arch/arm: update running task when context switch occurred

The text describes an issue related to the running task in code.
The running task is only used when calling the _assert function
to indicate the task that was running before an exception occurred.
However, the current code only updates the running task during
irq_dispatch, which is suitable for ARM-M architecture but not
for ARM-A or ARM-R architecture, because their context switches
are not done through irq handler. Therefore, if the following
process is followed, the value of the running task will be incorrect:

1. task1 is running, this_task()=task1
2. do_irq is executed, setting running task()=task1
3. task1 switches to task2
4. task2 is running and generates a data abort
5. In the data abort, the _assert function is called,
   and the running task obtained is still task1, but
   the actual task that generated the exception is task2.

Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>

arch/arm/src/arm/arm_syscall.c

@@ -33,6 +33,7 @@
 #include <nuttx/arch.h>
 
 #include "arm_internal.h"
+#include "sched/sched.h"
 
 /****************************************************************************
  * Public Functions
@@ -173,6 +174,12 @@ uint32_t *arm_syscall(uint32_t *regs)
 
   if (regs != CURRENT_REGS)
     {
+      /* Record the new "running" task.  g_running_tasks[] is only used by
+       * assertion logic for reporting crashes.
+       */
+
+      g_running_tasks[this_cpu()] = this_task();
+
       restore_critical_section();
       regs = (uint32_t *)CURRENT_REGS;
     }

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

@@ -39,6 +39,7 @@
 #include "addrenv.h"
 #include "arm.h"
 #include "arm_internal.h"
+#include "sched/sched.h"
 #include "signal/signal.h"
 
 /****************************************************************************
@@ -604,6 +605,12 @@ uint32_t *arm_syscall(uint32_t *regs)
 
   if (regs != CURRENT_REGS)
     {
+      /* Record the new "running" task.  g_running_tasks[] is only used by
+       * assertion logic for reporting crashes.
+       */
+
+      g_running_tasks[this_cpu()] = this_task();
+
       restore_critical_section();
       regs = (uint32_t *)CURRENT_REGS;
     }

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

@@ -35,6 +35,7 @@
 
 #include "arm.h"
 #include "arm_internal.h"
+#include "sched/sched.h"
 #include "signal/signal.h"
 
 /****************************************************************************
@@ -581,6 +582,12 @@ uint32_t *arm_syscall(uint32_t *regs)
 
   if (regs != CURRENT_REGS)
     {
+      /* Record the new "running" task.  g_running_tasks[] is only used by
+       * assertion logic for reporting crashes.
+       */
+
+      g_running_tasks[this_cpu()] = this_task();
+
       restore_critical_section();
       regs = (uint32_t *)CURRENT_REGS;
     }

arch/arm64/src/common/arm64_syscall.c

@@ -35,11 +35,12 @@
 #include <nuttx/sched.h>
 #include <nuttx/addrenv.h>
 
-#include "arch/irq.h"
-#include "signal/signal.h"
 #include "addrenv.h"
+#include "arch/irq.h"
 #include "arm64_internal.h"
 #include "arm64_fatal.h"
+#include "sched/sched.h"
+#include "signal/signal.h"
 
 /****************************************************************************
  * Private Functions
@@ -214,7 +215,13 @@ uint64_t *arm64_syscall_switch(uint64_t * regs)
       addrenv_switch(NULL);
 #endif
 
-    /* Restore the cpu lock */
+      /* Record the new "running" task.  g_running_tasks[] is only used by
+       * assertion logic for reporting crashes.
+       */
+
+      g_running_tasks[this_cpu()] = this_task();
+
+      /* Restore the cpu lock */
 
       restore_critical_section();
     }