libc: Call pthread_exit in user-space by up_pthread_exit

Drop to user-space in kernel/protected build with up_pthread_exit,
now all pthread_cleanup functions executed in user mode.

* A new syscall SYS_pthread_exit added
* A new tcb flag TCB_FLAG_CANCEL_DOING added
* up_pthread_exit implemented for riscv/arm arch

Signed-off-by: Huang Qi <huangqi3@xiaomi.com>

arch/arm/src/a1x/Make.defs

@@ -74,6 +74,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_KERNEL),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c arm_signal_dispatch.c
+CMN_CSRCS += arm_pthread_exit.c
 endif
 
 ifeq ($(CONFIG_ARCH_ADDRENV),y)

arch/arm/src/am335x/Make.defs

@@ -70,6 +70,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_KERNEL),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c arm_signal_dispatch.c
+CMN_CSRCS += arm_pthread_exit.c
 endif
 
 ifeq ($(CONFIG_ARCH_ADDRENV),y)

arch/arm/src/armv6-m/arm_svcall.c

@@ -298,26 +298,28 @@ int arm_svcall(int irq, FAR void *context, FAR void *arg)
         break;
 #endif
 
+#if !defined(CONFIG_BUILD_FLAT) && !defined(CONFIG_DISABLE_PTHREAD)
+
       /* R0=SYS_pthread_start:  This a user pthread start
        *
-       *   void up_pthread_start(pthread_startroutine_t entrypt,
+       *   void up_pthread_start(pthread_trampoline_t startup,
-       *                         pthread_addr_t arg) noreturn_function;
+       *          pthread_startroutine_t entrypt, pthread_addr_t arg)
        *
        * At this point, the following values are saved in context:
        *
        *   R0 = SYS_pthread_start
-       *   R1 = entrypt
+       *   R1 = startup
-       *   R2 = arg
+       *   R2 = entrypt
+       *   R3 = arg
        */
 
-#if !defined(CONFIG_BUILD_FLAT) && !defined(CONFIG_DISABLE_PTHREAD)
       case SYS_pthread_start:
         {
           /* Set up to return to the user-space pthread start-up function in
            * unprivileged mode.
            */
 
-          regs[REG_PC]         = (uint32_t)regs[REG_R1]; /* startup */
+          regs[REG_PC]         = (uint32_t)regs[REG_R1] & ~1;  /* startup */
           regs[REG_EXC_RETURN] = EXC_RETURN_UNPRIVTHR;
 
           /* Change the parameter ordering to match the expectation of the
@@ -328,6 +330,35 @@ int arm_svcall(int irq, FAR void *context, FAR void *arg)
           regs[REG_R1]         = regs[REG_R3]; /* arg */
         }
         break;
+
+      /* R0=SYS_pthread_exit:  This pthread_exit call in user-space
+       *
+       *   void up_pthread_exit(pthread_exitroutine_t exit,
+       *                        FAR void *exit_value)
+       *
+       * At this point, the following values are saved in context:
+       *
+       *   R0 = SYS_pthread_exit
+       *   R1 = pthread_exit trampoline routine
+       *   R2 = exit_value
+       */
+
+      case SYS_pthread_exit:
+        {
+          /* Set up to return to the user-space pthread start-up function in
+           * unprivileged mode.
+           */
+
+          regs[REG_PC]         = (uint32_t)regs[REG_R1] & ~1;  /* startup */
+          regs[REG_EXC_RETURN] = EXC_RETURN_UNPRIVTHR;
+
+          /* Change the parameter ordering to match the expectation of the
+           * user space pthread_startup:
+           */
+
+          regs[REG_R0]         = regs[REG_R2]; /* exit_value */
+        }
+        break;
 #endif
 
       /* R0=SYS_signal_handler:  This a user signal handler callback

arch/arm/src/armv6-m/svcall.h

@@ -45,9 +45,9 @@
 #ifdef CONFIG_LIB_SYSCALL
 #  ifdef CONFIG_BUILD_PROTECTED
 #    ifndef CONFIG_SYS_RESERVED
-#      error "CONFIG_SYS_RESERVED must be defined to have the value 8"
+#      error "CONFIG_SYS_RESERVED must be defined to have the value 9"
-#    elif CONFIG_SYS_RESERVED != 8
+#    elif CONFIG_SYS_RESERVED != 9
-#      error "CONFIG_SYS_RESERVED must have the value 8"
+#      error "CONFIG_SYS_RESERVED must have the value 9"
 #    endif
 #  else
 #    ifndef CONFIG_SYS_RESERVED

arch/arm/src/armv7-a/arm_syscall.c

@@ -278,30 +278,23 @@ uint32_t *arm_syscall(uint32_t *regs)
         break;
 #endif
 
+#if !defined(CONFIG_BUILD_FLAT) && !defined(CONFIG_DISABLE_PTHREAD)
+
       /* R0=SYS_pthread_start:  This a user pthread start
        *
-       *   void up_pthread_start(pthread_startroutine_t entrypt,
+       *   void up_pthread_start(pthread_trampoline_t startup,
-       *                         pthread_addr_t arg) noreturn_function;
+       *          pthread_startroutine_t entrypt, pthread_addr_t arg)
        *
        * At this point, the following values are saved in context:
        *
        *   R0 = SYS_pthread_start
-       *   R1 = entrypt
+       *   R1 = startup
-       *   R2 = arg
+       *   R2 = entrypt
+       *   R3 = arg
        */
 
-#if !defined(CONFIG_BUILD_FLAT) && !defined(CONFIG_DISABLE_PTHREAD)
       case SYS_pthread_start:
         {
-          /* Set up to enter the user-space pthread start-up function in
-           * unprivileged mode. We need:
-           *
-           *   R0   = entrypt
-           *   R1   = arg
-           *   PC   = startup
-           *   CSPR = user mode
-           */
-
           regs[REG_PC]   = regs[REG_R0];
           regs[REG_R0]   = regs[REG_R1];
           regs[REG_R1]   = regs[REG_R2];
@@ -310,6 +303,28 @@ uint32_t *arm_syscall(uint32_t *regs)
           regs[REG_CPSR] = cpsr | PSR_MODE_USR;
         }
         break;
+
+      /* R0=SYS_pthread_exit:  This pthread_exit call in user-space
+       *
+       *   void up_pthread_exit(pthread_exitroutine_t exit,
+       *                        FAR void *exit_value)
+       *
+       * At this point, the following values are saved in context:
+       *
+       *   R0 = SYS_pthread_exit
+       *   R1 = pthread_exit trampoline routine
+       *   R2 = exit_value
+       */
+
+      case SYS_pthread_exit:
+        {
+          regs[REG_PC]   = regs[REG_R0];
+          regs[REG_R0]   = regs[REG_R1];
+
+          cpsr           = regs[REG_CPSR] & ~PSR_MODE_MASK;
+          regs[REG_CPSR] = cpsr | PSR_MODE_USR;
+        }
+        break;
 #endif
 
 #ifdef CONFIG_BUILD_KERNEL

arch/arm/src/armv7-a/svcall.h

@@ -44,8 +44,8 @@
 
 #ifdef CONFIG_BUILD_KERNEL
 #  ifndef CONFIG_SYS_RESERVED
-#    error "CONFIG_SYS_RESERVED must be defined to have the value 6"
+#    error "CONFIG_SYS_RESERVED must be defined to have the value 7"
-#  elif CONFIG_SYS_RESERVED != 6
+#  elif CONFIG_SYS_RESERVED != 7
 #    error "CONFIG_SYS_RESERVED must have the value 6"
 #  endif
 #else
@@ -109,6 +109,13 @@
 
 #define SYS_pthread_start         (3)
 
+/* SYS call 8:
+ *
+ * void up_pthread_exit(pthread_exitroutine_t exit, FAR void *exit_value)
+ */
+
+#define SYS_pthread_exit         (6)
+
 #endif /* CONFIG_BUILD_KERNEL */
 
 /****************************************************************************

arch/arm/src/armv7-m/arm_svcall.c

@@ -312,19 +312,21 @@ int arm_svcall(int irq, FAR void *context, FAR void *arg)
         break;
 #endif
 
+#if !defined(CONFIG_BUILD_FLAT) && !defined(CONFIG_DISABLE_PTHREAD)
+
       /* R0=SYS_pthread_start:  This a user pthread start
        *
-       *   void up_pthread_start(pthread_startroutine_t entrypt,
+       *   void up_pthread_start(pthread_trampoline_t startup,
-       *                         pthread_addr_t arg) noreturn_function;
+       *          pthread_startroutine_t entrypt, pthread_addr_t arg)
        *
        * At this point, the following values are saved in context:
        *
        *   R0 = SYS_pthread_start
-       *   R1 = entrypt
+       *   R1 = startup
-       *   R2 = arg
+       *   R2 = entrypt
+       *   R3 = arg
        */
 
-#if !defined(CONFIG_BUILD_FLAT) && !defined(CONFIG_DISABLE_PTHREAD)
       case SYS_pthread_start:
         {
           /* Set up to return to the user-space pthread start-up function in
@@ -342,6 +344,35 @@ int arm_svcall(int irq, FAR void *context, FAR void *arg)
           regs[REG_R1]         = regs[REG_R3]; /* arg */
         }
         break;
+
+      /* R0=SYS_pthread_exit:  This pthread_exit call in user-space
+       *
+       *   void up_pthread_exit(pthread_exitroutine_t exit,
+       *                        FAR void *exit_value)
+       *
+       * At this point, the following values are saved in context:
+       *
+       *   R0 = SYS_pthread_exit
+       *   R1 = pthread_exit trampoline routine
+       *   R2 = exit_value
+       */
+
+      case SYS_pthread_exit:
+        {
+          /* Set up to return to the user-space pthread start-up function in
+           * unprivileged mode.
+           */
+
+          regs[REG_PC]         = (uint32_t)regs[REG_R1] & ~1;  /* startup */
+          regs[REG_EXC_RETURN] = EXC_RETURN_UNPRIVTHR;
+
+          /* Change the parameter ordering to match the expectation of the
+           * user space pthread_startup:
+           */
+
+          regs[REG_R0]         = regs[REG_R2]; /* exit_value */
+        }
+        break;
 #endif
 
       /* R0=SYS_signal_handler:  This a user signal handler callback

arch/arm/src/armv7-m/svcall.h

@@ -45,9 +45,9 @@
 #ifdef CONFIG_LIB_SYSCALL
 #  ifdef CONFIG_BUILD_PROTECTED
 #    ifndef CONFIG_SYS_RESERVED
-#      error "CONFIG_SYS_RESERVED must be defined to have the value 8"
+#      error "CONFIG_SYS_RESERVED must be defined to have the value 9"
-#    elif CONFIG_SYS_RESERVED != 8
+#    elif CONFIG_SYS_RESERVED != 9
-#      error "CONFIG_SYS_RESERVED must have the value 8"
+#      error "CONFIG_SYS_RESERVED must have the value 9"
 #    endif
 #  else
 #    ifndef CONFIG_SYS_RESERVED
@@ -126,6 +126,13 @@
 
 #define SYS_pthread_start         (5)
 
+/* SYS call 8:
+ *
+ * void up_pthread_exit(pthread_exitroutine_t exit, FAR void *exit_value)
+ */
+
+#define SYS_pthread_exit         (8)
+
 #endif /* !CONFIG_BUILD_FLAT */
 #endif /* CONFIG_LIB_SYSCALL */
 

arch/arm/src/armv7-r/arm_syscall.c

@@ -273,33 +273,48 @@ uint32_t *arm_syscall(uint32_t *regs)
         break;
 #endif
 
+#if !defined(CONFIG_BUILD_FLAT) && !defined(CONFIG_DISABLE_PTHREAD)
+
       /* R0=SYS_pthread_start:  This a user pthread start
        *
-       *   void up_pthread_start(pthread_startroutine_t entrypt,
+       *   void up_pthread_start(pthread_trampoline_t startup,
-       *                         pthread_addr_t arg) noreturn_function;
+       *          pthread_startroutine_t entrypt, pthread_addr_t arg)
        *
        * At this point, the following values are saved in context:
        *
        *   R0 = SYS_pthread_start
-       *   R1 = entrypt
+       *   R1 = startup
-       *   R2 = arg
+       *   R2 = entrypt
+       *   R3 = arg
        */
 
-#if !defined(CONFIG_BUILD_FLAT) && !defined(CONFIG_DISABLE_PTHREAD)
       case SYS_pthread_start:
         {
-          /* Set up to enter the user-space pthread start-up function in
+          regs[REG_PC]   = regs[REG_R0];
-           * unprivileged mode. We need:
+          regs[REG_R0]   = regs[REG_R1];
-           *
+          regs[REG_R1]   = regs[REG_R2];
-           *   R0   = startup
-           *   R1   = arg
-           *   PC   = entrypt
-           *   CSPR = user mode
-           */
 
-          regs[REG_PC]   = regs[REG_R1];
+          cpsr           = regs[REG_CPSR] & ~PSR_MODE_MASK;
-          regs[REG_R0]   = regs[REG_R2];
+          regs[REG_CPSR] = cpsr | PSR_MODE_USR;
-          regs[REG_R1]   = regs[REG_R3];
+        }
+        break;
+
+      /* R0=SYS_pthread_exit:  This pthread_exit call in user-space
+       *
+       *   void up_pthread_exit(pthread_exitroutine_t exit,
+       *                        FAR void *exit_value)
+       *
+       * At this point, the following values are saved in context:
+       *
+       *   R0 = SYS_pthread_exit
+       *   R1 = pthread_exit trampoline routine
+       *   R2 = exit_value
+       */
+
+      case SYS_pthread_exit:
+        {
+          regs[REG_PC]   = regs[REG_R0];
+          regs[REG_R0]   = regs[REG_R1];
 
           cpsr           = regs[REG_CPSR] & ~PSR_MODE_MASK;
           regs[REG_CPSR] = cpsr | PSR_MODE_USR;

arch/arm/src/armv8-m/arm_svcall.c

@@ -311,19 +311,21 @@ int arm_svcall(int irq, FAR void *context, FAR void *arg)
         break;
 #endif
 
+#if !defined(CONFIG_BUILD_FLAT) && !defined(CONFIG_DISABLE_PTHREAD)
+
       /* R0=SYS_pthread_start:  This a user pthread start
        *
-       *   void up_pthread_start(pthread_startroutine_t entrypt,
+       *   void up_pthread_start(pthread_trampoline_t startup,
-       *                         pthread_addr_t arg) noreturn_function;
+       *          pthread_startroutine_t entrypt, pthread_addr_t arg)
        *
        * At this point, the following values are saved in context:
        *
        *   R0 = SYS_pthread_start
-       *   R1 = entrypt
+       *   R1 = startup
-       *   R2 = arg
+       *   R2 = entrypt
+       *   R3 = arg
        */
 
-#if !defined(CONFIG_BUILD_FLAT) && !defined(CONFIG_DISABLE_PTHREAD)
       case SYS_pthread_start:
         {
           /* Set up to return to the user-space pthread start-up function in
@@ -338,7 +340,36 @@ int arm_svcall(int irq, FAR void *context, FAR void *arg)
            */
 
           regs[REG_R0]         = regs[REG_R2]; /* pthread entry */
-          regs[REG_R1]         = regs[REG_R2]; /* arg */
+          regs[REG_R1]         = regs[REG_R3]; /* arg */
+        }
+        break;
+
+      /* R0=SYS_pthread_exit:  This pthread_exit call in user-space
+       *
+       *   void up_pthread_exit(pthread_exitroutine_t exit,
+       *                        FAR void *exit_value)
+       *
+       * At this point, the following values are saved in context:
+       *
+       *   R0 = SYS_pthread_exit
+       *   R1 = pthread_exit trampoline routine
+       *   R2 = exit_value
+       */
+
+      case SYS_pthread_exit:
+        {
+          /* Set up to return to the user-space pthread start-up function in
+           * unprivileged mode.
+           */
+
+          regs[REG_PC]         = (uint32_t)regs[REG_R1] & ~1;  /* startup */
+          regs[REG_EXC_RETURN] = EXC_RETURN_UNPRIVTHR;
+
+          /* Change the parameter ordering to match the expectation of the
+           * user space pthread_startup:
+           */
+
+          regs[REG_R0]         = regs[REG_R2]; /* exit_value */
         }
         break;
 #endif

arch/arm/src/common/arm_pthread_exit.c

@@ -0,0 +1,62 @@
+/****************************************************************************
+ * arch/arm/src/common/arm_pthread_exit.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <pthread.h>
+#include <nuttx/arch.h>
+
+#include "svcall.h"
+#include "arm_internal.h"
+
+#if !defined(CONFIG_BUILD_FLAT) && defined(__KERNEL__) && \
+    !defined(CONFIG_DISABLE_PTHREAD)
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: up_pthread_exit
+ *
+ * Description:
+ *   In this kernel mode build, this function will be called to execute a
+ *   pthread in user-space. This kernel-mode stub will then be called
+ *   transfer control to the user-mode pthread_exit.
+ *
+ * Input Parameters:
+ *   exit       - The user-space pthread_exit function
+ *   exit_value - The pointer of the pthread exit parameter
+ *
+ * Returned Value:
+ *   None
+ ****************************************************************************/
+
+void up_pthread_exit(pthread_exitroutine_t exit, FAR void *exit_value)
+{
+  /* Let sys_call2() do all of the work */
+
+  sys_call2(SYS_pthread_exit, (uintptr_t)exit, (uintptr_t)exit_value);
+}
+
+#endif /* !CONFIG_BUILD_FLAT && __KERNEL__ && !CONFIG_DISABLE_PTHREAD */

arch/arm/src/cxd56xx/Make.defs

@@ -51,6 +51,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_mpu.c arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/efm32/Make.defs

@@ -43,6 +43,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_mpu.c arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/eoss3/Make.defs

@@ -43,6 +43,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/imx6/Make.defs

@@ -90,6 +90,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_KERNEL),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c arm_signal_dispatch.c
+CMN_CSRCS += arm_pthread_exit.c
 endif
 
 ifeq ($(CONFIG_ARCH_ADDRENV),y)

arch/arm/src/imxrt/Make.defs

@@ -55,6 +55,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/kinetis/Make.defs

@@ -51,6 +51,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/kl/Make.defs

@@ -32,6 +32,7 @@ CMN_CSRCS += arm_hardfault.c arm_svcall.c arm_vectors.c arm_vfork.c
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/lc823450/Make.defs

@@ -42,6 +42,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/lpc17xx_40xx/Make.defs

@@ -54,6 +54,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/lpc43xx/Make.defs

@@ -47,6 +47,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/lpc54xx/Make.defs

@@ -47,6 +47,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/max326xx/Make.defs

@@ -45,6 +45,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_mpu.c arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/nrf52/Make.defs

@@ -51,6 +51,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_mpu.c arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/nuc1xx/Make.defs

@@ -32,6 +32,7 @@ CMN_CSRCS += arm_hardfault.c arm_svcall.c arm_vectors.c arm_vfork.c
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/rp2040/Make.defs

@@ -36,6 +36,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/s32k1xx/Make.defs

@@ -31,6 +31,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 endif
 
 # Source files common to all S32K1xx chip families.

arch/arm/src/sam34/Make.defs

@@ -59,6 +59,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/sama5/Make.defs

@@ -76,6 +76,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_KERNEL),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c arm_signal_dispatch.c
+CMN_CSRCS += arm_pthread_exit.c
 endif
 
 ifeq ($(CONFIG_ARCH_ADDRENV),y)

arch/arm/src/samd2l2/Make.defs

@@ -32,6 +32,7 @@ CMN_CSRCS += arm_hardfault.c arm_svcall.c arm_vectors.c arm_vfork.c
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/samd5e5/Make.defs

@@ -49,6 +49,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_mpu.c arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/samv7/Make.defs

@@ -67,6 +67,7 @@ ifeq ($(CONFIG_ARM_MPU),y)
 CMN_CSRCS += arm_mpu.c
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/stm32/Make.defs

@@ -58,7 +58,7 @@ CMN_CSRCS += arm_mpu.c
 endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
-CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_task_start.c arm_pthread_start.c arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/stm32f0l0g0/Make.defs

@@ -32,6 +32,7 @@ CMN_CSRCS += arm_hardfault.c arm_svcall.c arm_vectors.c arm_vfork.c
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/stm32f7/Make.defs

@@ -73,6 +73,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/stm32h7/Make.defs

@@ -72,6 +72,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/stm32l4/Make.defs

@@ -63,6 +63,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/stm32l5/Make.defs

@@ -64,6 +64,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_mpu.c arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/tiva/Make.defs

@@ -65,6 +65,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
   CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+  CMN_CSRCS += arm_pthread_exit.c
   CMN_CSRCS += arm_signal_dispatch.c
   CMN_UASRCS += arm_signal_handler.S
 else

arch/arm/src/tms570/Make.defs

@@ -59,6 +59,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_mpu.c arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/arm/src/xmc4/Make.defs

@@ -51,6 +51,7 @@ endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS += arm_task_start.c arm_pthread_start.c
+CMN_CSRCS += arm_pthread_exit.c
 CMN_CSRCS += arm_signal_dispatch.c
 CMN_UASRCS += arm_signal_handler.S
 endif

arch/or1k/src/common/up_pthread_start.c

@@ -63,7 +63,7 @@
 
 void up_pthread_start(pthread_startroutine_t entrypt, pthread_addr_t arg)
 {
-  /* Let sys_call2() do all of the work */
+  /* Let sys_call3() do all of the work */
 
   sinfo("entry %p arg %p\n", entrypt, arg);
 

arch/risc-v/src/c906/Make.defs

@@ -55,6 +55,7 @@ CHIP_CSRCS += c906_start.c c906_timerisr.c
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
 CMN_CSRCS  += riscv_task_start.c riscv_pthread_start.c
+CMN_CSRCS  += riscv_pthread_exit.c
 CMN_CSRCS  += riscv_signal_dispatch.c riscv_pmp.c
 CMN_UASRCS += riscv_signal_handler.S
 

arch/risc-v/src/common/riscv_pthread_exit.c

@@ -0,0 +1,60 @@
+/****************************************************************************
+ * arch/risc-v/src/common/riscv_pthread_exit.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <pthread.h>
+#include <nuttx/arch.h>
+
+#include "svcall.h"
+#include "riscv_internal.h"
+
+#if !defined(CONFIG_BUILD_FLAT) && defined(__KERNEL__) && \
+    !defined(CONFIG_DISABLE_PTHREAD)
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: up_pthread_exit
+ *
+ * Description:
+ *   In this kernel mode build, this function will be called to execute a
+ *   pthread in user-space. This kernel-mode stub will then be called
+ *   transfer control to the user-mode pthread_exit.
+ *
+ * Input Parameters:
+ *   exit       - The user-space pthread_exit function
+ *   exit_value - The pointer of the pthread exit parameter
+ *
+ * Returned Value:
+ *   None
+ ****************************************************************************/
+
+void up_pthread_exit(pthread_exitroutine_t exit, FAR void *exit_value)
+{
+  sys_call2(SYS_pthread_exit, (uintptr_t)exit, (uintptr_t)exit_value);
+}
+
+#endif /* !CONFIG_BUILD_FLAT && __KERNEL__ && !CONFIG_DISABLE_PTHREAD */

arch/risc-v/src/k210/Make.defs

@@ -57,7 +57,8 @@ CHIP_CSRCS += k210_cpupause.c k210_cpustart.c
 endif
 
 ifeq ($(CONFIG_BUILD_PROTECTED),y)
-CMN_CSRCS  += riscv_task_start.c riscv_pthread_start.c
+CMN_CSRCS  += riscv_task_start.c
+CMN_CSRCS  += riscv_pthread_start.c riscv_pthread_exit.c
 CMN_CSRCS  += riscv_signal_dispatch.c
 CMN_UASRCS += riscv_signal_handler.S
 

arch/risc-v/src/rv64gc/riscv_swint.c

@@ -282,19 +282,21 @@ int riscv_swint(int irq, FAR void *context, FAR void *arg)
         break;
 #endif
 
-      /* R0=SYS_pthread_start:  This a user pthread start
+#if !defined(CONFIG_BUILD_FLAT) && !defined(CONFIG_DISABLE_PTHREAD)
+
+      /* A0=SYS_pthread_start:  This a user pthread start
        *
-       *   void up_pthread_start(pthread_startroutine_t entrypt,
+       *   void up_pthread_start(pthread_trampoline_t startup,
-       *                         pthread_addr_t arg) noreturn_function;
+       *          pthread_startroutine_t entrypt, pthread_addr_t arg)
        *
        * At this point, the following values are saved in context:
        *
-       *   R0 = SYS_pthread_start
+       *   A0 = SYS_pthread_start
-       *   R1 = entrypt
+       *   A1 = startup
-       *   R2 = arg
+       *   A2 = entrypt
+       *   A3 = arg
        */
 
-#if !defined(CONFIG_BUILD_FLAT) && !defined(CONFIG_DISABLE_PTHREAD)
       case SYS_pthread_start:
         {
           /* Set up to return to the user-space pthread start-up function in
@@ -312,6 +314,35 @@ int riscv_swint(int irq, FAR void *context, FAR void *arg)
           regs[REG_INT_CTX] &= ~MSTATUS_MPPM; /* User mode */
         }
         break;
+
+      /* R0=SYS_pthread_exit:  This pthread_exit call in user-space
+       *
+       *   void up_pthread_exit(pthread_exitroutine_t exit,
+       *                        FAR void *exit_value)
+       *
+       * At this point, the following values are saved in context:
+       *
+       *   R0 = SYS_pthread_exit
+       *   R1 = pthread_exit trampoline routine
+       *   R2 = exit_value
+       */
+
+      case SYS_pthread_exit:
+        {
+          /* Set up to enter the user-space pthread exit function in
+           * unprivileged mode.
+           */
+
+          regs[REG_EPC]      = (uintptr_t)regs[REG_A1] & ~1;  /* exit */
+
+          /* Change the parameter ordering to match the expectation of the
+           * user space pthread_exit:
+           */
+
+          regs[REG_A0]       = regs[REG_A2];  /* exit_value */
+          regs[REG_INT_CTX] &= ~MSTATUS_MPPM; /* User mode */
+        }
+        break;
 #endif
 
       /* R0=SYS_signal_handler:  This a user signal handler callback

arch/risc-v/src/rv64gc/svcall.h

@@ -46,9 +46,9 @@
 #ifdef CONFIG_LIB_SYSCALL
 #  ifdef CONFIG_BUILD_PROTECTED
 #    ifndef CONFIG_SYS_RESERVED
-#      error "CONFIG_SYS_RESERVED must be defined to have the value 8"
+#      error "CONFIG_SYS_RESERVED must be defined to have the value 9"
-#    elif CONFIG_SYS_RESERVED != 8
+#    elif CONFIG_SYS_RESERVED != 9
-#      error "CONFIG_SYS_RESERVED must have the value 8"
+#      error "CONFIG_SYS_RESERVED must have the value 9"
 #    endif
 #  else
 #    ifndef CONFIG_SYS_RESERVED
@@ -118,13 +118,20 @@
 
 /* SYS call 5:
  *
- * void up_pthread_start(pthread_startroutine_t startup,
+ * void up_pthread_start(pthread_trampoline_t startup,
  *                       pthread_startroutine_t entrypt, pthread_addr_t arg)
  *        noreturn_function
  */
 
 #define SYS_pthread_start         (5)
 
+/* SYS call 8:
+ *
+ * void up_pthread_exit(pthread_exitroutine_t exit, FAR void *exit_value)
+ */
+
+#define SYS_pthread_exit          (8)
+
 #endif /* !CONFIG_BUILD_FLAT */
 #endif /* CONFIG_LIB_SYSCALL */
 

boards/arm/imxrt/imxrt1050-evk/configs/knsh/defconfig

@@ -40,5 +40,5 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_START_DAY=8
 CONFIG_START_MONTH=6
 CONFIG_SYSTEM_NSH=y
-CONFIG_SYS_RESERVED=8
+CONFIG_SYS_RESERVED=9
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/arm/imxrt/imxrt1060-evk/configs/knsh/defconfig

@@ -40,5 +40,5 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_START_DAY=8
 CONFIG_START_MONTH=6
 CONFIG_SYSTEM_NSH=y
-CONFIG_SYS_RESERVED=8
+CONFIG_SYS_RESERVED=9
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/arm/imxrt/imxrt1064-evk/configs/knsh/defconfig

@@ -40,5 +40,5 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_START_DAY=8
 CONFIG_START_MONTH=6
 CONFIG_SYSTEM_NSH=y
-CONFIG_SYS_RESERVED=8
+CONFIG_SYS_RESERVED=9
 CONFIG_USER_ENTRYPOINT="nsh_main"