Yes, he says: whoever kills in self-defense, there are details about this.

If you are able to stop him without killing.

For example, you are stronger than him, or you have a weapon.

He does not have a weapon, for example, or you have overpowered him, for example, then do not kill him.

Here, you are not allowed to kill him. If you can stop him without killing, you are not allowed to kill him.

To kill him, but if you cannot stop him except by killing him, then there is nothing upon you, there is nothing upon you. The Prophet ﷺ said: He was asked, O Messenger of Allah, what if a man comes wanting to take my wealth? He said: Do not give him your wealth.

He said, What if he fights me? He said, Then fight him. He said, What if he kills me? He said, You are a martyr.

He said, What if I kill him? He said, He is in the Fire. So the Prophet ﷺ permitted fighting in this case.

Because a person cannot defend himself except by fighting, so this is allowed, if Allah wills, the Exalted.