From The Collaborative International Dictionary of English v.0.48:
Carp \Carp\ (k[aum]rp), v. i. [imp. & p. p. Carped (k[aum]rpt); p. pr. & vb. n. Carping.] [OE. carpen to say, speak; from Scand. (cf. Icel. karpa to boast), but influenced later by L. carpere to pluck, calumniate.] 1. To talk; to speak; to prattle. [Obs.] --Chaucer. [1913 Webster]
2. To find fault; to cavil; to censure words or actions without reason or ill-naturedly; -- usually followed by at. [1913 Webster]
Carping and caviling at faults of manner. --Blackw. Mag. [1913 Webster]
And at my actions carp or catch. --Herbert. [1913 Webster]
From The Collaborative International Dictionary of English v.0.48:
Carping \Carp"ing\ (k[aum]rp"[i^]ng), a. Fault-finding; censorious caviling. See Captious. -- Carp"ing*ly, adv. [1913 Webster]