Commit Graph

2493 Commits

Author SHA1 Message Date
hujun5
90f9ffc2e8 sched/sched: CONFIG_SCHED_RESUMESCHEDULER macro define error
we removed "select SCHED_RESUMESCHEDULER",
As SCHED_RESUMESCHEDULER is not a necessary feature in SMP,
turning it on by default may affect performance.

Signed-off-by: hujun5 <hujun5@xiaomi.com>
2024-05-09 01:39:47 +08:00
Yanfeng Liu
64e008f65b sched/task: minor polish on task_init()
This removes duplicated mask operation and revises comments.

Signed-off-by: Yanfeng Liu <yfliu2008@qq.com>
2024-05-08 15:43:25 +08:00
hujun5
03895f1073 sched: sched: Simplify the scheduling logic in nxsched_add_readytorun() for SMP
test:
We can use qemu for testing.
compiling
make distclean -j20; ./tools/configure.sh -l qemu-armv8a:nsh_smp ;make -j20 running
qemu-system-aarch64 -cpu cortex-a53 -smp 4 -nographic -machine virt,virtualization=on,gic-version=3 -net none -chardev stdio,id=con,mux=on -serial chardev:con -mon chardev=con,mode=readline -kernel ./nuttx

We have also tested this patch on other ARM hardware platforms.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
2024-05-07 01:15:55 +08:00
hujun5
a4aad284eb sched: wqueue: Remove sched_[un]lock from kwork_inherit.c
purpose:
1 sched_lock is very time-consuming, and reducing its invocations can improve performance.
2 sched_lock is prone to misuse, and narrowing its scope of use is to prevent people from referencing incorrect code and using it

test:
We can use qemu for testing.
compiling
make distclean -j20; ./tools/configure.sh -l qemu-armv8a:nsh_smp ;make -j20
running
qemu-system-aarch64 -cpu cortex-a53 -smp 4 -nographic -machine virt,virtualization=on,gic-version=3 -net none -chardev stdio,id=con,mux=on -serial chardev:con -mon chardev=con,mode=readline -kernel ./nuttx

We have also tested this patch on other ARM hardware platforms.

Signed-off-by: hujun5 <hujun5@xiaomi.com>
2024-05-01 11:08:07 +08:00
hujun5
8a6aa5f5bf sched/sched: There is no need to use sched_[un]lock
purpose:
1 sched_lock is very time-consuming, and reducing its invocations can improve performance.
2 sched_lock is prone to misuse, and narrowing its scope of use is to prevent people from referencing incorrect code and using it

test:
We can use qemu for testing.
compiling
make distclean -j20; ./tools/configure.sh -l qemu-armv8a:nsh_smp ;make -j20
running
qemu-system-aarch64 -cpu cortex-a53 -smp 4 -nographic -machine virt,virtualization=on,gic-version=3 -net none -chardev stdio,id=con,mux=on -serial chardev:con -mon chardev=con,mode=readline -kernel ./nuttx

We have also tested this patch on other ARM hardware platforms.

Signed-off-by: hujun5 <hujun5@xiaomi.com>
2024-04-30 11:34:24 -03:00
hujun5
d0820acbbb sched: misc: Remove sched_lock in _assert()
Signed-off-by: hujun5 <hujun5@xiaomi.com>
2024-04-21 11:40:01 +02:00
chao an
3a5abf724e sched/Kconfig: make disable idle loop configurable
disable idle loop in experimental

Signed-off-by: chao an <anchao@lixiang.com>
2024-04-19 20:12:17 +08:00
Xiang Xiao
55e3cf7e2d sched: Move dump.c to sched_dumponexit.c
The dump.c is a part of sched module, so move it to sched directory.

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2024-04-19 08:39:10 +08:00
hujun5
82acf6e6a7 irq: All irq_cpu_locked is called in the critical_section, and the parameter is the current cpu id.
so it must return false, We can safely delete.

Signed-off-by: hujun5 <hujun5@xiaomi.com>
2024-04-12 17:40:23 +08:00
hujun5
1b068b0d4b sched/irq: remove scheduling check in csection
1. The critical section does not prevent task scheduling
2. If the critical section is in sched_lock, there is no need to check,
   scheduling is not going to happen
3. If sched_lock is in the critical section, sched_unlock will also
   trigger scheduling without waiting for the exit of the critical section
4. After exiting the critical section, if there is an interrupt,
   the scheduling will be automatically triggered

Signed-off-by: hujun5 <hujun5@xiaomi.com>
2024-04-12 16:15:42 +08:00
chao an
23e9489345 sched/mqueue: correct list parameter
1. correct list parameter
2. move global data to bss

Signed-off-by: chao an <anchao@lixiang.com>
2024-04-11 22:19:34 +08:00
hujun5
6c24ff95d4 timer: use spin_lock_irqsave protect g_alloctimers
all other g_alloctimers being protect by spin_lock_irqsave

Signed-off-by: hujun5 <hujun5@xiaomi.com>
2024-04-11 10:45:34 +08:00
ligd
3844efb5b8 stack: update up_get_intstackbase API to support cpu id
For crash dump all the CPU intstack

Signed-off-by: ligd <liguiding1@xiaomi.com>
2024-04-09 16:59:00 -03:00
chao an
09e5dca965 sched/pthread: detached thread should destroy the join info
In order to ensure the detached thread obtain the correct return
value from pthread_join()/pthread_cancel(), the detached thread
will create joininfo to save the detached status after thread
destroyed.  If there are too many of detached threads in the
process group, the joininfo will consume too much memory.
This is not friendly to embedded MCU devices.
This commit keep the semantics as #11898 was introduced,
will no longer save joininfo for detached threads to avoid wasting memory.

Signed-off-by: chao an <anchao@lixiang.com>
2024-04-09 13:46:51 +08:00
Mingjie Shen
c40421c05b SMP: Fix returning uninitialized variable in nxsched_add_readytorun()
Prior to this commit, doswitch is returned uninitialized if
(task_state == TSTATE_TASK_ASSIGNED || task_state == TSTATE_TASK_RUNNING)
&& no context switch occurs
&& (cpu == me).

Signed-off-by: Mingjie Shen <shen497@purdue.edu>
2024-04-03 22:30:45 +09:00
chao an
ad4fb55d1f sched/environ: Improve performance of set/unset environment
reserve dimensional array of environment to avoid frequent scaling

Signed-off-by: chao an <anchao@lixiang.com>
2024-04-03 00:10:56 +08:00
chao an
ee5d5d7312 sched/mqueue: merge System-V message queue initialize into posix
Signed-off-by: chao an <anchao@lixiang.com>
2024-03-26 17:32:11 +01:00
chao an
a8de85de0b sched/signal: add sanity check for siginfo
add sanity check for siginfo to ensure whether there is really a
consumer waiting for the signal, since the task state will not be
changed appropriately if in cancel/killed case

Test Case:
https://github.com/linux-test-project/ltp/blob/master/testcases/open_posix_testsuite/conformance/interfaces/sigpause/1-1.c#L63

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-26 20:55:04 +08:00
chao an
25339b0a17 sched/irq: spinlock should not depends on SMP
spinlock should work independently without CONFIG_SMP

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-26 15:21:52 +08:00
chao an
b9a74f30c6 sched/init: refine init state interface
N/A, refine init state interface

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-23 01:04:15 +08:00
chao an
f7434c2bc4 sched/init: move task list table from data to bss
N/A, help to extend the multi-core implementation

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-23 01:04:15 +08:00
chao an
7cc89bbd0e sched/init: move idle task initialize to inline function
N/A, help to extend the multi-core implementation

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-23 01:04:15 +08:00
chao an
63a0a544be sched/signal: merge allocate of signal pool
1. merge allocate of signal pool
2. remove unnecessary static variables

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-22 21:40:56 +08:00
chao an
feb6ede434 sched/cpu: replace up_cpu_index() to this_cpu()
In SMP mode, up_cpu_index()/this_cpu() are the same, both return the index of the physical core.
In AMP mode, up_cpu_index() will return the index of the physical core, and this_cpu() will always return 0

| #ifdef CONFIG_SMP
| #  define this_cpu()             up_cpu_index()
| #elif defined(CONFIG_AMP)
| #  define this_cpu()             (0)
| #else
| #  define this_cpu()             (0)
| #endif

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-21 18:52:35 +08:00
chao an
4e62d0005a sched: replace some global variables to macro
replace to macro will help to extend the scheduling implementation

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-21 18:51:25 +08:00
chao an
306c1c0b7d sched/tasklist: replace task status list with macro definition
replace to macro will help to extend the scheduling implementation

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-21 11:23:46 +09:00
chao an
ad0efd04ee sched/wqueue: replace some global variables to macro
replace to macro will help to extend the scheduling implementation

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-21 11:22:41 +09:00
Jukka Laitinen
7c6b6171f5 sched/group/group_killchildren.c: Force-cancel children if parent is force-cancelled
There is no point in waiting for children to exit if the parent is force-cancelled

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
2024-03-20 18:03:15 -03:00
TaiJu Wu
23d65cb97f shced:sem: replace mutex with spinlock
The overhead of spinlok is less than mutext (mutex need to call
enter_critical section.)
After this patch, `down_write_trylock` and `down_read_trylock` can be
use in interrupt context.

The instruction is protected with mutex only one instruction so using
spinlock is better.

Signed-off-by: TaiJu Wu <tjwu1217@gmail.com>
2024-03-19 18:06:12 +08:00
chao an
d4d49e9645 stdio/file: unify group file list to common single queue
unify group file list to common single queue

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-18 19:32:49 +08:00
chao an
2b4002d9ad sched/signal: move unblock signal info to stack
struct tcb_s will reduce by 24 bytes

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-15 01:10:55 +08:00
chao an
df30a1f8d3 sched/pthread/join: refactor pthread join to support join task
1. add support to join main task

| static pthread_t self;
|
| static void *join_task(void *arg)
| {
|   int ret;
|   ret = pthread_join(self, NULL);          <---  /* Fix Task could not be joined */
|   return NULL;
| }
|
| int main(int argc, char *argv[])
| {
|   pthread_t thread;
|
|   self = pthread_self();
|
|   pthread_create(&thread, NULL, join_task, NULL);
|   sleep(1);
|
|   pthread_exit(NULL);
|   return 0;
| }

2. Detach active thread will not alloc for additional join, just update the task flag.
3. Remove the return value waiting lock logic (data_sem),
   the return value will be stored in the waiting tcb.
4. Revise the return value of pthread_join(), consistent with linux
   e.g:
       Joining a detached and canceled thread should return EINVAL, not ESRCH

   https://pubs.opengroup.org/onlinepubs/009695399/functions/pthread_join.html

   [EINVAL]
      The value specified by thread does not refer to a joinable thread.

NOTE:

This PR will not increase stack usage, but struct tcb_s will increase 32 bytes.

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-13 18:06:56 +09:00
chao an
be482cd830 sched/pthread: replace pthread_sem_give() to nxsem_post() to unify the post method
replace pthread_sem_give() to nxsem_post() to unify the post method

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-11 22:57:26 +08:00
chao an
68c21df444 sched/pthread/join: remove unused joininfo
remove unused joininfo, minor issue found from code reading

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-11 22:05:33 +08:00
chao an
d468ff3eeb sched/group: set clear flag if the group is not really needed
The delete flag is not synchronized with the life cycle of the group,
if the flag set before waitpid(), the tcb will be mistakenly deleted
by group_del_waiter(), use-after-free will happen.

Regression by:
| commit 29e50ffa73 (origin/master, origin/HEAD)
| Author: chao an <anchao@lixiang.com>
| Date:   Mon Mar 4 09:19:27 2024 +0800
|
|     sched/group: move task group into task_tcb_s to improve performance
|
|     move task group into task_tcb_s to avoid access allocator to improve performance
|
|     for Task Termination, the time consumption will be reduced ~2us (Tricore TC397 300MHZ):
|     15.97(us) -> 13.55(us)
|
|     Signed-off-by: chao an <anchao@lixiang.com>

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-11 13:58:25 +09:00
chao an
29e50ffa73 sched/group: move task group into task_tcb_s to improve performance
move task group into task_tcb_s to avoid access allocator to improve performance

for Task Termination, the time consumption will be reduced ~2us (Tricore TC397 300MHZ):
15.97(us) -> 13.55(us)

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-10 11:45:46 -03:00
chao an
beb2af8378 sched/group: skip child wait if here is only self in member list
Skip the child wait if here is only self in member list,
since the members of the task group should be 1 if task exit.

Fix Regression issue that the task could not terminate normally.

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-07 22:53:19 +08:00
chao an
ec08031e4b sched/group: change type of task group member to single queue
Change the type of task group member to single list chain to
avoid accessing the memory allocator to improve the performance

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-07 12:39:29 +08:00
chao an
89bd6ab74a sched/pthread: fix memory leak of pthread_tcb_s
pthread tcb should be released appropriately

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-06 20:37:06 +08:00
chao an
8592e7e009 sched/task: save argument counter to avoid limit check
The maximum startup parameters have been checked accordingly in nxtask_setup_stackargs(),
let us save argument counter to avoid limit check.

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-05 22:25:28 +08:00
chao an
7cb1f3b3c0 sched/group: replace group_findbypid to task_getgroup
Task group could find from process id, replace group_findbypid to
task_getgroup to simplify the search logic

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-05 22:24:52 +08:00
chao an
dfd1e38b40 sched/environ: check envcp validity before hold sched_lock()
check envcp validity before hold sched_lock() to avoid unnecessary schedule lock

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-05 22:24:14 +08:00
Tiago Medicci Serrano
ae9ef972c0 paging: Rename existing CONFIG_PAGING to CONFIG_LEGACY_PAGING
Current `CONFIG_PAGING` refers to an experimental implementation
to enable embedded MCUs with some limited RAM space to execute
large programs from some non-random access media.

On-demand paging should be implemented for the kernel mode with
address environment implementation enabled.
2024-03-05 09:45:49 +08:00
chao an
9489953230 sched/tcb: add free tcb flag to support static tcb
Add support for static tcb, applications in some special case can
initialize system resources in advance through static tcb.

|  static struct task_tcb_s g_tcb;
|
|  memset(&g_tcb, 0, sizeof(struct task_tcb_s));
|  g_tcb.cmn.flags = TCB_FLAG_TTYPE_KERNEL;
|  nxtask_init(&g_tcb, "PTCB", 101, NULL, 1024, ptcb_task, NULL, NULL, NULL);
|
|  ...
|  nxtask_activate(&g_tcb.cmn);

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-04 20:05:11 +08:00
ligd
fd2da7f4bc cpuload: change cpuload type to clock_t
Signed-off-by: ligd <liguiding1@xiaomi.com>
2024-03-03 02:15:40 +08:00
ligd
3521e6ba27 cpuload: remove ciritical_section() to fix recursive
Recursive:
25 0x44000e5a in up_cpu_paused (cpu=cpu@entry=1) at armv7-a/arm_cpupause.c:120
26 0x440032f2 in enter_critical_section () at irq/irq_csection.c:275
27 0x44006f24 in nxsched_process_taskload_ticks (tcb=tcb@entry=0x442ba638 <g_idletcb+256>, ticks=0) at sched/sched_cpuload.c:104
28 0x44007310 in nxsched_suspend_critmon (tcb=tcb@entry=0x442ba638 <g_idletcb+256>) at sched/sched_critmonitor.c:303
29 0x44006ef0 in nxsched_suspend_scheduler (tcb=tcb@entry=0x442ba638 <g_idletcb+256>) at sched/sched_suspendscheduler.c:78
30 0x44000e5a in up_cpu_paused (cpu=cpu@entry=1) at armv7-a/arm_cpupause.c:120
31 0x440032f2 in enter_critical_section () at irq/irq_csection.c:275
32 0x44000f1a in arm_pause_handler (irq=<optimized out>, context=<optimized out>, arg=<optimized out>) at armv7-a/arm_cpupause.c:216
33 0x44002ffe in irq_dispatch (irq=irq@entry=2, context=context@entry=0x4449f6b8 <g_cpu1_idlestack+1720>) at irq/irq_dispatch.c:146
34 0x44001612 in arm_doirq (irq=2, irq@entry=0, regs=0x4449f6b8 <g_cpu1_idlestack+1720>) at armv7-a/arm_doirq.c:72
35 0x44000940 in arm_decodeirq (regs=<optimized out>) at armv7-a/arm_gicv2.c:403
36 0x440000b4 in arm_vectorirq () at armv7-a/arm_vectors.S:236

Signed-off-by: ligd <liguiding1@xiaomi.com>
2024-03-03 02:15:40 +08:00
ligd
2241969e5a SMP: fix crash when switch to new task which is still running
cpu0 thread0:                        cpu1:
sched_yield()
nxsched_set_priority()
nxsched_running_setpriority()
nxsched_reprioritize_rtr()
nxsched_add_readytorun()
up_cpu_pause()
                                     IRQ enter
                                     arm64_pause_handler()
                                     enter_critical_section() begin
                                     up_cpu_paused() pick thread0
                                     arm64_restorestate() set thread0 tcb->xcp.regs to CURRENT_REGS
up_switch_context()
  thread0 -> thread1
arm64_syscall()
    case SYS_switch_context
     change thread0 tcb->xcp.regs
    restore_critical_section()
                                     enter_critical_section() done
                                     leave_critical_section()
                                     IRQ leave with restore CURRENT_REGS
                                     ERROR !!!

Reason:
As descript above, cpu0 swith task: thread0 -> thread1, and the
syscall() execute slowly, this time cpu1 pick thread0 to run at
up_cpu_paused(). Then cpu0 syscall execute, cpu1 IRQ leave error.

Resolve:
Move arm64_restorestate() after enter_critical_section() done

This is a continued fix with:
https://github.com/apache/nuttx/pull/6833

Signed-off-by: ligd <liguiding1@xiaomi.com>
2024-03-01 21:05:00 +09:00
chao an
954bffcbd7 sched/tls: inline group info in flat mode to improve performance
inline group info in flat mode to improve the task create/destroy performance

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-01 17:27:26 +08:00
Masayuki Ishikawa
e67d32a5ba Revert "fix variable set but not used"
This reverts commit d2d93ba58c.
2024-02-21 21:29:48 -08:00
yinshengkai
d2d93ba58c fix variable set but not used
These variables will trigger variable 'ret' set but not used warnings due to different configurations.

Signed-off-by: yinshengkai <yinshengkai@xiaomi.com>
2024-02-21 13:28:20 -03:00