Usable in all but the tightest micro-controller environments, The focus is on the tiny-to-small, deeply embedded environment.

The goal is to provide implementations of most standard POSIX OS interfaces to support a rich, multi-threaded development environment for deeply embedded processors.

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.

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 fork()).

Because of this standards conformance, software developed under other standard OSs (such as Linux) should port easily to NuttX.

Fully pre-emptible, fixed priority and round-robin scheduling.

Non-restrictive BSD license.

Compatible GNU toolchains based on buildroot available for download to provide a complete development environment for many architectures.

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 32Kb total memory (code and data). On the other hand, typical, richly featured NuttX builds require more like 64Kb (and if all of the features are used, this can push 100Kb).

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?

• Static Libraries. Because in the NuttX build processed, objects are compiled and saved into static libraries (archives). Then, when the file executable is linked, only the object files that are needed are extracted from the archive and added to the final executable. By having many, many tiny source files, you can assure that no code that you do not execute is ever included in the link. And by having many, tiny source files you have better granularity -- if you don't use that tiny function of even just a few lines of code, it will not be included in the binary.

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:

• Configuration Files. Before you build NuttX, you must provide a configuration file that specifies what features you plan to use and which features you do not. This configuration file contains a long list of settings that control what is built into NuttX and what is not. There are hundreds of such settings (see the NuttX Porting Guide for a partial list that excludes platform specific settings). These many, many configuration options allow NuttX to be highly tuned to meet size requirements. The downside to all of these configuration options is that it greatly complicates the maintenance of NuttX -- but that is my problem, not yours.
• Weak Symbols The GNU toolchain supports weak symbols and these also help to keep the size of NuttX down. Weak symbols prevent object files from being drawn into the link even if they are accessed from source code. Careful use of weak symbols is another trick for keep unused code out of the final binary.

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.

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-elf toolchain* under Linux or Cygwin.

STATUS: This port is complete, verified, and included in the initial NuttX release.

NXP LPC214x. Support is provided for the NXP LPC214x family of processors. In particular, support is provided for the mcu123.com lpc214x evaluation board (LPC2148). This port also used the GNU arm-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 with Cygwin GNU toolchain, or 3) Cygwin with Windows native toolchain (CodeSourcery or devkitARM). A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package.

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-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).

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-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 ENC29J60 Ethernet driver for add-on hardware is under development and should be available in the NuttX 5.5 release.

Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin with Cygwin GNU toolchain, or 3) Cygwin with Windows native toolchain (CodeSourcery or devkitARM). A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package.

Freescale MC9328MX1 or i.MX1. This port uses the Freescale MX1ADS development board with a GNU arm-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).

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-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.

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.

Luminary/TI LM3S6918. This port uses the Micromint Eagle-100 development board with a GNU arm-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 with Cygwin GNU toolchain, or 3) Cygwin with Windows native toolchain (CodeSourcery or devkitARM). A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package.

Luminary/TI LM3S6965. This port uses the Stellaris LM3S6965 Ethernet Evalution Kit with a GNU arm-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.

Luminary/TI LM3S8962. This port uses the Stellaris EKC-LM3S8962 Ethernet+CAN Evalution Kit with a GNU arm-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.

Luminary/TI LM3S9B96. Header file support was contributed by Tiago Maluta for this part. However, no complete board support configuration is available as of this writing.

STMicro STM32F103x. Support for three MCUs and two board configurations are available. MCU support includes: STM32F103ZET6, STM32F103RET6, and STM32F107VC. Board support includes:

1. This port uses the STMicro STM3210E-EVAL development board that features the STM32F103ZET6 MCU.
2. ISOTEL NetClamps VSN V1.2 ready2go sensor network platform based on the STMicro STM32F103RET6. Contributed by Uros Platise.

These ports uses a GNU arm-elf toolchain* under either Linux or Cygwin (with native Windows GNU tools or Cygwin-based GNU tools).

STATUS:

• The basic STM32 port was released in NuttX version 0.4.12. The basic port includes boot-up logic, interrupt driven serial console, and system timer interrupts. The 0.4.13 release added support for SPI, serial FLASH, and USB device.; The 4.14 release added support for buttons and SDIO-based MMC/SD and verifed DMA support. Verified configurations are available for NuttX OS test, the NuttShell (NSH) example, the USB serial device class, and the USB mass storage device class example.
• Support for the NetClamps VSN was included in version 5.18 of NuttX.

Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin with Cygwin GNU toolchain, or 3) Cygwin with Windows native toolchain (RIDE7, CodeSourcery or devkitARM). A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package.

Atmel AT91SAM3U. This port uses the Atmel SAM3U-EK development board that features the AT91SAM3U4E MCU. This port uses a GNU arm-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.

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 by the Nuttx 5.5 release as my plate is kind of full now.

Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin with Cygwin GNU toolchain, or 3) Cygwin with Windows native toolchain (CodeSourcery or devkitARM). A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package.

NXP LPC1766 and LPC1768. Configurations are available for three boards:

• The Nucleus 2G board from 2G Engineering (LPC1768),
• The mbed board from mbed.org (LPC1768, Contributed by Dave Marples), and
• The LPC1766-sTK board from Olimex (LPC1766).
• The Embedded Artists base board with NXP LPCXpresso LPC1768.

The Nucleus 2G boar, 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-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.

1. Nucleus2G LPC1768

   • Some initial files for the LPC17xx family were released in NuttX 5.6, but
   • The first functional release for the NXP LPC1768/Nucleus2G occured with NuttX 5.7 with Some additional enhancements through NuttX-5.9.

   That initial, 5.6, basic release included timer interrupts and a serial console and was verified using the NuttX OS test (apps/examples/ostest). Configurations available include include a verified NuttShell (NSH) configuration (see the NSH User Guide). The NSH configuration supports the Nucleus2G's microSD slot and additional configurations are available to exercise the the USB serial and USB mass storage devices. However, due to some technical reasons, neither the SPI nor the USB device drivers are fully verified. (Although they have since been verfiied on other platforms; this needs to be revisited on the Nucleus2G).

2. mbed LPC1768

   • Support for the mbed board was contributed by Dave Marples and released in NuttX-5.11.

   This port includes a NuttX OS test configuration (see apps/examples/ostest).

3. Olimex LPC1766-STK

   • Support for that Olimex-LPC1766-STK board was added to NuttX 5.13.
   • The NuttX-5.14 release extended that support with an Ethernet driver.
   • The NuttX-5.15 release further extended the support with a functional USB device driver and SPI-based micro-SD.
   • The NuttX-5.16 release added a functional USB host controller driver and USB host mass storage class driver.
   • The NuttX-5.17 released added support for low-speed USB devicers, interrupt endpoints, and a USB host HID keyboard class driver.

   Verified configurations are now available for the NuttX OS test, for the NuttShell with networking and microSD support(NSH, see the NSH User Guide), for the NuttX network test, for the THTTPD webserver, for USB serial deive and USB storage devices examples, and for the USB host HID keyboard driver. Support for the USB host mass storage device can optionally be configured for the NSH example. A driver for the Nokia 6100 LCD and an NX graphics configuration for the Olimex LPC1766-STK have been added. However, neither the LCD driver nor the NX configuration have been verified as of the the NuttX-5.17 release.

4. Embedded Artists base board with NXP LPCXpresso LPC1768

   An fully verified board configuration is included in NuttX-6.2. The Code Red toolchain is supported under either Linux or Windows. Verifed configurations include DHCPD, the NuttShell (NSH), NuttX graphis (NX), the NuttX OS test, THTTPD, and USB mass storage device.

Development Environments: 1) Linux with native Linux GNU toolchain, 2) Cygwin with Cygwin GNU toolchain, or 3) Cygwin with Windows native toolchain (CodeSourcery devkitARM or Code Red). A DIY toolchain for Linux or Cygwin is provided by the NuttX buildroot package.

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.

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!

MC9S12NE64. Support for the MC9S12NE64 MCU and two boards are included:

• The Freescale DEMO9S12NE64 Evaluation Board, and
• The Future Electronics Group NE64 /PoE Badge board.

Both use a GNU arm-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.

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 port successfully passes the NuttX OS test (apps/examples/ostest).
• A NuttShell (NSH) configuration is in place (see the NSH User Guide). Testing of that configuration has been postponed (because it got bumped by the Olimex LPC1766-STK port). Current Status: I think I have a hardware problem with my serial port setup. There is a good chance that the NSH port is complete and functional, but I am not yet able to demonstrate that. At present, I get nothing coming in the serial RXD line (probably because the pins are configured wrong or I have the MAX232 connected wrong).
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.

SH-1 SH7032. This port uses the Hitachi SH-1 Low-Cost Evaluation Board (SH1_LCEVB1), US7032EVB, with a GNU arm-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.

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 m16c-elf-ld link fails with the following message:

m32c-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.

Zilog z16f Microncontroller. This port use the Zilog z16f2800100zcog development kit and the Zilog ZDS-II Windows command line tools. The development environment is Cygwin under WinXP.

STATUS: The initial release of support for the z16f was made available in NuttX version 0.3.7.

Zilog eZ80Acclaim! Microncontroller. There are two eZ80Acclaim! ports:

• One uses the ZiLOG ez80f0910200kitg development kit, and
• The other uses the ZiLOG ez80f0910200zcog-d development kit.

Both boards are based on the eZ80F091 part and both use the Zilog ZDS-II Windows command line tools. The development environment is Cygwin under WinXP.

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.

Zilog Z8Encore! Microncontroller. This port uses the either:

• Zilog z8encore000zco development kit, Z8F6403 part, or
• Zilog z8f64200100kit development kit, Z8F6423 part

and the Zilog ZDS-II Windows command line tools. The development environment is Cygwin under WinXP.

STATUS: This release has been verified only on the ZiLOG ZDS-II Z8Encore! chip simulation as of nuttx-0.3.9.

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.

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.

There are partial ports for the TI TMS320DM270 and for MIPS.

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.

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.

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.

I have never tried this combination, but it would probably work just fine.

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:

• Paths. Full paths for the native toolchain must follow Windows standards. For example, the path /home/my\ name/nuttx/include my have to be converted to something like 'C:\cygwin\home\my name\nuttx\include' to be usable by the toolchain.

Fortunately, this conversion is done simply using the cygpath utility.

• Symbolic Links NuttX depends on symbolic links to install platform-specific directories in the build system. On Linux, true symbolic links are used. On Cygwin, emulated symbolic links are used. Unfortunately, for native Windows applications that operate outside of the Cygwin sandbox, these symbolic links cannot be used.

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 mklink command to create links. This should only require a minor modification to the build scripts (see tools/winlink.sh script).

• Dependencies NuttX uses the GCC compiler's -M option to generate make dependencies. These dependencies are retained in files called Make.deps throughout the system. For compilers other than GCC, there is no support for making dependencies in this way. For Windows native GCC compilers, the generated dependencies are windows paths and not directly usable in the Cygwin make. By default, dependencies are surpressed for these compilers as well.

NOTE: dependencies are suppress by setting the make variable MKDEPS to point to the do-nothing dependency script, tools/mknulldeps.sh. Dependencies can be enabled for the Windows native GCC compilers by setting MKDEPS to point to $(TOPDIR)/tools/mkdeps.sh --winpaths $(TOPDIR).

Supported Windows Native Toolchains. At present, only the Zilog Z16F, z8Encore, and eZ80Acclaim ports use a non-GCC native Windows toolchain(the Zilog ZDS-II toolchain). Support for Windows native GCC toolchains (CodeSourcery and devkitARM) is currently implemented for the NXP LPC214x, STMicro STR71x, and Luminary LMS6918 ARM ports. (but could easily be extended to any other GCC-based platform with a small effort).

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.

GNUWin32. For example, with suitable make system changes, it should be possible to use native GNU tools (such as those from GNUWin32) to build NuttX. However, that environment has not been used as of this writing.

NOTE: One of the members on the NuttX forum reported that they successful built NuttX using such a GNUWin32-based, Windows native environment. They reported that the only necessary change was to the use the NTFS mklink command to create links (see tools/winlink.sh script).