Merge branch 'master' into fixed-pid-tool-tests

Author: Paciente8159

CHANGELOG.md

@@ -6,6 +6,12 @@
 
 # Changelog
 
+## [1.16.4] - 16-05-2026
+
+### Fixed
+
+- Reverted PendSV task on RP2040 since this caused the MCU to freeze (#963)
+
 ## [1.16.3] - 13-05-2026
 
 ### Added

uCNC/src/cnc_build.h

@@ -25,7 +25,7 @@ extern "C"
 #endif
 
 #define CNC_MAJOR_MINOR_VERSION "1.16"
-#define CNC_PATCH_VERSION ".3"
+#define CNC_PATCH_VERSION ".4"
 
 #define CNC_VERSION CNC_MAJOR_MINOR_VERSION CNC_PATCH_VERSION
 

uCNC/src/hal/mcus/rp2040/mcu_rp2040.c

@@ -231,11 +231,11 @@ static void mcu_clear_servos(void)
 
 static rp2040_alarm_t rtc_alarm;
 
-void PendSV_Handler(void)
-{
-	mcu_rtc_cb(mcu_millis());
-	NVIC_ClearPendingIRQ(PendSV_IRQn);
-}
+// void PendSV_Handler(void)
+// {
+// 	mcu_rtc_cb(mcu_millis());
+// 	NVIC_ClearPendingIRQ(PendSV_IRQn);
+// }
 
 void mcu_rtc_isr(void)
 {
@@ -291,7 +291,8 @@ void mcu_rtc_isr(void)
 	ms_servo_counter = (servo_counter != 20) ? servo_counter : 0;
 
 #endif
-	SCB->ICSR = SCB_ICSR_PENDSVSET_Msk; // signal low priority task
+	// SCB->ICSR = SCB_ICSR_PENDSVSET_Msk; // signal low priority task
+	mcu_rtc_cb(mcu_millis());
 }
 
 /**
@@ -336,7 +337,7 @@ void mcu_init(void)
 	// init rtc, oneshot and servo alarms
 	mcu_alarms_init();
 	rtc_alarm.alarm_cb = &mcu_rtc_isr;
-	NVIC_SetPriority(PendSV_IRQn, 0xFF); // background task
+	// NVIC_SetPriority(PendSV_IRQn, 0xFF); // background task
 	mcu_enqueue_alarm(&rtc_alarm, 1000UL);
 
 #if SERVOS_MASK > 0