Fixed task switching (#9)

Auterion · Sep 16, 2024 · f0dc7b3 · f0dc7b3
1 parent 8dd263e
commit f0dc7b3
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/emdbg/debug/px4/base.py b/src/emdbg/debug/px4/base.py
@@ -62,7 +62,8 @@ def write_registers(self, values: dict[str, int]):
             if name in ["sp", "r13"]:
                 name = "msp"
             if name == "msp":
-                self.write_register("r13", value)
+                # NuttX stores the SP incorrectly (is off by 4 bytes)
+                self.write_register("r13", value + 4)
             # Remove double FP registers
             if name.startswith("d"): continue
             self.write_register(name, value)