SMP: Need to enable FPU on other CPUs as well

arch/arm/src/armv7-a/arm_cpustart.c

@@ -73,7 +73,7 @@
 
 int arm_start_handler(int irq, FAR void *context)
 {
-  FAR struct tcb_s *tcb = this_task();
+  FAR struct tcb_s *tcb;
 
   /* Invalidate CPUn L1 so that is will be reloaded from coherent L2. */
 
@@ -81,6 +81,7 @@ int arm_start_handler(int irq, FAR void *context)
 
   /* Reset scheduler parameters */
 
+  tcb = this_task();
   sched_resume_scheduler(tcb);
 
   /* Then switch contexts. This instantiates the exception context of the

arch/arm/src/imx6/imx_cpuboot.c

@@ -51,6 +51,7 @@
 #include "chip/imx_src.h"
 #include "sctlr.h"
 #include "smp.h"
+#include "fpu.h"
 #include "gic.h"
 
 #ifdef CONFIG_SMP
@@ -258,6 +259,12 @@ void imx_cpu_enable(void)
 
 void arm_cpu_boot(int cpu)
 {
+#ifdef CONFIG_ARCH_FPU
+  /* Initialize the FPU */
+
+  arm_fpuconfig();
+#endif
+
   /* Initialize the Generic Interrupt Controller (GIC) for CPUn (n != 0) */
 
   arm_gic_initialize();