X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Frtos%2FChibiOS.c;h=2d8866439a5f1a295ed7df88de4ce4c965bb35b1;hp=da5dc9fc22b0d5d5acbaa0e89740c29608a73140;hb=4b115487487829759f65509b250d9ae597f6c676;hpb=8b99681346c71b7fa6358bf79becaaecb6151f4a

diff --git a/src/rtos/ChibiOS.c b/src/rtos/ChibiOS.c
index da5dc9fc22..2d8866439a 100644
--- a/src/rtos/ChibiOS.c
+++ b/src/rtos/ChibiOS.c
@@ -16,9 +16,7 @@
  *   GNU General Public License for more details.                          *
  *                                                                         *
  *   You should have received a copy of the GNU General Public License     *
- *   along with this program; if not, write to the                         *
- *   Free Software Foundation, Inc.,                                       *
- *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
+ *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  ***************************************************************************/
 
 #ifdef HAVE_CONFIG_H
@@ -91,7 +89,7 @@ struct ChibiOS_params {
 	const struct rtos_register_stacking *stacking_info;
 };
 
-static const struct ChibiOS_params ChibiOS_params_list[] = {
+static struct ChibiOS_params ChibiOS_params_list[] = {
 	{
 	"cortex_m",							/* target_name */
 	0,
@@ -130,15 +128,13 @@ struct rtos_type ChibiOS_rtos = {
 enum ChibiOS_symbol_values {
 	ChibiOS_VAL_rlist = 0,
 	ChibiOS_VAL_ch = 1,
-	ChibiOS_VAL_ch_debug = 2,
-	ChibiOS_VAL_chSysInit = 3
+	ChibiOS_VAL_ch_debug = 2
 };
 
 static symbol_table_elem_t ChibiOS_symbol_list[] = {
 	{ "rlist", 0, true},		/* Thread ready list */
 	{ "ch", 0, true},			/* System data structure */
 	{ "ch_debug", 0, false},	/* Memory Signature containing offsets of fields in rlist */
-	{ "chSysInit", 0, false},	/* Necessary part of API, used for ChibiOS detection */
 	{ NULL, 0, false}
 };
 
@@ -226,7 +222,7 @@ static int ChibiOS_update_stacking(struct rtos *rtos)
 	/* Sometimes the stacking can not be determined only by looking at the
 	 * target name but only a runtime.
 	 *
-	 * For example, this is the case for cortex-m4 targets and ChibiOS which
+	 * For example, this is the case for Cortex-M4 targets and ChibiOS which
 	 * only stack the FPU registers if it is enabled during ChibiOS build.
 	 *
 	 * Terminating which stacking is used is target depending.
@@ -248,7 +244,7 @@ static int ChibiOS_update_stacking(struct rtos *rtos)
 	struct ChibiOS_params *param;
 	param = (struct ChibiOS_params *) rtos->rtos_specific_params;
 
-	/* Check for armv7m with *enabled* FPU, i.e. a Cortex M4  */
+	/* Check for armv7m with *enabled* FPU, i.e. a Cortex-M4  */
 	struct armv7m_common *armv7m_target = target_to_armv7m(rtos->target);
 	if (is_armv7m(armv7m_target)) {
 		if (armv7m_target->fp_feature == FPv4_SP) {
@@ -264,11 +260,9 @@ static int ChibiOS_update_stacking(struct rtos *rtos)
 			/* Check if CP10 and CP11 are set to full access.
 			 * In ChibiOS this is done in ResetHandler() in crt0.c */
 			if (cpacr & 0x00F00000) {
-				/* Found target with enabled FPU */
-				/* FIXME: Need to figure out how to specify the FPU registers */
-				LOG_ERROR("ChibiOS ARM v7m targets with enabled FPU "
-						  " are NOT supported");
-				return -1;
+				LOG_DEBUG("Enabled FPU detected.");
+				param->stacking_info = &rtos_chibios_arm_v7m_stacking_w_fpu;
+				return 0;
 			}
 		}
 
@@ -509,7 +503,12 @@ static int ChibiOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, cha
 
 static int ChibiOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 {
-	*symbol_list = ChibiOS_symbol_list;
+	*symbol_list = malloc(sizeof(ChibiOS_symbol_list));
+
+	if (*symbol_list == NULL)
+		return ERROR_FAIL;
+
+	memcpy(*symbol_list, ChibiOS_symbol_list, sizeof(ChibiOS_symbol_list));
 	return 0;
 }
 
@@ -517,12 +516,11 @@ static int ChibiOS_detect_rtos(struct target *target)
 {
 	if ((target->rtos->symbols != NULL) &&
 			((target->rtos->symbols[ChibiOS_VAL_rlist].address != 0) ||
-			 (target->rtos->symbols[ChibiOS_VAL_ch].address != 0)) &&
-			(target->rtos->symbols[ChibiOS_VAL_chSysInit].address != 0)) {
+			 (target->rtos->symbols[ChibiOS_VAL_ch].address != 0))) {
 
 		if (target->rtos->symbols[ChibiOS_VAL_ch_debug].address == 0) {
-			LOG_INFO("It looks like the target is running ChibiOS without "
-					"ch_debug.");
+			LOG_INFO("It looks like the target may be running ChibiOS "
+					"without ch_debug.");
 			return 0;
 		}