71 lines
2.1 KiB
C
71 lines
2.1 KiB
C
/* task_abort.c - ARM Cortex-M _TaskAbort() routine */
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/*
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* Copyright (c) 2014 Wind River Systems, Inc.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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/*
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* DESCRIPTION
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* The ARM Cortex-M architecture provides its own _TaskAbort() to deal with
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* different CPU modes (handler vs thread) when a task aborts. When its entry
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* point returns or when it aborts itself, the CPU is in thread mode and must
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* call the equivalent of task_abort(<self>), but when in handler mode, the
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* CPU must queue a packet to _k_server(), then exit handler mode to queue the
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* PendSV exception and cause the immediate context switch to _k_server.
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*/
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#ifdef CONFIG_MICROKERNEL
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#include <toolchain.h>
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#include <sections.h>
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#include <micro_private.h>
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#include <nano_private.h>
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#include <microkernel.h>
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#include <nanokernel.h>
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#include <misc/__assert.h>
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static struct k_args cmd_packet;
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/**
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*
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* @brief Abort the current task
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*
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* Possible reasons for a task aborting:
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*
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* - the task explicitly aborts itself by calling this routine
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* - the task implicitly aborts by returning from its entry point
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* - the task encounters a fatal exception
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*
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* @return N/A
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*/
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void _TaskAbort(void)
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{
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const int taskAbortCode = 1;
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if (_ScbIsInThreadMode()) {
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_task_ioctl(_k_current_task->id, taskAbortCode);
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} else {
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cmd_packet.Comm = _K_SVC_TASK_OP;
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cmd_packet.args.g1.task = _k_current_task->id;
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cmd_packet.args.g1.opt = taskAbortCode;
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cmd_packet.alloc = false;
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_k_current_task->args = &cmd_packet;
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nano_isr_stack_push(&_k_command_stack, (uint32_t) &cmd_packet);
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_ScbPendsvSet();
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}
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}
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#endif /* CONFIG_MICROKERNEL */
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