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cpu/cortexm: clear FPU state in cpu_switch_context_exit() #18697

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Oct 6, 2022
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cpu/cortexm: clear FPU state in cpu_switch_context_exit() #18697

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10 changes: 10 additions & 0 deletions cpu/cortexm_common/thread_arch.c
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Original file line number Diff line number Diff line change
Expand Up @@ -282,6 +282,16 @@ void *thread_isr_stack_start(void)

void NORETURN cpu_switch_context_exit(void)
{
#ifdef MODULE_CORTEXM_FPU
/* An exiting thread won't need it's FPU state anymore, so clear it here.
* This is important, as `sched_task_exit` clears `sched_active_thread`,
* which in turn causes `isr_pendsv` to skip all FPU storing/restoring.
* That might lead to this thread's FPU lazy stacking / FPCAR to stay active.
*/
__set_FPSCR(0);
__set_CONTROL(__get_CONTROL() & (~(CONTROL_FPCA_Msk)));
#endif

/* enable IRQs to make sure the PENDSV interrupt is reachable */
irq_enable();

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