Merge branch 'master' of github.com:PX4/Firmware into px4dev_new_driver_wip

apps/ChangeLog.txt

@@ -248,7 +248,7 @@
 	  being set to the priority of the parent thread; losing its configured
 	  priority.  Reported by Mike Smith.
 
-6.21 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+6.21 2012-08-25 Gregory Nutt <gnutt@nuttx.org>
 
 	* apps/include/: Stylistic clean-up of all header files.
 	* apps/modbus and apps/include/modbus:  A port of freemodbus-v1.5.0
@@ -259,9 +259,9 @@
 	* apps/modbus:  Add CONFIG_MB_TERMIOS.  If the driver doesn't support
 	  termios ioctls, then don't bother trying to configure the baud, parity
 	  etc.
-	* apps/nslib:  If waitpid() is supported, then NSH not catches the
+	* apps/nshlib:  If waitpid() is supported, then NSH now catches the
 	  return value from spawned applications (provided by Mike Smith)
-	* apps/nslib:  Lock the schedule while starting built-in applications
+	* apps/nshlib:  Lock the scheduler while starting built-in applications
 	  in order to eliminate race conditions (also from Mike Smith).
 	* apps/examples/adc, pwm, and qencoder:  Add support for testing
 	  devices with multiple ADC, PWM, and QE devices.
@@ -272,9 +272,15 @@
 	  properties of mounted file systems.
 	* apps/nshlib/nsh_parse.c:  Extend help command options.  'help' with
 	  no arguments outputs a short list of commands.  With -v lists all
-	  command line details.  And command name can be added to just get
+	  command line details.  A command name can be added to just get
 	  help on one command.
 	* system/readline.c:  If character input/output is interrupted by a
 	  signal, then readline() will try the read/write again.
 	* apps/*/Make.defs:  Numerous fixes needed to use the automated
 	  configuration (from Richard Cochran).
+
+6.22 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/netutils/thttpd/thttpd_cgi.c:  Missing NULL in argv[]
+	  list (contributed by Kate).
+

apps/examples/ostest/prioinherit.c

@@ -58,12 +58,22 @@
 #ifndef CONFIG_SEM_PREALLOCHOLDERS
 #  define CONFIG_SEM_PREALLOCHOLDERS 0
 #endif
-#define NLOWPRI_THREADS  (CONFIG_SEM_PREALLOCHOLDERS+1)
+
+#if CONFIG_SEM_PREALLOCHOLDERS > 3
+#  define NLOWPRI_THREADS 3
+#else
+#  define NLOWPRI_THREADS (CONFIG_SEM_PREALLOCHOLDERS+1)
+#endif
 
 #ifndef CONFIG_SEM_NNESTPRIO
 #  define CONFIG_SEM_NNESTPRIO 0
 #endif
-#define NHIGHPRI_THREADS (CONFIG_SEM_NNESTPRIO+1)
+
+#if CONFIG_SEM_NNESTPRIO > 3
+#  define NHIGHPRI_THREADS 3
+#else
+#  define NHIGHPRI_THREADS (CONFIG_SEM_NNESTPRIO+1)
+#endif
 
 /****************************************************************************
  * Private Data

nuttx/ChangeLog

@@ -2280,7 +2280,7 @@
 	  the particular condition that revealed the bug occurred.  My impression is
 	  that this latter bugfix also fixes some STM32 USB performance problems.
 	* configs/hymini-stm32v: A configuration for the HY-Mini STM32v board contributed
-	  by Laurent Latil.  Theses changes also include support for the STM32F103VCT6. 
+	  by Laurent Latil.  These changes also include support for the STM32F103VCT6. 
 	* arch/configs/stm3240g-eval/src/up_pwm.c:  Add hooks needed to use the new
 	  apps/examples/pwm test of the STM32 PWM  driver.
 	* drivers/mtd/mp25x.c:  Add ability to use different SPI modes and different
@@ -2977,7 +2977,7 @@
 	* configs/lpc4330-xplorer/nsh:  Add an NSH configuration for the LPC4330
 	  Xplorer board.
 
-6.21 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+6.21 2012-08-25 Gregory Nutt <gnutt@nuttx.org>
 
 	* configs/lpc4330-xplorer/up_nsh.c:  Add support for a basic SPIFI block
 	  driver for use by NSH.  Does not work!  Crashes on first SPIFI write.
@@ -3024,7 +3024,7 @@
 	  but the driver still does not work.
 	* arch/arm/src/stm32 and arch/arm/include/stm32: Make name of RTC ALARM interrupt
 	  common on STM32 F1,2,4
-	* arch/arm/src/stm32 and arch/arm/include/stm32: Add add support for the
+	* arch/arm/src/stm32 and arch/arm/include/stm32: Add support for the
 	  STM32F100x "Value Line" devices. This includes changes to stm32F10xx_rcc.c that
 	  add the ability to run the chip off the internal oscillator.  There is no open
 	  board configuration for this part yet (the STM32VLDiscovery would be a candidate).
@@ -3050,7 +3050,7 @@
 	* include/termios.h and lib/termios/*:  Redesigned yet again (this is getting
 	  painful.  NuttX now supports the BOTHER baud setting just as Linux does.  termios
 	  Bxxx definitions are again encoded; cf[set|get][o|i]speed now deal with only the
-	  encoded values.  If the encode baud is set to BOTHER, then the values in the (non-
+	  encoded values.  If the encoded baud is set to BOTHER, then the values in the (non-
 	  standard) c_ispeed and c_ospeed baud values may be accessed directly.
 	* arch/arm/src/stm32/stm32_serial.c:  Add minimal termios support for the STM32
 	  (BOTHER style baud settings only).  Contributed by Mike Smith.
@@ -3063,8 +3063,7 @@
 	* arch/arm/src/stm32/stm32_sdio.c and chip/stm32f20xx_pinmap.h:  STM32 F2 SDIO
 	  fixes from Gary Teravskis and Scott Rondestvedt.
 	* include/termios.h and lib/termios/*:  Replace cfsetispeed and cfsetospeed with
-	  cfsetspeed (with definitions for the input/outputs in termios.h).  Same for
+	  cfsetspeed (with definitions for the input/outputs in termios.h).
-	  cfgetispeed and cfgetospeed.
 	* configs/stm32f4discovery/src and configs/stm32f4discovery/pm:  Add a power
 	  management configuration for the STM32F4Discovery and supporting logic.  This
 	  check-in also includes some fixes for the F4 RTC alarm logic.
@@ -3090,10 +3089,10 @@
 	* arch/mips/src/pic32mx/pic32mx-gpio.c:  Now supports the PIC32MX1/2 ANSEL
 	  IOPORT register.
 	* lib/string/lib_memchr.c:  Add support for memchr() (contributed by Mike Smith)
-	* lib/string/lib_memccpy.c:  Add support for memcpy()
+	* lib/string/lib_memccpy.c:  Add support for memccpy()
 	* arch/arm/src/lpc17xx/lpc17_serial.c:  Now supports ioctl commands to change
 	  the baud using tcsetattr() (contributed by Chris Taglia).
-	* arch/*/src/*_serial.c: Fix ioctl method return values.  Theses methods
+	* arch/*/src/*_serial.c: Fix ioctl method return values.  These methods
 	  should return a negated errno value; they should not set the errno
 	  variable.
 	* sched/on_exit.c, sched/task_exithook.c, and include/nuttx/sched.c:  Add
@@ -3118,7 +3117,7 @@
 	* arch/arm/src/stm32/stm32*_rcc.c and .h:  If CONFIG_PM is defined, add a
 	  function called stm32_clockenable() that can be used by PM logic to re-start
 	  the PLL after re-awakening from deep sleep modes.
-	* fs/fs_foreachinode.c and fs/fs_foreachmountpoint.c:  All logic to traverse
+	* fs/fs_foreachinode.c and fs/fs_foreachmountpoint.c:  Add logic to traverse
 	  inodes and mountpoints in the NuttX pseudo-file system.
 	* fs/fat/fs_fat32.c: Max. filename length reported by statfs() was wrong
 	  if FAT long file names were enabled.
@@ -3137,7 +3136,7 @@
 	  LPC31xx has the same USB IP, but will require some additional initialization
 	  (and lots of testing) before it can be used with the LPC43xx.
 	* nuttx/Documentation/NuttShell.html:  Added a section covering ways to
-	  customize the behavior or NSH.
+	  customize the behavior of NSH.
 	* arch/arm/src/stm32/chip/stm32f1*_pinmap.h: STM32 CAN TX/RX pins reversed;
 	  inconsistent conditional compilation.  Reported by Max Holtzberg.
 	* arch/arm/*/stm32:  Add support for STM32 F107 "Connectivity Line" 
@@ -3166,5 +3165,23 @@
 	  for all 8-bit AVR platforms (Thanks Richard Cochran).
 	* lib/stdio/lib_*stream.c:  Revised to handle new error return values from
 	  serial.c.
-	* arch/arm/src/stm32/stm32_spi.c:  SPI driver can now survice re-
+	* arch/arm/src/stm32/stm32_spi.c:  SPI driver can now service re-
 	  initialization (Mike Smith).
+	* tools/mkconfig.c:  If CONFIG_DRAM_END is not specified, this tool
+	  will provide default definition of (CONFIG_DRAM_START + CONFIG_DRAM_SIZE)
+	* arch/arm/src/stm32/stm32_otgfshost.c:  Renamed from stm32_usbhost.c.
+	  This is nearly code complete and, with any luck, will be available
+	  in NuttX-6.21.
+	* configs/*/defconfig:  Update all defconfig files to remove syntax
+	  that is incompatible with the mconf configuration tool.
+	* arch/arm/src/stm32/stm32_otgfshost.c:  This driver now appears to be
+	  functional (although more testing is necesary).
+
+6.22 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+
+	* include/semaphore.h, sched/sem_holders.c, and lib/semaphore/sem_init.c:
+	  Fix some strange (and probably wrong) list handling when
+	  CONFIG_PRIORITY_INHERITANCE and CONFIG_SEM_PREALLOCHOLDERS are defined.
+	  This list handling was probably causing errors reported by Mike Smith
+	* sched/sched_waitpid.c: Fix a possible issue with logic logic that
+	  should be brought into a critical section (suggested by Mike Smith)

nuttx/Makefile

@@ -276,8 +276,8 @@ include/stdarg.h:
 endif
 
 # Targets used to build include/nuttx/version.h.  Creation of version.h is
-# part of the overall NuttX configuration sequency.  Notice that the
+# part of the overall NuttX configuration sequence. Notice that the
-# tools/mkversion tool is cuilt and used to create include/nuttx/version.h
+# tools/mkversion tool is built and used to create include/nuttx/version.h
 
 tools/mkversion:
 	@$(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkversion
@@ -293,8 +293,8 @@ include/nuttx/version.h: $(TOPDIR)/.version tools/mkversion
 	@tools/mkversion $(TOPDIR) > include/nuttx/version.h
 
 # Targets used to build include/nuttx/config.h.  Creation of config.h is
-# part of the overall NuttX configuration sequency.  Notice that the
+# part of the overall NuttX configuration sequence. Notice that the
-# tools/mkconfig tool is cuilt and used to create include/nuttx/config.h
+# tools/mkconfig tool is built and used to create include/nuttx/config.h
 
 tools/mkconfig:
 	@$(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkconfig

nuttx/ReleaseNotes

@@ -2999,3 +2999,67 @@ Bugfixes (see the change log for details) :
       on Z80.
 
 As well as other, less critical bugs (see the ChangeLog for details)
+
+NuttX-6.21
+^^^^^^^^^^
+
+The 88th release of NuttX, Version 6.21, was made on August 25, 2012,
+and is available for download from the SourceForge website.  Note
+that release consists of two tarballs:  nuttx-6.21.tar.gz and
+apps-6.21.tar.gz.  Both may be needed (see the top-level nuttx/README.txt
+file for build information).
+
+This release corresponds with SVN release number: r5052
+
+Additional new features and extended functionality:
+
+    * Core: Add support for multiple registered atexit() functions.  Syslog
+      extended:  Now any character driver may be used for the debug logging
+      device.  Mountpoint traversal logic.
+    * Drivers: Added support for the TI PGA112-7 amplifier/multiplexor.
+    * LPC43xx:  Added clock ramp-up logic to run at 204 MHz
+    * LPC43xx Drivers:  SPIFI block driver, RS-485 support, Minimal termios
+      support.  Framework for USB0 device controller driver.
+    * LPC17xx Drivers:  Minimal termios support
+    * STM32: Support for STM32 F1 "Value Line" (contributed by Mike Smith).
+      Add support for STM32 F107 "Connectivity Line" (contributed by Max
+      Holtzberg).
+      Clock restart logic needed for recovery from low power modes.
+    * STM32 Drivers:  RTC alarm support.  Usable for wakeup from sleep mode,
+      Minimal serial termios support.  USB OTG FS host driver (alpha).
+    * STM32 Boards: Add power management hooks for the STM32F4Discovery,
+      Add support for the Olimex STM32-P107 (contributed by Max Holtzberg).
+    * PIC32:  Add support for the Pinguino MIPS toolchain.
+    * PIC32 Drivers:  GPIO driver now supports F1 analog regiaters (ANSEL).
+    * PIC32 Boards: Add support for the PGA117 on the Mirtoo module.
+    * Calypso:  Add support for the SSD1783 LCD on the Compal E99.
+    * Library:  cfsetispeed(), cfsetospeed(), tcflush(), memchr(), and
+      memccpy().
+    * Applications:  Port of freemodbus-v1.5.0. Add support for testing
+      devices with multiple ADC, PWM, and QE devices.  
+      NSH: NSH 'mount' command (with no arguments) will now show mounted
+      volumes.  Add new NSH 'df' command.  Extended 'help' support. NSH
+      now catches the return value from spawned applications (provided
+      by Mike Smith).
+    * Build System: mkconfig will not define CONFIG_DRAM_END.  A lot of 
+      progress has been made on the automated NuttX configuration logic
+      (Thanks go to Richard Cochran).
+    * Documentation: Document ways to customize the behavior of NSH.
+
+Bugfixes (see the change log for details) :
+
+    * Serial drivers (all): Fix ioctl return value. Common "upper half"
+      serial driver will now return with EINTR if a serial wait is
+      interrupted by a signal.
+    * FAT: Fix statfs() file name length.
+    * LPC43xx: Clock configuration.
+    * STM32: Pinmap fixes, SPI driver re-initialization
+    * STM32 Boards: Correct and lower SDIO frequency for F2 and f4 boards.
+    * AVR: C++ build issues.
+    * PM: Fix a place where interrupts were not be re-enabled.
+    * Applications: NSH application start-up race conditions.
+    * Library: Fieldwidth and justification for %s format.  Fixed several
+      issues with presenting floating point numbers.  NULL definition
+      for C++
+
+As well as other, less critical bugs (see the ChangeLog for details)

nuttx/arch/Kconfig

@@ -19,11 +19,13 @@ config ARCH_ARM
 
 config ARCH_AVR
 	bool "AVR"
+	select ARCH_NOINTC
 	---help---
 		Atmel 8-bit bit AVR and 32-bit AVR32 architectures
 
 config ARCH_HC
 	bool "Freescale HC"
+	select ARCH_NOINTC
 	---help---
 		Freescale HC architectures (M9S12)
 
@@ -39,7 +41,8 @@ config ARCH_RGMP
 		http://rgmp.sourceforge.net/wiki/index.php/Main_Page.
 
 config ARCH_SH
-	bool "Rensas"
+	bool "Renesas"
+	select ARCH_NOINTC
 	---help---
 		Renesas architectures (SH and M16C).
 
@@ -90,3 +93,35 @@ source arch/sim/Kconfig
 source arch/x86/Kconfig
 source arch/z16/Kconfig
 source arch/z80/Kconfig
+
+comment "Architecture Options"
+
+config ARCH_NOINTC
+	bool
+	default n
+
+config ARCH_STACKDUMP
+	bool "Dump stack on assertions"
+	default n
+	---help---
+		Enable to do stack dumps after assertions
+
+comment "Board Settings"
+
+config BOARD_LOOPSPERMSEC
+	int "Loops per millisecond"
+	help
+		Must be calibrated for correct operation of delay loops.
+		You simply use a stop watch to measure the 100 second delay
+		then adjust CONFIG_BOARD_LOOPSPERMSEC until it is actually
+		is 100 seconds.
+
+config DRAM_START
+	hex "DRAM start address"
+	help
+		The physical start address of installed RAM.
+
+config DRAM_SIZE
+	int "DRAM size"
+	help
+		The size in bytes of the installed RAM.

nuttx/arch/arm/Kconfig

@@ -118,12 +118,6 @@ config ARCH_CHIP
 	default "stm32"		if ARCH_CHIP_STM32
 	default "str71x"	if ARCH_CHIP_STR71X
 
-config ARCH_STACKDUMP
-	bool "Dump stack on assertions"
-	default n
-	---help---
-		Enable to do stack dumps after assertions
-
 config ARCH_LEDS
 	bool "Use board LEDs to show state"
 	default y

nuttx/arch/arm/src/stm32/Kconfig

@@ -1910,3 +1910,56 @@ config STM32_MII_MCO1
 	bool
 	default y if !STM32_MII_MCO2
 	depends on STM32_MII
+
+menu "USB Host Configuration"
+
+config STM32_OTGFS_RXFIFO_SIZE
+	int "Rx Packet Size"
+	default 128
+	depends on USBHOST && STM32_OTGFS
+	---help---
+		Size of the RX FIFO in 32-bit words. Default 128 (512 bytes)
+
+config STM32_OTGFS_NPTXFIFO_SIZE
+	int "Non-periodic Tx FIFO Size"
+	default 96
+	depends on USBHOST && STM32_OTGFS
+	---help---
+		Size of the non-periodic Tx FIFO in 32-bit words.  Default 96 (384 bytes)
+ 
+config STM32_OTGFS_PTXFIFO_SIZE
+	int "Periodic Tx FIFO size"
+	default 128
+	depends on USBHOST && STM32_OTGFS
+	---help---
+		Size of the periodic Tx FIFO in 32-bit words.  Default 96 (384 bytes)
+ 
+config STM32_OTGFS_DESCSIZE
+	int "Descriptor Size"
+	default 128
+	depends on USBHOST && STM32_OTGFS
+	---help---
+		Maximum size to allocate for descriptor memory descriptor.  Default: 128
+
+config STM32_OTGFS_SOFINTR
+	bool "Enable SOF interrupts"
+	default n
+	depends on USBHOST && STM32_OTGFS
+	---help---
+		Enable SOF interrupts.  Why would you ever want to do that?
+ 
+config STM32_USBHOST_REGDEBUG
+	bool "Register-Level Debug"
+	default n
+	depends on USBHOST && STM32_OTGFS
+	---help---
+		Enable very low-level register access debug.  Depends on CONFIG_DEBUG.
+ 
+config STM32_USBHOST_PKTDUMP
+	bool "Packet Dump Debug"
+	default n
+	depends on USBHOST && STM32_OTGFS
+	---help---
+		Dump all incoming and outgoing USB packets. Depends on CONFIG_DEBUG.
+
+endmenu

nuttx/arch/arm/src/stm32/Make.defs

@@ -81,6 +81,12 @@ CMN_CSRCS	+= stm32_otgfsdev.c
 endif
 endif
 
+ifeq ($(CONFIG_USBHOST),y)
+ifeq ($(CONFIG_STM32_OTGFS),y)
+CMN_CSRCS       += stm32_otgfshost.c
+endif
+endif
+
 ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
 CHIP_ASRCS	+= stm32_vectors.S
 endif

nuttx/arch/arm/src/stm32/chip/stm32_otgfs.h

@@ -46,6 +46,18 @@
 /****************************************************************************************************
  * Pre-processor Definitions
  ****************************************************************************************************/
+/* General definitions */
+
+#define OTGFS_EPTYPE_CTRL               (0) /* Control */
+#define OTGFS_EPTYPE_ISOC               (1) /* Isochronous */
+#define OTGFS_EPTYPE_BULK               (2) /* Bulk */
+#define OTGFS_EPTYPE_INTR               (3) /* Interrupt */
+
+#define OTGFS_PID_DATA0                 (0)
+#define OTGFS_PID_DATA2                 (1)
+#define OTGFS_PID_DATA1                 (2)
+#define OTGFS_PID_MDATA                 (3) /* Non-control */
+#define OTGFS_PID_SETUP                 (3) /* Control */
 
 /* Register Offsets *********************************************************************************/
 /* Core global control and status registers */
@@ -125,8 +137,8 @@
 #define STM32_OTGFS_HCTSIZ3_OFFSET      0x0570 /* Host channel-3 interrupt register */
 #define STM32_OTGFS_HCTSIZ4_OFFSET      0x0590 /* Host channel-4 interrupt register */
 #define STM32_OTGFS_HCTSIZ5_OFFSET      0x05b0 /* Host channel-5 interrupt register */
-#define STM32_OTGFS_HCTSIZ6_OFFSET      0x05d9 /* Host channel-6 interrupt register */
+#define STM32_OTGFS_HCTSIZ6_OFFSET      0x05d0 /* Host channel-6 interrupt register */
-#define STM32_OTGFS_HCTSIZ7_OFFSET      0x05f9 /* Host channel-7 interrupt register */
+#define STM32_OTGFS_HCTSIZ7_OFFSET      0x05f0 /* Host channel-7 interrupt register */
 
 /* Device-mode control and status registers */
 
@@ -193,6 +205,10 @@
 #define STM32_OTGFS_DOEPTSIZ2_OFFSET    0x00b50 /* Device OUT endpoint-2 transfer size register */
 #define STM32_OTGFS_DOEPTSIZ3_OFFSET    0x00b70 /* Device OUT endpoint-3 transfer size register */
 
+/* Power and clock gating registers */
+
+#define STM32_OTGFS_PCGCCTL_OFFSET      0x0e00 /* Power and clock gating control register */
+
 /* Data FIFO (DFIFO) access registers */
 
 #define STM32_OTGFS_DFIFO_DEP_OFFSET(n) (0x1000 + ((n) << 12))
@@ -204,15 +220,11 @@
 #define STM32_OTGFS_DFIFO_DEP1_OFFSET   0x2000 /* 0x2000-0x2ffc Device IN/OUT Endpoint 1 DFIFO Write/Read Access */
 #define STM32_OTGFS_DFIFO_HCH1_OFFSET   0x2000 /* 0x2000-0x2ffc Host OUT/IN Channel 1 DFIFO Read/Write Access */
 
-#define STM32_OTGFS_DFIFO_DEP2_OFFSET   0x3000 /* 0x3000-0x3ffc Device IN/OUT Endpoint 1 DFIFO Write/Read Access */
+#define STM32_OTGFS_DFIFO_DEP2_OFFSET   0x3000 /* 0x3000-0x3ffc Device IN/OUT Endpoint 2 DFIFO Write/Read Access */
-#define STM32_OTGFS_DFIFO_HCH2_OFFSET   0x3000 /* 0x3000-0x3ffc Host OUT/IN Channel 1 DFIFO Read/Write Access */
+#define STM32_OTGFS_DFIFO_HCH2_OFFSET   0x3000 /* 0x3000-0x3ffc Host OUT/IN Channel 2 DFIFO Read/Write Access */
 
-#define STM32_OTGFS_DFIFO_DEP3_OFFSET   0x4000 /* 0x4000-0x4ffc Device IN/OUT Endpoint 1 DFIFO Write/Read Access */
+#define STM32_OTGFS_DFIFO_DEP3_OFFSET   0x4000 /* 0x4000-0x4ffc Device IN/OUT Endpoint 3 DFIFO Write/Read Access */
-#define STM32_OTGFS_DFIFO_HCH3_OFFSET   0x4000 /* 0x4000-0x4ffc Host OUT/IN Channel 1 DFIFO Read/Write Access */
+#define STM32_OTGFS_DFIFO_HCH3_OFFSET   0x4000 /* 0x4000-0x4ffc Host OUT/IN Channel 3 DFIFO Read/Write Access */
-
-/* Power and clock gating registers */
-
-#define STM32_OTGFS_PCGCCTL_OFFSET      0x0e00 /* Power and clock gating control register */
 
 /* Register Addresses *******************************************************************************/
 
@@ -349,6 +361,10 @@
 #define STM32_OTGFS_DOEPTSIZ2           (STM32_OTGFS_BASE+STM32_OTGFS_DOEPTSIZ2_OFFSET)
 #define STM32_OTGFS_DOEPTSIZ3           (STM32_OTGFS_BASE+STM32_OTGFS_DOEPTSIZ3_OFFSET)
 
+/* Power and clock gating registers */
+
+#define STM32_OTGFS_PCGCCTL             (STM32_OTGFS_BASE+STM32_OTGFS_PCGCCTL_OFFSET)
+
 /* Data FIFO (DFIFO) access registers */
 
 #define STM32_OTGFS_DFIFO_DEP(n)        (STM32_OTGFS_BASE+STM32_OTGFS_DFIFO_DEP_OFFSET(n))
@@ -366,10 +382,6 @@
 #define STM32_OTGFS_DFIFO_DEP3          (STM32_OTGFS_BASE+STM32_OTGFS_DFIFO_DEP3_OFFSET)
 #define STM32_OTGFS_DFIFO_HCH3          (STM32_OTGFS_BASE+STM32_OTGFS_DFIFO_HCH3_OFFSET)
 
-/* Power and clock gating registers */
-
-#define STM32_OTGFS_PCGCCTL             (STM32_OTGFS_BASE+STM32_OTGFS_PCGCCTL_OFFSET)
-
 /* Register Bitfield Definitions ********************************************************************/
 /* Core global control and status registers */
 
@@ -411,7 +423,9 @@
 
 #define OTGFS_GUSBCFG_TOCAL_SHIFT       (0)       /* Bits 0-2: FS timeout calibration */
 #define OTGFS_GUSBCFG_TOCAL_MASK        (7 << OTGFS_GUSBCFG_TOCAL_SHIFT)
-                                                  /* Bits 3-6: Reserved, must be kept at reset value */
+                                                  /* Bits 3-5: Reserved, must be kept at reset value */
+#define OTGFS_GUSBCFG_PHYSEL            (1 << 6)  /* Bit 6: Full Speed serial transceiver select */
+                                                  /* Bit 7: Reserved, must be kept at reset value */
 #define OTGFS_GUSBCFG_SRPCAP            (1 << 8)  /* Bit 8: SRP-capable */
 #define OTGFS_GUSBCFG_HNPCAP            (1 << 9)  /* Bit 9: HNP-capable */
 #define OTGFS_GUSBCFG_TRDT_SHIFT        (10)      /* Bits 10-13: USB turnaround time */
@@ -491,7 +505,7 @@
 #define OTGFS_GRXSTSH_PKTSTS_MASK       (15 << OTGFS_GRXSTSH_PKTSTS_SHIFT)
 #  define OTGFS_GRXSTSH_PKTSTS_INRECVD  (2 << OTGFS_GRXSTSH_PKTSTS_SHIFT) /* IN data packet received */
 #  define OTGFS_GRXSTSH_PKTSTS_INDONE   (3 << OTGFS_GRXSTSH_PKTSTS_SHIFT) /* IN transfer completed */
-#  define OTGFS_GRXSTSH_PKTSTS_DTOGERR  (2 << OTGFS_GRXSTSH_PKTSTS_SHIFT) /* Data toggle error */
+#  define OTGFS_GRXSTSH_PKTSTS_DTOGERR  (5 << OTGFS_GRXSTSH_PKTSTS_SHIFT) /* Data toggle error */
 #  define OTGFS_GRXSTSH_PKTSTS_HALTED   (7 << OTGFS_GRXSTSH_PKTSTS_SHIFT) /* Channel halted */
                                                   /* Bits 21-31: Reserved, must be kept at reset value */
 /* Receive status debug read/OTG status read and pop registers (device mode) */
@@ -559,7 +573,7 @@
 #  define OTGFS_HNPTXSTS_EPNUM_SHIFT    (27)      /* Bits 27-30: Endpoint number */
 #  define OTGFS_HNPTXSTS_EPNUM_MASK     (15 << OTGFS_HNPTXSTS_EPNUM_SHIFT)
                                                   /* Bit 31 Reserved, must be kept at reset value */
-/* general core configuration register */
+/* General core configuration register */
                                                   /* Bits 15:0 Reserved, must be kept at reset value */
 #define OTGFS_GCCFG_PWRDWN              (1 << 16) /* Bit 16: Power down */
                                                   /* Bit 17 Reserved, must be kept at reset value */
@@ -625,9 +639,11 @@
 #    define OTGFS_HPTXSTS_TYPE_HALT     (3 << OTGFS_HPTXSTS_TYPE_SHIFT) /* Disable channel command */
 #  define OTGFS_HPTXSTS_EPNUM_SHIFT     (27)      /* Bits 27-30: Endpoint number */
 #  define OTGFS_HPTXSTS_EPNUM_MASK      (15 << OTGFS_HPTXSTS_EPNUM_SHIFT)
+#  define OTGFS_HPTXSTS_CHNUM_SHIFT     (27)      /* Bits 27-30: Channel number */
+#  define OTGFS_HPTXSTS_CHNUM_MASK      (15 << OTGFS_HPTXSTS_CHNUM_SHIFT)
 #  define OTGFS_HPTXSTS_ODD             (1 << 24) /* Bit 31: Send in odd (vs even) frame */
 
-/* Host all channels interrupt and  all channels interrupt mask registers */
+/* Host all channels interrupt and all channels interrupt mask registers */
 
 #define OTGFS_HAINT(n)                  (1 << (n)) /* Bits 15:0 HAINTM: Channel interrupt */
 
@@ -664,7 +680,7 @@
 
 /* Host channel-n characteristics register */
 
-#define OTGFS_HCCHAR0_MPSIZ_SHIFT       (0)       /* Bits 0-10: Maximum packet size */
+#define OTGFS_HCCHAR_MPSIZ_SHIFT        (0)       /* Bits 0-10: Maximum packet size */
 #define OTGFS_HCCHAR_MPSIZ_MASK         (0x7ff << OTGFS_HCCHAR_MPSIZ_SHIFT)
 #define OTGFS_HCCHAR_EPNUM_SHIFT        (11)      /* Bits 11-14: Endpoint number */
 #define OTGFS_HCCHAR_EPNUM_MASK         (15 << OTGFS_HCCHAR_EPNUM_SHIFT)
@@ -695,7 +711,7 @@
 #define OTGFS_HCINT_STALL               (1 << 3)  /* Bit 3:  STALL response received interrupt */
 #define OTGFS_HCINT_NAK                 (1 << 4)  /* Bit 4:  NAK response received interrupt */
 #define OTGFS_HCINT_ACK                 (1 << 5)  /* Bit 5:  ACK response received/transmitted interrupt */
-#define OTGFS_HCINTMSK_NYET             (1 << 6)  /* Bit 6:  response received interrupt mask */
+#define OTGFS_HCINT_NYET                (1 << 6)  /* Bit 6:  Response received interrupt */
 #define OTGFS_HCINT_TXERR               (1 << 7)  /* Bit 7:  Transaction error */
 #define OTGFS_HCINT_BBERR               (1 << 8)  /* Bit 8:  Babble error */
 #define OTGFS_HCINT_FRMOR               (1 << 9)  /* Bit 9:  Frame overrun */
@@ -712,7 +728,8 @@
 #  define OTGFS_HCTSIZ_DPID_DATA0       (0 << OTGFS_HCTSIZ_DPID_SHIFT)
 #  define OTGFS_HCTSIZ_DPID_DATA2       (1 << OTGFS_HCTSIZ_DPID_SHIFT)
 #  define OTGFS_HCTSIZ_DPID_DATA1       (2 << OTGFS_HCTSIZ_DPID_SHIFT)
-#  define OTGFS_HCTSIZ_DPID_MDATA       (3 << OTGFS_HCTSIZ_DPID_SHIFT)
+#  define OTGFS_HCTSIZ_DPID_MDATA       (3 << OTGFS_HCTSIZ_DPID_SHIFT) /* Non-control */
+#  define OTGFS_HCTSIZ_PID_SETUP        (3 << OTGFS_HCTSIZ_DPID_SHIFT) /* Control */
                                                   /* Bit 31 Reserved, must be kept at reset value */
 /* Device-mode control and status registers */
 
@@ -989,8 +1006,6 @@
 #  define OTGFS_DOEPTSIZ_RXDPID_DATA1   (2 << OTGFS_DOEPTSIZ_RXDPID_SHIFT)
 #  define OTGFS_DOEPTSIZ_RXDPID_MDATA   (3 << OTGFS_DOEPTSIZ_RXDPID_SHIFT)
                                                   /* Bit 31: Reserved, must be kept at reset value */
-/* Power and clock gating registers */
-
 /* Power and clock gating control register */
 
 #define OTGFS_PCGCCTL_STPPCLK           (1 << 0)  /* Bit 0: Stop PHY clock */

nuttx/arch/arm/src/stm32/chip/stm32f20xxx_pinmap.h

@@ -365,7 +365,7 @@
 #define GPIO_JTMS_SWDIO       (GPIO_ALT|GPIO_AF0|GPIO_PORTA|GPIO_PIN13)
 #define GPIO_JTRST            (GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN4)
 
-/* OTG FS/HS */
+/* OTG FS/HS (VBUS PA9 is not an alternate configuration) */
 
 #define GPIO_OTGFS_DM         (GPIO_ALT|GPIO_FLOAT|GPIO_AF10|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN11)
 #define GPIO_OTGFS_DP         (GPIO_ALT|GPIO_FLOAT|GPIO_AF10|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN12)

nuttx/arch/arm/src/stm32/chip/stm32f40xxx_pinmap.h

@@ -365,7 +365,7 @@
 #define GPIO_JTMS_SWDIO       (GPIO_ALT|GPIO_AF0|GPIO_PORTA|GPIO_PIN13)
 #define GPIO_JTRST            (GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN4)
 
-/* OTG FS/HS */
+/* OTG FS/HS (VBUS PA9 is not an alternate configuration) */
 
 #define GPIO_OTGFS_DM         (GPIO_ALT|GPIO_FLOAT|GPIO_AF10|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN11)
 #define GPIO_OTGFS_DP         (GPIO_ALT|GPIO_FLOAT|GPIO_AF10|GPIO_SPEED_100MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN12)

nuttx/arch/arm/src/stm32/stm32_otgfsdev.c

@@ -4086,7 +4086,7 @@ static void *stm32_ep_allocbuffer(FAR struct usbdev_ep_s *ep, unsigned bytes)
  *
  *******************************************************************************/
 
-#ifdef CONFIG_LPC313x_USBDEV_DMA
+#ifdef CONFIG_STM32_USBDEV_DMA
 static void stm32_ep_freebuffer(FAR struct usbdev_ep_s *ep, FAR void *buf)
 {
   usbtrace(TRACE_EPFREEBUFFER, privep->epphy);
@@ -4645,7 +4645,6 @@ static int stm32_wakeup(struct usbdev_s *dev)
           regval &= ~(OTGFS_PCGCCTL_STPPCLK | OTGFS_PCGCCTL_GATEHCLK);
           stm32_putreg(regval, STM32_OTGFS_PCGCCTL);
 #endif
-
           /* Activate Remote wakeup signaling */
 
           regval  = stm32_getreg(STM32_OTGFS_DCTL);
@@ -4971,7 +4970,7 @@ static void stm32_hwinitialize(FAR struct stm32_usbdev_s *priv)
 #ifndef CONFIG_USBDEV_VBUSSENSING
   regval |= OTGFS_GCCFG_NOVBUSSENS;
 #endif
-#ifdef CONFIG_USBDEV_SOFOUTPUT
+#ifdef CONFIG_STM32_OTGFS_SOFOUTPUT
   regval |= OTGFS_GCCFG_SOFOUTEN;
 #endif
   stm32_putreg(regval, STM32_OTGFS_GCCFG);
@@ -5173,12 +5172,29 @@ void up_usbinitialize(void)
    *    current detection.
    */
 
-  /* Configure OTG FS alternate function pins */
+  /* Configure OTG FS alternate function pins
+   *
+   * PIN* SIGNAL      DIRECTION
+   * ---- ----------- ----------
+   * PA8  OTG_FS_SOF  SOF clock output
+   * PA9  OTG_FS_VBUS VBUS input for device, Driven by external regulator by
+   *                  host (not an alternate function)
+   * PA10 OTG_FS_ID   OTG ID pin (only needed in Dual mode)
+   * PA11 OTG_FS_DM   D- I/O
+   * PA12 OTG_FS_DP   D+ I/O
+   *
+   * *Pins may vary from device-to-device.
+   */
 
   stm32_configgpio(GPIO_OTGFS_DM);
   stm32_configgpio(GPIO_OTGFS_DP);
-  stm32_configgpio(GPIO_OTGFS_ID);
+  stm32_configgpio(GPIO_OTGFS_ID);    /* Only needed for OTG */
+
+  /* SOF output pin configuration is configurable. */
+
+#ifdef CONFIG_STM32_OTGFS_SOFOUTPUT
   stm32_configgpio(GPIO_OTGFS_SOF);
+#endif
 
   /* Uninitialize the hardware so that we know that we are starting from a
    * known state. */

nuttx/arch/arm/src/stm32/stm32_usbhost.h

@@ -47,6 +47,34 @@
 #include "chip.h"
 #include "chip/stm32_otgfs.h"
 
+#if defined(CONFIG_STM32_OTGFS) && defined(CONFIG_USBHOST)
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+/*
+ * STM32 USB OTG FS Host Driver Support
+ *
+ * Pre-requisites
+ *
+ *  CONFIG_USBHOST      - Enable general USB host support
+ *  CONFIG_STM32_OTGFS  - Enable the STM32 USB OTG FS block
+ *  CONFIG_STM32_SYSCFG - Needed
+ *
+ * Options:
+ *
+ *  CONFIG_STM32_OTGFS_RXFIFO_SIZE - Size of the RX FIFO in 32-bit words.
+ *    Default 128 (512 bytes)
+ *  CONFIG_STM32_OTGFS_NPTXFIFO_SIZE - Size of the non-periodic Tx FIFO
+ *    in 32-bit words.  Default 96 (384 bytes)
+ *  CONFIG_STM32_OTGFS_PTXFIFO_SIZE - Size of the periodic Tx FIFO in 32-bit
+ *    words.  Default 96 (384 bytes)
+ *  CONFIG_STM32_OTGFS_SOFINTR - Enable SOF interrupts.  Why would you ever
+ *    want to do that?
+ *  CONFIG_STM32_USBHOST_REGDEBUG - Enable very low-level register access
+ *    debug.  Depends on CONFIG_DEBUG.
+ */
+
 /************************************************************************************
  * Public Functions
  ************************************************************************************/
@@ -61,11 +89,40 @@ extern "C" {
 #define EXTERN extern
 #endif
 
+/***********************************************************************************
+ * Name: stm32_usbhost_vbusdrive
+ *
+ * Description:
+ *   Enable/disable driving of VBUS 5V output.  This function must be provided be
+ *   each platform that implements the STM32 OTG FS host interface
+ *
+ *   "On-chip 5 V VBUS generation is not supported. For this reason, a charge pump 
+ *    or, if 5 V are available on the application board, a basic power switch, must 
+ *    be added externally to drive the 5 V VBUS line. The external charge pump can 
+ *    be driven by any GPIO output. When the application decides to power on VBUS 
+ *    using the chosen GPIO, it must also set the port power bit in the host port 
+ *    control and status register (PPWR bit in OTG_FS_HPRT).
+ *
+ *   "The application uses this field to control power to this port, and the core 
+ *    clears this bit on an overcurrent condition."
+ *
+ * Input Parameters:
+ *   iface - For future growth to handle multiple USB host interface.  Should be zero.
+ *   enable - true: enable VBUS power; false: disable VBUS power
+ *
+ * Returned Value:
+ *   None
+ *
+ ***********************************************************************************/
+
+EXTERN void stm32_usbhost_vbusdrive(int iface, bool enable);
+
 #undef EXTERN
 #if defined(__cplusplus)
 }
 #endif
 
 #endif /* __ASSEMBLY__ */
+#endif /* CONFIG_STM32_OTGFS && CONFIG_USBHOST */
 #endif /* __ARCH_ARM_SRC_STM32_STM32_USBHOST_H */
 

nuttx/arch/arm/src/stm32/stm32f20xxx_rcc.c

@@ -616,7 +616,7 @@ static void stm32_stdclockconfig(void)
       /* Set the PLL dividers and multiplers to configure the main PLL */
 
       regval = (STM32_PLLCFG_PLLM | STM32_PLLCFG_PLLN |STM32_PLLCFG_PLLP |
-                RCC_PLLCFG_PLLSRC_HSE | STM32_PLLCFG_PPQ);
+                RCC_PLLCFG_PLLSRC_HSE | STM32_PLLCFG_PLLQ);
       putreg32(regval, STM32_RCC_PLLCFG);
 
       /* Enable the main PLL */

nuttx/arch/arm/src/stm32/stm32f40xxx_rcc.c

@@ -618,7 +618,7 @@ static void stm32_stdclockconfig(void)
       /* Set the PLL dividers and multiplers to configure the main PLL */
 
       regval = (STM32_PLLCFG_PLLM | STM32_PLLCFG_PLLN |STM32_PLLCFG_PLLP |
-                RCC_PLLCFG_PLLSRC_HSE | STM32_PLLCFG_PPQ);
+                RCC_PLLCFG_PLLSRC_HSE | STM32_PLLCFG_PLLQ);
       putreg32(regval, STM32_RCC_PLLCFG);
 
       /* Enable the main PLL */

nuttx/configs/px4fmu/Kconfig

@@ -0,0 +1,26 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+if ARCH_BOARD_PX4FMU
+config ARCH_LEDS
+	bool "NuttX LED support"
+	default n
+	---help---
+		"Support control of board LEDs by NuttX to indicate system state"
+
+config ARCH_BUTTONS
+	bool "Button support"
+	default n
+	---help---
+		"Support interfaces to use buttons provided by the board."
+
+config ARCH_IRQBUTTONS
+	bool "Button interrupt support"
+	default n
+	depends on ARCH_BUTTONS
+	---help---
+		"Support EXTI interrupts on button presses and releases."
+
+endif

nuttx/configs/px4fmu/include/board.h

@@ -106,7 +106,7 @@
 #define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(24)
 #define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
 #define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
-#define STM32_PLLCFG_PPQ        RCC_PLLCFG_PLLQ(7)
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
 
 #define STM32_SYSCLK_FREQUENCY  168000000ul
 

nuttx/configs/px4fmu/nsh/Make.defs

@@ -1,3 +1,3 @@
 include ${TOPDIR}/.config
 
-include $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/Make.defs
+include $(TOPDIR)/configs/px4fmu/common/Make.defs

nuttx/configs/px4fmu/nsh/appconfig

@@ -63,10 +63,7 @@ CONFIGURED_APPS += systemcmds/eeprom
 
 CONFIGURED_APPS += uORB
 
-ifeq ($(CONFIG_MAVLINK),y)
 CONFIGURED_APPS += mavlink
-endif
-
 CONFIGURED_APPS += gps
 CONFIGURED_APPS += commander
 #CONFIGURED_APPS += sdlog

nuttx/configs/px4fmu/nsh/defconfig

@@ -1,7 +1,8 @@
 ############################################################################
 # configs/px4fmu/nsh/defconfig
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -41,7 +42,7 @@
 #   particular chip family that the architecture is implemented
 #   in.
 # CONFIG_ARCH_architecture - for use in C code.  This identifies the
-#   specific architecture within the chip familyl.
+#   specific architecture within the chip family.
 # CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
 # CONFIG_ARCH_CHIP_name - For use in C code
 # CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence,
@@ -51,7 +52,6 @@
 # CONFIG_BOARD_LOOPSPERMSEC - for delay loops
 # CONFIG_DRAM_SIZE - Describes the installed DRAM.
 # CONFIG_DRAM_START - The start address of DRAM (physical)
-# CONFIG_DRAM_END - Last address+1 of installed RAM
 # CONFIG_ARCH_IRQPRIO - The STM3240xxx supports interrupt prioritization
 # CONFIG_ARCH_FPU - The STM3240xxx supports a floating point unit (FPU).
 # CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
@@ -70,17 +70,16 @@
 #   the delay actually is 100 seconds.
 # CONFIG_ARCH_DMA - Support DMA initialization
 #
-CONFIG_ARCH=arm
+CONFIG_ARCH="arm"
 CONFIG_ARCH_ARM=y
 CONFIG_ARCH_CORTEXM4=y
-CONFIG_ARCH_CHIP=stm32
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32F405RG=y
-CONFIG_ARCH_BOARD=px4fmu
+CONFIG_ARCH_BOARD="px4fmu"
 CONFIG_ARCH_BOARD_PX4FMU=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DRAM_SIZE=0x00030000
 CONFIG_DRAM_START=0x20000000
-CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
 CONFIG_ARCH_IRQPRIO=y
 CONFIG_ARCH_FPU=y
 CONFIG_ARCH_INTERRUPTSTACK=n
@@ -94,25 +93,8 @@ CONFIG_ARCH_MATH_H=y
 
 CONFIG_ARMV7M_CMNVECTOR=y
 
-#
-# LIBC printf() options
-#   
-#   CONFIG_LIBC_FLOATINGPOINT - Enables printf("%f")
-#   CONFIG_LIBC_FIXEDPRECISION - Sets 7 digits after dot for printing:
-#                                5.1234567
-#   CONFIG_HAVE_LONG_LONG - Enabled printf("%llu)
-#
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_HAVE_LONG_LONG=y
-#CONFIG_LIBC_FIXEDPRECISION=7
 
-#
+
-# CMSIS options
-#
-#    CONFIG_DSPLIB_TARGET - Target for the CMSIS DSP library, one of
-#   CortexM0, CortexM3 or CortexM4 (with fpu)
-#
-CONFIG_CMSIS_DSPLIB_TARGET=CortexM4
 
 #
 # JTAG Enable settings (by default JTAG-DP and SW-DP are enabled):
@@ -131,6 +113,14 @@ CONFIG_STM32_JTAG_FULL_ENABLE=y
 CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n
 CONFIG_STM32_JTAG_SW_ENABLE=n
 
+#
+# On-chip CCM SRAM configuration
+#
+# CONFIG_STM32_CCMEXCLUDE - Exclude CCM SRAM from the HEAP.  You would need
+#   to do this if DMA is enabled to prevent non-DMA-able CCM memory from
+#   being a part of the stack.
+#
+
 #
 # On-board FSMC SRAM configuration
 #
@@ -181,6 +171,7 @@ CONFIG_STM32_TIM12=y
 CONFIG_STM32_TIM13=y
 CONFIG_STM32_TIM14=y
 CONFIG_STM32_WWDG=y
+CONFIG_STM32_IWDG=n
 CONFIG_STM32_SPI2=n
 CONFIG_STM32_SPI3=y
 CONFIG_STM32_USART2=y
@@ -211,40 +202,6 @@ CONFIG_STM32_TIM9=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
 
-#
-# Configure the ADC
-#
-CONFIG_ADC=y
-# select trigger timer 
-CONFIG_STM32_TIM4_ADC3=y
-# select sample frequency  1^=1.5Msamples/second
-# 65535^=10samples/second 16bit-timer runs at 84/128 MHz
-CONFIG_STM32_ADC3_SAMPLE_FREQUENCY=6000
-# select timer channel 0=CC1,...,3=CC4
-CONFIG_STM32_ADC3_TIMTRIG=3
-CONFIG_ADC_DMA=y
-# only 4 places usable!
-CONFIG_ADC_FIFOSIZE=5
-
-#
-# Timer and I2C devices may need to the following to force power to be applied:
-#
-#CONFIG_STM32_FORCEPOWER=y
-
-#
-# I2C configuration
-#
-CONFIG_I2C=y
-CONFIG_I2C_POLLED=y
-CONFIG_I2C_TRANSFER=y
-CONFIG_I2C_WRITEREAD=y
-CONFIG_I2C_TRACE=n
-# Allow 180 us per byte, a wide margin for the 400 KHz clock we're using
-# e.g. 9.6 ms for an EEPROM page write, 0.9 ms for a MAG update
-CONFIG_STM32_I2CTIMEOUS_PER_BYTE=200
-# Constant overhead for generating I2C start / stop conditions
-CONFIG_STM32_I2CTIMEOUS_START_STOP=700
-CONFIG_DEBUG_I2C=n
 
 #
 # Enable the MTD driver for the onboard I2C EEPROM
@@ -367,13 +324,6 @@ CONFIG_TONE_ALARM=y
 CONFIG_PWM_SERVO=n
 CONFIG_MULTIPORT=n
 
-#
-# CONFIG_UART2_RTS_CTS_AS_GPIO
-#   If set, enables RTS and CTS pins as additional GPIOs 2 and 3
-# 
-CONFIG_PX4_UART2_RTS_CTS_AS_GPIO=y
-
-
 #
 # STM32F40xxx specific SPI device driver settings
 #
@@ -386,6 +336,8 @@ CONFIG_SPI_EXCHANGE=y
 #
 # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
 #   CONFIG_STM32_CAN2 must also be defined)
+# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+#   Standard 11-bit IDs.
 # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@@ -394,14 +346,53 @@ CONFIG_SPI_EXCHANGE=y
 #   mode for testing. The STM32 CAN driver does support loopback mode.
 # CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
+# CONFIG_CAN_TSEG1 - The number of CAN time quanta in segment 1. Default: 6
+# CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7
 #
 CONFIG_CAN=n
+CONFIG_CAN_EXTID=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
 CONFIG_CAN_LOOPBACK=n
 CONFIG_CAN1_BAUD=700000
 CONFIG_CAN2_BAUD=700000
 
+#
+# I2C configuration
+#
+CONFIG_I2C=y
+CONFIG_I2C_POLLED=y
+CONFIG_I2C_TRANSFER=y
+CONFIG_I2C_TRACE=n
+# Allow 180 us per byte, a wide margin for the 400 KHz clock we're using
+# e.g. 9.6 ms for an EEPROM page write, 0.9 ms for a MAG update
+CONFIG_STM32_I2CTIMEOUS_PER_BYTE=200
+# Constant overhead for generating I2C start / stop conditions
+CONFIG_STM32_I2CTIMEOUS_START_STOP=700
+# XXX this is bad and we want it gone
+CONFIG_I2C_WRITEREAD=y
+
+#
+# ADC configuration
+#
+# Enable ADC driver support.
+#
+# CONFIG_ADC=y             : Enable the generic ADC infrastructure
+# CONFIG_STM32_TIM1_ADC=y  : Indicate that timer 1 will be used to trigger an ADC
+# CONFIG_STM32_TIM1_ADC3=y : Assign timer 1 to drive ADC3 sampling
+# CONFIG_STM32_ADC3_SAMPLE_FREQUENCY=100 : Select a sampling frequency
+#
+CONFIG_ADC=y
+CONFIG_STM32_TIM4_ADC3=y
+# select sample frequency  1^=1.5Msamples/second
+# 65535^=10samples/second 16bit-timer runs at 84/128 MHz
+CONFIG_STM32_ADC3_SAMPLE_FREQUENCY=6000
+# select timer channel 0=CC1,...,3=CC4
+CONFIG_STM32_ADC3_TIMTRIG=3
+CONFIG_ADC_DMA=y
+# only 4 places usable!
+CONFIG_ADC_FIFOSIZE=5
+
 #
 # General build options
 #
@@ -419,7 +410,7 @@ CONFIG_CAN2_BAUD=700000
 # CONFIG_HAVE_LIBM - toolchain supports libm.a
 #
 CONFIG_RRLOAD_BINARY=n
-CONFIG_INTELHEX_BINARY=y
+CONFIG_INTELHEX_BINARY=n
 CONFIG_MOTOROLA_SREC=n
 CONFIG_RAW_BINARY=y
 CONFIG_HAVE_LIBM=y
@@ -434,6 +425,9 @@ CONFIG_HAVE_LIBM=y
 # CONFIG_DEBUG_SYMBOLS - build without optimization and with
 #   debug symbols (needed for use with a debugger).
 # CONFIG_HAVE_CXX - Enable support for C++
+# CONFIG_HAVE_CXXINITIALIZE - The platform-specific logic includes support
+#   for initialization of static C++ instances for this architecture
+#   and for the selected toolchain (via up_cxxinitialize()).
 # CONFIG_MM_REGIONS - If the architecture includes multiple
 #   regions of memory to allocate from, this specifies the
 #   number of memory regions that the memory manager must
@@ -508,7 +502,7 @@ CONFIG_HAVE_LIBM=y
 # CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker
 #  thread.  Default: 50
 # CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for
-#  work in units of microseconds.  Default: 50*1000 (50 MS).
+#  work in units of microseconds.  Default: 50000 (50 MS).
 # CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker
 #  thread.  Default: CONFIG_IDLETHREAD_STACKSIZE.
 # CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up
@@ -520,14 +514,20 @@ CONFIG_HAVE_LIBM=y
 CONFIG_DEBUG=y
 CONFIG_DEBUG_VERBOSE=y
 CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_ANALOG=n
 CONFIG_DEBUG_FS=n
 CONFIG_DEBUG_GRAPHICS=n
 CONFIG_DEBUG_LCD=n
 CONFIG_DEBUG_USB=n
 CONFIG_DEBUG_NET=n
 CONFIG_DEBUG_RTC=n
+CONFIG_DEBUG_ANALOG=n
+CONFIG_DEBUG_PWM=n
+CONFIG_DEBUG_CAN=n
+CONFIG_DEBUG_I2C=n
+CONFIG_DEBUG_INPUT=n
+
 CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=n
 CONFIG_MM_REGIONS=2
 CONFIG_ARCH_LOWPUTC=y
 CONFIG_MSEC_PER_TICK=1
@@ -549,13 +549,45 @@ CONFIG_FDCLONE_DISABLE=n
 CONFIG_FDCLONE_STDIO=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SCHED_WORKQUEUE=y
-CONFIG_SCHED_WORKPRIORITY=199
+CONFIG_SCHED_WORKPRIORITY=192
-CONFIG_SCHED_WORKPERIOD=(5*1000)
+CONFIG_SCHED_WORKPERIOD=5000
 CONFIG_SCHED_WORKSTACKSIZE=2048
 CONFIG_SIG_SIGWORK=4
 CONFIG_SCHED_WAITPID=y
 CONFIG_SCHED_ATEXIT=n
 
+#
+# System Logging
+#
+# CONFIG_SYSLOG - Enables the System Logging feature.
+# CONFIG_RAMLOG - Enables the RAM logging feature
+# CONFIG_RAMLOG_CONSOLE - Use the RAM logging device as a system console.
+#   If this feature is enabled (along with CONFIG_DEV_CONSOLE), then all
+#   console output will be re-directed to a circular buffer in RAM.  This
+#   is useful, for example, if the only console is a Telnet console.  Then
+#   in that case, console output from non-Telnet threads will go to the
+#   circular buffer and can be viewed using the NSH 'dmesg' command.
+# CONFIG_RAMLOG_SYSLOG - Use the RAM logging device for the syslogging
+#   interface.  If this feature is enabled (along with CONFIG_SYSLOG),
+#   then all debug output (only) will be re-directed to the circular
+#   buffer in RAM.  This RAM log can be view from NSH using the 'dmesg'
+#   command.
+# CONFIG_RAMLOG_NPOLLWAITERS - The number of threads than can be waiting
+#   for this driver on poll().  Default: 4
+#
+# If CONFIG_RAMLOG_CONSOLE or CONFIG_RAMLOG_SYSLOG is selected, then the
+# following may also be provided:
+#
+# CONFIG_RAMLOG_CONSOLE_BUFSIZE - Size of the console RAM log.  Default: 1024
+#
+
+CONFIG_SYSLOG=n
+CONFIG_RAMLOG=n
+CONFIG_RAMLOG_CONSOLE=n
+CONFIG_RAMLOG_SYSLOG=n
+#CONFIG_RAMLOG_NPOLLWAITERS
+#CONFIG_RAMLOG_CONSOLE_BUFSIZE
+
 #
 # The following can be used to disable categories of
 # APIs supported by the OS.  If the compiler supports
@@ -585,8 +617,14 @@ CONFIG_DISABLE_POLL=n
 #
 # CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a
 #   little smaller if we do not support fieldwidthes
+# CONFIG_LIBC_FLOATINGPOINT - Enables printf("%f")
+# CONFIG_LIBC_FIXEDPRECISION - Sets 7 digits after dot for printing:
+#   5.1234567
+# CONFIG_HAVE_LONG_LONG - Enabled printf("%llu)
 #
 CONFIG_NOPRINTF_FIELDWIDTH=n
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_HAVE_LONG_LONG=y
 
 #
 # Allow for architecture optimized implementations
@@ -802,42 +840,6 @@ CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USBDEV_TRACE=n
 CONFIG_USBDEV_TRACE_NRECORDS=512
 
-#
-# USB Serial Device Configuration (Prolifics PL2303 emulation)
-#
-# CONFIG_PL2303
-#   Enable compilation of the USB serial driver
-# CONFIG_PL2303_EPINTIN
-#   The logical 7-bit address of a hardware endpoint that supports
-#   interrupt IN operation
-# CONFIG_PL2303_EPBULKOUT
-#   The logical 7-bit address of a hardware endpoint that supports
-#   bulk OUT operation
-# CONFIG_PL2303_EPBULKIN
-#   The logical 7-bit address of a hardware endpoint that supports
-#   bulk IN operation
-# # CONFIG_PL2303_NWRREQS and CONFIG_PL2303_NRDREQS
-#   The number of write/read requests that can be in flight
-# CONFIG_PL2303_VENDORID and CONFIG_PL2303_VENDORSTR
-#   The vendor ID code/string
-# CONFIG_PL2303_PRODUCTID and CONFIG_PL2303_PRODUCTSTR
-#   The product ID code/string
-# CONFIG_PL2303_RXBUFSIZE and CONFIG_PL2303_TXBUFSIZE
-#   Size of the serial receive/transmit buffers
-#
-CONFIG_PL2303=n
-CONFIG_PL2303_EPINTIN=1
-CONFIG_PL2303_EPBULKOUT=2
-CONFIG_PL2303_EPBULKIN=3
-CONFIG_PL2303_NWRREQS=4
-CONFIG_PL2303_NRDREQS=4
-CONFIG_PL2303_VENDORID=0x067b
-CONFIG_PL2303_PRODUCTID=0x2303
-CONFIG_PL2303_VENDORSTR="Nuttx"
-CONFIG_PL2303_PRODUCTSTR="USBdev Serial"
-CONFIG_PL2303_RXBUFSIZE=512
-CONFIG_PL2303_TXBUFSIZE=512
-
 #
 # USB serial device class driver (Standard CDC ACM class)
 #
@@ -910,44 +912,6 @@ CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v1.6"
 #CONFIG_CDCACM_RXBUFSIZE
 #CONFIG_CDCACM_TXBUFSIZE
 
-#
-# USB Storage Device Configuration
-#
-# CONFIG_USBMSC
-#   Enable compilation of the USB storage driver
-# CONFIG_USBMSC_EP0MAXPACKET
-#   Max packet size for endpoint 0
-# CONFIG_USBMSC_EPBULKOUT and CONFIG_USBMSC_EPBULKIN
-#   The logical 7-bit address of a hardware endpoints that support
-#   bulk OUT and IN operations
-# CONFIG_USBMSC_NWRREQS and CONFIG_USBMSC_NRDREQS
-#   The number of write/read requests that can be in flight
-# CONFIG_USBMSC_BULKINREQLEN and CONFIG_USBMSC_BULKOUTREQLEN
-#   The size of the buffer in each write/read request.  This
-#   value needs to be at least as large as the endpoint
-#   maxpacket and ideally as large as a block device sector.
-# CONFIG_USBMSC_VENDORID and CONFIG_USBMSC_VENDORSTR
-#   The vendor ID code/string
-# CONFIG_USBMSC_PRODUCTID and CONFIG_USBMSC_PRODUCTSTR
-#   The product ID code/string
-# CONFIG_USBMSC_REMOVABLE
-#   Select if the media is removable
-#
-CONFIG_USBMSC=n
-CONFIG_USBMSC_EP0MAXPACKET=64
-CONFIG_USBMSC_EPBULKOUT=2
-CONFIG_USBMSC_EPBULKIN=5
-CONFIG_USBMSC_NRDREQS=2
-CONFIG_USBMSC_NWRREQS=2
-CONFIG_USBMSC_BULKINREQLEN=256
-CONFIG_USBMSC_BULKOUTREQLEN=256
-CONFIG_USBMSC_VENDORID=0x584e
-CONFIG_USBMSC_VENDORSTR="NuttX"
-CONFIG_USBMSC_PRODUCTID=0x5342
-CONFIG_USBMSC_PRODUCTSTR="USBdev Storage"
-CONFIG_USBMSC_VERSIONNO=0x0399
-CONFIG_USBMSC_REMOVABLE=y
-
 
 #
 # Settings for apps/nshlib
@@ -958,7 +922,6 @@ CONFIG_USBMSC_REMOVABLE=y
 # CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer
 # CONFIG_NSH_STRERROR - Use strerror(errno)
 # CONFIG_NSH_LINELEN - Maximum length of one command line
-# CONFIG_NSH_STACKSIZE - Stack size to use for new threads.
 # CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi
 # CONFIG_NSH_DISABLESCRIPT - Disable scripting support
 # CONFIG_NSH_DISABLEBG - Disable background commands
@@ -1003,9 +966,9 @@ CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_IOBUFFER_SIZE=512
 CONFIG_NSH_DHCPC=n
 CONFIG_NSH_NOMAC=y
-CONFIG_NSH_IPADDR=(10<<24|0<<16|0<<8|2)
+CONFIG_NSH_IPADDR=0x0a000002
-CONFIG_NSH_DRIPADDR=(10<<24|0<<16|0<<8|1)
+CONFIG_NSH_DRIPADDR=0x0a000001
-CONFIG_NSH_NETMASK=(255<<24|255<<16|255<<8|0)
+CONFIG_NSH_NETMASK=0xffffff00
 CONFIG_NSH_ROMFSMOUNTPT="/etc"
 CONFIG_NSH_INITSCRIPT="init.d/rcS"
 CONFIG_NSH_ROMFSDEVNO=0
@@ -1022,13 +985,6 @@ CONFIG_NSH_MMCSDSPIPORTNO=3
 CONFIG_NSH_MMCSDSLOTNO=0
 CONFIG_NSH_MMCSDMINOR=0
 
-#
-# Settings for  mavlink
-#
-# CONFIG_MAVLINK - Enable MAVLINK app
-# CONFIG_NSH_BUILTIN_APPS - Build the ADC test as an NSH built-in function.
-#   Default: Built as a standalone problem
-CONFIG_MAVLINK=y
 
 #
 # Stack and heap information

nuttx/configs/px4io/io/Make.defs

@@ -1,3 +1,3 @@
 include ${TOPDIR}/.config
 
-include $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/Make.defs
+include $(TOPDIR)/configs/px4io/common/Make.defs

nuttx/configs/px4io/io/defconfig

@@ -1,7 +1,8 @@
 ############################################################################
 # configs/px4io/nsh/defconfig
 #
-#   Copyright (C) 2009-2012 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -41,7 +42,7 @@
 #   particular chip family that the architecture is implemented
 #   in.
 # CONFIG_ARCH_architecture - for use in C code.  This identifies the
-#   specific architecture within the chip familyl.
+#   specific architecture within the chip family.
 # CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
 # CONFIG_ARCH_CHIP_name - For use in C code
 # CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence,
@@ -51,7 +52,6 @@
 # CONFIG_BOARD_LOOPSPERMSEC - for delay loops
 # CONFIG_DRAM_SIZE - Describes the installed DRAM.
 # CONFIG_DRAM_START - The start address of DRAM (physical)
-# CONFIG_DRAM_END - Last address+1 of installed RAM
 # CONFIG_ARCH_IRQPRIO - The ST32F100CB supports interrupt prioritization
 # CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
 #   stack. If defined, this symbol is the size of the interrupt
@@ -69,17 +69,16 @@
 #   the delay actually is 100 seconds.
 # CONFIG_ARCH_DMA - Support DMA initialization
 #
-CONFIG_ARCH=arm
+CONFIG_ARCH="arm"
 CONFIG_ARCH_ARM=y
 CONFIG_ARCH_CORTEXM3=y
-CONFIG_ARCH_CHIP=stm32
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32F100C8=y
-CONFIG_ARCH_BOARD=px4io
+CONFIG_ARCH_BOARD="px4io"
 CONFIG_ARCH_BOARD_PX4IO=y
 CONFIG_BOARD_LOOPSPERMSEC=2000
 CONFIG_DRAM_SIZE=0x00002000
 CONFIG_DRAM_START=0x20000000
-CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
 CONFIG_ARCH_IRQPRIO=y
 CONFIG_ARCH_INTERRUPTSTACK=n
 CONFIG_ARCH_STACKDUMP=y
@@ -109,6 +108,7 @@ CONFIG_STM32_JTAG_SW_ENABLE=n
 
 #
 # Individual subsystems can be enabled:
+#
 # AHB: 
 CONFIG_STM32_DMA1=n
 CONFIG_STM32_DMA2=n
@@ -140,10 +140,6 @@ CONFIG_STM32_TIM8=n
 CONFIG_STM32_USART1=y
 CONFIG_STM32_ADC3=n
 
-#
-# Timer and I2C devices may need to the following to force power to be applied:
-#
-#CONFIG_STM32_FORCEPOWER=y
 
 #
 # STM32F100 specific serial device driver settings
@@ -306,9 +302,6 @@ CONFIG_HAVE_LIBM=n
 # CONFIG_SDCLONE_DISABLE. Disable cloning of all socket
 #   desciptors by task_create() when a new task is started. If
 #   set, all sockets will appear to be closed in the new task.
-# CONFIG_NXFLAT. Enable support for the NXFLAT binary format.
-#  This format will support execution of NuttX binaries located
-#  in a ROMFS filesystem (see examples/nxflat).
 # CONFIG_SCHED_WORKQUEUE.  Create a dedicated "worker" thread to
 #  handle delayed processing from interrupt handlers.  This feature
 #  is required for some drivers but, if there are not complaints,
@@ -327,11 +320,25 @@ CONFIG_HAVE_LIBM=n
 #  thread.  Default: CONFIG_IDLETHREAD_STACKSIZE.
 # CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up
 #  the worker thread.  Default: 4
+# CONFIG_SCHED_WAITPID - Enable the waitpid() API
+# CONFIG_SCHED_ATEXIT - Enabled the atexit() API
 #
 #CONFIG_APPS_DIR=
 CONFIG_DEBUG=n
 CONFIG_DEBUG_VERBOSE=n
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_FS=n
+CONFIG_DEBUG_GRAPHICS=n
+CONFIG_DEBUG_LCD=n
+CONFIG_DEBUG_USB=n
+CONFIG_DEBUG_NET=n
+CONFIG_DEBUG_RTC=n
+CONFIG_DEBUG_ANALOG=n
+CONFIG_DEBUG_PWM=n
+CONFIG_DEBUG_CAN=n
+CONFIG_DEBUG_I2C=n
+CONFIG_DEBUG_INPUT=n
+
 CONFIG_HAVE_CXX=n
 CONFIG_HAVE_CXXINITIALIZE=n
 CONFIG_MM_REGIONS=1
@@ -340,9 +347,9 @@ CONFIG_ARCH_LOWPUTC=y
 CONFIG_RR_INTERVAL=200
 CONFIG_SCHED_INSTRUMENTATION=n
 CONFIG_TASK_NAME_SIZE=0
-CONFIG_START_YEAR=2009
+CONFIG_START_YEAR=1970
-CONFIG_START_MONTH=9
+CONFIG_START_MONTH=1
-CONFIG_START_DAY=21
+CONFIG_START_DAY=1
 CONFIG_GREGORIAN_TIME=n
 CONFIG_JULIAN_TIME=n
 CONFIG_DEV_CONSOLE=y
@@ -354,12 +361,13 @@ CONFIG_SEM_NNESTPRIO=0
 CONFIG_FDCLONE_DISABLE=n
 CONFIG_FDCLONE_STDIO=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_NXFLAT=n
 CONFIG_SCHED_WORKQUEUE=n
 CONFIG_SCHED_WORKPRIORITY=50
-CONFIG_SCHED_WORKPERIOD=(50*1000)
+CONFIG_SCHED_WORKPERIOD=50000
 CONFIG_SCHED_WORKSTACKSIZE=1024
 CONFIG_SIG_SIGWORK=4
+CONFIG_SCHED_WAITPID=n
+CONFIG_SCHED_ATEXIT=n
 
 #
 # The following can be used to disable categories of
@@ -427,6 +435,14 @@ CONFIG_ARCH_BZERO=n
 # CONFIG_NAME_MAX - The maximum size of a file name.
 # CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate
 #   on fopen. (Only if CONFIG_NFILE_STREAMS > 0)
+# CONFIG_STDIO_LINEBUFFER - If standard C buffered I/O is enabled
+#   (CONFIG_STDIO_BUFFER_SIZE > 0), then this option may be added
+#   to force automatic, line-oriented flushing the output buffer
+#   for putc(), fputc(), putchar(), puts(), fputs(), printf(),
+#   fprintf(), and vfprintf().  When a newline is encountered in
+#   the output string, the output buffer will be flushed.  This
+#   (slightly) increases the NuttX footprint but supports the kind
+#   of behavior that people expect for printf().
 # CONFIG_NUNGET_CHARS - Number of characters that can be
 #   buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0)
 # CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message
@@ -452,6 +468,7 @@ CONFIG_NFILE_DESCRIPTORS=8
 CONFIG_NFILE_STREAMS=0
 CONFIG_NAME_MAX=32
 CONFIG_STDIO_BUFFER_SIZE=64
+CONFIG_STDIO_LINEBUFFER=n
 CONFIG_NUNGET_CHARS=2
 CONFIG_PREALLOC_MQ_MSGS=4
 CONFIG_MQ_MAXMSGSIZE=32

nuttx/drivers/Kconfig

@@ -182,6 +182,10 @@ menuconfig LCD
 		Drivers for parallel and serial LCD and OLED type devices.  These
 		drivers support interfaces as defined in include/nuttx/lcd/lcd.h
 
+		This selection is necessary to enable support for LCD drivers in
+		drivers/lcd as well as for board-specific LCD drivers in the configs/
+		subdirectories.
+
 if LCD
 source drivers/lcd/Kconfig
 endif

nuttx/drivers/lcd/Kconfig

@@ -173,3 +173,42 @@ config LCD_UG9664HSWAG01
 		ug-9664hswag01.c.  OLED Display Module, UG-9664HSWAG01", Univision
 		Technology Inc.  Used with the LPC Xpresso and Embedded Artists
 		base board.
+
+choice
+	prompt "LCD Orientation"
+	default LCD_LANDSCAPE
+	depends on LCD
+	---help---
+		Some LCD drivers may support displays in different orientations.
+		If the LCD driver supports this capability, than these are configuration
+		options to select that display orientation.
+
+config LCD_LANDSCAPE
+	bool "Landscape orientation"
+	---help---
+		Define for "landscape" orientation support.  Landscape mode refers one
+		of two orientations where the the display is wider than it is tall
+		(LCD_RLANDSCAPE is the other).  This is the default orientation.
+
+config LCD_PORTRAIT
+	bool "Portrait orientation"
+	---help---
+		Define for "portrait" orientation support.  Portrait mode refers one
+		of two orientations where the the display is taller than it is wide
+		(LCD_RPORTAIT is the other).
+
+config LCD_RPORTRAIT
+	bool "Reverse portrait display"
+	---help---
+		Define for "reverse portrait" orientation support.  Reverse portrait mode
+		refers one of two orientations where the the display is taller than it is
+		wide (LCD_PORTAIT is the other).
+
+config LCD_RLANDSCAPE
+	bool "Reverse landscape orientation"
+	---help---
+		Define for "reverse landscape" orientation support.  Reverse landscape mode
+		refers one of two orientations where the the display is wider than it is
+		tall (LCD_LANDSCAPE is the other).
+
+endchoice

nuttx/drivers/sensors/Make.defs

@@ -37,7 +37,10 @@
 # These drivers depend on I2C support
 
 ifeq ($(CONFIG_I2C),y)
+
+ifeq ($(CONFIG_I2C_TRANSFER),y)
   CSRCS += lis331dl.c
+endif
 
 ifeq ($(CONFIG_I2C_LM75),y)
   CSRCS += lm75.c

nuttx/drivers/usbhost/usbhost_enumerate.c

@@ -1,8 +1,8 @@
 /*******************************************************************************
  * drivers/usbhost/usbhost_enumerate.c
  *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
- *   Authors: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -122,8 +122,8 @@ static void usbhost_putle16(uint8_t *dest, uint16_t val)
  *
  *******************************************************************************/
 
-static inline int usbhost_devdesc(const struct usb_devdesc_s *devdesc,
+static inline int usbhost_devdesc(FAR const struct usb_devdesc_s *devdesc,
-                                  struct usbhost_id_s *id)
+                                  FAR struct usbhost_id_s *id)
 {
   /* Clear the ID info */
 
@@ -131,7 +131,7 @@ static inline int usbhost_devdesc(const struct usb_devdesc_s *devdesc,
 
   /* Pick off the class ID info */
 
-  id->base     = devdesc->class;
+  id->base     = devdesc->classid;
   id->subclass = devdesc->subclass;
   id->proto    = devdesc->protocol;
 
@@ -194,7 +194,7 @@ static inline int usbhost_configdesc(const uint8_t *configdesc, int cfglen,
            */
  
           DEBUGASSERT(remaining >= sizeof(struct usb_ifdesc_s));
-          id->base     = ifdesc->class;
+          id->base     = ifdesc->classid;
           id->subclass = ifdesc->subclass;
           id->proto    = ifdesc->protocol;
           uvdbg("class:%d subclass:%d protocol:%d\n",

nuttx/drivers/usbhost/usbhost_hidkbd.c

@@ -255,7 +255,9 @@ static inline int usbhost_devinit(FAR struct usbhost_state_s *priv);
 static inline uint16_t usbhost_getle16(const uint8_t *val);
 static inline void usbhost_putle16(uint8_t *dest, uint16_t val);
 static inline uint32_t usbhost_getle32(const uint8_t *val);
+#if 0 /* Not used */
 static void usbhost_putle32(uint8_t *dest, uint32_t val);
+#endif
 
 /* Transfer descriptor memory management */
 
@@ -701,7 +703,7 @@ static int usbhost_kbdpoll(int argc, char *argv[])
 #if defined(CONFIG_DEBUG_USB) && defined(CONFIG_DEBUG_VERBOSE)
   unsigned int                npolls = 0;
 #endif
-  unsigned int                nerrors;
+  unsigned int                nerrors = 0;
   int                         ret;
 
   uvdbg("Started\n");
@@ -1381,6 +1383,7 @@ static inline uint32_t usbhost_getle32(const uint8_t *val)
  *
  ****************************************************************************/
 
+#if 0 /* Not used */
 static void usbhost_putle32(uint8_t *dest, uint32_t val)
 {
   /* Little endian means LS halfword first in byte stream */
@@ -1388,6 +1391,7 @@ static void usbhost_putle32(uint8_t *dest, uint32_t val)
   usbhost_putle16(dest, (uint16_t)(val & 0xffff));
   usbhost_putle16(dest+2, (uint16_t)(val >> 16));
 }
+#endif
 
 /****************************************************************************
  * Name: usbhost_tdalloc

nuttx/drivers/usbhost/usbhost_storage.c

@@ -1,8 +1,8 @@
 /****************************************************************************
  * drivers/usbhost/usbhost_storage.c
  *
- *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2010-2012 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -1949,41 +1949,48 @@ static ssize_t usbhost_read(FAR struct inode *inode, unsigned char *buffer,
       cbw = usbhost_cbwalloc(priv);
       if (cbw)
         {
-          /* Assume some device failure */
+          /* Loop in the event that EAGAIN is returned (mean that the
+           * transaction was NAKed and we should try again.
+           */
 
-          ret = -ENODEV;
+          do
-
-          /* Construct and send the CBW */
- 
-          usbhost_readcbw(startsector, priv->blocksize, nsectors, cbw);
-          result = DRVR_TRANSFER(priv->drvr, priv->bulkout,
-                                 (uint8_t*)cbw, USBMSC_CBW_SIZEOF);
-          if (result == OK)
             {
-              /* Receive the user data */
+              /* Assume some device failure */
 
-              result = DRVR_TRANSFER(priv->drvr, priv->bulkin,
+              ret = -ENODEV;
-                                     buffer, priv->blocksize * nsectors);
+
+              /* Construct and send the CBW */
+
+              usbhost_readcbw(startsector, priv->blocksize, nsectors, cbw);
+              result = DRVR_TRANSFER(priv->drvr, priv->bulkout,
+                                     (uint8_t*)cbw, USBMSC_CBW_SIZEOF);
               if (result == OK)
                 {
-                  /* Receive the CSW */
+                  /* Receive the user data */
 
                   result = DRVR_TRANSFER(priv->drvr, priv->bulkin,
-                                         priv->tbuffer, USBMSC_CSW_SIZEOF);
+                                         buffer, priv->blocksize * nsectors);
                   if (result == OK)
                     {
-                      FAR struct usbmsc_csw_s *csw;
+                      /* Receive the CSW */
 
-                      /* Check the CSW status */
+                      result = DRVR_TRANSFER(priv->drvr, priv->bulkin,
-
+                                             priv->tbuffer, USBMSC_CSW_SIZEOF);
-                      csw = (FAR struct usbmsc_csw_s *)priv->tbuffer;
+                      if (result == OK)
-                      if (csw->status == 0)
                         {
-                          ret = nsectors;
+                          FAR struct usbmsc_csw_s *csw;
+
+                          /* Check the CSW status */
+
+                          csw = (FAR struct usbmsc_csw_s *)priv->tbuffer;
+                          if (csw->status == 0)
+                            {
+                              ret = nsectors;
+                            }
                         }
                     }
                 }
-            }
+            } while (result == -EAGAIN);
         }
 
       usbhost_givesem(&priv->exclsem);

nuttx/include/nuttx/usb/usbhost.h

@@ -1,7 +1,7 @@
 /************************************************************************************
  * include/nuttx/usb/usbhost.h
  *
- *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2010-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * References:
@@ -284,7 +284,7 @@
  *   Some hardware supports special memory in which request and descriptor data can
  *   be accessed more efficiently.  This method provides a mechanism to allocate
  *   the request/descriptor memory.  If the underlying hardware does not support
- *   such "special" memory, this functions may simply map to malloc.
+ *   such "special" memory, this functions may simply map to kmalloc.
  *
  *   This interface was optimized under a particular assumption.  It was assumed
  *   that the driver maintains a pool of small, pre-allocated buffers for descriptor
@@ -317,7 +317,7 @@
  *   Some hardware supports special memory in which request and descriptor data can
  *   be accessed more efficiently.  This method provides a mechanism to free that
  *   request/descriptor memory.  If the underlying hardware does not support
- *   such "special" memory, this functions may simply map to free().
+ *   such "special" memory, this functions may simply map to kfree().
  *
  * Input Parameters:
  *   drvr - The USB host driver instance obtained as a parameter from the call to
@@ -342,7 +342,7 @@
  *   Some hardware supports special memory in which larger IO buffers can
  *   be accessed more efficiently.  This method provides a mechanism to allocate
  *   the request/descriptor memory.  If the underlying hardware does not support
- *   such "special" memory, this functions may simply map to malloc.
+ *   such "special" memory, this functions may simply map to kmalloc.
  *
  *   This interface differs from DRVR_ALLOC in that the buffers are variable-sized.
  *
@@ -371,7 +371,7 @@
  *   Some hardware supports special memory in which IO data can  be accessed more
  *   efficiently.  This method provides a mechanism to free that IO buffer
  *   memory.  If the underlying hardware does not support such "special" memory,
- *   this functions may simply map to free().
+ *   this functions may simply map to kfree().
  *
  * Input Parameters:
  *   drvr - The USB host driver instance obtained as a parameter from the call to
@@ -448,7 +448,13 @@
  *
  * Returned Values:
  *   On success, zero (OK) is returned. On a failure, a negated errno value is
- *   returned indicating the nature of the failure
+ *   returned indicating the nature of the failure:
+ *
+ *     EAGAIN - If devices NAKs the transfer (or NYET or other error where
+ *              it may be appropriate to restart the entire transaction).
+ *     EPERM  - If the endpoint stalls
+ *     EIO    - On a TX or data toggle error
+ *     EPIPE  - Overrun errors
  *
  * Assumptions:
  *   This function will *not* be called from an interrupt handler.
@@ -553,7 +559,7 @@ struct usbhost_class_s
 };
 
 /* This structure describes one endpoint.  It is used as an input to the
- * allocep() method.  Most of this information comes from the endpoint
+ * epalloc() method.  Most of this information comes from the endpoint
  * descriptor.
  */
 
@@ -562,12 +568,12 @@ struct usbhost_epdesc_s
   uint8_t  addr;         /* Endpoint address */
   bool     in;           /* Direction: true->IN */
   uint8_t  funcaddr;     /* USB address of function containing endpoint */
-  uint8_t  xfrtype;      /* Transfer type.  See SB_EP_ATTR_XFER_* in usb.h */
+  uint8_t  xfrtype;      /* Transfer type.  See USB_EP_ATTR_XFER_* in usb.h */
   uint8_t  interval;     /* Polling interval */
   uint16_t mxpacketsize; /* Max packetsize */
 };
 
-/* This type represents one endpoint configured by the allocep() method.
+/* This type represents one endpoint configured by the epalloc() method.
  * The actual form is know only internally to the USB host controller
  * (for example, for an OHCI driver, this would probably be a pointer
  * to an endpoint descriptor).
@@ -615,7 +621,7 @@ struct usbhost_driver_s
    * be accessed more efficiently.  The following methods provide a mechanism
    * to allocate and free the transfer descriptor memory.  If the underlying
    * hardware does not support such "special" memory, these functions may
-   * simply map to malloc and free.
+   * simply map to kmalloc and kfree.
    *
    * This interface was optimized under a particular assumption.  It was assumed
    * that the driver maintains a pool of small, pre-allocated buffers for descriptor
@@ -630,7 +636,7 @@ struct usbhost_driver_s
   /*   Some hardware supports special memory in which larger IO buffers can
    *   be accessed more efficiently.  This method provides a mechanism to allocate
    *   the request/descriptor memory.  If the underlying hardware does not support
-   *   such "special" memory, this functions may simply map to malloc.
+   *   such "special" memory, this functions may simply map to kmalloc.
    *
    *   This interface differs from DRVR_ALLOC in that the buffers are variable-sized.
    */

nuttx/include/semaphore.h

@@ -60,16 +60,16 @@ extern "C" {
  * Public Type Declarations
  ****************************************************************************/
 
-/* This structure contains the holder of a semaphore */
+/* This structure contains information about the holder of a semaphore */
 
 #ifdef CONFIG_PRIORITY_INHERITANCE
 struct semholder_s
 {
 #if CONFIG_SEM_PREALLOCHOLDERS > 0
-  struct semholder_s *flink;    /* Implements singly linked list */
+  struct semholder_s *flink;     /* Implements singly linked list */
 #endif
-  void   *holder;               /* Holder TCB (actual type is _TCB) */
+  void *htcb;                    /* Holder TCB (actual type is _TCB) */
-  int16_t counts;               /* Number of counts owned by this holder */
+  int16_t counts;                /* Number of counts owned by this holder */
 };
 
 #if CONFIG_SEM_PREALLOCHOLDERS > 0
@@ -83,12 +83,21 @@ struct semholder_s
 
 struct sem_s
 {
-  int16_t semcount;             /* >0 -> Num counts available */
+  int16_t semcount;              /* >0 -> Num counts available */
-                                /* <0 -> Num tasks waiting for semaphore */
+                                 /* <0 -> Num tasks waiting for semaphore */
+  /* If priority inheritance is enabled, then we have to keep track of which
+   * tasks hold references to the semaphore.
+   */
+
 #ifdef CONFIG_PRIORITY_INHERITANCE
-  struct semholder_s hlist;     /* List of holders of semaphore counts */
+# if CONFIG_SEM_PREALLOCHOLDERS > 0
+  FAR struct semholder_s *hhead; /* List of holders of semaphore counts */
+# else
+  struct semholder_s holder;     /* Single holder */
+# endif
 #endif
 };
+
 typedef struct sem_s sem_t;
 
 /* Initializers */

nuttx/lib/semaphore/sem_init.c

@@ -103,16 +103,17 @@ int sem_init(FAR sem_t *sem, int pshared, unsigned int value)
     {
       /* Initialize the seamphore count */
 
-      sem->semcount     = (int16_t)value;
+      sem->semcount      = (int16_t)value;
 
       /* Initialize to support priority inheritance */
 
 #ifdef CONFIG_PRIORITY_INHERITANCE
 #  if CONFIG_SEM_PREALLOCHOLDERS > 0
-      sem->hlist.flink  = NULL;
+      sem->hhead         = NULL;
+#  else
+      sem->holder.htcb   = NULL;
+      sem->holder.counts = 0;
 #  endif
-      sem->hlist.holder = NULL;
-      sem->hlist.counts = 0;
 #endif
       return OK;
     }

nuttx/sched/Kconfig

@@ -204,7 +204,7 @@ config SCHED_ONEXIT_MAX
 
 config DISABLE_OS_API
 	bool "Disable NuttX interfaces"
-	default n
+	default y
 	---help---
 	The following can be used to disable categories of
 	APIs supported by the OS.  If the compiler supports

nuttx/sched/os_start.c

@@ -289,6 +289,18 @@ void os_start(void)
   g_idletcb.flags = TCB_FLAG_TTYPE_KERNEL;
   up_initial_state(&g_idletcb);
 
+  /* Initialize the semaphore facility(if in link).  This has to be done
+   * very early because many subsystems depend upon fully functional
+   * semaphores.
+   */
+
+#ifdef CONFIG_HAVE_WEAKFUNCTIONS
+  if (sem_initialize != NULL)
+#endif
+    {
+      sem_initialize();
+    }
+
   /* Initialize the memory manager */
 
 #ifndef CONFIG_HEAP_BASE
@@ -351,15 +363,6 @@ void os_start(void)
     }
 #endif
 
-  /* Initialize the semaphore facility. (if in link) */
-
-#ifdef CONFIG_HAVE_WEAKFUNCTIONS
-  if (sem_initialize != NULL)
-#endif
-    {
-      sem_initialize();
-    }
-
   /* Initialize the named message queue facility (if in link) */
 
 #ifndef CONFIG_DISABLE_MQUEUE

nuttx/sched/sched_waitpid.c

@@ -178,7 +178,7 @@
 
 pid_t waitpid(pid_t pid, int *stat_loc, int options)
 {
-  _TCB *tcb = sched_gettcb(pid);
+  _TCB *tcb;
   bool mystat;
   int err;
   int ret;
@@ -186,6 +186,7 @@ pid_t waitpid(pid_t pid, int *stat_loc, int options)
   /* Disable pre-emption so that nothing changes in the following tests */
 
   sched_lock();
+  tcb = sched_gettcb(pid);
   if (!tcb)
     {
       err = ECHILD;

nuttx/sched/sem_holder.c

@@ -99,32 +99,31 @@ static inline FAR struct semholder_s *sem_allocholder(sem_t *sem)
    * used to implement mutexes.
    */
 
-  if (!sem->hlist.holder)
+#if CONFIG_SEM_PREALLOCHOLDERS > 0
+  pholder = g_freeholders;
+  if (pholder)
     {
-      pholder          = &sem->hlist;
+      /* Remove the holder from the free list an put it into the semaphore's holder list */
+
+      g_freeholders    = pholder->flink;
+      pholder->flink   = sem->hhead;
+      sem->hhead       = pholder;
+
+      /* Make sure the initial count is zero */
+
       pholder->counts  = 0;
     }
+#else
+  if (!sem->holder.htcb)
+    {
+      pholder          = &sem->holder;
+      pholder->counts  = 0;
+    }
+#endif
   else
     {
-#if CONFIG_SEM_PREALLOCHOLDERS > 0
-      pholder = g_freeholders;
-      if (pholder)
-        {
-          /* Remove the holder from the free list an put it into the semaphore's holder list */
-
-          g_freeholders    = pholder->flink;
-          pholder->flink   = sem->hlist.flink;
-          sem->hlist.flink = pholder;
-
-          /* Make sure the initial count is zero */
-
-          pholder->counts  = 0;
-        }
-      else
-#else
-      pholder = NULL;
-#endif
       sdbg("Insufficient pre-allocated holders\n");
+      pholder = NULL;
     }
 
   return pholder;
@@ -140,12 +139,13 @@ static FAR struct semholder_s *sem_findholder(sem_t *sem, FAR _TCB *htcb)
 
   /* Try to find the holder in the list of holders associated with this semaphore */
 
-  pholder = &sem->hlist;
 #if CONFIG_SEM_PREALLOCHOLDERS > 0
-  for (; pholder; pholder = pholder->flink)
+  for (pholder = sem->hhead; pholder; pholder = pholder->flink)
+#else
+  pholder = &sem->holder;
 #endif
     {
-      if (pholder->holder == htcb)
+      if (pholder->htcb == htcb)
         {
           /* Got it! */
 
@@ -186,31 +186,33 @@ static inline void sem_freeholder(sem_t *sem, FAR struct semholder_s *pholder)
 
   /* Release the holder and counts */
 
-  pholder->holder = 0;
+  pholder->htcb   = NULL;
   pholder->counts = 0;
 
 #if CONFIG_SEM_PREALLOCHOLDERS > 0
-  /* If this is the holder inside the semaphore, then do nothing more */
+  /* Search the list for the matching holder */
 
-  if (pholder != &sem->hlist)
+  for (prev = NULL, curr = sem->hhead;
+       curr && curr != pholder;
+       prev = curr, curr = curr->flink);
+
+  if (curr)
     {
-      /* Otherwise, search the list for the matching holder */
+      /* Remove the holder from the list */
 
-      for (prev = &sem->hlist, curr = sem->hlist.flink;
+      if (prev)
-           curr && curr != pholder;
-           prev = curr, curr = curr->flink);
-
-      if (curr)
         {
-          /* Remove the holder from the list */
-
           prev->flink = pholder->flink;
-
-          /* And put it in the free list */
-
-          pholder->flink = g_freeholders;
-          g_freeholders  = pholder;
         }
+      else
+        {
+          sem->hhead = pholder->flink;
+        }
+
+      /* And put it in the free list */
+
+      pholder->flink = g_freeholders;
+      g_freeholders  = pholder;
     }
 #endif
 }
@@ -221,14 +223,16 @@ static inline void sem_freeholder(sem_t *sem, FAR struct semholder_s *pholder)
 
 static int sem_foreachholder(FAR sem_t *sem, holderhandler_t handler, FAR void *arg)
 {
-  FAR struct semholder_s *pholder = &sem->hlist;
+  FAR struct semholder_s *pholder;
 #if CONFIG_SEM_PREALLOCHOLDERS > 0
   FAR struct semholder_s *next;
 #endif
   int ret = 0;
 
 #if CONFIG_SEM_PREALLOCHOLDERS > 0
-  for (; pholder && ret == 0; pholder = next)
+  for (pholder = sem->hhead; pholder && ret == 0; pholder = next)
+#else
+  pholder = &sem->holder;
 #endif
     {
 #if CONFIG_SEM_PREALLOCHOLDERS > 0
@@ -238,7 +242,7 @@ static int sem_foreachholder(FAR sem_t *sem, holderhandler_t handler, FAR void *
 #endif
       /* The initial "built-in" container may hold a NULL holder */
 
-      if (pholder->holder)
+      if (pholder->htcb)
         {
           /* Call the handler */
 
@@ -268,7 +272,7 @@ static int sem_recoverholders(FAR struct semholder_s *pholder, FAR sem_t *sem, F
 static int sem_boostholderprio(FAR struct semholder_s *pholder,
                                FAR sem_t *sem, FAR void *arg)
 {
-  FAR _TCB *htcb = (FAR _TCB *)pholder->holder;
+  FAR _TCB *htcb = (FAR _TCB *)pholder->htcb;
   FAR _TCB *rtcb = (FAR _TCB*)arg;
 
   /* Make sure that the thread is still active.  If it exited without releasing
@@ -371,7 +375,7 @@ static int sem_boostholderprio(FAR struct semholder_s *pholder,
 static int sem_verifyholder(FAR struct semholder_s *pholder, FAR sem_t *sem, FAR void *arg)
 {
 #if 0 // Need to revisit this, but these assumptions seem to be untrue -- OR there is a bug???
-  FAR _TCB *htcb = (FAR _TCB *)pholder->holder;
+  FAR _TCB *htcb = (FAR _TCB *)pholder->htcb;
 
   /* Called after a semaphore has been released (incremented), the semaphore
    * could is non-negative, and there is no thread waiting for the count.
@@ -396,9 +400,9 @@ static int sem_dumpholder(FAR struct semholder_s *pholder, FAR sem_t *sem, FAR v
 {
 #if CONFIG_SEM_PREALLOCHOLDERS > 0
   dbg("  %08x: %08x %08x %04x\n",
-      pholder, pholder->flink, pholder->holder, pholder->counts);
+      pholder, pholder->flink, pholder->htcb, pholder->counts);
 #else
-  dbg("  %08x: %08x %04x\n", pholder, pholder->holder, pholder->counts);
+  dbg("  %08x: %08x %04x\n", pholder, pholder->htcb, pholder->counts);
 #endif
   return 0;
 }
@@ -410,7 +414,7 @@ static int sem_dumpholder(FAR struct semholder_s *pholder, FAR sem_t *sem, FAR v
 
 static int sem_restoreholderprio(FAR struct semholder_s *pholder, FAR sem_t *sem, FAR void *arg)
 {
-  FAR _TCB *htcb = (FAR _TCB *)pholder->holder;
+  FAR _TCB *htcb = (FAR _TCB *)pholder->htcb;
 #if CONFIG_SEM_NNESTPRIO > 0
   FAR _TCB *stcb = (FAR _TCB *)arg;
   int rpriority;
@@ -510,6 +514,7 @@ static int sem_restoreholderprio(FAR struct semholder_s *pholder, FAR sem_t *sem
                     {
                       htcb->pend_reprios[i] = htcb->pend_reprios[j];
                     }
+
                    htcb->npend_reprio = j;
                    break;
                 }
@@ -534,7 +539,7 @@ static int sem_restoreholderprio(FAR struct semholder_s *pholder, FAR sem_t *sem
 static int sem_restoreholderprioA(FAR struct semholder_s *pholder, FAR sem_t *sem, FAR void *arg)
 {
   FAR _TCB *rtcb = (FAR _TCB*)g_readytorun.head;
-  if (pholder->holder != rtcb)
+  if (pholder->htcb != rtcb)
     {
       return sem_restoreholderprio(pholder, sem, arg);
     }
@@ -545,7 +550,7 @@ static int sem_restoreholderprioA(FAR struct semholder_s *pholder, FAR sem_t *se
 static int sem_restoreholderprioB(FAR struct semholder_s *pholder, FAR sem_t *sem, FAR void *arg)
 {
   FAR _TCB *rtcb = (FAR _TCB*)g_readytorun.head;
-  if (pholder->holder == rtcb)
+  if (pholder->htcb == rtcb)
     {
       (void)sem_restoreholderprio(pholder, sem, arg);
       return 1;
@@ -586,6 +591,7 @@ void sem_initholders(void)
     {
       g_holderalloc[i].flink = &g_holderalloc[i+1];
     }
+
   g_holderalloc[CONFIG_SEM_PREALLOCHOLDERS-1].flink = NULL;
 #endif
 }
@@ -609,8 +615,8 @@ void sem_initholders(void)
 
 void sem_destroyholder(FAR sem_t *sem)
 {
-  /* It is an error is a semaphore is destroyed while there are any holders
+  /* It is an error if a semaphore is destroyed while there are any holders
-   * (except perhaps the thread releas the semaphore itself).  Hmmm.. but
+   * (except perhaps the thread release the semaphore itself).  Hmmm.. but
    * we actually have to assume that the caller knows what it is doing because
    * could have killed another thread that is the actual holder of the semaphore.
    * We cannot make any assumptions about the state of the semaphore or the
@@ -621,18 +627,18 @@ void sem_destroyholder(FAR sem_t *sem)
    */
 
 #if CONFIG_SEM_PREALLOCHOLDERS > 0
-  if (sem->hlist.holder || sem->hlist.flink)
+  if (sem->hhead)
     {
       sdbg("Semaphore destroyed with holders\n");
       (void)sem_foreachholder(sem, sem_recoverholders, NULL);
     }
 #else
-  if (sem->hlist.holder)
+  if (sem->holder.htcb)
     {
       sdbg("Semaphore destroyed with holder\n");
     }
 
-  sem->hlist.holder = NULL;
+  sem->holder.htcb = NULL;
 #endif
 }
 
@@ -664,7 +670,7 @@ void sem_addholder(FAR sem_t *sem)
     {
       /* Then set the holder and increment the number of counts held by this holder */
 
-      pholder->holder = rtcb;
+      pholder->htcb = rtcb;
       pholder->counts++;
     }
 }

nuttx/tools/mkconfig.c

@@ -174,6 +174,12 @@ int main(int argc, char **argv, char **envp)
   printf("#ifndef CONFIG_MM_REGIONS\n");
   printf("# define CONFIG_MM_REGIONS 1\n");
   printf("#endif\n\n");
+  printf("/* If the end of RAM is not specified then it is assumed to be the beginning\n");
+  printf(" * of RAM plus the RAM size.\n");
+  printf(" */\n\n");
+  printf("#ifndef CONFIG_DRAM_END\n");
+  printf("# define CONFIG_DRAM_END (CONFIG_DRAM_START+CONFIG_DRAM_SIZE)\n");
+  printf("#endif\n\n");
   printf("/* If no file streams are configured, then make certain that buffered I/O\n");
   printf(" * support is disabled\n");
   printf(" */\n\n");
@@ -256,6 +262,7 @@ int main(int argc, char **argv, char **envp)
   printf("# undef CONFIG_DEBUG_USB\n");
   printf("# undef CONFIG_DEBUG_GRAPHICS\n");
   printf("# undef CONFIG_DEBUG_GPIO\n");
+  printf("# undef CONFIG_DEBUG_SPI\n");
   printf("# undef CONFIG_DEBUG_STACK\n");
   printf("#endif\n\n");
   printf("#endif /* __INCLUDE_NUTTX_CONFIG_H */\n");