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NuttX RTOSLast Updated: February 18, 2013 |
Table of Contents |
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Overview |
Goals. NuttX is a real timed embedded operating system (RTOS). Its goals are:
| Small Footprint | |
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Usable in all but the tightest micro-controller environments, The focus is on the tiny-to-small, deeply embedded environment. | |
| Rich Feature OS Set | |
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The goal is to provide implementations of most standard POSIX OS interfaces to support a rich, multi-threaded development environment for deeply embedded processors. NON-GOALS: (1) It is not a goal to provide the level of OS features like those provided by Linux. In order to work with smaller MCUs, small footprint must be more important than an extensive feature set. But standard compliance is more important than small footprint. Surely a smaller RTOS could be produced by ignoring standards. Think of NuttX is a tiny Linux work-alike with a much reduced feature set. (2) There is no MMU-based support for processes. At present, NuttX assumes a flat address space. | |
| Highly Scalable | |
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Fully scalable from tiny (8-bit) to moderate embedded (32-bit). Scalability with rich feature set is accomplished with: Many tiny source files, link from static libraries, highly configurable, use of weak symbols when available. | |
| Standards Compliance | |
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NuttX strives to achieve a high degree of standards compliance.
The primary governing standards are POSIX and ANSI standards.
Additional standard APIs from Unix and other common RTOS's are
adopted for functionality not available under these standards
or for functionality that is not appropriate for the deeply-embedded
RTOS (such as Because of this standards conformance, software developed under other standard OSs (such as Linux) should port easily to NuttX. | |
| Real-Time | |
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Fully pre-emptible, fixed priority and round-robin scheduling. | |
| Totally Open | |
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Non-restrictive BSD license. | |
| GNU Toolchains | |
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Compatible GNU toolchains based on buildroot available for download to provide a complete development environment for many architectures. |
Feature Set. Key features of NuttX include:
| Standards Compliant Core Task Management | |
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| File system | |
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FAT long file name support may be subject to certain Microsoft patent restrictions if enabled.
See the top-level | |
| Device Drivers | |
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/dev/null, /dev/zero, /dev/random, and loop drivers.
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| C/C++ Libraries | |
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| Networking | |
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| FLASH Support | |
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| USB Host Support | |
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| USB Device Support | |
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| Graphics Support | |
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| Input Devices | |
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| Analog Devices | |
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| Motor Control | |
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NuttX Add-Ons. The following packages are available to extend the basic NuttX feature set:
| NuttShell (NSH) | |
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| Pascal Compiler with NuttX runtime P-Code interpreter add-on | |
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Look at all those files and features... How can it be a tiny OS?. The NuttX feature list (above) is fairly long and if you look at the NuttX source tree, you will see that there are hundreds of source files comprising NuttX. How can NuttX be a tiny OS with all of that?
| Lots of Features -- More can be smaller! | |
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The philosophy behind that NuttX is that lots of features are great... BUT also that if you don't use those features, then you should not have to pay a penalty for the unused features. And, with NuttX, you don't! If you don't use a feature, it will not be included in the final executable binary. You only have to pay the penalty of increased footprint for the features that you actually use. Using a variety of technologies, NuttX can scale from the very tiny to the moderate-size system. I have executed NuttX with some simple applications in as little as 32K total memory (code and data). On the other hand, typical, richly featured NuttX builds require more like 64K (and if all of the features are used, this can push 100K). |
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| Many, many files -- More really is smaller! | |
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One may be intimidated by the size NuttX source tree. There are hundreds of source files! How can that be a tiny OS? Actually, the large number of files is one of the tricks to keep NuttX small and as scalable as possible. Most files contain only a single function. Sometimes just one tiny function with only a few lines of code. Why?
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| Other Tricks | |
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As mentioned above, the use of many, tiny source files and linking from static libraries keeps the size of NuttX down. Other tricks used in NuttX include:
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NuttX Discussion Group |
Most NuttX-related discussion occurs on the Yahoo! NuttX group. You are cordially invited to join. I make a special effort to answer any questions and provide any help that I can.
Downloads |
The 92nd release of NuttX, Version 6.25, was made on February 1, 2013, and is available for download from the
SourceForge website.
Note that the release consists of two tarballs: nuttx-6.25.tar.gz and apps-6.25.tar.gz.
Both may be needed (see the top-level nuttx/README.txt file for build information)
The change log associated with the release is available here.
Unreleased changes after this release are available in SVN.
These unreleased changes are also listed here.
This release corresponds with SVN release number: r5595, Note that all SVN information has been stripped from the tarballs. If you need the SVN configuration, you should check out directly from SVN. Revision r5595 should equivalent to release 6.25 of NuttX:
svn checkout -r5595 svn://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
Or (HTTP):
svn checkout -r5595 http://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
Additional new features and extended functionality
OS Initialization
CONFIG_BUILTIN_APP_START.
This is not really a useful feature and creates a violation of the OS layered architecture.
Task Creation
vfork()).
In NuttX-6.25, this interface is available only for ARM7/9, ARMv7-M (Cortext-M3/4), and MIPS32 (PIC32MX) platforms.
exec() now sets the priority of the new task to the same priority as the parent task (instead of the arbirtrary value of 50).
execv() and execl().
These are only partially compliant because they do not overlay any existing "process space" but rather create the new task and exit().
posix_spawn().
This standard interface is a better match for an MMU-less architecture than are vfork()) plus execv() or execl().
Task Parentage
pthreads created by the task.
CONFIG_SCHED_HAVE_PARENT and CONFIG_SCHED_CHILD_STATUS.
posix_spawn() to be reparented for the eventual child thread.
SIGCHLD.
Sent to all members of the parent "task group" when the finall member of the child task group exits.
SIGCHLD and retention of child task exist status are enabled, then a more spec-compliant version of waitpid() is enabled.
waitid() and wait() are also enabled when SIGCHLD is enabled.
File System
dup() and dup2() can new be used with opened files in a mounted file system.
This supports re-direction of output in NSH to files.
binfs file system was moved from apps/builtin to fs/binfs.
The binfs file system was extended to support execution of "builtin applications" using exec(), execv(), execl(), or posix_spawn().
SIGCHLD to automatically unload and clean-up after running a task that was loaded into memory.
Binary Formats
apps/builtin to nuttx/binfmt/libbuiltin.
Includes some extensions contributed by Mike Smith.
exec(), execv(), execl(), or posix_spawn().
Drivers
apps/examples hidkbd/ and keypadtest/ (the latter contributed by Denis Carlikli).
CONFIG_SERIAL_REMOVABLE.
ARMv7-M
BASEPRI register to disable interrupts (instead of the PRIMASK register).
This eliminates some innocuous hardfaults that interfere with some debug tools.
You need to switch to the BASEPRI method only if you have such tool interference.
STM32 Drivers
STM32 Boards
posix_spawn() test configuration for the STM32F4Discovery.
LM3S/LM4F
LM3S Boards
LPC176x/LPC178x
LPC176x/LPC178x Boards
LPC2148 Boards
Simulator
Networking
net_poll() to create the internal interface psock_poll().
LCDs
Graphics
Build System
apps/ directory.
The old design caused lots of problems when changing configurations because there is no easy way to get the system to rebuild the context.
This change should solve most the problems and eliminate questions like "Why don't I see my builtin application in NSH?"
Kconfig Files
There are several new configurations that use the kconfig-frontends tools and several older configurations that have been converted to use these tools. There is still a long way to go before the conversion is complete:
configs/sim/nxwm
configs/sim/nsh
configs/stm3220g-eval/nxwm
configs/stm32f4discovery/posix_spawn
configs/olimex-lpc1766stk/nsh
configs/olimex-lpc1766stk/hidkbd
configs/olimex-lpc1766stk/nettest
configs/open1788/ostest
configs/stm32f4discovery/nsh
configs/stm32f4discovery/usbnsh
configs/lm326965-ek (all configurations)
configs/mcu123-214x/nsh
configs/ubw32/ostest
Tools
tools/kconfig.bat: Kludge to run kconfig-frontends from a DOS shell.
tools/configure.c: configure.c can be used to build a work-alike program as a replacement for configure.sh.
This work-alike program would be used in environments that do not support Bash scripting (such as the Windows native environment).
tools/configure.bat: configure.bat is a small Windows batch file that can be used as a replacement for configure.sh in a Windows native environment.
configure.bat is actually just a thin layer that executes configure.exe if it is available.
If configure.exe is not available, then configure.bat will attempt to build it first (assumes the MinGW-GCC is available).
Applications
apps/examples/wlan: Remove non-functional example.
apps/examples/ostest: Added a test of vfork()).
Extend signal handler test to catch death-of-child signals (SIGCHLD).
Add a test for waitpid(), waitid(), and wait().
apps/exampes/posix_spawn: Added a test of posix_spawn().
posix_spawn().
init.d/rcS script will be executed once when NSH starts;
the .nshrc script will be executed for each session:
Once for a serial console, once for each USB connection, and once for each Telnet session.
wlan example.
Bugfixes (see the change log for details). Some of these are very important:
Tasking
sched_lock() is called increments the lockcount on the current TCB (i.e., the one at the head of the ready to run list),
(2) sched_mergepending() is called which may change the task at the head of the ready-to-run list, then
(3) sched_unlock() is called which decrements the lockcount on the wrong TCB.
The failure case that I saw was that pre-emption got disabled in the IDLE thread, locking up the whole system.
Signals
sigtimedwait() would return a bad signal number if the signal was already pending when the function was called.
Drivers
STM32 Drivers
STM32 Boards
/dev/ttyS0-5 is there is a serial console, but /dev/ttyS1-6 if there is no serial console.
Binary Formats
File Systems
Networking
poll_interrupt() must call net_lostconnection() when a loss of connection is reported.
Otherwise, the system will not remember that the connection has been lost and will hang waiting on a unconnected socket later.
recvfrom() and send().
recv() ever returned a value <= 0.
Libraries
fread() could hang on certain error conditions.
SYSLOG output to a character device from the IDLE task (because the IDLE task can't block).
Build System
Additional Bugfixes
sig_timedwait() and clock_time2ticks.c: Timing "rounding" logic
readline() return value
apps/examples.
See the ChangeLog for additional, detailed changes.
Supported Platforms |
The short story (Number of ports follow in parentheses). The state of the various ports vary from board-to-board. Follow the links for the details:
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The details, caveats and fine print follow:
| Linux User Mode. | |
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A user-mode port of NuttX to the x86 Linux/Cygwin platform is available. The purpose of this port is primarily to support OS feature development. STATUS: Does not support interrupts but is otherwise fully functional. |
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| ARM7TDMI. | |
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TI TMS320C5471 (also called C5471 or TMS320DA180 or DA180). NuttX operates on the ARM7 of this dual core processor. This port uses the Spectrum Digital evaluation board with a GNU arm-nuttx-elf toolchain* under Linux or Cygwin. STATUS: This port is complete, verified, and included in the initial NuttX release. |
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TI Calypso. This port supports the TI "Calypso" MCU used in various cell phones (and, in particular, by the Osmocom-bb project). Like the c5471, NuttX operates on the ARM7 of this dual core processor. STATUS: This port was contributed by Denis Carilki and includes the work of Denis Carikli, Alan Carvalho de Assis, and Stefan Richter. Calypso support first appeared in NuttX-6.17 with LCD drivers. Support for the Calypso keyboard was added in NuttX-6.24 by Denis Carilki. |
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NXP LPC214x. Support is provided for the NXP LPC214x family of processors. In particular, support is provided for (1) the mcu123.com lpc214x evaluation board (LPC2148) and (1) the The0.net ZPA213X/4XPA development board (with the The0.net UG-2864AMBAG01 OLED) This port also used the GNU arm-nuttx-elf toolchain* under Linux or Cygwin. STATUS: This port boots and passes the OS test (apps/examples/ostest). The port is complete and verified. As of NuttX 0.3.17, the port includes: timer interrupts, serial console, USB driver, and SPI-based MMC/SD card support. A verified NuttShell (NSH) configuration is also available. Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain (CodeSourcery or devkitARM), or 4) Native Windows. A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. |
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NXP LPC2378. Support is provided for the NXP LPC2378 MCU. In particular, support is provided for the Olimex-LPC2378 development board. This port was contributed by Rommel Marcelo is was first released in NuttX-5.3. This port also used the GNU arm-nuttx-elf toolchain* under Linux or Cygwin. STATUS: This port boots and passes the OS test (apps/examples/ostest) and includes a working implementation of the NuttShell (NSH). The port is complete and verified. As of NuttX 5.3, the port includes only basic timer interrupts and serial console support. Development Environments: (Same as for the NXP LPC214x). |
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STMicro STR71x. Support is provided for the STMicro STR71x family of processors. In particular, support is provided for the Olimex STR-P711 evaluation board. This port also used the GNU arm-nuttx-elf toolchain* under Linux or Cygwin. STATUS: Integration is complete on the basic port (boot logic, system time, serial console). Two configurations have been verified: (1) The board boots and passes the OS test with console output visible on UART0, and the NuttShell (NSH) is fully functional with interrupt driven serial console. An SPI driver is available but only partially tested. Additional features are needed: USB driver, MMC integration, to name two (the slot on the board appears to accept on MMC card dimensions; I have only SD cards). An SPI-based ENC28J60 Ethernet driver for add-on hardware is available and but has not been fully verified on the Olimex board (due to issues powering the ENC28J60 add-on board). Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain (CodeSourcery or devkitARM), or 4) Native Windows. A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. |
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| ARM920T. | |
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Freescale MC9328MX1 or i.MX1. This port uses the Freescale MX1ADS development board with a GNU arm-nuttx-elf toolchain* under either Linux or Cygwin. STATUS: This port has stalled due to development tool issues. Coding is complete on the basic port (timer, serial console, SPI). |
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| ARM926EJS. | |
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TI TMS320DM320 (also called DM320). NuttX operates on the ARM9 of this dual core processor. This port uses the Neuros OSD with a GNU arm-nuttx-elf toolchain* under Linux or Cygwin. The port was performed using the OSD v1.0, development board. STATUS: The basic port (timer interrupts, serial ports, network, framebuffer, etc.) is complete. All implemented features have been verified with the exception of the USB device-side driver; that implementation is complete but untested. |
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NXP LPC3131.
The port for the NXP LPC3131 on the Embedded Artists EA3131
development board was first released in NuttX-5.1 with a GNU arm-nuttx-elf or arm-eabi toolchain* under Linux or Cygwin
(but was not functional until NuttX-5.2).
STATUS: The basic EA3131 port is complete and verified in NuttX-5.2 This basic port includes basic boot-up, serial console, and timer interrupts. This port was extended in NuttX 5.3 with a USB high speed driver contributed by David Hewson. David also contributed I2C and SPI drivers plus several important LPC313x USB bug fixes that appear in the NuttX 5.6 release. This port has been verified using the NuttX OS test, USB serial and mass storage tests and includes a working implementation of the NuttShell (NSH). Support for on-demand paging has been developed for the EA3131. That support would all execute of a program in SPI FLASH by paging code sections out of SPI flash as needed. However, as of this writing, I have not had the opportunity to verify this new feature. |
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NXP LPC315x.
Support for the NXP LPC315x family has been incorporated into the code base as of NuttX-6.4.
Support has added for the Embedded Artists EA3152 board in NuttX-6.11.
STATUS: Basic support is in place for both the LPC3152 MCU and the EA3152 board. Verification of the port was deferred due to tool issues However, because of the high degree of compatibility between the LPC313x and LPC315x family, it is very likely that the support is in place (or at least very close). At this point, verification of the EA3152 port has been overcome by events and may never happen. However, the port is available for anyone who may want to use it. |
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| ARM Cortex-M0. | |
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NuvoTon NUC120. This is a port of NuttX to the Nuvoton NuTiny-SDK-NUC120 that features the NUC120LE3AN MCU. STATUS. As of this writing, this is very much a work in progress. For a full-featured RTOS such as NuttX, providing support in a usable and meaningful way within the tiny memories of the NUC120 will be a challenge (128KB FLASH and 16KB of SRAM). Initial support for the NUC120 is expected in NuttX-6.26. Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain, or 4) Native Windows. A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. |
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| ARM Cortex-M3. | |
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TI Stellaris LM3S6432. This is a port of NuttX to the Stellaris RDK-S2E Reference Design Kit and the MDL-S2E Ethernet to Serial module (contributed by Mike Smith). |
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Luminary/TI Stellaris LM3S6918. This port uses the Micromint Eagle-100 development board with a GNU arm-nuttx-elf toolchain* under either Linux or Cygwin. STATUS: The initial, release of this port was included in NuttX version 0.4.6. The current port includes timer, serial console, Ethernet, SSI, and microSD support. There are working configurations the NuttX OS test, to run the NuttShell (NSH), the NuttX networking test, and the uIP web server. Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain (CodeSourcery or devkitARM), or 4) Native Windows. A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. |
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Luminary/TI Stellaris LM3S6965. This port uses the Stellaris LM3S6965 Ethernet Evalution Kit with a GNU arm-nuttx-elf toolchain* under either Linux or Cygwin. STATUS: This port was released in NuttX 5.5. Features are the same as with the Eagle-100 LM3S6918 described above. The apps/examples/ostest configuration has been successfully verified and an NSH configuration with Telnet support is available. MMC/SD and Networking support was not been thoroughly verified: Current development efforts are focused on porting the NuttX window system (NX) to work with the Evaluation Kits OLED display. NOTE: As it is configured now, you MUST have a network connected. Otherwise, the NSH prompt will not come up because the Ethernet driver is waiting for the network to come up. Development Environments: See the Eagle-100 LM3S6918 above. |
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Luminary/TI Stellaris LM3S8962. This port uses the Stellaris EKC-LM3S8962 Ethernet+CAN Evalution Kit with a GNU arm-nuttx-elf toolchain* under either Linux or Cygwin. Contributed by Larry Arnold. STATUS: This port was released in NuttX 5.10. Features are the same as with the Eagle-100 LM3S6918 described above. |
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Luminary/TI Stellaris LM3S9B96. Header file support was contributed by Tiago Maluta for this part. Jose Pablo Rojas V. is currently using those header file changes to port NuttX to the TI/Stellaris EKK-LM3S9B96. With any luck, that port should be working and available in the NuttX-6.20 release. |
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TI Stellaris LM3S6432S2E. This port uses Serial-to-Ethernet Reference Design Kit (RDK-S2E) and has similar support as for the other Stellaris family members. Configurations are available for the OS test and for the NuttShell (NSH) (see the NSH User Guide). The NSH configuration including networking support with a Telnet NSH console. This port was contributed by Mike Smith. STATUS: This port was will be released in NuttX 6.14. |
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STMicro STM32F100x (STM32 F1 "Value Line"Family). Chip support for these STM32 "Value Line" family was contributed by Mike Smith and users have reported that they have successful brought up NuttX on there proprietary boards using this logic. This logic was extended to support the high density STM32F100RC chips by Freddie Chopin However, there is no specific board support for this chip families in the NuttX source tree. There is, however, generic support for STM32F100RC boards. | |
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STMicro STM32F103x (STM32 F1 Family). Support for four MCUs and four board configurations are available. MCU support includes all of the high density and connectivity line families. Board supported is available specifically for: STM32F103ZET6, STM32F103RET6, STM32F103VCT, and STM32F103VET6. Boards supported include:
These ports uses a GNU arm-nuttx-elf toolchain* under either Linux or Cygwin (with native Windows GNU tools or Cygwin-based GNU tools).
STATUS: Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain (RIDE7, CodeSourcery or devkitARM), or 4) Native Windows. A DIY toolchain or Linux or Cygwin is provided by the NuttX buildroot package. |
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STMicro STM32F107x (STM32 F1 "Connectivity Line" family). Chip support for the STM32 F1 "Connectivity Line" family has been present in NuttX for some time and users have reported that they have successful brought up NuttX on there proprietary boards using this logic. Olimex STM32-P107 Support for the Olimex STM32-P107 was contributed by Max Holtzberg and first appeared in NuttX-6.21. That port features the STMicro STM32F107VC MCU.
Shenzhou IV Work is underway as of this writing to port NuttX to the Shenzhou IV development board (See www.armjishu.com) featuring the STMicro STM32F107VCT MCU. If all goes according to plan, this port should be verified and available in NuttX-6.22.
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STMicro STM32F207IG (STM32 F2 family). Support for the STMicro STM3220G-EVAL development board was contributed by Gary Teravskis and first released in NuttX-6.16.
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Atmel AT91SAM3U. This port uses the Atmel SAM3U-EK development board that features the AT91SAM3U4E MCU. This port uses a GNU arm-nuttx-elf or arm-eabi toolchain* under either Linux or Cygwin (with native Windows GNU tools or Cygwin-based GNU tools). STATUS: The basic SAM3U-EK port was released in NuttX version 5.1. The basic port includes boot-up logic, interrupt driven serial console, and system timer interrupts. That release passes the NuttX OS test and is proven to have a valid OS implementation. A configuration to support the NuttShell is also included. NuttX version 5.4 adds support for the HX8347 LCD on the SAM3U-EK board. This LCD support includes an example using the NX graphics system. NuttX version 6.10 adds SPI support. Subsequent NuttX releases will extend this port and add support for SDIO-based SD cards and USB device (and possible LCD support). These extensions may or may not happen soon as my plate is kind of full now. Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain (CodeSourcery or devkitARM), or 4) Native Windows. A DIY toolchain for inux or Cygwin is provided by the NuttX buildroot package. |
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NXP LPC1766, LPC1768, and LPC1769. Drivers are available for CAN, DAC, Ethernet, GPIO, GPIO interrupts, I2C, UARTs, SPI, SSP, USB host, and USB device. Verified LPC17xx onfigurations are available for three boards.
The Nucleus 2G board, the mbed board, and the LPCXpresso all feature the NXP LPC1768 MCU; the Olimex LPC1766-STK board features an LPC1766. All use a GNU arm-nuttx-elf or arm-eabi toolchain* under either Linux or Cygwin (with native Windows GNU tools or Cygwin-based GNU tools).
STATUS: The following summarizes the features that has been developed and verified on individual LPC17xx-based boards. These features should, however, be common and available for all LPC17xx-based boards. Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain (CodeSourcery devkitARM or Code Red), or 4) Native Windows. A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. |
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| ARM Cortex-M4. | |
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FreeScale Kinetis K40. This port uses the Freescale Kinetis KwikStik K40. Refer to the Freescale web site for further information about this board. The Kwikstik is used with the FreeScale Tower System (mostly just to provide a simple UART connection) STATUS: The unverified KwikStik K40 first appeared in NuttX-6.8 As of this writing, the basic port is complete but I accidentally locked my board during the initial bringup. Further development is stalled unless I learn how to unlock the device (or until I get another K40). Additional work remaining includes, among other things: (1) complete the basic bring-up, (2) bring up the NuttShell NSH, (3) develop support for the SDHC-based SD card, (4) develop support for USB host and device, and (2) develop an LCD driver. NOTE: Some of these remaining tasks are shared with the K60 work described below. |
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FreeScale Kinetis K60. This port uses the Freescale Kinetis TWR-K60N512 tower system. Refer to the Freescale web site for further information about this board. The TWR-K60N51 includes with the FreeScale Tower System which provides (among other things) a DBP UART connection. STATUS: As of this writing, the basic port is complete and passes the NuttX OS test. An additional, validated configuration exists for the NuttShell (NSH, see the NSH User Guide). This basic TWR-K60N512 first appeared in NuttX-6.8. Ethernet and SD card (SDHC) drivers also exist: The SDHC driver is partially integrated in to the NSH configuration but has some outstanding issues; the Ethernet driver is completely untested. Additional work remaining includes: (1) integrate the Ethernet and SDHC drivers, and (2) develop support for USB host and device. NOTE: Most of these remaining tasks (excluding the Ethernet driver) are the same as the pending K40 tasks described above. |
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STMicro STM3240G-EVAL (STM32 F4 family). This port uses the STMicro STM3240G-EVAL board featuring the STM32F407IGH6 MCU. Refer to the STMicro web site for further information about this board. STATUS:
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STMicro STM32F4-Discovery (STM32 F4 family). This port uses the STMicro STM32F4-Discovery board featuring the STM32F407VGT6 MCU. Refer to the STMicro web site for further information about this board. STATUS: The basic port for the STM32F4-Discovery was contributed by Mike Smith and was first released in NuttX-6.14. All drivers listed for the STM3240G-EVAL are usable on this plaform as well. |
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STMicro STM32F3-Discovery (STM32 F3 family). This port uses the STMicro STM32F3-Discovery board featuring the STM32F303VCT6 MCU (STM32 F3 family). Refer to the STMicro web site for further information about this board. STATUS: The basic port for the STM32F3-Discover was first released in NuttX-6.26. Many of the drivers previously released for the STM32 F1, Value Line, and F2 and F4 may be usable on this plaform as well. New drivers will be required for ADC and I2C which are very different on this platform. |
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NXG Technologies LPC4330-Xplorer. This NuttX port is for the LPC4330-Xplorer board from NGX Technologies featuring the NXP LPC4330FET100 MCU. See the NXG website for further information about this board. STATUS:
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Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU Cortex-M3 or 4 toolchain, 3) Cygwin/MSYS with Windows native GNU Cortex-M3 or M4 toolchain (CodeSourcery or devkitARM), or 4) Native Windows. A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. I use FreeScale's CodeWarrior IDE only to work with the JTAG debugger built into the Kinetis boards. I use the Code Red IDE with the some of the NXP parts and the Atollic toolchain with some of the STMicroelectronics parts. |
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| Atmel AVR. | |
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SoC Robotics ATMega128. This port of NuttX to the Amber Web Server from SoC Robotics is partially completed. The Amber Web Server is based on an Atmel ATMega128. STATUS: Work on this port has stalled due to toolchain issues. Complete, but untested code for this port appears in the NuttX 6.5 release. |
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Micropendous 3 AT90USB64x and AT90USB6128x. This port of NuttX to the Opendous Micropendous 3 board. The Micropendous3 is may be populated with an AT90USB646, 647, 1286, or 1287. I have only the AT90USB647 version for testing. This version have very limited memory resources: 64K of FLASH and 4K of SRAM. STATUS: The basic port was released in NuttX-6.5. This basic port consists only of a "Hello, World!!" example that demonstrates initialization of the OS, creation of a simple task, and serial console output. |
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PJRC Teensy++ 2.0 AT90USB1286. This is a port of NuttX to the PJRC Teensy++ 2.0 board. This board was developed by PJRC. The Teensy++ 2.0 is based on an Atmel AT90USB1286 MCU. STATUS: The basic port was released in NuttX-6.5. This basic port consists of a "Hello, World!!" example that demonstrates initialization of the OS, creation of a simple task, and serial console output as well as a somewhat simplified NuttShell (NSH) configuration (see the NSH User Guide). An SPI driver and a USB device driver exist for the AT90USB as well as a USB mass storage configureation. However, this configuration is not fully debugged as of the NuttX-6.5 release. |
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AVR-Specific Issues. The basic AVR port is solid and biggest issue for using AVR is its tiny SRAM memory and its Harvard architecture. Because of the Harvard architecture, constant data that resides to flash is inaccessible using "normal" memory reads and writes (only SRAM data can be accessed "normally"). Special AVR instructions are available for accessing data in FLASH, but these have not been integrated into the normal, general purpose OS. Most NuttX test applications are console-oriented with lots of strings used for printf and debug output. These strings are all stored in SRAM now due to these data accessing issues and even the smallest console-oriented applications can quickly fill a 4-8K memory. So, in order for the AVR port to be useful, one of two things would need to be done:
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Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows native toolchain, or 4) Native Windows. All testing, however, has been performed using the NuttX DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package. As a result, that toolchain is recommended. |
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| Atmel AVR32. | |
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AV32DEV1. This port uses the www.mcuzone.com AVRDEV1 board based on the Atmel AT32UC3B0256 MCU. This port requires a special GNU avr32 toolchain available from atmel.com website. This is a windows native toolchain and so can be used only under Cygwin on Windows.
STATUS: This port is has completed all basic development, but there is more that needs to be done. All code is complete for the basic NuttX port including header files for all AT32UC3* peripherals. The untested AVR32 code was present in the 5.12 release of NuttX. Since then, the basic RTOS port has solidified: The basic, port (including the verified apps/examples/ostest configuration) was be released in NuttX-5.13. A complete port will include drivers for additional AVR32 UC3 devices -- like SPI and USB --- and will be available in a later release, time permitting. |
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| Freescale M68HCS12. | |
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MC9S12NE64. Support for the MC9S12NE64 MCU and two boards are included:
Both use a GNU arm-nuttx-elf toolchain* under Linux or Cygwin. The NuttX buildroot provides a properly patched GCC 3.4.4 toolchain that is highly optimized for the m9s12x family. STATUS: Coding is complete for the MC9S12NE64 and for the NE64 Badge board. However, testing has not yet begun due to issues with BDMs, Code Warrior, and the paging in the build process. Progress is slow, but I hope to see a fully verified MC9S12NE64 port in the near future. |
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| Intel 8052 Microcontroller. | |
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PJRC 87C52 Development Board. This port uses the PJRC 87C52 development system and the SDCC toolchain under Linux or Cygwin. STATUS: This port is complete but not stable with timer interrupts enabled. There seems to be some issue when the stack pointer enters into the indirect IRAM address space during interrupt handling. This architecture has not been built in some time will likely have some compilation problems because of SDCC compiler differences. |
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| Intel 80x86. | |
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QEMU/Bifferboard i486. This port uses the QEMU i486 and the native Linux, Cywgin, MinGW the GCC toolchain under Linux or Cygwin. STATUS: The basic port was code-complete in NuttX-5.19 and verifed in NuttX-6.0. The port was verified using the OS and NuttShell (NSH) examples under QEMU. The port is reported to be functional on the Bifferboard as well. This is a great, stable starting point for anyone interest in fleshing out the x86 port! |
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RGMP. RGMP stands for RTOS and GPOS on Multi-Processor. RGMP is a project for running GPOS and RTOS simultaneously on multi-processor platforms You can port your favorite RTOS to RGMP together with an unmodified Linux to form a hybrid operating system. This makes your application able to use both RTOS and GPOS features. See the RGMP Wiki for further information about RGMP. STATUS: This initial port of NuttX to RGMP was provided in NuttX-6.3. This initial RGP port provides only minimal driver support and does not use the native NuttX interrupt system. This is a great, stable starting point for anyone interest in working with NuttX under RGMP! |
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| MicroChip PIC32 (MIPS). | |
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PIC32MX250F128D. A port is in progress from the DTX1-4000L "Mirtoo" module from Dimitech. This module uses MicroChip PIC32MX250F128D and the Dimitech DTX1-4000L EV-kit1 V2. See the Dimitech website for further information. STATUS: The basic port is code complete. Two configurations are available: (1) An OS test configuration and a (2) configuration that support the NuttShell (NSH). The OS test configuration is fully functional and proves that we have a basically healthy NuttX port to the Mirtoo. The NSH configuration includes support for a serial console and for the SST25 serial FLASH and the PGA117 amplifier/multiplexer on board the module. The NSH configuration is set up to use the NuttX wear-leveling FLASH file system (NXFFS). The PGA117, however, is not yet fully integrated to support ADC sampling. See the NSH User Guide for further information about NSH. The first verified port to the Mirtoo module was available with the NuttX 6.20 release. |
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PIC32MX460F512L. There one two board ports using this chip:
STATUS: The basic port is code complete and fully verified in NuttX 6.13. Available configurations include the OS test and the NuttShell (NSH - see the NSH User Guide). STATUS: The basic port is code complete and fully verified in NuttX 6.18. Available configurations include the OS test and the NuttShell (NSH - see the NSH User Guide). USB has not yet been fully tested but on first pass appears to be functional. |
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PIC32MX440F512H. This port uses the "Advanced USB Storage Demo Board," Model DB-DP11215, from Sure Electronics. This board features the MicroChip PIC32MX440F512H. See the Sure website for further information about the DB-DP11215 board. (I believe that that the DB-DP11215 may be obsoleted now but replaced with the very similar, DB-DP11212. The DB-DP11212 board differs, I believe, only in its serial port configuration.) STATUS: This NuttX port is code complete and has considerable test testing. The port for this board was completed in NuttX 6.11, but still required a few bug fixes before it will be ready for prime time. The fully verified port first appeared in NuttX 6.13. Available configurations include the OS test and the NuttShell (NSH - see the NSH User Guide). An untested USB device-side driver is available in the source tree. A more complete port would include support of the USB OTG port and of the LCD display on this board. Those drivers are not yet available as of this writing. |
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PIC32MX795F512L. There one two board ports using this chip:
STATUS: This port was started and then shelved for some time until I received the Expansion I/O board. The basic Starter Kit (even with the Multimedia Expansion Board, MEB, DM320005)) has no serial port and most NuttX test configurations depend heavily on console output. Verified configurations for the OS test and the NuttShel (NSH) appeared in NuttX-6.16. Board support includes a verified USB (device-side) driver. Also included are a a verified Ethernet driver, a partially verified USB device controller driver, and an unverifed SPI driver. Stay tuned for updates. STATUS: Two verified configurations are available: (1) The basic OS test configuration that verfies the correctness port of NuttX, and (2) an extensive NuttShell (NSH) configuration. The NSH configuration includes: (1) Full network support, (2) Verified SPI driver, (3) SPI-based SD Card support, (4) USB device support (including configuration options for the USB mass storage device and the CDC/ACM serial class), and (5) Support for the MIO873QT2 LCD on the PIC32MX7 MMB. The PIC32MX7 MMB's touchscreen is connected directly to the MCU via ADC pins. A touchscreen driver has been developed using the PIC32's ADC capabilities and can be enabled in the NSH configuration. However, additional verification and tuning of this driver is required. Further display/touchscreen verification would require C++ support (for NxWidgets and NxWM). Since I there is no PIC32 C++ is the free version of the MPLAB C32 toolchain, further graphics development is stalled. |
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Development Environment: These ports uses either: |
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| Renesas/Hitachi SuperH. | |
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SH-1 SH7032. This port uses the Hitachi SH-1 Low-Cost Evaluation Board (SH1_LCEVB1), US7032EVB, with a GNU ELF toolchain* under Linux or Cygwin. STATUS: This port is available as of release 0.3.18 of NuttX. The port is basically complete and many examples run correctly. However, there are remaining instabilities that make the port un-usable. The nature of these is not understood; the behavior is that certain SH-1 instructions stop working as advertised. This could be a silicon problem, some pipeline issue that is not handled properly by the gcc 3.4.5 toolchain (which has very limit SH-1 support to begin with), or perhaps with the CMON debugger. At any rate, I have exhausted all of the energy that I am willing to put into this cool old processor for the time being. |
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| Renesas M16C/26. | |
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Renesas M16C/26 Microncontroller. This port uses the Renesas SKP16C26 Starter kit and the GNU M32C toolchain. The development environment is either Linux or Cygwin under WinXP.
STATUS:
Initial source files released in nuttx-0.4.2.
At this point, the port has not been integrated; the target cannot be built
because the GNU m32c-nuttx-elf-ld: BFD (GNU Binutils) 2.19 assertion fail /home/Owner/projects/nuttx/buildroot/toolchain_build_m32c/binutils-2.19/bfd/elf32-m32c.c:482
Where the reference line is: /* If the symbol is out of range for a 16-bit address, we must have allocated a plt entry. */ BFD_ASSERT (*plt_offset != (bfd_vma) -1); No workaround is known at this time. This is a show stopper for M16C for the time being. |
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| Zilog Z16F. | |
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Zilog z16f Microncontroller. This port use the Zilog z16f2800100zcog development kit and the Zilog ZDS-II Windows command line tools. The development environment is either Windows native or Cygwin under Windows. STATUS: The initial release of support for the z16f was made available in NuttX version 0.3.7. |
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| Zilog eZ80 Acclaim!. | |
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Zilog eZ80Acclaim! Microncontroller. There are two eZ80Acclaim! ports:
Both boards are based on the eZ80F091 part and both use the Zilog ZDS-II Windows command line tools. The development environment is either Windows native or Cygwin under Windows. STATUS: Integration and testing of NuttX on the ZiLOG ez80f0910200zcog-d is complete. The first integrated version was released in NuttX version 0.4.2 (with important early bugfixes in 0.4.3 and 0.4.4). As of this writing, that port provides basic board support with a serial console, SPI, and eZ80F91 EMAC driver. |
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| Zilog Z8Encore!. | |
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Zilog Z8Encore! Microncontroller. This port uses the either:
and the Zilog ZDS-II Windows command line tools. The development environment is either Windows native or Cygwin under Windows. STATUS: This release has been verified only on the ZiLOG ZDS-II Z8Encore! chip simulation as of nuttx-0.3.9. |
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| Zilog Z180. | |
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P112. The P112 is a hobbyist single board computer based on a 16MHz Z80182 with up to 1MB of memory, serial, parallel and diskette IO, and realtime clock, in a 3.5-inch drive form factor.. The P112 computer originated as a commercial product of "D-X Designs Pty Ltd"[ of Australia. Dave Brooks was successfully funded through Kickstarter for and another run of P112 boards in November of 2012. In addition Terry Gulczynski makes additional P112 derivative hobbyist home brew computers.STATUS: Most of the NuttX is in port for both the Z80182 and for the P112 board. Boards from Kickstarter project will not be available, however, until the first quarter of 2013. So it will be some time before this port is verified on hardware. |
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| Zilog Z80. | |
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Z80 Instruction Set Simulator. This port uses the SDCC toolchain under Linux or Cygwin (verified using version 2.6.0). This port has been verified using only a Z80 instruction simulator. That simulator can be found in the NuttX SVN here. STATUS: This port is complete and stable to the extent that it can be tested using an instruction set simulator. |
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XTRS: TRS-80 Model I/III/4/4P Emulator for Unix. A very similar Z80 port is available for XTRS, the TRS-80 Model I/III/4/4P Emulator for Unix. That port also uses the SDCC toolchain under Linux or Cygwin (verified using version 2.6.0). STATUS: Basically the same as for the Z80 instruction set simulator. This port was contributed by Jacques Pelletier. |
* A highly modified buildroot is available that may be used to build a NuttX-compatible ELF toolchain under Linux or Cygwin. Configurations are available in that buildroot to support ARM, Cortex-M3, avr, m68k, m68hc11, m68hc12, m9s12, blackfin, m32c, h8, and SuperH ports.
Development Environments |
Linux + GNU make + GCC/binutils for Linux
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The is the most natural development environment for NuttX. Any version of the GCC/binutils toolchain may be used. There is a highly modified buildroot available for download from the NuttX SourceForge page. This download may be used to build a NuttX-compatible ELF toolchain under Linux or Cygwin. That toolchain will support ARM, m68k, m68hc11, m68hc12, and SuperH ports. The buildroot SVN may be accessed in the NuttX SVN. |
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Linux + GNU make + SDCC for Linux
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Also very usable is the Linux environment using the SDCC compiler. The SDCC compiler provides support for the 8051/2, z80, hc08, and other microcontrollers. The SDCC-based logic is less well exercised and you will likely find some compilation issues if you use parts of NuttX with SDCC that have not been well-tested. |
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Windows with Cygwin + GNU make + GCC/binutils (custom built under Cygwin)
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This combination works well too. It works just as well as the native Linux environment except that compilation and build times are a little longer. The custom NuttX buildroot referenced above may be build in the Cygwin environment as well. |
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Windows with Cygwin + GNU make + SDCC (custom built under Cygwin)
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I have never tried this combination, but it would probably work just fine. |
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Windows with Cygwin + GNU make + Windows Native Toolchain
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This is a tougher environment. In this case, the Windows native toolchain is unaware of the Cygwin sandbox and, instead, operates in the native Windows environment. The primary difficulties with this are:
Fortunately, this conversion is done simply using the The NuttX make system works around this limitation by copying the platform specific directories in place. These copied directories make work a little more complex, but otherwise work well.
NOTE: In this environment, it should be possible to use the NTFS
NOTE: dependencies are suppress by setting the make variable Supported Windows Native Toolchains. At present, the following Windows native toolchains are in use:
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Windows Native (CMD.exe) + GNUWin32 (including GNU make) + MinGW Host GCC compiler + Windows Native Toolchain
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Build support has been added to support building natively in a Windows console rather than in a POSIX-like environment. This build:
This capability first appeared in NuttX-6.24 and should still be considered a work in progress because: (1) it has not been verfied on all targets and tools, and (2) still lacks some of the creature-comforts of the more mature environments.
The windows native build logic initiatiated if At present, this build environment also requires:
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Wine + GNU make + Windows Native Toolchain
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I've never tried this one, but I off the following reported by an ez80 user using the ZiLOG ZDS-II Windows-native toolchain:
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| Other Environments? | |
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Environment Dependencies. The primary environmental dependency of NuttX are (1) GNU make, (2) bash scripting, and (3) Linux utilities (such as cat, sed, etc.). If you have other platforms that support GNU make or make utilities that are compatible with GNU make, then it is very likely that NuttX would work in that environment as well (with some porting effort). If GNU make is not supported, then some significant modification of the Make system would be required. MSYS. I have not used MSYS but what I gather from talking with NuttX users is that MSYS can be used as an alternative to Cygwin in any of the above Cygwin environments. This is not surprising since MSYS is based on an older version of Cygwin (cygwin-1.3). MSYS has been modified, however, to interoperate in the Windows environment better than Cygwin and that may be of value to some users.
MSYS, however, cannot be used with the native Windows NuttX build because it will invoke the MSYS bash shell instead of the |
Memory Footprint |
C5471 (ARM7) The build for this ARM7 target that includes most of the OS features and a broad range of OS tests. The size of this executable as given by the Linux size command is (3/9/07):
text data bss dec hex filename 53272 428 3568 57268 dfb4 nuttx
DM320 (ARM9) This build for the ARM9 target includes a significant subset of OS features, a filesystem, Ethernet driver, full TCP/IP, UDP and (minimal) ICMP stacks (via uIP) and a small network test application: (11/8/07, configuration netconfig, apps/examples/nettest)
text data bss dec hex filename 49472 296 3972 53740 d1ec nuttx
Another build for the ARM9 target includes a minimal OS feature set, Ethernet driver, full TCP/IP and (minimal) ICMP stacks, and a small webserver: (11/20/07, configuration uipconfig, apps/examples/uip)
text data bss dec hex filename 52040 72 4148 56260 dbc4 nuttx
87C52 A reduced functionality OS test for the 8052 target requires only about 18-19K:
Stack starts at: 0x21 (sp set to 0x20) with 223 bytes available. Other memory: Name Start End Size Max ---------------- -------- -------- -------- -------- PAGED EXT. RAM 0 256 EXTERNAL RAM 0x0100 0x02fd 510 7936 ROM/EPROM/FLASH 0x2100 0x6e55 19798 24384
Licensing |
NuttX is available under the highly permissive BSD license. Other than some fine print that you agree to respect the copyright you should feel absolutely free to use NuttX in any environment and without any concern for jeopardizing any proprietary software that you may link with it.
Release History |
ChangeLog snapshots associated with the previous, current, and future release are available below.
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Change logs for previous NuttX releases |
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ChangeLog for the current NuttX releases |
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| Unreleased changes |
| ChangeLog for the Current Release |
nuttx-6.25 2013-02-01 Gregory Nutt <gnutt@nuttx.org>
* graphics/: Adds 5x8 monospace font. This tiny font is useful for graph
labels and for small bitmapped display. Contributed by Petteri
Aimonen.
* configs/stm3220g-eval/nxwm: Converted to use the kconfig-frontends
configuration tool.
* configs/sim/nxwm: Converted to use the kconfig-frontends configuration
tool.
* include/pthread.h: In sys/prctl.h because it is needed by
pthread_[set|get]name_np()
* tools/kconfig.bat: Kludge to run kconfig-frontends from a DOS shell.
* sched/sig_timedwait.c: Should always move the time up to the next
largest number of system ticks. The logic was rounding. Noted by
Petteri Aimonen.
* arch/arm/src/up_head.S: Fix backward conditional compilation. NOTE
there is a issue of ARM9 systems with low vectors and large memories
that will have to be addressed in the future.
* libc/misc/lib_kbdencode.c and lib_kbddecode.c: Add logic to marshal
and serialized "out-of-band" keyboard commands intermixed with normal
ASCII data (not yet hooked into anything).
* drivers/usbhost/usbhost_hidkbd.c: If CONFIG_HIDKBD_ENCODED is
defined, this driver will now use libc/misc/lib_kbdencode.c to
encode special function keys.
* configs/olimex-lpc1766stk/hidkbd: This configuration has been
converted to use the kconfig-frontends configuration tool.
* drivers/lcd/ug-2864hsweg01.c and include/nuttx/lcd/ug-2864hsweg01.h:
Driver for UG-2864HSWEG01 OLED contributed by Darcy Gong.
* configs/stm32f4discovery/src/up_ug2864hsweg01.c: Support for the
UG-2864HSWEG01 OLED for the STM32F4Discovery board.
* drivers/usbhost/usbhost_hidkbd.c: Correct a logic error in how
tasks waiting for read data are awakened.
* libc/misc/lib_kbdencode.c and lib_kbddecode.c: Now handles keypress
events too. However, the USB HID keyboard driver has not yet been
updated to detect key release events. That is kind of tricky in
the USB HID keyboard report data.
* configs/mcu123-214x/nsh: Converted to use the kconfig-frontends
configuration tool.
* configs/zp214xpa: Add basic support for the The0.net ZP213x/4xPA
board (with the LPC2148 and the UG_2864AMBAG01).
* configs/sim/nxlines: Add an nxlines configuration for the
simulator.
* configs/zp214xpa/nxlines: Add an nxlines configuration for the
ZP213x/4xPA (with the LPC2148 and the UG_2864AMBAG01). Working
as of 2012-12-30.
* configs/olimex-lpc1766stk/wlan: Remove non-functional
configuration.
* configs/stm32f4discovery/src and nuttx/drivers/lcd/ug-2864hsweg01.c:
Updates and correctinos for the UG-2864HSWEG01 from Darcy Gong.
* configs/lm326965-ek: All configurations converted to use the
kconfig-frontends configuration tool.
* configs/Kconfig: NSH_MMCSDSPIPORTNO should depend on MMCSD_SPI,
not just SPI (from Jose Pablo Carballo).
* arch/arm/src/arm/Kconfig and armv7m/Kconfig: Add an option for
buildroot toolchains: They may be EABI or OABI.
* include/nuttx/progmem and arch/arm/src/stm32/stm32_flash.c:
Fix a counting bug plus change interface to use either relative
or absolute FLASH addressing (from Freddie Chopin).
* libc/misc/Make.defs: Fix error in conditional for KBD CODEC.
* libc/Kconfig and configs/*/defconfig (several): The default
setting should be CONFIG_LIB_KBDCODEC=n
* tools/configure.c: configure.c can be used to build a work-alike
program as a replacement for configure.sh. This work-alike
program would be used in environments that do not support Bash
scripting (such as the Windows native environment).
* tools/configure.bat: configure.bat is a small Windows batch
file that can be used as a replacement for configure.sh in a
Windows native environment. configure.bat is actually just a
thin layer that executes configure.exe if it is available. If
configure.exe is not available, then configure.bat will attempt
to build it first.
* arch/arm/src/lpc17xx/lpc17_syscon.h: Correct some typos in bit
definitions (from Rommel Marcelo).
* libc/string/lib_strndup.c: strndup() should use strnlen(), not
strlen(), to determine the size of the string.
* sched/os_bringup.c: Remove support for CONFIG_BUILTIN_APP_START.
This is not really a useful feature and creates a violation of the
OS layered architecture.
* include/unistd.h, arch/arch/src/*: Implement a simple vfork().
On initial checkin, this API is available only for ARM platforms.
* binfmt/binfmt_exec.c: exec() now sets the priority of the new task
to the same priority as the current task (instead of the arbirtrary
value of 50).
* libc/unisted/lib_execv.c and lib_execl.c: New, somewhat flawed,
implementations of execv() and execl().
* tools/cfgdefine.c: Strips quotes from CONFIG_EXECFUNCS_SYMTAB
value.
* arch/arm/include/lm3s/chip.h: Move chip definitions into
public include area for compatibility with other architectures.
* arch/arm/src/lm3s/chip: Move register definition header files
into a new chip/ sub-directory.
* arch/arm/src/lm3s/lm3s_internal.h: Broke up into several
smaller header files.
* arch/arm/src/lm: Rename the arch/arm/src/lm3s directory to
arch/arm/src/lm so that is can support other members of the
Stellaris family.
* libc/spawn: Add file action interfaces needed by posix_spawn().
* sched/clock_time2ticks.c: Another case where time was being
rounded down instead of up (from Mike Smith).
* libc/spawn: Implementation of posix_spawn() is complete but
untested and undocumented.
* drivers/usbdev/pl2303.c: Fix typols in the PL2303 driver
(from Max Holtzberg).
* configs/stm32f4discovery/posix_spawn: Added a configuration
that can be used for testing posix_spawn().
* arch/arm/src/stm32: Bring F1 support for general DMA and serial
DMA in paricular up to parity with F2/F4 (from Mike Smith).
* libc/stdio/lib_libfread.c: Correct some error handling when
lib_fread() was passed a bad stream. Needed to move the
releasing of a semaphore inside of some conditional logic
(cosmetic).
* include/nuttx/sched.h, sched/task_setup.c, and sched/task_exithook.c:
Add support for remembering the parent task and sending
SIGCHLD to the parent when the task exists.
* sched/task_exithook.c: Fixed a *critical* bug. Here is
the scenario: (1) sched_lock() is called increments the lockcount
on the current TCB (i.e., the one at the head of the ready to run
list), (2) sched_mergepending is called which may change the task
at the head of the ready-to-run list, then (3) sched_unlock() is called
which decrements the lockcount on the wrong TCB. The failure case
that I saw was that pre-emption got disabled in the IDLE thread,
locking up the whole system.
* sched/sched_waitpid.c: Use SIGCHLD instead of a semaphore. This
is a much more spec-compliant implementation. However, there are
some issues with overruning signals because NuttX does not support
queueing of signals (POSIX does not require it). I think it may
need to.
* sched/sched_waitid.c and sched_wait.c: Add support for waitid()
and wait(). See issues with waitpid() above.
* include/nuttx/fs/fs.h and fs/fs_files.c: Add a dup() method to
the struct mountpt_operations. When dup'ing a file that resides
on a mounted volume, let the file system's dup() method do the
work.
* fs/romfs/fs_romfs.c: Implemented the dup() method for the ROMFS
file system.
* fs/fat/fs_fat32.c, fs/nxffs/nxffs_initialize, and
fs/nfs/nfs_vfsops.c: Add hooks for dup() method (not yet
implemented).
* fs/romfs: Remove the rf_open flag. It looks good, but actually
does nothing.
* fs/fat: Remove the ff_open flag. Same story as for the ROMFS
rf_open flag.
* fs/fat/fs_fat32.c, fs/nxffs/nxffs_initialize, and
fs/nfs/nfs_vfsops.c: Completed implementation of the dup() methods.
There is still no good test available.
* sched/sig_timedwait.c: sigtimedwait() would return a bad signal
number if the signal was already pending when the function was
called.
* configs/ubw32/scripts: All common linker scripts moved to this
scripts sub-directory
* configs/ubw32/ostest: Configuration configured to use the
kconfig-frontends tools.
* arch/mips/src/mips32/up_vfork.c, up_vfork.h, and vfork.S:
Implement vfork() for MIPS32 (no floating point support)
* configs/ubw32/ostest: Enable the vfork() test.
* fs/binfs: Move apps/builtin/binfs.c to fs/binfs/fs_binfs.c
CONFIG_APPS_BINDIR rename CONFIG_FS_BINFS
* include/nuttx/binfmt/builtin.h: Some of the content of
apps/include/apps.h moved to include/nuttx/binfmt/builtin.h
* binfmt/libbuiltin/libbuiltin_utils.c: Move builtin
utility functions from apps/builtin/exec_builtins.c to
binfmt/libbuiltin/libbuiltin_utils.c
* binfmt/builtin.c and binfmt/libbuiltin: Add a binary "loader"
that can be used to execute builtin programs from the BINFS
file system.
* configs/sim/nsh: Convert to use kconfig-frontends configuration
tool.
* binfmt/binfmt_schedunload.c: Add logic based on SIGCHLD to
automatically unload and clean-up after running a task that
was loaded into memory.
* binfmt/libbuiltin: Extensions from Mike Smith
* sched/task_reparent.c: Add internal interface to change the
parent task.
* sched/task_posixspawn(): Move libc/spawn/lib_ps.c to
sched/task_posixspawn() now it requires internal, reparenting
interfaces
* include/nuttx/spawn(): Move libc/spawn.h to include/nuttx/spawn.h
* arch/arm/include/lpc17xx/chip.h, irq178x.h: Integrate Marcelo
Rommel's LPC1788 definitions into the base LPC17xx.
* configs/olimex-lpc1766stk/nsh: Convert configuration to use
the kconfig-frontends tools.
* sched/task_reparent.c: Simplify reparenting interface.
* arch/arm/src/[many]: More LPC1788 definitions from Rommel
Marcelo incorporated.
* configs/open1788: Board configuration for the Wave Share
Open1788 board. Still fragmentary (contributed by Rommel
Marcelo, adapted to use kconfig-frontends.
* net/send(): Add logic to work around delayed ACKs by splitting
packets (contributed by Yan T.).
* net/recvfrom(): Fix a bug. When the host closes a connection
(gracefully). recv[from]() returned success and the closure
was never detected. Hmmm.. I don't know why the network monitor
did not catch this event. This is an important bug fix.
* net/recvfrom(): Fix a introduced with the last bugfix. If
the peer does an orderly closure of the socket, report 0 not
-ENOTCONN
* configs/lm3s6965-ek/README.txt and tools/: Add an OpenOCD
configuration for the LM3S (from Jose Pablo Carballo).
* nuttx/lcd/hd4478ou.h and configs/pcblogic-pic32mx/src/up_lcd1602:
Start of support of LCD1602 alphanumeric LCD. I need a few
more parts before I can finish integrating this one.
* arch/arm/src/*/chip.h and arch/arm/include/*/chip.h: Move all
priority ranges from the src to the include chip.h header file.
* arch/arm/include/armv7-m/irq.h: Add inline functions to enable
and disable interrupts via the BASEPRI register.
* arch/arm/Kconfig: Add new option CONFIG_ARM7VM_USEBASEI
* arch/arm/src/*/*_irq.c: Set the priority of the SVCALL exception
to the highest possible value.
* arch/armv7-m/up_hardfault.c: Fail if a hardfault occurs
while CONFIG_ARM7VM_USEBASEPRI=y.
* arch/arm/src/stm32/stm32_serial.c: Add support for USART
single wire mode (Contributed by the PX4 team).
* sched/: Implement support for retaining child task status after
the child task exists. This is behavior required by POSIX.
But in NuttX is only enabled with CONFIG_SCHED_HAVE_PARENT and
CONFIG_SCHED_CHILD_STATUS
* Add support for keyboard encode to the keypad test (from
Denis Carikli).
* configs/olimex-lpc1766stk/nettest: Configuration converted to
use the kconfig-frontends tools.
* net/net_poll.c: Split net_poll() to create psock_poll() too.
* net/net_poll.c: Fix poll/select issure reported by Qiang:
poll_interrupt() must call net_lostconnection() when a
loss of connection is reported. Otherwise, the system will
not know that the connection has been lost.
* sched/group_create.c, group_join.c, and group_leave.c: Add
support for task groups.
* sched/group_signal.c and task_exithook.c: Send signal to all
members for the parent task group.
* include/nuttx/sched.h and sched/env_*.c: Move environment
variables into task group structure.
* sched/: Lots of file changed. Don't keep the parent task's
task ID in the child task's TCB. Instead, keep the parent
task group IN the child task's task group.
* fs/, sched/, include/nuttx/sched.h, and include/nutts/fs/fs.h:
Move file data from the TCB to the task group structure.
* libc/stdio/, sched/, include/nuttx/lib.h, and include/nutts/fs/fs.h:
Move stream data from the TCB to the task group structure.
* net/, sched/, and include/nuttx/net/net.h: Move socket data
from the TCB to the task group structure.
* sched/task_starthook.c, sched/task_start.c, and include/nuttx/sched.h:
Add a task start hook that will be called before the task main
is started. This can be used to schedule C++ constructors to run
automatically in the context of the new task.
* binfmt/binfmt_execmodule: Execute constructors as a start hook.
* sched/os_start.c: Fix ordering of group initialization.
* configs/stm32f4discovery/usbnsh: Add an NSH STM32F4Discovery
configuration that uses USB CDC/ACM for the NSH console.
* configs/stm32f4discovery/nsh: Converted to use the kconfig-frontends
tools.
* configs/*/src/up_userleds.c: Fix a error that was cloned into
all STM32 user LED code. The wrong definitions were being used
to set LEDs on or off.
* arch/*/common/up_internal.h and arch/*/common/up_initialize.c:
Serial was driver was not being built if there is no console
device. Obviously, the serial driver may be needed even in
this case.
* arch/arm/src/stm32/stm32_serial.c: If there is a serial console,
it would be ttyS0 and the others would be ttyS1-5. If there
is not serial console, was labeling them ttyS1-6; now labels them
ttyS0-5.
* fs/fs_syslog.c: Can't handle SYSLOG output to character device from
the IDLE task (because it can't block). syslog_putc now returns EOF
on failure and sets errno. Fixed some errors in error handling.
* libc/stdio/lib_syslogstream.c: Checking of return value from
syslog_putc was bogus. Switching to EOF for all errors solves
this.
* arch/arm/src/lm/chip/lm4f_memorymap.h: More LM4F changes from
Jose Pablo Carballo.
* drivers/serial/serial.c, include/nuttx/serial/serial.h,
drivers/usbdev/cdcacm.c, and drivers/pl2303.c: Add support for
removable serial devices (like USB serial). This support is enabled
by CONFIG_SERIAL_REMOVABLE.
* arch/*/src/*/Toolchain.defs: Change assignment so that we can
override CROSSDEV with a make command line argument.
* include/assert.h: Mark assertion functions as non-returning.
* arch/*/src/*/up_assert.h: Mark _up_assert() as non-returning.
* drivers/mtd/at25.c: When the AT25 device was not available the
initialization did not fail like it should. From Petteri Aimonen.
* fs/fat/fs_configfat.c: Fix some errors in FAT formatting logic
for large devices and for FAT32. From Petteri Aimonen.
* fs/fat/fs_fat32util.c: Fix an initialization error found by
Petteri Aimonen. freecount and next freecount initialization were
reversed.
* drivers/mmcsd/mmcsd_spi.c: Some SD cards will appear busy until
switched to SPI mode for first time. Having a pull-up resistor on
MISO may avoid this problem, but this patch makes it work also
without pull-up. From Petteri Aimonen.
* fs/fat/fs_fat32.c: Fix a compilation error when FAT_DMAMEMORY=y.
From Petteri Aimonen.
* arch/arm/src/stm32/chip/stm32_spi.h: STM32F4 max SPI clock freq is
37.5 MHz. Patch from Petteri Aimonen.
* arch/arm/src/stm32/stm32_spi.c: Fixes for SPI DMA work on the
STM32F4. Includes untested additions for the F1 implementation as
well. From Petteri Aimonen.
apps-6.25 2013-02-01 Gregory Nutt <gnutt@nuttx.org>
* Makefiles: Removed dependency of distclean on clean in most top-level
files. It makes sense for 'leaf' Makefiles to have this dependency,
but it does not make sense for upper-level Makefiles.
* apps/namedapp/: Renamed to builtins in preparation for another change.
* .context: Removed the .context kludge. This caused lots of problems
when changing configurations because there is no easy way to get the
system to rebuild the context. Now, the context will be rebuilt
whenever there is a change in either .config or the Makefile.
* apps/builtin/registry: Updated new built-in registration logic to handle
cases where (1) old apps/.config is used, and (2) applications ared
removed, not just added.
* apps/examples/nettest/Makefile: Fix an error that crept in during
some of the recent, massive build system changes.
* apps/builtin/Makefile: Need to have auto-generated header files
in place early in the dependency generation phase to avoid warnings.
It is not important if they are only stubbed out header files at
this build phase.
* apps/examples/hidbkd: Now supports decoding of encoded special keys
if CONFIG_EXAMPLES_HIDKBD_ENCODED is defined.
* apps/examples/hidbkd: Add support for decoding key release events
as well. However, the USB HID keyboard drier has not yet been
updated to detect key release events. That is kind of tricky in
the USB HID keyboard report data.
* apps/examples/wlan: Remove non-functional example.
* apps/examples/ostest/vfork.c: Added a test of vfork().
* apps/exampes/posix_spawn: Added a test of posix_spawn().
* apps/examples/ostest: Extend signal handler test to catch
death-of-child signals (SIGCHLD).
* apps/examples/ostest/waitpid.c: Add a test for waitpid(), waitid(),
and wait().
* builtin/binfs.c: Add hooks for dup() method (not implemented).
* builtin/exec_builtin.c, nshlib/nsh_parse.c, and nshlib/nsh_builtin.c:
NSH now supports re-direction of I/O to files (but still not from).
* builtin/binfs.c: Greatly simplified (it is going to need to be
very lightweight). Now supports open, close, and a new ioctl to recover
the builtin filename. The latter will be needed to support a binfs
binfmt.
* builtin/binfs.c: Move apps/builtin/binfs.c to fs/binfs/fs_binfs.c
CONFIG_APPS_BINDIR rename CONFIG_FS_BINFS
* apps/include/builtin.h: Some of the content of
apps/include/apps.h moved to include/nuttx/binfmt/builtin.h.
apps/include/apps.h renamed builtin.h
* apps/builtin/exec_builtins.c: Move builtin
utility functions from apps/builtin/exec_builtins.c to
binfmt/libbuiltin/libbuiltin_utils.c
* apps/nshlib/nsh_mountcmds.c: The block driver/source
argument is now optional. Many files systems do not need
a source and it is really stupid to have to enter a bogus
source parameter.
* apps/nshlib/nsh_fileapp.c: Add the ability to execute a file
from a file system using posix_spawn().
* apps/builtin/: Extensions from Mike Smith.
* apps/examples/ftpd/Makefile: Name ftpd_start is not the name of
the entrypoint. Should be ftpd_main (from Yan T.)
* apps/netutils/telnetd/telnetd_driver: Was stuck in a loop if
recv[from]() ever returned a value <= 0.
* apps/examples/nettest and poll: Complete Kconfig files.
* apps/examples/ostest/waitpid.c: Need to use WEXITSTATUS()
to decode the correct exit status.
* apps/system/usbmonitor: A daemon that can be used to monitor USB
trace outpout.
* apps/nshlib/nsh_usbdev.c, nsh_consolemain.c, nsh_session.c, nsh_script.c:
Add support for a login script. The init.d/rcS script will be executed
once when NSH starts; the .nshrc script will be executed for each session:
Once for serial, once for each USB connection, once for each Telnet
session.
* apps/system/readline: Correct readline() return value. Was not
any returning special values when end-of-file or read errors
occur (it would return an empty string which is not very useful).
NxWidgets-1.5 2013-02-01 Gregory Nutt <gnutt@nuttx.org>
* NxWidgets::CGraphicsPort::move(): Fix typo bug in bounding rectangle
calculation (from Petteri Aimonen).
* NxWM::CScrollingPanel::scrollChildren(): Avoid unnecessary redraws in
CScrollingPanel (contributed by Petteri Aimonen).
* NxWM::CCycleButton: Remove the separator from CCycleButton. It draws in
wrong place, and doesnt look very good in the correct place either.
(from Petteri Aimonen).
* NxWidgets::CGraphicsPort: Many times we only want a constant background.
In that case the old code fills the background, reads it back, renders
the text and then writes it back. When used with LCD's (instead of
framebuffers) this causes unnecessary delay and screen flicker.
This commit adds a variant of drawText that takes background color,
so that the background and text can both be rendered at one go.
The old functions still function as before (Petteri Aimonen).
* NxWidgets::CLabel: The label was drawn as a single rectangular region,
then a text was added to the on top of this. The result is that the
text would flicker when the CLabel was updated. With this change, the
two step update is replaced with a five step update: The background
is updated as four rectangulear regions (leaving the previous text in
place), then the new text is updated. This eliminates the flicker
(Petteri Aimonen).
* Kconfig: Many NxWidgets/NxWM settings do not have meaningful, generic
default values. Colors, for example, depend on pixel depth. Some
geometry settings depending on other geometry settings. Font IDs are
not know-able by the configuration system. etc. In these cases, it
is best if the settings are just not undefined so that the system can
calculate a reasonable default. however, if no default is provided
in the .config file, mconf will complain and generate errors. So work
around this, I added several "enabling" settings to override the
default setting. This is awkward and I preferred the configuration as
it was before, but this avoids the mconf errors and warnings.
* UnitTests: Changed occurrences of lib_rawprintf() and lib_lowprintf()
to match recent changes to NuttX (will be in NuttX-6.25)
* CGraphicsPort::_drawText: Renamed from CGraphicsPort::drawText in order
to eliminate some naming collisions when overloaded in some configurations
(i.e., when both bool and nx_pixel_t are uint8_t). From Petteri Aimonen.
* CNxWidgets::drawContents: Change base drawContents from a do-nothing
function to a function that fills the widget with the background color.
This is useful when using CNxWidgets as a "panel" , i.e. a container
for other widgets. Subclasses will override drawContents and decide
themselves how to draw the background.
* CNxWidgets::CTabPanel: A new widget contributed by Petteri Aimonen.
This widget provides a tab panel, which has a button bar at the top
and panels below it. Pressing a button will select the corresponding
panel.
uClibc++-1.0 2011-11-05 <gnutt@nuttx.org>
* The initial release of the uClibc++ implementation of the standard
C++ library for NuttX. This package was contributed ay Qiang Yu and
David for the RGMP team.
buildroot-1.11 2011-11-05 <gnutt@nuttx.org>
* configs/avr-defconfig-4.3.3 - Added --enable-long-long as a GCC
option.
* configs/avr-defconfig-4.5.2 - New configuration.
* Config.in and almost all configurations in configs/ - Changed the
default nuttx path to $(TOPDIR)/../../nuttx
* Misc files. Patch provided by Gerd v. Egidy that solves the following
problems
- binutils 2.21 is not available on the gnu servers anymore, they replaced
it with 2.21.1
- there is some assembler error when compiling gcc for arm, gcc bugzilla
43999
- you can't build nuttx for cortex m3/m4 because of a missing instruction
in the assembler, binutils bugzilla 12296
* Add support for binutils 2.22 and GCC 4.6.3.
* Change name of all tools from xxx-elf to xxx-nuttx-elf
* Added an ARM EABI GCC 4.6.3 configuration (tool name is arm-nuttx-eabi-).
* ldnxflat: Add support for the R_ARM_REL32 relocation. This relocation
type was not generated by GCC/LD prior to gcc-4.6.3
* R_ARM_REL32 logic is conditionally disabled because it has not been
tested.
* ldnxflat: Correct a memory allocation error that could cause written
past the end of allocated memory. Partial restoration of R_ARM_REL32
logic. There are lots of issues that I still do not understand here.
pascal-3.0 2011-05-15 Gregory Nutt <gnutt@nuttx.org>
* nuttx/: The Pascal add-on module now installs and builds under the
apps/interpreters directory. This means that the pascal-2.1 module is
incompatible with will all releases of NuttX prior to nuttx-6.0 where the
apps/ module was introduced.
| Unreleased Changes |
Bugs, Issues, Things-To-Do |
The current list of NuttX Things-To-Do in SVN here. A snapshot of the To-Do list associated with the current release are available here.
Other Documentation |
| Getting Started | |
| User Guide | |
| Porting Guide | |
| NuttShell (NSH) | |
| NuttX Binary Loader | |
| NXFLAT Binary Format | |
| NX Graphics Subsystem | |
| NxWidgets | |
| Demand Paging | |
| NuttX README Files | |
| Change Log | |
| To-Do List | |
| USB Device Driver Tracing |
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NOTE: NuttX is not licensed to use the POSIX trademark. NuttX uses the POSIX standard as a development guideline only.