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NuttX RTOSLast Updated: April 1, 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 93rd release of NuttX, Version 6.26, was made on March 15, 2013, and is available for download from the
SourceForge website.
Note that the release consists of two tarballs: nuttx-6.26.tar.gz and apps-6.26.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: r5745, 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 r5745 should equivalent to release 6.26 of NuttX:
svn checkout -r5745 svn://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
Or (HTTP):
svn checkout -r5745 http://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
Additional new features and extended functionality
OS Initialization
CONFIG_BOARD_INITIALIZE=y).
Tasking
task_spawn() that is like posix_spawn(), but uses entry point addresses like ask_create().
atexit/on_exit callbacks, waitpiddata structures, message queues.
Kernel Build
user_map.h).
Signals
Drivers
ARMv6-M (Cortex-M0)
nuvoTon NUC120
nuvoTon NUC120 Boards
LPC17xx
LPC17xx Boards
LPC17xx Drivers
STM32
STM32 Boards
Stellaris LM3S/LM4F
Stellaris LM4F Boards
Networking
select() should now allocate a little less memory.
Memory Management
Build System
C Library
itoa() contributed by Ryan Sundberg.
Applications
task_spawn() to start builtin applications.
task_restart().
Efforts In Progress. The following are features that are partially implemented but present in this release. Most are expected to be fully available in NuttX 6.27.
LM4F120 LaunchPad port
WaveShare Open1788 port
Kernel Build
kconfig-frontends
Bugfixes (see the change log for details). Some of these are very important:
Tasking
SIGCHILD.
It should be the PID of the task that create the task group, not the ID of the last thread to leave the task group.
ARMv7-M
Drivers
STM32 Drivers
sem_wait() is awakened by a signal.
Need to clear error flags to prevent corruption of subsequent transfers.
Also, bit count should not be changed while the SPI peripheral is enabled (from Petteri Aimonen).
Graphics
Networking
poll/select logic. Additional
state logic was needed to detect if the socket is still connected
before starting the poll wait. (bug reported by Qiang Yu).
Memory Management
mallinfo() should hold the memory manager semaphore (from Petteri Aimonen.
Build System
Applications
readline() now returns EOF on any failure (instead of a negated errno value).
This is because the underlying read is based on logic similar to getc.
The value zero (meaning end-of-file) was being confused with a NUL.
So if a NUL was received, the NSH session would terminate because it thought it was the end of file.
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. Initial support for the NUC120 was released in NuttX-6.26. This initial support is very minimal: There is an OS test configuration that verifies the correct port of NuttX to the part and a NuttShell (NSH) configuration that might be the basis for an application development. As of this writing, more device drivers are needed to make this a more complete port. Memory Usage. For a full-featured RTOS such as NuttX, providing support in a usable and meaningful way within the tiny memories of the NUC120 demonstrates the scalability of NuttX. The NUC120LE2AN comes in a 48-pin package and has 128KB FLASH and 16KB of SRAM. When running the NSH configuration (itself a full up application), there is still more than 90KB of FLASH and 10KB or SRAM available for further application development).
Static memory usage can be shown with $ size nuttx text data bss dec hex filename 35037 106 1092 36235 8d8b nuttx
NuttX, the NSH application, and GCC libraries use 34.2KB of FLASH leaving 93.8KB of FLASH (72%) free from additional application development.
Static SRAM usage is about 1.2KB (<4%) and leaves 13.8KB (86%) available for heap at runtime.
SRAM usage at run-time can be shown with the NSH
NuttShell (NSH) NuttX-6.26
nsh> free
total used free largest
Mem: 14160 3944 10216 10216
nsh>
You can see that 10.0KB (62%) is available for further application development. 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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NXP LPC1788. The port of NuttX to the WaveShare Open1788 is a collaborative effort between Rommel Marcelo and myself (with Rommel being the leading contributor and I claiming only a support role). You can get more information at the Open1788 board from the WaveShare website.
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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 STM32 F427/437. General architectural support was provided for the F427/437 family in NuttX 4.27. Specific support includes the STM32F427I, STM32F427Z, and STM32F427V chips. This is architecture-only support, meaning that support for the boards with these chips is available, but not support for any publically available boards is included.. This support was contributed by Mike Smith. The F427/f37 port adds (1) additional SPI ports, (2) additional UART ports, (3) analog and digital noise filters on the I2C ports, (4) up to 2MB of flash, (5) an additional lower-power mode for the internal voltage regulator, (6) a new prescaling option for timer clock, (7) a larger FSMSC write FIFO, and (8) additional crypto modes (F437 only). |
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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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TI Stellaris LM4F120. This port uses the TI Stellaris LM4F120 LaunchPad. Jose Pablo Carballo is doing this port. STATUS: As of this writing, the basic port is code complete but still untested. The fully verified LM4F120 LaunchPad port is expected in NuttX-6.27. |
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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 Microcontroller. 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 Microcontroller. 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! Microcontroller. 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! Microcontroller. 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-6.26 2013-05-15 Gregory Nutt <gnutt@nuttx.org>
* drivers/serial/serial.c: Correct some race conditions when checking
for disconnection of a removable serial device.
* sched/task_posixspawn.c, task_spawn.c, task_spawnparms.c and
spawn_internal.h: Create new interface task_spawn() that is
like posix_spawn(), but uses entry point addresses like
task_create().
* Corrected all argv[] arguments. Should be char * const *, not
const char **.
* sched/pthread* and include/nuttx/sched: Move pthread join data
and pthread key calculation data into the "task group" structure.
* sched/atexit.c, on_exit.c, task_exithook.c and include/nuttx/sched.h:
Move atexit and on_exit data structures to task group. These
callbacks are only issued now when the final member of the task
group exits.
* sched/waitpid.c, task_exithook.c and include/nuttx/sched.h:
Move waitpid data data structures to task group. Callers of
of waitpid() are now only awakened whent he final thread of the
task group exits.
* sched/mq_descreate.c, mq_open.c, mq_remove.c, group_leave.c, and
include/nuttx/sched.h: Move list of opened message queues to
the task group structures. Now all message queues opened by
members of the group are closed when the last member of the group
exits.
* includes/nuttx/sched.h and Lots of files: Change name of _TCB to
struct tcb_s so that (1) it is consitent with other NuttX naming and
so that (2) the naming can handle some upcoming changes.
* includes/nuttx/sched.h and sched/: There are three TCB structures:
struct tcb_s is a generic common version, struct task_tcb_s is a
version for tasks and kernel threads and pthread_tcb_s is a version
for pthreads. By dividing the TCB structure into these variants,
pthreads do not have to be burdened by task-specific data structures
(and vice versa).
* sched/task_exithook.c adn group_create.c: Fix an error, the
task within the task group may exit early leaving a pthread to
exit the task group last. In this case, we need to remember the
the PID of the main task in the task group and use that PID for
signalling SIGCHILD to the parent task group.
* included/nuttx/sched.h and sched/sig*.c: Numerous changes to the
signal deliver logic so that the delivery of signals to threads
within a task group will be compliant with delivery of signals
to threads within a POSIX process.
* sched/mq_recover.c and task_exithook.c: Add logic to handle the
case where a task is deleted (or pthread canceled) while it is
waiting on a message queue. task_delete() and pthread_cancel()
are dangerous interfaces. This is only one feeble recover measure
of *many* that would be needed to do this safely.
* sched/group_killchildren.c, task_recover.c, group_foreachchild.c,
sched/restart.c, sched/task_delete.c, and others: Beef up logic
to better support task deletion and pthread cancellation. Needed
to pass need OS test case for task_restart().
* sched/include/sched.h and all timed functions in sched/: Move
timer from local variables to TCB. This is needed so that if a
task is canceled or restarted while it is waiting for a timed
event, we can gracefully recover. We can't let the timer expire
after the task has been deleted.
* arch/arm/include/stm32 and arch/arm/src/stm32: Add support for
the STM32 F3 family (still missing some things).
* configs/stm32f3discovery: This will (eventually) be support for
the STM32F3Discovery board.
* STM32 F3 and STM32F3Discovery port is complete a ready for test.
* arch/arm/src/lpc17xx: Add support for the Cortex-M4 FPU and
Mikes "common vector" logic. The LPC1788 is going to need
these things.
* arch/arm/src/stm32/stm32_spi.c: Fix SPI DMA logic that does
not work if sem_wait() is interrupt by a signal. From Petteri
Aimonen.
* drivers/input/max11802.c: MAX11802: Fix a timing bug that
corrupted coordinates. From Petteri Aimonen.
* drivers/mmcsd/mmcsd_spi.c: Use SPI locking so that MMC/SD can
exist on the same bus as other SPI devices. From Petteri
Aimonen.
* graphics/nxfonts/nxfonts_sans17x22.h: Small mod to hyphen in
sans17x22 font. The hyphen did not have any space on its sides.
This caused it to run together with other characters so that for
example "+-" would look weird. From Petteri Aimonen.
* mm/mm_mallinfo.c: Take MM semaphore in mm_mallinfo. From Petteri
Aimonen.
* configs/stm32f3discovery/nsh/defconfig: Disable SPI. It is not
used.
* drivers/mtd/sst39vf: Add a driver for the SST29VF NOR FLASH parts.
* sched/os_start.c: Add an additional call-out to support board-
specific driver initialization during the start phase: If
CONFIG_BOARD_INITIALIZE is defined, then an additioinal
initialization function called board_initialize() will be called
just after up_initialize() is called and just before the initial
application is started.
* arch/arm/src/stm32/stm32_otgfsdev.c, drivers/usbdev/usbdev_trprintf.c,
and include/nuttx/usb/usbdev_trace.h: Add logic to support decoding
of device-specific trace events to make the trace ouput more readable.
From Petteri Aimonen.
* arch/arm/src/stm32/stm32_otgfsdev.c: Need to manually set CNAK in
the case where we are waiting for a SETUP command with DATA. Otherwise,
the core may NAK further transactions. From Petteri Aimonen.
* arch/arm/src/stm32/stm32_otgfsdev.c: Add logic to prevent premature
to IDLE state. This change (plus the previous) was necessary to get
the CDC/ACM driver working the certain STM32 F4 hardware (but not others).
These changes appear to prevent certain race conditions that may or may
not cause USB problems. From Petteri Aimonen.
* arch/arm/include/armv6-m and arch/arm/src/armv6-m: First cut at support
for the Cortex-M0
* configs/nutiny-nuc120, arch/arm/include/nu1xx, and arch/arm/src/nuc1xx:
Support for Nuvoton NuTiny NUC120.
* 2013-02-22: the Cortex-M0, NuvoTron NUC1xx, and NuTiny-SDK-NUC120 port
is code complete and ready for testing.
* configs/ekk-lm3s9b96/ostest and nsh: All EKK-LM3S9B96 configurations
converted to use the mconf configuration tool.
* configs/zkit-arm-1769: Add support for Zilogic System's ARM development
Kit, ZKIT-ARM-1769. From Rashid.
* configs/zkit-arm-1769/hello: Add a "Hello, World!" configuration for
the KBIT-ARM-1769 board. From Rashid.
* configs/zkit-arm-1769/thttpd: Add a THTTPD configuration for the
KBIT-ARM-1769 board. From Rashid.
* 2013-02-27: All configurations for the Cortex-M0 NuTINY-SDK-NUC120
appear to be functional and stable.
* configs/zkit-arm-1769/nsh: Add an NSH configuration for the
KBIT-ARM-1769 board. From Rashid.
* arch/arm/src/stm32/stm32_otgfsdev.c: Fixes from Petterri Aimonen
related to corner cases that can cause infinite interrupts.
* drivers/usbdev/usbmsc_scsi.c: Change to allow the full name in the
USB descriptor but a truncated, 8-byte name in the SCSI field.
From Petteri Aimonen.
* arch/arm/src/stm32/stm32_spi.c: Need to clear error flags to prevent
corruption of subsequent transfers. Also, bit count should not be
changed while the SPI peripheral is enabled. From Petteri Aimonen.
* drivers/mmcsd/mmcsd_spi.c: When bus is shared, the speed has to be
set every time. Also SD cards require a few dummy clocks to react
into CS release. From Petteri Aimonen.
* configs/lm4f120-launchpad: In initial configuration for testing
the LM4F120 LaunchPad port. This is to support testing only and
is not yet a functional board port (as of 2013-03-01).
* arch/arm/include/lm/lm4f_irq.h and arch/arm/src/lm/chip/lm4f_vector.h:
Add interrupt vector/IRQ number definitions for the LM4F120.
* arch/arm/src/stm32f20xxx_dma.c and stm32f40xxx_dma.c: Fix a typo
in assigned base register addresses for each DMA channel. From
Yan T.
* Several build fixes from Mike Smith were incorporated. These were
mostly compilation errors introduced into the system because of the
large number of recent changes with broad scope (2013-03-04).
* configs/zkit-arm-17969/src/up_can.c: Add CAN support to the
Zilogics Technologies ZKIT-ARM-1769 board (From Rashid Fatah, (2013-03-04)).
* arch/arm/src/lpc17/lpc17*_clockconfig.c: The WaveShare Open1788
board now boots and passes the OS test. This is the work of
Rommel Marcelo (2013-03-04).
* arch/arm/src/lm/lm_gpio.c, lm_gpio.h, and chip/lm4f_pinconfig.h
Extend GPIO logic to handle LM4F. Add LM4F pin configuration header
file (2013-03-04).
* configs/open1788: Enable LED support in all configurations.
(2013-03-04)
* configs/open1788/nsh: NSH configuration verified function. By Rommel
Marcelo (2013-03-05).
* configs/open1788/src/lpc17_nsh.c: Use the SD card interface, not SPI
to interface with SD cards (2013-03-05.
* arch/arm/src/lpc17xx/lpc17_sdcard.c and header files: Clone the STM32
SD card interface to the LPC1788. It appears to be the same IP.
(2013-03-05)
* libc/wqueue: Work queue logic moved from sched/ to libc/wqueue. It
is not really core OS functionality and this move helps prepare for
user-space work queues. (2013-03-05)
* libc/wqueue: Implemented user-space work queues. These will not
get tested until the next time I attempt a NuttX kernel build.
(2013-03-05).
* arch/arm: Correct some bad syscall dispatching logic. This change
cannot be fully tested until there is a fielded NuttX kernel build.
(2013-03-06).
* net/net_poll.c: Correct logic that checks if the socket is
disconnected when the poll is setup. That is bad logic: Listen
sockets, for example, are not connected. In that case, the purpose of
the poll is to wait for connection events. As a result of this,
poll/select would return immediately with POLLHUP with it was used to
detect connection events. This fix for now was to check instead if
the socket is closed (meaning that it was connected at one time but
was closed by the remote peer). That excludes the listen socket which
was never connected. This does introduce a new problem, however. If
the socket was not closed, but lost the connection through an abnormal
event, then poll/select will hang. That needs to be revisited.
(2013-03-07)
* fs/fs_select.c: Was not checking if the timeout parameter was NULL
but would, instead, setup a bogus timeout based on whatever it found at
address zero. Also, improved some of the memory allocation logic so
that it will not use so much memory. (2013-03-07)
* net/net_poll.c: Handle the missing case. Now tests for not connected
AND not listening. I think that now covers all of the cases including
the missing case noted above. (2013-03-07)
* mm/: Move all memory manager globals into a structure. A reference
to this structure is now passed internally between mm APIs. This
change will (eventually) support multiple heaps and heap allocators.
(2013-03-08).
* mm/ and include/nuttx/mm.h: Implement support for multiple heaps.
(2013-03-08).
* arch/*/src: xyz_addregion() needs to call kmm_addregion, not mm_addregion.
(2013-03-08).
* sched/kmm*.c: Move this garbage kmm*.c file to mm/. until I decide what
to do with them (which is probably to just delete them). (2013-03-08).
* mm/mm_test.c and Makefile.test: Deleted the memory test. This was
a good test and helped me a lot when I wrote the memory manager, but
now it is in the way and paralyzing other efforts. So the memory unit
test was deleted. (2013-03-08)
* sched/sched_free.c: Rename sched_free() to sched_ufree(); Add
sched_kfree() to handler deferred kernel heap allocations. (2013-03-10)
* arch/: User user-accessible heap to allocate all stacks. (2013-03-10)
* arch/arm/src/sam3u: The AT91SAM3U will now support a kernel heap if
so configured. (2013-03-10)
* configs/sam3u-ek/knsh: This configuration was converted to use the
kconfigs-frontends build tool. (2013-03-10)
* configs/*/include/user_map.h and include/nuttx/userspace.h: Remove
the very kludgy user_map.h file and replace it with a header that
is expected at the beginning of the user-space blob. (2013-03-10)
* configs/sam3u-ek/kernel/up_userspace.c: This is the header for
the SAM3U-EK's user space. (2013-03-10)
* sched/os_bringup.c: In the kernel build, os_bringup() now uses the
user-space header to automatically start the user-space work queue,
if so configured. (2013-03-10)
* arch/arm/src/lpc17xx/lpc17_mpuinit.c and lpc17_userpace.c: Add
support for the MPU and kernel build for the LPC17xx family.
(2013-03-11)
* configs/open1788/kernel and knsh: Add kernel build support and
a kernel NSH configuration for the WaveShare Open1788 board.
(2013-03-11)
* configs/sam3u_ek/kernel, knsh, and scripts: Move some files around
for better supportability. (2013-03-11)
* configs/open1788/kernel, knsh, and scripts: Add a kernel mode build
configuration for the WaveShare Open1788 board. (2013-03-11)
* arch/arm/src/armv7-m/up_mpu.c: Several fixes to MPU logic.
(2013-03-12).
* arch/arm, configs/sam3u-ek, configs/open1788: Fix memory map for
kernel mode build; Some regions were overlapping. (2013-03-13).
* arch/: Rename g_heapbase to g_idle_topstack. This is the same value
however: The top of the IDLE stack is the same as the base of the
heap in the flat build. But not in the kernel build: The base of
the heap is elsewhere so the naming was wrong. (2013-03-13).
* libc/stdlib/lib_itoa.c: Implementation of itoa() contributed by
Ryan Sundberg. (2013-03-14).
apps-6.26 2013-03-15 Gregory Nutt <gnutt@nuttx.org>
* apps/builtin/exec_builtin.c: Now uses task_spawn() to start
builtin applications.
* Type of argv has changed from const char ** to char * const *
* apps/nshlib/nsh_parse.c: Fix memory lead: Need to detach after
creating a pthread.
* apps/examples and nshlib: Change name of _TCB to struct tcb_s to
match NuttX name change.
* apps/examples/ostest/restart.c: Add a test case to verify
task_restart().
* apps/system/readline.c: readline() now returns EOF on any failure
(instead of a negated errno value). This is because the underlying
read is based on logic similar to getc. The value zero was being
confused with a NUL. So if a NUL was received, the NSH session
would terminate because it thought it was the end of file.
NxWidgets-1.6 2013-03-15 Gregory Nutt <gnutt@nuttx.org>
* Type of argv[] has changed from const char ** to char * const *
* NXWidgets::CNxWidget: Add an inline function to get the current style.
* NxWM::CTaskBar: Make a some methods of CTaskbar virtual to allow
customizations. From Petteri Aimonen.
* NXWidgets::CCycleButton: Make CCycleButton change state in onPreRelease().
This way the new value is already available when a listener gets the
action event. From Petteri Aimonen.
* NxWidgets/tools/bitmap_converter.py: Fix bitmap_converter.py so that
it works with indexed input images.
* NxWidgets::CLabel: Fix backward conditional compilation in the
"flicker free" logic.
* NxWidgets::CNxTimer: Previously repeated timers were re-enabled after
the timer action event. Consequently, if the action event handler tried
to stop the timer, the request would be ignored. Changes the order
so that the timer is re-enabled before the callback. There is still
no risk of re-entrancy, because everything executes on the USRWORK work
queue. From Petteri Aimonen.
* NxWidgets::CMultiLineTestBox: Fix text placement error. From Petteri
Aimonen.
* NxWidgets::CWidgetControl: Added another semaphore, boundssem, which
is set as soon as the screen bounds are known. This corrects two
problems:
1) Due to the way nxgl_rectsize computes the size, it will never
be 0,0 like CWidgetControl expects. Therefore the size is considered
valid even though it has not been set yet.
2) After the check is fixed to test for > 1, NxWM window creation will
hang. This is due to the fact that it uses the screen bounds for
determining window size. This was being blocked on geosem, which
is only posted after the size has been set.
From Petteri Aimonen.
* NxWidgets::CImage: Two enhancements:
1) Allow changing the bitmap even after the control has been created.
2) Allow giving 'null' to have the control draw no image at all.
From Petteri Aimonen.
* NxWM::CTaskBar: Allow windows with null icon. This makes sense for e.g.
full screen windows. From Petteri Aimonen.
* NxWM::CApplicationWindow: Add config options to override NxWM
stop/minimize icons. From Petteri Aimonen.
* NwWM::CStartWindow, NxWM::CWindowMessenger: Get rid of the start window
thread. Instead, handle all events through the USRWORK work queue.
For me, this was necessary because I would open some files in button
handlers and close them in NxTimer handlers. If these belonged to
different tasks, the close operation would fail. Further benefits:
+ Gets rid of one task and message queue.
+ Reduces the amount of code required
+ Decouples CStartWindow from everything else - now it is just a window
with application icons, not an integral part of the event logic.
+ All events come from the same thread, which reduces the possibility of
multithreading errors in user code.
+ The user code can also send events to USRWORK, so that everything gets
serialized nicely without having to use so many mutexes.
Drawbacks:
- Currently the work state structure is malloc()ed, causing one allocation
and free per each input event. Could add a memory pool for these later, but
the speed difference doesn't seem noticeable.
- The work queue will add ~50 ms latency to input events. This is however
configurable, and the delay is anyway short enough that it is unnoticeable.
From Petteri Aimonen.
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-1.12 2011-13-15 <gnutt@nuttx.org>
* Fix typo toolchain/gdb/Config.in that prevented GDB 7.4 from building
(from Ken Bannister).
* Add support for a Cortex-M0 toolchain based on GCC 4.6.3.
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.
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