Module: xenomai-2.6
Branch: master
Commit: 7709acb082cb2f357a5b4e408b8b5d353f8b437d
URL:
http://git.xenomai.org/?p=xenomai-2.6.git;a=commit;h=7709acb082cb2f357a5b4e408b8b5d353f8b437d
Author: Gilles Chanteperdrix <gilles.chanteperd...@xenomai.org>
Date: Thu Jan 9 13:23:32 2014 +0100
hal/arm: avoid using VFP instructions on SOCs without VFP
---
doc/asciidoc/TROUBLESHOOTING.adoc | 15 +++++++++++++++
ksrc/arch/arm/hal.c | 12 +++++++++++-
2 files changed, 26 insertions(+), 1 deletion(-)
diff --git a/doc/asciidoc/TROUBLESHOOTING.adoc
b/doc/asciidoc/TROUBLESHOOTING.adoc
index 433be63..71edd57 100644
--- a/doc/asciidoc/TROUBLESHOOTING.adoc
+++ b/doc/asciidoc/TROUBLESHOOTING.adoc
@@ -243,6 +243,21 @@ IMPORTANT: Disabling +AMD K8 Cool&Quiet+ option in a BIOS
does not
solve the problem.
+On ARM
+^^^^^^
+
+If you see the following message:
+
+----------------------------------------------------------------
+Xenomai: hal/arm: hardware FPU support enabled but not available
+----------------------------------------------------------------
+
+It means that you enabled CONFIG_VFP and CONFIG_XENO_HW_FPU in the
+kernel configuration, but the processor on which you are running the
+kernel has no support for VFP. In that case, you have to recompile the
+kernel with CONFIG_XENO_HW_FPU disabled.
+
+
On other supported platforms
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
diff --git a/ksrc/arch/arm/hal.c b/ksrc/arch/arm/hal.c
index 2a48012..f0d683c 100644
--- a/ksrc/arch/arm/hal.c
+++ b/ksrc/arch/arm/hal.c
@@ -538,7 +538,17 @@ RTHAL_DECLARE_DOMAIN(rthal_domain_entry);
int rthal_arch_init(void)
{
- int ret = rthal_tickdev_select();
+ int ret;
+
+#if defined(CONFIG_XENO_HW_FPU) && defined(CONFIG_VFP)
+ if ((elf_hwcap & HWCAP_VFP) == 0) {
+ printk(KERN_ERR "Xenomai: hal/arm: hardware FPU support enabled"
+ " but not available\n");
+ return -ENODEV;
+ }
+#endif /* CONFIG_VFP && CONFIG_XENO_OPT_HW_FPU */
+
+ ret = rthal_tickdev_select();
if (ret < 0)
return ret;
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