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diff --git a/nuttx/arch/arm/src/armv7-a/arm_assert.c b/nuttx/arch/arm/src/armv7-a/arm_assert.c
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+/****************************************************************************
+ * arch/arm/src/armv7-a/arm_assert.c
+ *
+ * Copyright (C) 2013 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <assert.h>
+#include <debug.h>
+
+#include <nuttx/irq.h>
+#include <nuttx/arch.h>
+#include <arch/board/board.h>
+
+#include "up_arch.h"
+#include "os_internal.h"
+#include "up_internal.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Output debug info if stack dump is selected -- even if
+ * debug is not selected.
+ */
+
+#ifdef CONFIG_ARCH_STACKDUMP
+# undef lldbg
+# define lldbg lowsyslog
+#endif
+
+/* The following is just intended to keep some ugliness out of the mainline
+ * code. We are going to print the task name if:
+ *
+ * CONFIG_TASK_NAME_SIZE > 0 && <-- The task has a name
+ * (defined(CONFIG_DEBUG) || <-- And the debug is enabled (lldbg used)
+ * defined(CONFIG_ARCH_STACKDUMP) <-- Or lowsyslog() is used
+ */
+
+#undef CONFIG_PRINT_TASKNAME
+#if CONFIG_TASK_NAME_SIZE > 0 && (defined(CONFIG_DEBUG) || defined(CONFIG_ARCH_STACKDUMP))
+# define CONFIG_PRINT_TASKNAME 1
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: up_getsp
+ ****************************************************************************/
+
+/* I don't know if the builtin to get SP is enabled */
+
+static inline uint32_t up_getsp(void)
+{
+ uint32_t sp;
+ __asm__
+ (
+ "\tmov %0, sp\n\t"
+ : "=r"(sp)
+ );
+ return sp;
+}
+
+/****************************************************************************
+ * Name: up_stackdump
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_STACKDUMP
+static void up_stackdump(uint32_t sp, uint32_t stack_base)
+{
+ uint32_t stack ;
+
+ for (stack = sp & ~0x1f; stack < stack_base; stack += 32)
+ {
+ uint32_t *ptr = (uint32_t*)stack;
+ lldbg("%08x: %08x %08x %08x %08x %08x %08x %08x %08x\n",
+ stack, ptr[0], ptr[1], ptr[2], ptr[3],
+ ptr[4], ptr[5], ptr[6], ptr[7]);
+ }
+}
+#else
+# define up_stackdump()
+#endif
+
+/****************************************************************************
+ * Name: up_registerdump
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_STACKDUMP
+static inline void up_registerdump(void)
+{
+ /* Are user registers available from interrupt processing? */
+
+ if (current_regs)
+ {
+ int regs;
+
+ /* Yes.. dump the interrupt registers */
+
+ for (regs = REG_R0; regs <= REG_R15; regs += 8)
+ {
+ uint32_t *ptr = (uint32_t*)&current_regs[regs];
+ lldbg("R%d: %08x %08x %08x %08x %08x %08x %08x %08x\n",
+ regs, ptr[0], ptr[1], ptr[2], ptr[3],
+ ptr[4], ptr[5], ptr[6], ptr[7]);
+ }
+
+ lldbg("CPSR: %08x\n", current_regs[REG_CPSR]);
+ }
+}
+#else
+# define up_registerdump()
+#endif
+
+/****************************************************************************
+ * Name: up_dumpstate
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_STACKDUMP
+static void up_dumpstate(void)
+{
+ struct tcb_s *rtcb = (struct tcb_s*)g_readytorun.head;
+ uint32_t sp = up_getsp();
+ uint32_t ustackbase;
+ uint32_t ustacksize;
+#if CONFIG_ARCH_INTERRUPTSTACK > 3
+ uint32_t istackbase;
+ uint32_t istacksize;
+#endif
+
+ /* Get the limits on the user stack memory */
+
+ if (rtcb->pid == 0)
+ {
+ ustackbase = g_idle_topstack - 4;
+ ustacksize = CONFIG_IDLETHREAD_STACKSIZE;
+ }
+ else
+ {
+ ustackbase = (uint32_t)rtcb->adj_stack_ptr;
+ ustacksize = (uint32_t)rtcb->adj_stack_size;
+ }
+
+ /* Get the limits on the interrupt stack memory */
+
+#if CONFIG_ARCH_INTERRUPTSTACK > 3
+ istackbase = (uint32_t)&g_userstack;
+ istacksize = (CONFIG_ARCH_INTERRUPTSTACK & ~3) - 4;
+
+ /* Show interrupt stack info */
+
+ lldbg("sp: %08x\n", sp);
+ lldbg("IRQ stack:\n");
+ lldbg(" base: %08x\n", istackbase);
+ lldbg(" size: %08x\n", istacksize);
+
+ /* Does the current stack pointer lie within the interrupt
+ * stack?
+ */
+
+ if (sp <= istackbase && sp > istackbase - istacksize)
+ {
+ /* Yes.. dump the interrupt stack */
+
+ up_stackdump(sp, istackbase);
+
+ /* Extract the user stack pointer which should lie
+ * at the base of the interrupt stack.
+ */
+
+ sp = g_userstack;
+ lldbg("sp: %08x\n", sp);
+ }
+
+ /* Show user stack info */
+
+ lldbg("User stack:\n");
+ lldbg(" base: %08x\n", ustackbase);
+ lldbg(" size: %08x\n", ustacksize);
+#else
+ lldbg("sp: %08x\n", sp);
+ lldbg("stack base: %08x\n", ustackbase);
+ lldbg("stack size: %08x\n", ustacksize);
+#endif
+
+ /* Dump the user stack if the stack pointer lies within the allocated user
+ * stack memory.
+ */
+
+ if (sp > ustackbase || sp <= ustackbase - ustacksize)
+ {
+#if !defined(CONFIG_ARCH_INTERRUPTSTACK) || CONFIG_ARCH_INTERRUPTSTACK < 4
+ lldbg("ERROR: Stack pointer is not within allocated stack\n");
+#endif
+ }
+ else
+ {
+ up_stackdump(sp, ustackbase);
+ }
+
+ /* Then dump the registers (if available) */
+
+ up_registerdump();
+}
+#else
+# define up_dumpstate()
+#endif
+
+/****************************************************************************
+ * Name: _up_assert
+ ****************************************************************************/
+
+static void _up_assert(int errorcode) noreturn_function;
+static void _up_assert(int errorcode)
+{
+ /* Are we in an interrupt handler or the idle task? */
+
+ if (current_regs || ((struct tcb_s*)g_readytorun.head)->pid == 0)
+ {
+ (void)irqsave();
+ for(;;)
+ {
+#ifdef CONFIG_ARCH_LEDS
+ up_ledon(LED_PANIC);
+ up_mdelay(250);
+ up_ledoff(LED_PANIC);
+ up_mdelay(250);
+#endif
+ }
+ }
+ else
+ {
+ exit(errorcode);
+ }
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: up_assert
+ ****************************************************************************/
+
+void up_assert(const uint8_t *filename, int lineno)
+{
+#ifdef CONFIG_PRINT_TASKNAME
+ struct tcb_s *rtcb = (struct tcb_s*)g_readytorun.head;
+#endif
+
+ up_ledon(LED_ASSERTION);
+
+#ifdef CONFIG_PRINT_TASKNAME
+ lldbg("Assertion failed at file:%s line: %d task: %s\n",
+ filename, lineno, rtcb->name);
+#else
+ lldbg("Assertion failed at file:%s line: %d\n",
+ filename, lineno);
+#endif
+ up_dumpstate();
+ _up_assert(EXIT_FAILURE);
+}
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