[Xenomai] arm imx6 and hardware FPU

Gilles Chanteperdrix gilles.chanteperdrix at xenomai.org
Fri Apr 11 13:49:52 CEST 2014


On 04/11/2014 01:44 PM, Paolo Minazzi wrote:
> Hi to all,
> I'm trying to test my imx6 with xenomai 2.6.3.
> I use the linaro cross-compiler that uses the hardware floating point.
>
> I made a simple floating point test.
>
> If I use two non-realtime user-space tasks the test works OK and I have
> no errors in calculations.
> This means that compiler and hardware works well.
>
> But I I use two realtime user-space tasks I have errors in calculations.
> Real-time tasks are created with rt_task_create(&demo, "demo", 0, 99,
> T_FPU);
>
>
> This is my kernel config
> ============================================
> ...
> #
> # Machine
> #
> CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH=y
> CONFIG_IPIPE_WANT_ACTIVE_MM=y
> CONFIG_XENO_HW_FPU=y
> CONFIG_XENO_HW_UNLOCKED_SWITCH=y
> ...
> #
> # At least one emulation must be selected
> #
> CONFIG_VFP=y
> CONFIG_VFPv3=y
> CONFIG_NEON=y
> CONFIG_VFP_3_2_BACKPORT=y
> ...
> ============================================
>
> Is it possible to use ***hardware floating point*** with realtime
> user-space tasks ?

Yes, it should be. Do you get the same issue when running both the 
switchtest and switchtest -s 1000 tests? Do you have the same issue with 
the I-pipe patch for Linux 3.8?


-- 
					    Gilles.




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