Remove uses_fp parameter from RTAPI and HAL APIs

Complete removal of the uses_fp parameter for 2.10. All threads
now unconditionally save and restore FPU/SSE state.

RTAPI: remove uses_fp from rtapi_task_new(), remove RTAPI_NO_FP
and RTAPI_USES_FP constants, hardcode FPU save in rt_task_init_cpuid.

HAL: remove uses_fp from hal_export_funct(), hal_export_functf(),
hal_create_thread(). Remove uses_fp field from hal_funct_t and
hal_thread_t structs. Remove addf FP compatibility check.
Remove FP column from halcmd and halrmt display.

Components: remove uses_fp argument from all hal_export_funct
and hal_export_functf call sites. Remove base_thread_fp from
motion module, fp1/fp2/fp3 from threads component.

halcompile: remove OptFP grammar rule, fp/nofp parsing, and
fp-related code generation and documentation output. Remove
fp/nofp from all in-tree .comp files, conv.comp.in and mkconv.sh.

Documentation: remove uses_fp from API man pages, remove FP
thread references from tutorials and guides.

Out-of-tree components must be updated to the new API signatures.

Ref: #3895

Author: Luca Toniolo

docs/src/hal/basic-hal.adoc

@@ -62,30 +62,27 @@ $ halrun
 halcmd: loadrt or2
 halcmd: show function
 Exported Functions:
-Owner   CodeAddr  Arg       FP   Users  Name
- 00004  f8bc5000  f8f950c8  NO       0   or2.0
+Owner   CodeAddr  Arg       Users  Name
+ 00004  f8bc5000  f8f950c8      0   or2.0
 ----
 
 You have to add a function from a HAL real time component to a thread to get the function to update at the rate of the thread.
 Usually there are two threads as shown in this example.
-Some components use floating point math and must be added to a thread that supports floating point math.
-The `FP` indicates if floating point math is supported in that thread.
 
 ----
 $ halrun
 halcmd: loadrt motmod base_period_nsec=55555 servo_period_nsec=1000000 num_joints=3
 halcmd: show thread
 Realtime Threads:
-     Period  FP     Name               (     Time, Max-Time )
-     995976  YES          servo-thread (        0,        0 )
-      55332  NO            base-thread (        0,        0 )
+     Period  Name               (     Time, Max-Time )
+     995976  servo-thread       (        0,        0 )
+      55332  base-thread        (        0,        0 )
 ----
 
 - base-thread (the high-speed thread):
   This thread handles items that need a fast response, like making step pulses, and reading and writing the parallel port.
-  Does not support floating point math.
 - servo-thread (the slow-speed thread):
-  This thread handles items that can tolerate a slower response, like the motion controller, ClassicLadder, and the motion command handler and supports floating point math.
+  This thread handles items that can tolerate a slower response, like the motion controller, ClassicLadder, and the motion command handler.
 
 .addf Syntax and Example
 [source,{hal}]
@@ -94,9 +91,6 @@ addf <function> <thread>
 addf mux4.0 servo-thread
 ----
 
-[NOTE]
-If the component requires a floating point thread that is usually the slower servo-thread.
-
 [[sub:hal-loadusr]]
 === loadusr
 

docs/src/hal/rtcomps.adoc

@@ -162,7 +162,7 @@ image::images/stepgen-type11-14.png["Step Types: Five-Phase",align="center"]
 The component exports three functions.
 Each function acts on all of the step pulse generators - running different generators in different threads is not supported.
 
-* (funct) `stepgen.make-pulses` - High speed function to generate and count pulses (no floating point).
+* (funct) `stepgen.make-pulses` - High speed function to generate and count pulses.
 * (funct) `stepgen.update-freq` - Low speed function does position to velocity conversion, scaling and limiting.
 * (funct) `stepgen.capture-position` - Low speed function for feedback, updates latches and scales position.
 
@@ -258,7 +258,7 @@ Each PWM generator will also have some of these pins, depending on the output ty
 
 The component exports two functions. Each function acts on all of the PWM generators - running different generators in different threads is not supported.
 
-* (funct) `pwmgen.make-pulses` - High speed function to generate PWM waveforms (no floating point).
+* (funct) `pwmgen.make-pulses` - High speed function to generate PWM waveforms.
   The high speed function `pwmgen.make-pulses` should be run in the base (fastest) thread, from 10 to 50 µs depending on the capabilities of the computer.
   That thread's period determines the maximum PWM carrier frequency, as well as the resolution of the PWM or PDM signals.
   If the base thread is 50,000 ns then every 50 µs the module decides if it is time to change the state of the output.
@@ -361,7 +361,7 @@ halcmd: unloadrt encoder
 The component exports two functions.
 Each function acts on all of the encoder counters - running different counters in different threads is not supported.
 
-* (funct) `encoder.update-counters` - High speed function to count pulses (no floating point).
+* (funct) `encoder.update-counters` - High speed function to count pulses.
 * (funct) `encoder.capture-position` - Low speed function to update latches and scale position.
 
 [[sec:pid]]
@@ -515,7 +515,7 @@ Most encoder counters will count four times during one complete cycle.
 
 The component exports two functions. Each function affects all simulated encoders.
 
-* (funct) `sim-encoder.make-pulses` - High speed function to generate quadrature pulses (no floating point).
+* (funct) `sim-encoder.make-pulses` - High speed function to generate quadrature pulses.
 * (funct) `sim-encoder.update-speed` - Low speed function to read `.speed`, do scaling, and set up `.make-pulses`.
 
 [[sec:debounce]]

docs/src/hal/tools.adoc

@@ -245,8 +245,7 @@ or
  2. If no pinname is specified, default is: `motion-command-handler.time`.
  3. This app may be opened for 5 pins.
  4. Pintypes float, s32, u32, bit are supported.
- 5. The pin must be associated with a thread supporting floating point.
-    For a base thread, this may require using `loadrt motmod ... base_thread_fp=1` .
+ 5. The pin must be associated with a realtime thread.
 
 .hal-histogram Window
 image::images/hal-histogram.png["hal-histogram Window"]

docs/src/hal/tutorial.adoc

@@ -213,7 +213,6 @@ Owner   CodeAddr  Arg       FP   Users  Name
 ----
 
 The siggen component exported a single function.
-It requires floating point.
 It is not currently linked to any threads, so 'users' is
 zero footnote:[CodeAddr and Arg fields were used during development and
 should probably disappear.].
@@ -241,7 +240,7 @@ Realtime Threads:
 
 It did. The period is not exactly 1,000,000 ns because of hardware
 limitations, but we have a thread that runs at approximately the
-correct rate, and which can handle floating point functions.
+correct rate.
 The next step is to connect the function to the thread:
 
 .Add Function
@@ -557,13 +556,12 @@ component.
 halrun
 halcmd: loadrt stepgen step_type=0,0 ctrl_type=v,v
 halcmd: loadrt siggen
-halcmd: loadrt threads name1=fast fp1=0 period1=50000 name2=slow period2=1000000
+halcmd: loadrt threads name1=fast period1=50000 name2=slow period2=1000000
 ----
 
 The first command loads two step generators, both configured to generate stepping type 0.
 The second command loads our old friend siggen, and the third one creates two threads,
 a fast one with a period of 50 microseconds (µs) and a slow one with a period of 1 millisecond (ms).
-The fast thread doesn't support floating point functions.
 
 As before, we can use `halcmd show` to take a look at the HAL.
 This time we have a lot more pins and parameters than before:
@@ -731,7 +729,6 @@ is time to take a step, and if so sets the outputs accordingly.
 For smooth step pulses, it should run as frequently as possible.
 Because it needs to run so fast, 'make_pulses'
 is highly optimized and performs only a few calculations.
-Unlike the others, it does not need floating point math.
 
 The last function, `stepgen.update-freq`, is responsible for doing
 scaling and some other calculations that need to be performed
@@ -752,15 +749,15 @@ Let's see what threads we have available.
 halcmd: show thread
 
 Realtime Threads:
-     Period  FP     Name               (     Time, Max-Time )
-     996980  YES                  slow (        0,        0 )
-      49849  NO                   fast (        0,        0 )
+     Period  Name               (     Time, Max-Time )
+     996980  slow               (        0,        0 )
+      49849  fast               (        0,        0 )
 ----
 
 The two threads were created when we loaded `threads`.
-The first one, 'slow', runs every millisecond, and is capable of running floating point functions.
+The first one, 'slow', runs every millisecond.
 We will use it for `siggen.0.update` and `stepgen.update_freq`.
-The second thread is 'fast', which runs every 50 microseconds (µs), and does not support floating point.
+The second thread is 'fast', which runs every 50 microseconds (µs).
 We will use it for `stepgen.make_pulses`.
 To connect the functions to the proper thread, we use the `addf` command.
 We specify the function first, followed by the thread.

docs/src/man/man3/hal_create_thread.3.adoc

@@ -6,7 +6,7 @@ hal_create_thread - Create a HAL thread
 
 == SYNTAX
 
-int hal_create_thread(const char* _name_, unsigned long _period_, int _uses_fp_)
+int hal_create_thread(const char* _name_, unsigned long _period_)
 
 int hal_thread_delete(const char* _name_)
 
@@ -16,8 +16,6 @@ name::
   The name of the thread.
 period::
   The interval, in nanoseconds, between iterations of the thread.
-uses_fp::
-  Must be nonzero if a function which uses floating-point will be attached to this thread.
 
 == DESCRIPTION
 

docs/src/man/man3/hal_export_funct.3.adoc

@@ -10,7 +10,7 @@ hal_export_funct, hal_export_functf - create a realtime function callable from a
 
 typedef void(*hal_funct_t)(void* _arg_, long _period_)
 
-int hal_export_funct(const char* _name_, hal_funct_t _funct_, void* _arg_, int _uses_fp_, int _reentrant_, int _comp_id_)
+int hal_export_funct(const char* _name_, hal_funct_t _funct_, void* _arg_, int _reentrant_, int _comp_id_)
 
 == ARGUMENTS
 
@@ -20,9 +20,6 @@ funct::
   The pointer to the function.
 arg::
   The argument to be passed as the first parameter of _funct_.
-uses_fp::
-  Nonzero if the function uses floating-point operations, including
-  assignment of floating point values with "=".
 reentrant::
   If reentrant is non-zero, the function may be preempted and called again before the first call completes.
   Otherwise, it may only be added to one thread.

docs/src/man/man3/rtapi_task_new.3.adoc

@@ -11,7 +11,7 @@ rtapi_task_new, rtapi_task_delete - create a realtime task
 [source,c]
 ----
 int rtapi_task_new(void (*_taskcode_)(void*), void *_arg_, int _prio_,
-                   unsigned long _stacksize_, int _uses_fp_);
+                   unsigned long _stacksize_);
 int rtapi_task_delete(int _task_id_);
 ----
 
@@ -23,8 +23,6 @@ arg::
   An argument to be passed to the _taskcode_ function when the task is started
 prio::
   A task priority value returned by *rtapi_prio_xxxx*
-uses_fp::
-  A flag that tells the OS whether the task uses floating point or not.
 task_id::
   A task ID returned by a previous call to *rtapi_task_new*
 

docs/src/man/man9/motion.9.adoc

@@ -6,7 +6,7 @@ motion, axis - accepts NML motion commands, interacts with HAL in realtime
 
 == SYNOPSIS
 
-**loadrt motmod** [**base_period_nsec=**_period_] [**base_thread_fp=**_0 or 1_] [**servo_period_nsec=**_period_] [**traj_period_nsec=**_period_] [**num_joints=**_[1-16]_] [**num_dio=**_[1-64]_ | **names_dout=**_name_[,...] **names_din=**_name_[,...]] [**num_aio=**_[1-64]_ | **names_aout=**_name_[,...] __names_ain=_*_name_[,...]] [**num_misc_error=**_[0-64]_] [**num_spindles=**_[1-8]_] [**unlock_joints_mask=**_jointmask_] [**num_extrajoints=**_[0-16]_]
+**loadrt motmod** [**base_period_nsec=**_period_] [**servo_period_nsec=**_period_] [**traj_period_nsec=**_period_] [**num_joints=**_[1-16]_] [**num_dio=**_[1-64]_ | **names_dout=**_name_[,...] **names_din=**_name_[,...]] [**num_aio=**_[1-64]_ | **names_aout=**_name_[,...] __names_ain=_*_name_[,...]] [**num_misc_error=**_[0-64]_] [**num_spindles=**_[1-8]_] [**unlock_joints_mask=**_jointmask_] [**num_extrajoints=**_[0-16]_]
 
 The limits for the following items are compile-time settings:
 
@@ -60,11 +60,6 @@ the motion-controller function.
 
 == DESCRIPTION
 
-By default, the base thread does not support floating point. Software
-stepping, software encoder counting, and software pwm do not use floating point.
-*base_thread_fp* can be used to enable floating point in
-the base thread (for example for brushless DC motor control).
-
 These pins and parameters are created by the realtime *motmod* module.
 This module provides a HAL interface for LinuxCNC's motion planner.
 Basically *motmod* takes in a list of waypoints and generates a nice

src/emc/motion/motion.c

@@ -45,8 +45,6 @@ static int key = DEFAULT_SHMEM_KEY;	/* the shared memory key, default value */
 RTAPI_MP_INT(key, "shared memory key");
 static long base_period_nsec = 0;	/* fastest thread period */
 RTAPI_MP_LONG(base_period_nsec, "fastest thread period (nsecs)");
-int base_thread_fp = 0;	/* default is no floating point in base thread */
-RTAPI_MP_INT(base_thread_fp, "floating point in base thread?");
 static long servo_period_nsec = 1000000;	/* servo thread period */
 RTAPI_MP_LONG(servo_period_nsec, "servo thread period (nsecs)");
 static long traj_period_nsec = 0;	/* trajectory planner period */
@@ -1006,15 +1004,15 @@ static int init_threads(void)
     /* create HAL threads for each period */
     /* only create base thread if it is faster than servo thread */
     if (servo_base_ratio > 1) {
-	retval = hal_create_thread("base-thread", base_period_nsec, base_thread_fp);
+	retval = hal_create_thread("base-thread", base_period_nsec);
 	if (retval < 0) {
 	    rtapi_print_msg(RTAPI_MSG_ERR,
 		"MOTION: failed to create %ld nsec base thread\n",
 		base_period_nsec);
 	    return -1;
 	}
     }
-    retval = hal_create_thread("servo-thread", servo_period_nsec, 1);
+    retval = hal_create_thread("servo-thread", servo_period_nsec);
     if (retval < 0) {
 	rtapi_print_msg(RTAPI_MSG_ERR,
 	    "MOTION: failed to create %ld nsec servo thread\n",
@@ -1023,14 +1021,14 @@ static int init_threads(void)
     }
     /* export realtime functions that do the real work */
     retval = hal_export_funct("motion-controller", emcmotController, 0	/* arg
-	 */ , 1 /* uses_fp */ , 0 /* reentrant */ , mot_comp_id);
+	 */ , 0 /* reentrant */ , mot_comp_id);
     if (retval < 0) {
 	rtapi_print_msg(RTAPI_MSG_ERR,
 	    "MOTION: failed to export controller function\n");
 	return -1;
     }
     retval = hal_export_funct("motion-command-handler", emcmotCommandHandler, 0	/* arg
-	 */ , 1 /* uses_fp */ , 0 /* reentrant */ , mot_comp_id);
+	 */ , 0 /* reentrant */ , mot_comp_id);
     if (retval < 0) {
 	rtapi_print_msg(RTAPI_MSG_ERR,
 	    "MOTION: failed to export command handler function\n");
@@ -1041,8 +1039,7 @@ static int init_threads(void)
     /*! \todo FIXME - currently the traj planner is called from the controller */
     /* eventually it will be a separate function */
     retval = hal_export_funct("motion-traj-planner", emcmotTrajPlanner, 0	/* arg
-	 */ , 1 /* uses_fp */ ,
-	0 /* reentrant */ , mot_comp_id);
+	 */ , 0 /* reentrant */ , mot_comp_id);
     if (retval < 0) {
 	rtapi_print_msg(RTAPI_MSG_ERR,
 	    "MOTION: failed to export traj planner function\n");

src/hal/classicladder/module_hal.c

@@ -178,7 +178,7 @@ int rtapi_app_main(void) {
 
 	rtapi_print("creating ladder-state\n");
 
-	result = hal_export_funct("classicladder.0.refresh",hal_task,0,1, 0, compId);
+	result = hal_export_funct("classicladder.0.refresh",hal_task,0, 0, compId);
 	if(result < 0) {
 error:
 		hal_exit(compId);