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author | patacongo <patacongo@7fd9a85b-ad96-42d3-883c-3090e2eb8679> | 2012-02-25 19:32:16 +0000 |
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committer | patacongo <patacongo@7fd9a85b-ad96-42d3-883c-3090e2eb8679> | 2012-02-25 19:32:16 +0000 |
commit | fe55532f34fc7401baa6e9f2943a716998e1a20b (patch) | |
tree | 1e8d368264b8934379ede246b662f8d0c0aa488a /nuttx/arch/arm | |
parent | a69d50a48878f1a3f94e3cd9365717ad050c2211 (diff) | |
download | px4-firmware-fe55532f34fc7401baa6e9f2943a716998e1a20b.tar.gz px4-firmware-fe55532f34fc7401baa6e9f2943a716998e1a20b.tar.bz2 px4-firmware-fe55532f34fc7401baa6e9f2943a716998e1a20b.zip |
Fix bugs in lazy FPU register saving
git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4427 7fd9a85b-ad96-42d3-883c-3090e2eb8679
Diffstat (limited to 'nuttx/arch/arm')
-rwxr-xr-x | nuttx/arch/arm/src/armv7-m/up_blocktask.c | 4 | ||||
-rw-r--r-- | nuttx/arch/arm/src/armv7-m/up_fpu.S | 2 | ||||
-rwxr-xr-x | nuttx/arch/arm/src/armv7-m/up_releasepending.c | 13 | ||||
-rwxr-xr-x | nuttx/arch/arm/src/armv7-m/up_reprioritizertr.c | 23 | ||||
-rw-r--r-- | nuttx/arch/arm/src/armv7-m/up_schedulesigaction.c | 4 | ||||
-rw-r--r-- | nuttx/arch/arm/src/armv7-m/up_svcall.c | 3 |
6 files changed, 26 insertions, 23 deletions
diff --git a/nuttx/arch/arm/src/armv7-m/up_blocktask.c b/nuttx/arch/arm/src/armv7-m/up_blocktask.c index e2a612a18..896476ed2 100755 --- a/nuttx/arch/arm/src/armv7-m/up_blocktask.c +++ b/nuttx/arch/arm/src/armv7-m/up_blocktask.c @@ -1,8 +1,8 @@ /**************************************************************************** * arch/arm/src/armv7-m/up_blocktask.c * - * Copyright (C) 2007-2009 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * Copyright (C) 2007-2009, 2012 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 diff --git a/nuttx/arch/arm/src/armv7-m/up_fpu.S b/nuttx/arch/arm/src/armv7-m/up_fpu.S index fd6449c2f..707420f06 100644 --- a/nuttx/arch/arm/src/armv7-m/up_fpu.S +++ b/nuttx/arch/arm/src/armv7-m/up_fpu.S @@ -68,7 +68,7 @@ ************************************************************************************/ /************************************************************************************ - * Name: up_restorefpu + * Name: up_savefpu * * Description: * Given the pointer to a register save area (in R0), save the state of the diff --git a/nuttx/arch/arm/src/armv7-m/up_releasepending.c b/nuttx/arch/arm/src/armv7-m/up_releasepending.c index 20b953543..2f0d4dc39 100755 --- a/nuttx/arch/arm/src/armv7-m/up_releasepending.c +++ b/nuttx/arch/arm/src/armv7-m/up_releasepending.c @@ -1,8 +1,8 @@ /**************************************************************************** * arch/arm/src/armv7-m/up_releasepending.c * - * Copyright (C) 2007-2009 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * Copyright (C) 2007-2009, 2012 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 @@ -84,15 +84,14 @@ void up_release_pending(void) /* sched_lock(); */ if (sched_mergepending()) { - /* The currently active task has changed! We will need to - * switch contexts. First check if we are operating in - * interrupt context: + /* The currently active task has changed! We will need to switch + * contexts. First check if we are operating in interrupt context. */ if (current_regs) { - /* Yes, then we have to do things differently. - * Just copy the current_regs into the OLD rtcb. + /* Yes, then we have to do things differently. Just copy the + * current_regs into the OLD rtcb. */ up_savestate(rtcb->xcp.regs); diff --git a/nuttx/arch/arm/src/armv7-m/up_reprioritizertr.c b/nuttx/arch/arm/src/armv7-m/up_reprioritizertr.c index 9ac2d1145..f1c961b15 100755 --- a/nuttx/arch/arm/src/armv7-m/up_reprioritizertr.c +++ b/nuttx/arch/arm/src/armv7-m/up_reprioritizertr.c @@ -1,8 +1,8 @@ /**************************************************************************** * arch/arm/src/armv7-m/up_reprioritizertr.c * - * Copyright (C) 2007-2009 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * Copyright (C) 2007-2009, 2012 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 @@ -103,8 +103,8 @@ void up_reprioritize_rtr(_TCB *tcb, uint8_t priority) slldbg("TCB=%p PRI=%d\n", tcb, priority); /* Remove the tcb task from the ready-to-run list. - * sched_removereadytorun will return true if we just - * remove the head of the ready to run list. + * sched_removereadytorun will return true if we just removed the head + * of the ready to run list. */ switch_needed = sched_removereadytorun(tcb); @@ -113,17 +113,18 @@ void up_reprioritize_rtr(_TCB *tcb, uint8_t priority) tcb->sched_priority = (uint8_t)priority; - /* Return the task to the specified blocked task list. - * sched_addreadytorun will return true if the task was - * added to the new list. We will need to perform a context - * switch only if the EXCLUSIVE or of the two calls is non-zero - * (i.e., one and only one the calls changes the head of the - * ready-to-run list). + /* Return the task to the ready-to-run task list. sched_addreadytorun + * will return true if the task was added to the head of ready-to-run + * list. We will need to perform a context switch only if the + * EXCLUSIVE or of the two calls is non-zero (i.e., one and only one + * the calls changes the head of the ready-to-run list). */ switch_needed ^= sched_addreadytorun(tcb); - /* Now, perform the context switch if one is needed */ + /* Now, perform the context switch if one is needed (i.e. if the head + * of the ready-to-run list is no longer the same). + */ if (switch_needed) { diff --git a/nuttx/arch/arm/src/armv7-m/up_schedulesigaction.c b/nuttx/arch/arm/src/armv7-m/up_schedulesigaction.c index f392a08d7..9e6dbd14b 100644 --- a/nuttx/arch/arm/src/armv7-m/up_schedulesigaction.c +++ b/nuttx/arch/arm/src/armv7-m/up_schedulesigaction.c @@ -1,8 +1,8 @@ /**************************************************************************** * arch/arm/src/armv7-m/up_schedulesigaction.c * - * Copyright (C) 2009-2011 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * Copyright (C) 2009-2012 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 diff --git a/nuttx/arch/arm/src/armv7-m/up_svcall.c b/nuttx/arch/arm/src/armv7-m/up_svcall.c index 949efb1af..5a4d64fe2 100644 --- a/nuttx/arch/arm/src/armv7-m/up_svcall.c +++ b/nuttx/arch/arm/src/armv7-m/up_svcall.c @@ -320,6 +320,9 @@ int up_svcall(int irq, FAR void *context) { DEBUGASSERT(regs[REG_R1] != 0 && regs[REG_R2] != 0); memcpy((uint32_t*)regs[REG_R1], regs, XCPTCONTEXT_SIZE); +#if defined(CONFIG_ARCH_FPU) && !defined(CONFIG_ARMV7M_CMNVECTOR) + up_savefpu((uint32_t*)regs[REG_R1]); +#endif current_regs = (uint32_t*)regs[REG_R2]; } break; |