mirror of
https://github.com/esp-rs/esp-hal.git
synced 2025-09-27 12:20:56 +00:00
7c944ec939
* s/esp-radio-preempt-baremetal/esp-preempt/g esp-preempt will hopefully one day be more useful than just a scheduler for esp-radio, therefore I've removed the radio prefix for that future goal. I also felt that baremetal didn't really add much other than noise, so I've removed that postfix too. * fix xtask * remove test code * fixups
44 lines
1.2 KiB
Rust
44 lines
1.2 KiB
Rust
use esp_hal::{
|
|
interrupt::{self, software::SoftwareInterrupt},
|
|
peripherals::Interrupt,
|
|
};
|
|
|
|
use crate::task::task_switch;
|
|
|
|
pub(crate) fn setup_multitasking() {
|
|
// Register the interrupt handler without nesting to satisfy the requirements of the task
|
|
// switching code
|
|
let swint2_handler = esp_hal::interrupt::InterruptHandler::new_not_nested(
|
|
unsafe { core::mem::transmute::<*const (), extern "C" fn()>(swint2_handler as *const ()) },
|
|
esp_hal::interrupt::Priority::Priority1,
|
|
);
|
|
|
|
unsafe { SoftwareInterrupt::<2>::steal() }.set_interrupt_handler(swint2_handler);
|
|
}
|
|
|
|
pub(crate) fn disable_multitasking() {
|
|
interrupt::disable(esp_hal::system::Cpu::ProCpu, Interrupt::FROM_CPU_INTR2);
|
|
}
|
|
|
|
#[esp_hal::ram]
|
|
extern "C" fn swint2_handler() {
|
|
// clear FROM_CPU_INTR2
|
|
let swi = unsafe { SoftwareInterrupt::<2>::steal() };
|
|
swi.reset();
|
|
|
|
task_switch();
|
|
}
|
|
|
|
#[inline]
|
|
pub(crate) fn yield_task() {
|
|
// clear FROM_CPU_INTR2
|
|
let swi = unsafe { SoftwareInterrupt::<2>::steal() };
|
|
swi.raise();
|
|
}
|
|
|
|
#[esp_hal::ram]
|
|
pub(crate) extern "C" fn timer_tick_handler() {
|
|
super::clear_timer_interrupt();
|
|
crate::task::task_switch();
|
|
}
|