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diff --git a/sys/arm/arm/undefined.c b/sys/arm/arm/undefined.c
--- a/sys/arm/arm/undefined.c
+++ b/sys/arm/arm/undefined.c
@@ -345,9 +345,19 @@
#endif
return;
}
+#ifdef VFP
+ /*
+ * Workaround to allow the execution of VFP instructions within
+ * the kernel. Allow the first in-kernel VFP instruction to be
+ * properly handled by this handler without panicing.
+ */
+ else if(uh != NULL)
+ return;
+#else
else
panic("Undefined instruction in kernel (0x%08x).\n",
fault_instruction);
+#endif
}
userret(td, frame);
diff --git a/sys/arm/arm/vfp.c b/sys/arm/arm/vfp.c
--- a/sys/arm/arm/vfp.c
+++ b/sys/arm/arm/vfp.c
@@ -33,9 +33,11 @@
#include <sys/param.h>
#include <sys/systm.h>
#include <sys/limits.h>
+#include <sys/malloc.h>
#include <sys/proc.h>
#include <sys/imgact_elf.h>
#include <sys/kernel.h>
+#include <sys/pcpu.h>
#include <machine/armreg.h>
#include <machine/elf.h>
@@ -45,6 +47,9 @@
#include <machine/undefined.h>
#include <machine/vfp.h>
+static MALLOC_DEFINE(M_FPUKERN_CTX, "fpukern_ctx",
+ "Kernel contexts for VFP state");
+
/* function prototypes */
static int vfp_bounce(u_int, u_int, struct trapframe *, int);
static void vfp_restore(struct vfp_state *);
@@ -205,8 +210,11 @@
struct pcb *curpcb;
ksiginfo_t ksi;
+#ifndef VFP
+ /* Allow in-kernel vfp instruction handling */
if ((code & FAULT_USER) == 0)
panic("undefined floating point instruction in supervisor mode");
+#endif
critical_enter();
@@ -257,12 +265,39 @@
critical_exit();
+#ifndef VFP
+ /*
+ * Allow kernel state in use when entering userspace as we now allow
+ * in-kernel VFP
+ */
KASSERT(curpcb->pcb_vfpsaved == &curpcb->pcb_vfpstate,
("Kernel VFP state in use when entering userspace"));
+#endif
return (0);
}
+struct fpu_kern_ctx *
+fpu_kern_alloc_ctx(u_int flags)
+{
+ struct fpu_kern_ctx *res;
+ size_t sz;
+
+ sz = sizeof(struct fpu_kern_ctx);
+ res = malloc(sz, M_FPUKERN_CTX, ((flags & FPU_KERN_NOWAIT) ?
+ M_NOWAIT : M_WAITOK) | M_ZERO);
+ return (res);
+}
+
+void
+fpu_kern_free_ctx(struct fpu_kern_ctx *ctx)
+{
+
+ KASSERT((ctx->flags & FPU_KERN_CTX_INUSE) == 0, ("free'ing inuse ctx"));
+
+ free(ctx, M_FPUKERN_CTX);
+}
+
/*
* Update the VFP state for a forked process or new thread. The PCB will
* have been copied from the old thread.

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