Almost compiling FMU config

8 files changed, 1055 insertions, 163 deletions

diff --git a/nuttx/.gitignore b/nuttx/.gitignore
index f594f3673..69b7bdb80 100644
--- a/nuttx/.gitignore
+++ b/nuttx/.gitignore
@@ -1,5 +1,6 @@
 /.config
 /.config.old
+/.config-e
 /.version
 /Make.defs
 /setenv.sh
diff --git a/nuttx/arch/arm/include/math.h b/nuttx/arch/arm/include/math.h
new file mode 100644
index 000000000..9de10c58b
--- /dev/null
+++ b/nuttx/arch/arm/include/math.h
@@ -0,0 +1,612 @@
+#ifndef  _MATH_H_
+
+#define  _MATH_H_
+
+//#include <sys/reent.h>
+#include <machine/ieeefp.h>
+#include "_ansi.h"
+
+//#define _PARAMS(_x)   _x
+
+_BEGIN_STD_C
+
+#if 0
+/* __dmath, __fmath, and __ldmath are only here for backwards compatibility
+ * in case any code used them.  They are no longer used by Newlib, itself,
+ * other than legacy.  */
+union __dmath
+{
+  double d;
+  __ULong i[2];
+};
+
+union __fmath
+{
+  float f;
+  __ULong i[1];
+};
+
+#if defined(_HAVE_LONG_DOUBLE)
+union __ldmath
+{
+  long double ld;
+  __ULong i[4];
+};
+#endif
+#endif
+
+/* Natural log of 2 */
+#define _M_LN2        0.693147180559945309417
+
+#if defined(__GNUC__) && \
+  ( (__GNUC__ >= 4) || \
+    ( (__GNUC__ >= 3) && defined(__GNUC_MINOR__) && (__GNUC_MINOR__ >= 3) ) )
+
+ /* gcc >= 3.3 implicitly defines builtins for HUGE_VALx values.  */
+
+# ifndef HUGE_VAL
+#  define HUGE_VAL (__builtin_huge_val())
+# endif
+
+# ifndef HUGE_VALF
+#  define HUGE_VALF (__builtin_huge_valf())
+# endif
+
+# ifndef HUGE_VALL
+#  define HUGE_VALL (__builtin_huge_vall())
+# endif
+
+# ifndef INFINITY
+#  define INFINITY (__builtin_inff())
+# endif
+
+# ifndef NAN
+#  define NAN (__builtin_nanf(""))
+# endif
+
+#else /* !gcc >= 3.3  */
+
+ /*      No builtins.  Use fixed defines instead.  (All 3 HUGE plus the INFINITY
+  * and NAN macros are required to be constant expressions.  Using a variable--
+  * even a static const--does not meet this requirement, as it cannot be
+  * evaluated at translation time.)
+  *      The infinities are done using numbers that are far in excess of
+  * something that would be expected to be encountered in a floating-point
+  * implementation.  (A more certain way uses values from float.h, but that is
+  * avoided because system includes are not supposed to include each other.)
+  *      This method might produce warnings from some compilers.  (It does in
+  * newer GCCs, but not for ones that would hit this #else.)  If this happens,
+  * please report details to the Newlib mailing list.  */
+
+ #ifndef HUGE_VAL
+  #define HUGE_VAL (1.0e999999999)
+ #endif
+
+ #ifndef HUGE_VALF
+  #define HUGE_VALF (1.0e999999999F)
+ #endif
+
+ #if !defined(HUGE_VALL)  &&  defined(_HAVE_LONG_DOUBLE)
+  #define HUGE_VALL (1.0e999999999L)
+ #endif
+
+ #if !defined(INFINITY)
+  #define INFINITY (HUGE_VALF)
+ #endif
+
+ #if !defined(NAN)
+  #if defined(__GNUC__)  &&  defined(__cplusplus)
+    /* Exception:  older g++ versions warn about the divide by 0 used in the
+     * normal case (even though older gccs do not).  This trick suppresses the
+     * warning, but causes errors for plain gcc, so is only used in the one
+     * special case.  */
+    static const union { __ULong __i[1]; float __d; } __Nanf = {0x7FC00000};
+    #define NAN (__Nanf.__d)
+  #else
+    #define NAN (0.0F/0.0F)
+  #endif
+ #endif
+
+#endif /* !gcc >= 3.3  */
+
+/* Reentrant ANSI C functions.  */
+
+#ifndef __math_68881
+extern double atan _PARAMS((double));
+extern double cos _PARAMS((double));
+extern double sin _PARAMS((double));
+extern double tan _PARAMS((double));
+extern double tanh _PARAMS((double));
+extern double frexp _PARAMS((double, int *));
+extern double modf _PARAMS((double, double *));
+extern double ceil _PARAMS((double));
+extern double fabs _PARAMS((double));
+extern double floor _PARAMS((double));
+#endif /* ! defined (__math_68881) */
+
+/* Non reentrant ANSI C functions.  */
+
+#ifndef _REENT_ONLY
+#ifndef __math_68881
+extern double acos _PARAMS((double));
+extern double asin _PARAMS((double));
+extern double atan2 _PARAMS((double, double));
+extern double cosh _PARAMS((double));
+extern double sinh _PARAMS((double));
+extern double exp _PARAMS((double));
+extern double ldexp _PARAMS((double, int));
+extern double log _PARAMS((double));
+extern double log10 _PARAMS((double));
+extern double pow _PARAMS((double, double));
+extern double sqrt _PARAMS((double));
+extern double fmod _PARAMS((double, double));
+#endif /* ! defined (__math_68881) */
+#endif /* ! defined (_REENT_ONLY) */
+
+#if !defined(__STRICT_ANSI__) || defined(__cplusplus) || __STDC_VERSION__ >= 199901L
+
+/* ISO C99 types and macros. */
+
+#ifndef FLT_EVAL_METHOD
+#define FLT_EVAL_METHOD 0
+typedef float float_t;
+typedef double double_t;
+#endif /* FLT_EVAL_METHOD */
+
+#define FP_NAN         0
+#define FP_INFINITE    1
+#define FP_ZERO        2
+#define FP_SUBNORMAL   3
+#define FP_NORMAL      4
+
+#ifndef FP_ILOGB0
+# define FP_ILOGB0 (-INT_MAX)
+#endif
+#ifndef FP_ILOGBNAN
+# define FP_ILOGBNAN INT_MAX
+#endif
+
+#ifndef MATH_ERRNO
+# define MATH_ERRNO 1
+#endif
+#ifndef MATH_ERREXCEPT
+# define MATH_ERREXCEPT 2
+#endif
+#ifndef math_errhandling
+# define math_errhandling MATH_ERRNO
+#endif
+
+extern int __isinff (float x);
+extern int __isinfd (double x);
+extern int __isnanf (float x);
+extern int __isnand (double x);
+extern int __fpclassifyf (float x);
+extern int __fpclassifyd (double x);
+extern int __signbitf (float x);
+extern int __signbitd (double x);
+
+#define fpclassify(__x) \
+	((sizeof(__x) == sizeof(float))  ? __fpclassifyf(__x) : \
+	__fpclassifyd(__x))
+
+#ifndef isfinite
+  #define isfinite(__y) \
+          (__extension__ ({int __cy = fpclassify(__y); \
+                           __cy != FP_INFINITE && __cy != FP_NAN;}))
+#endif
+
+/* Note: isinf and isnan were once functions in newlib that took double
+ *       arguments.  C99 specifies that these names are reserved for macros
+ *       supporting multiple floating point types.  Thus, they are
+ *       now defined as macros.  Implementations of the old functions
+ *       taking double arguments still exist for compatibility purposes
+ *       (prototypes for them are in <ieeefp.h>).  */
+#ifndef isinf
+  #define isinf(y) (fpclassify(y) == FP_INFINITE)
+#endif
+
+#ifndef isnan
+  #define isnan(y) (fpclassify(y) == FP_NAN)
+#endif
+
+#define isnormal(y) (fpclassify(y) == FP_NORMAL)
+#define signbit(__x) \
+	((sizeof(__x) == sizeof(float))  ?  __signbitf(__x) : \
+		__signbitd(__x))
+
+#define isgreater(x,y) \
+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
+                           !isunordered(__x,__y) && (__x > __y);}))
+#define isgreaterequal(x,y) \
+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
+                           !isunordered(__x,__y) && (__x >= __y);}))
+#define isless(x,y) \
+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
+                           !isunordered(__x,__y) && (__x < __y);}))
+#define islessequal(x,y) \
+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
+                           !isunordered(__x,__y) && (__x <= __y);}))
+#define islessgreater(x,y) \
+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
+                           !isunordered(__x,__y) && (__x < __y || __x > __y);}))
+
+#define isunordered(a,b) \
+          (__extension__ ({__typeof__(a) __a = (a); __typeof__(b) __b = (b); \
+                           fpclassify(__a) == FP_NAN || fpclassify(__b) == FP_NAN;}))
+
+/* Non ANSI double precision functions.  */
+
+extern double infinity _PARAMS((void));
+extern double nan _PARAMS((const char *));
+extern int finite _PARAMS((double));
+extern double copysign _PARAMS((double, double));
+extern double logb _PARAMS((double));
+extern int ilogb _PARAMS((double));
+
+extern double asinh _PARAMS((double));
+extern double cbrt _PARAMS((double));
+extern double nextafter _PARAMS((double, double));
+extern double rint _PARAMS((double));
+extern double scalbn _PARAMS((double, int));
+
+extern double exp2 _PARAMS((double));
+extern double scalbln _PARAMS((double, long int));
+extern double tgamma _PARAMS((double));
+extern double nearbyint _PARAMS((double));
+extern long int lrint _PARAMS((double));
+extern _LONG_LONG_TYPE int llrint _PARAMS((double));
+extern double round _PARAMS((double));
+extern long int lround _PARAMS((double));
+extern long long int llround _PARAMS((double));
+extern double trunc _PARAMS((double));
+extern double remquo _PARAMS((double, double, int *));
+extern double fdim _PARAMS((double, double));
+extern double fmax _PARAMS((double, double));
+extern double fmin _PARAMS((double, double));
+extern double fma _PARAMS((double, double, double));
+
+#ifndef __math_68881
+extern double log1p _PARAMS((double));
+extern double expm1 _PARAMS((double));
+#endif /* ! defined (__math_68881) */
+
+#ifndef _REENT_ONLY
+extern double acosh _PARAMS((double));
+extern double atanh _PARAMS((double));
+extern double remainder _PARAMS((double, double));
+extern double gamma _PARAMS((double));
+extern double lgamma _PARAMS((double));
+extern double erf _PARAMS((double));
+extern double erfc _PARAMS((double));
+extern double log2 _PARAMS((double));
+#if !defined(__cplusplus)
+#define log2(x) (log (x) / _M_LN2)
+#endif
+
+#ifndef __math_68881
+extern double hypot _PARAMS((double, double));
+#endif
+
+#endif /* ! defined (_REENT_ONLY) */
+
+/* Single precision versions of ANSI functions.  */
+
+extern float atanf _PARAMS((float));
+extern float cosf _PARAMS((float));
+extern float sinf _PARAMS((float));
+extern float tanf _PARAMS((float));
+extern float tanhf _PARAMS((float));
+extern float frexpf _PARAMS((float, int *));
+extern float modff _PARAMS((float, float *));
+extern float ceilf _PARAMS((float));
+extern float fabsf _PARAMS((float));
+extern float floorf _PARAMS((float));
+
+#ifndef _REENT_ONLY
+extern float acosf _PARAMS((float));
+extern float asinf _PARAMS((float));
+extern float atan2f _PARAMS((float, float));
+extern float coshf _PARAMS((float));
+extern float sinhf _PARAMS((float));
+extern float expf _PARAMS((float));
+extern float ldexpf _PARAMS((float, int));
+extern float logf _PARAMS((float));
+extern float log10f _PARAMS((float));
+extern float powf _PARAMS((float, float));
+extern float sqrtf _PARAMS((float));
+extern float fmodf _PARAMS((float, float));
+#endif /* ! defined (_REENT_ONLY) */
+
+/* Other single precision functions.  */
+
+extern float exp2f _PARAMS((float));
+extern float scalblnf _PARAMS((float, long int));
+extern float tgammaf _PARAMS((float));
+extern float nearbyintf _PARAMS((float));
+extern long int lrintf _PARAMS((float));
+extern _LONG_LONG_TYPE llrintf _PARAMS((float));
+extern float roundf _PARAMS((float));
+extern long int lroundf _PARAMS((float));
+extern long long int llroundf _PARAMS((float));
+extern float truncf _PARAMS((float));
+extern float remquof _PARAMS((float, float, int *));
+extern float fdimf _PARAMS((float, float));
+extern float fmaxf _PARAMS((float, float));
+extern float fminf _PARAMS((float, float));
+extern float fmaf _PARAMS((float, float, float));
+
+extern float infinityf _PARAMS((void));
+extern float nanf _PARAMS((const char *));
+extern int finitef _PARAMS((float));
+extern float copysignf _PARAMS((float, float));
+extern float logbf _PARAMS((float));
+extern int ilogbf _PARAMS((float));
+
+extern float asinhf _PARAMS((float));
+extern float cbrtf _PARAMS((float));
+extern float nextafterf _PARAMS((float, float));
+extern float rintf _PARAMS((float));
+extern float scalbnf _PARAMS((float, int));
+extern float log1pf _PARAMS((float));
+extern float expm1f _PARAMS((float));
+
+#ifndef _REENT_ONLY
+extern float acoshf _PARAMS((float));
+extern float atanhf _PARAMS((float));
+extern float remainderf _PARAMS((float, float));
+extern float gammaf _PARAMS((float));
+extern float lgammaf _PARAMS((float));
+extern float erff _PARAMS((float));
+extern float erfcf _PARAMS((float));
+extern float log2f _PARAMS((float));
+#if !defined(__cplusplus)
+#define log2f(x) (logf (x) / (float_t) _M_LN2)
+#endif
+extern float hypotf _PARAMS((float, float));
+#endif /* ! defined (_REENT_ONLY) */
+
+/* On platforms where long double equals double.  */
+#ifdef _LDBL_EQ_DBL
+/* Reentrant ANSI C functions.  */
+#ifndef __math_68881
+extern long double atanl _PARAMS((long double));
+extern long double cosl _PARAMS((long double));
+extern long double sinl _PARAMS((long double));
+extern long double tanl _PARAMS((long double));
+extern long double tanhl _PARAMS((long double));
+extern long double frexpl _PARAMS((long double value, int *));
+extern long double modfl _PARAMS((long double, long double *));
+extern long double ceill _PARAMS((long double));
+extern long double fabsl _PARAMS((long double));
+extern long double floorl _PARAMS((long double));
+extern long double log1pl _PARAMS((long double));
+extern long double expm1l _PARAMS((long double));
+#endif /* ! defined (__math_68881) */
+/* Non reentrant ANSI C functions.  */
+#ifndef _REENT_ONLY
+#ifndef __math_68881
+extern long double acosl _PARAMS((long double));
+extern long double asinl _PARAMS((long double));
+extern long double atan2l _PARAMS((long double, long double));
+extern long double coshl _PARAMS((long double));
+extern long double sinhl _PARAMS((long double));
+extern long double expl _PARAMS((long double));
+extern long double ldexpl _PARAMS((long double, int));
+extern long double logl _PARAMS((long double));
+extern long double log10l _PARAMS((long double));
+extern long double powl _PARAMS((long double, long double));
+extern long double sqrtl _PARAMS((long double));
+extern long double fmodl _PARAMS((long double, long double));
+extern long double hypotl _PARAMS((long double, long double));
+#endif /* ! defined (__math_68881) */
+#endif /* ! defined (_REENT_ONLY) */
+extern long double copysignl _PARAMS((long double, long double));
+extern long double nanl _PARAMS((const char *));
+extern int ilogbl _PARAMS((long double));
+extern long double asinhl _PARAMS((long double));
+extern long double cbrtl _PARAMS((long double));
+extern long double nextafterl _PARAMS((long double, long double));
+extern long double rintl _PARAMS((long double));
+extern long double scalbnl _PARAMS((long double, int));
+extern long double exp2l _PARAMS((long double));
+extern long double scalblnl _PARAMS((long double, long));
+extern long double tgammal _PARAMS((long double));
+extern long double nearbyintl _PARAMS((long double));
+extern long int lrintl _PARAMS((long double));
+extern long long int llrintl _PARAMS((long double));
+extern long double roundl _PARAMS((long double));
+extern long lroundl _PARAMS((long double));
+extern _LONG_LONG_TYPE int llroundl _PARAMS((long double));
+extern long double truncl _PARAMS((long double));
+extern long double remquol _PARAMS((long double, long double, int *));
+extern long double fdiml _PARAMS((long double, long double));
+extern long double fmaxl _PARAMS((long double, long double));
+extern long double fminl _PARAMS((long double, long double));
+extern long double fmal _PARAMS((long double, long double, long double));
+#ifndef _REENT_ONLY
+extern long double acoshl _PARAMS((long double));
+extern long double atanhl _PARAMS((long double));
+extern long double remainderl _PARAMS((long double, long double));
+extern long double lgammal _PARAMS((long double));
+extern long double erfl _PARAMS((long double));
+extern long double erfcl _PARAMS((long double));
+#endif /* ! defined (_REENT_ONLY) */
+#else /* !_LDBL_EQ_DBL */
+#ifdef __i386__
+/* Other long double precision functions.  */
+extern _LONG_DOUBLE rintl _PARAMS((_LONG_DOUBLE));
+extern long int lrintl _PARAMS((_LONG_DOUBLE));
+extern _LONG_LONG_TYPE llrintl _PARAMS((_LONG_DOUBLE));
+#endif /* __i386__ */
+#endif /* !_LDBL_EQ_DBL */
+
+#endif /* !defined (__STRICT_ANSI__) || defined(__cplusplus) || __STDC_VERSION__ >= 199901L */
+
+#if !defined (__STRICT_ANSI__) || defined(__cplusplus)
+
+extern double drem _PARAMS((double, double));
+extern void sincos _PARAMS((double, double *, double *));
+extern double gamma_r _PARAMS((double, int *));
+extern double lgamma_r _PARAMS((double, int *));
+
+extern double y0 _PARAMS((double));
+extern double y1 _PARAMS((double));
+extern double yn _PARAMS((int, double));
+extern double j0 _PARAMS((double));
+extern double j1 _PARAMS((double));
+extern double jn _PARAMS((int, double));
+
+extern float dremf _PARAMS((float, float));
+extern void sincosf _PARAMS((float, float *, float *));
+extern float gammaf_r _PARAMS((float, int *));
+extern float lgammaf_r _PARAMS((float, int *));
+
+extern float y0f _PARAMS((float));
+extern float y1f _PARAMS((float));
+extern float ynf _PARAMS((int, float));
+extern float j0f _PARAMS((float));
+extern float j1f _PARAMS((float));
+extern float jnf _PARAMS((int, float));
+
+/* GNU extensions */
+# ifndef exp10
+extern double exp10 _PARAMS((double));
+# endif
+# ifndef pow10
+extern double pow10 _PARAMS((double));
+# endif
+# ifndef exp10f
+extern float exp10f _PARAMS((float));
+# endif
+# ifndef pow10f
+extern float pow10f _PARAMS((float));
+# endif
+
+#endif /* !defined (__STRICT_ANSI__) || defined(__cplusplus) */
+
+#ifndef __STRICT_ANSI__
+
+/* The gamma functions use a global variable, signgam.  */
+#ifndef _REENT_ONLY
+#define signgam (*__signgam())
+extern int *__signgam _PARAMS((void));
+#endif /* ! defined (_REENT_ONLY) */
+
+#define __signgam_r(ptr) _REENT_SIGNGAM(ptr)
+
+/* The exception structure passed to the matherr routine.  */
+/* We have a problem when using C++ since `exception' is a reserved
+   name in C++.  */
+#ifdef __cplusplus
+struct __exception
+#else
+struct exception
+#endif
+{
+  int type;
+  char *name;
+  double arg1;
+  double arg2;
+  double retval;
+  int err;
+};
+
+#ifdef __cplusplus
+extern int matherr _PARAMS((struct __exception *e));
+#else
+extern int matherr _PARAMS((struct exception *e));
+#endif
+
+/* Values for the type field of struct exception.  */
+
+#define DOMAIN 1
+#define SING 2
+#define OVERFLOW 3
+#define UNDERFLOW 4
+#define TLOSS 5
+#define PLOSS 6
+
+/* Useful constants.  */
+
+#define MAXFLOAT	3.40282347e+38F
+
+#define M_E		2.7182818284590452354
+#define M_LOG2E		1.4426950408889634074
+#define M_LOG10E	0.43429448190325182765
+#define M_LN2		_M_LN2
+#define M_LN10		2.30258509299404568402
+#define M_PI		3.14159265358979323846
+#define M_TWOPI         (M_PI * 2.0)
+#define M_PI_2		1.57079632679489661923
+#define M_PI_4		0.78539816339744830962
+#define M_3PI_4		2.3561944901923448370E0
+#define M_SQRTPI        1.77245385090551602792981
+#define M_1_PI		0.31830988618379067154
+#define M_2_PI		0.63661977236758134308
+#define M_2_SQRTPI	1.12837916709551257390
+#define M_DEG_TO_RAD 	0.01745329251994
+#define M_RAD_TO_DEG 	57.2957795130823
+#define M_SQRT2		1.41421356237309504880
+#define M_SQRT1_2	0.70710678118654752440
+#define M_LN2LO         1.9082149292705877000E-10
+#define M_LN2HI         6.9314718036912381649E-1
+#define M_SQRT3	1.73205080756887719000
+#define M_IVLN10        0.43429448190325182765 /* 1 / log(10) */
+#define M_LOG2_E        _M_LN2
+#define M_INVLN2        1.4426950408889633870E0  /* 1 / log(2) */
+
+
+#define M_E_F			2.7182818284590452354f
+#define M_LOG2E_F		1.4426950408889634074f
+#define M_LOG10E_F		0.43429448190325182765f
+#define M_LN2_F			_M_LN2_F
+#define M_LN10_F		2.30258509299404568402f
+#define M_PI_F			3.14159265358979323846f
+#define M_TWOPI_F       (M_PI_F * 2.0f)
+#define M_PI_2_F		1.57079632679489661923f
+#define M_PI_4_F		0.78539816339744830962f
+#define M_3PI_4_F		2.3561944901923448370E0f
+#define M_SQRTPI_F      1.77245385090551602792981f
+#define M_1_PI_F		0.31830988618379067154f
+#define M_2_PI_F		0.63661977236758134308f
+#define M_2_SQRTPI_F	1.12837916709551257390f
+#define M_DEG_TO_RAD_F 	0.01745329251994f
+#define M_RAD_TO_DEG_F 	57.2957795130823f
+#define M_SQRT2_F		1.41421356237309504880f
+#define M_SQRT1_2_F		0.70710678118654752440f
+#define M_LN2LO_F       1.9082149292705877000E-10f
+#define M_LN2HI_F       6.9314718036912381649E-1f
+#define M_SQRT3_F		1.73205080756887719000f
+#define M_IVLN10_F      0.43429448190325182765f /* 1 / log(10) */
+#define M_LOG2_E_F      _M_LN2_F
+#define M_INVLN2_F      1.4426950408889633870E0f  /* 1 / log(2) */
+
+/* Global control over fdlibm error handling.  */
+
+enum __fdlibm_version
+{
+  __fdlibm_ieee = -1,
+  __fdlibm_svid,
+  __fdlibm_xopen,
+  __fdlibm_posix
+};
+
+#define _LIB_VERSION_TYPE enum __fdlibm_version
+#define _LIB_VERSION __fdlib_version
+
+extern __IMPORT _LIB_VERSION_TYPE _LIB_VERSION;
+
+#define _IEEE_  __fdlibm_ieee
+#define _SVID_  __fdlibm_svid
+#define _XOPEN_ __fdlibm_xopen
+#define _POSIX_ __fdlibm_posix
+
+#endif /* ! defined (__STRICT_ANSI__) */
+
+_END_STD_C
+
+#ifdef __FAST_MATH__
+#include <machine/fastmath.h>
+#endif
+
+#endif /* _MATH_H_ */
diff --git a/nuttx/configs/Kconfig b/nuttx/configs/Kconfig
index f7ee6d9c0..e2dad70cb 100644
--- a/nuttx/configs/Kconfig
+++ b/nuttx/configs/Kconfig
@@ -535,6 +535,13 @@ config ARCH_BOARD_STM3240G_EVAL
 		microcontroller (ARM Cortex-M4 with FPU).  This port uses a GNU Cortex-M4
 		toolchain (such as CodeSourcery).
 
+config ARCH_BOARD_PX4FMU_V1
+	bool "PX4FMU v1.x"
+	depends on ARCH_CHIP_STM32F405RG
+	select ARCH_HAVE_LEDS
+	---help---
+		PX4 flight management unit v1.x
+
 config ARCH_BOARD_STM32F100RC_GENERIC
 	bool "STMicro STM32F100RC generic board"
 	depends on ARCH_CHIP_STM32F100RC
@@ -781,6 +788,7 @@ config ARCH_BOARD
 	default "stm32f100rc_generic" if ARCH_BOARD_STM32F100RC_GENERIC
 	default "stm32f3discovery"    if ARCH_BOARD_STM32F3_DISCOVERY
 	default "stm32f4discovery"    if ARCH_BOARD_STM32F4_DISCOVERY
+	default "px4fmu-v1"    	      if ARCH_BOARD_PX4FMU_V1
 	default "stm32ldiscovery"     if ARCH_BOARD_STM32L_DISCOVERY
 	default "mikroe-stm32f4"      if ARCH_BOARD_MIKROE_STM32F4
 	default "sure-pic32mx"        if ARCH_BOARD_SUREPIC32MX
@@ -1016,6 +1024,9 @@ endif
 if ARCH_BOARD_STM32F4_DISCOVERY
 source "configs/stm32f4discovery/Kconfig"
 endif
+if ARCH_BOARD_PX4FMU_V1
+source "configs/px4fmu-v1/Kconfig"
+endif
 if ARCH_BOARD_STM32L_DISCOVERY
 source "configs/stm32ldiscovery/Kconfig"
 endif
diff --git a/nuttx/configs/px4fmu-v1/common/Make.defs b/nuttx/configs/px4fmu-v1/common/Make.defs
new file mode 100644
index 000000000..756286ccb
--- /dev/null
+++ b/nuttx/configs/px4fmu-v1/common/Make.defs
@@ -0,0 +1,184 @@
+############################################################################
+# configs/px4fmu/common/Make.defs
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Generic Make.defs for the PX4FMU
+# Do not specify/use this file directly - it is included by config-specific
+# Make.defs in the per-config directories.
+#
+
+include ${TOPDIR}/tools/Config.mk
+
+#
+# We only support building with the ARM bare-metal toolchain from
+# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
+#
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
+
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+CC			 = $(CROSSDEV)gcc
+CXX			 = $(CROSSDEV)g++
+CPP			 = $(CROSSDEV)gcc -E
+LD			 = $(CROSSDEV)ld
+AR			 = $(CROSSDEV)ar rcs
+NM			 = $(CROSSDEV)nm
+OBJCOPY			 = $(CROSSDEV)objcopy
+OBJDUMP			 = $(CROSSDEV)objdump
+
+MAXOPTIMIZATION		 = -O3
+ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
+			   -mthumb \
+			   -march=armv7e-m \
+			   -mfpu=fpv4-sp-d16 \
+			   -mfloat-abi=hard
+
+
+# enable precise stack overflow tracking
+INSTRUMENTATIONDEFINES	 = -finstrument-functions \
+			   -ffixed-r10
+
+# pull in *just* libm from the toolchain ... this is grody
+LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
+EXTRA_LIBS		+= $(LIBM)
+
+# use our linker script
+LDSCRIPT		 = ld.script
+
+ifeq ($(WINTOOL),y)
+  # Windows-native toolchains
+  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
+  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
+  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
+  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)}"
+else
+  ifeq ($(PX4_WINTOOL),y)
+    # Windows-native toolchains (MSYS)
+    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)
+  else
+    # Linux/Cygwin-native toolchain 
+    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)
+  endif
+endif
+
+# tool versions
+ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
+ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
+
+# optimisation flags
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -fno-strict-aliasing \
+			   -fno-strength-reduce \
+			   -fomit-frame-pointer \
+   			   -funsafe-math-optimizations \
+   			   -fno-builtin-printf \
+   			   -ffunction-sections \
+   			   -fdata-sections
+
+ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
+ARCHOPTIMIZATION	+= -g
+endif
+
+ARCHCFLAGS		 = -std=gnu99
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS		 = -Wall \
+			   -Wextra \
+			   -Wdouble-promotion \
+			   -Wshadow \
+			   -Wfloat-equal \
+			   -Wframe-larger-than=1024 \
+			   -Wpointer-arith \
+			   -Wlogical-op \
+			   -Wmissing-declarations \
+			   -Wpacked \
+			   -Wno-unused-parameter
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+ARCHCWARNINGS		 = $(ARCHWARNINGS) \
+			   -Wbad-function-cast \
+			   -Wstrict-prototypes \
+			   -Wold-style-declaration \
+			   -Wmissing-parameter-type \
+			   -Wmissing-prototypes \
+			   -Wnested-externs \
+			   -Wunsuffixed-float-constants
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
+			   -Wno-psabi
+ARCHDEFINES		 =
+ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
+
+# this seems to be the only way to add linker flags
+EXTRA_LIBS		+= --warn-common \
+			   --gc-sections
+
+CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1		 = -r -d -warn-common
+NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+LDNXFLATFLAGS		 = -e main -s 2048
+
+OBJEXT			 = .o
+LIBEXT			 = .a
+EXEEXT			 =
+
+
+# produce partially-linked $1 from files in $2
+define PRELINK
+	@echo "PRELINK: $1"
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+endef
+
+HOSTCC			 = gcc
+HOSTINCLUDES		 = -I.
+HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
+HOSTLDFLAGS		 =
+
diff --git a/nuttx/configs/px4fmu-v1/common/ld.script b/nuttx/configs/px4fmu-v1/common/ld.script
new file mode 100644
index 000000000..de8179e8d
--- /dev/null
+++ b/nuttx/configs/px4fmu-v1/common/ld.script
@@ -0,0 +1,149 @@
+/****************************************************************************
+ * configs/px4fmu/common/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F405 has 1024Kb of FLASH beginning at address 0x0800:0000 and
+ * 192Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x4000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 1008K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 128K
+    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/* 
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)        
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)        
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+		/* 
+		 * This is a hack to make the newlib libm __errno() call
+		 * use the NuttX get_errno_ptr() function.
+		 */
+		__errno = get_errno_ptr;
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	/*
+	 * Construction data for parameters.
+	 */
+	__param ALIGN(4): {
+		__param_start = ABSOLUTE(.);
+		KEEP(*(__param*))
+		__param_end = ABSOLUTE(.);
+	} > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
diff --git a/nuttx/configs/px4fmu-v1/usbnsh/Make.defs b/nuttx/configs/px4fmu-v1/usbnsh/Make.defs
index 8e75d971e..81936334b 100644
--- a/nuttx/configs/px4fmu-v1/usbnsh/Make.defs
+++ b/nuttx/configs/px4fmu-v1/usbnsh/Make.defs
@@ -1,111 +1,3 @@
-############################################################################
-# configs/stm32f4discovery/nsh/Make.defs
-#
-#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
 include ${TOPDIR}/.config
-include ${TOPDIR}/tools/Config.mk
-include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
-
-LDSCRIPT = ld.script
-
-ifeq ($(WINTOOL),y)
-  # Windows-native toolchains
-  DIRLINK = $(TOPDIR)/tools/copydir.sh
-  DIRUNLINK = $(TOPDIR)/tools/unlink.sh
-  MKDEP = $(TOPDIR)/tools/mknulldeps.sh
-  ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
-  ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
-  ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
-  MAXOPTIMIZATION = -O2
-else
-  # Linux/Cygwin-native toolchain 
-  MKDEP = $(TOPDIR)/tools/mkdeps.sh
-  ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
-  ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-  ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-endif
-
-CC = $(CROSSDEV)gcc
-CXX = $(CROSSDEV)g++
-CPP = $(CROSSDEV)gcc -E
-LD = $(CROSSDEV)ld
-AR = $(ARCROSSDEV)ar rcs
-NM = $(ARCROSSDEV)nm
-OBJCOPY = $(CROSSDEV)objcopy
-OBJDUMP = $(CROSSDEV)objdump
-
-ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
-ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
-
-ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
-  ARCHOPTIMIZATION = -g
-else
-  ARCHOPTIMIZATION = $(MAXOPTIMIZATION) -fno-strict-aliasing -fno-strength-reduce -fomit-frame-pointer
-endif
-
-ARCHCFLAGS = -fno-builtin
-ARCHCXXFLAGS = -fno-builtin -fno-exceptions -fno-rtti
-ARCHWARNINGS = -Wall -Wstrict-prototypes -Wshadow
-ARCHWARNINGSXX = -Wall -Wshadow
-ARCHDEFINES =
-ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
-
-CFLAGS = $(ARCHCFLAGS) $(ARCHWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS = $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES)
-AFLAGS = $(CFLAGS) -D__ASSEMBLY__
-
-NXFLATLDFLAGS1 = -r -d -warn-common
-NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
-LDNXFLATFLAGS = -e main -s 2048
-
-OBJEXT = .o
-LIBEXT = .a
-EXEEXT =
-
-ifneq ($(CROSSDEV),arm-nuttx-elf-)
-  LDFLAGS += -nostartfiles -nodefaultlibs
-endif
-ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
-  LDFLAGS += -g
-endif
-
-
-HOSTCC = gcc
-HOSTINCLUDES = -I.
-HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
-HOSTLDFLAGS =
 
+include $(TOPDIR)/configs/px4fmu-v1/common/Make.defs
diff --git a/nuttx/configs/px4fmu-v1/usbnsh/defconfig b/nuttx/configs/px4fmu-v1/usbnsh/defconfig
index 456ef55b1..963d71a89 100644
--- a/nuttx/configs/px4fmu-v1/usbnsh/defconfig
+++ b/nuttx/configs/px4fmu-v1/usbnsh/defconfig
@@ -31,7 +31,7 @@ CONFIG_RAW_BINARY=y
 # Customize Header Files
 #
 # CONFIG_ARCH_STDBOOL_H is not set
-# CONFIG_ARCH_MATH_H is not set
+CONFIG_ARCH_MATH_H=y
 # CONFIG_ARCH_FLOAT_H is not set
 # CONFIG_ARCH_STDARG_H is not set
 
@@ -65,6 +65,7 @@ CONFIG_ARCH="arm"
 # CONFIG_ARCH_CHIP_DM320 is not set
 # CONFIG_ARCH_CHIP_IMX is not set
 # CONFIG_ARCH_CHIP_KINETIS is not set
+# CONFIG_ARCH_CHIP_KL is not set
 # CONFIG_ARCH_CHIP_LM is not set
 # CONFIG_ARCH_CHIP_LPC17XX is not set
 # CONFIG_ARCH_CHIP_LPC214X is not set
@@ -95,6 +96,24 @@ CONFIG_SERIAL_TERMIOS=y
 #
 # STM32 Configuration Options
 #
+# CONFIG_ARCH_CHIP_STM32L151C6 is not set
+# CONFIG_ARCH_CHIP_STM32L151C8 is not set
+# CONFIG_ARCH_CHIP_STM32L151CB is not set
+# CONFIG_ARCH_CHIP_STM32L151R6 is not set
+# CONFIG_ARCH_CHIP_STM32L151R8 is not set
+# CONFIG_ARCH_CHIP_STM32L151RB is not set
+# CONFIG_ARCH_CHIP_STM32L151V6 is not set
+# CONFIG_ARCH_CHIP_STM32L151V8 is not set
+# CONFIG_ARCH_CHIP_STM32L151VB is not set
+# CONFIG_ARCH_CHIP_STM32L152C6 is not set
+# CONFIG_ARCH_CHIP_STM32L152C8 is not set
+# CONFIG_ARCH_CHIP_STM32L152CB is not set
+# CONFIG_ARCH_CHIP_STM32L152R6 is not set
+# CONFIG_ARCH_CHIP_STM32L152R8 is not set
+# CONFIG_ARCH_CHIP_STM32L152RB is not set
+# CONFIG_ARCH_CHIP_STM32L152V6 is not set
+# CONFIG_ARCH_CHIP_STM32L152V8 is not set
+# CONFIG_ARCH_CHIP_STM32L152VB is not set
 # CONFIG_ARCH_CHIP_STM32F100C8 is not set
 # CONFIG_ARCH_CHIP_STM32F100CB is not set
 # CONFIG_ARCH_CHIP_STM32F100R8 is not set
@@ -107,6 +126,8 @@ CONFIG_SERIAL_TERMIOS=y
 # CONFIG_ARCH_CHIP_STM32F100VC is not set
 # CONFIG_ARCH_CHIP_STM32F100VD is not set
 # CONFIG_ARCH_CHIP_STM32F100VE is not set
+# CONFIG_ARCH_CHIP_STM32F103C4 is not set
+# CONFIG_ARCH_CHIP_STM32F103C8 is not set
 # CONFIG_ARCH_CHIP_STM32F103RET6 is not set
 # CONFIG_ARCH_CHIP_STM32F103VCT6 is not set
 # CONFIG_ARCH_CHIP_STM32F103VET6 is not set
@@ -138,6 +159,17 @@ CONFIG_ARCH_CHIP_STM32F405RG=y
 # CONFIG_ARCH_CHIP_STM32F427V is not set
 # CONFIG_ARCH_CHIP_STM32F427Z is not set
 # CONFIG_ARCH_CHIP_STM32F427I is not set
+# CONFIG_STM32_STM32L15XX is not set
+# CONFIG_STM32_ENERGYLITE is not set
+# CONFIG_STM32_STM32F10XX is not set
+# CONFIG_STM32_VALUELINE is not set
+# CONFIG_STM32_CONNECTIVITYLINE is not set
+# CONFIG_STM32_PERFORMANCELINE is not set
+# CONFIG_STM32_HIGHDENSITY is not set
+# CONFIG_STM32_MEDIUMDENSITY is not set
+# CONFIG_STM32_LOWDENSITY is not set
+# CONFIG_STM32_STM32F20XX is not set
+# CONFIG_STM32_STM32F30XX is not set
 CONFIG_STM32_STM32F40XX=y
 # CONFIG_STM32_DFU is not set
 
@@ -164,7 +196,6 @@ CONFIG_STM32_DMA2=y
 CONFIG_STM32_I2C1=y
 CONFIG_STM32_I2C2=y
 CONFIG_STM32_I2C3=y
-# CONFIG_STM32_IWDG is not set
 CONFIG_STM32_OTGFS=y
 # CONFIG_STM32_OTGHS is not set
 CONFIG_STM32_PWR=y
@@ -194,7 +225,8 @@ CONFIG_STM32_USART2=y
 # CONFIG_STM32_UART4 is not set
 CONFIG_STM32_UART5=y
 CONFIG_STM32_USART6=y
-CONFIG_STM32_WWDG=y
+# CONFIG_STM32_IWDG is not set
+# CONFIG_STM32_WWDG is not set
 CONFIG_STM32_ADC=y
 CONFIG_STM32_SPI=y
 CONFIG_STM32_I2C=y
@@ -207,6 +239,7 @@ CONFIG_STM32_FLASH_PREFETCH=y
 # CONFIG_STM32_JTAG_FULL_ENABLE is not set
 # CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set
 CONFIG_STM32_JTAG_SW_ENABLE=y
+# CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG is not set
 # CONFIG_STM32_FORCEPOWER is not set
 # CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
@@ -234,7 +267,7 @@ CONFIG_UART5_RXDMA=y
 CONFIG_USART6_RXDMA=y
 # CONFIG_USART7_RXDMA is not set
 # CONFIG_USART8_RXDMA is not set
-# CONFIG_STM32_USART_SINGLEWIRE is not set
+CONFIG_STM32_USART_SINGLEWIRE=y
 
 #
 # SPI Configuration
@@ -245,10 +278,10 @@ CONFIG_USART6_RXDMA=y
 #
 # I2C Configuration
 #
-CONFIG_STM32_I2C_DYNTIMEO=y
-CONFIG_STM32_I2C_DYNTIMEO_USECPERBYTE=500
-CONFIG_STM32_I2C_DYNTIMEO_STARTSTOP=1000
+# CONFIG_STM32_I2C_DYNTIMEO is not set
 CONFIG_STM32_I2CTIMEOSEC=0
+CONFIG_STM32_I2CTIMEOMS=500
+CONFIG_STM32_I2CTIMEOTICKS=500
 # CONFIG_STM32_I2C_DUTY16_9 is not set
 
 #
@@ -312,7 +345,7 @@ CONFIG_ARCH_HAVE_LEDS=y
 CONFIG_ARCH_LEDS=y
 CONFIG_NSH_MMCSDMINOR=0
 CONFIG_NSH_MMCSDSLOTNO=0
-CONFIG_NSH_MMCSDSPIPORTNO=3
+CONFIG_NSH_MMCSDSPIPORTNO=0
 
 #
 # Board-Specific Options
@@ -323,9 +356,9 @@ CONFIG_NSH_MMCSDSPIPORTNO=3
 #
 # CONFIG_BOARD_INITIALIZE is not set
 CONFIG_MSEC_PER_TICK=1
-CONFIG_RR_INTERVAL=10
+CONFIG_RR_INTERVAL=5
 # CONFIG_SCHED_INSTRUMENTATION is not set
-CONFIG_TASK_NAME_SIZE=16
+CONFIG_TASK_NAME_SIZE=24
 # CONFIG_SCHED_HAVE_PARENT is not set
 # CONFIG_JULIAN_TIME is not set
 CONFIG_START_YEAR=2011
@@ -345,7 +378,13 @@ CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_ATEXIT_MAX=1
 # CONFIG_SCHED_ONEXIT is not set
 CONFIG_USER_ENTRYPOINT="nsh_main"
-# CONFIG_DISABLE_OS_API is not set
+CONFIG_DISABLE_OS_API=y
+# CONFIG_DISABLE_CLOCK is not set
+# CONFIG_DISABLE_POSIX_TIMERS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_DISABLE_SIGNALS is not set
+# CONFIG_DISABLE_MQUEUE is not set
+# CONFIG_DISABLE_ENVIRON is not set
 
 #
 # Signal Numbers
@@ -360,7 +399,7 @@ CONFIG_SIG_SIGWORK=17
 # Sizes of configurable things (0 disables)
 #
 CONFIG_MAX_TASKS=16
-CONFIG_MAX_TASK_ARGS=4
+CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
 CONFIG_NFILE_DESCRIPTORS=8
 CONFIG_NFILE_STREAMS=8
@@ -374,7 +413,7 @@ CONFIG_PREALLOC_TIMERS=4
 #
 # Stack and heap information
 #
-CONFIG_IDLETHREAD_STACKSIZE=1024
+CONFIG_IDLETHREAD_STACKSIZE=2048
 CONFIG_USERMAIN_STACKSIZE=2048
 CONFIG_PTHREAD_STACK_MIN=256
 CONFIG_PTHREAD_STACK_DEFAULT=2048
@@ -402,8 +441,9 @@ CONFIG_SPI=y
 CONFIG_SPI_EXCHANGE=y
 # CONFIG_SPI_CMDDATA is not set
 # CONFIG_RTC is not set
-CONFIG_WATCHDOG=y
+# CONFIG_WATCHDOG is not set
 # CONFIG_ANALOG is not set
+# CONFIG_AUDIO_DEVICES is not set
 # CONFIG_BCH is not set
 # CONFIG_INPUT is not set
 # CONFIG_LCD is not set
@@ -411,7 +451,7 @@ CONFIG_MMCSD=y
 CONFIG_MMCSD_NSLOTS=1
 # CONFIG_MMCSD_READONLY is not set
 # CONFIG_MMCSD_MULTIBLOCK_DISABLE is not set
-CONFIG_MMCSD_MMCSUPPORT=y
+# CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_HAVECARDDETECT is not set
 CONFIG_MMCSD_SPI=y
 CONFIG_MMCSD_SPICLOCK=20000000
@@ -421,9 +461,9 @@ CONFIG_PIPES=y
 # CONFIG_PM is not set
 # CONFIG_POWER is not set
 # CONFIG_SENSORS is not set
-# CONFIG_SERCOMM_CONSOLE is not set
 CONFIG_SERIAL=y
 # CONFIG_DEV_LOWCONSOLE is not set
+CONFIG_SERIAL_REMOVABLE=y
 # CONFIG_16550_UART is not set
 CONFIG_ARCH_HAVE_UART5=y
 CONFIG_ARCH_HAVE_USART1=y
@@ -431,11 +471,11 @@ CONFIG_ARCH_HAVE_USART2=y
 CONFIG_ARCH_HAVE_USART6=y
 CONFIG_MCU_SERIAL=y
 CONFIG_STANDARD_SERIAL=y
-CONFIG_USART1_SERIAL_CONSOLE=y
+# CONFIG_USART1_SERIAL_CONSOLE is not set
 # CONFIG_USART2_SERIAL_CONSOLE is not set
 # CONFIG_UART5_SERIAL_CONSOLE is not set
 # CONFIG_USART6_SERIAL_CONSOLE is not set
-# CONFIG_NO_SERIAL_CONSOLE is not set
+CONFIG_NO_SERIAL_CONSOLE=y
 
 #
 # USART1 Configuration
@@ -479,14 +519,19 @@ CONFIG_USART6_2STOP=0
 CONFIG_USBDEV=y
 
 #
-# Device Controller Driver Options
+# USB Device Controller Driver Options
 #
 # CONFIG_USBDEV_ISOCHRONOUS is not set
 # CONFIG_USBDEV_DUALSPEED is not set
 CONFIG_USBDEV_SELFPOWERED=y
 # CONFIG_USBDEV_BUSPOWERED is not set
+CONFIG_USBDEV_MAXPOWER=500
 # CONFIG_USBDEV_DMA is not set
 # CONFIG_USBDEV_TRACE is not set
+
+#
+# USB Device Class Driver Options
+#
 # CONFIG_USBDEV_COMPOSITE is not set
 # CONFIG_PL2303 is not set
 CONFIG_CDCACM=y
@@ -505,20 +550,10 @@ CONFIG_CDCACM_NWRREQS=4
 CONFIG_CDCACM_NRDREQS=4
 CONFIG_CDCACM_RXBUFSIZE=256
 CONFIG_CDCACM_TXBUFSIZE=256
-CONFIG_CDCACM_VENDORID=0x26AC
+CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_PRODUCTID=0x10
 CONFIG_CDCACM_VENDORSTR="3D Robotics"
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v1.x"
-# CONFIG_USBMSC is not set
-# CONFIG_USBHOST is not set
-# CONFIG_WIRELESS is not set
-
-#
-# USB Device Class Driver Options
-#
-# CONFIG_USBDEV_COMPOSITE is not set
-# CONFIG_PL2303 is not set
-# CONFIG_CDCACM is not set
+CONFIG_CDCACM_PRODUCTSTR="PX4FMU v1.x"
 # CONFIG_USBMSC is not set
 # CONFIG_USBHOST is not set
 # CONFIG_WIRELESS is not set
@@ -546,23 +581,19 @@ CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v1.x"
 #
 # CONFIG_DISABLE_MOUNTPOINT is not set
 # CONFIG_FS_RAMMAP is not set
-CONFIG_FS_FAT=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_MAXFNAME=32
-# CONFIG_FS_FATTIME is not set
-# CONFIG_FAT_DMAMEMORY is not set
+# CONFIG_FS_FAT is not set
 # CONFIG_FS_NXFFS is not set
-CONFIG_FS_ROMFS=y
-CONFIG_FS_BINFS=y
+# CONFIG_FS_ROMFS is not set
+# CONFIG_FS_SMARTFS is not set
+# CONFIG_FS_BINFS is not set
 
 #
 # System Logging
 #
-CONFIG_SYSLOG_ENABLE=y
+# CONFIG_SYSLOG_ENABLE is not set
 CONFIG_SYSLOG=y
 CONFIG_SYSLOG_CHAR=y
-CONFIG_SYSLOG_DEVPATH="/dev/syslog"
+CONFIG_SYSLOG_DEVPATH="/dev/ttyS0"
 
 #
 # Graphics Support
@@ -580,6 +611,11 @@ CONFIG_GRAN_SINGLE=y
 CONFIG_GRAN_INTR=y
 
 #
+# Audio Support
+#
+# CONFIG_AUDIO is not set
+
+#
 # Binary Formats
 #
 # CONFIG_BINFMT_DISABLE is not set
@@ -601,9 +637,9 @@ CONFIG_STDIO_BUFFER_SIZE=64
 CONFIG_STDIO_LINEBUFFER=y
 CONFIG_NUNGET_CHARS=2
 CONFIG_LIB_HOMEDIR="/"
-CONFIG_LIBM=y
 # CONFIG_NOPRINTF_FIELDWIDTH is not set
 CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIB_RAND_ORDER=1
 # CONFIG_EOL_IS_CR is not set
 # CONFIG_EOL_IS_LF is not set
 # CONFIG_EOL_IS_BOTH_CRLF is not set
@@ -632,6 +668,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKPERIOD=50000
 CONFIG_SCHED_LPWORKSTACKSIZE=2048
 # CONFIG_LIB_KBDCODEC is not set
+# CONFIG_LIB_SLCDCODEC is not set
 
 #
 # Basic CXX Support
@@ -660,6 +697,7 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
 #
 # CONFIG_EXAMPLES_BUTTONS is not set
 # CONFIG_EXAMPLES_CAN is not set
+# CONFIG_EXAMPLES_CDCACM is not set
 # CONFIG_EXAMPLES_COMPOSITE is not set
 # CONFIG_EXAMPLES_CXXTEST is not set
 # CONFIG_EXAMPLES_DHCPD is not set
@@ -674,8 +712,8 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
 # CONFIG_EXAMPLES_IGMP is not set
 # CONFIG_EXAMPLES_LCDRW is not set
 # CONFIG_EXAMPLES_MM is not set
-# CONFIG_EXAMPLES_MOUNT is not set
 # CONFIG_EXAMPLES_MODBUS is not set
+# CONFIG_EXAMPLES_MOUNT is not set
 CONFIG_EXAMPLES_NSH=y
 # CONFIG_EXAMPLES_NULL is not set
 # CONFIG_EXAMPLES_NX is not set
@@ -695,6 +733,10 @@ CONFIG_EXAMPLES_NSH=y
 # CONFIG_EXAMPLES_ROMFS is not set
 # CONFIG_EXAMPLES_SENDMAIL is not set
 # CONFIG_EXAMPLES_SERLOOP is not set
+# CONFIG_EXAMPLES_SLCD is not set
+# CONFIG_EXAMPLES_SMART_TEST is not set
+# CONFIG_EXAMPLES_SMART is not set
+# CONFIG_EXAMPLES_TCPECHO is not set
 # CONFIG_EXAMPLES_TELNETD is not set
 # CONFIG_EXAMPLES_THTTPD is not set
 # CONFIG_EXAMPLES_TIFF is not set
@@ -791,6 +833,11 @@ CONFIG_NSH_BUILTIN_APPS=y
 # CONFIG_NSH_DISABLE_USLEEP is not set
 # CONFIG_NSH_DISABLE_WGET is not set
 # CONFIG_NSH_DISABLE_XD is not set
+
+#
+# Configure Command Options
+#
+# CONFIG_NSH_CMDOPT_DF_H is not set
 CONFIG_NSH_CODECS_BUFSIZE=128
 CONFIG_NSH_FILEIOSIZE=512
 # CONFIG_NSH_STRERROR is not set
@@ -798,7 +845,6 @@ CONFIG_NSH_LINELEN=64
 CONFIG_NSH_NESTDEPTH=3
 # CONFIG_NSH_DISABLESCRIPT is not set
 # CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_ROMFSETC is not set
 CONFIG_NSH_CONSOLE=y
 # CONFIG_NSH_USBCONSOLE is not set
 
@@ -824,14 +870,7 @@ CONFIG_NSH_ARCHINIT=y
 #
 # I2C tool
 #
-CONFIG_SYSTEM_I2CTOOL=y
-CONFIG_I2CTOOL_BUILTIN=y
-CONFIG_I2CTOOL_MINBUS=0
-CONFIG_I2CTOOL_MAXBUS=3
-CONFIG_I2CTOOL_MINADDR=0x03
-CONFIG_I2CTOOL_MAXADDR=0x77
-CONFIG_I2CTOOL_MAXREGADDR=0xff
-CONFIG_I2CTOOL_DEFFREQ=4000000
+# CONFIG_SYSTEM_I2CTOOL is not set
 
 #
 # FLASH Program Installation
@@ -839,6 +878,10 @@ CONFIG_I2CTOOL_DEFFREQ=4000000
 # CONFIG_SYSTEM_INSTALL is not set
 
 #
+# FLASH Erase-all Command
+#
+
+#
 # readline()
 #
 CONFIG_SYSTEM_READLINE=y
diff --git a/nuttx/configs/px4fmu-v1/usbnsh/setenv.sh b/nuttx/configs/px4fmu-v1/usbnsh/setenv.sh
index 2476845b6..db372217c 100755
--- a/nuttx/configs/px4fmu-v1/usbnsh/setenv.sh
+++ b/nuttx/configs/px4fmu-v1/usbnsh/setenv.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
-# configs/stm32f4discovery/nsh/setenv.sh
+# configs/px4fmu-v1/usbnsh/setenv.sh
 #
-#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2013 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without