fix(mavlink): require CONFIG_PTHREAD_MUTEX_TYPES for recursive send mutex

The per-channel send mutex is genuinely recursive: callers hold lock_send() while the MAVLink C library re-enters send_start()/send_finish() on the same mutex via MAVLINK_START_UART_SEND. On NuttX a recursive mutex only works with CONFIG_PTHREAD_MUTEX_TYPES; without it pthread_mutexattr_settype() is a no-op and the nested lock deadlocks. Only a handful of boards happened to enable the option (for Zenoh), so mavlink could deadlock at startup on most boards, e.g. when bringing up a USB link. Enable CONFIG_PTHREAD_MUTEX_TYPES on the NuttX boards that build mavlink, add a compile-time guard so a board missing the option fails the build loudly instead of deadlocking silently, and check the settype() return. Enabling the option is free in flash and RAM on these boards since they already enable CONFIG_PRIORITY_INHERITANCE / CONFIG_PTHREAD_MUTEX_ROBUST. Signed-off-by: Julian Oes <julian@oes.ch>
2026-07-24 15:27:41 +08:00 · 2026-07-06 10:54:03 +12:00
parent 81ab99c2a9
commit 225c1b70ef
105 changed files with 115 additions and 1 deletions
--- a/boards/3dr/ctrl-n1/nuttx-config/nsh/defconfig
+++ b/boards/3dr/ctrl-n1/nuttx-config/nsh/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/nsh/defconfig
+++ b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/nsh/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/accton-godwit/ga1/nuttx-config/nsh/defconfig
+++ b/boards/accton-godwit/ga1/nuttx-config/nsh/defconfig
@@ -190,6 +190,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/aedrox/aedroxh7/nuttx-config/nsh/defconfig
+++ b/boards/aedrox/aedroxh7/nuttx-config/nsh/defconfig
@@ -149,6 +149,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
+++ b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
@@ -139,6 +139,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/ark/dist/nuttx-config/nsh/defconfig
+++ b/boards/ark/dist/nuttx-config/nsh/defconfig
@@ -99,6 +99,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
--- a/boards/ark/fmu-v6s/nuttx-config/nsh/defconfig
+++ b/boards/ark/fmu-v6s/nuttx-config/nsh/defconfig
@@ -190,6 +190,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig
+++ b/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig
@@ -190,6 +190,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/ark/fpv/nuttx-config/nsh/defconfig
+++ b/boards/ark/fpv/nuttx-config/nsh/defconfig
@@ -151,6 +151,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/ark/pi6x/nuttx-config/nsh/defconfig
+++ b/boards/ark/pi6x/nuttx-config/nsh/defconfig
@@ -151,6 +151,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/atl/mantis-edu/nuttx-config/nsh/defconfig
+++ b/boards/atl/mantis-edu/nuttx-config/nsh/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/auterion/fmu-v6s/nuttx-config/nsh/defconfig
+++ b/boards/auterion/fmu-v6s/nuttx-config/nsh/defconfig
@@ -173,6 +173,7 @@ CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=4096
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/auterion/fmu-v6x/nuttx-config/nsh/defconfig
+++ b/boards/auterion/fmu-v6x/nuttx-config/nsh/defconfig
@@ -175,6 +175,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/av/x-v1/nuttx-config/nsh/defconfig
+++ b/boards/av/x-v1/nuttx-config/nsh/defconfig
@@ -176,6 +176,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig
+++ b/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig
@@ -137,6 +137,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=196608
 CONFIG_RAM_START=0x20000000
--- a/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig
+++ b/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig
@@ -138,6 +138,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=196608
 CONFIG_RAM_START=0x20000000
--- a/boards/cbunmanned/h753-som/nuttx-config/nsh/defconfig
+++ b/boards/cbunmanned/h753-som/nuttx-config/nsh/defconfig
@@ -183,6 +183,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/corvon/743v1/nuttx-config/nsh/defconfig
+++ b/boards/corvon/743v1/nuttx-config/nsh/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/corvon/743v2/nuttx-config/nsh/defconfig
+++ b/boards/corvon/743v2/nuttx-config/nsh/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/corvon/v5/nuttx-config/nsh/defconfig
+++ b/boards/corvon/v5/nuttx-config/nsh/defconfig
@@ -148,6 +148,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/cuav/7-nano/nuttx-config/nsh/defconfig
+++ b/boards/cuav/7-nano/nuttx-config/nsh/defconfig
@@ -188,6 +188,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=6
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=6
--- a/boards/cuav/fmu-v6x/nuttx-config/nsh/defconfig
+++ b/boards/cuav/fmu-v6x/nuttx-config/nsh/defconfig
@@ -190,6 +190,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/cuav/nora/nuttx-config/nsh/defconfig
+++ b/boards/cuav/nora/nuttx-config/nsh/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/cuav/x25-evo/nuttx-config/nsh/defconfig
+++ b/boards/cuav/x25-evo/nuttx-config/nsh/defconfig
@@ -188,6 +188,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=6
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=6
--- a/boards/cuav/x25-mega/nuttx-config/nsh/defconfig
+++ b/boards/cuav/x25-mega/nuttx-config/nsh/defconfig
@@ -188,6 +188,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=6
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=6
--- a/boards/cuav/x25-super/nuttx-config/nsh/defconfig
+++ b/boards/cuav/x25-super/nuttx-config/nsh/defconfig
@@ -188,6 +188,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=6
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=6
--- a/boards/cuav/x7pro/nuttx-config/nsh/defconfig
+++ b/boards/cuav/x7pro/nuttx-config/nsh/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/cuav/x7pro/nuttx-config/test/defconfig
+++ b/boards/cuav/x7pro/nuttx-config/test/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/cubepilot/cubeorange/nuttx-config/console/defconfig
+++ b/boards/cubepilot/cubeorange/nuttx-config/console/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig
+++ b/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig
@@ -147,6 +147,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/cubepilot/cubeorange/nuttx-config/test/defconfig
+++ b/boards/cubepilot/cubeorange/nuttx-config/test/defconfig
@@ -147,6 +147,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/cubepilot/cubeorangeplus/nuttx-config/console/defconfig
+++ b/boards/cubepilot/cubeorangeplus/nuttx-config/console/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/cubepilot/cubeorangeplus/nuttx-config/nsh/defconfig
+++ b/boards/cubepilot/cubeorangeplus/nuttx-config/nsh/defconfig
@@ -147,6 +147,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/cubepilot/cubeorangeplus/nuttx-config/test/defconfig
+++ b/boards/cubepilot/cubeorangeplus/nuttx-config/test/defconfig
@@ -147,6 +147,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig
+++ b/boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/diatone/mamba-f405-mk2/nuttx-config/nsh/defconfig
+++ b/boards/diatone/mamba-f405-mk2/nuttx-config/nsh/defconfig
@@ -103,6 +103,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=196608
 CONFIG_RAM_START=0x20000000
--- a/boards/flywoo/gn-f405/nuttx-config/nsh/defconfig
+++ b/boards/flywoo/gn-f405/nuttx-config/nsh/defconfig
@@ -137,6 +137,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=196608
 CONFIG_RAM_START=0x20000000
--- a/boards/gearup/airbrainh743/nuttx-config/nsh/defconfig
+++ b/boards/gearup/airbrainh743/nuttx-config/nsh/defconfig
@@ -149,6 +149,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/hkust/nxt-dual/nuttx-config/nsh/defconfig
+++ b/boards/hkust/nxt-dual/nuttx-config/nsh/defconfig
@@ -152,6 +152,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
--- a/boards/hkust/nxt-v1/nuttx-config/nsh/defconfig
+++ b/boards/hkust/nxt-v1/nuttx-config/nsh/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig
+++ b/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig
@@ -148,6 +148,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/holybro/kakutef7/nuttx-config/nsh/defconfig
+++ b/boards/holybro/kakutef7/nuttx-config/nsh/defconfig
@@ -149,6 +149,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/holybro/kakuteh7-wing/nuttx-config/nsh/defconfig
+++ b/boards/holybro/kakuteh7-wing/nuttx-config/nsh/defconfig
@@ -150,6 +150,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/holybro/kakuteh7/nuttx-config/nsh/defconfig
+++ b/boards/holybro/kakuteh7/nuttx-config/nsh/defconfig
@@ -148,6 +148,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/holybro/kakuteh7dualimu/nuttx-config/nsh/defconfig
+++ b/boards/holybro/kakuteh7dualimu/nuttx-config/nsh/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/holybro/kakuteh7mini/nuttx-config/nsh/defconfig
+++ b/boards/holybro/kakuteh7mini/nuttx-config/nsh/defconfig
@@ -152,6 +152,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig
+++ b/boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig
@@ -153,6 +153,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/holybro/pix32v5/nuttx-config/nsh/defconfig
+++ b/boards/holybro/pix32v5/nuttx-config/nsh/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/matek/h743-mini/nuttx-config/nsh/defconfig
+++ b/boards/matek/h743-mini/nuttx-config/nsh/defconfig
@@ -141,6 +141,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/matek/h743-slim/nuttx-config/nsh/defconfig
+++ b/boards/matek/h743-slim/nuttx-config/nsh/defconfig
@@ -143,6 +143,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/matek/h743/nuttx-config/nsh/defconfig
+++ b/boards/matek/h743/nuttx-config/nsh/defconfig
@@ -142,6 +142,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/micoair/h743-aio/nuttx-config/nsh/defconfig
+++ b/boards/micoair/h743-aio/nuttx-config/nsh/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/micoair/h743-lite/nuttx-config/nsh/defconfig
+++ b/boards/micoair/h743-lite/nuttx-config/nsh/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/micoair/h743-v2/nuttx-config/nsh/defconfig
+++ b/boards/micoair/h743-v2/nuttx-config/nsh/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/micoair/h743/nuttx-config/nsh/defconfig
+++ b/boards/micoair/h743/nuttx-config/nsh/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
--- a/boards/modalai/fc-v1/nuttx-config/nsh/defconfig
+++ b/boards/modalai/fc-v1/nuttx-config/nsh/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/modalai/fc-v2/nuttx-config/nsh/defconfig
+++ b/boards/modalai/fc-v2/nuttx-config/nsh/defconfig
@@ -151,6 +151,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig
+++ b/boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig
@@ -148,6 +148,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig
+++ b/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig
+++ b/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig
+++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig
+++ b/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/mro/pixracerpro/nuttx-config/nsh/defconfig
+++ b/boards/mro/pixracerpro/nuttx-config/nsh/defconfig
@@ -147,6 +147,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/mro/x21-777/nuttx-config/nsh/defconfig
+++ b/boards/mro/x21-777/nuttx-config/nsh/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/mro/x21/nuttx-config/nsh/defconfig
+++ b/boards/mro/x21/nuttx-config/nsh/defconfig
@@ -140,6 +140,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/narinfc/h7/nuttx-config/nsh/defconfig
+++ b/boards/narinfc/h7/nuttx-config/nsh/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/narinfc/h7/nuttx-config/test/defconfig
+++ b/boards/narinfc/h7/nuttx-config/test/defconfig
@@ -146,6 +146,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig
+++ b/boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig
@@ -167,6 +167,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig
+++ b/boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig
@@ -170,6 +170,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig
+++ b/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig
@@ -170,6 +170,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig
+++ b/boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig
@@ -169,6 +169,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/nxp/fmuk66-v3/nuttx-config/test/defconfig
+++ b/boards/nxp/fmuk66-v3/nuttx-config/test/defconfig
@@ -170,6 +170,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/nxp/mr-canhubk3/nuttx-config/sysview/defconfig
+++ b/boards/nxp/mr-canhubk3/nuttx-config/sysview/defconfig
@@ -206,6 +206,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=272000
 CONFIG_RAM_START=0x20400000
--- a/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
+++ b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
@@ -98,6 +98,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=196608
 CONFIG_RAM_START=0x20000000
--- a/boards/px4/fmu-v2/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v2/nuttx-config/nsh/defconfig
@@ -135,6 +135,7 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_DEFAULT_PRIO_INHERIT=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
@@ -140,6 +140,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
@@ -139,6 +139,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v4/nuttx-config/test/defconfig
+++ b/boards/px4/fmu-v4/nuttx-config/test/defconfig
@@ -140,6 +140,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
@@ -139,6 +139,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v4pro/nuttx-config/test/defconfig
+++ b/boards/px4/fmu-v4pro/nuttx-config/test/defconfig
@@ -140,6 +140,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v5/nuttx-config/cryptotest/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/cryptotest/defconfig
@@ -147,6 +147,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v5/nuttx-config/cyphal/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/cyphal/defconfig
@@ -147,6 +147,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v5/nuttx-config/debug/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/debug/defconfig
@@ -191,6 +191,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v5/nuttx-config/protected/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/protected/defconfig
@@ -151,6 +151,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
@@ -144,6 +144,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v5/nuttx-config/test/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/test/defconfig
@@ -145,6 +145,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
@@ -186,6 +186,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v5x/nuttx-config/test/defconfig
+++ b/boards/px4/fmu-v5x/nuttx-config/test/defconfig
@@ -182,6 +182,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v6c/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v6c/nuttx-config/nsh/defconfig
@@ -150,6 +150,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig
@@ -150,6 +150,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/radiolink/PIX6/nuttx-config/nsh/defconfig
+++ b/boards/radiolink/PIX6/nuttx-config/nsh/defconfig
@@ -148,6 +148,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/raspberrypi/pico/nuttx-config/nsh/defconfig
+++ b/boards/raspberrypi/pico/nuttx-config/nsh/defconfig
@@ -72,6 +72,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=270336
 CONFIG_RAM_START=0x20000000
--- a/boards/saam/saampixv1_1/nuttx-config/nsh/defconfig
+++ b/boards/saam/saampixv1_1/nuttx-config/nsh/defconfig
@@ -139,6 +139,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/siyi/n7/nuttx-config/nsh/defconfig
+++ b/boards/siyi/n7/nuttx-config/nsh/defconfig
@@ -147,6 +147,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/sky-drones/smartap-airlink/nuttx-config/nsh/defconfig
+++ b/boards/sky-drones/smartap-airlink/nuttx-config/nsh/defconfig
@@ -180,6 +180,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/spracing/h7extreme/nuttx-config/nsh/defconfig
+++ b/boards/spracing/h7extreme/nuttx-config/nsh/defconfig
@@ -140,6 +140,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=294912
 CONFIG_RAM_START=0x30000000
--- a/boards/svehicle/e2/nuttx-config/nsh/defconfig
+++ b/boards/svehicle/e2/nuttx-config/nsh/defconfig
@@ -188,6 +188,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/thepeach/k1/nuttx-config/nsh/defconfig
+++ b/boards/thepeach/k1/nuttx-config/nsh/defconfig
@@ -140,6 +140,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/boards/thepeach/r1/nuttx-config/nsh/defconfig
+++ b/boards/thepeach/r1/nuttx-config/nsh/defconfig
@@ -140,6 +140,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
--- a/Show More
+++ b/Show More