diff --git a/.gitignore b/.gitignore
index 2870b4a80..25a5a3091 100644
--- a/.gitignore
+++ b/.gitignore
@@ -24,3 +24,8 @@ examples/*/build
 docs/_build/
 docs/doxygen-warning-log.txt
 docs/xml/
+
+# Unit test app files
+tools/unit-test-app/sdkconfig
+tools/unit-test-app/sdkconfig.old
+tools/unit-test-app/build
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 814279ce1..1d68d2f60 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -78,15 +78,14 @@ build_esp_idf_tests:
   <<: *build_template
   artifacts:
     paths:
-      - ./esp-idf-tests/build/*.bin
-      - ./esp-idf-tests/build/*.elf
-      - ./esp-idf-tests/build/*.map
-      - ./esp-idf-tests/build/bootloader/*.bin
+      - ./tools/unit-test-app/build/*.bin
+      - ./tools/unit-test-app/build/*.elf
+      - ./tools/unit-test-app/build/*.map
+      - ./tools/unit-test-app/build/bootloader/*.bin
     expire_in: 6 mos
 
   script:
-    - git clone $GITLAB_SSH_SERVER/idf/esp-idf-tests.git
-    - cd esp-idf-tests
+    - cd tools/unit-test-app
     - git checkout ${CI_BUILD_REF_NAME} || echo "Using default branch..."
     - make defconfig
     - make
@@ -131,7 +130,7 @@ test_nvs_on_host:
   tags:
     - nvs_host_test
   script:
-    - cd components/nvs_flash/test
+    - cd components/nvs_flash/test_nvs_host
     - make test
 
 test_build_system:
diff --git a/CONTRIBUTING.rst b/CONTRIBUTING.rst
index 968826790..5810d06b9 100644
--- a/CONTRIBUTING.rst
+++ b/CONTRIBUTING.rst
@@ -15,7 +15,9 @@ Before sending us a Pull Request, please consider this list of points:
 
 * Is the contribution entirely your own work, or already licensed under an Apache License 2.0 compatible Open Source License? If not then we unfortunately cannot accept it.
 
-* Does any new code conform to the esp-idf Style Guide? (Style Guide currently pending).
+* Does any new code conform to the esp-idf :doc:`Style Guide <style-guide>`?
+
+* Does the code documentation follow requirements in :doc:`documenting-code`?
 
 * Is the code adequately commented for people to understand how it is structured?
 
diff --git a/components/bootloader/Makefile.projbuild b/components/bootloader/Makefile.projbuild
index 3faff53d6..a49f3d868 100644
--- a/components/bootloader/Makefile.projbuild
+++ b/components/bootloader/Makefile.projbuild
@@ -20,7 +20,7 @@ export SECURE_BOOT_SIGNING_KEY  # used by bootloader_support component
 
 # Custom recursive make for bootloader sub-project
 BOOTLOADER_MAKE=+$(MAKE) -C $(BOOTLOADER_COMPONENT_PATH)/src \
-	V=$(V) BUILD_DIR_BASE=$(BOOTLOADER_BUILD_DIR)
+	V=$(V) BUILD_DIR_BASE=$(BOOTLOADER_BUILD_DIR) TEST_COMPONENTS=
 
 .PHONY: bootloader-clean bootloader-flash bootloader $(BOOTLOADER_BIN)
 
diff --git a/components/driver/gpio.c b/components/driver/gpio.c
index ddbcb352c..d5d4d9d40 100644
--- a/components/driver/gpio.c
+++ b/components/driver/gpio.c
@@ -321,9 +321,9 @@ esp_err_t gpio_config(gpio_config_t *pGPIOConfig)
             }
             if(pGPIOConfig->pull_up_en) {
                 pu_en = 1;
-                REG_SET_BIT(gpio_pu_pd_desc[io_num].reg, gpio_pu_pd_desc[io_num].pd);
+                REG_SET_BIT(gpio_pu_pd_desc[io_num].reg, gpio_pu_pd_desc[io_num].pu);
             } else {
-                REG_CLR_BIT(gpio_pu_pd_desc[io_num].reg, gpio_pu_pd_desc[io_num].pd);
+                REG_CLR_BIT(gpio_pu_pd_desc[io_num].reg, gpio_pu_pd_desc[io_num].pu);
             }
             if(pGPIOConfig->pull_down_en) {
                 pd_en = 1;
diff --git a/components/driver/include/driver/periph_ctrl.h b/components/driver/include/driver/periph_ctrl.h
index 3faa347b5..d7a98284b 100644
--- a/components/driver/include/driver/periph_ctrl.h
+++ b/components/driver/include/driver/periph_ctrl.h
@@ -39,6 +39,7 @@ typedef enum {
     PERIPH_PWM3_MODULE,
     PERIPH_UHCI0_MODULE,
     PERIPH_UHCI1_MODULE,
+    PERIPH_RMT_MODULE,
 } periph_module_t;
 
 /**
diff --git a/components/driver/include/driver/rmt.h b/components/driver/include/driver/rmt.h
new file mode 100644
index 000000000..50a5c743d
--- /dev/null
+++ b/components/driver/include/driver/rmt.h
@@ -0,0 +1,794 @@
+// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef _DRIVER_RMT_CTRL_H_
+#define _DRIVER_RMT_CTRL_H_
+#include "esp_err.h"
+#include "soc/rmt_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/rmt_struct.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
+#include "freertos/xtensa_api.h"
+#include "freertos/ringbuf.h"
+#include "driver/gpio.h"
+#include "driver/periph_ctrl.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define RMT_MEM_BLOCK_BYTE_NUM (256)
+#define RMT_MEM_ITEM_NUM  (RMT_MEM_BLOCK_BYTE_NUM/4)
+
+typedef enum {
+    RMT_CHANNEL_0=0, /*!< RMT Channel0 */
+    RMT_CHANNEL_1,   /*!< RMT Channel1 */
+    RMT_CHANNEL_2,   /*!< RMT Channel2 */
+    RMT_CHANNEL_3,   /*!< RMT Channel3 */
+    RMT_CHANNEL_4,   /*!< RMT Channel4 */
+    RMT_CHANNEL_5,   /*!< RMT Channel5 */
+    RMT_CHANNEL_6,   /*!< RMT Channel6 */
+    RMT_CHANNEL_7,   /*!< RMT Channel7 */
+    RMT_CHANNEL_MAX
+} rmt_channel_t;
+
+typedef enum {
+    RMT_MEM_OWNER_TX = 0,  /*!< RMT RX mode, RMT transmitter owns the memory block*/
+    RMT_MEM_OWNER_RX = 1,  /*!< RMT RX mode, RMT receiver owns the memory block*/
+    RMT_MEM_OWNER_MAX,
+}rmt_mem_owner_t;
+
+typedef enum {
+    RMT_BASECLK_REF = 0,   /*!< RMT source clock system reference tick, 1MHz by default(Not supported in this version) */
+    RMT_BASECLK_APB,       /*!< RMT source clock is APB CLK, 80Mhz by default */
+    RMT_BASECLK_MAX,
+} rmt_source_clk_t;
+
+typedef enum {
+    RMT_DATA_MODE_FIFO = 0,  /*<! RMT memory access in FIFO mode */
+    RMT_DATA_MODE_MEM = 1,   /*<! RMT memory access in memory mode */
+    RMT_DATA_MODE_MAX,
+} rmt_data_mode_t;
+
+typedef enum {
+    RMT_MODE_TX=0,   /*!< RMT TX mode */
+    RMT_MODE_RX,     /*!< RMT RX mode */
+    RMT_MODE_MAX
+} rmt_mode_t;
+
+typedef enum {
+    RMT_IDLE_LEVEL_LOW=0,   /*!< RMT TX idle level: low Level */
+    RMT_IDLE_LEVEL_HIGH,    /*!< RMT TX idle level: high Level */
+    RMT_IDLE_LEVEL_MAX,
+} rmt_idle_level_t;
+
+typedef enum {
+    RMT_CARRIER_LEVEL_LOW=0,  /*!< RMT carrier wave is modulated for low Level output */
+    RMT_CARRIER_LEVEL_HIGH,   /*!< RMT carrier wave is modulated for high Level output */
+    RMT_CARRIER_LEVEL_MAX
+} rmt_carrier_level_t;
+
+/**
+ * @brief Data struct of RMT TX configure parameters
+ */
+typedef struct {
+    bool loop_en;                         /*!< RMT loop output mode*/
+    uint32_t carrier_freq_hz;             /*!< RMT carrier frequency */
+    uint8_t carrier_duty_percent;         /*!< RMT carrier duty (%) */
+    rmt_carrier_level_t carrier_level;    /*!< RMT carrier level */
+    bool carrier_en;                      /*!< RMT carrier enable */
+    rmt_idle_level_t idle_level;          /*!< RMT idle level */
+    bool idle_output_en;                  /*!< RMT idle level output enable*/
+}rmt_tx_config_t;
+
+/**
+ * @brief Data struct of RMT RX configure parameters
+ */
+typedef struct {
+    bool filter_en;                    /*!< RMT receiver filer enable*/
+    uint8_t filter_ticks_thresh;       /*!< RMT filter tick  number */
+    uint16_t idle_threshold;           /*!< RMT RX idle threshold */
+}rmt_rx_config_t;
+
+/**
+ * @brief Data struct of RMT configure parameters
+ */
+typedef struct {
+    rmt_mode_t rmt_mode;               /*!< RMT mode: transmitter or receiver */
+    rmt_channel_t channel;             /*!< RMT channel */
+    uint8_t clk_div;                   /*!< RMT channel counter divider */
+    gpio_num_t gpio_num;               /*!< RMT GPIO number */
+    uint8_t mem_block_num;             /*!< RMT memory block number */
+    union{
+        rmt_tx_config_t tx_config;     /*!< RMT TX parameter */
+        rmt_rx_config_t rx_config;     /*!< RMT RX parameter */
+    };
+} rmt_config_t;
+
+/**
+ * @brief Set RMT clock divider, channel clock is divided from source clock.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param div_cnt RMT counter clock divider
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_clk_div(rmt_channel_t channel, uint8_t div_cnt);
+
+/**
+ * @brief Get RMT clock divider, channel clock is divided from source clock.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param div_cnt pointer to accept RMT counter divider
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_get_clk_div(rmt_channel_t channel, uint8_t* div_cnt);
+
+/**
+ * @brief Set RMT RX idle threshold value
+ *
+ *        In receive mode, when no edge is detected on the input signal
+ *        for longer than idle_thres channel clock cycles,
+ *        the receive process is finished.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param thresh RMT RX idle threshold
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_rx_idle_thresh(rmt_channel_t channel, uint16_t thresh);
+
+/**
+ * @brief Get RMT idle threshold value.
+ *
+ *        In receive mode, when no edge is detected on the input signal
+ *        for longer than idle_thres channel clock cycles,
+ *        the receive process is finished.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param thresh pointer to accept RMT RX idle threshold value
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_get_rx_idle_thresh(rmt_channel_t channel, uint16_t *thresh);
+
+/**
+ * @brief Set RMT memory block number for RMT channel
+ *
+ *        This function is used to configure the amount of memory blocks allocated to channel n
+ *        The 8 channels share a 512x32-bit RAM block which can be read and written
+ *        by the processor cores over the APB bus, as well as read by the transmitters
+ *        and written by the receivers.
+ *        The RAM address range for channel n is start_addr_CHn to end_addr_CHn, which are defined by:
+ *        Memory block start address is RMT_CHANNEL_MEM(n) (in soc/rmt_reg.h),
+ *        that is, start_addr_chn = RMT base address + 0x800 + 64 ∗ 4 ∗ n, and
+ *        end_addr_chn = RMT base address + 0x800 +  64 ∗ 4 ∗ n + 64 ∗ 4 ∗ RMT_MEM_SIZE_CHn mod 512 ∗ 4
+ *        @note
+ *        If memory block number of one channel is set to a value greater than 1, this channel will occupy the memory
+ *        block of the next channel.
+ *        Channel0 can use at most 8 blocks of memory, accordingly channel7 can only use one memory block.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param rmt_mem_num RMT RX memory block number, one block has 64 * 32 bits.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_mem_block_num(rmt_channel_t channel, uint8_t rmt_mem_num);
+
+/**
+ * @brief Get RMT memory block number
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param rmt_mem_num Pointer to accept RMT RX memory block number
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_get_mem_block_num(rmt_channel_t channel, uint8_t* rmt_mem_num);
+
+/**
+ * @brief Configure RMT carrier for TX signal.
+ *
+ *        Set different values for carrier_high and carrier_low to set different frequency of carrier.
+ *        The unit of carrier_high/low is the source clock tick, not the divided channel counter clock.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param carrier_en Whether to enable output carrier.
+ *
+ * @param high_level High level duration of carrier
+ *
+ * @param low_level Low level duration of carrier.
+ *
+ * @param carrier_level Configure the way carrier wave is modulated for channel0-7.
+ *
+ *                      1'b1:transmit on low output level
+ *
+ *                      1'b0:transmit on high output level
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_tx_carrier(rmt_channel_t channel, bool carrier_en, uint16_t high_level, uint16_t low_level, rmt_carrier_level_t carrier_level);
+
+/**
+ * @brief Set RMT memory in low power mode.
+ *
+ *        Reduce power consumed by memory. 1:memory is in low power state.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param pd_en RMT memory low power enable.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_mem_pd(rmt_channel_t channel, bool pd_en);
+
+/**
+ * @brief Get RMT memory low power mode.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param pd_en Pointer to accept RMT memory low power mode.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_get_mem_pd(rmt_channel_t channel, bool* pd_en);
+
+/**
+ * @brief Set RMT start sending data from memory.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param tx_idx_rst Set true to reset memory index for TX.
+ *        Otherwise, transmitter will continue sending from the last index in memory.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_tx_start(rmt_channel_t channel, bool tx_idx_rst);
+
+/**
+ * @brief Set RMT stop sending.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_tx_stop(rmt_channel_t channel);
+
+/**
+ * @brief Set RMT start receiving data.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param rx_idx_rst Set true to reset memory index for receiver.
+ *                   Otherwise, receiver will continue receiving data to the last index in memory.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_rx_start(rmt_channel_t channel, bool rx_idx_rst);
+
+/**
+ * @brief Set RMT stop receiving data.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_rx_stop(rmt_channel_t channel);
+
+/**
+ * @brief Reset RMT TX/RX memory index.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_memory_rw_rst(rmt_channel_t channel);
+
+/**
+ * @brief Set RMT memory owner.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param owner To set when the transmitter or receiver can process the memory of channel.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_memory_owner(rmt_channel_t channel, rmt_mem_owner_t owner);
+
+/**
+ * @brief Get RMT memory owner.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param owner Pointer to get memory owner.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_get_memory_owner(rmt_channel_t channel, rmt_mem_owner_t* owner);
+
+/**
+ * @brief Set RMT tx loop mode.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param loop_en To enable RMT transmitter loop sending mode.
+ *
+ *                If set true, transmitter will continue sending from the first data
+ *                to the last data in channel0-7 again and again.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_tx_loop_mode(rmt_channel_t channel, bool loop_en);
+
+/**
+ * @brief Get RMT tx loop mode.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param loop_en Pointer to accept RMT transmitter loop sending mode.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_get_tx_loop_mode(rmt_channel_t channel, bool* loop_en);
+
+/**
+ * @brief Set RMT RX filter.
+ *
+ *        In receive mode, channel0-7 will ignore input pulse when the pulse width is smaller than threshold.
+ *        Counted in source clock, not divided counter clock.
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param rx_filter_en To enable RMT receiver filter.
+ *
+ * @param thresh Threshold of pulse width for receiver.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_rx_filter(rmt_channel_t channel, bool rx_filter_en, uint8_t thresh);
+
+/**
+ * @brief Set RMT source clock
+ *
+ *        RMT module has two source clock:
+ *        1. APB clock which is 80Mhz
+ *        2. REF tick clock, which would be 1Mhz( not supported in this version).
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param base_clk To choose source clock for RMT module.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_source_clk(rmt_channel_t channel, rmt_source_clk_t base_clk);
+
+/**
+ * @brief Get RMT source clock
+ *
+ *        RMT module has two source clock:
+ *        1. APB clock which is 80Mhz
+ *        2. REF tick clock, which would be 1Mhz( not supported in this version).
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param src_clk Pointer to accept source clock for RMT module.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_get_source_clk(rmt_channel_t channel, rmt_source_clk_t* src_clk);
+
+/**
+ * @brief Set RMT idle output level for transmitter
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param idle_out_en To enable idle level output.
+ *
+ * @param level To set the output signal's level for channel0-7 in idle state.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_idle_level(rmt_channel_t channel, bool idle_out_en, rmt_idle_level_t level);
+
+/**
+ * @brief Get RMT status
+ *
+ * @param channel RMT channel (0-7)
+ *
+ * @param status Pointer to accept channel status.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_get_status(rmt_channel_t channel, uint32_t* status);
+
+/**
+ * @brief Set mask value to RMT interrupt enable register.
+ *
+ * @param mask Bit mask to set to the register
+ *
+ */
+void rmt_set_intr_enable_mask(uint32_t mask);
+
+/**
+ * @brief Clear mask value to RMT interrupt enable register.
+ *
+ * @param mask Bit mask to clear the register
+ *
+ */
+void rmt_clr_intr_enable_mask(uint32_t mask);
+
+/**
+ * @brief Set RMT RX interrupt enable
+ *
+ * @param channel RMT channel (0 - 7)
+ *
+ * @param en enable or disable RX interrupt.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_rx_intr_en(rmt_channel_t channel, bool en);
+
+/**
+ * @brief Set RMT RX error interrupt enable
+ *
+ * @param channel RMT channel (0 - 7)
+ *
+ * @param en enable or disable RX err interrupt.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_err_intr_en(rmt_channel_t channel, bool en);
+
+/**
+ * @brief Set RMT TX interrupt enable
+ *
+ * @param channel RMT channel (0 - 7)
+ *
+ * @param en enable or disable TX interrupt.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_tx_intr_en(rmt_channel_t channel, bool en);
+
+/**
+ * @brief Set RMT TX event interrupt enable
+ *
+ * @param channel RMT channel (0 - 7)
+ *
+ * @param en enable or disable TX event interrupt.
+ *
+ * @param evt_thresh RMT event interrupt threshold value
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_evt_intr_en(rmt_channel_t channel, bool en, uint16_t evt_thresh);
+
+/**
+ * @brief Set RMT pins
+ *
+ * @param channel RMT channel (0 - 7)
+ *
+ * @param mode TX or RX mode for RMT
+ *
+ * @param gpio_num GPIO number to transmit or receive the signal.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_set_pin(rmt_channel_t channel, rmt_mode_t mode, gpio_num_t gpio_num);
+
+/**
+ * @brief Configure RMT parameters
+ *
+ * @param rmt_param RMT parameter structor
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_config(rmt_config_t* rmt_param);
+
+/**
+ * @brief   register RMT interrupt handler, the handler is an ISR.
+ *
+ *          The handler will be attached to the same CPU core that this function is running on.
+ *          Users should know that which CPU is running and then pick a INUM that is not used by system.
+ *          We can find the information of INUM and interrupt level in soc.h.
+ *          @note
+ *          If you already called rmt_driver_install to use system RMT driver,
+ *          please do not register ISR handler again.
+ *
+ * @param rmt_intr_num RMT interrupt number, check the info in soc.h, and please see the core-isa.h for more details
+ *
+ * @param fn Interrupt handler function.
+ *
+ *          @note
+ *          the handler function MUST be defined with attribution of "IRAM_ATTR".
+ *
+ * @param arg Parameter for handler function
+ *
+ * @return
+ *     - ESP_OK Success
+ *     - ESP_ERR_INVALID_ARG Function pointer error.
+ *     - ESP_FAIL System driver installed, can not register ISR handler for RMT
+ */
+esp_err_t rmt_isr_register(uint8_t rmt_intr_num, void (* fn)(void* ), void * arg);
+
+/**
+ * @brief Fill memory data of channel with given RMT items.
+ *
+ * @param channel RMT channel (0 - 7)
+ *
+ * @param item Pointer of items.
+ *
+ * @param item_num RMT sending items number.
+ *
+ * @param mem_offset Index offset of memory.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_fill_tx_items(rmt_channel_t channel, rmt_item32_t* item, uint16_t item_num, uint16_t mem_offset);
+
+/**
+ * @brief Initialize RMT driver
+ *
+ * @param channel RMT channel (0 - 7)
+ *
+ * @param rx_buf_size Size of RMT RX ringbuffer.
+ *
+ *        @note
+ *        If we do not need RX ringbuffer, just set rx_buf_size to 0.
+ *
+ *        @note
+ *        When we call rmt_driver_install function, it will register a driver ISR handler,
+ *        DO NOT REGISTER ISR HANDLER AGAIN.
+ *
+ * @param rmt_intr_num RMT interrupt number.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_driver_install(rmt_channel_t channel, size_t rx_buf_size, int rmt_intr_num);
+
+/**
+ * @brief Uninstall RMT driver.
+ *
+ * @param channel RMT channel (0 - 7)
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_driver_uninstall(rmt_channel_t channel);
+
+/**
+ * @brief RMT send waveform from rmt_item array.
+ *
+ *        This API allows user to send waveform with any length.
+ *
+ * @param channel RMT channel (0 - 7)
+ *
+ * @param rmt_item head point of RMT items array.
+ *
+ * @param item_num RMT data item number.
+ *
+ * @param wait_tx_done If set 1, it will block the task and wait for sending done.
+ *
+ *                     If set 0, it will not wait and return immediately.
+ *
+ *                     @note
+ *                     This function will not copy data, instead, it will point to the original items,
+ *                     and send the waveform items.
+ *                     If wait_tx_done is set to true, this function will block and will not return until
+ *                     all items have been sent out.
+ *                     If wait_tx_done is set to false, this function will return immediately, and the driver
+ *                     interrupt will continue sending the items. We must make sure the item data will not be
+ *                     damaged when the driver is still sending items in driver interrupt.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_write_items(rmt_channel_t channel, rmt_item32_t* rmt_item, int item_num, bool wait_tx_done);
+
+/**
+ * @brief Wait RMT TX finished.
+ *
+ * @param channel RMT channel (0 - 7)
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_wait_tx_done(rmt_channel_t channel);
+
+/**
+ * @brief Get ringbuffer from UART.
+ *
+ *        Users can get the RMT RX ringbuffer handler, and process the RX data.
+ *
+ * @param channel RMT channel (0 - 7)
+ *
+ * @param buf_handler Pointer to buffer handler to accept RX ringbuffer handler.
+ *
+ * @return
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ *     - ESP_OK Success
+ */
+esp_err_t rmt_get_ringbuf_handler(rmt_channel_t channel, RingbufHandle_t* buf_handler);
+
+/***************************EXAMPLE**********************************
+ *
+ * @note
+ * You can also refer to example/09_rmt_nec_tx_rx to have more information about how to use RMT module.
+ *
+ * ----------------EXAMPLE OF RMT SETTING ---------------------
+ * @code{c}
+ * //1. enable RMT
+ * //enable RMT module, or you can not set any register of it.
+ * //this will be done in rmt_config API.
+ * periph_module_enable(PERIPH_RMT_MODULE);
+ * @endcode
+ *
+ * @code{c}
+ * //2. set RMT transmitter
+ * void rmt_tx_init()
+ * {
+ *     rmt_config_t rmt_tx;
+ *     rmt_tx.channel = 0;
+ *     rmt_tx.gpio_num = 16;
+ *     rmt_tx.mem_block_num = 1;
+ *     rmt_tx.clk_div = 100;
+ *     rmt_tx.tx_config.loop_en = false;
+ *     rmt_tx.tx_config.carrier_duty_percent = 50;
+ *     rmt_tx.tx_config.carrier_freq_hz = 38000;
+ *     rmt_tx.tx_config.carrier_level = 1;
+ *     rmt_tx.tx_config.carrier_en = RMT_TX_CARRIER_EN;
+ *     rmt_tx.tx_config.idle_level = 0;
+ *     rmt_tx.tx_config.idle_output_en = true;
+ *     rmt_tx.rmt_mode = 0;
+ *     rmt_config(&rmt_tx);
+ *
+ *     //install system RMT driver, disable rx ringbuffer for transmitter.
+ *     rmt_driver_install(rmt_tx.channel, 0, RMT_INTR_NUM);
+ * }
+ *
+ * @endcode
+ * @code{c}
+ * //3. set RMT receiver
+ * void rmt_rx_init()
+ * {
+ *     rmt_config_t rmt_rx;
+ *     rmt_rx.channel = 1;
+ *     rmt_rx.gpio_num = 19;
+ *     rmt_rx.clk_div = 100;
+ *     rmt_rx.mem_block_num = 1;
+ *     rmt_rx.rmt_mode = RMT_MODE_RX;
+ *     rmt_rx.rx_config.filter_en = true;
+ *     rmt_rx.rx_config.filter_ticks_thresh = 100;
+ *     rmt_rx.rx_config.idle_threshold = 0xffff;
+ *     rmt_config(&rmt_rx);
+ *
+ *     //install system RMT driver.
+ *     rmt_driver_install(rmt_rx.channel, 1000, RMT_INTR_NUM);
+ * }
+ *
+ * ----------------EXAMPLE OF RMT INTERRUPT ------------------
+ * @code{c}
+ *
+ * rmt_isr_register(RMT_INTR_NUM, rmt_isr, NULL);           //hook the ISR handler for RMT interrupt
+ * @endcode
+ * @note
+ *     0. If you have called rmt_driver_install, you don't need to set ISR handler any more.
+ *     1. the first parameter is INUM, you can pick one form interrupt level 1/2 which is not used by the system.
+ *     2. user should arrange the INUMs that used, better not to use a same INUM for different interrupt source.
+ *     3. do not pick the INUM that already occupied by the system.
+ *     4. refer to soc.h to check which INUMs that can be used.
+ *
+ * ----------------EXAMPLE OF INTERRUPT HANDLER ---------------
+ * @code{c}
+ * #include "esp_attr.h"
+ * //we should add 'IRAM_ATTR' attribution when we declare the isr function
+ * void IRAM_ATTR rmt_isr_handler(void* arg)
+ * {
+ *    //read RMT interrupt status.
+ *    uint32_t intr_st = RMT.int_st.val;
+ *
+ *    //you will find which channels have triggered fade_end interrupt here,
+ *    //then, you can post some event to RTOS queue to process the event.
+ *    //later we will add a queue in the driver code.
+ *
+ *   //clear RMT interrupt status.
+ *    RMT.int_clr.val = intr_st;
+ * }
+ * @endcode
+ *
+ *--------------------------END OF EXAMPLE --------------------------
+ */
+
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _DRIVER_RMT_CTRL_H_ */
diff --git a/components/driver/periph_ctrl.c b/components/driver/periph_ctrl.c
index 3a671abad..00987768a 100644
--- a/components/driver/periph_ctrl.c
+++ b/components/driver/periph_ctrl.c
@@ -25,6 +25,10 @@ void periph_module_enable(periph_module_t periph)
 {
     portENTER_CRITICAL(&periph_spinlock);
     switch(periph) {
+        case PERIPH_RMT_MODULE:
+            SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_RMT_CLK_EN);
+            CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_RMT_RST);
+            break;
         case PERIPH_LEDC_MODULE:
             SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_LEDC_CLK_EN);
             CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_LEDC_RST);
diff --git a/components/driver/rmt.c b/components/driver/rmt.c
new file mode 100644
index 000000000..21bc8696b
--- /dev/null
+++ b/components/driver/rmt.c
@@ -0,0 +1,716 @@
+// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include <esp_types.h>
+#include <string.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
+#include "freertos/xtensa_api.h"
+#include "freertos/ringbuf.h"
+#include "esp_intr.h"
+#include "esp_log.h"
+#include "esp_err.h"
+#include "soc/gpio_sig_map.h"
+#include "soc/rmt_struct.h"
+#include "driver/periph_ctrl.h"
+#include "driver/rmt.h"
+
+#define RMT_SOUCCE_CLK_APB (APB_CLK_FREQ) /*!< RMT source clock is APB_CLK */
+#define RMT_SOURCE_CLK_REF (1 * 1000000)  /*!< not used yet */
+#define RMT_SOURCE_CLK(select) ((select == RMT_BASECLK_REF) ? (RMT_SOURCE_CLK_REF) : (RMT_SOUCCE_CLK_APB)) /*! RMT source clock frequency */
+
+#define RMT_CHANNEL_ERROR_STR  "RMT CHANNEL ERR"
+#define RMT_ADDR_ERROR_STR     "RMT ADDRESS ERR"
+#define RMT_MEM_CNT_ERROR_STR  "RMT MEM BLOCK NUM ERR"
+#define RMT_CARRIER_ERROR_STR   "RMT CARRIER LEVEL ERR"
+#define RMT_MEM_OWNER_ERROR_STR  "RMT MEM OWNER_ERR"
+#define RMT_BASECLK_ERROR_STR    "RMT BASECLK ERR"
+#define RMT_WR_MEM_OVF_ERROR_STR  "RMT WR MEM OVERFLOW"
+#define RMT_GPIO_ERROR_STR        "RMT GPIO ERROR"
+#define RMT_MODE_ERROR_STR        "RMT MODE ERROR"
+#define RMT_CLK_DIV_ERROR_STR     "RMT CLK DIV ERR"
+#define RMT_DRIVER_ERROR_STR      "RMT DRIVER ERR"
+#define RMT_DRIVER_LENGTH_ERROR_STR  "RMT PARAM LEN ERROR"
+
+static const char* RMT_TAG = "RMT";
+static bool s_rmt_driver_installed = false;
+
+#define RMT_CHECK(a, str, ret) if (!(a)) {                                           \
+        ESP_LOGE(RMT_TAG,"%s:%d (%s):%s", __FILE__, __LINE__, __FUNCTION__, str);    \
+        return (ret);                                                                \
+        }
+static portMUX_TYPE rmt_spinlock = portMUX_INITIALIZER_UNLOCKED;
+
+typedef struct {
+    int tx_offset;
+    int tx_len_rem;
+    int tx_sub_len;
+    rmt_channel_t channel;
+    rmt_item32_t* tx_data;
+    xSemaphoreHandle tx_sem;
+    RingbufHandle_t tx_buf;
+    RingbufHandle_t rx_buf;
+} rmt_obj_t;
+
+rmt_obj_t* p_rmt_obj[RMT_CHANNEL_MAX] = {0};
+
+static void rmt_set_tx_wrap_en(rmt_channel_t channel, bool en)
+{
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.apb_conf.mem_tx_wrap_en = en;
+    portEXIT_CRITICAL(&rmt_spinlock);
+}
+
+static void rmt_set_data_mode(rmt_data_mode_t data_mode)
+{
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.apb_conf.fifo_mask = data_mode;
+    portEXIT_CRITICAL(&rmt_spinlock);
+}
+
+esp_err_t rmt_set_clk_div(rmt_channel_t channel, uint8_t div_cnt)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT.conf_ch[channel].conf0.div_cnt = div_cnt;
+    return ESP_OK;
+}
+
+esp_err_t rmt_get_clk_div(rmt_channel_t channel, uint8_t* div_cnt)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(div_cnt != NULL, RMT_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG);
+    *div_cnt = RMT.conf_ch[channel].conf0.div_cnt;
+    return ESP_OK;
+}
+
+esp_err_t rmt_set_rx_idle_thresh(rmt_channel_t channel, uint16_t thresh)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT.conf_ch[channel].conf0.idle_thres = thresh;
+    return ESP_OK;
+}
+
+esp_err_t rmt_get_rx_idle_thresh(rmt_channel_t channel, uint16_t *thresh)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(thresh != NULL, RMT_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG);
+    *thresh = RMT.conf_ch[channel].conf0.idle_thres;
+    return ESP_OK;
+}
+
+esp_err_t rmt_set_mem_block_num(rmt_channel_t channel, uint8_t rmt_mem_num)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(rmt_mem_num < 16, RMT_MEM_CNT_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT.conf_ch[channel].conf0.mem_size = rmt_mem_num;
+    return ESP_OK;
+}
+
+esp_err_t rmt_get_mem_block_num(rmt_channel_t channel, uint8_t* rmt_mem_num)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(rmt_mem_num != NULL, RMT_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG);
+    *rmt_mem_num = RMT.conf_ch[channel].conf0.mem_size;
+    return ESP_OK;
+}
+
+esp_err_t rmt_set_tx_carrier(rmt_channel_t channel, bool carrier_en, uint16_t high_level, uint16_t low_level,
+    rmt_carrier_level_t carrier_level)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(carrier_level < RMT_CARRIER_LEVEL_MAX, RMT_CARRIER_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT.carrier_duty_ch[channel].high = high_level;
+    RMT.carrier_duty_ch[channel].low = low_level;
+    RMT.conf_ch[channel].conf0.carrier_out_lv = carrier_level;
+    RMT.conf_ch[channel].conf0.carrier_en = carrier_en;
+    return ESP_OK;
+}
+
+esp_err_t rmt_set_mem_pd(rmt_channel_t channel, bool pd_en)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT.conf_ch[channel].conf0.mem_pd = pd_en;
+    return ESP_OK;
+}
+
+esp_err_t rmt_get_mem_pd(rmt_channel_t channel, bool* pd_en)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    *pd_en = (bool) RMT.conf_ch[channel].conf0.mem_pd;
+    return ESP_OK;
+}
+
+esp_err_t rmt_tx_start(rmt_channel_t channel, bool tx_idx_rst)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    portENTER_CRITICAL(&rmt_spinlock);
+    if(tx_idx_rst) {
+        RMT.conf_ch[channel].conf1.mem_rd_rst = 1;
+    }
+    RMT.conf_ch[channel].conf1.mem_owner = RMT_MEM_OWNER_TX;
+    RMT.conf_ch[channel].conf1.tx_start = 1;
+    portEXIT_CRITICAL(&rmt_spinlock);
+    return ESP_OK;
+}
+
+esp_err_t rmt_tx_stop(rmt_channel_t channel)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.conf_ch[channel].conf1.tx_start = 0;
+    portEXIT_CRITICAL(&rmt_spinlock);
+    return ESP_OK;
+}
+
+esp_err_t rmt_rx_start(rmt_channel_t channel, bool rx_idx_rst)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    portENTER_CRITICAL(&rmt_spinlock);
+    if(rx_idx_rst) {
+        RMT.conf_ch[channel].conf1.mem_wr_rst = 1;
+    }
+    RMT.conf_ch[channel].conf1.rx_en = 0;
+    RMT.conf_ch[channel].conf1.mem_owner = RMT_MEM_OWNER_RX;
+    RMT.conf_ch[channel].conf1.rx_en = 1;
+    portEXIT_CRITICAL(&rmt_spinlock);
+    return ESP_OK;
+}
+
+esp_err_t rmt_rx_stop(rmt_channel_t channel)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.conf_ch[channel].conf1.rx_en = 0;
+    portEXIT_CRITICAL(&rmt_spinlock);
+    return ESP_OK;
+}
+
+esp_err_t rmt_memory_rw_rst(rmt_channel_t channel)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.conf_ch[channel].conf1.mem_rd_rst = 1;
+    RMT.conf_ch[channel].conf1.mem_wr_rst = 1;
+    portEXIT_CRITICAL(&rmt_spinlock);
+    return ESP_OK;
+}
+
+esp_err_t rmt_set_memory_owner(rmt_channel_t channel, rmt_mem_owner_t owner)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(owner < RMT_MEM_OWNER_MAX, RMT_MEM_OWNER_ERROR_STR, ESP_ERR_INVALID_ARG);
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.conf_ch[channel].conf1.mem_owner = owner;
+    portEXIT_CRITICAL(&rmt_spinlock);
+    return ESP_OK;
+}
+
+esp_err_t rmt_get_memory_owner(rmt_channel_t channel, rmt_mem_owner_t* owner)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(owner != NULL, RMT_MEM_OWNER_ERROR_STR, ESP_ERR_INVALID_ARG);
+    *owner = (rmt_mem_owner_t) RMT.conf_ch[channel].conf1.mem_owner;
+    return ESP_OK;
+}
+
+esp_err_t rmt_set_tx_loop_mode(rmt_channel_t channel, bool loop_en)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.conf_ch[channel].conf1.tx_conti_mode = loop_en;
+    portEXIT_CRITICAL(&rmt_spinlock);
+    return ESP_OK;
+}
+
+esp_err_t rmt_get_tx_loop_mode(rmt_channel_t channel, bool* loop_en)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    *loop_en = (bool) RMT.conf_ch[channel].conf1.tx_conti_mode;
+    return ESP_OK;
+}
+
+esp_err_t rmt_set_rx_filter(rmt_channel_t channel, bool rx_filter_en, uint8_t thresh)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.conf_ch[channel].conf1.rx_filter_en = rx_filter_en;
+    RMT.conf_ch[channel].conf1.rx_filter_thres = thresh;
+    portEXIT_CRITICAL(&rmt_spinlock);
+    return ESP_OK;
+}
+
+esp_err_t rmt_set_source_clk(rmt_channel_t channel, rmt_source_clk_t base_clk)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(base_clk < RMT_BASECLK_MAX, RMT_BASECLK_ERROR_STR, ESP_ERR_INVALID_ARG);
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.conf_ch[channel].conf1.ref_always_on = base_clk;
+    portEXIT_CRITICAL(&rmt_spinlock);
+    return ESP_OK;
+}
+
+esp_err_t rmt_get_source_clk(rmt_channel_t channel, rmt_source_clk_t* src_clk)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    *src_clk = (rmt_source_clk_t) (RMT.conf_ch[channel].conf1.ref_always_on);
+    return ESP_OK;
+}
+
+esp_err_t rmt_set_idle_level(rmt_channel_t channel, bool idle_out_en, rmt_idle_level_t level)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(level < RMT_IDLE_LEVEL_MAX, "RMT IDLE LEVEL ERR", ESP_ERR_INVALID_ARG);
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.conf_ch[channel].conf1.idle_out_en = idle_out_en;
+    RMT.conf_ch[channel].conf1.idle_out_lv = level;
+    portEXIT_CRITICAL(&rmt_spinlock);
+    return ESP_OK;
+}
+
+esp_err_t rmt_get_status(rmt_channel_t channel, uint32_t* status)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    *status = RMT.status_ch[channel];
+    return ESP_OK;
+}
+
+rmt_data_mode_t rmt_get_data_mode()
+{
+    return (rmt_data_mode_t) (RMT.apb_conf.fifo_mask);
+}
+
+void rmt_set_intr_enable_mask(uint32_t mask)
+{
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.int_ena.val |= mask;
+    portEXIT_CRITICAL(&rmt_spinlock);
+}
+
+void rmt_clr_intr_enable_mask(uint32_t mask)
+{
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.int_ena.val &= (~mask);
+    portEXIT_CRITICAL(&rmt_spinlock);
+}
+
+esp_err_t rmt_set_rx_intr_en(rmt_channel_t channel, bool en)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    if(en) {
+        rmt_set_intr_enable_mask(BIT(channel * 3 + 1));
+    } else {
+        rmt_clr_intr_enable_mask(BIT(channel * 3 + 1));
+    }
+    return ESP_OK;
+}
+
+esp_err_t rmt_set_err_intr_en(rmt_channel_t channel, bool en)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    if(en) {
+        rmt_set_intr_enable_mask(BIT(channel * 3 + 2));
+    } else {
+        rmt_clr_intr_enable_mask(BIT(channel * 3 + 2));
+    }
+    return ESP_OK;
+}
+
+esp_err_t rmt_set_tx_intr_en(rmt_channel_t channel, bool en)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    if(en) {
+        rmt_set_intr_enable_mask(BIT(channel * 3));
+    } else {
+        rmt_clr_intr_enable_mask(BIT(channel * 3));
+    }
+    return ESP_OK;
+}
+
+esp_err_t rmt_set_evt_intr_en(rmt_channel_t channel, bool en, uint16_t evt_thresh)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(evt_thresh < 256, "RMT EVT THRESH ERR", ESP_ERR_INVALID_ARG);
+    if(en) {
+        RMT.tx_lim_ch[channel].limit = evt_thresh;
+        rmt_set_tx_wrap_en(channel, true);
+        rmt_set_intr_enable_mask(BIT(channel + 24));
+    } else {
+        rmt_clr_intr_enable_mask(BIT(channel + 24));
+    }
+    return ESP_OK;
+}
+
+esp_err_t rmt_set_pin(rmt_channel_t channel, rmt_mode_t mode, gpio_num_t gpio_num)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(mode < RMT_MODE_MAX, RMT_MODE_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(((GPIO_IS_VALID_GPIO(gpio_num) && (mode == RMT_MODE_RX)) || (GPIO_IS_VALID_OUTPUT_GPIO(gpio_num) && (mode == RMT_MODE_TX))),
+        RMT_GPIO_ERROR_STR, ESP_ERR_INVALID_ARG);
+
+    PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio_num], 2);
+    if(mode == RMT_MODE_TX) {
+        gpio_set_direction(gpio_num, GPIO_MODE_OUTPUT);
+        gpio_matrix_out(gpio_num, RMT_SIG_OUT0_IDX + channel, 0, 0);
+    } else {
+        gpio_set_direction(gpio_num, GPIO_MODE_INPUT);
+        gpio_matrix_in(gpio_num, RMT_SIG_IN0_IDX + channel, 0);
+    }
+    return ESP_OK;
+}
+
+esp_err_t rmt_config(rmt_config_t* rmt_param)
+{
+    uint8_t mode = rmt_param->rmt_mode;
+    uint8_t channel = rmt_param->channel;
+    uint8_t gpio_num = rmt_param->gpio_num;
+    uint8_t mem_cnt = rmt_param->mem_block_num;
+    int clk_div = rmt_param->clk_div;
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(GPIO_IS_VALID_GPIO(gpio_num), RMT_GPIO_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK((mem_cnt + channel <= 8 && mem_cnt > 0), RMT_MEM_CNT_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK((clk_div > 0), RMT_CLK_DIV_ERROR_STR, ESP_ERR_INVALID_ARG);
+    periph_module_enable(PERIPH_RMT_MODULE);
+
+    RMT.conf_ch[channel].conf0.div_cnt = clk_div;
+    /*Visit data use memory not FIFO*/
+    rmt_set_data_mode(RMT_DATA_MODE_MEM);
+    /*Reset tx/rx memory index */
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.conf_ch[channel].conf1.mem_rd_rst = 1;
+    RMT.conf_ch[channel].conf1.mem_wr_rst = 1;
+    portEXIT_CRITICAL(&rmt_spinlock);
+
+    if(mode == RMT_MODE_TX) {
+        uint32_t rmt_source_clk_hz = 0;
+        uint32_t carrier_freq_hz = rmt_param->tx_config.carrier_freq_hz;
+        uint16_t carrier_duty_percent = rmt_param->tx_config.carrier_duty_percent;
+        uint8_t carrier_level = rmt_param->tx_config.carrier_level;
+        uint8_t idle_level = rmt_param->tx_config.idle_level;
+
+        portENTER_CRITICAL(&rmt_spinlock);
+        RMT.conf_ch[channel].conf1.tx_conti_mode = rmt_param->tx_config.loop_en;
+        /*Memory set block number*/
+        RMT.conf_ch[channel].conf0.mem_size = mem_cnt;
+        RMT.conf_ch[channel].conf1.mem_owner = RMT_MEM_OWNER_TX;
+        /*We use APB clock in this version, which is 80Mhz, later we will release system reference clock*/
+        RMT.conf_ch[channel].conf1.ref_always_on = RMT_BASECLK_APB;
+        rmt_source_clk_hz = RMT_SOURCE_CLK(RMT_BASECLK_APB);
+        /*Set idle level */
+        RMT.conf_ch[channel].conf1.idle_out_en = rmt_param->tx_config.idle_output_en;
+        RMT.conf_ch[channel].conf1.idle_out_lv = idle_level;
+        portEXIT_CRITICAL(&rmt_spinlock);
+
+        /*Set carrier*/
+        uint32_t duty_div, duty_h, duty_l;
+        duty_div = rmt_source_clk_hz / carrier_freq_hz;
+        duty_h = duty_div * carrier_duty_percent / 100;
+        duty_l = duty_div - duty_h;
+        RMT.conf_ch[channel].conf0.carrier_out_lv = carrier_level;
+        RMT.carrier_duty_ch[channel].high = duty_h;
+        RMT.carrier_duty_ch[channel].low = duty_l;
+        RMT.conf_ch[channel].conf0.carrier_en = rmt_param->tx_config.carrier_en;
+        ESP_LOGD(RMT_TAG, "Rmt Tx Channel %u|Gpio %u|Sclk_Hz %u|Div %u|Carrier_Hz %u|Duty %u",
+            channel, gpio_num, rmt_source_clk_hz, clk_div, carrier_freq_hz, carrier_duty_percent);
+    }
+    else if(RMT_MODE_RX == mode) {
+        uint8_t filter_cnt = rmt_param->rx_config.filter_ticks_thresh;
+        uint16_t threshold = rmt_param->rx_config.idle_threshold;
+
+        portENTER_CRITICAL(&rmt_spinlock);
+        /*clock init*/
+        RMT.conf_ch[channel].conf1.ref_always_on = RMT_BASECLK_APB;
+        uint32_t rmt_source_clk_hz = RMT_SOURCE_CLK(RMT_BASECLK_APB);
+        /*memory set block number and owner*/
+        RMT.conf_ch[channel].conf0.mem_size = mem_cnt;
+        RMT.conf_ch[channel].conf1.mem_owner = RMT_MEM_OWNER_RX;
+        /*Set idle threshold*/
+        RMT.conf_ch[channel].conf0.idle_thres = threshold;
+        /* Set RX filter */
+        RMT.conf_ch[channel].conf1.rx_filter_thres = filter_cnt;
+        RMT.conf_ch[channel].conf1.rx_filter_en = rmt_param->rx_config.filter_en;
+        portEXIT_CRITICAL(&rmt_spinlock);
+
+        ESP_LOGD(RMT_TAG, "Rmt Rx Channel %u|Gpio %u|Sclk_Hz %u|Div %u|Thresold %u|Filter %u",
+            channel, gpio_num, rmt_source_clk_hz, clk_div, threshold, filter_cnt);
+    }
+    rmt_set_pin(channel, mode, gpio_num);
+    return ESP_OK;
+}
+
+static void IRAM_ATTR rmt_fill_memory(rmt_channel_t channel, rmt_item32_t* item, uint16_t item_num, uint16_t mem_offset)
+{
+    portENTER_CRITICAL(&rmt_spinlock);
+    RMT.apb_conf.fifo_mask = RMT_DATA_MODE_MEM;
+    portEXIT_CRITICAL(&rmt_spinlock);
+    int i;
+    for(i = 0; i < item_num; i++) {
+        RMTMEM.chan[channel].data32[i + mem_offset].val = item[i].val;
+    }
+}
+
+esp_err_t rmt_fill_tx_items(rmt_channel_t channel, rmt_item32_t* item, uint16_t item_num, uint16_t mem_offset)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, (0));
+    RMT_CHECK((item != NULL), RMT_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK((item_num > 0), RMT_DRIVER_LENGTH_ERROR_STR, ESP_ERR_INVALID_ARG);
+
+    /*Each block has 64 x 32 bits of data*/
+    uint8_t mem_cnt = RMT.conf_ch[channel].conf0.mem_size;
+    RMT_CHECK((mem_cnt * RMT_MEM_ITEM_NUM >= item_num), RMT_WR_MEM_OVF_ERROR_STR, ESP_ERR_INVALID_ARG);
+    rmt_fill_memory(channel, item, item_num, mem_offset);
+    return ESP_OK;
+}
+
+esp_err_t rmt_isr_register(uint8_t rmt_intr_num, void (*fn)(void*), void * arg)
+{
+    RMT_CHECK((fn != NULL), RMT_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(s_rmt_driver_installed == false, "RMT DRIVER INSTALLED, CAN NOT REG ISR HANDLER", ESP_FAIL);
+    portENTER_CRITICAL(&rmt_spinlock);
+    ESP_INTR_DISABLE(rmt_intr_num);
+    intr_matrix_set(xPortGetCoreID(), ETS_RMT_INTR_SOURCE, rmt_intr_num);
+    xt_set_interrupt_handler(rmt_intr_num, fn, arg);
+    ESP_INTR_ENABLE(rmt_intr_num);
+    portEXIT_CRITICAL(&rmt_spinlock);
+    return ESP_OK;
+}
+
+static int IRAM_ATTR rmt_get_mem_len(rmt_channel_t channel)
+{
+    int block_num = RMT.conf_ch[channel].conf0.mem_size;
+    int item_block_len = block_num * RMT_MEM_ITEM_NUM;
+    volatile rmt_item32_t* data = RMTMEM.chan[channel].data32;
+    int idx;
+    for(idx = 0; idx < item_block_len; idx++) {
+        if(data[idx].duration0 == 0) {
+            return idx;
+        } else if(data[idx].duration1 == 0) {
+            return idx + 1;
+        }
+    }
+    return idx;
+}
+
+static void IRAM_ATTR rmt_driver_isr_default(void* arg)
+{
+    uint32_t intr_st = RMT.int_st.val;
+    uint32_t i = 0;
+    uint8_t channel;
+    portBASE_TYPE HPTaskAwoken = 0;
+    for(i = 0; i < 32; i++) {
+        if(i < 24) {
+            if(intr_st & (BIT(i))) {
+                channel = i / 3;
+                rmt_obj_t* p_rmt = p_rmt_obj[channel];
+                switch(i % 3) {
+                    //TX END
+                    case 0:
+                        ESP_EARLY_LOGD(RMT_TAG, "RMT INTR : TX END\n");
+                        xSemaphoreGiveFromISR(p_rmt->tx_sem, &HPTaskAwoken);
+                        if(HPTaskAwoken == pdTRUE) {
+                            portYIELD_FROM_ISR();
+                        }
+                        p_rmt->tx_data = NULL;
+                        p_rmt->tx_len_rem = 0;
+                        p_rmt->tx_offset = 0;
+                        p_rmt->tx_sub_len = 0;
+                        break;
+                        //RX_END
+                    case 1:
+                        ESP_EARLY_LOGD(RMT_TAG, "RMT INTR : RX END");
+                        RMT.conf_ch[channel].conf1.rx_en = 0;
+                        int item_len = rmt_get_mem_len(channel);
+                        //change memory owner to protect data.
+                        RMT.conf_ch[channel].conf1.mem_owner = RMT_MEM_OWNER_TX;
+                        if(p_rmt->rx_buf) {
+                            BaseType_t res = xRingbufferSendFromISR(p_rmt->rx_buf, (void*) RMTMEM.chan[channel].data32, item_len * 4, &HPTaskAwoken);
+                            if(res == pdFALSE) {
+                                ESP_LOGE(RMT_TAG, "RMT RX BUFFER FULL");
+                            } else {
+
+                            }
+                            if(HPTaskAwoken == pdTRUE) {
+                                portYIELD_FROM_ISR();
+                            }
+                        } else {
+                            ESP_EARLY_LOGE(RMT_TAG, "RMT RX BUFFER ERROR\n");
+                        }
+                        RMT.conf_ch[channel].conf1.mem_wr_rst = 1;
+                        RMT.conf_ch[channel].conf1.mem_owner = RMT_MEM_OWNER_RX;
+                        RMT.conf_ch[channel].conf1.rx_en = 1;
+                        break;
+                        //ERR
+                    case 2:
+                        ESP_EARLY_LOGE(RMT_TAG, "RMT[%d] ERR", channel);
+                        ESP_EARLY_LOGE(RMT_TAG, "status: 0x%08x", RMT.status_ch[channel]);
+                        RMT.int_ena.val &= (~(BIT(i)));
+                        break;
+                    default:
+                        break;
+                }
+                RMT.int_clr.val = BIT(i);
+            }
+        } else {
+            if(intr_st & (BIT(i))) {
+                channel = i - 24;
+                rmt_obj_t* p_rmt = p_rmt_obj[channel];
+                RMT.int_clr.val = BIT(i);
+                ESP_EARLY_LOGD(RMT_TAG, "RMT CH[%d]: EVT INTR", channel);
+                if(p_rmt->tx_data == NULL) {
+                    //skip
+                } else {
+                    rmt_item32_t* pdata = p_rmt->tx_data;
+                    int len_rem = p_rmt->tx_len_rem;
+                    if(len_rem >= p_rmt->tx_sub_len) {
+                        rmt_fill_memory(channel, pdata, p_rmt->tx_sub_len, p_rmt->tx_offset);
+                        p_rmt->tx_data += p_rmt->tx_sub_len;
+                        p_rmt->tx_len_rem -= p_rmt->tx_sub_len;
+                    } else if(len_rem == 0) {
+                        RMTMEM.chan[channel].data32[p_rmt->tx_offset].val = 0;
+                    } else {
+                        rmt_fill_memory(channel, pdata, len_rem, p_rmt->tx_offset);
+                        RMTMEM.chan[channel].data32[p_rmt->tx_offset + len_rem].val = 0;
+                        p_rmt->tx_data += len_rem;
+                        p_rmt->tx_len_rem -= len_rem;
+                    }
+                    if(p_rmt->tx_offset == 0) {
+                        p_rmt->tx_offset = p_rmt->tx_sub_len;
+                    } else {
+                        p_rmt->tx_offset = 0;
+                    }
+                }
+            }
+        }
+    }
+}
+
+esp_err_t rmt_driver_uninstall(rmt_channel_t channel)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    if(p_rmt_obj[channel] == NULL) {
+        return ESP_OK;
+    }
+    xSemaphoreTake(p_rmt_obj[channel]->tx_sem, portMAX_DELAY);
+    rmt_set_rx_intr_en(channel, 0);
+    rmt_set_err_intr_en(channel, 0);
+    rmt_set_tx_intr_en(channel, 0);
+    rmt_set_evt_intr_en(channel, 0, 0xffff);
+    if(p_rmt_obj[channel]->tx_sem) {
+        vSemaphoreDelete(p_rmt_obj[channel]->tx_sem);
+        p_rmt_obj[channel]->tx_sem = NULL;
+    }
+    if(p_rmt_obj[channel]->rx_buf) {
+        vRingbufferDelete(p_rmt_obj[channel]->rx_buf);
+        p_rmt_obj[channel]->rx_buf = NULL;
+    }
+    free(p_rmt_obj[channel]);
+    p_rmt_obj[channel] = NULL;
+    s_rmt_driver_installed = false;
+    return ESP_OK;
+}
+
+esp_err_t rmt_driver_install(rmt_channel_t channel, size_t rx_buf_size, int rmt_intr_num)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    if(p_rmt_obj[channel] != NULL) {
+        ESP_LOGD(RMT_TAG, "RMT DRIVER ALREADY INSTALLED");
+        return ESP_FAIL;
+    }
+
+    ESP_INTR_DISABLE(rmt_intr_num);
+    p_rmt_obj[channel] = (rmt_obj_t*) malloc(sizeof(rmt_obj_t));
+
+    if(p_rmt_obj[channel] == NULL) {
+        ESP_LOGE(RMT_TAG, "RMT driver malloc error");
+        return ESP_FAIL;
+    }
+    memset(p_rmt_obj[channel], 0, sizeof(rmt_obj_t));
+
+    p_rmt_obj[channel]->tx_len_rem = 0;
+    p_rmt_obj[channel]->tx_data = NULL;
+    p_rmt_obj[channel]->channel = channel;
+    p_rmt_obj[channel]->tx_offset = 0;
+    p_rmt_obj[channel]->tx_sub_len = 0;
+
+    if(p_rmt_obj[channel]->tx_sem == NULL) {
+        p_rmt_obj[channel]->tx_sem = xSemaphoreCreateBinary();
+        xSemaphoreGive(p_rmt_obj[channel]->tx_sem);
+    }
+    if(p_rmt_obj[channel]->rx_buf == NULL && rx_buf_size > 0) {
+        p_rmt_obj[channel]->rx_buf = xRingbufferCreate(rx_buf_size, RINGBUF_TYPE_NOSPLIT);
+        rmt_set_rx_intr_en(channel, 1);
+        rmt_set_err_intr_en(channel, 1);
+    }
+    if(s_rmt_driver_installed == false) {
+        rmt_isr_register(rmt_intr_num, rmt_driver_isr_default, NULL);
+        s_rmt_driver_installed = true;
+    }
+    rmt_set_tx_intr_en(channel, 1);
+    ESP_INTR_ENABLE(rmt_intr_num);
+    return ESP_OK;
+}
+
+esp_err_t rmt_write_items(rmt_channel_t channel, rmt_item32_t* rmt_item, int item_num, bool wait_tx_done)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(p_rmt_obj[channel] != NULL, RMT_DRIVER_ERROR_STR, ESP_FAIL);
+    RMT_CHECK(rmt_item != NULL, RMT_ADDR_ERROR_STR, ESP_FAIL);
+    RMT_CHECK(item_num > 0, RMT_DRIVER_LENGTH_ERROR_STR, ESP_ERR_INVALID_ARG);
+    rmt_obj_t* p_rmt = p_rmt_obj[channel];
+    int block_num = RMT.conf_ch[channel].conf0.mem_size;
+    int item_block_len = block_num * RMT_MEM_ITEM_NUM;
+    int item_sub_len = block_num * RMT_MEM_ITEM_NUM / 2;
+    int len_rem = item_num;
+    xSemaphoreTake(p_rmt->tx_sem, portMAX_DELAY);
+    // fill the memory block first
+    if(item_num >= item_block_len) {
+        rmt_fill_memory(channel, rmt_item, item_block_len, 0);
+        RMT.tx_lim_ch[channel].limit = item_sub_len;
+        RMT.apb_conf.mem_tx_wrap_en = 1;
+        len_rem -= item_block_len;
+        RMT.conf_ch[channel].conf1.tx_conti_mode = 0;
+        rmt_set_evt_intr_en(channel, 1, item_sub_len);
+        p_rmt->tx_data = rmt_item + item_block_len;
+        p_rmt->tx_len_rem = len_rem;
+        p_rmt->tx_offset = 0;
+        p_rmt->tx_sub_len = item_sub_len;
+    } else {
+        rmt_fill_memory(channel, rmt_item, len_rem, 0);
+        RMTMEM.chan[channel].data32[len_rem].val = 0;
+        len_rem = 0;
+    }
+    rmt_tx_start(channel, true);
+    if(wait_tx_done) {
+        xSemaphoreTake(p_rmt->tx_sem, portMAX_DELAY);
+        xSemaphoreGive(p_rmt->tx_sem);
+    }
+    return ESP_OK;
+}
+
+esp_err_t rmt_wait_tx_done(rmt_channel_t channel)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(p_rmt_obj[channel] != NULL, RMT_DRIVER_ERROR_STR, ESP_FAIL);
+    xSemaphoreTake(p_rmt_obj[channel]->tx_sem, portMAX_DELAY);
+    xSemaphoreGive(p_rmt_obj[channel]->tx_sem);
+    return ESP_OK;
+}
+
+esp_err_t rmt_get_ringbuf_handler(rmt_channel_t channel, RingbufHandle_t* buf_handler)
+{
+    RMT_CHECK(channel < RMT_CHANNEL_MAX, RMT_CHANNEL_ERROR_STR, ESP_ERR_INVALID_ARG);
+    RMT_CHECK(p_rmt_obj[channel] != NULL, RMT_DRIVER_ERROR_STR, ESP_FAIL);
+    RMT_CHECK(buf_handler != NULL, RMT_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG);
+    *buf_handler = p_rmt_obj[channel]->rx_buf;
+    return ESP_OK;
+}
+
diff --git a/components/esp32/include/esp_event.h b/components/esp32/include/esp_event.h
index 55575b13a..06e35d6ad 100644
--- a/components/esp32/include/esp_event.h
+++ b/components/esp32/include/esp_event.h
@@ -44,6 +44,7 @@ typedef enum {
     SYSTEM_EVENT_AP_STACONNECTED,          /**< a station connected to ESP32 soft-AP */
     SYSTEM_EVENT_AP_STADISCONNECTED,       /**< a station disconnected from ESP32 soft-AP */
     SYSTEM_EVENT_AP_PROBEREQRECVED,        /**< Receive probe request packet in soft-AP interface */
+    SYSTEM_EVENT_AP_STA_GOT_IP6,           /**< ESP32 station or ap interface v6IP addr is preferred */
     SYSTEM_EVENT_MAX
 } system_event_id_t;
 
@@ -79,7 +80,11 @@ typedef struct {
 
 typedef struct {
     uint8_t pin_code[8];         /**< PIN code of station in enrollee mode */
-}system_event_sta_wps_er_pin_t;
+} system_event_sta_wps_er_pin_t;
+
+typedef struct {
+    tcpip_adapter_ip6_info_t ip6_info;
+} system_event_ap_sta_got_ip6_t;
 
 typedef struct {
     uint8_t mac[6];           /**< MAC address of the station connected to ESP32 soft-AP */
@@ -106,6 +111,7 @@ typedef union {
     system_event_ap_staconnected_t             sta_connected;      /**< a station connected to ESP32 soft-AP */
     system_event_ap_stadisconnected_t          sta_disconnected;   /**< a station disconnected to ESP32 soft-AP */
     system_event_ap_probe_req_rx_t             ap_probereqrecved;  /**< ESP32 soft-AP receive probe request packet */
+    system_event_ap_sta_got_ip6_t              got_ip6;            /**< ESP32 station or ap ipv6 addr state change to preferred */
 } system_event_info_t;
 
 typedef struct {
diff --git a/components/esp32/include/esp_intr.h b/components/esp32/include/esp_intr.h
index e138133f6..579eb6353 100644
--- a/components/esp32/include/esp_intr.h
+++ b/components/esp32/include/esp_intr.h
@@ -82,126 +82,6 @@ extern "C" {
 #define ESP_INTR_DISABLE(inum) \
     xt_ints_off((1<<inum))
 
-#define ESP_CCOMPARE_INTR_ENBALE() \
-    ESP_INTR_ENABLE(ETS_CCOMPARE_INUM)
-
-#define ESP_CCOMPARE_INTR_DISBALE() \
-    ESP_INTR_DISABLE(ETS_CCOMPARE_INUM)
-
-#define ESP_SPI1_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_SPI1_INUM)
-
-#define ESP_SPI1_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_SPI1_INUM)
-
-#define ESP_SPI2_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_SPI2_INUM)
-
-#define ESP_PWM_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_PWM_INUM)
-
-#define ESP_PWM_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_PWM_INUM)
-
-#define ESP_SPI2_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_SPI2_INUM)
-
-#define ESP_SPI3_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_SPI3_INUM)
-
-#define ESP_SPI3_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_SPI3_INUM)
-
-#define ESP_I2S0_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_I2S0_INUM)
-
-#define ESP_I2S0_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_I2S0_INUM)
-
-#define ESP_I2S1_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_I2S1_INUM)
-
-#define ESP_I2S1_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_I2S1_INUM)
-
-#define ESP_MPWM_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_MPWM_INUM)
-
-#define ESP_EPWM_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_EPWM_INUM)
-
-#define ESP_MPWM_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_MPWM_INUM)
-
-#define ESP_EPWM_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_EPWM_INUM)
-
-#define ESP_BB_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_BB_INUM)
-
-#define ESP_BB_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_BB_INUM)
-
-#define ESP_UART0_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_UART0_INUM)
-
-#define ESP_UART0_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_UART0_INUM)
-
-#define ESP_LEDC_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_LEDC_INUM)
-
-#define ESP_LEDC_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_LEDC_INUM)
-
-#define ESP_GPIO_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_GPIO_INUM)
-
-#define ESP_GPIO_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_GPIO_INUM)
-
-#define ESP_WDT_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_WDT_INUM)
-
-#define ESP_WDT_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_WDT_INUM)
-
-#define ESP_FRC1_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_FRC_TIMER1_INUM)
-
-#define ESP_FRC1_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_FRC_TIMER1_INUM)
-
-#define ESP_FRC2_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_FRC_TIMER2_INUM)
-
-#define ESP_FRC2_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_FRC_TIMER2_INUM)
-
-#define ESP_RTC_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_RTC_INUM)
-
-#define ESP_RTC_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_RTC_INUM)
-
-#define ESP_SLC_INTR_ENABLE() \
-    ESP_INTR_ENABLE(ETS_SLC_INUM)
-
-#define ESP_SLC_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_SLC_INUM)
-
-#define ESP_PCNT_INTR_ENABLE()  \
-    ESP_INTR_ENABLE(ETS_PCNT_INUM)
-
-#define ESP_PCNT_INTR_DISABLE() \
-    ESP_INTR_DISABLE(ETS_PCNT_INUM)
-
-#define ESP_RMT_CTRL_ENABLE() \
-    ESP_INTR_ENABLE(ETS_RMT_CTRL_INUM)
-
-#define ESP_RMT_CTRL_DIABLE() \
-    ESP_INTR_DISABLE(ETS_RMT_CTRL_INUM)
-
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/esp32/include/soc/rmt_reg.h b/components/esp32/include/soc/rmt_reg.h
index a95aa6c08..07ba24ac7 100644
--- a/components/esp32/include/soc/rmt_reg.h
+++ b/components/esp32/include/soc/rmt_reg.h
@@ -2163,7 +2163,8 @@
 #define RMT_DATE_V  0xFFFFFFFF
 #define RMT_DATE_S  0
 
-
+/* RMT memory block address */
+#define RMT_CHANNEL_MEM(i)  (DR_REG_RMT_BASE + 0x800 + 64 * 4 * (i))
 
 
 #endif /*_SOC_RMT_REG_H_ */
diff --git a/components/esp32/include/soc/rmt_struct.h b/components/esp32/include/soc/rmt_struct.h
index 511fefa26..335cb8194 100644
--- a/components/esp32/include/soc/rmt_struct.h
+++ b/components/esp32/include/soc/rmt_struct.h
@@ -226,18 +226,35 @@ typedef volatile struct {
 } rmt_dev_t;
 extern rmt_dev_t RMT;
 
-//Allow access to RMT memory using RMTMEM.chan[0].data[8]
+typedef struct {
+    union {
+        struct {
+            uint32_t duration0 :15;
+            uint32_t level0 :1;
+            uint32_t duration1 :15;
+            uint32_t level1 :1;
+        };
+        uint32_t val;
+    };
+} rmt_item32_t;
+
+typedef struct {
+    union {
+        struct {
+            uint16_t duration :15;
+            uint16_t level :1;
+        };
+        uint16_t val;
+    };
+} rmt_item16_t;
+
+//Allow access to RMT memory using RMTMEM.chan[0].data32[8]
 typedef volatile struct {
     struct {
         union {
-            struct {
-                uint32_t duration0:    15;
-                uint32_t level0:       1;
-                uint32_t duration1:    15;
-                uint32_t level1:       1;
-            };
-            uint32_t val;
-        } data[64];
+            rmt_item32_t data32[64];
+            rmt_item16_t data16[128];
+        };
     } chan[8];
 } rmt_mem_t;
 extern rmt_mem_t RMTMEM;
diff --git a/components/esp32/lib b/components/esp32/lib
index ea9c156e8..e2e5781dc 160000
--- a/components/esp32/lib
+++ b/components/esp32/lib
@@ -1 +1 @@
-Subproject commit ea9c156e8a67d27623eab6f98ce5a55a00c8fb19
+Subproject commit e2e5781dc27e638c5e63f85bc23590dd21af1619
diff --git a/components/esp32/test/Kconfig b/components/esp32/test/Kconfig
new file mode 100644
index 000000000..af5e5b45e
--- /dev/null
+++ b/components/esp32/test/Kconfig
@@ -0,0 +1,9 @@
+menu "TESTS"
+
+config FP_TEST_ENABLE
+    bool "Enable test fp"
+    default "y"
+    help
+        For FPGA single core CPU which has no floating point support, floating point test should be disabled.
+
+endmenu
diff --git a/components/esp32/test/component.mk b/components/esp32/test/component.mk
new file mode 100644
index 000000000..5e7d11ddf
--- /dev/null
+++ b/components/esp32/test/component.mk
@@ -0,0 +1,17 @@
+#
+#Component Makefile
+#
+
+COMPONENT_EXTRA_CLEAN := test_tjpgd_logo.h
+
+COMPONENT_ADD_LDFLAGS = -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive
+
+COMPONENT_SRCDIRS := . test_vectors
+
+include $(IDF_PATH)/make/component_common.mk
+
+test_tjpgd.o: test_tjpgd_logo.h
+
+test_tjpgd_logo.h: $(COMPONENT_PATH)/logo.jpg
+	$(summary) XXD logo.jpg
+	$(Q) cd $(COMPONENT_PATH); xxd -i logo.jpg $(COMPONENT_BUILD_DIR)/test_tjpgd_logo.h
diff --git a/components/esp32/test/logo.jpg b/components/esp32/test/logo.jpg
new file mode 100644
index 000000000..2bd9e775e
Binary files /dev/null and b/components/esp32/test/logo.jpg differ
diff --git a/components/esp32/test/test_ahb_arb.c b/components/esp32/test/test_ahb_arb.c
new file mode 100644
index 000000000..65f4906fd
--- /dev/null
+++ b/components/esp32/test/test_ahb_arb.c
@@ -0,0 +1,293 @@
+
+#include <esp_types.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include "rom/ets_sys.h"
+#include "rom/lldesc.h"
+#include "rom/gpio.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/xtensa_api.h"
+
+#include "unity.h"
+
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/io_mux_reg.h"
+#include "soc/gpio_sig_map.h"
+#include "soc/gpio_reg.h"
+#include "soc/i2s_reg.h"
+
+
+#define DPORT_I2S0_CLK_EN   (BIT(4))
+#define DPORT_I2S0_RST   (BIT(4))
+
+
+/*
+This test tests the s32c1i instruction when the AHB bus is also used. To create some AHB traffic, we use the I2S interface
+to copy bytes over from one memory location to another. DO NOT USE the i2s routines inhere, they've been trial-and-error'ed until
+the point where they happened to do what I want.
+*/
+
+static void lcdIfaceInit()
+{
+    SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_I2S0_CLK_EN);
+    CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_I2S0_RST);
+
+    //Init pins to i2s functions
+    SET_PERI_REG_MASK(GPIO_ENABLE_W1TS_REG, (1 << 11) | (1 << 3) | (1 << 0) | (1 << 2) | (1 << 5) | (1 << 16) | (1 << 17) | (1 << 18) | (1 << 19) | (1 << 20)); //ENABLE GPIO oe_enable
+
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO0_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO2_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO5_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO16_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO17_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO18_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO19_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO20_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_SD_CMD_U, 2); //11
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO26_U, 0); //RS
+
+    WRITE_PERI_REG(GPIO_FUNC0_OUT_SEL_CFG_REG, (148 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC2_OUT_SEL_CFG_REG, (149 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC5_OUT_SEL_CFG_REG, (150 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC16_OUT_SEL_CFG_REG, (151 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC17_OUT_SEL_CFG_REG, (152 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC18_OUT_SEL_CFG_REG, (153 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC19_OUT_SEL_CFG_REG, (154 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC20_OUT_SEL_CFG_REG, (155 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC26_OUT_SEL_CFG_REG, (156 << GPIO_FUNC0_OUT_SEL_S)); //RS
+    WRITE_PERI_REG(GPIO_FUNC11_OUT_SEL_CFG_REG, (I2S0O_WS_OUT_IDX << GPIO_FUNC0_OUT_SEL_S));
+//  WRITE_PERI_REG(GPIO_FUNC11_OUT_SEL_CFG, (I2S0O_BCK_OUT_IDX<<GPIO_GPIO_FUNC0_OUT_SEL_S));
+
+    //GPIO_SET_GPIO_FUNC11_OUT_INV_SEL(1); //old
+    WRITE_PERI_REG(GPIO_FUNC11_OUT_SEL_CFG_REG, READ_PERI_REG(GPIO_FUNC11_OUT_SEL_CFG_REG) | GPIO_FUNC11_OUT_INV_SEL);
+
+    //Reset I2S subsystem
+    CLEAR_PERI_REG_MASK(I2S_CONF_REG(0), I2S_RX_RESET | I2S_TX_RESET);
+    SET_PERI_REG_MASK(I2S_CONF_REG(0), I2S_RX_RESET | I2S_TX_RESET);
+    CLEAR_PERI_REG_MASK(I2S_CONF_REG(0), I2S_RX_RESET | I2S_TX_RESET);
+
+    WRITE_PERI_REG(I2S_CONF_REG(0), 0);//I2S_SIG_LOOPBACK);
+    WRITE_PERI_REG(I2S_CONF2_REG(0), 0);
+
+    WRITE_PERI_REG(I2S_SAMPLE_RATE_CONF_REG(0),
+                   (16 << I2S_RX_BITS_MOD_S) |
+                   (16 << I2S_TX_BITS_MOD_S) |
+                   (1 << I2S_RX_BCK_DIV_NUM_S) |
+                   (1 << I2S_TX_BCK_DIV_NUM_S));
+    WRITE_PERI_REG(I2S_CLKM_CONF_REG(0),
+                   I2S_CLKA_ENA | I2S_CLK_EN |
+                   (1 << I2S_CLKM_DIV_A_S) |
+                   (1 << I2S_CLKM_DIV_B_S) |
+                   (1 << I2S_CLKM_DIV_NUM_S));
+    WRITE_PERI_REG(I2S_FIFO_CONF_REG(0),
+                   (32 << I2S_TX_DATA_NUM_S) |     //Low watermark for IRQ
+                   (32 << I2S_RX_DATA_NUM_S));
+
+    WRITE_PERI_REG(I2S_CONF1_REG(0), I2S_RX_PCM_BYPASS | I2S_TX_PCM_BYPASS);
+
+    WRITE_PERI_REG(I2S_CONF_CHAN_REG(0), (2 << I2S_TX_CHAN_MOD_S) | (2 << I2S_RX_CHAN_MOD_S));
+
+    //Invert WS to active-low
+    SET_PERI_REG_MASK(I2S_CONF_REG(0), I2S_TX_RIGHT_FIRST | I2S_RX_RIGHT_FIRST);
+    WRITE_PERI_REG(I2S_TIMING_REG(0), 0);
+}
+
+
+static volatile lldesc_t dmaDesc[2];
+
+static void finishDma()
+{
+    //No need to finish if no DMA transfer going on
+    if (!(READ_PERI_REG(I2S_FIFO_CONF_REG(0))&I2S_DSCR_EN)) {
+        return;
+    }
+
+    //Wait till fifo done
+    while (!(READ_PERI_REG(I2S_INT_RAW_REG(0))&I2S_TX_REMPTY_INT_RAW)) ;
+    //Wait for last bytes to leave i2s xmit thing
+    //ToDo: poll bit in next hw
+//  for (i=0; i<(1<<8); i++);
+    while (!(READ_PERI_REG(I2S_STATE_REG(0))&I2S_TX_IDLE));
+
+    //Reset I2S for next transfer
+    CLEAR_PERI_REG_MASK(I2S_CONF_REG(0), I2S_TX_START | I2S_RX_START);
+    CLEAR_PERI_REG_MASK(I2S_OUT_LINK_REG(0), I2S_OUTLINK_START | I2S_INLINK_START);
+
+    SET_PERI_REG_MASK(I2S_CONF_REG(0), I2S_TX_RESET | I2S_TX_FIFO_RESET | I2S_RX_RESET | I2S_RX_FIFO_RESET);
+    CLEAR_PERI_REG_MASK(I2S_CONF_REG(0), I2S_TX_RESET | I2S_TX_FIFO_RESET | I2S_RX_RESET | I2S_RX_FIFO_RESET);
+
+//  for (i=0; i<(1<<8); i++);
+    while ((READ_PERI_REG(I2S_STATE_REG(0))&I2S_TX_FIFO_RESET_BACK));
+}
+
+
+/*
+This is a very, very, very hacked up LCD routine which ends up basically doing a memcpy from sbuf to rbuf.
+*/
+static void sendRecvBufDma(uint16_t *sbuf, uint16_t *rbuf, int len)
+{
+    //Fill DMA descriptor
+    dmaDesc[0].length = len * 2;
+    dmaDesc[0].size = len * 2;
+    dmaDesc[0].owner = 1;
+    dmaDesc[0].sosf = 0;
+    dmaDesc[0].buf = (uint8_t *)sbuf;
+    dmaDesc[0].offset = 0; //unused in hw
+    dmaDesc[0].empty = 0;
+    dmaDesc[0].eof = 1;
+    dmaDesc[1].length = len * 2;
+    dmaDesc[1].size = len * 2;
+    dmaDesc[1].owner = 1;
+    dmaDesc[1].sosf = 0;
+    dmaDesc[1].buf = (uint8_t *)rbuf;
+    dmaDesc[1].offset = 0; //unused in hw
+    dmaDesc[1].empty = 0;
+    dmaDesc[1].eof = 1;
+
+    //Reset DMA
+    SET_PERI_REG_MASK(I2S_LC_CONF_REG(0), I2S_IN_RST | I2S_OUT_RST | I2S_AHBM_RST | I2S_AHBM_FIFO_RST);
+    CLEAR_PERI_REG_MASK(I2S_LC_CONF_REG(0), I2S_IN_RST | I2S_OUT_RST | I2S_AHBM_RST | I2S_AHBM_FIFO_RST);
+
+    //Reset I2S FIFO
+    SET_PERI_REG_MASK(I2S_CONF_REG(0), I2S_RX_RESET | I2S_TX_RESET | I2S_TX_FIFO_RESET | I2S_RX_FIFO_RESET);
+    CLEAR_PERI_REG_MASK(I2S_CONF_REG(0), I2S_RX_RESET | I2S_TX_RESET | I2S_TX_FIFO_RESET | I2S_RX_FIFO_RESET);
+
+    //Set desc addr
+    CLEAR_PERI_REG_MASK(I2S_OUT_LINK_REG(0), I2S_OUTLINK_ADDR);
+    SET_PERI_REG_MASK(I2S_OUT_LINK_REG(0), ((uint32_t)(&dmaDesc[0]))&I2S_OUTLINK_ADDR);
+    CLEAR_PERI_REG_MASK(I2S_IN_LINK_REG(0), I2S_INLINK_ADDR);
+    SET_PERI_REG_MASK(I2S_IN_LINK_REG(0), ((uint32_t)(&dmaDesc[1]))&I2S_INLINK_ADDR);
+
+    SET_PERI_REG_MASK(I2S_FIFO_CONF_REG(0), I2S_DSCR_EN); //Enable DMA mode
+
+    WRITE_PERI_REG(I2S_RXEOF_NUM_REG(0), len);
+
+    //Enable and configure DMA
+    WRITE_PERI_REG(I2S_LC_CONF_REG(0), I2S_OUT_DATA_BURST_EN  |
+                   I2S_OUT_EOF_MODE | I2S_OUTDSCR_BURST_EN | I2S_OUT_DATA_BURST_EN |
+                   I2S_INDSCR_BURST_EN | I2S_MEM_TRANS_EN);
+
+    //Start transmission
+    SET_PERI_REG_MASK(I2S_OUT_LINK_REG(0), I2S_OUTLINK_START);
+    SET_PERI_REG_MASK(I2S_IN_LINK_REG(0), I2S_INLINK_START);
+
+    SET_PERI_REG_MASK(I2S_CONF_REG(0), I2S_TX_START | I2S_RX_START);
+    //Clear int flags
+    WRITE_PERI_REG(I2S_INT_CLR_REG(0), 0xFFFFFFFF);
+}
+
+
+#define DMALEN (2048-2)
+
+static void tskLcd(void *pvParameters)
+{
+    uint16_t *sbuf = malloc(DMALEN * 2);
+    uint16_t *rbuf = malloc(DMALEN * 2);
+    uint16_t xorval = 0;
+    int x;
+    lcdIfaceInit();
+//  lcdFlush();
+    while (1) {
+        for (x = 0; x < DMALEN; x++) {
+            sbuf[x] = x ^ xorval;
+        }
+        for (x = 0; x < DMALEN; x++) {
+            rbuf[x] = 0;    //clear rbuf
+        }
+        sendRecvBufDma(sbuf, rbuf, DMALEN);
+        vTaskDelay(20 / portTICK_PERIOD_MS);
+        finishDma();
+        for (x = 0; x < DMALEN; x++) if (rbuf[x] != (x ^ xorval)) {
+                printf("Rxbuf err! pos %d val %x xor %x", x, (int)rbuf[x], (int)xorval);
+            }
+        printf(".");
+        fflush(stdout);
+        xorval++;
+    }
+}
+
+
+
+void test_s32c1i_lock(volatile int *lockvar, int lockval, int unlockval, volatile int *ctr);
+
+static volatile int ctr = 0, state = 0;
+static volatile int lock = 0;
+
+static void tskOne(void *pvParameters)
+{
+    int x;
+    int err = 0, run = 0;
+    while (1) {
+        ctr = 0; lock = 0;
+        state = 1;
+        for (x = 0; x < 16 * 1024; x++) {
+            test_s32c1i_lock(&lock, 1, 0, &ctr);
+        }
+        vTaskDelay(60 / portTICK_PERIOD_MS);
+        state = 2;
+        if (ctr != 16 * 1024 * 2) {
+            printf("Lock malfunction detected! Ctr=0x%x instead of %x\n", ctr, 16 * 1024 * 2);
+            err++;
+        }
+        run++;
+        printf("Run %d err %d\n", run, err);
+        vTaskDelay(20 / portTICK_PERIOD_MS);
+    }
+}
+
+#define FB2ADDR 0x40098000
+
+static void tskTwo(void *pvParameters)
+{
+    int x;
+    int *p = (int *)FB2ADDR;
+    int *s = (int *)test_s32c1i_lock;
+    void (*test_s32c1i_lock2)(volatile int * lockvar, int lockval, int unlockval, volatile int * ctr) = (void *)FB2ADDR;
+    volatile int w;
+    int delay;
+    for (x = 0; x < 100; x++) {
+        *p++ = *s++;    //copy routine to different pool
+    }
+
+    while (1) {
+        while (state != 1) ;
+        for (x = 0; x < 16 * 1024; x++) {
+            test_s32c1i_lock2(&lock, 2, 0, &ctr);
+            //Some random delay to increase chance of weirdness
+            if ((x & 0x1f) == 0) {
+                delay = rand() & 0x1f;
+                for (w = 0; w < delay; w++);
+            }
+        }
+        while (state != 2);
+    }
+}
+
+
+TEST_CASE("S32C1I vs AHB test (needs I2S)", "[hw]")
+{
+    int i;
+    TaskHandle_t th[3];
+    state = 0;
+
+    printf("Creating tasks\n");
+    xTaskCreatePinnedToCore(tskTwo  , "tsktwo"  , 2048, NULL, 3, &th[1], 1);
+    xTaskCreatePinnedToCore(tskOne  , "tskone"  , 2048, NULL, 3, &th[0], 0);
+    xTaskCreatePinnedToCore(tskLcd  , "tsklcd"  , 2048, NULL, 3, &th[2], 0);
+
+    // Let stuff run for 20s
+    while (1) {
+        vTaskDelay(20000 / portTICK_PERIOD_MS);
+    }
+
+    //Shut down all the tasks
+    for (i = 0; i < 3; i++) {
+        vTaskDelete(th[i]);
+    }
+}
+
diff --git a/components/esp32/test/test_ahb_arb_asm.S b/components/esp32/test/test_ahb_arb_asm.S
new file mode 100644
index 000000000..e4de86eb4
--- /dev/null
+++ b/components/esp32/test/test_ahb_arb_asm.S
@@ -0,0 +1,51 @@
+/*
+This little bit of code is executed in-place by one CPU, but copied to a different memory region
+by the other CPU. Make sure it stays position-independent.
+*/
+    .text
+    .align  4
+    .global test_s32c1i_lock
+    .type   test_s32c1i_lock,@function
+//Args:
+//a2 - lock addr
+//a3 - val to lock with
+//a4 - val to unlock with
+//a5 - addr to increase
+test_s32c1i_lock:
+	entry a1, 64
+	wsr a4, SCOMPARE1
+lockloop:
+	mov a6, a3
+	s32c1i a6, a2, 0
+	bne a4, a6, lockloop
+
+	l32i a6, a5, 0
+	//Give other CPU the time to mess up the inc if the lock somehow malfunctions
+	nop
+	nop
+	nop
+	nop
+	nop
+	nop
+	nop
+	nop
+	nop
+	nop
+	nop
+	nop
+	nop
+	nop
+	nop
+	nop
+	addi a6, a6, 1
+	s32i a6, a5, 0
+
+
+//No need to actually let this loop but hey, a hang indicates an error, right?
+	wsr a3, SCOMPARE1
+unlockloop:
+	mov a6, a4
+	s32c1i a6, a2, 0
+	bne a3, a6, unlockloop
+	
+	retw
diff --git a/components/esp32/test/test_fastbus.c b/components/esp32/test/test_fastbus.c
new file mode 100644
index 000000000..4ac5c55a8
--- /dev/null
+++ b/components/esp32/test/test_fastbus.c
@@ -0,0 +1,132 @@
+
+#include <esp_types.h>
+#include <stdio.h>
+#include "rom/ets_sys.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/xtensa_api.h"
+#include "unity.h"
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/io_mux_reg.h"
+
+
+/*
+This test tests the 'fast' peripherial bus at 0x3ff40000. This bus is connected directly to the core, and as such
+can receive 'speculative' reads, that is, reads that may or may not actually be executed in the code flow. This
+may mess with any FIFOs mapped in the region: if a byte gets dropped due to a missed speculative read, the fifo
+may advance to the next byte anyway.
+
+This code tests reading/writing from the UART1 FIFO, using both cores. For this to work, it's required that the
+UARTs RX and TX lines are connected.
+*/
+
+
+void test_fastbus_cp(int fifo_addr, unsigned char *buf, int len, int *dummy);
+
+static volatile int state = 0;
+static volatile int xor = 0;
+static unsigned char res[128];
+
+static void tskOne(void *pvParameters)
+{
+    int run = 0, err = 0;
+    int x;
+    int ct[256];
+    volatile int w;
+    int dummy;
+    while (1) {
+        state = 1;
+        for (x = 0; x < 64; x++) {
+            WRITE_PERI_REG(UART_FIFO_REG(1), x ^ xor);
+        }
+        for (w = 0; w < (1 << 14); w++); //delay
+        state = 2;
+        test_fastbus_cp(UART_FIFO_REG(1), &res[0], 64, &dummy);
+        for (w = 0; w < (1 << 10); w++);    //delay
+        for (x = 0; x < 255; x++) {
+            ct[x] = 0;    //zero ctrs
+        }
+        for (x = 0; x < 128; x++) {
+            ct[(int)res[x]^xor]++;    //count values
+        }
+        for (x = 0; x < 255; x++) {         //check counts
+            if (ct[x] != (x < 128 ? 1 : 0)) {
+                //Disregard first few loops; there may be crap in the fifo.
+                if (run > 2) {
+                    err++;
+                    printf("Error! Received value %d %d times!\n", x, ct[x]);
+                }
+            }
+        }
+        run++;
+        if ((run & 255) == 0) {
+            printf("Loop %d errct %d\n", run, err);
+        }
+        xor = (xor + 1) & 0xff;
+    }
+}
+
+#define FB2ADDR 0x40098000
+
+static void tskTwo(void *pvParameters)
+{
+    int x;
+    int dummy;
+    int *p = (int *)FB2ADDR;
+    int *s = (int *)test_fastbus_cp;
+    for (x = 0; x < 100; x++) {
+        *p++ = *s++;
+    }
+    void (*test_fastbus_cp2)(int fifo_addr, unsigned char * buf, int len, int * dummy) = (void *)FB2ADDR;
+
+
+    while (1) {
+        while (state != 1) ;
+        for (x = 64; x < 128; x++) {
+            WRITE_PERI_REG(UART_FIFO_REG(1), x ^ xor);
+        }
+        while (state != 2);
+        test_fastbus_cp2(UART_FIFO_REG(1), &res[64], 64, &dummy);
+    }
+}
+
+
+// TODO: split this thing into separate orthogonal tests
+TEST_CASE("Fast I/O bus test", "[hw]")
+{
+    int i;
+    if ((REG_UART_BASE(0) >> 16) != 0x3ff4) {
+        printf("Error! Uart base isn't on fast bus.\n");
+        TEST_ASSERT(0);
+    }
+
+    PIN_PULLUP_DIS(PERIPHS_IO_MUX_SD_DATA3_U);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_SD_DATA2_U, FUNC_SD_DATA2_U1RXD);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_SD_DATA3_U, FUNC_SD_DATA3_U1TXD);
+
+    int reg_val = (1 << UART_RXFIFO_FULL_THRHD_S);
+    WRITE_PERI_REG(UART_CONF1_REG(1), reg_val);
+    WRITE_PERI_REG(UART_CLKDIV_REG(1), 0x30); //semi-random
+//  CLEAR_PERI_REG_MASK(UART_INT_ENA_REG(1), UART_TXFIFO_EMPTY_INT_ENA|UART_RXFIFO_TOUT_INT_ENA);
+
+    TaskHandle_t th[2];
+    printf("Creating tasks\n");
+    xTaskCreatePinnedToCore(tskOne  , "tskone"  , 2048, NULL, 3, &th[0], 0);
+    xTaskCreatePinnedToCore(tskTwo  , "tsktwo"  , 2048, NULL, 3, &th[1], 1);
+
+    // Let stuff run for 20s
+    while (1) {
+        vTaskDelay(20000 / portTICK_PERIOD_MS);
+    }
+
+    //Shut down all the tasks
+    for (i = 0; i < 2; i++) {
+        vTaskDelete(th[i]);
+    }
+    xt_ints_off(1 << ETS_UART0_INUM);
+}
+
diff --git a/components/esp32/test/test_fastbus_asm.S b/components/esp32/test/test_fastbus_asm.S
new file mode 100644
index 000000000..1ced09fcf
--- /dev/null
+++ b/components/esp32/test/test_fastbus_asm.S
@@ -0,0 +1,32 @@
+/*
+This little bit of code is executed in-place by one CPU, but copied to a different memory region
+by the other CPU. Make sure it stays position-independent.
+*/
+    .text
+    .align  4
+    .global test_fastbus_cp
+    .type   test_fastbus_cp,@function
+//Args:
+//a2 - fifo addr
+//a3 - buf addr
+//a4 - len
+//a5 - ptr to int to use
+test_fastbus_cp:
+	entry a1,64
+back:
+	beqi a4, 0, out		//check if loop done
+	s32i a4, a5, 0		//store value, for shits and/or giggles
+	memw				//make sure write happens
+	l32i a4, a5, 0		//load value again, to thwart any prediction in the pipeline
+	bbsi a4, 0, pred	//Random jump to check predictive reads. Both branches should do the same.
+	l32i a6, a2, 0		//read from fifo 1
+	j predout
+pred:
+	l32i a6, a2, 0		//read from fifo 2
+predout:
+	s8i a6, a3, 0		//store result
+	addi a3, a3, 1		//inc ptr
+	addi a4, a4, -1		//next
+	j back				//loop again
+out:
+	retw				//and we are done
diff --git a/components/esp32/test/test_fp.c b/components/esp32/test/test_fp.c
new file mode 100644
index 000000000..5c2573b22
--- /dev/null
+++ b/components/esp32/test/test_fp.c
@@ -0,0 +1,195 @@
+#include <math.h>
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "unity.h"
+
+#if CONFIG_FP_TEST_ENABLE
+static float addsf(float a, float b)
+{
+    float result;
+    asm volatile (
+        "wfr f0, %1\n"
+        "wfr f1, %2\n"
+        "add.s f2, f0, f1\n"
+        "rfr %0, f2\n"
+        :"=r"(result):"r"(a), "r"(b)
+    );
+    return result;
+}
+
+static float mulsf(float a, float b)
+{
+    float result;
+    asm volatile (
+        "wfr f0, %1\n"
+        "wfr f1, %2\n"
+        "mul.s f2, f0, f1\n"
+        "rfr %0, f2\n"
+        :"=r"(result):"r"(a), "r"(b)
+    );
+    return result;
+}
+
+static float divsf(float a, float b)
+{
+    float result;
+    asm volatile (
+        "wfr f0, %1\n"
+        "wfr f1, %2\n"
+        "div0.s f3, f1 \n"
+        "nexp01.s f4, f1 \n"
+        "const.s f5, 1 \n"
+        "maddn.s f5, f4, f3 \n"
+        "mov.s f6, f3 \n"
+        "mov.s f7, f1 \n"
+        "nexp01.s f8, f0 \n"
+        "maddn.s f6, f5, f3 \n"
+        "const.s f5, 1 \n"
+        "const.s f2, 0 \n"
+        "neg.s f9, f8 \n"
+        "maddn.s f5,f4,f6 \n"
+        "maddn.s f2, f0, f3 \n"
+        "mkdadj.s f7, f0 \n"
+        "maddn.s f6,f5,f6 \n"
+        "maddn.s f9,f4,f2 \n"
+        "const.s f5, 1 \n"
+        "maddn.s f5,f4,f6 \n"
+        "maddn.s f2,f9,f6 \n"
+        "neg.s f9, f8 \n"
+        "maddn.s f6,f5,f6 \n"
+        "maddn.s f9,f4,f2 \n"
+        "addexpm.s f2, f7 \n"
+        "addexp.s f6, f7 \n"
+        "divn.s f2,f9,f6\n"
+        "rfr %0, f2\n"
+        :"=r"(result):"r"(a), "r"(b)
+    );
+    return result;
+}
+
+static float sqrtsf(float a)
+{
+    float result;
+    asm volatile (
+        "wfr f0, %1\n"
+        "sqrt0.s f2, f0\n"
+        "const.s f5, 0\n"
+        "maddn.s f5, f2, f2\n"
+        "nexp01.s f3, f0\n"
+        "const.s f4, 3\n"
+        "addexp.s f3, f4\n"
+        "maddn.s f4, f5, f3\n"
+        "nexp01.s f5, f0\n"
+        "neg.s f6, f5\n"
+        "maddn.s f2, f4, f2\n"
+        "const.s f1, 0\n"
+        "const.s f4, 0\n"
+        "const.s f7, 0\n"
+        "maddn.s f1, f6, f2\n"
+        "maddn.s f4, f2, f3\n"
+        "const.s f6, 3\n"
+        "maddn.s f7, f6, f2\n"
+        "maddn.s f5, f1, f1\n"
+        "maddn.s f6, f4, f2\n"
+        "neg.s f3, f7\n"
+        "maddn.s f1, f5, f3\n"
+        "maddn.s f7, f6, f7\n"
+        "mksadj.s f2, f0\n"
+        "nexp01.s f5, f0\n"
+        "maddn.s f5, f1, f1\n"
+        "neg.s f3, f7\n"
+        "addexpm.s f1, f2\n"
+        "addexp.s f3, f2\n"
+        "divn.s f1, f5, f3\n"
+        "rfr %0, f1\n"
+        :"=r"(result):"r"(a)
+    );
+    return result;
+}
+
+TEST_CASE("test FP add", "[fp]")
+{
+    float a = 100.0f;
+    float b = 0.5f;
+    float c = addsf(a, b);
+    float eps = c - 100.5f;
+    printf("a=%g b=%g c=%g eps=%g\r\n", a, b, c, eps);
+    TEST_ASSERT_TRUE(fabs(eps) < 0.000001);
+}
+
+TEST_CASE("test FP mul", "[fp]")
+{
+    float a = 100.0f;
+    float b = 0.05f;
+    float c = mulsf(a, b);
+    float eps = c - 5.0f;
+    printf("a=%g b=%g c=%g eps=%g\r\n", a, b, c, eps);
+    TEST_ASSERT_TRUE(fabs(eps) < 0.000001);
+}
+
+TEST_CASE("test FP div", "[fp]")
+{
+    float a = 100.0f;
+    float b = 5.0f;
+    float c = divsf(a, b);
+    float eps = c - 20.0f;
+    printf("a=%g b=%g c=%g eps=%g\r\n", a, b, c, eps);
+    TEST_ASSERT_TRUE(fabs(eps) < 0.000001);
+}
+
+TEST_CASE("test FP sqrt", "[fp]")
+{
+    float a = 100.0f;
+    float c = sqrtsf(a);
+    float eps = c - 10.0f;
+    printf("a=%g c=%g eps=%g\r\n", a, c, eps);
+    TEST_ASSERT_TRUE(fabs(eps) < 0.000001);
+}
+
+
+struct TestFPState {
+    int fail;
+    int done;
+};
+
+static const int testFpIter = 100000;
+
+static void tskTestFP(void *pvParameters)
+{
+    struct TestFPState *state = (struct TestFPState *) pvParameters;
+    for (int i = 0; i < testFpIter; ++i) {
+        // calculate zero in a slightly obscure way
+        float y = sqrtsf(addsf(1.0f, divsf(mulsf(sqrtsf(2), sqrtsf(2)), 2.0f)));
+        y = mulsf(y, y);
+        y = addsf(y, -2.0f);
+        // check that result is not far from zero
+        float eps = fabs(y);
+        if (eps > 1e-6f) {
+            state->fail++;
+            printf("%s: i=%d y=%f eps=%f\r\n", __func__, i, y, eps);
+        }
+    }
+    state->done++;
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("context switch saves FP registers", "[fp]")
+{
+    struct TestFPState state;
+    state.done = 0;
+    state.fail = 0;
+    xTaskCreatePinnedToCore(tskTestFP, "tsk1", 2048, &state, 3, NULL, 0);
+    xTaskCreatePinnedToCore(tskTestFP, "tsk2", 2048, &state, 3, NULL, 0);
+    xTaskCreatePinnedToCore(tskTestFP, "tsk3", 2048, &state, 3, NULL, 1);
+    xTaskCreatePinnedToCore(tskTestFP, "tsk4", 2048, &state, 3, NULL, 0);
+    while (state.done != 4) {
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+    }
+    if (state.fail) {
+        const int total = testFpIter * 4;
+        printf("Failed: %d, total: %d\r\n", state.fail, total);
+    }
+    TEST_ASSERT(state.fail == 0);
+}
+#endif
diff --git a/components/esp32/test/test_miniz.c b/components/esp32/test/test_miniz.c
new file mode 100644
index 000000000..3453c859a
--- /dev/null
+++ b/components/esp32/test/test_miniz.c
@@ -0,0 +1,77 @@
+
+
+#include <stdio.h>
+#include "rom/miniz.h"
+#include "unity.h"
+
+
+#define DATASIZE (1024*64)
+
+TEST_CASE("Test miniz compression/decompression", "[miniz]")
+{
+    int x;
+    char b;
+    char *inbuf, *outbuf;
+    tdefl_compressor *comp;
+    tinfl_decompressor *decomp;
+    tdefl_status status;
+    size_t inbytes = 0, outbytes = 0, inpos = 0, outpos = 0, compsz;
+    printf("Allocating data buffer and filling it with semi-random data\n");
+    inbuf = malloc(DATASIZE);
+    TEST_ASSERT(inbuf != NULL);
+    srand(0);
+    for (x = 0; x < DATASIZE; x++) {
+        inbuf[x] = (x & 1) ? rand() & 0xff : 0;
+    }
+    printf("Allocating compressor & outbuf (%d bytes)\n", sizeof(tdefl_compressor));
+    comp = malloc(sizeof(tdefl_compressor));
+    TEST_ASSERT(comp != NULL);
+    outbuf = malloc(DATASIZE);
+    TEST_ASSERT(outbuf != NULL);
+    printf("Compressing...\n");
+    status = tdefl_init(comp, NULL, NULL, TDEFL_WRITE_ZLIB_HEADER | 1500);
+    TEST_ASSERT(status == TDEFL_STATUS_OKAY);
+    while (inbytes != DATASIZE) {
+        outbytes = DATASIZE - outpos;
+        inbytes = DATASIZE - inpos;
+        tdefl_compress(comp, &inbuf[inpos], &inbytes, &outbuf[outpos], &outbytes, TDEFL_FINISH);
+        printf("...Compressed %d into %d bytes\n", inbytes, outbytes);
+        inpos += inbytes; outpos += outbytes;
+    }
+    compsz = outpos;
+    free(comp);
+    //Kill inbuffer
+    for (x = 0; x < DATASIZE; x++) {
+        inbuf[x] = 0;
+    }
+    free(inbuf);
+
+    inbuf = outbuf;
+    outbuf = malloc(DATASIZE);
+    TEST_ASSERT(outbuf != NULL);
+    printf("Reinflating...\n");
+    decomp = malloc(sizeof(tinfl_decompressor));
+    TEST_ASSERT(decomp != NULL);
+    tinfl_init(decomp);
+    inpos = 0; outpos = 0;
+    while (inbytes != compsz) {
+        outbytes = DATASIZE - outpos;
+        inbytes = compsz - inpos;
+        tinfl_decompress(decomp, (const mz_uint8 *)&inbuf[inpos], &inbytes, (uint8_t *)outbuf, (mz_uint8 *)&outbuf[outpos], &outbytes, TINFL_FLAG_PARSE_ZLIB_HEADER);
+        printf("...Decompressed %d into %d bytes\n", inbytes, outbytes);
+        inpos += inbytes; outpos += outbytes;
+    }
+    printf("Checking if same...\n");
+    srand(0);
+    for (x = 0; x < DATASIZE; x++) {
+        b = (x & 1) ? rand() & 0xff : 0;
+        if (outbuf[x] != b) {
+            printf("Pos %x: %hhx!=%hhx\n", x, outbuf[x], b);
+            TEST_ASSERT(0);
+        }
+    }
+    printf("Great Success!\n");
+    free(inbuf);
+    free(outbuf);
+    free(decomp);
+}
diff --git a/components/esp32/test/test_tjpgd.c b/components/esp32/test/test_tjpgd.c
new file mode 100644
index 000000000..60c687f07
--- /dev/null
+++ b/components/esp32/test/test_tjpgd.c
@@ -0,0 +1,91 @@
+
+
+#include <stdio.h>
+#include "rom/tjpgd.h"
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include "unity.h"
+
+#include "test_tjpgd_logo.h"
+
+typedef struct {
+    const unsigned char *inData;
+    int inPos;
+    unsigned char *outData;
+    int outW;
+    int outH;
+} JpegDev;
+
+
+static UINT infunc(JDEC *decoder, BYTE *buf, UINT len)
+{
+    JpegDev *jd = (JpegDev *)decoder->device;
+    printf("Reading %d bytes from pos %d\n", len, jd->inPos);
+    if (buf != NULL) {
+        memcpy(buf, jd->inData + jd->inPos, len);
+    }
+    jd->inPos += len;
+    return len;
+}
+
+
+static UINT outfunc(JDEC *decoder, void *bitmap, JRECT *rect)
+{
+    unsigned char *in = (unsigned char *)bitmap;
+    unsigned char *out;
+    int y;
+    printf("Rect %d,%d - %d,%d\n", rect->top, rect->left, rect->bottom, rect->right);
+    JpegDev *jd = (JpegDev *)decoder->device;
+    for (y = rect->top; y <= rect->bottom; y++) {
+        out = jd->outData + ((jd->outW * y) + rect->left) * 3;
+        memcpy(out, in, ((rect->right - rect->left) + 1) * 3);
+        in += ((rect->right - rect->left) + 1) * 3;
+    }
+    return 1;
+}
+
+#define TESTW 48
+#define TESTH 48
+#define WORKSZ 3100
+
+TEST_CASE("Test JPEG decompression library", "[tjpgd]")
+{
+    char aapix[] = " .:;+=xX$$";
+    unsigned char *decoded, *p;
+    char *work;
+    int r;
+    int x, y, v;
+    JDEC decoder;
+    JpegDev jd;
+    decoded = malloc(48 * 48 * 3);
+    for (x = 0; x < 48 * 48 * 3; x += 2) {
+        decoded[x] = 0; decoded[x + 1] = 0xff;
+    }
+    work = malloc(WORKSZ);
+    memset(work, 0, WORKSZ);
+
+    jd.inData = logo_jpg;
+    jd.inPos = 0;
+    jd.outData = decoded;
+    jd.outW = TESTW;
+    jd.outH = TESTH;
+
+    r = jd_prepare(&decoder, infunc, work, WORKSZ, (void *)&jd);
+    TEST_ASSERT_EQUAL(r, JDR_OK);
+    r = jd_decomp(&decoder, outfunc, 0);
+    TEST_ASSERT_EQUAL(r, JDR_OK);
+
+    p = decoded + 2;
+    for (y = 0; y < TESTH; y++) {
+        for (x = 0; x < TESTH; x++) {
+            v = ((*p) * (sizeof(aapix) - 2) * 2) / 256;
+            printf("%c%c", aapix[v / 2], aapix[(v + 1) / 2]);
+            p += 3;
+        }
+        printf("%c%c", ' ', '\n');
+    }
+
+    free(work);
+    free(decoded);
+}
diff --git a/components/esp32/test/test_unal_dma.c b/components/esp32/test/test_unal_dma.c
new file mode 100644
index 000000000..3726632a4
--- /dev/null
+++ b/components/esp32/test/test_unal_dma.c
@@ -0,0 +1,205 @@
+
+#include <esp_types.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rom/ets_sys.h"
+#include "rom/lldesc.h"
+#include "rom/gpio.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/xtensa_api.h"
+#include "unity.h"
+
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/io_mux_reg.h"
+#include "soc/gpio_sig_map.h"
+#include "soc/gpio_reg.h"
+#include "soc/i2s_reg.h"
+
+
+#define DPORT_I2S0_CLK_EN   (BIT(4))
+#define DPORT_I2S0_RST   (BIT(4))
+
+static volatile lldesc_t dmaDesc[2];
+
+
+//hacked up routine to essentially do a memcpy() using dma. Supports max 4K-1 bytes.
+static void dmaMemcpy(void *in, void *out, int len)
+{
+    volatile int i;
+    SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_I2S0_CLK_EN);
+    CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_I2S0_RST);
+
+    //Init pins to i2s functions
+    SET_PERI_REG_MASK(GPIO_ENABLE_W1TS_REG, (1 << 11) | (1 << 3) | (1 << 0) | (1 << 2) | (1 << 5) | (1 << 16) | (1 << 17) | (1 << 18) | (1 << 19) | (1 << 20)); //ENABLE GPIO oe_enable
+
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO0_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO2_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO5_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO16_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO17_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO18_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO19_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO20_U, 0);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_SD_CMD_U, 2); //11
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO26_U, 0); //RS
+
+    WRITE_PERI_REG(GPIO_FUNC0_OUT_SEL_CFG_REG, (148 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC2_OUT_SEL_CFG_REG, (149 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC5_OUT_SEL_CFG_REG, (150 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC16_OUT_SEL_CFG_REG, (151 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC17_OUT_SEL_CFG_REG, (152 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC18_OUT_SEL_CFG_REG, (153 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC19_OUT_SEL_CFG_REG, (154 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC20_OUT_SEL_CFG_REG, (155 << GPIO_FUNC0_OUT_SEL_S));
+    WRITE_PERI_REG(GPIO_FUNC26_OUT_SEL_CFG_REG, (156 << GPIO_FUNC0_OUT_SEL_S)); //RS
+    WRITE_PERI_REG(GPIO_FUNC11_OUT_SEL_CFG_REG, (I2S0O_WS_OUT_IDX << GPIO_FUNC0_OUT_SEL_S));
+//  WRITE_PERI_REG(GPIO_FUNC11_OUT_SEL_CFG, (I2S0O_BCK_OUT_IDX<<GPIO_GPIO_FUNC0_OUT_SEL_S));
+
+    //GPIO_SET_GPIO_FUNC11_OUT_INV_SEL(1); //old
+    WRITE_PERI_REG(GPIO_FUNC11_OUT_SEL_CFG_REG, READ_PERI_REG(GPIO_FUNC11_OUT_SEL_CFG_REG) | GPIO_FUNC11_OUT_INV_SEL);
+
+    //Reset I2S subsystem
+    CLEAR_PERI_REG_MASK(I2S_CONF_REG(0), I2S_RX_RESET | I2S_TX_RESET);
+    SET_PERI_REG_MASK(I2S_CONF_REG(0), I2S_RX_RESET | I2S_TX_RESET);
+    CLEAR_PERI_REG_MASK(I2S_CONF_REG(0), I2S_RX_RESET | I2S_TX_RESET);
+
+    WRITE_PERI_REG(I2S_CONF_REG(0), 0);//I2S_I2S_SIG_LOOPBACK);
+    WRITE_PERI_REG(I2S_CONF2_REG(0), 0);
+
+    WRITE_PERI_REG(I2S_SAMPLE_RATE_CONF_REG(0),
+                   (16 << I2S_RX_BITS_MOD_S) |
+                   (16 << I2S_TX_BITS_MOD_S) |
+                   (1 << I2S_RX_BCK_DIV_NUM_S) |
+                   (1 << I2S_TX_BCK_DIV_NUM_S));
+    WRITE_PERI_REG(I2S_CLKM_CONF_REG(0),
+                   I2S_CLKA_ENA | I2S_CLK_EN |
+                   (1 << I2S_CLKM_DIV_A_S) |
+                   (1 << I2S_CLKM_DIV_B_S) |
+                   (1 << I2S_CLKM_DIV_NUM_S));
+    WRITE_PERI_REG(I2S_FIFO_CONF_REG(0),
+                   (32 << I2S_TX_DATA_NUM_S) |     //Low watermark for IRQ
+                   (32 << I2S_RX_DATA_NUM_S));
+
+    WRITE_PERI_REG(I2S_CONF1_REG(0), I2S_RX_PCM_BYPASS | I2S_TX_PCM_BYPASS);
+
+    WRITE_PERI_REG(I2S_CONF_CHAN_REG(0), (2 << I2S_TX_CHAN_MOD_S) | (2 << I2S_RX_CHAN_MOD_S));
+
+    //Invert WS to active-low
+    SET_PERI_REG_MASK(I2S_CONF_REG(0), I2S_TX_RIGHT_FIRST | I2S_RX_RIGHT_FIRST);
+    WRITE_PERI_REG(I2S_TIMING_REG(0), 0);
+
+//--
+    //Fill DMA descriptor
+    dmaDesc[0].length = len;
+    dmaDesc[0].size = len;
+    dmaDesc[0].owner = 1;
+    dmaDesc[0].sosf = 0;
+    dmaDesc[0].buf = (uint8_t *)in;
+    dmaDesc[0].offset = 0; //unused in hw
+    dmaDesc[0].empty = 0;
+    dmaDesc[0].eof = 1;
+    dmaDesc[1].length = len;
+    dmaDesc[1].size = len;
+    dmaDesc[1].owner = 1;
+    dmaDesc[1].sosf = 0;
+    dmaDesc[1].buf = (uint8_t *)out;
+    dmaDesc[1].offset = 0; //unused in hw
+    dmaDesc[1].empty = 0;
+    dmaDesc[1].eof = 1;
+
+    //Reset DMA
+    SET_PERI_REG_MASK(I2S_LC_CONF_REG(0), I2S_IN_RST | I2S_OUT_RST | I2S_AHBM_RST | I2S_AHBM_FIFO_RST);
+    CLEAR_PERI_REG_MASK(I2S_LC_CONF_REG(0), I2S_IN_RST | I2S_OUT_RST | I2S_AHBM_RST | I2S_AHBM_FIFO_RST);
+
+    //Reset I2S FIFO
+    SET_PERI_REG_MASK(I2S_CONF_REG(0), I2S_RX_RESET | I2S_TX_RESET | I2S_TX_FIFO_RESET | I2S_RX_FIFO_RESET);
+    CLEAR_PERI_REG_MASK(I2S_CONF_REG(0), I2S_RX_RESET | I2S_TX_RESET | I2S_TX_FIFO_RESET | I2S_RX_FIFO_RESET);
+
+    //Set desc addr
+    CLEAR_PERI_REG_MASK(I2S_OUT_LINK_REG(0), I2S_OUTLINK_ADDR);
+    SET_PERI_REG_MASK(I2S_OUT_LINK_REG(0), ((uint32_t)(&dmaDesc[0]))&I2S_OUTLINK_ADDR);
+    CLEAR_PERI_REG_MASK(I2S_IN_LINK_REG(0), I2S_INLINK_ADDR);
+    SET_PERI_REG_MASK(I2S_IN_LINK_REG(0), ((uint32_t)(&dmaDesc[1]))&I2S_INLINK_ADDR);
+
+    SET_PERI_REG_MASK(I2S_FIFO_CONF_REG(0), I2S_DSCR_EN); //Enable DMA mode
+
+    WRITE_PERI_REG(I2S_RXEOF_NUM_REG(0), len);
+
+    //Enable and configure DMA
+    WRITE_PERI_REG(I2S_LC_CONF_REG(0), I2S_OUT_DATA_BURST_EN  |
+                   I2S_OUT_EOF_MODE | I2S_OUTDSCR_BURST_EN | I2S_OUT_DATA_BURST_EN |
+                   I2S_INDSCR_BURST_EN | I2S_MEM_TRANS_EN);
+
+    //Start transmission
+    SET_PERI_REG_MASK(I2S_OUT_LINK_REG(0), I2S_OUTLINK_START);
+    SET_PERI_REG_MASK(I2S_IN_LINK_REG(0), I2S_INLINK_START);
+
+    SET_PERI_REG_MASK(I2S_CONF_REG(0), I2S_TX_START | I2S_RX_START);
+    //Clear int flags
+    WRITE_PERI_REG(I2S_INT_CLR_REG(0), 0xFFFFFFFF);
+//--
+    //No need to finish if no DMA transfer going on
+    if (!(READ_PERI_REG(I2S_FIFO_CONF_REG(0))&I2S_DSCR_EN)) {
+        return;
+    }
+
+    //Wait till fifo done
+    while (!(READ_PERI_REG(I2S_INT_RAW_REG(0))&I2S_TX_REMPTY_INT_RAW)) ;
+    //Wait for last bytes to leave i2s xmit thing
+    //ToDo: poll bit in next hw
+    for (i = 0; i < (1 << 8); i++);
+    while (!(READ_PERI_REG(I2S_STATE_REG(0))&I2S_TX_IDLE));
+
+    //Reset I2S for next transfer
+    CLEAR_PERI_REG_MASK(I2S_CONF_REG(0), I2S_TX_START | I2S_RX_START);
+    CLEAR_PERI_REG_MASK(I2S_OUT_LINK_REG(0), I2S_OUTLINK_START | I2S_INLINK_START);
+
+    SET_PERI_REG_MASK(I2S_CONF_REG(0), I2S_TX_RESET | I2S_TX_FIFO_RESET | I2S_RX_RESET | I2S_RX_FIFO_RESET);
+    CLEAR_PERI_REG_MASK(I2S_CONF_REG(0), I2S_TX_RESET | I2S_TX_FIFO_RESET | I2S_RX_RESET | I2S_RX_FIFO_RESET);
+
+//  for (i=0; i<(1<<8); i++);
+    while ((READ_PERI_REG(I2S_STATE_REG(0))&I2S_TX_FIFO_RESET_BACK));
+
+}
+
+
+int mymemcmp(char *a, char *b, int len)
+{
+    int x;
+    for (x = 0; x < len; x++) {
+        if (a[x] != b[x]) {
+            printf("Not equal at byte %d. a=%x, b=%x\n", x, (int)a[x], (int)b[x]);
+            return 1;
+        }
+    }
+    return 0;
+}
+
+
+
+TEST_CASE("Unaligned DMA test (needs I2S)", "[hw]")
+{
+    int x;
+    char src[2049], dest[2049];
+    for (x = 0; x < sizeof(src); x++) {
+        src[x] = x & 0xff;
+    }
+
+    printf("Aligned dma\n");
+    memset(dest, 0, 2049);
+    dmaMemcpy(src, dest, 2048 + 1);
+    TEST_ASSERT(mymemcmp(src, dest, 2048) == 0);
+    printf("Src unaligned\n");
+    dmaMemcpy(src + 1, dest, 2048 + 1);
+    TEST_ASSERT(mymemcmp(src + 1, dest, 2048) == 0);
+    printf("Dst unaligned\n");
+    dmaMemcpy(src, dest + 1, 2048 + 2);
+    TEST_ASSERT(mymemcmp(src, dest + 1, 2048) == 0);
+}
+
diff --git a/components/freertos/include/freertos/FreeRTOS.h b/components/freertos/include/freertos/FreeRTOS.h
index f6c9aa497..4c60308f7 100644
--- a/components/freertos/include/freertos/FreeRTOS.h
+++ b/components/freertos/include/freertos/FreeRTOS.h
@@ -895,7 +895,8 @@ typedef struct xSTATIC_TCB
 		uint32_t 		ulDummy18;
 		uint32_t 		ucDummy19;
 	#endif
-	#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+	#if( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) \
+		 || ( portUSING_MPU_WRAPPERS == 1 ) )
 		uint8_t			uxDummy20;
 	#endif
 
@@ -927,7 +928,6 @@ typedef struct xSTATIC_QUEUE
 
 	StaticList_t xDummy3[ 2 ];
 	UBaseType_t uxDummy4[ 3 ];
-	BaseType_t ucDummy5[ 2 ];
 
 	#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
 		uint8_t ucDummy6;
@@ -943,12 +943,12 @@ typedef struct xSTATIC_QUEUE
 	#endif
 
     struct {
-	    volatile uint32_t mux;
+	    volatile uint32_t ucDummy10;
     #ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
-	    const char *lastLockedFn;
-	    int lastLockedLine;
+	    void *pvDummy8;
+	    UBaseType_t uxDummy11;
     #endif
-    } mux;
+    } sDummy12;
 
 } StaticQueue_t;
 typedef StaticQueue_t StaticSemaphore_t;
diff --git a/components/freertos/include/freertos/list.h b/components/freertos/include/freertos/list.h
index b63df7f72..8606deba5 100644
--- a/components/freertos/include/freertos/list.h
+++ b/components/freertos/include/freertos/list.h
@@ -190,6 +190,10 @@ struct xLIST_ITEM
 };
 typedef struct xLIST_ITEM ListItem_t;					/* For some reason lint wants this as two separate definitions. */
 
+#if __GNUC_PREREQ(4, 6)
+_Static_assert(sizeof(StaticListItem_t) == sizeof(ListItem_t), "StaticListItem_t != ListItem_t");
+#endif
+
 struct xMINI_LIST_ITEM
 {
 	listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE				/*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
@@ -199,6 +203,11 @@ struct xMINI_LIST_ITEM
 };
 typedef struct xMINI_LIST_ITEM MiniListItem_t;
 
+#if __GNUC_PREREQ(4, 6)
+_Static_assert(sizeof(StaticMiniListItem_t) == sizeof(MiniListItem_t), "StaticMiniListItem_t != MiniListItem_t");
+#endif
+
+
 /*
  * Definition of the type of queue used by the scheduler.
  */
@@ -211,6 +220,10 @@ typedef struct xLIST
 	listSECOND_LIST_INTEGRITY_CHECK_VALUE				/*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
 } List_t;
 
+#if __GNUC_PREREQ(4, 6)
+_Static_assert(sizeof(StaticList_t) == sizeof(List_t), "StaticList_t != List_t");
+#endif
+
 /*
  * Access macro to set the owner of a list item.  The owner of a list item
  * is the object (usually a TCB) that contains the list item.
diff --git a/components/freertos/queue.c b/components/freertos/queue.c
index f404a243e..7c491f695 100644
--- a/components/freertos/queue.c
+++ b/components/freertos/queue.c
@@ -179,6 +179,11 @@ typedef struct QueueDefinition
 name below to enable the use of older kernel aware debuggers. */
 typedef xQUEUE Queue_t;
 
+#if __GNUC_PREREQ(4, 6)
+_Static_assert(sizeof(StaticQueue_t) == sizeof(Queue_t), "StaticQueue_t != Queue_t");
+#endif
+
+
 /*-----------------------------------------------------------*/
 
 /*
diff --git a/components/freertos/tasks.c b/components/freertos/tasks.c
index 26103ee23..16cce3b96 100644
--- a/components/freertos/tasks.c
+++ b/components/freertos/tasks.c
@@ -242,6 +242,10 @@ typedef struct tskTaskControlBlock
 below to enable the use of older kernel aware debuggers. */
 typedef tskTCB TCB_t;
 
+#if __GNUC_PREREQ(4, 6)
+_Static_assert(sizeof(StaticTask_t) == sizeof(TCB_t), "StaticTask_t != TCB_t");
+#endif
+
 /*
  * Some kernel aware debuggers require the data the debugger needs access to to
  * be global, rather than file scope.
diff --git a/components/freertos/test/component.mk b/components/freertos/test/component.mk
new file mode 100644
index 000000000..5dd172bdb
--- /dev/null
+++ b/components/freertos/test/component.mk
@@ -0,0 +1,5 @@
+#
+#Component Makefile
+#
+
+COMPONENT_ADD_LDFLAGS = -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive
diff --git a/components/freertos/test/test_freertos.c b/components/freertos/test/test_freertos.c
new file mode 100644
index 000000000..ced375279
--- /dev/null
+++ b/components/freertos/test/test_freertos.c
@@ -0,0 +1,229 @@
+/*
+ Test for multicore FreeRTOS. This test spins up threads, fiddles with queues etc.
+*/
+
+#include <esp_types.h>
+#include <stdio.h>
+#include "rom/ets_sys.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/xtensa_api.h"
+#include "unity.h"
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/io_mux_reg.h"
+
+
+void ets_isr_unmask(uint32_t unmask);
+
+static xQueueHandle myQueue;
+static xQueueHandle uartRxQueue;
+
+int ctr;
+
+#if 1
+//Idle-loop for delay. Tests involuntary yielding
+static void cvTaskDelay(int dummy)
+{
+    volatile int i;
+    for (i = 0; i < (1 << 17); i++);
+}
+#else
+//Delay task execution using FreeRTOS methods. Tests voluntary yielding.
+#define cvTaskDelay(x) vTaskDelay(x)
+#endif
+
+#if 0
+static void dosegfault3(int i)
+{
+    volatile char *p = (volatile char *)0;
+    *p = i;
+}
+
+static void dosegfault2(int i)
+{
+    if (i > 3) {
+        dosegfault3(i);
+    }
+}
+
+static void dosegfault(int i)
+{
+    if (i < 5) {
+        dosegfault(i + 1);
+    }
+    dosegfault2(i);
+}
+#endif
+
+static void queueSender(void *pvParameters)
+{
+    int myCtr = xPortGetCoreID() * 100000;
+    while (1) {
+        printf("Core %d: Send to queue: %d\n", xPortGetCoreID(), myCtr);
+        xQueueSend(myQueue, (void *)(&myCtr), portMAX_DELAY);
+        printf("Send to queue done.\n");
+        cvTaskDelay(100);
+        myCtr++;
+    }
+}
+
+static void queueReceiver(void *pvParameters)
+{
+    int theCtr;
+    while (1) {
+        xQueueReceive(myQueue, &theCtr, portMAX_DELAY);
+        printf("Core %d: Receive from queue: %d\n", xPortGetCoreID(), theCtr);
+    }
+}
+
+
+static void tskone(void *pvParameters)
+{
+//  char *p=(char *)0;
+    while (1) {
+        ctr++;
+//      if (ctr>60) dosegfault(3);
+        printf("Task1, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
+        cvTaskDelay(500);
+    }
+}
+
+static void tsktwo(void *pvParameters)
+{
+    while (1) {
+        ctr++;
+        printf("Task2, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
+        cvTaskDelay(500);
+    }
+}
+
+static void tskthree(void *pvParameters)
+{
+    while (1) {
+        ctr++;
+        printf("Task3, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
+        cvTaskDelay(500);
+    }
+}
+
+static void tskfour(void *pvParameters)
+{
+    while (1) {
+        ctr++;
+        printf("Task4, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
+        cvTaskDelay(500);
+    }
+}
+
+static void tskfive(void *pvParameters)
+{
+    while (1) {
+        ctr++;
+        printf("Task5, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
+        cvTaskDelay(500);
+    }
+}
+
+static void tskyield(void *pvParameters)
+{
+    while (1) {
+        portYIELD();
+    }
+}
+
+static void  tskUartRecv(void *pvParameters)
+{
+    char c;
+    while (1) {
+        xQueueReceive(uartRxQueue, &c, portMAX_DELAY);
+        printf("Uart received %c!\n", c);
+    }
+}
+
+
+static void uartIsrHdl(void *arg)
+{
+    char c;
+    BaseType_t xHigherPriorityTaskWoken;
+    SET_PERI_REG_MASK(UART_INT_CLR_REG(0), UART_RXFIFO_FULL_INT_CLR);
+    while (READ_PERI_REG(UART_STATUS_REG(0)) & (UART_RXFIFO_CNT << UART_RXFIFO_CNT_S)) {
+        c = READ_PERI_REG(UART_FIFO_REG(0));
+        xQueueSendFromISR(uartRxQueue, &c, &xHigherPriorityTaskWoken);
+        printf("ISR: %c\n", c);
+    }
+    if (xHigherPriorityTaskWoken) {
+        portYIELD_FROM_ISR();
+    }
+}
+
+static void uartRxInit(xQueueHandle q)
+{
+    uint32_t reg_val;
+
+    PIN_PULLUP_DIS(PERIPHS_IO_MUX_U0TXD_U);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0RXD_U, FUNC_U0RXD_U0RXD);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0TXD_U, FUNC_U0TXD_U0TXD);
+
+
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0RXD_U, FUNC_U0RXD_U0RXD);
+
+//  reg_val = READ_PERI_REG(UART_CONF1(0));
+    reg_val = (1 << UART_RXFIFO_FULL_THRHD_S);
+    WRITE_PERI_REG(UART_CONF1_REG(0), reg_val);
+    CLEAR_PERI_REG_MASK(UART_INT_ENA_REG(0), UART_TXFIFO_EMPTY_INT_ENA | UART_RXFIFO_TOUT_INT_ENA);
+    SET_PERI_REG_MASK(UART_INT_ENA_REG(0), UART_RXFIFO_FULL_INT_ENA);
+
+    printf("Enabling int %d\n", ETS_UART0_INUM);
+    REG_SET_FIELD(DPORT_PRO_UART_INTR_MAP_REG, DPORT_PRO_UART_INTR_MAP, ETS_UART0_INUM);
+    REG_SET_FIELD(DPORT_PRO_UART1_INTR_MAP_REG, DPORT_PRO_UART1_INTR_MAP, ETS_UART0_INUM);
+
+    xt_set_interrupt_handler(ETS_UART0_INUM, uartIsrHdl, NULL);
+    xt_ints_on(1 << ETS_UART0_INUM);
+
+}
+
+// TODO: split this thing into separate orthogonal tests
+TEST_CASE("Bunch of FreeRTOS tests", "[freertos]")
+{
+    char *tst;
+    TaskHandle_t th[12];
+    int i;
+    printf("%s\n", __FUNCTION__);
+    tst = pvPortMalloc(16);
+    printf("Test malloc returns addr %p\n", tst);
+    printf("Free heap: %u\n", xPortGetFreeHeapSize());
+    myQueue = xQueueCreate(10, sizeof(int));
+    uartRxQueue = xQueueCreate(256, sizeof(char));
+    printf("Free heap: %u\n", xPortGetFreeHeapSize());
+
+    printf("Creating tasks\n");
+    xTaskCreatePinnedToCore(tskyield  , "tskyield1"  , 2048, NULL, 3, &th[0], 0);
+    xTaskCreatePinnedToCore(tskyield  , "tskyield2"  , 2048, NULL, 3, &th[1], 1);
+
+    xTaskCreatePinnedToCore(tskone  , "tskone"  , 2048, NULL, 3, &th[2], 0);
+    xTaskCreatePinnedToCore(tsktwo  , "tsktwo"  , 2048, NULL, 3, &th[3], 1);
+    xTaskCreatePinnedToCore(tskthree, "tskthree", 2048, NULL, 3, &th[4], 0);
+    xTaskCreatePinnedToCore(tskfour , "tskfour" , 2048, NULL, 3, &th[5], tskNO_AFFINITY);
+    xTaskCreatePinnedToCore(tskfive , "tskfive" , 2048, NULL, 3, &th[6], tskNO_AFFINITY);
+    xTaskCreatePinnedToCore(queueSender , "qsend1" , 2048, NULL, 3, &th[7], 0);
+    xTaskCreatePinnedToCore(queueSender , "qsend2" , 2048, NULL, 3, &th[8], 1);
+    xTaskCreatePinnedToCore(queueReceiver , "qrecv1" , 2048, NULL, 3, &th[9], 1);
+    xTaskCreatePinnedToCore(queueReceiver , "qrecv2" , 2048, NULL, 3, &th[10], 0);
+    xTaskCreatePinnedToCore(tskUartRecv , "tskuart" , 2048, NULL, 4, &th[11], 1);
+    printf("Free heap: %u\n", xPortGetFreeHeapSize());
+    uartRxInit(uartRxQueue);
+
+    // Let stuff run for 20s
+    vTaskDelay(20000 / portTICK_PERIOD_MS);
+
+    //Shut down all the tasks
+    for (i = 0; i < 12; i++) {
+        vTaskDelete(th[i]);
+    }
+    xt_ints_off(1 << ETS_UART0_INUM);
+}
+
diff --git a/components/freertos/test/test_freertos_eventgroups.c b/components/freertos/test/test_freertos_eventgroups.c
new file mode 100644
index 000000000..35a5cc4ed
--- /dev/null
+++ b/components/freertos/test/test_freertos_eventgroups.c
@@ -0,0 +1,105 @@
+#include <stdio.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/event_groups.h"
+#include "unity.h"
+
+#define BIT_CALL (1 << 0)
+#define BIT_RESPONSE(TASK) (1 << (TASK+1))
+#define ALL_RESPONSE_BITS (((1 << NUM_TASKS) - 1) << 1)
+
+static const int NUM_TASKS = 4;
+static const int COUNT = 4000;
+static EventGroupHandle_t eg;
+
+static void task_event_group_call_response(void *param)
+{
+    int task_num = (int)param;
+
+    printf("Started %d\n", task_num);
+
+    for (int i = 0; i < COUNT; i++) {
+        /* Wait until the common "call" bit is set, starts off all tasks
+           (clear on return) */
+        while (!xEventGroupWaitBits(eg, BIT_CALL, true, false, portMAX_DELAY)) {
+        }
+
+        /* Set our individual "response" bit */
+        xEventGroupSetBits(eg, BIT_RESPONSE(task_num));
+    }
+
+    printf("Task %d done\n", task_num);
+
+    /* Delay is due to not-yet-fixed bug with deleting tasks at same time */
+    vTaskDelay(100 / portTICK_RATE_MS);
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("FreeRTOS Event Groups", "[freertos]")
+{
+    eg = xEventGroupCreate();
+
+    /* Note: task_event_group_call_response all have higher priority than us, so will block together.
+
+       This is important because we need to know they'll all have blocked on BIT_CALL each time we
+       signal it, or they get out of sync.
+     */
+    for (int c = 0; c < NUM_TASKS; c++) {
+        xTaskCreatePinnedToCore(task_event_group_call_response, "tsk_call_resp", 4096, (void *)c, configMAX_PRIORITIES - 1, NULL, c % portNUM_PROCESSORS);
+    }
+    /* Scheduler weirdness, if we don't sleep a few ticks here then the tasks on the other CPU aren't running yet... */
+    vTaskDelay(10);
+
+    for (int i = 0; i < COUNT; i++) {
+        if (i % 100 == 0) {
+            //printf("Call %d\n", i);
+        }
+        /* signal all tasks with "CALL" bit... */
+        xEventGroupSetBits(eg, BIT_CALL);
+
+        while (xEventGroupWaitBits(eg, ALL_RESPONSE_BITS, true, true, portMAX_DELAY) != ALL_RESPONSE_BITS) {
+        }
+    }
+}
+
+
+#define BIT_DONE(X) (1<<(NUM_TASKS+1+X))
+
+static void task_test_sync(void *param)
+{
+    int task_num = (int)param;
+
+    printf("Started %d\n", task_num);
+
+    for (int i = 0; i < COUNT; i++) {
+        /* set our bit, and wait on all tasks to set their bits */
+        xEventGroupSync(eg, BIT_RESPONSE(task_num), ALL_RESPONSE_BITS, portMAX_DELAY);
+        /* clear our bit */
+        xEventGroupClearBits(eg, BIT_RESPONSE(task_num));
+    }
+    int after_done = xEventGroupSetBits(eg, BIT_DONE(task_num));
+
+    printf("Done %d = %x\n", task_num, after_done);
+
+    /* Delay is due to not-yet-fixed bug with deleting tasks at same time */
+    vTaskDelay(100 / portTICK_RATE_MS);
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("FreeRTOS Event Group Sync", "[freertos]")
+{
+    eg = xEventGroupCreate();
+
+    for (int c = 0; c < NUM_TASKS; c++) {
+        xTaskCreatePinnedToCore(task_test_sync, "task_test_sync", 4096, (void *)c, configMAX_PRIORITIES - 1, NULL, c % portNUM_PROCESSORS);
+    }
+
+    for (int c = 0; c < NUM_TASKS; c++) {
+        printf("Waiting on %d (%x)\n", c, BIT_DONE(c));
+        xEventGroupWaitBits(eg, BIT_DONE(c), false, false, portMAX_DELAY);
+    }
+}
+
diff --git a/components/freertos/test/test_freertos_task_delete.c b/components/freertos/test/test_freertos_task_delete.c
new file mode 100644
index 000000000..3101db256
--- /dev/null
+++ b/components/freertos/test/test_freertos_task_delete.c
@@ -0,0 +1,22 @@
+#include <stdio.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/event_groups.h"
+#include "unity.h"
+
+static void task_delete_self(void *param)
+{
+    printf("Task %p running on core %d. Deleting shortly...\n", xTaskGetCurrentTaskHandle(), xPortGetCoreID());
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
+{
+    xTaskCreatePinnedToCore(task_delete_self, "tsk_self_a", 4096, NULL, configMAX_PRIORITIES - 1, NULL, 0);
+    xTaskCreatePinnedToCore(task_delete_self, "tsk_self_a", 4096, NULL, configMAX_PRIORITIES - 1, NULL, 0);
+    vTaskDelay(200 / portTICK_PERIOD_MS);
+    printf("Done?\n");
+}
diff --git a/components/freertos/test/test_newlib_reent.c b/components/freertos/test/test_newlib_reent.c
new file mode 100644
index 000000000..e0ec4aa45
--- /dev/null
+++ b/components/freertos/test/test_newlib_reent.c
@@ -0,0 +1,60 @@
+/*
+ Test for multicore FreeRTOS. This test spins up threads, fiddles with queues etc.
+*/
+
+#include <esp_types.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include "rom/ets_sys.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/xtensa_api.h"
+#include "unity.h"
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/io_mux_reg.h"
+
+
+volatile static int done;
+volatile static int error;
+
+static void tskTestRand(void *pvParameters)
+{
+    int l;
+    srand(0x1234);
+    vTaskDelay((int)pvParameters / portTICK_PERIOD_MS);
+    l = rand();
+    printf("Rand1: %d\n", l);
+    if (l != 869320854) {
+        error++;
+    }
+    vTaskDelay((int)pvParameters / portTICK_PERIOD_MS);
+    l = rand();
+    printf("Rand2: %d\n", l);
+    if (l != 1148737841) {
+        error++;
+    }
+    done++;
+    vTaskDelete(NULL);
+}
+
+
+
+// TODO: split this thing into separate orthogonal tests
+TEST_CASE("Test for per-task non-reentrant tasks", "[freertos]")
+{
+    done = 0;
+    error = 0;
+    xTaskCreatePinnedToCore(tskTestRand, "tsk1", 2048, (void *)100, 3, NULL, 0);
+    xTaskCreatePinnedToCore(tskTestRand, "tsk2", 2048, (void *)200, 3, NULL, 0);
+    xTaskCreatePinnedToCore(tskTestRand, "tsk3", 2048, (void *)300, 3, NULL, 1);
+    xTaskCreatePinnedToCore(tskTestRand, "tsk4", 2048, (void *)400, 3, NULL, 0);
+    while (done != 4) {
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+    TEST_ASSERT(error == 0);
+}
+
diff --git a/components/freertos/test/test_panic.c b/components/freertos/test/test_panic.c
new file mode 100644
index 000000000..782b7a564
--- /dev/null
+++ b/components/freertos/test/test_panic.c
@@ -0,0 +1,26 @@
+/*
+ Test for multicore FreeRTOS. This test spins up threads, fiddles with queues etc.
+*/
+
+#include <esp_types.h>
+#include <stdio.h>
+#include "rom/ets_sys.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/xtensa_api.h"
+#include "unity.h"
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/io_mux_reg.h"
+
+
+TEST_CASE("Panic handler", "[freertos]")
+{
+    volatile int *i;
+    i = (volatile int *)0x0;
+    *i = 1;
+}
+
diff --git a/components/freertos/test/test_ringbuf.c b/components/freertos/test/test_ringbuf.c
new file mode 100644
index 000000000..7d3c8788c
--- /dev/null
+++ b/components/freertos/test/test_ringbuf.c
@@ -0,0 +1,197 @@
+/*
+ Test for multicore FreeRTOS ringbuffer.
+*/
+
+#include <esp_types.h>
+#include <stdio.h>
+#include "rom/ets_sys.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/ringbuf.h"
+#include "freertos/xtensa_api.h"
+#include "unity.h"
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/io_mux_reg.h"
+
+#include <string.h>
+#include <stdio.h>
+
+void ets_isr_unmask(uint32_t unmask);
+
+static RingbufHandle_t rb;
+typedef enum {
+    TST_MOSTLYFILLED,
+    TST_MOSTLYEMPTY,
+    TST_INTTOTASK,
+    TST_TASKTOINT,
+} testtype_t;
+
+static volatile testtype_t testtype;
+
+static void task1(void *arg)
+{
+    testtype_t oldtest;
+    char buf[100];
+    int i = 0;
+    int x, r;
+    while (1) {
+        oldtest = testtype;
+        if (testtype == TST_MOSTLYFILLED || testtype == TST_MOSTLYEMPTY) {
+            for (x = 0; x < 10; x++) {
+                sprintf(buf, "This is test %d item %d.", (int)testtype,  i++);
+                ets_printf("TSK w");
+                xRingbufferPrintInfo(rb);
+                r = xRingbufferSend(rb, buf, strlen(buf) + 1, 2000 / portTICK_PERIOD_MS);
+                if (!r) {
+                    printf("Test %d: Timeout on send!\n", (int)testtype);
+                }
+                if (testtype == TST_MOSTLYEMPTY) {
+                    vTaskDelay(1000 / portTICK_PERIOD_MS);
+                }
+            }
+            //Send NULL event to stop other side.
+            r = xRingbufferSend(rb, NULL, 0, 10000 / portTICK_PERIOD_MS);
+        }
+        while (oldtest == testtype) {
+            vTaskDelay(1000 / portTICK_PERIOD_MS);
+        }
+    }
+}
+
+static void task2(void *arg)
+{
+    testtype_t oldtest;
+    char *buf;
+    size_t len;
+    while (1) {
+        oldtest = testtype;
+        if (testtype == TST_MOSTLYFILLED || testtype == TST_MOSTLYEMPTY) {
+            while (1) {
+                ets_printf("TSK r");
+                xRingbufferPrintInfo(rb);
+                buf = xRingbufferReceive(rb, &len, 2000 / portTICK_PERIOD_MS);
+                if (buf == NULL) {
+                    printf("Test %d: Timeout on recv!\n", (int)testtype);
+                } else if (len == 0) {
+                    printf("End packet received.\n");
+                    vRingbufferReturnItem(rb, buf);
+                    break;
+                } else {
+                    printf("Received: %s (%d bytes, %p)\n", buf, len, buf);
+                    vRingbufferReturnItem(rb, buf);
+                }
+                if (testtype == TST_MOSTLYFILLED) {
+                    vTaskDelay(1000 / portTICK_PERIOD_MS);
+                }
+            }
+        }
+        while (oldtest == testtype) {
+            vTaskDelay(1000 / portTICK_PERIOD_MS);
+        }
+    }
+}
+
+
+
+static void uartIsrHdl(void *arg)
+{
+    char c;
+    char buf[50];
+    char *item;
+    int r;
+    size_t len;
+    BaseType_t xHigherPriorityTaskWoken;
+    SET_PERI_REG_MASK(UART_INT_CLR_REG(0), UART_RXFIFO_FULL_INT_CLR);
+    while (READ_PERI_REG(UART_STATUS_REG(0)) & (UART_RXFIFO_CNT << UART_RXFIFO_CNT_S)) {
+        c = READ_PERI_REG(UART_FIFO_REG(0));
+        if (c == 'r') {
+            ets_printf("ISR r");
+            xRingbufferPrintInfo(rb);
+            item = xRingbufferReceiveFromISR(rb, &len);
+            if (item == NULL) {
+                ets_printf("ISR recv fail!\n");
+            } else if (len == 0) {
+                ets_printf("ISR recv NULL!\n");
+                vRingbufferReturnItemFromISR(rb, item, &xHigherPriorityTaskWoken);
+            } else {
+                ets_printf("ISR recv '%s' (%d bytes, %p)\n", buf, len, buf);
+                vRingbufferReturnItemFromISR(rb, item, &xHigherPriorityTaskWoken);
+            }
+        } else {
+            sprintf(buf, "UART: %c", c);
+            ets_printf("ISR w");
+            xRingbufferPrintInfo(rb);
+            r = xRingbufferSendFromISR(rb, buf, strlen(buf) + 1, &xHigherPriorityTaskWoken);
+            if (!r) {
+                ets_printf("ISR send fail\n");
+            }
+        }
+    }
+    if (xHigherPriorityTaskWoken) {
+        portYIELD_FROM_ISR();
+    }
+}
+
+static void uartRxInit()
+{
+    uint32_t reg_val;
+    PIN_PULLUP_DIS(PERIPHS_IO_MUX_U0TXD_U);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0RXD_U, FUNC_U0RXD_U0RXD);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0TXD_U, FUNC_U0TXD_U0TXD);
+
+//  reg_val = READ_PERI_REG(UART_CONF1(0));
+    reg_val = (1 << UART_RXFIFO_FULL_THRHD_S);
+    WRITE_PERI_REG(UART_CONF1_REG(0), reg_val);
+    CLEAR_PERI_REG_MASK(UART_INT_ENA_REG(0), UART_TXFIFO_EMPTY_INT_ENA | UART_RXFIFO_TOUT_INT_ENA);
+    SET_PERI_REG_MASK(UART_INT_ENA_REG(0), UART_RXFIFO_FULL_INT_ENA);
+
+    printf("Enabling int %d\n", ETS_UART0_INUM);
+    REG_SET_FIELD(DPORT_PRO_UART_INTR_MAP_REG, DPORT_PRO_UART_INTR_MAP, ETS_UART0_INUM);
+    REG_SET_FIELD(DPORT_PRO_UART1_INTR_MAP_REG, DPORT_PRO_UART1_INTR_MAP, ETS_UART0_INUM);
+
+    xt_set_interrupt_handler(ETS_UART0_INUM, uartIsrHdl, NULL);
+    xt_ints_on(1 << ETS_UART0_INUM);
+
+}
+
+static void testRingbuffer(int type)
+{
+    TaskHandle_t th[2];
+    int i;
+    rb = xRingbufferCreate(32 * 3, type);
+
+    testtype = TST_MOSTLYFILLED;
+
+    xTaskCreatePinnedToCore(task1  , "tskone"  , 2048, NULL, 3, &th[0], 0);
+    xTaskCreatePinnedToCore(task2  , "tsktwo"  , 2048, NULL, 3, &th[1], 0);
+    uartRxInit();
+
+    printf("Press 'r' to read an event in isr, any other key to write one.\n");
+    printf("Test: mostlyfilled; putting 10 items in ringbuff ASAP, reading 1 a second\n");
+    vTaskDelay(15000 / portTICK_PERIOD_MS);
+    printf("Test: mostlyempty; putting 10 items in ringbuff @ 1/sec, reading as fast as possible\n");
+    testtype = TST_MOSTLYEMPTY;
+    vTaskDelay(15000 / portTICK_PERIOD_MS);
+
+    //Shut down all the tasks
+    for (i = 0; i < 2; i++) {
+        vTaskDelete(th[i]);
+    }
+    xt_ints_off(1 << ETS_UART0_INUM);
+}
+
+// TODO: split this thing into separate orthogonal tests
+TEST_CASE("FreeRTOS ringbuffer test, no splitting items", "[freertos]")
+{
+    testRingbuffer(0);
+}
+
+TEST_CASE("FreeRTOS ringbuffer test, w/ splitting items", "[freertos]")
+{
+    testRingbuffer(1);
+}
+
diff --git a/components/freertos/test/test_tls_deletecb.c b/components/freertos/test/test_tls_deletecb.c
new file mode 100644
index 000000000..5277b761a
--- /dev/null
+++ b/components/freertos/test/test_tls_deletecb.c
@@ -0,0 +1,58 @@
+#include <esp_types.h>
+#include <stdio.h>
+#include "rom/ets_sys.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/xtensa_api.h"
+#include "unity.h"
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/io_mux_reg.h"
+
+
+
+static void tskdelcb(int no, void *arg)
+{
+    printf("Delete callback: %d = %p!\n", no,  arg);
+}
+
+
+static void tska(void *pvParameters)
+{
+    vTaskSetThreadLocalStoragePointerAndDelCallback(xTaskGetCurrentTaskHandle(), 0, (void *)0xAAAAAAAA, tskdelcb);
+    while (1) {
+        vTaskDelay(10000000 / portTICK_PERIOD_MS);
+    }
+}
+
+static void tskb(void *pvParameters)
+{
+    vTaskSetThreadLocalStoragePointerAndDelCallback(xTaskGetCurrentTaskHandle(), 0, (void *)0xBBBBBBBB, tskdelcb);
+    vTaskDelay(2000 / portTICK_PERIOD_MS);
+    TaskHandle_t a = (TaskHandle_t)pvParameters;
+    printf("Killing task A\n");
+    vTaskDelete(a);
+    while (1) {
+        vTaskDelay(10000000 / portTICK_PERIOD_MS);
+    }
+}
+
+
+// TODO: split this thing into separate orthogonal tests
+TEST_CASE("Freertos TLS delete cb", "[freertos]")
+{
+    TaskHandle_t a, b;
+
+    xTaskCreatePinnedToCore(tska  , "tska"  , 2048, NULL, 3, &a, 0);
+    xTaskCreatePinnedToCore(tskb  , "tska"  , 2048, a, 3, &b, 0);
+
+    // Let stuff run for 20s
+    vTaskDelay(5000 / portTICK_PERIOD_MS);
+    printf("Killing task B\n");
+    //Shut down b
+    vTaskDelete(b);
+}
+
diff --git a/components/lwip/api/sockets.c b/components/lwip/api/sockets.c
index 1529382f5..4acf518cc 100755
--- a/components/lwip/api/sockets.c
+++ b/components/lwip/api/sockets.c
@@ -2775,8 +2775,12 @@ lwip_setsockopt_impl(int s, int level, int optname, const void *optval, socklen_
   case IPPROTO_IPV6:
     switch (optname) {
     case IPV6_V6ONLY:
-      /* @todo: this does not work for datagram sockets, yet */
+      /* @todo: this does not work for datagram sockets, yet */ 
+#if CONFIG_MDNS
+      //LWIP_SOCKOPT_CHECK_OPTLEN_CONN_PCB_TYPE(sock, optlen, int, NETCONN_TCP);
+#else
       LWIP_SOCKOPT_CHECK_OPTLEN_CONN_PCB_TYPE(sock, optlen, int, NETCONN_TCP);
+#endif
       if (*(const int*)optval) {
         netconn_set_ipv6only(sock->conn, 1);
       } else {
diff --git a/components/lwip/core/ipv4/autoip.c b/components/lwip/core/ipv4/autoip.c
index 19b192836..faac4957c 100755
--- a/components/lwip/core/ipv4/autoip.c
+++ b/components/lwip/core/ipv4/autoip.c
@@ -72,6 +72,7 @@
 #include "lwip/netif.h"
 #include "lwip/autoip.h"
 #include "netif/etharp.h"
+#include "lwip/dhcp.h"
 
 #include <stdlib.h>
 #include <string.h>
@@ -269,6 +270,12 @@ autoip_bind(struct netif *netif)
   netif_set_addr(netif, &autoip->llipaddr, &sn_mask, &gw_addr);
   /* interface is used by routing now that an address is set */
 
+#if ESP_LWIP
+  struct dhcp *dhcp = netif->dhcp;
+  if (dhcp->cb != NULL) {
+    dhcp->cb();
+  }
+#endif
   return ERR_OK;
 }
 
diff --git a/components/lwip/core/ipv6/nd6.c b/components/lwip/core/ipv6/nd6.c
index 36f8f78c3..1cec55db9 100755
--- a/components/lwip/core/ipv6/nd6.c
+++ b/components/lwip/core/ipv6/nd6.c
@@ -632,6 +632,22 @@ nd6_input(struct pbuf *p, struct netif *inp)
   pbuf_free(p);
 }
 
+#ifdef ESP_LWIP
+
+/** Set callback for ipv6 addr status changed .
+ *
+ * @param netif the netif from which to remove the struct dhcp
+ * @param cb    callback for dhcp
+ */
+void nd6_set_cb(struct netif *netif, void (*cb)(struct netif *netif, u8_t ip_index))
+{
+  LWIP_ASSERT("netif != NULL", netif != NULL);
+
+  if (netif != NULL && netif_is_up(netif)) {
+      netif->ipv6_addr_cb = cb;
+  }
+}
+#endif
 
 /**
  * Periodic timer for Neighbor discovery functions:
@@ -797,6 +813,12 @@ nd6_tmr(void)
         if ((netif->ip6_addr_state[i] & 0x07) >= LWIP_IPV6_DUP_DETECT_ATTEMPTS) {
           /* No NA received in response. Mark address as valid. */
           netif->ip6_addr_state[i] = IP6_ADDR_PREFERRED;
+#ifdef ESP_LWIP
+          if (netif->ipv6_addr_cb != NULL) {
+              netif->ipv6_addr_cb(netif, i);
+          }
+#endif
+
           /* TODO implement preferred and valid lifetimes. */
         } else if (netif->flags & NETIF_FLAG_UP) {
 #if LWIP_IPV6_MLD
diff --git a/components/lwip/core/netif.c b/components/lwip/core/netif.c
index 5c308a957..f745f29ac 100755
--- a/components/lwip/core/netif.c
+++ b/components/lwip/core/netif.c
@@ -968,9 +968,6 @@ netif_create_ip6_linklocal_address(struct netif *netif, u8_t from_mac_48bit)
     }
   }
   
-#if ESP_LWIP
-    ip6_addr_set( ip_2_ip6(&netif->link_local_addr), ip_2_ip6(&netif->ip6_addr[0]) );
-#endif
 
   /* Set address state. */
 #if LWIP_IPV6_DUP_DETECT_ATTEMPTS
@@ -1022,44 +1019,6 @@ netif_add_ip6_address(struct netif *netif, const ip6_addr_t *ip6addr, s8_t *chos
   return ERR_VAL;
 }
 
-
-#if ESP_LWIP
-void
-netif_create_ip4_linklocal_address(struct netif * netif)
-{
-#if 1
-	ip_addr_t linklocal;
-	ip_addr_t linklocal_mask;
-	ip4_addr_t addr = {0};
-	/* Link-local prefix and mask. */
-	IP4_ADDR(ip_2_ip4(&linklocal), 169, 254, 0, 0);
-	IP4_ADDR(ip_2_ip4(&linklocal_mask), 255, 255, 0, 0);
-
-	if (!ip4_addr_netcmp( ip_2_ip4(&linklocal), ip_2_ip4(&netif->link_local_addr), ip_2_ip4(&linklocal_mask) ) &&
-		!ip4_addr_isany(ip_2_ip4(&netif->ip_addr)) ) {
-		IP4_ADDR( ip_2_ip4(&netif->link_local_addr), 169, 254, ip4_addr3( ip_2_ip4(&netif->ip_addr) )
-                                    , ip4_addr4( ip_2_ip4(&netif->ip_addr) )  );
-		return;
-	}
-
-	while ( !(addr.addr) || !ip4_addr4(&addr) )
-		//os_get_random((unsigned char *)&addr, sizeof(addr));
-            addr.addr = LWIP_RAND();
-
-
-	if ( ip_2_ip4(&netif->netmask)->addr > IP_CLASSB_NET &&
-		!ip4_addr_isany( ip_2_ip4(&netif->ip_addr) )) {  // random host address
-		IP4_ADDR( ip_2_ip4(&netif->link_local_addr), 169, 254, ip4_addr3( ip_2_ip4(&netif->ip_addr))
-                                , ip4_addr4(&addr));
-	} else {
-		IP4_ADDR( ip_2_ip4(&netif->link_local_addr), 169, 254, ip4_addr3(&addr), ip4_addr4(&addr) );
-	}
-#endif
-}
-
-#endif
-
-
 /** Dummy IPv6 output function for netifs not supporting IPv6
  */
 static err_t
diff --git a/components/lwip/include/lwip/lwip/autoip.h b/components/lwip/include/lwip/lwip/autoip.h
index c89fe3ff1..3bb413f49 100755
--- a/components/lwip/include/lwip/lwip/autoip.h
+++ b/components/lwip/include/lwip/lwip/autoip.h
@@ -68,8 +68,13 @@ extern "C" {
 #define ANNOUNCE_NUM             2   /*          (number of announcement packets)       */
 #define ANNOUNCE_INTERVAL        2   /* seconds  (time between announcement packets)    */
 #define ANNOUNCE_WAIT            2   /* seconds  (delay before announcing)              */
+#if CONFIG_MDNS
+#define MAX_CONFLICTS            9   /*          (max conflicts before rate limiting)   */
+#define RATE_LIMIT_INTERVAL      20  /* seconds  (delay between successive attempts)    */
+#else
 #define MAX_CONFLICTS            10  /*          (max conflicts before rate limiting)   */
 #define RATE_LIMIT_INTERVAL      60  /* seconds  (delay between successive attempts)    */
+#endif
 #define DEFEND_INTERVAL          10  /* seconds  (min. wait between defensive ARPs)     */
 
 /* AutoIP client states */
diff --git a/components/lwip/include/lwip/lwip/nd6.h b/components/lwip/include/lwip/lwip/nd6.h
index d0646f1b4..27a4c8137 100755
--- a/components/lwip/include/lwip/lwip/nd6.h
+++ b/components/lwip/include/lwip/lwip/nd6.h
@@ -352,6 +352,10 @@ err_t nd6_queue_packet(s8_t neighbor_index, struct pbuf * p);
 void nd6_reachability_hint(const ip6_addr_t * ip6addr);
 #endif /* LWIP_ND6_TCP_REACHABILITY_HINTS */
 
+#if ESP_LWIP
+/** set nd6 callback when ipv6 addr state pref*/
+void nd6_set_cb(struct netif *netif, void (*cb)(struct netif *netif, u8_t ip_index));
+#endif
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/lwip/include/lwip/lwip/netif.h b/components/lwip/include/lwip/lwip/netif.h
index 666f77eb9..34e6d4489 100755
--- a/components/lwip/include/lwip/lwip/netif.h
+++ b/components/lwip/include/lwip/lwip/netif.h
@@ -190,11 +190,6 @@ struct netif {
   /** pointer to next in linked list */
   struct netif *next;
 
-#if ESP_LWIP
-//ip_addr_t  is changed   by marco  IPV4, IPV6
-  ip_addr_t link_local_addr;
-#endif
-
 #if LWIP_IPV4
   /** IP address configuration in network byte order */
   ip_addr_t ip_addr;
@@ -207,6 +202,10 @@ struct netif {
   /** The state of each IPv6 address (Tentative, Preferred, etc).
    * @see ip6_addr.h */
   u8_t ip6_addr_state[LWIP_IPV6_NUM_ADDRESSES];
+#if ESP_LWIP
+  void (*ipv6_addr_cb)(struct netif* netif, u8_t ip_idex); /* callback for ipv6 addr states changed */
+#endif
+
 #endif /* LWIP_IPV6 */
   /** This function is called by the network device driver
    *  to pass a packet up the TCP/IP stack. */
diff --git a/components/lwip/include/lwip/port/lwipopts.h b/components/lwip/include/lwip/port/lwipopts.h
index 26bdc3a4e..6786ff711 100755
--- a/components/lwip/include/lwip/port/lwipopts.h
+++ b/components/lwip/include/lwip/port/lwipopts.h
@@ -65,8 +65,8 @@
  */
 #define SMEMCPY(dst,src,len)            memcpy(dst,src,len)
 
-extern unsigned long os_random(void);
-#define LWIP_RAND	rand
+#define LWIP_RAND       rand
+
 /*
    ------------------------------------
    ---------- Memory options ----------
@@ -200,13 +200,35 @@ extern unsigned long os_random(void);
  */
 #define LWIP_DHCP                       1
 
+#define DHCP_MAXRTX                     0
 
-#define DHCP_MAXRTX						0   //(*(volatile uint32*)0x600011E0)
 /*
    ------------------------------------
    ---------- AUTOIP options ----------
    ------------------------------------
 */
+#if CONFIG_MDNS
+ /**
+  * LWIP_AUTOIP==1: Enable AUTOIP module.
+  */
+#define LWIP_AUTOIP                     1
+
+/**
+* LWIP_DHCP_AUTOIP_COOP==1: Allow DHCP and AUTOIP to be both enabled on
+* the same interface at the same time.
+*/
+#define LWIP_DHCP_AUTOIP_COOP           1
+
+/**
+* LWIP_DHCP_AUTOIP_COOP_TRIES: Set to the number of DHCP DISCOVER probes
+* that should be sent before falling back on AUTOIP. This can be set
+* as low as 1 to get an AutoIP address very quickly, but you should
+* be prepared to handle a changing IP address when DHCP overrides
+* AutoIP.
+*/
+#define LWIP_DHCP_AUTOIP_COOP_TRIES     2
+#endif
+
 /*
    ----------------------------------
    ---------- SNMP options ----------
@@ -308,6 +330,19 @@ extern unsigned long os_random(void);
    ---------- LOOPIF options ----------
    ------------------------------------
 */
+#if CONFIG_MDNS
+/**
+ * LWIP_NETIF_LOOPBACK==1: Support sending packets with a destination IP
+ * address equal to the netif IP address, looping them back up the stack.
+ */
+#define LWIP_NETIF_LOOPBACK             1
+
+/**
+ * LWIP_LOOPBACK_MAX_PBUFS: Maximum number of pbufs on queue for loopback
+ * sending for each netif (0 = disabled)
+ */
+#define LWIP_LOOPBACK_MAX_PBUFS         8
+#endif
 
 /*
    ------------------------------------
@@ -414,6 +449,15 @@ extern unsigned long os_random(void);
  */
 #define SO_REUSE                        CONFIG_LWIP_SO_REUSE
 
+#if CONFIG_MDNS
+/**
+ * SO_REUSE_RXTOALL==1: Pass a copy of incoming broadcast/multicast packets
+ * to all local matches if SO_REUSEADDR is turned on.
+ * WARNING: Adds a memcpy for every packet if passing to more than one pcb!
+ */
+#define SO_REUSE_RXTOALL                1
+#endif
+
 /*
    ----------------------------------------
    ---------- Statistics options ----------
@@ -515,6 +559,7 @@ extern unsigned long os_random(void);
 /* Enable all Espressif-only options */
 
 #define ESP_LWIP                        1
+#define ESP_LWIP_ARP                    1
 #define ESP_PER_SOC_TCP_WND             1
 #define ESP_THREAD_SAFE                 1
 #define ESP_THREAD_SAFE_DEBUG           LWIP_DBG_OFF
diff --git a/components/lwip/netif/etharp.c b/components/lwip/netif/etharp.c
index 776e949f7..b51a20222 100755
--- a/components/lwip/netif/etharp.c
+++ b/components/lwip/netif/etharp.c
@@ -1192,11 +1192,28 @@ etharp_query(struct netif *netif, const ip4_addr_t *ipaddr, struct pbuf *q)
         }
 #if ARP_QUEUE_LEN
         if (qlen >= ARP_QUEUE_LEN) {
+#if ESP_LWIP_ARP
+          int l;
+          struct etharp_q_entry *r;
+
+          l = qlen - 1;
+          r = arp_table[i].q;
+          while (l--)
+            r = r->next;
+          r->next = NULL;
+
+          pbuf_free(new_entry->p);
+          memp_free(MEMP_ARP_QUEUE, new_entry);
+
+          LWIP_DEBUGF(ETHARP_DEBUG | LWIP_DBG_TRACE, ("etharp_query: could not queue the packet %p (queue is full)\n", (void *)q));
+          return ERR_MEM;
+#else
           struct etharp_q_entry *old;
           old = arp_table[i].q;
           arp_table[i].q = arp_table[i].q->next;
           pbuf_free(old->p);
           memp_free(MEMP_ARP_QUEUE, old);
+#endif
         }
 #endif
         LWIP_DEBUGF(ETHARP_DEBUG | LWIP_DBG_TRACE, ("etharp_query: queued packet %p on ARP entry %"S16_F"\n", (void *)q, (s16_t)i));
diff --git a/components/lwip/port/netif/wlanif.c b/components/lwip/port/netif/wlanif.c
index 3fd2a3192..f5d34179a 100755
--- a/components/lwip/port/netif/wlanif.c
+++ b/components/lwip/port/netif/wlanif.c
@@ -118,37 +118,29 @@ low_level_init(struct netif *netif)
 static err_t
 low_level_output(struct netif *netif, struct pbuf *p)
 {
-  struct pbuf *q;
-  wifi_interface_t wifi_if = tcpip_adapter_get_wifi_if(netif);
+    wifi_interface_t wifi_if = tcpip_adapter_get_wifi_if(netif);
+    struct pbuf *q = p;
+    err_t ret;
 
-  if (wifi_if >= WIFI_IF_MAX) {
-    return ERR_IF;
-  } 
-  
-#if ESP_LWIP
-    q = p;
-    u16_t pbuf_x_len = 0;
-    pbuf_x_len = q->len;
-    if(q->next !=NULL)
-    {
-        //char cnt = 0;
-        struct pbuf *tmp = q->next;
-        while(tmp != NULL)
-        {
-            memcpy( (u8_t *)( (u8_t *)(q->payload) + pbuf_x_len), (u8_t *)tmp->payload , tmp->len );
-            pbuf_x_len += tmp->len;
-            //cnt++;
-            tmp = tmp->next;
+    if (wifi_if >= WIFI_IF_MAX) {
+        return ERR_IF;
+    }
+
+    if(q->next == NULL) {
+        ret = esp_wifi_internal_tx(wifi_if, q->payload, q->len);
+    } else {
+        LWIP_DEBUGF(PBUF_DEBUG, ("low_level_output: pbuf is a list, application may has bug"));
+        q = pbuf_alloc(PBUF_RAW_TX, p->tot_len, PBUF_RAM);
+        if (q != NULL) {
+            pbuf_copy(q, p);
+        } else {
+            return ERR_MEM;
         }
+        ret = esp_wifi_internal_tx(wifi_if, q->payload, q->len);
+        pbuf_free(q);
     }
-    
-    return esp_wifi_internal_tx(wifi_if, q->payload, pbuf_x_len);
-#else
-    for(q = p; q != NULL; q = q->next) {
-        esp_wifi_internal_tx(wifi_if, q->payload, q->len);
-    }
-  return ERR_OK;
-#endif
+  
+    return ret; 
 }
 
 /**
diff --git a/components/mbedtls/test/component.mk b/components/mbedtls/test/component.mk
new file mode 100644
index 000000000..5dd172bdb
--- /dev/null
+++ b/components/mbedtls/test/component.mk
@@ -0,0 +1,5 @@
+#
+#Component Makefile
+#
+
+COMPONENT_ADD_LDFLAGS = -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive
diff --git a/components/mbedtls/test/test_mbedtls.c b/components/mbedtls/test/test_mbedtls.c
new file mode 100644
index 000000000..797c107ef
--- /dev/null
+++ b/components/mbedtls/test/test_mbedtls.c
@@ -0,0 +1,134 @@
+/* mbedTLS internal tests wrapped into Unity
+
+   Focus on testing functionality where we use ESP32 hardware
+   accelerated crypto features.
+
+   See also test_hwcrypto.c
+*/
+#include <string.h>
+#include <stdio.h>
+#include "mbedtls/sha1.h"
+#include "mbedtls/sha256.h"
+#include "mbedtls/sha512.h"
+#include "mbedtls/aes.h"
+#include "mbedtls/bignum.h"
+#include "unity.h"
+
+static int mbedtls_alt_sha256_self_test( int verbose );
+
+TEST_CASE("mbedtls SHA self-tests", "[mbedtls]")
+{
+    TEST_ASSERT_FALSE_MESSAGE(mbedtls_sha1_self_test(1), "SHA1 self-tests should pass.");
+    TEST_ASSERT_FALSE_MESSAGE(mbedtls_alt_sha256_self_test(1), "SHA256 self-tests should pass.");
+    TEST_ASSERT_FALSE_MESSAGE(mbedtls_sha512_self_test(1), "SHA512 self-tests should pass.");
+}
+
+TEST_CASE("mbedtls AES self-tests", "[aes]")
+{
+    TEST_ASSERT_FALSE_MESSAGE(mbedtls_aes_self_test(1), "AES self-tests should pass.");
+}
+
+TEST_CASE("mbedtls MPI self-tests", "[bignum]")
+{
+    TEST_ASSERT_FALSE_MESSAGE(mbedtls_mpi_self_test(1), "MPI self-tests should pass.");
+}
+
+
+/* Following code is a copy of the mbedtls_sha256 test vectors,
+   with the SHA-224 support removed as we don't currently support this hash.
+*/
+
+/*
+ * FIPS-180-2 test vectors
+ */
+static const unsigned char sha256_test_buf[3][57] = {
+    { "abc" },
+    { "abcdbcdecdefdefgefghfghighijhijkijkljklmklmnlmnomnopnopq" },
+    { "" }
+};
+
+static const int sha256_test_buflen[3] = {
+    3, 56, 1000
+};
+
+static const unsigned char sha256_test_sum[6][32] = {
+    /*
+     * SHA-256 test vectors
+     */
+    {
+        0xBA, 0x78, 0x16, 0xBF, 0x8F, 0x01, 0xCF, 0xEA,
+        0x41, 0x41, 0x40, 0xDE, 0x5D, 0xAE, 0x22, 0x23,
+        0xB0, 0x03, 0x61, 0xA3, 0x96, 0x17, 0x7A, 0x9C,
+        0xB4, 0x10, 0xFF, 0x61, 0xF2, 0x00, 0x15, 0xAD
+    },
+    {
+        0x24, 0x8D, 0x6A, 0x61, 0xD2, 0x06, 0x38, 0xB8,
+        0xE5, 0xC0, 0x26, 0x93, 0x0C, 0x3E, 0x60, 0x39,
+        0xA3, 0x3C, 0xE4, 0x59, 0x64, 0xFF, 0x21, 0x67,
+        0xF6, 0xEC, 0xED, 0xD4, 0x19, 0xDB, 0x06, 0xC1
+    },
+    {
+        0xCD, 0xC7, 0x6E, 0x5C, 0x99, 0x14, 0xFB, 0x92,
+        0x81, 0xA1, 0xC7, 0xE2, 0x84, 0xD7, 0x3E, 0x67,
+        0xF1, 0x80, 0x9A, 0x48, 0xA4, 0x97, 0x20, 0x0E,
+        0x04, 0x6D, 0x39, 0xCC, 0xC7, 0x11, 0x2C, 0xD0
+    }
+};
+
+/*
+ * Checkup routine
+ */
+static int mbedtls_alt_sha256_self_test( int verbose )
+{
+    int j, n, buflen, ret = 0;
+    unsigned char buf[1024];
+    unsigned char sha256sum[32];
+    mbedtls_sha256_context ctx;
+
+    for ( j = 0; j < 3; j++ ) {
+        mbedtls_sha256_init( &ctx );
+
+        if ( verbose != 0 ) {
+            printf( "  SHA-%d test #%d: ", 256, j + 1 );
+        }
+
+        mbedtls_sha256_starts( &ctx, 0 );
+
+        if ( j == 2 ) {
+            memset( buf, 'a', buflen = 1000 );
+
+            for ( n = 0; n < 1000; n++ ) {
+                mbedtls_sha256_update( &ctx, buf, buflen );
+            }
+        } else
+            mbedtls_sha256_update( &ctx, sha256_test_buf[j],
+                                   sha256_test_buflen[j] );
+
+        mbedtls_sha256_finish( &ctx, sha256sum );
+
+        if ( memcmp( sha256sum, sha256_test_sum[j], 32 ) != 0 ) {
+            if ( verbose != 0 ) {
+                printf( "failed\n" );
+            }
+
+            mbedtls_sha256_free( &ctx );
+
+            ret = 1;
+            goto exit;
+        }
+
+        if ( verbose != 0 ) {
+            printf( "passed\n" );
+        }
+
+        mbedtls_sha256_free( &ctx );
+    }
+
+    if ( verbose != 0 ) {
+        printf( "\n" );
+    }
+
+exit:
+
+    return ( ret );
+}
diff --git a/components/newlib/test/component.mk b/components/newlib/test/component.mk
new file mode 100644
index 000000000..5dd172bdb
--- /dev/null
+++ b/components/newlib/test/component.mk
@@ -0,0 +1,5 @@
+#
+#Component Makefile
+#
+
+COMPONENT_ADD_LDFLAGS = -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive
diff --git a/components/newlib/test/test_newlib.c b/components/newlib/test/test_newlib.c
new file mode 100644
index 000000000..b498b4bd4
--- /dev/null
+++ b/components/newlib/test/test_newlib.c
@@ -0,0 +1,102 @@
+#include <stdio.h>
+#include <ctype.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <time.h>
+#include "unity.h"
+
+
+TEST_CASE("test ctype functions", "[newlib]")
+{
+    TEST_ASSERT_TRUE( isalnum('a') && isalnum('A') && isalnum('z') && isalnum('Z') && isalnum('0') && isalnum('9') );
+    TEST_ASSERT_FALSE( isalnum('(') || isalnum('-') || isalnum(' ') || isalnum('\x81') || isalnum('.') || isalnum('\\') );
+    TEST_ASSERT_TRUE( isalpha('a') && isalpha('A') && isalpha('z') && isalpha('Z') );
+    TEST_ASSERT_FALSE( isalpha('0') || isalpha('9') || isalpha(')') || isalpha('\t') || isalpha(' ') || isalpha('\x81') );
+    TEST_ASSERT_TRUE( isspace(' ') && isspace('\t') && isspace('\n') && isspace('\r') );
+    TEST_ASSERT_FALSE( isspace('0') || isspace('9') || isspace(')') || isspace('A') || isspace('*') || isspace('\x81') || isspace('a'));
+}
+
+TEST_CASE("test atoX functions", "[newlib]")
+{
+    TEST_ASSERT_EQUAL_INT(-2147483648, atoi("-2147483648"));
+    TEST_ASSERT_EQUAL_INT(2147483647, atoi("2147483647"));
+    TEST_ASSERT_EQUAL_INT(42, atoi("000000042"));
+    TEST_ASSERT_EQUAL_INT(0, strtol("foo", NULL, 10));
+}
+
+TEST_CASE("test sprintf function", "[newlib]")
+{
+    char *res = NULL;
+    asprintf(&res, "%d %011i %lu %p %x %c %.4f\n", 42, 2147483647, 2147483648UL, (void *) 0x40010000, 0x40020000, 'Q', 1.0f / 137.0f);
+    TEST_ASSERT_NOT_NULL(res);
+    TEST_ASSERT_EQUAL_STRING(res, "42 02147483647 2147483648 0x40010000 40020000 Q 0.0073\n");
+    free(res);
+}
+
+TEST_CASE("test sscanf function", "[newlib]")
+{
+    const char *src = "42 02147483647 2147483648 0x40010000 40020000 Q 0.0073\n";
+    int fourty_two;
+    int int_max;
+    unsigned long int_max_plus_one;
+    void *iram_ptr;
+    int irom_ptr;
+    char department;
+    float inv_fine_structure_constant;
+    int res = sscanf(src, "%d %d %lu %p %x %c %f", &fourty_two, &int_max, &int_max_plus_one, &iram_ptr, &irom_ptr, &department, &inv_fine_structure_constant);
+    TEST_ASSERT_EQUAL(7, res);
+    TEST_ASSERT_EQUAL(42, fourty_two);
+    TEST_ASSERT_EQUAL(2147483647, int_max);
+    TEST_ASSERT_EQUAL_UINT32(2147483648UL, int_max_plus_one);
+    TEST_ASSERT_EQUAL(0x40010000, iram_ptr);
+    TEST_ASSERT_EQUAL(0x40020000, irom_ptr);
+    TEST_ASSERT_EQUAL('Q', department);
+    TEST_ASSERT_TRUE(1.0f / inv_fine_structure_constant > 136 && 1.0f / inv_fine_structure_constant < 138);
+}
+
+TEST_CASE("test time functions", "[newlib]")
+{
+    time_t now = 1464248488;
+    setenv("TZ", "UTC-8", 1);
+    struct tm *tm_utc = gmtime(&now);
+    TEST_ASSERT_EQUAL( 28, tm_utc->tm_sec);
+    TEST_ASSERT_EQUAL( 41, tm_utc->tm_min);
+    TEST_ASSERT_EQUAL(  7, tm_utc->tm_hour);
+    TEST_ASSERT_EQUAL( 26, tm_utc->tm_mday);
+    TEST_ASSERT_EQUAL(  4, tm_utc->tm_mon);
+    TEST_ASSERT_EQUAL(116, tm_utc->tm_year);
+    TEST_ASSERT_EQUAL(  4, tm_utc->tm_wday);
+    TEST_ASSERT_EQUAL(146, tm_utc->tm_yday);
+
+    struct tm *tm_local = localtime(&now);
+    TEST_ASSERT_EQUAL( 28, tm_local->tm_sec);
+    TEST_ASSERT_EQUAL( 41, tm_local->tm_min);
+    TEST_ASSERT_EQUAL( 15, tm_local->tm_hour);
+    TEST_ASSERT_EQUAL( 26, tm_local->tm_mday);
+    TEST_ASSERT_EQUAL(  4, tm_local->tm_mon);
+    TEST_ASSERT_EQUAL(116, tm_local->tm_year);
+    TEST_ASSERT_EQUAL(  4, tm_local->tm_wday);
+    TEST_ASSERT_EQUAL(146, tm_local->tm_yday);
+
+}
+
+
+static int checkFnRom(void *fn, char *name)
+{
+    int fnaddr = (int)fn;
+    printf("%s: 0X%x\n", name, fnaddr);
+    if ((fnaddr >= 0x40000000) && (fnaddr < 0x40070000)) {
+        return 1;
+    } else {
+        return 0;
+    }
+}
+
+
+TEST_CASE("check if ROM is used for functions", "[newlib]")
+{
+    TEST_ASSERT(checkFnRom(printf, "printf"));
+    TEST_ASSERT(checkFnRom(sscanf, "sscanf"));
+    TEST_ASSERT(checkFnRom(atoi, "atoi"));
+    TEST_ASSERT(checkFnRom(strtol, "strtol"));
+}
\ No newline at end of file
diff --git a/components/nvs_flash/test/component.mk b/components/nvs_flash/test/component.mk
new file mode 100644
index 000000000..5dd172bdb
--- /dev/null
+++ b/components/nvs_flash/test/component.mk
@@ -0,0 +1,5 @@
+#
+#Component Makefile
+#
+
+COMPONENT_ADD_LDFLAGS = -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive
diff --git a/components/nvs_flash/test/test_nvs.c b/components/nvs_flash/test/test_nvs.c
new file mode 100644
index 000000000..db97879bc
--- /dev/null
+++ b/components/nvs_flash/test/test_nvs.c
@@ -0,0 +1,51 @@
+#include <stdio.h>
+#include <ctype.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <time.h>
+#include "unity.h"
+#include "nvs.h"
+#include "nvs_flash.h"
+#include "esp_spi_flash.h"
+#include <string.h>
+
+
+TEST_CASE("various nvs tests", "[nvs]")
+{
+    nvs_handle handle_1;
+    TEST_ESP_OK(nvs_flash_init());
+    TEST_ESP_ERR(nvs_open("test_namespace1", NVS_READONLY, &handle_1), ESP_ERR_NVS_NOT_FOUND);
+
+    TEST_ESP_ERR(nvs_set_i32(handle_1, "foo", 0x12345678), ESP_ERR_NVS_INVALID_HANDLE);
+    nvs_close(handle_1);
+
+    TEST_ESP_OK(nvs_open("test_namespace2", NVS_READWRITE, &handle_1));
+    TEST_ESP_OK(nvs_erase_all(handle_1));
+    TEST_ESP_OK(nvs_set_i32(handle_1, "foo", 0x12345678));
+    TEST_ESP_OK(nvs_set_i32(handle_1, "foo", 0x23456789));
+
+    nvs_handle handle_2;
+    TEST_ESP_OK(nvs_open("test_namespace3", NVS_READWRITE, &handle_2));
+    TEST_ESP_OK(nvs_erase_all(handle_2));
+    TEST_ESP_OK(nvs_set_i32(handle_2, "foo", 0x3456789a));
+    const char* str = "value 0123456789abcdef0123456789abcdef";
+    TEST_ESP_OK(nvs_set_str(handle_2, "key", str));
+
+    int32_t v1;
+    TEST_ESP_OK(nvs_get_i32(handle_1, "foo", &v1));
+    TEST_ASSERT_EQUAL_INT32(0x23456789, v1);
+
+    int32_t v2;
+    TEST_ESP_OK(nvs_get_i32(handle_2, "foo", &v2));
+    TEST_ASSERT_EQUAL_INT32(0x3456789a, v2);
+
+    char buf[strlen(str) + 1];
+    size_t buf_len = sizeof(buf);
+
+    TEST_ESP_OK(nvs_get_str(handle_2, "key", buf, &buf_len));
+
+    TEST_ASSERT_EQUAL_INT32(0, strcmp(buf, str));
+
+    nvs_close(handle_1);
+    nvs_close(handle_2);
+}
diff --git a/components/nvs_flash/test/Makefile b/components/nvs_flash/test_nvs_host/Makefile
similarity index 100%
rename from components/nvs_flash/test/Makefile
rename to components/nvs_flash/test_nvs_host/Makefile
diff --git a/components/nvs_flash/test/catch.hpp b/components/nvs_flash/test_nvs_host/catch.hpp
similarity index 100%
rename from components/nvs_flash/test/catch.hpp
rename to components/nvs_flash/test_nvs_host/catch.hpp
diff --git a/components/nvs_flash/test/crc.cpp b/components/nvs_flash/test_nvs_host/crc.cpp
similarity index 100%
rename from components/nvs_flash/test/crc.cpp
rename to components/nvs_flash/test_nvs_host/crc.cpp
diff --git a/components/nvs_flash/test/crc.h b/components/nvs_flash/test_nvs_host/crc.h
similarity index 100%
rename from components/nvs_flash/test/crc.h
rename to components/nvs_flash/test_nvs_host/crc.h
diff --git a/components/nvs_flash/test/main.cpp b/components/nvs_flash/test_nvs_host/main.cpp
similarity index 100%
rename from components/nvs_flash/test/main.cpp
rename to components/nvs_flash/test_nvs_host/main.cpp
diff --git a/components/nvs_flash/test/sdkconfig.h b/components/nvs_flash/test_nvs_host/sdkconfig.h
similarity index 100%
rename from components/nvs_flash/test/sdkconfig.h
rename to components/nvs_flash/test_nvs_host/sdkconfig.h
diff --git a/components/nvs_flash/test/spi_flash_emulation.cpp b/components/nvs_flash/test_nvs_host/spi_flash_emulation.cpp
similarity index 100%
rename from components/nvs_flash/test/spi_flash_emulation.cpp
rename to components/nvs_flash/test_nvs_host/spi_flash_emulation.cpp
diff --git a/components/nvs_flash/test/spi_flash_emulation.h b/components/nvs_flash/test_nvs_host/spi_flash_emulation.h
similarity index 100%
rename from components/nvs_flash/test/spi_flash_emulation.h
rename to components/nvs_flash/test_nvs_host/spi_flash_emulation.h
diff --git a/components/nvs_flash/test/test_compressed_enum_table.cpp b/components/nvs_flash/test_nvs_host/test_compressed_enum_table.cpp
similarity index 100%
rename from components/nvs_flash/test/test_compressed_enum_table.cpp
rename to components/nvs_flash/test_nvs_host/test_compressed_enum_table.cpp
diff --git a/components/nvs_flash/test/test_intrusive_list.cpp b/components/nvs_flash/test_nvs_host/test_intrusive_list.cpp
similarity index 100%
rename from components/nvs_flash/test/test_intrusive_list.cpp
rename to components/nvs_flash/test_nvs_host/test_intrusive_list.cpp
diff --git a/components/nvs_flash/test/test_nvs.cpp b/components/nvs_flash/test_nvs_host/test_nvs.cpp
similarity index 100%
rename from components/nvs_flash/test/test_nvs.cpp
rename to components/nvs_flash/test_nvs_host/test_nvs.cpp
diff --git a/components/nvs_flash/test/test_spi_flash_emulation.cpp b/components/nvs_flash/test_nvs_host/test_spi_flash_emulation.cpp
similarity index 100%
rename from components/nvs_flash/test/test_spi_flash_emulation.cpp
rename to components/nvs_flash/test_nvs_host/test_spi_flash_emulation.cpp
diff --git a/components/partition_table/test/component.mk b/components/partition_table/test/component.mk
new file mode 100644
index 000000000..5dd172bdb
--- /dev/null
+++ b/components/partition_table/test/component.mk
@@ -0,0 +1,5 @@
+#
+#Component Makefile
+#
+
+COMPONENT_ADD_LDFLAGS = -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive
diff --git a/components/partition_table/test/test_partition.c b/components/partition_table/test/test_partition.c
new file mode 100644
index 000000000..a4288d8e1
--- /dev/null
+++ b/components/partition_table/test/test_partition.c
@@ -0,0 +1,95 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include "unity.h"
+#include "esp_partition.h"
+
+
+TEST_CASE("Can read partition table", "[partition]")
+{
+
+    const esp_partition_t *p = esp_partition_find_first(ESP_PARTITION_TYPE_APP, ESP_PARTITION_SUBTYPE_ANY, NULL);
+    TEST_ASSERT_NOT_NULL(p);
+    TEST_ASSERT_EQUAL(p->address, 0x10000);
+    TEST_ASSERT_EQUAL(p->subtype, ESP_PARTITION_SUBTYPE_APP_FACTORY);
+
+    esp_partition_iterator_t it = esp_partition_find(ESP_PARTITION_TYPE_DATA, ESP_PARTITION_SUBTYPE_ANY, NULL);
+    TEST_ASSERT_NOT_NULL(it);
+    int count = 0;
+    for (; it != NULL; it = esp_partition_next(it)) {
+        const esp_partition_t *p = esp_partition_get(it);
+        TEST_ASSERT_NOT_NULL(p);
+        ++count;
+    }
+    esp_partition_iterator_release(it);
+    TEST_ASSERT_EQUAL(count, 2);
+
+    printf("%d\n", __builtin_clz(count));
+}
+
+TEST_CASE("Can write, read, mmap partition", "[partition]")
+{
+    const esp_partition_t *p = esp_partition_find_first(ESP_PARTITION_TYPE_DATA, ESP_PARTITION_SUBTYPE_ANY, NULL);
+    TEST_ASSERT_NOT_NULL(p);
+    const size_t max_size = 2 * SPI_FLASH_SEC_SIZE;
+    uint8_t *data = (uint8_t *) malloc(max_size);
+    TEST_ASSERT_NOT_NULL(data);
+
+    TEST_ASSERT_EQUAL(ESP_OK, esp_partition_erase_range(p, 0, p->size));
+
+    srand(0);
+    size_t block_size;
+    for (size_t offset = 0; offset < p->size; offset += block_size) {
+        block_size = ((rand() + 4) % max_size) & (~0x3);
+        size_t left = p->size - offset;
+        if (block_size > left) {
+            block_size = left;
+        }
+        for (size_t i = 0; i < block_size / 4; ++i) {
+            ((uint32_t *) (data))[i] = rand();
+            if (i == 0 && offset == 0) {
+                printf("write: %08x\n", ((uint32_t *) (data))[i]);
+            }
+        }
+        TEST_ASSERT_EQUAL(ESP_OK, esp_partition_write(p, offset, data, block_size));
+    }
+
+    srand(0);
+    for (size_t offset = 0; offset < p->size; offset += block_size) {
+        block_size = ((rand() + 4) % max_size) & (~0x3);
+        size_t left = p->size - offset;
+        if (block_size > left) {
+            block_size = left;
+        }
+        TEST_ASSERT_EQUAL(ESP_OK, esp_partition_read(p, offset, data, block_size));
+        for (size_t i = 0; i < block_size / 4; ++i) {
+            TEST_ASSERT_EQUAL(rand(), ((uint32_t *) data)[i]);
+        }
+    }
+
+    free(data);
+
+    const uint32_t *mmap_data;
+    spi_flash_mmap_handle_t mmap_handle;
+    size_t begin = 3000;
+    size_t size = 12000;
+    TEST_ASSERT_EQUAL(ESP_OK, esp_partition_mmap(p, begin, size, SPI_FLASH_MMAP_DATA,
+                      (const void **)&mmap_data, &mmap_handle));
+    srand(0);
+    for (size_t offset = 0; offset < p->size; offset += block_size) {
+        block_size = ((rand() + 4) % max_size) & (~0x3);
+        size_t left = p->size - offset;
+        if (block_size > left) {
+            block_size = left;
+        }
+        for (size_t i = 0; i < block_size / 4; ++i) {
+            size_t pos = offset + i * 4;
+            uint32_t expected = rand();
+            if (pos < begin || pos >= (begin + size)) {
+                continue;
+            }
+            TEST_ASSERT_EQUAL(expected, mmap_data[(pos - begin) / 4]);
+        }
+    }
+
+    spi_flash_munmap(mmap_handle);
+}
diff --git a/components/spi_flash/test/component.mk b/components/spi_flash/test/component.mk
new file mode 100644
index 000000000..5dd172bdb
--- /dev/null
+++ b/components/spi_flash/test/component.mk
@@ -0,0 +1,5 @@
+#
+#Component Makefile
+#
+
+COMPONENT_ADD_LDFLAGS = -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive
diff --git a/components/spi_flash/test/test_mmap.c b/components/spi_flash/test/test_mmap.c
new file mode 100644
index 000000000..28d9ae6dd
--- /dev/null
+++ b/components/spi_flash/test/test_mmap.c
@@ -0,0 +1,83 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include <freertos/semphr.h>
+
+#include <unity.h>
+#include <esp_spi_flash.h>
+#include <esp_attr.h>
+
+uint32_t buffer[1024];
+
+static const uint32_t start = 0x200000;
+static const uint32_t end = 0x300000;
+
+
+
+TEST_CASE("Prepare data for mmap tests", "[mmap]")
+{
+    srand(0);
+    for (int block = start / 0x10000; block < end / 0x10000; ++block) {
+        printf("Writing block %d\n", block);
+        for (int sector = 0; sector < 16; ++sector) {
+            for (uint32_t word = 0; word < 1024; ++word) {
+                uint32_t val = rand();
+                if (block == start / 0x10000 && sector == 0 && word == 0) {
+                    printf("first word: %08x\n", val);
+                }
+                buffer[word] = val;
+            }
+            uint32_t abs_sector = (block) * 16 + sector;
+            printf("Writing sector %d\n", abs_sector);
+            ESP_ERROR_CHECK( spi_flash_erase_sector((uint16_t) abs_sector) );
+            ESP_ERROR_CHECK( spi_flash_write(abs_sector * SPI_FLASH_SEC_SIZE, (const uint8_t *) buffer, sizeof(buffer)) );
+        }
+    }
+}
+
+TEST_CASE("Can mmap into data address space", "[mmap]")
+{
+
+    printf("Mapping %x (+%x)\n", start, end - start);
+    spi_flash_mmap_handle_t handle1;
+    const void *ptr1;
+    ESP_ERROR_CHECK( spi_flash_mmap(start, end - start, SPI_FLASH_MMAP_DATA, &ptr1, &handle1) );
+    printf("mmap_res: handle=%d ptr=%p\n", handle1, ptr1);
+
+    spi_flash_mmap_dump();
+
+    srand(0);
+    const uint32_t *data = (const uint32_t *) ptr1;
+    for (int block = 0; block < (end - start) / 0x10000; ++block) {
+        for (int sector = 0; sector < 16; ++sector) {
+            for (uint32_t word = 0; word < 1024; ++word) {
+                TEST_ASSERT_EQUAL_UINT32(rand(), data[(block * 16 + sector) * 1024 + word]);
+            }
+        }
+    }
+    printf("Mapping %x (+%x)\n", start - 0x10000, 0x20000);
+    spi_flash_mmap_handle_t handle2;
+    const void *ptr2;
+    ESP_ERROR_CHECK( spi_flash_mmap(start - 0x10000, 0x20000, SPI_FLASH_MMAP_DATA, &ptr2, &handle2) );
+    printf("mmap_res: handle=%d ptr=%p\n", handle2, ptr2);
+    spi_flash_mmap_dump();
+
+    printf("Mapping %x (+%x)\n", start, 0x10000);
+    spi_flash_mmap_handle_t handle3;
+    const void *ptr3;
+    ESP_ERROR_CHECK( spi_flash_mmap(start, 0x10000, SPI_FLASH_MMAP_DATA, &ptr3, &handle3) );
+    printf("mmap_res: handle=%d ptr=%p\n", handle3, ptr3);
+    spi_flash_mmap_dump();
+
+    printf("Unmapping handle1\n");
+    spi_flash_munmap(handle1);
+    spi_flash_mmap_dump();
+
+    printf("Unmapping handle2\n");
+    spi_flash_munmap(handle2);
+    spi_flash_mmap_dump();
+
+    printf("Unmapping handle3\n");
+    spi_flash_munmap(handle3);
+}
diff --git a/components/spi_flash/test/test_spi_flash.c b/components/spi_flash/test/test_spi_flash.c
new file mode 100644
index 000000000..330e37bb8
--- /dev/null
+++ b/components/spi_flash/test/test_spi_flash.c
@@ -0,0 +1,92 @@
+#include <stdio.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include <freertos/semphr.h>
+
+#include <unity.h>
+#include <esp_spi_flash.h>
+#include <esp_attr.h>
+
+struct flash_test_ctx {
+    uint32_t offset[2];
+    bool fail[2];
+    SemaphoreHandle_t done;
+};
+
+static void flash_test_task(void *arg)
+{
+    const uint32_t coreid = xPortGetCoreID();
+    ets_printf("t%d\n", coreid);
+    struct flash_test_ctx *ctx = (struct flash_test_ctx *) arg;
+    vTaskDelay(100 / portTICK_PERIOD_MS);
+    const uint32_t sector = ctx->offset[coreid];
+    ets_printf("es%d\n", coreid);
+    if (spi_flash_erase_sector(sector) != ESP_OK) {
+        ctx->fail[coreid] = true;
+        ets_printf("Erase failed\r\n");
+        xSemaphoreGive(ctx->done);
+        vTaskDelete(NULL);
+    }
+    ets_printf("ed%d\n", coreid);
+
+    vTaskDelay(0 / portTICK_PERIOD_MS);
+
+    uint32_t val = 0xabcd1234;
+    const uint32_t n = 4096;
+    for (uint32_t offset = 0; offset < n; offset += 4) {
+        if (spi_flash_write(sector * SPI_FLASH_SEC_SIZE + offset, (const uint8_t *) &val, 4) != ESP_OK) {
+            ets_printf("Write failed at offset=%d\r\n", offset);
+            ctx->fail[coreid] = true;
+            break;
+        }
+    }
+    ets_printf("wd%d\n", coreid);
+
+    vTaskDelay(0 / portTICK_PERIOD_MS);
+
+    uint32_t val_read;
+    for (uint32_t offset = 0; offset < n; offset += 4) {
+        if (spi_flash_read(sector * SPI_FLASH_SEC_SIZE + offset, (uint8_t *) &val_read, 4) != ESP_OK) {
+            ets_printf("Read failed at offset=%d\r\n", offset);
+            ctx->fail[coreid] = true;
+            break;
+        }
+        if (val_read != val) {
+            ets_printf("Read invalid value=%08x at offset=%d\r\n", val_read, offset);
+            ctx->fail[coreid] = true;
+            break;
+        }
+    }
+    ets_printf("td%d\n", coreid);
+    xSemaphoreGive(ctx->done);
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("flash write and erase work both on PRO CPU and on APP CPU", "[spi_flash]")
+{
+    TaskHandle_t procpu_task;
+    TaskHandle_t appcpu_task;
+    struct flash_test_ctx ctx;
+
+    ctx.offset[0] = 6;
+    ctx.offset[1] = 7;
+    ctx.fail[0] = 0;
+    ctx.fail[1] = 0;
+    ctx.done = xSemaphoreCreateBinary();
+
+    xTaskCreatePinnedToCore(flash_test_task, "1", 2048, &ctx, 3, &procpu_task, 0);
+    if (portNUM_PROCESSORS == 2) {
+        xTaskCreatePinnedToCore(flash_test_task, "2", 2048, &ctx, 3, &appcpu_task, 1);
+    }
+
+    xSemaphoreTake(ctx.done, portMAX_DELAY);
+    if (portNUM_PROCESSORS == 2) {
+        xSemaphoreTake(ctx.done, portMAX_DELAY);
+    }
+
+    TEST_ASSERT_EQUAL(false, ctx.fail[0]);
+    if (portNUM_PROCESSORS == 2) {
+        TEST_ASSERT_EQUAL(false, ctx.fail[1]);
+    }
+}
+
diff --git a/components/tcpip_adapter/include/tcpip_adapter.h b/components/tcpip_adapter/include/tcpip_adapter.h
index 45d6ade30..f7063a8e1 100644
--- a/components/tcpip_adapter/include/tcpip_adapter.h
+++ b/components/tcpip_adapter/include/tcpip_adapter.h
@@ -64,18 +64,22 @@ typedef struct {
     ip4_addr_t gw;
 } tcpip_adapter_ip_info_t;
 
+typedef struct {
+    ip6_addr_t ip;
+} tcpip_adapter_ip6_info_t;
+
 typedef dhcps_lease_t tcpip_adapter_dhcps_lease_t;
 
 #if CONFIG_DHCP_STA_LIST 
 typedef struct {
     uint8_t mac[6];
     ip4_addr_t ip;
-}tcpip_adapter_sta_info_t;
+} tcpip_adapter_sta_info_t;
 
 typedef struct {
     tcpip_adapter_sta_info_t sta[ESP_WIFI_MAX_CONN_NUM];
     int num;
-}tcpip_adapter_sta_list_t;
+} tcpip_adapter_sta_list_t;
 #endif
 
 #endif
@@ -211,6 +215,35 @@ esp_err_t tcpip_adapter_get_ip_info(tcpip_adapter_if_t tcpip_if, tcpip_adapter_i
  */
 esp_err_t tcpip_adapter_set_ip_info(tcpip_adapter_if_t tcpip_if, tcpip_adapter_ip_info_t *ip_info);
 
+/**
+ * @brief  create interface's linklocal IPv6 information
+ *
+ * @note this function will create a linklocal IPv6 address about input interface,
+ *       if this address status changed to preferred, will call event call back ,
+ *       notify user linklocal IPv6 address has been verified
+ *
+ * @param[in]  tcpip_if: the interface which we want to set IP information
+ *
+ *
+ * @return ESP_OK
+ *         ESP_ERR_TCPIP_ADAPTER_INVALID_PARAMS
+ */
+esp_err_t tcpip_adapter_create_ip6_linklocal(tcpip_adapter_if_t tcpip_if);
+
+/**
+ * @brief  get interface's linkloacl IPv6 information
+ *
+ * There has an IPv6 information copy in adapter library, if interface is up,and IPv6 info
+ * is preferred,it will get IPv6 linklocal IP successfully
+ *
+ * @param[in]  tcpip_if: the interface which we want to set IP information
+ * @param[in]  if_ip6: If successful, IPv6 information will be returned in this argument.
+ *
+ * @return ESP_OK
+ *         ESP_ERR_TCPIP_ADAPTER_INVALID_PARAMS
+ */
+esp_err_t tcpip_adapter_get_ip6_linklocal(tcpip_adapter_if_t tcpip_if, ip6_addr_t *if_ip6);
+
 #if 0
 esp_err_t tcpip_adapter_get_mac(tcpip_adapter_if_t tcpip_if, uint8_t *mac);
 
diff --git a/components/tcpip_adapter/tcpip_adapter_lwip.c b/components/tcpip_adapter/tcpip_adapter_lwip.c
index 3edc90509..25c801bd0 100644
--- a/components/tcpip_adapter/tcpip_adapter_lwip.c
+++ b/components/tcpip_adapter/tcpip_adapter_lwip.c
@@ -23,7 +23,8 @@
 #include "lwip/tcpip.h"
 #include "lwip/dhcp.h"
 #include "lwip/ip_addr.h"
-
+#include "lwip/ip6_addr.h"
+#include "lwip/nd6.h"
 #include "netif/wlanif.h"
 
 #include "apps/dhcpserver.h"
@@ -32,6 +33,7 @@
 
 static struct netif *esp_netif[TCPIP_ADAPTER_IF_MAX];
 static tcpip_adapter_ip_info_t esp_ip[TCPIP_ADAPTER_IF_MAX];
+static tcpip_adapter_ip6_info_t esp_ip6[TCPIP_ADAPTER_IF_MAX];
 
 static tcpip_adapter_dhcp_status_t dhcps_status = TCPIP_ADAPTER_DHCP_INIT;
 static tcpip_adapter_dhcp_status_t dhcpc_status = TCPIP_ADAPTER_DHCP_INIT;
@@ -234,6 +236,69 @@ esp_err_t tcpip_adapter_set_ip_info(tcpip_adapter_if_t tcpip_if, tcpip_adapter_i
     return ESP_OK;
 }
 
+static void tcpip_adapter_nd6_cb(struct netif *p_netif, uint8_t ip_idex)
+{
+    tcpip_adapter_ip6_info_t *ip6_info;
+
+    if (!p_netif) {
+        TCPIP_ADAPTER_DEBUG("null p_netif=%p\n", p_netif);
+        return;
+    }
+
+    if (p_netif == esp_netif[TCPIP_ADAPTER_IF_STA]) {
+        ip6_info = &esp_ip6[TCPIP_ADAPTER_IF_STA];
+    } else if(p_netif == esp_netif[TCPIP_ADAPTER_IF_AP]) {
+        ip6_info = &esp_ip6[TCPIP_ADAPTER_IF_AP]; 
+    } else {
+        return;
+    }
+
+    system_event_t evt;
+
+    ip6_addr_set(&ip6_info->ip, ip_2_ip6(&p_netif->ip6_addr[ip_idex]));
+
+    //notify event
+    evt.event_id = SYSTEM_EVENT_AP_STA_GOT_IP6;
+    memcpy(&evt.event_info.got_ip6.ip6_info, ip6_info, sizeof(tcpip_adapter_ip6_info_t));
+    esp_event_send(&evt);
+}
+
+esp_err_t tcpip_adapter_create_ip6_linklocal(tcpip_adapter_if_t tcpip_if)
+{
+    struct netif *p_netif;
+
+    if (tcpip_if >= TCPIP_ADAPTER_IF_MAX) {
+        return ESP_ERR_TCPIP_ADAPTER_INVALID_PARAMS;
+    }
+
+    p_netif = esp_netif[tcpip_if];
+    if(p_netif != NULL && netif_is_up(p_netif)) {
+        netif_create_ip6_linklocal_address(p_netif, 1);
+        nd6_set_cb(p_netif, tcpip_adapter_nd6_cb);
+
+        return ESP_OK;
+    } else {
+        return ESP_FAIL;
+    }
+}
+
+esp_err_t tcpip_adapter_get_ip6_linklocal(tcpip_adapter_if_t tcpip_if, ip6_addr_t *if_ip6)
+{
+    struct netif *p_netif;
+
+    if (tcpip_if >= TCPIP_ADAPTER_IF_MAX || if_ip6 == NULL) {
+        return ESP_ERR_TCPIP_ADAPTER_INVALID_PARAMS;
+    }
+
+    p_netif = esp_netif[tcpip_if];
+    if (p_netif != NULL && netif_is_up(p_netif) && ip6_addr_ispreferred(netif_ip6_addr_state(p_netif, 0))) {
+        memcpy(if_ip6, &p_netif->ip6_addr[0], sizeof(ip6_addr_t));
+    } else {
+        return ESP_FAIL;
+    }
+    return ESP_OK;
+}
+
 #if 0
 esp_err_t tcpip_adapter_get_mac(tcpip_adapter_if_t tcpip_if, uint8_t mac[6])
 {
diff --git a/docs/Doxyfile b/docs/Doxyfile
index 1f53a8593..eeb4fe740 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -1,3 +1,18 @@
+# This is Doxygen configuration file
+#
+# Doxygen provides over 260 configuration statements
+# To make this file easier to follow, 
+# it contains only statements that are non-default
+#
+# NOTE:
+# It is recommended not to change defaults unless specifically required
+# Test any changes how they affect generated documentation
+# Make sure that correct warnings are generated to flag issues with documented code
+#
+# For the complete list of configuration statements see:
+# http://www.stack.nl/~dimitri/doxygen/manual/config.html
+
+
 PROJECT_NAME = "ESP32 Programming Guide"
 
 INPUT = ../components/esp32/include/esp_wifi.h \
@@ -10,14 +25,18 @@ INPUT = ../components/esp32/include/esp_wifi.h \
 	../components/esp32/include/esp_int_wdt.h \
 	../components/esp32/include/esp_task_wdt.h
 
-WARN_NO_PARAMDOC	= YES
+## Get warnings for functions that have no documentation for their parameters or return value 
+##
+WARN_NO_PARAMDOC = YES
 
-RECURSIVE		= NO
-CASE_SENSE_NAMES 	= NO
-EXTRACT_ALL		= NO
+## Do not complain about not having dot
+##
+HAVE_DOT = NO
 
-GENERATE_XML		= YES
-XML_OUTPUT		= xml
+## Generate XML that is required for Breathe
+##
+GENERATE_XML = YES
+XML_OUTPUT = xml
 
 GENERATE_HTML		= NO
 HAVE_DOT		= NO
@@ -25,5 +44,9 @@ GENERATE_LATEX		= NO
 GENERATE_MAN		= YES
 GENERATE_RTF		= NO
 
+## Skip distracting progress messages
+##
+QUIET = YES
+## Log warnings in a file for further review
+##
 WARN_LOGFILE = "doxygen-warning-log.txt"
-
diff --git a/docs/_static/doc-code-documentation-inline.png b/docs/_static/doc-code-documentation-inline.png
index 72bf22f15..9de5d51a2 100644
Binary files a/docs/_static/doc-code-documentation-inline.png and b/docs/_static/doc-code-documentation-inline.png differ
diff --git a/docs/api/bt.rst b/docs/api/bt.rst
index 0ab17b2aa..1824bc454 100644
--- a/docs/api/bt.rst
+++ b/docs/api/bt.rst
@@ -9,15 +9,19 @@ Overview
 Application Example
 -------------------
 
-`Instructions`_
+Check `/examples <https://github.com/espressif/esp-idf/tree/master/examples>`_ folder of `espressif/esp-idf <https://github.com/espressif/esp-idf/>`_ repository, that contains the following example:
 
-API Reference
--------------
+`05_ble_adv <https://github.com/espressif/esp-idf/blob/master/examples/05_ble_adv/main/app_bt.c>`_ 
+
+  This is a BLE advertising demo with virtual HCI interface. Send Reset/ADV_PARAM/ADV_DATA/ADV_ENABLE HCI command for BLE advertising.
 
 `Instructions`_
 
 .. _Instructions: template.html
 
+API Reference
+-------------
+
 Header Files
 ^^^^^^^^^^^^
 
@@ -35,4 +39,3 @@ Functions
 .. doxygenfunction:: API_vhci_host_register_callback
 .. doxygenfunction:: API_vhci_host_send_packet
 .. doxygenfunction:: bt_controller_init
-
diff --git a/docs/api/ledc.rst b/docs/api/ledc.rst
index f379e9d00..855f82216 100644
--- a/docs/api/ledc.rst
+++ b/docs/api/ledc.rst
@@ -27,7 +27,10 @@ Data Structures
 ^^^^^^^^^^^^^^^
 
 .. doxygenstruct:: ledc_channel_config_t
+   :members:
+
 .. doxygenstruct:: ledc_timer_config_t
+   :members:
 
 Macros
 ^^^^^^
diff --git a/docs/api/nvs_flash.rst b/docs/api/nvs_flash.rst
index 5d3634355..a765f7608 100644
--- a/docs/api/nvs_flash.rst
+++ b/docs/api/nvs_flash.rst
@@ -5,8 +5,23 @@ Application Example
 
 Two examples are provided in ESP-IDF examples directory:
 
-- `07_nvs_rw_value <https://github.com/espressif/esp-idf/tree/master/examples/07_nvs_rw_value>`_ demostrates how to read and write integer values
-- `08_nvs_rw_blob <https://github.com/espressif/esp-idf/tree/master/examples/08_nvs_rw_blob>`_ demostrates how to read and write variable length binary values
+`07_nvs_rw_value <https://github.com/espressif/esp-idf/blob/master/examples/07_nvs_rw_value/main/nvs_rw_value.c>`_
+
+  Demonstrates how to read and write a single integer value using NVS.
+
+  The value holds the number of ESP32 module restarts. Since it is written to NVS, the value is preserved between restarts.
+
+  Example also shows how to check if read / write operation was successful, or certain value is not initialized in NVS. Diagnostic is provided in plain text to help track program flow and capture any issues on the way.
+
+`08_nvs_rw_blob <https://github.com/espressif/esp-idf/blob/master/examples/08_nvs_rw_blob/main/nvs_rw_blob.c>`_
+
+  Demonstrates how to read and write a single integer value and a blob (binary large object) using NVS to preserve them between ESP32 module restarts.
+
+    * value - tracks number of ESP32 module soft and hard restarts.
+    * blob - contains a table with module run times. The table is read from NVS to dynamically allocated RAM. New run time is added to the table on each manually triggered soft restart and written back to NVS. Triggering is done by pulling down GPIO0.
+
+  Example also shows how to implement diagnostics if read / write operation was successful.
+
 
 API Reference
 -------------
diff --git a/docs/api/rmt.rst b/docs/api/rmt.rst
new file mode 100644
index 000000000..9d834b1e2
--- /dev/null
+++ b/docs/api/rmt.rst
@@ -0,0 +1,93 @@
+RMT
+========
+
+Overview
+--------
+
+The RMT (Remote Control) module driver can be used to send and receive infrared remote control signals. Due to flexibility of RMT module, the driver can also be used to generate many other types of signals.
+
+Application Example
+-------------------
+
+NEC remote control TX and RX example: `examples/11_rmt_nec_tx_rx <https://github.com/espressif/esp-idf/tree/master/examples/11_rmt_nec_tx_rx>`_.
+
+API Reference
+-------------
+
+Header Files
+^^^^^^^^^^^^
+
+  * `driver/rmt.h <https://github.com/espressif/esp-idf/blob/master/components/driver/include/driver/rmt.h>`_
+
+Macros
+^^^^^^
+
+.. doxygendefine:: RMT_MEM_BLOCK_BYTE_NUM
+.. doxygendefine:: RMT_MEM_ITEM_NUM
+
+Enumerations
+^^^^^^^^^^^^
+
+.. doxygenenum:: rmt_channel_t
+.. doxygenenum:: rmt_mem_owner_t
+.. doxygenenum:: rmt_source_clk_t
+.. doxygenenum:: rmt_data_mode_t
+.. doxygenenum:: rmt_mode_t
+.. doxygenenum:: rmt_idle_level_t
+.. doxygenenum:: rmt_carrier_level_t
+
+Structures
+^^^^^^^^^^
+
+.. doxygenstruct:: rmt_tx_config_t
+    :members:
+
+.. doxygenstruct:: rmt_rx_config_t
+    :members:
+
+.. doxygenstruct:: rmt_config_t
+    :members:
+
+
+Functions
+^^^^^^^^^
+
+.. doxygenfunction:: rmt_set_clk_div
+.. doxygenfunction:: rmt_get_clk_div
+.. doxygenfunction:: rmt_set_rx_idle_thresh
+.. doxygenfunction:: rmt_get_rx_idle_thresh
+.. doxygenfunction:: rmt_set_mem_block_num
+.. doxygenfunction:: rmt_get_mem_block_num
+.. doxygenfunction:: rmt_set_tx_carrier
+.. doxygenfunction:: rmt_set_mem_pd
+.. doxygenfunction:: rmt_get_mem_pd
+.. doxygenfunction:: rmt_tx_start
+.. doxygenfunction:: rmt_tx_stop
+.. doxygenfunction:: rmt_rx_start
+.. doxygenfunction:: rmt_rx_stop
+.. doxygenfunction:: rmt_memory_rw_rst
+.. doxygenfunction:: rmt_set_memory_owner
+.. doxygenfunction:: rmt_get_memory_owner
+.. doxygenfunction:: rmt_set_tx_loop_mode
+.. doxygenfunction:: rmt_get_tx_loop_mode
+.. doxygenfunction:: rmt_set_rx_filter
+.. doxygenfunction:: rmt_set_source_clk
+.. doxygenfunction:: rmt_get_source_clk
+.. doxygenfunction:: rmt_set_idle_level
+.. doxygenfunction:: rmt_get_status
+.. doxygenfunction:: rmt_set_intr_enable_mask
+.. doxygenfunction:: rmt_clr_intr_enable_mask
+.. doxygenfunction:: rmt_set_rx_intr_en
+.. doxygenfunction:: rmt_set_err_intr_en
+.. doxygenfunction:: rmt_set_tx_intr_en
+.. doxygenfunction:: rmt_set_evt_intr_en
+.. doxygenfunction:: rmt_set_pin
+.. doxygenfunction:: rmt_config
+.. doxygenfunction:: rmt_isr_register
+.. doxygenfunction:: rmt_fill_tx_items
+.. doxygenfunction:: rmt_driver_install
+.. doxygenfunction:: rmt_driver_uninstall
+.. doxygenfunction:: rmt_write_items
+.. doxygenfunction:: rmt_wait_tx_done
+.. doxygenfunction:: rmt_get_ringbuf_handler
+
diff --git a/docs/api/vfs.rst b/docs/api/vfs.rst
index df6cd03f6..798aac549 100644
--- a/docs/api/vfs.rst
+++ b/docs/api/vfs.rst
@@ -25,6 +25,7 @@ Structures
 ^^^^^^^^^^
 
 .. doxygenstruct:: esp_vfs_t
+   :members:
 
 Functions
 ^^^^^^^^^
diff --git a/docs/build_system.rst b/docs/build_system.rst
index aa14cdda5..4ba89f865 100644
--- a/docs/build_system.rst
+++ b/docs/build_system.rst
@@ -57,6 +57,7 @@ Example Project
 ---------------
 
 An example project directory tree might look like this::
+
     - myProject/
                  - Makefile
                  - sdkconfig
@@ -66,11 +67,11 @@ An example project directory tree might look like this::
                                - component2/ - component.mk
                                              - Kconfig
                                              - src1.c
-                                             - include/
-                                                    - component2.h
+                                             - include/ - component2.h
                  - main/       - src1.c
                                - src2.c
                                - component.mk
+
                  - build/
 
 This example "myProject" contains the following elements:
@@ -101,6 +102,7 @@ Minimal Example Makefile
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
 ::
+
    PROJECT_NAME := myProject
    
    include $(IDF_PATH)/make/project.mk
@@ -135,7 +137,8 @@ Minimal Component Makefile
 ^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 The minimal ``component.mk`` file is an empty file(!). If the file is empty, the default component behaviour is set:
-- All source files in the same directory as the makefile (*.c, *.cpp, *.S) will be compiled into the component library
+
+- All source files in the same directory as the makefile (``*.c``, ``*.cpp``, ``*.S``) will be compiled into the component library
 - A sub-directory "include" will be added to the global include search path for all other components.
 - The component library will be linked into the project app.
 
@@ -209,8 +212,8 @@ The following variables can be set inside ``component.mk`` to control the build
   ``COMPONENT_PRIV_INCLUDEDIRS`` variable, except these paths are not
   expanded relative to the component directory.
 - ``COMPONENT_SRCDIRS``: Directory paths, must be relative to the
-  component directory, which will be searched for source files (*.cpp,
-  *.c, *.S). Defaults to '.', ie the component directory
+  component directory, which will be searched for source files (``*.cpp``,
+  ``*.c``, ``*.S``). Defaults to '.', ie the component directory
   itself. Override this to specify a different list of directories
   which contain source files.
 - ``COMPONENT_OBJS``: Object files to compile. Default value is a .o
@@ -366,12 +369,14 @@ The configuration system can be used to conditionally compile some files
 depending on the options selected in ``make menuconfig``:
 
 ``Kconfig``::
+
     config FOO_ENABLE_BAR
         bool "Enable the BAR feature."
         help
             This enables the BAR feature of the FOO component.
 
 ``component.mk``::
+
     COMPONENT_OBJS := foo_a.o foo_b.o
 
     ifdef CONFIG_FOO_BAR
diff --git a/docs/documenting-code.rst b/docs/documenting-code.rst
index 72e3cea14..a73e26de4 100644
--- a/docs/documenting-code.rst
+++ b/docs/documenting-code.rst
@@ -40,98 +40,91 @@ Go for it!
 
 When writing code for this repository, please follow guidelines below.
 
-  1. Document all building blocks of code: functions, structs, typedefs, enums, macros, etc. Provide enough information on purpose, functionality and limitations of documented items, as you would like to see them documented when reading the code by others.
+1. Document all building blocks of code: functions, structs, typedefs, enums, macros, etc. Provide enough information on purpose, functionality and limitations of documented items, as you would like to see them documented when reading the code by others.
 
-  2. Documentation of function should describe what this function does. If it accepts input parameters and returns some value, all of them should be explained.
+2. Documentation of function should describe what this function does. If it accepts input parameters and returns some value, all of them should be explained.
 
-  3. Do not add a data type before parameter or any other characters besides spaces. All spaces and line breaks are compressed into a single space. If you like to break a line, then break it twice.
+3. Do not add a data type before parameter or any other characters besides spaces. All spaces and line breaks are compressed into a single space. If you like to break a line, then break it twice.
 
-    .. image:: _static/doc-code-function.png
-       :align: center
-       :alt: Sample function documented inline and after rendering
+  .. image:: _static/doc-code-function.png
+     :align: center
+     :alt: Sample function documented inline and after rendering
 
-  4. If function has void input or does not return any value, then skip ``@param`` or ``@return``
+4. If function has void input or does not return any value, then skip ``@param`` or ``@return``
 
-    .. image:: _static/doc-code-void-function.png
-       :align: center
-       :alt: Sample void function documented inline and after rendering
+  .. image:: _static/doc-code-void-function.png
+     :align: center
+     :alt: Sample void function documented inline and after rendering
  
-  5. When documenting members of a ``struct``, ``typedef`` or ``enum``, place specific comment like below after each member.
+5. When documenting a ``define`` as well as members of a ``struct`` or ``enum``, place specific comment like below after each member.
 
-    .. image:: _static/doc-code-member.png
-       :align: center
-       :alt: Sample of member documentation inline and after rendering
+  .. image:: _static/doc-code-member.png
+     :align: center
+     :alt: Sample of member documentation inline and after rendering
+
+
+6. To provide well formatted lists, break the line after command (like ``@return`` in example below).
+
+  ::
+
+    *
+    * @return
+    *    - ESP_OK if erase operation was successful
+    *    - ESP_ERR_NVS_INVALID_HANDLE if handle has been closed or is NULL
+    *    - ESP_ERR_NVS_READ_ONLY if handle was opened as read only
+    *    - ESP_ERR_NVS_NOT_FOUND if the requested key doesn't exist
+    *    - other error codes from the underlying storage driver
+    *
  
-  6. To provide well formatted lists, break the line after command (like ``@return`` in example below).
-
-    .. code-block:: c
-
-      ...
-      *
-      * @return
-      *    - ESP_OK if erase operation was successful
-      *    - ESP_ERR_NVS_INVALID_HANDLE if handle has been closed or is NULL
-      *    - ESP_ERR_NVS_READ_ONLY if handle was opened as read only
-      *    - ESP_ERR_NVS_NOT_FOUND if the requested key doesn't exist
-      *    - other error codes from the underlying storage driver
-      *
-      ...
- 
-  7. Overview of functionality of documented header file, or group of files that make a library, should be placed in the same directory in a separate ``README.rst`` file. If directory contains header files for different APIs, then the file name should be ``apiname-readme.rst``.
+7. Overview of functionality of documented header file, or group of files that make a library, should be placed in the same directory in a separate ``README.rst`` file. If directory contains header files for different APIs, then the file name should be ``apiname-readme.rst``.
 
 Go one extra mile
 -----------------
 
 There is couple of tips, how you can make your documentation even better and more useful to the reader.
 
-  1. Add code snippets to illustrate implementation. To do so, enclose snippet using ``@code{c}`` and ``@endcode`` commands. 
+1. Add code snippets to illustrate implementation. To do so, enclose snippet using ``@code{c}`` and ``@endcode`` commands. 
 
-    .. code-block:: c
+  ::
 
-      ...
-      *
-      * @code{c}
-      * // Example of using nvs_get_i32:
-      * int32_t max_buffer_size = 4096; // default value
-      * esp_err_t err = nvs_get_i32(my_handle, "max_buffer_size", &max_buffer_size);
-      * assert(err == ESP_OK || err == ESP_ERR_NVS_NOT_FOUND);
-      * // if ESP_ERR_NVS_NOT_FOUND was returned, max_buffer_size will still
-      * // have its default value.
-      * @endcode
-      *
-      ...
+    *
+    * @code{c}
+    * // Example of using nvs_get_i32:
+    * int32_t max_buffer_size = 4096; // default value
+    * esp_err_t err = nvs_get_i32(my_handle, "max_buffer_size", &max_buffer_size);
+    * assert(err == ESP_OK || err == ESP_ERR_NVS_NOT_FOUND);
+    * // if ESP_ERR_NVS_NOT_FOUND was returned, max_buffer_size will still
+    * // have its default value.
+    * @endcode
+    *
 
-    The code snippet should be enclosed in a comment block of the function that it illustrates.
+  The code snippet should be enclosed in a comment block of the function that it illustrates.
 
-  2. To highlight some important information use command ``@attention`` or ``@note``.
+2. To highlight some important information use command ``@attention`` or ``@note``.
 
-    .. code-block:: c
+  ::
 
-      ...
-      *
-      * @attention
-      *     1. This API only impact WIFI_MODE_STA or WIFI_MODE_APSTA mode
-      *     2. If the ESP32 is connected to an AP, call esp_wifi_disconnect to disconnect.
-      *
-      ...
+    *
+    * @attention
+    *     1. This API only impact WIFI_MODE_STA or WIFI_MODE_APSTA mode
+    *     2. If the ESP32 is connected to an AP, call esp_wifi_disconnect to disconnect.
+    *
 
-    Above example also shows how to use a numbered list.
+  Above example also shows how to use a numbered list.
 
-  3. Use markdown to make your documentation even more readable. You will add headers, links, tables and more.
+3. Use markdown to make your documentation even more readable. You will add headers, links, tables and more.
 
-    .. code-block:: c
+  ::
 
-      ...
-      *
-      * [ESP32 Technical Reference](http://espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf)
-      *
-      ...
+    *
+    * [ESP32 Technical Reference](http://espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf)
+    *
 
-  .. note::
+.. note::
 
    Code snippets, notes, links, etc. will not make it to the documentation, if not enclosed in a comment block associated with one of documented objects.
 
-  5. Prepare one or more complete code examples together with description. Place them in a separate file ``example.rst`` in the same directory as the API header files. If directory contains header files for different APIs, then the file name should be ``apiname-example.rst``.
+5. Prepare one or more complete code examples together with description. Place them in a separate file ``example.rst`` in the same directory as the API header files. If directory contains header files for different APIs, then the file name should be ``apiname-example.rst``.
 
 Put it all together
 -------------------
diff --git a/docs/doxygen_xml_to_rst.xslt b/docs/doxygen_xml_to_rst.xslt
index c4570a9df..0212457e5 100644
--- a/docs/doxygen_xml_to_rst.xslt
+++ b/docs/doxygen_xml_to_rst.xslt
@@ -40,6 +40,8 @@
             <xsl:text>.. doxygenstruct:: </xsl:text>
             <xsl:value-of select="."/>
             <xsl:text>&#xA;</xsl:text>
+            <xsl:text>    :members:&#xA;</xsl:text>
+            <xsl:text>&#xA;</xsl:text>
         </xsl:for-each>
         <xsl:text>&#xA;</xsl:text>
 
diff --git a/docs/index.rst b/docs/index.rst
index 8bc7a72f2..829ce0334 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -5,6 +5,9 @@ ESP32 Programming Guide
 
    Until ESP-IDF release 1.0, this documentation is a draft. It is incomplete and may have mistakes. Please mind your step!
 
+Documentation adressed to developers of applications for `ESP32 <https://espressif.com/en/products/hardware/esp32/overview>`_ by `Espressif <https://espressif.com/>`_ using `esp-idf <https://github.com/espressif/esp-idf>`_.
+
+
 Contents:
 
 .. toctree::
@@ -41,7 +44,7 @@ Contents:
    1. System - TBA
      1.1. Fundamentals of multiprocessor programming with FreeRTOS - TBA
      1.2. Application startup flow - TBA
-     1.3. Flash encryption and secure boot: how they work and APIs - TBA
+     1.3. Flash encryption and secure boot: how they work and APIs
      1.4. Lower Power Coprocessor - TBA
      1.5. Watchdogs <api/wdts>
      1.6. ...
@@ -61,7 +64,7 @@ Contents:
      6.1. GPIO
      6.2. ADC - TBA
      6.3. DAC - TBA
-     6.4. UART - TBA
+     6.4. UART
      6.5. I2C - TBA
      6.6. I2S - TBA
      6.7. SPI - TBA
@@ -78,9 +81,9 @@ Contents:
      7.3. Touch Sensor - TBA
    8. Protocols - TBA
    9. Components
-     9.1. Logging <api/log>
-     9.2  Non-Volatile Storage <api/nvs_flash>
-     9.3  Virtual Filesystem <api/vfs>
+     9.1. Logging
+     9.2  Non-Volatile Storage
+     9.3  Virtual Filesystem
      9.3. Http sever - TBA
    10. Applications - TBA
    ..
@@ -98,6 +101,7 @@ Contents:
    api/gpio
    api/uart
    api/ledc
+   api/rmt
    SPI Flash and Partition APIs <api/spi_flash>
    Logging <api/log>
    Non-Volatile Storage <api/nvs_flash>
@@ -128,11 +132,9 @@ Contents:
 
    COPYRIGHT
 
-.. About - TBA
-
  
 Indices
-=======
+-------
 
 * :ref:`genindex`
 * :ref:`search`
diff --git a/docs/security/secure-boot.rst b/docs/security/secure-boot.rst
index b352b3964..113d25090 100644
--- a/docs/security/secure-boot.rst
+++ b/docs/security/secure-boot.rst
@@ -27,18 +27,18 @@ This is a high level overview of the secure boot process. Step by step instructi
 
 2. Secure Boot Configuration includes "Secure boot signing key", which is a file path. This file is a ECDSA public/private key pair in a PEM format file.
 
-2. The software bootloader image is built by esp-idf with secure boot support enabled and the public key (signature verification) portion of the secure boot signing key compiled in. This software bootloader image is flashed at offset 0x1000.
+3. The software bootloader image is built by esp-idf with secure boot support enabled and the public key (signature verification) portion of the secure boot signing key compiled in. This software bootloader image is flashed at offset 0x1000.
 
-3. On first boot, the software bootloader follows the following process to enable secure boot:
+4. On first boot, the software bootloader follows the following process to enable secure boot:
 
    - Hardware secure boot support generates a device secure bootloader key (generated via hardware RNG, then stored read/write protected in efuse), and a secure digest. The digest is derived from the key, an IV, and the bootloader image contents.
    - The secure digest is flashed at offset 0x0 in the flash.
    - Depending on Secure Boot Configuration, efuses are burned to disable JTAG and the ROM BASIC interpreter (it is strongly recommended these options are turned on.)
    - Bootloader permanently enables secure boot by burning the ABS_DONE_0 efuse. The software bootloader then becomes protected (the chip will only boot a bootloader image if the digest matches.)
 
-4. On subsequent boots the ROM bootloader sees that the secure boot efuse is burned, reads the saved digest at 0x0 and uses hardware secure boot support to compare it with a newly calculated digest. If the digest does not match then booting will not continue. The digest and comparison are performed entirely by hardware, and the calculated digest is not readable by software. For technical details see `Hardware Secure Boot Support`.
+5. On subsequent boots the ROM bootloader sees that the secure boot efuse is burned, reads the saved digest at 0x0 and uses hardware secure boot support to compare it with a newly calculated digest. If the digest does not match then booting will not continue. The digest and comparison are performed entirely by hardware, and the calculated digest is not readable by software. For technical details see `Hardware Secure Boot Support`.
 
-5. When running in secure boot mode, the software bootloader uses the secure boot signing key (the public key of which is embedded in the bootloader itself, and therefore validated as part of the bootloader) to verify the signature appended to all subsequent partition tables and app images before they are booted.
+6. When running in secure boot mode, the software bootloader uses the secure boot signing key (the public key of which is embedded in the bootloader itself, and therefore validated as part of the bootloader) to verify the signature appended to all subsequent partition tables and app images before they are booted.
 
 Keys
 ----
diff --git a/examples/11_rmt_nec_tx_rx/Makefile b/examples/11_rmt_nec_tx_rx/Makefile
new file mode 100644
index 000000000..df418c6eb
--- /dev/null
+++ b/examples/11_rmt_nec_tx_rx/Makefile
@@ -0,0 +1,9 @@
+#
+# This is a project Makefile. It is assumed the directory this Makefile resides in is a
+# project subdirectory.
+#
+
+PROJECT_NAME := infrared_nec
+
+include $(IDF_PATH)/make/project.mk
+
diff --git a/examples/11_rmt_nec_tx_rx/main/component.mk b/examples/11_rmt_nec_tx_rx/main/component.mk
new file mode 100644
index 000000000..b4fa72791
--- /dev/null
+++ b/examples/11_rmt_nec_tx_rx/main/component.mk
@@ -0,0 +1,4 @@
+#
+# Main Makefile. This is basically the same as a component makefile.
+#
+# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)
diff --git a/examples/11_rmt_nec_tx_rx/main/infrared_nec.c b/examples/11_rmt_nec_tx_rx/main/infrared_nec.c
new file mode 100644
index 000000000..dbd11fbae
--- /dev/null
+++ b/examples/11_rmt_nec_tx_rx/main/infrared_nec.c
@@ -0,0 +1,359 @@
+/* NEC remote infrared RMT example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include <stdio.h>
+#include <string.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+#include "freertos/semphr.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "driver/rmt.h"
+#include "driver/periph_ctrl.h"
+#include "soc/rmt_reg.h"
+
+static const char* NEC_TAG = "NEC";
+
+//CHOOSE SELF TEST OR NORMAL TEST
+#define RMT_RX_SELF_TEST   1
+
+/******************************************************/
+/*****                SELF TEST:                  *****/
+/*Connect RMT_TX_GPIO_NUM with RMT_RX_GPIO_NUM        */
+/*TX task will send NEC data with carrier disabled    */
+/*RX task will print NEC data it receives.            */
+/******************************************************/
+#if RMT_RX_SELF_TEST
+#define RMT_RX_ACTIVE_LEVEL  1   /*!< Data bit is active high for self test mode */
+#define RMT_TX_CARRIER_EN    0   /*!< Disable carrier for self test mode  */
+#else
+//Test with infrared LED, we have to enable carrier for transmitter
+//When testing via IR led, the receiver waveform is usually active-low.
+#define RMT_RX_ACTIVE_LEVEL  0   /*!< If we connect with a IR receiver, the data is active low */
+#define RMT_TX_CARRIER_EN    1   /*!< Enable carrier for IR transmitter test with IR led */
+#endif
+
+#define RMT_TX_CHANNEL    1     /*!< RMT channel for transmitter */
+#define RMT_TX_GPIO_NUM  16     /*!< GPIO number for transmitter signal */
+#define RMT_RX_CHANNEL    0     /*!< RMT channel for receiver */
+#define RMT_RX_GPIO_NUM  19     /*!< GPIO number for receiver */
+#define RMT_INTR_NUM     19     /*!< RMT interrupt number, select from soc.h */
+#define RMT_CLK_DIV      100    /*!< RMT counter clock divider */
+#define RMT_TICK_10_US    (80000000/RMT_CLK_DIV/100000)   /*!< RMT counter value for 10 us.(Source clock is APB clock) */
+
+#define NEC_HEADER_HIGH_US    9000                         /*!< NEC protocol header: positive 9ms */
+#define NEC_HEADER_LOW_US     4500                         /*!< NEC protocol header: negative 4.5ms*/
+#define NEC_BIT_ONE_HIGH_US    560                         /*!< NEC protocol data bit 1: positive 0.56ms */
+#define NEC_BIT_ONE_LOW_US    (2250-NEC_BIT_ONE_HIGH_US)   /*!< NEC protocol data bit 1: negative 1.69ms */
+#define NEC_BIT_ZERO_HIGH_US   560                         /*!< NEC protocol data bit 0: positive 0.56ms */
+#define NEC_BIT_ZERO_LOW_US   (1120-NEC_BIT_ZERO_HIGH_US)  /*!< NEC protocol data bit 0: negative 0.56ms */
+#define NEC_BIT_END            560                         /*!< NEC protocol end: positive 0.56ms */
+#define NEC_BIT_MARGIN         20                          /*!< NEC parse margin time */
+
+#define NEC_ITEM_DURATION(d)  ((d & 0x7fff)*10/RMT_TICK_10_US)  /*!< Parse duration time from memory register value */
+#define NEC_DATA_ITEM_NUM   34  /*!< NEC code item number: header + 32bit data + end */
+#define RMT_TX_DATA_NUM  100    /*!< NEC tx test data number */
+#define rmt_item32_tIMEOUT_US  9500   /*!< RMT receiver timeout value(us) */
+
+/*
+ * @brief Build register value of waveform for NEC one data bit
+ */
+inline void nec_fill_item_level(rmt_item32_t* item, int high_us, int low_us)
+{
+    item->level0 = 1;
+    item->duration0 = (high_us) / 10 * RMT_TICK_10_US;
+    item->level1 = 0;
+    item->duration1 = (low_us) / 10 * RMT_TICK_10_US;
+}
+
+/*
+ * @brief Generate NEC header value: active 9ms + negative 4.5ms
+ */
+static void nec_fill_item_header(rmt_item32_t* item)
+{
+    nec_fill_item_level(item, NEC_HEADER_HIGH_US, NEC_HEADER_LOW_US);
+}
+
+/*
+ * @brief Generate NEC data bit 1: positive 0.56ms + negative 1.69ms
+ */
+static void nec_fill_item_bit_one(rmt_item32_t* item)
+{
+    nec_fill_item_level(item, NEC_BIT_ONE_HIGH_US, NEC_BIT_ONE_LOW_US);
+}
+
+/*
+ * @brief Generate NEC data bit 0: positive 0.56ms + negative 0.56ms
+ */
+static void nec_fill_item_bit_zero(rmt_item32_t* item)
+{
+    nec_fill_item_level(item, NEC_BIT_ZERO_HIGH_US, NEC_BIT_ZERO_LOW_US);
+}
+
+/*
+ * @brief Generate NEC end signal: positive 0.56ms
+ */
+static void nec_fill_item_end(rmt_item32_t* item)
+{
+    nec_fill_item_level(item, NEC_BIT_END, 0x7fff);
+}
+
+/*
+ * @brief Check whether duration is around target_us
+ */
+inline bool nec_check_in_range(int duration_ticks, int target_us, int margin_us)
+{
+    if(( NEC_ITEM_DURATION(duration_ticks) < (target_us + margin_us))
+        && ( NEC_ITEM_DURATION(duration_ticks) > (target_us - margin_us))) {
+        return true;
+    } else {
+        return false;
+    }
+}
+
+/*
+ * @brief Check whether this value represents an NEC header
+ */
+static bool nec_header_if(rmt_item32_t* item)
+{
+    if((item->level0 == RMT_RX_ACTIVE_LEVEL && item->level1 != RMT_RX_ACTIVE_LEVEL)
+        && nec_check_in_range(item->duration0, NEC_HEADER_HIGH_US, NEC_BIT_MARGIN)
+        && nec_check_in_range(item->duration1, NEC_HEADER_LOW_US, NEC_BIT_MARGIN)) {
+        return true;
+    }
+    return false;
+}
+
+/*
+ * @brief Check whether this value represents an NEC data bit 1
+ */
+static bool nec_bit_one_if(rmt_item32_t* item)
+{
+    if((item->level0 == RMT_RX_ACTIVE_LEVEL && item->level1 != RMT_RX_ACTIVE_LEVEL)
+        && nec_check_in_range(item->duration0, NEC_BIT_ONE_HIGH_US, NEC_BIT_MARGIN)
+        && nec_check_in_range(item->duration1, NEC_BIT_ONE_LOW_US, NEC_BIT_MARGIN)) {
+        return true;
+    }
+    return false;
+}
+
+/*
+ * @brief Check whether this value represents an NEC data bit 0
+ */
+static bool nec_bit_zero_if(rmt_item32_t* item)
+{
+    if((item->level0 == RMT_RX_ACTIVE_LEVEL && item->level1 != RMT_RX_ACTIVE_LEVEL)
+        && nec_check_in_range(item->duration0, NEC_BIT_ZERO_HIGH_US, NEC_BIT_MARGIN)
+        && nec_check_in_range(item->duration1, NEC_BIT_ZERO_LOW_US, NEC_BIT_MARGIN)) {
+        return true;
+    }
+    return false;
+}
+
+
+/*
+ * @brief Parse NEC 32 bit waveform to address and command.
+ */
+static int nec_parse_items(rmt_item32_t* item, int item_num, uint16_t* addr, uint16_t* data)
+{
+    int w_len = item_num;
+    if(w_len < NEC_DATA_ITEM_NUM) {
+        return -1;
+    }
+    int i = 0, j = 0;
+    if(!nec_header_if(item++)) {
+        return -1;
+    }
+    uint16_t addr_t = 0;
+    for(j = 0; j < 16; j++) {
+        if(nec_bit_one_if(item)) {
+            addr_t |= (1 << j);
+        } else if(nec_bit_zero_if(item)) {
+            addr_t |= (0 << j);
+        } else {
+            return -1;
+        }
+        item++;
+        i++;
+    }
+    uint16_t data_t = 0;
+    for(j = 0; j < 16; j++) {
+        if(nec_bit_one_if(item)) {
+            data_t |= (1 << j);
+        } else if(nec_bit_zero_if(item)) {
+            data_t |= (0 << j);
+        } else {
+            return -1;
+        }
+        item++;
+        i++;
+    }
+    *addr = addr_t;
+    *data = data_t;
+    return i;
+}
+
+/*
+ * @brief Build NEC 32bit waveform.
+ */
+static int nec_build_items(int channel, rmt_item32_t* item, int item_num, uint16_t addr, uint16_t cmd_data)
+{
+    int i = 0, j = 0;
+    if(item_num < NEC_DATA_ITEM_NUM) {
+        return -1;
+    }
+    nec_fill_item_header(item++);
+    i++;
+    for(j = 0; j < 16; j++) {
+        if(addr & 0x1) {
+            nec_fill_item_bit_one(item);
+        } else {
+            nec_fill_item_bit_zero(item);
+        }
+        item++;
+        i++;
+        addr >>= 1;
+    }
+    for(j = 0; j < 16; j++) {
+        if(cmd_data & 0x1) {
+            nec_fill_item_bit_one(item);
+        } else {
+            nec_fill_item_bit_zero(item);
+        }
+        item++;
+        i++;
+        cmd_data >>= 1;
+    }
+    nec_fill_item_end(item);
+    i++;
+    return i;
+}
+
+/*
+ * @brief RMT transmitter initialization
+ */
+static void rmt_tx_init()
+{
+    rmt_config_t rmt_tx;
+    rmt_tx.channel = RMT_TX_CHANNEL;
+    rmt_tx.gpio_num = RMT_TX_GPIO_NUM;
+    rmt_tx.mem_block_num = 1;
+    rmt_tx.clk_div = RMT_CLK_DIV;
+    rmt_tx.tx_config.loop_en = false;
+    rmt_tx.tx_config.carrier_duty_percent = 50;
+    rmt_tx.tx_config.carrier_freq_hz = 38000;
+    rmt_tx.tx_config.carrier_level = 1;
+    rmt_tx.tx_config.carrier_en = RMT_TX_CARRIER_EN;
+    rmt_tx.tx_config.idle_level = 0;
+    rmt_tx.tx_config.idle_output_en = true;
+    rmt_tx.rmt_mode = 0;
+    rmt_config(&rmt_tx);
+    rmt_driver_install(rmt_tx.channel, 0, RMT_INTR_NUM);
+}
+
+/*
+ * @brief RMT receiver initialization
+ */
+void rmt_rx_init()
+{
+    rmt_config_t rmt_rx;
+    rmt_rx.channel = RMT_RX_CHANNEL;
+    rmt_rx.gpio_num = RMT_RX_GPIO_NUM;
+    rmt_rx.clk_div = RMT_CLK_DIV;
+    rmt_rx.mem_block_num = 1;
+    rmt_rx.rmt_mode = RMT_MODE_RX;
+    rmt_rx.rx_config.filter_en = true;
+    rmt_rx.rx_config.filter_ticks_thresh = 100;
+    rmt_rx.rx_config.idle_threshold = rmt_item32_tIMEOUT_US / 10 * (RMT_TICK_10_US);
+    rmt_config(&rmt_rx);
+    rmt_driver_install(rmt_rx.channel, 1000, RMT_INTR_NUM);
+}
+
+/**
+ * @brief RMT receiver demo, this task will print each received NEC data.
+ *
+ */
+void rmt_nec_rx_task()
+{
+    int channel = RMT_RX_CHANNEL;
+    rmt_rx_init();
+    RingbufHandle_t rb = NULL;
+    //get RMT RX ringbuffer
+    rmt_get_ringbuf_handler(channel, &rb);
+    rmt_rx_start(channel, 1);
+    while(rb) {
+        size_t rx_size = 0;
+        //try to receive data from ringbuffer.
+        //RMT driver will push all the data it receives to its ringbuffer.
+        //We just need to parse the value and return the spaces of ringbuffer.
+        rmt_item32_t* item = (rmt_item32_t*) xRingbufferReceive(rb, &rx_size, 1000);
+        if(item) {
+            uint16_t rmt_addr;
+            uint16_t rmt_cmd;
+            int offset = 0;
+            while(1) {
+                //parse data value from ringbuffer.
+                int res = nec_parse_items(item + offset, rx_size / 4 - offset, &rmt_addr, &rmt_cmd);
+                if(res > 0) {
+                    offset += res + 1;
+                    ESP_LOGI(NEC_TAG, "RMT RCV --- addr: 0x%04x cmd: 0x%04x", rmt_addr, rmt_cmd);
+                } else {
+                    break;
+                }
+            }
+            //after parsing the data, return spaces to ringbuffer.
+            vRingbufferReturnItem(rb, (void*) item);
+        } else {
+            break;
+        }
+    }
+    vTaskDelete(NULL);
+}
+
+/**
+ * @brief RMT transmitter demo, this task will periodically send NEC data. (100 * 32 bits each time.)
+ *
+ */
+void rmt_nec_tx_task()
+{
+    vTaskDelay(10);
+    rmt_tx_init();
+    esp_log_level_set(NEC_TAG, ESP_LOG_INFO);
+    int channel = RMT_TX_CHANNEL;
+    uint16_t cmd = 0x0;
+    uint16_t addr = 0x11;
+    int nec_tx_num = RMT_TX_DATA_NUM;
+    for(;;) {
+        ESP_LOGI(NEC_TAG, "RMT TX DATA");
+        size_t size = (sizeof(rmt_item32_t) * NEC_DATA_ITEM_NUM * nec_tx_num);
+        //each item represent a cycle of waveform.
+        rmt_item32_t* item = (rmt_item32_t*) malloc(size);
+        int item_num = NEC_DATA_ITEM_NUM * nec_tx_num;
+        memset((void*) item, 0, size);
+        int i, offset = 0;
+        while(1) {
+            //To build a series of waveforms.
+            i = nec_build_items(channel, item + offset, item_num - offset, ((~addr) << 8) | addr, cmd);
+            if(i < 0) {
+                break;
+            }
+            cmd++;
+            addr++;
+            offset += i;
+        }
+        //To send data according to the waveform items.
+        rmt_write_items(channel, item, item_num, true);
+        //Wait until sending is done.
+        rmt_wait_tx_done(channel);
+        //before we free the data, make sure sending is already done.
+        free(item);
+        vTaskDelay(2000 / portTICK_RATE_MS);
+    }
+    vTaskDelete(NULL);
+}
diff --git a/examples/11_rmt_nec_tx_rx/main/infrared_nec_main.c b/examples/11_rmt_nec_tx_rx/main/infrared_nec_main.c
new file mode 100644
index 000000000..c680f25a5
--- /dev/null
+++ b/examples/11_rmt_nec_tx_rx/main/infrared_nec_main.c
@@ -0,0 +1,23 @@
+/* NEC remote infrared RMT example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_system.h"
+#include "nvs_flash.h"
+#include "driver/rmt.h"
+#include "driver/periph_ctrl.h"
+extern void rmt_nec_tx_task();
+extern void rmt_nec_rx_task();
+
+void app_main()
+{
+    xTaskCreate(rmt_nec_rx_task, "rmt_nec_rx_task", 2048, NULL, 10, NULL);
+    xTaskCreate(rmt_nec_tx_task, "rmt_nec_tx_task", 2048, NULL, 10, NULL);
+}
diff --git a/make/component_wrapper.mk b/make/component_wrapper.mk
index 3018c18b5..c6ea52a2b 100644
--- a/make/component_wrapper.mk
+++ b/make/component_wrapper.mk
@@ -32,9 +32,6 @@ include $(IDF_PATH)/make/common.mk
 # Some of the following defaults may be overriden by the component's component.mk makefile,
 # during the next step:
 
-# Name of the component
-COMPONENT_NAME := $(lastword $(subst /, ,$(realpath $(COMPONENT_PATH))))
-
 # Absolute path of the .a file
 COMPONENT_LIBRARY = lib$(COMPONENT_NAME).a
 
@@ -198,13 +195,13 @@ embed_bin/$$(notdir $(1)): $(call resolvepath,$(1),$(COMPONENT_PATH)) | embed_bi
 
 embed_txt/$$(notdir $(1)): $(call resolvepath,$(1),$(COMPONENT_PATH)) | embed_txt
 	cp $$< $$@
-	echo -ne '\0' >> $$@  # null-terminate text files
+	printf '\0' >> $$@  # null-terminate text files
 
 # messing about with the embed_X subdirectory then using 'cd' for objcopy is because the
 # full path passed to OBJCOPY makes it into the name of the symbols in the .o file
 $(1).$(2).o: embed_$(2)/$$(notdir $(1)) | $$(dir $(1))
 	$(summary) EMBED $$@
-	cd embed_$(2); $(OBJCOPY) $(OBJCOPY_EMBED_ARGS) $$(notdir $$<) ../$$@
+	cd embed_$(2); $(OBJCOPY) $(OBJCOPY_EMBED_ARGS) $$(notdir $$<) $$(call resolvepath,$$@,../)
 
 CLEAN_FILES += embed_$(2)/$$(notdir $(1))
 endef
diff --git a/make/project.mk b/make/project.mk
index 870db55f9..181152f11 100644
--- a/make/project.mk
+++ b/make/project.mk
@@ -94,6 +94,18 @@ COMPONENT_PATHS += $(abspath $(SRCDIRS))
 # A component is buildable if it has a component.mk makefile in it
 COMPONENT_PATHS_BUILDABLE := $(foreach cp,$(COMPONENT_PATHS),$(if $(wildcard $(cp)/component.mk),$(cp)))
 
+# If TESTS_ALL set to 1, set TEST_COMPONENTS to all components
+ifeq ($(TESTS_ALL),1)
+TEST_COMPONENTS := $(COMPONENTS)
+endif
+
+# If TEST_COMPONENTS is set, create variables for building unit tests
+ifdef TEST_COMPONENTS
+override TEST_COMPONENTS := $(foreach comp,$(TEST_COMPONENTS),$(wildcard $(IDF_PATH)/components/$(comp)/test))
+TEST_COMPONENT_PATHS := $(TEST_COMPONENTS)
+TEST_COMPONENT_NAMES :=  $(foreach comp,$(TEST_COMPONENTS),$(lastword $(subst /, ,$(dir $(comp))))_test)
+endif
+
 # Initialise project-wide variables which can be added to by
 # each component.
 #
@@ -113,7 +125,7 @@ COMPONENT_SUBMODULES :=
 # dependencies.
 #
 # See the component_project_vars.mk target in component_wrapper.mk
-COMPONENT_PROJECT_VARS := $(addsuffix /component_project_vars.mk,$(notdir $(COMPONENT_PATHS_BUILDABLE)))
+COMPONENT_PROJECT_VARS := $(addsuffix /component_project_vars.mk,$(notdir $(COMPONENT_PATHS_BUILDABLE) ) $(TEST_COMPONENT_NAMES))
 COMPONENT_PROJECT_VARS := $(addprefix $(BUILD_DIR_BASE)/,$(COMPONENT_PROJECT_VARS))
 # this line is -include instead of include to prevent a spurious error message on make 3.81
 -include $(COMPONENT_PROJECT_VARS)
@@ -140,7 +152,7 @@ endif
 LDFLAGS ?= -nostdlib \
 	-L$(IDF_PATH)/lib \
 	-L$(IDF_PATH)/ld \
-	$(addprefix -L$(BUILD_DIR_BASE)/,$(COMPONENTS) $(SRCDIRS)) \
+	$(addprefix -L$(BUILD_DIR_BASE)/,$(COMPONENTS) $(TEST_COMPONENT_NAMES) $(SRCDIRS) ) \
 	-u call_user_start_cpu0	\
 	$(EXTRA_LDFLAGS) \
 	-Wl,--gc-sections	\
@@ -257,7 +269,7 @@ endif
 # A "component" library is any library in the LDFLAGS where
 # the name of the library is also a name of the component
 APP_LIBRARIES = $(patsubst -l%,%,$(filter -l%,$(LDFLAGS)))
-COMPONENT_LIBRARIES = $(filter $(notdir $(COMPONENT_PATHS_BUILDABLE)),$(APP_LIBRARIES))
+COMPONENT_LIBRARIES = $(filter $(notdir $(COMPONENT_PATHS_BUILDABLE)) $(TEST_COMPONENT_NAMES),$(APP_LIBRARIES))
 
 # ELF depends on the library archive files for COMPONENT_LIBRARIES
 # the rules to build these are emitted as part of GenerateComponentTarget below
@@ -282,7 +294,7 @@ $(BUILD_DIR_BASE):
 #
 # Is recursively expanded by the GenerateComponentTargets macro
 define ComponentMake
-+$(MAKE) -C $(BUILD_DIR_BASE)/$(2) -f $(IDF_PATH)/make/component_wrapper.mk COMPONENT_MAKEFILE=$(1)/component.mk
++$(MAKE) -C $(BUILD_DIR_BASE)/$(2) -f $(IDF_PATH)/make/component_wrapper.mk COMPONENT_MAKEFILE=$(1)/component.mk COMPONENT_NAME=$(2)
 endef
 
 # Generate top-level component-specific targets for each component
@@ -325,6 +337,7 @@ $(BUILD_DIR_BASE)/$(2)/component_project_vars.mk: $(1)/component.mk $(COMMON_MAK
 endef
 
 $(foreach component,$(COMPONENT_PATHS_BUILDABLE),$(eval $(call GenerateComponentTargets,$(component),$(notdir $(component)))))
+$(foreach component,$(TEST_COMPONENT_PATHS),$(eval $(call GenerateComponentTargets,$(component),$(lastword $(subst /, ,$(dir $(component))))_test)))
 
 app-clean: $(addsuffix -clean,$(notdir $(COMPONENT_PATHS_BUILDABLE)))
 	$(summary) RM $(APP_ELF)
diff --git a/tools/unit-test-app/Makefile b/tools/unit-test-app/Makefile
new file mode 100644
index 000000000..128e8a080
--- /dev/null
+++ b/tools/unit-test-app/Makefile
@@ -0,0 +1,9 @@
+#
+# This is a project Makefile. It is assumed the directory this Makefile resides in is a
+# project subdirectory.
+#
+
+PROJECT_NAME := unit-test-app
+
+include $(IDF_PATH)/make/project.mk
+
diff --git a/tools/unit-test-app/README.md b/tools/unit-test-app/README.md
new file mode 100644
index 000000000..eff3e12f4
--- /dev/null
+++ b/tools/unit-test-app/README.md
@@ -0,0 +1,12 @@
+# Unit Test App
+
+ESP-IDF unit tests are run using Unit Test App. The app can be built with the unit tests for a specific component. Unit tests are in `test` subdirectories of respective components.
+
+# Building Unit Test App
+
+* Follow the setup instructions in the top-level esp-idf README.
+* Set IDF_PATH environment variable to point to the path to the esp-idf top-level directory.
+* Change into `tools/unit-test-app` directory
+* `make menuconfig` to configure the Unit Test App.
+* `make TEST_COMPONENTS=` with `TEST_COMPONENTS` set to names of the components to be included in the test app. Or `make TESTS_ALL=1` to build the test app with all the tests for components having `test` subdirectory.
+* Follow the printed instructions to flash, or run `make flash`.
diff --git a/tools/unit-test-app/components/unity/component.mk b/tools/unit-test-app/components/unity/component.mk
new file mode 100644
index 000000000..ebd7a7d59
--- /dev/null
+++ b/tools/unit-test-app/components/unity/component.mk
@@ -0,0 +1,3 @@
+#
+# Component Makefile
+#
diff --git a/tools/unit-test-app/components/unity/include/unity.h b/tools/unit-test-app/components/unity/include/unity.h
new file mode 100644
index 000000000..3ffc14c0b
--- /dev/null
+++ b/tools/unit-test-app/components/unity/include/unity.h
@@ -0,0 +1,292 @@
+/* ==========================================
+    Unity Project - A Test Framework for C
+    Copyright (c) 2007-14 Mike Karlesky, Mark VanderVoord, Greg Williams
+    [Released under MIT License. Please refer to license.txt for details]
+========================================== */
+
+#ifndef UNITY_FRAMEWORK_H
+#define UNITY_FRAMEWORK_H
+#define UNITY
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#define UNITY_INCLUDE_CONFIG_H
+#include "unity_internals.h"
+
+void setUp(void);
+void tearDown(void);
+
+/*-------------------------------------------------------
+ * Configuration Options
+ *-------------------------------------------------------
+ * All options described below should be passed as a compiler flag to all files using Unity. If you must add #defines, place them BEFORE the #include above.
+
+ * Integers/longs/pointers
+ *     - Unity attempts to automatically discover your integer sizes
+ *       - define UNITY_EXCLUDE_STDINT_H to stop attempting to look in <stdint.h>
+ *       - define UNITY_EXCLUDE_LIMITS_H to stop attempting to look in <limits.h>
+ *       - define UNITY_EXCLUDE_SIZEOF to stop attempting to use sizeof in macros
+ *     - If you cannot use the automatic methods above, you can force Unity by using these options:
+ *       - define UNITY_SUPPORT_64
+ *       - define UNITY_INT_WIDTH
+ *       - UNITY_LONG_WIDTH
+ *       - UNITY_POINTER_WIDTH
+
+ * Floats
+ *     - define UNITY_EXCLUDE_FLOAT to disallow floating point comparisons
+ *     - define UNITY_FLOAT_PRECISION to specify the precision to use when doing TEST_ASSERT_EQUAL_FLOAT
+ *     - define UNITY_FLOAT_TYPE to specify doubles instead of single precision floats
+ *     - define UNITY_FLOAT_VERBOSE to print floating point values in errors (uses sprintf)
+ *     - define UNITY_INCLUDE_DOUBLE to allow double floating point comparisons
+ *     - define UNITY_EXCLUDE_DOUBLE to disallow double floating point comparisons (default)
+ *     - define UNITY_DOUBLE_PRECISION to specify the precision to use when doing TEST_ASSERT_EQUAL_DOUBLE
+ *     - define UNITY_DOUBLE_TYPE to specify something other than double
+ *     - define UNITY_DOUBLE_VERBOSE to print floating point values in errors (uses sprintf)
+ *     - define UNITY_VERBOSE_NUMBER_MAX_LENGTH to change maximum length of printed numbers (used by sprintf)
+
+ * Output
+ *     - by default, Unity prints to standard out with putchar.  define UNITY_OUTPUT_CHAR(a) with a different function if desired
+ *     - define UNITY_DIFFERENTIATE_FINAL_FAIL to print FAILED (vs. FAIL) at test end summary - for automated search for failure
+
+ * Optimization
+ *     - by default, line numbers are stored in unsigned shorts.  Define UNITY_LINE_TYPE with a different type if your files are huge
+ *     - by default, test and failure counters are unsigned shorts.  Define UNITY_COUNTER_TYPE with a different type if you want to save space or have more than 65535 Tests.
+
+ * Test Cases
+ *     - define UNITY_SUPPORT_TEST_CASES to include the TEST_CASE macro, though really it's mostly about the runner generator script
+
+ * Parameterized Tests
+ *     - you'll want to create a define of TEST_CASE(...) which basically evaluates to nothing
+
+ *-------------------------------------------------------
+ * Basic Fail and Ignore
+ *-------------------------------------------------------*/
+
+#define TEST_FAIL_MESSAGE(message)                                                                 UNITY_TEST_FAIL(__LINE__, (message))
+#define TEST_FAIL()                                                                                UNITY_TEST_FAIL(__LINE__, NULL)
+#define TEST_IGNORE_MESSAGE(message)                                                               UNITY_TEST_IGNORE(__LINE__, (message))
+#define TEST_IGNORE()                                                                              UNITY_TEST_IGNORE(__LINE__, NULL)
+#define TEST_ONLY()
+
+/* It is not necessary for you to call PASS. A PASS condition is assumed if nothing fails.
+ * This method allows you to abort a test immediately with a PASS state, ignoring the remainder of the test. */
+#define TEST_PASS()                                                                                longjmp(Unity.AbortFrame, 1)
+
+/*-------------------------------------------------------
+ * Test Asserts (simple)
+ *-------------------------------------------------------*/
+
+/* Boolean */
+#define TEST_ASSERT(condition)                                                                     UNITY_TEST_ASSERT(       (condition), __LINE__, " Expression Evaluated To FALSE")
+#define TEST_ASSERT_TRUE(condition)                                                                UNITY_TEST_ASSERT(       (condition), __LINE__, " Expected TRUE Was FALSE")
+#define TEST_ASSERT_UNLESS(condition)                                                              UNITY_TEST_ASSERT(      !(condition), __LINE__, " Expression Evaluated To TRUE")
+#define TEST_ASSERT_FALSE(condition)                                                               UNITY_TEST_ASSERT(      !(condition), __LINE__, " Expected FALSE Was TRUE")
+#define TEST_ASSERT_NULL(pointer)                                                                  UNITY_TEST_ASSERT_NULL(    (pointer), __LINE__, " Expected NULL")
+#define TEST_ASSERT_NOT_NULL(pointer)                                                              UNITY_TEST_ASSERT_NOT_NULL((pointer), __LINE__, " Expected Non-NULL")
+
+/* Integers (of all sizes) */
+#define TEST_ASSERT_EQUAL_INT(expected, actual)                                                    UNITY_TEST_ASSERT_EQUAL_INT((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_INT8(expected, actual)                                                   UNITY_TEST_ASSERT_EQUAL_INT8((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_INT16(expected, actual)                                                  UNITY_TEST_ASSERT_EQUAL_INT16((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_INT32(expected, actual)                                                  UNITY_TEST_ASSERT_EQUAL_INT32((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_INT64(expected, actual)                                                  UNITY_TEST_ASSERT_EQUAL_INT64((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL(expected, actual)                                                        UNITY_TEST_ASSERT_EQUAL_INT((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_NOT_EQUAL(expected, actual)                                                    UNITY_TEST_ASSERT(((expected) !=  (actual)), __LINE__, " Expected Not-Equal")
+#define TEST_ASSERT_EQUAL_UINT(expected, actual)                                                   UNITY_TEST_ASSERT_EQUAL_UINT( (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_UINT8(expected, actual)                                                  UNITY_TEST_ASSERT_EQUAL_UINT8( (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_UINT16(expected, actual)                                                 UNITY_TEST_ASSERT_EQUAL_UINT16( (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_UINT32(expected, actual)                                                 UNITY_TEST_ASSERT_EQUAL_UINT32( (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_UINT64(expected, actual)                                                 UNITY_TEST_ASSERT_EQUAL_UINT64( (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_HEX(expected, actual)                                                    UNITY_TEST_ASSERT_EQUAL_HEX32((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_HEX8(expected, actual)                                                   UNITY_TEST_ASSERT_EQUAL_HEX8( (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_HEX16(expected, actual)                                                  UNITY_TEST_ASSERT_EQUAL_HEX16((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_HEX32(expected, actual)                                                  UNITY_TEST_ASSERT_EQUAL_HEX32((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_HEX64(expected, actual)                                                  UNITY_TEST_ASSERT_EQUAL_HEX64((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_BITS(mask, expected, actual)                                                   UNITY_TEST_ASSERT_BITS((mask), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_BITS_HIGH(mask, actual)                                                        UNITY_TEST_ASSERT_BITS((mask), (_UU32)(-1), (actual), __LINE__, NULL)
+#define TEST_ASSERT_BITS_LOW(mask, actual)                                                         UNITY_TEST_ASSERT_BITS((mask), (_UU32)(0), (actual), __LINE__, NULL)
+#define TEST_ASSERT_BIT_HIGH(bit, actual)                                                          UNITY_TEST_ASSERT_BITS(((_UU32)1 << (bit)), (_UU32)(-1), (actual), __LINE__, NULL)
+#define TEST_ASSERT_BIT_LOW(bit, actual)                                                           UNITY_TEST_ASSERT_BITS(((_UU32)1 << (bit)), (_UU32)(0), (actual), __LINE__, NULL)
+
+/* Integer Ranges (of all sizes) */
+#define TEST_ASSERT_INT_WITHIN(delta, expected, actual)                                            UNITY_TEST_ASSERT_INT_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_INT8_WITHIN(delta, expected, actual)                                           UNITY_TEST_ASSERT_INT8_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_INT16_WITHIN(delta, expected, actual)                                          UNITY_TEST_ASSERT_INT16_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_INT32_WITHIN(delta, expected, actual)                                          UNITY_TEST_ASSERT_INT32_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_INT64_WITHIN(delta, expected, actual)                                          UNITY_TEST_ASSERT_INT64_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_UINT_WITHIN(delta, expected, actual)                                           UNITY_TEST_ASSERT_UINT_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_UINT8_WITHIN(delta, expected, actual)                                          UNITY_TEST_ASSERT_UINT8_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_UINT16_WITHIN(delta, expected, actual)                                         UNITY_TEST_ASSERT_UINT16_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_UINT32_WITHIN(delta, expected, actual)                                         UNITY_TEST_ASSERT_UINT32_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_UINT64_WITHIN(delta, expected, actual)                                         UNITY_TEST_ASSERT_UINT64_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_HEX_WITHIN(delta, expected, actual)                                            UNITY_TEST_ASSERT_HEX32_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_HEX8_WITHIN(delta, expected, actual)                                           UNITY_TEST_ASSERT_HEX8_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_HEX16_WITHIN(delta, expected, actual)                                          UNITY_TEST_ASSERT_HEX16_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_HEX32_WITHIN(delta, expected, actual)                                          UNITY_TEST_ASSERT_HEX32_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_HEX64_WITHIN(delta, expected, actual)                                          UNITY_TEST_ASSERT_HEX64_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+
+/* Structs and Strings */
+#define TEST_ASSERT_EQUAL_PTR(expected, actual)                                                    UNITY_TEST_ASSERT_EQUAL_PTR((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_STRING(expected, actual)                                                 UNITY_TEST_ASSERT_EQUAL_STRING((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_STRING_LEN(expected, actual, len)                                        UNITY_TEST_ASSERT_EQUAL_STRING_LEN((expected), (actual), (len), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_MEMORY(expected, actual, len)                                            UNITY_TEST_ASSERT_EQUAL_MEMORY((expected), (actual), (len), __LINE__, NULL)
+
+/* Arrays */
+#define TEST_ASSERT_EQUAL_INT_ARRAY(expected, actual, num_elements)                                UNITY_TEST_ASSERT_EQUAL_INT_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_INT8_ARRAY(expected, actual, num_elements)                               UNITY_TEST_ASSERT_EQUAL_INT8_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_INT16_ARRAY(expected, actual, num_elements)                              UNITY_TEST_ASSERT_EQUAL_INT16_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_INT32_ARRAY(expected, actual, num_elements)                              UNITY_TEST_ASSERT_EQUAL_INT32_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_INT64_ARRAY(expected, actual, num_elements)                              UNITY_TEST_ASSERT_EQUAL_INT64_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_UINT_ARRAY(expected, actual, num_elements)                               UNITY_TEST_ASSERT_EQUAL_UINT_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, actual, num_elements)                              UNITY_TEST_ASSERT_EQUAL_UINT8_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_UINT16_ARRAY(expected, actual, num_elements)                             UNITY_TEST_ASSERT_EQUAL_UINT16_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_UINT32_ARRAY(expected, actual, num_elements)                             UNITY_TEST_ASSERT_EQUAL_UINT32_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_UINT64_ARRAY(expected, actual, num_elements)                             UNITY_TEST_ASSERT_EQUAL_UINT64_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_HEX_ARRAY(expected, actual, num_elements)                                UNITY_TEST_ASSERT_EQUAL_HEX32_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_HEX8_ARRAY(expected, actual, num_elements)                               UNITY_TEST_ASSERT_EQUAL_HEX8_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_HEX16_ARRAY(expected, actual, num_elements)                              UNITY_TEST_ASSERT_EQUAL_HEX16_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_HEX32_ARRAY(expected, actual, num_elements)                              UNITY_TEST_ASSERT_EQUAL_HEX32_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_HEX64_ARRAY(expected, actual, num_elements)                              UNITY_TEST_ASSERT_EQUAL_HEX64_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_PTR_ARRAY(expected, actual, num_elements)                                UNITY_TEST_ASSERT_EQUAL_PTR_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_STRING_ARRAY(expected, actual, num_elements)                             UNITY_TEST_ASSERT_EQUAL_STRING_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_MEMORY_ARRAY(expected, actual, len, num_elements)                        UNITY_TEST_ASSERT_EQUAL_MEMORY_ARRAY((expected), (actual), (len), (num_elements), __LINE__, NULL)
+
+/* Floating Point (If Enabled) */
+#define TEST_ASSERT_FLOAT_WITHIN(delta, expected, actual)                                          UNITY_TEST_ASSERT_FLOAT_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_FLOAT(expected, actual)                                                  UNITY_TEST_ASSERT_EQUAL_FLOAT((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, num_elements)                              UNITY_TEST_ASSERT_EQUAL_FLOAT_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_FLOAT_IS_INF(actual)                                                           UNITY_TEST_ASSERT_FLOAT_IS_INF((actual), __LINE__, NULL)
+#define TEST_ASSERT_FLOAT_IS_NEG_INF(actual)                                                       UNITY_TEST_ASSERT_FLOAT_IS_NEG_INF((actual), __LINE__, NULL)
+#define TEST_ASSERT_FLOAT_IS_NAN(actual)                                                           UNITY_TEST_ASSERT_FLOAT_IS_NAN((actual), __LINE__, NULL)
+#define TEST_ASSERT_FLOAT_IS_DETERMINATE(actual)                                                   UNITY_TEST_ASSERT_FLOAT_IS_DETERMINATE((actual), __LINE__, NULL)
+#define TEST_ASSERT_FLOAT_IS_NOT_INF(actual)                                                       UNITY_TEST_ASSERT_FLOAT_IS_NOT_INF((actual), __LINE__, NULL)
+#define TEST_ASSERT_FLOAT_IS_NOT_NEG_INF(actual)                                                   UNITY_TEST_ASSERT_FLOAT_IS_NOT_NEG_INF((actual), __LINE__, NULL)
+#define TEST_ASSERT_FLOAT_IS_NOT_NAN(actual)                                                       UNITY_TEST_ASSERT_FLOAT_IS_NOT_NAN((actual), __LINE__, NULL)
+#define TEST_ASSERT_FLOAT_IS_NOT_DETERMINATE(actual)                                               UNITY_TEST_ASSERT_FLOAT_IS_NOT_DETERMINATE((actual), __LINE__, NULL)
+
+/* Double (If Enabled) */
+#define TEST_ASSERT_DOUBLE_WITHIN(delta, expected, actual)                                         UNITY_TEST_ASSERT_DOUBLE_WITHIN((delta), (expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_DOUBLE(expected, actual)                                                 UNITY_TEST_ASSERT_EQUAL_DOUBLE((expected), (actual), __LINE__, NULL)
+#define TEST_ASSERT_EQUAL_DOUBLE_ARRAY(expected, actual, num_elements)                             UNITY_TEST_ASSERT_EQUAL_DOUBLE_ARRAY((expected), (actual), (num_elements), __LINE__, NULL)
+#define TEST_ASSERT_DOUBLE_IS_INF(actual)                                                          UNITY_TEST_ASSERT_DOUBLE_IS_INF((actual), __LINE__, NULL)
+#define TEST_ASSERT_DOUBLE_IS_NEG_INF(actual)                                                      UNITY_TEST_ASSERT_DOUBLE_IS_NEG_INF((actual), __LINE__, NULL)
+#define TEST_ASSERT_DOUBLE_IS_NAN(actual)                                                          UNITY_TEST_ASSERT_DOUBLE_IS_NAN((actual), __LINE__, NULL)
+#define TEST_ASSERT_DOUBLE_IS_DETERMINATE(actual)                                                  UNITY_TEST_ASSERT_DOUBLE_IS_DETERMINATE((actual), __LINE__, NULL)
+#define TEST_ASSERT_DOUBLE_IS_NOT_INF(actual)                                                      UNITY_TEST_ASSERT_DOUBLE_IS_NOT_INF((actual), __LINE__, NULL)
+#define TEST_ASSERT_DOUBLE_IS_NOT_NEG_INF(actual)                                                  UNITY_TEST_ASSERT_DOUBLE_IS_NOT_NEG_INF((actual), __LINE__, NULL)
+#define TEST_ASSERT_DOUBLE_IS_NOT_NAN(actual)                                                      UNITY_TEST_ASSERT_DOUBLE_IS_NOT_NAN((actual), __LINE__, NULL)
+#define TEST_ASSERT_DOUBLE_IS_NOT_DETERMINATE(actual)                                              UNITY_TEST_ASSERT_DOUBLE_IS_NOT_DETERMINATE((actual), __LINE__, NULL)
+
+/*-------------------------------------------------------
+ * Test Asserts (with additional messages)
+ *-------------------------------------------------------*/
+
+/* Boolean */
+#define TEST_ASSERT_MESSAGE(condition, message)                                                    UNITY_TEST_ASSERT(       (condition), __LINE__, (message))
+#define TEST_ASSERT_TRUE_MESSAGE(condition, message)                                               UNITY_TEST_ASSERT(       (condition), __LINE__, (message))
+#define TEST_ASSERT_UNLESS_MESSAGE(condition, message)                                             UNITY_TEST_ASSERT(      !(condition), __LINE__, (message))
+#define TEST_ASSERT_FALSE_MESSAGE(condition, message)                                              UNITY_TEST_ASSERT(      !(condition), __LINE__, (message))
+#define TEST_ASSERT_NULL_MESSAGE(pointer, message)                                                 UNITY_TEST_ASSERT_NULL(    (pointer), __LINE__, (message))
+#define TEST_ASSERT_NOT_NULL_MESSAGE(pointer, message)                                             UNITY_TEST_ASSERT_NOT_NULL((pointer), __LINE__, (message))
+
+/* Integers (of all sizes) */
+#define TEST_ASSERT_EQUAL_INT_MESSAGE(expected, actual, message)                                   UNITY_TEST_ASSERT_EQUAL_INT((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_INT8_MESSAGE(expected, actual, message)                                  UNITY_TEST_ASSERT_EQUAL_INT8((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_INT16_MESSAGE(expected, actual, message)                                 UNITY_TEST_ASSERT_EQUAL_INT16((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_INT32_MESSAGE(expected, actual, message)                                 UNITY_TEST_ASSERT_EQUAL_INT32((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_INT64_MESSAGE(expected, actual, message)                                 UNITY_TEST_ASSERT_EQUAL_INT64((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_MESSAGE(expected, actual, message)                                       UNITY_TEST_ASSERT_EQUAL_INT((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_NOT_EQUAL_MESSAGE(expected, actual, message)                                   UNITY_TEST_ASSERT(((expected) !=  (actual)), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_UINT_MESSAGE(expected, actual, message)                                  UNITY_TEST_ASSERT_EQUAL_UINT( (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_UINT8_MESSAGE(expected, actual, message)                                 UNITY_TEST_ASSERT_EQUAL_UINT8( (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_UINT16_MESSAGE(expected, actual, message)                                UNITY_TEST_ASSERT_EQUAL_UINT16( (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_UINT32_MESSAGE(expected, actual, message)                                UNITY_TEST_ASSERT_EQUAL_UINT32( (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_UINT64_MESSAGE(expected, actual, message)                                UNITY_TEST_ASSERT_EQUAL_UINT64( (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_HEX_MESSAGE(expected, actual, message)                                   UNITY_TEST_ASSERT_EQUAL_HEX32((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_HEX8_MESSAGE(expected, actual, message)                                  UNITY_TEST_ASSERT_EQUAL_HEX8( (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_HEX16_MESSAGE(expected, actual, message)                                 UNITY_TEST_ASSERT_EQUAL_HEX16((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_HEX32_MESSAGE(expected, actual, message)                                 UNITY_TEST_ASSERT_EQUAL_HEX32((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_HEX64_MESSAGE(expected, actual, message)                                 UNITY_TEST_ASSERT_EQUAL_HEX64((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_BITS_MESSAGE(mask, expected, actual, message)                                  UNITY_TEST_ASSERT_BITS((mask), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_BITS_HIGH_MESSAGE(mask, actual, message)                                       UNITY_TEST_ASSERT_BITS((mask), (_UU32)(-1), (actual), __LINE__, (message))
+#define TEST_ASSERT_BITS_LOW_MESSAGE(mask, actual, message)                                        UNITY_TEST_ASSERT_BITS((mask), (_UU32)(0), (actual), __LINE__, (message))
+#define TEST_ASSERT_BIT_HIGH_MESSAGE(bit, actual, message)                                         UNITY_TEST_ASSERT_BITS(((_UU32)1 << (bit)), (_UU32)(-1), (actual), __LINE__, (message))
+#define TEST_ASSERT_BIT_LOW_MESSAGE(bit, actual, message)                                          UNITY_TEST_ASSERT_BITS(((_UU32)1 << (bit)), (_UU32)(0), (actual), __LINE__, (message))
+
+/* Integer Ranges (of all sizes) */
+#define TEST_ASSERT_INT_WITHIN_MESSAGE(delta, expected, actual, message)                           UNITY_TEST_ASSERT_INT_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_INT8_WITHIN_MESSAGE(delta, expected, actual, message)                          UNITY_TEST_ASSERT_INT8_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_INT16_WITHIN_MESSAGE(delta, expected, actual, message)                         UNITY_TEST_ASSERT_INT16_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_INT32_WITHIN_MESSAGE(delta, expected, actual, message)                         UNITY_TEST_ASSERT_INT32_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_INT64_WITHIN_MESSAGE(delta, expected, actual, message)                         UNITY_TEST_ASSERT_INT64_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_UINT_WITHIN_MESSAGE(delta, expected, actual, message)                          UNITY_TEST_ASSERT_UINT_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_UINT8_WITHIN_MESSAGE(delta, expected, actual, message)                         UNITY_TEST_ASSERT_UINT8_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_UINT16_WITHIN_MESSAGE(delta, expected, actual, message)                        UNITY_TEST_ASSERT_UINT16_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_UINT32_WITHIN_MESSAGE(delta, expected, actual, message)                        UNITY_TEST_ASSERT_UINT32_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_UINT64_WITHIN_MESSAGE(delta, expected, actual, message)                        UNITY_TEST_ASSERT_UINT64_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_HEX_WITHIN_MESSAGE(delta, expected, actual, message)                           UNITY_TEST_ASSERT_HEX32_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_HEX8_WITHIN_MESSAGE(delta, expected, actual, message)                          UNITY_TEST_ASSERT_HEX8_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_HEX16_WITHIN_MESSAGE(delta, expected, actual, message)                         UNITY_TEST_ASSERT_HEX16_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_HEX32_WITHIN_MESSAGE(delta, expected, actual, message)                         UNITY_TEST_ASSERT_HEX32_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_HEX64_WITHIN_MESSAGE(delta, expected, actual, message)                         UNITY_TEST_ASSERT_HEX64_WITHIN((delta), (expected), (actual), __LINE__, (message))
+
+/* Structs and Strings */
+#define TEST_ASSERT_EQUAL_PTR_MESSAGE(expected, actual, message)                                   UNITY_TEST_ASSERT_EQUAL_PTR((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_STRING_MESSAGE(expected, actual, message)                                UNITY_TEST_ASSERT_EQUAL_STRING((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_STRING_LEN_MESSAGE(expected, actual, len, message)                       UNITY_TEST_ASSERT_EQUAL_STRING_LEN((expected), (actual), (len), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_MEMORY_MESSAGE(expected, actual, len, message)                           UNITY_TEST_ASSERT_EQUAL_MEMORY((expected), (actual), (len), __LINE__, (message))
+
+/* Arrays */
+#define TEST_ASSERT_EQUAL_INT_ARRAY_MESSAGE(expected, actual, num_elements, message)               UNITY_TEST_ASSERT_EQUAL_INT_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_INT8_ARRAY_MESSAGE(expected, actual, num_elements, message)              UNITY_TEST_ASSERT_EQUAL_INT8_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_INT16_ARRAY_MESSAGE(expected, actual, num_elements, message)             UNITY_TEST_ASSERT_EQUAL_INT16_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_INT32_ARRAY_MESSAGE(expected, actual, num_elements, message)             UNITY_TEST_ASSERT_EQUAL_INT32_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_INT64_ARRAY_MESSAGE(expected, actual, num_elements, message)             UNITY_TEST_ASSERT_EQUAL_INT64_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_UINT_ARRAY_MESSAGE(expected, actual, num_elements, message)              UNITY_TEST_ASSERT_EQUAL_UINT_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_UINT8_ARRAY_MESSAGE(expected, actual, num_elements, message)             UNITY_TEST_ASSERT_EQUAL_UINT8_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_UINT16_ARRAY_MESSAGE(expected, actual, num_elements, message)            UNITY_TEST_ASSERT_EQUAL_UINT16_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_UINT32_ARRAY_MESSAGE(expected, actual, num_elements, message)            UNITY_TEST_ASSERT_EQUAL_UINT32_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_UINT64_ARRAY_MESSAGE(expected, actual, num_elements, message)            UNITY_TEST_ASSERT_EQUAL_UINT64_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_HEX_ARRAY_MESSAGE(expected, actual, num_elements, message)               UNITY_TEST_ASSERT_EQUAL_HEX32_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_HEX8_ARRAY_MESSAGE(expected, actual, num_elements, message)              UNITY_TEST_ASSERT_EQUAL_HEX8_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_HEX16_ARRAY_MESSAGE(expected, actual, num_elements, message)             UNITY_TEST_ASSERT_EQUAL_HEX16_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_HEX32_ARRAY_MESSAGE(expected, actual, num_elements, message)             UNITY_TEST_ASSERT_EQUAL_HEX32_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_HEX64_ARRAY_MESSAGE(expected, actual, num_elements, message)             UNITY_TEST_ASSERT_EQUAL_HEX64_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_PTR_ARRAY_MESSAGE(expected, actual, num_elements, message)               UNITY_TEST_ASSERT_EQUAL_PTR_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_STRING_ARRAY_MESSAGE(expected, actual, num_elements, message)            UNITY_TEST_ASSERT_EQUAL_STRING_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_MEMORY_ARRAY_MESSAGE(expected, actual, len, num_elements, message)       UNITY_TEST_ASSERT_EQUAL_MEMORY_ARRAY((expected), (actual), (len), (num_elements), __LINE__, (message))
+
+/* Floating Point (If Enabled) */
+#define TEST_ASSERT_FLOAT_WITHIN_MESSAGE(delta, expected, actual, message)                         UNITY_TEST_ASSERT_FLOAT_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_FLOAT_MESSAGE(expected, actual, message)                                 UNITY_TEST_ASSERT_EQUAL_FLOAT((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_FLOAT_ARRAY_MESSAGE(expected, actual, num_elements, message)             UNITY_TEST_ASSERT_EQUAL_FLOAT_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_FLOAT_IS_INF_MESSAGE(actual, message)                                          UNITY_TEST_ASSERT_FLOAT_IS_INF((actual), __LINE__, (message))
+#define TEST_ASSERT_FLOAT_IS_NEG_INF_MESSAGE(actual, message)                                      UNITY_TEST_ASSERT_FLOAT_IS_NEG_INF((actual), __LINE__, (message))
+#define TEST_ASSERT_FLOAT_IS_NAN_MESSAGE(actual, message)                                          UNITY_TEST_ASSERT_FLOAT_IS_NAN((actual), __LINE__, (message))
+#define TEST_ASSERT_FLOAT_IS_DETERMINATE_MESSAGE(actual, message)                                  UNITY_TEST_ASSERT_FLOAT_IS_DETERMINATE((actual), __LINE__, (message))
+#define TEST_ASSERT_FLOAT_IS_NOT_INF_MESSAGE(actual, message)                                      UNITY_TEST_ASSERT_FLOAT_IS_NOT_INF((actual), __LINE__, (message))
+#define TEST_ASSERT_FLOAT_IS_NOT_NEG_INF_MESSAGE(actual, message)                                  UNITY_TEST_ASSERT_FLOAT_IS_NOT_NEG_INF((actual), __LINE__, (message))
+#define TEST_ASSERT_FLOAT_IS_NOT_NAN_MESSAGE(actual, message)                                      UNITY_TEST_ASSERT_FLOAT_IS_NOT_NAN((actual), __LINE__, (message))
+#define TEST_ASSERT_FLOAT_IS_NOT_DETERMINATE_MESSAGE(actual, message)                              UNITY_TEST_ASSERT_FLOAT_IS_NOT_DETERMINATE((actual), __LINE__, (message))
+
+/* Double (If Enabled) */
+#define TEST_ASSERT_DOUBLE_WITHIN_MESSAGE(delta, expected, actual, message)                        UNITY_TEST_ASSERT_DOUBLE_WITHIN((delta), (expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_DOUBLE_MESSAGE(expected, actual, message)                                UNITY_TEST_ASSERT_EQUAL_DOUBLE((expected), (actual), __LINE__, (message))
+#define TEST_ASSERT_EQUAL_DOUBLE_ARRAY_MESSAGE(expected, actual, num_elements, message)            UNITY_TEST_ASSERT_EQUAL_DOUBLE_ARRAY((expected), (actual), (num_elements), __LINE__, (message))
+#define TEST_ASSERT_DOUBLE_IS_INF_MESSAGE(actual, message)                                         UNITY_TEST_ASSERT_DOUBLE_IS_INF((actual), __LINE__, (message))
+#define TEST_ASSERT_DOUBLE_IS_NEG_INF_MESSAGE(actual, message)                                     UNITY_TEST_ASSERT_DOUBLE_IS_NEG_INF((actual), __LINE__, (message))
+#define TEST_ASSERT_DOUBLE_IS_NAN_MESSAGE(actual, message)                                         UNITY_TEST_ASSERT_DOUBLE_IS_NAN((actual), __LINE__, (message))
+#define TEST_ASSERT_DOUBLE_IS_DETERMINATE_MESSAGE(actual, message)                                 UNITY_TEST_ASSERT_DOUBLE_IS_DETERMINATE((actual), __LINE__, (message))
+#define TEST_ASSERT_DOUBLE_IS_NOT_INF_MESSAGE(actual, message)                                     UNITY_TEST_ASSERT_DOUBLE_IS_NOT_INF((actual), __LINE__, (message))
+#define TEST_ASSERT_DOUBLE_IS_NOT_NEG_INF_MESSAGE(actual, message)                                 UNITY_TEST_ASSERT_DOUBLE_IS_NOT_NEG_INF((actual), __LINE__, (message))
+#define TEST_ASSERT_DOUBLE_IS_NOT_NAN_MESSAGE(actual, message)                                     UNITY_TEST_ASSERT_DOUBLE_IS_NOT_NAN((actual), __LINE__, (message))
+#define TEST_ASSERT_DOUBLE_IS_NOT_DETERMINATE_MESSAGE(actual, message)                             UNITY_TEST_ASSERT_DOUBLE_IS_NOT_DETERMINATE((actual), __LINE__, (message))
+
+/* end of UNITY_FRAMEWORK_H */
+#ifdef __cplusplus
+}
+#endif
+#endif
diff --git a/tools/unit-test-app/components/unity/include/unity_config.h b/tools/unit-test-app/components/unity/include/unity_config.h
new file mode 100644
index 000000000..b8e56a79c
--- /dev/null
+++ b/tools/unit-test-app/components/unity/include/unity_config.h
@@ -0,0 +1,75 @@
+#ifndef UNITY_CONFIG_H
+#define UNITY_CONFIG_H
+
+// This file gets included from unity.h via unity_internals.h
+// It is inside #ifdef __cplusplus / extern "C" block, so we can
+// only use C features here
+
+// Adapt Unity to our environment, disable FP support
+
+#include <esp_err.h>
+
+#define UNITY_EXCLUDE_FLOAT
+#define UNITY_EXCLUDE_DOUBLE
+
+#define UNITY_OUTPUT_CHAR unity_putc
+#define UNITY_OUTPUT_FLUSH unity_flush
+
+// Define helpers to register test cases from multiple files
+
+#define UNITY_EXPAND2(a, b) a ## b
+#define UNITY_EXPAND(a, b) UNITY_EXPAND2(a, b)
+#define UNITY_TEST_UID(what) UNITY_EXPAND(what, __LINE__)
+
+#define UNITY_TEST_REG_HELPER reg_helper ## UNITY_TEST_UID
+#define UNITY_TEST_DESC_UID desc ## UNITY_TEST_UID
+struct test_desc_t
+{
+	const char* name;
+	const char* desc;
+	void (*fn)(void);
+	const char* file;
+	int line;
+	struct test_desc_t* next;
+};
+
+void unity_testcase_register(struct test_desc_t* desc);
+
+void unity_run_menu();
+
+void unity_run_tests_with_filter(const char* filter);
+
+void unity_run_all_tests();
+
+/*  Test case macro, a-la CATCH framework.
+	First argument is a free-form description, 
+	second argument is (by convention) a list of identifiers, each one in square brackets.
+	Identifiers are used to group related tests, or tests with specific properties.
+    Use like:
+
+	TEST_CASE("Frobnicator forbnicates", "[frobnicator][rom]")
+	{
+		// test goes here
+	}
+*/
+#define TEST_CASE(name_, desc_) \
+	static void UNITY_TEST_UID(test_func_) (void); \
+	static void __attribute__((constructor)) UNITY_TEST_UID(test_reg_helper_) () \
+	{ \
+		static struct test_desc_t UNITY_TEST_UID(test_desc_) = { \
+			.name = name_, \
+			.desc = desc_, \
+			.fn = &UNITY_TEST_UID(test_func_), \
+			.file = __FILE__, \
+			.line = __LINE__ \
+		}; \
+		unity_testcase_register( & UNITY_TEST_UID(test_desc_) ); \
+	}\
+	static void UNITY_TEST_UID(test_func_) (void)
+
+// shorthand to check esp_err_t return code
+#define TEST_ESP_OK(rc)	TEST_ASSERT_EQUAL_INT32(ESP_OK, rc)
+#define TEST_ESP_ERR(err, rc) TEST_ASSERT_EQUAL_INT32(err, rc)
+
+
+#endif //UNITY_CONFIG_H
diff --git a/tools/unit-test-app/components/unity/include/unity_internals.h b/tools/unit-test-app/components/unity/include/unity_internals.h
new file mode 100644
index 000000000..03d196f4f
--- /dev/null
+++ b/tools/unit-test-app/components/unity/include/unity_internals.h
@@ -0,0 +1,772 @@
+/* ==========================================
+    Unity Project - A Test Framework for C
+    Copyright (c) 2007-14 Mike Karlesky, Mark VanderVoord, Greg Williams
+    [Released under MIT License. Please refer to license.txt for details]
+========================================== */
+
+#ifndef UNITY_INTERNALS_H
+#define UNITY_INTERNALS_H
+
+#ifdef UNITY_INCLUDE_CONFIG_H
+#include "unity_config.h"
+#endif
+
+#include <setjmp.h>
+
+/* Unity Attempts to Auto-Detect Integer Types
+ * Attempt 1: UINT_MAX, ULONG_MAX, etc in <stdint.h>
+ * Attempt 2: UINT_MAX, ULONG_MAX, etc in <limits.h>
+ * Attempt 3: Deduced from sizeof() macros */
+#ifndef UNITY_EXCLUDE_STDINT_H
+#include <stdint.h>
+#endif
+
+#ifndef UNITY_EXCLUDE_LIMITS_H
+#include <limits.h>
+#endif
+
+#ifndef UNITY_EXCLUDE_SIZEOF
+#ifndef UINT_MAX
+#define UINT_MAX     (sizeof(unsigned int) * 256 - 1)
+#endif
+#ifndef ULONG_MAX
+#define ULONG_MAX    (sizeof(unsigned long) * 256 - 1)
+#endif
+#ifndef UINTPTR_MAX
+/* apparently this is not a constant expression: (sizeof(unsigned int *) * 256 - 1) so we have to just let this fall through */
+#endif
+#endif
+
+#ifndef UNITY_EXCLUDE_MATH_H
+#include <math.h>
+#endif
+
+/*-------------------------------------------------------
+ * Guess Widths If Not Specified
+ *-------------------------------------------------------*/
+
+/* Determine the size of an int, if not already specificied.
+ * We cannot use sizeof(int), because it is not yet defined
+ * at this stage in the trnslation of the C program.
+ * Therefore, infer it from UINT_MAX if possible. */
+#ifndef UNITY_INT_WIDTH
+  #ifdef UINT_MAX
+    #if (UINT_MAX == 0xFFFF)
+      #define UNITY_INT_WIDTH (16)
+    #elif (UINT_MAX == 0xFFFFFFFF)
+      #define UNITY_INT_WIDTH (32)
+    #elif (UINT_MAX == 0xFFFFFFFFFFFFFFFF)
+      #define UNITY_INT_WIDTH (64)
+    #endif
+  #endif
+#endif
+#ifndef UNITY_INT_WIDTH
+  #define UNITY_INT_WIDTH (32)
+#endif
+
+/* Determine the size of a long, if not already specified,
+ * by following the process used above to define
+ * UNITY_INT_WIDTH. */
+#ifndef UNITY_LONG_WIDTH
+  #ifdef ULONG_MAX
+    #if (ULONG_MAX == 0xFFFF)
+      #define UNITY_LONG_WIDTH (16)
+    #elif (ULONG_MAX == 0xFFFFFFFF)
+      #define UNITY_LONG_WIDTH (32)
+    #elif (ULONG_MAX == 0xFFFFFFFFFFFFFFFF)
+      #define UNITY_LONG_WIDTH (64)
+    #endif
+  #endif
+#endif
+#ifndef UNITY_LONG_WIDTH
+  #define UNITY_LONG_WIDTH (32)
+#endif
+
+/* Determine the size of a pointer, if not already specified,
+ * by following the process used above to define
+ * UNITY_INT_WIDTH. */
+#ifndef UNITY_POINTER_WIDTH
+  #ifdef UINTPTR_MAX
+    #if (UINTPTR_MAX+0 <= 0xFFFF)
+      #define UNITY_POINTER_WIDTH (16)
+    #elif (UINTPTR_MAX+0 <= 0xFFFFFFFF)
+      #define UNITY_POINTER_WIDTH (32)
+    #elif (UINTPTR_MAX+0 <= 0xFFFFFFFFFFFFFFFF)
+      #define UNITY_POINTER_WIDTH (64)
+    #endif
+  #endif
+#endif
+#ifndef UNITY_POINTER_WIDTH
+  #ifdef INTPTR_MAX
+    #if (INTPTR_MAX+0 <= 0x7FFF)
+      #define UNITY_POINTER_WIDTH (16)
+    #elif (INTPTR_MAX+0 <= 0x7FFFFFFF)
+      #define UNITY_POINTER_WIDTH (32)
+    #elif (INTPTR_MAX+0 <= 0x7FFFFFFFFFFFFFFF)
+      #define UNITY_POINTER_WIDTH (64)
+    #endif
+  #endif
+#endif
+#ifndef UNITY_POINTER_WIDTH
+  #define UNITY_POINTER_WIDTH UNITY_LONG_WIDTH
+#endif
+
+/*-------------------------------------------------------
+ * Int Support (Define types based on detected sizes)
+ *-------------------------------------------------------*/
+
+#if (UNITY_INT_WIDTH == 32)
+    typedef unsigned char   _UU8;
+    typedef unsigned short  _UU16;
+    typedef unsigned int    _UU32;
+    typedef signed char     _US8;
+    typedef signed short    _US16;
+    typedef signed int      _US32;
+#elif (UNITY_INT_WIDTH == 16)
+    typedef unsigned char   _UU8;
+    typedef unsigned int    _UU16;
+    typedef unsigned long   _UU32;
+    typedef signed char     _US8;
+    typedef signed int      _US16;
+    typedef signed long     _US32;
+#else
+    #error Invalid UNITY_INT_WIDTH specified! (16 or 32 are supported)
+#endif
+
+/*-------------------------------------------------------
+ * 64-bit Support
+ *-------------------------------------------------------*/
+
+#ifndef UNITY_SUPPORT_64
+#if UNITY_LONG_WIDTH > 32
+#define UNITY_SUPPORT_64
+#endif
+#endif
+#ifndef UNITY_SUPPORT_64
+#if UNITY_POINTER_WIDTH > 32
+#define UNITY_SUPPORT_64
+#endif
+#endif
+
+#ifndef UNITY_SUPPORT_64
+
+/* No 64-bit Support */
+typedef _UU32 _U_UINT;
+typedef _US32 _U_SINT;
+
+#else
+
+/* 64-bit Support */
+#if (UNITY_LONG_WIDTH == 32)
+    typedef unsigned long long _UU64;
+    typedef signed long long   _US64;
+#elif (UNITY_LONG_WIDTH == 64)
+    typedef unsigned long      _UU64;
+    typedef signed long        _US64;
+#else
+    #error Invalid UNITY_LONG_WIDTH specified! (32 or 64 are supported)
+#endif
+typedef _UU64 _U_UINT;
+typedef _US64 _U_SINT;
+
+#endif
+
+/*-------------------------------------------------------
+ * Pointer Support
+ *-------------------------------------------------------*/
+
+#if (UNITY_POINTER_WIDTH == 32)
+    typedef _UU32 _UP;
+#define UNITY_DISPLAY_STYLE_POINTER UNITY_DISPLAY_STYLE_HEX32
+#elif (UNITY_POINTER_WIDTH == 64)
+    typedef _UU64 _UP;
+#define UNITY_DISPLAY_STYLE_POINTER UNITY_DISPLAY_STYLE_HEX64
+#elif (UNITY_POINTER_WIDTH == 16)
+    typedef _UU16 _UP;
+#define UNITY_DISPLAY_STYLE_POINTER UNITY_DISPLAY_STYLE_HEX16
+#else
+    #error Invalid UNITY_POINTER_WIDTH specified! (16, 32 or 64 are supported)
+#endif
+
+#ifndef UNITY_PTR_ATTRIBUTE
+#define UNITY_PTR_ATTRIBUTE
+#endif
+
+#ifndef UNITY_INTERNAL_PTR
+#define UNITY_INTERNAL_PTR UNITY_PTR_ATTRIBUTE const void*
+/* #define UNITY_INTERNAL_PTR UNITY_PTR_ATTRIBUTE const _UU8* */
+#endif
+
+/*-------------------------------------------------------
+ * Float Support
+ *-------------------------------------------------------*/
+
+#ifdef UNITY_EXCLUDE_FLOAT
+
+/* No Floating Point Support */
+#undef UNITY_INCLUDE_FLOAT
+#undef UNITY_FLOAT_PRECISION
+#undef UNITY_FLOAT_TYPE
+#undef UNITY_FLOAT_VERBOSE
+
+#else
+
+#ifndef UNITY_INCLUDE_FLOAT
+#define UNITY_INCLUDE_FLOAT
+#endif
+
+/* Floating Point Support */
+#ifndef UNITY_FLOAT_PRECISION
+#define UNITY_FLOAT_PRECISION (0.00001f)
+#endif
+#ifndef UNITY_FLOAT_TYPE
+#define UNITY_FLOAT_TYPE float
+#endif
+typedef UNITY_FLOAT_TYPE _UF;
+
+#ifndef isinf
+#define isinf(n) (((1.0f / f_zero) == n) ? 1 : 0) || (((-1.0f / f_zero) == n) ? 1 : 0)
+#define UNITY_FLOAT_NEEDS_ZERO
+#endif
+
+#ifndef isnan
+#define isnan(n) ((n != n) ? 1 : 0)
+#endif
+
+#ifndef isneg
+#define isneg(n) ((n < 0.0f) ? 1 : 0)
+#endif
+
+#ifndef ispos
+#define ispos(n) ((n > 0.0f) ? 1 : 0)
+#endif
+
+#endif
+
+/*-------------------------------------------------------
+ * Double Float Support
+ *-------------------------------------------------------*/
+
+/* unlike FLOAT, we DON'T include by default */
+#ifndef UNITY_EXCLUDE_DOUBLE
+#ifndef UNITY_INCLUDE_DOUBLE
+#define UNITY_EXCLUDE_DOUBLE
+#endif
+#endif
+
+#ifdef UNITY_EXCLUDE_DOUBLE
+
+/* No Floating Point Support */
+#undef UNITY_DOUBLE_PRECISION
+#undef UNITY_DOUBLE_TYPE
+#undef UNITY_DOUBLE_VERBOSE
+
+#ifdef UNITY_INCLUDE_DOUBLE
+#undef UNITY_INCLUDE_DOUBLE
+#endif
+
+#else
+
+/* Double Floating Point Support */
+#ifndef UNITY_DOUBLE_PRECISION
+#define UNITY_DOUBLE_PRECISION (1e-12f)
+#endif
+#ifndef UNITY_DOUBLE_TYPE
+#define UNITY_DOUBLE_TYPE double
+#endif
+typedef UNITY_DOUBLE_TYPE _UD;
+
+#endif
+
+#ifdef UNITY_DOUBLE_VERBOSE
+#ifndef UNITY_FLOAT_VERBOSE
+#define UNITY_FLOAT_VERBOSE
+#endif
+#endif
+
+/*-------------------------------------------------------
+ * Output Method: stdout (DEFAULT)
+ *-------------------------------------------------------*/
+#ifndef UNITY_OUTPUT_CHAR
+/* Default to using putchar, which is defined in stdio.h */
+#include <stdio.h>
+#define UNITY_OUTPUT_CHAR(a) (void)putchar(a)
+#else
+  /* If defined as something else, make sure we declare it here so it's ready for use */
+  #ifndef UNITY_OMIT_OUTPUT_CHAR_HEADER_DECLARATION
+extern void UNITY_OUTPUT_CHAR(int);
+  #endif
+#endif
+
+#ifndef UNITY_OUTPUT_FLUSH
+/* Default to using putchar, which is defined in stdio.h */
+#include <stdio.h>
+#define UNITY_OUTPUT_FLUSH() (void)fflush(stdout)
+#else
+  /* If defined as something else, make sure we declare it here so it's ready for use */
+  #ifndef UNITY_OMIT_OUTPUT_FLUSH_HEADER_DECLARATION
+extern void UNITY_OUTPUT_FLUSH(void);
+  #endif
+#endif
+
+#ifndef UNITY_PRINT_EOL
+#define UNITY_PRINT_EOL()    UNITY_OUTPUT_CHAR('\n')
+#endif
+
+#ifndef UNITY_OUTPUT_START
+#define UNITY_OUTPUT_START()
+#endif
+
+#ifndef UNITY_OUTPUT_COMPLETE
+#define UNITY_OUTPUT_COMPLETE()
+#endif
+
+/*-------------------------------------------------------
+ * Footprint
+ *-------------------------------------------------------*/
+
+#ifndef UNITY_LINE_TYPE
+#define UNITY_LINE_TYPE _U_UINT
+#endif
+
+#ifndef UNITY_COUNTER_TYPE
+#define UNITY_COUNTER_TYPE _U_UINT
+#endif
+
+/*-------------------------------------------------------
+ * Language Features Available
+ *-------------------------------------------------------*/
+#if !defined(UNITY_WEAK_ATTRIBUTE) && !defined(UNITY_WEAK_PRAGMA)
+#   ifdef __GNUC__ /* includes clang */
+#       if !(defined(__WIN32__) && defined(__clang__))
+#           define UNITY_WEAK_ATTRIBUTE __attribute__((weak))
+#       endif
+#   endif
+#endif
+
+#ifdef UNITY_NO_WEAK
+#   undef UNITY_WEAK_ATTRIBUTE
+#   undef UNITY_WEAK_PRAGMA
+#endif
+
+
+/*-------------------------------------------------------
+ * Internal Structs Needed
+ *-------------------------------------------------------*/
+
+typedef void (*UnityTestFunction)(void);
+
+#define UNITY_DISPLAY_RANGE_INT  (0x10)
+#define UNITY_DISPLAY_RANGE_UINT (0x20)
+#define UNITY_DISPLAY_RANGE_HEX  (0x40)
+#define UNITY_DISPLAY_RANGE_AUTO (0x80)
+
+typedef enum
+{
+#if (UNITY_INT_WIDTH == 16)
+    UNITY_DISPLAY_STYLE_INT      = 2 + UNITY_DISPLAY_RANGE_INT + UNITY_DISPLAY_RANGE_AUTO,
+#elif (UNITY_INT_WIDTH  == 32)
+    UNITY_DISPLAY_STYLE_INT      = 4 + UNITY_DISPLAY_RANGE_INT + UNITY_DISPLAY_RANGE_AUTO,
+#elif (UNITY_INT_WIDTH  == 64)
+    UNITY_DISPLAY_STYLE_INT      = 8 + UNITY_DISPLAY_RANGE_INT + UNITY_DISPLAY_RANGE_AUTO,
+#endif
+    UNITY_DISPLAY_STYLE_INT8     = 1 + UNITY_DISPLAY_RANGE_INT,
+    UNITY_DISPLAY_STYLE_INT16    = 2 + UNITY_DISPLAY_RANGE_INT,
+    UNITY_DISPLAY_STYLE_INT32    = 4 + UNITY_DISPLAY_RANGE_INT,
+#ifdef UNITY_SUPPORT_64
+    UNITY_DISPLAY_STYLE_INT64    = 8 + UNITY_DISPLAY_RANGE_INT,
+#endif
+
+#if (UNITY_INT_WIDTH == 16)
+    UNITY_DISPLAY_STYLE_UINT     = 2 + UNITY_DISPLAY_RANGE_UINT + UNITY_DISPLAY_RANGE_AUTO,
+#elif (UNITY_INT_WIDTH  == 32)
+    UNITY_DISPLAY_STYLE_UINT     = 4 + UNITY_DISPLAY_RANGE_UINT + UNITY_DISPLAY_RANGE_AUTO,
+#elif (UNITY_INT_WIDTH  == 64)
+    UNITY_DISPLAY_STYLE_UINT     = 8 + UNITY_DISPLAY_RANGE_UINT + UNITY_DISPLAY_RANGE_AUTO,
+#endif
+    UNITY_DISPLAY_STYLE_UINT8    = 1 + UNITY_DISPLAY_RANGE_UINT,
+    UNITY_DISPLAY_STYLE_UINT16   = 2 + UNITY_DISPLAY_RANGE_UINT,
+    UNITY_DISPLAY_STYLE_UINT32   = 4 + UNITY_DISPLAY_RANGE_UINT,
+#ifdef UNITY_SUPPORT_64
+    UNITY_DISPLAY_STYLE_UINT64   = 8 + UNITY_DISPLAY_RANGE_UINT,
+#endif
+    UNITY_DISPLAY_STYLE_HEX8     = 1 + UNITY_DISPLAY_RANGE_HEX,
+    UNITY_DISPLAY_STYLE_HEX16    = 2 + UNITY_DISPLAY_RANGE_HEX,
+    UNITY_DISPLAY_STYLE_HEX32    = 4 + UNITY_DISPLAY_RANGE_HEX,
+#ifdef UNITY_SUPPORT_64
+    UNITY_DISPLAY_STYLE_HEX64    = 8 + UNITY_DISPLAY_RANGE_HEX,
+#endif
+    UNITY_DISPLAY_STYLE_UNKNOWN
+} UNITY_DISPLAY_STYLE_T;
+
+#ifndef UNITY_EXCLUDE_FLOAT
+typedef enum _UNITY_FLOAT_TRAIT_T
+{
+    UNITY_FLOAT_IS_NOT_INF       = 0,
+    UNITY_FLOAT_IS_INF,
+    UNITY_FLOAT_IS_NOT_NEG_INF,
+    UNITY_FLOAT_IS_NEG_INF,
+    UNITY_FLOAT_IS_NOT_NAN,
+    UNITY_FLOAT_IS_NAN,
+    UNITY_FLOAT_IS_NOT_DET,
+    UNITY_FLOAT_IS_DET,
+    UNITY_FLOAT_INVALID_TRAIT
+} UNITY_FLOAT_TRAIT_T;
+#endif
+
+struct _Unity
+{
+    const char* TestFile;
+    const char* CurrentTestName;
+#ifndef UNITY_EXCLUDE_DETAILS
+    const char* CurrentDetail1;
+    const char* CurrentDetail2;
+#endif
+    UNITY_LINE_TYPE CurrentTestLineNumber;
+    UNITY_COUNTER_TYPE NumberOfTests;
+    UNITY_COUNTER_TYPE TestFailures;
+    UNITY_COUNTER_TYPE TestIgnores;
+    UNITY_COUNTER_TYPE CurrentTestFailed;
+    UNITY_COUNTER_TYPE CurrentTestIgnored;
+    jmp_buf AbortFrame;
+};
+
+extern struct _Unity Unity;
+
+/*-------------------------------------------------------
+ * Test Suite Management
+ *-------------------------------------------------------*/
+
+void UnityBegin(const char* filename);
+int  UnityEnd(void);
+void UnityConcludeTest(void);
+void UnityDefaultTestRun(UnityTestFunction Func, const char* FuncName, const int FuncLineNum);
+
+/*-------------------------------------------------------
+ * Details Support
+ *-------------------------------------------------------*/
+
+#ifdef UNITY_EXCLUDE_DETAILS
+#define UNITY_CLR_DETAILS()
+#define UNITY_SET_DETAIL(d1)
+#define UNITY_SET_DETAILS(d1,d2)
+#else
+#define UNITY_CLR_DETAILS()      { Unity.CurrentDetail1 = 0;   Unity.CurrentDetail2 = 0;  }
+#define UNITY_SET_DETAIL(d1)     { Unity.CurrentDetail1 = d1;  Unity.CurrentDetail2 = 0;  }
+#define UNITY_SET_DETAILS(d1,d2) { Unity.CurrentDetail1 = d1;  Unity.CurrentDetail2 = d2; }
+
+#ifndef UNITY_DETAIL1_NAME
+#define UNITY_DETAIL1_NAME "Function"
+#endif
+
+#ifndef UNITY_DETAIL2_NAME
+#define UNITY_DETAIL2_NAME "Argument"
+#endif
+#endif
+
+/*-------------------------------------------------------
+ * Test Output
+ *-------------------------------------------------------*/
+
+void UnityPrint(const char* string);
+void UnityPrintMask(const _U_UINT mask, const _U_UINT number);
+void UnityPrintNumberByStyle(const _U_SINT number, const UNITY_DISPLAY_STYLE_T style);
+void UnityPrintNumber(const _U_SINT number);
+void UnityPrintNumberUnsigned(const _U_UINT number);
+void UnityPrintNumberHex(const _U_UINT number, const char nibbles);
+
+#ifdef UNITY_FLOAT_VERBOSE
+void UnityPrintFloat(const _UF number);
+#endif
+
+/*-------------------------------------------------------
+ * Test Assertion Fuctions
+ *-------------------------------------------------------
+ *  Use the macros below this section instead of calling
+ *  these directly. The macros have a consistent naming
+ *  convention and will pull in file and line information
+ *  for you. */
+
+void UnityAssertEqualNumber(const _U_SINT expected,
+                            const _U_SINT actual,
+                            const char* msg,
+                            const UNITY_LINE_TYPE lineNumber,
+                            const UNITY_DISPLAY_STYLE_T style);
+
+void UnityAssertEqualIntArray(UNITY_INTERNAL_PTR expected,
+                              UNITY_INTERNAL_PTR actual,
+                              const _UU32 num_elements,
+                              const char* msg,
+                              const UNITY_LINE_TYPE lineNumber,
+                              const UNITY_DISPLAY_STYLE_T style);
+
+void UnityAssertBits(const _U_SINT mask,
+                     const _U_SINT expected,
+                     const _U_SINT actual,
+                     const char* msg,
+                     const UNITY_LINE_TYPE lineNumber);
+
+void UnityAssertEqualString(const char* expected,
+                            const char* actual,
+                            const char* msg,
+                            const UNITY_LINE_TYPE lineNumber);
+
+void UnityAssertEqualStringLen(const char* expected,
+                            const char* actual,
+                            const _UU32 length,
+                            const char* msg,
+                            const UNITY_LINE_TYPE lineNumber);
+
+void UnityAssertEqualStringArray( const char** expected,
+                                  const char** actual,
+                                  const _UU32 num_elements,
+                                  const char* msg,
+                                  const UNITY_LINE_TYPE lineNumber);
+
+void UnityAssertEqualMemory( UNITY_INTERNAL_PTR expected,
+                             UNITY_INTERNAL_PTR actual,
+                             const _UU32 length,
+                             const _UU32 num_elements,
+                             const char* msg,
+                             const UNITY_LINE_TYPE lineNumber);
+
+void UnityAssertNumbersWithin(const _U_UINT delta,
+                              const _U_SINT expected,
+                              const _U_SINT actual,
+                              const char* msg,
+                              const UNITY_LINE_TYPE lineNumber,
+                              const UNITY_DISPLAY_STYLE_T style);
+
+void UnityFail(const char* message, const UNITY_LINE_TYPE line);
+
+void UnityIgnore(const char* message, const UNITY_LINE_TYPE line);
+
+#ifndef UNITY_EXCLUDE_FLOAT
+void UnityAssertFloatsWithin(const _UF delta,
+                             const _UF expected,
+                             const _UF actual,
+                             const char* msg,
+                             const UNITY_LINE_TYPE lineNumber);
+
+void UnityAssertEqualFloatArray(UNITY_PTR_ATTRIBUTE const _UF* expected,
+                                UNITY_PTR_ATTRIBUTE const _UF* actual,
+                                const _UU32 num_elements,
+                                const char* msg,
+                                const UNITY_LINE_TYPE lineNumber);
+
+void UnityAssertFloatSpecial(const _UF actual,
+                             const char* msg,
+                             const UNITY_LINE_TYPE lineNumber,
+                             const UNITY_FLOAT_TRAIT_T style);
+#endif
+
+#ifndef UNITY_EXCLUDE_DOUBLE
+void UnityAssertDoublesWithin(const _UD delta,
+                              const _UD expected,
+                              const _UD actual,
+                              const char* msg,
+                              const UNITY_LINE_TYPE lineNumber);
+
+void UnityAssertEqualDoubleArray(UNITY_PTR_ATTRIBUTE const _UD* expected,
+                                 UNITY_PTR_ATTRIBUTE const _UD* actual,
+                                 const _UU32 num_elements,
+                                 const char* msg,
+                                 const UNITY_LINE_TYPE lineNumber);
+
+void UnityAssertDoubleSpecial(const _UD actual,
+                              const char* msg,
+                              const UNITY_LINE_TYPE lineNumber,
+                              const UNITY_FLOAT_TRAIT_T style);
+#endif
+
+/*-------------------------------------------------------
+ * Error Strings We Might Need
+ *-------------------------------------------------------*/
+
+extern const char UnityStrErrFloat[];
+extern const char UnityStrErrDouble[];
+extern const char UnityStrErr64[];
+
+/*-------------------------------------------------------
+ * Test Running Macros
+ *-------------------------------------------------------*/
+
+#define TEST_PROTECT() (setjmp(Unity.AbortFrame) == 0)
+
+#define TEST_ABORT() {longjmp(Unity.AbortFrame, 1);}
+
+/* This tricky series of macros gives us an optional line argument to treat it as RUN_TEST(func, num=__LINE__) */
+#ifndef RUN_TEST
+#ifdef __STDC_VERSION__
+#if __STDC_VERSION__ >= 199901L
+#define RUN_TEST(...) UnityDefaultTestRun(RUN_TEST_FIRST(__VA_ARGS__), RUN_TEST_SECOND(__VA_ARGS__))
+#define RUN_TEST_FIRST(...) RUN_TEST_FIRST_HELPER(__VA_ARGS__, throwaway)
+#define RUN_TEST_FIRST_HELPER(first, ...) (first), #first
+#define RUN_TEST_SECOND(...) RUN_TEST_SECOND_HELPER(__VA_ARGS__, __LINE__, throwaway)
+#define RUN_TEST_SECOND_HELPER(first, second, ...) (second)
+#endif
+#endif
+#endif
+
+/* If we can't do the tricky version, we'll just have to require them to always include the line number */
+#ifndef RUN_TEST
+#ifdef CMOCK
+#define RUN_TEST(func, num) UnityDefaultTestRun(func, #func, num)
+#else
+#define RUN_TEST(func) UnityDefaultTestRun(func, #func, __LINE__)
+#endif
+#endif
+
+#define TEST_LINE_NUM (Unity.CurrentTestLineNumber)
+#define TEST_IS_IGNORED (Unity.CurrentTestIgnored)
+#define UNITY_NEW_TEST(a) \
+    Unity.CurrentTestName = (a); \
+    Unity.CurrentTestLineNumber = (UNITY_LINE_TYPE)(__LINE__); \
+    Unity.NumberOfTests++;
+
+#ifndef UNITY_BEGIN
+#define UNITY_BEGIN() UnityBegin(__FILE__)
+#endif
+
+#ifndef UNITY_END
+#define UNITY_END() UnityEnd()
+#endif
+
+#define UNITY_UNUSED(x) (void)(sizeof(x))
+
+/*-------------------------------------------------------
+ * Basic Fail and Ignore
+ *-------------------------------------------------------*/
+
+#define UNITY_TEST_FAIL(line, message)   UnityFail(   (message), (UNITY_LINE_TYPE)(line))
+#define UNITY_TEST_IGNORE(line, message) UnityIgnore( (message), (UNITY_LINE_TYPE)(line))
+
+/*-------------------------------------------------------
+ * Test Asserts
+ *-------------------------------------------------------*/
+
+#define UNITY_TEST_ASSERT(condition, line, message)                                              if (condition) {} else {UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), (message));}
+#define UNITY_TEST_ASSERT_NULL(pointer, line, message)                                           UNITY_TEST_ASSERT(((pointer) == NULL),  (UNITY_LINE_TYPE)(line), (message))
+#define UNITY_TEST_ASSERT_NOT_NULL(pointer, line, message)                                       UNITY_TEST_ASSERT(((pointer) != NULL),  (UNITY_LINE_TYPE)(line), (message))
+
+#define UNITY_TEST_ASSERT_EQUAL_INT(expected, actual, line, message)                             UnityAssertEqualNumber((_U_SINT)(expected), (_U_SINT)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT)
+#define UNITY_TEST_ASSERT_EQUAL_INT8(expected, actual, line, message)                            UnityAssertEqualNumber((_U_SINT)(_US8 )(expected), (_U_SINT)(_US8 )(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT8)
+#define UNITY_TEST_ASSERT_EQUAL_INT16(expected, actual, line, message)                           UnityAssertEqualNumber((_U_SINT)(_US16)(expected), (_U_SINT)(_US16)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT16)
+#define UNITY_TEST_ASSERT_EQUAL_INT32(expected, actual, line, message)                           UnityAssertEqualNumber((_U_SINT)(_US32)(expected), (_U_SINT)(_US32)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT32)
+#define UNITY_TEST_ASSERT_EQUAL_UINT(expected, actual, line, message)                            UnityAssertEqualNumber((_U_SINT)(expected), (_U_SINT)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT)
+#define UNITY_TEST_ASSERT_EQUAL_UINT8(expected, actual, line, message)                           UnityAssertEqualNumber((_U_SINT)(_UU8 )(expected), (_U_SINT)(_UU8 )(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT8)
+#define UNITY_TEST_ASSERT_EQUAL_UINT16(expected, actual, line, message)                          UnityAssertEqualNumber((_U_SINT)(_UU16)(expected), (_U_SINT)(_UU16)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT16)
+#define UNITY_TEST_ASSERT_EQUAL_UINT32(expected, actual, line, message)                          UnityAssertEqualNumber((_U_SINT)(_UU32)(expected), (_U_SINT)(_UU32)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT32)
+#define UNITY_TEST_ASSERT_EQUAL_HEX8(expected, actual, line, message)                            UnityAssertEqualNumber((_U_SINT)(_US8 )(expected), (_U_SINT)(_US8 )(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_HEX8)
+#define UNITY_TEST_ASSERT_EQUAL_HEX16(expected, actual, line, message)                           UnityAssertEqualNumber((_U_SINT)(_US16)(expected), (_U_SINT)(_US16)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_HEX16)
+#define UNITY_TEST_ASSERT_EQUAL_HEX32(expected, actual, line, message)                           UnityAssertEqualNumber((_U_SINT)(_US32)(expected), (_U_SINT)(_US32)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_HEX32)
+#define UNITY_TEST_ASSERT_BITS(mask, expected, actual, line, message)                            UnityAssertBits((_U_SINT)(mask), (_U_SINT)(expected), (_U_SINT)(actual), (message), (UNITY_LINE_TYPE)(line))
+
+#define UNITY_TEST_ASSERT_INT_WITHIN(delta, expected, actual, line, message)                     UnityAssertNumbersWithin((delta), (_U_SINT)(expected), (_U_SINT)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT)
+#define UNITY_TEST_ASSERT_INT8_WITHIN(delta, expected, actual, line, message)                    UnityAssertNumbersWithin((_UU8 )(delta), (_U_SINT)(_US8 )(expected), (_U_SINT)(_US8 )(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT8)
+#define UNITY_TEST_ASSERT_INT16_WITHIN(delta, expected, actual, line, message)                   UnityAssertNumbersWithin((_UU16)(delta), (_U_SINT)(_US16)(expected), (_U_SINT)(_US16)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT16)
+#define UNITY_TEST_ASSERT_INT32_WITHIN(delta, expected, actual, line, message)                   UnityAssertNumbersWithin((_UU32)(delta), (_U_SINT)(_US32)(expected), (_U_SINT)(_US32)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT32)
+#define UNITY_TEST_ASSERT_UINT_WITHIN(delta, expected, actual, line, message)                    UnityAssertNumbersWithin((delta), (_U_SINT)(expected), (_U_SINT)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT)
+#define UNITY_TEST_ASSERT_UINT8_WITHIN(delta, expected, actual, line, message)                   UnityAssertNumbersWithin((_UU8 )(delta), (_U_SINT)(_U_UINT)(_UU8 )(expected), (_U_SINT)(_U_UINT)(_UU8 )(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT8)
+#define UNITY_TEST_ASSERT_UINT16_WITHIN(delta, expected, actual, line, message)                  UnityAssertNumbersWithin((_UU16)(delta), (_U_SINT)(_U_UINT)(_UU16)(expected), (_U_SINT)(_U_UINT)(_UU16)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT16)
+#define UNITY_TEST_ASSERT_UINT32_WITHIN(delta, expected, actual, line, message)                  UnityAssertNumbersWithin((_UU32)(delta), (_U_SINT)(_U_UINT)(_UU32)(expected), (_U_SINT)(_U_UINT)(_UU32)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT32)
+#define UNITY_TEST_ASSERT_HEX8_WITHIN(delta, expected, actual, line, message)                    UnityAssertNumbersWithin((_UU8 )(delta), (_U_SINT)(_U_UINT)(_UU8 )(expected), (_U_SINT)(_U_UINT)(_UU8 )(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_HEX8)
+#define UNITY_TEST_ASSERT_HEX16_WITHIN(delta, expected, actual, line, message)                   UnityAssertNumbersWithin((_UU16)(delta), (_U_SINT)(_U_UINT)(_UU16)(expected), (_U_SINT)(_U_UINT)(_UU16)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_HEX16)
+#define UNITY_TEST_ASSERT_HEX32_WITHIN(delta, expected, actual, line, message)                   UnityAssertNumbersWithin((_UU32)(delta), (_U_SINT)(_U_UINT)(_UU32)(expected), (_U_SINT)(_U_UINT)(_UU32)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_HEX32)
+
+#define UNITY_TEST_ASSERT_EQUAL_PTR(expected, actual, line, message)                             UnityAssertEqualNumber((_U_SINT)(_UP)(expected), (_U_SINT)(_UP)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_POINTER)
+#define UNITY_TEST_ASSERT_EQUAL_STRING(expected, actual, line, message)                          UnityAssertEqualString((const char*)(expected), (const char*)(actual), (message), (UNITY_LINE_TYPE)(line))
+#define UNITY_TEST_ASSERT_EQUAL_STRING_LEN(expected, actual, len, line, message)                 UnityAssertEqualStringLen((const char*)(expected), (const char*)(actual), (_UU32)(len), (message), (UNITY_LINE_TYPE)(line))
+#define UNITY_TEST_ASSERT_EQUAL_MEMORY(expected, actual, len, line, message)                     UnityAssertEqualMemory((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(len), 1, (message), (UNITY_LINE_TYPE)(line))
+
+#define UNITY_TEST_ASSERT_EQUAL_INT_ARRAY(expected, actual, num_elements, line, message)         UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT)
+#define UNITY_TEST_ASSERT_EQUAL_INT8_ARRAY(expected, actual, num_elements, line, message)        UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT8)
+#define UNITY_TEST_ASSERT_EQUAL_INT16_ARRAY(expected, actual, num_elements, line, message)       UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT16)
+#define UNITY_TEST_ASSERT_EQUAL_INT32_ARRAY(expected, actual, num_elements, line, message)       UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT32)
+#define UNITY_TEST_ASSERT_EQUAL_UINT_ARRAY(expected, actual, num_elements, line, message)        UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT)
+#define UNITY_TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, actual, num_elements, line, message)       UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT8)
+#define UNITY_TEST_ASSERT_EQUAL_UINT16_ARRAY(expected, actual, num_elements, line, message)      UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT16)
+#define UNITY_TEST_ASSERT_EQUAL_UINT32_ARRAY(expected, actual, num_elements, line, message)      UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT32)
+#define UNITY_TEST_ASSERT_EQUAL_HEX8_ARRAY(expected, actual, num_elements, line, message)        UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_HEX8)
+#define UNITY_TEST_ASSERT_EQUAL_HEX16_ARRAY(expected, actual, num_elements, line, message)       UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_HEX16)
+#define UNITY_TEST_ASSERT_EQUAL_HEX32_ARRAY(expected, actual, num_elements, line, message)       UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_HEX32)
+#define UNITY_TEST_ASSERT_EQUAL_PTR_ARRAY(expected, actual, num_elements, line, message)         UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(_UP*)(expected), (UNITY_INTERNAL_PTR)(_UP*)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_POINTER)
+#define UNITY_TEST_ASSERT_EQUAL_STRING_ARRAY(expected, actual, num_elements, line, message)      UnityAssertEqualStringArray((const char**)(expected), (const char**)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line))
+#define UNITY_TEST_ASSERT_EQUAL_MEMORY_ARRAY(expected, actual, len, num_elements, line, message) UnityAssertEqualMemory((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(len), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line))
+
+#ifdef UNITY_SUPPORT_64
+#define UNITY_TEST_ASSERT_EQUAL_INT64(expected, actual, line, message)                           UnityAssertEqualNumber((_U_SINT)(expected), (_U_SINT)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT64)
+#define UNITY_TEST_ASSERT_EQUAL_UINT64(expected, actual, line, message)                          UnityAssertEqualNumber((_U_SINT)(expected), (_U_SINT)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT64)
+#define UNITY_TEST_ASSERT_EQUAL_HEX64(expected, actual, line, message)                           UnityAssertEqualNumber((_U_SINT)(expected), (_U_SINT)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_HEX64)
+#define UNITY_TEST_ASSERT_EQUAL_INT64_ARRAY(expected, actual, num_elements, line, message)       UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT64)
+#define UNITY_TEST_ASSERT_EQUAL_UINT64_ARRAY(expected, actual, num_elements, line, message)      UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT64)
+#define UNITY_TEST_ASSERT_EQUAL_HEX64_ARRAY(expected, actual, num_elements, line, message)       UnityAssertEqualIntArray((UNITY_INTERNAL_PTR)(expected), (UNITY_INTERNAL_PTR)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_HEX64)
+#define UNITY_TEST_ASSERT_INT64_WITHIN(delta, expected, actual, line, message)                   UnityAssertNumbersWithin((delta), (_U_SINT)(expected), (_U_SINT)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_INT64)
+#define UNITY_TEST_ASSERT_UINT64_WITHIN(delta, expected, actual, line, message)                  UnityAssertNumbersWithin((delta), (_U_SINT)(expected), (_U_SINT)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_UINT64)
+#define UNITY_TEST_ASSERT_HEX64_WITHIN(delta, expected, actual, line, message)                   UnityAssertNumbersWithin((delta), (_U_SINT)(expected), (_U_SINT)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_DISPLAY_STYLE_HEX64)
+#else
+#define UNITY_TEST_ASSERT_EQUAL_INT64(expected, actual, line, message)                           UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErr64)
+#define UNITY_TEST_ASSERT_EQUAL_UINT64(expected, actual, line, message)                          UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErr64)
+#define UNITY_TEST_ASSERT_EQUAL_HEX64(expected, actual, line, message)                           UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErr64)
+#define UNITY_TEST_ASSERT_EQUAL_INT64_ARRAY(expected, actual, num_elements, line, message)       UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErr64)
+#define UNITY_TEST_ASSERT_EQUAL_UINT64_ARRAY(expected, actual, num_elements, line, message)      UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErr64)
+#define UNITY_TEST_ASSERT_EQUAL_HEX64_ARRAY(expected, actual, num_elements, line, message)       UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErr64)
+#define UNITY_TEST_ASSERT_INT64_WITHIN(delta, expected, actual, line, message)                   UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErr64)
+#define UNITY_TEST_ASSERT_UINT64_WITHIN(delta, expected, actual, line, message)                  UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErr64)
+#define UNITY_TEST_ASSERT_HEX64_WITHIN(delta, expected, actual, line, message)                   UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErr64)
+#endif
+
+#ifdef UNITY_EXCLUDE_FLOAT
+#define UNITY_TEST_ASSERT_FLOAT_WITHIN(delta, expected, actual, line, message)                   UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrFloat)
+#define UNITY_TEST_ASSERT_EQUAL_FLOAT(expected, actual, line, message)                           UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrFloat)
+#define UNITY_TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, num_elements, line, message)       UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrFloat)
+#define UNITY_TEST_ASSERT_FLOAT_IS_INF(actual, line, message)                                    UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrFloat)
+#define UNITY_TEST_ASSERT_FLOAT_IS_NEG_INF(actual, line, message)                                UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrFloat)
+#define UNITY_TEST_ASSERT_FLOAT_IS_NAN(actual, line, message)                                    UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrFloat)
+#define UNITY_TEST_ASSERT_FLOAT_IS_DETERMINATE(actual, line, message)                            UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrFloat)
+#define UNITY_TEST_ASSERT_FLOAT_IS_NOT_INF(actual, line, message)                                UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrFloat)
+#define UNITY_TEST_ASSERT_FLOAT_IS_NOT_NEG_INF(actual, line, message)                            UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrFloat)
+#define UNITY_TEST_ASSERT_FLOAT_IS_NOT_NAN(actual, line, message)                                UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrFloat)
+#define UNITY_TEST_ASSERT_FLOAT_IS_NOT_DETERMINATE(actual, line, message)                        UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrFloat)
+#else
+#define UNITY_TEST_ASSERT_FLOAT_WITHIN(delta, expected, actual, line, message)                   UnityAssertFloatsWithin((_UF)(delta), (_UF)(expected), (_UF)(actual), (message), (UNITY_LINE_TYPE)(line))
+#define UNITY_TEST_ASSERT_EQUAL_FLOAT(expected, actual, line, message)                           UNITY_TEST_ASSERT_FLOAT_WITHIN((_UF)(expected) * (_UF)UNITY_FLOAT_PRECISION, (_UF)(expected), (_UF)(actual), (UNITY_LINE_TYPE)(line), (message))
+#define UNITY_TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, num_elements, line, message)       UnityAssertEqualFloatArray((_UF*)(expected), (_UF*)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)(line))
+#define UNITY_TEST_ASSERT_FLOAT_IS_INF(actual, line, message)                                    UnityAssertFloatSpecial((_UF)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_INF)
+#define UNITY_TEST_ASSERT_FLOAT_IS_NEG_INF(actual, line, message)                                UnityAssertFloatSpecial((_UF)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_NEG_INF)
+#define UNITY_TEST_ASSERT_FLOAT_IS_NAN(actual, line, message)                                    UnityAssertFloatSpecial((_UF)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_NAN)
+#define UNITY_TEST_ASSERT_FLOAT_IS_DETERMINATE(actual, line, message)                            UnityAssertFloatSpecial((_UF)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_DET)
+#define UNITY_TEST_ASSERT_FLOAT_IS_NOT_INF(actual, line, message)                                UnityAssertFloatSpecial((_UF)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_NOT_INF)
+#define UNITY_TEST_ASSERT_FLOAT_IS_NOT_NEG_INF(actual, line, message)                            UnityAssertFloatSpecial((_UF)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_NOT_NEG_INF)
+#define UNITY_TEST_ASSERT_FLOAT_IS_NOT_NAN(actual, line, message)                                UnityAssertFloatSpecial((_UF)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_NOT_NAN)
+#define UNITY_TEST_ASSERT_FLOAT_IS_NOT_DETERMINATE(actual, line, message)                        UnityAssertFloatSpecial((_UF)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_NOT_DET)
+#endif
+
+#ifdef UNITY_EXCLUDE_DOUBLE
+#define UNITY_TEST_ASSERT_DOUBLE_WITHIN(delta, expected, actual, line, message)                  UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrDouble)
+#define UNITY_TEST_ASSERT_EQUAL_DOUBLE(expected, actual, line, message)                          UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrDouble)
+#define UNITY_TEST_ASSERT_EQUAL_DOUBLE_ARRAY(expected, actual, num_elements, line, message)      UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrDouble)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_INF(actual, line, message)                                   UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrDouble)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_NEG_INF(actual, line, message)                               UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrDouble)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_NAN(actual, line, message)                                   UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrDouble)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_DETERMINATE(actual, line, message)                           UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrDouble)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_NOT_INF(actual, line, message)                               UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrDouble)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_NOT_NEG_INF(actual, line, message)                           UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrDouble)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_NOT_NAN(actual, line, message)                               UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrDouble)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_NOT_DETERMINATE(actual, line, message)                       UNITY_TEST_FAIL((UNITY_LINE_TYPE)(line), UnityStrErrDouble)
+#else
+#define UNITY_TEST_ASSERT_DOUBLE_WITHIN(delta, expected, actual, line, message)                  UnityAssertDoublesWithin((_UD)(delta), (_UD)(expected), (_UD)(actual), (message), (UNITY_LINE_TYPE)line)
+#define UNITY_TEST_ASSERT_EQUAL_DOUBLE(expected, actual, line, message)                          UNITY_TEST_ASSERT_DOUBLE_WITHIN((_UD)(expected) * (_UD)UNITY_DOUBLE_PRECISION, (_UD)expected, (_UD)actual, (UNITY_LINE_TYPE)(line), message)
+#define UNITY_TEST_ASSERT_EQUAL_DOUBLE_ARRAY(expected, actual, num_elements, line, message)      UnityAssertEqualDoubleArray((_UD*)(expected), (_UD*)(actual), (_UU32)(num_elements), (message), (UNITY_LINE_TYPE)line)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_INF(actual, line, message)                                   UnityAssertDoubleSpecial((_UD)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_INF)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_NEG_INF(actual, line, message)                               UnityAssertDoubleSpecial((_UD)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_NEG_INF)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_NAN(actual, line, message)                                   UnityAssertDoubleSpecial((_UD)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_NAN)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_DETERMINATE(actual, line, message)                           UnityAssertDoubleSpecial((_UD)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_DET)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_NOT_INF(actual, line, message)                               UnityAssertDoubleSpecial((_UD)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_NOT_INF)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_NOT_NEG_INF(actual, line, message)                           UnityAssertDoubleSpecial((_UD)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_NOT_NEG_INF)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_NOT_NAN(actual, line, message)                               UnityAssertDoubleSpecial((_UD)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_NOT_NAN)
+#define UNITY_TEST_ASSERT_DOUBLE_IS_NOT_DETERMINATE(actual, line, message)                       UnityAssertDoubleSpecial((_UD)(actual), (message), (UNITY_LINE_TYPE)(line), UNITY_FLOAT_IS_NOT_DET)
+#endif
+
+/* End of UNITY_INTERNALS_H */
+#endif
diff --git a/tools/unit-test-app/components/unity/license.txt b/tools/unit-test-app/components/unity/license.txt
new file mode 100644
index 000000000..d66fba53e
--- /dev/null
+++ b/tools/unit-test-app/components/unity/license.txt
@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) <year> 2007-14 Mike Karlesky, Mark VanderVoord, Greg Williams
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
diff --git a/tools/unit-test-app/components/unity/unity.c b/tools/unit-test-app/components/unity/unity.c
new file mode 100644
index 000000000..4a99208d8
--- /dev/null
+++ b/tools/unit-test-app/components/unity/unity.c
@@ -0,0 +1,1306 @@
+/* =========================================================================
+    Unity Project - A Test Framework for C
+    Copyright (c) 2007-14 Mike Karlesky, Mark VanderVoord, Greg Williams
+    [Released under MIT License. Please refer to license.txt for details]
+============================================================================ */
+
+#include "unity.h"
+#include <stddef.h>
+
+/* If omitted from header, declare overrideable prototypes here so they're ready for use */
+#ifdef UNITY_OMIT_OUTPUT_CHAR_HEADER_DECLARATION
+int UNITY_OUTPUT_CHAR(int);
+#endif
+#ifdef UNITY_OMIT_OUTPUT_FLUSH_HEADER_DECLARATION
+int UNITY_OUTPUT_FLUSH(void);
+#endif
+
+/* Helpful macros for us to use here */
+#define UNITY_FAIL_AND_BAIL   { Unity.CurrentTestFailed  = 1; longjmp(Unity.AbortFrame, 1); }
+#define UNITY_IGNORE_AND_BAIL { Unity.CurrentTestIgnored = 1; longjmp(Unity.AbortFrame, 1); }
+
+/* return prematurely if we are already in failure or ignore state */
+#define UNITY_SKIP_EXECUTION  { if ((Unity.CurrentTestFailed != 0) || (Unity.CurrentTestIgnored != 0)) {return;} }
+
+struct _Unity Unity;
+
+static const char UnityStrOk[]                     = "OK";
+static const char UnityStrPass[]                   = "PASS";
+static const char UnityStrFail[]                   = "FAIL";
+static const char UnityStrIgnore[]                 = "IGNORE";
+static const char UnityStrNull[]                   = "NULL";
+static const char UnityStrSpacer[]                 = ". ";
+static const char UnityStrExpected[]               = " Expected ";
+static const char UnityStrWas[]                    = " Was ";
+static const char UnityStrElement[]                = " Element ";
+static const char UnityStrByte[]                   = " Byte ";
+static const char UnityStrMemory[]                 = " Memory Mismatch.";
+static const char UnityStrDelta[]                  = " Values Not Within Delta ";
+static const char UnityStrPointless[]              = " You Asked Me To Compare Nothing, Which Was Pointless.";
+static const char UnityStrNullPointerForExpected[] = " Expected pointer to be NULL";
+static const char UnityStrNullPointerForActual[]   = " Actual pointer was NULL";
+static const char UnityStrNot[]                    = "Not ";
+static const char UnityStrInf[]                    = "Infinity";
+static const char UnityStrNegInf[]                 = "Negative Infinity";
+static const char UnityStrNaN[]                    = "NaN";
+static const char UnityStrDet[]                    = "Determinate";
+static const char UnityStrInvalidFloatTrait[]      = "Invalid Float Trait";
+const char UnityStrErrFloat[]                      = "Unity Floating Point Disabled";
+const char UnityStrErrDouble[]                     = "Unity Double Precision Disabled";
+const char UnityStrErr64[]                         = "Unity 64-bit Support Disabled";
+static const char UnityStrBreaker[]                = "-----------------------";
+static const char UnityStrResultsTests[]           = " Tests ";
+static const char UnityStrResultsFailures[]        = " Failures ";
+static const char UnityStrResultsIgnored[]         = " Ignored ";
+static const char UnityStrDetail1Name[]            = UNITY_DETAIL1_NAME " ";
+static const char UnityStrDetail2Name[]            = " " UNITY_DETAIL2_NAME " ";
+
+#ifdef UNITY_FLOAT_NEEDS_ZERO
+/* Dividing by these constants produces +/- infinity.
+ * The rationale is given in UnityAssertFloatIsInf's body. */
+static const _UF f_zero = 0.0f;
+#endif
+
+/* compiler-generic print formatting masks */
+static const _U_UINT UnitySizeMask[] =
+{
+    255u,         /* 0xFF */
+    65535u,       /* 0xFFFF */
+    65535u,
+    4294967295u,  /* 0xFFFFFFFF */
+    4294967295u,
+    4294967295u,
+    4294967295u
+#ifdef UNITY_SUPPORT_64
+    ,0xFFFFFFFFFFFFFFFF
+#endif
+};
+
+/*-----------------------------------------------
+ * Pretty Printers & Test Result Output Handlers
+ *-----------------------------------------------*/
+
+void UnityPrint(const char* string)
+{
+    const char* pch = string;
+
+    if (pch != NULL)
+    {
+        while (*pch)
+        {
+            /* printable characters plus CR & LF are printed */
+            if ((*pch <= 126) && (*pch >= 32))
+            {
+                UNITY_OUTPUT_CHAR(*pch);
+            }
+            /* write escaped carriage returns */
+            else if (*pch == 13)
+            {
+                UNITY_OUTPUT_CHAR('\\');
+                UNITY_OUTPUT_CHAR('r');
+            }
+            /* write escaped line feeds */
+            else if (*pch == 10)
+            {
+                UNITY_OUTPUT_CHAR('\\');
+                UNITY_OUTPUT_CHAR('n');
+            }
+            /* unprintable characters are shown as codes */
+            else
+            {
+                UNITY_OUTPUT_CHAR('\\');
+                UnityPrintNumberHex((_U_UINT)*pch, 2);
+            }
+            pch++;
+        }
+    }
+}
+
+void UnityPrintLen(const char* string, const _UU32 length);
+void UnityPrintLen(const char* string, const _UU32 length)
+{
+    const char* pch = string;
+
+    if (pch != NULL)
+    {
+        while (*pch && (_UU32)(pch - string) < length)
+        {
+            /* printable characters plus CR & LF are printed */
+            if ((*pch <= 126) && (*pch >= 32))
+            {
+                UNITY_OUTPUT_CHAR(*pch);
+            }
+            /* write escaped carriage returns */
+            else if (*pch == 13)
+            {
+                UNITY_OUTPUT_CHAR('\\');
+                UNITY_OUTPUT_CHAR('r');
+            }
+            /* write escaped line feeds */
+            else if (*pch == 10)
+            {
+                UNITY_OUTPUT_CHAR('\\');
+                UNITY_OUTPUT_CHAR('n');
+            }
+            /* unprintable characters are shown as codes */
+            else
+            {
+                UNITY_OUTPUT_CHAR('\\');
+                UnityPrintNumberHex((_U_UINT)*pch, 2);
+            }
+            pch++;
+        }
+    }
+}
+
+/*-----------------------------------------------*/
+void UnityPrintNumberByStyle(const _U_SINT number, const UNITY_DISPLAY_STYLE_T style)
+{
+    if ((style & UNITY_DISPLAY_RANGE_INT) == UNITY_DISPLAY_RANGE_INT)
+    {
+        UnityPrintNumber(number);
+    }
+    else if ((style & UNITY_DISPLAY_RANGE_UINT) == UNITY_DISPLAY_RANGE_UINT)
+    {
+        UnityPrintNumberUnsigned(  (_U_UINT)number  &  UnitySizeMask[((_U_UINT)style & (_U_UINT)0x0F) - 1]  );
+    }
+    else
+    {
+        UnityPrintNumberHex((_U_UINT)number, (char)((style & 0x000F) << 1));
+    }
+}
+
+/*-----------------------------------------------*/
+void UnityPrintNumber(const _U_SINT number_to_print)
+{
+    _U_UINT number = (_U_UINT)number_to_print;
+
+    if (number_to_print < 0)
+    {
+        /* A negative number, including MIN negative */
+        UNITY_OUTPUT_CHAR('-');
+        number = (_U_UINT)(-number_to_print);
+    }
+    UnityPrintNumberUnsigned(number);
+}
+
+/*-----------------------------------------------
+ * basically do an itoa using as little ram as possible */
+void UnityPrintNumberUnsigned(const _U_UINT number)
+{
+    _U_UINT divisor = 1;
+
+    /* figure out initial divisor */
+    while (number / divisor > 9)
+    {
+        divisor *= 10;
+    }
+
+    /* now mod and print, then divide divisor */
+    do
+    {
+        UNITY_OUTPUT_CHAR((char)('0' + (number / divisor % 10)));
+        divisor /= 10;
+    }
+    while (divisor > 0);
+}
+
+/*-----------------------------------------------*/
+void UnityPrintNumberHex(const _U_UINT number, const char nibbles_to_print)
+{
+    _U_UINT nibble;
+    char nibbles = nibbles_to_print;
+    UNITY_OUTPUT_CHAR('0');
+    UNITY_OUTPUT_CHAR('x');
+
+    while (nibbles > 0)
+    {
+        nibble = (number >> (--nibbles << 2)) & 0x0000000F;
+        if (nibble <= 9)
+        {
+            UNITY_OUTPUT_CHAR((char)('0' + nibble));
+        }
+        else
+        {
+            UNITY_OUTPUT_CHAR((char)('A' - 10 + nibble));
+        }
+    }
+}
+
+/*-----------------------------------------------*/
+void UnityPrintMask(const _U_UINT mask, const _U_UINT number)
+{
+    _U_UINT current_bit = (_U_UINT)1 << (UNITY_INT_WIDTH - 1);
+    _US32 i;
+
+    for (i = 0; i < UNITY_INT_WIDTH; i++)
+    {
+        if (current_bit & mask)
+        {
+            if (current_bit & number)
+            {
+                UNITY_OUTPUT_CHAR('1');
+            }
+            else
+            {
+                UNITY_OUTPUT_CHAR('0');
+            }
+        }
+        else
+        {
+            UNITY_OUTPUT_CHAR('X');
+        }
+        current_bit = current_bit >> 1;
+    }
+}
+
+/*-----------------------------------------------*/
+#ifdef UNITY_FLOAT_VERBOSE
+#include <stdio.h>
+
+#ifndef UNITY_VERBOSE_NUMBER_MAX_LENGTH
+# ifdef UNITY_DOUBLE_VERBOSE
+#  define UNITY_VERBOSE_NUMBER_MAX_LENGTH 317
+# else
+#  define UNITY_VERBOSE_NUMBER_MAX_LENGTH 47
+# endif
+#endif
+
+void UnityPrintFloat(_UF number)
+{
+    char TempBuffer[UNITY_VERBOSE_NUMBER_MAX_LENGTH + 1];
+    snprintf(TempBuffer, sizeof(TempBuffer), "%.6f", number);
+    UnityPrint(TempBuffer);
+}
+#endif
+
+/*-----------------------------------------------*/
+
+void UnityPrintFail(void);
+void UnityPrintFail(void)
+{
+    UnityPrint(UnityStrFail);
+}
+
+void UnityPrintOk(void);
+void UnityPrintOk(void)
+{
+    UnityPrint(UnityStrOk);
+}
+
+/*-----------------------------------------------*/
+static void UnityTestResultsBegin(const char* file, const UNITY_LINE_TYPE line);
+static void UnityTestResultsBegin(const char* file, const UNITY_LINE_TYPE line)
+{
+#ifndef UNITY_FIXTURES
+    UnityPrint(file);
+    UNITY_OUTPUT_CHAR(':');
+    UnityPrintNumber((_U_SINT)line);
+    UNITY_OUTPUT_CHAR(':');
+    UnityPrint(Unity.CurrentTestName);
+    UNITY_OUTPUT_CHAR(':');
+#else
+    UNITY_UNUSED(file);
+    UNITY_UNUSED(line);
+#endif
+}
+
+/*-----------------------------------------------*/
+static void UnityTestResultsFailBegin(const UNITY_LINE_TYPE line);
+static void UnityTestResultsFailBegin(const UNITY_LINE_TYPE line)
+{
+#ifndef UNITY_FIXTURES
+    UnityTestResultsBegin(Unity.TestFile, line);
+#else
+    UNITY_UNUSED(line);
+#endif
+    UnityPrint(UnityStrFail);
+    UNITY_OUTPUT_CHAR(':');
+}
+
+/*-----------------------------------------------*/
+void UnityConcludeTest(void)
+{
+    if (Unity.CurrentTestIgnored)
+    {
+        Unity.TestIgnores++;
+    }
+    else if (!Unity.CurrentTestFailed)
+    {
+        UnityTestResultsBegin(Unity.TestFile, Unity.CurrentTestLineNumber);
+        UnityPrint(UnityStrPass);
+    }
+    else
+    {
+        Unity.TestFailures++;
+    }
+
+    Unity.CurrentTestFailed = 0;
+    Unity.CurrentTestIgnored = 0;
+    UNITY_PRINT_EOL();
+    UNITY_OUTPUT_FLUSH();
+}
+
+/*-----------------------------------------------*/
+static void UnityAddMsgIfSpecified(const char* msg);
+static void UnityAddMsgIfSpecified(const char* msg)
+{
+    if (msg)
+    {
+        UnityPrint(UnityStrSpacer);
+#ifndef UNITY_EXCLUDE_DETAILS
+        if (Unity.CurrentDetail1)
+        {
+            UnityPrint(UnityStrDetail1Name);
+            UnityPrint(Unity.CurrentDetail1);
+            if (Unity.CurrentDetail2)
+            {
+                UnityPrint(UnityStrDetail2Name);
+                UnityPrint(Unity.CurrentDetail2);
+            }
+            UnityPrint(UnityStrSpacer);
+        }
+#endif
+        UnityPrint(msg);
+    }
+}
+
+/*-----------------------------------------------*/
+static void UnityPrintExpectedAndActualStrings(const char* expected, const char* actual);
+static void UnityPrintExpectedAndActualStrings(const char* expected, const char* actual)
+{
+    UnityPrint(UnityStrExpected);
+    if (expected != NULL)
+    {
+        UNITY_OUTPUT_CHAR('\'');
+        UnityPrint(expected);
+        UNITY_OUTPUT_CHAR('\'');
+    }
+    else
+    {
+      UnityPrint(UnityStrNull);
+    }
+    UnityPrint(UnityStrWas);
+    if (actual != NULL)
+    {
+        UNITY_OUTPUT_CHAR('\'');
+        UnityPrint(actual);
+        UNITY_OUTPUT_CHAR('\'');
+    }
+    else
+    {
+      UnityPrint(UnityStrNull);
+    }
+}
+
+/*-----------------------------------------------*/
+static void UnityPrintExpectedAndActualStringsLen(const char* expected, const char* actual, const _UU32 length)
+{
+    UnityPrint(UnityStrExpected);
+    if (expected != NULL)
+    {
+        UNITY_OUTPUT_CHAR('\'');
+        UnityPrintLen(expected, length);
+        UNITY_OUTPUT_CHAR('\'');
+    }
+    else
+    {
+      UnityPrint(UnityStrNull);
+    }
+    UnityPrint(UnityStrWas);
+    if (actual != NULL)
+    {
+        UNITY_OUTPUT_CHAR('\'');
+        UnityPrintLen(actual, length);
+        UNITY_OUTPUT_CHAR('\'');
+    }
+    else
+    {
+      UnityPrint(UnityStrNull);
+    }
+}
+
+
+
+/*-----------------------------------------------
+ * Assertion & Control Helpers
+ *-----------------------------------------------*/
+
+static int UnityCheckArraysForNull(UNITY_INTERNAL_PTR expected, UNITY_INTERNAL_PTR actual, const UNITY_LINE_TYPE lineNumber, const char* msg)
+{
+    /* return true if they are both NULL */
+    if ((expected == NULL) && (actual == NULL))
+        return 1;
+
+    /* throw error if just expected is NULL */
+    if (expected == NULL)
+    {
+        UnityTestResultsFailBegin(lineNumber);
+        UnityPrint(UnityStrNullPointerForExpected);
+        UnityAddMsgIfSpecified(msg);
+        UNITY_FAIL_AND_BAIL;
+    }
+
+    /* throw error if just actual is NULL */
+    if (actual == NULL)
+    {
+        UnityTestResultsFailBegin(lineNumber);
+        UnityPrint(UnityStrNullPointerForActual);
+        UnityAddMsgIfSpecified(msg);
+        UNITY_FAIL_AND_BAIL;
+    }
+
+    /* return false if neither is NULL */
+    return 0;
+}
+
+/*-----------------------------------------------
+ * Assertion Functions
+ *-----------------------------------------------*/
+
+void UnityAssertBits(const _U_SINT mask,
+                     const _U_SINT expected,
+                     const _U_SINT actual,
+                     const char* msg,
+                     const UNITY_LINE_TYPE lineNumber)
+{
+    UNITY_SKIP_EXECUTION;
+
+    if ((mask & expected) != (mask & actual))
+    {
+        UnityTestResultsFailBegin(lineNumber);
+        UnityPrint(UnityStrExpected);
+        UnityPrintMask((_U_UINT)mask, (_U_UINT)expected);
+        UnityPrint(UnityStrWas);
+        UnityPrintMask((_U_UINT)mask, (_U_UINT)actual);
+        UnityAddMsgIfSpecified(msg);
+        UNITY_FAIL_AND_BAIL;
+    }
+}
+
+/*-----------------------------------------------*/
+void UnityAssertEqualNumber(const _U_SINT expected,
+                            const _U_SINT actual,
+                            const char* msg,
+                            const UNITY_LINE_TYPE lineNumber,
+                            const UNITY_DISPLAY_STYLE_T style)
+{
+    UNITY_SKIP_EXECUTION;
+
+    if (expected != actual)
+    {
+        UnityTestResultsFailBegin(lineNumber);
+        UnityPrint(UnityStrExpected);
+        UnityPrintNumberByStyle(expected, style);
+        UnityPrint(UnityStrWas);
+        UnityPrintNumberByStyle(actual, style);
+        UnityAddMsgIfSpecified(msg);
+        UNITY_FAIL_AND_BAIL;
+    }
+}
+
+#define UnityPrintPointlessAndBail()       \
+{                                          \
+    UnityTestResultsFailBegin(lineNumber); \
+    UnityPrint(UnityStrPointless);         \
+    UnityAddMsgIfSpecified(msg);           \
+    UNITY_FAIL_AND_BAIL; }
+
+/*-----------------------------------------------*/
+void UnityAssertEqualIntArray(UNITY_INTERNAL_PTR expected,
+                              UNITY_INTERNAL_PTR actual,
+                              const _UU32 num_elements,
+                              const char* msg,
+                              const UNITY_LINE_TYPE lineNumber,
+                              const UNITY_DISPLAY_STYLE_T style)
+{
+    _UU32 elements = num_elements;
+    UNITY_INTERNAL_PTR ptr_exp = (UNITY_INTERNAL_PTR)expected;
+    UNITY_INTERNAL_PTR ptr_act = (UNITY_INTERNAL_PTR)actual;
+
+    UNITY_SKIP_EXECUTION;
+
+    if (elements == 0)
+    {
+        UnityPrintPointlessAndBail();
+    }
+
+    if (UnityCheckArraysForNull((UNITY_INTERNAL_PTR)expected, (UNITY_INTERNAL_PTR)actual, lineNumber, msg) == 1)
+        return;
+
+    /* If style is UNITY_DISPLAY_STYLE_INT, we'll fall into the default case rather than the INT16 or INT32 (etc) case
+     * as UNITY_DISPLAY_STYLE_INT includes a flag for UNITY_DISPLAY_RANGE_AUTO, which the width-specific
+     * variants do not. Therefore remove this flag. */
+    switch(style & (UNITY_DISPLAY_STYLE_T)(~UNITY_DISPLAY_RANGE_AUTO))
+    {
+        case UNITY_DISPLAY_STYLE_HEX8:
+        case UNITY_DISPLAY_STYLE_INT8:
+        case UNITY_DISPLAY_STYLE_UINT8:
+            while (elements--)
+            {
+                if (*(UNITY_PTR_ATTRIBUTE const _US8*)ptr_exp != *(UNITY_PTR_ATTRIBUTE const _US8*)ptr_act)
+                {
+                    UnityTestResultsFailBegin(lineNumber);
+                    UnityPrint(UnityStrElement);
+                    UnityPrintNumberUnsigned(num_elements - elements - 1);
+                    UnityPrint(UnityStrExpected);
+                    UnityPrintNumberByStyle(*(UNITY_PTR_ATTRIBUTE const _US8*)ptr_exp, style);
+                    UnityPrint(UnityStrWas);
+                    UnityPrintNumberByStyle(*(UNITY_PTR_ATTRIBUTE const _US8*)ptr_act, style);
+                    UnityAddMsgIfSpecified(msg);
+                    UNITY_FAIL_AND_BAIL;
+                }
+                ptr_exp = (UNITY_INTERNAL_PTR)((_UP)ptr_exp + 1);
+                ptr_act = (UNITY_INTERNAL_PTR)((_UP)ptr_act + 1);
+            }
+            break;
+        case UNITY_DISPLAY_STYLE_HEX16:
+        case UNITY_DISPLAY_STYLE_INT16:
+        case UNITY_DISPLAY_STYLE_UINT16:
+            while (elements--)
+            {
+                if (*(UNITY_PTR_ATTRIBUTE const _US16*)ptr_exp != *(UNITY_PTR_ATTRIBUTE const _US16*)ptr_act)
+                {
+                    UnityTestResultsFailBegin(lineNumber);
+                    UnityPrint(UnityStrElement);
+                    UnityPrintNumberUnsigned(num_elements - elements - 1);
+                    UnityPrint(UnityStrExpected);
+                    UnityPrintNumberByStyle(*(UNITY_PTR_ATTRIBUTE const _US16*)ptr_exp, style);
+                    UnityPrint(UnityStrWas);
+                    UnityPrintNumberByStyle(*(UNITY_PTR_ATTRIBUTE const _US16*)ptr_act, style);
+                    UnityAddMsgIfSpecified(msg);
+                    UNITY_FAIL_AND_BAIL;
+                }
+                ptr_exp = (UNITY_INTERNAL_PTR)((_UP)ptr_exp + 2);
+                ptr_act = (UNITY_INTERNAL_PTR)((_UP)ptr_act + 2);
+            }
+            break;
+#ifdef UNITY_SUPPORT_64
+        case UNITY_DISPLAY_STYLE_HEX64:
+        case UNITY_DISPLAY_STYLE_INT64:
+        case UNITY_DISPLAY_STYLE_UINT64:
+            while (elements--)
+            {
+                if (*(UNITY_PTR_ATTRIBUTE const _US64*)ptr_exp != *(UNITY_PTR_ATTRIBUTE const _US64*)ptr_act)
+                {
+                    UnityTestResultsFailBegin(lineNumber);
+                    UnityPrint(UnityStrElement);
+                    UnityPrintNumberUnsigned(num_elements - elements - 1);
+                    UnityPrint(UnityStrExpected);
+                    UnityPrintNumberByStyle(*(UNITY_PTR_ATTRIBUTE const _US64*)ptr_exp, style);
+                    UnityPrint(UnityStrWas);
+                    UnityPrintNumberByStyle(*(UNITY_PTR_ATTRIBUTE const _US64*)ptr_act, style);
+                    UnityAddMsgIfSpecified(msg);
+                    UNITY_FAIL_AND_BAIL;
+                }
+                ptr_exp = (UNITY_INTERNAL_PTR)((_UP)ptr_exp + 8);
+                ptr_act = (UNITY_INTERNAL_PTR)((_UP)ptr_act + 8);
+            }
+            break;
+#endif
+        default:
+            while (elements--)
+            {
+                if (*(UNITY_PTR_ATTRIBUTE const _US32*)ptr_exp != *(UNITY_PTR_ATTRIBUTE const _US32*)ptr_act)
+                {
+                    UnityTestResultsFailBegin(lineNumber);
+                    UnityPrint(UnityStrElement);
+                    UnityPrintNumberUnsigned(num_elements - elements - 1);
+                    UnityPrint(UnityStrExpected);
+                    UnityPrintNumberByStyle(*(UNITY_PTR_ATTRIBUTE const _US32*)ptr_exp, style);
+                    UnityPrint(UnityStrWas);
+                    UnityPrintNumberByStyle(*(UNITY_PTR_ATTRIBUTE const _US32*)ptr_act, style);
+                    UnityAddMsgIfSpecified(msg);
+                    UNITY_FAIL_AND_BAIL;
+                }
+                ptr_exp = (UNITY_INTERNAL_PTR)((_UP)ptr_exp + 4);
+                ptr_act = (UNITY_INTERNAL_PTR)((_UP)ptr_act + 4);
+            }
+            break;
+    }
+}
+
+/*-----------------------------------------------*/
+#ifndef UNITY_EXCLUDE_FLOAT
+void UnityAssertEqualFloatArray(UNITY_PTR_ATTRIBUTE const _UF* expected,
+                                UNITY_PTR_ATTRIBUTE const _UF* actual,
+                                const _UU32 num_elements,
+                                const char* msg,
+                                const UNITY_LINE_TYPE lineNumber)
+{
+    _UU32 elements = num_elements;
+    UNITY_PTR_ATTRIBUTE const _UF* ptr_expected = expected;
+    UNITY_PTR_ATTRIBUTE const _UF* ptr_actual = actual;
+    _UF diff, tol;
+
+    UNITY_SKIP_EXECUTION;
+
+    if (elements == 0)
+    {
+        UnityPrintPointlessAndBail();
+    }
+
+    if (UnityCheckArraysForNull((UNITY_INTERNAL_PTR)expected, (UNITY_INTERNAL_PTR)actual, lineNumber, msg) == 1)
+        return;
+
+    while (elements--)
+    {
+        diff = *ptr_expected - *ptr_actual;
+        if (diff < 0.0f)
+            diff = 0.0f - diff;
+        tol = UNITY_FLOAT_PRECISION * *ptr_expected;
+        if (tol < 0.0f)
+            tol = 0.0f - tol;
+
+        /* This first part of this condition will catch any NaN or Infinite values */
+        if (isnan(diff) || isinf(diff) || (diff > tol))
+        {
+            UnityTestResultsFailBegin(lineNumber);
+            UnityPrint(UnityStrElement);
+            UnityPrintNumberUnsigned(num_elements - elements - 1);
+#ifdef UNITY_FLOAT_VERBOSE
+            UnityPrint(UnityStrExpected);
+            UnityPrintFloat(*ptr_expected);
+            UnityPrint(UnityStrWas);
+            UnityPrintFloat(*ptr_actual);
+#else
+            UnityPrint(UnityStrDelta);
+#endif
+            UnityAddMsgIfSpecified(msg);
+            UNITY_FAIL_AND_BAIL;
+        }
+        ptr_expected++;
+        ptr_actual++;
+    }
+}
+
+/*-----------------------------------------------*/
+void UnityAssertFloatsWithin(const _UF delta,
+                             const _UF expected,
+                             const _UF actual,
+                             const char* msg,
+                             const UNITY_LINE_TYPE lineNumber)
+{
+    _UF diff = actual - expected;
+    _UF pos_delta = delta;
+
+    UNITY_SKIP_EXECUTION;
+
+    if (diff < 0.0f)
+    {
+        diff = 0.0f - diff;
+    }
+    if (pos_delta < 0.0f)
+    {
+        pos_delta = 0.0f - pos_delta;
+    }
+
+    /* This first part of this condition will catch any NaN or Infinite values */
+    if (isnan(diff) || isinf(diff) || (pos_delta < diff))
+    {
+        UnityTestResultsFailBegin(lineNumber);
+#ifdef UNITY_FLOAT_VERBOSE
+        UnityPrint(UnityStrExpected);
+        UnityPrintFloat(expected);
+        UnityPrint(UnityStrWas);
+        UnityPrintFloat(actual);
+#else
+        UnityPrint(UnityStrDelta);
+#endif
+        UnityAddMsgIfSpecified(msg);
+        UNITY_FAIL_AND_BAIL;
+    }
+}
+
+/*-----------------------------------------------*/
+void UnityAssertFloatSpecial(const _UF actual,
+                             const char* msg,
+                             const UNITY_LINE_TYPE lineNumber,
+                             const UNITY_FLOAT_TRAIT_T style)
+{
+    const char* trait_names[] = { UnityStrInf, UnityStrNegInf, UnityStrNaN, UnityStrDet };
+    _U_SINT should_be_trait   = ((_U_SINT)style & 1);
+    _U_SINT is_trait          = !should_be_trait;
+    _U_SINT trait_index       = (_U_SINT)(style >> 1);
+
+    UNITY_SKIP_EXECUTION;
+
+    switch(style)
+    {
+        /* To determine Inf / Neg Inf, we compare to an Inf / Neg Inf value we create on the fly
+         * We are using a variable to hold the zero value because some compilers complain about dividing by zero otherwise */
+        case UNITY_FLOAT_IS_INF:
+        case UNITY_FLOAT_IS_NOT_INF:
+            is_trait = isinf(actual) & ispos(actual);
+            break;
+        case UNITY_FLOAT_IS_NEG_INF:
+        case UNITY_FLOAT_IS_NOT_NEG_INF:
+            is_trait = isinf(actual) & isneg(actual);
+            break;
+
+        /* NaN is the only floating point value that does NOT equal itself. Therefore if Actual == Actual, then it is NOT NaN. */
+        case UNITY_FLOAT_IS_NAN:
+        case UNITY_FLOAT_IS_NOT_NAN:
+            is_trait = isnan(actual);
+            break;
+
+        /* A determinate number is non infinite and not NaN. (therefore the opposite of the two above) */
+        case UNITY_FLOAT_IS_DET:
+        case UNITY_FLOAT_IS_NOT_DET:
+            if (isinf(actual) | isnan(actual))
+                is_trait = 0;
+            else
+                is_trait = 1;
+            break;
+
+        default:
+            trait_index = 0;
+            trait_names[0] = UnityStrInvalidFloatTrait;
+            break;
+    }
+
+    if (is_trait != should_be_trait)
+    {
+        UnityTestResultsFailBegin(lineNumber);
+        UnityPrint(UnityStrExpected);
+        if (!should_be_trait)
+            UnityPrint(UnityStrNot);
+        UnityPrint(trait_names[trait_index]);
+        UnityPrint(UnityStrWas);
+#ifdef UNITY_FLOAT_VERBOSE
+        UnityPrintFloat(actual);
+#else
+        if (should_be_trait)
+            UnityPrint(UnityStrNot);
+        UnityPrint(trait_names[trait_index]);
+#endif
+        UnityAddMsgIfSpecified(msg);
+        UNITY_FAIL_AND_BAIL;
+    }
+}
+
+#endif /* not UNITY_EXCLUDE_FLOAT */
+
+/*-----------------------------------------------*/
+#ifndef UNITY_EXCLUDE_DOUBLE
+void UnityAssertEqualDoubleArray(UNITY_PTR_ATTRIBUTE const _UD* expected,
+                                 UNITY_PTR_ATTRIBUTE const _UD* actual,
+                                 const _UU32 num_elements,
+                                 const char* msg,
+                                 const UNITY_LINE_TYPE lineNumber)
+{
+    _UU32 elements = num_elements;
+    UNITY_PTR_ATTRIBUTE const _UD* ptr_expected = expected;
+    UNITY_PTR_ATTRIBUTE const _UD* ptr_actual = actual;
+    _UD diff, tol;
+
+    UNITY_SKIP_EXECUTION;
+
+    if (elements == 0)
+    {
+        UnityPrintPointlessAndBail();
+    }
+
+    if (UnityCheckArraysForNull((UNITY_INTERNAL_PTR)expected, (UNITY_INTERNAL_PTR)actual, lineNumber, msg) == 1)
+        return;
+
+    while (elements--)
+    {
+        diff = *ptr_expected - *ptr_actual;
+        if (diff < 0.0)
+          diff = 0.0 - diff;
+        tol = UNITY_DOUBLE_PRECISION * *ptr_expected;
+        if (tol < 0.0)
+            tol = 0.0 - tol;
+
+        /* This first part of this condition will catch any NaN or Infinite values */
+        if (isnan(diff) || isinf(diff) || (diff > tol))
+        {
+            UnityTestResultsFailBegin(lineNumber);
+            UnityPrint(UnityStrElement);
+            UnityPrintNumberUnsigned(num_elements - elements - 1);
+#ifdef UNITY_DOUBLE_VERBOSE
+            UnityPrint(UnityStrExpected);
+            UnityPrintFloat((float)(*ptr_expected));
+            UnityPrint(UnityStrWas);
+            UnityPrintFloat((float)(*ptr_actual));
+#else
+            UnityPrint(UnityStrDelta);
+#endif
+            UnityAddMsgIfSpecified(msg);
+            UNITY_FAIL_AND_BAIL;
+        }
+        ptr_expected++;
+        ptr_actual++;
+    }
+}
+
+/*-----------------------------------------------*/
+void UnityAssertDoublesWithin(const _UD delta,
+                              const _UD expected,
+                              const _UD actual,
+                              const char* msg,
+                              const UNITY_LINE_TYPE lineNumber)
+{
+    _UD diff = actual - expected;
+    _UD pos_delta = delta;
+
+    UNITY_SKIP_EXECUTION;
+
+    if (diff < 0.0)
+    {
+        diff = 0.0 - diff;
+    }
+    if (pos_delta < 0.0)
+    {
+        pos_delta = 0.0 - pos_delta;
+    }
+
+    /* This first part of this condition will catch any NaN or Infinite values */
+    if (isnan(diff) || isinf(diff) || (pos_delta < diff))
+    {
+        UnityTestResultsFailBegin(lineNumber);
+#ifdef UNITY_DOUBLE_VERBOSE
+        UnityPrint(UnityStrExpected);
+        UnityPrintFloat((float)expected);
+        UnityPrint(UnityStrWas);
+        UnityPrintFloat((float)actual);
+#else
+        UnityPrint(UnityStrDelta);
+#endif
+        UnityAddMsgIfSpecified(msg);
+        UNITY_FAIL_AND_BAIL;
+    }
+}
+
+/*-----------------------------------------------*/
+
+void UnityAssertDoubleSpecial(const _UD actual,
+                              const char* msg,
+                              const UNITY_LINE_TYPE lineNumber,
+                              const UNITY_FLOAT_TRAIT_T style)
+{
+    const char* trait_names[] = { UnityStrInf, UnityStrNegInf, UnityStrNaN, UnityStrDet };
+    _U_SINT should_be_trait   = ((_U_SINT)style & 1);
+    _U_SINT is_trait          = !should_be_trait;
+    _U_SINT trait_index       = (_U_SINT)(style >> 1);
+
+    UNITY_SKIP_EXECUTION;
+
+     switch(style)
+    {
+        /* To determine Inf / Neg Inf, we compare to an Inf / Neg Inf value we create on the fly
+         * We are using a variable to hold the zero value because some compilers complain about dividing by zero otherwise */
+        case UNITY_FLOAT_IS_INF:
+        case UNITY_FLOAT_IS_NOT_INF:
+            is_trait = isinf(actual) & ispos(actual);
+            break;
+        case UNITY_FLOAT_IS_NEG_INF:
+        case UNITY_FLOAT_IS_NOT_NEG_INF:
+            is_trait = isinf(actual) & isneg(actual);
+            break;
+
+        /* NaN is the only floating point value that does NOT equal itself. Therefore if Actual == Actual, then it is NOT NaN. */
+        case UNITY_FLOAT_IS_NAN:
+        case UNITY_FLOAT_IS_NOT_NAN:
+            is_trait = isnan(actual);
+            break;
+
+        /* A determinate number is non infinite and not NaN. (therefore the opposite of the two above) */
+        case UNITY_FLOAT_IS_DET:
+        case UNITY_FLOAT_IS_NOT_DET:
+            if (isinf(actual) | isnan(actual))
+                is_trait = 0;
+            else
+                is_trait = 1;
+            break;
+
+        default:
+            trait_index = 0;
+            trait_names[0] = UnityStrInvalidFloatTrait;
+            break;
+    }
+
+    if (is_trait != should_be_trait)
+    {
+        UnityTestResultsFailBegin(lineNumber);
+        UnityPrint(UnityStrExpected);
+        if (!should_be_trait)
+            UnityPrint(UnityStrNot);
+        UnityPrint(trait_names[trait_index]);
+        UnityPrint(UnityStrWas);
+#ifdef UNITY_DOUBLE_VERBOSE
+        UnityPrintFloat(actual);
+#else
+        if (should_be_trait)
+            UnityPrint(UnityStrNot);
+        UnityPrint(trait_names[trait_index]);
+#endif
+        UnityAddMsgIfSpecified(msg);
+        UNITY_FAIL_AND_BAIL;
+    }
+}
+
+
+#endif /* not UNITY_EXCLUDE_DOUBLE */
+
+/*-----------------------------------------------*/
+void UnityAssertNumbersWithin( const _U_UINT delta,
+                               const _U_SINT expected,
+                               const _U_SINT actual,
+                               const char* msg,
+                               const UNITY_LINE_TYPE lineNumber,
+                               const UNITY_DISPLAY_STYLE_T style)
+{
+    UNITY_SKIP_EXECUTION;
+
+    if ((style & UNITY_DISPLAY_RANGE_INT) == UNITY_DISPLAY_RANGE_INT)
+    {
+        if (actual > expected)
+            Unity.CurrentTestFailed = ((_U_UINT)(actual - expected) > delta);
+        else
+            Unity.CurrentTestFailed = ((_U_UINT)(expected - actual) > delta);
+    }
+    else
+    {
+        if ((_U_UINT)actual > (_U_UINT)expected)
+            Unity.CurrentTestFailed = ((_U_UINT)(actual - expected) > delta);
+        else
+            Unity.CurrentTestFailed = ((_U_UINT)(expected - actual) > delta);
+    }
+
+    if (Unity.CurrentTestFailed)
+    {
+        UnityTestResultsFailBegin(lineNumber);
+        UnityPrint(UnityStrDelta);
+        UnityPrintNumberByStyle((_U_SINT)delta, style);
+        UnityPrint(UnityStrExpected);
+        UnityPrintNumberByStyle(expected, style);
+        UnityPrint(UnityStrWas);
+        UnityPrintNumberByStyle(actual, style);
+        UnityAddMsgIfSpecified(msg);
+        UNITY_FAIL_AND_BAIL;
+    }
+}
+
+/*-----------------------------------------------*/
+void UnityAssertEqualString(const char* expected,
+                            const char* actual,
+                            const char* msg,
+                            const UNITY_LINE_TYPE lineNumber)
+{
+    _UU32 i;
+
+    UNITY_SKIP_EXECUTION;
+
+    /* if both pointers not null compare the strings */
+    if (expected && actual)
+    {
+        for (i = 0; expected[i] || actual[i]; i++)
+        {
+            if (expected[i] != actual[i])
+            {
+                Unity.CurrentTestFailed = 1;
+                break;
+            }
+        }
+    }
+    else
+    { /* handle case of one pointers being null (if both null, test should pass) */
+        if (expected != actual)
+        {
+            Unity.CurrentTestFailed = 1;
+        }
+    }
+
+    if (Unity.CurrentTestFailed)
+    {
+      UnityTestResultsFailBegin(lineNumber);
+      UnityPrintExpectedAndActualStrings(expected, actual);
+      UnityAddMsgIfSpecified(msg);
+      UNITY_FAIL_AND_BAIL;
+    }
+}
+
+/*-----------------------------------------------*/
+void UnityAssertEqualStringLen(const char* expected,
+                            const char* actual,
+                            const _UU32 length,
+                            const char* msg,
+                            const UNITY_LINE_TYPE lineNumber)
+{
+    _UU32 i;
+
+    UNITY_SKIP_EXECUTION;
+
+    /* if both pointers not null compare the strings */
+    if (expected && actual)
+    {
+        for (i = 0; (expected[i] || actual[i]) && i < length; i++)
+        {
+            if (expected[i] != actual[i])
+            {
+                Unity.CurrentTestFailed = 1;
+                break;
+            }
+        }
+    }
+    else
+    { /* handle case of one pointers being null (if both null, test should pass) */
+        if (expected != actual)
+        {
+            Unity.CurrentTestFailed = 1;
+        }
+    }
+
+    if (Unity.CurrentTestFailed)
+    {
+      UnityTestResultsFailBegin(lineNumber);
+      UnityPrintExpectedAndActualStringsLen(expected, actual, length);
+      UnityAddMsgIfSpecified(msg);
+      UNITY_FAIL_AND_BAIL;
+    }
+}
+
+
+/*-----------------------------------------------*/
+void UnityAssertEqualStringArray( const char** expected,
+                                  const char** actual,
+                                  const _UU32 num_elements,
+                                  const char* msg,
+                                  const UNITY_LINE_TYPE lineNumber)
+{
+    _UU32 i, j = 0;
+
+    UNITY_SKIP_EXECUTION;
+
+    /* if no elements, it's an error */
+    if (num_elements == 0)
+    {
+        UnityPrintPointlessAndBail();
+    }
+
+    if (UnityCheckArraysForNull((UNITY_INTERNAL_PTR)expected, (UNITY_INTERNAL_PTR)actual, lineNumber, msg) == 1)
+        return;
+
+    do
+    {
+        /* if both pointers not null compare the strings */
+        if (expected[j] && actual[j])
+        {
+            for (i = 0; expected[j][i] || actual[j][i]; i++)
+            {
+                if (expected[j][i] != actual[j][i])
+                {
+                    Unity.CurrentTestFailed = 1;
+                    break;
+                }
+            }
+        }
+        else
+        { /* handle case of one pointers being null (if both null, test should pass) */
+            if (expected[j] != actual[j])
+            {
+                Unity.CurrentTestFailed = 1;
+            }
+        }
+
+        if (Unity.CurrentTestFailed)
+        {
+            UnityTestResultsFailBegin(lineNumber);
+            if (num_elements > 1)
+            {
+                UnityPrint(UnityStrElement);
+                UnityPrintNumberUnsigned(j);
+            }
+            UnityPrintExpectedAndActualStrings((const char*)(expected[j]), (const char*)(actual[j]));
+            UnityAddMsgIfSpecified(msg);
+            UNITY_FAIL_AND_BAIL;
+        }
+    } while (++j < num_elements);
+}
+
+/*-----------------------------------------------*/
+void UnityAssertEqualMemory( UNITY_INTERNAL_PTR expected,
+                             UNITY_INTERNAL_PTR actual,
+                             const _UU32 length,
+                             const _UU32 num_elements,
+                             const char* msg,
+                             const UNITY_LINE_TYPE lineNumber)
+{
+    UNITY_PTR_ATTRIBUTE const unsigned char* ptr_exp = (UNITY_PTR_ATTRIBUTE const unsigned char*)expected;
+    UNITY_PTR_ATTRIBUTE const unsigned char* ptr_act = (UNITY_PTR_ATTRIBUTE const unsigned char*)actual;
+    _UU32 elements = num_elements;
+    _UU32 bytes;
+
+    UNITY_SKIP_EXECUTION;
+
+    if ((elements == 0) || (length == 0))
+    {
+        UnityPrintPointlessAndBail();
+    }
+
+    if (UnityCheckArraysForNull((UNITY_INTERNAL_PTR)expected, (UNITY_INTERNAL_PTR)actual, lineNumber, msg) == 1)
+        return;
+
+    while (elements--)
+    {
+        /* /////////////////////////////////// */
+        bytes = length;
+        while (bytes--)
+        {
+            if (*ptr_exp != *ptr_act)
+            {
+                UnityTestResultsFailBegin(lineNumber);
+                UnityPrint(UnityStrMemory);
+                if (num_elements > 1)
+                {
+                    UnityPrint(UnityStrElement);
+                    UnityPrintNumberUnsigned(num_elements - elements - 1);
+                }
+                UnityPrint(UnityStrByte);
+                UnityPrintNumberUnsigned(length - bytes - 1);
+                UnityPrint(UnityStrExpected);
+                UnityPrintNumberByStyle(*ptr_exp, UNITY_DISPLAY_STYLE_HEX8);
+                UnityPrint(UnityStrWas);
+                UnityPrintNumberByStyle(*ptr_act, UNITY_DISPLAY_STYLE_HEX8);
+                UnityAddMsgIfSpecified(msg);
+                UNITY_FAIL_AND_BAIL;
+            }
+            ptr_exp = (UNITY_INTERNAL_PTR)((_UP)ptr_exp + 1);
+            ptr_act = (UNITY_INTERNAL_PTR)((_UP)ptr_act + 1);
+        }
+        /* /////////////////////////////////// */
+
+    }
+}
+
+/*-----------------------------------------------
+ * Control Functions
+ *-----------------------------------------------*/
+
+void UnityFail(const char* msg, const UNITY_LINE_TYPE line)
+{
+    UNITY_SKIP_EXECUTION;
+
+    UnityTestResultsBegin(Unity.TestFile, line);
+    UnityPrintFail();
+    if (msg != NULL)
+    {
+        UNITY_OUTPUT_CHAR(':');
+
+#ifndef UNITY_EXCLUDE_DETAILS
+        if (Unity.CurrentDetail1)
+        {
+            UnityPrint(UnityStrDetail1Name);
+            UnityPrint(Unity.CurrentDetail1);
+            if (Unity.CurrentDetail2)
+            {
+                UnityPrint(UnityStrDetail2Name);
+                UnityPrint(Unity.CurrentDetail2);
+            }
+            UnityPrint(UnityStrSpacer);
+        }
+#endif
+        if (msg[0] != ' ')
+        {
+            UNITY_OUTPUT_CHAR(' ');
+        }
+        UnityPrint(msg);
+    }
+
+    UNITY_FAIL_AND_BAIL;
+}
+
+/*-----------------------------------------------*/
+void UnityIgnore(const char* msg, const UNITY_LINE_TYPE line)
+{
+    UNITY_SKIP_EXECUTION;
+
+    UnityTestResultsBegin(Unity.TestFile, line);
+    UnityPrint(UnityStrIgnore);
+    if (msg != NULL)
+    {
+      UNITY_OUTPUT_CHAR(':');
+      UNITY_OUTPUT_CHAR(' ');
+      UnityPrint(msg);
+    }
+    UNITY_IGNORE_AND_BAIL;
+}
+
+/*-----------------------------------------------*/
+#if defined(UNITY_WEAK_ATTRIBUTE)
+    UNITY_WEAK_ATTRIBUTE void setUp(void) { }
+    UNITY_WEAK_ATTRIBUTE void tearDown(void) { }
+#elif defined(UNITY_WEAK_PRAGMA)
+#   pragma weak setUp
+    void setUp(void) { }
+#   pragma weak tearDown
+    void tearDown(void) { }
+#endif
+/*-----------------------------------------------*/
+void UnityDefaultTestRun(UnityTestFunction Func, const char* FuncName, const int FuncLineNum)
+{
+    Unity.CurrentTestName = FuncName;
+    Unity.CurrentTestLineNumber = (UNITY_LINE_TYPE)FuncLineNum;
+    Unity.NumberOfTests++;
+    UNITY_CLR_DETAILS();
+    if (TEST_PROTECT())
+    {
+        setUp();
+        Func();
+    }
+    if (TEST_PROTECT() && !(Unity.CurrentTestIgnored))
+    {
+        tearDown();
+    }
+    UnityConcludeTest();
+}
+
+/*-----------------------------------------------*/
+void UnityBegin(const char* filename)
+{
+    Unity.TestFile = filename;
+    Unity.CurrentTestName = NULL;
+    Unity.CurrentTestLineNumber = 0;
+    Unity.NumberOfTests = 0;
+    Unity.TestFailures = 0;
+    Unity.TestIgnores = 0;
+    Unity.CurrentTestFailed = 0;
+    Unity.CurrentTestIgnored = 0;
+
+    UNITY_CLR_DETAILS();
+    UNITY_OUTPUT_START();
+}
+
+/*-----------------------------------------------*/
+int UnityEnd(void)
+{
+    UNITY_PRINT_EOL();
+    UnityPrint(UnityStrBreaker);
+    UNITY_PRINT_EOL();
+    UnityPrintNumber((_U_SINT)(Unity.NumberOfTests));
+    UnityPrint(UnityStrResultsTests);
+    UnityPrintNumber((_U_SINT)(Unity.TestFailures));
+    UnityPrint(UnityStrResultsFailures);
+    UnityPrintNumber((_U_SINT)(Unity.TestIgnores));
+    UnityPrint(UnityStrResultsIgnored);
+    UNITY_PRINT_EOL();
+    if (Unity.TestFailures == 0U)
+    {
+        UnityPrintOk();
+    }
+    else
+    {
+        UnityPrintFail();
+#ifdef UNITY_DIFFERENTIATE_FINAL_FAIL
+        UNITY_OUTPUT_CHAR('E'); UNITY_OUTPUT_CHAR('D');
+#endif
+    }
+    UNITY_PRINT_EOL();
+    UNITY_OUTPUT_FLUSH();
+    UNITY_OUTPUT_COMPLETE();
+    return (int)(Unity.TestFailures);
+}
+
+/*-----------------------------------------------*/
diff --git a/tools/unit-test-app/components/unity/unity_platform.c b/tools/unit-test-app/components/unity/unity_platform.c
new file mode 100644
index 000000000..4e1c0b8e0
--- /dev/null
+++ b/tools/unit-test-app/components/unity/unity_platform.c
@@ -0,0 +1,165 @@
+#include <stdlib.h>
+#include <string.h>
+#include <ctype.h>
+#include "unity.h"
+#include "rom/ets_sys.h"
+
+#define unity_printf ets_printf
+
+// Functions which are defined in ROM, linker script provides addresses for these:
+int uart_tx_one_char(uint8_t c);
+void uart_tx_wait_idle(uint8_t uart_no);
+int UartRxString(uint8_t* dst, uint8_t max_length);
+
+// Pointers to the head and tail of linked list of test description structs:
+static struct test_desc_t* s_unity_tests_first = NULL;
+static struct test_desc_t* s_unity_tests_last = NULL;
+
+
+void unity_putc(int c)
+{
+    if (c == '\n') 
+    {
+        uart_tx_one_char('\n');
+        uart_tx_one_char('\r');
+    }
+    else if (c == '\r') 
+    {
+    }
+    else 
+    {
+        uart_tx_one_char(c);
+    }
+}
+
+void unity_flush()
+{
+    uart_tx_wait_idle(0);   // assume that output goes to UART0
+}
+
+void unity_testcase_register(struct test_desc_t* desc)
+{
+    if (!s_unity_tests_first) 
+    {
+        s_unity_tests_first = desc;
+    }
+    else 
+    {
+        s_unity_tests_last->next = desc;
+    }
+    s_unity_tests_last = desc;
+    desc->next = NULL;
+}
+
+static void unity_run_single_test(const struct test_desc_t* test)
+{
+    Unity.TestFile = test->file;
+    Unity.CurrentDetail1 = test->desc;
+    UnityDefaultTestRun(test->fn, test->name, test->line);
+}
+
+static void unity_run_single_test_by_index(int index)
+{
+    const struct test_desc_t* test;
+    for (test = s_unity_tests_first; test != NULL && index != 0; test = test->next, --index)
+    {
+    }
+    if (test != NULL)
+    {
+        unity_run_single_test(test);
+    }
+    
+}
+
+static void unity_run_single_test_by_name(const char* filter)
+{  
+    char tmp[256];
+    strncpy(tmp, filter + 1, sizeof(tmp) - 1);
+    tmp[strlen(filter) - 2] = 0;
+    for (const struct test_desc_t* test = s_unity_tests_first; test != NULL; test = test->next)
+    {
+        if (strstr(test->name, tmp) != NULL)
+        {
+            unity_run_single_test(test);
+        }
+    }    
+}
+
+void unity_run_all_tests()
+{
+    for (const struct test_desc_t* test = s_unity_tests_first; test != NULL; test = test->next)
+    {
+        unity_run_single_test(test);
+    }
+}
+
+void unity_run_tests_with_filter(const char* filter)
+{
+    for (const struct test_desc_t* test = s_unity_tests_first; test != NULL; test = test->next)
+    {
+        if (strstr(test->desc, filter) != NULL)
+        {
+            unity_run_single_test(test);
+        }
+    }
+}
+
+static void trim_trailing_space(char* str)
+{
+    char* end = str + strlen(str) - 1;
+    while (end >= str && isspace((int) *end))
+    {
+        *end = 0;
+        --end;
+    }
+}
+
+void unity_run_menu()
+{
+    while (true) 
+    {
+        int test_counter = 0;
+        unity_printf("\n\nHere's the test menu, pick your combo:\n");
+        for (const struct test_desc_t* test = s_unity_tests_first; 
+             test != NULL; 
+             test = test->next, ++test_counter)
+        {
+            unity_printf("(%d)\t\"%s\" %s\n", test_counter + 1, test->name, test->desc);
+        }
+        
+        char cmdline[256];
+        UartRxString((uint8_t*) cmdline, sizeof(cmdline) - 1);
+        trim_trailing_space(cmdline);
+
+        if (strlen(cmdline) == 0)
+        {
+            continue;
+        }
+    
+        UNITY_BEGIN();
+        
+        if (cmdline[0] == '*') 
+        {
+            unity_run_all_tests();
+        }
+        else if (cmdline[0] =='[') 
+        {
+            unity_run_tests_with_filter(cmdline);
+        }
+        else if (cmdline[0] =='"')
+        {
+            unity_run_single_test_by_name(cmdline);
+        }
+        else 
+        {
+            int test_index = strtol(cmdline, NULL, 10);
+            if (test_index >= 1 && test_index <= test_counter)
+            {
+                unity_run_single_test_by_index(test_index - 1);
+            }
+        }
+
+        UNITY_END();
+    }
+}
+
diff --git a/tools/unit-test-app/main/app_main.c b/tools/unit-test-app/main/app_main.c
new file mode 100644
index 000000000..b00034adf
--- /dev/null
+++ b/tools/unit-test-app/main/app_main.c
@@ -0,0 +1,18 @@
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "unity.h"
+
+
+void unityTask(void *pvParameters) 
+{
+    vTaskDelay(1000 / portTICK_PERIOD_MS);
+    unity_run_menu();
+    while(1);
+}
+
+void app_main() 
+{
+    xTaskCreatePinnedToCore(unityTask, "unityTask", 4096, NULL, 5, NULL, 0);
+}
+
diff --git a/tools/unit-test-app/main/component.mk b/tools/unit-test-app/main/component.mk
new file mode 100644
index 000000000..fd2dbe7b8
--- /dev/null
+++ b/tools/unit-test-app/main/component.mk
@@ -0,0 +1,5 @@
+#
+# Main Makefile. This is basically the same as a component makefile.
+#
+
+include $(IDF_PATH)/make/component_common.mk
diff --git a/tools/unit-test-app/sdkconfig b/tools/unit-test-app/sdkconfig
new file mode 100644
index 000000000..cde49f3c8
--- /dev/null
+++ b/tools/unit-test-app/sdkconfig
@@ -0,0 +1,125 @@
+#
+# Automatically generated file; DO NOT EDIT.
+# Espressif IoT Development Framework Configuration
+#
+
+#
+# SDK tool configuration
+#
+CONFIG_TOOLPREFIX="xtensa-esp32-elf-"
+CONFIG_PYTHON="python"
+
+#
+# Serial flasher config
+#
+CONFIG_ESPTOOLPY_PORT="/dev/ttyUSB0"
+# CONFIG_ESPTOOLPY_BAUD_115200B is not set
+# CONFIG_ESPTOOLPY_BAUD_230400B is not set
+CONFIG_ESPTOOLPY_BAUD_921600B=y
+# CONFIG_ESPTOOLPY_BAUD_2MB is not set
+# CONFIG_ESPTOOLPY_BAUD_OTHER is not set
+CONFIG_ESPTOOLPY_BAUD_OTHER_VAL=115200
+CONFIG_ESPTOOLPY_BAUD=921600
+CONFIG_ESPTOOLPY_COMPRESSED=y
+# CONFIG_ESPTOOLPY_FLASHMODE_QIO is not set
+# CONFIG_ESPTOOLPY_FLASHMODE_QOUT is not set
+CONFIG_ESPTOOLPY_FLASHMODE_DIO=y
+# CONFIG_ESPTOOLPY_FLASHMODE_DOUT is not set
+CONFIG_ESPTOOLPY_FLASHMODE="dio"
+# CONFIG_ESPTOOLPY_FLASHFREQ_80M is not set
+CONFIG_ESPTOOLPY_FLASHFREQ_40M=y
+# CONFIG_ESPTOOLPY_FLASHFREQ_26M is not set
+# CONFIG_ESPTOOLPY_FLASHFREQ_20M is not set
+CONFIG_ESPTOOLPY_FLASHFREQ="40m"
+
+#
+# Partition Table
+#
+CONFIG_PARTITION_TABLE_SINGLE_APP=y
+# CONFIG_PARTITION_TABLE_TWO_OTA is not set
+# CONFIG_PARTITION_TABLE_CUSTOM is not set
+CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
+CONFIG_PARTITION_TABLE_CUSTOM_APP_BIN_OFFSET=0x10000
+CONFIG_PARTITION_TABLE_FILENAME="partitions_singleapp.csv"
+CONFIG_APP_OFFSET=0x10000
+
+#
+# Component config
+#
+
+#
+# ESP32-specific config
+#
+# CONFIG_ESP32_DEFAULT_CPU_FREQ_80 is not set
+# CONFIG_ESP32_DEFAULT_CPU_FREQ_160 is not set
+CONFIG_ESP32_DEFAULT_CPU_FREQ_240=y
+CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ=240
+# CONFIG_ESP32_ENABLE_STACK_WIFI is not set
+# CONFIG_ESP32_ENABLE_STACK_BT is not set
+CONFIG_ESP32_ENABLE_STACK_NONE=y
+CONFIG_MEMMAP_SMP=y
+# CONFIG_MEMMAP_TRACEMEM is not set
+# CONFIG_MEMMAP_SPISRAM is not set
+CONFIG_SYSTEM_EVENT_QUEUE_SIZE=32
+CONFIG_SYSTEM_EVENT_TASK_STACK_SIZE=2048
+CONFIG_MAIN_TASK_STACK_SIZE=4096
+CONFIG_NEWLIB_STDOUT_ADDCR=y
+
+#
+# FreeRTOS
+#
+# CONFIG_FREERTOS_UNICORE is not set
+CONFIG_FREERTOS_CORETIMER_0=y
+# CONFIG_FREERTOS_CORETIMER_1 is not set
+# CONFIG_FREERTOS_CORETIMER_2 is not set
+CONFIG_FREERTOS_HZ=1000
+# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set
+# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set
+CONFIG_FREERTOS_CHECK_STACKOVERFLOW_CANARY=y
+CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS=3
+# CONFIG_FREERTOS_PANIC_PRINT_HALT is not set
+CONFIG_FREERTOS_PANIC_PRINT_REBOOT=y
+# CONFIG_FREERTOS_PANIC_SILENT_REBOOT is not set
+# CONFIG_FREERTOS_PANIC_GDBSTUB is not set
+CONFIG_FREERTOS_DEBUG_OCDAWARE=y
+CONFIG_FREERTOS_ASSERT_FAIL_ABORT=y
+# CONFIG_FREERTOS_ASSERT_FAIL_PRINT_CONTINUE is not set
+# CONFIG_FREERTOS_ASSERT_DISABLE is not set
+CONFIG_FREERTOS_BREAK_ON_SCHEDULER_START_JTAG=y
+# CONFIG_ENABLE_MEMORY_DEBUG is not set
+# CONFIG_FREERTOS_DEBUG_INTERNALS is not set
+
+#
+# Log output
+#
+# CONFIG_LOG_DEFAULT_LEVEL_NONE is not set
+# CONFIG_LOG_DEFAULT_LEVEL_ERROR is not set
+# CONFIG_LOG_DEFAULT_LEVEL_WARN is not set
+CONFIG_LOG_DEFAULT_LEVEL_INFO=y
+# CONFIG_LOG_DEFAULT_LEVEL_DEBUG is not set
+# CONFIG_LOG_DEFAULT_LEVEL_VERBOSE is not set
+CONFIG_LOG_DEFAULT_LEVEL=3
+CONFIG_LOG_COLORS=y
+
+#
+# LWIP
+#
+CONFIG_LWIP_MAX_SOCKETS=4
+CONFIG_LWIP_THREAD_LOCAL_STORAGE_INDEX=0
+# CONFIG_LWIP_SO_REUSE is not set
+
+#
+# mbedTLS
+#
+CONFIG_MBEDTLS_SSL_MAX_CONTENT_LEN=16384
+# CONFIG_MBEDTLS_DEBUG is not set
+
+#
+# SPI Flash driver
+#
+# CONFIG_SPI_FLASH_ENABLE_COUNTERS is not set
+
+#
+# TESTS
+#
+CONFIG_FP_TEST_ENABLE=y