Module: xenomai-3
Branch: arm64
Commit: 02e4fab4215698e28157c0d4145e524acf1b60d8
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=02e4fab4215698e28157c0d4145e524acf1b60d8
Author: Dmitriy Cherkasov <dmit...@mperpetuo.com>
Date: Fri Sep 11 17:58:54 2015 -0700
cobalt/arm64: add basic FPU support
---
kernel/cobalt/arch/arm64/Kconfig | 2 +-
.../cobalt/arch/arm64/include/asm/xenomai/fptest.h | 11 +-
.../cobalt/arch/arm64/include/asm/xenomai/thread.h | 17 +-
.../arch/arm64/include/asm/xenomai/uapi/fptest.h | 83 +++--
kernel/cobalt/arch/arm64/thread.c | 329 +++++---------------
lib/cobalt/arch/arm64/features.c | 4 +-
6 files changed, 153 insertions(+), 293 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig
index dd5a8c6..27b5026 100644
--- a/kernel/cobalt/arch/arm64/Kconfig
+++ b/kernel/cobalt/arch/arm64/Kconfig
@@ -8,7 +8,7 @@ config XENO_ARCH_WANT_TIP
def_bool y
config XENO_ARCH_FPU
- def_bool VFP
+ def_bool y
config XENO_ARCH_SYS3264
def_bool n
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
index a76f1e6..743d758 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
@@ -20,15 +20,10 @@
#define _COBALT_ARM_ASM_FPTEST_H
#include <linux/errno.h>
+#include <asm/xenomai/uapi/fptest.h>
#include <asm/hwcap.h>
-#ifdef CONFIG_VFP
-#define have_vfp (elf_hwcap & HWCAP_VFP)
-#else /* !CONFIG_VFP */
-#define have_vfp 0
-#endif /* !CONFIG_VFP */
-
-#include <asm/xenomai/uapi/fptest.h>
+#define have_fp (elf_hwcap & HWCAP_FP)
static inline int fp_kernel_supported(void)
{
@@ -46,7 +41,7 @@ static inline void fp_linux_end(void)
static inline int fp_detect(void)
{
- return have_vfp ? __COBALT_HAVE_VFP : 0;
+ return have_fp ? __COBALT_HAVE_FPU : 0;
}
#endif /* _COBALT_ARM_ASM_FPTEST_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index a8d7ed4..bfcceb4 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -21,21 +21,12 @@
#include <asm-generic/xenomai/thread.h>
-#ifdef CONFIG_XENO_ARCH_FPU
-#ifdef CONFIG_VFP
-#include <asm/vfp.h>
-#endif /* CONFIG_VFP */
-#endif /* !CONFIG_XENO_ARCH_FPU */
struct xnarchtcb {
struct xntcb core;
#ifdef CONFIG_XENO_ARCH_FPU
-#ifdef CONFIG_VFP
- union vfp_state *fpup;
+ struct fpsimd_state *fpup;
#define xnarch_fpu_ptr(tcb) ((tcb)->fpup)
-#else
-#define xnarch_fpu_ptr(tcb) NULL
-#endif
#endif
struct {
unsigned long pc;
@@ -67,7 +58,7 @@ static inline void xnarch_enter_root(struct xnthread *root) {
}
int xnarch_escalate(void);
-#if defined(CONFIG_XENO_ARCH_FPU) && defined(CONFIG_VFP)
+#if defined(CONFIG_XENO_ARCH_FPU)
static inline void xnarch_init_root_tcb(struct xnthread *thread)
{
@@ -88,7 +79,7 @@ void xnarch_switch_fpu(struct xnthread *from, struct xnthread
*thread);
int xnarch_handle_fpu_fault(struct xnthread *from,
struct xnthread *to, struct ipipe_trap_data *d);
-#else /* !CONFIG_XENO_ARCH_FPU || !CONFIG_VFP */
+#else /* !CONFIG_XENO_ARCH_FPU */
static inline void xnarch_init_root_tcb(struct xnthread *thread) { }
static inline void xnarch_init_shadow_tcb(struct xnthread *thread) { }
@@ -114,7 +105,7 @@ static inline int xnarch_handle_fpu_fault(struct xnthread
*from,
{
return 0;
}
-#endif /* !CONFIG_XENO_ARCH_FPU || !CONFIG_VFP */
+#endif /* !CONFIG_XENO_ARCH_FPU */
static inline void xnarch_enable_kfpu(void) { }
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
index 65a3e31..25bc976 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
@@ -18,53 +18,86 @@
#ifndef _COBALT_ARM_ASM_UAPI_FPTEST_H
#define _COBALT_ARM_ASM_UAPI_FPTEST_H
-#ifdef __aarch64__
-/* CP10 and CP11, used for the FP/NEON operations, are already excluded from
-the list of valid operands for the generic coprocessor instructions */
-#define __COBALT_HAVE_VFP 0
-#else
-#define __COBALT_HAVE_VFP 0x1
-#endif
+#define __COBALT_HAVE_FPU 0x1
static inline void fp_regs_set(int features, unsigned int val)
{
-#if __COBALT_HAVE_VFP != 0
- unsigned long long e[16];
+
+ unsigned long long e[32];
unsigned int i;
- if (features & __COBALT_HAVE_VFP) {
- for (i = 0; i < 16; i++)
+ if (features & __COBALT_HAVE_FPU) {
+
+ for (i = 0; i < 32; i++)
e[i] = val;
- /* vldm %0!, {d0-d15},
- AKA fldmiax %0!, {d0-d15} */
- __asm__ __volatile__("ldc p11, cr0, [%0],#32*4":
- "=r"(i): "0"(&e[0]): "memory");
+ __asm__ __volatile__("ldp d0, d1, [%0, #8 * 0] \n\
+ ldp d2, d3, [%0, #8 *
2] \n\
+ ldp d4, d5, [%0, #8
* 4]\n\
+ ldp d6, d7, [%0, #8
* 6]\n\
+ ldp d8, d9, [%0, #8
* 8]\n\
+ ldp d10, d11, [%0,
#8 * 10]\n\
+ ldp d12, d13, [%0,
#8 * 12]\n\
+ ldp d14, d15, [%0,
#8 * 14]\n\
+ ldp d16, d17, [%0,
#8 * 16]\n\
+ ldp d18, d19, [%0,
#8 * 18]\n\
+ ldp d20, d21, [%0,
#8 * 20]\n\
+ ldp d22, d23, [%0,
#8 * 22]\n\
+ ldp d24, d25, [%0,
#8 * 24]\n\
+ ldp d26, d27, [%0,
#8 * 26]\n\
+ ldp d28, d29, [%0,
#8 * 28]\n\
+ ldp d30, d31, [%0,
#8 * 30]"
+
+ : /* No outputs. */
+ : "r"(&e[0])
+ : "d0", "d1", "d2", "d3", "d4", "d5", "d6",
"d7", "d8", "d9", "d10", "d11", "d12", "d13", "d14", "d15",
+ "d16", "d17", "d18", "d19", "d20",
"d21", "d22", "d23", "d24", "d25", "d26", "d27", "d28", "d29", "d30", "d31",
"memory"
+ );
}
-#endif
+
}
static inline unsigned int fp_regs_check(int features, unsigned int val,
int (*report)(const char *fmt, ...))
{
unsigned int result = val;
-#if __COBALT_HAVE_VFP != 0
+
unsigned int i;
- unsigned long long e[16];
+ unsigned long long e[32];
+
+ if (features & __COBALT_HAVE_FPU) {
+
+ __asm__ __volatile__("stp d0, d1, [%0, #8 * 0] \n\
+ stp d2, d3, [%0, #8 *
2] \n\
+ stp d4, d5, [%0, #8
* 4]\n\
+ stp d6, d7, [%0, #8
* 6]\n\
+ stp d8, d9,
[%0, #8 * 8]\n\
+ stp d10, d11, [%0,
#8 * 10]\n\
+ stp d12, d13, [%0,
#8 * 12]\n\
+ stp d14, d15, [%0,
#8 * 14]\n\
+ stp d16, d17, [%0,
#8 * 16]\n\
+ stp d18, d19, [%0,
#8 * 18]\n\
+ stp d20, d21, [%0,
#8 * 20]\n\
+ stp d22, d23, [%0,
#8 * 22]\n\
+ stp d24, d25, [%0,
#8 * 24]\n\
+ stp d26, d27, [%0,
#8 * 26]\n\
+ stp d28, d29, [%0,
#8 * 28]\n\
+ stp d30, d31, [%0,
#8 * 30]"
+
+ : /* No outputs. */
+ : "r"(&e[0])
+ : "d0", "d1", "d2", "d3", "d4", "d5", "d6",
"d7", "d8", "d9", "d10", "d11", "d12", "d13", "d14", "d15",
+ "d16", "d17", "d18", "d19", "d20",
"d21", "d22", "d23", "d24", "d25", "d26", "d27", "d28", "d29", "d30", "d31",
"memory"
+ );
+
- if (features & __COBALT_HAVE_VFP) {
- /* vstm %0!, {d0-d15},
- AKA fstmiax %0!, {d0-d15} */
- __asm__ __volatile__("stc p11, cr0, [%0],#32*4":
- "=r"(i): "0"(&e[0]): "memory");
- for (i = 0; i < 16; i++)
+ for (i = 0; i < 32; i++)
if (e[i] != val) {
report("d%d: %llu != %u\n", i, e[i], val);
result = e[i];
}
}
-#endif
return result;
}
diff --git a/kernel/cobalt/arch/arm64/thread.c
b/kernel/cobalt/arch/arm64/thread.c
index 3168e28..316525f6 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -3,6 +3,9 @@
*
* ARM port
* Copyright (C) 2005 Stelian Pop
+ *
+ * ARM64 port
+ * Copyright (C) 2015 Dmitriy Cherkasov <dmit...@mperpetuo.com>
*
* Xenomai is free software; you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by
@@ -26,291 +29,120 @@
#include <linux/jump_label.h>
#include <asm/mmu_context.h>
#include <cobalt/kernel/thread.h>
+#include <asm/fpsimd.h>
+#include <asm/processor.h>
+#include <asm/hw_breakpoint.h>
-struct static_key __xeno_vfp_key = STATIC_KEY_INIT_TRUE;
-asmlinkage void __asm_thread_trampoline(void);
+#if defined(CONFIG_XENO_ARCH_FPU)
-#if defined(CONFIG_XENO_ARCH_FPU) && defined(CONFIG_VFP)
-
-static unsigned int vfp_checked;
static DEFINE_MUTEX(vfp_check_lock);
-asmlinkage void __asm_vfp_save(union vfp_state *vfp, unsigned int fpexc);
-
-asmlinkage void __asm_vfp_load(union vfp_state *vfp, unsigned int cpu);
-
-#define do_vfp_fmrx(_vfp_) \
- ({ \
- u32 __v; \
- asm volatile("mrc p10, 7, %0, " __stringify(_vfp_) \
- ", cr0, 0 @ fmrx %0, " #_vfp_: \
- "=r" (__v)); \
- __v; \
- })
-
-#define do_vfp_fmxr(_vfp_,_var_) \
- asm volatile("mcr p10, 7, %0, " __stringify(_vfp_) \
- ", cr0, 0 @ fmxr " #_vfp_ ", %0": \
- /* */ : "r" (_var_))
-
-extern union vfp_state *vfp_current_hw_state[NR_CPUS];
-
-static inline union vfp_state *get_fpu_owner(void)
-{
- union vfp_state *vfp_owner;
- unsigned int cpu;
-#ifdef CONFIG_SMP
- unsigned int fpexc;
-#endif
-
-#if __LINUX_ARM_ARCH__ <= 6
- if (!static_key_true(&__xeno_vfp_key))
- return NULL;
-#endif
-
-#ifdef CONFIG_SMP
- fpexc = do_vfp_fmrx(FPEXC);
- if (!(fpexc & FPEXC_EN))
- return NULL;
-#endif
-
- cpu = ipipe_processor_id();
- vfp_owner = vfp_current_hw_state[cpu];
- if (!vfp_owner)
- return NULL;
-
-#ifdef CONFIG_SMP
- if (vfp_owner->hard.cpu != cpu)
- return NULL;
-#endif /* SMP */
-
- return vfp_owner;
-}
-
-#define do_disable_vfp(fpexc) \
- do_vfp_fmxr(FPEXC, fpexc & ~FPEXC_EN)
-
-#define XNARCH_VFP_ANY_EXC \
- (FPEXC_EX|FPEXC_DEX|FPEXC_FP2V|FPEXC_VV|FPEXC_TRAP_MASK)
-
-#define do_enable_vfp()
\
- ({ \
- unsigned _fpexc = do_vfp_fmrx(FPEXC) | FPEXC_EN; \
- do_vfp_fmxr(FPEXC, _fpexc & ~XNARCH_VFP_ANY_EXC); \
- _fpexc; \
- })
int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
{
- /* This function does the same thing to decode the faulting instruct as
- "call_fpe" in arch/arm/entry-armv.S */
- static unsigned copro_to_exc[16] = {
- IPIPE_TRAP_UNDEFINSTR,
- /* FPE */
- IPIPE_TRAP_FPU, IPIPE_TRAP_FPU,
- IPIPE_TRAP_UNDEFINSTR,
-#ifdef CONFIG_CRUNCH
- IPIPE_TRAP_FPU, IPIPE_TRAP_FPU, IPIPE_TRAP_FPU,
-#else /* !CONFIG_CRUNCH */
- IPIPE_TRAP_UNDEFINSTR, IPIPE_TRAP_UNDEFINSTR,
IPIPE_TRAP_UNDEFINSTR,
-#endif /* !CONFIG_CRUNCH */
- IPIPE_TRAP_UNDEFINSTR, IPIPE_TRAP_UNDEFINSTR,
IPIPE_TRAP_UNDEFINSTR,
-#ifdef CONFIG_VFP
- IPIPE_TRAP_VFP, IPIPE_TRAP_VFP,
-#else /* !CONFIG_VFP */
- IPIPE_TRAP_UNDEFINSTR, IPIPE_TRAP_UNDEFINSTR,
-#endif /* !CONFIG_VFP */
- IPIPE_TRAP_UNDEFINSTR, IPIPE_TRAP_UNDEFINSTR,
- IPIPE_TRAP_UNDEFINSTR, IPIPE_TRAP_UNDEFINSTR,
- };
- unsigned instr, exc, cp;
- char *pc;
-
- if (d->exception == IPIPE_TRAP_FPU)
- return 1;
-
- if (d->exception == IPIPE_TRAP_VFP)
- goto trap_vfp;
-
- if (d->exception != IPIPE_TRAP_UNDEFINSTR)
- return 0;
-
- pc = (char *) xnarch_fault_pc(d);
- if (unlikely(thumb_mode(d->regs))) {
- unsigned short thumbh, thumbl;
-
-#if defined(CONFIG_ARM_THUMB) && __LINUX_ARM_ARCH__ >= 6 &&
defined(CONFIG_CPU_V7)
-#if __LINUX_ARM_ARCH__ < 7
- if (cpu_architecture() < CPU_ARCH_ARMv7)
-#else
- if (0)
-#endif /* arch < 7 */
-#endif /* thumb && arch >= 6 && cpu_v7 */
- return 0;
-
- thumbh = *(unsigned short *) pc;
- thumbl = *((unsigned short *) pc + 1);
-
- if ((thumbh & 0x0000f800) < 0x0000e800)
- return 0;
- instr = (thumbh << 16) | thumbl;
-
-#ifdef CONFIG_NEON
- if ((instr & 0xef000000) == 0xef000000
- || (instr & 0xff100000) == 0xf9000000)
- goto trap_vfp;
-#endif
- } else {
- instr = *(unsigned *) pc;
-
-#ifdef CONFIG_NEON
- if ((instr & 0xfe000000) == 0xf2000000
- || (instr & 0xff100000) == 0xf4000000)
- goto trap_vfp;
-#endif
- }
-
- if ((instr & 0x0c000000) != 0x0c000000)
- return 0;
-
- cp = (instr & 0x00000f00) >> 8;
-#ifdef CONFIG_IWMMXT
- /* We need something equivalent to _TIF_USING_IWMMXT for Xenomai kernel
- threads */
- if (cp <= 1) {
- d->exception = IPIPE_TRAP_FPU;
- return 1;
- }
-#endif
-
- exc = copro_to_exc[cp];
- if (exc == IPIPE_TRAP_VFP) {
- trap_vfp:
- /* If an exception is pending, the VFP fault is not really an
- "FPU unavailable" fault, so we return undefinstr in that
- case, the nucleus will let linux handle the fault. */
- exc = do_vfp_fmrx(FPEXC);
- if (exc & (FPEXC_EX|FPEXC_DEX)
- || ((exc & FPEXC_EN) && do_vfp_fmrx(FPSCR) & FPSCR_IXE))
- exc = IPIPE_TRAP_UNDEFINSTR;
- else
- exc = IPIPE_TRAP_VFP;
- }
+ /* FPU never trapped, this will be a fault */
+ return 0;
+}
- d->exception = exc;
- return exc != IPIPE_TRAP_UNDEFINSTR;
+static inline struct fpsimd_state *get_fpu_owner(struct xnarchtcb *tcb) {
+ return &(tcb->core.tsp->fpsimd_state);
}
void xnarch_leave_root(struct xnthread *root)
{
struct xnarchtcb *rootcb = xnthread_archtcb(root);
- rootcb->fpup = get_fpu_owner();
+ rootcb->fpup = get_fpu_owner(rootcb);
}
void xnarch_save_fpu(struct xnthread *thread)
{
- struct xnarchtcb *tcb = &thread->tcb;
- if (tcb->fpup)
- __asm_vfp_save(tcb->fpup, do_enable_vfp());
+ struct xnarchtcb *tcb = &(thread->tcb);
+ if (xnarch_fpu_ptr(tcb))
+ fpsimd_save_state(tcb->fpup);
}
void xnarch_switch_fpu(struct xnthread *from, struct xnthread *to)
{
- union vfp_state *const from_fpup = from ? from->tcb.fpup : NULL;
- unsigned cpu = ipipe_processor_id();
-
- if (xnthread_test_state(to, XNROOT) == 0) {
- union vfp_state *const to_fpup = to->tcb.fpup;
- unsigned fpexc = do_enable_vfp();
+ struct fpsimd_state *const from_fpup = from ? from->tcb.fpup : NULL;
- if (from_fpup == to_fpup)
- return;
+ /* always switch, no lazy switching */
- if (from_fpup)
- __asm_vfp_save(from_fpup, fpexc);
+ struct fpsimd_state *const to_fpup = to->tcb.fpup;
+
+ if (from_fpup == to_fpup)
+ return;
+
+ if (from_fpup)
+ fpsimd_save_state(from_fpup);
+
+ fpsimd_load_state(to_fpup);
+
+ /* always set FPU enabled */
+ xnthread_set_state(to, XNFPU);
- __asm_vfp_load(to_fpup, cpu);
- } else {
- /*
- * We are restoring the Linux current thread. The FPU
- * can be disabled, so that a fault will occur if the
- * newly switched thread uses the FPU, to allow the
- * kernel handler to pick the correct FPU context, and
- * save in the same move the last used RT context.
- */
- vfp_current_hw_state[cpu] = from_fpup;
-#ifdef CONFIG_SMP
- /*
- * On SMP, since returning to FPU disabled mode means
- * that we have to save fpu, avoid doing it if
- * current FPU context belongs to the task we are
- * switching to.
- */
- if (from_fpup) {
- union vfp_state *const current_task_fpup =
- &to->tcb.core.tip->vfpstate;
- const unsigned fpdis = do_vfp_fmrx(FPEXC);
- const unsigned fpen = fpdis | FPEXC_EN;
-
- do_vfp_fmxr(FPEXC, fpen & ~XNARCH_VFP_ANY_EXC);
- if (from_fpup == current_task_fpup)
- return;
-
- __asm_vfp_save(from_fpup, fpen);
- do_vfp_fmxr(FPEXC, fpdis);
- }
-#endif
- }
}
int xnarch_handle_fpu_fault(struct xnthread *from,
struct xnthread *to, struct ipipe_trap_data *d)
{
- spl_t s;
+ /* FPU always enabled, faults force exit to Linux */
+ return 0;
+}
- if (xnthread_test_state(to, XNFPU))
- /* FPU is already enabled, probably an exception */
- return 0;
+void xnarch_init_shadow_tcb(struct xnthread *thread)
+{
+ struct xnarchtcb *tcb = xnthread_archtcb(thread);
-#if __LINUX_ARM_ARCH__ <= 6
- if (!static_key_true(&__xeno_vfp_key))
- /* VFP instruction emitted, on a cpu without VFP, this
- is an error */
- return 0;
-#endif
+ tcb->fpup = &(tcb->core.host_task->thread.fpsimd_state);
- xnlock_get_irqsave(&nklock, s);
- xnthread_set_state(to, XNFPU);
- xnlock_put_irqrestore(&nklock, s);
+ /* XNFPU is always set, no lazy switching */
+ xnthread_set_state(thread, XNFPU);
+}
+#endif /* CONFIG_XENO_ARCH_FPU */
- xnarch_switch_fpu(from, to);
- /* Retry faulting instruction */
- d->regs->ARM_pc = xnarch_fault_pc(d);
- return 1;
-}
+/* Switch support functions */
-void xnarch_init_shadow_tcb(struct xnthread *thread)
+static void xnarch_tls_thread_switch(struct task_struct *next)
{
- struct xnarchtcb *tcb = xnthread_archtcb(thread);
+ unsigned long tpidr, tpidrro;
- tcb->fpup = &task_thread_info(tcb->core.host_task)->vfpstate;
+ if (!is_compat_task()) {
+ asm("mrs %0, tpidr_el0" : "=r" (tpidr));
+ current->thread.tp_value = tpidr;
+ }
- if (vfp_checked == 0) {
- mutex_lock(&vfp_check_lock);
- if (vfp_checked == 0) {
- if ((elf_hwcap & HWCAP_VFP) == 0)
- static_key_slow_dec(&__xeno_vfp_key);
- vfp_checked = 1;
- }
- mutex_unlock(&vfp_check_lock);
+ if (is_compat_thread(task_thread_info(next))) {
+ tpidr = 0;
+ tpidrro = next->thread.tp_value;
+ } else {
+ tpidr = next->thread.tp_value;
+ tpidrro = 0;
}
- /* XNFPU is set upon first FPU fault */
- xnthread_clear_state(thread, XNFPU);
+ asm(
+ " msr tpidr_el0, %0\n"
+ " msr tpidrro_el0, %1"
+ : : "r" (tpidr), "r" (tpidrro));
+}
+
+#ifdef CONFIG_PID_IN_CONTEXTIDR
+static inline void xnarch_contextidr_thread_switch(struct task_struct *next)
+{
+ asm(
+ " msr contextidr_el1, %0\n"
+ " isb"
+ :
+ : "r" (task_pid_nr(next)));
+}
+#else
+static inline void xnarch_contextidr_thread_switch(struct task_struct *next)
+{
}
-#endif /* CONFIG_XENO_ARCH_FPU && CONFIG_VFP*/
+#endif
+
+/*/Switch support functions */
void xnarch_switch_to(struct xnthread *out, struct xnthread *in)
{
@@ -338,7 +170,16 @@ void xnarch_switch_to(struct xnthread *out, struct
xnthread *in)
enter_lazy_tlb(prev_mm, next);
}
- __switch_to(out_tcb->core.tip->task, in_tcb->core.tip->task);
+ xnarch_tls_thread_switch(in_tcb->core.tip->task);
+ xnarch_contextidr_thread_switch(in_tcb->core.tip->task);
+
+ /*
+ * Complete any pending TLB or cache maintenance on this CPU in case
+ * the thread migrates to a different CPU.
+ */
+ dsb(ish);
+
+ cpu_switch_to(out_tcb->core.tip->task, in_tcb->core.tip->task);
}
int xnarch_escalate(void)
diff --git a/lib/cobalt/arch/arm64/features.c b/lib/cobalt/arch/arm64/features.c
index 7c7e76a..f5253a6 100644
--- a/lib/cobalt/arch/arm64/features.c
+++ b/lib/cobalt/arch/arm64/features.c
@@ -94,8 +94,8 @@ int cobalt_fp_detect(void)
while (fgets(buffer, sizeof(buffer), fp)) {
if(strncmp(buffer, "Features", sizeof("Features") - 1))
continue;
- if (strstr(buffer, "vfp")) {
- features |= __COBALT_HAVE_VFP;
+ if (strstr(buffer, "fp")) {
+ features |= __COBALT_HAVE_FPU;
break;
}
}
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