Merge branch 'master' into px4io-i2c

14 files changed, 655 insertions, 75 deletions

diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt
index 14eb78950..bcc0ac172 100644
--- a/apps/ChangeLog.txt
+++ b/apps/ChangeLog.txt
@@ -485,3 +485,10 @@
 	  argument is now optional.  Many files systems do not need
 	  a source and it is really stupid to have to enter a bogus
 	  source parameter.
+	* apps/nshlib/nsh_fileapp.c:  Add the ability to execute a file
+	  from a file system using posix_spawn().
+	* apps/builtin/: Extensions from Mike Smith.
+	* apps/examples/ftpd/Makefile: Name ftpd_start is not the name of
+	  the entrypoint.  Should be ftpd_main (from Yan T.)
+	* apps/netutils/telnetd/telnetd_driver: Was stuck in a loop if
+	  recv[from]() ever returned a value <= 0.
diff --git a/apps/builtin/Makefile b/apps/builtin/Makefile
index d77054f41..f89532871 100644
--- a/apps/builtin/Makefile
+++ b/apps/builtin/Makefile
@@ -39,7 +39,7 @@ include $(APPDIR)/Make.defs
 # Source and object files
 
 ASRCS		=
-CSRCS		= builtin.c exec_builtin.c
+CSRCS		= builtin.c builtin_list.c exec_builtin.c
 
 AOBJS		= $(ASRCS:.S=$(OBJEXT))
 COBJS		= $(CSRCS:.c=$(OBJEXT))
diff --git a/apps/builtin/builtin.c b/apps/builtin/builtin.c
index 7655a531d..d26f0a044 100644
--- a/apps/builtin/builtin.c
+++ b/apps/builtin/builtin.c
@@ -55,27 +55,8 @@
  * Public Data
  ****************************************************************************/
 
-#undef EXTERN
-#if defined(__cplusplus)
-#define EXTERN extern "C"
-extern "C" {
-#else
-#define EXTERN extern
-#endif
-
-#include "builtin_proto.h"
-
-const struct builtin_s g_builtins[] =
-{
-# include "builtin_list.h"
-  { NULL, 0, 0, 0 }
-};
-
-#undef EXTERN
-#if defined(__cplusplus)
-}
-#endif
-
+extern const struct builtin_s g_builtins[];
+extern const int g_builtin_count;
 
 /****************************************************************************
  * Private Data
@@ -89,9 +70,11 @@ const struct builtin_s g_builtins[] =
  * Public Functions
  ****************************************************************************/
 
-int number_builtins(void)
+FAR const struct builtin_s *builtin_for_index(int index)
 {
-  return sizeof(g_builtins)/sizeof(struct builtin_s) - 1;
+  if (index < g_builtin_count)
+    {
+      return &g_builtins[index];
+    }
+  return NULL;
 }
-
-
diff --git a/apps/builtin/builtin_list.c b/apps/builtin/builtin_list.c
new file mode 100644
index 000000000..a5556bf54
--- /dev/null
+++ b/apps/builtin/builtin_list.c
@@ -0,0 +1,79 @@
+/****************************************************************************
+ * apps/builtin/builtin_list.c
+ *
+ *   Copyright (C) 2011 Uros Platise. All rights reserved.
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Authors: Uros Platise <uros.platise@isotel.eu>
+ *            Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <nuttx/binfmt/builtin.h>
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#include "builtin_proto.h"
+
+const struct builtin_s g_builtins[] =
+{
+# include "builtin_list.h"
+  { NULL, 0, 0, 0 }
+};
+
+const int g_builtin_count = sizeof(g_builtins) / sizeof(g_builtins[0]);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
diff --git a/apps/builtin/exec_builtin.c b/apps/builtin/exec_builtin.c
index 9fde813d6..60e8b742d 100644
--- a/apps/builtin/exec_builtin.c
+++ b/apps/builtin/exec_builtin.c
@@ -46,6 +46,7 @@
 
 #include <nuttx/config.h>
 
+#include <sys/wait.h>
 #include <sched.h>
 #include <string.h>
 #include <fcntl.h>
@@ -92,7 +93,9 @@ struct builtin_parms_s
  ****************************************************************************/
 
 static sem_t g_builtin_parmsem = SEM_INITIALIZER(1);
+#ifndef CONFIG_SCHED_WAITPID
 static sem_t g_builtin_execsem = SEM_INITIALIZER(0);
+#endif
 static struct builtin_parms_s g_builtin_parms;
 
 /****************************************************************************
@@ -121,7 +124,7 @@ static void bultin_semtake(FAR sem_t *sem)
   do
     {
       ret = sem_wait(sem);
-      ASSERT(ret == 0 || errno == EINTR);
+      ASSERT(ret == 0 || get_errno() == EINTR);
     }
   while (ret != 0);
 }
@@ -142,8 +145,17 @@ static void bultin_semtake(FAR sem_t *sem)
 
 static int builtin_taskcreate(int index, FAR const char **argv)
 {
+  FAR const struct builtin_s *b;
   int ret;
 
+  b = builtin_for_index(index);
+
+  if (b == NULL)
+    { 
+      set_errno(ENOENT);
+      return ERROR;
+    }
+
   /* Disable pre-emption.  This means that although we start the builtin
    * application here, it will not actually run until pre-emption is
    * re-enabled below.
@@ -153,8 +165,7 @@ static int builtin_taskcreate(int index, FAR const char **argv)
 
   /* Start the builtin application task */
 
-  ret = TASK_CREATE(g_builtins[index].name, g_builtins[index].priority,
-                    g_builtins[index].stacksize, g_builtins[index].main,
+  ret = TASK_CREATE(b->name, b->priority, b->stacksize, b->main,
                     (argv) ? &argv[1] : (FAR const char **)NULL);
 
   /* If robin robin scheduling is enabled, then set the scheduling policy
@@ -171,7 +182,7 @@ static int builtin_taskcreate(int index, FAR const char **argv)
        * new task cannot yet have changed from its initial value.
        */
 
-      param.sched_priority = g_builtins[index].priority;
+      param.sched_priority = b->priority;
       (void)sched_setscheduler(ret, SCHED_RR, &param);
     }
 #endif
@@ -217,7 +228,7 @@ static int builtin_proxy(int argc, char *argv[])
     {
       /* Remember the errno value.  ret is already set to ERROR */
 
-      g_builtin_parms.errcode = errno;
+      g_builtin_parms.errcode = get_errno();
       sdbg("ERROR: open of %s failed: %d\n",
            g_builtin_parms.redirfile, g_builtin_parms.errcode);
     }
@@ -235,7 +246,7 @@ static int builtin_proxy(int argc, char *argv[])
       ret = dup2(fd, 1);
       if (ret < 0)
         {
-          g_builtin_parms.errcode = errno;
+          g_builtin_parms.errcode = get_errno();
           sdbg("ERROR: dup2 failed: %d\n", g_builtin_parms.errcode);
         }
 
@@ -255,18 +266,26 @@ static int builtin_proxy(int argc, char *argv[])
       ret = builtin_taskcreate(g_builtin_parms.index, g_builtin_parms.argv);
       if (ret < 0)
         {
-          g_builtin_parms.errcode = errno;
+          g_builtin_parms.errcode = get_errno();
           sdbg("ERROR: builtin_taskcreate failed: %d\n",
                g_builtin_parms.errcode);
         }
     }
 
+  /* NOTE:  There is a logical error here if CONFIG_SCHED_HAVE_PARENT is
+   * defined:  The new task is the child of this proxy task, not the
+   * original caller.  As a consequence, operations like waitpid() will
+   * fail on the caller's thread.
+   */
+
   /* Post the semaphore to inform the parent task that we have completed
    * what we need to do.
    */
 
   g_builtin_parms.result = ret;
+#ifndef CONFIG_SCHED_WAITPID
   builtin_semgive(&g_builtin_execsem);
+#endif
   return 0;
 }
 
@@ -291,10 +310,11 @@ static inline int builtin_startproxy(int index, FAR const char **argv,
   struct sched_param param;
   pid_t proxy;
   int errcode;
+#ifdef CONFIG_SCHED_WAITPID
+  int status;
+#endif
   int ret;
 
-//  DEBUGASSERT(path);
-
   svdbg("index=%d argv=%p redirfile=%s oflags=%04x\n",
         index, argv, redirfile, oflags);
 
@@ -326,11 +346,21 @@ static inline int builtin_startproxy(int index, FAR const char **argv,
   ret = sched_getparam(0, &param);
   if (ret < 0)
     {
-      errcode = errno;
+      errcode = get_errno();
       sdbg("ERROR: sched_getparam failed: %d\n", errcode);
-      goto errout;
+      goto errout_with_sem;
     }
 
+  /* Disable pre-emption so that the proxy does not run until we waitpid
+   * is called.  This is probably unnecessary since the builtin_proxy has
+   * the same priority as this thread; it should be schedule behind this
+   * task in the ready-to-run list.
+   */
+
+#ifdef CONFIG_SCHED_WAITPID
+  sched_lock();
+#endif
+
   /* Start the intermediary/proxy task at the same priority as the parent task. */
 
   proxy = TASK_CREATE("builtin_proxy", param.sched_priority,
@@ -338,16 +368,25 @@ static inline int builtin_startproxy(int index, FAR const char **argv,
                       (FAR const char **)NULL);
   if (proxy < 0)
     {
-      errcode = errno;
+      errcode = get_errno();
       sdbg("ERROR: Failed to start builtin_proxy: %d\n", errcode);
-      goto errout;
+      goto errout_with_lock;
     }
 
    /* Wait for the proxy to complete its job.  We could use waitpid()
     * for this.
     */
 
+#ifdef CONFIG_SCHED_WAITPID
+   ret = waitpid(proxy, &status, 0);
+   if (ret < 0)
+     {
+       sdbg("ERROR: waitpid() failed: %d\n", get_errno());
+       goto errout_with_lock;
+     }
+#else
    bultin_semtake(&g_builtin_execsem);
+#endif
 
    /* Get the result and relinquish our access to the parameter structure */
 
@@ -355,7 +394,12 @@ static inline int builtin_startproxy(int index, FAR const char **argv,
    builtin_semgive(&g_builtin_parmsem);
    return g_builtin_parms.result;
 
-errout:
+errout_with_lock:
+#ifdef CONFIG_SCHED_WAITPID
+  sched_unlock();
+#endif
+
+errout_with_sem:
   set_errno(errcode);
   builtin_semgive(&g_builtin_parmsem);
   return ERROR;
diff --git a/apps/drivers/blinkm/blinkm.cpp b/apps/drivers/blinkm/blinkm.cpp
index aeee80905..bc5c74de1 100644
--- a/apps/drivers/blinkm/blinkm.cpp
+++ b/apps/drivers/blinkm/blinkm.cpp
@@ -57,7 +57,7 @@
  * System armed:
  * One message is made of 4 Blinks and a pause in the same length as the 4 blinks.
  *
- * X-X-X-X-_-_-_-_-
+ * X-X-X-X-_-_-_-_-_-_-
  * -------------------------
  * G G G M
  * P P P O
@@ -67,26 +67,26 @@
  * (X = on, _=off)
  *
  * The first 3 blinks indicates the status of the GPS-Signal (red):
- * 0-4 satellites = X-X-X-X-_-_-_-_-
- *   5 satellites = X-X-_-X-_-_-_-_-
- *   6 satellites = X-_-_-X-_-_-_-_-
- * >=7 satellites = _-_-_-X-_-_-_-_-
+ * 0-4 satellites = X-X-X-X-_-_-_-_-_-_-
+ *   5 satellites = X-X-_-X-_-_-_-_-_-_-
+ *   6 satellites = X-_-_-X-_-_-_-_-_-_-
+ * >=7 satellites = _-_-_-X-_-_-_-_-_-_-
  * If no GPS is found the first 3 blinks are white
  *
  * The fourth Blink indicates the Flightmode:
- * MANUAL     : off
+ * MANUAL     : amber
  * STABILIZED : yellow
  * HOLD		  : blue
  * AUTO       : green
  *
  * Battery Warning (low Battery Level):
- * Continuously blinking in yellow X-X-X-X-X-X-X-X
+ * Continuously blinking in yellow X-X-X-X-X-X-X-X-X-X
  *
  * Battery Alert (critical Battery Level)
- * Continuously blinking in red X-X-X-X-X-X-X-X
+ * Continuously blinking in red X-X-X-X-X-X-X-X-X-X
  *
  * General Error (no uOrb Data)
- * Continuously blinking in white X-X-X-X-X-X-X-X
+ * Continuously blinking in white X-X-X-X-X-X-X-X-X-X
  *
  */
 
@@ -118,8 +118,8 @@
 #include <uORB/topics/vehicle_gps_position.h>
 
 static const float MAX_CELL_VOLTAGE	= 4.3f;
-static const int LED_ONTIME = 100;
-static const int LED_OFFTIME = 100;
+static const int LED_ONTIME = 120;
+static const int LED_OFFTIME = 120;
 static const int LED_BLINK = 1;
 static const int LED_NOBLINK = 0;
 
@@ -167,7 +167,8 @@ private:
 		LED_PURPLE,
 		LED_GREEN,
 		LED_BLUE,
-		LED_WHITE
+		LED_WHITE,
+		LED_AMBER
 	};
 
 	work_s			_work;
@@ -178,6 +179,8 @@ private:
 	int led_color_4;
 	int led_color_5;
 	int led_color_6;
+	int led_color_7;
+	int led_color_8;
 	int led_blink;
 
 	bool systemstate_run;
@@ -250,6 +253,8 @@ BlinkM::BlinkM(int bus) :
 	led_color_4(LED_OFF),
 	led_color_5(LED_OFF),
 	led_color_6(LED_OFF),
+	led_color_7(LED_OFF),
+	led_color_8(LED_OFF),
 	led_blink(LED_NOBLINK),
 	systemstate_run(false)
 {
@@ -374,7 +379,7 @@ BlinkM::led()
 	static int num_of_cells = 0;
 	static int detected_cells_runcount = 0;
 
-	static int t_led_color[6] = { 0, 0, 0, 0, 0, 0};
+	static int t_led_color[8] = { 0, 0, 0, 0, 0, 0, 0, 0};
 	static int t_led_blink = 0;
 	static int led_thread_runcount=0;
 	static int led_interval = 1000;
@@ -416,6 +421,8 @@ BlinkM::led()
 				t_led_color[4] = LED_PURPLE;
 			}
 			t_led_color[5] = LED_OFF;
+			t_led_color[6] = LED_OFF;
+			t_led_color[7] = LED_OFF;
 			t_led_blink = LED_BLINK;
 		} else {
 			t_led_color[0] = led_color_1;
@@ -424,6 +431,8 @@ BlinkM::led()
 			t_led_color[3] = led_color_4;
 			t_led_color[4] = led_color_5;
 			t_led_color[5] = led_color_6;
+			t_led_color[6] = led_color_7;
+			t_led_color[7] = led_color_8;
 			t_led_blink = led_blink;
 		}
 		led_thread_ready = false;
@@ -434,16 +443,19 @@ BlinkM::led()
 			setLEDColor(LED_OFF);
 		led_interval = LED_OFFTIME;
 	} else {
-		setLEDColor(t_led_color[(led_thread_runcount / 2) % 6]);
+		setLEDColor(t_led_color[(led_thread_runcount / 2) % 8]);
 		//led_interval = (led_thread_runcount & 1) : LED_ONTIME;
 		led_interval = LED_ONTIME;
 	}
 
-	if (led_thread_runcount == 11) {
+	if (led_thread_runcount == 15) {
 		/* obtained data for the first file descriptor */
 		struct vehicle_status_s vehicle_status_raw;
 		struct vehicle_gps_position_s vehicle_gps_position_raw;
 
+		memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw));
+		memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw));
+
 		bool new_data_vehicle_status;
 		bool new_data_vehicle_gps_position;
 
@@ -473,7 +485,8 @@ BlinkM::led()
 
 		/* get number of used satellites in navigation */
 		num_of_used_sats = 0;
-		for(int satloop=0; satloop<20; satloop++) {
+		//for(int satloop=0; satloop<20; satloop++) {
+		for(int satloop=0; satloop<sizeof(vehicle_gps_position_raw.satellite_used); satloop++) {
 			if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
 				num_of_used_sats++;
 			}
@@ -497,6 +510,8 @@ BlinkM::led()
 					led_color_4 = LED_YELLOW;
 					led_color_5 = LED_YELLOW;
 					led_color_6 = LED_YELLOW;
+					led_color_7 = LED_YELLOW;
+					led_color_8 = LED_YELLOW;
 					led_blink = LED_BLINK;
 
 				} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) {
@@ -507,6 +522,8 @@ BlinkM::led()
 					led_color_4 = LED_RED;
 					led_color_5 = LED_RED;
 					led_color_6 = LED_RED;
+					led_color_7 = LED_RED;
+					led_color_8 = LED_RED;
 					led_blink = LED_BLINK;
 
 				} else {
@@ -520,6 +537,8 @@ BlinkM::led()
 						led_color_4 = LED_RED;
 						led_color_5 = LED_RED;
 						led_color_6 = LED_RED;
+						led_color_7 = LED_RED;
+						led_color_8 = LED_RED;
 						led_blink = LED_NOBLINK;
 
 					} else {
@@ -530,12 +549,14 @@ BlinkM::led()
 						led_color_4 = LED_OFF;
 						led_color_5 = LED_OFF;
 						led_color_6 = LED_OFF;
+						led_color_7 = LED_OFF;
+						led_color_8 = LED_OFF;
 						led_blink = LED_BLINK;
 
 						/* handle 4th led - flightmode indicator */
 						switch((int)vehicle_status_raw.flight_mode) {
 							case VEHICLE_FLIGHT_MODE_MANUAL:
-								led_color_4 = LED_OFF;
+								led_color_4 = LED_AMBER;
 								break;
 
 							case VEHICLE_FLIGHT_MODE_STAB:
@@ -583,6 +604,8 @@ BlinkM::led()
 			led_color_4 = LED_WHITE;
 			led_color_5 = LED_WHITE;
 			led_color_6 = LED_WHITE;
+			led_color_7 = LED_WHITE;
+			led_color_8 = LED_WHITE;
 			led_blink = LED_BLINK;
 
 		}
@@ -646,6 +669,9 @@ void BlinkM::setLEDColor(int ledcolor) {
 		case LED_WHITE:	// white
 			set_rgb(255,255,255);
 			break;
+		case LED_AMBER:	// amber
+			set_rgb(255,20,0);
+			break;
 	}
 }
 
diff --git a/apps/examples/nsh/nsh_main.c b/apps/examples/nsh/nsh_main.c
index 97792cb2a..d9bfc2018 100644
--- a/apps/examples/nsh/nsh_main.c
+++ b/apps/examples/nsh/nsh_main.c
@@ -46,6 +46,12 @@
 #include <errno.h>
 
 #include <nuttx/arch.h>
+#if defined(CONFIG_FS_BINFS) && (CONFIG_BUILTIN)
+#include <nuttx/binfmt/builtin.h>
+#endif
+#if defined(CONFIG_LIBC_EXECFUNCS) && defined(CONFIG_EXECFUNCS_SYMTAB)
+#include <nuttx/binfmt/symtab.h>
+#endif
 
 #include <apps/nsh.h>
 
@@ -75,6 +81,21 @@
  * Public Data
  ****************************************************************************/
 
+/* If posix_spawn() is enabled as required for CONFIG_NSH_FILE_APPS, then
+ * a symbol table is needed by the internals of posix_spawn().  The symbol
+ * table is needed to support ELF and NXFLAT binaries to dynamically link to
+ * the base code.  However, if only the BINFS file system is supported, then
+ * no Makefile is needed.
+ *
+ * This is a kludge to plug the missing file system in the case where BINFS
+ * is used.  REVISIT:  This will, of course, be in the way if you want to
+ * support ELF or NXFLAT binaries!
+ */
+
+#if defined(CONFIG_LIBC_EXECFUNCS) && defined(CONFIG_EXECFUNCS_SYMTAB)
+const struct symtab_s CONFIG_EXECFUNCS_SYMTAB[1];
+#endif
+
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -98,6 +119,23 @@ int nsh_main(int argc, char *argv[])
   up_cxxinitialize();
 #endif
 
+  /* Make sure that we are using our symbol take */
+
+#if defined(CONFIG_LIBC_EXECFUNCS) && defined(CONFIG_EXECFUNCS_SYMTAB)
+  exec_setsymtab(CONFIG_EXECFUNCS_SYMTAB, 0);
+#endif
+
+  /* Register the BINFS file system */
+
+#if defined(CONFIG_FS_BINFS) && (CONFIG_BUILTIN)
+  ret = builtin_initialize();
+  if (ret < 0)
+    {
+     fprintf(stderr, "ERROR: builtin_initialize failed: %d\n", ret);
+     exitval = 1;
+   }
+#endif
+
   /* Initialize the NSH library */
 
   nsh_initialize();
diff --git a/apps/nshlib/Kconfig b/apps/nshlib/Kconfig
index e60e9c480..f6a5aa045 100644
--- a/apps/nshlib/Kconfig
+++ b/apps/nshlib/Kconfig
@@ -14,7 +14,7 @@ config NSH_LIBRARY
 if NSH_LIBRARY
 config NSH_BUILTIN_APPS
 	bool "Enable built-in applications"
-	default y
+	default n
 	depends on BUILTIN
 	---help---
 		Support external registered, "built-in" applications that can be
@@ -22,6 +22,15 @@ config NSH_BUILTIN_APPS
 		more information).  This options requires support for builtin
 		applications (BUILTIN).
 
+config NSH_FILE_APPS
+	bool "Enable execution of program files"
+	default n
+	depends on LIBC_EXECFUNCS
+	---help---
+		Support execution of program files residing within a file
+		system.  This options requires support for the posix_spawn()
+		interface (LIBC_EXECFUNCS).
+
 menu "Disable Individual commands"
 
 config NSH_DISABLE_BASE64DEC
diff --git a/apps/nshlib/Makefile b/apps/nshlib/Makefile
index 5c5269685..948f43d52 100644
--- a/apps/nshlib/Makefile
+++ b/apps/nshlib/Makefile
@@ -47,6 +47,10 @@ ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
 CSRCS += nsh_builtin.c
 endif
 
+ifeq ($(CONFIG_NSH_FILE_APPS),y)
+CSRCS += nsh_fileapps.c
+endif
+
 ifeq ($(CONFIG_NSH_ROMFSETC),y)
 CSRCS += nsh_romfsetc.c
 endif
diff --git a/apps/nshlib/nsh.h b/apps/nshlib/nsh.h
index 253a803f8..64099a8df 100644
--- a/apps/nshlib/nsh.h
+++ b/apps/nshlib/nsh.h
@@ -495,6 +495,11 @@ int nsh_builtin(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
                 FAR char **argv, FAR const char *redirfile, int oflags);
 #endif
 
+#ifdef CONFIG_NSH_FILE_APPS
+int nsh_fileapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
+                FAR char **argv, FAR const char *redirfile, int oflags);
+#endif
+
 /* Working directory support */
 
 #if CONFIG_NFILE_DESCRIPTORS > 0 && !defined(CONFIG_DISABLE_ENVIRON)
diff --git a/apps/nshlib/nsh_builtin.c b/apps/nshlib/nsh_builtin.c
index ba39e8dfe..0d5a0231c 100644
--- a/apps/nshlib/nsh_builtin.c
+++ b/apps/nshlib/nsh_builtin.c
@@ -116,8 +116,8 @@ int nsh_builtin(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
 {
   int ret = OK;
 
-  /* Lock the scheduler to prevent the application from running until the
-   * waitpid() has been called.
+  /* Lock the scheduler in an attempt to prevent the application from
+   * running until waitpid() has been called.
    */
 
   sched_lock();
@@ -129,16 +129,20 @@ int nsh_builtin(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
   ret = exec_builtin(cmd, (FAR const char **)argv, redirfile, oflags);
   if (ret >= 0)
     {
-      /* The application was successfully started (but still blocked because
-       * the scheduler is locked).  If the application was not backgrounded,
-       * then we need to wait here for the application to exit.  These really
-       * only works works with the following options:
+      /* The application was successfully started with pre-emption disabled.
+       * In the simplest cases, the application will not have run because the
+       * the scheduler is locked.  But in the case where I/O was redirected, a 
+       * proxy task ran and broke our lock.  As result, the application may
+       * have aso ran if its priority was higher than than the priority of
+       * this thread.
+       *
+       * If the application did not run to completion and if the application
+       * was not backgrounded, then we need to wait here for the application
+       * to exit.  This only works works with the following options:
        *
        * - CONFIG_NSH_DISABLEBG - Do not run commands in background
        * - CONFIG_SCHED_WAITPID - Required to run external commands in
        *     foreground
-       *
-       * These concepts do not apply cleanly to the external applications.
        */
 
 #ifdef CONFIG_SCHED_WAITPID
@@ -154,15 +158,46 @@ int nsh_builtin(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
         {
           int rc = 0;
 
-          /* Wait for the application to exit.  Since we have locked the
-           * scheduler above, we know that the application has not yet
-           * started and there is no possibility that it has already exited.
-           * The scheduler will be unlocked while waitpid is waiting and the
-           * application will be able to run.
+          /* Wait for the application to exit.  We did lock the scheduler
+           * above, but that does not guarantee that the application did not
+           * already run to completion in the case where I/O was redirected.
+           * Here the scheduler will be unlocked while waitpid is waiting
+           * and if the application has not yet run, it will now be able to
+           * do so.
+           *
+           * Also, if CONFIG_SCHED_HAVE_PARENT is defined waitpid() might fail
+           * even if task is still active:  If the I/O was re-directed by a 
+           * proxy task, then the ask is a child of the proxy, and not this
+           * task.  waitpid() fails with ECHILD in either case.
            */
 
           ret = waitpid(ret, &rc, 0);
-          if (ret >= 0)
+          if (ret < 0)
+            {
+              /* If the child thread does not exist, waitpid() will return
+               * the error ECHLD.  Since we know that the task was successfully
+               * started, this must be one of the cases described above; we
+               * have to assume that the task already exit'ed.  In this case,
+               * we have no idea if the application ran successfully or not
+               * (because NuttX does not retain exit status of child tasks).
+               * Let's assume that is did run successfully.
+               */
+
+              int errcode = errno;
+              if (errcode == ECHILD)
+                {
+                  ret = OK;
+                }
+              else
+                {
+                  nsh_output(vtbl, g_fmtcmdfailed, cmd, "waitpid",
+                             NSH_ERRNO_OF(errcode));
+                }
+            }
+
+          /* Waitpid completed the wait successfully */
+
+          else
             {
               /* We can't return the exact status (nsh has nowhere to put it)
                * so just pass back zero/nonzero in a fashion that doesn't look 
diff --git a/apps/nshlib/nsh_fileapps.c b/apps/nshlib/nsh_fileapps.c
new file mode 100644
index 000000000..9ff230f1a
--- /dev/null
+++ b/apps/nshlib/nsh_fileapps.c
@@ -0,0 +1,314 @@
+/****************************************************************************
+ * apps/nshlib/nsh_fileapps.c
+ *
+ *   Copyright (C) 2013 Gregory Nutt.  All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifdef CONFIG_SCHED_WAITPID
+#  include <sys/wait.h>
+#endif
+
+#include <stdbool.h>
+#include <spawn.h>
+#include <errno.h>
+#include <string.h>
+
+#include "nsh.h"
+#include "nsh_console.h"
+
+#ifdef CONFIG_NSH_FILE_APPS
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nsh_fileapp
+ *
+ * Description:
+ *    Attempt to execute the application task whose name is 'cmd'
+ *
+ * Returned Value:
+ *   <0          If exec_builtin() fails, then the negated errno value
+ *               is returned.
+ *   -1 (ERROR)  if the application task corresponding to 'cmd' could not
+ *               be started (possibly because it doesn not exist).
+ *    0 (OK)     if the application task corresponding to 'cmd' was
+ *               and successfully started.  If CONFIG_SCHED_WAITPID is
+ *               defined, this return value also indicates that the
+ *               application returned successful status (EXIT_SUCCESS)
+ *    1          If CONFIG_SCHED_WAITPID is defined, then this return value
+ *               indicates that the application task was spawned successfully
+ *               but returned failure exit status.
+ *
+ ****************************************************************************/
+
+int nsh_fileapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
+                FAR char **argv, FAR const char *redirfile, int oflags)
+{
+  posix_spawn_file_actions_t file_actions;
+  posix_spawnattr_t attr;
+  pid_t pid;
+  int ret;
+
+  /* Initialize the attributes file actions structure */
+
+  ret = posix_spawn_file_actions_init(&file_actions);
+  if (ret != 0)
+    {
+      /* posix_spawn_file_actions_init returns a positive errno value on
+       * failure.
+       */
+
+      nsh_output(vtbl, g_fmtcmdfailed, cmd, "posix_spawn_file_actions_init",
+                NSH_ERRNO_OF(ret));
+      goto errout;
+    }
+
+  ret = posix_spawnattr_init(&attr);
+  if (ret != 0)
+    {
+      /* posix_spawnattr_init returns a positive errno value on failure. */
+
+      nsh_output(vtbl, g_fmtcmdfailed, cmd, "posix_spawnattr_init",
+                 NSH_ERRNO);
+      goto errout_with_actions;
+    }
+
+  /* Handle re-direction of output */
+
+  if (redirfile)
+    {
+      ret = posix_spawn_file_actions_addopen(&file_actions, 1, redirfile,
+                                             oflags, 0644);
+      if (ret != 0)
+        {
+           /* posix_spawn_file_actions_addopen returns a positive errno
+            * value on failure.
+            */
+
+          nsh_output(vtbl, g_fmtcmdfailed, cmd,
+                     "posix_spawn_file_actions_addopen",
+                     NSH_ERRNO);
+          goto errout_with_attrs;
+        }
+    }
+
+  /* Lock the scheduler in an attempt to prevent the application from
+   * running until waitpid() has been called.
+   */
+
+  sched_lock();
+
+  /* Execute the program. posix_spawnp returns a positive errno value on
+   * failure.
+   */
+
+  ret = posix_spawnp(&pid, cmd, &file_actions, &attr, &argv[1], NULL);
+  if (ret == OK)
+    {
+      /* The application was successfully started with pre-emption disabled.
+       * In the simplest cases, the application will not have run because the
+       * the scheduler is locked.  But in the case where I/O was redirected, a 
+       * proxy task ran and broke our lock.  As result, the application may
+       * have aso ran if its priority was higher than than the priority of
+       * this thread.
+       *
+       * If the application did not run to completion and if the application
+       * was not backgrounded, then we need to wait here for the application
+       * to exit.  This only works works with the following options:
+       *
+       * - CONFIG_NSH_DISABLEBG - Do not run commands in background
+       * - CONFIG_SCHED_WAITPID - Required to run external commands in
+       *     foreground
+       */
+
+#ifdef CONFIG_SCHED_WAITPID
+
+      /* CONFIG_SCHED_WAITPID is selected, so we may run the command in
+       * foreground unless we were specifically requested to run the command
+       * in background (and running commands in background is enabled).
+       */
+
+#  ifndef CONFIG_NSH_DISABLEBG
+      if (vtbl->np.np_bg == false)
+#  endif /* CONFIG_NSH_DISABLEBG */
+        {
+          int rc = 0;
+
+          /* Wait for the application to exit.  We did lock the scheduler
+           * above, but that does not guarantee that the application did not
+           * already run to completion in the case where I/O was redirected.
+           * Here the scheduler will be unlocked while waitpid is waiting
+           * and if the application has not yet run, it will now be able to
+           * do so.
+           */
+
+          ret = waitpid(pid, &rc, 0);
+          if (ret < 0)
+            {
+              /* If the child thread does not exist, waitpid() will return
+               * the error ECHLD.  Since we know that the task was successfully
+               * started, this must be one of the cases described above; we
+               * have to assume that the task already exit'ed.  In this case,
+               * we have no idea if the application ran successfully or not
+               * (because NuttX does not retain exit status of child tasks).
+               * Let's assume that is did run successfully.
+               */
+
+              int errcode = errno;
+              if (errcode == ECHILD)
+                {
+                  ret = OK;
+                }
+              else
+                {
+                  nsh_output(vtbl, g_fmtcmdfailed, cmd, "waitpid",
+                            NSH_ERRNO_OF(errcode));
+                }
+            }
+
+          /* Waitpid completed the wait successfully */
+
+          else
+            {
+              /* We can't return the exact status (nsh has nowhere to put it)
+               * so just pass back zero/nonzero in a fashion that doesn't look 
+               * like an error.
+               */
+
+              ret = (rc == 0) ? OK : 1;
+
+             /* TODO:  Set the environment variable '?' to a string corresponding
+              * to WEXITSTATUS(rc) so that $? will expand to the exit status of
+              * the most recently executed task.
+              */
+            }
+        }
+#  ifndef CONFIG_NSH_DISABLEBG
+      else
+#  endif /* CONFIG_NSH_DISABLEBG */
+#endif /* CONFIG_SCHED_WAITPID */
+
+      /* We get here if either:
+       *
+       * - CONFIG_SCHED_WAITPID is not selected meaning that all commands
+       *   have to be run in background, or
+       * - CONFIG_SCHED_WAITPID and CONFIG_NSH_DISABLEBG are both selected, but the
+       *   user requested to run the command in background.
+       *
+       * NOTE that the case of a) CONFIG_SCHED_WAITPID is not selected and
+       * b) CONFIG_NSH_DISABLEBG selected cannot be supported.  In that event, all
+       * commands will have to run in background.  The waitpid() API must be
+       * available to support running the command in foreground.
+       */
+
+#if !defined(CONFIG_SCHED_WAITPID) || !defined(CONFIG_NSH_DISABLEBG)
+        {
+          struct sched_param param;
+          sched_getparam(ret, &param);
+          nsh_output(vtbl, "%s [%d:%d]\n", cmd, ret, param.sched_priority);
+
+          /* Backgrounded commands always 'succeed' as long as we can start
+           * them.
+           */
+
+          ret = OK;
+        }
+#endif /* !CONFIG_SCHED_WAITPID || !CONFIG_NSH_DISABLEBG */
+    }
+
+  sched_unlock();
+
+  /* Free attibutes and file actions.  Ignoring return values in the case
+   * of an error.
+   */
+
+errout_with_actions:
+  (void)posix_spawn_file_actions_destroy(&file_actions);
+
+errout_with_attrs:
+  (void)posix_spawnattr_destroy(&attr);
+
+errout:
+  /* Most posix_spawn interfaces return a positive errno value on failure
+   * and do not set the errno variable.
+   */
+
+  if (ret > 0)
+    {
+      /* Set the errno value and return -1 */
+
+      set_errno(ret);
+      ret = ERROR;
+    }
+  else if (ret < 0)
+    {
+      /* Return -1 on failure.  errno should have been set. */
+
+      ret = ERROR;
+    }
+
+  return ret;
+}
+
+#endif /* CONFIG_NSH_FILE_APPS */
diff --git a/apps/nshlib/nsh_netcmds.c b/apps/nshlib/nsh_netcmds.c
index 506950e14..473045c40 100644
--- a/apps/nshlib/nsh_netcmds.c
+++ b/apps/nshlib/nsh_netcmds.c
@@ -53,12 +53,13 @@
 #include <errno.h>
 #include <debug.h>
 
+#include <net/ethernet.h>
+#include <netinet/ether.h>
+
 #include <nuttx/net/net.h>
 #include <nuttx/clock.h>
-#include <net/ethernet.h>
 #include <nuttx/net/uip/uip.h>
 #include <nuttx/net/uip/uip-arch.h>
-#include <netinet/ether.h>
 
 #ifdef CONFIG_NET_STATISTICS
 #  include <nuttx/net/uip/uip.h>
diff --git a/apps/nshlib/nsh_parse.c b/apps/nshlib/nsh_parse.c
index ef4125a63..f679d9b32 100644
--- a/apps/nshlib/nsh_parse.c
+++ b/apps/nshlib/nsh_parse.c
@@ -61,6 +61,7 @@
 #ifdef CONFIG_NSH_BUILTIN_APPS
 #  include <nuttx/binfmt/builtin.h>
 #endif
+
 #include <apps/nsh.h>
 
 #include "nsh.h"
@@ -1398,6 +1399,40 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
       nsh_output(vtbl, g_fmttoomanyargs, cmd);
     }
 
+  /* Does this command correspond to an application filename?
+   * nsh_fileapp() returns:
+   *
+   *   -1 (ERROR)  if the application task corresponding to 'argv[0]' could not
+   *               be started (possibly because it doesn not exist).
+   *    0 (OK)     if the application task corresponding to 'argv[0]' was
+   *               and successfully started.  If CONFIG_SCHED_WAITPID is
+   *               defined, this return value also indicates that the
+   *               application returned successful status (EXIT_SUCCESS)
+   *    1          If CONFIG_SCHED_WAITPID is defined, then this return value
+   *               indicates that the application task was spawned successfully
+   *               but returned failure exit status.
+   *
+   * Note the priority if not effected by nice-ness.
+   */
+
+#ifdef CONFIG_NSH_FILE_APPS
+  ret = nsh_fileapp(vtbl, argv[0], argv, redirfile, oflags);
+  if (ret >= 0)
+    {
+      /* nsh_fileapp() returned 0 or 1.  This means that the builtin
+       * command was successfully started (although it may not have ran
+       * successfully).  So certainly it is not an NSH command.
+       */
+
+      return nsh_saveresult(vtbl, ret != OK);
+    }
+
+  /* No, not a built in command (or, at least, we were unable to start a
+   * builtin command of that name).  Treat it like an NSH command.
+   */
+
+#endif
+
   /* Does this command correspond to a builtin command?
    * nsh_builtin() returns:
    *
@@ -1414,7 +1449,7 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
    * Note the priority if not effected by nice-ness.
    */
 
-#ifdef CONFIG_NSH_BUILTIN_APPS
+#if defined(CONFIG_NSH_BUILTIN_APPS) && (!defined(CONFIG_NSH_FILE_APPS) || !defined(CONFIG_FS_BINFS))
   ret = nsh_builtin(vtbl, argv[0], argv, redirfile, oflags);
   if (ret >= 0)
     {