为什么我的UCOSII不支持FPU功能???

mindon · 发表于 2017-10-24 19:54:15

已经按例程全改了，运行程序还是进入HardFault.
1、------------------------------------------------------------
PendSV_Handler
CPSID I                                                 ; Prevent interruption during context switch
MRS    R0, PSP                                           ; PSP is process stack pointer 如果在用PSP堆栈,则可以忽略保存寄存器,参考CM3权威中的双堆栈-白菜注
CBZ    R0, PendSV_Handler_Nosave                   ; Skip register save the first time

;Is the task using the FPU context? If so, push high vfp registers.
TST  R14, #0x10
IT EQ
VSTMDBEQ R0!, {S16-S31}

SUBS R0, R0, #0x20                                     ; Save remaining regs r4-11 on process stack
STM    R0, {R4-R11}
LDR    R1, =OSTCBCur                                     ; OSTCBCur->OSTCBStkPtr = SP;
LDR    R1, [R1]
STR    R0, [R1]                                           ; R0 is SP of process being switched out
                                                            ; At this point, entire context of process has been saved
PendSV_Handler_Nosave
PUSH {R14}                                              ; Save LR exc_return value
LDR    R0, =OSTaskSwHook                                  ; OSTaskSwHook();
BLX    R0
POP    {R14}
LDR    R0, =OSPrioCur                                     ; OSPrioCur = OSPrioHighRdy;
LDR    R1, =OSPrioHighRdy
LDRB R2, [R1]
STRB R2, [R0]
LDR    R0, =OSTCBCur                                     ; OSTCBCur  = OSTCBHighRdy;
LDR    R1, =OSTCBHighRdy
LDR    R2, [R1]
STR    R2, [R0]
LDR    R0, [R2]                                           ; R0 is new process SP; SP = OSTCBHighRdy->OSTCBStkPtr;
LDM    R0, {R4-R11}                                     ; Restore r4-11 from new process stack
ADDS R0, R0, #0x20
;Is the task using the FPU context? If so, push high vfp registers.
TST  R14, #0x10
IT EQ
VLDMIAEQ R0!, {S16-S31}

MSR    PSP, R0                                           ; Load PSP with new process SP
ORR    LR, LR, #0x04                                     ; Ensure exception return uses process stack
CPSIE I
BX    LR                                                 ; Exception return will restore remaining context
NOP
end

2、------------------------------------------------------------
OS_STK *OSTaskStkInit (void (*task)(void *p_arg), void *p_arg, OS_STK *ptos, INT16U opt)
{
OS_STK *stk;

(void)opt;                                  /* 'opt' is not used, prevent warning                */
stk    = ptos;                         /* Load stack pointer                               */
#if (__FPU_PRESENT==1)&&(__FPU_USED==1)
*(--stk) = (INT32U)0x00000000L; //No Name Register
*(--stk) = (INT32U)0x00001000L; //FPSCR
*(--stk) = (INT32U)0x00000015L; //s15
*(--stk) = (INT32U)0x00000014L; //s14
*(--stk) = (INT32U)0x00000013L; //s13
*(--stk) = (INT32U)0x00000012L; //s12
*(--stk) = (INT32U)0x00000011L; //s11
*(--stk) = (INT32U)0x00000010L; //s10
*(--stk) = (INT32U)0x00000009L; //s9
*(--stk) = (INT32U)0x00000008L; //s8
*(--stk) = (INT32U)0x00000007L; //s7
*(--stk) = (INT32U)0x00000006L; //s6
*(--stk) = (INT32U)0x00000005L; //s5
*(--stk) = (INT32U)0x00000004L; //s4
*(--stk) = (INT32U)0x00000003L; //s3
*(--stk) = (INT32U)0x00000002L; //s2
*(--stk) = (INT32U)0x00000001L; //s1
*(--stk) = (INT32U)0x00000000L; //s0
#endif
                                             /* Registers stacked as if auto-saved on exception */
*(stk) = (INT32U)0x01000000L;          /* xPSR                                              */
*(--stk)  = (INT32U)task;                   /* Entry Point                                     */
*(--stk)  = (INT32U)OS_TaskReturn;          /* R14 (LR) (init value will cause fault if ever used)*/
*(--stk)  = (INT32U)0x12121212L;          /* R12                                              */
*(--stk)  = (INT32U)0x03030303L;          /* R3                                              */
*(--stk)  = (INT32U)0x02020202L;          /* R2                                              */
*(--stk)  = (INT32U)0x01010101L;          /* R1                                              */
*(--stk)  = (INT32U)p_arg;                /* R0 : argument                                     */
#if (__FPU_PRESENT==1)&&(__FPU_USED==1)
*(--stk) = (INT32U)0x00000031L; //s31
*(--stk) = (INT32U)0x00000030L; //s30
*(--stk) = (INT32U)0x00000029L; //s29
*(--stk) = (INT32U)0x00000028L; //s28
*(--stk) = (INT32U)0x00000027L; //s27
*(--stk) = (INT32U)0x00000026L; //s26
*(--stk) = (INT32U)0x00000025L; //s25
*(--stk) = (INT32U)0x00000024L; //s24
*(--stk) = (INT32U)0x00000023L; //s23
*(--stk) = (INT32U)0x00000022L; //s22
*(--stk) = (INT32U)0x00000021L; //s21
*(--stk) = (INT32U)0x00000020L; //s20
*(--stk) = (INT32U)0x00000019L; //s19
*(--stk) = (INT32U)0x00000018L; //s18
*(--stk) = (INT32U)0x00000017L; //s17
*(--stk) = (INT32U)0x00000016L; //s16
#endif

                                             /* Remaining registers saved on process stack       */
*(--stk)  = (INT32U)0x11111111L;          /* R11                                              */
*(--stk)  = (INT32U)0x10101010L;          /* R10                                              */
*(--stk)  = (INT32U)0x09090909L;          /* R9                                              */
*(--stk)  = (INT32U)0x08080808L;          /* R8                                              */
*(--stk)  = (INT32U)0x07070707L;          /* R7                                              */
*(--stk)  = (INT32U)0x06060606L;          /* R6                                              */
*(--stk)  = (INT32U)0x05050505L;          /* R5                                              */
*(--stk)  = (INT32U)0x04040404L;          /* R4                                              */
return (stk);
}

3、keil环境配置和FPU功能也选了

帮帮我吧！！！！！！！！！！！！！！！！！！！