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ChibiOS
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Cortex-M4 FPU support working. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3644 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
gdisirio 2011-12-20 18:51:28 +00:00
parent cefffe9013
commit 6100dc08a6
3 changed files with 38 additions and 22 deletions
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2
os/ports/GCC/ARMCMx/chcore_v7m.c
View File

@ -76,6 +76,7 @@ void SVCallVector(void) {
#if CORTEX_USE_FPU
/* Restoring the special register SCB_FPCCR.*/
SCB_FPCCR = (uint32_t)ctxp->fpccr;
SCB_FPCAR = SCB_FPCAR + sizeof (struct extctx);
#endif
asm volatile ("msr PSP, %0" : : "r" (ctxp) : "memory");
port_unlock_from_isr();
@ -102,6 +103,7 @@ void PendSVVector(void) {
#if CORTEX_USE_FPU
/* Restoring the special register SCB_FPCCR.*/
SCB_FPCCR = (uint32_t)ctxp->fpccr;
SCB_FPCAR = SCB_FPCAR + sizeof (struct extctx);
#endif
asm volatile ("msr PSP, %0" : : "r" (ctxp) : "memory");
}

3
readme.txt
View File

@ -81,7 +81,8 @@
structures and stacks in the CCM RAM instead normal RAM. It is done using
a special .ld file that can be customized to decide how to allocate data
in the various RAM sections.
- NEW: Added support for the Cortex-M4 FPU (default when the FPU is present).
- NEW: Added experimental support for the Cortex-M4 FPU (default when the
FPU is present).
- NEW: Improved I2C driver model and STM32 implementation by Barthess.
*** 2.3.4 ***

55
testhal/STM32F4xx/IRQ_STORM_FPU/main.c
View File

@ -39,10 +39,6 @@ float ff2(float par1, float par2, float par3, float par4);
#define ITERATIONS 100
#endif
#ifndef NUM_THREADS
#define NUM_THREADS 4
#endif
/*===========================================================================*/
/* Test related code. */
/*===========================================================================*/
@ -50,9 +46,9 @@ float ff2(float par1, float par2, float par3, float par4);
static bool_t saturated;
/*
* Test worker threads.
* Test worker thread.
*/
static WORKING_AREA(waWorkerThread[NUM_THREADS], 128);
static WORKING_AREA(waWorkerThread, 128);
static msg_t WorkerThread(void *arg) {
(void)arg;
@ -71,11 +67,34 @@ static msg_t WorkerThread(void *arg) {
}
}
/*
* Test periodic thread.
*/
static WORKING_AREA(waPeriodicThread, 128);
static msg_t PeriodicThread(void *arg) {
(void)arg;
while(1) {
float f1, f2, f3, f4, f5;
f1 = ff1(4);
f2 = ff1(5);
f3 = ff1(6);
f5 = f1 + f2 + f3;
f4 = ff1(7);
f5 = ff2(f5, f4, f5, f4);
if (f5 != 484)
chSysHalt();
chThdSleepSeconds(1);
}
}
/*
* GPT2 callback.
*/
static void gpt2cb(GPTDriver *gptp) {
/* float f1, f2, f3, f4, f5;
float f1, f2, f3, f4, f5;
(void)gptp;
@ -86,14 +105,14 @@ static void gpt2cb(GPTDriver *gptp) {
f4 = ff1(5);
f5 = ff2(f5, f4, f5, f4);
if (f5 != 196)
chSysHalt();*/
chSysHalt();
}
/*
* GPT3 callback.
*/
static void gpt3cb(GPTDriver *gptp) {
/* float f1, f2, f3, f4, f5;
float f1, f2, f3, f4, f5;
(void)gptp;
@ -104,8 +123,7 @@ static void gpt3cb(GPTDriver *gptp) {
f4 = ff1(4);
f5 = ff2(f5, f4, f5, f4);
if (f5 != 100)
chSysHalt();*/
volatile float f1 = ff1(1);
chSysHalt();
}
/*
@ -185,14 +203,12 @@ int main(void) {
gptStart(&GPTD3, &gpt3cfg);
/*
* Initializes the mailboxes and creates the worker threads.
* Initializes the worker threads.
*/
/* for (i = 0; i < NUM_THREADS; i++) {
chThdCreateStatic(waWorkerThread[i], sizeof waWorkerThread[i],
NORMALPRIO - 20, WorkerThread, (void *)i);
}*/
chThdCreateStatic(waWorkerThread[0], sizeof waWorkerThread[0],
NORMALPRIO - 20, WorkerThread, (void *)0);
chThdCreateStatic(waWorkerThread, sizeof waWorkerThread,
NORMALPRIO - 20, WorkerThread, NULL);
chThdCreateStatic(waPeriodicThread, sizeof waPeriodicThread,
NORMALPRIO - 10, PeriodicThread, NULL);
/*
* Test procedure.
@ -236,9 +252,6 @@ int main(void) {
print("*** Randomize: ");
printn(RANDOMIZE);
println("");
print("*** Threads: ");
printn(NUM_THREADS);
println("");
println("");
worst = 0;