diff --git a/base-foc/Makefile b/base-foc/Makefile
index c046de70c..07b401e8c 100644
--- a/base-foc/Makefile
+++ b/base-foc/Makefile
@@ -9,7 +9,7 @@ VERBOSE    ?= @
 ECHO        = @echo
 SVN_URI     = http://svn.tudos.org/repos/oc/tudos/trunk
 GIT_URI     = http://github.com/ssumpf/foc.git
-GIT_BRANCH  = r40
+GIT_BRANCH  = r42
 CONTRIB_DIR = contrib
 GNU_FIND   ?= find
 
@@ -40,6 +40,7 @@ SVN_TARGETS = tools/preprocess \
 check_tool = $(if $(shell which $(1)),,$(error Need to have '$(1)' installed.))
 
 $(call check_tool,git)
+$(call check_tool,svn)
 $(call check_tool,$(GNU_FIND))
 
 #
diff --git a/base-foc/config/imx53.kernel b/base-foc/config/imx53.kernel
index 574c71924..732f97960 100644
--- a/base-foc/config/imx53.kernel
+++ b/base-foc/config/imx53.kernel
@@ -9,8 +9,8 @@
 # CONFIG_IA32 is not set
 # CONFIG_AMD64 is not set
 CONFIG_ARM=y
-# CONFIG_PF_REALVIEW is not set
 CONFIG_PF_IMX=y
+# CONFIG_PF_REALVIEW is not set
 # CONFIG_PF_S3C2410 is not set
 # CONFIG_PF_TEGRA2 is not set
 # CONFIG_PF_OMAP is not set
@@ -22,6 +22,7 @@ CONFIG_BSP_NAME="imx"
 # CONFIG_PF_IMX_21 is not set
 # CONFIG_PF_IMX_35 is not set
 # CONFIG_PF_IMX_51 is not set
+# CONFIG_PF_IMX_6 is not set
 CONFIG_PF_IMX_53=y
 CONFIG_PF_IMX_RAM_PHYS_BASE=0x70000000
 CONFIG_ABI_VF=y
@@ -29,6 +30,7 @@ CONFIG_CAN_ARM_CPU_CORTEX_A8=y
 CONFIG_ARM_CORTEX_A8=y
 # CONFIG_ARM_ALIGNMENT_CHECK is not set
 # CONFIG_FPU is not set
+# CONFIG_ARM_CPU_ERRATA is not set
 
 #
 # Kernel options
diff --git a/base-foc/config/imx53.user b/base-foc/config/imx53.user
index ff81b068a..65302e28d 100644
--- a/base-foc/config/imx53.user
+++ b/base-foc/config/imx53.user
@@ -28,6 +28,7 @@ CONFIG_CPU_ARMV6PLUS=y
 # CONFIG_PLATFORM_TYPE_imx35 is not set
 # CONFIG_PLATFORM_TYPE_imx51 is not set
 CONFIG_PLATFORM_TYPE_imx53=y
+# CONFIG_PLATFORM_TYPE_imx6 is not set
 # CONFIG_PLATFORM_TYPE_integrator is not set
 # CONFIG_PLATFORM_TYPE_kirkwood is not set
 # CONFIG_PLATFORM_TYPE_omap3_am33xx is not set
diff --git a/base-foc/config/panda.kernel b/base-foc/config/panda.kernel
index a7e1a59fc..75b2d6dab 100644
--- a/base-foc/config/panda.kernel
+++ b/base-foc/config/panda.kernel
@@ -14,8 +14,8 @@ CONFIG_ARM=y
 # CONFIG_PF_S3C2410 is not set
 # CONFIG_PF_TEGRA2 is not set
 CONFIG_PF_OMAP=y
-# CONFIG_PF_XSCALE is not set
 # CONFIG_PF_SA1100 is not set
+# CONFIG_PF_XSCALE is not set
 # CONFIG_PF_KIRKWOOD is not set
 # CONFIG_PF_INTEGRATOR is not set
 CONFIG_BSP_NAME="omap3"
@@ -26,11 +26,14 @@ CONFIG_PF_OMAP4_PANDABOARD=y
 CONFIG_ABI_VF=y
 CONFIG_PF_ARM_MP_CAPABLE=y
 CONFIG_CAN_ARM_CPU_CORTEX_A9=y
+CONFIG_CAN_ARM_CACHE_L2CXX0=y
 CONFIG_ARM_CORTEX_A9=y
 # CONFIG_ARM_ALIGNMENT_CHECK is not set
 # CONFIG_ARM_TZ is not set
 CONFIG_ARM_CA9_ENABLE_SWP=y
+CONFIG_ARM_CACHE_L2CXX0=y
 CONFIG_FPU=y
+# CONFIG_ARM_CPU_ERRATA is not set
 
 #
 # Kernel options
diff --git a/base-foc/config/panda.user b/base-foc/config/panda.user
index 6c5cd0df1..24ac944aa 100644
--- a/base-foc/config/panda.user
+++ b/base-foc/config/panda.user
@@ -28,6 +28,7 @@ CONFIG_CPU_ARMV6PLUS=y
 # CONFIG_PLATFORM_TYPE_imx35 is not set
 # CONFIG_PLATFORM_TYPE_imx51 is not set
 # CONFIG_PLATFORM_TYPE_imx53 is not set
+# CONFIG_PLATFORM_TYPE_imx6 is not set
 # CONFIG_PLATFORM_TYPE_integrator is not set
 # CONFIG_PLATFORM_TYPE_kirkwood is not set
 # CONFIG_PLATFORM_TYPE_omap3_am33xx is not set
diff --git a/base-foc/config/pbxa9.kernel b/base-foc/config/pbxa9.kernel
index cdf27c38c..c03bfbf81 100644
--- a/base-foc/config/pbxa9.kernel
+++ b/base-foc/config/pbxa9.kernel
@@ -9,8 +9,8 @@
 # CONFIG_IA32 is not set
 # CONFIG_AMD64 is not set
 CONFIG_ARM=y
-CONFIG_PF_REALVIEW=y
 # CONFIG_PF_IMX is not set
+CONFIG_PF_REALVIEW=y
 # CONFIG_PF_S3C2410 is not set
 # CONFIG_PF_TEGRA2 is not set
 # CONFIG_PF_OMAP is not set
@@ -36,6 +36,7 @@ CONFIG_ARM_CORTEX_A9=y
 # CONFIG_ARM_CA9_ENABLE_SWP is not set
 # CONFIG_ARM_CACHE_L2CXX0 is not set
 CONFIG_FPU=y
+CONFIG_ARM_CPU_ERRATA=y
 
 #
 # Kernel options
diff --git a/base-foc/config/pbxa9.user b/base-foc/config/pbxa9.user
index 1379c592d..8de6aa15f 100644
--- a/base-foc/config/pbxa9.user
+++ b/base-foc/config/pbxa9.user
@@ -28,6 +28,7 @@ CONFIG_CPU_ARMV6PLUS=y
 # CONFIG_PLATFORM_TYPE_imx35 is not set
 # CONFIG_PLATFORM_TYPE_imx51 is not set
 # CONFIG_PLATFORM_TYPE_imx53 is not set
+# CONFIG_PLATFORM_TYPE_imx6 is not set
 # CONFIG_PLATFORM_TYPE_integrator is not set
 # CONFIG_PLATFORM_TYPE_kirkwood is not set
 # CONFIG_PLATFORM_TYPE_omap3_am33xx is not set
diff --git a/base-foc/config/vea9x4.kernel b/base-foc/config/vea9x4.kernel
index c81dcaadb..1a362c96e 100644
--- a/base-foc/config/vea9x4.kernel
+++ b/base-foc/config/vea9x4.kernel
@@ -9,8 +9,8 @@
 # CONFIG_IA32 is not set
 # CONFIG_AMD64 is not set
 CONFIG_ARM=y
-CONFIG_PF_REALVIEW=y
 # CONFIG_PF_IMX is not set
+CONFIG_PF_REALVIEW=y
 # CONFIG_PF_S3C2410 is not set
 # CONFIG_PF_TEGRA2 is not set
 # CONFIG_PF_OMAP is not set
@@ -34,6 +34,7 @@ CONFIG_ARM_CORTEX_A9=y
 # CONFIG_ARM_TZ is not set
 # CONFIG_ARM_CA9_ENABLE_SWP is not set
 CONFIG_FPU=y
+CONFIG_ARM_CPU_ERRATA=y
 
 #
 # Kernel options
diff --git a/base-foc/config/vea9x4.user b/base-foc/config/vea9x4.user
index dea31c644..94a0d5f11 100644
--- a/base-foc/config/vea9x4.user
+++ b/base-foc/config/vea9x4.user
@@ -28,6 +28,7 @@ CONFIG_CPU_ARMV6PLUS=y
 # CONFIG_PLATFORM_TYPE_imx35 is not set
 # CONFIG_PLATFORM_TYPE_imx51 is not set
 # CONFIG_PLATFORM_TYPE_imx53 is not set
+# CONFIG_PLATFORM_TYPE_imx6 is not set
 # CONFIG_PLATFORM_TYPE_integrator is not set
 # CONFIG_PLATFORM_TYPE_kirkwood is not set
 # CONFIG_PLATFORM_TYPE_omap3_am33xx is not set
diff --git a/base-foc/config/x86_32.kernel b/base-foc/config/x86_32.kernel
index 78a4ad605..4161bf376 100644
--- a/base-foc/config/x86_32.kernel
+++ b/base-foc/config/x86_32.kernel
@@ -36,7 +36,6 @@ CONFIG_REGPARM3=y
 CONFIG_MP=y
 CONFIG_MP_MAX_CPUS=4
 CONFIG_CONTEXT_4K=y
-CONFIG_IO_PROT=y
 # CONFIG_SYNC_TSC is not set
 # CONFIG_FINE_GRAINED_CPUTIME is not set
 CONFIG_SCHED_FIXED_PRIO=y
diff --git a/base-foc/config/x86_64.kernel b/base-foc/config/x86_64.kernel
index 6e6ec4314..b134f6cce 100644
--- a/base-foc/config/x86_64.kernel
+++ b/base-foc/config/x86_64.kernel
@@ -25,7 +25,6 @@ CONFIG_SCHED_APIC=y
 CONFIG_MP=y
 CONFIG_MP_MAX_CPUS=4
 CONFIG_CONTEXT_4K=y
-CONFIG_IO_PROT=y
 # CONFIG_FINE_GRAINED_CPUTIME is not set
 CONFIG_SCHED_FIXED_PRIO=y
 # CONFIG_SCHED_WFQ is not set