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Added FPU support for ChibiOS/RT 

When an enabled FPU is detected we now use an appropriate stacking.

Change-Id: I1b0f43ec22e1c55c4f10e2ffa97d4aaa77bca5ee
Signed-off-by: Christian Gudrian <christian.gudrian@gmx.de>
Reviewed-on: http://openocd.zylin.com/2354
Tested-by: jenkins
Reviewed-by: Spencer Oliver <spen@spen-soft.co.uk>
This commit is contained in:
Christian Gudrian 2014-10-24 23:22:40 +02:00 committed by Spencer Oliver
parent 8b99681346
commit f83e1dc13f
3 changed files with 32 additions and 5 deletions
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8
src/rtos/ChibiOS.c
View File

@ -264,11 +264,9 @@ static int ChibiOS_update_stacking(struct rtos *rtos)
/* Check if CP10 and CP11 are set to full access.
* In ChibiOS this is done in ResetHandler() in crt0.c */
if (cpacr & 0x00F00000) {
/* Found target with enabled FPU */
/* FIXME: Need to figure out how to specify the FPU registers */
LOG_ERROR("ChibiOS ARM v7m targets with enabled FPU "
" are NOT supported");
return -1;
LOG_DEBUG("Enabled FPU detected.");
param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu;
return 0;
}
}

28
src/rtos/rtos_chibios_stackings.c
View File

@ -55,3 +55,31 @@ const struct rtos_register_stacking rtos_chibios_arm_v7m_stacking = {
0, /* stack_alignment */
rtos_chibios_arm_v7m_stack_offsets /* register_offsets */
};
static const struct stack_register_offset rtos_chibios_arm_v7m_stack_offsets_w_fpu[ARMV7M_NUM_CORE_REGS] = {
{ -1, 32 }, /* r0 */
{ -1, 32 }, /* r1 */
{ -1, 32 }, /* r2 */
{ -1, 32 }, /* r3 */
{ 0x40, 32 }, /* r4 */
{ 0x44, 32 }, /* r5 */
{ 0x48, 32 }, /* r6 */
{ 0x4c, 32 }, /* r7 */
{ 0x50, 32 }, /* r8 */
{ 0x54, 32 }, /* r9 */
{ 0x58, 32 }, /* r10 */
{ 0x5c, 32 }, /* r11 */
{ -1, 32 }, /* r12 */
{ -2, 32 }, /* sp */
{ -1, 32 }, /* lr */
{ 0x60, 32 }, /* pc */
{ -1, 32 }, /* xPSR */
};
const struct rtos_register_stacking rtos_chibios_arm_v7m_stacking_w_fpu = {
0x64, /* stack_registers_size */
-1, /* stack_growth_direction */
ARMV7M_NUM_CORE_REGS, /* num_output_registers */
0, /* stack_alignment */
rtos_chibios_arm_v7m_stack_offsets_w_fpu /* register_offsets */
};

1
src/rtos/rtos_chibios_stackings.h
View File

@ -28,5 +28,6 @@
#include "rtos.h"
extern const struct rtos_register_stacking rtos_chibios_arm_v7m_stacking;
extern const struct rtos_register_stacking rtos_chibios_arm_v7m_stacking_w_fpu;
#endif /* ifndef INCLUDED_RTOS_CHIBIOS_STACKINGS_H_ */