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

2026-06-02 03:26:50 +08:00 · 2012-10-21 14:27:36 -06:00
parent 0a0215338a 73521cbc66
commit 64ba024db2
79 changed files with 2894 additions and 3762 deletions
@@ -38,3 +38,4 @@ Firmware.sublime-workspace
 nsh_romfsimg.h
 cscope.out
 .configX-e
 nuttx-export.zip
@@ -279,14 +279,14 @@
 	* apps/*/Make.defs:  Numerous fixes needed to use the automated
 	  configuration (from Richard Cochran).
-6.22 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+6.22 2012-09-29 Gregory Nutt <gnutt@nuttx.org>
 	* apps/netutils/thttpd/thttpd_cgi.c:  Missing NULL in argv[]
 	  list (contributed by Kate).
 	* apps/nshlib/nsh_parse.c: CONFIG_NSH_DISABLE_WGET not CONFIG_NSH_DISABLE_GET
 	  in one location (found by Kate).
 	* apps/examples/ostest/prioinherit.c:  Limit the number of test
-	  threds to no more than 3 of each priority.  Bad things happen
+	  threads to no more than 3 of each priority.  Bad things happen
 	  when the existing logic tried to created several hundred test
 	  treads!
 	* apps/nshlib/nsh.h:  Both CONFIG_LIBC_STRERROR and CONFIG_NSH_STRERROR
@@ -341,7 +341,30 @@
 	* apps/netutils/webserver/httpd.c:  Add support for Keep-alive connections
 	  (from Kate).
 	* apps/NxWidget/Kconfig:  This is a kludge.  I created this NxWidgets
-	  directory that ONLY contains Kconfig.  NxWidgets does not like in
+	  directory that ONLY contains Kconfig.  NxWidgets does not live in
 	  either the nuttx/ or the apps/ source trees.  This kludge makes it
 	  possible to configure NxWidgets/NxWM without too much trouble (with
 	  the tradeoff being a kind ugly structure and some maintenance issues).
 	* apps/examples/Make.defs: Missing support for apps/examples/watchdog.
 	* apps/NxWidgets/Kconfig:  Add option to turn on the memory monitor
 	  feature of the NxWidgets/NxWM unit tests.
 6.23 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
 	* vsn: Moved all NSH commands from vsn/ to system/.  Deleted the vsn/
 	  directory.
 	* Makefile:  Change order of includes when CONFIG_NEWCONFIG=y.  In
 	  that case, namedapp must be included first so that the namedapp
 	  context is established first.  If the namedapp context is established
 	  later, it will overwrite any existing namedapp_list.h and nameapp_proto.h
 	  files.
 	* CONFIG_EXAMPLES_*: To make things consistent, changed all occurrences
 	  of CONFIG_EXAMPLE_* to CONFIG_EXAMPLES_*.
 	* Kconfig:  Fleshed out apps/examples/adc/Kconfig and apps/examples/wget/Kconfig.
 	  There are still a LOT of empty, stub Kconfig files.
 	* Kconfig:  Fleshed out apps/examples/buttons/Kconfig. There are still a LOT
 	  of empty, stub Kconfig files.
 	* apps/netutils/webserver/httpd.c:  Fix a bug that I introduced in
 	  recent check-ins (Darcy Gong).
 	* apps/netutils/webclient/webclient.c:  Fix another but that I introduced
 	  when I was trying to add correct handling for loss of connection (Darcy Gong)
@@ -34,7 +34,3 @@ endmenu
 menu "System NSH Add-Ons"
 source "$APPSDIR/system/Kconfig"
 endmenu
 menu "VSN board Add-Ons"
 source "$APPSDIR/vsn/Kconfig"
 endmenu
@@ -46,10 +46,10 @@ APPDIR = ${shell pwd}
 #   appears in this directory as .config)
 # SUBDIRS is the list of all directories containing Makefiles.  It is used
 #   only for cleaning. namedapp must always be the first in the list.  This
-#   list can be extended by the .config file as well
+#   list can be extended by the .config file as well.
 CONFIGURED_APPS =
-#SUBDIRS = examples graphics interpreters modbus namedapp nshlib netutils system vsn
+#SUBDIRS = examples graphics interpreters modbus namedapp nshlib netutils system
 ALL_SUBDIRS = $(dir $(shell /usr/bin/find . -name Makefile))
 SUBDIRS = namedapp/ $(filter-out ./ ./namedapp/ ./examples/,$(ALL_SUBDIRS))
@@ -73,15 +73,16 @@ SUBDIRS = namedapp/ $(filter-out ./ ./namedapp/ ./examples/,$(ALL_SUBDIRS))
 ifeq ($(CONFIG_NUTTX_NEWCONFIG),y)
 # namedapp/Make.defs must be included first
 -include namedapp/Make.defs
 -include examples/Make.defs
 -include graphics/Make.defs
 -include interpreters/Make.defs
 -include modbus/Make.defs
 -include namedapp/Make.defs
 -include netutils/Make.defs
 -include nshlib/Make.defs
 -include system/Make.defs
 -include vsn/Make.defs
 # INSTALLED_APPS is the list of currently available application directories.  It
 # is the same as CONFIGURED_APPS, but filtered to exclude any non-existent
@@ -107,7 +107,7 @@ NuttX is configured.  .config is included in the toplevel apps/Makefile.
 As a minimum, this configuration file must define files to add to the
 CONFIGURED_APPS list like:
-  CONFIGURED_APPS  += examples/hello vsn/poweroff
+  CONFIGURED_APPS  += examples/hello system/poweroff
 Named Start-Up main() function
 ------------------------------
@@ -74,7 +74,7 @@ static int	cdev_poll(struct file *filp, struct pollfd *fds, bool setup);
 * Note that we use the GNU extension syntax here because we don't get designated
 * initialisers in gcc 4.6.
 */
-static const struct file_operations cdev_fops = {
+const struct file_operations CDev::fops = {
 open	: cdev_open,
 close	: cdev_close,
 read	: cdev_read,
@@ -118,7 +118,7 @@ CDev::init()
 		goto out;
 	// now register the driver
-	ret = register_driver(_devname, &cdev_fops, 0666, (void *)this);
+	ret = register_driver(_devname, &fops, 0666, (void *)this);
 	if (ret != OK)
 		goto out;
@@ -286,6 +286,12 @@ public:
       bool            is_open() { return _open_count > 0; }
 protected:
 	/**
 	 * Pointer to the default cdev file operations table; useful for
 	 * registering clone devices etc.
 	 */
 	static const struct file_operations	fops;
 	/**
 	 * Check the current state of the device for poll events from the
 	 * perspective of the file.
@@ -58,7 +58,7 @@ ifeq ($(CONFIG_EXAMPLES_DHCPD),y)
 CONFIGURED_APPS += examples/dhcpd
 endif
-ifeq ($(CONFIG_EXAMPLE_DISCOVER),y)
+ifeq ($(CONFIG_EXAMPLES_DISCOVER),y)
 CONFIGURED_APPS += examples/discover
 endif
@@ -218,6 +218,10 @@ ifeq ($(CONFIG_EXAMPLES_USBTERM),y)
 CONFIGURED_APPS += examples/usbterm
 endif
 ifeq ($(CONFIG_EXAMPLES_WATCHDOG),y)
 CONFIGURED_APPS += examples/watchdog
 endif
 ifeq ($(CONFIG_EXAMPLES_WGET),y)
 CONFIGURED_APPS += examples/wget
 endif
@@ -61,19 +61,19 @@ examples/buttons
  specific button interfaces.  Configuration options:
  CONFIG_ARCH_BUTTONS                 - Must be defined for button support
-  CONFIG_EXAMPLE_BUTTONS_MIN         - Lowest button number (MIN=0)
+  CONFIG_EXAMPLES_BUTTONS_MIN         - Lowest button number (MIN=0)
-  CONFIG_EXAMPLE_BUTTONS_MAX         - Highest button number (MAX=7)
+  CONFIG_EXAMPLES_BUTTONS_MAX         - Highest button number (MAX=7)
  CONFIG_ARCH_IRQBUTTONS              - Must be defined for interrupting button support
-  CONFIG_EXAMPLE_IRQBUTTONS_MIN      - Lowest interrupting button number (MIN=0)
+  CONFIG_EXAMPLES_IRQBUTTONS_MIN      - Lowest interrupting button number (MIN=0)
-  CONFIG_EXAMPLE_IRQBUTTONS_MAX      - Highest interrupting button number (MAX=7)
+  CONFIG_EXAMPLES_IRQBUTTONS_MAX      - Highest interrupting button number (MAX=7)
  Name strings for buttons:
-    CONFIG_EXAMPLE_BUTTONS_NAME0, CONFIG_EXAMPLE_BUTTONS_NAME1,
+    CONFIG_EXAMPLES_BUTTONS_NAME0, CONFIG_EXAMPLES_BUTTONS_NAME1,
-    CONFIG_EXAMPLE_BUTTONS_NAME2, CONFIG_EXAMPLE_BUTTONS_NAME3,
+    CONFIG_EXAMPLES_BUTTONS_NAME2, CONFIG_EXAMPLES_BUTTONS_NAME3,
-    CONFIG_EXAMPLE_BUTTONS_NAME4, CONFIG_EXAMPLE_BUTTONS_NAME5,
+    CONFIG_EXAMPLES_BUTTONS_NAME4, CONFIG_EXAMPLES_BUTTONS_NAME5,
-    CONFIG_EXAMPLE_BUTTONS_NAME6, CONFIG_EXAMPLE_BUTTONS_NAME7,
+    CONFIG_EXAMPLES_BUTTONS_NAME6, CONFIG_EXAMPLES_BUTTONS_NAME7,
  Additional architecture-/board- specific configuration settings may also
  be required.
@@ -260,10 +260,10 @@ examples/dhcpd
                                     configuration settings)
    CONFIG_NET_BROADCAST=y         - UDP broadcast support is needed.
-    CONFIG_EXAMPLE_DHCPD_NOMAC     - (May be defined to use software assigned MAC)
+    CONFIG_EXAMPLES_DHCPD_NOMAC     - (May be defined to use software assigned MAC)
-    CONFIG_EXAMPLE_DHCPD_IPADDR    - Target IP address
+    CONFIG_EXAMPLES_DHCPD_IPADDR    - Target IP address
-    CONFIG_EXAMPLE_DHCPD_DRIPADDR  - Default router IP addess
+    CONFIG_EXAMPLES_DHCPD_DRIPADDR  - Default router IP addess
-    CONFIG_EXAMPLE_DHCPD_NETMASK   - Network mask
+    CONFIG_EXAMPLES_DHCPD_NETMASK   - Network mask
  See also CONFIG_NETUTILS_DHCPD_* settings described elsewhere
  and used in netutils/dhcpd/dhcpd.c. These settings are required
@@ -291,11 +291,11 @@ examples/discover
  NuttX configuration settings:
-    CONFIG_EXAMPLE_DISCOVER_DHCPC - DHCP Client
+    CONFIG_EXAMPLES_DISCOVER_DHCPC - DHCP Client
-    CONFIG_EXAMPLE_DISCOVER_NOMAC - Use canned MAC address
+    CONFIG_EXAMPLES_DISCOVER_NOMAC - Use canned MAC address
-    CONFIG_EXAMPLE_DISCOVER_IPADDR - Target IP address
+    CONFIG_EXAMPLES_DISCOVER_IPADDR - Target IP address
-    CONFIG_EXAMPLE_DISCOVER_DRIPADDR - Router IP address
+    CONFIG_EXAMPLES_DISCOVER_DRIPADDR - Router IP address
-    CONFIG_EXAMPLE_DISCOVER_NETMASK - Network Mask
+    CONFIG_EXAMPLES_DISCOVER_NETMASK - Network Mask
 examples/ftpc
 ^^^^^^^^^^^^^
@@ -367,12 +367,12 @@ examples/ftpd
  If CONFIG_EXAMPLES_FTPD_NONETINIT is not defined, then the following may
  be specified to customized the network configuration:
-    CONFIG_EXAMPLE_FTPD_NOMAC - If the hardware has no MAC address of its
+    CONFIG_EXAMPLES_FTPD_NOMAC - If the hardware has no MAC address of its
      own, define this =y to provide a bogus address for testing.
-    CONFIG_EXAMPLE_FTPD_IPADDR - The target IP address.  Default 10.0.0.2
+    CONFIG_EXAMPLES_FTPD_IPADDR - The target IP address.  Default 10.0.0.2
-    CONFIG_EXAMPLE_FTPD_DRIPADDR - The default router address. Default
+    CONFIG_EXAMPLES_FTPD_DRIPADDR - The default router address. Default
      10.0.0.1
-    CONFIG_EXAMPLE_FTPD_NETMASK - The network mask.  Default: 255.255.255.0
+    CONFIG_EXAMPLES_FTPD_NETMASK - The network mask.  Default: 255.255.255.0
  Other required configuration settings:  Of course TCP networking support
  is required.  But here are a couple that are less obvious:
@@ -465,15 +465,15 @@ examples/igmp
  does not do much of value -- Much more is needed in order to verify
  the IGMP features!
-  * CONFIG_EXAMPLE_IGMP_NOMAC
+  * CONFIG_EXAMPLES_IGMP_NOMAC
      Set if the hardware has no MAC address; one will be assigned
-  * CONFIG_EXAMPLE_IGMP_IPADDR
+  * CONFIG_EXAMPLES_IGMP_IPADDR
      Target board IP address
-  * CONFIG_EXAMPLE_IGMP_DRIPADDR
+  * CONFIG_EXAMPLES_IGMP_DRIPADDR
      Default router address
-  * CONFIG_EXAMPLE_IGMP_NETMASK
+  * CONFIG_EXAMPLES_IGMP_NETMASK
      Network mask
-  * CONFIG_EXAMPLE_IGMP_GRPADDR
+  * CONFIG_EXAMPLES_IGMP_GRPADDR
      Multicast group address
  Applications using this example will need to provide an appconfig
@@ -1023,10 +1023,10 @@ examples/poll
  CONFIG_NSOCKET_DESCRIPTORS        - Defined to be greater than 0
  CONFIG_NET_NTCP_READAHEAD_BUFFERS - Defined to be greater than zero
-  CONFIG_EXAMPLE_POLL_NOMAC         - (May be defined to use software assigned MAC)
+  CONFIG_EXAMPLES_POLL_NOMAC         - (May be defined to use software assigned MAC)
-  CONFIG_EXAMPLE_POLL_IPADDR        - Target IP address
+  CONFIG_EXAMPLES_POLL_IPADDR        - Target IP address
-  CONFIG_EXAMPLE_POLL_DRIPADDR      - Default router IP addess
+  CONFIG_EXAMPLES_POLL_DRIPADDR      - Default router IP addess
-  CONFIG_EXAMPLE_POLL_NETMASK       - Network mask
+  CONFIG_EXAMPLES_POLL_NETMASK       - Network mask
  In order to for select to work with incoming connections, you
  must also select:
@@ -1163,14 +1163,14 @@ examples/sendmail
 Settings unique to this example include:
-    CONFIG_EXAMPLE_SENDMAIL_NOMAC     - May be defined to use software assigned MAC (optional)
+    CONFIG_EXAMPLES_SENDMAIL_NOMAC     - May be defined to use software assigned MAC (optional)
-    CONFIG_EXAMPLE_SENDMAIL_IPADDR    - Target IP address (required)
+    CONFIG_EXAMPLES_SENDMAIL_IPADDR    - Target IP address (required)
-    CONFIG_EXAMPLE_SENDMAIL_DRIPADDR  - Default router IP addess (required)
+    CONFIG_EXAMPLES_SENDMAIL_DRIPADDR  - Default router IP addess (required)
-    CONFIG_EXAMPLE_SENDMAILT_NETMASK  - Network mask (required)
+    CONFIG_EXAMPLES_SENDMAILT_NETMASK  - Network mask (required)
-    CONFIG_EXAMPLE_SENDMAIL_RECIPIENT - The recipient of the email (required)
+    CONFIG_EXAMPLES_SENDMAIL_RECIPIENT - The recipient of the email (required)
-    CONFIG_EXAMPLE_SENDMAIL_SENDER    - Optional. Default: "nuttx-testing@example.com"
+    CONFIG_EXAMPLES_SENDMAIL_SENDER    - Optional. Default: "nuttx-testing@example.com"
-    CONFIG_EXAMPLE_SENDMAIL_SUBJECT   - Optional. Default: "Testing SMTP from NuttX"
+    CONFIG_EXAMPLES_SENDMAIL_SUBJECT   - Optional. Default: "Testing SMTP from NuttX"
-    CONFIG_EXAMPLE_SENDMAIL_BODY   -    Optional. Default: "Test message sent by NuttX"
+    CONFIG_EXAMPLES_SENDMAIL_BODY   -    Optional. Default: "Test message sent by NuttX"
  NOTE: This test has not been verified on the NuttX target environment.
  As of this writing, unit-tested in the Cygwin/Linux host environment.
@@ -1213,12 +1213,12 @@ examples/telnetd
      Default: SCHED_PRIORITY_DEFAULT
    CONFIG_EXAMPLES_TELNETD_CLIENTSTACKSIZE - Stack size allocated for the
      Telnet client. Default: 2048
-    CONFIG_EXAMPLE_TELNETD_NOMAC - If the hardware has no MAC address of its
+    CONFIG_EXAMPLES_TELNETD_NOMAC - If the hardware has no MAC address of its
      own, define this =y to provide a bogus address for testing.
-    CONFIG_EXAMPLE_TELNETD_IPADDR - The target IP address.  Default 10.0.0.2
+    CONFIG_EXAMPLES_TELNETD_IPADDR - The target IP address.  Default 10.0.0.2
-    CONFIG_EXAMPLE_TELNETD_DRIPADDR - The default router address. Default
+    CONFIG_EXAMPLES_TELNETD_DRIPADDR - The default router address. Default
      10.0.0.1
-    CONFIG_EXAMPLE_TELNETD_NETMASK - The network mask.  Default: 255.255.255.0
+    CONFIG_EXAMPLES_TELNETD_NETMASK - The network mask.  Default: 255.255.255.0
  The appconfig file (apps/.config) should include:
@@ -1240,9 +1240,9 @@ examples/thttpd
  CGI programs.  see configs/README.txt for most THTTPD settings.
  In addition to those, this example accepts:
-    CONFIG_EXAMPLE_THTTPD_NOMAC    - (May be defined to use software assigned MAC)
+    CONFIG_EXAMPLES_THTTPD_NOMAC    - (May be defined to use software assigned MAC)
-    CONFIG_EXAMPLE_THTTPD_DRIPADDR - Default router IP addess
+    CONFIG_EXAMPLES_THTTPD_DRIPADDR - Default router IP addess
-    CONFIG_EXAMPLE_THTTPD_NETMASK  - Network mask
+    CONFIG_EXAMPLES_THTTPD_NETMASK  - Network mask
  Applications using this example will need to provide an appconfig
  file in the configuration directory with instruction to build applications
@@ -1335,11 +1335,11 @@ examples/uip
  This is a port of uIP tiny webserver example application.  Settings
  specific to this example include:
-    CONFIG_EXAMPLE_UIP_NOMAC     - (May be defined to use software assigned MAC)
+    CONFIG_EXAMPLES_UIP_NOMAC     - (May be defined to use software assigned MAC)
-    CONFIG_EXAMPLE_UIP_IPADDR    - Target IP address
+    CONFIG_EXAMPLES_UIP_IPADDR    - Target IP address
-    CONFIG_EXAMPLE_UIP_DRIPADDR  - Default router IP addess
+    CONFIG_EXAMPLES_UIP_DRIPADDR  - Default router IP addess
-    CONFIG_EXAMPLE_UIP_NETMASK   - Network mask
+    CONFIG_EXAMPLES_UIP_NETMASK   - Network mask
-    CONFIG_EXAMPLE_UIP_DHCPC     - Select to get IP address via DHCP
+    CONFIG_EXAMPLES_UIP_DHCPC     - Select to get IP address via DHCP
  If you use DHCPC, then some special configuration network options are
  required.  These include:
@@ -1637,11 +1637,11 @@ examples/wget
  A simple web client example.  It will obtain a file from a server using the HTTP
  protocol.  Settings unique to this example include:
-    CONFIG_EXAMPLE_WGET_URL       - The URL of the file to get
+    CONFIG_EXAMPLES_WGET_URL       - The URL of the file to get
-    CONFIG_EXAMPLE_WGET_NOMAC     - (May be defined to use software assigned MAC)
+    CONFIG_EXAMPLES_WGET_NOMAC     - (May be defined to use software assigned MAC)
-    CONFIG_EXAMPLE_WGET_IPADDR    - Target IP address
+    CONFIG_EXAMPLES_WGET_IPADDR    - Target IP address
-    CONFIG_EXAMPLE_WGET_DRIPADDR  - Default router IP addess
+    CONFIG_EXAMPLES_WGET_DRIPADDR  - Default router IP addess
-    CONFIG_EXAMPLE_WGET_NETMASK   - Network mask
+    CONFIG_EXAMPLES_WGET_NETMASK   - Network mask
  This example uses netutils/webclient.  Additional configuration settings apply
  to that code as follows (but built-in defaults are probably OK):
@@ -6,8 +6,32 @@
 config EXAMPLES_ADC
 	bool "ADC example"
 	default n
 	depends on ADC
 	---help---
 		Enable the ADC example
 if EXAMPLES_ADC
 config EXAMPLES_ADC_DEVPATH
 	string "ADC device path"
 	default "/dev/adc0"
 	---help---
 		The default path to the ADC device. Default: /dev/adc0
 config EXAMPLES_ADC_NSAMPLES
 	int "Number of Sample Groups"
 	default 0
 	depends on !NSH_BUILTIN_APPS
 	---help---
 		If NSH_BUILTIN_APPS is defined, then the number of samples is provided
 		on the command line and this value is ignored.  Otherwise, this number
 		of samples is collected and the program terminates.  Default:  0 (samples
 		are collected indefinitely).
 config EXAMPLES_ADC_GROUPSIZE
 	int "Number of Samples per Group"
 	default 4
 	---help---
 		The number of samples to read at once. Default: 4
 endif
@@ -57,6 +57,14 @@
 * Pre-processor Definitions
 ****************************************************************************/
 /* Use CONFIG_EXAMPLES_ADC_NSAMPLES == 0 to mean to collect samples
 * indefinitely.
 */
 #ifndef CONFIG_EXAMPLES_ADC_NSAMPLES
 #  define CONFIG_EXAMPLES_ADC_NSAMPLES 0
 #endif
 /****************************************************************************
 * Private Types
 ****************************************************************************/
@@ -249,7 +257,7 @@ int adc_main(int argc, char *argv[])
      adc_devpath(&g_adcstate, CONFIG_EXAMPLES_ADC_DEVPATH);
-#ifdef CONFIG_EXAMPLES_ADC_NSAMPLES
+#if CONFIG_EXAMPLES_ADC_NSAMPLES > 0
      g_adcstate.count = CONFIG_EXAMPLES_ADC_NSAMPLES;
 #else
      g_adcstate.count = 1;
@@ -267,7 +275,7 @@ int adc_main(int argc, char *argv[])
   * samples that we collect before returning.  Otherwise, we never return
   */
-#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_ADC_NSAMPLES)
+#if defined(CONFIG_NSH_BUILTIN_APPS) || CONFIG_EXAMPLES_ADC_NSAMPLES > 0
  message("adc_main: g_adcstate.count: %d\n", g_adcstate.count);
 #endif
@@ -290,7 +298,7 @@ int adc_main(int argc, char *argv[])
 #if defined(CONFIG_NSH_BUILTIN_APPS)
  for (; g_adcstate.count > 0; g_adcstate.count--)
-#elif defined(CONFIG_EXAMPLES_ADC_NSAMPLES)
+#elif CONFIG_EXAMPLES_ADC_NSAMPLES > 0
  for (g_adcstate.count = 0; g_adcstate.count < CONFIG_EXAMPLES_ADC_NSAMPLES; g_adcstate.count++)
 #else
  for (;;)
@@ -7,7 +7,57 @@ config EXAMPLES_BUTTONS
 	bool "Buttons example"
 	default n
 	---help---
-		Enable the buttons example
+		Enable the buttons example.  May require ARCH_BUTTONS on some boards.
 if EXAMPLES_BUTTONS
 config EXAMPLES_BUTTONS_MIN
 int "Lowest Button Number"
 default 0
 config EXAMPLES_BUTTONS_MAX
 int "Highest Button Number"
 default 7
 if ARCH_IRQBUTTONS 
 config EXAMPLES_IRQBUTTONS_MIN
 int "Lowest Interrupting Button Number"
 default 0
 config EXAMPLES_IRQBUTTONS_MAX
 int "Highest Interrupting Button Number"
 default 7
 config EXAMPLES_BUTTONS_NAME0
 string "Button 0 Name"
 default "Button 0"
 config EXAMPLES_BUTTONS_NAME1
 string "Button 1 Name"
 default "Button 1"
 config EXAMPLES_BUTTONS_NAME2
 string "Button 2 Name"
 default "Button 2"
 config EXAMPLES_BUTTONS_NAME3
 string "Button 3 Name"
 default "Button 3"
 config EXAMPLES_BUTTONS_NAME4
 string "Button 4 Name"
 default "Button 4"
 config EXAMPLES_BUTTONS_NAME5
 string "Button 5 Name"
 default "Button 5"
 config EXAMPLES_BUTTONS_NAME6
 string "Button 6 Name"
 default "Button 6"
 config EXAMPLES_BUTTONS_NAME7
 string "Button 7 Name"
 default "Button 7"
 endif
 endif
@@ -61,60 +61,60 @@
 #  error "CONFIG_ARCH_BUTTONS is not defined in the configuration"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME0
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME0
-#  define CONFIG_EXAMPLE_BUTTONS_NAME0 "BUTTON0"
+#  define CONFIG_EXAMPLES_BUTTONS_NAME0 "BUTTON0"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME1
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME1
-#  define CONFIG_EXAMPLE_BUTTONS_NAME1 "BUTTON1"
+#  define CONFIG_EXAMPLES_BUTTONS_NAME1 "BUTTON1"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME2
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME2
-#  define CONFIG_EXAMPLE_BUTTONS_NAME2 "BUTTON2"
+#  define CONFIG_EXAMPLES_BUTTONS_NAME2 "BUTTON2"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME3
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME3
-#  define CONFIG_EXAMPLE_BUTTONS_NAME3 "BUTTON3"
+#  define CONFIG_EXAMPLES_BUTTONS_NAME3 "BUTTON3"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME4
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME4
-#  define CONFIG_EXAMPLE_BUTTONS_NAME4 "BUTTON4"
+#  define CONFIG_EXAMPLES_BUTTONS_NAME4 "BUTTON4"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME5
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME5
-#  define CONFIG_EXAMPLE_BUTTONS_NAME5 "BUTTON5"
+#  define CONFIG_EXAMPLES_BUTTONS_NAME5 "BUTTON5"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME6
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME6
-#  define CONFIG_EXAMPLE_BUTTONS_NAME6 "BUTTON6"
+#  define CONFIG_EXAMPLES_BUTTONS_NAME6 "BUTTON6"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME7
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME7
-#  define CONFIG_EXAMPLE_BUTTONS_NAME7 "BUTTON7"
+#  define CONFIG_EXAMPLES_BUTTONS_NAME7 "BUTTON7"
 #endif
 #define BUTTON_MIN 0
 #define BUTTON_MAX 7
-#ifndef CONFIG_EXAMPLE_BUTTONS_MIN
+#ifndef CONFIG_EXAMPLES_BUTTONS_MIN
-#  define CONFIG_EXAMPLE_BUTTONS_MIN BUTTON_MIN
+#  define CONFIG_EXAMPLES_BUTTONS_MIN BUTTON_MIN
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_MAX
+#ifndef CONFIG_EXAMPLES_BUTTONS_MAX
-#  define CONFIG_EXAMPLE_BUTTONS_MAX BUTTON_MAX
+#  define CONFIG_EXAMPLES_BUTTONS_MAX BUTTON_MAX
 #endif
-#if CONFIG_EXAMPLE_BUTTONS_MIN > CONFIG_EXAMPLE_BUTTONS_MAX
+#if CONFIG_EXAMPLES_BUTTONS_MIN > CONFIG_EXAMPLES_BUTTONS_MAX
-#  error "CONFIG_EXAMPLE_BUTTONS_MIN > CONFIG_EXAMPLE_BUTTONS_MAX"
+#  error "CONFIG_EXAMPLES_BUTTONS_MIN > CONFIG_EXAMPLES_BUTTONS_MAX"
 #endif
-#if CONFIG_EXAMPLE_BUTTONS_MAX > 7
+#if CONFIG_EXAMPLES_BUTTONS_MAX > 7
-#  error "CONFIG_EXAMPLE_BUTTONS_MAX > 7"
+#  error "CONFIG_EXAMPLES_BUTTONS_MAX > 7"
 #endif
-#ifndef CONFIG_EXAMPLE_IRQBUTTONS_MIN
+#ifndef CONFIG_EXAMPLES_IRQBUTTONS_MIN
-#  define CONFIG_EXAMPLE_IRQBUTTONS_MIN CONFIG_EXAMPLE_BUTTONS_MIN
+#  define CONFIG_EXAMPLES_IRQBUTTONS_MIN CONFIG_EXAMPLES_BUTTONS_MIN
 #endif
-#ifndef CONFIG_EXAMPLE_IRQBUTTONS_MAX
+#ifndef CONFIG_EXAMPLES_IRQBUTTONS_MAX
-#  define CONFIG_EXAMPLE_IRQBUTTONS_MAX CONFIG_EXAMPLE_BUTTONS_MAX
+#  define CONFIG_EXAMPLES_IRQBUTTONS_MAX CONFIG_EXAMPLES_BUTTONS_MAX
 #endif
-#if CONFIG_EXAMPLE_IRQBUTTONS_MIN > CONFIG_EXAMPLE_IRQBUTTONS_MAX
+#if CONFIG_EXAMPLES_IRQBUTTONS_MIN > CONFIG_EXAMPLES_IRQBUTTONS_MAX
-#  error "CONFIG_EXAMPLE_IRQBUTTONS_MIN > CONFIG_EXAMPLE_IRQBUTTONS_MAX"
+#  error "CONFIG_EXAMPLES_IRQBUTTONS_MIN > CONFIG_EXAMPLES_IRQBUTTONS_MAX"
 #endif
-#if CONFIG_EXAMPLE_IRQBUTTONS_MAX > 7
+#if CONFIG_EXAMPLES_IRQBUTTONS_MAX > 7
-#  error "CONFIG_EXAMPLE_IRQBUTTONS_MAX > 7"
+#  error "CONFIG_EXAMPLES_IRQBUTTONS_MAX > 7"
 #endif
 #ifndef MIN
@@ -124,8 +124,8 @@
 #  define MAX(a,b) (a > b ? a : b)
 #endif
-#define MIN_BUTTON MIN(CONFIG_EXAMPLE_BUTTONS_MIN, CONFIG_EXAMPLE_IRQBUTTONS_MIN)
+#define MIN_BUTTON MIN(CONFIG_EXAMPLES_BUTTONS_MIN, CONFIG_EXAMPLES_IRQBUTTONS_MIN)
-#define MAX_BUTTON MAX(CONFIG_EXAMPLE_BUTTONS_MAX, CONFIG_EXAMPLE_IRQBUTTONS_MAX)
+#define MAX_BUTTON MAX(CONFIG_EXAMPLES_BUTTONS_MAX, CONFIG_EXAMPLES_IRQBUTTONS_MAX)
 #define NUM_BUTTONS     (MAX_BUTTON - MIN_BUTTON + 1)
 #define BUTTON_INDEX(b) ((b)-MIN_BUTTON)
@@ -187,7 +187,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 {
 #if MIN_BUTTON < 1
  {
-    CONFIG_EXAMPLE_BUTTONS_NAME0,
+    CONFIG_EXAMPLES_BUTTONS_NAME0,
 #ifdef CONFIG_ARCH_IRQBUTTONS
    button0_handler
 #endif
@@ -195,7 +195,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MIN_BUTTON < 2 && MAX_BUTTON > 0
  {
-    CONFIG_EXAMPLE_BUTTONS_NAME1,
+    CONFIG_EXAMPLES_BUTTONS_NAME1,
 #ifdef CONFIG_ARCH_IRQBUTTONS
    button1_handler
 #endif
@@ -203,7 +203,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MIN_BUTTON < 3 && MAX_BUTTON > 1
  {
-    CONFIG_EXAMPLE_BUTTONS_NAME2,
+    CONFIG_EXAMPLES_BUTTONS_NAME2,
 #ifdef CONFIG_ARCH_IRQBUTTONS
    button2_handler
 #endif
@@ -211,7 +211,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MIN_BUTTON < 4 && MAX_BUTTON > 2
  {
-    CONFIG_EXAMPLE_BUTTONS_NAME3,
+    CONFIG_EXAMPLES_BUTTONS_NAME3,
 #ifdef CONFIG_ARCH_IRQBUTTONS
    button3_handler
 #endif
@@ -219,7 +219,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MIN_BUTTON < 5 && MAX_BUTTON > 3
  {
-    CONFIG_EXAMPLE_BUTTONS_NAME4,
+    CONFIG_EXAMPLES_BUTTONS_NAME4,
 #ifdef CONFIG_ARCH_IRQBUTTONS
    button4_handler
 #endif
@@ -227,7 +227,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MIN_BUTTON < 6 && MAX_BUTTON > 4
  {
-    CONFIG_EXAMPLE_BUTTONS_NAME5,
+    CONFIG_EXAMPLES_BUTTONS_NAME5,
 #ifdef CONFIG_ARCH_IRQBUTTONS
    button5_handler
 #endif
@@ -235,7 +235,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MIN_BUTTON < 7 && MAX_BUTTON > 5
  {
-    CONFIG_EXAMPLE_BUTTONS_NAME6,
+    CONFIG_EXAMPLES_BUTTONS_NAME6,
 #ifdef CONFIG_ARCH_IRQBUTTONS
    button6_handler
 #endif
@@ -243,7 +243,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MAX_BUTTON > 6
  {
-    CONFIG_EXAMPLE_BUTTONS_NAME7,
+    CONFIG_EXAMPLES_BUTTONS_NAME7,
 #ifdef CONFIG_ARCH_IRQBUTTONS
    button7_handler
 #endif
@@ -419,7 +419,7 @@ int buttons_main(int argc, char *argv[])
  /* Register to recieve button interrupts */
 #ifdef CONFIG_ARCH_IRQBUTTONS
-  for (i = CONFIG_EXAMPLE_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLE_IRQBUTTONS_MAX; i++)
+  for (i = CONFIG_EXAMPLES_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLES_IRQBUTTONS_MAX; i++)
    {
      xcpt_t oldhandler = up_irqbutton(i, g_buttoninfo[BUTTON_INDEX(i)].handler);
@@ -488,7 +488,7 @@ int buttons_main(int argc, char *argv[])
  /* Un-register button handlers */
 #if defined(CONFIG_ARCH_IRQBUTTONS) && defined(CONFIG_NSH_BUILTIN_APPS)
-  for (i = CONFIG_EXAMPLE_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLE_IRQBUTTONS_MAX; i++)
+  for (i = CONFIG_EXAMPLES_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLES_IRQBUTTONS_MAX; i++)
    {
      (void)up_irqbutton(i, NULL);
    }
@@ -290,14 +290,14 @@ static inline bool net_mksocket(struct net_listener_s *nls)
 static void net_configure(void)
 {
  struct in_addr addr;
-#if defined(CONFIG_EXAMPLE_POLL_NOMAC)
+#if defined(CONFIG_EXAMPLES_POLL_NOMAC)
  uint8_t mac[IFHWADDRLEN];
 #endif
  /* Configure uIP */
  /* Many embedded network interfaces must have a software assigned MAC */
-#ifdef CONFIG_EXAMPLE_POLL_NOMAC
+#ifdef CONFIG_EXAMPLES_POLL_NOMAC
  mac[0] = 0x00;
  mac[1] = 0xe0;
  mac[2] = 0xde;
@@ -309,17 +309,17 @@ static void net_configure(void)
  /* Set up our host address */
-  addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_IPADDR);
+  addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_IPADDR);
  uip_sethostaddr("eth0", &addr);
  /* Set up the default router address */
-  addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_DRIPADDR);
+  addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_DRIPADDR);
  uip_setdraddr("eth0", &addr);
  /* Setup the subnet mask */
-  addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_NETMASK);
+  addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_NETMASK);
  uip_setnetmask("eth0", &addr);
 }
@@ -83,14 +83,14 @@
 static void net_configure(void)
 {
  struct in_addr addr;
-#if defined(CONFIG_EXAMPLE_POLL_NOMAC)
+#if defined(CONFIG_EXAMPLES_POLL_NOMAC)
  uint8_t mac[IFHWADDRLEN];
 #endif
  /* Configure uIP */
  /* Many embedded network interfaces must have a software assigned MAC */
-#ifdef CONFIG_EXAMPLE_POLL_NOMAC
+#ifdef CONFIG_EXAMPLES_POLL_NOMAC
  mac[0] = 0x00;
  mac[1] = 0xe0;
  mac[2] = 0xde;
@@ -102,17 +102,17 @@ static void net_configure(void)
  /* Set up our host address */
-  addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_IPADDR);
+  addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_IPADDR);
  uip_sethostaddr("eth0", &addr);
  /* Set up the default router address */
-  addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_DRIPADDR);
+  addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_DRIPADDR);
  uip_setdraddr("eth0", &addr);
  /* Setup the subnet mask */
-  addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_NETMASK);
+  addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_NETMASK);
  uip_setnetmask("eth0", &addr);
 }
@@ -291,19 +291,18 @@ config NSH_CONSOLE
 		console front-end is selected (/dev/console).
 		Normally, the serial console device is a UART and RS-232
-		interface.  However, if CONFIG_USBDEV is defined, then a USB
+		interface.  However, if USBDEV is defined, then a USB
 		serial device may, instead, be used if the one of
 		the following are defined:
-		CONFIG_PL2303 and CONFIG_PL2303_CONSOLE - Sets up the
+		PL2303 and PL2303_CONSOLE - Set up the Prolifics PL2303
-		Prolifics PL2303 emulation as a console device at /dev/console.
+		emulation as a console device at /dev/console.
-		CONFIG_CDCACM and CONFIG_CDCACM_CONSOLE - Sets up the
+		CDCACM and CDCACM_CONSOLE - Set up the CDC/ACM serial
-		CDC/ACM serial device as a console device at dev/console.
+		device as a console device at dev/console.
-		CONFIG_NSH_USBCONSOLE and CONFIG_NSH_USBCONDEV - Sets up the
+		NSH_USBCONSOLE and NSH_USBCONDEV - Sets up some other USB
-		some other USB serial device as the NSH console (not necessarily
+		serial device as the NSH console (not necessarily dev/console).
 		dev/console).
 config NSH_USBCONSOLE
 	bool "Use a USB console"
@@ -311,20 +310,20 @@ config NSH_USBCONSOLE
 	depends on NSH_CONSOLE && USBDEV
 	---help---
 		If defined, then the an arbitrary USB device may be used
-		to as the NSH console.  In this case, CONFIG_NSH_USBCONDEV
+		to as the NSH console.  In this case, NSH_USBCONDEV must
-		must be defined to indicate which USB device to use as
+		be defined to indicate which USB device to use as the
-		the console.
+		console.
 config NSH_USBCONDEV
 	string "USB console device"
 	default "/dev/ttyACM0"
 	depends on NSH_USBCONSOLE
 	---help---
-		If CONFIG_NSH_USBCONSOLE is set to 'y', then CONFIG_NSH_USBCONDEV
+		If NSH_USBCONSOLE is set to 'y', then NSH_USBCONDEV must
-		must also be set to select the USB device used to support
+		also be set to select the USB device used to support the
-		the NSH console.   This should be set to the quoted name of a
+		NSH console.   This should be set to the quoted name of a
 		readable/write-able USB driver such as:
-		CONFIG_NSH_USBCONDEV="/dev/ttyACM0".
+		NSH_USBCONDEV="/dev/ttyACM0".
 config UBSDEV_MINOR
 	int "USB console device minor number"
@@ -448,6 +447,35 @@ config NSH_IOBUFFER_SIZE
 	---help---
 		Determines the size of the I/O buffer to use for sending/
 		receiving TELNET commands/reponses.  Default: 512
 config NSH_TELNET_LOGIN
 	bool "Telnet Login"
 	default n
 	---help---
 		If defined, then the Telnet user will be required to provide a
 		username and password to start the NSH shell.
 if NSH_TELNET_LOGIN
 config NSH_TELNET_USERNAME
 	string "Login Username"
 	default "admin"
 	---help---
 		Login user name.  Default: "admin"
 config NSH_TELNET_PASSWORD
 	string "Login Password"
 	default "nuttx"
 	---help---
 		Login password:  Default: "nuttx"
 config NSH_TELNET_FAILCOUNT
 	int "Login Retry Count"
 	default 3
 	---help---
 		Number of login retry attempts.
 endif
 endif
 config NSH_DHCPC
@@ -168,6 +168,15 @@
 *   Default: SCHED_PRIORITY_DEFAULT
 * CONFIG_NSH_TELNETD_CLIENTSTACKSIZE - Stack size allocated for the
 *   Telnet client. Default: 2048
 * CONFIG_NSH_TELNET_LOGIN - Support a simple Telnet login.
 *
 * If CONFIG_NSH_TELNET_LOGIN is defined, then these additional
 * options may be specified:
 *
 * CONFIG_NSH_TELNET_USERNAME - Login user name.  Default: "admin"
 * CONFIG_NSH_TELNET_PASSWORD - Login password:  Default: "nuttx"
 * CONFIG_NSH_TELNET_FAILCOUNT - Number of login retry attempts.
 *   Default 3.
 */
 #ifndef CONFIG_NSH_TELNETD_PORT
@@ -190,6 +199,22 @@
 #  define CONFIG_NSH_TELNETD_CLIENTSTACKSIZE 2048
 #endif
 #ifdef CONFIG_NSH_TELNET_LOGIN
 #  ifndef CONFIG_NSH_TELNET_USERNAME
 #    define CONFIG_NSH_TELNET_USERNAME  "admin"
 #  endif
 #  ifndef CONFIG_NSH_TELNET_PASSWORD
 #    define CONFIG_NSH_TELNET_PASSWORD  "nuttx"
 #  endif
 #  ifndef CONFIG_NSH_TELNET_FAILCOUNT
 #    define CONFIG_NSH_TELNET_FAILCOUNT 3
 #  endif
 #endif /* CONFIG_NSH_TELNET_LOGIN */
 /* Verify support for ROMFS /etc directory support options */
 #ifdef CONFIG_NSH_ROMFSETC
@@ -364,6 +389,14 @@ typedef int (*cmd_t)(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
 ****************************************************************************/
 extern const char g_nshgreeting[];
 #if defined(CONFIG_NSH_TELNET_LOGIN) && defined(CONFIG_NSH_TELNET)
 extern const char g_telnetgreeting[];
 extern const char g_userprompt[];
 extern const char g_passwordprompt[];
 extern const char g_loginsuccess[];
 extern const char g_badcredentials[];
 extern const char g_loginfailure[];
 #endif
 extern const char g_nshprompt[];
 extern const char g_nshsyntax[];
 extern const char g_fmtargrequired[];
@@ -75,12 +75,17 @@ struct serialsave_s
 static FAR struct nsh_vtbl_s *nsh_consoleclone(FAR struct nsh_vtbl_s *vtbl);
 #endif
 static void nsh_consolerelease(FAR struct nsh_vtbl_s *vtbl);
-static ssize_t nsh_consolewrite(FAR struct nsh_vtbl_s *vtbl, FAR const void *buffer, size_t nbytes);
+static ssize_t nsh_consolewrite(FAR struct nsh_vtbl_s *vtbl,
-static int nsh_consoleoutput(FAR struct nsh_vtbl_s *vtbl, const char *fmt, ...);
+  FAR const void *buffer, size_t nbytes);
 static int nsh_consoleoutput(FAR struct nsh_vtbl_s *vtbl,
  FAR const char *fmt, ...);
 static FAR char *nsh_consolelinebuffer(FAR struct nsh_vtbl_s *vtbl);
-static void nsh_consoleredirect(FAR struct nsh_vtbl_s *vtbl, int fd, FAR uint8_t *save);
+static void nsh_consoleredirect(FAR struct nsh_vtbl_s *vtbl, int fd,
-static void nsh_consoleundirect(FAR struct nsh_vtbl_s *vtbl, FAR uint8_t *save);
+  FAR uint8_t *save);
-static void nsh_consoleexit(FAR struct nsh_vtbl_s *vtbl, int exitstatus);
+static void nsh_consoleundirect(FAR struct nsh_vtbl_s *vtbl,
  FAR uint8_t *save);
 static void nsh_consoleexit(FAR struct nsh_vtbl_s *vtbl, int exitstatus)
  noreturn_function;
 /****************************************************************************
 * Private Data
@@ -109,7 +109,7 @@ struct nsh_vtbl_s
  FAR char *(*linebuffer)(FAR struct nsh_vtbl_s *vtbl);
  void (*redirect)(FAR struct nsh_vtbl_s *vtbl, int fd, FAR uint8_t *save);
  void (*undirect)(FAR struct nsh_vtbl_s *vtbl, FAR uint8_t *save);
-  void (*exit)(FAR struct nsh_vtbl_s *vtbl, int exitstatus);
+  void (*exit)(FAR struct nsh_vtbl_s *vtbl, int exitstatus) noreturn_function;
  /* Parser state data */
@@ -395,6 +395,17 @@ const char g_nshgreeting[]       = "\nNuttShell (NSH) NuttX-" CONFIG_VERSION_STR
 const char g_nshgreeting[]       = "\nNuttShell (NSH)\n";
 #endif
 /* Telnet login prompts */
 #if defined(CONFIG_NSH_TELNET_LOGIN) && defined(CONFIG_NSH_TELNET)
 const char g_telnetgreeting[]    = "\nWelcome to NuttShell(NSH) Telnet Server...\n";
 const char g_userprompt[]        = "login: ";
 const char g_passwordprompt[]    = "password: ";
 const char g_loginsuccess[]      = "\nUser Logged-in!\n";
 const char g_badcredentials[]    = "\nInvalid username or password\n";
 const char g_loginfailure[]      = "Login failed!\n";
 #endif
 /* The NSH prompt */
 const char g_nshprompt[]         = "nsh> ";
@@ -43,6 +43,7 @@
 #include <unistd.h>
 #include <assert.h>
 #include <debug.h>
 #include <string.h>
 #include <apps/netutils/telnetd.h>
@@ -55,6 +56,18 @@
 * Pre-processor Definitions
 ****************************************************************************/
 #ifdef CONFIG_NSH_TELNET_LOGIN
 #  define TELNET_IAC              255
 #  define TELNET_WILL             251
 #  define TELNET_WONT             252
 #  define TELNET_DO               253
 #  define TELNET_DONT             254
 #  define TELNET_USE_ECHO         1
 #  define TELNET_NOTUSE_ECHO      0
 #endif /* CONFIG_NSH_TELNET_LOGIN */
 /****************************************************************************
 * Private Types
 ****************************************************************************/
@@ -75,6 +88,91 @@
 * Private Functions
 ****************************************************************************/
 /****************************************************************************
 * Name: nsh_telnetecho
 ****************************************************************************/
 #ifdef CONFIG_NSH_TELNET_LOGIN
 void nsh_telnetecho(struct console_stdio_s *pstate, uint8_t is_use)
 {
  uint8_t optbuf[4];
  optbuf[0] = TELNET_IAC;
  optbuf[1] = (is_use == TELNET_USE_ECHO) ? TELNET_WILL : TELNET_DO;
  optbuf[2] = 1;
  optbuf[3] = 0;
  fputs((char *)optbuf, pstate->cn_outstream);
  fflush(pstate->cn_outstream);
 }
 #endif
 /****************************************************************************
 * Name: nsh_telnetlogin
 ****************************************************************************/
 #ifdef CONFIG_NSH_TELNET_LOGIN
 int nsh_telnetlogin(struct console_stdio_s *pstate)
 {
  char username[16];
  char password[16];
  uint8_t i;
  /* Present the NSH Telnet greeting */
  fputs(g_telnetgreeting, pstate->cn_outstream);
  fflush(pstate->cn_outstream);
  /* Loop for the configured number of retries */
  for(i = 0; i < CONFIG_NSH_TELNET_FAILCOUNT; i++)
    {
      /* Ask for the login username */
      fputs(g_userprompt, pstate->cn_outstream);
      fflush(pstate->cn_outstream);
      if (fgets(pstate->cn_line, CONFIG_NSH_LINELEN, INSTREAM(pstate)) != NULL)
        {
          strcpy(username, pstate->cn_line);
          username[strlen(pstate->cn_line) - 1] = 0;
        }
      /* Ask for the login password */
      fputs(g_passwordprompt, pstate->cn_outstream);
      fflush(pstate->cn_outstream);
      nsh_telnetecho(pstate, TELNET_NOTUSE_ECHO);
      if (fgets(pstate->cn_line, CONFIG_NSH_LINELEN, INSTREAM(pstate)) != NULL)
        {
          /* Verify the username and password */
          strcpy(password,pstate->cn_line);
          password[strlen(pstate->cn_line) - 1] = 0;
          if (strcmp(password, CONFIG_NSH_TELNET_PASSWORD) == 0 &&
              strcmp(username, CONFIG_NSH_TELNET_USERNAME) == 0)
            {
              fputs(g_loginsuccess, pstate->cn_outstream);
              fflush(pstate->cn_outstream);
              nsh_telnetecho(pstate, TELNET_USE_ECHO);
              return OK;
            }
          else
            {
              fputs(g_badcredentials, pstate->cn_outstream);
              fflush(pstate->cn_outstream);
            }
        }
      nsh_telnetecho(pstate, TELNET_USE_ECHO);
    }
  /* Too many failed login attempts */
  fputs(g_loginfailure, pstate->cn_outstream);
  fflush(pstate->cn_outstream);
  return -1;
 }
 #endif /* CONFIG_NSH_TELNET_LOGIN */
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
@@ -90,7 +188,17 @@ int nsh_telnetmain(int argc, char *argv[])
  dbg("Session [%d] Started\n", getpid());
-  /* Present a greeting */
+  /* Login User and Password Check */
 #ifdef CONFIG_NSH_TELNET_LOGIN
  if (nsh_telnetlogin(pstate) != OK)
    {
      nsh_exit(&pstate->cn_vtbl, 1);
      return -1; /* nsh_exit does not return */
    }
 #endif /* CONFIG_NSH_TELNET_LOGIN */
  /* Present the NSH greeting */
  fputs(g_nshgreeting, pstate->cn_outstream);
  fflush(pstate->cn_outstream);
@@ -79,7 +79,7 @@ public:
 	FMUServo(Mode mode, int update_rate);
 	~FMUServo();
-	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
 	virtual int	init();
@@ -93,6 +93,7 @@ private:
 	int		_t_armed;
 	orb_advert_t	_t_outputs;
 	unsigned	_num_outputs;
 	bool		_primary_pwm_device;
 	volatile bool	_task_should_exit;
 	bool		_armed;
@@ -118,7 +119,7 @@ FMUServo	*g_servo;
 } // namespace
 FMUServo::FMUServo(Mode mode, int update_rate) :
-	CDev("fmuservo", PWM_OUTPUT_DEVICE_PATH),
+	CDev("fmuservo", "/dev/px4fmu"),
 	_mode(mode),
 	_update_rate(update_rate),
 	_task(-1),
@@ -126,6 +127,7 @@ FMUServo::FMUServo(Mode mode, int update_rate) :
 	_t_armed(-1),
 	_t_outputs(0),
 	_num_outputs(0),
 	_primary_pwm_device(false),
 	_task_should_exit(false),
 	_armed(false),
 	_mixers(nullptr)
@@ -135,18 +137,16 @@ FMUServo::FMUServo(Mode mode, int update_rate) :
 FMUServo::~FMUServo()
 {
 	if (_task != -1) {
-
+		/* tell the task we want it to go away */
 		/* task should wake up every 100ms or so at least */
 		_task_should_exit = true;
-		unsigned i = 0;
+		unsigned i = 10;
 		do {
-			/* wait 20ms */
+			/* wait 50ms - it should wake every 100ms or so worst-case */
-			usleep(20000);
+			usleep(50000);
 			/* if we have given up, kill it */
-			if (++i > 10) {
+			if (--i == 0) {
 				task_delete(_task);
 				break;
 			}
@@ -154,6 +154,10 @@ FMUServo::~FMUServo()
 		} while (_task != -1);
 	}
 	/* clean up the alternate device node */
 	if (_primary_pwm_device)
 		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
 	g_servo = nullptr;
 }
@@ -170,6 +174,13 @@ FMUServo::init()
 	if (ret != OK)
 		return ret;
 	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
 	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
 	if (ret == OK) {
 		log("default PWM output device");
 		_primary_pwm_device = true;
 	}
 	/* start the IO interface task */
 	_task = task_spawn("fmuservo",
 			   SCHED_DEFAULT,
@@ -216,8 +227,12 @@ FMUServo::task_main()
 		break;
 	}
-	/* subscribe to objects that we are interested in watching */
+	/*
-	_t_actuators = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+	 * Subscribe to the appropriate PWM output topic based on whether we are the
 	 * primary PWM output or not.
 	 */
 	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
 				     ORB_ID(actuator_controls_1));
 	/* convert the update rate in hz to milliseconds, rounding down if necessary */
 	int update_rate_in_ms = int(1000 / _update_rate);
 	orb_set_interval(_t_actuators, update_rate_in_ms);
@@ -226,11 +241,13 @@ FMUServo::task_main()
 	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
 	/* advertise the mixed control outputs */
-	struct actuator_outputs_s outputs;
+	actuator_outputs_s outputs;
 	memset(&outputs, 0, sizeof(outputs));
-	_t_outputs = orb_advertise(ORB_ID_VEHICLE_CONTROLS, &outputs);
+	/* advertise the mixed control outputs */
 	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
 				   &outputs);
-	struct pollfd fds[2];
+	pollfd fds[2];
 	fds[0].fd = _t_actuators;
 	fds[0].events = POLLIN;
 	fds[1].fd = _t_armed;
@@ -282,7 +299,7 @@ FMUServo::task_main()
 		/* how about an arming update? */
 		if (fds[1].revents & POLLIN) {
-			struct actuator_armed_s aa;
+			actuator_armed_s aa;
 			/* get new value */
 			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
@@ -320,7 +337,7 @@ FMUServo::control_callback(uintptr_t handle,
 }
 int
-FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
+FMUServo::ioctl(file *filp, int cmd, unsigned long arg)
 {
 	int ret = OK;
 	int channel;
@@ -569,7 +586,7 @@ fake(int argc, char *argv[])
 		exit(1);
 	}
-	struct actuator_controls_s ac;
+	actuator_controls_s ac;
 	ac.control[0] = strtol(argv[1], 0, 0) / 100.0f;
@@ -318,7 +318,7 @@ PX4IO_Uploader::verify()
 			ret = recv(c);
 			if (ret != OK) {
-				log("%d: got %d waiting for bytes", ret);
+				log("%d: got %d waiting for bytes", base + i, ret);
 				return ret;
 			}
@@ -56,10 +56,6 @@
 #include "tests.h"
 #include <arch/board/drv_lis331.h>
 #include <arch/board/drv_bma180.h>
 #include <arch/board/drv_l3gd20.h>
 #include <arch/board/drv_hmc5883l.h>
 #include <drivers/drv_accel.h>
 /****************************************************************************
@@ -75,10 +71,6 @@
 ****************************************************************************/
 //static int	lis331(int argc, char *argv[]);
 static int l3gd20(int argc, char *argv[]);
 static int bma180(int argc, char *argv[]);
 static int hmc5883l(int argc, char *argv[]);
 static int ms5611(int argc, char *argv[]);
 static int mpu6000(int argc, char *argv[]);
 /****************************************************************************
@@ -90,12 +82,7 @@ struct {
 	const char	*path;
 	int	(* test)(int argc, char *argv[]);
 } sensors[] = {
 	{"bma180",	"/dev/bma180",	bma180},
 	{"mpu6000",	"/dev/accel",	mpu6000},
 	{"l3gd20",	"/dev/l3gd20",	l3gd20},
 	{"hmc5883l",	"/dev/hmc5883l",	hmc5883l},
 	{"ms5611",	"/dev/ms5611",	ms5611},
 //    {"lis331",	"/dev/lis331",	lis331},
 	{NULL, NULL, NULL}
 };
@@ -107,226 +94,6 @@ struct {
 * Private Functions
 ****************************************************************************/
 //static int
 //lis331(int argc, char *argv[])
 //{
 //	int		fd;
 //	int16_t	buf[3];
 //	int		ret;
 //
 //	fd = open("/dev/lis331", O_RDONLY);
 //	if (fd < 0) {
 //		printf("\tlis331: not present on PX4FMU v1.5 and later\n");
 //		return ERROR;
 //	}
 //
 //	if (ioctl(fd, LIS331_SETRATE, LIS331_RATE_50Hz) ||
 //	    ioctl(fd, LIS331_SETRANGE, LIS331_RANGE_4G)) {
 //
 //		printf("LIS331: ioctl fail\n");
 //		return ERROR;
 //	}
 //
 //	/* wait at least 100ms, sensor should have data after no more than 20ms */
 //	usleep(100000);
 //
 //	/* read data - expect samples */
 //	ret = read(fd, buf, sizeof(buf));
 //	if (ret != sizeof(buf)) {
 //		printf("LIS331: read1 fail (%d)\n", ret);
 //		return ERROR;
 //	}
 //
 //	/* read data - expect no samples (should not be ready again yet) */
 //	ret = read(fd, buf, sizeof(buf));
 //	if (ret != 0) {
 //		printf("LIS331: read2 fail (%d)\n", ret);
 //		return ERROR;
 //	}
 //
 //	/* XXX more tests here */
 //
 //	return 0;
 //}
 static int
 l3gd20(int argc, char *argv[])
 {
 	printf("\tL3GD20: test start\n");
 	fflush(stdout);
 	int		fd;
 	int16_t	buf[3] = {0, 0, 0};
 	int		ret;
 	fd = open("/dev/l3gd20", O_RDONLY | O_NONBLOCK);
 	if (fd < 0) {
 		printf("L3GD20: open fail\n");
 		return ERROR;
 	}
 //	if (ioctl(fd, L3GD20_SETRATE, L3GD20_RATE_760HZ_LP_50HZ) ||
 //	    ioctl(fd, L3GD20_SETRANGE, L3GD20_RANGE_500DPS)) {
 //
 //		printf("L3GD20: ioctl fail\n");
 //		return ERROR;
 //	} else {
 //		printf("\tconfigured..\n");
 //	}
 //
 //	/* wait at least 100ms, sensor should have data after no more than 2ms */
 //	usleep(100000);
 	/* read data - expect samples */
 	ret = read(fd, buf, sizeof(buf));
 	if (ret != sizeof(buf)) {
 		printf("\tL3GD20: read1 fail (%d should have been %d)\n", ret, sizeof(buf));
 		//return ERROR;
 	} else {
 		printf("\tL3GD20 values #1: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
 	}
 	/* wait at least 2 ms, sensor should have data after no more than 1.5ms */
 	usleep(2000);
 	/* read data - expect no samples (should not be ready again yet) */
 	ret = read(fd, buf, sizeof(buf));
 	if (ret != sizeof(buf)) {
 		printf("\tL3GD20: read2 fail (%d)\n", ret);
 		close(fd);
 		return ERROR;
 	} else {
 		printf("\tL3GD20 values #2: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
 	}
 	/* empty sensor buffer */
 	ret = 0;
 	while (ret != sizeof(buf)) {
 		// Keep reading until successful
 		ret = read(fd, buf, sizeof(buf));
 	}
 	/* test if FIFO is operational */
 	usleep(14800); // Expecting 10 measurements
 	ret = 0;
 	int count = 0;
 	bool dataready = true;
 	while (dataready) {
 		// Keep reading until successful
 		ret = read(fd, buf, sizeof(buf));
 		if (ret != sizeof(buf)) {
 			dataready = false;
 		} else {
 			count++;
 		}
 	}
 	printf("\tL3GD20: Drained FIFO with %d values (expected 8-12)\n", count);
 	/* read data - expect no samples (should not be ready again yet) */
 	ret = read(fd, buf, sizeof(buf));
 	if (ret != 0) {
 		printf("\tL3GD20: Note: read3 got data - there should not have been data ready\n", ret);
 //		return ERROR;
 	}
 	close(fd);
 	/* Let user know everything is ok */
 	printf("\tOK: L3GD20 passed all tests successfully\n");
 	return OK;
 }
 static int
 bma180(int argc, char *argv[])
 {
 	// XXX THIS SENSOR IS OBSOLETE
 	// TEST REMAINS, BUT ALWAYS RETURNS OK
 	printf("\tBMA180: test start\n");
 	fflush(stdout);
 	int		fd;
 	int16_t	buf[3] = {0, 0, 0};
 	int		ret;
 	fd = open("/dev/bma180", O_RDONLY);
 	if (fd < 0) {
 		printf("\tBMA180: open fail\n");
 		return OK;
 	}
 //	if (ioctl(fd, LIS331_SETRATE, LIS331_RATE_50Hz) ||
 //	    ioctl(fd, LIS331_SETRANGE, LIS331_RANGE_4G)) {
 //
 //		printf("BMA180: ioctl fail\n");
 //		return ERROR;
 //	}
 //
 	/* wait at least 100ms, sensor should have data after no more than 20ms */
 	usleep(100000);
 	/* read data - expect samples */
 	ret = read(fd, buf, sizeof(buf));
 	if (ret != sizeof(buf)) {
 		printf("\tBMA180: read1 fail (%d)\n", ret);
 		close(fd);
 		return OK;
 	} else {
 		printf("\tBMA180 values: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
 	}
 	/* wait at least 10ms, sensor should have data after no more than 2ms */
 	usleep(100000);
 	ret = read(fd, buf, sizeof(buf));
 	if (ret != sizeof(buf)) {
 		printf("\tBMA180: read2 fail (%d)\n", ret);
 		close(fd);
 		return OK;
 	} else {
 		printf("\tBMA180: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
 	}
 	/* empty sensor buffer */
 	ret = 0;
 	while (ret != sizeof(buf)) {
 		// Keep reading until successful
 		ret = read(fd, buf, sizeof(buf));
 	}
 	ret = read(fd, buf, sizeof(buf));
 	if (ret != 0) {
 		printf("\tBMA180: Note: read3 got data - there should not have been data ready\n", ret);
 	}
 	/* Let user know everything is ok */
 	printf("\tOK: BMA180 passed all tests successfully\n");
 	close(fd);
 	return OK;
 }
 static int
 mpu6000(int argc, char *argv[])
 {
@@ -379,103 +146,6 @@ mpu6000(int argc, char *argv[])
 	return OK;
 }
 static int
 ms5611(int argc, char *argv[])
 {
 	printf("\tMS5611: test start\n");
 	fflush(stdout);
 	int		fd;
 	float	buf[3] = {0.0f, 0.0f, 0.0f};
 	int		ret;
 	fd = open("/dev/ms5611", O_RDONLY);
 	if (fd < 0) {
 		printf("\tMS5611: open fail\n");
 		return ERROR;
 	}
 	for (int i = 0; i < 5; i++) {
 		/* read data - expect samples */
 		ret = read(fd, buf, sizeof(buf));
 		if (ret != sizeof(buf)) {
 			if ((int8_t)ret == -EAGAIN || (int8_t)ret == -EINPROGRESS) {
 				/* waiting for device to become ready, this is not an error */
 			} else {
 				printf("\tMS5611: read fail (%d)\n", ret);
 				close(fd);
 				return ERROR;
 			}
 		} else {
 			/* hack for float printing */
 			int32_t pressure_int = buf[0];
 			int32_t altitude_int = buf[1];
 			int32_t temperature_int = buf[2];
 			printf("\tMS5611: pressure:%d.%03d mbar - altitude: %d.%02d meters - temp:%d.%02d deg celcius\n", pressure_int, (int)(buf[0] * 1000 - pressure_int * 1000), altitude_int, (int)(buf[1] * 100 - altitude_int * 100), temperature_int, (int)(buf[2] * 100 - temperature_int * 100));
 		}
 		/* wait at least 10ms, sensor should have data after no more than 6.5ms */
 		usleep(10000);
 	}
 	close(fd);
 	/* Let user know everything is ok */
 	printf("\tOK: MS5611 passed all tests successfully\n");
 	return OK;
 }
 static int
 hmc5883l(int argc, char *argv[])
 {
 	printf("\tHMC5883L: test start\n");
 	fflush(stdout);
 	int		fd;
 	int16_t	buf[7] = {0, 0, 0};
 	int		ret;
 	fd = open("/dev/hmc5883l", O_RDONLY);
 	if (fd < 0) {
 		printf("\tHMC5883L: open fail\n");
 		return ERROR;
 	}
 	int i;
 	for (i = 0; i < 5; i++) {
 		/* wait at least 7ms, sensor should have data after no more than 6.5ms */
 		usleep(7000);
 		/* read data - expect samples */
 		ret = read(fd, buf, sizeof(buf));
 		if (ret != sizeof(buf)) {
 			printf("\tHMC5883L: read1 fail (%d) values: x:%d\ty:%d\tz:%d\n", ret, buf[0], buf[1], buf[2]);
 			close(fd);
 			return ERROR;
 		} else {
 			printf("\tHMC5883L: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
 		}
 	}
 	close(fd);
 	/* Let user know everything is ok */
 	printf("\tOK: HMC5883L passed all tests successfully\n");
 	return OK;
 }
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
@@ -39,6 +39,8 @@
 * messages and the corresponding complexity involved.
 */
 #pragma once
 /*
 * XXX MUST BE KEPT IN SYNC WITH THE VERSION IN PX4FMU UNTIL
 * TREES ARE MERGED.
@@ -3,7 +3,7 @@
 # see misc/tools/kconfig-language.txt.
 #
-menu "Custom free memory command"
+menu "Custom Free Memory Command"
 source "$APPSDIR/system/free/Kconfig"
 endmenu
@@ -15,6 +15,22 @@ menu "FLASH Program Installation"
 source "$APPSDIR/system/install/Kconfig"
 endmenu
-menu "readline() support"
+menu "readline()"
 source "$APPSDIR/system/readline/Kconfig"
 endmenu
 menu "Power Off"
 source "$APPSDIR/system/poweroff/Kconfig"
 endmenu
 menu "RAMTRON"
 source "$APPSDIR/system/ramtron/Kconfig"
 endmenu
 menu "SD Card"
 source "$APPSDIR/system/sdcard/Kconfig"
 endmenu
 menu "Sysinfo"
 source "$APPSDIR/system/sysinfo/Kconfig"
 endmenu
@@ -49,3 +49,20 @@ endif
 ifeq ($(CONFIG_SYSTEM_READLINE),y)
 CONFIGURED_APPS += system/readline
 endif
 ifeq ($(CONFIG_SYSTEM_POWEROFF),y)
 CONFIGURED_APPS += system/poweroff
 endif
 ifeq ($(CONFIG_SYSTEM_RAMTRON),y)
 CONFIGURED_APPS += system/ramtron
 endif
 ifeq ($(CONFIG_SYSTEM_SDCARD),y)
 CONFIGURED_APPS += system/sdcard
 endif
 ifeq ($(CONFIG_SYSTEM_SYSINFO),y)
 CONFIGURED_APPS += system/sysinfo
 endif
@@ -37,7 +37,7 @@
 # Sub-directories containing system task
-SUBDIRS = free i2c install readline
+SUBDIRS = free i2c install readline poweroff ramtron sdcard sysinfo
 # Create the list of installed runtime modules (INSTALLED_DIRS)
@@ -33,20 +33,23 @@
 *
 ****************************************************************************/
 /****************************************************************************
 * Included Files
 ****************************************************************************/
 #include <nuttx/config.h>
 #include <nuttx/progmem.h>
 #include <stdio.h>
 #include <stdlib.h>
 /****************************************************************************
 * Private Functions
 ****************************************************************************/
-/* \todo Max block size only works on uniform prog mem */
+/* TODO Max block size only works on uniform prog mem */
-void free_getprogmeminfo(struct mallinfo * mem)
+static void free_getprogmeminfo(struct mallinfo * mem)
 {
  uint16_t page = 0, stpage = 0xFFFF;
  uint16_t pagesize = 0;
@@ -57,25 +60,31 @@ void free_getprogmeminfo(struct mallinfo * mem)
  mem->uordblks = 0;
  mem->mxordblk = 0;
-    for (status=0, page=0; status >= 0; page++) {
+  for (status=0, page=0; status >= 0; page++)
-    
+    {
      status = up_progmem_ispageerased(page);
      pagesize = up_progmem_pagesize(page);
      mem->arena += pagesize;
      /* Is this beginning of new free space section */
-        if (status == 0) {
+
      if (status == 0)
        {
          if (stpage == 0xFFFF) stpage = page;
          mem->fordblks += pagesize;
        }
-        else if (status != 0) {
+      else if (status != 0)
        {
          mem->uordblks += pagesize;
-            if (stpage != 0xFFFF && up_progmem_isuniform()) {
+          if (stpage != 0xFFFF && up_progmem_isuniform())
            {
              stpage = page - stpage;
              if (stpage > mem->mxordblk)
                {
                  mem->mxordblk = stpage;
                }
              stpage = 0xFFFF;
            }
        }
@@ -84,7 +93,6 @@ void free_getprogmeminfo(struct mallinfo * mem)
  mem->mxordblk *= pagesize;
 }
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
@@ -1,5 +1,5 @@
 ############################################################################
-# apps/system/i2c
+# apps/system/i2c/Makefile
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -33,6 +33,10 @@
 *
 ****************************************************************************/
 /****************************************************************************
 * Included Files
 ****************************************************************************/
 #include <nuttx/config.h>
 #include <nuttx/progmem.h>
 #include <sys/stat.h>
@@ -43,9 +47,8 @@
 #include <string.h>
 #include <errno.h>
 /****************************************************************************
- * Definitions
+ * Pre-processor Definitions
 ****************************************************************************/
 #define ACTION_INSTALL              0x01
@@ -55,12 +58,11 @@
 #define INSTALL_PROGRAMBLOCKSIZE    1024
 /****************************************************************************
 * Private data
 ****************************************************************************/
-const char *install_help = 
+static const char *install_help =
    "Installs XIP program into flash and creates a start-up script in the\n"
    "destination directory.\n\n"
    "Usage:\t%s [options] source-file.xip destination-directory\n\n"
@@ -73,60 +75,68 @@ const char *install_help =
    "\t--start <page>\t\tInstalls application at or after <page>\n"
    "\t--margin <pages>\tLeave some free space after the kernel (default 16)\n";
-const char *install_script_text = 
+static const char *install_script_text =
    "# XIP stacksize=%x priority=%x size=%x\n";
-const char *install_script_exec = 
+static const char *install_script_exec =
    "exec 0x%x\n";
 /****************************************************************************
 * Private functions
 ****************************************************************************/
-int install_getstartpage(int startpage, int pagemargin, int desiredsize)
+static int install_getstartpage(int startpage, int pagemargin, int desiredsize)
 {
-    uint16_t page = 0, stpage = 0xFFFF;
+  uint16_t page = 0, stpage = 0xffff;
  uint16_t pagesize = 0;
  int      maxlen = -1;
-    int      maxlen_start = 0xFFFF;
+  int      maxlen_start = 0xffff;
  int      status;
-    for (status=0, page=0; status >= 0; page++) {
+  for (status=0, page=0; status >= 0; page++)
-    
+    {
      status   = up_progmem_ispageerased(page);
      pagesize = up_progmem_pagesize(page);
      /* Is this beginning of new free space section */
-        if (status == 0) {
+
-            if (stpage == 0xFFFF) stpage = page;
+      if (status == 0)
        {
          if (stpage == 0xffff) stpage = page;
        }
-        else if (status != 0) {
+      else if (status != 0)
        {
          if (stpage != 0xffff)
            {
              if ((page - stpage) > maxlen)
                {
                  if (maxlen==-1)
                    {
                      /* First time found sth? */
            if (stpage != 0xFFFF) {
                if ( (page - stpage) > maxlen) {
                    if (maxlen==-1) { /* First time found sth? */
                      stpage += pagemargin;
                      maxlen = 0;
                    }
                  if(stpage < startpage)
                    {
                      stpage = startpage;
                    }
-                    if (page > stpage) {
+                  if (page > stpage)
                    {
                      maxlen = page - stpage;
                      maxlen_start = stpage;
                    }
-                    if (maxlen*pagesize >= desiredsize) {
+                  if (maxlen*pagesize >= desiredsize)
                    {
                      /* printf("Found page at %d ... %d\n", stpage, page); */
                      return maxlen_start*pagesize;
                    }
                }
-                stpage = 0xFFFF;
+              stpage = 0xffff;
            }
        }
    }
@@ -136,8 +146,7 @@ int install_getstartpage(int startpage, int pagemargin, int desiredsize)
  return -1;
 }
-
+static int install_programflash(int startaddr, const char *source)
 int install_programflash(int startaddr, const char *source)
 {
  int  status;
  int  count;
@@ -146,13 +155,18 @@ int install_programflash(int startaddr, const char *source)
  FILE *fp;
  if ((buf = malloc(INSTALL_PROGRAMBLOCKSIZE)) == NULL)
-        return -errno;
+    {
      return -ENOMEM;
    }
-    if ( (fp=fopen(source, "r")) ) {
+  if ((fp = fopen(source, "r")))
-        do {
+    {
      do
        {
          count = fread(buf, 1, INSTALL_PROGRAMBLOCKSIZE, fp);
-            if ( (status = up_progmem_write(startaddr, buf, count)) < 0) {
+          if ((status = up_progmem_write(startaddr, buf, count)) < 0)
            {
              totalsize = status;
              break;
            }
@@ -162,7 +176,10 @@ int install_programflash(int startaddr, const char *source)
        }
      while(count);
    }
-    else totalsize = -errno;
+  else
    {
      totalsize = -errno;
    }
  fclose(fp);
  free(buf);
@@ -170,50 +187,54 @@ int install_programflash(int startaddr, const char *source)
  return totalsize;
 }
-
+static void install_getscriptname(char *scriptname, const char *progname, const char *destdir)
 void install_getscriptname(char *scriptname, const char *progname, const char *destdir)
 {
  const char * progonly;
  /* I.e. as /usr/bin */
  strcpy(scriptname, destdir);
  /* extract from i.e. /sdcard/demo -> /demo, together with / */
  progonly = strrchr(progname, '/');
  strcat(scriptname, progonly);
 }
-
+static int install_getprogsize(const char *progname)
 int install_getprogsize(const char *progname)
 {
  struct stat fileinfo;
  if (stat(progname, &fileinfo) < 0)
    {
      return -1;
    }
  return fileinfo.st_size;
 }
-
+static int install_alreadyexists(const char *scriptname)
 int install_alreadyexists(const char *scriptname)
 {
  FILE *fp;
  if ((fp = fopen(scriptname, "r")) == NULL)
    {
      return 0;
    }
  fclose(fp);
    return 1;
 }
-
+static int install_createscript(int addr, int stacksize, int progsize,
 int install_createscript(int addr, int stacksize, int progsize, 
                                int priority, const char *scriptname)
 {
  FILE *fp;
  if ((fp = fopen(scriptname, "w+")) == NULL)
    {
      return -errno;
    }
  fprintf(fp, install_script_text, stacksize, priority, progsize);
  fprintf(fp, install_script_exec, addr);
@@ -224,22 +245,23 @@ int install_createscript(int addr, int stacksize, int progsize,
  return 0;
 }
-
+static int install_getlasthexvalue(FILE *fp, char delimiter)
 int install_getlasthexvalue(FILE *fp, char delimiter)
 {
  char buf[128];
  char *p;
-    if (fgets(buf, 127, fp)) {
+  if (fgets(buf, 127, fp))
-        if ( (p = strrchr(buf, delimiter)) ) {
+    {
      if ((p = strrchr(buf, delimiter)))
        {
          return strtol(p+1, NULL, 16);
        }
    }
  return -1;
 }
-
+static int install_remove(const char *scriptname)
 int install_remove(const char *scriptname)
 {
  FILE    *fp;
  int      progsize, addr, freedsize;
@@ -248,27 +270,36 @@ int install_remove(const char *scriptname)
  /* Parse script */
-    if ( (fp=fopen(scriptname, "r")) ) {
+  if ((fp = fopen(scriptname, "r")))
    {
      progsize  = install_getlasthexvalue(fp,'=');
      addr      = install_getlasthexvalue(fp,' ');
      freedsize = progsize;
    }
-    else return -errno;
+  else
    {
      return -errno;
    }
  fclose(fp);
  /* Remove pages */
  if (progsize <= 0 || addr <= 0)
    {
      return -EIO;
    }
-    do {
+  do
-        if ((page = up_progmem_getpage(addr)) < 0) {
+    {
      if ((page = up_progmem_getpage(addr)) < 0)
        {
          status = -page;
          break;
        }
-        if ( up_progmem_erasepage(page) < 0) {
+      if (up_progmem_erasepage(page) < 0)
        {
          status = -page;
          break;
        }
@@ -276,20 +307,27 @@ int install_remove(const char *scriptname)
      addr += up_progmem_pagesize(page);
      progsize -= up_progmem_pagesize(page);
-    } while(progsize > 0);
+    }
  while(progsize > 0);
-    if (status < 0) return status;
+  if (status < 0)
    {
      return status;
    }
  /* Remove script file */
-    if (unlink(scriptname) < 0) return -errno;
+  if (unlink(scriptname) < 0)
    {
      return -errno;
    }
  return freedsize;
 }
 /****************************************************************************
- * Start
+ * Public Functions
 ****************************************************************************/
 int install_main(int argc, char *argv[])
@@ -307,73 +345,91 @@ int install_main(int argc, char *argv[])
  /* Supported? */
-    if ( !up_progmem_isuniform() ) {
+  if (!up_progmem_isuniform())
    {
      fprintf(stderr, "Error: install supports uniform organization only.\n");
      return -1;
    }
  /* Parse arguments */
-    for (i=1; i<argc; i++) {
+  for (i=1; i<argc; i++)
-        if (argv[i][0]=='-' && argv[i][1]=='-' && i<=argc) {
+    {
-        
+      if (argv[i][0]=='-' && argv[i][1]=='-' && i<=argc)
-            if (strcmp(argv[i]+2, "stack")==0) {
+        {
          if (strcmp(argv[i]+2, "stack")==0)
            {
              stacksize = atoi(argv[++i]);
            }
-            else if (strcmp(argv[i]+2, "priority")==0) {
+          else if (strcmp(argv[i]+2, "priority")==0)
            {
              priority = atoi(argv[++i]);
            }
-            else if (strcmp(argv[i]+2, "start")==0) {
+          else if (strcmp(argv[i]+2, "start")==0)
            {
              startpage = atoi(argv[++i]);
            }
-            else if (strcmp(argv[i]+2, "margin")==0) {
+          else if (strcmp(argv[i]+2, "margin")==0)
            {
              pagemargin = atoi(argv[++i]);
            }
-            else if (strcmp(argv[i]+2, "remove")==0) {
+          else if (strcmp(argv[i]+2, "remove")==0)
            {
              action = ACTION_REMOVE;
            }
-            else if (strcmp(argv[i]+2, "force")==0) {
+          else if (strcmp(argv[i]+2, "force")==0)
            {
              action = ACTION_REINSTALL;
            }
          else fprintf(stderr, "Unknown option: %s\n", argv[i]);
        }
-        else break;
+      else
        {
          break;
        }
    }
  /* Do the job */
-    switch(action & 1) {
+  switch(action & 1)
-            
+    {
      case ACTION_REMOVE:
-            if (i > argc-1) {
+        if (i > argc-1)
          {
            action = ACTION_INSUFPARAM;
            break;  /* are there sufficient parameters */
          }
-            if ( (scrsta=install_remove(argv[i])) < 0) {
+
        if ((scrsta=install_remove(argv[i])) < 0)
          {
            fprintf(stderr, "Could not remove program: %s\n", strerror(-scrsta));
            return -1;
          }
        printf("Removed %s and freed %d bytes\n", argv[i], scrsta);
          return 0;
      case ACTION_INSTALL:
-            if (i > argc-2) {
+        if (i > argc-2)
          {
            action = ACTION_INSUFPARAM;
            break;  /* are there sufficient parameters */
          }
        install_getscriptname(scriptname, argv[i], argv[i+1]);
-            // script-exists?
+        /* script-exists? */
            if (install_alreadyexists(scriptname)==1) {
-                if (action != ACTION_REINSTALL) {
+        if (install_alreadyexists(scriptname) == 1)
          {
            if (action != ACTION_REINSTALL)
              {
                fprintf(stderr, "Program with that name already exists.\n");
                return -EEXIST;
              }
-                if ( (scrsta=install_remove(scriptname)) < 0) {
+            if ((scrsta = install_remove(scriptname)) < 0)
              {
                fprintf(stderr, "Could not remove program: %s\n", strerror(-scrsta));
                return -1;
              }
@@ -382,20 +438,23 @@ int install_main(int argc, char *argv[])
          }
        startaddr = install_getstartpage(startpage, pagemargin, install_getprogsize(argv[i]));
-            if (startpage < 0) {
+        if (startpage < 0)
          {
            fprintf(stderr, "Not enough memory\n");
            return -ENOMEM;
          }
-            if ( (progsize = install_programflash(startaddr, argv[i])) <= 0) {
+        if ((progsize = install_programflash(startaddr, argv[i])) <= 0)
          {
            fprintf(stderr, "Error writing program memory: %s\n"
                    "Note: Flash pages are not released, so you may try again and program will be\n"
                    "      written in other pages.\n", strerror(-progsize));
            return -EIO;
          }
        if ((scrsta = install_createscript(startaddr, stacksize, progsize,
-                                           priority, scriptname)) < 0) {
+                                             priority, scriptname)) < 0)
          {
            fprintf(stderr, "Error writing program script at %s: %s\n",
                    argv[i+1], strerror(-scrsta));
            return -EIO;
@@ -403,7 +462,6 @@ int install_main(int argc, char *argv[])
        printf("Installed application of size %d bytes to program memory [%xh - %xh].\n",
                progsize, startaddr, startaddr + progsize);
        return 0;
    }
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fgets.c
+ * apps/system/readline/readline.c
 *
 *   Copyright (C) 2007-2008, 2011-2012 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -135,9 +135,9 @@ int top_main(int argc, char *argv[])
 					memset(header_spaces, ' ', CONFIG_TASK_NAME_SIZE);
 					header_spaces[CONFIG_TASK_NAME_SIZE] = '\0';
 #if CONFIG_RR_INTERVAL > 0
-					printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tMIN STACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces);
+					printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces);
 #else
-					printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tMIN STACK USE\tCURR (BASE) PRIO\n", header_spaces);
+					printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\n", header_spaces);
 #endif
 				} else {
@@ -190,7 +190,26 @@ int top_main(int argc, char *argv[])
 						runtime_spaces = "";
 					}
-					printf("\033[K % 2d\t%s%s % 8lld ms%s  \t % 2d.%03d \t % 6d B", (int)system_load.tasks[i].tcb->pid, system_load.tasks[i].tcb->name, spaces, (system_load.tasks[i].total_runtime / 1000), runtime_spaces, (int)(curr_loads[i] * 100), (int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100), (uint32_t)system_load.tasks[i].tcb->adj_stack_ptr - (uint32_t)system_load.tasks[i].tcb->xcp.regs[REG_R13]);
+					unsigned stack_size = (uintptr_t)system_load.tasks[i].tcb->adj_stack_ptr - 
 								(uintptr_t)system_load.tasks[i].tcb->stack_alloc_ptr;
 					unsigned stack_free = 0;
 					uint8_t *stack_sweeper = (uint8_t *)system_load.tasks[i].tcb->stack_alloc_ptr;
 					while (stack_free < stack_size) {
 						if (*stack_sweeper++ != 0xff)
 							break;
 						stack_free++;
 					}
 					printf("\033[K % 2d\t%s%s % 8lld ms%s  \t % 2d.%03d \t % 4u / % 4u",
 					       (int)system_load.tasks[i].tcb->pid,
 					       system_load.tasks[i].tcb->name,
 					       spaces,
 					       (system_load.tasks[i].total_runtime / 1000),
 					       runtime_spaces,
 					       (int)(curr_loads[i] * 100),
 					       (int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100),
 					       stack_size - stack_free,
 					       stack_size);
 					/* Print scheduling info with RR time slice */
 #if CONFIG_RR_INTERVAL > 0
 					printf("\t%d\t(%d)\t\t%d\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority, (int)system_load.tasks[i].tcb->timeslice);
@@ -3177,7 +3177,7 @@
 	* 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>
+6.22 2012-09-29 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
@@ -3193,7 +3193,7 @@
 	  speed/duplex.  This does not work for certain PHYs.  Still some unresolved
 	  issues (also from Kate).
 	* tools/Config.mk, Makefile, configs/*/Make.defs:  Add a new Makefile
-	  fragement to de-quoate certain strings from the Kconfig logic that
+	  fragment to de-quote certain strings from the Kconfig logic that
 	  need to be used at path segments (Richard Cochran).
 	* arch/arm/src/stm32/stm32_usbotghost.c:  The STM32 USB host driver only
 	  works with debug turned on.  The problem appears to be that with debug
@@ -3201,7 +3201,7 @@
 	  reveals a variety of errors.  This check in improves NAK robustness
 	  for control transfers but does not resolve all of the issues.
 	* configs/stm3220g-eval/*/defconfig:  Calibrated delay loop.  It had
-	  never been calibrated was was way off.
+	  never been calibrated was way off.
 	* sched/sem_holder.c: Add logic to handler some priority inheritance
 	  cases when sem_post() is called from an interrupt handler.  The
 	  logic is clearly wrong, but it is not known if this is the
@@ -3212,13 +3212,13 @@
 	  CONFIG_LIBC_STRERROR_SHORT that can be used to output shortened
 	  strings by strerror().
 	* arch/arm/src/stm32/stm32_usbotghost.c:  Finally... the USB OTG FS
-	  appears to handle NAKing correctly is complete.
+	  appears to handle NAKing correctly.
 	* configs/stm32f4discovery/*:  Added and verifed support for USB OTG FS
 	  host on the STM32F4Discovery board.
 	* configs/*/defconfig: Remove configuration documentation from config
 	  files.  It is redundant, error-prone, and difficult to maintain.
 	  Configuration documentation is available in configs/README.txt for
-	  common configurations and in configs/*/README.txt for board and MCU_
+	  common configurations and in configs/*/README.txt for board and MCU-
 	  specific configurations.
 	* configs/stm3240g-eval: Add USB host support.
 	* sched/os_bring.c, configs/*/defconfig, tools/mkconfig.c, and others:  Added
@@ -3226,7 +3226,7 @@
 	  the default entry from user_start to some other symbol.  Contributed by
 	  Kate. NOTE: This change does introduce a minor backward incompatibility.
 	  For example, if your application uses NSH as its start-up program, then your
-	  code will not fail because it will be unable to find "user_start".  The fix
+	  build will now fail because it will be unable to find "user_start".  The fix
 	  for this link failure is to add the following to your configuration file:
 	  CONFIG_USER_ENTRYPOINT="nsh_main".
 	* libs/stdio/lib_libfread.c and lib_*flush*.c:  Correct a couple of
@@ -3269,7 +3269,7 @@
 	  CONFIG_HEAP2_SIZE (decimal) instead of CONFIG_HEAP2_END (hex).
 	* tools/configure.sh:  Don't append the apps directory path setting
 	  if the correct setting is already in defined in the defconfig file.
-	* fs/fat/fs_utils.c:  Improper constructed bool expression.  This
+	* fs/fat/fs_utils.c:  Improperly constructed bool expression.  This
 	  would cause many unnecessary writes to FLASH (Thanks Ronen Vainish).
 	* Kconfig: Verify configuration settings for the LPC43xx.  This includes
 	  some corrections to configuration variable names and defconfig settings.
@@ -3319,13 +3319,13 @@
 	  in all places.
 	* drivers/enc28j60.c, include/nuttx/net/enc28j60.h, and 
 	  olimex-strp711/src/up_enc28j60.c:  No longer passes IRQ number
-	  as a parameters.  Instead now passes a call table to manage
+	  as a parameter.  Instead now passes a call table to manage
 	  ENC28J60 GPIO interrupts.  That is because GPIO interrupts are
 	  handled in different ways by different MCUs and some do not
 	  support IRQ numbers for GPIO interrupts.
 	* mm/mm_gran* and include/nuttx/gran.h:  Add a simple granule-
 	  based allocator.  The intent of this allocator is to support
-	  simple allocation of DMA I/O buffers.  The initiali check-in
+	  simple allocation of DMA I/O buffers.  The initial check-in
 	  is code complete but untested (not event built into the
 	  mm/Makefile yet.
 	* confgs/fire-stm32v2: The board port is basically functional.
@@ -3352,7 +3352,7 @@
 	* arch/arm/include/armv7-m/irq.h:  Fix a critical bug in irqsave().
 	  It looks like sometimes the compile will re-order some instructions
 	  inapproapriately.  This end result is that interrupts will get
-	  stuff off.
+	  stuck off.
 	* drivers/mtd/w25.c:  Beginning of a driver for the Windbond SPI
 	  FLASH family (W25x16, W25x32, and W25x64).  The initial check-in
 	  is basically just the SST25 driver with some name changes.
@@ -3372,7 +3372,7 @@
 	  I2C reset logic to recover from locked devices on the bus.
 	* configs/*/*/Make.defs, tools/Config.mk, Makefile:  Refactor all
 	  common make definitions from the various Make.defs files into
-	  the common tools/Make.mk.  Add support for a verbosity options:
+	  the common tools/Config.mk.  Add support for a verbosity options:
 	  Specify V=1 on the make command line in order to see the exact
 	  commands used in the build (Contributed by Richard Cochran).
 	* drivers/net/enc28j60.c:  The ENC28J60 Ethernet driver is
@@ -3400,17 +3400,17 @@
 	* configs/shenzhou/src/up_lcd.c:  Oops. Shenzhou LCD does not
 	  have an SSD1289 controller.  Its an ILI93xx.  Ported the
 	  STM3240G-EVAL ILI93xx driver to work on the Shenzhou board.
-	* configs/shenzhou/nxwm:  Added an NxWM configuratino for the
+	* configs/shenzhou/nxwm:  Added an NxWM configuration for the
 	  Shenzhou board.  This is untested on initial check-in.  It will
 	  be used to verify the Shenzhou LCD driver (and eventually the
 	  touchscreen driver).
 	* configs/shenzhou/src/up_touchscreen.c:  Add ADS7843E touchscreen
 	  support for the Shenzhou board.  The initial check-in is untested
-	  and basically a clone of the the touchscreen support fro the SAM-3U.
+	  and basically a clone of the the touchscreen support for the SAM-3U.
 	* tools/cfgparser.c: There are some NxWidget configuration
 	  settings that must be de-quoted.
 	* arch/arm/src/stm32/Kconfig: There is no SPI4.  Some platforms
-	  SPI3 and some do not (still not clear).
+	  support SPI3 and some do not (still not clear).
 	* nuttx/configs/shenzhou: Various fixes to build new NxWM
 	  configuration.
 	* configs/shenzhou:  Oops.  The Shenzhou LCD is and SSD1289,
@@ -3419,4 +3419,55 @@
 	  on the Shenzhou board.
 	* graphics/nxmu:  Correct some bad parameter checking that caused
 	  failures when DEBUG was enabled.
 	* arch/arm/src/armv7-m/nvic.h:  Add bit definitions for the AIRCR
 	  register.
 	* drivers/input/ads7843.c:  Need semaphore protection in logic
 	  that samples the position.
 	* drivers/lcd/ssd1289.c:  On some platforms we are unable to
 	  read the device ID -- reason unknown; workaround in place.
 	* drivers/input/ads7843.c:  Add thresholding options and an
 	  option to swap X and Y positions.  Fix some logic errors in
 	  the SPI locking/selecting logic.
 	* arch/arm/src/armv7-m/up_systemreset.c:  Add logic to reset
 	  the Cortex-Mx using the AIRCR register.  Contributed by Darcy
 	  Gong.
 	* arch/arm/src/stm32/up_eth.c:  Add logic specifically for the
 	  DM9161 PHY.  If the DM9161 failed to initialize, then use the
 	  up_sysemreset() logic to reset the MCU.  Contributed by Darcy
 	  Gong.
 	* arch/arm/src/stm32/stm32_gpio.c:  Add missing logic to set bit
 	  for SPI3 remap.  This fixes the XPT2046 touchscreen driver using
 	  drivers/input/ads7843.c
 	* configs/shenzhou/src/up_ssd1289.c:  Fix naming error in
 	  conditional compilation.
 	* configs/shenzhou/nxwm/defconfig:  Disable reading from the LCD.
 	  This does not work.  The hardware and the driver support the
 	  capability, but there is some bug that causes memory corruption.
 	  The work around for now:  Just disable reading from the LCD.
 	* drivers/lcd/ssd1289.c:  Add some logic to reduce the amount of
 	  output when CONFIG_DEBUG_LCD is enabled.
 	* configs/shenzhou/nxwm/defconfig:  Bug found and fixed... The
 	  original configuration had too much stuff turned on.  Reducing
 	  stack sizes, some features, and buffer sizes made the
 	  configuration reliable (Reading from the LCD is still disabled).
 	* net/uip/uip_icmpping.c:  Fix problem that prevented ping from
 	  going outside of local network.  Submitted by Darcy Gong
 6.23 2012-09-29 Gregory Nutt <gnutt@nuttx.org>
 	* arch/arm/src/stm32/stm32_rng.c, chip/stm32_rng.h, and other files:
 	  Implementation of /dev/random using the STM32 Random Number
 	  Generator (RNG).
 	* board.h file for shenzhou, fire-stm32v2, and olimex-stm32-p107:
 	  Add frequencies for HSE, HSI, LSE, and LSI.  These are needed
 	  by the STM32 watchdog driver.
 	* CONFIG_EXAMPLES_*: To make things consistent, changed all occurrences
 	  of CONFIG_EXAMPLE_* to CONFIG_EXAMPLES_*.
 	* drivers/mtd/w25.c and configs/*/src/up_w25.c:  Several fixes for the
 	  W25 SPI FLASH.
 	* configs/*/Make.defs:  All buildroot tools now use the extension
 	  xxx-nuttx-elf- vs. xxx-elf-
 	* configs/shenzhou/*/Make.defs:  Now uses the new buildroot 4.6.3
 	  EABI toolchain.
 	* lib/stdio/lib_libdtoa.c:  Another dtoa() fix from Mike Smith.
@@ -853,9 +853,8 @@ apps
 |- system/
 |   |- i2c/README.txt
 |   |- free/README.txt
- |   `- install
+ |   |- install
- |      `- README.txt
+ |   |  `- README.txt
 |- vsn/
 |   |- poweroff
 |   |  `- README.txt
 |   |- ramtron
@@ -1606,6 +1606,8 @@ The 61st release of NuttX, NuttX-5.14, was made on November 27,
 2010.  This release includes multiple, important bugfixes as well
 as a new driver for the NXP LPC1766.
 This release corresponds with SVN release number: r3137
 Important bugfixes include:
  * Cortex-M3 Hard Fault.  Fixed a hard fault problem that can occur
@@ -2052,6 +2054,8 @@ interest expressed by members of the forum and because of the
 availability of newer, larger capacity AVR parts (that I don't have
 yet).
 This release corresponds with SVN release number: r3730
 This release includes support for the following AVR boards.  As
 with any initial support for new architectures, there are some
 incomplete areas and a few caveats that need to be stated.  Here
@@ -3063,3 +3067,107 @@ Bugfixes (see the change log for details) :
      for C++
 As well as other, less critical bugs (see the ChangeLog for details)
 NuttX-6.22
 ^^^^^^^^^^
 The 89th release of NuttX, Version 6.22, was made on September 29, 2012,
 and is available for download from the SourceForge website.  Note
 that release consists of two tarballs:  nuttx-6.22.tar.gz and
 apps-6.22.tar.gz.  Both may be needed (see the top-level nuttx/README.txt
 file for build information).
 This release corresponds with SVN release number: r5206
 Note that all SVN information has been stripped from the tarballs.  If you
 need the SVN configuration, you should check out directly from SVN.  Revision
 r5206 should equivalent to release 6.22 of NuttX 6.22:
    svn checkout -r5206 svn://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
 Or
    svn checkout -r5206 http://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
 Additional new features and extended functionality:
    * RTOS: Application entry point is no longer user_start, but can be
      configured using CONFIG_USER_ENTRYPOINT.  NuttX now supports two work
      queues:  A lower priority work queue (for extended processing) and a
      higher priority work queue (for quick, high priority operations).
    * Memory Management: Added a new granule-based allocated that can be
      used to manage, aligned and quantized DMA memory.
    * File System: Add hooks to allocate I/O memory with and external
      allocated (need if required by DMA).
    * Networking: ENC28J60 driver is (finally) verified.
    * Drivers: Add hooks USB device drivers to allocate I/O memory with and
      external allocated (need if required by DMA).  Driver for the Windbond
      SPI FLASH family (W25x16, W25x32, W25x64, and others).  ADS7843E driver
      extended for TSC2046 and XPT2046 and verified.
    * ARMv7-M: Added logic to reset the MCU using the NVIC.
    * STM32: Add support for STM32F103VET6.
    * STM32 Drivers: Add logic to re-initialize UARTs a second time to
      enable DMA (Mike Smith).  I2C driver error recovery (Mike Smith).
    * STM32 boards: Support for USB host added add to several configurations
      (or at least explained in README files).  Support for the Shenzhou
      STM32F107 board (see www.armjishu.com).  Support for M3 Wildfire
      STM32F103 board (v2 and v3).
    * Build System:  Kconfig string de-quoting logic.  Remove comments from
      defconfig files (Kate).  Add tool to create NuttX-style symbol tables.
      Numerous changes to configuration logic as needed for the new mconf-based
      configuration (much of this from Richard Cochran).  Refactor common
      Make.defs logic into tools/Config.mk (Richard Cochran).
    * Library: Configurable terse output from strerror(). Added perror() (Kate).
      Add %n format to sscanf() (Kate).
    * Applications: Numerous changes and extensions to the old uIP web server
      (from Kate and Max Holtzberg, see the ChangeLog for specific extensions).
      UDP network discovery utility (Max Holtzberg).  Embeddable Lightweight
      XML-RPC Server (http://www.drdobbs.com/web-development/an-embeddable-lightweight-xml-rpc-server/184405364, Max Holtzberg).
 Bugfixes (see the change log for details).  Some of these are very important
 (marked *critical*):
    * RTOS: Fixes to priority inheritance logic (*critical*).  waitpid()
      critical section.  Assertion in work_cancel() (Mike Smith).  mmap() (Kate).
    * FAT File System: Improper Boolean expression caused un-necessary writes
      and performance issues (*critical*, Ronen Vainish).
    * Networking: Remove an un-necessary delay from recvfrom().  This greatly
      improves network performance (*critical*, Max Holtzberg).
    * Graphics: NX parameter checking errors.
    * Drivers: Fix double release of memory in SDIO-based, MMC/SD driver
      (Ronen Vainish).
    * LPC17xx:  Ethernet driver fixes needed for certain PHYs (Kate).
    * AVR: Fix build error (Richard Cochran).
    * STM32: USB OTG FS host driver NAKing an retries.  Power management
      compilation errors (Diego Sanchez).  Missing SPI3 remap logic.
    * STM32 Drivers: Fix for Ethernet errata for STM32F107 (*critical*).
      Ethernet buffer alignment check.  Add "kludge" to Ethernet driver to
      handle DM9161 PHY which (at least on the Shenzhou board), sometimes
      does not come up correctly.
    * Applications: THTTPD (Kate).  NSH ping when IP address is on a different
      network (Darcy Gong).
    * Library: fread(), fflush(), fdopen(): Fix error handling logic (Ronen
      Vainish). Fix some field-width handling issues in sscanf()
 As well as other, less critical bugs (see the ChangeLog for details)
@@ -12,7 +12,7 @@ nuttx/
  (2)  Signals (sched/, arch/)
  (2)  pthreads (sched/)
  (2)  C++ Support
-  (5)  Binary loaders (binfmt/)
+  (6)  Binary loaders (binfmt/)
 (17)  Network (net/, drivers/net)
  (3)  USB (drivers/usbdev, drivers/usbhost)
 (11)  Libraries (lib/)
@@ -376,15 +376,15 @@ o Binary loaders (binfmt/)
  Description: Windows build issue.  Some of the configurations that use NXFLAT have
               the linker script specified like this:
-               NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+               NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld -no-check-sections
               That will not work for windows-based tools because they require Windows
               style paths.  The solution is to do something like this:
               if ($(WINTOOL)y)
-                 NXFLATLDSCRIPT=${cygpath -w $(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld}
+                 NXFLATLDSCRIPT=${cygpath -w $(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld}
               else
-                 NXFLATLDSCRIPT=$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld
+                 NXFLATLDSCRIPT=$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld
               endif
               Then use
@@ -395,6 +395,48 @@ o Binary loaders (binfmt/)
  Priority:    There are too many references like the above.  They will have
               to get fixed as needed for Windows native tool builds.
  Title:       TOOLCHAIN COMPATIBILITY PROBLEM
  Descripton:  The older 4.3.3 compiler generates GOTOFF relocations to the constant
               strings, like:
               .L3:
                  .word   .LC0(GOTOFF)
                  .word   .LC1(GOTOFF)
                  .word   .LC2(GOTOFF)
                  .word   .LC3(GOTOFF)
                  .word   .LC4(GOTOFF)
               Where .LC0, LC1, LC2, LC3, and .LC4 are the labels correponding to strings in
               the .rodata.str1.1 section.  One consequence of this is that .rodata must reside
               in D-Space since it will addressed relative to the GOT (see the section entitled
               "Read-Only Data in RAM" at
               http://nuttx.org/Documentation/NuttXNxFlat.html#limitations).
               The newer 4.6.3compiler generated PC relative relocations to the strings:
               .L2:
                  .word   .LC0-(.LPIC0+4)
                  .word   .LC1-(.LPIC1+4)
                  .word   .LC2-(.LPIC2+4)
                  .word   .LC3-(.LPIC4+4)
                  .word   .LC4-(.LPIC5+4)
               This is good and bad.  This is good because it means that .rodata.str1.1 can not
               reside in FLASH with .text and can be accessed using PC-relative addressing. 
               That can be accomplished by simply moving the .rodata from the .data section to
               the .text section in the linker script.  (The NXFLAT linker script is located at
               nuttx/binfmt/libnxflat/gnu-nxflat.ld).
               This is bad because a lot of stuff may get broken an a lot of test will need to
               be done.  One question that I have is does this apply to all kinds of .rodata? 
               Or just to .rodata.str1.1?
  Status:      Open.  Many of the required changes are in place but, unfortunately, not enough
               go be fully functional.  I think all of the I-Space-to-I-Space fixes are in place.
               However, the generated code also includes PC-relative references to .bss which
               just cannot be done.
  Priority:    Medium.  The workaround for now is to use the older, 4.3.3 OABI compiler.
 o Network (net/, drivers/net)
  ^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -175,7 +175,7 @@
 #define NVIC_CPUID_BASE_OFFSET          0x0d00 /* CPUID base register */
 #define NVIC_INTCTRL_OFFSET             0x0d04 /* Interrupt control state register */
 #define NVIC_VECTAB_OFFSET              0x0d08 /* Vector table offset register */
-#define NVIC_AIRC_OFFSET                0x0d0c /* Application interrupt/reset contol registr */
+#define NVIC_AIRCR_OFFSET               0x0d0c /* Application interrupt/reset contol registr */
 #define NVIC_SYSCON_OFFSET              0x0d10 /* System control register */
 #define NVIC_CFGCON_OFFSET              0x0d14 /* Configuration control register */
 #define NVIC_SYSH_PRIORITY_OFFSET(n)    (0x0d14 + 4*((n) >> 2))
@@ -348,7 +348,7 @@
 #define NVIC_CPUID_BASE                 (ARMV7M_NVIC_BASE + NVIC_CPUID_BASE_OFFSET)
 #define NVIC_INTCTRL                    (ARMV7M_NVIC_BASE + NVIC_INTCTRL_OFFSET)
 #define NVIC_VECTAB                     (ARMV7M_NVIC_BASE + NVIC_VECTAB_OFFSET)
-#define NVIC_AIRC                       (ARMV7M_NVIC_BASE + NVIC_AIRC_OFFSET)
+#define NVIC_AIRCR                      (ARMV7M_NVIC_BASE + NVIC_AIRCR_OFFSET)
 #define NVIC_SYSCON                     (ARMV7M_NVIC_BASE + NVIC_SYSCON_OFFSET)
 #define NVIC_CFGCON                     (ARMV7M_NVIC_BASE + NVIC_CFGCON_OFFSET)
 #define NVIC_SYSH_PRIORITY(n)           (ARMV7M_NVIC_BASE + NVIC_SYSH_PRIORITY_OFFSET(n))
@@ -500,6 +500,20 @@
 #define NVIC_SYSHCON_BUSFAULTENA        (1 << 17) /* Bit 17: BusFault enabled */
 #define NVIC_SYSHCON_USGFAULTENA        (1 << 18) /* Bit 18: UsageFault enabled */
 /* Application Interrupt and Reset Control Register (AIRCR) */
 #define NVIC_AIRCR_VECTRESET            (1 << 0)  /* Bit 0:  VECTRESET */
 #define NVIC_AIRCR_VECTCLRACTIVE        (1 << 1)  /* Bit 1:  Reserved for debug use */
 #define NVIC_AIRCR_SYSRESETREQ          (1 << 2)  /* Bit 2:  System reset */
                                                  /* Bits 2-7:  Reserved */
 #define NVIC_AIRCR_PRIGROUP_SHIFT       (8)       /* Bits 8-14: PRIGROUP */
 #define NVIC_AIRCR_PRIGROUP_MASK        (7 << NVIC_AIRCR_PRIGROUP_SHIFT)
 #define NVIC_AIRCR_ENDIANNESS           (1 << 15) /* Bit 15: 1=Big endian */
 #define NVIC_AIRCR_VECTKEY_SHIFT        (16)      /* Bits 16-31: VECTKEY */
 #define NVIC_AIRCR_VECTKEY_MASK         (0xffff << NVIC_AIRCR_VECTKEY_SHIFT)
 #define NVIC_AIRCR_VECTKEYSTAT_SHIFT    (16)      /* Bits 16-31: VECTKEYSTAT */
 #define NVIC_AIRCR_VECTKEYSTAT_MASK     (0xffff << NVIC_AIRCR_VECTKEYSTAT_SHIFT)
 /* Debug Exception and Monitor Control Register (DEMCR) */
 #define NVIC_DEMCR_VCCORERESET          (1 << 0)  /* Bit 0:  Reset Vector Catch */
@@ -1,6 +1,9 @@
 /****************************************************************************
 * arch/arm/src/armv7-m/up_systemreset.c
 *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *           Darcy Gong
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -12,7 +15,7 @@
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
+ * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
@@ -31,53 +34,46 @@
 *
 ****************************************************************************/
-/*
+/****************************************************************************
- * Driver for the ST LIS331 MEMS accelerometer
+ * Included Files
 ****************************************************************************/
 #include <nuttx/config.h>
 #include <stdint.h>
 #include "up_arch.h"
 #include "nvic.h"
 /****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/
 /****************************************************************************
 * Public Types
 ****************************************************************************/
 /****************************************************************************
 * Public functions
 ****************************************************************************/
 void up_systemreset(void)
 {
  uint32_t regval;
  /* Set up for the system reset, retaining the priority group from the
   * the AIRCR register.
   */
-#include <sys/ioctl.h>
+  regval  = getreg32(NVIC_AIRCR) & NVIC_AIRCR_PRIGROUP_MASK;
  regval |= ((0x5fa << NVIC_AIRCR_VECTKEY_SHIFT) | NVIC_AIRCR_SYSRESETREQ);
  putreg32(regval, NVIC_AIRCR);
-#define _LIS331BASE	0x6900
+  /* Ensure completion of memory accesses */              
 #define LIS331C(_x)	_IOC(_LIS331BASE, _x)
-/* 
+  __asm volatile ("dsb");
 * Sets the sensor internal sampling rate, and if a buffer
 * has been configured, the rate at which entries will be
 * added to the buffer.
 */
 #define LIS331_SETRATE		LIS331C(1)
-#define LIS331_RATE_50Hz		(0<<3)
+  /* Wait for the reset */
 #define LIS331_RATE_100Hz		(1<<3)
 #define LIS331_RATE_400Hz		(2<<3)
 #define LIS331_RATE_1000Hz		(3<<3)
-/*
+  for (;;);
- * Sets the sensor internal range.
+}
 */
 #define LIS331_SETRANGE		LIS331C(2)
 #define LIS331_RANGE_2G			(0<<4)
 #define LIS331_RANGE_4G			(1<<4)
 #define LIS331_RANGE_8G			(3<<4)
 /*
 * Sets the address of a shared lis331_buffer
 * structure that is maintained by the driver.
 *
 * If zero is passed as the address, disables
 * the buffer updating.
 */
 #define LIS331_SETBUFFER	LIS331C(3)
 struct lis331_buffer {
 	uint32_t	size;		/* number of entries in the samples[] array */
 	uint32_t	next;		/* the next entry that will be populated */
 	struct {
 		uint16_t	x;
 		uint16_t	y;
 		uint16_t	z;
 	} samples[];
 };
 extern int	lis331_attach(struct spi_dev_s *spi, int spi_id);
@@ -171,6 +171,12 @@ void up_initialize(void)
  ramlog_consoleinit();
 #endif
  /* Initialize the Random Number Generator (RNG)  */
 #ifdef CONFIG_DEV_RANDOM
  up_rnginitialize();
 #endif
  /* Initialize the system logging device */
 #ifdef CONFIG_SYSLOG_CHAR
@@ -241,6 +241,10 @@ extern void up_pminitialize(void);
 #  define up_pminitialize()
 #endif
 #if defined(CONFIG_ARCH_CORTEXM3) || defined(CONFIG_ARCH_CORTEXM4)
 extern void up_systemreset(void) noreturn_function;
 #endif
 /* Interrupt handling *******************************************************/
 extern void up_irqinitialize(void);
@@ -369,6 +373,12 @@ extern void up_usbuninitialize(void);
 # define up_usbuninitialize()
 #endif
 /* Random Number Generator (RNG) ********************************************/
 #ifdef CONFIG_DEV_RANDOM
 extern void up_rnginitialize(void);
 #endif
 /****************************************************************************
 * Name: up_check_stack
 *
@@ -269,6 +269,7 @@ config STM32_ETHMAC
 	bool "Ethernet MAC"
 	default n
 	depends on STM32_CONNECTIVITYLINE || STM32_STM32F20XX || STM32_STM32F40XX
 	select ARCH_HAVE_PHY
 config STM32_FSMC
 	bool "FSMC"
@@ -319,6 +320,7 @@ config STM32_RNG
 	bool "RNG"
 	default n
 	depends on STM32_STM32F20XX || STM32_STM32F40XX
 	select ARCH_HAVE_RNG
 config STM32_SDIO
 	bool "SDIO"
@@ -45,8 +45,8 @@ CMN_CSRCS	= up_assert.c up_blocktask.c up_copystate.c \
 		  up_initialize.c up_initialstate.c up_interruptcontext.c \
 		  up_memfault.c up_modifyreg8.c up_modifyreg16.c up_modifyreg32.c \
 		  up_releasepending.c up_releasestack.c up_reprioritizertr.c \
-		  up_schedulesigaction.c up_sigdeliver.c up_unblocktask.c \
+		  up_schedulesigaction.c up_sigdeliver.c up_systemreset.c \
-		  up_usestack.c up_doirq.c up_hardfault.c up_svcall.c \
+		  up_unblocktask.c up_usestack.c up_doirq.c up_hardfault.c up_svcall.c \
 		  up_stackcheck.c
 ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
@@ -124,6 +124,10 @@ ifeq ($(CONFIG_DAC),y)
 CHIP_CSRCS	+= stm32_dac.c
 endif
 ifeq ($(CONFIG_DEV_RANDOM),y)
 CHIP_CSRCS	+= stm32_rng.c
 endif
 ifeq ($(CONFIG_PWM),y)
 CHIP_CSRCS	+= stm32_pwm.c
 endif
@@ -0,0 +1,77 @@
 /************************************************************************************
 * arch/arm/src/stm32/chip/stm32_rng.h
 *
 *   Copyright (C) 2012 Max Holtzberg. All rights reserved.
 *   Author: Max Holtzberg <mh@uvc.de>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ************************************************************************************/
 #ifndef __ARCH_ARM_STC_STM32_CHIP_STM32_RNG_H
 #define __ARCH_ARM_STC_STM32_CHIP_STM32_RNG_H
 /************************************************************************************
 * Included Files
 ************************************************************************************/
 #include <nuttx/config.h>
 #include "chip.h"
 /************************************************************************************
 * Pre-processor Definitions
 ************************************************************************************/
 /* Register Offsets *****************************************************************/
 #define STM32_RNG_CR_OFFSET       0x0000  /* RNG Control Register */
 #define STM32_RNG_SR_OFFSET       0x0004  /* RNG Status Register */
 #define STM32_RNG_DR_OFFSET       0x0008  /* RNG Data Register */
 /* Register Addresses ***************************************************************/
 #define STM32_RNG_CR              (STM32_RNG_BASE+STM32_RNG_CR_OFFSET)
 #define STM32_RNG_SR              (STM32_RNG_BASE+STM32_RNG_SR_OFFSET)
 #define STM32_RNG_DR              (STM32_RNG_BASE+STM32_RNG_DR_OFFSET)
 /* Register Bitfield Definitions ****************************************************/
 /* RNG Control Register */
 #define RNG_CR_RNGEN              (1 << 2)  /* Bit 2: RNG enable */
 #define RNG_CR_IE                 (1 << 3)  /* Bit 3: Interrupt enable */
 /* RNG Status Register */
 #define RNG_SR_DRDY               (1 << 0) /* Bit 0: Data ready */
 #define RNG_SR_CECS               (1 << 1) /* Bit 1: Clock error current status */
 #define RNG_SR_SECS               (1 << 2) /* Bit 2: Seed error current status */
 #define RNG_SR_CEIS               (1 << 5) /* Bit 5: Clock error interrupt status */
 #define RNG_SR_SEIS               (1 << 6) /* Bit 6: Seed error interrupt status */
 #endif	/* __ARCH_ARM_STC_STM32_CHIP_STM32_RNG_H */
@@ -664,6 +664,9 @@ static void stm32_rxdescinit(FAR struct stm32_ethmac_s *priv);
 static int  stm32_phyread(uint16_t phydevaddr, uint16_t phyregaddr, uint16_t *value);
 static int  stm32_phywrite(uint16_t phydevaddr, uint16_t phyregaddr, uint16_t value);
 #ifdef CONFIG_PHY_DM9161
 static inline int stm32_dm9161(FAR struct stm32_ethmac_s *priv);
 #endif
 static int  stm32_phyinit(FAR struct stm32_ethmac_s *priv);
 /* MAC/DMA Initialization */
@@ -1653,6 +1656,7 @@ static void stm32_receive(FAR struct stm32_ethmac_s *priv)
          stm32_freebuffer(priv, dev->d_buf);
          dev->d_buf = NULL;
          dev->d_len = 0;
        }
    }
 }
@@ -1953,7 +1957,7 @@ static void stm32_polltimer(int argc, uint32_t arg, ...)
  /* Check if the next TX descriptor is owned by the Ethernet DMA or CPU.  We
   * cannot perform the timer poll if we are unable to accept another packet
   * for transmission.  Hmmm.. might be bug here.  Does this mean if there is
-   * a transmit in progress, we will missing TCP time state updates?
+   * a transmit in progress, we will miss TCP time state updates?
   *
   * In a race condition, ETH_TDES0_OWN may be cleared BUT still not available
   * because stm32_freeframe() has not yet run.  If stm32_freeframe() has run,
@@ -2479,6 +2483,72 @@ static int stm32_phywrite(uint16_t phydevaddr, uint16_t phyregaddr, uint16_t val
  return -ETIMEDOUT;
 }
 /****************************************************************************
 * Function: stm32_dm9161
 *
 * Description:
 *   Special workaround for the Davicom DM9161 PHY is required.  On power,
 *   up, the PHY is not usually configured correctly but will work after
 *   a powered-up reset.  This is really a workaround for some more
 *   fundamental issue with the PHY clocking initialization, but the
 *   root cause has not been studied (nor will it be with this workaround).
 *
 * Parameters:
 *   priv - A reference to the private driver state structure
 *
 * Returned Value:
 *   None
 *
 ****************************************************************************/
 #ifdef CONFIG_PHY_DM9161
 static inline int stm32_dm9161(FAR struct stm32_ethmac_s *priv)
 {
  uint16_t phyval;
  int ret;
  /* Read the PHYID1 register;  A failure to read the PHY ID is one
   * indication that check if the DM9161 PHY CHIP is not ready.
   */
  ret = stm32_phyread(CONFIG_STM32_PHYADDR, MII_PHYID1, &phyval);
  if (ret < 0)
    {
      ndbg("Failed to read the PHY ID1: %d\n", ret);
      return ret;
    }
  /* If we failed to read the PHY ID1 register, the reset the MCU to recover */
  else if (phyval == 0xffff)
    {
      up_systemreset();
    }
  nvdbg("PHY ID1: 0x%04X\n", phyval);
  /* Now check the "DAVICOM Specified Configuration Register (DSCR)", Register 16 */
  ret = stm32_phyread(CONFIG_STM32_PHYADDR, 16, &phyval);
  if (ret < 0)
    {
      ndbg("Failed to read the PHY Register 0x10: %d\n", ret);
      return ret;
    }
  /* Bit 8 of the DSCR register is zero, the the DM9161 has not selected RMII.
   * If RMII is not selected, then reset the MCU to recover.
   */
  else if ((phyval & (1 << 8)) == 0)
    {
      up_systemreset();
    }
  return OK;
 }
 #endif
 /****************************************************************************
 * Function: stm32_phyinit
 *
@@ -2524,6 +2594,16 @@ static int stm32_phyinit(FAR struct stm32_ethmac_s *priv)
    }
  up_mdelay(PHY_RESET_DELAY);
  /* Special workaround for the Davicom DM9161 PHY is required. */
 #ifdef CONFIG_PHY_DM9161
  ret = stm32_dm9161(priv);
  if (ret < 0)
    {
      return ret;
    }
 #endif
  /* Perform auto-negotion if so configured */
 #ifdef CONFIG_STM32_AUTONEG
@@ -128,6 +128,7 @@ static inline void stm32_gpioremap(void)
  val |= AFIO_MAPR_SPI1_REMAP;
 #endif
 #ifdef CONFIG_STM32_SPI3_REMAP
  val |= AFIO_MAPR_SPI3_REMAP;
 #endif
 #ifdef CONFIG_STM32_I2C1_REMAP
@@ -0,0 +1,264 @@
 /****************************************************************************
 * arch/arm/src/stm32/stm32_rng.c
 *
 *   Copyright (C) 2012 Max Holtzberg. All rights reserved.
 *   Author: Max Holtzberg <mh@uvc.de>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
 /****************************************************************************
 * Included Files
 ****************************************************************************/
 #include <stdint.h>
 #include <stdio.h>
 #include <stdbool.h>
 #include <debug.h>
 #include <errno.h>
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
 #include "up_arch.h"
 #include "chip/stm32_rng.h"
 #include "up_internal.h"
 /****************************************************************************
 * Private Function Prototypes
 ****************************************************************************/
 static int stm32_rnginitialize(void);
 static int stm32_interrupt(int irq, void *context);
 static void stm32_enable(void);
 static void stm32_disable(void);
 static ssize_t stm32_read(struct file *filep, char *buffer, size_t);
 /****************************************************************************
 * Private Types
 ****************************************************************************/
 struct rng_dev_s
 {
  sem_t rd_devsem;      /* Threads can only exclusively access the RNG */
  sem_t rd_readsem;     /* To block until the buffer is filled  */
  char *rd_buf;
  size_t rd_buflen;
  uint32_t rd_lastval;
  bool rd_first;
 };
 /****************************************************************************
 * Private Data
 ****************************************************************************/
 static struct rng_dev_s g_rngdev;
 static const struct file_operations g_rngops =
 {
  0,               /* open */
  0,               /* close */
  stm32_read,      /* read */
  0,               /* write */
  0,               /* seek */
  0                /* ioctl */
 #ifndef CONFIG_DISABLE_POLL
  ,0               /* poll */
 #endif
 };
 /****************************************************************************
 * Private functions
 ****************************************************************************/
 static int stm32_rnginitialize()
 {
  uint32_t regval;
  vdbg("Initializing RNG\n");
  memset(&g_rngdev, 0, sizeof(struct rng_dev_s));
  sem_init(&g_rngdev.rd_devsem, 0, 1);
  if (irq_attach(STM32_IRQ_RNG, stm32_interrupt))
    {
      /* We could not attach the ISR to the interrupt */
      vdbg("Could not attach IRQ.\n");
      return -EAGAIN;
    }
  /* Enable interrupts */
  regval = getreg32(STM32_RNG_CR);
  regval |=  RNG_CR_IE;
  putreg32(regval, STM32_RNG_CR);
  up_enable_irq(STM32_IRQ_RNG);
  return OK;
 }
 static void stm32_enable()
 {
  uint32_t regval;
  g_rngdev.rd_first = true;
  regval = getreg32(STM32_RNG_CR);
  regval |= RNG_CR_RNGEN;
  putreg32(regval, STM32_RNG_CR);
 }
 static void stm32_disable()
 {
  uint32_t regval;
  regval = getreg32(STM32_RNG_CR);
  regval &= ~RNG_CR_RNGEN;
  putreg32(regval, STM32_RNG_CR);
 }
 static int stm32_interrupt(int irq, void *context)
 {
  uint32_t rngsr;
  uint32_t data;
  rngsr = getreg32(STM32_RNG_SR);
  if ((rngsr & (RNG_SR_SEIS | RNG_SR_CEIS)) /* Check for error bits */
      || !(rngsr & RNG_SR_DRDY)) /* Data ready must be set */
    {
      /* This random value is not valid, we will try again. */
      return OK;
    }
  data = getreg32(STM32_RNG_DR);
  /* As required by the FIPS PUB (Federal Information Processing Standard
   * Publication) 140-2, the first random number generated after setting the
   * RNGEN bit should not be used, but saved for comparison with the next
   * generated random number. Each subsequent generated random number has to be
   * compared with the previously generated number. The test fails if any two
   * compared numbers are equal (continuous random number generator test).
   */
  if (g_rngdev.rd_first)
    {
      g_rngdev.rd_first = false;
      g_rngdev.rd_lastval = data;
      return OK;
    }
  if (g_rngdev.rd_lastval == data)
    {
      /* Two subsequent same numbers, we will try again. */
      return OK;
    }
  /* If we get here, the random number is valid. */
  g_rngdev.rd_lastval = data;
  if (g_rngdev.rd_buflen >= 4)
    {
      g_rngdev.rd_buflen -= 4;
      *(uint32_t*)&g_rngdev.rd_buf[g_rngdev.rd_buflen] = data;
    }
  else
    {
      while (g_rngdev.rd_buflen > 0)
        {
          g_rngdev.rd_buf[--g_rngdev.rd_buflen] = (char)data;
          data >>= 8;
        }
    }
  if (g_rngdev.rd_buflen == 0)
    {
      /* Buffer filled, stop further interrupts. */
      stm32_disable();
      sem_post(&g_rngdev.rd_readsem);
    }
  return OK;
 }
 /****************************************************************************
 * Name: stm32_read
 ****************************************************************************/
 static ssize_t stm32_read(struct file *filep, char *buffer, size_t buflen)
 {
  if (sem_wait(&g_rngdev.rd_devsem) != OK)
    {
      return -errno;
    }
  else
    {
      /* We've got the semaphore. */
      /* Initialize semaphore with 0 for blocking until the buffer is filled from
       * interrupts.
       */
      sem_init(&g_rngdev.rd_readsem, 0, 1);
      g_rngdev.rd_buflen = buflen;
      g_rngdev.rd_buf = buffer;
      /* Enable RNG with interrupts */
      stm32_enable();
      /* Wait until the buffer is filled */
      sem_wait(&g_rngdev.rd_readsem);
      /* Free RNG for next use */
      sem_post(&g_rngdev.rd_devsem);
      return buflen;
    }
 }
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
 void up_rnginitialize()
 {
  stm32_rnginitialize();
  register_driver("/dev/random", &g_rngops, 0444, NULL);
 }
@@ -1,7 +1,7 @@
 /****************************************************************************
- * examples/nxflat/nxflat.ld
+ * examples/nxflat/gnu-nxflat-gotoff.ld
 *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009, 2012 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
@@ -48,7 +48,17 @@ MEMORY
 * (2) DSpace (Data Space).  This is the segment that contains both
 *     read-write data (.data, .bss) as well as read-only data (.rodata).
 *     Everything in this segment should be access-able with machine
- *     with machine load and store instructions.
+ *     PIC load and store instructions.
 *
 * Older versions of GCC (at least up to GCC 4.3.3), use GOT-relative
 * addressing to access RO data. In that case, read-only data (.rodata) must
 * reside in D-Space and this linker script should be used.
 *
 * Newer versions of GCC (at least as of GCC 4.6.3), use PC-relative
 * addressing to access RO data. In that case, read-only data (.rodata) must
 * reside in I-Space and this linker script should NOT be used with those
 * newer tools.
 *
 ****************************************************************************/
 SECTIONS
@@ -97,11 +107,16 @@ SECTIONS
  .data 0x00000000 :
    {
      /* In this model, .rodata is access using PC-relative addressing
       * and, hence, must also reside in the .text section.
       */
      __data_start = . ;
      *(.rodata)
      *(.rodata1)
      *(.rodata.*)
      *(.gnu.linkonce.r*)
      *(.data)
      *(.data1)
      *(.data.*)
@@ -0,0 +1,187 @@
 /****************************************************************************
 * examples/nxflat/gnu-nxflat-pcrel.ld
 *
 *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
 *   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
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
 MEMORY 
 {
  ISPACE : ORIGIN = 0x0, LENGTH = 2097152
  DSPACE : ORIGIN = 0x0, LENGTH = 2097152
 }
 /****************************************************************************
 * The XFLAT program image is divided into two segments:
 *
 * (1) ISpace (Instruction Space).  This is the segment that contains
 *     code (.text) as well as read-only data (.rodata).  Everything in the
 *     segment should be fetch-able  machine PC instructions (jump, branch,
 *     call, etc.) or PC-relative loads.
 * (2) DSpace (Data Space).  This is the segment that contains read-write
 *     data (.data, .bss). Everything in this segment should be access-able
 *     with machine PIC load and store instructions.
 *
 * Older versions of GCC (at least up to GCC 4.3.3), use GOT-relative
 * addressing to access RO data. In that case, read-only data (.rodata) must
 * reside in D-Space and this linker script should NOT be used with those
 * older tools.
 *
 * Newer versions of GCC (at least as of GCC 4.6.3), use PC-relative
 * addressing to access RO data. In that case, read-only data (.rodata) must
 * reside in I-Space and this linker script should be used.
 *
 ****************************************************************************/
 SECTIONS
 {
  .text 0x00000000 :
    {
      /* ISpace is located at address 0.  Every (unrelocated) ISpace
       * address is an offset from the begining of this segment.
       */
      text_start = . ;
      *(.text)
      *(.text.*)
      *(.gnu.warning)
      *(.stub)
      *(.glue_7)
      *(.glue_7t)
      *(.jcr)
      /* C++ support:  The .init and .fini sections contain XFLAT-
       * specific logic to manage static constructors and destructors.
       */
      *(.gnu.linkonce.t.*)
      *(.init)
      *(.fini)
      /* This is special code area at the end of the normal
         text section.  It contains a small lookup table at
         the start followed by the code pointed to by entries
         in the lookup table.  */
      . = ALIGN (4) ;
      PROVIDE(__ctbp = .);
      *(.call_table_data)
      *(.call_table_text)
      /* In this model, .rodata is access using PC-relative addressing
       * and, hence, must also reside in the .text section.
       */
      *(.rodata)
      *(.rodata1)
      *(.rodata.*)
      *(.gnu.linkonce.r*)
      _etext = . ;
    } > ISPACE
    /* DSpace is also located at address 0.  Every (unrelocated) DSpace
     * address is an offset from the begining of this segment.
     */
  .data 0x00000000 :
    {
      __data_start = . ;
      *(.data)
      *(.data1)
      *(.data.*)
      *(.gnu.linkonce.d*)
      *(.data1)
      *(.eh_frame)
      *(.gcc_except_table)
      *(.gnu.linkonce.s.*)
      *(__libc_atexit)
      *(__libc_subinit)
      *(__libc_subfreeres)
      *(.note.ABI-tag)
      /* C++ support. For each global and static local C++ object,
       * GCC creates a small subroutine to construct the object. Pointers
       * to these routines (not the routines themselves) are stored as
       * simple, linear arrays in the .ctors section of the object file.
       * Similarly, pointers to global/static destructor routines are
       * stored in .dtors.
       */
      *(.gnu.linkonce.d.*)
      _ctors_start = . ;
      *(.ctors)
      _ctors_end = . ;
      _dtors_start = . ;
      *(.dtors)
      _dtors_end = . ;
      _edata = . ;
      edata = ALIGN( 0x10 ) ;
    } > DSPACE
  .bss :
    {
      __bss_start = _edata ;
      *(.dynsbss)
      *(.sbss)
      *(.sbss.*)
      *(.scommon)
      *(.dynbss)
      *(.bss)
      *(.bss.*)
      *(.bss*)
      *(.gnu.linkonce.b*)
      *(COMMON)
      end = ALIGN( 0x10 ) ;
      _end = ALIGN( 0x10 ) ;
    } > DSPACE
    .got 0 : { *(.got.plt) *(.got) }
    .junk 0 : { *(.rel*) *(.rela*) }
    /* Stabs debugging sections.    */
    .stab 0 : { *(.stab) }
    .stabstr 0 : { *(.stabstr) }
    .stab.excl 0 : { *(.stab.excl) }
    .stab.exclstr 0 : { *(.stab.exclstr) }
    .stab.index 0 : { *(.stab.index) }
    .stab.indexstr 0 : { *(.stab.indexstr) }
    .comment 0 : { *(.comment) }
    .debug_abbrev 0 : { *(.debug_abbrev) }
    .debug_info 0 : { *(.debug_info) }
    .debug_line 0 : { *(.debug_line) }
    .debug_pubnames 0 : { *(.debug_pubnames) }
    .debug_aranges 0 : { *(.debug_aranges) }
 }
--- a/Show More
+++ b/Show More