Release: v6.1

Additions:
        - Added the dsPIC33 architecture doc
Fixes:
        - Fix SPLIM updation on swap
        - Fix test, thread self abort
        - Fix the philosophors build for 128k flash device
        - Fix stack overflow issue in main for tests
        - Fix base address and offset for interrupt controller in dts

Signed-off-by: Muhammed Zamroodh <[email protected]>

Author: Udhayanandhan-Jayakumar

arch/dspic/Kconfig

@@ -17,6 +17,12 @@ config DYNAMIC_INTERRUPTS
 config GEN_IRQ_START_VECTOR
 	default 0
 
+config ARCH_HAS_THREAD_ABORT
+	default y
+
+config ISR_STACK_SIZE
+    default 128
+
 config DSPIC33_IRQ_OFFLOAD_IRQ
 	int "IRQ number for irq_offload()"
 	default 34

arch/dspic/core/CMakeLists.txt

@@ -14,6 +14,7 @@ zephyr_library_sources(
     vector_table.S
     reset1.S
     irq_offload.c
+    thread_abort.c
 )
 
 zephyr_linker_sources(ROM_START SORT_KEY 0x00 vector_table.ld)

arch/dspic/core/fatal.c

@@ -19,6 +19,7 @@ volatile uint32_t reason, address;
 #define EXCEPTION_HANDLER __attribute__((interrupt, no_auto_psv, weak, naked))
 #define BUS_ERROR_MASK    0xF
 #define MATH_ERROR_MASK   0x1F
+#define STACK_ERROR_MASK   0x10
 #define GENERAL_TRAP_MASK 0x8000000Fu
 
 void __attribute__((weak)) TRAPS_halt_on_error(void);
@@ -100,6 +101,15 @@ void EXCEPTION_HANDLER _MathErrorTrap(void)
 /** Stack error.**/
 void EXCEPTION_HANDLER _StackErrorTrap(void)
 {
+	const char *name = k_thread_name_get(_current);
+
+	reason = INTCON1 & STACK_ERROR_MASK;
+	address = PCTRAP;
+	if (name == NULL) {
+		name = "Unnamed";
+	}
+	LOG_ERR("ERROR !!! Exception reason = %d, address = 0x%x", reason, address);
+	LOG_ERR("Thread : %p (%s)\n", _current, name);
 	INTCON1bits.STKERR = 0;
 	PCTRAP = 0;
 	TRAPS_halt_on_error();

arch/dspic/core/isr_wrapper.S

@@ -54,10 +54,6 @@ __COMMONInterrupt:
     bra	z,.L2
     ulnk
     CTXTSWP #0x0
-    mov.l w0, [w15++]
-    mov.l #RAM_END, w0
-    mov.l w0, SPLIM
-    mov.l [--w15], w0
     z_dspic_save_caller_saved
     z_dspic_save_callee_saved
 

arch/dspic/core/thread_abort.c

@@ -0,0 +1,33 @@
+/*
+ * Copyright (c) 2025, Microchip Technology Inc.
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ * @file
+ * @brief DSPIC k_thread_abort() routine
+ *
+ * thread abort needs to be called with IRQ locked, there is chance for the
+ * thread to be switched out before it completes abort call. This can happen in
+ * the event of a thread performing a self abort and an interrupt happens in
+ * between.
+ */
+
+#include <zephyr/kernel.h>
+#include <zephyr/toolchain.h>
+#include <zephyr/linker/sections.h>
+#include <kswap.h>
+#include <zephyr/sys/__assert.h>
+
+void z_impl_k_thread_abort(k_tid_t thread)
+{
+	struct k_spinlock lock;
+	SYS_PORT_TRACING_OBJ_FUNC_ENTER(k_thread, abort, thread);
+
+	k_spinlock_key_t key = k_spin_lock(&lock);
+
+	z_thread_abort(thread);
+	k_spin_unlock(&_sched_spinlock, key);
+
+	SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_thread, abort, thread);
+}

arch/dspic/include/kernel_arch_swap_macro.S

@@ -153,10 +153,10 @@
     sac.l B, [W1++]
     suac.l B, [W1++]
 
-    mov.l w15, [w1++]
-    mov.l w14, [w1++]
     mov.l #SPLIM, w2
     mov.l [w2], [w1++]
+    mov.l w15, [w1++]
+    mov.l w14, [w1++]
 .endm
 
 .macro z_dspic_restore_callee_saved
@@ -222,10 +222,10 @@
     lac.l [W1++], B
     luac.l [W1++], B
 
-    mov.l [w1++], w15
-    mov.l [w1++], w14
     mov.l #SPLIM, w2
     mov.l [w1++], [w2]
+    mov.l [w1++], w15
+    mov.l [w1++], w14
 .endm
 
 .macro z_dspic_temp_backup_working_reg
@@ -274,10 +274,6 @@
     /* Set the SPLIM to end of RAM
      * To avoid, stack overflow fault.
      */
-    mov.l w0, [w15++]
-    mov.l #RAM_END, w0
-    mov.l w0, SPLIM
-    mov.l [--w15], w0
 	/* Switch to context 0 before starting context save and restore
 	 * This Arch has 7 context and each has banked register sets for w0-w8
 	 * So in interrupt we are in ctx 1 and need to go to ctx 0 for tasks