altos: Block interrupts while waking tasks sleeping on timers.

Interrupts may not be blocked in the timer ISR, but they need to be
while walking the pending timer list and moving tasks back to the run
queue.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index 6ed0299e2d707baa607a515394ab4f4eccb7988b..27a16606010ff8f629c30755ed1e9ec39aeea1c3 100644 (file)
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -73,6 +73,7 @@ typedef AO_PORT_TYPE ao_port_t;
 #define AO_PANIC_EXTI          16      /* Mis-using exti API */
 #define AO_PANIC_FAST_TIMER    17      /* Mis-using fast timer API */
 #define AO_PANIC_ADC           18      /* Mis-using ADC interface */
+#define AO_PANIC_IRQ           19      /* interrupts not blocked */
 #define AO_PANIC_SELF_TEST_CC1120      0x40 | 1        /* Self test failure */
 #define AO_PANIC_SELF_TEST_HMC5883     0x40 | 2        /* Self test failure */
 #define AO_PANIC_SELF_TEST_MPU6000     0x40 | 3        /* Self test failure */

diff --git a/src/kernel/ao_task.c b/src/kernel/ao_task.c
index e430edc6c02f3e5854b5163ebd18afc26d6c0e0e..03d69caab88906ca573ebd8483f3548139625c29 100644 (file)
--- a/src/kernel/ao_task.c
+++ b/src/kernel/ao_task.c
@@ -165,13 +165,14 @@ ao_task_check_alarm(uint16_t tick)
 {
        struct ao_task  *alarm, *next;
 
-       ao_list_for_each_entry_safe(alarm, next, &alarm_queue, struct ao_task, alarm_queue) {
-               if ((int16_t) (tick - alarm->alarm) < 0)
-                       break;
-               alarm->alarm = 0;
-               ao_task_from_alarm_queue(alarm);
-               ao_task_to_run_queue(alarm);
-       }
+       ao_arch_critical(
+               ao_list_for_each_entry_safe(alarm, next, &alarm_queue, struct ao_task, alarm_queue) {
+                       if ((int16_t) (tick - alarm->alarm) < 0)
+                               break;
+                       alarm->alarm = 0;
+                       ao_task_from_alarm_queue(alarm);
+                       ao_task_to_run_queue(alarm);
+               });
 }
 
 void

diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index 2c017c79f0191b5b5395f66f508a26748cb048db..33359857041f2c6f1f4dff4a0509f4d0b6b2cee6 100644 (file)
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -343,6 +343,14 @@ ao_arch_memory_barrier() {
        asm volatile("" ::: "memory");
 }
 
+static inline void
+ao_arch_irq_check(void) {
+       uint32_t        primask;
+       asm("mrs %0,primask" : "=&r" (primask));
+       if ((primask & 1) == 0)
+               ao_panic(AO_PANIC_IRQ);
+}
+
 #if HAS_TASK
 static inline void
 ao_arch_init_stack(struct ao_task *task, void *start)