LPC17xx now supports FPU needed by LPC1788; LPC17xx can not use Mike's common vectors

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@5623 42af7a65-404d-4744-a932-0658087f49c3

13 files changed, 427 insertions, 101 deletions

diff --git a/apps/nshlib/nsh_proccmds.c b/apps/nshlib/nsh_proccmds.c
index 3f206b592..29daec0cd 100644
--- a/apps/nshlib/nsh_proccmds.c
+++ b/apps/nshlib/nsh_proccmds.c
@@ -129,23 +129,42 @@ static void ps_task(FAR struct tcb_s *tcb, FAR void *arg)
 
   /* Show task name and arguments */
 
-  nsh_output(vtbl, "%s(", tcb->argv[0]);
+#if CONFIG_TASK_NAME_SIZE > 0
+  nsh_output(vtbl, "%s(", tcb->name);
+#else
+  nsh_output(vtbl, "<noname>(");
+#endif
 
-  /* Special case 1st argument (no comma) */
+  /* Is this a task or a pthread? */
 
-  if (tcb->argv[1])
+#ifndef CONFIG_DISABLE_PTHREAD
+  if ((tcb->flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_PTHREAD)
     {
-     nsh_output(vtbl, "%p", tcb->argv[1]);
+      FAR struct pthread_tcb_s *ptcb = (FAR struct pthread_tcb_s *)tcb;
+      nsh_output(vtbl, "%p", ptcb->arg);
     }
+  else
+#endif
+    {
+       FAR struct task_tcb_s *ttcb = (FAR struct task_tcb_s *)tcb;
+
+     /* Special case 1st argument (no comma) */
 
-  /* Then any additional arguments */
+      if (ttcb->argv[1])
+        {
+          nsh_output(vtbl, "%p", ttcb->argv[1]);
+        }
+
+      /* Then any additional arguments */
 
 #if CONFIG_MAX_TASK_ARGS > 2
-  for (i = 2; i <= CONFIG_MAX_TASK_ARGS && tcb->argv[i]; i++)
-    {
-      nsh_output(vtbl, ", %p", tcb->argv[i]);
-     }
+      for (i = 2; i <= CONFIG_MAX_TASK_ARGS && ttcb->argv[i]; i++)
+        {
+          nsh_output(vtbl, ", %p", ttcb->argv[i]);
+         }
 #endif
+    }
+
   nsh_output(vtbl, ")\n");
 }
 #endif
diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog
index 189a14dfa..5b8730f3c 100644
--- a/nuttx/ChangeLog
+++ b/nuttx/ChangeLog
@@ -4158,4 +4158,7 @@
 	* configs/stm32f3discovery:  This will (eventually) be support for
 	  the STM32F3Discovery board.
 	* STM32 F3 and STM32F3Discovery port is complete a ready for test.
+	* arch/arm/src/lpc17xx: Add support for the Cortex-M4 FPU and
+	  Mikes "common vector" logic.  The LPC1788 is going to need
+	  these things.
 
diff --git a/nuttx/arch/arm/Kconfig b/nuttx/arch/arm/Kconfig
index 5709f890f..12c8ba4d5 100644
--- a/nuttx/arch/arm/Kconfig
+++ b/nuttx/arch/arm/Kconfig
@@ -60,6 +60,7 @@ config ARCH_CHIP_LM
 config ARCH_CHIP_LPC17XX
 	bool "NXP LPC17xx"
 	select ARCH_CORTEXM3
+	select ARCH_HAVE_CMNVECTOR
 	select ARCH_HAVE_MPU
 	---help---
 		NXP LPC17xx architectures (ARM Cortex-M3)
diff --git a/nuttx/arch/arm/src/lpc17xx/Make.defs b/nuttx/arch/arm/src/lpc17xx/Make.defs
index ed05fff95..20e016de9 100644
--- a/nuttx/arch/arm/src/lpc17xx/Make.defs
+++ b/nuttx/arch/arm/src/lpc17xx/Make.defs
@@ -35,27 +35,37 @@
 
 # The start-up, "head", file
 
-HEAD_ASRC	= lpc17_vectors.S
+ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
+HEAD_ASRC = 
+else
+HEAD_ASRC = lpc17_vectors.S
+endif
 
 # Common ARM and Cortex-M3 files
 
-CMN_ASRCS	= up_saveusercontext.S up_fullcontextrestore.S up_switchcontext.S \
-			  vfork.S
-CMN_CSRCS	= up_assert.c up_blocktask.c up_copystate.c up_createstack.c \
-			  up_mdelay.c up_udelay.c up_exit.c up_initialize.c up_memfault.c \
-			  up_initialstate.c up_interruptcontext.c up_modifyreg8.c \
-			  up_modifyreg16.c up_modifyreg32.c up_releasepending.c \
-			  up_releasestack.c up_reprioritizertr.c up_schedulesigaction.c \
-			  up_sigdeliver.c up_unblocktask.c up_usestack.c up_doirq.c \
-			  up_hardfault.c up_svcall.c up_checkstack.c up_vfork.c
+CMN_ASRCS  = up_saveusercontext.S up_fullcontextrestore.S up_switchcontext.S
+CMN_ASRCS += vfork.S
+
+CMN_CSRCS  = up_assert.c up_blocktask.c up_copystate.c up_createstack.c
+CMN_CSRCS += up_mdelay.c up_udelay.c up_exit.c up_initialize.c up_memfault.c
+CMN_CSRCS += up_initialstate.c up_interruptcontext.c up_modifyreg8.c
+CMN_CSRCS += up_modifyreg16.c up_modifyreg32.c up_releasepending.c
+CMN_CSRCS += up_releasestack.c up_reprioritizertr.c up_schedulesigaction.c
+CMN_CSRCS += up_sigdeliver.c up_unblocktask.c up_usestack.c up_doirq.c
+CMN_CSRCS += up_hardfault.c up_svcall.c up_checkstack.c up_vfork.c
+
+ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
+CMN_ASRCS += up_exception.S
+CMN_CSRCS += up_vectors.c
+endif
 
 ifeq ($(CONFIG_ARCH_MEMCPY),y)
-CMN_ASRCS	+= up_memcpy.S
+CMN_ASRCS += up_memcpy.S
 endif
 
 ifeq ($(CONFIG_NET),y)
 ifneq ($(CONFIG_LPC17_ETHERNET),y)
-CMN_CSRCS	+= up_etherstub.c
+CMN_CSRCS += up_etherstub.c
 endif
 endif
 
@@ -63,49 +73,58 @@ ifeq ($(CONFIG_ELF),y)
 CMN_CSRCS += up_elf.c
 endif
 
+ifeq ($(CONFIG_ARCH_FPU),y)
+CMN_ASRCS += up_fpu.S
+endif
+
 # Required LPC17xx files
 
-CHIP_ASRCS	=
-CHIP_CSRCS	= lpc17_allocateheap.c lpc17_clockconfig.c lpc17_clrpend.c \
-			  lpc17_gpio.c lpc17_i2c.c lpc17_idle.c lpc17_irq.c lpc17_lowputc.c \
-			  lpc17_serial.c lpc17_spi.c lpc17_ssp.c lpc17_start.c lpc17_timerisr.c
+CHIP_ASRCS  =
+
+CHIP_CSRCS  = lpc17_allocateheap.c lpc17_clockconfig.c lpc17_clrpend.c
+CHIP_CSRCS += lpc17_gpio.c lpc17_i2c.c lpc17_idle.c lpc17_irq.c lpc17_lowputc.c
+CHIP_CSRCS += lpc17_serial.c lpc17_spi.c lpc17_ssp.c lpc17_start.c lpc17_timerisr.c
 
 # Configuration-dependent LPC17xx files
 
+ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
+CHIP_ASRCS += lpc17_vectors.S
+endif
+
 ifeq ($(CONFIG_GPIO_IRQ),y)
-CHIP_CSRCS	+= lpc17_gpioint.c
+CHIP_CSRCS += lpc17_gpioint.c
 endif
 
 ifeq ($(CONFIG_DEBUG_GPIO),y)
-CHIP_CSRCS	+= lpc17_gpiodbg.c
+CHIP_CSRCS += lpc17_gpiodbg.c
 endif
 
 ifeq ($(CONFIG_USBDEV),y)
-CHIP_CSRCS	+= lpc17_usbdev.c
+CHIP_CSRCS += lpc17_usbdev.c
 endif
 
 ifeq ($(CONFIG_USBHOST),y)
-CHIP_CSRCS	+= lpc17_usbhost.c
+CHIP_CSRCS += lpc17_usbhost.c
 endif
 
 ifeq ($(CONFIG_LPC17_GPDMA),y)
-CHIP_CSRCS	+= lpc17_gpdma.c
+CHIP_CSRCS += lpc17_gpdma.c
 endif
 
 ifeq ($(CONFIG_NET),y)
 ifeq ($(CONFIG_LPC17_ETHERNET),y)
-CHIP_CSRCS	+= lpc17_ethernet.c
+CHIP_CSRCS += lpc17_ethernet.c
 endif
 endif
 
 ifeq ($(CONFIG_CAN),y)
-CHIP_CSRCS	+= lpc17_can.c
+CHIP_CSRCS += lpc17_can.c
 endif
 
 ifeq ($(CONFIG_LPC17_ADC),y)
-CHIP_CSRCS	+= lpc17_adc.c
+CHIP_CSRCS += lpc17_adc.c
 endif
 
 ifeq ($(CONFIG_LPC17_DAC),y)
-CHIP_CSRCS	+= lpc17_dac.c
+CHIP_CSRCS += lpc17_dac.c
 endif
diff --git a/nuttx/arch/arm/src/lpc17xx/chip.h b/nuttx/arch/arm/src/lpc17xx/chip.h
index 7bc1ab345..1f87c7b44 100644
--- a/nuttx/arch/arm/src/lpc17xx/chip.h
+++ b/nuttx/arch/arm/src/lpc17xx/chip.h
@@ -42,11 +42,28 @@
 
 #include <nuttx/config.h>
 
-/* Include the memory map and the chip definitions file.  Other chip hardware files
- * should then include this file for the proper setup.
- */
+/* Include the chip capabilities file */
 
 #include <arch/lpc17xx/chip.h>
+
+/* If the common ARMv7-M vector handling logic is used, then include the
+ * required vector definitions as well.
+ */
+
+#ifdef CONFIG_ARMV7M_CMNVECTOR
+#  if defined(LPC176x)
+#    include "chip/lpc176x_vectors.h"
+#  elif defined(LPC178x)
+#    include "chip/lpc178x_vectors.h"
+#  else
+#    error "No vector file for this LPC17xx family"
+#  endif
+#endif
+
+/* Include the memory map file.  Other chip hardware files should then include
+ * this file for the proper setup.
+ */
+
 #include "chip/lpc17_memorymap.h"
 
 /************************************************************************************
diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_start.c b/nuttx/arch/arm/src/lpc17xx/lpc17_start.c
index 45e5b4551..e13abe15c 100644
--- a/nuttx/arch/arm/src/lpc17xx/lpc17_start.c
+++ b/nuttx/arch/arm/src/lpc17xx/lpc17_start.c
@@ -53,6 +53,10 @@
 #include "lpc17_clockconfig.h"
 #include "lpc17_lowputc.h"
 
+#ifdef CONFIG_ARCH_FPU
+#  include "nvic.h"
+#endif
+
 /****************************************************************************
  * Private Definitions
  ****************************************************************************/
@@ -84,6 +88,96 @@
 #endif
 
 /****************************************************************************
+ * Name: lpc17_fpuconfig
+ *
+ * Description:
+ *   Configure the FPU.  Relative bit settings:
+ *
+ *     CPACR:  Enables access to CP10 and CP11
+ *     CONTROL.FPCA: Determines whether the FP extension is active in the
+ *       current context:
+ *     FPCCR.ASPEN:  Enables automatic FP state preservation, then the
+ *       processor sets this bit to 1 on successful completion of any FP
+ *       instruction.
+ *     FPCCR.LSPEN:  Enables lazy context save of FP state. When this is
+ *       done, the processor reserves space on the stack for the FP state,
+ *       but does not save that state information to the stack.
+ *
+ *  Software must not change the value of the ASPEN bit or LSPEN bit while either:
+ *   - the CPACR permits access to CP10 and CP11, that give access to the FP
+ *     extension, or
+ *   - the CONTROL.FPCA bit is set to 1
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_FPU
+#ifdef CONFIG_ARMV7M_CMNVECTOR
+
+static inline void lpc17_fpuconfig(void)
+{
+  uint32_t regval;
+
+  /* Set CONTROL.FPCA so that we always get the extended context frame
+   * with the volatile FP registers stacked above the basic context.
+   */
+
+  regval = getcontrol(); 
+  regval |= (1 << 2);
+  setcontrol(regval);
+
+  /* Ensure that FPCCR.LSPEN is disabled, so that we don't have to contend
+   * with the lazy FP context save behaviour.  Clear FPCCR.ASPEN since we
+   * are going to turn on CONTROL.FPCA for all contexts.
+   */
+
+  regval = getreg32(NVIC_FPCCR);
+  regval &= ~((1 << 31) | (1 << 30));
+  putreg32(regval, NVIC_FPCCR);
+
+  /* Enable full access to CP10 and CP11 */
+
+  regval = getreg32(NVIC_CPACR);
+  regval |= ((3 << (2*10)) | (3 << (2*11)));
+  putreg32(regval, NVIC_CPACR);
+}
+
+#else
+
+static inline void lpc17_fpuconfig(void)
+{
+  uint32_t regval;
+
+  /* Clear CONTROL.FPCA so that we do not get the extended context frame
+   * with the volatile FP registers stacked in the saved context.
+   */
+
+  regval = getcontrol(); 
+  regval &= ~(1 << 2);
+  setcontrol(regval);
+
+  /* Ensure that FPCCR.LSPEN is disabled, so that we don't have to contend
+   * with the lazy FP context save behaviour.  Clear FPCCR.ASPEN since we
+   * are going to keep CONTROL.FPCA off for all contexts.
+   */
+
+  regval = getreg32(NVIC_FPCCR);
+  regval &= ~((1 << 31) | (1 << 30));
+  putreg32(regval, NVIC_FPCCR);
+
+  /* Enable full access to CP10 and CP11 */
+
+  regval = getreg32(NVIC_CPACR);
+  regval |= ((3 << (2*10)) | (3 << (2*11)));
+  putreg32(regval, NVIC_CPACR);
+}
+
+#endif
+
+#else
+#  define lpc17_fpuconfig()
+#endif
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
@@ -103,6 +197,7 @@ void __start(void)
   /* Configure the uart so that we can get debug output as soon as possible */
 
   lpc17_clockconfig();
+  lpc17_fpuconfig();
   lpc17_lowsetup();
   showprogress('A');
 
diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S b/nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S
index e2cf91b1c..25d2e7f19 100644
--- a/nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S
+++ b/nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S
@@ -39,12 +39,14 @@
  ************************************************************************************************/
 
 #include <nuttx/config.h>
+
 #include <arch/irq.h>
 
+#include "chip.h"
+
 /************************************************************************************************
  * Preprocessor Definitions
  ************************************************************************************************/
-
 /* Memory Map:
  *
  * 0x0000:0000 - Beginning of FLASH. Address of vectors
@@ -72,12 +74,16 @@
  * Global Symbols
  ************************************************************************************************/
 
-	.globl		__start
-
 	.syntax		unified
 	.thumb
 	.file		"lpc17_vectors.S"
 
+/* Check if common ARMv7 interrupt vectoring is used (see arch/arm/src/armv7-m/up_vectors.S) */
+
+#ifndef CONFIG_ARMV7M_CMNVECTOR
+
+	.globl		__start
+
 /************************************************************************************************
  * Macros
  ************************************************************************************************/
@@ -208,13 +214,18 @@ lpc17_common:
 	 */
 
 	adds	r2, r14, #3				/* If R14=0xfffffffd, then r2 == 0 */
-	ite		ne						/* Next two instructions are condition */
+	ite		ne						/* Next two instructions are conditional */
 	mrsne	r1, msp					/* R1=The main stack pointer */
 	mrseq	r1, psp					/* R1=The process stack pointer */
 #else
 	mrs		r1, msp					/* R1=The main stack pointer */
 #endif
 
+	/* r1 holds the value of the stack pointer AFTER the excption handling logic
+	 * pushed the various registers onto the stack.  Get r2 = the value of the
+	 * stack pointer BEFORE the interrupt modified it.
+	 */
+
 	mov		r2, r1					/* R2=Copy of the main/process stack pointer */
 	add		r2, #HW_XCPT_SIZE		/* R2=MSP/PSP before the interrupt was taken */
 #ifdef CONFIG_ARMV7M_USEBASEPRI
@@ -222,7 +233,23 @@ lpc17_common:
 #else
 	mrs		r3, primask				/* R3=Current PRIMASK setting */
 #endif
-#ifdef CONFIG_NUTTX_KERNEL 
+
+#ifdef CONFIG_ARCH_FPU
+	/* Skip over the block of memory reserved for floating pointer register save.
+	 * Lazy FPU register saving is used.  FPU registers will be saved in this
+	 * block only if a context switch occurs (this means, of course, that the FPU
+	 * cannot be used in interrupt processing).
+	 */
+
+	sub		r1, #(4*SW_FPU_REGS)
+#endif
+
+	/* Save the the remaining registers on the stack after the registers pushed
+	 * by the exception handling logic. r2=SP and r3=primask or basepri, r4-r11,
+	 * r14=register values.
+	 */
+
+#ifdef CONFIG_NUTTX_KERNEL
 	stmdb	r1!, {r2-r11,r14}		/* Save the remaining registers plus the SP value */
 #else
 	stmdb	r1!, {r2-r11}			/* Save the remaining registers plus the SP value */
@@ -258,6 +285,25 @@ lpc17_common:
 	cmp		r0, r1					/* Context switch? */
 	beq		1f						/* Branch if no context switch */
 
+	/* We are returning with a pending context switch.
+	 *
+	 * If the FPU is enabled, then we will need to restore FPU registers.
+	 * This is not done in normal interrupt save/restore because the cost
+	 * is prohibitive.  This is only done when switching contexts.  A
+	 * consequence of this is that floating point operations may not be
+	 * performed in interrupt handling logic.
+	 *
+	 * Here:
+	 *   r0 = Address of the register save area
+	
+	 * NOTE: It is a requirement that up_restorefpu() preserve the value of
+	 * r0!
+	 */
+
+#ifdef CONFIG_ARCH_FPU
+	bl		up_restorefpu			/* Restore the FPU registers */
+#endif
+
 	/* We are returning with a pending context switch.  This case is different
 	 * because in this case, the register save structure does not lie on the
 	 * stack but, rather, are within a TCB structure.  We'll have to copy some
@@ -268,7 +314,7 @@ lpc17_common:
 	ldmia	r1, {r4-r11}			/* Fetch eight registers in HW save area */
 	ldr		r1, [r0, #(4*REG_SP)]	/* R1=Value of SP before interrupt */
 	stmdb	r1!, {r4-r11}			/* Store eight registers in HW save area */
-#ifdef CONFIG_NUTTX_KERNEL 
+#ifdef CONFIG_NUTTX_KERNEL
 	ldmia	r0, {r2-r11,r14}		/* Recover R4-R11, r14 + 2 temp values */
 #else
 	ldmia	r0, {r2-r11}			/* Recover R4-R11 + 2 temp values */
@@ -277,13 +323,33 @@ lpc17_common:
 
 	/* We are returning with no context switch.  We simply need to "unwind"
 	 * the same stack frame that we created
+	 *
+	 * Here:
+	 *   r1 = Address of the return stack (same as r0)
 	 */
 1:
-#ifdef CONFIG_NUTTX_KERNEL 
+#ifdef CONFIG_NUTTX_KERNEL
 	ldmia	r1!, {r2-r11,r14}		/* Recover R4-R11, r14 + 2 temp values */
 #else
 	ldmia	r1!, {r2-r11}			/* Recover R4-R11 + 2 temp values */
 #endif
+
+#ifdef CONFIG_ARCH_FPU
+	/* Skip over the block of memory reserved for floating pointer register
+	 * save. Then R1 is the address of the HW save area
+	 */
+
+	add		r1, #(4*SW_FPU_REGS)
+#endif
+
+	/* Set up to return from the exception
+	 *
+	 * Here:
+	 *   r1 = Address on the target thread's stack position at the start of
+	 *        the registers saved by hardware
+	 *   r3 = primask or basepri
+	 *   r4-r11 = restored register values
+	 */
 2:
 #ifdef CONFIG_NUTTX_KERNEL
 	/* The EXC_RETURN value will be 0xfffffff9 (privileged thread) or 0xfffffff1
@@ -338,6 +404,7 @@ up_interruptstack:
 g_intstackbase:
 	.size	up_interruptstack, .-up_interruptstack
 #endif
+#endif /* CONFIG_ARMV7M_CMNVECTOR */
 
 /************************************************************************************************
  * .rodata
diff --git a/nuttx/arch/arm/src/stm32/Make.defs b/nuttx/arch/arm/src/stm32/Make.defs
index fd19e3bf6..aea8719b1 100644
--- a/nuttx/arch/arm/src/stm32/Make.defs
+++ b/nuttx/arch/arm/src/stm32/Make.defs
@@ -34,33 +34,34 @@
 ############################################################################
 
 ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
-HEAD_ASRC	= 
+HEAD_ASRC = 
 else
-HEAD_ASRC	= stm32_vectors.S
+HEAD_ASRC = stm32_vectors.S
 endif
 
-CMN_ASRCS	= up_saveusercontext.S up_fullcontextrestore.S up_switchcontext.S \
-			  vfork.S
-CMN_CSRCS	= up_assert.c up_blocktask.c up_copystate.c \
-			  up_createstack.c up_mdelay.c up_udelay.c up_exit.c \
-			  up_initialize.c up_initialstate.c up_interruptcontext.c \
-			  up_memfault.c up_modifyreg8.c up_modifyreg16.c up_modifyreg32.c \
-			  up_releasepending.c up_releasestack.c up_reprioritizertr.c \
-			  up_schedulesigaction.c up_sigdeliver.c up_systemreset.c \
-			  up_unblocktask.c up_usestack.c up_doirq.c up_hardfault.c \
-			  up_svcall.c up_vfork.c
+CMN_ASRCS  = up_saveusercontext.S up_fullcontextrestore.S up_switchcontext.S
+CMN_ASRCS += vfork.S
+
+CMN_CSRCS  = up_assert.c up_blocktask.c up_copystate.c
+CMN_CSRCS += up_createstack.c up_mdelay.c up_udelay.c up_exit.c
+CMN_CSRCS += up_initialize.c up_initialstate.c up_interruptcontext.c
+CMN_CSRCS += up_memfault.c up_modifyreg8.c up_modifyreg16.c up_modifyreg32.c
+CMN_CSRCS += up_releasepending.c up_releasestack.c up_reprioritizertr.c
+CMN_CSRCS += up_schedulesigaction.c up_sigdeliver.c up_systemreset.c
+CMN_CSRCS += up_unblocktask.c up_usestack.c up_doirq.c up_hardfault.c
+CMN_CSRCS += up_svcall.c up_vfork.c
 
 ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
-CMN_ASRCS	+= up_exception.S
-CMN_CSRCS	+= up_vectors.c
+CMN_ASRCS += up_exception.S
+CMN_CSRCS += up_vectors.c
 endif
 
 ifeq ($(CONFIG_ARCH_MEMCPY),y)
-CMN_ASRCS	+= up_memcpy.S
+CMN_ASRCS += up_memcpy.S
 endif
 
 ifeq ($(CONFIG_DEBUG_STACK),y)
-CMN_CSRCS	+= up_checkstack.c
+CMN_CSRCS += up_checkstack.c
 endif
 
 ifeq ($(CONFIG_ELF),y)
@@ -68,91 +69,92 @@ CMN_CSRCS += up_elf.c
 endif
 
 ifeq ($(CONFIG_ARCH_FPU),y)
-CMN_ASRCS	+= up_fpu.S
+CMN_ASRCS += up_fpu.S
 endif
 
-CHIP_ASRCS	= 
-CHIP_CSRCS	= stm32_allocateheap.c stm32_start.c stm32_rcc.c stm32_lse.c \
-			  stm32_lsi.c stm32_gpio.c stm32_exti_gpio.c stm32_flash.c stm32_irq.c \
-			  stm32_timerisr.c stm32_dma.c stm32_lowputc.c stm32_serial.c \
-			  stm32_spi.c stm32_sdio.c stm32_tim.c stm32_i2c.c stm32_waste.c
+CHIP_ASRCS  = 
+
+CHIP_CSRCS  = stm32_allocateheap.c stm32_start.c stm32_rcc.c stm32_lse.c
+CHIP_CSRCS += stm32_lsi.c stm32_gpio.c stm32_exti_gpio.c stm32_flash.c stm32_irq.c
+CHIP_CSRCS += stm32_timerisr.c stm32_dma.c stm32_lowputc.c stm32_serial.c
+CHIP_CSRCS += stm32_spi.c stm32_sdio.c stm32_tim.c stm32_i2c.c stm32_waste.c
+
+ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
+CHIP_ASRCS += stm32_vectors.S
+endif
 
 ifeq ($(CONFIG_USBDEV),y)
 ifeq ($(CONFIG_STM32_USB),y)
-CMN_CSRCS	+= stm32_usbdev.c
+CHIP_CSRCS += stm32_usbdev.c
 endif
 ifeq ($(CONFIG_STM32_OTGFS),y)
-CMN_CSRCS	+= stm32_otgfsdev.c
+CHIP_CSRCS += stm32_otgfsdev.c
 endif
 endif
 
 ifeq ($(CONFIG_USBHOST),y)
 ifeq ($(CONFIG_STM32_OTGFS),y)
-CMN_CSRCS	+= stm32_otgfshost.c
-endif
+CHIP_CSRCS += stm32_otgfshost.c
 endif
-
-ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
-CHIP_ASRCS	+= stm32_vectors.S
 endif
 
 ifneq ($(CONFIG_IDLE_CUSTOM),y)
-CHIP_CSRCS	+= stm32_idle.c
+CHIP_CSRCS += stm32_idle.c
 endif
 
-CHIP_CSRCS	+= stm32_pmstop.c stm32_pmstandby.c stm32_pmsleep.c
+CHIP_CSRCS += stm32_pmstop.c stm32_pmstandby.c stm32_pmsleep.c
 
 ifneq ($(CONFIG_PM_CUSTOMINIT),y)
-CHIP_CSRCS	+= stm32_pminitialize.c
+CHIP_CSRCS += stm32_pminitialize.c
 endif
 
 ifeq ($(CONFIG_STM32_ETHMAC),y)
-CHIP_CSRCS	+= stm32_eth.c
+CHIP_CSRCS += stm32_eth.c
 endif
 
 ifeq ($(CONFIG_STM32_PWR),y)
-CHIP_CSRCS	+= stm32_pwr.c
+CHIP_CSRCS += stm32_pwr.c
 endif
 
 ifeq ($(CONFIG_RTC),y)
-CHIP_CSRCS	+= stm32_rtc.c
+CHIP_CSRCS += stm32_rtc.c
 ifeq ($(CONFIG_RTC_ALARM),y)
-CHIP_CSRCS	+= stm32_exti_alarm.c
+CHIP_CSRCS += stm32_exti_alarm.c
 endif
 endif
 
 ifeq ($(CONFIG_ADC),y)
-CHIP_CSRCS	+= stm32_adc.c
+CHIP_CSRCS += stm32_adc.c
 endif
 
 ifeq ($(CONFIG_DAC),y)
-CHIP_CSRCS	+= stm32_dac.c
+CHIP_CSRCS += stm32_dac.c
 endif
 
 ifeq ($(CONFIG_DEV_RANDOM),y)
-CHIP_CSRCS	+= stm32_rng.c
+CHIP_CSRCS += stm32_rng.c
 endif
 
 ifeq ($(CONFIG_PWM),y)
-CHIP_CSRCS	+= stm32_pwm.c
+CHIP_CSRCS += stm32_pwm.c
 endif
 
 ifeq ($(CONFIG_QENCODER),y)
-CHIP_CSRCS	+= stm32_qencoder.c
+CHIP_CSRCS += stm32_qencoder.c
 endif
 
 ifeq ($(CONFIG_CAN),y)
-CHIP_CSRCS	+= stm32_can.c
+CHIP_CSRCS += stm32_can.c
 endif
 
 ifeq ($(CONFIG_STM32_IWDG),y)
-CHIP_CSRCS	+= stm32_iwdg.c
+CHIP_CSRCS += stm32_iwdg.c
 endif
 
 ifeq ($(CONFIG_STM32_WWDG),y)
-CHIP_CSRCS	+= stm32_wwdg.c
+CHIP_CSRCS += stm32_wwdg.c
 endif
 
 ifeq ($(CONFIG_DEBUG),y)
-CHIP_CSRCS	+= stm32_dumpgpio.c
+CHIP_CSRCS += stm32_dumpgpio.c
 endif
diff --git a/nuttx/arch/arm/src/stm32/stm32_vectors.S b/nuttx/arch/arm/src/stm32/stm32_vectors.S
index 68a3e498b..ab29c2e14 100644
--- a/nuttx/arch/arm/src/stm32/stm32_vectors.S
+++ b/nuttx/arch/arm/src/stm32/stm32_vectors.S
@@ -40,7 +40,6 @@
 
 #include <nuttx/config.h>
 
-
 #include <arch/irq.h>
 
 #include "chip.h"
diff --git a/nuttx/binfmt/binfmt_execmodule.c b/nuttx/binfmt/binfmt_execmodule.c
index bb91d78c5..09ad4ee6c 100644
--- a/nuttx/binfmt/binfmt_execmodule.c
+++ b/nuttx/binfmt/binfmt_execmodule.c
@@ -175,13 +175,13 @@ int exec_module(FAR const struct binary_s *binp)
 
   /* Initialize the task */
 
-  ret = task_init(tcb, binp->filename, binp->priority, stack,
-                  binp->stacksize, binp->entrypt, binp->argv);
+  ret = task_init((FAR struct tcb_s *)tcb, binp->filename, binp->priority,
+                  stack, binp->stacksize, binp->entrypt, binp->argv);
 #else
   /* Initialize the task */
 
-  ret = task_init(tcb, binp->filename, binp->priority, stack,
-                  binp->entrypt, binp->argv);
+  ret = task_init((FAR struct tcb_s *)tcb, binp->filename, binp->priority,
+                  stack, binp->entrypt, binp->argv);
 #endif
   if (ret < 0)
     {
@@ -232,7 +232,7 @@ int exec_module(FAR const struct binary_s *binp)
 
   /* Then activate the task at the provided priority */
 
-  ret = task_activate(tcb);
+  ret = task_activate((FAR struct tcb_s *)tcb);
   if (ret < 0)
     {
       err = errno;
diff --git a/nuttx/configs/olimex-lpc1766stk/nsh/defconfig b/nuttx/configs/olimex-lpc1766stk/nsh/defconfig
index 05ca0fa2e..fc793ec7b 100755
--- a/nuttx/configs/olimex-lpc1766stk/nsh/defconfig
+++ b/nuttx/configs/olimex-lpc1766stk/nsh/defconfig
@@ -77,6 +77,9 @@ CONFIG_ARCH_CHIP_LPC17XX=y
 CONFIG_ARCH_CORTEXM3=y
 CONFIG_ARCH_FAMILY="armv7-m"
 CONFIG_ARCH_CHIP="lpc17xx"
+# CONFIG_ARMV7M_USEBASEPRI is not set
+CONFIG_ARCH_HAVE_CMNVECTOR=y
+# CONFIG_ARMV7M_CMNVECTOR is not set
 CONFIG_ARCH_HAVE_MPU=y
 # CONFIG_ARMV7M_MPU is not set
 CONFIG_BOARD_LOOPSPERMSEC=8111
@@ -271,6 +274,7 @@ CONFIG_DEV_CONSOLE=y
 CONFIG_SDCLONE_DISABLE=y
 # CONFIG_SCHED_WORKQUEUE is not set
 CONFIG_SCHED_WAITPID=y
+# CONFIG_SCHED_STARTHOOK is not set
 # CONFIG_SCHED_ATEXIT is not set
 # CONFIG_SCHED_ONEXIT is not set
 CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -280,9 +284,7 @@ CONFIG_DISABLE_OS_API=y
 # CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_DISABLE_SIGNALS is not set
 # CONFIG_DISABLE_MQUEUE is not set
-# CONFIG_DISABLE_MOUNTPOINT is not set
 # CONFIG_DISABLE_ENVIRON is not set
-CONFIG_DISABLE_POLL=y
 
 #
 # Signal Numbers
@@ -318,6 +320,7 @@ CONFIG_PTHREAD_STACK_DEFAULT=2048
 #
 # Device Drivers
 #
+CONFIG_DISABLE_POLL=y
 CONFIG_DEV_NULL=y
 # CONFIG_DEV_ZERO is not set
 # CONFIG_LOOP is not set
@@ -437,6 +440,7 @@ CONFIG_NET_ARPTAB_SIZE=16
 #
 # File system configuration
 #
+# CONFIG_DISABLE_MOUNTPOINT is not set
 # CONFIG_FS_RAMMAP is not set
 CONFIG_FS_FAT=y
 CONFIG_FAT_LCNAMES=y
@@ -452,6 +456,7 @@ CONFIG_FAT_MAXFNAME=32
 #
 # System Logging
 #
+# CONFIG_SYSLOG_ENABLE is not set
 # CONFIG_SYSLOG is not set
 
 #
@@ -496,6 +501,8 @@ CONFIG_LIB_HOMEDIR="/"
 # CONFIG_EOL_IS_BOTH_CRLF is not set
 CONFIG_EOL_IS_EITHER_CRLF=y
 # CONFIG_LIBC_EXECFUNCS is not set
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024
+CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048
 # CONFIG_LIBC_STRERROR is not set
 # CONFIG_LIBC_PERROR_STDOUT is not set
 CONFIG_ARCH_LOWPUTC=y
@@ -558,7 +565,6 @@ CONFIG_EXAMPLES_NSH=y
 # CONFIG_EXAMPLES_OSTEST is not set
 # CONFIG_EXAMPLES_PASHELLO is not set
 # CONFIG_EXAMPLES_PIPE is not set
-# CONFIG_EXAMPLES_POLL is not set
 # CONFIG_EXAMPLES_POSIXSPAWN is not set
 # CONFIG_EXAMPLES_QENCODER is not set
 # CONFIG_EXAMPLES_RGMP is not set
@@ -678,6 +684,10 @@ CONFIG_NSH_NESTDEPTH=3
 # CONFIG_NSH_DISABLESCRIPT is not set
 # CONFIG_NSH_DISABLEBG is not set
 CONFIG_NSH_CONSOLE=y
+
+#
+# USB Trace Support
+#
 # CONFIG_NSH_CONDEV is not set
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_TELNET=y
@@ -741,3 +751,7 @@ CONFIG_READLINE_ECHO=y
 # Sysinfo
 #
 # CONFIG_SYSTEM_SYSINFO is not set
+
+#
+# USB Monitor
+#
diff --git a/nuttx/configs/open1788/README.txt b/nuttx/configs/open1788/README.txt
index 144be5242..154d4b2f7 100644
--- a/nuttx/configs/open1788/README.txt
+++ b/nuttx/configs/open1788/README.txt
@@ -8,8 +8,101 @@ NXP LPC1788 MCU
 CONTENTS
 ========
 
+  o FPU
   o Configuration
 
+FPU
+===
+
+FPU Configuration Options
+-------------------------
+
+There are two version of the FPU support built into the LPC17xx port.
+
+1. Lazy Floating Point Register Save.
+
+   This is an untested implementation that saves and restores FPU registers
+   only on context switches.  This means: (1) floating point registers are
+   not stored on each context switch and, hence, possibly better interrupt
+   performance.  But, (2) since floating point registers are not saved,
+   you cannot use floating point operations within interrupt handlers.
+
+   This logic can be enabled by simply adding the following to your .config
+   file:
+
+   CONFIG_ARCH_FPU=y
+
+2. Non-Lazy Floating Point Register Save
+
+   Mike Smith has contributed an extensive re-write of the ARMv7-M exception
+   handling logic. This includes verified support for the FPU.  These changes
+   have not yet been incorporated into the mainline and are still considered
+   experimental.  These FPU logic can be enabled with:
+
+   CONFIG_ARCH_FPU=y
+   CONFIG_ARMV7M_CMNVECTOR=y
+
+   You will probably also changes to the ld.script in if this option is selected.
+   This should work:
+
+   -ENTRY(_stext)
+   +ENTRY(__start)         /* Treat __start as the anchor for dead code stripping */
+   +EXTERN(_vectors)       /* Force the vectors to be included in the output */
+
+CFLAGS
+------
+
+Only the Atollic toolchain has built-in support for the Cortex-M4 FPU.  You will see
+the following lines in each Make.defs file:
+
+  ifeq ($(CONFIG_STM32_ATOLLIC_LITE),y)
+    # Atollic toolchain under Windows
+    ...
+  ifeq ($(CONFIG_ARCH_FPU),y)
+    ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
+  else
+    ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
+  endif
+  endif
+
+If you are using a toolchain other than the Atollic toolchain, then to use the FPU
+you will also have to modify the CFLAGS to enable compiler support for the ARMv7-M
+FPU.  As of this writing, there are not many GCC toolchains that will support the
+ARMv7-M FPU.  
+
+As a minimum you will need to add CFLAG options to (1) enable hardware floating point
+code generation, and to (2) select the FPU implementation.  You might try the same
+options as used with the Atollic toolchain in the Make.defs file:
+
+  ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
+
+Configuration Changes
+---------------------
+
+Below are all of the configuration changes that I had to make to configs/stm3240g-eval/nsh2
+in order to successfully build NuttX using the Atollic toolchain WITH FPU support:
+
+  -CONFIG_ARCH_FPU=n              : Enable FPU support
+  +CONFIG_ARCH_FPU=y
+
+  -CONFIG_STM32_CODESOURCERYW=y   : Disable the CodeSourcery toolchain
+  +CONFIG_STM32_CODESOURCERYW=n
+
+  -CONFIG_STM32_ATOLLIC_LITE=n   : Enable *one* the Atollic toolchains
+   CONFIG_STM32_ATOLLIC_PRO=n
+  -CONFIG_STM32_ATOLLIC_LITE=y   : The "Lite" version
+   CONFIG_STM32_ATOLLIC_PRO=n    : The "Pro" version
+
+  -CONFIG_INTELHEX_BINARY=y       : Suppress generation FLASH download formats
+  +CONFIG_INTELHEX_BINARY=n       : (Only necessary with the "Lite" version)
+
+  -CONFIG_HAVE_CXX=y              : Suppress generation of C++ code
+  +CONFIG_HAVE_CXX=n              : (Only necessary with the "Lite" version)
+
+See the section above on Toolchains, NOTE 2, for explanations for some of
+the configuration settings.  Some of the usual settings are just not supported
+by the "Lite" version of the Atollic toolchain.
+
 CONFIGURURATION
 ===============
 
diff --git a/nuttx/libc/spawn/Make.defs b/nuttx/libc/spawn/Make.defs
index edbcc4fbb..f453a7d2d 100644
--- a/nuttx/libc/spawn/Make.defs
+++ b/nuttx/libc/spawn/Make.defs
@@ -35,8 +35,6 @@
 
 # Add the spawn C files to the build
 
-ifeq ($(CONFIG_LIBC_EXECFUNCS),y)
-
 CSRCS += lib_psfa_addaction.c lib_psfa_addclose.c lib_psfa_adddup2.c
 CSRCS += lib_psfa_addopen.c lib_psfa_destroy.c lib_psfa_init.c
 
@@ -61,4 +59,3 @@ endif
 
 DEPPATH += --dep-path spawn
 VPATH += :spawn
-endif