diff -ruN NuttX/nuttx/arch/arm/include/math.h NuttX/nuttx/arch/arm/include/math.h
--- NuttX/nuttx/arch/arm/include/math.h	1969-12-31 14:00:00.000000000 -1000
+++ NuttX/nuttx/arch/arm/include/math.h	2014-12-25 17:33:53.404950574 -1000
@@ -0,0 +1,579 @@
+#ifndef  _MATH_H_
+
+#define  _MATH_H_
+
+#include <machine/ieeefp.h>
+#include "_ansi.h"
+
+_BEGIN_STD_C
+
+/* Natural log of 2 */
+#define _M_LN2        0.693147180559945309417
+
+#if defined(__GNUC__) && \
+  ( (__GNUC__ >= 4) || \
+    ( (__GNUC__ >= 3) && defined(__GNUC_MINOR__) && (__GNUC_MINOR__ >= 3) ) )
+
+ /* gcc >= 3.3 implicitly defines builtins for HUGE_VALx values.  */
+
+# ifndef HUGE_VAL
+#  define HUGE_VAL (__builtin_huge_val())
+# endif
+
+# ifndef HUGE_VALF
+#  define HUGE_VALF (__builtin_huge_valf())
+# endif
+
+# ifndef HUGE_VALL
+#  define HUGE_VALL (__builtin_huge_vall())
+# endif
+
+# ifndef INFINITY
+#  define INFINITY (__builtin_inff())
+# endif
+
+# ifndef NAN
+#  define NAN (__builtin_nanf(""))
+# endif
+
+#else /* !gcc >= 3.3  */
+
+ /*      No builtins.  Use fixed defines instead.  (All 3 HUGE plus the INFINITY
+ *        * and NAN macros are required to be constant expressions.  Using a variable--
+ *          * even a static const--does not meet this requirement, as it cannot be
+ *            * evaluated at translation time.)
+ *              *      The infinities are done using numbers that are far in excess of
+ *                * something that would be expected to be encountered in a floating-point
+ *                  * implementation.  (A more certain way uses values from float.h, but that is
+ *                    * avoided because system includes are not supposed to include each other.)
+ *                      *      This method might produce warnings from some compilers.  (It does in
+ *                        * newer GCCs, but not for ones that would hit this #else.)  If this happens,
+ *                          * please report details to the Newlib mailing list.  */
+
+ #ifndef HUGE_VAL
+  #define HUGE_VAL (1.0e999999999)
+ #endif
+
+ #ifndef HUGE_VALF
+  #define HUGE_VALF (1.0e999999999F)
+ #endif
+
+ #if !defined(HUGE_VALL)  &&  defined(_HAVE_LONG_DOUBLE)
+  #define HUGE_VALL (1.0e999999999L)
+ #endif
+
+ #if !defined(INFINITY)
+  #define INFINITY (HUGE_VALF)
+ #endif
+
+ #if !defined(NAN)
+  #if defined(__GNUC__)  &&  defined(__cplusplus)
+    /* Exception:  older g++ versions warn about the divide by 0 used in the
+ *      * normal case (even though older gccs do not).  This trick suppresses the
+ *           * warning, but causes errors for plain gcc, so is only used in the one
+ *                * special case.  */
+    static const union { __ULong __i[1]; float __d; } __Nanf = {0x7FC00000};
+    #define NAN (__Nanf.__d)
+  #else
+    #define NAN (0.0F/0.0F)
+  #endif
+ #endif
+
+#endif /* !gcc >= 3.3  */
+
+/* Reentrant ANSI C functions.  */
+
+#ifndef __math_68881
+extern double atan _PARAMS((double));
+extern double cos _PARAMS((double));
+extern double sin _PARAMS((double));
+extern double tan _PARAMS((double));
+extern double tanh _PARAMS((double));
+extern double frexp _PARAMS((double, int *));
+extern double modf _PARAMS((double, double *));
+extern double ceil _PARAMS((double));
+extern double fabs _PARAMS((double));
+extern double floor _PARAMS((double));
+#endif /* ! defined (__math_68881) */
+
+/* Non reentrant ANSI C functions.  */
+
+#ifndef _REENT_ONLY
+#ifndef __math_68881
+extern double acos _PARAMS((double));
+extern double asin _PARAMS((double));
+extern double atan2 _PARAMS((double, double));
+extern double cosh _PARAMS((double));
+extern double sinh _PARAMS((double));
+extern double exp _PARAMS((double));
+extern double ldexp _PARAMS((double, int));
+extern double log _PARAMS((double));
+extern double log10 _PARAMS((double));
+extern double pow _PARAMS((double, double));
+extern double sqrt _PARAMS((double));
+extern double fmod _PARAMS((double, double));
+#endif /* ! defined (__math_68881) */
+#endif /* ! defined (_REENT_ONLY) */
+
+#if !defined(__STRICT_ANSI__) || defined(__cplusplus) || __STDC_VERSION__ >= 199901L
+
+/* ISO C99 types and macros. */
+
+#ifndef FLT_EVAL_METHOD
+#define FLT_EVAL_METHOD 0
+typedef float float_t;
+typedef double double_t;
+#endif /* FLT_EVAL_METHOD */
+
+#define FP_NAN         0
+#define FP_INFINITE    1
+#define FP_ZERO        2
+#define FP_SUBNORMAL   3
+#define FP_NORMAL      4
+
+#ifndef FP_ILOGB0
+# define FP_ILOGB0 (-INT_MAX)
+#endif
+#ifndef FP_ILOGBNAN
+# define FP_ILOGBNAN INT_MAX
+#endif
+
+#ifndef MATH_ERRNO
+# define MATH_ERRNO 1
+#endif
+#ifndef MATH_ERREXCEPT
+# define MATH_ERREXCEPT 2
+#endif
+#ifndef math_errhandling
+# define math_errhandling MATH_ERRNO
+#endif
+
+extern int __isinff (float x);
+extern int __isinfd (double x);
+extern int __isnanf (float x);
+extern int __isnand (double x);
+extern int __fpclassifyf (float x);
+extern int __fpclassifyd (double x);
+extern int __signbitf (float x);
+extern int __signbitd (double x);
+
+#define fpclassify(__x) \
+	((sizeof(__x) == sizeof(float))  ? __fpclassifyf(__x) : \
+	__fpclassifyd(__x))
+
+#ifndef isfinite
+  #define isfinite(__y) \
+          (__extension__ ({int __cy = fpclassify(__y); \
+                           __cy != FP_INFINITE && __cy != FP_NAN;}))
+#endif
+
+/* Note: isinf and isnan were once functions in newlib that took double
+ *  *       arguments.  C99 specifies that these names are reserved for macros
+ *   *       supporting multiple floating point types.  Thus, they are
+ *    *       now defined as macros.  Implementations of the old functions
+ *     *       taking double arguments still exist for compatibility purposes
+ *      *       (prototypes for them are in <ieeefp.h>).  */
+#ifndef isinf
+  #define isinf(y) (fpclassify(y) == FP_INFINITE)
+#endif
+
+#ifndef isnan
+  #define isnan(y) (fpclassify(y) == FP_NAN)
+#endif
+
+#define isnormal(y) (fpclassify(y) == FP_NORMAL)
+#define signbit(__x) \
+	((sizeof(__x) == sizeof(float))  ?  __signbitf(__x) : \
+		__signbitd(__x))
+
+#define isgreater(x,y) \
+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
+                           !isunordered(__x,__y) && (__x > __y);}))
+#define isgreaterequal(x,y) \
+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
+                           !isunordered(__x,__y) && (__x >= __y);}))
+#define isless(x,y) \
+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
+                           !isunordered(__x,__y) && (__x < __y);}))
+#define islessequal(x,y) \
+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
+                           !isunordered(__x,__y) && (__x <= __y);}))
+#define islessgreater(x,y) \
+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
+                           !isunordered(__x,__y) && (__x < __y || __x > __y);}))
+
+#define isunordered(a,b) \
+          (__extension__ ({__typeof__(a) __a = (a); __typeof__(b) __b = (b); \
+                           fpclassify(__a) == FP_NAN || fpclassify(__b) == FP_NAN;}))
+
+/* Non ANSI double precision functions.  */
+
+extern double infinity _PARAMS((void));
+extern double nan _PARAMS((const char *));
+extern int finite _PARAMS((double));
+extern double copysign _PARAMS((double, double));
+extern double logb _PARAMS((double));
+extern int ilogb _PARAMS((double));
+
+extern double asinh _PARAMS((double));
+extern double cbrt _PARAMS((double));
+extern double nextafter _PARAMS((double, double));
+extern double rint _PARAMS((double));
+extern double scalbn _PARAMS((double, int));
+
+extern double exp2 _PARAMS((double));
+extern double scalbln _PARAMS((double, long int));
+extern double tgamma _PARAMS((double));
+extern double nearbyint _PARAMS((double));
+extern long int lrint _PARAMS((double));
+extern long long int llrint _PARAMS((double));
+extern double round _PARAMS((double));
+extern long int lround _PARAMS((double));
+extern long long int llround _PARAMS((double));
+extern double trunc _PARAMS((double));
+extern double remquo _PARAMS((double, double, int *));
+extern double fdim _PARAMS((double, double));
+extern double fmax _PARAMS((double, double));
+extern double fmin _PARAMS((double, double));
+extern double fma _PARAMS((double, double, double));
+
+#ifndef __math_68881
+extern double log1p _PARAMS((double));
+extern double expm1 _PARAMS((double));
+#endif /* ! defined (__math_68881) */
+
+#ifndef _REENT_ONLY
+extern double acosh _PARAMS((double));
+extern double atanh _PARAMS((double));
+extern double remainder _PARAMS((double, double));
+extern double gamma _PARAMS((double));
+extern double lgamma _PARAMS((double));
+extern double erf _PARAMS((double));
+extern double erfc _PARAMS((double));
+extern double log2 _PARAMS((double));
+
+#ifndef __math_68881
+extern double hypot _PARAMS((double, double));
+#endif
+
+#endif /* ! defined (_REENT_ONLY) */
+
+/* Single precision versions of ANSI functions.  */
+
+extern float atanf _PARAMS((float));
+extern float cosf _PARAMS((float));
+extern float sinf _PARAMS((float));
+extern float tanf _PARAMS((float));
+extern float tanhf _PARAMS((float));
+extern float frexpf _PARAMS((float, int *));
+extern float modff _PARAMS((float, float *));
+extern float ceilf _PARAMS((float));
+extern float fabsf _PARAMS((float));
+extern float floorf _PARAMS((float));
+
+#ifndef _REENT_ONLY
+extern float acosf _PARAMS((float));
+extern float asinf _PARAMS((float));
+extern float atan2f _PARAMS((float, float));
+extern float coshf _PARAMS((float));
+extern float sinhf _PARAMS((float));
+extern float expf _PARAMS((float));
+extern float ldexpf _PARAMS((float, int));
+extern float logf _PARAMS((float));
+extern float log10f _PARAMS((float));
+extern float powf _PARAMS((float, float));
+extern float sqrtf _PARAMS((float));
+extern float fmodf _PARAMS((float, float));
+#endif /* ! defined (_REENT_ONLY) */
+
+/* Other single precision functions.  */
+
+extern float exp2f _PARAMS((float));
+extern float scalblnf _PARAMS((float, long int));
+extern float tgammaf _PARAMS((float));
+extern float nearbyintf _PARAMS((float));
+extern long int lrintf _PARAMS((float));
+extern long long llrintf _PARAMS((float));
+extern float roundf _PARAMS((float));
+extern long int lroundf _PARAMS((float));
+extern long long int llroundf _PARAMS((float));
+extern float truncf _PARAMS((float));
+extern float remquof _PARAMS((float, float, int *));
+extern float fdimf _PARAMS((float, float));
+extern float fmaxf _PARAMS((float, float));
+extern float fminf _PARAMS((float, float));
+extern float fmaf _PARAMS((float, float, float));
+
+extern float infinityf _PARAMS((void));
+extern float nanf _PARAMS((const char *));
+extern int finitef _PARAMS((float));
+extern float copysignf _PARAMS((float, float));
+extern float logbf _PARAMS((float));
+extern int ilogbf _PARAMS((float));
+
+extern float asinhf _PARAMS((float));
+extern float cbrtf _PARAMS((float));
+extern float nextafterf _PARAMS((float, float));
+extern float rintf _PARAMS((float));
+extern float scalbnf _PARAMS((float, int));
+extern float log1pf _PARAMS((float));
+extern float expm1f _PARAMS((float));
+
+#ifndef _REENT_ONLY
+extern float acoshf _PARAMS((float));
+extern float atanhf _PARAMS((float));
+extern float remainderf _PARAMS((float, float));
+extern float gammaf _PARAMS((float));
+extern float lgammaf _PARAMS((float));
+extern float erff _PARAMS((float));
+extern float erfcf _PARAMS((float));
+extern float log2f _PARAMS((float));
+extern float hypotf _PARAMS((float, float));
+#endif /* ! defined (_REENT_ONLY) */
+
+/* On platforms where long double equals double.  */
+#ifdef _LDBL_EQ_DBL
+/* Reentrant ANSI C functions.  */
+#ifndef __math_68881
+extern long double atanl _PARAMS((long double));
+extern long double cosl _PARAMS((long double));
+extern long double sinl _PARAMS((long double));
+extern long double tanl _PARAMS((long double));
+extern long double tanhl _PARAMS((long double));
+extern long double frexpl _PARAMS((long double value, int *));
+extern long double modfl _PARAMS((long double, long double *));
+extern long double ceill _PARAMS((long double));
+extern long double fabsl _PARAMS((long double));
+extern long double floorl _PARAMS((long double));
+extern long double log1pl _PARAMS((long double));
+extern long double expm1l _PARAMS((long double));
+#endif /* ! defined (__math_68881) */
+/* Non reentrant ANSI C functions.  */
+#ifndef _REENT_ONLY
+#ifndef __math_68881
+extern long double acosl _PARAMS((long double));
+extern long double asinl _PARAMS((long double));
+extern long double atan2l _PARAMS((long double, long double));
+extern long double coshl _PARAMS((long double));
+extern long double sinhl _PARAMS((long double));
+extern long double expl _PARAMS((long double));
+extern long double ldexpl _PARAMS((long double, int));
+extern long double logl _PARAMS((long double));
+extern long double log2l _PARAMS((long double));
+extern long double log10l _PARAMS((long double));
+extern long double powl _PARAMS((long double, long double));
+extern long double sqrtl _PARAMS((long double));
+extern long double fmodl _PARAMS((long double, long double));
+extern long double hypotl _PARAMS((long double, long double));
+#endif /* ! defined (__math_68881) */
+#endif /* ! defined (_REENT_ONLY) */
+extern long double copysignl _PARAMS((long double, long double));
+extern long double nanl _PARAMS((const char *));
+extern int ilogbl _PARAMS((long double));
+extern long double asinhl _PARAMS((long double));
+extern long double cbrtl _PARAMS((long double));
+extern long double nextafterl _PARAMS((long double, long double));
+extern long double rintl _PARAMS((long double));
+extern long double scalbnl _PARAMS((long double, int));
+extern long double exp2l _PARAMS((long double));
+extern long double scalblnl _PARAMS((long double, long));
+extern long double tgammal _PARAMS((long double));
+extern long double nearbyintl _PARAMS((long double));
+extern long int lrintl _PARAMS((long double));
+extern long long int llrintl _PARAMS((long double));
+extern long double roundl _PARAMS((long double));
+extern long lroundl _PARAMS((long double));
+extern long long int llroundl _PARAMS((long double));
+extern long double truncl _PARAMS((long double));
+extern long double remquol _PARAMS((long double, long double, int *));
+extern long double fdiml _PARAMS((long double, long double));
+extern long double fmaxl _PARAMS((long double, long double));
+extern long double fminl _PARAMS((long double, long double));
+extern long double fmal _PARAMS((long double, long double, long double));
+#ifndef _REENT_ONLY
+extern long double acoshl _PARAMS((long double));
+extern long double atanhl _PARAMS((long double));
+extern long double remainderl _PARAMS((long double, long double));
+extern long double lgammal _PARAMS((long double));
+extern long double erfl _PARAMS((long double));
+extern long double erfcl _PARAMS((long double));
+#endif /* ! defined (_REENT_ONLY) */
+#else /* !_LDBL_EQ_DBL */
+#ifdef __i386__
+/* Other long double precision functions.  */
+extern _LONG_DOUBLE rintl _PARAMS((_LONG_DOUBLE));
+extern long int lrintl _PARAMS((_LONG_DOUBLE));
+extern long long llrintl _PARAMS((_LONG_DOUBLE));
+#endif /* __i386__ */
+#endif /* !_LDBL_EQ_DBL */
+
+#endif /* !defined (__STRICT_ANSI__) || defined(__cplusplus) || __STDC_VERSION__ >= 199901L */
+
+#if !defined (__STRICT_ANSI__) || defined(__cplusplus)
+
+extern double drem _PARAMS((double, double));
+extern void sincos _PARAMS((double, double *, double *));
+extern double gamma_r _PARAMS((double, int *));
+extern double lgamma_r _PARAMS((double, int *));
+
+extern double y0 _PARAMS((double));
+extern double y1 _PARAMS((double));
+extern double yn _PARAMS((int, double));
+extern double j0 _PARAMS((double));
+extern double j1 _PARAMS((double));
+extern double jn _PARAMS((int, double));
+
+extern float dremf _PARAMS((float, float));
+extern void sincosf _PARAMS((float, float *, float *));
+extern float gammaf_r _PARAMS((float, int *));
+extern float lgammaf_r _PARAMS((float, int *));
+
+extern float y0f _PARAMS((float));
+extern float y1f _PARAMS((float));
+extern float ynf _PARAMS((int, float));
+extern float j0f _PARAMS((float));
+extern float j1f _PARAMS((float));
+extern float jnf _PARAMS((int, float));
+
+/* GNU extensions */
+# ifndef exp10
+extern double exp10 _PARAMS((double));
+# endif
+# ifndef pow10
+extern double pow10 _PARAMS((double));
+# endif
+# ifndef exp10f
+extern float exp10f _PARAMS((float));
+# endif
+# ifndef pow10f
+extern float pow10f _PARAMS((float));
+# endif
+
+#endif /* !defined (__STRICT_ANSI__) || defined(__cplusplus) */
+
+#ifndef __STRICT_ANSI__
+
+/* The gamma functions use a global variable, signgam.  */
+#ifndef _REENT_ONLY
+#define signgam (*__signgam())
+extern int *__signgam _PARAMS((void));
+#endif /* ! defined (_REENT_ONLY) */
+
+#define __signgam_r(ptr) _REENT_SIGNGAM(ptr)
+
+/* The exception structure passed to the matherr routine.  */
+/* We have a problem when using C++ since `exception' is a reserved
+ *    name in C++.  */
+#ifdef __cplusplus
+struct __exception
+#else
+struct exception
+#endif
+{
+  int type;
+  char *name;
+  double arg1;
+  double arg2;
+  double retval;
+  int err;
+};
+
+#ifdef __cplusplus
+extern int matherr _PARAMS((struct __exception *e));
+#else
+extern int matherr _PARAMS((struct exception *e));
+#endif
+
+/* Values for the type field of struct exception.  */
+
+#define DOMAIN 1
+#define SING 2
+#define OVERFLOW 3
+#define UNDERFLOW 4
+#define TLOSS 5
+#define PLOSS 6
+
+/* Useful constants.  */
+
+#define MAXFLOAT	3.40282347e+38F
+
+#define M_E		2.7182818284590452354
+#define M_LOG2E		1.4426950408889634074
+#define M_LOG10E	0.43429448190325182765
+#define M_LN2		_M_LN2
+#define M_LN10		2.30258509299404568402
+#define M_PI		3.14159265358979323846
+#define M_TWOPI         (M_PI * 2.0)
+#define M_PI_2		1.57079632679489661923
+#define M_PI_4		0.78539816339744830962
+#define M_3PI_4		2.3561944901923448370E0
+#define M_SQRTPI        1.77245385090551602792981
+#define M_1_PI		0.31830988618379067154
+#define M_2_PI		0.63661977236758134308
+#define M_2_SQRTPI	1.12837916709551257390
+#define M_DEG_TO_RAD 	0.01745329251994
+#define M_RAD_TO_DEG 	57.2957795130823
+#define M_SQRT2		1.41421356237309504880
+#define M_SQRT1_2	0.70710678118654752440
+#define M_LN2LO         1.9082149292705877000E-10
+#define M_LN2HI         6.9314718036912381649E-1
+#define M_SQRT3	1.73205080756887719000
+#define M_IVLN10        0.43429448190325182765 /* 1 / log(10) */
+#define M_LOG2_E        _M_LN2
+#define M_INVLN2        1.4426950408889633870E0  /* 1 / log(2) */
+
+
+#define M_E_F			2.7182818284590452354f
+#define M_LOG2E_F		1.4426950408889634074f
+#define M_LOG10E_F		0.43429448190325182765f
+#define M_LN2_F			_M_LN2_F
+#define M_LN10_F		2.30258509299404568402f
+#define M_PI_F			3.14159265358979323846f
+#define M_TWOPI_F       (M_PI_F * 2.0f)
+#define M_PI_2_F		1.57079632679489661923f
+#define M_PI_4_F		0.78539816339744830962f
+#define M_3PI_4_F		2.3561944901923448370E0f
+#define M_SQRTPI_F      1.77245385090551602792981f
+#define M_1_PI_F		0.31830988618379067154f
+#define M_2_PI_F		0.63661977236758134308f
+#define M_2_SQRTPI_F	1.12837916709551257390f
+#define M_DEG_TO_RAD_F 	0.01745329251994f
+#define M_RAD_TO_DEG_F 	57.2957795130823f
+#define M_SQRT2_F		1.41421356237309504880f
+#define M_SQRT1_2_F		0.70710678118654752440f
+#define M_LN2LO_F       1.9082149292705877000E-10f
+#define M_LN2HI_F       6.9314718036912381649E-1f
+#define M_SQRT3_F		1.73205080756887719000f
+#define M_IVLN10_F      0.43429448190325182765f /* 1 / log(10) */
+#define M_LOG2_E_F      _M_LN2_F
+#define M_INVLN2_F      1.4426950408889633870E0f  /* 1 / log(2) */
+
+/* Global control over fdlibm error handling.  */
+
+enum __fdlibm_version
+{
+  __fdlibm_ieee = -1,
+  __fdlibm_svid,
+  __fdlibm_xopen,
+  __fdlibm_posix
+};
+
+#define _LIB_VERSION_TYPE enum __fdlibm_version
+#define _LIB_VERSION __fdlib_version
+
+extern __IMPORT _LIB_VERSION_TYPE _LIB_VERSION;
+
+#define _IEEE_  __fdlibm_ieee
+#define _SVID_  __fdlibm_svid
+#define _XOPEN_ __fdlibm_xopen
+#define _POSIX_ __fdlibm_posix
+
+#endif /* ! defined (__STRICT_ANSI__) */
+
+_END_STD_C
+
+#ifdef __FAST_MATH__
+#include <machine/fastmath.h>
+#endif
+
+#endif /* _MATH_H_ */
