diff options
Diffstat (limited to 'src/rtos/ChibiOS.c')
| -rw-r--r-- | src/rtos/ChibiOS.c | 43 |
1 files changed, 40 insertions, 3 deletions
diff --git a/src/rtos/ChibiOS.c b/src/rtos/ChibiOS.c index be5fe847..71f929fe 100644 --- a/src/rtos/ChibiOS.c +++ b/src/rtos/ChibiOS.c @@ -29,6 +29,8 @@ #include <jtag/jtag.h> #include "target/target.h" #include "target/target_type.h" +#include "target/armv7m.h" +#include "target/cortex_m.h" #include "rtos.h" #include "helper/log.h" #include "helper/types.h" @@ -94,12 +96,12 @@ struct ChibiOS_params ChibiOS_params_list[] = { { "cortex_m3", /* target_name */ 0, - &rtos_chibios_arm_v7m_stacking, /* stacking_info */ + NULL, /* stacking_info */ }, { "stm32_stlink", /* target_name */ 0, - &rtos_chibios_arm_v7m_stacking, /* stacking_info */ + NULL, /* stacking_info */ } }; #define CHIBIOS_NUM_PARAMS ((int)(sizeof(ChibiOS_params_list)/sizeof(struct ChibiOS_params))) @@ -219,8 +221,43 @@ static int ChibiOS_update_stacking(struct rtos *rtos) * available than the current execution. In which case * ChibiOS_get_thread_reg_list is called. */ + int retval; + + if (!rtos->rtos_specific_params) + return -1; + + struct ChibiOS_params *param; + param = (struct ChibiOS_params *) rtos->rtos_specific_params; + + /* Check for armv7m with *enabled* FPU, i.e. a Cortex M4 */ + struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target); + if (is_armv7m(armv7m_target)) { + if (armv7m_target->fp_feature == FPv4_SP) { + /* Found ARM v7m target which includes a FPU */ + uint32_t cpacr; + + retval = target_read_u32(rtos->target, FPU_CPACR, &cpacr); + if (retval != ERROR_OK) { + LOG_ERROR("Could not read CPACR register to check FPU state"); + return -1; + } + + /* 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; + } + } + + /* Found ARM v7m target with no or disabled FPU */ + param->stacking_info = &rtos_chibios_arm_v7m_stacking; + return 0; + } - /* TODO: Add actual detection, currently it will not work with FPU enabled.*/ return -1; } |