Fix bugs in lazy FPU register saving

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4427 42af7a65-404d-4744-a932-0658087f49c3

7 files changed, 34 insertions, 68 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;
diff --git a/nuttx/configs/stm3240g-eval/src/up_ostest.c b/nuttx/configs/stm3240g-eval/src/up_ostest.c
index 477b67caf..a30999d09 100644
--- a/nuttx/configs/stm3240g-eval/src/up_ostest.c
+++ b/nuttx/configs/stm3240g-eval/src/up_ostest.c
@@ -77,66 +77,29 @@
 /************************************************************************************
  * Public Functions
  ************************************************************************************/
-/* Given a uint8_t array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE, this
- * function will return the current FPU registers.
+/* Given an array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE, this function will return
+ * the current FPU registers.
  */
 
-void arch_getfpu(FAR uint8_t *fpusave)
+void arch_getfpu(FAR uint32_t *fpusave)
 {
   irqstate_t flags;
   uint32_t regs[XCPTCONTEXT_REGS];
 
   flags = irqsave();
-  up_savefpu(regs);
+  up_savefpu(regs);  /* Saves the context of the FPU registers to memory */
   irqrestore(flags);
 
   memcpy(fpusave, &regs[REG_S0], (4*SW_FPU_REGS));
 }
 
-/* Given a uint8_t array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE, this
- * function will set the current FPU regisers to match the provided
- * register save set.
+/* Given two arrays of size CONFIG_EXAMPLES_OSTEST_FPUSIZE this function
+ * will compare then an return true if they are identical.
  */
 
-void arch_setfpu(FAR const uint8_t *fpusave)
+bool arch_cmpfpu(FAR const uint32_t *fpusave1, FAR const uint32_t *fpusave2)
 {
-  irqstate_t flags;
-  uint32_t regs[XCPTCONTEXT_REGS];
-
-  memcpy(&regs[REG_S0], fpusave, (4*SW_FPU_REGS));
-
-  flags = irqsave();
-  up_restorefpu(regs);
-  irqrestore(flags);
-}
-
-/* Given a uint8_t array of size CONFIG_EXAMPLES_OSTEST_FPUSIZE and a
- * seed value, this function will set the FPU registers to a known
- * values for testing purposes.  The contents of the FPU registers
- * must be uniqe for each sed value.
- */
-
-void arch_initfpu(FAR uint8_t *fpusave, int seed)
-{
-  FAR uint32_t *dest = (FAR uint32_t *)fpusave;
-  uint32_t mask = 0x01010101;
-  uint32_t incr = 0x01010101;
-  int i;
-
-  for (i = 0; i < 32; i++)
-    {
-      *dest = (uint32_t)seed ^ mask;
-      mask += incr;
-    }
-}
-
-/* Given two uint8_t arrays of size CONFIG_EXAMPLES_OSTEST_FPUSIZE this
- * function will compare then an return true if they are identical.
- */
-
-bool arch_cmpfpu(FAR const uint8_t *fpusave1, FAR const uint8_t *fpusave2)
-{
-  return memcmp(fpusave1, fpusave2, (4*32)) == 0;
+  return memcmp(fpusave1, fpusave2, (4*SW_FPU_REGS)) == 0;
 }
 
 #endif /* HAVE_FPU */