Add support for the Cortex-M4 floating pointing
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4144 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo
parent
55399677c6
commit
b6bcb2aecc
@ -2,7 +2,7 @@
|
||||
* arch/arm/include/armv7-m/irq.h
|
||||
*
|
||||
* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@ -143,7 +143,7 @@
|
||||
# define REG_D15 (SW_INT_REGS+30) /* D15 */
|
||||
# define REG_S30 (SW_INT_REGS+30) /* S30 */
|
||||
# define REG_S31 (SW_INT_REGS+31) /* S31 */
|
||||
# DEFINE REG_FPSCR (SW_INT_REGS+32) /* Floating point status and control */
|
||||
# define REG_FPSCR (SW_INT_REGS+32) /* Floating point status and control */
|
||||
# define SW_FPU_REGS (33)
|
||||
#else
|
||||
# define SW_FPU_REGS (0)
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
* arch/arm/src/armv7-m/mpu.h
|
||||
*
|
||||
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
||||
236
arch/arm/src/armv7-m/up_fpu.S
Normal file
236
arch/arm/src/armv7-m/up_fpu.S
Normal file
@ -0,0 +1,236 @@
|
||||
/************************************************************************************
|
||||
* arch/arm/src/armv7-m/stm32_fpu.S
|
||||
*
|
||||
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************************************/
|
||||
/*
|
||||
* When this file is assembled, it will require the following GCC options:
|
||||
*
|
||||
* -mcpu=cortex-m3 -mfloat-abi=hard -mfpu=vfp -meabi=5
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <arch/irq.h>
|
||||
|
||||
#ifdef CONFIG_ARCH_FPU
|
||||
|
||||
/************************************************************************************
|
||||
* Preprocessor Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Global Symbols
|
||||
************************************************************************************/
|
||||
|
||||
.globl up_savefpu
|
||||
.globl up_restorefpu
|
||||
|
||||
.syntax unified
|
||||
.thumb
|
||||
.file "up_fpu.S"
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: up_restorefpu
|
||||
*
|
||||
* Description:
|
||||
* Given the pointer to a register save area (in R0), save the state of the
|
||||
* floating point registers.
|
||||
*
|
||||
* C Function Prototype:
|
||||
* void up_savefpu(uint32_t *regs);
|
||||
*
|
||||
* Input Parameters:
|
||||
* regs - A pointer to the register save area in which to save the floating point
|
||||
* registers
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
.thumb_func
|
||||
.type up_savefpu, function
|
||||
up_savefpu:
|
||||
|
||||
add r1, r0, #(4*REG_S0) /* R1=Address of FP register storage */
|
||||
vmov r2, r3, d0 /* r2, r3 = d0 */
|
||||
str r2, [r1], #4 /* Save S0 and S1 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d1 /* r2, r3 = d1 */
|
||||
str r2, [r1], #4 /* Save S2 and S3 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d2 /* r2, r3 = d2 */
|
||||
str r2, [r1], #4 /* Save S4 and S5 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d3 /* r2, r3 = d3 */
|
||||
str r2, [r1], #4 /* Save S6 and S7 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d4 /* r2, r3 = d4 */
|
||||
str r2, [r1], #4 /* Save S8 and S9 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d5 /* r2, r3 = d5 */
|
||||
str r2, [r1], #4 /* Save S10 and S11 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d6 /* r2, r3 = d6 */
|
||||
str r2, [r1], #4 /* Save S12 and S13 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d7 /* r2, r3 = d7 */
|
||||
str r2, [r1], #4 /* Save S14 and S15 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d8 /* r2, r3 = d8 */
|
||||
str r2, [r1], #4 /* Save S16 and S17 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d9 /* r2, r3 = d9 */
|
||||
str r2, [r1], #4 /* Save S18 and S19 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d10 /* r2, r3 = d10 */
|
||||
str r2, [r1], #4 /* Save S20 and S21 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d11 /* r2, r3 = d11 */
|
||||
str r2, [r1], #4 /* Save S22 and S23 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d12 /* r2, r3 = d12 */
|
||||
str r2, [r1], #4 /* Save S24 and S25 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d13 /* r2, r3 = d13 */
|
||||
str r2, [r1], #4 /* Save S26 and S27 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d14 /* r2, r3 = d14 */
|
||||
str r2, [r1], #4 /* Save S28 and S29 values */
|
||||
str r3, [r1], #4
|
||||
vmov r2, r3, d15 /* r2, r3 = d15 */
|
||||
str r2, [r1], #4 /* Save S30 and S31 values */
|
||||
str r3, [r1], #4
|
||||
|
||||
/* The gnu assembler doesn't support all the new UAL mnemonics.
|
||||
* Use the old FMRX and FMXR names instead of 'vmrx r2, fpscr'
|
||||
*/
|
||||
|
||||
fmrx r2, fpscr, /* Fetch the FPCSR */
|
||||
str r2, [r1], #4 /* Save the floating point control and status register */
|
||||
bx lr
|
||||
|
||||
.size up_savefpu, .-up_savefpu
|
||||
|
||||
/************************************************************************************
|
||||
* Name: up_restorefpu
|
||||
*
|
||||
* Description:
|
||||
* Given the pointer to a register save area (in R0), restore the state of the
|
||||
* floating point registers.
|
||||
*
|
||||
* C Function Prototype:
|
||||
* void up_restorefpu(const uint32_t *regs);
|
||||
*
|
||||
* Input Parameters:
|
||||
* regs - A pointer to the register save area containing the floating point
|
||||
* registers
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
.thumb_func
|
||||
.type up_restorefpu, function
|
||||
up_restorefpu:
|
||||
|
||||
add r1, r0, #(4*REG_S0) /* R1=Address of FP register storage */
|
||||
ldr r2, [r1], #4 /* Fetch S0 and S1 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d0, r2, r3 /* Save as d0 */
|
||||
ldr r2, [r1], #4 /* Fetch S2 and S3 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d1, r2, r3 /* Save as d1 */
|
||||
ldr r2, [r1], #4 /* Fetch S4 and S5 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d2, r2, r3 /* Save as d2 */
|
||||
ldr r2, [r1], #4 /* Fetch S6 and S7 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d3, r2, r3 /* Save as d3 */
|
||||
ldr r2, [r1], #4 /* Fetch S8 and S9 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d4, r2, r3 /* Save as d4 */
|
||||
ldr r2, [r1], #4 /* Fetch S10 and S11 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d5, r2, r3 /* Save as d5 */
|
||||
ldr r2, [r1], #4 /* Fetch S12 and S13 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d6, r2, r3 /* Save as d6 */
|
||||
ldr r2, [r1], #4 /* Fetch S14 and S15 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d7, r2, r3 /* Save as d7 */
|
||||
ldr r2, [r1], #4 /* Fetch S16 and S17 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d8, r2, r3 /* Save as d8 */
|
||||
ldr r2, [r1], #4 /* Fetch S18 and S19 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d9, r2, r3 /* Save as d9 */
|
||||
ldr r2, [r1], #4 /* Fetch S20 and S21 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d10, r2, r3 /* Save as d10 */
|
||||
ldr r2, [r1], #4 /* Fetch S22 and S23 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d11, r2, r3 /* Save as d11 */
|
||||
ldr r2, [r1], #4 /* Fetch S24 and S25 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d12, r2, r3 /* Save as d12 */
|
||||
ldr r2, [r1], #4 /* Fetch S26 and S27 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d13, r2, r3 /* Save as d13 */
|
||||
ldr r2, [r1], #4 /* Fetch S28 and S29 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d14, r2, r3 /* Save as d14 */
|
||||
ldr r2, [r1], #4 /* Fetch S30 and S31 values */
|
||||
ldr r3, [r1], #4
|
||||
vmov d15, r2, r3 /* Save as d15 */
|
||||
|
||||
/* The gnu assembler doesn't support all the new UAL mnemonics.
|
||||
* Use the old FMRX and FMXR names instead of 'vmsr fpscr, r2'
|
||||
*/
|
||||
|
||||
ldr r2, [r1], #4 /* Fetch the floating point control and status register */
|
||||
fmxr fpscr, r2 /* Restore the FPCSR */
|
||||
bx lr
|
||||
|
||||
.size up_restorefpu, .-up_restorefpu
|
||||
.end
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
* arch/arm/src/armv7-m/up_fullcontextrestore.S
|
||||
*
|
||||
* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
||||
@ -272,6 +272,9 @@ int up_svcall(int irq, FAR void *context)
|
||||
{
|
||||
DEBUGASSERT(regs[REG_R1] != 0);
|
||||
memcpy((uint32_t*)regs[REG_R1], regs, XCPTCONTEXT_SIZE);
|
||||
#ifdef CONFIG_ARCH_FPU
|
||||
up_savefpu((uint32_t*)regs[REG_R1]);
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
* common/up_internal.h
|
||||
*
|
||||
* Copyright (C) 2007-2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@ -76,14 +76,23 @@
|
||||
# define CONFIG_ARCH_INTERRUPTSTACK 0
|
||||
#endif
|
||||
|
||||
/* Macros to handle saving and restore interrupt state. In the current ARM
|
||||
/* Macros to handle saving and restoring interrupt state. In the current ARM
|
||||
* model, the state is always copied to and from the stack and TCB. In the
|
||||
* Cortex-M3 model, the state is copied from the stack to the TCB, but only
|
||||
* a referenced is passed to get the state from the TCB.
|
||||
*/
|
||||
|
||||
#if defined(CONFIG_ARCH_CORTEXM3) || defined(CONFIG_ARCH_CORTEXM4)
|
||||
# define up_savestate(regs) up_copystate(regs, (uint32_t*)current_regs)
|
||||
# ifdef CONFIG_ARCH_FPU
|
||||
# define up_savestate(regs) \
|
||||
do { \
|
||||
up_copystate(regs, (uint32_t*)current_regs); \
|
||||
up_savefpu(regs); \
|
||||
} \
|
||||
while (0)
|
||||
# else
|
||||
# define up_savestate(regs) up_copystate(regs, (uint32_t*)current_regs)
|
||||
# endif
|
||||
# define up_restorestate(regs) (current_regs = regs)
|
||||
#else
|
||||
# define up_savestate(regs) up_copystate(regs, (uint32_t*)current_regs)
|
||||
@ -240,6 +249,16 @@ extern void up_vectoraddrexcptn(void);
|
||||
extern void up_vectorirq(void);
|
||||
extern void up_vectorfiq(void);
|
||||
|
||||
/* Floating point unit ******************************************************/
|
||||
|
||||
#ifdef CONFIG_ARCH_FPU
|
||||
extern void up_savefpu(uint32_t *regs);
|
||||
extern void up_restorefpu(const uint32_t *regs);
|
||||
#else
|
||||
# define up_savefpu(regs)
|
||||
# define up_restorefpu(regs)
|
||||
#endif
|
||||
|
||||
/* System timer *************************************************************/
|
||||
|
||||
extern void up_timerinit(void);
|
||||
|
||||
@ -48,6 +48,10 @@ ifeq ($(CONFIG_DEBUG_STACK),y)
|
||||
CMN_CSRCS += up_checkstack.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_ARCH_FPU),y)
|
||||
CMN_ASRCS += up_fpu.S
|
||||
endif
|
||||
|
||||
CHIP_ASRCS =
|
||||
CHIP_CSRCS = stm32_allocateheap.c stm32_start.c stm32_rcc.c stm32_lse.c \
|
||||
stm32_gpio.c stm32_exti.c stm32_flash.c stm32_irq.c \
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
* arch/arm/src/chip/stm32_start.c
|
||||
*
|
||||
* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
* arch/arm/src/chip/stm32_vectors.S
|
||||
*
|
||||
* Copyright (C) 2009-2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@ -254,7 +254,7 @@ stm32_common:
|
||||
* values to the stack.
|
||||
*/
|
||||
|
||||
add r1, r0, #SW_XCPT_SIZE /* R1=Address of HW save area in reg array */
|
||||
add r1, r0, #SW_XCPT_SIZE /* R1=Address of HW save area in reg array */
|
||||
ldmia r1, {r4-r11} /* Fetch eight registers in HW save area */
|
||||
ldr r1, [r0, #(4*REG_SP)] /* R1=Value of SP before interrupt */
|
||||
stmdb r1!, {r4-r11} /* Store eight registers in HW save area */
|
||||
@ -263,6 +263,17 @@ stm32_common:
|
||||
#else
|
||||
ldmia r0, {r2-r11} /* Recover R4-R11 + 2 temp values */
|
||||
#endif
|
||||
|
||||
/* We may also need to restore FPU registers. This is not done in
|
||||
* normal interrupt save/restore because the cost is prohibitive. This
|
||||
* is only done when switching contexts. A consequence of this is that
|
||||
* floating point operations may not be performed in interrupt handling
|
||||
* logic.
|
||||
*/
|
||||
|
||||
#ifdef CONFIG_ARCH_FPU
|
||||
bl up_restorefpu /* Restore the FPU registers */
|
||||
#endif
|
||||
b 2f /* Re-join common logic */
|
||||
|
||||
/* We are returning with no context switch. We simply need to "unwind"
|
||||
|
||||
@ -54,6 +54,7 @@
|
||||
# CONFIG_DRAM_END - Last address+1 of installed RAM
|
||||
# CONFIG_ARCH_IRQPRIO - The STM3240xxx supports interrupt prioritization
|
||||
# CONFIG_ARCH_FPU - The STM3240xxx supports a floating point unit (FPU)
|
||||
# (But, unfortunately, GCC does not support it).
|
||||
# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
|
||||
# stack. If defined, this symbol is the size of the interrupt
|
||||
# stack in bytes. If not defined, the user task stacks will be
|
||||
@ -82,7 +83,7 @@ CONFIG_DRAM_SIZE=0x00030000
|
||||
CONFIG_DRAM_START=0x20000000
|
||||
CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
|
||||
CONFIG_ARCH_IRQPRIO=y
|
||||
CONFIG_ARCH_FPU=y
|
||||
CONFIG_ARCH_FPU=n
|
||||
CONFIG_ARCH_INTERRUPTSTACK=n
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARCH_BOOTLOADER=n
|
||||
|
||||
@ -54,6 +54,7 @@
|
||||
# CONFIG_DRAM_END - Last address+1 of installed RAM
|
||||
# CONFIG_ARCH_IRQPRIO - The STM3240xxx supports interrupt prioritization
|
||||
# CONFIG_ARCH_FPU - The STM3240xxx supports a floating point unit (FPU)
|
||||
# (But, unfortunately, GCC does not support it).
|
||||
# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
|
||||
# stack. If defined, this symbol is the size of the interrupt
|
||||
# stack in bytes. If not defined, the user task stacks will be
|
||||
@ -82,7 +83,7 @@ CONFIG_DRAM_SIZE=0x00030000
|
||||
CONFIG_DRAM_START=0x20000000
|
||||
CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
|
||||
CONFIG_ARCH_IRQPRIO=y
|
||||
CONFIG_ARCH_FPU=y
|
||||
CONFIG_ARCH_FPU=n
|
||||
CONFIG_ARCH_INTERRUPTSTACK=n
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARCH_BOOTLOADER=n
|
||||
|
||||
Loading…
Reference in New Issue
Block a user