diff --git a/include/nuttx/addrenv.h b/include/nuttx/addrenv.h
index f7dbc14a90..a3887476f7 100644
--- a/include/nuttx/addrenv.h
+++ b/include/nuttx/addrenv.h
@@ -416,6 +416,9 @@ int addrenv_leave(FAR struct tcb_s *tcb);
  *   0 (OK) is returned on success and a negated errno is returned on
  *   failure.
  *
+ * Note:
+ *   This API is not safe to use from interrupt.
+ *
  ****************************************************************************/
 
 int addrenv_select(FAR struct addrenv_s *addrenv,
diff --git a/sched/addrenv/addrenv.c b/sched/addrenv/addrenv.c
index bac4d3b390..aacd7a3fd2 100644
--- a/sched/addrenv/addrenv.c
+++ b/sched/addrenv/addrenv.c
@@ -339,6 +339,9 @@ int addrenv_leave(FAR struct tcb_s *tcb)
  *   0 (OK) is returned on success and a negated errno is returned on
  *   failure.
  *
+ * Note:
+ *   This API is not safe to use from interrupt.
+ *
  ****************************************************************************/
 
 int addrenv_select(FAR struct addrenv_s *addrenv,
diff --git a/sched/semaphore/sem_waitirq.c b/sched/semaphore/sem_waitirq.c
index 9995f3529e..c7eae08f4a 100644
--- a/sched/semaphore/sem_waitirq.c
+++ b/sched/semaphore/sem_waitirq.c
@@ -30,9 +30,9 @@
 #include <assert.h>
 #include <errno.h>
 
-#include <nuttx/addrenv.h>
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
+#include <nuttx/mm/kmap.h>
 
 #include "sched/sched.h"
 #include "semaphore/semaphore.h"
@@ -54,16 +54,16 @@
  *   2. From logic associated with sem_timedwait().  This function is called
  *      when the timeout elapses without receiving the semaphore.
  *
- *   Note: this function should used within critical_section
+ *   Note: this function should be used within critical_section.
  *
  * Input Parameters:
  *   wtcb    - A pointer to the TCB of the task that is waiting on a
  *             semphaphore, but has received a signal or timeout instead.
  *   errcode - EINTR if the semaphore wait was awakened by a signal;
- *             ETIMEDOUT if awakened by a timeout
+ *             ETIMEDOUT if awakened by a timeout.
  *
  * Returned Value:
- *   None
+ *   None.
  *
  * Assumptions:
  *
@@ -74,13 +74,8 @@ void nxsem_wait_irq(FAR struct tcb_s *wtcb, int errcode)
   FAR struct tcb_s *rtcb = this_task();
   FAR sem_t *sem = wtcb->waitobj;
 
-#ifdef CONFIG_ARCH_ADDRENV
-  FAR struct addrenv_s *oldenv;
-
-  if (wtcb->addrenv_own)
-    {
-      addrenv_select(wtcb->addrenv_own, &oldenv);
-    }
+#ifdef CONFIG_MM_KMAP
+  sem = kmm_map_user(wtcb, sem, sizeof(*sem));
 #endif
 
   /* It is possible that an interrupt/context switch beat us to the punch
@@ -107,11 +102,8 @@ void nxsem_wait_irq(FAR struct tcb_s *wtcb, int errcode)
 
   dq_rem((FAR dq_entry_t *)wtcb, SEM_WAITLIST(sem));
 
-#ifdef CONFIG_ARCH_ADDRENV
-  if (wtcb->addrenv_own)
-    {
-      addrenv_restore(oldenv);
-    }
+#ifdef CONFIG_MM_KMAP
+  kmm_unmap(sem);
 #endif
 
   /* Indicate that the wait is over. */