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RTOS is DONE #25

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Merged
DanielProano merged 1 commit into from
Jun 30, 2026
Merged

RTOS is DONE #25

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16 changes: 16 additions & 0 deletions src/kernel/src/scheduler.c
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
#include "fault_indicator.h"
#include "port.h"
#include "nvic.h"
#include "stm32f401xc.h"
#include <stddef.h>

/* Only scheduler.c needs tick count */
Expand All @@ -14,11 +15,22 @@ void scheduler_start(void) {
port_start_first_task();
}

void idle_task(void) {
while (1) {
/* Special ARM Instr
to put CPU to sleep until
next interrupt fires */
__WFI();
}
}

void scheduler_init(void) {
/* Turn on SysTick */
systick_init();
/* Set its priority */
nvic_init();
/* Don't waste power when nothing ready */
task_create(idle_task, 0, "idle");
}

/* Called every 1ms to unblock
Expand All @@ -30,6 +42,10 @@ void scheduler_tick(void) {
for (int i = 0; i < MAX_TASKS; i++) {
Task *cur_task = &task_pool[i];

if (cur_task->state != UNINITIALIZED && task_state_overflow(*cur_task)) {
warning_light_init();
}

if (cur_task->state == BLOCKED && tick_count >= cur_task->delay_until) {
cur_task->state = READY;
}
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