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added semaphore to tasks for sample/testing

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This commit is contained in:
Oleg Borodin
2022-08-31 08:42:35 +02:00
parent d52848f7e8
commit eadaa6fc8f
5 changed files with 43 additions and 29 deletions
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39
scheduler.c
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@@ -83,42 +83,47 @@ static void scheduler_switch(scheduler_t *scheduler) {
void __attribute__((naked)) pend_sv_handler(void) {
const uint32_t RETURN_ON_PSP = RETURN_ON_PSP_THREAD;
__asm__("cpsid if":::"memory");
uint32_t lr;
__asm__("mov %0, lr\n":"=r"(lr));
__asm__(
"cpsid if \n"
"mov %0, lr \n"
:"=r"(lr)
);
if (lr & EXC_RETURN_MODE_THREAD) {
uint32_t psp;
__asm__(
"mrs %0, psp\n"
"stmdb %0!, {r4-r11}\n"
"msr psp, %0\n" : "=r"(psp)
"mrs %0, psp \n"
"stmdb %0!, {r4-r11} \n"
"msr psp, %0 \n"
: "=r"(psp)
);
m_scheduler->tasks[m_scheduler->current_task].sp = psp;
} else {
__asm__(
"stmdb sp!, {r4-r11}\n");
"stmdb sp!, {r4-r11} \n"
);
}
scheduler_switch(m_scheduler);
uint32_t psp = (uint32_t)m_scheduler->tasks[m_scheduler->current_task].sp;
__asm__(
"ldmfd %0!, {r4-r11}\n"
"msr psp, %0\n"::"r"(psp)
__asm__ (
"ldmfd %0!, {r4-r11} \n"
"msr psp, %0 \n"
"cpsie if \n"
"bx %1 \n"
:: "r"(psp), "r"(RETURN_ON_PSP)
);
__asm__("cpsie if" ::: "memory");
__asm__("bx %0\n"::"r"(RETURN_ON_PSP));
}
void scheduler_yield(void) {
SCB_ICSR |= SCB_ICSR_PENDSVSET;
__asm__(
"nop\n"
"nop\n"
"nop\n"
"nop\n"
"nop \n"
"nop \n"
"nop \n"
"nop \n"
);
}