Port of basic functionalities to Kinetis K20 familykinetis-k20/nuttx_next-old

9 files changed, 536 insertions, 7 deletions

diff --git a/nuttx/arch/arm/include/kinetis/chip.h b/nuttx/arch/arm/include/kinetis/chip.h
index bd9909050..e8a1e514d 100644
--- a/nuttx/arch/arm/include/kinetis/chip.h
+++ b/nuttx/arch/arm/include/kinetis/chip.h
@@ -48,8 +48,50 @@
 
 /* Get customizations for each supported chip */
 
-#if defined(CONFIG_ARCH_CHIP_MK40X64VFX50) || defined(CONFIG_ARCH_CHIP_MK40X64VLH50) || \
+#if defined(CONFIG_ARCH_CHIP_MK20DX256VLH7)
+#  define KINETIS_K20             1          /* Kinetics K20 family */ 
+#  undef  KINETIS_K40                        /* Not Kinetics K40 family */
+#  undef  KINETIS_K60                        /* Not Kinetis K60 family */
+#  define KINETIS_FLASH_SIZE      (256*1024) /* 256Kb */
+#  define KINETIS_FLEXMEM_SIZE    (32*1024)  /* 32Kb */
+#  define KINETIS_SRAM_SIZE       (64*1024)  /* 64Kb */
+#  undef  KINETIS_MPU                        /* No memory protection unit */
+#  undef  KINETIS_EXTBUS                     /* No external bus interface */
+#  define KINETIS_NDMACH          16         /* Up to 16 DMA channels */
+#  undef  KINETIS_NENET                      /* No Ethernet controller */
+#  define KINETIS_NUSBHOST        1          /* One USB host controller */
+#  define KINETIS_NUSBOTG         1          /* With USB OTG controller */
+#  define KINETIS_NUSBDEV         1          /* One USB device controller */
+#  undef  KINETIS_NSDHC                      /* No SD host controller */
+#  undef  KINETIS_NTOUCHIF                   /* Xtrinsic touch sensing interface */
+#  define KINETIS_NI2C            2          /* Two I2C modules */
+#  undef  KINETIS_NISO7816                   /* No UART with ISO-786 */
+#  define KINETIS_NUART           3          /* Three UARTs */
+#  define KINETIS_NSPI            1          /* One SPI module */
+#  define KINETIS_NCAN            1          /* Two CAN controller */
+#  define KINETIS_NI2S            1          /* One I2S module */
+#  undef  KINETIS_NSLCD                      /* No segment LCD interface (up to 25x8/29x4) */
+#  define KINETIS_NADC16          2          /* Two 16-bit ADC */
+#  undef  KINETIS_NADC12                     /* No 12-channel ADC */
+#  undef  KINETIS_NADC13                     /* No 13-channel ADC */
+#  undef  KINETIS_NADC15                     /* No 15-channel ADC */
+#  undef  KINETIS_NADC18                     /* No 18-channel ADC */
+#  define KINETIS_NPGA            2          /* Two Programmable Gain Amplifiers */
+#  define KINETIS_NCMP            3          /* Three analog comparators */
+#  define KINETIS_NDAC6           3          /* Three 6-bit DAC */
+#  define KINETIS_NDAC12          1          /* One 12-bit DAC */
+#  define KINETIS_NVREF           1          /* Voltage reference */
+#  define KINETIS_NTIMERS12       2          /* Two 12 channel timers */
+#  undef  KINETIS_NTIMERS20                  /* No 20 channel timers */
+#  undef  KINETIS_NRNG                       /* No random number generator */
+#  define KINETIS_NRTC            1          /* Real time clock */
+#  undef  KINETIS_NMMCAU                     /* No hardware encryption */
+#  undef  KINETIS_NTAMPER                    /* No tamper detect */
+#  undef KINETIS_NCRC                       /* CRC */
+
+#elif defined(CONFIG_ARCH_CHIP_MK40X64VFX50) || defined(CONFIG_ARCH_CHIP_MK40X64VLH50) || \
     defined(CONFIG_ARCH_CHIP_MK40X64VLK50) || defined(CONFIG_ARCH_CHIP_MK40X64VMB50)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  define KINETIS_K40             1          /* Kinetics K40 family */
 #  undef  KINETIS_K60                        /* Not Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (64*1024)  /* 64Kb */
@@ -99,6 +141,7 @@
     defined(CONFIG_ARCH_CHIP_MK40X128VFX72) || defined(CONFIG_ARCH_CHIP_MK40X128VLH72) || \
     defined(CONFIG_ARCH_CHIP_MK40X128VLK72) || defined(CONFIG_ARCH_CHIP_MK40X128VMB72) || \
     defined(CONFIG_ARCH_CHIP_MK40X128VLL72) || defined(CONFIG_ARCH_CHIP_MK40X128VML72)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  define KINETIS_K40             1          /* Kinetics K40 family */
 #  undef  KINETIS_K60                        /* Not Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (128*1024) /* 128Kb */
@@ -140,6 +183,7 @@
 
 #elif defined(CONFIG_ARCH_CHIP_MK40X256VLK72) || defined(CONFIG_ARCH_CHIP_MK40X256VMB72) || \
     defined(CONFIG_ARCH_CHIP_MK40X256VLL72) || defined(CONFIG_ARCH_CHIP_MK40X256VML72)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  define KINETIS_K40             1          /* Kinetics K40 family */
 #  undef  KINETIS_K60                        /* Not Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (256*1024) /* 256Kb */
@@ -180,6 +224,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK40X128VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X128VMD100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  define KINETIS_K40             1          /* Kinetics K40 family */
 #  undef  KINETIS_K60                        /* Not Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (128*1024) /* 128Kb */
@@ -220,6 +265,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK40X256VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X256VMD100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  define KINETIS_K40             1          /* Kinetics K40 family */
 #  undef  KINETIS_K60                        /* Not Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (256*1024) /* 256Kb */
@@ -262,6 +308,7 @@
 #elif defined(CONFIG_ARCH_CHIP_MK40N512VLK100) || defined(CONFIG_ARCH_CHIP_MK40N512VMB100) || \
       defined(CONFIG_ARCH_CHIP_MK40N512VLL100) || defined(CONFIG_ARCH_CHIP_MK40N512VML100) || \
       defined(CONFIG_ARCH_CHIP_MK40N512VLQ100) || defined(CONFIG_ARCH_CHIP_MK40N512VMD100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  define KINETIS_K40             1          /* Kinetics K40 family */
 #  undef  KINETIS_K60                        /* Not Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (512*1024) /* 512Kb */
@@ -302,6 +349,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK60N256VLL100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  undef  KINETIS_K40                        /* Not Kinetics K40 family */
 #  define KINETIS_K60             1          /* Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (256*1024) /* 256Kb */
@@ -345,6 +393,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK60X256VLL100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  undef  KINETIS_K40                        /* Not Kinetics K40 family */
 #  define KINETIS_K60             1          /* Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (256*1024) /* 256Kb */
@@ -388,6 +437,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK60N512VLL100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  undef  KINETIS_K40                        /* Not Kinetics K40 family */
 #  define KINETIS_K60             1          /* Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (512*1024) /* 256Kb */
@@ -431,6 +481,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK60N256VML100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  undef  KINETIS_K40                        /* Not Kinetics K40 family */
 #  define KINETIS_K60             1          /* Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (256*1024) /* 256Kb */
@@ -474,6 +525,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK60X256VML100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  undef  KINETIS_K40                        /* Not Kinetics K40 family */
 #  define KINETIS_K60             1          /* Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (256*1024) /* 256Kb */
@@ -517,6 +569,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK60N512VML100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  undef  KINETIS_K40                        /* Not Kinetics K40 family */
 #  define KINETIS_K60             1          /* Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (512*1024) /* 256Kb */
@@ -560,6 +613,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK60N256VLQ100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  undef  KINETIS_K40                        /* Not Kinetics K40 family */
 #  define KINETIS_K60             1          /* Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (256*1024) /* 256Kb */
@@ -603,6 +657,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK60X256VLQ100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  undef  KINETIS_K40                        /* Not Kinetics K40 family */
 #  define KINETIS_K60             1          /* Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (256*1024) /* 256Kb */
@@ -646,6 +701,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK60N512VLQ100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  undef  KINETIS_K40                        /* Not Kinetics K40 family */
 #  define KINETIS_K60             1          /* Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (512*1024) /* 512Kb */
@@ -689,6 +745,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK60N256VMD100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  undef  KINETIS_K40                        /* Not Kinetics K40 family */
 #  define KINETIS_K60             1          /* Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (256*1024) /* 256Kb */
@@ -732,6 +789,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK60X256VMD100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  undef  KINETIS_K40                        /* Not Kinetics K40 family */
 #  define KINETIS_K60             1          /* Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (256*1024) /* 256Kb */
@@ -775,6 +833,7 @@
 #  define KINETIS_NCRC            1          /* CRC */
 
 #elif defined(CONFIG_ARCH_CHIP_MK60N512VMD100)
+#  undef  KINETIS_K20                        /* Not Kinetis K20 family */
 #  undef  KINETIS_K40                        /* Not Kinetics K40 family */
 #  define KINETIS_K60             1          /* Kinetis K60 family */
 #  define KINETIS_FLASH_SIZE      (512*1024) /* 512Kb */
diff --git a/nuttx/arch/arm/include/kinetis/irq.h b/nuttx/arch/arm/include/kinetis/irq.h
index a906f3450..847ed428b 100644
--- a/nuttx/arch/arm/include/kinetis/irq.h
+++ b/nuttx/arch/arm/include/kinetis/irq.h
@@ -77,13 +77,92 @@
 
 #define KINETIS_IRQ_EXTINT        (16)
 
+/* K20 Family ***********************************************************************
+ *
+ * The interrupt vectors  for the following parts is defined in Freescale document
+ * K20P64M72SF1RM
+ */
+
+#if defined(CONFIG_ARCH_CHIP_MK20DX256VLH7)
+#  define KINETIS_IRQ_DMACH0      (16)  /* Vector 16: DMA channel 0 transfer complete */
+#  define KINETIS_IRQ_DMACH1      (17)  /* Vector 17: DMA channel 1 transfer complete */
+#  define KINETIS_IRQ_DMACH2      (18)  /* Vector 18: DMA channel 2 transfer complete */
+#  define KINETIS_IRQ_DMACH3      (19)  /* Vector 19: DMA channel 3 transfer complete */
+#  define KINETIS_IRQ_DMACH4      (20)  /* Vector 20: DMA channel 4 transfer complete */
+#  define KINETIS_IRQ_DMACH5      (21)  /* Vector 21: DMA channel 5 transfer complete */
+#  define KINETIS_IRQ_DMACH6      (22)  /* Vector 22: DMA channel 6 transfer complete */
+#  define KINETIS_IRQ_DMACH7      (23)  /* Vector 23: DMA channel 7 transfer complete */
+#  define KINETIS_IRQ_DMACH8      (24)  /* Vector 24: DMA channel 8 transfer complete */
+#  define KINETIS_IRQ_DMACH9      (25)  /* Vector 25: DMA channel 9 transfer complete */
+#  define KINETIS_IRQ_DMACH10     (26)  /* Vector 26: DMA channel 10 transfer complete */
+#  define KINETIS_IRQ_DMACH11     (27)  /* Vector 27: DMA channel 11 transfer complete */
+#  define KINETIS_IRQ_DMACH12     (28)  /* Vector 28: DMA channel 12 transfer complete */
+#  define KINETIS_IRQ_DMACH13     (29)  /* Vector 29: DMA channel 13 transfer complete */
+#  define KINETIS_IRQ_DMACH14     (30)  /* Vector 30: DMA channel 14 transfer complete */
+#  define KINETIS_IRQ_DMACH15     (31)  /* Vector 31: DMA channel 15 transfer complete */
+#  define KINETIS_IRQ_DMAERR      (32)  /* Vector 32: DMA error interrupt channels 0-15 */
+#  define KINETIS_IRQ_FLASHCC     (34)  /* Vector 34: Flash memory command complete */
+#  define KINETIS_IRQ_FLASHRC     (35)  /* Vector 35: Flash memory read collision */
+#  define KINETIS_IRQ_SMCLVD      (36)  /* Vector 36: Mode Controller low-voltage
+                                         *            detect, low-voltage warning */
+#  define KINETIS_IRQ_LLWU        (37)  /* Vector 37: LLWU Normal Low Leakage Wakeup */
+#  define KINETIS_IRQ_WDOG        (38)  /* Vector 38: Watchdog */
+#  define KINETIS_IRQ_I2C0        (40)  /* Vector 40: I2C0 */
+#  define KINETIS_IRQ_I2C1        (41)  /* Vector 41: I2C1 */
+#  define KINETIS_IRQ_SPI0        (42)  /* Vector 42: SPI0 all sources */
+#  define KINETIS_IRQ_SPI1        (43)  /* Vector 43: SPI1 all sources */
+#  define KINETIS_IRQ_CAN0MB      (45)  /* Vector 45: CAN0 OR'ed Message buffer (0-15) */
+#  define KINETIS_IRQ_CAN0BO      (46)  /* Vector 46: CAN0 Bus Off */
+#  define KINETIS_IRQ_CAN0ERR     (47)  /* Vector 47: CAN0 Error */
+#  define KINETIS_IRQ_CAN0TW      (48)  /* Vector 48: CAN0 Transmit Warning */
+#  define KINETIS_IRQ_CAN0RW      (49)  /* Vector 49: CAN0 Receive Warning */
+#  define KINETIS_IRQ_CAN0WU      (50)  /* Vector 50: CAN0 Wake UP */
+//TODO UART0_LON    
+#  define KINETIS_IRQ_UART0S      (61)  /* Vector 61: UART0 status */
+#  define KINETIS_IRQ_UART0E      (62)  /* Vector 62: UART0 error */
+#  define KINETIS_IRQ_UART1S      (63)  /* Vector 63: UART1 status */
+#  define KINETIS_IRQ_UART1E      (64)  /* Vector 64: UART1 error */
+#  define KINETIS_IRQ_UART2S      (65)  /* Vector 65: UART2 status */
+#  define KINETIS_IRQ_UART2E      (66)  /* Vector 66: UART2 error */
+#  define KINETIS_IRQ_ADC0        (73)  /* Vector 73: ADC0 */
+#  define KINETIS_IRQ_ADC1        (74)  /* Vector 74: ADC1 */
+#  define KINETIS_IRQ_CMP0        (75)  /* Vector 75: CMP0 */
+#  define KINETIS_IRQ_CMP1        (76)  /* Vector 76: CMP1 */
+#  define KINETIS_IRQ_CMP2        (77)  /* Vector 77: CMP2 */
+#  define KINETIS_IRQ_FTM0        (78)  /* Vector 78: FTM0 all sources */
+#  define KINETIS_IRQ_FTM1        (79)  /* Vector 79: FTM1 all sources */
+#  define KINETIS_IRQ_FTM2        (80)  /* Vector 80: FTM2 all sources */
+#  define KINETIS_IRQ_CMT         (81)  /* Vector 81: CMT */
+#  define KINETIS_IRQ_RTC         (82)  /* Vector 82: RTC alarm interrupt */
+//TODO RTC_SECOND    
+#  define KINETIS_IRQ_PITCH0      (84)  /* Vector 84: PIT channel 0 */
+#  define KINETIS_IRQ_PITCH1      (85)  /* Vector 85: PIT channel 1 */
+#  define KINETIS_IRQ_PITCH2      (86)  /* Vector 86: PIT channel 2 */
+#  define KINETIS_IRQ_PITCH3      (87)  /* Vector 87: PIT channel 3 */
+#  define KINETIS_IRQ_PDB         (88)  /* Vector 88: PDB */
+#  define KINETIS_IRQ_USBOTG      (89)  /* Vector 88: USB OTG */
+#  define KINETIS_IRQ_USBCD       (90)  /* Vector 90: USB charger detect */
+#  define KINETIS_IRQ_DAC0        (97)  /* Vector 97: DAC0 */
+#  define KINETIS_IRQ_TSI         (99)  /* Vector 97: TSI all sources */
+#  define KINETIS_IRQ_MCG         (100) /* Vector 100: MCG */
+#  define KINETIS_IRQ_LPT         (101) /* Vector 101: Low power timer */
+#  define KINETIS_IRQ_PORTA       (103) /* Vector 103: Pin detect port A */
+#  define KINETIS_IRQ_PORTB       (104) /* Vector 104: Pin detect port B */
+#  define KINETIS_IRQ_PORTC       (105) /* Vector 105: Pin detect port C */
+#  define KINETIS_IRQ_PORTD       (106) /* Vector 106: Pin detect port D */
+#  define KINETIS_IRQ_PORTE       (107) /* Vector 107: Pin detect port E */
+#  define KINETIS_IRQ_SWI         (110) /* Vector 110: Software interrupt */
+
+#  define NR_VECTORS              (111) /* 111 vectors */
+#  define NR_IRQS                 (111) /* 94 interrupts but 111 IRQ numbers */
+
 /* K40 Family ***********************************************************************
  *
  * The interrupt vectors  for the following parts is defined in Freescale document
  * K40P144M100SF2RM
  */
 
-#if defined(CONFIG_ARCH_CHIP_MK40X128VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X128VMD100) || \
+#elif defined(CONFIG_ARCH_CHIP_MK40X128VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X128VMD100) || \
     defined(CONFIG_ARCH_CHIP_MK40X256VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X256VMD100) || \
     defined(CONFIG_ARCH_CHIP_MK40N512VLQ100) || defined(CONFIG_ARCH_CHIP_MK40N512VMD100)
 
diff --git a/nuttx/arch/arm/src/kinetis/Kconfig b/nuttx/arch/arm/src/kinetis/Kconfig
index 786ab2002..ff1fd735c 100644
--- a/nuttx/arch/arm/src/kinetis/Kconfig
+++ b/nuttx/arch/arm/src/kinetis/Kconfig
@@ -10,6 +10,10 @@ choice
 	default ARCH_CHIP_MK60N512VMD100
 	depends on ARCH_CHIP_KINETIS
 
+config ARCH_CHIP_MK20DX256VLH7
+	bool "MK20DX256VLH7"
+	select ARCH_FAMILY_K20
+
 config ARCH_CHIP_MK40N512VLQ100
 	bool "MK40N512VLQ100"
 	select ARCH_FAMILY_K40
@@ -62,6 +66,10 @@ endchoice
 
 # Chip families
 
+config ARCH_FAMILY_K20
+	bool
+	default n
+
 config ARCH_FAMILY_K40
 	bool
 	default n
diff --git a/nuttx/arch/arm/src/kinetis/kinetis_clockconfig.c b/nuttx/arch/arm/src/kinetis/kinetis_clockconfig.c
index c4012d8bc..95884a3b5 100644
--- a/nuttx/arch/arm/src/kinetis/kinetis_clockconfig.c
+++ b/nuttx/arch/arm/src/kinetis/kinetis_clockconfig.c
@@ -343,7 +343,7 @@ void kinetis_clockconfig(void)
  *
  ****************************************************************************/
 
-void __ramfunc__
+void __ramfunc__ __attribute__ ((noinline))
 kinesis_setdividers(uint32_t div1, uint32_t div2, uint32_t div3, uint32_t div4)
 {
   uint32_t regval;
diff --git a/nuttx/arch/arm/src/kinetis/kinetis_k20pinmux.h b/nuttx/arch/arm/src/kinetis/kinetis_k20pinmux.h
new file mode 100644
index 000000000..e5592ce6a
--- /dev/null
+++ b/nuttx/arch/arm/src/kinetis/kinetis_k20pinmux.h
@@ -0,0 +1,80 @@
+/********************************************************************************************
+ * arch/arm/src/kinetis/kinetis_k40pinmux.h
+ *
+ *   Copyright (C) 2011 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.
+ *
+ ********************************************************************************************/
+
+#ifndef __ARCH_ARM_SRC_KINETIS_KINETIS_K40PINMUX_H
+#define __ARCH_ARM_SRC_KINETIS_KINETIS_K40PINMUX_H
+
+/********************************************************************************************
+ * Included Files
+ ********************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "chip.h"
+
+/********************************************************************************************
+ * Pre-processor Definitions
+ ********************************************************************************************/
+/* Reference: Paragraph 10.3.1, p 207, of FreeScale document K20P64M72SF1RM
+ *
+ * In most cases, there are alternative configurations for various pins. Those alternative
+ * pins are labeled with a suffix like _1, _2, etc. in order to distinguish them.  Logic in
+ * the board.h file must select the correct pin configuration for the board by defining a pin
+ * configuration (with no suffix) that maps to the correct alternative.
+ */
+
+#if defined(CONFIG_ARCH_CHIP_MK20DX256VLH7)
+
+/* Pin configurations are deferred to board configuration */
+
+#else
+  /* The pin muxing for other K20 parts is defined in other documents */
+
+#  error "No pin multiplexing for this Kinetis K20 part"
+#endif
+
+/********************************************************************************************
+ * Public Types
+ ********************************************************************************************/
+
+/********************************************************************************************
+ * Public Data
+ ********************************************************************************************/
+
+/********************************************************************************************
+ * Public Functions
+ ********************************************************************************************/
+
+#endif /* __ARCH_ARM_SRC_KINETIS_KINETIS_K40PINMUX_H */
diff --git a/nuttx/arch/arm/src/kinetis/kinetis_memorymap.h b/nuttx/arch/arm/src/kinetis/kinetis_memorymap.h
index ef1d22265..df290daaa 100644
--- a/nuttx/arch/arm/src/kinetis/kinetis_memorymap.h
+++ b/nuttx/arch/arm/src/kinetis/kinetis_memorymap.h
@@ -49,13 +49,129 @@
  ************************************************************************************/
 
 /* Memory Map ***********************************************************************/
+/* K20 Family
+ *
+ * The memory map for the following parts is defined in Freescale document
+ * K20P64M72SF1RM
+ */
+
+#if defined(CONFIG_ARCH_CHIP_MK20DX256VLH7)
+
+# define KINETIS_FLASH_BASE     0x00000000 /* –0x0fffffff Program flash and read-
+                                            *             only data (Includes exception
+                                            *             vectors in first 1024 bytes) */
+# if !defined(KINETIS_FLEXMEM_SIZE)
+#  define KINETIS_FLEXNVM_BASE  0x10000000 /* –0x13ffffff FlexNVM */
+#  define KINETIS_FLEXRAM_BASE  0x14000000 /* –0x17ffffff FlexRAM */
+# endif
+                             /* 0x18000000  * –0x1bffffff Reserved */
+# define KINETIS_SRAML_BASE     0x1C000000 /* –0x1fffffff SRAM_L: Lower SRAM
+                                            *             (ICODE/DCODE) */
+# define KINETIS_SRAMU_BASE     0x20000000 /* –0x200fffff SRAM_U: Upper SRAM bitband
+                                            *             region */
+                             /* 0x20100000  * –0x21ffffff Reserved */
+# define KINETIS_SALIAS_BASE    0x22000000 /* –0x23ffffff Aliased to SRAM_U bitband */
+                             /* 0x24000000  * –0x3fffffff Reserved */
+# define KINETIS_BRIDGE0_BASE   0x40000000 /* –0x4007ffff Bitband region for peripheral
+                                            *             bridge 0 (AIPS-Lite0) */
+# define KINETIS_BRIDGE1_BASE   0x40080000 /* –0x400fffff Bitband region for peripheral
+                                            *             bridge 1 (AIPS-Lite1) */
+# define KINETIS_GPIOBB_BASE    0x400ff000 /* –0x400fffff Bitband region for general
+                                            *             purpose input/output (GPIO) */
+                             /* 0x40100000  * –0x41ffffff Reserved */
+# define KINETIS_PALIAS_BASE    0x42000000 /* –0x43ffffff Aliased to peripheral bridge
+                                            *             (AIPS-Lite) and general purpose
+                                            *             input/output (GPIO) bitband */
+                             /* 0x44000000  * –0xdfffffff Reserved */
+# define KINETIS_PERIPH_BASE    0xe0000000 /* –0xe00fffff Private peripherals */
+                             /* 0xe0100000  * –0xffffffff Reserved */
+
+/* Peripheral Bridge 0 Memory Map ***************************************************/
+
+# define KINETIS_AIPS0_BASE     0x40000000 /* Peripheral bridge 0 (AIPS-Lite 0) */
+# define KINETIS_XBAR_BASE      0x40004000 /* Crossbar switch */
+# define KINETIS_DMAC_BASE      0x40008000 /* DMA controller */
+# define KINETIS_DMADESC_BASE   0x40009000 /* DMA controller transfer control descriptors */
+# define KINETIS_FMC_BASE       0x4001f000 /* Flash memory controller */
+# define KINETIS_FTFL_BASE      0x40020000 /* Flash memory */
+# define KINETIS_DMAMUX0_BASE   0x40021000 /* DMA channel mutiplexer 0 */
+# define KINETIS_CAN0_BASE      0x40024000 /* FlexCAN 0 */
+# define KINETIS_SPI0_BASE      0x4002c000 /* SPI 0 */
+# define KINETIS_SPI1_BASE      0x4002d000 /* SPI 1 */
+# define KINETIS_I2S0_BASE      0x4002f000 /* I2S 0 */
+# define KINETIS_CRC_BASE       0x40032000 /* CRC */
+# define KINETIS_USBDCD_BASE    0x40035000 /* USB DCD */
+# define KINETIS_PDB0_BASE      0x40036000 /* Programmable delay block */
+# define KINETIS_PIT_BASE       0x40037000 /* Periodic interrupt timers (PIT) */
+# define KINETIS_FTM0_BASE      0x40038000 /* FlexTimer 0 */
+# define KINETIS_FTM1_BASE      0x40039000 /* FlexTimer 1 */
+# define KINETIS_ADC0_BASE      0x4003b000 /* Analog-to-digital converter (ADC) 0 */
+# define KINETIS_RTC_BASE       0x4003d000 /* Real time clock */
+# define KINETIS_VBATR_BASE     0x4003e000 /* VBAT register file */
+# define KINETIS_LPTMR_BASE     0x40040000 /* Low power timer */
+# define KINETIS_SYSR_BASE      0x40041000 /* System register file */
+# define KINETIS_TSI0_BASE      0x40045000 /* Touch sense interface */
+# define KINETIS_SIMLP_BASE     0x40047000 /* SIM low-power logic */
+# define KINETIS_SIM_BASE       0x40048000 /* System integration module (SIM) */
+# define KINETIS_PORT_BASE(n)   (0x40049000 + ((n) << 12))
+# define KINETIS_PORTA_BASE     0x40049000 /* Port A multiplexing control */
+# define KINETIS_PORTB_BASE     0x4004a000 /* Port B multiplexing control */
+# define KINETIS_PORTC_BASE     0x4004b000 /* Port C multiplexing control */
+# define KINETIS_PORTD_BASE     0x4004c000 /* Port D multiplexing control */
+# define KINETIS_PORTE_BASE     0x4004d000 /* Port E multiplexing control */
+# define KINETIS_WDOG_BASE      0x40052000 /* Software watchdog */
+# define KINETIS_EWM_BASE       0x40061000 /* External watchdog */
+# define KINETIS_CMT_BASE       0x40062000 /* Carrier modulator timer (CMT) */
+# define KINETIS_MCG_BASE       0x40064000 /* Multi-purpose Clock Generator (MCG) */
+# define KINETIS_OSC_BASE       0x40065000 /* System oscillator (OSC) */
+# define KINETIS_I2C0_BASE      0x40066000 /* I2C 0 */
+# define KINETIS_I2C1_BASE      0x40067000 /* I2C 1 */
+# define KINETIS_UART0_BASE     0x4006a000 /* UART0 */
+# define KINETIS_UART1_BASE     0x4006b000 /* UART1 */
+# define KINETIS_UART2_BASE     0x4006c000 /* UART2 */
+# define KINETIS_USB0_BASE      0x40072000 /* USB OTG FS/LS */
+# define KINETIS_CMP_BASE       0x40073000 /* Analog comparator (CMP) / 6-bit digital-to-analog converter (DAC) */
+# define KINETIS_VREF_BASE      0x40074000 /* Voltage reference (VREF) */
+# define KINETIS_LLWU_BASE      0x4007c000 /* Low-leakage wakeup unit (LLWU) */
+# define KINETIS_PMC_BASE       0x4007d000 /* Power management controller (PMC) */
+# define KINETIS_SMC_BASE       0x4007e000 /* System Mode controller (SMC) */
+
+/* Peripheral Bridge 1 Memory Map ***************************************************/
+
+# define KINETIS_AIPS1_BASE     0x40080000 /* Peripheral bridge 1 (AIPS-Lite 1) */
+# define KINETIS_FTM2_BASE      0x400b8000 /* FlexTimer 2 */
+# define KINETIS_ADC1_BASE      0x400bb000 /* Analog-to-digital converter (ADC) 1 */
+# define KINETIS_DAC0_BASE      0x400cc000 /* 12-bit digital-to-analog converter (DAC) 0 */
+
+# define KINETIS_XBARSS_BASE    0x400ff000 /* Not an AIPS-Lite slot. The 32-bit general
+                                            * purpose input/output module that shares the
+                                            * crossbar switch slave port with the AIPS-Lite
+                                            * is accessed at this address. */
+# define KINETIS_GPIO_BASE(n)   (0x400ff000 + ((n) << 6))
+# define KINETIS_GPIOA_BASE     0x400ff000 /* GPIO PORTA registers */
+# define KINETIS_GPIOB_BASE     0x400ff040 /* GPIO PORTB registers */
+# define KINETIS_GPIOC_BASE     0x400ff080 /* GPIO PORTC registers */
+# define KINETIS_GPIOD_BASE     0x400ff0c0 /* GPIO PORTD registers */
+# define KINETIS_GPIOE_BASE     0x400ff100 /* GPIO PORTE registers */
+
+/* Private Peripheral Bus (PPB) Memory Map ******************************************/
+
+# define KINETIS_ITM_BASE       0xe0000000 /* Instrumentation Trace Macrocell (ITM) */
+# define KINETIS_DWT_BASE       0xe0001000 /* Data Watchpoint and Trace (DWT) */
+# define KINETIS_FPB_BASE       0xe0002000 /* Flash Patch and Breakpoint (FPB) */
+# define KINETIS_SCS_BASE       0xe000e000 /* System Control Space (SCS) (for NVIC) */
+# define KINETIS_TPIU_BASE      0xe0040000 /* Trace Port Interface Unit (TPIU) */
+# define KINETIS_MCM_BASE       0xe0080000 /* Miscellaneous Control Module (including ETB Almost Full) */
+# define KINETIS_ROMTAB_BASE    0xe00ff000 /* ROM Table - allows auto-detection of debug components */
+
+/* Memory Map ***********************************************************************/
 /* K40 Family
  *
  * The memory map for the following parts is defined in Freescale document
  * K40P144M100SF2RM
  */
 
-#if defined(CONFIG_ARCH_CHIP_MK40X128VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X128VMD100) || \
+#elif defined(CONFIG_ARCH_CHIP_MK40X128VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X128VMD100) || \
     defined(CONFIG_ARCH_CHIP_MK40X256VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X256VMD100) || \
     defined(CONFIG_ARCH_CHIP_MK40N512VLQ100) || defined(CONFIG_ARCH_CHIP_MK40N512VMD100)
 
diff --git a/nuttx/arch/arm/src/kinetis/kinetis_pinmux.h b/nuttx/arch/arm/src/kinetis/kinetis_pinmux.h
index 9c791539f..4359728b6 100644
--- a/nuttx/arch/arm/src/kinetis/kinetis_pinmux.h
+++ b/nuttx/arch/arm/src/kinetis/kinetis_pinmux.h
@@ -48,7 +48,9 @@
  * by the logic in chip.h.
  */
 
-#if defined(KINETIS_K40)
+#if defined(KINETIS_K20)
+#  include "kinetis_k20pinmux.h"
+#elif defined(KINETIS_K40)
 #  include "kinetis_k40pinmux.h"
 #elif defined(KINETIS_K60)
 #  include "kinetis_k60pinmux.h"
diff --git a/nuttx/arch/arm/src/kinetis/kinetis_vectors.S b/nuttx/arch/arm/src/kinetis/kinetis_vectors.S
index ed0ba52a1..a93fee4b3 100644
--- a/nuttx/arch/arm/src/kinetis/kinetis_vectors.S
+++ b/nuttx/arch/arm/src/kinetis/kinetis_vectors.S
@@ -154,13 +154,116 @@ _vectors:
 	.word	kinetis_systick		/* Vector 15: System tick */
 
 /* External Interrupts **************************************************************************/
+/* K20 Family ***********************************************************************************
+ *
+ * The interrupt vectors  for the following parts is defined in Freescale document
+ * K20P64M72SF1RM
+ */
+
+#if defined(CONFIG_ARCH_CHIP_MK20DX256VLH7)
+	.word	kinetis_dmach0		/* Vector 16: DMA channel 0 transfer complete */
+	.word	kinetis_dmach1		/* Vector 17: DMA channel 1 transfer complete */
+	.word	kinetis_dmach2		/* Vector 18: DMA channel 2 transfer complete */
+	.word	kinetis_dmach3		/* Vector 19: DMA channel 3 transfer complete */
+	.word	kinetis_dmach4		/* Vector 20: DMA channel 4 transfer complete */
+	.word	kinetis_dmach5		/* Vector 21: DMA channel 5 transfer complete */
+	.word	kinetis_dmach6		/* Vector 22: DMA channel 6 transfer complete */
+	.word	kinetis_dmach7		/* Vector 23: DMA channel 7 transfer complete */
+	.word	kinetis_dmach8		/* Vector 24: DMA channel 8 transfer complete */
+	.word	kinetis_dmach9		/* Vector 25: DMA channel 9 transfer complete */
+	.word	kinetis_dmach10		/* Vector 26: DMA channel 10 transfer complete */
+	.word	kinetis_dmach11		/* Vector 27: DMA channel 11 transfer complete */
+	.word	kinetis_dmach12		/* Vector 28: DMA channel 12 transfer complete */
+	.word	kinetis_dmach13		/* Vector 29: DMA channel 13 transfer complete */
+	.word	kinetis_dmach14		/* Vector 30: DMA channel 14 transfer complete */
+	.word	kinetis_dmach15		/* Vector 31: DMA channel 15 transfer complete */
+	.word	kinetis_dmaerr		/* Vector 32: DMA error interrupt channels 0-15 */
+	.word	kinetis_reserved	/* Vector 33: Reserved */
+	.word	kinetis_flashcc		/* Vector 34: Flash memory command complete */
+	.word	kinetis_flashrc		/* Vector 35: Flash memory read collision */
+	.word	kinetis_smclvd		/* Vector 36: Mode Controller low-voltage detect, low-voltage warning */
+	.word	kinetis_llwu		/* Vector 37: LLWU Normal Low Leakage Wakeup */
+	.word	kinetis_wdog		/* Vector 38: Watchdog */
+	.word	kinetis_reserved	/* Vector 39: Reserved */
+	.word	kinetis_i2c0		/* Vector 40: I2C0 */
+	.word	kinetis_i2c1		/* Vector 41: I2C1 */
+	.word	kinetis_spi0		/* Vector 42: SPI0 all sources */
+	.word	kinetis_spi1		/* Vector 43: SPI1 all sources */
+	.word	kinetis_reserved	/* Vector 44: Reserved */
+	.word	kinetis_can0mb		/* Vector 45: CAN0 OR'ed Message buffer (0-15) */
+	.word	kinetis_can0bo		/* Vector 46: CAN0 Bus Off */
+	.word	kinetis_can0err		/* Vector 47: CAN0 Error */
+	.word	kinetis_can0tw		/* Vector 48: CAN0 Transmit Warning */
+	.word	kinetis_can0rw		/* Vector 49: CAN0 Receive Warning */
+	.word	kinetis_can0wu		/* Vector 50: CAN0 Wake UP */
+	.word	kinetis_reserved	/* Vector 51: Reserved */
+	.word	kinetis_reserved	/* Vector 52: Reserved */
+	.word	kinetis_reserved	/* Vector 53: Reserved */
+	.word	kinetis_reserved	/* Vector 54: Reserved */
+	.word	kinetis_reserved	/* Vector 55: Reserved */
+	.word	kinetis_reserved	/* Vector 56: Reserved */
+	.word	kinetis_reserved	/* Vector 57: Reserved */
+	.word	kinetis_reserved	/* Vector 58: Reserved */
+	.word	kinetis_reserved	/* Vector 59: Reserved */
+	.word	kinetis_reserved	/* Vector 60: Reserved */
+	.word	kinetis_uart0s		/* Vector 61: UART0 status */
+	.word	kinetis_uart0e		/* Vector 62: UART0 error */
+	.word	kinetis_uart1s		/* Vector 63: UART1 status */
+	.word	kinetis_uart1e		/* Vector 64: UART1 error */
+	.word	kinetis_uart2s		/* Vector 65: UART2 status */
+	.word	kinetis_uart2e		/* Vector 66: UART2 error */
+	.word	kinetis_reserved	/* Vector 67: Reserved */
+	.word	kinetis_reserved	/* Vector 68: Reserved */
+	.word	kinetis_reserved	/* Vector 69: Reserved */
+	.word	kinetis_reserved	/* Vector 70: Reserved */
+	.word	kinetis_reserved	/* Vector 71: Reserved */
+	.word	kinetis_reserved	/* Vector 72: Reserved */
+	.word	kinetis_adc0		/* Vector 73: ADC0 */
+	.word	kinetis_adc1		/* Vector 74: ADC1 */
+	.word	kinetis_cmp0		/* Vector 75: CMP0 */
+	.word	kinetis_cmp1		/* Vector 76: CMP1 */
+	.word	kinetis_cmp2		/* Vector 77: CMP2 */
+	.word	kinetis_ftm0		/* Vector 78: FTM0 all sources */
+	.word	kinetis_ftm1		/* Vector 79: FTM1 all sources */
+	.word	kinetis_ftm2		/* Vector 80: FTM2 all sources */
+	.word	kinetis_cmt			/* Vector 81: CMT */
+	.word	kinetis_rtc			/* Vector 82: RTC alarm interrupt */
+	.word	kinetis_reserved	/* Vector 83: Reserved */
+	.word	kinetis_pitch0		/* Vector 84: PIT channel 0 */
+	.word	kinetis_pitch1		/* Vector 85: PIT channel 1 */
+	.word	kinetis_pitch2		/* Vector 86: PIT channel 2 */
+	.word	kinetis_pitch3		/* Vector 87: PIT channel 3 */
+	.word	kinetis_pdb			/* Vector 88: PDB */
+	.word	kinetis_usbotg		/* Vector 88: USB OTG */
+	.word	kinetis_usbcd		/* Vector 90: USB charger detect */
+	.word	kinetis_reserved	/* Vector 91: Reserved */
+	.word	kinetis_reserved	/* Vector 92: Reserved */
+	.word	kinetis_reserved	/* Vector 93: Reserved */
+	.word	kinetis_reserved	/* Vector 94: Reserved */
+	.word	kinetis_reserved	/* Vector 95: Reserved */
+	.word	kinetis_reserved	/* Vector 96: Reserved */
+	.word	kinetis_dac0		/* Vector 97: DAC0 */
+	.word	kinetis_reserved	/* Vector 98: Reserved */
+	.word	kinetis_tsi			/* Vector 99: TSI all sources */
+	.word	kinetis_mcg			/* Vector 100: MCG */
+	.word	kinetis_lpt			/* Vector 101: Low power timer */
+	.word	kinetis_reserved	/* Vector 102: Reserved */
+	.word	kinetis_porta		/* Vector 103: Pin detect port A */
+	.word	kinetis_portb		/* Vector 104: Pin detect port B */
+	.word	kinetis_portc		/* Vector 105: Pin detect port C */
+	.word	kinetis_portd		/* Vector 106: Pin detect port D */
+	.word	kinetis_porte		/* Vector 107: Pin detect port E */
+	.word	kinetis_reserved	/* Vector 108: Reserved */
+	.word	kinetis_reserved	/* Vector 109: Reserved */
+	.word	kinetis_swi			/* Vector 110: Software interrupt */
+
 /* K40 Family ***********************************************************************************
  *
  * The interrupt vectors  for the following parts is defined in Freescale document
  * K40P144M100SF2RM
  */
 
-#if defined(CONFIG_ARCH_CHIP_MK40X128VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X128VMD100) || \
+#elif defined(CONFIG_ARCH_CHIP_MK40X128VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X128VMD100) || \
     defined(CONFIG_ARCH_CHIP_MK40X256VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X256VMD100) || \
     defined(CONFIG_ARCH_CHIP_MK40N512VLQ100) || defined(CONFIG_ARCH_CHIP_MK40N512VMD100)
 
@@ -404,10 +507,84 @@ handlers:
 /* K40 Family ***********************************************************************************
  *
  * The interrupt vectors  for the following parts is defined in Freescale document
+ * K20P64M72SF1RM
+ */
+
+#if defined(CONFIG_ARCH_CHIP_MK20DX256VLH7)
+
+	HANDLER kinetis_dmach0, KINETIS_IRQ_DMACH0		/* Vector 16: DMA channel 0 transfer complete */
+	HANDLER kinetis_dmach1, KINETIS_IRQ_DMACH1		/* Vector 17: DMA channel 1 transfer complete */
+	HANDLER kinetis_dmach2, KINETIS_IRQ_DMACH2		/* Vector 18: DMA channel 2 transfer complete */
+	HANDLER kinetis_dmach3, KINETIS_IRQ_DMACH3		/* Vector 19: DMA channel 3 transfer complete */
+	HANDLER kinetis_dmach4, KINETIS_IRQ_DMACH4		/* Vector 20: DMA channel 4 transfer complete */
+	HANDLER kinetis_dmach5, KINETIS_IRQ_DMACH5		/* Vector 21: DMA channel 5 transfer complete */
+	HANDLER kinetis_dmach6, KINETIS_IRQ_DMACH6		/* Vector 22: DMA channel 6 transfer complete */
+	HANDLER kinetis_dmach7, KINETIS_IRQ_DMACH7		/* Vector 23: DMA channel 7 transfer complete */
+	HANDLER kinetis_dmach8, KINETIS_IRQ_DMACH8		/* Vector 24: DMA channel 8 transfer complete */
+	HANDLER kinetis_dmach9, KINETIS_IRQ_DMACH9		/* Vector 25: DMA channel 9 transfer complete */
+	HANDLER kinetis_dmach10, KINETIS_IRQ_DMACH10	/* Vector 26: DMA channel 10 transfer complete */
+	HANDLER kinetis_dmach11, KINETIS_IRQ_DMACH11	/* Vector 27: DMA channel 11 transfer complete */
+	HANDLER kinetis_dmach12, KINETIS_IRQ_DMACH12	/* Vector 28: DMA channel 12 transfer complete */
+	HANDLER kinetis_dmach13, KINETIS_IRQ_DMACH13	/* Vector 29: DMA channel 13 transfer complete */
+	HANDLER kinetis_dmach14, KINETIS_IRQ_DMACH14	/* Vector 30: DMA channel 14 transfer complete */
+	HANDLER kinetis_dmach15, KINETIS_IRQ_DMACH15	/* Vector 31: DMA channel 15 transfer complete */
+	HANDLER kinetis_dmaerr, KINETIS_IRQ_DMAERR		/* Vector 32: DMA error interrupt channels 0-15 */
+	HANDLER kinetis_flashcc, KINETIS_IRQ_FLASHCC	/* Vector 34: Flash memory command complete */
+	HANDLER kinetis_flashrc, KINETIS_IRQ_FLASHRC	/* Vector 35: Flash memory read collision */
+	HANDLER kinetis_smclvd, KINETIS_IRQ_SMCLVD		/* Vector 36: Mode Controller low-voltage detect, low-voltage warning */
+	HANDLER kinetis_llwu, KINETIS_IRQ_LLWU			/* Vector 37: LLWU Normal Low Leakage Wakeup */
+	HANDLER kinetis_wdog, KINETIS_IRQ_WDOG			/* Vector 38: Watchdog */
+	HANDLER kinetis_i2c0, KINETIS_IRQ_I2C0			/* Vector 40: I2C0 */
+	HANDLER kinetis_i2c1, KINETIS_IRQ_I2C1			/* Vector 41: I2C1 */
+	HANDLER kinetis_spi0, KINETIS_IRQ_SPI0			/* Vector 42: SPI0 all sources */
+	HANDLER kinetis_spi1, KINETIS_IRQ_SPI1			/* Vector 43: SPI1 all sources */
+	HANDLER kinetis_can0mb, KINETIS_IRQ_CAN0MB		/* Vector 45: CAN0 OR'ed Message buffer (0-15) */
+	HANDLER kinetis_can0bo, KINETIS_IRQ_CAN0BO		/* Vector 46: CAN0 Bus Off */
+	HANDLER kinetis_can0err, KINETIS_IRQ_CAN0ERR	/* Vector 47: CAN0 Error */
+	HANDLER kinetis_can0tw, KINETIS_IRQ_CAN0TW		/* Vector 48: CAN0 Transmit Warning */
+	HANDLER kinetis_can0rw, KINETIS_IRQ_CAN0RW		/* Vector 49: CAN0 Receive Warning */
+	HANDLER kinetis_can0wu, KINETIS_IRQ_CAN0WU		/* Vector 50: CAN0 Wake UP */
+	HANDLER kinetis_uart0s, KINETIS_IRQ_UART0S		/* Vector 61: UART0 status */
+	HANDLER kinetis_uart0e, KINETIS_IRQ_UART0E		/* Vector 62: UART0 error */
+	HANDLER kinetis_uart1s, KINETIS_IRQ_UART1S		/* Vector 63: UART1 status */
+	HANDLER kinetis_uart1e, KINETIS_IRQ_UART1E		/* Vector 64: UART1 error */
+	HANDLER kinetis_uart2s, KINETIS_IRQ_UART2S		/* Vector 65: UART2 status */
+	HANDLER kinetis_uart2e, KINETIS_IRQ_UART2E		/* Vector 66: UART2 error */
+	HANDLER kinetis_adc0, KINETIS_IRQ_ADC0			/* Vector 73: ADC0 */
+	HANDLER kinetis_adc1, KINETIS_IRQ_ADC1			/* Vector 74: ADC1 */
+	HANDLER kinetis_cmp0, KINETIS_IRQ_CMP0			/* Vector 75: CMP0 */
+	HANDLER kinetis_cmp1, KINETIS_IRQ_CMP1			/* Vector 76: CMP1 */
+	HANDLER kinetis_cmp2, KINETIS_IRQ_CMP2			/* Vector 77: CMP2 */
+	HANDLER kinetis_ftm0, KINETIS_IRQ_FTM0			/* Vector 78: FTM0 all sources */
+	HANDLER kinetis_ftm1, KINETIS_IRQ_FTM1			/* Vector 79: FTM1 all sources */
+	HANDLER kinetis_ftm2, KINETIS_IRQ_FTM2			/* Vector 80: FTM2 all sources */
+	HANDLER kinetis_cmt, KINETIS_IRQ_CMT			/* Vector 81: CMT */
+	HANDLER kinetis_rtc, KINETIS_IRQ_RTC			/* Vector 82: RTC alarm interrupt */
+	HANDLER kinetis_pitch0, KINETIS_IRQ_PITCH0		/* Vector 84: PIT channel 0 */
+	HANDLER kinetis_pitch1, KINETIS_IRQ_PITCH1		/* Vector 85: PIT channel 1 */
+	HANDLER kinetis_pitch2, KINETIS_IRQ_PITCH2		/* Vector 86: PIT channel 2 */
+	HANDLER kinetis_pitch3, KINETIS_IRQ_PITCH3		/* Vector 87: PIT channel 3 */
+	HANDLER kinetis_pdb, KINETIS_IRQ_PDB			/* Vector 88: PDB */
+	HANDLER kinetis_usbotg, KINETIS_IRQ_USBOTG		/* Vector 88: USB OTG */
+	HANDLER kinetis_usbcd, KINETIS_IRQ_USBCD		/* Vector 90: USB charger detect */
+	HANDLER kinetis_dac0, KINETIS_IRQ_DAC0			/* Vector 97: DAC0 */
+	HANDLER kinetis_tsi, KINETIS_IRQ_TSI			/* Vector 97: TSI all sources */
+	HANDLER kinetis_mcg, KINETIS_IRQ_MCG			/* Vector 100: MCG */
+	HANDLER kinetis_lpt, KINETIS_IRQ_LPT			/* Vector 101: Low power timer */
+	HANDLER kinetis_porta, KINETIS_IRQ_PORTA		/* Vector 103: Pin detect port A */
+	HANDLER kinetis_portb, KINETIS_IRQ_PORTB		/* Vector 104: Pin detect port B */
+	HANDLER kinetis_portc, KINETIS_IRQ_PORTC		/* Vector 105: Pin detect port C */
+	HANDLER kinetis_portd, KINETIS_IRQ_PORTD		/* Vector 106: Pin detect port D */
+	HANDLER kinetis_porte, KINETIS_IRQ_PORTE		/* Vector 107: Pin detect port E */
+	HANDLER kinetis_swi, KINETIS_IRQ_SWI			/* Vector 110: Software interrupt */
+
+/* K40 Family ***********************************************************************************
+ *
+ * The interrupt vectors  for the following parts is defined in Freescale document
  * K40P144M100SF2RM
  */
 
-#if defined(CONFIG_ARCH_CHIP_MK40X128VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X128VMD100) || \
+#elif defined(CONFIG_ARCH_CHIP_MK40X128VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X128VMD100) || \
     defined(CONFIG_ARCH_CHIP_MK40X256VLQ100) || defined(CONFIG_ARCH_CHIP_MK40X256VMD100) || \
     defined(CONFIG_ARCH_CHIP_MK40N512VLQ100) || defined(CONFIG_ARCH_CHIP_MK40N512VMD100)
 
diff --git a/nuttx/configs/Kconfig b/nuttx/configs/Kconfig
index 542949257..f06c40d34 100644
--- a/nuttx/configs/Kconfig
+++ b/nuttx/configs/Kconfig
@@ -866,6 +866,14 @@ config ARCH_BOARD_TEENSY
 		developed by http://pjrc.com/teensy/.  The Teensy++ 2.0 is based
 		on an Atmel AT90USB1286 MCU.
 
+config ARCH_BOARD_TRIFLE
+	bool "Trifle flight controller based on PJRC Teensy 3.1 board"
+	depends on ARCH_CHIP_MK20DX256VLH7
+	select ARCH_HAVE_LEDS
+	---help---
+		This is the port of NuttX to the PJRC Teensy 3.1 board.  This board is
+		developed by http://pjrc.com/teensy31/.
+
 config ARCH_BOARD_TM4C123G_LAUNCHPAD
 	bool "Tiva TM4C123G LaunchPad"
 	depends on ARCH_CHIP_TM4C123GH6PMI