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task switch fix, task sleeping

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This commit is contained in:
Clyne Sullivan 2018-10-15 17:24:36 -04:00
parent 34684b28a4
commit 6b5dfe3c09
1 changed files with 10 additions and 5 deletions
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15
src/kernel/task.c
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@ -51,9 +51,9 @@ void _exit(int code)
SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk;
}
/**
* 'Prepares' task for running.
* Calls the task's main code, setting _exit() as the return point.
* Exits the task (userspace call).
*/
__attribute__ ((naked))
void task_doexit(void)
@ -62,6 +62,10 @@ void task_doexit(void)
while (1);
}
/**
* 'Prepares' task for running.
* Calls the task's main code, setting task_doexit() (_exit) as the return point.
*/
__attribute__ ((naked))
void task_crt0(void)
{
@ -103,7 +107,7 @@ task_t *task_create(void (*code)(void), uint16_t stackSize)
void task_init(void (*init)(void), uint16_t stackSize)
{
current = (task_t *)malloc(sizeof(task_t));
current->stack = 0;
current->stack = 0; // free() is called on this
task_t *init_task = task_create(init, stackSize);
@ -116,14 +120,14 @@ void task_init(void (*init)(void), uint16_t stackSize)
// bit 0 - priv, bit 1 - psp/msp
asm("\
mov r0, sp; \
mov %0, r0; \
msr psp, r0; \
mrs r0, control; \
orr r0, r0, #3; \
cpsie i; \
msr control, r0; \
" : "=r" (current->sp));
");
// exit the current (fake) task
task_doexit();
}
@ -179,6 +183,7 @@ void PendSV_Handler(void)
" : "=r" (current->sp));
// Load next task
prev = current;
uint32_t ticks = millis();
do {
current = current->next;