Merge pull request #3900 from grandixximo/fix/deprecate-uses-fp-2.9

andypugh · web-flow · commit 7a53a5f44a05 · 2026-04-12T19:15:59.000+01:00
Deprecate uses_fp: always enable FPU state save on all threads
diff --git a/docs/man/man3/hal_create_thread.3hal b/docs/man/man3/hal_create_thread.3hal
@@ -18,7 +18,8 @@ The name of the thread
 The interval, in nanoseconds, between iterations of the thread
 
 .IP \fIuses_fp\fR
-Must be nonzero if a function which uses floating-point will be attached to this thread.
+\fBDeprecated.\fR All threads now unconditionally save and restore
+floating-point state.  This parameter is accepted but ignored.
 
 .SH DESCRIPTION
 \fBhal_create_thread\fR establishes a realtime thread that will execute one or more HAL functions periodically.
diff --git a/docs/man/man3/hal_export_funct.3hal b/docs/man/man3/hal_export_funct.3hal
@@ -20,8 +20,8 @@ The pointer to the function
 The argument to be passed as the first parameter of \fIfunct\fR
 
 .IP \fIuses_fp\fR
-Nonzero if the function uses floating-point operations, including assignment
-of floating point values with "=".
+\fBDeprecated.\fR All threads now unconditionally save and restore
+floating-point state, so this flag has no effect.
 
 .IP \fIreentrant\fR
 If reentrant is non-zero, the function may be preempted and called again
diff --git a/docs/man/man3/rtapi_task_new.3rtapi b/docs/man/man3/rtapi_task_new.3rtapi
@@ -19,7 +19,8 @@ started
 .IP \fIprio\fR
 A task priority value returned by \fBrtapi_prio_xxxx\fR
 .IP \fIuses_fp\fR
-A flag that tells the OS whether the task uses floating point or not.
+\fBDeprecated.\fR All tasks now unconditionally save and restore
+floating-point state.  This parameter is accepted but ignored.
 .IP \fItask_id\fR
 A task ID returned by a previous call to \fBrtapi_task_new\fR
 .SH DESCRIPTION
diff --git a/docs/man/man9/motion.9 b/docs/man/man9/motion.9
@@ -42,7 +42,8 @@ Optionally the number of Digital I/O is set with num_dio. The number of Analog I
 Pin names starting with "\fBjoint\fR"  or "\fBaxis\fR" are are read and updated by the motion-controller function.
 
 .SH DESCRIPTION
-By default, the base thread does not support floating point.  Software stepping, software encoder counting, and software pwm do not use floating point.  \fBbase_thread_fp\fR can be used to enable floating point in the base thread (for example for brushless DC motor control).
+\fBbase_thread_fp\fR is \fBdeprecated\fR and has no effect.  All threads now
+unconditionally save and restore floating-point state.
 
 .P
 These pins and parameters are created by the realtime \fBmotmod\fR module. This module provides a HAL interface for LinuxCNC's motion planner. Basically \fBmotmod\fR takes in a list of waypoints and generates a nice blended and constraint-limited stream of joint positions to be fed to the motor drives.
diff --git a/src/hal/components/abs_s32.comp b/src/hal/components/abs_s32.comp
@@ -21,7 +21,7 @@ pin out bit sign "Sign of input, false for positive, true for negative" ;
 pin out bit is_positive "TRUE if input is positive, FALSE if input is 0 or negative";
 pin out bit is_negative "TRUE if input is negative, FALSE if input is 0 or positive";
 
-function _ nofp;
+function _;
 license "GPL";
 author "Sebastian Kuzminsky";
 ;;
diff --git a/src/hal/components/and2.comp b/src/hal/components/and2.comp
@@ -14,7 +14,7 @@ Otherwise,
 \\fBout=FALSE\\fR
 .RE"""
 ;
-function _ nofp;
+function _;
 see_also """
 \\fBlogic\\fR(9),
 \\fBlut5\\fR(9),
diff --git a/src/hal/components/bin2gray.comp b/src/hal/components/bin2gray.comp
@@ -4,6 +4,6 @@ pin in unsigned in "binary code in";
 pin out unsigned out "gray code out";
 license "GPL";
 author "Andy Pugh";
-function _ nofp;
+function _;
 ;;
 out = (in >> 1) ^ in;
diff --git a/src/hal/components/bitslice.comp b/src/hal/components/bitslice.comp
@@ -7,7 +7,7 @@ pin in u32 in "The input value";
 pin out bit out-##[32:personality];
 author "Andy Pugh";
 license "GPL2+";
-function _ nofp;
+function _;
 option personality yes;
 ;;
 int i;
diff --git a/src/hal/components/bitwise.comp b/src/hal/components/bitwise.comp
@@ -10,7 +10,7 @@ pin out u32 out-xnor "The inverse of the bitwise XOR";
 
 author "Andy Pugh";
 license "GPL 2+";
-function _ nofp;
+function _;
 ;;
 
 out_and = (in0 & in1);
diff --git a/src/hal/components/charge_pump.comp b/src/hal/components/charge_pump.comp
@@ -21,7 +21,7 @@ pin out bit out "Square wave if 'enable' is TRUE or unconnected, low if 'enable'
 pin out bit out-2 "Square wave at half the frequency of 'out'";
 pin out bit out-4 "Square wave at a quarter of the frequency of 'out'";
 pin in bit enable = TRUE "If FALSE, forces all 'out' pins to be low";
-function _ nofp "Toggle the output bit (if enabled)";
+function _ "Toggle the output bit (if enabled)";
 description """
 The 'Charge Pump' should be added to the base thread function.
 When enabled the output is on for one period and off for one period. To calculate the
diff --git a/src/hal/components/comp.comp b/src/hal/components/comp.comp
@@ -12,7 +12,7 @@ separated by distance \\fBhyst\\fR around the point where \\fBin1\\fR = \\fBin0\
 Keep in mind that floating point calculations are never absolute
 and it is wise to always set \\fBhyst\\fR if you intend to use equal """;
 
-function _ fp "Update the comparator";
+function _ "Update the comparator";
 license "GPL";
 author "Jeff Epler";
 ;;
diff --git a/src/hal/components/conv.comp.in b/src/hal/components/conv.comp.in
@@ -3,7 +3,7 @@ pin in @IN@ in_;
 pin out @OUT@ out;
 @CC@ pin out bit out_of_range "TRUE when 'in' is not in the range of @OUT@";
 @CC@ param rw bit clamp """If TRUE, then clamp to the range of @OUT@.  If FALSE, then allow the value to "wrap around".""";
-function _ @FP@ "Update 'out' based on 'in'";
+function _ "Update 'out' based on 'in'";
 license "GPL";
 author "Jeff Epler";
 
diff --git a/src/hal/components/dbounce.comp b/src/hal/components/dbounce.comp
@@ -9,7 +9,7 @@ pin out bit out;
 pin in  u32 delay = 5;
 
 variable int state;
-function _ nofp;
+function _;
 license "GPL";
 author "Dewey Garrett";
 ;;
diff --git a/src/hal/components/edge.comp b/src/hal/components/edge.comp
@@ -28,7 +28,7 @@ param r signed time_left_ns "Time left in this output pulse";
 param r bit last_in "Previous input value";
 variable int first = 1;
 
-function _ nofp "Produce output pulses from input edges";
+function _ "Produce output pulses from input edges";
 license "GPL";
 author "Jeff Epler";
 ;;
diff --git a/src/hal/components/estop_latch.comp b/src/hal/components/estop_latch.comp
@@ -71,7 +71,7 @@ pin in bit reset;
 pin out bit ok_out = false;
 pin out bit fault_out = true;
 pin out bit watchdog;
-function _ nofp;
+function _;
 option data estop_data;
 license "GPL";
 author "John Kasunich";
diff --git a/src/hal/components/flipflop.comp b/src/hal/components/flipflop.comp
@@ -7,7 +7,7 @@ pin io bit out "output";
 pin io bit out-not "inverted output";
 option data flipflop_data;
 
-function _ nofp;
+function _;
 license "GPL";
 author "John Kasunich";
 ;;
diff --git a/src/hal/components/gantry.comp b/src/hal/components/gantry.comp
@@ -48,8 +48,8 @@ pin out float position-fb "Position feedback to motion";
 pin out bit   home "Combined home signal, true if all joint home inputs are true.";
 pin out bit   limit "Combined limit signal, true if any joint home input is true.";
 pin in  float search-vel "HOME_SEARCH_VEL from INI file";
-function read  fp "Update position-fb and home/limit outputs based on joint values.";
-function write fp "Update joint pos-cmd outputs based on position-cmd in.";
+function read "Update position-fb and home/limit outputs based on joint values.";
+function write "Update joint pos-cmd outputs based on position-cmd in.";
 description """
 --- Deprecation Notice 
 
diff --git a/src/hal/components/gray2bin.comp b/src/hal/components/gray2bin.comp
@@ -4,7 +4,7 @@ pin in unsigned in "gray code in";
 pin out unsigned out "binary code out";
 license "GPL";
 author "Andy Pugh";
-function _ nofp;
+function _;
 ;;
 unsigned int mask;
 out = in;
diff --git a/src/hal/components/histobins.comp b/src/hal/components/histobins.comp
@@ -66,7 +66,7 @@ pin out float  mean;
 // user may interrogate availablebins to determine this compiled-in limit
 pin out s32 availablebins = 200; //MAXBINNUMBER
 
-function _ fp;
+function _;
 
 variable int bin[200]; // MAXBINNUMBER
 variable int first = 1;
diff --git a/src/hal/components/latencybins.comp b/src/hal/components/latencybins.comp
@@ -47,7 +47,7 @@ pin out s32 variance;
 // user may interrogate available bins to determine this compiled-in limit
 pin out s32 availablebins = 1000; // MAXBINNUMBER
 
-function _ nofp;
+function _;
 variable rtapi_s64  last_timer = 0;
 variable int    last_binmax = 0;
 variable int    first = 1;
diff --git a/src/hal/components/logic.comp b/src/hal/components/logic.comp
@@ -20,7 +20,7 @@ pin out bit or if personality & 0x200;
 pin out bit xor if personality & 0x400;
 pin out bit nand if personality & 0x800;
 pin out bit nor if personality & 0x1000;
-function _ nofp "Read the inputs and toggle the output bit.";
+function _ "Read the inputs and toggle the output bit.";
 description """
 General `logic function' component.  Can perform `and', `or',
 `nand', `nor' and `xor' of up to 16 inputs.
diff --git a/src/hal/components/lut5.comp b/src/hal/components/lut5.comp
@@ -6,7 +6,7 @@ pin in bit in_3;
 pin in bit in_4;
 pin out bit out;
 param rw u32 function;
-function _ nofp;
+function _;
 description """
 .B lut5
 constructs a logic function with up to 5 inputs using a \\fBl\\fRook-\\fBu\\fRp \\fBt\\fRable.
diff --git a/src/hal/components/maj3.comp b/src/hal/components/maj3.comp
@@ -24,7 +24,7 @@ pin out bit out;
 
 param rw bit invert;
 
-function _ nofp;
+function _;
 
 license "GPL";
 author "Jeff Epler";
diff --git a/src/hal/components/match8.comp b/src/hal/components/match8.comp
@@ -17,7 +17,7 @@ pin in bit b5;
 pin in bit b6;
 pin in bit b7;
 pin out bit out "true only if in is true and a[m] matches b[m] for m = 0 thru 7";
-function _ nofp;
+function _;
 license "GPL";
 author "John Kasunich";
 ;;
diff --git a/src/hal/components/max31855.comp b/src/hal/components/max31855.comp
@@ -40,7 +40,7 @@ pin out unsigned fault_flags.# [15 : (personality & 0xf)]  "Fault flags: 0x1  =
 variable unsigned data_frame [15];
 variable unsigned state = 1;
 
-function bitbang_spi fp;
+function bitbang_spi;
 license "GPL";
 author "Joseph Calderon";
 
diff --git a/src/hal/components/message.comp b/src/hal/components/message.comp
@@ -72,7 +72,7 @@ variable hal_bit_t prev_edge = TRUE;
  
 option extra_setup yes;
  
-function _ nofp "Display a message";
+function _ "Display a message";
 license "GPL v2";
 author "Les Newell";
 ;;
diff --git a/src/hal/components/mkconv.sh b/src/hal/components/mkconv.sh
@@ -1,3 +1,2 @@
 #!/bin/bash
-if [ "$1" = "float" -o "$2" = "float" ]; then F=""; else F="nofp"; fi
-sed -e "s,@IN@,$1,g; s,@OUT@,$2,g; s,@CC@,$3,g; s,@MIN@,${4-0},g; s,@MAX@,${5-0},g; s,@FP@,$F,g;"
+sed -e "s,@IN@,$1,g; s,@OUT@,$2,g; s,@CC@,$3,g; s,@MIN@,${4-0},g; s,@MAX@,${5-0},g;"
diff --git a/src/hal/components/multiclick.comp b/src/hal/components/multiclick.comp
@@ -138,7 +138,7 @@ the click separator space timeout has expired to show that no further
 click is coming.  This is useful for triggering halui MDI commands.""";
 
 
-function _ nofp "Detect single-, double-, triple-, and quadruple-clicks";
+function _ "Detect single-, double-, triple-, and quadruple-clicks";
 
 ;;
 
diff --git a/src/hal/components/not.comp b/src/hal/components/not.comp
@@ -1,7 +1,7 @@
 component not "Inverter";
 pin in bit in;
 pin out bit out;
-function _ nofp;
+function _;
 see_also """
 \\fBand2\\fR(9),
 \\fBlogic\\fR(9),
diff --git a/src/hal/components/or2.comp b/src/hal/components/or2.comp
@@ -13,7 +13,7 @@ Otherwise,
 \fBout=TRUE\fR
 .RE"""
 ;
-function _ nofp;
+function _;
 see_also """
 \\fBlogic\\fR(9)
 """;
diff --git a/src/hal/components/sample_hold.comp b/src/hal/components/sample_hold.comp
@@ -2,7 +2,7 @@ component sample_hold "Sample and Hold";
 pin in s32 in;
 pin in bit hold;
 pin out s32 out;
-function _ nofp;
+function _;
 see_also "\\fBtristate\\fR(9)";
 license "GPL";
 author "Stephen Wille Padnos";
diff --git a/src/hal/components/select8.comp b/src/hal/components/select8.comp
@@ -2,7 +2,7 @@ component select8 "8-bit binary match detector";
 pin in bit enable = TRUE "Set enable to FALSE to cause all outputs to be set FALSE.";
 pin in s32 sel "The number of the output to set TRUE.  All other outputs well be set FALSE.";
 pin out bit out#[8] "Output bits.  If enable is set and the sel input is between 0 and 7, then the corresponding output bit will be set true.";
-function _ nofp;
+function _;
 see_also "\\fBdemux\\fR(9)";
 license "GPL";
 author "Stephen Wille Padnos";
diff --git a/src/hal/components/sim_axis_hardware.comp b/src/hal/components/sim_axis_hardware.comp
@@ -158,7 +158,7 @@ pin out bit Vbothsw_homesw_out;
 
 pin in float limit_offset =.01 "how much the limit switches are offset from inputted position. added to max, subtracted from min";
 
-function update fp;
+function update;
 license "GPL";
 author "Chris S Morley";
 ;;
diff --git a/src/hal/components/sim_home_switch.comp b/src/hal/components/sim_home_switch.comp
@@ -19,7 +19,7 @@ pin in float index_delay_ms = 10 "delay in msec to reset index-enable";
 variable int    old_index_enable;
 variable double index_timer_ms;
 
-function _ fp;
+function _;
 license "GPL";
 author "Dewey Garrett";
 ;;
diff --git a/src/hal/components/sim_parport.comp b/src/hal/components/sim_parport.comp
@@ -124,9 +124,9 @@ pin out bit pin_15_in_not;
 
 pin in float reset_time;
 
-function read nofp;
-function write nofp;
-function reset nofp;
+function read;
+function write;
+function reset;
 license "GPL";
 author "Chris S Morley";
 ;;
diff --git a/src/hal/components/sphereprobe.comp b/src/hal/components/sphereprobe.comp
@@ -13,7 +13,7 @@ pin in signed r "Radius of hemisphere in counts";
 
 pin out bit probe-out;
 
-function _ nofp "update probe-out based on inputs";
+function _ "update probe-out based on inputs";
 ;;
 #undef abs
 int abs(int x) { if(x < 0) return -x; else return x; }
diff --git a/src/hal/components/spindle.comp b/src/hal/components/spindle.comp
@@ -132,7 +132,7 @@ If multiple select inputs are active then the highest is selected.
 variable float ngears;
 variable gear_t gears[16];
 
-function _ fp;
+function _;
 license "GPL";
 author "Les Newell";
 option extra_setup yes;
diff --git a/src/hal/components/threadtest.comp b/src/hal/components/threadtest.comp
@@ -1,7 +1,7 @@
 component threadtest "LinuxCNC HAL component for testing thread behavior";
 pin out unsigned count;
-function increment nofp;
-function reset nofp;
+function increment;
+function reset;
 license "GPL";
 author "Jeff Epler";
 
diff --git a/src/hal/components/timedelta.comp b/src/hal/components/timedelta.comp
@@ -19,7 +19,7 @@ pin out s32 err=0 "Cumulative time error (in ns).  Probably not useful.";
 pin out float avg_err=0 "The average scheduling error (in ns).";
 
 
-function _ nofp;
+function _;
 variable rtapi_s64 last=0;
 variable int first=1;
 license "GPL";
diff --git a/src/hal/components/tof.comp b/src/hal/components/tof.comp
@@ -24,7 +24,7 @@ pin out float et "Elapsed time since falling edge in seconds";
 
 param rw float pt "Delay time in seconds";
 
-function _ fp "Update the timer";
+function _ "Update the timer";
 license "GPL";
 author "Chad Woitas";
 ;;
diff --git a/src/hal/components/toggle.comp b/src/hal/components/toggle.comp
@@ -16,7 +16,7 @@ pin io bit out "on/off output";
 param rw u32 debounce = 2 "debounce delay in periods";
 option data toggle_data;
 
-function _ nofp;
+function _;
 license "GPL";
 author "John Kasunich";
 ;;
diff --git a/src/hal/components/toggle2nist.comp b/src/hal/components/toggle2nist.comp
@@ -35,7 +35,7 @@ pin out bit on;
 pin out bit off;
 variable int old_in;
 variable int to_state=0;
-function _ nofp;
+function _;
 license "GPL";
 author "Anders Wallin";
 ;;
diff --git a/src/hal/components/ton.comp b/src/hal/components/ton.comp
@@ -24,7 +24,7 @@ pin out float et "Elapsed time since rising edge in seconds";
 
 param rw float pt "Delay time in seconds";
 
-function _ fp "Update the timer";
+function _ "Update the timer";
 license "GPL";
 author "Chad Woitas";
 ;;
diff --git a/src/hal/components/tp.comp b/src/hal/components/tp.comp
diff --git a/src/hal/components/tristate_bit.comp b/src/hal/components/tristate_bit.comp
diff --git a/src/hal/components/updown.comp b/src/hal/components/updown.comp
diff --git a/src/hal/components/xor2.comp b/src/hal/components/xor2.comp
diff --git a/src/hal/drivers/pcl720.comp b/src/hal/drivers/pcl720.comp
diff --git a/src/hal/drivers/serport.comp b/src/hal/drivers/serport.comp
diff --git a/src/hal/hal_lib.c b/src/hal/hal_lib.c
diff --git a/src/hal/utils/halcompile.g b/src/hal/utils/halcompile.g
diff --git a/src/rtapi/rtai_rtapi.c b/src/rtapi/rtai_rtapi.c

Original file line number	Diff line number	Diff line change
`@@ -14,7 +14,7 @@ Otherwise,`
`14`	`14`	`\\fBout=FALSE\\fR`
`15`	`15`	`.RE"""`
`16`	`16`	`;`
`17`		`-function _ nofp;`
	`17`	`+function _;`
`18`	`18`	`see_also """`
`19`	`19`	`\\fBlogic\\fR(9),`
`20`	`20`	`\\fBlut5\\fR(9),`