fpu enable

commaai · Apr 12, 2018 · 938d474 · 938d474
1 parent ffbf0c7
commit 938d474
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/board/main.c b/board/main.c
@@ -483,6 +483,11 @@ void __initialize_hardware_early() {
   early();
 }
 
+void __attribute__ ((noinline)) enable_fpu() {
+  // enable the FPU
+  SCB->CPACR |= ((3UL << 10*2) | (3UL << 11*2));
+}
+
 int main() {
   // shouldn't have interrupts here, but just in case
   __disable_irq();
@@ -508,6 +513,11 @@ int main() {
   puts(is_entering_bootmode ? "  ESP wants bootmode\n" : "  no bootmode\n");
   gpio_init();
 
+#ifdef PANDA
+  // panda has an FPU, let's use it!
+  enable_fpu();
+#endif
+
   // enable main uart if it's connected
   if (has_external_debug_serial) {
     // WEIRDNESS: without this gate around the UART, it would "crash", but only if the ESP is enabled