Gllin
From Openmoko
gllin is an userpsace driver for a hammerhead chip. It was distributed on phase1 openmokos.
Unfortunately, it is an OABI binary, and not even static one, so lots of stuff is needed for it to work. For security reasons, and for compatibility with EABI userland, it is probably best to run it in chroot. Zdanek's wrote an article how to put that together.
The changeroot trick
Your chroot will need to contain following files:
./dev
./dev/zero
./dev/ttySAC1
./etc
./etc/hosts
./etc/nsswitch.conf
./etc/host.conf
./lib
./lib/libm.so.6
./lib/libpthread-2.5.so
./lib/libnss_files.so.2
./lib/libnss_compat-2.5.so
./lib/libnss_mdns6_minimal.so.2
./lib/libanl-2.5.so
./lib/libgcc_s.so.1
./lib/libutil-2.5.so
./lib/libmemusage.so
./lib/libm-2.5.so
./lib/libc-2.5.so
./lib/libnss_mdns_minimal.so.2
./lib/libBrokenLocale.so.1
./lib/libnss_mdns4_minimal.so.2
./lib/libpthread.so.0
./lib/librt-2.5.so
./lib/libdl-2.5.so
./lib/libutil.so.1
./lib/libthread_db-1.0.so
./lib/libcrypt-2.5.so
./lib/libnss_compat.so.2
./lib/libnss_mdns4.so.2
./lib/libnss_mdns6.so.2
./lib/ld-2.5.so
./lib/libcidn.so.1
./lib/libthread_db.so.1
./lib/libnss_files-2.5.so
./lib/libanl.so.1
./lib/libcrypt.so.1
./lib/libnss_dns-2.5.so
./lib/ld-linux.so.2
./lib/libnss_mdns.so.2
./lib/libdl.so.2
./lib/libnss_dns.so.2
./lib/libc.so.6
./lib/librt.so.1
./lib/libcidn-2.5.so
./lib/libBrokenLocale-2.5.so
./log
./tmp
./tmp/nmeaNP
./usr
./usr/lib
./usr/lib/libstdc++.so.6
./usr/lib/libstdc++.so.6.0.8
./gllin
./sys
...and you"ll want to mount /sys there. Then, to get gps to work, do:
root@fic-gta01:/chroot$ cat /chroot/tmp/nmeaNP &
root@fic-gta01:/chroot$ chroot /chroot/ gllin -low 1
root@fic-gta01:/chroot$ chroot /chroot/ gllin -periodic 1
The ld-linux trick
you need the following files:
bin/gllin bin/gllin.sh lib/ld-linux.so.2 lib/libc.so.6 lib/libgcc_s.so.1 lib/libm.so.6 lib/libnss_dns.so.2 lib/libnss_files.so.2 lib/libpthread.so.0 lib/libresolv.so.2 lib/librt.so.1 lib/libstdc++.so.6 lib/libutil.so.1
the file bin/gllin.sh contains:
#!/bin/sh `pwd`/lib/ld-linux.so.2 --library-path `pwd`/lib `pwd`/bin/gllin -low 5 test -p /tmp/nmeaNP || ( rm -f /tmp/nmeaNP && mknod /tmp/nmeaNP p ) `pwd`/lib/ld-linux.so.2 --library-path `pwd`/lib `pwd`/bin/gllin -periodic 3
be shure to start at least a `cat /tmp/nmeaNP` somewhere.
Strange messages
the message
Stack size 8864 bytes (9 KB)
means, nobody is reading on the pipe /tmp/nmeaNP, you probably forgot to start the `cat ...`. the message
gllin: early exit(3) in halInit()/681
is issued by the low-level hardware test but gllin works fine afterwords.