diff options
Diffstat (limited to 'core')
| -rw-r--r-- | core/cortex-m/task.c | 17 |
1 files changed, 14 insertions, 3 deletions
diff --git a/core/cortex-m/task.c b/core/cortex-m/task.c index e64063dc15..bf0eb5b397 100644 --- a/core/cortex-m/task.c +++ b/core/cortex-m/task.c @@ -415,6 +415,15 @@ static uint32_t __wait_evt(int timeout_us, task_id_t resched) uint32_t evt; int ret __attribute__((unused)); + /* + * Scheduling task when interrupts are disabled will result in Forced + * Hard Fault because: + * - Disabling interrupt using 'cpsid i' also disables SVCall handler + * (because it has configurable priority) + * - Escalation to Hard Fault (also known as 'priority escalation') + * occurs when handler for that fault is not enabled + */ + ASSERT(is_interrupt_enabled()); ASSERT(!in_interrupt_context()); if (timeout_us > 0) { @@ -445,7 +454,7 @@ uint32_t task_set_event(task_id_t tskid, uint32_t event) atomic_or(&receiver->events, event); /* Re-schedule if priorities have changed */ - if (in_interrupt_context()) { + if (in_interrupt_context() || !is_interrupt_enabled()) { /* The receiver might run again */ atomic_or(&tasks_ready, 1 << tskid); #ifndef CONFIG_TASK_PROFILING @@ -497,7 +506,8 @@ void task_enable_all_tasks(void) /* Mark all tasks as ready and able to run. */ tasks_ready = tasks_enabled = BIT(TASK_ID_COUNT) - 1; /* Reschedule the highest priority task. */ - __schedule(0, 0); + if (is_interrupt_enabled()) + __schedule(0, 0); } void task_enable_task(task_id_t tskid) @@ -509,7 +519,8 @@ void task_disable_task(task_id_t tskid) { atomic_clear_bits(&tasks_enabled, BIT(tskid)); - if (!in_interrupt_context() && tskid == task_get_current()) + if (!in_interrupt_context() && is_interrupt_enabled() && + tskid == task_get_current()) __schedule(0, 0); } |