From 6537ccc38c1dbb7261b037bf3919bbe6e6c89bf7 Mon Sep 17 00:00:00 2001 From: patacongo Date: Thu, 23 Feb 2012 21:29:42 +0000 Subject: Enable STM32 F4 hardware floating point with the Atollic toolchain git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4418 42af7a65-404d-4744-a932-0658087f49c3 --- nuttx/arch/arm/src/armv7-m/up_exception.S | 1 + nuttx/arch/arm/src/armv7-m/up_fpu.S | 24 ++++++-- nuttx/configs/stm3240g-eval/README.txt | 75 ++++++++++++++++++++++--- nuttx/configs/stm3240g-eval/dhcpd/Make.defs | 4 ++ nuttx/configs/stm3240g-eval/nettest/Make.defs | 4 ++ nuttx/configs/stm3240g-eval/nsh/Make.defs | 4 ++ nuttx/configs/stm3240g-eval/nsh2/Make.defs | 4 ++ nuttx/configs/stm3240g-eval/ostest/Make.defs | 4 ++ nuttx/configs/stm3240g-eval/telnetd/Make.defs | 4 ++ nuttx/configs/stm32f4discovery/README.txt | 75 ++++++++++++++++++++++--- nuttx/configs/stm32f4discovery/nsh/Make.defs | 4 ++ nuttx/configs/stm32f4discovery/ostest/Make.defs | 4 ++ 12 files changed, 188 insertions(+), 19 deletions(-) diff --git a/nuttx/arch/arm/src/armv7-m/up_exception.S b/nuttx/arch/arm/src/armv7-m/up_exception.S index 091542ea3..31d8dbb0c 100644 --- a/nuttx/arch/arm/src/armv7-m/up_exception.S +++ b/nuttx/arch/arm/src/armv7-m/up_exception.S @@ -164,6 +164,7 @@ exception_common: * context switch time would be improved if we could work out when the stack * is dirty and avoid the work... */ + 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 */ #ifdef CONFIG_ARCH_FPU diff --git a/nuttx/arch/arm/src/armv7-m/up_fpu.S b/nuttx/arch/arm/src/armv7-m/up_fpu.S index c301f793e..2983e1e06 100644 --- a/nuttx/arch/arm/src/armv7-m/up_fpu.S +++ b/nuttx/arch/arm/src/armv7-m/up_fpu.S @@ -1,7 +1,7 @@ /************************************************************************************ * arch/arm/src/armv7-m/stm32_fpu.S * - * Copyright (C) 2011 Gregory Nutt. All rights reserved. + * Copyright (C) 2011-2012 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without @@ -91,6 +91,12 @@ up_savefpu: add r1, r0, #(4*REG_S0) /* R1=Address of FP register storage */ +#if 1 + vstmdb r1!, {s0-s31} /* Save the full FP context */ + vmrs r2, fpscr /* Fetch the FPCSR */ + str r2, [r1], #4 /* Save the floating point control and status register */ +#else + 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 @@ -140,12 +146,13 @@ up_savefpu: 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' + /* Older GNU assemblers don't support all the new UAL mnemonics. + * Use the old FMRX and FMXR names instead of 'vmsx r2, fpscr' */ - fmrx r2, fpscr, /* Fetch the FPCSR */ + fmrx r2, fpscr /* Fetch the FPCSR */ str r2, [r1], #4 /* Save the floating point control and status register */ +#endif bx lr .size up_savefpu, .-up_savefpu @@ -174,6 +181,11 @@ up_savefpu: up_restorefpu: add r1, r0, #(4*REG_S0) /* R1=Address of FP register storage */ +#if 1 + vldmia r1!, {s0-s31} /* Restore the full FP context */ + ldr r2, [r1], #4 /* Fetch the floating point control and status register */ + vmsr fpscr, r2 /* Restore the FPCSR */ +#else ldr r2, [r1], #4 /* Fetch S0 and S1 values */ ldr r3, [r1], #4 vmov d0, r2, r3 /* Save as d0 */ @@ -223,14 +235,16 @@ up_restorefpu: ldr r3, [r1], #4 vmov d15, r2, r3 /* Save as d15 */ - /* The gnu assembler doesn't support all the new UAL mnemonics. + /* Older GNU assemblers don'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 */ +#endif bx lr .size up_restorefpu, .-up_restorefpu +#endif /* CONFIG_ARCH_FPU */ .end diff --git a/nuttx/configs/stm3240g-eval/README.txt b/nuttx/configs/stm3240g-eval/README.txt index 3e47d9db8..2c7c09bdf 100755 --- a/nuttx/configs/stm3240g-eval/README.txt +++ b/nuttx/configs/stm3240g-eval/README.txt @@ -115,6 +115,28 @@ GNU Toolchain Options CONFIG_MOTOROLA_SREC=n CONFIG_RAW_BINARY=n + Another problem that I had with the Atollic toolchain is that the provide a gcc.exe + and g++.exe in the same bin/ file as their ARM binaries. If the Atollic bin/ path + appears in your PATH variable before /usr/bin, then you will get the wrong gcc + when you try to build host executables. This will cause to strange, uninterpretable + errors build some host binaries in tools/ when you first make. Here is my + workaround kludge. + + 1. Edit the setenv.sh to put the Atollic toolchain at the beginning of the PATH + 2. Source the setenv.sh file: . ./setenv.sh. A side effect of this is that it + will set an environment variable called PATH_ORIG. + 3. Then go back to the original patch: export PATH=$PATH_ORIG + 4. Then make. The make will build all of the host executable but will fail + when it gets to the first ARM binary. + 5. Then source setenv.sh again: . ./setenv.sh. That will correct the PATH + again. When you do make again, the host executables are already made and + now the correct PATH is in place for the ARM build. + + Also, the Atollic toolchain is the only toolchain that has built-in support for + the FPU in these configurations. If you plan to use the Cortex-M4 FPU, you will + need to use the Atollic toolchain for now. See the FPU section below for more + information. + NOTE 3: The devkitARM toolchain includes a version of MSYS make. Make sure that the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM path or will get the wrong version of make. @@ -354,15 +376,54 @@ There are two version of the FPU support built into the STM32 port. CFLAGS ------ -To used the FPU, you will also have to modify the CFLAGS to enable compiler -support for the ARMv7-M FPU. As of this writing, there are not many GCC -toolchains that will support the ARMv7-M FPU. +Only the Atollic toolchain has built-in support for the Cortex-M4 FPU. You will see +the following lines in each Make.defs file: + + ifeq ($(CONFIG_STM32_ATOLLIC),y) + # Atollic toolchain under Windows + ... + ifeq ($(CONFIG_ARCH_FPU),y) + ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard + else + ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft + endif + endif + +If you are using a toolchain other than the Atollic toolchain, then to use the FPU +you will also have to modify the CFLAGS to enable compiler support for the ARMv7-M +FPU. As of this writing, there are not many GCC toolchains that will support the +ARMv7-M FPU. + +As a minimum you will need to add CFLAG options to (1) enable hardware floating point +code generation, and to (2) select the FPU implementation. You might try the same +options as used with the Atollic toolchain in the Make.defs file: + + ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard + +Configuration Changes +--------------------- + +Below are all of the configuration changes that I had to make to configs/stm3240g-eval/nsh2 +in order to successfully build NuttX using the Atollic toolchain WITH FPU support: + + -CONFIG_ARCH_FPU=y : Enable FPU support + +CONFIG_ARCH_FPU=n + + -CONFIG_STM32_CODESOURCERYW=n : Disable the CodeSourcery toolchain + +CONFIG_STM32_CODESOURCERYW=y + + -CONFIG_STM32_ATOLLIC=y : Enable the Atollic toolchain + +CONFIG_STM32_ATOLLIC=n + + -CONFIG_INTELHEX_BINARY=n : Suppress generation FLASH download formats + +CONFIG_INTELHEX_BINARY=y -As a minimum, you will need to CFLAG options to (1) enable hardware floating -point code generation, and to (2) select the FPU implementation. You might -try something like the following in the Make.defs file: + -CONFIG_HAVE_CXX=n : Suppress generation of C++ code + +CONFIG_HAVE_CXX=y -ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard +See the section above on Toolchains, NOTE 2, for explanations for some of +the configuration settings. Some of the usual settings are just not supported +by the "Lite" version of the Atollic toolchain. STM3240G-EVAL-specific Configuration Options ============================================ diff --git a/nuttx/configs/stm3240g-eval/dhcpd/Make.defs b/nuttx/configs/stm3240g-eval/dhcpd/Make.defs index c78a5a047..5de6dec90 100644 --- a/nuttx/configs/stm3240g-eval/dhcpd/Make.defs +++ b/nuttx/configs/stm3240g-eval/dhcpd/Make.defs @@ -56,8 +56,12 @@ ifeq ($(CONFIG_STM32_ATOLLIC),y) CROSSDEV = arm-atollic-eabi- ARCROSSDEV = WINTOOL = y +ifeq ($(CONFIG_ARCH_FPU),y) + ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard +else ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft endif +endif ifeq ($(CONFIG_STM32_DEVKITARM),y) # devkitARM under Windows CROSSDEV = arm-eabi- diff --git a/nuttx/configs/stm3240g-eval/nettest/Make.defs b/nuttx/configs/stm3240g-eval/nettest/Make.defs index 42cb36f64..50cb6b296 100644 --- a/nuttx/configs/stm3240g-eval/nettest/Make.defs +++ b/nuttx/configs/stm3240g-eval/nettest/Make.defs @@ -56,8 +56,12 @@ ifeq ($(CONFIG_STM32_ATOLLIC),y) CROSSDEV = arm-atollic-eabi- ARCROSSDEV = WINTOOL = y +ifeq ($(CONFIG_ARCH_FPU),y) + ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard +else ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft endif +endif ifeq ($(CONFIG_STM32_DEVKITARM),y) # devkitARM under Windows CROSSDEV = arm-eabi- diff --git a/nuttx/configs/stm3240g-eval/nsh/Make.defs b/nuttx/configs/stm3240g-eval/nsh/Make.defs index ad84f4038..5904c18c3 100644 --- a/nuttx/configs/stm3240g-eval/nsh/Make.defs +++ b/nuttx/configs/stm3240g-eval/nsh/Make.defs @@ -56,8 +56,12 @@ ifeq ($(CONFIG_STM32_ATOLLIC),y) CROSSDEV = arm-atollic-eabi- ARCROSSDEV = WINTOOL = y +ifeq ($(CONFIG_ARCH_FPU),y) + ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard +else ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft endif +endif ifeq ($(CONFIG_STM32_DEVKITARM),y) # devkitARM under Windows CROSSDEV = arm-eabi- diff --git a/nuttx/configs/stm3240g-eval/nsh2/Make.defs b/nuttx/configs/stm3240g-eval/nsh2/Make.defs index 10a4346e1..c7fc580d7 100644 --- a/nuttx/configs/stm3240g-eval/nsh2/Make.defs +++ b/nuttx/configs/stm3240g-eval/nsh2/Make.defs @@ -56,8 +56,12 @@ ifeq ($(CONFIG_STM32_ATOLLIC),y) CROSSDEV = arm-atollic-eabi- ARCROSSDEV = WINTOOL = y +ifeq ($(CONFIG_ARCH_FPU),y) + ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard +else ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft endif +endif ifeq ($(CONFIG_STM32_DEVKITARM),y) # devkitARM under Windows CROSSDEV = arm-eabi- diff --git a/nuttx/configs/stm3240g-eval/ostest/Make.defs b/nuttx/configs/stm3240g-eval/ostest/Make.defs index f49a8c9aa..dc7d728eb 100644 --- a/nuttx/configs/stm3240g-eval/ostest/Make.defs +++ b/nuttx/configs/stm3240g-eval/ostest/Make.defs @@ -56,8 +56,12 @@ ifeq ($(CONFIG_STM32_ATOLLIC),y) CROSSDEV = arm-atollic-eabi- ARCROSSDEV = WINTOOL = y +ifeq ($(CONFIG_ARCH_FPU),y) + ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard +else ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft endif +endif ifeq ($(CONFIG_STM32_DEVKITARM),y) # devkitARM under Windows CROSSDEV = arm-eabi- diff --git a/nuttx/configs/stm3240g-eval/telnetd/Make.defs b/nuttx/configs/stm3240g-eval/telnetd/Make.defs index fb4c2cc66..0fede585e 100644 --- a/nuttx/configs/stm3240g-eval/telnetd/Make.defs +++ b/nuttx/configs/stm3240g-eval/telnetd/Make.defs @@ -56,8 +56,12 @@ ifeq ($(CONFIG_STM32_ATOLLIC),y) CROSSDEV = arm-atollic-eabi- ARCROSSDEV = WINTOOL = y +ifeq ($(CONFIG_ARCH_FPU),y) + ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard +else ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft endif +endif ifeq ($(CONFIG_STM32_DEVKITARM),y) # devkitARM under Windows CROSSDEV = arm-eabi- diff --git a/nuttx/configs/stm32f4discovery/README.txt b/nuttx/configs/stm32f4discovery/README.txt index f6aeb3b89..23e45c742 100755 --- a/nuttx/configs/stm32f4discovery/README.txt +++ b/nuttx/configs/stm32f4discovery/README.txt @@ -114,6 +114,28 @@ GNU Toolchain Options CONFIG_MOTOROLA_SREC=n CONFIG_RAW_BINARY=n + Another problem that I had with the Atollic toolchain is that the provide a gcc.exe + and g++.exe in the same bin/ file as their ARM binaries. If the Atollic bin/ path + appears in your PATH variable before /usr/bin, then you will get the wrong gcc + when you try to build host executables. This will cause to strange, uninterpretable + errors build some host binaries in tools/ when you first make. Here is my + workaround kludge. + + 1. Edit the setenv.sh to put the Atollic toolchain at the beginning of the PATH + 2. Source the setenv.sh file: . ./setenv.sh. A side effect of this is that it + will set an environment variable called PATH_ORIG. + 3. Then go back to the original patch: export PATH=$PATH_ORIG + 4. Then make. The make will build all of the host executable but will fail + when it gets to the first ARM binary. + 5. Then source setenv.sh again: . ./setenv.sh. That will correct the PATH + again. When you do make again, the host executables are already made and + now the correct PATH is in place for the ARM build. + + Also, the Atollic toolchain is the only toolchain that has built-in support for + the FPU in these configurations. If you plan to use the Cortex-M4 FPU, you will + need to use the Atollic toolchain for now. See the FPU section below for more + information. + NOTE 3: The devkitARM toolchain includes a version of MSYS make. Make sure that the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM path or will get the wrong version of make. @@ -372,15 +394,54 @@ There are two version of the FPU support built into the STM32 port. CFLAGS ------ -To used the FPU, you will also have to modify the CFLAGS to enable compiler -support for the ARMv7-M FPU. As of this writing, there are not many GCC -toolchains that will support the ARMv7-M FPU. +Only the Atollic toolchain has built-in support for the Cortex-M4 FPU. You will see +the following lines in each Make.defs file: + + ifeq ($(CONFIG_STM32_ATOLLIC),y) + # Atollic toolchain under Windows + ... + ifeq ($(CONFIG_ARCH_FPU),y) + ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard + else + ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft + endif + endif + +If you are using a toolchain other than the Atollic toolchain, then to use the FPU +you will also have to modify the CFLAGS to enable compiler support for the ARMv7-M +FPU. As of this writing, there are not many GCC toolchains that will support the +ARMv7-M FPU. + +As a minimum you will need to add CFLAG options to (1) enable hardware floating point +code generation, and to (2) select the FPU implementation. You might try the same +options as used with the Atollic toolchain in the Make.defs file: + + ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard + +Configuration Changes +--------------------- + +Below are all of the configuration changes that I had to make to configs/stm3240g-eval/nsh2 +in order to successfully build NuttX using the Atollic toolchain WITH FPU support: + + -CONFIG_ARCH_FPU=y : Enable FPU support + +CONFIG_ARCH_FPU=n + + -CONFIG_STM32_CODESOURCERYW=n : Disable the CodeSourcery toolchain + +CONFIG_STM32_CODESOURCERYW=y + + -CONFIG_STM32_ATOLLIC=y : Enable the Atollic toolchain + +CONFIG_STM32_ATOLLIC=n + + -CONFIG_INTELHEX_BINARY=n : Suppress generation FLASH download formats + +CONFIG_INTELHEX_BINARY=y -As a minimum, you will need to CFLAG options to (1) enable hardware floating -point code generation, and to (2) select the FPU implementation. You might -try something like the following in the Make.defs file: + -CONFIG_HAVE_CXX=n : Suppress generation of C++ code + +CONFIG_HAVE_CXX=y -ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard +See the section above on Toolchains, NOTE 2, for explanations for some of +the configuration settings. Some of the usual settings are just not supported +by the "Lite" version of the Atollic toolchain. STM32F4Discovery-specific Configuration Options =============================================== diff --git a/nuttx/configs/stm32f4discovery/nsh/Make.defs b/nuttx/configs/stm32f4discovery/nsh/Make.defs index 02dec9abf..60d264c50 100644 --- a/nuttx/configs/stm32f4discovery/nsh/Make.defs +++ b/nuttx/configs/stm32f4discovery/nsh/Make.defs @@ -56,8 +56,12 @@ ifeq ($(CONFIG_STM32_ATOLLIC),y) CROSSDEV = arm-atollic-eabi- ARCROSSDEV = WINTOOL = y +ifeq ($(CONFIG_ARCH_FPU),y) + ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard +else ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft endif +endif ifeq ($(CONFIG_STM32_DEVKITARM),y) # devkitARM under Windows CROSSDEV = arm-eabi- diff --git a/nuttx/configs/stm32f4discovery/ostest/Make.defs b/nuttx/configs/stm32f4discovery/ostest/Make.defs index ea129c142..a59a108bc 100644 --- a/nuttx/configs/stm32f4discovery/ostest/Make.defs +++ b/nuttx/configs/stm32f4discovery/ostest/Make.defs @@ -56,8 +56,12 @@ ifeq ($(CONFIG_STM32_ATOLLIC),y) CROSSDEV = arm-atollic-eabi- ARCROSSDEV = WINTOOL = y +ifeq ($(CONFIG_ARCH_FPU),y) + ARCHCPUFLAGS = -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard +else ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft endif +endif ifeq ($(CONFIG_STM32_DEVKITARM),y) # devkitARM under Windows CROSSDEV = arm-eabi- -- cgit v1.2.3