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

33 files changed, 1221 insertions, 1070 deletions

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);