                            *
+ ******************************************************************************/
+/* Build KMP table from left to right. */
+_UNUSED_ static void _utstring_BuildTable(
+    const char *P_Needle,
+    size_t P_NeedleLen,
+    long *P_KMP_Table)
+{
+    long i, j;
+
+    i = 0;
+    j = i - 1;
+    P_KMP_Table[i] = j;
+    while (i < (long) P_NeedleLen)
+    {
+        while ( (j > -1) && (P_Needle[i] != P_Needle[j]) )
+        {
+           j = P_KMP_Table[j];
+        }
+        i++;
+        j++;
+        if (i < (long) P_NeedleLen)
+        {
+            if (P_Needle[i] == P_Needle[j])
+            {
+                P_KMP_Table[i] = P_KMP_Table[j];
+            }
+            else
+            {
+                P_KMP_Table[i] = j;
+            }
+        }
+        else
+        {
+            P_KMP_Table[i] = j;
+        }
+    }
+
+    return;
+}
+
+
+/* Build KMP table from right to left. */
+_UNUSED_ static void _utstring_BuildTableR(
+    const char *P_Needle,
+    size_t P_NeedleLen,
+    long *P_KMP_Table)
+{
+    long i, j;
+
+    i = P_NeedleLen - 1;
+    j = i + 1;
+    P_KMP_Table[i + 1] = j;
+    while (i >= 0)
+    {
+        while ( (j < (long) P_NeedleLen) && (P_Needle[i] != P_Needle[j]) )
+        {
+           j = P_KMP_Table[j + 1];
+        }
+        i--;
+        j--;
+        if (i >= 0)
+        {
+            if (P_Needle[i] == P_Needle[j])
+            {
+                P_KMP_Table[i + 1] = P_KMP_Table[j + 1];
+            }
+            else
+            {
+                P_KMP_Table[i + 1] = j;
+            }
+        }
+        else
+        {
+            P_KMP_Table[i + 1] = j;
+        }
+    }
+
+    return;
+}
+
+
+/* Search data from left to right. ( Multiple search mode. ) */
+_UNUSED_ static long _utstring_find(
+    const char *P_Haystack,
+    size_t P_HaystackLen,
+    const char *P_Needle,
+    size_t P_NeedleLen,
+    long *P_KMP_Table)
+{
+    long i, j;
+    long V_FindPosition = -1;
+
+    /* Search from left to right. */
+    i = j = 0;
+    while ( (j < (int)P_HaystackLen) && (((P_HaystackLen - j) + i) >= P_NeedleLen) )
+    {
+        while ( (i > -1) && (P_Needle[i] != P_Haystack[j]) )
+        {
+            i = P_KMP_Table[i];
+        }
+        i++;
+        j++;
+        if (i >= (int)P_NeedleLen)
+        {
+            /* Found. */
+            V_FindPosition = j - i;
+            break;
+        }
+    }
+
+    return V_FindPosition;
+}
+
+
+/* Search data from right to left. ( Multiple search mode. ) */
+_UNUSED_ static long _utstring_findR(
+    const char *P_Haystack,
+    size_t P_HaystackLen,
+    const char *P_Needle,
+    size_t P_NeedleLen,
+    long *P_KMP_Table)
+{
+    long i, j;
+    long V_FindPosition = -1;
+
+    /* Search from right to left. */
+    j = (P_HaystackLen - 1);
+    i = (P_NeedleLen - 1);
+    while ( (j >= 0) && (j >= i) )
+    {
+        while ( (i < (int)P_NeedleLen) && (P_Needle[i] != P_Haystack[j]) )
+        {
+            i = P_KMP_Table[i + 1];
+        }
+        i--;
+        j--;
+        if (i < 0)
+        {
+            /* Found. */
+            V_FindPosition = j + 1;
+            break;
+        }
+    }
+
+    return V_FindPosition;
+}
+
+
+/* Search data from left to right. ( One time search mode. ) */
+_UNUSED_ static long utstring_find(
+    UT_string *s,
+    long P_StartPosition,   /* Start from 0. -1 means last position. */
+    const char *P_Needle,
+    size_t P_NeedleLen)
+{
+    long V_StartPosition;
+    long V_HaystackLen;
+    long *V_KMP_Table;
+    long V_FindPosition = -1;
+
+    if (P_StartPosition < 0)
+    {
+        V_StartPosition = s->i + P_StartPosition;
+    }
+    else
+    {
+        V_StartPosition = P_StartPosition;
+    }
+    V_HaystackLen = s->i - V_StartPosition;
+    if ( (V_HaystackLen >= (long) P_NeedleLen) && (P_NeedleLen > 0) )
+    {
+        V_KMP_Table = (long *)malloc(sizeof(long) * (P_NeedleLen + 1));
+        if (V_KMP_Table != NULL)
+        {
+            _utstring_BuildTable(P_Needle, P_NeedleLen, V_KMP_Table);
+
+            V_FindPosition = _utstring_find(s->d + V_StartPosition,
+                                            V_HaystackLen,
+                                            P_Needle,
+                                            P_NeedleLen,
+                                            V_KMP_Table);
+            if (V_FindPosition >= 0)
+            {
+                V_FindPosition += V_StartPosition;
+            }
+
+            free(V_KMP_Table);
+        }
+    }
+
+    return V_FindPosition;
+}
+
+
+/* Search data from right to left. ( One time search mode. ) */
+_UNUSED_ static long utstring_findR(
+    UT_string *s,
+    long P_StartPosition,   /* Start from 0. -1 means last position. */
+    const char *P_Needle,
+    size_t P_NeedleLen)
+{
+    long V_StartPosition;
+    long V_HaystackLen;
+    long *V_KMP_Table;
+    long V_FindPosition = -1;
+
+    if (P_StartPosition < 0)
+    {
+        V_StartPosition = s->i + P_StartPosition;
+    }
+    else
+    {
+        V_StartPosition = P_StartPosition;
+    }
+    V_HaystackLen = V_StartPosition + 1;
+    if ( (V_HaystackLen >= (long) P_NeedleLen) && (P_NeedleLen > 0) )
+    {
+        V_KMP_Table = (long *)malloc(sizeof(long) * (P_NeedleLen + 1));
+        if (V_KMP_Table != NULL)
+        {
+            _utstring_BuildTableR(P_Needle, P_NeedleLen, V_KMP_Table);
+
+            V_FindPosition = _utstring_findR(s->d,
+                                             V_HaystackLen,
+                                             P_Needle,
+                                             P_NeedleLen,
+                                             V_KMP_Table);
+
+            free(V_KMP_Table);
+        }
+    }
+
+    return V_FindPosition;
+}
+/*******************************************************************************
+ * end substring search functions                                              *
+ ******************************************************************************/
+
+#endif /* UTSTRING_H */

gomspace/libutil/include/gs/util/base16.h

@@ -0,0 +1,90 @@
+#ifndef GS_UTIL_BASE16_H
+#define GS_UTIL_BASE16_H
+/*
+ * Copyright (C) 2010 Michael Brown <mbrown@fensystems.co.uk>.
+ *
+ * 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 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., 675 Mass Ave, Cambridge, MA 02139, USA.
+ */
+/**
+   @file
+
+   Encoding and decoding base16 arrays to and from strings.
+*/
+
+#include <gs/util/error.h>
+#include <string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Calculate length of base16-encoded data
+
+   @param raw_len Raw data length
+   @return Encoded string length (excluding NUL)
+*/
+static inline size_t base16_encoded_len(size_t raw_len)
+{
+    return (2 * raw_len);
+}
+
+/**
+   Calculate maximum length of base16-decoded string
+   @param encoded Encoded string
+   @return Maximum length of raw data
+*/
+static inline size_t base16_decoded_max_len(const char *encoded)
+{
+    return ((strlen(encoded) + 1) / 2);
+}
+
+/**
+   Base16-encode data
+
+   The buffer must be the correct length for the encoded string.  Use
+   something like
+ 
+      char buf[ base16_encoded_len ( len ) + 1 ];
+ 
+   (the +1 is for the terminating NUL) to provide a buffer of the
+   correct size.
+
+   @param raw Raw data
+   @param len Length of raw data
+   @param encoded Buffer for encoded string
+*/
+void base16_encode(const uint8_t *raw, size_t len, char *encoded);
+
+/**
+   Base16-decode data
+
+   The buffer must be large enough to contain the decoded data.  Use
+   something like
+
+       char buf[ base16_decoded_max_len ( encoded ) ];
+
+   to provide a buffer of the correct size.
+
+   @param encoded Encoded string
+   @param raw Raw data
+   @return Length of raw data, or negative error (gs_error_t)
+*/
+int base16_decode(const char *encoded, uint8_t *raw);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/bytebuffer.h

@@ -0,0 +1,173 @@
+#ifndef GS_UTIL_BYTEBUFFER_h
+#define GS_UTIL_BYTEBUFFER_h
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Byte buffer provides formatting/serialzing of text/binary data. The buffer keeps track of used space, and prevents overrun.
+
+   The current buffer state can be checked using gs_bytebuffer_state().
+
+   @dontinclude bytebuffer/bytebuffer_test.c
+   @skip TEST_gs_bytebuffer_use_case
+   @until }
+*/
+
+#include <gs/util/error.h>
+#include <stdarg.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Buffer handle.
+   Never access handle members directly.
+*/
+typedef struct {
+    /**
+       Internal: Pointer to user supplied buffer.
+       @see gs_bytebuffer_init()
+    */
+    uint8_t * buffer;
+    /**
+       Internal: Size of user supplied buffer.
+       @see gs_bytebuffer_init()
+    */
+    size_t size;
+    /**
+       Internal: Number of bytes used.
+    */
+    size_t used;
+    /**
+       Internal: FUTURE: Committed used
+    */
+    size_t committed_used;
+    /**
+       Internal: flags to keep track of buffer state.
+    */
+    uint8_t flags;
+} gs_bytebuffer_t;
+
+/**
+   Initialize buffer.
+
+   @param[in] bb handle.
+   @param[in] buffer user supplied buffer of \a buffer_size size (bytes). If NULL, the buffer will keep track of required bytes.
+   @param[in] buffer_size size of \a buffer.
+   @return_gs_error_t
+*/
+gs_error_t gs_bytebuffer_init(gs_bytebuffer_t * bb, void * buffer, size_t buffer_size);
+
+/**
+   Insert data using vprintf.
+
+   @param[in] bb handle.
+   @param[in] format printf syntax for formatting data
+   @param[in] ap variable argument list.
+*/
+void gs_bytebuffer_vprintf(gs_bytebuffer_t * bb, const char * format, va_list ap);
+
+/**
+   Insert data using printf.
+
+   @param[in] bb handle.
+   @param[in] format printf syntax for formatting data
+*/
+void gs_bytebuffer_printf(gs_bytebuffer_t * bb, const char * format, ...) __attribute__ ((format (__printf__, 2, 3)));
+
+/**
+   Append data to buffer.
+
+   @param[in] bb handle.
+   @param[in] data data to append to buffer.
+   @param[in] length length of data (bytes).
+*/
+void gs_bytebuffer_append(gs_bytebuffer_t * bb, const void * data, size_t length);
+
+/**
+   Append string to buffer.
+
+   @param[in] bb handle.
+   @param[in] string string to append to buffer.
+*/
+void gs_bytebuffer_append_string(gs_bytebuffer_t * bb, const char * string);
+
+/**
+   Append string to buffer.
+
+   @param[in] bb handle.
+   @param[in] string string to append to buffer.
+   @param[in] max_length max characters to append from \a string.
+*/
+void gs_bytebuffer_append_string_max(gs_bytebuffer_t * bb, const char * string, size_t max_length);
+
+/**
+   Return buffer as string - enforcing NUL termination.
+
+   This will always add a NUL termination (zero), which may lead to overflow/truncation of the string.
+   The NUL termination is NOT added to \a used count.
+
+   @param[in] bb handle.
+   @param[out] error optional, state of buffer - see gs_bytebuffer_error().
+   @return C-string (NUL terminated)
+*/
+char * gs_bytebuffer_get_as_string(gs_bytebuffer_t * bb, gs_error_t * error);
+
+/**
+   Return buffer state.
+
+   @param[in] bb handle.
+   @return GS_ERROR_OVERFLOW if data has been truncated.
+   @return GS_ERROR_DATA in case of error during formatting.
+   @return_gs_error_t
+*/
+gs_error_t gs_bytebuffer_get_state(gs_bytebuffer_t * bb);
+
+/**
+   Return buffer (user supplied).
+
+   @param[in] bb handle.
+*/
+static inline void * gs_bytebuffer_get_buffer(gs_bytebuffer_t * bb)
+{
+    return bb->buffer;
+}
+
+/**
+   Return buffer size (user supplied).
+
+   @param[in] bb handle.
+   @return buffer size
+*/
+static inline size_t gs_bytebuffer_get_size(gs_bytebuffer_t * bb)
+{
+    return bb->size;
+}
+
+/**
+   Return number of free bytes.
+
+   @param[in] bb handle.
+   @return number of free bytes.
+*/
+static inline size_t gs_bytebuffer_get_free(gs_bytebuffer_t * bb)
+{
+    return (bb->size) ? (bb->size - bb->used) : 0;
+}
+
+/**
+   Return number of used bytes.
+
+   @param[in] bb handle.
+   @return used bytes.
+*/
+static inline size_t gs_bytebuffer_get_used(gs_bytebuffer_t * bb)
+{
+    return bb->used;
+}
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/byteorder.h

@@ -0,0 +1,341 @@
+#ifndef GS_UTIL_BYTEORDER_H
+#define GS_UTIL_BYTEORDER_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Convert numbers between host and network order.
+*/
+
+#include <gs/util/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Convert value from host order to network order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint16_t util_htons(uint16_t value);
+
+/**
+   Convert value from network order to host order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint16_t util_ntohs(uint16_t value);
+
+/**
+   Convert value from host order to network order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint32_t util_htonl(uint32_t value);
+
+/**
+   Convert value from network order to host order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint32_t util_ntohl(uint32_t value);
+
+/**
+   Convert value from host order to network order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint16_t util_hton16(uint16_t value);
+
+/**
+   Convert value from host order to network order
+   @param[in] from value to convert.
+   @param[out] to value converted.
+   @param[in] count element count
+*/
+void util_hton16_array(const uint16_t * from, uint16_t * to, size_t count);
+
+/**
+   Convert value from network order to host order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint16_t util_ntoh16(uint16_t value);
+
+/**
+   Convert value from network order to host order
+   @param[in] from value to convert.
+   @param[out] to value converted.
+   @param[in] count element count
+*/
+void util_ntoh16_array(const uint16_t * from, uint16_t * to, size_t count);
+
+/**
+   Convert value from host order to network order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint32_t util_hton32(uint32_t value);
+
+/**
+   Convert value from host order to network order
+   @param[in] from value to convert.
+   @param[out] to value converted.
+   @param[in] count element count
+*/
+void util_hton32_array(const uint32_t * from, uint32_t * to, size_t count);
+
+/**
+   Convert value from network order to host order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint32_t util_ntoh32(uint32_t value);
+
+/**
+   Convert value from network order to host order
+   @param[in] from value to convert.
+   @param[out] to value converted.
+   @param[in] count element count
+*/
+void util_ntoh32_array(const uint32_t * from, uint32_t * to, size_t count);
+
+/**
+   Convert value from host order to network order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint64_t util_hton64(uint64_t value);
+
+/**
+   Convert value from host order to network order
+   @param[in] from value to convert.
+   @param[out] to value converted.
+   @param[in] count element count
+*/
+void util_hton64_array(const uint64_t * from, uint64_t * to, size_t count);
+
+/**
+   Convert value from network order to host order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint64_t util_ntoh64(uint64_t value);
+
+/**
+   Convert value from network order to host order
+   @param[in] from value to convert.
+   @param[out] to value converted.
+   @param[in] count element count
+*/
+void util_ntoh64_array(const uint64_t * from, uint64_t * to, size_t count);
+
+/**
+   Convert value from host order to network order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+float util_htonflt(float value);
+
+/**
+   Convert value from host order to network order
+   @param[in] from value to convert.
+   @param[out] to value converted.
+   @param[in] count element count
+*/
+void util_htonflt_array(const float * from, float * to, size_t count);
+
+/**
+   Convert value from network order to host order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+float util_ntohflt(float value);
+
+/**
+   Convert value from network order to host order
+   @param[in] from value to convert.
+   @param[out] to value converted.
+   @param[in] count element count
+*/
+void util_ntohflt_array(const float * from, float * to, size_t count);
+
+/**
+   Convert value from host order to network order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+double util_htondbl(double value);
+
+/**
+   Convert value from host order to network order
+   @param[in] from value to convert.
+   @param[out] to value converted.
+   @param[in] count element count
+*/
+void util_htondbl_array(const double * from, double * to, size_t count);
+
+/**
+   Convert value from network order to host order
+   @param[in] value value to convert.
+   @return converted value.
+*/
+double util_ntohdbl(double value);
+
+/**
+   Convert value from network order to host order
+   @param[in] from value to convert.
+   @param[out] to value converted.
+   @param[in] count element count
+*/
+void util_ntohdbl_array(const double * from, double * to, size_t count);
+
+/**
+   Convert value from host order to big endian.
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint16_t util_htobe16(uint16_t value);
+
+/**
+   Convert value from host order to little endian.
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint16_t util_htole16(uint16_t value);
+
+/**
+   Convert value from big endian to host order.
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint16_t util_betoh16(uint16_t value);
+
+/**
+   Convert value from little endian to host order.
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint16_t util_letoh16(uint16_t value);
+
+/**
+   Convert value from host order to big endian.
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint32_t util_htobe32(uint32_t value);
+
+/**
+   Convert value from host order to little endian.
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint32_t util_htole32(uint32_t value);
+
+/**
+   Convert value from big endian to host order.
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint32_t util_betoh32(uint32_t value);
+
+/**
+   Convert value from little endian to host order.
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint32_t util_letoh32(uint32_t value);
+
+/**
+   Convert value from host order to big endian.
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint64_t util_htobe64(uint64_t value);
+
+/**
+   Convert value from host order to little endian.
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint64_t util_htole64(uint64_t value);
+
+/**
+   Convert value from big endian to host order.
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint64_t util_betoh64(uint64_t value);
+
+/**
+   Convert value from little endian to host order.
+   @param[in] value value to convert.
+   @return converted value.
+*/
+uint64_t util_letoh64(uint64_t value);
+
+/**
+   Byte swap.
+   @param[in] value value to byteswap.
+   @return swapped value
+*/
+uint16_t gs_bswap_16(uint16_t value);
+
+/**
+   Byte swap array.
+   @param[in] from from address.
+   @param[out] to to address.
+   @param[in] count element count.
+*/
+void gs_bswap_16_array(const uint16_t * from, uint16_t * to, size_t count);
+
+/**
+   Byte swap.
+   @param[in] value value to byteswap.
+   @return swapped value
+*/
+uint32_t gs_bswap_32(uint32_t value);
+
+/**
+   Byte swap array.
+   @param[in] from from address.
+   @param[out] to to address.
+   @param[in] count element count.
+*/
+void gs_bswap_32_array(const uint32_t * from, uint32_t * to, size_t count);
+
+/**
+   Byte swap.
+   @param[in] value value to byteswap.
+   @return swapped value
+*/
+uint64_t gs_bswap_64(uint64_t value);
+
+/**
+   Byte swap array.
+   @param[in] from from address.
+   @param[out] to to address.
+   @param[in] count element count.
+*/
+void gs_bswap_64_array(const uint64_t * from, uint64_t * to, size_t count);
+
+/**
+   Byte swap.
+   @param[in] value value to byteswap.
+   @return swapped value
+*/
+float gs_bswap_float(float value);
+
+/**
+   Byte swap array.
+   @param[in] from from address.
+   @param[out] to to address.
+   @param[in] count element count.
+*/
+void gs_bswap_float_array(const float * from, float * to, size_t count);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/check.h

@@ -0,0 +1,54 @@
+#ifndef GS_UTIL_CHECK_H
+#define GS_UTIL_CHECK_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Argument checking.
+
+   Logs can be enabled through a define.
+*/
+
+#include <gs/util/error.h>
+#include <gs/util/log.h>
+#include <gs/util/string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if (GS_CHECK_LOG)
+#define GS_CHECK_HANDLE(check)      if (!(check)) { log_error("Invalid handle - assert: " GS_DEF2STRING(check)); return GS_ERROR_HANDLE;}
+#define GS_CHECK_ARG(check)         if (!(check)) { log_error("Invalid argument - assert: " GS_DEF2STRING(check)); return GS_ERROR_ARG;}
+#define GS_CHECK_SUPPORTED(check)   if (!(check)) { log_error("Not supported - assert: " GS_DEF2STRING(check)); return GS_ERROR_NOT_SUPPORTED;}
+#define GS_CHECK_RANGE(check)       if (!(check)) { log_error("Invalid range - assert: " GS_DEF2STRING(check)); return GS_ERROR_RANGE;}
+#else
+/**
+   Perform evalution of 'check' and return GS_ERROR_HANDLE if not 'true'.
+*/
+#define GS_CHECK_HANDLE(check)      if (!(check)) { return GS_ERROR_HANDLE;}
+/**
+   Perform evalution of 'check' and return GS_ERROR_ARG if not 'true'.
+*/
+#define GS_CHECK_ARG(check)         if (!(check)) { return GS_ERROR_ARG;}
+/**
+   Perform evalution of 'check' and return GS_ERROR_NOT_SUPPORTED if not 'true'.
+*/
+#define GS_CHECK_SUPPORTED(check)   if (!(check)) { return GS_ERROR_NOT_SUPPORTED;}
+/**
+   Perform evalution of 'check' and return GS_ERROR_RANGE if not 'true'.
+*/
+#define GS_CHECK_RANGE(check)       if (!(check)) { return GS_ERROR_RANGE;}
+#endif
+
+/**
+   Assert on 'value'.
+
+   @deprecated use GS_STATIC_ASSERT()
+*/
+#define GS_CHECK_STATIC_ASSERT(condition, name)  GS_STATIC_ASSERT(condition, name)
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/clock.h

@@ -0,0 +1,88 @@
+#ifndef GS_UTIL_CLOCK_H
+#define GS_UTIL_CLOCK_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Get/set time (including RTC), convert to/from string.
+*/
+
+#include <gs/util/error.h>
+#include <gs/util/timestamp.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Returns real time/clock (UTC - time since Epoch/1970).
+
+   If the platform supports a Real Time Clock, the RTC is normally read on first call. An offset is calculated for the relative clock, which
+   then is used to calculate the actual time.
+
+   @note clock_get_time() is proto-typed in libcsp as weak, but with different argument which MUST match gs_timestamp_t.
+   @param[out] time user allocated buffer, contaning the current UTC time.
+*/
+void gs_clock_get_time(gs_timestamp_t * time);
+
+/**
+   Set real time/clock (UTC).
+   If the platform supports a Real Time Clock, the RTC is also updated.
+   @param[in] time UTC time.
+   @return_gs_error_t
+*/
+gs_error_t gs_clock_set_time(const gs_timestamp_t * time);
+
+/**
+   Returns elapsed time since some unspecified starting point.
+   @param[out] time user allocated buffer, receives elapsed time.
+   @see gs_time_rel_ms()
+*/
+void gs_clock_get_monotonic(gs_timestamp_t * time);
+
+/**
+   Returns number of elapsed nano-seconds since some unspecified starting point.
+   @return nano-seconds.
+*/
+uint64_t gs_clock_get_nsec(void);
+
+/**
+   Buffer length for containing full ISO8601 timestamp - including zero (0) termination.
+*/
+#define GS_CLOCK_ISO8601_BUFFER_LENGTH  21
+
+/**
+   Convert UTC to a ISO8601 string.
+   ISO8601 timestamp: 2017-03-30T06:20:45Z
+   @param[in] utc_time UTC time.
+   @param[out] buffer user allocated buffer.
+   @param[in] buffer_size size of \a buf.
+   @return_gs_error_t
+*/
+gs_error_t gs_clock_to_iso8601_string(const gs_timestamp_t * utc_time, char * buffer, size_t buffer_size);
+
+/**
+   Convert UTC to a ISO8601 string.
+   ISO8601 timestamp: 2017-03-30T06:20:45Z
+   @param[in] utc_sec UTC seconds.
+   @param[out] buffer user allocated buffer.
+   @param[in] buffer_size size of \a buf.
+   @return_gs_error_t
+*/
+gs_error_t gs_clock_to_iso8601_string2(uint32_t utc_sec, char * buffer, size_t buffer_size);
+
+/**
+   Convert string (UTC time) to timstamp.
+   Parse string as:
+   1. \<seconds\>.\<nano-seconds\> - number of seconds elapsed since the Epoch, 1970-01-01 00:00:00 +0000 (UTC).
+   2. YYYY-MM-DDTHH:MM:SSZ - ISO8601
+   @param[in] str time
+   @param[out] ts time
+   @return_gs_error_t
+*/
+gs_error_t gs_clock_from_string(const char * str, gs_timestamp_t * ts);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/crc32.h

@@ -0,0 +1,55 @@
+#ifndef GS_UTIL_CRC32_H
+#define GS_UTIL_CRC32_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   CRC32 checksumes.
+
+   https://en.wikipedia.org/wiki/Cyclic_redundancy_check.
+*/
+
+#include <gs/util/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Return init/seed value for CRC-32.
+   @return initial/seed value for CRC-32, using 0xffffffff.
+   @see gs_crc32_update(), gs_crc32_finalize()
+*/
+uint32_t gs_crc32_init(void);
+
+/**
+   Update CRC-32.
+   @param[in] crc current CRC-32
+   @param[in] block start of memory block.
+   @param[in] length length of \a block.
+   @return updated CRC-32.
+   @see gs_crc32_init(), gs_crc32_finalize()
+*/
+uint32_t gs_crc32_update(uint32_t crc, const void * block, size_t length);
+
+/**
+   Return finalized CRC-32.
+   @param[in] crc Checksum is finalized by xor'ing 0xffffffff.
+   @return finalized CRC-32.
+   @see gs_crc32_init(), gs_crc32_update()
+*/
+uint32_t gs_crc32_finalize(uint32_t crc);
+
+/**
+   Return finalized CRC-32 on amemory block.
+
+   @param[in] block block to calculate CRC-32 on.
+   @param[in] length length/size of \a block.
+   @return finalized CRC-32.
+*/
+uint32_t gs_crc32(const void *block, size_t length);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/crc8.h

@@ -0,0 +1,55 @@
+#ifndef GS_UTIL_CRC8_H
+#define GS_UTIL_CRC8_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   CRC8 checksumes.
+
+   https://en.wikipedia.org/wiki/Cyclic_redundancy_check.
+*/
+
+#include <gs/util/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Return init/seed value for CRC-8.
+   @return initial/seed value for CRC-8, using 0xff.
+   @see gs_crc8_update(), gs_crc8_finalize()
+*/
+uint8_t gs_crc8_init(void);
+
+/**
+   Update CRC-8.
+   @param[in] crc current CRC-8
+   @param[in] block start of memory block.
+   @param[in] length length of \a block.
+   @return updated CRC-8.
+   @see gs_crc8_init(), gs_crc8_finalize()
+*/
+uint8_t gs_crc8_update(uint8_t crc, const void * block, size_t length);
+
+/**
+   Return finalized CRC-8.
+   @param[in] crc Checksum is finalized by xor'ing 0xffffffff.
+   @return finalized CRC-8.
+   @see gs_crc8_init(), gs_crc8_update()
+*/
+uint8_t gs_crc8_finalize(uint8_t crc);
+
+/**
+   Return finalized CRC-8 on amemory block.
+
+   @param[in] block block to calculate CRC-8 on.
+   @param[in] length length/size of \a block.
+   @return finalized CRC-8.
+*/
+uint8_t gs_crc8(const void *block, size_t length);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/delay.h

@@ -0,0 +1,42 @@
+#ifndef GS_UTIL_DELAY_H
+#define GS_UTIL_DELAY_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Delay execution.
+
+   @note Most implementations uses busy waiting.
+*/
+
+#include <gs/util/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Delay for number of microseconds.
+   @note Linux doesn't busy wait.
+   @param us Number of microseconds to wait
+*/
+void gs_delay_us(uint32_t us);
+
+/**
+   Return current counter used for us delays
+   @return timestamp in us
+*/
+uint16_t gs_delay_ts_get(void);
+
+/**
+   Wait until delay has passed since timestamp
+
+   @param[in] ts Timestamp in us
+   @param[in] delay The requested delay since ts
+*/
+void gs_delay_from_ts(uint16_t ts, uint16_t delay);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/drivers/can/can.h

@@ -0,0 +1,122 @@
+#ifndef GS_UTIL_DRIVERS_CAN_CAN_H
+#define GS_UTIL_DRIVERS_CAN_CAN_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   CAN interface.
+*/
+
+#include <gs/util/log.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Default log group for CAN driver.
+*/
+GS_LOG_GROUP_EXTERN(gs_can_log);
+    
+/**
+   Bit-rate (default).
+*/
+#define GS_CAN_DEFAULT_BPS    1000000
+
+/**
+   Callback for handling received data (from CAN driver).
+   @param[in] device hardware device
+   @param[in] canMsgId standard or extended message id.
+   @param[in] extendedMsgId \a true if extended id, \a false if standard id.
+   @param[in] data pointer to data.
+   @param[in] data_size size of data.
+   @param[in] nowMs current relative time in mS.
+   @param[in] user_data user data.
+   @param[in] cswitch If called from within an ISR (embedded platform), this will none NULL.
+*/
+typedef void (*gs_can_rxdata_callback_t)(int hdl,
+					 uint32_t canMsgId,
+					 bool extendedMsgId,
+					 const void * data,
+					 size_t data_size,
+					 uint32_t nowMs,
+					 void * user_data,
+					 gs_context_switch_t * cswitch);
+
+/**
+   Send CAN message with standard id (11 bits).
+   @param[in] device hardware device
+   @param[in] canMsgId standard CAN message id.
+   @param[in] data pointer to data.
+   @param[in] data_size size of data.
+   @param[in] timeout_ms timeout in mS.
+   @return GS_ERROR_FULL if Tx queue is full
+   @return_gs_error_t
+*/
+gs_error_t gs_can_send_standard(uint8_t device, uint32_t canMsgId, const void * data, size_t data_size, int timeout_ms);
+
+/**
+   Send CAN message with exended id (29 bits).
+   @param[in] device hardware device
+   @param[in] canExtMsgId exteneded message id.
+   @param[in] data pointer to data.
+   @param[in] data_size size of data.
+   @param[in] timeout_ms timeout in mS.
+   @return GS_ERROR_FULL if Tx queue is full
+   @return_gs_error_t
+*/
+gs_error_t gs_can_send_extended(uint8_t device, uint32_t canExtMsgId, const void * data, size_t data_size, int timeout_ms);
+
+/**
+   Set filter and callback for standard message id.
+   @param[in] device hardware device
+   @param[in] canMsgId standard message id.
+   @param[in] mask filter mask.
+   @param[in] rx_callback callback function.
+   @param[in] rx_user_data user data provided in callback.
+   @return GS_ERROR_FULL if all message id slots are used.
+   @return_gs_error_t
+*/
+gs_error_t gs_can_set_standard_filter_mask(uint8_t device, uint32_t canMsgId, uint32_t mask, gs_can_rxdata_callback_t rx_callback, void * rx_user_data);
+
+/**
+   Set filter and callback for extended message id.
+   @param[in] device hardware device
+   @param[in] canExtMsgId extended message id.
+   @param[in] mask filter mask.
+   @param[in] rx_callback callback function.
+   @param[in] rx_user_data user data provided in callback.
+   @return GS_ERROR_FULL if all message id slots are used.
+   @return_gs_error_t
+*/
+gs_error_t gs_can_set_extended_filter_mask(uint8_t device, uint32_t canExtMsgId, uint32_t mask, gs_can_rxdata_callback_t rx_callback, void * rx_user_data);
+
+/**
+   Stop CAN layer.
+   If a CAN transceiver is present and controlled, it will be disabled.
+   @param[in] device hardware device
+   @return_gs_error_t
+*/
+gs_error_t gs_can_stop(uint8_t device);
+
+/**
+   Start CAN layer.
+   Clear all buffers and start CAN.
+   If a CAN transceiver is present and controlled, it will be enabled.
+   @param[in] device hardware device
+   @return_gs_error_t
+*/
+gs_error_t gs_can_start(uint8_t device);
+
+/**
+   Get current CAN layer error state.
+   @param[in] device hardware device
+   @param[out] restart_required \a true if CAN layer should be re-started. Pass NULL, if not wanted.
+   @return_gs_error_t
+*/
+gs_error_t gs_can_error_state(uint8_t device, bool * restart_required);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/drivers/gpio/gpio.h

@@ -0,0 +1,91 @@
+#ifndef GS_UTIL_DRIVERS_GPIO_GPIO_H
+#define GS_UTIL_DRIVERS_GPIO_GPIO_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+    @file
+
+    GPIO interface provides a generic interface toward hardware GPIO's.
+*/
+
+#include <gs/util/error.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   GPIO definition.
+*/
+typedef struct {
+    //! Chip/group/port number which the GPIO belongs to.
+    uint16_t port;
+    //! The pin number of the GPIO.
+    uint16_t pin;
+} gs_gpio_t;
+
+/**
+   GPIO interrupt function.
+*/
+typedef void (*gs_gpio_isr_t)(gs_context_switch_t * cswitch);
+
+/**
+   Configuration for interrupt related to a GPIO.
+*/
+typedef struct {
+    //! True if it shall trigger on rising edge.
+    bool rising_edge;
+    //! True if it shall trigger on falling edge.
+    bool falling_edge;
+    //! True if it shall have high priority (if nested isr supported).
+    bool high_priority;
+    //! ISR to be called on trigger.
+    gs_gpio_isr_t isr;
+} gs_interrupt_conf_t;
+
+/**
+    GPIO get value
+
+    @param[in] gpio The gpio to read
+    @param[in] value Returned GPIO value (true/false = High/Low)
+    @return_gs_error_t
+*/
+gs_error_t gs_gpio_get(gs_gpio_t gpio, bool *value);
+
+/**
+    GPIO get value without error check
+
+    @param[in] gpio The gpio to read
+    @return GPIO value (true/false = High/Low)
+*/
+bool gs_gpio_get_nc(gs_gpio_t gpio);
+
+/**
+    GPIO set value
+
+    @param[in] gpio The gpio to set
+    @param[in] value GPIO value (true/false = High/Low)
+    @return_gs_error_t
+*/
+gs_error_t gs_gpio_set(gs_gpio_t gpio, bool value);
+
+/**
+    GPIO set value without error check
+
+    @param[in] gpio The gpio to set
+    @param[in] value GPIO value (true/false = High/Low)
+*/
+void gs_gpio_set_nc(gs_gpio_t gpio, bool value);
+
+/**
+    Initialize GPIO as an external interrupt pin.
+
+    @param[in] gpio The gpio to configure
+    @param[in] conf Configuration of interrupt pin
+    @return_gs_error_t
+ */
+gs_error_t gs_gpio_init_as_interrupt(gs_gpio_t gpio, const gs_interrupt_conf_t * conf);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/drivers/i2c/common.h

@@ -0,0 +1,88 @@
+#ifndef GS_UTIL_DRIVERS_I2C_COMMON_H
+#define GS_UTIL_DRIVERS_I2C_COMMON_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Common (master and slave) I2C definitions.
+*/
+
+#include <gs/util/log.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Default log group for I2C driver.
+*/
+GS_LOG_GROUP_EXTERN(gs_i2c_log);
+
+/**
+   I2C mode.
+*/
+typedef enum {
+    //! Master mode
+    GS_I2C_MASTER = 0,
+    //! Multimaster mode
+    GS_I2C_MULTI_MASTER = 1,
+    //! Slave mode
+    GS_I2C_SLAVE = 2,
+} gs_i2c_mode_t;
+
+/**
+   Cross-platform I2C configuration.
+*/
+typedef struct {
+    //! Data order, True: MSB first, False: LSB first (default = True)
+    bool data_order_msb;
+    //! Device mode (master, multimaster, or slave)
+    gs_i2c_mode_t mode;
+    //! Address of node in multimaster and slave mode (not used in master mode)
+    uint16_t addr;
+    //! Bits per second (default is #GS_I2C_DEFAULT_BPS)
+    uint32_t bps;
+    //! Address size in bits, 7, 8 or 10 bits (default/prefered is #GS_I2C_DEFAULT_ADDRESS_SIZE)
+    uint8_t addrbits;
+} gs_i2c_config_t;
+
+/**
+   Cross-platform I2C configuration.
+   @deprecated use gs_i2c_config_t.
+*/
+typedef gs_i2c_config_t gs_i2c_bus_config_t;
+
+/**
+   Default bit-rate.
+*/
+#define GS_I2C_DEFAULT_BPS             100000
+
+/**
+   Default address size.
+*/
+#define GS_I2C_DEFAULT_ADDRESS_SIZE    7
+
+/**
+   Default data order (MSB).
+*/
+#define GS_I2C_DEFAULT_DATA_ORDER_MSB  1
+
+/**
+   Speed (command line sub-option).
+*/
+#define GS_I2C_COMMAND_LINE_SPEED      "speed"
+
+/**
+   Device (command line sub-option).
+*/
+#define GS_I2C_COMMAND_LINE_DEVICE     "device"
+
+/**
+   Address (command line sub-option).
+*/
+#define GS_I2C_COMMAND_LINE_ADDRESS    "address"
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/drivers/i2c/master.h

@@ -0,0 +1,32 @@
+#ifndef GS_UTIL_DRIVERS_I2C_MASTER_H
+#define GS_UTIL_DRIVERS_I2C_MASTER_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   I2C master interface.
+*/
+
+#include <gs/util/drivers/i2c/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Perform transaction to I2C slave.
+   @param[in]  device hardware device (bus)
+   @param[in]  addr slave address
+   @param[in]  tx transmit buffer
+   @param[in]  txlen number of bytes to transmit
+   @param[out] rx receive buffer - can be NULL.
+   @param[in]  rxlen number of bytes to receive.
+   @param[in]  timeout_ms timeout in milliseconds, primarily for locking the I2C channel.
+   @return_gs_error_t
+*/
+gs_error_t gs_i2c_master_transaction(uint8_t device, uint8_t addr, const void * tx, size_t txlen, void * rx, size_t rxlen, int timeout_ms);
+    
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/drivers/i2c/slave.h

@@ -0,0 +1,79 @@
+#ifndef GS_UTIL_DRIVERS_I2C_SLAVE_H
+#define GS_UTIL_DRIVERS_I2C_SLAVE_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file 
+
+   I2C slave interface.
+*/
+
+#include <gs/util/drivers/i2c/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Start/enable I2C bus reception.
+
+   Reception should not automatically be enabled by their init() functions, as this will complicate adding additional layers/hooks.
+
+   @param[in] device I2C bus (handle)
+   @return_gs_error_t
+*/
+gs_error_t gs_i2c_slave_start(uint8_t device);
+
+/**
+   Rx callback.
+
+   Function called when data has been received on the bus (I2C write operation complete).
+
+   @param[in] device I2C bus (handle).
+   @param[in] rx receive buffer.
+   @param[in] rx_length number of bytes received.
+   @param_cswitch
+*/
+typedef void (* gs_i2c_slave_receive_t)(uint8_t device, const uint8_t * rx, size_t rx_length, gs_context_switch_t * cswitch);
+
+/**
+   Set rx callback.
+
+   @param[in] device I2C bus (handle).
+   @param[in] rx Rx callback.
+   @return_gs_error_t
+*/
+gs_error_t gs_i2c_slave_set_rx(uint8_t device, gs_i2c_slave_receive_t rx);
+
+/**
+   Get rx buffer callback.
+
+   Function called from driver, for getting a pointer to the rx buffer.
+
+   @param[in] device I2C bus (handle).
+*/
+typedef void * (* gs_i2c_slave_get_rx_buf_t)(uint8_t device);
+
+/**
+   Set rx buffer get callback.
+
+   @param[in] device I2C bus (handle).
+   @param[in] get_rx_buf get rx buffer callback.
+   @param[in] buf_length length of buffer retrieved with this callback.
+   @return_gs_error_t
+*/
+gs_error_t gs_i2c_slave_set_get_rx_buf(uint8_t device, gs_i2c_slave_get_rx_buf_t get_rx_buf, size_t buf_length);
+
+/**
+   Set response data.
+
+   @param[in] device I2C bus (handle).
+   @param[in] tx pointer to data. NOTE: data is not copied due to performance, so data must stay valid until the response has been sent.
+   @param[in] tx_length length of data.
+   @return_gs_error_t
+*/
+gs_error_t gs_i2c_slave_set_response(uint8_t device, const uint8_t * tx, size_t tx_length);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/drivers/spi/common.h

@@ -0,0 +1,66 @@
+#ifndef GS_UTIL_DRIVERS_SPI_COMMON_H
+#define GS_UTIL_DRIVERS_SPI_COMMON_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Common (master and slave) SPI definitions.
+*/
+
+#include <gs/util/log.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Default log group for SPI driver.
+*/
+GS_LOG_GROUP_EXTERN(gs_spi_log);
+
+/**
+   SPI mode - clock polarity and phase.
+*/
+typedef enum {
+    /**
+       Polarity = 0, Phase = 0 (default).
+    */
+    GS_SPI_MODE_CPOL0_CPHA0 = 0,
+    /**
+       Polarity = 0, Phase = 1.
+    */
+    GS_SPI_MODE_CPOL0_CPHA1 = 1,
+    /**
+       Polarity = 1, Phase = 0.
+    */
+    GS_SPI_MODE_CPOL1_CPHA0 = 2,
+    /**
+       Polarity = 1, Phase = 1.
+    */
+    GS_SPI_MODE_CPOL1_CPHA1 = 3
+} gs_spi_mode_t;
+
+/**
+   Default bit-rate.
+*/
+#define GS_SPI_DEFAULT_BPS          400000
+
+/**
+   Speed (command line sub-option).
+*/
+#define GS_SPI_COMMAND_LINE_SPEED   "speed"
+
+/**
+   Slave (command line sub-option).
+*/
+#define GS_SPI_COMMAND_LINE_SLAVE   "slave"
+
+/**
+   Device (command line sub-option).
+*/
+#define GS_SPI_COMMAND_LINE_DEVICE  "device"
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/drivers/spi/master.h

@@ -0,0 +1,95 @@
+#ifndef GS_UTIL_DRIVERS_SPI_MASTER_H
+#define GS_UTIL_DRIVERS_SPI_MASTER_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   SPI master interface.
+*/
+
+#include <gs/util/drivers/spi/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Cross-platform master SPI configuration.
+*/
+typedef struct {
+    /**
+       Data order, \a True: MSB first, \a False: LSB first
+       Default: \a True.
+    */
+    bool data_order_msb;
+    /**
+       Bits per second.
+       Default: #GS_SPI_DEFAULT_BPS.
+    */
+    uint32_t bps;
+    /**
+       Mode, specifying polarity and phase.
+       Default: #GS_SPI_MODE_CPOL0_CPHA0.
+    */
+    gs_spi_mode_t mode;
+    /**
+       Character size in bits, 8-16 bits.
+       Default: 8 bits (prefered).
+    */
+    uint8_t bits;
+} gs_spi_master_slave_config_t;
+
+/**
+   Single master transaction.
+*/
+typedef struct {
+    /**
+       Pointer to tx data, or NULL if no tx.
+    */
+    const void *tx;
+    /**
+       Pointer to rx buffer, or NULL if no rx.
+    */
+    void *rx;
+    /**
+       Size/length of rx/tx (bytes).
+    */
+    size_t size;
+} gs_spi_master_trans_t;
+
+/**
+   Close/free slave.
+   Freeing resources associated with the slave.
+   @param[in] slave SPI slave
+   @return_gs_error_t
+*/
+gs_error_t gs_spi_master_close_slave(uint8_t slave);
+
+/**
+   Perform transaction to/from a pre-configured SPI slave.
+   Basically for i < size: send tx[i] and receive rx[i].
+   @note: 8 bit SPI character size required!
+   @param[in]  slave SPI slave
+   @param[in]  tx tx buffer
+   @param[out] rx rx buffer - can be NULL.
+   @param[in]  size number of to send and also receive.
+   @param[in]  timeout_ms timeout in milliseconds, primarily for locking the SPI device.
+   @return_gs_error_t
+*/
+gs_error_t gs_spi_master_transaction(uint8_t slave, const void * tx, void * rx, size_t size, int timeout_ms);
+
+/**
+   Perform N transaction to/from a pre-configured SPI slave within one chip selection
+   @note: 8 bit SPI character size required!
+   @param[in] slave SPI slave
+   @param[in] trans Pointer to transactions
+   @param[in] count Number of transactions (rx and/or tx) to complete
+   @param[in] timeout_ms timeout in milliseconds, primarily for locking the SPI device.
+   @return_gs_error_t
+*/
+gs_error_t gs_spi_master_transactions(uint8_t slave, gs_spi_master_trans_t *trans, size_t count, int timeout_ms);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/drivers/spi/slave.h

@@ -0,0 +1,84 @@
+#ifndef GS_UTIL_DRIVERS_SPI_SLAVE_H
+#define GS_UTIL_DRIVERS_SPI_SLAVE_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   SPI slave interface.
+*/
+
+#include <gs/util/drivers/spi/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Cross-platform slave SPI configuration.
+*/
+typedef struct {
+    /**
+       Data order, \a True: MSB first, \a False: LSB first
+       Default: \a True.
+    */
+    bool data_order_msb;
+    /**
+       Mode, specifying polarity and phase.
+       Default: #GS_SPI_MODE_CPOL0_CPHA0.
+    */
+    gs_spi_mode_t mode;
+    /**
+       Character size in bits, 8-16 bits.
+       Default: 8 bits (prefered).
+    */
+    uint8_t bits;
+} gs_spi_slave_config_t;
+
+/**
+   Start/enable SPI device reception.
+
+   Reception should not automatically be enabled by their init() functions, as this will complicate adding additional layers/hooks.
+
+   @param[in] device SPI device (handle)
+   @return_gs_error_t
+*/
+gs_error_t gs_spi_slave_start(uint8_t device);
+
+/**
+   Rx callback.
+
+   Function called as data is recevied on the device.
+
+   @param[in] device SPI device (handle).
+   @param[in] rx_buffer Pointer to start of rx buffer.
+   @param[in] rx number of bytes received so far.
+   @param[in] new_request \a true on the first callback of new data, \a false on receiving additional data during same \a chip-select. Can be used to bring receiver back in sync with new request.
+   @param_cswitch
+   @return total number of bytes to receive before next call back. Return 0 to ignore rest of data - no additional call backs will be done for current SPI transaction.
+*/
+typedef uint8_t (* gs_spi_slave_receive_t)(uint8_t device, const uint8_t * rx_buffer, size_t rx, bool new_request, gs_context_switch_t * cswitch);
+
+/**
+   Set rx callback.
+
+   @param[in] device SPI device (handle).
+   @param[in] rx Rx callback.
+   @return_gs_error_t
+*/
+gs_error_t gs_spi_slave_set_rx(uint8_t device, gs_spi_slave_receive_t rx);
+
+/**
+   Set response data.
+
+   @param[in] device SPI device (handle).
+   @param[in] offset offset (in bytes) for the response, counted from start of request, i.e. offset of 2 means data will be sent as the 3rd byte.
+   @param[in] tx pointer to data. NOTE: data is not copied due to performance, so data must stay valid until the response has been sent.
+   @param[in] size size of data.
+   @return_gs_error_t
+*/
+gs_error_t gs_spi_slave_set_response(uint8_t device, size_t offset, const uint8_t * tx, size_t size);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/drivers/sys/memory.h

@@ -0,0 +1,92 @@
+#ifndef GS_UTIL_DRIVERS_SYS_MEMORY_H
+#define GS_UTIL_DRIVERS_SYS_MEMORY_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Cross platform memory status API.
+*/
+
+#include <gs/util/stdio.h>
+#include <gs/util/error.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   RAM status
+   Containing different size parameters describing RAM usage.
+   All sizes are in bytes.
+   If a parameter is not available/supported on a specific platform, the parameter is set to -1.
+ */
+typedef struct {
+    //! total size of RAM
+    long total;
+    //! max available RAM for allocation after initialization of of global/static variables
+    long max_available;
+    //! available RAM at runtime for dynamic allocation
+    long available;
+    //! Lowest registered available RAM since boot
+    long min_available;
+} gs_mem_ram_stat_t;
+
+/**
+   RAM types
+   Defines the different RAM types (external/internal) supported on
+   the various platforms.
+ */
+typedef enum {
+    GS_MEM_RAM_TYPE_INTERNAL = 0,//!< Internal RAM type
+    GS_MEM_RAM_TYPE_EXTERNAL     //!< External RAM type
+} gs_mem_ram_type_t;
+
+/**
+   Get status of internal RAM
+
+   @param[out] ram_stat RAM status, each member of struct is -1 if not supported on specific platform
+   @return_gs_error_t
+ */
+gs_error_t gs_mem_get_int_ram_stat(gs_mem_ram_stat_t * ram_stat);
+
+/**
+   Get status of external RAM
+
+   @param[out] ram_stat RAM status, each member of struct is -1 if not supported on specific platform
+   @return_gs_error_t
+ */
+gs_error_t gs_mem_get_ext_ram_stat(gs_mem_ram_stat_t * ram_stat);
+
+
+/**
+   Get status of selected RAM
+
+   @param[in]  type RAM type to query status for
+   @param[out] ram_stat RAM status, each member of struct is -1 if not supported on specific platform
+   @return_gs_error_t
+ */
+gs_error_t gs_mem_get_ram_stat(gs_mem_ram_type_t type, gs_mem_ram_stat_t * ram_stat);
+
+
+/**
+   Get default RAM type
+
+   returns the default RAM type used for allocations (Heap).
+   @return gs_mem_ram_type_t
+ */
+gs_mem_ram_type_t gs_mem_get_ram_default();
+
+
+/**
+   Print RAM status.
+
+   @param[in] ram_stat RAM status
+   @param[in] out output stream
+   @return_gs_error_t
+ */
+gs_error_t gs_mem_print_ram_stat(gs_mem_ram_stat_t * ram_stat, FILE * out);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/drivers/watchdog/device.h

@@ -0,0 +1,61 @@
+#ifndef GS_UTIL_DRIVERS_HW_WATCHDOG_H
+#define GS_UTIL_DRIVERS_HW_WATCHDOG_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Hardward watchdog (HWWD) device interface.
+
+   Hardware Watchdog interface which provides a generic interface towards
+   any HWWD. Most HWWD implementation should be able to fit behind
+   this interface, with just a small "adaption" layer needed.
+*/
+
+#include <gs/util/error.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Hardware watchdog driver interface.
+*/
+typedef struct gs_watchdog_dev_ops gs_watchdog_dev_ops_t;
+
+/**
+   Hardware watchdog (HWWD) device structure
+
+   Structure that describes the HWWD device and holds
+   the parameters needed for storing e.g. timeout values etc.
+*/
+typedef struct gs_watchdog_device {
+    int id; /**< An ID for the HWWD device - This is currently not used. */
+    const gs_watchdog_dev_ops_t *ops; /**< Pointer to ops struct defining the operations a HWWD device supports. */
+    unsigned int timeout; /**< The timeout value that the HWWD device should be configured with. */
+    unsigned int pretimeout; /**< The pretimeout (if supported) by the HWWD  device */
+    unsigned int min_timeout; /**< Minimum timeout value supported by the HWWD device */
+    unsigned int max_timeout; /**< Maximum timeout value supported by the HWWD device */
+    void *driver_data; /**< Pointer to driver specific data can be used by the HWWD driver impl. */
+} gs_watchdog_device_t;
+
+/**
+   Hardware watchdog driver interface.
+*/
+struct gs_watchdog_dev_ops
+{
+    /* mandatory operations */
+    gs_error_t (*start)(gs_watchdog_device_t *); /**< Starts the HWWD device */
+    gs_error_t (*stop)(gs_watchdog_device_t *); /**< Stops the HWWD device */
+    gs_error_t (*ping)(gs_watchdog_device_t *); /**< Polls the HWWD device and restart count-down */
+    /* optional operations */
+    gs_error_t (*set_timeout)(gs_watchdog_device_t *, unsigned int); /**< (Optional) Set timeout of the HWWD device */
+    gs_error_t (*set_pretimeout)(gs_watchdog_device_t *, unsigned int); /**< (Optional) Set Pre-timeout of the HWWD device */
+    gs_error_t (*restart)(gs_watchdog_device_t *); /**< (Optional) Restart the HWWD device */
+    unsigned int (*get_timeleft)(gs_watchdog_device_t *); /**< (Optional) Get time left until HWWD device times out. */
+    int (*status)(gs_watchdog_device_t *); /**< (Optional) Reads status of the HWWD device */
+};
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/endian.h

@@ -0,0 +1,53 @@
+#ifndef GS_UTIL_ENDIAN_H
+#define GS_UTIL_ENDIAN_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Detecting endian type.
+*/
+
+// generated by waf configure, defines either UTIL_BIG_ENDIAN or UTIL_LITTLE_ENDIAN
+#include "../../conf_util.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if !UTIL_BIG_ENDIAN && !UTIL_LITTLE_ENDIAN
+  #error No endian defined
+#endif
+#if UTIL_BIG_ENDIAN && UTIL_LITTLE_ENDIAN
+  #error Both big and little endian defined
+#endif
+
+#include <gs/util/byteorder.h>
+
+/**
+   Returns \a true if platform is big endian.
+*/
+static inline bool gs_endian_big(void)
+{
+#if (UTIL_BIG_ENDIAN)
+    return true;
+#else
+    return false;
+#endif
+}
+
+/**
+   Returns \a true if platform is little endian.
+*/
+static inline bool gs_endian_little(void)
+{
+#if (UTIL_LITTLE_ENDIAN)
+    return true;
+#else
+    return false;
+#endif
+}
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/error.h

@@ -0,0 +1,199 @@
+#ifndef GS_UTIL_ERROR_H
+#define GS_UTIL_ERROR_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Common error code definitions.
+*/
+
+#include <gs/util/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Common/generic error codes.
+   Based on POSIX \a errno values, but negative instead of positive.
+*/
+typedef enum gs_error_t {
+  /**
+     Success - ok (POSIX).
+  */
+  GS_OK = 0,
+  /**
+     Operation not permitted (POSIX.1: EPERM).
+  */
+  GS_ERROR_PERM = -1,
+  /**
+     Interrupted system call (or Interrupted function call) (POSIX: EINTR).
+  */
+  GS_ERROR_INTR = -4,
+  /**
+     Input/output error (POSIX.1: EIO)
+  */
+  GS_ERROR_IO = -5,
+  /**
+     Resource temporarily unavailable (may be the same value as EWOULDBLOCK) (POSIX.1: EAGAIN).
+  */
+  GS_ERROR_AGAIN = -11,
+  /**
+     Cannot allocate memory (or Not enough space) (POSIX.1: ENOMEM).
+  */
+  GS_ERROR_ALLOC = -12,
+  /**
+     Permission denied (POSIX.1: EACCES).
+  */
+  GS_ERROR_ACCESS = -13,
+  /**
+     Device or resource busy (POSIX.1: EBUSY).
+  */
+  GS_ERROR_BUSY = -16,
+  /**
+     File exists (POSIX.1-2001: EEXIST).
+  */
+  GS_ERROR_EXIST = -17,
+  /**
+     Invalid argument (POSIX.1: EINVAL).
+  */
+  GS_ERROR_ARG = -22,
+  /**
+     Function not implemented (POSIX.1: ENOSYS)
+  */
+  GS_ERROR_NOT_IMPLEMENTED = -38,
+  /**
+     Value too large to be stored in data type (POSIX.1: EOVERFLOW).
+     Example: trying to put 50 characters into a 10 character array.
+     @see GS_ERROR_RANGE.
+  */
+  GS_ERROR_OVERFLOW = -75,
+  /**
+     Operation not supported (POSIX.1: ENOTSUP)
+  */
+  GS_ERROR_NOT_SUPPORTED = -95,
+  /**
+     Address already in use (POSIX.1: EADDRINUSE).
+  */
+  GS_ERROR_IN_USE = -98,
+  /**
+     Connection reset (POSIX.1-2001: ECONNRESET).
+  */
+  GS_ERROR_CONNECTION_RESET = -104,
+  /**
+     No buffer space available (POSIX.1 (XSI STREAMS option): ENOBUFS).
+  */
+  GS_ERROR_NO_BUFFERS = -105,
+  /**
+     Timeout (POSIX.1-2001: ETIMEDOUT).
+  */
+  GS_ERROR_TIMEOUT = -110,
+  /**
+     Connection already in progress (POSIX.1-2001: EALREADY).
+  */
+  GS_ERROR_ALREADY_IN_PROGRESS = -114,
+
+  /**
+     Handle error (GOMspace).
+  */
+  GS_ERROR_HANDLE = -2000,    // from errno.h: #define __ELASTERROR 2000       /* Users can add values starting here */
+  /**
+     Not found (GOMspace).
+  */
+  GS_ERROR_NOT_FOUND = -2001,
+  /**
+     Full (GOMspace).
+  */
+  GS_ERROR_FULL = -2002,
+  /**
+     Range error (GOMspace).
+     Example: specifying 120 hours, where only 0-23 is valid.
+     @see GS_ERROR_OVERFLOW
+  */
+  GS_ERROR_RANGE = -2003,
+  /**
+     Data error (GOMspace).
+  */
+  GS_ERROR_DATA = -2004,
+  /**
+     Unknown error (GOMspace).
+     @note avoid use - use specific error to improve debugging/troubleshooting.
+  */
+  GS_ERROR_UNKNOWN = -2005,
+  /**
+     No data available (GOMspace).
+  */
+  GS_ERROR_NO_DATA = -2006,
+  /**
+     Stale data - not updated (GOMspace).
+  */
+  GS_ERROR_STALE = -2007,
+  /**
+     Type error (GOMspace).
+  */
+  GS_ERROR_TYPE = -2008,
+  /**
+     Ambiguous error (GOMspace).
+  */
+  GS_ERROR_AMBIGUOUS = -2009,
+  /**
+     State error (GOMspace).
+  */
+  GS_ERROR_STATE = -2010,
+
+} gs_error_t;
+
+/**
+ * Convert an error code to a string.
+ * Uses standard POSIX strerror() under the hood.
+ * @param[in] error error to convert. If negative (e.g. \a gs_error_t), it is first converted to a positive value.
+ * @return string usefull for logging purposes (should not be used for programatically processing).
+ */
+const char * gs_error_string(int error);
+
+/**
+   Convert standard POSIX \a errno to gs_error_t.
+   @param[in] error POSIX error code (errno).
+   @return convert error code, by simply converting to a negative number.
+*/
+gs_error_t gs_error(int error);
+
+#if (GS_UTIL_DEPRECATED_ERROR_CODES)
+/**
+   Legacy error definitions.
+   @deprecated Use standard gs_error_t codes - these defines are only kept, so very old code (not yet update to use #gs_error_t) can compile.
+   @{
+*/
+#define E_NO_ERR           -1
+#define E_NO_DEVICE        -2
+#define E_MALLOC_FAIL      -3
+#define E_THREAD_FAIL      -4
+#define E_NO_QUEUE         -5
+#define E_INVALID_BUF_SIZE -6
+#define E_INVALID_PARAM    -7
+#define E_NO_SS            -8
+#define E_GARBLED_BUFFER   -9
+#define E_FLASH_ERROR      -10
+#define E_BOOT_SER         -13
+#define E_BOOT_DEBUG       -14
+#define E_BOOT_FLASH       -15
+#define E_TIMEOUT          -16
+#define E_NO_BUFFER        -17
+#define E_OUT_OF_MEM       -18
+#define E_FAIL             -19
+/** @} */
+
+/**
+   Converts legacy error definitions to string.
+   @deprecated Use standard gs_error_t codes - this function is only kept, so very old code (not yet update to use #gs_error_t) can compile.
+   @param[in] code error code
+   @return string describing the error.
+*/
+const char * error_string(int code) __attribute__((deprecated));
+
+#endif // GS_UTIL_DEPRECATED_ERROR_CODES
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/fletcher.h

@@ -0,0 +1,89 @@
+#ifndef GS_UTIL_FLETCHER_H
+#define GS_UTIL_FLETCHER_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Fletcher16 checksum,
+*/
+
+#include <gs/util/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Fletcher16 checksum (read using copy function).
+
+   Data is read from \a data, using the specified \a memcpyfcn function.
+
+   @param[in] data data.
+   @param[in] size number of \a data bytes.
+   @param[in] memcpyfcn memory copy function. If NULL is specified, standard memcpy will be used.
+   @returns fletcher16 checksum
+*/
+uint16_t gs_fletcher16_memcpy(const void * data, size_t size, void * (*memcpyfcn)(void *, const void *, size_t));
+
+/**
+   Fletcher16 checksum (read from program memory).
+
+   AVR8: reads from program memory.
+   Other architectures: identical to gs_fletcher16().
+
+   @param[in] data_in data.
+   @param[in] size number of \a data bytes.
+   @returns fletcher16 checksum
+*/
+uint16_t gs_fletcher16_P(const void * data_in, size_t size);
+
+/**
+   Fletcher16 checksum.
+
+   @param[in] data data.
+   @param[in] size number of \a data bytes.
+   @returns fletcher16 checksum
+*/
+uint16_t gs_fletcher16(const void * data, size_t size);
+
+/**
+   Fletcher16 working set.
+   @see gs_fletcher16_init(), gs_fletcher16_update(), gs_fletcher16_finalize()
+*/
+typedef struct {
+    /**
+       Sum1 - internal.
+    */
+    uint16_t sum1;
+    /**
+       Sum2 - internal.
+    */
+    uint16_t sum2;
+} gs_fletcher16_t;
+
+/**
+   Initialize fletcher16 working set.
+   @param[in] f16 working set.
+*/
+void gs_fletcher16_init(gs_fletcher16_t * f16);
+
+/**
+   Update fletcher16 checksum.
+   @param[in] f16 working set.
+   @param[in] data data.
+   @param[in] size number of \a data bytes.
+*/
+void gs_fletcher16_update(gs_fletcher16_t * f16, const void * data, size_t size);
+
+/**
+   Finalize fletcher16 checksum and return it.
+
+   @param[in] f16 working set.
+   @returns fletcher16 checksum
+*/
+uint16_t gs_fletcher16_finalize(gs_fletcher16_t * f16);
+    
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/function_scheduler.h

@@ -0,0 +1,79 @@
+#ifndef GS_UTIL_FUNCTION_SCHEDULER
+#define GS_UTIL_FUNCTION_SCHEDULER
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Function scheduler.
+
+   Simple framework for invoking functions at intervals.
+
+   Instead of creating a lot of tasks (which uses memory), this framework can be used to schedule execution of functions at specified intervals.
+
+   Once setup, calling gs_function_scheduler_execute_ms() will execute all functions timed out and return the time, until the next function has
+   to be executed or max timeout specified (or max wait time supported on the platform).
+
+   The API supports multiple schedulers, but is not thread-safe.
+
+   @note Do NOT use for time critical control, as the actual time interval is influenced by the host thread and other scheduled functions.
+*/
+
+#include <gs/util/error.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Scheduler handle.
+*/
+typedef struct gs_function_scheduler gs_function_scheduler_t;
+
+/**
+   Function callback.
+
+   @return timeout in mS until next callback.
+*/
+typedef uint32_t (*gs_function_scheduler_function_t)(void * user_data);
+
+/**
+   Initialize scheduler.
+   Memory is allocated once for \a max_entries.
+   @param[in] max_timeout_ms max timeout in mS.
+   @param[in] max_entries max number of entries for this scheduler.
+   @param[out] scheduler reference to created scheduler.
+   @return_gs_error_t
+*/
+gs_error_t gs_function_scheduler_create(uint32_t max_timeout_ms, unsigned int max_entries, gs_function_scheduler_t ** scheduler);
+
+/**
+   Free scheduler (release resources).
+   @param[in] scheduler scheduler.
+   @return_gs_error_t
+*/
+gs_error_t gs_function_scheduler_destroy(gs_function_scheduler_t * scheduler);
+
+/**
+   Execute scheduled function(s) and returns number of mS until next execute must be called again.
+
+   @note Return type is \a int to prevent overflow on platforms where int is less than 32 bits.
+
+   @param[in] scheduler scheduler.
+   @return next timeout in mS.
+*/
+int gs_function_scheduler_execute_ms(gs_function_scheduler_t * scheduler);
+
+/**
+   Register function to be executed at mS intervals.
+   @param[in] scheduler scheduler.
+   @param[in] first_timeout_ms mS until first execution.
+   @param[in] func function to execute.
+   @param[in] user_data function user data.
+   @return_gs_error_t
+*/
+gs_error_t gs_function_scheduler_register_ms(gs_function_scheduler_t * scheduler, uint32_t first_timeout_ms, gs_function_scheduler_function_t func, void * user_data);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/gosh/command.h

@@ -0,0 +1,503 @@
+#ifndef GS_UTIL_GOSH_COMMAND_H
+#define GS_UTIL_GOSH_COMMAND_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Command framework.
+
+   Provides a simple way of organizing commands in a hierarchy. A command is a text string mapping to a function - supporting arguments.
+*/
+
+#include <gs/util/stdio.h>
+#include <gs/util/pgm.h>
+#include <gs/util/check.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Max langth of a command (including NUL termination).
+*/
+#define GS_COMMAND_MAX_LEN_COMMAND      20
+
+/**
+   Flag for hiding command in help and tab-complete.
+*/
+#define GS_COMMAND_FLAG_HIDDEN		0x02
+
+/**
+   'root' command attribute.
+
+   On embedded (none Linux) systems, it is prefered to store as much as possible in \a program memory, in order to save RAM.
+   This is accomplished by tagging all \a root commands with this attribute, which instructs the linker to put all commands in a named
+   section. This section is then through the linker-script, placed in \a program memory.
+   The command framework can read commands directly from this section, and therefore doesn't need an RAM to maintain the list.
+
+   The gs_command_register() must still be called for all \a root commands, which ensures that the linker doesn't throw away the
+   command objects, due to missing code reference.
+
+   On a Linux system, the commands are not group in a section. Instead gs_command_register() dynamicly builds a list with the commands.
+
+   @see gs_command_register()
+*/
+#if (__linux__ == 0)
+#define GS_COMMAND_ROOT __attribute__ ((section(".commands")))
+#else
+#define GS_COMMAND_ROOT 
+#endif
+
+/**
+   Sub command attribute,
+
+   Only necesasry on AVR8, due to its memory model.
+*/
+#define GS_COMMAND_SUB  GS_PGM_OBJECT
+
+/**
+   Macro for initializing command chains.
+*/
+#define GS_COMMAND_INIT_CHAIN(__list) {.list = __list, .count = GS_ARRAY_SIZE(__list)}
+
+/**
+   Macro for registering commands.
+
+   @see gs_command_register()
+*/
+#define GS_COMMAND_REGISTER(__cmd) gs_command_register(__cmd, GS_ARRAY_SIZE(__cmd))
+
+/**
+   Command reference.
+   @note Use gs_command_t instead of 'struct command'.
+*/
+typedef struct command gs_command_t;
+
+/**
+    Commands context reference
+    @note Use gs_command_context_t instead of struct command_context
+ */
+typedef struct command_context gs_command_context_t;
+
+/**
+    Command output interface
+*/
+typedef struct command_io_functions {
+    /**
+       Function interface for setting result
+       @param output_ctx pointer to output context for the given impl.
+       @param group Group name specifies the group that a given key/value pair belongs to.
+       @param key key name
+       @param value string value of the result
+       @return_gs_error_t
+    */
+    gs_error_t (*set_result)(gs_command_context_t *ctx, const char *group, const char *key, const char *value);
+    /**
+       Function interface for flushing results. Used by the command handler to ensure output/results
+       are flushed to stdout/File or any other receiver of the output.
+       @param output_ctx pointer to output context for the given impl.
+       @return_gs_error_t
+    */
+    gs_error_t (*flush)(gs_command_context_t *ctx);
+    /**
+       Function interface for waiting for key/input
+       @param output_ctx pointer to output context for the given impl.
+       @param ch pointer to character returned by function
+       @param timeout_ms maximum time to wait of the character.
+       @return_gs_error_t
+    */
+    gs_error_t (*wait_for_key)(gs_command_context_t *ctx, int *ch, int timeout_ms);
+} gs_command_io_functions_t;
+
+
+
+/**
+   Command context for executing a command.
+*/
+struct command_context {
+    /**
+       Input (raw) command line, including arguments.
+    */
+    const char * command_line;
+
+    /**
+       Command being executed.
+    */
+    const gs_command_t * command;
+
+    /**
+       Number of arguments (standard argc style).
+    */
+    int argc;
+
+    /**
+       Argument array (standard argv style).
+    */
+    char **argv;
+
+    /**
+       FILE handle for capturing stdout from command.
+     */
+    FILE* out;
+
+     /**
+       getopt variable.
+    */
+    int optind;
+
+    /**
+       getopt variable.
+    */
+    int optopt;
+
+    /**
+       getopt variable.
+     */
+    char *optarg;
+
+    /**
+        getopt variable.
+    */
+    int optsp;
+
+    /**
+       Function interface for I/O operations
+    */
+    const gs_command_io_functions_t *io_functions;
+
+    /**
+       Pointer for storing the context used by the I/O functions
+    */
+    void * io_ctx;
+};
+
+/**
+   Command logging call-back
+
+   logs information on the command called.
+   @param[in] cmd_line command line string
+   @param[in] ret return code from command execution framework
+   @param[in] cmd_ret return code from the executed command
+   @param[in] start time_stamp when command execution started.
+   @param[in] end time_stamp when command execution completed.
+   @param[in] ctx context pointer for the logger.
+   @return_gs_error_t
+*/
+typedef gs_error_t (*gs_command_log_t)(const char *cmd_line, gs_error_t ret, gs_error_t cmd_ret, gs_timestamp_t start, gs_timestamp_t end, void * ctx);
+
+/**
+   Command handler.
+*/
+typedef int (*gs_command_handler_t)(gs_command_context_t * ctx);
+
+/**
+   Completer call-back (tab complete).
+
+   @param[in] ctx command context.
+   @param[in] arg_to_complete argument to complete
+   @return #GS_OK  Found at least 1 match.
+   The \a completer is expected to have completed more of the command line.
+   If the framework detects multiple matches, the framework will proceed as if #GS_ERROR_AMBIGUOUS was returned.
+   The framework doesn't expect anything to be printed to \a out, but will update/refresh the console line.
+   @return #GS_ERROR_AMBIGUOUS Ambiguous - multiple matches or force the framework to show help.
+   The \a completer may have extended/completed more of the command line.
+   The framework expects the \a completer to have printed to \a out, and will show help/usage for the command on a new line.
+   @return #GS_ERROR_NOT_FOUND (or others) No matches found or no more arguments to complete.
+   The framewrok doesn't expect anything to be printed to \a out, and will not update the console.
+*/
+typedef gs_error_t (*gs_command_completer_t)(gs_command_context_t * ctx, int arg_to_complete);
+
+/**
+   Add token - helper to 'tab complete' argument(s).
+
+   @param[in] ctx command context.
+   @param[in] token possible completion - the API will find the common part.
+   @param[in] exact \a true if \a token is an exact match - all other added tokens will be ignored.
+   @return number of tokens added.
+*/
+unsigned int gs_command_completer_add_token(gs_command_context_t * ctx, const char * token, bool exact);
+
+/**
+   Chain element for chaning sub-commands.
+*/
+typedef struct {
+    /**
+       Command list.
+    */
+    const gs_command_t * list;
+    /**
+       Number of commands in the \a list.
+    */
+    unsigned int count;
+} gs_command_chain_t;
+
+/**
+   Signals no command arguments in command definition, see mandatory arguments.
+*/
+#define GS_COMMAND_NO_ARGS 255
+
+/**
+   Command definition.
+*/
+struct command {
+#if (__AVR__)
+    char name[GS_COMMAND_MAX_LEN_COMMAND];
+    char help[50];
+    char usage[50];
+#else
+    /**
+       Name.
+    */
+    const char * const name;
+    /**
+       Help text.
+    */
+    const char * const help;
+    /**
+       Usage text.
+    */
+    const char * const usage;
+#endif
+    /**
+       Command handler - the "actual command function".
+    */
+    gs_command_handler_t handler;
+#if (__AVR__ == 0)
+    /**
+       Completer function - helps completing an argument.
+    */
+    gs_command_completer_t completer;
+#endif
+    /**
+       Sub-command (if any).
+    */
+    gs_command_chain_t chain;
+    /**
+       Mode/flags.
+       See #GS_COMMAND_FLAG_HIDDEN.
+    */
+    unsigned int mode;
+    /**
+       Number of mandatory (minimum) arguments.
+
+       @note Due to backwards compatibility, 0 (zero) cannot be used to signal no arguments - use #GS_COMMAND_NO_ARGS instead, if command doesn't take any arguments (mandatory or optional).
+    */
+    uint8_t mandatory_args;
+    /**
+       Number of optional arguments.
+    */
+    uint8_t optional_args;
+    /**
+       Filler for future use.
+    */
+    uint8_t filler[2];
+};
+
+/**
+   Returns the arguments as a string, where arguments are separated by spaces.
+   @param ctx command context.
+   @return Pointer to concatenated arguments
+*/
+const char * gs_command_args(gs_command_context_t *ctx);
+
+/**
+   Execute command.
+   @deprecated Replaced by gs_command_execute & gs_command_execute_stdio
+
+   Looks up a command and executes it. If the command is executed (this function returns GS_OK), the command's return
+   result is stored in \a command_result.
+
+   @param[in] command Command to execute, including arguments separated by spaces.
+   @param[out] command_result Result returned by \a command (if executed). Use \a NULL to ignore result.
+   @return #GS_ERROR_NOT_FOUND if command wasn't found.
+   @return #GS_ERROR_ARG if number of argumenets exceeds \a mandatory + \a optional count.
+   @return_gs_error_t
+*/
+gs_error_t gs_command_run(const char * command, gs_error_t * command_result);
+
+/**
+   Execute command.
+
+   Looks up a command and executes it. If the command is executed (this function returns GS_OK), the command's return
+   result is stored in \a command_result.
+
+   @param[in] command Command to execute, including arguments separated by spaces.
+   @param[out] command_result Result returned by \a command (if executed). Use \a NULL to ignore result.
+   @param[in] out output (FILE) stream
+   @param[in] iof Pointer to function interface of IO operations
+   @param[in] iof_ctx Pointer to context used by the IO function interface
+   @return #GS_ERROR_NOT_FOUND if command wasn't found.
+   @return #GS_ERROR_ARG if number of argumenets exceeds \a mandatory + \a optional count.
+   @return_gs_error_t
+*/
+gs_error_t gs_command_execute(const char * command, gs_error_t * command_result, FILE *out, const gs_command_io_functions_t * iof, void * iof_ctx);
+
+/**
+   Execute command.
+
+   Looks up a command and executes it. If the command is executed (this function returns GS_OK), the command's return
+   result is stored in \a command_result. The results are printed on stdout and input captured on stdin.
+
+   @param[in] command Command to execute, including arguments separated by spaces.
+   @param[out] command_result Result from command. Use \a NULL to ignore result.
+   @return #GS_OK if command was executed - result returned in \a command_result. Otherwise an error indicating why the command wasn't executed.
+*/
+gs_error_t gs_command_execute_stdio(const char * command, gs_error_t * command_result);
+
+/**
+    Set output
+
+    Sets output from command, using the io function struct in ctx.
+
+    @param[in] ctx the command context
+    @param[in] group a string specifying the group of the result. Leave blank if not used.
+    @param[in] key a string specifying the key/name of the result variable.
+    @param[in] value a string representation of the result value.
+    @return_gs_error_t
+*/
+gs_error_t gs_command_set_output(gs_command_context_t *ctx, const char* group, const char* key, const char* value);
+
+/**
+    Set output
+
+    Sets output from command using printf formatting, using the io function struct in ctx.
+
+    @param[in] ctx the command context
+    @param[in] group a string specifying the group of the result. Leave blank if not used.
+    @param[in] key a string specifying the key/name of the result variable.
+    @param[in] format printf syntax for formatting data
+    @return_gs_error_t
+*/
+gs_error_t gs_command_set_output_printf(gs_command_context_t *ctx, const char* group, const char* key, const char * format, ...);
+
+/**
+    Flush output/Results
+
+    Instruct the command output stream & results to be flushed from it's buffers.
+
+    @param[in] ctx the command context
+    @return_gs_error_t
+*/
+gs_error_t gs_command_flush_output(gs_command_context_t *ctx);
+
+/**
+    Wait for any key input
+
+    Instruct the command input stream to wait for any key.
+
+    @param[in] ctx the command context
+    @param[in] timeout_ms timeout, < 0: block forever, 0: poll, > 0: wait number of milliseconds.
+    @return true if command should proceed (either because of key press present or if no input stream available)
+*/
+bool gs_command_wait_any_key(gs_command_context_t *ctx, int timeout_ms);
+
+/**
+    Wait for key input
+
+    Instruct the io stream to wait for a key, and return the pressed key in ch.
+
+    @param[in] ctx the command context
+    @param[out] ch the character that was read on the input stream
+    @param[in] timeout_ms timeout, < 0: block forever, 0: poll, > 0: wait number of milliseconds.
+    @return #GS_OK if key was read
+    @return #GS_ERROR_HANDLE if no input stream is present
+    @return #GS_ERROR_TIMEOUT on timeout.
+*/
+gs_error_t gs_command_wait_key(gs_command_context_t *ctx, int* ch, int timeout_ms);
+
+/**
+   Register commands.
+
+   gs_command_init() must be called prior to registering any commands.
+
+   See #GS_COMMAND_ROOT for details.
+
+   @param[in] cmds Pointer to command array
+   @param[in] cmd_count Number of commands in command array
+   @return_gs_error_t
+*/
+gs_error_t gs_command_register(const gs_command_t * cmds, size_t cmd_count);
+
+/**
+   Initialize command system and register default commands.
+
+   Registers following commands: gs_log_register_commands() and gs_command_register_default_commands().
+
+   @param[in] min_stack_size Minimum stack size required for executing commands. The stack size will be used by other sub-systems such as gs_console, g-script. Stack size may be ignored on some platforms, e.g. Linux.
+   @return_gs_error_t
+   @see gs_command_init_no_commands()
+*/
+gs_error_t gs_command_init(size_t min_stack_size);
+
+/**
+   Initialize command system (without any default commands).
+
+   @param[in] min_stack_size Minimum stack size required for executing commands. The stack size will be used by other sub-systems such as gs_console, g-script. Stack size may be ignored on some platforms, e.g. Linux.
+   @return_gs_error_t
+   @see gs_command_init()
+*/
+gs_error_t gs_command_init_no_commands(size_t min_stack_size);
+
+
+/**
+   Register a call-back used for logging of command execution.
+
+   @param[in] log_cb the logging call back.
+   @param[in] log_ctx pointer to context data. Set to NULL if not used.
+   @return_gs_error_t
+*/
+gs_error_t gs_command_register_logger(gs_command_log_t log_cb, void *log_ctx);
+
+/**
+   Default implementation of the command logger, that can be used if no other
+   custom command logger is provided by the system.
+
+    @param[in] cmd_line command line string
+    @param[in] ret return code provided by the command execution function.
+    @param[in] cmd_ret return code provided by the executed command.
+    @param[in] t_start time stamp when command execution started.
+    @param[in] t_end time stamp when command execution completed.
+    @param[in] log_ctx context for the command logger.
+   @return_gs_error_t
+*/
+gs_error_t gs_command_logger_default(const char* cmd_line, gs_error_t ret, gs_error_t cmd_ret, gs_timestamp_t t_start, gs_timestamp_t t_end, void * log_ctx);
+
+/**
+   Return minimum stack size.
+   @return minimm stack size required for executing commands. The minimum stack size is set by call to gs_command_init().
+*/
+size_t gs_command_get_stack_size(void);
+
+/**
+   Register set of default commands.
+   @return_gs_error_t
+*/
+gs_error_t gs_command_register_default_commands(void);
+
+/**
+   Split line into argc/argv.
+
+   @param[in] line line to split - the line will be chop up into argv.
+   @param[out] argc argc count.
+   @param[out] argv argv array.
+   @param[in] max_argc max argv elements.
+   @return \a true if successfull, else \a false.
+*/
+bool gs_command_build_argv(char *line, int *argc, char **argv, int max_argc);
+
+/**
+   Parse options.
+
+   Adapted from AT&T public domain source from:
+   http://www.informatica.co.cr/unix-source-code/research/1985/1103.html
+
+   @param[in] ctx command context.
+   @param[in] opts options
+   @return option character
+*/
+int gs_command_getopt(gs_command_context_t *ctx, const char *opts);
+    
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/gosh/console.h

@@ -0,0 +1,123 @@
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+#ifndef GS_UTIL_GOSH_CONSOLE_H
+#define GS_UTIL_GOSH_CONSOLE_H
+/**
+   @file
+
+   Console (stdin/stdout) interface for running commands.
+
+   This assumes a VT102 terminal emulator, and tries to fix some of minicom's quirks with e.g. home/end keys.
+*/
+
+#include <gs/util/thread.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Initialize the API and console.
+
+   @deprecated version 3.4, use gs_console_start()
+
+   @return_gs_error_t
+*/
+gs_error_t gs_console_init(void);
+
+/**
+   Restores terminal settings (only relevant on Linux).
+
+   @deprecated version 3.4, this is handled by an installed exit-handler in gs_console_start().
+
+   @return_gs_error_t
+*/
+gs_error_t gs_console_exit(void);
+
+/**
+   Set console prompt.
+
+   @param[in] prompt user prompt - the API only stores the pointer, so do not modify/delete content. NULL or empty string is ignored (no change).
+*/
+void gs_console_set_prompt(const char * prompt);
+
+/**
+   Clear the console screen
+*/
+void gs_console_clear(void);
+
+/**
+   Update console.
+*/
+void gs_console_update(void);
+
+/**
+   Create console thread.
+
+   The console thread reads from stdin and writes to stdout.
+
+   The thread is created with low priority, #GS_THREAD_PRIORITY_LOW.
+
+   @deprecated version 3.4, use gs_console_start()
+
+   @param[out] handle handle to created thread - thread will be created joinable if supported by platform. Use NULL, if not wanted.
+   @return_gs_error_t
+*/
+gs_error_t gs_console_create_thread(gs_thread_t * handle);
+
+/**
+   Create console thread with priority.
+
+   The console thread reads from stdin and writes to stdout.
+
+   @deprecated version 3.4, use gs_console_start()
+
+   @param[in] priority thread priority, normally #GS_THREAD_PRIORITY_LOW.
+   @param[out] handle handle to created thread - thread will be created joinable if supported by platform. Use NULL, if not wanted.
+   @return_gs_error_t
+*/
+gs_error_t gs_console_create_thread_with_priority(gs_thread_priority_t priority, gs_thread_t * handle);
+
+/**
+   @anchor GS_CONSOLE_F
+   @defgroup GS_CONSOLE_F Console flags.
+   Use with gs_console_start() to configure behaviour.
+   @{
+*/
+/**
+   Linux only: no signal handlers installed (e.g. to catch SIG_TERM).
+   @see gs_console_start()
+*/
+#define GS_CONSOLE_F_NO_SIGNAL_HANDLER  0x0001
+/** @} */
+
+/**
+   Start console thread (priority: #GS_THREAD_PRIORITY_LOW).
+
+   The console thread reads from stdin and writes to stdout. The thread is created with low priority, #GS_THREAD_PRIORITY_LOW.
+
+   Linux: Changes terminal settings and installs an atexit() handler to restore the settings, Signal handlers will be installed to catch SIG_TERM -> exit() and ignore SIG_INT (controlled by option on command line) - unless #GS_CONSOLE_F_NO_SIGNAL_HANDLER is specified.
+
+   @param[in] prompt set console prompt by calling gs_console_set_prompt().
+   @param[in] flags configure behaviour, see @ref GS_CONSOLE_F definitions.
+   @return #GS_ERROR_EXIST if console thread already created.
+   @return_gs_error_t
+*/
+gs_error_t gs_console_start(const char * prompt, uint32_t flags);
+
+/**
+   Stop (and join with) console thread.
+
+   @note This is only supported on Linux.
+
+   The thread is interrupted using pthread_cancel(), which does not guarantee \a clean shutdown if the thread is busy executing a command.
+
+   @return #GS_ERROR_NOT_SUPPORTED if not supported on current platform.
+   @return #GS_ERROR_HANDLE if no console has been started with gs_console_start().
+   @return_gs_error_t
+*/
+gs_error_t gs_console_stop(void);
+    
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/hexdump.h

@@ -0,0 +1,53 @@
+#ifndef GS_UTIL_HEXDUMP_H
+#define GS_UTIL_HEXDUMP_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Dump memory as hex numbers and ascii characters.
+*/
+
+#include <stdio.h>
+#include <gs/util/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Dump memory to an output stream.
+   @param[in] src memory address.
+   @param[in] len number of bytes to dump.
+   @param[in] disp_addr display address, used instead of \a src.
+   @param[in] out output stream.
+*/
+void gs_hexdump_to_stream(const void * src, size_t len, const void * disp_addr, FILE* out);
+
+/**
+   Dump memory on stdout.
+
+   @param[in] src memory address.
+   @param[in] len number of bytes to dump.
+*/
+static inline void gs_hexdump(const void *src, size_t len)
+{
+    gs_hexdump_to_stream(src, len, src, stdout);
+}
+
+/**
+   Dump memory on stdout.
+   @param[in] src memory address.
+   @param[in] len number of bytes to dump.
+   @param[in] disp_addr display address, used instead of \a src.
+*/
+static inline void gs_hexdump_addr(const void * src, size_t len, const void * disp_addr)
+{
+    gs_hexdump_to_stream(src, len, disp_addr, stdout);
+}
+
+#ifdef __cplusplus
+}
+#endif
+#endif
+
+

gomspace/libutil/include/gs/util/linux/argp.h

@@ -0,0 +1,40 @@
+#ifndef GS_UTIL_LINUX_ARGP_H
+#define GS_UTIL_LINUX_ARGP_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Extensions to GNU argp parser (convenience functions).
+*/
+
+#include <argp.h>
+#include <gs/util/linux/exitcode.h>
+#include <gs/util/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Wrapper for argp_parse.
+
+   This function will call exit/terminate the process, if parsing fails.
+
+   \a argv may be re-organized.
+
+   @param[in] argp argp struct.
+   @param[in] argc argument count, i.e. standard argc.
+   @param[in] argv argument array, i.e. standard argv.
+   @param[in] flags future use.
+   @param[out] arg_index first unparsed option (-> argv modified).
+   @param[in] revision program revision, e.g. 3.0.1-12-g0cf1b59+.
+*/
+void gs_argp_parse(const struct argp * argp,
+                   int argc, char ** argv,
+                   unsigned int flags, int * arg_index,
+                   const char * revision);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/linux/command_line.h

@@ -0,0 +1,42 @@
+#ifndef GS_UTIL_LINUX_COMMAND_LINE_H
+#define GS_UTIL_LINUX_COMMAND_LINE_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Command line support.
+*/
+
+#include <gs/util/linux/argp.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Command line options for ignoring CTRL-C
+*/
+extern const struct argp_child gs_console_command_line_ignore_ctrlc_argp;
+
+/**
+   Command line options for adding -h (help).
+*/
+const struct argp_child gs_help_command_line_argp;
+
+/**
+   Return if ctrl-c ignored on command line.
+   @return \a true i ctrl-c ignored.
+*/
+bool gs_command_line_ignore_ctrlc(void);
+
+/**
+   Return program name based on argv[0].
+   @param[in] argv expected to be argv[0] amd point to the program name (possibly with full path).
+   @return program name.
+*/
+const char * gs_command_line_program_name(const char * argv);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/linux/drivers/can/can.h

@@ -0,0 +1,29 @@
+#ifndef GS_UTIL_LINUX_DRIVERS_CAN_CAN_H
+#define GS_UTIL_LINUX_DRIVERS_CAN_CAN_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Linux CAN interface.
+
+   @note Only 1 filter/mask can be set, using gs_can_set_standard_filter_mask() or gs_can_set_extended_filter_mask()
+*/
+
+#include <gs/util/drivers/can/can.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Open and initialize a CAN handle.
+   @param[in] ifname name of CAN interface.
+   @param[out] handle opened CAN handle.
+   @return_gs_error_t
+*/
+gs_error_t gs_can_open(const char * ifname, int * handle);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/linux/drivers/gpio/gpio.h

@@ -0,0 +1,146 @@
+#ifndef GS_UTIL_LINUX_DRIVERS_GPIO_H
+#define GS_UTIL_LINUX_DRIVERS_GPIO_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+    @file
+
+    @brief GPIO interface
+
+    GPIO interface provides a generic interface where specific GPIO drivers can be plugged in.
+*/
+
+#include <gs/util/error.h>
+#include <gs/util/drivers/gpio/gpio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+    GomSpace linux driver GPIO get value
+
+    @param[in] gpio The gpio to read
+    @param[in] value Returned GPIO value (true/false = High/Low)
+    @param[in] driver_data data to specific driver
+
+    @return_gs_error_t
+*/
+typedef gs_error_t (*gs_gpio_get_t)(gs_gpio_t gpio, bool *value, void * driver_data);
+
+/**
+    GomSpace linux driver GPIO get value without error check
+
+    @param[in] gpio The gpio to read
+    @param[in] driver_data data to specific driver
+
+    @return GPIO value (true/false = High/Low)
+*/
+typedef bool (*gs_gpio_get_nc_t)(gs_gpio_t gpio, void * driver_data);
+
+/**
+    GomSpace linux driver GPIO set value
+
+    @param[in] gpio The gpio to set
+    @param[in] value GPIO value (true/false = High/Low)
+    @param[in] driver_data data to specific driver
+
+    @return_gs_error_t
+*/
+typedef gs_error_t (*gs_gpio_set_t)(gs_gpio_t gpio, bool value, void * driver_data);
+
+/**
+    GomSpace linux driver GPIO set value without error check
+
+    @param[in] gpio The gpio to set
+    @param[in] value GPIO value (true/false = High/Low)
+    @param[in] driver_data data to specific driver
+*/
+typedef void (*gs_gpio_set_nc_t)(gs_gpio_t gpio, bool value, void * driver_data);
+
+/**
+    GomSpace linux driver initialize GPIO as an external interrupt pin
+
+    @param[in] gpio The gpio to configure
+    @param[in] conf Configuration of interrupt pin
+    @param[in] driver_data data to specific driver
+
+    @return_gs_error_t
+ */
+typedef gs_error_t (*gs_gpio_init_as_interrupt_t)(gs_gpio_t gpio, const gs_interrupt_conf_t * conf, void * driver_data);
+
+
+/**
+   Every port.
+ */
+#define GS_GPIO_ALL_PORTS UINT16_MAX
+
+/**
+   Every pin.
+ */
+#define GS_GPIO_ALL_PINS UINT16_MAX
+
+/**
+   GPIO driver.
+ */
+typedef struct {
+    /**
+       Function for handling GPIO get.
+     */
+    gs_gpio_get_t get_handler;
+    /**
+       Function for handling GPIO get no check.
+     */
+    gs_gpio_get_nc_t get_nc_handler;
+    /**
+       Function for handling GPIO set.
+     */
+    gs_gpio_set_t set_handler;
+    /**
+       Function for handling GPIO set no check.
+     */
+    gs_gpio_set_nc_t set_nc_handler;
+    /**
+       Function for handling GPIO initialize as interrupt.
+     */
+    gs_gpio_init_as_interrupt_t init_as_interrupt_handler;
+} gs_gpio_driver_t;
+
+
+/**
+   GPIO driver entry
+ */
+typedef struct {
+    /**
+       GPIO port, to which the driver is used (if GS_GPIO_ALL_PORTS, then all ports uses this driver).
+     */
+    uint16_t port;
+    /**
+       GPIO pin, to which the driver is used (if GS_GPIO_ALL_PINS, then all pins uses this driver).
+     */
+    uint16_t pin;
+    /**
+       GPIO driver.
+     */
+    const gs_gpio_driver_t * driver;
+    /**
+       Driver specific data.
+     */
+    void * driver_data;
+} gs_gpio_driver_entry_t;
+
+/**
+   Register a driver.
+
+   A specific driver can be assigned to a port and pin or it can be assigned to all pins and/or all ports.
+
+   The latest registered driver, which fit the GPIO, is the one used.
+
+   @param[in] driver_entry driver and configuration to be registered
+   @return_gs_error_t
+ */
+gs_error_t gs_gpio_register_driver(const gs_gpio_driver_entry_t * driver_entry);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/linux/drivers/gpio/gpio_sysfs.h

@@ -0,0 +1,91 @@
+#ifndef LIB_LIBUTIL_INCLUDE_GS_UTIL_LINUX_DRIVERS_GPIO_GPIO_SYSFS_H_
+#define LIB_LIBUTIL_INCLUDE_GS_UTIL_LINUX_DRIVERS_GPIO_GPIO_SYSFS_H_
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   @brief Linux GPIO driver based on sysfs.
+          This driver needs to be registered in the generic GPIO linux driver @see 'gs/util/linux/drivers/gpio/gpio.h'
+*/
+
+#include <gs/util/linux/drivers/gpio/gpio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   GPIO sysfs driver data.
+
+   @note Driver takes no driver data, so a NULL pointer is valid
+*/
+typedef void * gs_gpio_sysfs_driver_data_t;
+
+/**
+   GPIO sysfs driver interface.
+*/
+extern const gs_gpio_driver_t gs_gpio_sysfs_driver;
+
+/**
+   GPIO sysfs initialize
+
+   @param[in] gpio The gpio to initialize
+   @param[in] output Direction of pin (True/False = Output/Input)
+   @param[in] init_value Pin state if configured as output (True/False = High/Low)
+   @param[in] active_low if set pin is configured as active low (so a gs_gpio_sysfs_set with 1 will actually set value low)
+   @return_gs_error_t
+ */
+gs_error_t gs_gpio_sysfs_initialize(gs_gpio_t gpio, bool output, bool init_value, bool active_low);
+
+/**
+    GPIO sysfs get value
+
+    @param[in] gpio The gpio to read
+    @param[in] value Returned GPIO value (true/false = High/Low)
+    @param[in] driver_data data to driver (not used)
+    @return_gs_error_t
+*/
+gs_error_t gs_gpio_sysfs_get(gs_gpio_t gpio, bool *value, void * driver_data);
+
+/**
+    GPIO sysfs get value without error check
+
+    @param[in] gpio The gpio to read
+    @param[in] driver_data data to driver (not used)
+    @return GPIO value (true/false = High/Low)
+*/
+bool gs_gpio_sysfs_get_nc(gs_gpio_t gpio, void * driver_data);
+
+/**
+    GPIO sysfs set value
+
+    @param[in] gpio The gpio to set
+    @param[in] value GPIO value (true/false = High/Low)
+    @param[in] driver_data data to driver (not used)
+    @return_gs_error_t
+*/
+gs_error_t gs_gpio_sysfs_set(gs_gpio_t gpio, bool value, void * driver_data);
+
+/**
+    GPIO sysfs set value without error check
+
+    @param[in] gpio The gpio to set
+    @param[in] value GPIO value (true/false = High/Low)
+    @param[in] driver_data data to driver (not used)
+*/
+void gs_gpio_sysfs_set_nc(gs_gpio_t gpio, bool value, void * driver_data);
+
+/**
+    Initialize GPIO sysfs as an external interrupt pin
+
+    @param[in] gpio The gpio to configure
+    @param[in] conf Configuration of interrupt pin
+    @param[in] driver_data data to driver (not used)
+    @return_gs_error_t
+ */
+gs_error_t gs_gpio_sysfs_init_as_interrupt(gs_gpio_t gpio, const gs_interrupt_conf_t * conf, void * driver_data);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/linux/drivers/gpio/gpio_virtual.h

@@ -0,0 +1,125 @@
+#ifndef LIB_LIBUTIL_INCLUDE_GS_UTIL_LINUX_DRIVERS_GPIO_GPIO_VIRTUAL_H_
+#define LIB_LIBUTIL_INCLUDE_GS_UTIL_LINUX_DRIVERS_GPIO_GPIO_VIRTUAL_H_
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   @brief Linux GPIO driver to be used in unit tests.
+          This driver needs to be registered in the generic GPIO linux driver @see 'gs/util/linux/drivers/gpio/gpio.h'
+*/
+
+#include <gs/util/linux/drivers/gpio/gpio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   GPIO virtual driver data.
+
+   @note Driver takes no driver data, so a NULL pointer is valid
+*/
+typedef void * gs_gpio_virtual_driver_data_t;
+
+/**
+   GPIO virtual driver interface.
+*/
+extern const gs_gpio_driver_t gs_gpio_virtual_driver;
+
+/**
+   GPIO virtual driver entry, where all ports and pins are routed to virtual driver
+ */
+extern const gs_gpio_driver_entry_t gs_gpio_virtual_driver_entry_all;
+
+/**
+   GPIO virtual initialize
+
+   @param[in] gpio The gpio to initialize
+   @param[in] output Direction of pin (True/False = Output/Input)
+   @param[in] value Pin state if configured as output (True/False = High/Low)
+   @return_gs_error_t
+ */
+gs_error_t gs_gpio_virtual_initialize(gs_gpio_t gpio, bool output, bool value);
+
+/**
+   GPIO virtual get value
+
+   @param[in] gpio The gpio to read
+   @param[in] value Returned GPIO value (true/false = High/Low)
+   @param[in] driver_data data to driver (not used)
+   @return_gs_error_t
+*/
+gs_error_t gs_gpio_virtual_get(gs_gpio_t gpio, bool *value, void * driver_data);
+
+/**
+   GPIO virtual get value without error check
+
+   @param[in] gpio The gpio to read
+   @param[in] driver_data data to driver (not used)
+   @return GPIO value (true/false = High/Low)
+*/
+bool gs_gpio_virtual_get_nc(gs_gpio_t gpio, void * driver_data);
+
+/**
+   GPIO virtual set value
+
+   @param[in] gpio The gpio to set
+   @param[in] value GPIO value (true/false = High/Low)
+   @param[in] driver_data data to driver (not used)
+   @return_gs_error_t
+*/
+gs_error_t gs_gpio_virtual_set(gs_gpio_t gpio, bool value, void * driver_data);
+
+/**
+   GPIO virtual set value without error check
+
+   @param[in] gpio The gpio to set
+   @param[in] value GPIO value (true/false = High/Low)
+   @param[in] driver_data data to driver (not used)
+*/
+void gs_gpio_virtual_set_nc(gs_gpio_t gpio, bool value, void * driver_data);
+
+/**
+   Initialize GPIO virtual as an external interrupt pin
+
+   @param[in] gpio The gpio to configure
+   @param[in] conf Configuration of interrupt pin
+   @param[in] driver_data data to driver (not used)
+   @return_gs_error_t
+ */
+gs_error_t gs_gpio_virtual_init_as_interrupt(gs_gpio_t gpio, const gs_interrupt_conf_t * conf, void * driver_data);
+
+/**
+   Force set a pin
+
+   This sets a pin regardless if it is configured as input, output or interrupt
+   If the pin is configured as interrupt, the registered ISR's will be called within this function,
+   if the transition matches (rising/falling)
+
+   @note This function is specific to this driver and is should not be registered.
+
+   @param[in] gpio The gpio to set
+   @param[in] value GPIO value (true/false = High/Low)
+   @return_gs_error_t
+ */
+gs_error_t gs_gpio_virtual_force_set(gs_gpio_t gpio, bool value);
+
+/**
+   Get transitions
+
+   This gives the number of transitions ((high -> low) + (low -> high)),
+   since last time this function was called at this pin. This function resets the counter of the pin.
+   An even number means, that the pin has the same state as it was initialized to.
+
+   @note This function is specific to this driver and should not be registered
+
+   @param[in] gpio The gpio, of which transitions are given
+   @param[out] transitions Number of transitions
+   @return
+ */
+gs_error_t gs_gpio_virtual_get_transistions(gs_gpio_t gpio, uint32_t * transitions);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/linux/drivers/i2c/i2c.h

@@ -0,0 +1,198 @@
+#ifndef LIB_LIBUTIL_INCLUDE_GS_UTIL_LINUX_DRIVERS_I2C_I2C_H_
+#define LIB_LIBUTIL_INCLUDE_GS_UTIL_LINUX_DRIVERS_I2C_I2C_H_
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   @brief Linux I2C plugin driver
+*/
+
+#include <gs/util/drivers/i2c/master.h>
+#include <gs/util/drivers/i2c/slave.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   GomSpace linux driver I2C master transaction.
+
+   @see 'gs/util/drivers/i2c/master.h'
+
+   @param[in]  device I2C device
+   @param[in]  addr I2C address
+   @param[in]  tx tx buffer
+   @param[in]  txlen bytes to be sent
+   @param[out] rx rx buffer
+   @param[in]  rxlen bytes to be received
+   @param[in]  timeout_ms timeout in milliseconds
+   @param[in]  driver_data data to specific driver
+   @return_gs_error_t
+ */
+typedef gs_error_t (* gs_i2c_master_transaction_t)(uint8_t device, uint8_t addr, const void * tx, size_t txlen,
+                                                  void * rx, size_t rxlen, int timeout_ms, void * driver_data);
+
+/**
+   GomSpace linux driver I2C slave start.
+
+   @see 'gs/util/drivers/i2c/slave.h'
+
+   @param[in] device I2C device
+   @param[in] driver_data data to specific driver
+   @return_gs_error_t
+ */
+typedef gs_error_t (* gs_i2c_slave_start_t)(uint8_t device, void * driver_data);
+
+/**
+   GomSpace linux driver I2C set rx callback
+
+   @see 'gs/util/drivers/i2c/slave.h'
+
+   @param[in] device I2C device
+   @param[in] rx rx callback
+   @param[in] driver_data data to specific driver
+   @return_gs_error_t
+ */
+typedef gs_error_t (* gs_i2c_slave_set_rx_t)(uint8_t device, gs_i2c_slave_receive_t rx, void * driver_data);
+
+/**
+   GomSpace linux driver I2C slave set 'get_rx_buffer' callback.
+
+   @see 'gs/util/drivers/i2c/slave.h'
+
+   @param[in] device I2C device
+   @param[in] get_rx_buf get_rx_buf callback
+   @param[in] buf_length length of buffer received by calling callback
+   @param[in] driver_data data to specific driver
+   @return_gs_error_t
+ */
+typedef gs_error_t (* gs_i2c_slave_set_get_rx_buf_t)(uint8_t device, gs_i2c_slave_get_rx_buf_t get_rx_buf, size_t buf_length, void * driver_data);
+
+/**
+   GomSpace linux driver I2C slave set slave response.
+
+   @see 'gs/util/drivers/i2c/slave.h'
+
+   @param[in] device I2C device
+   @param[in] tx tx buffer
+   @param[in] tx_length bytes to be send
+   @param[in] driver_data data to specific driver
+   @return_gs_error_t
+*/
+typedef gs_error_t (* gs_i2c_slave_set_response_t)(uint8_t device, const uint8_t * tx, size_t tx_length, void * driver_data);
+
+/**
+   Every I2C device ([0 : 254]).
+ */
+#define GS_I2C_ALL_DEVICES   255
+
+/**
+   Every I2C address (0 : 127]).
+ */
+#define GS_I2C_ALL_ADDR      255
+
+/**
+   I2C master driver.
+ */
+typedef struct {
+    /**
+       Function for handling master transactions.
+     */
+    gs_i2c_master_transaction_t master_transaction_handler;
+} gs_i2c_master_driver_t;
+
+
+/**
+   I2C master driver entry
+ */
+typedef struct {
+    /**
+       I2C device, to which the driver is used (if GS_I2C_ALL_DEVICES, then all devices uses this driver).
+     */
+    uint8_t device;
+    /**
+       I2C addr, to which the driver is used (if GS_I2C_ALL_ADDR, then all addr on given device  uses this driver).
+     */
+    uint8_t addr;
+    /**
+       I2C master driver.
+     */
+    const gs_i2c_master_driver_t * driver;
+    /**
+       Driver specific data.
+     */
+    void * driver_data;
+} gs_i2c_master_driver_entry_t;
+
+
+/**
+   I2C slave driver
+ */
+typedef struct {
+    /**
+       Function for handling slave start.
+     */
+    gs_i2c_slave_start_t start_handler;
+    /**
+       Function for handling the 'setting of rx callback'.
+     */
+    gs_i2c_slave_set_rx_t set_rx_handler;
+    /**
+       Function for handling setting of an 'rx buff get' function.
+     */
+    gs_i2c_slave_set_get_rx_buf_t set_get_rx_buf_handler;
+    /**
+       Function for handling 'set response'.
+     */
+    gs_i2c_slave_set_response_t set_response_handler;
+} gs_i2c_slave_driver_t;
+
+
+/**
+   I2C slave driver entry.
+ */
+typedef struct {
+    /**
+       I2C device, to which the driver is used (if GS_I2C_ALL_DEVICES, then all devices uses this driver).
+     */
+    uint8_t device;
+    /**
+       I2C slave driver.
+     */
+    const gs_i2c_slave_driver_t * driver;
+    /**
+       Driver specific data.
+     */
+    void * driver_data;
+} gs_i2c_slave_driver_entry_t;
+
+
+/**
+   Register a master driver.
+
+   A specific driver can be assigned to a specific address and device
+   or it can be registered to every address on a device or every address on every device.
+
+   The latest registered driver, which fit the device an address, is the one used.
+
+   @param[in] driver_entry driver and configuration to be registered
+   @return_gs_error_t
+ */
+gs_error_t gs_i2c_master_register_driver(const gs_i2c_master_driver_entry_t * driver_entry);
+
+/**
+   Register a slave driver
+
+   A specific driver can be assigned to a specific device or a driver can be assigned to every device.
+
+   The latest registered driver, which fit the device, is the one used.
+
+   @param[in] driver_entry driver and configuration to be registered
+   @return_gs_error_t
+ */
+gs_error_t gs_i2c_slave_register_driver(const gs_i2c_slave_driver_entry_t * driver_entry);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/linux/drivers/spi/spi.h

@@ -0,0 +1,175 @@
+#ifndef LIB_LIBUTIL_INCLUDE_GS_UTIL_LINUX_DRIVERS_SPI_SPI_H_
+#define LIB_LIBUTIL_INCLUDE_GS_UTIL_LINUX_DRIVERS_SPI_SPI_H_
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Linux SPI plugin driver
+*/
+
+#include <gs/util/drivers/spi/master.h>
+#include <gs/util/drivers/spi/slave.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Linux driver SPI master transactions.
+
+   @see 'gs/util/drivers/spi/master.h'
+
+   @param[in] slave SPI slave
+   @param[in] trans Pointer to transactions
+   @param[in] count Number of transactions (rx and/or tx) to complete
+   @param[in] timeout_ms timeout in milliseconds, primarily for locking the SPI device.
+   @param[in] driver_data data to specific driver
+   @return_gs_error_t
+ */
+typedef gs_error_t (*gs_spi_master_transactions_t)(uint8_t slave, gs_spi_master_trans_t *trans, size_t count,
+                                                   int timeout_ms, void * driver_data);
+
+/**
+   Linux driver SPI slave start.
+
+   @see 'gs/util/drivers/spi/slave.h'
+
+   @param[in] device SPI device (handle)
+   @param[in] driver_data data to specific driver
+   @return_gs_error_t
+ */
+typedef gs_error_t (* gs_spi_slave_start_t)(uint8_t device, void * driver_data);
+
+/**
+   Linux driver SPI set rx callback
+
+   @see 'gs/util/drivers/spi/slave.h'
+
+   @param[in] device SPI device (handle).
+   @param[in] rx Rx callback.
+   @param[in] driver_data data to specific driver
+   @return_gs_error_t
+ */
+typedef gs_error_t (* gs_spi_slave_set_rx_t)(uint8_t device, gs_spi_slave_receive_t rx, void * driver_data);
+
+/**
+   Linux driver SPI slave set slave response.
+
+   @see 'gs/util/drivers/spi/slave.h'
+
+   @param[in] device SPI device (handle).
+   @param[in] offset offset (in bytes) for the response, counted from start of request, i.e. offset of 2 means data will be sent as the 3rd byte.
+   @param[in] tx pointer to data. NOTE: data is not copied due to performance, so data must stay valid until the response has been sent.
+   @param[in] size size of data.
+   @param[in] driver_data data to specific driver
+   @return_gs_error_t
+ */
+typedef gs_error_t (* gs_spi_slave_set_response_t)(uint8_t device, size_t offset, const uint8_t * tx, size_t size, void * driver_data);
+
+/**
+   Every SPI slave ([0 : 254]).
+ */
+#define GS_SPI_ALL_SLAVES    255
+
+/**
+   Every SPI device (0 : 254]).
+ */
+#define GS_SPI_ALL_DEVICES   255
+
+
+/**
+   SPI master driver.
+ */
+typedef struct {
+    /**
+       Function for handling master transactions.
+     */
+    gs_spi_master_transactions_t master_transactions_handler;
+} gs_spi_master_driver_t;
+
+
+/**
+   SPI master driver entry
+ */
+typedef struct {
+    /**
+       SPI slave, to which the driver is used (if #GS_SPI_ALL_SLAVES, then all slaves uses this driver).
+     */
+    uint8_t slave;
+    /**
+       SPI master driver.
+     */
+    const gs_spi_master_driver_t * driver;
+    /**
+       Driver specific data.
+     */
+    void * driver_data;
+} gs_spi_master_driver_entry_t;
+
+
+/**
+   SPI slave driver
+ */
+typedef struct {
+    /**
+       Function for handling slave start.
+     */
+    gs_spi_slave_start_t start_handler;
+    /**
+       Function for handling the 'setting of rx callback'.
+     */
+    gs_spi_slave_set_rx_t set_rx_handler;
+    /**
+       Function for handling 'set response'.
+     */
+    gs_spi_slave_set_response_t set_response_handler;
+} gs_spi_slave_driver_t;
+
+
+/**
+   SPI slave driver entry.
+ */
+typedef struct {
+    /**
+       SPI device, to which the driver is used (if #GS_SPI_ALL_DEVICES, then all devices uses this driver).
+     */
+    uint8_t device;
+    /**
+       SPI slave driver.
+     */
+    const gs_spi_slave_driver_t * driver;
+    /**
+       Driver specific data.
+     */
+    void * driver_data;
+} gs_spi_slave_driver_entry_t;
+
+
+/**
+   Register a master driver.
+
+   A specific driver can be assigned to a slave or it can be assigned to every slave.
+
+   The latest registered driver, which fit the slave, is the one used.
+
+   @param[in] driver_entry driver and configuration to be registered
+   @return_gs_error_t
+ */
+gs_error_t gs_spi_master_register_driver(const gs_spi_master_driver_entry_t * driver_entry);
+
+/**
+   Register a slave driver
+
+   A specific driver can be assigned to a specific device or a driver can be assigned to every device.
+
+   The latest registered driver, which fit the device, is the one used.
+
+   @param[in] driver_entry driver and configuration to be registered
+   @return_gs_error_t
+ */
+gs_error_t gs_spi_slave_register_driver(const gs_spi_slave_driver_entry_t * driver_entry);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/linux/exitcode.h

@@ -0,0 +1,40 @@
+#ifndef GS_UTIL_LINUX_EXITCODE_H
+#define GS_UTIL_LINUX_EXITCODE_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   "standard" Linux exit codes.
+*/
+
+#include <stdlib.h>
+#include <sysexits.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Program completed ok (from stdlib.h)
+*/
+#define GS_EXITCODE_OK       EXIT_SUCCESS
+
+/**
+   Program terminated due to an error (from stdlib.h).
+*/
+#define GS_EXITCODE_ERROR    EXIT_FAILURE
+
+/**
+   Program terminated due to invalid usage, eg argument (from sysexits.h).
+*/
+#define GS_EXITCODE_USAGE    EX_USAGE
+
+/**
+   Program terminated due to a signal (from [TLDP](http://www.tldp.org/LDP/abs/html/exitcodes.html)).
+*/
+#define GS_EXITCODE_SIGNAL(sig)  (128 + sig)
+    
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/linux/function.h

@@ -0,0 +1,49 @@
+#ifndef GS_UTIL_LINUX_FUNCTION_H
+#define GS_UTIL_LINUX_FUNCTION_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Function interface - invokes a function by name.
+*/
+
+#include <gs/util/error.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Function prototype.
+   @param[in] arg argument provided to gs_function_invoke().
+   @return_gs_error_t
+*/
+typedef gs_error_t (*gs_function_t)(void * arg);
+
+/**
+   Register \a function by name.
+
+   @param[in] short_name short name for function, used by gs_function_invoke() to find function to invoke.
+   @param[in] long_name long name (unique) for function, used by gs_function_invoke() to find function to invoke.
+   @param[in] function function to be invoked by gs_function_invoke()
+   @return #GS_ERROR_FULL if registry is full.
+   @return_gs_error_t
+*/
+gs_error_t gs_function_register(const char * short_name, const char * long_name, gs_function_t function);
+
+/**
+   Invoke \a function by name.
+
+   The return value is from the registered function, except for #GS_ERROR_NOT_IMPLEMENTED.
+
+   @param[in] name registered function name.
+   @param[in] arg argument for function.
+   @return #GS_ERROR_NOT_IMPLEMENTED if the \a name isn't found.
+   @return_gs_error_t
+*/
+gs_error_t gs_function_invoke(const char * name, void * arg);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/linux/rtc.h

@@ -0,0 +1,28 @@
+#ifndef GS_UTIL_LINUX_RTC_H
+#define GS_UTIL_LINUX_RTC_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Real Time Clock interface (linux).
+*/
+
+#include <gs/util/rtc.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Register Real Time Clock interface.
+   @note Setting the RTC will normally require special permission.
+   @param[in] get if true, get will be registered.
+   @param[in] set if true, set will be registered.
+   @return_gs_error_t
+*/
+gs_error_t gs_rtc_register_linux(bool get, bool set);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/linux/signal.h

@@ -0,0 +1,40 @@
+#ifndef GS_UTIL_LINUX_SIGNAL_H
+#define GS_UTIL_LINUX_SIGNAL_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Signal helpers - catch and ignore.
+*/
+
+#include <signal.h>
+#include <gs/util/error.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Standard Linux signal handler.
+*/
+typedef void (*gs_signal_handler)(int signal, siginfo_t *si, void *context);
+
+/**
+   Register/catch signal and invoke handler.
+   @param[in] signal signal to catch.
+   @param[in] handler signal handler. If \a handler is NULL, a default handler will be invoked, which calls exit(#GS_EXITCODE_SIGNAL + signal).
+   @return_gs_error_t
+*/
+gs_error_t gs_signal_catch(int signal, gs_signal_handler handler);
+
+/**
+   Ignore signal
+   @param[in] signal signal to ignore.
+   @return_gs_error_t
+*/
+gs_error_t gs_signal_ignore(int signal);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/linux/sysfs_helper.h

@@ -0,0 +1,30 @@
+#ifndef GS_UTIL_SYSFS_HELPER_H
+#define GS_UTIL_SYSFS_HELPER_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Sysfs interface.
+*/
+
+#include <gs/util/types.h>
+#include <gs/util/error.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Sysfs write (GPIO).
+*/
+gs_error_t gs_sysfs_write_file(const char *path, const char *value);
+
+/**
+   Sysfs read (GPIO).
+*/
+gs_error_t gs_sysfs_read_file(const char *path, char *value, size_t len);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/log.h

@@ -0,0 +1,15 @@
+#ifndef GS_UTIL_LOG_H
+#define GS_UTIL_LOG_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Log interface.
+
+   The log interface supports logging to different group.
+
+   Logging is done through groups (domains), which can runtime be re-configured with level.
+*/
+#include <gs/util/log/log.h>
+
+#endif

gomspace/libutil/include/gs/util/log/appender/appender.h

@@ -0,0 +1,189 @@
+#ifndef GS_UTIL_LOG_APPENDER_APPENDER_H
+#define GS_UTIL_LOG_APPENDER_APPENDER_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Log Appender interface.
+
+   The log appender interface supports logging to different "stores".
+   Logging is done through groups, which can be registered to different log appenders.
+   Each log appender has it's own filter (level mask).
+   Examples of log appenders could be: console, file, vmem, ...
+*/
+
+#include <gs/util/log/log.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/**
+   Log appender (forward declaration)
+   All log groups log to one or more appenders. The Log appender is responsible
+   for putting the actual log data to a store/console or some other log medium.
+*/
+typedef struct gs_log_appender gs_log_appender_t;
+
+/**
+   Log appender record iterator callback function
+
+   @param[in] ctx context data for iterator.
+   @param[in] level log level of record being iterated
+   @param[in] ts timestamp of record being iterated
+   @param[in] group group string (zero terminated) of record being iterated
+   @param[in] msg message string (zero terminated) of record being iterated
+   @return true/false: Return false to discontinue iteration.
+*/
+typedef bool (*gs_log_record_iterator_t)(void *ctx, gs_log_level_t level, const gs_timestamp_t *ts, const char *group, const char *msg);
+
+/**
+   Log appender driver interface
+*/
+typedef struct {
+    /** appender init function */
+    gs_error_t (*init)(gs_log_appender_t *appender);
+    /** appender function */
+    void (*append)(gs_log_appender_t *appender, gs_log_level_t level, const gs_log_group_t *group, const gs_timestamp_t * ts, const char * format, va_list va);
+    /** appender function for isr context */
+    void (*append_isr)(gs_log_appender_t *appender, gs_log_level_t level, const gs_log_group_t *group, const gs_timestamp_t * ts, const char * format, va_list va);
+    /** appender function for getting appender details string */
+    void (*info)(gs_log_appender_t *appender, char * info_str, uint8_t str_size);
+    /** appender function for iterating stored appenders log history */
+    void (*hist)(gs_log_appender_t *appender, void * ctx, gs_log_record_iterator_t iter);
+    /** appender function for clearing it's log history */
+    void (*clear)(gs_log_appender_t *appender);
+    /** appender function for flushing cached log entries to it's store.
+        This is only relevant for appenders implementing a log cache. */
+    void (*flush)(gs_log_appender_t *appender);
+} gs_log_appender_driver_t;
+
+/**
+   Log appender
+   All log groups log to one or more appenders. The Log appender is responsible
+   for putting the actual log data to a store/console or some other log medium.
+*/
+struct gs_log_appender {
+    /** Name of the appender */
+    const char * name;
+    /** appender driver interface */
+    const gs_log_appender_driver_t * drv;
+    /** appender driver configuration data */
+    const void * drv_config;
+    /** appender driver data - dynamic/internal data */
+    void * drv_data;
+    /** appender level mask */
+    uint8_t mask;
+};
+
+/**
+   Register an appender for the given log group.
+   All logging, where the mask matches the groups \a level_mask, will be forwarded to this appender.
+
+   @param[in] group_name Name of the group.
+   @param[in] appender_name Name of appender to register for this group.
+   @return gs_error_t
+*/
+gs_error_t gs_log_group_register_appender(const char * group_name, const char * appender_name);
+
+/**
+   Log appender iterator callback function
+
+   @param[in] ctx context data for iterator.
+   @param[in] appender log appender being iterated
+
+   @return true/false: Return false to discontinue iteration.
+*/
+typedef bool (*gs_log_appender_iterator_t)(void *ctx, gs_log_appender_t * appender);
+
+/**
+   Iterate all or specific log appender(s).
+
+   @param[in] name name of log appender, or NULL/\"all\" for all groups.
+   @param[in] ctx user context data.
+   @param[in] iter iterator, return \a true to continue, \a false to break iteration.
+   @return_gs_error_t
+*/
+gs_error_t gs_log_appender_iterate(const char * name, void * ctx, gs_log_appender_iterator_t iter);
+
+/**
+   Iterate registered appenders for a specific group.
+
+   @param[in] group log group to iterate appenders on.
+   @param[in] ctx user context data.
+   @param[in] iter appender iterator, return \a true to continue, \a false to break iteration.
+   @return gs_error_t
+*/
+gs_error_t gs_log_group_appender_iterate(gs_log_group_t * group, void * ctx, gs_log_appender_iterator_t iter);
+
+/**
+   Register log appender.
+
+   The log appender will be registered and initialized (if the appender has en init function, see #gs_log_appender_driver_t)
+
+   The appender will not be attached to any log groups. For registering an appender to a group, use gs_log_group_register_appender()
+
+   @param[in] appender appender - must stay in memory during the life-time of the application
+   @return_gs_error_t
+*/
+gs_error_t gs_log_appender_register(gs_log_appender_t *appender);
+
+/**
+   Add log appender(s).
+
+   The log appender will be registered and initialized (if the appender has en init function, see #gs_log_appender_driver_t)
+
+   The appender will not be attached to any log groups. For registering an appender to a group, use gs_log_group_register_appender()
+
+   @deprecated impossible to determine which appender fails, use gs_log_appender_register()
+   @param[in] appenders array of appender(s) - must stay in memory during the life-time of the application
+   @param[in] count array count - number of appenders.
+   @return_gs_error_t
+*/
+gs_error_t gs_log_appender_add(gs_log_appender_t *appenders, uint16_t count);
+    
+/**
+   Set log appender level mask.
+
+   @param[in] appender_name log appender name
+   @param[in] mask level mask to set.
+   @return_gs_error_t
+*/
+gs_error_t gs_log_appender_set_level_mask(const char * appender_name, uint8_t mask);
+
+/**
+   Get log appender level mask.
+
+   @param[in] appender_name log appender name
+   @param[out] mask returned current level mask.
+   @return_gs_error_t
+*/
+gs_error_t gs_log_appender_get_level_mask(const char * appender_name, uint8_t *mask);
+
+/**
+   Iterate log history for all or specific log appender.
+
+   @param[in] name name of log appender, or NULL/\"all\" for all appenders.
+   @param[in] ctx user context data for iterator.
+   @param[in] iter iterator, return \a true to continue, \a false to break iteration.
+   @return gs_error_t
+*/
+gs_error_t gs_log_appender_history_iterate(const char * name, void * ctx, gs_log_record_iterator_t iter);
+
+/**
+   Flush all log appenders data to storage.
+
+   This will call the flush API (if implemented) for all log appenders
+   available on the system. This should be called on regular basis from
+   a system thread to ensure all cached data is correctly flushed to their
+   stores.
+
+   @return gs_error_t
+*/
+gs_error_t gs_log_appender_flush_all();
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/log/appender/console.h

@@ -0,0 +1,57 @@
+#ifndef GS_UTIL_LOG_APPENDER_CONSOLE_H
+#define GS_UTIL_LOG_APPENDER_CONSOLE_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Console log appender - logs to stdout.
+*/
+
+#include <gs/util/log/appender/appender.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Log appender for console
+
+   This log appender is the standard appender which is always available
+   on any system. The appender should be registered to the root group,
+   in order to get console/stdio logs.
+*/
+extern gs_log_appender_t gs_log_appender_console;
+
+/**
+   Log appender for console callback type
+
+   This callback function can be used for registering a user defined logger function if
+   the default can not be used for the given system.
+
+   @param[in] appender pointer to the console appender.
+   @param[in] level log level for log message
+   @param[in] group log group for log message
+   @param[in] ts timestamp for log message
+   @param[in] format format of message in printf style
+   @param[in] va variable argument list in printf style
+
+   @return void
+*/
+typedef void (*gs_log_appender_console_cb_t)(gs_log_appender_t *appender, gs_log_level_t level, const gs_log_group_t *group, const gs_timestamp_t * ts, const char * format, va_list va);
+
+/**
+   Set Log appender for console callback
+
+   When set, the given callback is called instead of the default console log function.
+   To revert back to the default console log function, call this function with NULL as parameter.
+
+   @param[in] cb callback to use for console logging.
+
+   @return gs_error_t
+*/
+gs_error_t gs_log_appender_console_set_cb(gs_log_appender_console_cb_t cb);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/log/appender/simple_file.h

@@ -0,0 +1,41 @@
+#ifndef GS_UTIL_LOG_APPENDER_SIMPLE_FILE_H
+#define GS_UTIL_LOG_APPENDER_SIMPLE_FILE_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+   
+   Simple log-file appender.
+*/
+#include <gs/util/log/appender/appender.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Simple File Log Appender driver configuration
+*/
+typedef struct gs_log_appender_simple_file_config {
+    /**
+       Name of file to create/write logs to
+    */
+    const char *filename;
+    /**
+       Truncate the file, when opening the log file.
+    */
+    bool truncate;
+    /**
+       Uee local time stamps when logging to log file, otherwise UTC.
+    */
+    bool use_local_time;
+} gs_log_appender_simple_file_config_t;
+
+/**
+   Log appender for file.
+*/
+extern const gs_log_appender_driver_t gs_log_appender_simple_file_driver;
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/log/log.h

@@ -0,0 +1,853 @@
+#ifndef GS_UTIL_LOG_LOG_H
+#define GS_UTIL_LOG_LOG_H
+/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Log interface.
+
+   Logging is done through groups (domains), where the level mask can be changed runtime.
+*/
+
+#include <gs/util/error.h>
+#include <gs/util/timestamp.h>
+#include <gs/util/pgm.h>
+#include <inttypes.h>
+#include <stdarg.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Name of the root log group
+*/
+#define GS_LOG_GROUP_ROOT   "root"
+
+/**
+   Log levels.
+
+   The levels can easily be mapped to standard syslog severity levels (https://en.wikipedia.org/wiki/Syslog).
+*/
+typedef enum {
+    /**
+       Trace (more detailed than \a debug).
+
+       syslog: maps to \a debug (or \a trace if supported).
+    */
+    GS_LOG_TRACE = 0,
+    /**
+       Debug.
+
+       syslog: maps to \a debug.
+    */
+    GS_LOG_DEBUG = 1,
+    /**
+       Informational.
+
+       syslog: maps to \a informational.
+    */
+    GS_LOG_INFO = 2,
+    /**
+       Normal but significant conditions.
+
+       syslog: maps to \a notice.
+    */
+    GS_LOG_NOTICE = 3,
+    /**
+       Warning.
+
+       syslog: maps to \a warning.
+    */
+    GS_LOG_WARNING = 4,
+    /**
+       Error.
+
+       syslog: maps to \a error.
+    */
+    GS_LOG_ERROR = 5,
+
+    /**
+       Trace (more detailed than \a debug).
+       @deprecated use #GS_LOG_TRACE
+    */
+    LOG_TRACE = GS_LOG_TRACE,
+    /**
+       Debug.
+       @deprecated use #GS_LOG_DEBUG
+    */
+    LOG_DEBUG = GS_LOG_DEBUG,
+    /**
+       Informational.
+       @deprecated use #GS_LOG_INFO
+    */
+    LOG_INFO = GS_LOG_INFO,
+    /**
+       Normal but significant conditions.
+       @deprecated use #GS_LOG_NOTICE
+    */
+    LOG_NOTICE = GS_LOG_NOTICE,
+    /**
+       Warning.
+       @deprecated use #GS_LOG_WARNING
+    */
+    LOG_WARNING = GS_LOG_WARNING,
+    /**
+       Error.
+       @deprecated use #GS_LOG_ERROR
+    */
+    LOG_ERROR = GS_LOG_ERROR,
+} gs_log_level_t;
+
+/**
+   Log categories.
+
+   The category is a way of grouping information about which sub-systems have logged. It is primarily used in the \a 
+   telemetry table, to indicate what sub-systems have logged an \a error or \a warning - indicating a possible problem.
+
+   Up to 32 categories are supported (stored in a uint32).
+
+   Categories should be unique within a single node. However, nothing happens if categories clashes - it will only be more difficult to determine what part of the system logged.
+
+   Standard categories are defined from #GS_LOG_CAT_1 and up. Products or mission specific software should start from #GS_LOG_CAT_32 and down.
+*/
+typedef enum {
+    //! Standard, used for #GS_LOG_CAT_DEFAULT
+    GS_LOG_CAT_1  = 1 << 0,
+    //! Standard, used for #GS_LOG_CAT_DRIVER
+    GS_LOG_CAT_2  = 1 << 1,
+    //! Standard, used for #GS_LOG_CAT_CSP
+    GS_LOG_CAT_3  = 1 << 2,
+    //! Standard, used for #GS_LOG_CAT_PARAM
+    GS_LOG_CAT_4  = 1 << 3,
+    //! Standard, used for #GS_LOG_CAT_FILE_SYSTEM
+    GS_LOG_CAT_5  = 1 << 4,
+    //! Standard, used for #GS_LOG_CAT_COMMAND
+    GS_LOG_CAT_6  = 1 << 5,
+    //! Standard, used for #GS_LOG_CAT_HK
+    GS_LOG_CAT_7  = 1 << 6,
+    //! Standard, used for #GS_LOG_CAT_FP
+    GS_LOG_CAT_8  = 1 << 7,
+    //! Standard, used for #GS_LOG_CAT_ADCS
+    GS_LOG_CAT_9  = 1 << 8,
+    GS_LOG_CAT_10 = 1 << 9,
+    GS_LOG_CAT_11 = 1 << 10,
+    GS_LOG_CAT_12 = 1 << 11,
+    GS_LOG_CAT_13 = 1 << 12,
+    GS_LOG_CAT_14 = 1 << 13,
+    GS_LOG_CAT_15 = 1 << 14,
+    GS_LOG_CAT_16 = 1 << 15,
+#if (__AVR__ == 0)
+    GS_LOG_CAT_17 = 1 << 16,
+    GS_LOG_CAT_18 = 1 << 17,
+    GS_LOG_CAT_19 = 1 << 18,
+    GS_LOG_CAT_20 = 1 << 19,
+    GS_LOG_CAT_21 = 1 << 20,
+    GS_LOG_CAT_22 = 1 << 21,
+    GS_LOG_CAT_23 = 1 << 22,
+    GS_LOG_CAT_24 = 1 << 23,
+    GS_LOG_CAT_25 = 1 << 24,
+    GS_LOG_CAT_26 = 1 << 25,
+    GS_LOG_CAT_27 = 1 << 26,
+    GS_LOG_CAT_28 = 1 << 27,
+    GS_LOG_CAT_29 = 1 << 28,
+    GS_LOG_CAT_30 = 1 << 29,
+    GS_LOG_CAT_31 = 1 << 30,
+    //! Product or mission specific - start here and down
+    GS_LOG_CAT_32 = 1 << 31,
+#endif
+} gs_log_category_t;
+
+/**
+   @defgroup reserved_log_categories Reserved/assigned log categories.
+   These categories are assigned/reserved for certain sub-systems.
+   @{
+*/
+    /**
+       Default, used if nothing else fits.
+    */
+#define GS_LOG_CAT_DEFAULT     GS_LOG_CAT_1
+    /**
+       Driver layer.
+    */
+#define GS_LOG_CAT_DRIVER      GS_LOG_CAT_2
+    /**
+       CSP.
+    */
+#define GS_LOG_CAT_CSP         GS_LOG_CAT_3
+    /**
+       Parameter system.
+    */
+#define GS_LOG_CAT_PARAM       GS_LOG_CAT_4
+    /**
+       File system.
+    */
+#define GS_LOG_CAT_FILE_SYSTEM GS_LOG_CAT_5
+    /**
+       Command framework and execution.
+    */
+#define GS_LOG_CAT_COMMAND     GS_LOG_CAT_6
+    /**
+       Housekeeping System.
+    */
+#define GS_LOG_CAT_HK          GS_LOG_CAT_7
+    /**
+       Flight Planner.
+    */
+#define GS_LOG_CAT_FP          GS_LOG_CAT_8
+    /**
+       ADCS
+    */
+#define GS_LOG_CAT_ADCS        GS_LOG_CAT_9
+/** @} */
+
+struct gs_log_list; /* forward declared private log list struct */
+/**
+   Log list type (private)
+
+   Private gs_log_list type.
+*/
+typedef struct gs_log_list gs_log_list_t;
+
+/**
+   Log group.
+   All logs are logged to a \a group. The group contains the current log level mask,
+   which controls whether the log is carried through or not.
+*/
+typedef struct {
+    /**
+       Name of log group.
+    */
+    const char * name;
+    /**
+       Category, see #gs_log_category_t.
+    */
+    uint32_t category;
+    /**
+       Current level mask, see #gs_log_level_t.
+    */
+    uint8_t mask;
+    /**
+       Is group additive, if \a true (default) logging will be done on both root appenders and this groups appenders - if \a false, logging will only be done to this groups appenders.
+    */
+    bool additivity;
+    /**
+       Private list of appenders.
+    */
+    gs_log_list_t * appenders;
+#if (__AVR__)
+    uint16_t dummy_align;
+#endif
+} gs_log_group_t;
+
+/**
+   Log masks (levels converted to mask).
+   @{
+*/
+/**
+   Trace level enabled.
+*/
+#define GS_LOG_TRACE_MASK   (1 << GS_LOG_TRACE)
+/**
+   Debug level enabled.
+*/
+#define GS_LOG_DEBUG_MASK   (1 << GS_LOG_DEBUG)
+/**
+   Info level enabled.
+*/
+#define GS_LOG_INFO_MASK    (1 << GS_LOG_INFO)
+/**
+   Notice level enabled.
+*/
+#define GS_LOG_NOTICE_MASK  (1 << GS_LOG_NOTICE)
+/**
+   Warning level enabled.
+*/
+#define GS_LOG_WARNING_MASK (1 << GS_LOG_WARNING)
+/**
+   Error level enabled.
+*/
+#define GS_LOG_ERROR_MASK   (1 << GS_LOG_ERROR)
+/**
+   All levels enabled.
+*/
+#define GS_LOG_ALL_MASK     (GS_LOG_TRACE_MASK | GS_LOG_DEBUG_MASK | GS_LOG_INFO_MASK | GS_LOG_NOTICE_MASK | GS_LOG_WARNING_MASK | GS_LOG_ERROR_MASK)
+/**
+   Default levels enabled - #GS_LOG_ERROR, #GS_LOG_WARNING and #GS_LOG_NOTICE.
+*/
+#define GS_LOG_DEFAULT_MASK (GS_LOG_ERROR_MASK | GS_LOG_WARNING_MASK | GS_LOG_NOTICE_MASK)
+/**
+   Trace level enabled.
+   @deprecated use #GS_LOG_TRACE_MASK
+*/
+#define LOG_TRACE_MASK      GS_LOG_TRACE_MASK
+/**
+   Debug level enabled.
+   @deprecated use #GS_LOG_DEBUG_MASK
+*/
+#define LOG_DEBUG_MASK      GS_LOG_DEBUG_MASK
+/**
+   Info level enabled.
+   @deprecated use #GS_LOG_INFO_MASK
+*/
+#define LOG_INFO_MASK       GS_LOG_INFO_MASK
+/**
+   Notice level enabled.
+   @deprecated use #GS_LOG_NOTICE_MASK
+*/
+#define LOG_NOTICE_MASK     GS_LOG_NOTICE_MASK
+/**
+   Warning level enabled.
+   @deprecated use #GS_LOG_WARNING_MASK
+*/
+#define LOG_WARNING_MASK    GS_LOG_WARNING_MASK
+/**
+   Error level enabled.
+   @deprecated use #GS_LOG_ERROR_MASK
+*/
+#define LOG_ERROR_MASK      GS_LOG_ERROR_MASK
+/**
+   All levels enabled.
+   @deprecated use #GS_LOG_ALL_MASK
+*/
+#define LOG_ALL_MASK        GS_LOG_ALL_MASK
+/**
+   Default levels enabled - #GS_LOG_ERROR, #GS_LOG_WARNING and #GS_LOG_NOTICE.
+   @deprecated use #GS_LOG_DEFAULT_MASK
+*/
+#define LOG_DEFAULT_MASK    GS_LOG_DEFAULT_MASK
+/**@}*/
+
+/**
+   Define/Create a log group.
+
+   @note name clash: This defines a variable, which potentially is \a global, meaning possibility of name clashes. Therefore log group should always
+   be prefixed with something that makes it fairly unique, i.e. component name. Example: gs_a3200dock_log - log group used by liba3200dock library.
+
+   @param[in] group name of variables created. See note above about name clash.
+   @param[in] name_in display name
+   @param[in] cat_in log group category
+   @param[in] level_mask log level mask.
+*/
+#define GS_LOG_GROUP(group, name_in, cat_in, level_mask)                        \
+    gs_log_group_t group##_s = {.name = name_in, .category = cat_in,            \
+                                .mask = level_mask, .additivity = true,         \
+                                .appenders = NULL};                             \
+    gs_log_group_t * group = &group##_s
+
+/**
+   Define log group with initial mask for \a print and \a store.
+
+   @note name clash: This defines a variable, which potentially is \a global, meaning possibility of name clashes. Therefore log group should always
+   be prefixed with something that makes it fairly unique, i.e. component name. Example: gs_a3200dock_log - log group used by liba3200dock library.
+
+   @deprecated This MACRO is no longer supported, use #GS_LOG_GROUP(...) instead.
+
+   @param[in] group name of variables created. See note above about name clash.
+   @param[in] name_in display name
+   @param[in] print_mask enable mask for \a print.
+   @param[in] store_mask enable mask for \a store.
+*/
+#define LOG_GROUP_MASKED(group, name_in, print_mask, store_mask)   GS_LOG_GROUP(group, name_in, GS_LOG_CAT_DEFAULT, (print_mask | store_mask))
+
+/**
+   Declare log group as external (defined else where).
+
+   @param[in] group the log group variable defined elsewhere.
+*/
+#define GS_LOG_GROUP_EXTERN(group)  extern gs_log_group_t * group
+
+/**
+   Define log group - levels are #GS_LOG_DEFAULT_MASK
+
+   @deprecated This MACRO is no longer supported, use #GS_LOG_GROUP(..) instead.
+*/
+#define LOG_GROUP(group, name_in)         GS_LOG_GROUP(group, name_in, GS_LOG_CAT_DEFAULT, LOG_DEFAULT_MASK)
+
+/**
+   Define verbose log group - all levels are enabled (#GS_LOG_ALL_MASK)
+
+   @deprecated This MACRO is no longer supported, use #GS_LOG_GROUP(..) instead.
+*/
+#define LOG_GROUP_VERBOSE(group, name_in) GS_LOG_GROUP(group, name_in, GS_LOG_CAT_DEFAULT, LOG_ALL_MASK)
+
+/**
+   Define silent log group - all levels are disabled.
+
+   @deprecated This MACRO is no longer supported, use #GS_LOG_GROUP(..) instead.
+*/
+#define LOG_GROUP_SILENT(group, name_in)  GS_LOG_GROUP(group, name_in, GS_LOG_CAT_DEFAULT, 0)
+
+/**
+   Declare log group as external (defined else where).
+
+   @deprecated use #GS_LOG_GROUP_EXTERN(...) instead.
+*/
+#define LOG_GROUP_EXTERN(group) GS_LOG_GROUP_EXTERN(group)
+
+/**
+   Default log group.
+   This can be overridden by a define
+*/
+extern gs_log_group_t * LOG_DEFAULT;
+
+/**
+   Initializes the log system.
+
+   @param[in] with_console_appender Enable/Disable console log appender
+   @return_gs_error_t
+*/
+gs_error_t gs_log_init(bool with_console_appender);
+
+/**
+   Set log group level mask.
+
+   @param[in] group_name log group name
+   @param[in] mask level mask to set.
+   @return_gs_error_t
+*/
+gs_error_t gs_log_group_set_level_mask(const char * group_name, uint8_t mask);
+
+/**
+   Get log group level mask.
+
+   @param[in] group_name log group name
+   @param[out] mask returned current level mask.
+   @return_gs_error_t
+*/
+gs_error_t gs_log_group_get_level_mask(const char * group_name, uint8_t *mask);
+
+/**
+   Log group iterator callback function
+
+   @param[in] ctx context data for iterator.
+   @param[in] group log group being iterated.
+
+   @return true/false: Return false to discontinue iteration.
+*/
+typedef bool (*gs_log_group_iterator_t)(void *ctx, gs_log_group_t * group);
+
+/**
+   Iterate all or specific log group(s).
+
+   @param[in] group_name name of log group, or NULL/\"all\" for all groups.
+   @param[in] ctx user context data.
+   @param[in] iter iterator, return \a true to continue, \a false to break iteration.
+   @return_gs_error_t
+*/
+gs_error_t gs_log_group_iterate(const char * group_name, void * ctx, gs_log_group_iterator_t iter);
+
+/**
+   Register a log group in the log system.
+
+   The log group will be added to a system wide list of log groups, enabling list and set of level.
+
+   @note The group must remain valid during the life-time of the application.
+
+   @param[in] group The log group to be added to the system.
+   @return_gs_error_t
+*/
+gs_error_t gs_log_group_register(gs_log_group_t *group);
+
+/**
+   Register a log group in the log system.
+
+   @note The group must stay in memory during the life-time of the application
+   @see gs_log_group_register()
+   @param[in] group The log group to be added to the system.
+   @return_gs_error_t
+*/
+static inline gs_error_t gs_log_group_add(gs_log_group_t *group)
+{
+    return gs_log_group_register(group);
+}
+    
+/**
+   Checks if a level is enabled on a log group
+
+   @param[in] group The log group to check.
+   @param[in] level The log level to check if it's set on the group.
+   @return bool (true if enabled / false if not enabled)
+*/
+bool gs_log_group_is_level_enabled(gs_log_group_t *group, gs_log_level_t level);
+
+/**
+   Convert string to log level.
+
+   @param[in] str log level.
+   @param[out] return_level converted log level.
+   @return_gs_error_t
+*/
+gs_error_t gs_log_string_to_level(const char * str, gs_log_level_t * return_level);
+
+/**
+   Convert level to single character.
+
+   @param[in] level log level
+   @return single character representing the \a level.
+*/
+char gs_log_level_to_char(gs_log_level_t level);
+
+
+/**
+   Register Log commands.
+   @return_gs_error_t
+*/
+gs_error_t gs_log_register_commands(void);
+
+/**
+   Generic log.
+   @note This function should not be called directly, use log macros.
+
+   @param level log level
+   @param group log group. If NULL, the \a default log group will be used.
+   @param format Format string (printf style).
+*/
+void gs_log(gs_log_level_t level, gs_log_group_t * group, const char * format, ...) __attribute__ ((format (__printf__, 3, 4)));
+
+/**
+   Generic log from ISR.
+   @note This function should not be called directly, use log macros.
+
+   @param level log level
+   @param group log group. If NULL, the \a default log group will be used.
+   @param format Format string (printf style).
+*/
+void gs_log_isr(gs_log_level_t level, gs_log_group_t * group, const char * format, ...) __attribute__ ((format (__printf__, 3, 4)));
+
+/**
+   Generic log (va_list).
+   @note This function should not be called directly, use log macros.
+
+   @param level log level
+   @param group log group. If NULL, the \a default log group will be used.
+   @param format Format string (printf style).
+   @param args arguments for \a format.
+*/
+void gs_log_va(gs_log_level_t level, gs_log_group_t * group, const char * format, va_list args);
+
+/**
+   Enable/disable color in \a print logs.
+   Default is \a enabled/true.
+
+   @param[in] color \a true to enable color, \a false disable color.
+*/
+void gs_log_set_print_color(bool color);
+
+/**
+   Level to color (begin).
+
+   @param[in] level log level.
+   @return color string.
+*/
+const char * gs_log_level_to_color_begin(gs_log_level_t level);
+
+/**
+   Level to color (end).
+
+   @return color string.
+*/
+const char * gs_log_level_to_color_end(void);
+
+/**
+   Take a level as input an create a level mask enabling all
+   levels with priority >= level.
+
+   If level is e.g. LOG_INFO, the mask will enable Error, Warn & Info.
+
+ * @param level the log level.
+ * @return level mask
+ */
+uint8_t gs_log_level_to_mask(gs_log_level_t level);
+
+/**
+   Convert string to log mask.
+
+   Format: [+-]level[,[+-]level]
+
+   + add level, - remove level.
+
+   @param[in] str log mask
+   @param[in] current_mask current mask, used when input format contains + or -.
+   @param[out] return_mask converted log mask.
+   @return_gs_error_t
+*/
+gs_error_t gs_log_string_to_mask(const char *str, uint8_t current_mask, uint8_t * return_mask);
+
+#if !(__DOXYGEN__)
+/**
+   Internal macro for checking if log is enabled, before making log.
+*/
+#define __gs_log(level, group, format, ...)                             \
+    if (group->mask & (1 << level)) {                                   \
+        gs_log(level, group, GS_PGM_STR(format), ##__VA_ARGS__);        \
+    }
+
+/**
+   Internal macro for checking if log is enabled for isr, before making log.
+*/
+#define __gs_log_isr(level, group, format, ...)                         \
+    if (group->mask & (1 << level)) {                                   \
+        gs_log_isr(level, group, GS_PGM_STR(format), ##__VA_ARGS__);    \
+    }
+
+/**
+   Internal macro used for performing a log only once.
+   @note This creates a \a static \a variable.
+*/
+#define __gs_log_once(level, group, format, ...)                        \
+    ({                                                                  \
+        static bool print_once;                                         \
+        if (!print_once) {                                              \
+            print_once = true;                                          \
+            __gs_log(level, group, format, ##__VA_ARGS__);              \
+        }                                                               \
+    })
+#endif // __DOXYGEN__
+    
+/**
+   Default compile-time enabling/disabling of all levels
+   Unless levels are individually defined, this will be the default value.
+*/
+#if !defined(GS_LOG_DISABLE_ALL)
+#define GS_LOG_DISABLE_ALL     0
+#endif
+
+/**
+   Disable \a error level compile-time by defining a value > 0
+*/
+#if !defined(GS_LOG_DISABLE_ERROR)
+#define GS_LOG_DISABLE_ERROR   GS_LOG_DISABLE_ALL
+#endif
+
+/**
+   Disable \a warning level compile-time by defining a value > 0
+*/
+#if !defined(GS_LOG_DISABLE_WARNING)
+#define GS_LOG_DISABLE_WARNING GS_LOG_DISABLE_ALL
+#endif
+
+/**
+   Disable \a notice level compile-time by defining a value > 0
+*/
+#if !defined(GS_LOG_DISABLE_NOTICE)
+#define GS_LOG_DISABLE_NOTICE  GS_LOG_DISABLE_ALL
+#endif
+
+/**
+   Disable \a info level compile-time by defining a value > 0
+*/
+#if !defined(GS_LOG_DISABLE_INFO)
+#define GS_LOG_DISABLE_INFO    GS_LOG_DISABLE_ALL
+#endif
+    
+/**
+   Disable \a debug level compile-time by defining a value > 0
+*/
+#if !defined(GS_LOG_DISABLE_DEBUG)
+#define GS_LOG_DISABLE_DEBUG   GS_LOG_DISABLE_ALL
+#endif
+
+/**
+   Disable \a trace level compile-time by defining a value > 0
+*/
+#if !defined(GS_LOG_DISABLE_TRACE)
+#define GS_LOG_DISABLE_TRACE   GS_LOG_DISABLE_ALL
+#endif
+
+/**
+   Log \a error to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_error(format, ...)                       { if (!GS_LOG_DISABLE_ERROR) __gs_log(LOG_ERROR, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a error from ISR to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_error_isr(format, ...)                   { if (!GS_LOG_DISABLE_ERROR) __gs_log_isr(LOG_ERROR, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a error to group.
+   @param[in] group log group (gs_log_group_t *).
+   @param[in] format Format string (printf style).
+*/
+#define log_error_group(group, format, ...)          { if (!GS_LOG_DISABLE_ERROR) __gs_log(LOG_ERROR, (group), format, ##__VA_ARGS__); }
+
+/**
+   Log \a error only once to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_error_once(format, ...)                  { if (!GS_LOG_DISABLE_ERROR) __gs_log_once(LOG_ERROR, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a error only once to group.
+   @param[in] group log group (gs_log_group_t *).
+   @param[in] format Format string (printf style).
+*/
+#define log_error_once_group(group, format, ...)     { if (!GS_LOG_DISABLE_ERROR) __gs_log_once(LOG_ERROR, (group), format, ##__VA_ARGS__); }
+
+/**
+   Log \a warning to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_warning(format, ...)                     { if (!GS_LOG_DISABLE_WARNING) __gs_log(LOG_WARNING, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a warning from ISR to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_warning_isr(format, ...)                 { if (!GS_LOG_DISABLE_WARNING) __gs_log_isr(LOG_WARNING, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a warning to group.
+   @param[in] group log group (gs_log_group_t *).
+   @param[in] format Format string (printf style).
+*/
+#define log_warning_group(group, format, ...)        { if (!GS_LOG_DISABLE_WARNING) __gs_log(LOG_WARNING, (group), format, ##__VA_ARGS__); }
+
+/**
+   Log \a warning only once to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_warning_once(format, ...)                { if (!GS_LOG_DISABLE_WARNING) __gs_log_once(LOG_WARNING, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a warning only once to group.
+   @param[in] group log group (gs_log_group_t *).
+   @param[in] format Format string (printf style).
+*/
+#define log_warning_once_group(group, format, ...)   { if (!GS_LOG_DISABLE_WARNING) __gs_log_once(LOG_WARNING, (group), format, ##__VA_ARGS__); }
+
+/**
+   Log \a notice to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_notice(format, ...)                      { if (!GS_LOG_DISABLE_NOTICE) __gs_log(LOG_NOTICE, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a notice from ISR to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_notice_isr(format, ...)                  { if (!GS_LOG_DISABLE_NOTICE) __gs_log_isr(LOG_NOTICE, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a notice to group.
+   @param[in] group log group (gs_log_group_t *).
+   @param[in] format Format string (printf style).
+*/
+#define log_notice_group(group, format, ...)         { if (!GS_LOG_DISABLE_NOTICE) __gs_log(LOG_NOTICE, (group), format, ##__VA_ARGS__); }
+
+/**
+   Log \a notice only once to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_notice_once(format, ...)                 { if (!GS_LOG_DISABLE_NOTICE) __gs_log_once(LOG_NOTICE, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a notice only once to group.
+   @param[in] group log group (gs_log_group_t *).
+   @param[in] format Format string (printf style).
+*/
+#define log_notice_once_group(group, format, ...)    { if (!GS_LOG_DISABLE_NOTICE) __gs_log_once(LOG_NOTICE, (group), format, ##__VA_ARGS__); }
+    
+/**
+   Log \a info to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_info(format, ...)                        { if (!GS_LOG_DISABLE_INFO) __gs_log(LOG_INFO, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a info from ISR to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_info_isr(format, ...)                    { if (!GS_LOG_DISABLE_INFO) __gs_log_isr(LOG_INFO, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a info to group.
+   @param[in] group log group (gs_log_group_t *).
+   @param[in] format Format string (printf style).
+*/
+#define log_info_group(group, format, ...)           { if (!GS_LOG_DISABLE_INFO) __gs_log(LOG_INFO, (group), format, ##__VA_ARGS__); }
+
+/**
+   Log \a info only once to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_info_once(format, ...)                   { if (!GS_LOG_DISABLE_INFO) __gs_log_once(LOG_INFO, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a info only once to group.
+   @param[in] group log group (gs_log_group_t *).
+   @param[in] format Format string (printf style).
+*/
+#define log_info_once_group(group, format, ...)      { if (!GS_LOG_DISABLE_INFO) __gs_log_once(LOG_INFO, (group), format, ##__VA_ARGS__); }
+
+/**
+   Log \a debug to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_debug(format, ...)                       { if (!GS_LOG_DISABLE_DEBUG) __gs_log(LOG_DEBUG, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a debug from ISR to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_debug_isr(format, ...)                   { if (!GS_LOG_DISABLE_DEBUG) __gs_log_isr(LOG_DEBUG, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a debug to group.
+   @param[in] group log group (gs_log_group_t *).
+   @param[in] format Format string (printf style).
+*/
+#define log_debug_group(group, format, ...)          { if (!GS_LOG_DISABLE_DEBUG) __gs_log(LOG_DEBUG, (group), format, ##__VA_ARGS__); }
+
+/**
+   Log \a debug only once to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_debug_once(format, ...)                  { if (!GS_LOG_DISABLE_DEBUG) __gs_log_once(LOG_DEBUG, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a debug only once to group.
+   @param[in] group log group (gs_log_group_t *).
+   @param[in] format Format string (printf style).
+*/
+#define log_debug_once_group(group, format, ...)     { if (!GS_LOG_DISABLE_DEBUG) __gs_log_once(LOG_DEBUG, (group), format, ##__VA_ARGS__); }
+
+/**
+   Log \a trace to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_trace(format, ...)                       { if (!GS_LOG_DISABLE_TRACE) __gs_log(LOG_TRACE, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a trace from ISR to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_trace_isr(format, ...)                   { if (!GS_LOG_DISABLE_TRACE) __gs_log_isr(LOG_TRACE, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a trace to group.
+   @param[in] group log group (gs_log_group_t *).
+   @param[in] format Format string (printf style).
+*/
+#define log_trace_group(group, format, ...)          { if (!GS_LOG_DISABLE_TRACE) __gs_log(LOG_TRACE, (group), format, ##__VA_ARGS__); }
+
+/**
+   Log \a trace only once to default group (LOG_DEFAULT).
+   @param[in] format Format string (printf style).
+*/
+#define log_trace_once(format, ...)                  { if (!GS_LOG_DISABLE_TRACE) __gs_log_once(LOG_TRACE, LOG_DEFAULT, format, ##__VA_ARGS__); }
+
+/**
+   Log \a trace only once to group.
+   @param[in] group log group (gs_log_group_t *).
+   @param[in] format Format string (printf style).
+*/
+#define log_trace_once_group(group, format, ...)     { if (!GS_LOG_DISABLE_TRACE) __gs_log_once(LOG_TRACE, (group), format, ##__VA_ARGS__); }
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/minmax.h

@@ -0,0 +1,67 @@
+#ifndef GS_UTIL_MINMAX_H
+#define GS_UTIL_MINMAX_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Min/max utilities.
+*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+   Return minimum value.
+   @param[in] x value
+   @param[in] y value
+   @return the lowest value of the input parameters.
+*/
+#define gs_min(x,y) ({                          \
+            __typeof__ (x) _x = (x);            \
+            __typeof__ (y) _y = (y);            \
+            _x < _y ? _x : _y; })
+
+/**
+   Return maximum value.
+   @param[in] x value
+   @param[in] y value
+   @return the maximum value of the input parameters.
+*/
+#define gs_max(x,y) ({                          \
+            __typeof__ (x) _x = (x);            \
+            __typeof__ (y) _y = (y);            \
+            _x > _y ? _x : _y; })
+
+/**
+   Return minimum value.
+   @param[in] x value
+   @param[in] y value
+   @param[in] z value
+   @return the lowest value of the input parameters.
+*/
+#define gs_min3(x,y,z)	gs_min(gs_min((x),(y)), (z))
+
+/**
+   Return maximum value.
+   @param[in] x value
+   @param[in] y value
+   @param[in] z value
+   @return the maximum value of the input parameters.
+*/
+#define gs_max3(x,y,z)	gs_max(gs_max((x),(y)), (z))
+
+/**
+   Clamp value within min/max.
+   @param[in] x value
+   @param[in] _max max value
+   @param[in] _min min value
+   @return value between min and max.
+*/
+#define gs_clamp(x, _min, _max) ({		\
+	gs_min(gs_max((x), (_min)), (_max)); })
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/mutex.h

@@ -0,0 +1,63 @@
+#ifndef GS_UTIL_MUTEX_H
+#define GS_UTIL_MUTEX_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Mutex (recursive).
+
+   The mutex API wraps POSIX \a pthread_mutex and FreeRTOS \a mutex.
+
+   @note Mutex can not be used from within an ISR routine - use gs_sem instead.
+*/
+
+#include <gs/util/error.h>
+#if __linux__
+#include <pthread.h>
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if __linux__
+/**
+   Mutex handle.
+*/
+typedef pthread_mutex_t * gs_mutex_t;
+#else
+typedef struct gs_freertos_mutex_t * gs_mutex_t;
+#endif
+
+/**
+   Create mutex.
+   @param[out] mutex handle.
+   @return error code.
+*/
+gs_error_t gs_mutex_create(gs_mutex_t * mutex);
+
+/**
+   Destroy mutex - free resources.
+   @param[in] mutex handle.
+   @return error code.
+*/
+gs_error_t gs_mutex_destroy(gs_mutex_t mutex);
+
+/**
+   Lock mutex.
+   @param[in] mutex handle.
+   @return error code.
+*/
+gs_error_t gs_mutex_lock(gs_mutex_t mutex);
+
+/**
+   Unlock mutex.
+   @param[in] mutex handle.
+   @return error code.
+*/
+gs_error_t gs_mutex_unlock(gs_mutex_t mutex);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/pgm.h

@@ -0,0 +1,162 @@
+#ifndef GS_UTIL_PROGMEM_H
+#define GS_UTIL_PROGMEM_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Macros for handling special memory access.
+
+   On most targets/processors, constant data/strings are located in the program space and can be read in the same way as data in the data space.
+   However, on a few targets (e.g. avr/avr8), data/strings must be marked in a special way in order to go into the program space, see #GS_PGM_STR()
+
+   Using following macros, will make it easier to make cross-platform code and avoid \#if/\#endif.
+   These macros should only be used where the code also needs to run on avr/avr8.
+
+   @note Including this header on avr/avr8 will REDEFINE printf!.
+
+   http://www.atmel.com/webdoc/avrlibcreferencemanual/group__avr__pgmspace.html.
+   http://www.nongnu.org/avr-libc/user-manual/pgmspace.html.
+*/
+
+#include <gs/util/stdio.h>
+#if defined(__AVR__)
+#include <avr/pgmspace.h>
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if defined(__AVR__) || (__DOXYGEN__)
+/**
+   Special program/data memory handling.
+*/
+#define GS_PGM                        1
+
+/**
+   Place object in program space (must be const).
+   Example: static const uint8_t data8[] GS_PGM_OBJECT = {1, 255};
+*/
+#define GS_PGM_OBJECT                 PROGMEM
+
+/**
+   Place const string in program space.
+   By default the string goes into data, uses thereby uses up space.
+   Once the string is placed in program space, xx_P functions must be used to access them - see #GS_PGM_PRINTF.
+   @note printf is re-defined by including this header
+*/
+#define GS_PGM_STR(str)               PSTR(str)
+
+/**
+   Read uint8 from program space (near).
+*/
+#define GS_PGM_UINT8(value)           pgm_read_byte(&(value))
+
+/**
+   Read uint8 from program space using a pointer (near).
+*/
+#define GS_PGM_UINT8_BY_PTR(value)    pgm_read_byte(value)
+
+/**
+   Read word from program space (near).
+*/
+#define GS_PGM_UINT16(value)          pgm_read_word(&(value))
+/**
+   Read word from program space using a pointer (near).
+*/
+#define GS_PGM_UINT16_BY_PTR(value)   pgm_read_word(value)
+
+/**
+   Read dword from program space (near).
+*/
+#define GS_PGM_UINT32(value)          pgm_read_dword(&(value))
+/**
+   Read word from program space using a pointer (near).
+*/
+#define GS_PGM_UINT32_BY_PTR(value)   pgm_read_dword(value)
+    
+/**
+   Memcpy from program space (near).
+   @param[in] dst destination.
+   @param[in] src source - program space.
+   @param[in] n number of bytes to copy
+*/
+#define GS_PGM_MEMCPY(dst, src, n)    memcpy_P(dst, src, n)
+
+/**
+   String compare (program space)
+   @param[in] s1 string 1
+   @param[in] s2 string 2 - program space.
+   @param[in] n max number of bytes to compare
+*/
+#define GS_PGM_STRNCMP(s1,s2,n)       strncmp_P(s1, s2, n)
+
+/**
+   String compare (program space)
+   @param[in] s1 string 1
+   @param[in] s2 string 2 - program space.
+   @param[in] n max number of bytes to compare
+*/
+#define GS_PGM_STRNCASECMP(s1,s2,n)       strncasecmp_P(s1, s2, n)
+
+/**
+   String formatting character for referencing a string placed in programs space.
+*/
+#define GS_PGM_FMT_STR                "S"
+
+/**
+   printf (format string in program space).
+   Example: print \a param->name (from prgram space) and \a value from data space, using a format string in program space.
+      GS_PGM_PRINTF(GS_PGM_STR("%"GS_PGM_FMT_STR", %d"), param->name, value)
+*/
+#define GS_PGM_PRINTF(format, ...)    printf_P(format, ##__VA_ARGS__)
+
+/**
+   vprintf (format string in program space).
+*/
+#define GS_PGM_VPRINTF(format, va)    vfprintf_P(stdout, format, va)
+
+/**
+   snprintf (format string in program space).
+*/
+#define GS_PGM_SNPRINTF(buf, bufsize, format, ...) snprintf_P(buf, bufsize, format, ##__VA_ARGS__)
+
+/**
+   vsnprintf (format string in program space).
+*/
+#define GS_PGM_VSNPRINTF(buf, bufsize, format, va) vsnprintf_P(buf, bufsize, format, va)
+
+/**
+   redefines printf (puts format string in program space)
+ */
+#undef printf
+#define printf(format, ...) GS_PGM_PRINTF(GS_PGM_STR(format), ## __VA_ARGS__)
+
+#else
+
+#undef GS_PGM
+
+#define GS_PGM_OBJECT
+#define GS_PGM_STR(str)                     (str)
+#define GS_PGM_UINT8(value)                 (value)
+#define GS_PGM_UINT8_BY_PTR(value)          (*(value))
+#define GS_PGM_UINT16(value)                (value)
+#define GS_PGM_UINT16_BY_PTR(value)         (*(value))
+#define GS_PGM_UINT32(value)                (value)
+#define GS_PGM_UINT32_BY_PTR(value)         (*(value))
+#define GS_PGM_MEMCPY(dst, src, size)       memcpy(dst, src, size)
+#define GS_PGM_STRNCMP(s1,pgmstr,size)      strncmp(s1, pgmstr, size)
+#define GS_PGM_STRNCASECMP(s1,pgmstr,size)  strncasecmp(s1, pgmstr, size)
+    
+#define GS_PGM_FMT_STR                      "s"
+#define GS_PGM_PRINTF(format, ...)          printf(format, ## __VA_ARGS__)
+#define GS_PGM_VPRINTF(format, va)          vprintf(format, va)
+#define GS_PGM_SNPRINTF(buf, bufsize, format, ...) snprintf(buf, bufsize, format, ##__VA_ARGS__)
+#define GS_PGM_VSNPRINTF(buf, bufsize, format, va) vsnprintf(buf, bufsize, format, va)
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+#endif

gomspace/libutil/include/gs/util/queue.h

@@ -0,0 +1,102 @@
+#ifndef GS_UTIL_QUEUE_H
+#define GS_UTIL_QUEUE_H
+/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
+/**
+   @file
+
+   Queue.
+
+   The queue API wraps FreeRTOS \a queue.
+*/
+
+#include <gs/util/error.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if __linux__
+/**
+   Queue handle.
+*/
+typedef struct gs_pthread_queue * gs_queue_t;
+#else
+typedef struct gs_freertos_queue_t * gs_queue_t;
+#endif
+
+/**
+   Create queue.
+
+   @param[in] items max number of items on the queue.
+   @param[in] item_size size of item (bytes).
+   @param[out] queue created queue.
+   @return_gs_error_t
+*/
+gs_error_t gs_queue_create(size_t items, size_t item_size, gs_queue_t * queue);
+
+/**
+   Destroy queue - free resources.
+
+   @param[in] queue handle.
+   @return_gs_error_t
+*/
+gs_error_t gs_queue_destroy(gs_queue_t queue);
+
+/**
+   Enqueue object on queue.
+   @param[in] queue handle.
+   @param[in] value pointer to object, size specified at gs_queue_create().
+   @param_int_timeout_ms
+   @return_gs_error_timeout
+   @return_gs_error_t
+*/
+gs_error_t gs_queue_enqueue(gs_queue_t queue, const void *value, int timeout_ms);
+
+/**
+   Enqueue object on queue from within an ISR.
+   @param[in] queue handle.
+   @param[in] value pointer to object, size specified at gs_queue_create().
+   @param[in] cswitch context switch.
+   @return GS_ERROR_FULL if queue is full.
+   @return_gs_error_t
+*/
+gs_error_t gs_queue_enqueue_isr(gs_queue_t queue, const void * value, gs_context_switch_t * cswitch);
+
+/**
+   Dequeue object from queue.
+   @param[in] queue handle.
+   @param[out] buf element - size specified in gs_queue_create().
+   @param_int_timeout_ms
+   @return_gs_error_timeout
+   @return_gs_error_t
+*/
+gs_error_t gs_queue_dequeue(gs_queue_t queue, int timeout_ms, void *buf);
+
+/**
+   Dequeue object from queue from within an ISR.
+   @param[in] queue handle.
+   @param[in] cswitch context switch.
+   @param[out] buf element - size specified in gs_queue_create().
+   @return GS_ERROR_NOT_FOUND if no elements in queue.
+   @return_gs_error_t
+*/
+gs_error_t gs_queue_dequeue_isr(gs_queue_t queue, gs_context_switch_t * cswitch, void * buf);
+
+/**
+   Return queue size.
+   @param[in] queue handle.
+   @return queue size
+*/
+unsigned int gs_queue_size(gs_queue_t queue);
+
+/**
+   Return queue size from within an ISR.
+   @param[in] queue handle.
+   @return queue size
+*/
+unsigned int gs_queue_size_isr(gs_queue_t queue);
+
+#ifdef __cplusplus
+}
+#endif
+#endif