| /* |
| * 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 _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 <wait_q.h> |
| #include <misc/__assert.h> |
| |
| extern void _k_thread_single_abort(struct k_thread *thread); |
| |
| void _impl_k_thread_abort(k_tid_t thread) |
| { |
| unsigned int key; |
| |
| key = irq_lock(); |
| |
| __ASSERT(!(thread->base.user_options & K_ESSENTIAL), |
| "essential thread aborted"); |
| |
| _k_thread_single_abort(thread); |
| _thread_monitor_exit(thread); |
| |
| if (_current == thread) { |
| if ((SCB->ICSR & SCB_ICSR_VECTACTIVE_Msk) == 0) { |
| _Swap(key); |
| CODE_UNREACHABLE; |
| } else { |
| SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; |
| } |
| } |
| |
| /* The abort handler might have altered the ready queue. */ |
| _reschedule_threads(key); |
| } |