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硬件平台stm32l433,现在想使用芯片的FPU功能,按网上教程改好MDK中的相关配置后编写测试代码如下: #include <arm_math.h> 测试代码在main()中调用。程序编译通过。
HardFault_Handler PROC 各位大侠有没有解决办法? 补充说明,如果不用rt-thread系统的话,该测试代码可以正常运行。 |
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5个回答
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context_rvds.s文件中第230行,也就是上面所粘贴代码的第11行。
在有rt-thread操作系统的情况下,在程序的任何地方调用测试代码或使用MSH_CMD_EXPORT()都会出现上述问题。 |
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具体现象是什么?你的FPU使能了没有?
/* FPU settings ------------------------------------------------------------*/ #if (__FPU_PRESENT == 1) && (__FPU_USED == 1) SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */ #endif 请确认 |
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已在mdk中做了相关配置FPU_PRESENT=1,TARGET_FPU_VFP,ARM_MATH_CM4。
我插入图片或附件的时候都会报 Server(IO)Error,不是什么原因 |
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程序会死在context_rvds.s文件中第230行,执行不下去
;/* ;* Copyright (c) 2006-2018, RT-Thread Development Team ;* ;* SPDX-License-Identifier: Apache-2.0 ;* ; * Change Logs: ; * Date Author Notes ; * 2009-01-17 Bernard first version. ; * 2012-01-01 aozima support context switch load/store FPU register. ; * 2013-06-18 aozima add restore MSP feature. ; * 2013-06-23 aozima support lazy stack optimized. ; * 2018-07-24 aozima enhancement hard fault exception handler. ; */ ;/** ; * @addtogroup cortex-m4 ; */ ;/*@{*/ SCB_VTOR EQU 0xE000ED08 ; Vector Table Offset Register NVIC_INT_CTRL EQU 0xE000ED04 ; interrupt control state register NVIC_SYSPRI2 EQU 0xE000ED20 ; system priority register (2) NVIC_PENDSV_PRI EQU 0x00FF0000 ; PendSV priority value (lowest) NVIC_PENDSVSET EQU 0x10000000 ; value to trigger PendSV exception AREA |.text|, CODE, READONLY, ALIGN=2 THUMB REQUIRE8 PRESERVE8 IMPORT rt_thread_switch_interrupt_flag IMPORT rt_interrupt_from_thread IMPORT rt_interrupt_to_thread ;/* ; * rt_base_t rt_hw_interrupt_disable(); ; */ rt_hw_interrupt_disable PROC EXPORT rt_hw_interrupt_disable MRS r0, PRIMASK CPSID I BX LR ENDP ;/* ; * void rt_hw_interrupt_enable(rt_base_t level); ; */ rt_hw_interrupt_enable PROC EXPORT rt_hw_interrupt_enable MSR PRIMASK, r0 BX LR ENDP ;/* ; * void rt_hw_context_switch(rt_uint32 from, rt_uint32 to); ; * r0 --> from ; * r1 --> to ; */ rt_hw_context_switch_interrupt EXPORT rt_hw_context_switch_interrupt rt_hw_context_switch PROC EXPORT rt_hw_context_switch ; set rt_thread_switch_interrupt_flag to 1 LDR r2, =rt_thread_switch_interrupt_flag LDR r3, [r2] CMP r3, #1 BEQ _reswitch MOV r3, #1 STR r3, [r2] LDR r2, =rt_interrupt_from_thread ; set rt_interrupt_from_thread STR r0, [r2] _reswitch LDR r2, =rt_interrupt_to_thread ; set rt_interrupt_to_thread STR r1, [r2] LDR r0, =NVIC_INT_CTRL ; trigger the PendSV exception (causes context switch) LDR r1, =NVIC_PENDSVSET STR r1, [r0] BX LR ENDP ; r0 --> switch from thread stack ; r1 --> switch to thread stack ; psr, pc, lr, r12, r3, r2, r1, r0 are pushed into [from] stack PendSV_Handler PROC EXPORT PendSV_Handler ; disable interrupt to protect context switch MRS r2, PRIMASK CPSID I ; get rt_thread_switch_interrupt_flag LDR r0, =rt_thread_switch_interrupt_flag LDR r1, [r0] CBZ r1, pendsv_exit ; pendsv already handled ; clear rt_thread_switch_interrupt_flag to 0 MOV r1, #0x00 STR r1, [r0] LDR r0, =rt_interrupt_from_thread LDR r1, [r0] CBZ r1, switch_to_thread ; skip register save at the first time MRS r1, psp ; get from thread stack pointer IF {FPU} != "SoftVFP" TST lr, #0x10 ; if(!EXC_RETURN[4]) VSTMFDEQ r1!, {d8 - d15} ; push FPU register s16~s31 ENDIF STMFD r1!, {r4 - r11} ; push r4 - r11 register IF {FPU} != "SoftVFP" MOV r4, #0x00 ; flag = 0 TST lr, #0x10 ; if(!EXC_RETURN[4]) MOVEQ r4, #0x01 ; flag = 1 STMFD r1!, {r4} ; push flag ENDIF LDR r0, [r0] STR r1, [r0] ; update from thread stack pointer switch_to_thread LDR r1, =rt_interrupt_to_thread LDR r1, [r1] LDR r1, [r1] ; load thread stack pointer IF {FPU} != "SoftVFP" LDMFD r1!, {r3} ; pop flag ENDIF LDMFD r1!, {r4 - r11} ; pop r4 - r11 register IF {FPU} != "SoftVFP" CMP r3, #0 ; if(flag_r3 != 0) VLDMFDNE r1!, {d8 - d15} ; pop FPU register s16~s31 ENDIF MSR psp, r1 ; update stack pointer IF {FPU} != "SoftVFP" ORR lr, lr, #0x10 ; lr |= (1 << 4), clean FPCA. CMP r3, #0 ; if(flag_r3 != 0) BICNE lr, lr, #0x10 ; lr &= ~(1 << 4), set FPCA. ENDIF pendsv_exit ; restore interrupt MSR PRIMASK, r2 ORR lr, lr, #0x04 BX lr ENDP ;/* ; * void rt_hw_context_switch_to(rt_uint32 to); ; * r0 --> to ; * this fucntion is used to perform the first thread switch ; */ rt_hw_context_switch_to PROC EXPORT rt_hw_context_switch_to ; set to thread LDR r1, =rt_interrupt_to_thread STR r0, [r1] IF {FPU} != "SoftVFP" ; CLEAR CONTROL.FPCA MRS r2, CONTROL ; read BIC r2, #0x04 ; modify MSR CONTROL, r2 ; write-back ENDIF ; set from thread to 0 LDR r1, =rt_interrupt_from_thread MOV r0, #0x0 STR r0, [r1] ; set interrupt flag to 1 LDR r1, =rt_thread_switch_interrupt_flag MOV r0, #1 STR r0, [r1] ; set the PendSV exception priority LDR r0, =NVIC_SYSPRI2 LDR r1, =NVIC_PENDSV_PRI LDR.W r2, [r0,#0x00] ; read ORR r1,r1,r2 ; modify STR r1, [r0] ; write-back ; trigger the PendSV exception (causes context switch) LDR r0, =NVIC_INT_CTRL LDR r1, =NVIC_PENDSVSET STR r1, [r0] ; restore MSP LDR r0, =SCB_VTOR LDR r0, [r0] LDR r0, [r0] MSR msp, r0 ; enable interrupts at processor level CPSIE F CPSIE I ; never reach here! ENDP ; compatible with old version rt_hw_interrupt_thread_switch PROC EXPORT rt_hw_interrupt_thread_switch BX lr ENDP IMPORT rt_hw_hard_fault_exception EXPORT HardFault_Handler HardFault_Handler PROC ; get current context TST lr, #0x04 ; if(!EXC_RETURN[2]) ITE EQ MRSEQ r0, msp ; [2]=0 ==> Z=1, get fault context from handler. MRSNE r0, psp ; [2]=1 ==> Z=0, get fault context from thread. STMFD r0!, {r4 - r11} ; push r4 - r11 register IF {FPU} != "SoftVFP" STMFD r0!, {lr} ; push dummy for flag ENDIF STMFD r0!, {lr} ; push exec_return register TST lr, #0x04 ; if(!EXC_RETURN[2]) ITE EQ MSREQ msp, r0 ; [2]=0 ==> Z=1, update stack pointer to MSP. MSRNE psp, r0 ; [2]=1 ==> Z=0, update stack pointer to PSP. PUSH {lr} BL rt_hw_hard_fault_exception POP {lr} ORR lr, lr, #0x04 BX lr ENDP ALIGN 4 END |
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STMFD r0!, {r4 - r11} ; push r4 - r11 register这条指令是把 从R4到R11 共8个寄存器保存到R0所在地址的RAM中。请确认此时R0的值,并至少是8字节对齐的。
另外,有使用FPU的线程,因为FPU的寄存器有32个,栈至少要加大128字节以上。 实际上要加得更多,建议先加2K再说。 |
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