Hi Bert,
On Tue, Jun 20, 2000 at 09:07:20AM +0200, Eding, Bert wrote:
>
> I am very new to RT-Linux and I was following your FP-discussions.
> I notice that You want to avoid this functionality in kernel mode.
> I am curently in study fase to see if our motion-controller/robotics
> package can be ported to RT-Linux.
I solve the same problem.
> In general, a robot controller package uses lots and lots of FPU
> calculations,
> also during initialisation.
I agree.
> I would say that this this kind of applications is a typical RT application.
> So, please export the fp save and restore functions in the future.
>
Don't get confused by this discussion. Actually you don't need exported
fp save and restore functions. You need just RT-thread(s) using FP
(pthread_setfp_np(?,1)). FP initialization work should be done in the
RT-thread(s), NOT in init_module().
You may consider a problem, FP is not allowed in interrupt service routine
(ISR). The remedy is, write only a short ISR, that wakes up a RT-thread
(pthread_wakeup_np()) and returns. Having finished the job, the RT-thread
suspends itself (pthread_suspend_np).
Regards,
pa
--
..........................................................................
Pavel Andris | tel: +421 7 5941 2167
Institute of Control Theory and Robotics | fax: +421 7 5477 6045
Slovak Academy of Sciences |
Dubravska cesta 9 | e-mail: [EMAIL PROTECTED]
SK - 842 37 Bratislava |
Slovakia |
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