stm32单片机应用ucOS III ，操作浮点数导致死机解决方法

ucOS III 的浮点数导致死机

解决方法:
1、启动文件Reset_Handler修改成：

Reset_Handler    PROC
                EXPORT  Reset_Handler             [WEAK]
                IMPORT  __main
                                                                        ; Enable Floating Point Support at reset for FPU
                                LDR.W   R0, =0xE000ED88         ; Load address of CPACR register
                                LDR     R1, [R0]                ; Read value at CPACR
                                ORR     R1,  R1, #(0xF <<20)   
; Set bits 20-23 to enable CP10 and CP11 coprocessors
                                                                                                ; Write back the modified CPACR value
                                STR     R1, [R0]                ; Wait for store to complete
                                DSB

                                                                                                ; Disable automatic FP register content
                                                                                                ; Disable lazy context switch
                                LDR.W   R0, =0xE000EF34         ; Load address to FPCCR register
                                LDR     R1, [R0]
                                AND     R1,  R1, #(0x3FFFFFFF)  ; Clear the LSPEN and ASPEN bits
                                STR     R1, [R0]
                                ISB            ; Reset pipeline now the FPU is enabled

                                LDR     R0, =__main
                                BX      R0
                                ENDP

2、修改os_cpu.c文件中OSTaskStkInit 函数涉及的宏定义

#if (OS_CPU_ARM_FP_EN == DEF_ENABLED)
    if ((opt & OS_OPT_TASK_SAVE_FP) != (OS_OPT)0) {
        *--p_stk = (CPU_STK)0x02000000u;         /*        FPSCR         */
             /* Initialize S0-S31 floating point registers           */
        *--p_stk = (CPU_STK)0x41F80000u;       /* S31 */
......
        *--p_stk = (CPU_STK)0x00000000u;       /* S0         
    }

将OS_CPU_ARM_FP_EN 定义为 DEF_ENABLED，另外OSTaskCreate 函数创建任务时将opt参数OS_OPT_TASK_SAVE_FP使能打开。