1 /*
2 * Copyright (c) 2016 Wind River Systems, Inc.
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 /**
8 * @file
9 * @brief ARM Cortex-M k_thread_abort() routine
10 *
11 * The ARM Cortex-M architecture provides its own k_thread_abort() to deal
12 * with different CPU modes (handler vs thread) when a thread aborts. When its
13 * entry point returns or when it aborts itself, the CPU is in thread mode and
14 * must call z_swap() (which triggers a service call), but when in handler
15 * mode, the CPU must exit handler mode to cause the context switch, and thus
16 * must queue the PendSV exception.
17 */
18
19 #include <zephyr/kernel.h>
20 #include <zephyr/toolchain.h>
21 #include <zephyr/linker/sections.h>
22 #include <ksched.h>
23 #include <kswap.h>
24 #include <zephyr/sys/__assert.h>
25
z_impl_k_thread_abort(k_tid_t thread)26 void z_impl_k_thread_abort(k_tid_t thread)
27 {
28 SYS_PORT_TRACING_OBJ_FUNC_ENTER(k_thread, abort, thread);
29
30 if (_current == thread) {
31 if (arch_is_in_isr()) {
32 /* ARM is unlike most arches in that this is true
33 * even for non-peripheral interrupts, even though
34 * for these types of faults there is not an implicit
35 * reschedule on the way out. See #21923.
36 *
37 * We have to reschedule since the current thread
38 * should no longer run after we return, so
39 * Trigger PendSV, in case we are in one of the
40 * situations where the isr check is true but there
41 * is not an implicit scheduler invocation.
42 */
43 SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk;
44 /* Clear any system calls that may be pending
45 * as they have a higher priority than the PendSV
46 * handler and will check the stack of the thread
47 * being aborted.
48 */
49 SCB->SHCSR &= ~SCB_SHCSR_SVCALLPENDED_Msk;
50 }
51 }
52
53 z_thread_abort(thread);
54
55 SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_thread, abort, thread);
56 }
57