Merge branch 'fmuv2_bringup' into fmuv2_bringup_io2

5 files changed, 67 insertions, 5 deletions

diff --git a/nuttx/.gitignore b/nuttx/.gitignore
new file mode 100644
index 000000000..0d763ab2a
--- /dev/null
+++ b/nuttx/.gitignore
@@ -0,0 +1,28 @@
+*.a
+.config
+.config-e
+.configX-e
+.depend
+.version
+arch/arm/include/board
+arch/arm/include/chip
+arch/arm/src/board
+arch/arm/src/chip
+include/apps
+include/arch
+include/math.h
+include/nuttx/config.h
+include/nuttx/version.h
+Make.defs
+Make.dep
+mkdeps
+nuttx
+nuttx-export.zip
+nuttx.bin
+nuttx.hex
+setenv.sh
+System.map
+tools/mkconfig
+tools/mkconfig.exe
+tools/mkversion
+tools/mkversion.exe
diff --git a/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c b/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c
index 2c9ae4cac..0fcd463e0 100644
--- a/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c
+++ b/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c
@@ -1512,7 +1512,6 @@ static inline void stm32_ep0out_receive(FAR struct stm32_ep_s *privep, int bcnt)
 
   DEBUGASSERT(privep && privep->ep.priv);
   priv = (FAR struct stm32_usbdev_s *)privep->ep.priv;
-  DEBUGASSERT(priv->ep0state == EP0STATE_SETUP_OUT);
 
   ullvdbg("EP0: bcnt=%d\n", bcnt);
   usbtrace(TRACE_READ(EP0), bcnt);
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index cf30b835f..02e224302 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -647,10 +647,14 @@ CONFIG_DISABLE_POLL=n
 # CONFIG_LIBC_FIXEDPRECISION - Sets 7 digits after dot for printing:
 #   5.1234567
 # CONFIG_HAVE_LONG_LONG - Enabled printf("%llu)
+# CONFIG_LIBC_STRERR - allow printing of error text
+# CONFIG_LIBC_STRERR_SHORT - allow printing of short error text
 #
 CONFIG_NOPRINTF_FIELDWIDTH=n
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_HAVE_LONG_LONG=y
+CONFIG_LIBC_STRERROR=n
+CONFIG_LIBC_STRERROR_SHORT=n
 
 #
 # Allow for architecture optimized implementations
diff --git a/nuttx/libc/stdio/lib_libdtoa.c b/nuttx/libc/stdio/lib_libdtoa.c
index 29f61fd76..395a55b61 100644
--- a/nuttx/libc/stdio/lib_libdtoa.c
+++ b/nuttx/libc/stdio/lib_libdtoa.c
@@ -43,6 +43,7 @@
 /****************************************************************************
  * Included Files
  ****************************************************************************/
+#include <math.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -104,6 +105,13 @@ static void zeroes(FAR struct lib_outstream_s *obj, int nzeroes)
  * Private Functions
  ****************************************************************************/
 
+static void lib_dtoa_string(FAR struct lib_outstream_s *obj, const char *str)
+{
+	while (*str) {
+		obj->put(obj, *str++);
+	}
+}
+
 /****************************************************************************
  * Name: lib_dtoa
  *
@@ -137,9 +145,23 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
   int  nchars;          /* Number of characters to print */
   int  dsgn;            /* Unused sign indicator */
   int  i;
+  bool done_decimal_point = false;
+
+  /* special handling for NaN and Infinity */
+  if (isnan(value)) {
+	  lib_dtoa_string(obj, "NaN");
+	  return;
+  }
+  if (isinf(value)) {
+	  if (value < 0.0d) {
+		  obj->put(obj, '-');
+	  }
+	  lib_dtoa_string(obj, "Infinity");
+	  return;	  
+  }
 
   /* Non-zero... positive or negative */
-
+  
   if (value < 0)
     {
       value = -value;
@@ -178,6 +200,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
       if (prec > 0 || IS_ALTFORM(flags))
         {
           obj->put(obj, '.');
+	  done_decimal_point = true;
 
           /* Always print at least one digit to the right of the decimal point. */
 
@@ -203,6 +226,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
           /* Print the decimal point */
 
           obj->put(obj, '.');
+	  done_decimal_point = true;
 
           /* Print any leading zeros to the right of the decimal point */
 
@@ -249,6 +273,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
               /* Print the decimal point */
 
               obj->put(obj, '.');
+	      done_decimal_point = true;
 
               /* Always print at least one digit to the right of the decimal
                * point.
@@ -285,8 +310,9 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
     }
 
   /* Finally, print any trailing zeroes */
-
-  zeroes(obj, prec);
+  if (done_decimal_point) {
+      zeroes(obj, prec);
+  }
 
   /* Is this memory supposed to be freed or not? */
 
diff --git a/nuttx/libc/stdio/lib_libvsprintf.c b/nuttx/libc/stdio/lib_libvsprintf.c
index 9a391610d..2cc7950f7 100644
--- a/nuttx/libc/stdio/lib_libvsprintf.c
+++ b/nuttx/libc/stdio/lib_libvsprintf.c
@@ -1215,7 +1215,7 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
       fmt   = FMT_RJUST;
       width = 0;
 #ifdef CONFIG_LIBC_FLOATINGPOINT
-      trunc = 0;
+      trunc = 6;
 #endif
 #endif
 
@@ -1245,6 +1245,11 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
             {
 #ifndef CONFIG_NOPRINTF_FIELDWIDTH
               fmt = FMT_RJUST0;
+#ifdef CONFIG_LIBC_FLOATINGPOINT
+	      if (IS_HASDOT(flags)) {
+		  trunc = 0;
+	      }
+#endif
 #endif
             }
 #if 0