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The following commit(s) were added to refs/heads/asf-site by this push:
new b2e666e4b0 Publishing web: f0482e9c189ff02e151b650878e44a5e0108a468
docs: 506542e91a5b86f00d5f96da6e7788c632d0709c
b2e666e4b0 is described below
commit b2e666e4b022a82f84cc3ceb7107907014a75122
Author: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
AuthorDate: Wed Aug 5 00:53:30 2026 +0000
Publishing web: f0482e9c189ff02e151b650878e44a5e0108a468 docs:
506542e91a5b86f00d5f96da6e7788c632d0709c
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index b286cd9370..cd2a82f4c2 100644
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(such as fork()).</p>
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a/content/docs/12.2.0/platforms/xtensa/esp32/boards/esp32-devkitc/index.html
b/content/docs/12.2.0/platforms/xtensa/esp32/boards/esp32-devkitc/index.html
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<figure class="align-center">
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"applications/boot/miniboot/index", "applications/canutils/candump/index",
"applications/canutils/canlib/index", "applications/canutils/cansend/index",
"applications/c [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/coremark/index", "applications/benchmarks/index",
"applications/boot/index", "applications/boot/mcuboot/index",
"applications/boot/miniboot/index", "applications/canutils/candump/index",
"applications/canutils/canlib/index", "applications/canutils/cansend/index",
"applications/c [...]
\ No newline at end of file
diff --git a/content/docs/12.5.0/index.html b/content/docs/12.5.0/index.html
index 3f5b2cccbf..8a1832ce92 100644
--- a/content/docs/12.5.0/index.html
+++ b/content/docs/12.5.0/index.html
@@ -187,7 +187,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 04 August 26 at 00:35</p>
+<p>Last Updated: 05 August 26 at 00:34</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.5.0/searchindex.js
b/content/docs/12.5.0/searchindex.js
index 3b9f8d730f..9c6865bb62 100644
--- a/content/docs/12.5.0/searchindex.js
+++ b/content/docs/12.5.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/coremark/index", "applications/benchmarks/index",
"applications/boot/index", "applications/boot/mcuboot/index",
"applications/boot/miniboot/index", "applications/canutils/candump/index",
"applications/canutils/canlib/index", "applications/canutils/cansend/index",
"applications/c [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/coremark/index", "applications/benchmarks/index",
"applications/boot/index", "applications/boot/mcuboot/index",
"applications/boot/miniboot/index", "applications/canutils/candump/index",
"applications/canutils/canlib/index", "applications/canutils/cansend/index",
"applications/c [...]
\ No newline at end of file
diff --git a/content/docs/12.5.1/index.html b/content/docs/12.5.1/index.html
index e59a41c27d..13c2c51e34 100644
--- a/content/docs/12.5.1/index.html
+++ b/content/docs/12.5.1/index.html
@@ -187,7 +187,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 04 August 26 at 00:37</p>
+<p>Last Updated: 05 August 26 at 00:35</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.5.1/searchindex.js
b/content/docs/12.5.1/searchindex.js
index b5c3299208..0b633fd452 100644
--- a/content/docs/12.5.1/searchindex.js
+++ b/content/docs/12.5.1/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/coremark/index", "applications/benchmarks/index",
"applications/boot/index", "applications/boot/mcuboot/index",
"applications/boot/miniboot/index", "applications/canutils/candump/index",
"applications/canutils/canlib/index", "applications/canutils/cansend/index",
"applications/c [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/coremark/index", "applications/benchmarks/index",
"applications/boot/index", "applications/boot/mcuboot/index",
"applications/boot/miniboot/index", "applications/canutils/candump/index",
"applications/canutils/canlib/index", "applications/canutils/cansend/index",
"applications/c [...]
\ No newline at end of file
diff --git a/content/docs/12.6.0/index.html b/content/docs/12.6.0/index.html
index 1cb8a0b9eb..7676000d3b 100644
--- a/content/docs/12.6.0/index.html
+++ b/content/docs/12.6.0/index.html
@@ -188,7 +188,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 04 August 26 at 00:38</p>
+<p>Last Updated: 05 August 26 at 00:37</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.6.0/searchindex.js
b/content/docs/12.6.0/searchindex.js
index 8c2944af7b..82316a8be8 100644
--- a/content/docs/12.6.0/searchindex.js
+++ b/content/docs/12.6.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/benchmarks/iozone/index",
"applications/bench [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/benchmarks/iozone/index",
"applications/bench [...]
\ No newline at end of file
diff --git a/content/docs/12.7.0/index.html b/content/docs/12.7.0/index.html
index 31a56119ed..84ae000ad7 100644
--- a/content/docs/12.7.0/index.html
+++ b/content/docs/12.7.0/index.html
@@ -187,7 +187,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 04 August 26 at 00:39</p>
+<p>Last Updated: 05 August 26 at 00:38</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.7.0/searchindex.js
b/content/docs/12.7.0/searchindex.js
index c8233a860d..0bfcc4356a 100644
--- a/content/docs/12.7.0/searchindex.js
+++ b/content/docs/12.7.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/benchmarks/iozone/index",
"applications/bench [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/benchmarks/iozone/index",
"applications/bench [...]
\ No newline at end of file
diff --git a/content/docs/12.8.0/index.html b/content/docs/12.8.0/index.html
index 03136b90d9..7e546cacd2 100644
--- a/content/docs/12.8.0/index.html
+++ b/content/docs/12.8.0/index.html
@@ -187,7 +187,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 04 August 26 at 00:41</p>
+<p>Last Updated: 05 August 26 at 00:40</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.8.0/searchindex.js
b/content/docs/12.8.0/searchindex.js
index 18e96eda6e..936a93dfff 100644
--- a/content/docs/12.8.0/searchindex.js
+++ b/content/docs/12.8.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/benchmarks/iozone/index",
"applications/bench [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/benchmarks/iozone/index",
"applications/bench [...]
\ No newline at end of file
diff --git a/content/docs/12.9.0/index.html b/content/docs/12.9.0/index.html
index ccb3d110c0..65e0c9effa 100644
--- a/content/docs/12.9.0/index.html
+++ b/content/docs/12.9.0/index.html
@@ -187,7 +187,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 04 August 26 at 00:42</p>
+<p>Last Updated: 05 August 26 at 00:41</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.9.0/searchindex.js
b/content/docs/12.9.0/searchindex.js
index f82ed397f6..468e5136d0 100644
--- a/content/docs/12.9.0/searchindex.js
+++ b/content/docs/12.9.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/cyclictest/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/b [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/cyclictest/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/b [...]
\ No newline at end of file
diff --git a/content/docs/13.0.0/guides/fully_linked_elf.html
b/content/docs/13.0.0/guides/fully_linked_elf.html
index b86a043478..34d38c40ca 100644
--- a/content/docs/13.0.0/guides/fully_linked_elf.html
+++ b/content/docs/13.0.0/guides/fully_linked_elf.html
@@ -487,7 +487,7 @@ NuttX package: <code class="docutils literal
notranslate"><span class="pre">nutt
<div
class="admonition-here-is-an-alternative-minimal-and-possibly-outdated-version
admonition">
<p class="admonition-title">Here is an alternative minimal (and possibly
outdated) version</p>
<div class="sphinx_collapse docutils">
-<input class="sphinx_collapse__input"
id="3a8889f0-83a3-4b81-9db2-b7196fa57133"
name="3a8889f0-83a3-4b81-9db2-b7196fa57133" type="checkbox"><label
class="sphinx_collapse__label" for="3a8889f0-83a3-4b81-9db2-b7196fa57133"><i
class="sphinx_collapse__icon"></i>Show content:</label><div
class="sphinx_collapse__content docutils">
+<input class="sphinx_collapse__input"
id="6e0d25fe-e0af-4cfd-b312-f7469273335b"
name="6e0d25fe-e0af-4cfd-b312-f7469273335b" type="checkbox"><label
class="sphinx_collapse__label" for="6e0d25fe-e0af-4cfd-b312-f7469273335b"><i
class="sphinx_collapse__icon"></i>Show content:</label><div
class="sphinx_collapse__content docutils">
<div class="highlight-text notranslate"><div
class="highlight"><pre><span></span>SECTIONS
{
.text 0x00000000 :
diff --git a/content/docs/13.0.0/guides/partially_linked_elf.html
b/content/docs/13.0.0/guides/partially_linked_elf.html
index 1b38f82576..eed2bbd635 100644
--- a/content/docs/13.0.0/guides/partially_linked_elf.html
+++ b/content/docs/13.0.0/guides/partially_linked_elf.html
@@ -513,7 +513,7 @@ NuttX package: <code class="docutils literal
notranslate"><span class="pre">nutt
<div
class="admonition-here-is-an-alternative-minimal-and-possibly-outdated-version
admonition">
<p class="admonition-title">Here is an alternative minimal (and possibly
outdated) version</p>
<div class="sphinx_collapse docutils">
-<input class="sphinx_collapse__input"
id="18cde623-f7f2-48c5-b0d1-6240d83a64af"
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class="sphinx_collapse__icon"></i>Show content:</label><div
class="sphinx_collapse__content docutils">
+<input class="sphinx_collapse__input"
id="3ceed2f7-2edd-4bea-aacb-97fdc2babcf3"
name="3ceed2f7-2edd-4bea-aacb-97fdc2babcf3" type="checkbox"><label
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class="sphinx_collapse__content docutils">
<div class="highlight-text notranslate"><div
class="highlight"><pre><span></span>SECTIONS
{
.text 0x00000000 :
diff --git a/content/docs/13.0.0/index.html b/content/docs/13.0.0/index.html
index 9b50a12776..9e2b39f98d 100644
--- a/content/docs/13.0.0/index.html
+++ b/content/docs/13.0.0/index.html
@@ -195,7 +195,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 04 August 26 at 00:50</p>
+<p>Last Updated: 05 August 26 at 00:49</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/13.0.0/searchindex.js
b/content/docs/13.0.0/searchindex.js
index 4846d0415d..6775e79e56 100644
--- a/content/docs/13.0.0/searchindex.js
+++ b/content/docs/13.0.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["_tags/arch-arm", "_tags/arch-arm64",
"_tags/arch-armv8m", "_tags/arch-avr", "_tags/arch-cm33", "_tags/arch-example",
"_tags/arch-mips", "_tags/arch-renesas", "_tags/arch-risc-v",
"_tags/arch-riscv", "_tags/arch-sim", "_tags/chip-a527", "_tags/chip-a64",
"_tags/chip-am62x", "_tags/chip-am67", "_tags/chip-at32uc3",
"_tags/chip-at90usb", "_tags/chip-atmega", "_tags/chip-atmega128",
"_tags/chip-atmega1284p", "_tags/chip-atmega2560", "_tags/chip-bcm2711", "_tags
[...]
\ No newline at end of file
+Search.setIndex({"docnames": ["_tags/arch-arm", "_tags/arch-arm64",
"_tags/arch-armv8m", "_tags/arch-avr", "_tags/arch-cm33", "_tags/arch-example",
"_tags/arch-mips", "_tags/arch-renesas", "_tags/arch-risc-v",
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"_tags/chip-atmega1284p", "_tags/chip-atmega2560", "_tags/chip-bcm2711", "_tags
[...]
\ No newline at end of file
diff --git a/content/docs/latest/_images/linum-stm32h753bi-nxdoom.jpg
b/content/docs/latest/_images/linum-stm32h753bi-nxdoom.jpg
new file mode 100644
index 0000000000..5145a8ec81
Binary files /dev/null and
b/content/docs/latest/_images/linum-stm32h753bi-nxdoom.jpg differ
diff --git
a/content/docs/latest/_sources/applications/games/nxdoom/index.rst.txt
b/content/docs/latest/_sources/applications/games/nxdoom/index.rst.txt
index 4129f89c7a..1ea5272e42 100644
--- a/content/docs/latest/_sources/applications/games/nxdoom/index.rst.txt
+++ b/content/docs/latest/_sources/applications/games/nxdoom/index.rst.txt
@@ -46,16 +46,22 @@ apply).
Sound support, multiplayer support, support for any of the wide array of
input devices NuttX can provide are also highly welcomed.
-.. warning::
+.. note::
+
+ Keyboard input is the only input device supported so far, and other ones
+ are welcome.
- Currently, the only supported input device is keyboard input. However,
- NuttX's keyboard codec is highly non-standard and therefore some things do
- not work as intended. For instance, pressing CTRL to fire does nothing since
- NuttX's codec has no concept of CTRL. The keyboard codec will need to be
- amended before this works properly, but the port is upstreamed in the hopes
- of encouraging those changes or getting more contributors to add different
- input devices. The keyboard codec needs to be treated delicately since other
- things in the kernel depend on it.
+ The game binds fire, run and strafe to Ctrl, Shift and Alt. Those reach
+ an application only if the keyboard driver reports a modifier as a key in
+ its own right, which the codec keycodes ``KEYCODE_LCTRL`` through
+ ``KEYCODE_RGUI`` exist for.
+
+ The simulator always reports them. A USB HID keyboard reports them when
+ ``CONFIG_HIDKBD_REPORT_MODIFIERS`` is enabled, which is off by default,
+ so a configuration that plays the game over USB has to turn it on. A
+ driver that reports no modifiers at all, a matrix keyboard for instance,
+ leaves those three actions on keys the game cannot see, and they have to
+ be rebound to play.
Minimum requirements
--------------------
@@ -93,6 +99,49 @@ To launch the game, just run:
and replace the path with your WAD file's path.
+Tuning the display for a board
+------------------------------
+
+DOOM renders a 320x200 image with 8 bits per pixel and a palette, and the port
+scales that up and converts it to whatever the frame buffer wants. How much
+that costs depends a great deal on the board, so the following options are
+available. All of them are disabled by default, which leaves the behaviour
+unchanged, and each is worth enabling only where it pays.
+
+``CONFIG_GAMES_NXDOOM_FB_CMAP``
+ Load the DOOM palette into the frame buffer's colour map and blit the
+ palette indices unconverted, letting the display convert them while it scans
+ out. This needs a frame buffer that is 8 bits per pixel and supports
+ ``FBIOPUT_CMAP``, such as an STM32 LTDC layer configured for L8. It removes
+ the conversion from the blit and halves the amount of data written per
+ frame.
+
+``CONFIG_GAMES_NXDOOM_FILLSCREEN``
+ Stretch the image over the whole display instead of scaling it by the
+ largest whole number that fits. This fills a display whose size is not an
+ exact multiple of 320x200, at the cost of a scale factor that is not uniform
+ across the image. Without it the image is scaled by a whole number and
+ centred, leaving a border.
+
+``CONFIG_GAMES_NXDOOM_ROWSTAGE``
+ Build each output row in a staging buffer and copy it out, rather than
+ writing the frame buffer a pixel at a time, so that the frame buffer only
+ ever sees burst-friendly copies. Costs a few kilobytes of ``.bss``. This is
+ worth a lot when the frame buffer is external memory and the data cache is
+ in write-through mode, and little otherwise.
+
+``CONFIG_GAMES_NXDOOM_STATIC_SCRNBUF``
+ Place the buffer DOOM renders into in ``.bss`` rather than taking it from the
+ heap, which puts it in internal RAM on a board whose heap is mostly external
+ memory. The renderer draws in vertical columns, so consecutive writes are
+ one screen width apart and none of them coalesce, which makes external memory
+ close to the worst case for it. Costs 64000 bytes of RAM whether the game
+ runs or not.
+
+As an illustration of the effect, on an STM32H753 driving a 1024x600 panel
+whose frame buffer lives in SDRAM, ``ROWSTAGE`` and ``STATIC_SCRNBUF`` are
+worth 2.7 times the frame rate between them.
+
Other Notes
-----------
diff --git
a/content/docs/latest/_sources/components/drivers/special/sensors/mpu6050.rst.txt
b/content/docs/latest/_sources/components/drivers/special/sensors/mpu6050.rst.txt
index 6a422f5cc8..4aa5ad8e03 100644
---
a/content/docs/latest/_sources/components/drivers/special/sensors/mpu6050.rst.txt
+++
b/content/docs/latest/_sources/components/drivers/special/sensors/mpu6050.rst.txt
@@ -33,24 +33,62 @@ Where ``n`` is the device number passed during device
registration (e.g., 0).
/* Example uORB sensor registration on I2C bus 0 at default address 0x68 */
- int err = mpu6050_register(0, i2c_master, MPU6050_ADDR_LOW);
+ int err = mpu6050_register(0, i2c_master, MPU6050_ADDR_LOW, NULL);
if (err < 0)
{
syslog(LOG_ERR, "Failed to register MPU6050: %d\n", err);
}
+The device samples at 100 Hz.
+
+Acquisition Modes
+=================
+
+The driver reads the device on demand by default: a sample is taken when the
+application reads the topic, and is timestamped at that moment.
+
+With ``CONFIG_SENSORS_MPU6050_INT`` the device drives the acquisition instead,
+through its data ready interrupt. Samples are then timestamped when they were
+measured rather than when they were asked for, and both topics are published
+from a single read, so accelerometer and gyroscope share one timestamp. This
+requires the INT pin to be wired, and the board to pass a
+``struct mpu6050_config_s`` whose ``attach`` member connects that pin to the
+driver:
+
+.. code-block:: c
+
+ static int board_mpu6050_attach(FAR const struct mpu6050_config_s *config,
+ xcpt_t isr, FAR void *arg)
+ {
+ /* Configure the GPIO for a rising edge and attach isr to it */
+ }
+
+ static const struct mpu6050_config_s g_mpu6050_config =
+ {
+ .attach = board_mpu6050_attach,
+ };
+
+ int err = mpu6050_register(0, i2c_master, MPU6050_ADDR_LOW,
+ &g_mpu6050_config);
+
+Registration fails with ``-EINVAL`` if the option is enabled and no ``attach``
+is supplied, since the interrupt is the only source of samples in that build.
+
Configuration Options
=====================
- ``CONFIG_SENSORS_MPU6050`` - Enables uORB driver support for the InvenSense
MPU6050 6-axis MotionTracker over I2C.
+- ``CONFIG_SENSORS_MPU6050_INT`` - Takes samples from the data ready interrupt
instead of reading the device on demand. Requires board support, see
`Acquisition Modes`_.
Supported Operations
====================
-The MPU6050 uORB driver supports standard sensor operations (`activate`,
`fetch`,
-`set_interval`, `batch`, and `control`). It acquires simultaneous 3-axis
accelerometer
-and 3-axis gyroscope samples, applies appropriate scale conversions, and
publishes them
-to their respective uORB topics.
+The MPU6050 uORB driver supports standard sensor operations (`activate`,
+`set_interval`, `batch`, and `control`), plus `fetch` when reading on demand.
+An instance provides either `fetch` or interrupt driven delivery, never both.
+It acquires simultaneous 3-axis accelerometer and 3-axis gyroscope samples,
+applies appropriate scale conversions, and publishes them to their respective
+uORB topics.
Example Usage (`uorb_listener`)
-------------------------------
diff --git
a/content/docs/latest/_sources/implementation/kernel_modules_vs_shared_libraries.rst.txt
b/content/docs/latest/_sources/implementation/kernel_modules_vs_shared_libraries.rst.txt
index 0334393d99..33c1d3e5f1 100644
---
a/content/docs/latest/_sources/implementation/kernel_modules_vs_shared_libraries.rst.txt
+++
b/content/docs/latest/_sources/implementation/kernel_modules_vs_shared_libraries.rst.txt
@@ -67,12 +67,15 @@ of a shared library in that environment.
In this case kernel modules really only differ from shared
libraries in their usage semantics:
-For the FLAT build, I have added the standard ``include/dllfcn.h``
-and have implemented the FLAT shared library support as a thin wrapper
-around the kernel module support:
-
-* ``dlopen()`` maps to ``insmod()``.
-* ``dlclose()`` maps to ``rmmod()``.
+For the FLAT build, the standard ``include/dlfcn.h`` interfaces are
+implemented as a thin wrapper around the same module library that the kernel
+module support uses:
+
+* ``dlopen()`` loads the library, or takes an additional reference on it if
+ it is already loaded, and returns a handle to it. See
+ `Opening a Library More Than Once`_.
+* ``dlclose()`` releases one reference. The library is unloaded, as
+ ``rmmod()`` would, only when the last handle is closed.
* ``dlsym()`` maps to ``modsym()``.
* ``dlerror()`` is only a stub at the present time.
@@ -101,6 +104,43 @@ The shared library functions no longer call the kernel
module logic but rather
implement their one top-level management logic using the lower-level routines
in the module library.
+The user space copy of the module library keeps the name of each loaded
+library whenever ``CONFIG_LIBC_DLFCN`` is enabled, since the name is the only
+way to tell that a library is already loaded. This costs ``NAME_MAX`` bytes
+per loaded library, but it makes ``dlopen()`` behave exactly as it does in the
+FLAT build.
+
+
+Opening a Library More Than Once
+================================
+
+In the FLAT and PROTECTED builds, ``dlopen()`` of a library that is already
+loaded does not load a second copy and does not fail. It returns a handle to
+the library that is already loaded and takes an additional reference on it.
+Each successful ``dlopen()`` must be matched by a ``dlclose()``; the library
+is unloaded only when the last handle is closed. Up to 255 handles may be
+outstanding on one library; beyond that ``dlopen()`` fails with ``EMFILE``.
+
+Some consequences worth keeping in mind:
+
+* A library is identified by the *basename* of the path passed to
+ ``dlopen()``. Two files with the same basename in different directories
+ are treated as the same library, and the second ``dlopen()`` will return
+ the first one.
+* There is only one instance of the library's ``.data`` and ``.bss``. Global
+ and static data are shared by every user of the library, and by every task
+ group in the system.
+* Constructors in ``.init_array`` run once, when the library is first loaded,
+ and destructors in ``.fini_array`` run once, when the last handle is
+ closed. They do not run per ``dlopen()``/``dlclose()`` pair.
+* Symbols obtained with ``dlsym()`` remain valid until the last handle is
+ closed, not until the caller's own handle is closed.
+
+Kernel modules deliberately behave differently: ``insmod()`` fails with
+``EEXIST`` if a module of that name is already installed, and ``rmmod()``
+removes it immediately. A kernel module is a singleton and is not reference
+counted.
+
Better FLAT and PROTECTED Mode Shared Libraries
===============================================
@@ -112,7 +152,7 @@ for each NuttX task group.
A task group is the moral equivalent of a Unix process.
That is how a shared library would have to work in uClinux, for example.
But that would be a substantial effort! For example, since each
-``.bss``/``.data`` would lie at a different physical addres,
+``.bss``/``.data`` would lie at a different physical address,
the ``.text`` section logic would need support
Position-Independent-Data (PID).
Embedded PID support, however, is pretty much broken on all current GCC
@@ -174,3 +214,6 @@ are loaded into memory before the programs ``main()`` logic
is called.
.. note:: There is not yet any shared library support in the KERNEL build mode.
This would be quite a large effort and not on the plan of record
at the present time.
+ ``dlopen()`` always fails and returns ``NULL`` in the KERNEL build,
+ so none of the reference counting behaviour described above applies
+ there.
diff --git
a/content/docs/latest/_sources/platforms/arm/stm32h7/boards/linum-stm32h753bi/index.rst.txt
b/content/docs/latest/_sources/platforms/arm/stm32h7/boards/linum-stm32h753bi/index.rst.txt
index 65d38f22a9..9b469c9c80 100644
---
a/content/docs/latest/_sources/platforms/arm/stm32h7/boards/linum-stm32h753bi/index.rst.txt
+++
b/content/docs/latest/_sources/platforms/arm/stm32h7/boards/linum-stm32h753bi/index.rst.txt
@@ -1118,6 +1118,161 @@ console hands over a whole line at once. The keyboard
upper half overwrites
the oldest event when the buffer is full, so a line typed at the console
would arrive with its beginning silently missing.
+nxdoom
+------
+
+**Purpose:** runs ``NXDoom``, the NuttX port of Chocolate DOOM, on the board's
+LCD, played with a USB HID keyboard and reading the game data from the microSD
+card. It brings together the LTDC framebuffer, the OTG FS USB host and the
+SDMMC peripheral, and uses the external SDRAM for the game's zone memory.
+
+.. figure:: linum-stm32h753bi-nxdoom.jpg
+ :figwidth: 60%
+ :align: center
+ :alt: DOOM running on the LINUM-STM32H753BI LCD
+
+ DOOM running on the board's 1024x600 LCD
+
+DOOM renders to a 320x200 8-bit paletted buffer. This configuration stretches
+that over the whole 1024x600 panel (``CONFIG_GAMES_NXDOOM_FILLSCREEN``) and
+runs the LTDC layer in L8 (``CONFIG_STM32_LTDC_L1_L8`` with
+``CONFIG_GAMES_NXDOOM_FB_CMAP``), so the palette indices are written to the
+framebuffer unconverted and the display applies the palette from its colour
+map as it scans out. That keeps the conversion off the CPU and
+halves the amount of data written per frame.
+
+Two further options matter on this board, both because the framebuffer and the
+heap are in external SDRAM: ``CONFIG_GAMES_NXDOOM_ROWSTAGE`` builds each row
+in internal RAM so the SDRAM only sees burst copies, and
+``CONFIG_GAMES_NXDOOM_STATIC_SCRNBUF`` keeps the buffer DOOM renders into out
+of the SDRAM altogether. Between them they are worth 2.7 times the frame rate.
+
+The game needs about 4 MiB of contiguous memory for its zone. That comes from
+the SDRAM region, which is 6 MiB when the LTDC is enabled (the last 2 MiB of
+the 8 MiB SDRAM is reserved for the framebuffer).
+
+**Requirements:**
+
+* A microSD card, formatted as FAT, holding a DOOM IWAD. The shareware
+ ``doom1.wad`` and ``freedoom1.wad`` both work, as do the commercial IWADs.
+* A USB HID keyboard on the OTG FS service connector.
+
+**Build and flash:**
+
+.. code-block:: console
+
+ $ ./tools/configure.sh linum-stm32h753bi:nxdoom
+ $ make -j
+
+Flash the resulting ``nuttx.bin`` to the board.
+
+**How to test:** copy the IWAD to the SD card, plug the card and the keyboard,
+reset the board and check that all three devices came up::
+
+ nsh> ls /dev
+ /dev:
+ console
+ fb0
+ kbda
+ mmcsd0
+ null
+ rtc0
+ ttyS0
+ zero
+
+Mount the card and start the game. ``nxdoom`` looks for the IWAD in the
+current directory, so either ``cd`` to the mount point first or point it at
+the file with ``-iwad``::
+
+ nsh> mount -t vfat /dev/mmcsd0 /mnt
+ nsh> nxdoom -iwad /mnt/doom1.wad
+ NXDoom v0.0.0
+ z_init: Init zone memory allocation daemon.
+ zone memory: Using native C allocator.
+ Using /mnt/ for configuration and saves
+ v_init: allocate screens.
+ m_load_defaults: Load system defaults.
+ saving config in /mnt/default.cfg
+ W_Init: Init WADfiles.
+ adding /mnt/doom1.wad
+ =========================================================================
+ DOOM Shareware
+ =========================================================================
+ NXDoom is free software, covered by the GNU General Public
+ License. There is NO warranty; not even for MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE. You are welcome to change and distribute
+ copies under certain conditions. See the source for more information.
+ =========================================================================
+ i_init: Setting up machine state.
+ m_init: Init miscellaneous info.
+ r_init: Init DOOM refresh daemon - [...................]
+ p_init: Init Playloop state.
+ d_check_net_game: Checking network game status.
+ startskill 2 deathmatch: 0 startmap: 1 startepisode: 1
+ player 1 of 1 (1 nodes)
+ Emulating the behavior of the 'Doom 1.9' executable.
+ hu_init: Setting up heads up display.
+ st_init: Init status bar.
+
+**Copying the IWAD with zmodem:** the configuration also enables the ``rz``
+and ``sz`` commands, so the IWAD can be copied over the serial console
+instead of moving the SD card to a card reader.
+``CONFIG_SYSTEM_ZMODEM_MOUNTPOINT`` is set to ``/mnt``, so a received file
+lands on the SD card::
+
+ nsh> mount -t vfat /dev/mmcsd0 /mnt
+ nsh> rz
+
+and, from the host, with the console closed in any terminal program::
+
+ $ sz -b --zmodem -w 1024 doom1.wad < /dev/ttyACM0 > /dev/ttyACM0
+
+Note that USART1 has no RTS/CTS on this board, so there is no hardware flow
+control to throttle the sender. ``CONFIG_USART1_RXBUFSIZE`` is raised to 4096
+to compensate, and the ``-w`` window above makes the host wait for
+acknowledgements. Even so this runs at roughly 10 KiB/s, so a 4 MiB IWAD takes
+about seven minutes; a card reader is much faster if one is available.
+
+The game runs on the LCD and is played from the USB keyboard: arrow keys to
+move, Ctrl to fire, Shift to run, Alt to strafe, Space to open doors and Esc
+for the menu. Configuration and saved games are written to ``/mnt``, so the
+card must be mounted read/write.
+
+.. note::
+ The game needs key *release* events, without which a movement key would
+ never stop being held down. A keyboard device reports them by default,
+ so nothing has to be enabled for it.
+
+ Do not turn on ``CONFIG_INPUT_KEYBOARD_BYTESTREAM`` for this
+ configuration. That makes the device deliver the codec byte stream
+ instead of events, and the byte stream encodes presses only: every
+ release is dropped, and the player would keep walking after the key is
+ let go.
+
+.. note::
+ ``CONFIG_HIDKBD_NOGETREPORT`` (and the ``CONFIG_USBHOST_ASYNCH`` it needs)
+ is required. By default the HID keyboard driver asks the keyboard for its
+ input report over the control pipe with GET_REPORT. Many keyboards accept
+ that request but always answer with an empty report, and only ever deliver
+ key data on their interrupt IN endpoint. The symptom is a keyboard that
+ enumerates as ``/dev/kbda`` and reports no error at all, while no key is
+ ever seen. With this option the driver reads the interrupt endpoint
+ instead.
+
+.. note::
+ ``CONFIG_FAT_FORCE_INDIRECT`` is required. Without it the FAT layer reads
+ whole sectors straight into the caller's buffer, and the SDMMC IDMA cannot
+ reach the caller's buffer when it lives in external SDRAM. DOOM reads its
+ lumps into ``malloc()``\ ed memory, and once the internal SRAM regions fill
+ up those allocations come from SDRAM, so the failure appears part way
+ through startup rather than immediately::
+
+ r_init: Init DOOM refresh daemon - [ ]w_read_lump: only
read 0 of 5192 on lump 1070
+
+ Forcing indirect transfers routes every read through the DMA-capable
+ sector buffer that ``CONFIG_FAT_DMAMEMORY`` allocates, at the cost of one
+ extra copy per sector.
+
tone
----
diff --git a/content/docs/latest/applications/games/nxdoom/index.html
b/content/docs/latest/applications/games/nxdoom/index.html
index 29a8faa87e..cb9c52de62 100644
--- a/content/docs/latest/applications/games/nxdoom/index.html
+++ b/content/docs/latest/applications/games/nxdoom/index.html
@@ -152,6 +152,7 @@
<li class="toctree-l3 current"><a class="current reference internal"
href="#">NXDoom</a><ul>
<li class="toctree-l4"><a class="reference internal"
href="#minimum-requirements">Minimum requirements</a></li>
<li class="toctree-l4"><a class="reference internal"
href="#playing">Playing</a></li>
+<li class="toctree-l4"><a class="reference internal"
href="#tuning-the-display-for-a-board">Tuning the display for a board</a></li>
<li class="toctree-l4"><a class="reference internal" href="#other-notes">Other
Notes</a><ul>
<li class="toctree-l5"><a class="reference internal"
href="#translations">Translations</a></li>
<li class="toctree-l5"><a class="reference internal"
href="#source-comments">Source Comments</a></li>
@@ -259,16 +260,20 @@ NuttX, memory optimizations are particularly welcome.</p>
<p>Sound support, multiplayer support, support for any of the wide array of
input devices NuttX can provide are also highly welcomed.</p>
</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Currently, the only supported input device is keyboard input. However,
-NuttX’s keyboard codec is highly non-standard and therefore some things do
-not work as intended. For instance, pressing CTRL to fire does nothing since
-NuttX’s codec has no concept of CTRL. The keyboard codec will need to be
-amended before this works properly, but the port is upstreamed in the hopes
-of encouraging those changes or getting more contributors to add different
-input devices. The keyboard codec needs to be treated delicately since other
-things in the kernel depend on it.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Keyboard input is the only input device supported so far, and other ones
+are welcome.</p>
+<p>The game binds fire, run and strafe to Ctrl, Shift and Alt. Those reach
+an application only if the keyboard driver reports a modifier as a key in
+its own right, which the codec keycodes <code class="docutils literal
notranslate"><span class="pre">KEYCODE_LCTRL</span></code> through
+<code class="docutils literal notranslate"><span
class="pre">KEYCODE_RGUI</span></code> exist for.</p>
+<p>The simulator always reports them. A USB HID keyboard reports them when
+<code class="docutils literal notranslate"><span
class="pre">CONFIG_HIDKBD_REPORT_MODIFIERS</span></code> is enabled, which is
off by default,
+so a configuration that plays the game over USB has to turn it on. A
+driver that reports no modifiers at all, a matrix keyboard for instance,
+leaves those three actions on keys the game cannot see, and they have to
+be rebound to play.</p>
</div>
<section id="minimum-requirements">
<h2>Minimum requirements<a class="headerlink" href="#minimum-requirements"
title="Permalink to this heading"></a></h2>
@@ -301,6 +306,45 @@ file I tried did not run properly)</p>
</div>
<p>and replace the path with your WAD file’s path.</p>
</section>
+<section id="tuning-the-display-for-a-board">
+<h2>Tuning the display for a board<a class="headerlink"
href="#tuning-the-display-for-a-board" title="Permalink to this
heading"></a></h2>
+<p>DOOM renders a 320x200 image with 8 bits per pixel and a palette, and the
port
+scales that up and converts it to whatever the frame buffer wants. How much
+that costs depends a great deal on the board, so the following options are
+available. All of them are disabled by default, which leaves the behaviour
+unchanged, and each is worth enabling only where it pays.</p>
+<dl class="simple">
+<dt><code class="docutils literal notranslate"><span
class="pre">CONFIG_GAMES_NXDOOM_FB_CMAP</span></code></dt><dd><p>Load the DOOM
palette into the frame buffer’s colour map and blit the
+palette indices unconverted, letting the display convert them while it scans
+out. This needs a frame buffer that is 8 bits per pixel and supports
+<code class="docutils literal notranslate"><span
class="pre">FBIOPUT_CMAP</span></code>, such as an STM32 LTDC layer configured
for L8. It removes
+the conversion from the blit and halves the amount of data written per
+frame.</p>
+</dd>
+<dt><code class="docutils literal notranslate"><span
class="pre">CONFIG_GAMES_NXDOOM_FILLSCREEN</span></code></dt><dd><p>Stretch the
image over the whole display instead of scaling it by the
+largest whole number that fits. This fills a display whose size is not an
+exact multiple of 320x200, at the cost of a scale factor that is not uniform
+across the image. Without it the image is scaled by a whole number and
+centred, leaving a border.</p>
+</dd>
+<dt><code class="docutils literal notranslate"><span
class="pre">CONFIG_GAMES_NXDOOM_ROWSTAGE</span></code></dt><dd><p>Build each
output row in a staging buffer and copy it out, rather than
+writing the frame buffer a pixel at a time, so that the frame buffer only
+ever sees burst-friendly copies. Costs a few kilobytes of <code
class="docutils literal notranslate"><span class="pre">.bss</span></code>. This
is
+worth a lot when the frame buffer is external memory and the data cache is
+in write-through mode, and little otherwise.</p>
+</dd>
+<dt><code class="docutils literal notranslate"><span
class="pre">CONFIG_GAMES_NXDOOM_STATIC_SCRNBUF</span></code></dt><dd><p>Place
the buffer DOOM renders into in <code class="docutils literal
notranslate"><span class="pre">.bss</span></code> rather than taking it from the
+heap, which puts it in internal RAM on a board whose heap is mostly external
+memory. The renderer draws in vertical columns, so consecutive writes are
+one screen width apart and none of them coalesce, which makes external memory
+close to the worst case for it. Costs 64000 bytes of RAM whether the game
+runs or not.</p>
+</dd>
+</dl>
+<p>As an illustration of the effect, on an STM32H753 driving a 1024x600 panel
+whose frame buffer lives in SDRAM, <code class="docutils literal
notranslate"><span class="pre">ROWSTAGE</span></code> and <code class="docutils
literal notranslate"><span class="pre">STATIC_SCRNBUF</span></code> are
+worth 2.7 times the frame rate between them.</p>
+</section>
<section id="other-notes">
<h2>Other Notes<a class="headerlink" href="#other-notes" title="Permalink to
this heading"></a></h2>
<section id="translations">
diff --git
a/content/docs/latest/components/drivers/special/sensors/mpu6050.html
b/content/docs/latest/components/drivers/special/sensors/mpu6050.html
index b836e7789f..7fdb35ede5 100644
--- a/content/docs/latest/components/drivers/special/sensors/mpu6050.html
+++ b/content/docs/latest/components/drivers/special/sensors/mpu6050.html
@@ -299,26 +299,59 @@ topics to appear under <code class="docutils literal
notranslate"><span class="p
<p>Where <code class="docutils literal notranslate"><span
class="pre">n</span></code> is the device number passed during device
registration (e.g., 0).</p>
<div class="highlight-c notranslate"><div
class="highlight"><pre><span></span><span class="cm">/* Example uORB sensor
registration on I2C bus 0 at default address 0x68 */</span>
-<span class="kt">int</span><span class="w"> </span><span
class="n">err</span><span class="w"> </span><span class="o">=</span><span
class="w"> </span><span class="n">mpu6050_register</span><span
class="p">(</span><span class="mi">0</span><span class="p">,</span><span
class="w"> </span><span class="n">i2c_master</span><span
class="p">,</span><span class="w"> </span><span
class="n">MPU6050_ADDR_LOW</span><span class="p">);</span>
+<span class="kt">int</span><span class="w"> </span><span
class="n">err</span><span class="w"> </span><span class="o">=</span><span
class="w"> </span><span class="n">mpu6050_register</span><span
class="p">(</span><span class="mi">0</span><span class="p">,</span><span
class="w"> </span><span class="n">i2c_master</span><span
class="p">,</span><span class="w"> </span><span
class="n">MPU6050_ADDR_LOW</span><span class="p">,</span><span class="w">
</span><span class="nb">NULL</span><span class [...]
<span class="k">if</span><span class="w"> </span><span class="p">(</span><span
class="n">err</span><span class="w"> </span><span class="o"><</span><span
class="w"> </span><span class="mi">0</span><span class="p">)</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">syslog</span><span
class="p">(</span><span class="n">LOG_ERR</span><span class="p">,</span><span
class="w"> </span><span class="s">"Failed to register MPU6050:
%d</span><span class="se">\n</span><span class="s">"</span><span
class="p">,</span><span class="w"> </span><span class="n">err</span><span
class="p">);</span>
<span class="w"> </span><span class="p">}</span>
</pre></div>
</div>
+<p>The device samples at 100 Hz.</p>
+</section>
+<section id="acquisition-modes">
+<h2>Acquisition Modes<a class="headerlink" href="#acquisition-modes"
title="Permalink to this heading"></a></h2>
+<p>The driver reads the device on demand by default: a sample is taken when the
+application reads the topic, and is timestamped at that moment.</p>
+<p>With <code class="docutils literal notranslate"><span
class="pre">CONFIG_SENSORS_MPU6050_INT</span></code> the device drives the
acquisition instead,
+through its data ready interrupt. Samples are then timestamped when they were
+measured rather than when they were asked for, and both topics are published
+from a single read, so accelerometer and gyroscope share one timestamp. This
+requires the INT pin to be wired, and the board to pass a
+<code class="docutils literal notranslate"><span class="pre">struct</span>
<span class="pre">mpu6050_config_s</span></code> whose <code class="docutils
literal notranslate"><span class="pre">attach</span></code> member connects
that pin to the
+driver:</p>
+<div class="highlight-c notranslate"><div
class="highlight"><pre><span></span><span class="k">static</span><span
class="w"> </span><span class="kt">int</span><span class="w"> </span><span
class="nf">board_mpu6050_attach</span><span class="p">(</span><span
class="n">FAR</span><span class="w"> </span><span class="k">const</span><span
class="w"> </span><span class="k">struct</span><span class="w"> </span><span
class="nc">mpu6050_config_s</span><span class="w"> </span><span
class="o">*</span [...]
+<span class="w"> </span><span
class="n">xcpt_t</span><span class="w"> </span><span class="n">isr</span><span
class="p">,</span><span class="w"> </span><span class="n">FAR</span><span
class="w"> </span><span class="kt">void</span><span class="w"> </span><span
class="o">*</span><span class="n">arg</span><span class="p">)</span>
+<span class="p">{</span>
+<span class="w"> </span><span class="cm">/* Configure the GPIO for a rising
edge and attach isr to it */</span>
+<span class="p">}</span>
+
+<span class="k">static</span><span class="w"> </span><span
class="k">const</span><span class="w"> </span><span
class="k">struct</span><span class="w"> </span><span
class="nc">mpu6050_config_s</span><span class="w"> </span><span
class="n">g_mpu6050_config</span><span class="w"> </span><span
class="o">=</span>
+<span class="p">{</span>
+<span class="w"> </span><span class="p">.</span><span
class="n">attach</span><span class="w"> </span><span class="o">=</span><span
class="w"> </span><span class="n">board_mpu6050_attach</span><span
class="p">,</span>
+<span class="p">};</span>
+
+<span class="kt">int</span><span class="w"> </span><span
class="n">err</span><span class="w"> </span><span class="o">=</span><span
class="w"> </span><span class="n">mpu6050_register</span><span
class="p">(</span><span class="mi">0</span><span class="p">,</span><span
class="w"> </span><span class="n">i2c_master</span><span
class="p">,</span><span class="w"> </span><span
class="n">MPU6050_ADDR_LOW</span><span class="p">,</span>
+<span class="w"> </span><span
class="o">&</span><span class="n">g_mpu6050_config</span><span
class="p">);</span>
+</pre></div>
+</div>
+<p>Registration fails with <code class="docutils literal notranslate"><span
class="pre">-EINVAL</span></code> if the option is enabled and no <code
class="docutils literal notranslate"><span class="pre">attach</span></code>
+is supplied, since the interrupt is the only source of samples in that
build.</p>
</section>
<section id="configuration-options">
<h2>Configuration Options<a class="headerlink" href="#configuration-options"
title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span
class="pre">CONFIG_SENSORS_MPU6050</span></code> - Enables uORB driver support
for the InvenSense MPU6050 6-axis MotionTracker over I2C.</p></li>
+<li><p><code class="docutils literal notranslate"><span
class="pre">CONFIG_SENSORS_MPU6050_INT</span></code> - Takes samples from the
data ready interrupt instead of reading the device on demand. Requires board
support, see <a class="reference internal"
href="#acquisition-modes">Acquisition Modes</a>.</p></li>
</ul>
</section>
<section id="supported-operations">
<h2>Supported Operations<a class="headerlink" href="#supported-operations"
title="Permalink to this heading"></a></h2>
-<p>The MPU6050 uORB driver supports standard sensor operations
(<cite>activate</cite>, <cite>fetch</cite>,
-<cite>set_interval</cite>, <cite>batch</cite>, and <cite>control</cite>). It
acquires simultaneous 3-axis accelerometer
-and 3-axis gyroscope samples, applies appropriate scale conversions, and
publishes them
-to their respective uORB topics.</p>
+<p>The MPU6050 uORB driver supports standard sensor operations
(<cite>activate</cite>,
+<cite>set_interval</cite>, <cite>batch</cite>, and <cite>control</cite>), plus
<cite>fetch</cite> when reading on demand.
+An instance provides either <cite>fetch</cite> or interrupt driven delivery,
never both.
+It acquires simultaneous 3-axis accelerometer and 3-axis gyroscope samples,
+applies appropriate scale conversions, and publishes them to their respective
+uORB topics.</p>
<section id="example-usage-uorb-listener">
<h3>Example Usage (<cite>uorb_listener</cite>)<a class="headerlink"
href="#example-usage-uorb-listener" title="Permalink to this heading"></a></h3>
<p>Once registered on target hardware, the MPU6050 topics can be verified
directly from the
diff --git a/content/docs/latest/guides/fully_linked_elf.html
b/content/docs/latest/guides/fully_linked_elf.html
index b11871181c..3d858ea99f 100644
--- a/content/docs/latest/guides/fully_linked_elf.html
+++ b/content/docs/latest/guides/fully_linked_elf.html
@@ -487,7 +487,7 @@ NuttX package: <code class="docutils literal
notranslate"><span class="pre">nutt
<div
class="admonition-here-is-an-alternative-minimal-and-possibly-outdated-version
admonition">
<p class="admonition-title">Here is an alternative minimal (and possibly
outdated) version</p>
<div class="sphinx_collapse docutils">
-<input class="sphinx_collapse__input"
id="03ee3c94-fc1a-4c12-8d4c-d71711da9e21"
name="03ee3c94-fc1a-4c12-8d4c-d71711da9e21" type="checkbox"><label
class="sphinx_collapse__label" for="03ee3c94-fc1a-4c12-8d4c-d71711da9e21"><i
class="sphinx_collapse__icon"></i>Show content:</label><div
class="sphinx_collapse__content docutils">
+<input class="sphinx_collapse__input"
id="7b020c9f-4c0c-4a31-990d-1ae73fe8c4ca"
name="7b020c9f-4c0c-4a31-990d-1ae73fe8c4ca" type="checkbox"><label
class="sphinx_collapse__label" for="7b020c9f-4c0c-4a31-990d-1ae73fe8c4ca"><i
class="sphinx_collapse__icon"></i>Show content:</label><div
class="sphinx_collapse__content docutils">
<div class="highlight-text notranslate"><div
class="highlight"><pre><span></span>SECTIONS
{
.text 0x00000000 :
diff --git a/content/docs/latest/guides/partially_linked_elf.html
b/content/docs/latest/guides/partially_linked_elf.html
index b38e5f0868..5f9c9f0d9e 100644
--- a/content/docs/latest/guides/partially_linked_elf.html
+++ b/content/docs/latest/guides/partially_linked_elf.html
@@ -513,7 +513,7 @@ NuttX package: <code class="docutils literal
notranslate"><span class="pre">nutt
<div
class="admonition-here-is-an-alternative-minimal-and-possibly-outdated-version
admonition">
<p class="admonition-title">Here is an alternative minimal (and possibly
outdated) version</p>
<div class="sphinx_collapse docutils">
-<input class="sphinx_collapse__input"
id="12463e78-515e-4959-a850-57dbb5a67866"
name="12463e78-515e-4959-a850-57dbb5a67866" type="checkbox"><label
class="sphinx_collapse__label" for="12463e78-515e-4959-a850-57dbb5a67866"><i
class="sphinx_collapse__icon"></i>Show content:</label><div
class="sphinx_collapse__content docutils">
+<input class="sphinx_collapse__input"
id="17259560-cd45-42ba-a0e4-9b1305e4824f"
name="17259560-cd45-42ba-a0e4-9b1305e4824f" type="checkbox"><label
class="sphinx_collapse__label" for="17259560-cd45-42ba-a0e4-9b1305e4824f"><i
class="sphinx_collapse__icon"></i>Show content:</label><div
class="sphinx_collapse__content docutils">
<div class="highlight-text notranslate"><div
class="highlight"><pre><span></span>SECTIONS
{
.text 0x00000000 :
diff --git a/content/docs/latest/implementation/index.html
b/content/docs/latest/implementation/index.html
index f1d2f4a448..f0e8783a76 100644
--- a/content/docs/latest/implementation/index.html
+++ b/content/docs/latest/implementation/index.html
@@ -318,6 +318,7 @@
<li class="toctree-l2"><a class="reference internal"
href="kernel_modules_vs_shared_libraries.html#shared-libraries">Shared
Libraries</a></li>
<li class="toctree-l2"><a class="reference internal"
href="kernel_modules_vs_shared_libraries.html#flat-build">FLAT Build</a></li>
<li class="toctree-l2"><a class="reference internal"
href="kernel_modules_vs_shared_libraries.html#protected-build">PROTECTED
Build</a></li>
+<li class="toctree-l2"><a class="reference internal"
href="kernel_modules_vs_shared_libraries.html#opening-a-library-more-than-once">Opening
a Library More Than Once</a></li>
<li class="toctree-l2"><a class="reference internal"
href="kernel_modules_vs_shared_libraries.html#better-flat-and-protected-mode-shared-libraries">Better
FLAT and PROTECTED Mode Shared Libraries</a></li>
<li class="toctree-l2"><a class="reference internal"
href="kernel_modules_vs_shared_libraries.html#kernel-build">KERNEL
Build</a></li>
</ul>
diff --git
a/content/docs/latest/implementation/kernel_modules_vs_shared_libraries.html
b/content/docs/latest/implementation/kernel_modules_vs_shared_libraries.html
index 4226853a84..90443458b2 100644
--- a/content/docs/latest/implementation/kernel_modules_vs_shared_libraries.html
+++ b/content/docs/latest/implementation/kernel_modules_vs_shared_libraries.html
@@ -159,6 +159,7 @@
<li class="toctree-l3"><a class="reference internal"
href="#shared-libraries">Shared Libraries</a></li>
<li class="toctree-l3"><a class="reference internal" href="#flat-build">FLAT
Build</a></li>
<li class="toctree-l3"><a class="reference internal"
href="#protected-build">PROTECTED Build</a></li>
+<li class="toctree-l3"><a class="reference internal"
href="#opening-a-library-more-than-once">Opening a Library More Than
Once</a></li>
<li class="toctree-l3"><a class="reference internal"
href="#better-flat-and-protected-mode-shared-libraries">Better FLAT and
PROTECTED Mode Shared Libraries</a></li>
<li class="toctree-l3"><a class="reference internal"
href="#kernel-build">KERNEL Build</a></li>
</ul>
@@ -280,12 +281,15 @@ in this case? Certainly a kernel module meets all of the
requirements
of a shared library in that environment.
In this case kernel modules really only differ from shared
libraries in their usage semantics:</p>
-<p>For the FLAT build, I have added the standard <code class="docutils literal
notranslate"><span class="pre">include/dllfcn.h</span></code>
-and have implemented the FLAT shared library support as a thin wrapper
-around the kernel module support:</p>
+<p>For the FLAT build, the standard <code class="docutils literal
notranslate"><span class="pre">include/dlfcn.h</span></code> interfaces are
+implemented as a thin wrapper around the same module library that the kernel
+module support uses:</p>
<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span
class="pre">dlopen()</span></code> maps to <code class="docutils literal
notranslate"><span class="pre">insmod()</span></code>.</p></li>
-<li><p><code class="docutils literal notranslate"><span
class="pre">dlclose()</span></code> maps to <code class="docutils literal
notranslate"><span class="pre">rmmod()</span></code>.</p></li>
+<li><p><code class="docutils literal notranslate"><span
class="pre">dlopen()</span></code> loads the library, or takes an additional
reference on it if
+it is already loaded, and returns a handle to it. See
+<a class="reference internal" href="#opening-a-library-more-than-once">Opening
a Library More Than Once</a>.</p></li>
+<li><p><code class="docutils literal notranslate"><span
class="pre">dlclose()</span></code> releases one reference. The library is
unloaded, as
+<code class="docutils literal notranslate"><span
class="pre">rmmod()</span></code> would, only when the last handle is
closed.</p></li>
<li><p><code class="docutils literal notranslate"><span
class="pre">dlsym()</span></code> maps to <code class="docutils literal
notranslate"><span class="pre">modsym()</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span
class="pre">dlerror()</span></code> is only a stub at the present time.</p></li>
</ul>
@@ -308,6 +312,39 @@ library at libc/modlib.</p>
<p>The shared library functions no longer call the kernel module logic but
rather
implement their one top-level management logic using the lower-level routines
in the module library.</p>
+<p>The user space copy of the module library keeps the name of each loaded
+library whenever <code class="docutils literal notranslate"><span
class="pre">CONFIG_LIBC_DLFCN</span></code> is enabled, since the name is the
only
+way to tell that a library is already loaded. This costs <code class="docutils
literal notranslate"><span class="pre">NAME_MAX</span></code> bytes
+per loaded library, but it makes <code class="docutils literal
notranslate"><span class="pre">dlopen()</span></code> behave exactly as it does
in the
+FLAT build.</p>
+</section>
+<section id="opening-a-library-more-than-once">
+<h2>Opening a Library More Than Once<a class="headerlink"
href="#opening-a-library-more-than-once" title="Permalink to this
heading"></a></h2>
+<p>In the FLAT and PROTECTED builds, <code class="docutils literal
notranslate"><span class="pre">dlopen()</span></code> of a library that is
already
+loaded does not load a second copy and does not fail. It returns a handle to
+the library that is already loaded and takes an additional reference on it.
+Each successful <code class="docutils literal notranslate"><span
class="pre">dlopen()</span></code> must be matched by a <code class="docutils
literal notranslate"><span class="pre">dlclose()</span></code>; the library
+is unloaded only when the last handle is closed. Up to 255 handles may be
+outstanding on one library; beyond that <code class="docutils literal
notranslate"><span class="pre">dlopen()</span></code> fails with <code
class="docutils literal notranslate"><span class="pre">EMFILE</span></code>.</p>
+<p>Some consequences worth keeping in mind:</p>
+<ul class="simple">
+<li><p>A library is identified by the <em>basename</em> of the path passed to
+<code class="docutils literal notranslate"><span
class="pre">dlopen()</span></code>. Two files with the same basename in
different directories
+are treated as the same library, and the second <code class="docutils literal
notranslate"><span class="pre">dlopen()</span></code> will return
+the first one.</p></li>
+<li><p>There is only one instance of the library’s <code class="docutils
literal notranslate"><span class="pre">.data</span></code> and <code
class="docutils literal notranslate"><span class="pre">.bss</span></code>.
Global
+and static data are shared by every user of the library, and by every task
+group in the system.</p></li>
+<li><p>Constructors in <code class="docutils literal notranslate"><span
class="pre">.init_array</span></code> run once, when the library is first
loaded,
+and destructors in <code class="docutils literal notranslate"><span
class="pre">.fini_array</span></code> run once, when the last handle is
+closed. They do not run per <code class="docutils literal notranslate"><span
class="pre">dlopen()</span></code>/<code class="docutils literal
notranslate"><span class="pre">dlclose()</span></code> pair.</p></li>
+<li><p>Symbols obtained with <code class="docutils literal notranslate"><span
class="pre">dlsym()</span></code> remain valid until the last handle is
+closed, not until the caller’s own handle is closed.</p></li>
+</ul>
+<p>Kernel modules deliberately behave differently: <code class="docutils
literal notranslate"><span class="pre">insmod()</span></code> fails with
+<code class="docutils literal notranslate"><span
class="pre">EEXIST</span></code> if a module of that name is already installed,
and <code class="docutils literal notranslate"><span
class="pre">rmmod()</span></code>
+removes it immediately. A kernel module is a singleton and is not reference
+counted.</p>
</section>
<section id="better-flat-and-protected-mode-shared-libraries">
<h2>Better FLAT and PROTECTED Mode Shared Libraries<a class="headerlink"
href="#better-flat-and-protected-mode-shared-libraries" title="Permalink to
this heading"></a></h2>
@@ -317,7 +354,7 @@ for each NuttX task group.</p>
<p>A task group is the moral equivalent of a Unix process.
That is how a shared library would have to work in uClinux, for example.
But that would be a substantial effort! For example, since each
-<code class="docutils literal notranslate"><span
class="pre">.bss</span></code>/<code class="docutils literal notranslate"><span
class="pre">.data</span></code> would lie at a different physical addres,
+<code class="docutils literal notranslate"><span
class="pre">.bss</span></code>/<code class="docutils literal notranslate"><span
class="pre">.data</span></code> would lie at a different physical address,
the <code class="docutils literal notranslate"><span
class="pre">.text</span></code> section logic would need support
Position-Independent-Data (PID).
Embedded PID support, however, is pretty much broken on all current GCC
@@ -370,7 +407,10 @@ are loaded into memory before the programs <code
class="docutils literal notrans
<p class="admonition-title">Note</p>
<p>There is not yet any shared library support in the KERNEL build mode.
This would be quite a large effort and not on the plan of record
-at the present time.</p>
+at the present time.
+<code class="docutils literal notranslate"><span
class="pre">dlopen()</span></code> always fails and returns <code
class="docutils literal notranslate"><span class="pre">NULL</span></code> in
the KERNEL build,
+so none of the reference counting behaviour described above applies
+there.</p>
</div>
</section>
</section>
diff --git a/content/docs/latest/index.html b/content/docs/latest/index.html
index 6095576257..5ed678a240 100644
--- a/content/docs/latest/index.html
+++ b/content/docs/latest/index.html
@@ -195,7 +195,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 04 August 26 at 00:52</p>
+<p>Last Updated: 05 August 26 at 00:51</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/latest/objects.inv b/content/docs/latest/objects.inv
index f77402f02e..448ba0f81c 100644
Binary files a/content/docs/latest/objects.inv and
b/content/docs/latest/objects.inv differ
diff --git
a/content/docs/latest/platforms/arm/stm32h7/boards/linum-stm32h753bi/index.html
b/content/docs/latest/platforms/arm/stm32h7/boards/linum-stm32h753bi/index.html
index edf0c938e4..d3a0df5e91 100644
---
a/content/docs/latest/platforms/arm/stm32h7/boards/linum-stm32h753bi/index.html
+++
b/content/docs/latest/platforms/arm/stm32h7/boards/linum-stm32h753bi/index.html
@@ -1750,6 +1750,153 @@ console hands over a whole line at once. The keyboard
upper half overwrites
the oldest event when the buffer is full, so a line typed at the console
would arrive with its beginning silently missing.</p>
</section>
+<section id="nxdoom">
+<h3>nxdoom<a class="headerlink" href="#nxdoom" title="Permalink to this
heading"></a></h3>
+<p><strong>Purpose:</strong> runs <code class="docutils literal
notranslate"><span class="pre">NXDoom</span></code>, the NuttX port of
Chocolate DOOM, on the board’s
+LCD, played with a USB HID keyboard and reading the game data from the microSD
+card. It brings together the LTDC framebuffer, the OTG FS USB host and the
+SDMMC peripheral, and uses the external SDRAM for the game’s zone memory.</p>
+<figure class="align-center" id="id1" style="width: 60%">
+<img alt="DOOM running on the LINUM-STM32H753BI LCD"
src="../../../../../_images/linum-stm32h753bi-nxdoom.jpg" />
+<figcaption>
+<p><span class="caption-text">DOOM running on the board’s 1024x600
LCD</span><a class="headerlink" href="#id1" title="Permalink to this
image"></a></p>
+</figcaption>
+</figure>
+<p>DOOM renders to a 320x200 8-bit paletted buffer. This configuration
stretches
+that over the whole 1024x600 panel (<code class="docutils literal
notranslate"><span class="pre">CONFIG_GAMES_NXDOOM_FILLSCREEN</span></code>) and
+runs the LTDC layer in L8 (<code class="docutils literal notranslate"><span
class="pre">CONFIG_STM32_LTDC_L1_L8</span></code> with
+<code class="docutils literal notranslate"><span
class="pre">CONFIG_GAMES_NXDOOM_FB_CMAP</span></code>), so the palette indices
are written to the
+framebuffer unconverted and the display applies the palette from its colour
+map as it scans out. That keeps the conversion off the CPU and
+halves the amount of data written per frame.</p>
+<p>Two further options matter on this board, both because the framebuffer and
the
+heap are in external SDRAM: <code class="docutils literal notranslate"><span
class="pre">CONFIG_GAMES_NXDOOM_ROWSTAGE</span></code> builds each row
+in internal RAM so the SDRAM only sees burst copies, and
+<code class="docutils literal notranslate"><span
class="pre">CONFIG_GAMES_NXDOOM_STATIC_SCRNBUF</span></code> keeps the buffer
DOOM renders into out
+of the SDRAM altogether. Between them they are worth 2.7 times the frame
rate.</p>
+<p>The game needs about 4 MiB of contiguous memory for its zone. That comes
from
+the SDRAM region, which is 6 MiB when the LTDC is enabled (the last 2 MiB of
+the 8 MiB SDRAM is reserved for the framebuffer).</p>
+<p><strong>Requirements:</strong></p>
+<ul class="simple">
+<li><p>A microSD card, formatted as FAT, holding a DOOM IWAD. The shareware
+<code class="docutils literal notranslate"><span
class="pre">doom1.wad</span></code> and <code class="docutils literal
notranslate"><span class="pre">freedoom1.wad</span></code> both work, as do the
commercial IWADs.</p></li>
+<li><p>A USB HID keyboard on the OTG FS service connector.</p></li>
+</ul>
+<p><strong>Build and flash:</strong></p>
+<div class="highlight-console notranslate"><div
class="highlight"><pre><span></span><span class="gp">$
</span>./tools/configure.sh<span class="w"> </span>linum-stm32h753bi:nxdoom
+<span class="gp">$ </span>make<span class="w"> </span>-j
+</pre></div>
+</div>
+<p>Flash the resulting <code class="docutils literal notranslate"><span
class="pre">nuttx.bin</span></code> to the board.</p>
+<p><strong>How to test:</strong> copy the IWAD to the SD card, plug the card
and the keyboard,
+reset the board and check that all three devices came up:</p>
+<div class="highlight-none notranslate"><div
class="highlight"><pre><span></span>nsh> ls /dev
+/dev:
+ console
+ fb0
+ kbda
+ mmcsd0
+ null
+ rtc0
+ ttyS0
+ zero
+</pre></div>
+</div>
+<p>Mount the card and start the game. <code class="docutils literal
notranslate"><span class="pre">nxdoom</span></code> looks for the IWAD in the
+current directory, so either <code class="docutils literal notranslate"><span
class="pre">cd</span></code> to the mount point first or point it at
+the file with <code class="docutils literal notranslate"><span
class="pre">-iwad</span></code>:</p>
+<div class="highlight-none notranslate"><div
class="highlight"><pre><span></span>nsh> mount -t vfat /dev/mmcsd0 /mnt
+nsh> nxdoom -iwad /mnt/doom1.wad
+ NXDoom v0.0.0
+z_init: Init zone memory allocation daemon.
+zone memory: Using native C allocator.
+Using /mnt/ for configuration and saves
+v_init: allocate screens.
+m_load_defaults: Load system defaults.
+saving config in /mnt/default.cfg
+W_Init: Init WADfiles.
+ adding /mnt/doom1.wad
+=========================================================================
+ DOOM Shareware
+=========================================================================
+ NXDoom is free software, covered by the GNU General Public
+ License. There is NO warranty; not even for MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE. You are welcome to change and distribute
+ copies under certain conditions. See the source for more information.
+=========================================================================
+i_init: Setting up machine state.
+m_init: Init miscellaneous info.
+r_init: Init DOOM refresh daemon - [...................]
+p_init: Init Playloop state.
+d_check_net_game: Checking network game status.
+startskill 2 deathmatch: 0 startmap: 1 startepisode: 1
+player 1 of 1 (1 nodes)
+Emulating the behavior of the 'Doom 1.9' executable.
+hu_init: Setting up heads up display.
+st_init: Init status bar.
+</pre></div>
+</div>
+<p><strong>Copying the IWAD with zmodem:</strong> the configuration also
enables the <code class="docutils literal notranslate"><span
class="pre">rz</span></code>
+and <code class="docutils literal notranslate"><span
class="pre">sz</span></code> commands, so the IWAD can be copied over the
serial console
+instead of moving the SD card to a card reader.
+<code class="docutils literal notranslate"><span
class="pre">CONFIG_SYSTEM_ZMODEM_MOUNTPOINT</span></code> is set to <code
class="docutils literal notranslate"><span class="pre">/mnt</span></code>, so a
received file
+lands on the SD card:</p>
+<div class="highlight-none notranslate"><div
class="highlight"><pre><span></span>nsh> mount -t vfat /dev/mmcsd0 /mnt
+nsh> rz
+</pre></div>
+</div>
+<p>and, from the host, with the console closed in any terminal program:</p>
+<div class="highlight-none notranslate"><div
class="highlight"><pre><span></span>$ sz -b --zmodem -w 1024 doom1.wad <
/dev/ttyACM0 > /dev/ttyACM0
+</pre></div>
+</div>
+<p>Note that USART1 has no RTS/CTS on this board, so there is no hardware flow
+control to throttle the sender. <code class="docutils literal
notranslate"><span class="pre">CONFIG_USART1_RXBUFSIZE</span></code> is raised
to 4096
+to compensate, and the <code class="docutils literal notranslate"><span
class="pre">-w</span></code> window above makes the host wait for
+acknowledgements. Even so this runs at roughly 10 KiB/s, so a 4 MiB IWAD takes
+about seven minutes; a card reader is much faster if one is available.</p>
+<p>The game runs on the LCD and is played from the USB keyboard: arrow keys to
+move, Ctrl to fire, Shift to run, Alt to strafe, Space to open doors and Esc
+for the menu. Configuration and saved games are written to <code
class="docutils literal notranslate"><span class="pre">/mnt</span></code>, so
the
+card must be mounted read/write.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The game needs key <em>release</em> events, without which a movement key
would
+never stop being held down. A keyboard device reports them by default,
+so nothing has to be enabled for it.</p>
+<p>Do not turn on <code class="docutils literal notranslate"><span
class="pre">CONFIG_INPUT_KEYBOARD_BYTESTREAM</span></code> for this
+configuration. That makes the device deliver the codec byte stream
+instead of events, and the byte stream encodes presses only: every
+release is dropped, and the player would keep walking after the key is
+let go.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p><code class="docutils literal notranslate"><span
class="pre">CONFIG_HIDKBD_NOGETREPORT</span></code> (and the <code
class="docutils literal notranslate"><span
class="pre">CONFIG_USBHOST_ASYNCH</span></code> it needs)
+is required. By default the HID keyboard driver asks the keyboard for its
+input report over the control pipe with GET_REPORT. Many keyboards accept
+that request but always answer with an empty report, and only ever deliver
+key data on their interrupt IN endpoint. The symptom is a keyboard that
+enumerates as <code class="docutils literal notranslate"><span
class="pre">/dev/kbda</span></code> and reports no error at all, while no key is
+ever seen. With this option the driver reads the interrupt endpoint
+instead.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p><code class="docutils literal notranslate"><span
class="pre">CONFIG_FAT_FORCE_INDIRECT</span></code> is required. Without it the
FAT layer reads
+whole sectors straight into the caller’s buffer, and the SDMMC IDMA cannot
+reach the caller’s buffer when it lives in external SDRAM. DOOM reads its
+lumps into <code class="docutils literal notranslate"><span
class="pre">malloc()</span></code>ed memory, and once the internal SRAM regions
fill
+up those allocations come from SDRAM, so the failure appears part way
+through startup rather than immediately:</p>
+<div class="highlight-none notranslate"><div
class="highlight"><pre><span></span>r_init: Init DOOM refresh daemon - [
]w_read_lump: only read 0 of 5192 on lump 1070
+</pre></div>
+</div>
+<p>Forcing indirect transfers routes every read through the DMA-capable
+sector buffer that <code class="docutils literal notranslate"><span
class="pre">CONFIG_FAT_DMAMEMORY</span></code> allocates, at the cost of one
+extra copy per sector.</p>
+</div>
+</section>
<section id="tone">
<h3>tone<a class="headerlink" href="#tone" title="Permalink to this
heading"></a></h3>
<p>This example demonstrates how to use PWM4 and Timer17 to play music using
the Tone library and the board’s buzzer.</p>
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