Sorry for the late reply, I encountered the same problem on a Zynq 7020, and noticed I was not the only one. So I opened a pull request for the Cortex A9 to adapt the work done on Cortex R5 and MPSOC ( Zynq Ultrascale MPSoC task floating point corruption - #30 by wat ) : Conditionally save FPU context in IRQ, and preserve vApplicationFPUSa… by Loustiic · Pull Request #1429 · FreeRTOS/FreeRTOS-Kernel · GitHub . I think it is still relevant because my initial understanding was that configUSE_TASK_FPU_SUPPORT =1 or 2 would solve my issue, but I had to patch Xilinx’s BSP to solve the issue.
I think this patch might be a idea for this reason (and the fact that it homogenize configUSE_TASK_FPU_SUPPORT behavior with respect to other architectures)
Thanks!