diff options
Diffstat (limited to 'src/task.c')
| -rw-r--r-- | src/task.c | 60 |
1 files changed, 32 insertions, 28 deletions
@@ -21,6 +21,7 @@ #include <task.h> #include <heap.h> #include <stm32l476xx.h> +#include <string.h> task_t *current; static uint8_t task_disable = 0; @@ -35,9 +36,9 @@ void task_hold(uint8_t hold) void task_exit(void) { - // TODO free stack? - // TODO remove from chain - // hopefully current is preserved..? + free(current->stack); + // TODO remove from chain? + // hopefully this is fine... while (1); // bye } @@ -47,7 +48,7 @@ task_t *task_create(void (*code)(void), uint32_t stackSize) t->next = 0; t->stack = (uint32_t *)malloc(stackSize); void *sp = (uint8_t *)t->stack + stackSize - 68; // excep. stack + regs - t->sp = (uint32_t *)sp; + t->sp = sp; for (uint8_t i = 0; i < 14; i++) t->sp[i] = 0; t->sp[8] = 0xFFFFFFFD; @@ -67,7 +68,7 @@ void task_init(void (*init)(void)) asm("\ msr psp, %0; \ mrs r0, control; \ - orr r0, r0, #3; \ + orr r0, r0, #2; \ cpsie i; \ msr control, r0; \ isb; \ @@ -84,6 +85,32 @@ void task_start(void (*task)(void), uint16_t stackSize) task_hold(0); } +/*int fork_ret(void) +{ + return 1; +} + +int fork(void) +{ + void (*pc)(void) = (void (*)(void))((uint32_t)fork_ret & ~(3)); + task_hold(1); + + // duplicate task info + alloc_t *heapInfo = (alloc_t *)(current->stack - 2); + task_t *t = task_create(pc, heapInfo->size); + memcpy(t->stack, current->stack, heapInfo->size); + uint32_t *sp; + asm("mov %0, sp" : "=r" (sp)); + t->sp = t->stack + (sp - current->stack); + + t->next = current->next; + current->next = t; + current = t; + task_hold(0); + SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; + return 0; +}*/ + __attribute__ ((naked)) void PendSV_Handler(void) { @@ -105,28 +132,5 @@ void PendSV_Handler(void) msr psp, r0; \ bx lr; \ "); - - /*// save state - asm("\ - cpsid i; \ - isb; \ - dsb; \ - mrs r0, psp; \ - stmdb r0!, {r4-r11, lr}; \ - mov %0, r0; \ - " : "=r" (current->sp)); - - current = current->next; - - // restore - asm("\ - mov r0, %0; \ - ldmia r0!, {r4-r11, lr}; \ - msr psp, r0; \ - isb; \ - dsb; \ - cpsie i; \ - bx lr; \ - " :: "r" (current->sp));*/ } |