update

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@182 42af7a65-404d-4744-a932-0658087f49c3
Fix another potential pthread_join race condition
2025-12-08 19:02:43 +08:00 · 2007-03-30 13:21:20 +00:00 · 2007-03-30 13:11:19 +00:00 · 2007-03-30 00:49:11 +00:00 · 2007-03-29 23:44:55 +00:00 · 2007-03-29 23:43:54 +00:00
132 changed files with 10446 additions and 3740 deletions
--- a/45
+++ b/45
@@ -69,3 +69,48 @@
 	* Some Documentation updates
 	* Added support for the Neuros OSD / DM320

+0.2.2 2007-03-26 Gregory Nutt <spudmonkey@racsa.co.cr>
+	* Created the configs/ directory; separated board configuration
+	  from processor architecture logic
+	* Add memory leak detection test to examples/ostest
+	* Corrected memory leak in OS pthread join logic
+	* Corrected memory leaks in examples/ostest due to failures
+	  to join or detach from pthreads.
+	* Added pthread_once(), pthread_kill(), pthread_sigmask()
+	* Added pthread_barrierattr_*() APIs
+	* Added pthread_barrier_init(), pthread_barrier_destroy(), and
+	  pthread_barrier_wait();
+	* Added pthread barrier test
+	* Added protection so that errno cannot be modified from
+	  interrupt handling.
+	* sched_setparam(), sched_setscheduler() now correctly set
+	  errno; pthread_setscheduler() now returns the correct errno.
+	* Added pthread_setschedprio().
+	* Added directories to hold board-specific header files
+	* Added directories to hold board-specific drivers
+
+0.2.3 2007-03-29 Gregory Nutt <spudmonkey@racsa.co.cr>
+
+	* mq_receive and mq_send now return errno's appropriately
+	* mq_receive and mq_send are now correctly awakened by signals.
+	* Fixed an unmatched sched_lock/unlock pair in task_delete().
+	* sched_lock must be called in _exit() because operation of
+	  task_delete() can cause pending tasks to be merged and a
+	  context switch to occur.
+	* Added mq_timedreceive() and mq_timedsend()
+	* signal mask is now inherited by both child tasks and threads.
+	* Improved sharebility of stdout among pthreads (only).  Nothing
+	  was broken, but by moving the mutual exclusion logic to a
+	  higher level, the printf output is more readable.
+	* Fixed a bug in file system cleanup:  A list was being deleted
+	  before the buffers contained in the list.
+	* Fixed a bug in the wait-for-message-queue-not-empty logic.
+	* Added a test of timed mqueue operations; detected and corrected
+	  some mqueue errors.
+	* Identified and corrected a race condition associated with
+	  pthread_join.  In the failure condition, memory was being
+	  deallocated while still in use.
+
+0.2.4 2007-xx-xx Gregory Nutt <spudmonkey@racsa.co.cr>
+
+	* Started m68322
--- a/Documentation/NuttX.html
+++ b/Documentation/NuttX.html
@@ -8,7 +8,7 @@
  <tr align="center" bgcolor="#e4e4e4">
    <td>
      <h1><big><font color="#3c34ec"><i>NuttX RTOS</i></font></big></h1>
-      <p>Last Updated: March 21, 2007</p>
+      <p>Last Updated: March 28, 2007</p>
    </td>
  </tr>
 </table>
@@ -180,7 +180,7 @@
 </table>

 <p>
-   The third release of NuttX (nuttx-0.1.2) is avalable for download
+   The sixth release of NuttX (nuttx-0.2.3) is available for download
   from the <a href="http://sourceforge.net/project/showfiles.php?group_id=189573">SourceForge</a>
   website.
 </p>
@@ -430,6 +430,51 @@ Other memory:
 	* Some Documentation updates
 	* Added support for the Neuros OSD / DM320

+0.2.2 2007-03-26 Gregory Nutt <spudmonkey@racsa.co.cr>
+	* Created the configs/ directory; separated board configuration
+	  from processor architecture logic
+	* Add memory leak detection test to examples/ostest
+	* Corrected memory leak in OS pthread join logic
+	* Corrected memory leaks in examples/ostest due to failures
+	  to join or detach from pthreads.
+	* Added pthread_once(), pthread_kill(), pthread_sigmask()
+	* Added pthread_barrierattr_*() APIs
+	* Added pthread_barrier_init(), pthread_barrier_destroy(), and
+	  pthread_barrier_wait();
+	* Added pthread barrier test
+	* Added protection so that errno cannot be modified from
+	  interrupt handling.
+	* sched_setparam(), sched_setscheduler() now correctly set
+	  errno; pthread_setscheduler() now returns the correct errno.
+	* Added pthread_setschedprio().
+	* Added directories to hold board-specific header files
+	* Added directories to hold board-specific drivers
+
+0.2.3 2007-03-29 Gregory Nutt <spudmonkey@racsa.co.cr>
+
+	* mq_receive and mq_send now return errno's appropriately
+	* mq_receive and mq_send are now correctly awakened by signals.
+	* Fixed an unmatched sched_lock/unlock pair in task_delete().
+	* sched_lock must be called in _exit() because operation of
+	  task_delete() can cause pending tasks to be merged and a
+	  context switch to occur.
+	* Added mq_timedreceive() and mq_timedsend()
+	* signal mask is now inherited by both child tasks and threads.
+	* Improved sharebility of stdout among pthreads (only).  Nothing
+	  was broken, but by moving the mutual exclusion logic to a
+	  higher level, the printf output is more readable.
+	* Fixed a bug in file system cleanup:  A list was being deleted
+	  before the buffers contained in the list.
+	* Fixed a bug in the wait-for-message-queue-not-empty logic.
+	* Added a test of timed mqueue operations; detected and corrected
+	  some mqueue errors.
+	* Identified and corrected a race condition associated with
+	  pthread_join.  In the failure condition, memory was being
+	  deallocated while still in use.
+
+0.2.4 2007-xx-xx Gregory Nutt <spudmonkey@racsa.co.cr>
+
+	* Started m68322
 </pre></ul>

 <table width ="100%">
--- a/Documentation/NuttxPortingGuide.html
+++ b/Documentation/NuttxPortingGuide.html
@@ -16,7 +16,7 @@
  </b></big>
  <p><small>by</small></p>
  <p>Gregory Nutt</p>
-  <p><small>Last Update: March 20, 2007</small></p>
+  <p><small>Last Update: March 26, 2007</small></p>
 </center>

 <center><h1>Table of Contents</h1></center>
@@ -26,21 +26,35 @@
  <li>2.1 <a href="#DirStructDocumentation">Documentation</a></li>
  <l1>2.2 <a href="#DirStructArch">arch</a></li>
  <ul>
-    <li><a href="#sudirectorystructure">2.2.1 Subdirectory Structure</a></li>
-    <li><a href="#summaryoffiles">2.2.2 Summary of Files</a></li>
+    <li><a href="#archdirectorystructure">2.2.1 Subdirectory Structure</a></li>
+    <li><a href="#summaryofarchfiles">2.2.2 Summary of Files</a></li>
    <li><a href="#supportedarchitectures">2.2.3 Supported Architectures</a></li>
-    <li><a href="#configuringnuttx">2.2.4 Configuring NuttX</a></li>
  </ul>
-  <li>2.3 <a href="#DirStructDrivers">drivers</a></li>
-  <li>2.4 <a href="#DirStructExamples">examples</a></li>
-  <li>2.5 <a href="#DirStructFs">fs</a></li>
-  <li>2.6 <a href="#DirStructInclude">include</a></li>
-  <li>2.7 <a href="#DirStructLib">lib</a></li>
-  <li>2.8 <a href="#DirStructMm">mm</a></li>
-  <li>2.9 <a href="#DirStructSched">sched</a></li>
-  <li>2.10 <a href="#DirStructDrivers">tools</a></li>
+  <li>2.3 <a href="#DirStructConfigs">configs/</a></li>
+  <ul>
+    <li><a href="#configsdirectorystructure">2.3.1 Subdirectory Structure</a></li>
+    <li><a href="#summaryofconfigfiles">2.3.2 Summary of Files</a></li>
+    <ul>
+      <li><a href="#boardlogic">2.3.2.1 Board Specific Logic</a></li>
+      <li><a href="#boardconfigfiles">2.3.2.2 Board Specific Configuration Files</a></li>
+    </ul>
+    <li><a href="#supportedboards">2.3.3 Supported Boards</a></li>
+  </ul>
+  <li>2.4 <a href="#DirStructDrivers">drivers</a></li>
+  <li>2.5 <a href="#DirStructExamples">examples</a></li>
+  <li>2.6 <a href="#DirStructFs">fs</a></li>
+  <li>2.7 <a href="#DirStructInclude">include</a></li>
+  <li>2.8 <a href="#DirStructLib">lib</a></li>
+  <li>2.9 <a href="#DirStructMm">mm</a></li>
+  <li>2.10 <a href="#DirStructSched">sched</a></li>
+  <li>2.11 <a href="#DirStructTools">tools</a></li>
+  <li>2.12 <a href="#topmakefile">Makefile</a></li>
+</ul>
+<li>3.0 <a href="#configandbuild">Configuring and Building</a></li>
+<ul>
+  <li><a href="#configuringnuttx">3.1 Configuring NuttX</a></li>
+  <li><a href="#buildingnuttx">3.2 Building NuttX</a></li>
 </ul>
-<li>3.0 <a href="#DirectoryConfiAndBuild">Configuring and Building</a></li>
 <li>4.0 <a href="#ArchAPIs">Architecture APIs</a></li>
 <ul>
  <li><a href="#imports">4.1 APIs Exported by Architecture-Specific Logic to NuttX</a></li>
@@ -82,7 +96,7 @@
  into the build.
 </p>
 <p>
-  See also arch/README.txt.
+  See also <code>arch/README.txt</code> and <code>configs/README.txt</code>.
 </p>

 <p><b>General Philosophy</b>.
@@ -90,50 +104,66 @@
 <hr>
 <h1>2.0 <a name="DirectoryStructure">Directory Structure</a></h1>

-<p>The general directly layout for NuttX is very similar to the directory structure
-of the Linux kernel -- at least at the most superficial layers.
-At the top level is the main makefile and a series of sub-directories identified
-below and discussed in the following paragraphs:</p>
- 
+<p>
+  <b>Directory Structure</b>.
+  The general directly layout for NuttX is very similar to the directory structure
+  of the Linux kernel -- at least at the most superficial layers.
+  At the top level is the main makefile and a series of sub-directories identified
+  below and discussed in the following paragraphs:
+</p>
 <ul><pre>
 .
-|-- Makefile
+|-- <a href="#topmakefile">Makefile</a>
 |-- <a href="#DirStructDocumentation">Documentation</a>
-|   `-- <i>(documentation files)</i>
-|-- <a href="#DirStructArch">arch</a>
-|   |-- <i>(architecture)</i>
-|   |   |-- Make.defs
-|   |   |-- defconfig
-|   |   |-- include
-|   |   |-- setenv.sh
-|   |   `-- src
-|   `-- <i>(other architectures)</i>
+|   `-- <i>(documentation files)</i>/
+|-- <a href="#DirStructArch">arch</a>/
+|   |-- <i>&lt;arch-name&gt;</i>/
+|   |   |-- include/
+|   |   |   |--<i>&lt;chip-name&gt;</i>/
+|   |   |   |  `-- <i>(chip-specific header files)</i>
+|   |   |   |--<i>&lt;other-chips&gt;</i>/
+|   |   |   `-- <i>(architecture-specific header files)</i>
+|   |   `-- src/
+|   |       |--<i>&lt;chip-name&gt;</i>/
+|   |       |  `-- <i>(chip-specific source files)</i>
+|   |       |--<i>&lt;other-chips&gt;</i>/
+|   |       `-- <i>(architecture-specific source files)</i>
+|   `-- <i>&lt;other-architectures&gt;</i>/
+|-- <a href="#DirStructConfigs">configs</a>/
+|   |-- <i>&lt;board-name&gt;</i>/
+|   |   |-- include/
+|   |   |   `-- <i>(board-specific header files)</i>
+|   |   |-- src/
+|   |   |   |-- Makefile
+|   |   |  `-- <i>(board-specific source files)</i>
+|   |   `-- <i>(board-specific configuration files)</i>
+|   `-- <i>&lt;other-boards&gt;</i>/
 |-- <a href="#DirStructDrivers">drivers</a>
-|   |-- Makefile
-|   `-- <i>(driver source files)</i>
-|-- <a href="#DirStructExamples">examples</a>
-|   `-- <i>(example)</i>
+|   |-- Makefile/
+|   `-- <i>(common driver source files)</i>
+|-- <a href="#DirStructExamples">examples</a>/
+|   `-- <i>(example)</i>/
 |       |-- Makefile
 |       `-- <i>(example source files)</i>
-|-- <a href="#DirStructFs">fs</a>
+|-- <a href="#DirStructFs">fs</a>/
 |   |-- Makefile
 |   `-- <i>(fs source files)</i>
-|-- <a href="#DirStructInclude">include</a>
+|-- <a href="#DirStructInclude">include</a>/
 |   |-- <i>(standard header files)</i>
-|   |-- nuttx
+|   |-- nuttx/
 |   |   `-- <i>(nuttx specific header files)</i>
-|   `- sys
+|   `- sys/
 |   |   `-- <i>(more standard header files)</i>
-|-- <a href="#DirStructLib">lib</a>
+|-- <a href="#DirStructLib">lib</a>/
 |   |-- Makefile
 |   `-- <i>(lib source files)</i>
-|-- <a href="#DirStructMm">mm</a>
+|-- <a href="#DirStructMm">mm</a>/
 |   |-- Makefile
 |   `-- <i>(mm source files)</i>
-|-- <a href="#DirStructSched">sched</a>
+|-- <a href="#DirStructSched">sched</a>/
 |   |-- Makefile
 |   `-- <i>(sched source files)</i>
-`-- <a href="#DirStructDrivers">tools</a>
+`-- <a href="#DirStructDrivers">tools</a>/
    |-- Makefile.mkconfig
    |-- configure.sh
    |-- mkconfig.c
@@ -141,6 +171,40 @@ below and discussed in the following paragraphs:</p>
    `-- zipme
 </pre></ul>

+<p>
+  <b>Configuration Files</b>.
+  The NuttX configuration consists of:
+</p>
+<ul>
+  <li>
+    <i>Processor architecture specific files</i>.
+    These are the files contained in the <code>arch/</code><i>&lt;arch-name&gt;</i><code>/</code> directory
+    and are discussed in a paragraph <a href="#archdirectorystructure">below</a>.
+  </li>
+  <li>
+    <i>Chip/SoC specific files</i>.
+    Each processor processor architecture is embedded in chip or <i>System-on-a-Chip</i> (SoC) architecture.
+    The full chip architecture includes the processor architecture plus chip-specific interrupt logic,
+    clocking logic, general purpose I/O (GIO) logic, and specialized, internal peripherals (such as UARTs, USB, etc.).
+    <p>
+      These chip-specific files are contained within chip-specific sub-directories in the
+      <code>arch/</code><i>&lt;arch-name&gt;</i><code>/</code> directory and are selected via
+      the <code>CONFIG_ARCH_name</code> selection.
+    </p>
+  </li>
+  <li>
+    <i>Board specific files</i>.
+    In order to be usable, the chip must be contained in a board environment.
+    The board configuration defines additional properties of the board including such things as
+    peripheral LEDs, external peripherals (such as network, USB, etc.).
+    <p>
+      These board-specific configuration files can be found in the
+      <code>configs/</code><i>&lt;board-name&gt;</i><code>/</code> sub-directories and are discussed
+      in a a paragraph <a href="#configsdirectorystructure">below</a>.
+    </p>
+  </li>
+</ul>
+
 <h2>2.1 <a name="DirStructDocumentation">Documentation</a></h2>

 <p>
@@ -149,67 +213,42 @@ below and discussed in the following paragraphs:</p>

 <h2>2.2 <a name="DirStructArch">arch</a></h2>

-<h3><a name="sudirectorystructure">2.2.1 Subdirectory Structure</a></h3>
+<h3><a name="archdirectorystructure">2.2.1 Subdirectory Structure</a></h3>
 <p>
  This directory contains several sub-directories, each containing
  architecture-specific logic.
-  The task of porting NuttX to a new processor or board consists of
+  The task of porting NuttX to a new processor consists of
  add a new sudirectory under <code>arch/</code> containing logic specific
  to the new architecuture.
-  Each architecture must provide a subdirectory, &lt;<i>arch-name</i>&gt;
-  under <code>arch/</code> with the folling characteristics:
+  The complete board port in is defined by the architecture-specific code in this
+  directory (plus the board-specific configurations in the <code>config/</code>
+  subdirectory).
+  Each architecture must provide a subdirectory, <i>&lt;arch-name&gt;</i>
+  under <code>arch/</code> with the following characteristics:
 </p>
 <ul><pre>
-	&lt;<i>arch-name</i>&gt;
-	|-- Make.defs
-	|-- defconfig
-	|-- setenv.sh
-	|-- include
+	<i>&lt;arch-name&gt;</i>/
+	|-- include/
+	|   |--<i>&lt;chip-name&gt;</i>/
+	|   |  `-- <i>(chip-specific header files)</i>
+	|   |--<i>&lt;other-chips&gt;</i>/
 	|   |-- arch.h
 	|   |-- irq.h
-	|   `-- types.h
-	`-- src
+	|   |-- types.h
+	|   `-- limits.h
+	`-- src/
+	    |--<i>&lt;chip-name&gt;</i>/
+	    |  `-- <i>(chip-specific source files)</i>
+	    |--<i>&lt;other-chips&gt;</i>/
 	    |-- Makefile
-	    `-- (architecture-specific source files)
+	    `-- <i>(architecture-specific source files)</i>
 </pre></ul>

-<h3><a name="summaryoffiles">2.2.2 Summary of Files</a></h3>
+<h3><a name="summaryofarchfiles">2.2.2 Summary of Files</a></h3>
 <ul>
  <li>
-    <code>Make.defs</code>: This makefile fragment provides architecture and
-    tool-specific build options.  It will be included by all other
-    makefiles in the build (once it is installed).  This make fragment
-    should define:
-    <ul>
-      <li>Tools: CC, LD, AR, NM, OBJCOPY, OBJDUMP</li>
-      <li>Tool options: CFLAGS, LDFLAGS</li>
-    </ul>
-    <p>
-      When this makefile fragment runs, it will be passed TOPDIR which
-      is the path to the root directory of the build.  This makefile
-      fragment may include ${TOPDIR}/.config to perform configuration
-      specific settings.  For example, the CFLAGS will most likely be
-      different if CONFIG_DEBUG=y.
-  </li>
-  <li>
-    <code>defconfig</code>: This is a configuration file similar to the Linux
-    configuration file.  In contains varialble/value pairs like:
-    <ul>
-      <li><code>CONFIG_VARIABLE</code>=value</li>
-    </ul>
-    <p>
-      This configuration file will be used at build time:
-    </p>
-    <ol>
-      <li>As a makefile fragment included in other makefiles, and</li>
-      <li>to generate <code>include/nuttx/config.h</code> which is included by
-          most C files in the system.</li>
-    </ol>
-  </li>
-  <li>
-    <code>setenv.sh</code>: This is a script that you can include that will be installed at
-    the toplevel of the directory structure and can be sourced to set any
-    necessary environment variables.
+    <code>include/</code><i>&lt;chip-name&gt;</i><code>/</code>
+    This sub-directory contains chip-specific header files.
  </li>
  <li>
    <code>include/arch.h</code>:
@@ -265,6 +304,10 @@ below and discussed in the following paragraphs:</p>
       by the board.
    </p>
  </li>
+  <li>
+    <code>src/</code><i>&lt;chip-name&gt;</i><code>/</code>
+    This sub-directory contains chip-specific source files.
+  </li>
  <li>
    <code>src/Makefile</code>:
    This makefile will be executed to build the targets <code>src/libup.a</code> and
@@ -273,6 +316,12 @@ below and discussed in the following paragraphs:</p>
    the final link with <code>libup.a</code> and other system archives to generate the
    final executable.
  </li>
+  <li>
+    <i>(architecture-specific source files)</i>.
+    The file <code>include/nuttx/arch.h</code> identifies all of the APIs that must
+    be provided by the architecture specific logic.  (It also includes
+    <code>arch/</code><i>&lt;arch-name&gt;</i><code>/arch.h</code> as described above).
+  </li>
 </ul>

 <h3><a name="supportedarchitectures">2.2.3 Supported Architectures</a></h3>
@@ -284,56 +333,171 @@ below and discussed in the following paragraphs:</p>
    round robin scheduler)  Otherwise, it is complete.
  <li><code>arch/c5471</code>:
    TI TMS320C5471 (also called TMS320DM180 or just C5471).
-    NuttX operates on the ARM7 of this dual core processor. This port
-    uses the Spectrum Digital evaluation board with a GNU arm-elf toolchain*.
-    This port is complete, verified, and included in the NuttX release.
+    NuttX operates on the ARM7 of this dual core processor.
+    This port is complete, verified, and included in the NuttX release 0.1.1.
  <li><code>arch/dm320</code>:
      TI TMS320DM320 (also called just DM320).
      NuttX operates on the ARM9EJS of this dual core processor.
-      This port uses the Neuros OSD with a GNU arm-elf toolchain*:
-      see http://wiki.neurostechnology.com/index.php/Developer_Welcome .
-      STATUS: This port is code complete but totally untested due to
-      hardware issues with my OSD.
+      This port complete, verified, and included in the NuttX release 0.2.1.
+  <li><code>arch/m68322</code>
+      A work in progress.</li>
  <li><code>arch/pjrc-8051</code>:
-    8051 Microcontroller.  This port uses the PJRC 87C52 development system
-    and the SDCC toolchain.   This port is not quite ready for prime time.
+    8051 Microcontroller.  This port is not quite ready for prime time.</li>
 </ul>
 <p>
  Other ports for the for the TI TMS320DM270 and for MIPS are in various states
  of progress
 </p>

-<h3><a name="configuringnuttx">2.2.4 Configuring NuttX</a></h3>
+<h2>2.3 <a name="DirStructConfigs">configs</a></h2>
 <p>
-  Configuring NuttX requires only copying:
+  The <code>configs/</code> subdirectory contains configuration data for each board.
+  These board-specific configurations plus the architecture-specific configurations in
+  the <code>arch/</code> subdirectory complete define a customized port of NuttX.
 </p>
-<ul>
-  <code>arch/&lt;<i>arch-name</i>&gt;/Make.def</code> to <code>${TOPDIR}/Make.defs</code>,
-  <code>arch/&lt;<i>arch-name</i>&gt;/setenv.sh</code> to <code>${TOPDIR}/setenv.sh</code>, and
-  <code.arch/&lt;<i>arch-name</i>&gt;/defconfig</code> to ${TOPDIR}/.config</code>
-</ul>
+
+<h3><a name="configsdirectorystructure">2.3.1 Subdirectory Structure</a></h3>
 <p>
-  There is a script that automates these steps.  The following steps will
-  accomplish the same configuration:
+  The configs directory contains board specific configuration files.  Each board must
+  provide a subdirectory &lt;board-name&gt; under <code>configs/</code> with the following characteristics:
 </p>
 <ul><pre>
-  cd tools
-  ./configure.sh &lt;<i>arch-name</i>&gt;
+	<i>&lt;board-name&gt;</i>
+	|-- include/
+	|   `-- <i>(board-specific header files)</i>
+	|-- src/
+	|   |-- Makefile
+	|   `-- <i>(board-specific source files)</i>
+	|-- Make.defs
+	|-- defconfig
+	`-- setenv.sh
 </pre></ul>

-<h2>2.3 <a name="DirStructDrivers">drivers</a></h2>
+<h3><a name="summaryofconfigfiles">2.3.2 Summary of Files</a></h3>
+<h4><a name="boardlogic">2.3.2.1 Board Specific Logic</a></h4>
+<ul>
+  <li>
+    <code>include/</code>:
+    This directory contains board specific header files.
+    This directory will be linked as <code>include/arch/board</code> at configuration time
+    and can be included via <code>#include &lt;arch/board/header.h&gt;</code>.
+    These header file can only be included by files in <code>arch/</code><i>&lt;arch-name&gt;</i><code>/include/</code>
+    and <code>arch/</code><i>&lt;arch-name&gt;</i><code>/src/</code>.
+  </li>
+  <li>
+    <code>src/</code>:
+    This directory contains board specific drivers.
+    This directory will be linked as <config>arch/</code><i>&lt;arch-name&gt;</i><code>/src/board</config> at configuration
+    time and will be integrated into the build system.
+  </li>
+  <li>
+    <code>src/Makefile</code>:
+    This makefile will be invoked to build the board specific drivers.
+    It must support the following targets:  <code>libext$(LIBEXT)</code>, <code>clean</code>, and <code>distclean</code>.
+  </li>
+</ul>
+<h4><a name="boardconfigfiles">2.3.2.2 Board Specific Configuration Files</a></h4>
+<p>
+  The <code>configs/</code><i>&lt;board-name&gt;</i><code>/</code> sub-directory holds all of the
+  files that are necessary to configure Nuttx for the particular board.
+  The procedure for configuring NuttX is described <a href="#configuringnuttx">below</a>,
+  This paragraph will describe the contents of these configuration files.
+</p>
+<ul>
+  <li>
+    <code>Make.defs</code>: This makefile fragment provides architecture and
+    tool-specific build options.  It will be included by all other
+    makefiles in the build (once it is installed).  This make fragment
+    should define:
+    <ul>
+      <li>Tools: CC, LD, AR, NM, OBJCOPY, OBJDUMP</li>
+      <li>Tool options: CFLAGS, LDFLAGS</li>
+    </ul>
+    <p>
+      When this makefile fragment runs, it will be passed TOPDIR which
+      is the path to the root directory of the build.  This makefile
+      fragment may include ${TOPDIR}/.config to perform configuration
+      specific settings.  For example, the CFLAGS will most likely be
+      different if CONFIG_DEBUG=y.
+    </p>
+  </li>
+  <li>
+    <code>defconfig</code>: This is a configuration file similar to the Linux
+    configuration file.  In contains varialble/value pairs like:
+    <ul>
+      <li><code>CONFIG_VARIABLE</code>=value</li>
+    </ul>
+    <p>
+      This configuration file will be used at build time:
+    </p>
+    <ol>
+      <li>As a makefile fragment included in other makefiles, and</li>
+      <li>to generate <code>include/nuttx/config.h</code> which is included by
+          most C files in the system.</li>
+    </ol>
+  </li>
+  <li>
+    <code>setenv.sh</code>: This is a script that you can include that will be installed at
+    the toplevel of the directory structure and can be sourced to set any
+    necessary environment variables.
+  </li>
+</ul>
+
+<h3><a name="supportedboards">2.3.3 Supported Boards</a></h3>
+<p>
+  All of the specific boards supported by NuttX are identified below.
+  These the the specific <i>&lt;board-name&gt;</i>'s that may be used to configure NuttX
+  as described <a href="#configuringnuttx">below</a>.
+</p>
+<ul>
+  <li><code>configs/sim</code>:
+    A user-mode port of NuttX to the x86 Linux platform is available.
+    The purpose of this port is primarily to support OS feature developement.
+    This port does not support interrupts or a real timer (and hence no
+    round robin scheduler)  Otherwise, it is complete.</li>
+
+  <li><code>configs/c5471evm</code>:
+    This is a port to the Spectrum Digital C5471 evaluation board.  The
+    C5471 is a dual core processor from TI with an ARM7TDMI general purpose
+    processor and a c54 SDP.  NuttX runs on the ARM core and is built with
+    with a GNU arm-elf toolchain*. This port is complete, verified, and
+    included in the NuttX release.</li>
+
+  <li><code>configs/ntosd-dm320</code>:
+    This port uses the Neuros OSD with a GNU arm-elf toolchain*.
+    See <a href="http://wiki.neurostechnology.com/index.php/Developer_Welcome">Neuros Wiki</a>
+    for futher information.
+    NuttX operates on the ARM9EJS of this dual core processor.
+    STATUS: This port is code complete, verified, and included in the
+    NuttX 0.2.1 release.</li>
+
+  <li><code>configs/m68322evb</code>:
+    This is a work in progress for the venerable m68322evb board from
+    Motorola.</li>
+
+  <li><code>configs/pjrc-8051</code>:
+    8051 Microcontroller.  This port uses the PJRC 87C52 development system
+    and the SDCC toolchain.   This port is not quite ready for prime time.</li>
+</ul>
+
+<p><small><blockquote>
+  * A customized version of the <a href="http://www.buildroot.org">buildroot</a>
+  is available to build these toolchains.
+</blockquote></small></p>
+
+<h2>2.4 <a name="DirStructDrivers">drivers</a></h2>

 <p>
  This directory holds architecture-independent device drivers.
 </p>

-<h2>2.4 <a name="DirStructExamples">examples</a></h2>
+<h2>2.5 <a name="DirStructExamples">examples</a></h2>

 <p>
  Example and test programs to build against.
 </p>

-<h2>2.5 <a name="DirStructFs">fs</a></h2>
+<h2>2.6 <a name="DirStructFs">fs</a></h2>

 <p>
  This directory contains the NuttX filesystem.
@@ -345,7 +509,7 @@ below and discussed in the following paragraphs:</p>
  in a file-system-like name space.
 </p>

-<h2>2.6 <a name="DirStructInclude">include</a></h2>
+<h2>2.7 <a name="DirStructInclude">include</a></h2>
 <p>
  This directory holds NuttX header files.
  Standard header files file retained in can be included in the <i>normal</i> fashion:
@@ -356,34 +520,113 @@ below and discussed in the following paragraphs:</p>
  etc.
 </ul>

-<h2>2.7 <a name="DirStructLib">lib</a></h2>
-
+<h2>2.8 <a name="DirStructLib">lib</a></h2>
 <p>
  This directory holds a collection of standard libc-like functions with custom
  interfaces into Nuttx.
 </p>

-<h2>2.8 <a name="DirStructMm">mm</a></h2>
-
+<h2>2.9 <a name="DirStructMm">mm</a></h2>
 <p>
  This is the NuttX memory manager.
 </p>

-<h2>2.9 <a name="DirStructSched">sched</a></h2>
-
+<h2>2.10 <a name="DirStructSched">sched</a></h2>
 <p>
  The files forming core of the NuttX RTOS reside here.
 </p>

-<h2>2.10 <a name="DirStructDrivers">tools</a></h2>
-
+<h2>2.11 <a name="DirStructTools">tools</a></h2>
 <p>
  This directory holds a collection of tools and scripts to simplify
  configuring and building NuttX.
 </p>

+<h2>2.12 <a name="topmakefile">Makefile</a></h2>
+<p>
+  The top-level <code>Makefile</code> in the <code>${TOPDIR}</code> directory contains all of the top-level control
+  logic to build NuttX.
+  Use of this <code>Makefile</code> to build NuttX is described <a href="#buildingnuttx">below</a>.
+</p>
+
 <hr>
-<h1>3.0 <a name="DirectoryConfiAndBuild">Configuring and Building</a></h1>
+<h1>3.0 <a name="configandbuild">Configuring and Building</a></h1>
+<h2><a name="configuringnuttx">3.1 Configuring NuttX</a></h2>
+<p>
+  <b>Manual Configuration</b>.
+  Configuring NuttX requires only copying the
+  <a href="#boardconfigfiles">board-specific configuration files</a> into the top level directory which appears in the make files as the make variable, <code>${TOPDIR}</code>.
+  This could be done manually as follows:
+</p>
+<ul>
+  <li>Copy <code>configs/</code><i>&lt;board-name&gt;</i></code>/Make.def</code> to <code>${TOPDIR}/Make.defs</code>,<li>
+  <li>Copy <code>configs/</code><i>&lt;board-name&gt;</i></code>/setenv.sh</code> to <code>${TOPDIR}/setenv.sh</code>, and</li>
+  <li>Copy <code>configs/</code><i>&lt;board-name&gt;</i></code>/defconfig</code> to <code>${TOPDIR}/.config</code></li>
+</ul>
+<p>
+  Where <i>&lt;board-name&gt;</i> is the name of one of the sub-directories of the
+  NuttX <a href="#DirStructConfigs"><code>configs/</code></a> directory.
+  This sub-directory name corresponds to one of the supported boards
+  identified <a href="#supportedboards">above</a>.
+</p>
+<p>
+  <b>Automated Configuration</b>.
+  There is a script that automates these steps.  The following steps will
+  accomplish the same configuration:
+</p>
+<ul><pre>
+  cd tools
+  ./configure.sh <i>&lt;board-name&gt;</i>
+</pre></ul>
+
+<p>
+  <b>Additional Configuration Steps</b>.
+  The remainder of configuration steps will be performed by <a href="#topmakefile"><code>${TOPDIR}/Makefile</code></a>
+  the first time the system is built as described below.
+</p>
+
+<h2><a name="buildingnuttx">3.2 Building NuttX</a></h2>
+<p>
+  <b>Building NuttX</b>.
+   Once NuttX has been configured as described <a href="#configuringnuttx">above</a>, it may be built as follows:
+</p>
+<ul><pre>
+cd ${TOPDIR}
+source ./setenv.sh
+make
+</pre></ul>
+<p>
+  The <code>${TOPDIR}</code> directory holds:
+</p>
+<ul>
+  <li>The top level <a href="#topmakefile"><code>Makefile</code></a> that controls the NuttX build.
+</ul>
+<p>
+  That directory also holds:
+</p>
+<ul>
+  <li>The makefile fragment <a href="#boardconfigfiles"><code>.config</code></a> that describes the current configuration.</li>
+  <li>The makefile fragment <a href="#boardconfigfiles"><code>Make.defs</code></a> that provides customized build targers, and</li>
+  <li>The shell script <a href="#boardconfigfiles"><code>setenv.sh</code></a> that sets up the configuration environment for the build.</li>
+</ul>
+<p>
+The <a href="#boardconfigfiles"><code>setenv.sh</code></a> contains Linux environmental settings that are needed for the build.
+The specific environmental definitions are unique for each board but should include, as a minimum, updates to the <code>PATH</code> variable to include the full path to the architecture-specific toolchain identified in <a href="#boardconfigfiles"><code>Make.defs</code></a>.
+The <a href="#boardconfigfiles"><code>setenv.sh</code></a> only needs to be source'ed at the beginning of a session.
+The system can be re-made subsequently by just typing <code>make</code>.
+</p>
+<p>
+  <b>First Time Make.</b>
+  Additional configuration actions will be taken the first time that system is built.
+  These additional steps include:
+</p>
+<ul>
+  <li>Auto-generating the file <code>include/nuttx/config.</code> using the <code>${TOPDIR}/.config</code> file.
+  <li>Creating a link to <code>${TOPDIR}/arch/</code><i>&lt;arch-name&gt;</i><code>/include</code> at <code>${TOPDIR}/include/arch</code>.
+  <li>Creating a link to <code>${TOPDIR}/configs/</code><i>&lt;board-name&gt;</i><code>/include</code> at <code>${TOPDIR}/include/arch/board</code>.
+  <li>Creating a link to <code>${TOPDIR}/configs/</code><i>&lt;board-name&gt;</i><code>/src</code> at <code>${TOPDIR}/arch/</code><i>&lt;arch-name&gt;</i><code>/src/board</code>
+  <li>Creating make dependencies.
+</ul>

 <h1>4.0 <a name="ArchAPIs">Architecture APIs</a></h1>

--- a/Documentation/NuttxUserGuide.html
+++ b/Documentation/NuttxUserGuide.html
--- a/62
+++ b/62
@@ -39,6 +39,8 @@ TOPDIR		= ${shell pwd}

 ARCH_DIR	= arch/$(CONFIG_ARCH)
 ARCH_SRC	= $(ARCH_DIR)/src
+ARCH_INC	= $(ARCH_DIR)/include
+BOARD_DIR	= configs/$(CONFIG_BOARD)

 SUBDIRS		= sched lib $(ARCH_SRC) mm fs drivers examples/$(CONFIG_EXAMPLE)

@@ -54,17 +56,46 @@ all: $(BIN)
 tools/mkconfig:
 	$(MAKE) -C tools -f Makefile.mkconfig TOPDIR=$(TOPDIR)  mkconfig

-include/nuttx/config.h: $(ARCH_DIR)/defconfig tools/mkconfig
-	tools/mkconfig $(ARCH_DIR) > include/nuttx/config.h
+include/nuttx/config.h: $(TOPDIR)/.config tools/mkconfig
+	tools/mkconfig $(TOPDIR) > include/nuttx/config.h

-include/arch: include/nuttx/config.h
-	ln -sf $(TOPDIR)/$(ARCH_DIR)/include include/arch
+include/arch: Make.defs
+	@if [ -e include/arch ]; then \
+		if [ -h include/arch ]; then \
+			rm -f include/arch ; \
+		else \
+			echo "include/arch exists but is not a symbolic link" ; \
+			exit 1 ; \
+		fi ; \
+	fi
+	@ln -s $(TOPDIR)/$(ARCH_DIR)/include include/arch

-context: check_context include/nuttx/config.h include/arch
+include/arch/board: Make.defs include/arch
+	@if [ -e include/arch/board ]; then \
+		if [ -h include/arch/board ]; then \
+			rm -f include/arch/board ; \
+		else \
+			echo "include/arch/board exists but is not a symbolic link" ; \
+			exit 1 ; \
+		fi ; \
+	fi
+	@ln -s $(TOPDIR)/$(BOARD_DIR)/include include/arch/board
+
+$(ARCH_SRC)/board: Make.defs
+	@if [ -e $(ARCH_SRC)/board ]; then \
+		if [ -h $(ARCH_SRC)/board ]; then \
+			rm -f $(ARCH_SRC)/board ; \
+		else \
+			echo "$(ARCH_SRC)/board exists but is not a symbolic link" ; \
+			exit 1 ; \
+		fi ; \
+	fi
+	@ln -s $(TOPDIR)/$(BOARD_DIR)/src $(ARCH_SRC)/board
+
+context: check_context include/nuttx/config.h include/arch include/arch/board $(ARCH_SRC)/board

 clean_context:
-	rm -f include/nuttx/config.h
-	rm -f include/arch
+	rm -f include/nuttx/config.h include/arch $(ARCH_INC)/board $(ARCH_SRC)/board

 check_context:
 	@if [ ! -e ${TOPDIR}/.config -o ! -e ${TOPDIR}/Make.defs ]; then \
@@ -102,19 +133,26 @@ depend:
 		$(MAKE) -C $$dir TOPDIR=$(TOPDIR) depend ; \
 	done

-clean:
+subdir_clean:
 	@for dir in $(SUBDIRS) ; do \
-		$(MAKE) -C $$dir TOPDIR=$(TOPDIR) clean ; \
+		if [ -e $$dir/Makefile ]; then \
+			$(MAKE) -C $$dir TOPDIR=$(TOPDIR) clean ; \
+		fi \
 	done
 	$(MAKE) -C tools -f Makefile.mkconfig TOPDIR=$(TOPDIR) clean
 	$(MAKE) -C mm -f Makefile.test TOPDIR=$(TOPDIR) clean
+
+clean: subdir_clean
 	rm -f $(BIN) $(BIN).* mm_test *.map *~

-distclean: clean clean_context
+subdir_distclean:
 	@for dir in $(SUBDIRS) ; do \
-		$(MAKE) -C $$dir TOPDIR=$(TOPDIR) distclean ; \
+		if [ -e $$dir/Makefile ]; then \
+			$(MAKE) -C $$dir TOPDIR=$(TOPDIR) distclean ; \
+		fi \
 	done
-	$(MAKE) -C examples/$(CONFIG_EXAMPLE) TOPDIR=$(TOPDIR) distclean
+
+distclean: clean subdir_distclean clean_context
 	rm -f Make.defs setenv.sh .config


--- a/29
+++ b/29
@@ -1,19 +1,18 @@
-Nuttx-0.2.1
-^^^^^^^^^^^
+nuttx-0.2.3
+^^^^^^^^^^^^

-This is the fourth relese of NuttX.  This release adds adds
-support for a new platform, restructures many header files,
-and adds a few new features:
+This is the sixth release of NuttX.  This release is primarily
+a bugfix release.  Numerous problems were fixed as detailed
+in the change log.  New functionaliy includes support for
+timed messsage queues.

-(1) Support for Neuros OSD / DM320
-(2) Restructuring of header files for better POSIX compliance
-(3) Added kill()
-(4) Added POSIX timers
-(5) bugfixes and documentation updates
+See the ChangeLog for a complete list of changes.

-This release has been verified on the Linux user-mode platform,
-the  Spectrum Digital TMS320C5471 EVM, and the Neuros OSD  using
-the test program under examples/ostest.  Because of the stability
-of these tests, the project status has been upgraded to 'beta.'
+This release has been verified on the Linux user-mode platform
+and the Neuros OSD using the test program under examples/ostest.
+The results of the testing is available in the source tree under
+configs/ntosd-dm320/doc/test-results. There are no known,
+critical defects but the project development status remains at
+'beta' status pending further test and evaluation.

-This tarball contains a complete CVS snapshot from March 22, 2007.
+This tarball contains a complete CVS snapshot from March 29, 2007.
--- a/41
+++ b/41
@@ -1,27 +1,25 @@
 NuttX TODO List
 ^^^^^^^^^^^^^^^

-Task/Scheduler
-^^^^^^^^^^^^^^
-
+o Task/Scheduler
 - When a tasks exits, shouldn't all of its child pthreads also be terminated?
 - Should task_delete() cause atexit() function to be called?
 - Implement sys/mman.h and functions
 - Implement sys/wait.h and functions
 - Implement priority inheritance
- Implement vfork().  Could be tricky because of stack references.
 - Make the system timer frequency configurable via defconfig.  See:
   _POSIX_CLOCKRES_MIN in limits.h
   CLK_TCK in time.h
-   Definitions in sched/clock_internal.h
+   MSEC_PER_TICK in sched/clock_internal.h
+- Consider implementing wait, waitpid, waitid.  At present, a parent has
+  no information about child tasks.

 o Memory Managment
 - Add an option to free all memory allocated by a task when the task exits.
-  This may not be worth the overhead for a deeply embedded system.
+  This is probably not be worth the overhead for a deeply embedded system.

 o Signals
- 'Standard' signals and signal actions are not supported.  Does this
-  make since in a deeply embedded system?
+- 'Standard' signals and signal actions are not supported.

 o pthreads
 - pthread_cancel():  Should implemenent cancellation points and pthread_testcancel()
@@ -29,31 +27,31 @@ o pthreads
 o Libraries

 o File system
- This probabaly needs some rethinking.
 - Add some concept like mount points to handle mounted "real" filesystems.

 o Console Output

 o Documentation
- Document fs & driver logic
- Document filesystem, library
+- Document fs/ & driver/ logic
+- Document C-library APIs

 o Build system
- Something leaves garbage link 'include' in arch/*/include
- Separate configurations from architectures.  arch/* contains
-  generic logic.  Like arch/armnommu, arch/arm, arch/805x, etc.
-  config/* has like config/pjrc-8052, config/c5471, etc.
+- Names under arch are incorrect.  These should hold processor architectures.
+  c5471 should be arm7
+  dm320 should be arm9
+  pjrc-8051 should be 805x
+- SoC-specific logic should be in subdirectories under arch/<processor-name>.
+  Eg. arm7/include/c5471 should hold c5471 specific header files
+- configs/pjrc-8051 should be configs/pjrc-87c52

 o Applications & Tests

 o C5471
- At present, there is a failure in the examples/ostest POSIX timer
-  test when CONFIG_DEBUG is enabled.  This is almost certainly yet
-  another case where printf (or its kin) are being called from a 
-  sensitive area in the OS.
+
+o DM320

 o pjrc-8052 / MCS51
-* Current status:
+- Current status:
  - Basic OS task management seems OK
  - Fails when interrupts enabled.  The stack pointer is around 0x6e
    before the failure occurs.  It looks like some issue when the
@@ -69,6 +67,3 @@ o pjrc-8052 / MCS51
  clock_initialize.c at line 107
  pthread_create.c at 330
  sighand.c at 225 and 244
-
-o DM320
- In progress
--- a/arch/README.txt
+++ b/arch/README.txt
@@ -11,161 +11,65 @@ Table of Contents
 Architecture-Specific Code
 ^^^^^^^^^^^^^^^^^^^^^^^^^^

-The file include/nuttx/arch.h identifies all of the APIs that must
-be provided by the architecture specific logic.  (It also includes
+The NuttX configuration consists of:
+
+o Processor architecture specific files.  These are the files contained
+  in the arch/<arch-name>/ directory discussed in this README.
+
+o Chip/SoC specific files.  Each processor processor architecture
+  is embedded in chip or System-on-a-Chip (SoC) architecture.  The
+  full chip architecture includes the processor architecture plus
+  chip-specific interrupt logic, general purpose I/O (GIO) logic, and
+  specialized, internal peripherals (such as UARTs, USB, etc.).
+
+  These chip-specific files are contained within chip-specific
+  sub-directories in the arch/<arch-name>/ directory and are selected
+  via the CONFIG_ARCH_name selection
+
+o Board specific files.  In order to be usable, the chip must be
+  contained in a board environment.  The board configuration defines
+  additional properties of the board including such things as
+  peripheral LEDs, external peripherals (such as network, USB, etc.).
+
+  These board-specific configuration files can be found in the
+  configs/<board-name>/ sub-directories.
+
+This README will address the processor architecture specific files
+that are contained in the arch/<arch-name>/ directory. The file
+include/nuttx/arch.h identifies all of the APIs that must
+be provided by this architecture specific logic.  (It also includes
 arch/<arch-name>/arch.h as described below).

 Directory Structure
 ^^^^^^^^^^^^^^^^^^^

-The arch directory contains architecture specific logic.  Each architecture must
-provide a subdirectory <arch-name> under arch/ with the folling characteristics:
+The arch directory contains architecture specific logic.  The complete
+board port in is defined by the architecture-specific code in this
+directory (plus the board-specific configurations in the config/
+subdirectory).  Each architecture must provide a subdirectory <arch-name>
+under arch/ with the following characteristics:


-	<arch-name>
-	|-- Make.defs
-	|-- defconfig
-	|-- setenv.sh
-	|-- include
+	<arch-name>/
+	|-- include/
+	|   |--<chip-name>/
+	|   |  `-- (chip-specific header files)
+	|   |--<other-chips>/
 	|   |-- arch.h
 	|   |-- irq.h
 	|   `-- types.h
-	`-- src
+	`-- src/
+	    |--<chip-name>/
+	    |  `-- (chip-specific source files)
+	    |--<other-chips>/
 	    |-- Makefile
 	    `-- (architecture-specific source files)

 Summary of Files
 ^^^^^^^^^^^^^^^^

-Make.defs -- This makefile fragment provides architecture and
-  tool-specific build options.  It will be included by all other
-  makefiles in the build (once it is installed).  This make fragment
-  should define:
-
-	Tools: CC, LD, AR, NM, OBJCOPY, OBJDUMP
-	Tool options: CFLAGS, LDFLAGS
-
-  When this makefile fragment runs, it will be passed TOPDIR which
-  is the path to the root directory of the build.  This makefile
-  fragment may include ${TOPDIR}/.config to perform configuration
-  specific settings.  For example, the CFLAGS will most likely be
-  different if CONFIG_DEBUG=y.
-
-defconfig -- This is a configuration file similar to the Linux
-  configuration file.  In contains varialble/value pairs like:
-
-	CONFIG_VARIABLE=value
-
-  This configuration file will be used at build time:
-
-    (1) as a makefile fragment included in other makefiles, and
-    (2) to generate include/nuttx/config.h which is included by
-        most C files in the system.
-
-  The following variables are recognized by the build (you may
-  also include architecture-specific settings).
-
-	Architecture selection:
-
-		CONFIG_ARCH - identifies the arch subdirectory
-		CONFIG_ARCH_name - for use in C code
-
-	General OS setup
-
-		CONFIG_EXAMPLE - identifies the subdirectory in examples
-		  that will be used in the build
-		CONFIG_DEBUG - enables built-in debug options
-		CONFIG_DEBUG_VERBOSE - enables verbose debug output
-		CONFIG_HAVE_LOWPUTC - architecture supports low-level, boot
-		  time console output
-		CONFIG_MM_REGIONS - If the architecture includes multiple
-		  regions of memory to allocate from, this specifies the
-		  number of memory regions that the memory manager must
-		  handle and enables the API mm_addregion(start, end);
-		CONFIG_RR_INTERVAL - The round robin timeslice will be set
-		  this number of milliseconds;  Round robin scheduling can
-		  be disabled by setting this value to zero.
-		CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in 
-		  scheduler to monitor system performance
-		CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a
-		  task name to save in the TCB.  Useful if scheduler
-		  instrumentation is selected.  Set to zero to disable.
-		CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY -
-		  Used to initialize the internal time logic.
-		CONFIG_JULIAN_TIME - Enables Julian time conversions
-		CONFIG_DEV_CONSOLE - Set if architecture-specific logic
-		  provides /dev/console.  Enables stdout, stderr, stdin.
-
-	The following can be used to disable categories of APIs supported
-	by the OS.  If the compiler supports weak functions, then it
-	should not be necessary to disable functions unless you want to
-	restrict usage of those APIs.
-
-	There are certain dependency relationships in these features.
-
-	o mq_notify logic depends on signals to awaken tasks
-	  waiting for queues to become full or empty.
-	o pthread_condtimedwait() depends on signals to wake
-	  up waiting tasks.
-
-		CONFIG_DISABLE_CLOCK, CONFIG_DISABLE_POSIX_TIMERS, CONFIG_DISABLE_PTHREAD.
-		CONFIG_DISABLE_SIGNALS, CONFIG_DISABLE_MQUEUE
-
-
-	Misc libc settings
-
-		CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a
-		   little smaller if we do not support fieldwidthes
-
-	Allow for architecture optimized implementations
-
-		The architecture can provide optimized versions of the
-		following to improve sysem performance
-
-		CONFIG_ARCH_MEMCPY, CONFIG_ARCH_MEMCMP, CONFIG_ARCH_MEMMOVE
-		CONFIG_ARCH_MEMSET, CONFIG_ARCH_STRCMP, CONFIG_ARCH_STRCPY
-		CONFIG_ARCH_STRNCPY, CONFIG_ARCH_STRLEN, CONFIG_ARCH_BZERO
-		CONFIG_ARCH_KMALLOC, CONFIG_ARCH_KZMALLOC, CONFIG_ARCH_KFREE
-
-	Sizes of configurable things (0 disables)
-
-		CONFIG_MAX_TASKS - The maximum number of simultaneously
-		  active tasks.  This value must be a power of two.
-		CONFIG_NPTHREAD_KEYS - The number of items of thread-
-		  specific data that can be retained
-		CONFIG_NFILE_DESCRIPTORS - The maximum number of file
-		  descriptors (one for each open)
-		CONFIG_NFILE_STREAMS - The maximum number of streams that
-		  can be fopen'ed
-		CONFIG_NAME_MAX - The maximum size of a file name.
-		CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate
-		  on fopen. (Only if CONFIG_NFILE_STREAMS > 0)
-		CONFIG_NUNGET_CHARS - Number of characters that can be
-		  buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0)
-		CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message
-		  structures.  The system manages a pool of preallocated
-		  message structures to minimize dynamic allocations
-		CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with
-		  a fixed payload size given by this settin (does not include
-		  other message structure overhead.
-		CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog
-		  structures.  The system manages a pool of preallocated
-		  watchdog structures to minimize dynamic allocations
-
-	Stack and heap information
-
-		CONFIG_BOOT_FROM_FLASH - Some configurations support XIP
-		  operation from FLASH.
-		CONFIG_STACK_POINTER - The initial stack pointer
-		CONFIG_PROC_STACK_SIZE - The size of the initial stack
-		CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size
-		CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size
-		CONFIG_HEAP_BASE - The beginning of the heap
-		CONFIG_HEAP_SIZE - The size of the heap
-
-setenv.sh -- This is a script that you can include that will be installed at
-  the toplevel of the directory structure and can be sourced to set any
-  necessary environment variables.
+include/<chip-name>/
+  This sub-directory contains chip-specific header files.

 include/arch.h
  This is a hook for any architecture specific definitions that may
@@ -206,6 +110,9 @@ include/irq.h
  This file must also define NR_IRQS, the total number of IRQs supported
  by the board.

+src/<chip-name>/
+  This sub-directory contains chip-specific source files.
+
 src/Makefile
  This makefile will be executed to build the targets src/libup.a and
  src/up_head.o.  The up_head.o file holds the entry point into the system
@@ -225,37 +132,20 @@ arch/sim
 arch/c5471
    TI TMS320C5471 (also called TMS320DM180 or just C5471).
    NuttX operates on the ARM7 of this dual core processor. This port
-    uses the Spectrum Digital evaluation board with a GNU arm-elf toolchain*.
-    This port is complete, verified, and included in the NuttX release.
+    complete, verified, and included in the NuttX release 0.1.1.

 arch/dm320
    TI TMS320DM320 (also called just DM320).
-    NuttX operates on the ARM9EJS of this dual core processor.
-    This port uses the Neuros OSD with a GNU arm-elf toolchain*:
-    see http://wiki.neurostechnology.com/index.php/Developer_Welcome .
-    STATUS: This port is code complete but totally untested due to
-    hardware issues with my OSD.
+    NuttX operates on the ARM9EJS of this dual core processor.  This port
+    complete, verified, and included in the NuttX release 0.2.1.
+
+arch/m68322
+    A work in progress.

 arch/pjrc-8051
-    8051 Microcontroller.  This port uses the PJRC 87C52 development system
-    and the SDCC toolchain.   This port is not quite ready for prime time.
+    8051 Microcontroller.  This port is not quite ready for prime time.

 Other ports for the for the TI TMS320DM270 and for MIPS are in various states
 of progress

-Configuring NuttX
-^^^^^^^^^^^^^^^^^
-
-Configuring NuttX requires only copying
-
-  arch/<arch-name>/Make.def to ${TOPDIR}/Make.defs
-  arch/<arch-name>/setenv.sh to ${TOPDIR}/setenv.sh
-  arch/<arch-name>/defconfig to ${TOPDIR}/.config
-
-There is a script that automates these steps.  The following steps will
-accomplish the same configuration:
-
-  cd tools
-  ./configure.sh <arch-name>
-

--- a/arch/c5471/src/Makefile
+++ b/arch/c5471/src/Makefile
@@ -51,7 +51,7 @@ CSRCS		= up_initialize.c up_initialstate.c up_idle.c up_doirq.c \
 		  up_exit.c up_assert.c up_blocktask.c up_unblocktask.c \
 		  up_releasepending.c up_reprioritizertr.c up_copystate.c \
 		  up_schedulesigaction.c up_sigdeliver.c up_serial.c \
-		  up_delay.c up_allocateheap.c up_leds.c up_watchdog.c
+		  up_delay.c up_allocateheap.c up_watchdog.c
 COBJS		= $(CSRCS:.c=.o)

 SRCS		= $(ASRCS) $(CSRCS)
@@ -65,6 +65,8 @@ LINKLIBS	=
 LDPATHES	= $(addprefix -L$(TOPDIR)/,$(dir $(LINKLIBS)))
 LDLIBS		= $(patsubst lib%,-l%,$(basename $(notdir $(LINKLIBS))))

+BOARDDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src/board
+
 LIBGCC		= ${shell $(CC) -print-libgcc-file-name}

 all: up_head.o libarch$(LIBEXT)
@@ -81,9 +83,12 @@ libarch$(LIBEXT): $(OBJS)
 			{ echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \
 	done ; )

-nuttx: $(LINKOBJS)
-	$(LD) --entry=__start $(LDFLAGS) $(LDPATHES) -o $(TOPDIR)/$@ $(LINKOBJS) \
-		--start-group $(LDLIBS) --end-group $(EXTRA_LIBS) $(LIBGCC) 
+board/libboard$(LIBEXT):
+	$(MAKE) -C board TOPDIR=$(TOPDIR) libboard$(LIBEXT)
+
+nuttx: $(LINKOBJS) board/libboard$(LIBEXT)
+	$(LD) --entry=__start $(LDFLAGS) $(LDPATHES) -L$(BOARDDIR) -o $(TOPDIR)/$@ $(LINKOBJS) \
+		--start-group $(LDLIBS) -lboard --end-group $(EXTRA_LIBS) $(LIBGCC) 
 	@$(NM) $(TOPDIR)/$@ | \
 	grep -v '\(compiled\)\|\(\.o$$\)\|\( [aUw] \)\|\(\.\.ng$$\)\|\(LASH[RL]DI\)' | \
 	sort > $(TOPDIR)/System.map
@@ -101,14 +106,21 @@ endif

 .depend: Makefile $(SRCS)
 	$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(MAKE) -C board TOPDIR=$(TOPDIR) depend
 	touch $@

 depend: .depend

 clean:
+	@if [ -e board/Makefile ]; then \
+		$(MAKE) -C board TOPDIR=$(TOPDIR) clean ; \
+	fi
 	rm -f libarch$(LIBEXT) *.o *~

 distclean: clean
+	@if [ -e board/Makefile ]; then \
+		$(MAKE) -C board TOPDIR=$(TOPDIR) distclean ; \
+	fi
 	rm -f Make.dep .depend

 -include Make.dep
--- a/arch/c5471/src/c5471.h
+++ b/arch/c5471/src/c5471.h
@@ -40,10 +40,18 @@
 * Included Files
 ************************************************************/

+#include <nuttx/config.h>
+
 #ifndef __ASSEMBLY__
 # include <sys/types.h>
 #endif

+#if defined(CONFIG_BOARD_C5471EVM)
+# include <arch/board/c5471evm.h>
+#else
+# warning "Undefined C5471 Board"
+#endif
+
 /************************************************************
 * Definitions
 ************************************************************/
@@ -72,10 +80,6 @@
 #define CC_Z_BIT               (1 << 30)
 #define CC_N_BIT               (1 << 31)

-/* Clocking *************************************************/
-
-#define C5471_CLOCK            47500000 /* 47.5 MHz */
-
 /* UARTs ****************************************************/

 #define UART_IRDA_BASE         0xffff0800
@@ -370,11 +374,6 @@ static inline void putreg16(uint16 val, unsigned int addr)
 __asm__ __volatile__("\tstrh %0, [%1]\n\t": : "r"(val), "r"(addr));
 }

-/* Most C5471 registers are 16-bits wide */
-
-#define getreg(a)   getreg16(1)
-#define putreg(v,a) putreg16(v,a)
-
 #endif

 #endif  /* __C5471_H */
--- a/arch/c5471/src/up_assert.c
+++ b/arch/c5471/src/up_assert.c
@@ -79,7 +79,7 @@ static inline uint32 up_getsp(void)
 * Name: up_stackdump
 ************************************************************/

-#ifdef CONFIG_C5471_STACKDUMP
+#ifdef CONFIG_ARCH_STACKDUMP
 static void up_stackdump(void)
 {
  _TCB *rtcb        = (_TCB*)g_readytorun.head;
@@ -137,7 +137,7 @@ static void _up_assert(int errorcode) /* __attribute__ ((noreturn)) */
       (void)irqsave();
        for(;;)
          {
-#ifdef CONFIG_C5471_LEDS
+#ifdef CONFIG_ARCH_LEDS
            up_ledon(LED_PANIC);
            up_delay(250);
            up_ledoff(LED_PANIC);
--- a/arch/c5471/src/up_exit.c
+++ b/arch/c5471/src/up_exit.c
@@ -145,6 +145,13 @@ void _exit(int status)

  (void)sched_removereadytorun(tcb);

+  /* We are not in a bad stack-- the head of the ready to run task list
+   * does not correspond to the thread that is running.  Disabling pre-
+   * emption on this TCB should be enough to keep things stable.
+   */
+
+  sched_lock();
+
  /* Move the TCB to the specified blocked task list and delete it */

  sched_addblocked(tcb, TSTATE_TASK_INACTIVE);
@@ -159,6 +166,10 @@ void _exit(int status)
      (void)sched_mergepending();
    }

+  /* Now calling sched_unlock() should have no effect */
+
+  sched_unlock();
+
  /* Now, perform the context switch to the new ready-to-run task at the
   * head of the list.
   */
--- a/arch/c5471/src/up_head.S
+++ b/arch/c5471/src/up_head.S
@@ -117,7 +117,7 @@ __start:
 #endif
 	/* Initialize onboard LEDs */

-#ifdef CONFIG_C5471_LEDS
+#ifdef CONFIG_ARCH_LEDS
 	bl	up_ledinit
 #endif

--- a/arch/c5471/src/up_internal.h
+++ b/arch/c5471/src/up_internal.h
@@ -40,6 +40,14 @@
 * Included Files
 ************************************************************/

+#include <nuttx/config.h>
+
+#if defined(CONFIG_BOARD_C5471EVM)
+# include <arch/board/c5471evm.h>
+#else
+# warning "Undefined C5471 Board"
+#endif
+
 /************************************************************
 * Definitions
 ************************************************************/
@@ -55,17 +63,6 @@
 #undef  CONFIG_SUPPRESS_UART_CONFIG   /* Do not reconfig UART */
 #undef  CONFIG_DUMP_ON_EXIT           /* Dump task state on exit */

-/* LED definitions */
-
-#define LED_STARTED                 0
-#define LED_HEAPALLOCATE            1
-#define LED_IRQSENABLED             2
-#define LED_STACKCREATED            3
-#define LED_INIRQ                   4
-#define LED_SIGNAL                  5
-#define LED_ASSERTION               6
-#define LED_PANIC                   7
-
 /************************************************************
 * Public Types
 ************************************************************/
@@ -156,7 +153,7 @@ extern void up_maskack_irq(int irq);

 /* Defined in up_leds.c */

-#ifdef CONFIG_C5471_LEDS
+#ifdef CONFIG_ARCH_LEDS
 extern void up_ledinit(void);
 extern void up_ledon(int led);
 extern void up_ledoff(int led);
--- a/arch/dm320/src/Makefile
+++ b/arch/dm320/src/Makefile
@@ -63,6 +63,8 @@ LINKLIBS	=
 LDPATHES	= $(addprefix -L$(TOPDIR)/,$(dir $(LINKLIBS)))
 LDLIBS		= $(patsubst lib%,-l%,$(basename $(notdir $(LINKLIBS))))

+BOARDDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src/board
+
 LIBGCC		= ${shell $(CC) -print-libgcc-file-name}

 all: up_head.o libarch$(LIBEXT)
@@ -79,9 +81,12 @@ libarch$(LIBEXT): $(OBJS)
 			{ echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \
 	done ; )

-nuttx: $(LINKOBJS)
-	$(LD) --entry=__start $(LDFLAGS) $(LDPATHES) -o $(TOPDIR)/$@ $(LINKOBJS) \
-		--start-group $(LDLIBS) --end-group $(EXTRA_LIBS) $(LIBGCC) 
+board/libboard$(LIBEXT):
+	$(MAKE) -C board TOPDIR=$(TOPDIR) libboard$(LIBEXT)
+
+nuttx: $(LINKOBJS) board/libboard$(LIBEXT)
+	$(LD) --entry=__start $(LDFLAGS) $(LDPATHES) -L$(BOARDDIR) -o $(TOPDIR)/$@ $(LINKOBJS) \
+		--start-group $(LDLIBS) -lboard --end-group $(EXTRA_LIBS) $(LIBGCC) 
 	@$(NM) $(TOPDIR)/$@ | \
 	grep -v '\(compiled\)\|\(\.o$$\)\|\( [aUw] \)\|\(\.\.ng$$\)\|\(LASH[RL]DI\)' | \
 	sort > $(TOPDIR)/System.map
@@ -98,15 +103,24 @@ ifeq ($(CONFIG_RRLOAD_BINARY),y)
 endif

 .depend: Makefile $(SRCS)
+	@if [ -e board/Makefile ]; then \
+		$(MAKE) -C board TOPDIR=$(TOPDIR) depend ; \
+	if
 	$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
 	touch $@

 depend: .depend

 clean:
+	@if [ -e board/Makefile ]; then \
+		$(MAKE) -C board TOPDIR=$(TOPDIR) clean ; \
+	fi
 	rm -f libarch$(LIBEXT) *.o *~

 distclean: clean
+	@if [ -e board/Makefile ]; then \
+		$(MAKE) -C board TOPDIR=$(TOPDIR) distclean ; \
+	fi
 	rm -f Make.dep .depend

 -include Make.dep
--- a/arch/dm320/src/dm320.h
+++ b/arch/dm320/src/dm320.h
@@ -40,12 +40,19 @@
 * Included Files
 ************************************************************************************/

+#include <nuttx/config.h>
 #ifndef __ASSEMBLY__
 # include <sys/types.h>
 #endif

 #include "arm9.h"
-#include "ntosd.h"
+
+#if defined(CONFIG_BOARD_NTOSD_DM320)
+# include <arch/board/ntosd.h>
+#else
+# warning "Unknown DM320 board"
+#endif
+
 #include "dm320-memorymap.h"
 #include "dm320-uart.h"
 #include "dm320-timer.h"
--- a/arch/dm320/src/up_exit.c
+++ b/arch/dm320/src/up_exit.c
@@ -128,7 +128,12 @@ static void _up_dumponexit(FAR _TCB *tcb, FAR void *arg)
 void _exit(int status)
 {
  _TCB* tcb = (_TCB*)g_readytorun.head;
-  irqstate_t flags = irqsave();
+
+  /* Disable interrupts.  They will be restored when the next
+   * task is started.
+   */
+
+  (void)irqsave();

  lldbg("TCB=%p exitting\n", tcb);

@@ -144,6 +149,13 @@ void _exit(int status)

  (void)sched_removereadytorun(tcb);

+  /* We are not in a bad stack-- the head of the ready to run task list
+   * does not correspond to the thread that is running.  Disabling pre-
+   * emption on this TCB should be enough to keep things stable.
+   */
+
+  sched_lock();
+
  /* Move the TCB to the specified blocked task list and delete it */

  sched_addblocked(tcb, TSTATE_TASK_INACTIVE);
@@ -158,6 +170,10 @@ void _exit(int status)
      (void)sched_mergepending();
    }

+  /* Now calling sched_unlock() should have no effect */
+
+  sched_unlock();
+
  /* Now, perform the context switch to the new ready-to-run task at the
   * head of the list.
   */
--- a/arch/dm320/src/up_head.S
+++ b/arch/dm320/src/up_head.S
@@ -277,10 +277,14 @@ __start:

 	bl	up_boot

+	/* Set up the LEDs */
+
+#ifdef CONFIG_ARCH_LEDS
+	bl	up_ledinit
+#endif
 	/* Perform early serial initialization */

 #ifdef CONFIG_DEV_CONSOLE
-	mov     fp, #0
 	bl      up_earlyserialinit
 #endif

--- a/arch/dm320/src/up_internal.h
+++ b/arch/dm320/src/up_internal.h
@@ -144,6 +144,18 @@ extern void up_timerinit(void);

 extern void up_maskack_irq(int irq);

+/* Defined in board/up_leds.c */
+
+#ifdef CONFIG_ARCH_LEDS
+extern void up_ledinit(void);
+extern void up_ledon(int led);
+extern void up_ledoff(int led);
+#else
+# define up_ledinit()
+# define up_ledon(led)
+# define up_ledoff(led)
+#endif
+
 #endif /* __ASSEMBLY__ */

 #endif  /* __UP_INTERNAL_H */
--- a/arch/dm320/src/up_timerisr.c
+++ b/arch/dm320/src/up_timerisr.c
@@ -132,8 +132,6 @@ int up_timerisr(int irq, uint32 *regs)

 void up_timerinit(void)
 {
-  uint32 val;
-
  up_disable_irq(DM320_IRQ_SYSTIMER);

  /* Start timer0 running so that an interrupt is generated at
--- a/arch/pjrc-8051/src/Makefile
+++ b/arch/pjrc-8051/src/Makefile
@@ -48,8 +48,7 @@ CSRCS		= up_initialize.c up_idle.c up_interruptcontext.c \
 		  up_releasepending.c up_reprioritizertr.c \
 		  up_exit.c up_assert.c up_allocateheap.c \
 		  up_irq.c up_savecontext.c up_restorecontext.c \
-		  up_timerisr.c up_putc.c up_debug.c up_leds.c \
-		  up_delay.c
+		  up_timerisr.c up_putc.c up_debug.c up_delay.c
 COBJS		= $(CSRCS:.c=$(OBJEXT))
 SRCS		= $(SSRCS) $(CSRCS)
 OBJS		= $(AOBJS) $(COBJS)
@@ -70,6 +69,8 @@ TESTOBJS	= $(TESTSRCS:.c=$(OBJEXT))
 TESTLINKOBJS	= up_head$(OBJEXT)
 TESTEXTRAOBJS	= up_savecontext$(OBJEXT) up_restorecontext$(OBJEXT)

+BOARDDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src/board
+
 IRAM_SIZE	= 0x100
 DEF_STACK_BASE	= 0x24
 LDFLAGS		= --model-large --nostdlib \
@@ -163,16 +164,23 @@ $(SDCCLIBDIR)/libmysdcc.lib: $(SDCCLIBDIR)/libsdcc.lib
 		> libmysdcc.lib
 	@sudo mv -f libmysdcc.lib $(SDCCLIBDIR)/libmysdcc.lib

+# This builds the libboard library in the board/ subdirectory 
+
+board/libboard$(LIBEXT):
+	$(MAKE) -C board TOPDIR=$(TOPDIR) libboard$(LIBEXT)
+
 # This target builds the final executable

-pass1.ihx: up_mem.h $(SDCCLIBDIR)/libmysdcc.lib $(LINKOBJS)
-	$(CC) $(LDFLAGS) $(LDPATHES) $(SDCCPATH) $(LINKOBJS) $(LDLIBS) $(SDCCLIBS) -o $@
+pass1.ihx: up_mem.h $(SDCCLIBDIR)/libmysdcc.lib $(LINKOBJS) board/libboard$(LIBEXT)
+	$(CC) $(LDFLAGS) $(LDPATHES) -L$(BOARDDIR) $(SDCCPATH) $(LINKOBJS) \
+		$(LDLIBS) -llibboard$(LIBEXT) $(SDCCLIBS) -o $@
 	@rm -f up_mem.h
 	@rm -f up_allocateheap$(OBJEXT) libarch$(LIBEXT)
 	@$(MAKE) TOPDIR=$(TOPDIR) libarch$(LIBEXT)

 nuttx.ihx: up_mem.h $(SDCCLIBDIR)/libmysdcc.lib $(LINKOBJS)
-	$(CC) $(LDFLAGS) $(LDPATHES) $(SDCCPATH) $(LINKOBJS) $(LDLIBS) $(SDCCLIBS) -o $@
+	$(CC) $(LDFLAGS) $(LDPATHES) -L$(BOARDDIR) $(SDCCPATH) $(LINKOBJS) \
+		$(LDLIBS) -llibboard$(LIBEXT) $(SDCCLIBS) -o $@

 nuttx$(EXEEXT): pass1.ihx nuttx.ihx
 	@rm -f pass1.*
@@ -191,17 +199,26 @@ irqtest:
 # Build dependencies

 .depend: Makefile up_mem.h $(DEPSRCS)
+	@if [ -e board/Makefile ]; then \
+		$(MAKE) -C board TOPDIR=$(TOPDIR) depend ; \
+	if
 	$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
 	touch $@

 depend: .depend

 clean:
+	@if [ -e board/Makefile ]; then \
+		$(MAKE) -C board TOPDIR=$(TOPDIR) clean ; \
+	fi
 	rm -f libarch$(LIBEXT) up_mem.h
 	rm -f *.asm *.rel *.lst *.rst *.sym *.adb *.lnk *.map *.mem *.ihx *.hex *~
 	if [ ! -z "$(OBJEXT)" ]; then rm -f *$(OBJEXT); fi

 distclean: clean
+	@if [ -e board/Makefile ]; then \
+		$(MAKE) -C board TOPDIR=$(TOPDIR) distclean ; \
+	fi
 	rm -f Make.dep .depend

 -include Make.dep
--- a/arch/pjrc-8051/src/up_exit.c
+++ b/arch/pjrc-8051/src/up_exit.c
@@ -90,6 +90,13 @@ void _exit(int status)

  (void)sched_removereadytorun(tcb);

+  /* We are not in a bad stack-- the head of the ready to run task list
+   * does not correspond to the thread that is running.  Disabling pre-
+   * emption on this TCB should be enough to keep things stable.
+   */
+
+  sched_lock();
+
  /* Move the TCB to the specified blocked task list and delete it */

  sched_addblocked(tcb, TSTATE_TASK_INACTIVE);
@@ -104,6 +111,10 @@ void _exit(int status)
      (void)sched_mergepending();
    }

+  /* Now calling sched_unlock() should have no effect */
+
+  sched_unlock();
+
  /* Now, perform the context switch to the new ready-to-run task at the
   * head of the list.
   */
--- a/arch/pjrc-8051/src/up_internal.h
+++ b/arch/pjrc-8051/src/up_internal.h
@@ -42,8 +42,11 @@

 #include <nuttx/config.h>
 #include <arch/irq.h>
-#ifdef CONFIG_ARCH_PJRC
-# include "pjrc.h"
+
+#if defined(CONFIG_BOARD_PJRC_87C52)
+# include <arch/board/pjrc.h>
+#else
+# warning "805x board not recognized"
 #endif

 /**************************************************************************
@@ -131,7 +134,7 @@ extern void up_dumpframe(FAR struct xcptcontext *context);
 # define up_dumpframe(x)
 #endif

-/* Defined in up_leds.c */
+/* Defined in board/up_leds.c */

 #ifdef CONFIG_ARCH_LEDS
 extern void up_ledinit(void);
--- a/arch/sim/src/up_exit.c
+++ b/arch/sim/src/up_exit.c
@@ -73,6 +73,7 @@
 void _exit(int status)
 {
  _TCB* tcb = (_TCB*)g_readytorun.head;
+  irqstate_t flags;

  dbg("TCB=%p exitting\n", tcb);

@@ -83,13 +84,20 @@ void _exit(int status)

  (void)sched_removereadytorun(tcb);

+  /* We are not in a bad stack-- the head of the ready to run task list
+   * does not correspond to the thread that is running.  Disabling pre-
+   * emption on this TCB should be enough to keep things stable.
+   */
+
+  sched_lock();
+
  /* Move the TCB to the specified blocked task list and delete it */

  sched_addblocked(tcb, TSTATE_TASK_INACTIVE);
  task_delete(tcb->pid);

  /* If there are any pending tasks, then add them to the g_readytorun
-   * task list now
+   * task list now.
   */

  if (g_pendingtasks.head)
@@ -97,6 +105,10 @@ void _exit(int status)
      (void)sched_mergepending();
    }

+  /* Now calling sched_unlock() should have no effect */
+
+  sched_unlock();
+
  /* Now, perform the context switch to the new ready-to-run task at the
   * head of the list.
   */
--- a/configs/README.txt
+++ b/configs/README.txt
@@ -0,0 +1,256 @@
+Board-Specific Configurations
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Table of Contents
+^^^^^^^^^^^^^^^^^
+
+  o Board-Specific Configurations
+  o Summary of Files
+  o Supported Architectures
+  o Configuring NuttX
+
+Board-Specific Configurations
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+The NuttX configuration consists of:
+
+o Processor architecture specific files.  These are the files contained
+  in the arch/<arch-name>/ directory.
+
+o Chip/SoC specific files.  Each processor processor architecture
+  is embedded in chip or System-on-a-Chip (SoC) architecture.  The
+  full chip architecture includes the processor architecture plus
+  chip-specific interrupt logic, general purpose I/O (GIO) logic, and
+  specialized, internal peripherals (such as UARTs, USB, etc.).
+
+  These chip-specific files are contained within chip-specific
+  sub-directories in the arch/<arch-name>/ directory and are selected
+  via the CONFIG_ARCH_name selection
+
+o Board specific files.  In order to be usable, the chip must be
+  contained in a board environment.  The board configuration defines
+  additional properties of the board including such things as
+  peripheral LEDs, external peripherals (such as network, USB, etc.).
+
+  These board-specific configuration files can be found in the
+  configs/<board-name>/ sub-directories and are discussed in this
+  README.
+
+The configs/ subdirectory contains configuration data for each board.  These
+board-specific configurations plus the architecture-specific configurations in
+the arch/ subdirectory completely define a customized port of NuttX.
+
+Directory Structure
+^^^^^^^^^^^^^^^^^^^
+
+The configs directory contains board specific configurationlogic.  Each
+board must provide a subdirectory <board-name> under configs/ with the
+following characteristics:
+
+
+	<board-name>
+	|-- include/
+	|   `-- (board-specific header files)
+	|-- src/
+	|   |-- Makefile
+	|   `-- (board-specific source files)
+	|-- Make.defs
+	|-- defconfig
+	`-- setenv.sh
+
+Summary of Files
+^^^^^^^^^^^^^^^^
+
+include/ -- This directory contains board specific header files.  This
+  directory will be linked as include/arch/board at configuration time and
+  can be included via '#include <arch/board/header.h>'.  These header file
+  can only be included by files in arch/<arch-name>include/ and
+  arch/<arch-name>/src
+
+src/ -- This directory contains board specific drivers.  This
+  directory will be linked as arch/<arch-name>/src/board at configuration
+  time and will be integrated into the build system.
+
+src/Makefile -- This makefile will be invoked to build the board specific
+  drivers.  It must support the following targets:  libext$(LIBEXT), clean,
+  and distclean.
+
+Make.defs -- This makefile fragment provides architecture and
+  tool-specific build options.  It will be included by all other
+  makefiles in the build (once it is installed).  This make fragment
+  should define:
+
+	Tools: CC, LD, AR, NM, OBJCOPY, OBJDUMP
+	Tool options: CFLAGS, LDFLAGS
+
+  When this makefile fragment runs, it will be passed TOPDIR which
+  is the path to the root directory of the build.  This makefile
+  fragment may include ${TOPDIR}/.config to perform configuration
+  specific settings.  For example, the CFLAGS will most likely be
+  different if CONFIG_DEBUG=y.
+
+defconfig -- This is a configuration file similar to the Linux
+  configuration file.  In contains varialble/value pairs like:
+
+	CONFIG_VARIABLE=value
+
+  This configuration file will be used at build time:
+
+    (1) as a makefile fragment included in other makefiles, and
+    (2) to generate include/nuttx/config.h which is included by
+        most C files in the system.
+
+  The following variables are recognized by the build (you may
+  also include architecture/board-specific settings).
+
+	Architecture selection:
+
+		CONFIG_ARCH - identifies the arch/ subdirectory
+		CONFIG_ARCH_name - for use in C code
+
+	General OS setup
+
+		CONFIG_EXAMPLE - identifies the subdirectory in examples
+		  that will be used in the build
+		CONFIG_DEBUG - enables built-in debug options
+		CONFIG_DEBUG_VERBOSE - enables verbose debug output
+		CONFIG_HAVE_LOWPUTC - architecture supports low-level, boot
+		  time console output
+		CONFIG_MM_REGIONS - If the architecture includes multiple
+		  regions of memory to allocate from, this specifies the
+		  number of memory regions that the memory manager must
+		  handle and enables the API mm_addregion(start, end);
+		CONFIG_RR_INTERVAL - The round robin timeslice will be set
+		  this number of milliseconds;  Round robin scheduling can
+		  be disabled by setting this value to zero.
+		CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in 
+		  scheduler to monitor system performance
+		CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a
+		  task name to save in the TCB.  Useful if scheduler
+		  instrumentation is selected.  Set to zero to disable.
+		CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY -
+		  Used to initialize the internal time logic.
+		CONFIG_JULIAN_TIME - Enables Julian time conversions
+		CONFIG_DEV_CONSOLE - Set if architecture-specific logic
+		  provides /dev/console.  Enables stdout, stderr, stdin.
+
+	The following can be used to disable categories of APIs supported
+	by the OS.  If the compiler supports weak functions, then it
+	should not be necessary to disable functions unless you want to
+	restrict usage of those APIs.
+
+	There are certain dependency relationships in these features.
+
+	o mq_notify logic depends on signals to awaken tasks
+	  waiting for queues to become full or empty.
+	o pthread_condtimedwait() depends on signals to wake
+	  up waiting tasks.
+
+		CONFIG_DISABLE_CLOCK, CONFIG_DISABLE_POSIX_TIMERS, CONFIG_DISABLE_PTHREAD.
+		CONFIG_DISABLE_SIGNALS, CONFIG_DISABLE_MQUEUE
+
+
+	Misc libc settings
+
+		CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a
+		   little smaller if we do not support fieldwidthes
+
+	Allow for architecture optimized implementations
+
+		The architecture can provide optimized versions of the
+		following to improve sysem performance
+
+		CONFIG_ARCH_MEMCPY, CONFIG_ARCH_MEMCMP, CONFIG_ARCH_MEMMOVE
+		CONFIG_ARCH_MEMSET, CONFIG_ARCH_STRCMP, CONFIG_ARCH_STRCPY
+		CONFIG_ARCH_STRNCPY, CONFIG_ARCH_STRLEN, CONFIG_ARCH_BZERO
+		CONFIG_ARCH_KMALLOC, CONFIG_ARCH_KZMALLOC, CONFIG_ARCH_KFREE
+
+	Sizes of configurable things (0 disables)
+
+		CONFIG_MAX_TASKS - The maximum number of simultaneously
+		  active tasks.  This value must be a power of two.
+		CONFIG_NPTHREAD_KEYS - The number of items of thread-
+		  specific data that can be retained
+		CONFIG_NFILE_DESCRIPTORS - The maximum number of file
+		  descriptors (one for each open)
+		CONFIG_NFILE_STREAMS - The maximum number of streams that
+		  can be fopen'ed
+		CONFIG_NAME_MAX - The maximum size of a file name.
+		CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate
+		  on fopen. (Only if CONFIG_NFILE_STREAMS > 0)
+		CONFIG_NUNGET_CHARS - Number of characters that can be
+		  buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0)
+		CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message
+		  structures.  The system manages a pool of preallocated
+		  message structures to minimize dynamic allocations
+		CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with
+		  a fixed payload size given by this settin (does not include
+		  other message structure overhead.
+		CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog
+		  structures.  The system manages a pool of preallocated
+		  watchdog structures to minimize dynamic allocations
+
+	Stack and heap information
+
+		CONFIG_BOOT_FROM_FLASH - Some configurations support XIP
+		  operation from FLASH.
+		CONFIG_STACK_POINTER - The initial stack pointer
+		CONFIG_PROC_STACK_SIZE - The size of the initial stack
+		CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size
+		CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size
+		CONFIG_HEAP_BASE - The beginning of the heap
+		CONFIG_HEAP_SIZE - The size of the heap
+
+setenv.sh -- This is a script that you can include that will be installed at
+  the toplevel of the directory structure and can be sourced to set any
+  necessary environment variables.
+
+Supported Boards
+^^^^^^^^^^^^^^^^
+
+configs/sim
+    A user-mode port of NuttX to the x86 Linux platform is available.
+    The purpose of this port is primarily to support OS feature developement.
+    This port does not support interrupts or a real timer (and hence no
+    round robin scheduler)  Otherwise, it is complete.
+
+configs/c5471evm
+    This is a port to the Spectrum Digital C5471 evaluation board.  The
+    C5471 is a dual core processor from TI with an ARM7TDMI general purpose
+    processor and a c54 SDP.  NuttX runs on the ARM core and is built with
+    with a GNU arm-elf toolchain*. This port is complete, verified, and
+    included in the NuttX release.
+
+configs/ntosd-dm320
+    This port uses the Neuros OSD with a GNU arm-elf toolchain*:
+    see http://wiki.neurostechnology.com/index.php/Developer_Welcome .
+    NuttX operates on the ARM9EJS of this dual core processor.
+    STATUS: This port is code complete, verified, and included in the
+    NuttX 0.2.1 release.
+
+configs/m68322evb
+    This is a work in progress for the venerable m68322evb board from
+    Motorola.
+
+configs/pjrc-8051
+    8051 Microcontroller.  This port uses the PJRC 87C52 development system
+    and the SDCC toolchain.   This port is not quite ready for prime time.
+
+Other ports for the for the TI TMS320DM270, M683222 and for MIPS are in various
+states of progress
+
+Configuring NuttX
+^^^^^^^^^^^^^^^^^
+
+Configuring NuttX requires only copying
+
+  configs/<board-name>/Make.def to ${TOPDIR}/Make.defs
+  configs/<board-name>/setenv.sh to ${TOPDIR}/setenv.sh
+  configs/<board-name>/defconfig to ${TOPDIR}/.config
+
+There is a script that automates these steps.  The following steps will
+accomplish the same configuration:
+
+  cd tools
+  ./configure.sh <board-name>
+
+
--- a/configs/c5471evm/Make.defs
+++ b/configs/c5471evm/Make.defs
@@ -47,7 +47,7 @@ ARCHPICFLAGS		= -fpic
 ARCHWARNINGS		= -Wall -Wstrict-prototypes -Wshadow
 ARCHDEFINES		=
 ARCHINCLUDES		= -I. -isystem $(TOPDIR)/include
-ARCHSCRIPT		= -T$(TOPDIR)/arch/$(CONFIG_ARCH)/ld.script
+ARCHSCRIPT		= -T$(TOPDIR)/configs/$(CONFIG_BOARD)/ld.script

 CROSSDEV		= arm-elf-
 CC			= $(CROSSDEV)gcc
--- a/configs/c5471evm/defconfig
+++ b/configs/c5471evm/defconfig
@@ -35,20 +35,28 @@
 #
 # architecture selection
 #
-# CONFIG_ARCH - identifies the arch subdirectory
-# CONFIG_ARCH_name - for use in C code
+# CONFIG_ARCH - identifies the arch subdirectory and, hence, the
+#   processor architecture.
+# CONFIG_ARCH_name - for use in C code.  This identifies the
+#   particular chip or SoC that the architecture is implemented
+#   in.
+# CONFIG_BOARD - identifies the configs subdirectory and, hence,
+#   the board that supports the particular chip or SoC.
+# CONFIG_BOARD_name - for use in C code
 # CONFIG_ROM_VECTORS - unique to c5471
 # CONFIG_DRAM_END - the size of installed DRAM.
 #   Unique to c5471
-# CONFIG_C5471_LEDS - Use LEDs to show state. Unique to c5471.
-# CONFIG_C5471_STACKDUMP - Do stack dumps after assertions
+# CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to c5471.
+# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
 #
 CONFIG_ARCH=c5471
 CONFIG_ARCH_C5471=y
+CONFIG_BOARD=c5471evm
+CONFIG_BOARD_C5471EVM=y
 CONFIG_ROM_VECTORS=n
 CONFIG_DRAM_END=0x11000000
-CONFIG_C5471_LEDS=y
-CONFIG_C5471_STACKDUMP=y
+CONFIG_ARCH_LEDS=y
+CONFIG_ARCH_STACKDUMP=y

 #
 # C5471 specific device driver settings
--- a/configs/c5471evm/doc/test-result.txt
+++ b/configs/c5471evm/doc/test-result.txt
--- a/configs/c5471evm/include/README.txt
+++ b/configs/c5471evm/include/README.txt
@@ -0,0 +1 @@
+This directory contains header files unique to the Spectrum Digital C5471 EVM.
--- a/configs/c5471evm/include/c5471evm.h
+++ b/configs/c5471evm/include/c5471evm.h
@@ -0,0 +1,70 @@
+/************************************************************
+ * c5471.h
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name Gregory Nutt nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************/
+
+#ifndef __C5471EVM_H
+#define __C5471EVM_H
+
+/************************************************************
+ * Included Files
+ ************************************************************/
+
+#ifndef __ASSEMBLY__
+# include <sys/types.h>
+#endif
+
+/************************************************************
+ * Definitions
+ ************************************************************/
+
+/* Clocking *************************************************/
+
+#define C5471_CLOCK            47500000 /* 47.5 MHz */
+
+/* LED definitions ******************************************/
+
+#define LED_STARTED                 0
+#define LED_HEAPALLOCATE            1
+#define LED_IRQSENABLED             2
+#define LED_STACKCREATED            3
+#define LED_INIRQ                   4
+#define LED_SIGNAL                  5
+#define LED_ASSERTION               6
+#define LED_PANIC                   7
+
+/************************************************************
+ * Inline Functions
+ ************************************************************/
+
+#endif  /* __C5471EVM_H */
--- a/configs/c5471evm/ld.script
+++ b/configs/c5471evm/ld.script
--- a/configs/c5471evm/setenv.sh
+++ b/configs/c5471evm/setenv.sh
--- a/configs/c5471evm/src/Makefile
+++ b/configs/c5471evm/src/Makefile
@@ -0,0 +1,78 @@
+############################################################
+# Makefile
+#
+#   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name Gregory Nutt nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################
+
+-include $(TOPDIR)/Make.defs
+
+MKDEP 		= $(TOPDIR)/tools/mkdeps.sh
+CFLAGS		+= -I$(TOPDIR)/sched
+
+ASRCS		= 
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+CSRCS		= up_leds.c
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+CFLAGS		+= -I $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(CC) -c $(CFLAGS) -D__ASSEMBLY__ $< -o $@
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(CC) -c $(CFLAGS) $< -o $@
+
+libboard$(LIBEXT): $(OBJS)
+	( for obj in $(OBJS) ; do \
+		$(AR) $@ $${obj} || \
+			{ echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \
+	done ; )
+
+.depend: Makefile $(SRCS)
+	$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	touch $@
+
+depend: .depend
+
+clean:
+	rm -f libboard$(LIBEXT) *~
+	if [ ! -z "$(OBJEXT)" ]; then rm -f *$(OBJEXT); fi
+
+distclean: clean
+	rm -f Make.dep .depend
+
+-include Make.dep
--- a/configs/c5471evm/src/README.txt
+++ b/configs/c5471evm/src/README.txt
@@ -0,0 +1,2 @@
+This directory contains drivers unique to the Spectrum Digital C5471 EVM.
+
--- a/configs/c5471evm/src/up_leds.c
+++ b/configs/c5471evm/src/up_leds.c
@@ -66,10 +66,10 @@ static uint32 g_ledstate;
 * Name: up_ledinit
 ************************************************************/

-#ifdef CONFIG_C5471_LEDS
+#ifdef CONFIG_ARCH_LEDS
 void up_ledinit(void)
 {
-  /* Enable acces to LEDs */
+  /* Enable access to LEDs */

  CS2 = 0x000013db;

@@ -104,4 +104,4 @@ void up_ledoff(int led)
      LEDS        = g_ledstate;
    }
 }
-#endif /* CONFIG_C5471_LEDS */
+#endif /* CONFIG_ARCH_LEDS */
--- a/configs/m68332evb/Make.defs
+++ b/configs/m68332evb/Make.defs
@@ -0,0 +1,71 @@
+############################################################
+# Make.defs
+#
+#   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name Gregory Nutt nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################
+
+include ${TOPDIR}/.config
+
+ifeq ("${CONFIG_DEBUG}","y")
+  ARCHOPTIMIZATION	= -g
+else
+  ARCHOPTIMIZATION	= -Os -fno-strict-aliasing -fno-strength-reduce \
+			  -fomit-frame-pointer
+endif
+
+ARCHCPUFLAGS		= -m68332 -mcpu32
+ARCHPICFLAGS		= -pic
+ARCHWARNINGS		= -Wall -Wstrict-prototypes -Wshadow
+ARCHDEFINES		=
+ARCHINCLUDES		= -I. -isystem $(TOPDIR)/include
+ARCHSCRIPT		= -T$(TOPDIR)/configs/$(CONFIG_BOARD)/ld.script
+
+CROSSDEV		= m68k-elf-
+CC			= $(CROSSDEV)gcc
+LD			= $(CROSSDEV)ld
+AR			= $(CROSSDEV)ar rcs
+NM			= $(CROSSDEV)nm
+OBJCOPY			= $(CROSSDEV)objcopy
+OBJDUMP			= $(CROSSDEV)objdump
+
+CFLAGS			= $(ARCHWARNINGS) $(ARCHOPTIMIZATION) \
+			  $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) -pipe
+
+OBJEXT			= .o
+LIBEXT			= .a
+EXEEXT			=
+
+ifeq ("${CONFIG_DEBUG}","y")
+  LDFLAGS		+= -g
+endif
+
+
--- a/configs/m68332evb/defconfig
+++ b/configs/m68332evb/defconfig
@@ -0,0 +1,252 @@
+############################################################
+# defconfig
+#
+#   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name Gregory Nutt nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################
+#
+# architecture selection
+#
+# CONFIG_ARCH - identifies the arch subdirectory and, hence, the
+#   processor architecture.
+# CONFIG_ARCH_name - for use in C code.  This identifies the
+#   particular chip or SoC that the architecture is implemented
+#   in.
+# CONFIG_BOARD - identifies the configs subdirectory and, hence,
+#   the board that supports the particular chip or SoC.
+# CONFIG_BOARD_name - for use in C code
+# CONFIG_DRAM_SIZE - Describes the installed DRAM.
+# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
+#
+CONFIG_ARCH=m68332evb
+CONFIG_ARCH_M68332=y
+CONFIG_ARCH_M68332EVB=y
+CONFIG_BOARD=m68332evb
+CONFIG_BOARD_M68332EVB=y
+CONFIG_DRAM_SIZE=0x003000
+CONFIG_DRAM_NUTTXENTRY=0x003000
+CONFIG_ARCH_STACKDUMP=y
+
+#
+# DM320 specific device driver settings
+#
+# CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn for the
+#   console and ttys0 (default is the UART0).
+# CONFIG_UARTn_RXBUFSIZE - Characters are buffered as received.
+#   This specific the size of the receive buffer
+# CONFIG_UARTn_TXBUFSIZE - Characters are buffered before
+#   being sent.  This specific the size of the transmit buffer
+# CONFIG_UARTn_BAUD - The configure BAUD of the UART.  Must be
+# CONFIG_UARTn_BITS - The number of bits.  Must be either 7 or 8.
+# CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
+# CONFIG_UARTn_2STOP - Two stop bits
+#
+CONFIG_UART0_SERIAL_CONSOLE=y
+CONFIG_UART1_SERIAL_CONSOLE=n
+CONFIG_UART0_TXBUFSIZE=256
+CONFIG_UART1_TXBUFSIZE=256
+CONFIG_UART0_RXBUFSIZE=256
+CONFIG_UART1_RXBUFSIZE=256
+CONFIG_UART0_BAUD=115200
+CONFIG_UART1_BAUD=115200
+CONFIG_UART0_BITS=8
+CONFIG_UART1_BITS=8
+CONFIG_UART0_PARITY=0
+CONFIG_UART1_PARITY=0
+CONFIG_UART0_2STOP=0
+CONFIG_UART1_2STOP=0
+
+#
+# General OS setup
+#
+# CONFIG_EXAMPLE - identifies the subdirectory in examples
+#   that will be used in the build
+# CONFIG_DEBUG - enables built-in debug options
+# CONFIG_DEBUG_VERBOSE - enables verbose debug output
+# CONFIG_MM_REGIONS - If the architecture includes multiple
+#   regions of memory to allocate from, this specifies the
+#   number of memory regions that the memory manager must
+#   handle and enables the API mm_addregion(start, end);
+# CONFIG_HAVE_LOWPUTC - architecture supports low-level, boot
+#   time console output
+# CONFIG_RR_INTERVAL - The round robin timeslice will be set
+#   this number of milliseconds;  Round robin scheduling can
+#   be disabled by setting this value to zero.
+# CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in 
+#   scheduler to monitor system performance
+# CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a
+#   task name to save in the TCB.  Useful if scheduler
+#   instrumentation is selected.  Set to zero to disable.
+# CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY -
+#   Used to initialize the internal time logic.
+# CONFIG_JULIAN_TIME - Enables Julian time conversions
+# CONFIG_DEV_CONSOLE - Set if architecture-specific logic
+#   provides /dev/console.  Enables stdout, stderr, stdin.
+#
+CONFIG_EXAMPLE=ostest
+CONFIG_DEBUG=n
+CONFIG_DEBUG_VERBOSE=n
+CONFIG_MM_REGIONS=1
+CONFIG_ARCH_LOWPUTC=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_INSTRUMENTATION=n
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_START_YEAR=2007
+CONFIG_START_MONTH=2
+CONFIG_START_DAY=13
+CONFIG_JULIAN_TIME=n
+CONFIG_DEV_CONSOLE=y
+
+#
+# The following can be used to disable categories of
+# APIs supported by the OS.  If the compiler supports
+# weak functions, then it should not be necessary to
+# disable functions unless you want to restrict usage
+# of those APIs.
+#
+# There are certain dependency relationships in these
+# features.
+#
+# o mq_notify logic depends on signals to awaken tasks
+#   waiting for queues to become full or empty.
+# o pthread_condtimedwait() depends on signals to wake
+#   up waiting tasks.
+#
+CONFIG_DISABLE_CLOCK=n
+CONFIG_DISABLE_POSIX_TIMERS=n
+CONFIG_DISABLE_PTHREAD=n
+CONFIG_DISABLE_SIGNALS=n
+CONFIG_DISABLE_MQUEUE=n
+
+#
+# Misc libc settings
+#
+# CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a
+#   little smaller if we do not support fieldwidthes
+#
+CONFIG_NOPRINTF_FIELDWIDTH=n
+
+#
+# Allow for architecture optimized implementations
+#
+# The architecture can provide optimized versions of the
+# following to improve sysem performance
+#
+CONFIG_ARCH_MEMCPY=n
+CONFIG_ARCH_MEMCMP=n
+CONFIG_ARCH_MEMMOVE=n
+CONFIG_ARCH_MEMSET=n
+CONFIG_ARCH_STRCMP=n
+CONFIG_ARCH_STRCPY=n
+CONFIG_ARCH_STRNCPY=n
+CONFIG_ARCH_STRLEN=n
+CONFIG_ARCH_BZERO=n
+CONFIG_ARCH_KMALLOC=n
+CONFIG_ARCH_KZMALLOC=n
+CONFIG_ARCH_KFREE=n
+
+#
+# General build options
+#
+# CONFIG_RRLOAD_BINARY - make the rrload binary format used with
+#   BSPs from www.ridgerun.com
+#
+CONFIG_RRLOAD_BINARY=n
+
+#
+# Sizes of configurable things (0 disables)
+#
+# CONFIG_MAX_TASKS - The maximum number of simultaneously
+#   active tasks.  This value must be a power of two.
+# CONFIG_MAX_TASK_ARGS - This controls the maximum number of
+#   of parameters that a task may receive (i.e., maxmum value
+#   of 'argc')
+# CONFIG_NPTHREAD_KEYS - The number of items of thread-
+#   specific data that can be retained
+# CONFIG_NFILE_DESCRIPTORS - The maximum number of file
+#   descriptors (one for each open)
+# CONFIG_NFILE_STREAMS - The maximum number of streams that
+#   can be fopen'ed
+# CONFIG_NAME_MAX - The maximum size of a file name.
+# CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate
+#   on fopen. (Only if CONFIG_NFILE_STREAMS > 0)
+# CONFIG_NUNGET_CHARS - Number of characters that can be
+#   buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0)
+# CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message
+#   structures.  The system manages a pool of preallocated
+#   message structures to minimize dynamic allocations
+# CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with
+#   a fixed payload size given by this settin (does not include
+#   other message structure overhead.
+# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that
+#   can be passed to a watchdog handler
+# CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog
+#   structures.  The system manages a pool of preallocated
+#   watchdog structures to minimize dynamic allocations
+# CONFIG_PREALLOC_TIMERS - The number of pre-allocated POSIX
+#   timer structures.  The system manages a pool of preallocated
+#   timer structures to minimize dynamic allocations.  Set to
+#   zero for all dynamic allocations.
+#
+CONFIG_MAX_TASKS=64
+CONFIG_MAX_TASK_ARGS=4
+CONFIG_NPTHREAD_KEYS=4
+CONFIG_NFILE_DESCRIPTORS=32
+CONFIG_NFILE_STREAMS=16
+CONFIG_NAME_MAX=32
+CONFIG_STDIO_BUFFER_SIZE=1024
+CONFIG_NUNGET_CHARS=2
+CONFIG_PREALLOC_MQ_MSGS=32
+CONFIG_MQ_MAXMSGSIZE=32
+CONFIG_MAX_WDOGPARMS=4
+CONFIG_PREALLOC_WDOGS=32
+CONFIG_PREALLOC_TIMERS=8
+
+#
+# Stack and heap information
+#
+# CONFIG_BOOT_FROM_FLASH - Some configurations support XIP
+#   operation from FLASH.
+# CONFIG_CUSTOM_STACK - The up_ implementation will handle
+#   all stack operations outside of the nuttx model.
+# CONFIG_PROC_STACK_SIZE - The size of the initial stack
+# CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size
+# CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size
+# CONFIG_HEAP_BASE - The beginning of the heap
+# CONFIG_HEAP_SIZE - The size of the heap
+#
+CONFIG_BOOT_FROM_FLASH=n
+CONFIG_CUSTOM_STACK=n
+CONFIG_PROC_STACK_SIZE=4096
+CONFIG_PTHREAD_STACK_MIN=256
+CONFIG_PTHREAD_STACK_DEFAULT=4096
+CONFIG_HEAP_BASE=
+CONFIG_HEAP_SIZE=
--- a/configs/m68332evb/doc/m68k-defconfig
+++ b/configs/m68332evb/doc/m68k-defconfig
@@ -0,0 +1,111 @@
+#
+# Automatically generated make config: don't edit
+#
+BR2_HAVE_DOT_CONFIG=y
+# BR2_alpha is not set
+# BR2_arm is not set
+# BR2_armeb is not set
+# BR2_avr32 is not set
+# BR2_cris is not set
+# BR2_i386 is not set
+BR2_m68k=y
+# BR2_mips is not set
+# BR2_mipsel is not set
+# BR2_nios2 is not set
+# BR2_powerpc is not set
+# BR2_sh is not set
+# BR2_sh64 is not set
+# BR2_sparc is not set
+# BR2_x86_64 is not set
+BR2_ARCH="m68k"
+BR2_ENDIAN="BIG"
+
+#
+# Build options
+#
+BR2_WGET="wget --passive-ftp"
+BR2_SVN="svn co"
+BR2_ZCAT="zcat"
+BR2_BZCAT="bzcat"
+BR2_TAR_OPTIONS=""
+BR2_DL_DIR="$(BASE_DIR)/../archives"
+BR2_SOURCEFORGE_MIRROR="easynews"
+BR2_STAGING_DIR="$(BUILD_DIR)/staging_dir"
+BR2_NUTTX_DIR="$(TOPDIR)/../nuttx"
+BR2_TOPDIR_PREFIX=""
+BR2_TOPDIR_SUFFIX=""
+BR2_GNU_BUILD_SUFFIX="m68k-elf"
+BR2_GNU_TARGET_SUFFIX="elf"
+# BR2_PREFER_IMA is not set
+# BR2_DEPRECATED is not set
+
+#
+# Toolchain Options
+#
+
+#
+# Binutils Options
+#
+# BR2_BINUTILS_VERSION_2_14_90_0_8 is not set
+# BR2_BINUTILS_VERSION_2_15 is not set
+# BR2_BINUTILS_VERSION_2_15_94_0_2_2 is not set
+# BR2_BINUTILS_VERSION_2_16_1 is not set
+# BR2_BINUTILS_VERSION_2_16_90_0_3 is not set
+# BR2_BINUTILS_VERSION_2_16_91_0_5 is not set
+# BR2_BINUTILS_VERSION_2_16_91_0_6 is not set
+# BR2_BINUTILS_VERSION_2_16_91_0_7 is not set
+BR2_BINUTILS_VERSION_2_17=y
+# BR2_BINUTILS_VERSION_2_17_50_0_2 is not set
+# BR2_BINUTILS_VERSION_2_17_50_0_3 is not set
+# BR2_BINUTILS_VERSION_2_17_50_0_4 is not set
+# BR2_BINUTILS_VERSION_2_17_50_0_5 is not set
+# BR2_BINUTILS_VERSION_2_17_50_0_6 is not set
+# BR2_BINUTILS_VERSION_2_17_50_0_7 is not set
+# BR2_BINUTILS_VERSION_2_17_50_0_8 is not set
+# BR2_BINUTILS_VERSION_2_17_50_0_9 is not set
+# BR2_BINUTILS_VERSION_2_17_50_0_10 is not set
+BR2_BINUTILS_VERSION="2.17"
+BR2_EXTRA_BINUTILS_CONFIG_OPTIONS=""
+
+#
+# Gcc Options
+#
+# BR2_GCC_VERSION_3_3_5 is not set
+# BR2_GCC_VERSION_3_3_6 is not set
+# BR2_GCC_VERSION_3_4_2 is not set
+# BR2_GCC_VERSION_3_4_3 is not set
+# BR2_GCC_VERSION_3_4_4 is not set
+# BR2_GCC_VERSION_3_4_5 is not set
+BR2_GCC_VERSION_3_4_6=y
+# BR2_GCC_VERSION_4_0_0 is not set
+# BR2_GCC_VERSION_4_0_1 is not set
+# BR2_GCC_VERSION_4_0_2 is not set
+# BR2_GCC_VERSION_4_0_3 is not set
+# BR2_GCC_VERSION_4_0_4 is not set
+# BR2_GCC_VERSION_4_1_0 is not set
+# BR2_GCC_VERSION_4_1_1 is not set
+# BR2_GCC_VERSION_4_1_2 is not set
+# BR2_GCC_VERSION_4_2 is not set
+# BR2_GCC_IS_SNAP is not set
+BR2_GCC_VERSION="3.4.6"
+# BR2_GCC_USE_SJLJ_EXCEPTIONS is not set
+BR2_EXTRA_GCC_CONFIG_OPTIONS=""
+# BR2_INSTALL_LIBSTDCPP is not set
+# BR2_INSTALL_OBJC is not set
+# BR2_INSTALL_FORTRAN is not set
+
+#
+# Gdb Options
+#
+# BR2_PACKAGE_GDB is not set
+# BR2_PACKAGE_GDB_SERVER is not set
+# BR2_PACKAGE_GDB_HOST is not set
+
+#
+# Common Toolchain Options
+#
+# BR2_PACKAGE_SSTRIP_TARGET is not set
+# BR2_PACKAGE_SSTRIP_HOST is not set
+# BR2_ENABLE_MULTILIB is not set
+BR2_LARGEFILE=y
+BR2_TARGET_OPTIMIZATION="-Os -pipe"
--- a/configs/m68332evb/include/README.txt
+++ b/configs/m68332evb/include/README.txt
@@ -0,0 +1 @@
+This directory contains header files unique to the M68322EVB.
--- a/configs/m68332evb/ld.script
+++ b/configs/m68332evb/ld.script
@@ -0,0 +1,84 @@
+/************************************************************
+ * ld.script
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name Gregory Nutt nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************/
+
+OUTPUT_ARCH(arm)
+ENTRY(_stext)
+SECTIONS
+{
+	/* The OS entry point is here */
+
+	. = 0x003000;
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.text)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)			/* Global offset table		*/
+		_etext = ABSOLUTE(.);
+	}
+
+	_eronly = ABSOLUTE(.);		/* See below                    */
+	. = ALIGN(4096);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	}
+
+	.bss : {			/* BSS				*/
+		_sbss = ABSOLUTE(.);
+		*(.bss)
+		*(COMMON)
+		_ebss = ABSOLUTE(.);
+	}
+					/* Stabs debugging sections.	*/
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
--- a/configs/m68332evb/setenv.sh
+++ b/configs/m68332evb/setenv.sh
@@ -0,0 +1,46 @@
+#!/bin/sh
+# setenv.sh
+#
+#   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name Gregory Nutt nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+if [ "$(basename $0)" = "setenv" ] ; then
+  echo "You must source this script, not run it!" 1>&2
+  exit 1
+fi
+
+if [ -z ${PATH_ORIG} ]; then export PATH_ORIG=${PATH}; fi
+
+WD=`pwd`
+export BUILDROOT_BIN=${WD}/../buildroot/build_m68k/staging_dir/bin
+export PATH=${BUILDROOT_BIN}:/sbin:/usr/sbin:${PATH_ORIG}
+
+echo "PATH : ${PATH}"
--- a/configs/m68332evb/src/Makefile
+++ b/configs/m68332evb/src/Makefile
@@ -0,0 +1,76 @@
+############################################################
+# Makefile
+#
+#   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name Gregory Nutt nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################
+
+-include $(TOPDIR)/Make.defs
+
+MKDEP 		= $(TOPDIR)/tools/mkdeps.sh
+CFLAGS		+= -I$(TOPDIR)/sched
+
+ASRCS		= 
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+CSRCS		= 
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(CC) -c $(CFLAGS) -D__ASSEMBLY__ $< -o $@
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(CC) -c $(CFLAGS) $< -o $@
+
+libboard$(LIBEXT): $(OBJS)
+	( for obj in $(OBJS) ; do \
+		$(AR) $@ $${obj} || \
+			{ echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \
+	done ; )
+
+.depend: Makefile $(SRCS)
+	$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	touch $@
+
+depend: .depend
+
+clean:
+	rm -f libboard$(LIBEXT) *~
+	if [ ! -z "$(OBJEXT)" ]; then rm -f *$(OBJEXT); fi
+
+distclean: clean
+	rm -f Make.dep .depend
+
+-include Make.dep
--- a/configs/m68332evb/src/README.txt
+++ b/configs/m68332evb/src/README.txt
@@ -0,0 +1 @@
+This directory contains drivers unique to the m68332evb.
--- a/configs/ntosd-dm320/Make.defs
+++ b/configs/ntosd-dm320/Make.defs
@@ -42,12 +42,12 @@ else
 			  -fomit-frame-pointer
 endif

-ARCHCPUFLAGS		= -mapcs-32 -mcpu=arm7tdmi -msoft-float -fno-builtin
+ARCHCPUFLAGS		= -mapcs-32 -mtune=arm9tdmi -march=armv5te -msoft-float -fno-builtin
 ARCHPICFLAGS		= -fpic
 ARCHWARNINGS		= -Wall -Wstrict-prototypes -Wshadow
 ARCHDEFINES		=
 ARCHINCLUDES		= -I. -isystem $(TOPDIR)/include
-ARCHSCRIPT		= -T$(TOPDIR)/arch/$(CONFIG_ARCH)/ld.script
+ARCHSCRIPT		= -T$(TOPDIR)/configs/$(CONFIG_BOARD)/ld.script

 CROSSDEV		= arm-elf-
 CC			= $(CROSSDEV)gcc
--- a/configs/ntosd-dm320/defconfig
+++ b/configs/ntosd-dm320/defconfig
@@ -35,14 +35,22 @@
 #
 # architecture selection
 #
-# CONFIG_ARCH - identifies the arch subdirectory
-# CONFIG_ARCH_name - for use in C code
+# CONFIG_ARCH - identifies the arch subdirectory and, hence, the
+#   processor architecture.
+# CONFIG_ARCH_name - for use in C code.  This identifies the
+#   particular chip or SoC that the architecture is implemented
+#   in.
+# CONFIG_BOARD - identifies the configs subdirectory and, hence,
+#   the board that supports the particular chip or SoC.
+# CONFIG_BOARD_name - for use in C code
 # CONFIG_ROM_VECTORS - unique to dm320
 # CONFIG_DRAM_SIZE - Describes the installed DRAM.
 # CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
 #
 CONFIG_ARCH=dm320
 CONFIG_ARCH_DM320=y
+CONFIG_BOARD=ntosd-dm320
+CONFIG_BOARD_NTOSD_DM320=y
 CONFIG_ROM_VECTORS=n
 CONFIG_DRAM_SIZE=0x01000000
 CONFIG_DRAM_NUTTXENTRY=0x01008000
@@ -172,7 +180,7 @@ CONFIG_ARCH_KFREE=n
 # CONFIG_RRLOAD_BINARY - make the rrload binary format used with
 #   BSPs from www.ridgerun.com
 #
-CONFIG_RRLOAD_BINARY=y
+CONFIG_RRLOAD_BINARY=n

 #
 # Sizes of configurable things (0 disables)
--- a/configs/ntosd-dm320/doc/test-result.txt
+++ b/configs/ntosd-dm320/doc/test-result.txt
@@ -0,0 +1,468 @@
+This is the output from running examples/ostest on March 28, 2007
+=================================================================
+
+Neuros Devboard >  tftpboot 10.0.0.1 nuttx.dm320
+Found DM9000 ID:90000a46 at address 60000300 !
+DM9000 work in 16 bus width
+[eth_init]MAC:0:18:11:80:10:6:
+TFTP from server 10.0.0.1; our IP address is 10.0.0.2
+Filename 'nuttx.dm320'.
+Load address: 0x10
+Loading: #############################
+done
+Bytes transferred = 146570 (23c8a hex)
+Neuros Devboard >  go 1008000
+## Starting application at 0x01008000 ...
+stdio_test: write fd=1
+stdio_test: write fd=2
+stdio_test: Standard I/O Check: printf
+user_start: Started user_main at PID=2
+stdio_test: Standard I/O Check: fprintf to stderr
+
+user_main: Begin argument test
+user_main: Started with argc=5
+user_main: argv[0]="<noname>"
+user_main: argv[1]="Arg1"
+user_main: argv[2]="Arg2"
+user_main: argv[3]="Arg3"
+user_main: argv[4]="Arg4"
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+
+user_main: /dev/null test
+dev_null: Read 0 bytes from /dev/null
+dev_null: Wrote 1024 bytes to /dev/null
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+
+user_main: mutex test
+Initializing mutex
+Starting thread 1
+Starting thread 2
+                Thread1 Thread2
+        Loops   32      32
+        Errors  0       0
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+
+user_main: cancel test
+cancel_test: Test 1: Normal Cancelation
+cancel_test: Starting thread
+start_thread: Initializing mutex
+start_thread: Initializing cond
+start_thread: Starting thread
+thread_waiter: Taking mutex
+thread_waiter: Starting wait for condition
+start_thread: Yielding
+cancel_test: Canceling thread
+cancel_test: Joining
+cancel_test: waiter exited with result=ffffffff
+cancel_test: PASS thread terminated with PTHREAD_CANCELED
+cancel_test: Test 2: Cancelation of detached thread
+cancel_test: Re-starting thread
+restart_thread: Destroying cond
+restart_thread: Destroying mutex
+restart_thread: Re-starting thread
+start_thread: Initializing mutex
+start_thread: Initializing cond
+start_thread: Starting thread
+thread_waiter: Taking mutex
+thread_waiter: Starting wait for condition
+start_thread: Yielding
+cancel_test: Canceling thread
+cancel_test: Joining
+cancel_test: PASS pthread_join failed with status=ESRCH
+cancel_test: Test 3: Non-cancelable threads
+cancel_test: Re-starting thread (non-cancelable)
+restart_thread: Destroying cond
+restart_thread: Destroying mutex
+restart_thread: Re-starting thread
+start_thread: Initializing mutex
+start_thread: Initializing cond
+start_thread: Starting thread
+thread_waiter: Taking mutex
+thread_waiter: Starting wait for condition
+thread_waiter: Setting non-cancelable
+start_thread: Yielding
+cancel_test: Canceling thread
+cancel_test: Joining
+thread_waiter: Releasing mutex
+thread_waiter: Setting cancelable
+cancel_test: waiter exited with result=ffffffff
+cancel_test: PASS thread terminated with PTHREAD_CANCELED
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+
+user_main: semaphore test
+sem_test: Initializing semaphore to 0
+sem_test: Starting waiter thread 1
+sem_test: Set thread 1 priority to 191
+waiter_func: Thread 1 Started
+waiter_func: Thread 1 initial semaphore value = 0
+waiter_func: Thread 1 aiting on semaphore
+sem_test: Starting waiter thread 2
+sem_test: Set thread 2 priority to 128
+waiter_func: Thread 2 Started
+waiter_func: Thread 2 initial semaphore value = -1
+waiter_func: Thread 2 aiting on semaphore
+sem_test: Starting poster thread 3
+sem_test: Set thread 3 priority to 64
+poster_func: Thread 3 started
+poster_func: Thread 3 semaphore value = -2
+poster_func: Thread 3 posting semaphore
+waiter_func: Thread 1 awakened
+waiter_func: Thread 1 new semaphore value = -1
+waiter_func: Thread 1 done
+poster_func: Thread 3 new semaphore value = -1
+poster_func: Thread 3 semaphore value = -1
+poster_func: Thread 3 posting semaphore
+waiter_func: Thread 2 awakened
+waiter_func: Thread 2 new semaphore value = 0
+waiter_func: Thread 2 done
+poster_func: Thread 3 new semaphore value = 0
+poster_func: Thread 3 done
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+
+user_main: condition variable test
+cond_test: Initializing mutex
+cond_test: Initializing cond
+cond_test: Starting waiter
+cond_test: Set thread 1 priority to 128
+waiter_thread: Started
+cond_test: Starting signaler
+cond_test: Set thread 2 priority to 64
+thread_signaler: Started
+thread_signaler: Terminating
+cond_test: signaler terminated, now cancel the waiter
+cond_test:      Waiter  Signaler
+cond_test: Loops        32      32
+cond_test: Errors       0       0
+cond_test:
+0 times, waiter did not have to wait for data
+cond_test: 0 times, data was already available when the signaler run
+cond_test: 0 times, the waiter was in an unexpected state when the signaler ran
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+
+user_main: timed wait test
+thread_waiter: Initializing mutex
+timedwait_test: Initializing cond
+timedwait_test: Starting waiter
+timedwait_test: Set thread 2 priority to 177
+thread_waiter: Taking mutex
+thread_waiter: Starting 5 second wait for condition
+timedwait_test: Joining
+thread_waiter: pthread_cond_timedwait timed out
+thread_waiter: Releasing mutex
+thread_waiter: Exit with status 0x12345678
+timedwait_test: waiter exited with result=12345678
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+
+user_main: message queue test
+mqueue_test: Starting receiver
+mqueue_test: Set receiver priority to 128
+receiver_thread: Starting
+mqueue_test: Starting sender
+mqueue_test: Set sender thread priority to 64
+mqueue_test: Waiting for sender to complete
+sender_thread: Starting
+receiver_thread: mq_receive succeeded on msg 0
+sender_thread: mq_send succeeded on msg 0
+receiver_thread: mq_receive succeeded on msg 1
+sender_thread: mq_send succeeded on msg 1
+receiver_thread: mq_receive succeeded on msg 2
+sender_thread: mq_send succeeded on msg 2
+receiver_thread: mq_receive succeeded on msg 3
+sender_thread: mq_send succeeded on msg 3
+receiver_thread: mq_receive succeeded on msg 4
+sender_thread: mq_send succeeded on msg 4
+receiver_thread: mq_receive succeeded on msg 5
+sender_thread: mq_send succeeded on msg 5
+receiver_thread: mq_receive succeeded on msg 6
+sender_thread: mq_send succeeded on msg 6
+receiver_thread: mq_receive succeeded on msg 7
+sender_thread: mq_send succeeded on msg 7
+receiver_thread: mq_receive succeeded on msg 8
+sender_thread: mq_send succeeded on msg 8
+receiver_thread: mq_receive succeeded on msg 9
+sender_thread: mq_send succeeded on msg 9
+sender_thread: returning nerrors=0
+mqueue_test: Killing receiver
+receiver_thread: mq_receive interrupted!
+receiver_thread: returning nerrors=0
+mqueue_test: Canceling receiver
+mqueue_test: receiver has already terminated
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+
+user_main: timed message queue test
+timedmqueue_test: Starting sender
+sender_thread: Starting
+sender_thread: mq_timedsend succeeded on msg 0
+sender_thread: mq_timedsend succeeded on msg 1
+sender_thread: mq_timedsend succeeded on msg 2
+sender_thread: mq_timedsend succeeded on msg 3
+sender_thread: mq_timedsend succeeded on msg 4
+sender_thread: mq_timedsend succeeded on msg 5
+sender_thread: mq_timedsend succeeded on msg 6
+sender_thread: mq_timedsend succeeded on msg 7
+sender_thread: mq_timedsend succeeded on msg 8
+timedmqueue_test: Waiting for sender to complete
+sender_thread: mq_timedsend 9 timed out as expected
+sender_thread: returning nerrors=0
+timedmqueue_test: Starting receiver
+receiver_thread: Starting
+receiver_thread: mq_timedreceive succeeded on msg 0
+receiver_thread: mq_timedreceive succeeded on msg 1
+receiver_thread: mq_timedreceive succeeded on msg 2
+receiver_thread: mq_timedreceive succeeded on msg 3
+receiver_thread: mq_timedreceive succeeded on msg 4
+receiver_thread: mq_timedreceive succeeded on msg 5
+receiver_thread: mq_timedreceive succeeded on msg 6
+receiver_thread: mq_timedreceive succeeded on msg 7
+receiver_thread: mq_timedreceive succeeded on msg 8
+timedmqueue_test: Waiting for sender to complete
+receiver_thread: Receive 9 timed out as expected
+receiver_thread: returning nerrors=0
+timedmqueue_test: Test complete
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+
+user_main: signal handler test
+sighand_test: Initializing semaphore to 0
+sighand_test: Starting waiter task
+sighand_test: Started waiter_main pid=18
+waiter_main: Waiter started
+waiter_main: Unmasking signal 17
+waiter_main: Registering signal handler
+waiter_main: oact.sigaction=0 oact.sa_flags=0 oact.sa_mask=0
+waiter_main: Waiting on semaphore
+sighand_test: Signaling pid=18 with signo=17 sigvalue=42
+wakeup_action: Received signal 17
+wakeup_action: sival_int=42
+wakeup_action: si_code=1
+wakeup_action: ucontext=0
+waiter_main: sem_wait() successfully interrupted by signal
+waiter_main: done
+sighand_test: done
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+
+user_main: POSIX timer test
+timer_test: Initializing semaphore to 0
+timer_test: Unmasking signal 17
+timer_test: Registering signal handler
+timer_test: oact.sigaction=0 oact.sa_flags=0 oact.sa_mask=0
+timer_test: Creating timer
+timer_test: Starting timer
+timer_test: Waiting on semaphore
+timer_expiration: Received signal 17
+timer_expiration: sival_int=42
+timer_expiration: si_code=2 (SI_TIMER)
+timer_expiration: ucontext=0
+timer_test: sem_wait() successfully interrupted by signal
+timer_test: g_nsigreceived=1
+timer_test: Waiting on semaphore
+timer_expiration: Received signal 17
+timer_expiration: sival_int=42
+timer_expiration: si_code=2 (SI_TIMER)
+timer_expiration: ucontext=0
+timer_test: sem_wait() successfully interrupted by signal
+timer_test: g_nsigreceived=2
+timer_test: Waiting on semaphore
+timer_expiration: Received signal 17
+timer_expiration: sival_int=42
+timer_expiration: si_code=2 (SI_TIMER)
+timer_expiration: ucontext=0
+timer_test: sem_wait() successfully interrupted by signal
+timer_test: g_nsigreceived=3
+timer_test: Waiting on semaphore
+timer_expiration: Received signal 17
+timer_expiration: sival_int=42
+timer_expiration: si_code=2 (SI_TIMER)
+timer_expiration: ucontext=0
+timer_test: sem_wait() successfully interrupted by signal
+timer_test: g_nsigreceived=4
+timer_test: Waiting on semaphore
+timer_expiration: Received signal 17
+timer_expiration: sival_int=42
+timer_expiration: si_code=2 (SI_TIMER)
+timer_expiration: ucontext=0
+timer_test: sem_wait() successfully interrupted by signal
+timer_test: g_nsigreceived=5
+timer_test: Deleting timer
+timer_test: done
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+
+user_main: round-robin scheduler test
+rr_test: Starting sieve1 thread
+rr_test: Set thread priority to 1
+rr_test: Set thread policty to SCHED_RR
+rr_test: Starting sieve1 thread
+sieve1 started
+sieve1 finished
+rr_test: Waiting for sieves to complete -- this should take awhile
+rr_test: If RR scheduling is working, they should start and complete at
+rr_test: about the same time
+sieve2 started
+sieve2 finished
+rr_test: Done
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+
+user_main: barrier test
+barrier_test: Initializing barrier
+barrier_func: Thread 0 started
+barrier_test: Thread 0 created
+barrier_func: Thread 1 started
+barrier_test: Thread 1 created
+barrier_func: Thread 0 calling pthread_barrier_wait()
+barrier_func: Thread 1 calling pthread_barrier_wait()
+barrier_func: Thread 2 started
+barrier_test: Thread 2 created
+barrier_func: Thread 3 started
+barrier_test: Thread 3 created
+barrier_func: Thread 4 started
+barrier_test: Thread 4 created
+barrier_func: Thread 5 started
+barrier_func: Thread 2 calling pthread_barrier_wait()
+barrier_func: Thread 3 calling pthread_barrier_wait()
+barrier_func: Thread 4 calling pthread_barrier_wait()
+barrier_test: Thread 5 created
+barrier_func: Thread 6 started
+barrier_test: Thread 6 created
+barrier_func: Thread 7 started
+barrier_test: Thread 7 created
+barrier_func: Thread 5 calling pthread_barrier_wait()
+barrier_func: Thread 6 calling pthread_barrier_wait()
+barrier_func: Thread 7 calling pthread_barrier_wait()
+barrier_func: Thread 7, back with status=PTHREAD_BARRIER_SERIAL_THREAD (I AM SPECIAL)
+barrier_func: Thread 0, back with status=0 (I am not special)
+barrier_func: Thread 1, back with status=0 (I am not special)
+barrier_func: Thread 2, back with status=0 (I am not special)
+barrier_func: Thread 3, back with status=0 (I am not special)
+barrier_func: Thread 4, back with status=0 (I am not special)
+barrier_func: Thread 5, back with status=0 (I am not special)
+barrier_func: Thread 6, back with status=0 (I am not special)
+barrier_func: Thread 7 done
+barrier_func: Thread 0 done
+barrier_test: Thread 0 completed with result=0
+barrier_func: Thread 1 done
+barrier_func: Thread 2 done
+barrier_func: Thread 3 done
+barrier_func: Thread 4 done
+barrier_func: Thread 5 done
+barrier_func: Thread 6 done
+barrier_test: Thread 1 completed with result=0
+barrier_test: Thread 2 completed with result=0
+barrier_test: Thread 3 completed with result=0
+barrier_test: Thread 4 completed with result=0
+barrier_test: Thread 5 completed with result=0
+barrier_test: Thread 6 completed with result=0
+barrier_test: Thread 7 completed with result=0
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+
+Final memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
+user_main: Exitting
--- a/configs/ntosd-dm320/include/README.txt
+++ b/configs/ntosd-dm320/include/README.txt
@@ -0,0 +1 @@
+This directory contains header files unique to the Neuros dm320-based OSD.
--- a/configs/ntosd-dm320/include/ntosd.h
+++ b/configs/ntosd-dm320/include/ntosd.h
--- a/configs/ntosd-dm320/ld.script
+++ b/configs/ntosd-dm320/ld.script
--- a/configs/ntosd-dm320/setenv.sh
+++ b/configs/ntosd-dm320/setenv.sh
--- a/configs/ntosd-dm320/src/Makefile
+++ b/configs/ntosd-dm320/src/Makefile
@@ -0,0 +1,78 @@
+############################################################
+# Makefile
+#
+#   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name Gregory Nutt nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################
+
+-include $(TOPDIR)/Make.defs
+
+MKDEP 		= $(TOPDIR)/tools/mkdeps.sh
+CFLAGS		+= -I$(TOPDIR)/sched
+
+ASRCS		= 
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+CSRCS		= up_leds.c
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+CFLAGS		+= -I $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(CC) -c $(CFLAGS) -D__ASSEMBLY__ $< -o $@
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(CC) -c $(CFLAGS) $< -o $@
+
+libboard$(LIBEXT): $(OBJS)
+	( for obj in $(OBJS) ; do \
+		$(AR) $@ $${obj} || \
+			{ echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \
+	done ; )
+
+.depend: Makefile $(SRCS)
+	$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	touch $@
+
+depend: .depend
+
+clean:
+	rm -f libboard$(LIBEXT) *~
+	if [ ! -z "$(OBJEXT)" ]; then rm -f *$(OBJEXT); fi
+
+distclean: clean
+	rm -f Make.dep .depend
+
+-include Make.dep
--- a/configs/ntosd-dm320/src/README.txt
+++ b/configs/ntosd-dm320/src/README.txt
@@ -0,0 +1 @@
+This directory contains drivers unique to the Neuros OSD.
--- a/configs/ntosd-dm320/src/up_leds.c
+++ b/configs/ntosd-dm320/src/up_leds.c
@@ -0,0 +1,104 @@
+/************************************************************
+ * up_leds.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name Gregory Nutt nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************/
+
+/************************************************************
+ * Included Files
+ ************************************************************/
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include "up_internal.h"
+
+/************************************************************
+ * Definitions
+ ************************************************************/
+
+/************************************************************
+ * Private Data
+ ************************************************************/
+
+/************************************************************
+ * Private Functions
+ ************************************************************/
+
+/************************************************************
+ * Public Funtions
+ ************************************************************/
+
+/************************************************************
+ * Name: up_ledinit
+ ************************************************************/
+
+#ifdef CONFIG_ARCH_LEDS
+void up_ledinit(void)
+{
+  GIO_OUTPUT(GIO_LED_GREEN);
+  GIO_OUTPUT(GIO_LED_RED);
+  GIO_SET_OUTPUT(GIO_LED_GREEN);
+  GIO_CLEAR_OUTPUT(GIO_LED_RED);
+}
+
+/************************************************************
+ * Name: up_ledon
+ ************************************************************/
+
+void up_ledon(int led)
+{
+  if (led == GIO_LED_GREEN)
+    {
+      GIO_SET_OUTPUT(GIO_LED_GREEN);
+    }
+  else if (led == GIO_LED_RED)
+    {
+      GIO_SET_OUTPUT(GIO_LED_RED);
+    }
+}
+
+/************************************************************
+ * Name: up_ledoff
+ ************************************************************/
+
+void up_ledoff(int led)
+{
+  if (led == GIO_LED_GREEN)
+    {
+      GIO_CLEAR_OUTPUT(GIO_LED_GREEN);
+    }
+  else if (led == GIO_LED_RED)
+    {
+      GIO_CLEAR_OUTPUT(GIO_LED_RED);
+    }
+}
+#endif /* CONFIG_ARCH_LEDS */
--- a/configs/pjrc-8051/Make.defs
+++ b/configs/pjrc-8051/Make.defs
--- a/configs/pjrc-8051/README.txt
+++ b/configs/pjrc-8051/README.txt
--- a/configs/pjrc-8051/defconfig
+++ b/configs/pjrc-8051/defconfig
@@ -35,13 +35,21 @@
 #
 # Architecture selection
 #
-# CONFIG_ARCH - identifies the arch subdirectory
+# CONFIG_ARCH - identifies the arch subdirectory and, hence, the
+#   processor architecture.
 # CONFIG_ARCH_8051 - Set if processor is 8051 family
 # CONFIG_ARCH_8052 = Set if processor is 8052 family
+# CONFIG_BOARD - identifies the configs subdirectory and, hence,
+#   the board that supports the particular chip or SoC.
+# CONFIG_BOARD_name - for use in C code
+# CONFIG_BOARD - identifies the configs subdirectory
+# CONFIG_BARD_name - for use in C code
 #
 CONFIG_ARCH=pjrc-8051
 CONFIG_ARCH_8051=n
 CONFIG_ARCH_8052=y
+CONFIG_BOARD=pjrc-8051
+CONFIG_BOARD_PJRC_87C52=y

 #
 # Architecture-specific settings.  These may mean nothing to
--- a/configs/pjrc-8051/include/README.txt
+++ b/configs/pjrc-8051/include/README.txt
@@ -0,0 +1 @@
+This directory contains header files unique to the PJRC 87C52 development board.
--- a/configs/pjrc-8051/include/pjrc.h
+++ b/configs/pjrc-8051/include/pjrc.h
--- a/configs/pjrc-8051/sdcc-2.6.0.patch
+++ b/configs/pjrc-8051/sdcc-2.6.0.patch
--- a/configs/pjrc-8051/setenv.sh
+++ b/configs/pjrc-8051/setenv.sh
--- a/configs/pjrc-8051/src/Makefile
+++ b/configs/pjrc-8051/src/Makefile
@@ -0,0 +1,79 @@
+############################################################
+# Makefile
+#
+#   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name Gregory Nutt nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################
+
+-include $(TOPDIR)/Make.defs
+
+MKDEP 		= $(TOPDIR)/tools/mkdeps.sh
+CFLAGS		+= -I$(TOPDIR)/sched
+
+ASRCS		= 
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+CSRCS		= up_leds.c
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+CFLAGS		+= -I $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(CC) -c $(CFLAGS) -D__ASSEMBLY__ $< -o $@
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(CC) -c $(CFLAGS) $< -o $@
+
+libboard$(LIBEXT): $(OBJS)
+	( for obj in $(OBJS) ; do \
+		$(AR) $@ $${obj} || \
+			{ echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \
+	done ; )
+
+.depend: Makefile $(SRCS)
+	$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	touch $@
+
+depend: .depend
+
+clean:
+	rm -f libboard$(LIBEXT)
+	rm -f *.asm *.rel *.lst *.rst *.sym *.adb *.lnk *.map *.mem *.ihx *.hex *~
+	if [ ! -z "$(OBJEXT)" ]; then rm -f *$(OBJEXT); fi
+
+distclean: clean
+	rm -f Make.dep .depend
+
+-include Make.dep
--- a/configs/pjrc-8051/src/README.txt
+++ b/configs/pjrc-8051/src/README.txt
@@ -0,0 +1 @@
+This directory contains drivers unique to the PJRC 87C52 board.
--- a/configs/pjrc-8051/src/up_leds.c
+++ b/configs/pjrc-8051/src/up_leds.c
--- a/configs/sim/Make.defs
+++ b/configs/sim/Make.defs
--- a/configs/sim/defconfig
+++ b/configs/sim/defconfig
@@ -35,11 +35,19 @@
 #
 # architecture selection
 #
-# CONFIG_ARCH - identifies the arch subdirectory
-# CONFIG_ARCH_name - for use in C code
+# CONFIG_ARCH - identifies the arch subdirectory and, hence, the
+#   processor architecture.
+# CONFIG_ARCH_name - for use in C code.  This identifies the
+#   particular chip or SoC that the architecture is implemented
+#   in.
+# CONFIG_BOARD - identifies the configs subdirectory and, hence,
+#   the board that supports the particular chip or SoC.
+# CONFIG_BOARD_name - for use in C code
 #
 CONFIG_ARCH=sim
 CONFIG_ARCH_SIM=y
+CONFIG_BOARD=sim
+CONFIG_BOARD_SIM=y

 #
 # General OS setup
--- a/configs/sim/include/README.txt
+++ b/configs/sim/include/README.txt
@@ -0,0 +1 @@
+This directory contains header files unique to the Linux user-mode platform.
--- a/configs/sim/setenv.sh
+++ b/configs/sim/setenv.sh
--- a/configs/sim/src/Makefile
+++ b/configs/sim/src/Makefile
@@ -0,0 +1,76 @@
+############################################################
+# Makefile
+#
+#   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name Gregory Nutt nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################
+
+-include $(TOPDIR)/Make.defs
+
+MKDEP 		= $(TOPDIR)/tools/mkdeps.sh
+CFLAGS		+= -I$(TOPDIR)/sched
+
+ASRCS		= 
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+CSRCS		= 
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(CC) -c $(CFLAGS) -D__ASSEMBLY__ $< -o $@
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(CC) -c $(CFLAGS) $< -o $@
+
+libboard$(LIBEXT): $(OBJS)
+	( for obj in $(OBJS) ; do \
+		$(AR) $@ $${obj} || \
+			{ echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \
+	done ; )
+
+.depend: Makefile $(SRCS)
+	$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	touch $@
+
+depend: .depend
+
+clean:
+	rm -f libboard$(LIBEXT) *~
+	if [ ! -z "$(OBJEXT)" ]; then rm -f *$(OBJEXT); fi
+
+distclean: clean
+	rm -f Make.dep .depend
+
+-include Make.dep
--- a/configs/sim/src/README.txt
+++ b/configs/sim/src/README.txt
@@ -0,0 +1 @@
+This directory contains drivers unique to the Linux user-mode platform.
--- a/examples/ostest/Makefile
+++ b/examples/ostest/Makefile
@@ -42,17 +42,22 @@ ASRCS	=
 AOBJS	= $(ASRCS:.S=$(OBJEXT))
 CSRCS	= main.c dev_null.c
 ifneq ($(CONFIG_DISABLE_PTHREAD),y)
-CSRCS	+= cancel.c cond.c mutex.c sem.c roundrobin.c
+CSRCS	+= cancel.c cond.c mutex.c sem.c roundrobin.c barrier.c
 endif
 ifneq ($(CONFIG_DISABLE_SIGNALS),y)
 CSRCS	+= sighand.c
 ifneq ($(CONFIG_DISABLE_PTHREAD),y)
+ifneq ($(CONFIG_DISABLE_CLOCK),y)
 CSRCS	+= timedwait.c
 endif
 endif
+endif
 ifneq ($(CONFIG_DISABLE_MQUEUE),y)
 ifneq ($(CONFIG_DISABLE_PTHREAD),y)
 CSRCS	+= mqueue.c 
+ifneq ($(CONFIG_DISABLE_CLOCK),y)
+CSRCS	+= timedmqueue.c 
+endif
 endif
 endif
 ifneq ($(CONFIG_DISABLE_POSIX_TIMERS),y)
--- a/examples/ostest/barrier.c
+++ b/examples/ostest/barrier.c
@@ -0,0 +1,151 @@
+/***********************************************************************
+ * barrier.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name Gregory Nutt nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ***********************************************************************/
+
+#include <sys/types.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <pthread.h>
+#include "ostest.h"
+
+#define NBARRIER_THREADS 8
+
+static pthread_barrier_t barrier;
+
+static void *barrier_func(void *parameter)
+{
+  int id = (int)parameter;
+  int status;
+
+  printf("barrier_func: Thread %d started\n",  id);
+  usleep(500*1000);
+
+  /* Take the semaphore */
+
+  printf("barrier_func: Thread %d calling pthread_barrier_wait()\n",  id);
+  status = pthread_barrier_wait(&barrier);
+  if (status == 0)
+    {
+      printf("barrier_func: Thread %d, back with status=0 (I am not special)\n",  id, status);
+    }
+  else if (status == PTHREAD_BARRIER_SERIAL_THREAD)
+    {
+      printf("barrier_func: Thread %d, back with status=PTHREAD_BARRIER_SERIAL_THREAD (I AM SPECIAL)\n",  id, status);
+    }
+  else
+    {
+      printf("barrier_func: ERROR thread %d could not get semaphore value\n",  id);
+    }
+
+  usleep(500*1000);
+  printf("barrier_func: Thread %d done\n",  id);
+  return NULL;
+}
+
+void barrier_test(void)
+{
+  pthread_t barrier_thread[NBARRIER_THREADS];
+  pthread_addr_t result;
+  pthread_attr_t attr;
+  pthread_barrierattr_t barrierattr;
+  int status;
+  int i;
+
+  printf("barrier_test: Initializing barrier\n");
+
+  status = pthread_barrierattr_init(&barrierattr);
+  if (status != OK)
+    {
+      printf("barrier_test: pthread_barrierattr_init failed, status=%d\n",  status);
+    }
+
+  status = pthread_barrier_init(&barrier, &barrierattr, NBARRIER_THREADS);
+  if (status != OK)
+    {
+      printf("barrier_test: pthread_barrierattr_init failed, status=%d\n",  status);
+    }
+  /* Create the barrier */
+
+  status = pthread_barrierattr_init(&barrierattr);
+
+  /* Start NBARRIER_THREADS thread instances */
+
+  status = pthread_attr_init(&attr);
+  if (status != OK)
+    {
+      printf("barrier_test: pthread_attr_init failed, status=%d\n",  status);
+    }
+
+  for (i = 0; i < NBARRIER_THREADS; i++)
+    {
+      status = pthread_create(&barrier_thread[i], &attr, barrier_func, (pthread_addr_t)i);
+      if (status != 0)
+        {
+          printf("barrier_test: Error in thread %d create, status=%d\n",  i, status);
+        }
+      else
+        {
+          printf("barrier_test: Thread %d created\n", i);
+        }
+    }
+
+  /* Wait for all thread instances to complete */
+
+  for (i = 0; i < NBARRIER_THREADS; i++)
+    {
+      status = pthread_join(barrier_thread[i], &result);
+      if (status != 0)
+        {
+          printf("barrier_test: Error in thread %d join, status=%d\n",  i, status);
+        }
+      else
+        {
+          printf("barrier_test: Thread %d completed with result=%p\n", i, result);
+        }
+    }
+
+  /* Destroy the barrier */
+
+  status = pthread_barrier_destroy(&barrier);
+  if (status != OK)
+    {
+      printf("barrier_test: pthread_barrier_destroy failed, status=%d\n",  status);
+    }
+
+  status = pthread_barrierattr_destroy(&barrierattr);
+  if (status != OK)
+    {
+      printf("barrier_test: pthread_barrierattr_destroy failed, status=%d\n",  status);
+    }
+}
--- a/examples/ostest/cancel.c
+++ b/examples/ostest/cancel.c
@@ -202,7 +202,9 @@ void cancel_test(void)
      printf("cancel_test: ERROR pthread_cancel failed, status=%d\n", status);
    }

-  /* Then join to the thread to pick up the result */
+  /* Then join to the thread to pick up the result (if we don't do
+   * we will have a memory leak!)
+   */

  printf("cancel_test: Joining\n");
  status = pthread_join(waiter, &result);
@@ -283,7 +285,7 @@ void cancel_test(void)
      printf("cancel_test: ERROR pthread_cancel failed, status=%d\n", status);
    }

-  /* Signal the thread.  It should wake up an restore the cancelable state.
+  /* Signal the thread.  It should wake up and restore the cancelable state.
   * When the cancelable state is re-enabled, the thread should be canceled.
   */

@@ -304,4 +306,28 @@ void cancel_test(void)
    {
      printf("cancel_test: ERROR pthread_mutex_unlock failed, status=%d\n", status);
    }
+
+  /* Then join to the thread to pick up the result (if we don't do
+   * we will have a memory leak!)
+   */
+
+  printf("cancel_test: Joining\n");
+  status = pthread_join(waiter, &result);
+  if (status != 0)
+    {
+      printf("cancel_test: ERROR pthread_join failed, status=%d\n", status);
+    }
+  else
+    {
+      printf("cancel_test: waiter exited with result=%p\n", result);
+      if (result != PTHREAD_CANCELED)
+        {
+          printf("cancel_test: ERROR expected result=%p\n", PTHREAD_CANCELED);
+        }
+      else
+        {
+          printf("cancel_test: PASS thread terminated with PTHREAD_CANCELED\n");
+        }
+    }
+
 }
--- a/examples/ostest/main.c
+++ b/examples/ostest/main.c
@@ -41,11 +41,13 @@
 * Included Files
 ************************************************************/

-#include <nuttx/os_external.h>
+#include <nuttx/config.h>
 #include <stdio.h>
+#include <stdlib.h>
 #include <unistd.h>
 #include <string.h>
 #include <sched.h>
+#include <nuttx/os_external.h>
 #include "ostest.h"

 /************************************************************
@@ -81,10 +83,72 @@ static const char *g_argv[NARGS+1];
 static const char *g_argv[NARGS+1] = { arg1, arg2, arg3, arg4, NULL };
 #endif

+#ifndef CONFIG_DISABLE_SIGNALS
+static struct mallinfo g_mmbefore;
+static struct mallinfo g_mmprevious;
+static struct mallinfo g_mmafter;
+#endif
+
 /************************************************************
 * Private Functions
 ************************************************************/

+/************************************************************
+ * Name: show_memory_usage
+ ************************************************************/
+
+#ifndef CONFIG_DISABLE_SIGNALS
+static void show_memory_usage(struct mallinfo *mmbefore,
+                              struct mallinfo *mmafter)
+{
+  printf("VARIABLE  BEFORE   AFTER\n");
+  printf("======== ======== ========\n");
+  printf("arena    %8x %8x\n", mmbefore->arena,    mmafter->arena);
+  printf("ordblks  %8d %8d\n", mmbefore->ordblks,  mmafter->ordblks);
+  printf("mxordblk %8x %8x\n", mmbefore->mxordblk, mmafter->mxordblk);
+  printf("uordblks %8x %8x\n", mmbefore->uordblks, mmafter->uordblks);
+  printf("fordblks %8x %8x\n", mmbefore->fordblks, mmafter->fordblks);
+}
+#else
+# define show_memory_usage(mm1, mm2)
+#endif
+
+/************************************************************
+ * Name: check_test_memory_usage
+ ************************************************************/
+
+#ifndef CONFIG_DISABLE_SIGNALS
+static void check_test_memory_usage(void)
+{
+  /* Wait a little bit to let any threads terminate */
+
+  usleep(500*1000);
+
+  /* Get the current memory usage */
+
+#ifdef CONFIG_CAN_PASS_STRUCTS
+  g_mmafter = mallinfo();
+#else
+  (void)mallinfo(&g_mmafter);
+#endif
+
+  /* Show the change from the previous time */
+
+  printf("\nEnd of test memory usage:\n");
+  show_memory_usage(&g_mmprevious, &g_mmafter);
+
+  /* Set up for the next test */
+
+#ifdef CONFIG_CAN_PASS_STRUCTS
+  g_mmprevious = g_mmafter;
+#else
+  memcpy(&g_mmprevious, &g_mmafter, sizeof(struct mallinfo));
+#endif
+}
+#else
+# define check_test_memory_usage()
+#endif
+
 /************************************************************
 * Name: user_main
 ************************************************************/
@@ -93,6 +157,21 @@ static int user_main(int argc, char *argv[])
 {
  int i;

+  /* Sample the memory usage now */
+
+#ifndef CONFIG_DISABLE_SIGNALS
+  usleep(500*1000);
+
+#ifdef CONFIG_CAN_PASS_STRUCTS
+  g_mmbefore = mallinfo();
+  g_mmprevious = g_mmbefore;
+#else
+  (void)mallinfo(&g_mmbefore);
+  memcpy(g_mmprevious, g_mmbefore, sizeof(struct mallinfo));
+#endif
+#endif
+
+  printf("\nuser_main: Begin argument test\n");
  printf("user_main: Started with argc=%d\n", argc);

  /* Verify passed arguments */
@@ -116,65 +195,121 @@ static int user_main(int argc, char *argv[])
                 i, g_argv[i-1], argv[i]);
        }
    }
+  check_test_memory_usage();

 #if CONFIG_NFILE_DESCRIPTORS > 0
  /* Checkout /dev/null */

+  printf("\nuser_main: /dev/null test\n");
  dev_null();
+  check_test_memory_usage();
 #endif

 #ifndef CONFIG_DISABLE_PTHREAD
  /* Verify pthreads and pthread mutex */

+  printf("\nuser_main: mutex test\n");
  mutex_test();
+  check_test_memory_usage();
 #endif

 #ifndef CONFIG_DISABLE_PTHREAD
  /* Verify pthread cancellation */

+  printf("\nuser_main: cancel test\n");
  cancel_test();
+  check_test_memory_usage();
 #endif

 #ifndef CONFIG_DISABLE_PTHREAD
  /* Verify pthreads and semaphores */

+  printf("\nuser_main: semaphore test\n");
  sem_test();
+  check_test_memory_usage();
 #endif

 #ifndef CONFIG_DISABLE_PTHREAD
  /* Verify pthreads and condition variables */

+  printf("\nuser_main: condition variable test\n");
  cond_test();
+  check_test_memory_usage();
 #endif

-#if !defined(CONFIG_DISABLE_SIGNALS) && !defined(CONFIG_DISABLE_PTHREAD)
+#if !defined(CONFIG_DISABLE_SIGNALS) && !defined(CONFIG_DISABLE_PTHREAD) && !defined(CONFIG_DISABLE_CLOCK)
  /* Verify pthreads and condition variable timed waits */

+  printf("\nuser_main: timed wait test\n");
  timedwait_test();
+  check_test_memory_usage();
 #endif

 #if !defined(CONFIG_DISABLE_MQUEUE) && !defined(CONFIG_DISABLE_PTHREAD)
  /* Verify pthreads and message queues */

+  printf("\nuser_main: message queue test\n");
  mqueue_test();
+  check_test_memory_usage();
+#endif
+
+#if !defined(CONFIG_DISABLE_MQUEUE) && !defined(CONFIG_DISABLE_PTHREAD) && !defined(CONFIG_DISABLE_CLOCK)
+  /* Verify pthreads and message queues */
+
+  printf("\nuser_main: timed message queue test\n");
+  timedmqueue_test();
+  check_test_memory_usage();
 #endif

 #ifndef CONFIG_DISABLE_SIGNALS
  /* Verify signal handlers */

+  printf("\nuser_main: signal handler test\n");
  sighand_test();
+  check_test_memory_usage();
 #endif

 #if !defined(CONFIG_DISABLE_POSIX_TIMERS) && !defined(CONFIG_DISABLE_SIGNALS)
  /* Verify posix timers */

+  printf("\nuser_main: POSIX timer test\n");
  timer_test();
+  check_test_memory_usage();
 #endif

 #if !defined(CONFIG_DISABLE_PTHREAD) && CONFIG_RR_INTERVAL > 0
  /* Verify round robin scheduling */

+  printf("\nuser_main: round-robin scheduler test\n");
  rr_test();
+  check_test_memory_usage();
+#endif
+
+#ifndef CONFIG_DISABLE_PTHREAD
+  /* Verify pthread barriers */
+
+  printf("\nuser_main: barrier test\n");
+  barrier_test();
+  check_test_memory_usage();
+#endif
+
+  /* Compare memory usage at time user_start started until
+   * user_main exits.  These should not be identical, but should
+   * be similar enough that we can detect any serious OS memory
+   * leaks.
+   */
+
+#ifndef CONFIG_DISABLE_SIGNALS
+  usleep(500*1000);
+
+#ifdef CONFIG_CAN_PASS_STRUCTS
+  g_mmafter = mallinfo();
+#else
+  (void)mallinfo(&g_mmafter);
+#endif
+
+  printf("\nFinal memory usage:\n");
+  show_memory_usage(&g_mmbefore, &g_mmafter);
 #endif

  printf("user_main: Exitting\n");
--- a/examples/ostest/mqueue.c
+++ b/examples/ostest/mqueue.c
@@ -37,13 +37,17 @@
 * Included Files
 **************************************************************************/

+#include <nuttx/config.h>
+
 #include <stdio.h>
+#include <unistd.h>
 #include <string.h>
 #include <ctype.h>
 #include <fcntl.h>
 #include <pthread.h>
 #include <mqueue.h>
 #include <sched.h>
+#include <errno.h>

 #include "ostest.h"

@@ -51,11 +55,18 @@
 * Private Definitions
 **************************************************************************/

-#define TEST_MESSAGE "This is a test and only a test"
+#define TEST_MESSAGE        "This is a test and only a test"
 #ifdef SDCC
-#define TEST_MSGLEN  (31)
+#define TEST_MSGLEN         (31)
 #else
-#define TEST_MSGLEN  (strlen(TEST_MESSAGE)+1)
+#define TEST_MSGLEN         (strlen(TEST_MESSAGE)+1)
+#endif
+
+#define TEST_SEND_NMSGS     (10)
+#ifndef CONFIG_DISABLE_SIGNALS
+# define TEST_RECEIVE_NMSGS (11)
+#else
+# define TEST_RECEIVE_NMSGS (10)
 #endif

 /**************************************************************************
@@ -121,9 +132,9 @@ static void *sender_thread(void *arg)

  memcpy(msg_buffer, TEST_MESSAGE, TEST_MSGLEN);

-  /* Perform the send 10 times */
+  /* Perform the send TEST_SEND_NMSGS times */

-  for (i = 0; i < 10; i++)
+  for (i = 0; i < TEST_SEND_NMSGS; i++)
    {
      status = mq_send(mqfd, msg_buffer, TEST_MSGLEN, 42);
      if (status < 0)
@@ -183,16 +194,27 @@ static void *receiver_thread(void *arg)
       pthread_exit((pthread_addr_t)1);
     }

-   /* Perform the receive 10 times */
+   /* Perform the receive TEST_RECEIVE_NMSGS times */

-   for (i = 0; i < 10; i++)
+   for (i = 0; i < TEST_RECEIVE_NMSGS; i++)
    {
      memset(msg_buffer, 0xaa, TEST_MSGLEN);
      nbytes = mq_receive(mqfd, msg_buffer, TEST_MSGLEN, 0);
      if (nbytes < 0)
        {
-          printf("receiver_thread: ERROR mq_receive failure on msg %d\n", i);
-          nerrors++;
+          /* mq_receive failed.  If the error is because of EINTR then
+           * it is not a failure.
+           */
+
+          if (*get_errno_ptr() != EINTR)
+            {
+              printf("receiver_thread: ERROR mq_receive failure on msg %d, errno=%d\n", i, *get_errno_ptr());
+              nerrors++;
+            }
+          else
+            {
+              printf("receiver_thread: mq_receive interrupted!\n", i);
+            }
        }
      else if (nbytes != TEST_MSGLEN)
        {
@@ -236,8 +258,6 @@ static void *receiver_thread(void *arg)
      nerrors++;
    }

-  pthread_exit((pthread_addr_t)nerrors);
-
  /* Destroy the queue */

  if (mq_unlink("testmq") < 0)
@@ -247,6 +267,7 @@ static void *receiver_thread(void *arg)
    }

  printf("receiver_thread: returning nerrors=%d\n", nerrors);
+  pthread_exit((pthread_addr_t)nerrors);
  return (pthread_addr_t)nerrors;
 }

@@ -330,13 +351,33 @@ void mqueue_test(void)
      printf("mqueue_test: pthread_create failed, status=%d\n", status);
    }

+  printf("mqueue_test: Waiting for sender to complete\n");
  pthread_join(sender, &result);
  if (result != (void*)0)
    {
      printf("mqueue_test: ERROR sender thread exited with %d errors\n", (int)result);
    }

-  pthread_cancel(receiver);
+#ifndef CONFIG_DISABLE_SIGNALS
+  /* Wake up the receiver thread with a signal */
+
+  printf("mqueue_test: Killing receiver\n");
+  pthread_kill(receiver, 9);
+#endif
+
+  /* Wait a bit to see if the thread exits on its own */
+
+  usleep(500*1000);
+
+  /* Then cancel the thread and see if it did */
+
+  printf("mqueue_test: Canceling receiver\n");
+  status = pthread_cancel(receiver);
+  if (status == ESRCH)
+    {
+      printf("mqueue_test: receiver has already terminated\n");
+    }
+
  pthread_join(receiver, &result);
  if (result != (void*)0)
    {
--- a/examples/ostest/ostest.h
+++ b/examples/ostest/ostest.h
@@ -76,10 +76,14 @@ extern void sem_test(void);

 extern void cond_test(void);

-/* queue.c **************************************************/
+/* mqueue.c *************************************************/

 extern void mqueue_test(void);

+/* timedmqueue.c ********************************************/
+
+extern void timedmqueue_test(void);
+
 /* cancel.c *************************************************/

 extern void cancel_test(void);
@@ -92,8 +96,16 @@ extern void timedwait_test(void);

 extern void sighand_test(void);

+/* posixtimers.c ********************************************/
+
+extern void timer_test(void);
+
 /* roundrobin.c *********************************************/

 extern void rr_test(void);

+/* barrier.c ************************************************/
+
+extern void barrier_test(void);
+
 #endif /* __OSTEST_H */
--- a/examples/ostest/posixtimer.c
+++ b/examples/ostest/posixtimer.c
@@ -36,7 +36,6 @@
 #include <sys/types.h>
 #include <stdio.h>
 #include <unistd.h>
-#include <pthread.h>
 #include <semaphore.h>
 #include <signal.h>
 #include <sched.h>
@@ -122,7 +121,6 @@ static void timer_expiration(int signo, siginfo_t *info, void *ucontext)

 void timer_test(void)
 {
-  struct sched_param param;
  sigset_t           sigset;
  struct sigaction   act;
  struct sigaction   oact;
--- a/examples/ostest/sighand.c
+++ b/examples/ostest/sighand.c
@@ -36,7 +36,6 @@
 #include <sys/types.h>
 #include <stdio.h>
 #include <unistd.h>
-#include <pthread.h>
 #include <semaphore.h>
 #include <signal.h>
 #include <sched.h>
--- a/examples/ostest/timedmqueue.c
+++ b/examples/ostest/timedmqueue.c
@@ -0,0 +1,384 @@
+/**************************************************************************
+ * mqueue.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name Gregory Nutt nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ **************************************************************************/
+
+/**************************************************************************
+ * Included Files
+ **************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+#include <ctype.h>
+#include <fcntl.h>
+#include <pthread.h>
+#include <mqueue.h>
+#include <sched.h>
+#include <errno.h>
+
+#include "ostest.h"
+
+/**************************************************************************
+ * Private Definitions
+ **************************************************************************/
+
+#define TEST_MESSAGE        "This is a test and only a test"
+
+#ifdef SDCC
+#define TEST_MSGLEN         (31)
+#else
+#define TEST_MSGLEN         (strlen(TEST_MESSAGE)+1)
+#endif
+
+#define TEST_SEND_NMSGS     (10)
+#define TEST_RECEIVE_NMSGS  (10)
+
+/**************************************************************************
+ * Private Types
+ **************************************************************************/
+
+/**************************************************************************
+ * Private Function Prototypes
+ **************************************************************************/
+
+/**************************************************************************
+ * Global Variables
+ **************************************************************************/
+
+/**************************************************************************
+ * Private Variables
+ **************************************************************************/
+
+/**************************************************************************
+ * Private Functions
+ **************************************************************************/
+
+/**************************************************************************
+ * Public Functions
+ **************************************************************************/
+
+static void *sender_thread(void *arg)
+{
+  mqd_t mqfd;
+  char msg_buffer[TEST_MSGLEN];
+  struct mq_attr attr;
+  int status = 0;
+  int nerrors = 0;
+  int i;
+
+  printf("sender_thread: Starting\n");
+
+  /* Fill in attributes for message queue */
+
+  attr.mq_maxmsg  = TEST_SEND_NMSGS-1;
+  attr.mq_msgsize = TEST_MSGLEN;
+  attr.mq_flags   = 0;
+
+  /* Set the flags for the open of the queue.
+   * Make it a blocking open on the queue, meaning it will block if
+   * this process tries to send to the queue and the queue is full.
+   *
+   *   O_CREAT - the queue will get created if it does not already exist.
+   *   O_WRONLY - we are only planning to write to the queue.
+   *
+   * Open the queue, and create it if the receiving process hasn't
+   * already created it.
+   */
+
+  mqfd = mq_open("testmq", O_WRONLY|O_CREAT, 0666, &attr);
+  if (mqfd < 0)
+    {
+        printf("sender_thread: ERROR mq_open failed\n");
+        pthread_exit((pthread_addr_t)1);
+    }
+
+  /* Fill in a test message buffer to send */
+
+  memcpy(msg_buffer, TEST_MESSAGE, TEST_MSGLEN);
+
+  /* Perform the send TEST_SEND_NMSGS times */
+
+  for (i = 0; i < TEST_SEND_NMSGS; i++)
+    {
+       struct timespec time;
+       status = clock_gettime(CLOCK_REALTIME, &time);
+       if (status != 0)
+         {
+           printf("sender_thread: ERROR clock_gettime failed\n");
+         }
+       time.tv_sec += 5;
+
+      /* The first TEST_SEND_NMSGS-1 send should succeed.  The last
+       * one should fail with errno == ETIMEDOUT
+       */
+
+      status = mq_timedsend(mqfd, msg_buffer, TEST_MSGLEN, 42, &time);
+      if (status < 0)
+        {
+          if (i == TEST_SEND_NMSGS-1 && *get_errno_ptr() == ETIMEDOUT)
+            {
+              printf("sender_thread: mq_timedsend %d timed out as expected\n", i);
+            }
+          else
+            {
+              printf("sender_thread: ERROR mq_timedsend failure=%d on msg %d\n", *get_errno_ptr(), i);
+              nerrors++;
+            }
+        }
+      else
+        {
+          if (i == TEST_SEND_NMSGS-1)
+            {
+              printf("sender_thread: ERROR mq_timedsend of msg %d succeeded\n", i);
+              nerrors++;
+            }
+          else
+            {
+              printf("sender_thread: mq_timedsend succeeded on msg %d\n", i);
+            }
+        }
+    }
+
+  /* Close the queue and return success */
+
+  if (mq_close(mqfd) < 0)
+    {
+      printf("sender_thread: ERROR mq_close failed\n");
+    }
+
+  printf("sender_thread: returning nerrors=%d\n", nerrors);
+  fflush(stdout);
+  return (pthread_addr_t)nerrors;
+}
+
+static void *receiver_thread(void *arg)
+{
+  mqd_t mqfd;
+  char msg_buffer[TEST_MSGLEN];
+  struct mq_attr attr;
+  int nbytes;
+  int nerrors = 0;
+  int i;
+
+  printf("receiver_thread: Starting\n");
+
+  /* Fill in attributes for message queue */
+
+  attr.mq_maxmsg  = TEST_SEND_NMSGS-1;
+  attr.mq_msgsize = TEST_MSGLEN;
+  attr.mq_flags   = 0;
+
+  /* Set the flags for the open of the queue.
+   * Make it a blocking open on the queue, meaning it will block if
+   * this process tries to* send to the queue and the queue is full.
+   *
+   *   O_CREAT - the queue will get created if it does not already exist.
+   *   O_RDONLY - we are only planning to write to the queue.
+   *
+   * Open the queue, and create it if the sending process hasn't
+   * already created it.
+   */
+
+   mqfd = mq_open("testmq", O_RDONLY|O_CREAT, 0666, &attr);
+   if (mqfd < 0)
+     {
+       printf("receiver_thread: ERROR mq_open failed\n");
+       pthread_exit((pthread_addr_t)1);
+     }
+
+   /* Perform the receive TEST_RECEIVE_NMSGS times */
+
+   for (i = 0; i < TEST_RECEIVE_NMSGS; i++)
+    {
+       struct timespec time;
+       int status = clock_gettime(CLOCK_REALTIME, &time);
+       if (status != 0)
+         {
+           printf("sender_thread: ERROR clock_gettime failed\n");
+         }
+       time.tv_sec += 5;
+
+      /* The first TEST_SEND_NMSGS-1 send should succeed.  The last
+       * one should fail with errno == ETIMEDOUT
+       */
+
+      memset(msg_buffer, 0xaa, TEST_MSGLEN);
+      nbytes = mq_timedreceive(mqfd, msg_buffer, TEST_MSGLEN, 0, &time);
+      if (nbytes < 0)
+        {
+          if (i == TEST_SEND_NMSGS-1 && *get_errno_ptr() == ETIMEDOUT)
+            {
+              printf("receiver_thread: Receive %d timed out as expected\n", i);
+            }
+          else
+            {
+              printf("receiver_thread: ERROR mq_timedreceive failure=%d on msg %d\n", *get_errno_ptr(), i);
+              nerrors++;
+            }
+        }
+      else if (nbytes != TEST_MSGLEN)
+        {
+          printf("receiver_thread: mq_timedreceive return bad size %d on msg %d\n", nbytes, i);
+          nerrors++;
+        }
+      else if (memcmp(TEST_MESSAGE, msg_buffer, nbytes) != 0)
+        {
+          int j;
+
+          printf("receiver_thread: mq_timedreceive returned corrupt message on msg %d\n", i);
+          printf("receiver_thread:                  i  Expected Received\n");
+
+          for (j = 0; j < TEST_MSGLEN-1; j++)
+            {
+              if (isprint(msg_buffer[j]))
+                {
+                 printf("receiver_thread:                  %2d %02x (%c) %02x (%c)\n",
+                         j, TEST_MESSAGE[j], TEST_MESSAGE[j], msg_buffer[j], msg_buffer[j]);
+                }
+              else
+                {
+                  printf("receiver_thread:                  %2d %02x (%c) %02x\n",
+                         j, TEST_MESSAGE[j], TEST_MESSAGE[j], msg_buffer[j]);
+                }
+            }
+          printf("receiver_thread:                  %2d 00      %02x\n",
+                  j, msg_buffer[j]);
+        }
+      else if (i == TEST_SEND_NMSGS-1)
+        {
+          printf("receiver_thread: ERROR mq_timedreceive of msg %d succeeded\n", i);
+          nerrors++;
+        }
+      else
+        {
+          printf("receiver_thread: mq_timedreceive succeeded on msg %d\n", i);
+        }
+    }
+
+  /* Close the queue and return success */
+
+  if (mq_close(mqfd) < 0)
+    {
+      printf("receiver_thread: ERROR mq_close failed\n");
+      nerrors++;
+    }
+
+  /* Destroy the queue */
+
+  if (mq_unlink("testmq") < 0)
+    {
+      printf("receiver_thread: ERROR mq_close failed\n");
+      nerrors++;
+    }
+
+  printf("receiver_thread: returning nerrors=%d\n", nerrors);
+  fflush(stdout);
+  pthread_exit((pthread_addr_t)nerrors);
+  return (pthread_addr_t)nerrors;
+}
+
+void timedmqueue_test(void)
+{
+  pthread_t sender;
+  pthread_t receiver;
+  void *result;
+  pthread_attr_t attr;
+  int status;
+
+  /* Start the sending thread at the default priority */
+
+  printf("timedmqueue_test: Starting sender\n");
+  status = pthread_attr_init(&attr);
+  if (status != 0)
+    {
+      printf("timedmqueue_test: pthread_attr_init failed, status=%d\n", status);
+    }
+
+  status = pthread_attr_setstacksize(&attr, 16384);
+  if (status != 0)
+    {
+      printf("timedmqueue_test: pthread_attr_setstacksize failed, status=%d\n", status);
+    }
+
+  status = pthread_create(&sender, &attr, sender_thread, NULL);
+  if (status != 0)
+    {
+      printf("timedmqueue_test: pthread_create failed, status=%d\n", status);
+    }
+
+  /* Wait for the sending thread to complete */
+
+  printf("timedmqueue_test: Waiting for sender to complete\n");
+  pthread_join(sender, &result);
+  if (result != (void*)0)
+    {
+      printf("timedmqueue_test: ERROR sender thread exited with %d errors\n", (int)result);
+    }
+
+  /* Start the receiving thread at the default priority */
+
+  printf("timedmqueue_test: Starting receiver\n");
+  status = pthread_attr_init(&attr);
+  if (status != 0)
+    {
+      printf("timedmqueue_test: pthread_attr_init failed, status=%d\n", status);
+    }
+
+  status = pthread_attr_setstacksize(&attr, 16384);
+  if (status != 0)
+    {
+      printf("timedmqueue_test: pthread_attr_setstacksize failed, status=%d\n", status);
+    }
+
+  status = pthread_create(&receiver, &attr, receiver_thread, NULL);
+  if (status != 0)
+    {
+      printf("timedmqueue_test: pthread_create failed, status=%d\n", status);
+    }
+
+  /* Wait for the receiving thread to complete */
+
+  printf("timedmqueue_test: Waiting for sender to complete\n");
+  pthread_join(receiver, &result);
+  if (result != (void*)0)
+    {
+      printf("timedmqueue_test: ERROR receiver thread exited with %d errors\n", (int)result);
+    }
+
+  printf("timedmqueue_test: Test complete\n");
+}
+
+
--- a/fs/fs_ioctl.c
+++ b/fs/fs_ioctl.c
@@ -43,6 +43,7 @@

 #include <nuttx/config.h>
 #include <sys/types.h>
+#include <sched.h>
 #include <errno.h>
 #include <sys/ioctl.h>
 #include "fs_internal.h"
--- a/include/mqueue.h
+++ b/include/mqueue.h
@@ -87,12 +87,16 @@ extern "C" {
 #define EXTERN extern
 #endif

-EXTERN mqd_t   mq_open(const char *mq_name, int oflags, ... );
+EXTERN mqd_t   mq_open(const char *mq_name, int oflags, ...);
 EXTERN int     mq_close(mqd_t mqdes );
-EXTERN int     mq_unlink(const char *mq_name );
-EXTERN int     mq_send(mqd_t mqdes, const void *msg, size_t msglen, int prio );
-EXTERN int     mq_receive(mqd_t mqdes, void *msg, size_t msglen, int *prio );
-EXTERN int     mq_notify(mqd_t mqdes, const struct sigevent *notification );
+EXTERN int     mq_unlink(const char *mq_name);
+EXTERN int     mq_send(mqd_t mqdes, const void *msg, size_t msglen, int prio);
+EXTERN int     mq_timedsend(mqd_t mqdes, const char *msg, size_t msglen, int prio,
+                            const struct timespec *abstime);
+EXTERN ssize_t mq_receive(mqd_t mqdes, void *msg, size_t msglen, int *prio);
+EXTERN ssize_t mq_timedreceive(mqd_t mqdes, void *msg, size_t msglen,
+                               int *prio, const struct timespec *abstime);
+EXTERN int     mq_notify(mqd_t mqdes, const struct sigevent *notification);
 EXTERN int     mq_setattr(mqd_t mqdes, const struct mq_attr *mq_stat,
                  struct mq_attr *oldstat);
 EXTERN int     mq_getattr(mqd_t mqdes, struct mq_attr *mq_stat);
--- a/include/pthread.h
+++ b/include/pthread.h
@@ -44,6 +44,7 @@
 #include <nuttx/compiler.h> /* Compiler settings */
 #include <sys/types.h>      /* Needed for general types */
 #include <semaphore.h>      /* Needed for sem_t */
+#include <signal.h>         /* Needed for sigset_t */
 #include <time.h>           /* Needed for struct timespec */
 #include <nuttx/compiler.h> /* For noreturn_function */

@@ -64,29 +65,43 @@
 * Definitions
 ********************************************************************************/

-#define PTHREAD_PROCESS_PRIVATE  0
-#define PTHREAD_PROCESS_SHARED   1
+/* Values for the process shared (pshared) attribute */

-#define PTHREAD_STACK_MIN        CONFIG_PTHREAD_STACK_MIN
-#define PTHREAD_STACK_DEFAULT    CONFIG_PTHREAD_STACK_DEFAULT
+#define PTHREAD_PROCESS_PRIVATE       0
+#define PTHREAD_PROCESS_SHARED        1

-#define PTHREAD_INHERIT_SCHED    0
-#define PTHREAD_EXPLICIT_SCHED   1
+/* Valid ranges for the pthread stacksize attribute */

-#define PTHREAD_PRIO_NONE        0
-#define PTHREAD_PRIO_INHERIT     1
-#define PTHREAD_PRIO_PROTECT     2
+#define PTHREAD_STACK_MIN             CONFIG_PTHREAD_STACK_MIN
+#define PTHREAD_STACK_DEFAULT         CONFIG_PTHREAD_STACK_DEFAULT

-#define PTHREAD_DEFAULT_PRIORITY 100
+/* Values for the pthread inheritsched attribute */
+
+#define PTHREAD_INHERIT_SCHED         0
+#define PTHREAD_EXPLICIT_SCHED        1
+
+#define PTHREAD_PRIO_NONE             0
+#define PTHREAD_PRIO_INHERIT          1
+#define PTHREAD_PRIO_PROTECT          2
+
+#define PTHREAD_DEFAULT_PRIORITY      100

 /* Cancellation states returned by pthread_cancelstate() */

-#define PTHREAD_CANCEL_ENABLE    (0)
-#define PTHREAD_CANCEL_DISABLE   (1)
+#define PTHREAD_CANCEL_ENABLE         (0)
+#define PTHREAD_CANCEL_DISABLE        (1)

 /* Thread return value when a pthread is canceled */

-# define PTHREAD_CANCELED        ((FAR void*)ERROR)
+#define PTHREAD_CANCELED              ((FAR void*)ERROR)
+
+/* Used to initialize a pthread_once_t */
+
+#define PTHREAD_ONCE_INIT             (FALSE)
+
+/* This is returned by pthread_wait.  It must not match any errno in errno.h */
+
+#define PTHREAD_BARRIER_SERIAL_THREAD 0x1000

 /********************************************************************************
 * Global Type Declarations
@@ -144,6 +159,21 @@ struct pthread_mutex_s
 typedef struct pthread_mutex_s pthread_mutex_t;
 #define PTHREAD_MUTEX_INITIALIZER {0, {1, 0xffff}}

+struct pthread_barrierattr_s
+{
+  int pshared;
+};
+typedef struct pthread_barrierattr_s pthread_barrierattr_t;
+
+struct pthread_barrier_s
+{
+  sem_t        sem;
+  unsigned int count;
+};
+typedef struct pthread_barrier_s pthread_barrier_t;
+
+typedef boolean pthread_once_t;
+
 /* Forware references */

 struct sched_param; /* Defined in sched.h */
@@ -155,6 +185,7 @@ struct sched_param; /* Defined in sched.h */
 /********************************************************************************
 * Global Function Prototypes
 ********************************************************************************/
+
 /* Initializes a thread attributes object (attr) with default values for all of
 * the individual attributes used by a given implementation.
 */
@@ -232,6 +263,7 @@ EXTERN int pthread_getschedparam(pthread_t thread, int *policy,
                                 struct sched_param *param);
 EXTERN int pthread_setschedparam(pthread_t thread, int policy,
                                 const struct sched_param *param);
+EXTERN int pthread_setschedprio(pthread_t thread, int prio);

 /* Thread-specific Data Interfaces */

@@ -280,6 +312,33 @@ EXTERN int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex);
 EXTERN int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex,
                                  const struct timespec *abstime);

+/* Barrier attributes */
+
+EXTERN int pthread_barrierattr_destroy(FAR pthread_barrierattr_t *attr);
+EXTERN int pthread_barrierattr_init(FAR pthread_barrierattr_t *attr);
+EXTERN int pthread_barrierattr_getpshared(FAR const pthread_barrierattr_t *attr,
+                                          FAR int *pshared);
+EXTERN int pthread_barrierattr_setpshared(FAR pthread_barrierattr_t *attr,
+                                          int pshared);
+
+/* Barriers */
+
+EXTERN int pthread_barrier_destroy(FAR pthread_barrier_t *barrier);
+EXTERN int pthread_barrier_init(FAR pthread_barrier_t *barrier,
+                                FAR const pthread_barrierattr_t *attr,
+                                unsigned int count);
+EXTERN int pthread_barrier_wait(FAR pthread_barrier_t *barrier);
+
+/* Pthread initialization */
+
+EXTERN int pthread_once(FAR pthread_once_t *once_control,
+                        CODE void (*init_routine)(void));
+
+/* Pthread signal management APIs */
+
+EXTERN int pthread_kill(pthread_t thread, int sig);
+EXTERN int pthread_sigmask(int how, FAR const sigset_t *set, FAR sigset_t *oset);
+
 #undef EXTERN
 #ifdef __cplusplus
 }
--- a/include/sched.h
+++ b/include/sched.h
@@ -51,9 +51,10 @@

 /* POSIX-like scheduling policies */

-#define SCHED_FIFO  1  /* FIFO per priority scheduling policy */
-#define SCHED_RR    2  /* Round robin scheduling policy */
-#define SCHED_OTHER 4  /* Not used */
+#define SCHED_FIFO     1  /* FIFO per priority scheduling policy */
+#define SCHED_RR       2  /* Round robin scheduling policy */
+#define SCHED_SPORADIC 3  /* Not supported */
+#define SCHED_OTHER    4  /* Not supported */

 /* Pthread definitions **********************************************************/

@@ -88,18 +89,18 @@ extern "C" {
 #ifndef CONFIG_CUSTOM_STACK
 EXTERN STATUS  task_init(FAR _TCB *tcb, const char *name, int priority,
                         FAR uint32 *stack, uint32 stack_size,
-                         main_t entry, char *argv[]);
+                         main_t entry, const char *argv[]);
 #else
 EXTERN STATUS  task_init(FAR _TCB *tcb, const char *name, int priority,
-                         main_t entry, char *argv[]);
+                         main_t entry, const char *argv[]);
 #endif
 EXTERN STATUS  task_activate(FAR _TCB *tcb);
 #ifndef CONFIG_CUSTOM_STACK
 EXTERN int     task_create(const char *name, int priority, int stack_size,
-                           main_t entry, char *argv[]);
+                           main_t entry, const char *argv[]);
 #else
 EXTERN int     task_create(const char *name, int priority,
-                           main_t entry, char *argv[]);
+                           main_t entry, const char *argv[]);
 #endif
 EXTERN STATUS  task_delete(pid_t pid);
 EXTERN STATUS  task_restart(pid_t pid);
--- a/include/signal.h
+++ b/include/signal.h
@@ -43,7 +43,7 @@
 #include <nuttx/config.h>
 #include <nuttx/compiler.h>
 #include <time.h>      /* Needed for struct timespec */
-#include <sys/types.h> /* Needed for, e.g., sigset_t */
+#include <sys/types.h>

 /********************************************************************************
 * Compilations Switches
--- a/lib/lib_filesem.c
+++ b/lib/lib_filesem.c
@@ -106,7 +106,7 @@ void lib_take_semaphore(FAR struct file_struct *stream)

      /* We have it.  Claim the stak and return */

-      stream->fs_holder      = my_pid;
+      stream->fs_holder = my_pid;
      stream->fs_counts = 1;
    }
 }
--- a/lib/lib_init.c
+++ b/lib/lib_init.c
@@ -173,9 +173,9 @@ void lib_releaselist(FAR struct streamlist *list)
            /* Destroy the semaphore and release the filelist */

            (void)sem_destroy(&list->sl_sem);
-            sched_free(list);

-            /* Initialize each FILE structure */
+            /* Release each stream in the list */
+
 #if CONFIG_STDIO_BUFFER_SIZE > 0
            for (i = 0; i < CONFIG_NFILE_STREAMS; i++)
             {
@@ -190,6 +190,9 @@ void lib_releaselist(FAR struct streamlist *list)
                 }
             }
 #endif
+           /* Finally, release the list itself */
+
+            sched_free(list);
         }
     }
 }
--- a/lib/lib_sem.c
+++ b/lib/lib_sem.c
@@ -104,9 +104,9 @@ void lib_take_semaphore(FILE *stream)
 	  ASSERT(*get_errno_ptr() == EINTR);
 	}

-      /* We have it.  Claim the stak and return */
+      /* We have it.  Stake the claim and return */

-      stream->holder      = my_pid;
+      stream->holder = my_pid;
      stream->counts = 1;
    }
 }
@@ -119,7 +119,7 @@ void lib_give_semaphore(FILE *stream)
 {
  pid_t my_pid = getpid();

-  /* I better be holding at least one reference to the semaphore */
+  /* I better be holding at least one count on the semaphore */

  ASSERT(stream->holder == my_pid);

--- a/lib/lib_vfprintf.c
+++ b/lib/lib_vfprintf.c
@@ -87,7 +87,15 @@ int vfprintf(FILE *stream, const char *fmt, va_list ap)
       */

      lib_stdstream(&stdstream, stream);
+
+      /* Hold the stream semaphore throughout the lib_vsprintf
+       * call so that this thread can get its entire message out
+       * before being pre-empted by the next thread.
+       */
+
+      lib_take_semaphore(stream);
      n = lib_vsprintf(&stdstream.public, fmt, ap);
+      lib_give_semaphore(stream);
    }
  return n;
 }
--- a/sched/Makefile
+++ b/sched/Makefile
@@ -69,9 +69,11 @@ SIGNAL_SRCS	= sig_initialize.c \
                  sig_unmaskpendingsignal.c sig_removependingsignal.c \
 		  sig_releasependingsignal.c sig_lowest.c sig_mqnotempty.c \
 		  sig_cleanup.c sig_received.c sig_deliver.c
-MQUEUE_SRCS	= mq_open.c mq_close.c mq_unlink.c mq_send.c mq_receive.c \
+MQUEUE_SRCS	= mq_open.c mq_close.c mq_unlink.c \
+		  mq_send.c mq_timedsend.c mq_sndinternal.c \
+		  mq_receive.c mq_timedreceive.c mq_rcvinternal.c \
 		  mq_setattr.c mq_getattr.c mq_initialize.c mq_descreate.c \
-		  mq_findnamed.c mq_msgfree.c mq_msgqfree.c
+		  mq_findnamed.c mq_msgfree.c mq_msgqfree.c mq_waitirq.c
 ifneq ($(CONFIG_DISABLE_SIGNALS),y)
 MQUEUE_SRCS	+= mq_notify.c
 endif
@@ -89,12 +91,15 @@ PTHREAD_SRCS	= pthread_attrinit.c pthread_attrdestroy.c \
 		  pthread_condinit.c pthread_conddestroy.c \
 		  pthread_condattrinit.c pthread_condattrdestroy.c \
 		  pthread_condwait.c pthread_condsignal.c pthread_condbroadcast.c \
+		  pthread_barrierattrinit.c pthread_barrierattrdestroy.c \
+		  pthread_barrierattrgetpshared.c pthread_barrierattrsetpshared.c \
+		  pthread_barrierinit.c pthread_barrierdestroy.c pthread_barrierwait.c \
 		  pthread_cancel.c pthread_setcancelstate.c \
 		  pthread_keycreate.c pthread_setspecific.c pthread_getspecific.c pthread_keydelete.c \
 		  pthread_initialize.c pthread_completejoin.c pthread_findjoininfo.c \
-		  pthread_removejoininfo.c
+		  pthread_removejoininfo.c pthread_once.c pthread_setschedprio.c
 ifneq ($(CONFIG_DISABLE_SIGNALS),y)
-PTHREAD_SRCS	+= pthread_condtimedwait.c
+PTHREAD_SRCS	+= pthread_condtimedwait.c pthread_kill.c pthread_sigmask.c
 endif
 SEM_SRCS	= sem_initialize.c sem_init.c sem_destroy.c\
 		  sem_open.c sem_close.c sem_unlink.c \
--- a/sched/clock_abstime2ticks.c
+++ b/sched/clock_abstime2ticks.c
@@ -93,7 +93,6 @@ extern int clock_abstime2ticks(clockid_t clockid, const struct timespec *abstime
 {
  struct timespec currtime;
  struct timespec reltime;
-  sint32          relusec;
  int             ret;

  /* Convert the timespec to clock ticks.  NOTE: Here we use
--- a/sched/get_errno_ptr.c
+++ b/sched/get_errno_ptr.c
@@ -37,14 +37,22 @@
 * Included Files
 ************************************************************/

+#include <nuttx/config.h>
 #include <sched.h>
 #include <errno.h>
+#include <nuttx/arch.h>
 #include "os_internal.h"

 #undef get_errno_ptr

 /************************************************************
- * Global Functions
+ * Private Data
+ ************************************************************/
+
+static int g_irqerrno;
+
+/************************************************************
+ * Public Functions
 ************************************************************/

 /************************************************************
@@ -65,8 +73,32 @@

 FAR int *get_errno_ptr(void)
 {
-  FAR _TCB *ptcb = (FAR _TCB*)g_readytorun.head;
-  return &ptcb->errno;
+  /* Check if this function was called from an interrupt
+   * handler.  In that case, we have to do things a little
+   * differently.
+   */
+
+  if (up_interrupt_context())
+    {
+      /* Yes, we were called from an interrupt handler.  Do
+       * not permit access to the errno in the TCB of the
+       * interrupt task.  Instead, use a separate errno just
+       * for interrupt handlers.  Of course, this would have
+       * to change if we ever wanted to support nested
+       * interrupts.
+       */
+
+      return &g_irqerrno;
+    }
+  else
+    {
+      /* We were called from the normal tasking context.  Return
+       * a reference to the thread-private errno in the TCB.
+       */
+
+      FAR _TCB *ptcb = (FAR _TCB*)g_readytorun.head;
+      return &ptcb->errno;
+    }
 }


--- a/sched/mq_internal.h
+++ b/sched/mq_internal.h
@@ -1,4 +1,4 @@
-/************************************************************
+/****************************************************************************
 * mq_internal.h
 *
 *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
@@ -31,14 +31,14 @@
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
- ************************************************************/
+ ****************************************************************************/

 #ifndef __MQ_INTERNAL_H
 #define __MQ_INTERNAL_H

-/************************************************************
+/****************************************************************************
 * Included Files
- ************************************************************/
+ ****************************************************************************/

 #include <sys/types.h>
 #include <limits.h>
@@ -47,16 +47,15 @@
 #include <signal.h>
 #include <nuttx/compiler.h>

-/************************************************************
+/****************************************************************************
 * Compilations Switches
- ************************************************************/
+ ****************************************************************************/

-/************************************************************
+/****************************************************************************
 * Definitions
- ************************************************************/
+ ****************************************************************************/

 #define MQ_MAX_BYTES   CONFIG_MQ_MAXMSGSIZE
-#define MQ_MAX_HWORDS  ((MQ_MAX_BYTES + sizeof(uint16) - 1) / sizeof(uint16))
 #define MQ_MAX_MSGS    16
 #define MQ_PRIO_MAX    _POSIX_MQ_PRIO_MAX

@@ -72,9 +71,9 @@

 #define NUM_INTERRUPT_MSGS   8

-/************************************************************
+/****************************************************************************
 * Global Type Declarations
- ************************************************************/
+ ****************************************************************************/

 enum mqalloc_e
 {
@@ -85,23 +84,18 @@ enum mqalloc_e
 typedef enum mqalloc_e mqalloc_t;

 /* This structure describes one buffered POSIX message. */
-/* NOTE:  This structure is allocated from the same pool as MQ_type.
- * Therefore, (1) it must have a fixed "mail" size, and (2) must
- * exactly match MQ_type in size.
- */

 struct mqmsg
 {
-  /* The position of the following two field must exactly match
-   * MQ_type.
-   */
-
  FAR struct mqmsg  *next;    /* Forward link to next message */
  ubyte        type;          /* (Used to manage allocations) */
-
  ubyte        priority;      /* priority of message          */
+#if MQ_MAX_BYTES < 256
  ubyte        msglen;        /* Message data length          */
-  uint16       mail[MQ_MAX_HWORDS]; /* Message data           */
+#else
+  uint16       msglen;        /* Message data length          */
+#endif
+  ubyte        mail[MQ_MAX_BYTES]; /* Message data            */
 };
 typedef struct mqmsg mqmsg_t;

@@ -142,9 +136,9 @@ struct mq_des
  int          oflags;        /* Flags set when message queue was opened */
 };

-/************************************************************
+/****************************************************************************
 * Global Variables
- ************************************************************/
+ ****************************************************************************/

 /* This is a list of all opened message queues */

@@ -170,9 +164,9 @@ extern sq_queue_t  g_msgfreeirq;

 extern sq_queue_t  g_desfree;

-/************************************************************
+/****************************************************************************
 * Global Function Prototypes
- ************************************************************/
+ ****************************************************************************/

 #ifdef __cplusplus
 #define EXTERN extern "C"
@@ -181,15 +175,35 @@ extern "C" {
 #define EXTERN extern
 #endif

-/* Functions defined in mq_initialized.c *******************/
+/* Functions defined in mq_initialize.c ************************************/

 EXTERN void weak_function mq_initialize(void);
-EXTERN void        mq_desblockalloc(void);
+EXTERN void         mq_desblockalloc(void);

-EXTERN mqd_t       mq_descreate(FAR _TCB* mtcb, FAR msgq_t* msgq, int oflags);
-EXTERN FAR msgq_t *mq_findnamed(const char *mq_name);
-EXTERN void        mq_msgfree(FAR mqmsg_t *mqmsg);
-EXTERN void        mq_msgqfree(FAR msgq_t *msgq);
+EXTERN mqd_t        mq_descreate(FAR _TCB* mtcb, FAR msgq_t* msgq, int oflags);
+EXTERN FAR msgq_t  *mq_findnamed(const char *mq_name);
+EXTERN void         mq_msgfree(FAR mqmsg_t *mqmsg);
+EXTERN void         mq_msgqfree(FAR msgq_t *msgq);
+
+/* mq_waitirq.c ************************************************************/
+
+EXTERN void         mq_waitirq(FAR _TCB *wtcb);
+
+/* mq_rcvinternal.c ********************************************************/
+
+EXTERN int          mq_verifyreceive(mqd_t mqdes, void *msg, size_t msglen);
+EXTERN FAR mqmsg_t *mq_waitreceive(mqd_t mqdes);
+EXTERN ssize_t      mq_doreceive(mqd_t mqdes, mqmsg_t *mqmsg, void *ubuffer,
+                                 int *prio);
+
+/* mq_sndinternal.c ********************************************************/
+
+EXTERN int          mq_verifysend(mqd_t mqdes, const void *msg, size_t msglen,
+                                  int prio);
+EXTERN FAR mqmsg_t *mq_msgalloc(void);
+EXTERN int          mq_waitsend(mqd_t mqdes);
+EXTERN int          mq_dosend(mqd_t mqdes, FAR mqmsg_t *mqmsg, const void *msg,
+                              size_t msglen, int prio);

 #undef EXTERN
 #ifdef __cplusplus
--- a/sched/mq_rcvinternal.c
+++ b/sched/mq_rcvinternal.c
@@ -0,0 +1,314 @@
+/************************************************************
+ * mq_rcvinternal.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name Gregory Nutt nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************/
+
+/************************************************************
+ * Included Files
+ ************************************************************/
+
+#include <sys/types.h>
+#include <fcntl.h>          /* O_NONBLOCK */
+#include <string.h>
+#include <assert.h>
+#include <errno.h>
+#include <mqueue.h>
+#include <sched.h>
+#include <debug.h>
+#include <nuttx/arch.h>
+#include <nuttx/os_external.h>
+#include "os_internal.h"
+#include "mq_internal.h"
+
+/************************************************************
+ * Definitions
+ ************************************************************/
+
+/************************************************************
+ * Private Type Declarations
+ ************************************************************/
+
+/************************************************************
+ * Global Variables
+ ************************************************************/
+
+/************************************************************
+ * Private Variables
+ ************************************************************/
+
+/************************************************************
+ * Private Functions
+ ************************************************************/
+
+/************************************************************
+ * Public Functions
+ ************************************************************/
+
+/************************************************************
+ * Name: mq_verifyreceive
+ *
+ * Description:
+ *   This is internal, common logic shared by both mq_receive
+ *   and mq_timedreceive.  This function verifies the
+ *   input parameters that are common to both functions.
+ *
+ * Parameters:
+ *   mqdes - Message Queue Descriptor
+ *   msg - Buffer to receive the message
+ *   msglen - Size of the buffer in bytes
+ *
+ * Return Value:
+ *   One success, 0 (OK) is returned. On failure, -1 (ERROR) is
+ *   returned and the errno is set appropriately:
+ *
+ *   EPERM    Message queue opened not opened for reading.
+ *   EMSGSIZE 'msglen' was less than the maxmsgsize attribute of the
+ *            message queue.
+ *   EINVAL   Invalid 'msg' or 'mqdes'
+ *
+ * Assumptions:
+ *
+ ************************************************************/
+
+int mq_verifyreceive(mqd_t mqdes, void *msg, size_t msglen)
+{
+  /* Verify the input parameters */
+
+  if (!msg || !mqdes)
+    {
+      *get_errno_ptr() = EINVAL;
+      return ERROR;
+    }
+
+  if ((mqdes->oflags & O_RDOK) == 0)
+    {
+      *get_errno_ptr() = EPERM;
+      return ERROR;
+    }
+
+  if (msglen < (size_t)mqdes->msgq->maxmsgsize)
+    {
+      *get_errno_ptr() = EMSGSIZE;
+      return ERROR;
+    }
+
+  return OK;
+}
+
+/************************************************************
+ * Function:  mq_waitreceive
+ *
+ * Description:
+ *   This is internal, common logic shared by both mq_receive
+ *   and mq_timedreceive.  This function waits for a message to
+ *   be received on the specified message queue, removes the
+ *   message from the queue, and returns it.
+ *
+ * Parameters:
+ *   mqdes - Message queue descriptor
+ *
+ * Return Value:
+ *   On success, a reference to the received message.  If the
+ *   wait was interrupted by a signal or a timeout, then the
+ *   errno will be set appropriately and NULL will be returned.
+ *
+ * Assumptions:
+ * - The caller has provided all validity checking of the
+ *   input parameters using mq_verifyreceive.
+ * - Interrupts should be disabled throughout this call.  This
+ *   is necessary because messages can be sent from interrupt
+ *   level processing.
+ * - For mq_timedreceive, setting of the timer and this wait
+ *   must be atomic.
+ *
+ ************************************************************/
+
+FAR mqmsg_t *mq_waitreceive(mqd_t mqdes)
+{
+  FAR _TCB    *rtcb;
+  FAR msgq_t  *msgq;
+  FAR mqmsg_t *rcvmsg;
+
+  /* Get a pointer to the message queue */
+
+  msgq = mqdes->msgq;
+
+  /* Get the message from the head of the queue */
+
+  while ((rcvmsg = (FAR mqmsg_t*)sq_remfirst(&msgq->msglist)) == NULL)
+    {
+      /* Should we block until there the above condition has been
+       * satisfied?
+       */
+
+      if (!(mqdes->oflags & O_NONBLOCK))
+        {
+          /* Block and try again */
+
+          rtcb = (FAR _TCB*)g_readytorun.head;
+          rtcb->msgwaitq = msgq;
+          msgq->nwaitnotempty++;
+
+          *get_errno_ptr() = OK;
+          up_block_task(rtcb, TSTATE_WAIT_MQNOTEMPTY);
+
+          /* When we resume at this point, either (1) the message queue
+           * is no longer empty, or (2) the wait has been interrupted by
+           * a signal.  We can detect the latter case be examining the
+           * errno value (should be either EINTR or ETIMEDOUT).
+           */
+
+          if (*get_errno_ptr() != OK)
+            {
+              break;
+            }
+        }
+      else
+        {
+          /* The queue was empty, and the O_NONBLOCK flag was set for the
+           * message queue description referred to by 'mqdes'.
+           */
+
+         *get_errno_ptr() = EAGAIN;
+          break;
+        }
+    }
+
+  /* If we got message, then decrement the number of messages in
+   * the queue while we are still in the critical section
+   */
+
+  if (rcvmsg)
+    {
+      msgq->nmsgs--;
+    }
+  return rcvmsg;
+}
+
+/************************************************************
+ * Function:  mq_doreceive
+ *
+ * Description:
+ *   This is internal, common logic shared by both mq_receive
+ *   and mq_timedreceive.  This function accepts the message
+ *   obtained by mq_waitmsg, provides the message content to
+ *   the user, notifies any threads that were waiting for
+ *   the message queue to become non-full, and disposes of the
+ *   message structure
+ *
+ * Parameters:
+ *   mqdes - Message queue descriptor
+ *   mqmsg   - The message obtained by mq_waitmsg()
+ *   ubuffer - The address of the user provided buffer to
+ *             receive the message
+ *   prio    - The user-provided location to return the
+ *             message priority.
+ *
+ * Return Value:
+ *   Returns the length of the received message.  This
+ *   function does not fail.
+ *
+ * Assumptions:
+ * - The caller has provided all validity checking of the
+ *   input parameters using mq_verifyreceive.
+ * - The user buffer, ubuffer, is known to be large enough
+ *   to accept the largest message that an be sent on this
+ *   message queue
+ * - Pre-emption should be disabled throughout this call.
+ *
+ ************************************************************/
+
+ssize_t mq_doreceive(mqd_t mqdes, mqmsg_t *mqmsg, void *ubuffer, int *prio)
+{
+  FAR _TCB   *btcb;
+  irqstate_t  saved_state;
+  FAR msgq_t *msgq;
+  ssize_t     rcvmsglen;
+
+  /* Get the length of the message (also the return value) */
+
+  rcvmsglen = mqmsg->msglen;
+
+  /* Copy the message into the caller's buffer */
+
+  memcpy(ubuffer, (const void*)mqmsg->mail, rcvmsglen);
+
+  /* Copy the message priority as well (if a buffer is provided) */
+
+  if (prio)
+    {
+      *prio = mqmsg->priority;
+    }
+
+  /* We are done with the message.  Deallocate it now. */
+
+  mq_msgfree(mqmsg);
+
+  /* Check if any tasks are waiting for the MQ not full event. */
+
+  msgq = mqdes->msgq;
+  if (msgq->nwaitnotfull > 0)
+    {
+      /* Find the highest priority task that is waiting for
+       * this queue to be not-full in g_waitingformqnotfull list.
+       * This must be performed in a critical section because
+       * messages can be sent from interrupt handlers.
+       */
+
+      saved_state = irqsave();
+      for (btcb = (FAR _TCB*)g_waitingformqnotfull.head;
+           btcb && btcb->msgwaitq != msgq;
+           btcb = btcb->flink);
+
+      /* If one was found, unblock it.  NOTE:  There is a race
+       * condition here:  the queue might be full again by the
+       * time the task is unblocked
+       */
+
+      if (!btcb)
+        {
+          PANIC(OSERR_MQNOTFULLCOUNT);
+        }
+      else
+        {
+          btcb->msgwaitq = NULL;
+          msgq->nwaitnotfull--;
+          up_unblock_task(btcb);
+        }
+      irqrestore(saved_state);
+    }
+
+  /* Return the length of the message transferred to the user buffer */
+
+  return rcvmsglen;
+}
--- a/sched/mq_receive.c
+++ b/sched/mq_receive.c
@@ -37,20 +37,12 @@
 * Included Files
 ************************************************************/

-#include <sys/types.h>      /* uint32, etc. */
-#include <stdarg.h>         /* va_list */
-#include <unistd.h>
-#include <fcntl.h>          /* O_NONBLOCK */
-#include <string.h>
-#include <assert.h>
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include <errno.h>
 #include <mqueue.h>
-#include <sched.h>
 #include <debug.h>
-#include <nuttx/kmalloc.h>
 #include <nuttx/arch.h>
-#include <nuttx/os_external.h>
-#include "os_internal.h"
-#include "sig_internal.h"
 #include "mq_internal.h"

 /************************************************************
@@ -86,7 +78,7 @@
 *   "mqdes."  If the size of the buffer in bytes (msglen) is
 *   less than the "mq_msgsize" attribute of the message
 *   queue, mq_receive will return an error.  Otherwise, the
- *   select message is removed from the queue and copied to
+ *   selected message is removed from the queue and copied to
 *   "msg."
 *
 *   If the message queue is empty and O_NONBLOCK was not
@@ -102,134 +94,72 @@
 *   mqdes - Message Queue Descriptor
 *   msg - Buffer to receive the message
 *   msglen - Size of the buffer in bytes
- *   prio - If not NULL, the location to store message
- *      priority.
+ *   prio - If not NULL, the location to store message priority.
 *
 * Return Value:
- *   Length of the selected message in bytes, otherwise -1
- *   (ERROR).
+ *   One success, the length of the selected message in bytes.is
+ *   returned.  On failure, -1 (ERROR) is returned and the errno
+ *   is set appropriately:
+ *
+ *   EAGAIN   The queue was empty, and the O_NONBLOCK flag was set
+ *            for the message queue description referred to by 'mqdes'.
+ *   EPERM    Message queue opened not opened for reading.
+ *   EMSGSIZE 'msglen' was less than the maxmsgsize attribute of the
+ *            message queue.
+ *   EINTR    The call was interrupted by a signal handler.
+ *   EINVAL   Invalid 'msg' or 'mqdes'
 *
 * Assumptions:
 *
 ************************************************************/

-int mq_receive(mqd_t mqdes, void *msg, size_t msglen, int *prio)
+ssize_t mq_receive(mqd_t mqdes, void *msg, size_t msglen, int *prio)
 {
-  FAR _TCB    *rtcb;
-  FAR _TCB    *btcb;
-  FAR msgq_t  *msgq;
-  FAR mqmsg_t *curr;
+  FAR mqmsg_t *mqmsg;
  irqstate_t   saved_state;
-  ubyte        rcvmsglen;
-  int          ret = ERROR;
+  ssize_t      ret = ERROR;

-  /* Verify the input parameters */
+  DEBUGASSERT(!up_interrupt_context());
+
+  /* Verify the input parameters and, in case of an error, set
+   * errno appropriately.
+   */
+
+  if (mq_verifyreceive(mqdes, msg, msglen) != OK)
+    {
+      return ERROR;
+    }
+
+  /* Get the next mesage from the message queue.  We will disable
+   * pre-emption until we have completed the message received.  This
+   * is not too bad because if the receipt takes a long time, it will
+   * be because we are blocked waiting for a message and pre-emption
+   * will be re-enabled while we are blocked
+   */

  sched_lock();
-  if (msg && mqdes && (mqdes->oflags & O_RDOK) != 0 &&
-      msglen >= (size_t)mqdes->msgq->maxmsgsize)
+
+  /* Furthermore, mq_waitreceive() expects to have interrupts disabled
+   * because messages can be sent from interrupt level.
+   */
+
+  saved_state = irqsave();
+
+  /* Get the message from the message queue */
+
+  mqmsg = mq_waitreceive(mqdes);
+  irqrestore(saved_state);
+
+  /* Check if we got a message from the message queue.  We might
+   * not have a message if:
+   *
+   * - The message queue is empty and O_NONBLOCK is set in the mqdes
+   * - The wait was interrupted by a signal
+   */
+
+  if (mqmsg)
    {
-      /* Get a pointer to the message queue */
-
-      msgq = mqdes->msgq;
-
-      /* Several operations must be performed below:  We must determine if
-       * a message is pending and, if not, wait for the message.  Since
-       * messages can be sent from the interrupt level, there is a race
-       * condition that can only be eliminated by disabling interrupts!
-       */
-
-      saved_state = irqsave();
-
-      /* Get the message from the head of the queue */
-
-      while ((curr = (FAR mqmsg_t*)sq_remfirst(&msgq->msglist)) == NULL)
-        {
-          /* Should we block until there the above condition has been
-           * satisfied?
-           */
-
-          if (!(mqdes->oflags & O_NONBLOCK))
-            {
-              /* Block and try again */
-
-              rtcb = (FAR _TCB*)g_readytorun.head;
-              rtcb->msgwaitq = msgq;
-              msgq->nwaitnotempty++;
-              up_block_task(rtcb, TSTATE_WAIT_MQNOTEMPTY);
-            }
-          else
-            {
-              break;
-            }
-        }
-
-      /* If we got message, then decrement the number of messages in
-       * the queue while we are still in the critical section
-       */
-
-      if (curr)
-        {
-          msgq->nmsgs--;
-        }
-      irqrestore(saved_state);
-
-      /* Check (again) if we got a message from the message queue*/
-
-      if (curr)
-        {
-          /* Get the length of the message (also the return value) */
-
-          ret = rcvmsglen = curr->msglen;
-
-          /* Copy the message into the caller's buffer */
-
-          memcpy(msg, (const void*)curr->mail, rcvmsglen);
-
-          /* Copy the message priority as well (if a buffer is provided) */
-
-          if (prio)
-            {
-              *prio = curr->priority;
-            }
-
-          /* We are done with the message.  Deallocate it now. */
-
-          mq_msgfree(curr);
-
-          /* Check if any tasks are waiting for the MQ not full event. */
-
-          if (msgq->nwaitnotfull > 0)
-            {
-              /* Find the highest priority task that is waiting for
-               * this queue to be not-full in g_waitingformqnotfull list.
-               * This must be performed in a critical section because
-               * messages can be sent from interrupt handlers.
-               */
-
-              saved_state = irqsave();
-              for (btcb = (FAR _TCB*)g_waitingformqnotfull.head;
-                   btcb && btcb->msgwaitq != msgq;
-                   btcb = btcb->flink);
-
-              /* If one was found, unblock it.  NOTE:  There is a race
-               * condition here:  the queue might be full again by the
-               * time the task is unblocked
-               */
-
-              if (!btcb)
-                {
-                  PANIC(OSERR_MQNOTFULLCOUNT);
-                }
-              else
-                {
-                  btcb->msgwaitq = NULL;
-                  msgq->nwaitnotfull--;
-                  up_unblock_task(btcb);
-                }
-              irqrestore(saved_state);
-            }
-        }
+      ret = mq_doreceive(mqdes, mqmsg, msg, prio);
    }

  sched_unlock();
--- a/sched/mq_send.c
+++ b/sched/mq_send.c
@@ -1,4 +1,4 @@
-/************************************************************
+/****************************************************************************
 * mq_send.c
 *
 *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
@@ -31,164 +31,65 @@
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
- ************************************************************/
+ ****************************************************************************/

-/************************************************************
+/****************************************************************************
 * Included Files
- ************************************************************/
+ ****************************************************************************/

-#include  <nuttx/compiler.h>
-#include  <nuttx/kmalloc.h>
-#include  <sys/types.h>      /* uint32, etc. */
-#include  <fcntl.h>
+#include  <nuttx/config.h>
+#include  <sys/types.h>
 #include  <mqueue.h>
-#include  <string.h>
-#include  <sched.h>
+#include  <errno.h>
 #include  <debug.h>
 #include  <nuttx/arch.h>
 #include  "os_internal.h"
-#ifndef CONFIG_DISABLE_SIGNALS
-# include "sig_internal.h"
-#endif
 #include  "mq_internal.h"

-/************************************************************
+/****************************************************************************
 * Definitions
- ************************************************************/
+ ****************************************************************************/

-/************************************************************
+/****************************************************************************
 * Private Type Declarations
- ************************************************************/
+ ****************************************************************************/

-/************************************************************
+/****************************************************************************
 * Global Variables
- ************************************************************/
+ ****************************************************************************/

-/************************************************************
+/****************************************************************************
 * Private Variables
- ************************************************************/
+ ****************************************************************************/

-/************************************************************
- * Function: mq_msgalloc
- *
- * Description:
- *   The mq_msgalloc function will get a free message for use
- *   by the operating system.  The message will be allocated
- *   from the g_msgfree list.
- *
- *   If the list is empty AND the message is NOT being
- *   allocated from the interrupt level, then the message
- *   will be allocated.  If a message cannot be obtained,
- *   the operating system is dead and therefore cannot
- *   continue.
- *
- *   If the list is empty AND the message IS being allocated
- *   from the interrupt level.  This function will attempt to
- *   get a message from the g_msgfreeirq list.  If this is
- *   unsuccessful, the calling interrupt handler will be
- *   notified.
- *
- * Inputs:
- *   None
- *
- * Return Value:
- *   A reference to the allocated msg structure
- *
- ************************************************************/
-
-FAR mqmsg_t *mq_msgalloc(void)
-{
-  FAR mqmsg_t *mqmsg;
-  irqstate_t   saved_state;
-
-  /* If we were called from an interrupt handler, then try to
-   * get the message from generally available list of messages.
-   * If this fails, then try the list of messages reserved for
-   * interrupt handlers
-   */
-
-  if (up_interrupt_context())
-    {
-      /* Try the general free list */
-
-      mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree);
-      if (!mqmsg)
-        {
-          /* Try the free list reserved for interrupt handlers */
-
-          mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfreeirq);
-        }
-    }
-
-  /* We were not called from an interrupt handler. */
-
-  else
-    {
-      /* Try to get the message from the generally available free list.
-       * Disable interrupts -- we might be called from an interrupt handler.
-       */
-
-      saved_state = irqsave();
-      mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree);
-      irqrestore(saved_state);
-
-      /* If we cannot a message from the free list, then we will have to allocate one. */
-
-      if (!mqmsg)
-        {
-          mqmsg = (FAR mqmsg_t *)kmalloc((sizeof (mqmsg_t)));
-
-          /* Check if we got an allocated message */
-
-          if (mqmsg)
-            {
-              mqmsg->type = MQ_ALLOC_DYN;
-            }
-
-          /* No?  We are dead */
-
-          else
-            {
-              dbg("Out of messages\n");
-              PANIC((uint32)OSERR_OUTOFMESSAGES);
-            }
-        }
-    }
-
-  return(mqmsg);
-}
-
-/************************************************************
+/****************************************************************************
 * Private Functions
- ************************************************************/
+ ****************************************************************************/

-/************************************************************
+/****************************************************************************
 * Public Functions
- ************************************************************/
+ ****************************************************************************/

-/************************************************************
+/****************************************************************************
 * Function:  mq_send
 *
 * Description:
- *   This function adds the specificied message (msg) to the
- *   message queue (mqdes).  The "msglen" parameter specifies
- *   the length of the message in bytes pointed to by "msg."
- *   This length must not exceed the maximum message length
- *   from the mq_getattr().
+ *   This function adds the specificied message (msg) to the message queue
+ *   (mqdes).  The "msglen" parameter specifies the length of the message
+ *   in bytes pointed to by "msg."  This length must not exceed the maximum
+ *   message length from the mq_getattr().
 *
- *   If the message queue is not full, mq_send() will in the
- *   message in the message queue at the position indicated
- *   by the "prio" argrument.  Messages with higher priority
- *   will be inserted before lower priority messages.  The
- *   value of "prio" must not exceed MQ_PRIO_MAX.
+ *   If the message queue is not full, mq_send() place the message in the
+ *   message queue at the position indicated by the "prio" argrument.
+ *   Messages with higher priority will be inserted before lower priority
+ *   messages.  The value of "prio" must not exceed MQ_PRIO_MAX.
 *
- *   If the specified message queue is full and O_NONBLOCK
- *   is not set in the message queue, then mq_send() will
- *   block until space becomes available to the queue the
- *   message.
+ *   If the specified message queue is full and O_NONBLOCK is not set in the
+ *   message queue, then mq_send() will block until space becomes available
+ *   to the queue the message.
 *
- *   If the message queue is full and O_NONBLOCK is set,
- *   the message is not queued and ERROR is returned.
+ *   If the message queue is full and O_NONBLOCK is set, the message is not
+ *   queued and ERROR is returned.
 * 
 * Parameters:
 *   mqdes - Message queue descriptor
@@ -197,214 +98,84 @@ FAR mqmsg_t *mq_msgalloc(void)
 *   prio - The priority of the message
 *
 * Return Value:
- *   None
+ *   On success, mq_send() returns 0 (OK); on error, -1 (ERROR)
+ *   is returned, with errno set to indicate the error:
+ *
+ *   EAGAIN   The queue was empty, and the O_NONBLOCK flag was set for the
+ *            message queue description referred to by mqdes.
+ *   EINVAL   Either msg or mqdes is NULL or the value of prio is invalid.
+ *   EPERM    Message queue opened not opened for writing.
+ *   EMSGSIZE 'msglen' was greater than the maxmsgsize attribute of the
+ *            message queue.
+ *   EINTR    The call was interrupted by a signal handler.
 *
 * Assumptions/restrictions:
 *
- ************************************************************/
+ ****************************************************************************/

 int mq_send(mqd_t mqdes, const void *msg, size_t msglen, int prio)
 {
-  FAR _TCB    *rtcb;
-  FAR _TCB    *btcb;
  FAR msgq_t  *msgq;
-  FAR mqmsg_t *curr;
-  FAR mqmsg_t *next;
-  FAR mqmsg_t *prev;
+  FAR mqmsg_t *mqmsg = NULL;
  irqstate_t   saved_state;
  int          ret = ERROR;

-  /* Verify the input parameters */
+  /* Verify the input parameters -- setting errno appropriately
+   * on any failures to verify.
+   */
+
+  if (mq_verifysend(mqdes, msg, msglen, prio) != OK)
+    {
+      return ERROR;
+    }
+
+  /* Get a pointer to the message queue */

  sched_lock();
-  if (msg && mqdes && (mqdes->oflags & O_WROK) != 0 &&
-      msglen > 0 && msglen <= (size_t)mqdes->msgq->maxmsgsize &&
-      prio >= 0 && prio <= MQ_PRIO_MAX)
+  msgq = mqdes->msgq;
+
+  /* Allocate a message structure:
+   * - Immediately if we are called from an interrupt handler.
+   * - Immediately if the message queue is not full, or
+   * - After successfully waiting for the message queue to become
+   *   non-FULL.  This would fail with EAGAIN, EINTR, or ETIMEOUT.
+   */
+
+  saved_state = irqsave();
+  if (up_interrupt_context()      || /* In an interrupt handler */
+      msgq->nmsgs < msgq->maxmsgs || /* OR Message queue not full */
+      mq_waitsend(mqdes) == OK)      /* OR Successfully waited for mq not full */
    {
-      /* Get a pointer to the message queue */
+      /* Allocate the message */

-      msgq = mqdes->msgq;
-
-      /* If we are sending a message from an interrupt handler, then
-       * try to get message structure unconditionally.
-       */
-
-      saved_state = irqsave();
-      if (up_interrupt_context())
-        {
-          curr = mq_msgalloc();
-        }
-
-      /* Otherwise, arbitrarily limit the number of messages in the
-       * queue to the value determined when the message queue was opened.
-       * This makes us more POSIX-like as well as prohibits one slow
-       * responding task from consuming all available memory.
-       */
-
-      else if (msgq->nmsgs >= msgq->maxmsgs)
-        {
-          /* Should we block until there is sufficient space in the
-           * message queue?
-           */
-
-          if ((mqdes->oflags & O_NONBLOCK) != 0)
-            {
-              /* No... We will return an error to the caller. */
-
-              curr = NULL;
-            }
-
-          /* Yes... We will not return control until the message queue is
-           * available.
-           */
-
-          else
-            {
-              /* Loop until there are fewer than max allowable messages in the 
-               * receiving message queue
-               */
-
-              while (msgq->nmsgs >= msgq->maxmsgs)
-                {
-                  /* Block until the message queue is no longer full.
-                   * When we are unblocked, we will try again
-                   */
-
-                  rtcb = (FAR _TCB*)g_readytorun.head;
-                  rtcb->msgwaitq = msgq;
-                  (msgq->nwaitnotfull)++;
-                  up_block_task(rtcb, TSTATE_WAIT_MQNOTFULL);
-                }
-
-              /* It should be okay to get add a message to the receiving
-               * message queue now.
-               */
-
-              curr = mq_msgalloc();
-            }
-        }
-
-      /* We are not in an interrupt handler and the receiving message queue
-       * is not full
-       */
-
-      else
-        {
-          /* Just allocate a message */
-
-          curr = mq_msgalloc();
-        }
      irqrestore(saved_state);
+      mqmsg = mq_msgalloc();
+    }
+  else
+    {
+      /* We cannot send the message (and didn't even try to allocate it)
+       * because:
+       * - We are not in an interrupt handler AND
+       * - The message queue is full AND
+       * - When we tried waiting, the wait was unsuccessful.
+       */

-      /* Check if we were able to get a message structure */
+      irqrestore(saved_state);
+    }

-      if (curr)
-        {
-          /* Construct the current message header info */
+  /* Check if we were able to get a message structure -- this can fail
+   * either because we cannot send the message (and didn't bother trying
+   * to allocate it) or because the allocation failed.
+   */

-          curr->priority = (ubyte)prio;
-          curr->msglen   = (ubyte)msglen;
+  if (mqmsg)
+    {
+      /* Yes, peforrm the message send. */

-          /* Copy the message data into the message */
-
-          memcpy((void*)curr->mail, (const void*)msg, msglen);
-
-          /* Insert the new message in the message queue */
-
-          saved_state = irqsave();
-
-          /* Search the message list to find the location to insert the new
-           * message. Each is list is maintained in ascending priority order.
-           */
-
-          for (prev = NULL, next = (FAR mqmsg_t*)msgq->msglist.head;
-               next && prio <= next->priority;
-               prev = next, next = next->next);
-
-          /* Add the message at the right place */
-
-          if (prev)
-            {
-              sq_addafter((FAR sq_entry_t*)prev, (FAR sq_entry_t*)curr,
-                          &msgq->msglist);
-            }
-          else
-            {
-              sq_addfirst((FAR sq_entry_t*)curr, &msgq->msglist);
-            }
-
-          /* Increment the count of message in the queue */
-
-          msgq->nmsgs++;
-          irqrestore(saved_state);
-
-          /* Check if we need to notify any tasks that are attached to the
-           * message queue
-           */
-
-#ifndef CONFIG_DISABLE_SIGNALS
-          if (msgq->ntmqdes)
-            {
-              /* Remove the message notification data from the message queue. */
-
-#ifdef CONFIG_CAN_PASS_STRUCTS
-              union sigval value      = msgq->ntvalue;
-#else
-              void *sival_ptr         = msgq->ntvalue.sival_ptr;
-#endif
-              int signo               = msgq->ntsigno;
-              int pid                 = msgq->ntpid;
-
-              /* Detach the notification */
-
-              msgq->ntpid             = INVALID_PROCESS_ID;
-              msgq->ntsigno           = 0;
-              msgq->ntvalue.sival_int = 0;
-              msgq->ntmqdes           = NULL;
-
-              /* Queue the signal -- What if this returns an error? */
-
-#ifdef CONFIG_CAN_PASS_STRUCTS
-              sig_mqnotempty(pid, signo, value);
-#else
-              sig_mqnotempty(pid, signo, sival_ptr);
-#endif
-            }
-#endif
-          /* Check if any tasks are waiting for the MQ not empty event. */
-
-          saved_state = irqsave();
-          if (msgq->nwaitnotempty > 0)
-            {
-              /* Find the highest priority task that is waiting for
-               * this queue to be non-empty in g_waitingformqnotempty
-               * list. sched_lock() should give us sufficent protection since
-               * interrupts should never cause a change in this list
-               */
-
-              for (btcb = (FAR _TCB*)g_waitingformqnotempty.head;
-                   btcb && btcb->msgwaitq != msgq;
-                   btcb = btcb->flink);
-
-              /* If one was found, unblock it */
-
-              if (!btcb)
-                {
-                  PANIC(OSERR_MQNONEMPTYCOUNT);
-                }
-              else
-                {
-                  btcb->msgwaitq = NULL;
-                  msgq->nwaitnotempty--;
-                  up_unblock_task(btcb);
-                }
-            }
-          irqrestore(saved_state);
-          ret = OK;
-        }
+      ret = mq_dosend(mqdes, mqmsg, msg, msglen, prio);
    }

  sched_unlock();
-  return(ret);
+  return ret;
 }

--- a/sched/mq_sndinternal.c
+++ b/sched/mq_sndinternal.c
@@ -0,0 +1,448 @@
+/****************************************************************************
+ * mq_send.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name Gregory Nutt nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include  <nuttx/config.h>
+#include  <nuttx/kmalloc.h>
+#include  <sys/types.h>
+#include  <fcntl.h>
+#include  <mqueue.h>
+#include  <string.h>
+#include  <errno.h>
+#include  <sched.h>
+#include  <debug.h>
+#include  <nuttx/arch.h>
+#include  "os_internal.h"
+#ifndef CONFIG_DISABLE_SIGNALS
+# include "sig_internal.h"
+#endif
+#include  "mq_internal.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Type Declarations
+ ****************************************************************************/
+
+/****************************************************************************
+ * Global Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: mq_verifysend
+ *
+ * Description:
+ *   This is internal, common logic shared by both mq_send and mq_timesend.
+ *   This function verifies the input parameters that are common to both 
+ *   functions.
+ *
+ * Parameters:
+ *   mqdes - Message queue descriptor
+ *   msg - Message to send
+ *   msglen - The length of the message in bytes
+ *   prio - The priority of the message
+ *
+ * Return Value:
+ *   One success, 0 (OK) is returned. On failure, -1 (ERROR) is returned and
+ *   the errno is set appropriately:
+ *
+ *   EINVAL   Either msg or mqdes is NULL or the value of prio is invalid.
+ *   EPERM    Message queue opened not opened for writing.
+ *   EMSGSIZE 'msglen' was greater than the maxmsgsize attribute of the
+ *             message queue.
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+int mq_verifysend(mqd_t mqdes, const void *msg, size_t msglen, int prio)
+{
+  /* Verify the input parameters */
+
+  if (!msg || !mqdes || prio < 0 || prio > MQ_PRIO_MAX)
+    {
+      *get_errno_ptr() = EINVAL;
+      return ERROR;
+    }
+
+  if ((mqdes->oflags & O_WROK) == 0)
+    {
+      *get_errno_ptr() = EPERM;
+      return ERROR;
+    }
+
+  if (msglen < 0 || msglen > (size_t)mqdes->msgq->maxmsgsize)
+    {
+      *get_errno_ptr() = EMSGSIZE;
+      return ERROR;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Function: mq_msgalloc
+ *
+ * Description:
+ *   The mq_msgalloc function will get a free message for use by the
+ *   operating system.  The message will be allocated from the g_msgfree list.
+ *
+ *   If the list is empty AND the message is NOT being allocated from the
+ *   interrupt level, then the message will be allocated.  If a message
+ *   cannot be obtained, the operating system is dead and therefore cannot
+ *   continue.
+ *
+ *   If the list is empty AND the message IS being allocated from the
+ *   interrupt level.  This function will attempt to get a message from 
+ *   the g_msgfreeirq list.  If this is unsuccessful, the calling interrupt
+ *   handler will be notified.
+ *
+ * Inputs:
+ *   None
+ *
+ * Return Value:
+ *   A reference to the allocated msg structure.  On a failure to allocate,
+ *   this function PANICs.
+ *
+ ****************************************************************************/
+
+FAR mqmsg_t *mq_msgalloc(void)
+{
+  FAR mqmsg_t *mqmsg;
+  irqstate_t   saved_state;
+
+  /* If we were called from an interrupt handler, then try to get the message
+   * from generally available list of messages. If this fails, then try the
+   * list of messages reserved for interrupt handlers
+   */
+
+  if (up_interrupt_context())
+    {
+      /* Try the general free list */
+
+      mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree);
+      if (!mqmsg)
+        {
+          /* Try the free list reserved for interrupt handlers */
+
+          mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfreeirq);
+        }
+    }
+
+  /* We were not called from an interrupt handler. */
+
+  else
+    {
+      /* Try to get the message from the generally available free list.
+       * Disable interrupts -- we might be called from an interrupt handler.
+       */
+
+      saved_state = irqsave();
+      mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree);
+      irqrestore(saved_state);
+
+      /* If we cannot a message from the free list, then we will have to allocate one. */
+
+      if (!mqmsg)
+        {
+          mqmsg = (FAR mqmsg_t *)kmalloc((sizeof (mqmsg_t)));
+
+          /* Check if we got an allocated message */
+
+          if (mqmsg)
+            {
+              mqmsg->type = MQ_ALLOC_DYN;
+            }
+
+          /* No?  We are dead */
+
+          else
+            {
+              dbg("Out of messages\n");
+              PANIC((uint32)OSERR_OUTOFMESSAGES);
+            }
+        }
+    }
+
+  return mqmsg;
+}
+
+/****************************************************************************
+ * Function:  mq_waitsend
+ *
+ * Description:
+ *   This is internal, common logic shared by both mq_send and mq_timesend.
+ *   This function waits until the message queue is not full.
+ *
+ * Parameters:
+ *   mqdes - Message queue descriptor
+ *
+ * Return Value:
+ *   On success, mq_send() returns 0 (OK); on error, -1 (ERROR) is
+ *   returned, with errno set to indicate the error:
+ *
+ *   EAGAIN   The queue was empty, and the O_NONBLOCK flag was set for the
+ *            message queue description referred to by mqdes.
+ *   EINTR    The call was interrupted by a signal handler.
+ *   ETIMEOUT A timeout expired before the message queue became non-full
+ *            (mq_timedsend only).
+ *
+ * Assumptions/restrictions:
+ * - The caller has verified the input parameters using mq_verifysend().
+ * - Interrupts are disabled.
+ *
+ ****************************************************************************/
+
+int mq_waitsend(mqd_t mqdes)
+{
+  FAR _TCB    *rtcb;
+  FAR msgq_t  *msgq;
+
+  /* Get a pointer to the message queue */
+
+  msgq = mqdes->msgq;
+
+  /* Verify that the queue is indeed full as the caller thinks */
+
+  if (msgq->nmsgs >= msgq->maxmsgs)
+    {
+      /* Should we block until there is sufficient space in the
+       * message queue?
+       */
+
+      if ((mqdes->oflags & O_NONBLOCK) != 0)
+        {
+          /* No... We will return an error to the caller. */
+
+          *get_errno_ptr() = EAGAIN;
+          return ERROR;
+        }
+
+      /* Yes... We will not return control until the message queue is
+       * available or we receive a signal or at timout occurs.
+       */
+
+      else
+        {
+          /* Loop until there are fewer than max allowable messages in the 
+           * receiving message queue
+           */
+
+          while (msgq->nmsgs >= msgq->maxmsgs)
+            {
+              /* Block until the message queue is no longer full.
+               * When we are unblocked, we will try again
+               */
+
+              rtcb = (FAR _TCB*)g_readytorun.head;
+              rtcb->msgwaitq = msgq;
+              (msgq->nwaitnotempty)++;
+
+              *get_errno_ptr() = OK;
+              up_block_task(rtcb, TSTATE_WAIT_MQNOTFULL);
+
+              /* When we resume at this point, either (1) the message queue
+               * is no longer empty, or (2) the wait has been interrupted by
+               * a signal.  We can detect the latter case be examining the
+               * errno value (should be EINTR or ETIMEOUT).
+               */
+
+              if (*get_errno_ptr() != OK)
+                {
+                   return ERROR;
+                }
+            }
+        }
+    }
+  return OK;
+}
+
+/****************************************************************************
+ * Function:  mq_dosend
+ *
+ * Description:
+ *   This is internal, common logic shared by both mq_send and mq_timesend.
+ *   This function adds the specificied message (msg) to the message queue
+ *   (mqdes).  Then it notifies any tasks that were waiting for message
+ *   queue notifications setup by mq_notify.  And, finally, it awakens any
+ *   tasks that were waiting for the message not empty event.
+ * 
+ * Parameters:
+ *   mqdes - Message queue descriptor
+ *   msg - Message to send
+ *   msglen - The length of the message in bytes
+ *   prio - The priority of the message
+ *
+ * Return Value:
+ *   This function always returns OK.
+ *
+ * Assumptions/restrictions:
+ *
+ ****************************************************************************/
+
+int mq_dosend(mqd_t mqdes, FAR mqmsg_t *mqmsg, const void *msg, size_t msglen, int prio)
+{
+  FAR _TCB    *btcb;
+  FAR msgq_t  *msgq;
+  FAR mqmsg_t *next;
+  FAR mqmsg_t *prev;
+  irqstate_t   saved_state;
+
+  /* Get a pointer to the message queue */
+
+  sched_lock();
+  msgq = mqdes->msgq;
+
+  /* Construct the message header info */
+
+  mqmsg->priority = prio;
+  mqmsg->msglen   = msglen;
+
+  /* Copy the message data into the message */
+
+  memcpy((void*)mqmsg->mail, (const void*)msg, msglen);
+
+  /* Insert the new message in the message queue */
+
+  saved_state = irqsave();
+
+  /* Search the message list to find the location to insert the new
+   * message. Each is list is maintained in ascending priority order.
+   */
+
+  for (prev = NULL, next = (FAR mqmsg_t*)msgq->msglist.head;
+       next && prio <= next->priority;
+       prev = next, next = next->next);
+
+  /* Add the message at the right place */
+
+  if (prev)
+    {
+      sq_addafter((FAR sq_entry_t*)prev, (FAR sq_entry_t*)mqmsg,
+                  &msgq->msglist);
+    }
+  else
+    {
+      sq_addfirst((FAR sq_entry_t*)mqmsg, &msgq->msglist);
+    }
+
+  /* Increment the count of messages in the queue */
+
+  msgq->nmsgs++;
+  irqrestore(saved_state);
+
+  /* Check if we need to notify any tasks that are attached to the
+   * message queue
+   */
+
+#ifndef CONFIG_DISABLE_SIGNALS
+  if (msgq->ntmqdes)
+    {
+      /* Remove the message notification data from the message queue. */
+
+#ifdef CONFIG_CAN_PASS_STRUCTS
+      union sigval value      = msgq->ntvalue;
+#else
+      void *sival_ptr         = msgq->ntvalue.sival_ptr;
+#endif
+      int signo               = msgq->ntsigno;
+      int pid                 = msgq->ntpid;
+
+      /* Detach the notification */
+
+      msgq->ntpid             = INVALID_PROCESS_ID;
+      msgq->ntsigno           = 0;
+      msgq->ntvalue.sival_int = 0;
+      msgq->ntmqdes           = NULL;
+
+      /* Queue the signal -- What if this returns an error? */
+
+#ifdef CONFIG_CAN_PASS_STRUCTS
+      sig_mqnotempty(pid, signo, value);
+#else
+      sig_mqnotempty(pid, signo, sival_ptr);
+#endif
+    }
+#endif
+  /* Check if any tasks are waiting for the MQ not empty event. */
+
+  saved_state = irqsave();
+  if (msgq->nwaitnotempty > 0)
+    {
+      /* Find the highest priority task that is waiting for
+       * this queue to be non-empty in g_waitingformqnotempty
+       * list. sched_lock() should give us sufficent protection since
+       * interrupts should never cause a change in this list
+       */
+
+      for (btcb = (FAR _TCB*)g_waitingformqnotempty.head;
+           btcb && btcb->msgwaitq != msgq;
+           btcb = btcb->flink);
+
+      /* If one was found, unblock it */
+
+      if (!btcb)
+        {
+          PANIC(OSERR_MQNONEMPTYCOUNT);
+        }
+      else
+        {
+          btcb->msgwaitq = NULL;
+          msgq->nwaitnotempty--;
+          up_unblock_task(btcb);
+        }
+    }
+  irqrestore(saved_state);
+  sched_unlock();
+  return OK;
+}
+
--- a/sched/mq_timedreceive.c
+++ b/sched/mq_timedreceive.c
@@ -0,0 +1,308 @@
+/****************************************************************************
+ * mq_timedreceive.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name Gregory Nutt nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sys/types.h>
+#include <unistd.h>
+#include <errno.h>
+#include <mqueue.h>
+#include <wdog.h>
+#include <debug.h>
+#include <nuttx/arch.h>
+#include "os_internal.h"
+#include "clock_internal.h"
+#include "mq_internal.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Type Declarations
+ ****************************************************************************/
+
+/****************************************************************************
+ * Global Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function:  mq_rcvtimeout
+ *
+ * Description:
+ *   This function is called if the timeout elapses before the message queue
+ *   becomes non-empty.
+ *
+ * Parameters:
+ *   argc  - the number of arguments (should be 1)
+ *   pid   - the task ID of the task to wakeup
+ *
+ * Return Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static void mq_rcvtimeout(int argc, uint32 pid, ...)
+{
+  FAR _TCB *wtcb;
+  irqstate_t saved_state;
+
+  /* Disable interrupts.  This is necessary because an
+   * interrupt handler may attempt to send a message while we are
+   * doing this.
+   */
+
+  saved_state = irqsave();
+
+  /* Get the TCB associated with this pid.  It is possible that
+   * task may no longer be active when this watchdog goes off.
+   */
+
+  wtcb = sched_gettcb((pid_t)pid);
+
+  /* It is also possible that an interrupt/context switch beat us to the
+   * punch and already changed the task's state.
+   */
+
+  if (wtcb && wtcb->task_state == TSTATE_WAIT_MQNOTEMPTY)
+    {
+      /* Mark the errno value for the thread. */
+
+      wtcb->errno = ETIMEDOUT;
+
+      /* Restart the the task. */
+
+      up_unblock_task(wtcb);
+    }
+
+  /* Interrupts may now be enabled. */
+
+  irqrestore(saved_state);
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function:  mq_timedreceive
+ *
+ * Description:
+ *   This function receives the oldest of the highest
+ *   priority messages from the message queue specified by
+ *   "mqdes."  If the size of the buffer in bytes (msglen) is
+ *   less than the "mq_msgsize" attribute of the message
+ *   queue, mq_timedreceive will return an error.  Otherwise, the
+ *   selected message is removed from the queue and copied to
+ *   "msg."
+ *
+ *   If the message queue is empty and O_NONBLOCK was not
+ *   set, mq_timedreceive() will block until a message is added
+ *   to the message queue (or until a timeout occurs).  If more
+ *   than one task is waiting  to receive a message, only the
+ *   task with the highest priority that has waited the longest
+ *   will be unblocked.
+ *
+ *   mq_timedreceive() behaves just like mq_receive(), except
+ *   that if the queue is empty and the O_NONBLOCK flag is not
+ *   enabled for the message queue description, then abstime
+ *   points to a structure which specifies a ceiling on the time
+ *   for which the call will block.  This ceiling is an absolute
+ *   timeout in seconds and nanoseconds since the Epoch (midnight
+ *   on the morning of 1 January 1970).
+ *
+ *   If no message is available, and the timeout has already
+ *   expired by the time of the call, mq_timedreceive() returns
+ *   immediately.
+ *
+ * Parameters:
+ *   mqdes - Message Queue Descriptor
+ *   msg - Buffer to receive the message
+ *   msglen - Size of the buffer in bytes
+ *   prio - If not NULL, the location to store message priority.
+ *   abstime - the absolute time to wait until a timeout is declared.
+ *
+ * Return Value:
+ *   One success, the length of the selected message in bytes.is
+ *   returned.  On failure, -1 (ERROR) is returned and the errno
+ *   is set appropriately:
+ *
+ *   EAGAIN    The queue was empty, and the O_NONBLOCK flag was set
+ *             for the message queue description referred to by 'mqdes'.
+ *   EPERM     Message queue opened not opened for reading.
+ *   EMSGSIZE  'msglen' was less than the maxmsgsize attribute of the
+ *             message queue.
+ *   EINTR     The call was interrupted by a signal handler.
+ *   EINVAL    Invalid 'msg' or 'mqdes' or 'abstime'
+ *   ETIMEDOUT The call timed out before a message could be transferred.
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+ssize_t mq_timedreceive(mqd_t mqdes, void *msg, size_t msglen,
+                        int *prio, const struct timespec *abstime)
+{
+  WDOG_ID      wdog;
+  FAR mqmsg_t *mqmsg;
+  irqstate_t   saved_state;
+  int          ret = ERROR;
+
+  DEBUGASSERT(!up_interrupt_context());
+
+  /* Verify the input parameters and, in case of an error, set
+   * errno appropriately.
+   */
+
+  if (mq_verifyreceive(mqdes, msg, msglen) != OK)
+    {
+      return ERROR;
+    }
+
+  if (!abstime || abstime->tv_sec < 0 || abstime->tv_nsec > 1000000000)
+    {
+      *get_errno_ptr() = EINVAL;
+      return ERROR;
+    }
+
+  /* Create a watchdog.  We will not actually need this watchdog
+   * unless the queue is not empty, but we will reserve it up front
+   * before we enter the following critical section.
+   */
+
+  wdog = wd_create();
+  if (!wdog)
+    {
+      *get_errno_ptr() = EINVAL;
+      return ERROR;
+    }
+
+  /* Get the next mesage from the message queue.  We will disable
+   * pre-emption until we have completed the message received.  This
+   * is not too bad because if the receipt takes a long time, it will
+   * be because we are blocked waiting for a message and pre-emption
+   * will be re-enabled while we are blocked
+   */
+
+  sched_lock();
+
+  /* Furthermore, mq_waitreceive() expects to have interrupts disabled
+   * because messages can be sent from interrupt level.
+   */
+
+  saved_state = irqsave();
+
+  /* Check if the message queue is empty.  If it is NOT empty, then we
+   * will not need to start timer.
+   */
+
+  if (mqdes->msgq->msglist.head == NULL)
+    {
+      sint32 ticks;
+
+      /* Convert the timespec to clock ticks.  We must have interrupts
+       * disabled here so that this time stays valid until the wait begins.
+       */
+
+      int result = clock_abstime2ticks(CLOCK_REALTIME, abstime, &ticks);
+
+      /* If the time has already expired and the message queue is empty,
+       * return immediately.
+       */
+
+      if (result == OK && ticks <= 0)
+        {
+          result = ETIMEDOUT;
+        }
+
+      /* Handle any time-related errors */
+
+      if (result != OK)
+        {
+          *get_errno_ptr() = result;
+          irqrestore(saved_state);
+          sched_unlock();
+          wd_delete(wdog);
+          return ERROR;
+        }
+
+      /* Start the watchdog */
+
+      wd_start(wdog, ticks, (wdentry_t)mq_rcvtimeout, 1, getpid());
+    }
+
+  /* Get the message from the message queue */
+
+  mqmsg = mq_waitreceive(mqdes);
+
+  /* Stop the watchdog timer (this is not harmful in the case where
+   * it was never started)
+   */
+
+  wd_cancel(wdog);
+
+  /* We can now restore interrupts */
+
+  irqrestore(saved_state);
+
+  /* Check if we got a message from the message queue.  We might
+   * not have a message if:
+   *
+   * - The message queue is empty and O_NONBLOCK is set in the mqdes
+   * - The wait was interrupted by a signal
+   * - The watchdog timeout expired
+   */
+
+  if (mqmsg)
+    {
+      ret = mq_doreceive(mqdes, mqmsg, msg, prio);
+    }
+
+  sched_unlock();
+  wd_delete(wdog);
+  return ret;
+}
--- a/sched/mq_timedsend.c
+++ b/sched/mq_timedsend.c
@@ -0,0 +1,320 @@
+/****************************************************************************
+ * mq_timedsend.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name Gregory Nutt nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <mqueue.h>
+#include <wdog.h>
+#include <errno.h>
+#include <debug.h>
+#include <nuttx/arch.h>
+#include "clock_internal.h"
+#include "os_internal.h"
+#include "mq_internal.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Type Declarations
+ ****************************************************************************/
+
+/****************************************************************************
+ * Global Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function:  mq_sndtimeout
+ *
+ * Description:
+ *   This function is called if the timeout elapses before the message queue
+ *   becomes non-full.
+ *
+ * Parameters:
+ *   argc  - the number of arguments (should be 1)
+ *   pid   - the task ID of the task to wakeup
+ *
+ * Return Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static void mq_sndtimeout(int argc, uint32 pid, ...)
+{
+  FAR _TCB *wtcb;
+  irqstate_t saved_state;
+
+  /* Disable interrupts.  This is necessary because an
+   * interrupt handler may attempt to send a message while we are
+   * doing this.
+   */
+
+  saved_state = irqsave();
+
+  /* Get the TCB associated with this pid.  It is possible that
+   * task may no longer be active when this watchdog goes off.
+   */
+
+  wtcb = sched_gettcb((pid_t)pid);
+
+  /* It is also possible that an interrupt/context switch beat us to the
+   * punch and already changed the task's state.
+   */
+
+  if (wtcb && wtcb->task_state == TSTATE_WAIT_MQNOTFULL)
+    {
+      /* Mark the errno value for the thread. */
+
+      wtcb->errno = ETIMEDOUT;
+
+      /* Restart the the task. */
+
+      up_unblock_task(wtcb);
+    }
+
+  /* Interrupts may now be enabled. */
+
+  irqrestore(saved_state);
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function:  mq_send
+ *
+ * Description:
+ *   This function adds the specificied message (msg) to the message queue
+ *   (mqdes).  The "msglen" parameter specifies the length of the message
+ *   in bytes pointed to by "msg."  This length must not exceed the maximum
+ *   message length from the mq_getattr().
+ *
+ *   If the message queue is not full, mq_timedsend() place the message in the
+ *   message queue at the position indicated by the "prio" argrument.
+ *   Messages with higher priority will be inserted before lower priority
+ *   messages.  The value of "prio" must not exceed MQ_PRIO_MAX.
+ *
+ *   If the specified message queue is full and O_NONBLOCK is not set in the
+ *   message queue, then mq_timedsend() will block until space becomes available
+ *   to the queue the message or a timeout occurs.
+ *
+ *   mq_timedsend() behaves just like mq_send(), except that if the queue
+ *   is full and the O_NONBLOCK flag is not enabled for the message queue
+ *   description, then abstime points to a structure which specifies a
+ *   ceiling on the time for which the call will block.  This ceiling is an
+ *   absolute timeout in seconds and nanoseconds since the Epoch (midnight
+ *   on the morning of 1 January 1970).
+ *
+ *   If the message queue is full, and the timeout has already expired by
+ *   the time of the call, mq_timedsend() returns immediately.
+ * 
+ * Parameters:
+ *   mqdes - Message queue descriptor
+ *   msg - Message to send
+ *   msglen - The length of the message in bytes
+ *   prio - The priority of the message
+ *   abstime - the absolute time to wait until a timeout is decleared
+ *
+ * Return Value:
+ *   On success, mq_send() returns 0 (OK); on error, -1 (ERROR)
+ *   is returned, with errno set to indicate the error:
+ *
+ *   EAGAIN   The queue was empty, and the O_NONBLOCK flag was set for the
+ *            message queue description referred to by mqdes.
+ *   EINVAL   Either msg or mqdes is NULL or the value of prio is invalid.
+ *   EPERM    Message queue opened not opened for writing.
+ *   EMSGSIZE 'msglen' was greater than the maxmsgsize attribute of the
+ *            message queue.
+ *   EINTR    The call was interrupted by a signal handler.
+ *
+ * Assumptions/restrictions:
+ *
+ ****************************************************************************/
+
+int mq_timedsend(mqd_t mqdes, const char *msg, size_t msglen, int prio,
+                 const struct timespec *abstime)
+{
+  WDOG_ID      wdog;
+  FAR msgq_t  *msgq;
+  FAR mqmsg_t *mqmsg = NULL;
+  irqstate_t   saved_state;
+  int          ret = ERROR;
+
+  DEBUGASSERT(!up_interrupt_context());
+
+  /* Verify the input parameters -- setting errno appropriately
+   * on any failures to verify.
+   */
+
+  if (mq_verifysend(mqdes, msg, msglen, prio) != OK)
+    {
+      return ERROR;
+    }
+
+  if (!abstime || abstime->tv_sec < 0 || abstime->tv_nsec > 1000000000)
+    {
+      *get_errno_ptr() = EINVAL;
+      return ERROR;
+    }
+
+  /* Get a pointer to the message queue */
+
+  msgq = mqdes->msgq;
+
+  /* Create a watchdog.  We will not actually need this watchdog
+   * unless the queue is full, but we will reserve it up front
+   * before we enter the following critical section.
+   */
+
+  wdog = wd_create();
+  if (!wdog)
+    {
+      *get_errno_ptr() = EINVAL;
+      return ERROR;
+    }
+
+  /* Allocate a message structure:
+   * - If we are called from an interrupt handler, or
+   * - If the message queue is not full, or
+   */
+
+  sched_lock();
+  saved_state = irqsave();
+  if (up_interrupt_context()      || /* In an interrupt handler */
+      msgq->nmsgs < msgq->maxmsgs)   /* OR Message queue not full */
+    {
+      /* Allocate the message */
+
+      irqrestore(saved_state);
+      mqmsg = mq_msgalloc();
+    }
+  else
+    {
+      sint32 ticks;
+
+      /* We are not in an interupt handler and the message queue is full.
+       * set up a timed wait for the message queue to become non-full.
+       *
+       * Convert the timespec to clock ticks.  We must have interrupts
+       * disabled here so that this time stays valid until the wait begins.
+       */
+
+      int result = clock_abstime2ticks(CLOCK_REALTIME, abstime, &ticks);
+
+      /* If the time has already expired and the message queue is empty,
+       * return immediately.
+       */
+
+      if (result == OK && ticks <= 0)
+        {
+          result = ETIMEDOUT;
+        }
+
+      /* Handle any time-related errors */
+
+      if (result != OK)
+        {
+         *get_errno_ptr() = result;
+          ret = ERROR;
+        }
+
+      /* Start the watchdog and begin the wait for MQ not full */
+
+      if (result == OK)
+        {
+          /* Start the watchdog */
+
+          wd_start(wdog, ticks, (wdentry_t)mq_sndtimeout, 1, getpid());
+
+          /* And wait for the message queue to be non-empty */
+
+          ret = mq_waitsend(mqdes);
+
+          /* This may return with an error and errno set to either EINTR
+           * or ETIMEOUT.  Cancel the watchdog timer in any event.
+           */
+
+          wd_cancel(wdog);
+        }
+
+      /* That is the end of the atomic operations */
+
+      irqrestore(saved_state);
+
+      /* If any of the above failed, set the errno.  Otherwise, there should
+       * be space for another message in the message queue.  NOW we can allocate
+       * the message structure.
+       */
+
+      if (ret == OK)
+        {
+          mqmsg = mq_msgalloc();
+        }
+    }
+
+  /* Check if we were able to get a message structure -- this can fail
+   * either because we cannot send the message (and didn't bother trying
+   * to allocate it) or because the allocation failed.
+   */
+
+  if (mqmsg)
+    {
+      /* Yes, peform the message send. */
+
+      ret = mq_dosend(mqdes, mqmsg, msg, msglen, prio);
+    }
+
+  sched_unlock();
+  wd_delete(wdog);
+  return ret;
+}
+
--- a/sched/mq_waitirq.c
+++ b/sched/mq_waitirq.c
@@ -0,0 +1,125 @@
+/************************************************************
+ * mq_waitirq.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name Gregory Nutt nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************/
+
+/************************************************************
+ * Included Files
+ ************************************************************/
+
+#include <sys/types.h>
+#include <sched.h>
+#include <errno.h>
+#include <nuttx/arch.h>
+#include "sem_internal.h"
+
+/************************************************************
+ * Compilation Switches
+ ************************************************************/
+
+/************************************************************
+ * Definitions
+ ************************************************************/
+
+/************************************************************
+ * Private Type Declarations
+ ************************************************************/
+
+/************************************************************
+ * Global Variables
+ ************************************************************/
+
+/************************************************************
+ * Private Variables
+ ************************************************************/
+
+/************************************************************
+ * Private Functions
+ ************************************************************/
+
+/************************************************************
+ * Public Functions
+ ************************************************************/
+
+/************************************************************
+ * Function:  sem_waitirq
+ *
+ * Description:
+ *   This function is called when a signal is received by a
+ *   task that is waiting on a message queue -- either for a
+ *   queue to becoming not full (on mq_send) or not empty
+ *   (on mq_receive).
+ *
+ * Parameters:
+ *   wtcb - A pointer to the TCB of the task that is waiting
+ *      on a message queue, but has received a signal instead.
+ *
+ * Return Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ ************************************************************/
+
+void mq_waitirq(FAR _TCB *wtcb)
+{
+  irqstate_t saved_state;
+
+  /* Disable interrupts.  This is necessary because an
+   * interrupt handler may attempt to send a message while we are
+   * doing this.
+   */
+
+  saved_state = irqsave();
+
+  /* It is possible that an interrupt/context switch beat us to the
+   * punch and already changed the task's state.
+   */
+
+  if (wtcb->task_state == TSTATE_WAIT_MQNOTEMPTY ||
+      wtcb->task_state == TSTATE_WAIT_MQNOTFULL)
+    {
+      /* Mark the errno value for the thread. */
+
+      wtcb->errno = EINTR;
+
+      /* Restart the the task. */
+
+      up_unblock_task(wtcb);
+    }
+
+  /* Interrupts may now be enabled. */
+
+  irqrestore(saved_state);
+}
+
--- a/sched/os_internal.h
+++ b/sched/os_internal.h
@@ -243,7 +243,7 @@ extern void    task_start(void);
 extern STATUS  task_schedsetup(FAR _TCB *tcb, int priority,
                               start_t start, main_t main);
 extern STATUS  task_argsetup(FAR _TCB *tcb, const char *name,
-                             char *argv[]);
+                             const char *argv[]);

 extern boolean sched_addreadytorun(FAR _TCB *rtrtcb);
 extern boolean sched_removereadytorun(FAR _TCB *rtrtcb);
--- a/sched/os_start.c
+++ b/sched/os_start.c
@@ -418,10 +418,10 @@ void os_start(void)
 #ifndef CONFIG_CUSTOM_STACK
  init_taskid = task_create("init", SCHED_PRIORITY_DEFAULT,
                            CONFIG_PROC_STACK_SIZE,
-                            (main_t)user_start, (char **)NULL);
+                            (main_t)user_start, (const char **)NULL);
 #else
  init_taskid = task_create("init", SCHED_PRIORITY_DEFAULT,
-                            (main_t)user_start, (char **)NULL);
+                            (main_t)user_start, (const char **)NULL);
 #endif
  ASSERT(init_taskid != ERROR);

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
patacongo	13f01b4cf3	update git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@182 42af7a65-404d-4744-a932-0658087f49c3	2007-03-30 13:21:20 +00:00
patacongo	d2410c93c6	Fix another potential pthread_join race condition git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@181 42af7a65-404d-4744-a932-0658087f49c3	2007-03-30 13:11:19 +00:00
patacongo	f29250c671	Correct a race condition in the pthread join logic. Sometimes the join structure was being deallocated while it was still needed. git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@180 42af7a65-404d-4744-a932-0658087f49c3	2007-03-30 00:49:11 +00:00
patacongo	2a929796b9	Add timed mqueue test. git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@179 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 23:44:55 +00:00
patacongo	b1127822ed	Fix bugs detected by timed mqueue test. git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@178 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 23:43:54 +00:00
patacongo	448c7f4618	Container being deallocated before buffers in container. Caused memory leak. git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@177 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 16:53:03 +00:00
patacongo	ed4fe71b96	Updated test results git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@176 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 14:27:23 +00:00
patacongo	63f134f988	Wrong task state git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@175 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 14:22:29 +00:00
patacongo	8b9fcf354e	Moved exclusion logic to a higher level so that printf output is more readable when the same stdout FILE* is shared by many pthreads (tasks did not have this probablem because they have separate stdout streams). git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@174 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 14:21:31 +00:00
patacongo	b1d5b6899a	Signal mask is now inherited by both child tasks and threads; this has the side-effect of changing the initia l state of all signals from blocked to unblocked. git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@173 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 13:34:37 +00:00
patacongo	2aab4d3c3a	Unmatched sched_lock()/sched_unlock() git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@172 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 13:32:13 +00:00
patacongo	b765d17818	Don't allow signals to wake up blocked task if the signal is blocked. git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@171 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 13:31:08 +00:00
patacongo	54339607da	Block signals while pthread exits. git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@170 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 13:29:29 +00:00
patacongo	0c2ff4a47c	typo git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@169 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 13:28:27 +00:00
patacongo	23dffb8f23	Eliminate warnings git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@168 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 13:27:43 +00:00
patacongo	0db3f5c256	task_delete() calls sched_unlock(); _exit must keep pre-emption disabled until pending queue emptied. git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@167 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 13:26:24 +00:00
patacongo	56f7399200	Added mq_timedsend() and mq_timedreceive() git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@166 42af7a65-404d-4744-a932-0658087f49c3	2007-03-29 13:25:18 +00:00
patacongo	5f5d5496d9	Update mq_send() and mq_receive() description git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@165 42af7a65-404d-4744-a932-0658087f49c3	2007-03-28 16:00:57 +00:00
patacongo	3e352ca10b	mq_receive/send: Return appropriate errnos and stop waiting if signal received. git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@164 42af7a65-404d-4744-a932-0658087f49c3	2007-03-28 14:48:42 +00:00
patacongo	c5971231da	updates git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@163 42af7a65-404d-4744-a932-0658087f49c3	2007-03-27 21:27:41 +00:00
patacongo	b7a85058a4	update git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@162 42af7a65-404d-4744-a932-0658087f49c3	2007-03-27 16:35:48 +00:00
patacongo	4ee22e2307	Board-specific LED logic moved to board-specific directory git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@161 42af7a65-404d-4744-a932-0658087f49c3	2007-03-27 16:35:17 +00:00
patacongo	daffb73624	Use gzip instead of bzip2 git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@160 42af7a65-404d-4744-a932-0658087f49c3	2007-03-27 16:20:47 +00:00
patacongo	c5af51943b	Move PJRC led support into board-specific logic git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@159 42af7a65-404d-4744-a932-0658087f49c3	2007-03-27 16:19:51 +00:00
patacongo	795ffc3829	Remove leftover debug echo git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@158 42af7a65-404d-4744-a932-0658087f49c3	2007-03-27 16:19:01 +00:00
patacongo	efa97ac0f5	Add DM320 LED support git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@157 42af7a65-404d-4744-a932-0658087f49c3	2007-03-27 16:17:23 +00:00
patacongo	b441f43a6e	Fix DM320 CFLAGS git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@156 42af7a65-404d-4744-a932-0658087f49c3	2007-03-27 16:16:09 +00:00
patacongo	c9011c0f30	Create a place to hold board-specific drivers git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@155 42af7a65-404d-4744-a932-0658087f49c3	2007-03-26 22:32:58 +00:00
patacongo	03771dd514	Bad import git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@154 42af7a65-404d-4744-a932-0658087f49c3	2007-03-26 22:28:03 +00:00
patacongo	18149c3b98	Was delete link then delete link in directory referenced by link git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@153 42af7a65-404d-4744-a932-0658087f49c3	2007-03-26 22:22:20 +00:00
patacongo	aa56898b82	Moved to board-specific directory git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@152 42af7a65-404d-4744-a932-0658087f49c3	2007-03-26 22:16:07 +00:00
patacongo	8e8fc062a5	Add a directory to hold board-specific drivers git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@151 42af7a65-404d-4744-a932-0658087f49c3	2007-03-26 22:14:28 +00:00
patacongo	c0934f429d	Initial Revision git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@148 42af7a65-404d-4744-a932-0658087f49c3	2007-03-26 22:05:53 +00:00
patacongo	bf9cc8b7ab	Initial Revision git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@147 42af7a65-404d-4744-a932-0658087f49c3	2007-03-26 16:51:05 +00:00
patacongo	47118057ea	Create a place to hold board specific header files git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@146 42af7a65-404d-4744-a932-0658087f49c3	2007-03-26 16:47:17 +00:00
patacongo	468beb1305	Makefile would sometimes create spurious links git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@145 42af7a65-404d-4744-a932-0658087f49c3	2007-03-25 13:16:27 +00:00
patacongo	df2a08cf9b	Add test of pthread barrier logic git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@144 42af7a65-404d-4744-a932-0658087f49c3	2007-03-24 22:32:53 +00:00
patacongo	a02374bb45	updates git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@143 42af7a65-404d-4744-a932-0658087f49c3	2007-03-24 15:57:35 +00:00
patacongo	3631d1e1ad	Eliminate warnings git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@142 42af7a65-404d-4744-a932-0658087f49c3	2007-03-24 15:57:00 +00:00
patacongo	16e8906ed5	Add logic to protect the user task errno when errno access are performed from interrupt handlers. git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@141 42af7a65-404d-4744-a932-0658087f49c3	2007-03-24 15:56:27 +00:00
patacongo	d551204f84	Cosmetic git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@140 42af7a65-404d-4744-a932-0658087f49c3	2007-03-24 15:55:21 +00:00
patacongo	3d5eebad25	Add pthread_setschedprio() prototype git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@139 42af7a65-404d-4744-a932-0658087f49c3	2007-03-24 15:54:42 +00:00
patacongo	b9d2a2b971	Add SCHED_SPORADIC (even though we don't use it) git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@138 42af7a65-404d-4744-a932-0658087f49c3	2007-03-24 15:53:52 +00:00
patacongo	768a214d63	Don't all sched_setparam; call up_prrioritize_rtr directly git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@137 42af7a65-404d-4744-a932-0658087f49c3	2007-03-24 15:52:45 +00:00
patacongo	b282cd3f42	Correct errno handling git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@136 42af7a65-404d-4744-a932-0658087f49c3	2007-03-24 15:51:50 +00:00
patacongo	e689e148e8	Added pthread_setschedprio() git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@135 42af7a65-404d-4744-a932-0658087f49c3	2007-03-24 15:51:01 +00:00
patacongo	7a1f5f61bd	Add new pthread_* APIs git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@134 42af7a65-404d-4744-a932-0658087f49c3	2007-03-23 23:22:22 +00:00
patacongo	1e8eaa90c1	Fix memory leaks git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@133 42af7a65-404d-4744-a932-0658087f49c3	2007-03-23 16:06:22 +00:00
patacongo	5af89ab5eb	Needs prototype for timer_test() git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@132 42af7a65-404d-4744-a932-0658087f49c3	2007-03-23 16:05:52 +00:00
patacongo	a2ed490c11	should not include pthread.h git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@131 42af7a65-404d-4744-a932-0658087f49c3	2007-03-23 16:04:58 +00:00
patacongo	a2c26f080a	argv parameter should be 'const' git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@130 42af7a65-404d-4744-a932-0658087f49c3	2007-03-23 16:03:28 +00:00
patacongo	30c1d1028d	limits.h is also a required file git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@129 42af7a65-404d-4744-a932-0658087f49c3	2007-03-23 16:02:36 +00:00
patacongo	0baf1522b1	Initial Release git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@128 42af7a65-404d-4744-a932-0658087f49c3	2007-03-23 16:00:16 +00:00
patacongo	5325f906c7	Move to the configs subdirectory git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@127 42af7a65-404d-4744-a932-0658087f49c3	2007-03-23 02:29:35 +00:00
patacongo	ef4d567b78	Create configs/ dir; separate board configuration from processor architecture git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@126 42af7a65-404d-4744-a932-0658087f49c3	2007-03-23 02:25:54 +00:00
patacongo	aae8532783	Initial Release git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@125 42af7a65-404d-4744-a932-0658087f49c3	2007-03-23 02:24:38 +00:00
patacongo	1367c062f7	Remove duplicated instruction git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@124 42af7a65-404d-4744-a932-0658087f49c3	2007-03-23 00:27:05 +00:00
patacongo	136e3d9fca	update git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@123 42af7a65-404d-4744-a932-0658087f49c3	2007-03-22 19:17:38 +00:00
patacongo	8abec4bbb0	This platform does not need rrload format git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@122 42af7a65-404d-4744-a932-0658087f49c3	2007-03-22 19:15:18 +00:00
				`@@ -0,0 +1 @@`
				`This directory contains header files unique to the Spectrum Digital C5471 EVM.`
				`@@ -0,0 +1,2 @@`
				`This directory contains drivers unique to the Spectrum Digital C5471 EVM.`