Today I updated the LunaRTOS kernel to utilize the Pended SVC (PendSV) feature for context switching. PendSV is an ARM Cortex-M feature that allows the software to trigger an exception to perform a context switch from one thread to another. I originally used SysTick for context switching in LunaRTOS, but this can cause issues if SysTick is needed for other OS-related tasks.

Both PendSV and SysTick are system-level interrupts supported by the ARM Cortex-M. It’s best to re