Part I of port of Rhombus math library

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@5269 42af7a65-404d-4744-a932-0658087f49c3

35 files changed, 1645 insertions, 14 deletions

diff --git a/nuttx/lib/Kconfig b/nuttx/lib/Kconfig
index ddd5e2dde..77cf62665 100644
--- a/nuttx/lib/Kconfig
+++ b/nuttx/lib/Kconfig
@@ -30,12 +30,27 @@ config LIB_HOMEDIR
 	---help---
 		The home directory to use with operations like such as 'cd ~'
 
-config HAVE_LIBM
-	bool "Architecture-specific libm.a"
+config LIBM
+	bool "Math library"
 	default n
+	depends on !ARCH_MATH_H
 	---help---
-		Architecture specific logic provides an implementation of libm.a
-		and a math.h header file that can be found at include/arch/math.h.
+		By default, no math library will be provided by NuttX.  In this this case, it
+		is assumed that (1) no math library is required, or (2) you will be using the
+		math.h header file and the libm library provided by your toolchain.
+
+		This is may be a very good choice is possible because your toolchain may have
+		have a highly optimized version of libm.
+
+		Another possibility is that you have a custom, architecture-specific math
+		libary and that the corresponding math.h file resides at arch/<architecture>/include/math.h.
+		The option is selected via ARCH_MATH_H.  If ARCH_MATH_H is selected,then the include/nuttx/math.h
+ 		header file will be copied to include/math.h where it can be used by your applications.
+
+		If ARCH_MATH_H is not defined, then this option can be selected to build a generic,
+		math library built into NuttX.  This math library comes from the Rhombus OS and
+		was written by Nick Johnson.  The Rhombus OS math library port was contributed by
+		Darcy Gong.
 
 config NOPRINTF_FIELDWIDTH
 	bool "Disable sprintf support fieldwidth"
diff --git a/nuttx/lib/Makefile b/nuttx/lib/Makefile
index fc8f0c4dd..5c62967ce 100644
--- a/nuttx/lib/Makefile
+++ b/nuttx/lib/Makefile
@@ -50,7 +50,7 @@ include pthread/Make.defs
 include semaphore/Make.defs
 include signal/Make.defs
 include mqueue/Make.defs
-include math/Make.defs
+include fixedmath/Make.defs
 include net/Make.defs
 include time/Make.defs
 include libgen/Make.defs
diff --git a/nuttx/lib/README.txt b/nuttx/lib/README.txt
index 63d1c343c..e99304841 100644
--- a/nuttx/lib/README.txt
+++ b/nuttx/lib/README.txt
@@ -26,7 +26,8 @@ in the include/ directory provides the prototype for library functions.  So
 we have:
 
   libgen    - libgen.h
-  math      - math.h and fixedmath.h
+  fixedmath - fixedmath.h
+  math      - math.h
   mqueue    - pthread.h
   net       - Various network-related header files: netinet/ether.h, arpa/inet.h
   pthread   - pthread.h
diff --git a/nuttx/lib/fixedmath/Make.defs b/nuttx/lib/fixedmath/Make.defs
new file mode 100644
index 000000000..578e33015
--- /dev/null
+++ b/nuttx/lib/fixedmath/Make.defs
@@ -0,0 +1,43 @@
+############################################################################
+# lib/fixedmath/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.
+#
+############################################################################
+
+# Add the fixed precision math C files to the build
+
+CSRCS += lib_rint.c lib_fixedmath.c lib_b16sin.c lib_b16cos.c lib_b16atan2.c
+
+# Add the fixed precision math directory to the build
+
+DEPPATH += --dep-path fixedmath
+VPATH += :fixedmath
diff --git a/nuttx/lib/math/lib_b16atan2.c b/nuttx/lib/fixedmath/lib_b16atan2.c
index 8792fa087..69d132f80 100644
--- a/nuttx/lib/math/lib_b16atan2.c
+++ b/nuttx/lib/fixedmath/lib_b16atan2.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/math/lib_b16atan2.c
+ * lib/fixedmath/lib_b16atan2.c
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/math/lib_b16cos.c b/nuttx/lib/fixedmath/lib_b16cos.c
index 7547871f6..3e9229029 100644
--- a/nuttx/lib/math/lib_b16cos.c
+++ b/nuttx/lib/fixedmath/lib_b16cos.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/math/lib_b16cos.c
+ * lib/fixedmath/lib_b16cos.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/math/lib_b16sin.c b/nuttx/lib/fixedmath/lib_b16sin.c
index 1eee17993..491b0ec78 100644
--- a/nuttx/lib/math/lib_b16sin.c
+++ b/nuttx/lib/fixedmath/lib_b16sin.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * lib/math/lib_b16sin.c
+ * lib/fixedmath/lib_b16sin.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/math/lib_fixedmath.c b/nuttx/lib/fixedmath/lib_fixedmath.c
index c1a710e73..c1a710e73 100644
--- a/nuttx/lib/math/lib_fixedmath.c
+++ b/nuttx/lib/fixedmath/lib_fixedmath.c
diff --git a/nuttx/lib/math/lib_rint.c b/nuttx/lib/fixedmath/lib_rint.c
index bd861eced..3a6407b8c 100644
--- a/nuttx/lib/math/lib_rint.c
+++ b/nuttx/lib/fixedmath/lib_rint.c
@@ -1,5 +1,5 @@
 /************************************************************
- * lib/math/lib_rint.c
+ * lib/fixedmath/lib_rint.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/nuttx/lib/math/Kconfig b/nuttx/lib/math/Kconfig
new file mode 100644
index 000000000..ae2bf3130
--- /dev/null
+++ b/nuttx/lib/math/Kconfig
@@ -0,0 +1,4 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
diff --git a/nuttx/lib/math/Make.defs b/nuttx/lib/math/Make.defs
index 126cd2f47..f656e1a73 100644
--- a/nuttx/lib/math/Make.defs
+++ b/nuttx/lib/math/Make.defs
@@ -1,7 +1,7 @@
 ############################################################################
 # lib/math/Make.defs
 #
-#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -33,11 +33,17 @@
 #
 ############################################################################
 
-# Add the math C files to the build
+if ($(CONFIG_LIBM),y)
 
-CSRCS += lib_rint.c lib_fixedmath.c lib_b16sin.c lib_b16cos.c lib_b16atan2.c
+# Add the floating point math C files to the build
 
-# Add the math directory to the build
+CSRCS += lib_acos.c lib_asin.c lib_atan.c lib_atan2.c lib_ceil.c lib_cos.c
+CSRCS += lib_cosh.c lib_exp.c lib_fabs.c lib_floor.c lib_fmod.c lib_frexp.c
+CRRCS += lib_ldexp.c lib_log.c lib_log10.c lib_log2.c lib_modf.c lib_pow.c
+CSRCS += lib_sin.c lib_sinh.c lib_sqrt.c lib_tan.c lib_tanh.c
+
+# Add the floating point math directory to the build
 
 DEPPATH += --dep-path math
 VPATH += :math
+endif
diff --git a/nuttx/lib/math/Makefile b/nuttx/lib/math/Makefile
new file mode 100644
index 000000000..56be0f0ab
--- /dev/null
+++ b/nuttx/lib/math/Makefile
@@ -0,0 +1,100 @@
+############################################################################
+# nuttx/lib/math/Makefile
+#
+#   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)/Make.defs
+include $(APPDIR)/Make.defs
+
+# NSH Library
+
+ASRCS	=
+CSRCS	=
+
+ifeq ($(CONFIG_MATHEXT_LIBRARY),y)
+CSRCS	+= m_cos.c m_log2.c m_fmod.c m_sin.c m_fabs.c m_exp.c m_asin.c m_tan.c      \
+           m_modf.c m_ldexp.c m_acos.c m_frexp.c m_atan.c m_log.c m_tanh.c m_ceil.c \
+           m_sinh.c m_sqrt.c m_pow.c m_cosh.c m_floor.c m_atan2.c m_log10.c
+endif
+
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ifeq ($(WINTOOL),y)
+  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+else
+  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+endif
+
+ROOTDEPPATH	= --dep-path .
+VPATH		= 
+
+# Build targets
+
+all:	.built
+.PHONY: context .depend depend clean distclean
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+.built: $(OBJS)
+	@( for obj in $(OBJS) ; do \
+		$(call ARCHIVE, $(BIN), $${obj}); \
+	done ; )
+	@touch .built
+
+context:
+
+.depend: Makefile $(SRCS)
+	@$(MKDEP) $(ROOTDEPPATH) \
+	  $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@touch $@
+
+depend: .depend
+
+clean:
+	@rm -f *.o *~ .*.swp .built
+	$(call CLEAN)
+
+distclean: clean
+	@rm -f Make.dep .depend
+
+-include Make.dep
+
diff --git a/nuttx/lib/math/lib_acos.c b/nuttx/lib/math/lib_acos.c
new file mode 100644
index 000000000..83650d132
--- /dev/null
+++ b/nuttx/lib/math/lib_acos.c
@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float acosf(float x) {
+	return (M_PI_2 - asinf(x));
+}
+
+double acos(double x) {
+	return (M_PI_2 - asin(x));
+}
+
+long double acosl(long double x) {
+	return (M_PI_2 - asinl(x));
+}
diff --git a/nuttx/lib/math/lib_asin.c b/nuttx/lib/math/lib_asin.c
new file mode 100644
index 000000000..9d72e8042
--- /dev/null
+++ b/nuttx/lib/math/lib_asin.c
@@ -0,0 +1,88 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float asinf(float x) {
+	long double y, y_sin, y_cos;
+
+	y = 0;
+
+	while (1) {
+		y_sin = sinf(y);
+		y_cos = cosf(y);
+
+		if (y > M_PI_2 || y < -M_PI_2) {
+			y = fmodf(y, M_PI);
+		}
+
+		if (y_sin + DBL_EPSILON >= x && y_sin - DBL_EPSILON <= x) {
+			break;
+		}
+
+		y = y - (y_sin - x) / y_cos;
+	}
+
+	return y;
+}
+
+double asin(double x) {
+	long double y, y_sin, y_cos;
+
+	y = 0;
+
+	while (1) {
+		y_sin = sin(y);
+		y_cos = cos(y);
+
+		if (y > M_PI_2 || y < -M_PI_2) {
+			y = fmod(y, M_PI);
+		}
+
+		if (y_sin + DBL_EPSILON >= x && y_sin - DBL_EPSILON <= x) {
+			break;
+		}
+
+		y = y - (y_sin - x) / y_cos;
+	}
+
+	return y;
+}
+
+long double asinl(long double x) {
+	long double y, y_sin, y_cos;
+
+	y = 0;
+
+	while (1) {
+		y_sin = sinl(y);
+		y_cos = cosl(y);
+
+		if (y > M_PI_2 || y < -M_PI_2) {
+			y = fmodl(y, M_PI);
+		}
+
+		if (y_sin + LDBL_EPSILON >= x && y_sin - LDBL_EPSILON <= x) {
+			break;
+		}
+
+		y = y - (y_sin - x) / y_cos;
+	}
+
+	return y;
+}
+
diff --git a/nuttx/lib/math/lib_atan.c b/nuttx/lib/math/lib_atan.c
new file mode 100644
index 000000000..e909e5a8e
--- /dev/null
+++ b/nuttx/lib/math/lib_atan.c
@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+#include <stddef.h>
+#include <stdint.h>
+
+float atanf(float x) {	
+	return asinf(x / sqrtf(x * x + 1));
+}
+
+double atan(double x) {
+	return asin(x / sqrt(x * x + 1));
+}
+
+long double atanl(long double x) {
+	return asinl(x / sqrtl(x * x + 1));
+}
diff --git a/nuttx/lib/math/lib_atan2.c b/nuttx/lib/math/lib_atan2.c
new file mode 100644
index 000000000..b4ded0c16
--- /dev/null
+++ b/nuttx/lib/math/lib_atan2.c
@@ -0,0 +1,120 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float atan2f(float y, float x) {
+	
+	if (y == 0.0) {
+		if (x >= 0.0) {
+			return 0.0;
+		}
+		else {
+			return M_PI;
+		}
+	}
+	else if (y > 0.0) {
+		if (x == 0.0) {
+			return M_PI_2;
+		}
+		else if (x > 0.0) {
+			return atanf(y / x);
+		}
+		else {
+			return M_PI - atanf(y / x);
+		}
+	}
+	else {
+		if (x == 0.0) {
+			return M_PI + M_PI_2;
+		}
+		else if (x > 0.0) {
+			return 2 * M_PI - atanf(y / x);
+		}
+		else {
+			return M_PI + atanf(y / x);
+		}
+	}
+}
+
+double atan2(double y, double x) {
+	
+	if (y == 0.0) {
+		if (x >= 0.0) {
+			return 0.0;
+		}
+		else {
+			return M_PI;
+		}
+	}
+	else if (y > 0.0) {
+		if (x == 0.0) {
+			return M_PI_2;
+		}
+		else if (x > 0.0) {
+			return atan(y / x);
+		}
+		else {
+			return M_PI - atan(y / x);
+		}
+	}
+	else {
+		if (x == 0.0) {
+			return M_PI + M_PI_2;
+		}
+		else if (x > 0.0) {
+			return 2 * M_PI - atan(y / x);
+		}
+		else {
+			return M_PI + atan(y / x);
+		}
+	}
+}
+
+long double atan2l(long double y, long double x) {
+	
+	if (y == 0.0) {
+		if (x >= 0.0) {
+			return 0.0;
+		}
+		else {
+			return M_PI;
+		}
+	}
+	else if (y > 0.0) {
+		if (x == 0.0) {
+			return M_PI_2;
+		}
+		else if (x > 0.0) {
+			return atanl(y / x);
+		}
+		else {
+			return M_PI - atanl(y / x);
+		}
+	}
+	else {
+		if (x == 0.0) {
+			return M_PI + M_PI_2;
+		}
+		else if (x > 0.0) {
+			return 2 * M_PI - atanl(y / x);
+		}
+		else {
+			return M_PI + atanl(y / x);
+		}
+	}
+}
diff --git a/nuttx/lib/math/lib_ceil.c b/nuttx/lib/math/lib_ceil.c
new file mode 100644
index 000000000..c2447c0b8
--- /dev/null
+++ b/nuttx/lib/math/lib_ceil.c
@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float ceilf(float x) {
+	modff(x, &x);
+	if (x > 0.0) x += 1.0;
+	return x;
+}
+
+double ceil(double x) {
+	modf(x, &x);
+	if (x > 0.0) x += 1.0;
+	return x;
+}
+
+long double ceill(long double x) {
+	modfl(x, &x);
+	if (x > 0.0) x += 1.0;
+	return x;
+}
+
diff --git a/nuttx/lib/math/lib_cos.c b/nuttx/lib/math/lib_cos.c
new file mode 100644
index 000000000..f8732b041
--- /dev/null
+++ b/nuttx/lib/math/lib_cos.c
@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <stdint.h>
+#include <float.h>
+#include <apps/math.h>
+
+float cosf(float x) {
+	return sinf(x + M_PI_2);
+}
+
+double cos(double x) {
+	return sin(x + M_PI_2);
+}
+
+long double cosl(long double x) {
+	return sinl(x + M_PI_2);
+}
diff --git a/nuttx/lib/math/lib_cosh.c b/nuttx/lib/math/lib_cosh.c
new file mode 100644
index 000000000..106990311
--- /dev/null
+++ b/nuttx/lib/math/lib_cosh.c
@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float coshf(float x) {
+	x = expf(x);
+	return ((x + (1.0 / x)) / 2.0);
+}
+
+double cosh(double x) {
+	x = exp(x);
+	return ((x + (1.0 / x)) / 2.0);
+}
+
+long double coshl(long double x) {
+	x = expl(x);
+	return ((x + (1.0 / x)) / 2.0);
+}
diff --git a/nuttx/lib/math/lib_exp.c b/nuttx/lib/math/lib_exp.c
new file mode 100644
index 000000000..a70cb10e7
--- /dev/null
+++ b/nuttx/lib/math/lib_exp.c
@@ -0,0 +1,253 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <unistd.h>
+
+#define M_E2 	(M_E * M_E)
+#define M_E4 	(M_E2 * M_E2)
+#define M_E8	(M_E4 * M_E4)
+#define M_E16	(M_E8 * M_E8)
+#define M_E32	(M_E16 * M_E16)
+#define M_E64	(M_E32 * M_E32)
+#define M_E128	(M_E64 * M_E64)
+#define M_E256	(M_E128 * M_E128)
+#define M_E512	(M_E256 * M_E256)
+#define M_E1024	(M_E512 * M_E512)
+
+static double _expi_square_tbl[11] = {
+	M_E,		// e^1
+	M_E2,		// e^2
+	M_E4,		// e^4
+	M_E8,		// e^8
+	M_E16,		// e^16
+	M_E32,		// e^32
+	M_E64,		// e^64
+	M_E128,		// e^128
+	M_E256,		// e^256
+	M_E512,		// e^512
+	M_E1024,	// e^1024
+};
+
+static double _expi(size_t n) {
+	size_t i;
+	double val;
+
+	if (n > 1024) {
+		return INFINITY;
+	}
+
+	val = 1.0;
+
+	for (i = 0; n; i++) {
+		if (n & (1 << i)) {
+			n &= ~(1 << i);
+			val *= _expi_square_tbl[i];
+		}
+	}
+
+	return val;
+}
+
+static float _flt_inv_fact[] = {
+	1.0 / 1.0,			// 1/0!
+	1.0 / 1.0,			// 1/1!
+	1.0 / 2.0,			// 1/2!
+	1.0 / 6.0,			// 1/3!
+	1.0 / 24.0,			// 1/4!
+	1.0 / 120.0,		// 1/5!
+	1.0 / 720.0,		// 1/6!
+	1.0 / 5040.0,		// 1/7!
+	1.0 / 40320.0,		// 1/8!
+	1.0 / 362880.0,		// 1/9!
+	1.0 / 3628800.0,	// 1/10!
+};	
+
+float expf(float x) {
+	size_t int_part;
+	bool invert;
+	float value;
+	float x0;
+	size_t i;
+
+	if (x == 0) {
+		return 1;
+	}
+	else if (x < 0) {
+		invert = true;
+		x = -x;
+	}
+	else {
+		invert = false;
+	}
+
+	/* extract integer component */
+	int_part = (size_t) x;
+
+	/* set x to fractional component */
+	x -= (float) int_part;
+
+	/* perform Taylor series approximation with eleven terms */
+	value = 0.0;
+	x0 = 1.0;
+	for (i = 0; i < 10; i++) {
+		value += x0 * _flt_inv_fact[i];
+		x0 *= x;
+	}
+	
+	/* multiply by exp of the integer component */
+	value *= _expi(int_part);
+
+	if (invert) {
+		return (1.0 / value);
+	}
+	else {
+		return value;
+	}
+}
+
+static double _dbl_inv_fact[] = {
+	1.0 / 1.0,					// 1 / 0!
+	1.0 / 1.0,					// 1 / 1!
+	1.0 / 2.0,					// 1 / 2!
+	1.0 / 6.0,					// 1 / 3!
+	1.0 / 24.0,					// 1 / 4!
+	1.0 / 120.0,				// 1 / 5!
+	1.0 / 720.0,				// 1 / 6!
+	1.0 / 5040.0,				// 1 / 7!
+	1.0 / 40320.0,				// 1 / 8!
+	1.0 / 362880.0,				// 1 / 9!
+	1.0 / 3628800.0,			// 1 / 10!
+	1.0 / 39916800.0,			// 1 / 11!
+	1.0 / 479001600.0,			// 1 / 12!
+	1.0 / 6227020800.0,			// 1 / 13!
+	1.0 / 87178291200.0,		// 1 / 14!
+	1.0 / 1307674368000.0,		// 1 / 15!
+	1.0 / 20922789888000.0,		// 1 / 16!
+	1.0 / 355687428096000.0,	// 1 / 17!
+	1.0 / 6402373705728000.0,	// 1 / 18!
+};
+
+double exp(double x) {
+	size_t int_part;
+	bool invert;
+	double value;
+	double x0;
+	size_t i;
+
+	if (x == 0) {
+		return 1;
+	}
+	else if (x < 0) {
+		invert = true;
+		x = -x;
+	}
+	else {
+		invert = false;
+	}
+
+	/* extract integer component */
+	int_part = (size_t) x;
+
+	/* set x to fractional component */
+	x -= (double) int_part;
+
+	/* perform Taylor series approximation with nineteen terms */
+	value = 0.0;
+	x0 = 1.0;
+	for (i = 0; i < 19; i++) {
+		value += x0 * _dbl_inv_fact[i];
+		x0 *= x;
+	}
+	
+	/* multiply by exp of the integer component */
+	value *= _expi(int_part);
+
+	if (invert) {
+		return (1.0 / value);
+	}
+	else {
+		return value;
+	}
+}
+
+static long double _ldbl_inv_fact[] = {
+	1.0 / 1.0,					// 1 / 0!
+	1.0 / 1.0,					// 1 / 1!
+	1.0 / 2.0,					// 1 / 2!
+	1.0 / 6.0,					// 1 / 3!
+	1.0 / 24.0,					// 1 / 4!
+	1.0 / 120.0,				// 1 / 5!
+	1.0 / 720.0,				// 1 / 6!
+	1.0 / 5040.0,				// 1 / 7!
+	1.0 / 40320.0,				// 1 / 8!
+	1.0 / 362880.0,				// 1 / 9!
+	1.0 / 3628800.0,			// 1 / 10!
+	1.0 / 39916800.0,			// 1 / 11!
+	1.0 / 479001600.0,			// 1 / 12!
+	1.0 / 6227020800.0,			// 1 / 13!
+	1.0 / 87178291200.0,		// 1 / 14!
+	1.0 / 1307674368000.0,		// 1 / 15!
+	1.0 / 20922789888000.0,		// 1 / 16!
+	1.0 / 355687428096000.0,	// 1 / 17!
+	1.0 / 6402373705728000.0,	// 1 / 18!
+};
+
+long double expl(long double x) {
+	size_t int_part;
+	bool invert;
+	long double value;
+	long double x0;
+	size_t i;
+
+	if (x == 0) {
+		return 1;
+	}
+	else if (x < 0) {
+		invert = true;
+		x = -x;
+	}
+	else {
+		invert = false;
+	}
+
+	/* extract integer component */
+	int_part = (size_t) x;
+
+	/* set x to fractional component */
+	x -= (long double) int_part;
+
+	/* perform Taylor series approximation with nineteen terms */
+	value = 0.0;
+	x0 = 1.0;
+	for (i = 0; i < 19; i++) {
+		value += x0 * _ldbl_inv_fact[i];
+		x0 *= x;
+	}
+	
+	/* multiply by exp of the integer component */
+	value *= _expi(int_part);
+
+	if (invert) {
+		return (1.0 / value);
+	}
+	else {
+		return value;
+	}
+}
diff --git a/nuttx/lib/math/lib_fabs.c b/nuttx/lib/math/lib_fabs.c
new file mode 100644
index 000000000..f479aa123
--- /dev/null
+++ b/nuttx/lib/math/lib_fabs.c
@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float fabsf(float x) {
+	return ((x < 0) ? -x : x);
+}
+
+double fabs(double x) {
+	return ((x < 0) ? -x : x);
+}
+
+long double fabsl(long double x) {
+	return ((x < 0) ? -x : x);
+}
diff --git a/nuttx/lib/math/lib_floor.c b/nuttx/lib/math/lib_floor.c
new file mode 100644
index 000000000..a6979ac8a
--- /dev/null
+++ b/nuttx/lib/math/lib_floor.c
@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float floorf(float x) {
+	modff(x, &x);
+	if (x < 0.0) x -= 1.0;
+	return x;
+}
+
+double floor(double x) {
+	modf(x, &x);
+	if (x < 0.0) x -= 1.0;
+	return x;
+}
+
+long double floorl(long double x) {
+	modfl(x, &x);
+	if (x < 0.0) x -= 1.0;
+	return x;
+}
+
diff --git a/nuttx/lib/math/lib_fmod.c b/nuttx/lib/math/lib_fmod.c
new file mode 100644
index 000000000..532fa3360
--- /dev/null
+++ b/nuttx/lib/math/lib_fmod.c
@@ -0,0 +1,67 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+/* If GCC/CLang builtins are available, use them */
+#ifdef __GNUC__
+
+float fmodf(float x, float div) {
+	return __builtin_fmodf(x, div);
+}
+
+double fmod(double x, double div) {
+	return __builtin_fmod(x, div);
+}
+
+long double fmodl(long double x, long double div) {
+	return __builtin_fmodl(x, div);
+}
+
+#else
+
+float fmodf(float x, float div) {
+	float n0;
+
+	x /= div;
+	x = modff(x, &n0);
+	x *= div;
+
+	return x;
+}
+
+double fmod(double x, double div) {
+	double n0;
+
+	x /= div;
+	x = modf(x, &n0);
+	x *= div;
+
+	return x;
+}
+
+long double fmodl(long double x, long double div) {
+	long double n0;
+
+	x /= div;
+	x = modfl(x, &n0);
+	x *= div;
+
+	return x;
+}
+
+#endif
diff --git a/nuttx/lib/math/lib_frexp.c b/nuttx/lib/math/lib_frexp.c
new file mode 100644
index 000000000..102609dbe
--- /dev/null
+++ b/nuttx/lib/math/lib_frexp.c
@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float frexpf(float x, int *exp) {
+	*exp = (int) ceilf(log2f(x));
+	return x / ldexpf(1.0, *exp);
+}
+
+double frexp(double x, int *exp) {
+	*exp = (int) ceil(log2(x));
+	return x / ldexp(1.0, *exp);
+}
+
+long double frexpl(long double x, int *exp) {
+	*exp = (int) ceill(log2(x));
+	return x / ldexpl(1.0, *exp);
+}
+
diff --git a/nuttx/lib/math/lib_ldexp.c b/nuttx/lib/math/lib_ldexp.c
new file mode 100644
index 000000000..2ca79221a
--- /dev/null
+++ b/nuttx/lib/math/lib_ldexp.c
@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float ldexpf(float x, int n) {
+	return (x * powf(2.0, (float) n));
+}
+
+double ldexp(double x, int n) {
+	return (x * pow(2.0, (double) n));
+}
+
+long double ldexpl(long double x, int n) {
+	return (x * powl(2.0, (long double) n));
+}
+
diff --git a/nuttx/lib/math/lib_log.c b/nuttx/lib/math/lib_log.c
new file mode 100644
index 000000000..62af0368a
--- /dev/null
+++ b/nuttx/lib/math/lib_log.c
@@ -0,0 +1,113 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float logf(float x) {
+	float y, y_old, ey, epsilon;
+
+	y = 0.0;
+	y_old = 1.0;
+	epsilon = FLT_EPSILON;
+
+	while (y > y_old + epsilon || y < y_old - epsilon) {
+		y_old = y;
+		ey = exp(y);
+		y -= (ey - x) / ey;
+
+		if (y > 700.0) {
+			y = 700.0;
+		}
+		if (y < -700.0) {
+			y = -700.0;
+		}
+
+		epsilon = (fabs(y) > 1.0) ? fabs(y) * FLT_EPSILON : FLT_EPSILON;
+	}
+
+	if (y == 700.0) {
+		return INFINITY;
+	}
+	if (y == -700.0) {
+		return INFINITY;
+	}
+
+	return y;
+}
+
+double log(double x) {
+	double y, y_old, ey, epsilon;
+
+	y = 0.0;
+	y_old = 1.0;
+	epsilon = DBL_EPSILON;
+
+	while (y > y_old + epsilon || y < y_old - epsilon) {
+		y_old = y;
+		ey = exp(y);
+		y -= (ey - x) / ey;
+
+		if (y > 700.0) {
+			y = 700.0;
+		}
+		if (y < -700.0) {
+			y = -700.0;
+		}
+
+		epsilon = (fabs(y) > 1.0) ? fabs(y) * DBL_EPSILON : DBL_EPSILON;
+	}
+
+	if (y == 700.0) {
+		return INFINITY;
+	}
+	if (y == -700.0) {
+		return INFINITY;
+	}
+
+	return y;
+}
+
+long double logl(long double x) {
+	long double y, y_old, ey, epsilon;
+
+	y = 0.0;
+	y_old = 1.0;
+	epsilon = 1e-6; //fixme
+
+	while (y > y_old + epsilon || y < y_old - epsilon) {
+		y_old = y;
+		ey = expl(y);
+		y -= (ey - x) / ey;
+
+		if (y > 700.0) {
+			y = 700.0;
+		}
+		if (y < -700.0) {
+			y = -700.0;
+		}
+	}
+
+	if (y == 700.0) {
+		return INFINITY;
+	}
+	if (y == -700.0) {
+		return INFINITY;
+	}
+
+	return y;
+}
+
diff --git a/nuttx/lib/math/lib_log10.c b/nuttx/lib/math/lib_log10.c
new file mode 100644
index 000000000..855480ad6
--- /dev/null
+++ b/nuttx/lib/math/lib_log10.c
@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float log10f(float x) {
+	return (logf(x) / M_LN10);
+}
+
+double log10(double x) {
+	return (log(x) / M_LN10);
+}
+
+long double log10l(long double x) {
+	return (logl(x) / M_LN10);
+}
diff --git a/nuttx/lib/math/lib_log2.c b/nuttx/lib/math/lib_log2.c
new file mode 100644
index 000000000..f8eb541b2
--- /dev/null
+++ b/nuttx/lib/math/lib_log2.c
@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float log2f(float x) {
+	return (logf(x) / M_LN2);
+}
+
+double log2(double x) {
+	return (log(x) / M_LN2);
+}
+
+long double log2l(long double x) {
+	return (logl(x) / M_LN2);
+}
diff --git a/nuttx/lib/math/lib_modf.c b/nuttx/lib/math/lib_modf.c
new file mode 100644
index 000000000..1e6fadc11
--- /dev/null
+++ b/nuttx/lib/math/lib_modf.c
@@ -0,0 +1,65 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+#include <stdint.h>
+
+float modff(float x, float *iptr) {
+	if (fabsf(x) >= 8388608.0) {
+		*iptr = x;
+		return 0.0;
+	}
+	else if (fabs(x) < 1.0) {
+		*iptr = 0.0;
+		return x;
+	}
+	else {
+		*iptr = (float) (int) x;
+		return (x - *iptr);
+	}
+}
+
+double modf(double x, double *iptr) {
+	if (fabs(x) >= 4503599627370496.0) {
+		*iptr = x;
+		return 0.0;
+	}
+	else if (fabs(x) < 1.0) {
+		*iptr = 0.0;
+		return x;
+	}
+	else {
+		*iptr = (double) (int64_t) x;
+		return (x - *iptr);
+	}
+}
+
+long double modfl(long double x, long double *iptr) {
+	if (fabs(x) >= 4503599627370496.0) {
+		*iptr = x;
+		return 0.0;
+	}
+	else if (fabs(x) < 1.0) {
+		*iptr = 0.0;
+		return x;
+	}
+	else {
+		*iptr = (long double) (int64_t) x;
+		return (x - *iptr);
+	}
+}
+
diff --git a/nuttx/lib/math/lib_pow.c b/nuttx/lib/math/lib_pow.c
new file mode 100644
index 000000000..b353359eb
--- /dev/null
+++ b/nuttx/lib/math/lib_pow.c
@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float powf(float b, float e) {
+	return expf(e * logf(b));
+}
+
+double pow(double b, double e) {
+	return exp(e * log(b));
+}
+
+long double powl(long double b, long double e) {
+	return expl(e * logl(b));
+}
diff --git a/nuttx/lib/math/lib_sin.c b/nuttx/lib/math/lib_sin.c
new file mode 100644
index 000000000..e862104fd
--- /dev/null
+++ b/nuttx/lib/math/lib_sin.c
@@ -0,0 +1,152 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <stdint.h>
+#include <unistd.h>
+#include <float.h>
+#include <apps/math.h>
+
+static float _flt_inv_fact[] = {
+	1.0 / 1.0,			// 1 / 1!
+	1.0 / 6.0,			// 1 / 3!
+	1.0 / 120.0,		// 1 / 5!
+	1.0 / 5040.0,		// 1 / 7!
+	1.0 / 362880.0,		// 1 / 9!
+	1.0 / 39916800.0,	// 1 / 11!
+};
+
+float sinf(float x) {
+	float x_squared;
+	float sin_x;
+	size_t i;
+	
+	/* move x to [-pi, pi) */
+	x = fmodf(x, 2 * M_PI);
+	if (x >= M_PI) x -= 2 * M_PI;
+	if (x < -M_PI) x += 2 * M_PI;
+
+	/* move x to [-pi/2, pi/2) */
+	if (x >= M_PI_2) x =  M_PI - x;
+	if (x < -M_PI_2) x = -M_PI - x;
+
+	x_squared = x * x;
+	sin_x = 0.0;
+
+	/* perform Taylor series approximation for sin(x) with six terms */
+	for (i = 0; i < 6; i++) {
+		if (i % 2 == 0) {
+			sin_x += x * _flt_inv_fact[i];
+		}
+		else {
+			sin_x -= x * _flt_inv_fact[i];
+		}
+
+		x *= x_squared;
+	}
+
+	return sin_x;
+}
+	
+static double _dbl_inv_fact[] = {
+	1.0 / 1.0,						// 1 / 1!
+	1.0 / 6.0,						// 1 / 3!
+	1.0 / 120.0,					// 1 / 5!
+	1.0 / 5040.0,					// 1 / 7!
+	1.0 / 362880.0,					// 1 / 9!
+	1.0 / 39916800.0,				// 1 / 11!
+	1.0 / 6227020800.0,				// 1 / 13!
+	1.0 / 1307674368000.0,			// 1 / 15!
+	1.0 / 355687428096000.0,		// 1 / 17!
+	1.0 / 121645100408832000.0,		// 1 / 19!
+};
+
+double sin(double x) {
+	double x_squared;
+	double sin_x;
+	size_t i;
+	
+	/* move x to [-pi, pi) */
+	x = fmod(x, 2 * M_PI);
+	if (x >= M_PI) x -= 2 * M_PI;
+	if (x < -M_PI) x += 2 * M_PI;
+
+	/* move x to [-pi/2, pi/2) */
+	if (x >= M_PI_2) x =  M_PI - x;
+	if (x < -M_PI_2) x = -M_PI - x;
+
+	x_squared = x * x;
+	sin_x = 0.0;
+
+	/* perform Taylor series approximation for sin(x) with ten terms */
+	for (i = 0; i < 10; i++) {
+		if (i % 2 == 0) {
+			sin_x += x * _dbl_inv_fact[i];
+		}
+		else {
+			sin_x -= x * _dbl_inv_fact[i];
+		}
+
+		x *= x_squared;
+	}
+
+	return sin_x;
+}
+
+static long double _ldbl_inv_fact[] = {
+	1.0 / 1.0,						// 1 / 1!
+	1.0 / 6.0,						// 1 / 3!
+	1.0 / 120.0,					// 1 / 5!
+	1.0 / 5040.0,					// 1 / 7!
+	1.0 / 362880.0,					// 1 / 9!
+	1.0 / 39916800.0,				// 1 / 11!
+	1.0 / 6227020800.0,				// 1 / 13!
+	1.0 / 1307674368000.0,			// 1 / 15!
+	1.0 / 355687428096000.0,		// 1 / 17!
+	1.0 / 121645100408832000.0,		// 1 / 19!
+};
+
+long double sinl(long double x) {
+	long double x_squared;
+	long double sin_x;
+	size_t i;
+	
+	/* move x to [-pi, pi) */
+	x = fmodl(x, 2 * M_PI);
+	if (x >= M_PI) x -= 2 * M_PI;
+	if (x < -M_PI) x += 2 * M_PI;
+
+	/* move x to [-pi/2, pi/2) */
+	if (x >= M_PI_2) x =  M_PI - x;
+	if (x < -M_PI_2) x = -M_PI - x;
+
+	x_squared = x * x;
+	sin_x = 0.0;
+
+	/* perform Taylor series approximation for sin(x) with ten terms */
+	for (i = 0; i < 10; i++) {
+		if (i % 2 == 0) {
+			sin_x += x * _ldbl_inv_fact[i];
+		}
+		else {
+			sin_x -= x * _ldbl_inv_fact[i];
+		}
+
+		x *= x_squared;
+	}
+
+	return sin_x;
+}
+
diff --git a/nuttx/lib/math/lib_sinh.c b/nuttx/lib/math/lib_sinh.c
new file mode 100644
index 000000000..10276d821
--- /dev/null
+++ b/nuttx/lib/math/lib_sinh.c
@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float sinhf(float x) {
+	x = expf(x);
+	return ((x - (1.0 / x)) / 2.0);
+}
+
+double sinh(double x) {
+	x = exp(x);
+	return ((x - (1.0 / x)) / 2.0);
+}
+
+long double sinhl(long double x) {
+	x = expl(x);
+	return ((x - (1.0 / x)) / 2.0);
+}
diff --git a/nuttx/lib/math/lib_sqrt.c b/nuttx/lib/math/lib_sqrt.c
new file mode 100644
index 000000000..206a7fe82
--- /dev/null
+++ b/nuttx/lib/math/lib_sqrt.c
@@ -0,0 +1,116 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <stdint.h>
+#include <float.h>
+#include <errno.h>
+#include <apps/math.h>
+
+static float __sqrt_approx(float x) {
+	int32_t i;
+
+	// floats + bit manipulation = +inf fun!
+	i = *((int32_t*) &x);
+	i = 0x1FC00000 + (i >> 1);
+	x = *((float*) &i);
+
+	return x;
+}
+
+float sqrtf(float x) {
+	float y;
+
+	// filter out invalid/trivial inputs
+	if (x < 0.0) { errno = EDOM; return NAN; }
+	if (isnan(x)) return NAN;
+	if (isinf(x)) return INFINITY;
+	if (x == 0.0) return 0.0;
+
+	// guess square root (using bit manipulation)
+	y = __sqrt_approx(x);
+
+	// perform three iterations of approximation
+	// this number (3) is definitely optimal
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+
+	return y;
+}
+
+double sqrt(double x) {
+	long double y, y1;
+	
+	// filter out invalid/trivial inputs
+	if (x < 0.0) { errno = EDOM; return NAN; }
+	if (isnan(x)) return NAN;
+	if (isinf(x)) return INFINITY;
+	if (x == 0.0) return 0.0;
+
+	// guess square root (using bit manipulation)
+	y = __sqrt_approx(x);
+
+	// perform four iterations of approximation
+	// this number (4) is definitely optimal
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+
+	// if guess was terribe (out of range of float)
+	// repeat approximation until convergence
+	if (y * y < x - 1.0 || y * y > x + 1.0) {
+		y1 = -1.0;
+		while (y != y1) {
+			y1 = y;
+			y = 0.5 * (y + x / y);
+		}
+	}
+
+	return y;
+}
+
+long double sqrtl(long double x) {
+	long double y, y1;
+
+	// filter out invalid/trivial inputs
+	if (x < 0.0) { errno = EDOM; return NAN; }
+	if (isnan(x)) return NAN;
+	if (isinf(x)) return INFINITY;
+	if (x == 0.0) return 0.0;
+
+	// guess square root (using bit manipulation)
+	y = __sqrt_approx(x);
+
+	// perform four iterations of approximation
+	// this number (4) is definitely optimal
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+
+	// if guess was terribe (out of range of float)
+	// repeat approximation until convergence
+	if (y * y < x - 1.0 || y * y > x + 1.0) {
+		y1 = -1.0;
+		while (y != y1) {
+			y1 = y;
+			y = 0.5 * (y + x / y);
+		}
+	}
+
+	return y;
+}
diff --git a/nuttx/lib/math/lib_tan.c b/nuttx/lib/math/lib_tan.c
new file mode 100644
index 000000000..c336a6260
--- /dev/null
+++ b/nuttx/lib/math/lib_tan.c
@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <stdint.h>
+#include <float.h>
+#include <apps/math.h>
+
+float tanf(float x) {
+	return (sinf(x) / cosf(x));
+}
+
+double tan(double x) {
+	return (sin(x) / cos(x));
+}
+
+long double tanl(long double x) {
+	return (sinl(x) / cosl(x));
+}
diff --git a/nuttx/lib/math/lib_tanh.c b/nuttx/lib/math/lib_tanh.c
new file mode 100644
index 000000000..c6a1a1c87
--- /dev/null
+++ b/nuttx/lib/math/lib_tanh.c
@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float tanhf(float x) {
+	float x0 = expf(x);
+	float x1 = 1.0 / x0;
+
+	return ((x0 + x1) / (x0 - x1));
+}
+
+double tanh(double x) {
+	double x0 = exp(x);
+	double x1 = 1.0 / x0;
+
+	return ((x0 + x1) / (x0 - x1));
+}
+
+long double tanhl(long double x) {
+	long double x0 = exp(x);
+	long double x1 = 1.0 / x0;
+
+	return ((x0 + x1) / (x0 - x1));
+}