MQTT blocks restarting GPS?

[jlienau03]

Hi,

I'm writing a program that swaps between LTE and GPS to send the device's location to AWS over MQTT. I am able to connect to LTE and AWS, then swap to GPS and get a fix, and swap back to LTE. However, when I then try to go back to GPS, I get a bsd recoverable error 3, and it appears I cannot communicate over the GPS socket.

If I have everything EXCEPT connecting to MQTT, I am able to freely swap between LTE and GPS.

I've attached my code below:

called by main():

void test_gps(){

    spoof(false);

    led_setup();
    button_setup();

// Storage
    // Set up certificates before nvs or else permission errors
    provision_certificates();

    nvs_setup();
    printk("\nNVS set up\n");
//---

    k_sleep(1000);

//// MQTT
    int err;
    struct mqtt_client client;
    struct sockaddr_storage broker;
    struct pollfd fds;

    s64_t timer = k_uptime_get();

    begin_lte_only();
    lte_lc_offline();
    modem_configure();
    lte_lc_edrx_req(true);

    client_init(&client, &broker, CONFIG_MQTT_BROKER_HOSTNAME);
    aws_fota_init(&client, CONFIG_APP_VERSION, aws_fota_cb_handler);
    err = mqtt_connect(&client);
    if (err != 0) {
            printk("ERROR: mqtt_connect %d\n", err);
    }
    printk("MQTT Connected");
    fds_init(&client, &fds);
    boot_write_img_confirmed();
////---

// Defs
    GPS_Logging_Off();
    bool do_gps = false;

    bool do_lte = true;
    s64_t publish_timer = k_uptime_get();
    s64_t live_timer = k_uptime_get();

    s64_t loop_timer = k_uptime_get();
//---

    printk("\nLoop starting\n");
    while(1){

// GPS Loop
        if(detect_press(2)){
            if(do_gps){
                printk("\ngps off\n");
                GPS_Disable();

                do_gps = false;
            }else{
                mqtt_disconnect(&client);
                lte_lc_offline();
                printk("\ngps on");
                gps_off_lte_off();

                GPS_Init();
                GPS_Logging_Off();
                printk("\nGPS Initialized\n");
                GPS_Enable();
                printk("\nGPS Enabled\n");
                do_gps = true;
                do_lte = false;
            }
        }


        if(detect_press(1)){
            begin_lte_only();
            lte_lc_offline();
            modem_configure();
            lte_lc_edrx_req(true);

            publish_timer = k_uptime_get();
            live_timer = k_uptime_get();
            
            
            struct mqtt_client client;
            struct sockaddr_storage broker;
            struct pollfd fds;
            client_init(&client, &broker, CONFIG_MQTT_BROKER_HOSTNAME);
            aws_fota_init(&client, CONFIG_APP_VERSION, aws_fota_cb_handler);
            err = mqtt_connect(&client);
            if (err != 0) {
                    printk("ERROR: mqtt_connect %d\n", err);
            }
            printk("MQTT Connected");
            fds_init(&client, &fds);
            boot_write_img_confirmed();

            do_lte = true;  
        }

        if(do_gps) GPS_State_Machine(&fs);
//---   
//---
        while(k_uptime_get()-loop_timer <= 20);
        loop_timer = k_uptime_get();
    }
}

GPS code:

void GPS_State_Machine(struct nvs_fs* fs){
    switch(gps_state){
		case GPS_IDLE:
                    
                    // Record a coordinate every gps_update_rate period
                    if(k_uptime_get()-t_last_location_recorded >= GPS_Update_Rate(-1)){
                        t_last_location_recorded = k_uptime_get();
                        gps_state = RECORD_COORDINATE;
                    }
                    break;

		case RECORD_COORDINATE:{

                    // Record a location in memory
                    toggle_led(1);
                    update_gps_data(&gps_data);

                    if(log_data){
                        save_gps_data(&last_fix, fs);
                    }

                    toggle_led(1);
                    gps_state = GPS_IDLE;
                    break;}

                case GET_FIX:
                    // Ping every FIX_PING_RATE period to try to get a fix
                    if(k_uptime_get()-t_last_ping >= FIX_PING_RATE){
                        t_last_ping = k_uptime_get();
                        toggle_led(2);

                        if(!got_first_fix){
                            get_gps_fix(&gps_data);
                        }
                        if(got_first_fix){
                            led_on(2);
                            gps_state = GPS_IDLE;
                        }

                    }
                    break;
	}
}


int get_gps_fix(nrf_gnss_data_frame_t* gps_data){
    /*
        Records data from gps and prints it out every 500ms until a fix is detected.
    */

    if(spoof_gps_data){
        printk("Spoofed data, switching out of getting fix");
        gps_state = GPS_IDLE;
        return 0;
    }

    do {
    
    } while(process_gps_data(gps_data) > 0); // Read data from GPS
     
    if(!got_first_fix){
        cnt = (cnt+1)%4;
        printk("\033[1;1H");
        printk("\033[2J");
        print_satellite_stats(gps_data);
        printk("\nScanning: [%c] ", update_indicator[cnt]);
    }
    else if(k_uptime_get()-fix_timestamp >= 1){
        display_gps_fixed(gps_data);
    }

    return 0;
}

int process_gps_data(nrf_gnss_data_frame_t *gps_data)
{
	int retval;

	retval = nrf_recv(gps_socket, gps_data, sizeof(nrf_gnss_data_frame_t), NRF_MSG_DONTWAIT);

	if (retval > 0) {

		switch (gps_data->data_id) {
		case NRF_GNSS_PVT_DATA_ID:
                        
                        printk("\nPVT data received\n");
			if ((gps_data->pvt.flags &
				NRF_GNSS_PVT_FLAG_FIX_VALID_BIT)
				== NRF_GNSS_PVT_FLAG_FIX_VALID_BIT) {

				if (!got_first_fix) {
					got_first_fix = true;
				}

				fix_timestamp = k_uptime_get();
				memcpy(&last_fix, gps_data, sizeof(nrf_gnss_data_frame_t));

				nmea_string_cnt = 0;
			}
			break;

		case NRF_GNSS_NMEA_DATA_ID:
                        printk("\nNMEA data received\n");
			if (nmea_string_cnt < 10) {
				memcpy(nmea_strings[nmea_string_cnt++],
				       gps_data->nmea,
				       retval);
			}
			break;

		default:
                        printk("\nBytes read\n");
			break;
		}
	}else{
                printk("\nProcess GPS Data error: %d", retval);
        }

	return retval;
}


void GPS_Init(){
    /*
        Sets default variable values and sets the socket options for the GPS.
    */
    
    UART_Output_On();
    GPS_Logging_On();
    GPS_Update_Rate(1000); 
    loc_id = 1;
    if(spoof_gps_data){
        gps_data = office;
        gps_state = GPS_IDLE;
        UART_Output_Off();
    }else{
        gps_state = GET_FIX;
    }
    got_first_fix = false;
    t_last_location_recorded = k_uptime_get();
    
}

int GPS_Enable(){
    if(!spoof_gps_data){
        int rv = init_app();
        if(rv) printk("init_app failure: rv = %d", rv);
    }

    return 0;
}


int enable_gps(void)
{
 	int  at_sock;
 	int  bytes_sent;
 	int  bytes_received;
 	char buf[2];

 	at_sock = socket(AF_LTE, 0, NPROTO_AT);
 	if (at_sock < 0) {
                printk("\nBad at_sock\n");
 		return -1;
 	}

 	for (int i = 0; i < ARRAY_SIZE(at_commands); i++) {
 		bytes_sent = send(at_sock, at_commands[i],
 				  strlen(at_commands[i]), 0);

 		if (bytes_sent < 0) {
                        printk("Negative Bytes");
 			close(at_sock);
 			return -1;
 		}

 		do {
 			bytes_received = recv(at_sock, buf, 2, 0);
 		} while (bytes_received == 0);

 		if (memcmp(buf, "OK", 2) != 0) {
                        printk("\nNot OK: %s, %d\n", buf, i);
 			close(at_sock);
 			return -1;
 		}
 	}

 	close(at_sock);

 	return 0;
 }

int init_app(void)
{
        /*
            Initializes GPS settings and socket for GPS comms.
        */
	u16_t fix_retry     = 0;
	u16_t fix_interval  = 1;
	u16_t nmea_mask     = NRF_CONFIG_NMEA_GSV_MASK |
			      NRF_CONFIG_NMEA_GSA_MASK |
			      NRF_CONFIG_NMEA_GLL_MASK |
			      NRF_CONFIG_NMEA_GGA_MASK |
			      NRF_CONFIG_NMEA_RMC_MASK;
	int   retval;

	if (enable_gps() != 0) {
		printk("Failed to enable GPS\n");
		return -1;
	}

	gps_socket = nrf_socket(NRF_AF_LOCAL, NRF_SOCK_DGRAM, NRF_PROTO_GNSS);

	if (gps_socket >= 0) {
		printk("Socket created\n");
	} else {
		printk("Could not init socket (err: %d)\n", gps_socket);
		return -1;
	}

	retval = nrf_setsockopt(gps_socket,
				NRF_SOL_GNSS,
				NRF_SO_GNSS_FIX_RETRY,
				&fix_retry,
				sizeof(uint16_t));

	if (retval != 0) {
		printk("Failed to set fix retry value: %d\n", retval);
		return -1;
	}

	retval = nrf_setsockopt(gps_socket,
				NRF_SOL_GNSS,
				NRF_SO_GNSS_FIX_INTERVAL,
				&fix_interval,
				sizeof(uint16_t));

	if (retval != 0) {
		printk("Failed to set fix interval value\n");
		return -1;
	}


//------ ADDED USE CASE PARAM FOR GPS REENABLE

	retval = nrf_setsockopt(gps_socket,
				NRF_SOL_GNSS,
				NRF_SO_GNSS_USE_CASE,
				&use_case,
				sizeof(uint8_t));

	if (retval != 0) {
		printk("Failed to set use case value: %d\n", retval);
                while(1);
		return -1;
	}
//-----



	retval = nrf_setsockopt(gps_socket,
				NRF_SOL_GNSS,
				NRF_SO_GNSS_NMEA_MASK,
				&nmea_mask,
				sizeof(uint16_t));

	if (retval != 0) {
		printk("Failed to set nmea mask\n");
		return -1;
	}

	retval = nrf_setsockopt(gps_socket,
				NRF_SOL_GNSS,
				NRF_SO_GNSS_START,
				NULL,
				0);

	if (retval != 0) {
		printk("Failed to start GPS\n");
		return -1;
	}

	return 0;
}

AT command swapping code:

int gps_on_lte_off(){
    const char* cmds[] = {"AT+CFUN=4", "AT\%XSYSTEMMODE=0,0,1,0", "AT+CFUN=1"};
    
    int at_socket = socket(AF_LTE, 0, NPROTO_AT);
    if(at_socket < 0){
        printk("Socket error");
        return at_socket;
    }

    char buf[2];
    int bytes_received;
    s64_t timer;
    for(int ix=0; ix < 3; ix++){
        if(send(at_socket, cmds[ix], strlen(cmds[ix]), 0) < 0){
            printk("send error: %s", cmds[ix]);
            return -1;
        }
        
        do {
                bytes_received = recv(at_socket, buf, 2, 0);
        } while (bytes_received == 0);

        if (memcmp(buf, "OK", 2) != 0) {
                printk("\nNot OK: %s, %s\n", buf, cmds[ix]);
                close(at_socket);
                return -1;
        }

        timer = k_uptime_get();
        while(k_uptime_get()-timer < 500);
    }

    close(at_socket);
    return 0;
}



int gps_off_lte_on(){
    const char* cmds[] = {"AT+CFUN=4", "AT\%XSYSTEMMODE=1,0,0,0", "AT+CFUN=1"};
    
    int at_socket = socket(AF_LTE, 0, NPROTO_AT);
    if(at_socket < 0){
        printk("Socket error");
        return at_socket;
    }

    char buf[2];
    int bytes_received;
    s64_t timer;
    for(int ix=0; ix < 3; ix++){
        if(send(at_socket, cmds[ix], strlen(cmds[ix]), 0) < 0){
            printk("send error: %s", cmds[ix]);
            return -1;
        }
        
        do {
                bytes_received = recv(at_socket, buf, 2, 0);
        } while (bytes_received == 0);

        if (memcmp(buf, "OK", 2) != 0) {
                printk("\nNot OK: %s, %s\n", buf, cmds[ix]);
                close(at_socket);
                return -1;
        }

        timer = k_uptime_get();
        while(k_uptime_get()-timer < 500);
    }

    close(at_socket);
    return 0;
}


int gps_on_lte_on(){
    const char* cmds[] = {"AT+CFUN=4", "AT\%XSYSTEMMODE=1,0,1,0", "AT+CFUN=1"};
    
    int at_socket = socket(AF_LTE, 0, NPROTO_AT);
    if(at_socket < 0){
        printk("Socket error");
        return at_socket;
    }

    char buf[2];
    int bytes_received;
    s64_t timer;
    for(int ix=0; ix < 3; ix++){
        if(send(at_socket, cmds[ix], strlen(cmds[ix]), 0) < 0){
            printk("send error: %s", cmds[ix]);
            return -1;
        }
        
        do {
                bytes_received = recv(at_socket, buf, 2, 0);
        } while (bytes_received == 0);

        if (memcmp(buf, "OK", 2) != 0) {
                printk("\nNot OK: %s, %s\n", buf, cmds[ix]);
                close(at_socket);
                return -1;
        }

        timer = k_uptime_get();
        while(k_uptime_get()-timer < 500);
    }

    close(at_socket);
    return 0;
}


int gps_off_lte_off(){
    const char* cmds[] = {"AT+CFUN=4", "AT\%XSYSTEMMODE=0,0,0,0", "AT+CFUN=1"};
    
    int at_socket = socket(AF_LTE, 0, NPROTO_AT);
    if(at_socket < 0){
        printk("Socket error");
        return at_socket;
    }

    char buf[2];
    int bytes_received;
    s64_t timer;
    for(int ix=0; ix < 3; ix++){
        if(send(at_socket, cmds[ix], strlen(cmds[ix]), 0) < 0){
            printk("send error: %s", cmds[ix]);
            return -1;
        }
        
        do {
                bytes_received = recv(at_socket, buf, 2, 0);
        } while (bytes_received == 0);

        if (memcmp(buf, "OK", 2) != 0) {
                printk("\nNot OK: %s, %s\n", buf, cmds[ix]);
                close(at_socket);
                return -1;
        }

        timer = k_uptime_get();
        while(k_uptime_get()-timer < 500);
    }

    close(at_socket);
    return 0;
}


int begin_lte_only(){
    const char* cmds[] = {"AT+CFUN=4", "AT\%XSYSTEMMODE=1,0,0,0", "AT+CFUN=1"};
//    const char* cmds[] = {"AT\%XSYSTEMMODE=1,0,0,0", "AT+CFUN=1"};

    int at_socket = socket(AF_LTE, 0, NPROTO_AT);
    if(at_socket < 0){
        printk("Socket error");
        return at_socket;
    }

    char buf[2];
    int bytes_received;
    s64_t timer;
    for(int ix=0; ix < 3; ix++){
        if(send(at_socket, cmds[ix], strlen(cmds[ix]), 0) < 0){
            printk("send error: %s", cmds[ix]);
            return -1;
        }
        
        do {
                bytes_received = recv(at_socket, buf, 2, 0);
        } while (bytes_received == 0);

        if (memcmp(buf, "OK", 2) != 0) {
                printk("\nNot OK: %s, %s\n", buf, cmds[ix]);
                close(at_socket);
                return -1;
        }

        timer = k_uptime_get();
        while(k_uptime_get()-timer < 500);
    }

    close(at_socket);
    return 0;
}

int swap_to_gps_only(){
    const char* cmds[] = {"AT+CFUN=4", "AT\%XSYSTEMMODE=0,0,1,0", "AT\%XMAGPIO=1,0,0,1,1,1574,1577", "AT+CFUN=1"};
    
    int at_socket = socket(AF_LTE, 0, NPROTO_AT);
    if(at_socket < 0){
        printk("Socket error");
        return at_socket;
    }

    char buf[2];
    int bytes_received;
    s64_t timer;
    for(int ix=0; ix < 4; ix++){
        if(send(at_socket, cmds[ix], strlen(cmds[ix]), 0) < 0){
            printk("send error: %s", cmds[ix]);
            return -1;
        }
        
        do {
                bytes_received = recv(at_socket, buf, 2, 0);
        } while (bytes_received == 0);

        if (memcmp(buf, "OK", 2) != 0) {
                printk("\nNot OK: %s, %s\n", buf, cmds[ix]);
                close(at_socket);
                return -1;
        }

        timer = k_uptime_get();
        while(k_uptime_get()-timer < 500);
    }

    close(at_socket);
    return 0;
}


int swap_to_lte_only(){
    const char* cmds[] = {"AT+CFUN=4", "AT\%XSYSTEMMODE=1,0,0,0", "AT\%XMAGPIO", "AT+CFUN=1"};
    
    int at_socket = socket(AF_LTE, 0, NPROTO_AT);
    if(at_socket < 0){
        printk("Socket error");
        return at_socket;
    }

    char buf[2];
    int bytes_received;
    s64_t timer;
    for(int ix=0; ix < 4; ix++){
        if(send(at_socket, cmds[ix], strlen(cmds[ix]), 0) < 0){
            printk("send error: %s", cmds[ix]);
            return -1;
        }
        
        do {
                bytes_received = recv(at_socket, buf, 2, 0);
        } while (bytes_received == 0);

        if (memcmp(buf, "OK", 2) != 0) {
                printk("\nNot OK: %s, %s\n", buf, cmds[ix]);
                close(at_socket);
                return -1;
        }

        timer = k_uptime_get();
        while(k_uptime_get()-timer < 500);
    }

    close(at_socket);
    return 0;
}

int lte_systemmode(){
    
    int at_socket = socket(AF_LTE, 0, NPROTO_AT);
    if(at_socket < 0){
        printk("Socket error");
        return at_socket;
    }

    char buf[2];
    int bytes_received;
    if(send(at_socket, "AT\%XSYSTEMMODE=1,0,0,0", strlen("AT\%XSYSTEMMODE=1,0,0,0"), 0) < 0){
        printk("send error: %s", "AT\%XSYSTEMMODE=1,0,0,0");
        return -1;
    }
    
    do {
            bytes_received = recv(at_socket, buf, 2, 0);
    } while (bytes_received == 0);

    if (memcmp(buf, "OK", 2) != 0) {
            printk("\nNot OK: %s, %s\n", buf, "AT\%XSYSTEMMODE=1,0,0,0");
            close(at_socket);
            return -1;
    }

    close(at_socket);
    return 0;
}



int gps_systemmode(){
    
    int at_socket = socket(AF_LTE, 0, NPROTO_AT);
    if(at_socket < 0){
        printk("Socket error");
        return at_socket;
    }

    char buf[2];
    int bytes_received;
    if(send(at_socket, "AT\%XSYSTEMMODE=0,0,1,0", strlen("AT\%XSYSTEMMODE=0,0,1,0"), 0) < 0){
        printk("send error: %s", "AT\%XSYSTEMMODE=0,0,1,0");
        return -1;
    }
    
    do {
            bytes_received = recv(at_socket, buf, 2, 0);
    } while (bytes_received == 0);

    if (memcmp(buf, "OK", 2) != 0) {
            printk("\nNot OK: %s, %s\n", buf, "AT\%XSYSTEMMODE=0,0,1,0");
            close(at_socket);
            return -1;
    }

    close(at_socket);
    return 0;
}

Output:

***** Booting Zephyr OS build v1.14.99-ncs3-snapshot2 *****
nrf_inbuilt_key_delete(16842753, 0) => result=0
nrf_inbuilt_key_delete(16842753, 1) => result=0
nrf_inbuilt_key_delete(16842753, 2) => result=0
nrf_inbuilt_key_write => result=0
nrf_inbuilt_key_write => result=0
nrf_inbuilt_key_write => result=0

NVS set up
[00:00:04.551,025] <inf> fs_nvs: 3 Sectors of 4096 bytes
[00:00:04.551,025] <inf> fs_nvs: alloc wra: 1, 7e8
[00:00:04.551,025] <inf> fs_nvs: data wra: 1, 604
LTE Link Connecting ...
LTE Link Connected! 0
IPv4 Address 0xaa271203
client_id: nrf-352656100266173
MQTT Connected
Loop starting

gps on
GPS Initialized
Socket created

GPS Enabled

Process GPS Data error: -1
Tracking: 0 Using: 0 Unhealthy: 0
Seconds since last fix 135

Scanning: [|]
PVT data received

NMEA data received

NMEA data received

NMEA data received

NMEA data received

NMEA data received

Process GPS Data error: -1
Tracking: 0 Using: 0 Unhealthy: 0
Seconds since last fix 135

Scanning: [/]
Process GPS Data error: -1
Tracking: 0 Using: 0 Unhealthy: 0
Seconds since last fix 136

Scanning: [-]
PVT data received

NMEA data received

NMEA data received

NMEA data received

NMEA data received

NMEA data received

Process GPS Data error: -1
Tracking: 0 Using: 0 Unhealthy: 0
Seconds since last fix 136

Scanning: [\]
PVT data received

NMEA data received

NMEA data received

NMEA data received

NMEA data received

NMEA data received

Process GPS Data error: -1
Tracking: 0 Using: 0 Unhealthy: 0
Seconds since last fix 137

Scanning: [|]
Process GPS Data error: -1
Tracking: 0 Using: 0 Unhealthy: 0
Seconds since last fix 137

Scanning: [/]
gps off
LTE Link Connecting ...
LTE Link Connected! 0
IPv4 Address 0x7dc40e03
client_id: nrf-352656100266173
MQTT Connected
gps on
GPS Initialized
Socket created

GPS Enabled

Process GPS Data error: -1
Tracking: 0 Using: 0 Unhealthy: 0
Seconds since last fix 177

Scanning: [|] Err: 3

Process GPS Data error: -1
Tracking: 0 Using: 0 Unhealthy: 0
Seconds since last fix 181

Scanning: [/]
Process GPS Data error: -1
Tracking: 0 Using: 0 Unhealthy: 0
Seconds since last fix 181

Using the debugger, I was able to find that the error occurred after the call to  retval = nrf_setsockopt(gps_socket, NRF_SOL_GNSS, NRF_SO_GNSS_START, NULL, 0);

What's going wrong?

Thanks.

[Martin Lesund]

Hi Johnny,

Good news.
A stripped-down and a more user-friendly sample has been made with GPS + LTE.
Please find the sample here:  https://github.com/Rallare/fw-nrfconnect-nrf/tree/nrf9160_samples/samples/nrf9160/udp_gps 
You could either add that sample in your NCS environment or copy the whole repository of "rallare".

(remember to do a 'west update' in the nrf folder so you get the other repositories in the correct state)

If you are only going to copy that sample to your NCS, you need to use the master branch.

cd ncs/nrf
git checkout master
git pull
west update

Best regards,
Martin L.

[Yusuke]

Hi, Martin. I followed your instruction, but I got this error. Could you give me any advice?

Loading solution udp_gps.emProject
Executing load commands
/usr/local/bin/cmake -GNinja -DBOARD=nrf9160_pca10090ns -DBOARD_DIR=/Users/fukuharayuusuke/nRF9160/ncs/zephyr/boards/arm/nrf9160_pca10090 -DZEPHYR_TOOLCHAIN_VARIANT=gnuarmemb -DGNUARMEMB_TOOLCHAIN_PATH=/opt/gnuarmemb -B/Users/fukuharayuusuke/nRF9160/ncs/nrf_rallare/samples/nrf9160/udp_gps/build_nrf9160_pca10090ns -H/Users/fukuharayuusuke/nRF9160/ncs/nrf_rallare/samples/nrf9160/udp_gps -DPYTHON_EXECUTABLE=/usr/local/bin/python3 -DCMAKE_MAKE_PROGRAM=/usr/local/bin/ninja -DDTC=/usr/local/bin/dtc -D WEST=~/.local/bin/west -DEXTRA_KCONFIG_TARGETS=menuconfig_ses -DEXTRA_KCONFIG_TARGET_COMMAND_FOR_menuconfig_ses=/Applications/arm_segger_embedded_studio_v416_macos_x64_nordic/html/configure_nordic_project_menuconfig.py
-- Using application from '/Users/fukuharayuusuke/nRF9160/ncs/nrf_rallare/samples/nrf9160/udp_gps'
Zephyr version: 1.14.99
-- Found PythonInterp: /usr/local/bin/python3 (found suitable version "3.7.3", minimum required is "3.4") 
-- Selected BOARD nrf9160_pca10090ns
-- Found west: /Users/fukuharayuusuke/.local/bin/west (found suitable version "0.6.0", minimum required is "0.5.6")
-- Cache files will be written to: /Users/fukuharayuusuke/Library/Caches/zephyr
-- Loading /Users/fukuharayuusuke/nRF9160/ncs/zephyr/boards/arm/nrf9160_pca10090/nrf9160_pca10090ns.dts as base
-- Overlaying /Users/fukuharayuusuke/nRF9160/ncs/zephyr/dts/common/common.dts
nrf9160_pca10090ns.dts.pre.tmp:269.19-275.3: Warning (unique_unit_address_if_enabled): /soc/peripheral@40000000/clock@5000: duplicate unit-address (also used in node /soc/peripheral@40000000/power@5000)

/Users/fukuharayuusuke/nRF9160/ncs/nrf_rallare/samples/nrf9160/udp_gps/prj.conf:36: warning: attempt to assign the value 'y' to the undefined symbol NRF9160_GPS

/Users/fukuharayuusuke/nRF9160/ncs/nrf_rallare/samples/nrf9160/udp_gps/prj.conf:37: warning: attempt to assign the value 'y' to the undefined symbol NRF9160_GPS_LOG_LEVEL_DBG
Parsing Kconfig tree in /Users/fukuharayuusuke/nRF9160/ncs/nrf_rallare/samples/nrf9160/udp_gps/Kconfig
Loading /Users/fukuharayuusuke/nRF9160/ncs/zephyr/boards/arm/nrf9160_pca10090/nrf9160_pca10090ns_defconfig as base
Merging /Users/fukuharayuusuke/nRF9160/ncs/nrf_rallare/samples/nrf9160/udp_gps/prj.conf

Error: Aborting due to non-whitelisted Kconfig warning
'/Users/fukuharayuusuke/nRF9160/ncs/nrf_rallare/samples/nrf9160/udp_gps/prj.conf:36: warning:
attempt to assign the value 'y' to the undefined symbol NRF9160_GPS'. Note: If this warning doesn't
point to an actual problem, you can add it to the whitelist at the top of
/Users/fukuharayuusuke/nRF9160/ncs/zephyr/scripts/kconfig/kconfig.py.

CMake Error at /Users/fukuharayuusuke/nRF9160/ncs/zephyr/cmake/kconfig.cmake:200 (message):
  command failed with return code: 1
Call Stack (most recent call first):
  /Users/fukuharayuusuke/nRF9160/ncs/zephyr/cmake/app/boilerplate.cmake:543 (include)
  CMakeLists.txt:9 (include)


-- Configuring incomplete, errors occurred!
Project load failed
Reported error: solution load command failed (1)

What I did

1. Download the Rallare nrf folder and place it under ncs folder.
2. Run "git checkout master", "git pull", and "west update" under the nrf_rallare folder
3. Try to open the folder => got error

modem: v1.0.0
nrf tag: v1.0.0
SES: v4.16

[Martin Lesund]

Hi Yusuke,

If you are using the Rallare fork, and want to use the nrf9160 samples you need to checkout the correct branch.

cd ncs/nrf
git checkout nrf9160_samples
west update

Then you should be able to open and run the samples.

[Alan Hasty]

Hey! - I'm trying to pull this project and put the Rallare fork into my current tree in place of the existing nrf directory as described above.

However, when I do the west update I get the following. What is wrong?

$ west update
validation.invalid
 --- All found errors ---
["Key 'repo-path' was not defined. Path: '/projects/0'", "Key 'repo-path' was not defined. Path: '/projects/3'", "Key 'repo-path' was not defined. Path: '/projects/4'", "Key 'repo-path' was not defined. Path: '/projects/5'", "Key 'repo-path' was not defined. Path: '/projects/6'", "Key 'repo-path' was not defined. Path: '/projects/10'"]
Traceback (most recent call last):
  File "C:\wrk\SmartTrackTech\boohoo_nrf\.west\west\src\west\manifest.py", line 153, in __init__
    schema_files=[_SCHEMA_PATH[key]]
  File "c:\python37\lib\site-packages\pykwalify\core.py", line 167, in validate
    error_msg=u'.\n - '.join(self.validation_errors)))
pykwalify.errors.SchemaError: <SchemaError: error code 2: Schema validation failed:
 - Key 'repo-path' was not defined. Path: '/projects/0'.
 - Key 'repo-path' was not defined. Path: '/projects/3'.
 - Key 'repo-path' was not defined. Path: '/projects/4'.
 - Key 'repo-path' was not defined. Path: '/projects/5'.
 - Key 'repo-path' was not defined. Path: '/projects/6'.
 - Key 'repo-path' was not defined. Path: '/projects/10'.: Path: '/'>

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "c:\python37\lib\runpy.py", line 193, in _run_module_as_main
    "__main__", mod_spec)
  File "c:\python37\lib\runpy.py", line 85, in _run_code
    exec(code, run_globals)
  File "C:\Python37\Scripts\west.exe\__main__.py", line 9, in <module>
  File "c:\python37\lib\site-packages\west\_bootstrap\main.py", line 499, in main
    wrap(wrap_argv)
  File "c:\python37\lib\site-packages\west\_bootstrap\main.py", line 485, in wrap
    west.main.main(argv)
  File "C:\wrk\SmartTrackTech\boohoo_nrf\.west\west\src\west\main.py", line 569, in main
    extensions = get_extension_commands()
  File "C:\wrk\SmartTrackTech\boohoo_nrf\.west\west\src\west\main.py", line 531, in get_extension_commands
    extensions = extension_commands()
  File "C:\wrk\SmartTrackTech\boohoo_nrf\.west\west\src\west\commands\command.py", line 181, in extension_commands
    manifest = Manifest.from_file()
  File "C:\wrk\SmartTrackTech\boohoo_nrf\.west\west\src\west\manifest.py", line 91, in from_file
    return Manifest(source_file=source_file, sections=sections)
  File "C:\wrk\SmartTrackTech\boohoo_nrf\.west\west\src\west\manifest.py", line 156, in __init__
    self._malformed(e, key)
  File "C:\wrk\SmartTrackTech\boohoo_nrf\.west\west\src\west\manifest.py", line 226, in _malformed
    complaint))
west.manifest.MalformedManifest: Malformed manifest file C:\wrk\SmartTrackTech\boohoo_nrf\nrf\west.yml (schema: C:\wrk\SmartTrackTech\boohoo_nrf\.west\west\src\west\manifest-schema.yml):
<SchemaError: error code 2: Schema validation failed:
 - Key 'repo-path' was not defined. Path: '/projects/0'.
 - Key 'repo-path' was not defined. Path: '/projects/3'.
 - Key 'repo-path' was not defined. Path: '/projects/4'.
 - Key 'repo-path' was not defined. Path: '/projects/5'.
 - Key 'repo-path' was not defined. Path: '/projects/6'.
 - Key 'repo-path' was not defined. Path: '/projects/10'.: Path: '/'>

[Martin Lesund]

Hi Alan,

You have an outdated west tool.

Please upgrade with the command: 

pip install west -U

Then to check the version:

west --version

[Yusuke]

I solved it. Previously I names "nrf_rallare". I changed it to "nrf" then worked out.

Why don't you merge the udp_gps program to the official nrf folder?