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NuttX RTOSLast Updated: June 12, 2013 |
Table of Contents |
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Overview |
Goals. NuttX is a real timed embedded operating system (RTOS). Its goals are:
| Small Footprint | |
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Usable in all but the tightest micro-controller environments, The focus is on the tiny-to-small, deeply embedded environment. | |
| Rich Feature OS Set | |
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The goal is to provide implementations of most standard POSIX OS interfaces to support a rich, multi-threaded development environment for deeply embedded processors. NON-GOALS: (1) It is not a goal to provide the level of OS features like those provided by Linux. In order to work with smaller MCUs, small footprint must be more important than an extensive feature set. But standard compliance is more important than small footprint. Surely a smaller RTOS could be produced by ignoring standards. Think of NuttX is a tiny Linux work-alike with a much reduced feature set. (2) There is no MMU-based support for processes. At present, NuttX assumes a flat address space. | |
| Highly Scalable | |
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Fully scalable from tiny (8-bit) to moderate embedded (32-bit). Scalability with rich feature set is accomplished with: Many tiny source files, link from static libraries, highly configurable, use of weak symbols when available. | |
| Standards Compliance | |
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NuttX strives to achieve a high degree of standards compliance.
The primary governing standards are POSIX and ANSI standards.
Additional standard APIs from Unix and other common RTOS's are
adopted for functionality not available under these standards
or for functionality that is not appropriate for the deeply-embedded
RTOS (such as Because of this standards conformance, software developed under other standard OSs (such as Linux) should port easily to NuttX. | |
| Real-Time | |
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Fully pre-emptible, fixed priority and round-robin scheduling. | |
| Totally Open | |
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Non-restrictive BSD license. | |
| GNU Toolchains | |
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Compatible GNU toolchains based on buildroot available for download to provide a complete development environment for many architectures. |
Feature Set. Key features of NuttX include:
| Standards Compliant Core Task Management | |
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| File system | |
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FAT long file name support may be subject to certain Microsoft patent restrictions if enabled.
See the top-level | |
| Device Drivers | |
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/dev/null, /dev/zero, /dev/random, and loop drivers.
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| C/C++ Libraries | |
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| Networking | |
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| FLASH Support | |
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| USB Host Support | |
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| USB Device Support | |
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| Graphics Support | |
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| Input Devices | |
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| Analog Devices | |
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| Motor Control | |
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NuttX Add-Ons. The following packages are available to extend the basic NuttX feature set:
| NuttShell (NSH) | |
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| Pascal Compiler with NuttX runtime P-Code interpreter add-on | |
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Look at all those files and features... How can it be a tiny OS?. The NuttX feature list (above) is fairly long and if you look at the NuttX source tree, you will see that there are hundreds of source files comprising NuttX. How can NuttX be a tiny OS with all of that?
| Lots of Features -- More can be smaller! | |
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The philosophy behind that NuttX is that lots of features are great... BUT also that if you don't use those features, then you should not have to pay a penalty for the unused features. And, with NuttX, you don't! If you don't use a feature, it will not be included in the final executable binary. You only have to pay the penalty of increased footprint for the features that you actually use. Using a variety of technologies, NuttX can scale from the very tiny to the moderate-size system. I have executed NuttX with some simple applications in as little as 32K total memory (code and data). On the other hand, typical, richly featured NuttX builds require more like 64K (and if all of the features are used, this can push 100K). |
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| Many, many files -- More really is smaller! | |
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One may be intimidated by the size NuttX source tree. There are hundreds of source files! How can that be a tiny OS? Actually, the large number of files is one of the tricks to keep NuttX small and as scalable as possible. Most files contain only a single function. Sometimes just one tiny function with only a few lines of code. Why?
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| Other Tricks | |
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As mentioned above, the use of many, tiny source files and linking from static libraries keeps the size of NuttX down. Other tricks used in NuttX include:
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NuttX Discussion Group |
Most NuttX-related discussion occurs on the Yahoo! NuttX group. You are cordially invited to join. I make a special effort to answer any questions and provide any help that I can.
Downloads |
The 94th release of NuttX, Version 6.27, was made on April 28, 2013, and is available for download from the
SourceForge website.
Note that the release consists of two tarballs: nuttx-6.27.tar.gz and apps-6.27.tar.gz.
Both may be needed (see the top-level nuttx/README.txt file for build information)
The change log associated with the release is available here.
Unreleased changes after this release are available in GIT.
These unreleased changes are also listed here.
Additional new features and extended functionality
OS Initialization
/dev/zero.
Registration of /dev/null should depend upon conditional compilation.
From Ken Pettit.
Tasking
up_assert_code().
One assertion routine is enough.
Kernel Build
Drivers
TIOCSERGSTRUCT ioctls now conditioned on CONFIG_SERIAL_TIOCSERGSTRUCT
ARMv7-M (Cortex-M3/4)
nuvoTon NUC1xx
LPC17xx
LPC17xx Boards
LPC17xx Drivers
LPC43xx
STM32
STM32 Boards
Stellaris LM3S/LM4F
Stellaris LM4F Boards
Build System
Applications
apps/system/ramtest:
Added a simple memory test that can be built as an NSH command.
Tools
kconfig2html is a new tool which will replace the hand-generated documentation of the NuttX configruation variables with auto-generated documentation.
Efforts In Progress. The following are features that are partially implemented but present in this release. Most are expected to be fully available in NuttX 6.27.
Freescale Freedom KL25Z
kconfig-frontends
Bugfixes (see the change log for details). Some of these are very important:
Tasking
ARMv6-M (Cortex-M0/M0+)
ARMv7-M (Cortex-M3/4)
CONFIG_NUTTX_KERNEL<.code>, need to explicitly set and clear the privilege bit in the CONTROL register.
Drivers
O_NONBLOCK was not supported in the "upper half" serial driver.
Stellaris LM3S/4F
LPC17xx Drivers
File Systems
mkfatfs was writing the boot code to the wrong location.
From Petteri Aimonen
Networking
C Library
sscanf().
If %n occurs in the format statement after the input data stream has been fully parsed, the %n format specifier will not be handled.
Reported by Lorenz Meier
strchr(str, '\0') should return a pointer to the end of the string, not NULL.
From Petteri Aimonen
Build System
EXEEXT is defined.
Applications
See the ChangeLog for additional, detailed changes.
Supported Platforms |
Supported Platforms by CPU core. The number of ports to this CPU follow in parentheses. The state of the various ports vary from board-to-board. Follow the links for the details:
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Supported Platforms by Manufacturer/MCU Family. CPU core type follows in parentheses. The state of the various ports vary from MCU to MCU. Follow the links for the details:
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Details. The details, caveats and fine print follow. For even more information see the README files that can be found here.
| Linux User Mode. | |
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A user-mode port of NuttX to the x86 Linux/Cygwin platform is available. The purpose of this port is primarily to support OS feature development. STATUS: Does not support interrupts but is otherwise fully functional. |
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| ARM7TDMI. | |
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TI TMS320C5471 (also called C5471 or TMS320DA180 or DA180). NuttX operates on the ARM7 of this dual core processor. This port uses the Spectrum Digital evaluation board with a GNU arm-nuttx-elf toolchain* under Linux or Cygwin. STATUS: This port is complete, verified, and included in the initial NuttX release. |
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TI Calypso. This port supports the TI "Calypso" MCU used in various cell phones (and, in particular, by the Osmocom-bb project). Like the c5471, NuttX operates on the ARM7 of this dual core processor. STATUS: This port was contributed by Denis Carilki and includes the work of Denis Carikli, Alan Carvalho de Assis, and Stefan Richter. Calypso support first appeared in NuttX-6.17 with LCD drivers. Support for the Calypso keyboard was added in NuttX-6.24 by Denis Carilki. |
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NXP LPC214x. Support is provided for the NXP LPC214x family of processors. In particular, support is provided for (1) the mcu123.com lpc214x evaluation board (LPC2148) and (1) the The0.net ZPA213X/4XPA development board (with the The0.net UG-2864AMBAG01 OLED) This port also used the GNU arm-nuttx-elf toolchain* under Linux or Cygwin. STATUS: This port boots and passes the OS test (apps/examples/ostest). The port is complete and verified. As of NuttX 0.3.17, the port includes: timer interrupts, serial console, USB driver, and SPI-based MMC/SD card support. A verified NuttShell (NSH) configuration is also available. Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain (CodeSourcery or devkitARM), or 4) Native Windows. A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. |
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NXP LPC2378. Support is provided for the NXP LPC2378 MCU. In particular, support is provided for the Olimex-LPC2378 development board. This port was contributed by Rommel Marcelo is was first released in NuttX-5.3. This port also used the GNU arm-nuttx-elf toolchain* under Linux or Cygwin. STATUS: This port boots and passes the OS test (apps/examples/ostest) and includes a working implementation of the NuttShell (NSH). The port is complete and verified. As of NuttX 5.3, the port includes only basic timer interrupts and serial console support. Development Environments: (Same as for the NXP LPC214x). |
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STMicro STR71x. Support is provided for the STMicro STR71x family of processors. In particular, support is provided for the Olimex STR-P711 evaluation board. This port also used the GNU arm-nuttx-elf toolchain* under Linux or Cygwin. STATUS: Integration is complete on the basic port (boot logic, system time, serial console). Two configurations have been verified: (1) The board boots and passes the OS test with console output visible on UART0, and the NuttShell (NSH) is fully functional with interrupt driven serial console. An SPI driver is available but only partially tested. Additional features are needed: USB driver, MMC integration, to name two (the slot on the board appears to accept on MMC card dimensions; I have only SD cards). An SPI-based ENC28J60 Ethernet driver for add-on hardware is available and but has not been fully verified on the Olimex board (due to issues powering the ENC28J60 add-on board). Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain (CodeSourcery or devkitARM), or 4) Native Windows. A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. |
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Freescale MC9328MX1 or i.MX1. This port uses the Freescale MX1ADS development board with a GNU arm-nuttx-elf toolchain* under either Linux or Cygwin. STATUS: This port has stalled due to development tool issues. Coding is complete on the basic port (timer, serial console, SPI). |
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| ARM926EJS. | |
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TI TMS320DM320 (also called DM320). NuttX operates on the ARM9 of this dual core processor. This port uses the Neuros OSD with a GNU arm-nuttx-elf toolchain* under Linux or Cygwin. The port was performed using the OSD v1.0, development board. STATUS: The basic port (timer interrupts, serial ports, network, framebuffer, etc.) is complete. All implemented features have been verified with the exception of the USB device-side driver; that implementation is complete but untested. |
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NXP LPC3131.
The port for the NXP LPC3131 on the Embedded Artists EA3131
development board was first released in NuttX-5.1 with a GNU arm-nuttx-elf or arm-eabi toolchain* under Linux or Cygwin
(but was not functional until NuttX-5.2).
STATUS: The basic EA3131 port is complete and verified in NuttX-5.2 This basic port includes basic boot-up, serial console, and timer interrupts. This port was extended in NuttX 5.3 with a USB high speed driver contributed by David Hewson. David also contributed I2C and SPI drivers plus several important LPC313x USB bug fixes that appear in the NuttX 5.6 release. This port has been verified using the NuttX OS test, USB serial and mass storage tests and includes a working implementation of the NuttShell (NSH). Support for on-demand paging has been developed for the EA3131. That support would all execute of a program in SPI FLASH by paging code sections out of SPI flash as needed. However, as of this writing, I have not had the opportunity to verify this new feature. |
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NXP LPC315x.
Support for the NXP LPC315x family has been incorporated into the code base as of NuttX-6.4.
Support has added for the Embedded Artists EA3152 board in NuttX-6.11.
STATUS: Basic support is in place for both the LPC3152 MCU and the EA3152 board. Verification of the port was deferred due to tool issues However, because of the high degree of compatibility between the LPC313x and LPC315x family, it is very likely that the support is in place (or at least very close). At this point, verification of the EA3152 port has been overcome by events and may never happen. However, the port is available for anyone who may want to use it. |
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| ARM Cortex-M0. | |
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nuvoTon NUC120. This is a port of NuttX to the nuvoTon NuTiny-SDK-NUC120 that features the NUC120LE3AN MCU. STATUS. Initial support for the NUC120 was released in NuttX-6.26. This initial support is very minimal: There is an OS test configuration that verifies the correct port of NuttX to the part and a NuttShell (NSH) configuration that might be the basis for an application development. As of this writing, more device drivers are needed to make this a more complete port. Memory Usage. For a full-featured RTOS such as NuttX, providing support in a usable and meaningful way within the tiny memories of the NUC120 demonstrates the scalability of NuttX. The NUC120LE2AN comes in a 48-pin package and has 128KB FLASH and 16KB of SRAM. When running the NSH configuration (itself a full up application), there is still more than 90KB of FLASH and 10KB or SRAM available for further application development).
Static memory usage can be shown with $ size nuttx text data bss dec hex filename 35037 106 1092 36235 8d8b nuttx
NuttX, the NSH application, and GCC libraries use 34.2KB of FLASH leaving 93.8KB of FLASH (72%) free from additional application development.
Static SRAM usage is about 1.2KB (<4%) and leaves 14.8KB (86%) available for heap at runtime.
SRAM usage at run-time can be shown with the NSH
NuttShell (NSH) NuttX-6.26
nsh> free
total used free largest
Mem: 14160 3944 10216 10216
nsh>
You can see that 10.0KB (62%) is available for further application development. Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain, or 4) Native Windows. A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. |
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FreeScale Freedom KL25Z. This is a port of NuttX to the Freedom KL25Z board that features the MKL25Z128 Cortex-M0+ MCU, 128KB of FLASH and 16KB of SRAM. See the Freescale website for further information about this board. STATUS. This is the work of Alan Carvalho de Assis. Verified, initial, minimal support for the Freedom KL25Z is in place in NuttX 6.27 and 6.28: There is a working OS test configuration that verifies the correct port of NuttX to the part and a working NuttShell (NSH) configuration that might be the basis for an application development. As of NuttX-6.28 more device driver development would be needed to make this a complete port, particularly to support USB OTG. |
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| ARM Cortex-M3. | |
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TI/Stellaris LM3S6432. This is a port of NuttX to the Stellaris RDK-S2E Reference Design Kit and the MDL-S2E Ethernet to Serial module (contributed by Mike Smith). |
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TI/Stellaris LM3S6432S2E. This port uses Serial-to-Ethernet Reference Design Kit (RDK-S2E) and has similar support as for the other Stellaris family members. Configurations are available for the OS test and for the NuttShell (NSH) (see the NSH User Guide). The NSH configuration including networking support with a Telnet NSH console. This port was contributed by Mike Smith. STATUS: This port was will be released in NuttX 6.14. |
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TI/Stellaris LM3S6918. This port uses the Micromint Eagle-100 development board with a GNU arm-nuttx-elf toolchain* under either Linux or Cygwin. STATUS: The initial, release of this port was included in NuttX version 0.4.6. The current port includes timer, serial console, Ethernet, SSI, and microSD support. There are working configurations the NuttX OS test, to run the NuttShell (NSH), the NuttX networking test, and the uIP web server. Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain (CodeSourcery or devkitARM), or 4) Native Windows. A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. |
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TI/Stellaris LM3S6965. This port uses the Stellaris LM3S6965 Ethernet Evalution Kit with a GNU arm-nuttx-elf toolchain* under either Linux or Cygwin. STATUS: This port was released in NuttX 5.5. Features are the same as with the Eagle-100 LM3S6918 described above. The apps/examples/ostest configuration has been successfully verified and an NSH configuration with Telnet support is available. MMC/SD and Networking support was not been thoroughly verified: Current development efforts are focused on porting the NuttX window system (NX) to work with the Evaluation Kits OLED display. NOTE: As it is configured now, you MUST have a network connected. Otherwise, the NSH prompt will not come up because the Ethernet driver is waiting for the network to come up. Development Environments: See the Eagle-100 LM3S6918 above. |
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TI/Stellaris LM3S8962. This port uses the Stellaris EKC-LM3S8962 Ethernet+CAN Evalution Kit with a GNU arm-nuttx-elf toolchain* under either Linux or Cygwin. Contributed by Larry Arnold. STATUS: This port was released in NuttX 5.10. Features are the same as with the Eagle-100 LM3S6918 described above. |
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TI/Stellaris LM3S9B96. Header file support was contributed by Tiago Maluta for this part. Jose Pablo Rojas V. is used those header file changes to port NuttX to the TI/Stellaris EKK-LM3S9B96. That port was available in the NuttX-6.20 release. |
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STMicro STM32L152 (STM32L "EnergyLite" Line). This is a port of NuttX to the STMicro STM32L-Discovery development board. The STM32L-Discovery board is based on the STM32L152RBT6 MCU (128KB FLASH and 16KB of SRAM).
The STM32L-Discovery and 32L152CDISCOVERY kits are functionally equivalent. The difference is the internal Flash memory size (STM32L152RBT6 with 128 Kbytes or STM32L152RCT6 with 256 Kbytes). Both boards feature: STATUS. Initial support for the STM32L-Discovery was released in NuttX-6.28. This initial support includes a configuration using the NuttShell (NSH) that might be the basis for an application development. A driver for the on-board segment LCD is included as well as an option to drive the segment LCD from an NSH "built-in" command. As of this writing, a few more things are needed to make this a more complete port: 1) Verfication of more device drivers (timers, quadrature encoders, PWM, etc.), and 2) logic that actually uses the low-power consumption modes of the EnergyLite part. Memory Usage. For a full-featured RTOS such as NuttX, providing support in a usable and meaningful way within the tiny memories of the STM32L152RBT6 demonstrates the scalability of NuttX. The STM32L152RBT6 comes in a 64-pin package and has 128KB FLASH and 16KB of SRAM.
Static memory usage can be shown with $ size nuttx text data bss dec hex filename 39664 132 1124 40920 9fd8 nuttx NuttX, the NSH application, and GCC libraries use 38.7KB of FLASH leaving 89.3B of FLASH (70%) free from additional application development. Static SRAM usage is about 1.2KB (<4%) and leaves 14.8KB (86%) available for heap at runtime. SRAM usage at run-time can be shown with the NSHfree command:
NuttShell (NSH) NuttX-6.27
nsh> free
total used free largest
Mem: 14096 3928 10168 10168
nsh>
You can see that 9.9KB (62%) of SRAM heap is staill available for further application development while NSH is running. |
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STMicro STM32F100x (STM32 F1 "Value Line"Family). Chip support for these STM32 "Value Line" family was contributed by Mike Smith and users have reported that they have successful brought up NuttX on there proprietary boards using this logic. This logic was extended to support the high density STM32F100RC chips by Freddie Chopin However, there is no specific board support for this chip families in the NuttX source tree. There is, however, generic support for STM32F100RC boards. | |
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STMicro STM32F103C4/8 (STM32 F1 Low- and Medium-Density Family). This port is for "STM32 Tiny" development board. This board is available from several vendors on the net, and may be sold under different names. It is based on a STM32 F103C8T6 MCU, and is bundled with a nRF24L01 wireless communication module. STATUS: The basic STM32F103C8 port was released in NuttX version 6.28. This work was contributed by Laurent Latil. |
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STMicro STM32F103x (STM32 F1 Family). Support for four MCUs and four board configurations are available. MCU support includes all of the high density and connectivity line families. Board supported is available specifically for: STM32F103ZET6, STM32F103RET6, STM32F103VCT, and STM32F103VET6. Boards supported include:
These ports uses a GNU arm-nuttx-elf toolchain* under either Linux or Cygwin (with native Windows GNU tools or Cygwin-based GNU tools).
STATUS: Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain (RIDE7, CodeSourcery or devkitARM), or 4) Native Windows. A DIY toolchain or Linux or Cygwin is provided by the NuttX buildroot package. |
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STMicro STM32F107x (STM32 F1 "Connectivity Line" family). Chip support for the STM32 F1 "Connectivity Line" family has been present in NuttX for some time and users have reported that they have successful brought up NuttX on there proprietary boards using this logic. Olimex STM32-P107 Support for the Olimex STM32-P107 was contributed by Max Holtzberg and first appeared in NuttX-6.21. That port features the STMicro STM32F107VC MCU.
Shenzhou IV Work is underway as of this writing to port NuttX to the Shenzhou IV development board (See www.armjishu.com) featuring the STMicro STM32F107VCT MCU. If all goes according to plan, this port should be verified and available in NuttX-6.22.
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STMicro STM32F207IG (STM32 F2 family). Support for the STMicro STM3220G-EVAL development board was contributed by Gary Teravskis and first released in NuttX-6.16.
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Atmel AT91SAM3U. This port uses the Atmel SAM3U-EK development board that features the AT91SAM3U4E MCU. This port uses a GNU arm-nuttx-elf or arm-eabi toolchain* under either Linux or Cygwin (with native Windows GNU tools or Cygwin-based GNU tools). STATUS: The basic SAM3U-EK port was released in NuttX version 5.1. The basic port includes boot-up logic, interrupt driven serial console, and system timer interrupts. That release passes the NuttX OS test and is proven to have a valid OS implementation. A configuration to support the NuttShell is also included. NuttX version 5.4 adds support for the HX8347 LCD on the SAM3U-EK board. This LCD support includes an example using the NX graphics system. NuttX version 6.10 adds SPI support. Subsequent NuttX releases will extend this port and add support for SDIO-based SD cards and USB device (and possible LCD support). These extensions may or may not happen soon as my plate is kind of full now. Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain (CodeSourcery or devkitARM), or 4) Native Windows. A DIY toolchain for inux or Cygwin is provided by the NuttX buildroot package. |
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NXP LPC1766, LPC1768, and LPC1769. Drivers are available for CAN, DAC, Ethernet, GPIO, GPIO interrupts, I2C, UARTs, SPI, SSP, USB host, and USB device. Verified LPC17xx onfigurations are available for three boards.
The Nucleus 2G board, the mbed board, and the LPCXpresso all feature the NXP LPC1768 MCU; the Olimex LPC1766-STK board features an LPC1766. All use a GNU arm-nuttx-elf or arm-eabi toolchain* under either Linux or Cygwin (with native Windows GNU tools or Cygwin-based GNU tools).
STATUS: The following summarizes the features that has been developed and verified on individual LPC17xx-based boards. These features should, however, be common and available for all LPC17xx-based boards. Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain (CodeSourcery devkitARM or Code Red), or 4) Native Windows. A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. |
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NXP LPC1788. The port of NuttX to the WaveShare Open1788 is a collaborative effort between Rommel Marcelo and myself (with Rommel being the leading contributor and I claiming only a support role). You can get more information at the Open1788 board from the WaveShare website.
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| ARM Cortex-M4. | |
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FreeScale Kinetis K40. This port uses the Freescale Kinetis KwikStik K40. Refer to the Freescale web site for further information about this board. The Kwikstik is used with the FreeScale Tower System (mostly just to provide a simple UART connection) STATUS: The unverified KwikStik K40 first appeared in NuttX-6.8 As of this writing, the basic port is complete but I accidentally locked my board during the initial bringup. Further development is stalled unless I learn how to unlock the device (or until I get another K40). Additional work remaining includes, among other things: (1) complete the basic bring-up, (2) bring up the NuttShell NSH, (3) develop support for the SDHC-based SD card, (4) develop support for USB host and device, and (2) develop an LCD driver. NOTE: Some of these remaining tasks are shared with the K60 work described below. |
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FreeScale Kinetis K60. This port uses the Freescale Kinetis TWR-K60N512 tower system. Refer to the Freescale web site for further information about this board. The TWR-K60N51 includes with the FreeScale Tower System which provides (among other things) a DBP UART connection. STATUS: As of this writing, the basic port is complete and passes the NuttX OS test. An additional, validated configuration exists for the NuttShell (NSH, see the NSH User Guide). This basic TWR-K60N512 first appeared in NuttX-6.8. Ethernet and SD card (SDHC) drivers also exist: The SDHC driver is partially integrated in to the NSH configuration but has some outstanding issues; the Ethernet driver is completely untested. Additional work remaining includes: (1) integrate the Ethernet and SDHC drivers, and (2) develop support for USB host and device. NOTE: Most of these remaining tasks (excluding the Ethernet driver) are the same as the pending K40 tasks described above. |
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STMicro STM32F3-Discovery (STM32 F3 family). This port uses the STMicro STM32F3-Discovery board featuring the STM32F303VCT6 MCU (STM32 F3 family). Refer to the STMicro web site for further information about this board. STATUS: The basic port for the STM32F3-Discover was first released in NuttX-6.26. Many of the drivers previously released for the STM32 F1, Value Line, and F2 and F4 may be usable on this plaform as well. New drivers will be required for ADC and I2C which are very different on this platform. |
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STMicro STM32407x (STM32 F4 family).
STMicro STM3240G-EVAL. This port uses the STMicro STM3240G-EVAL board featuring the STM32F407IGH6 MCU. Refer to the STMicro web site for further information about this board. STATUS: STMicro STM32F4-Discovery. This port uses the STMicro STM32F4-Discovery board featuring the STM32F407VGT6 MCU. The STM32F407VGT6 is a 168MHz Cortex-M4 operation with 1Mbit Flash memory and 128kbytes. The board features: Refer to the STMicro web site for further information about this board. STATUS: The basic port for the STM32F4-Discovery was contributed by Mike Smith and was first released in NuttX-6.14. All drivers listed for the STM3240G-EVAL are usable on this plaform as well. MikroElektronika Mikromedia for STM32F4. This is another board supported by NuttX that uses the same STM32F407VGT6 MCU as does the STM32F4-Discovery board. This board, however, has very different on-board peripherals than does the STM32F4-Discovery: See the Mikroelektronika website for more information about this board. STATUS: The basic port for the Mikromedia STM32 M4 was contributed by Ken Petit and was first released in NuttX-6.128. All drivers for the STM32 F4 family may be used with this board as well. |
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STMicro STM32 F427/437. General architectural support was provided for the F427/437 family in NuttX 4.27. Specific support includes the STM32F427I, STM32F427Z, and STM32F427V chips. This is architecture-only support, meaning that support for the boards with these chips is available, but not support for any publically available boards is included.. This support was contributed by Mike Smith. The F427/f37 port adds (1) additional SPI ports, (2) additional UART ports, (3) analog and digital noise filters on the I2C ports, (4) up to 2MB of flash, (5) an additional lower-power mode for the internal voltage regulator, (6) a new prescaling option for timer clock, (7) a larger FSMSC write FIFO, and (8) additional crypto modes (F437 only). |
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NXG Technologies LPC4330-Xplorer. This NuttX port is for the LPC4330-Xplorer board from NGX Technologies featuring the NXP LPC4330FET100 MCU. See the NXG website for further information about this board. STATUS:
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TI Stellaris LM4F120. This port uses the TI Stellaris LM4F120 LaunchPad. Jose Pablo Carballo and I are doing this port. STATUS: As of this writing, the basic port is code complete and fully verified configurations exist for the basic NuttX OS test and for the NuttShell NSH). The first fully functional LM4F120 LaunchPad port was released in NuttX-6.27. |
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Atmel AT91SAM4L. This port uses the Atmel SAM4L Xplained Pro development board. This board features the ATSAM4LC4C MCU running at 48MHz with 256KB of FLASH and 32KB of internal SRAM. STATUS: As of this writing, the basic port is code complete and fully verified configurations exist for the basic NuttX OS test and for the NuttShell NSH). The first fully functional SAM4L Xplained Pro port was released in NuttX-6.28. Memory Usage. The ATSAM4LC4C comes in a 100-pin package and has 256KB FLASH and 32KB of SRAM. Below is the current memory usage for the NSH configuration (June 9, 2013). This is not a minimal implementation, but a full-featured NSH configuration.
Static memory usage can be shown with $ size nuttx text data bss dec hex filename 43572 122 2380 46074 b3fa nuttx NuttX, the NSH application, and GCC libraries use 42.6KB of FLASH leaving 213.4B of FLASH (83.4%) free from additional application development. Static SRAM usage is about 2.3KB (<7%) and leaves 29.7KB (92.7%) available for heap at runtime. SRAM usage at run-time can be shown with the NSHfree command.
This runtime memory usage includes the static memory usage plus all dynamic memory allocation for things like stacks and I/O buffers:
NuttShell (NSH) NuttX-6.28
nsh> free
total used free largest
Mem: 29232 5920 23312 23312
You can see that 22.8KB (71.1%) of the SRAM heap is staill available for further application development while NSH is running. |
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Atmel AT91SAM4S. This port uses the Atmel SAM4S Xplained development board. This board features the ATSAM4S16C MCU running at 120MHz with 1MB of FLASH and 128KB of internal SRAM. STATUS: As of this writing, the basic port is code complete and fully verified configurations exist for the basic NuttX OS test and for the NuttShell NSH). The first fully functional SAM4S Xplained port was released in NuttX-6.28. |
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Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU Cortex-M3 or 4 toolchain, 3) Cygwin/MSYS with Windows native GNU Cortex-M3 or M4 toolchain (CodeSourcery or devkitARM), or 4) Native Windows. A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. I use FreeScale's CodeWarrior IDE only to work with the JTAG debugger built into the Kinetis boards. I use the Code Red IDE with the some of the NXP parts and the Atollic toolchain with some of the STMicroelectronics parts. |
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| Atmel AVR. | |
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SoC Robotics ATMega128. This port of NuttX to the Amber Web Server from SoC Robotics is partially completed. The Amber Web Server is based on an Atmel ATMega128. STATUS: Work on this port has stalled due to toolchain issues. Complete, but untested code for this port appears in the NuttX 6.5 release. |
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AVR AT90USB64x and AT90USB6128x. Micropendous 3 AT90USB64x and AT90USB6128x. This port of NuttX to the Opendous Micropendous 3 board. The Micropendous3 is may be populated with an AT90USB646, 647, 1286, or 1287. I have only the AT90USB647 version for testing. This version have very limited memory resources: 64K of FLASH and 4K of SRAM. STATUS: The basic port was released in NuttX-6.5. This basic port consists only of a "Hello, World!!" example that demonstrates initialization of the OS, creation of a simple task, and serial console output. PJRC Teensy++ 2.0 AT90USB1286. This is a port of NuttX to the PJRC Teensy++ 2.0 board. This board was developed by PJRC. The Teensy++ 2.0 is based on an Atmel AT90USB1286 MCU. STATUS: The basic port was released in NuttX-6.5. This basic port consists of a "Hello, World!!" example that demonstrates initialization of the OS, creation of a simple task, and serial console output as well as a somewhat simplified NuttShell (NSH) configuration (see the NSH User Guide). An SPI driver and a USB device driver exist for the AT90USB as well as a USB mass storage configureation. However, this configuration is not fully debugged as of the NuttX-6.5 release. | |
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AVR-Specific Issues. The basic AVR port is solid and biggest issue for using AVR is its tiny SRAM memory and its Harvard architecture. Because of the Harvard architecture, constant data that resides to flash is inaccessible using "normal" memory reads and writes (only SRAM data can be accessed "normally"). Special AVR instructions are available for accessing data in FLASH, but these have not been integrated into the normal, general purpose OS. Most NuttX test applications are console-oriented with lots of strings used for printf and debug output. These strings are all stored in SRAM now due to these data accessing issues and even the smallest console-oriented applications can quickly fill a 4-8K memory. So, in order for the AVR port to be useful, one of two things would need to be done:
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Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain, or 4) Native Windows. All testing, however, has been performed using the NuttX DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. As a result, that toolchain is recommended. |
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| Atmel AVR32. | |
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AV32DEV1. This port uses the www.mcuzone.com AVRDEV1 board based on the Atmel AT32UC3B0256 MCU. This port requires a special GNU avr32 toolchain available from atmel.com website. This is a windows native toolchain and so can be used only under Cygwin on Windows.
STATUS: This port is has completed all basic development, but there is more that needs to be done. All code is complete for the basic NuttX port including header files for all AT32UC3* peripherals. The untested AVR32 code was present in the 5.12 release of NuttX. Since then, the basic RTOS port has solidified: The basic, port (including the verified apps/examples/ostest configuration) was be released in NuttX-5.13. A complete port will include drivers for additional AVR32 UC3 devices -- like SPI and USB --- and will be available in a later release, time permitting. |
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| Freescale M68HCS12. | |
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MC9S12NE64. Support for the MC9S12NE64 MCU and two boards are included:
Both use a GNU arm-nuttx-elf toolchain* under Linux or Cygwin. The NuttX buildroot provides a properly patched GCC 3.4.4 toolchain that is highly optimized for the m9s12x family. STATUS: Coding is complete for the MC9S12NE64 and for the NE64 Badge board. However, testing has not yet begun due to issues with BDMs, Code Warrior, and the paging in the build process. Progress is slow, but I hope to see a fully verified MC9S12NE64 port in the near future. |
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| Intel 80C52 Microcontroller. | |
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PJRC 87C52 Development Board. This port uses the PJRC 87C52 development system and the SDCC toolchain under Linux or Cygwin. STATUS: This port is complete but not stable with timer interrupts enabled. There seems to be some issue when the stack pointer enters into the indirect IRAM address space during interrupt handling. This architecture has not been built in some time will likely have some compilation problems because of SDCC compiler differences. |
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| Intel 80x86. | |
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QEMU/Bifferboard i486. This port uses the QEMU i486 and the native Linux, Cywgin, MinGW the GCC toolchain under Linux or Cygwin. STATUS: The basic port was code-complete in NuttX-5.19 and verifed in NuttX-6.0. The port was verified using the OS and NuttShell (NSH) examples under QEMU. The port is reported to be functional on the Bifferboard as well. This is a great, stable starting point for anyone interest in fleshing out the x86 port! |
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RGMP. RGMP stands for RTOS and GPOS on Multi-Processor. RGMP is a project for running GPOS and RTOS simultaneously on multi-processor platforms You can port your favorite RTOS to RGMP together with an unmodified Linux to form a hybrid operating system. This makes your application able to use both RTOS and GPOS features. See the RGMP Wiki for further information about RGMP. STATUS: This initial port of NuttX to RGMP was provided in NuttX-6.3. This initial RGP port provides only minimal driver support and does not use the native NuttX interrupt system. This is a great, stable starting point for anyone interest in working with NuttX under RGMP! |
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| MicroChip PIC32 (MIPS). | |
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PIC32MX250F128D. A port is in progress from the DTX1-4000L "Mirtoo" module from Dimitech. This module uses MicroChip PIC32MX250F128D and the Dimitech DTX1-4000L EV-kit1 V2. See the Dimitech website for further information. STATUS: The basic port is code complete. Two configurations are available: (1) An OS test configuration and a (2) configuration that support the NuttShell (NSH). The OS test configuration is fully functional and proves that we have a basically healthy NuttX port to the Mirtoo. The NSH configuration includes support for a serial console and for the SST25 serial FLASH and the PGA117 amplifier/multiplexer on board the module. The NSH configuration is set up to use the NuttX wear-leveling FLASH file system (NXFFS). The PGA117, however, is not yet fully integrated to support ADC sampling. See the NSH User Guide for further information about NSH. The first verified port to the Mirtoo module was available with the NuttX 6.20 release. |
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PIC32MX440F512H. This port uses the "Advanced USB Storage Demo Board," Model DB-DP11215, from Sure Electronics. This board features the MicroChip PIC32MX440F512H. See the Sure website for further information about the DB-DP11215 board. (I believe that that the DB-DP11215 may be obsoleted now but replaced with the very similar, DB-DP11212. The DB-DP11212 board differs, I believe, only in its serial port configuration.) STATUS: This NuttX port is code complete and has considerable test testing. The port for this board was completed in NuttX 6.11, but still required a few bug fixes before it will be ready for prime time. The fully verified port first appeared in NuttX 6.13. Available configurations include the OS test and the NuttShell (NSH - see the NSH User Guide). An untested USB device-side driver is available in the source tree. A more complete port would include support of the USB OTG port and of the LCD display on this board. Those drivers are not yet available as of this writing. PIC32MX460F512L. There one two board ports using this chip: STATUS: The basic port is code complete and fully verified in NuttX 6.13. Available configurations include the OS test and the NuttShell (NSH - see the NSH User Guide). STATUS: The basic port is code complete and fully verified in NuttX 6.18. Available configurations include the OS test and the NuttShell (NSH - see the NSH User Guide). USB has not yet been fully tested but on first pass appears to be functional. |
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PIC32MX795F512L. There one two board ports using this chip:
STATUS: This port was started and then shelved for some time until I received the Expansion I/O board. The basic Starter Kit (even with the Multimedia Expansion Board, MEB, DM320005)) has no serial port and most NuttX test configurations depend heavily on console output. Verified configurations for the OS test and the NuttShel (NSH) appeared in NuttX-6.16. Board support includes a verified USB (device-side) driver. Also included are a a verified Ethernet driver, a partially verified USB device controller driver, and an unverifed SPI driver. Stay tuned for updates. STATUS: Two verified configurations are available: (1) The basic OS test configuration that verfies the correctness port of NuttX, and (2) an extensive NuttShell (NSH) configuration. The NSH configuration includes: (1) Full network support, (2) Verified SPI driver, (3) SPI-based SD Card support, (4) USB device support (including configuration options for the USB mass storage device and the CDC/ACM serial class), and (5) Support for the MIO873QT2 LCD on the PIC32MX7 MMB. The PIC32MX7 MMB's touchscreen is connected directly to the MCU via ADC pins. A touchscreen driver has been developed using the PIC32's ADC capabilities and can be enabled in the NSH configuration. However, additional verification and tuning of this driver is required. Further display/touchscreen verification would require C++ support (for NxWidgets and NxWM). Since I there is no PIC32 C++ is the free version of the MPLAB C32 toolchain, further graphics development is stalled. |
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Development Environment: These ports uses either: |
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| Renesas/Hitachi SuperH. | |
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SH-1 SH7032. This port uses the Hitachi SH-1 Low-Cost Evaluation Board (SH1_LCEVB1), US7032EVB, with a GNU ELF toolchain* under Linux or Cygwin. STATUS: This port is available as of release 0.3.18 of NuttX. The port is basically complete and many examples run correctly. However, there are remaining instabilities that make the port un-usable. The nature of these is not understood; the behavior is that certain SH-1 instructions stop working as advertised. This could be a silicon problem, some pipeline issue that is not handled properly by the gcc 3.4.5 toolchain (which has very limit SH-1 support to begin with), or perhaps with the CMON debugger. At any rate, I have exhausted all of the energy that I am willing to put into this cool old processor for the time being. |
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| Renesas M16C/26. | |
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Renesas M16C/26 Microcontroller. This port uses the Renesas SKP16C26 Starter kit and the GNU M32C toolchain. The development environment is either Linux or Cygwin under WinXP.
STATUS:
Initial source files released in nuttx-0.4.2.
At this point, the port has not been integrated; the target cannot be built
because the GNU m32c-nuttx-elf-ld: BFD (GNU Binutils) 2.19 assertion fail /home/Owner/projects/nuttx/buildroot/toolchain_build_m32c/binutils-2.19/bfd/elf32-m32c.c:482
Where the reference line is: /* If the symbol is out of range for a 16-bit address, we must have allocated a plt entry. */ BFD_ASSERT (*plt_offset != (bfd_vma) -1); No workaround is known at this time. This is a show stopper for M16C for the time being. |
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| Zilog Z16F. | |
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Zilog z16f Microcontroller. This port use the Zilog z16f2800100zcog development kit and the Zilog ZDS-II Windows command line tools. The development environment is either Windows native or Cygwin under Windows. STATUS: The initial release of support for the z16f was made available in NuttX version 0.3.7. |
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| Zilog eZ80 Acclaim!. | |
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Zilog eZ80Acclaim! Microcontroller. There are two eZ80Acclaim! ports:
Both boards are based on the eZ80F091 part and both use the Zilog ZDS-II Windows command line tools. The development environment is either Windows native or Cygwin under Windows. STATUS: Integration and testing of NuttX on the ZiLOG ez80f0910200zcog-d is complete. The first integrated version was released in NuttX version 0.4.2 (with important early bugfixes in 0.4.3 and 0.4.4). As of this writing, that port provides basic board support with a serial console, SPI, and eZ80F91 EMAC driver. |
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| Zilog Z8Encore!. | |
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Zilog Z8Encore! Microcontroller. This port uses the either:
and the Zilog ZDS-II Windows command line tools. The development environment is either Windows native or Cygwin under Windows. STATUS: This release has been verified only on the ZiLOG ZDS-II Z8Encore! chip simulation as of nuttx-0.3.9. |
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| Zilog Z180. | |
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P112. The P112 is a hobbyist single board computer based on a 16MHz Z80182 with up to 1MB of memory, serial, parallel and diskette IO, and realtime clock, in a 3.5-inch drive form factor.. The P112 computer originated as a commercial product of "D-X Designs Pty Ltd"[ of Australia. Dave Brooks was successfully funded through Kickstarter for and another run of P112 boards in November of 2012. In addition Terry Gulczynski makes additional P112 derivative hobbyist home brew computers.STATUS: Most of the NuttX is in port for both the Z80182 and for the P112 board. Boards from Kickstarter project will not be available, however, until the first quarter of 2013. So it will be some time before this port is verified on hardware. |
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| Zilog Z80. | |
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Z80 Instruction Set Simulator. This port uses the SDCC toolchain under Linux or Cygwin (verified using version 2.6.0). This port has been verified using only a Z80 instruction simulator. That simulator can be found in the NuttX GIT here. STATUS: This port is complete and stable to the extent that it can be tested using an instruction set simulator. |
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XTRS: TRS-80 Model I/III/4/4P Emulator for Unix. A very similar Z80 port is available for XTRS, the TRS-80 Model I/III/4/4P Emulator for Unix. That port also uses the SDCC toolchain under Linux or Cygwin (verified using version 2.6.0). STATUS: Basically the same as for the Z80 instruction set simulator. This port was contributed by Jacques Pelletier. |
* A highly modified buildroot is available that may be used to build a NuttX-compatible ELF toolchain under Linux or Cygwin. Configurations are available in that buildroot to support ARM, Cortex-M3, avr, m68k, m68hc11, m68hc12, m9s12, blackfin, m32c, h8, and SuperH ports.
Development Environments |
Linux + GNU make + GCC/binutils for Linux
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The is the most natural development environment for NuttX. Any version of the GCC/binutils toolchain may be used. There is a highly modified buildroot available for download from the NuttX SourceForge page. This download may be used to build a NuttX-compatible ELF toolchain under Linux or Cygwin. That toolchain will support ARM, m68k, m68hc11, m68hc12, and SuperH ports. The buildroot GIT may be accessed in the NuttX GIT. |
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Linux + GNU make + SDCC for Linux
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Also very usable is the Linux environment using the SDCC compiler. The SDCC compiler provides support for the 8051/2, z80, hc08, and other microcontrollers. The SDCC-based logic is less well exercised and you will likely find some compilation issues if you use parts of NuttX with SDCC that have not been well-tested. |
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Windows with Cygwin + GNU make + GCC/binutils (custom built under Cygwin)
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This combination works well too. It works just as well as the native Linux environment except that compilation and build times are a little longer. The custom NuttX buildroot referenced above may be build in the Cygwin environment as well. |
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Windows with Cygwin + GNU make + SDCC (custom built under Cygwin)
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I have never tried this combination, but it would probably work just fine. |
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Windows with Cygwin + GNU make + Windows Native Toolchain
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This is a tougher environment. In this case, the Windows native toolchain is unaware of the Cygwin sandbox and, instead, operates in the native Windows environment. The primary difficulties with this are:
Fortunately, this conversion is done simply using the The NuttX make system works around this limitation by copying the platform specific directories in place. These copied directories make work a little more complex, but otherwise work well.
NOTE: In this environment, it should be possible to use the NTFS
NOTE: dependencies are suppress by setting the make variable Supported Windows Native Toolchains. At present, the following Windows native toolchains are in use:
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Windows Native (CMD.exe) + GNUWin32 (including GNU make) + MinGW Host GCC compiler + Windows Native Toolchain
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Build support has been added to support building natively in a Windows console rather than in a POSIX-like environment. This build:
This capability first appeared in NuttX-6.24 and should still be considered a work in progress because: (1) it has not been verfied on all targets and tools, and (2) still lacks some of the creature-comforts of the more mature environments.
The windows native build logic initiatiated if At present, this build environment also requires:
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Wine + GNU make + Windows Native Toolchain
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I've never tried this one, but I off the following reported by an ez80 user using the ZiLOG ZDS-II Windows-native toolchain:
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| Other Environments? | |
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Environment Dependencies. The primary environmental dependency of NuttX are (1) GNU make, (2) bash scripting, and (3) Linux utilities (such as cat, sed, etc.). If you have other platforms that support GNU make or make utilities that are compatible with GNU make, then it is very likely that NuttX would work in that environment as well (with some porting effort). If GNU make is not supported, then some significant modification of the Make system would be required. MSYS. I have not used MSYS but what I gather from talking with NuttX users is that MSYS can be used as an alternative to Cygwin in any of the above Cygwin environments. This is not surprising since MSYS is based on an older version of Cygwin (cygwin-1.3). MSYS has been modified, however, to interoperate in the Windows environment better than Cygwin and that may be of value to some users.
MSYS, however, cannot be used with the native Windows NuttX build because it will invoke the MSYS bash shell instead of the |
Memory Footprint |
C5471 (ARM7) The build for this ARM7 target that includes most of the OS features and a broad range of OS tests. The size of this executable as given by the Linux size command is (3/9/07):
text data bss dec hex filename 53272 428 3568 57268 dfb4 nuttx
DM320 (ARM9) This build for the ARM9 target includes a significant subset of OS features, a filesystem, Ethernet driver, full TCP/IP, UDP and (minimal) ICMP stacks (via uIP) and a small network test application: (11/8/07, configuration netconfig, apps/examples/nettest)
text data bss dec hex filename 49472 296 3972 53740 d1ec nuttx
Another build for the ARM9 target includes a minimal OS feature set, Ethernet driver, full TCP/IP and (minimal) ICMP stacks, and a small webserver: (11/20/07, configuration uipconfig, apps/examples/uip)
text data bss dec hex filename 52040 72 4148 56260 dbc4 nuttx
87C52 A reduced functionality OS test for the 8052 target requires only about 18-19K:
Stack starts at: 0x21 (sp set to 0x20) with 223 bytes available. Other memory: Name Start End Size Max ---------------- -------- -------- -------- -------- PAGED EXT. RAM 0 256 EXTERNAL RAM 0x0100 0x02fd 510 7936 ROM/EPROM/FLASH 0x2100 0x6e55 19798 24384
Licensing |
NuttX is available under the highly permissive BSD license. Other than some fine print that you agree to respect the copyright you should feel absolutely free to use NuttX in any environment and without any concern for jeopardizing any proprietary software that you may link with it.
Release History |
ChangeLog snapshots associated with the previous, current, and future release are available below.
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Change logs for previous NuttX releases |
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ChangeLog for the current NuttX releases |
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| Unreleased changes |
| ChangeLog for the Current Release |
6.27 2013-04-28 Gregory Nutt <gnutt@nuttx.org>
* arch/arm/src/armv7-m/up_mpu.c: Correct MPU sub-region settings for
unaligned regions (2013-03-15).
* arch/arm/src/armv6-m/up_svcall.c: Bring up to equivalent to the
ARMv7-M version (2013-03-15).
* configs/lm4f120-launchpad/tools: Add scripts and instructions to
simplify use of OpenOCD with ICDI (from JP Carballo, 2013-03-15).
* tools/mkconfig.c: Logic that attempts to suppress buffered I/O
within the kernel is wrong. sizeof(struct file_struct) must be
the same in both kernel- and user-spaces (2013-03-16).
* arch/arm/src/common/up_pthread_start.c, libc/pthread/pthread_startup.c,
and related files: Implement switch to user-space and user-space
pthread start-up function (2013-03-16).
* arch/arm/src/common/up_signal_handler.c, libc/pthread/pthread_startup.c,
and related files: Implement switch to user-space and user-space
pthread start-up function (2013-03-16).
* arch/arm/src/common/up_signal_handler.c, libc/signal/signal_handler.c,
arch/arm/src/armv[6|7]-m/up_svcall.c, arch/arm/include/armv[6|7]-m/svcall.h,
include/nuttx/userspace.h, and sched/sig_deliver.c: Implement switch
to user-space from kernel signal delivery trampoline before calling user-
space signal handler. Return from user-space signal handler using a
system call (2013-03-16).
* arch/arm/src/armv[6|7]-m/up_schedulesigaction.c: Need make sure we are
in kernel mode before switching to kernel-mode signal handler
trampoline (2013-03-16).
* arch/arm/include/armv[6|7]-m/irq.h, and arch/arm/src/armv[6|7]-m/up_svcall.c:
Add support for nested system calls. In the current design, this can
happen only under one condition: When the kernel system call logic calls
back into user space in order to allocate user space memory. So it is
expected that the maximum nesting level will be only 2 (2013-03-17).
* libc/stdio/lib_sccanf.c: Correct an error in sscanf. If %n occurs in
the format statement after the input data stream has been fully
parsed, the %n format specifier will not be handled. Reported by
Lorenz Meier (and also earlier by Kate) (2013-03-17).
* drivers/serial/serial.c: Support for O_NONBLOCK was not supported
in the "upper half" serial driver. This is normally not an issue
because UART TX is almost always available, but it does become an
if the UART uses hardware flow control or if the a "lower half" is
something like the USB CDC/ACM driver that may need to block for
significant amounts of time (2013-03-18).
* arch/arm/src/armv7-h/ram_vectors.h, up_ramvec_*.c, arch/arm/src/*/*_irq.c,
and Make.defs: Add support for modifiable interrupt vectors in RAM
(2013-03-18).
* arch/arm/src/armv7-m/up_exception.S, sam3u/sam3u_vectors.S, and
lpc17xx/lpc17_vectors.S: In exception handling with CONFIG_NUTTX_KERNEL,
need to explicitly set and clear the privilege bit in the CONTROL
register on return. I assumed this would be handled automatically
by the EXC_RETURN. Silly me (2013-03-18).
* arch/arm/src/lpc17_adc.c: Add a work-around for an ADC errata. From
Chris Taglia (2013-3-19).
* arch/arm/src/armv7-m/up_hardfault.c: If the PRIMASK is used to disable
interrupts, then additional logic is required in the hard fault handler
(2013-3-19).
* libc/ and mm/: Directories where the same sources files are used to
build different objects in the first and second pass kernel builds need
to keep those objects in separate directories so that they are not
constantly rebuilt (2013-3-19).
* fs/fat: Create an error in FAT file creation. The FAT logic was
not making a distinction between directory non-existence and file
non-existence so when it you try to create a file in a non-existent
directory, it would create a file with the name of the missing
directory. Reported by Andrew Tridgell (2013-03-30).
* Numerous files: Changed the protoypes of up_create_stack() and
up_release_stack() so that is includes a task type. Normally you
can get this type from the TCB parameter, but there are certain
conditions when the task type is not valid in the TCB when these
functions are called. Only the prototypes were changed on this
big, initial checkin. The next step will be to add logic to
allocate stacks for kernel threads from protected kernel memory
and all other task types from unprotected user memory (2013-03-20).
* arch/*/src/common/up_createstack.c, up_use_stack.c, and
up_release_stack.c: If creating or releasing the stack for a kernel
thread, use the kernel allocator so that the kernel thread stacks
are protected from user application meddling (2013-03-20).
* arch/arm/src/armv[6|7]-m/up_scall.c: Fix parameter passing for
all system call inline functions with > 3 parameters (2013-03-20)
* arch/*/src/common/up_stackframe.c and include/nuttx/arch.h: Add
and new interface to set aside memory on the stack. This will be
used at least in the kernel build to hold task arguments (2013-03-21).
* sched/sig_deliver.c: When dispatching signals to user threads,
copy the siginfo_t from the sigq to the stack. The signal queue
is allocated from kernel memory; however, the current stack is
the user's stack and the user code will be able to access the
signinfo_t data from the stack copy (2013-03-21).
* arch/arm/src/stm32: Added support for the kernel mode build
(cloned from the lpc17xx). (2013-03-21).
* configs/stme32f4discovery/kernel and scripts: Add support for
the kernel mode build on the STM32F4Discovery (2013-03-21).
* drivers/st7567.c/h and include/nuttx/lcd/st7567.h: Driver for
the ST7567 LCD Display Module from Univision Technology Inc.
contributed by Manikandan.S (2013-03-22).
* configs/zkit-arm-1769: Now supports the ST7567 LCD display
module. Added an nxhello configuration for testing (Manikandan.S,
2013-03-22).
* configs/stm32f4discovery/kostest: Add a kernel mode version
of the OS test for the STM32F4Discovery board (2013-03-22).
* nuttx/include/nuttx, nuttx/configs/sam3u-ek, nuttx/configs/open1788,
nuttx/configs/stm32f4discovery, and nuttx/arch/arm: Complete
re-archtecting of how signals are dispatched to user-space code
in the kernel build. The original implementation was C-based
and simpler. However, the C code intermixed with SVC calls was
not properly preserving registers. The more complex, assembly
language version does not suffer from these issues. I believe
the the kernel build can now be called "feature complete"
(2013-03-23).
* binfmt/binfmt_execmodule.c: Here is a place where I forget
to update the call to sched_releasetcb() to pass the thread
type as the second parameter (2013-03-23).
* arch/arm/src/lm, kinetis, lpc32, and nuc1xx: Add kernel build
support to all ARMv7-M and ARMv6-M chips. There are no
configurations in place to to verify these additions!
(2013-03-24).
* arch/arm/src/lm/lm_gpio.h: Correct typos in alternate function
definitions (2013-03-24).
* arch/arm/src/lm/lm_lowputc.c and lm_serial.c: Add support for
the 7 UARTs on the LM4F120 (2013-03-24).
* configs/lm4f120-launchpad/ostest/defconfig: Fix the configured
RAM size. This appears to be the last show-stopper bug: The
LaunchPad now runs NuttX! (2013-03-24).
* configs/lm4f120-launchpad/nsh: Add an NSH configuration for the
LaunchPad (2013-03-24).
* configs/kwikstik-k40: Converted configurations to use the
konfig-frontends tool (2013-03-25).
* configs/twr-k60n512: Converted configurations to use the
konfig-frontends tool (2013-03-25).
* arch/arm/src/lpc17xx/lpc17_lcd.c: Add an LCD framebuffer driver
for the LPC177x/8x family (2103-3-26).
* arch/arm/src/lpc17xx/lpc17_emc.c and
configs/open1788/src/lpc17_sdraminitialize.c: Began testing the
Open1788 SDRAM. The SDRAM is basically functional, but there are
failures with the SDRAM is stressed by the memory test at
apps/example/ramtest (SDRAM support and the RAM test can be configured
into the base configs/open1788/nsh configuration as described in
configs/open1788/READMT.txt (2103-3-27).
* configs/open1788/nxlines: Add a configuration to test both the
Open1788 LCD and SDRAM which is used as a framebuffer (2013-3-27).
* arch/arm/src/lpc17xx/lpc17_gdma.c and lpc17_sdcard.c: Began
implementation of the LPC17 DMA and integration into the SDCARD
driver (2013-3-29).
* arch/arm/src/lpc17xx/lpc17_gdma.c: LPC17 DMA is code complete and
under test. Does not yet work (2013-3-30).
* fs/fat/fs_fat32dirent.c and fs_fat32util.c: Several fixes to the
FAT file system from Ronen Vainish. These fixes mostly involve the
logic to extend directory clusters for the case of long file names
but also include a few important general fixes (such as for storing
32 bit FAT values) (2013-03-31).
* arch/arm/src/lpc17xx/lpc17_gdma.c and lpc17_sdcard.c: SD card DMA
is now functional. Thre may be some issues with DMA from CPU SRAM
which is apparently disabled in sleep mode; up_idle() always enters
sleep mode (2013-03-31).
* arch/arm/src/stm32: Add architecure support for the STM32 F427/F437
chips. Contributed by Mike Smith (2013-4-01).
* configs/zkit-arm-1769/src/up_can.c: Add support for both CAN1
and CAN2. Contributed by M.Kannan (2013-4-01).
* arch/arm/src/lpc17xx/lpc17_spi.c and lpc17_ssp.c and
configs/olimex-lpc1766stk, nucleus2g, zkit-arm-1769, and
lpcxpresso-lpc1768: The initialization function for both the LPC17xx
SPI and SSP blocks was called up_spinitialize() which is the common API
definition of include/nuttx/spi.h. But this raises a problem when the
MCU has multiple blocks for differ SPI implementations as does the
LPC17xx (and also as does other architectures like STM32 that have
USARTs that can serve as SPI interfaces as well). These were renamed
to lpc17_spiinitialize() and lpc17_sspinitialize() in this case.
Problem reported by M. Kannan (2013-4-01).
* arch/arm/src/lpc17xx/lpc17_gpdma.c and lpc17_idle.c: In sleep mode,
DMA can only be performed from peripheral SRAM. CPU SRAM is shutdown
in sleep mode. In order to simplify DMA memory allocation, the LPC17xx
IDLE will now hold off going to sleep mode if there is a DMA in progress
(2013-4-01).
* configs/open1788/src/lpc17_autoleds.c: Reversed sense of the IDLE LCD.
It is now off when the LPC17 is sleeping and on when awake. That is
much more useful because it provides a good visual indication of the
dynamic CPU load (2013-4-01).
* configs/open1788/src/lpc17_touchscreen.c and lpc17_ssp.c: Add
support for the touschscreen on the WaveShare LCD (2013-4-01).
* configs/several: There were already some functions called
lpc17_sspinitialize(). So they had to be renamed (2013-4-01).
* arch/arm/src/lpc17xx/lpc17_ssp.c: Adapted to work the the LPC178x
family (2013-4-01).
* arch/arm/src/lpc17xx/lpc17_gpio.c/.h: Separate LPC176x and LPC178x
logic into separate files. The logic is diverging to much to
try to retain common code (2013-4-03).
* net/net_clone.c: Fix compilation error when socket options are
are disabled. Reported by Daniel O'Connor (2013-4-05).
* configs/zkit-arm-1769/src/up_leds.c: Fix a typo introduced into
the button interrupt logic (2013-4-05).
* arch/arm/src/lpc17xx/lpc178x_gpio.c: Re-design of the GPIO
logic for the LPC178x family by Rommel Marcelo (2013-4-05).
* arch/arm/src/lpc17_gpiodbg.c: Updated so that it correctly
reports LPC177x/8x GPIO registers when GPIO debug is enabled
(2013-4-05).
* arch/arm/src/Makefile: The variable NUTTX already includes
the extension $(EXEEXT). So remove the second extension
$(NUTTX)$(EXEEXT) in two places (2013-4-7).
* arch/arm/src/lpc17xx/lpc17_gpioint.c: Disable interrrupts in
lpc17_setintedge(). This logic must be atomic because it can be
re-entered before it completes enabled interrupts, sometimes
leaving the interrupts in a strange state (2013-4-7).
* arch/arm/src/lpc17_lcd.c: Rommel Marcelo got the LPC1788
framebuffer-based LCD working. Very nice! (2013-4-08).
* arch/arm/src/lm/lm_clockconfig.c and configs/lm4f120-launchpad:
Fix handling of the RCC SYSDIV2 field whent the PLL output is
400MHz. Don't forget to set the USERCC2 bit in the register or
all is for naught (2013-4-09).
* configs/zkit-arm-1769/src/up_lcd.c, up_ssp.c, and up_spi.c:
Use SSP0 to LCD and SPI to SD-Card on the Zkit-arm-1769 board.
From Manikandan. S (2013-4-10)
* configs/olimex-lpc1766stk/usbserial: Converted to use the
kconfig-config frontends tools (2013-4-12).
* drivers/usbdev/pl2303.c: Fix some compilation errors that
crept in when fixes to the CDC/ACM driver where blindly
incorporated in the PL2303 driver (2013-4-12).
* configs/stm3210e-eval/usbserial: Converted to use the
kconfig-config frontends tools (2013-4-12).
* configs/nucleus2g/usbserial: Converted to use the
kconfig-config frontends tools (2013-4-12).
* arch/arm/src/kl and arch/arm/include/kl: Add support for the
Kinetis L family of Cortex-M0+ MCUs. Contributed by Alan
Carvalho de Assis. NOTE: This is still very much a work in
progress as of this initial commit (2013-04-16).
* configs/freedom-kl25z: Support for the Freedom KL25Z board
contributed by Alan Carvalho de Assis. NOTE: This is still
very much a work inprogress as of this initial commit
(2013-04-16).
* arm/arm/src/armv6-m and arch/arm/include/armv6-m: Ooops. Fix
a major screw-up: The Cortex-M0 has no BASEPRI register but
the current logic was using it to manage interrupts. Switch
to using the PRIMASK. This means that hardfaults will (again)
occur when SVC instructions are executed (2013-4-16).
* configs/stm3240g-eval/ostest: Converted to use the kconfig-frontends
tools (2013-4-17).
* sched/task_exithook.c: Don't flush the streams until the
final thread of the group exits. Flushing may cause the
thread to get suspended at a bad time and other threads in the
group may run while the exiting thread is in an unhealthy state.
This can cause crashes under certain circumstance. This is a
critical bugfix (2013-4-18).
* drivers/mtd/ramtron.c: Extended to support the FM25V01 device.
Contributed by Lorenz Meier (2013-4-18).
* sched/task_deletecurrent.c and task_exit.c, arch/*/up_exit.c:
Renamed task_deletecurrent() and task_exit() since it really
handles the architecture independent part of _exit(). _exit()
is used internally, but if it is called from the user, it should
unregister any atexit() or on_exit() functions (2013-4-18).
* tools/kconfig2html.c: This is the beginning of a tool to
replace the hand-generated documentation of the NuttX configruation
variables with auto-generated documentation. The initial checkin
is an incomplete, poorly structured prototype that I hope to
evolve into a useful tool (2014-4-20).
* libc/string/lib_strchr.c: strchr(str, '\0') should return a
pointer to the end of the string, not NULL. From Petteri
Aimonen (2014-4-22).
* fs/fat/fs_writefat.c: mkfatfs was writing the boot code to the
wrong location. From Petteri Aimonen (2014-4-22).
* Documentation: The NuttX documentation now expects to find an
auto-generated version of the configuration variable documentation
at Documentation/NuttXConfigVariables.html (2014-4-22).
* arch/arm/src/lpc17xx/lpc17_adc.c: Only one ADC pin was configured.
Need to configure all that are in the ADC0 set. From MKannan
(2014-4-23).
* configs/zkit-arm-1769/src: ADC and SPI/USB MSC updates from
MKannan (2014-4-23).
* arm/src/armv7-m/ram_vectors.h and arm/src/armv7-m/up_ramvec_initialize.c:
Fixes to RAM vector logic from Paul Y. Zhang (2014-4-23)
* tools/kconfig2html.c: Improve behavior of Expand/Collapse
Table of Contents; Handle errors in parsing of strings and in
some uninitialized variables. Add an option to use jQuery.
* tools/mkconfigvar.sh: Fix make target (2014-4-23).
* sched/exit.c, pthread_exit.c, task_exit.c, task_delete,c and
task_exithook.c: For pthread_exit(), move some logic to an early
point in the exit sequence where the task may need to block. Add
conditional logic in the lower end of the eixt logic kicked off by
_exit() to prohibit blocking after the task has been torn down and is
no longer cabable of blocking (2014-4-23).
* arch/arm/src/common/up_initialize.c: Add missing registration
of /dev/zero. Registration of /dev/null should depend upon
conditional compilation. From Ken Pettit (2014-4-24).
* arch/*/src/common/up_initialize.c: Same change required to other
architectures (2014-4-24).
* arch/arm/src/kl/kl_clockconfig.c and configs/freedom-kl25z/include/board.h:
Modify out PLL configuration so that it uses the values in
board.h; Fix PLL settings in board.h so that the correct core
and bus clock frequencies are generated. (2014-4-24).
* arm/src/kl/chip/kl_memorymap.h, kl_sim.h, andkl_uart.h: Correct some
register definitions (2014-4-25).
* arch/arm/src/kl/Kconfig, kl_lowputc.c, kl_serial.c, and kl_config.h:
No UART3-5 (2014-4-25).
* arch/arm/src/kl/kl_serial.c: Various fixes to various files in the
KL architecture directory as need to get the interrupt-driven
serial driver to work. The Freedom KL25Z NSH configuration now
works (2014-4-25).
* include/nuttx/assert.h, arch/*/src/*/up_assert.c, and other file:
Remove up_assert_code(). While asserting with an encoded value
could be a good feature, the codes have not be well utilized nor
documented. Give that situation it is better to remove the API
and reduce the footprint a little (2014-4-25).
* drivers/serial/Kconfig and arch/*/src/*/*_serial.c: Add
compilation so that the useless TIOCSERGSTRUCT ioctl logic
is not build unless CONFIG_DEBUG and CONFIG_SERIAL_TIOCSERGSTRUCT
are defined.
* sched/task_delete.c and task_terminate.c: Most task_terminate()
out of task_delete.c into its own C file. This should prevent
dragging task_delete() into the link when it is never called.
apps-6.27 2013-04-28 Gregory Nutt <gnutt@nuttx.org>
* apps/system/ramtest: Add a simple memory test (2013-03-26).
* apps/examples/ostest: In the non-cancelable thread test, we need
to give the thread an opportunity to run and to set the non-
cancelable state.
* apps/nshlib/nsh_ddcmd.c: Correct the test of the skip input
parameter. Was limiting the range to <= count. From Ken
Petit (2014-4-24).
NxWidgets-1.7 2013-04-28 Gregory Nutt <gnutt@nuttx.org>
* NxWidgets bitmap_converter.py: Fix bug when image width > 255. From
Petteri Aimonen (2013-4-22).
* NxWM::CScrollbarPanel: Fix spelling error in class name: CScollbarPanel
should be CScrollbarPanel. From Petteri Aimonen (2013-4-22).
* NxWidgets:: CGlyphButton: Generate action event, like CButton does.
From Petteri Aimonen (2013-4-22).
* NxWidgets:: CGlyphButton: Prevent drawing outside of the bitmap size.
From Petteri Aimonen (2013-4-22).
* NxWM::CTaskBar: Add option CONFIG_NXWM_TASKBAR_NO_BORDER to suppress
drawing of the border on the taskbar. From Petteri Aimonen (2013-4-22).
* NxWidgets::CNxTimer: Add function to check if CNxTimer is running.
From Petteri Aimonen (2013-4-22).
* NxWidgets::CNxWidgets: Allow overriding of the checkCollision() method.
From Petteri Aimonen (2013-4-22).
uClibc++-1.0 2011-11-05 <gnutt@nuttx.org>
* The initial release of the uClibc++ implementation of the standard
C++ library for NuttX. This package was contributed ay Qiang Yu and
David for the RGMP team.
buildroot-1.12 2011-13-15 <gnutt@nuttx.org>
* Fix typo toolchain/gdb/Config.in that prevented GDB 7.4 from building
(from Ken Bannister).
* Add support for a Cortex-M0 toolchain based on GCC 4.6.3.
pascal-3.0 2011-05-15 Gregory Nutt <gnutt@nuttx.org>
* nuttx/: The Pascal add-on module now installs and builds under the
apps/interpreters directory. This means that the pascal-2.1 module is
incompatible with will all releases of NuttX prior to nuttx-6.0 where the
apps/ module was introduced.
| Unreleased Changes |
Bugs, Issues, Things-To-Do |
The current list of NuttX Things-To-Do in GIT here. A snapshot of the To-Do list associated with the current release are available here.
Other Documentation |
1 This configuration variable document is auto-generated using the kconfig2html tool That tool analyzes the NuttXKconfigfiles and generates the HTML document. As a consequence, this file may not be present at any given time but can be regenerated following the instructions intoolsdirectory README file.
Trademarks |
NOTE: NuttX is not licensed to use the POSIX trademark. NuttX uses the POSIX standard as a development guideline only.