54 lines
1.3 KiB
C
54 lines
1.3 KiB
C
/*
|
|
* Copyright (c) 2016 Wind River Systems, Inc.
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*/
|
|
|
|
/**
|
|
* @file
|
|
* @brief ARM Cortex-M k_thread_abort() routine
|
|
*
|
|
* The ARM Cortex-M architecture provides its own k_thread_abort() to deal
|
|
* with different CPU modes (handler vs thread) when a thread aborts. When its
|
|
* entry point returns or when it aborts itself, the CPU is in thread mode and
|
|
* must call z_swap() (which triggers a service call), but when in handler
|
|
* mode, the CPU must exit handler mode to cause the context switch, and thus
|
|
* must queue the PendSV exception.
|
|
*/
|
|
|
|
#include <kernel.h>
|
|
#include <kernel_structs.h>
|
|
#include <toolchain.h>
|
|
#include <linker/sections.h>
|
|
#include <ksched.h>
|
|
#include <kswap.h>
|
|
#include <wait_q.h>
|
|
#include <misc/__assert.h>
|
|
|
|
extern void z_thread_single_abort(struct k_thread *thread);
|
|
|
|
void z_impl_k_thread_abort(k_tid_t thread)
|
|
{
|
|
unsigned int key;
|
|
|
|
key = irq_lock();
|
|
|
|
__ASSERT(!(thread->base.user_options & K_ESSENTIAL),
|
|
"essential thread aborted");
|
|
|
|
z_thread_single_abort(thread);
|
|
z_thread_monitor_exit(thread);
|
|
|
|
if (_current == thread) {
|
|
if ((SCB->ICSR & SCB_ICSR_VECTACTIVE_Msk) == 0) {
|
|
(void)z_swap_irqlock(key);
|
|
CODE_UNREACHABLE;
|
|
} else {
|
|
SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk;
|
|
}
|
|
}
|
|
|
|
/* The abort handler might have altered the ready queue. */
|
|
z_reschedule_irqlock(key);
|
|
}
|