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Is PendSV or counterpart available on Cortex-A?

Hi experts of Cortex-A,

  I had done a lot work on Cortex-M, and now be interested to Cortex-A.

  The exception of PendSV plays big role in context switching of thread/task, on Cortex-M. However I can't find PendSV on Cortex-A. Is PendSV or counterpart available on Cortex-A? How context switching to be supported on Cortex-A series?

Thanks,

-Andy

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