diff options
| -rw-r--r-- | src/rtos/ChibiOS.c | 8 | ||||
| -rw-r--r-- | src/rtos/rtos_chibios_stackings.c | 28 | ||||
| -rw-r--r-- | src/rtos/rtos_chibios_stackings.h | 1 |
3 files changed, 32 insertions, 5 deletions
diff --git a/src/rtos/ChibiOS.c b/src/rtos/ChibiOS.c index da5dc9fc..cd77f2ae 100644 --- a/src/rtos/ChibiOS.c +++ b/src/rtos/ChibiOS.c @@ -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; } } diff --git a/src/rtos/rtos_chibios_stackings.c b/src/rtos/rtos_chibios_stackings.c index 0b5d0632..ed485616 100644 --- a/src/rtos/rtos_chibios_stackings.c +++ b/src/rtos/rtos_chibios_stackings.c @@ -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 */ +}; diff --git a/src/rtos/rtos_chibios_stackings.h b/src/rtos/rtos_chibios_stackings.h index b5eea647..8ba2a6ca 100644 --- a/src/rtos/rtos_chibios_stackings.h +++ b/src/rtos/rtos_chibios_stackings.h @@ -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_ */ |