Merge branch 'master' into nuttx-merge-5447

128 files changed, 12699 insertions, 1013 deletions

diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt
index 7375adccf..0695747f8 100644
--- a/apps/ChangeLog.txt
+++ b/apps/ChangeLog.txt
@@ -33,7 +33,7 @@
 
 6.3 2011-05-15 Gregory Nutt <gnutt@nuttx.org>
 
-    * apps/interpreter: Add a directory to hold interpreters.  The Pascal add-
+	* apps/interpreter: Add a directory to hold interpreters.  The Pascal add-
 	  on module now installs and builds under this directory.
 	* apps/interpreter/ficl: Added logic to build Ficl (the "Forth Inspired
 	  Command Language").  See http://ficl.sourceforge.net/.
@@ -349,7 +349,7 @@
 	* apps/NxWidgets/Kconfig:  Add option to turn on the memory monitor
 	  feature of the NxWidgets/NxWM unit tests.
 
-6.23 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+6.23 2012-11-05 Gregory Nutt <gnutt@nuttx.org>
 
 	* vsn: Moved all NSH commands from vsn/ to system/.  Deleted the vsn/
 	  directory.
@@ -368,3 +368,70 @@
 	  recent check-ins (Darcy Gong).
 	* apps/netutils/webclient/webclient.c:  Fix another but that I introduced
 	  when I was trying to add correct handling for loss of connection (Darcy Gong)
+	* apps/nshlib/nsh_telnetd.c:  Add support for login to Telnet session via
+	  username and password (Darcy Gong).
+	* apps/netutils/resolv/resolv.c (and files using the DNS resolver): Various
+	  DNS address resolution improvements from Darcy Gong.
+	* apps/nshlib/nsh_netcmds.c:  The ping command now passes a maximum round
+	  trip time to uip_icmpping().  This allows pinging of hosts on complex
+	  networks where the ICMP ECHO round trip time may exceed the ping interval.
+	* apps/examples/nxtext/nxtext_main.c:  Fix bad conditional compilation
+	  when CONFIG_NX_KBD is not defined.  Submitted by Petteri Aimonen.
+	* apps/examples/nximage/nximage_main.c:  Add a 5 second delay after the
+	  NX logo is presented so that there is time for the image to be verified.
+	  Suggested by Petteri Aimonen.
+	* apps/Makefile: Small change that reduces the number of shell invocations
+	  by one (Mike Smith).
+	* apps/examples/elf:  Test example for the ELF loader.
+	* apps/examples/elf:  The ELF module test example appears fully functional.
+	* apps/netutils/json:  Add a snapshot of the cJSON project.  Contributed by
+	  Darcy Gong.
+	* apps/examples/json:  Test example for cJSON from Darcy Gong
+	* apps/nshlib/nsh_netinit.c: Fix static IP DNS problem (Darcy Gong)
+	* apps/netutils/resolv/resolv.c: DNS fixes from Darcy Gong.
+	* COPYING: Licensing information added.
+	* apps/netutils/codec and include/netutils/urldecode.h, base64.h, and md5.h:
+	  A port of the BASE46, MD5 and URL CODEC library from Darcy Gong.
+	* nsnlib/nsh_codeccmd.c:  NSH commands to use the CODEC library.
+	  Contributed by Darcy Gong.
+	* apps/examples/wgetjson: Test example contributed by Darcy Gong
+	* apps/examples/cxxtest:  A test for the uClibc++ library provided by
+	  Qiang Yu and the RGMP team.
+	* apps/netutils/webclient, apps/netutils.codes, and apps/examples/wgetjson:
+	  Add support for wget POST interface.  Contributed by Darcy Gong.
+	* apps/examples/relays:  A relay example contributed by Darcy Gong.
+	* apps/nshlib/nsh_netcmds: Add ifup and ifdown commands (from Darcy
+	  Gong).
+	* apps/nshlib/nsh_netcmds: Extend the ifconfig command so that it
+	  supports setting IP addresses, network masks, name server addresses,
+	  and hardware address (from Darcy Gong).
+
+6.24 2012-12-20 Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/examples/ostest/roundrobin.c:  Replace large tables with
+	  algorithmic prime number generation.  This allows the roundrobin
+	  test to run on platforms with minimal SRAM (Freddie Chopin).
+	* apps/nshlib/nsh_dbgcmds.c:  Add hexdump command to dump the contents
+	  of a file (or character device) to the console  Contributed by Petteri
+	  Aimonen.
+	* apps/examples/modbus:  Fixes from Freddie Chopin
+	* apps/examples/modbus/Kconfig: Kconfig logic for FreeModBus contributed
+	  by Freddie Chopin.
+	* Makefile, */Makefile:  Various fixes for Windows native build.  Now uses
+	  make foreach loops instead of shell loops.
+	* apps/examples/elf/test/*/Makefile: OSX doesn't support install -D, use
+	  mkdir -p then install without the -D.  From Mike Smith.
+	* apps/examples/relays/Makefile: Reduced stack requirement (Darcy Gong).
+	* apps/nshlib and apps/netutils/dhcpc:  Extend the NSH ifconfig command plus
+	  various DHCPC improvements(Darcy Gong).
+	* apps/nshlib/nsh_apps.c: Fix compilation errors when CONFIG_NSH_DISABLEBG=y.
+	  From Freddie Chopin.
+	* Rename CONFIG_PCODE and CONFIG_FICL as CONFIG_INTERPRETERS_PCODE and
+	  CONFIG_INTERPRETERS_FICL for consistency with other configuration naming.
+	* apps/examples/keypadtest:  A keypad test example contributed by Denis
+	  Carikli.
+	* apps/examples/elf and nxflat:  If CONFIG_BINFMT_EXEPATH is defined, these
+	  tests will now use a relative path to the program and expect the binfmt/
+	  logic to find the absolute path to the program using the PATH variable.
+
+6.25 2013-xx-xx Gregory Nutt <gnutt@nuttx.org>
diff --git a/apps/examples/Kconfig b/apps/examples/Kconfig
index 865268add..ae5f0a61a 100644
--- a/apps/examples/Kconfig
+++ b/apps/examples/Kconfig
@@ -3,206 +3,60 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-menu "ADC Example"
 source "$APPSDIR/examples/adc/Kconfig"
-endmenu
-
-menu "Buttons Example"
 source "$APPSDIR/examples/buttons/Kconfig"
-endmenu
-
-menu "CAN Example"
 source "$APPSDIR/examples/can/Kconfig"
-endmenu
-
-menu "USB CDC/ACM Class Driver Example"
 source "$APPSDIR/examples/cdcacm/Kconfig"
-endmenu
-
-menu "USB composite Class Driver Example"
 source "$APPSDIR/examples/composite/Kconfig"
-endmenu
-
-menu "DHCP Server Example"
+source "$APPSDIR/examples/cxxtest/Kconfig"
 source "$APPSDIR/examples/dhcpd/Kconfig"
-endmenu
-
-menu "FTP Client Example"
+source "$APPSDIR/examples/elf/Kconfig"
 source "$APPSDIR/examples/ftpc/Kconfig"
-endmenu
-
-menu "FTP Server Example"
 source "$APPSDIR/examples/ftpd/Kconfig"
-endmenu
-
-menu "\"Hello, World!\" Example"
 source "$APPSDIR/examples/hello/Kconfig"
-endmenu
-
-menu "\"Hello, World!\" C++ Example"
 source "$APPSDIR/examples/helloxx/Kconfig"
-endmenu
-
-menu "USB HID Keyboard Example"
+source "$APPSDIR/examples/json/Kconfig"
 source "$APPSDIR/examples/hidkbd/Kconfig"
-endmenu
-
-menu "IGMP Example"
+source "$APPSDIR/examples/keypadtest/Kconfig"
 source "$APPSDIR/examples/igmp/Kconfig"
-endmenu
-
-menu "LCD Read/Write Example"
 source "$APPSDIR/examples/lcdrw/Kconfig"
-endmenu
-
-menu "Memory Management Example"
 source "$APPSDIR/examples/mm/Kconfig"
-endmenu
-
-menu "File System Mount Example"
 source "$APPSDIR/examples/mount/Kconfig"
-endmenu
-
-menu "FreeModBus Example"
 source "$APPSDIR/examples/modbus/Kconfig"
-endmenu
-
-menu "Network Test Example"
 source "$APPSDIR/examples/nettest/Kconfig"
-endmenu
-
-menu "NuttShell (NSH) Example"
 source "$APPSDIR/examples/nsh/Kconfig"
-endmenu
-
-menu "NULL Example"
 source "$APPSDIR/examples/null/Kconfig"
-endmenu
-
-menu "NX Graphics Example"
 source "$APPSDIR/examples/nx/Kconfig"
-endmenu
-
-menu "NxConsole Example"
 source "$APPSDIR/examples/nxconsole/Kconfig"
-endmenu
-
-menu "NXFFS File System Example"
 source "$APPSDIR/examples/nxffs/Kconfig"
-endmenu
-
-menu "NXFLAT Example"
 source "$APPSDIR/examples/nxflat/Kconfig"
-endmenu
-
-menu "NX Graphics \"Hello, World!\" Example"
 source "$APPSDIR/examples/nxhello/Kconfig"
-endmenu
-
-menu "NX Graphics image Example"
 source "$APPSDIR/examples/nximage/Kconfig"
-endmenu
-
-menu "NX Graphics lines Example"
 source "$APPSDIR/examples/nxlines/Kconfig"
-endmenu
-
-menu "NX Graphics Text Example"
 source "$APPSDIR/examples/nxtext/Kconfig"
-endmenu
-
-menu "OS Test Example"
 source "$APPSDIR/examples/ostest/Kconfig"
-endmenu
-
-menu "Pascal \"Hello, World!\"example"
 source "$APPSDIR/examples/pashello/Kconfig"
-endmenu
-
-menu "Pipe Example"
 source "$APPSDIR/examples/pipe/Kconfig"
-endmenu
-
-menu "Poll Example"
 source "$APPSDIR/examples/poll/Kconfig"
-endmenu
-
-menu "Pulse Width Modulation (PWM) Example"
 source "$APPSDIR/examples/pwm/Kconfig"
-endmenu
-
-menu "Quadrature Encoder Example"
 source "$APPSDIR/examples/qencoder/Kconfig"
-endmenu
-
-menu "RGMP Example"
+source "$APPSDIR/examples/relays/Kconfig"
 source "$APPSDIR/examples/rgmp/Kconfig"
-endmenu
-
-menu "ROMFS Example"
 source "$APPSDIR/examples/romfs/Kconfig"
-endmenu
-
-menu "sendmail Example"
 source "$APPSDIR/examples/sendmail/Kconfig"
-endmenu
-
-menu "Serial Loopback Example"
 source "$APPSDIR/examples/serloop/Kconfig"
-endmenu
-
-menu "Telnet Daemon Example"
 source "$APPSDIR/examples/telnetd/Kconfig"
-endmenu
-
-menu "THTTPD Web Server Example"
 source "$APPSDIR/examples/thttpd/Kconfig"
-endmenu
-
-menu "TIFF Generation Example"
 source "$APPSDIR/examples/tiff/Kconfig"
-endmenu
-
-menu "Touchscreen Example"
 source "$APPSDIR/examples/touchscreen/Kconfig"
-endmenu
-
-menu "UDP Example"
 source "$APPSDIR/examples/udp/Kconfig"
-endmenu
-
-menu "UDP Discovery Daemon Example"
 source "$APPSDIR/examples/discover/Kconfig"
-endmenu
-
-menu "uIP Web Server Example"
 source "$APPSDIR/examples/uip/Kconfig"
-endmenu
-
-menu "USB Serial Test Example"
 source "$APPSDIR/examples/usbserial/Kconfig"
-endmenu
-
-menu "USB Mass Storage Class Example"
 source "$APPSDIR/examples/usbstorage/Kconfig"
-endmenu
-
-menu "USB Serial Terminal Example"
 source "$APPSDIR/examples/usbterm/Kconfig"
-endmenu
-
-menu "Watchdog timer Example"
 source "$APPSDIR/examples/watchdog/Kconfig"
-endmenu
-
-menu "wget Example"
 source "$APPSDIR/examples/wget/Kconfig"
-endmenu
-
-menu "WLAN Example"
+source "$APPSDIR/examples/wgetjson/Kconfig"
 source "$APPSDIR/examples/wlan/Kconfig"
-endmenu
-
-menu "XML RPC Example"
 source "$APPSDIR/examples/xmlrpc/Kconfig"
-endmenu
diff --git a/apps/examples/Make.defs b/apps/examples/Make.defs
index d03b976d2..91f1331df 100644
--- a/apps/examples/Make.defs
+++ b/apps/examples/Make.defs
@@ -54,6 +54,10 @@ ifeq ($(CONFIG_EXAMPLES_COMPOSITE),y)
 CONFIGURED_APPS += examples/composite
 endif
 
+ifeq ($(CONFIG_EXAMPLES_CXXTEST),y)
+CONFIGURED_APPS += examples/cxxtest
+endif
+
 ifeq ($(CONFIG_EXAMPLES_DHCPD),y)
 CONFIGURED_APPS += examples/dhcpd
 endif
@@ -62,6 +66,10 @@ ifeq ($(CONFIG_EXAMPLES_DISCOVER),y)
 CONFIGURED_APPS += examples/discover
 endif
 
+ifeq ($(CONFIG_EXAMPLES_ELF),y)
+CONFIGURED_APPS += examples/elf
+endif
+
 ifeq ($(CONFIG_EXAMPLES_FTPC),y)
 CONFIGURED_APPS += examples/ftpc
 endif
@@ -86,6 +94,14 @@ ifeq ($(CONFIG_EXAMPLES_IGMP),y)
 CONFIGURED_APPS += examples/igmp
 endif
 
+ifeq ($(CONFIG_EXAMPLES_JSON),y)
+CONFIGURED_APPS += examples/json
+endif
+
+ifeq ($(CONFIG_EXAMPLES_KEYPADTEST),y)
+CONFIGURED_APPS += examples/keypadtest
+endif
+
 ifeq ($(CONFIG_EXAMPLES_LCDRW),y)
 CONFIGURED_APPS += examples/lcdrw
 endif
@@ -94,6 +110,10 @@ ifeq ($(CONFIG_EXAMPLES_MM),y)
 CONFIGURED_APPS += examples/mm
 endif
 
+ifeq ($(CONFIG_EXAMPLES_MODBUS),y)
+CONFIGURED_APPS += examples/modbus
+endif
+
 ifeq ($(CONFIG_EXAMPLES_MOUNT),y)
 CONFIGURED_APPS += examples/mount
 endif
@@ -166,6 +186,10 @@ ifeq ($(CONFIG_EXAMPLES_QENCODER),y)
 CONFIGURED_APPS += examples/qencoder
 endif
 
+ifeq ($(CONFIG_EXAMPLES_RELAYS),y)
+CONFIGURED_APPS += examples/relays
+endif
+
 ifeq ($(CONFIG_EXAMPLES_RGMP),y)
 CONFIGURED_APPS += examples/rgmp
 endif
@@ -226,6 +250,10 @@ ifeq ($(CONFIG_EXAMPLES_WGET),y)
 CONFIGURED_APPS += examples/wget
 endif
 
+ifeq ($(CONFIG_EXAMPLES_WGETJSON),y)
+CONFIGURED_APPS += examples/wgetjson
+endif
+
 ifeq ($(CONFIG_EXAMPLES_WLAN),y)
 CONFIGURED_APPS += examples/wlan
 endif
diff --git a/apps/examples/Makefile b/apps/examples/Makefile
index 453f99ce7..bdbfd4de8 100644
--- a/apps/examples/Makefile
+++ b/apps/examples/Makefile
@@ -37,12 +37,12 @@
 
 # Sub-directories
 
-SUBDIRS  = adc buttons can cdcacm composite dhcpd discover ftpc ftpd hello
-SUBDIRS += helloxx hidkbd igmp lcdrw mm modbus mount nettest nsh null nx
-SUBDIRS += nxconsole nxffs nxflat nxhello nximage nxlines nxtext ostest
-SUBDIRS += pashello pipe poll pwm qencoder rgmp romfs serloop telnetd
-SUBDIRS += thttpd tiff touchscreen udp uip usbserial sendmail usbstorage
-SUBDIRS += usbterm watchdog wget wlan
+SUBDIRS  = adc buttons can cdcacm composite cxxtest dhcpd discover elf ftpc
+SUBDIRS += ftpd hello helloxx hidkbd igmp json keypadtest lcdrw mm modbus mount
+SUBDIRS += nettest nsh null nx nxconsole nxffs nxflat nxhello nximage
+SUBDIRS += nxlines nxtext ostest  pashello pipe poll pwm qencoder relays
+SUBDIRS += rgmp romfs serloop telnetd thttpd tiff touchscreen udp uip
+SUBDIRS += usbserial sendmail usbstorage usbterm watchdog wget wgetjson wlan
 
 # Sub-directories that might need context setup.  Directories may need
 # context setup for a variety of reasons, but the most common is because
@@ -57,8 +57,8 @@ SUBDIRS += usbterm watchdog wget wlan
 CNTXTDIRS = pwm
 
 ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CNTXTDIRS += adc can cdcacm composite discover ftpd dhcpd modbus nettest
-CNTXTDIRS += qencoder telnetd watchdog
+CNTXTDIRS += adc can cdcacm composite cxxtest dhcpd discover ftpd json keypadtest
+CNTXTDIRS += modbus nettest nxlines relays qencoder telnetd watchdog wgetjson
 endif
 
 ifeq ($(CONFIG_EXAMPLES_HELLO_BUILTIN),y)
@@ -79,9 +79,6 @@ endif
 ifeq ($(CONFIG_EXAMPLES_NXIMAGE_BUILTIN),y)
 CNTXTDIRS += nximage
 endif
-ifeq ($(CONFIG_EXAMPLES_LINES_BUILTIN),y)
-CNTXTDIRS += nxlines
-endif
 ifeq ($(CONFIG_EXAMPLES_NXTEXT_BUILTIN),y)
 CNTXTDIRS += nxtext
 endif
@@ -105,27 +102,25 @@ all: nothing
 
 .PHONY: nothing context depend clean distclean
 
+define SDIR_template
+$(1)_$(2):
+	$(Q) $(MAKE) -C $(1) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
+endef
+
+$(foreach SDIR, $(CNTXTDIRS), $(eval $(call SDIR_template,$(SDIR),context)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),depend)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
+$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
+
 nothing:
 
-context:
-	@for dir in $(CNTXTDIRS) ; do \
-		$(MAKE) -C $$dir context TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
-
-depend:
-	@for dir in $(SUBDIRS) ; do \
-		$(MAKE) -C $$dir depend TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
-
-clean:
-	@for dir in $(SUBDIRS) ; do \
-		$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
-
-distclean: clean
-	@for dir in $(SUBDIRS) ; do \
-		$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
-	done
+context: $(foreach SDIR, $(CNTXTDIRS), $(SDIR)_context)
+
+depend: $(foreach SDIR, $(SUBDIRS), $(SDIR)_depend)
+
+clean: $(foreach SDIR, $(SUBDIRS), $(SDIR)_clean)
+
+distclean: clean $(foreach SDIR, $(SUBDIRS), $(SDIR)_distclean)
 
 -include Make.dep
 
diff --git a/apps/examples/README.txt b/apps/examples/README.txt
index 763427e32..e40a63be9 100644
--- a/apps/examples/README.txt
+++ b/apps/examples/README.txt
@@ -239,6 +239,29 @@ examples/composite
   CONFIG_EXAMPLES_COMPOSITE_TRACEINTERRUPTS
     Show interrupt-related events.
 
+examples/cxxtest
+^^^^^^^^^^^^^^^^
+
+  This is a test of the C++ standard library.  At present a port of the uClibc++
+  C++ library is available.  Due to licensinging issues, the uClibc++ C++ library
+  is not included in the NuttX source tree by default, but must be installed
+  (see misc/uClibc++/README.txt for installation).
+
+  The  NuttX setting that are required include:
+
+    CONFIG_HAVE_CXX=y
+    CONFIG_HAVE_CXXINITIALIZE=y
+    CONFIG_UCLIBCXX=y
+
+  Additional uClibc++ settings may be required in your build environment.
+
+  The uClibc++ test includes simple test of:
+
+    - iostreams,
+    - STL,
+    - RTTI, and
+    - Exceptions
+
 examples/dhcpd
 ^^^^^^^^^^^^^^
 
@@ -297,6 +320,68 @@ examples/discover
     CONFIG_EXAMPLES_DISCOVER_DRIPADDR - Router IP address
     CONFIG_EXAMPLES_DISCOVER_NETMASK - Network Mask
 
+examples/elf
+^^^^^^^^^^^^
+
+  This example builds a small ELF loader test case.  This includes several
+  test programs under examples/elf tests.  These tests are build using
+  the relocatable ELF format and installed in a ROMFS file system.  At run time,
+  each program in the ROMFS file system is executed.  Requires CONFIG_ELF.
+  Other configuration options:
+
+    CONFIG_EXAMPLES_ELF_DEVMINOR - The minor device number of the ROMFS block.
+      For example, the N in /dev/ramN. Used for registering the RAM block driver
+      that will hold the ROMFS file system containing the ELF executables to be
+      tested.  Default: 0
+
+    CONFIG_EXAMPLES_ELF_DEVPATH - The path to the ROMFS block driver device.  This
+      must match EXAMPLES_ELF_DEVMINOR. Used for registering the RAM block driver
+      that will hold the ROMFS file system containing the ELF executables to be
+      tested.  Default: "/dev/ram0"
+
+  NOTES:
+
+  1. CFLAGS should be provided in CELFFLAGS.  RAM and FLASH memory regions
+     may require long allcs.  For ARM, this might be:
+
+       CELFFLAGS = $(CFLAGS) -mlong-calls
+
+     Similarly for C++ flags which must be provided in CXXELFFLAGS.
+
+  2. Your top-level nuttx/Make.defs file must alos include an approproate definition,
+     LDELFFLAGS, to generate a relocatable ELF object.  With GNU LD, this should
+     include '-r' and '-e main' (or _main on some platforms).
+
+       LDELFFLAGS = -r -e main
+
+     If you use GCC to link, you make also need to include '-nostdlib' or 
+     '-nostartfiles' and '-nodefaultlibs'.
+
+  3. This example also requires genromfs.  genromfs can be build as part of the
+     nuttx toolchain.  Or can built from the genromfs sources that can be found
+     at misc/tools/genromfs-0.5.2.tar.gz.  In any event, the PATH variable must
+     include the path to the genromfs executable.
+
+  4. ELF size:  The ELF files in this example are, be default, quite large
+     because they include a lot of "build garbage".  You can greatly reduce the
+     size of the ELF binaries are using the 'objcopy --strip-unneeded' command to
+     remove un-necessary information from the ELF files.
+
+  5. Simulator.  You cannot use this example with the the NuttX simulator on
+     Cygwin.  That is because the Cygwin GCC does not generate ELF file but
+     rather some Windows-native binary format.
+
+     If you really want to do this, you can create a NuttX x86 buildroot toolchain
+     and use that be build the ELF executables for the ROMFS file system.
+
+  6. Linker scripts.  You might also want to use a linker scripts to combine
+     sections better.  An example linker script is at nuttx/binfmt/libelf/gnu-elf.ld.
+     That example might have to be tuned for your particular linker output to
+     position additional sections correctly.  The GNU LD LDELFFLAGS then might
+     be:
+
+       LDELFFLAGS = -r -e main -T$(TOPDIR)/binfmt/libelf/gnu-elf.ld
+
 examples/ftpc
 ^^^^^^^^^^^^^
 
@@ -482,6 +567,32 @@ examples/igmp
 
   CONFIGURED_APPS += uiplib
 
+examples/json
+^^^^^^^^^^^^^
+
+  This example exercises the cJSON implementation at apps/netutils/json.
+  This example contains logic taken from the cJSON project:
+
+    http://sourceforge.net/projects/cjson/
+
+  The example corresponds to SVN revision r42 (with lots of changes for
+  NuttX coding standards).  As of r42, the SVN repository was last updated
+  on 2011-10-10 so I presume that the code is stable and there is no risk
+  of maintaining duplicate logic in the NuttX repository.
+
+examples/keypadtest
+^^^^^^^^^^^^^^^^^^^
+
+  This is a generic keypad test example.  It is similar to the USB hidkbd
+  example, but makes no assumptions about the underlying keyboard interface.
+  It uses the interfaces of include/nuttx/input/keypad.h.
+
+  CONFIG_EXAMPLES_KEYPADTEST - Selects the keypadtest example (only need
+    if the mconf/Kconfig tool is used.
+
+  CONFIG_EXAMPLES_KEYPAD_DEVNAME - The name of the keypad device that will
+    be opened in order to perform the keypad test.  Default: "/dev/keypad"
+
 examples/lcdrw
 ^^^^^^^^^^^^^^
 
@@ -496,6 +607,11 @@ examples/lcdrw
   * CONFIG_EXAMPLES_LDCRW_YRES
       LCD Y resolution.  Default: 320
   
+  NOTE: This test exercises internal lcd driver interfaces.  As such, it
+  relies on internal OS interfaces that are not normally available to a
+  user-space program.  As a result, this example cannot be used if a
+  NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
+
 examples/mm
 ^^^^^^^^^^^
 
@@ -838,8 +954,6 @@ examplex/nxlines
 
   The following configuration options can be selected:
 
-    CONFIG_EXAMPLES_NXLINES_BUILTIN -- Build the NXLINES example as a "built-in"
-      that can be executed from the NSH command line    
     CONFIG_EXAMPLES_NXLINES_VPLANE -- The plane to select from the frame-
       buffer driver for use in the test.  Default: 0
     CONFIG_EXAMPLES_NXLINES_DEVNO - The LCD device to select from the LCD
@@ -877,6 +991,9 @@ examplex/nxlines
       FAR struct fb_vtable_s *up_nxdrvinit(unsigned int devno);
       #endif
 
+    CONFIG_NSH_BUILTIN_APPS - Build the NX lines examples as an NSH built-in
+      function.
+
 examples/nxtext
 ^^^^^^^^^^^^^^^
 
@@ -984,6 +1101,17 @@ examples/ostest
       Specifies the number of threads to create in the barrier
       test.  The default is 8 but a smaller number may be needed on
       systems without sufficient memory to start so many threads.
+  * CONFIG_EXAMPLES_OSTEST_RR_RANGE
+      During round-robin scheduling test two threads are created. Each of the threads
+      searches for prime numbers in the configurable range, doing that configurable
+      number of times.
+      This value specifies the end of search range and together with number of runs
+      allows to configure the length of this test - it should last at least a few
+      tens of seconds. Allowed values [1; 32767], default 10000
+  * CONFIG_EXAMPLES_OSTEST_RR_RUNS
+      During round-robin scheduling test two threads are created. Each of the threads
+      searches for prime numbers in the configurable range, doing that configurable
+      number of times.
 
 examples/pashello
 ^^^^^^^^^^^^^^^^^
@@ -1110,17 +1238,28 @@ examples/qencoder
 
   Specific configuration options for this example include:
  
-  CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
-    /dev/qe0
-  CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
-    is defined, then the number of samples is provided on the command line
-    and this value is ignored.  Otherwise, this number of samples is
-    collected and the program terminates.  Default:  Samples are collected
-    indefinitely.
-  CONFIG_EXAMPLES_QENCODER_DELAY - This value provides the delay (in
-    milliseonds) between each sample.  If CONFIG_NSH_BUILTIN_APPS
-    is defined, then this value is the default delay if no other delay is
-    provided on the command line.  Default:  100 milliseconds
+    CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
+      /dev/qe0
+    CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
+      is defined, then the number of samples is provided on the command line
+      and this value is ignored.  Otherwise, this number of samples is
+      collected and the program terminates.  Default:  Samples are collected
+      indefinitely.
+    CONFIG_EXAMPLES_QENCODER_DELAY - This value provides the delay (in
+      milliseonds) between each sample.  If CONFIG_NSH_BUILTIN_APPS
+      is defined, then this value is the default delay if no other delay is
+      provided on the command line.  Default:  100 milliseconds
+
+examples/relays
+^^^^^^^^^^^^^^^
+
+  Requires CONFIG_ARCH_RELAYS.
+  Contributed by Darcy Gong.
+
+  NOTE: This test exercises internal relay driver interfaces.  As such, it
+  relies on internal OS interfaces that are not normally available to a
+  user-space program.  As a result, this example cannot be used if a
+  NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
 
 examples/rgmp
 ^^^^^^^^^^^^^
@@ -1672,7 +1811,16 @@ examples/wget
     CONFIGURED_APPS += resolv
     CONFIGURED_APPS += webclient
 
+examples/wget
+^^^^^^^^^^^^^
+
+  Uses wget to get a JSON encoded file, then decodes the file.
+
+    CONFIG_EXAMPLES_WDGETJSON_MAXSIZE - Max. JSON Buffer Size
+    CONFIG_EXAMPLES_EXAMPLES_WGETJSON_URL - wget URL
+
 examples/xmlrpc
+^^^^^^^^^^^^^^^
 
   This example exercises the "Embeddable Lightweight XML-RPC Server" which
   is discussed at:
diff --git a/apps/interpreters/Kconfig b/apps/interpreters/Kconfig
index 34cbf2eee..6e7d1ac4f 100644
--- a/apps/interpreters/Kconfig
+++ b/apps/interpreters/Kconfig
@@ -7,7 +7,7 @@ comment "Interpreters"
 
 source "$APPSDIR/interpreters/ficl/Kconfig"
 
-config PCODE
+config INTERPRETERS_PCODE
 	bool "Pascal p-code interpreter"
 	default n
 	---help---
@@ -16,6 +16,6 @@ config PCODE
 		configuration implies that you have performed the required installation of the
 		Pascal run-time code.
 
-if PCODE
+if INTERPRETERS_PCODE
 endif
 
diff --git a/apps/interpreters/Make.defs b/apps/interpreters/Make.defs
index 2fc4b26d4..5d808d5d6 100644
--- a/apps/interpreters/Make.defs
+++ b/apps/interpreters/Make.defs
@@ -34,10 +34,10 @@
 #
 ############################################################################
 
-ifeq ($(CONFIG_PCODE),y)
+ifeq ($(CONFIG_INTERPRETERS_PCODE),y)
 CONFIGURED_APPS += interpreters/pcode
 endif
 
-ifeq ($(CONFIG_FICL),y)
+ifeq ($(CONFIG_INTERPRETERS_FICL),y)
 CONFIGURED_APPS += interpreters/ficl
 endif
diff --git a/apps/interpreters/ficl/Kconfig b/apps/interpreters/ficl/Kconfig
index 1860a1591..ba6a7bc35 100644
--- a/apps/interpreters/ficl/Kconfig
+++ b/apps/interpreters/ficl/Kconfig
@@ -3,7 +3,7 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-config FICL
+config INTERPRETERS_FICL
 	bool "Ficl Forth interpreter"
 	default n
 	---help---
@@ -11,6 +11,6 @@ config FICL
 		apps/interpreters/ficl directory.  Use of this configuration assumes
 		that you have performed the required installation of the Ficl run-time code.
 
-if FICL
+if INTERPRETERS_FICL
 endif
 
diff --git a/apps/nshlib/README.txt b/apps/nshlib/README.txt
index 0f6aee759..bc626e699 100644
--- a/apps/nshlib/README.txt
+++ b/apps/nshlib/README.txt
@@ -235,6 +235,10 @@ o test <expression>
                       integer -gt integer | integer -le integer |
                       integer -lt integer | integer -ne integer
 
+o base64dec [-w] [-f] <string or filepath>
+
+o base64dec [-w] [-f] <string or filepath>
+
 o cat <path> [<path> [<path> ...]]
 
   This command copies and concatentates all of the files at <path>
@@ -381,7 +385,11 @@ o help [-v] [<cmd>]
   <cmd>
     Show full command usage only for this command
 
-o ifconfig
+o hexdump <file or device>
+
+  Dump data in hexadecimal format from a file or character device.
+
+o ifconfig [nic_name [<ip-address>|dhcp]] [dr|gw|gateway <dr-address>] [netmask <net-mask>] [dns <dns-address>] [hw <hw-mac>]
 
   Show the current configuration of the network, for example:
 
@@ -392,6 +400,22 @@ o ifconfig
   if uIP statistics are enabled (CONFIG_NET_STATISTICS), then
   this command will also show the detailed state of uIP.
 
+o ifdown <nic-name>
+
+  Take down the interface identified by the name <nic-name>.
+
+  Example:
+
+    ifdown eth0
+
+o ifup <nic-name>
+
+  Bring up down the interface identified by the name <nic-name>.
+
+  Example:
+
+    ifup eth0
+
 o kill -<signal> <pid>
 
   Send the <signal> to the task identified by <pid>.
@@ -449,6 +473,8 @@ o ls [-lRs] <dir-path>
      -l Show size and mode information along with the filenames
         in the listing.
 
+o md5 [-f] <string or filepath>
+
 o mb <hex-address>[=<hex-value>][ <hex-byte-count>]
 o mh <hex-address>[=<hex-value>][ <hex-byte-count>]
 o mw <hex-address>[=<hex-value>][ <hex-byte-count>]
@@ -781,6 +807,10 @@ o unset <name>
 
     nsh>
 
+ o urldecode [-f] <string or filepath>
+ 
+ o urlencode [-f] <string or filepath>
+
 o usleep <usec>
 
   Pause execution (sleep) of <usec> microseconds.
@@ -826,6 +856,8 @@ Command Dependencies on Configuration Settings
   Command    Depends on Configuration
   ---------- --------------------------
   [          !CONFIG_NSH_DISABLESCRIPT
+  base64dec  CONFIG_NETUTILS_CODECS && CONFIG_CODECS_BASE64
+  base64enc  CONFIG_NETUTILS_CODECS && CONFIG_CODECS_BASE64
   cat        CONFIG_NFILE_DESCRIPTORS > 0
   cd         !CONFIG_DISABLE_ENVIRON && CONFIG_NFILE_DESCRIPTORS > 0
   cp         CONFIG_NFILE_DESCRIPTORS > 0
@@ -837,10 +869,14 @@ Command Dependencies on Configuration Settings
   free       --
   get        CONFIG_NET && CONFIG_NET_UDP && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NET_BUFSIZE >= 558  (see note 1)
   help       --
+  hexdump    CONFIG_NFILE_DESCRIPTORS > 0
   ifconfig   CONFIG_NET
+  ifdown     CONFIG_NET
+  ifup       CONFIG_NET
   kill       !CONFIG_DISABLE_SIGNALS
   losetup    !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0
   ls         CONFIG_NFILE_DESCRIPTORS > 0
+  md5        CONFIG_NETUTILS_CODECS && CONFIG_CODECS_HASH_MD5
   mb,mh,mw   ---
   mkdir      !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_FS_WRITABLE (see note 4)
   mkfatfs    !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_FS_FAT
@@ -861,6 +897,8 @@ Command Dependencies on Configuration Settings
   test       !CONFIG_NSH_DISABLESCRIPT
   umount     !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_FS_READABLE
   unset      !CONFIG_DISABLE_ENVIRON
+  urldecode  CONFIG_NETUTILS_CODECS && CONFIG_CODECS_URLCODE
+  urlencode  CONFIG_NETUTILS_CODECS && CONFIG_CODECS_URLCODE
   usleep     !CONFIG_DISABLE_SIGNALS
   get        CONFIG_NET && CONFIG_NET_TCP && CONFIG_NFILE_DESCRIPTORS > 0
   xd         ---
@@ -880,20 +918,22 @@ In addition, each NSH command can be individually disabled via one of the follow
 settings.  All of these settings make the configuration of NSH potentially complex but
 also allow it to squeeze into very small memory footprints.
 
-  CONFIG_NSH_DISABLE_CAT,      CONFIG_NSH_DISABLE_CD,       CONFIG_NSH_DISABLE_CP,
-  CONFIG_NSH_DISABLE_DD,       CONFIG_NSH_DISABLE_DF,       CONFIG_NSH_DISABLE_ECHO,
-  CONFIG_NSH_DISABLE_EXEC,     CONFIG_NSH_DISABLE_EXIT,     CONFIG_NSH_DISABLE_FREE,
-  CONFIG_NSH_DISABLE_GET,      CONFIG_NSH_DISABLE_HELP,     CONFIG_NSH_DISABLE_IFCONFIG,
-  CONFIG_NSH_DISABLE_KILL,     CONFIG_NSH_DISABLE_LOSETUP,  CONFIG_NSH_DISABLE_LS,
-  CONFIG_NSH_DISABLE_MB,       CONFIG_NSH_DISABLE_MKDIR,    CONFIG_NSH_DISABLE_MKFATFS,
-  CONFIG_NSH_DISABLE_MKFIFO,   CONFIG_NSH_DISABLE_MKRD,     CONFIG_NSH_DISABLE_MH,
-  CONFIG_NSH_DISABLE_MOUNT,    CONFIG_NSH_DISABLE_MW,       CONFIG_NSH_DISABLE_MV,
-  CONFIG_NSH_DISABLE_NFSMOUNT, CONFIG_NSH_DISABLE_PS,       CONFIG_NSH_DISABLE_PING,
-  CONFIG_NSH_DISABLE_PUT,      CONFIG_NSH_DISABLE_PWD,      CONFIG_NSH_DISABLE_RM,
-  CONFIG_NSH_DISABLE_RMDIR,    CONFIG_NSH_DISABLE_SET,      CONFIG_NSH_DISABLE_SH,
-  CONFIG_NSH_DISABLE_SLEEP,    CONFIG_NSH_DISABLE_TEST,     CONFIG_NSH_DISABLE_UMOUNT,
-  CONFIG_NSH_DISABLE_UNSET,    CONFIG_NSH_DISABLE_USLEEP,   CONFIG_NSH_DISABLE_WGET,
-  CONFIG_NSH_DISABLE_XD
+  CONFIG_NSH_DISABLE_BASE64DEC, CONFIG_NSH_DISABLE_BASE64ENC, CONFIG_NSH_DISABLE_CAT,
+  CONFIG_NSH_DISABLE_CD,        CONFIG_NSH_DISABLE_CP,        CONFIG_NSH_DISABLE_DD,
+  CONFIG_NSH_DISABLE_DF,        CONFIG_NSH_DISABLE_ECHO,      CONFIG_NSH_DISABLE_EXEC,
+  CONFIG_NSH_DISABLE_EXIT,      CONFIG_NSH_DISABLE_FREE,      CONFIG_NSH_DISABLE_GET,
+  CONFIG_NSH_DISABLE_HELP,      CONFIG_NSH_DISABLE_HEXDUMP,   CONFIG_NSH_DISABLE_IFCONFIG,
+  CONFIG_NSH_DISABLE_IFUPDOWN,  CONFIG_NSH_DISABLE_KILL,      CONFIG_NSH_DISABLE_LOSETUP,
+  CONFIG_NSH_DISABLE_LS,        CONFIG_NSH_DISABLE_MD5        CONFIG_NSH_DISABLE_MB,
+  CONFIG_NSH_DISABLE_MKDIR,     CONFIG_NSH_DISABLE_MKFATFS,   CONFIG_NSH_DISABLE_MKFIFO,
+  CONFIG_NSH_DISABLE_MKRD,      CONFIG_NSH_DISABLE_MH,        CONFIG_NSH_DISABLE_MOUNT,
+  CONFIG_NSH_DISABLE_MW,        CONFIG_NSH_DISABLE_MV,        CONFIG_NSH_DISABLE_NFSMOUNT,
+  CONFIG_NSH_DISABLE_PS,        CONFIG_NSH_DISABLE_PING,      CONFIG_NSH_DISABLE_PUT,
+  CONFIG_NSH_DISABLE_PWD,       CONFIG_NSH_DISABLE_RM,        CONFIG_NSH_DISABLE_RMDIR,
+  CONFIG_NSH_DISABLE_SET,       CONFIG_NSH_DISABLE_SH,        CONFIG_NSH_DISABLE_SLEEP,
+  CONFIG_NSH_DISABLE_TEST,      CONFIG_NSH_DISABLE_UMOUNT,    CONFIG_NSH_DISABLE_UNSET,
+  CONFIG_NSH_DISABLE_URLDECODE, CONFIG_NSH_DISABLE_URLENCODE, CONFIG_NSH_DISABLE_USLEEP,
+  CONFIG_NSH_DISABLE_WGET,      CONFIG_NSH_DISABLE_XD
 
 Verbose help output can be suppressed by defining CONFIG_NSH_HELP_TERSE.  In that
 case, the help command is still available but will be slightly smaller.
@@ -1084,6 +1124,10 @@ NSH-Specific Configuration Settings
       Set if your ethernet hardware has no built-in MAC address.
       If set, a bogus MAC will be assigned.
 
+  * CONFIG_NSH_MAX_ROUNDTRIP
+     This is the maximum round trip for a response to a ICMP ECHO request.
+    It is in units of deciseconds.  The default is 20 (2 seconds).
+
   If you use DHCPC, then some special configuration network options are
   required.  These include:
 
diff --git a/apps/nshlib/nsh_apps.c b/apps/nshlib/nsh_apps.c
index e335c2e2c..7dbaf9ba8 100644
--- a/apps/nshlib/nsh_apps.c
+++ b/apps/nshlib/nsh_apps.c
@@ -122,13 +122,28 @@ int nsh_execapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
   ret = exec_namedapp(cmd, (FAR const char **)argv);
   if (ret >= 0)
     {
-      /* The application was successfully started (but still blocked because the
-       * scheduler is locked).  If the application was not backgrounded, then we
-       * need to wait here for the application to exit.
+      /* The application was successfully started (but still blocked because
+       * the scheduler is locked).  If the application was not backgrounded,
+       * then we need to wait here for the application to exit.  These really
+       * only works works with the following options:
+       *
+       * - CONFIG_NSH_DISABLEBG - Do not run commands in background
+       * - CONFIG_SCHED_WAITPID - Required to run external commands in
+       *     foreground
+       *
+       * These concepts do not apply cleanly to the external applications.
        */
 
 #ifdef CONFIG_SCHED_WAITPID
+
+      /* CONFIG_SCHED_WAITPID is selected, so we may run the command in
+       * foreground unless we were specifically requested to run the command
+       * in background (and running commands in background is enabled).
+       */
+
+#  ifndef CONFIG_NSH_DISABLEBG
       if (vtbl->np.np_bg == false)
+#  endif /* CONFIG_NSH_DISABLEBG */
         {
           int rc = 0;
 
@@ -155,8 +170,25 @@ int nsh_execapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
               */
             }
         }
+#  ifndef CONFIG_NSH_DISABLEBG
       else
-#endif
+#  endif /* CONFIG_NSH_DISABLEBG */
+#endif /* CONFIG_SCHED_WAITPID */
+
+      /* We get here if either:
+       *
+       * - CONFIG_SCHED_WAITPID is not selected meaning that all commands
+       *   have to be run in background, or
+       * - CONFIG_SCHED_WAITPID and CONFIG_NSH_DISABLEBG are both selected, but the
+       *   user requested to run the command in background.
+       *
+       * NOTE that the case of a) CONFIG_SCHED_WAITPID is not selected and
+       * b) CONFIG_NSH_DISABLEBG selected cannot be supported.  In that event, all
+       * commands will have to run in background.  The waitpid() API must be
+       * available to support running the command in foreground.
+       */
+
+#if !defined(CONFIG_SCHED_WAITPID) || !defined(CONFIG_NSH_DISABLEBG)
         {
           struct sched_param param;
           sched_getparam(0, &param);
@@ -168,6 +200,7 @@ int nsh_execapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
 
           ret = OK;
         }
+#endif /* !CONFIG_SCHED_WAITPID || !CONFIG_NSH_DISABLEBG */
     }
 
   sched_unlock();
diff --git a/apps/nshlib/nsh_consolemain.c b/apps/nshlib/nsh_consolemain.c
index 6b51be470..f05447a64 100644
--- a/apps/nshlib/nsh_consolemain.c
+++ b/apps/nshlib/nsh_consolemain.c
@@ -160,11 +160,11 @@ int nsh_consolemain(int argc, char *argv[])
         }
     }
 
-  /* Clean up */
+  /* Clean up.  We do not get here, but this is necessary to keep some
+   * compilers happy.  But others will complain that this code is not
+   * reachable.
+   */
 
   nsh_exit(&pstate->cn_vtbl, 0);
-
-  /* We do not get here, but this is necessary to keep some compilers happy */
-
   return OK;
 }
diff --git a/apps/nshlib/nsh_dbgcmds.c b/apps/nshlib/nsh_dbgcmds.c
index 384b377f3..eb081fe9f 100644
--- a/apps/nshlib/nsh_dbgcmds.c
+++ b/apps/nshlib/nsh_dbgcmds.c
@@ -99,7 +99,7 @@ int mem_parse(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv,
       pcvalue++;
 
       lvalue = (unsigned long)strtol(pcvalue, NULL, 16);
-      if (lvalue > 0xffffffff)
+      if (lvalue > 0xffffffffL)
         {
           return -EINVAL;
         }
@@ -127,6 +127,7 @@ int mem_parse(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv,
     {
       mem->dm_count = 1;
     }
+
   return OK;
 }
 
diff --git a/apps/nshlib/nsh_netcmds.c b/apps/nshlib/nsh_netcmds.c
index cfea5a08a..371d30460 100644
--- a/apps/nshlib/nsh_netcmds.c
+++ b/apps/nshlib/nsh_netcmds.c
@@ -51,6 +51,7 @@
 #include <fcntl.h>       /* Needed for open */
 #include <libgen.h>      /* Needed for basename */
 #include <errno.h>
+#include <debug.h>
 
 #include <nuttx/net/net.h>
 #include <nuttx/clock.h>
@@ -80,6 +81,15 @@
 #  endif
 #endif
 
+#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
+#  ifdef CONFIG_HAVE_GETHOSTBYNAME
+#    include <netdb.h>
+#  else
+#    include <apps/netutils/resolv.h>
+#  endif
+#  include <apps/netutils/dhcpc.h>
+#endif
+
 #include "nsh.h"
 #include "nsh_console.h"
 
@@ -87,8 +97,16 @@
  * Definitions
  ****************************************************************************/
 
+/* Size of the ECHO data */
+
 #define DEFAULT_PING_DATALEN 56
 
+/* Get the larger value */
+
+#ifndef MAX
+#  define MAX(a,b) (a > b ? a : b)
+#endif
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -262,14 +280,34 @@ int ifconfig_callback(FAR struct uip_driver_s *dev, void *arg)
 {
   struct nsh_vtbl_s *vtbl = (struct nsh_vtbl_s*)arg;
   struct in_addr addr;
+  bool is_running = false;
+  int ret;
+
+  ret = uip_getifstatus(dev->d_ifname,&is_running);
+  if (ret != OK)
+    {
+      nsh_output(vtbl, "\tGet %s interface flags error: %d\n",
+                 dev->d_ifname, ret);
+    }
+
+  nsh_output(vtbl, "%s\tHWaddr %s at %s\n",
+             dev->d_ifname, ether_ntoa(&dev->d_mac), (is_running)?"UP":"DOWN");
 
-  nsh_output(vtbl, "%s\tHWaddr %s\n", dev->d_ifname, ether_ntoa(&dev->d_mac));
   addr.s_addr = dev->d_ipaddr;
   nsh_output(vtbl, "\tIPaddr:%s ", inet_ntoa(addr));
+
   addr.s_addr = dev->d_draddr;
   nsh_output(vtbl, "DRaddr:%s ", inet_ntoa(addr));
+
   addr.s_addr = dev->d_netmask;
-  nsh_output(vtbl, "Mask:%s\n\n", inet_ntoa(addr));
+  nsh_output(vtbl, "Mask:%s\n", inet_ntoa(addr));
+
+#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
+  resolv_getserver(&addr);
+  nsh_output(vtbl, "\tDNSaddr:%s\n", inet_ntoa(addr));
+#endif
+
+  nsh_output(vtbl, "\n");
   return OK;
 }
 
@@ -469,6 +507,54 @@ int cmd_get(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 #endif
 
 /****************************************************************************
+ * Name: cmd_ifup
+ ****************************************************************************/
+
+#ifndef CONFIG_NSH_DISABLE_IFUPDOWN
+int cmd_ifup(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
+{
+  FAR char *intf = NULL;
+  int ret;
+
+  if (argc != 2)
+    {
+      nsh_output(vtbl, "Please select nic_name:\n");
+      netdev_foreach(ifconfig_callback, vtbl);
+      return OK;
+    }
+
+  intf = argv[1];
+  ret  = uip_ifup(intf);
+  nsh_output(vtbl, "ifup %s...%s\n", intf, (ret == OK) ? "OK" : "Failed");
+  return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: cmd_ifdown
+ ****************************************************************************/
+
+#ifndef CONFIG_NSH_DISABLE_IFUPDOWN
+int cmd_ifdown(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
+{
+  FAR char *intf = NULL;
+  int ret;
+
+  if (argc != 2)
+    {
+      nsh_output(vtbl, "Please select nic_name:\n");
+      netdev_foreach(ifconfig_callback, vtbl);
+      return OK;
+    }
+
+  intf = argv[1];
+  ret = uip_ifdown(intf);
+  nsh_output(vtbl, "ifdown %s...%s\n", intf, (ret == OK) ? "OK" : "Failed");
+  return ret;
+}
+#endif
+
+/****************************************************************************
  * Name: cmd_ifconfig
  ****************************************************************************/
 
@@ -476,7 +562,20 @@ int cmd_get(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 int cmd_ifconfig(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 {
   struct in_addr addr;
-  in_addr_t ip;
+  in_addr_t gip;
+  int i;
+  FAR char *intf = NULL;
+  FAR char *hostip = NULL;
+  FAR char *gwip = NULL;
+  FAR char *mask = NULL;
+  FAR char *tmp = NULL;
+  FAR char *hw = NULL;
+  FAR char *dns = NULL;
+  bool badarg = false;
+  uint8_t mac[IFHWADDRLEN];
+#if defined(CONFIG_NSH_DHCPC)
+  FAR void *handle;
+#endif
 
   /* With one or no arguments, ifconfig simply shows the status of ethernet
    * device:
@@ -498,24 +597,201 @@ int cmd_ifconfig(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
    *    ifconfig nic_name ip_address
    */
 
-  /* Set host ip address */
+  if (argc > 2)
+    {
+      for(i = 0; i < argc; i++)
+        {
+          if (i == 1)
+            {
+              intf = argv[i];
+            }
+          else if (i == 2)
+            {
+              hostip = argv[i];
+            }
+          else
+            {
+              tmp = argv[i];
+              if (!strcmp(tmp, "dr") || !strcmp(tmp, "gw") || !strcmp(tmp, "gateway"))
+                {
+                  if (argc-1 >= i+1)
+                    {
+                      gwip = argv[i+1];
+                      i++;
+                    }
+                  else
+                    {
+                      badarg = true;
+                    }
+                }
+              else if(!strcmp(tmp, "netmask"))
+                {
+                  if (argc-1 >= i+1)
+                    {
+                      mask = argv[i+1];
+                      i++;
+                    }
+                  else
+                    {
+                      badarg = true;
+                    }
+                }
+              else if(!strcmp(tmp, "hw"))
+                {
+                  if (argc-1>=i+1)
+                    {
+                      hw = argv[i+1];
+                      i++;
+                      badarg = !uiplib_hwmacconv(hw, mac);
+                    }
+                  else
+                    {
+                      badarg = true;
+                    }
+                }
+              else if(!strcmp(tmp, "dns"))
+                {
+                  if (argc-1 >= i+1)
+                    {
+                      dns = argv[i+1];
+                      i++;
+                    }
+                  else
+                    {
+                      badarg = true;
+                    }
+                }
+            }
+        }
+    }
+
+  if (badarg)
+    {
+      nsh_output(vtbl, g_fmtargrequired, argv[0]);
+      return ERROR;
+    }
+
+  /* Set Hardware ethernet MAC addr */
+
+  if (hw)
+    {
+      ndbg("HW MAC: %s\n", hw);
+      uip_setmacaddr(intf, mac);
+    }
+
+#if defined(CONFIG_NSH_DHCPC)
+  if (!strcmp(hostip, "dhcp"))
+    {
+      /* Set DHCP addr */
+
+      ndbg("DHCPC Mode\n");
+      gip = addr.s_addr = 0;
+    }
+  else
+#endif
+    {
+      /* Set host IP address */
+
+      ndbg("Host IP: %s\n", hostip);
+      gip = addr.s_addr = inet_addr(hostip);
+    }
 
-  ip = addr.s_addr = inet_addr(argv[2]);
-  uip_sethostaddr(argv[1], &addr);
+  uip_sethostaddr(intf, &addr);
 
   /* Set gateway */
 
-  ip = NTOHL(ip);
-  ip &= ~0x000000ff;
-  ip |= 0x00000001;
+  if (gwip)
+    {
+      ndbg("Gateway: %s\n", gwip);
+      gip = addr.s_addr = inet_addr(gwip);
+    }
+  else
+    {
+      if (gip)
+        {
+          ndbg("Gateway: default\n");
+          gip  = NTOHL(gip);
+          gip &= ~0x000000ff;
+          gip |= 0x00000001;
+          gip  = HTONL(gip);
+        }
+
+      addr.s_addr = gip;
+    }
+
+  uip_setdraddr(intf, &addr);
+
+  /* Set network mask */
+
+  if (mask)
+    {
+      ndbg("Netmask: %s\n",mask);
+      addr.s_addr = inet_addr(mask);
+    }
+  else
+    {
+      ndbg("Netmask: Default\n");
+      addr.s_addr = inet_addr("255.255.255.0");
+    }
+
+  uip_setnetmask(intf, &addr);
 
-  addr.s_addr = HTONL(ip);
-  uip_setdraddr(argv[1], &addr);
+#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
+  if (dns)
+    {
+      ndbg("DNS: %s\n", dns);
+      addr.s_addr = inet_addr(dns);
+    }
+  else
+    {
+      ndbg("DNS: Default\n");
+      addr.s_addr = gip;
+    }
+
+  resolv_conf(&addr);
+#endif
+
+#if defined(CONFIG_NSH_DHCPC)
+  /* Get the MAC address of the NIC */
+
+  if (!gip)
+    {
+      uip_getmacaddr("eth0", mac);
+
+      /* Set up the DHCPC modules */
+
+      handle = dhcpc_open(&mac, IFHWADDRLEN);
+
+      /* Get an IP address.  Note that there is no logic for renewing the IP address in this
+       * example.  The address should be renewed in ds.lease_time/2 seconds.
+       */
+
+      if (handle)
+        {
+          struct dhcpc_state ds;
 
-  /* Set netmask */
+          (void)dhcpc_request(handle, &ds);
+          uip_sethostaddr("eth0", &ds.ipaddr);
 
-  addr.s_addr = inet_addr("255.255.255.0");
-  uip_setnetmask(argv[1], &addr);
+          if (ds.netmask.s_addr != 0)
+            {
+              uip_setnetmask("eth0", &ds.netmask);
+            }
+
+          if (ds.default_router.s_addr != 0)
+            {
+              uip_setdraddr("eth0", &ds.default_router);
+            }
+
+          if (ds.dnsaddr.s_addr != 0)
+            {
+              resolv_conf(&ds.dnsaddr);
+            }
+
+          dhcpc_close(handle);
+        }
+    }
+#endif
 
   return OK;
 }
@@ -536,6 +812,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
   uint32_t start;
   uint32_t next;
   uint32_t dsec = 10;
+  uint32_t maxwait;
   uint16_t id;
   bool badarg = false;
   int count = 10;
@@ -599,7 +876,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
   if (optind == argc-1)
     {
       staddr = argv[optind];
-      if (!uiplib_ipaddrconv(staddr, (FAR unsigned char*)&ipaddr))
+      if (dns_gethostip(staddr, &ipaddr) < 0)
         {
           goto errout;
         }
@@ -619,16 +896,26 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 
   id = ping_newid();
 
+  /* The maximum wait for a response will be the larger of the inter-ping time and
+   * the configured maximum round-trip time.
+   */
+
+  maxwait = MAX(dsec, CONFIG_NSH_MAX_ROUNDTRIP);
+
   /* Loop for the specified count */
 
-  nsh_output(vtbl, "PING %s %d bytes of data\n", staddr, DEFAULT_PING_DATALEN);
+  nsh_output(vtbl, "PING %d.%d.%d.%d %d bytes of data\n",
+            (ipaddr       ) & 0xff, (ipaddr >> 8  ) & 0xff,
+            (ipaddr >> 16 ) & 0xff, (ipaddr >> 24 ) & 0xff,
+            DEFAULT_PING_DATALEN);
+
   start = g_system_timer;
   for (i = 1; i <= count; i++)
     {
       /* Send the ECHO request and wait for the response */
 
       next  = g_system_timer;
-      seqno = uip_ping(ipaddr, id, i, DEFAULT_PING_DATALEN, dsec);
+      seqno = uip_ping(ipaddr, id, i, DEFAULT_PING_DATALEN, maxwait);
 
       /* Was any response returned? We can tell if a non-negative sequence
        * number was returned.
@@ -636,7 +923,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 
       if (seqno >= 0 && seqno <= i)
         {
-          /* Get the elpased time from the time that the request was
+          /* Get the elapsed time from the time that the request was
            * sent until the response was received.  If we got a response
            * to an earlier request, then fudge the elpased time.
            */
@@ -644,7 +931,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
           elapsed = TICK2MSEC(g_system_timer - next);
           if (seqno < i)
             {
-              elapsed += 100*dsec*(i - seqno);
+              elapsed += 100 * dsec * (i - seqno);
             }
 
           /* Report the receipt of the reply */
@@ -662,7 +949,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
       elapsed = TICK2DSEC(g_system_timer - next);
       if (elapsed < dsec)
         {
-          usleep(100000*dsec);
+          usleep(100000 * (dsec - elapsed));
         }
     }
 
diff --git a/apps/nshlib/nsh_netinit.c b/apps/nshlib/nsh_netinit.c
index bc845c4ed..c95bf4c40 100644
--- a/apps/nshlib/nsh_netinit.c
+++ b/apps/nshlib/nsh_netinit.c
@@ -148,7 +148,7 @@ int nsh_netinit(void)
     {
         struct dhcpc_state ds;
         (void)dhcpc_request(handle, &ds);
-        uip_sethostaddr("eth1", &ds.ipaddr);
+        uip_sethostaddr("eth0", &ds.ipaddr);
         if (ds.netmask.s_addr != 0)
           {
             uip_setnetmask("eth0", &ds.netmask);
diff --git a/apps/nshlib/nsh_parse.c b/apps/nshlib/nsh_parse.c
index df2f7c3e3..27068acff 100644
--- a/apps/nshlib/nsh_parse.c
+++ b/apps/nshlib/nsh_parse.c
@@ -73,19 +73,19 @@
 /* Argument list size
  *
  *   argv[0]:      The command name. 
- *   argv[1]:      The beginning of argument (up to NSH_MAX_ARGUMENTS)
+ *   argv[1]:      The beginning of argument (up to CONFIG_NSH_MAXARGUMENTS)
  *   argv[argc-3]: Possibly '>' or '>>'
  *   argv[argc-2]: Possibly <file>
  *   argv[argc-1]: Possibly '&' (if pthreads are enabled)
  *   argv[argc]:   NULL terminating pointer
  *
- * Maximum size is NSH_MAX_ARGUMENTS+5
+ * Maximum size is CONFIG_NSH_MAXARGUMENTS+5
  */
 
 #ifndef CONFIG_NSH_DISABLEBG
-#  define MAX_ARGV_ENTRIES (NSH_MAX_ARGUMENTS+5)
+#  define MAX_ARGV_ENTRIES (CONFIG_NSH_MAXARGUMENTS+5)
 #else
-#  define MAX_ARGV_ENTRIES (NSH_MAX_ARGUMENTS+4)
+#  define MAX_ARGV_ENTRIES (CONFIG_NSH_MAXARGUMENTS+4)
 #endif
 
 /* Help command summary layout */
@@ -146,16 +146,25 @@ static const char g_failure[]    = "1";
 static const struct cmdmap_s g_cmdmap[] =
 {
 #if !defined(CONFIG_NSH_DISABLESCRIPT) && !defined(CONFIG_NSH_DISABLE_TEST)
-  { "[",        cmd_lbracket, 4, NSH_MAX_ARGUMENTS, "<expression> ]" },
+  { "[",        cmd_lbracket, 4, CONFIG_NSH_MAXARGUMENTS, "<expression> ]" },
 #endif
 
 #ifndef CONFIG_NSH_DISABLE_HELP
   { "?",        cmd_help,     1, 1, NULL },
 #endif
 
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_BASE64)
+#  ifndef CONFIG_NSH_DISABLE_BASE64DEC
+  { "base64dec", cmd_base64decode, 2, 4, "[-w] [-f] <string or filepath>" },
+#  endif
+#  ifndef CONFIG_NSH_DISABLE_BASE64ENC
+  { "base64enc", cmd_base64encode, 2, 4, "[-w] [-f] <string or filepath>" },
+#  endif
+#endif
+
 #if CONFIG_NFILE_DESCRIPTORS > 0
 # ifndef CONFIG_NSH_DISABLE_CAT
-  { "cat",      cmd_cat,      2, NSH_MAX_ARGUMENTS, "<path> [<path> [<path> ...]]" },
+  { "cat",      cmd_cat,      2, CONFIG_NSH_MAXARGUMENTS, "<path> [<path> [<path> ...]]" },
 # endif
 #ifndef CONFIG_DISABLE_ENVIRON
 # ifndef CONFIG_NSH_DISABLE_CD
@@ -187,9 +196,9 @@ static const struct cmdmap_s g_cmdmap[] =
 
 #ifndef CONFIG_NSH_DISABLE_ECHO
 # ifndef CONFIG_DISABLE_ENVIRON
-  { "echo",     cmd_echo,     0, NSH_MAX_ARGUMENTS, "[<string|$name> [<string|$name>...]]" },
+  { "echo",     cmd_echo,     0, CONFIG_NSH_MAXARGUMENTS, "[<string|$name> [<string|$name>...]]" },
 # else
-  { "echo",     cmd_echo,     0, NSH_MAX_ARGUMENTS, "[<string> [<string>...]]" },
+  { "echo",     cmd_echo,     0, CONFIG_NSH_MAXARGUMENTS, "[<string> [<string>...]]" },
 # endif
 #endif
 
@@ -217,10 +226,20 @@ static const struct cmdmap_s g_cmdmap[] =
   { "help",     cmd_help,     1, 3, "[-v] [<cmd>]" },
 # endif
 #endif
+  
+#if CONFIG_NFILE_DESCRIPTORS > 0
+#ifndef CONFIG_NSH_DISABLE_HEXDUMP
+  { "hexdump",  cmd_hexdump,  2, 2, "<file or device>" },
+#endif
+#endif
 
 #ifdef CONFIG_NET
 # ifndef CONFIG_NSH_DISABLE_IFCONFIG
-  { "ifconfig", cmd_ifconfig, 1, 3, "[nic_name [ip]]" },
+  { "ifconfig", cmd_ifconfig, 1, 11, "[nic_name [<ip-address>|dhcp]] [dr|gw|gateway <dr-address>] [netmask <net-mask>] [dns <dns-address>] [hw <hw-mac>]" },
+# endif
+# ifndef CONFIG_NSH_DISABLE_IFUPDOWN
+  { "ifdown",   cmd_ifdown,   2, 2,  "<nic_name>" },
+  { "ifup",     cmd_ifup,     2, 2,  "<nic_name>" },
 # endif
 #endif
 
@@ -246,6 +265,12 @@ static const struct cmdmap_s g_cmdmap[] =
   { "mb",       cmd_mb,       2, 3, "<hex-address>[=<hex-value>][ <hex-byte-count>]" },
 #endif
 
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_HASH_MD5)
+#  ifndef CONFIG_NSH_DISABLE_MD5
+  { "md5",      cmd_md5,      2, 3, "[-f] <string or filepath>" },
+#  endif
+#endif
+
 #if !defined(CONFIG_DISABLE_MOUNTPOINT) && CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_FS_WRITABLE)
 # ifndef CONFIG_NSH_DISABLE_MKDIR
   { "mkdir",    cmd_mkdir,    2, 2, "<path>" },
@@ -348,7 +373,7 @@ static const struct cmdmap_s g_cmdmap[] =
 #endif
 
 #if !defined(CONFIG_NSH_DISABLESCRIPT) && !defined(CONFIG_NSH_DISABLE_TEST)
-  { "test",     cmd_test,     3, NSH_MAX_ARGUMENTS, "<expression>" },
+  { "test",     cmd_test,     3, CONFIG_NSH_MAXARGUMENTS, "<expression>" },
 #endif
 
 #if !defined(CONFIG_DISABLE_MOUNTPOINT) && CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_FS_READABLE)
@@ -363,6 +388,15 @@ static const struct cmdmap_s g_cmdmap[] =
 # endif
 #endif
 
+#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_URLCODE)
+#  ifndef CONFIG_NSH_DISABLE_URLDECODE
+  { "urldecode", cmd_urldecode, 2, 3, "[-f] <string or filepath>" },
+#  endif
+#  ifndef CONFIG_NSH_DISABLE_URLENCODE
+  { "urlencode", cmd_urlencode, 2, 3, "[-f] <string or filepath>" },
+#  endif
+#endif
+
 #ifndef CONFIG_DISABLE_SIGNALS
 # ifndef CONFIG_NSH_DISABLE_USLEEP
   { "usleep",   cmd_usleep,   2, 2, "<usec>" },
@@ -378,6 +412,7 @@ static const struct cmdmap_s g_cmdmap[] =
 #ifndef CONFIG_NSH_DISABLE_XD
   { "xd",       cmd_xd,       3, 3, "<hex-address> <byte-count>" },
 #endif
+
   { NULL,       NULL,         1, 1, NULL }
 };
 
@@ -711,7 +746,7 @@ static int nsh_execute(FAR struct nsh_vtbl_s *vtbl, int argc, char *argv[])
    *
    * argv[0]:      The command name.  This is argv[0] when the arguments
    *               are, finally, received by the command vtblr
-   * argv[1]:      The beginning of argument (up to NSH_MAX_ARGUMENTS)
+   * argv[1]:      The beginning of argument (up to CONFIG_NSH_MAXARGUMENTS)
    * argv[argc]:   NULL terminating pointer
    */
 
@@ -1318,13 +1353,13 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
    * of argv is:
    *
    *   argv[0]:      The command name. 
-   *   argv[1]:      The beginning of argument (up to NSH_MAX_ARGUMENTS)
+   *   argv[1]:      The beginning of argument (up to CONFIG_NSH_MAXARGUMENTS)
    *   argv[argc-3]: Possibly '>' or '>>'
    *   argv[argc-2]: Possibly <file>
    *   argv[argc-1]: Possibly '&'
    *   argv[argc]:   NULL terminating pointer
    *
-   * Maximum size is NSH_MAX_ARGUMENTS+5
+   * Maximum size is CONFIG_NSH_MAXARGUMENTS+5
    */
 
   argv[0] = cmd;
@@ -1398,7 +1433,7 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
 
   /* Check if the maximum number of arguments was exceeded */
 
-  if (argc > NSH_MAX_ARGUMENTS)
+  if (argc > CONFIG_NSH_MAXARGUMENTS)
     {
       nsh_output(vtbl, g_fmttoomanyargs, cmd);
     }
diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog
index a8e045616..ed1cf39dc 100644
--- a/nuttx/ChangeLog
+++ b/nuttx/ChangeLog
@@ -3453,7 +3453,7 @@
 	* net/uip/uip_icmpping.c:  Fix problem that prevented ping from
 	  going outside of local network.  Submitted by Darcy Gong
 
-6.23 2012-09-29 Gregory Nutt <gnutt@nuttx.org>
+6.23 2012-11-05 Gregory Nutt <gnutt@nuttx.org>
 
 	* arch/arm/src/stm32/stm32_rng.c, chip/stm32_rng.h, and other files:
 	  Implementation of /dev/random using the STM32 Random Number
@@ -3470,4 +3470,334 @@
 	* configs/shenzhou/*/Make.defs:  Now uses the new buildroot 4.6.3
 	  EABI toolchain.
 	* lib/stdio/lib_libdtoa.c:  Another dtoa() fix from Mike Smith.
-
+	* configs/shenzhou/src/up_adc.c:  Add ADC support for the Shenzhou
+	  board (Darcy Gong).
+	* configs/shenzhou/thttpd:  Add a THTTPD configuration for the
+	  Shenzhou board (Darcy Gong).
+	* include/termios.h and lib/termios/libcf*speed.c: The non-standard,
+	  "hidden" c_speed cannot be type const or else static instantiations
+	  of termios will be required to initialize it (Mike Smith).
+	* drivers/input/max11802.c/h, and include/nuttx/input max11802.h:  Adds
+	  support for the Maxim MAX11802 touchscreen controller (contributed by
+	  Petteri Aimonen).
+	* graphics/nxtk/nxtk_events.c:  Missing implementation of the blocked
+	  method.  This is a critical bugfix for graphics support (contributed
+	  by Petteri Aimonen).
+	* drivers/usbdev/pl2303.c, drivers/usbdev/usbmsc.h, and
+	  include/nuttx/usb/cdcacm.h: USB_CONFIG_ATTR_SELFPOWER vs.
+	  USB_CONFIG_ATT_SELFPOWER (contributed by Petteri Aimonen).
+	* arch/arm/src/armv7-m/up_memcpy.S:  An optimized memcpy() function for
+	  the ARMv7-M family contributed by Mike Smith.
+	* lib/strings/lib_vikmemcpy.c:  As an option, the larger but faster
+	  implemementation of memcpy from Daniel Vik is now available (this is
+	  from http://www.danielvik.com/2010/02/fast-memcpy-in-c.html).
+	* lib/strings/lib_memset.c: CONFIG_MEMSET_OPTSPEED will select a
+	  version of memset() optimized for speed.  By default, memset() is
+	  optimized for size.
+	* lib/strings/lib_memset.c: CONFIG_MEMSET_64BIT will perform 64-bit
+	  aligned memset() operations.
+	* arch/arm/src/stm32/stm32_adc.c:  Need to put the ADC back into the
+	  initial reset in the open/setup logic.  Opening the ADC driver works
+	  the first time, but not the second because the device is left in a
+	  powered down state on the last close.
+	* configs/olimex-lpc1766stck/scripts:  Replace all of the identical
+	  ld.script files with the common one in this directory.
+	* configs/stm3220g-eval/scripts:  Replace all of the identical
+	  ld.script files with the common one in this directory.
+	* configs/hymini-stm32v/scripts:  Replace all of the identical
+	  ld.script files with the common one in this directory.
+	* configs/lpcxpresso-lpc1768/scripts:  Replace all of the identical
+	  ld.script files with the common one in this directory.
+	* binfmt/elf.c, binfmt/libelf, include/elf.h, include/nuttx/elf.h: Add
+	  basic framework for loadable ELF module support.  The initial check-
+	  in is non-functional and is simply the framework for ELF support.
+	* include/nuttx/binfmt.h, nxflat.h, elf.h, and symtab.h:  Moved to
+	  include/nuttx/binfmt/.
+	* arch/sim/src/up_elf.c and arch/x86/src/common/up_elf.c:  Add
+	  for ELF modules.
+	* arch/arm/include/elf.h:  Added ARM ELF header file.
+	* include/elf32.h:  Renamed elf.h to elf32.h.
+	* configs/stm32f4discovery/ostest:  Converted to use the new
+	  Kconfig-based configuration system.
+	* configs/stm32f4discovery/elf and configs/stm32f4discovery/scripts/gnu-elf.ld
+	  Add a configuration for testing the ARM ELF loader.
+	* binfmt/libelf:  Can't use fstat(). NuttX does not yet support it.  Damn!
+	* binfmt/libelf:  The basic ELF module execution appears fully functional.
+	* configs/shenzhou/src/up_relays.c:  Add support for relays from the
+	  Shenzhou board.  Contributed by Darcy Gong.
+	* lib/fixedmath: Moved the old lib/math to lib/fixedmath to make room for
+	  the math library from the Rhombus OS
+	* lib/math: Now contains the math library from the Rhombus OS by Nick Johnson
+	  (submitted by Darcy Gong).
+	* include/float.h:  Add a first cut at the float.h header file.  This
+	  really should be an architecture/toolchain-specific header file.  It
+	  is only used if CONFIG_ARCH_FLOAT_H is defined.
+	* lib/math: Files now conform to coding standards.  Separated float,
+	  double, and long double versions of code into separate files so that
+	  they don't draw in so much un-necessary code when doing a dumb link.
+	* binfmt/libelf:  The ELF loader is working correctly with C++ static
+	  constructors and destructors and all.
+	* Documentation/NuttXBinfmt.html:  Add documentation of the binary loader.
+	* configs/sim/ostest:  Converted to use the mconf configuration tool.
+	* configs/sim/cxxtest:  New test that will be used to verify the uClibc++
+	  port (eventually).
+	* include/nuttx/fs/fs.h, lib/stdio/lib_libfread.c, lib_ferror.c,
+	  lib_feof.c, and lib_clearerr.c:  Add support for ferror(), feof(),
+	  and clearerror().  ferror() support is bogus at the moment (it
+	  is equivalent to !feof()); the others should be good.
+	* configs/stm32f4discovery/include/board.h:  Correct timer 2-7
+	  base frequency (provided by Freddie Chopin).
+	* include/nuttx/sched.h, sched/atexit.c, and sched/task_deletehook.c:
+	  If both atexit() and on_exit() are enabled, then implement atexit()
+	  as just a special caseof on_exit().  This assumes that the ABI can
+	  handle receipt of more call parameters than the receiving function
+	  expects.  That is usually the case if parameters are passed in
+	  registers.
+	* libxx/libxx_cxa_atexit():  Implements __cxa_atexit()
+	* configs/stm32f4discovery/cxxtest:  New test that will be used to
+	  verify the uClibc++ port (eventually).  The sim platform turned not
+	  to be a good platform for testing uClibc++.  The sim example will not
+	  run because the simulator will attempt to execute the static
+	  constructors before main() starts. BUT... NuttX is not initialized
+	  and this results in a crash.  On the STM324Discovery, I will have
+	  better control over when the static constructors run.
+	* RGMP 4.0 updated from Qiany Yu.
+	* configs/*/Make.defs and configs/*/ld.script:  Massive clean-up
+	  and standardization of linker scripts from Freddie Chopin.
+	* net/netdev_ioctl.c:  Add interface state flags and ioctl calls
+	  to bring network interfaces up and down (from Darcy Gong).
+	* config/stm32f4discovery: Enable C++ exceptions.  Now the entire
+	  apps/examples/cxxtest works -- meaning the the uClibc++ is
+	  complete and verified for the STM32 platform.
+
+6.24 2012-12-20 Gregory Nutt <gnutt@nuttx.org>
+
+	* arch/arm/src/stm32:  Support for STM32F100 high density chips
+	  added by Freddie Chopin.
+	* configs/stm32f100_generic:  Support for generic STM32F100RC board
+	  contributed by Freddie Chopin.
+	* arch/arm/src/stm32_otgfsdev.c:  Partial fix from Petteri Aimonen.
+	* drivers/lcd/ug-2864ambag01.c and include/nuttx/lcd/ug_2864ambag01.h:
+	  LCD driver for the Univision OLED of the same name (untested on
+	  initial check-in).
+	* configs/stm32f4discovery/nxlines:  Configure to use mconf/Kconfig
+	  tool.
+	* configs/stm32f4discovery/src/up_ug2864ambag01.c:  Board-specific
+	  initialization for UG-2864AMBAG01 OLED connecte to STM32F4Disovery.
+	* libxx/libxx_stdthrow.cxx:  Exception stubs from Petteri Aimonen.
+	* configs/stm32f4discovery/src/up_ug2864ambag01.c: Driver has been
+	  verified on the STM32F4Discovery platform.  Some tuning of the
+	  configuration could improve the presentation.  Lower resolution displays
+	  are also more subject to the "fat, flat line bug" that I need to fix
+	  someday.  See http://www.nuttx.org/doku.php?id=wiki:graphics:nxgraphics
+	  for a description of the fat, flat line bug.
+	* libc:  Renamed nuttx/lib to nuttx/libc to make space for a true lib/
+	  directory that will be forthcoming.  Also rename libraries:  liblib.a -> libc.a,
+	  libulib.a -> libuc.a, libklib.a -> libkc.a, liblibxx.a ->libcxx.a.
+	  (I will probably, eventually rename libxx to libcxx for consistency)
+	* Makefile, lib/: A new, empty directory that will hold generated libraries.
+	  This simplifies the library patch calculations and lets me get rid of some
+	  bash logic.  The change is functional, but only partially complete;
+	  additional logic is needed in the arch/*/src/Makefile's as well.  Right
+	  now that logic generate multiple library paths, all pointing to the lib/
+	  directory.
+	* arch/*/src/Makefile:  Now uses only the libraries in lib/
+	  Replace bash fragments that test for board/Makefile.
+	* Makefile.win:  The beginnings of a Windows-native build.  This is just
+	  the beginning and not yet ready for prime time use.
+	* configs/stm32f4discovery/winbuild:  This is a version of the standard
+	  NuttX OS test, but configured to build natively on Windows.  Its only
+	  real purpose is to very the native Windows build logic.
+	* tools/mkdeps.bat and tools/mkdeps.c:  mkdeps.bat is a failed attempt
+	  to leverage mkdeps.sh to CMD.exe.  It fails because the are certain
+	  critical CFLAG values that cannot be passed on the CMD.exe command line
+	  (like '=').  mkdeps.c is a work in progress that will, hopefully,
+	  replace both mkdeps.sh and mkdeps.bat.
+	* tools/Config.mk:  Centralize the definition of the script that will be
+	  used to generated header file include paths for the compiler.  This
+	  needs to be centralized in order to support the Windows native build.
+	* tools/incdir.bat:  A replacement for tools/incdir.sh for use with the
+	  the Windows native build.
+	* Makefile.unix:  The existing top-level Makefile has been renamed
+	  Makefile.unix.
+	* Makefile:  This is a new top-level Makefile that just includes
+	  either Makefile.unix or Makefile.win
+	* configs/stm3240g-eval/src:  Qencoder fixes from Ryan Sundberg.
+	* arch/arm/src/stm32/stm32_qencoder.c: TIM3 bug fix from Ryan Sundberg.
+	* tools/mkromfsimg.sh: Correct typo in an error message (Ryan Sundberg)
+	* arch/*/src/Makefile:  Remove tftboot install and creation of System.map
+	  for Windows native build.  The first is a necessary change, the second
+	  just needs re-implemented.
+	* configs/mirtoo: Update Mirtoo pin definitions for Release 2.  Provided
+	  by Konstantin Dimitrov.
+	* Fixed an uninitialized variable in the file system that can cause 
+	  assertions if DEBUG on (contributed by Lorenz Meier).
+	* Config.mk:  Defined DELIM to be either / or \, depending upon
+	  CONFIG_WINDOWS_NATIVE.  This will allow me to eliminate a lot of
+	  conditional logic elsewhere.
+	* nuttx/graphics: One a mouse button is pressed, continue to report all
+	  mouse button events to the first window that received the the initial
+	  button down event, even if the mouse attempts to drag outside the
+	  window. From Petteri Aimonen.
+	* nuttx/graphics/nxmu/nx_block.c:  One more fix to the NX block message
+	  logic from Petteri Aimonen.
+	* include/nuttx/wqueue.h: Some basic definitions to support a user-
+	  space work queue (someday in the future).
+	* graphics/nxmu:  Add semaphores so buffers messages that send buffers
+	  will block until the buffer data has been acted upon.
+	* graphics/nxmw:  Extended the blocked messages to cover mouse movement
+	  and redraw events.  These will also cause problems if sent to a window
+	  while it is closing.
+	* arch/several:  Change UARTs are enabled for i.MX, LM3S, ez80, and M16C to
+	  match how they are enabled for other architectures.
+	* configs/ez80f910200kitg:  Convert to use mconf configuration.
+	* sched/pause.c:  Implements the POSIX pause() function.
+	* ez80: Lots of changes to ez80 configurations and build logic as I
+	  struggle to get a clean Windows build (still not working).
+	* configs/cloudctrl:   Darcy Gong's CloudController board.  This is a
+	  small network relay development board. Based on the Shenzhou IV development
+	  board design.  It is based on the STM32F107VC MCU.
+	* arch/arm/src/stm32_serial.c and stm32_lowputc.c:  Added optional RS-485
+	  direction bit control. From Freddie Chopin.
+	* Lots of build files:  ARMv7-M and MIPS32 Make.defs now include a common
+	  Toolchain.defs file that can be used to manage toolchains in a more
+	  configurable way.  Contributed by Mike Smith
+	* configs/stm32f4discovery/winbuild and configs/cloudctrl:  Adapted to use
+	  Mike's Toolchain.defs.
+	* tools/configure.sh:  Adapted to handle paths and setenv.bat files correctly
+	  for native Windows builds.
+	* More of build files:  AVR and AVR32 Make.defs now include a common
+	  Toolchain.defs file that can be used to manage toolchains in a more
+	  configurable way.  Contributed by Mike Smith
+	* tools/incdir.sh and incdir.bat: Add -s option to generate system header
+	  file paths.
+	* nuttx/arch/arm/src/arm/Toolchain.defs: Add support for more ARM toolchains
+	  (from Mike Smith).
+	* arch/arm/src/stm32/stm32f40xxx_rcc.c:  Enabled FLASH prefetch (from Petteri
+	  Aimonen).
+	* graphics/nxtk/nxtk_filltrapwindow.c:  Correct an offset problem (from
+	  Peterri Aimonen).
+	* graphics/nxglib/nxglib_splitline.c:  Fix error in drawing of near horizontal
+	  lines (from Peterri Aimonen).
+	* sched/task_exithook.c:  Missing right bracket with certain conditional
+	  compilation (thanks James Goppert).
+	* arch/arm/srch/stm32/stm32_otgfshost.c:  Replace timeout handling; use
+	  system tick instead of frame counter.  The frame counter gets reset to
+	  zero at 0x3fff making it error prone.
+	* arch/arm/src/stm32/stm32f20xx_rcc.c and stm32f40xx_rcc.c: Added option
+	  CONFIG_STM32_FLASH_PREFETCH.  FLASH prefetch will now only be enabled
+	  if this option is selected.
+	* confgs/ez80f910200zco/ostest:  Now uses Kconfig/mconf configuration
+	  tool. Updated to build in native Windows environment.  Other ez80f910200zco
+	  build scripts also updated.
+	* configs/z8f64200100kit/ostest: Update to same level as ez80 configurations.
+	* nuttx/configs/z8f64200100kit/scripts/setenv.bat: Add support for native
+	  Windows build.
+	* nuttx/arch/arm/src/lpc17xx/lpc17_i2c.c: Resources not being released when
+	  I2C is uninitialized.
+	* cloudctrl/src/up_chipid.c and shenzhou/src/up_chipid.c:  Add functions to
+	  get chip ID.  Contributed by Darcy Gong.  These should not be board-dependent,
+	  but should be in arch/arm/src/stm32 where they can be used from any board.
+	* sched/work_thread.c: Fix backward conditional compilation.  This might
+	  has caused a memory leak.  From Freddie Chopin.
+	* configs/<many>/Make.defs:  Fix typo -wstrict-prototypes should be
+	  -Wstrict-prototypes (From Denis Carilki).
+	* arch/arm/src/calapyso/calypso_keypad.c:  Add Calypso keypad driver.  From
+	  Denis Carilki.
+	* z8encore000zco/ostest and z8f64200100kit/ostest:  Converted to use Kconfig/
+	  mconf configuration tool.
+	* arch/arm/src/armv7-m/up_exception.S: missing curly braces for push/pop
+	  From Freddie Chopin.
+	* z8encore000zco/ostest and z8f64200100kit/ostest:  Can now be modified to
+	  support the Windows native builds (see corresponding README.txt files).
+	* configs/z16f2800100zcog - All configurations updated to use the ZDS-II
+	  5.0.1 toolchain.
+	* configs/z16f2800100zcog - All configurations updated to use Kconfig/mconf
+	  configuration tools.
+	* configs/z16f2800100zcog/ostest - Now supports a native Windows build
+	  (other ZNEO configs may also support the native build, but this has not
+	  been verfiied).
+	* include/nuttx/input/keypad.h, arch/arm/src/calypso/calypso_keypad.c, and
+	  configs/compal_e99/nsh_highram: First cut at a standard keypad interface
+	  definition.  Contributed by Denis Carikli.
+	* libc/stdlib/lib_rand.c:  Always add one to result congruential generators
+	  to avoid the value zero.  Suggested by Freddie Chopin.
+	* tools/b16.c:  Fixed precision math conversion utility.
+	* graphics/nxglib/nxglib_splitline.c:  Fix the "fat, flat line bug"
+	* arch/z80/src/*/Toolchain.defs:  Add dummy Toolchain.defs files for the
+	  z80 family.
+	* configs/z80sim/ostest:  Converted to build with the Kconfig/mconf tool.
+	  Current configuration failed to build for me (Ubuntu 12.10, SDCC 3.2.0
+	  pre-built for Linux) due to a glibc memory corruptionerror in SDCC.
+	* configs/z80sim/ostest: Default is now the Windows native build.  See
+	  configs/z80sim/README.txt for instructions to convert back to a Linux or
+	  or Cygwin build.
+	* arch/z80/src/Makefile.sdccw:  Renamed makefiles with extensions zdiil,
+	  zdiiw, sdccl, and sdccw for the ZDS-II vs SDCC compilers and for the
+	  POSIX vs Windows native builds.
+	* nuttx/drivers/mtd/ftl.c:  Fix for the flash translation layer. Short
+	  unaligned writes were buggy.  From Petteri Aimonen.
+	* nuttx/libc/math/lib_round*.c:  Add rounding functions to the math
+	  library.  Contributed by Petteri Aimonen.
+	* include/cxx/cstdlib:  Add stroul().  From Petteri Aimonen.
+	* arch/*/include/limits.h:  Change signed minimum values from, for example,
+	  (-128) to (-127 - 1) to avoid overflows under certain conditions.  From
+	  Peterri Aimonen.
+	* graphics/nxtk/nxtk_subwindowmove.c: Previously it was very difficult to
+	  do e.g. "scroll by dx, dy". When given the full window area, nxtk_subwindowmove
+	  would clip the offset always to 0,0. It makes more sense for it to clip the
+	  source area and not modify the offset.  From Petteri Aimonen.
+	* graphics/nxtk/nxtk_getwindow.c: Clipping would change the offset of returned
+	  data, and caller has no way to know what the new offset would be. This messes
+	  up font drawing when the text is partially out of window, e.g. when scrolling.
+	  Also from Petteri Aimonen.
+	* include/stdbool.h: Can now be disabled for C++ files if CONFIG_C99_BOOL8 is
+	  defined.  CONFIG_C99_BOOL8 indicates (1) that the sizeof(_Bool) is one in both
+	  C and C++, and (2) the the C compiler is C99 and supports the _Bool intrinsic
+	  type. Requested by Freddie Chopin.
+	* include/stdlib/lib_rand.c:  Various additional changes so that the integer
+	  value zero can be returned.  Requested by Freddie Chopin.
+	* arch/z80/src/Makefile.sdcc*, z80/up_mem.h:  Redesign Z80 build so that it
+	  no longer depends on Bash scripts.
+	* configs/z80sim/nsh and pashello:  Converted to (1) use the kconfig-frontends
+	  configuration tool, and (2) to build natively under Windows.  The NSH
+	  configuration is verified; the pashello configuration needs a more TLC.
+	* tools/copydir.sh:  Rename tools/winlink.sh to tools/copydir.sh
+	* tools/link.bat, unlink.bat, and copydir.bat:  Add Windows counterparts
+	  to the link.sh, unlink.sh, and copydir.sh Bash scripts.
+	* configs/z80sim/pashello:  Now builds correctly.
+	* configs/xtrs/ostest, nsh, and pashello:  Converted to (1) use the kconfig-
+	  frontends configuration tool, and (2) to build natively under Windows.
+	* drivers/serial/Kconfig and sched/Kconfig:  Two names for same configuration:
+	  CONFIG_LOWLEVEL_CONSOLE is bogus and CONFIG_DEV_LOWCONSOLE is in the wrong
+	  Kconfig file.  Moved to drivers/serial/Kconfig replacing CONFIG_LOWLEVEL_CONSOLE.
+	* arch/z80/include/z180:  Add header files for z180 chips.  Initial versions
+	  are just clones of z80 header files.
+	* arch/z80/src/z180:  Add source files for z180 chips.  Initial versions
+	  are just clones of z80 source files.
+	* include/nuttx/arch.h:  Add address environment control interfaces (for use
+	  with CPUs the provide MCUs and support process-like address environments).
+	* arch/z80/src/z180/z180_mmu.*:  Add MMU support for z180 tasks.
+	* configs/p112:  Add very basic board support and an examples/ostest
+	  configuration for the venerable P112 board.
+	* sched/os_bringup.c: If CONFIG_PATH_INITIAL is defined, then the initial
+	  environment of the task started by os_bringup() will have the PATH
+	  environment variable defined to be that string.
+	* binfmt/binfmt_exepath.c:  If CONFIG_BINFMT_EXEPATH is defined, then this
+	  file will be built.  It contains logic to search for regular files at
+	  the absolutes paths found in the current PATH environment variable
+	  setting.  This is untested and not yet hooked into the binfmt exec()
+	  logic on initial check-in
+	* binfmt/binfmt_loadmodule.c: load_module() will now traverse the PATH
+	  variable to locate files from their relative path.
+	* include/nuttx/arch.h and arch/z80/src/z180/z180_mmu.c:  Restructure the
+	  address environment interfaces so that they will better integrate with
+	  binfmt/.
+	* binfmt/libelf/*, binfmt/libnxflat/* and other files:  Integrate the
+	  address environment interfaces.  If CONFIG_ADDRENV=y, then binfmt/
+	  will now create an address environment for new tasks (instead of
+	  just malloc'ing the task memory).
+	* configs/stm32f4discovery/elf:  Enable support/test of the PATH
+	  to find executables using a relative path.
+
+6.25 2013-xx-xx Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/Makefile.unix b/nuttx/Makefile.unix
new file mode 100644
index 000000000..d66c06bd8
--- /dev/null
+++ b/nuttx/Makefile.unix
@@ -0,0 +1,749 @@
+############################################################################
+# Makefile.unix
+#
+#   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+TOPDIR := ${shell pwd | sed -e 's/ /\\ /g'}
+-include $(TOPDIR)/.config
+include $(TOPDIR)/tools/Config.mk
+-include $(TOPDIR)/Make.defs
+
+# Control build verbosity
+
+ifeq ($(V),1)
+export Q :=
+else
+export Q := @
+endif
+
+# Default tools
+
+ifeq ($(DIRLINK),)
+DIRLINK = $(TOPDIR)/tools/link.sh
+DIRUNLINK = $(TOPDIR)/tools/unlink.sh
+endif
+
+# This define is passed as EXTRADEFINES for kernel-mode builds.  It is also passed
+# during PASS1 (but not PASS2) context and depend targets.
+
+KDEFINE = ${shell $(TOPDIR)/tools/define.sh "$(CC)" __KERNEL__}
+
+# Process architecture and board-specific directories
+
+ARCH_DIR = arch/$(CONFIG_ARCH)
+ARCH_SRC = $(ARCH_DIR)/src
+ARCH_INC = $(ARCH_DIR)/include
+BOARD_DIR = configs/$(CONFIG_ARCH_BOARD)
+
+# Add-on directories.  These may or may not be in place in the
+# NuttX source tree (they must be specifically installed)
+#
+# CONFIG_APPS_DIR can be over-ridden from the command line or in the .config file.
+# The default value of CONFIG_APPS_DIR is ../apps.  Ultimately, the application
+# will be built if APPDIR is defined.  APPDIR will be defined if a directory containing
+# a Makefile is found at the path provided by CONFIG_APPS_DIR
+
+ifeq ($(CONFIG_APPS_DIR),)
+CONFIG_APPS_DIR = ../apps
+endif
+APPDIR := ${shell if [ -r $(CONFIG_APPS_DIR)/Makefile ]; then echo "$(CONFIG_APPS_DIR)"; fi}
+
+# All add-on directories.
+#
+# NUTTX_ADDONS is the list of directories built into the NuttX kernel.
+# USER_ADDONS is the list of directories that will be built into the user application
+
+NUTTX_ADDONS :=
+USER_ADDONS :=
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USER_ADDONS += $(APPDIR)
+else
+NUTTX_ADDONS += $(APPDIR)
+endif
+
+# Lists of build directories.
+#
+# FSDIRS depend on file descriptor support; NONFSDIRS do not (except for parts
+#   of FSDIRS).  We will exclude FSDIRS from the build if file descriptor
+#   support is disabled
+# CONTEXTDIRS include directories that have special, one-time pre-build
+#   requirements.  Normally this includes things like auto-generation of
+#   configuration specific files or creation of configurable symbolic links
+# USERDIRS - When NuttX is build is a monolithic kernel, this provides the
+#   list of directories that must be built
+# OTHERDIRS - These are directories that are not built but probably should
+#   be cleaned to prevent garbarge from collecting in them when changing
+#   configurations.
+
+NONFSDIRS = sched $(ARCH_SRC) $(NUTTX_ADDONS)
+FSDIRS = fs drivers binfmt
+CONTEXTDIRS = $(APPDIR)
+USERDIRS =
+OTHERDIRS = lib
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+
+NONFSDIRS += syscall
+CONTEXTDIRS += syscall
+USERDIRS += syscall libc mm $(USER_ADDONS)
+ifeq ($(CONFIG_HAVE_CXX),y)
+USERDIRS += libxx
+endif
+
+else
+
+NONFSDIRS += libc mm
+OTHERDIRS += syscall $(USER_ADDONS)
+ifeq ($(CONFIG_HAVE_CXX),y)
+NONFSDIRS += libxx
+else
+OTHERDIRS += libxx
+endif
+
+endif
+
+ifeq ($(CONFIG_NX),y)
+NONFSDIRS += graphics
+CONTEXTDIRS += graphics
+else
+OTHERDIRS += graphics
+endif
+
+# CLEANDIRS are the directories that will clean in.  These are
+#   all directories that we know about.
+# KERNDEPDIRS are the directories in which we will build target dependencies.
+#   If NuttX and applications are built separately (CONFIG_NUTTX_KERNEL),
+#   then this holds only the directories containing kernel files.
+# USERDEPDIRS. If NuttX and applications are built separately (CONFIG_NUTTX_KERNEL),
+#   then this holds only the directories containing user files.
+
+CLEANDIRS = $(NONFSDIRS) $(FSDIRS) $(USERDIRS) $(OTHERDIRS)
+KERNDEPDIRS = $(NONFSDIRS)
+USERDEPDIRS = $(USERDIRS)
+
+# Add file system directories to KERNDEPDIRS (they are already in CLEANDIRS)
+
+ifeq ($(CONFIG_NFILE_DESCRIPTORS),0)
+ifeq ($(CONFIG_NET),y)
+ifneq ($(CONFIG_NSOCKET_DESCRIPTORS),0)
+KERNDEPDIRS += fs
+endif
+KERNDEPDIRS += drivers
+endif
+else
+KERNDEPDIRS += $(FSDIRS)
+endif
+
+# Add networking directories to KERNDEPDIRS and CLEANDIRS
+
+ifeq ($(CONFIG_NET),y)
+KERNDEPDIRS += net
+endif
+CLEANDIRS += net
+
+#
+# Extra objects used in the final link.
+#
+# Pass 1 1ncremental (relative) link objects should be put into the
+# processor-specific source directory (where other link objects will
+# be created).  If the pass1 obect is an archive, it could go anywhere.
+
+ifeq ($(CONFIG_BUILD_2PASS),y)
+EXTRA_OBJS += $(CONFIG_PASS1_OBJECT)
+endif
+
+# NUTTXLIBS is the list of NuttX libraries that is passed to the
+#   processor-specific Makefile to build the final NuttX target.
+#   Libraries in FSDIRS are excluded if file descriptor support
+#   is disabled.
+# USERLIBS is the list of libraries used to build the final user-space
+#   application
+
+NUTTXLIBS = lib/libsched$(LIBEXT) lib/libarch$(LIBEXT)
+USERLIBS =
+
+# Add libraries for syscall support.  The C library will be needed by
+# both the kernel- and user-space builds.  For now, the memory manager (mm)
+# is placed in user space (only).
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+NUTTXLIBS += lib/libstubs$(LIBEXT) lib/libkc$(LIBEXT)
+USERLIBS += lib/libproxies$(LIBEXT) lib/libuc$(LIBEXT) lib/libmm$(LIBEXT)
+else
+NUTTXLIBS += lib/libmm$(LIBEXT) lib/libc$(LIBEXT)
+endif
+
+# Add libraries for C++ support.  CXX, CXXFLAGS, and COMPILEXX must
+# be defined in Make.defs for this to work!
+
+ifeq ($(CONFIG_HAVE_CXX),y)
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USERLIBS += lib/libcxx$(LIBEXT)
+else
+NUTTXLIBS += lib/libcxx$(LIBEXT)
+endif
+endif
+
+# Add library for application support.
+
+ifneq ($(APPDIR),)
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USERLIBS += lib/libapps$(LIBEXT)
+else
+NUTTXLIBS += lib/libapps$(LIBEXT)
+endif
+endif
+
+# Add libraries for network support
+
+ifeq ($(CONFIG_NET),y)
+NUTTXLIBS += lib/libnet$(LIBEXT)
+endif
+
+# Add libraries for file system support
+
+ifeq ($(CONFIG_NFILE_DESCRIPTORS),0)
+ifneq ($(CONFIG_NSOCKET_DESCRIPTORS),0)
+NUTTXLIBS += lib/libfs$(LIBEXT)
+endif
+ifeq ($(CONFIG_NET),y)
+NUTTXLIBS += lib/libdrivers$(LIBEXT)
+endif
+else
+NUTTXLIBS += lib/libfs$(LIBEXT) lib/libdrivers$(LIBEXT) lib/libbinfmt$(LIBEXT)
+endif
+
+# Add libraries for the NX graphics sub-system
+
+ifeq ($(CONFIG_NX),y)
+NUTTXLIBS += lib/libgraphics$(LIBEXT)
+endif
+
+# LINKLIBS derives from NUTTXLIBS and is simply the same list with the subdirectory removed
+
+LINKLIBS = $(patsubst lib/%,%,$(NUTTXLIBS))
+
+# This is the name of the final target (relative to the top level directorty)
+
+BIN = nuttx$(EXEEXT)
+
+all: $(BIN)
+.PHONY: context clean_context check_context export subdir_clean clean subdir_distclean distclean apps_clean apps_distclean
+
+# Target used to copy include/nuttx/math.h.  If CONFIG_ARCH_MATH_H is
+# defined, then there is an architecture specific math.h header file
+# that will be included indirectly from include/math.h.  But first, we
+# have to copy math.h from include/nuttx/. to include/.  Logic within
+# include/nuttx/math.h will hand the redirection to the architecture-
+# specific math.h header file.
+#
+# If the CONFIG_LIBM is defined, the Rhombus libm will be built at libc/math.
+# Definitions and prototypes for the Rhombus libm are also contained in
+# include/nuttx/math.h and so the file must also be copied in that case.
+#
+# If neither CONFIG_ARCH_MATH_H nor CONFIG_LIBM is defined, then no math.h
+# header file will be provided.  You would want that behavior if (1) you
+# don't use libm, or (2) you want to use the math.h and libm provided
+# within your toolchain.
+
+ifeq ($(CONFIG_ARCH_MATH_H),y)
+NEED_MATH_H = y
+else
+ifeq ($(CONFIG_LIBM),y)
+NEED_MATH_H = y
+endif
+endif
+
+ifeq ($(NEED_MATH_H),y)
+include/math.h: include/nuttx/math.h
+	$(Q) cp -f include/nuttx/math.h include/math.h
+else
+include/math.h:
+endif
+
+# The float.h header file defines the properties of your floating point
+# implementation.  It would always be best to use your toolchain's float.h
+# header file but if none is avaiable, a default float.h header file will
+# provided if this option is selected.  However there is no assurance that
+# the settings in this float.h are actually correct for your platform!
+
+ifeq ($(CONFIG_ARCH_FLOAT_H),y)
+include/float.h: include/nuttx/float.h
+	$(Q) cp -f include/nuttx/float.h include/float.h
+else
+include/float.h:
+endif
+
+# Target used to copy include/nuttx/stdarg.h.  If CONFIG_ARCH_STDARG_H is
+# defined, then there is an architecture specific stdarg.h header file
+# that will be included indirectly from include/stdarg.h.  But first, we
+# have to copy stdarg.h from include/nuttx/. to include/.
+
+ifeq ($(CONFIG_ARCH_STDARG_H),y)
+include/stdarg.h: include/nuttx/stdarg.h
+	$(Q) cp -f include/nuttx/stdarg.h include/stdarg.h
+else
+include/stdarg.h:
+endif
+
+# Targets used to build include/nuttx/version.h.  Creation of version.h is
+# part of the overall NuttX configuration sequence. Notice that the
+# tools/mkversion tool is built and used to create include/nuttx/version.h
+
+tools/mkversion$(HOSTEXEEXT):
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkversion$(HOSTEXEEXT)
+
+$(TOPDIR)/.version:
+	$(Q) if [ ! -f .version ]; then \
+		echo "No .version file found, creating one"; \
+		tools/version.sh -v 0.0 -b 0 .version; \
+		chmod 755 .version; \
+	fi
+
+include/nuttx/version.h: $(TOPDIR)/.version tools/mkversion$(HOSTEXEEXT)
+	$(Q) tools/mkversion $(TOPDIR) > include/nuttx/version.h
+
+# Targets used to build include/nuttx/config.h.  Creation of config.h is
+# part of the overall NuttX configuration sequence. Notice that the
+# tools/mkconfig tool is built and used to create include/nuttx/config.h
+
+tools/mkconfig$(HOSTEXEEXT):
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkconfig$(HOSTEXEEXT)
+
+include/nuttx/config.h: $(TOPDIR)/.config tools/mkconfig$(HOSTEXEEXT)
+	$(Q) tools/mkconfig $(TOPDIR) > include/nuttx/config.h
+
+# Targets used to create dependencies
+
+tools/mkdeps$(HOSTEXEEXT):
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkdeps$(HOSTEXEEXT)
+
+# dirlinks, and helpers
+#
+# Directories links.  Most of establishing the NuttX configuration involves
+# setting up symbolic links with 'generic' directory names to specific,
+# configured directories.
+#
+# Link the apps/include directory to include/apps
+
+include/apps: Make.defs
+ifneq ($(APPDIR),)
+	@echo "LN: include/apps to $(APPDIR)/include"
+	$(Q) if [ -d $(TOPDIR)/$(APPDIR)/include ]; then \
+		$(DIRLINK) $(TOPDIR)/$(APPDIR)/include include/apps; \
+	fi
+endif
+
+# Link the arch/<arch-name>/include directory to include/arch
+
+include/arch: Make.defs
+	@echo "LN: include/arch to $(ARCH_DIR)/include"
+	$(Q) $(DIRLINK) $(TOPDIR)/$(ARCH_DIR)/include include/arch
+
+# Link the configs/<board-name>/include directory to include/arch/board
+
+include/arch/board: include/arch Make.defs include/arch
+	@echo "LN: include/arch/board to $(BOARD_DIR)/include"
+	$(Q) $(DIRLINK) $(TOPDIR)/$(BOARD_DIR)/include include/arch/board
+
+# Link the configs/<board-name>/src dir to arch/<arch-name>/src/board
+
+$(ARCH_SRC)/board: Make.defs
+	@echo "LN: $(ARCH_SRC)/board to $(BOARD_DIR)/src"
+	$(Q) $(DIRLINK) $(TOPDIR)/$(BOARD_DIR)/src $(ARCH_SRC)/board
+
+# Link arch/<arch-name>/include/<chip-name> to arch/<arch-name>/include/chip
+
+$(ARCH_SRC)/chip: Make.defs
+ifneq ($(CONFIG_ARCH_CHIP),)
+	@echo "LN: $(ARCH_SRC)/chip to $(ARCH_SRC)/$(CONFIG_ARCH_CHIP)"
+	$(Q) $(DIRLINK) $(TOPDIR)/$(ARCH_SRC)/$(CONFIG_ARCH_CHIP) $(ARCH_SRC)/chip
+endif
+
+# Link arch/<arch-name>/src/<chip-name> to arch/<arch-name>/src/chip
+
+include/arch/chip: include/arch Make.defs
+ifneq ($(CONFIG_ARCH_CHIP),)
+	@echo "LN: include/arch/chip to $(ARCH_INC)/$(CONFIG_ARCH_CHIP)"
+	$(Q) $(DIRLINK) $(TOPDIR)/$(ARCH_INC)/$(CONFIG_ARCH_CHIP) include/arch/chip
+endif
+
+dirlinks: include/arch include/arch/board include/arch/chip $(ARCH_SRC)/board $(ARCH_SRC)/chip include/apps
+
+# context
+#
+# The context target is invoked on each target build to assure that NuttX is
+# properly configured.  The basic configuration steps include creation of the
+# the config.h and version.h header files in the include/nuttx directory and
+# the establishment of symbolic links to configured directories.
+
+context: check_context include/nuttx/config.h include/nuttx/version.h include/math.h include/float.h include/stdarg.h dirlinks
+	$(Q) for dir in $(CONTEXTDIRS) ; do \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" context; \
+	done
+
+# clean_context
+#
+# This is part of the distclean target.  It removes all of the header files
+# and symbolic links created by the context target.
+
+clean_context:
+	$(call DELFILE, include/nuttx/config.h)
+	$(call DELFILE, include/nuttx/version.h)
+	$(call DELFILE, include/math.h)
+	$(call DELFILE, include/stdarg.h)
+	$(Q) $(DIRUNLINK) include/arch/board
+	$(Q) $(DIRUNLINK) include/arch/chip
+	$(Q) $(DIRUNLINK) include/arch
+	$(Q) $(DIRUNLINK) $(ARCH_SRC)/board
+	$(Q) $(DIRUNLINK) $(ARCH_SRC)/chip
+	$(Q) $(DIRUNLINK) include/apps
+
+# check_context
+#
+# This target checks if NuttX has been configured.  NuttX is configured using
+# the script tools/configure.sh.  That script will install certain files in
+# the top-level NuttX build directory.  This target verifies that those
+# configuration files have been installed and that NuttX is ready to be built.
+
+check_context:
+	$(Q) if [ ! -e ${TOPDIR}/.config -o ! -e ${TOPDIR}/Make.defs ]; then \
+		echo "" ; echo "Nuttx has not been configured:" ; \
+		echo "  cd tools; ./configure.sh <target>" ; echo "" ; \
+		exit 1 ; \
+	fi
+
+# Archive targets.  The target build sequency will first create a series of
+# libraries, one per configured source file directory.  The final NuttX
+# execution will then be built from those libraries.  The following targets
+# build those libraries.
+#
+# Possible kernel-mode builds
+
+libc/libkc$(LIBEXT): context
+	$(Q) $(MAKE) -C libc TOPDIR="$(TOPDIR)" libkc$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libkc$(LIBEXT): libc/libkc$(LIBEXT)
+	$(Q) install libc/libkc$(LIBEXT) lib/libkc$(LIBEXT)
+
+sched/libsched$(LIBEXT): context
+	$(Q) $(MAKE) -C sched TOPDIR="$(TOPDIR)" libsched$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libsched$(LIBEXT): sched/libsched$(LIBEXT)
+	$(Q) install sched/libsched$(LIBEXT) lib/libsched$(LIBEXT)
+
+$(ARCH_SRC)/libarch$(LIBEXT): context
+	$(Q) $(MAKE) -C $(ARCH_SRC) TOPDIR="$(TOPDIR)" libarch$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libarch$(LIBEXT): $(ARCH_SRC)/libarch$(LIBEXT)
+	$(Q) install $(ARCH_SRC)/libarch$(LIBEXT) lib/libarch$(LIBEXT)
+
+net/libnet$(LIBEXT): context
+	$(Q) $(MAKE) -C net TOPDIR="$(TOPDIR)" libnet$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libnet$(LIBEXT): net/libnet$(LIBEXT)
+	$(Q) install net/libnet$(LIBEXT) lib/libnet$(LIBEXT)
+
+fs/libfs$(LIBEXT): context
+	$(Q) $(MAKE) -C fs TOPDIR="$(TOPDIR)" libfs$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libfs$(LIBEXT): fs/libfs$(LIBEXT)
+	$(Q) install fs/libfs$(LIBEXT) lib/libfs$(LIBEXT)
+
+drivers/libdrivers$(LIBEXT): context
+	$(Q) $(MAKE) -C drivers TOPDIR="$(TOPDIR)" libdrivers$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libdrivers$(LIBEXT): drivers/libdrivers$(LIBEXT)
+	$(Q) install drivers/libdrivers$(LIBEXT) lib/libdrivers$(LIBEXT)
+
+binfmt/libbinfmt$(LIBEXT): context
+	$(Q) $(MAKE) -C binfmt TOPDIR="$(TOPDIR)" libbinfmt$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libbinfmt$(LIBEXT): binfmt/libbinfmt$(LIBEXT)
+	$(Q) install binfmt/libbinfmt$(LIBEXT) lib/libbinfmt$(LIBEXT)
+
+graphics/libgraphics$(LIBEXT): context
+	$(Q) $(MAKE) -C graphics TOPDIR="$(TOPDIR)" libgraphics$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libgraphics$(LIBEXT): graphics/libgraphics$(LIBEXT)
+	$(Q) install graphics/libgraphics$(LIBEXT) lib/libgraphics$(LIBEXT)
+
+syscall/libstubs$(LIBEXT): context
+	$(Q) $(MAKE) -C syscall TOPDIR="$(TOPDIR)" libstubs$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libstubs$(LIBEXT): syscall/libstubs$(LIBEXT)
+	$(Q) install syscall/libstubs$(LIBEXT) lib/libstubs$(LIBEXT)
+
+# Possible user-mode builds
+
+libc/libuc$(LIBEXT): context
+	$(Q) $(MAKE) -C libc TOPDIR="$(TOPDIR)" libuc$(LIBEXT)
+
+lib/libuc$(LIBEXT): libc/libuc$(LIBEXT)
+	$(Q) install libc/libuc$(LIBEXT) lib/libuc$(LIBEXT)
+
+libxx/libcxx$(LIBEXT): context
+	$(Q) $(MAKE) -C libxx TOPDIR="$(TOPDIR)" libcxx$(LIBEXT)
+
+lib/libcxx$(LIBEXT): libxx/libcxx$(LIBEXT)
+	$(Q) install libxx/libcxx$(LIBEXT) lib/libcxx$(LIBEXT)
+
+mm/libmm$(LIBEXT): context
+	$(Q) $(MAKE) -C mm TOPDIR="$(TOPDIR)" libmm$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib/libmm$(LIBEXT): mm/libmm$(LIBEXT)
+	$(Q) install mm/libmm$(LIBEXT) lib/libmm$(LIBEXT)
+
+$(APPDIR)/libapps$(LIBEXT): context
+	$(Q) $(MAKE) -C $(APPDIR) TOPDIR="$(TOPDIR)" libapps$(LIBEXT)
+
+lib/libapps$(LIBEXT): $(APPDIR)/libapps$(LIBEXT)
+	$(Q) install $(APPDIR)/libapps$(LIBEXT) lib/libapps$(LIBEXT)
+
+syscall/libproxies$(LIBEXT): context
+	$(Q) $(MAKE) -C syscall TOPDIR="$(TOPDIR)" libproxies$(LIBEXT)
+
+lib/libproxies$(LIBEXT): syscall/libproxies$(LIBEXT)
+	$(Q) install syscall/libproxies$(LIBEXT) lib/libproxies$(LIBEXT)
+
+# Possible non-kernel builds
+
+libc/libc$(LIBEXT): context
+	$(Q) $(MAKE) -C libc TOPDIR="$(TOPDIR)" libc$(LIBEXT)
+
+lib/libc$(LIBEXT): libc/libc$(LIBEXT)
+	$(Q) install libc/libc$(LIBEXT) lib/libc$(LIBEXT)
+
+# pass1 and pass2
+#
+# If the 2 pass build option is selected, then this pass1 target is
+# configured to built before the pass2 target.  This pass1 target may, as an
+# example, build an extra link object (CONFIG_PASS1_OBJECT) which may be an
+# incremental (relative) link object, but could be a static library (archive);
+# some modification to this Makefile would be required if CONFIG_PASS1_OBJECT
+# is an archive.  Exactly what is performed during pass1 or what it generates
+# is unknown to this makefule unless CONFIG_PASS1_OBJECT is defined.
+
+pass1deps: pass1dep $(USERLIBS)
+
+pass1: pass1deps
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	$(Q) if [ -z "$(CONFIG_PASS1_BUILDIR)" ]; then \
+		echo "ERROR: CONFIG_PASS1_BUILDIR not defined"; \
+		exit 1; \
+	fi
+	$(Q) if [ ! -d "$(CONFIG_PASS1_BUILDIR)" ]; then \
+		echo "ERROR: CONFIG_PASS1_BUILDIR does not exist"; \
+		exit 1; \
+	fi
+	$(Q) if [ ! -f "$(CONFIG_PASS1_BUILDIR)/Makefile" ]; then \
+		echo "ERROR: No Makefile in CONFIG_PASS1_BUILDIR"; \
+		exit 1; \
+	fi
+	$(Q) $(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" LINKLIBS="$(LINKLIBS)" USERLIBS="$(USERLIBS)" "$(CONFIG_PASS1_TARGET)"
+endif
+
+pass2deps: pass2dep $(NUTTXLIBS)
+
+pass2: pass2deps
+	$(Q) $(MAKE) -C $(ARCH_SRC) TOPDIR="$(TOPDIR)" EXTRA_OBJS="$(EXTRA_OBJS)" LINKLIBS="$(LINKLIBS)" EXTRADEFINES=$(KDEFINE) $(BIN)
+	$(Q) if [ -w /tftpboot ] ; then \
+		cp -f $(BIN) /tftpboot/$(BIN).${CONFIG_ARCH}; \
+	fi
+ifeq ($(CONFIG_RRLOAD_BINARY),y)
+	@echo "MK: $(BIN).rr"
+	$(Q) $(TOPDIR)/tools/mkimage.sh --Prefix $(CROSSDEV) $(BIN) $(BIN).rr
+	$(Q) if [ -w /tftpboot ] ; then \
+		cp -f $(BIN).rr /tftpboot/$\(BIN).rr.$(CONFIG_ARCH); \
+	fi
+endif
+ifeq ($(CONFIG_INTELHEX_BINARY),y)
+	@echo "CP: $(BIN).hex"
+	$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O ihex $(BIN) $(BIN).hex
+endif
+ifeq ($(CONFIG_MOTOROLA_SREC),y)
+	@echo "CP: $(BIN).srec"
+	$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O srec $(BIN) $(BIN).srec
+endif
+ifeq ($(CONFIG_RAW_BINARY),y)
+	@echo "CP: $(BIN).bin"
+	$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O binary $(BIN) $(BIN).bin
+endif
+
+# $(BIN)
+#
+# Create the final NuttX executable in a two pass build process.  In the
+# normal case, all pass1 and pass2 dependencies are created then pass1
+# and pass2 targets are built.  However, in some cases, you may need to build
+# pass1 depenencies and pass1 first, then build pass2 dependencies and pass2.
+# in that case, execute 'make pass1 pass2' from the command line.
+
+$(BIN): pass1deps pass2deps pass1 pass2
+
+# download
+#
+# This is a helper target that will rebuild NuttX and download it to the target
+# system in one step.  The operation of this target depends completely upon
+# implementation of the DOWNLOAD command in the user Make.defs file.  It will
+# generate an error an error if the DOWNLOAD command is not defined.
+
+download: $(BIN)
+	$(call DOWNLOAD, $<)
+
+# pass1dep: Create pass1 build dependencies
+# pass2dep: Create pass2 build dependencies
+
+pass1dep: context tools/mkdeps$(HOSTEXEEXT) 
+	$(Q) for dir in $(USERDEPDIRS) ; do \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" depend ; \
+	done
+
+pass2dep: context tools/mkdeps$(HOSTEXEEXT) 
+	$(Q) for dir in $(KERNDEPDIRS) ; do \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" EXTRADEFINES=$(KDEFINE) depend; \
+	done
+
+# Configuration targets
+#
+# These targets depend on the kconfig-frontends packages.  To use these, you
+# must first download and install the kconfig-frontends package from this
+# location: http://ymorin.is-a-geek.org/projects/kconfig-frontends.  See
+# misc/tools/README.txt for additional information.
+
+config:
+	$(Q) APPSDIR=${CONFIG_APPS_DIR} conf Kconfig
+
+oldconfig:
+	$(Q) APPSDIR=${CONFIG_APPS_DIR} conf --oldconfig Kconfig
+
+menuconfig:
+	$(Q) APPSDIR=${CONFIG_APPS_DIR} mconf Kconfig
+
+# export
+#
+# The export target will package the NuttX libraries and header files into
+# an exportable package.  Caveats: (1) These needs some extension for the KERNEL
+# build; it needs to receive USERLIBS and create a libuser.a). (2) The logic
+# in tools/mkexport.sh only supports GCC and, for example, explicitly assumes
+# that the archiver is 'ar'
+
+export: pass2deps
+	$(Q) tools/mkexport.sh -w$(WINTOOL) -t "$(TOPDIR)" -l "$(NUTTXLIBS)"
+
+# General housekeeping targets:  dependencies, cleaning, etc.
+#
+# depend:    Create both PASS1 and PASS2 dependencies
+# clean:     Removes derived object files, archives, executables, and
+#            temporary files, but retains the configuration and context
+#            files and directories.
+# distclean: Does 'clean' then also removes all configuration and context
+#            files.  This essentially restores the directory structure
+#            to its original, unconfigured stated.
+
+depend: pass1dep pass2dep
+
+subdir_clean:
+	$(Q) for dir in $(CLEANDIRS) ; do \
+		if [ -e $$dir/Makefile ]; then \
+			$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" clean ; \
+		fi \
+	done
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)" clean
+	$(Q) $(MAKE) -C mm -f Makefile.test TOPDIR="$(TOPDIR)" clean
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	$(Q) $(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" clean
+endif
+
+clean: subdir_clean
+	$(call DELFILE, $(BIN))
+	$(call DELFILE, nuttx.*)
+	$(call DELFILE, mm_test)
+	$(call DELFILE, *.map)
+	$(call DELFILE, _SAVED_APPS_config)
+	$(call DELFILE, nuttx-export*)
+	$(call CLEAN)
+
+subdir_distclean:
+	$(Q) for dir in $(CLEANDIRS) ; do \
+		if [ -e $$dir/Makefile ]; then \
+			$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" distclean ; \
+		fi \
+	done
+
+distclean: clean subdir_distclean clean_context
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	$(Q) $(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" distclean
+endif
+	$(call DELFILE, Make.defs)
+	$(call DELFILE, setenv.sh)
+	$(call DELFILE, setenv.bat)
+	$(call DELFILE, .config)
+	$(call DELFILE, .config.old)
+
+# Application housekeeping targets.  The APPDIR variable refers to the user
+# application directory.  A sample apps/ directory is included with NuttX,
+# however, this is not treated as part of NuttX and may be replaced with a
+# different application directory.  For the most part, the application
+# directory is treated like any other build directory in this script.  However,
+# as a convenience, the following targets are included to support housekeeping
+# functions in the user application directory from the NuttX build directory.
+#
+# apps_clean:     Perform the clean operation only in the user application
+#                 directory
+# apps_distclean: Perform the distclean operation only in the user application
+#                 directory.  Note that the apps/.config file (inf any) is
+#                 preserved so that this is not a "full" distclean but more of a
+#                 configuration "reset." (There willnot be an apps/.config
+#                 file if the configuration was generated via make menuconfig).
+
+apps_clean:
+ifneq ($(APPDIR),)
+	$(Q) $(MAKE) -C "$(TOPDIR)/$(APPDIR)" TOPDIR="$(TOPDIR)" clean
+endif
+
+apps_distclean:
+ifneq ($(APPDIR),)
+	$(Q) if [ -r "$(TOPDIR)/$(APPDIR)/.config" ]; then \
+		cp "$(TOPDIR)/$(APPDIR)/.config" _SAVED_APPS_config || \
+			{ echo "Copy of $(APPDIR)/.config failed" ; exit 1 ; } \
+	else \
+		rm -f _SAVED_APPS_config; \
+	fi
+	$(Q) $(MAKE) -C "$(TOPDIR)/$(APPDIR)" TOPDIR="$(TOPDIR)" distclean
+	$(Q) if [ -r _SAVED_APPS_config ]; then \
+		mv _SAVED_APPS_config "$(TOPDIR)/$(APPDIR)/.config" || \
+			{ echo "Copy of _SAVED_APPS_config failed" ; exit 1 ; } \
+	fi
+endif
+
diff --git a/nuttx/Makefile.win b/nuttx/Makefile.win
new file mode 100644
index 000000000..34da12ad0
--- /dev/null
+++ b/nuttx/Makefile.win
@@ -0,0 +1,740 @@
+############################################################################
+# Makefile.win
+#
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+TOPDIR := ${shell echo %CD%}
+-include $(TOPDIR)\.config
+-include $(TOPDIR)\tools\Config.mk
+-include $(TOPDIR)\Make.defs
+
+# Control build verbosity
+
+ifeq ($(V),1)
+export Q :=
+else
+export Q := @
+endif
+
+# This define is passed as EXTRADEFINES for kernel-mode builds.  It is also passed
+# during PASS1 (but not PASS2) context and depend targets.
+
+KDEFINE = ${shell $(TOPDIR)\tools\define.bat "$(CC)" __KERNEL__}
+
+# Process architecture and board-specific directories
+
+ARCH_DIR = arch\$(CONFIG_ARCH)
+ARCH_SRC = $(ARCH_DIR)\src
+ARCH_INC = $(ARCH_DIR)\include
+BOARD_DIR = configs\$(CONFIG_ARCH_BOARD)
+
+# Add-on directories.  These may or may not be in place in the
+# NuttX source tree (they must be specifically installed)
+#
+# CONFIG_APPS_DIR can be over-ridden from the command line or in the .config file.
+# The default value of CONFIG_APPS_DIR is ..\apps.  Ultimately, the application
+# will be built if APPDIR is defined.  APPDIR will be defined if a directory containing
+# a Makefile is found at the path provided by CONFIG_APPS_DIR
+
+ifeq ($(CONFIG_APPS_DIR),)
+CONFIG_APPS_DIR = ..\apps
+endif
+APPDIR := ${shell if exist "$(CONFIG_APPS_DIR)\Makefile" echo $(CONFIG_APPS_DIR)}
+
+# All add-on directories.
+#
+# NUTTX_ADDONS is the list of directories built into the NuttX kernel.
+# USER_ADDONS is the list of directories that will be built into the user application
+
+NUTTX_ADDONS :=
+USER_ADDONS :=
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USER_ADDONS += $(APPDIR)
+else
+NUTTX_ADDONS += $(APPDIR)
+endif
+
+# Lists of build directories.
+#
+# FSDIRS depend on file descriptor support; NONFSDIRS do not (except for parts
+#   of FSDIRS).  We will exclude FSDIRS from the build if file descriptor
+#   support is disabled
+# CONTEXTDIRS include directories that have special, one-time pre-build
+#   requirements.  Normally this includes things like auto-generation of
+#   configuration specific files or creation of configurable symbolic links
+# USERDIRS - When NuttX is build is a monolithic kernel, this provides the
+#   list of directories that must be built
+# OTHERDIRS - These are directories that are not built but probably should
+#   be cleaned to prevent garbarge from collecting in them when changing
+#   configurations.
+
+NONFSDIRS = sched $(ARCH_SRC) $(NUTTX_ADDONS)
+FSDIRS = fs drivers binfmt
+CONTEXTDIRS = $(APPDIR)
+USERDIRS =
+OTHERDIRS = lib
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+
+NONFSDIRS += syscall
+CONTEXTDIRS += syscall
+USERDIRS += syscall libc mm $(USER_ADDONS)
+ifeq ($(CONFIG_HAVE_CXX),y)
+USERDIRS += libxx
+endif
+
+else
+
+NONFSDIRS += libc mm
+OTHERDIRS += syscall $(USER_ADDONS)
+ifeq ($(CONFIG_HAVE_CXX),y)
+NONFSDIRS += libxx
+else
+OTHERDIRS += libxx
+endif
+
+endif
+
+ifeq ($(CONFIG_NX),y)
+NONFSDIRS += graphics
+CONTEXTDIRS += graphics
+else
+OTHERDIRS += graphics
+endif
+
+# CLEANDIRS are the directories that will clean in.  These are
+#   all directories that we know about.
+# KERNDEPDIRS are the directories in which we will build target dependencies.
+#   If NuttX and applications are built separately (CONFIG_NUTTX_KERNEL),
+#   then this holds only the directories containing kernel files.
+# USERDEPDIRS. If NuttX and applications are built separately (CONFIG_NUTTX_KERNEL),
+#   then this holds only the directories containing user files.
+
+CLEANDIRS = $(NONFSDIRS) $(FSDIRS) $(USERDIRS) $(OTHERDIRS)
+KERNDEPDIRS = $(NONFSDIRS)
+USERDEPDIRS = $(USERDIRS)
+
+# Add file system directories to KERNDEPDIRS (they are already in CLEANDIRS)
+
+ifeq ($(CONFIG_NFILE_DESCRIPTORS),0)
+ifeq ($(CONFIG_NET),y)
+ifneq ($(CONFIG_NSOCKET_DESCRIPTORS),0)
+KERNDEPDIRS += fs
+endif
+KERNDEPDIRS += drivers
+endif
+else
+KERNDEPDIRS += $(FSDIRS)
+endif
+
+# Add networking directories to KERNDEPDIRS and CLEANDIRS
+
+ifeq ($(CONFIG_NET),y)
+KERNDEPDIRS += net
+endif
+CLEANDIRS += net
+
+#
+# Extra objects used in the final link.
+#
+# Pass 1 1ncremental (relative) link objects should be put into the
+# processor-specific source directory (where other link objects will
+# be created).  If the pass1 obect is an archive, it could go anywhere.
+
+ifeq ($(CONFIG_BUILD_2PASS),y)
+EXTRA_OBJS += $(CONFIG_PASS1_OBJECT)
+endif
+
+# NUTTXLIBS is the list of NuttX libraries that is passed to the
+#   processor-specific Makefile to build the final NuttX target.
+#   Libraries in FSDIRS are excluded if file descriptor support
+#   is disabled.
+# USERLIBS is the list of libraries used to build the final user-space
+#   application
+
+NUTTXLIBS = lib\libsched$(LIBEXT) lib\libarch$(LIBEXT)
+USERLIBS =
+
+# Add libraries for syscall support.  The C library will be needed by
+# both the kernel- and user-space builds.  For now, the memory manager (mm)
+# is placed in user space (only).
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+NUTTXLIBS += lib\libstubs$(LIBEXT) lib\libkc$(LIBEXT)
+USERLIBS += lib\libproxies$(LIBEXT) lib\libuc$(LIBEXT) lib\libmm$(LIBEXT)
+else
+NUTTXLIBS += lib\libmm$(LIBEXT) lib\libc$(LIBEXT)
+endif
+
+# Add libraries for C++ support.  CXX, CXXFLAGS, and COMPILEXX must
+# be defined in Make.defs for this to work!
+
+ifeq ($(CONFIG_HAVE_CXX),y)
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USERLIBS += lib\libcxx$(LIBEXT)
+else
+NUTTXLIBS += lib\libcxx$(LIBEXT)
+endif
+endif
+
+# Add library for application support.
+
+ifneq ($(APPDIR),)
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USERLIBS += lib\libapps$(LIBEXT)
+else
+NUTTXLIBS += lib\libapps$(LIBEXT)
+endif
+endif
+
+# Add libraries for network support
+
+ifeq ($(CONFIG_NET),y)
+NUTTXLIBS += lib\libnet$(LIBEXT)
+endif
+
+# Add libraries for file system support
+
+ifeq ($(CONFIG_NFILE_DESCRIPTORS),0)
+ifneq ($(CONFIG_NSOCKET_DESCRIPTORS),0)
+NUTTXLIBS += lib\libfs$(LIBEXT)
+endif
+ifeq ($(CONFIG_NET),y)
+NUTTXLIBS += lib\libdrivers$(LIBEXT)
+endif
+else
+NUTTXLIBS += lib\libfs$(LIBEXT) lib\libdrivers$(LIBEXT) lib\libbinfmt$(LIBEXT)
+endif
+
+# Add libraries for the NX graphics sub-system
+
+ifeq ($(CONFIG_NX),y)
+NUTTXLIBS += lib\libgraphics$(LIBEXT)
+endif
+
+# LINKLIBS derives from NUTTXLIBS and is simply the same list with the subdirectory removed
+
+LINKLIBS = $(patsubst lib\\%,%,$(NUTTXLIBS))
+
+# This is the name of the final target (relative to the top level directorty)
+
+BIN = nuttx$(EXEEXT)
+
+all: $(BIN)
+.PHONY: context clean_context check_context export subdir_clean clean subdir_distclean distclean apps_clean apps_distclean
+
+# Target used to copy include\nuttx\math.h.  If CONFIG_ARCH_MATH_H is
+# defined, then there is an architecture specific math.h header file
+# that will be included indirectly from include\math.h.  But first, we
+# have to copy math.h from include\nuttx\. to include\.  Logic within
+# include\nuttx\math.h will hand the redirection to the architecture-
+# specific math.h header file.
+#
+# If the CONFIG_LIBM is defined, the Rhombus libm will be built at libc\math.
+# Definitions and prototypes for the Rhombus libm are also contained in
+# include\nuttx\math.h and so the file must also be copied in that case.
+#
+# If neither CONFIG_ARCH_MATH_H nor CONFIG_LIBM is defined, then no math.h
+# header file will be provided.  You would want that behavior if (1) you
+# don't use libm, or (2) you want to use the math.h and libm provided
+# within your toolchain.
+
+ifeq ($(CONFIG_ARCH_MATH_H),y)
+NEED_MATH_H = y
+else
+ifeq ($(CONFIG_LIBM),y)
+NEED_MATH_H = y
+endif
+endif
+
+ifeq ($(NEED_MATH_H),y)
+include\math.h: include\nuttx\math.h
+	$(Q) cp -f include\nuttx\math.h include\math.h
+else
+include\math.h:
+endif
+
+# The float.h header file defines the properties of your floating point
+# implementation.  It would always be best to use your toolchain's float.h
+# header file but if none is avaiable, a default float.h header file will
+# provided if this option is selected.  However there is no assurance that
+# the settings in this float.h are actually correct for your platform!
+
+ifeq ($(CONFIG_ARCH_FLOAT_H),y)
+include\float.h: include\nuttx\float.h
+	$(Q) cp -f include\nuttx\float.h include\float.h
+else
+include\float.h:
+endif
+
+# Target used to copy include\nuttx\stdarg.h.  If CONFIG_ARCH_STDARG_H is
+# defined, then there is an architecture specific stdarg.h header file
+# that will be included indirectly from include\stdarg.h.  But first, we
+# have to copy stdarg.h from include\nuttx\. to include\.
+
+ifeq ($(CONFIG_ARCH_STDARG_H),y)
+include\stdarg.h: include\nuttx\stdarg.h
+	$(Q) cp -f include\nuttx\stdarg.h include\stdarg.h
+else
+include\stdarg.h:
+endif
+
+# Targets used to build include\nuttx\version.h.  Creation of version.h is
+# part of the overall NuttX configuration sequence. Notice that the
+# tools\mkversion tool is built and used to create include\nuttx\version.h
+
+tools\mkversion$(HOSTEXEEXT):
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkversion$(HOSTEXEEXT)
+
+$(TOPDIR)\.version:
+	$(Q) if [ ! -f .version ]; then \
+		echo "No .version file found, creating one"; \
+		tools\version.sh -v 0.0 -b 0 .version; \
+		chmod 755 .version; \
+	fi
+
+include\nuttx\version.h: $(TOPDIR)\.version tools\mkversion$(HOSTEXEEXT)
+	$(Q) tools\mkversion$(HOSTEXEEXT) $(TOPDIR) > include\nuttx\version.h
+
+# Targets used to build include\nuttx\config.h.  Creation of config.h is
+# part of the overall NuttX configuration sequence. Notice that the
+# tools\mkconfig tool is built and used to create include\nuttx\config.h
+
+tools\mkconfig$(HOSTEXEEXT):
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkconfig$(HOSTEXEEXT)
+
+include\nuttx\config.h: $(TOPDIR)\.config tools\mkconfig$(HOSTEXEEXT)
+	$(Q) tools\mkconfig$(HOSTEXEEXT) $(TOPDIR) > include\nuttx\config.h
+
+# Targets used to create dependencies
+
+tools\mkdeps$(HOSTEXEEXT):
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkdeps$(HOSTEXEEXT)
+
+# dirlinks, and helpers
+#
+# Directories links.  Most of establishing the NuttX configuration involves
+# setting up symbolic links with 'generic' directory names to specific,
+# configured directories.
+#
+# Link the apps\include directory to include\apps
+
+include\apps: Make.defs
+ifneq ($(APPDIR),)
+	@echo LN: include\apps $(APPDIR)\include
+ifeq ($(CONFIG_WINDOWS_MKLINK),y)
+	$(Q) /user:administrator mklink /d include\apps $(APPDIR)\include
+else
+	$(Q) xcopy $(APPDIR)\include include\apps /c /q /s /e /y /i
+	$(Q) echo FAKELNK > include\apps\.fakelnk
+endif
+endif
+
+# Link the arch\<arch-name>\include directory to include\arch
+
+include\arch: Make.defs
+	@echo LN: include\arch to $(ARCH_DIR)\include
+ifeq ($(CONFIG_WINDOWS_MKLINK),y)
+	$(Q) /user:administrator mklink /d include\arch $(TOPDIR)\$(ARCH_DIR)\include
+else
+	$(Q) xcopy $(TOPDIR)\$(ARCH_DIR)\include include\arch /c /q /s /e /y /i
+	$(Q) echo FAKELNK > include\arch\.fakelnk
+endif
+
+# Link the configs\<board-name>\include directory to include\arch\board
+
+include\arch\board: include\arch Make.defs include\arch
+	@echo LN: include\arch\board to $(BOARD_DIR)\include
+ifeq ($(CONFIG_WINDOWS_MKLINK),y)
+	$(Q) /user:administrator mklink /d include\arch\board $(TOPDIR)\$(BOARD_DIR)\include
+else
+	$(Q) xcopy $(TOPDIR)\$(BOARD_DIR)\include include\arch\board /c /q /s /e /y /i
+	$(Q) echo FAKELNK > include\arch\board\.fakelnk
+endif
+
+# Link the configs\<board-name>\src dir to arch\<arch-name>\src\board
+
+$(ARCH_SRC)\board: Make.defs
+	@echo LN: $(ARCH_SRC)\board to $(BOARD_DIR)\src
+ifeq ($(CONFIG_WINDOWS_MKLINK),y)
+	$(Q) /user:administrator mklink /d $(ARCH_SRC)\board $(TOPDIR)\$(BOARD_DIR)\src
+else
+	$(Q) xcopy $(TOPDIR)\$(BOARD_DIR)\src $(ARCH_SRC)\board /c /q /s /e /y /i
+	$(Q) echo FAKELNK > $(ARCH_SRC)\board\.fakelnk
+endif
+
+# Link arch\<arch-name>\include\<chip-name> to arch\<arch-name>\include\chip
+
+$(ARCH_SRC)\chip: Make.defs
+ifneq ($(CONFIG_ARCH_CHIP),)
+	@echo LN: $(ARCH_SRC)\chip to $(ARCH_SRC)\$(CONFIG_ARCH_CHIP)
+ifeq ($(CONFIG_WINDOWS_MKLINK),y)
+	$(Q) /user:administrator mklink /d $(ARCH_SRC)\chip $(TOPDIR)\$(ARCH_SRC)\$(CONFIG_ARCH_CHIP)
+else
+	$(Q) xcopy $(TOPDIR)\$(ARCH_SRC)\$(CONFIG_ARCH_CHIP) $(ARCH_SRC)\chip /c /q /s /e /y /i
+	$(Q) echo FAKELNK > $(ARCH_SRC)\chip\.fakelnk
+endif
+endif
+
+# Link arch\<arch-name>\src\<chip-name> to arch\<arch-name>\src\chip
+
+include\arch\chip: include\arch Make.defs
+ifneq ($(CONFIG_ARCH_CHIP),)
+	@echo LN: include\arch\chip to $(ARCH_INC)\$(CONFIG_ARCH_CHIP)
+ifeq ($(CONFIG_WINDOWS_MKLINK),y)
+	$(Q) /user:administrator mklink /d include\arch\chip $(TOPDIR)\$(ARCH_INC)\$(CONFIG_ARCH_CHIP)
+else
+	$(Q) xcopy $(TOPDIR)\$(ARCH_INC)\$(CONFIG_ARCH_CHIP) include\arch\chip /c /q /s /e /y /i
+	$(Q) echo FAKELNK > include\arch\chip\.fakelnk
+endif
+endif
+
+dirlinks: include\arch include\arch\board include\arch\chip $(ARCH_SRC)\board $(ARCH_SRC)\chip include\apps
+
+# context
+#
+# The context target is invoked on each target build to assure that NuttX is
+# properly configured.  The basic configuration steps include creation of the
+# the config.h and version.h header files in the include\nuttx directory and
+# the establishment of symbolic links to configured directories.
+
+context: check_context include\nuttx\config.h include\nuttx\version.h include\math.h include\float.h include\stdarg.h dirlinks
+	$(Q) for %%G in ($(CONTEXTDIRS)) do ( $(MAKE) -C %%G TOPDIR="$(TOPDIR)" context )
+
+# clean_context
+#
+# This is part of the distclean target.  It removes all of the header files
+# and symbolic links created by the context target.
+
+clean_context:
+	$(call DELFILE, include\nuttx\config.h)
+	$(call DELFILE, include\nuttx\version.h)
+	$(call DELFILE, include\math.h)
+	$(call DELFILE, include\stdarg.h)
+	$(call DELDIR, include\arch\board)
+	$(call DELDIR, include\arch\chip)
+	$(call DELDIR, include\arch)
+	$(call DELDIR, $(ARCH_SRC)\board)
+	$(call DELDIR, $(ARCH_SRC)\chip)
+	$(call DELDIR, include\apps)
+
+# check_context
+#
+# This target checks if NuttX has been configured.  NuttX is configured using
+# the script tools\configure.sh.  That script will install certain files in
+# the top-level NuttX build directory.  This target verifies that those
+# configuration files have been installed and that NuttX is ready to be built.
+
+check_context:
+	$(Q) if not exist $(TOPDIR)\.config echo "$(TOPDIR)\.config does not exist"
+	$(Q) if not exist $(TOPDIR)\Make.defs echo "$(TOPDIR)\Make.defs does not exist"
+
+# Archive targets.  The target build sequency will first create a series of
+# libraries, one per configured source file directory.  The final NuttX
+# execution will then be built from those libraries.  The following targets
+# build those libraries.
+#
+# Possible kernel-mode builds
+
+libc\libkc$(LIBEXT): context
+	$(Q) $(MAKE) -C libc TOPDIR="$(TOPDIR)" libkc$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libkc$(LIBEXT): libc\libkc$(LIBEXT)
+	$(Q) install libc\libkc$(LIBEXT) lib\libkc$(LIBEXT)
+
+sched\libsched$(LIBEXT): context
+	$(Q) $(MAKE) -C sched TOPDIR="$(TOPDIR)" libsched$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libsched$(LIBEXT): sched\libsched$(LIBEXT)
+	$(Q) install sched\libsched$(LIBEXT) lib\libsched$(LIBEXT)
+
+$(ARCH_SRC)\libarch$(LIBEXT): context
+	$(Q) $(MAKE) -C $(ARCH_SRC) TOPDIR="$(TOPDIR)" libarch$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libarch$(LIBEXT): $(ARCH_SRC)\libarch$(LIBEXT)
+	$(Q) install $(ARCH_SRC)\libarch$(LIBEXT) lib\libarch$(LIBEXT)
+
+net\libnet$(LIBEXT): context
+	$(Q) $(MAKE) -C net TOPDIR="$(TOPDIR)" libnet$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libnet$(LIBEXT): net\libnet$(LIBEXT)
+	$(Q) install net\libnet$(LIBEXT) lib\libnet$(LIBEXT)
+
+fs\libfs$(LIBEXT): context
+	$(Q) $(MAKE) -C fs TOPDIR="$(TOPDIR)" libfs$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libfs$(LIBEXT): fs\libfs$(LIBEXT)
+	$(Q) install fs\libfs$(LIBEXT) lib\libfs$(LIBEXT)
+
+drivers\libdrivers$(LIBEXT): context
+	$(Q) $(MAKE) -C drivers TOPDIR="$(TOPDIR)" libdrivers$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libdrivers$(LIBEXT): drivers\libdrivers$(LIBEXT)
+	$(Q) install drivers\libdrivers$(LIBEXT) lib\libdrivers$(LIBEXT)
+
+binfmt\libbinfmt$(LIBEXT): context
+	$(Q) $(MAKE) -C binfmt TOPDIR="$(TOPDIR)" libbinfmt$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libbinfmt$(LIBEXT): binfmt\libbinfmt$(LIBEXT)
+	$(Q) install binfmt\libbinfmt$(LIBEXT) lib\libbinfmt$(LIBEXT)
+
+graphics\libgraphics$(LIBEXT): context
+	$(Q) $(MAKE) -C graphics TOPDIR="$(TOPDIR)" libgraphics$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libgraphics$(LIBEXT): graphics\libgraphics$(LIBEXT)
+	$(Q) install graphics\libgraphics$(LIBEXT) lib\libgraphics$(LIBEXT)
+
+syscall\libstubs$(LIBEXT): context
+	$(Q) $(MAKE) -C syscall TOPDIR="$(TOPDIR)" libstubs$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libstubs$(LIBEXT): syscall\libstubs$(LIBEXT)
+	$(Q) install syscall\libstubs$(LIBEXT) lib\libstubs$(LIBEXT)
+
+# Possible user-mode builds
+
+libc\libuc$(LIBEXT): context
+	$(Q) $(MAKE) -C libc TOPDIR="$(TOPDIR)" libuc$(LIBEXT)
+
+lib\libuc$(LIBEXT): libc\libuc$(LIBEXT)
+	$(Q) install libc\libuc$(LIBEXT) lib\libuc$(LIBEXT)
+
+libxx\libcxx$(LIBEXT): context
+	$(Q) $(MAKE) -C libxx TOPDIR="$(TOPDIR)" libcxx$(LIBEXT)
+
+lib\libcxx$(LIBEXT): libxx\libcxx$(LIBEXT)
+	$(Q) install libxx\libcxx$(LIBEXT) lib\libcxx$(LIBEXT)
+
+mm\libmm$(LIBEXT): context
+	$(Q) $(MAKE) -C mm TOPDIR="$(TOPDIR)" libmm$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+lib\libmm$(LIBEXT): mm\libmm$(LIBEXT)
+	$(Q) install mm\libmm$(LIBEXT) lib\libmm$(LIBEXT)
+
+$(APPDIR)\libapps$(LIBEXT): context
+	$(Q) $(MAKE) -C $(APPDIR) TOPDIR="$(TOPDIR)" libapps$(LIBEXT)
+
+lib\libapps$(LIBEXT): $(APPDIR)\libapps$(LIBEXT)
+	$(Q) install $(APPDIR)\libapps$(LIBEXT) lib\libapps$(LIBEXT)
+
+syscall\libproxies$(LIBEXT): context
+	$(Q) $(MAKE) -C syscall TOPDIR="$(TOPDIR)" libproxies$(LIBEXT)
+
+lib\libproxies$(LIBEXT): syscall\libproxies$(LIBEXT)
+	$(Q) install syscall\libproxies$(LIBEXT) lib\libproxies$(LIBEXT)
+
+# Possible non-kernel builds
+
+libc\libc$(LIBEXT): context
+	$(Q) $(MAKE) -C libc TOPDIR="$(TOPDIR)" libc$(LIBEXT)
+
+lib\libc$(LIBEXT): libc\libc$(LIBEXT)
+	$(Q) install libc\libc$(LIBEXT) lib\libc$(LIBEXT)
+
+# pass1 and pass2
+#
+# If the 2 pass build option is selected, then this pass1 target is
+# configured to built before the pass2 target.  This pass1 target may, as an
+# example, build an extra link object (CONFIG_PASS1_OBJECT) which may be an
+# incremental (relative) link object, but could be a static library (archive);
+# some modification to this Makefile would be required if CONFIG_PASS1_OBJECT
+# is an archive.  Exactly what is performed during pass1 or what it generates
+# is unknown to this makefule unless CONFIG_PASS1_OBJECT is defined.
+
+pass1deps: pass1dep $(USERLIBS)
+
+pass1: pass1deps
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	$(Q) if [ -z "$(CONFIG_PASS1_BUILDIR)" ]; then \
+		echo "ERROR: CONFIG_PASS1_BUILDIR not defined"; \
+		exit 1; \
+	fi
+	$(Q) if [ ! -d "$(CONFIG_PASS1_BUILDIR)" ]; then \
+		echo "ERROR: CONFIG_PASS1_BUILDIR does not exist"; \
+		exit 1; \
+	fi
+	$(Q) if [ ! -f "$(CONFIG_PASS1_BUILDIR)\Makefile" ]; then \
+		echo "ERROR: No Makefile in CONFIG_PASS1_BUILDIR"; \
+		exit 1; \
+	fi
+	$(Q) $(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" LINKLIBS="$(LINKLIBS)" USERLIBS="$(USERLIBS)" "$(CONFIG_PASS1_TARGET)"
+endif
+
+pass2deps: pass2dep $(NUTTXLIBS)
+
+pass2: pass2deps
+	$(Q) $(MAKE) -C $(ARCH_SRC) TOPDIR="$(TOPDIR)" EXTRA_OBJS="$(EXTRA_OBJS)" LINKLIBS="$(LINKLIBS)" EXTRADEFINES=$(KDEFINE) $(BIN)
+ifeq ($(CONFIG_RRLOAD_BINARY),y)
+	@echo "MK: $(BIN).rr"
+	$(Q) $(TOPDIR)\tools\mkimage.sh --Prefix $(CROSSDEV) $(BIN) $(BIN).rr
+endif
+ifeq ($(CONFIG_INTELHEX_BINARY),y)
+	@echo "CP: $(BIN).hex"
+	$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O ihex $(BIN) $(BIN).hex
+endif
+ifeq ($(CONFIG_MOTOROLA_SREC),y)
+	@echo "CP: $(BIN).srec"
+	$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O srec $(BIN) $(BIN).srec
+endif
+ifeq ($(CONFIG_RAW_BINARY),y)
+	@echo "CP: $(BIN).bin"
+	$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O binary $(BIN) $(BIN).bin
+endif
+
+# $(BIN)
+#
+# Create the final NuttX executable in a two pass build process.  In the
+# normal case, all pass1 and pass2 dependencies are created then pass1
+# and pass2 targets are built.  However, in some cases, you may need to build
+# pass1 depenencies and pass1 first, then build pass2 dependencies and pass2.
+# in that case, execute 'make pass1 pass2' from the command line.
+
+$(BIN): pass1deps pass2deps pass1 pass2
+
+# download
+#
+# This is a helper target that will rebuild NuttX and download it to the target
+# system in one step.  The operation of this target depends completely upon
+# implementation of the DOWNLOAD command in the user Make.defs file.  It will
+# generate an error an error if the DOWNLOAD command is not defined.
+
+download: $(BIN)
+	$(call DOWNLOAD, $<)
+
+# pass1dep: Create pass1 build dependencies
+# pass2dep: Create pass2 build dependencies
+
+pass1dep: context tools\mkdeps$(HOSTEXEEXT)
+	$(Q) for %%G in ($(USERDEPDIRS)) do ( $(MAKE) -C %%G TOPDIR="$(TOPDIR)" depend )
+
+pass2dep: context tools\mkdeps$(HOSTEXEEXT)
+	$(Q) for %%G in ($(KERNDEPDIRS)) do ( $(MAKE) -C %%G TOPDIR="$(TOPDIR)" EXTRADEFINES=$(KDEFINE) depend )
+
+# Configuration targets
+#
+# These targets depend on the kconfig-frontends packages.  To use these, you
+# must first download and install the kconfig-frontends package from this
+# location: http://ymorin.is-a-geek.org/projects/kconfig-frontends.  See
+# misc\tools\README.txt for additional information.
+
+config:
+	$(Q) APPSDIR=${CONFIG_APPS_DIR} conf Kconfig
+
+oldconfig:
+	$(Q) APPSDIR=${CONFIG_APPS_DIR} conf --oldconfig Kconfig
+
+menuconfig:
+	$(Q) APPSDIR=${CONFIG_APPS_DIR} mconf Kconfig
+
+# export
+#
+# The export target will package the NuttX libraries and header files into
+# an exportable package.  Caveats: (1) These needs some extension for the KERNEL
+# build; it needs to receive USERLIBS and create a libuser.a). (2) The logic
+# in tools\mkexport.sh only supports GCC and, for example, explicitly assumes
+# that the archiver is 'ar'
+
+export: pass2deps
+	$(Q) tools\mkexport.sh -w$(WINTOOL) -t "$(TOPDIR)" -l "$(NUTTXLIBS)"
+
+# General housekeeping targets:  dependencies, cleaning, etc.
+#
+# depend:    Create both PASS1 and PASS2 dependencies
+# clean:     Removes derived object files, archives, executables, and
+#            temporary files, but retains the configuration and context
+#            files and directories.
+# distclean: Does 'clean' then also removes all configuration and context
+#            files.  This essentially restores the directory structure
+#            to its original, unconfigured stated.
+
+depend: pass1dep pass2dep
+
+subdir_clean:
+	$(Q) for %%G in ($(CLEANDIRS)) do ( if exist %%G\Makefile $(MAKE) -C %%G TOPDIR="$(TOPDIR)" clean )
+	$(Q) $(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)" clean
+	$(Q) $(MAKE) -C mm -f Makefile.test TOPDIR="$(TOPDIR)" clean
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	$(Q) $(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" clean
+endif
+
+clean: subdir_clean
+	$(call DELFILE, $(BIN))
+	$(call DELFILE, nuttx.*)
+	$(call DELFILE, mm_test)
+	$(call DELFILE, *.map)
+	$(call DELFILE, _SAVED_APPS_config)
+	$(call DELFILE, nuttx-export*)
+	$(call CLEAN)
+
+subdir_distclean:
+	$(Q) for %%G in ($(CLEANDIRS)) do ( if exist %%G\Makefile $(MAKE) -C %%G TOPDIR="$(TOPDIR)" distclean )
+
+distclean: clean subdir_distclean clean_context
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	$(Q) $(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" distclean
+endif
+	$(call DELFILE, Make.defs)
+	$(call DELFILE, setenv.sh)
+	$(call DELFILE, setenv.bat)
+	$(call DELFILE, .config)
+	$(call DELFILE, .config.old)
+
+# Application housekeeping targets.  The APPDIR variable refers to the user
+# application directory.  A sample apps\ directory is included with NuttX,
+# however, this is not treated as part of NuttX and may be replaced with a
+# different application directory.  For the most part, the application
+# directory is treated like any other build directory in this script.  However,
+# as a convenience, the following targets are included to support housekeeping
+# functions in the user application directory from the NuttX build directory.
+#
+# apps_clean:     Perform the clean operation only in the user application
+#                 directory
+# apps_distclean: Perform the distclean operation only in the user application
+#                 directory.  Note that the apps\.config file (inf any) is
+#                 preserved so that this is not a "full" distclean but more of a
+#                 configuration "reset." (There willnot be an apps\.config
+#                 file if the configuration was generated via make menuconfig).
+
+apps_clean:
+ifneq ($(APPDIR),)
+	$(Q) $(MAKE) -C "$(TOPDIR)\$(APPDIR)" TOPDIR="$(TOPDIR)" clean
+endif
+
+apps_distclean:
+ifneq ($(APPDIR),)
+	$(call DELFILE, _SAVED_APPS_config
+	$(Q) if exist "$(TOPDIR)\$(APPDIR)\.config" ( cp "$(TOPDIR)\$(APPDIR)\.config" _SAVED_APPS_config )
+	$(Q) $(MAKE) -C "$(TOPDIR)\$(APPDIR)" TOPDIR="$(TOPDIR)" distclean
+	$(Q) if exist _SAVED_APPS_config ( mv _SAVED_APPS_config "$(TOPDIR)\$(APPDIR)\.config" )
+endif
+
diff --git a/nuttx/README.txt b/nuttx/README.txt
index d60da2d88..b9210277e 100644
--- a/nuttx/README.txt
+++ b/nuttx/README.txt
@@ -18,6 +18,8 @@ README
     - Building
     - Re-building 
     - Build Targets and Options
+    - Native Windows Build
+    - Installing GNUWin32
   o Cygwin Build Problems
     - Strange Path Problems
     - Window Native Toolchain Issues
@@ -154,9 +156,15 @@ Notes about Header Files
 
     Even though you should not use a foreign C-Library, you may still need
     to use other, external libraries with NuttX.  In particular, you may
-    need to use the math library, libm.a.  The math libary header file,
-    math.h, is a special case.  If you do nothing, the standard math.h
-    header file that is provided with your toolchain will be used.
+    need to use the math library, libm.a.  NuttX supports a generic, built-in
+    math library that can be enabled using CONFIG_LIBM=y.  However, you may
+    still want to use a higher performance external math library that has
+    been tuned for your CPU.  Sometimes such such tuned math libraries are
+    bundled with your toolchain.
+
+    The math libary header file, math.h, is a then special case.  If you do
+    nothing, the standard math.h header file that is provided with your
+    toolchain will be used.
 
     If you have a custom, architecture specific math.h header file, then
     that header file should be placed at arch/<cpu>/include/math.h.  There
@@ -171,6 +179,16 @@ Notes about Header Files
     than to include that archicture-specific math.h header file as the
     system math.h header file.
 
+  float.h
+
+    If you enable the generic, built-in math library, then that math library
+    will expect your toolchain to provide the standard float.h header file.
+    The float.h header file defines the properties of your floating point
+    implementation.  It would always be best to use your toolchain's float.h
+    header file but if none is avaiable, a default float.h header file will
+    provided if this option is selected.  However, there is no assurance that
+    the settings in this float.h are actually correct for your platform!
+
   stdarg.h
 
     In most cases, the correct version of stdarg.h is the version provided with your toolchain.  However, sometimes there are issues with with using your toolchains stdarg.h.  For example, it may attempt to draw in header files that do not exist in NuttX or perhaps the header files that is uses are not compatible with the NuttX header files.  In those cases, you can use an architecture-specific stdarg.h header file by defining CONFIG_ARCH_STDARG_H=y.
@@ -189,7 +207,8 @@ Instantiating "Canned" Configurations
 
 Where <board-name> is the name of your development board and <config-dir>.
 Configuring NuttX requires only copying three files from the <config-dir>
-to the directly where you installed NuttX (TOPDIR):
+to the directory where you installed NuttX (TOPDIR) (and sometimes one
+additional file to the directory the NuttX application package (APPSDIR)):
 
   Copy configs/<board-name>/<config-dir>/Make.def to ${TOPDIR}/Make.defs
 
@@ -211,6 +230,14 @@ to the directly where you installed NuttX (TOPDIR):
     included in the build and what is not.  This file is also used
     to generate a C configuration header at include/nuttx/config.h.
 
+  Copy configs/<board-name>/<config-dir>/appconfig to ${APPSDIR}/.config
+
+    The appconfig file describes the applications that need to be
+    built in the appliction directory (APPSDIR).  Not all configurations
+    have an appconfig file.  This file is deprecated and will not be
+    used with new defconfig files produced with the mconf configuration
+    tool.
+
 General information about configuring NuttX can be found in:
 
   ${TOPDIR}/configs/README.txt
@@ -468,6 +495,97 @@ Build Targets and Options
     useful when adding new boards or tracking down compile time errors and
     warnings (Contributed by Richard Cochran).
 
+Native Windows Build
+--------------------
+
+  The beginnings of a Windows native build are in place but still not full
+  usable as of this writing.  The windows native build logic initiatiated
+  if CONFIG_WINDOWS_NATIVE=y is defined in the NuttX configuration file:
+
+  This build:
+
+    - Uses all Windows style paths
+    - Uses primarily Windows batch commands from cmd.exe, with
+    - A few extensions from GNUWin32
+
+  In this build, you cannot use a Cygwin or MSYS shell. Rather the build must
+  be performed in a Windows CMD shell. Here is a better shell than than the
+  standard issue, CMD shell:  ConEmu which can be downloaded from:
+  http://code.google.com/p/conemu-maximus5/
+
+  Build Tools.  The build still relies on some Unix-like commands.  I use
+  the GNUWin32 tools that can be downloaded from http://gnuwin32.sourceforge.net/.
+
+  Host Compiler:  I use the MingGW compiler which can be downloaded from
+  http://www.mingw.org/.  If you are using GNUWin32, then it is recommended
+  the you not install the optional MSYS components as there may be conflicts.
+
+Installing GNUWin32
+-------------------
+
+The Windows native build will depend upon a few Unix-like tools that can be
+provided either by MSYS or GNUWin32.  The GNUWin32 are available from
+http://gnuwin32.sourceforge.net/.  GNUWin32 provides ports of tools with a
+GPL or similar open source license to modern MS-Windows (Microsoft Windows
+2000 / XP / 2003 / Vista / 2008 / 7).  See
+http://gnuwin32.sourceforge.net/packages.html for a list of all of the tools
+available in the GNUWin32 package.
+
+The SourceForge project is located here:
+http://sourceforge.net/projects/gnuwin32/.  The project is still being
+actively supported (although some of the Windows ports have gotten very old).
+
+Some commercial toolchains include a subset of the GNUWin32 tools in the
+installation.  My recommendation is that you download the GNUWin32 tools
+directly from the sourceforge.net website so that you will know what you are
+using and can reproduce your build environment.
+
+GNUWin32 Installation Steps:
+
+The following steps will download and execute the GNUWin32 installer.
+
+1. Download GetGNUWin32-x.x.x.exe from
+   http://sourceforge.net/projects/getgnuwin32/files/.  This is the
+   installer.  The current version as of this writing is 0.6.3.
+
+2. Run the installer.
+
+3. Accept the license.
+
+4. Select the installation directory.  My recommendation is the
+   directory that contains this README file (<this-directory>).
+
+5. After running GetGNUWin32-0.x.x.exe, you will have a new directory
+   <this-directory>/GetGNUWin32
+
+Note the the GNUWin32 installer didn't install GNUWin32.  Instead, it
+installed another, smarter downloader.  That downloader is the GNUWin32
+package management tool developed by the Open SSL project.
+
+The following steps probably should be performed from inside a DOS shell.
+
+6. Change to the directory created by GetGNUWin32-x.x.x.exe
+
+  cd GetGNUWin32
+
+7. Execute the download.bat script.  The download.bat script will download
+   about 446 packages!  Enough to have a very complete Linux-like environment
+   under the DOS shell.  This will take awhile.  This step only downloads
+   the packages and the next step will install the packages.
+
+   download
+
+8. This step will install the downloaded packages.  The argument of the
+   install.bat script is the installation location.  C:\gnuwin32 is the
+   standard install location:
+
+   install C:\gnuwin32
+
+NOTE:  This installation step will install *all* GNUWin32 packages... far
+more than you will ever need.  If disc space is a problem for you, you might
+need to perform a manual installation of the individual ZIP files that you
+will find in the <this directory>/GetGNUWin32/packages directory.
+
 CYGWIN BUILD PROBLEMS
 ^^^^^^^^^^^^^^^^^^^^^
 
@@ -523,18 +641,16 @@ Window Native Toolchain Issues
      is not a long as you might think because there is no dependency checking
      if you are using a native Windows toolchain.  That bring us to #3:
 
-  3. Dependencies are not made when using Windows versions of the GCC.  This is
-     because the dependencies are generated using Windows pathes which do not
-     work with the Cygwin make.
+  3. Dependencies are not made when using Windows versions of the GCC on a POSIX
+     platform (i.e., Cygwin).  This is because the dependencies are generated
+     using Windows paths which do not work with the Cygwin make.
 
-     Support has been added for making dependencies with the windows-native toolchains.
-     That support can be enabled by modifying your Make.defs file as follows:
+       MKDEP                = $(TOPDIR)/tools/mknulldeps.sh
 
-    -  MKDEP                = $(TOPDIR)/tools/mknulldeps.sh
-    +  MKDEP                = $(TOPDIR)/tools/mkdeps.sh --winpaths "$(TOPDIR)"
+     If you are building natively on Windows, then no such conflict exists
+     and the best selection is:
 
-     If you have problems with the dependency build (for example, if you are not
-     building on C:), then you may need to modify tools/mkdeps.sh
+       MKDEP                = $(TOPDIR)/tools/mkdeps.exe 
 
 General Pre-built Toolchain Issues
 
@@ -629,7 +745,8 @@ nuttx
  |   |       `-README.txt
  |   `- z80/
  |   |   `- src/
- |   |       `- z80/README.txt
+ |   |       |- z80/README.txt
+ |   |       `- z180/README.txt, z180_mmu.txt
  |   `- README.txt
  |- configs/
  |   |- amber/
@@ -728,6 +845,8 @@ nuttx
  |   |   |- include/README.txt
  |   |   |- src/README.txt
  |   |   `- README.txt
+ |   |- p112/
+ |   |   `- README.txt
  |   |- pcblogic-pic32mx/
  |   |   `- README.txt
  |   |- pic32-starterkit/
@@ -765,6 +884,8 @@ nuttx
  |   |   `- README.txt
  |   |- stm3240g-eval/
  |   |   `- README.txt
+ |   |- stm32f100rc_generic/
+ |   |   `- README.txt
  |   |- stm32f4discovery/
  |   |   `- README.txt
  |   |- sure-pic32mx/
@@ -817,6 +938,8 @@ nuttx
  |   `- README.txt
  |- lib/
  |   `- README.txt
+ |- libc/
+ |   `- README.txt
  |- libxx/
  |   `- README.txt
  |- mm/
@@ -828,6 +951,7 @@ nuttx
 
 apps
  |- examples/
+ |   |- json/README.txt
  |   |- pashello/README.txt
  |   `- README.txt
  |- graphics/
@@ -843,6 +967,8 @@ apps
  |   |  `- README.txt
  |   |- ftpc
  |   |  `- README.txt
+ |   |- json
+ |   |  `- README.txt
  |   |- telnetd
  |   |  `- README.txt
  |   `- README.txt
@@ -864,3 +990,12 @@ apps
  |   `- sysinfo
  |      `- README.txt
  `- README.txt
+
+ NxWidgets
+ |- Doxygen
+ |   `- README.txt
+ |- tools
+ |   `- README.txt
+ |- UnitTests
+ |   `- README.txt
+ `- README.txt
diff --git a/nuttx/ReleaseNotes b/nuttx/ReleaseNotes
index b1d5f6064..02cb8158d 100644
--- a/nuttx/ReleaseNotes
+++ b/nuttx/ReleaseNotes
@@ -3171,3 +3171,272 @@ Bugfixes (see the change log for details).  Some of these are very important
       Vainish). Fix some field-width handling issues in sscanf()
 
 As well as other, less critical bugs (see the ChangeLog for details)
+
+NuttX-6.23
+^^^^^^^^^^
+
+The 90th release of NuttX, Version 6.23, was made on November 5, 2012,
+and is available for download from the SourceForge website.  Note
+that release consists of two tarballs:  nuttx-6.23.tar.gz and
+apps-6.23.tar.gz.  Both may be needed (see the top-level nuttx/README.txt
+file for build information).
+
+This release corresponds with SVN release number: r5313
+
+Note that all SVN information has been stripped from the tarballs.  If you
+need the SVN configuration, you should check out directly from SVN.  Revision
+r5313 should equivalent to release 6.23 of NuttX 6.23:
+
+    svn checkout -r5313 svn://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+
+Or
+
+    svn checkout -r5313 http://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+
+Additional new features and extended functionality:
+
+    * RTOS:  If both atexit() and on_exit() are enabled, use on_exit() to
+      implement atexit().  Updates for RGMP 4.0.
+
+    * Binfmt:  Add support for loading and executing ELF binary modules from
+      a file system.
+
+    * Drivers:  Maxim MAX11802 touchscreen controller (Petteri Aimonen)
+
+    * STM32 Driver:  Implementation of /dev/random using the STM32 Random Number
+      Generator (RNG).
+
+    * STM32 Boards:  ADC support for the Shenzhou IV board.  Relay support for
+      the Shenzhou IV board.
+
+    * C Library:  Support is now included for the add-on uClibc++ C++
+      standard library support.  This includes support for iostreams, strings,
+      STL, RTTI, exceptions -- the complete C++ environment.  (uClibc++ is
+      provided as a separate add-on package due to licensing issues).
+
+      Optimized generic and ARM-specific memcpy() function.  Optimized
+      memset() function.
+
+      Add support for ferror(), feof(), and clearerror().   Add support for
+      __cxa_atexit().
+ 
+      Math Library:  Port of the math library from Rhombus OS by Nick Johnson
+      (Darcy Gong).
+
+    * Applications: New NSH commands:  ifup, ifdown, urlencode, urldecode,
+      base64enc, bas64dec, md5 (Darcy Gong).  Add support for NSH telnet login
+      (Darcy Gong).  Enancements to NSH ping command to support pinging hosts
+      with very long round-trip times.  Extensions to the ifconfig command 
+      Darcy Gong),
+      
+      Many extensions to the webclient/wget and DNS resolver logic from Darcy
+      Gong.  JSON, Base64, URL encoding, and MD5 libraries contributed by Darcy
+      Gong.
+
+      New examples: ELF loader, JSON, wgetjson, cxxtest, relays.
+
+Bugfixes (see the change log for details).  Some of these are very important
+(marked *critical*):
+
+    * Drivers: W25 SPI FLASH
+
+    * STM32 Drivers: ADC reset
+
+    * Graphics: Missing implementation of the blocked method (*critical*,
+      Petteri Aimonen).
+
+    * C Library: Floating point numbers in printf and related formatting functions
+     (Mike Smith), cf[get|set]speed() (Mike Smith)
+
+As well as other, less critical bugs (see the ChangeLog for details)
+
+NuttX-6.24
+^^^^^^^^^^
+
+The 91st release of NuttX, Version 6.24, was made on December 20, 2012,
+and is available for download from the SourceForge website.  Note
+that release consists of two tarballs:  nuttx-6.24.tar.gz and
+apps-6.24.tar.gz.  Both may be needed (see the top-level nuttx/README.txt
+file for build information).
+
+This release corresponds with SVN release number: r5447
+
+Note that all SVN information has been stripped from the tarballs.  If you
+need the SVN configuration information, you should check out directly from
+SVN.  Revision r5447 should equivalent to release 6.24 of NuttX 6.24:
+
+    svn checkout -r5447 svn://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+
+Or (HTTP):
+
+    svn checkout -r5447 http://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+
+Additional new features and extended functionality:
+
+  * RTOS:
+
+    - Implemented the POSIX pause() function (still has some compiance
+      issues).
+    - Tasking logic is extended to support the notion of address
+      environments.  An address environment is the key notion underlying
+      "process" vs. tasks.  If tasks are created with address environments
+      (by binfmt), the OS will propogate that environment to child threads
+      and will destroy the address environment when the "process" exists.
+    - If support for the PATH variable is enabled, the OS start up logic
+      will create an initial environment containing the default PATH
+      setting (CONFIG_PATH_INITIAL).  This initial PATH will then be
+      inherited by all tasks.
+
+  * Binfmt
+
+    - The NuttX binary loaders have been updated to support the PATH
+      environment variable.  Now, if the PATH is properly defined, programs
+      can be executed from mass storage using only the file name.  This
+      feature is added to support more standard behavior (eventually, NSH
+      will support execution of programs in file systems by just entering
+      the file name, perhaps in 6.25?).
+    - The NXFLAT and ELF binary loaders have been extended to create
+      address environments for any new tasks executed from the file system.
+      This feature requires that the architecture support a memory management
+      unit (MMU) and the address environment interfaces declared in
+      include/nuttx/arch.h (currently, this is only supported by the z180).
+
+    * Drivers: LCD driver for the Univision UG-2864AMBAG01 OLED
+
+    * STM32: Support for STM32F100 high density chips contributed by Freddie
+      Chopin.
+
+    * STM32 Drivers:  Added optional RS-485 direction bit control (from
+      Freddie Chopin).
+
+    * STM32 Boards:
+
+      - Support for generic STM32F100RC board contributed by Freddie Chopin.
+      - stm32f4discovery/nxlines: STM32F4Discovery support for the
+        UG-2864AMBAG01 OLED.
+      - stm32f4discovery/winbuild:  A version of the NuttX OS test
+        configured to build natively on Windows.
+      - stm32f4discovery/elf: Now uses the PATH variable to find ELF
+        executables.
+      - configs/cloudctrl: Added for Darcy Gong's CloudController board
+
+    * PIC32 Boards: Update the Mirtool configuration for Release 2 of the
+      Mirtoo module.
+
+    * Calypso: Add Calypso keypad driver.  From Denis Cariki.
+
+    * ZiLOG:
+
+      - Add support for the z180 chip family and, specifically, for
+        the P112 retro hardware (see http://p112.feedle.net/).
+      - All ZiLOG configurations updated to use the current ZDS-II
+        and/or SDCC toolchains.
+
+    * Graphics:
+
+      - Add a semaphore handshake so that operations on buffers from
+        the NXMU client will be blocked until the NX server operates on the
+        buffer data (from Petteri Aimonen).
+      - nxtk_subwindowmove() and nxtk_getwindow(): Improvements to clipping
+        logic from Petteri Aimonen.
+
+    * C Library: lib/ sub-directory renamed libc/ (there is a new lib/ sub-
+      directory that is used to hold all archives).
+
+    * C++: Exception stubs from Petteri Aimonen.
+
+    * Applications:
+
+      - Add NSH hexdump command to dump the contents of a file (or character
+        device) to the console (contributed by Petteri Aimonen).
+      - Extend the NSH ifconfig command plus various DHCPC improvements
+        (from Darcy Gong).
+
+    * apps/examples:
+
+      - ostest: Replace large tables with algorithmic prime number
+        generation.  This allows the roundrobin test to run on platforms
+        with minimal SRAM (Freddie Chopin).
+      - keypadtest:  A new keypad test example contributed by Denis Carikli.
+      - elf and nxflat:  If CONFIG_BINFMT_EXEPATH is defined, these examples
+        will now use a relative path to the program and expect the binfmt/
+        logic to find the absolute path to the program using the PATH
+        variable.
+
+    * Build system:
+
+      - New top-level Makefiles: Makefile.unix and Makefile.win (along with
+        numerous changes to other make-related files).  This adds basic
+        support for building NuttX natively under Windows from a CMD.exe
+        window (rather than in a POSIX-like environment). This build: (1)
+        Uses all Windows style paths, (2) Uses primarily Windows batch
+        commands from cmd.exe, with (3) a few extensions from GNUWin32.
+
+        This capability 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 (like a function configure.sh script and
+        'make menuconfig' support).
+
+      - Example Windows native builds for STM32F4Discovery, eZ80, z16f, z8,
+        Z80, and Z180.
+      - Several configurations have been converted to work the kconfig-
+        frontends mconf configuration tool: stm32f4discovery/nxlines, and
+        all eZ80, z16f, z8, Z80, and Z180 configurations.
+      - Architectures now include a common Toolchain.defs file that can be
+        used to manage toolchains in a more configurable way (most of this
+        contributed by Mike Smith).
+
+    * Build tools: 
+
+      - Renamed tools/winlink.sh to tools/copydir.sh.
+      - Several new tools/scripts to support the Windows native build:
+        tools/mkdeps.bat, tools/mkdeps.c, tools/link.bat, unlink.bat, and
+        copydir.bat.
+      - tools/incdir.sh and incdir.bat now support an -s option to generate
+        system header file paths.
+      - tools/b16.c: Fixed precision math conversion utility.
+
+Bugfixes (see the change log for details).  Some of these are very important
+(marked *critical*):
+
+    * RTOS: Fix some backward conditional compilation in the work queue
+      logic (Freddie Chopin).
+
+    * File System: Uninitialized variable caused assertions (from Lorenz
+      Meier).
+
+    * Drivers: Partial fix for STM32 OTGFS device drivers and fix for short,
+      unaligned writes in the flash translation layer (drivers/mtd/ftl.c),
+      both from Petteri Aimonen.
+
+    * STM32 Drivers:
+
+      - Qencoder driver and TIM3 driver fixes from Ryan Sundberg.
+      - Fix timeout delay calculation in the STM32 OTG FS host driver.
+
+    * LPC17xx Drivers:  Resources not being properly released when I2C
+      driver is un-initialized.
+
+    * Graphics:
+
+      - Fix logic when the mouse drags outside of the window; fix
+        another "blocked message" handling case (both from Petteri Aimonen).
+      - nxtk_filltrapwindow():  Correct an offset problem (also from Peterri
+        Aimonen).
+      - nxglib_splitline():  Correct the "fat flat line" bug.
+
+    * C Library:
+
+      - nrand() changes to prevent coefficients from becoming zero which
+        would "lock up" the random number generate.
+      - Add rounding functions to the math library (contributed by Petteri
+        Aimonen).
+
+    * Build system:  Changes to MIN definitions in all limit.h header files
+      to avoid integer overflows.  For example from (-128) to (-127 - 1)
+      (from Petteri Aimonen).
+
+    * Applications: Modbus fixes from Freddie Chopin.
+
+As well as other, less critical bugs (see the ChangeLog for details)
diff --git a/nuttx/TODO b/nuttx/TODO
index 906601192..8e353a956 100644
--- a/nuttx/TODO
+++ b/nuttx/TODO
@@ -1,4 +1,4 @@
-NuttX TODO List (Last updated September 16, 2012)
+NuttX TODO List (Last updated November 25, 2012)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This file summarizes known NuttX bugs, limitations, inconsistencies with 
@@ -20,7 +20,7 @@ nuttx/
   (5)  Graphics subystem (graphics/)
   (1)  Pascal add-on (pcode/)
   (1)  Documentation (Documentation/)
-  (6)  Build system / Toolchains
+  (8)  Build system / Toolchains
   (5)  Linux/Cywgin simulation (arch/sim)
   (6)  ARM (arch/arm/)
   (1)  ARM/C5471 (arch/arm/src/c5471/)
@@ -35,12 +35,12 @@ nuttx/
   (7)  ARM/STM32 (arch/arm/src/stm32/)
   (3)  AVR (arch/avr)
   (0)  Intel x86 (arch/x86)
-  (4)  8051 / MCS51 (arch/8051/)
+  (5)  8051 / MCS51 (arch/8051/)
   (3)  MIPS/PIC32 (arch/mips)
   (1)  Hitachi/Renesas SH-1 (arch/sh/src/sh1)
   (4)  Renesas M16C/26 (arch/sh/src/m16c)
  (10)  z80/z8/ez80 (arch/z80/)
-  (8)  z16 (arch/z16/)
+  (9)  z16 (arch/z16/)
   (1)  mc68hc1x (arch/hc)
 
 apps/
@@ -890,23 +890,30 @@ o Build system
   Description: Need a NuttX configuration tool.  The number of configuration
                settings has become quite large and difficult to manage manually.
                Update:  This task is essentially completed.  But probably not for
-               all platforms and all features.  When do we know that the the
-               features is complete and that we can switch to exclusive use of
-               the tool?
+               all platforms and all features.  When do we know that the feature
+               is complete and that we can switch to exclusive use of the tool?
   Status:      Open
   Priority:    Medium-low
 
   Title:       NATIVE WINDOWS BUILD
-  Description: At present, NuttX builds only under Linux or Cygwin.
-               Investigate the possibility of a native Windows build using
-               something like the GNUWin32 tools (coreutils+make+grep+sed+uname).
+  Description: This effort is underway using MinGW-GCC and GNUWin32 tools
+               for (coreutils+make+grep+sed+uname).  Current status:
+
+               1. configs/stm32f4discovery/winbuild - builds okay natively
+               2. configs/ez80f910200kitg - Can be reconfigured to build natively.
+                  Requires some manual intervention to get a clean build.
+                  See configs/ez80f910200kitg/README.txt.
+
   Status:      Open
   Priority:    Low
 
   Title:       WINDOWS DEPENDENCY GENERATION
   Description: Dependency generation is currently disabled when a Windows native
-               toolchain is used.  I think that the only issue is that all of the
-               Windows dependencies needed to be quoted in the Make.dep files.
+               toolchain is used in a POSIX-like enviornment (like Cygwin).  The
+               issue is that the Windows tool generates dependencies use Windows
+               path formatting and this fails with the dependency file (Make.dep)
+               is include).  Perhaps the only issue is that all of the Windows
+               dependencies needed to be quoted in the Make.dep files.
   Status:      Open
   Priority:    Low -- unless some dependency-related build issues is discovered.
 
@@ -962,6 +969,48 @@ o Build system
   Priority:    Low -- the kernel build configuration is not fully fielded
                yet.
 
+  Title:       mconf NOT AVAILABLE IN NATIVE WINDOWS BUILD
+  Description: NuttX is migrating to the use of the kconfig-frontends mconf
+               tool for all configurations.  In NuttX 6.24, support for native
+               Windows builds was added.  However, the mconf tool does not
+               build to run natively under Windows.
+
+               Some effort was spent trying to get a clean mconf build under
+               Windows.  This is documented in the message thread beginning
+               here: http://tech.groups.yahoo.com/group/nuttx/message/2900.
+               The build was successfully completed using:  MinGW-GCC, MSYS,
+               additional Windows libraries, and additional MSYS libraries
+               (MSYS is a variant of Cygwin so, presumeably, Cygwin could
+               have been used as well).  However, on final testing, it was
+               found that there are problems with text and numeric entry:
+               http://tech.groups.yahoo.com/group/nuttx/message/2953.  This
+               was considered a show stopper and the changs were not checked
+               in.
+
+               Options:  (1) Use conf (not mconf).  confis the text-only
+               configuration tool, (2) fix mconf, (3) write another variant
+               of the configuration tool for windows, or (4) do all configuration
+               under Cygwin or MSYS.  I am doing (4) now, but this is very
+               awkward because I have to set the apps path to ../apps (vs
+               ..\apps) and CONFIG_WINDOWS_NATIVE=n for the 'make menuconfig'
+               to run error free under windows.  Very awkward!
+  Status:      Open, there are some workarounds, but none are good.
+  Priority:    High
+
+  Title:       configure.sh NOT AVAILABLE IN NATIVE WINDOWS BUILD
+  Description: configure.sh is a Bash script and cannot be used from a Windows
+               CMD.exe window.  I started a configure.bat script, but I do
+               not have the batch file programming skills to duplicate some
+               of the more complex operations.
+
+               I also considered adding a configure.c file that could be 
+               compiled and then executed by configure.bat (and configure.sh?).
+               But I have not gone down that path yet.
+
+               The current work-around is to configure under Cygwin.
+  Status:      Open
+  Priority:    High
+
 o Linux/Cywgin simulation (arch/sim)
   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
@@ -1507,6 +1556,16 @@ o 8051 / MCS51 (arch/8051/)
   Status:      Open
   Priority:    Low -- only because there as so many other issues with 8051
 
+  Title:       8051 BUILD BROKEN
+  Description: The last time I tried to build the pjrc-8051 configurtion using
+               the SDCC 3.2.1 toolchain (for Windows).  I got compilation
+               errors in sched/os_bringup.c.  It complained about type
+               mis-matches.  What I gather from Googling, this is a problem
+               with the --stack-auto option.  At any rate, this problem will
+               need to be fixed if you want to resurrect the 8051 NuttX port.
+ Status:       Open
+ Priority:     Low -- I don't think anyone uses the 8051 port.
+
 o MIPS/PIC32(arch/mips)
   ^^^^^^^^^^^^^^^^^^^^^
 
@@ -1835,9 +1894,17 @@ o z16 (arch/z16)
                Internal Error(0503) On line 2504 of "MMCSD\MMCSD_SDIO.C"
                    File <c3>, Args(562,46)
 
-  Status:     Open.  Recommended workaround: remove mmcsd_sdio.c from
-              drivers/mmcsd/Make.defs.  There is no SDIO support for the Z16 anyway
-  Priority:   Low
+  Status:      Open.  Recommended workaround: remove mmcsd_sdio.c from
+               drivers/mmcsd/Make.defs.  There is no SDIO support for the Z16 anyway
+  Priority:    Low
+
+  Title:       NATIVE BUILD PROBLEMS
+  Description: When last tested (ca.12/12), there were some missing .obj files in
+               arch/z16/src. A little additional TLC will be needed to get a
+               reliable Windows native build.  As of this writing, the Cygwin
+               based build has not been re-verified.
+  Status:      Open
+  Priority:    Low -- I don't think anyone uses the Z16 port.  
 
 o mc68hc1x (arch/hc)
   ^^^^^^^^^^^^^^^^^^
diff --git a/nuttx/arch/Kconfig b/nuttx/arch/Kconfig
index bbe99c17c..f19228143 100644
--- a/nuttx/arch/Kconfig
+++ b/nuttx/arch/Kconfig
@@ -9,6 +9,7 @@ choice
 
 config ARCH_8051
 	bool "8051"
+	select CUSTOM_STACK
 	---help---
 		Intel 8051 architectures and derivaties
 
@@ -111,12 +112,30 @@ config ARCH_DMA
 	bool
 	default n
 
+config ARCH_IRQPRIO
+	bool
+	default n
+
+config CUSTOM_STACK
+	bool
+	default n
+
+config ADDRENV
+	bool
+	default n
+
 config ARCH_STACKDUMP
 	bool "Dump stack on assertions"
 	default n
 	---help---
 		Enable to do stack dumps after assertions
 
+config ENDIAN_BIG
+	bool "Big Endian Architecture"
+	default n
+	---help---
+		Select if architecture operates using big-endian byte ordering.
+
 comment "Board Settings"
 
 config BOARD_LOOPSPERMSEC
diff --git a/nuttx/arch/arm/Kconfig b/nuttx/arch/arm/Kconfig
index 2a7ea10b5..4fce8efbf 100644
--- a/nuttx/arch/arm/Kconfig
+++ b/nuttx/arch/arm/Kconfig
@@ -4,6 +4,8 @@
 #
 
 if ARCH_ARM
+comment "ARM Options"
+
 choice
 	prompt "ARM chip selection"
 	default ARCH_CHIP_STM32
@@ -44,6 +46,7 @@ config ARCH_CHIP_KINETIS
 	bool "Freescale Kinetis"
 	select ARCH_CORTEXM4
 	select ARCH_HAVE_MPU
+	select ARCH_IRQPRIO
 	---help---
 		Freescale Kinetis Architectures (ARM Cortex-M4)
 
@@ -51,6 +54,7 @@ config ARCH_CHIP_LM3S
 	bool "TI Stellaris"
 	select ARCH_CORTEXM3
 	select ARCH_HAVE_MPU
+	select ARCH_IRQPRIO
 	---help---
 		TI Stellaris LMS3 architecutres (ARM Cortex-M3)
 
@@ -58,6 +62,7 @@ config ARCH_CHIP_LPC17XX
 	bool "NXP LPC17xx"
 	select ARCH_CORTEXM3
 	select ARCH_HAVE_MPU
+	select ARCH_IRQPRIO
 	---help---
 		NXP LPC17xx architectures (ARM Cortex-M3)
 
@@ -89,6 +94,7 @@ config ARCH_CHIP_LPC43XX
 	select ARCH_HAVE_CMNVECTOR
 	select ARMV7M_CMNVECTOR
 	select ARCH_HAVE_MPU
+	select ARCH_IRQPRIO
 	---help---
 		NPX LPC43XX architectures (ARM Cortex-M4).
 
@@ -96,6 +102,7 @@ config ARCH_CHIP_SAM3U
 	bool "Atmel AT91SAM3U"
 	select ARCH_CORTEXM3
 	select ARCH_HAVE_MPU
+	select ARCH_IRQPRIO
 	---help---
 		Atmel AT91SAM3U architectures (ARM Cortex-M3)
 
@@ -104,6 +111,7 @@ config ARCH_CHIP_STM32
 	select ARCH_HAVE_CMNVECTOR
 	select ARCH_HAVE_MPU
 	select ARCH_HAVE_I2CRESET
+	select ARCH_IRQPRIO
 	---help---
 		STMicro STM32 architectures (ARM Cortex-M3/4).
 
@@ -153,6 +161,9 @@ config ARCH_CHIP
 	default "stm32"		if ARCH_CHIP_STM32
 	default "str71x"	if ARCH_CHIP_STR71X
 
+config ARCH_HAVE_CMNVECTOR
+	bool
+
 config ARMV7M_CMNVECTOR
 	bool "Use common ARMv7-M vectors"
 	default n
@@ -217,12 +228,6 @@ config PAGING
 		If set =y in your configation file, this setting will enable the on-demand
 		paging feature as described in http://www.nuttx.org/NuttXDemandPaging.html.
 
-config ARCH_IRQPRIO
-	bool "Interrupt priority"
-	default y		if ARCH_CORTEXM3 || ARCH_CORTEXM4
-	---help---
-		Select if your board supports interrupt prioritization.
-
 config BOARD_LOOPSPERMSEC
 	int "Delay loops per millisecond"
 	default 5000
@@ -239,6 +244,21 @@ config ARCH_CALIBRATION
 		watch to measure the 100 second delay then adjust BOARD_LOOPSPERMSEC until
 		the delay actually is 100 seconds.
 
+config DEBUG_HARDFAULT
+	bool "Verbose Hard-Fault Debug"
+	default n
+	depends on DEBUG && (ARCH_CORTEXM3 || ARCH_CORTEXM4)
+	---help---
+		Enables verbose debug output when a hard fault is occurs.  This verbose
+		output is sometimes helpful when debugging difficult hard fault problems,
+		but may be more than you typcially want to see.
+
+if ARCH_CORTEXM3 || ARCH_CORTEXM4
+source arch/arm/src/armv7-m/Kconfig
+endif
+if ARCH_ARM7TDMI || ARCH_ARM926EJS
+source arch/arm/src/arm/Kconfig
+endif
 if ARCH_CHIP_C5471
 source arch/arm/src/c5471/Kconfig
 endif
diff --git a/nuttx/arch/arm/src/armv7-m/Toolchain.defs b/nuttx/arch/arm/src/armv7-m/Toolchain.defs
new file mode 100644
index 000000000..e214ce8bd
--- /dev/null
+++ b/nuttx/arch/arm/src/armv7-m/Toolchain.defs
@@ -0,0 +1,266 @@
+############################################################################
+# arch/arm/src/armv7-m/Toolchain.defs
+#
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+# Setup for the selected toolchain
+
+#
+# Handle old-style chip-specific toolchain names in the absence of
+# a new-style toolchain specification, force the selection of a single
+# toolchain and allow the selected toolchain to be overridden by a
+# command-line selection.
+#
+
+ifeq ($(filter y, \
+      $(CONFIG_LPC43_ATOLLIC_LITE) \
+      $(CONFIG_STM32_ATOLLIC_LITE) \
+      $(CONFIG_LPC43_ATOLLIC_PRO) \
+      $(CONFIG_STM32_ATOLLIC_PRO) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_ATOLLIC) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= ATOLLIC
+endif
+ifeq ($(filter y, \
+      $(CONFIG_KINETIS_BUILDROOT) \
+      $(CONFIG_LM3S_BUILDROOT) \
+      $(CONFIG_LPC17_BUILDROOT) \
+      $(CONFIG_LPC43_BUILDROOT) \
+      $(CONFIG_SAM3U_BUILDROOT) \
+      $(CONFIG_STM32_BUILDROOT) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= BUILDROOT
+endif
+ifeq ($(filter y, \
+      $(CONFIG_LPC17_CODEREDL) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_CODEREDL) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= CODEREDL
+endif
+ifeq ($(filter y, \
+      $(CONFIG_LPC17_CODEREDW) \
+      $(CONFIG_LPC43_CODEREDW) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_CODEREDW) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= CODEREDW
+endif
+ifeq ($(filter y, \
+      $(CONFIG_KINETIS_CODESOURCERYL) \
+      $(CONFIG_LM3S_CODESOURCERYL) \
+      $(CONFIG_LPC17_CODESOURCERYL) \
+      $(CONFIG_LPC43_CODESOURCERYL) \
+      $(CONFIG_SAM3U_CODESOURCERYL) \
+      $(CONFIG_STM32_CODESOURCERYL) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= CODESOURCERYL
+endif
+ifeq ($(filter y, \
+      $(CONFIG_KINETIS_CODESOURCERYW) \
+      $(CONFIG_LM3S_CODESOURCERYW) \
+      $(CONFIG_LPC17_CODESOURCERYW) \
+      $(CONFIG_LPC43_CODESOURCERYW) \
+      $(CONFIG_SAM3U_CODESOURCERYW) \
+      $(CONFIG_STM32_CODESOURCERYW) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYW) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= CODESOURCERYW
+endif
+ifeq ($(filter y, \
+      $(CONFIG_KINETIS_DEVKITARM) \
+      $(CONFIG_LM3S_DEVKITARM) \
+      $(CONFIG_LPC17_DEVKITARM) \
+      $(CONFIG_LPC43_DEVKITARM) \
+      $(CONFIG_SAM3U_DEVKITARM) \
+      $(CONFIG_STM32_DEVKITARM) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_DEVKITARM) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= DEVKITARM
+endif
+ifeq ($(filter y, \
+      $(CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= GNU_EABI
+endif
+ifeq ($(filter y, \
+      $(CONFIG_STM32_RAISONANCE) \
+      $(CONFIG_ARMV7M_TOOLCHAIN_RAISONANCE) \
+    ),y)
+  CONFIG_ARMV7M_TOOLCHAIN ?= RAISONANCE
+endif
+
+#
+# Supported toolchains
+#
+# TODO - It's likely that all of these toolchains now support the
+#        CortexM4.  Since they are all GCC-based, we could almost
+#        certainly simplify this further.
+#
+# Each toolchain definition should set:
+#
+#  CROSSDEV         The GNU toolchain triple (command prefix)
+#  ARCROSSDEV       If required, an alternative prefix used when 
+#                   invoking ar and nm.
+#  ARCHCPUFLAGS     CPU-specific flags selecting the instruction set
+#                   FPU options, etc.
+#  MAXOPTIMIZATION  The maximum optimization level that results in
+#                   reliable code generation.
+#
+
+# Atollic toolchain under Windows
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),ATOLLIC)
+  CROSSDEV = arm-atollic-eabi-
+  ARCROSSDEV = arm-atollic-eabi-
+  ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+    WINTOOL = y
+  endif
+  ifeq ($(CONFIG_ARCH_CORTEXM4),y)
+    ifeq ($(CONFIG_ARCH_FPU),y)
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
+    else
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfloat-abi=soft
+    endif
+  else ifeq ($(CONFIG_ARCH_CORTEXM3),y)
+    ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+  endif
+endif
+
+# NuttX buildroot under Linux or Cygwin
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),BUILDROOT)
+  # OABI
+  # CROSSDEV = arm-nuttx-elf-
+  # ARCROSSDEV = arm-nuttx-elf-
+  # ARCHCPUFLAGS = -mtune=cortex-m3 -march=armv7-m -mfloat-abi=soft
+  # EABI
+  CROSSDEV = arm-nuttx-eabi-
+  ARCROSSDEV = arm-nuttx-eabi-
+  ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+  MAXOPTIMIZATION = -Os
+endif
+
+# Code Red RedSuite under Linux
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),CODEREDL)
+  CROSSDEV = arm-none-eabi-
+  ARCROSSDEV = arm-none-eabi-
+  ifeq ($(CONFIG_ARCH_CORTEXM4),y)
+    ifeq ($(CONFIG_ARCH_FPU),y)
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
+    else
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfloat-abi=soft
+    endif
+  else ifeq ($(CONFIG_ARCH_CORTEXM3),y)
+    ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+  endif
+endif
+
+# Code Red RedSuite under Windows
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),CODEREDW)
+  CROSSDEV = arm-none-eabi-
+  ARCROSSDEV = arm-none-eabi-
+  ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+    WINTOOL = y
+  endif
+  ifeq ($(CONFIG_ARCH_CORTEXM4),y)
+    ifeq ($(CONFIG_ARCH_FPU),y)
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
+    else
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfloat-abi=soft
+    endif
+  else ifeq ($(CONFIG_ARCH_CORTEXM3),y)
+    ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+  endif
+endif
+
+# CodeSourcery under Linux
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),CODESOURCERYL)
+  CROSSDEV = arm-none-eabi-
+  ARCROSSDEV = arm-none-eabi-
+  ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+  MAXOPTIMIZATION = -O2
+endif
+
+# CodeSourcery under Windows
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),CODESOURCERYW)
+  CROSSDEV = arm-none-eabi-
+  ARCROSSDEV = arm-none-eabi-
+  ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+    WINTOOL = y
+  endif
+  ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+endif
+
+# devkitARM under Windows
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),DEVKITARM)
+  CROSSDEV = arm-eabi-
+  ARCROSSDEV = arm-eabi-
+  ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+    WINTOOL = y
+  endif
+  ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+endif
+
+# Generic GNU EABI toolchain on OS X, Linux or any typical Posix system
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),GNU_EABI)
+  CROSSDEV = arm-none-eabi-
+  ARCROSSDEV = arm-none-eabi-
+  MAXOPTIMIZATION = -O3
+  ifeq ($(CONFIG_ARCH_CORTEXM4),y)
+    ifeq ($(CONFIG_ARCH_FPU),y)
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
+    else
+      ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfloat-abi=soft
+    endif
+  else ifeq ($(CONFIG_ARCH_CORTEXM3),y)
+    ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+  endif
+endif  
+
+# Raisonance RIDE7 under Windows
+
+ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),RAISONANCE)
+  CROSSDEV = arm-none-eabi-
+  ARCROSSDEV = arm-none-eabi-
+  ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+    WINTOOL = y
+  endif
+  ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+endif
diff --git a/nuttx/arch/arm/src/armv7-m/up_exception.S b/nuttx/arch/arm/src/armv7-m/up_exception.S
index 31d8dbb0c..c9f216027 100644
--- a/nuttx/arch/arm/src/armv7-m/up_exception.S
+++ b/nuttx/arch/arm/src/armv7-m/up_exception.S
@@ -134,9 +134,9 @@ exception_common:
 
 #if CONFIG_ARCH_INTERRUPTSTACK > 3
 	ldr		sp, =g_intstackbase
-	push	r1						/* Save the MSP on the interrupt stack */
+	push	{r1}					/* Save the MSP on the interrupt stack */
 	bl		up_doirq				/* R0=IRQ, R1=register save area on stack */
-	pop		r1						/* Recover R1=main stack pointer */
+	pop		{r1}					/* Recover R1=main stack pointer */
 #else
 	msr	 msp, r1					/* We are using the main stack pointer */
 	bl		up_doirq				/* R0=IRQ, R1=register save area on stack */
diff --git a/nuttx/arch/arm/src/stm32/Kconfig b/nuttx/arch/arm/src/stm32/Kconfig
index 2f9100236..a1635f0a4 100644
--- a/nuttx/arch/arm/src/stm32/Kconfig
+++ b/nuttx/arch/arm/src/stm32/Kconfig
@@ -599,6 +599,15 @@ config STM32_ETH_REMAP
 
 endmenu
 
+config STM32_FLASH_PREFETCH
+	bool "Enable FLASH Pre-fetch"
+	depends on STM32_STM32F20XX || STM32_STM32F40XX
+	default n
+	---help---
+	Enable FLASH prefetch and F2 and F4 parts (FLASH pre-fetch is always enabled
+	on F1 parts).  Some early revisions of F4 parts do not support FLASH pre-fetch
+	properly and enabling this option may interfere with ADC accuracy.
+
 choice
 	prompt "JTAG Configuration"
 	default STM32_JTAG_DISABLE
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32_flash.h b/nuttx/arch/arm/src/stm32/chip/stm32_flash.h
index c2e440923..d6fcecc11 100644
--- a/nuttx/arch/arm/src/stm32/chip/stm32_flash.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32_flash.h
@@ -110,6 +110,7 @@
 #  define FLASH_ACR_HLFCYA          (1 << 3)                /* FLASH half cycle access */
 #  define FLASH_ACR_PRTFBE          (1 << 4)                /* FLASH prefetch enable */
 #elif defined(CONFIG_STM32_STM32F20XX) || defined(CONFIG_STM32_STM32F40XX)
+#  define FLASH_ACR_PRFTEN          (1 << 8)                /* FLASH prefetch enable */
 #  define FLASH_ACR_ICEN            (1 << 9)                /* Bit 9: Instruction cache enable */
 #  define FLASH_ACR_DCEN            (1 << 10)               /* Bit 10: Data cache enable */
 #  define FLASH_ACR_ICRST           (1 << 11)               /* Bit 11: Instruction cache reset */
diff --git a/nuttx/arch/arm/src/stm32/stm32_otgfshost.c b/nuttx/arch/arm/src/stm32/stm32_otgfshost.c
index 02b12ec87..80a9392dc 100644
--- a/nuttx/arch/arm/src/stm32/stm32_otgfshost.c
+++ b/nuttx/arch/arm/src/stm32/stm32_otgfshost.c
@@ -51,6 +51,7 @@
 
 #include <nuttx/arch.h>
 #include <nuttx/kmalloc.h>
+#include <nuttx/clock.h>
 #include <nuttx/usb/usb.h>
 #include <nuttx/usb/usbhost.h>
 
@@ -149,8 +150,8 @@
 
 #define STM32_READY_DELAY         200000 /* In loop counts */
 #define STM32_FLUSH_DELAY         200000 /* In loop counts */
-#define STM32_SETUP_DELAY         5000   /* In frames */
-#define STM32_DATANAK_DELAY       5000   /* In frames */
+#define STM32_SETUP_DELAY         (5000 / MSEC_PER_TICK) /* 5 seconds in system ticks */
+#define STM32_DATANAK_DELAY       (5000 / MSEC_PER_TICK) /* 5 seconds in system ticks */
 
 /* Ever-present MIN/MAX macros */
 
@@ -305,7 +306,9 @@ static void stm32_chan_wakeup(FAR struct stm32_usbhost_s *priv,
 /* Control/data transfer logic *************************************************/
 
 static void stm32_transfer_start(FAR struct stm32_usbhost_s *priv, int chidx);
+#if 0 /* Not used */
 static inline uint16_t stm32_getframe(void);
+#endif
 static int stm32_ctrl_sendsetup(FAR struct stm32_usbhost_s *priv,
                                 FAR const struct usb_ctrlreq_s *req);
 static int stm32_ctrl_senddata(FAR struct stm32_usbhost_s *priv,
@@ -1182,14 +1185,18 @@ static void stm32_transfer_start(FAR struct stm32_usbhost_s *priv, int chidx)
  * Name: stm32_getframe
  *
  * Description:
- *   Get the current frame number.
+ *   Get the current frame number.  The frame number (FRNUM) field increments
+ *   when a new SOF is transmitted on the USB, and is cleared to 0 when it
+ *   reaches 0x3fff.
  *
  *******************************************************************************/
 
+#if 0 /* Not used */
 static inline uint16_t stm32_getframe(void)
 {
   return (uint16_t)(stm32_getreg(STM32_OTGFS_HFNUM) & OTGFS_HFNUM_FRNUM_MASK);
 }
+#endif
 
 /*******************************************************************************
  * Name: stm32_ctrl_sendsetup
@@ -1203,14 +1210,14 @@ static int stm32_ctrl_sendsetup(FAR struct stm32_usbhost_s *priv,
                                 FAR const struct usb_ctrlreq_s *req)
 {
   FAR struct stm32_chan_s *chan;
-  uint16_t start;
-  uint16_t elapsed;
+  uint32_t start;
+  uint32_t elapsed;
   int ret;
 
   /* Loop while the device reports NAK (and a timeout is not exceeded */
 
   chan  = &priv->chan[priv->ep0out];
-  start = stm32_getframe();
+  start = clock_systimer();
 
   do
     {
@@ -1258,7 +1265,7 @@ static int stm32_ctrl_sendsetup(FAR struct stm32_usbhost_s *priv,
 
      /* Get the elapsed time (in frames) */
 
-     elapsed = stm32_getframe() - start;
+     elapsed = clock_systimer() - start;
     }
   while (elapsed < STM32_SETUP_DELAY);
 
@@ -1367,8 +1374,8 @@ static int stm32_in_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
                              FAR uint8_t *buffer, size_t buflen)
 {
   FAR struct stm32_chan_s *chan;
-  uint16_t start;
-  uint16_t elapsed;
+  uint32_t start;
+  uint32_t elapsed;
   int ret = OK;
 
   /* Loop until the transfer completes (i.e., buflen is decremented to zero)
@@ -1379,7 +1386,7 @@ static int stm32_in_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
   chan->buffer = buffer;
   chan->buflen = buflen;
 
-  start = stm32_getframe();
+  start = clock_systimer();
   while (chan->buflen > 0)
     {
       /* Set up for the wait BEFORE starting the transfer */
@@ -1447,7 +1454,7 @@ static int stm32_in_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
            * buffer pointer and buffer size will be unaltered.
            */
 
-          elapsed = stm32_getframe() - start;
+          elapsed = clock_systimer() - start;
           if (ret != -EAGAIN ||                       /* Not a NAK condition OR */
               elapsed >= STM32_DATANAK_DELAY ||       /* Timeout has elapsed OR */
               chan->buflen != buflen)                 /* Data has been partially transferred */
@@ -1474,8 +1481,8 @@ static int stm32_out_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
                               FAR uint8_t *buffer, size_t buflen)
 {
   FAR struct stm32_chan_s *chan;
-  uint16_t start;
-  uint16_t elapsed;
+  uint32_t start;
+  uint32_t elapsed;
   size_t xfrlen;
   int ret = OK;
 
@@ -1484,7 +1491,7 @@ static int stm32_out_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
    */
 
   chan         = &priv->chan[chidx];
-  start        = stm32_getframe();
+  start        = clock_systimer();
 
   while (buflen > 0)
     {
@@ -1569,7 +1576,7 @@ static int stm32_out_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
            * buffer pointer and buffer size will be unaltered.
            */
 
-          elapsed = stm32_getframe() - start;
+          elapsed = clock_systimer() - start;
           if (ret != -EAGAIN ||                       /* Not a NAK condition OR */
               elapsed >= STM32_DATANAK_DELAY ||       /* Timeout has elapsed OR */
               chan->buflen != xfrlen)                 /* Data has been partially transferred */
@@ -3540,8 +3547,8 @@ static int stm32_ctrlin(FAR struct usbhost_driver_s *drvr,
 {
   struct stm32_usbhost_s *priv = (struct stm32_usbhost_s *)drvr;
   uint16_t buflen;
-  uint16_t start;
-  uint16_t elapsed;
+  uint32_t start;
+  uint32_t elapsed;
   int retries;
   int ret;
 
@@ -3573,7 +3580,7 @@ static int stm32_ctrlin(FAR struct usbhost_driver_s *drvr,
 
       /* Get the start time.  Loop again until the timeout expires */
 
-      start = stm32_getframe();
+      start = clock_systimer();
       do
         {
           /* Handle the IN data phase (if any) */
@@ -3606,7 +3613,7 @@ static int stm32_ctrlin(FAR struct usbhost_driver_s *drvr,
 
           /* Get the elapsed time (in frames) */
 
-          elapsed = stm32_getframe() - start;
+          elapsed = clock_systimer() - start;
         }
       while (elapsed < STM32_DATANAK_DELAY);
     }
@@ -3623,8 +3630,8 @@ static int stm32_ctrlout(FAR struct usbhost_driver_s *drvr,
 {
   struct stm32_usbhost_s *priv = (struct stm32_usbhost_s *)drvr;
   uint16_t buflen;
-  uint16_t start;
-  uint16_t elapsed;
+  uint32_t start;
+  uint32_t elapsed;
   int retries;
   int ret;
 
@@ -3658,7 +3665,7 @@ static int stm32_ctrlout(FAR struct usbhost_driver_s *drvr,
 
       /* Get the start time.  Loop again until the timeout expires */
 
-      start = stm32_getframe();
+      start = clock_systimer();
       do
         {
           /* Handle the data OUT phase (if any) */
@@ -3693,7 +3700,7 @@ static int stm32_ctrlout(FAR struct usbhost_driver_s *drvr,
 
           /* Get the elapsed time (in frames) */
 
-          elapsed = stm32_getframe() - start;
+          elapsed = clock_systimer() - start;
         }
       while (elapsed < STM32_DATANAK_DELAY);
     }
diff --git a/nuttx/arch/arm/src/stm32/stm32_serial.c b/nuttx/arch/arm/src/stm32/stm32_serial.c
index 0868c3cd3..c7f97b25a 100644
--- a/nuttx/arch/arm/src/stm32/stm32_serial.c
+++ b/nuttx/arch/arm/src/stm32/stm32_serial.c
@@ -96,6 +96,19 @@
 #    endif
 #  endif
 
+/* Currently RS-485 support cannot be enabled when RXDMA is in use due to lack
+ * of testing - RS-485 support was developed on STM32F1x
+ */
+
+#  if (defined(CONFIG_USART1_RXDMA) && defined(CONFIG_USART1_RS485)) || \
+      (defined(CONFIG_USART2_RXDMA) && defined(CONFIG_USART2_RS485)) || \
+      (defined(CONFIG_USART3_RXDMA) && defined(CONFIG_USART3_RS485)) || \
+      (defined(CONFIG_UART4_RXDMA) && defined(CONFIG_UART4_RS485)) || \
+      (defined(CONFIG_UART5_RXDMA) && defined(CONFIG_UART5_RS485)) || \
+      (defined(CONFIG_USART6_RXDMA) && defined(CONFIG_USART6_RS485))
+#    error "RXDMA and RS-485 cannot be enabled at the same time for the same U[S]ART"
+#  endif
+
 /* For the F4, there are alternate DMA channels for USART1 and 6.
  * Logic in the board.h file make the DMA channel selection by defining
  * the following in the board.h file.
@@ -185,15 +198,11 @@ struct up_dev_s
   uint8_t           parity;    /* 0=none, 1=odd, 2=even */
   uint8_t           bits;      /* Number of bits (7 or 8) */
   bool              stopbits2; /* True: Configure with 2 stop bits instead of 1 */
-  bool              iflow;     /* input flow control (RTS) enabled */
-  bool              oflow;     /* output flow control (CTS) enabled */
   uint32_t          baud;      /* Configured baud */
 #else
   const uint8_t     parity;    /* 0=none, 1=odd, 2=even */
   const uint8_t     bits;      /* Number of bits (7 or 8) */
   const bool        stopbits2; /* True: Configure with 2 stop bits instead of 1 */
-  const bool        iflow;     /* input flow control (RTS) enabled */
-  const bool        oflow;     /* output flow control (CTS) enabled */
   const uint32_t    baud;      /* Configured baud */
 #endif
 
@@ -219,13 +228,18 @@ struct up_dev_s
   uint32_t          rxdmanext; /* Next byte in the DMA buffer to be read */
   char       *const rxfifo;    /* Receive DMA buffer */
 #endif
+
+#ifdef HAVE_RS485
+  const uint32_t    rs485_dir_gpio; /* U[S]ART RS-485 DIR GPIO pin configuration */
+  const bool        rs485_dir_polarity; /* U[S]ART RS-485 DIR pin state for TX enabled */
+#endif
 };
 
 /****************************************************************************
  * Private Function Prototypes
  ****************************************************************************/
 
-static void up_set_format(struct uart_dev_s *dev);
+static void up_setspeed(struct uart_dev_s *dev);
 static int  up_setup(struct uart_dev_s *dev);
 static void up_shutdown(struct uart_dev_s *dev);
 static int  up_attach(struct uart_dev_s *dev);
@@ -397,8 +411,6 @@ static struct up_dev_s g_usart1priv =
   .parity        = CONFIG_USART1_PARITY,
   .bits          = CONFIG_USART1_BITS,
   .stopbits2     = CONFIG_USART1_2STOP,
-  .iflow         = false,
-  .oflow         = false,
   .baud          = CONFIG_USART1_BAUD,
   .apbclock      = STM32_PCLK2_FREQUENCY,
   .usartbase     = STM32_USART1_BASE,
@@ -415,6 +427,15 @@ static struct up_dev_s g_usart1priv =
   .rxfifo        = g_usart1rxfifo,
 #endif
   .vector        = up_interrupt_usart1,
+
+#ifdef CONFIG_USART1_RS485
+  .rs485_dir_gpio = GPIO_USART1_RS485_DIR,
+#  if (CONFIG_USART1_RS485_DIR_POLARITY == 0)
+  .rs485_dir_polarity = false,
+#  else
+  .rs485_dir_polarity = true,
+#  endif
+#endif
 };
 #endif
 
@@ -450,8 +471,6 @@ static struct up_dev_s g_usart2priv =
   .parity        = CONFIG_USART2_PARITY,
   .bits          = CONFIG_USART2_BITS,
   .stopbits2     = CONFIG_USART2_2STOP,
-  .iflow         = false,
-  .oflow         = false,
   .baud          = CONFIG_USART2_BAUD,
   .apbclock      = STM32_PCLK1_FREQUENCY,
   .usartbase     = STM32_USART2_BASE,
@@ -468,6 +487,15 @@ static struct up_dev_s g_usart2priv =
   .rxfifo        = g_usart2rxfifo,
 #endif
   .vector        = up_interrupt_usart2,
+
+#ifdef CONFIG_USART2_RS485
+  .rs485_dir_gpio = GPIO_USART2_RS485_DIR,
+#  if (CONFIG_USART2_RS485_DIR_POLARITY == 0)
+  .rs485_dir_polarity = false,
+#  else
+  .rs485_dir_polarity = true,
+#  endif
+#endif
 };
 #endif
 
@@ -503,8 +531,6 @@ static struct up_dev_s g_usart3priv =
   .parity        = CONFIG_USART3_PARITY,
   .bits          = CONFIG_USART3_BITS,
   .stopbits2     = CONFIG_USART3_2STOP,
-  .iflow         = false,
-  .oflow         = false,
   .baud          = CONFIG_USART3_BAUD,
   .apbclock      = STM32_PCLK1_FREQUENCY,
   .usartbase     = STM32_USART3_BASE,
@@ -521,6 +547,15 @@ static struct up_dev_s g_usart3priv =
   .rxfifo        = g_usart3rxfifo,
 #endif
   .vector        = up_interrupt_usart3,
+
+#ifdef CONFIG_USART3_RS485
+  .rs485_dir_gpio = GPIO_USART3_RS485_DIR,
+#  if (CONFIG_USART3_RS485_DIR_POLARITY == 0)
+  .rs485_dir_polarity = false,
+#  else
+  .rs485_dir_polarity = true,
+#  endif
+#endif
 };
 #endif
 
@@ -556,20 +591,31 @@ static struct up_dev_s g_uart4priv =
   .parity        = CONFIG_UART4_PARITY,
   .bits          = CONFIG_UART4_BITS,
   .stopbits2     = CONFIG_UART4_2STOP,
-  .iflow         = false,
-  .oflow         = false,
   .baud          = CONFIG_UART4_BAUD,
   .apbclock      = STM32_PCLK1_FREQUENCY,
   .usartbase     = STM32_UART4_BASE,
   .tx_gpio       = GPIO_UART4_TX,
   .rx_gpio       = GPIO_UART4_RX,
-  .cts_gpio      = 0,  /* flow control not supported on this port */
-  .rts_gpio      = 0,  /* flow control not supported on this port */
+#ifdef GPIO_UART4_CTS
+  .cts_gpio      = GPIO_UART4_CTS,
+#endif
+#ifdef GPIO_UART4_RTS
+  .rts_gpio      = GPIO_UART4_RTS,
+#endif
 #ifdef CONFIG_UART4_RXDMA
   .rxdma_channel = DMAMAP_UART4_RX,
   .rxfifo        = g_uart4rxfifo,
 #endif
   .vector        = up_interrupt_uart4,
+
+#ifdef CONFIG_UART4_RS485
+  .rs485_dir_gpio = GPIO_UART4_RS485_DIR,
+#  if (CONFIG_UART4_RS485_DIR_POLARITY == 0)
+  .rs485_dir_polarity = false,
+#  else
+  .rs485_dir_polarity = true,
+#  endif
+#endif
 };
 #endif
 
@@ -605,20 +651,31 @@ static struct up_dev_s g_uart5priv =
   .parity         = CONFIG_UART5_PARITY,
   .bits           = CONFIG_UART5_BITS,
   .stopbits2      = CONFIG_UART5_2STOP,
-  .iflow         = false,
-  .oflow         = false,
   .baud           = CONFIG_UART5_BAUD,
   .apbclock       = STM32_PCLK1_FREQUENCY,
   .usartbase      = STM32_UART5_BASE,
   .tx_gpio        = GPIO_UART5_TX,
   .rx_gpio        = GPIO_UART5_RX,
-  .cts_gpio       = 0,  /* flow control not supported on this port */
-  .rts_gpio       = 0,  /* flow control not supported on this port */
+#ifdef GPIO_UART5_CTS
+  .cts_gpio       = GPIO_UART5_CTS,
+#endif
+#ifdef GPIO_UART5_RTS
+  .rts_gpio       = GPIO_UART5_RTS,
+#endif
 #ifdef CONFIG_UART5_RXDMA
   .rxdma_channel = DMAMAP_UART5_RX,
   .rxfifo        = g_uart5rxfifo,
 #endif
   .vector         = up_interrupt_uart5,
+
+#ifdef CONFIG_UART5_RS485
+  .rs485_dir_gpio = GPIO_UART5_RS485_DIR,
+#  if (CONFIG_UART5_RS485_DIR_POLARITY == 0)
+  .rs485_dir_polarity = false,
+#  else
+  .rs485_dir_polarity = true,
+#  endif
+#endif
 };
 #endif
 
@@ -654,8 +711,6 @@ static struct up_dev_s g_usart6priv =
   .parity         = CONFIG_USART6_PARITY,
   .bits           = CONFIG_USART6_BITS,
   .stopbits2      = CONFIG_USART6_2STOP,
-  .iflow         = false,
-  .oflow         = false,
   .baud           = CONFIG_USART6_BAUD,
   .apbclock       = STM32_PCLK2_FREQUENCY,
   .usartbase      = STM32_USART6_BASE,
@@ -672,6 +727,15 @@ static struct up_dev_s g_usart6priv =
   .rxfifo        = g_usart6rxfifo,
 #endif
   .vector         = up_interrupt_usart6,
+
+#ifdef CONFIG_USART6_RS485
+  .rs485_dir_gpio = GPIO_USART6_RS485_DIR,
+#  if (CONFIG_USART6_RS485_DIR_POLARITY == 0)
+  .rs485_dir_polarity = false,
+#  else
+  .rs485_dir_polarity = true,
+#  endif
+#endif
 };
 #endif
 
@@ -744,8 +808,8 @@ static void up_restoreusartint(struct up_dev_s *priv, uint16_t ie)
   /* And restore the interrupt state (see the interrupt enable/usage table above) */
 
   cr = up_serialin(priv, STM32_USART_CR1_OFFSET);
-  cr &= ~(USART_CR1_RXNEIE|USART_CR1_TXEIE|USART_CR1_PEIE);
-  cr |= (ie & (USART_CR1_RXNEIE|USART_CR1_TXEIE|USART_CR1_PEIE));
+  cr &= ~(USART_CR1_USED_INTS);
+  cr |= (ie & (USART_CR1_USED_INTS));
   up_serialout(priv, STM32_USART_CR1_OFFSET, cr);
 
   cr = up_serialin(priv, STM32_USART_CR3_OFFSET);
@@ -772,7 +836,7 @@ static inline void up_disableusartint(struct up_dev_s *priv, uint16_t *ie)
        * USART_CR1_IDLEIE    4  USART_SR_IDLE   Idle Line Detected             (not used)
        * USART_CR1_RXNEIE    5  USART_SR_RXNE   Received Data Ready to be Read
        * "              "       USART_SR_ORE    Overrun Error Detected
-       * USART_CR1_TCIE      6  USART_SR_TC     Transmission Complete          (not used)
+       * USART_CR1_TCIE      6  USART_SR_TC     Transmission Complete          (used only for RS-485)
        * USART_CR1_TXEIE     7  USART_SR_TXE    Transmit Data Register Empty
        * USART_CR1_PEIE      8  USART_SR_PE     Parity Error
        *
@@ -791,7 +855,7 @@ static inline void up_disableusartint(struct up_dev_s *priv, uint16_t *ie)
        * overlap.  This logic would fail if we needed the break interrupt!
        */
 
-      *ie = (cr1 & (USART_CR1_RXNEIE|USART_CR1_TXEIE|USART_CR1_PEIE)) | (cr3 & USART_CR3_EIE);
+      *ie = (cr1 & (USART_CR1_USED_INTS)) | (cr3 & USART_CR3_EIE);
     }
 
   /* Disable all interrupts */
@@ -820,22 +884,21 @@ static int up_dma_nextrx(struct up_dev_s *priv)
 #endif
 
 /****************************************************************************
- * Name: up_set_format
+ * Name: up_setspeed
  *
  * Description:
- *   Set the serial line format and speed.
+ *   Set the serial line speed.
  *
  ****************************************************************************/
 
 #ifndef CONFIG_SUPPRESS_UART_CONFIG
-static void up_set_format(struct uart_dev_s *dev)
+static void up_setspeed(struct uart_dev_s *dev)
 {
   struct up_dev_s *priv = (struct up_dev_s*)dev->priv;
   uint32_t usartdiv32;
   uint32_t mantissa;
   uint32_t fraction;
   uint32_t brr;
-  uint32_t regval;
 
   /* Configure the USART Baud Rate.  The baud rate for the receiver and
    * transmitter (Rx and Tx) are both set to the same value as programmed
@@ -853,64 +916,20 @@ static void up_set_format(struct uart_dev_s *dev)
    *   usartdiv32 = 32 * usartdiv = fCK / (baud/2)
    */
 
-  usartdiv32 = priv->apbclock / (priv->baud >> 1);
-
-  /* The mantissa part is then */
-
-  mantissa   = usartdiv32 >> 5;
-  brr        = mantissa << USART_BRR_MANT_SHIFT;
-
-  /* The fractional remainder (with rounding) */
-
-  fraction   = (usartdiv32 - (mantissa << 5) + 1) >> 1;
-  brr       |= fraction << USART_BRR_FRAC_SHIFT;
-  up_serialout(priv, STM32_USART_BRR_OFFSET, brr);
-
-  /* Configure parity mode */
-
-  regval  = up_serialin(priv, STM32_USART_CR1_OFFSET);
-  regval &= ~(USART_CR1_PCE|USART_CR1_PS);
+   usartdiv32 = priv->apbclock / (priv->baud >> 1);
 
-  if (priv->parity == 1)       /* Odd parity */
-    {
-      regval |= (USART_CR1_PCE|USART_CR1_PS);
-    }
-  else if (priv->parity == 2)  /* Even parity */
-    {
-      regval |= USART_CR1_PCE;
-    }
+   /* The mantissa part is then */
 
-  up_serialout(priv, STM32_USART_CR1_OFFSET, regval);
-
-  /* Configure STOP bits */
-
-  regval = up_serialin(priv, STM32_USART_CR2_OFFSET);
-  regval &= ~(USART_CR2_STOP_MASK);
-
-  if (priv->stopbits2)
-    {
-      regval |= USART_CR2_STOP2;
-    }
-  up_serialout(priv, STM32_USART_CR2_OFFSET, regval);
-
-  /* Configure hardware flow control */
-
-  regval  = up_serialin(priv, STM32_USART_CR3_OFFSET);
-  regval &= ~(USART_CR3_CTSE|USART_CR3_RTSE);
-
-  if (priv->iflow && (priv->rts_gpio != 0))
-    { 
-      regval |= USART_CR3_RTSE;
-    }
-  if (priv->oflow && (priv->cts_gpio != 0))
-    { 
-      regval |= USART_CR3_CTSE;
-    }
+   mantissa   = usartdiv32 >> 5;
+   brr        = mantissa << USART_BRR_MANT_SHIFT;
 
-  up_serialout(priv, STM32_USART_CR3_OFFSET, regval);
+   /* The fractional remainder (with rounding) */
 
+   fraction   = (usartdiv32 - (mantissa << 5) + 1) >> 1;
+   brr       |= fraction << USART_BRR_FRAC_SHIFT;
+   up_serialout(priv, STM32_USART_BRR_OFFSET, brr);
 }
-#endif /* CONFIG_SUPPRESS_UART_CONFIG */
+#endif
 
 /****************************************************************************
  * Name: up_setup
@@ -946,29 +965,52 @@ static int up_setup(struct uart_dev_s *dev)
       stm32_configgpio(priv->rts_gpio);
     }
 
+#if HAVE_RS485
+  if (priv->rs485_dir_gpio != 0)
+    {
+      stm32_configgpio(priv->rs485_dir_gpio);
+      stm32_gpiowrite(priv->rs485_dir_gpio, !priv->rs485_dir_polarity);
+    }
+#endif
+
   /* Configure CR2 */
-  /* Clear CLKEN, CPOL, CPHA, LBCL, and interrupt enable bits */
+  /* Clear STOP, CLKEN, CPOL, CPHA, LBCL, and interrupt enable bits */
 
   regval = up_serialin(priv, STM32_USART_CR2_OFFSET);
-  regval &= ~(USART_CR2_CLKEN|USART_CR2_CPOL|
+  regval &= ~(USART_CR2_STOP_MASK|USART_CR2_CLKEN|USART_CR2_CPOL|
               USART_CR2_CPHA|USART_CR2_LBCL|USART_CR2_LBDIE);
 
+  /* Configure STOP bits */
+
+  if (priv->stopbits2)
+    {
+      regval |= USART_CR2_STOP2;
+    }
   up_serialout(priv, STM32_USART_CR2_OFFSET, regval);
 
   /* Configure CR1 */
-  /* Clear M, TE, REm and all interrupt enable bits */
+  /* Clear M, PCE, PS, TE, REm and all interrupt enable bits */
 
   regval  = up_serialin(priv, STM32_USART_CR1_OFFSET);
-  regval &= ~(USART_CR1_M|USART_CR1_TE|
+  regval &= ~(USART_CR1_M|USART_CR1_PCE|USART_CR1_PS|USART_CR1_TE|
               USART_CR1_RE|USART_CR1_ALLINTS);
 
-  /* Configure word length */
+  /* Configure word length and parity mode */
 
   if (priv->bits == 9)         /* Default: 1 start, 8 data, n stop */
     {
       regval |= USART_CR1_M;   /* 1 start, 9 data, n stop */
     }
 
+  if (priv->parity == 1)       /* Odd parity */
+    {
+      regval |= (USART_CR1_PCE|USART_CR1_PS);
+    }
+  else if (priv->parity == 2)  /* Even parity */
+    {
+      regval |= USART_CR1_PCE;
+    }
+
   up_serialout(priv, STM32_USART_CR1_OFFSET, regval);
 
   /* Configure CR3 */
@@ -981,22 +1023,20 @@ static int up_setup(struct uart_dev_s *dev)
 
   up_serialout(priv, STM32_USART_CR3_OFFSET, regval);
 
-  /* Configure the USART line format and speed. */
+  /* Configure the USART Baud Rate. */
 
-  up_set_format(dev);
+  up_setspeed(dev);
 
   /* Enable Rx, Tx, and the USART */
 
   regval      = up_serialin(priv, STM32_USART_CR1_OFFSET);
   regval     |= (USART_CR1_UE|USART_CR1_TE|USART_CR1_RE);
   up_serialout(priv, STM32_USART_CR1_OFFSET, regval);
-
-#endif /* CONFIG_SUPPRESS_UART_CONFIG */
+#endif
 
   /* Set up the cached interrupt enables value */
 
-  up_restoreusartint(priv, 0);
-
+  priv->ie    = 0;
   return OK;
 }
 
@@ -1016,15 +1056,12 @@ static int up_dma_setup(struct uart_dev_s *dev)
   int result;
   uint32_t regval;
 
-  /* Do the basic UART setup first, unless we are the console */
+  /* Do the basic UART setup first */
 
-  if (!dev->isconsole)
-    {    
-      result = up_setup(dev);
-      if (result != OK)
-        {
-          return result;
-        }
+  result = up_setup(dev);
+  if (result != OK)
+    {
+      return result;
     }
 
   /* Acquire the DMA channel.  This should always succeed. */
@@ -1217,7 +1254,7 @@ static int up_interrupt_common(struct up_dev_s *priv)
        * USART_CR1_IDLEIE    4  USART_SR_IDLE   Idle Line Detected              (not used)
        * USART_CR1_RXNEIE    5  USART_SR_RXNE   Received Data Ready to be Read
        * "              "       USART_SR_ORE    Overrun Error Detected
-       * USART_CR1_TCIE      6  USART_SR_TC     Transmission Complete           (not used)
+       * USART_CR1_TCIE      6  USART_SR_TC     Transmission Complete           (used only for RS-485)
        * USART_CR1_TXEIE     7  USART_SR_TXE    Transmit Data Register Empty
        * USART_CR1_PEIE      8  USART_SR_PE     Parity Error
        *
@@ -1232,6 +1269,21 @@ static int up_interrupt_common(struct up_dev_s *priv)
        * being used.
        */
 
+#ifdef HAVE_RS485
+      /* Transmission of whole buffer is over - TC is set, TXEIE is cleared.
+       * Note - this should be first, to have the most recent TC bit value from
+       * SR register - sending data affects TC, but without refresh we will not
+       * know that...
+       */
+
+      if ((priv->sr & USART_SR_TC) != 0 && (priv->ie & USART_CR1_TCIE) != 0 &&
+          (priv->ie & USART_CR1_TXEIE) == 0)
+        {
+          stm32_gpiowrite(priv->rs485_dir_gpio, !priv->rs485_dir_polarity);
+          up_restoreusartint(priv, priv->ie & ~USART_CR1_TCIE);
+        }
+#endif
+
       /* Handle incoming, receive bytes. */
 
       if ((priv->sr & USART_SR_RXNE) != 0 && (priv->ie & USART_CR1_RXNEIE) != 0)
@@ -1265,13 +1317,14 @@ static int up_interrupt_common(struct up_dev_s *priv)
 
       if ((priv->sr & USART_SR_TXE) != 0 && (priv->ie & USART_CR1_TXEIE) != 0)
         {
-           /* Transmit data regiser empty ... process outgoing bytes */
+           /* Transmit data register empty ... process outgoing bytes */
 
            uart_xmitchars(&priv->dev);
            handled = true;
         }
     }
-    return OK;
+
+  return OK;
 }
 
 /****************************************************************************
@@ -1318,21 +1371,12 @@ static int up_ioctl(struct file *filep, int cmd, unsigned long arg)
             break;
           }
 
-        cfsetispeed(termiosp, priv->baud);
-
-        /* Note that since we only support 8/9 bit modes and
-         * there is no way to report 9-bit mode, we always claim 8.
+        /* TODO:  Other termios fields are not yet returned.
+         * Note that only cfsetospeed is not necessary because we have
+         * knowledge that only one speed is supported.
          */
 
-        termiosp->c_cflag = 
-          ((priv->parity != 0) ? PARENB : 0) |
-          ((priv->parity == 1) ? PARODD : 0) |
-          ((priv->stopbits2) ? CSTOPB : 0) |
-          ((priv->oflow) ? CCTS_OFLOW : 0) |
-          ((priv->iflow) ? CRTS_IFLOW : 0) |
-          CS8;
-
-        /* TODO: CCTS_IFLOW, CCTS_OFLOW */
+        cfsetispeed(termiosp, priv->baud);
       }
       break;
 
@@ -1346,48 +1390,16 @@ static int up_ioctl(struct file *filep, int cmd, unsigned long arg)
             break;
           }
 
-        /* Perform some sanity checks before accepting any changes */
-
-        if (((termiosp->c_cflag & CSIZE) != CS8) ||
-            ((termiosp->c_cflag & CCTS_OFLOW) && (priv->cts_gpio == 0)) ||
-            ((termiosp->c_cflag & CRTS_IFLOW) && (priv->rts_gpio == 0)))
-          { 
-            ret = -EINVAL;
-            break;
-          }
-
-        if (termiosp->c_cflag & PARENB)
-          { 
-            priv->parity = (termiosp->c_cflag & PARODD) ? 1 : 2;
-          }
-        else
-          { 
-            priv->parity = 0;
-          }
-
-        priv->stopbits2 = (termiosp->c_cflag & CSTOPB) != 0;
-        priv->oflow = (termiosp->c_cflag & CCTS_OFLOW) != 0;
-        priv->iflow = (termiosp->c_cflag & CRTS_IFLOW) != 0;
-
-        /* Note that since there is no way to request 9-bit mode
-         * and no way to support 5/6/7-bit modes, we ignore them
-         * all here.
-         */
-
-        /* Note that only cfgetispeed is used because we have knowledge
+        /* TODO:  Handle other termios settings.
+         * Note that only cfgetispeed is used besued we have knowledge
          * that only one speed is supported.
          */
 
         priv->baud = cfgetispeed(termiosp);
-
-        /* effect the changes immediately - note that we do not implement
-         * TCSADRAIN / TCSAFLUSH
-         */
-
-        up_set_format(dev);
+        up_setspeed(dev);
       }
       break;
-#endif /* CONFIG_SERIAL_TERMIOS */
+#endif
 
 #ifdef CONFIG_USART_BREAKS
     case TIOCSBRK:  /* BSD compatibility: Turn break on, unconditionally */
@@ -1611,6 +1623,10 @@ static bool up_dma_rxavailable(struct uart_dev_s *dev)
 static void up_send(struct uart_dev_s *dev, int ch)
 {
   struct up_dev_s *priv = (struct up_dev_s*)dev->priv;
+#ifdef HAVE_RS485
+  if (priv->rs485_dir_gpio != 0)
+    stm32_gpiowrite(priv->rs485_dir_gpio, priv->rs485_dir_polarity);
+#endif
   up_serialout(priv, STM32_USART_DR_OFFSET, (uint32_t)ch);
 }
 
@@ -1631,7 +1647,7 @@ static void up_txint(struct uart_dev_s *dev, bool enable)
    *
    * Enable             Bit Status          Meaning                      Usage
    * ------------------ --- --------------- ---------------------------- ----------
-   * USART_CR1_TCIE      6  USART_SR_TC     Transmission Complete        (not used)
+   * USART_CR1_TCIE      6  USART_SR_TC     Transmission Complete        (used only for RS-485)
    * USART_CR1_TXEIE     7  USART_SR_TXE    Transmit Data Register Empty
    * USART_CR3_CTSIE    10  USART_SR_CTS    CTS flag                     (not used)
    */
@@ -1642,7 +1658,20 @@ static void up_txint(struct uart_dev_s *dev, bool enable)
       /* Set to receive an interrupt when the TX data register is empty */
 
 #ifndef CONFIG_SUPPRESS_SERIAL_INTS
-      up_restoreusartint(priv, priv->ie | USART_CR1_TXEIE);
+      uint16_t ie = priv->ie | USART_CR1_TXEIE;
+
+      /* If RS-485 is supported on this U[S]ART, then also enable the
+       * transmission complete interrupt.
+       */
+
+#  ifdef HAVE_RS485
+      if (priv->rs485_dir_gpio != 0)
+        {
+          ie |= USART_CR1_TCIE;
+        }
+#  endif
+
+      up_restoreusartint(priv, ie);
 
       /* Fake a TX interrupt here by just calling uart_xmitchars() with
        * interrupts disabled (note this may recurse).
@@ -1657,6 +1686,7 @@ static void up_txint(struct uart_dev_s *dev, bool enable)
 
       up_restoreusartint(priv, priv->ie & ~USART_CR1_TXEIE);
     }
+
   irqrestore(flags);
 }
 
diff --git a/nuttx/arch/arm/src/stm32/stm32f20xxx_rcc.c b/nuttx/arch/arm/src/stm32/stm32f20xxx_rcc.c
index 335992524..ac72fb60b 100644
--- a/nuttx/arch/arm/src/stm32/stm32f20xxx_rcc.c
+++ b/nuttx/arch/arm/src/stm32/stm32f20xxx_rcc.c
@@ -631,7 +631,11 @@ static void stm32_stdclockconfig(void)
 
       /* Enable FLASH prefetch, instruction cache, data cache, and 5 wait states */
 
+#ifdef STM32_FLASH_PREFETCH
+      regval = (FLASH_ACR_LATENCY_5 | FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_PRFTEN);
+#else
       regval = (FLASH_ACR_LATENCY_5 | FLASH_ACR_ICEN | FLASH_ACR_DCEN);
+#endif
       putreg32(regval, STM32_FLASH_ACR);
 
       /* Select the main PLL as system clock source */
diff --git a/nuttx/arch/arm/src/stm32/stm32f40xxx_rcc.c b/nuttx/arch/arm/src/stm32/stm32f40xxx_rcc.c
index 45980f288..c6c0b2382 100644
--- a/nuttx/arch/arm/src/stm32/stm32f40xxx_rcc.c
+++ b/nuttx/arch/arm/src/stm32/stm32f40xxx_rcc.c
@@ -633,7 +633,11 @@ static void stm32_stdclockconfig(void)
  
       /* Enable FLASH prefetch, instruction cache, data cache, and 5 wait states */
 
+#ifdef STM32_FLASH_PREFETCH
+      regval = (FLASH_ACR_LATENCY_5 | FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_PRFTEN);
+#else
       regval = (FLASH_ACR_LATENCY_5 | FLASH_ACR_ICEN | FLASH_ACR_DCEN);
+#endif
       putreg32(regval, STM32_FLASH_ACR);
 
       /* Select the main PLL as system clock source */
diff --git a/nuttx/binfmt/Kconfig b/nuttx/binfmt/Kconfig
index ae2bf3130..495bd050f 100644
--- a/nuttx/binfmt/Kconfig
+++ b/nuttx/binfmt/Kconfig
@@ -2,3 +2,66 @@
 # For a description of the syntax of this configuration file,
 # see misc/tools/kconfig-language.txt.
 #
+
+config BINFMT_DISABLE
+	bool "Disble BINFMT support"
+	default n
+	---help---
+		By default, support for loadable binary formats is built.  This logic
+		may be suppressed be defining this setting.
+
+if !BINFMT_DISABLE
+
+config BINFMT_EXEPATH
+	bool "Support PATH variable"
+	default n
+	depends on !DISABLE_ENVIRON
+	---help---
+		Use the contents of the PATH environment variable to locate executable
+		files.  Default: n
+
+config PATH_INITIAL
+	string "Initial PATH Value"
+	default ""
+	depends on BINFMT_EXEPATH
+	---help---
+		The initial value of the PATH variable.  This is the colon-separated
+		list of absolute paths.  E.g., "/bin:/usr/bin:/sbin"
+
+config NXFLAT
+	bool "Enable the NXFLAT Binary Format"
+	default n
+	select PIC
+	---help---
+		Enable support for the NXFLAT binary format.  Default: n
+
+if NXFLAT
+source binfmt/libnxflat/Kconfig
+endif
+
+config ELF
+	bool "Enable the ELF Binary Format"
+	default n
+	---help---
+		Enable support for the ELF binary format.  Default: n
+
+if ELF
+source binfmt/libelf/Kconfig
+endif
+
+endif
+
+config PIC
+	bool
+	default n
+
+config BINFMT_CONSTRUCTORS
+	bool "C++ Static Constructor Support"
+	default n
+	depends on HAVE_CXX && ELF # FIX ME: Currently only supported for ELF
+	---help---
+		Build in support for C++ constructors in loaded modules.
+
+config SYMTAB_ORDEREDBYNAME
+	bool "Symbol Tables Ordered by Name"
+	default n
diff --git a/nuttx/binfmt/Makefile b/nuttx/binfmt/Makefile
index b3a9269b3..8ec0d877c 100644
--- a/nuttx/binfmt/Makefile
+++ b/nuttx/binfmt/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # nxflat/Makefile
 #
-#   Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2007-2009, 2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -34,69 +34,69 @@
 ############################################################################
 
 -include $(TOPDIR)/Make.defs
+DELIM ?= $(strip /)
 
 ifeq ($(WINTOOL),y)
-INCDIROPT	= -w
+INCDIROPT = -w
 endif
-CFLAGS		+= ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/sched}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" "$(TOPDIR)$(DELIM)sched"}
 
-ifeq ($(CONFIG_NXFLAT),y)
-include libnxflat/Make.defs
-LIBNXFLAT_CSRCS	+= nxflat.c 
+# Basic BINFMT source files 
+
+BINFMT_ASRCS  =
+BINFMT_CSRCS  = binfmt_globals.c binfmt_register.c binfmt_unregister.c
+BINFMT_CSRCS += binfmt_loadmodule.c binfmt_unloadmodule.c binfmt_execmodule.c
+BINFMT_CSRCS += binfmt_exec.c binfmt_dumpmodule.c
+
+ifeq ($(CONFIG_BINFMT_EXEPATH),y)
+BINFMT_CSRCS += binfmt_exepath.c
 endif
 
-BINFMT_ASRCS	=
-BINFMT_CSRCS	= binfmt_globals.c binfmt_register.c binfmt_unregister.c \
-		  binfmt_loadmodule.c binfmt_unloadmodule.c binfmt_execmodule.c \
-		  binfmt_exec.c binfmt_dumpmodule.c
+# Symbol table source files
 
-SYMTAB_ASRCS	=
-SYMTAB_CSRCS	= symtab_findbyname.c symtab_findbyvalue.c \
-		  symtab_findorderedbyname.c symtab_findorderedbyvalue.c
+BINFMT_CSRCS += symtab_findbyname.c symtab_findbyvalue.c
+BINFMT_CSRCS += symtab_findorderedbyname.c symtab_findorderedbyvalue.c
 
-SUBDIRS		= libnxflat
+# Add configured binary modules
 
-ASRCS		= $(BINFMT_ASRCS) $(SYMTAB_ASRCS) $(LIBNXFLAT_ASRCS)
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
+VPATH = 
+SUBDIRS =
+DEPPATH = --dep-path .
 
-CSRCS		= $(BINFMT_CSRCS) $(SYMTAB_CSRCS) $(LIBNXFLAT_CSRCS)
-COBJS		= $(CSRCS:.c=$(OBJEXT))
+include libnxflat$(DELIM)Make.defs
+include libelf$(DELIM)Make.defs
 
-SRCS		= $(ASRCS) $(CSRCS)
-OBJS		= $(AOBJS) $(COBJS)
+BINFMT_AOBJS = $(BINFMT_ASRCS:.S=$(OBJEXT))
+BINFMT_COBJS = $(BINFMT_CSRCS:.c=$(OBJEXT))
 
-BIN		= libbinfmt$(LIBEXT)
+BINFMT_SRCS = $(BINFMT_ASRCS) $(BINFMT_CSRCS)
+BINFMT_OBJS = $(BINFMT_AOBJS) $(BINFMT_COBJS)
 
-VPATH		= libnxflat
+BIN = libbinfmt$(LIBEXT)
 
-all:	$(BIN)
+all: $(BIN)
 
-$(AOBJS): %$(OBJEXT): %.S
+$(BINFMT_AOBJS): %$(OBJEXT): %.S
 	$(call ASSEMBLE, $<, $@)
 
-$(COBJS): %$(OBJEXT): %.c
+$(BINFMT_COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
-$(BIN): $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+$(BIN): $(BINFMT_OBJS)
+	$(call ARCHIVE, $@, $(BINFMT_OBJS))
 
-.depend: Makefile $(SRCS)
-	@$(MKDEP) --dep-path . --dep-path libnxflat \
-		$(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+.depend: Makefile $(BINFMT_SRCS)
+	$(Q) $(MKDEP) $(DEPPATH) "$(CC)" -- $(CFLAGS) -- $(BINFMT_SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f $(BIN) *~ .*.swp
+	$(call DELFILE, $(BIN))
 	$(call CLEAN)
-	@( for dir in $(SUBDIRS); do \
-		rm -f $${dir}/*~ $${dir}/.*.swp; \
-	done ; )
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep
diff --git a/nuttx/binfmt/binfmt_dumpmodule.c b/nuttx/binfmt/binfmt_dumpmodule.c
index 32a3fef3e..d320bc830 100644
--- a/nuttx/binfmt/binfmt_dumpmodule.c
+++ b/nuttx/binfmt/binfmt_dumpmodule.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * binfmt/binfmt_dumpmodule.c
  *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009, 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -43,7 +43,7 @@
 #include <debug.h>
 #include <errno.h>
 
-#include <nuttx/binfmt.h>
+#include <nuttx/binfmt/binfmt.h>
 
 #include "binfmt_internal.h"
 
@@ -70,7 +70,7 @@
  ***********************************************************************/
 
 /***********************************************************************
- * Name: load_module
+ * Name: dump_module
  *
  * Description:
  *   Load a module into memory and prep it for execution.
@@ -90,8 +90,15 @@ int dump_module(FAR const struct binary_s *bin)
       bdbg("  filename:  %s\n", bin->filename);
       bdbg("  argv:      %p\n", bin->argv);
       bdbg("  entrypt:   %p\n", bin->entrypt);
-      bdbg("  ispace:    %p size=%d\n", bin->ispace, bin->isize);
-      bdbg("  dspace:    %p\n", bin->dspace);
+      bdbg("  mapped:    %p size=%d\n", bin->mapped, bin->mapsize);
+      bdbg("  alloc:     %p %p %p\n", bin->alloc[0], bin->alloc[1], bin->alloc[2]);
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+      bdbg("  ctors:     %p nctors=%d\n", bin->ctors, bin->nctors);
+      bdbg("  dtors:     %p ndtors=%d\n", bin->dtors, bin->ndtors);
+#endif
+#ifdef CONFIG_ADDRENV
+      bdbg("  addrenv:   %p\n", bin->addrenv);
+#endif
       bdbg("  stacksize: %d\n", bin->stacksize);
     }
   return OK;
diff --git a/nuttx/binfmt/binfmt_execmodule.c b/nuttx/binfmt/binfmt_execmodule.c
index 1b511b0cb..400451c40 100644
--- a/nuttx/binfmt/binfmt_execmodule.c
+++ b/nuttx/binfmt/binfmt_execmodule.c
@@ -47,7 +47,7 @@
 #include <errno.h>
 
 #include <nuttx/arch.h>
-#include <nuttx/binfmt.h>
+#include <nuttx/binfmt/binfmt.h>
 
 #include "os_internal.h"
 #include "binfmt_internal.h"
@@ -71,6 +71,62 @@
  ****************************************************************************/
 
 /****************************************************************************
+ * Name: exec_ctors
+ *
+ * Description:
+ *   Execute C++ static constructors.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+static inline int exec_ctors(FAR const struct binary_s *binp)
+{
+  binfmt_ctor_t *ctor = binp->ctors;
+#ifdef CONFIG_ADDRENV
+  hw_addrenv_t oldenv;
+  int ret;
+#endif
+  int i;
+
+  /* Instantiate the address enviroment containing the constructors */
+
+#ifdef CONFIG_ADDRENV
+  ret = up_addrenv_select(binp->addrenv, &oldenv);
+  if (ret < 0)
+    {
+      bdbg("up_addrenv_select() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+  /* Execute each constructor */
+
+  for (i = 0; i < binp->nctors; i++)
+    {
+      bvdbg("Calling ctor %d at %p\n", i, (FAR void *)ctor);
+
+      (*ctor)();
+      ctor++;
+    }
+
+  /* Restore the address enviroment */
+
+#ifdef CONFIG_ADDRENV
+  return up_addrenv_restore(oldenv);
+#else
+  return OK;
+#endif
+}
+#endif
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
@@ -87,7 +143,7 @@
  *
  ****************************************************************************/
 
-int exec_module(FAR const struct binary_s *bin, int priority)
+int exec_module(FAR const struct binary_s *binp, int priority)
 {
   FAR _TCB     *tcb;
 #ifndef CONFIG_CUSTOM_STACK
@@ -100,14 +156,14 @@ int exec_module(FAR const struct binary_s *bin, int priority)
   /* Sanity checking */
 
 #ifdef CONFIG_DEBUG
-  if (!bin || !bin->ispace || !bin->entrypt || bin->stacksize <= 0)
+  if (!binp || !binp->entrypt || binp->stacksize <= 0)
     {
       err = EINVAL;
       goto errout;
     }
 #endif
 
-  bdbg("Executing %s\n", bin->filename);
+  bdbg("Executing %s\n", binp->filename);
 
   /* Allocate a TCB for the new task. */
 
@@ -121,7 +177,7 @@ int exec_module(FAR const struct binary_s *bin, int priority)
   /* Allocate the stack for the new task */
 
 #ifndef CONFIG_CUSTOM_STACK
-  stack = (FAR uint32_t*)malloc(bin->stacksize);
+  stack = (FAR uint32_t*)malloc(binp->stacksize);
   if (!tcb)
     {
       err = ENOMEM;
@@ -130,11 +186,13 @@ int exec_module(FAR const struct binary_s *bin, int priority)
 
   /* Initialize the task */
 
-  ret = task_init(tcb, bin->filename, priority, stack, bin->stacksize, bin->entrypt, bin->argv);
+  ret = task_init(tcb, binp->filename, priority, stack,
+                  binp->stacksize, binp->entrypt, binp->argv);
 #else
   /* Initialize the task */
 
-  ret = task_init(tcb, bin->filename, priority, stack, bin->entrypt, bin->argv);
+  ret = task_init(tcb, binp->filename, priority, stack,
+                  binp->entrypt, binp->argv);
 #endif
   if (ret < 0)
     {
@@ -143,20 +201,46 @@ int exec_module(FAR const struct binary_s *bin, int priority)
       goto errout_with_stack;
     }
 
-  /* Add the DSpace address as the PIC base address */
+  /* Add the D-Space address as the PIC base address.  By convention, this
+   * must be the first allocated address space.
+   */
 
 #ifdef CONFIG_PIC
-  tcb->dspace = bin->dspace;
+  tcb->dspace = binp->alloc[0];
 
   /* Re-initialize the task's initial state to account for the new PIC base */
 
   up_initial_state(tcb);
 #endif
 
+  /* Assign the address environment to the task */
+
+#ifdef CONFIG_ADDRENV
+  ret = up_addrenv_assign(binp->addrenv, tcb);
+  if (ret < 0)
+    {
+      err = -ret;
+      bdbg("up_addrenv_assign() failed: %d\n", ret);
+      goto errout_with_stack;
+    }
+#endif
+
   /* Get the assigned pid before we start the task */
 
   pid = tcb->pid;
 
+  /* Execute all of the C++ static constructors */
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  ret = exec_ctors(binp);
+  if (ret < 0)
+    {
+      err = -ret;
+      bdbg("exec_ctors() failed: %d\n", ret);
+      goto errout_with_stack;
+    }
+#endif
+
   /* Then activate the task at the provided priority */
 
   ret = task_activate(tcb);
@@ -166,6 +250,7 @@ int exec_module(FAR const struct binary_s *bin, int priority)
       bdbg("task_activate() failed: %d\n", err);
       goto errout_with_stack;
     }
+
   return (int)pid;
 
 errout_with_stack:
diff --git a/nuttx/binfmt/binfmt_exepath.c b/nuttx/binfmt/binfmt_exepath.c
new file mode 100644
index 000000000..4fd7ad918
--- /dev/null
+++ b/nuttx/binfmt/binfmt_exepath.c
@@ -0,0 +1,286 @@
+/****************************************************************************
+ * binfmt/binfmt_exepath.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/binfmt/binfmt.h>
+
+#if !defined(CONFIG_BINFMT_DISABLE) && defined(CONFIG_BINFMT_EXEPATH)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct exepath_s
+{
+  FAR char *next; /* Pointer to the next (unterminated) value in the PATH variable */
+  char path[1];
+};
+#define SIZEOF_EXEPATH_S(n) (sizeof(struct exepath_s) + (n) - 1)
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: exepath_init
+ *
+ * Description:
+ *   Initialize for the traversal of each value in the PATH variable.  The
+ *   usage is sequence is as follows:
+ *
+ *   1) Call exepath_init() to initialize for the traversal.  exepath_init()
+ *      will return an opaque handle that can then be provided to
+ *      exepath_next() and exepath_release().
+ *   2) Call exepath_next() repeatedly to examine every file that lies
+ *      in the directories of the PATH variable
+ *   3) Call exepath_release() to free resources set aside by exepath_init().
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   On success, exepath_init() return a non-NULL, opaque handle that may
+ *   subsequently be used in calls to exepath_next() and exepath_release().
+ *   On error, a NULL handle value will be returned.  The most likely cause
+ *   of an error would be that the there is no value associated with the
+ *   PATH variable.
+ *
+ ****************************************************************************/
+
+EXEPATH_HANDLE exepath_init(void)
+{
+  FAR struct exepath_s *exepath;
+  FAR char *path;
+
+  /* Get the value of the PATH variable */
+
+  path = getenv("PATH");
+  if (!path)
+    {
+      /* getenv() will return a NULL value if the PATH variable does not
+       * exist in the environment.
+       */
+
+      return (EXEPATH_HANDLE)NULL;
+    }
+
+  /* Allocate a container for the PATH variable contents */
+
+  exepath = (FAR struct exepath_s *)kmalloc(SIZEOF_EXEPATH_S(strlen(path) + 1));
+  if (!exepath)
+    {
+      /* Ooops.. we are out of memory */
+
+      return (EXEPATH_HANDLE)NULL;
+    }
+
+  /* Populate the container */
+
+  strcpy(exepath->path, path);
+  exepath->next = exepath->path;
+
+  /* And return the containing cast to an opaque handle */
+
+  return (EXEPATH_HANDLE)exepath;
+}
+
+ /****************************************************************************
+ * Name: exepath_next
+ *
+ * Description:
+ *   Traverse all possible values in the PATH variable in attempt to find
+ *   the full path to an executable file when only a relative path is
+ *   provided.
+ *
+ * Input Parameters:
+ *   handle - The handle value returned by exepath_init
+ *   relpath - The relative path to the file to be found. 
+ *
+ * Returned Value:
+ *   On success, a non-NULL pointer to a null-terminated string is provided.
+ *   This is the full path to a file that exists in the file system.  This
+ *   function will verify that the file exists (but will not verify that it
+ *   is marked executable).
+ *
+ *   NOTE: The string pointer return in the success case points to allocated
+ *   memory.  This memory must be freed by the called by calling kfree().
+ *
+ *   NULL is returned if no path is found to any file with the provided
+ *   'relpath' from any absolute path in the PATH variable.  In this case,
+ *   there is no point in calling exepath_next() further; exepath_release()
+ *   must be called to release resources set aside by expath_init().
+ *
+ ****************************************************************************/
+
+FAR char *exepath_next(EXEPATH_HANDLE handle, FAR const char *relpath)
+{
+  FAR struct exepath_s *exepath = (FAR struct exepath_s *)handle;
+  struct stat buf;
+  FAR char *endptr;
+  FAR char *path;
+  FAR char *fullpath;
+  int pathlen;
+  int ret;
+
+  /* Verify that a value handle and relative path were provided */
+
+  DEBUGASSERT(exepath && relpath);
+  DEBUGASSERT(relpath[0] != '\0' && relpath[0] != '/');
+
+  /* Loop until (1) we find a file with this relative path from one of the
+   * absolute paths in the PATH variable, or (2) all of the absolute paths
+   * in the PATH variable have been considered.
+   */
+
+  for (;;)
+    {
+      /* Make sure that exepath->next points to the beginning of a string */
+
+      path = exepath->next;
+      if (*path == '\0')
+       {
+          /* If it points to a NULL it means that either (1) the PATH varialbe
+           * is empty, or (2) we have already examined all of the paths in the
+           * path variable.
+           */
+
+          return (FAR char *)NULL;
+       }
+
+      /* Okay... 'path' points to the beginning of the string.  The string may
+       * be termined either with (1) ':' which separates the path from the
+       * next path in the list, or (2) NUL which marks the end of the list.
+       */
+
+      endptr = strchr(path, ':');
+      if (!endptr)
+        {
+          /* If strchr returns NUL it means that ':' does not appear in the
+           * string.  Therefore, this must be the final path in the PATH
+           * variable content.
+           */
+
+          endptr = &path[strlen(path)];
+          exepath->next = endptr;
+          DEBUGASSERT(*endptr == '\0');
+        }
+      else
+        {
+          DEBUGASSERT(*endptr == ':');
+          exepath->next = endptr + 1;
+          *endptr = '\0';
+        }
+
+      pathlen  = strlen(path) + strlen(relpath) + 2;
+      fullpath = (FAR char *)kmalloc(pathlen);
+      if (!fullpath)
+        {
+          /* Failed to allocate memory */
+
+          return (FAR char *)NULL;
+        }
+
+      /* Construct the full path */
+
+      sprintf(fullpath, "%s/%s", path, relpath);
+
+      /* Verify that a regular file exists at this path */
+
+      ret = stat(fullpath, &buf);;
+      if (ret == OK && S_ISREG(buf.st_mode))
+        {
+          return fullpath;
+        }
+
+      /* Failed to stat the file.  Just free the allocated memory and
+       * continue to try the next path.
+       */
+
+       kfree(fullpath);
+    }
+
+  /* We will not get here */
+}
+
+/****************************************************************************
+ * Name: exepath_release
+ *
+ * Description:
+ *   Release all resources set aside by exepath_init() when the handle value
+ *   was created.  The handle value is invalid on return from this function.
+ *   Attempts to all exepath_next() or exepath_release() with such a 'stale'
+ *   handle will result in undefined (i.e., not good) behavior.
+ *
+ * Input Parameters:
+ *   handle - The handle value returned by exepath_init
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void exepath_release(EXEPATH_HANDLE handle)
+{
+  kfree(handle);
+}
+
+#endif /* !CONFIG_BINFMT_DISABLE && CONFIG_BINFMT_EXEPATH */
+
diff --git a/nuttx/binfmt/binfmt_loadmodule.c b/nuttx/binfmt/binfmt_loadmodule.c
index 01ab8cc88..112a6b35b 100644
--- a/nuttx/binfmt/binfmt_loadmodule.c
+++ b/nuttx/binfmt/binfmt_loadmodule.c
@@ -43,7 +43,8 @@
 #include <debug.h>
 #include <errno.h>
 
-#include <nuttx/binfmt.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/binfmt/binfmt.h>
 
 #include "binfmt_internal.h"
 
@@ -66,6 +67,57 @@
  ****************************************************************************/
 
 /****************************************************************************
+ * Name: load_absmodule
+ *
+ * Description:
+ *   Load a module into memory, bind it to an exported symbol take, and
+ *   prep the module for execution.  bin->filename is known to be an absolute
+ *   path to the file to be loaded.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+static int load_absmodule(FAR struct binary_s *bin)
+{
+  FAR struct binfmt_s *binfmt;
+  int ret = -ENOENT;
+
+  bdbg("Loading %s\n", bin->filename);
+
+  /* Disabling pre-emption should be sufficient protection while accessing
+   * the list of registered binary format handlers.
+   */
+
+  sched_lock();
+
+  /* Traverse the list of registered binary format handlers.  Stop
+   * when either (1) a handler recognized and loads the format, or
+   * (2) no handler recognizes the format.
+   */
+
+  for (binfmt = g_binfmts; binfmt; binfmt = binfmt->next)
+    {
+      /* Use this handler to try to load the format */
+
+      ret = binfmt->load(bin);
+      if (ret == OK)
+        {
+          /* Successfully loaded -- break out with ret == 0 */
+
+          bvdbg("Successfully loaded module %s\n", bin->filename);
+          dump_module(bin);
+          break;
+        }
+    }
+
+  sched_unlock();
+  return ret;
+}
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
@@ -85,42 +137,72 @@
 
 int load_module(FAR struct binary_s *bin)
 {
-  FAR struct binfmt_s *binfmt;
-  int ret = -ENOENT;
+  int ret = -EINVAL;
+
+  /* Verify that we were provided something to work with */
 
 #ifdef CONFIG_DEBUG
   if (bin && bin->filename)
 #endif
     {
-      bdbg("Loading %s\n", bin->filename);
-
-      /* Disabling pre-emption should be sufficient protection while
-       * accessing the list of registered binary format handlers.
+      /* Were we given a relative path?  Or an absolute path to the file to
+       * be loaded?  Absolute paths start with '/'.
        */
 
-      sched_lock();
+#ifdef CONFIG_BINFMT_EXEPATH
+      if (bin->filename[0] != '/')
+        {
+          FAR const char *relpath;
+          FAR char *fullpath;
+          EXEPATH_HANDLE handle;
 
-      /* Traverse the list of registered binary format handlers.  Stop
-       * when either (1) a handler recognized and loads the format, or
-       * (2) no handler recognizes the format.
-       */
+          /* Set aside the relative path */
 
-      for (binfmt = g_binfmts; binfmt; binfmt = binfmt->next)
-        {
-          /* Use this handler to try to load the format */
+          relpath = bin->filename;
+          ret     = -ENOENT;
+
+          /* Initialize to traverse the PATH variable */
 
-          ret = binfmt->load(bin);
-          if (ret == OK)
+          handle = exepath_init();
+          if (handle)
             {
-              /* Successfully loaded -- break out with ret == 0 */
+              /* Get the next absolute file path */
 
-              bvdbg("Successfully loaded module %s\n", bin->filename);
-              dump_module(bin);
-              break;
+              while ((fullpath = exepath_next(handle, relpath)) != NULL)
+                {
+                  /* Try to load the file at this path */
+
+                  bin->filename = fullpath;
+                  ret = load_absmodule(bin);
+
+                  /* Free the allocated fullpath */
+
+                  kfree(fullpath);
+
+                  /* Break out of the loop with ret == OK on success */
+
+                  if (ret == OK)
+                    {
+                      break;
+                    }
+                }
             }
+
+          /* Restore the relative path.  This is not needed for anything
+           * but debug output after the file has been loaded.
+           */
+
+          bin->filename = relpath;
         }
+      else
+#endif
+        {
+          /* We already have the one and only absolute path to the file to
+           * be loaded.
+           */
 
-      sched_unlock();
+          ret = load_absmodule(bin);
+        }
     }
 
   /* This is an end-user function.  Return failures via errno */
@@ -131,6 +213,7 @@ int load_module(FAR struct binary_s *bin)
       errno = -ret;
       return ERROR;
     }
+
   return OK;
 }
 
diff --git a/nuttx/binfmt/binfmt_unloadmodule.c b/nuttx/binfmt/binfmt_unloadmodule.c
index 04859a291..365f26a34 100644
--- a/nuttx/binfmt/binfmt_unloadmodule.c
+++ b/nuttx/binfmt/binfmt_unloadmodule.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * binfmt/binfmt_loadmodule.c
  *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009, 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -45,7 +45,7 @@
 #include <debug.h>
 #include <errno.h>
 
-#include <nuttx/binfmt.h>
+#include <nuttx/binfmt/binfmt.h>
 
 #include "binfmt_internal.h"
 
@@ -68,6 +68,62 @@
  ****************************************************************************/
 
 /****************************************************************************
+ * Name: exec_dtors
+ *
+ * Description:
+ *   Execute C++ static constructors.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+static inline int exec_dtors(FAR const struct binary_s *binp)
+{
+  binfmt_dtor_t *dtor = binp->dtors;
+#ifdef CONFIG_ADDRENV
+  hw_addrenv_t oldenv;
+  int ret;
+#endif
+  int i;
+
+  /* Instantiate the address enviroment containing the destructors */
+
+#ifdef CONFIG_ADDRENV
+  ret = up_addrenv_select(binp->addrenv, &oldenv);
+  if (ret < 0)
+    {
+      bdbg("up_addrenv_select() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+  /* Execute each destructor */
+
+  for (i = 0; i < binp->ndtors; i++)
+    {
+      bvdbg("Calling dtor %d at %p\n", i, (FAR void *)dtor);
+
+      (*dtor)();
+      dtor++;
+    }
+
+  /* Restore the address enviroment */
+
+#ifdef CONFIG_ADDRENV
+  return up_addrenv_restore(oldenv);
+#else
+  return OK;
+#endif
+}
+#endif
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
@@ -76,7 +132,12 @@
  *
  * Description:
  *   Unload a (non-executing) module from memory.  If the module has
- *   been started (via exec_module), calling this will be fatal.
+ *   been started (via exec_module) and has not exited, calling this will
+ *   be fatal.
+ *
+ *   However, this function must be called after the module exist.  How
+ *   this is done is up to your logic.  Perhaps you register it to be
+ *   called by on_exit()?
  *
  * Returned Value:
  *   This is a NuttX internal function so it follows the convention that
@@ -85,22 +146,52 @@
  *
  ****************************************************************************/
 
-int unload_module(FAR const struct binary_s *bin)
+int unload_module(FAR const struct binary_s *binp)
 {
-  if (bin)
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  int ret;
+#endif
+  int i;
+ 
+  if (binp)
     {
-      if (bin->ispace)
+      /* Execute C++ desctructors */
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+      ret = exec_dtors(binp);
+      if (ret < 0)
         {
-          bvdbg("Unmapping ISpace: %p\n", bin->ispace);
-          munmap(bin->ispace, bin->isize);
+          bdbg("exec_ctors() failed: %d\n", ret);
+          set_errno(-ret);
+          return ERROR;
         }
+#endif
 
-      if (bin->dspace)
+      /* Unmap mapped address spaces */
+
+      if (binp->mapped)
+        {
+          bvdbg("Unmapping address space: %p\n", binp->mapped);
+
+          munmap(binp->mapped, binp->mapsize);
+        }
+
+      /* Free allocated address spaces */
+
+      for (i = 0; i < BINFMT_NALLOC; i++)
         {
-          bvdbg("Freeing DSpace: %p\n", bin->dspace);
-          free(bin->dspace);
+          if (binp->alloc[i])
+            {
+              bvdbg("Freeing alloc[%d]: %p\n", i, binp->alloc[i]);
+              free((FAR void *)binp->alloc[i]);
+            }
         }
+
+      /* Notice that the address environment is not destroyed.  This should
+       * happen automatically when the task exits.
+       */
     }
+
   return OK;
 }
 
diff --git a/nuttx/binfmt/elf.c b/nuttx/binfmt/elf.c
new file mode 100644
index 000000000..bcebf13ca
--- /dev/null
+++ b/nuttx/binfmt/elf.c
@@ -0,0 +1,323 @@
+/****************************************************************************
+ * binfmt/elf.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <string.h>
+#include <elf32.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <arpa/inet.h>
+#include <nuttx/binfmt/binfmt.h>
+#include <nuttx/binfmt/elf.h>
+
+#ifdef CONFIG_ELF
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* CONFIG_DEBUG, CONFIG_DEBUG_VERBOSE, and CONFIG_DEBUG_BINFMT have to be
+ * defined or CONFIG_ELF_DUMPBUFFER does nothing.
+ */
+
+#if !defined(CONFIG_DEBUG_VERBOSE) || !defined (CONFIG_DEBUG_BINFMT)
+#  undef CONFIG_ELF_DUMPBUFFER
+#endif
+
+#ifndef CONFIG_ELF_STACKSIZE
+#  define CONFIG_ELF_STACKSIZE 2048
+#endif
+
+#ifdef CONFIG_ELF_DUMPBUFFER
+# define elf_dumpbuffer(m,b,n) bvdbgdumpbuffer(m,b,n)
+#else
+# define elf_dumpbuffer(m,b,n)
+#endif
+
+#ifndef MIN
+#  define MIN(a,b) (a < b ? a : b)
+#endif
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int elf_loadbinary(FAR struct binary_s *binp);
+#if defined(CONFIG_DEBUG) && defined(CONFIG_DEBUG_BINFMT)
+static void elf_dumploadinfo(FAR struct elf_loadinfo_s *loadinfo);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static struct binfmt_s g_elfbinfmt =
+{
+  NULL,             /* next */
+  elf_loadbinary,   /* load */
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_dumploadinfo
+ ****************************************************************************/
+
+#if defined(CONFIG_DEBUG) && defined(CONFIG_DEBUG_BINFMT)
+static void elf_dumploadinfo(FAR struct elf_loadinfo_s *loadinfo)
+{
+  int i;
+
+  bdbg("LOAD_INFO:\n");
+  bdbg("  elfalloc:     %08lx\n", (long)loadinfo->elfalloc);
+  bdbg("  elfsize:      %ld\n",   (long)loadinfo->elfsize);
+  bdbg("  filelen:      %ld\n",   (long)loadinfo->filelen);
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  bdbg("  ctoralloc:    %08lx\n", (long)loadinfo->ctoralloc);
+  bdbg("  ctors:        %08lx\n", (long)loadinfo->ctors);
+  bdbg("  nctors:       %d\n",    loadinfo->nctors);
+  bdbg("  dtoralloc:    %08lx\n", (long)loadinfo->dtoralloc);
+  bdbg("  dtors:        %08lx\n", (long)loadinfo->dtors);
+  bdbg("  ndtors:       %d\n",    loadinfo->ndtors);
+#endif
+  bdbg("  filfd:        %d\n",    loadinfo->filfd);
+  bdbg("  symtabidx:    %d\n",    loadinfo->symtabidx);
+  bdbg("  strtabidx:    %d\n",    loadinfo->strtabidx);
+
+  bdbg("ELF Header:\n");
+  bdbg("  e_ident:      %02x %02x %02x %02x\n",
+    loadinfo->ehdr.e_ident[0], loadinfo->ehdr.e_ident[1],
+    loadinfo->ehdr.e_ident[2], loadinfo->ehdr.e_ident[3]);
+  bdbg("  e_type:       %04x\n",  loadinfo->ehdr.e_type);
+  bdbg("  e_machine:    %04x\n",  loadinfo->ehdr.e_machine);
+  bdbg("  e_version:    %08x\n",  loadinfo->ehdr.e_version);
+  bdbg("  e_entry:      %08lx\n", (long)loadinfo->ehdr.e_entry);
+  bdbg("  e_phoff:      %d\n",    loadinfo->ehdr.e_phoff);
+  bdbg("  e_shoff:      %d\n",    loadinfo->ehdr.e_shoff);
+  bdbg("  e_flags:      %08x\n" , loadinfo->ehdr.e_flags);
+  bdbg("  e_ehsize:     %d\n",    loadinfo->ehdr.e_ehsize);
+  bdbg("  e_phentsize:  %d\n",    loadinfo->ehdr.e_phentsize);
+  bdbg("  e_phnum:      %d\n",    loadinfo->ehdr.e_phnum);
+  bdbg("  e_shentsize:  %d\n",    loadinfo->ehdr.e_shentsize);
+  bdbg("  e_shnum:      %d\n",    loadinfo->ehdr.e_shnum);
+  bdbg("  e_shstrndx:   %d\n",    loadinfo->ehdr.e_shstrndx);
+
+  if (loadinfo->shdr && loadinfo->ehdr.e_shnum > 0)
+    {
+      for (i = 0; i < loadinfo->ehdr.e_shnum; i++)
+        {
+          FAR Elf32_Shdr *shdr = &loadinfo->shdr[i];
+          bdbg("Sections %d:\n", i);
+          bdbg("  sh_name:      %08x\n", shdr->sh_name);
+          bdbg("  sh_type:      %08x\n", shdr->sh_type);
+          bdbg("  sh_flags:     %08x\n", shdr->sh_flags);
+          bdbg("  sh_addr:      %08x\n", shdr->sh_addr);
+          bdbg("  sh_offset:    %d\n",   shdr->sh_offset);
+          bdbg("  sh_size:      %d\n",   shdr->sh_size);
+          bdbg("  sh_link:      %d\n",   shdr->sh_link);
+          bdbg("  sh_info:      %d\n",   shdr->sh_info);
+          bdbg("  sh_addralign: %d\n",   shdr->sh_addralign);
+          bdbg("  sh_entsize:   %d\n",   shdr->sh_entsize);
+        }
+    }
+}
+#else
+# define elf_dumploadinfo(i)
+#endif
+
+/****************************************************************************
+ * Name: elf_loadbinary
+ *
+ * Description:
+ *   Verify that the file is an ELF binary and, if so, load the ELF
+ *   binary into memory
+ *
+ ****************************************************************************/
+
+static int elf_loadbinary(struct binary_s *binp)
+{
+  struct elf_loadinfo_s loadinfo;  /* Contains globals for libelf */
+  int                   ret;
+
+  bvdbg("Loading file: %s\n", binp->filename);
+
+  /* Initialize the xflat library to load the program binary. */
+
+  ret = elf_init(binp->filename, &loadinfo);
+  elf_dumploadinfo(&loadinfo);
+  if (ret != 0)
+    {
+      bdbg("Failed to initialize for load of ELF program: %d\n", ret);
+      goto errout;
+    }
+
+  /* Load the program binary */
+
+  ret = elf_load(&loadinfo);
+  elf_dumploadinfo(&loadinfo);
+  if (ret != 0)
+    {
+      bdbg("Failed to load ELF program binary: %d\n", ret);
+      goto errout_with_init;
+    }
+
+  /* Bind the program to the exported symbol table */
+
+  ret = elf_bind(&loadinfo, binp->exports, binp->nexports);
+  if (ret != 0)
+    {
+      bdbg("Failed to bind symbols program binary: %d\n", ret);
+      goto errout_with_load;
+    }
+
+  /* Return the load information */
+
+  binp->entrypt   = (main_t)(loadinfo.elfalloc + loadinfo.ehdr.e_entry);
+  binp->stacksize = CONFIG_ELF_STACKSIZE;
+
+  /* Add the ELF allocation to the alloc[] only if there is no address
+   * enironment.  If there is an address environment, it will automatically
+   * be freed when the function exits
+   *
+   * REVISIT:  If the module is loaded then unloaded, wouldn't this cause
+   * a memory leak?
+   */
+
+#ifdef CONFIG_ADDRENV
+#  warning "REVISIT"
+#else
+  binp->alloc[0]  = (FAR void *)loadinfo.elfalloc;
+#endif
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  /* Save information about constructors.  NOTE:  desctructors are not
+   * yet supported.
+   */
+
+  binp->alloc[1]  = loadinfo.ctoralloc;
+  binp->ctors     = loadinfo.ctors;
+  binp->nctors    = loadinfo.nctors;
+
+  binp->alloc[2]  = loadinfo.dtoralloc;
+  binp->dtors     = loadinfo.dtors;
+  binp->ndtors    = loadinfo.ndtors;
+#endif
+
+#ifdef CONFIG_ADDRENV
+  /* Save the address environment.  This will be needed when the module is
+   * executed for the up_addrenv_assign() call.
+   */
+
+  binp->addrenv   = loadinfo.addrenv;
+#endif
+
+  elf_dumpbuffer("Entry code", (FAR const uint8_t*)binp->entrypt,
+                 MIN(loadinfo.allocsize - loadinfo.ehdr.e_entry, 512));
+
+  elf_uninit(&loadinfo);
+  return OK;
+
+errout_with_load:
+  elf_unload(&loadinfo);
+errout_with_init:
+  elf_uninit(&loadinfo);
+errout:
+  return ret;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_initialize
+ *
+ * Description:
+ *   ELF support is built unconditionally.  However, it order to
+ *   use this binary format, this function must be called during system
+ *   format in order to register the ELF binary format.
+ *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_initialize(void)
+{
+  int ret;
+
+  /* Register ourselves as a binfmt loader */
+
+  bvdbg("Registering ELF\n");
+
+  ret = register_binfmt(&g_elfbinfmt);
+  if (ret != 0)
+    {
+      bdbg("Failed to register binfmt: %d\n", ret);
+    }
+
+  return ret;
+}
+
+/****************************************************************************
+ * Name: elf_uninitialize
+ *
+ * Description:
+ *   Unregister the ELF binary loader
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void elf_uninitialize(void)
+{
+  unregister_binfmt(&g_elfbinfmt);
+}
+
+#endif /* CONFIG_ELF */
+
diff --git a/nuttx/binfmt/libelf/Make.defs b/nuttx/binfmt/libelf/Make.defs
new file mode 100644
index 000000000..93d95a23c
--- /dev/null
+++ b/nuttx/binfmt/libelf/Make.defs
@@ -0,0 +1,58 @@
+############################################################################
+# binfmt/libelf/Make.defs
+#
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+ifeq ($(CONFIG_ELF),y)
+
+# ELF application interfaces
+
+BINFMT_CSRCS += elf.c
+
+# ELF library
+
+BINFMT_CSRCS += libelf_bind.c libelf_init.c libelf_addrenv.c libelf_iobuffer.c 
+BINFMT_CSRCS += libelf_load.c libelf_read.c libelf_sections.c libelf_symbols.c
+BINFMT_CSRCS += libelf_uninit.c libelf_unload.c libelf_verify.c
+
+ifeq ($(CONFIG_BINFMT_CONSTRUCTORS),y)
+BINFMT_CSRCS += libelf_ctors.c libelf_dtors.c
+endif
+
+# Hook the libelf subdirectory into the build
+
+VPATH += libelf
+SUBDIRS += libelf
+DEPPATH += --dep-path libelf
+
+endif
diff --git a/nuttx/binfmt/libelf/libelf.h b/nuttx/binfmt/libelf/libelf.h
new file mode 100644
index 000000000..04c9144f6
--- /dev/null
+++ b/nuttx/binfmt/libelf/libelf.h
@@ -0,0 +1,341 @@
+/****************************************************************************
+ * binfmt/libelf/libelf.h
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef __BINFMT_LIBELF_LIBELF_H
+#define __BINFMT_LIBELF_LIBELF_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <elf32.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/binfmt/elf.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_verifyheader
+ *
+ * Description:
+ *   Given the header from a possible ELF executable, verify that it is
+ *   an ELF executable.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_verifyheader(FAR const Elf32_Ehdr *header);
+
+/****************************************************************************
+ * Name: elf_read
+ *
+ * Description:
+ *   Read 'readsize' bytes from the object file at 'offset'.  The data is
+ *   read into 'buffer.' If 'buffer' is part of the ELF address environment,
+ *   then the caller is responsibile for assuring that that address
+ *   environment is in place before calling this function (i.e., that
+ *   elf_addrenv_select() has been called if CONFIG_ADDRENV=y).
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_read(FAR struct elf_loadinfo_s *loadinfo, FAR uint8_t *buffer,
+             size_t readsize, off_t offset);
+
+/****************************************************************************
+ * Name: elf_loadshdrs
+ *
+ * Description:
+ *   Loads section headers into memory.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_loadshdrs(FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_findsection
+ *
+ * Description:
+ *   A section by its name.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   sectname - Name of the section to find
+ *
+ * Returned Value:
+ *   On success, the index to the section is returned; A negated errno value
+ *   is returned on failure.
+ *
+ ****************************************************************************/
+
+int elf_findsection(FAR struct elf_loadinfo_s *loadinfo,
+                    FAR const char *sectname);
+
+/****************************************************************************
+ * Name: elf_findsymtab
+ *
+ * Description:
+ *   Find the symbol table section.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_findsymtab(FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_readsym
+ *
+ * Description:
+ *   Read the ELFT symbol structure at the specfied index into memory.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   index    - Symbol table index
+ *   sym      - Location to return the table entry
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_readsym(FAR struct elf_loadinfo_s *loadinfo, int index,
+                FAR Elf32_Sym *sym);
+
+/****************************************************************************
+ * Name: elf_symvalue
+ *
+ * Description:
+ *   Get the value of a symbol.  The updated value of the symbol is returned
+ *   in the st_value field of the symbol table entry.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   sym      - Symbol table entry (value might be undefined)
+ *   exports  - The symbol table to use for resolving undefined symbols.
+ *   nexports - Number of symbols in the symbol table.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_symvalue(FAR struct elf_loadinfo_s *loadinfo, FAR Elf32_Sym *sym,
+                 FAR const struct symtab_s *exports, int nexports);
+
+/****************************************************************************
+ * Name: elf_freebuffers
+ *
+ * Description:
+ *  Release all working buffers.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_freebuffers(FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_allocbuffer
+ *
+ * Description:
+ *   Perform the initial allocation of the I/O buffer, if it has not already
+ *   been allocated.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_allocbuffer(FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_reallocbuffer
+ *
+ * Description:
+ *   Increase the size of I/O buffer by the specified buffer increment.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_reallocbuffer(FAR struct elf_loadinfo_s *loadinfo, size_t increment);
+
+/****************************************************************************
+ * Name: elf_findctors
+ *
+ * Description:
+ *   Find C++ static constructors.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+int elf_loadctors(FAR struct elf_loadinfo_s *loadinfo);
+#endif
+
+/****************************************************************************
+ * Name: elf_loaddtors
+ *
+ * Description:
+ *  Load pointers to static destructors into an in-memory array.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+int elf_loaddtors(FAR struct elf_loadinfo_s *loadinfo);
+#endif
+
+/****************************************************************************
+ * Name: elf_addrenv_alloc
+ *
+ * Description:
+ *   Allocate memory for the ELF image (elfalloc). If CONFIG_ADDRENV=n,
+ *   elfalloc will be allocated using kzalloc().  If CONFIG_ADDRENV-y, then
+ *   elfalloc will be allocated using up_addrenv_create().  In either case,
+ *   there will be a unique instance of elfalloc (and stack) for each
+ *   instance of a process.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   envsize - The size (in bytes) of the address environment needed for the
+ *     ELF image.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int elf_addrenv_alloc(FAR struct elf_loadinfo_s *loadinfo, size_t envsize);
+
+/****************************************************************************
+ * Name: elf_addrenv_select
+ *
+ * Description:
+ *   Temporarity select the task's address environemnt.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+#  define elf_addrenv_select(l) up_addrenv_select((l)->addrenv, &(l)->oldenv)
+#endif
+
+/****************************************************************************
+ * Name: elf_addrenv_restore
+ *
+ * Description:
+ *   Restore the address environment before elf_addrenv_select() was called..
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+#  define elf_addrenv_restore(l) up_addrenv_restore((l)->oldenv)
+#endif
+
+/****************************************************************************
+ * Name: elf_addrenv_free
+ *
+ * Description:
+ *   Release the address environment previously created by
+ *   elf_addrenv_alloc().  This function  is called only under certain error
+ *   conditions after the the module has been loaded but not yet started.
+ *   After the module has been started, the address environment will
+ *   automatically be freed when the module exits.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+
+void elf_addrenv_free(FAR struct elf_loadinfo_s *loadinfo);
+
+#endif /* __BINFMT_LIBELF_LIBELF_H */
diff --git a/nuttx/binfmt/libelf/libelf_addrenv.c b/nuttx/binfmt/libelf/libelf_addrenv.c
new file mode 100644
index 000000000..193062a54
--- /dev/null
+++ b/nuttx/binfmt/libelf/libelf_addrenv.c
@@ -0,0 +1,176 @@
+/****************************************************************************
+ * binfmt/libelf/libelf_addrenv.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+
+#include "libelf.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Constant Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_addrenv_alloc
+ *
+ * Description:
+ *   Allocate memory for the ELF image (elfalloc). If CONFIG_ADDRENV=n,
+ *   elfalloc will be allocated using kzalloc().  If CONFIG_ADDRENV-y, then
+ *   elfalloc will be allocated using up_addrenv_create().  In either case,
+ *   there will be a unique instance of elfalloc (and stack) for each
+ *   instance of a process.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   envsize - The size (in bytes) of the address environment needed for the
+ *     ELF image.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int elf_addrenv_alloc(FAR struct elf_loadinfo_s *loadinfo, size_t envsize)
+{
+#ifdef CONFIG_ADDRENV
+  FAR void *vaddr;
+  int ret;
+
+  /* Create an address environment for the new ELF task */
+
+  ret = up_addrenv_create(envsize, &loadinfo->addrenv);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_create failed: %d\n", ret);
+      return ret;
+    }
+
+  /* Get the virtual address associated with the start of the address
+   * environment.  This is the base address that we will need to use to
+   * access the ELF image (but only if the address environment has been
+   * selected.
+   */
+
+  ret = up_addrenv_vaddr(loadinfo->addrenv, &vaddr);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_vaddr failed: %d\n", ret);
+      return ret;
+    }
+
+  loadinfo->elfalloc = (uintptr_t)vaddr;
+  return OK;
+#else
+  /* Allocate memory to hold the ELF image */
+
+  loadinfo->elfalloc = (uintptr_t)kzalloc(envsize);
+  if (!loadinfo->elfalloc)
+    {
+      return -ENOMEM;
+    }
+
+  return OK;
+#endif
+}
+
+/****************************************************************************
+ * Name: elf_addrenv_free
+ *
+ * Description:
+ *   Release the address environment previously created by
+ *   elf_addrenv_create().  This function  is called only under certain error
+ *   conditions after the the module has been loaded but not yet started.
+ *   After the module has been started, the address environment will
+ *   automatically be freed when the module exits.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+
+void elf_addrenv_free(FAR struct elf_loadinfo_s *loadinfo)
+{
+#ifdef CONFIG_ADDRENV
+  int ret;
+
+  /* Free the address environemnt */
+
+  ret = up_addrenv_destroy(loadinfo->addrenv);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_destroy failed: %d\n", ret);
+    }
+
+  /* Clear out all indications of the allocated address environment */
+
+  loadinfo->elfalloc = 0;
+  loadinfo->elfsize  = 0;
+  loadinfo->addrenv  = 0;
+#else
+  /* If there is an allocation for the ELF image, free it */
+
+  if (loadinfo->elfalloc != 0)
+    {
+      kfree((FAR void *)loadinfo->elfalloc);
+      loadinfo->elfalloc = 0;
+    }
+
+   loadinfo->elfsize = 0;
+#endif
+}
diff --git a/nuttx/binfmt/libelf/libelf_bind.c b/nuttx/binfmt/libelf/libelf_bind.c
new file mode 100644
index 000000000..ccdb5108e
--- /dev/null
+++ b/nuttx/binfmt/libelf/libelf_bind.c
@@ -0,0 +1,334 @@
+/****************************************************************************
+ * binfmt/libelf/libelf_bind.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <string.h>
+#include <elf32.h>
+#include <errno.h>
+#include <assert.h>
+#include <debug.h>
+
+#include <nuttx/binfmt/elf.h>
+#include <nuttx/binfmt/symtab.h>
+
+#include "libelf.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* CONFIG_DEBUG, CONFIG_DEBUG_VERBOSE, and CONFIG_DEBUG_BINFMT have to be
+ * defined or CONFIG_ELF_DUMPBUFFER does nothing.
+ */
+
+#if !defined(CONFIG_DEBUG_VERBOSE) || !defined (CONFIG_DEBUG_BINFMT)
+#  undef CONFIG_ELF_DUMPBUFFER
+#endif
+
+#ifndef CONFIG_ELF_BUFFERSIZE
+#  define CONFIG_ELF_BUFFERSIZE 128
+#endif
+
+#ifdef CONFIG_ELF_DUMPBUFFER
+# define elf_dumpbuffer(m,b,n) bvdbgdumpbuffer(m,b,n)
+#else
+# define elf_dumpbuffer(m,b,n)
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_readrel
+ *
+ * Description:
+ *   Read the ELF32_Rel structure into memory.
+ *
+ ****************************************************************************/
+
+static inline int elf_readrel(FAR struct elf_loadinfo_s *loadinfo,
+                              FAR const Elf32_Shdr *relsec,
+                              int index, FAR Elf32_Rel *rel)
+{
+  off_t offset;
+
+  /* Verify that the symbol table index lies within symbol table */
+
+  if (index < 0 || index > (relsec->sh_size / sizeof(Elf32_Rel)))
+    {
+      bdbg("Bad relocation symbol index: %d\n", index);
+      return -EINVAL;
+    }
+
+  /* Get the file offset to the symbol table entry */
+
+  offset = relsec->sh_offset + sizeof(Elf32_Rel) * index;
+
+  /* And, finally, read the symbol table entry into memory */
+
+  return elf_read(loadinfo, (FAR uint8_t*)rel, sizeof(Elf32_Rel), offset);
+}
+
+/****************************************************************************
+ * Name: elf_relocate and elf_relocateadd
+ *
+ * Description:
+ *   Perform all relocations associated with a section.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+static int elf_relocate(FAR struct elf_loadinfo_s *loadinfo, int relidx,
+                        FAR const struct symtab_s *exports, int nexports)
+
+{
+  FAR Elf32_Shdr *relsec = &loadinfo->shdr[relidx];
+  FAR Elf32_Shdr *dstsec = &loadinfo->shdr[relsec->sh_info];
+  Elf32_Rel       rel;
+  Elf32_Sym       sym;
+  uintptr_t       addr;
+  int             symidx;
+  int             ret;
+  int             i;
+
+  /* Examine each relocation in the section.  'relsec' is the section
+   * containing the relations.  'dstsec' is the section containing the data
+   * to be relocated.
+   */
+
+  for (i = 0; i < relsec->sh_size / sizeof(Elf32_Rel); i++)
+    {
+      /* Read the relocation entry into memory */
+
+      ret = elf_readrel(loadinfo, relsec, i, &rel);
+      if (ret < 0)
+        {
+          bdbg("Section %d reloc %d: Failed to read relocation entry: %d\n",
+               relidx, i, ret);
+          return ret;
+        }
+
+      /* Get the symbol table index for the relocation.  This is contained
+       * in a bit-field within the r_info element.
+       */
+
+      symidx = ELF32_R_SYM(rel.r_info);
+
+      /* Read the symbol table entry into memory */
+
+      ret = elf_readsym(loadinfo, symidx, &sym);
+      if (ret < 0)
+        {
+          bdbg("Section %d reloc %d: Failed to read symbol[%d]: %d\n",
+               relidx, i, symidx, ret);
+          return ret;
+        }
+
+      /* Get the value of the symbol (in sym.st_value) */
+
+      ret = elf_symvalue(loadinfo, &sym, exports, nexports);
+      if (ret < 0)
+        {
+          bdbg("Section %d reloc %d: Failed to get value of symbol[%d]: %d\n",
+               relidx, i, symidx, ret);
+          return ret;
+        }
+
+      /* Calculate the relocation address. */
+
+      if (rel.r_offset < 0 || rel.r_offset > dstsec->sh_size - sizeof(uint32_t))
+        {
+          bdbg("Section %d reloc %d: Relocation address out of range, offset %d size %d\n",
+               relidx, i, rel.r_offset, dstsec->sh_size);
+          return -EINVAL;
+        }
+
+      addr = dstsec->sh_addr + rel.r_offset;
+
+      /* If CONFIG_ADDRENV=y, then 'addr' lies in a virtual address space that
+       * may not be in place now.  elf_addrenv_select() will temporarily
+       * instantiate that address space.
+       */
+
+#ifdef CONFIG_ADDRENV
+      ret = elf_addrenv_select(loadinfo);
+      if (ret < 0)
+        {
+          bdbg("ERROR: elf_addrenv_select() failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+      /* Now perform the architecture-specific relocation */
+
+      ret = arch_relocate(&rel, &sym, addr);
+      if (ret < 0)
+        {
+#ifdef CONFIG_ADDRENV
+          (void)elf_addrenv_restore(loadinfo);
+#endif
+          bdbg("ERROR: Section %d reloc %d: Relocation failed: %d\n", ret);
+          return ret;
+        }
+
+      /* Restore the original address environment */
+
+#ifdef CONFIG_ADDRENV
+      ret = elf_addrenv_restore(loadinfo);
+      if (ret < 0)
+        {
+          bdbg("ERROR: elf_addrenv_restore() failed: %d\n", ret);
+          return ret;
+        }
+#endif
+    }
+
+  return OK;
+}
+
+static int elf_relocateadd(FAR struct elf_loadinfo_s *loadinfo, int relidx,
+                           FAR const struct symtab_s *exports, int nexports)
+{
+  bdbg("Not implemented\n");
+  return -ENOSYS;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_bind
+ *
+ * Description:
+ *   Bind the imported symbol names in the loaded module described by
+ *   'loadinfo' using the exported symbol values provided by 'symtab'.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_bind(FAR struct elf_loadinfo_s *loadinfo,
+             FAR const struct symtab_s *exports, int nexports)
+{
+  int ret;
+  int i;
+
+  /* Find the symbol and string tables */
+
+  ret = elf_findsymtab(loadinfo);
+  if (ret < 0)
+    {
+      return ret;
+    }
+
+  /* Allocate an I/O buffer.  This buffer is used by elf_symname() to
+   * accumulate the variable length symbol name.
+   */
+
+  ret = elf_allocbuffer(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("elf_allocbuffer failed: %d\n", ret);
+      return -ENOMEM;
+    }
+
+  /* Process relocations in every allocated section */
+
+  for (i = 1; i < loadinfo->ehdr.e_shnum; i++)
+    {
+      /* Get the index to the relocation section */
+      
+      int infosec = loadinfo->shdr[i].sh_info;
+      if (infosec >= loadinfo->ehdr.e_shnum)
+        {
+          continue;
+        }
+
+      /* Make sure that the section is allocated.  We can't relocated
+       * sections that were not loaded into memory.
+       */
+
+      if ((loadinfo->shdr[infosec].sh_flags & SHF_ALLOC) == 0)
+        {
+          continue;
+        }
+
+      /* Process the relocations by type */
+
+      if (loadinfo->shdr[i].sh_type == SHT_REL)
+        {
+          ret = elf_relocate(loadinfo, i, exports, nexports);
+        }
+      else if (loadinfo->shdr[i].sh_type == SHT_RELA)
+        {
+          ret = elf_relocateadd(loadinfo, i, exports, nexports);
+        }
+
+      if (ret < 0)
+        {
+          break;
+        }
+    }
+
+  /* Flush the instruction cache before starting the newly loaded module */
+
+#ifdef CONFIG_ELF_ICACHE
+  arch_flushicache((FAR void*)loadinfo->elfalloc, loadinfo->elfsize);
+#endif
+
+  return ret;
+}
+
diff --git a/nuttx/binfmt/libelf/libelf_load.c b/nuttx/binfmt/libelf/libelf_load.c
new file mode 100644
index 000000000..0e4ad9798
--- /dev/null
+++ b/nuttx/binfmt/libelf/libelf_load.c
@@ -0,0 +1,288 @@
+/****************************************************************************
+ * binfmt/libelf/libelf_load.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <elf32.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/binfmt/elf.h>
+
+#include "libelf.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+#define ELF_ALIGN_MASK   ((1 << CONFIG_ELF_ALIGN_LOG2) - 1)
+#define ELF_ALIGNUP(a)   (((unsigned long)(a) + ELF_ALIGN_MASK) & ~ELF_ALIGN_MASK)
+#define ELF_ALIGNDOWN(a) ((unsigned long)(a) & ~ELF_ALIGN_MASK)
+
+
+#ifndef MAX
+#define MAX(x,y) ((x) > (y) ? (x) : (y))
+#endif
+
+/****************************************************************************
+ * Private Constant Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_elfsize
+ *
+ * Description:
+ *   Calculate total memory allocation for the ELF file.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+static void elf_elfsize(struct elf_loadinfo_s *loadinfo)
+{
+  size_t elfsize;
+  int i;
+
+  /* Accumulate the size each section into memory that is marked SHF_ALLOC */
+
+  elfsize = 0;
+  for (i = 0; i < loadinfo->ehdr.e_shnum; i++)
+    {
+      FAR Elf32_Shdr *shdr = &loadinfo->shdr[i];
+
+      /* SHF_ALLOC indicates that the section requires memory during
+       * execution.
+       */
+
+      if ((shdr->sh_flags & SHF_ALLOC) != 0)
+        {
+          elfsize += ELF_ALIGNUP(shdr->sh_size);
+        }
+    }
+
+  /* Save the allocation size */
+
+  loadinfo->elfsize = elfsize;
+}
+
+/****************************************************************************
+ * Name: elf_loadfile
+ *
+ * Description:
+ *   Allocate memory for the file and read the section data into the
+ *   allocated memory.  Section addresses in the shdr[] are updated to point
+ *   to the corresponding position in the allocated memory.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+static inline int elf_loadfile(FAR struct elf_loadinfo_s *loadinfo)
+{
+  FAR uint8_t *dest;
+  int ret;
+  int i;
+
+  /* Allocate (and zero) memory for the ELF file. */
+
+  ret = elf_addrenv_alloc(loadinfo, loadinfo->elfsize);
+  if (ret < 0)
+    {
+      bdbg("ERROR: elf_addrenv_alloc() failed: %d\n", ret);
+      return ret;
+    }
+
+  /* Read each section into memory that is marked SHF_ALLOC + SHT_NOBITS */
+
+  bvdbg("Loaded sections:\n");
+  dest = (FAR uint8_t*)loadinfo->elfalloc;
+
+  for (i = 0; i < loadinfo->ehdr.e_shnum; i++)
+    {
+      FAR Elf32_Shdr *shdr = &loadinfo->shdr[i];
+
+      /* SHF_ALLOC indicates that the section requires memory during
+       * execution */
+
+      if ((shdr->sh_flags & SHF_ALLOC) == 0)
+        {
+          continue;
+        }
+
+      /* SHT_NOBITS indicates that there is no data in the file for the
+       * section.
+       */
+
+      if (shdr->sh_type != SHT_NOBITS)
+        {
+          /* If CONFIG_ADDRENV=y, then 'dest' lies in a virtual address space
+           * that may not be in place now.  elf_addrenv_select() will
+           * temporarily instantiate that address space.
+           */
+
+#ifdef CONFIG_ADDRENV
+          ret = elf_addrenv_select(loadinfo);
+          if (ret < 0)
+            {
+              bdbg("ERROR: elf_addrenv_select() failed: %d\n", ret);
+              return ret;
+            }
+#endif
+
+          /* Read the section data from sh_offset to dest */
+
+          ret = elf_read(loadinfo, dest, shdr->sh_size, shdr->sh_offset);
+          if (ret < 0)
+            {
+              bdbg("Failed to read section %d: %d\n", i, ret);
+              return ret;
+            }
+
+          /* Restore the original address environment */
+
+#ifdef CONFIG_ADDRENV
+          ret = elf_addrenv_restore(loadinfo);
+          if (ret < 0)
+            {
+              bdbg("ERROR: elf_addrenv_restore() failed: %d\n", ret);
+             return ret;
+            }
+#endif
+        }
+
+      /* Update sh_addr to point to copy in memory */
+
+      bvdbg("%d. %08x->%08x\n", i, (long)shdr->sh_addr, (long)dest);
+      shdr->sh_addr = (uintptr_t)dest;
+
+      /* Setup the memory pointer for the next time through the loop */
+
+      dest += ELF_ALIGNUP(shdr->sh_size);
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_load
+ *
+ * Description:
+ *   Loads the binary into memory, allocating memory, performing relocations
+ *   and inializing the data and bss segments.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_load(FAR struct elf_loadinfo_s *loadinfo)
+{
+  int ret;
+
+  bvdbg("loadinfo: %p\n", loadinfo);
+  DEBUGASSERT(loadinfo && loadinfo->filfd >= 0);
+
+  /* Load section headers into memory */
+
+  ret = elf_loadshdrs(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("elf_loadshdrs failed: %d\n", ret);
+      goto errout_with_buffers;
+    }
+
+  /* Determine total size to allocate */
+
+  elf_elfsize(loadinfo);
+
+  /* Allocate memory and load sections into memory */
+
+  ret = elf_loadfile(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("elf_loadfile failed: %d\n", ret);
+      goto errout_with_buffers;
+    }
+
+  /* Load static constructors and destructors. */
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  ret = elf_loadctors(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("elf_loadctors failed: %d\n", ret);
+      goto errout_with_buffers;
+    }
+
+  ret = elf_loaddtors(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("elf_loaddtors failed: %d\n", ret);
+      goto errout_with_buffers;
+    }
+#endif
+
+  return OK;
+
+  /* Error exits */
+
+errout_with_buffers:
+  elf_unload(loadinfo);
+  return ret;
+}
+
diff --git a/nuttx/binfmt/libelf/libelf_read.c b/nuttx/binfmt/libelf/libelf_read.c
new file mode 100644
index 000000000..f4b725183
--- /dev/null
+++ b/nuttx/binfmt/libelf/libelf_read.c
@@ -0,0 +1,165 @@
+/****************************************************************************
+ * binfmt/libelf/libelf_read.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <string.h>
+#include <elf32.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/binfmt/elf.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+#undef ELF_DUMP_READDATA       /* Define to dump all file data read */
+#define DUMPER lib_rawprintf   /* If ELF_DUMP_READDATA is defined, this
+                                * is the API used to dump data */
+
+/****************************************************************************
+ * Private Constant Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_dumpreaddata
+ ****************************************************************************/
+
+#if defined(ELF_DUMP_READDATA)
+static inline void elf_dumpreaddata(char *buffer, int buflen)
+{
+  uint32_t *buf32 = (uint32_t*)buffer;
+  int i;
+  int j;
+
+  for (i = 0; i < buflen; i += 32)
+    {
+      DUMPER("%04x:", i);
+      for (j = 0; j < 32; j += sizeof(uint32_t))
+        {
+          DUMPER("  %08x", *buf32++);
+        }
+      DUMPER("\n");
+    }
+}
+#else
+#  define elf_dumpreaddata(b,n)
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_read
+ *
+ * Description:
+ *   Read 'readsize' bytes from the object file at 'offset'.  The data is
+ *   read into 'buffer.' If 'buffer' is part of the ELF address environment,
+ *   then the caller is responsibile for assuring that that address
+ *   environment is in place before calling this function (i.e., that
+ *   elf_addrenv_select() has been called if CONFIG_ADDRENV=y).
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_read(FAR struct elf_loadinfo_s *loadinfo, FAR uint8_t *buffer,
+             size_t readsize, off_t offset)
+{
+  ssize_t nbytes;      /* Number of bytes read */
+  off_t   rpos;        /* Position returned by lseek */
+
+  bvdbg("Read %ld bytes from offset %ld\n", (long)readsize, (long)offset);
+
+  /* Loop until all of the requested data has been read. */
+
+  while (readsize > 0)
+    {
+      /* Seek to the next read position */
+
+      rpos = lseek(loadinfo->filfd, offset, SEEK_SET);
+      if (rpos != offset)
+        {
+          int errval = errno;
+          bdbg("Failed to seek to position %ld: %d\n", (long)offset, errval);
+          return -errval;
+        }
+
+      /* Read the file data at offset into the user buffer */
+
+       nbytes = read(loadinfo->filfd, buffer, readsize);
+       if (nbytes < 0)
+         {
+           int errval = errno;
+
+           /* EINTR just means that we received a signal */
+
+           if (errval != EINTR)
+             {
+               bdbg("Read of .data failed: %d\n", errval);
+               return -errval;
+             }
+         }
+       else if (nbytes == 0)
+         {
+           bdbg("Unexpected end of file\n");
+           return -ENODATA;
+         }
+       else
+         {
+           readsize -= nbytes;
+           buffer   += nbytes;
+           offset   += nbytes;
+         }
+    }
+
+  elf_dumpreaddata(buffer, readsize);
+  return OK;
+}
diff --git a/nuttx/binfmt/libelf/libelf_unload.c b/nuttx/binfmt/libelf/libelf_unload.c
new file mode 100644
index 000000000..539e5faf7
--- /dev/null
+++ b/nuttx/binfmt/libelf/libelf_unload.c
@@ -0,0 +1,114 @@
+/****************************************************************************
+ * binfmt/libelf/libelf_unload.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdlib.h>
+#include <debug.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/binfmt/elf.h>
+
+#include "libelf.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Constant Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_unload
+ *
+ * Description:
+ *   This function unloads the object from memory. This essentially undoes
+ *   the actions of elf_load.  It is called only under certain error
+ *   conditions after the the module has been loaded but not yet started.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int elf_unload(struct elf_loadinfo_s *loadinfo)
+{
+  /* Free all working buffers */
+
+  elf_freebuffers(loadinfo);
+
+  /* Release memory holding the relocated ELF image */
+
+  elf_addrenv_free(loadinfo);
+ 
+   /* Release memory used to hold static constructors and destructors */
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  if (loadinfo->ctoralloc != 0)
+    {
+      kfree(loadinfo->ctoralloc);
+      loadinfo->ctoralloc = NULL;
+    }
+
+   loadinfo->ctors   = NULL;
+   loadinfo->nctors  = 0;
+
+  if (loadinfo->dtoralloc != 0)
+    {
+      kfree(loadinfo->dtoralloc);
+      loadinfo->dtoralloc = NULL;
+    }
+
+   loadinfo->dtors   = NULL;
+   loadinfo->ndtors  = 0;
+#endif
+
+  return OK;
+}
+
diff --git a/nuttx/binfmt/libnxflat/Make.defs b/nuttx/binfmt/libnxflat/Make.defs
index f979741e5..6a0bf1873 100644
--- a/nuttx/binfmt/libnxflat/Make.defs
+++ b/nuttx/binfmt/libnxflat/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# nxflat/lib/Make.defs
+# binfmt/libnxflat/Make.defs
 #
 #   Copyright (C) 2009 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -33,7 +33,22 @@
 #
 ############################################################################
 
-LIBNXFLAT_ASRCS =
-LIBNXFLAT_CSRCS = libnxflat_init.c libnxflat_uninit.c libnxflat_load.c \
-		  libnxflat_unload.c libnxflat_verify.c libnxflat_read.c \
-		  libnxflat_bind.c
+ifeq ($(CONFIG_NXFLAT),y)
+
+# NXFLAT application interfaces
+
+BINFMT_CSRCS += nxflat.c
+
+# NXFLAT library
+
+BINFMT_CSRCS += libnxflat_init.c libnxflat_uninit.c libnxflat_addrenv.c
+BINFMT_CSRCS += libnxflat_load.c libnxflat_unload.c libnxflat_verify.c
+BINFMT_CSRCS += libnxflat_read.c libnxflat_bind.c
+
+# Hook the libnxflat subdirectory into the build
+
+VPATH += libnxflat
+SUBDIRS += libnxflat
+DEPPATH += --dep-path libnxflat
+
+endif
diff --git a/nuttx/binfmt/libnxflat/libnxflat.h b/nuttx/binfmt/libnxflat/libnxflat.h
new file mode 100644
index 000000000..cb1cb7057
--- /dev/null
+++ b/nuttx/binfmt/libnxflat/libnxflat.h
@@ -0,0 +1,136 @@
+/****************************************************************************
+ * binfmt/libnxflat/libnxflat.h
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef __BINFMT_LIBNXFLAT_LIBNXFLAT_H
+#define __BINFMT_LIBNXFLAT_LIBNXFLAT_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/binfmt/nxflat.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxflat_addrenv_alloc
+ *
+ * Description:
+ *   Allocate memory for the ELF image (elfalloc). If CONFIG_ADDRENV=n,
+ *   elfalloc will be allocated using kzalloc().  If CONFIG_ADDRENV-y, then
+ *   elfalloc will be allocated using up_addrenv_create().  In either case,
+ *   there will be a unique instance of elfalloc (and stack) for each
+ *   instance of a process.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   envsize - The size (in bytes) of the address environment needed for the
+ *     ELF image.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int nxflat_addrenv_alloc(FAR struct nxflat_loadinfo_s *loadinfo, size_t envsize);
+
+/****************************************************************************
+ * Name: nxflat_addrenv_select
+ *
+ * Description:
+ *   Temporarity select the task's address environemnt.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+#  define nxflat_addrenv_select(l) up_addrenv_select((l)->addrenv, &(l)->oldenv)
+#endif
+
+/****************************************************************************
+ * Name: nxflat_addrenv_restore
+ *
+ * Description:
+ *   Restore the address environment before nxflat_addrenv_select() was called..
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+#  define nxflat_addrenv_restore(l) up_addrenv_restore((l)->oldenv)
+#endif
+
+/****************************************************************************
+ * Name: nxflat_addrenv_free
+ *
+ * Description:
+ *   Release the address environment previously created by
+ *   nxflat_addrenv_create().  This function  is called only under certain
+ *   error conditions after the the module has been loaded but not yet
+ *   started. After the module has been started, the address environment
+ *   will automatically be freed when the module exits.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+
+void nxflat_addrenv_free(FAR struct nxflat_loadinfo_s *loadinfo);
+
+#endif /* __BINFMT_LIBNXFLAT_LIBNXFLAT_H */
diff --git a/nuttx/binfmt/libnxflat/libnxflat_addrenv.c b/nuttx/binfmt/libnxflat/libnxflat_addrenv.c
new file mode 100644
index 000000000..2d9255b28
--- /dev/null
+++ b/nuttx/binfmt/libnxflat/libnxflat_addrenv.c
@@ -0,0 +1,235 @@
+/****************************************************************************
+ * binfmt/libnxflat/libnxflat_addrenv.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <string.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+
+#include "libnxflat.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Constant Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxflat_addrenv_alloc
+ *
+ * Description:
+ *   Allocate memory for the ELF image (elfalloc). If CONFIG_ADDRENV=n,
+ *   elfalloc will be allocated using kzalloc().  If CONFIG_ADDRENV-y, then
+ *   elfalloc will be allocated using up_addrenv_create().  In either case,
+ *   there will be a unique instance of elfalloc (and stack) for each
+ *   instance of a process.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *   envsize - The size (in bytes) of the address environment needed for the
+ *     ELF image.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int nxflat_addrenv_alloc(FAR struct nxflat_loadinfo_s *loadinfo, size_t envsize)
+{
+  FAR struct dspace_s *dspace;
+#ifdef CONFIG_ADDRENV
+  FAR void *vaddr;
+  hw_addrenv_t oldenv;
+  int ret;
+#endif
+
+  DEBUGASSERT(!loadinfo->dspace);
+
+  /* Allocate the struct dspace_s container for the D-Space allocation */
+
+  dspace = (FAR struct dspace_s *)kmalloc(sizeof(struct dspace_s));
+  if (dspace == 0)
+    {
+      bdbg("ERROR: Failed to allocate DSpace\n");
+      return -ENOMEM;
+    }
+
+#ifdef CONFIG_ADDRENV
+  /* Create a D-Space address environment for the new NXFLAT task */
+
+  ret = up_addrenv_create(envsize, &loadinfo->addrenv);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_create failed: %d\n", ret);
+      goto errout_with_dspace;
+    }
+
+  /* Get the virtual address associated with the start of the address
+   * environment.  This is the base address that we will need to use to
+   * access the D-Space region (but only if the address environment has been
+   * selected.
+   */
+
+  ret = up_addrenv_vaddr(loadinfo->addrenv, &vaddr);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_vaddr failed: %d\n", ret);
+      goto errout_with_addrenv;
+    }
+
+  /* Clear all of the allocated D-Space memory.  We have to temporarily
+   * selected the D-Space address environment to do this.
+   */
+
+  ret = up_addrenv_select(loadinfo->addrenv, &oldenv);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_select failed: %d\n", ret);
+      goto errout_with_addrenv;
+    }
+
+  memset(vaddr, 0, envsize);
+
+  ret = up_addrenv_restore(oldenv);
+  if (ret < 0)
+    {
+      bdbg("ERROR: up_addrenv_restore failed: %d\n", ret);
+      goto errout_with_addrenv;
+    }
+
+  /* Success... save the fruits of our labor */
+
+  loadinfo->dspace = dspace;
+  dspace->crefs    = 1;  
+  dspace->region   = (FAR uint8_t *)vaddr;
+  return OK;
+
+errout_with_addrenv:
+  (void)up_addrenv_destroy(loadinfo->addrenv);
+  loadinfo->addrenv = 0;
+
+errout_with_dspace:
+  kfree(dspace);
+  return ret;
+#else
+  /* Allocate (and zero) memory to hold the ELF image */
+
+  dspace->region = (FAR uint8_t *)kzalloc(envsize);
+  if (!dspace->region)
+    {
+      kfree(dspace);
+      return -ENOMEM;
+    }
+
+  loadinfo->dspace = dspace;
+  dspace->crefs    = 1;  
+  return OK;
+#endif
+}
+
+/****************************************************************************
+ * Name: nxflat_addrenv_free
+ *
+ * Description:
+ *   Release the address environment previously created by
+ *   nxflat_addrenv_create().  This function  is called only under certain
+ *   error conditions after the the module has been loaded but not yet
+ *   started. After the module has been started, the address environment
+ *   will automatically be freed when the module exits.
+ *
+ * Input Parameters:
+ *   loadinfo - Load state information
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+
+void nxflat_addrenv_free(FAR struct nxflat_loadinfo_s *loadinfo)
+{
+  FAR struct dspace_s *dspace;
+#ifdef CONFIG_ADDRENV
+  int ret;
+#endif
+
+  DEBUGASSERT(loadinfo);
+  dspace = loadinfo->dspace;
+
+  if (dspace)
+    {
+#ifdef CONFIG_ADDRENV
+      /* Destroy the address environment */
+
+      ret = up_addrenv_destroy(loadinfo->addrenv);
+      if (ret < 0)
+        {
+          bdbg("ERROR: up_addrenv_destroy failed: %d\n", ret);
+        }
+
+      loadinfo->addrenv = 0;
+#else
+      /* Free the allocated D-Space region */
+
+      if (dspace->region)
+        {
+          kfree(dspace->region);
+        }
+#endif
+
+      /* Now destroy the D-Space container */
+
+      DEBUGASSERT(dspace->crefs == 1);
+      kfree(dspace);
+      loadinfo->dspace = NULL;
+    }
+}
diff --git a/nuttx/binfmt/libnxflat/libnxflat_bind.c b/nuttx/binfmt/libnxflat/libnxflat_bind.c
index ca348178d..816810a46 100644
--- a/nuttx/binfmt/libnxflat/libnxflat_bind.c
+++ b/nuttx/binfmt/libnxflat/libnxflat_bind.c
@@ -38,6 +38,7 @@
  ****************************************************************************/
 
 #include <nuttx/config.h>
+#include <nuttx/compiler.h>
 
 #include <stdint.h>
 #include <string.h>
@@ -47,8 +48,11 @@
 #include <debug.h>
 
 #include <arpa/inet.h>
-#include <nuttx/nxflat.h>
-#include <nuttx/symtab.h>
+
+#include <nuttx/binfmt/nxflat.h>
+#include <nuttx/binfmt/symtab.h>
+
+#include "libnxflat.h"
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -229,8 +233,6 @@ static inline int nxflat_gotrelocs(FAR struct nxflat_loadinfo_s *loadinfo)
 
   hdr = (FAR struct nxflat_hdr_s*)loadinfo->ispace;
 
-  /* From this, we can get the list of relocation entries. */
-
   /* From this, we can get the offset to the list of relocation entries */
 
   offset  = ntohl(hdr->h_relocstart);
@@ -247,11 +249,27 @@ static inline int nxflat_gotrelocs(FAR struct nxflat_loadinfo_s *loadinfo)
   DEBUGASSERT(offset + nrelocs * sizeof(struct nxflat_reloc_s)
               <= (loadinfo->isize + loadinfo->dsize));
 
-  relocs = (FAR struct nxflat_reloc_s*)
+  relocs = (FAR struct nxflat_reloc_s *)
         (offset - loadinfo->isize + loadinfo->dspace->region);
   bvdbg("isize: %08lx dpsace: %p relocs: %p\n", 
         (long)loadinfo->isize, loadinfo->dspace->region, relocs);
 
+  /* All relocations are performed within the D-Space allocation.  If
+   * CONFIG_ADDRENV=y, then that D-Space allocation lies in an address
+   * environment that may not be in place.  So, in that case, we must call
+   * nxflat_addrenv_select to temporarily instantiate that address space
+   * before the relocations can be performed.
+   */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_select(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_select() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
   /* Now, traverse the relocation list of and bind each GOT relocation. */
 
   ret = OK; /* Assume success */
@@ -259,11 +277,16 @@ static inline int nxflat_gotrelocs(FAR struct nxflat_loadinfo_s *loadinfo)
     {
       /* Handle the relocation by the relocation type */
 
+#ifdef CONFIG_CAN_PASS_STRUCTS
       reloc = *relocs++;
+#else
+      memcpy(&reloc, relocs, sizeof(struct nxflat_reloc_s));
+      relocs++;
+#endif
+
       result = OK;
       switch (NXFLAT_RELOC_TYPE(reloc.r_info))
         {
-
         /* NXFLAT_RELOC_TYPE_REL32I  Meaning: Object file contains a 32-bit offset
          *                                    into I-Space at the offset.
          *                           Fixup:   Add mapped I-Space address to the offset.
@@ -329,6 +352,17 @@ static inline int nxflat_gotrelocs(FAR struct nxflat_loadinfo_s *loadinfo)
       nxflat_dumpbuffer("GOT", (FAR const uint8_t*)relocs, nrelocs * sizeof(struct nxflat_reloc_s));
     }
 #endif
+
+  /* Restore the original address environment */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_restore(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_restore() failed: %d\n", ret);
+    }
+#endif
+
   return ret;
 }
 
@@ -346,16 +380,19 @@ static inline int nxflat_gotrelocs(FAR struct nxflat_loadinfo_s *loadinfo)
  ****************************************************************************/
 
 static inline int nxflat_bindimports(FAR struct nxflat_loadinfo_s *loadinfo,
-                                       FAR const struct symtab_s *exports,
-                                       int nexports)
+                                     FAR const struct symtab_s *exports,
+                                     int nexports)
 {
   FAR struct nxflat_import_s *imports;
   FAR struct nxflat_hdr_s    *hdr;
-  FAR const struct symtab_s *symbol;
+  FAR const struct symtab_s  *symbol;
 
   char    *symname;
   uint32_t offset;
   uint16_t nimports;
+#ifdef CONFIG_ADDRENV
+  int      ret;
+#endif
   int      i;
 
   /* The NXFLAT header is the first thing at the beginning of the ISpace. */
@@ -370,6 +407,22 @@ static inline int nxflat_bindimports(FAR struct nxflat_loadinfo_s *loadinfo,
   nimports = ntohs(hdr->h_importcount);
   bvdbg("Imports offset: %08x nimports: %d\n", offset, nimports);
 
+  /* The import[] table resides within the D-Space allocation.  If
+   * CONFIG_ADDRENV=y, then that D-Space allocation lies in an address
+   * environment that may not be in place.  So, in that case, we must call
+   * nxflat_addrenv_select to temporarily instantiate that address space
+   * before the import[] table can be modified.
+   */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_select(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_select() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
   /* Verify that this module requires imported symbols */
 
   if (offset != 0 && nimports > 0)
@@ -388,7 +441,7 @@ static inline int nxflat_bindimports(FAR struct nxflat_loadinfo_s *loadinfo,
                   offset < loadinfo->isize + loadinfo->dsize);
 
       imports = (struct nxflat_import_s*)
-	(offset - loadinfo->isize + loadinfo->dspace->region);
+        (offset - loadinfo->isize + loadinfo->dspace->region);
 
       /* Now, traverse the list of imported symbols and attempt to bind
        * each symbol to the value exported by from the exported symbol
@@ -396,41 +449,44 @@ static inline int nxflat_bindimports(FAR struct nxflat_loadinfo_s *loadinfo,
        */
 
       for (i = 0; i < nimports; i++)
-	{
-	  bvdbg("Import[%d] (%08p) offset: %08x func: %08x\n",
-	        i, &imports[i], imports[i].i_funcname, imports[i].i_funcaddress);
+        {
+          bvdbg("Import[%d] (%08p) offset: %08x func: %08x\n",
+                i, &imports[i], imports[i].i_funcname, imports[i].i_funcaddress);
 
-	  /* Get a pointer to the imported symbol name.  The name itself
-	   * lies in the TEXT segment.  But the reference to the name
-	   * lies in DATA segment.  Therefore, the name reference should
-	   * have been relocated when the module was loaded.
-	   */
+          /* Get a pointer to the imported symbol name.  The name itself
+           * lies in the TEXT segment.  But the reference to the name
+           * lies in DATA segment.  Therefore, the name reference should
+           * have been relocated when the module was loaded.
+           */
 
           offset = imports[i].i_funcname;
           DEBUGASSERT(offset < loadinfo->isize);
 
-	  symname = (char*)(offset + loadinfo->ispace + sizeof(struct nxflat_hdr_s));
+          symname = (char*)(offset + loadinfo->ispace + sizeof(struct nxflat_hdr_s));
 
-	  /* Find the exported symbol value for this this symbol name. */
+          /* Find the exported symbol value for this this symbol name. */
 
 #ifdef CONFIG_SYMTAB_ORDEREDBYNAME
           symbol = symtab_findorderedbyname(exports, symname, nexports);
 #else
           symbol = symtab_findbyname(exports, symname, nexports);
 #endif
-	  if (!symbol)
-	    {
-	      bdbg("Exported symbol \"%s\" not found\n", symname);
+          if (!symbol)
+            {
+              bdbg("Exported symbol \"%s\" not found\n", symname);
+#ifdef CONFIG_ADDRENV
+              (void)nxflat_addrenv_restore(loadinfo);
+#endif
               return -ENOENT;
-	    }
+            }
 
-	  /* And put this into the module's import structure. */
+          /* And put this into the module's import structure. */
 
-	  imports[i].i_funcaddress =  (uint32_t)symbol->sym_value;
+          imports[i].i_funcaddress =  (uint32_t)symbol->sym_value;
 
-	  bvdbg("Bound import[%d] (%08p) to export '%s' (%08x)\n",
-	        i, &imports[i], symname, imports[i].i_funcaddress);
-	}
+          bvdbg("Bound import[%d] (%08p) to export '%s' (%08x)\n",
+                i, &imports[i], symname, imports[i].i_funcaddress);
+        }
     }
 
   /* Dump the relocation import table */
@@ -441,7 +497,74 @@ static inline int nxflat_bindimports(FAR struct nxflat_loadinfo_s *loadinfo,
       nxflat_dumpbuffer("Imports", (FAR const uint8_t*)imports, nimports * sizeof(struct nxflat_import_s));
     }
 #endif
+
+  /* Restore the original address environment */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_restore(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_restore() failed: %d\n", ret);
+    }
+
+  return ret;
+#else
+  return OK;
+#endif
+}
+
+/****************************************************************************
+ * Name: nxflat_clearbss
+ *
+ * Description:
+ *   Clear uninitialized .bss memory
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+static inline int nxflat_clearbss(FAR struct nxflat_loadinfo_s *loadinfo)
+{
+#ifdef CONFIG_ADDRENV
+  int ret;
+#endif
+
+  /* .bss resides within the D-Space allocation.  If CONFIG_ADDRENV=y, then
+   * that D-Space allocation lies in an address environment that may not be
+   * in place.  So, in that case, we must call nxflat_addrenv_select to
+   * temporarily instantiate that address space before the .bss can be
+   * accessed.
+   */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_select(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_select() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+  /* Zero the BSS area */
+
+   memset((void*)(loadinfo->dspace->region + loadinfo->datasize), 0,
+          loadinfo->bsssize);
+
+  /* Restore the original address environment */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_restore(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_restore() failed: %d\n", ret);
+    }
+
+  return ret;
+#else
   return OK;
+#endif
 }
 
 /****************************************************************************
@@ -483,10 +606,10 @@ int nxflat_bind(FAR struct nxflat_loadinfo_s *loadinfo,
            * space in the loaded file.
            */
 
-          memset((void*)(loadinfo->dspace->region + loadinfo->datasize),
-	                  0, loadinfo->bsssize);
+          ret = nxflat_clearbss(loadinfo);
         }
     }
+
   return ret;
 }
 
diff --git a/nuttx/binfmt/libnxflat/libnxflat_load.c b/nuttx/binfmt/libnxflat/libnxflat_load.c
index 0991d0c2d..5f13b577a 100644
--- a/nuttx/binfmt/libnxflat/libnxflat_load.c
+++ b/nuttx/binfmt/libnxflat/libnxflat_load.c
@@ -41,6 +41,7 @@
 
 #include <sys/types.h>
 #include <sys/mman.h>
+
 #include <stdint.h>
 #include <stdlib.h>
 #include <nxflat.h>
@@ -48,7 +49,10 @@
 #include <errno.h>
 
 #include <arpa/inet.h>
-#include <nuttx/nxflat.h>
+
+#include <nuttx/binfmt/nxflat.h>
+
+#include "libnxflat.h"
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -62,24 +66,6 @@
  * Private Constant Data
  ****************************************************************************/
 
-#if defined(CONFIG_DEBUG_VERBOSE) && defined(CONFIG_DEBUG_BINFMT)
-static const char g_relocrel32i[]  = "RELOC_REL32I";
-static const char g_relocrel32d[]  = "RELOC_REL32D";
-static const char g_relocabs32[]   = "RELOC_AB32";
-static const char g_undefined[]    = "UNDEFINED";
-
-static const char *g_reloctype[] =
-{
-  g_relocrel32i,
-  g_relocrel32d,
-  g_relocabs32,
-  g_undefined
-};
-#  define RELONAME(rl) g_reloctype[NXFLAT_RELOC_TYPE(rl)]
-#else
-#  define RELONAME(rl) "(no name)"
-#endif
-
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -161,7 +147,7 @@ int nxflat_load(struct nxflat_loadinfo_s *loadinfo)
    */
 
   loadinfo->ispace = (uint32_t)mmap(NULL, loadinfo->isize, PROT_READ,
-                                  MAP_SHARED|MAP_FILE, loadinfo->filfd, 0);
+                                    MAP_SHARED|MAP_FILE, loadinfo->filfd, 0);
   if (loadinfo->ispace == (uint32_t)MAP_FAILED)
     {
       bdbg("Failed to map NXFLAT ISpace: %d\n", errno);
@@ -170,23 +156,37 @@ int nxflat_load(struct nxflat_loadinfo_s *loadinfo)
 
   bvdbg("Mapped ISpace (%d bytes) at %08x\n", loadinfo->isize, loadinfo->ispace);
 
-  /* The following call will give a pointer to the allocated but
-   * uninitialized ISpace memory.
+  /* The following call allocate D-Space memory and will provide a pointer
+   * to the allocated (but still uninitialized) D-Space memory.
    */
 
-  loadinfo->dspace = (struct dspace_s *)malloc(SIZEOF_DSPACE_S(loadinfo->dsize));
-  if (loadinfo->dspace == 0)
+  ret = nxflat_addrenv_alloc(loadinfo, loadinfo->dsize);
+  if (ret < 0)
     {
-      bdbg("Failed to allocate DSpace\n");
-      ret = -ENOMEM;
-      goto errout;
+      bdbg("ERROR: nxflat_addrenv_alloc() failed: %d\n", ret);
+      return ret;
     }
-  loadinfo->dspace->crefs = 1;
 
-  bvdbg("Allocated DSpace (%d bytes) at %p\n", loadinfo->dsize, loadinfo->dspace->region);
+  bvdbg("Allocated DSpace (%d bytes) at %p\n",
+        loadinfo->dsize, loadinfo->dspace->region);
 
-  /* Now, read the data into allocated DSpace at doffset into the
-   * allocated DSpace memory.
+  /* If CONFIG_ADDRENV=y, then the D-Space allocation lies in an address
+   * environment that may not be in place.  So, in that case, we must call
+   * nxflat_addrenv_select to temporarily instantiate that address space
+   * it can be initialized.
+   */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_select(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_select() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+  /* Now, read the data into allocated DSpace at doffset into the allocated
+   * DSpace memory.
    */
 
   ret = nxflat_read(loadinfo, (char*)loadinfo->dspace->region, dreadsize, doffset);
@@ -199,9 +199,23 @@ int nxflat_load(struct nxflat_loadinfo_s *loadinfo)
   bvdbg("TEXT: %08x Entry point offset: %08x Data offset: %08x\n",
       loadinfo->ispace, loadinfo->entryoffs, doffset);
 
+  /* Restore the original address environment */
+
+#ifdef CONFIG_ADDRENV
+  ret = nxflat_addrenv_restore(loadinfo);
+  if (ret < 0)
+    {
+      bdbg("ERROR: nxflat_addrenv_restore() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
   return OK;
 
 errout:
+#ifdef CONFIG_ADDRENV
+  (void)nxflat_addrenv_restore(loadinfo);
+#endif
   (void)nxflat_unload(loadinfo);
   return ret;
 }
diff --git a/nuttx/binfmt/libnxflat/libnxflat_unload.c b/nuttx/binfmt/libnxflat/libnxflat_unload.c
index 55a2e45e6..eb1aa0343 100644
--- a/nuttx/binfmt/libnxflat/libnxflat_unload.c
+++ b/nuttx/binfmt/libnxflat/libnxflat_unload.c
@@ -40,10 +40,14 @@
 #include <nuttx/config.h>
 
 #include <sys/mman.h>
+
 #include <stdlib.h>
 #include <debug.h>
 
-#include <nuttx/nxflat.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/binfmt/nxflat.h>
+
+#include "libnxflat.h"
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -65,8 +69,9 @@
  * Name: nxflat_unload
  *
  * Description:
- *   This function unloads the object from memory. This essentially
- *   undoes the actions of nxflat_load.
+ *   This function unloads the object from memory. This essentially undoes
+ *   the actions of nxflat_load.  It is called only under certain error
+ *   conditions after the the module has been loaded but not yet started.
  *
  * Returned Value:
  *   0 (OK) is returned on success and a negated errno is returned on
@@ -76,9 +81,8 @@
 
 int nxflat_unload(struct nxflat_loadinfo_s *loadinfo)
 {
-  /* Reset the contents of the info structure. */
-
   /* Release the memory segments */
+  /* Release the I-Space mmap'ed file */
 
   if (loadinfo->ispace)
     {
@@ -86,12 +90,8 @@ int nxflat_unload(struct nxflat_loadinfo_s *loadinfo)
       loadinfo->ispace = 0;
     }
 
-  if (loadinfo->dspace)
-    {
-      free((void*)loadinfo->dspace);
-      loadinfo->dspace = 0;
-    }
+  /* Release the D-Space address environment */
 
+  nxflat_addrenv_free(loadinfo);
   return OK;
 }
-
diff --git a/nuttx/binfmt/nxflat.c b/nuttx/binfmt/nxflat.c
index 4f5869bd9..db29941ca 100644
--- a/nuttx/binfmt/nxflat.c
+++ b/nuttx/binfmt/nxflat.c
@@ -47,8 +47,8 @@
 #include <errno.h>
 
 #include <arpa/inet.h>
-#include <nuttx/binfmt.h>
-#include <nuttx/nxflat.h>
+#include <nuttx/binfmt/binfmt.h>
+#include <nuttx/binfmt/nxflat.h>
 
 #ifdef CONFIG_NXFLAT
 
@@ -158,7 +158,7 @@ static int nxflat_loadbinary(struct binary_s *binp)
   nxflat_dumploadinfo(&loadinfo);
   if (ret != 0)
     {
-      bdbg("Failed to initialize for load of NXFLT program: %d\n", ret);
+      bdbg("Failed to initialize for load of NXFLAT program: %d\n", ret);
       goto errout;
     }
 
@@ -168,7 +168,7 @@ static int nxflat_loadbinary(struct binary_s *binp)
   nxflat_dumploadinfo(&loadinfo);
   if (ret != 0)
     {
-      bdbg("Failed to load NXFLT program binary: %d\n", ret);
+      bdbg("Failed to load NXFLAT program binary: %d\n", ret);
       goto errout_with_init;
     }
 
@@ -181,16 +181,39 @@ static int nxflat_loadbinary(struct binary_s *binp)
       goto errout_with_load;
     }
 
-  /* Return the load information */
+  /* Return the load information.  By convention, D-space address
+   * space is stored as the first allocated memory.
+   */
 
   binp->entrypt   = (main_t)(loadinfo.ispace + loadinfo.entryoffs);
-  binp->ispace    = (void*)loadinfo.ispace;
-  binp->dspace    = (void*)loadinfo.dspace;
-  binp->isize     = loadinfo.isize;
+  binp->mapped    = (void*)loadinfo.ispace;
+  binp->mapsize   = loadinfo.isize;
   binp->stacksize = loadinfo.stacksize;
 
+  /* Add the ELF allocation to the alloc[] only if there is no address
+   * enironment.  If there is an address environment, it will automatically
+   * be freed when the function exits
+   *
+   * REVISIT:  If the module is loaded then unloaded, wouldn't this cause
+   * a memory leak?
+   */
+
+#ifdef CONFIG_ADDRENV
+#  warning "REVISIT"
+#else
+  binp->alloc[0]  = (void*)loadinfo.dspace;
+#endif
+
+#ifdef CONFIG_ADDRENV
+  /* Save the address environment.  This will be needed when the module is
+   * executed for the up_addrenv_assign() call.
+   */
+
+  binp->addrenv   = loadinfo.addrenv;
+#endif
+
   nxflat_dumpbuffer("Entry code", (FAR const uint8_t*)binp->entrypt,
-                    MIN(binp->isize - loadinfo.entryoffs,512));
+                    MIN(loadinfo.isize - loadinfo.entryoffs, 512));
 
   nxflat_uninit(&loadinfo);
   return OK;
diff --git a/nuttx/configs/README.txt b/nuttx/configs/README.txt
index e6bde645d..c4f5de5e3 100644
--- a/nuttx/configs/README.txt
+++ b/nuttx/configs/README.txt
@@ -151,6 +151,9 @@ defconfig -- This is a configuration file similar to the Linux
     CONFIG_ARCH_IRQPRIO
       Define if the architecture suports prioritizaton of interrupts
       and the up_prioritize_irq() API.
+    CONFIG_ADDRENV
+      The CPU supports an MMU and CPU port supports provision of address
+      environments for tasks (making the, perhaps, processes).
 
   Some architectures require a description of the RAM configuration:
 
@@ -1690,28 +1693,48 @@ configs/pcblogic-pic32mx
   STATUS:  Code complete but testing has been stalled due to tool related problems
   (PICkit 2 does not work with the PIC32).
 
-configs/pic32-starterkit
+configs/p112
+  The P112 is notable because it was the first of the hobbyist single board
+  computers to reach the production stage. The P112 hobbyist computers
+  were relatively widespread and inspired other hobbyist centered home brew
+  computing projects such as N8VEM home brew computing project. The P112
+  project still maintains many devoted enthusiasts and has an online
+  repository of software and other information.
+
+  The P112 computer originated as a commercial product of "D-X Designs Pty
+  Ltd" of Australia. They describe the computer as "The P112 is a stand-alone
+  8-bit CPU board. Typically running CP/M (tm) or a similar operating system,
+  it provides a Z80182 (Z-80 upgrade) CPU with up to 1MB of memory, serial,
+  parallel and diskette IO, and realtime clock, in a 3.5-inch drive form factor.
+  Powered solely from 5V, it draws 150mA (nominal: not including disk drives)
+  with a 16MHz CPU clock. Clock speeds up to 24.576MHz are possible."
+
+  The P112 board was last available new in 1996 by Dave Brooks. In late 2004
+  on the Usenet Newsgroup comp.os.cpm, talk about making another run of P112
+  boards was discussed. David Griffith decided to produce additional P112 kits
+  with Dave Brooks blessing and the assistance of others. In addition Terry
+  Gulczynski makes additional P112 derivative hobbyist home brew computers.
+  Hal Bower was very active in the mid 1990's on the P112 project and ported
+  the "Banked/Portable BIOS".
+
+  Dave Brooks was successfully funded through Kickstarter for and another
+  run of P112 boards in November of 2012.
 
+configs/pic32-starterkit
   This directory contains the port of NuttX to the Microchip PIC32 Ethernet
   Starter Kit (DM320004) with the Multimedia Expansion Board (MEB, DM320005).
   See www.microchip.com for further information.
 
 configs/pic32mx7mmb
-
   This directory will (eventually) contain the port of NuttX to the
   Mikroelektronika PIC32MX7 Multimedia Board (MMB).  See
   http://www.mikroe.com/ for further information.
 
-  STATUS:  Basic OS test configuration is in place, but the board does not boot.
-  It looks like I will need an ICD3 in order to debug the code (PICkit3
-  doesn't work for debug with this board).  This effort is temporarily stalled.
-
 configs/pjrc-8051
   8051 Microcontroller.  This port uses the PJRC 87C52 development system
   and the SDCC toolchain.   This port is not quite ready for prime time.
 
 configs/qemu-i486
-
   Port of NuttX to QEMU in i486 mode.  This port will also run on real i486
   hardwared (Google the Bifferboard).
 
diff --git a/nuttx/drivers/Makefile b/nuttx/drivers/Makefile
index 26a2ea992..6d3b40b1f 100644
--- a/nuttx/drivers/Makefile
+++ b/nuttx/drivers/Makefile
@@ -34,6 +34,7 @@
 ############################################################################
 
 -include $(TOPDIR)/Make.defs
+DELIM ?= $(strip /)
 
 ifeq ($(WINTOOL),y)
 INCDIROPT = -w
@@ -48,22 +49,22 @@ VPATH = .
 # files to the source file list, add its DEPPATH info, and will add
 # the appropriate paths to the VPATH variable
 
-include analog/Make.defs
-include bch/Make.defs
-include input/Make.defs
-include lcd/Make.defs
-include mmcsd/Make.defs
-include mtd/Make.defs
-include net/Make.defs
-include pipes/Make.defs
-include power/Make.defs
-include sensors/Make.defs
-include sercomm/Make.defs
-include serial/Make.defs
-include syslog/Make.defs
-include usbdev/Make.defs
-include usbhost/Make.defs
-include wireless/Make.defs
+include analog$(DELIM)Make.defs
+include bch$(DELIM)Make.defs
+include input$(DELIM)Make.defs
+include lcd$(DELIM)Make.defs
+include mmcsd$(DELIM)Make.defs
+include mtd$(DELIM)Make.defs
+include net$(DELIM)Make.defs
+include pipes$(DELIM)Make.defs
+include power$(DELIM)Make.defs
+include sensors$(DELIM)Make.defs
+include sercomm$(DELIM)Make.defs
+include serial$(DELIM)Make.defs
+include syslog$(DELIM)Make.defs
+include usbdev$(DELIM)Make.defs
+include usbhost$(DELIM)Make.defs
+include wireless$(DELIM)Make.defs
 
 ifneq ($(CONFIG_NFILE_DESCRIPTORS),0)
   CSRCS += dev_null.c dev_zero.c loop.c
diff --git a/nuttx/drivers/analog/Make.defs b/nuttx/drivers/analog/Make.defs
index d94e39758..89cc5bd3f 100644
--- a/nuttx/drivers/analog/Make.defs
+++ b/nuttx/drivers/analog/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/analog/Make.defs
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -76,12 +76,12 @@ endif
 ifeq ($(CONFIG_DAC),y)
   DEPPATH += --dep-path analog
   VPATH += :analog
-  CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/analog}
+  CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)analog}
 else
 ifeq ($(CONFIG_ADC),y)
   DEPPATH += --dep-path analog
   VPATH += :analog
-  CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/analog}
+  CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)analog}
 endif
 endif
 
diff --git a/nuttx/drivers/bch/Make.defs b/nuttx/drivers/bch/Make.defs
index bc22df8e2..78dfbff30 100644
--- a/nuttx/drivers/bch/Make.defs
+++ b/nuttx/drivers/bch/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/bch/Make.defs
 #
-#   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2008, 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@ CSRCS += bchlib_setup.c bchlib_teardown.c bchlib_read.c bchlib_write.c \
 
 DEPPATH += --dep-path bch
 VPATH += :bch
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/bch}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)bch}
 
 endif
 endif
diff --git a/nuttx/drivers/input/Make.defs b/nuttx/drivers/input/Make.defs
index 6dbae268e..10e6db62f 100644
--- a/nuttx/drivers/input/Make.defs
+++ b/nuttx/drivers/input/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/input/Make.defs
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -47,6 +47,10 @@ ifeq ($(CONFIG_INPUT_ADS7843E),y)
   CSRCS += ads7843e.c
 endif
 
+ifeq ($(CONFIG_INPUT_MAX11802),y)
+  CSRCS += max11802.c
+endif
+
 ifeq ($(CONFIG_INPUT_STMPE811),y)
   CSRCS += stmpe811_base.c
 ifneq ($(CONFIG_INPUT_STMPE811_TSC_DISABLE),y)
@@ -67,6 +71,6 @@ endif
 
 DEPPATH += --dep-path input
 VPATH += :input
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/input}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)input}
 endif
 
diff --git a/nuttx/drivers/lcd/Make.defs b/nuttx/drivers/lcd/Make.defs
index 26b169391..1b445b6a7 100644
--- a/nuttx/drivers/lcd/Make.defs
+++ b/nuttx/drivers/lcd/Make.defs
@@ -47,6 +47,10 @@ ifeq ($(CONFIG_LCD_NOKIA6100),y)
   CSRCS += nokia6100.c
 endif
 
+ifeq ($(CONFIG_LCD_UG2864AMBAG01),y)
+  CSRCS += ug-2864ambag01.c
+endif
+
 ifeq ($(CONFIG_LCD_UG9664HSWAG01),y)
   CSRCS += ug-9664hswag01.c
 endif
@@ -63,6 +67,6 @@ endif
 
 DEPPATH += --dep-path lcd
 VPATH += :lcd
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/lcd}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)lcd}
 endif
 
diff --git a/nuttx/drivers/lcd/ug-2864ambag01.c b/nuttx/drivers/lcd/ug-2864ambag01.c
new file mode 100644
index 000000000..2a47b38eb
--- /dev/null
+++ b/nuttx/drivers/lcd/ug-2864ambag01.c
@@ -0,0 +1,1161 @@
+/**************************************************************************************
+ * drivers/lcd/ug-2864ambag01.c
+ * Driver for Univision UG-2864AMBAG01 OLED display (wih SH1101A controller) in SPI
+ * mode
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * References:
+ *   1. Product Specification (Preliminary), Part Name: OEL Display Module, Part ID:
+ *      UG-2864AMBAG01, Doc No: SASI-9015-A, Univision Technology Inc.
+ *   2. SH1101A, 132 X 64 Dot Matrix OLED/PLED, Preliminary Segment/Common Driver with
+ *      Controller, Sino Wealth
+ *
+ * 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.
+ *
+ **************************************************************************************/
+/**************************************************************************************
+ * Device memory organization:
+ *
+ *          +----------------------------+
+ *          |           Column           |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page    | 0  | 1 | 2 | 3 | ... | 131 |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 0  | D0 | X |   |   |     |     |
+ *          | D1 | X |   |   |     |     |
+ *          | D2 | X |   |   |     |     |
+ *          | D3 | X |   |   |     |     |
+ *          | D4 | X |   |   |     |     |
+ *          | D5 | X |   |   |     |     |
+ *          | D6 | X |   |   |     |     |
+ *          | D7 | X |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 1  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 2  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 3  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 4  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 5  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 6  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *  Page 7  |    |   |   |   |     |     |
+ *  --------+----+---+---+---+-...-+-----+
+ *
+ *  -----------------------------------+---------------------------------------
+ *  Landscape Display:                 | Reverse Landscape Display:
+ *  --------+-----------------------+  |  --------+---------------------------+
+ *          |       Column          |  |          |         Column            |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 0  | 0 | 1 | 2 |     | 131 |  |  Page 7  | 131 | 130 | 129 |     | 0 |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 1  | V                     |  |  Page 6  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 2  | V                     |  |  Page 5  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 3  | V                     |  |  Page 4  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 4  | V                     |  |  Page 3  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 5  | V                     |  |  Page 2  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 6  | V                     |  |  Page 1  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  Page 7  | V                     |  |  Page 0  |                         ^ |
+ *  --------+---+---+---+-...-+-----+  |  --------+-----+-----+-----+-...-+---+
+ *  -----------------------------------+---------------------------------------
+ *
+ *  -----------------------------------+---------------------------------------
+ *  Portrait Display:                  | Reverse Portrait Display:
+ *  -----------+---------------------+ |  -----------+---------------------+
+ *             |         Page        | |             |       Page          |
+ *  -----------+---+---+---+-...-+---+ |  -----------+---+---+---+-...-+---+
+ *  Column 0   | 0 | 1 | 2 |     | 7 | |  Column 131 | 7 | 6 | 5 |     | 0 |
+ *  -----------+---+---+---+-...-+---+ |  -----------+---+---+---+-...-+---+
+ *  Column 1   | >   >   >    >    > | |  Column 130 |                     |
+ *  -----------+---+---+---+-...-+---+ |  -----------+---+---+---+-...-+---+
+ *  Column 2   |                     | |  Column 129 |                     |
+ *  -----------+---+---+---+-...-+---+ |  -----------+---+---+---+-...-+---+
+ *  ...        |                     | |  ...        |                     |
+ *  -----------+---+---+---+-...-+---+ |  -----------+---+---+---+-...-+---+
+ *  Column 131 |                     | |  Column 0   | <   <   <    <    < |
+ *  -----------+---+---+---+-...-+---+ |  -----------+---+---+---+-...-+---+
+ *  -----------------------------------+----------------------------------------
+ **************************************************************************************/
+
+/**************************************************************************************
+ * Included Files
+ **************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/spi.h>
+#include <nuttx/lcd/lcd.h>
+#include <nuttx/lcd/ug-2864ambag01.h>
+
+#include <arch/irq.h>
+
+#ifdef CONFIG_LCD_UG2864AMBAG01
+
+/**************************************************************************************
+ * Pre-processor Definitions
+ **************************************************************************************/
+/* Configuration **********************************************************************/
+/* Limitations of the current configuration that I hope to fix someday */
+
+#if CONFIG_UG2864AMBAG01_NINTERFACES != 1
+#  warning "This implementation supports only a single OLED device"
+#  undef CONFIG_UG2864AMBAG01_NINTERFACES
+#  define CONFIG_UG2864AMBAG01_NINTERFACES 1
+#endif
+
+#if defined(CONFIG_LCD_PORTRAIT) || defined(CONFIG_LCD_RPORTRAIT)
+#  warning "No support yet for portrait modes"
+#  define CONFIG_LCD_LANDSCAPE 1
+#  undef CONFIG_LCD_PORTRAIT
+#  undef CONFIG_LCD_RLANDSCAPE
+#  undef CONFIG_LCD_RPORTRAIT
+#elif defined(CONFIG_LCD_RLANDSCAPE)
+#  warning "Reverse landscape mode is untested and, hence, probably buggy"
+#endif
+
+/* SH1101A Commands *******************************************************************/
+
+#define SH1101A_SETCOLL(ad)      (0x00 | ((ad) & 0x0f)) /* Set Lower Column Address: (00h - 0fh) */
+#define SH1101A_SETCOLH(ad)      (0x10 | ((ad) & 0x0f)) /* Set Higher Column Address: (10h - 1fh) */
+#define SH1101A_STARTLINE(ln)    (0x40 | ((ln) & 0x3f)) /* Set Display Start Line: (40h - 7fh) */
+#define SH1101A_CONTRAST_MODE    (0x81)                 /* Set Contrast Control Register: (Double Bytes Command) */
+#  define SH1101A_CONTRAST(c)    (c)
+#define SH1101A_SEGREMAP(m)      (0xa0 | ((m) & 0x01))  /* Set Segment Re-map: (a0h - a1h) */
+#  define SH1101A_REMAPRIGHT     SH1101A_SEGREMAP(0)    /*   Right rotation */
+#  define SH1101A_REMAPPLEFT     SH1101A_SEGREMAP(1)    /*   Left rotation */
+#define SH1101A_EDISPOFFON(s)    (0xa4 | ((s) & 0x01))  /* Set Entire Display OFF/ON: (a4h - a5h) */
+#  define SH1101A_EDISPOFF       SH1101A_EDISPOFFON(0)  /*   Display off */
+#  define SH1101A_EDISPON        SH1101A_EDISPOFFON(1)  /*   Display on */
+#define SH1101A_NORMREV(s)       (0xa6 | ((s) & 0x01))  /* Set Normal/Reverse Display: (a6h -a7h) */
+#  define SH1101A_NORMAL         SH1101A_NORMREV(0)     /*   Normal display */
+#  define SH1101A_REVERSE        SH1101A_NORMREV(1)     /*   Reverse display */
+#define SH1101A_MRATIO_MODE      (0xa8)                 /* Set Multiplex Ration: (Double Bytes Command) */
+#  define SH1101A_MRATIO(d)      ((d) & 0x3f)
+#define SH1101A_DCDC_MODE        (0xad)                 /* Set DC-DC OFF/ON: (Double Bytes Command) */
+#  define SH1101A_DCDC_OFF       (0x8a)
+ # define SH1101A_DCDC_ON        (0x8b)
+#define SH1101A_DISPOFFON(s)     (0xae | ((s) & 0x01))  /* Display OFF/ON: (aeh - afh) */
+#  define SH1101A_DISPOFF        SH1101A_DISPOFFON(0)   /*   Display off */
+#  define SH1101A_DISPON         SH1101A_DISPOFFON(1)   /*   Display on */
+#define SH1101A_PAGEADDR(a)      (0xb0 | ((a) & 0x0f))  /* Set Page Address: (b0h - b7h) */
+#define SH1101A_SCANDIR(d)       (0xc0 | ((d) & 0x08))  /* Set Common Output Scan Direction: (c0h - c8h) */
+#  define SH1101A_SCANFROMCOM0   SH1101A_SCANDIR(0x00)  /*   Scan from COM[0] to COM[n-1]*/
+#  define SH1101A_SCANTOCOM0     SH1101A_SCANDIR(0x08)  /*   Scan from COM[n-1] to COM[0] */
+#define SH1101A_DISPOFFS_MODE    (0xd3)                 /* Set Display Offset: (Double Bytes Command) */
+#  define SH1101A_DISPOFFS(o)    ((o) & 0x3f)
+#define SH1101A_CLKDIV_SET       (0xd5)                 /* Set Display Clock Divide Ratio/Oscillator Frequency: (Double Bytes Command) */
+#  define SH1101A_CLKDIV(f,d)    ((((f) & 0x0f) << 4) | ((d) & 0x0f))
+#define SH1101A_CHRGPER_SET      (0xd9)                 /* Set Dis-charge/Pre-charge Period: (Double Bytes Command) */
+#  define SH1101A_CHRGPER(d,p)   ((((d) & 0x0f) << 4) | ((p) & 0x0f))
+#define SH1101A_CMNPAD_CONFIG    (0xda)                 /* Set Common pads hardware configuration: (Double Bytes Command) */
+  #define SH1101A_CMNPAD(c)      ((0x02) | ((c) & 0x10))
+#define SH1101A_VCOM_SET         (0xdb)                 /* Set VCOM Deselect Level: (Double Bytes Command) */
+#  define SH1101A_VCOM(v)        (v)
+#define SH1101A_RMWSTART         (0xe0)                 /* Read-Modify-Write: (e0h) */
+#define SH1101A_NOP              (0xe3)                 /* NOP: (e3h) */
+#define SH1101A_END              (0xee)                 /* End: (eeh) */
+
+#define SH1101A_WRDATA(d)        (d)                    /* Write Display Data */
+#define SH1101A_STATUS_BUSY      (0x80)                 /* Read Status */
+#define SH1101A_STATUS_ONOFF     (0x40)
+#define SH1101A_RDDATA(d)        (d)                    /* Read Display Data */
+
+/* Color Properties *******************************************************************/
+/* Display Resolution
+ *
+ * The SH1101A display controller can handle a resolution of 132x64. The UG-2864AMBAG01
+ * on the base board is 128x64.
+ */
+
+#define UG2864AMBAG01_DEV_XRES    128 /* Only 128 of 131 columns used */
+#define UG2864AMBAG01_DEV_YRES    64  /* 8 pages each 8 rows */
+#define UG2864AMBAG01_DEV_XOFFSET 2   /* Offset to logical column 0 */
+#define UG2864AMBAG01_DEV_PAGES   8   /* 8 pages */
+
+#if defined(CONFIG_LCD_LANDSCAPE) || defined(CONFIG_LCD_RLANDSCAPE)
+#  define UG2864AMBAG01_XRES      UG2864AMBAG01_DEV_XRES
+#  define UG2864AMBAG01_YRES      UG2864AMBAG01_DEV_YRES
+#else
+#  define UG2864AMBAG01_XRES      UG2864AMBAG01_DEV_YRES
+#  define UG2864AMBAG01_YRES      UG2864AMBAG01_DEV_XRES
+#endif
+
+/* Color depth and format */
+
+#define UG2864AMBAG01_BPP          1
+#define UG2864AMBAG01_COLORFMT     FB_FMT_Y1
+
+/* Bytes per logical row and actual device row */
+
+#define UG2864AMBAG01_XSTRIDE      (UG2864AMBAG01_XRES >> 3)
+#define UG2864AMBAG01_YSTRIDE      (UG2864AMBAG01_YRES >> 3)
+
+/* Default contrast */
+
+#define UG2864AMBAG01_CONTRAST     (128)
+
+/* The size of the shadow frame buffer or one row buffer.
+ *
+ * Frame buffer size: 128 columns x 64 rows / 8 bits-per-pixel
+ * Row size:          128 columns x 8 rows-per-page / 8 bits-per-pixel
+ */
+
+#define UG2864AMBAG01_FBSIZE       (UG2864AMBAG01_XSTRIDE * UG2864AMBAG01_YRES)
+#define UG2864AMBAG01_ROWSIZE      (UG2864AMBAG01_XSTRIDE)
+
+/* Bit helpers */
+
+#define LS_BIT                     (1 << 0)
+#define MS_BIT                     (1 << 7)
+
+/* Debug ******************************************************************************/
+
+#ifdef CONFIG_DEBUG_LCD
+#  define lcddbg(format, arg...)   dbg(format, ##arg)
+#  define lcdvdbg(format, arg...)  vdbg(format, ##arg)
+#else
+#  define lcddbg(x...)
+#  define lcdvdbg(x...)
+#endif
+
+/**************************************************************************************
+ * Private Type Definition
+ **************************************************************************************/
+
+/* This structure describes the state of this driver */
+
+struct ug2864ambag01_dev_s
+{
+  struct lcd_dev_s       dev;      /* Publically visible device structure */
+
+  /* Private LCD-specific information follows */
+
+  FAR struct spi_dev_s  *spi;      /* Cached SPI device reference */
+  uint8_t                contrast; /* Current contrast setting */
+  bool                   on;       /* true: display is on */
+
+
+ /* The SH1101A does not support reading from the display memory in SPI mode.
+  * Since there is 1 BPP and access is byte-by-byte, it is necessary to keep
+  * a shadow copy of the framebuffer memory. At 128x64, this amounts to 1KB.
+  */
+
+  uint8_t fb[UG2864AMBAG01_FBSIZE];
+};
+
+/**************************************************************************************
+ * Private Function Protototypes
+ **************************************************************************************/
+
+/* Low-level SPI helpers */
+
+#ifdef CONFIG_SPI_OWNBUS
+static inline void ug2864ambag01_configspi(FAR struct spi_dev_s *spi);
+#  define ug2864ambag01_lock(spi)
+#  define ug2864ambag01_unlock(spi)
+#else
+#  define ug2864ambag01_configspi(spi)
+static void ug2864ambag01_lock(FAR struct spi_dev_s *spi);
+static void ug2864ambag01_unlock(FAR struct spi_dev_s *spi);
+#endif
+
+/* LCD Data Transfer Methods */
+
+static int ug2864ambag01_putrun(fb_coord_t row, fb_coord_t col,
+                                FAR const uint8_t *buffer, size_t npixels);
+static int ug2864ambag01_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
+                                size_t npixels);
+
+/* LCD Configuration */
+
+static int ug2864ambag01_getvideoinfo(FAR struct lcd_dev_s *dev,
+                                      FAR struct fb_videoinfo_s *vinfo);
+static int ug2864ambag01_getplaneinfo(FAR struct lcd_dev_s *dev, unsigned int planeno,
+                                      FAR struct lcd_planeinfo_s *pinfo);
+
+/* LCD RGB Mapping */
+
+#ifdef CONFIG_FB_CMAP
+#  error "RGB color mapping not supported by this driver"
+#endif
+
+/* Cursor Controls */
+
+#ifdef CONFIG_FB_HWCURSOR
+#  error "Cursor control not supported by this driver"
+#endif
+
+/* LCD Specific Controls */
+
+static int ug2864ambag01_getpower(struct lcd_dev_s *dev);
+static int ug2864ambag01_setpower(struct lcd_dev_s *dev, int power);
+static int ug2864ambag01_getcontrast(struct lcd_dev_s *dev);
+static int ug2864ambag01_setcontrast(struct lcd_dev_s *dev, unsigned int contrast);
+
+/**************************************************************************************
+ * Private Data
+ **************************************************************************************/
+
+/* This is working memory allocated by the LCD driver for each LCD device
+ * and for each color plane.  This memory will hold one raster line of data.
+ * The size of the allocated run buffer must therefore be at least
+ * (bpp * xres / 8).  Actual alignment of the buffer must conform to the
+ * bitwidth of the underlying pixel type.
+ *
+ * If there are multiple planes, they may share the same working buffer
+ * because different planes will not be operate on concurrently.  However,
+ * if there are multiple LCD devices, they must each have unique run buffers.
+ */
+
+static uint8_t g_runbuffer[UG2864AMBAG01_ROWSIZE];
+
+/* This structure describes the overall LCD video controller */
+
+static const struct fb_videoinfo_s g_videoinfo =
+{
+  .fmt     = UG2864AMBAG01_COLORFMT, /* Color format: RGB16-565: RRRR RGGG GGGB BBBB */
+  .xres    = UG2864AMBAG01_XRES,     /* Horizontal resolution in pixel columns */
+  .yres    = UG2864AMBAG01_YRES,     /* Vertical resolution in pixel rows */
+  .nplanes = 1,                      /* Number of color planes supported */
+};
+
+/* This is the standard, NuttX Plane information object */
+
+static const struct lcd_planeinfo_s g_planeinfo =
+{
+  .putrun = ug2864ambag01_putrun,    /* Put a run into LCD memory */
+  .getrun = ug2864ambag01_getrun,    /* Get a run from LCD memory */
+  .buffer = (uint8_t*)g_runbuffer,   /* Run scratch buffer */
+  .bpp    = UG2864AMBAG01_BPP,       /* Bits-per-pixel */
+};
+
+/* This is the OLED driver instance (only a single device is supported for now) */
+
+static struct ug2864ambag01_dev_s g_oleddev =
+{
+  .dev =
+  {
+    /* LCD Configuration */
+
+    .getvideoinfo = ug2864ambag01_getvideoinfo,
+    .getplaneinfo = ug2864ambag01_getplaneinfo,
+
+    /* LCD RGB Mapping -- Not supported */
+    /* Cursor Controls -- Not supported */
+
+    /* LCD Specific Controls */
+
+    .getpower     = ug2864ambag01_getpower,
+    .setpower     = ug2864ambag01_setpower,
+    .getcontrast  = ug2864ambag01_getcontrast,
+    .setcontrast  = ug2864ambag01_setcontrast,
+  },
+};
+
+/**************************************************************************************
+ * Private Functions
+ **************************************************************************************/
+
+/**************************************************************************************
+ * Name: ug2864ambag01_configspi
+ *
+ * Description:
+ *   Configure the SPI for use with the UG-2864AMBAG01
+ *
+ * Input Parameters:
+ *   spi  - Reference to the SPI driver structure
+ *
+ * Returned Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ **************************************************************************************/
+
+#ifdef CONFIG_SPI_OWNBUS
+static inline void ug2864ambag01_configspi(FAR struct spi_dev_s *spi)
+{
+  lcdvdbg("Mode: %d Bits: 8 Frequency: %d\n",
+          CONFIG_UG2864AMBAG01_SPIMODE, CONFIG_UG2864AMBAG01_FREQUENCY);
+
+  /* Configure SPI for the UG-2864AMBAG01.  But only if we own the SPI bus.  Otherwise,
+   * don't bother because it might change.
+   */
+
+  SPI_SETMODE(spi, CONFIG_UG2864AMBAG01_SPIMODE);
+  SPI_SETBITS(spi, 8);
+  SPI_SETFREQUENCY(spi, CONFIG_UG2864AMBAG01_FREQUENCY)
+}
+#endif
+
+/**************************************************************************************
+ * Name: ug2864ambag01_lock
+ *
+ * Description:
+ *   Select the SPI, locking and  re-configuring if necessary
+ *
+ * Input Parameters:
+ *   spi  - Reference to the SPI driver structure
+ *
+ * Returned Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ **************************************************************************************/
+
+#ifndef CONFIG_SPI_OWNBUS
+static inline void ug2864ambag01_lock(FAR struct spi_dev_s *spi)
+{
+  /* Lock the SPI bus if there are multiple devices competing for the SPI bus. */
+
+  SPI_LOCK(spi, true);
+
+  /* Now make sure that the SPI bus is configured for the UG-2864AMBAG01 (it
+   * might have gotten configured for a different device while unlocked)
+   */
+
+  SPI_SETMODE(spi, CONFIG_UG2864AMBAG01_SPIMODE);
+  SPI_SETBITS(spi, 8);
+  SPI_SETFREQUENCY(spi, CONFIG_UG2864AMBAG01_FREQUENCY);
+}
+#endif
+
+/**************************************************************************************
+ * Name: ug2864ambag01_unlock
+ *
+ * Description:
+ *   De-select the SPI
+ *
+ * Input Parameters:
+ *   spi  - Reference to the SPI driver structure
+ *
+ * Returned Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ **************************************************************************************/
+
+#ifndef CONFIG_SPI_OWNBUS
+static inline void ug2864ambag01_unlock(FAR struct spi_dev_s *spi)
+{
+  /* De-select UG-2864AMBAG01 chip and relinquish the SPI bus. */
+
+  SPI_LOCK(spi, false);
+}
+#endif
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_putrun
+ *
+ * Description:
+ *   This method can be used to write a partial raster line to the LCD.
+ *
+ * Input Parameters:
+ *   row     - Starting row to write to (range: 0 <= row < yres)
+ *   col     - Starting column to write to (range: 0 <= col <= xres-npixels)
+ *   buffer  - The buffer containing the run to be written to the LCD
+ *   npixels - The number of pixels to write to the LCD
+ *             (range: 0 < npixels <= xres-col)
+ *
+ **************************************************************************************/
+
+#if defined(CONFIG_LCD_LANDSCAPE) || defined(CONFIG_LCD_RLANDSCAPE)
+static int ug2864ambag01_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buffer,
+                                size_t npixels)
+{
+  /* Because of this line of code, we will only be able to support a single UG device */
+
+  FAR struct ug2864ambag01_dev_s *priv = (FAR struct ug2864ambag01_dev_s *)&g_oleddev;
+  FAR uint8_t *fbptr;
+  FAR uint8_t *ptr;
+  uint8_t devcol;
+  uint8_t fbmask;
+  uint8_t page;
+  uint8_t usrmask;
+  int pixlen;
+  uint8_t i;
+
+  lcdvdbg("row: %d col: %d npixels: %d\n", row, col, npixels);
+  DEBUGASSERT(buffer);
+
+  /* Clip the run to the display */
+
+  pixlen = npixels;
+  if ((unsigned int)col + (unsigned int)pixlen > (unsigned int)UG2864AMBAG01_XRES)
+    {
+      pixlen = (int)UG2864AMBAG01_XRES - (int)col;
+    }
+
+  /* Verify that some portion of the run remains on the display */
+
+  if (pixlen <= 0 || row > UG2864AMBAG01_YRES)
+    {
+      return OK;
+    }
+
+  /* Perform coordinate conversion for reverse landscape mode */
+
+#ifdef CONFIG_LCD_RLANDSCAPE
+  row = (UG2864AMBAG01_YRES-1) - row;
+  col = (UG2864AMBAG01_XRES-1) - col;
+#endif
+
+  /* Get the page number.  The range of 64 lines is divided up into eight
+   * pages of 8 lines each.
+   */
+
+  page = row >> 3;
+
+  /* Update the shadow frame buffer memory. First determine the pixel
+   * position in the frame buffer memory.  Pixels are organized like
+   * this:
+   *
+   *  --------+---+---+---+---+-...-+-----+
+   *  Segment | 0 | 1 | 2 | 3 | ... | 131 |
+   *  --------+---+---+---+---+-...-+-----+
+   *     D0   |   | X |   |   |     |     |
+   *     D1   |   | X |   |   |     |     |
+   *     D2   |   | X |   |   |     |     |
+   *     D3   |   | X |   |   |     |     |
+   *     D4   |   | X |   |   |     |     |
+   *     D5   |   | X |   |   |     |     |
+   *     D6   |   | X |   |   |     |     |
+   *     D7   |   | X |   |   |     |     | 
+   *  --------+---+---+---+---+-...-+-----+
+   *
+   * So, in order to draw a white, horizontal line, at row 45. we
+   * would have to modify all of the bytes in page 45/8 = 5.  We
+   * would have to set bit 45%8 = 5 in every byte in the page.
+   */
+
+  fbmask  = 1 << (row & 7);
+  fbptr   = &priv->fb[page * UG2864AMBAG01_XRES + col];
+#ifdef CONFIG_LCD_RLANDSCAPE
+  ptr     = fbptr + pixlen - 1;
+#else
+  ptr     = fbptr;
+#endif
+#ifdef CONFIG_NX_PACKEDMSFIRST
+  usrmask = MS_BIT;
+#else
+  usrmask = LS_BIT;
+#endif
+
+  for (i = 0; i < pixlen; i++)
+    {
+      /* Set or clear the corresponding bit */
+
+#ifdef CONFIG_LCD_RLANDSCAPE
+      if ((*buffer & usrmask) != 0)
+        {
+          *ptr-- |= fbmask;
+        }
+      else
+        {
+          *ptr-- &= ~fbmask;
+        }
+#else
+      if ((*buffer & usrmask) != 0)
+        {
+          *ptr++ |= fbmask;
+        }
+      else
+        {
+          *ptr++ &= ~fbmask;
+        }
+#endif
+
+      /* Inc/Decrement to the next source pixel */
+
+#ifdef CONFIG_NX_PACKEDMSFIRST
+      if (usrmask == LS_BIT)
+        {
+          buffer++;
+          usrmask = MS_BIT;
+        }
+      else
+        {
+          usrmask >>= 1;
+        }
+#else
+      if (usrmask == MS_BIT)
+        {
+          buffer++;
+          usrmask = LS_BIT;
+        }
+      else
+        {
+          usrmask <<= 1;
+        }
+#endif
+    }
+
+  /* Offset the column position to account for smaller horizontal
+   * display range.
+   */
+
+  devcol = col + UG2864AMBAG01_DEV_XOFFSET;
+
+  /* Lock and select device */
+
+  ug2864ambag01_lock(priv->spi);
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, true);
+
+  /* Select command transfer */
+
+  SPI_CMDDATA(priv->spi, SPIDEV_DISPLAY, true);
+
+  /* Set the starting position for the run */
+  /* Set the column address to the XOFFSET value */
+  
+  SPI_SEND(priv->spi, SH1101A_SETCOLL(devcol & 0x0f));
+  SPI_SEND(priv->spi, SH1101A_SETCOLH(devcol >> 4));
+
+  /* Set the page address */
+
+  SPI_SEND(priv->spi, SH1101A_PAGEADDR(page));
+
+  /* Select data transfer */
+
+  SPI_CMDDATA(priv->spi, SPIDEV_DISPLAY, false);
+
+  /* Then transfer all of the data */
+
+  (void)SPI_SNDBLOCK(priv->spi, fbptr, pixlen);
+
+  /* De-select and unlock the device */
+
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, false);
+  ug2864ambag01_unlock(priv->spi);
+  return OK;
+}
+#else
+#  error "Configuration not implemented"
+#endif
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_getrun
+ *
+ * Description:
+ *   This method can be used to read a partial raster line from the LCD:
+ *
+ * Description:
+ *   This method can be used to write a partial raster line to the LCD.
+ *
+ *  row     - Starting row to read from (range: 0 <= row < yres)
+ *  col     - Starting column to read read (range: 0 <= col <= xres-npixels)
+ *  buffer  - The buffer in which to return the run read from the LCD
+ *  npixels - The number of pixels to read from the LCD
+ *            (range: 0 < npixels <= xres-col)
+ *
+ **************************************************************************************/
+
+#if defined(CONFIG_LCD_LANDSCAPE) || defined(CONFIG_LCD_RLANDSCAPE)
+static int ug2864ambag01_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
+                      size_t npixels)
+{
+  /* Because of this line of code, we will only be able to support a single UG device */
+
+  FAR struct ug2864ambag01_dev_s *priv = &g_oleddev;
+  FAR uint8_t *fbptr;
+  uint8_t page;
+  uint8_t fbmask;
+  uint8_t usrmask;
+  int pixlen;
+  uint8_t i;
+
+  lcdvdbg("row: %d col: %d npixels: %d\n", row, col, npixels);
+  DEBUGASSERT(buffer);
+
+  /* Clip the run to the display */
+
+  pixlen = npixels;
+  if ((unsigned int)col + (unsigned int)pixlen > (unsigned int)UG2864AMBAG01_XRES)
+    {
+      pixlen = (int)UG2864AMBAG01_XRES - (int)col;
+    }
+
+  /* Verify that some portion of the run is actually the display */
+
+  if (pixlen <= 0 || row > UG2864AMBAG01_YRES)
+    {
+      return -EINVAL;
+    }
+
+  /* Perform coordinate conversion for reverse landscape mode */
+
+#ifdef CONFIG_LCD_RLANDSCAPE
+  row = (UG2864AMBAG01_YRES-1) - row;
+  col = (UG2864AMBAG01_XRES-1) - col;
+#endif
+
+  /* Then transfer the display data from the shadow frame buffer memory */
+  /* Get the page number.  The range of 64 lines is divided up into eight
+   * pages of 8 lines each.
+   */
+
+  page = row >> 3;
+
+  /* Update the shadow frame buffer memory. First determine the pixel
+   * position in the frame buffer memory.  Pixels are organized like
+   * this:
+   *
+   *  --------+---+---+---+---+-...-+-----+
+   *  Segment | 0 | 1 | 2 | 3 | ... | 131 |
+   *  --------+---+---+---+---+-...-+-----+
+   *     D0   |   | X |   |   |     |     |
+   *     D1   |   | X |   |   |     |     |
+   *     D2   |   | X |   |   |     |     |
+   *     D3   |   | X |   |   |     |     |
+   *     D4   |   | X |   |   |     |     |
+   *     D5   |   | X |   |   |     |     |
+   *     D6   |   | X |   |   |     |     |
+   *     D7   |   | X |   |   |     |     | 
+   *  --------+---+---+---+---+-...-+-----+
+   *
+   * So, in order to draw a white, horizontal line, at row 45. we
+   * would have to modify all of the bytes in page 45/8 = 5.  We
+   * would have to set bit 45%8 = 5 in every byte in the page.
+   */
+
+  fbmask  = 1 << (row & 7);
+#ifdef CONFIG_LCD_RLANDSCAPE
+  fbptr   = &priv->fb[page * (UG2864AMBAG01_XRES-1) + col + pixlen];
+#else
+  fbptr   = &priv->fb[page * UG2864AMBAG01_XRES + col];
+#endif
+#ifdef CONFIG_NX_PACKEDMSFIRST
+  usrmask = MS_BIT;
+#else
+  usrmask = LS_BIT;
+#endif
+
+  *buffer = 0;
+  for (i = 0; i < pixlen; i++)
+    {
+      /* Set or clear the corresponding bit */
+      
+#ifdef CONFIG_LCD_RLANDSCAPE
+      uint8_t byte = *fbptr--;
+#else
+      uint8_t byte = *fbptr++;
+#endif
+      if ((byte & fbmask) != 0)
+        {
+          *buffer |= usrmask;
+        }
+
+      /* Inc/Decrement to the next destination pixel. Hmmmm. It looks like
+       * this logic could write past the end of the user buffer.  Revisit
+       * this!
+       */
+
+#ifdef CONFIG_NX_PACKEDMSFIRST
+      if (usrmask == LS_BIT)
+        {
+          buffer++;
+         *buffer = 0;
+          usrmask = MS_BIT;
+        }
+      else
+        {
+          usrmask >>= 1;
+        }
+#else
+      if (usrmask == MS_BIT)
+        {
+          buffer++;
+         *buffer = 0;
+          usrmask = LS_BIT;
+        }
+      else
+        {
+          usrmask <<= 1;
+        }
+#endif
+    }
+
+  return OK;
+}
+#else
+#  error "Configuration not implemented"
+#endif
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_getvideoinfo
+ *
+ * Description:
+ *   Get information about the LCD video controller configuration.
+ *
+ **************************************************************************************/
+
+static int ug2864ambag01_getvideoinfo(FAR struct lcd_dev_s *dev,
+                              FAR struct fb_videoinfo_s *vinfo)
+{
+  DEBUGASSERT(dev && vinfo);
+  lcdvdbg("fmt: %d xres: %d yres: %d nplanes: %d\n",
+          g_videoinfo.fmt, g_videoinfo.xres, g_videoinfo.yres, g_videoinfo.nplanes);
+  memcpy(vinfo, &g_videoinfo, sizeof(struct fb_videoinfo_s));
+  return OK;
+}
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_getplaneinfo
+ *
+ * Description:
+ *   Get information about the configuration of each LCD color plane.
+ *
+ **************************************************************************************/
+
+static int ug2864ambag01_getplaneinfo(FAR struct lcd_dev_s *dev, unsigned int planeno,
+                              FAR struct lcd_planeinfo_s *pinfo)
+{
+  DEBUGASSERT(pinfo && planeno == 0);
+  lcdvdbg("planeno: %d bpp: %d\n", planeno, g_planeinfo.bpp);
+  memcpy(pinfo, &g_planeinfo, sizeof(struct lcd_planeinfo_s));
+  return OK;
+}
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_getpower
+ *
+ * Description:
+ *   Get the LCD panel power status (0: full off - CONFIG_LCD_MAXPOWER: full on. On
+ *   backlit LCDs, this setting may correspond to the backlight setting.
+ *
+ **************************************************************************************/
+
+static int ug2864ambag01_getpower(FAR struct lcd_dev_s *dev)
+{
+  FAR struct ug2864ambag01_dev_s *priv = (FAR struct ug2864ambag01_dev_s *)dev;
+  DEBUGASSERT(priv);
+
+  lcdvdbg("power: %s\n", priv->on ? "ON" : "OFF");
+  return priv->on ? CONFIG_LCD_MAXPOWER : 0;
+}
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_setpower
+ *
+ * Description:
+ *   Enable/disable LCD panel power (0: full off - CONFIG_LCD_MAXPOWER: full on). On
+ *   backlit LCDs, this setting may correspond to the backlight setting.
+ *
+ **************************************************************************************/
+
+static int ug2864ambag01_setpower(struct lcd_dev_s *dev, int power)
+{
+  struct ug2864ambag01_dev_s *priv = (struct ug2864ambag01_dev_s *)dev;
+  DEBUGASSERT(priv && (unsigned)power <= CONFIG_LCD_MAXPOWER && priv->spi);
+
+  lcdvdbg("power: %d [%d]\n", power, priv->on ? CONFIG_LCD_MAXPOWER : 0);
+
+  /* Lock and select device */
+
+  ug2864ambag01_lock(priv->spi);
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, true);
+
+  if (power <= 0)
+    {
+      /* Turn the display off */
+
+      (void)SPI_SEND(priv->spi, SH1101A_DISPOFF);
+      priv->on = false;
+    }
+  else
+    {
+      /* Turn the display on */
+
+      (void)SPI_SEND(priv->spi, SH1101A_DISPON); /* Display on, dim mode */
+      priv->on = true;
+    }
+
+  /* De-select and unlock the device */
+
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, false);
+  ug2864ambag01_unlock(priv->spi);
+  return OK;
+}
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_getcontrast
+ *
+ * Description:
+ *   Get the current contrast setting (0-CONFIG_LCD_MAXCONTRAST).
+ *
+ **************************************************************************************/
+
+static int ug2864ambag01_getcontrast(struct lcd_dev_s *dev)
+{
+  struct ug2864ambag01_dev_s *priv = (struct ug2864ambag01_dev_s *)dev;
+  DEBUGASSERT(priv);
+
+  lcdvdbg("contrast: %d\n", priv->contrast);
+  return priv->contrast;
+}
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_setcontrast
+ *
+ * Description:
+ *   Set LCD panel contrast (0-CONFIG_LCD_MAXCONTRAST).
+ *
+ **************************************************************************************/
+
+static int ug2864ambag01_setcontrast(struct lcd_dev_s *dev, unsigned int contrast)
+{
+  struct ug2864ambag01_dev_s *priv = (struct ug2864ambag01_dev_s *)dev;
+  unsigned int scaled;
+
+  lcdvdbg("contrast: %d\n", contrast);
+  DEBUGASSERT(priv);
+
+  /* Verify the contrast value */
+
+#ifdef CONFIG_DEBUG
+  if (contrast > CONFIG_LCD_MAXCONTRAST)
+    {
+      return -EINVAL;
+    }
+#endif
+
+  /* Scale contrast:  newcontrast = 255 * contrast / CONFIG_LCD_MAXCONTRAST
+   * Where contrast is in the range {1,255}
+   */
+
+#if CONFIG_LCD_MAXCONTRAST != 255
+  scaled = ((contrast << 8) - 1) / CONFIG_LCD_MAXCONTRAST;
+#else
+  scaled = contrast;
+#endif
+
+  /* Lock and select device */
+
+  ug2864ambag01_lock(priv->spi);
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, true);
+
+  /* Select command transfer */
+
+  SPI_CMDDATA(priv->spi, SPIDEV_DISPLAY, true);
+
+  /* Set the contrast */
+
+  (void)SPI_SEND(priv->spi, SH1101A_CONTRAST_MODE);    /* Set contrast control register */
+  (void)SPI_SEND(priv->spi, SH1101A_CONTRAST(scaled)); /* Data 1: Set 1 of 256 contrast steps */
+  priv->contrast = contrast;
+
+  /* De-select and unlock the device */
+
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, false);
+  ug2864ambag01_unlock(priv->spi);
+  return OK;
+}
+
+/**************************************************************************************
+ * Public Functions
+ **************************************************************************************/
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_initialize
+ *
+ * Description:
+ *   Initialize the UG-2864AMBAG01 video hardware.  The initial state of the
+ *   OLED is fully initialized, display memory cleared, and the OLED ready
+ *   to use, but with the power setting at 0 (full off == sleep mode).
+ *
+ * Input Parameters:
+ *
+ *   spi - A reference to the SPI driver instance.
+ *   devno - A value in the range of 0 through CONFIG_UG2864AMBAG01_NINTERFACES-1.
+ *     This allows support for multiple OLED devices.
+ *
+ * Returned Value:
+ *
+ *   On success, this function returns a reference to the LCD object for
+ *   the specified OLED.  NULL is returned on any failure.
+ *
+ **************************************************************************************/
+
+FAR struct lcd_dev_s *ug2864ambag01_initialize(FAR struct spi_dev_s *spi, unsigned int devno)
+{
+  FAR struct ug2864ambag01_dev_s  *priv = &g_oleddev;
+
+  lcdvdbg("Initializing\n");
+  DEBUGASSERT(spi && devno == 0);
+
+  /* Save the reference to the SPI device */
+
+  priv->spi = spi;
+
+  /* Configure the SPI */
+
+  ug2864ambag01_configspi(spi)
+
+  /* Lock and select device */
+
+  ug2864ambag01_lock(priv->spi);
+  SPI_SELECT(spi, SPIDEV_DISPLAY, true);
+
+  /* Select command transfer */
+
+  SPI_CMDDATA(spi, SPIDEV_DISPLAY, true);
+
+  /* Configure the device */
+
+  SPI_SEND(spi, SH1101A_DISPOFF);         /* Display off */
+  SPI_SEND(spi, SH1101A_SETCOLL(0));      /* Set lower column address */
+  SPI_SEND(spi, SH1101A_SETCOLH(0));      /* Set higher column address */
+  SPI_SEND(spi, SH1101A_STARTLINE(0));    /* Set display start line */
+  SPI_SEND(spi, SH1101A_PAGEADDR(0));     /* Set page address */
+  SPI_SEND(spi, SH1101A_CONTRAST_MODE);   /* Contrast control */
+  SPI_SEND(spi ,UG2864AMBAG01_CONTRAST);  /*   Default contrast */
+  SPI_SEND(spi, SH1101A_REMAPPLEFT);      /* Set segment remap left */
+  SPI_SEND(spi, SH1101A_EDISPOFF);        /* Normal display */
+  SPI_SEND(spi, SH1101A_NORMAL);          /* Normal (un-reversed) display mode */
+  SPI_SEND(spi, SH1101A_MRATIO_MODE);     /* Multiplex ratio */
+  SPI_SEND(spi, SH1101A_MRATIO(0x3f));    /*   Duty = 1/64 */
+  SPI_SEND(spi, SH1101A_SCANTOCOM0);      /* Com scan direction: Scan from COM[n-1] to COM[0] */
+  SPI_SEND(spi, SH1101A_DISPOFFS_MODE);   /* Set display offset */
+  SPI_SEND(spi, SH1101A_DISPOFFS(0));
+  SPI_SEND(spi, SH1101A_CLKDIV_SET);      /* Set clock divider */
+  SPI_SEND(spi, SH1101A_CLKDIV(0,0));
+  SPI_SEND(spi, SH1101A_CMNPAD_CONFIG);   /* Set common pads */
+  SPI_SEND(spi, SH1101A_CMNPAD(0x10));
+  SPI_SEND(spi, SH1101A_VCOM_SET);
+  SPI_SEND(spi, SH1101A_VCOM(0x40));
+  SPI_SEND(spi, SH1101A_DCDC_MODE);       /* DC/DC control mode: on */
+  SPI_SEND(spi, SH1101A_DCDC_ON);
+  SPI_SEND(spi, SH1101A_DISPON);          /* display ON  */
+
+  /* De-select and unlock the device */
+
+  SPI_SELECT(spi, SPIDEV_DISPLAY, false);
+  ug2864ambag01_unlock(priv->spi);
+
+  /* Clear the display */
+
+  up_mdelay(100);
+  ug2864ambag01_fill(&priv->dev, UG_Y1_BLACK);
+  return &priv->dev;
+}
+
+/**************************************************************************************
+ * Name:  ug2864ambag01_fill
+ *
+ * Description:
+ *   This non-standard method can be used to clear the entire display by writing one
+ *   color to the display.  This is much faster than writing a series of runs.
+ *
+ * Input Parameters:
+ *   priv   - Reference to private driver structure
+ *
+ * Assumptions:
+ *   Caller has selected the OLED section.
+ *
+ **************************************************************************************/
+
+void ug2864ambag01_fill(FAR struct lcd_dev_s *dev, uint8_t color)
+{
+  FAR struct ug2864ambag01_dev_s  *priv = &g_oleddev;
+  unsigned int page;
+
+  /* Make an 8-bit version of the selected color */
+
+  if (color & 1)
+    {
+      color = 0xff;
+    }
+  else
+    {
+      color = 0;
+    }
+
+  /* Initialize the framebuffer */
+
+  memset(priv->fb, color, UG2864AMBAG01_FBSIZE);
+
+  /* Lock and select device */
+
+  ug2864ambag01_lock(priv->spi);
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, true);
+
+  /* Visit each page */
+
+  for (page = 0; page < UG2864AMBAG01_DEV_PAGES; page++)
+    {
+      /* Select command transfer */
+
+      SPI_CMDDATA(priv->spi, SPIDEV_DISPLAY, true);
+
+      /* Set the column address to the XOFFSET value */
+  
+      SPI_SEND(priv->spi, SH1101A_SETCOLL(UG2864AMBAG01_DEV_XOFFSET));
+      SPI_SEND(priv->spi, SH1101A_SETCOLH(0));
+
+      /* Set the page address */
+
+      SPI_SEND(priv->spi, SH1101A_PAGEADDR(page));
+
+      /* Select data transfer */
+
+      SPI_CMDDATA(priv->spi, SPIDEV_DISPLAY, false);
+
+      /* Transfer one page of the selected color */
+
+       (void)SPI_SNDBLOCK(priv->spi, &priv->fb[page * UG2864AMBAG01_XRES],
+                          UG2864AMBAG01_XRES);
+    }
+
+  /* De-select and unlock the device */
+
+  SPI_SELECT(priv->spi, SPIDEV_DISPLAY, false);
+  ug2864ambag01_unlock(priv->spi);
+}
+
+#endif /* CONFIG_LCD_UG2864AMBAG01 */
diff --git a/nuttx/drivers/loop.c b/nuttx/drivers/loop.c
index df96da59f..b5b5d82d8 100644
--- a/nuttx/drivers/loop.c
+++ b/nuttx/drivers/loop.c
@@ -215,7 +215,7 @@ static ssize_t loop_read(FAR struct inode *inode, unsigned char *buffer,
                        size_t start_sector, unsigned int nsectors)
 {
   FAR struct loop_struct_s *dev;
-  size_t nbytesread;
+  ssize_t nbytesread;
   off_t offset;
   int ret;
 
diff --git a/nuttx/drivers/mmcsd/Make.defs b/nuttx/drivers/mmcsd/Make.defs
index 850456597..06e689c75 100644
--- a/nuttx/drivers/mmcsd/Make.defs
+++ b/nuttx/drivers/mmcsd/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/mmcsd/Make.defs
 #
-#   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2008, 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -33,14 +33,24 @@
 #
 ############################################################################
 
+ifeq ($(CONFIG_MMCSD),y)
+
 # Include MMC/SD drivers
 
-CSRCS += mmcsd_sdio.c mmcsd_spi.c mmcsd_debug.c
+ifeq ($(CONFIG_MMCSD_SDIO),y)
+CSRCS += mmcsd_sdio.c
+endif
+
+ifeq ($(CONFIG_MMCSD_SPI),y)
+CSRCS += mmcsd_spi.c mmcsd_debug.c
+endif
 
 # Include MMC/SD driver build support
 
 DEPPATH += --dep-path mmcsd
 VPATH += :mmcsd
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/mmcsd}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)mmcsd}
+
+endif
 
 
diff --git a/nuttx/drivers/mmcsd/mmcsd_sdio.c b/nuttx/drivers/mmcsd/mmcsd_sdio.c
index d0bc6659c..b17ae077d 100644
--- a/nuttx/drivers/mmcsd/mmcsd_sdio.c
+++ b/nuttx/drivers/mmcsd/mmcsd_sdio.c
@@ -2597,7 +2597,8 @@ static int mmcsd_cardidentify(FAR struct mmcsd_state_s *priv)
    * operating condition. CMD 8 is reserved on SD version 1.0 and MMC.
    *
    * CMD8 Argument:
-   *    [31:12]: Reserved (shall be set to '0')
   *    [11:8]: Supply Voltage (VHS) 0x1 (Range: 2.7-3.6 V)
+   *    [31:12]: Reserved (shall be set to '0')
+   *    [11:8]: Supply Voltage (VHS) 0x1 (Range: 2.7-3.6 V)
    *    [7:0]: Check Pattern (recommended 0xaa)
    * CMD8 Response: R7
    */
diff --git a/nuttx/drivers/mtd/Make.defs b/nuttx/drivers/mtd/Make.defs
index 258e77ec9..7db7592d4 100644
--- a/nuttx/drivers/mtd/Make.defs
+++ b/nuttx/drivers/mtd/Make.defs
@@ -51,6 +51,10 @@ ifeq ($(CONFIG_MTD_W25),y)
 CSRCS += w25.c
 endif
 
+ifeq ($(CONFIG_MTD_AT25),y)
+CSRCS += at25.c
+endif
+
 # Include MTD driver support
 
 DEPPATH += --dep-path mtd
diff --git a/nuttx/drivers/mtd/at25.c b/nuttx/drivers/mtd/at25.c
new file mode 100644
index 000000000..e35b794a5
--- /dev/null
+++ b/nuttx/drivers/mtd/at25.c
@@ -0,0 +1,708 @@
+/************************************************************************************
+ * drivers/mtd/at25.c
+ * Driver for SPI-based AT25DF321 (32Mbit) flash.
+ *
+ *   Copyright (C) 2009-2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *           Petteri Aimonen <jpa@nx.mail.kapsi.fi>
+ *
+ * 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 <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/fs/ioctl.h>
+#include <nuttx/spi.h>
+#include <nuttx/mtd.h>
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+#ifndef CONFIG_AT25_SPIMODE
+#  define CONFIG_AT25_SPIMODE SPIDEV_MODE0
+#endif
+
+/* AT25 Registers *******************************************************************/
+/* Indentification register values */
+
+#define AT25_MANUFACTURER         0x1F
+#define AT25_AT25DF321_TYPE       0x47 /* 32 M-bit */
+
+/*  AT25DF321 capacity is 4,194,304 bytes:
+ *  (64 sectors) * (65,536 bytes per sector)
+ *  (16384 pages) * (256 bytes per page)
+ */
+
+#define AT25_AT25DF321_SECTOR_SHIFT  12    /* Sector size 1 << 12 = 4096 */
+#define AT25_AT25DF321_NSECTORS      1024
+#define AT25_AT25DF321_PAGE_SHIFT    9     /* Page size 1 << 9 = 512 */
+#define AT25_AT25DF321_NPAGES        8192
+
+/* Instructions */
+/*      Command        Value      N Description             Addr Dummy Data */
+#define AT25_WREN      0x06    /* 1 Write Enable              0   0     0 */
+#define AT25_WRDI      0x04    /* 1 Write Disable             0   0     0 */
+#define AT25_RDID      0x9f    /* 1 Read Identification       0   0     1-3 */
+#define AT25_RDSR      0x05    /* 1 Read Status Register      0   0     >=1 */
+#define AT25_WRSR      0x01    /* 1 Write Status Register     0   0     1 */
+#define AT25_READ      0x03    /* 1 Read Data Bytes           3   0     >=1 */
+#define AT25_FAST_READ 0x0b    /* 1 Higher speed read         3   1     >=1 */
+#define AT25_PP        0x02    /* 1 Page Program              3   0     1-256 */
+#define AT25_SE        0x20    /* 1 Sector Erase              3   0     0 */
+#define AT25_BE        0xc7    /* 1 Bulk Erase                0   0     0 */
+#define AT25_DP        0xb9    /* 2 Deep power down           0   0     0 */
+#define AT25_RES       0xab    /* 2 Read Electronic Signature 0   3     >=1 */
+
+/* Status register bit definitions */
+
+#define AT25_SR_WIP            (1 << 0)    /* Bit 0: Write in progress bit */
+#define AT25_SR_WEL            (1 << 1)    /* Bit 1: Write enable latch bit */
+#define AT25_SR_EPE            (1 << 5)    /* Bit 5: Erase/program error */
+#define AT25_SR_UNPROT         0x00        /* Global unprotect command */
+
+#define AT25_DUMMY     0xa5
+
+/************************************************************************************
+ * Private Types
+ ************************************************************************************/
+
+/* This type represents the state of the MTD device.  The struct mtd_dev_s
+ * must appear at the beginning of the definition so that you can freely
+ * cast between pointers to struct mtd_dev_s and struct at25_dev_s.
+ */
+
+struct at25_dev_s
+{
+  struct mtd_dev_s mtd;      /* MTD interface */
+  FAR struct spi_dev_s *dev; /* Saved SPI interface instance */
+  uint8_t  sectorshift;      /* 16 or 18 */
+  uint8_t  pageshift;        /* 8 */
+  uint16_t nsectors;         /* 128 or 64 */
+  uint32_t npages;           /* 32,768 or 65,536 */
+};
+
+/************************************************************************************
+ * Private Function Prototypes
+ ************************************************************************************/
+
+/* Helpers */
+
+static void at25_lock(FAR struct spi_dev_s *dev);
+static inline void at25_unlock(FAR struct spi_dev_s *dev);
+static inline int at25_readid(struct at25_dev_s *priv);
+static void at25_waitwritecomplete(struct at25_dev_s *priv);
+static void at25_writeenable(struct at25_dev_s *priv);
+static inline void at25_sectorerase(struct at25_dev_s *priv, off_t offset);
+static inline int  at25_bulkerase(struct at25_dev_s *priv);
+static inline void at25_pagewrite(struct at25_dev_s *priv, FAR const uint8_t *buffer,
+                                  off_t offset);
+
+/* MTD driver methods */
+
+static int at25_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks);
+static ssize_t at25_bread(FAR struct mtd_dev_s *dev, off_t startblock,
+                          size_t nblocks, FAR uint8_t *buf);
+static ssize_t at25_bwrite(FAR struct mtd_dev_s *dev, off_t startblock,
+                           size_t nblocks, FAR const uint8_t *buf);
+static ssize_t at25_read(FAR struct mtd_dev_s *dev, off_t offset, size_t nbytes,
+                         FAR uint8_t *buffer);
+static int at25_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg);
+
+/************************************************************************************
+ * Private Data
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: at25_lock
+ ************************************************************************************/
+
+static void at25_lock(FAR struct spi_dev_s *dev)
+{
+  /* On SPI busses where there are multiple devices, it will be necessary to
+   * lock SPI to have exclusive access to the busses for a sequence of
+   * transfers.  The bus should be locked before the chip is selected.
+   *
+   * This is a blocking call and will not return until we have exclusiv access to
+   * the SPI buss.  We will retain that exclusive access until the bus is unlocked.
+   */
+
+  (void)SPI_LOCK(dev, true);
+
+  /* After locking the SPI bus, the we also need call the setfrequency, setbits, and
+   * setmode methods to make sure that the SPI is properly configured for the device.
+   * If the SPI buss is being shared, then it may have been left in an incompatible
+   * state.
+   */
+
+  SPI_SETMODE(dev, CONFIG_AT25_SPIMODE);
+  SPI_SETBITS(dev, 8);
+  (void)SPI_SETFREQUENCY(dev, 20000000);
+}
+
+/************************************************************************************
+ * Name: at25_unlock
+ ************************************************************************************/
+
+static inline void at25_unlock(FAR struct spi_dev_s *dev)
+{
+  (void)SPI_LOCK(dev, false);
+}
+
+/************************************************************************************
+ * Name: at25_readid
+ ************************************************************************************/
+
+static inline int at25_readid(struct at25_dev_s *priv)
+{
+  uint16_t manufacturer;
+  uint16_t memory;
+  uint16_t version;
+
+  fvdbg("priv: %p\n", priv);
+
+  /* Lock the SPI bus, configure the bus, and select this FLASH part. */
+
+  at25_lock(priv->dev);
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+  /* Send the "Read ID (RDID)" command and read the first three ID bytes */
+
+  (void)SPI_SEND(priv->dev, AT25_RDID);
+  manufacturer = SPI_SEND(priv->dev, AT25_DUMMY);
+  memory       = SPI_SEND(priv->dev, AT25_DUMMY);
+  
+  /* Deselect the FLASH and unlock the bus */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+  at25_unlock(priv->dev);
+
+  fvdbg("manufacturer: %02x memory: %02x\n",
+        manufacturer, memory);
+
+  /* Check for a valid manufacturer and memory type */
+
+  if (manufacturer == AT25_MANUFACTURER && memory == AT25_AT25DF321_TYPE)
+    {
+        priv->sectorshift = AT25_AT25DF321_SECTOR_SHIFT;
+        priv->nsectors    = AT25_AT25DF321_NSECTORS;
+        priv->pageshift   = AT25_AT25DF321_PAGE_SHIFT;
+        priv->npages      = AT25_AT25DF321_NPAGES;
+        return OK;
+    }
+
+  return -ENODEV;
+}
+
+/************************************************************************************
+ * Name: at25_waitwritecomplete
+ ************************************************************************************/
+
+static void at25_waitwritecomplete(struct at25_dev_s *priv)
+{
+  uint8_t status;
+
+  /* Are we the only device on the bus? */
+
+#ifdef CONFIG_SPI_OWNBUS
+
+  /* Select this FLASH part */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+  /* Send "Read Status Register (RDSR)" command */
+
+  (void)SPI_SEND(priv->dev, AT25_RDSR);
+  
+  /* Loop as long as the memory is busy with a write cycle */
+
+  do
+    {
+      /* Send a dummy byte to generate the clock needed to shift out the status */
+
+      status = SPI_SEND(priv->dev, AT25_DUMMY);
+    }
+  while ((status & AT25_SR_WIP) != 0);
+
+  /* Deselect the FLASH */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+
+#else
+
+  /* Loop as long as the memory is busy with a write cycle */
+
+  do
+    {
+      /* Select this FLASH part */
+
+      SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+      /* Send "Read Status Register (RDSR)" command */
+
+      (void)SPI_SEND(priv->dev, AT25_RDSR);
+
+      /* Send a dummy byte to generate the clock needed to shift out the status */
+
+      status = SPI_SEND(priv->dev, AT25_DUMMY);
+
+      /* Deselect the FLASH */
+
+      SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+
+      /* Given that writing could take up to few tens of milliseconds, and erasing
+       * could take more.  The following short delay in the "busy" case will allow
+       * other peripherals to access the SPI bus.
+       */
+
+      if ((status & AT25_SR_WIP) != 0)
+        {
+          at25_unlock(priv->dev);
+          usleep(10000);
+          at25_lock(priv->dev);
+        }
+    }
+  while ((status & AT25_SR_WIP) != 0);
+#endif
+
+  if (status & AT25_SR_EPE)
+    {
+      fdbg("Write error, status: 0x%02x\n", status);
+    }
+  
+  fvdbg("Complete, status: 0x%02x\n", status);
+}
+
+/************************************************************************************
+ * Name:  at25_writeenable
+ ************************************************************************************/
+
+static void at25_writeenable(struct at25_dev_s *priv)
+{
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+  (void)SPI_SEND(priv->dev, AT25_WREN);
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+  fvdbg("Enabled\n");
+}
+
+/************************************************************************************
+ * Name:  at25_sectorerase
+ ************************************************************************************/
+
+static inline void at25_sectorerase(struct at25_dev_s *priv, off_t sector)
+{
+  off_t offset = sector << priv->sectorshift;
+
+  fvdbg("sector: %08lx\n", (long)sector);
+
+  /* Wait for any preceding write to complete.  We could simplify things by
+   * perform this wait at the end of each write operation (rather than at
+   * the beginning of ALL operations), but have the wait first will slightly
+   * improve performance.
+   */
+
+  at25_waitwritecomplete(priv);
+
+  /* Send write enable instruction */
+
+  at25_writeenable(priv);
+
+  /* Select this FLASH part */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+  /* Send the "Sector Erase (SE)" instruction */
+
+  (void)SPI_SEND(priv->dev, AT25_SE);
+
+  /* Send the sector offset high byte first.  For all of the supported
+   * parts, the sector number is completely contained in the first byte
+   * and the values used in the following two bytes don't really matter.
+   */
+
+  (void)SPI_SEND(priv->dev, (offset >> 16) & 0xff);
+  (void)SPI_SEND(priv->dev, (offset >> 8) & 0xff);
+  (void)SPI_SEND(priv->dev, offset & 0xff);
+
+  /* Deselect the FLASH */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+  fvdbg("Erased\n");
+}
+
+/************************************************************************************
+ * Name:  at25_bulkerase
+ ************************************************************************************/
+
+static inline int at25_bulkerase(struct at25_dev_s *priv)
+{
+  fvdbg("priv: %p\n", priv);
+
+  /* Wait for any preceding write to complete.  We could simplify things by
+   * perform this wait at the end of each write operation (rather than at
+   * the beginning of ALL operations), but have the wait first will slightly
+   * improve performance.
+   */
+
+  at25_waitwritecomplete(priv);
+
+  /* Send write enable instruction */
+
+  at25_writeenable(priv);
+
+  /* Select this FLASH part */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+  /* Send the "Bulk Erase (BE)" instruction */
+
+  (void)SPI_SEND(priv->dev, AT25_BE);
+
+  /* Deselect the FLASH */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+  fvdbg("Return: OK\n");
+  return OK;
+}
+
+/************************************************************************************
+ * Name:  at25_pagewrite
+ ************************************************************************************/
+
+static inline void at25_pagewrite(struct at25_dev_s *priv, FAR const uint8_t *buffer,
+                                  off_t page)
+{
+  off_t offset = page << 8;
+
+  fvdbg("page: %08lx offset: %08lx\n", (long)page, (long)offset);
+
+  /* Wait for any preceding write to complete.  We could simplify things by
+   * perform this wait at the end of each write operation (rather than at
+   * the beginning of ALL operations), but have the wait first will slightly
+   * improve performance.
+   */
+
+  at25_waitwritecomplete(priv);
+
+  /* Enable the write access to the FLASH */
+
+  at25_writeenable(priv);
+  
+  /* Select this FLASH part */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+  /* Send "Page Program (PP)" command */
+
+  (void)SPI_SEND(priv->dev, AT25_PP);
+
+  /* Send the page offset high byte first. */
+
+  (void)SPI_SEND(priv->dev, (offset >> 16) & 0xff);
+  (void)SPI_SEND(priv->dev, (offset >> 8) & 0xff);
+  (void)SPI_SEND(priv->dev, offset & 0xff);
+
+  /* Then write the specified number of bytes */
+
+  SPI_SNDBLOCK(priv->dev, buffer, 256);
+  
+  /* Deselect the FLASH: Chip Select high */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+  fvdbg("Written\n");
+}
+
+/************************************************************************************
+ * Name: at25_erase
+ ************************************************************************************/
+
+static int at25_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks)
+{
+  FAR struct at25_dev_s *priv = (FAR struct at25_dev_s *)dev;
+  size_t blocksleft = nblocks;
+
+  fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
+
+  /* Lock access to the SPI bus until we complete the erase */
+
+  at25_lock(priv->dev);
+  while (blocksleft-- > 0)
+    {
+      /* Erase each sector */
+
+      at25_sectorerase(priv, startblock);
+      startblock++;
+    }
+
+  at25_unlock(priv->dev);
+  return (int)nblocks;
+}
+
+/************************************************************************************
+ * Name: at25_bread
+ ************************************************************************************/
+
+static ssize_t at25_bread(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks,
+                          FAR uint8_t *buffer)
+{
+  FAR struct at25_dev_s *priv = (FAR struct at25_dev_s *)dev;
+  ssize_t nbytes;
+
+  fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
+
+  /* On this device, we can handle the block read just like the byte-oriented read */
+
+  nbytes = at25_read(dev, startblock << priv->pageshift, nblocks << priv->pageshift, buffer);
+  if (nbytes > 0)
+    {
+        return nbytes >> priv->pageshift;
+    }
+
+  return (int)nbytes;
+}
+
+/************************************************************************************
+ * Name: at25_bwrite
+ ************************************************************************************/
+
+static ssize_t at25_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks,
+                           FAR const uint8_t *buffer)
+{
+  FAR struct at25_dev_s *priv = (FAR struct at25_dev_s *)dev;
+  size_t blocksleft = nblocks;
+
+  fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
+
+  /* Lock the SPI bus and write each page to FLASH */
+
+  at25_lock(priv->dev);
+  while (blocksleft-- > 0)
+    {
+      at25_pagewrite(priv, buffer, startblock * 2);
+      at25_pagewrite(priv, buffer + 256, startblock * 2 + 1);
+      buffer += 1 << priv->pageshift;
+      startblock++;
+   }
+
+  at25_unlock(priv->dev);
+  return nblocks;
+}
+
+/************************************************************************************
+ * Name: at25_read
+ ************************************************************************************/
+
+static ssize_t at25_read(FAR struct mtd_dev_s *dev, off_t offset, size_t nbytes,
+                         FAR uint8_t *buffer)
+{
+  FAR struct at25_dev_s *priv = (FAR struct at25_dev_s *)dev;
+
+  fvdbg("offset: %08lx nbytes: %d\n", (long)offset, (int)nbytes);
+
+  /* Wait for any preceding write to complete.  We could simplify things by
+   * perform this wait at the end of each write operation (rather than at
+   * the beginning of ALL operations), but have the wait first will slightly
+   * improve performance.
+   */
+
+  at25_waitwritecomplete(priv);
+
+  /* Lock the SPI bus and select this FLASH part */
+
+  at25_lock(priv->dev);
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+
+  /* Send "Read from Memory " instruction */
+
+  (void)SPI_SEND(priv->dev, AT25_READ);
+
+  /* Send the page offset high byte first. */
+
+  (void)SPI_SEND(priv->dev, (offset >> 16) & 0xff);
+  (void)SPI_SEND(priv->dev, (offset >> 8) & 0xff);
+  (void)SPI_SEND(priv->dev, offset & 0xff);
+
+  /* Then read all of the requested bytes */
+
+  SPI_RECVBLOCK(priv->dev, buffer, nbytes);
+
+  /* Deselect the FLASH and unlock the SPI bus */
+
+  SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+  at25_unlock(priv->dev);
+
+  fvdbg("return nbytes: %d\n", (int)nbytes);
+  return nbytes;
+}
+
+/************************************************************************************
+ * Name: at25_ioctl
+ ************************************************************************************/
+
+static int at25_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
+{
+  FAR struct at25_dev_s *priv = (FAR struct at25_dev_s *)dev;
+  int ret = -EINVAL; /* Assume good command with bad parameters */
+
+  fvdbg("cmd: %d \n", cmd);
+
+  switch (cmd)
+    {
+      case MTDIOC_GEOMETRY:
+        {
+          FAR struct mtd_geometry_s *geo = (FAR struct mtd_geometry_s *)((uintptr_t)arg);
+          if (geo)
+            {
+              /* Populate the geometry structure with information need to know
+               * the capacity and how to access the device.
+               *
+               * NOTE: that the device is treated as though it where just an array
+               * of fixed size blocks.  That is most likely not true, but the client
+               * will expect the device logic to do whatever is necessary to make it
+               * appear so.
+               */
+
+              geo->blocksize    = (1 << priv->pageshift);
+              geo->erasesize    = (1 << priv->sectorshift);
+              geo->neraseblocks = priv->nsectors;
+              ret               = OK;
+
+              fvdbg("blocksize: %d erasesize: %d neraseblocks: %d\n",
+                    geo->blocksize, geo->erasesize, geo->neraseblocks);
+            }
+        }
+        break;
+
+      case MTDIOC_BULKERASE:
+        {
+            /* Erase the entire device */
+
+            at25_lock(priv->dev);
+            ret = at25_bulkerase(priv);
+            at25_unlock(priv->dev);
+        }
+        break;
+ 
+      case MTDIOC_XIPBASE:
+      default:
+        ret = -ENOTTY; /* Bad command */
+        break;
+    }
+
+  fvdbg("return %d\n", ret);
+  return ret;
+}
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: at25_initialize
+ *
+ * Description:
+ *   Create an initialize MTD device instance.  MTD devices are not registered
+ *   in the file system, but are created as instances that can be bound to
+ *   other functions (such as a block or character driver front end).
+ *
+ ************************************************************************************/
+
+FAR struct mtd_dev_s *at25_initialize(FAR struct spi_dev_s *dev)
+{
+  FAR struct at25_dev_s *priv;
+  int ret;
+
+  fvdbg("dev: %p\n", dev);
+
+  /* Allocate a state structure (we allocate the structure instead of using
+   * a fixed, static allocation so that we can handle multiple FLASH devices.
+   * The current implementation would handle only one FLASH part per SPI
+   * device (only because of the SPIDEV_FLASH definition) and so would have
+   * to be extended to handle multiple FLASH parts on the same SPI bus.
+   */
+
+  priv = (FAR struct at25_dev_s *)kmalloc(sizeof(struct at25_dev_s));
+  if (priv)
+    {
+      /* Initialize the allocated structure */
+
+      priv->mtd.erase  = at25_erase;
+      priv->mtd.bread  = at25_bread;
+      priv->mtd.bwrite = at25_bwrite;
+      priv->mtd.read   = at25_read;
+      priv->mtd.ioctl  = at25_ioctl;
+      priv->dev        = dev;
+
+      /* Deselect the FLASH */
+
+      SPI_SELECT(dev, SPIDEV_FLASH, false);
+
+      /* Identify the FLASH chip and get its capacity */
+
+      ret = at25_readid(priv);
+      if (ret != OK)
+        {
+          /* Unrecognized! Discard all of that work we just did and return NULL */
+
+          fdbg("Unrecognized\n");
+          kfree(priv);
+          priv = NULL;
+        }
+        
+      /* Unprotect all sectors */
+
+      at25_writeenable(priv);
+      SPI_SELECT(priv->dev, SPIDEV_FLASH, true);
+      (void)SPI_SEND(priv->dev, AT25_WRSR);
+      (void)SPI_SEND(priv->dev, AT25_SR_UNPROT);
+      SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
+    }
+
+  /* Return the implementation-specific state structure as the MTD device */
+
+  fvdbg("Return %p\n", priv);
+  return (FAR struct mtd_dev_s *)priv;
+}
diff --git a/nuttx/drivers/mtd/ftl.c b/nuttx/drivers/mtd/ftl.c
index cdb35aa5c..6cf8f0317 100644
--- a/nuttx/drivers/mtd/ftl.c
+++ b/nuttx/drivers/mtd/ftl.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * drivers/mtd/ftl.c
  *
- *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -229,6 +229,10 @@ static ssize_t ftl_flush(FAR void *priv, FAR const uint8_t *buffer,
   remaining = nblocks;
   if (alignedblock > startblock)
     {
+      /* Check if the write is shorter than to the end of the erase block */
+
+      bool short_write = (remaining < (alignedblock - startblock));
+      
       /* Read the full erase block into the buffer */
 
       rwblock = startblock & ~mask;
@@ -252,9 +256,19 @@ static ssize_t ftl_flush(FAR void *priv, FAR const uint8_t *buffer,
       /* Copy the user data at the end of the buffered erase block */
 
       offset = (startblock & mask) * dev->geo.blocksize;
-      nbytes = dev->geo.erasesize - offset;
+      
+      if (short_write)
+        {
+          nbytes = remaining * dev->geo.blocksize;
+        }
+      else
+        {
+          nbytes = dev->geo.erasesize - offset;
+        }
+      
       fvdbg("Copy %d bytes into erase block=%d at offset=%d\n",
              nbytes, eraseblock, offset);
+
       memcpy(dev->eblock + offset, buffer, nbytes);
 
       /* And write the erase back to flash */
@@ -268,8 +282,16 @@ static ssize_t ftl_flush(FAR void *priv, FAR const uint8_t *buffer,
 
       /* Then update for amount written */
 
-      remaining -= dev->blkper - (startblock & mask);
-      buffer    += nbytes;
+      if (short_write)
+        {
+          remaining = 0;
+        }
+      else
+        {
+          remaining -= dev->blkper - (startblock & mask);
+        }
+      
+      buffer += nbytes;
     }
 
   /* How handle full erase pages in the middle */
@@ -290,6 +312,7 @@ static ssize_t ftl_flush(FAR void *priv, FAR const uint8_t *buffer,
 
       fvdbg("Write %d bytes into erase block=%d at offset=0\n",
              dev->geo.erasesize, alignedblock);
+
       nxfrd = MTD_BWRITE(dev->mtd, alignedblock, dev->blkper, buffer);
       if (nxfrd != dev->blkper)
         {
diff --git a/nuttx/drivers/power/Make.defs b/nuttx/drivers/power/Make.defs
index 45c6aebc3..e3452120d 100644
--- a/nuttx/drivers/power/Make.defs
+++ b/nuttx/drivers/power/Make.defs
@@ -47,7 +47,7 @@ CSRCS += pm_activity.c pm_changestate.c pm_checkstate.c pm_initialize.c pm_regis
 
 POWER_DEPPATH := --dep-path power
 POWER_VPATH := :power
-POWER_CFLAGS := ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/power}
+POWER_CFLAGS := ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)power}
 
 endif
 
@@ -73,7 +73,7 @@ endif
 
 POWER_DEPPATH := --dep-path power
 POWER_VPATH := :power
-POWER_CFLAGS := ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/power}
+POWER_CFLAGS := ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)power}
 
 endif
 
diff --git a/nuttx/drivers/sensors/Make.defs b/nuttx/drivers/sensors/Make.defs
index 866ccb053..1713edb99 100644
--- a/nuttx/drivers/sensors/Make.defs
+++ b/nuttx/drivers/sensors/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/sensors/Make.defs
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -57,4 +57,4 @@ endif
 
 DEPPATH += --dep-path sensors
 VPATH += :sensors
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/sensors}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)sensors}
diff --git a/nuttx/drivers/serial/Kconfig b/nuttx/drivers/serial/Kconfig
index 43869fdec..a1e0dff49 100644
--- a/nuttx/drivers/serial/Kconfig
+++ b/nuttx/drivers/serial/Kconfig
@@ -3,10 +3,12 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-config LOWLEVEL_CONSOLE
+config DEV_LOWCONSOLE
 	bool "Low-level console support"
 	default n
 	depends on ARCH_LOWPUTC
+	---help---
+		Use the simple, low-level, write-only serial console driver (minimal support)
 
 config 16550_UART
 	bool "16550 UART Chip support"
@@ -317,7 +319,7 @@ config STANDARD_SERIAL
 	bool "Enable standard \"upper-half\" serial driver"
 	default y if MCU_SERIAL
 	default n if !MCU_SERIAL
-	depends on !LOWLEVEL_CONSOLE
+	depends on !DEV_LOWCONSOLE
 	---help---
 		Enable the standard, upper-half serial driver used by most MCU serial peripherals.
 
@@ -422,7 +424,7 @@ config UART_TXBUFSIZE
 
 config UART_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -465,7 +467,7 @@ config UART0_TXBUFSIZE
 
 config UART0_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -508,7 +510,7 @@ config USART0_TXBUFSIZE
 
 config USART0_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -551,7 +553,7 @@ config UART1_TXBUFSIZE
 
 config UART1_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -594,7 +596,7 @@ config USART1_TXBUFSIZE
 
 config USART1_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -637,7 +639,7 @@ config UART2_TXBUFSIZE
 
 config UART2_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -680,7 +682,7 @@ config USART2_TXBUFSIZE
 
 config USART2_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -723,7 +725,7 @@ config UART3_TXBUFSIZE
 
 config UART3_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -766,7 +768,7 @@ config USART3_TXBUFSIZE
 
 config USART3_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -809,7 +811,7 @@ config UART4_TXBUFSIZE
 
 config UART4_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -852,7 +854,7 @@ config USART4_TXBUFSIZE
 
 config USART4_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -895,7 +897,7 @@ config UART5_TXBUFSIZE
 
 config UART5_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
@@ -938,7 +940,7 @@ config USART5_TXBUFSIZE
 
 config USART5_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -981,7 +983,7 @@ config USART6_TXBUFSIZE
 
 config USART6_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the USART.
 
@@ -1024,7 +1026,7 @@ config UART6_TXBUFSIZE
 
 config UART6_BAUD
 	int "baud rate"
-	default 11520
+	default 115200
 	help
 	  The configured BAUD of the UART.
 
diff --git a/nuttx/drivers/serial/serial.c b/nuttx/drivers/serial/serial.c
index da326f8c6..30ad8ff6e 100644
--- a/nuttx/drivers/serial/serial.c
+++ b/nuttx/drivers/serial/serial.c
@@ -233,7 +233,9 @@ static int uart_putxmitchar(FAR uart_dev_t *dev, int ch)
         }
     }
 
-  /* We won't get here */
+  /* We won't get here.  Some compilers may complain that this code is
+   * unreachable.
+   */
 
   return OK;
 }
diff --git a/nuttx/drivers/usbdev/Make.defs b/nuttx/drivers/usbdev/Make.defs
index f1b3c405a..e43693b29 100644
--- a/nuttx/drivers/usbdev/Make.defs
+++ b/nuttx/drivers/usbdev/Make.defs
@@ -59,5 +59,5 @@ CSRCS += usbdev_trace.c usbdev_trprintf.c
 
 DEPPATH += --dep-path usbdev
 VPATH += :usbdev
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/usbdev}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)usbdev}
 endif
diff --git a/nuttx/drivers/usbhost/Make.defs b/nuttx/drivers/usbhost/Make.defs
index fd54ab53e..ebb522695 100644
--- a/nuttx/drivers/usbhost/Make.defs
+++ b/nuttx/drivers/usbhost/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/usbhost/Make.defs
 #
-#   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2010-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -45,7 +45,7 @@ CSRCS  += usbhost_enumerate.c usbhost_storage.c usbhost_hidkbd.c
 # Include add-on USB host driver logic (see misc/drivers)
 
 ifeq ($(CONFIG_NET),y)
-  RTL8187_CSRC  := ${shell if [ -f usbhost/rtl8187x.c ]; then echo "rtl8187x.c"; fi}
+  RTL8187_CSRC  := ${shell if [ -f usbhost$(DELIM)rtl8187x.c ]; then echo "rtl8187x.c"; fi}
   CSRCS += $(RTL8187_CSRC)
 endif
 endif
@@ -54,4 +54,4 @@ endif
 
 DEPPATH += --dep-path usbhost
 VPATH += :usbhost
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/usbhost}
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)usbhost}
diff --git a/nuttx/drivers/wireless/Make.defs b/nuttx/drivers/wireless/Make.defs
index f47f7666a..fa8e8acb5 100644
--- a/nuttx/drivers/wireless/Make.defs
+++ b/nuttx/drivers/wireless/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # drivers/wireless/Make.defs
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -41,7 +41,7 @@ CSRCS += cc1101.c ISM1_868MHzGFSK100kbps.c ISM2_905MHzGFSK250kbps.c
 
 # Include wireless build support
 
-DEPPATH += --dep-path wireless/cc1101
-VPATH += :wireless/cc1101
-CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/wireless/cc1101}
+DEPPATH += --dep-path wireless$(DELIM)cc1101
+VPATH += :wireless$(DELIM)cc1101
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)wireless$(DELIM)cc1101}
 endif
diff --git a/nuttx/graphics/nxglib/nxglib_splitline.c b/nuttx/graphics/nxglib/nxglib_splitline.c
index 84892b67e..fa2ccc1a0 100644
--- a/nuttx/graphics/nxglib/nxglib_splitline.c
+++ b/nuttx/graphics/nxglib/nxglib_splitline.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * graphics/nxglib/nxglib_splitline.c
  *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -41,6 +41,8 @@
 
 #include <string.h>
 #include <errno.h>
+#include <stdlib.h>
+#include <debug.h>
 
 #include <nuttx/nx/nxglib.h>
 
@@ -48,12 +50,16 @@
  * Pre-Processor Definitions
  ****************************************************************************/
 
-#define SMALL_SIN 1966 /* 1966/65536 = 0.03 */
-
 /****************************************************************************
  * Private Types
  ****************************************************************************/
 
+struct b16point_s
+{
+  b16_t x;
+  b16_t y;
+};
+
 /****************************************************************************
  * Private Data
  ****************************************************************************/
@@ -66,6 +72,12 @@
  * Private Functions
  ****************************************************************************/
 
+static b16_t nxgl_interpolate(b16_t x, b16_t dy, b16_t dxdy)
+{
+  b16_t dx = b16mulb16(dy, dxdy);
+  return x + dx;
+}
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -116,15 +128,19 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
   struct nxgl_vector_s line;
   nxgl_coord_t iheight;
   nxgl_coord_t iwidth;
-  nxgl_coord_t iy;
-  nxgl_coord_t triheight;
-  nxgl_coord_t halfheight;
-  b16_t adjwidth;
-  b16_t xoffset;
-  b16_t halfoffset;
+  nxgl_coord_t iyoffset;
+  struct b16point_s quad[4];
+  b16_t b16xoffset;
+  b16_t b16yoffset;
+  b16_t b16dxdy;
   b16_t angle;
+  b16_t cosangle;
   b16_t sinangle;
   b16_t b16x;
+  b16_t b16y;
+
+  gvdbg("vector: (%d,%d)->(%d,%d) linewidth: %d\n",
+        vector->pt1.x, vector->pt1.y, vector->pt2.x, vector->pt2.y, linewidth);
 
   /* First, check the linewidth */
 
@@ -152,7 +168,7 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
       line.pt2.x = vector->pt1.x;
       line.pt2.y = vector->pt1.y;
     }
-  else
+  else /* if (vector->pt1.y == vector->pt2.y) */
     {
       /* First degenerate case:  The line is horizontal. */
 
@@ -173,6 +189,10 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
 
       rect->pt1.y = vector->pt1.y - (linewidth >> 1);
       rect->pt2.y = rect->pt1.y + linewidth - 1;
+
+      gvdbg("Horizontal rect: (%d,%d),(%d,%d)\n",
+            rect->pt1.x, rect->pt1.y, rect->pt2.x, rect->pt2.y);
+
       return 2;
     }
 
@@ -187,14 +207,21 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
 
       rect->pt1.x = line.pt1.x - (linewidth >> 1);
       rect->pt2.x = rect->pt1.x + linewidth - 1;
+
+      gvdbg("Vertical rect: (%d,%d),(%d,%d)\n",
+            rect->pt1.x, rect->pt1.y, rect->pt2.x, rect->pt2.y);
+
       return 2;
     }
 
   /* The final degenerate case */
 
-  if (linewidth == 1)
+  if (linewidth == 1 &&
+      abs(line.pt2.x - line.pt1.x) < (line.pt2.y - line.pt1.y))
     {
-      /* A line of width 1 is basically a single parallelogram of width 1 */
+      /* A close to vertical line of width 1 is basically
+       * a single parallelogram of width 1.
+       */
 
       traps[1].top.x1 = itob16(line.pt1.x);
       traps[1].top.x2 = traps[1].top.x1;
@@ -203,6 +230,11 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
       traps[1].bot.x1 = itob16(line.pt2.x);
       traps[1].bot.x2 = traps[1].bot.x1;
       traps[1].bot.y  = line.pt2.y;
+
+      gvdbg("Vertical traps[1]: (%08x,%08x,%d),(%08x,%08x, %d)\n",
+            traps[1].top.x1, traps[1].top.x2, traps[1].top.y,
+            traps[1].bot.x1, traps[1].bot.x2, traps[1].bot.y);
+
       return 1;
     }
 
@@ -222,103 +254,260 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
       iwidth  = line.pt1.x - line.pt2.x + 1;
     }
 
-  /* Triangle height: linewidth * cosA
-   * Adjusted width:  triheight / sinA
-   * X offset :  linewidth * linewidth / adjusted line width
+  /* Applying the line width to the line results in a rotated, rectangle.
+   * Get the Y offset from an end of the original thin line to a corner of the fat line.
+   *
+   *   Angle of line:      angle      = atan2(iheight, iwidth)
+   *   Y offset from line: b16yoffset = linewidth * cos(angle)
+   *
+   * For near verical lines, b16yoffset is be nearly zero.  For near horizontal
+   * lines, b16yOffset is be about the same as linewidth.
    */
 
-  angle        = b16atan2(itob16(iheight), itob16(iwidth));
-  triheight    = b16toi(linewidth * b16cos(angle) + b16HALF);
-  halfheight   = (triheight >> 1);
+  angle      = b16atan2(itob16(iheight), itob16(iwidth));
+  cosangle   = b16cos(angle);
+  b16yoffset = (linewidth * cosangle + 1) >> 1;
 
-  /* If the sine of the angle is tiny (i.e., the line is nearly horizontal),
-   * then we cannot compute the adjusted width.  In this case, just use
-   * the width of the line bounding box.
+  /* Get the X offset from an end of the original thin line to a corner of the fat line.
+   *
+   * For near vertical lines, b16xoffset is about the same as linewidth.  For near
+   * horizontal lines, b16xoffset is nearly zero.
    */
 
-  sinangle     =  b16sin(angle);
-  if (sinangle < SMALL_SIN)
-    {
-      adjwidth = itob16(iwidth);
-      xoffset  = 0;
-    }
-  else
-    {
-      adjwidth = b16divb16(itob16(linewidth), sinangle);
-      xoffset  = itob16(linewidth * linewidth);
-      xoffset  = b16divb16(xoffset, adjwidth);
-    }
+  sinangle   =  b16sin(angle);
+  b16xoffset = (linewidth * sinangle + 1) >> 1;
 
-  halfoffset   = (xoffset >> 1);
+  gvdbg("height: %d width: %d angle: %08x b16yoffset: %08x b16xoffset: %08x\n",
+        iheight, iwidth, angle, b16yoffset, b16xoffset);
 
-  /* Return the top triangle (if there is one).  NOTE that the horizontal
-   * (z) positions are represented with 16 bits of fraction.  The vertical
-   * (y) positions, on the other hand, are integer.
-   */
+  /* Now we know all four points of the rotated rectangle */
 
-  if (triheight > 0)
+  iyoffset   = b16toi(b16yoffset + b16HALF);
+  if (iyoffset > 0)
     {
+      /* Get the Y positions of each point */
+
+      b16y      = itob16(line.pt1.y);
+      quad[0].y = b16y - b16yoffset;
+      quad[1].y = b16y + b16yoffset;
+
+      b16y      = itob16(line.pt2.y);
+      quad[2].y = b16y - b16yoffset;
+      quad[3].y = b16y + b16yoffset;
+
       if (line.pt1.x < line.pt2.x)
         {
-          /* Line is going "south east" */
-
-          b16x = itob16(line.pt1.x) - halfoffset;
-          iy   = line.pt1.y + halfheight;
-
-          traps[0].top.x1 = b16x + xoffset;
-          traps[0].top.x2 = traps[0].top.x1;
-          traps[0].top.y  = iy - triheight + 1;
-          traps[0].bot.x1 = b16x;
-          traps[0].bot.x2 = b16x + adjwidth - b16ONE;
-          traps[0].bot.y  = iy;
-
-          b16x = itob16(line.pt2.x) + halfoffset;
-          iy   = line.pt2.y - halfheight;
-
-          traps[2].top.x1 = b16x - adjwidth + b16ONE;
-          traps[2].top.x2 = b16x;
-          traps[2].top.y  = iy;
-          traps[2].bot.x1 = b16x - xoffset;
-          traps[2].bot.x2 = traps[2].bot.x1;
-          traps[2].bot.y  = iy + triheight - 1;
+          /* Line is going "south east". Get the X positions of each point */
+
+          b16x      = itob16(line.pt1.x);
+          quad[0].x = b16x + b16xoffset;
+          quad[1].x = b16x - b16xoffset;
+
+          b16x      = itob16(line.pt2.x);
+          quad[2].x = b16x + b16xoffset;
+          quad[3].x = b16x - b16xoffset;
+
+          gvdbg("Southeast: quad (%08x,%08x),(%08x,%08x),(%08x,%08x),(%08x,%08x)\n",
+                quad[0].x, quad[0].y, quad[1].x, quad[1].y,
+                quad[2].x, quad[2].y, quad[3].x, quad[3].y);
+
+          /* Now we can form the trapezoids.  The top of the first trapezoid
+           * (triangle) is at quad[0]
+           */
+
+          traps[0].top.x1 = quad[0].x;
+          traps[0].top.x2 = quad[0].x;
+          traps[0].top.y  = b16toi(quad[0].y + b16HALF);
+
+          /* The bottom of the first trapezoid (triangle) may be either at
+           * quad[1] or quad[2], depending upon orientation.
+           */
+
+          if (quad[1]. y < quad[2].y)
+            {
+              /* quad[1] is at the bottom left of the triangle. Interpolate
+               * to get the corresponding point on the right side.
+               *
+               * Interpolation is from quad[0] along the line quad[0]->quad[2]
+               * which as the same slope as the line (positive)
+               */
+
+              b16dxdy = itob16(iwidth) / iheight;
+
+              traps[0].bot.x1 = quad[1].x;
+              traps[0].bot.x2 = nxgl_interpolate(quad[0].x, quad[1].y -  quad[0].y, b16dxdy);
+              traps[0].bot.y  = b16toi(quad[1].y + b16HALF);
+
+              /* quad[1] is at the top left of the second trapezoid.  quad[2} is
+               * at the bottom right of the second trapezoid. Interpolate to get
+               * corresponding point on the left side.
+               *
+               * Interpolation is from quad[1] along the line quad[1]->quad[3]
+               * which as the same slope as the line (positive)
+               */
+
+              traps[1].top.x1 = traps[0].bot.x1;
+              traps[1].top.x2 = traps[0].bot.x2;
+              traps[1].top.y  = traps[0].bot.y;
+
+              traps[1].bot.x1 = nxgl_interpolate(traps[1].top.x1, quad[2].y - quad[1].y, b16dxdy);
+              traps[1].bot.x2 = quad[2].x;
+              traps[1].bot.y  = b16toi(quad[2].y + b16HALF);
+            }
+          else
+            {
+              /* quad[2] is at the bottom right of the triangle. Interpolate
+               * to get the corresponding point on the left side.
+               *
+               * Interpolation is from quad[0] along the line quad[0]->quad[1]
+               * which orthogonal to the slope of the line (and negative)
+               */
+
+              b16dxdy = -itob16(iheight) / iwidth;
+
+              traps[0].bot.x1 = nxgl_interpolate(quad[0].x, quad[2].y -  quad[0].y, b16dxdy);
+              traps[0].bot.x2 = quad[2].x;
+              traps[0].bot.y  = b16toi(quad[2].y + b16HALF);
+
+              /* quad[2] is at the top right of the second trapezoid.  quad[1} is
+               * at the bottom left of the second trapezoid. Interpolate to get
+               * corresponding point on the right side.
+               *
+               * Interpolation is from quad[2] along the line quad[2]->quad[3]
+               * which as the same slope as the previous interpolation.
+               */
+
+              traps[1].top.x1 = traps[0].bot.x1;
+              traps[1].top.x2 = traps[0].bot.x2;
+              traps[1].top.y  = traps[0].bot.y;
+
+              traps[1].bot.x1 = quad[1].x;
+              traps[1].bot.x2 = nxgl_interpolate(traps[1].top.x2, quad[1].y - quad[2].y, b16dxdy);
+              traps[1].bot.y  = b16toi(quad[1].y + b16HALF);
+            }
+
+          /* The final trapezond (triangle) at the bottom is new well defined */
+
+          traps[2].top.x1 = traps[1].bot.x1;
+          traps[2].top.x2 = traps[1].bot.x2;
+          traps[2].top.y  = traps[1].bot.y;
+
+          traps[2].bot.x1 = quad[3].x;
+          traps[2].bot.x2 = quad[3].x;
+          traps[2].bot.y  = b16toi(quad[3].y + b16HALF);
         }
       else
         {
-          /* Line is going "south west" */
-
-          b16x = itob16(line.pt1.x) + halfoffset;
-          iy   = line.pt1.y + halfheight;
-
-          traps[0].top.x1 = b16x - xoffset;
-          traps[0].top.x2 = traps[0].top.x1;
-          traps[0].top.y  = iy - triheight + 1;
-          traps[0].bot.x1 = b16x - adjwidth + b16ONE;
-          traps[0].bot.x2 = b16x;
-          traps[0].bot.y  = iy;
-
-          b16x = itob16(line.pt2.x) - halfoffset;
-          iy   = line.pt2.y - halfheight;
-
-          traps[2].top.x1 = b16x;
-          traps[2].top.x2 = b16x + adjwidth - b16ONE;
-          traps[2].top.y  = iy;
-          traps[2].bot.x1 = b16x + xoffset;
-          traps[2].bot.x2 = traps[2].bot.x1;
-          traps[2].bot.y  = iy + triheight - 1;
+          /* Get the X positions of each point */
+
+          b16x      = itob16(line.pt1.x);
+          quad[0].x = b16x - b16xoffset;
+          quad[1].x = b16x + b16xoffset;
+
+          b16x      = itob16(line.pt2.x);
+          quad[2].x = b16x - b16xoffset;
+          quad[3].x = b16x + b16xoffset;
+
+          gvdbg("Southwest: quad (%08x,%08x),(%08x,%08x),(%08x,%08x),(%08x,%08x)\n",
+                quad[0].x, quad[0].y, quad[1].x, quad[1].y,
+                quad[2].x, quad[2].y, quad[3].x, quad[3].y);
+
+          /* Now we can form the trapezoids.  The top of the first trapezoid
+           * (triangle) is at quad[0]
+           */
+
+          traps[0].top.x1 = quad[0].x;
+          traps[0].top.x2 = quad[0].x;
+          traps[0].top.y  = b16toi(quad[0].y + b16HALF);
+
+          /* The bottom of the first trapezoid (triangle) may be either at
+           * quad[1] or quad[2], depending upon orientation.
+           */
+
+          if (quad[1].y < quad[2].y)
+            {
+              /* quad[1] is at the bottom right of the triangle. Interpolate
+               * to get the corresponding point on the left side.
+               *
+               * Interpolation is from quad[0] along the line quad[0]->quad[2]
+               * which as the same slope as the line (negative)
+               */
+
+              b16dxdy = -itob16(iwidth) / iheight;
+
+              traps[0].bot.x1 = nxgl_interpolate(traps[0].top.x1, quad[1].y - quad[0].y, b16dxdy);
+              traps[0].bot.x2 = quad[1].x;
+              traps[0].bot.y  = b16toi(quad[1].y + b16HALF);
+
+              /* quad[1] is at the top right of the second trapezoid.  quad[2} is
+               * at the bottom left of the second trapezoid. Interpolate to get
+               * corresponding point on the right side.
+               *
+               * Interpolation is from quad[1] along the line quad[1]->quad[3]
+               * which as the same slope as the line (negative)
+               */
+
+              traps[1].top.x1 = traps[0].bot.x1;
+              traps[1].top.x2 = traps[0].bot.x2;
+              traps[1].top.y  = traps[0].bot.y;
+
+              traps[1].bot.x1 = quad[2].x;
+              traps[1].bot.x2 = nxgl_interpolate(traps[1].top.x2, quad[2].y - quad[1].y, b16dxdy);
+              traps[1].bot.y  = b16toi(quad[2].y + b16HALF);
+            }
+          else
+            {
+              /* quad[2] is at the bottom left of the triangle. Interpolate
+               * to get the corresponding point on the right side.
+               *
+               * Interpolation is from quad[0] along the line quad[0]->quad[1]
+               * which orthogonal to the slope of the line (and positive)
+               */
+
+              b16dxdy = itob16(iheight) / iwidth;
+
+              traps[0].bot.x1 = quad[2].x;
+              traps[0].bot.x2 = nxgl_interpolate(traps[0].top.x2, quad[2].y - quad[0].y, b16dxdy);
+              traps[0].bot.y  = b16toi(quad[2].y + b16HALF);
+
+              /* quad[2] is at the top left of the second trapezoid.  quad[1} is
+               * at the bottom right of the second trapezoid. Interpolate to get
+               * corresponding point on the left side.
+               *
+               * Interpolation is from quad[2] along the line quad[2]->quad[3]
+               * which as the same slope as the previous interpolation.
+               */
+
+              traps[1].top.x1 = traps[0].bot.x1;
+              traps[1].top.x2 = traps[0].bot.x2;
+              traps[1].top.y  = traps[0].bot.y;
+
+              traps[1].bot.x1 = nxgl_interpolate(traps[1].top.x1, quad[1].y - quad[2].y, b16dxdy);
+              traps[1].bot.x2 = quad[1].x;
+              traps[1].bot.y  = b16toi(quad[1].y + b16HALF);
+            }
+
+          /* The final trapezond (triangle) at the bottom is new well defined */
+
+          traps[2].top.x1 = traps[1].bot.x1;
+          traps[2].top.x2 = traps[1].bot.x2;
+          traps[2].top.y  = traps[1].bot.y;
+
+          traps[2].bot.x1 = quad[3].x;
+          traps[2].bot.x2 = quad[3].x;
+          traps[2].bot.y  = b16toi(quad[3].y + b16HALF);
         }
 
-      /* The center parallelogram is the horizontal edge of each triangle.
-       * Note the minor inefficency: that horizontal edges are drawn twice.
-       */
+      gvdbg("traps[0]: (%08x,%08x,%d),(%08x,%08x,%d)\n",
+            traps[0].top.x1, traps[0].top.x2, traps[0].top.y,
+            traps[0].bot.x1, traps[0].bot.x2, traps[0].bot.y);
+      gvdbg("traps[1]: (%08x,%08x,%d),(%08x,%08x,%d)\n",
+            traps[1].top.x1, traps[1].top.x2, traps[1].top.y,
+            traps[1].bot.x1, traps[1].bot.x2, traps[1].bot.y);
+      gvdbg("traps[2]: (%08x,%08x,%d),(%08x,%08x,%d)\n",
+            traps[2].top.x1, traps[2].top.x2, traps[2].top.y,
+            traps[2].bot.x1, traps[2].bot.x2, traps[2].bot.y);
 
-      traps[1].top.x1 = traps[0].bot.x1;
-      traps[1].top.x2 = traps[0].bot.x2;
-      traps[1].top.y  = traps[0].bot.y;
- 
-      traps[1].bot.x1 = traps[2].top.x1;
-      traps[1].bot.x2 = traps[2].top.x2;
-      traps[1].bot.y  = traps[2].top.y;
- 
       return 0;
     }
 
@@ -326,12 +515,18 @@ int nxgl_splitline(FAR struct nxgl_vector_s *vector,
    * bottom.  Just return the center parallelogram.
    */
 
-  traps[1].top.x1 = itob16(line.pt1.x) - halfoffset;
-  traps[1].top.x2 = traps[1].top.x1 + adjwidth - 1;
+  traps[1].top.x1 = itob16(line.pt1.x - (linewidth >> 1));
+  traps[1].top.x2 = traps[1].top.x1 + itob16(linewidth - 1);
   traps[1].top.y  = line.pt1.y;
- 
-  traps[1].bot.x1 = itob16(line.pt2.x) -  halfoffset;
-  traps[1].bot.x2 = traps[1].bot.x1 + adjwidth - 1;
+
+  traps[1].bot.x1 = itob16(line.pt2.x - (linewidth >> 1));
+  traps[1].bot.x2 = traps[1].bot.x1 + itob16(linewidth - 1);
   traps[1].bot.y  = line.pt2.y;
+
+  gvdbg("Horizontal traps[1]: (%08x,%08x,%d),(%08x,%08x, %d)\n",
+        traps[1].top.x1, traps[1].top.x2, traps[1].top.y,
+        traps[1].bot.x1, traps[1].bot.x2, traps[1].bot.y);
+
   return 1;
 }
+
diff --git a/nuttx/graphics/nxtk/nxtk_filltrapwindow.c b/nuttx/graphics/nxtk/nxtk_filltrapwindow.c
index c1032f1e7..55c051ffd 100644
--- a/nuttx/graphics/nxtk/nxtk_filltrapwindow.c
+++ b/nuttx/graphics/nxtk/nxtk_filltrapwindow.c
@@ -94,6 +94,7 @@ int nxtk_filltrapwindow(NXTKWINDOW hfwnd, FAR const struct nxgl_trapezoid_s *tra
 {
   FAR struct nxtk_framedwindow_s *fwnd = (FAR struct nxtk_framedwindow_s *)hfwnd;
   struct nxgl_rect_s relclip;
+  struct nxgl_trapezoid_s reltrap;
 
 #ifdef CONFIG_DEBUG
   if (!hfwnd || !trap || !color)
@@ -103,8 +104,14 @@ int nxtk_filltrapwindow(NXTKWINDOW hfwnd, FAR const struct nxgl_trapezoid_s *tra
     }
 #endif
 
-  /* Perform the fill, clipping to the client window */
+  /* Move the trapezoid from window contents area to window area */
 
+  nxgl_trapoffset(&reltrap, trap,
+                  fwnd->fwrect.pt1.x - fwnd->wnd.bounds.pt1.x,
+                  fwnd->fwrect.pt1.y - fwnd->wnd.bounds.pt1.y);
+  
+  /* Perform the fill, clipping to the client window */
   nxgl_rectoffset(&relclip, &fwnd->fwrect, -fwnd->wnd.bounds.pt1.x, -fwnd->wnd.bounds.pt1.y);
-  return nx_filltrapezoid((NXWINDOW)hfwnd, &relclip, trap, color);
+  
+  return nx_filltrapezoid((NXWINDOW)hfwnd, &relclip, &reltrap, color);
 }
diff --git a/nuttx/graphics/nxtk/nxtk_getwindow.c b/nuttx/graphics/nxtk/nxtk_getwindow.c
index 121c7702a..c91f2d22f 100644
--- a/nuttx/graphics/nxtk/nxtk_getwindow.c
+++ b/nuttx/graphics/nxtk/nxtk_getwindow.c
@@ -110,12 +110,15 @@ int nxtk_getwindow(NXTKWINDOW hfwnd, FAR const struct nxgl_rect_s *rect,
     }
 #endif
 
-  /* Clip the rectangle so that it lies within the sub-window bounds
-   * then move the rectangle to that it is relative to the containing
-   * window.
+  /* Move the rectangle to that it is relative to the containing
+   * window. If part of the rectangle lies outside the window,
+   * it will contain garbage data, but the contained area will be
+   * valid.
    */
 
-  nxtk_subwindowclip(fwnd, &getrect, rect, &fwnd->fwrect);
+  nxgl_rectoffset(&getrect, rect,
+                  fwnd->fwrect.pt1.x - fwnd->wnd.bounds.pt1.x,
+                  fwnd->fwrect.pt1.y - fwnd->wnd.bounds.pt1.y);
 
   /* Then get it */
 
diff --git a/nuttx/graphics/nxtk/nxtk_subwindowmove.c b/nuttx/graphics/nxtk/nxtk_subwindowmove.c
index a6fd9f5dd..3c2bb7f37 100644
--- a/nuttx/graphics/nxtk/nxtk_subwindowmove.c
+++ b/nuttx/graphics/nxtk/nxtk_subwindowmove.c
@@ -112,21 +112,19 @@ void nxtk_subwindowmove(FAR struct nxtk_framedwindow_s *fwnd,
 
   nxgl_rectintersect(&abssrc, &abssrc, &fwnd->fwrect);
 
-  /* Clip the offset so that the source rectangle does not move out of the
-   * the client sub-window.
-   */
+  /* Clip the source rectangle so that destination area is within the window. */
 
   destoffset->x = srcoffset->x;
   if (destoffset->x < 0)
     {
       if (abssrc.pt1.x + destoffset->x < bounds->pt1.x)
         {
-           destoffset->x = bounds->pt1.x - abssrc.pt1.x;
+           abssrc.pt1.x = bounds->pt1.x - destoffset->x;
         }
     }
   else if (abssrc.pt2.x + destoffset->x > bounds->pt2.x)
     {
-       destoffset->x = bounds->pt2.x - abssrc.pt2.x;
+       abssrc.pt2.x = bounds->pt2.x - destoffset->x;
     }
 
   destoffset->y = srcoffset->y;
@@ -134,12 +132,12 @@ void nxtk_subwindowmove(FAR struct nxtk_framedwindow_s *fwnd,
     {
       if (abssrc.pt1.y + destoffset->y < bounds->pt1.y)
         {
-           destoffset->y = bounds->pt1.y - abssrc.pt1.y;
+           abssrc.pt1.y = bounds->pt1.y - destoffset->y;
         }
     }
   else if (abssrc.pt2.y + destoffset->y > bounds->pt2.y)
     {
-       destoffset->y = bounds->pt2.y - abssrc.pt2.y;
+       abssrc.pt2.y = bounds->pt2.y - destoffset->y;
     }
 
 
diff --git a/nuttx/include/cxx/cmath b/nuttx/include/cxx/cmath
index 7cb3a2109..b30d5548b 100644
--- a/nuttx/include/cxx/cmath
+++ b/nuttx/include/cxx/cmath
@@ -40,6 +40,9 @@
 // Included Files
 //***************************************************************************
 
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
 #include <math.h>
 
 //***************************************************************************
@@ -48,6 +51,34 @@
 
 namespace std
 {
+#if CONFIG_HAVE_FLOAT
+  using ::acosf;
+  using ::asinf;
+  using ::atanf;
+  using ::atan2f;
+  using ::ceilf;
+  using ::cosf;
+  using ::coshf;
+  using ::expf;
+  using ::fabsf;
+  using ::floorf;
+  using ::fmodf;
+  using ::frexpf;
+  using ::ldexpf;
+  using ::logf;
+  using ::log10f;
+  using ::log2f;
+  using ::modff;
+  using ::roundf;
+  using ::powf;
+  using ::sinf;
+  using ::sinhf;
+  using ::sqrtf;
+  using ::tanf;
+  using ::tanhf;
+#endif
+
+#if CONFIG_HAVE_DOUBLE
   using ::acos;
   using ::asin;
   using ::atan;
@@ -63,13 +94,44 @@ namespace std
   using ::ldexp;
   using ::log;
   using ::log10;
+  using ::log2;
   using ::modf;
+  using ::round;
   using ::pow;
   using ::sin;
   using ::sinh;
   using ::sqrt;
   using ::tan;
   using ::tanh;
+#endif
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+  using ::acosl;
+  using ::asinl;
+  using ::atanl;
+  using ::atan2l;
+  using ::ceill;
+  using ::cosl;
+  using ::coshl;
+  using ::expl;
+  using ::fabsl;
+  using ::floorl;
+  using ::fmodl;
+  using ::frexpl;
+  using ::ldexpl;
+  using ::logl;
+  using ::log10l;
+  using ::log2l;
+  using ::modfl;
+  using ::roundl;
+  using ::powl;
+  using ::sinl;
+  using ::sinhl;
+  using ::sqrtl;
+  using ::tanl;
+  using ::tanhl;
+#endif
+
 }
 
 #endif // __INCLUDE_CXX_CMATH
diff --git a/nuttx/include/cxx/cstdlib b/nuttx/include/cxx/cstdlib
index 522f3fdb1..1bf8ed9da 100644
--- a/nuttx/include/cxx/cstdlib
+++ b/nuttx/include/cxx/cstdlib
@@ -70,6 +70,7 @@ namespace std
 #endif
 
   using ::strtol;
+  using ::strtoul;
   using ::strtod;
 
   using ::malloc;
diff --git a/nuttx/include/debug.h b/nuttx/include/debug.h
index 1f8c7d7ca..aa5efd432 100644
--- a/nuttx/include/debug.h
+++ b/nuttx/include/debug.h
@@ -571,12 +571,9 @@
  * Public Function Prototypes
  ****************************************************************************/
 
-#undef EXTERN
 #if defined(__cplusplus)
-#define EXTERN extern "C"
-extern "C" {
-#else
-#define EXTERN extern
+extern "C"
+{
 #endif
 
 /* These low-level debug APIs are provided by the NuttX library.  If the
@@ -585,21 +582,20 @@ extern "C" {
  * or the other of the following.
  */
 
-EXTERN int lib_rawprintf(FAR const char *format, ...);
+int lib_rawprintf(FAR const char *format, ...);
 
 #ifdef CONFIG_ARCH_LOWPUTC
-EXTERN int lib_lowprintf(FAR const char *format, ...);
+int lib_lowprintf(FAR const char *format, ...);
 #endif
 
 /* Dump a buffer of data */
 
-EXTERN void lib_dumpbuffer(FAR const char *msg, FAR const uint8_t *buffer,
-                           unsigned int buflen);
+void lib_dumpbuffer(FAR const char *msg, FAR const uint8_t *buffer, unsigned int buflen);
 
 /* Enable or disable debug output */
 
 #ifdef CONFIG_DEBUG_ENABLE
-EXTERN void dbg_enable(bool enable);
+void dbg_enable(bool enable);
 #endif
 
 /* If the cross-compiler's pre-processor does not support variable length
@@ -608,23 +604,22 @@ EXTERN void dbg_enable(bool enable);
 
 #ifndef CONFIG_CPP_HAVE_VARARGS
 #ifdef CONFIG_DEBUG
-EXTERN int dbg(const char *format, ...);
+int dbg(const char *format, ...);
 
 # ifdef CONFIG_ARCH_LOWPUTC
-EXTERN int lldbg(const char *format, ...);
+int lldbg(const char *format, ...);
 # endif
 
 # ifdef CONFIG_DEBUG_VERBOSE
-EXTERN int vdbg(const char *format, ...);
+int vdbg(const char *format, ...);
 
 # ifdef CONFIG_ARCH_LOWPUTC
-EXTERN int llvdbg(const char *format, ...);
+int llvdbg(const char *format, ...);
 # endif
 #endif
 #endif /* CONFIG_DEBUG */
 #endif /* CONFIG_CPP_HAVE_VARARGS */
 
-#undef EXTERN
 #if defined(__cplusplus)
 }
 #endif
diff --git a/nuttx/include/nuttx/arch.h b/nuttx/include/nuttx/arch.h
index bf6be1ce0..8b4b10ade 100644
--- a/nuttx/include/nuttx/arch.h
+++ b/nuttx/include/nuttx/arch.h
@@ -46,6 +46,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <sched.h>
+
 #include <arch/arch.h>
 
 /****************************************************************************
@@ -67,10 +68,8 @@ typedef CODE void (*sig_deliver_t)(FAR _TCB *tcb);
  ****************************************************************************/
 
 #ifdef __cplusplus
-#define EXTERN extern "C"
-extern "C" {
-#else
-#define EXTERN extern
+extern "C"
+{
 #endif
 
 /****************************************************************************
@@ -98,7 +97,7 @@ extern "C" {
  *
  ****************************************************************************/
 
-EXTERN void up_initialize(void);
+void up_initialize(void);
 
 /****************************************************************************
  * Name: up_idle
@@ -114,7 +113,7 @@ EXTERN void up_initialize(void);
  *
  ****************************************************************************/
 
-EXTERN void up_idle(void);
+void up_idle(void);
 
 /****************************************************************************
  * Name: up_initial_state
@@ -130,7 +129,7 @@ EXTERN void up_idle(void);
  *
  ****************************************************************************/
 
-EXTERN void up_initial_state(FAR _TCB *tcb);
+void up_initial_state(FAR _TCB *tcb);
 
 /****************************************************************************
  * Name: up_create_stack
@@ -155,7 +154,7 @@ EXTERN void up_initial_state(FAR _TCB *tcb);
  ****************************************************************************/
 
 #ifndef CONFIG_CUSTOM_STACK
-EXTERN int up_create_stack(FAR _TCB *tcb, size_t stack_size);
+int up_create_stack(FAR _TCB *tcb, size_t stack_size);
 #endif
 
 /****************************************************************************
@@ -180,7 +179,7 @@ EXTERN int up_create_stack(FAR _TCB *tcb, size_t stack_size);
  ****************************************************************************/
 
 #ifndef CONFIG_CUSTOM_STACK
-EXTERN int up_use_stack(FAR _TCB *tcb, FAR void *stack, size_t stack_size);
+int up_use_stack(FAR _TCB *tcb, FAR void *stack, size_t stack_size);
 #endif
 
 /****************************************************************************
@@ -193,7 +192,7 @@ EXTERN int up_use_stack(FAR _TCB *tcb, FAR void *stack, size_t stack_size);
  ****************************************************************************/
 
 #ifndef CONFIG_CUSTOM_STACK
-EXTERN void up_release_stack(FAR _TCB *dtcb);
+void up_release_stack(FAR _TCB *dtcb);
 #endif
 
 /****************************************************************************
@@ -216,7 +215,7 @@ EXTERN void up_release_stack(FAR _TCB *dtcb);
  *
  ****************************************************************************/
 
-EXTERN void up_unblock_task(FAR _TCB *tcb);
+void up_unblock_task(FAR _TCB *tcb);
 
 /****************************************************************************
  * Name: up_block_task
@@ -242,7 +241,7 @@ EXTERN void up_unblock_task(FAR _TCB *tcb);
  *
  ****************************************************************************/
 
-EXTERN void up_block_task(FAR _TCB *tcb, tstate_t task_state);
+void up_block_task(FAR _TCB *tcb, tstate_t task_state);
 
 /****************************************************************************
  * Name: up_release_pending
@@ -261,7 +260,7 @@ EXTERN void up_block_task(FAR _TCB *tcb, tstate_t task_state);
  *
  ****************************************************************************/
 
-EXTERN void up_release_pending(void);
+void up_release_pending(void);
 
 /****************************************************************************
  * Name: up_reprioritize_rtr
@@ -287,7 +286,7 @@ EXTERN void up_release_pending(void);
  *
  ****************************************************************************/
 
-EXTERN void up_reprioritize_rtr(FAR _TCB *tcb, uint8_t priority);
+void up_reprioritize_rtr(FAR _TCB *tcb, uint8_t priority);
 
 /****************************************************************************
  * Name: _exit
@@ -349,7 +348,7 @@ EXTERN void up_reprioritize_rtr(FAR _TCB *tcb, uint8_t priority);
  ****************************************************************************/
 
 #ifndef CONFIG_DISABLE_SIGNALS
-EXTERN void up_schedule_sigaction(FAR _TCB *tcb, sig_deliver_t sigdeliver);
+void up_schedule_sigaction(FAR _TCB *tcb, sig_deliver_t sigdeliver);
 #endif
 
 /****************************************************************************
@@ -363,7 +362,7 @@ EXTERN void up_schedule_sigaction(FAR _TCB *tcb, sig_deliver_t sigdeliver);
  ****************************************************************************/
 
 #ifndef CONFIG_HEAP_BASE
-EXTERN void up_allocate_heap(FAR void **heap_start, size_t *heap_size);
+void up_allocate_heap(FAR void **heap_start, size_t *heap_size);
 #endif
 
 /****************************************************************************
@@ -383,6 +382,214 @@ EXTERN void up_allocate_heap(FAR void **heap_start, size_t *heap_size);
 #endif
 
 /****************************************************************************
+ * Address Environment Interfaces
+ *
+ * Low-level interfaces used in binfmt/ to instantiate tasks with address
+ * environments.  These interfaces all operate on type task_addrenv_t which
+ * is an abstract representation of a task's address environment and must be
+ * defined in arch/arch.h if CONFIG_ADDRENV is defined.
+ *
+ *   up_addrenv_create  - Create an address environment
+ *   up_addrenv_vaddr   - Returns the virtual base address of the address
+ *                        environment
+ *   up_addrenv_select  - Instantiate an address environment
+ *   up_addrenv_restore - Restore an address environment
+ *   up_addrenv_destroy - Destroy an address environment.
+ *   up_addrenv_assign  - Assign an address environment to a TCB
+ *
+ * Higher-level interfaces used by the tasking logic.  These interfaces are
+ * used by the functions in sched/ and all operate on the TCB which as been
+ * assigned an address environment by up_addrenv_assign().
+ *
+ *   up_addrenv_share   - Clone the address environment assigned to one TCB
+ *                        to another.  This operation is done when a pthread
+ *                        is created that share's the same address
+ *                        environment.
+ *   up_addrenv_release - Release the TCBs reference to an address
+ *                        environment when a task/thread exits.
+ *
+ ****************************************************************************/
+/****************************************************************************
+ * Name: up_addrenv_create
+ *
+ * Description:
+ *   This function is called from the binary loader logic when a new
+ *   task is created in order to instantiate an address environment for the
+ *   task.  up_addrenv_create is essentially the allocator of the physical
+ *   memory for the new task.
+ *
+ * Input Parameters:
+ *   envsize - The size (in bytes) of the address environment needed by the
+ *     task.
+ *   addrenv - The location to return the representation of the task address
+ *     environment.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_create(size_t envsize, FAR task_addrenv_t *addrenv);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_vaddr
+ *
+ * Description:
+ *   Return the virtual address associated with the newly create address
+ *   environment.  This function is used by the binary loaders in order
+ *   get an address that can be used to initialize the new task.
+ *
+ * Input Parameters:
+ *   addrenv - The representation of the task address environment previously
+ *      returned by up_addrenv_create.
+ *   vaddr - The location to return the virtual address.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_vaddr(FAR task_addrenv_t addrenv, FAR void **vaddr);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_select
+ *
+ * Description:
+ *   After an address environment has been established for a task (via
+ *   up_addrenv_create().  This function may be called to to instantiate
+ *   that address environment in the virtual address space.  this might be
+ *   necessary, for example, to load the code for the task from a file or
+ *   to access address environment private data.
+ *
+ * Input Parameters:
+ *   addrenv - The representation of the task address environment previously
+ *     returned by up_addrenv_create.
+ *   oldenv
+ *     The address environment that was in place before up_addrenv_select().
+ *     This may be used with up_addrenv_restore() to restore the original
+ *     address environment that was in place before up_addrenv_select() was
+ *     called.  Note that this may be a task agnostic, hardware
+ *     representation that is different from task_addrenv_t.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_select(task_addrenv_t addrenv, hw_addrenv_t *oldenv);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_restore
+ *
+ * Description:
+ *   After an address environment has been temporarilty instantiated by
+ *   up_addrenv_select, this function may be called to to restore the
+ *   original address environment.
+ *
+ * Input Parameters:
+ *   oldenv - The hardware representation of the address environment
+ *     previously returned by up_addrenv_select.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_restore(hw_addrenv_t oldenv);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_destroy
+ *
+ * Description:
+ *   Called from the binary loader loader during error handling to destroy
+ *   the address environment previously created by up_addrenv_create().
+ *
+ * Input Parameters:
+ *   addrenv - The representation of the task address environment previously
+ *     returned by up_addrenv_create.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_destroy(task_addrenv_t addrenv);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_assign
+ *
+ * Description:
+ *   Assign an address environment to a TCB.
+ *
+ * Input Parameters:
+ *   addrenv - The representation of the task address environment previously
+ *     returned by up_addrenv_create.
+ *   tcb - The TCB of the task to receive the address environment.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_assign(task_addrenv_t addrenv, FAR _TCB *tcb);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_share
+ *
+ * Description:
+ *   This function is called from the core scheduler logic when a thread
+ *   is created that needs to share the address ennvironment of its parent
+ *   task.  In this case, the parent's address environment needs to be
+ *   "cloned" for the child.
+ *
+ * Input Parameters:
+ *   ptcb - The TCB of the parent task that has the address environment.
+ *   ctcb - The TCB of the child thread needing the address environment.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_share(FAR const _TCB *ptcb, FAR _TCB *ctcb);
+#endif
+
+/****************************************************************************
+ * Name: up_addrenv_release
+ *
+ * Description:
+ *   This function is called when a task or thread exits in order to release
+ *   its reference to an address environment.  When there are no further
+ *   references to an address environment, that address environment should
+ *   be destroyed.
+ *
+ * Input Parameters:
+ *   tcb - The TCB of the task or thread whose the address environment will
+ *     be released.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ADDRENV
+int up_addrenv_release(FAR _TCB *tcb);
+#endif
+
+/****************************************************************************
  * Name: up_interrupt_context
  *
  * Description:
@@ -391,7 +598,7 @@ EXTERN void up_allocate_heap(FAR void **heap_start, size_t *heap_size);
  *
  ****************************************************************************/
 
-EXTERN bool up_interrupt_context(void);
+bool up_interrupt_context(void);
 
 /****************************************************************************
  * Name: up_enable_irq
@@ -413,7 +620,7 @@ EXTERN bool up_interrupt_context(void);
  ****************************************************************************/
 
 #ifndef CONFIG_ARCH_NOINTC
-EXTERN void up_enable_irq(int irq);
+void up_enable_irq(int irq);
 #endif
 
 /****************************************************************************
@@ -431,7 +638,7 @@ EXTERN void up_enable_irq(int irq);
  ****************************************************************************/
 
 #ifndef CONFIG_ARCH_NOINTC
-EXTERN void up_disable_irq(int irq);
+void up_disable_irq(int irq);
 #endif
 
 /****************************************************************************
@@ -446,7 +653,7 @@ EXTERN void up_disable_irq(int irq);
  ****************************************************************************/
 
 #ifdef CONFIG_ARCH_IRQPRIO
-EXTERN int up_prioritize_irq(int irq, int priority);
+int up_prioritize_irq(int irq, int priority);
 #endif
 
 /****************************************************************************
@@ -483,7 +690,7 @@ EXTERN int up_prioritize_irq(int irq, int priority);
  ****************************************************************************/
 
 #ifdef CONFIG_ARCH_ROMGETC
-EXTERN char up_romgetc(FAR const char *ptr);
+char up_romgetc(FAR const char *ptr);
 #else
 #  define up_romgetc(ptr) (*ptr)
 #endif
@@ -497,8 +704,8 @@ EXTERN char up_romgetc(FAR const char *ptr);
  *
  ***************************************************************************/
 
-EXTERN void up_mdelay(unsigned int milliseconds);
-EXTERN void up_udelay(useconds_t microseconds);
+void up_mdelay(unsigned int milliseconds);
+void up_udelay(useconds_t microseconds);
 
 /****************************************************************************
  * Name: up_cxxinitialize
@@ -517,7 +724,7 @@ EXTERN void up_udelay(useconds_t microseconds);
  ***************************************************************************/
 
 #if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
-EXTERN void up_cxxinitialize(void);
+void up_cxxinitialize(void);
 #endif
 
 /****************************************************************************
@@ -537,7 +744,7 @@ EXTERN void up_cxxinitialize(void);
  *
  ****************************************************************************/
 
-EXTERN void sched_process_timer(void);
+void sched_process_timer(void);
 
 /****************************************************************************
  * Name: irq_dispatch
@@ -549,7 +756,7 @@ EXTERN void sched_process_timer(void);
  *
  ***************************************************************************/
 
-EXTERN void irq_dispatch(int irq, FAR void *context);
+void irq_dispatch(int irq, FAR void *context);
 
 /****************************************************************************
  * Board-specific button interfaces exported by the board-specific logic
@@ -571,7 +778,7 @@ EXTERN void irq_dispatch(int irq, FAR void *context);
  ****************************************************************************/
 
 #ifdef CONFIG_ARCH_BUTTONS
-EXTERN void up_buttoninit(void);
+void up_buttoninit(void);
 #endif
 
 /****************************************************************************
@@ -592,7 +799,7 @@ EXTERN void up_buttoninit(void);
  ****************************************************************************/
 
 #ifdef CONFIG_ARCH_BUTTONS
-EXTERN uint8_t up_buttons(void);
+uint8_t up_buttons(void);
 #endif
 
 /****************************************************************************
@@ -613,7 +820,29 @@ EXTERN uint8_t up_buttons(void);
  ****************************************************************************/
 
 #ifdef CONFIG_ARCH_IRQBUTTONS
-EXTERN xcpt_t up_irqbutton(int id, xcpt_t irqhandler);
+xcpt_t up_irqbutton(int id, xcpt_t irqhandler);
+#endif
+
+/************************************************************************************
+ * Relay control functions
+ *
+ * Description:
+ *   Non-standard functions for relay control.
+ *
+ ************************************************************************************/
+
+#ifdef CONFIG_ARCH_RELAYS
+void up_relaysinit(void);
+void relays_setstat(int relays, bool stat);
+bool relays_getstat(int relays);
+void relays_setstats(uint32_t relays_stat);
+uint32_t relays_getstats(void);
+void relays_onoff(int relays, uint32_t mdelay);
+void relays_onoffs(uint32_t relays_stat, uint32_t mdelay);
+void relays_resetmode(int relays);
+void relays_powermode(int relays);
+void relays_resetmodes(uint32_t relays_stat);
+void relays_powermodes(uint32_t relays_stat);
 #endif
 
 /****************************************************************************
@@ -628,9 +857,8 @@ EXTERN xcpt_t up_irqbutton(int id, xcpt_t irqhandler);
  *
  ****************************************************************************/
 
-EXTERN int up_putc(int ch);
+int up_putc(int ch);
 
-#undef EXTERN
 #ifdef __cplusplus
 }
 #endif
diff --git a/nuttx/include/nuttx/binfmt/binfmt.h b/nuttx/include/nuttx/binfmt/binfmt.h
new file mode 100644
index 000000000..6df5190d2
--- /dev/null
+++ b/nuttx/include/nuttx/binfmt/binfmt.h
@@ -0,0 +1,338 @@
+/****************************************************************************
+ * include/nuttx/binfmt/binfmt.h
+ *
+ *   Copyright (C) 2009, 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * 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 __INCLUDE_NUTTX_BINFMT_BINFMT_H
+#define __INCLUDE_NUTTX_BINFMT_BINFMT_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <nxflat.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/sched.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define BINFMT_NALLOC 3
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+/* EXEPATH_HANDLE is an opaque handle used to traverse the absolute paths
+ * assigned to the PATH environment variable.
+ */
+
+#if !defined(CONFIG_BINFMT_DISABLE) && defined(CONFIG_BINFMT_EXEPATH)
+typedef FAR void *EXEPATH_HANDLE;
+#endif
+
+/* The type of one C++ constructor or destructor */
+
+typedef FAR void (*binfmt_ctor_t)(void);
+typedef FAR void (*binfmt_dtor_t)(void);
+
+/* This describes the file to be loaded.
+ *
+ * NOTE 1: The 'filename' must be the full, absolute path to the file to be
+ * executed unless CONFIG_BINFMT_EXEPATH is defined.  In that case,
+ * 'filename' may be a relative path; a set of candidate absolute paths
+ * will be generated using the PATH environment variable and load_module()
+ * will attempt to load each file that is found at those absolute paths.
+ */
+
+struct symtab_s;
+struct binary_s
+{
+  /* Information provided to the loader to load and bind a module */
+
+  FAR const char *filename;            /* Full path to the binary to be loaded (See NOTE 1 above) */
+  FAR const char **argv;               /* Argument list */
+  FAR const struct symtab_s *exports;  /* Table of exported symbols */
+  int nexports;                        /* The number of symbols in exports[] */
+
+  /* Information provided from the loader (if successful) describing the
+   * resources used by the loaded module.
+   */
+
+  main_t entrypt;                      /* Entry point into a program module */
+  FAR void *mapped;                    /* Memory-mapped, address space */
+  FAR void *alloc[BINFMT_NALLOC];      /* Allocated address spaces */
+
+  /* Constructors/destructors */
+
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  FAR binfmt_ctor_t *ctors;            /* Pointer to a list of constructors */
+  FAR binfmt_dtor_t *dtors;            /* Pointer to a list of destructors */
+  uint16_t nctors;                     /* Number of constructors in the list */
+  uint16_t ndtors;                     /* Number of destructors in the list */
+#endif
+
+  /* Address environment.
+   *
+   * addrenv - This is the handle created by up_addrenv_create() that can be
+   *   used to manage the tasks address space.
+   */
+
+#ifdef CONFIG_ADDRENV
+  task_addrenv_t addrenv;              /* Task address environment */
+#endif
+
+  size_t mapsize;                      /* Size of the mapped address region (needed for munmap) */
+  size_t stacksize;                    /* Size of the stack in bytes (unallocated) */
+};
+
+/* This describes one binary format handler */
+
+struct binfmt_s
+{
+  FAR struct binfmt_s *next;             /* Supports a singly-linked list */
+  int (*load)(FAR struct binary_s *bin); /* Verify and load binary into memory */
+};
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: register_binfmt
+ *
+ * Description:
+ *   Register a loader for a binary format
+ *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int register_binfmt(FAR struct binfmt_s *binfmt);
+
+/****************************************************************************
+ * Name: unregister_binfmt
+ *
+ * Description:
+ *   Register a loader for a binary format
+ *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int unregister_binfmt(FAR struct binfmt_s *binfmt);
+
+/****************************************************************************
+ * Name: load_module
+ *
+ * Description:
+ *   Load a module into memory, bind it to an exported symbol take, and
+ *   prep the module for execution.
+ *
+ * Returned Value:
+ *   This is an end-user function, so it follows the normal convention:
+ *   Returns 0 (OK) on success.  On failure, it returns -1 (ERROR) with
+ *   errno set appropriately.
+ *
+ ****************************************************************************/
+
+int load_module(FAR struct binary_s *bin);
+
+/****************************************************************************
+ * Name: unload_module
+ *
+ * Description:
+ *   Unload a (non-executing) module from memory.  If the module has
+ *   been started (via exec_module) and has not exited, calling this will
+ *   be fatal.
+ *
+ *   However, this function must be called after the module exist.  How
+ *   this is done is up to your logic.  Perhaps you register it to be
+ *   called by on_exit()?
+ *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int unload_module(FAR const struct binary_s *bin);
+
+/****************************************************************************
+ * Name: exec_module
+ *
+ * Description:
+ *   Execute a module that has been loaded into memory by load_module().
+ *
+ * Returned Value:
+ *   This is an end-user function, so it follows the normal convention:
+ *   Returns the PID of the exec'ed module.  On failure, it.returns
+ *   -1 (ERROR) and sets errno appropriately.
+ *
+ ****************************************************************************/
+
+int exec_module(FAR const struct binary_s *bin, int priority);
+
+/****************************************************************************
+ * Name: exec
+ *
+ * Description:
+ *   This is a convenience function that wraps load_ and exec_module into
+ *   one call.
+ *
+ * Input Parameter:
+ *   filename - Fulll path to the binary to be loaded
+ *   argv     - Argument list
+ *   exports  - Table of exported symbols
+ *   nexports - The number of symbols in exports
+ *
+ * Returned Value:
+ *   This is an end-user function, so it follows the normal convention:
+ *   Returns the PID of the exec'ed module.  On failure, it.returns
+ *   -1 (ERROR) and sets errno appropriately.
+ *
+ ****************************************************************************/
+
+int exec(FAR const char *filename, FAR const char **argv,
+         FAR const struct symtab_s *exports, int nexports);
+
+/****************************************************************************
+ * Name: exepath_init
+ *
+ * Description:
+ *   Initialize for the traversal of each value in the PATH variable.  The
+ *   usage is sequence is as follows:
+ *
+ *   1) Call exepath_init() to initialize for the traversal.  exepath_init()
+ *      will return an opaque handle that can then be provided to
+ *      exepath_next() and exepath_release().
+ *   2) Call exepath_next() repeatedly to examine every file that lies
+ *      in the directories of the PATH variable
+ *   3) Call exepath_release() to free resources set aside by exepath_init().
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   On success, exepath_init() return a non-NULL, opaque handle that may
+ *   subsequently be used in calls to exepath_next() and exepath_release().
+ *   On error, a NULL handle value will be returned.  The most likely cause
+ *   of an error would be that the there is no value associated with the
+ *   PATH variable.
+ *
+ ****************************************************************************/
+
+#if !defined(CONFIG_BINFMT_DISABLE) && defined(CONFIG_BINFMT_EXEPATH)
+EXEPATH_HANDLE exepath_init(void);
+#endif
+
+/****************************************************************************
+ * Name: exepath_next
+ *
+ * Description:
+ *   Traverse all possible values in the PATH variable in attempt to find
+ *   the full path to an executable file when only a relative path is
+ *   provided.
+ *
+ * Input Parameters:
+ *   handle - The handle value returned by exepath_init
+ *   relpath - The relative path to the file to be found. 
+ *
+ * Returned Value:
+ *   On success, a non-NULL pointer to a null-terminated string is provided.
+ *   This is the full path to a file that exists in the file system.  This
+ *   function will verify that the file exists (but will not verify that it
+ *   is marked executable).
+ *
+ *   NOTE: The string pointer return in the success case points to allocated
+ *   memory.  This memory must be freed by the called by calling kfree().
+ *
+ *   NULL is returned if no path is found to any file with the provided
+ *   'relpath' from any absolute path in the PATH variable.  In this case,
+ *   there is no point in calling exepath_next() further; exepath_release()
+ *   must be called to release resources set aside by expath_init().
+ *
+ ****************************************************************************/
+
+#if !defined(CONFIG_BINFMT_DISABLE) && defined(CONFIG_BINFMT_EXEPATH)
+FAR char *exepath_next(EXEPATH_HANDLE handle, FAR const char *relpath);
+#endif
+
+/****************************************************************************
+ * Name: exepath_release
+ *
+ * Description:
+ *   Release all resources set aside by exepath_init() when the handle value
+ *   was created.  The handle value is invalid on return from this function.
+ *   Attempts to all exepath_next() or exepath_release() with such a 'stale'
+ *   handle will result in undefined (i.e., not good) behavior.
+ *
+ * Input Parameters:
+ *   handle - The handle value returned by exepath_init
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+#if !defined(CONFIG_BINFMT_DISABLE) && defined(CONFIG_BINFMT_EXEPATH)
+void exepath_release(EXEPATH_HANDLE handle);
+#endif
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __INCLUDE_NUTTX_BINFMT_BINFMT_H */
+
diff --git a/nuttx/include/nuttx/binfmt/elf.h b/nuttx/include/nuttx/binfmt/elf.h
new file mode 100644
index 000000000..6b6851934
--- /dev/null
+++ b/nuttx/include/nuttx/binfmt/elf.h
@@ -0,0 +1,340 @@
+/****************************************************************************
+ * include/nuttx/binfmt/elf.h
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_BINFMT_ELF_H
+#define __INCLUDE_NUTTX_BINFMT_ELF_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <elf32.h>
+
+#include <nuttx/binfmt/binfmt.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************/
+
+#ifndef CONFIG_ELF_ALIGN_LOG2
+#  define CONFIG_ELF_ALIGN_LOG2 2
+#endif
+
+#ifndef CONFIG_ELF_STACKSIZE
+#  define CONFIG_ELF_STACKSIZE 2048
+#endif
+
+#ifndef CONFIG_ELF_BUFFERSIZE
+#  define CONFIG_ELF_BUFFERSIZE 128
+#endif
+
+#ifndef CONFIG_ELF_BUFFERINCR
+#  define CONFIG_ELF_BUFFERINCR 32
+#endif
+
+/* Allocation array size and indices */
+
+#define LIBELF_ELF_ALLOC     0
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+#  define LIBELF_CTORS_ALLOC 1
+#  define LIBELF_CTPRS_ALLOC 2
+#  define LIBELF_NALLOC      3
+#else
+#  define LIBELF_NALLOC      1
+#endif
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* This struct provides a desciption of the currently loaded instantiation
+ * of an ELF binary.
+ */
+
+struct elf_loadinfo_s
+{
+  /* elfalloc is the base address of the memory that is allocated to hold the
+   * ELF program image.
+   *
+   * If CONFIG_ADDRENV=n, elfalloc will be allocated using kmalloc() (or
+   * kzalloc()).  If CONFIG_ADDRENV-y, then elfalloc will be allocated using
+   * up_addrenv_create().  In either case, there will be a unique instance
+   * of elfalloc (and stack) for each instance of a process.
+   *
+   * The alloc[] array in struct binary_s will hold memory that persists after
+   * the ELF module has been loaded.
+   */
+ 
+  uintptr_t         elfalloc;    /* Memory allocated when ELF file was loaded */
+  size_t            elfsize;     /* Size of the ELF memory allocation */
+  off_t             filelen;     /* Length of the entire ELF file */
+  Elf32_Ehdr        ehdr;        /* Buffered ELF file header */
+  FAR Elf32_Shdr    *shdr;       /* Buffered ELF section headers */
+  uint8_t           *iobuffer;   /* File I/O buffer */
+
+  /* Constructors and destructors */
+  
+#ifdef CONFIG_BINFMT_CONSTRUCTORS
+  FAR void          *ctoralloc;  /* Memory allocated for ctors */
+  FAR void          *dtoralloc;  /* Memory allocated dtors */
+  FAR binfmt_ctor_t *ctors;      /* Pointer to a list of constructors */
+  FAR binfmt_dtor_t *dtors;      /* Pointer to a list of destructors */
+  uint16_t           nctors;     /* Number of constructors */
+  uint16_t           ndtors;     /* Number of destructors */
+#endif
+
+  /* Address environment.
+   *
+   * addrenv - This is the handle created by up_addrenv_create() that can be
+   *   used to manage the tasks address space.
+   * oldenv  - This is a value returned by up_addrenv_select() that must be 
+   *   used to restore the current hardware address environment.
+   */
+
+#ifdef CONFIG_ADDRENV
+  task_addrenv_t addrenv;  /* Task address environment */
+  hw_addrenv_t   oldenv;   /* Saved hardware address environment */
+#endif
+
+  uint16_t           symtabidx;  /* Symbol table section index */
+  uint16_t           strtabidx;  /* String table section index */
+  uint16_t           buflen;     /* size of iobuffer[] */
+  int                filfd;      /* Descriptor for the file being loaded */
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * These are APIs exported by libelf (but are used only by the binfmt logic):
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: elf_init
+ *
+ * Description:
+ *   This function is called to configure the library to process an ELF
+ *   program binary.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int elf_init(FAR const char *filename,
+                    FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_uninit
+ *
+ * Description:
+ *   Releases any resources committed by elf_init().  This essentially
+ *   undoes the actions of elf_init.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int elf_uninit(FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_load
+ *
+ * Description:
+ *   Loads the binary into memory, allocating memory, performing relocations
+ *   and inializing the data and bss segments.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int elf_load(FAR struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: elf_bind
+ *
+ * Description:
+ *   Bind the imported symbol names in the loaded module described by
+ *   'loadinfo' using the exported symbol values provided by 'symtab'.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+struct symtab_s;
+EXTERN int elf_bind(FAR struct elf_loadinfo_s *loadinfo,
+                    FAR const struct symtab_s *exports, int nexports);
+
+/****************************************************************************
+ * Name: elf_unload
+ *
+ * Description:
+ *   This function unloads the object from memory. This essentially undoes
+ *   the actions of elf_load.  It is called only under certain error
+ *   conditions after the the module has been loaded but not yet started.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int elf_unload(struct elf_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * These are APIs used outside of binfmt by NuttX:
+ ****************************************************************************/
+/****************************************************************************
+ * Name: elf_initialize
+ *
+ * Description:
+ *   ELF support is built unconditionally.  However, it order to
+ *   use this binary format, this function must be called during system
+ *   format in order to register the ELF binary format.
+ *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int elf_initialize(void);
+
+/****************************************************************************
+ * Name: elf_uninitialize
+ *
+ * Description:
+ *   Unregister the ELF binary loader
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+EXTERN void elf_uninitialize(void);
+
+/****************************************************************************
+ * These are APIs must be provided by architecture-specific logic:
+ ****************************************************************************/
+/****************************************************************************
+ * Name: arch_checkarch
+ *
+ * Description:
+ *   Given the ELF header in 'hdr', verify that the ELF file is appropriate
+ *   for the current, configured architecture.  Every architecture that uses
+ *   the ELF loader must provide this function.
+ *
+ * Input Parameters:
+ *   hdr - The ELF header read from the ELF file.
+ *
+ * Returned Value:
+ *   True if the architecture supports this ELF file.
+ *
+ ****************************************************************************/
+
+EXTERN bool arch_checkarch(FAR const Elf32_Ehdr *hdr);
+
+/****************************************************************************
+ * Name: arch_relocate and arch_relocateadd
+ *
+ * Description:
+ *   Perform on architecture-specific ELF relocation.  Every architecture
+ *   that uses the ELF loader must provide this function.
+ *
+ * Input Parameters:
+ *   rel - The relocation type
+ *   sym - The ELF symbol structure containing the fully resolved value.
+ *   addr - The address that requires the relocation.
+ *
+ * Returned Value:
+ *   Zero (OK) if the relocation was successful.  Otherwise, a negated errno
+ *   value indicating the cause of the relocation failure.
+ *
+ ****************************************************************************/
+
+EXTERN int arch_relocate(FAR const Elf32_Rel *rel, FAR const Elf32_Sym *sym,
+                         uintptr_t addr);
+EXTERN int arch_relocateadd(FAR const Elf32_Rela *rel,
+                            FAR const Elf32_Sym *sym, uintptr_t addr);
+
+/****************************************************************************
+ * Name: arch_flushicache
+ *
+ * Description:
+ *   Flush the instruction cache.
+ *
+ * Input Parameters:
+ *   addr - Start address to flush
+ *   len  - Number of bytes to flush
+ *
+ * Returned Value:
+ *   True if the architecture supports this ELF file.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ELF_ICACHE
+EXTERN bool arch_flushicache(FAR void *addr, size_t len);
+#endif
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __INCLUDE_NUTTX_BINFMT_ELF_H */
diff --git a/nuttx/include/nuttx/binfmt/nxflat.h b/nuttx/include/nuttx/binfmt/nxflat.h
new file mode 100644
index 000000000..db396771b
--- /dev/null
+++ b/nuttx/include/nuttx/binfmt/nxflat.h
@@ -0,0 +1,287 @@
+/****************************************************************************
+ * include/nuttx/binfmt/nxflat.h
+ *
+ *   Copyright (C) 2009, 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * 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 __INCLUDE_NUTTX_BINFMT_NXFLAT_H
+#define __INCLUDE_NUTTX_BINFMT_NXFLAT_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <nxflat.h>
+
+#include <nuttx/sched.h>
+#include <nuttx/arch.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* This struct provides a desciption of the currently loaded instantiation
+ * of an nxflat binary.
+ */
+
+struct nxflat_loadinfo_s
+{
+  /* Instruction Space (ISpace):  This region contains the nxflat file header
+   * plus everything from the text section.
+   *
+   * The ISpace region is allocated using mmap() and, thus, can be shared by
+   * multiple tasks.  Ideally, will have only one mmap'ed text section
+   * instance in the system for each module.
+   */
+
+  uintptr_t ispace;        /* Address where hdr/text is loaded */
+  uint32_t entryoffs;      /* Offset from ispace to entry point */
+  uint32_t isize;          /* Size of ispace. */
+
+  /* Data Space (DSpace): This region contains all information that is
+   * referenced as data (other than the stack which is separately allocated).
+   *
+   * If CONFIG_ADDRENV=n, DSpace will be allocated using kmalloc() (or
+   * kzalloc()).  If CONFIG_ADDRENV-y, then DSpace will be allocated using
+   * up_addrenv_create().  In either case, there will be a unique instance
+   * of DSpace (and stack) for each instance of a process.
+   */
+
+  struct dspace_s *dspace; /* Allocated D-Space (data/bss/etc) */
+  uint32_t datasize;       /* Size of data segment in dspace */
+  uint32_t bsssize;        /* Size of bss segment in dspace */
+  uint32_t stacksize;      /* Size of stack (not allocated) */
+  uint32_t dsize;          /* Size of dspace (may be large than parts) */
+
+  /* This is temporary memory where relocation records will be loaded. */
+
+  uint32_t relocstart;     /* Start of array of struct flat_reloc */
+  uint16_t reloccount;     /* Number of elements in reloc array */
+
+  /* Address environment.
+   *
+   * addrenv - This is the handle created by up_addrenv_create() that can be
+   *   used to manage the tasks address space.
+   * oldenv  - This is a value returned by up_addrenv_select() that must be 
+   *   used to restore the current hardware address environment.
+   */
+
+#ifdef CONFIG_ADDRENV
+  task_addrenv_t addrenv;  /* Task address environment */
+  hw_addrenv_t   oldenv;   /* Saved hardware address environment */
+#endif
+
+  /* File descriptors */
+
+  int    filfd;            /* Descriptor for the file being loaded */
+
+  /* This is a copy of the NXFLAT header (still in network order) */
+
+  struct nxflat_hdr_s header;
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * These are APIs exported by libnxflat (and may be used outside of NuttX):
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxflat_verifyheader
+ *
+ * Description:
+ *   Given the header from a possible NXFLAT executable, verify that it is
+ *   an NXFLAT executable.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int nxflat_verifyheader(const struct nxflat_hdr_s *header);
+
+/****************************************************************************
+ * Name: nxflat_init
+ *
+ * Description:
+ *   This function is called to configure the library to process an NXFLAT
+ *   program binary.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int nxflat_init(const char *filename,
+                       struct nxflat_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: nxflat_uninit
+ *
+ * Description:
+ *   Releases any resources committed by nxflat_init().  This essentially
+ *   undoes the actions of nxflat_init.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int nxflat_uninit(struct nxflat_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: nxflat_load
+ *
+ * Description:
+ *   Loads the binary specified by nxflat_init into memory, mapping
+ *   the I-space executable regions, allocating the D-Space region,
+ *   and inializing the data segment (relocation information is
+ *   temporarily loaded into the BSS region.  BSS will be cleared
+ *   by nxflat_bind() after the relocation data has been processed).
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int nxflat_load(struct nxflat_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * Name: nxflat_read
+ *
+ * Description:
+ *   Read 'readsize' bytes from the object file at 'offset'
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int nxflat_read(struct nxflat_loadinfo_s *loadinfo, char *buffer,
+                       int readsize, int offset);
+
+/****************************************************************************
+ * Name: nxflat_bind
+ *
+ * Description:
+ *   Bind the imported symbol names in the loaded module described by
+ *   'loadinfo' using the exported symbol values provided by 'symtab'
+ *   After binding the module, clear the BSS region (which held the relocation
+ *   data) in preparation for execution.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+struct symtab_s;
+EXTERN int nxflat_bind(FAR struct nxflat_loadinfo_s *loadinfo,
+                       FAR const struct symtab_s *exports, int nexports);
+
+/****************************************************************************
+ * Name: nxflat_unload
+ *
+ * Description:
+ *   This function unloads the object from memory. This essentially undoes
+ *   the actions of nxflat_load.  It is called only under certain error
+ *   conditions after the the module has been loaded but not yet started.
+ *
+ * Returned Value:
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int nxflat_unload(struct nxflat_loadinfo_s *loadinfo);
+
+/****************************************************************************
+ * These are APIs used internally only by NuttX:
+ ****************************************************************************/
+/****************************************************************************
+ * Name: nxflat_initialize
+ *
+ * Description:
+ *   NXFLAT support is built unconditionally.  However, it order to
+ *   use this binary format, this function must be called during system
+ *   format in order to register the NXFLAT binary format.
+ *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+EXTERN int nxflat_initialize(void);
+
+/****************************************************************************
+ * Name: nxflat_uninitialize
+ *
+ * Description:
+ *   Unregister the NXFLAT binary loader
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+EXTERN void nxflat_uninitialize(void);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __INCLUDE_NUTTX_BINFMT_NXFLAT_H */
diff --git a/nuttx/include/nuttx/compiler.h b/nuttx/include/nuttx/compiler.h
index d74fcbea0..d8f79fe9e 100644
--- a/nuttx/include/nuttx/compiler.h
+++ b/nuttx/include/nuttx/compiler.h
@@ -255,7 +255,7 @@
  * external RAM.
  */
 
-#if defined(__z80) || defined(__gbz80)
+#if defined(__SDCC_z80) || defined(__SDCC_z180) || defined(__SDCC_gbz80)
 #  define FAR
 #  define NEAR 
 #  define CODE
diff --git a/nuttx/include/nuttx/fs/fs.h b/nuttx/include/nuttx/fs/fs.h
index 81f81622f..79090a8da 100644
--- a/nuttx/include/nuttx/fs/fs.h
+++ b/nuttx/include/nuttx/fs/fs.h
@@ -172,7 +172,7 @@ struct mountpt_operations
 
   int     (*statfs)(FAR struct inode *mountpt, FAR struct statfs *buf);
 
-  /* Operations on pathes */
+  /* Operations on paths */
 
   int     (*unlink)(FAR struct inode *mountpt, FAR const char *relpath);
   int     (*mkdir)(FAR struct inode *mountpt, FAR const char *relpath, mode_t mode);
diff --git a/nuttx/include/nuttx/input/keypad.h b/nuttx/include/nuttx/input/keypad.h
new file mode 100644
index 000000000..574b421c1
--- /dev/null
+++ b/nuttx/include/nuttx/input/keypad.h
@@ -0,0 +1,54 @@
+/************************************************************************************
+ * include/nuttx/input/keypad.h
+ *
+ *   Copyright (C) 2012 Denis Carikli.
+ *   Author: Denis Carikli <GNUtoo@no-log.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 __INCLUDE_NUTTX_INPUT_KEYPAD_H
+#define __INCLUDE_NUTTX_INPUT_KEYPAD_H
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int keypad_kbdinit(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __INCLUDE_NUTTX_INPUT_KEYPAD_H */
+
diff --git a/nuttx/include/nuttx/math.h b/nuttx/include/nuttx/math.h
index 84dbea6e0..aaadb9c91 100644
--- a/nuttx/include/nuttx/math.h
+++ b/nuttx/include/nuttx/math.h
@@ -50,14 +50,280 @@
 
 #ifdef CONFIG_ARCH_MATH_H
 #  include <arch/math.h>
-#endif
+
+/* If CONFIG_LIB is enabled, then the math library at lib/math will be
+ * built.  This library was taken from the math library developed for the
+ * Rhombus OS by Nick Johnson (https://github.com/nickbjohnson4224/rhombus).
+ * The port or the Rhombus math library was contributed by Darcy Gong.
+ */
+
+#else if defined CONFIG_LIBM
 
 /****************************************************************************
- * Type Definitions
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
  ****************************************************************************/
 
 /****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* General Constants ********************************************************/
+
+#define INFINITY (1.0/0.0)
+#define NAN (0.0/0.0)
+#define HUGE_VAL INFINITY
+
+#define isnan(x) ((x) != (x))
+#define isinf(x) (((x) == INFINITY) || ((x) == -INFINITY))
+
+/* Exponential and Logarithmic constants ************************************/
+
+#define M_E        2.7182818284590452353602874713526625
+#define M_SQRT2    1.4142135623730950488016887242096981
+#define M_SQRT1_2  0.7071067811865475244008443621048490
+#define M_LOG2E    1.4426950408889634073599246810018921
+#define M_LOG10E   0.4342944819032518276511289189166051
+#define M_LN2      0.6931471805599453094172321214581765
+#define M_LN10     2.3025850929940456840179914546843642
+
+/* Trigonometric Constants **************************************************/
+
+#define M_PI       3.1415926535897932384626433832795029
+#define M_PI_2     1.5707963267948966192313216916397514
+#define M_PI_4     0.7853981633974483096156608458198757
+#define M_1_PI     0.3183098861837906715377675267450287
+#define M_2_PI     0.6366197723675813430755350534900574
+#define M_2_SQRTPI 1.1283791670955125738961589031215452
+
+/****************************************************************************
  * Public Function Prototypes
  ****************************************************************************/
 
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+/* General Functions ********************************************************/
+
+float       ceilf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      ceil  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double ceill (long double x);
+#endif
+
+float       floorf(float x);
+#if CONFIG_HAVE_DOUBLE
+double      floor (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double floorl(long double x);
+#endif
+
+float       roundf(float x);
+#if CONFIG_HAVE_DOUBLE
+double      round (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double roundl(long double x);
+#endif
+
+float       fabsf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      fabs  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double fabsl (long double x);
+#endif
+
+float       modff (float x, float *iptr);
+#if CONFIG_HAVE_DOUBLE
+double      modf  (double x, double *iptr);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double modfl (long double x, long double *iptr);
+#endif
+
+float       fmodf (float x, float div);
+#if CONFIG_HAVE_DOUBLE
+double      fmod  (double x, double div);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double fmodl (long double x, long double div);
+#endif
+
+/* Exponential and Logarithmic Functions ************************************/
+
+float       powf  (float b, float e);
+#if CONFIG_HAVE_DOUBLE
+double      pow   (double b, double e);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double powl  (long double b, long double e);
+#endif
+
+float       expf  (float x);
+#if CONFIG_HAVE_DOUBLE
+double      exp   (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double expl  (long double x);
+#endif
+
+float       logf  (float x);
+#if CONFIG_HAVE_DOUBLE
+double      log   (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double logl  (long double x);
+#endif
+
+float       log10f(float x);
+#if CONFIG_HAVE_DOUBLE
+double      log10 (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double log10l(long double x);
+#endif
+
+float       log2f (float x);
+#if CONFIG_HAVE_DOUBLE
+double      log2  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double log2l (long double x);
+#endif
+
+float       sqrtf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      sqrt  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double sqrtl (long double x);
+#endif
+
+float       ldexpf(float x, int n);
+#if CONFIG_HAVE_DOUBLE
+double      ldexp (double x, int n);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double ldexpl(long double x, int n);
+#endif
+
+float       frexpf(float x, int *exp);
+#if CONFIG_HAVE_DOUBLE
+double      frexp (double x, int *exp);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double frexpl(long double x, int *exp);
+#endif
+
+/* Trigonometric Functions **************************************************/
+
+float       sinf  (float x);
+#if CONFIG_HAVE_DOUBLE
+double      sin   (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double sinl  (long double x);
+#endif
+
+float       cosf  (float x);
+#if CONFIG_HAVE_DOUBLE
+double      cos   (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double cosl  (long double x);
+#endif
+
+float       tanf  (float x);
+#if CONFIG_HAVE_DOUBLE
+double      tan   (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double tanl  (long double x);
+#endif
+
+float       asinf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      asin  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double asinl (long double x);
+#endif
+
+float       acosf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      acos  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double acosl (long double x);
+#endif
+
+float       atanf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      atan  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double atanl (long double x);
+#endif
+
+float       atan2f(float y, float x);
+#if CONFIG_HAVE_DOUBLE
+double      atan2 (double y, double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double atan2l(long double y, long double x);
+#endif
+
+float       sinhf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      sinh  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double sinhl (long double x);
+#endif
+
+float       coshf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      cosh  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double coshl (long double x);
+#endif
+
+float       tanhf (float x);
+#if CONFIG_HAVE_DOUBLE
+double      tanh  (double x);
+#endif
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double tanhl (long double x);
+#endif
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* CONFIG_LIBM */
 #endif /* __INCLUDE_NUTTX_MATH_H */
diff --git a/nuttx/include/nuttx/mtd.h b/nuttx/include/nuttx/mtd.h
index 44582c412..ff48d313f 100644
--- a/nuttx/include/nuttx/mtd.h
+++ b/nuttx/include/nuttx/mtd.h
@@ -220,7 +220,6 @@ EXTERN FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev);
 
 EXTERN FAR struct mtd_dev_s *sst25_initialize(FAR struct spi_dev_s *dev);
 
-
 /****************************************************************************
  * Name: w25_initialize
  *
@@ -233,6 +232,8 @@ EXTERN FAR struct mtd_dev_s *sst25_initialize(FAR struct spi_dev_s *dev);
 
 EXTERN FAR struct mtd_dev_s *w25_initialize(FAR struct spi_dev_s *dev);
 
+EXTERN FAR struct mtd_dev_s *at25_initialize(FAR struct spi_dev_s *dev);
+
 #undef EXTERN
 #ifdef __cplusplus
 }
diff --git a/nuttx/include/nuttx/sched.h b/nuttx/include/nuttx/sched.h
index 241af6210..54094c8f1 100644
--- a/nuttx/include/nuttx/sched.h
+++ b/nuttx/include/nuttx/sched.h
@@ -163,24 +163,40 @@ typedef struct environ_s environ_t;
 # define SIZEOF_ENVIRON_T(alloc) (sizeof(environ_t) + alloc - 1)
 #endif
 
-/* This structure describes a reference counted D-Space region */
+/* This structure describes a reference counted D-Space region.  This must be a
+ * separately allocated "break-away" structure that can be owned by a task and
+ * any pthreads created by the task.
+ */
 
+#ifdef CONFIG_PIC
 struct dspace_s
 {
-  uint32_t crefs;             /* This is the number of pthreads that shared the
-                               * the same D-Space */
-  uint8_t  region[1];         /* Beginning of the allocated region */
-};
+  /* The life of the structure allocation is determined by this reference
+   * count.  This count is number of threads that shared the the same D-Space.
+   * This includes the parent task as well as any pthreads created by the
+   * parent task or any of its child threads.
+   */
+
+  uint16_t crefs;
 
-#define SIZEOF_DSPACE_S(n) (sizeof(struct dspace_s) - 1 + (n))
+  /* This is the allocated D-Space memory region.  This may be a physical
+   * address allocated with kmalloc(), or it may be virtual address associated
+   * with an address environment (if CONFIG_ADDRENV=y).
+   */
 
-/* This is the task control block (TCB) */
+  FAR uint8_t *region;
+};
+#endif
+
+/* This is the task control block (TCB).  Each task or thread is represented by
+ * a TCB.  The TCB is the heart of the NuttX task-control logic.
+ */
 
 struct _TCB
 {
   /* Fields used to support list management *************************************/
 
-  FAR struct _TCB *flink;                /* link in DQ of TCBs                  */
+  FAR struct _TCB *flink;                /* Doubly linked list                  */
   FAR struct _TCB *blink;
 
   /* Task Management Fields *****************************************************/
diff --git a/nuttx/include/nuttx/vt100.h b/nuttx/include/nuttx/vt100.h
index d834f48f0..32344a1de 100644
--- a/nuttx/include/nuttx/vt100.h
+++ b/nuttx/include/nuttx/vt100.h
@@ -179,8 +179,8 @@
 #define VT52_CLEAREOL        {ASCII_ESC, 'K'}                 /* Erase to end of current line */
 #define VT52_CLEAREOS        {ASCII_ESC, 'J'}                 /* Erase to end of screen */
 
-#define VT52_IDENT           {ASCII_ESC, 'Z'}                 /* dentify what the terminal is */
-#define VT52_IDENTRESP       {ASCII_ESC, '/', 'Z'}             /* Correct response to ident */
+#define VT52_IDENT           {ASCII_ESC, 'Z'}                 /* Identify what the terminal is */
+#define VT52_IDENTRESP       {ASCII_ESC, '/', 'Z'}            /* Correct response to ident */
 
 /* VT100 Special Key Codes
  *
diff --git a/nuttx/include/stdbool.h b/nuttx/include/stdbool.h
index f11219912..9c16aee29 100644
--- a/nuttx/include/stdbool.h
+++ b/nuttx/include/stdbool.h
@@ -42,10 +42,33 @@
 
 #include <nuttx/config.h>
 
+/* If CONFIG_ARCH_STDBOOL_H is set, then the archecture will provide its own
+ * stdbool.h file.  In this case, this header file will simply re-direct to
+ * the architecture-specfiic stdbool.h header file.
+ */
+
 #ifdef CONFIG_ARCH_STDBOOL_H
 #  include <arch/stdbool.h>
+
+/* NuttX will insist that the sizeof(bool) is 8-bits.  The sizeof of _Bool
+ * used by any specific compiler is implementation specific:  It can vary from
+ * compiler-to-compiler and even vary between different versions of the same
+ * compiler.  Compilers seems to be converging to sizeof(_Bool) == 1.  If that
+ * is true for your compiler, you should define CONFIG_C99_BOOL8 in your NuttX
+ * configuration for better standards compatibility.
+ *
+ * CONFIG_C99_BOOL8 - Means (1) your C++ compiler has sizeof(_Bool) == 8,
+ * (2) your C compiler supports the C99 _Bool intrinsic type, and (2) that
+ * the C99 _Bool type also has size 1.
+ */
+
 #else
+
+ /* nuttx/compiler.h may also define or undefine CONFIG_C99_BOOL8 */
+
 #  include <nuttx/compiler.h>
+
+#if !defined(__cplusplus) || !defined(CONFIG_C99_BOOL8)
 #  include <stdint.h>
 
 /****************************************************************************
@@ -58,10 +81,15 @@
  * NOTE: Under C99 'bool' is required to be defined to be the intrinsic type
  * _Bool.  However, in this NuttX context, we need backward compatibility
  * to pre-C99 standards where _Bool is not an intrinsic type.  Hence, we
- * use _Bool8 as the underlying type.
+ * use _Bool8 as the underlying type (unless CONFIG_C99_BOOL8 is defined)
  */
 
-#define bool  _Bool8
+#ifdef CONFIG_C99_BOOL8
+#  define bool _Bool
+#else
+#  define bool _Bool8
+#endif
+
 #define true  1
 #define false 0
 
@@ -83,7 +111,10 @@
  * as the underlying type.
  */
 
+#ifndef CONFIG_C99_BOOL8
 typedef uint8_t _Bool8;
+#endif
 
+#endif /* __cplusplus && CONFIG_C99_BOOL8 */
 #endif /* CONFIG_ARCH_STDBOOL_H */
 #endif /* __INCLUDE_STDBOOL_H */
diff --git a/nuttx/libc/math/Make.defs b/nuttx/libc/math/Make.defs
new file mode 100644
index 000000000..ece25f4e5
--- /dev/null
+++ b/nuttx/libc/math/Make.defs
@@ -0,0 +1,62 @@
+############################################################################
+# libc/math/Make.defs
+#
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+ifeq ($(CONFIG_LIBM),y)
+
+# Add the floating point math C files to the build
+
+CSRCS += lib_acosf.c lib_asinf.c lib_atan2f.c lib_atanf.c lib_ceilf.c lib_cosf.c
+CSRCS += lib_coshf.c  lib_expf.c lib_fabsf.c lib_floorf.c lib_fmodf.c lib_frexpf.c
+CSRCS += lib_ldexpf.c lib_logf.c lib_log10f.c lib_log2f.c lib_modff.c lib_powf.c
+CSRCS += lib_roundf.c lib_sinf.c lib_sinhf.c lib_sqrtf.c lib_tanf.c lib_tanhf.c
+
+CSRCS += lib_acos.c lib_asin.c lib_atan.c lib_atan2.c lib_ceil.c lib_cos.c
+CSRCS += lib_cosh.c lib_exp.c lib_fabs.c lib_floor.c lib_fmod.c lib_frexp.c
+CSRCS += lib_ldexp.c lib_log.c lib_log10.c lib_log2.c lib_modf.c lib_pow.c
+CSRCS += lib_round.c lib_sin.c lib_sinh.c lib_sqrt.c lib_tan.c lib_tanh.c
+
+CSRCS += lib_acosl.c lib_asinl.c lib_atan2l.c lib_atanl.c lib_ceill.c lib_cosl.c
+CSRCS += lib_coshl.c lib_expl.c lib_fabsl.c lib_floorl.c lib_fmodl.c lib_frexpl.c
+CSRCS += lib_ldexpl.c lib_logl.c lib_log10l.c lib_log2l.c lib_modfl.c lib_powl.c
+CSRCS += lib_roundl.c lib_sinl.c lib_sinhl.c lib_sqrtl.c lib_tanl.c lib_tanhl.c
+
+CSRCS += lib_libexpi.c lib_libsqrtapprox.c
+
+# Add the floating point math directory to the build
+
+DEPPATH += --dep-path math
+VPATH += :math
+
+endif
diff --git a/nuttx/libc/math/lib_round.c b/nuttx/libc/math/lib_round.c
new file mode 100644
index 000000000..6191cee5b
--- /dev/null
+++ b/nuttx/libc/math/lib_round.c
@@ -0,0 +1,40 @@
+/************************************************************************
+ * lib/math/lib_round.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *             (C) 2012 Petteri Aimonen <jpa@nx.mail.kapsi.fi>
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_DOUBLE
+double round(double x)
+{
+  double f = modf(x, &x);
+  if (x <= 0.0 && f <= -0.5)
+    {
+      x -= 1.0;
+    }
+  
+  if (x >= 0.0 && f >= 0.5)
+    {
+      x += 1.0;
+    }
+
+  return x;
+}
+#endif
diff --git a/nuttx/libc/math/lib_roundf.c b/nuttx/libc/math/lib_roundf.c
new file mode 100644
index 000000000..145cf3df6
--- /dev/null
+++ b/nuttx/libc/math/lib_roundf.c
@@ -0,0 +1,38 @@
+/************************************************************************
+ * lib/math/lib_roundf.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *             (C) 2012 Petteri Aimonen <jpa@nx.mail.kapsi.fi>
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+float roundf(float x)
+{
+  float f = modff(x, &x);
+  if (x <= 0.0f && f <= -0.5f)
+    {
+      x -= 1.0f;
+    }
+  
+  if (x >= 0.0f && f >= 0.5f)
+    {
+      x += 1.0f;
+    }
+
+  return x;
+}
diff --git a/nuttx/libc/math/lib_roundl.c b/nuttx/libc/math/lib_roundl.c
new file mode 100644
index 000000000..b2ddba670
--- /dev/null
+++ b/nuttx/libc/math/lib_roundl.c
@@ -0,0 +1,40 @@
+/************************************************************************
+ * lib/math/lib_round.c
+ *
+ * This file is a part of NuttX:
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *             (C) 2012 Petteri Aimonen <jpa@nx.mail.kapsi.fi>
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <math.h>
+
+/************************************************************************
+ * Public Functions
+ ************************************************************************/
+
+#ifdef CONFIG_HAVE_LONG_DOUBLE
+long double roundl(long double x)
+{
+  long double f = modfl(x, &x);
+  if (x <= 0.0 && f <= -0.5)
+    {
+      x -= 1.0;
+    }
+  
+  if (x >= 0.0 && f >= 0.5)
+    {
+      x += 1.0;
+    }
+
+  return x;
+}
+#endif
diff --git a/nuttx/libc/stdlib/lib_rand.c b/nuttx/libc/stdlib/lib_rand.c
new file mode 100644
index 000000000..453a4537a
--- /dev/null
+++ b/nuttx/libc/stdlib/lib_rand.c
@@ -0,0 +1,277 @@
+/****************************************************************************
+ * libc/stdlib/lib_rand.c
+ *
+ *   Copyright (C) 2007, 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sys/types.h>
+#include <stdlib.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* First, second, and thired order congruential generators are supported */
+
+#ifndef CONFIG_LIB_RAND_ORDER
+#  define CONFIG_LIB_RAND_ORDER 1
+#endif
+
+#if CONFIG_LIB_RAND_ORDER > 3
+#  undef CONFIG_LIB_RAND_ORDER
+#  define CONFIG_LIB_RAND_ORDER 3
+#endif
+
+/* Values needed by the random number generator */
+
+#define RND1_CONSTK  470001
+#define RND1_CONSTP  999563
+#define RND2_CONSTK1 366528
+#define RND2_CONSTK2 508531
+#define RND2_CONSTP  998917
+#define RND3_CONSTK1 360137
+#define RND3_CONSTK2 519815
+#define RND3_CONSTK3 616087
+#define RND3_CONSTP  997783
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static unsigned int nrand(unsigned int nLimit);
+
+/* First order congruential generators */
+
+static inline unsigned long fgenerate1(void);
+#if (CONFIG_LIB_RAND_ORDER == 1)
+static double_t frand1(void);
+#endif
+
+/* Second order congruential generators */
+
+#if (CONFIG_LIB_RAND_ORDER > 1)
+static inline unsigned long fgenerate2(void);
+#if (CONFIG_LIB_RAND_ORDER == 2)
+static double_t frand2(void);
+#endif
+
+/* Third order congruential generators */
+
+#if (CONFIG_LIB_RAND_ORDER > 2)
+static inline unsigned long fgenerate3(void);
+static double_t frand3(void);
+#endif
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static unsigned long g_randint1;
+#if (CONFIG_LIB_RAND_ORDER > 1)
+static unsigned long g_randint2;
+#if (CONFIG_LIB_RAND_ORDER > 2)
+static unsigned long g_randint3;
+#endif
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static unsigned int nrand(unsigned int nLimit)
+{
+  unsigned long result;
+  double_t ratio;
+
+  /* Loop to be sure a legal random number is generated */
+
+  do
+    {
+      /* Get a random integer in the requested range */
+
+#if (CONFIG_LIB_RAND_ORDER == 1)
+      ratio = frand1();
+#elif (CONFIG_LIB_RAND_ORDER == 2)
+      ratio = frand2();
+#else /* if (CONFIG_LIB_RAND_ORDER > 2) */
+      ratio = frand3();
+#endif
+
+      /* Then, produce the return-able value */
+
+      result = (unsigned long)(((double_t)nLimit) * ratio);
+    }
+  while (result >= (unsigned long)nLimit);
+
+  return (unsigned int)result;
+}
+
+/* First order congruential generators */
+
+static inline unsigned long fgenerate1(void)
+{
+  unsigned long randint;
+
+  /* First order congruential generator.  One may be added to the result of the
+   * generated value to avoid the value zero.  This would be fatal for the
+   * first order random number generator.
+   */
+
+  randint    = (RND1_CONSTK * g_randint1) % RND1_CONSTP;
+  g_randint1 = (randint == 0 ? 1 : randint);
+  return randint;
+}
+
+#if (CONFIG_LIB_RAND_ORDER == 1)
+static double_t frand1(void)
+{
+  /* First order congruential generator. */
+
+  unsigned long randint = fgenerate1();
+
+  /* Construct an floating point value in the range from 0.0 up to 1.0 */
+
+  return ((double_t)randint) / ((double_t)RND1_CONSTP);
+}
+#endif
+
+/* Second order congruential generators */
+
+#if (CONFIG_LIB_RAND_ORDER > 1)
+static inline unsigned long fgenerate2(void)
+{
+  unsigned long randint;
+
+  /* Second order congruential generator. */
+
+  randint    = (RND2_CONSTK1 * g_randint1 +
+                RND2_CONSTK2 * g_randint2) % RND2_CONSTP;
+
+  g_randint2 = g_randint1;
+  g_randint1 = randint;
+
+  /* We cannot permit both values to become zero.  That would be fatal for the
+   * second order random number generator.
+   */
+
+  if (g_randint2 == 0 && g_randint1 == 0)
+    {
+      g_randint2 = 1;
+    }
+
+  return randint;
+}
+
+#if (CONFIG_LIB_RAND_ORDER == 2)
+static double_t frand2(void)
+{
+  /* Second order congruential generator */
+
+  unsigned long randint = fgenerate2();
+
+  /* Construct an floating point value in the range from 0.0 up to 1.0 */
+
+  return ((double_t)randint) / ((double_t)RND2_CONSTP);
+}
+#endif
+
+/* Third order congruential generators */
+
+#if (CONFIG_LIB_RAND_ORDER > 2)
+static inline unsigned long fgenerate3(void)
+{
+  unsigned long randint;
+
+  /* Third order congruential generator. */
+
+  randint    = (RND3_CONSTK1 * g_randint1 +
+                RND3_CONSTK2 * g_randint2 +
+                RND3_CONSTK2 * g_randint3) % RND3_CONSTP;
+
+  g_randint3 = g_randint2;
+  g_randint2 = g_randint1;
+  g_randint1 = randint;
+
+  /* We cannot permit all three values to become zero.  That would be fatal for the
+   * third order random number generator.
+   */
+
+  if (g_randint3 == 0 && g_randint2 == 0 && g_randint1 == 0)
+    {
+      g_randint3 = 1;
+    }
+
+  return randint;
+}
+
+static double_t frand3(void)
+{
+  /* Third order congruential generator */
+
+  unsigned long randint = fgenerate3();
+
+  /* Construct an floating point value in the range from 0.0 up to 1.0 */
+
+  return ((double_t)randint) / ((double_t)RND3_CONSTP);
+}
+#endif
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function:  srand, rand
+ ****************************************************************************/
+
+void srand(unsigned int seed)
+{
+  g_randint1 = seed;
+#if (CONFIG_LIB_RAND_ORDER > 1)
+  g_randint2 = seed;
+  (void)fgenerate1();
+#if (CONFIG_LIB_RAND_ORDER > 2)
+  g_randint3 = seed;
+  (void)fgenerate2();
+#endif
+#endif
+}
+
+int rand(void)
+{
+  return (int)nrand(32768);
+}
diff --git a/nuttx/libc/string/lib_memcmp.c b/nuttx/libc/string/lib_memcmp.c
new file mode 100644
index 000000000..5434bb847
--- /dev/null
+++ b/nuttx/libc/string/lib_memcmp.c
@@ -0,0 +1,74 @@
+/************************************************************
+ * libc/string/lib_memcmp.c
+ *
+ *   Copyright (C) 2007, 2011-2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************/
+
+/************************************************************
+ * Compilation Switches
+ ************************************************************/
+
+/************************************************************
+ * Included Files
+ ************************************************************/
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include <string.h>
+
+/************************************************************
+ * Global Functions
+ ************************************************************/
+
+#ifndef CONFIG_ARCH_MEMCMP
+int memcmp(FAR const void *s1, FAR const void *s2, size_t n)
+{
+  unsigned char *p1 = (unsigned char *)s1;
+  unsigned char *p2 = (unsigned char *)s2;
+
+  while (n-- > 0)
+    {
+      if (*p1 < *p2)
+        {
+          return -1;
+        }
+      else if (*p1 > *p2)
+        {
+          return 1;
+        }
+
+      p1++;
+      p2++;
+    }
+  return 0;
+}
+#endif
diff --git a/nuttx/libc/string/lib_memmove.c b/nuttx/libc/string/lib_memmove.c
new file mode 100644
index 000000000..cc8317223
--- /dev/null
+++ b/nuttx/libc/string/lib_memmove.c
@@ -0,0 +1,77 @@
+/************************************************************
+ * libc/string/lib_memmove.c
+ *
+ *   Copyright (C) 2007, 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.
+ *
+ ************************************************************/
+
+/************************************************************
+ * Compilation Switches
+ ************************************************************/
+
+/************************************************************
+ * Included Files
+ ************************************************************/
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include <string.h>
+
+/************************************************************
+ * Global Functions
+ ************************************************************/
+
+#ifndef CONFIG_ARCH_MEMMOVE
+FAR void *memmove(FAR void *dest, FAR const void *src, size_t count)
+{
+  char *tmp, *s;
+  if (dest <= src)
+    {
+      tmp = (char*) dest;
+      s   = (char*) src;
+      while (count--)
+        {
+	  *tmp++ = *s++;
+        }
+    }
+  else
+    {
+      tmp = (char*) dest + count;
+      s   = (char*) src + count;
+      while (count--)
+        {
+	  *--tmp = *--s;
+        }
+    }
+
+  return dest;
+}
+#endif
diff --git a/nuttx/libc/string/lib_strcasestr.c b/nuttx/libc/string/lib_strcasestr.c
new file mode 100644
index 000000000..7f17a686d
--- /dev/null
+++ b/nuttx/libc/string/lib_strcasestr.c
@@ -0,0 +1,136 @@
+/****************************************************************************
+ * libc/string/lib_strstr.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use str 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 str binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer str
+ *    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 <string.h>
+#include <ctype.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static FAR char *strcasechr(FAR const char *s, int uc)
+{
+  register char ch;
+
+  if (s)
+    {
+      for (; *s; s++)
+        {
+          ch = *s;
+          if (toupper(ch) == uc)
+            {
+              return (FAR char*)s;
+            }
+        }
+    }
+
+  return NULL;
+}
+
+/****************************************************************************
+ * Global Functions
+ ****************************************************************************/
+
+FAR char *strcasestr(FAR const char *str, FAR const char *substr)
+{
+  const char *candidate;  /* Candidate in str with matching start character */
+  char         ch;        /* First character of the substring */
+  int          len;       /* The length of the substring */
+
+  /* Special case the empty substring */
+
+  len = strlen(substr);
+  ch  = *substr;
+
+  if (!ch)
+    {
+      /* We'll say that an empty substring matches at the beginning of
+       * the string
+       */
+
+      return (char*)str;
+    }
+
+  /* Search for the substring */
+
+  candidate = str;
+  ch        = toupper(ch);
+
+  for (;;)
+    {
+      /* strcasechr() will return a pointer to the next occurrence of the
+       * character ch in the string (ignoring case)
+       */
+
+      candidate = strcasechr(candidate, ch);
+      if (!candidate || strlen(candidate) < len)
+        {
+           /* First character of the substring does not appear in the string
+            * or the remainder of the string is not long enough to contain the
+            * substring.
+            */
+
+           return NULL;
+        }
+
+      /* Check if this is the beginning of a matching substring (ignoring case) */
+
+      if (strncasecmp(candidate, substr, len) == 0)
+        {
+           /* Yes.. return the pointer to the first occurrence of the matching
+            * substring.
+            */
+
+           return (char*)candidate;
+        }
+
+      /* No, find the next candidate after this one */
+
+      candidate++;
+    }
+
+  /* Won't get here, but some compilers might complain.  Others might complain
+   * about this code being unreachable too.
+   */
+
+  return NULL;
+}
+
diff --git a/nuttx/libc/string/lib_strstr.c b/nuttx/libc/string/lib_strstr.c
new file mode 100644
index 000000000..7a60a680d
--- /dev/null
+++ b/nuttx/libc/string/lib_strstr.c
@@ -0,0 +1,106 @@
+/****************************************************************************
+ * libc/string/lib_strstr.c
+ *
+ *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use str 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 str binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer str
+ *    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 <string.h>
+
+/****************************************************************************
+ * Global Functions
+ ****************************************************************************/
+
+char *strstr(const char *str, const char *substr)
+{
+  const char *candidate;  /* Candidate in str with matching start character */
+  char         ch;        /* First character of the substring */
+  int          len;       /* The length of the substring */
+
+  /* Special case the empty substring */
+
+  len = strlen(substr);
+  ch  = *substr;
+
+  if (!ch)
+    {
+      /* We'll say that an empty substring matches at the beginning of
+       * the string
+       */
+
+      return (char*)str;
+    }
+
+  /* Search for the substring */
+
+  candidate = str;
+  for (;;)
+    {
+      /* strchr() will return a pointer to the next occurrence of the
+       * character ch in the string
+       */
+
+      candidate = strchr(candidate, ch);
+      if (!candidate || strlen(candidate) < len)
+        {
+           /* First character of the substring does not appear in the string
+            * or the remainder of the string is not long enough to contain the
+            * substring.
+            */
+
+           return NULL;
+        }
+
+      /* Check if this is the beginning of a matching substring */
+
+      if (strncmp(candidate, substr, len) == 0)
+        {
+           return (char*)candidate;
+        }
+
+      /* No, find the next candidate after this one */
+
+      candidate++;
+    }
+
+  /* Won't get here, but some compilers might complain.  Other compilers
+   * might complain about this code being unreachable too.
+   */
+
+  return NULL;
+}
+
diff --git a/nuttx/libxx/Kconfig b/nuttx/libxx/Kconfig
index 4133a0ceb..9c78342c2 100644
--- a/nuttx/libxx/Kconfig
+++ b/nuttx/libxx/Kconfig
@@ -3,6 +3,16 @@
 # see misc/tools/kconfig-language.txt.
 #
 
+comment "Basic CXX Support"
+
+config C99_BOOL8
+	bool "sizeof(_Bool) is 8-bits"
+	default n
+	---help---
+		This setting means (1) your C++ compiler has sizeof(_Bool) == 8, (2)
+		your C compiler supports the C99 _Bool intrinsic type, and (2) that
+		the C99 _Bool type also has size 1.
+
 config HAVE_CXX
 	bool "Have C++ compiler"
 	default n
@@ -10,6 +20,8 @@ config HAVE_CXX
 		Toolchain supports C++ and CXX, CXXFLAGS, and COMPILEXX have been 
 		defined in the configurations Make.defs file.
 
+if HAVE_CXX
+
 config HAVE_CXXINITIALIZE
 	bool "Have C++ initialization"
 	default n
@@ -25,3 +37,33 @@ config CXX_NEWLONG
 		size_t may be type long or type int.  This matters for some
 		C++ library routines because the NuttX size_t might not have
 		the same underlying type as your toolchain's size_t.
+
+comment "uClibc++ Standard C++ Library"
+
+config UCLIBCXX
+	bool "Build uClibc++ (must be installed)"
+	default n
+	---help---
+		If you have installed uClibc++ into the NuttX source try, then it can
+		be built by selecting this option.  See misc/uClibc++/README.txt for
+		information on installing uClibc++.
+
+if UCLIBCXX
+
+config UCLIBCXX_EXCEPTION
+	bool "Enable Exception Suppport"
+	default y
+
+config UCLIBCXX_IOSTREAM_BUFSIZE
+	int "IO Stream Buffer Size"
+	default 32
+
+config UCLIBCXX_HAVE_LIBSUPCXX
+	bool "Have libsupc++ (required)"
+	default y
+	---help---
+		Select if your toolchain provides libsupc++.  This option is required
+		at present because the built-in libsupc++ support is incomplete.
+
+endif
+endif
diff --git a/nuttx/mm/mm_graninit.c b/nuttx/mm/mm_graninit.c
index e43839ad6..8f811c65f 100644
--- a/nuttx/mm/mm_graninit.c
+++ b/nuttx/mm/mm_graninit.c
@@ -74,7 +74,6 @@ FAR struct gran_s *g_graninfo;
  *   Perfrom common GRAN initialization.
  *
  * Input Parameters:
- *   info      - Private granule data structure pointer
  *   heapstart - Start of the granule allocation heap
  *   heapsize  - Size of heap in bytes
  *   log2gran  - Log base 2 of the size of one granule.  0->1 byte,
@@ -207,7 +206,6 @@ gran_common_initialize(FAR void *heapstart, size_t heapsize, uint8_t log2gran,
 #ifdef CONFIG_GRAN_SINGLE
 int gran_initialize(FAR void *heapstart, size_t heapsize, uint8_t log2gran,
                     uint8_t log2align)
-int gran_initialize(FAR void *heapstart, size_t heapsize, uint8_t log2gran)
 {
   g_graninfo = gran_common_initialize(heapstart, heapsize, log2gran,
                                       log2align);
diff --git a/nuttx/net/net_poll.c b/nuttx/net/net_poll.c
index ca594c10f..815c6a71d 100644
--- a/nuttx/net/net_poll.c
+++ b/nuttx/net/net_poll.c
@@ -141,6 +141,7 @@ static uint16_t poll_interrupt(struct uip_driver_s *dev, FAR void *conn,
           sem_post(fds->sem);
         }
     }
+
   return flags;
 }
 #endif /* HAVE_NETPOLL */
@@ -219,6 +220,7 @@ static inline int net_pollsetup(FAR struct socket *psock, struct pollfd *fds)
           sem_post(fds->sem);
         }
     }
+
   uip_unlock(flags);
   return OK;
 
diff --git a/nuttx/sched/Kconfig b/nuttx/sched/Kconfig
index 4f7149595..3438ccf2c 100644
--- a/nuttx/sched/Kconfig
+++ b/nuttx/sched/Kconfig
@@ -22,7 +22,13 @@ config SCHED_INSTRUMENTATION
 	bool "Monitor system performance"
 	default n
 	---help---
-		enables instrumentation in scheduler to monitor system performance.
+		Enables instrumentation in scheduler to monitor system performance.
+		If enabled, then the board-specific logic must provide the following
+		functions (see include/sched.h):
+
+		void sched_note_start(FAR _TCB *tcb);
+		void sched_note_stop(FAR _TCB *tcb);
+		void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb);
 
 config TASK_NAME_SIZE
 	int "Maximum task name size"
@@ -40,7 +46,7 @@ config JULIAN_TIME
 
 config START_YEAR
 	int "start year"
-	default 2010
+	default 2013
 
 config START_MONTH
 	int "start month"
@@ -57,12 +63,6 @@ config DEV_CONSOLE
 		Set if architecture-specific logic provides /dev/console.  Enables
 		stdout, stderr, stdin.
 
-config DEV_LOWCONSOLE
-	bool "enable low-level serial console"
-	default n
-	---help---
-		Use the simple, low-level, write-only serial console driver (minimul support)
-
 config MUTEX_TYPES:
 	bool "Enable mutex types"
 	default n
@@ -381,14 +381,6 @@ config PREALLOC_TIMERS
 
 comment "Stack and heap information"
 
-config CUSTOM_STACK
-	bool "Enable custom stack"
-	default n
-	---help---
-		The up_ implementation will handle all stack operations outside of the
-		nuttx model.  This is necessary for certain architectures that have
-		have hardware stacks (such as the 8051 family).
-
 config IDLETHREAD_STACKSIZE
 	int "Idle thread stack size"
 	default 1024
diff --git a/nuttx/sched/env_clearenv.c b/nuttx/sched/env_clearenv.c
index 7fe97a911..75890f3bc 100644
--- a/nuttx/sched/env_clearenv.c
+++ b/nuttx/sched/env_clearenv.c
@@ -79,5 +79,3 @@ int clearenv(void)
 
 #endif /* CONFIG_DISABLE_ENVIRON */
 
-
-
diff --git a/nuttx/sched/env_internal.h b/nuttx/sched/env_internal.h
index a6205d658..5370da059 100644
--- a/nuttx/sched/env_internal.h
+++ b/nuttx/sched/env_internal.h
@@ -80,7 +80,7 @@ EXTERN int env_dup(FAR _TCB *ptcb);
 EXTERN int env_share(FAR _TCB *ptcb);
 EXTERN int env_release(FAR _TCB *ptcb);
 
-/* functions used internally the environment handling logic */
+/* functions used internally by the environment handling logic */
 
 EXTERN FAR char *env_findvar(environ_t *envp, const char *pname);
 EXTERN int env_removevar(environ_t *envp, char *pvar);
diff --git a/nuttx/sched/env_release.c b/nuttx/sched/env_release.c
index 83e65dbb5..8bc8d2205 100644
--- a/nuttx/sched/env_release.c
+++ b/nuttx/sched/env_release.c
@@ -94,11 +94,11 @@ int env_release(FAR _TCB *ptcb)
         {
           /* Check the reference count on the environment structure */
 
-          if ( envp->ev_crefs <= 1)
+          if (envp->ev_crefs <= 1)
             {
               /* Decrementing the reference count will destroy the environment */
 
-              sched_free( envp ); /* plain free() should be fine here */
+              sched_free(envp);
             }
           else
             {
diff --git a/nuttx/sched/os_bringup.c b/nuttx/sched/os_bringup.c
index ec6152891..e0a236bbe 100644
--- a/nuttx/sched/os_bringup.c
+++ b/nuttx/sched/os_bringup.c
@@ -44,6 +44,7 @@
 #include <nuttx/config.h>
 
 #include <sched.h>
+#include <stdlib.h>
 #include <debug.h>
 
 #include <nuttx/init.h>
@@ -129,6 +130,17 @@ int os_bringup(void)
 #endif
   int init_taskid;
 
+  /* Setup up the initial environment for the idle task.  At present, this
+   * may consist of only the initial PATH variable.  The PATH variable is
+   * (probably) not used by the IDLE task.  However, the environment
+   * containing the PATH variable will be inherited by all of the threads
+   * created by the IDLE task.
+   */
+
+#if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL)
+  (void)setenv("PATH", CONFIG_PATH_INITIAL, 1);
+#endif
+
   /* Start the page fill worker kernel thread that will resolve page faults.
    * This should always be the first thread started because it may have to
    * resolve page faults in other threads
@@ -190,5 +202,12 @@ int os_bringup(void)
                             (main_t)CONFIG_USER_ENTRYPOINT, (const char **)NULL);
 #endif
   ASSERT(init_taskid != ERROR);
+
+  /* We an save a few bytes by discarding the IDLE thread's environment. */
+
+#if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL)
+  (void)clearenv();
+#endif
+
   return OK;
 }
diff --git a/nuttx/sched/os_start.c b/nuttx/sched/os_start.c
index c0b16236d..a53ac2aa8 100644
--- a/nuttx/sched/os_start.c
+++ b/nuttx/sched/os_start.c
@@ -426,7 +426,9 @@ void os_start(void)
       lib_initialize();
     }
 
-  /* Create stdout, stderr, stdin */
+  /* Create stdout, stderr, stdin on the IDLE task.  These will be
+   * inherited by all of the threads created by the IDLE task.
+   */
 
   (void)sched_setupidlefiles(&g_idletcb);
 
diff --git a/nuttx/sched/prctl.c b/nuttx/sched/prctl.c
index d71a0e174..3db83d3d7 100644
--- a/nuttx/sched/prctl.c
+++ b/nuttx/sched/prctl.c
@@ -157,8 +157,14 @@ int prctl(int option, ...)
       goto errout;
     }
 
+  /* Not reachable unless CONFIG_TASK_NAME_SIZE is > 0.  NOTE: This might
+   * change if additional commands are supported.
+   */
+
+#if CONFIG_TASK_NAME_SIZE > 0
   va_end(ap);
   return OK;
+#endif
 
 errout:
   va_end(ap);
diff --git a/nuttx/sched/pthread_create.c b/nuttx/sched/pthread_create.c
index 5fdf3b88d..dc2db2916 100644
--- a/nuttx/sched/pthread_create.c
+++ b/nuttx/sched/pthread_create.c
@@ -246,7 +246,7 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
 {
   FAR _TCB *ptcb;
   FAR join_t *pjoin;
-  int status;
+  int ret;
   int priority;
 #if CONFIG_RR_INTERVAL > 0
   int policy;
@@ -268,13 +268,27 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
       return ENOMEM;
     }
 
+  /* Share the address environment of the parent task.  NOTE:  Only tasks
+   * created throught the nuttx/binfmt loaders may have an address
+   * environment.
+   */
+
+#ifdef CONFIG_ADDRENV
+  ret = up_addrenv_share((FAR const _TCB *)g_readytorun.head, ptcb);
+  if (ret < 0)
+    {
+      sched_releasetcb(ptcb);
+      return -ret;
+    }
+#endif
+
   /* Associate file descriptors with the new task */
 
-  status = sched_setuppthreadfiles(ptcb);
-  if (status != OK)
+  ret = sched_setuppthreadfiles(ptcb);
+  if (ret != OK)
     {
       sched_releasetcb(ptcb);
-      return status;
+      return ret;
     }
 
   /* Share the parent's envionment */
@@ -292,8 +306,8 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
 
   /* Allocate the stack for the TCB */
 
-  status = up_create_stack(ptcb, attr->stacksize);
-  if (status != OK)
+  ret = up_create_stack(ptcb, attr->stacksize);
+  if (ret != OK)
     {
       sched_releasetcb(ptcb);
       sched_free(pjoin);
@@ -310,8 +324,8 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
       /* Get the priority for this thread. */
 
       struct sched_param param;
-      status = sched_getparam(0, &param);
-      if (status == OK)
+      ret = sched_getparam(0, &param);
+      if (ret == OK)
         {
           priority = param.sched_priority;
         }
@@ -348,11 +362,9 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
 
   /* Initialize the task control block */
 
-  status  = task_schedsetup(ptcb, priority, pthread_start,
-                            (main_t)start_routine);
-  if (status != OK)
+  ret  = task_schedsetup(ptcb, priority, pthread_start, (main_t)start_routine);
+  if (ret != OK)
     {
-
       sched_releasetcb(ptcb);
       sched_free(pjoin);
       return EBUSY;
@@ -390,21 +402,21 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
 
   /* Initialize the semaphores in the join structure to zero. */
 
-  status = sem_init(&pjoin->data_sem, 0, 0);
-  if (status == OK)
+  ret = sem_init(&pjoin->data_sem, 0, 0);
+  if (ret == OK)
     {
-      status = sem_init(&pjoin->exit_sem, 0, 0);
+      ret = sem_init(&pjoin->exit_sem, 0, 0);
     }
 
   /* Activate the task */
 
   sched_lock();
-  if (status == OK)
+  if (ret == OK)
     {
-      status = task_activate(ptcb);
+      ret = task_activate(ptcb);
     }
 
-  if (status == OK)
+  if (ret == OK)
     {
       /* Wait for the task to actually get running and to register
        * its join_t
@@ -414,8 +426,15 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
 
       /* Return the thread information to the caller */
 
-      if (thread) *thread = (pthread_t)pid;
-      if (!pjoin->started) status = ERROR;
+      if (thread)
+       {
+         *thread = (pthread_t)pid;
+       }
+
+      if (!pjoin->started)
+        {
+          ret = EINVAL;
+        }
 
       sched_unlock();
       (void)sem_destroy(&pjoin->data_sem);
@@ -428,8 +447,8 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
       (void)sem_destroy(&pjoin->exit_sem);
       sched_releasetcb(ptcb);
       sched_free(pjoin);
-      return EIO;
+      ret = EIO;
     }
 
-  return OK;
+  return ret;
 }
diff --git a/nuttx/sched/sched_releasetcb.c b/nuttx/sched/sched_releasetcb.c
index 21837262d..0557c829b 100644
--- a/nuttx/sched/sched_releasetcb.c
+++ b/nuttx/sched/sched_releasetcb.c
@@ -171,6 +171,12 @@ int sched_releasetcb(FAR _TCB *tcb)
 
       (void)env_release(tcb);
 
+      /* Release this thread's reference to the address environment */
+
+#ifdef CONFIG_ADDRENV
+      ret = up_addrenv_release(tcb);
+#endif
+
       /* And, finally, release the TCB itself */
 
       sched_free(tcb);
diff --git a/nuttx/sched/task_exithook.c b/nuttx/sched/task_exithook.c
index e94476f2a..004d09e20 100644
--- a/nuttx/sched/task_exithook.c
+++ b/nuttx/sched/task_exithook.c
@@ -126,6 +126,7 @@ static inline void task_atexit(FAR _TCB *tcb)
       tcb->atexitfunc = NULL;
     }
 #endif
+}
 #else
 #  define task_atexit(tcb)
 #endif
diff --git a/nuttx/sched/work_thread.c b/nuttx/sched/work_thread.c
index abd86f771..5646b06a1 100644
--- a/nuttx/sched/work_thread.c
+++ b/nuttx/sched/work_thread.c
@@ -208,10 +208,10 @@ int work_hpthread(int argc, char *argv[])
        * that were queued because they could not be freed in that execution
        * context (for example, if the memory was freed from an interrupt handler).
        * NOTE: If the work thread is disabled, this clean-up is performed by
-       * the IDLE thread (at a very, very lower priority).
+       * the IDLE thread (at a very, very low priority).
        */
 
-#ifdef CONFIG_SCHED_LPWORK
+#ifndef CONFIG_SCHED_LPWORK
       sched_garbagecollection();
 #endif
 
@@ -236,7 +236,7 @@ int work_lpthread(int argc, char *argv[])
        * that were queued because they could not be freed in that execution
        * context (for example, if the memory was freed from an interrupt handler).
        * NOTE: If the work thread is disabled, this clean-up is performed by
-       * the IDLE thread (at a very, very lower priority).
+       * the IDLE thread (at a very, very low priority).
        */
 
       sched_garbagecollection();
diff --git a/nuttx/syscall/Makefile b/nuttx/syscall/Makefile
index 88365759d..4556912be 100644
--- a/nuttx/syscall/Makefile
+++ b/nuttx/syscall/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # syscall/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -34,11 +34,13 @@
 ###########################################################################
 
 -include $(TOPDIR)/Make.defs
-include proxies/Make.defs
-include stubs/Make.defs
+DELIM ?= $(strip /)
 
-MKSYSCALL = "$(TOPDIR)/tools/mksyscall$(EXEEXT)"
-CSVFILE = "$(TOPDIR)/syscall/syscall.csv"
+include proxies$(DELIM)Make.defs
+include stubs$(DELIM)Make.defs
+
+MKSYSCALL = "$(TOPDIR)$(DELIM)tools$(DELIM)mksyscall$(EXEEXT)"
+CSVFILE = "$(TOPDIR)$(DELIM)syscall$(DELIM)syscall.csv"
 
 STUB_SRCS += stub_lookup.c
 
@@ -72,42 +74,43 @@ $(COBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 $(BIN1): $(PROXY_OBJS)
-	@( for obj in $(PROXY_OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+	$(call ARCHIVE, $@, $(PROXY_OBJS))
 
 $(BIN2): $(STUB_OBJS)
-	@( for obj in $(STUB_OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
+	$(call ARCHIVE, $@, "$(STUB_OBJS)")
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(ROOTDEPPATH) $(PROXYDEPPATH) $(STUBDEPPATH) \
-	  $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) $(ROOTDEPPATH) $(PROXYDEPPATH) $(STUBDEPPATH) \
+	  "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 $(MKSYSCALL):
-	@$(MAKE) -C $(TOPDIR)/tools -f Makefile.host mksyscall
+	$(Q) $(MAKE) -C $(TOPDIR)$(DELIM)tools -f Makefile.host mksyscall
 
 .context: syscall.csv
-	@(cd proxies; $(MKSYSCALL) -p $(CSVFILE);)
-	@(cd stubs; $(MKSYSCALL) -s $(CSVFILE);)
-	@touch $@
+	$(Q) (cd proxies; $(MKSYSCALL) -p $(CSVFILE);)
+	$(Q) (cd stubs; $(MKSYSCALL) -s $(CSVFILE);)
+	$(Q) touch $@
 
 context: $(MKSYSCALL) .context
 
 clean:
-	@rm -f $(BIN1) $(BIN2) *~ .*.swp
+	$(call DELFILE, $(BIN1))
+	$(call DELFILE, $(BIN2))
 ifneq ($(OBJEXT),)
-	@rm -f proxies/*$(OBJEXT) stubs/*$(OBJEXT)
+	$(call DELFILE, proxies$(DELIM)*$(OBJEXT))
+	$(call DELFILE, stubs$(DELIM)*$(OBJEXT))
 endif
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend .context
-	@rm -f proxies/*.c stubs/*.c
+	$(call DELFILE, .context)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+	$(call DELFILE, proxies$(DELIM)*.c)
+	$(call DELFILE, stubs$(DELIM)*.c)
 
 -include Make.dep
 
diff --git a/nuttx/tools/Config.mk b/nuttx/tools/Config.mk
index 3a82a1937..9ac93e7d0 100644
--- a/nuttx/tools/Config.mk
+++ b/nuttx/tools/Config.mk
@@ -2,7 +2,12 @@
 # Config.mk
 # Global build rules and macros.
 #
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Richard Cochran
+#           Gregory Nutt <gnutt@nuttx.org>
+#
+# This file (along with $(TOPDIR)/.config) must be included by every
+# configuration-specific Make.defs file.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -40,33 +45,177 @@ CONFIG_ARCH       := $(patsubst "%",%,$(strip $(CONFIG_ARCH)))
 CONFIG_ARCH_CHIP  := $(patsubst "%",%,$(strip $(CONFIG_ARCH_CHIP)))
 CONFIG_ARCH_BOARD := $(patsubst "%",%,$(strip $(CONFIG_ARCH_BOARD)))
 
-# Default build rules.
+# Some defaults just to prohibit some bad behavior if for some reason they
+# are not defined
+
+OBJEXT ?= .o
+LIBEXT ?= .a
+
+# DELIM - Path segment delimiter character
+#
+# Depends on this settings defined in board-specific defconfig file installed
+# at $(TOPDIR)/.config:
+#
+#   CONFIG_WINDOWS_NATIVE - Defined for a Windows native build
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  DELIM = $(strip \)
+else
+  DELIM = $(strip /)
+endif
+
+# INCDIR - Convert a list of directory paths to a list of compiler include
+#   directirves
+# Example: CFFLAGS += ${shell $(INCDIR) [options] "compiler" "dir1" "dir2" "dir2" ...}
+#
+# Note that the compiler string and each directory path string must quoted if
+# they contain spaces or any other characters that might get mangled by the
+# shell
+#
+# Depends on this setting passed as a make commaond line definition from the
+# toplevel Makefile:
+#
+#   TOPDIR - The path to the the top level NuttX directory in the form
+#     appropriate for the current build environment
+#
+# Depends on this settings defined in board-specific defconfig file installed
+# at $(TOPDIR)/.config:
+#
+#   CONFIG_WINDOWS_NATIVE - Defined for a Windows native build
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  INCDIR = "$(TOPDIR)\tools\incdir.bat"
+else
+  INCDIR = "$(TOPDIR)/tools/incdir.sh"
+endif
+
+# PREPROCESS - Default macro to run the C pre-processor
+# Example: $(call PREPROCESS, in-file, out-file)
+#
+# Depends on these settings defined in board-specific Make.defs file
+# installed at $(TOPDIR)/Make.defs:
+#
+#   CPP - The command to invoke the C pre-processor
+#   CPPFLAGS - Options to pass to the C pre-processor
 
 define PREPROCESS
 	@echo "CPP: $1->$2"
 	$(Q) $(CPP) $(CPPFLAGS) $1 -o $2
 endef
 
+# COMPILE - Default macro to compile one C file
+# Example: $(call COMPILE, in-file, out-file)
+#
+# Depends on these settings defined in board-specific Make.defs file
+# installed at $(TOPDIR)/Make.defs:
+#
+#   CC - The command to invoke the C compiler
+#   CFLAGS - Options to pass to the C compiler
+
 define COMPILE
 	@echo "CC: $1"
 	$(Q) $(CC) -c $(CFLAGS) $1 -o $2
 endef
 
+# COMPILEXX - Default macro to compile one C++ file
+# Example: $(call COMPILEXX, in-file, out-file)
+#
+# Depends on these settings defined in board-specific Make.defs file
+# installed at $(TOPDIR)/Make.defs:
+#
+#   CXX - The command to invoke the C++ compiler
+#   CXXFLAGS - Options to pass to the C++ compiler
+
 define COMPILEXX
 	@echo "CXX: $1"
 	$(Q) $(CXX) -c $(CXXFLAGS) $1 -o $2
 endef
 
+# ASSEMBLE - Default macro to assemble one assembly language file
+# Example: $(call ASSEMBLE, in-file, out-file)
+#
+# NOTE that the most common toolchain, GCC, uses the compiler to assemble
+# files because this has the advantage of running the C Pre-Processor against
+# the assembly language files.  This is not possible with other toolchains;
+# platforms using those other tools should define AS and over-ride this
+# definition in order to use the assembler directly.
+#
+# Depends on these settings defined in board-specific Make.defs file
+# installed at $(TOPDIR)/Make.defs:
+#
+#   CC - By default, the C compiler is used to compile assembly language
+#        files
+#   AFLAGS - Options to pass to the C+compiler
+
 define ASSEMBLE
 	@echo "AS: $1"
 	$(Q) $(CC) -c $(AFLAGS) $1 -o $2
 endef
 
+# ARCHIVE - Add a list of files to an archive
+# Example: $(call ARCHIVE, archive-file, "file1 file2 file3 ...")
+#
+# Note: The fileN strings may not contain spaces or  characters that may be
+# interpreted strangely by the shell
+#
+# Depends on these settings defined in board-specific Make.defs file
+# installed at $(TOPDIR)/Make.defs:
+#
+#   AR - The command to invoke the archiver (includes any options)
+#
+# Depends on this settings defined in board-specific defconfig file installed
+# at $(TOPDIR)/.config:
+#
+#   CONFIG_WINDOWS_NATIVE - Defined for a Windows native build
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+define ARCHIVE
+	@echo AR: $2
+	$(Q) $(AR) $1 $(2)
+endef
+else
 define ARCHIVE
-	echo "AR: $2"; \
-	$(AR) $1 $2 || { echo "$(AR) $1 $2 FAILED!" ; exit 1 ; }
+	@echo "AR: $2"
+	$(Q) $(AR) $1 $(2) || { echo "$(AR) $1 FAILED!" ; exit 1 ; }
 endef
+endif
 
+# DELFILE - Delete one file
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+define DELFILE
+	$(Q) if exist $1 (del /f /q $1)
+endef
+else
+define DELFILE
+	$(Q) rm -f $1
+endef
+endif
+
+# DELDIR - Delect one directory
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+define DELDIR
+	$(Q) if exist $1 (rmdir /q /s $1)
+endef
+else
+define DELDIR
+	$(Q) rm -rf $1
+endef
+endif
+
+# CLEAN - Default clean target
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+define CLEAN
+	$(Q) if exist *$(OBJEXT) (del /f /q *$(OBJEXT))
+	$(Q) if exist *$(LIBEXT) (del /f /q *$(LIBEXT))
+	$(Q) if exist *~ (del /f /q *~)
+	$(Q) if exist (del /f /q  .*.swp)
+endef
+else
 define CLEAN
-	$(Q) rm -f *.o *.a
+	$(Q) rm -f *$(OBJEXT) *$(LIBEXT) *~ .*.swp
 endef
+endif
+ 
\ No newline at end of file
diff --git a/nuttx/tools/Makefile.export b/nuttx/tools/Makefile.export
index ce4842187..e3629a480 100644
--- a/nuttx/tools/Makefile.export
+++ b/nuttx/tools/Makefile.export
@@ -37,10 +37,16 @@ include $(TOPDIR)/.config
 include $(EXPORTDIR)/Make.defs
 
 ifdef ARCHSCRIPT
-LDPATH = ${shell echo "$(ARCHSCRIPT)" | sed -e "s/^-T[ ]*//g"}
+ifeq ($(WINTOOL),y)
+LDPATH = ${shell cygpath -u $(patsubst -T,,$(ARCHSCRIPT))}
+else
+LDPATH = $(patsubst -T,,$(ARCHSCRIPT))
+endif
+
 LDNAME = ${shell basename ${LDPATH}}
 LDDIR = ${shell dirname ${LDPATH}}
 endif
+
 ARCHSUBDIR = "arch/$(CONFIG_ARCH)/src"
 ARCHDIR ="$(TOPDIR)/$(ARCHSUBDIR)"
 
diff --git a/nuttx/tools/Makefile.host b/nuttx/tools/Makefile.host
index 33b7aaab2..4a46901e6 100644
--- a/nuttx/tools/Makefile.host
+++ b/nuttx/tools/Makefile.host
@@ -33,45 +33,119 @@
 #
 ############################################################################
 
-all: mkconfig mkversion mksyscall bdf-converter
-default: mkconfig mksyscall
+TOPDIR ?= ${shell pwd}/..
+-include $(TOPDIR)/Make.defs
+include ${TOPDIR}/tools/Config.mk
+
+# strtok_r is used in some tools, but does not seem to be available in
+# the MinGW environment.
+
+ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+  HOSTCFLAGS += -D HAVE_STRTOK_C
+endif
+
+all: b16$(HOSTEXEEXT) bdf-converter$(HOSTEXEEXT) cmpconfig$(HOSTEXEEXT) \
+    mkconfig$(HOSTEXEEXT) mkdeps$(HOSTEXEEXT) mksymtab$(HOSTEXEEXT) \
+    mksyscall$(HOSTEXEEXT) mkversion$(HOSTEXEEXT) 
+default: mkconfig$(HOSTEXEEXT) mksyscall$(HOSTEXEEXT) mkdeps$(HOSTEXEEXT)
+
+ifdef HOSTEXEEXT
+.PHONY: b16 bdf-converter cmpconfig clean mkconfig mkdeps mksymtab \
+    mksyscall mkversion
+else
 .PHONY: clean
+endif
 
-# Add CFLAGS=-g on the make command line build debug versions
+# Add HOSTCFLAGS=-g on the make command line build debug versions
 
-CFLAGS = -O2 -Wall -I.
+HOSTCFLAGS ?= -O2 -Wall -I.
+HOSTCC ?= gcc
+
+# b16 - Fixed precision math converstion tool
+
+b16$(HOSTEXEEXT): b16.c 
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o b16$(HOSTEXEEXT) b16.c 
+
+ifdef HOSTEXEEXT
+b16: b16$(HOSTEXEEXT)
+endif
 
 # mkconfig - Convert a .config file into a C config.h file
 
-mkconfig: mkconfig.c cfgparser.c
-	@gcc $(CFLAGS) -o mkconfig mkconfig.c cfgparser.c
+mkconfig$(HOSTEXEEXT): mkconfig.c cfgparser.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o mkconfig$(HOSTEXEEXT) mkconfig.c cfgparser.c
+
+ifdef HOSTEXEEXT
+mkconfig: mkconfig$(HOSTEXEEXT)
+endif
 
 # cmpconfig - Compare the contents of two configuration files
 
-cmpconfig: cmpconfig.c
-	@gcc $(CFLAGS) -o cmpconfig cmpconfig.c
+cmpconfig$(HOSTEXEEXT): cmpconfig.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o cmpconfig$(HOSTEXEEXT) cmpconfig.c
+
+ifdef HOSTEXEEXT
+cmpconfig: cmpconfig$(HOSTEXEEXT)
+endif
 
 # mkversion - Convert a .version file into a C version.h file
 
-mkversion: mkconfig.c cfgparser.c
-	@gcc $(CFLAGS) -o mkversion mkversion.c cfgparser.c
+mkversion$(HOSTEXEEXT): mkconfig.c cfgparser.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o mkversion$(HOSTEXEEXT) mkversion.c cfgparser.c
+
+ifdef HOSTEXEEXT
+mkversion: mkversion$(HOSTEXEEXT)
+endif
 
 # mksyscall - Convert a CSV file into syscall stubs and proxies
 
-mksyscall: mksyscall.c csvparser.c
-	@gcc $(CFLAGS) -o mksyscall mksyscall.c csvparser.c
+mksyscall$(HOSTEXEEXT): mksyscall.c csvparser.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o mksyscall$(HOSTEXEEXT) mksyscall.c csvparser.c
+
+ifdef HOSTEXEEXT
+mksyscall: mksyscall$(HOSTEXEEXT)
+endif
 
 # mksymtab - Convert a CSV file into a symbol table
 
-mksymtab: mksymtab.c csvparser.c
-	@gcc $(CFLAGS) -o mksymtab mksymtab.c csvparser.c
+mksymtab$(HOSTEXEEXT): mksymtab.c csvparser.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o mksymtab$(HOSTEXEEXT) mksymtab.c csvparser.c
+
+ifdef HOSTEXEEXT
+mksymtab: mksymtab$(HOSTEXEEXT)
+endif
 
 # bdf-converter - Converts a BDF font to the NuttX font format
 
-bdf-converter: bdf-converter.c
-	@gcc $(CFLAGS) -o bdf-converter bdf-converter.c
+bdf-converter$(HOSTEXEEXT): bdf-converter.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o bdf-converter$(HOSTEXEEXT) bdf-converter.c
+
+ifdef HOSTEXEEXT
+bdf-converter: bdf-converter$(HOSTEXEEXT)
+endif
+
+# Create dependencies for a list of files
+
+mkdeps$(HOSTEXEEXT): mkdeps.c csvparser.c
+	$(Q) $(HOSTCC) $(HOSTCFLAGS) -o mkdeps$(HOSTEXEEXT) mkdeps.c
+
+ifdef HOSTEXEEXT
+mkdeps: mkdeps$(HOSTEXEEXT)
+endif
 
 clean:
-	@rm -f *.o *.a *~ .*.swp
-	@rm -f mkconfig mksyscall mkversion bdf-converter
-	@rm -f mkconfig.exe mksyscall.exe mkversion.exe bdf-converter.exe
+	$(call DELFILE, mkdeps)
+	$(call DELFILE, mkdeps.exe)
+	$(call DELFILE, mkconfig)
+	$(call DELFILE, mkconfig.exe)
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, mksyscall)
+	$(call DELFILE, mksyscall.exe)
+	$(call DELFILE, mkversion)
+	$(call DELFILE, mkversion.exe)
+	$(call DELFILE, bdf-converter)
+	$(call DELFILE, bdf-converter.exe)
+ifneq ($(CONFIG_WINDOWS_NATIVE),y)
+	$(Q) rm -rf *.dSYM
+endif
+	$(call CLEAN)
diff --git a/nuttx/tools/README.txt b/nuttx/tools/README.txt
index 5d52eaeff..2b9ac61f4 100644
--- a/nuttx/tools/README.txt
+++ b/nuttx/tools/README.txt
@@ -1,5 +1,5 @@
 tools/README.txt
-^^^^^^^^^^^^^^^^
+================
 
 This README file addresses the contents of the NuttX tools/ directory.
 
@@ -8,22 +8,38 @@ that are necessary parts of the the NuttX build system.  These files
 include:
 
 README.txt
+----------
 
-  This file
+  This file!
+
+Config.mk
+---------
+
+  This file contains common definitions used by many configureation files.
+  This file (along with <nuttx>/.config) must be included at the top of
+  each configuration-specific Make.defs file like:
+
+    -include $(TOPDIR)/.config
+    include $(TOPDIR)/tools/Config.mk
+
+  Subsequent logic within the configuration-specific Make.defs file may then
+  override these default definitions as necessary.
 
 configure.sh
+------------
 
   This is a bash script that is used to configure NuttX for a given
   target board.  See configs/README.txt or Documentation/NuttxPortingGuide.html
   for a description of how to configure NuttX with this script.
 
 discover.py
+-----------
 
   Example script for discovering devices in the local network.
   It is the counter part to apps/netutils/discover
 
-
 mkconfig.c, cfgparser.c, and cfgparser.h
+----------------------------------------
 
   These are Cs file that are used to build mkconfig program.  The mkconfig
   program is used during the initial NuttX build.
@@ -38,11 +54,13 @@ mkconfig.c, cfgparser.c, and cfgparser.h
   NuttX configuration that can be included by C files.
 
 cmdconfig.c
+-----------
 
   This C file can be used to build a utility for comparing two NuttX
   configuration files.
 
 mkexport.sh and Makefile.export
+-------------------------------
 
   These implement part of the top-level Makefile's 'export' target.  That
   target will bundle up all of the NuttX libraries, header files, and the
@@ -51,6 +69,7 @@ mkexport.sh and Makefile.export
   options from the top-level Make.defs file.
 
 mkfsdata.pl
+-----------
 
   This perl script is used to build the "fake" file system and CGI support
   as needed for the apps/netutils/webserver.  It is currently used only
@@ -61,6 +80,7 @@ mkfsdata.pl
   by Adam Dunkels.  uIP has a license that is compatible with NuttX.
 
 mkversion.c, cfgparser.c, and cfgparser.h
+-----------------------------------------
 
   This is C file that is used to build mkversion program.  The mkversion
   program is used during the initial NuttX build.
@@ -74,6 +94,7 @@ mkversion.c, cfgparser.c, and cfgparser.h
   version.h provides version information that can be included by C files.
 
 mksyscall.c, cvsparser.c, and cvsparser.h
+-----------------------------------------
 
   This is a C file that is used to build mksyscall program.  The mksyscall
   program is used during the initial NuttX build by the logic in the top-
@@ -96,6 +117,7 @@ mksyscall.c, cvsparser.c, and cvsparser.h
   stub files as output.  See syscall/README.txt for additonal information.
 
 mksymtab.c, cvsparser.c, and cvsparser.h
+----------------------------------------
 
   This is a C file that is used to build symbol tables from common-separated
   value (CSV) files.  This tool is not used during the NuttX build, but
@@ -116,10 +138,12 @@ mksymtab.c, cvsparser.c, and cvsparser.h
     ./mksymtab.exe tmp.csv tmp.c
 
 pic32mx
+-------
 
   This directory contains build tools used only for PIC32MX platforms
 
 bdf-convert.c
+-------------
 
   This C file is used to build the bdf-converter program.  The bdf-converter
   program be used to convert fonts in Bitmap Distribution Format (BDF)
@@ -255,6 +279,7 @@ bdf-convert.c
        };
 
 Makefile.host
+-------------
 
   This is the makefile that is used to make the mkconfig program from
   the mkconfig.c C file, the cmpconfig program from cmpconfig.c C file
@@ -265,20 +290,25 @@ Makefile.host
   make -f Makefile.host <program>
 
 mkromfsimg.sh
+-------------
 
   This script may be used to automate the generate of a ROMFS file system
   image.  It accepts an rcS script "template" and generates and image that
   may be mounted under /etc in the NuttX pseudo file system.
 
 mkdeps.sh
+mkdeps.bat
+mkdeps.c
 mknulldeps.sh
+-------------
 
   NuttX uses the GCC compilers capabilities to create Makefile dependencies.
   The bash script mkdeps.sh is used to run GCC in order to create the
   dependencies.  If a NuttX configuration uses the GCC toolchain, its Make.defs
   file (see configs/README.txt) will include a line like:
 
-    MKDEP = $(TOPDIR)/tools/mkdeps.sh
+    MKDEP = $(TOPDIR)/tools/mkdeps.sh, or
+    MKDEP = $(TOPDIR)/tools/mkdeps[.exe] (See NOTE below)
 
   If the NuttX configuration does not use a GCC compatible toolchain, then
   it cannot use the dependencies and instead it uses mknulldeps.sh:
@@ -287,23 +317,64 @@ mknulldeps.sh
 
   The mknulldeps.sh is a stub script that does essentially nothing.
 
+  NOTE:  The mk*deps.* files are undergoing change.  mkdeps.sh is a bash
+  script that produces dependencies well for POSIX style hosts (e..g.,
+  Linux and Cygwin).  It does not work well for mixed environments with
+  a Windows toolchain running in a POSIX style environemnt (hence, the
+  mknulldeps.sh script).  And, of course, cannot be used in a Windows
+  nativ environment.
+
+  [mkdeps.sh does have an option, --winpath, that purports to convert
+  the dependencies generated by a Windows toolchain to POSIX format.
+  However, that is not being used and mostly likely does not cover
+  all of the conversion cases.]
+
+  mkdeps.bat is a simple port of the bash script to run in a Windows
+  command shell.  However, it does not work well either because some
+  of the common CFLAGS use characters like '=' which are transformed
+  by the CMD.exe shell.
+
+  mkdeps.c generates mkdeps (on Linux) or mkdeps.exe (on Windows).
+  However, this verison is still under-development.  It works well in
+  the all POSIX environment or in the all Windows environment but also
+  does not work well in mixed POSIX environment with a Windows toolchain.
+  In that case, there are still issues with the conversion of things like
+  'c:\Program Files' to 'c:program files' by bash.  Those issues may,
+  eventually be solvable but for now continue to use mknulldeps.sh in
+  that mixed environment.
+
 define.sh
+define.bat
+---------
 
   Different compilers have different conventions for specifying pre-
   processor definitions on the compiler command line.  This bash
   script allows the build system to create create command line definitions
   without concern for the particular compiler in use.
 
+  The define.bat script is a counterpart for use in the native Windows
+  build.
+
 incdir.sh
+incdir.bat
+---------
 
   Different compilers have different conventions for specifying lists
-  of include file paths on the the compiler command line.  This bash
-  script allows the build system to create include file paths without
+  of include file paths on the the compiler command line.  This incdir.sh
+  bash script allows the build system to create include file paths without
   concern for the particular compiler in use.
 
+  The incdir.bat script is a counterpart for use in the native Windows
+  build.  However, there is currently only one compiler supported in
+  that context:  MinGW-GCC.
+
 link.sh
-winlink.sh
+link.bat
+copydir.sh
+copydir.bat
 unlink.sh
+unlink.bat
+----------
 
   Different file system have different capabilities for symbolic links.
   Some windows file systems have no native support for symbolic links.
@@ -322,30 +393,40 @@ unlink.sh
   default.  link.sh is a bash script that performs a normal, Linux-style
   symbolic link;  unlink.sh is a do-it-all unlinking script.
 
-  But if you are building under cygwin using a Windows native toolchain,
-  then you will need something like the following in you Make.defs file:
+  But if you are building under cygwin using a Windows native toolchain
+  within a POSIX framework (such as Cygwin), then you will need something
+  like the following in you Make.defs file:
 
-    DIRLINK = $(TOPDIR)/tools/winlink.sh
+    DIRLINK = $(TOPDIR)/tools/copydir.sh
     DIRUNLINK = (TOPDIR)/tools/unlink.sh
 
-  winlink.sh will copy the whole directory instead of linking it.
+  copydir.sh will copy the whole directory instead of linking it.
+
+  Finally, if you are running in a pure native Windows environment with
+  a CMD.exe shell, then you will need something like this:
+
+    DIRLINK = $(TOPDIR)/tools/copydir.bat
+    DIRUNLINK = (TOPDIR)/tools/unlink.bat
 
-  NOTE:  I have been told that some NuttX users have been able to build
-  successfully using the GnuWin32 tools and modifying the link.sh
-  script so that it uses the NTFS mklink command.  But I have never
-  tried that
+  Note that this will copy directories.  ;ink.bat might also be used in
+  this case.  link.bat will attempt to create a symbolic link using the
+  NTFS mklink.exe command instead of copying files.  That logic, however,
+  has not been verified as of this writing.
 
 mkimage.sh
+----------
 
   The creates a downloadable image as needed with the rrload bootloader.
 
 indent.sh
+---------
 
   This script can be used to indent .c and .h files in a manner similar
   to my coding NuttX coding style.  It doesn't do a really good job,
   however (see the comments at the top of the indent.sh file).
 
 zipme.sh
+--------
 
   I use this script to create the nuttx-xx.yy.tar.gz tarballs for
   release on SourceForge.  It is handy because it also does the
diff --git a/nuttx/tools/b16.c b/nuttx/tools/b16.c
new file mode 100644
index 000000000..66d581ffa
--- /dev/null
+++ b/nuttx/tools/b16.c
@@ -0,0 +1,121 @@
+/****************************************************************************
+ * tools/b16.c
+ *
+ *   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void show_usage(const char *progname)
+{
+  fprintf(stderr, "\nUSAGE: %s <b16_t>|<float>\n", progname);
+  fprintf(stderr, "\nWhere:\n");
+  fprintf(stderr, "  <b16_t>:\n");
+  fprintf(stderr, "    A b16 fixed precision value in hexadecimal form: E.g., 0x00010000\n");
+  fprintf(stderr, "    Any value begininning with '0' will assumed by be hexadecimal format\n");
+  fprintf(stderr, "  <float>:\n");
+  fprintf(stderr, "    A floating value in standard form: E.g., 5.1\n");
+  exit(EXIT_FAILURE);
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int main(int argc, char **argv, char **envp)
+{
+  double fvalue;
+  unsigned long ulvalue;
+  long lvalue;
+  const char *str;
+  char *endptr;
+
+  /* There must be exactly one argument */
+
+  if (argc != 2)
+    {
+      fprintf(stderr, "\nExpected a single argument\n");
+      show_usage(argv[0]);
+    }
+  str = argv[1];
+
+  /* If the value begins with a zero, we will assume that it is a hexadecimal
+   * representation.
+   */
+
+  if (str[0] == '0')
+    {
+      endptr = NULL;
+      ulvalue = strtoul(str, &endptr, 16);
+      if (!endptr || *endptr != '\0')
+        {
+          fprintf(stderr, "\nHexadecimal argument not fully converted\n");
+          show_usage(argv[0]);
+        }
+
+      if (ulvalue >= 0x80000000)
+        {
+          lvalue = ~ulvalue + 1;
+        }
+      else
+        {
+          lvalue = ulvalue;
+        }
+
+      fvalue = ((double)lvalue) / 65536.0;
+      printf("0x%08lx -> %10.5f\n", ulvalue, fvalue);
+    }
+  else
+    {
+      endptr = NULL;
+      fvalue = strtod(str, &endptr);
+      if (!endptr || *endptr != '\0')
+        {
+          fprintf(stderr, "\nFloating point argument not fully converted\n");
+          show_usage(argv[0]);
+        }
+
+      lvalue = 65536.0 * fvalue;
+      printf("%10.5f -> 0x%08lx\n", fvalue, lvalue);
+    }
+   
+  return 0;
+}
diff --git a/nuttx/tools/cfgparser.c b/nuttx/tools/cfgparser.c
index b1f189f6f..1a35f7857 100644
--- a/nuttx/tools/cfgparser.c
+++ b/nuttx/tools/cfgparser.c
@@ -2,7 +2,7 @@
  * tools/cfgpaser.c
  *
  *   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <>
+ *   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
diff --git a/nuttx/tools/copydir.bat b/nuttx/tools/copydir.bat
new file mode 100755
index 000000000..2857c415f
--- /dev/null
+++ b/nuttx/tools/copydir.bat
@@ -0,0 +1,102 @@
+@echo off

+

+rem tools/copydir.bat

+rem

+rem   Copyright (C) 2012 Gregory Nutt. All rights reserved.

+rem   Author: Gregory Nutt <gnutt@nuttx.org>

+rem

+rem Redistribution and use in source and binary forms, with or without

+rem modification, are permitted provided that the following conditions

+rem are met:

+rem

+rem 1. Redistributions of source code must retain the above copyright

+rem    notice, this list of conditions and the following disclaimer.

+rem 2. Redistributions in binary form must reproduce the above copyright

+rem    notice, this list of conditions and the following disclaimer in

+rem    the documentation and/or other materials provided with the

+rem    distribution.

+rem 3. Neither the name NuttX nor the names of its contributors may be

+rem    used to endorse or promote products derived from this software

+rem    without specific prior written permission.

+rem

+rem THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

+rem "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

+rem LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

+rem FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

+rem COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,

+rem INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,

+rem BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS

+rem OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED

+rem AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT

+rem LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN

+rem ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

+rem POSSIBILITY OF SUCH DAMAGE.

+rem

+

+rem

+rem NuttX uses symbolic links to configure platform-specific directories into

+rem the build system.  This works great except for when a Windows native

+rem toolchain is used in a Cygwin environment.  In that case, symbolic

+rem links do not work correctly when accessed from the Windows native toolchain;

+rem rather, just look link files with the extension .lnk

+rem

+rem In this environment, the build system will work around this using this script

+rem as a replacement for the 'ln' command.  This scrpt will simply copy the

+rem directory into the expected positiion.

+rem

+

+set src=%1

+set dest=%2

+

+rem Verify that arguments were provided

+

+if "%src%"=="" goto :MissingSrc

+if "%dest%"=="" goto :MissingDest

+goto CheckSrc

+

+:MissingSrc

+

+echo Missing ^<src^> and ^<dest^> arguments

+goto :ShowUsage

+

+:MissingDest

+

+echo Missing ^<dest^> arguments

+goto :ShowUsage

+

+rem Verify that a directory exists at the source path

+

+:CheckSrc

+

+if exist %src% goto :CheckDest

+

+echo No directory at %src%

+goto :ShowUsage

+

+:CheckDest

+

+rem If something already exists at the destination path, remove it

+

+if not exist %dest% goto :CopyDir

+

+rmdir /q /s %dest%

+if errorlevel 1 (

+  echo Failed to remove existing object at %dest%

+  goto :ShowUsage

+)

+

+rem Copy the directory

+

+:CopyDir

+

+xcopy %src% %dest% /c /q /s /e /y /i

+echo FAKELNK >  %dest%\.fakelnk

+goto :End

+

+:ShowUsage

+echo USAGE: %0 ^<src^> ^<dest^>

+echo Where:

+echo   ^<src^> is the source directory to be copied

+echo   ^<dest^> is the destination directory to be created

+

+:End

diff --git a/nuttx/tools/winlink.sh b/nuttx/tools/copydir.sh
index f79eda2bd..5d9f79002 100755
--- a/nuttx/tools/winlink.sh
+++ b/nuttx/tools/copydir.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 ############################################################################
-# tools/winlink.sh
+# tools/copydir.sh
 #
 #   Copyright (C) 2008 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/tools/incdir.bat b/nuttx/tools/incdir.bat
new file mode 100755
index 000000000..f7383fc9a
--- /dev/null
+++ b/nuttx/tools/incdir.bat
@@ -0,0 +1,165 @@
+@echo off
+
+rem tools/incdir.sh
+rem
+rem   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
+rem   Author: Gregory Nutt <gnutt@nuttx.org>
+rem
+rem Redistribution and use in source and binary forms, with or without
+rem modification, are permitted provided that the following conditions
+rem are met:
+rem
+rem 1. Redistributions of source code must retain the above copyright
+rem    notice, this list of conditions and the following disclaimer.
+rem 2. Redistributions in binary form must reproduce the above copyright
+rem    notice, this list of conditions and the following disclaimer in
+rem    the documentation and/or other materials provided with the
+rem    distribution.
+rem 3. Neither the name NuttX nor the names of its contributors may be
+rem    used to endorse or promote products derived from this software
+rem    without specific prior written permission.
+rem
+rem THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+rem "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+rem LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+rem FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+rem COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+rem INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+rem BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+rem OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+rem AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+rem LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+rem ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+rem POSSIBILITY OF SUCH DAMAGE.
+rem
+
+rem Handle command line options
+
+set progname=%0
+set pathtype=user
+
+:ArgLoop
+
+rem [-d] [-w] [-s] [-h]. [-w] and [-d] Ignored for compatibility with incdir.sh
+
+if "%1"=="-d" goto :NextArg
+if "%1"=="-w" goto :NextArg
+if "%1"=="-h" goto :Usage
+
+if "%1"=="-s" (
+  set pathtype=system
+  goto :NextArg
+)
+
+goto :CheckCompiler
+
+:NextArg
+shift
+goto :ArgLoop
+
+:CheckCompiler
+if "%1"=="" (
+  echo ERROR: Missing compiler name
+  goto :Usage
+)
+
+set ccpath=%1
+shift
+
+set compiler=
+for /F %%i in ("%ccpath%") do set compiler=%%~ni
+
+if "%1"=="" (
+  echo ERROR: Missing directory paths
+  goto :Usage
+)
+
+rem Check for some well known, non-GCC Windows native tools that require
+rem a special output format as well as special paths
+
+:GetFormat
+set fmt=std
+if "%compiler%"=="ez8cc" goto :SetZdsFormt
+if "%compiler%"=="zneocc" goto :SetZdsFormt
+if "%compiler%"=="ez80cc" goto :SetZdsFormt
+goto :GeneratePaths
+
+:SetZdsFormt
+set fmt=zds
+
+rem Generate the compiler include path directives.
+
+:GeneratePaths
+set response=
+
+:DirLoop
+if "%1" == "" (
+  echo %response%
+  goto :End
+)
+
+if not exist %1 (
+  echo ERROR: Path %1 does not exist
+  goto :Usage
+)
+
+if "%fmt%"=="zds" goto :GenerateZdsPath
+if "%response%"=="" goto :FirstStdPath
+if "%pathtype%"=="system" goto :NextStdSystemPath
+
+set response=%response% -I "%1"
+goto :EndOfDirLoop
+
+:NextStdSystemPath
+
+set response=%response% -isystem "%1"
+goto :EndOfDirLoop
+
+:FirstStdPath
+
+if "%pathtype%"=="system" goto :FirstStdSystemPath
+set response=-I "%1"
+goto :EndOfDirLoop
+
+:FirstStdSystemPath
+
+set response=-isystem "%1"
+goto :EndOfDirLoop
+
+:GenerateZdsPath
+
+if "%response%"=="" goto :FirstZdsPath
+set response=%response%;%1
+goto :EndOfDirLoop
+
+:FirstZdsPath
+
+if "%pathtype%"=="system" goto :FirstZdsSystemPath
+set response=-usrinc:%1
+goto :EndOfDirLoop
+
+:FirstZdsSystemPath
+
+set response=-stdinc:%1
+
+:EndOfDirLoop
+shift
+goto :DirLoop
+
+:Usage
+echo %progname% is a tool for flexible generation of include path arguments for a
+echo variety of different compilers in a variety of compilation environments
+echo USAGE: %progname% [-w] [-d] [-s] [-h] ^<compiler-path^> ^<dir1^> [^<dir2^> [^<dir3^> ...]]
+echo Where:
+echo   ^<compiler-path^>
+echo       The full path to your compiler
+echo   ^<dir1^> [^<dir2^> [^<dir3^> ...]]
+echo       A list of include directories
+echo   -w, -d
+echo       For compatibility with incdir.sh (ignored)
+echo   -s
+echo       Generate standard, system header file paths instead of normal user
+echo       header file paths.
+echo   -h
+echo       Shows this help text and exits.
+:End
diff --git a/nuttx/tools/incdir.sh b/nuttx/tools/incdir.sh
index be6a1d07a..eaae082b9 100755
--- a/nuttx/tools/incdir.sh
+++ b/nuttx/tools/incdir.sh
@@ -36,6 +36,7 @@
 
 progname=$0
 wintool=n
+pathtype=user
 usage="USAGE: $progname [-w] [-d] [-h] <compiler-path> <dir1> [<dir2> [<dir3> ...]]"
 advice="Try '$progname -h' for more information"
 
@@ -47,6 +48,9 @@ while [ ! -z "$1" ]; do
 	-w )
 		wintool=y
 		;;
+	-s )
+		pathtype=system
+		;;
 	-h )
 		echo "$progname is a tool for flexible generation of include path arguments for a"
 		echo "variety of different compilers in a variety of compilation environments"
@@ -61,6 +65,9 @@ while [ ! -z "$1" ]; do
 		echo "	-w"
 		echo "		The compiler is a Windows native tool and requires Windows"
 		echo "		style pathnames like C:\\Program Files"
+		echo "	-s"
+		echo "		Generate standard, system header file paths instead of normal user"
+		echo "		header file paths."
 		echo "	-d"
 		echo "		Enable script debug"
 		;;
@@ -155,11 +162,27 @@ exefile=`basename "$compiler"`
 # a special output format as well as special paths
 
 if [ "X$exefile" = "Xez8cc.exe" -o "X$exefile" = "Xzneocc.exe" -o "X$exefile" = "Xez80cc.exe" ]; then
-	fmt=userinc
+	fmt=zds
 else
 	fmt=std
 fi
 
+# Select system or user header file path command line option
+
+if [ "X$fmt" = "Xzds" ]; then
+	if [ "X$pathtype" = "Xsystem" ]; then
+		cmdarg=-stdinc:
+	else
+		cmdarg=-usrinc:
+	fi
+else
+	if [ "X$pathtype" = "Xsystem" ]; then
+		cmdarg=-isystem
+	else
+		cmdarg=-I
+	fi
+fi
+
 # Now process each directory in the directory list
 
 unset response
@@ -183,26 +206,26 @@ for dir in $dirlist; do
 
 	# Handle the output using the selected format
 
-	if [ "X$fmt" = "Xuserinc" ]; then
+	if [ "X$fmt" = "Xzds" ]; then
 		# Treat the first directory differently
 
 		if [ -z "$response" ]; then
-			response="-usrinc:'"$path
+			response="${cmdarg}'"${path}
 		else
-			response=$response":$path"
+			response=${response}";${path}"
 		fi
 	else
 		# Treat the first directory differently
 
 		if [ -z "$response" ]; then
-			response=-I\"$path\"
+			response="${cmdarg} \"$path\""
 		else
-			response=$response" -I\"$path\""
+			response="${response} ${cmdarg} \"$path\""
 		fi
 	fi
 done
 
-if [ "X$fmt" = "Xuserinc" ]; then
+if [ "X$fmt" = "Xzds" ]; then
 	response=$response"'"
 fi
 
diff --git a/nuttx/tools/link.bat b/nuttx/tools/link.bat
new file mode 100755
index 000000000..434574ee3
--- /dev/null
+++ b/nuttx/tools/link.bat
@@ -0,0 +1,89 @@
+@echo off

+

+rem tools/link.bat

+rem

+rem   Copyright (C) 2012 Gregory Nutt. All rights reserved.

+rem   Author: Gregory Nutt <gnutt@nuttx.org>

+rem

+rem Redistribution and use in source and binary forms, with or without

+rem modification, are permitted provided that the following conditions

+rem are met:

+rem

+rem 1. Redistributions of source code must retain the above copyright

+rem    notice, this list of conditions and the following disclaimer.

+rem 2. Redistributions in binary form must reproduce the above copyright

+rem    notice, this list of conditions and the following disclaimer in

+rem    the documentation and/or other materials provided with the

+rem    distribution.

+rem 3. Neither the name NuttX nor the names of its contributors may be

+rem    used to endorse or promote products derived from this software

+rem    without specific prior written permission.

+rem

+rem THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

+rem "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

+rem LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

+rem FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

+rem COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,

+rem INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,

+rem BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS

+rem OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED

+rem AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT

+rem LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN

+rem ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

+rem POSSIBILITY OF SUCH DAMAGE.

+rem

+

+set src=%1

+set link=%2

+

+rem Verify that arguments were provided

+

+if "%src%"=="" goto :MissingSrc

+if "%link%"=="" goto :MissingLink

+goto CheckSrc

+

+:MissingSrc

+

+echo Missing ^<src^> and ^<link^> arguments

+goto :ShowUsage

+

+:MissingLink

+

+echo Missing ^<link^> arguments

+goto :ShowUsage

+

+rem Verify that a directory exists at the source path

+

+:CheckSrc

+

+if exist %src% goto :CheckLink

+

+echo No directory at %src%

+goto :ShowUsage

+

+:CheckLink

+

+rem If something already exists at the destination path, remove it

+

+if not exist %link% goto :MkLink

+

+rmdir /q /s %link%

+if errorlevel 1 (

+  echo Failed to remove existing object at %link%

+  goto :ShowUsage

+)

+

+rem Copy the directory

+

+:MkLink

+

+/user:administrator mklink /d %src% %link%

+goto :End

+

+:ShowUsage

+echo USAGE: %0 ^<src^> ^<link^>

+echo Where:

+echo   ^<src^> is the source directory to be linked

+echo   ^<link^> is the link to be created

+

+:End

diff --git a/nuttx/tools/unlink.bat b/nuttx/tools/unlink.bat
new file mode 100755
index 000000000..25e83bb9f
--- /dev/null
+++ b/nuttx/tools/unlink.bat
@@ -0,0 +1,71 @@
+@echo off

+

+rem tools/unlink.bat

+rem

+rem   Copyright (C) 2012 Gregory Nutt. All rights reserved.

+rem   Author: Gregory Nutt <gnutt@nuttx.org>

+rem

+rem Redistribution and use in source and binary forms, with or without

+rem modification, are permitted provided that the following conditions

+rem are met:

+rem

+rem 1. Redistributions of source code must retain the above copyright

+rem    notice, this list of conditions and the following disclaimer.

+rem 2. Redistributions in binary form must reproduce the above copyright

+rem    notice, this list of conditions and the following disclaimer in

+rem    the documentation and/or other materials provided with the

+rem    distribution.

+rem 3. Neither the name NuttX nor the names of its contributors may be

+rem    used to endorse or promote products derived from this software

+rem    without specific prior written permission.

+rem

+rem THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

+rem "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

+rem LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

+rem FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

+rem COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,

+rem INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,

+rem BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS

+rem OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED

+rem AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT

+rem LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN

+rem ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

+rem POSSIBILITY OF SUCH DAMAGE.

+rem

+

+rem Verify that arguments were provided

+

+set link=%1

+if "%link%"=="" goto :MissingArgument

+

+rem Check if something already exists at the link path

+

+if exist "%link%" goto :LinkExists

+

+echo %link% does not exist

+goto :ShowUsage

+

+rem %link% make be a symbolic link or it may be a copied director (with

+rem a .fakelnk file in it).  It really does not matter which:  We do the

+rem same thing in either case

+

+:LinkExists

+

+rmdir /q /s %link%

+if errorlevel 1 (

+  echo Failed to remove existing object at %link%

+  goto :ShowUsage

+)

+

+goto :End

+

+:MissingArgument

+

+echo Missing Argument

+

+:ShowUsage

+echo USAGE: %0 ^<link^>

+echo Where:

+echo   ^<link^> is the linked (or copied) directory to be removed

+

+:End