altos/stm: Run scheduler code on interrupt stack

[fw/altos] / src / stm / ao_arch_funcs.h

diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index 7ad3b4b8d97cffd47bac2cf83484d9942cafb892..02b344b11078edfc1eb8dd3283fe23c6022a4df9 100644 (file)
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -74,7 +74,7 @@ void
 ao_spi_put(uint8_t spi_index);
 
 void
-ao_spi_send(void *block, uint16_t len, uint8_t spi_index);
+ao_spi_send(const void *block, uint16_t len, uint8_t spi_index);
 
 void
 ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t spi_index);
@@ -335,6 +335,13 @@ static inline void ao_arch_save_stack(void) {
 
 static inline void ao_arch_restore_stack(void) {
        uint32_t        sp;
+       uint32_t        control;
+
+       asm("mrs %0,control" : "=&r" (control));
+       control |= (1 << 1);
+       asm("msr control,%0" : : "r" (control));
+       asm("isb");
+
        sp = (uint32_t) ao_cur_task->sp;
 
        /* Switch stacks */
@@ -375,7 +382,14 @@ static inline void ao_arch_start_scheduler(void) {
 }
 #endif
 
-#define ao_arch_isr_stack()
+static inline void ao_arch_isr_stack(void) {
+       uint32_t        control;
+
+       asm("mrs %0,control" : "=&r" (control));
+       control &= ~(1 << 1);
+       asm("msr control,%0" : : "r" (control));
+       asm("isb");
+}
 
 #endif