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

79 files changed, 2874 insertions, 3742 deletions

diff --git a/.gitignore b/.gitignore
index 40957d3fb..b5bd27d53 100644
--- a/.gitignore
+++ b/.gitignore
@@ -38,3 +38,4 @@ Firmware.sublime-workspace
 nsh_romfsimg.h
 cscope.out
 .configX-e
+nuttx-export.zip
diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt
index d24494f54..7375adccf 100644
--- a/apps/ChangeLog.txt
+++ b/apps/ChangeLog.txt
@@ -279,14 +279,14 @@
 	* apps/*/Make.defs:  Numerous fixes needed to use the automated
 	  configuration (from Richard Cochran).
 
-6.22 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+6.22 2012-09-29 Gregory Nutt <gnutt@nuttx.org>
 
 	* apps/netutils/thttpd/thttpd_cgi.c:  Missing NULL in argv[]
 	  list (contributed by Kate).
 	* apps/nshlib/nsh_parse.c: CONFIG_NSH_DISABLE_WGET not CONFIG_NSH_DISABLE_GET
 	  in one location (found by Kate).
 	* apps/examples/ostest/prioinherit.c:  Limit the number of test
-	  threds to no more than 3 of each priority.  Bad things happen
+	  threads to no more than 3 of each priority.  Bad things happen
 	  when the existing logic tried to created several hundred test
 	  treads!
 	* apps/nshlib/nsh.h:  Both CONFIG_LIBC_STRERROR and CONFIG_NSH_STRERROR
@@ -341,7 +341,30 @@
 	* apps/netutils/webserver/httpd.c:  Add support for Keep-alive connections
 	  (from Kate).
 	* apps/NxWidget/Kconfig:  This is a kludge.  I created this NxWidgets
-	  directory that ONLY contains Kconfig.  NxWidgets does not like in
+	  directory that ONLY contains Kconfig.  NxWidgets does not live in
 	  either the nuttx/ or the apps/ source trees.  This kludge makes it
 	  possible to configure NxWidgets/NxWM without too much trouble (with
 	  the tradeoff being a kind ugly structure and some maintenance issues).
+	* apps/examples/Make.defs: Missing support for apps/examples/watchdog.
+	* apps/NxWidgets/Kconfig:  Add option to turn on the memory monitor
+	  feature of the NxWidgets/NxWM unit tests.
+
+6.23 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+
+	* vsn: Moved all NSH commands from vsn/ to system/.  Deleted the vsn/
+	  directory.
+	* Makefile:  Change order of includes when CONFIG_NEWCONFIG=y.  In
+	  that case, namedapp must be included first so that the namedapp
+	  context is established first.  If the namedapp context is established
+	  later, it will overwrite any existing namedapp_list.h and nameapp_proto.h
+	  files.
+	* CONFIG_EXAMPLES_*: To make things consistent, changed all occurrences
+	  of CONFIG_EXAMPLE_* to CONFIG_EXAMPLES_*.
+	* Kconfig:  Fleshed out apps/examples/adc/Kconfig and apps/examples/wget/Kconfig.
+	  There are still a LOT of empty, stub Kconfig files.
+	* Kconfig:  Fleshed out apps/examples/buttons/Kconfig. There are still a LOT
+	  of empty, stub Kconfig files.
+	* apps/netutils/webserver/httpd.c:  Fix a bug that I introduced in
+	  recent check-ins (Darcy Gong).
+	* apps/netutils/webclient/webclient.c:  Fix another but that I introduced
+	  when I was trying to add correct handling for loss of connection (Darcy Gong)
diff --git a/apps/Kconfig b/apps/Kconfig
index 5543ba72d..ea9bd2d31 100644
--- a/apps/Kconfig
+++ b/apps/Kconfig
@@ -34,7 +34,3 @@ endmenu
 menu "System NSH Add-Ons"
 source "$APPSDIR/system/Kconfig"
 endmenu
-
-menu "VSN board Add-Ons"
-source "$APPSDIR/vsn/Kconfig"
-endmenu
diff --git a/apps/Makefile b/apps/Makefile
index f087b7c33..19ad1c18b 100644
--- a/apps/Makefile
+++ b/apps/Makefile
@@ -46,10 +46,10 @@ APPDIR = ${shell pwd}
 #   appears in this directory as .config)
 # SUBDIRS is the list of all directories containing Makefiles.  It is used
 #   only for cleaning. namedapp must always be the first in the list.  This
-#   list can be extended by the .config file as well
+#   list can be extended by the .config file as well.
 
 CONFIGURED_APPS =
-#SUBDIRS = examples graphics interpreters modbus namedapp nshlib netutils system vsn
+#SUBDIRS = examples graphics interpreters modbus namedapp nshlib netutils system
 ALL_SUBDIRS = $(dir $(shell /usr/bin/find . -name Makefile))
 SUBDIRS = namedapp/ $(filter-out ./ ./namedapp/ ./examples/,$(ALL_SUBDIRS))
 
@@ -73,15 +73,16 @@ SUBDIRS = namedapp/ $(filter-out ./ ./namedapp/ ./examples/,$(ALL_SUBDIRS))
 
 ifeq ($(CONFIG_NUTTX_NEWCONFIG),y)
 
+# namedapp/Make.defs must be included first
+
+-include namedapp/Make.defs
 -include examples/Make.defs
 -include graphics/Make.defs
 -include interpreters/Make.defs
 -include modbus/Make.defs
--include namedapp/Make.defs
 -include netutils/Make.defs
 -include nshlib/Make.defs
 -include system/Make.defs
--include vsn/Make.defs
 
 # INSTALLED_APPS is the list of currently available application directories.  It
 # is the same as CONFIGURED_APPS, but filtered to exclude any non-existent
diff --git a/apps/README.txt b/apps/README.txt
index f9c9ececd..7a379254e 100644
--- a/apps/README.txt
+++ b/apps/README.txt
@@ -107,7 +107,7 @@ NuttX is configured.  .config is included in the toplevel apps/Makefile.
 As a minimum, this configuration file must define files to add to the
 CONFIGURED_APPS list like:
 
-  CONFIGURED_APPS  += examples/hello vsn/poweroff
+  CONFIGURED_APPS  += examples/hello system/poweroff
 
 Named Start-Up main() function
 ------------------------------
diff --git a/apps/drivers/device/cdev.cpp b/apps/drivers/device/cdev.cpp
index 6b8bf0c2d..d07d26e82 100644
--- a/apps/drivers/device/cdev.cpp
+++ b/apps/drivers/device/cdev.cpp
@@ -74,7 +74,7 @@ static int	cdev_poll(struct file *filp, struct pollfd *fds, bool setup);
  * Note that we use the GNU extension syntax here because we don't get designated
  * initialisers in gcc 4.6.
  */
-static const struct file_operations cdev_fops = {
+const struct file_operations CDev::fops = {
 open	: cdev_open,
 close	: cdev_close,
 read	: cdev_read,
@@ -118,7 +118,7 @@ CDev::init()
 		goto out;
 
 	// now register the driver
-	ret = register_driver(_devname, &cdev_fops, 0666, (void *)this);
+	ret = register_driver(_devname, &fops, 0666, (void *)this);
 
 	if (ret != OK)
 		goto out;
diff --git a/apps/drivers/device/device.h b/apps/drivers/device/device.h
index 98dbf8bfb..9af678465 100644
--- a/apps/drivers/device/device.h
+++ b/apps/drivers/device/device.h
@@ -287,6 +287,12 @@ public:
 
 protected:
 	/**
+	 * Pointer to the default cdev file operations table; useful for
+	 * registering clone devices etc.
+	 */
+	static const struct file_operations	fops;
+
+	/**
 	 * Check the current state of the device for poll events from the
 	 * perspective of the file.
 	 *
diff --git a/apps/examples/Make.defs b/apps/examples/Make.defs
index a6e0ae88e..d03b976d2 100644
--- a/apps/examples/Make.defs
+++ b/apps/examples/Make.defs
@@ -58,7 +58,7 @@ ifeq ($(CONFIG_EXAMPLES_DHCPD),y)
 CONFIGURED_APPS += examples/dhcpd
 endif
 
-ifeq ($(CONFIG_EXAMPLE_DISCOVER),y)
+ifeq ($(CONFIG_EXAMPLES_DISCOVER),y)
 CONFIGURED_APPS += examples/discover
 endif
 
@@ -218,6 +218,10 @@ ifeq ($(CONFIG_EXAMPLES_USBTERM),y)
 CONFIGURED_APPS += examples/usbterm
 endif
 
+ifeq ($(CONFIG_EXAMPLES_WATCHDOG),y)
+CONFIGURED_APPS += examples/watchdog
+endif
+
 ifeq ($(CONFIG_EXAMPLES_WGET),y)
 CONFIGURED_APPS += examples/wget
 endif
diff --git a/apps/examples/README.txt b/apps/examples/README.txt
index 12d6d3892..763427e32 100644
--- a/apps/examples/README.txt
+++ b/apps/examples/README.txt
@@ -60,20 +60,20 @@ examples/buttons
   This is a simple configuration that may be used to test the board-
   specific button interfaces.  Configuration options:
 
-  CONFIG_ARCH_BUTTONS                - Must be defined for button support
-  CONFIG_EXAMPLE_BUTTONS_MIN         - Lowest button number (MIN=0)
-  CONFIG_EXAMPLE_BUTTONS_MAX         - Highest button number (MAX=7)
+  CONFIG_ARCH_BUTTONS                 - Must be defined for button support
+  CONFIG_EXAMPLES_BUTTONS_MIN         - Lowest button number (MIN=0)
+  CONFIG_EXAMPLES_BUTTONS_MAX         - Highest button number (MAX=7)
 
-  CONFIG_ARCH_IRQBUTTONS             - Must be defined for interrupting button support
-  CONFIG_EXAMPLE_IRQBUTTONS_MIN      - Lowest interrupting button number (MIN=0)
-  CONFIG_EXAMPLE_IRQBUTTONS_MAX      - Highest interrupting button number (MAX=7)
+  CONFIG_ARCH_IRQBUTTONS              - Must be defined for interrupting button support
+  CONFIG_EXAMPLES_IRQBUTTONS_MIN      - Lowest interrupting button number (MIN=0)
+  CONFIG_EXAMPLES_IRQBUTTONS_MAX      - Highest interrupting button number (MAX=7)
 
   Name strings for buttons:
   
-    CONFIG_EXAMPLE_BUTTONS_NAME0, CONFIG_EXAMPLE_BUTTONS_NAME1,
-    CONFIG_EXAMPLE_BUTTONS_NAME2, CONFIG_EXAMPLE_BUTTONS_NAME3,
-    CONFIG_EXAMPLE_BUTTONS_NAME4, CONFIG_EXAMPLE_BUTTONS_NAME5,
-    CONFIG_EXAMPLE_BUTTONS_NAME6, CONFIG_EXAMPLE_BUTTONS_NAME7,
+    CONFIG_EXAMPLES_BUTTONS_NAME0, CONFIG_EXAMPLES_BUTTONS_NAME1,
+    CONFIG_EXAMPLES_BUTTONS_NAME2, CONFIG_EXAMPLES_BUTTONS_NAME3,
+    CONFIG_EXAMPLES_BUTTONS_NAME4, CONFIG_EXAMPLES_BUTTONS_NAME5,
+    CONFIG_EXAMPLES_BUTTONS_NAME6, CONFIG_EXAMPLES_BUTTONS_NAME7,
 
   Additional architecture-/board- specific configuration settings may also
   be required.
@@ -260,10 +260,10 @@ examples/dhcpd
                                      configuration settings)
     CONFIG_NET_BROADCAST=y         - UDP broadcast support is needed.
 
-    CONFIG_EXAMPLE_DHCPD_NOMAC     - (May be defined to use software assigned MAC)
-    CONFIG_EXAMPLE_DHCPD_IPADDR    - Target IP address
-    CONFIG_EXAMPLE_DHCPD_DRIPADDR  - Default router IP addess
-    CONFIG_EXAMPLE_DHCPD_NETMASK   - Network mask
+    CONFIG_EXAMPLES_DHCPD_NOMAC     - (May be defined to use software assigned MAC)
+    CONFIG_EXAMPLES_DHCPD_IPADDR    - Target IP address
+    CONFIG_EXAMPLES_DHCPD_DRIPADDR  - Default router IP addess
+    CONFIG_EXAMPLES_DHCPD_NETMASK   - Network mask
 
   See also CONFIG_NETUTILS_DHCPD_* settings described elsewhere
   and used in netutils/dhcpd/dhcpd.c. These settings are required
@@ -291,11 +291,11 @@ examples/discover
 
   NuttX configuration settings:
 
-    CONFIG_EXAMPLE_DISCOVER_DHCPC - DHCP Client
-    CONFIG_EXAMPLE_DISCOVER_NOMAC - Use canned MAC address
-    CONFIG_EXAMPLE_DISCOVER_IPADDR - Target IP address
-    CONFIG_EXAMPLE_DISCOVER_DRIPADDR - Router IP address
-    CONFIG_EXAMPLE_DISCOVER_NETMASK - Network Mask
+    CONFIG_EXAMPLES_DISCOVER_DHCPC - DHCP Client
+    CONFIG_EXAMPLES_DISCOVER_NOMAC - Use canned MAC address
+    CONFIG_EXAMPLES_DISCOVER_IPADDR - Target IP address
+    CONFIG_EXAMPLES_DISCOVER_DRIPADDR - Router IP address
+    CONFIG_EXAMPLES_DISCOVER_NETMASK - Network Mask
 
 examples/ftpc
 ^^^^^^^^^^^^^
@@ -367,12 +367,12 @@ examples/ftpd
   If CONFIG_EXAMPLES_FTPD_NONETINIT is not defined, then the following may
   be specified to customized the network configuration:
 
-    CONFIG_EXAMPLE_FTPD_NOMAC - If the hardware has no MAC address of its
+    CONFIG_EXAMPLES_FTPD_NOMAC - If the hardware has no MAC address of its
       own, define this =y to provide a bogus address for testing.
-    CONFIG_EXAMPLE_FTPD_IPADDR - The target IP address.  Default 10.0.0.2
-    CONFIG_EXAMPLE_FTPD_DRIPADDR - The default router address. Default
+    CONFIG_EXAMPLES_FTPD_IPADDR - The target IP address.  Default 10.0.0.2
+    CONFIG_EXAMPLES_FTPD_DRIPADDR - The default router address. Default
       10.0.0.1
-    CONFIG_EXAMPLE_FTPD_NETMASK - The network mask.  Default: 255.255.255.0
+    CONFIG_EXAMPLES_FTPD_NETMASK - The network mask.  Default: 255.255.255.0
 
   Other required configuration settings:  Of course TCP networking support
   is required.  But here are a couple that are less obvious:
@@ -465,15 +465,15 @@ examples/igmp
   does not do much of value -- Much more is needed in order to verify
   the IGMP features!
 
-  * CONFIG_EXAMPLE_IGMP_NOMAC
+  * CONFIG_EXAMPLES_IGMP_NOMAC
       Set if the hardware has no MAC address; one will be assigned
-  * CONFIG_EXAMPLE_IGMP_IPADDR
+  * CONFIG_EXAMPLES_IGMP_IPADDR
       Target board IP address
-  * CONFIG_EXAMPLE_IGMP_DRIPADDR
+  * CONFIG_EXAMPLES_IGMP_DRIPADDR
       Default router address
-  * CONFIG_EXAMPLE_IGMP_NETMASK
+  * CONFIG_EXAMPLES_IGMP_NETMASK
       Network mask
-  * CONFIG_EXAMPLE_IGMP_GRPADDR
+  * CONFIG_EXAMPLES_IGMP_GRPADDR
       Multicast group address
 
   Applications using this example will need to provide an appconfig
@@ -1023,10 +1023,10 @@ examples/poll
   CONFIG_NSOCKET_DESCRIPTORS        - Defined to be greater than 0
   CONFIG_NET_NTCP_READAHEAD_BUFFERS - Defined to be greater than zero
 
-  CONFIG_EXAMPLE_POLL_NOMAC         - (May be defined to use software assigned MAC)
-  CONFIG_EXAMPLE_POLL_IPADDR        - Target IP address
-  CONFIG_EXAMPLE_POLL_DRIPADDR      - Default router IP addess
-  CONFIG_EXAMPLE_POLL_NETMASK       - Network mask
+  CONFIG_EXAMPLES_POLL_NOMAC         - (May be defined to use software assigned MAC)
+  CONFIG_EXAMPLES_POLL_IPADDR        - Target IP address
+  CONFIG_EXAMPLES_POLL_DRIPADDR      - Default router IP addess
+  CONFIG_EXAMPLES_POLL_NETMASK       - Network mask
 
   In order to for select to work with incoming connections, you
   must also select:
@@ -1163,14 +1163,14 @@ examples/sendmail
 
  Settings unique to this example include:
 
-    CONFIG_EXAMPLE_SENDMAIL_NOMAC     - May be defined to use software assigned MAC (optional)
-    CONFIG_EXAMPLE_SENDMAIL_IPADDR    - Target IP address (required)
-    CONFIG_EXAMPLE_SENDMAIL_DRIPADDR  - Default router IP addess (required)
-    CONFIG_EXAMPLE_SENDMAILT_NETMASK  - Network mask (required)
-    CONFIG_EXAMPLE_SENDMAIL_RECIPIENT - The recipient of the email (required)
-    CONFIG_EXAMPLE_SENDMAIL_SENDER    - Optional. Default: "nuttx-testing@example.com"
-    CONFIG_EXAMPLE_SENDMAIL_SUBJECT   - Optional. Default: "Testing SMTP from NuttX"
-    CONFIG_EXAMPLE_SENDMAIL_BODY   -    Optional. Default: "Test message sent by NuttX"
+    CONFIG_EXAMPLES_SENDMAIL_NOMAC     - May be defined to use software assigned MAC (optional)
+    CONFIG_EXAMPLES_SENDMAIL_IPADDR    - Target IP address (required)
+    CONFIG_EXAMPLES_SENDMAIL_DRIPADDR  - Default router IP addess (required)
+    CONFIG_EXAMPLES_SENDMAILT_NETMASK  - Network mask (required)
+    CONFIG_EXAMPLES_SENDMAIL_RECIPIENT - The recipient of the email (required)
+    CONFIG_EXAMPLES_SENDMAIL_SENDER    - Optional. Default: "nuttx-testing@example.com"
+    CONFIG_EXAMPLES_SENDMAIL_SUBJECT   - Optional. Default: "Testing SMTP from NuttX"
+    CONFIG_EXAMPLES_SENDMAIL_BODY   -    Optional. Default: "Test message sent by NuttX"
 
   NOTE: This test has not been verified on the NuttX target environment.
   As of this writing, unit-tested in the Cygwin/Linux host environment.
@@ -1213,12 +1213,12 @@ examples/telnetd
       Default: SCHED_PRIORITY_DEFAULT
     CONFIG_EXAMPLES_TELNETD_CLIENTSTACKSIZE - Stack size allocated for the
       Telnet client. Default: 2048
-    CONFIG_EXAMPLE_TELNETD_NOMAC - If the hardware has no MAC address of its
+    CONFIG_EXAMPLES_TELNETD_NOMAC - If the hardware has no MAC address of its
       own, define this =y to provide a bogus address for testing.
-    CONFIG_EXAMPLE_TELNETD_IPADDR - The target IP address.  Default 10.0.0.2
-    CONFIG_EXAMPLE_TELNETD_DRIPADDR - The default router address. Default
+    CONFIG_EXAMPLES_TELNETD_IPADDR - The target IP address.  Default 10.0.0.2
+    CONFIG_EXAMPLES_TELNETD_DRIPADDR - The default router address. Default
       10.0.0.1
-    CONFIG_EXAMPLE_TELNETD_NETMASK - The network mask.  Default: 255.255.255.0
+    CONFIG_EXAMPLES_TELNETD_NETMASK - The network mask.  Default: 255.255.255.0
  
   The appconfig file (apps/.config) should include:
 
@@ -1240,9 +1240,9 @@ examples/thttpd
   CGI programs.  see configs/README.txt for most THTTPD settings.
   In addition to those, this example accepts:
 
-    CONFIG_EXAMPLE_THTTPD_NOMAC    - (May be defined to use software assigned MAC)
-    CONFIG_EXAMPLE_THTTPD_DRIPADDR - Default router IP addess
-    CONFIG_EXAMPLE_THTTPD_NETMASK  - Network mask
+    CONFIG_EXAMPLES_THTTPD_NOMAC    - (May be defined to use software assigned MAC)
+    CONFIG_EXAMPLES_THTTPD_DRIPADDR - Default router IP addess
+    CONFIG_EXAMPLES_THTTPD_NETMASK  - Network mask
 
   Applications using this example will need to provide an appconfig
   file in the configuration directory with instruction to build applications
@@ -1335,11 +1335,11 @@ examples/uip
   This is a port of uIP tiny webserver example application.  Settings
   specific to this example include:
 
-    CONFIG_EXAMPLE_UIP_NOMAC     - (May be defined to use software assigned MAC)
-    CONFIG_EXAMPLE_UIP_IPADDR    - Target IP address
-    CONFIG_EXAMPLE_UIP_DRIPADDR  - Default router IP addess
-    CONFIG_EXAMPLE_UIP_NETMASK   - Network mask
-    CONFIG_EXAMPLE_UIP_DHCPC     - Select to get IP address via DHCP
+    CONFIG_EXAMPLES_UIP_NOMAC     - (May be defined to use software assigned MAC)
+    CONFIG_EXAMPLES_UIP_IPADDR    - Target IP address
+    CONFIG_EXAMPLES_UIP_DRIPADDR  - Default router IP addess
+    CONFIG_EXAMPLES_UIP_NETMASK   - Network mask
+    CONFIG_EXAMPLES_UIP_DHCPC     - Select to get IP address via DHCP
 
   If you use DHCPC, then some special configuration network options are
   required.  These include:
@@ -1637,11 +1637,11 @@ examples/wget
   A simple web client example.  It will obtain a file from a server using the HTTP
   protocol.  Settings unique to this example include:
 
-    CONFIG_EXAMPLE_WGET_URL       - The URL of the file to get
-    CONFIG_EXAMPLE_WGET_NOMAC     - (May be defined to use software assigned MAC)
-    CONFIG_EXAMPLE_WGET_IPADDR    - Target IP address
-    CONFIG_EXAMPLE_WGET_DRIPADDR  - Default router IP addess
-    CONFIG_EXAMPLE_WGET_NETMASK   - Network mask
+    CONFIG_EXAMPLES_WGET_URL       - The URL of the file to get
+    CONFIG_EXAMPLES_WGET_NOMAC     - (May be defined to use software assigned MAC)
+    CONFIG_EXAMPLES_WGET_IPADDR    - Target IP address
+    CONFIG_EXAMPLES_WGET_DRIPADDR  - Default router IP addess
+    CONFIG_EXAMPLES_WGET_NETMASK   - Network mask
 
   This example uses netutils/webclient.  Additional configuration settings apply
   to that code as follows (but built-in defaults are probably OK):
diff --git a/apps/examples/adc/Kconfig b/apps/examples/adc/Kconfig
index b6dca047c..85c875deb 100644
--- a/apps/examples/adc/Kconfig
+++ b/apps/examples/adc/Kconfig
@@ -6,8 +6,32 @@
 config EXAMPLES_ADC
 	bool "ADC example"
 	default n
+	depends on ADC
 	---help---
 		Enable the ADC example
 
 if EXAMPLES_ADC
+
+config EXAMPLES_ADC_DEVPATH
+	string "ADC device path"
+	default "/dev/adc0"
+	---help---
+		The default path to the ADC device. Default: /dev/adc0
+
+config EXAMPLES_ADC_NSAMPLES
+	int "Number of Sample Groups"
+	default 0
+	depends on !NSH_BUILTIN_APPS
+	---help---
+		If NSH_BUILTIN_APPS is defined, then the number of samples is provided
+		on the command line and this value is ignored.  Otherwise, this number
+		of samples is collected and the program terminates.  Default:  0 (samples
+		are collected indefinitely).
+
+config EXAMPLES_ADC_GROUPSIZE
+	int "Number of Samples per Group"
+	default 4
+	---help---
+		The number of samples to read at once. Default: 4
+
 endif
diff --git a/apps/examples/adc/adc_main.c b/apps/examples/adc/adc_main.c
index 4797265db..404fba8c1 100644
--- a/apps/examples/adc/adc_main.c
+++ b/apps/examples/adc/adc_main.c
@@ -57,6 +57,14 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
+/* Use CONFIG_EXAMPLES_ADC_NSAMPLES == 0 to mean to collect samples
+ * indefinitely.
+ */
+
+#ifndef CONFIG_EXAMPLES_ADC_NSAMPLES
+#  define CONFIG_EXAMPLES_ADC_NSAMPLES 0
+#endif
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -249,7 +257,7 @@ int adc_main(int argc, char *argv[])
 
       adc_devpath(&g_adcstate, CONFIG_EXAMPLES_ADC_DEVPATH);
 
-#ifdef CONFIG_EXAMPLES_ADC_NSAMPLES
+#if CONFIG_EXAMPLES_ADC_NSAMPLES > 0
       g_adcstate.count = CONFIG_EXAMPLES_ADC_NSAMPLES;
 #else
       g_adcstate.count = 1;
@@ -267,7 +275,7 @@ int adc_main(int argc, char *argv[])
    * samples that we collect before returning.  Otherwise, we never return
    */
 
-#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_ADC_NSAMPLES)
+#if defined(CONFIG_NSH_BUILTIN_APPS) || CONFIG_EXAMPLES_ADC_NSAMPLES > 0
   message("adc_main: g_adcstate.count: %d\n", g_adcstate.count);
 #endif
 
@@ -290,7 +298,7 @@ int adc_main(int argc, char *argv[])
 
 #if defined(CONFIG_NSH_BUILTIN_APPS)
   for (; g_adcstate.count > 0; g_adcstate.count--)
-#elif defined(CONFIG_EXAMPLES_ADC_NSAMPLES)
+#elif CONFIG_EXAMPLES_ADC_NSAMPLES > 0
   for (g_adcstate.count = 0; g_adcstate.count < CONFIG_EXAMPLES_ADC_NSAMPLES; g_adcstate.count++)
 #else
   for (;;)
diff --git a/apps/examples/buttons/Kconfig b/apps/examples/buttons/Kconfig
index 9c34b37bc..d145867fc 100644
--- a/apps/examples/buttons/Kconfig
+++ b/apps/examples/buttons/Kconfig
@@ -7,7 +7,57 @@ config EXAMPLES_BUTTONS
 	bool "Buttons example"
 	default n
 	---help---
-		Enable the buttons example
+		Enable the buttons example.  May require ARCH_BUTTONS on some boards.
 
 if EXAMPLES_BUTTONS
+config EXAMPLES_BUTTONS_MIN
+int "Lowest Button Number"
+default 0
+
+config EXAMPLES_BUTTONS_MAX
+int "Highest Button Number"
+default 7
+
+if ARCH_IRQBUTTONS 
+config EXAMPLES_IRQBUTTONS_MIN
+int "Lowest Interrupting Button Number"
+default 0
+
+config EXAMPLES_IRQBUTTONS_MAX
+int "Highest Interrupting Button Number"
+default 7
+
+config EXAMPLES_BUTTONS_NAME0
+string "Button 0 Name"
+default "Button 0"
+
+config EXAMPLES_BUTTONS_NAME1
+string "Button 1 Name"
+default "Button 1"
+
+config EXAMPLES_BUTTONS_NAME2
+string "Button 2 Name"
+default "Button 2"
+
+config EXAMPLES_BUTTONS_NAME3
+string "Button 3 Name"
+default "Button 3"
+
+config EXAMPLES_BUTTONS_NAME4
+string "Button 4 Name"
+default "Button 4"
+
+config EXAMPLES_BUTTONS_NAME5
+string "Button 5 Name"
+default "Button 5"
+
+config EXAMPLES_BUTTONS_NAME6
+string "Button 6 Name"
+default "Button 6"
+
+config EXAMPLES_BUTTONS_NAME7
+string "Button 7 Name"
+default "Button 7"
+
+endif
 endif
diff --git a/apps/examples/buttons/buttons_main.c b/apps/examples/buttons/buttons_main.c
index a3f6449d4..5f25c1ef1 100644
--- a/apps/examples/buttons/buttons_main.c
+++ b/apps/examples/buttons/buttons_main.c
@@ -61,60 +61,60 @@
 #  error "CONFIG_ARCH_BUTTONS is not defined in the configuration"
 #endif
 
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME0
-#  define CONFIG_EXAMPLE_BUTTONS_NAME0 "BUTTON0"
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME0
+#  define CONFIG_EXAMPLES_BUTTONS_NAME0 "BUTTON0"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME1
-#  define CONFIG_EXAMPLE_BUTTONS_NAME1 "BUTTON1"
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME1
+#  define CONFIG_EXAMPLES_BUTTONS_NAME1 "BUTTON1"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME2
-#  define CONFIG_EXAMPLE_BUTTONS_NAME2 "BUTTON2"
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME2
+#  define CONFIG_EXAMPLES_BUTTONS_NAME2 "BUTTON2"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME3
-#  define CONFIG_EXAMPLE_BUTTONS_NAME3 "BUTTON3"
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME3
+#  define CONFIG_EXAMPLES_BUTTONS_NAME3 "BUTTON3"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME4
-#  define CONFIG_EXAMPLE_BUTTONS_NAME4 "BUTTON4"
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME4
+#  define CONFIG_EXAMPLES_BUTTONS_NAME4 "BUTTON4"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME5
-#  define CONFIG_EXAMPLE_BUTTONS_NAME5 "BUTTON5"
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME5
+#  define CONFIG_EXAMPLES_BUTTONS_NAME5 "BUTTON5"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME6
-#  define CONFIG_EXAMPLE_BUTTONS_NAME6 "BUTTON6"
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME6
+#  define CONFIG_EXAMPLES_BUTTONS_NAME6 "BUTTON6"
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_NAME7
-#  define CONFIG_EXAMPLE_BUTTONS_NAME7 "BUTTON7"
+#ifndef CONFIG_EXAMPLES_BUTTONS_NAME7
+#  define CONFIG_EXAMPLES_BUTTONS_NAME7 "BUTTON7"
 #endif
 
 #define BUTTON_MIN 0
 #define BUTTON_MAX 7
 
-#ifndef CONFIG_EXAMPLE_BUTTONS_MIN
-#  define CONFIG_EXAMPLE_BUTTONS_MIN BUTTON_MIN
+#ifndef CONFIG_EXAMPLES_BUTTONS_MIN
+#  define CONFIG_EXAMPLES_BUTTONS_MIN BUTTON_MIN
 #endif
-#ifndef CONFIG_EXAMPLE_BUTTONS_MAX
-#  define CONFIG_EXAMPLE_BUTTONS_MAX BUTTON_MAX
+#ifndef CONFIG_EXAMPLES_BUTTONS_MAX
+#  define CONFIG_EXAMPLES_BUTTONS_MAX BUTTON_MAX
 #endif
 
-#if CONFIG_EXAMPLE_BUTTONS_MIN > CONFIG_EXAMPLE_BUTTONS_MAX
-#  error "CONFIG_EXAMPLE_BUTTONS_MIN > CONFIG_EXAMPLE_BUTTONS_MAX"
+#if CONFIG_EXAMPLES_BUTTONS_MIN > CONFIG_EXAMPLES_BUTTONS_MAX
+#  error "CONFIG_EXAMPLES_BUTTONS_MIN > CONFIG_EXAMPLES_BUTTONS_MAX"
 #endif
-#if CONFIG_EXAMPLE_BUTTONS_MAX > 7
-#  error "CONFIG_EXAMPLE_BUTTONS_MAX > 7"
+#if CONFIG_EXAMPLES_BUTTONS_MAX > 7
+#  error "CONFIG_EXAMPLES_BUTTONS_MAX > 7"
 #endif
 
-#ifndef CONFIG_EXAMPLE_IRQBUTTONS_MIN
-#  define CONFIG_EXAMPLE_IRQBUTTONS_MIN CONFIG_EXAMPLE_BUTTONS_MIN
+#ifndef CONFIG_EXAMPLES_IRQBUTTONS_MIN
+#  define CONFIG_EXAMPLES_IRQBUTTONS_MIN CONFIG_EXAMPLES_BUTTONS_MIN
 #endif
-#ifndef CONFIG_EXAMPLE_IRQBUTTONS_MAX
-#  define CONFIG_EXAMPLE_IRQBUTTONS_MAX CONFIG_EXAMPLE_BUTTONS_MAX
+#ifndef CONFIG_EXAMPLES_IRQBUTTONS_MAX
+#  define CONFIG_EXAMPLES_IRQBUTTONS_MAX CONFIG_EXAMPLES_BUTTONS_MAX
 #endif
 
-#if CONFIG_EXAMPLE_IRQBUTTONS_MIN > CONFIG_EXAMPLE_IRQBUTTONS_MAX
-#  error "CONFIG_EXAMPLE_IRQBUTTONS_MIN > CONFIG_EXAMPLE_IRQBUTTONS_MAX"
+#if CONFIG_EXAMPLES_IRQBUTTONS_MIN > CONFIG_EXAMPLES_IRQBUTTONS_MAX
+#  error "CONFIG_EXAMPLES_IRQBUTTONS_MIN > CONFIG_EXAMPLES_IRQBUTTONS_MAX"
 #endif
-#if CONFIG_EXAMPLE_IRQBUTTONS_MAX > 7
-#  error "CONFIG_EXAMPLE_IRQBUTTONS_MAX > 7"
+#if CONFIG_EXAMPLES_IRQBUTTONS_MAX > 7
+#  error "CONFIG_EXAMPLES_IRQBUTTONS_MAX > 7"
 #endif
 
 #ifndef MIN
@@ -124,8 +124,8 @@
 #  define MAX(a,b) (a > b ? a : b)
 #endif
 
-#define MIN_BUTTON MIN(CONFIG_EXAMPLE_BUTTONS_MIN, CONFIG_EXAMPLE_IRQBUTTONS_MIN)
-#define MAX_BUTTON MAX(CONFIG_EXAMPLE_BUTTONS_MAX, CONFIG_EXAMPLE_IRQBUTTONS_MAX)
+#define MIN_BUTTON MIN(CONFIG_EXAMPLES_BUTTONS_MIN, CONFIG_EXAMPLES_IRQBUTTONS_MIN)
+#define MAX_BUTTON MAX(CONFIG_EXAMPLES_BUTTONS_MAX, CONFIG_EXAMPLES_IRQBUTTONS_MAX)
 
 #define NUM_BUTTONS     (MAX_BUTTON - MIN_BUTTON + 1)
 #define BUTTON_INDEX(b) ((b)-MIN_BUTTON)
@@ -187,7 +187,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 {
 #if MIN_BUTTON < 1
   {
-    CONFIG_EXAMPLE_BUTTONS_NAME0,
+    CONFIG_EXAMPLES_BUTTONS_NAME0,
 #ifdef CONFIG_ARCH_IRQBUTTONS
     button0_handler
 #endif
@@ -195,7 +195,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MIN_BUTTON < 2 && MAX_BUTTON > 0
   {
-    CONFIG_EXAMPLE_BUTTONS_NAME1,
+    CONFIG_EXAMPLES_BUTTONS_NAME1,
 #ifdef CONFIG_ARCH_IRQBUTTONS
     button1_handler
 #endif
@@ -203,7 +203,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MIN_BUTTON < 3 && MAX_BUTTON > 1
   {
-    CONFIG_EXAMPLE_BUTTONS_NAME2,
+    CONFIG_EXAMPLES_BUTTONS_NAME2,
 #ifdef CONFIG_ARCH_IRQBUTTONS
     button2_handler
 #endif
@@ -211,7 +211,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MIN_BUTTON < 4 && MAX_BUTTON > 2
   {
-    CONFIG_EXAMPLE_BUTTONS_NAME3,
+    CONFIG_EXAMPLES_BUTTONS_NAME3,
 #ifdef CONFIG_ARCH_IRQBUTTONS
     button3_handler
 #endif
@@ -219,7 +219,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MIN_BUTTON < 5 && MAX_BUTTON > 3
   {
-    CONFIG_EXAMPLE_BUTTONS_NAME4,
+    CONFIG_EXAMPLES_BUTTONS_NAME4,
 #ifdef CONFIG_ARCH_IRQBUTTONS
     button4_handler
 #endif
@@ -227,7 +227,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MIN_BUTTON < 6 && MAX_BUTTON > 4
   {
-    CONFIG_EXAMPLE_BUTTONS_NAME5,
+    CONFIG_EXAMPLES_BUTTONS_NAME5,
 #ifdef CONFIG_ARCH_IRQBUTTONS
     button5_handler
 #endif
@@ -235,7 +235,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MIN_BUTTON < 7 && MAX_BUTTON > 5
   {
-    CONFIG_EXAMPLE_BUTTONS_NAME6,
+    CONFIG_EXAMPLES_BUTTONS_NAME6,
 #ifdef CONFIG_ARCH_IRQBUTTONS
     button6_handler
 #endif
@@ -243,7 +243,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
 #endif
 #if MAX_BUTTON > 6
   {
-    CONFIG_EXAMPLE_BUTTONS_NAME7,
+    CONFIG_EXAMPLES_BUTTONS_NAME7,
 #ifdef CONFIG_ARCH_IRQBUTTONS
     button7_handler
 #endif
@@ -419,7 +419,7 @@ int buttons_main(int argc, char *argv[])
   /* Register to recieve button interrupts */
 
 #ifdef CONFIG_ARCH_IRQBUTTONS
-  for (i = CONFIG_EXAMPLE_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLE_IRQBUTTONS_MAX; i++)
+  for (i = CONFIG_EXAMPLES_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLES_IRQBUTTONS_MAX; i++)
     {
       xcpt_t oldhandler = up_irqbutton(i, g_buttoninfo[BUTTON_INDEX(i)].handler);
 
@@ -488,7 +488,7 @@ int buttons_main(int argc, char *argv[])
   /* Un-register button handlers */
 
 #if defined(CONFIG_ARCH_IRQBUTTONS) && defined(CONFIG_NSH_BUILTIN_APPS)
-  for (i = CONFIG_EXAMPLE_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLE_IRQBUTTONS_MAX; i++)
+  for (i = CONFIG_EXAMPLES_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLES_IRQBUTTONS_MAX; i++)
     {
       (void)up_irqbutton(i, NULL);
     }
diff --git a/apps/examples/poll/net_listener.c b/apps/examples/poll/net_listener.c
index 81ad7cdcc..2be98673c 100644
--- a/apps/examples/poll/net_listener.c
+++ b/apps/examples/poll/net_listener.c
@@ -290,14 +290,14 @@ static inline bool net_mksocket(struct net_listener_s *nls)
 static void net_configure(void)
 {
   struct in_addr addr;
-#if defined(CONFIG_EXAMPLE_POLL_NOMAC)
+#if defined(CONFIG_EXAMPLES_POLL_NOMAC)
   uint8_t mac[IFHWADDRLEN];
 #endif
 
   /* Configure uIP */
   /* Many embedded network interfaces must have a software assigned MAC */
 
-#ifdef CONFIG_EXAMPLE_POLL_NOMAC
+#ifdef CONFIG_EXAMPLES_POLL_NOMAC
   mac[0] = 0x00;
   mac[1] = 0xe0;
   mac[2] = 0xde;
@@ -309,17 +309,17 @@ static void net_configure(void)
 
   /* Set up our host address */
 
-  addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_IPADDR);
+  addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_IPADDR);
   uip_sethostaddr("eth0", &addr);
 
   /* Set up the default router address */
 
-  addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_DRIPADDR);
+  addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_DRIPADDR);
   uip_setdraddr("eth0", &addr);
 
   /* Setup the subnet mask */
 
-  addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_NETMASK);
+  addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_NETMASK);
   uip_setnetmask("eth0", &addr);
 }
 
diff --git a/apps/examples/poll/net_reader.c b/apps/examples/poll/net_reader.c
index 8a13618c3..2f23bab3c 100644
--- a/apps/examples/poll/net_reader.c
+++ b/apps/examples/poll/net_reader.c
@@ -83,14 +83,14 @@
 static void net_configure(void)
 {
   struct in_addr addr;
-#if defined(CONFIG_EXAMPLE_POLL_NOMAC)
+#if defined(CONFIG_EXAMPLES_POLL_NOMAC)
   uint8_t mac[IFHWADDRLEN];
 #endif
 
   /* Configure uIP */
   /* Many embedded network interfaces must have a software assigned MAC */
 
-#ifdef CONFIG_EXAMPLE_POLL_NOMAC
+#ifdef CONFIG_EXAMPLES_POLL_NOMAC
   mac[0] = 0x00;
   mac[1] = 0xe0;
   mac[2] = 0xde;
@@ -102,17 +102,17 @@ static void net_configure(void)
 
   /* Set up our host address */
 
-  addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_IPADDR);
+  addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_IPADDR);
   uip_sethostaddr("eth0", &addr);
 
   /* Set up the default router address */
 
-  addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_DRIPADDR);
+  addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_DRIPADDR);
   uip_setdraddr("eth0", &addr);
 
   /* Setup the subnet mask */
 
-  addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_NETMASK);
+  addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_NETMASK);
   uip_setnetmask("eth0", &addr);
 }
 
diff --git a/apps/nshlib/Kconfig b/apps/nshlib/Kconfig
index c0f7d6a92..d12a32973 100644
--- a/apps/nshlib/Kconfig
+++ b/apps/nshlib/Kconfig
@@ -291,19 +291,18 @@ config NSH_CONSOLE
 		console front-end is selected (/dev/console).
 
 		Normally, the serial console device is a UART and RS-232
-		interface.  However, if CONFIG_USBDEV is defined, then a USB
+		interface.  However, if USBDEV is defined, then a USB
 		serial device may, instead, be used if the one of
 		the following are defined:
 
-		CONFIG_PL2303 and CONFIG_PL2303_CONSOLE - Sets up the
-		Prolifics PL2303 emulation as a console device at /dev/console.
+		PL2303 and PL2303_CONSOLE - Set up the Prolifics PL2303
+		emulation as a console device at /dev/console.
 
-		CONFIG_CDCACM and CONFIG_CDCACM_CONSOLE - Sets up the
-		CDC/ACM serial device as a console device at dev/console.
+		CDCACM and CDCACM_CONSOLE - Set up the CDC/ACM serial
+		device as a console device at dev/console.
 
-		CONFIG_NSH_USBCONSOLE and CONFIG_NSH_USBCONDEV - Sets up the
-		some other USB serial device as the NSH console (not necessarily
-		dev/console).
+		NSH_USBCONSOLE and NSH_USBCONDEV - Sets up some other USB
+		serial device as the NSH console (not necessarily dev/console).
 
 config NSH_USBCONSOLE
 	bool "Use a USB console"
@@ -311,20 +310,20 @@ config NSH_USBCONSOLE
 	depends on NSH_CONSOLE && USBDEV
 	---help---
 		If defined, then the an arbitrary USB device may be used
-		to as the NSH console.  In this case, CONFIG_NSH_USBCONDEV
-		must be defined to indicate which USB device to use as
-		the console.
+		to as the NSH console.  In this case, NSH_USBCONDEV must
+		be defined to indicate which USB device to use as the
+		console.
 
 config NSH_USBCONDEV
 	string "USB console device"
 	default "/dev/ttyACM0"
 	depends on NSH_USBCONSOLE
 	---help---
-		If CONFIG_NSH_USBCONSOLE is set to 'y', then CONFIG_NSH_USBCONDEV
-		must also be set to select the USB device used to support
-		the NSH console.   This should be set to the quoted name of a
+		If NSH_USBCONSOLE is set to 'y', then NSH_USBCONDEV must
+		also be set to select the USB device used to support the
+		NSH console.   This should be set to the quoted name of a
 		readable/write-able USB driver such as:
-		CONFIG_NSH_USBCONDEV="/dev/ttyACM0".
+		NSH_USBCONDEV="/dev/ttyACM0".
 
 config UBSDEV_MINOR
 	int "USB console device minor number"
@@ -448,6 +447,35 @@ config NSH_IOBUFFER_SIZE
 	---help---
 		Determines the size of the I/O buffer to use for sending/
 		receiving TELNET commands/reponses.  Default: 512
+
+config NSH_TELNET_LOGIN
+	bool "Telnet Login"
+	default n
+	---help---
+		If defined, then the Telnet user will be required to provide a
+		username and password to start the NSH shell.
+
+if NSH_TELNET_LOGIN
+
+config NSH_TELNET_USERNAME
+	string "Login Username"
+	default "admin"
+	---help---
+		Login user name.  Default: "admin"
+
+config NSH_TELNET_PASSWORD
+	string "Login Password"
+	default "nuttx"
+	---help---
+		Login password:  Default: "nuttx"
+
+config NSH_TELNET_FAILCOUNT
+	int "Login Retry Count"
+	default 3
+	---help---
+		Number of login retry attempts.
+
+endif
 endif
 
 config NSH_DHCPC
diff --git a/apps/nshlib/nsh.h b/apps/nshlib/nsh.h
index e6dd2683b..7188477ce 100644
--- a/apps/nshlib/nsh.h
+++ b/apps/nshlib/nsh.h
@@ -164,10 +164,19 @@
  *   Default: SCHED_PRIORITY_DEFAULT
  * CONFIG_NSH_TELNETD_DAEMONSTACKSIZE - Stack size allocated for the
  *   Telnet daemon. Default: 2048
- * CONFIG_NSH_TELNETD_CLIENTPRIO- Priority of the Telnet client.
+ * CONFIG_NSH_TELNETD_CLIENTPRIO - Priority of the Telnet client.
  *   Default: SCHED_PRIORITY_DEFAULT
  * CONFIG_NSH_TELNETD_CLIENTSTACKSIZE - Stack size allocated for the
  *   Telnet client. Default: 2048
+ * CONFIG_NSH_TELNET_LOGIN - Support a simple Telnet login.
+ *
+ * If CONFIG_NSH_TELNET_LOGIN is defined, then these additional
+ * options may be specified:
+ *
+ * CONFIG_NSH_TELNET_USERNAME - Login user name.  Default: "admin"
+ * CONFIG_NSH_TELNET_PASSWORD - Login password:  Default: "nuttx"
+ * CONFIG_NSH_TELNET_FAILCOUNT - Number of login retry attempts.
+ *   Default 3.
  */
 
 #ifndef CONFIG_NSH_TELNETD_PORT
@@ -190,6 +199,22 @@
 #  define CONFIG_NSH_TELNETD_CLIENTSTACKSIZE 2048
 #endif
 
+#ifdef CONFIG_NSH_TELNET_LOGIN
+
+#  ifndef CONFIG_NSH_TELNET_USERNAME
+#    define CONFIG_NSH_TELNET_USERNAME  "admin"
+#  endif
+
+#  ifndef CONFIG_NSH_TELNET_PASSWORD
+#    define CONFIG_NSH_TELNET_PASSWORD  "nuttx"
+#  endif
+
+#  ifndef CONFIG_NSH_TELNET_FAILCOUNT
+#    define CONFIG_NSH_TELNET_FAILCOUNT 3
+#  endif
+
+#endif /* CONFIG_NSH_TELNET_LOGIN */
+
 /* Verify support for ROMFS /etc directory support options */
 
 #ifdef CONFIG_NSH_ROMFSETC
@@ -364,6 +389,14 @@ typedef int (*cmd_t)(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
  ****************************************************************************/
 
 extern const char g_nshgreeting[];
+#if defined(CONFIG_NSH_TELNET_LOGIN) && defined(CONFIG_NSH_TELNET)
+extern const char g_telnetgreeting[];
+extern const char g_userprompt[];
+extern const char g_passwordprompt[];
+extern const char g_loginsuccess[];
+extern const char g_badcredentials[];
+extern const char g_loginfailure[];
+#endif
 extern const char g_nshprompt[];
 extern const char g_nshsyntax[];
 extern const char g_fmtargrequired[];
diff --git a/apps/nshlib/nsh_console.c b/apps/nshlib/nsh_console.c
index b066e71f5..1b8f5f6ac 100644
--- a/apps/nshlib/nsh_console.c
+++ b/apps/nshlib/nsh_console.c
@@ -75,12 +75,17 @@ struct serialsave_s
 static FAR struct nsh_vtbl_s *nsh_consoleclone(FAR struct nsh_vtbl_s *vtbl);
 #endif
 static void nsh_consolerelease(FAR struct nsh_vtbl_s *vtbl);
-static ssize_t nsh_consolewrite(FAR struct nsh_vtbl_s *vtbl, FAR const void *buffer, size_t nbytes);
-static int nsh_consoleoutput(FAR struct nsh_vtbl_s *vtbl, const char *fmt, ...);
+static ssize_t nsh_consolewrite(FAR struct nsh_vtbl_s *vtbl,
+  FAR const void *buffer, size_t nbytes);
+static int nsh_consoleoutput(FAR struct nsh_vtbl_s *vtbl,
+  FAR const char *fmt, ...);
 static FAR char *nsh_consolelinebuffer(FAR struct nsh_vtbl_s *vtbl);
-static void nsh_consoleredirect(FAR struct nsh_vtbl_s *vtbl, int fd, FAR uint8_t *save);
-static void nsh_consoleundirect(FAR struct nsh_vtbl_s *vtbl, FAR uint8_t *save);
-static void nsh_consoleexit(FAR struct nsh_vtbl_s *vtbl, int exitstatus);
+static void nsh_consoleredirect(FAR struct nsh_vtbl_s *vtbl, int fd,
+  FAR uint8_t *save);
+static void nsh_consoleundirect(FAR struct nsh_vtbl_s *vtbl,
+  FAR uint8_t *save);
+static void nsh_consoleexit(FAR struct nsh_vtbl_s *vtbl, int exitstatus)
+  noreturn_function;
 
 /****************************************************************************
  * Private Data
diff --git a/apps/nshlib/nsh_console.h b/apps/nshlib/nsh_console.h
index 53e8c7897..4dc2938cb 100644
--- a/apps/nshlib/nsh_console.h
+++ b/apps/nshlib/nsh_console.h
@@ -109,7 +109,7 @@ struct nsh_vtbl_s
   FAR char *(*linebuffer)(FAR struct nsh_vtbl_s *vtbl);
   void (*redirect)(FAR struct nsh_vtbl_s *vtbl, int fd, FAR uint8_t *save);
   void (*undirect)(FAR struct nsh_vtbl_s *vtbl, FAR uint8_t *save);
-  void (*exit)(FAR struct nsh_vtbl_s *vtbl, int exitstatus);
+  void (*exit)(FAR struct nsh_vtbl_s *vtbl, int exitstatus) noreturn_function;
 
   /* Parser state data */
 
diff --git a/apps/nshlib/nsh_parse.c b/apps/nshlib/nsh_parse.c
index ba597a062..df2f7c3e3 100644
--- a/apps/nshlib/nsh_parse.c
+++ b/apps/nshlib/nsh_parse.c
@@ -395,6 +395,17 @@ const char g_nshgreeting[]       = "\nNuttShell (NSH) NuttX-" CONFIG_VERSION_STR
 const char g_nshgreeting[]       = "\nNuttShell (NSH)\n";
 #endif
 
+/* Telnet login prompts */
+
+#if defined(CONFIG_NSH_TELNET_LOGIN) && defined(CONFIG_NSH_TELNET)
+const char g_telnetgreeting[]    = "\nWelcome to NuttShell(NSH) Telnet Server...\n";
+const char g_userprompt[]        = "login: ";
+const char g_passwordprompt[]    = "password: ";
+const char g_loginsuccess[]      = "\nUser Logged-in!\n";
+const char g_badcredentials[]    = "\nInvalid username or password\n";
+const char g_loginfailure[]      = "Login failed!\n";
+#endif
+
 /* The NSH prompt */
 
 const char g_nshprompt[]         = "nsh> ";
diff --git a/apps/nshlib/nsh_telnetd.c b/apps/nshlib/nsh_telnetd.c
index 0117aad04..478935d7f 100644
--- a/apps/nshlib/nsh_telnetd.c
+++ b/apps/nshlib/nsh_telnetd.c
@@ -43,6 +43,7 @@
 #include <unistd.h>
 #include <assert.h>
 #include <debug.h>
+#include <string.h>
 
 #include <apps/netutils/telnetd.h>
 
@@ -55,6 +56,18 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
+#ifdef CONFIG_NSH_TELNET_LOGIN
+
+#  define TELNET_IAC              255
+#  define TELNET_WILL             251
+#  define TELNET_WONT             252
+#  define TELNET_DO               253
+#  define TELNET_DONT             254
+#  define TELNET_USE_ECHO         1
+#  define TELNET_NOTUSE_ECHO      0
+
+#endif /* CONFIG_NSH_TELNET_LOGIN */
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -76,6 +89,91 @@
  ****************************************************************************/
 
 /****************************************************************************
+ * Name: nsh_telnetecho
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_TELNET_LOGIN
+void nsh_telnetecho(struct console_stdio_s *pstate, uint8_t is_use)
+{
+  uint8_t optbuf[4];
+  optbuf[0] = TELNET_IAC;
+  optbuf[1] = (is_use == TELNET_USE_ECHO) ? TELNET_WILL : TELNET_DO;
+  optbuf[2] = 1;
+  optbuf[3] = 0;
+  fputs((char *)optbuf, pstate->cn_outstream);
+  fflush(pstate->cn_outstream);
+}
+#endif
+
+/****************************************************************************
+ * Name: nsh_telnetlogin
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_TELNET_LOGIN
+int nsh_telnetlogin(struct console_stdio_s *pstate)
+{
+  char username[16];
+  char password[16];
+  uint8_t i;
+
+  /* Present the NSH Telnet greeting */
+
+  fputs(g_telnetgreeting, pstate->cn_outstream);
+  fflush(pstate->cn_outstream);
+
+  /* Loop for the configured number of retries */
+
+  for(i = 0; i < CONFIG_NSH_TELNET_FAILCOUNT; i++)
+    {
+      /* Ask for the login username */
+
+      fputs(g_userprompt, pstate->cn_outstream);
+      fflush(pstate->cn_outstream);
+      if (fgets(pstate->cn_line, CONFIG_NSH_LINELEN, INSTREAM(pstate)) != NULL)
+        {
+          strcpy(username, pstate->cn_line);
+          username[strlen(pstate->cn_line) - 1] = 0;
+        }
+
+      /* Ask for the login password */
+  
+      fputs(g_passwordprompt, pstate->cn_outstream);
+      fflush(pstate->cn_outstream);
+      nsh_telnetecho(pstate, TELNET_NOTUSE_ECHO);
+      if (fgets(pstate->cn_line, CONFIG_NSH_LINELEN, INSTREAM(pstate)) != NULL)
+        {
+          /* Verify the username and password */
+
+          strcpy(password,pstate->cn_line);
+          password[strlen(pstate->cn_line) - 1] = 0;
+
+          if (strcmp(password, CONFIG_NSH_TELNET_PASSWORD) == 0 &&
+              strcmp(username, CONFIG_NSH_TELNET_USERNAME) == 0)
+            {
+              fputs(g_loginsuccess, pstate->cn_outstream);
+              fflush(pstate->cn_outstream);
+              nsh_telnetecho(pstate, TELNET_USE_ECHO);
+              return OK;
+            }
+          else
+            {
+              fputs(g_badcredentials, pstate->cn_outstream);
+              fflush(pstate->cn_outstream);
+            }
+        }
+
+      nsh_telnetecho(pstate, TELNET_USE_ECHO);
+    }
+
+  /* Too many failed login attempts */
+
+  fputs(g_loginfailure, pstate->cn_outstream);
+  fflush(pstate->cn_outstream);
+  return -1;
+}
+#endif /* CONFIG_NSH_TELNET_LOGIN */
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
@@ -90,7 +188,17 @@ int nsh_telnetmain(int argc, char *argv[])
 
   dbg("Session [%d] Started\n", getpid());
 
-  /* Present a greeting */
+  /* Login User and Password Check */
+
+#ifdef CONFIG_NSH_TELNET_LOGIN
+  if (nsh_telnetlogin(pstate) != OK)
+    {
+      nsh_exit(&pstate->cn_vtbl, 1);
+      return -1; /* nsh_exit does not return */
+    }
+#endif /* CONFIG_NSH_TELNET_LOGIN */
+
+  /* Present the NSH greeting */
 
   fputs(g_nshgreeting, pstate->cn_outstream);
   fflush(pstate->cn_outstream);
diff --git a/apps/px4/fmu/fmu.cpp b/apps/px4/fmu/fmu.cpp
index 18f27d49e..6d990c46b 100644
--- a/apps/px4/fmu/fmu.cpp
+++ b/apps/px4/fmu/fmu.cpp
@@ -79,7 +79,7 @@ public:
 	FMUServo(Mode mode, int update_rate);
 	~FMUServo();
 
-	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
 
 	virtual int	init();
 
@@ -93,6 +93,7 @@ private:
 	int		_t_armed;
 	orb_advert_t	_t_outputs;
 	unsigned	_num_outputs;
+	bool		_primary_pwm_device;
 
 	volatile bool	_task_should_exit;
 	bool		_armed;
@@ -118,7 +119,7 @@ FMUServo	*g_servo;
 } // namespace
 
 FMUServo::FMUServo(Mode mode, int update_rate) :
-	CDev("fmuservo", PWM_OUTPUT_DEVICE_PATH),
+	CDev("fmuservo", "/dev/px4fmu"),
 	_mode(mode),
 	_update_rate(update_rate),
 	_task(-1),
@@ -126,6 +127,7 @@ FMUServo::FMUServo(Mode mode, int update_rate) :
 	_t_armed(-1),
 	_t_outputs(0),
 	_num_outputs(0),
+	_primary_pwm_device(false),
 	_task_should_exit(false),
 	_armed(false),
 	_mixers(nullptr)
@@ -135,18 +137,16 @@ FMUServo::FMUServo(Mode mode, int update_rate) :
 FMUServo::~FMUServo()
 {
 	if (_task != -1) {
-
-		/* task should wake up every 100ms or so at least */
+		/* tell the task we want it to go away */
 		_task_should_exit = true;
 
-		unsigned i = 0;
-
+		unsigned i = 10;
 		do {
-			/* wait 20ms */
-			usleep(20000);
+			/* wait 50ms - it should wake every 100ms or so worst-case */
+			usleep(50000);
 
 			/* if we have given up, kill it */
-			if (++i > 10) {
+			if (--i == 0) {
 				task_delete(_task);
 				break;
 			}
@@ -154,6 +154,10 @@ FMUServo::~FMUServo()
 		} while (_task != -1);
 	}
 
+	/* clean up the alternate device node */
+	if (_primary_pwm_device)
+		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
+
 	g_servo = nullptr;
 }
 
@@ -170,6 +174,13 @@ FMUServo::init()
 	if (ret != OK)
 		return ret;
 
+	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
+	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
+	if (ret == OK) {
+		log("default PWM output device");
+		_primary_pwm_device = true;
+	}
+
 	/* start the IO interface task */
 	_task = task_spawn("fmuservo",
 			   SCHED_DEFAULT,
@@ -216,8 +227,12 @@ FMUServo::task_main()
 		break;
 	}
 
-	/* subscribe to objects that we are interested in watching */
-	_t_actuators = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+	/*
+	 * Subscribe to the appropriate PWM output topic based on whether we are the
+	 * primary PWM output or not.
+	 */
+	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
+				     ORB_ID(actuator_controls_1));
 	/* convert the update rate in hz to milliseconds, rounding down if necessary */
 	int update_rate_in_ms = int(1000 / _update_rate);
 	orb_set_interval(_t_actuators, update_rate_in_ms);
@@ -226,11 +241,13 @@ FMUServo::task_main()
 	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
 
 	/* advertise the mixed control outputs */
-	struct actuator_outputs_s outputs;
+	actuator_outputs_s outputs;
 	memset(&outputs, 0, sizeof(outputs));
-	_t_outputs = orb_advertise(ORB_ID_VEHICLE_CONTROLS, &outputs);
+	/* advertise the mixed control outputs */
+	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
+				   &outputs);
 
-	struct pollfd fds[2];
+	pollfd fds[2];
 	fds[0].fd = _t_actuators;
 	fds[0].events = POLLIN;
 	fds[1].fd = _t_armed;
@@ -282,7 +299,7 @@ FMUServo::task_main()
 
 		/* how about an arming update? */
 		if (fds[1].revents & POLLIN) {
-			struct actuator_armed_s aa;
+			actuator_armed_s aa;
 
 			/* get new value */
 			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
@@ -320,7 +337,7 @@ FMUServo::control_callback(uintptr_t handle,
 }
 
 int
-FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
+FMUServo::ioctl(file *filp, int cmd, unsigned long arg)
 {
 	int ret = OK;
 	int channel;
@@ -569,7 +586,7 @@ fake(int argc, char *argv[])
 		exit(1);
 	}
 
-	struct actuator_controls_s ac;
+	actuator_controls_s ac;
 
 	ac.control[0] = strtol(argv[1], 0, 0) / 100.0f;
 
diff --git a/apps/px4/px4io/driver/px4io.cpp b/apps/px4/px4io/driver/px4io.cpp
index c3371c138..66db1c360 100644
--- a/apps/px4/px4io/driver/px4io.cpp
+++ b/apps/px4/px4io/driver/px4io.cpp
@@ -37,8 +37,7 @@
  *
  * PX4IO is connected via serial (or possibly some other interface at a later
  * point).
- *
- * XXX current design is racy as all hell; need a locking strategy.
+
  */
 
 #include <nuttx/config.h>
@@ -53,6 +52,7 @@
 #include <errno.h>
 #include <string.h>
 #include <stdio.h>
+#include <stdlib.h>
 #include <unistd.h>
 #include <fcntl.h>
 
@@ -61,185 +61,122 @@
 #include <drivers/device/device.h>
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_pwm_output.h>
+#include <systemlib/mixer/mixer.h>
+#include <drivers/drv_mixer.h>
 
 #include <systemlib/perf_counter.h>
 #include <systemlib/hx_stream.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/rc_channels.h>
 
 #include "px4io/protocol.h"
 #include "uploader.h"
 
-class PX4IO;
 
-
-namespace 
-{
-
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
-PX4IO	*g_dev;
-
-}
-
-
-class PX4IO_RC : public device::CDev
+class PX4IO : public device::CDev
 {
 public:
-	PX4IO_RC();
-	~PX4IO_RC();
+	PX4IO();
+	~PX4IO();
 
 	virtual int		init();
-	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
 
-	friend class PX4IO;
-protected:
-	void			set_channels(unsigned count, const servo_position_t *data);
+	virtual int		ioctl(file *filp, int cmd, unsigned long arg);
 
 private:
-	orb_advert_t		_publication;
-	struct rc_input_values	_input;
-};
+	static const unsigned	_max_actuators = PX4IO_OUTPUT_CHANNELS;
 
-/* XXX this may conflict with the onboard PPM input */
-PX4IO_RC::PX4IO_RC() :
-	CDev("px4io_rc", RC_INPUT_DEVICE_PATH),
-	_publication(-1)
-{
-	for (unsigned i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
-		_input.values[i] = 0;
-	}
-	_input.channel_count = 0;
-}
+	int			_serial_fd;	///< serial interface to PX4IO
+	hx_stream_t		_io_stream;	///< HX protocol stream
 
-PX4IO_RC::~PX4IO_RC()
-{
-	if (_publication != -1)
-		::close(_publication);
-}
+	int			_task;		///< worker task
+	volatile bool		_task_should_exit;
 
-int
-PX4IO_RC::init()
-{
-	int ret;
+	int			_t_actuators;	///< actuator output topic
+	actuator_controls_s	_controls;	///< actuator outputs
 
-	ret = CDev::init();
+	int			_t_armed;	///< system armed control topic
+	actuator_armed_s	_armed;		///< system armed state
 
-	/* advertise ourselves as the RC input controller */
-	if (ret == OK) {
-		_publication = orb_advertise(ORB_ID(input_rc), &_input);
-		if (_publication < 0)
-			ret = -errno;
-	}
+	orb_advert_t		_t_outputs;	///< mixed outputs topic
+	actuator_outputs_s	_outputs;	///< mixed outputs
 
-	return ret;
-}
+	MixerGroup		*_mixers;	///< loaded mixers
 
-ssize_t
-PX4IO_RC::read(struct file *filp, char *buffer, size_t buflen)
-{
-	unsigned channels = buflen / sizeof(rc_input_t);
-	rc_input_t *pdata = (rc_input_t *)buffer;
-	unsigned i;
+	bool			_primary_pwm_device;	///< true if we are the default PWM output
 
-	if (channels > PX4IO_INPUT_CHANNELS)
-		return -EIO;
+	volatile bool		_switch_armed;	///< PX4IO switch armed state
+						// XXX how should this work?
 
-	lock();
-	for (i = 0; i < channels; i++)
-		pdata[i] = _input.values[i];
-	unlock();
+	bool			_send_needed;	///< If true, we need to send a packet to IO
 
-	return i * sizeof(servo_position_t);
-}
+	/**
+	 * Trampoline to the worker task
+	 */
+	static void		task_main_trampoline(int argc, char *argv[]);
 
-void
-PX4IO_RC::set_channels(unsigned count, const servo_position_t *data)
-{
+	/**
+	 * worker task
+	 */
+	void			task_main();
 
-	ASSERT(count <= PX4IO_INPUT_CHANNELS);
+	/**
+	 * Handle receiving bytes from PX4IO
+	 */
+	void			io_recv();
 
-	/* convert incoming servo position values into 0-100 range */
-	lock();
-	for (unsigned i = 0; i < count; i++) {
-		rc_input_t chn;
+	/**
+	 * HX protocol callback trampoline.
+	 */
+	static void		rx_callback_trampoline(void *arg, const void *buffer, size_t bytes_received);
 
-		if (data[i] < 1000) {
-			chn = 0;
-		} else if (data[i] > 2000) {
-			chn = 100;
-		} else {
-			chn = (data[i] - 1000) / 10;
-		}
+	/**
+	 * Callback invoked when we receive a whole packet from PX4IO
+	 */
+	void			rx_callback(const uint8_t *buffer, size_t bytes_received);
 
-		_input.values[i] = chn;
-	}
-	_input.channel_count = count;
-	unlock();
+	/**
+	 * Send an update packet to PX4IO
+	 */
+	void			io_send();
 
-	/* publish to anyone that might be listening */
-	if (_publication != -1)
-		orb_publish(ORB_ID(input_rc), _publication, &_input);
+	/**
+	 * Mixer control callback; invoked to fetch a control from a specific
+	 * group/index during mixing.
+	 */
+	static int		control_callback(uintptr_t handle,
+						 uint8_t control_group,
+						 uint8_t control_index,
+						 float &input);
+};
 
-}
 
-class PX4IO : public device::CDev
+namespace 
 {
-public:
-	PX4IO();
-	~PX4IO();
-
-	virtual int		init();
-
-	virtual ssize_t		write(struct file *filp, const char *buffer, size_t buflen);
-	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
-
-private:
-	int			_fd;
-	int			_task;
-	PX4IO_RC		*_rc;
-
-	/** command to be sent to IO */
-	struct px4io_command	_next_command;
 
-	/** RC channel input from IO */
-	servo_position_t	_rc_channel[PX4IO_INPUT_CHANNELS];
-	int			_rc_channel_count;
-
-	volatile bool		_armed;
-	volatile bool		_task_should_exit;
-
-	bool			_send_needed;
-
-	hx_stream_t		_io_stream;
-
-	static void		task_main_trampoline(int argc, char *argv[]);
-	void			task_main();
-	void			io_recv();
-
-	static void		rx_callback_trampoline(void *arg, const void *buffer, size_t bytes_received);
-	void			rx_callback(const uint8_t *buffer, size_t bytes_received);
+PX4IO	*g_dev;
 
-	void			io_send();
-};
+}
 
 PX4IO::PX4IO() :
 	CDev("px4io", "/dev/px4io"),
-	_fd(-1),
+	_serial_fd(-1),
+	_io_stream(nullptr),
 	_task(-1),
-	_rc(new PX4IO_RC),
-	_rc_channel_count(0),
-	_armed(false),
 	_task_should_exit(false),
-	_send_needed(false),
-	_io_stream(nullptr)
+	_t_actuators(-1),
+	_t_armed(-1),
+	_t_outputs(-1),
+	_mixers(nullptr),
+	_primary_pwm_device(false),
+	_switch_armed(false),
+	_send_needed(false)
 {
-	/* set up the command we will use */
-	_next_command.f2i_magic = F2I_MAGIC;
-
-	/* we need this potentially before it could be set in px4io_main */
+	/* we need this potentially before it could be set in task_main */
 	g_dev = this;
 
 	_debug_enabled = true;
@@ -247,19 +184,18 @@ PX4IO::PX4IO() :
 
 PX4IO::~PX4IO()
 {
-	if (_rc != nullptr)
-		delete _rc;
 	if (_task != -1) {
-		/* task should wake up every 100ms or so at least */
+		/* tell the task we want it to go away */
 		_task_should_exit = true;
 
-		unsigned i = 0;
+		/* spin waiting for the thread to stop */
+		unsigned i = 10;
 		do {
-			/* wait 20ms */
-			usleep(20000);
+			/* wait 50ms - it should wake every 100ms or so worst-case */
+			usleep(50000);
 
 			/* if we have given up, kill it */
-			if (++i > 10) {
+			if (--i == 0) {
 				task_delete(_task);
 				break;
 			}
@@ -267,6 +203,14 @@ PX4IO::~PX4IO()
 		} while (_task != -1);
 	}
 
+	/* clean up the alternate device node */
+	if (_primary_pwm_device)
+		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
+
+	/* kill the HX stream */
+	if (_io_stream != nullptr)
+		hx_stream_free(_io_stream);
+
 	g_dev = nullptr;
 }
 
@@ -277,17 +221,20 @@ PX4IO::init()
 
 	ASSERT(_task == -1);
 
-	/* XXX send a who-are-you request */
-
-	/* XXX verify firmware/protocol version */
-
 	/* do regular cdev init */
 	ret = CDev::init();
 	if (ret != OK)
 		return ret;
 
+	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
+	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
+	if (ret == OK) {
+		log("default PWM output device");
+		_primary_pwm_device = true;
+	}
+
 	/* start the IO interface task */
-	_task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 1024, (main_t)&PX4IO::task_main_trampoline, nullptr);
+	_task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr);
 	if (_task < 0) {
 		debug("task start failed: %d", errno);
 		return -errno;
@@ -305,36 +252,61 @@ PX4IO::task_main_trampoline(int argc, char *argv[])
 void
 PX4IO::task_main()
 {
-	ASSERT(_fd == -1);
-
-	log("ready");
+	log("starting");
 
 	/* open the serial port */
-	_fd = ::open("/dev/ttyS2", O_RDWR | O_NONBLOCK);
-	if (_fd < 0) {
+	_serial_fd = ::open("/dev/ttyS2", O_RDWR);
+	if (_serial_fd < 0) {
 		debug("failed to open serial port for IO: %d", errno);
 		_task = -1;
 		_exit(errno);
 	}
 
 	/* protocol stream */
-	_io_stream = hx_stream_init(_fd, &PX4IO::rx_callback_trampoline, this);
+	_io_stream = hx_stream_init(_serial_fd, &PX4IO::rx_callback_trampoline, this);
 
-	perf_counter_t pc_tx_bytes = perf_alloc(PC_COUNT, "PX4IO frames transmitted");
-	perf_counter_t pc_rx_bytes = perf_alloc(PC_COUNT, "PX4IO frames received");
+	perf_counter_t pc_tx_frames = perf_alloc(PC_COUNT, "PX4IO frames transmitted");
+	perf_counter_t pc_rx_frames = perf_alloc(PC_COUNT, "PX4IO frames received");
 	perf_counter_t pc_rx_errors = perf_alloc(PC_COUNT, "PX4IO receive errors");
-	hx_stream_set_counters(_io_stream, pc_tx_bytes, pc_rx_bytes, pc_rx_errors);
+	hx_stream_set_counters(_io_stream, pc_tx_frames, pc_rx_frames, pc_rx_errors);
+
+	/* XXX send a who-are-you request */
+
+	/* XXX verify firmware/protocol version */
 
-	/* poll descriptor(s) */
-	struct pollfd fds[1];
-	fds[0].fd = _fd;
+	/*
+	 * Subscribe to the appropriate PWM output topic based on whether we are the
+	 * primary PWM output or not.
+	 */
+	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
+				     ORB_ID(actuator_controls_1));
+	/* convert the update rate in hz to milliseconds, rounding down if necessary */
+	//int update_rate_in_ms = int(1000 / _update_rate);
+	orb_set_interval(_t_actuators, 20);	/* XXX 50Hz hardcoded for now */
+
+	_t_armed = orb_subscribe(ORB_ID(actuator_armed));
+	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
+
+	/* advertise the mixed control outputs */
+	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
+				   &_outputs);
+
+	/* poll descriptor */
+	pollfd fds[3];
+	fds[0].fd = _serial_fd;
 	fds[0].events = POLLIN;
+	fds[1].fd = _t_actuators;
+	fds[1].events = POLLIN;
+	fds[2].fd = _t_armed;
+	fds[2].events = POLLIN;
+
+	log("ready");
 
 	/* loop handling received serial bytes */
 	while (!_task_should_exit) {
 
 		/* sleep waiting for data, but no more than 100ms */
-		int ret = ::poll(&fds[0], 1, 100);
+		int ret = ::poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 1000);
 
 		/* this would be bad... */
 		if (ret < 0) {
@@ -347,9 +319,36 @@ PX4IO::task_main()
 		if (ret == 0)
 			_send_needed = true;
 
-		/* if we have new data from IO, go handle it */
-		if ((ret > 0) && (fds[0].revents & POLLIN))
-			io_recv();
+		if (ret > 0) {
+			/* if we have new data from IO, go handle it */
+			if (fds[0].revents & POLLIN)
+				io_recv();
+
+			/* if we have new data from the ORB, go handle it */
+			if (fds[1].revents & POLLIN) {
+
+				/* get controls */
+				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
+
+				/* mix */
+				if (_mixers != nullptr) {
+					/* XXX is this the right count? */
+					_mixers->mix(&_outputs.output[0], _max_actuators);
+
+					/* convert to PWM values */
+					for (unsigned i = 0; i < _max_actuators; i++)
+						_outputs.output[i] = 1500 + (600 * _outputs.output[i]);
+
+					/* and flag for update */
+					_send_needed = true;
+				}
+			}
+			if (fds[2].revents & POLLIN) {
+
+				orb_copy(ORB_ID(actuator_armed), _t_armed, &_controls);
+				_send_needed = true;
+			}
+		}
 
 		/* send an update to IO if required */
 		if (_send_needed) {
@@ -357,23 +356,40 @@ PX4IO::task_main()
 			io_send();
 		}
 	}
-	if (_io_stream != nullptr)
-		hx_stream_free(_io_stream);
-	::close(_fd);
 
 	/* tell the dtor that we are exiting */
 	_task = -1;
 	_exit(0);
 }
 
+int
+PX4IO::control_callback(uintptr_t handle,
+			 uint8_t control_group,
+			 uint8_t control_index,
+			 float &input)
+{
+	const actuator_controls_s *controls = (actuator_controls_s *)handle;
+
+	input = controls->control[control_index];
+	return 0;
+}
+
 void
 PX4IO::io_recv()
 {
-	uint8_t c;
-
-	/* handle bytes from IO */
-	while (::read(_fd, &c, 1) == 1)
-		hx_stream_rx(_io_stream, c);
+	uint8_t buf[32];
+	int count;
+
+	/*
+	 * We are here because poll says there is some data, so this
+	 * won't block even on a blocking device.  If more bytes are
+	 * available, we'll go back to poll() again...
+	 */
+	count = ::read(_serial_fd, buf, sizeof(buf));
+
+	/* pass received bytes to the packet decoder */
+	for (int i = 0; i < count; i++)
+		hx_stream_rx(_io_stream, buf[i]);
 }
 
 void
@@ -385,98 +401,139 @@ PX4IO::rx_callback_trampoline(void *arg, const void *buffer, size_t bytes_receiv
 void
 PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
 {
-	const struct px4io_report *rep = (const struct px4io_report *)buffer;
+	const px4io_report *rep = (const px4io_report *)buffer;
 
 	/* sanity-check the received frame size */
-	if (bytes_received != sizeof(struct px4io_report))
+	if (bytes_received != sizeof(px4io_report))
 		return;
 
-	lock();
+	/* XXX handle R/C inputs here ... needs code sharing/library */
 
-	/* pass RC input data to the driver */
-	if (_rc != nullptr)
-		_rc->set_channels(rep->channel_count, &rep->rc_channel[0]);
-	_armed = rep->armed;
-
-	/* send an update frame */
-	_send_needed = true;
+	/* remember the latched arming switch state */
+	_switch_armed = rep->armed;
 
 	unlock();
-
 }
 
 void
 PX4IO::io_send()
 {
-	lock();
+	px4io_command	cmd;
 
-	/* send packet to IO while we're guaranteed it won't change */
-	hx_stream_send(_io_stream, &_next_command, sizeof(_next_command));
+	cmd.f2i_magic = F2I_MAGIC;
 
-	unlock();
-}
+	/* set outputs */
+	for (unsigned i = 0; i < _max_actuators; i++)
+		cmd.servo_command[i] = _outputs.output[i];
 
-ssize_t
-PX4IO::write(struct file *filp, const char *buffer, size_t len)
-{
-	unsigned channels = len / sizeof(servo_position_t);
-	servo_position_t *pdata = (servo_position_t *)buffer;
-	unsigned i;
+	/* publish as we send */
+	orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &_outputs);
 
-	if (channels > PX4IO_OUTPUT_CHANNELS)
-		return -EIO;
+	// XXX relays
 
-	lock();
-	for (i = 0; i < channels; i++)
-		_next_command.servo_command[i] = pdata[i];
-	unlock();
+	cmd.arm_ok = _armed.armed;
 
-	return i * sizeof(servo_position_t);
+	hx_stream_send(_io_stream, &cmd, sizeof(cmd));
 }
 
 int
-PX4IO::ioctl(struct file *filep, int cmd, unsigned long arg)
+PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 {
-	int ret = -ENOTTY;
+	int ret = OK;
 
 	lock();
 
 	/* regular ioctl? */
 	switch (cmd) {
 	case PWM_SERVO_ARM:
-		_next_command.arm_ok = true;
-		ret = 0;
+		/* fake an armed transition */
+		_armed.armed = true;
+		_send_needed = true;
 		break;
 
 	case PWM_SERVO_DISARM:
-		_next_command.arm_ok = false;
-		ret = 0;
+		/* fake a disarmed transition */
+		_armed.armed = true;
+		_send_needed = true;
 		break;
 
-	default:
-		/* channel set? */
-		if ((cmd >= PWM_SERVO_SET(0)) && (cmd < PWM_SERVO_SET(PX4IO_OUTPUT_CHANNELS))) {
-			/* XXX sanity-check value? */
-			_next_command.servo_command[cmd - PWM_SERVO_SET(0)] = arg;
-			ret = 0;
-			break;
+	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
+		/* fake an update to the selected servo channel */
+		if ((arg >= 900) && (arg <= 2100)) {
+			_outputs.output[cmd - PWM_SERVO_SET(0)] = arg;
+			_send_needed = true;
+		} else {
+			ret = -EINVAL;
 		}
+		break;
 
-		/* channel get? */
-		if ((cmd >= PWM_SERVO_GET(0)) && (cmd < PWM_SERVO_GET(PX4IO_INPUT_CHANNELS))) {
-			int channel = cmd - PWM_SERVO_GET(0);
+	case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
+		/* copy the current output value from the channel */
+		*(servo_position_t *)arg = _outputs.output[cmd - PWM_SERVO_GET(0)];
+		break;
 
-			/* currently no data for this channel */
-			if (channel >= _rc_channel_count) {
-				ret = -ERANGE;
-				break;
+	case MIXERIOCGETOUTPUTCOUNT:
+		*(unsigned *)arg = _max_actuators;
+		break;
+
+	case MIXERIOCRESET:
+		if (_mixers != nullptr) {
+			delete _mixers;
+			_mixers = nullptr;
+		}
+		break;
+
+	case MIXERIOCADDSIMPLE: {
+			mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
+
+			/* build the new mixer from the supplied argument */
+			SimpleMixer *mixer = new SimpleMixer(control_callback,
+							     (uintptr_t)&_controls, mixinfo);
+
+			/* validate the new mixer */
+			if (mixer->check()) {
+				delete mixer;
+				ret = -EINVAL;
+
+			} else {
+				/* if we don't have a group yet, allocate one */
+				if (_mixers == nullptr)
+					_mixers = new MixerGroup(control_callback,
+								 (uintptr_t)&_controls);
+
+				/* add the new mixer to the group */
+				_mixers->add_mixer(mixer);
 			}
 
-			*(servo_position_t *)arg = _rc_channel[channel];
-			ret = 0;
-			break;
 		}
+		break;
+
+	case MIXERIOCADDMULTIROTOR:
+		/* XXX not yet supported */
+		ret = -ENOTTY;
+		break;
+
+	case MIXERIOCLOADFILE: {
+			MixerGroup *newmixers;
+			const char *path = (const char *)arg;
+
+			/* allocate a new mixer group and load it from the file */
+			newmixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
+			if (newmixers->load_from_file(path) != 0) {
+				delete newmixers;
+				ret = -EINVAL;
+			}
+
+			/* swap the new mixers in for the old */
+			if (_mixers != nullptr) {
+				delete _mixers;
+			}
+			_mixers = newmixers;
+
+		}
+		break;
 
+	default:
 		/* not a recognised value */
 		ret = -ENOTTY;
 	}
@@ -492,28 +549,25 @@ px4io_main(int argc, char *argv[])
 {
 	if (!strcmp(argv[1], "start")) {
 
-		if (g_dev != nullptr) {
-			fprintf(stderr, "PX4IO: already loaded\n");
-			return -EBUSY;
-		}
+		if (g_dev != nullptr)
+			errx(1, "already loaded");
 
 		/* create the driver - it will set g_dev */
 		(void)new PX4IO;
 
-		if (g_dev == nullptr) {
-			fprintf(stderr, "PX4IO: driver alloc failed\n");
-			return -ENOMEM;
-		}
+		if (g_dev == nullptr)
+			errx(1, "driver alloc failed");
 
 		if (OK != g_dev->init()) {
-			fprintf(stderr, "PX4IO: driver init failed\n");
 			delete g_dev;
-			return -EIO;
+			errx(1, "driver init failed");
 		}
 
-		return OK;
+		exit(0);
 	}
 
+	/* note, stop not currently implemented */
+
 	if (!strcmp(argv[1], "update")) {
 		PX4IO_Uploader *up;
 		const char *fn[3];
@@ -536,26 +590,19 @@ px4io_main(int argc, char *argv[])
 		case OK:
 			break;
 		case -ENOENT:
-			fprintf(stderr, "PX4IO firmware file not found\n");
-			break;
+			errx(1, "PX4IO firmware file not found");
 		case -EEXIST:
 		case -EIO:
-			fprintf(stderr, "error updating PX4IO - check that bootloader mode is enabled\n");
-			break;
+			errx(1, "error updating PX4IO - check that bootloader mode is enabled");
 		case -EINVAL:
-			fprintf(stderr, "verify failed - retry the update\n");
-			break;
+			errx(1, "verify failed - retry the update");
 		case -ETIMEDOUT:
-			fprintf(stderr, "timed out waiting for bootloader - power-cycle and try again\n");
+			errx(1, "timed out waiting for bootloader - power-cycle and try again");
 		default:
-			fprintf(stderr, "unexpected error %d\n", ret);
-			break;
+			errx(1, "unexpected error %d", ret);
 		}
 		return ret;
 	}
 
-
-
-	printf("need a verb, only support 'start' and 'update'\n");
-	return ERROR;
+	errx(1, "need a verb, only support 'start' and 'update'");
 }
diff --git a/apps/px4/px4io/driver/uploader.cpp b/apps/px4/px4io/driver/uploader.cpp
index 7d6a9e171..0fbbac839 100644
--- a/apps/px4/px4io/driver/uploader.cpp
+++ b/apps/px4/px4io/driver/uploader.cpp
@@ -318,7 +318,7 @@ PX4IO_Uploader::verify()
 
 			ret = recv(c);
 			if (ret != OK) {
-				log("%d: got %d waiting for bytes", ret);
+				log("%d: got %d waiting for bytes", base + i, ret);
 				return ret;
 			}
 
diff --git a/apps/px4/tests/test_sensors.c b/apps/px4/tests/test_sensors.c
index 87ea7f058..c801869ab 100644
--- a/apps/px4/tests/test_sensors.c
+++ b/apps/px4/tests/test_sensors.c
@@ -56,10 +56,6 @@
 
 #include "tests.h"
 
-#include <arch/board/drv_lis331.h>
-#include <arch/board/drv_bma180.h>
-#include <arch/board/drv_l3gd20.h>
-#include <arch/board/drv_hmc5883l.h>
 #include <drivers/drv_accel.h>
 
 /****************************************************************************
@@ -75,10 +71,6 @@
  ****************************************************************************/
 
 //static int	lis331(int argc, char *argv[]);
-static int l3gd20(int argc, char *argv[]);
-static int bma180(int argc, char *argv[]);
-static int hmc5883l(int argc, char *argv[]);
-static int ms5611(int argc, char *argv[]);
 static int mpu6000(int argc, char *argv[]);
 
 /****************************************************************************
@@ -90,12 +82,7 @@ struct {
 	const char	*path;
 	int	(* test)(int argc, char *argv[]);
 } sensors[] = {
-	{"bma180",	"/dev/bma180",	bma180},
 	{"mpu6000",	"/dev/accel",	mpu6000},
-	{"l3gd20",	"/dev/l3gd20",	l3gd20},
-	{"hmc5883l",	"/dev/hmc5883l",	hmc5883l},
-	{"ms5611",	"/dev/ms5611",	ms5611},
-//    {"lis331",	"/dev/lis331",	lis331},
 	{NULL, NULL, NULL}
 };
 
@@ -107,226 +94,6 @@ struct {
  * Private Functions
  ****************************************************************************/
 
-//static int
-//lis331(int argc, char *argv[])
-//{
-//	int		fd;
-//	int16_t	buf[3];
-//	int		ret;
-//
-//	fd = open("/dev/lis331", O_RDONLY);
-//	if (fd < 0) {
-//		printf("\tlis331: not present on PX4FMU v1.5 and later\n");
-//		return ERROR;
-//	}
-//
-//	if (ioctl(fd, LIS331_SETRATE, LIS331_RATE_50Hz) ||
-//	    ioctl(fd, LIS331_SETRANGE, LIS331_RANGE_4G)) {
-//
-//		printf("LIS331: ioctl fail\n");
-//		return ERROR;
-//	}
-//
-//	/* wait at least 100ms, sensor should have data after no more than 20ms */
-//	usleep(100000);
-//
-//	/* read data - expect samples */
-//	ret = read(fd, buf, sizeof(buf));
-//	if (ret != sizeof(buf)) {
-//		printf("LIS331: read1 fail (%d)\n", ret);
-//		return ERROR;
-//	}
-//
-//	/* read data - expect no samples (should not be ready again yet) */
-//	ret = read(fd, buf, sizeof(buf));
-//	if (ret != 0) {
-//		printf("LIS331: read2 fail (%d)\n", ret);
-//		return ERROR;
-//	}
-//
-//	/* XXX more tests here */
-//
-//	return 0;
-//}
-
-static int
-l3gd20(int argc, char *argv[])
-{
-	printf("\tL3GD20: test start\n");
-	fflush(stdout);
-
-	int		fd;
-	int16_t	buf[3] = {0, 0, 0};
-	int		ret;
-
-	fd = open("/dev/l3gd20", O_RDONLY | O_NONBLOCK);
-
-	if (fd < 0) {
-		printf("L3GD20: open fail\n");
-		return ERROR;
-	}
-
-//	if (ioctl(fd, L3GD20_SETRATE, L3GD20_RATE_760HZ_LP_50HZ) ||
-//	    ioctl(fd, L3GD20_SETRANGE, L3GD20_RANGE_500DPS)) {
-//
-//		printf("L3GD20: ioctl fail\n");
-//		return ERROR;
-//	} else {
-//		printf("\tconfigured..\n");
-//	}
-//
-//	/* wait at least 100ms, sensor should have data after no more than 2ms */
-//	usleep(100000);
-
-
-
-	/* read data - expect samples */
-	ret = read(fd, buf, sizeof(buf));
-
-	if (ret != sizeof(buf)) {
-		printf("\tL3GD20: read1 fail (%d should have been %d)\n", ret, sizeof(buf));
-		//return ERROR;
-
-	} else {
-		printf("\tL3GD20 values #1: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
-	}
-
-	/* wait at least 2 ms, sensor should have data after no more than 1.5ms */
-	usleep(2000);
-
-	/* read data - expect no samples (should not be ready again yet) */
-	ret = read(fd, buf, sizeof(buf));
-
-	if (ret != sizeof(buf)) {
-		printf("\tL3GD20: read2 fail (%d)\n", ret);
-		close(fd);
-		return ERROR;
-
-	} else {
-		printf("\tL3GD20 values #2: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
-	}
-
-	/* empty sensor buffer */
-	ret = 0;
-
-	while (ret != sizeof(buf)) {
-		// Keep reading until successful
-		ret = read(fd, buf, sizeof(buf));
-	}
-
-	/* test if FIFO is operational */
-	usleep(14800); // Expecting 10 measurements
-
-	ret = 0;
-	int count = 0;
-	bool dataready = true;
-
-	while (dataready) {
-		// Keep reading until successful
-		ret = read(fd, buf, sizeof(buf));
-
-		if (ret != sizeof(buf)) {
-			dataready = false;
-
-		} else {
-			count++;
-		}
-	}
-
-	printf("\tL3GD20: Drained FIFO with %d values (expected 8-12)\n", count);
-
-	/* read data - expect no samples (should not be ready again yet) */
-	ret = read(fd, buf, sizeof(buf));
-
-	if (ret != 0) {
-		printf("\tL3GD20: Note: read3 got data - there should not have been data ready\n", ret);
-//		return ERROR;
-	}
-
-	close(fd);
-
-	/* Let user know everything is ok */
-	printf("\tOK: L3GD20 passed all tests successfully\n");
-	return OK;
-}
-
-static int
-bma180(int argc, char *argv[])
-{
-	// XXX THIS SENSOR IS OBSOLETE
-	// TEST REMAINS, BUT ALWAYS RETURNS OK
-
-	printf("\tBMA180: test start\n");
-	fflush(stdout);
-
-	int		fd;
-	int16_t	buf[3] = {0, 0, 0};
-	int		ret;
-
-	fd = open("/dev/bma180", O_RDONLY);
-
-	if (fd < 0) {
-		printf("\tBMA180: open fail\n");
-		return OK;
-	}
-
-//	if (ioctl(fd, LIS331_SETRATE, LIS331_RATE_50Hz) ||
-//	    ioctl(fd, LIS331_SETRANGE, LIS331_RANGE_4G)) {
-//
-//		printf("BMA180: ioctl fail\n");
-//		return ERROR;
-//	}
-//
-	/* wait at least 100ms, sensor should have data after no more than 20ms */
-	usleep(100000);
-
-	/* read data - expect samples */
-	ret = read(fd, buf, sizeof(buf));
-
-	if (ret != sizeof(buf)) {
-		printf("\tBMA180: read1 fail (%d)\n", ret);
-		close(fd);
-		return OK;
-
-	} else {
-		printf("\tBMA180 values: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
-	}
-
-	/* wait at least 10ms, sensor should have data after no more than 2ms */
-	usleep(100000);
-
-	ret = read(fd, buf, sizeof(buf));
-
-	if (ret != sizeof(buf)) {
-		printf("\tBMA180: read2 fail (%d)\n", ret);
-		close(fd);
-		return OK;
-
-	} else {
-		printf("\tBMA180: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
-	}
-
-	/* empty sensor buffer */
-	ret = 0;
-
-	while (ret != sizeof(buf)) {
-		// Keep reading until successful
-		ret = read(fd, buf, sizeof(buf));
-	}
-
-	ret = read(fd, buf, sizeof(buf));
-
-	if (ret != 0) {
-		printf("\tBMA180: Note: read3 got data - there should not have been data ready\n", ret);
-	}
-
-	/* Let user know everything is ok */
-	printf("\tOK: BMA180 passed all tests successfully\n");
-	close(fd);
-
-	return OK;
-}
-
 static int
 mpu6000(int argc, char *argv[])
 {
@@ -379,103 +146,6 @@ mpu6000(int argc, char *argv[])
 	return OK;
 }
 
-static int
-ms5611(int argc, char *argv[])
-{
-	printf("\tMS5611: test start\n");
-	fflush(stdout);
-
-	int		fd;
-	float	buf[3] = {0.0f, 0.0f, 0.0f};
-	int		ret;
-
-	fd = open("/dev/ms5611", O_RDONLY);
-
-	if (fd < 0) {
-		printf("\tMS5611: open fail\n");
-		return ERROR;
-	}
-
-	for (int i = 0; i < 5; i++) {
-		/* read data - expect samples */
-		ret = read(fd, buf, sizeof(buf));
-
-		if (ret != sizeof(buf)) {
-
-			if ((int8_t)ret == -EAGAIN || (int8_t)ret == -EINPROGRESS) {
-				/* waiting for device to become ready, this is not an error */
-			} else {
-				printf("\tMS5611: read fail (%d)\n", ret);
-				close(fd);
-				return ERROR;
-			}
-
-		} else {
-
-			/* hack for float printing */
-			int32_t pressure_int = buf[0];
-			int32_t altitude_int = buf[1];
-			int32_t temperature_int = buf[2];
-
-			printf("\tMS5611: pressure:%d.%03d mbar - altitude: %d.%02d meters - temp:%d.%02d deg celcius\n", pressure_int, (int)(buf[0] * 1000 - pressure_int * 1000), altitude_int, (int)(buf[1] * 100 - altitude_int * 100), temperature_int, (int)(buf[2] * 100 - temperature_int * 100));
-		}
-
-		/* wait at least 10ms, sensor should have data after no more than 6.5ms */
-		usleep(10000);
-	}
-
-	close(fd);
-
-	/* Let user know everything is ok */
-	printf("\tOK: MS5611 passed all tests successfully\n");
-
-	return OK;
-}
-
-static int
-hmc5883l(int argc, char *argv[])
-{
-	printf("\tHMC5883L: test start\n");
-	fflush(stdout);
-
-	int		fd;
-	int16_t	buf[7] = {0, 0, 0};
-	int		ret;
-
-	fd = open("/dev/hmc5883l", O_RDONLY);
-
-	if (fd < 0) {
-		printf("\tHMC5883L: open fail\n");
-		return ERROR;
-	}
-
-	int i;
-
-	for (i = 0; i < 5; i++) {
-		/* wait at least 7ms, sensor should have data after no more than 6.5ms */
-		usleep(7000);
-
-		/* read data - expect samples */
-		ret = read(fd, buf, sizeof(buf));
-
-		if (ret != sizeof(buf)) {
-			printf("\tHMC5883L: read1 fail (%d) values: x:%d\ty:%d\tz:%d\n", ret, buf[0], buf[1], buf[2]);
-			close(fd);
-			return ERROR;
-
-		} else {
-			printf("\tHMC5883L: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
-		}
-	}
-
-	close(fd);
-
-	/* Let user know everything is ok */
-	printf("\tOK: HMC5883L passed all tests successfully\n");
-
-	return OK;
-}
-
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h
index 96e0ca350..edc2c4bd2 100644
--- a/apps/px4io/protocol.h
+++ b/apps/px4io/protocol.h
@@ -39,6 +39,8 @@
  * messages and the corresponding complexity involved.
  */
 
+#pragma once
+
 /*
  * XXX MUST BE KEPT IN SYNC WITH THE VERSION IN PX4FMU UNTIL
  * TREES ARE MERGED.
diff --git a/apps/system/Kconfig b/apps/system/Kconfig
index 44bf5a2e6..d4d434665 100644
--- a/apps/system/Kconfig
+++ b/apps/system/Kconfig
@@ -3,7 +3,7 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-menu "Custom free memory command"
+menu "Custom Free Memory Command"
 source "$APPSDIR/system/free/Kconfig"
 endmenu
 
@@ -15,6 +15,22 @@ menu "FLASH Program Installation"
 source "$APPSDIR/system/install/Kconfig"
 endmenu
 
-menu "readline() support"
+menu "readline()"
 source "$APPSDIR/system/readline/Kconfig"
 endmenu
+
+menu "Power Off"
+source "$APPSDIR/system/poweroff/Kconfig"
+endmenu
+
+menu "RAMTRON"
+source "$APPSDIR/system/ramtron/Kconfig"
+endmenu
+
+menu "SD Card"
+source "$APPSDIR/system/sdcard/Kconfig"
+endmenu
+
+menu "Sysinfo"
+source "$APPSDIR/system/sysinfo/Kconfig"
+endmenu
diff --git a/apps/system/Make.defs b/apps/system/Make.defs
index a4aea2d31..3d10f84e5 100644
--- a/apps/system/Make.defs
+++ b/apps/system/Make.defs
@@ -49,3 +49,20 @@ endif
 ifeq ($(CONFIG_SYSTEM_READLINE),y)
 CONFIGURED_APPS += system/readline
 endif
+
+ifeq ($(CONFIG_SYSTEM_POWEROFF),y)
+CONFIGURED_APPS += system/poweroff
+endif
+
+ifeq ($(CONFIG_SYSTEM_RAMTRON),y)
+CONFIGURED_APPS += system/ramtron
+endif
+
+ifeq ($(CONFIG_SYSTEM_SDCARD),y)
+CONFIGURED_APPS += system/sdcard
+endif
+
+ifeq ($(CONFIG_SYSTEM_SYSINFO),y)
+CONFIGURED_APPS += system/sysinfo
+endif
+
diff --git a/apps/system/Makefile b/apps/system/Makefile
index 73eb60d15..d64bb54c6 100644
--- a/apps/system/Makefile
+++ b/apps/system/Makefile
@@ -37,7 +37,7 @@
 
 # Sub-directories containing system task
 
-SUBDIRS = free i2c install readline
+SUBDIRS = free i2c install readline poweroff ramtron sdcard sysinfo
 
 # Create the list of installed runtime modules (INSTALLED_DIRS)
 
diff --git a/apps/system/free/free.c b/apps/system/free/free.c
index 3d9698ecb..c44cd5e22 100644
--- a/apps/system/free/free.c
+++ b/apps/system/free/free.c
@@ -33,57 +33,65 @@
  *
  ****************************************************************************/
 
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
 #include <nuttx/config.h>
 #include <nuttx/progmem.h>
 
 #include <stdio.h>
 #include <stdlib.h>
 
-
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
- 
-/* \todo Max block size only works on uniform prog mem */
- 
-void free_getprogmeminfo(struct mallinfo * mem)
+
+/* TODO Max block size only works on uniform prog mem */
+
+static void free_getprogmeminfo(struct mallinfo * mem)
 {
-    uint16_t page = 0, stpage = 0xFFFF;
-    uint16_t pagesize = 0;
-    int status;
-    
-    mem->arena    = 0;
-    mem->fordblks = 0;
-    mem->uordblks = 0;
-    mem->mxordblk = 0;
-    
-    for (status=0, page=0; status >= 0; page++) {
-    
-        status = up_progmem_ispageerased(page);
-        pagesize = up_progmem_pagesize(page);
-        
-        mem->arena += pagesize;
-        
-        /* Is this beginning of new free space section */
-        if (status == 0) {
-            if (stpage == 0xFFFF) stpage = page;
-            mem->fordblks += pagesize;
+  uint16_t page = 0, stpage = 0xFFFF;
+  uint16_t pagesize = 0;
+  int status;
+
+  mem->arena    = 0;
+  mem->fordblks = 0;
+  mem->uordblks = 0;
+  mem->mxordblk = 0;
+
+  for (status=0, page=0; status >= 0; page++)
+    {
+      status = up_progmem_ispageerased(page);
+      pagesize = up_progmem_pagesize(page);
+
+      mem->arena += pagesize;
+
+      /* Is this beginning of new free space section */
+
+      if (status == 0)
+        {
+          if (stpage == 0xFFFF) stpage = page;
+          mem->fordblks += pagesize;
         }
-        else if (status != 0) {
-            mem->uordblks += pagesize;
-
-            if (stpage != 0xFFFF && up_progmem_isuniform()) {
-                stpage = page - stpage;
-                if (stpage > mem->mxordblk) 
-                    mem->mxordblk = stpage;
-                stpage = 0xFFFF;
+      else if (status != 0)
+        {
+          mem->uordblks += pagesize;
+
+          if (stpage != 0xFFFF && up_progmem_isuniform())
+            {
+              stpage = page - stpage;
+              if (stpage > mem->mxordblk)
+                {
+                  mem->mxordblk = stpage;
+                }
+              stpage = 0xFFFF;
             }
         }
     }
-    
-    mem->mxordblk *= pagesize;
-}
 
+  mem->mxordblk *= pagesize;
+}
 
 /****************************************************************************
  * Public Functions
diff --git a/apps/system/i2c/Makefile b/apps/system/i2c/Makefile
index 845c149f6..00db91bb7 100644
--- a/apps/system/i2c/Makefile
+++ b/apps/system/i2c/Makefile
@@ -1,5 +1,5 @@
 ############################################################################
-# apps/system/i2c
+# apps/system/i2c/Makefile
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/apps/system/install/install.c b/apps/system/install/install.c
index 2f11c6434..fd14b7a6f 100644
--- a/apps/system/install/install.c
+++ b/apps/system/install/install.c
@@ -33,6 +33,10 @@
  *
  ****************************************************************************/
 
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
 #include <nuttx/config.h>
 #include <nuttx/progmem.h>
 #include <sys/stat.h>
@@ -43,9 +47,8 @@
 #include <string.h>
 #include <errno.h>
 
-
 /****************************************************************************
- * Definitions
+ * Pre-processor Definitions
  ****************************************************************************/
 
 #define ACTION_INSTALL              0x01
@@ -55,12 +58,11 @@
 
 #define INSTALL_PROGRAMBLOCKSIZE    1024
 
-
 /****************************************************************************
  * Private data
  ****************************************************************************/
 
-const char *install_help = 
+static const char *install_help =
     "Installs XIP program into flash and creates a start-up script in the\n"
     "destination directory.\n\n"
     "Usage:\t%s [options] source-file.xip destination-directory\n\n"
@@ -72,341 +74,397 @@ const char *install_help =
     "\t--force\t\t\tReplaces existing installation\n"
     "\t--start <page>\t\tInstalls application at or after <page>\n"
     "\t--margin <pages>\tLeave some free space after the kernel (default 16)\n";
-    
-const char *install_script_text = 
+
+static const char *install_script_text =
     "# XIP stacksize=%x priority=%x size=%x\n";
-    
-const char *install_script_exec = 
+
+static const char *install_script_exec =
     "exec 0x%x\n";
-    
-    
+
 /****************************************************************************
  * Private functions
  ****************************************************************************/
 
-int install_getstartpage(int startpage, int pagemargin, int desiredsize)
+static int install_getstartpage(int startpage, int pagemargin, int desiredsize)
 {
-    uint16_t page = 0, stpage = 0xFFFF;
-    uint16_t pagesize = 0;
-    int      maxlen = -1;
-    int      maxlen_start = 0xFFFF;
-    int      status;
-    
-    for (status=0, page=0; status >= 0; page++) {
-    
-        status   = up_progmem_ispageerased(page);
-        pagesize = up_progmem_pagesize(page);
-        
-        /* Is this beginning of new free space section */
-        if (status == 0) {
-            if (stpage == 0xFFFF) stpage = page;
+  uint16_t page = 0, stpage = 0xffff;
+  uint16_t pagesize = 0;
+  int      maxlen = -1;
+  int      maxlen_start = 0xffff;
+  int      status;
+
+  for (status=0, page=0; status >= 0; page++)
+    {
+      status   = up_progmem_ispageerased(page);
+      pagesize = up_progmem_pagesize(page);
+
+      /* Is this beginning of new free space section */
+
+      if (status == 0)
+        {
+          if (stpage == 0xffff) stpage = page;
         }
-        else if (status != 0) {
-
-            if (stpage != 0xFFFF) {
-                
-                if ( (page - stpage) > maxlen) {
+      else if (status != 0)
+        {
+          if (stpage != 0xffff)
+            {
+              if ((page - stpage) > maxlen)
+                {
+                  if (maxlen==-1)
+                    {
+                      /* First time found sth? */
+
+                      stpage += pagemargin;
+                      maxlen = 0;
+                    }
 
-                    if (maxlen==-1) { /* First time found sth? */
-                        stpage += pagemargin;
-                        maxlen = 0;
+                  if(stpage < startpage)
+                    {
+                      stpage = startpage;
                     }
-                    
-                    if(stpage < startpage)
-                        stpage = startpage;
-                    
-                    if (page > stpage) {
-                        maxlen = page - stpage;
-                        maxlen_start = stpage;
+
+                  if (page > stpage)
+                    {
+                      maxlen = page - stpage;
+                      maxlen_start = stpage;
                     }
-                    
-                    if (maxlen*pagesize >= desiredsize) {
-                        /* printf("Found page at %d ... %d\n", stpage, page); */
-                        return maxlen_start*pagesize;
+
+                  if (maxlen*pagesize >= desiredsize)
+                    {
+                      /* printf("Found page at %d ... %d\n", stpage, page); */
+                      return maxlen_start*pagesize;
                     }
                 }
-                
-                stpage = 0xFFFF;
+
+              stpage = 0xffff;
             }
         }
     }
-    
-    /* Requested space is not available */
-    
-    return -1;
-}
 
+  /* Requested space is not available */
+
+  return -1;
+}
 
-int install_programflash(int startaddr, const char *source)
+static int install_programflash(int startaddr, const char *source)
 {
-    int  status;
-    int  count;
-    int  totalsize = 0;
-    char *buf;
-    FILE *fp;
-    
-    if ( (buf = malloc(INSTALL_PROGRAMBLOCKSIZE)) == NULL )
-        return -errno;
-    
-    if ( (fp=fopen(source, "r")) ) {
-        do {
-            count = fread(buf, 1, INSTALL_PROGRAMBLOCKSIZE, fp);
-    
-            if ( (status = up_progmem_write(startaddr, buf, count)) < 0) {
-                totalsize = status;
-                break;
+  int  status;
+  int  count;
+  int  totalsize = 0;
+  char *buf;
+  FILE *fp;
+
+  if ((buf = malloc(INSTALL_PROGRAMBLOCKSIZE)) == NULL)
+    {
+      return -ENOMEM;
+    }
+
+  if ((fp = fopen(source, "r")))
+    {
+      do
+        {
+          count = fread(buf, 1, INSTALL_PROGRAMBLOCKSIZE, fp);
+
+          if ((status = up_progmem_write(startaddr, buf, count)) < 0)
+            {
+              totalsize = status;
+              break;
             }
-                
-            startaddr += count;
-            totalsize += count;
+
+          startaddr += count;
+          totalsize += count;
         }
-        while(count);
+      while(count);
+    }
+  else
+    {
+      totalsize = -errno;
     }
-    else totalsize = -errno;
-            
-    fclose(fp);
-    free(buf);
-    
-    return totalsize;
-}
 
+  fclose(fp);
+  free(buf);
 
-void install_getscriptname(char *scriptname, const char *progname, const char *destdir)
-{
-    const char * progonly;
-
-    /* I.e. as /usr/bin */
-    strcpy(scriptname, destdir);
-    
-    /* extract from i.e. /sdcard/demo -> /demo, together with / */
-    progonly = strrchr(progname, '/');
-    strcat(scriptname, progonly);
+  return totalsize;
 }
 
-
-int install_getprogsize(const char *progname)
+static void install_getscriptname(char *scriptname, const char *progname, const char *destdir)
 {
-    struct stat fileinfo;
-    
-    if ( stat(progname, &fileinfo) < 0 ) 
-        return -1;
-        
-    return fileinfo.st_size;
+  const char * progonly;
+
+  /* I.e. as /usr/bin */
+
+  strcpy(scriptname, destdir);
+
+  /* extract from i.e. /sdcard/demo -> /demo, together with / */
+
+  progonly = strrchr(progname, '/');
+  strcat(scriptname, progonly);
 }
 
+static int install_getprogsize(const char *progname)
+{
+  struct stat fileinfo;
+
+  if (stat(progname, &fileinfo) < 0)
+    {
+      return -1;
+    }
+
+  return fileinfo.st_size;
+}
 
-int install_alreadyexists(const char *scriptname)
+static int install_alreadyexists(const char *scriptname)
 {
-    FILE *fp;
-    
-    if ( (fp=fopen(scriptname, "r"))==NULL )
-        return 0;
-        
-    fclose(fp);
+  FILE *fp;
+
+  if ((fp = fopen(scriptname, "r")) == NULL)
+    {
+      return 0;
+    }
+
+  fclose(fp);
     return 1;
 }
 
-
-int install_createscript(int addr, int stacksize, int progsize, 
-        int priority, const char *scriptname)
+static int install_createscript(int addr, int stacksize, int progsize,
+                                int priority, const char *scriptname)
 {
-    FILE *fp;
-    
-    if ( (fp=fopen(scriptname, "w+"))==NULL )
-        return -errno;
-        
-    fprintf(fp, install_script_text, stacksize, priority, progsize);
-    fprintf(fp, install_script_exec, addr);
-    
-    fflush(fp);
-    fclose(fp);
-
-    return 0;
-}
+  FILE *fp;
+
+  if ((fp = fopen(scriptname, "w+")) == NULL)
+    {
+      return -errno;
+    }
 
+  fprintf(fp, install_script_text, stacksize, priority, progsize);
+  fprintf(fp, install_script_exec, addr);
 
-int install_getlasthexvalue(FILE *fp, char delimiter)
+  fflush(fp);
+  fclose(fp);
+
+  return 0;
+}
+
+static int install_getlasthexvalue(FILE *fp, char delimiter)
 {
-    char buf[128];
-    char *p;
-    
-    if (fgets(buf, 127, fp)) {
-        if ( (p = strrchr(buf, delimiter)) ) {
-            return strtol(p+1, NULL, 16);
+  char buf[128];
+  char *p;
+
+  if (fgets(buf, 127, fp))
+    {
+      if ((p = strrchr(buf, delimiter)))
+        {
+          return strtol(p+1, NULL, 16);
         }
     }
-    return -1;
-}
 
+  return -1;
+}
 
-int install_remove(const char *scriptname)
+static int install_remove(const char *scriptname)
 {
-    FILE    *fp;
-    int      progsize, addr, freedsize;
-    uint16_t page;
-    int      status = 0;
-    
-    /* Parse script */
-    
-    if ( (fp=fopen(scriptname, "r")) ) {
-        progsize  = install_getlasthexvalue(fp,'=');
-        addr      = install_getlasthexvalue(fp,' ');
-        freedsize = progsize;
+  FILE    *fp;
+  int      progsize, addr, freedsize;
+  uint16_t page;
+  int      status = 0;
+
+  /* Parse script */
+
+  if ((fp = fopen(scriptname, "r")))
+    {
+      progsize  = install_getlasthexvalue(fp,'=');
+      addr      = install_getlasthexvalue(fp,' ');
+      freedsize = progsize;
+    }
+  else
+    {
+      return -errno;
+    }
+
+  fclose(fp);
+
+  /* Remove pages */
+
+  if (progsize <= 0 || addr <= 0)
+    {
+      return -EIO;
     }
-    else return -errno;
-            
-    fclose(fp);
-    
-    /* Remove pages */
-    
-    if (progsize <= 0 || addr <= 0)
-        return -EIO;
-        
-    do {
-        if ((page = up_progmem_getpage(addr)) < 0) {
-            status = -page;
-            break;
+
+  do
+    {
+      if ((page = up_progmem_getpage(addr)) < 0)
+        {
+          status = -page;
+          break;
         }
-        
-        if ( up_progmem_erasepage(page) < 0) {
-            status = -page;
-            break;
+
+      if (up_progmem_erasepage(page) < 0)
+        {
+          status = -page;
+          break;
         }
-        
-        addr += up_progmem_pagesize(page);
-        progsize -= up_progmem_pagesize(page);
-        
-    } while(progsize > 0);
-    
-    if (status < 0) return status;
-    
-    /* Remove script file */
-    
-    if (unlink(scriptname) < 0) return -errno;
-    
-    return freedsize;
+
+      addr += up_progmem_pagesize(page);
+      progsize -= up_progmem_pagesize(page);
+
+    }
+  while(progsize > 0);
+
+  if (status < 0)
+    {
+      return status;
+    }
+
+  /* Remove script file */
+
+  if (unlink(scriptname) < 0)
+    {
+      return -errno;
+    }
+
+  return freedsize;
 }
 
 
 /****************************************************************************
- * Start
+ * Public Functions
  ****************************************************************************/
 
 int install_main(int argc, char *argv[])
 {
-    int i;
-    int progsize;
-    int scrsta;
-    int stacksize       = 4096;
-    int priority        = SCHED_PRIORITY_DEFAULT;
-    int pagemargin      = 16;
-    int startpage       = 0;
-    int startaddr       = 0;
-    int action          = ACTION_INSTALL;
-    char scriptname[128];
-    
-    /* Supported? */
-    
-    if ( !up_progmem_isuniform() ) {
-        fprintf(stderr, "Error: install supports uniform organization only.\n");
-        return -1;
+  int i;
+  int progsize;
+  int scrsta;
+  int stacksize       = 4096;
+  int priority        = SCHED_PRIORITY_DEFAULT;
+  int pagemargin      = 16;
+  int startpage       = 0;
+  int startaddr       = 0;
+  int action          = ACTION_INSTALL;
+  char scriptname[128];
+
+  /* Supported? */
+
+  if (!up_progmem_isuniform())
+    {
+      fprintf(stderr, "Error: install supports uniform organization only.\n");
+      return -1;
     }
-    
-    /* Parse arguments */
-    
-    for (i=1; i<argc; i++) {
-        if (argv[i][0]=='-' && argv[i][1]=='-' && i<=argc) {
-        
-            if (strcmp(argv[i]+2, "stack")==0) {
-                stacksize = atoi(argv[++i]);
+
+  /* Parse arguments */
+
+  for (i=1; i<argc; i++)
+    {
+      if (argv[i][0]=='-' && argv[i][1]=='-' && i<=argc)
+        {
+          if (strcmp(argv[i]+2, "stack")==0)
+            {
+              stacksize = atoi(argv[++i]);
             }
-            else if (strcmp(argv[i]+2, "priority")==0) {
-                priority = atoi(argv[++i]);
+          else if (strcmp(argv[i]+2, "priority")==0)
+            {
+              priority = atoi(argv[++i]);
             }
-            else if (strcmp(argv[i]+2, "start")==0) {
-                startpage = atoi(argv[++i]);
+          else if (strcmp(argv[i]+2, "start")==0)
+            {
+              startpage = atoi(argv[++i]);
             }
-            else if (strcmp(argv[i]+2, "margin")==0) {
-                pagemargin = atoi(argv[++i]);
+          else if (strcmp(argv[i]+2, "margin")==0)
+            {
+              pagemargin = atoi(argv[++i]);
             }
-            else if (strcmp(argv[i]+2, "remove")==0) {
-                action = ACTION_REMOVE;
+          else if (strcmp(argv[i]+2, "remove")==0)
+            {
+              action = ACTION_REMOVE;
             }
-            else if (strcmp(argv[i]+2, "force")==0) {
-                action = ACTION_REINSTALL;
+          else if (strcmp(argv[i]+2, "force")==0)
+            {
+              action = ACTION_REINSTALL;
             }
-            else fprintf(stderr, "Unknown option: %s\n", argv[i]);
+          else fprintf(stderr, "Unknown option: %s\n", argv[i]);
+        }
+      else
+        {
+          break;
         }
-        else break;
     }
-    
-    /* Do the job */
-    
-    switch(action & 1) {
-            
-        case ACTION_REMOVE:
-            if (i > argc-1) {
-                action = ACTION_INSUFPARAM;
-                break;  /* are there sufficient parameters */
-            }
-            if ( (scrsta=install_remove(argv[i])) < 0) {
-                fprintf(stderr, "Could not remove program: %s\n", strerror(-scrsta) );
+
+  /* Do the job */
+
+  switch(action & 1)
+    {
+      case ACTION_REMOVE:
+        if (i > argc-1)
+          {
+            action = ACTION_INSUFPARAM;
+            break;  /* are there sufficient parameters */
+          }
+
+        if ((scrsta=install_remove(argv[i])) < 0)
+          {
+            fprintf(stderr, "Could not remove program: %s\n", strerror(-scrsta));
+            return -1;
+          }
+
+        printf("Removed %s and freed %d bytes\n", argv[i], scrsta);
+          return 0;
+
+      case ACTION_INSTALL:
+        if (i > argc-2)
+          {
+            action = ACTION_INSUFPARAM;
+            break;  /* are there sufficient parameters */
+          }
+
+        install_getscriptname(scriptname, argv[i], argv[i+1]);
+
+        /* script-exists? */
+
+        if (install_alreadyexists(scriptname) == 1)
+          {
+            if (action != ACTION_REINSTALL)
+              {
+                fprintf(stderr, "Program with that name already exists.\n");
+                return -EEXIST;
+              }
+
+            if ((scrsta = install_remove(scriptname)) < 0)
+              {
+                fprintf(stderr, "Could not remove program: %s\n", strerror(-scrsta));
                 return -1;
-            }
-            printf("Removed %s and freed %d bytes\n", argv[i], scrsta);
-            return 0;
-            
-    
-        case ACTION_INSTALL:
-            if (i > argc-2) {
-                action = ACTION_INSUFPARAM;
-                break;  /* are there sufficient parameters */
-            }
-            
-            install_getscriptname(scriptname, argv[i], argv[i+1]);
-            
-            // script-exists?
-            if (install_alreadyexists(scriptname)==1) {
-                
-                if (action != ACTION_REINSTALL) {
-                    fprintf(stderr, "Program with that name already exists.\n");
-                    return -EEXIST;
-                }
-                
-                if ( (scrsta=install_remove(scriptname)) < 0) {
-                    fprintf(stderr, "Could not remove program: %s\n", strerror(-scrsta) );
-                    return -1;
-                }
-                
-                printf("Replacing %s\n", scriptname);
-            }
-            
-            startaddr = install_getstartpage(startpage, pagemargin, install_getprogsize(argv[i]) );
-            if (startpage < 0) {
-                fprintf(stderr, "Not enough memory\n");
-                return -ENOMEM;
-            }
-                            
-            if ( (progsize = install_programflash(startaddr, argv[i])) <= 0) {
-                fprintf(stderr, "Error writing program memory: %s\n"
+              }
+
+            printf("Replacing %s\n", scriptname);
+          }
+
+        startaddr = install_getstartpage(startpage, pagemargin, install_getprogsize(argv[i]));
+        if (startpage < 0)
+          {
+            fprintf(stderr, "Not enough memory\n");
+            return -ENOMEM;
+          }
+
+        if ((progsize = install_programflash(startaddr, argv[i])) <= 0)
+          {
+            fprintf(stderr, "Error writing program memory: %s\n"
                     "Note: Flash pages are not released, so you may try again and program will be\n"
-                    "      written in other pages.\n", strerror(-progsize) );
-                
-                return -EIO;
-            }
-            if ( (scrsta = install_createscript(startaddr, stacksize, progsize, 
-                                           priority, scriptname)) < 0) {
-                fprintf(stderr, "Error writing program script at %s: %s\n", 
-                    argv[i+1], strerror(-scrsta) );
-                return -EIO;
-            }
-            
-            printf("Installed application of size %d bytes to program memory [%xh - %xh].\n",
+                    "      written in other pages.\n", strerror(-progsize));
+            return -EIO;
+          }
+
+        if ((scrsta = install_createscript(startaddr, stacksize, progsize,
+                                             priority, scriptname)) < 0)
+          {
+            fprintf(stderr, "Error writing program script at %s: %s\n",
+                    argv[i+1], strerror(-scrsta));
+            return -EIO;
+          }
+
+        printf("Installed application of size %d bytes to program memory [%xh - %xh].\n",
                 progsize, startaddr, startaddr + progsize);
-
-            return 0;
+        return 0;
     }
-    
-    fprintf(stderr, install_help, argv[0], argv[0]);
-    return -1;
+
+  fprintf(stderr, install_help, argv[0], argv[0]);
+  return -1;
 }
diff --git a/apps/system/readline/readline.c b/apps/system/readline/readline.c
index ec2dc1c0a..f64049ed7 100644
--- a/apps/system/readline/readline.c
+++ b/apps/system/readline/readline.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/stdio/lib_fgets.c
+ * apps/system/readline/readline.c
  *
  *   Copyright (C) 2007-2008, 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/apps/systemcmds/top/top.c b/apps/systemcmds/top/top.c
index e6248dd43..f4e260211 100644
--- a/apps/systemcmds/top/top.c
+++ b/apps/systemcmds/top/top.c
@@ -135,9 +135,9 @@ int top_main(int argc, char *argv[])
 					memset(header_spaces, ' ', CONFIG_TASK_NAME_SIZE);
 					header_spaces[CONFIG_TASK_NAME_SIZE] = '\0';
 #if CONFIG_RR_INTERVAL > 0
-					printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tMIN STACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces);
+					printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces);
 #else
-					printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tMIN STACK USE\tCURR (BASE) PRIO\n", header_spaces);
+					printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\n", header_spaces);
 #endif
 
 				} else {
@@ -190,7 +190,26 @@ int top_main(int argc, char *argv[])
 						runtime_spaces = "";
 					}
 
-					printf("\033[K % 2d\t%s%s % 8lld ms%s  \t % 2d.%03d \t % 6d B", (int)system_load.tasks[i].tcb->pid, system_load.tasks[i].tcb->name, spaces, (system_load.tasks[i].total_runtime / 1000), runtime_spaces, (int)(curr_loads[i] * 100), (int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100), (uint32_t)system_load.tasks[i].tcb->adj_stack_ptr - (uint32_t)system_load.tasks[i].tcb->xcp.regs[REG_R13]);
+					unsigned stack_size = (uintptr_t)system_load.tasks[i].tcb->adj_stack_ptr - 
+								(uintptr_t)system_load.tasks[i].tcb->stack_alloc_ptr;
+					unsigned stack_free = 0;
+					uint8_t *stack_sweeper = (uint8_t *)system_load.tasks[i].tcb->stack_alloc_ptr;
+					while (stack_free < stack_size) {
+						if (*stack_sweeper++ != 0xff)
+							break;
+						stack_free++;
+					}
+
+					printf("\033[K % 2d\t%s%s % 8lld ms%s  \t % 2d.%03d \t % 4u / % 4u",
+					       (int)system_load.tasks[i].tcb->pid,
+					       system_load.tasks[i].tcb->name,
+					       spaces,
+					       (system_load.tasks[i].total_runtime / 1000),
+					       runtime_spaces,
+					       (int)(curr_loads[i] * 100),
+					       (int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100),
+					       stack_size - stack_free,
+					       stack_size);
 					/* Print scheduling info with RR time slice */
 #if CONFIG_RR_INTERVAL > 0
 					printf("\t%d\t(%d)\t\t%d\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority, (int)system_load.tasks[i].tcb->timeslice);
diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog
index adb52afce..a8e045616 100644
--- a/nuttx/ChangeLog
+++ b/nuttx/ChangeLog
@@ -3177,7 +3177,7 @@
 	* arch/arm/src/stm32/stm32_otgfshost.c:  This driver now appears to be
 	  functional (although more testing is necesary).
 
-6.22 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+6.22 2012-09-29 Gregory Nutt <gnutt@nuttx.org>
 
 	* include/semaphore.h, sched/sem_holders.c, and lib/semaphore/sem_init.c:
 	  Fix some strange (and probably wrong) list handling when
@@ -3193,7 +3193,7 @@
 	  speed/duplex.  This does not work for certain PHYs.  Still some unresolved
 	  issues (also from Kate).
 	* tools/Config.mk, Makefile, configs/*/Make.defs:  Add a new Makefile
-	  fragement to de-quoate certain strings from the Kconfig logic that
+	  fragment to de-quote certain strings from the Kconfig logic that
 	  need to be used at path segments (Richard Cochran).
 	* arch/arm/src/stm32/stm32_usbotghost.c:  The STM32 USB host driver only
 	  works with debug turned on.  The problem appears to be that with debug
@@ -3201,7 +3201,7 @@
 	  reveals a variety of errors.  This check in improves NAK robustness
 	  for control transfers but does not resolve all of the issues.
 	* configs/stm3220g-eval/*/defconfig:  Calibrated delay loop.  It had
-	  never been calibrated was was way off.
+	  never been calibrated was way off.
 	* sched/sem_holder.c: Add logic to handler some priority inheritance
 	  cases when sem_post() is called from an interrupt handler.  The
 	  logic is clearly wrong, but it is not known if this is the
@@ -3212,13 +3212,13 @@
 	  CONFIG_LIBC_STRERROR_SHORT that can be used to output shortened
 	  strings by strerror().
 	* arch/arm/src/stm32/stm32_usbotghost.c:  Finally... the USB OTG FS
-	  appears to handle NAKing correctly is complete.
+	  appears to handle NAKing correctly.
 	* configs/stm32f4discovery/*:  Added and verifed support for USB OTG FS
 	  host on the STM32F4Discovery board.
 	* configs/*/defconfig: Remove configuration documentation from config
 	  files.  It is redundant, error-prone, and difficult to maintain.
 	  Configuration documentation is available in configs/README.txt for
-	  common configurations and in configs/*/README.txt for board and MCU_
+	  common configurations and in configs/*/README.txt for board and MCU-
 	  specific configurations.
 	* configs/stm3240g-eval: Add USB host support.
 	* sched/os_bring.c, configs/*/defconfig, tools/mkconfig.c, and others:  Added
@@ -3226,7 +3226,7 @@
 	  the default entry from user_start to some other symbol.  Contributed by
 	  Kate. NOTE: This change does introduce a minor backward incompatibility.
 	  For example, if your application uses NSH as its start-up program, then your
-	  code will not fail because it will be unable to find "user_start".  The fix
+	  build will now fail because it will be unable to find "user_start".  The fix
 	  for this link failure is to add the following to your configuration file:
 	  CONFIG_USER_ENTRYPOINT="nsh_main".
 	* libs/stdio/lib_libfread.c and lib_*flush*.c:  Correct a couple of
@@ -3269,7 +3269,7 @@
 	  CONFIG_HEAP2_SIZE (decimal) instead of CONFIG_HEAP2_END (hex).
 	* tools/configure.sh:  Don't append the apps directory path setting
 	  if the correct setting is already in defined in the defconfig file.
-	* fs/fat/fs_utils.c:  Improper constructed bool expression.  This
+	* fs/fat/fs_utils.c:  Improperly constructed bool expression.  This
 	  would cause many unnecessary writes to FLASH (Thanks Ronen Vainish).
 	* Kconfig: Verify configuration settings for the LPC43xx.  This includes
 	  some corrections to configuration variable names and defconfig settings.
@@ -3319,13 +3319,13 @@
 	  in all places.
 	* drivers/enc28j60.c, include/nuttx/net/enc28j60.h, and 
 	  olimex-strp711/src/up_enc28j60.c:  No longer passes IRQ number
-	  as a parameters.  Instead now passes a call table to manage
+	  as a parameter.  Instead now passes a call table to manage
 	  ENC28J60 GPIO interrupts.  That is because GPIO interrupts are
 	  handled in different ways by different MCUs and some do not
 	  support IRQ numbers for GPIO interrupts.
 	* mm/mm_gran* and include/nuttx/gran.h:  Add a simple granule-
 	  based allocator.  The intent of this allocator is to support
-	  simple allocation of DMA I/O buffers.  The initiali check-in
+	  simple allocation of DMA I/O buffers.  The initial check-in
 	  is code complete but untested (not event built into the
 	  mm/Makefile yet.
 	* confgs/fire-stm32v2: The board port is basically functional.
@@ -3352,7 +3352,7 @@
 	* arch/arm/include/armv7-m/irq.h:  Fix a critical bug in irqsave().
 	  It looks like sometimes the compile will re-order some instructions
 	  inapproapriately.  This end result is that interrupts will get
-	  stuff off.
+	  stuck off.
 	* drivers/mtd/w25.c:  Beginning of a driver for the Windbond SPI
 	  FLASH family (W25x16, W25x32, and W25x64).  The initial check-in
 	  is basically just the SST25 driver with some name changes.
@@ -3372,7 +3372,7 @@
 	  I2C reset logic to recover from locked devices on the bus.
 	* configs/*/*/Make.defs, tools/Config.mk, Makefile:  Refactor all
 	  common make definitions from the various Make.defs files into
-	  the common tools/Make.mk.  Add support for a verbosity options:
+	  the common tools/Config.mk.  Add support for a verbosity options:
 	  Specify V=1 on the make command line in order to see the exact
 	  commands used in the build (Contributed by Richard Cochran).
 	* drivers/net/enc28j60.c:  The ENC28J60 Ethernet driver is
@@ -3400,17 +3400,17 @@
 	* configs/shenzhou/src/up_lcd.c:  Oops. Shenzhou LCD does not
 	  have an SSD1289 controller.  Its an ILI93xx.  Ported the
 	  STM3240G-EVAL ILI93xx driver to work on the Shenzhou board.
-	* configs/shenzhou/nxwm:  Added an NxWM configuratino for the
+	* configs/shenzhou/nxwm:  Added an NxWM configuration for the
 	  Shenzhou board.  This is untested on initial check-in.  It will
 	  be used to verify the Shenzhou LCD driver (and eventually the
 	  touchscreen driver).
 	* configs/shenzhou/src/up_touchscreen.c:  Add ADS7843E touchscreen
 	  support for the Shenzhou board.  The initial check-in is untested
-	  and basically a clone of the the touchscreen support fro the SAM-3U.
+	  and basically a clone of the the touchscreen support for the SAM-3U.
 	* tools/cfgparser.c: There are some NxWidget configuration
 	  settings that must be de-quoted.
 	* arch/arm/src/stm32/Kconfig: There is no SPI4.  Some platforms
-	  SPI3 and some do not (still not clear).
+	  support SPI3 and some do not (still not clear).
 	* nuttx/configs/shenzhou: Various fixes to build new NxWM
 	  configuration.
 	* configs/shenzhou:  Oops.  The Shenzhou LCD is and SSD1289,
@@ -3419,4 +3419,55 @@
 	  on the Shenzhou board.
 	* graphics/nxmu:  Correct some bad parameter checking that caused
 	  failures when DEBUG was enabled.
+	* arch/arm/src/armv7-m/nvic.h:  Add bit definitions for the AIRCR
+	  register.
+	* drivers/input/ads7843.c:  Need semaphore protection in logic
+	  that samples the position.
+	* drivers/lcd/ssd1289.c:  On some platforms we are unable to
+	  read the device ID -- reason unknown; workaround in place.
+	* drivers/input/ads7843.c:  Add thresholding options and an
+	  option to swap X and Y positions.  Fix some logic errors in
+	  the SPI locking/selecting logic.
+	* arch/arm/src/armv7-m/up_systemreset.c:  Add logic to reset
+	  the Cortex-Mx using the AIRCR register.  Contributed by Darcy
+	  Gong.
+	* arch/arm/src/stm32/up_eth.c:  Add logic specifically for the
+	  DM9161 PHY.  If the DM9161 failed to initialize, then use the
+	  up_sysemreset() logic to reset the MCU.  Contributed by Darcy
+	  Gong.
+	* arch/arm/src/stm32/stm32_gpio.c:  Add missing logic to set bit
+	  for SPI3 remap.  This fixes the XPT2046 touchscreen driver using
+	  drivers/input/ads7843.c
+	* configs/shenzhou/src/up_ssd1289.c:  Fix naming error in
+	  conditional compilation.
+	* configs/shenzhou/nxwm/defconfig:  Disable reading from the LCD.
+	  This does not work.  The hardware and the driver support the
+	  capability, but there is some bug that causes memory corruption.
+	  The work around for now:  Just disable reading from the LCD.
+	* drivers/lcd/ssd1289.c:  Add some logic to reduce the amount of
+	  output when CONFIG_DEBUG_LCD is enabled.
+	* configs/shenzhou/nxwm/defconfig:  Bug found and fixed... The
+	  original configuration had too much stuff turned on.  Reducing
+	  stack sizes, some features, and buffer sizes made the
+	  configuration reliable (Reading from the LCD is still disabled).
+	* net/uip/uip_icmpping.c:  Fix problem that prevented ping from
+	  going outside of local network.  Submitted by Darcy Gong
+
+6.23 2012-09-29 Gregory Nutt <gnutt@nuttx.org>
+
+	* arch/arm/src/stm32/stm32_rng.c, chip/stm32_rng.h, and other files:
+	  Implementation of /dev/random using the STM32 Random Number
+	  Generator (RNG).
+	* board.h file for shenzhou, fire-stm32v2, and olimex-stm32-p107:
+	  Add frequencies for HSE, HSI, LSE, and LSI.  These are needed
+	  by the STM32 watchdog driver.
+	* CONFIG_EXAMPLES_*: To make things consistent, changed all occurrences
+	  of CONFIG_EXAMPLE_* to CONFIG_EXAMPLES_*.
+	* drivers/mtd/w25.c and configs/*/src/up_w25.c:  Several fixes for the
+	  W25 SPI FLASH.
+	* configs/*/Make.defs:  All buildroot tools now use the extension
+	  xxx-nuttx-elf- vs. xxx-elf-
+	* configs/shenzhou/*/Make.defs:  Now uses the new buildroot 4.6.3
+	  EABI toolchain.
+	* lib/stdio/lib_libdtoa.c:  Another dtoa() fix from Mike Smith.
 
diff --git a/nuttx/README.txt b/nuttx/README.txt
index 7477e0a24..d60da2d88 100644
--- a/nuttx/README.txt
+++ b/nuttx/README.txt
@@ -853,9 +853,8 @@ apps
  |- system/
  |   |- i2c/README.txt
  |   |- free/README.txt
- |   `- install
- |      `- README.txt
- |- vsn/
+ |   |- install
+ |   |  `- README.txt
  |   |- poweroff
  |   |  `- README.txt
  |   |- ramtron
diff --git a/nuttx/ReleaseNotes b/nuttx/ReleaseNotes
index 4d7211669..b1d5f6064 100644
--- a/nuttx/ReleaseNotes
+++ b/nuttx/ReleaseNotes
@@ -1606,6 +1606,8 @@ The 61st release of NuttX, NuttX-5.14, was made on November 27,
 2010.  This release includes multiple, important bugfixes as well
 as a new driver for the NXP LPC1766.
 
+This release corresponds with SVN release number: r3137
+
 Important bugfixes include:
 
   * Cortex-M3 Hard Fault.  Fixed a hard fault problem that can occur
@@ -2052,6 +2054,8 @@ interest expressed by members of the forum and because of the
 availability of newer, larger capacity AVR parts (that I don't have
 yet).
 
+This release corresponds with SVN release number: r3730
+
 This release includes support for the following AVR boards.  As
 with any initial support for new architectures, there are some
 incomplete areas and a few caveats that need to be stated.  Here
@@ -3063,3 +3067,107 @@ Bugfixes (see the change log for details) :
       for C++
 
 As well as other, less critical bugs (see the ChangeLog for details)
+
+NuttX-6.22
+^^^^^^^^^^
+
+The 89th release of NuttX, Version 6.22, was made on September 29, 2012,
+and is available for download from the SourceForge website.  Note
+that release consists of two tarballs:  nuttx-6.22.tar.gz and
+apps-6.22.tar.gz.  Both may be needed (see the top-level nuttx/README.txt
+file for build information).
+
+This release corresponds with SVN release number: r5206
+
+Note that all SVN information has been stripped from the tarballs.  If you
+need the SVN configuration, you should check out directly from SVN.  Revision
+r5206 should equivalent to release 6.22 of NuttX 6.22:
+
+    svn checkout -r5206 svn://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+
+Or
+
+    svn checkout -r5206 http://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
+
+Additional new features and extended functionality:
+
+    * RTOS: Application entry point is no longer user_start, but can be
+      configured using CONFIG_USER_ENTRYPOINT.  NuttX now supports two work
+      queues:  A lower priority work queue (for extended processing) and a
+      higher priority work queue (for quick, high priority operations).
+
+    * Memory Management: Added a new granule-based allocated that can be
+      used to manage, aligned and quantized DMA memory.
+
+    * File System: Add hooks to allocate I/O memory with and external
+      allocated (need if required by DMA).
+
+    * Networking: ENC28J60 driver is (finally) verified.
+
+    * Drivers: Add hooks USB device drivers to allocate I/O memory with and
+      external allocated (need if required by DMA).  Driver for the Windbond
+      SPI FLASH family (W25x16, W25x32, W25x64, and others).  ADS7843E driver
+      extended for TSC2046 and XPT2046 and verified.
+
+    * ARMv7-M: Added logic to reset the MCU using the NVIC.
+
+    * STM32: Add support for STM32F103VET6.
+
+    * STM32 Drivers: Add logic to re-initialize UARTs a second time to
+      enable DMA (Mike Smith).  I2C driver error recovery (Mike Smith).
+
+    * STM32 boards: Support for USB host added add to several configurations
+      (or at least explained in README files).  Support for the Shenzhou
+      STM32F107 board (see www.armjishu.com).  Support for M3 Wildfire
+      STM32F103 board (v2 and v3).
+
+    * Build System:  Kconfig string de-quoting logic.  Remove comments from
+      defconfig files (Kate).  Add tool to create NuttX-style symbol tables.
+      Numerous changes to configuration logic as needed for the new mconf-based
+      configuration (much of this from Richard Cochran).  Refactor common
+      Make.defs logic into tools/Config.mk (Richard Cochran).
+
+    * Library: Configurable terse output from strerror(). Added perror() (Kate).
+      Add %n format to sscanf() (Kate).
+
+    * Applications: Numerous changes and extensions to the old uIP web server
+      (from Kate and Max Holtzberg, see the ChangeLog for specific extensions).
+      UDP network discovery utility (Max Holtzberg).  Embeddable Lightweight
+      XML-RPC Server (http://www.drdobbs.com/web-development/an-embeddable-lightweight-xml-rpc-server/184405364, Max Holtzberg).
+
+Bugfixes (see the change log for details).  Some of these are very important
+(marked *critical*):
+
+    * RTOS: Fixes to priority inheritance logic (*critical*).  waitpid()
+      critical section.  Assertion in work_cancel() (Mike Smith).  mmap() (Kate).
+
+    * FAT File System: Improper Boolean expression caused un-necessary writes
+      and performance issues (*critical*, Ronen Vainish).
+
+    * Networking: Remove an un-necessary delay from recvfrom().  This greatly
+      improves network performance (*critical*, Max Holtzberg).
+
+    * Graphics: NX parameter checking errors.
+
+    * Drivers: Fix double release of memory in SDIO-based, MMC/SD driver
+      (Ronen Vainish).
+
+    * LPC17xx:  Ethernet driver fixes needed for certain PHYs (Kate).
+
+    * AVR: Fix build error (Richard Cochran).
+
+    * STM32: USB OTG FS host driver NAKing an retries.  Power management
+      compilation errors (Diego Sanchez).  Missing SPI3 remap logic.
+
+    * STM32 Drivers: Fix for Ethernet errata for STM32F107 (*critical*).
+      Ethernet buffer alignment check.  Add "kludge" to Ethernet driver to
+      handle DM9161 PHY which (at least on the Shenzhou board), sometimes
+      does not come up correctly.
+
+    * Applications: THTTPD (Kate).  NSH ping when IP address is on a different
+      network (Darcy Gong).
+
+    * Library: fread(), fflush(), fdopen(): Fix error handling logic (Ronen
+      Vainish). Fix some field-width handling issues in sscanf()
+
+As well as other, less critical bugs (see the ChangeLog for details)
diff --git a/nuttx/TODO b/nuttx/TODO
index 72a94290b..906601192 100644
--- a/nuttx/TODO
+++ b/nuttx/TODO
@@ -12,7 +12,7 @@ nuttx/
   (2)  Signals (sched/, arch/)
   (2)  pthreads (sched/)
   (2)  C++ Support
-  (5)  Binary loaders (binfmt/)
+  (6)  Binary loaders (binfmt/)
  (17)  Network (net/, drivers/net)
   (3)  USB (drivers/usbdev, drivers/usbhost)
  (11)  Libraries (lib/)
@@ -376,15 +376,15 @@ o Binary loaders (binfmt/)
   Description: Windows build issue.  Some of the configurations that use NXFLAT have
                the linker script specified like this:
 
-               NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+               NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld -no-check-sections
 
                That will not work for windows-based tools because they require Windows
                style paths.  The solution is to do something like this:
 
                if ($(WINTOOL)y)
-                 NXFLATLDSCRIPT=${cygpath -w $(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld}
+                 NXFLATLDSCRIPT=${cygpath -w $(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld}
                else
-                 NXFLATLDSCRIPT=$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld
+                 NXFLATLDSCRIPT=$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld
                endif
                
                Then use
@@ -395,6 +395,48 @@ o Binary loaders (binfmt/)
   Priority:    There are too many references like the above.  They will have
                to get fixed as needed for Windows native tool builds.
 
+  Title:       TOOLCHAIN COMPATIBILITY PROBLEM
+  Descripton:  The older 4.3.3 compiler generates GOTOFF relocations to the constant
+               strings, like:
+
+               .L3:
+                  .word   .LC0(GOTOFF)
+                  .word   .LC1(GOTOFF)
+                  .word   .LC2(GOTOFF)
+                  .word   .LC3(GOTOFF)
+                  .word   .LC4(GOTOFF)
+
+               Where .LC0, LC1, LC2, LC3, and .LC4 are the labels correponding to strings in
+               the .rodata.str1.1 section.  One consequence of this is that .rodata must reside
+               in D-Space since it will addressed relative to the GOT (see the section entitled
+               "Read-Only Data in RAM" at
+               http://nuttx.org/Documentation/NuttXNxFlat.html#limitations).
+
+               The newer 4.6.3compiler generated PC relative relocations to the strings:
+
+               .L2:
+                  .word   .LC0-(.LPIC0+4)
+                  .word   .LC1-(.LPIC1+4)
+                  .word   .LC2-(.LPIC2+4)
+                  .word   .LC3-(.LPIC4+4)
+                  .word   .LC4-(.LPIC5+4)
+
+               This is good and bad.  This is good because it means that .rodata.str1.1 can not
+               reside in FLASH with .text and can be accessed using PC-relative addressing. 
+               That can be accomplished by simply moving the .rodata from the .data section to
+               the .text section in the linker script.  (The NXFLAT linker script is located at
+               nuttx/binfmt/libnxflat/gnu-nxflat.ld).
+
+               This is bad because a lot of stuff may get broken an a lot of test will need to
+               be done.  One question that I have is does this apply to all kinds of .rodata? 
+               Or just to .rodata.str1.1?
+  
+  Status:      Open.  Many of the required changes are in place but, unfortunately, not enough
+               go be fully functional.  I think all of the I-Space-to-I-Space fixes are in place.
+               However, the generated code also includes PC-relative references to .bss which
+               just cannot be done.
+  Priority:    Medium.  The workaround for now is to use the older, 4.3.3 OABI compiler.
+
 o Network (net/, drivers/net)
   ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
diff --git a/nuttx/arch/arm/src/armv7-m/nvic.h b/nuttx/arch/arm/src/armv7-m/nvic.h
index 1d30c5f7c..6bd842a76 100644
--- a/nuttx/arch/arm/src/armv7-m/nvic.h
+++ b/nuttx/arch/arm/src/armv7-m/nvic.h
@@ -175,7 +175,7 @@
 #define NVIC_CPUID_BASE_OFFSET          0x0d00 /* CPUID base register */
 #define NVIC_INTCTRL_OFFSET             0x0d04 /* Interrupt control state register */
 #define NVIC_VECTAB_OFFSET              0x0d08 /* Vector table offset register */
-#define NVIC_AIRC_OFFSET                0x0d0c /* Application interrupt/reset contol registr */
+#define NVIC_AIRCR_OFFSET               0x0d0c /* Application interrupt/reset contol registr */
 #define NVIC_SYSCON_OFFSET              0x0d10 /* System control register */
 #define NVIC_CFGCON_OFFSET              0x0d14 /* Configuration control register */
 #define NVIC_SYSH_PRIORITY_OFFSET(n)    (0x0d14 + 4*((n) >> 2))
@@ -348,7 +348,7 @@
 #define NVIC_CPUID_BASE                 (ARMV7M_NVIC_BASE + NVIC_CPUID_BASE_OFFSET)
 #define NVIC_INTCTRL                    (ARMV7M_NVIC_BASE + NVIC_INTCTRL_OFFSET)
 #define NVIC_VECTAB                     (ARMV7M_NVIC_BASE + NVIC_VECTAB_OFFSET)
-#define NVIC_AIRC                       (ARMV7M_NVIC_BASE + NVIC_AIRC_OFFSET)
+#define NVIC_AIRCR                      (ARMV7M_NVIC_BASE + NVIC_AIRCR_OFFSET)
 #define NVIC_SYSCON                     (ARMV7M_NVIC_BASE + NVIC_SYSCON_OFFSET)
 #define NVIC_CFGCON                     (ARMV7M_NVIC_BASE + NVIC_CFGCON_OFFSET)
 #define NVIC_SYSH_PRIORITY(n)           (ARMV7M_NVIC_BASE + NVIC_SYSH_PRIORITY_OFFSET(n))
@@ -500,6 +500,20 @@
 #define NVIC_SYSHCON_BUSFAULTENA        (1 << 17) /* Bit 17: BusFault enabled */
 #define NVIC_SYSHCON_USGFAULTENA        (1 << 18) /* Bit 18: UsageFault enabled */
 
+/* Application Interrupt and Reset Control Register (AIRCR) */
+
+#define NVIC_AIRCR_VECTRESET            (1 << 0)  /* Bit 0:  VECTRESET */
+#define NVIC_AIRCR_VECTCLRACTIVE        (1 << 1)  /* Bit 1:  Reserved for debug use */
+#define NVIC_AIRCR_SYSRESETREQ          (1 << 2)  /* Bit 2:  System reset */
+                                                  /* Bits 2-7:  Reserved */
+#define NVIC_AIRCR_PRIGROUP_SHIFT       (8)       /* Bits 8-14: PRIGROUP */
+#define NVIC_AIRCR_PRIGROUP_MASK        (7 << NVIC_AIRCR_PRIGROUP_SHIFT)
+#define NVIC_AIRCR_ENDIANNESS           (1 << 15) /* Bit 15: 1=Big endian */
+#define NVIC_AIRCR_VECTKEY_SHIFT        (16)      /* Bits 16-31: VECTKEY */
+#define NVIC_AIRCR_VECTKEY_MASK         (0xffff << NVIC_AIRCR_VECTKEY_SHIFT)
+#define NVIC_AIRCR_VECTKEYSTAT_SHIFT    (16)      /* Bits 16-31: VECTKEYSTAT */
+#define NVIC_AIRCR_VECTKEYSTAT_MASK     (0xffff << NVIC_AIRCR_VECTKEYSTAT_SHIFT)
+
 /* Debug Exception and Monitor Control Register (DEMCR) */
 
 #define NVIC_DEMCR_VCCORERESET          (1 << 0)  /* Bit 0:  Reset Vector Catch */
diff --git a/nuttx/configs/px4fmu/include/drv_lis331.h b/nuttx/arch/arm/src/armv7-m/up_systemreset.c
index f4699cda0..0d7bd2736 100644
--- a/nuttx/configs/px4fmu/include/drv_lis331.h
+++ b/nuttx/arch/arm/src/armv7-m/up_systemreset.c
@@ -1,6 +1,9 @@
 /****************************************************************************
+ * arch/arm/src/armv7-m/up_systemreset.c
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *           Darcy Gong
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -12,7 +15,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
+ * 3. Neither the name NuttX nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
@@ -31,53 +34,46 @@
  *
  ****************************************************************************/
 
-/*
- * Driver for the ST LIS331 MEMS accelerometer
- */
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+
+#include "up_arch.h"
+#include "nvic.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
 
-#include <sys/ioctl.h>
+ /****************************************************************************
+ * Public Types
+ ****************************************************************************/
 
-#define _LIS331BASE	0x6900
-#define LIS331C(_x)	_IOC(_LIS331BASE, _x)
+/****************************************************************************
+ * Public functions
+ ****************************************************************************/
 
-/* 
- * Sets the sensor internal sampling rate, and if a buffer
- * has been configured, the rate at which entries will be
- * added to the buffer.
- */
-#define LIS331_SETRATE		LIS331C(1)
+void up_systemreset(void)
+{
+  uint32_t regval;
 
-#define LIS331_RATE_50Hz		(0<<3)
-#define LIS331_RATE_100Hz		(1<<3)
-#define LIS331_RATE_400Hz		(2<<3)
-#define LIS331_RATE_1000Hz		(3<<3)
+  /* Set up for the system reset, retaining the priority group from the
+   * the AIRCR register.
+   */
 
-/*
- * Sets the sensor internal range.
- */
-#define LIS331_SETRANGE		LIS331C(2)
+  regval  = getreg32(NVIC_AIRCR) & NVIC_AIRCR_PRIGROUP_MASK;
+  regval |= ((0x5fa << NVIC_AIRCR_VECTKEY_SHIFT) | NVIC_AIRCR_SYSRESETREQ);
+  putreg32(regval, NVIC_AIRCR);
 
-#define LIS331_RANGE_2G			(0<<4)
-#define LIS331_RANGE_4G			(1<<4)
-#define LIS331_RANGE_8G			(3<<4)
+  /* Ensure completion of memory accesses */              
 
-/*
- * Sets the address of a shared lis331_buffer
- * structure that is maintained by the driver.
- *
- * If zero is passed as the address, disables
- * the buffer updating.
- */
-#define LIS331_SETBUFFER	LIS331C(3)
+  __asm volatile ("dsb");
 
-struct lis331_buffer {
-	uint32_t	size;		/* number of entries in the samples[] array */
-	uint32_t	next;		/* the next entry that will be populated */
-	struct {
-		uint16_t	x;
-		uint16_t	y;
-		uint16_t	z;
-	} samples[];
-};
+  /* Wait for the reset */
 
-extern int	lis331_attach(struct spi_dev_s *spi, int spi_id);
+  for (;;);
+}
diff --git a/nuttx/arch/arm/src/common/up_initialize.c b/nuttx/arch/arm/src/common/up_initialize.c
index 094835c29..80f9b1193 100644
--- a/nuttx/arch/arm/src/common/up_initialize.c
+++ b/nuttx/arch/arm/src/common/up_initialize.c
@@ -171,6 +171,12 @@ void up_initialize(void)
   ramlog_consoleinit();
 #endif
 
+  /* Initialize the Random Number Generator (RNG)  */
+
+#ifdef CONFIG_DEV_RANDOM
+  up_rnginitialize();
+#endif
+
   /* Initialize the system logging device */
 
 #ifdef CONFIG_SYSLOG_CHAR
diff --git a/nuttx/arch/arm/src/common/up_internal.h b/nuttx/arch/arm/src/common/up_internal.h
index 9f20775c0..0d3c5b1f2 100644
--- a/nuttx/arch/arm/src/common/up_internal.h
+++ b/nuttx/arch/arm/src/common/up_internal.h
@@ -241,6 +241,10 @@ extern void up_pminitialize(void);
 #  define up_pminitialize()
 #endif
 
+#if defined(CONFIG_ARCH_CORTEXM3) || defined(CONFIG_ARCH_CORTEXM4)
+extern void up_systemreset(void) noreturn_function;
+#endif
+
 /* Interrupt handling *******************************************************/
 
 extern void up_irqinitialize(void);
@@ -369,6 +373,12 @@ extern void up_usbuninitialize(void);
 # define up_usbuninitialize()
 #endif
 
+/* Random Number Generator (RNG) ********************************************/
+
+#ifdef CONFIG_DEV_RANDOM
+extern void up_rnginitialize(void);
+#endif
+
 /****************************************************************************
  * Name: up_check_stack
  *
diff --git a/nuttx/arch/arm/src/stm32/Kconfig b/nuttx/arch/arm/src/stm32/Kconfig
index 8d93fb104..2f9100236 100644
--- a/nuttx/arch/arm/src/stm32/Kconfig
+++ b/nuttx/arch/arm/src/stm32/Kconfig
@@ -269,6 +269,7 @@ config STM32_ETHMAC
 	bool "Ethernet MAC"
 	default n
 	depends on STM32_CONNECTIVITYLINE || STM32_STM32F20XX || STM32_STM32F40XX
+	select ARCH_HAVE_PHY
 
 config STM32_FSMC
 	bool "FSMC"
@@ -319,6 +320,7 @@ config STM32_RNG
 	bool "RNG"
 	default n
 	depends on STM32_STM32F20XX || STM32_STM32F40XX
+	select ARCH_HAVE_RNG
 
 config STM32_SDIO
 	bool "SDIO"
diff --git a/nuttx/arch/arm/src/stm32/Make.defs b/nuttx/arch/arm/src/stm32/Make.defs
index 32e84a78a..54067a168 100644
--- a/nuttx/arch/arm/src/stm32/Make.defs
+++ b/nuttx/arch/arm/src/stm32/Make.defs
@@ -45,8 +45,8 @@ CMN_CSRCS	= up_assert.c up_blocktask.c up_copystate.c \
 		  up_initialize.c up_initialstate.c up_interruptcontext.c \
 		  up_memfault.c up_modifyreg8.c up_modifyreg16.c up_modifyreg32.c \
 		  up_releasepending.c up_releasestack.c up_reprioritizertr.c \
-		  up_schedulesigaction.c up_sigdeliver.c up_unblocktask.c \
-		  up_usestack.c up_doirq.c up_hardfault.c up_svcall.c \
+		  up_schedulesigaction.c up_sigdeliver.c up_systemreset.c \
+		  up_unblocktask.c up_usestack.c up_doirq.c up_hardfault.c up_svcall.c \
 		  up_stackcheck.c
 
 ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
@@ -83,7 +83,7 @@ endif
 
 ifeq ($(CONFIG_USBHOST),y)
 ifeq ($(CONFIG_STM32_OTGFS),y)
-CMN_CSRCS       += stm32_otgfshost.c
+CMN_CSRCS	+= stm32_otgfshost.c
 endif
 endif
 
@@ -124,6 +124,10 @@ ifeq ($(CONFIG_DAC),y)
 CHIP_CSRCS	+= stm32_dac.c
 endif
 
+ifeq ($(CONFIG_DEV_RANDOM),y)
+CHIP_CSRCS	+= stm32_rng.c
+endif
+
 ifeq ($(CONFIG_PWM),y)
 CHIP_CSRCS	+= stm32_pwm.c
 endif
diff --git a/nuttx/arch/arm/src/stm32/chip/stm32_rng.h b/nuttx/arch/arm/src/stm32/chip/stm32_rng.h
new file mode 100644
index 000000000..5e31d5817
--- /dev/null
+++ b/nuttx/arch/arm/src/stm32/chip/stm32_rng.h
@@ -0,0 +1,77 @@
+/************************************************************************************
+ * arch/arm/src/stm32/chip/stm32_rng.h
+ *
+ *   Copyright (C) 2012 Max Holtzberg. All rights reserved.
+ *   Author: Max Holtzberg <mh@uvc.de>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_ARM_STC_STM32_CHIP_STM32_RNG_H
+#define __ARCH_ARM_STC_STM32_CHIP_STM32_RNG_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#include "chip.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Register Offsets *****************************************************************/
+
+#define STM32_RNG_CR_OFFSET       0x0000  /* RNG Control Register */
+#define STM32_RNG_SR_OFFSET       0x0004  /* RNG Status Register */
+#define STM32_RNG_DR_OFFSET       0x0008  /* RNG Data Register */
+
+/* Register Addresses ***************************************************************/
+
+#define STM32_RNG_CR              (STM32_RNG_BASE+STM32_RNG_CR_OFFSET)
+#define STM32_RNG_SR              (STM32_RNG_BASE+STM32_RNG_SR_OFFSET)
+#define STM32_RNG_DR              (STM32_RNG_BASE+STM32_RNG_DR_OFFSET)
+
+/* Register Bitfield Definitions ****************************************************/
+
+/* RNG Control Register */
+
+#define RNG_CR_RNGEN              (1 << 2)  /* Bit 2: RNG enable */
+#define RNG_CR_IE                 (1 << 3)  /* Bit 3: Interrupt enable */
+
+/* RNG Status Register */
+
+#define RNG_SR_DRDY               (1 << 0) /* Bit 0: Data ready */
+#define RNG_SR_CECS               (1 << 1) /* Bit 1: Clock error current status */
+#define RNG_SR_SECS               (1 << 2) /* Bit 2: Seed error current status */
+#define RNG_SR_CEIS               (1 << 5) /* Bit 5: Clock error interrupt status */
+#define RNG_SR_SEIS               (1 << 6) /* Bit 6: Seed error interrupt status */
+
+#endif	/* __ARCH_ARM_STC_STM32_CHIP_STM32_RNG_H */
diff --git a/nuttx/arch/arm/src/stm32/stm32_eth.c b/nuttx/arch/arm/src/stm32/stm32_eth.c
index 2e892c9e5..3054142ce 100644
--- a/nuttx/arch/arm/src/stm32/stm32_eth.c
+++ b/nuttx/arch/arm/src/stm32/stm32_eth.c
@@ -664,6 +664,9 @@ static void stm32_rxdescinit(FAR struct stm32_ethmac_s *priv);
 
 static int  stm32_phyread(uint16_t phydevaddr, uint16_t phyregaddr, uint16_t *value);
 static int  stm32_phywrite(uint16_t phydevaddr, uint16_t phyregaddr, uint16_t value);
+#ifdef CONFIG_PHY_DM9161
+static inline int stm32_dm9161(FAR struct stm32_ethmac_s *priv);
+#endif
 static int  stm32_phyinit(FAR struct stm32_ethmac_s *priv);
 
 /* MAC/DMA Initialization */
@@ -1653,6 +1656,7 @@ static void stm32_receive(FAR struct stm32_ethmac_s *priv)
 
           stm32_freebuffer(priv, dev->d_buf);
           dev->d_buf = NULL;
+          dev->d_len = 0;
         }
     }
 }
@@ -1953,7 +1957,7 @@ static void stm32_polltimer(int argc, uint32_t arg, ...)
   /* Check if the next TX descriptor is owned by the Ethernet DMA or CPU.  We
    * cannot perform the timer poll if we are unable to accept another packet
    * for transmission.  Hmmm.. might be bug here.  Does this mean if there is
-   * a transmit in progress, we will missing TCP time state updates?
+   * a transmit in progress, we will miss TCP time state updates?
    *
    * In a race condition, ETH_TDES0_OWN may be cleared BUT still not available
    * because stm32_freeframe() has not yet run.  If stm32_freeframe() has run,
@@ -2480,6 +2484,72 @@ static int stm32_phywrite(uint16_t phydevaddr, uint16_t phyregaddr, uint16_t val
 }
 
 /****************************************************************************
+ * Function: stm32_dm9161
+ *
+ * Description:
+ *   Special workaround for the Davicom DM9161 PHY is required.  On power,
+ *   up, the PHY is not usually configured correctly but will work after
+ *   a powered-up reset.  This is really a workaround for some more
+ *   fundamental issue with the PHY clocking initialization, but the
+ *   root cause has not been studied (nor will it be with this workaround).
+ *
+ * Parameters:
+ *   priv - A reference to the private driver state structure
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_PHY_DM9161
+static inline int stm32_dm9161(FAR struct stm32_ethmac_s *priv)
+{
+  uint16_t phyval;
+  int ret;
+
+  /* Read the PHYID1 register;  A failure to read the PHY ID is one
+   * indication that check if the DM9161 PHY CHIP is not ready.
+   */
+
+  ret = stm32_phyread(CONFIG_STM32_PHYADDR, MII_PHYID1, &phyval);
+  if (ret < 0)
+    {
+      ndbg("Failed to read the PHY ID1: %d\n", ret);
+      return ret;
+    }
+
+  /* If we failed to read the PHY ID1 register, the reset the MCU to recover */
+
+  else if (phyval == 0xffff)
+    {
+      up_systemreset();
+    }
+
+  nvdbg("PHY ID1: 0x%04X\n", phyval);
+
+  /* Now check the "DAVICOM Specified Configuration Register (DSCR)", Register 16 */
+
+  ret = stm32_phyread(CONFIG_STM32_PHYADDR, 16, &phyval);
+  if (ret < 0)
+    {
+      ndbg("Failed to read the PHY Register 0x10: %d\n", ret);
+      return ret;
+    }
+
+  /* Bit 8 of the DSCR register is zero, the the DM9161 has not selected RMII.
+   * If RMII is not selected, then reset the MCU to recover.
+   */
+ 
+  else if ((phyval & (1 << 8)) == 0)
+    {
+      up_systemreset();
+    }
+
+  return OK;
+}
+#endif
+
+/****************************************************************************
  * Function: stm32_phyinit
  *
  * Description:
@@ -2524,6 +2594,16 @@ static int stm32_phyinit(FAR struct stm32_ethmac_s *priv)
     }
   up_mdelay(PHY_RESET_DELAY);
 
+  /* Special workaround for the Davicom DM9161 PHY is required. */
+
+#ifdef CONFIG_PHY_DM9161
+  ret = stm32_dm9161(priv);
+  if (ret < 0)
+    {
+      return ret;
+    }
+#endif
+
   /* Perform auto-negotion if so configured */
 
 #ifdef CONFIG_STM32_AUTONEG
diff --git a/nuttx/arch/arm/src/stm32/stm32_gpio.c b/nuttx/arch/arm/src/stm32/stm32_gpio.c
index 4703e8208..1dedd7ce7 100644
--- a/nuttx/arch/arm/src/stm32/stm32_gpio.c
+++ b/nuttx/arch/arm/src/stm32/stm32_gpio.c
@@ -128,6 +128,7 @@ static inline void stm32_gpioremap(void)
   val |= AFIO_MAPR_SPI1_REMAP;
 #endif
 #ifdef CONFIG_STM32_SPI3_REMAP
+  val |= AFIO_MAPR_SPI3_REMAP;
 #endif
 
 #ifdef CONFIG_STM32_I2C1_REMAP
diff --git a/nuttx/arch/arm/src/stm32/stm32_rng.c b/nuttx/arch/arm/src/stm32/stm32_rng.c
new file mode 100644
index 000000000..38e8108fe
--- /dev/null
+++ b/nuttx/arch/arm/src/stm32/stm32_rng.c
@@ -0,0 +1,264 @@
+/****************************************************************************
+ * arch/arm/src/stm32/stm32_rng.c
+ *
+ *   Copyright (C) 2012 Max Holtzberg. All rights reserved.
+ *   Author: Max Holtzberg <mh@uvc.de>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/irq.h>
+#include <nuttx/arch.h>
+
+#include "up_arch.h"
+#include "chip/stm32_rng.h"
+#include "up_internal.h"
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int stm32_rnginitialize(void);
+static int stm32_interrupt(int irq, void *context);
+static void stm32_enable(void);
+static void stm32_disable(void);
+static ssize_t stm32_read(struct file *filep, char *buffer, size_t);
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct rng_dev_s
+{
+  sem_t rd_devsem;      /* Threads can only exclusively access the RNG */
+  sem_t rd_readsem;     /* To block until the buffer is filled  */
+  char *rd_buf;
+  size_t rd_buflen;
+  uint32_t rd_lastval;
+  bool rd_first;
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static struct rng_dev_s g_rngdev;
+
+static const struct file_operations g_rngops =
+{
+  0,               /* open */
+  0,               /* close */
+  stm32_read,      /* read */
+  0,               /* write */
+  0,               /* seek */
+  0                /* ioctl */
+#ifndef CONFIG_DISABLE_POLL
+  ,0               /* poll */
+#endif
+};
+
+/****************************************************************************
+ * Private functions
+ ****************************************************************************/
+
+static int stm32_rnginitialize()
+{
+  uint32_t regval;
+
+  vdbg("Initializing RNG\n");
+
+  memset(&g_rngdev, 0, sizeof(struct rng_dev_s));
+
+  sem_init(&g_rngdev.rd_devsem, 0, 1);
+
+  if (irq_attach(STM32_IRQ_RNG, stm32_interrupt))
+    {
+      /* We could not attach the ISR to the interrupt */
+
+      vdbg("Could not attach IRQ.\n");
+
+      return -EAGAIN;
+    }
+
+  /* Enable interrupts */
+
+  regval = getreg32(STM32_RNG_CR);
+  regval |=  RNG_CR_IE;
+  putreg32(regval, STM32_RNG_CR);
+
+  up_enable_irq(STM32_IRQ_RNG);
+
+  return OK;
+}
+
+static void stm32_enable()
+{
+  uint32_t regval;
+
+  g_rngdev.rd_first = true;
+
+  regval = getreg32(STM32_RNG_CR);
+  regval |= RNG_CR_RNGEN;
+  putreg32(regval, STM32_RNG_CR);
+}
+
+static void stm32_disable()
+{
+  uint32_t regval;
+  regval = getreg32(STM32_RNG_CR);
+  regval &= ~RNG_CR_RNGEN;
+  putreg32(regval, STM32_RNG_CR);
+}
+
+static int stm32_interrupt(int irq, void *context)
+{
+  uint32_t rngsr;
+  uint32_t data;
+
+  rngsr = getreg32(STM32_RNG_SR);
+
+  if ((rngsr & (RNG_SR_SEIS | RNG_SR_CEIS)) /* Check for error bits */
+      || !(rngsr & RNG_SR_DRDY)) /* Data ready must be set */
+    {
+      /* This random value is not valid, we will try again. */
+
+      return OK;
+    }
+
+  data = getreg32(STM32_RNG_DR);
+
+  /* As required by the FIPS PUB (Federal Information Processing Standard
+   * Publication) 140-2, the first random number generated after setting the
+   * RNGEN bit should not be used, but saved for comparison with the next
+   * generated random number. Each subsequent generated random number has to be
+   * compared with the previously generated number. The test fails if any two
+   * compared numbers are equal (continuous random number generator test).
+   */
+
+  if (g_rngdev.rd_first)
+    {
+      g_rngdev.rd_first = false;
+      g_rngdev.rd_lastval = data;
+      return OK;
+    }
+
+  if (g_rngdev.rd_lastval == data)
+    {
+      /* Two subsequent same numbers, we will try again. */
+
+      return OK;
+    }
+
+  /* If we get here, the random number is valid. */
+
+  g_rngdev.rd_lastval = data;
+
+  if (g_rngdev.rd_buflen >= 4)
+    {
+      g_rngdev.rd_buflen -= 4;
+      *(uint32_t*)&g_rngdev.rd_buf[g_rngdev.rd_buflen] = data;
+    }
+  else
+    {
+      while (g_rngdev.rd_buflen > 0)
+        {
+          g_rngdev.rd_buf[--g_rngdev.rd_buflen] = (char)data;
+          data >>= 8;
+        }
+    }
+
+  if (g_rngdev.rd_buflen == 0)
+    {
+      /* Buffer filled, stop further interrupts. */
+
+      stm32_disable();
+      sem_post(&g_rngdev.rd_readsem);
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: stm32_read
+ ****************************************************************************/
+
+static ssize_t stm32_read(struct file *filep, char *buffer, size_t buflen)
+{
+  if (sem_wait(&g_rngdev.rd_devsem) != OK)
+    {
+      return -errno;
+    }
+  else
+    {
+      /* We've got the semaphore. */
+
+      /* Initialize semaphore with 0 for blocking until the buffer is filled from
+       * interrupts.
+       */
+
+      sem_init(&g_rngdev.rd_readsem, 0, 1);
+
+      g_rngdev.rd_buflen = buflen;
+      g_rngdev.rd_buf = buffer;
+
+      /* Enable RNG with interrupts */
+
+      stm32_enable();
+
+      /* Wait until the buffer is filled */
+
+      sem_wait(&g_rngdev.rd_readsem);
+
+      /* Free RNG for next use */
+
+      sem_post(&g_rngdev.rd_devsem);
+
+      return buflen;
+    }
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+void up_rnginitialize()
+{
+  stm32_rnginitialize();
+  register_driver("/dev/random", &g_rngops, 0444, NULL);
+}
diff --git a/nuttx/binfmt/libnxflat/gnu-nxflat.ld b/nuttx/binfmt/libnxflat/gnu-nxflat-gotoff.ld
index e66b1dff5..47debd663 100644
--- a/nuttx/binfmt/libnxflat/gnu-nxflat.ld
+++ b/nuttx/binfmt/libnxflat/gnu-nxflat-gotoff.ld
@@ -1,7 +1,7 @@
 /****************************************************************************
- * examples/nxflat/nxflat.ld
+ * examples/nxflat/gnu-nxflat-gotoff.ld
  *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009, 2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -48,7 +48,17 @@ MEMORY
  * (2) DSpace (Data Space).  This is the segment that contains both
  *     read-write data (.data, .bss) as well as read-only data (.rodata).
  *     Everything in this segment should be access-able with machine
- *     with machine load and store instructions.
+ *     PIC load and store instructions.
+ *
+ * Older versions of GCC (at least up to GCC 4.3.3), use GOT-relative
+ * addressing to access RO data. In that case, read-only data (.rodata) must
+ * reside in D-Space and this linker script should be used.
+ *
+ * Newer versions of GCC (at least as of GCC 4.6.3), use PC-relative
+ * addressing to access RO data. In that case, read-only data (.rodata) must
+ * reside in I-Space and this linker script should NOT be used with those
+ * newer tools.
+ *
  ****************************************************************************/
 
 SECTIONS
@@ -97,11 +107,16 @@ SECTIONS
 
   .data 0x00000000 :
     {
+      /* In this model, .rodata is access using PC-relative addressing
+       * and, hence, must also reside in the .text section.
+       */
+
       __data_start = . ;
       *(.rodata)
       *(.rodata1)
       *(.rodata.*)
       *(.gnu.linkonce.r*)
+
       *(.data)
       *(.data1)
       *(.data.*)
diff --git a/nuttx/binfmt/libnxflat/gnu-nxflat-pcrel.ld b/nuttx/binfmt/libnxflat/gnu-nxflat-pcrel.ld
new file mode 100644
index 000000000..71e4399ba
--- /dev/null
+++ b/nuttx/binfmt/libnxflat/gnu-nxflat-pcrel.ld
@@ -0,0 +1,187 @@
+/****************************************************************************
+ * examples/nxflat/gnu-nxflat-pcrel.ld
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+MEMORY 
+{
+  ISPACE : ORIGIN = 0x0, LENGTH = 2097152
+  DSPACE : ORIGIN = 0x0, LENGTH = 2097152
+}
+
+/****************************************************************************
+ * The XFLAT program image is divided into two segments:
+ *
+ * (1) ISpace (Instruction Space).  This is the segment that contains
+ *     code (.text) as well as read-only data (.rodata).  Everything in the
+ *     segment should be fetch-able  machine PC instructions (jump, branch,
+ *     call, etc.) or PC-relative loads.
+ * (2) DSpace (Data Space).  This is the segment that contains read-write
+ *     data (.data, .bss). Everything in this segment should be access-able
+ *     with machine PIC load and store instructions.
+ *
+ * Older versions of GCC (at least up to GCC 4.3.3), use GOT-relative
+ * addressing to access RO data. In that case, read-only data (.rodata) must
+ * reside in D-Space and this linker script should NOT be used with those
+ * older tools.
+ *
+ * Newer versions of GCC (at least as of GCC 4.6.3), use PC-relative
+ * addressing to access RO data. In that case, read-only data (.rodata) must
+ * reside in I-Space and this linker script should be used.
+ *
+ ****************************************************************************/
+
+SECTIONS
+{
+  .text 0x00000000 :
+    {
+      /* ISpace is located at address 0.  Every (unrelocated) ISpace
+       * address is an offset from the begining of this segment.
+       */
+
+      text_start = . ;
+
+      *(.text)
+      *(.text.*)
+      *(.gnu.warning)
+      *(.stub)
+      *(.glue_7)
+      *(.glue_7t)
+      *(.jcr)
+
+      /* C++ support:  The .init and .fini sections contain XFLAT-
+       * specific logic to manage static constructors and destructors.
+       */
+
+      *(.gnu.linkonce.t.*)
+      *(.init)
+      *(.fini)
+
+      /* This is special code area at the end of the normal
+         text section.  It contains a small lookup table at
+         the start followed by the code pointed to by entries
+         in the lookup table.  */
+
+      . = ALIGN (4) ;
+      PROVIDE(__ctbp = .);
+      *(.call_table_data)
+      *(.call_table_text)
+
+      /* In this model, .rodata is access using PC-relative addressing
+       * and, hence, must also reside in the .text section.
+       */
+
+      *(.rodata)
+      *(.rodata1)
+      *(.rodata.*)
+      *(.gnu.linkonce.r*)
+
+      _etext = . ;
+
+    } > ISPACE
+
+    /* DSpace is also located at address 0.  Every (unrelocated) DSpace
+     * address is an offset from the begining of this segment.
+     */
+
+  .data 0x00000000 :
+    {
+      __data_start = . ;
+      *(.data)
+      *(.data1)
+      *(.data.*)
+      *(.gnu.linkonce.d*)
+      *(.data1)
+      *(.eh_frame)
+      *(.gcc_except_table)
+
+      *(.gnu.linkonce.s.*)
+      *(__libc_atexit)
+      *(__libc_subinit)
+      *(__libc_subfreeres)
+      *(.note.ABI-tag)
+
+      /* C++ support. For each global and static local C++ object,
+       * GCC creates a small subroutine to construct the object. Pointers
+       * to these routines (not the routines themselves) are stored as
+       * simple, linear arrays in the .ctors section of the object file.
+       * Similarly, pointers to global/static destructor routines are
+       * stored in .dtors.
+       */
+
+      *(.gnu.linkonce.d.*)
+
+      _ctors_start = . ;
+      *(.ctors)
+      _ctors_end = . ;
+      _dtors_start = . ;
+      *(.dtors)
+      _dtors_end = . ;
+
+      _edata = . ;
+      edata = ALIGN( 0x10 ) ;
+    } > DSPACE
+
+  .bss :
+    {
+      __bss_start = _edata ;
+      *(.dynsbss)
+      *(.sbss)
+      *(.sbss.*)
+      *(.scommon)
+      *(.dynbss)
+      *(.bss)
+      *(.bss.*)
+      *(.bss*)
+      *(.gnu.linkonce.b*)
+      *(COMMON)
+      end = ALIGN( 0x10 ) ;
+      _end = ALIGN( 0x10 ) ;
+    } > DSPACE
+
+    .got 0 : { *(.got.plt) *(.got) }
+    .junk 0 : { *(.rel*) *(.rela*) }
+    /* Stabs debugging sections.    */
+    .stab 0 : { *(.stab) }
+    .stabstr 0 : { *(.stabstr) }
+    .stab.excl 0 : { *(.stab.excl) }
+    .stab.exclstr 0 : { *(.stab.exclstr) }
+    .stab.index 0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment 0 : { *(.comment) }
+    .debug_abbrev 0 : { *(.debug_abbrev) }
+    .debug_info 0 : { *(.debug_info) }
+    .debug_line 0 : { *(.debug_line) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    .debug_aranges 0 : { *(.debug_aranges) }
+}
diff --git a/nuttx/configs/Kconfig b/nuttx/configs/Kconfig
index b67c11ab3..ebe6d5480 100644
--- a/nuttx/configs/Kconfig
+++ b/nuttx/configs/Kconfig
@@ -23,6 +23,7 @@ config ARCH_BOARD_PX4IO
 	depends on ARCH_CHIP_STM32F100C8
 	---help---
 		PX4 system I/O expansion board
+
 endchoice
 
 config ARCH_BOARD
diff --git a/nuttx/configs/README.txt b/nuttx/configs/README.txt
index 5bbec874f..e6bde645d 100644
--- a/nuttx/configs/README.txt
+++ b/nuttx/configs/README.txt
@@ -1524,7 +1524,7 @@ configs/c5471evm
   This is a port to the Spectrum Digital C5471 evaluation board.  The
   TMS320C5471 is a dual core processor from TI with an ARM7TDMI general
   purpose processor and a c54 DSP.  It is also known as TMS320DA180 or just DA180. 
-  NuttX runs on the ARM core and is built with a GNU arm-elf toolchain*.
+  NuttX runs on the ARM core and is built with a GNU arm-nuttx-elf toolchain*.
   This port is complete and verified.
 
 configs/compal_e88 and compal_e99
@@ -1540,19 +1540,19 @@ configs/demo9s12ne64
 
 configs/ea3131
   Embedded Artists EA3131 Development board.  This board is based on the 
-  an NXP LPC3131 MCU. This OS is built with the arm-elf toolchain*.
+  an NXP LPC3131 MCU. This OS is built with the arm-nuttx-elf toolchain*.
   STATUS:  This port is complete and mature.
 
 configs/ea3152
   Embedded Artists EA3152 Development board.  This board is based on the 
-  an NXP LPC3152 MCU. This OS is built with the arm-elf toolchain*.
+  an NXP LPC3152 MCU. This OS is built with the arm-nuttx-elf toolchain*.
   STATUS:  This port is has not be exercised well, but since it is
   a simple derivative of the ea3131, it should be fully functional.
 
 configs/eagle100
   Micromint Eagle-100 Development board.  This board is based on the 
   an ARM Cortex-M3 MCU, the Luminary LM3S6918. This OS is built with the
-  arm-elf toolchain*.  STATUS:  This port is complete and mature.
+  arm-nuttx-elf toolchain*.  STATUS:  This port is complete and mature.
 
 configs/ekk-lm3s9b96
   TI/Stellaris EKK-LM3S9B96 board.  This board is based on the 
@@ -1591,7 +1591,7 @@ configs/lm3s6432-s2e
 configs/lm3s6965-ek
   Stellaris LM3S6965 Evaluation Kit.  This board is based on the 
   an ARM Cortex-M3 MCU, the Luminary/TI LM3S6965. This OS is built with the
-  arm-elf toolchain*.  STATUS:  This port is complete and mature.
+  arm-nuttx-elf toolchain*.  STATUS:  This port is complete and mature.
 
 configs/lm3s8962-ek
   Stellaris LMS38962 Evaluation Kit.
@@ -1607,17 +1607,17 @@ configs/lpc4330-xplorer
 
 configs/m68322evb
   This is a work in progress for the venerable m68322evb board from
-  Motorola. This OS is also built with the arm-elf toolchain*.  STATUS:
+  Motorola. This OS is also built with the arm-nuttx-elf toolchain*.  STATUS:
   This port was never completed.
 
 configs/mbed
   The configurations in this directory support the mbed board (http://mbed.org)
   that features the NXP LPC1768 microcontroller. This OS is also built
-  with the arm-elf toolchain*.  STATUS:  Contributed.
+  with the arm-nuttx-elf toolchain*.  STATUS:  Contributed.
 
 configs/mcu123-lpc214x
   This port is for the NXP LPC2148 as provided on the mcu123.com
-  lpc214x development board. This OS is also built with the arm-elf
+  lpc214x development board. This OS is also built with the arm-nuttx-elf
   toolchain*.  The port supports serial, timer0, spi, and usb.
 
 configs/micropendous3
@@ -1642,7 +1642,7 @@ configs/ne64badge
   not yet been fully tested.
 
 configs/ntosd-dm320
-  This port uses the Neuros OSD v1.0 Dev Board with a GNU arm-elf
+  This port uses the Neuros OSD v1.0 Dev Board with a GNU arm-nuttx-elf
   toolchain*: see
 
     http://wiki.neurostechnology.com/index.php/OSD_1.0_Developer_Home
@@ -1666,18 +1666,18 @@ configs/olimex-lpc1766stk
   Linux or Cygwin.  STATUS: Complete and mature.
 
 configs/olimex-lpc2378
-  This port uses the Olimex-lpc2378 board and a GNU arm-elf toolchain* under
+  This port uses the Olimex-lpc2378 board and a GNU arm-nuttx-elf toolchain* under
   Linux or Cygwin.  STATUS: ostest and NSH configurations available.
   This port for the NXP LPC2378 was contributed by Rommel Marcelo.
 
 configs/olimex-stm32-p107
-  This port uses the Olimex STM32-P107 board (STM32F107VC) and a GNU arm-elf
+  This port uses the Olimex STM32-P107 board (STM32F107VC) and a GNU arm-nuttx-elf
   toolchain* under Linux or Cygwin. See the https://www.olimex.com/dev/stm32-p107.html
   for further information.  Contributed by Max Holtzberg.  STATUS: Configurations
   for the basic OS test and NSH are available and verified.
 
 configs/olimex-strp711
-  This port uses the Olimex STR-P711 board and a GNU arm-elf toolchain* under
+  This port uses the Olimex STR-P711 board and a GNU arm-nuttx-elf toolchain* under
   Linux or Cygwin. See the http://www.olimex.com/dev/str-p711.html" for
   further information.  STATUS: Configurations for the basic OS test and NSH
   are complete and verified.
diff --git a/nuttx/configs/px4fmu/common/Make.defs b/nuttx/configs/px4fmu/common/Make.defs
index 7ba4e694a..ff2e4c5fa 100644
--- a/nuttx/configs/px4fmu/common/Make.defs
+++ b/nuttx/configs/px4fmu/common/Make.defs
@@ -55,7 +55,7 @@ NM			 = $(CROSSDEV)nm
 OBJCOPY			 = $(CROSSDEV)objcopy
 OBJDUMP			 = $(CROSSDEV)objdump
 
-MAXOPTIMIZATION		 = -Os
+MAXOPTIMIZATION		 = -O3
 ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
 			   -mthumb \
 			   -march=armv7e-m \
@@ -116,7 +116,6 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 
 ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
 ARCHOPTIMIZATION	+= -g
-ARCHSCRIPT		+= -g
 endif
 
 ARCHCFLAGS		 = -std=gnu99
@@ -149,7 +148,7 @@ ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
 # this seems to be the only way to add linker flags
-ARCHSCRIPT		+= --warn-common \
+EXTRA_LIBS		+= --warn-common \
 			   --gc-sections
 
 CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
@@ -167,13 +166,6 @@ OBJEXT			 = .o
 LIBEXT			 = .a
 EXEEXT			 =
 
-# If VERBOSE is set, don't hide the compiler invocations.
-ifeq ($(VERBOSE),YES)
-_v				 =
-else
-_v				 = @
-endif
-
 define PREPROCESS
 	@echo "CPP: $1->$2"
 	@$(CPP) $(CPPFLAGS) $(abspath $1) -o $2
@@ -181,17 +173,17 @@ endef
 
 define COMPILE
 	@echo "CC: $1"
-	$(_v)$(CC) -c $(CFLAGS) $(abspath $1) -o $2
+	$(Q)$(CC) -c $(CFLAGS) $(abspath $1) -o $2
 endef
 
 define COMPILEXX
 	@echo "CXX: $1"
-	$(_v)$(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
+	$(Q)$(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
 endef
 
 define ASSEMBLE
 	@echo "AS: $1"
-	$(_v)$(CC) -c $(AFLAGS) $(abspath $1) -o $2
+	$(Q)$(CC) -c $(AFLAGS) $(abspath $1) -o $2
 endef
 
 # produce partially-linked $1 from files in $2
diff --git a/nuttx/configs/px4fmu/include/drv_bma180.h b/nuttx/configs/px4fmu/include/drv_bma180.h
deleted file mode 100644
index a403415e4..000000000
--- a/nuttx/configs/px4fmu/include/drv_bma180.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
- *   Copyright (C) 2012 Lorenz Meier. All rights reserved.
- *
- * 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 of the author or the names of 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.
- */
-
-/*
- * Driver for the BOSCH BMA180 MEMS accelerometer
- */
-
-/* IMPORTANT NOTES:
- *
- * SPI max. clock frequency: 25 Mhz
- * CS has to be high before transfer,
- * go low right before transfer and
- * go high again right after transfer
- *
- */
-
-#include <sys/ioctl.h>
-
-#define _BMA180BASE	0x6300
-#define BMA180C(_x)	_IOC(_BMA180BASE, _x)
-
-/* 
- * Sets the sensor internal sampling rate, and if a buffer
- * has been configured, the rate at which entries will be
- * added to the buffer.
- */
-#define BMA180_SETRATE		BMA180C(1)
-
-#define BMA180_RATE_LP_10HZ		(0<<4)
-#define BMA180_RATE_LP_20HZ		(1<<4)
-#define BMA180_RATE_LP_40HZ		(2<<4)
-#define BMA180_RATE_LP_75HZ		(3<<4)
-#define BMA180_RATE_LP_150HZ	(4<<4)
-#define BMA180_RATE_LP_300HZ	(5<<4)
-#define BMA180_RATE_LP_600HZ	(6<<4)
-#define BMA180_RATE_LP_1200HZ	(7<<4)
-
-/*
- * Sets the sensor internal range.
- */
-#define BMA180_SETRANGE		BMA180C(2)
-
-#define BMA180_RANGE_1G			(0<<1)
-#define BMA180_RANGE_1_5G		(1<<1)
-#define BMA180_RANGE_2G			(2<<1)
-#define BMA180_RANGE_3G			(3<<1)
-#define BMA180_RANGE_4G			(4<<1)
-#define BMA180_RANGE_8G			(5<<1)
-#define BMA180_RANGE_16G		(6<<1)
-
-/*
- * Sets the address of a shared BMA180_buffer
- * structure that is maintained by the driver.
- *
- * If zero is passed as the address, disables
- * the buffer updating.
- */
-#define BMA180_SETBUFFER	BMA180C(3)
-
-struct bma180_buffer {
-	uint32_t	size;		/* number of entries in the samples[] array */
-	uint32_t	next;		/* the next entry that will be populated */
-	struct {
-		uint16_t	x;
-		uint16_t	y;
-		uint16_t	z;
-		uint8_t		temp;
-	} samples[];
-};
-
-extern int	bma180_attach(struct spi_dev_s *spi, int spi_id);
diff --git a/nuttx/configs/px4fmu/include/drv_hmc5883l.h b/nuttx/configs/px4fmu/include/drv_hmc5883l.h
deleted file mode 100644
index 741c3e154..000000000
--- a/nuttx/configs/px4fmu/include/drv_hmc5883l.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * 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 PX4 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.
- *
- ****************************************************************************/
-
-/*
- * Driver for the ST HMC5883L gyroscope
- */
-
-#include <sys/ioctl.h>
-
-#define _HMC5883LBASE	0x6100
-#define HMC5883LC(_x)	_IOC(_HMC5883LBASE, _x)
-
-/* 
- * Sets the sensor internal sampling rate, and if a buffer
- * has been configured, the rate at which entries will be
- * added to the buffer.
- */
-#define HMC5883L_SETRATE		HMC5883LC(1)
-
-/* set rate (configuration A register */
-#define HMC5883L_RATE_0_75HZ		(0 << 2) /* 0.75 Hz */
-#define HMC5883L_RATE_1_50HZ		(1 << 2) /* 1.5 Hz */
-#define HMC5883L_RATE_3_00HZ		(2 << 2) /* 3 Hz */
-#define HMC5883L_RATE_7_50HZ		(3 << 2) /* 7.5 Hz */
-#define HMC5883L_RATE_15HZ			(4 << 2) /* 15 Hz (default) */
-#define HMC5883L_RATE_30HZ			(5 << 2) /* 30 Hz */
-#define HMC5883L_RATE_75HZ			(6 << 2) /* 75 Hz */
-
-/*
- * Sets the sensor internal range.
- */
-#define HMC5883L_SETRANGE		HMC5883LC(2)
-
-#define HMC5883L_RANGE_0_88GA			(0 << 5)
-#define HMC5883L_RANGE_1_33GA			(1 << 5)
-#define HMC5883L_RANGE_1_90GA			(2 << 5)
-#define HMC5883L_RANGE_2_50GA			(3 << 5)
-#define HMC5883L_RANGE_4_00GA			(4 << 5)
-
-/*
- * Set the sensor measurement mode.
- */
-#define HMC5883L_MODE_NORMAL			(0 << 0)
-#define HMC5883L_MODE_POSITIVE_BIAS		(1 << 0)
-#define HMC5883L_MODE_NEGATIVE_BIAS		(1 << 1)
-
-/*
- * Sets the address of a shared HMC5883L_buffer
- * structure that is maintained by the driver.
- *
- * If zero is passed as the address, disables
- * the buffer updating.
- */
-#define HMC5883L_SETBUFFER		HMC5883LC(3)
-
-struct hmc5883l_buffer {
-	uint32_t	size;		/* number of entries in the samples[] array */
-	uint32_t	next;		/* the next entry that will be populated */
-	struct {
-		int16_t	x;
-		int16_t	y;
-		int16_t	z;
-	} samples[];
-};
-
-#define HMC5883L_RESET			HMC5883LC(4)
-#define HMC5883L_CALIBRATION_ON		HMC5883LC(5)
-#define HMC5883L_CALIBRATION_OFF	HMC5883LC(6)
-
-extern int	hmc5883l_attach(struct i2c_dev_s *i2c);
diff --git a/nuttx/configs/px4fmu/include/drv_l3gd20.h b/nuttx/configs/px4fmu/include/drv_l3gd20.h
deleted file mode 100644
index 3b284d60d..000000000
--- a/nuttx/configs/px4fmu/include/drv_l3gd20.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * 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 PX4 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.
- *
- ****************************************************************************/
-/*
- * Driver for the ST L3GD20 gyroscope
- */
-
-/* IMPORTANT NOTES:
- *
- * SPI max. clock frequency: 10 Mhz
- * CS has to be high before transfer,
- * go low right before transfer and
- * go high again right after transfer
- *
- */
-
-#include <sys/ioctl.h>
-
-#define _L3GD20BASE	0x6200
-#define L3GD20C(_x)	_IOC(_L3GD20BASE, _x)
-
-/* 
- * Sets the sensor internal sampling rate, and if a buffer
- * has been configured, the rate at which entries will be
- * added to the buffer.
- */
-#define L3GD20_SETRATE		L3GD20C(1)
-
-#define L3GD20_RATE_95HZ_LP_12_5HZ		((0<<7) | (0<<6) | (0<<5) | (0<<4))
-#define L3GD20_RATE_95HZ_LP_25HZ		((0<<7) | (0<<6) | (0<<5) | (1<<4))
-#define L3GD20_RATE_190HZ_LP_12_5HZ		((0<<7) | (1<<6) | (0<<5) | (0<<4))
-#define L3GD20_RATE_190HZ_LP_25HZ		((0<<7) | (1<<6) | (0<<5) | (1<<4))
-#define L3GD20_RATE_190HZ_LP_50HZ		((0<<7) | (1<<6) | (1<<5) | (0<<4))
-#define L3GD20_RATE_190HZ_LP_70HZ		((0<<7) | (1<<6) | (1<<5) | (1<<4))
-#define L3GD20_RATE_380HZ_LP_20HZ		((1<<7) | (0<<6) | (0<<5) | (0<<4))
-#define L3GD20_RATE_380HZ_LP_25HZ		((1<<7) | (0<<6) | (0<<5) | (1<<4))
-#define L3GD20_RATE_380HZ_LP_50HZ		((1<<7) | (0<<6) | (1<<5) | (0<<4))
-#define L3GD20_RATE_380HZ_LP_100HZ		((1<<7) | (0<<6) | (1<<5) | (1<<4))
-#define L3GD20_RATE_760HZ_LP_30HZ		((1<<7) | (1<<6) | (0<<5) | (0<<4))
-#define L3GD20_RATE_760HZ_LP_35HZ		((1<<7) | (1<<6) | (0<<5) | (1<<4))
-#define L3GD20_RATE_760HZ_LP_50HZ		((1<<7) | (1<<6) | (1<<5) | (0<<4))
-#define L3GD20_RATE_760HZ_LP_100HZ		((1<<7) | (1<<6) | (1<<5) | (1<<4))
-
-/*
- * Sets the sensor internal range.
- */
-#define L3GD20_SETRANGE		L3GD20C(2)
-
-#define L3GD20_RANGE_250DPS			(0<<4)
-#define L3GD20_RANGE_500DPS			(1<<4)
-#define L3GD20_RANGE_2000DPS		(3<<4)
-
-#define L3GD20_RATE_95HZ			((0<<6) | (0<<4))
-#define L3GD20_RATE_190HZ			((1<<6) | (0<<4))
-#define L3GD20_RATE_380HZ			((2<<6) | (1<<4))
-#define L3GD20_RATE_760HZ			((3<<6) | (2<<4))
-
-
-
-/*
- * Sets the address of a shared l3gd20_buffer
- * structure that is maintained by the driver.
- *
- * If zero is passed as the address, disables
- * the buffer updating.
- */
-#define L3GD20_SETBUFFER	L3GD20C(3)
-
-struct l3gd20_buffer {
-	uint32_t	size;		/* number of entries in the samples[] array */
-	uint32_t	next;		/* the next entry that will be populated */
-	struct {
-		int16_t	x;
-		int16_t	y;
-		int16_t	z;
-	} samples[];
-};
-
-extern int	l3gd20_attach(struct spi_dev_s *spi, int spi_id);
diff --git a/nuttx/configs/px4fmu/include/drv_ms5611.h b/nuttx/configs/px4fmu/include/drv_ms5611.h
deleted file mode 100644
index 922a11219..000000000
--- a/nuttx/configs/px4fmu/include/drv_ms5611.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
- *   Copyright (C) 2012 Lorenz Meier. All rights reserved.
- *
- * 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 of the author or the names of 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.
- */
-
-/*
- * Driver for the Meas Spec MS5611 barometric pressure sensor
- */
-
-#include <sys/ioctl.h>
-
-#define _MS5611BASE	0x6A00
-#define MS5611C(_x)	_IOC(_MS5611BASE, _x)
-
-/* 
- * Sets the sensor internal sampling rate, and if a buffer
- * has been configured, the rate at which entries will be
- * added to the buffer.
- */
-#define MS5611_SETRATE		MS5611C(1)
-
-/* set rate (configuration A register */
-#define MS5611_RATE_0_75HZ		(0 << 2) /* 0.75 Hz */
-
-/*
- * Sets the sensor internal range.
- */
-#define MS5611_SETRANGE		MS5611C(2)
-
-#define MS5611_RANGE_0_88GA			(0 << 5)
-
-/*
- * Sets the address of a shared MS5611_buffer
- * structure that is maintained by the driver.
- *
- * If zero is passed as the address, disables
- * the buffer updating.
- */
-#define MS5611_SETBUFFER	MS5611C(3)
-
-struct ms5611_buffer {
-	uint32_t	size;		/* number of entries in the samples[] array */
-	uint32_t	next;		/* the next entry that will be populated */
-	struct {
-		uint32_t	pressure;
-		uint16_t temperature;
-	} samples[];
-};
-
-extern int	ms5611_attach(struct i2c_dev_s *i2c);
diff --git a/nuttx/configs/px4fmu/src/Makefile b/nuttx/configs/px4fmu/src/Makefile
index 5a60b7d19..48b528f6a 100644
--- a/nuttx/configs/px4fmu/src/Makefile
+++ b/nuttx/configs/px4fmu/src/Makefile
@@ -41,7 +41,7 @@ ASRCS		=
 AOBJS		= $(ASRCS:.S=$(OBJEXT))
 
 CSRCS		= up_boot.c up_leds.c up_spi.c up_hrt.c \
-		  drv_gpio.c drv_bma180.c drv_l3gd20.c \
+		  drv_gpio.c \
 		  drv_led.c drv_eeprom.c \
 		  drv_tone_alarm.c up_pwm_servo.c up_usbdev.c \
 		  up_cpuload.c
diff --git a/nuttx/configs/px4fmu/src/drv_bma180.c b/nuttx/configs/px4fmu/src/drv_bma180.c
deleted file mode 100644
index da80cc2e2..000000000
--- a/nuttx/configs/px4fmu/src/drv_bma180.c
+++ /dev/null
@@ -1,341 +0,0 @@
-/*
- *   Copyright (C) 2012 Lorenz Meier. All rights reserved.
- *
- * 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 of the author or the names of 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.
- */
-
-/*
- * Driver for the Bosch BMA 180 MEMS accelerometer
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/spi.h>
-#include <nuttx/arch.h>
-#include <arch/board/board.h>
-
-#include <stdio.h>
-
-#include "chip.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/drv_bma180.h>
-
-/*
- * BMA180 registers
- */
-
-/* Important Notes:
- *
- *   - MAX SPI clock: 25 MHz
- *   - Readout time: 0.417 ms in high accuracy mode
- *   - Boot / ready time: 1.27 ms
- *
- */
-
-#define DIR_READ				(1<<7)
-#define DIR_WRITE				(0<<7)
-#define ADDR_INCREMENT			(1<<6)
-
-#define ADDR_CHIP_ID			0x00
-#define CHIP_ID					0x03
-#define ADDR_VERSION			0x01
-
-#define ADDR_CTRL_REG0			0x0D
-#define ADDR_CTRL_REG1			0x0E
-#define ADDR_CTRL_REG2			0x0F
-#define ADDR_BWTCS				0x20
-#define ADDR_CTRL_REG3			0x21
-#define ADDR_CTRL_REG4			0x22
-#define ADDR_OLSB1				0x35
-
-#define ADDR_ACC_X_LSB			0x02
-#define ADDR_ACC_Z_MSB			0x07
-#define ADDR_TEMPERATURE		0x08
-
-#define ADDR_STATUS_REG1		0x09
-#define ADDR_STATUS_REG2		0x0A
-#define ADDR_STATUS_REG3		0x0B
-#define ADDR_STATUS_REG4		0x0C
-
-#define ADDR_RESET				0x10
-#define SOFT_RESET				0xB6
-
-#define ADDR_DIS_I2C         	0x27
-
-#define REG0_WRITE_ENABLE		0x10
-
-#define RANGEMASK 0x0E
-#define BWMASK 0xF0
-
-
-static ssize_t	bma180_read(struct file *filp, FAR char *buffer, size_t buflen);
-static int	bma180_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations bma180_fops = {
-	.read  = bma180_read,
-	.ioctl = bma180_ioctl,
-};
-
-struct bma180_dev_s
-{
-	struct spi_dev_s		*spi;
-	int						spi_id;
-	uint8_t					rate;
-	struct bma180_buffer	*buffer;
-};
-
-static struct bma180_dev_s	bma180_dev;
-
-static void	bma180_write_reg(uint8_t address, uint8_t data);
-static uint8_t	bma180_read_reg(uint8_t address);
-static bool	read_fifo(uint16_t *data);
-static int	bma180_set_range(uint8_t range);
-static int	bma180_set_rate(uint8_t rate);
-
-static void
-bma180_write_reg(uint8_t address, uint8_t data)
-{
-	uint8_t cmd[2] = { address | DIR_WRITE, data };
-    
-	SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, true);
-    SPI_SNDBLOCK(bma180_dev.spi, &cmd, sizeof(cmd));
-	SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, false);
-}
-
-static uint8_t
-bma180_read_reg(uint8_t address)
-{
-	uint8_t	cmd[2] = {address | DIR_READ, 0};
-	uint8_t data[2];
-    
-	SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, true);
-	SPI_EXCHANGE(bma180_dev.spi, cmd, data, sizeof(cmd));
-	SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, false);
-    
-	return data[1];	
-}
-
-static bool
-read_fifo(uint16_t *data)
-{
-	struct {		/* status register and data as read back from the device */
-		uint8_t		cmd;
-		int16_t		x;
-		int16_t		y;
-		int16_t		z;
-		uint8_t		temp;
-	} __attribute__((packed))	report;
-
-	report.cmd = ADDR_ACC_X_LSB | DIR_READ | ADDR_INCREMENT;
-
-	SPI_LOCK(bma180_dev.spi, true);
-	report.x = bma180_read_reg(ADDR_ACC_X_LSB);
-	report.x |= (bma180_read_reg(ADDR_ACC_X_LSB+1) << 8);
-	report.y = bma180_read_reg(ADDR_ACC_X_LSB+2);
-	report.y |= (bma180_read_reg(ADDR_ACC_X_LSB+3) << 8);
-	report.z = bma180_read_reg(ADDR_ACC_X_LSB+4);
-	report.z |= (bma180_read_reg(ADDR_ACC_X_LSB+5) << 8);
-	report.temp = bma180_read_reg(ADDR_ACC_X_LSB+6);
-	SPI_LOCK(bma180_dev.spi, false);
-
-	/* Collect status and remove two top bits */
-
-	uint8_t new_data = (report.x & 0x01) + (report.x & 0x01) + (report.x & 0x01);
-	report.x = (report.x >> 2);
-	report.y = (report.y >> 2);
-	report.z = (report.z >> 2);
-
-	data[0] = report.x;
-	data[1] = report.y;
-	data[2] = report.z;
-    
-	/* return 1 for all three axes new */
-	return (new_data > 0); // bit funky, depends on timing
-}
-
-static int
-bma180_set_range(uint8_t range)
-{
-	/* enable writing to chip config */
-	uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
-	ctrl0 |= REG0_WRITE_ENABLE;
-	bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
-	/* set range */
-	uint8_t olsb1 = bma180_read_reg(ADDR_OLSB1);
-	olsb1 &= (~RANGEMASK);
-	olsb1 |= (range);// & RANGEMASK);
-	bma180_write_reg(ADDR_OLSB1, olsb1);
-
-	// up_udelay(500);
-
-	/* block writing to chip config */
-	ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
-	ctrl0 &= (~REG0_WRITE_ENABLE);
-	bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
-	uint8_t new_olsb1 = bma180_read_reg(ADDR_OLSB1);
-
-	/* return 0 on success, 1 on failure */
-	return !(olsb1 == new_olsb1);
-}
-
-static int
-bma180_set_rate(uint8_t rate)
-{
-	/* enable writing to chip config */
-	uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
-	ctrl0 |= REG0_WRITE_ENABLE;
-	bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
-	/* set rate / bandwidth */
-	uint8_t bwtcs = bma180_read_reg(ADDR_BWTCS);
-	bwtcs &= (~BWMASK);
-	bwtcs |= (rate);// & BWMASK);
-	bma180_write_reg(ADDR_BWTCS, bwtcs);
-
-	// up_udelay(500);
-
-	/* block writing to chip config */
-	ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
-	ctrl0 &= (~REG0_WRITE_ENABLE);
-	bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
-	uint8_t new_bwtcs = bma180_read_reg(ADDR_BWTCS);
-
-	/* return 0 on success, 1 on failure */
-	return !(bwtcs == new_bwtcs);
-}
-
-static ssize_t
-bma180_read(struct file *filp, char *buffer, size_t buflen)
-{
-	/* if the buffer is large enough, and data are available, return success */
-	if (buflen >= 6) {
-		if (read_fifo((uint16_t *)buffer))
-			return 6;
-
-		/* no data */
-		return 0;
-	}
-    
-	/* buffer too small */
-	errno = ENOSPC;
-	return ERROR;
-}
-
-static int
-bma180_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	int	result = ERROR;
-    
-	switch (cmd) {
-        case BMA180_SETRATE:
-            result = bma180_set_rate(arg);
-            break;
-
-        case BMA180_SETRANGE:
-            result = bma180_set_range(arg);
-            break;
-
-        case BMA180_SETBUFFER:
-            bma180_dev.buffer = (struct bma180_buffer *)arg;
-            result = 0;
-            break;
-	}
-    
-	if (result)
-		errno = EINVAL;
-	return result;
-}
-
-int
-bma180_attach(struct spi_dev_s *spi, int spi_id)
-{
-	int	result = ERROR;
-	
-	bma180_dev.spi = spi;
-	bma180_dev.spi_id = spi_id;
-    
-	SPI_LOCK(bma180_dev.spi, true);
-
-	/* verify that the device is attached and functioning */
-	if (bma180_read_reg(ADDR_CHIP_ID) == CHIP_ID) {
-        
-		bma180_write_reg(ADDR_RESET, SOFT_RESET);       // page 48
-
-		up_udelay(13000);                               // wait 12 ms, see page 49
-
-		/* Configuring the BMA180 */
-
-		/* enable writing to chip config */
-		uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
-		ctrl0 |= REG0_WRITE_ENABLE;
-		bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
-		/* disable I2C interface, datasheet page 31 */
-		uint8_t disi2c = bma180_read_reg(ADDR_DIS_I2C);
-		disi2c |= 0x01;
-		bma180_write_reg(ADDR_DIS_I2C, disi2c);
-
-		/* block writing to chip config */
-		ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
-		ctrl0 &= (~REG0_WRITE_ENABLE);
-		bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
-		// up_udelay(500);
-
-		/* set rate */
-		result = bma180_set_rate(BMA180_RATE_LP_600HZ);
-
-		// up_udelay(500);
-
-		/* set range */
-		result += bma180_set_range(BMA180_RANGE_4G);
-
-		// up_udelay(500);
-
-		if (result == 0) {
-			/* make ourselves available */
-			register_driver("/dev/bma180", &bma180_fops, 0666, NULL);
-		}
-	} else {
-		errno = EIO;
-	}
-
-	SPI_LOCK(bma180_dev.spi, false);
-    
-	return result;
-}
-
diff --git a/nuttx/configs/px4fmu/src/drv_hmc5833l.c b/nuttx/configs/px4fmu/src/drv_hmc5833l.c
deleted file mode 100644
index d51d654f7..000000000
--- a/nuttx/configs/px4fmu/src/drv_hmc5833l.c
+++ /dev/null
@@ -1,386 +0,0 @@
-/*
- *   Copyright (C) 2012 Lorenz Meier. All rights reserved.
- *
- * 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 of the author or the names of 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.
- */
-
-/**
- * @file drv_hmc5883l.c
- * Driver for the Honeywell/ST HMC5883L MEMS magnetometer
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/i2c.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/drv_hmc5883l.h>
-
-#define ADDR_CONF_A				0x00
-#define ADDR_CONF_B				0x01
-#define ADDR_MODE				0x02
-#define ADDR_DATA_OUT_X_MSB		0x03
-#define ADDR_DATA_OUT_X_LSB		0x04
-#define ADDR_DATA_OUT_Z_MSB		0x05
-#define ADDR_DATA_OUT_Z_LSB		0x06
-#define ADDR_DATA_OUT_Y_MSB		0x07
-#define ADDR_DATA_OUT_Y_LSB		0x08
-#define ADDR_STATUS				0x09
-#define ADDR_ID_A				0x10
-#define ADDR_ID_B				0x11
-#define ADDR_ID_C				0x12
-
-#define HMC5883L_ADDRESS		0x1E
-
-/* modes not changeable outside of driver */
-#define HMC5883L_MODE_NORMAL			(0 << 0)  /* default */
-#define HMC5883L_MODE_POSITIVE_BIAS		(1 << 0)  /* positive bias */
-#define HMC5883L_MODE_NEGATIVE_BIAS		(1 << 1)  /* negative bias */
-
-#define HMC5883L_AVERAGING_1		(0 << 5) /* conf a register */
-#define HMC5883L_AVERAGING_2		(1 << 5)
-#define HMC5883L_AVERAGING_4		(2 << 5)
-#define HMC5883L_AVERAGING_8		(3 << 5)
-
-#define MODE_REG_CONTINOUS_MODE		(0 << 0)
-#define MODE_REG_SINGLE_MODE		(1 << 0) /* default */
-
-#define STATUS_REG_DATA_OUT_LOCK	(1 << 1) /* page 16: set if data is only partially read, read device to reset */
-#define STATUS_REG_DATA_READY		(1 << 0) /* page 16: set if all axes have valid measurements */
-
-#define ID_A_WHO_AM_I			'H'
-#define ID_B_WHO_AM_I			'4'
-#define ID_C_WHO_AM_I			'3'
-
-static FAR struct hmc5883l_dev_s	hmc5883l_dev;
-
-static ssize_t hmc5883l_read(struct file *filp, FAR char *buffer, size_t buflen);
-static int hmc5883l_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations hmc5883l_fops = {
-	.open  = 0,
-	.close = 0,
-	.read  = hmc5883l_read,
-	.write = 0,
-	.seek  = 0,
-	.ioctl = hmc5883l_ioctl,
-#ifndef CONFIG_DISABLE_POLL
-	.poll  = 0
-#endif
-};
-
-struct hmc5883l_dev_s
-{
-	struct i2c_dev_s	*i2c;
-	uint8_t			rate;
-	struct hmc5883l_buffer	*buffer;
-};
-static bool hmc5883l_calibration_enabled = false;
-
-static int hmc5883l_write_reg(uint8_t address, uint8_t data);
-static int hmc5883l_read_reg(uint8_t address);
-static int hmc5883l_reset(void);
-
-static int
-hmc5883l_write_reg(uint8_t address, uint8_t data)
-{
-	uint8_t cmd[] = {address, data};
-	return I2C_WRITE(hmc5883l_dev.i2c, cmd, 2);
-}
-
-static int
-hmc5883l_read_reg(uint8_t address)
-{
-	uint8_t cmd = address;
-	uint8_t data;
-
-	int ret = I2C_WRITEREAD(hmc5883l_dev.i2c, &cmd, 1, &data, 1);
-	/* return data on success, error code on failure */
-	if (ret == OK) {
-		ret = data;
-	}
-	return ret;
-}
-
-static int
-hmc5883l_set_range(uint8_t range)
-{
-	I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-
-
-	/* mask out illegal bit positions */
-	uint8_t write_range = range; //& REG4_RANGE_MASK;
-	/* immediately return if user supplied invalid value */
-	if (write_range != range) return EINVAL;
-	/* set remaining bits to a sane value */
-//	write_range |= REG4_BDU;
-	/* write to device */
-	hmc5883l_write_reg(ADDR_CONF_B, write_range);
-	/* return 0 if register value is now written value, 1 if unchanged */
-	return !(hmc5883l_read_reg(ADDR_CONF_B) == write_range);
-}
-
-static int
-hmc5883l_set_rate(uint8_t rate)
-{
-	I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-	/* mask out illegal bit positions */
-	uint8_t write_rate = rate;// & REG1_RATE_LP_MASK;
-	/* immediately return if user supplied invalid value */
-	if (write_rate != rate) return EINVAL;
-	/* set remaining bits to a sane value */
-//	write_rate |= REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
-	write_rate |= HMC5883L_AVERAGING_8;
-	/* write to device */
-	hmc5883l_write_reg(ADDR_CONF_A, write_rate);
-	/* return 0 if register value is now written value, 1 if unchanged */
-	return !(hmc5883l_read_reg(ADDR_CONF_A) == write_rate);
-}
-
-static int
-hmc5883l_set_mode(uint8_t mode)
-{
-	// I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-	// /* mask out illegal bit positions */
-	// uint8_t write_mode = mode & 0x03;
-	// /* immediately return if user supplied invalid value */
-	// if (write_mode != mode) return EINVAL;
-	// /* set mode */
-	// write_mode |= hmc5883l_read_reg(ADDR_CONF_A);
-	// /* set remaining bits to a sane value */
-	// write_mode |= HMC5883L_AVERAGING_8;
-	// /* write to device */
-	// hmc5883l_write_reg(ADDR_CONF_A, write_mode);
-	// /* return 0 if register value is now written value, 1 if unchanged */
-	// return !(hmc5883l_read_reg(ADDR_CONF_A) == write_mode);
-}
-
-static bool
-read_values(int16_t *data)
-{
-	struct { /* status register and data as read back from the device */
-		int16_t		x;
-		int16_t		z;
-		int16_t		y;
-		uint8_t		status;
-	} __attribute__((packed))	hmc_report;
-	hmc_report.status = 0;
-
-	static int read_err_count = 0;
-
-	/* exchange the report structure with the device */
-
-	uint8_t cmd = ADDR_DATA_OUT_X_MSB;
-
-	int ret = 0;
-
-	I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-
-	/* set device into single mode, trigger next measurement */
-	ret = hmc5883l_write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE);
-
-	/* Only execute consecutive steps on success */
-	if (ret == OK)
-	  {
-		cmd = ADDR_DATA_OUT_X_MSB;
-		ret = I2C_WRITEREAD(hmc5883l_dev.i2c, &cmd, 1, (uint8_t*)&hmc_report, 6);
-		if (ret == OK)
-		  {
-			/* Six bytes to read, stop if timed out */
-			int hmc_status = hmc5883l_read_reg(ADDR_STATUS);
-			if (hmc_status < 0)
-			  {
-			  	//if (hmc_status == ETIMEDOUT)
-			  	hmc5883l_reset();
-			  	ret = hmc_status;
-			  }
-			else
-			  {
-			  	hmc_report.status = hmc_status;
-			  	ret = OK;
-			  }
-		  }
-		  else
-		  {
-		  	if (ret == ETIMEDOUT || ret == -ETIMEDOUT) hmc5883l_reset();
-		  }
-	  }
-	  else
-	  {
-	  	if (ret == ETIMEDOUT || ret == -ETIMEDOUT) hmc5883l_reset();
-	  }
-
-	if (ret != OK)
-	{
-		read_err_count++;
-		/* If the last reads failed as well, reset the bus and chip */
-		if (read_err_count > 3) hmc5883l_reset();
-
-		*get_errno_ptr() = -ret;
-	} else {
-		read_err_count = 0;
-		/* write values, and exchange the two 8bit blocks (big endian to little endian) */
-		data[0] = ((hmc_report.x & 0x00FF) << 8) | ((hmc_report.x & 0xFF00) >> 8);
-		data[1] = ((hmc_report.y & 0x00FF) << 8) | ((hmc_report.y & 0xFF00) >> 8);
-		data[2] = ((hmc_report.z & 0x00FF) << 8) | ((hmc_report.z & 0xFF00) >> 8);
-		// XXX TODO
-		// write mode, range and lp-frequency enum values into data[3]-[6]
-		if ((hmc_report.status & STATUS_REG_DATA_READY) > 0)
-		{
-			ret = 14;
-		} else {
-			ret = -EAGAIN;
-		}
-	}
-
-	/* return len if new data is available, error else. hmc_report.status is 0 on errors */
-	return ret;
-}
-
-static ssize_t
-hmc5883l_read(struct file *filp, char *buffer, size_t buflen)
-{
-	/* if the buffer is large enough, and data are available, return success */
-	if (buflen >= 14) {
-		return read_values((int16_t *)buffer);
-	}
-
-	/* buffer too small */
-	*get_errno_ptr() = ENOSPC;
-	return -ERROR;
-}
-
-static int
-hmc5883l_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	int	result = ERROR;
-
-	switch (cmd) {
-	case HMC5883L_SETRATE:
-        	result = hmc5883l_set_rate(arg);
-        	break;
-
-	case HMC5883L_SETRANGE:
-		result = hmc5883l_set_range(arg);
-		break;
-
-	case HMC5883L_CALIBRATION_ON:
-		hmc5883l_calibration_enabled = true;
-		result = OK;
-		break;
-
-	case HMC5883L_CALIBRATION_OFF:
-		hmc5883l_calibration_enabled = false;
-		result = OK;
-		break;
-//
-//    case HMC5883L_SETBUFFER:
-//        hmc5883l_dev.buffer = (struct hmc5883l_buffer *)arg;
-//        result = 0;
-//        break;
-
-	case HMC5883L_RESET:
-            result = hmc5883l_reset();
-            break;
-	}
-
-	if (result)
-		errno = EINVAL;
-	return result;
-}
-
-extern int up_i2creset(FAR struct i2c_dev_s * dev);
-
-int hmc5883l_reset()
-{
-	int ret;
-#if 1
-	ret = up_i2creset(hmc5883l_dev.i2c);
-	printf("HMC5883: BUS RESET %s\n", ret ? "FAIL" : "OK");
-#else
-	printf("[hmc5883l drv] Resettet I2C2 BUS\n");
-	up_i2cuninitialize(hmc5883l_dev.i2c);
-	hmc5883l_dev.i2c = up_i2cinitialize(2);
-	I2C_SETFREQUENCY(hmc5883l_dev.i2c, 400000);
-#endif
-	return ret;
-}
-
-int
-hmc5883l_attach(struct i2c_dev_s *i2c)
-{
-	int	result = ERROR;
-
-	hmc5883l_dev.i2c = i2c;
-
-//	I2C_LOCK(hmc5883l_dev.i2c, true);
-	I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-
-	uint8_t cmd = ADDR_STATUS;
-	uint8_t status_id[4] = {0, 0, 0, 0};
-
-
-	int ret = I2C_WRITEREAD(i2c, &cmd, 1, status_id, 4);
-
-	/* verify that the device is attached and functioning */
-	if ((ret >= 0) && (status_id[1] == ID_A_WHO_AM_I) && (status_id[2] == ID_B_WHO_AM_I) && (status_id[3] == ID_C_WHO_AM_I)) {
-
-		/* set update rate to 75 Hz */
-		/* set 0.88 Ga range */
-		if ((ret != 0) || (hmc5883l_set_range(HMC5883L_RANGE_0_88GA) != 0) ||
-				(hmc5883l_set_rate(HMC5883L_RATE_75HZ) != 0))
-		{
-			errno = EIO;
-		} else {
-
-			/* set device into single mode, start measurement */
-			ret = hmc5883l_write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE);
-
-			/* make ourselves available */
-			register_driver("/dev/hmc5883l", &hmc5883l_fops, 0666, NULL);
-
-			result = 0;
-		}
-
-	} else {
-		errno = EIO;
-	}
-
-
-
-	return result;
-}
diff --git a/nuttx/configs/px4fmu/src/drv_l3gd20.c b/nuttx/configs/px4fmu/src/drv_l3gd20.c
deleted file mode 100644
index 19f2d032f..000000000
--- a/nuttx/configs/px4fmu/src/drv_l3gd20.c
+++ /dev/null
@@ -1,364 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * 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 PX4 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.
- *
- ****************************************************************************/
-
-/*
- * Driver for the ST L3GD20 MEMS gyroscope
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/spi.h>
-#include <arch/board/board.h>
-#include <nuttx/arch.h>
-#include <arch/board/drv_l3gd20.h>
-
-#include "chip.h"
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-
-#define DIR_READ					(1<<7)
-#define DIR_WRITE					(0<<7)
-#define ADDR_INCREMENT				(1<<6)
-
-#define ADDR_WHO_AM_I				0x0F
-#define WHO_I_AM					0xD4
-#define ADDR_CTRL_REG1				0x20
-#define ADDR_CTRL_REG2				0x21
-#define ADDR_CTRL_REG3				0x22
-#define ADDR_CTRL_REG4				0x23
-#define ADDR_CTRL_REG5				0x24
-#define ADDR_REFERENCE				0x25
-#define ADDR_OUT_TEMP				0x26
-#define ADDR_STATUS_REG				0x27
-#define ADDR_OUT_X_L				0x28
-#define ADDR_OUT_X_H				0x29
-#define ADDR_OUT_Y_L				0x2A
-#define ADDR_OUT_Y_H				0x2B
-#define ADDR_OUT_Z_L				0x2C
-#define ADDR_OUT_Z_H				0x2D
-#define ADDR_FIFO_CTRL_REG			0x2E
-#define ADDR_FIFO_SRC_REG			0x2F
-#define ADDR_INT1_CFG				0x30
-#define ADDR_INT1_SRC				0x31
-#define ADDR_INT1_TSH_XH			0x32
-#define ADDR_INT1_TSH_XL			0x33
-#define ADDR_INT1_TSH_YH			0x34
-#define ADDR_INT1_TSH_YL			0x35
-#define ADDR_INT1_TSH_ZH			0x36
-#define ADDR_INT1_TSH_ZL			0x37
-#define ADDR_INT1_DURATION			0x38
-
-#define REG1_RATE_LP_MASK			0xF0 /* Mask to guard partial register update */
-#define REG4_RANGE_MASK				0x30 /* Mask to guard partial register update */
-
-/* Internal configuration values */
-#define REG1_POWER_NORMAL			(1<<3)
-#define REG1_Z_ENABLE				(1<<2)
-#define REG1_Y_ENABLE				(1<<1)
-#define REG1_X_ENABLE				(1<<0)
-
-#define REG4_BDU					(1<<7)
-#define REG4_BLE					(1<<6)
-//#define REG4_SPI_3WIRE				(1<<0)
-
-#define REG5_FIFO_ENABLE			(1<<6)
-#define REG5_REBOOT_MEMORY			(1<<7)
-
-#define STATUS_ZYXOR				(1<<7)
-#define STATUS_ZOR					(1<<6)
-#define STATUS_YOR					(1<<5)
-#define STATUS_XOR					(1<<4)
-#define STATUS_ZYXDA				(1<<3)
-#define STATUS_ZDA					(1<<2)
-#define STATUS_YDA					(1<<1)
-#define STATUS_XDA					(1<<0)
-
-#define FIFO_CTRL_BYPASS_MODE				(0<<5)
-#define FIFO_CTRL_FIFO_MODE					(1<<5)
-#define FIFO_CTRL_STREAM_MODE				(1<<6)
-#define FIFO_CTRL_STREAM_TO_FIFO_MODE		(3<<5)
-#define FIFO_CTRL_BYPASS_TO_STREAM_MODE		(1<<7)
-
-static FAR struct l3gd20_dev_s	l3gd20_dev;
-
-static ssize_t l3gd20_read(struct file *filp, FAR char *buffer, size_t buflen);
-static int l3gd20_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations l3gd20_fops = {
-	.open  = 0,
-	.close = 0,
-	.read  = l3gd20_read,
-	.write = 0,
-	.seek  = 0,
-	.ioctl = l3gd20_ioctl,
-#ifndef CONFIG_DISABLE_POLL
-	.poll  = 0
-#endif
-};
-
-struct l3gd20_dev_s
-{
-	struct spi_dev_s	*spi;
-	int			spi_id;
-	uint8_t			rate;
-	struct l3gd20_buffer	*buffer;
-};
-
-static void	l3gd20_write_reg(uint8_t address, uint8_t data);
-static uint8_t	l3gd20_read_reg(uint8_t address);
-
-static void
-l3gd20_write_reg(uint8_t address, uint8_t data)
-{
-	uint8_t cmd[2] = { address | DIR_WRITE, data };
-
-	SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, true);
-	SPI_SNDBLOCK(l3gd20_dev.spi, &cmd, sizeof(cmd));
-	SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, false);
-}
-
-static uint8_t
-l3gd20_read_reg(uint8_t address)
-{
-	uint8_t	cmd[2] = {address | DIR_READ, 0};
-	uint8_t data[2];
-
-	SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, true);
-	SPI_EXCHANGE(l3gd20_dev.spi, cmd, data, sizeof(cmd));
-	SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, false);
-
-	return data[1];
-}
-
-static int
-set_range(uint8_t range)
-{
-	/* mask out illegal bit positions */
-	uint8_t write_range = range & REG4_RANGE_MASK;
-	/* immediately return if user supplied invalid value */
-	if (write_range != range) return EINVAL;
-	/* set remaining bits to a sane value */
-	write_range |= REG4_BDU;
-	/* write to device */
-	l3gd20_write_reg(ADDR_CTRL_REG4, write_range);
-	/* return 0 if register value is now written value, 1 if unchanged */
-	return !(l3gd20_read_reg(ADDR_CTRL_REG4) == write_range);
-}
-
-static int
-set_rate(uint8_t rate)
-{
-	/* mask out illegal bit positions */
-	uint8_t write_rate = rate & REG1_RATE_LP_MASK;
-	/* immediately return if user supplied invalid value */
-	if (write_rate != rate) return EINVAL;
-	/* set remaining bits to a sane value */
-	write_rate |= REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
-	/* write to device */
-	l3gd20_write_reg(ADDR_CTRL_REG1, write_rate);
-	/* return 0 if register value is now written value, 1 if unchanged */
-	return !(l3gd20_read_reg(ADDR_CTRL_REG1) == write_rate);
-}
-
-static int
-read_fifo(int16_t *data)
-{
-
-	struct {					/* status register and data as read back from the device */
-		uint8_t		cmd;
-		uint8_t		temp;
-		uint8_t		status;
-		int16_t		x;
-		int16_t		y;
-		int16_t		z;
-	} __attribute__((packed))	report = {.status = 11};
-
-	report.cmd = 0x26 | DIR_READ | ADDR_INCREMENT;
-
-	SPI_LOCK(l3gd20_dev.spi, true);
-	SPI_SELECT(l3gd20_dev.spi, PX4_SPIDEV_GYRO, true);
-	SPI_SETFREQUENCY(l3gd20_dev.spi, 25000000);
-
-	SPI_EXCHANGE(l3gd20_dev.spi, &report, &report, sizeof(report));
-
-	/* XXX if the status value is unchanged, attempt a second exchange */
-	if (report.status == 11) SPI_EXCHANGE(l3gd20_dev.spi, &report, &report, sizeof(report));
-	/* XXX set magic error value if this still didn't succeed */
-	if (report.status == 11) report.status = 12;
-
-	SPI_SETFREQUENCY(l3gd20_dev.spi, 10000000);
-	SPI_SELECT(l3gd20_dev.spi, PX4_SPIDEV_GYRO, false);
-	SPI_LOCK(l3gd20_dev.spi, false);
-
-	data[0] = report.x;
-	data[1] = report.y;
-	data[2] = report.z;
-
-	/* if all axes are valid, return buflen (6), else return negative status */
-	int ret = -((int)report.status);
-	if (STATUS_ZYXDA == (report.status & STATUS_ZYXDA) || STATUS_ZYXOR == (report.status & STATUS_ZYXOR))
-	{
-		ret = 6;
-	}
-
-	return ret;
-}
-
-static ssize_t
-l3gd20_read(struct file *filp, char *buffer, size_t buflen)
-{
-	/* if the buffer is large enough, and data are available, return success */
-	if (buflen >= 6) {
-		/* return buflen or a negative value */
-		int ret = read_fifo((int16_t *)buffer);
-		if (ret != 6) *get_errno_ptr() = EAGAIN;
-		return ret;
-	}
-
-	/* buffer too small */
-	*get_errno_ptr() = ENOSPC;
-	return ERROR;
-}
-
-static int
-l3gd20_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	int	result = ERROR;
-
-	switch (cmd) {
-        case L3GD20_SETRATE:
-            if ((arg & REG1_RATE_LP_MASK) == arg) {
-            	SPI_LOCK(l3gd20_dev.spi, true);
-                set_rate(arg);
-                SPI_LOCK(l3gd20_dev.spi, false);
-                result = 0;
-                l3gd20_dev.rate = arg;
-            }
-            break;
-
-        case L3GD20_SETRANGE:
-            if ((arg & REG4_RANGE_MASK) == arg) {
-            	SPI_LOCK(l3gd20_dev.spi, true);
-                set_range(arg);
-                SPI_LOCK(l3gd20_dev.spi, false);
-                result = 0;
-            }
-            break;
-
-        case L3GD20_SETBUFFER:
-            l3gd20_dev.buffer = (struct l3gd20_buffer *)arg;
-            result = 0;
-            break;
-	}
-
-	if (result)
-		errno = EINVAL;
-	return result;
-}
-
-int
-l3gd20_attach(struct spi_dev_s *spi, int spi_id)
-{
-	int	result = ERROR;
-
-	l3gd20_dev.spi = spi;
-	l3gd20_dev.spi_id = spi_id;
-
-	SPI_LOCK(l3gd20_dev.spi, true);
-	/* read dummy value to void to clear SPI statemachine on sensor */
-	(void)l3gd20_read_reg(ADDR_WHO_AM_I);
-
-	/* verify that the device is attached and functioning */
-	if (l3gd20_read_reg(ADDR_WHO_AM_I) == WHO_I_AM) {
-
-		/* reset device memory */
-		//l3gd20_write_reg(ADDR_CTRL_REG5, REG5_REBOOT_MEMORY);
-		//up_udelay(1000);
-
-		/* set default configuration */
- 	 	l3gd20_write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
-		l3gd20_write_reg(ADDR_CTRL_REG2, 0);		/* disable high-pass filters */
-		l3gd20_write_reg(ADDR_CTRL_REG3, 0);		/* no interrupts - we don't use them */
-		l3gd20_write_reg(ADDR_CTRL_REG4, 0x10);
-		l3gd20_write_reg(ADDR_CTRL_REG5, 0);
-
-		l3gd20_write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE);	  /* disable wake-on-interrupt */
-		l3gd20_write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */
-
-		if ((set_range(L3GD20_RANGE_500DPS) != 0) ||
-				(set_rate(L3GD20_RATE_760HZ_LP_100HZ) != 0))	/* takes device out of low-power mode */
-		{
-			errno = EIO;
-		} else {
-			/* Read out the first few funky values */
-			struct {					/* status register and data as read back from the device */
-				uint8_t		cmd;
-				uint8_t		temp;
-				uint8_t		status;
-				int16_t		x;
-				int16_t		y;
-				int16_t		z;
-			} __attribute__((packed))	report;
-
-			report.cmd = 0x26 | DIR_READ | ADDR_INCREMENT;
-
-			SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
-			SPI_EXCHANGE(spi, &report, &report, sizeof(report));
-			SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
-			up_udelay(500);
-			/* And read another set */
-			SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
-			SPI_EXCHANGE(spi, &report, &report, sizeof(report));
-			SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
-
-
-			/* make ourselves available */
-			register_driver("/dev/l3gd20", &l3gd20_fops, 0666, NULL);
-
-			result = 0;
-		}
-
-	} else {
-
-		errno = EIO;
-	}
-
-	SPI_LOCK(l3gd20_dev.spi, false);
-
-	return result;
-}
diff --git a/nuttx/configs/px4fmu/src/drv_lis331.c b/nuttx/configs/px4fmu/src/drv_lis331.c
deleted file mode 100644
index fd477b46f..000000000
--- a/nuttx/configs/px4fmu/src/drv_lis331.c
+++ /dev/null
@@ -1,272 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * 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 PX4 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.
- *
- ****************************************************************************/
-
-/*
- * Driver for the ST LIS331 MEMS accelerometer
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/spi.h>
-#include <arch/board/board.h>
-
-#include "up_arch.h"
-#include "chip.h"
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/drv_lis331.h>
-
-/*
- * LIS331 registers
- */
-
-#define DIR_READ		(1<<7)
-#define DIR_WRITE		(0<<7)
-#define ADDR_INCREMENT		(1<<6)
-
-#define ADDR_WHO_AM_I		0x0f
-#define WHO_I_AM		0x32
-
-#define ADDR_CTRL_REG1		0x20		/* sample rate constants are in the public header */
-#define REG1_POWER_NORMAL		(1<<5)
-#define REG1_RATE_MASK			(3<<3)
-#define REG1_Z_ENABLE			(1<<2)
-#define REG1_Y_ENABLE			(1<<1)
-#define REG1_X_ENABLE			(1<<0)
-
-#define ADDR_CTRL_REG2		0x21
-
-#define ADDR_CTRL_REG3		0x22
-
-#define ADDR_CTRL_REG4		0x23
-#define REG4_BDU			(1<<7)
-#define REG4_BIG_ENDIAN			(1<<6)
-#define REG4_RANGE_MASK			(3<<4)
-#define REG4_SPI_3WIRE			(1<<0)
-
-#define ADDR_CTRL_REG5		0x24
-
-#define ADDR_HP_FILTER_RESET	0x25
-#define ADDR_REFERENCE		0x26
-#define ADDR_STATUS_REG		0x27
-#define STATUS_ZYXOR			(1<<7)
-#define STATUS_ZOR				(1<<6)
-#define STATUS_YOR				(1<<5)
-#define STATUS_XOR				(1<<4)
-#define STATUS_ZYXDA			(1<<3)
-#define STATUS_ZDA				(1<<2)
-#define STATUS_YDA				(1<<1)
-#define STATUS_XDA				(1<<0)
-
-#define ADDR_OUT_X		0x28	/* 16 bits */
-#define ADDR_OUT_Y		0x2A	/* 16 bits */
-#define ADDR_OUT_Z		0x2C	/* 16 bits */
-
-
-static ssize_t	lis331_read(struct file *filp, FAR char *buffer, size_t buflen);
-static int	lis331_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations lis331_fops = {
-	.read  = lis331_read,
-	.ioctl = lis331_ioctl,
-};
-
-struct lis331_dev_s
-{
-	struct spi_dev_s	*spi;
-	int			spi_id;
-
-	uint8_t			rate;
-	struct lis331_buffer	*buffer;
-};
-
-static struct lis331_dev_s	lis331_dev;
-
-static void	write_reg(uint8_t address, uint8_t data);
-static uint8_t	read_reg(uint8_t address);
-static bool	read_fifo(uint16_t *data);
-static void	set_range(uint8_t range);
-static void	set_rate(uint8_t rate);
-
-static void
-write_reg(uint8_t address, uint8_t data)
-{
-	uint8_t cmd[2] = { address | DIR_WRITE, data };
-
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true);
-      	SPI_SNDBLOCK(lis331_dev.spi, &cmd, sizeof(cmd));
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false);
-}
-
-static uint8_t
-read_reg(uint8_t address)
-{
-	uint8_t	cmd[2] = {address | DIR_READ, 0};
-	uint8_t data[2];
-
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true);
-	SPI_EXCHANGE(lis331_dev.spi, cmd, data, sizeof(cmd));
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false);
-
-	return data[1];	
-}
-
-static bool
-read_fifo(uint16_t *data)
-{
-	struct {					/* status register and data as read back from the device */
-		uint8_t		cmd;
-		uint8_t		status;
-		int16_t		x;
-		int16_t		y;
-		int16_t		z;
-	} __attribute__((packed))	report;
-
-	report.cmd = ADDR_STATUS_REG | DIR_READ | ADDR_INCREMENT;
-
-	/* exchange the report structure with the device */
-	SPI_LOCK(lis331_dev.spi, true);
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true);
-	SPI_EXCHANGE(lis331_dev.spi, &report, &report, sizeof(report));
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false);
-	SPI_LOCK(lis331_dev.spi, false);
-
-	data[0] = report.x;
-	data[1] = report.y;
-	data[2] = report.z;
-
-	return report.status & STATUS_ZYXDA;
-}
-
-static void
-set_range(uint8_t range)
-{
-	range &= REG4_RANGE_MASK;
-	write_reg(ADDR_CTRL_REG4, range | REG4_BDU);
-}
-
-static void
-set_rate(uint8_t rate)
-{
-	rate &= REG1_RATE_MASK;
-	write_reg(ADDR_CTRL_REG1, rate | REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
-}
-
-static ssize_t
-lis331_read(struct file *filp, char *buffer, size_t buflen)
-{
-	/* if the buffer is large enough, and data are available, return success */
-	if (buflen >= 12) {
-		if (read_fifo((uint16_t *)buffer))
-			return 12;
-
-		/* no data */
-		return 0;
-	}
-
-	/* buffer too small */
-	errno = ENOSPC;
-	return ERROR;
-}
-
-static int
-lis331_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	int	result = ERROR;
-
-	switch (cmd) {
-	case LIS331_SETRATE:
-		if ((arg & REG1_RATE_MASK) == arg) {
-			set_rate(arg);
-			result = 0;
-			lis331_dev.rate = arg;
-		}
-		break;
-
-	case LIS331_SETRANGE:
-		if ((arg & REG4_RANGE_MASK) == arg) {
-			set_range(arg);
-			result = 0;
-		}
-		break;
-
-	case LIS331_SETBUFFER:
-		lis331_dev.buffer = (struct lis331_buffer *)arg;
-		result = 0;
-		break;
-	}
-
-	if (result)
-		errno = EINVAL;
-	return result;
-}
-
-int
-lis331_attach(struct spi_dev_s *spi, int spi_id)
-{
-	int	result = ERROR;
-	
-	lis331_dev.spi = spi;
-
-	SPI_LOCK(lis331_dev.spi, true);
-
-	/* verify that the device is attached and functioning */
-	if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) {
-
-		/* set default configuration */
-		write_reg(ADDR_CTRL_REG2, 0);	/* disable interrupt-generating high-pass filters */
-		write_reg(ADDR_CTRL_REG3, 0);	/* no interrupts - we don't use them */
-		write_reg(ADDR_CTRL_REG5, 0);	/* disable wake-on-interrupt */
-
-		set_range(LIS331_RANGE_4G);
-		set_rate(LIS331_RATE_400Hz);	/* takes device out of low-power mode */
-
-		/* make ourselves available */
-		register_driver("/dev/lis331", &lis331_fops, 0666, NULL);
-
-		result = 0;
-	} else {
-		errno = EIO;
-	}
-
-	SPI_LOCK(lis331_dev.spi, false);
-
-	return result;
-}
-
diff --git a/nuttx/configs/px4fmu/src/drv_ms5611.c b/nuttx/configs/px4fmu/src/drv_ms5611.c
deleted file mode 100644
index c7e91c5ea..000000000
--- a/nuttx/configs/px4fmu/src/drv_ms5611.c
+++ /dev/null
@@ -1,504 +0,0 @@
-/*
- *   Copyright (C) 2012 Lorenz Meier. All rights reserved.
- *
- * 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 of the author or the names of 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.
- */
-
-/*
- * Driver for the Measurement Specialties MS5611 barometric pressure sensor
- */
-
-#include <nuttx/config.h>
-#include <nuttx/i2c.h>
-#include <nuttx/arch.h>
-#include <arch/board/board.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <errno.h>
-#include <string.h>
-#include <stdio.h>
-#include <math.h>
-
-#include "chip.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/up_hrt.h>
-#include <arch/board/drv_ms5611.h>
-
-/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */
-#define MS5611_MIN_INTER_MEASUREMENT_INTERVAL 9200
-
-#define MS5611_ADDRESS_1		0x76    /* address select pins pulled high (PX4FMU series v1.6+) */
-#define MS5611_ADDRESS_2		0x77    /* address select pins pulled low (PX4FMU prototypes) */
-
-#define ADDR_RESET_CMD			0x1E /* read from this address to reset chip (0b0011110 on bus) */
-#define ADDR_CMD_CONVERT_D1		0x48 /* 4096 samples to this address to start conversion (0b01001000 on bus) */
-#define ADDR_CMD_CONVERT_D2		0x58 /* 4096 samples */
-#define ADDR_DATA				0x00 /* address of 3 bytes / 32bit pressure data */
-#define ADDR_PROM_SETUP			0xA0 /* address of 8x 2 bytes factory and calibration data */
-#define ADDR_PROM_C1			0xA2 /* address of 6x 2 bytes calibration data */
-
-static FAR struct ms5611_dev_s	ms5611_dev;
-
-static ssize_t ms5611_read(struct file *filp, FAR char *buffer, size_t buflen);
-static int ms5611_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations ms5611_fops = {
-	.read  = ms5611_read,
-	.ioctl = ms5611_ioctl,
-};
-
-struct ms5611_prom_s
-{
-	uint16_t factory_setup;
-	uint16_t c1_pressure_sens;
-	uint16_t c2_pressure_offset;
-	uint16_t c3_temp_coeff_pres_sens;
-	uint16_t c4_temp_coeff_pres_offset;
-	uint16_t c5_reference_temp;
-	uint16_t c6_temp_coeff_temp;
-	uint16_t serial_and_crc;
-} __attribute__((packed));
-
-union ms5611_prom_u
-{
-	uint16_t c[8];
-	struct ms5611_prom_s s;
-} __attribute__((packed));
-
-struct ms5611_dev_s
-{
-	union ms5611_prom_u 	prom;
-	struct i2c_dev_s		*i2c;
-	struct ms5611_buffer	*buffer;
-} __attribute__((packed));
-
-static FAR uint8_t MS5611_ADDRESS;
-
-static FAR struct {
-		/* status register and data as read back from the device */
-		float		pressure;
-		float		altitude;
-		float		temperature;
-		uint32_t	d1_raw;
-		uint32_t	d2_raw;
-		uint32_t	measurements_count;
-		uint8_t		last_state;
-		uint64_t    last_read;
-	} ms5611_report = {
-			.pressure = 0.0f,
-			.altitude = 0.0f,
-			.temperature = 0.0f,
-			.last_state = 0,
-			/* make sure the first readout can be performed */
-			.last_read = 0,
-};
-
-static int ms5611_read_prom(void);
-
-int ms5611_reset()
-{
-	int ret;
-	printf("[ms5611 drv] Resettet I2C2 BUS\n");
-	up_i2cuninitialize(ms5611_dev.i2c);
-	ms5611_dev.i2c = up_i2cinitialize(2);
-	I2C_SETFREQUENCY(ms5611_dev.i2c, 400000);
-	return ret;
-}
-
-static bool
-read_values(float *data)
-{
-	int ret;
-	uint8_t cmd_data[3];
-
-	/* check validity of pointer */
-	if (data == NULL)
-	{
-		*get_errno_ptr() = EINVAL;
-		return -EINVAL;
-	}
-
-	/* only start reading when data is available */
-	if (ms5611_report.measurements_count > 0)
-	{
-		/* do not read more often than at minimum 9.17 ms intervals */
-		if ((hrt_absolute_time() - ms5611_report.last_read) < MS5611_MIN_INTER_MEASUREMENT_INTERVAL)
-		{
-			/* set errno to 'come back later' */
-			ret = -EAGAIN;
-			goto handle_return;
-		}
-		else
-		{
-			/* set new value */
-			ms5611_report.last_read = hrt_absolute_time();
-		}
-
-		/* Read out last measurement */
-		cmd_data[0] = 0x00;
-
-		struct i2c_msg_s msgv[2] = {
-				{
-						.addr   = MS5611_ADDRESS,
-						.flags  = 0,
-						.buffer = cmd_data,
-						.length = 1
-				},
-				{
-						.addr   = MS5611_ADDRESS,
-						.flags  = I2C_M_READ,
-						.buffer = cmd_data,
-						.length = 3
-				}
-		};
-		ret = I2C_TRANSFER(ms5611_dev.i2c, msgv, 2);
-		if (ret != OK) goto handle_return;
-
-
-		/* at value 1 the last reading was temperature */
-		if (ms5611_report.last_state == 1)
-		{
-			/* put temperature into the raw set */
-			ms5611_report.d2_raw = (((uint32_t)cmd_data[0]) << 16) | (((uint32_t)cmd_data[1]) << 8) | ((uint32_t)cmd_data[2]);
-		}
-		else
-		{
-			/* put altitude into the raw set */
-			ms5611_report.d1_raw = (((uint32_t)cmd_data[0]) << 16) | (((uint32_t)cmd_data[1]) << 8) | ((uint32_t)cmd_data[2]);
-		}
-	}
-	ms5611_report.measurements_count++;
-
-	/*
-	 * this block reads four pressure values and one temp value,
-	 * resulting in 80 Hz pressure update and 20 Hz temperature updates
-	 * at 100 Hz continuous operation.
-	 */
-	if (ms5611_report.last_state == 0)
-	{
-		/* request first a temperature reading */
-		cmd_data[0] = ADDR_CMD_CONVERT_D2;
-	}
-	else
-	{
-		/* request pressure reading */
-		cmd_data[0] = ADDR_CMD_CONVERT_D1;
-	}
-
-	if (ms5611_report.last_state == 3)
-	{
-		ms5611_report.last_state = 0;
-	}
-	else
-	{
-		ms5611_report.last_state++;
-	}
-
-
-	/* write measurement command */
-	struct i2c_msg_s conv_cmd[1] = {
-			{
-					.addr   = MS5611_ADDRESS,
-					.flags  = 0,
-					.buffer = cmd_data,
-					.length = 1
-			},
-	};
-
-	ret = I2C_TRANSFER(ms5611_dev.i2c, conv_cmd, 1);
-	if (ret != OK) goto handle_return;
-
-	/* only write back values after first complete set */
-	if (ms5611_report.measurements_count > 2)
-	{
-		/* Calculate results */
-
-		/* temperature calculation */
-		int32_t dT = ms5611_report.d2_raw - (((int32_t)ms5611_dev.prom.s.c5_reference_temp)*256);
-		int64_t temp_int64 = 2000 + (((int64_t)dT)*ms5611_dev.prom.s.c6_temp_coeff_temp)/8388608;
-
-		/* pressure calculation */
-		int64_t offset = (int64_t)ms5611_dev.prom.s.c2_pressure_offset * 65536 + ((int64_t)dT*ms5611_dev.prom.s.c4_temp_coeff_pres_offset)/128;
-		int64_t sens = (int64_t)ms5611_dev.prom.s.c1_pressure_sens * 32768 + ((int64_t)dT*ms5611_dev.prom.s.c3_temp_coeff_pres_sens)/256;
-
-		/* it's pretty cold, second order temperature compensation needed */
-		if (temp_int64 < 2000)
-		{
-			/* second order temperature compensation */
-			int64_t temp2 = (((int64_t)dT)*dT) >> 31;
-			int64_t tmp_64 = (temp_int64-2000)*(temp_int64-2000);
-			int64_t offset2 = (5*tmp_64)>>1;
-			int64_t sens2 = (5*tmp_64)>>2;
-			temp_int64 = temp_int64 - temp2;
-			offset = offset - offset2;
-			sens = sens - sens2;
-		}
-
-		int64_t press_int64 = (((ms5611_report.d1_raw*sens)/2097152-offset)/32768);
-
-		ms5611_report.temperature = temp_int64 / 100.0f;
-		ms5611_report.pressure = press_int64 / 100.0f;
-		/* convert as double for max. precision, store as float (more than enough precision) */
-		ms5611_report.altitude = (44330.0 * (1.0 - pow((press_int64 / 101325.0), 0.190295)));
-
-		/* Write back float values */
-		data[0] = ms5611_report.pressure;
-		data[1] = ms5611_report.altitude;
-		data[2] = ms5611_report.temperature;
-	}
-	else
-	{
-		/* not ready, try again */
-		ret = -EINPROGRESS;
-	}
-
-	/* return 1 if new data is available, 0 else */
-	handle_return:
-	if (ret == OK)
-	{
-		return (sizeof(ms5611_report.d1_raw) + sizeof(ms5611_report.altitude) + sizeof(ms5611_report.d2_raw));
-	}
-	else
-	{
-		errno = -ret;
-		if (errno == ETIMEDOUT || ret == ETIMEDOUT) ms5611_reset();
-		return ret;
-	}
-}
-
-static ssize_t
-ms5611_read(struct file *filp, char *buffer, size_t buflen)
-{
-	/* if the buffer is large enough, and data are available, return success */
-	if (buflen >= 12) {
-		return read_values((float *)buffer);
-	}
-
-	/* buffer too small */
-	errno = ENOSPC;
-	return -ENOSPC;
-}
-
-static int
-ms5611_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	return -ENOSYS;
-
-//	switch (cmd) {
-//        case MS5611_SETRATE:
-//            if ((arg & REG1_RATE_LP_MASK) == arg) {
-//                set_rate(arg);
-//                result = 0;
-//                dev.rate = arg;
-//            }
-//            break;
-//
-//        case MS5611_SETBUFFER:
-//            dev.buffer = (struct ms5611_buffer *)arg;
-//            result = 0;
-//            break;
-//	}
-//
-//	if (result)
-//		errno = EINVAL;
-//	return result;
-}
-
-
-
-int ms5611_crc4(uint16_t n_prom[])
-{
-	/* routine ported from MS5611 application note */
-	int16_t cnt;
-	uint16_t n_rem;
-	uint16_t crc_read;
-	uint8_t n_bit;
-	n_rem = 0x00;
-	/* save the read crc */
-	crc_read = n_prom[7];
-	/* remove CRC byte */
-	n_prom[7] = (0xFF00 & (n_prom[7]));
-	for (cnt = 0; cnt < 16; cnt++)
-	{
-		/* uneven bytes */
-		if (cnt & 1)
-			{
-			n_rem ^= (uint8_t) ((n_prom[cnt>>1]) & 0x00FF);
-			}
-		else
-		{
-			n_rem ^= (uint8_t) (n_prom[cnt>>1] >> 8);
-		}
-		for (n_bit = 8; n_bit > 0; n_bit--)
-		{
-			if (n_rem & 0x8000)
-			{
-				n_rem = (n_rem << 1) ^ 0x3000;
-
-			}
-			else
-			{
-				n_rem = (n_rem << 1);
-			}
-		}
-	}
-	/* final 4 bit remainder is CRC value */
-	n_rem = (0x000F & (n_rem >> 12));
-	n_prom[7] = crc_read;
-
-	/* return 0 == OK if CRCs match, 1 else */
-	return !((0x000F & crc_read) == (n_rem ^ 0x00));
-}
-
-
-int ms5611_read_prom()
-{
-	/* read PROM data */
-	uint8_t prom_buf[2] = {255,255};
-
-	int retval = 0;
-
-	for (int i = 0; i < 8; i++)
-	{
-		uint8_t cmd = {ADDR_PROM_SETUP + (i*2)};
-
-		I2C_SETADDRESS(ms5611_dev.i2c, MS5611_ADDRESS, 7);
-		retval = I2C_WRITEREAD(ms5611_dev.i2c, &cmd, 1, prom_buf, 2);
-
-		/* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */
-		ms5611_dev.prom.c[i] = (((uint16_t)prom_buf[0])<<8) | ((uint16_t)prom_buf[1]);
-
-		if (retval != OK)
-		{
-			break;
-		}
-	}
-
-	/* calculate CRC and return error if mismatch */
-	return ms5611_crc4(ms5611_dev.prom.c);
-}
-
-int
-ms5611_attach(struct i2c_dev_s *i2c)
-{
-	int	result = ERROR;
-
-	ms5611_dev.i2c = i2c;
-
-	MS5611_ADDRESS = MS5611_ADDRESS_1;
-
-	/* write reset command */
-	uint8_t cmd_data = ADDR_RESET_CMD;
-
-	struct i2c_msg_s reset_cmd[1] = {
-			{
-					.addr   = MS5611_ADDRESS,
-					.flags  = 0,
-					.buffer = &cmd_data,
-					.length = 1
-			},
-	};
-
-	int ret = I2C_TRANSFER(ms5611_dev.i2c, reset_cmd, 1);
-
-	if (ret == OK)
-	{
-		/* wait for PROM contents to be in the device (2.8 ms) */
-		up_udelay(3000);
-
-		/* read PROM */
-		ret = ms5611_read_prom();
-	}
-
-	/* check if the address was wrong */
-	if (ret != OK)
-	{
-		/* try second address */
-		MS5611_ADDRESS = MS5611_ADDRESS_2;
-
-		/* write reset command */
-		cmd_data = ADDR_RESET_CMD;
-
-		struct i2c_msg_s reset_cmd_2[1] = {
-				{
-						.addr   = MS5611_ADDRESS,
-						.flags  = 0,
-						.buffer = &cmd_data,
-						.length = 1
-				},
-		};
-
-		ret = I2C_TRANSFER(ms5611_dev.i2c, reset_cmd_2, 1);
-
-		/* wait for PROM contents to be in the device (2.8 ms) */
-		up_udelay(3000);
-
-		/* read PROM */
-		ret = ms5611_read_prom();
-	}
-
-	if (ret < 0) return -EIO;
-
-
-	/* verify that the device is attached and functioning */
-	if (ret == OK) {
-
-		if (MS5611_ADDRESS == MS5611_ADDRESS_1)
-		{
-			printf("[ms5611 driver] Attached MS5611 at addr #1 (0x76)\n");
-		}
-		else
-		{
-			printf("[ms5611 driver] Attached MS5611 at addr #2 (0x77)\n");
-		}
-
-		/* trigger temperature read */
-		(void)read_values(NULL);
-		/* wait for conversion to complete */
-		up_udelay(9200);
-
-		/* trigger pressure read */
-		(void)read_values(NULL);
-		/* wait for conversion to complete */
-		up_udelay(9200);
-		/* now a read_values call would obtain valid results */
-
-		/* make ourselves available */
-		register_driver("/dev/ms5611", &ms5611_fops, 0666, NULL);
-
-		result = OK;
-
-	} else {
-		errno = EIO;
-	}
-
-	return result;
-}
diff --git a/nuttx/configs/px4fmu/src/up_nsh.c b/nuttx/configs/px4fmu/src/up_nsh.c
index 25f3c2795..af8253181 100644
--- a/nuttx/configs/px4fmu/src/up_nsh.c
+++ b/nuttx/configs/px4fmu/src/up_nsh.c
@@ -61,8 +61,6 @@
 #include <arch/board/drv_tone_alarm.h>
 #include <arch/board/up_adc.h>
 #include <arch/board/board.h>
-#include <arch/board/drv_bma180.h>
-#include <arch/board/drv_l3gd20.h>
 #include <arch/board/drv_led.h>
 #include <arch/board/drv_eeprom.h>
 
@@ -181,7 +179,7 @@ int nsh_archinitialize(void)
 	  return -ENODEV;
   }
 
-  // Setup 10 MHz clock (maximum rate the BMA180 can sustain)
+  // Default SPI1 to 1MHz and de-assert the known chip selects.
   SPI_SETFREQUENCY(spi1, 10000000);
   SPI_SETBITS(spi1, 8);
   SPI_SETMODE(spi1, SPIDEV_MODE3);
@@ -192,33 +190,6 @@ int nsh_archinitialize(void)
 
   message("[boot] Successfully initialized SPI port 1\r\n");
 
-  /* initialize SPI peripherals redundantly */
-  int gyro_attempts = 0;
-  int gyro_fail = 0;
-
-  while (gyro_attempts < 5)
-  {
-	  gyro_fail = l3gd20_attach(spi1, PX4_SPIDEV_GYRO);
-	  gyro_attempts++;
-	  if (gyro_fail == 0) break;
-	  up_udelay(1000);
-  }
-
-  if (!gyro_fail) message("[boot] Found L3GD20 gyro\n");
-
-  int acc_attempts = 0;
-  int acc_fail = 0;
-
-  while (acc_attempts < 5)
-  {
-	  acc_fail = bma180_attach(spi1, PX4_SPIDEV_ACCEL);
-	  acc_attempts++;
-	  if (acc_fail == 0) break;
-	  up_udelay(1000);
-  }
-
-  if (!acc_fail) message("[boot] Found BMA180 accelerometer\n");
-
   /* initialize I2C2 bus */
 
   i2c2 = up_i2cinitialize(2);
diff --git a/nuttx/configs/px4io/common/setenv.sh b/nuttx/configs/px4io/common/setenv.sh
index ee33a8d21..ff9a4bf8a 100755
--- a/nuttx/configs/px4io/common/setenv.sh
+++ b/nuttx/configs/px4io/common/setenv.sh
@@ -41,7 +41,7 @@ if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
 
 WD=`pwd`
 export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
-export BUILDROOT_BIN="${WD}/../buildroot/build_arm_nofpu/staging_dir/bin"
+export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
 export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
 
 echo "PATH : ${PATH}"
diff --git a/nuttx/configs/px4io/io/setenv.sh b/nuttx/configs/px4io/io/setenv.sh
index ee33a8d21..ff9a4bf8a 100755
--- a/nuttx/configs/px4io/io/setenv.sh
+++ b/nuttx/configs/px4io/io/setenv.sh
@@ -41,7 +41,7 @@ if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
 
 WD=`pwd`
 export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
-export BUILDROOT_BIN="${WD}/../buildroot/build_arm_nofpu/staging_dir/bin"
+export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
 export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
 
 echo "PATH : ${PATH}"
diff --git a/nuttx/drivers/Kconfig b/nuttx/drivers/Kconfig
index ea218a592..1d263ec14 100644
--- a/nuttx/drivers/Kconfig
+++ b/nuttx/drivers/Kconfig
@@ -11,6 +11,14 @@ config DEV_ZERO
 	bool "Enable /dev/zero"
 	default n
 
+config ARCH_HAVE_RNG
+	bool
+
+config DEV_RANDOM 
+	bool "Enable /dev/random"
+	default n
+	depends on ARCH_HAVE_RNG
+
 config LOOP
 	bool "Enable loop device"
 	default n
diff --git a/nuttx/drivers/input/Kconfig b/nuttx/drivers/input/Kconfig
index 9fde35ff6..1f345ee14 100644
--- a/nuttx/drivers/input/Kconfig
+++ b/nuttx/drivers/input/Kconfig
@@ -2,6 +2,7 @@
 # For a description of the syntax of this configuration file,
 # see misc/tools/kconfig-language.txt.
 #
+
 config INPUT_TSC2007
 	bool "TI TSC2007 touchscreen controller"
 	default n
@@ -9,7 +10,29 @@ config INPUT_TSC2007
 	---help---
 		Enable support for the TI TSC2007 touchscreen controller
 
-		
+if INPUT_TSC2007
+
+config TSC2007_8BIT
+	bool "8-bit Conversions"
+	default n
+	---help---
+		Use faster, but less accurate, 8-bit conversions.  Default: 12-bit conversions.
+
+config TSC2007_MULTIPLE
+	bool "Multiple TSC2007 Devices"
+	default n
+	---help---
+		Can be defined to support multiple TSC2007 devices on board.
+
+config TSC2007_NPOLLWAITERS
+	int "Number poll waiters"
+	default 4
+	depends on !DISABLE_POLL
+	---help---
+		Maximum number of threads that can be waiting on poll()
+
+endif
+
 config INPUT_ADS7843E
 	bool "TI ADS7843/TSC2046 touchscreen controller"
 	default n
@@ -18,3 +41,169 @@ config INPUT_ADS7843E
 		Enable support for the TI/Burr-Brown ADS7842 touchscreen controller.  I believe
 		that driver should be compatibile with the TI/Burr-Brown TSC2046 and XPT2046
 		touchscreen controllers as well. 
+
+if INPUT_ADS7843E
+
+config ADS7843E_MULTIPLE
+	bool "Multiple ADS7843E Devices"
+	default n
+	---help---
+		Can be defined to support multiple ADS7843E devices on board.
+
+config ADS7843E_NPOLLWAITERS
+	int "Number poll waiters"
+	default 4
+	depends on !DISABLE_POLL
+	---help---
+		Maximum number of threads that can be waiting on poll()
+
+config ADS7843E_SPIMODE
+	int "SPI mode"
+	default 0
+	range 0,3
+	---help---
+		Controls the SPI mode.  The device should work in mode 0, but sometimes
+		you need to experiment.
+
+config ADS7843E_FREQUENCY
+	int "SPI frequency"
+	default 100000
+	---help---
+		Define to use a different SPI bus frequency.
+
+config ADS7843E_SWAPXY
+	bool "Swap X/Y"
+	default n
+	---help---
+		Reverse the meaning of X and Y to handle different LCD orientations.
+
+config ADS7843E_THRESHX
+	int "X threshold"
+	default 12
+	---help---
+		New touch positions will only be reported when the X or Y data changes by these
+		thresholds. This trades reduces data rate for some loss in dragging accuracy.  For
+		12-bit values so the raw ranges are 0-4095. So for example, if your display is
+		320x240, then THRESHX=13 and THRESHY=17 would correspond to one pixel.  Default: 12
+ 
+config ADS7843E_THRESHY
+	int "Y threshold"
+	default 12
+	---help---
+		New touch positions will only be reported when the X or Y data changes by these
+		thresholds. This trades reduces data rate for some loss in dragging accuracy.  For
+		12-bit values so the raw ranges are 0-4095. So for example, if your display is
+		320x240, then THRESHX=13 and THRESHY=17 would correspond to one pixel.  Default: 12
+
+endif
+
+config INPUT_STMPE811
+	bool "STMicro STMPE811 Driver"
+	default n
+	---help---
+		Enables support for the STMPE811 driver 
+
+if INPUT_STMPE811
+
+choice
+	prompt "STMPE Interface"
+	default STMPE811_I2C
+
+config STMPE811_SPI
+	bool "SPI Interface"
+	select SPI
+	---help---
+		Enables support for the SPI interface (not currently supported)
+
+config STMPE811_I2C
+	bool "STMPE811 I2C Interface"
+	select I2C
+	---help---
+		Enables support for the I2C interface
+
+endchoice
+
+config STMPE811_MULTIPLE
+	bool "Multiple STMPE811 Devices"
+	default n
+	---help---
+		Can be defined to support multiple STMPE811 devices on board.
+
+config STMPE811_NPOLLWAITERS
+	int "Number poll waiters"
+	default 4
+	depends on !DISABLE_POLL
+	---help---
+		Maximum number of threads that can be waiting on poll()
+
+config STMPE811_TSC_DISABLE
+	bool "Disable STMPE811 Touchscreen Support"
+	default n
+	---help---
+		Disable driver touchscreen functionality.
+
+config STMPE811_SWAPXY
+	bool "Swap X/Y"
+	default n
+	depends on !STMPE811_TSC_DISABLE
+	---help---
+		Reverse the meaning of X and Y to handle different LCD orientations.
+
+config STMPE811_THRESHX
+	int "X threshold"
+	default 12
+	depends on !STMPE811_TSC_DISABLE
+	---help---
+		STMPE811 touchscreen data comes in a a very high rate.  New touch positions
+		will only be reported when the X or Y data changes by these thresholds.
+		This trades reduces data rate for some loss in dragging accuracy.  The
+		STMPE811 is configure for 12-bit values so the raw ranges are 0-4095. So
+		for example, if your display is 320x240, then THRESHX=13 and THRESHY=17
+		would correspond to one pixel.  Default: 12
+ 
+config STMPE811_THRESHY
+	int "Y threshold"
+	default 12
+	depends on !STMPE811_TSC_DISABLE
+	---help---
+		STMPE811 touchscreen data comes in a a very high rate.  New touch positions
+		will only be reported when the X or Y data changes by these thresholds.
+		This trades reduces data rate for some loss in dragging accuracy.  The
+		STMPE811 is configure for 12-bit values so the raw ranges are 0-4095. So
+		for example, if your display is 320x240, then THRESHX=13 and THRESHY=17
+		would correspond to one pixel.  Default: 12
+
+config STMPE811_ADC_DISABLE
+	bool "Disable STMPE811 ADC Support"
+	default y
+	---help---
+		Disable driver ADC functionality.
+
+config STMPE811_GPIO_DISABLE
+	bool "Disable STMPE811 GPIO Support"
+	default y
+	---help---
+		Disable driver GPIO functionality.
+
+config STMPE811_GPIOINT_DISABLE
+	bool "Disable STMPE811 GPIO Interrupt Support"
+	default y
+	depends on !STMPE811_GPIO_DISABLE
+	---help---
+		Disable driver GPIO interrupt functionlality (ignored if GPIO functionality is
+		disabled).
+
+config STMPE811_TEMP_DISABLE
+	bool "Disable STMPE811 Temperature Sensor Support"
+	default y
+	---help---
+		Disable driver temperature sensor functionality.
+
+config STMPE811_REGDEBUG
+	bool "Enable Register-Level STMPE811 Debug"
+	default n
+	depends on DEBUG
+	---help---
+		Enable very low register-level debug output.
+
+endif
diff --git a/nuttx/drivers/input/ads7843e.c b/nuttx/drivers/input/ads7843e.c
index 07e5e515d..06969e6d2 100644
--- a/nuttx/drivers/input/ads7843e.c
+++ b/nuttx/drivers/input/ads7843e.c
@@ -79,6 +79,12 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
+/* This is a value for the threshold that guantees a big difference on the
+ * first pendown (but can't overflow).
+ */
+
+#define INVALID_THRESHOLD 0x1000
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -88,13 +94,14 @@
  ****************************************************************************/
 /* Low-level SPI helpers */
 
-static inline void ads7843e_configspi(FAR struct spi_dev_s *spi);
 #ifdef CONFIG_SPI_OWNBUS
-static inline void ads7843e_select(FAR struct spi_dev_s *spi);
-static inline void ads7843e_deselect(FAR struct spi_dev_s *spi);
+static inline void ads7843e_configspi(FAR struct spi_dev_s *spi);
+#  define ads7843e_lock(spi)
+#  define ads7843e_unlock(spi)
 #else
-static void ads7843e_select(FAR struct spi_dev_s *spi);
-static void ads7843e_deselect(FAR struct spi_dev_s *spi);
+#  define ads7843e_configspi(spi);
+static void ads7843e_lock(FAR struct spi_dev_s *spi);
+static void ads7843e_unlock(FAR struct spi_dev_s *spi);
 #endif
 
 static inline void ads7843e_waitbusy(FAR struct ads7843e_dev_s *priv);
@@ -157,13 +164,12 @@ static struct ads7843e_dev_s *g_ads7843elist;
  ****************************************************************************/
 
 /****************************************************************************
- * Function: ads7843e_select
+ * Function: ads7843e_lock
  *
  * Description:
- *   Select the SPI, locking and  re-configuring if necessary.  This function
- *   must be called before initiating any sequence of SPI operations. If we
- *   are sharing the SPI bus with other devices (CONFIG_SPI_OWNBUS undefined)
- *   then we need to lock and configure the SPI bus for each transfer.
+ *   Lock the SPI bus and re-configure as necessary.  This function must be
+ *   to assure: (1) exclusive access to the SPI bus, and (2) to assure that
+ *   the shared bus is properly configured for the touchscreen controller.
  *
  * Parameters:
  *   spi  - Reference to the SPI driver structure
@@ -175,42 +181,35 @@ static struct ads7843e_dev_s *g_ads7843elist;
  *
  ****************************************************************************/
 
-#ifdef CONFIG_SPI_OWNBUS
-static inline void ads7843e_select(FAR struct spi_dev_s *spi)
-{
-  /* We own the SPI bus, so just select the chip */
-
-  SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, true);
-}
-#else
-static void ads7843e_select(FAR struct spi_dev_s *spi)
+#ifndef CONFIG_SPI_OWNBUS
+static void ads7843e_lock(FAR struct spi_dev_s *spi)
 {
-  /* Select ADS7843 chip (locking the SPI bus in case there are multiple
-   * devices competing for the SPI bus
+  /* Lock the SPI bus because there are multiple devices competing for the
+   * SPI bus
    */
 
   (void)SPI_LOCK(spi, true);
-  SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, true);
 
-  /* Now make sure that the SPI bus is configured for the ADS7843 (it
-   * might have gotten configured for a different device while unlocked)
+  /* We have the lock.  Now make sure that the SPI bus is configured for the
+   * ADS7843 (it might have gotten configured for a different device while
+   * unlocked)
    */
 
+  SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, true);
   SPI_SETMODE(spi, CONFIG_ADS7843E_SPIMODE);
   SPI_SETBITS(spi, 8);
   SPI_SETFREQUENCY(spi, CONFIG_ADS7843E_FREQUENCY);
+  SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, false);
 }
 #endif
 
 /****************************************************************************
- * Function: ads7843e_deselect
+ * Function: ads7843e_unlock
  *
  * Description:
- *   De-select the SPI, unlocking as necessary.  This function must be
- *   after completing a sequence of SPI operations. If we are sharing the SPI
- *   bus with other devices (CONFIG_SPI_OWNBUS undefined) then we need to
- *   un-lock the SPI bus for each transfer, possibly losing the current
- *   configuration.
+ *   If we are sharing the SPI bus with other devices (CONFIG_SPI_OWNBUS
+ *   undefined) then we need to un-lock the SPI bus for each transfer,
+ *   possibly losing the current configuration.
  *
  * Parameters:
  *   spi  - Reference to the SPI driver structure
@@ -222,19 +221,11 @@ static void ads7843e_select(FAR struct spi_dev_s *spi)
  *
  ****************************************************************************/
 
-#ifdef CONFIG_SPI_OWNBUS
-static inline void ads7843e_deselect(FAR struct spi_dev_s *spi)
-{
-  /* We own the SPI bus, so just de-select the chip */
-
-  SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, false);
-}
-#else
-static void ads7843e_deselect(FAR struct spi_dev_s *spi)
+#ifndef CONFIG_SPI_OWNBUS
+static void ads7843e_unlock(FAR struct spi_dev_s *spi)
 {
-  /* De-select ADS7843 chip and relinquish the SPI bus. */
+  /* Relinquish the SPI bus. */
 
-  SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, false);
   (void)SPI_LOCK(spi, false);
 }
 #endif
@@ -258,23 +249,20 @@ static void ads7843e_deselect(FAR struct spi_dev_s *spi)
  *
  ****************************************************************************/
 
+#ifdef CONFIG_SPI_OWNBUS
 static inline void ads7843e_configspi(FAR struct spi_dev_s *spi)
 {
-  idbg("Mode: %d Bits: 8 Frequency: %d\n",
-       CONFIG_ADS7843E_SPIMODE, CONFIG_ADS7843E_FREQUENCY);
-
   /* Configure SPI for the ADS7843.  But only if we own the SPI bus.  Otherwise, don't
    * bother because it might change.
    */
 
-#ifdef CONFIG_SPI_OWNBUS
   SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, true);
   SPI_SETMODE(spi, CONFIG_ADS7843E_SPIMODE);
   SPI_SETBITS(spi, 8);
   SPI_SETFREQUENCY(spi, CONFIG_ADS7843E_FREQUENCY);
   SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, false);
-#endif
 }
+#endif
 
 /****************************************************************************
  * Name: ads7843e_waitbusy
@@ -296,7 +284,7 @@ static uint16_t ads7843e_sendcmd(FAR struct ads7843e_dev_s *priv, uint8_t cmd)
 
   /* Select the ADS7843E */
 
-  ads7843e_select(priv->spi);
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, true);
 
   /* Send the command */
 
@@ -306,7 +294,7 @@ static uint16_t ads7843e_sendcmd(FAR struct ads7843e_dev_s *priv, uint8_t cmd)
   /* Read the data */
 
   SPI_RECVBLOCK(priv->spi, buffer, 2);
-  ads7843e_deselect(priv->spi);
+  SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, false);
 
   result = ((uint16_t)buffer[0] << 8) | (uint16_t)buffer[1];
   result = result >> 4;
@@ -554,7 +542,12 @@ static void ads7843e_worker(FAR void *arg)
 {
   FAR struct ads7843e_dev_s    *priv = (FAR struct ads7843e_dev_s *)arg;
   FAR struct ads7843e_config_s *config;
+  uint16_t                      x;
+  uint16_t                      y;
+  uint16_t                      xdiff;
+  uint16_t                      ydiff;
   bool                          pendown;
+  int                           ret;
 
   ASSERT(priv != NULL);
 
@@ -565,10 +558,30 @@ static void ads7843e_worker(FAR void *arg)
   config = priv->config;
   DEBUGASSERT(config != NULL);
 
-  /* Disable the watchdog timer */
+  /* Disable the watchdog timer.  This is safe because it is started only
+   * by this function and this function is serialized on the worker thread.
+   */
 
   wd_cancel(priv->wdog);
 
+  /* Lock the SPI bus so that we have exclusive access */
+
+  ads7843e_lock(priv->spi);
+
+  /* Get exclusive access to the driver data structure */
+
+  do
+    {
+      ret = sem_wait(&priv->devsem);
+
+      /* This should only fail if the wait was canceled by an signal
+       * (and the worker thread will receive a lot of signals).
+       */
+
+      DEBUGASSERT(ret == OK || errno == EINTR);
+    }
+  while (ret < 0);
+
   /* Check for pen up or down by reading the PENIRQ GPIO. */
 
   pendown = config->pendown(config);
@@ -577,13 +590,20 @@ static void ads7843e_worker(FAR void *arg)
 
   if (!pendown)
     {
-      /* Ignore the interrupt if the pen was already up (CONTACT_NONE == pen up and
-       * already reported.  CONTACT_UP == pen up, but not reported)
+      /* The pen is up.. reset thresholding variables. */
+
+      priv->threshx = INVALID_THRESHOLD;
+      priv->threshy = INVALID_THRESHOLD;
+
+      /* Ignore the interrupt if the pen was already up (CONTACT_NONE == pen up
+       * and already reported; CONTACT_UP == pen up, but not reported)
        */
 
-      if (priv->sample.contact == CONTACT_NONE)
+      if (priv->sample.contact == CONTACT_NONE ||
+          priv->sample.contact == CONTACT_UP)
+
         {
-          goto errout;
+          goto ignored;
         }
 
       /* The pen is up.  NOTE: We know from a previous test, that this is a
@@ -601,14 +621,57 @@ static void ads7843e_worker(FAR void *arg)
 
   else if (priv->sample.contact == CONTACT_UP)
     {
-       goto errout;
+      /* If we have not yet processed the last pen up event, then we
+       * cannot handle this pen down event. We will have to discard it.  That
+       * should be okay because we will set the timer to to sample again
+       * later.
+       */
+
+       wd_start(priv->wdog, ADS7843E_WDOG_DELAY, ads7843e_wdog, 1, (uint32_t)priv);
+       goto ignored;
     }
   else
     {
       /* Handle pen down events.  First, sample positional values. */
 
-      priv->sample.x = ads7843e_sendcmd(priv, ADS7843_CMD_XPOSITION);
-      priv->sample.y = ads7843e_sendcmd(priv, ADS7843_CMD_YPOSITION);
+#ifdef CONFIG_ADS7843E_SWAPXY
+      x = ads7843e_sendcmd(priv, ADS7843_CMD_YPOSITION);
+      y = ads7843e_sendcmd(priv, ADS7843_CMD_XPOSITION);
+#else
+      x = ads7843e_sendcmd(priv, ADS7843_CMD_XPOSITION);
+      y = ads7843e_sendcmd(priv, ADS7843_CMD_YPOSITION);
+#endif
+
+      /* Perform a thresholding operation so that the results will be more stable.
+       * If the difference from the last sample is small, then ignore the event.
+       * REVISIT:  Should a large change in pressure also generate a event?
+       */
+
+      xdiff = x > priv->threshx ? (x - priv->threshx) : (priv->threshx - x);
+      ydiff = y > priv->threshy ? (y - priv->threshy) : (priv->threshy - y);
+
+      /* Continue to sample the position while the pen is down */
+
+      wd_start(priv->wdog, ADS7843E_WDOG_DELAY, ads7843e_wdog, 1, (uint32_t)priv);
+
+      /* Check the thresholds.  Bail if there is no significant difference */
+
+      if (xdiff < CONFIG_ADS7843E_THRESHX && ydiff < CONFIG_ADS7843E_THRESHY)
+        {
+          /* Little or no change in either direction ... don't report anything. */
+
+          goto ignored;
+        }
+
+      /* When we see a big difference, snap to the new x/y thresholds */
+
+      priv->threshx       = x;
+      priv->threshy       = y;
+
+      /* Update the x/y position in the sample data */
+
+      priv->sample.x      = priv->threshx;
+      priv->sample.y      = priv->threshy;
 
       /* The X/Y positional data is now valid */
 
@@ -625,10 +688,6 @@ static void ads7843e_worker(FAR void *arg)
 
           priv->sample.contact = CONTACT_DOWN;
         }
-
-      /* Continue to sample the position while the pen is down */
-
-       wd_start(priv->wdog, ADS7843E_WDOG_DELAY, ads7843e_wdog, 1, (uint32_t)priv);
     }
 
   /* Indicate the availability of new sample data for this ID */
@@ -642,9 +701,15 @@ static void ads7843e_worker(FAR void *arg)
 
   /* Exit, re-enabling ADS7843E interrupts */
 
-errout:
+ignored:
+
   (void)ads7843e_sendcmd(priv, ADS7843_CMD_ENABPINIRQ);
   config->enable(config, true);
+
+  /* Release our lock on the state structure and unlock the SPI bus */
+
+  sem_post(&priv->devsem);
+  ads7843e_unlock(priv->spi);
 }
 
 /****************************************************************************
@@ -871,7 +936,7 @@ static ssize_t ads7843e_read(FAR struct file *filep, FAR char *buffer, size_t le
   report = (FAR struct touch_sample_s *)buffer;
   memset(report, 0, SIZEOF_TOUCH_SAMPLE_S(1));
   report->npoints            = 1;
-  report->point[0].id        = priv->id;
+  report->point[0].id        = sample.id;
   report->point[0].x         = sample.x;
   report->point[0].y         = sample.y;
 
@@ -886,8 +951,7 @@ static ssize_t ads7843e_read(FAR struct file *filep, FAR char *buffer, size_t le
 
       if (sample.valid)
         {
-          report->point[0].flags  = TOUCH_UP | TOUCH_ID_VALID |
-                                    TOUCH_POS_VALID | TOUCH_PRESSURE_VALID;
+          report->point[0].flags  = TOUCH_UP | TOUCH_ID_VALID | TOUCH_POS_VALID;
         }
       else
         {
@@ -1098,7 +1162,7 @@ errout:
  *
  ****************************************************************************/
 
-int ads7843e_register(FAR struct spi_dev_s *dev,
+int ads7843e_register(FAR struct spi_dev_s *spi,
                       FAR struct ads7843e_config_s *config, int minor)
 {
   FAR struct ads7843e_dev_s *priv;
@@ -1108,11 +1172,11 @@ int ads7843e_register(FAR struct spi_dev_s *dev,
 #endif
   int ret;
 
-  ivdbg("dev: %p minor: %d\n", dev, minor);
+  ivdbg("spi: %p minor: %d\n", spi, minor);
 
   /* Debug-only sanity checks */
 
-  DEBUGASSERT(dev != NULL && config != NULL && minor >= 0 && minor < 100);
+  DEBUGASSERT(spi != NULL && config != NULL && minor >= 0 && minor < 100);
 
   /* Create and initialize a ADS7843E device driver instance */
 
@@ -1130,11 +1194,14 @@ int ads7843e_register(FAR struct spi_dev_s *dev,
   /* Initialize the ADS7843E device driver instance */
 
   memset(priv, 0, sizeof(struct ads7843e_dev_s));
-  priv->spi    = dev;             /* Save the SPI device handle */
-  priv->config = config;          /* Save the board configuration */
-  priv->wdog   = wd_create();     /* Create a watchdog timer */
-  sem_init(&priv->devsem,  0, 1); /* Initialize device structure semaphore */
-  sem_init(&priv->waitsem, 0, 0); /* Initialize pen event wait semaphore */
+  priv->spi     = spi;               /* Save the SPI device handle */
+  priv->config  = config;            /* Save the board configuration */
+  priv->wdog    = wd_create();       /* Create a watchdog timer */
+  priv->threshx = INVALID_THRESHOLD; /* Initialize thresholding logic */
+  priv->threshy = INVALID_THRESHOLD; /* Initialize thresholding logic */
+
+  sem_init(&priv->devsem,  0, 1);    /* Initialize device structure semaphore */
+  sem_init(&priv->waitsem, 0, 0);    /* Initialize pen event wait semaphore */
 
   /* Make sure that interrupts are disabled */
 
@@ -1150,14 +1217,25 @@ int ads7843e_register(FAR struct spi_dev_s *dev,
       goto errout_with_priv;
     }
 
+  idbg("Mode: %d Bits: 8 Frequency: %d\n",
+       CONFIG_ADS7843E_SPIMODE, CONFIG_ADS7843E_FREQUENCY);
+
+  /* Lock the SPI bus so that we have exclusive access */
+
+  ads7843e_lock(spi);
+
   /* Configure the SPI interface */
 
-  ads7843e_configspi(dev);
+  ads7843e_configspi(spi);
 
   /* Enable the PEN IRQ */
   
   ads7843e_sendcmd(priv, ADS7843_CMD_ENABPINIRQ);
 
+  /* Unlock the bus */
+
+  ads7843e_unlock(spi);
+
   /* Register the device as an input device */
 
   (void)snprintf(devname, DEV_NAMELEN, DEV_FORMAT, minor);
diff --git a/nuttx/drivers/input/ads7843e.h b/nuttx/drivers/input/ads7843e.h
index 43b79c7b7..6fd70d98b 100644
--- a/nuttx/drivers/input/ads7843e.h
+++ b/nuttx/drivers/input/ads7843e.h
@@ -139,6 +139,8 @@ struct ads7843e_dev_s
   uint8_t nwaiters;                     /* Number of threads waiting for ADS7843E data */
   uint8_t id;                           /* Current touch point ID */
   volatile bool penchange;              /* An unreported event is buffered */
+  uint16_t threshx;                     /* Thresholding X value */
+  uint16_t threshy;                     /* Thresholding Y value */
   sem_t devsem;                         /* Manages exclusive access to this structure */
   sem_t waitsem;                        /* Used to wait for the availability of data */
 
diff --git a/nuttx/drivers/lcd/ssd1289.c b/nuttx/drivers/lcd/ssd1289.c
index 3d5ba96d3..e42b5bded 100644
--- a/nuttx/drivers/lcd/ssd1289.c
+++ b/nuttx/drivers/lcd/ssd1289.c
@@ -229,8 +229,8 @@
 /* Debug ******************************************************************************/
 
 #ifdef CONFIG_DEBUG_LCD
-#  define lcddbg              dbg
-#  define lcdvdbg             vdbg
+#  define lcddbg  dbg
+#  define lcdvdbg vdbg
 #else
 #  define lcddbg(x...)
 #  define lcdvdbg(x...)
@@ -253,6 +253,16 @@ struct ssd1289_dev_s
   FAR struct ssd1289_lcd_s *lcd;  /* The contained platform-specific, LCD interface */
   uint8_t power;                  /* Current power setting */
 
+  /* These fields simplify and reduce debug output */
+
+#ifdef CONFIG_DEBUG_LCD
+  bool put;                       /* Last raster operation was a putrun */
+  fb_coord_t firstrow;            /* First row of the run */
+  fb_coord_t lastrow;             /* Last row of the run */
+  fb_coord_t col;                 /* Column of the run */
+  size_t npixels;                 /* Length of the run */
+#endif
+
   /* 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
@@ -287,6 +297,19 @@ static void ssd1289_setcursor(FAR struct ssd1289_lcd_s *lcd, uint16_t column,
 
 /* LCD Data Transfer Methods */
 
+#if 0 /* Sometimes useful */
+static void ssd1289_dumprun(FAR const char *msg, FAR uint16_t *run, size_t npixels);
+#else
+#  define ssd1289_dumprun(m,r,n)
+#endif
+
+#ifdef CONFIG_DEBUG_LCD
+static void ssd1289_showrun(FAR struct ssd1289_dev_s *priv, fb_coord_t row,
+                            fb_coord_t col, size_t npixels, bool put);
+#else
+#  define ssd1289_showrun(p,r,c,n,b)
+#endif
+
 static int ssd1289_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buffer,
              size_t npixels);
 static int ssd1289_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
@@ -489,6 +512,64 @@ static void ssd1289_dumprun(FAR const char *msg, FAR uint16_t *run, size_t npixe
 #endif
 
 /**************************************************************************************
+ * Name:  ssd1289_showrun
+ *
+ * Description:
+ *   When LCD debug is enabled, try to reduce then amount of ouptut data generated by
+ *   ssd1289_putrun and ssd1289_getrun
+ *
+ **************************************************************************************/
+
+#ifdef CONFIG_DEBUG_LCD
+static void ssd1289_showrun(FAR struct ssd1289_dev_s *priv, fb_coord_t row,
+                            fb_coord_t col, size_t npixels, bool put)
+{
+  fb_coord_t nextrow = priv->lastrow + 1;
+
+  /* Has anything changed (other than the row is the next row in the sequence)? */
+
+  if (put == priv->put && row == nextrow && col == priv->col &&
+      npixels == priv->npixels)
+    {
+      /* No, just update the last row */
+
+      priv->lastrow = nextrow;
+    }
+  else
+    {
+      /* Yes... then this is the end of the preceding sequence.  Output the last run
+       * (if there were more than one run in the sequence).
+       */
+
+      if (priv->firstrow != priv->lastrow)
+        {
+          lcddbg("...\n");
+          lcddbg("%s row: %d col: %d npixels: %d\n",
+                 priv->put ? "PUT" : "GET",
+                 priv->lastrow, priv->col, priv->npixels);
+        }
+
+      /* And we are starting a new sequence.  Output the first run of the
+       * new sequence
+       */
+
+      lcddbg("%s row: %d col: %d npixels: %d\n",
+             put ? "PUT" : "GET", row, col, npixels);
+
+      /* And save information about the run so that we can detect continuations
+       * of the sequence.
+       */
+
+      priv->put      = put;
+      priv->firstrow = row;
+      priv->lastrow  = row;
+      priv->col      = col;
+      priv->npixels  = npixels;
+    }
+}
+#endif
+
+/**************************************************************************************
  * Name:  ssd1289_putrun
  *
  * Description:
@@ -512,7 +593,7 @@ static int ssd1289_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buf
  
   /* Buffer must be provided and aligned to a 16-bit address boundary */
 
-  lcdvdbg("row: %d col: %d npixels: %d\n", row, col, npixels);
+  ssd1289_showrun(priv, row, col, npixels, true);
   DEBUGASSERT(buffer && ((uintptr_t)buffer & 1) == 0);
 
   /* Select the LCD */
@@ -536,7 +617,7 @@ static int ssd1289_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buf
       ssd1289_gramselect(lcd);
       ssd1289_gramwrite(lcd, *src);
 
-      /* Increment to next column */
+      /* Increment to the next column */
 
       src++;
       col++;
@@ -581,7 +662,7 @@ static int ssd1289_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buf
       ssd1289_gramselect(lcd);
       ssd1289_gramwrite(lcd, *src);
 
-      /* Increment to next column */
+      /* Increment to the next column */
 
       src++;
       col--;
@@ -604,7 +685,7 @@ static int ssd1289_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buf
       ssd1289_gramselect(lcd);
       ssd1289_gramwrite(lcd, *src);
 
-      /* Decrement to next column */
+      /* Decrement to the next column */
 
       src++;
       col++;
@@ -632,7 +713,7 @@ static int ssd1289_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buf
  **************************************************************************************/
 
 static int ssd1289_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
-                       size_t npixels)
+                          size_t npixels)
 {
 #ifndef CONFIG_LCD_NOGETRUN
   FAR struct ssd1289_dev_s *priv = &g_lcddev;
@@ -643,7 +724,7 @@ static int ssd1289_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
  
   /* Buffer must be provided and aligned to a 16-bit address boundary */
 
-  lcdvdbg("row: %d col: %d npixels: %d\n", row, col, npixels);
+  ssd1289_showrun(priv, row, col, npixels, false);
   DEBUGASSERT(buffer && ((uintptr_t)buffer & 1) == 0);
 
   /* Select the LCD */
@@ -666,7 +747,7 @@ static int ssd1289_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
       ssd1289_readsetup(lcd, &accum);
       *dest++ = ssd1289_gramread(lcd, &accum);
 
-      /* Increment to next column */
+      /* Increment to the next column */
 
       col++;
     }
@@ -715,7 +796,7 @@ static int ssd1289_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
       ssd1289_readsetup(lcd, &accum);
       *dest++ = ssd1289_gramread(lcd, &accum);
 
-      /* Increment to next column */
+      /* Increment to the next column */
 
       col--;
     }
@@ -738,7 +819,7 @@ static int ssd1289_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
       ssd1289_readsetup(lcd, &accum);
       *dest++ = ssd1289_gramread(lcd, &accum);
 
-      /* Decrement to next column */
+      /* Decrement to the next column */
 
       col++;
     }
@@ -931,9 +1012,27 @@ static inline int ssd1289_hwinitialize(FAR struct ssd1289_dev_s *priv)
 
   lcd->select(lcd);
 
+  /* Read the device ID.  Skip verification of the device ID is the LCD is
+   * write-only. What choice do we have?
+   */
+
 #ifndef CONFIG_LCD_NOGETRUN
   id = ssd1289_readreg(lcd, SSD1289_DEVCODE);
-  lcddbg("LCD ID: %04x\n", id);
+  if (id != 0)
+    {
+      lcddbg("LCD ID: %04x\n", id);
+    }
+
+  /* If we could not get the ID, then let's just assume that this is an SSD1289.
+   * Perhaps we have some early register access issues.  This seems to happen.
+   * But then perhaps we should not even bother to read the device ID at all?
+   */
+
+  else
+    {
+      lcddbg("No LCD ID, assuming SSD1289\n");
+      id = SSD1289_DEVCODE_VALUE;
+    }
 
   /* Check if the ID is for the SSD1289 */
 
diff --git a/nuttx/drivers/mtd/ramtron.c b/nuttx/drivers/mtd/ramtron.c
index 074545e2d..34273bccf 100644
--- a/nuttx/drivers/mtd/ramtron.c
+++ b/nuttx/drivers/mtd/ramtron.c
@@ -98,7 +98,7 @@
 #define RAMTRON_WRITE     0x02    /* 1 Write                     A   0     1-256 */
 #define RAMTRON_SLEEP     0xb9    // TODO:
 #define RAMTRON_RDID      0x9f    /* 1 Read Identification       0   0     1-3 */
-#define RAMTRON_SN        0xc3	  // TODO:
+#define RAMTRON_SN        0xc3    // TODO:
 
 
 /* Status register bit definitions */
@@ -125,12 +125,12 @@
 
 struct ramtron_parts_s
 {
-	const char *name;
-	uint8_t     id1;
-	uint8_t     id2;
-	uint32_t    size;
-	uint8_t     addr_len;
-	uint32_t	speed;
+  const char *name;
+  uint8_t     id1;
+  uint8_t     id2;
+  uint32_t    size;
+  uint8_t     addr_len;
+  uint32_t    speed;
 };
 
 /* This type represents the state of the MTD device.  The struct mtd_dev_s
@@ -146,84 +146,86 @@ struct ramtron_dev_s
   uint8_t  pageshift;
   uint16_t nsectors;
   uint32_t npages;
-  const struct ramtron_parts_s *part;	/* part instance */
+  const struct ramtron_parts_s *part;  /* part instance */
 };
 
 /************************************************************************************
  * Supported Part Lists
  ************************************************************************************/
 
-// Defines the initial speed compatible with all devices. In case of RAMTRON
-// the defined devices within the part list have all the same speed.
-#define RAMTRON_INIT_CLK_MAX		40000000UL
+/* Defines the initial speed compatible with all devices. In case of RAMTRON
+ * the defined devices within the part list have all the same speed.
+ */
+
+#define RAMTRON_INIT_CLK_MAX    40000000UL
 
 static struct ramtron_parts_s ramtron_parts[] =
 {
-	{
-		"FM25V02",                    /* name */
-		0x22,                         /* id1 */
-		0x00,                         /* id2 */
-		32L*1024L,                    /* size */
-		2,                            /* addr_len */
-		40000000                      /* speed */
-	},
-	{
-		"FM25VN02",                    /* name */
-		0x22,                          /* id1 */
-		0x01,                          /* id2 */
-		32L*1024L,                     /* size */
-		2,                             /* addr_len */
-		40000000                       /* speed */
-	},
-	{
-		"FM25V05",                    /* name */
-		0x23,                         /* id1 */
-		0x00,                         /* id2 */
-		64L*1024L,                    /* size */
-		2,                            /* addr_len */
-		40000000                      /* speed */
-	},
-	{
-		"FM25VN05",                    /* name */
-		0x23,                          /* id1 */
-		0x01,                          /* id2 */
-		64L*1024L,                     /* size */
-		2,                             /* addr_len */
-		40000000                       /* speed */
-	},
-	{
-		"FM25V10",                    /* name */
-		0x24,                         /* id1 */
-		0x00,                         /* id2 */
-		128L*1024L,                   /* size */
-		3,                            /* addr_len */
-		40000000                      /* speed */
-	},
-	{
-		"FM25VN10",                   /* name */
-		0x24,                         /* id1 */
-		0x01,                         /* id2 */
-		128L*1024L,                   /* size */
-		3,                            /* addr_len */
-		40000000                      /* speed */
-	},
+  {
+    "FM25V02",                    /* name */
+    0x22,                         /* id1 */
+    0x00,                         /* id2 */
+    32L*1024L,                    /* size */
+    2,                            /* addr_len */
+    40000000                      /* speed */
+  },
+  {
+    "FM25VN02",                    /* name */
+    0x22,                          /* id1 */
+    0x01,                          /* id2 */
+    32L*1024L,                     /* size */
+    2,                             /* addr_len */
+    40000000                       /* speed */
+  },
+  {
+    "FM25V05",                    /* name */
+    0x23,                         /* id1 */
+    0x00,                         /* id2 */
+    64L*1024L,                    /* size */
+    2,                            /* addr_len */
+    40000000                      /* speed */
+  },
+  {
+    "FM25VN05",                    /* name */
+    0x23,                          /* id1 */
+    0x01,                          /* id2 */
+    64L*1024L,                     /* size */
+    2,                             /* addr_len */
+    40000000                       /* speed */
+  },
+  {
+    "FM25V10",                    /* name */
+    0x24,                         /* id1 */
+    0x00,                         /* id2 */
+    128L*1024L,                   /* size */
+    3,                            /* addr_len */
+    40000000                      /* speed */
+  },
+  {
+    "FM25VN10",                   /* name */
+    0x24,                         /* id1 */
+    0x01,                         /* id2 */
+    128L*1024L,                   /* size */
+    3,                            /* addr_len */
+    40000000                      /* speed */
+  },
 #ifdef CONFIG_RAMTRON_FRAM_NON_JEDEC
-	{
-		"FM25H20",                    /* name */
-		0xff,                         /* id1 */
-		0xff,                         /* id2 */
-		256L*1024L,                   /* size */
-		3,                            /* addr_len */
-		40000000                      /* speed */
-	},
-	{
-		NULL,                         /* name */
-        0,                            /* id1 */
-        0,                            /* id2 */
-		0,                            /* size */
-        0,                            /* addr_len */
-        0                             /* speed */
-	}
+  {
+    "FM25H20",                    /* name */
+    0xff,                         /* id1 */
+    0xff,                         /* id2 */
+    256L*1024L,                   /* size */
+    3,                            /* addr_len */
+    40000000                      /* speed */
+  },
+  {
+    NULL,                         /* name */
+    0,                            /* id1 */
+    0,                            /* id2 */
+    0,                            /* size */
+    0,                            /* addr_len */
+    0                             /* speed */
+  }
 #endif
 };
 
@@ -240,17 +242,17 @@ static inline int ramtron_readid(struct ramtron_dev_s *priv);
 static void ramtron_waitwritecomplete(struct ramtron_dev_s *priv);
 static void ramtron_writeenable(struct ramtron_dev_s *priv);
 static inline void ramtron_pagewrite(struct ramtron_dev_s *priv, FAR const uint8_t *buffer,
-                                  off_t offset);
+                                     off_t offset);
 
 /* MTD driver methods */
 
 static int ramtron_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks);
 static ssize_t ramtron_bread(FAR struct mtd_dev_s *dev, off_t startblock,
-                          size_t nblocks, FAR uint8_t *buf);
+                             size_t nblocks, FAR uint8_t *buf);
 static ssize_t ramtron_bwrite(FAR struct mtd_dev_s *dev, off_t startblock,
-                           size_t nblocks, FAR const uint8_t *buf);
+                              size_t nblocks, FAR const uint8_t *buf);
 static ssize_t ramtron_read(FAR struct mtd_dev_s *dev, off_t offset, size_t nbytes,
-                         FAR uint8_t *buffer);
+                            FAR uint8_t *buffer);
 static int ramtron_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg);
 
 /************************************************************************************
@@ -317,31 +319,37 @@ static inline int ramtron_readid(struct ramtron_dev_s *priv)
   /* Send the "Read ID (RDID)" command and read the first three ID bytes */
 
   (void)SPI_SEND(priv->dev, RAMTRON_RDID);
-  for (i=0; i<6; i++) manufacturer = SPI_SEND(priv->dev, RAMTRON_DUMMY);
-  memory       = SPI_SEND(priv->dev, RAMTRON_DUMMY);
-  capacity     = SPI_SEND(priv->dev, RAMTRON_DUMMY);	// fram.id1
-  part         = SPI_SEND(priv->dev, RAMTRON_DUMMY);	// fram.id2
+  for (i = 0; i < 6; i++)
+    {
+      manufacturer = SPI_SEND(priv->dev, RAMTRON_DUMMY);
+    }
+
+  memory           = SPI_SEND(priv->dev, RAMTRON_DUMMY);
+  capacity         = SPI_SEND(priv->dev, RAMTRON_DUMMY);  // fram.id1
+  part             = SPI_SEND(priv->dev, RAMTRON_DUMMY);  // fram.id2
 
   /* Deselect the FLASH and unlock the bus */
 
   SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
   ramtron_unlock(priv->dev);
   
-  // Select part from the part list
+  /* Select part from the part list */
+ 
   for (priv->part = ramtron_parts;
-	   priv->part->name != NULL && !(priv->part->id1 == capacity && priv->part->id2 == part);
-	   priv->part++);
-	   
-  if (priv->part->name) {
-    fvdbg("RAMTRON %s of size %d bytes (mf:%02x mem:%02x cap:%02x part:%02x)\n",
-           priv->part->name, priv->part->size, manufacturer, memory, capacity, part);
-
-    priv->sectorshift = RAMTRON_EMULATE_SECTOR_SHIFT;
-    priv->nsectors    = priv->part->size / (1 << RAMTRON_EMULATE_SECTOR_SHIFT);
-    priv->pageshift   = RAMTRON_EMULATE_PAGE_SHIFT;
-    priv->npages      = priv->part->size / (1 << RAMTRON_EMULATE_PAGE_SHIFT);
-    return OK;
-  }
+     priv->part->name != NULL && !(priv->part->id1 == capacity && priv->part->id2 == part);
+     priv->part++);
+     
+  if (priv->part->name)
+    {
+      fvdbg("RAMTRON %s of size %d bytes (mf:%02x mem:%02x cap:%02x part:%02x)\n",
+            priv->part->name, priv->part->size, manufacturer, memory, capacity, part);
+
+      priv->sectorshift = RAMTRON_EMULATE_SECTOR_SHIFT;
+      priv->nsectors    = priv->part->size / (1 << RAMTRON_EMULATE_SECTOR_SHIFT);
+      priv->pageshift   = RAMTRON_EMULATE_PAGE_SHIFT;
+      priv->npages      = priv->part->size / (1 << RAMTRON_EMULATE_PAGE_SHIFT);
+      return OK;
+    }
  
   fvdbg("RAMTRON device not found\n");
   return -ENODEV;
@@ -408,8 +416,10 @@ static inline void ramtron_sendaddr(const struct ramtron_dev_s *priv, uint32_t a
   DEBUGASSERT(priv->part->addr_len == 3 || priv->part->addr_len == 2);
   
   if (priv->part->addr_len == 3)
-	(void)SPI_SEND(priv->dev, (addr >> 16) & 0xff);
-	
+    {
+      (void)SPI_SEND(priv->dev, (addr >> 16) & 0xff);
+    }
+
   (void)SPI_SEND(priv->dev, (addr >> 8) & 0xff);
   (void)SPI_SEND(priv->dev, addr & 0xff);
 }
@@ -419,7 +429,7 @@ static inline void ramtron_sendaddr(const struct ramtron_dev_s *priv, uint32_t a
  ************************************************************************************/
 
 static inline void ramtron_pagewrite(struct ramtron_dev_s *priv, FAR const uint8_t *buffer,
-                                  off_t page)
+                                     off_t page)
 {
   off_t offset = page << priv->pageshift;
 
@@ -475,7 +485,7 @@ static int ramtron_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nbl
  ************************************************************************************/
 
 static ssize_t ramtron_bread(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks,
-                          FAR uint8_t *buffer)
+                             FAR uint8_t *buffer)
 {
   FAR struct ramtron_dev_s *priv = (FAR struct ramtron_dev_s *)dev;
   ssize_t nbytes;
@@ -489,6 +499,7 @@ static ssize_t ramtron_bread(FAR struct mtd_dev_s *dev, off_t startblock, size_t
     {
         return nbytes >> priv->pageshift;
     }
+
   return (int)nbytes;
 }
 
@@ -497,7 +508,7 @@ static ssize_t ramtron_bread(FAR struct mtd_dev_s *dev, off_t startblock, size_t
  ************************************************************************************/
 
 static ssize_t ramtron_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks,
-                           FAR const uint8_t *buffer)
+                              FAR const uint8_t *buffer)
 {
   FAR struct ramtron_dev_s *priv = (FAR struct ramtron_dev_s *)dev;
   size_t blocksleft = nblocks;
@@ -512,8 +523,8 @@ static ssize_t ramtron_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_
       ramtron_pagewrite(priv, buffer, startblock);
       startblock++;
    }
-  ramtron_unlock(priv->dev);
 
+  ramtron_unlock(priv->dev);
   return nblocks;
 }
 
@@ -522,7 +533,7 @@ static ssize_t ramtron_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_
  ************************************************************************************/
 
 static ssize_t ramtron_read(FAR struct mtd_dev_s *dev, off_t offset, size_t nbytes,
-                         FAR uint8_t *buffer)
+                            FAR uint8_t *buffer)
 {
   FAR struct ramtron_dev_s *priv = (FAR struct ramtron_dev_s *)dev;
 
@@ -662,6 +673,7 @@ FAR struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev)
       if (ramtron_readid(priv) != OK)
         {
           /* Unrecognized! Discard all of that work we just did and return NULL */
+
           kfree(priv);
           priv = NULL;
         }
diff --git a/nuttx/drivers/mtd/w25.c b/nuttx/drivers/mtd/w25.c
index 0d7028fec..bd6680fdf 100644
--- a/nuttx/drivers/mtd/w25.c
+++ b/nuttx/drivers/mtd/w25.c
@@ -693,7 +693,7 @@ static void w25_pagewrite(struct w25_dev_s *priv, FAR const uint8_t *buffer,
   uint8_t status;
 
   fvdbg("address: %08lx nwords: %d\n", (long)address, (int)nbytes);
-  DEBUGASSERT(priv && buffer && ((uintptr_t)buffer & 0xff) == 0 &&
+  DEBUGASSERT(priv && buffer && (address & 0xff) == 0 &&
              (nbytes & 0xff) == 0);
 
   for (; nbytes > 0; nbytes -= W25_PAGE_SIZE)
@@ -955,36 +955,27 @@ static int w25_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks
 static ssize_t w25_bread(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks,
                            FAR uint8_t *buffer)
 {
-#ifdef CONFIG_W25_SECTOR512
   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 */
 
+#ifdef CONFIG_W25_SECTOR512
   nbytes = w25_read(dev, startblock << W25_SECTOR512_SHIFT, nblocks << W25_SECTOR512_SHIFT, buffer);
   if (nbytes > 0)
     {
-      return nbytes >> W25_SECTOR512_SHIFT;
+      nbytes >>= W25_SECTOR512_SHIFT;
     }
-
-  return (int)nbytes;
 #else
-  FAR struct w25_dev_s *priv = (FAR struct w25_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 = w25_read(dev, startblock << W25_SECTOR_SHIFT, nblocks << W25_SECTOR_SHIFT, buffer);
   if (nbytes > 0)
     {
-      return nbytes >> W25_SECTOR_SHIFT;
+      nbytes >>= W25_SECTOR_SHIFT;
     }
-
-  return (int)nbytes;
 #endif
+
+  return nbytes;
 }
 
 /************************************************************************************
diff --git a/nuttx/fs/nxffs/Kconfig b/nuttx/fs/nxffs/Kconfig
index b233e85ea..9f4ef8231 100644
--- a/nuttx/fs/nxffs/Kconfig
+++ b/nuttx/fs/nxffs/Kconfig
@@ -12,31 +12,31 @@ config FS_NXFFS
 
 if FS_NXFFS
 config NXFFS_ERASEDSTATE
-	bool "FLASH erased state"
-	default n
+	hex "FLASH erased state"
+	default 0xff
 	---help---	
 		The erased state of FLASH. 
 		This must have one of the values of 0xff or 0x00.
 		Default: 0xff.
 
 config NXFFS_PACKTHRESHOLD
-	bool "Re-packing threshold"
-	default n
+	int "Re-packing threshold"
+	default 32
 	---help---
 		When packing flash file data,
 		don't both with file chunks smaller than this number of data bytes.
 		Default: 32.
 
 config NXFFS_MAXNAMLEN
-	bool "Maximum file name length"
-	default n
+	int "Maximum file name length"
+	default 255
 	---help---	
 		The maximum size of an NXFFS file name.
 		Default: 255.
 
 config NXFFS_TAILTHRESHOLD
-	bool "Tail threshold"
-	default n
+	int "Tail threshold"
+	default 8192
 	---help---	
 		clean-up can either mean
 		packing files together toward the end of the file or, if file are
diff --git a/nuttx/include/nuttx/input/ads7843e.h b/nuttx/include/nuttx/input/ads7843e.h
index 53aa2f227..fe4382f2f 100644
--- a/nuttx/include/nuttx/input/ads7843e.h
+++ b/nuttx/include/nuttx/input/ads7843e.h
@@ -70,6 +70,16 @@
 #  define CONFIG_ADS7843E_SPIMODE SPIDEV_MODE0
 #endif
 
+/* Thresholds */
+
+#ifndef CONFIG_ADS7843E_THRESHX
+#  define CONFIG_ADS7843E_THRESHX 12
+#endif
+
+#ifndef CONFIG_ADS7843E_THRESHY
+#  define CONFIG_ADS7843E_THRESHY 12
+#endif
+
 /* Check for some required settings.  This can save the user a lot of time
  * in getting the right configuration.
  */
@@ -149,7 +159,7 @@ extern "C" {
  *   number
  *
  * Input Parameters:
- *   dev     - An SPI driver instance
+ *   spi     - An SPI driver instance
  *   config  - Persistent board configuration data
  *   minor   - The input device minor number
  *
@@ -159,7 +169,7 @@ extern "C" {
  *
  ****************************************************************************/
 
-EXTERN  int ads7843e_register(FAR struct spi_dev_s *dev,
+EXTERN  int ads7843e_register(FAR struct spi_dev_s *spi,
                              FAR struct ads7843e_config_s *config,
                              int minor);
 
diff --git a/nuttx/include/nuttx/input/stmpe811.h b/nuttx/include/nuttx/input/stmpe811.h
index cea54a34f..fc311f7c4 100644
--- a/nuttx/include/nuttx/input/stmpe811.h
+++ b/nuttx/include/nuttx/input/stmpe811.h
@@ -85,7 +85,7 @@
  * CONFIG_STMPE811_TEMP_DISABLE
  *   Disable driver temperature sensor functionality.
  * CONFIG_STMPE811_REGDEBUG
- *   Enabled very low register-level debug output.  Requires CONFIG_DEBUG.
+ *   Enable very low register-level debug output.  Requires CONFIG_DEBUG.
  * CONFIG_STMPE811_THRESHX and CONFIG_STMPE811_THRESHY
  *   STMPE811 touchscreen data comes in a a very high rate.  New touch positions
  *   will only be reported when the X or Y data changes by these thresholds.
diff --git a/nuttx/lib/stdio/lib_libvsprintf.c b/nuttx/lib/stdio/lib_libvsprintf.c
index 2bf095880..30c988599 100644
--- a/nuttx/lib/stdio/lib_libvsprintf.c
+++ b/nuttx/lib/stdio/lib_libvsprintf.c
@@ -1169,7 +1169,9 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
   FAR char        *ptmp;
 #ifndef CONFIG_NOPRINTF_FIELDWIDTH
   int             width;
+#ifdef CONFIG_LIBC_FLOATINGPOINT
   int             trunc;
+#endif
   uint8_t         fmt;
 #endif
   uint8_t         flags;
@@ -1212,8 +1214,10 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
 #ifndef CONFIG_NOPRINTF_FIELDWIDTH
       fmt   = FMT_RJUST;
       width = 0;
+#ifdef CONFIG_LIBC_FLOATINGPOINT
       trunc = 0;
 #endif
+#endif
 
       /* Process each format qualifier. */
 
@@ -1260,8 +1264,10 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
               int value = va_arg(ap, int);
               if (IS_HASDOT(flags))
                 {
+#ifdef CONFIG_LIBC_FLOATINGPOINT
                   trunc = value;
                   SET_HASASTERISKTRUNC(flags);
+#endif
                 }
               else
                 {
@@ -1300,7 +1306,9 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
 
               if (IS_HASDOT(flags))
                 {
+#ifdef CONFIG_LIBC_FLOATINGPOINT
                   trunc = n;
+#endif
                 }
               else
                 {
diff --git a/nuttx/net/Kconfig b/nuttx/net/Kconfig
index 718b28b8f..d4ea8befb 100644
--- a/nuttx/net/Kconfig
+++ b/nuttx/net/Kconfig
@@ -18,6 +18,9 @@ choice
 	prompt "Board PHY Selection"
 	depends on ARCH_HAVE_PHY
 	default PHY_KS8721
+	---help---
+		Identify the PHY on your board.  This setting is not used by all Ethernet
+		drivers no do all Ethernet drivers support all PHYs.
 
 config PHY_KS8721
 	bool "Micrel KS8721 PHY"
@@ -28,6 +31,9 @@ config PHY_DP83848C
 config PHY_LAN8720
 	bool "SMSC LAN8720 PHY"
 
+config PHY_DM9161
+	bool "Davicom DM9161 PHY"
+
 endchoice
 
 config NET_NOINTS
diff --git a/nuttx/net/uip/uip_icmpping.c b/nuttx/net/uip/uip_icmpping.c
index 356187d09..e3ebf7252 100644
--- a/nuttx/net/uip/uip_icmpping.c
+++ b/nuttx/net/uip/uip_icmpping.c
@@ -148,122 +148,129 @@ static inline int ping_timeout(struct icmp_ping_s *pstate)
  ****************************************************************************/
 
 static uint16_t ping_interrupt(struct uip_driver_s *dev, void *conn,
-                             void *pvpriv, uint16_t flags)
+                               void *pvpriv, uint16_t flags)
 {
   struct icmp_ping_s *pstate = (struct icmp_ping_s *)pvpriv;
   uint8_t *ptr;
-  int failcode = -ETIMEDOUT;
   int i;
 
   nllvdbg("flags: %04x\n", flags);
   if (pstate)
     {
-      /* Check if this device is on the same network as the destination device. */
-
-      if (!uip_ipaddr_maskcmp(pstate->png_addr, dev->d_ipaddr, dev->d_netmask))
-        {
-          /* Destination address was not on the local network served by this
-           * device.  If a timeout occurs, then the most likely reason is
-           * that the destination address is not reachable.
-           */
+      /* Check if this is a ICMP ECHO reply.  If so, return the sequence
+       * number to the caller.  NOTE: We may not even have sent the
+       * requested ECHO request; this could have been the delayed ECHO
+       * response from a previous ping.
+       */
 
-          nllvdbg("Not reachable\n");
-          failcode = -ENETUNREACH;
-        }
-      else
+      if ((flags & UIP_ECHOREPLY) != 0 && conn != NULL)
         {
-          /* Check if this is a ICMP ECHO reply.  If so, return the sequence
-           * number to the caller.  NOTE: We may not even have sent the
-           * requested ECHO request; this could have been the delayed ECHO
-           * response from a previous ping.
-           */
+          struct uip_icmpip_hdr *icmp = (struct uip_icmpip_hdr *)conn;
+          nlldbg("ECHO reply: id=%d seqno=%d\n",
+                 ntohs(icmp->id), ntohs(icmp->seqno));
 
-          if ((flags & UIP_ECHOREPLY) != 0 && conn != NULL)
+          if (ntohs(icmp->id) == pstate->png_id)
             {
-              struct uip_icmpip_hdr *icmp = (struct uip_icmpip_hdr *)conn;
-              nlldbg("ECHO reply: id=%d seqno=%d\n", ntohs(icmp->id), ntohs(icmp->seqno));
+              /* Consume the ECHOREPLY */
 
-              if (ntohs(icmp->id) == pstate->png_id)
-                {
-                  /* Consume the ECHOREPLY */
+              flags     &= ~UIP_ECHOREPLY;
+              dev->d_len = 0;
 
-                  flags &= ~UIP_ECHOREPLY;
-                  dev->d_len = 0;
+              /* Return the result to the caller */
 
-                  /* Return the result to the caller */
-
-                  pstate->png_result = OK;
-                  pstate->png_seqno  = ntohs(icmp->seqno);
-                  goto end_wait;
-                }
+              pstate->png_result = OK;
+              pstate->png_seqno  = ntohs(icmp->seqno);
+              goto end_wait;
             }
+        }
 
-          /* Check:
-           *   If the outgoing packet is available (it may have been claimed
-           *   by a sendto interrupt serving a different thread
-           * -OR-
-           *   If the output buffer currently contains unprocessed incoming
-           *   data.
-           * -OR-
-           *   If we have alread sent the ECHO request
-           *
-           * In the first two cases, we will just have to wait for the next
-           * polling cycle.
-           */
+      /* Check:
+       *   If the outgoing packet is available (it may have been claimed
+       *   by a sendto interrupt serving a different thread)
+       * -OR-
+       *   If the output buffer currently contains unprocessed incoming
+       *   data.
+       * -OR-
+       *   If we have alread sent the ECHO request
+       *
+       * In the first two cases, we will just have to wait for the next
+       * polling cycle.
+       */
 
-          if (dev->d_sndlen <= 0 &&           /* Packet available */
-              (flags & UIP_NEWDATA) == 0 &&   /* No incoming data */
-              !pstate->png_sent)              /* Request not sent */
-            {
-              struct uip_icmpip_hdr *picmp = ICMPBUF;
+      if (dev->d_sndlen <= 0 &&           /* Packet available */
+          (flags & UIP_NEWDATA) == 0 &&   /* No incoming data */
+          !pstate->png_sent)              /* Request not sent */
+        {
+          struct uip_icmpip_hdr *picmp = ICMPBUF;
 
-              /* We can send the ECHO request now.
-               *
-               * Format the ICMP ECHO request packet
-               */
+          /* We can send the ECHO request now.
+           *
+           * Format the ICMP ECHO request packet
+           */
 
-              picmp->type  = ICMP_ECHO_REQUEST;
-              picmp->icode = 0;
+          picmp->type  = ICMP_ECHO_REQUEST;
+          picmp->icode = 0;
 #ifndef CONFIG_NET_IPv6
-              picmp->id    = htons(pstate->png_id);
-              picmp->seqno = htons(pstate->png_seqno);
+          picmp->id    = htons(pstate->png_id);
+          picmp->seqno = htons(pstate->png_seqno);
 #else
 # error "IPv6 ECHO Request not implemented"
 #endif
-              /* Add some easily verifiable data */
+          /* Add some easily verifiable data */
 
-              for (i = 0, ptr = ICMPDAT; i < pstate->png_datlen; i++)
-                {
-                  *ptr++ = i;
-                }
+          for (i = 0, ptr = ICMPDAT; i < pstate->png_datlen; i++)
+            {
+              *ptr++ = i;
+            }
 
-              /* Send the ICMP echo request.  Note that d_sndlen is set to
-               * the size of the ICMP payload and does not include the size
-               * of the ICMP header.
-               */
+          /* Send the ICMP echo request.  Note that d_sndlen is set to
+           * the size of the ICMP payload and does not include the size
+           * of the ICMP header.
+           */
 
-              nlldbg("Send ECHO request: seqno=%d\n", pstate->png_seqno);
+          nlldbg("Send ECHO request: seqno=%d\n", pstate->png_seqno);
 
-              dev->d_sndlen = pstate->png_datlen + 4;
-              uip_icmpsend(dev, &pstate->png_addr);
-              pstate->png_sent = true;
-              return flags;
-            }
+          dev->d_sndlen = pstate->png_datlen + 4;
+          uip_icmpsend(dev, &pstate->png_addr);
+          pstate->png_sent = true;
+          return flags;
         }
 
       /* Check if the selected timeout has elapsed */
 
       if (ping_timeout(pstate))
         {
-          /* Yes.. report the timeout */
+          int failcode;
+
+          /* Check if this device is on the same network as the destination
+           * device.
+           */
+
+          if (!uip_ipaddr_maskcmp(pstate->png_addr, dev->d_ipaddr, dev->d_netmask))
+            {
+              /* Destination address was not on the local network served by this
+               * device.  If a timeout occurs, then the most likely reason is
+               * that the destination address is not reachable.
+               */
+
+              nlldbg("Not reachable\n");
+              failcode = -ENETUNREACH;
+            }
+          else
+            {
+              nlldbg("Ping timeout\n");
+              failcode = -ETIMEDOUT;
+            }
+
+          /* Report the failure */
 
-          nlldbg("Ping timeout\n");
           pstate->png_result = failcode;
           goto end_wait;
         }
 
       /* Continue waiting */
     }
+
   return flags;
 
 end_wait: