Add new pthread_* APIs

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@134 42af7a65-404d-4744-a932-0658087f49c3

23 files changed, 1806 insertions, 92 deletions

diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog
index b4594a56b..96a92e30f 100644
--- a/nuttx/ChangeLog
+++ b/nuttx/ChangeLog
@@ -76,6 +76,10 @@
 	* Corrected memory leak in OS pthread join logic
 	* Corrected memory leaks in examples/ostest due to failures
 	  to join or detach from pthreads.
+	* added pthread_once(), pthread_kill(), pthread_sigmask()
+	* added pthread_barrierattr_*() APIs
+	* added pthread_barrier_init(), pthread_barrier_destroy(), and
+	  pthread_barrier_wait();
 	* Started m68322
 
 
diff --git a/nuttx/Documentation/NuttX.html b/nuttx/Documentation/NuttX.html
index c0b4a1506..953f5eea1 100644
--- a/nuttx/Documentation/NuttX.html
+++ b/nuttx/Documentation/NuttX.html
@@ -437,6 +437,10 @@ Other memory:
 	* Corrected memory leak in OS pthread join logic
 	* Corrected memory leaks in examples/ostest due to failures
 	  to join or detach from pthreads.
+	* added pthread_once(), pthread_kill(), pthread_sigmask()
+	* added pthread_barrierattr_*() APIs
+	* added pthread_barrier_init(), pthread_barrier_destroy(), and
+	  pthread_barrier_wait();
 	* Started m68322
 </pre></ul>
 
diff --git a/nuttx/Documentation/NuttxUserGuide.html b/nuttx/Documentation/NuttxUserGuide.html
index 18a33b93a..883da65c3 100644
--- a/nuttx/Documentation/NuttxUserGuide.html
+++ b/nuttx/Documentation/NuttxUserGuide.html
@@ -573,7 +573,7 @@ other tasks with the same priority.
 <UL>
 <LI><I>pid</I>. The task ID of the task. If pid is zero, the
 priority of the calling task is set.
-<LI><I>param</I>. A structure whose member sched_priority is the
+<li><code>param<code>.</li> A structure whose member sched_priority is the
 integer priority. The range of valid priority numbers is from
 SCHED_PRIORITY_MIN through SCHED_PRIORITY_MAX.
 </UL>
@@ -616,7 +616,7 @@ of the task specified by pid.
 <UL>
 <LI><I>pid</I>. The task ID of the task. If pid is zero, the
 priority of the calling task is returned.
-<LI><I>param</I>. A structure whose member sched_priority is the
+<li><code>param<code>.</li> A structure whose member sched_priority is the
 integer priority. The task's priority is copied to the sched_priority
 element of this structure.
 </UL>
@@ -655,7 +655,7 @@ interface of the same name.
     priority of the calling task is set.
   <LI><I>policy</I>. Scheduling policy requested (either SCHED_FIFO
     or SCHED_RR).
-  <LI><I>param</I>. A structure whose member sched_priority is the
+  <li><code>param<code>.</li> A structure whose member sched_priority is the
     integer priority. The range of valid priority numbers is from
     SCHED_PRIORITY_MIN through SCHED_PRIORITY_MAX.
 </UL>
@@ -3096,6 +3096,7 @@ be sent.
   Only positive, non-zero values of pid are supported by this
   implementation. ID of the task to receive signal
 <LI><I>signo</I>. The signal number to send.
+  If signo is zero, no signal is sent, but all error checking is performed.
 </UL>
 
 <p>
@@ -3163,6 +3164,16 @@ be sent.
   <li><a href="#pthreadcondsignal">2.9.40 pthread_cond_signal</a></li>
   <li><a href="#pthreadcondwait">2.9.41 pthread_cond_wait</a></li>
   <li><a href="#pthreadcondtimedwait">2.9.42 pthread_cond_timedwait</a></li>
+  <li><a href="#pthreadbarrierattrinit">2.9.43 pthread_barrierattr_init</a></li>
+  <li><a href="#pthreadbarrierattrdestroy">2.9.44 pthread_barrierattr_destroy</a></li>
+  <li><a href="#pthreadbarrierattrsetpshared">2.9.45 pthread_barrierattr_setpshared</a></li>
+  <li><a href="#pthreadbarrierattrgetpshared">2.9.46 pthread_barrierattr_getpshared</a></li>
+  <li><a href="#pthreadbarrierinit">2.9.47 pthread_barrier_init</a></li>
+  <li><a href="#pthreadbarrierdestroy">2.9.48 pthread_barrier_destroy</a></li>
+  <li><a href="#pthreadbarrierwait">2.9.49 pthread_barrier_wait</a></li>
+  <li><a href="#pthreadonce">2.9.50 pthread_once</a></li>
+  <li><a href="#pthreadkill">2.9.51 pthread_kill</a></li>
+  <li><a href="#pthreadsigmask">2.9.52 pthread_sigmask</a></li>
 </ul>
 
 <H3><a name="pthreadattrinit">2.9.1 pthread_attr_init</A></H3>
@@ -3181,7 +3192,7 @@ for all of the individual attributes used by the implementation.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3213,7 +3224,7 @@ An attributes object can be deleted when it is no longer needed.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3244,7 +3255,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3275,7 +3286,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3307,7 +3318,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3339,7 +3350,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3371,7 +3382,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3403,7 +3414,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3434,7 +3445,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3465,7 +3476,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3504,7 +3515,7 @@ specify details about the kind of thread being created.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3537,7 +3548,7 @@ return value and completion status will not be requested.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3569,7 +3580,7 @@ A thread may terminate it's own execution.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3698,7 +3709,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3731,7 +3742,7 @@ the return value of the thread.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3764,7 +3775,7 @@ made available.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3796,7 +3807,7 @@ A thread may obtain a copy of its own thread handle.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3828,7 +3839,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -3860,7 +3871,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4069,7 +4080,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4100,7 +4111,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4132,7 +4143,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4164,7 +4175,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4196,7 +4207,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4227,7 +4238,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4258,7 +4269,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4289,7 +4300,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4320,7 +4331,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4351,7 +4362,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4382,7 +4393,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4413,7 +4424,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4444,7 +4455,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4475,7 +4486,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4506,7 +4517,7 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
 <B>Returned Values:</B>
@@ -4537,10 +4548,10 @@ interface of the same name.
 <B>Input Parameters:</B>
 <P>
 <UL>
-<LI><I>parm</I> 
+  <li><code>param<code>.</li>
 </UL>
 <P>
-<B>Returned Values:</B>
+  <b>Returned Values:</b>
 <P>
 If successful, the <I>pthread_cond_wait()</I> function will return
 zero (<I>OK</I>).  Otherwise, an error number will be
@@ -4555,38 +4566,513 @@ returned to indicate the error:
 interface of the same name.
 
 <H3><a name="pthreadcondtimedwait">2.9.42 pthread_cond_timedwait</A></H3>
-<P>
-<B>Function Prototype:</B>
-<P>
-<PRE>
+<p>
+  <b>Function Prototype:</b>
+</p>
+<pre>
     #include &lt;pthread.h&gt;
     int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex,
 				  const struct timespec *abstime);
-</PRE>
-<P>
-<B>Description:</B>
-<P>
-<B>Input Parameters:</B>
-<P>
-<UL>
-<LI><I>parm</I> 
-</UL>
-<P>
-<B>Returned Values:</B>
-<P>
-If successful, the <I>pthread_cond_timedwait()</I> function will return
-zero (<I>OK</I>).  Otherwise, an error number will be
-returned to indicate the error:
-<P>
-<UL>
+</pre>
+<p>
+  <b>Description:</b>
+</p>
+<p>
+  <b>Input Parameters:</b>
+</p>
+<p>
+<ul>
+  <li><code>parm</code>.</li>
+</ul>
+<p>
+  <b>Returned Values:</b>
+</p>
+<p>
+  If successful, the <code>pthread_cond_timedwait()</code> function will return
+  zero (<code>OK</code>).  Otherwise, an error number will be
+  returned to indicate the error:
+</p>
+<ul>
   <li><code>Exxx</code>. </li>
-</UL>
-<B>Assumptions/Limitations:</B>
-<P>
-<B>POSIX Compatibility:</B> Comparable to the POSIX
-interface of the same name.
+</ul>
+<p>
+  <b>Assumptions/Limitations:</b>
+</p>
+<p>
+  <b>POSIX Compatibility:</b> Comparable to the POSIX interface of the same name.
+</p>
+
+<h3><a name="pthreadbarrierattrinit">2.9.43 pthread_barrierattr_init</a></h3>
+<p>
+  <b>Function Prototype:</b>
+</p>
+<pre>
+    #include &lt;pthread.h&gt;
+    int pthread_barrierattr_init(FAR pthread_barrierattr_t *attr);
+</pre>
+<p>
+  <b>Description:</b>
+  The <code>pthread_barrierattr_init()</code> function will initialize a barrier
+  attribute object <code>attr</code> with the default value for all of the attributes
+  defined by the implementation.
+</p>
+<p>
+  <b>Input Parameters:</b>
+</p>
+<ul>
+  <li>
+    <code>attr</code>. Barrier attributes to be initialized.
+</li>
+</ul>
+<p>
+  <b>Returned Values:</b>
+  0 (<code>OK</code>) on success or <code>EINVAL</code> if <code>attr</code> is invalid.
+</p>
+<p>
+  <b>Assumptions/Limitations:</b>
+</p>
+<p>
+  <b>POSIX Compatibility:</b> Comparable to the POSIX interface of the same name.
+</p>
+
+<h3><a name="pthreadbarrierattrdestroy">2.9.44 pthread_barrierattr_destroy</a></h3>
+<p>
+  <b>Function Prototype:</b>
+</p>
+<pre>
+    #include &lt;pthread.h&gt;
+    int pthread_barrierattr_destroy(FAR pthread_barrierattr_t *attr);
+</pre>
+<p>
+  <b>Description:</b>
+  The <code>pthread_barrierattr_destroy()</code> function will destroy a barrier attributes object.
+  A destroyed attributes object can be reinitialized using <code>pthread_barrierattr_init()</code>;
+  the results of otherwise referencing the object after it has been destroyed are undefined.
+</p>
+<p>
+  <b>Input Parameters:</b>
+</p>
+<ul>
+  <li>
+    <code>attr</code>. Barrier attributes to be destroyed.
+</li>
+</ul>
+<p>
+  <b>Returned Values:</b> 0 (OK) on success or EINVAL if attr is invalid.
+</p>
+<p>
+  <b>Assumptions/Limitations:</b>
+</p>
+<p>
+  <b>POSIX Compatibility:</b> Comparable to the POSIX interface of the same name.
+</p>
+
+<h3><a name="pthreadbarrierattrsetpshared">2.9.45 pthread_barrierattr_setpshared</a></h3>
+<p>
+  <b>Function Prototype:</b>
+</p>
+<pre>
+    #include &lt;pthread.h&gt;
+    int pthread_barrierattr_setpshared(FAR pthread_barrierattr_t *attr, int pshared);
+</pre>
+<p>
+  <b>Description:</b>
+  The process-shared attribute is set to <code>PTHREAD_PROCESS_SHARED</code> to permit
+  a barrier to be operated upon by any thread that has access to the memory where the
+  barrier is allocated.
+  If the process-shared attribute is <code>PTHREAD_PROCESS_PRIVATE</code>, the barrier can
+  only be operated upon by threads created within the same process as the thread that
+  initialized the barrier.
+  If threads of different processes attempt to operate on such a barrier, the behavior is undefined.
+  The default value of the attribute is <code>PTHREAD_PROCESS_PRIVATE</code>.
+</p>
+<p>
+  <b>Input Parameters:</b>
+</p>
+<ul>
+  <li><code>attr</code>. Barrier attributes to be modified.</li>
+  <li><code>pshared</code>. The new value of the pshared attribute.</li>
+</ul>
+<p>
+  <b>Returned Values:</b>  0 (<code>OK</code>) on success or <code>EINVAL</code> if either
+  <code>attr</code> is invalid or <code>pshared</code> is not one of
+  <code>PTHREAD_PROCESS_SHARED</code> or <code>PTHREAD_PROCESS_PRIVATE</code>.
+</p>
+<p>
+  <b>Assumptions/Limitations:</b>
+</p>
+<p>
+  <b>POSIX Compatibility:</b> Comparable to the POSIX interface of the same name.
+</p>
+
+<h3><a name="pthreadbarrierattrgetpshared">2.9.46 pthread_barrierattr_getpshared</a></h3>
+<p>
+  <b>Function Prototype:</b>
+</p>
+<pre>
+    #include &lt;pthread.h&gt;
+    int pthread_barrierattr_getpshared(FAR const pthread_barrierattr_t *attr, FAR int *pshared);
+</pre>
+<p>
+  <b>Description:</b>
+  The <code>pthread_barrierattr_getpshared()</code> function will obtain the value of the
+  process-shared attribute from the attributes object referenced by <code>attr</code>.
+</p>
+<p>
+  <b>Input Parameters:</b>
+</p>
+<p>
+<ul>
+  <li><code>attr</code>. Barrier attributes to be queried.</li>
+  <li><code>pshared</code>. The location to stored the current value of the pshared attribute.</li>
+</ul>
+<p>
+  <b>Returned Values:</b> 0 (<code>OK</code>) on success or <code>EINVAL</code> if
+  either <code>attr</code> or <code>pshared</code> is invalid.
+</p>
+<p>
+  <b>Assumptions/Limitations:</b>
+</p>
+<p>
+  <b>POSIX Compatibility:</b> Comparable to the POSIX interface of the same name.
+</p>
+
+<h3><a name="pthreadbarrierinit">2.9.47 pthread_barrier_init</a></h3>
+<p>
+  <b>Function Prototype:</b>
+</p>
+<pre>
+    #include &lt;pthread.h&gt;
+    int pthread_barrier_init(FAR pthread_barrier_t *barrier,
+                             FAR const pthread_barrierattr_t *attr, unsigned int count);
+</pre>
+<p>
+  <b>Description:</b>
+  The <code>pthread_barrier_init()</code> function allocates any resources required to
+  use the barrier referenced by <code>barrier</code> and initialized the barrier with
+  the attributes referenced by <code>attr</code>. 
+  If <code>attr</code> is NULL, the default barrier attributes will be used.
+  The results are undefined if <code>pthread_barrier_init()</code> is called when any
+  thread is blocked on the barrier.
+  The results are undefined if a barrier is used without first being initialized.
+  The results are undefined if <code>pthread_barrier_init()</code> is called specifying
+  an already initialized barrier.
+</p>
+<p>
+  <b>Input Parameters:</b>
+</p>
+<ul>
+  <li>
+    <code>barrier</code>.
+    The barrier to be initialized.
+  </li>
+  <li>
+    <code>attr</code>.
+    Barrier attributes to be used in the initialization.
+  </li>
+  <li>
+    <code>count</code>.
+    The count to be associated with the barrier.
+    The count argument specifies the number of threads that must call
+    <code>pthread_barrier_wait()</code> before any of them successfully return from the call.
+    The value specified by count must be greater than zero.
+  </li>
+</ul>
+<p>
+  <b>Returned Values:</b>0 (OK) on success or on of the following error numbers:
+</p>
+<ul>
+  <li>
+    <code>EAGAIN</code>.
+    The system lacks the necessary resources to initialize another barrier.
+  </li>
+  <li>
+    <code>EINVAL</code>.
+    The barrier reference is invalid, or the values specified by attr are invalid, or
+    the value specified by count is equal to zero.
+  </li>
+  <li>
+    <code>ENOMEM</code>.
+    Insufficient memory exists to initialize the barrier.
+  </li>
+  <li>
+    <code>EBUSY</code>.
+    The implementation has detected an attempt to reinitialize a barrier while it is in use.
+  </li>
+</ul>
+<p>
+  <b>Assumptions/Limitations:</b>
+</p>
+<p>
+  <b>POSIX Compatibility:</b> Comparable to the POSIX interface of the same name.
+</p>
+
+<h3><a name="pthreadbarrierdestroy">2.9.48 pthread_barrier_destroy</a></h3>
+<p>
+  <b>Function Prototype:</b>
+</p>
+<pre>
+    #include &lt;pthread.h&gt;
+    int pthread_barrier_destroy(FAR pthread_barrier_t *barrier);
+</pre>
+<p>
+  <b>Description:</b>
+  The <code>pthread_barrier_destroy()</code> function destroys the barrier referenced
+  by <code>barrie</code> and releases any resources used by the barrier.
+  The effect of subsequent use of the barrier is undefined until the barrier is
+  reinitialized by another call to <code>pthread_barrier_init()</code>.
+  The results are undefined if <code>pthread_barrier_destroy()</code> is called when
+  any thread is blocked on the barrier, or if this function is called with an
+  uninitialized barrier.
+</p>
+<p>
+  <b>Input Parameters:</b>
+</p>
+<ul>
+  <li><code>barrier</code>. The barrier to be destroyed.</li>
+</ul>
+<p>
+  <b>Returned Values:</b> 0 (<code>OK</code>) on success or on of the following error numbers:
+</p>
+<ul>
+  <li>
+    <code>EBUSY</code>.
+    The implementation has detected an attempt to destroy a barrier while it is in use.
+  </li>
+  <li>
+    <code>EINVAL</code>.
+    The value specified by barrier is invalid.
+  </li>
+</ul>
+<p>
+  <b>Assumptions/Limitations:</b>
+</p>
+<p>
+  <b>POSIX Compatibility:</b> Comparable to the POSIX interface of the same name.
+</p>
+
+<h3><a name="pthreadbarrierwait">2.9.49 pthread_barrier_wait</a></h3>
+<p>
+  <b>Function Prototype:</b>
+</p>
+<pre>
+    #include &lt;pthread.h&gt;
+    int pthread_barrier_wait(FAR pthread_barrier_t *barrier);
+</pre>
+<p>
+  <b>Description:</b>
+  The <code>pthread_barrier_wait()</code> function synchronizse participating
+  threads at the barrier referenced by <code>barrier</code>.
+  The calling thread is blocked until the required number of threads have called
+  <code>pthread_barrier_wait()</code> specifying the same <code>barrier</code>.
+  When the required number of threads have called <code>pthread_barrier_wait()</code>
+  specifying the <code>barrier</code>, the constant <code>PTHREAD_BARRIER_SERIAL_THREAD</code>
+  will be returned to one unspecified thread and zero will be returned to each of
+  the remaining threads.
+  At this point, the barrier will be reset to the state it had as a result of the most
+  recent <code>pthread_barrier_init()</code> function that referenced it.
+</p>
+<p>
+  The constant <code>PTHREAD_BARRIER_SERIAL_THREAD</code> is defined in 
+ <code>pthread.h</code> and its value must be distinct from any other value
+  returned by <code>pthread_barrier_wait()</code>.
+</p>
+<p>
+  The results are undefined if this function is called with an uninitialized barrier.
+</p>
+<p>
+  If a signal is delivered to a thread blocked on a barrier, upon return from the
+  signal handler the thread will resume waiting at the barrier if the barrier wait
+  has not completed.
+  Otherwise, the thread will continue as normal from the completed barrier wait.
+  Until the thread in the signal handler returns from it, it is unspecified whether
+  other threads may proceed past the barrier once they have all reached it.
+</p>
+<p>
+  A thread that has blocked on a barrier will not prevent any unblocked thread that
+  is eligible to use the same processing resources from eventually making forward
+  progress in its execution.
+  Eligibility for processing resources will be determined by the scheduling policy.
+</p>
+<p>
+  <b>Input Parameters:</b>
+</p>
+<ul>
+  <li><code>barrier</code>. The barrier on which to wait.</li>
+</ul>
+<p>
+  <b>Returned Values:</b> 0 (<code>OK</code>) on success or <code>EINVAL</code> if the barrier is not valid.
+</p>
+<p>
+  <b>Assumptions/Limitations:</b>
+</p>
+<p>
+  <b>POSIX Compatibility:</b> Comparable to the POSIX interface of the same name.
+</p>
+
+
+<h3><a name="pthreadonce">2.9.50 pthread_once</a></h3>
+<p>
+  <b>Function Prototype:</b>
+</p>
+<pre>
+    #include &lt;pthread.h&gt;
+    int pthread_once(FAR pthread_once_t *once_control, CODE void (*init_routine)(void));
+</pre>
+<p>
+  <b>Description:</b>
+  The  first  call to <code>pthread_once()</code> by any thread with a given
+  <code>once_control</code>, will call the <code>init_routine()</code> with no arguments.
+  Subsequent calls to <code>pthread_once()</code> with the same <code>once_control</code> will have no effect.
+  On return from <code>pthread_once()</code>, <code>init_routine()</code> will have completed.
+</p>
+<p>
+  <b>Input Parameters:</b>
+</p>
+<p>
+<ul>
+  <li>
+    <code>once_control</code>.
+    Determines if <code>init_routine()</code> should be called.
+    <code>once_control</code> should be declared and intialized as follows:
+    <ul><pre>pthread_once_t once_control = PTHREAD_ONCE_INIT;
+    </pre></ul>
+    <code>PTHREAD_ONCE_INIT</code> is defined in <code>pthread.h</code>.
+  </li>
+  <li>
+    <code>init_routine</code>.
+    The initialization routine that will be called once.
+  </li>
+</ul>
+<p>
+  <b>Returned Values:</b>
+  0 (OK) on success or EINVAL if either once_control or init_routine are invalid.
+</p>
+<p>
+  <b>Assumptions/Limitations:</b>
+</p>
+<p>
+  <b>POSIX Compatibility:</b> Comparable to the POSIX interface of the same name.
+</p>
+
+<h3><a name="pthreadkill">2.9.51 pthread_kill</a></h3>
+<p>
+  <b>Function Prototype:</b>
+</p>
+<pre>
+    #include &lt;signal.h&gt;
+    #include &lt;pthread.h&gt;
+    int pthread_kill(pthread_t thread, int signo)
+</pre>
+<p>
+  <b>Description:</b>
+  The <code>pthread_kill()</code> system call can be used to send any
+  signal to a thread.  See <code>kill()</code> for further information
+  as this is just a simple wrapper around the <code>kill()</code>
+  function.
+</p>
+<p>
+  <b>Input Parameters:</b>
+</p>
+<p>
+<ul>
+  <li>
+    <code>thread</code>.
+    The id of the thread to receive the signal. Only positive, non-zero values of <code>tthread</code>t are supported.
+  </li>
+  <li>
+    <code>signo</code>.
+    The signal number to send.  If <code>signo</code> is zero, no signal is sent, but all error checking is performed.
+  </li>
+</ul>
+<p>
+  <b>Returned Values:</b>
+</p>
+<p>
+  On success, the signal was sent and zero is returned.
+  On error one of the following error numbers is returned.
+</p>
+<ul>
+  <li>
+    <code>EINVAL</code>.
+    An invalid signal was specified.
+  </li>
+  <li>
+    <code>EPERM</code>.
+    The thread does not have permission to send the signal to the target thread.
+  </li>
+  <li>
+    <code>ESRCH</code>.
+    No thread could be found corresponding to that specified by the given thread ID.
+  </li>
+  <li>
+    <code>ENOSYS</code>.
+    Do not support sending signals to process groups.
+  </li>
+</ul>
+<p>
+  <b>Assumptions/Limitations:</b>
+</p>
+<p>
+  <b>POSIX Compatibility:</b> Comparable to the POSIX interface of the same name.
+</p>
+
+<h3><a name="pthreadsigmask">2.9.52 pthread_sigmask</a></h3>
+<p>
+  <b>Function Prototype:</b>
+</p>
+<pre>
+    #include &lt;signal.h&gt;
+    #include &lt;pthread.h&gt;
+    int pthread_sigmask(int how, FAR const sigset_t *set, FAR sigset_t *oset);
+</pre>
+<p>
+  <b>Description:</b>
+  This function is a simple wrapper around <code>sigprocmask()</code>.
+  See the <code>sigprocmask()</code> function description for further information.
+</p>
+<p>
+  <b>Input Parameters:</b>
+</p>
+<p>
+<ul>
+  <li>
+    <code>how</code>. How the signal mast will be changed:
+    <ul>
+      <li>
+        <code>SIG_BLOCK</code>:
+        The resulting set is the union of the current set and the signal set pointed to by <code>set</code>.
+      </li>
+      <li>
+        <code>SIG_UNBLOCK</code>:
+        The resulting set is the intersection of the current set and the complement of the signal set pointed to by <code>set</code>.
+      </li>
+      <li>
+        <code>SIG_SETMASK</code>:
+        The resulting set is the signal set pointed to by <code>set</code>.
+      </li>
+    </ul>
+  </li>
+  <li>
+    <code>set</code>. Location of the new signal mask.
+  </li>
+  <li>
+    <code>oset</code>. Location to store the old signal mask.
+  </li>
+</ul>
+<p>
+  <b>Returned Values:</b>
+</p>
+<p>
+  0 (OK) on succes or EINVAL if <code>how</code> is invalid.
+</p>
+<p>
+  <b>Assumptions/Limitations:</b>
+</p>
+<p>
+  <b>POSIX Compatibility:</b> Comparable to the POSIX interface of the same name.
+</p>
 
-<P>
 <HR>
 <H1>3.0 <A NAME="Data_Structures">OS Data Structures</A></H1>
 <H2>3.1 Scalar types</H2>
@@ -4897,6 +5383,7 @@ notify a task when a message is available on a queue.
   <li><a href="#mqsetattr">mq_setattr</a></li>
   <li><a href="#mqunlink">mq_unlink</a></li>
   <li><a href="#OS_Interfaces">OS Interfaces</a>
+  <li><a href="#Pthread">Pthread Interfaces</a>
   <li><a href="#pthreadattrdestroy">pthread_attr_destroy</a></li>
   <li><a href="#pthreadattrgetinheritsched">pthread_attr_getinheritsched</a></li>
   <li><a href="#pthreadattrgetschedparam">pthread_attr_getschedparam</a></li>
@@ -4907,6 +5394,13 @@ notify a task when a message is available on a queue.
   <li><a href="#pthreadattrsetschedparam">pthread_attr_setschedparam</a></li>
   <li><a href="#pthreadattrsetschedpolity">pthread_attr_setschedpolicy</a></li>
   <li><a href="#pthreadattrsetstacksize">pthread_attr_setstacksize</a></li>
+  <li><a href="#pthreadbarrierattrinit">pthread_barrierattr_init</a></li>
+  <li><a href="#pthreadbarrierattrdestroy">pthread_barrierattr_destroy</a></li>
+  <li><a href="#pthreadbarrierattrgetpshared">pthread_barrierattr_getpshared</a></li>
+  <li><a href="#pthreadbarrierattrsetpshared">pthread_barrierattr_setpshared</a></li>
+  <li><a href="#pthreadbarrierdestroy">pthread_barrier_destroy</a></li>
+  <li><a href="#pthreadbarrierinit">pthread_barrier_init</a></li>
+  <li><a href="#pthreadbarrierwait">pthread_barrier_wait</a></li>
   <li><a href="#pthreadcancel">pthread_cancel</a></li>
   <li><a href="#pthreadconaddrinit">pthread_condattr_init</a></li>
   <li><a href="#pthreadcondbroadcast">pthread_cond_broadcast</a></li>
@@ -4924,6 +5418,7 @@ notify a task when a message is available on a queue.
   <li><a href="#pthreadjoin">pthread_join</a></li>
   <li><a href="#pthreadkeycreate">pthread_key_create</a></li>
   <li><a href="#pthreadkeydelete">pthread_key_delete</a></li>
+  <li><a href="#pthreadkill">pthread_kill</a></li>
   <li><a href="#pthreadmutexattrdestroy">pthread_mutexattr_destroy</a></li>
   <li><a href="#pthreadmutexattrgetpshared">pthread_mutexattr_getpshared</a></li>
   <li><a href="#pthreadmutexattrinit">pthread_mutexattr_init</a></li>
@@ -4934,11 +5429,12 @@ notify a task when a message is available on a queue.
   <li><a href="#pthreadmutextrylock">pthread_mutex_trylock</a></li>
   <li><a href="#pthreadmutexunlock">pthread_mutex_unlock</a></li>
   <li><a href="#pthreadocndattrdestroy">pthread_condattr_destroy</a></li>
-  <li><a href="#Pthread">Pthread Interfaces</a>
+  <li><a href="#pthreadonce">pthread_once</a></li>
   <li><a href="#pthreadself">pthread_self</a></li>
   <li><a href="#pthreadsetcancelstate">pthread_setcancelstate</a></li>
   <li><a href="#pthreadsetschedparam">pthread_setschedparam</a></li>
   <li><a href="#pthreadsetspecific">pthread_setspecific</a></li>
+  <li><a href="#pthreadsigmask">pthread_sigmask</a></li>
   <li><a href="#pthreadtestcancelstate">pthread_testcancelstate</a></li>
   <li><a href="#pthreadyield">pthread_yield</a></li>
   <li><a href="#schedgetparam">sched_getparam</a></li>
diff --git a/nuttx/TODO b/nuttx/TODO
index ee1ee2882..5c9705687 100644
--- a/nuttx/TODO
+++ b/nuttx/TODO
@@ -14,6 +14,8 @@ Task/Scheduler
    _POSIX_CLOCKRES_MIN in limits.h
    CLK_TCK in time.h
    Definitions in sched/clock_internal.h
+- Consider implementing wait, waitpid, waitid.  At present, a parent has
+  no information about child tasks.
 
 o Memory Managment
 - Add an option to free all memory allocated by a task when the task exits.
@@ -45,6 +47,7 @@ o Build system
 - Something leaves garbage link 'include' in arch/*/include
 
 o Applications & Tests
+- Need a test for the pthread_barrierattr_* and pthread_barrier_* APIs.
 
 o C5471
 - At present, there is a failure in the examples/ostest POSIX timer
diff --git a/nuttx/include/pthread.h b/nuttx/include/pthread.h
index 16973a5a5..3ae818b9a 100644
--- a/nuttx/include/pthread.h
+++ b/nuttx/include/pthread.h
@@ -44,6 +44,7 @@
 #include <nuttx/compiler.h> /* Compiler settings */
 #include <sys/types.h>      /* Needed for general types */
 #include <semaphore.h>      /* Needed for sem_t */
+#include <signal.h>         /* Needed for sigset_t */
 #include <time.h>           /* Needed for struct timespec */
 #include <nuttx/compiler.h> /* For noreturn_function */
 
@@ -64,29 +65,43 @@
  * Definitions
  ********************************************************************************/
 
-#define PTHREAD_PROCESS_PRIVATE  0
-#define PTHREAD_PROCESS_SHARED   1
+/* Values for the process shared (pshared) attribute */
 
-#define PTHREAD_STACK_MIN        CONFIG_PTHREAD_STACK_MIN
-#define PTHREAD_STACK_DEFAULT    CONFIG_PTHREAD_STACK_DEFAULT
+#define PTHREAD_PROCESS_PRIVATE       0
+#define PTHREAD_PROCESS_SHARED        1
 
-#define PTHREAD_INHERIT_SCHED    0
-#define PTHREAD_EXPLICIT_SCHED   1
+/* Valid ranges for the pthread stacksize attribute */
 
-#define PTHREAD_PRIO_NONE        0
-#define PTHREAD_PRIO_INHERIT     1
-#define PTHREAD_PRIO_PROTECT     2
+#define PTHREAD_STACK_MIN             CONFIG_PTHREAD_STACK_MIN
+#define PTHREAD_STACK_DEFAULT         CONFIG_PTHREAD_STACK_DEFAULT
 
-#define PTHREAD_DEFAULT_PRIORITY 100
+/* Values for the pthread inheritsched attribute */
+
+#define PTHREAD_INHERIT_SCHED         0
+#define PTHREAD_EXPLICIT_SCHED        1
+
+#define PTHREAD_PRIO_NONE             0
+#define PTHREAD_PRIO_INHERIT          1
+#define PTHREAD_PRIO_PROTECT          2
+
+#define PTHREAD_DEFAULT_PRIORITY      100
 
 /* Cancellation states returned by pthread_cancelstate() */
 
-#define PTHREAD_CANCEL_ENABLE    (0)
-#define PTHREAD_CANCEL_DISABLE   (1)
+#define PTHREAD_CANCEL_ENABLE         (0)
+#define PTHREAD_CANCEL_DISABLE        (1)
 
 /* Thread return value when a pthread is canceled */
 
-# define PTHREAD_CANCELED        ((FAR void*)ERROR)
+#define PTHREAD_CANCELED              ((FAR void*)ERROR)
+
+/* Used to initialize a pthread_once_t */
+
+#define PTHREAD_ONCE_INIT             (FALSE)
+
+/* This is returned by pthread_wait.  It must not match any errno in errno.h */
+
+#define PTHREAD_BARRIER_SERIAL_THREAD 0x1000
 
 /********************************************************************************
  * Global Type Declarations
@@ -144,6 +159,21 @@ struct pthread_mutex_s
 typedef struct pthread_mutex_s pthread_mutex_t;
 #define PTHREAD_MUTEX_INITIALIZER {0, {1, 0xffff}}
 
+struct pthread_barrierattr_s
+{
+  int pshared;
+};
+typedef struct pthread_barrierattr_s pthread_barrierattr_t;
+
+struct pthread_barrier_s
+{
+  sem_t        sem;
+  unsigned int count;
+};
+typedef struct pthread_barrier_s pthread_barrier_t;
+
+typedef boolean pthread_once_t;
+
 /* Forware references */
 
 struct sched_param; /* Defined in sched.h */
@@ -155,6 +185,7 @@ struct sched_param; /* Defined in sched.h */
 /********************************************************************************
  * Global Function Prototypes
  ********************************************************************************/
+
 /* Initializes a thread attributes object (attr) with default values for all of
  * the individual attributes used by a given implementation.
  */
@@ -280,6 +311,33 @@ EXTERN int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex);
 EXTERN int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex,
                                   const struct timespec *abstime);
 
+/* Barrier attributes */
+
+EXTERN int pthread_barrierattr_destroy(FAR pthread_barrierattr_t *attr);
+EXTERN int pthread_barrierattr_init(FAR pthread_barrierattr_t *attr);
+EXTERN int pthread_barrierattr_getpshared(FAR const pthread_barrierattr_t *attr,
+                                          FAR int *pshared);
+EXTERN int pthread_barrierattr_setpshared(FAR pthread_barrierattr_t *attr,
+                                          int pshared);
+
+/* Barriers */
+
+EXTERN int pthread_barrier_destroy(FAR pthread_barrier_t *barrier);
+EXTERN int pthread_barrier_init(FAR pthread_barrier_t *barrier,
+                                FAR const pthread_barrierattr_t *attr,
+                                unsigned int count);
+EXTERN int pthread_barrier_wait(FAR pthread_barrier_t *barrier);
+
+/* Pthread initialization */
+
+EXTERN int pthread_once(FAR pthread_once_t *once_control,
+                        CODE void (*init_routine)(void));
+
+/* Pthread signal management APIs */
+
+EXTERN int pthread_kill(pthread_t thread, int sig);
+EXTERN int pthread_sigmask(int how, FAR const sigset_t *set, FAR sigset_t *oset);
+
 #undef EXTERN
 #ifdef __cplusplus
 }
diff --git a/nuttx/include/signal.h b/nuttx/include/signal.h
index 02068c2c9..7c8fbc35e 100644
--- a/nuttx/include/signal.h
+++ b/nuttx/include/signal.h
@@ -43,7 +43,7 @@
 #include <nuttx/config.h>
 #include <nuttx/compiler.h>
 #include <time.h>      /* Needed for struct timespec */
-#include <sys/types.h> /* Needed for, e.g., sigset_t */
+#include <sys/types.h>
 
 /********************************************************************************
  * Compilations Switches
diff --git a/nuttx/sched/Makefile b/nuttx/sched/Makefile
index 727c4d9c4..b6a1dbdbd 100644
--- a/nuttx/sched/Makefile
+++ b/nuttx/sched/Makefile
@@ -89,12 +89,15 @@ PTHREAD_SRCS	= pthread_attrinit.c pthread_attrdestroy.c \
 		  pthread_condinit.c pthread_conddestroy.c \
 		  pthread_condattrinit.c pthread_condattrdestroy.c \
 		  pthread_condwait.c pthread_condsignal.c pthread_condbroadcast.c \
+		  pthread_barrierattrinit.c pthread_barrierattrdestroy.c \
+		  pthread_barrierattrgetpshared.c pthread_barrierattrsetpshared.c \
+		  pthread_barrierinit.c pthread_barrierdestroy.c pthread_barrierwait.c \
 		  pthread_cancel.c pthread_setcancelstate.c \
 		  pthread_keycreate.c pthread_setspecific.c pthread_getspecific.c pthread_keydelete.c \
 		  pthread_initialize.c pthread_completejoin.c pthread_findjoininfo.c \
-		  pthread_removejoininfo.c
+		  pthread_removejoininfo.c pthread_once.c
 ifneq ($(CONFIG_DISABLE_SIGNALS),y)
-PTHREAD_SRCS	+= pthread_condtimedwait.c
+PTHREAD_SRCS	+= pthread_condtimedwait.c pthread_kill.c pthread_sigmask.c
 endif
 SEM_SRCS	= sem_initialize.c sem_init.c sem_destroy.c\
 		  sem_open.c sem_close.c sem_unlink.c \
diff --git a/nuttx/sched/clock_abstime2ticks.c b/nuttx/sched/clock_abstime2ticks.c
index 359bd2165..7cd3eb495 100644
--- a/nuttx/sched/clock_abstime2ticks.c
+++ b/nuttx/sched/clock_abstime2ticks.c
@@ -93,7 +93,6 @@ extern int clock_abstime2ticks(clockid_t clockid, const struct timespec *abstime
 {
   struct timespec currtime;
   struct timespec reltime;
-  sint32          relusec;
   int             ret;
 
   /* Convert the timespec to clock ticks.  NOTE: Here we use
diff --git a/nuttx/sched/os_internal.h b/nuttx/sched/os_internal.h
index 85dda8c96..da6974066 100644
--- a/nuttx/sched/os_internal.h
+++ b/nuttx/sched/os_internal.h
@@ -243,7 +243,7 @@ extern void    task_start(void);
 extern STATUS  task_schedsetup(FAR _TCB *tcb, int priority,
                                start_t start, main_t main);
 extern STATUS  task_argsetup(FAR _TCB *tcb, const char *name,
-                             char *argv[]);
+                             const char *argv[]);
 
 extern boolean sched_addreadytorun(FAR _TCB *rtrtcb);
 extern boolean sched_removereadytorun(FAR _TCB *rtrtcb);
diff --git a/nuttx/sched/os_start.c b/nuttx/sched/os_start.c
index 4cb128d3c..c01778295 100644
--- a/nuttx/sched/os_start.c
+++ b/nuttx/sched/os_start.c
@@ -418,10 +418,10 @@ void os_start(void)
 #ifndef CONFIG_CUSTOM_STACK
   init_taskid = task_create("init", SCHED_PRIORITY_DEFAULT,
                             CONFIG_PROC_STACK_SIZE,
-                            (main_t)user_start, (char **)NULL);
+                            (main_t)user_start, (const char **)NULL);
 #else
   init_taskid = task_create("init", SCHED_PRIORITY_DEFAULT,
-                            (main_t)user_start, (char **)NULL);
+                            (main_t)user_start, (const char **)NULL);
 #endif
   ASSERT(init_taskid != ERROR);
 
diff --git a/nuttx/sched/pthread_barrierattrdestroy.c b/nuttx/sched/pthread_barrierattrdestroy.c
new file mode 100644
index 000000000..de20d16f6
--- /dev/null
+++ b/nuttx/sched/pthread_barrierattrdestroy.c
@@ -0,0 +1,101 @@
+/********************************************************************************
+ * pthread_barrierattrdestroy.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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.
+ *
+ ********************************************************************************/
+
+/********************************************************************************
+ * Included Files
+ ********************************************************************************/
+
+#include <sys/types.h>
+#include <pthread.h>
+#include <errno.h>
+#include <debug.h>
+
+/********************************************************************************
+ * Definitions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Type Declarations
+ ********************************************************************************/
+
+/********************************************************************************
+ * Global Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Function Prototypes
+ ********************************************************************************/
+
+/********************************************************************************
+ * Public Functions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Function: pthread_barrierattr_destroy
+ *
+ * Description:
+ *   The pthread_barrierattr_destroy() function will destroy a barrier attributes
+ *   object.  A destroyed attr attributes object can be reinitialized using
+ *   pthread_barrierattr_init(); the results of otherwise referencing the object
+ *   after it has been destroyed are undefined.
+ *
+ * Parameters:
+ *   attr - barrier attributes to be destroyed.
+ *
+ * Return Value:
+ *   0 (OK) on success or EINVAL if attr is invalid.
+ *
+ * Assumptions:
+ *
+ ********************************************************************************/
+
+int pthread_barrierattr_destroy(FAR pthread_barrierattr_t *attr)
+{
+  int ret = OK;
+
+  if (!attr)
+    {
+      ret = EINVAL;
+    }
+  else
+    {
+      attr->pshared = PTHREAD_PROCESS_PRIVATE;
+    }
+  return ret;
+}
diff --git a/nuttx/sched/pthread_barrierattrgetpshared.c b/nuttx/sched/pthread_barrierattrgetpshared.c
new file mode 100644
index 000000000..23cf43872
--- /dev/null
+++ b/nuttx/sched/pthread_barrierattrgetpshared.c
@@ -0,0 +1,100 @@
+/********************************************************************************
+ * pthread_barrierattrgetpshared.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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.
+ *
+ ********************************************************************************/
+
+/********************************************************************************
+ * Included Files
+ ********************************************************************************/
+
+#include <sys/types.h>
+#include <pthread.h>
+#include <errno.h>
+#include <debug.h>
+
+/********************************************************************************
+ * Definitions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Type Declarations
+ ********************************************************************************/
+
+/********************************************************************************
+ * Global Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Function Prototypes
+ ********************************************************************************/
+
+/********************************************************************************
+ * Public Functions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Function: pthread_barrierattr_getpshared
+ *
+ * Description:
+ *   The pthread_barrierattr_getpshared() function will obtain the value of the
+ *   process-shared attribute from the attributes object referenced by attr.
+ *
+ * Parameters:
+ *   attr - barrier attributes to be queried.
+ *   pshared - the location to stored the current value of the pshared attribute.
+ *
+ * Return Value:
+ *   0 (OK) on success or EINVAL if either attr or pshared is invalid.
+ *
+ * Assumptions:
+ *
+ ********************************************************************************/
+
+int pthread_barrierattr_getpshared(FAR const pthread_barrierattr_t *attr, FAR int *pshared)
+{
+  int ret = OK;
+
+  if (!attr || !pshared)
+    {
+      ret = EINVAL;
+    }
+  else
+    {
+      *pshared = attr->pshared;
+    }
+  return ret;
+}
diff --git a/nuttx/sched/pthread_barrierattrinit.c b/nuttx/sched/pthread_barrierattrinit.c
new file mode 100644
index 000000000..b2787bd31
--- /dev/null
+++ b/nuttx/sched/pthread_barrierattrinit.c
@@ -0,0 +1,100 @@
+/********************************************************************************
+ * pthread_barrierattrinit.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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.
+ *
+ ********************************************************************************/
+
+/********************************************************************************
+ * Included Files
+ ********************************************************************************/
+
+#include <sys/types.h>
+#include <pthread.h>
+#include <errno.h>
+#include <debug.h>
+
+/********************************************************************************
+ * Definitions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Type Declarations
+ ********************************************************************************/
+
+/********************************************************************************
+ * Global Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Function Prototypes
+ ********************************************************************************/
+
+/********************************************************************************
+ * Public Functions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Function: pthread_barrierattr_init
+ *
+ * Description:
+ *   The pthread_barrierattr_init() function will initialize a barrier attribute
+ *   object attr with the default value for all of the attributes defined by the
+ *   implementation.
+ *
+ * Parameters:
+ *   attr - barrier attributes to be initialized.
+ *
+ * Return Value:
+ *   0 (OK) on success or EINVAL if attr is invalid.
+ *
+ * Assumptions:
+ *
+ ********************************************************************************/
+
+int pthread_barrierattr_init(FAR pthread_barrierattr_t *attr)
+{
+  int ret = OK;
+
+  if (!attr)
+    {
+      ret = EINVAL;
+    }
+  else
+    {
+      attr->pshared = PTHREAD_PROCESS_PRIVATE;
+    }
+  return ret;
+}
diff --git a/nuttx/sched/pthread_barrierattrsetpshared.c b/nuttx/sched/pthread_barrierattrsetpshared.c
new file mode 100644
index 000000000..2f1aee4f1
--- /dev/null
+++ b/nuttx/sched/pthread_barrierattrsetpshared.c
@@ -0,0 +1,110 @@
+/********************************************************************************
+ * pthread_barrierattrsetpshared.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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.
+ *
+ ********************************************************************************/
+
+/********************************************************************************
+ * Included Files
+ ********************************************************************************/
+
+#include <sys/types.h>
+#include <pthread.h>
+#include <errno.h>
+#include <debug.h>
+
+/********************************************************************************
+ * Definitions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Type Declarations
+ ********************************************************************************/
+
+/********************************************************************************
+ * Global Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Function Prototypes
+ ********************************************************************************/
+
+/********************************************************************************
+ * Public Functions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Function: pthread_barrierattr_setpshared
+ *
+ * Description:
+ *   The process-shared attribute is set to PTHREAD_PROCESS_SHARED to permit a
+ *   barrier to be operated upon by any thread that has access to the memory where
+ *   the barrier is allocated. If the process-shared attribute is
+ *   PTHREAD_PROCESS_PRIVATE, the barrier can only be operated upon by threads
+ *   created within the same process as the thread that initialized the barrier.
+ *   If threads of different processes attempt to operate on such a barrier, the
+ *   behavior is undefined. The default value of the attribute is
+ *   PTHREAD_PROCESS_PRIVATE.
+ *
+ *   Both constants PTHREAD_PROCESS_SHARED and PTHREAD_PROCESS_PRIVATE are defined
+ *   in pthread.h.
+ *
+ * Parameters:
+ *   attr - barrier attributes to be modified.
+ *   pshared - the new value of the pshared attribute.
+ *
+ * Return Value:
+ *   0 (OK) on success or EINVAL if either attr is invalid or pshared is not one
+ *   of PTHREAD_PROCESS_SHARED or PTHREAD_PROCESS_PRIVATE.
+ *
+ * Assumptions:
+ *
+ ********************************************************************************/
+
+int pthread_barrierattr_setpshared(FAR pthread_barrierattr_t *attr, int pshared)
+{
+  int ret = OK;
+
+  if (!attr || (pshared != PTHREAD_PROCESS_SHARED && pshared != PTHREAD_PROCESS_PRIVATE))
+    {
+      ret = EINVAL;
+    }
+  else
+    {
+      attr->pshared = pshared;
+    }
+  return ret;
+}
diff --git a/nuttx/sched/pthread_barrierdestroy.c b/nuttx/sched/pthread_barrierdestroy.c
new file mode 100644
index 000000000..d4a33cc20
--- /dev/null
+++ b/nuttx/sched/pthread_barrierdestroy.c
@@ -0,0 +1,109 @@
+/********************************************************************************
+ * pthread_barriedestroy.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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.
+ *
+ ********************************************************************************/
+
+/********************************************************************************
+ * Included Files
+ ********************************************************************************/
+
+#include <sys/types.h>
+#include <pthread.h>
+#include <semaphore.h>
+#include <errno.h>
+#include <debug.h>
+
+/********************************************************************************
+ * Definitions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Type Declarations
+ ********************************************************************************/
+
+/********************************************************************************
+ * Global Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Function Prototypes
+ ********************************************************************************/
+
+/********************************************************************************
+ * Public Functions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Function: pthread_barrier_destroy
+ *
+ * Description:
+ *   The pthread_barrier_destroy() function destroys the barrier referenced by
+ *   'barrier' and releases any resources used by the barrier. The effect of
+ *   subsequent use of the barrier is undefined until the barrier is
+ *   reinitialized by another call to pthread_barrier_init(). The results are
+ *   undefined if pthread_barrier_destroy() is called when any thread is blocked
+ *   on the barrier, or if this function is called with an uninitialized barrier.
+ *
+ * Parameters:
+ *   barrier - barrier to be destroyed.
+ *
+ * Return Value:
+ *   0 (OK) on success or on of the following error numbers:
+ *
+ *   EBUSY  The implementation has detected an attempt to destroy a barrier while
+ *           it is in use.
+ *   EINVAL The value specified by barrier is invalid.
+ *
+ * Assumptions:
+ *
+ ********************************************************************************/
+
+int pthread_barrier_destroy(FAR pthread_barrier_t *barrier)
+{
+  int ret = OK;
+
+  if (!barrier)
+    {
+      ret = EINVAL;
+    }
+  else
+    {
+      sem_destroy(&barrier->sem);
+      barrier->count = 0;
+    }
+  return ret;
+}
diff --git a/nuttx/sched/pthread_barrierinit.c b/nuttx/sched/pthread_barrierinit.c
new file mode 100644
index 000000000..bafb0794a
--- /dev/null
+++ b/nuttx/sched/pthread_barrierinit.c
@@ -0,0 +1,120 @@
+/********************************************************************************
+ * pthread_barrieinit.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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.
+ *
+ ********************************************************************************/
+
+/********************************************************************************
+ * Included Files
+ ********************************************************************************/
+
+#include <sys/types.h>
+#include <pthread.h>
+#include <semaphore.h>
+#include <errno.h>
+#include <debug.h>
+
+/********************************************************************************
+ * Definitions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Type Declarations
+ ********************************************************************************/
+
+/********************************************************************************
+ * Global Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Function Prototypes
+ ********************************************************************************/
+
+/********************************************************************************
+ * Public Functions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Function: pthread_barrier_init
+ *
+ * Description:
+ *   The pthread_barrier_init() function allocates any resources required to use
+ *   the barrier referenced by 'barrier' and initialized the barrier with the
+ *   attributes referenced by attr.  If attr is NULL, the default barrier
+ *   attributes will be used. The results are undefined if pthread_barrier_init()
+ *   is called when any thread is blocked on the barrier. The results are
+ *   undefined if a barrier is used without first being initialized. The results
+ *   are undefined if pthread_barrier_init() is called specifying an already
+ *   initialized barrier.
+ *
+ * Parameters:
+ *   barrier - the barrier to be initialized
+ *   attr - barrier attributes to be used in the initialization.
+ *   count - the count to be associated with the barrier.  The count argument
+ *     specifies the number of threads that must call pthread_barrier_wait() before
+ *     any of them successfully return from the call.  The value specified by
+ *     count must be greater than zero.
+ *
+ * Return Value:
+ *   0 (OK) on success or on of the following error numbers:
+ *
+ *   EAGAIN The system lacks the necessary resources to initialize another barrier.
+ *   EINVAL The barrier reference is invalid, or the values specified by attr are
+ *          invalid, or the value specified by count is equal to zero.
+ *   ENOMEM Insufficient memory exists to initialize the barrier.
+ *   EBUSY  The implementation has detected an attempt to reinitialize a barrier
+ *          while it is in use.
+ *
+ * Assumptions:
+ *
+ ********************************************************************************/
+
+int pthread_barrier_init(FAR pthread_barrier_t *barrier,
+                         FAR const pthread_barrierattr_t *attr, unsigned int count)
+{
+  int ret = OK;
+
+  if (!barrier || count == 0)
+    {
+      ret = EINVAL;
+    }
+  else
+    {
+      sem_init(&barrier->sem, 0, 0);
+      barrier->count = count;
+    }
+  return ret;
+}
diff --git a/nuttx/sched/pthread_barrierwait.c b/nuttx/sched/pthread_barrierwait.c
new file mode 100644
index 000000000..14cfa2eb3
--- /dev/null
+++ b/nuttx/sched/pthread_barrierwait.c
@@ -0,0 +1,181 @@
+/********************************************************************************
+ * pthread_barrierwait.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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.
+ *
+ ********************************************************************************/
+
+/********************************************************************************
+ * Included Files
+ ********************************************************************************/
+
+#include <sys/types.h>
+#include <pthread.h>
+#include <semaphore.h>
+#include <sched.h>
+#include <errno.h>
+#include <debug.h>
+
+/********************************************************************************
+ * Definitions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Type Declarations
+ ********************************************************************************/
+
+/********************************************************************************
+ * Global Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Function Prototypes
+ ********************************************************************************/
+
+/********************************************************************************
+ * Public Functions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Function: pthread_barrier_wait
+ *
+ * Description:
+ *   The pthread_barrier_wait() function synchronizse participating threads at
+ *   the barrier referenced by 'barrier'.  The calling thread is blocked until
+ *   the required number of threads have called pthread_barrier_wait() specifying
+ *   the same 'barrier'.  When the required number of threads have called
+ *   pthread_barrier_wait() specifying the 'barrier', the constant
+ *   PTHREAD_BARRIER_SERIAL_THREAD will be returned to one unspecified thread
+ *   and zero will be returned to each of the remaining threads. At this point,
+ *   the barrier will be reset to the state it had as a result of the most recent
+ *   pthread_barrier_init() function that referenced it.
+ *
+ *   The constant PTHREAD_BARRIER_SERIAL_THREAD is defined in pthread.h and its
+ *   value must be distinct from any other value returned by pthread_barrier_wait().
+ *
+ *   The results are undefined if this function is called with an uninitialized
+ *   barrier.
+ *
+ *   If a signal is delivered to a thread blocked on a barrier, upon return from
+ *   the signal handler the thread will resume waiting at the barrier if the barrier
+ *   wait has not completed; otherwise, the thread will continue as normal from
+ *   the completed barrier wait. Until the thread in the signal handler returns
+ *   from it, it is unspecified whether other threads may proceed past the barrier
+ *   once they have all reached it.
+ *
+ *   A thread that has blocked on a barrier will not prevent any unblocked thread
+ *   that is eligible to use the same processing resources from eventually making
+ *   forward progress in its execution.  Eligibility for processing resources will
+ *   be determined by the scheduling policy.
+ *
+ * Parameters:
+ *   barrier - the barrier to wait on
+ *
+ * Return Value:
+ *   0 (OK) on success or EINVAL if the barrier is not valid.
+ *
+ * Assumptions:
+ *
+ ********************************************************************************/
+
+int pthread_barrier_wait(FAR pthread_barrier_t *barrier)
+{
+  int semcount;
+  int ret = OK;
+
+  if (!barrier)
+    {
+      return EINVAL;
+    }
+
+  /* Disable pre-emption throughout the following */
+
+  sched_lock();
+
+  /* Find out how many threads are already waiting at the barrier */
+
+  ret = sem_getvalue(&barrier->sem, &semcount);
+  if (ret != OK)
+    {
+      sched_unlock();
+      return EINVAL;
+    }
+
+  /* If the number of waiters would be equal to the count, then we are done */
+
+  if (1 - semcount >= barrier->count)
+    {
+      /* Free all of the waiting threads */
+
+      while (semcount < 0)
+        {
+          (void)sem_post(&barrier->sem);
+          (void)sem_getvalue(&barrier->sem, &semcount);
+        }
+
+      /* Then return PTHREAD_BARRIER_SERIAL_THREAD to the final thread */
+
+      sched_unlock();
+      return PTHREAD_BARRIER_SERIAL_THREAD;
+    }
+  else
+    {
+      /* Otherwise, this thread must wait as well */
+
+      while (sem_wait(&barrier->sem) != OK)
+        {
+          /* If the thread is awakened by a signal, just continue to wait */
+
+          int errornumber = *get_errno_ptr();
+          if (errornumber != EINTR)
+            {
+              /* If it is awakened by some other error, then there is a
+               * problem
+               */
+
+              sched_unlock();
+              return errornumber;
+            }
+        }
+
+      /* We will only get here when we are one of the N-1 threads that were
+       * waiting for the final thread at the barrier.  We just need to return
+       * zero.
+       */
+
+      sched_unlock();
+      return 0;
+    }
+}
diff --git a/nuttx/sched/pthread_kill.c b/nuttx/sched/pthread_kill.c
new file mode 100644
index 000000000..bf6c42d33
--- /dev/null
+++ b/nuttx/sched/pthread_kill.c
@@ -0,0 +1,93 @@
+/************************************************************
+ * pthread_kill.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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.
+ *
+ ************************************************************/
+
+/************************************************************
+ * Included Files
+ ************************************************************/
+
+#include <nuttx/config.h>
+#include <signal.h>
+#include <pthread.h>
+#include <errno.h>
+#include <debug.h>
+
+/************************************************************
+ * Global Functions
+ ************************************************************/
+
+/************************************************************
+ * Function:  pthread_kill
+ *
+ * Description:
+ *   The pthread_kill() system call can be used to send any
+ *   signal to a thread.  See kill() for further information
+ *   as this is just a simple wrapper around the kill()
+ *   function.
+ *
+ * Parameters:
+ *   thread - The id of the thread to receive the signal. Only
+ *     positive, non-zero values of 'thread' are supported.
+ *   signo - The signal number to send.  If 'signo' is zero,
+ *     no signal is sent, but all error checking is performed.
+ *
+ * Return Value:
+ *    On success the signal was send and zero is returned.
+ *    On error one of the following error numbers is returned.
+ *
+ *    EINVAL An invalid signal was specified.
+ *    EPERM  The thread does not have permission to send the
+ *           signal to the target thread.
+ *    ESRCH  No thread could be found corresponding to that
+ *           specified by the given thread ID
+ *    ENOSYS Do not support sending signals to process groups.
+ *
+ * Assumptions:
+ *
+ ************************************************************/
+
+int pthread_kill(pthread_t thread, int signo)
+{
+  int ret;
+
+  *get_errno_ptr() = EINVAL;
+  ret = kill((pid_t)thread, signo);
+  if (ret != OK)
+    {
+       ret = *get_errno_ptr();
+    }
+  return ret;
+}
+
+
diff --git a/nuttx/sched/pthread_once.c b/nuttx/sched/pthread_once.c
new file mode 100644
index 000000000..011c186f0
--- /dev/null
+++ b/nuttx/sched/pthread_once.c
@@ -0,0 +1,125 @@
+/********************************************************************************
+ * pthread_once.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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.
+ *
+ ********************************************************************************/
+
+/********************************************************************************
+ * Included Files
+ ********************************************************************************/
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include <pthread.h>
+#include <sched.h>
+#include <errno.h>
+#include <debug.h>
+
+/********************************************************************************
+ * Definitions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Type Declarations
+ ********************************************************************************/
+
+/********************************************************************************
+ * Global Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Variables
+ ********************************************************************************/
+
+/********************************************************************************
+ * Private Function Prototypes
+ ********************************************************************************/
+
+/********************************************************************************
+ * Public Functions
+ ********************************************************************************/
+
+/********************************************************************************
+ * Function: pthread_once
+ *
+ * Description:
+ *   The  first call to pthread_once() by any thread with a given once_control,
+ *   will call the init_routine with no arguments. Subsequent calls to
+ *   pthread_once() with the same once_control will have no effect.  On return
+ *   from pthread_once(), init_routine will have completed.
+ *
+ * Parameters:
+ *   once_control - Determines if init_routine should be called.  once_control
+ *      should be declared and intialized as follows:
+ *
+ *        pthread_once_t once_control = PTHREAD_ONCE_INIT;
+ *
+ *       PTHREAD_ONCE_INIT is defined in pthread.h
+ *   init_routine - The initialization routine that will be called once.
+ *
+ * Return Value:
+ *   0 (OK) on success or EINVAL if either once_control or init_routine are invalid
+ *
+ * Assumptions:
+ *
+ ********************************************************************************/
+
+int pthread_once(FAR pthread_once_t *once_control, CODE void (*init_routine)(void))
+{
+  /* Sanity checks */
+
+  if (once_control && init_routine)
+    {
+      /* Prohibit pre-emption while we test and set the once_control */
+
+      sched_lock();
+      if (!*once_control)
+        {
+          *once_control = TRUE;
+
+          /* Call the init_routine with pre-emption enabled. */
+
+          sched_unlock();
+          init_routine();
+          return OK;
+        }
+
+      /* The init_routine has already been called.  Restore pre-emption and return */
+
+      sched_unlock();
+      return OK;
+    }
+
+  /* One of the two arguments is NULL */
+
+  return EINVAL;
+}
diff --git a/nuttx/sched/pthread_sigmask.c b/nuttx/sched/pthread_sigmask.c
new file mode 100644
index 000000000..02f318cea
--- /dev/null
+++ b/nuttx/sched/pthread_sigmask.c
@@ -0,0 +1,106 @@
+/************************************************************
+ * pthread_sigmask.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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.
+ *
+ ************************************************************/
+
+/************************************************************
+ * Included Files
+ ************************************************************/
+
+#include <sys/types.h>
+#include <signal.h>
+#include <pthread.h>
+#include <errno.h>
+#include <debug.h>
+
+/************************************************************
+ * Definitions
+ ************************************************************/
+
+/************************************************************
+ * Private Type Declarations
+ ************************************************************/
+
+/************************************************************
+ * Global Variables
+ ************************************************************/
+
+/************************************************************
+ * Private Variables
+ ************************************************************/
+
+/************************************************************
+ * Private Function Prototypes
+ ************************************************************/
+
+/************************************************************
+ * Public Functions
+ ************************************************************/
+
+/************************************************************
+ * Function: pthread_sigmask
+ *
+ * Description:
+ *   This function is a simple wrapper around sigprocmask().
+ *   See the sigprocmask() function description for further
+ *   information.
+ *
+ * Parameters:
+ *   how - How the signal mast will be changed:
+ *         SIG_BLOCK   - The resulting set is the union of
+ *                       the current set and the signal set
+ *                       pointed to by 'set'.
+ *         SIG_UNBLOCK - The resulting set is the intersection
+ *                       of the current set and the complement
+ *                       of the signal set pointed to by 'set'.
+ *         SIG_SETMASK - The resulting set is the signal set
+ *                       pointed to by 'set'.
+ *   set - Location of the new signal mask
+ *   oset - Location to store the old signal mask
+ *
+ * Return Value:
+ *   0 (OK) or EINVAL if how is invalid.
+ *
+ * Assumptions:
+ *
+ ************************************************************/
+
+int pthread_sigmask(int how, FAR const sigset_t *set, FAR sigset_t *oset)
+{
+  int ret = sigprocmask(how, set, oset);
+  if (ret != OK)
+    {
+      ret = EINVAL;
+    }
+  return ret;
+}
diff --git a/nuttx/sched/sig_kill.c b/nuttx/sched/sig_kill.c
index db9a73ba2..9e39a00e5 100644
--- a/nuttx/sched/sig_kill.c
+++ b/nuttx/sched/sig_kill.c
@@ -64,10 +64,12 @@
  *     information as zero and negative pid values.  Only
  *     positive, non-zero values of pid are supported by this
  *     implementation.
- *   signo - The signal number to send.
+ *   signo - The signal number to send.  If signo is zero,
+ *     no signal is sent, but all error checking is performed.
+ *
  *
  * Return Value:
- *    On  success (at least one signal was sent), zero is
+ *    On success (at least one signal was sent), zero is
  *    returned.  On error, -1 is returned, and errno is set
  *    appropriately.
  *
diff --git a/nuttx/sched/task_setup.c b/nuttx/sched/task_setup.c
index 6b2a5c2ff..fb1c0b932 100644
--- a/nuttx/sched/task_setup.c
+++ b/nuttx/sched/task_setup.c
@@ -235,7 +235,7 @@ STATUS task_schedsetup(FAR _TCB *tcb, int priority,
  *
  ************************************************************/
 
-STATUS task_argsetup(FAR _TCB *tcb, const char *name, char *argv[])
+STATUS task_argsetup(FAR _TCB *tcb, const char *name, const char *argv[])
 {
   int i;
 
diff --git a/nuttx/sched/timer_initialize.c b/nuttx/sched/timer_initialize.c
index a32189e89..a7acef5bf 100644
--- a/nuttx/sched/timer_initialize.c
+++ b/nuttx/sched/timer_initialize.c
@@ -150,10 +150,10 @@ void weak_function timer_deleteall(pid_t pid)
   irqstate_t flags;
 
   flags = irqsave();
-  for (timer = g_alloctimers.head; timer; timer = next)
+  for (timer = (FAR struct posix_timer_s*)g_alloctimers.head; timer; timer = next)
     {
       next = timer->flink;
-      if (timer->pt_owner = pid)
+      if (timer->pt_owner == pid)
         {
           timer_delete((timer_t)timer);
         }