sched/ and arch/arm/src/armv7-a: Replace a few more occurrences of this_task() with current_task(cpu) in an effort to get the i.MX6 working in SMP mode again. It does not yet work, sadly.

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

@@ -1,7 +1,7 @@
 /****************************************************************************
  *  arch/arm/src/armv7-a/arm_releasepending.c
  *
- *   Copyright (C) 2013-2015 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2013-2015, 2018 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -56,16 +56,28 @@
  * Name: up_release_pending
  *
  * Description:
- *   Release and ready-to-run tasks that have
+ *   Release and ready-to-run tasks that have collected in the pending task
- *   collected in the pending task list.  This can call a
+ *   list.  This can call a context switch if a new task is placed at the
- *   context switch if a new task is placed at the head of
+ *   head of the ready to run list.
- *   the ready to run list.
  *
  ****************************************************************************/
 
 void up_release_pending(void)
 {
-  struct tcb_s *rtcb = this_task();
+  struct tcb_s *rtcb;
+#ifdef CONFIG_SMP
+  int cpu;
+
+  /* Get the TCB of the currently executing task on this CPU (avoid using
+   * this_task() because the TCBs may be in an inappropriate state right
+   * now).
+   */
+
+  cpu  = this_cpu();
+  rtcb = current_task(cpu);
+#else
+  rtcb = this_task();
+#endif
 
   sinfo("From TCB=%p\n", rtcb);
 
@@ -96,7 +108,11 @@ void up_release_pending(void)
            * of the ready-to-run task list.
            */
 
+#ifdef CONFIG_SMP
+          rtcb = current_task(cpu);
+#else
           rtcb = this_task();
+#endif
 
           /* Update scheduler parameters */
 
@@ -121,7 +137,11 @@ void up_release_pending(void)
            * of the ready-to-run task list.
            */
 
+#ifdef CONFIG_SMP
+          rtcb = current_task(cpu);
+#else
           rtcb = this_task();
+#endif
 
 #ifdef CONFIG_ARCH_ADDRENV
           /* Make sure that the address environment for the previously

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

@@ -92,8 +92,21 @@ void up_reprioritize_rtr(struct tcb_s *tcb, uint8_t priority)
     }
   else
     {
-      struct tcb_s *rtcb = this_task();
+      struct tcb_s *rtcb;
       bool switch_needed;
+#ifdef CONFIG_SMP
+      int cpu;
+
+      /* Get the TCB of the currently executing task on this CPU (avoid
+       * using this_task() because the TCBs may be in an inappropriate
+       * state right now).
+       */
+
+      cpu  = this_cpu();
+      rtcb = current_task(cpu);
+#else
+      rtcb = this_task();
+#endif
 
       sinfo("TCB=%p PRI=%d\n", tcb, priority);
 
@@ -150,7 +163,11 @@ void up_reprioritize_rtr(struct tcb_s *tcb, uint8_t priority)
                * of the ready-to-run task list.
                */
 
+#ifdef CONFIG_SMP
+              rtcb = current_task(cpu);
+#else
               rtcb = this_task();
+#endif
 
               /* Update scheduler parameters */
 
@@ -174,7 +191,11 @@ void up_reprioritize_rtr(struct tcb_s *tcb, uint8_t priority)
                * of the ready-to-run task list.
                */
 
+#ifdef CONFIG_SMP
+              rtcb = current_task(cpu);
+#else
               rtcb = this_task();
+#endif
 
 #ifdef CONFIG_ARCH_ADDRENV
               /* Make sure that the address environment for the previously

configs/sabre-6quad/README.txt

@@ -149,6 +149,7 @@ Status
 
   At present, the NSH prompt does come up but there there still hangs that
   must be addressed.
+
 Platform Features
 =================
 

sched/sched/sched_unlock.c

@@ -168,7 +168,7 @@ int sched_unlock(void)
                * maximum.
                */
 
-              if (rtcb != this_task())
+              if (rtcb != current_task(cpu))
                 {
                   rtcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
                 }
@@ -206,7 +206,7 @@ int sched_unlock(void)
                * change the currently active task.
                */
 
-              if (rtcb == this_task())
+              if (rtcb == current_task(cpu))
                 {
                   sched_timer_reassess();
                 }