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arch: arm: cortex_m: Only trigger context switch if thread is preemptible

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This is a fix for #61761 where a cooperative task is switched from at the
end of an exception. A cooperative thread should only be switched from if
the thread exists the ready state.

Signed-off-by: Wilfried Chauveau <wilfried.chauveau@arm.com>
This commit is contained in:
Wilfried Chauveau 2024-01-30 12:33:31 +00:00 committed by Carles Cufí
parent 773739a52a
commit 42036cdbca
1 changed files with 7 additions and 2 deletions
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9
arch/arm/core/cortex_m/exc_exit.c
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@ -55,8 +55,13 @@ FUNC_ALIAS(z_arm_exc_exit, z_arm_int_exit, void);
Z_GENERIC_SECTION(.text._HandlerModeExit) void z_arm_exc_exit(void)
{
#ifdef CONFIG_PREEMPT_ENABLED
if (_kernel.ready_q.cache != _kernel.cpus->current) {
SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk;
/* If thread is preemptible */
if (_kernel.cpus->current->base.prio >= 0) {
/* and cached thread is not current thread */
if (_kernel.ready_q.cache != _kernel.cpus->current) {
/* trigger a context switch */
SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk;
}
}
#endif /* CONFIG_PREEMPT_ENABLED */