Commit Graph

2431 Commits

Author SHA1 Message Date
Ville Juven
c9bdadd541 sched/semaphore: Move cancel point and errno handling to libc / user-space
This moves all the public POSIX semaphore functions into libc and with
this most of the user-space logic is also moved; namely cancel point and
errno handling.

This also removes the need for the _SEM_XX macros used to differentiate
which API is used per user-/kernel mode. Such macros are henceforth
unnecessary.
2023-11-27 04:52:54 -08:00
ligd
00121f9812 sched: delete check when pick nexttcb in readytorun list
CPU0                     CPU1
1. feed0 thread             feed1 thread
   (prio 1 affinity)        (prio 1 affinity)
2. nsh_main
   sched_lock()
3. waitpid()                hello_main
4. ------                   hello exit()
5. ------                   exit()->exit_wakeup()->wakeup nsh ->
                            add_readytorun()->
                            nsh at schedlock state set g_cpu_schedlock
6. -----                    exit()->nxtask_exit()->remove_readytorun()
                            -> check g_cpu_schedlock -> pick idle1
7. waitpid() return         idle thread
8. sched_unlock             idle thread

The error is in step 6:
pick a idle thread to execute not feed1 thread.

resolve:
remove the schedlocked-check in remove_readytorun()

Signed-off-by: ligd <liguiding1@xiaomi.com>
2023-11-24 12:43:54 +09:00
Ville Juven
57de6484e9 task/pthread_cancelpt: Fix task_delete from another task group
PR #11165 causes an unnecessary regression; task_delete no longer works,
if the deleted task is from another group.

The logic that prevents this comes from:

nxnotify_cancellation() ->
tls_get_info_pid() ->
nxsched_get_stackinfo()

Which checks for permissions, which does not make sense in this case since
it is the kernel asking for the stack information.

Fix this by partially reverting 11165 and implementing a direct path for
the kernel to query for any tasks TLS.
2023-11-22 08:05:58 -08:00
Petteri Aimonen
0648a61668 sigaction: Expand si_user for non-kernel signals
Commit 9244b5a737 added support
for non-standard field si_user that is useful for passing context
pointers to signal handlers.

This commits makes it work for all signals, not just SA_KERNELHAND.
Previously si_user for normal signals was uninitialized garbage.
2023-11-22 08:00:43 -08:00
Xiang Xiao
b2f75c2f3d spinlock: Move the inclusion of stdatomic.h to source file
to make rwlock work with c++ source code

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2023-11-19 20:22:50 +01:00
chao an
42427e9e29 sched/taskfiles: skip unnecessary file open/close operations to improve performance
The task files should consult the "spawn action" and "O_CLOEXEC flags"
to determine further whether the file should be duplicated.

This PR will further optimize file list duplicating to avoid the performance
regression caused by additional file operations.

Signed-off-by: chao an <anchao@xiaomi.com>
2023-11-16 07:30:36 -08:00
chao an
342a6bb676 sched/task: ignore return value of nxspawn_close()
Closing an invalid file descriptor will not cause the action fail.

Signed-off-by: chao an <anchao@xiaomi.com>
2023-11-16 07:30:36 -08:00
Ville Juven
0dedbcd4ae task/pthread_cancelpt: Move cancel point handling to libc, data to TLS
This moves task / thread cancel point logic from the NuttX kernel into
libc, while the data needed by the cancel point logic is moved to TLS.

The change is an enabler to move user-space APIs to libc as well, for
a coherent user/kernel separation.
2023-11-15 08:52:04 -08:00
chao an
64cf63475c arch/dumponexit: unify dump on exit to common code
remove arch implement and move to common code

Signed-off-by: chao an <anchao@xiaomi.com>
2023-11-15 08:28:25 -08:00
chao an
61aa2c36b6 misc/assert: restore assertion registers to array of last registers
Some assertions in extreme cases will cause syslog to be unable to
output logs normally, so this PR will restore the input registers
into the array of last registers to ensure that we can also obtain
some important informations.

Signed-off-by: chao an <anchao@xiaomi.com>
2023-11-15 15:49:27 +01:00
Ville Juven
b7b0a17682 sched/sem_holder.c: When accessing SEM_WAITLIST, use holder's addrenv
If the semaphore is shared, the holder has put its own mmapped address
to pholder->sem. This means we must switch to the holder's address
environment when going through the held semaphores list.

A better option would be to get the kernel mapped address for the
semaphore's physical page, but that mechanism is not functional yet.

This fixes a full system crash when CONFIG_PRIORITY_INHERITANCE=y and
CONFIG_BUILD_KERNEL=y and user makes shared semaphore via:

int semfd  = shm_open("sem", O_CREAT | O_RDWR, 0666);
sem_t *sem = mmap(0, sizeof(sem_t), PROT_READ | PROT_WRITE, MAP_SHARED, semfd, 0);
2023-11-15 03:45:15 -08:00
Petteri Aimonen
1825f9534c adjtime: Rewrite implementation to work for RTC and tickless kernel
Previous adjtime() implementation was limited to adjusting system
timer tick period. This commit reimplements the internals to use
a kernel watchdog timer. Platform-independent part of the code now
works also for adjusting hires RTC and tickless timer rate.

User code facing API is unchanged. Architecture code API has changed:
up_adj_timer_period() is replaced by up_adjtime().

Other improvements:

- Support query of remaining adjustment by passing NULL to first
  argument of adjtime(). This matches Linux behavior.

- Improve resolution available for architecture driver, previously
  limited to 1 microsecond per tick. Now 1 nanosecond per second.
2023-11-14 19:47:40 -08:00
Huang Qi
0995e17927 sched: Check for zero sleep time and yield CPU if
necessary

Signed-off-by: Huang Qi <huangqi3@xiaomi.com>
2023-11-07 18:26:54 +08:00
raiden00pl
ffc5434a8c sched/Kconfig: RW_SPINLOCK depends on SPINLOCK 2023-11-05 12:11:28 +08:00
raiden00pl
34476b497f sched/semaphore/spinlock.c: cosmetics 2023-11-05 12:11:28 +08:00
yinshengkai
d0a5489ac5 sched: explicitly select the cpuload clock source configuration
Different configurations require different dependencies.
Explicitly select dependencies to avoid automatically selecting inappropriate configurations.

Signed-off-by: yinshengkai <yinshengkai@xiaomi.com>
2023-11-01 09:27:56 +08:00
Ville Juven
e935bc53bb task/task_spawnparms.c: Set the new process's signal mask
Set the newly spawned process's signal mask, if the caller has instructed
to do so by setting POSIX_SPAWN_SETSIGMASK.

This is called after the task has been created but has NOT been started
yet.
2023-10-30 22:30:03 +08:00
Ville Juven
6e9e215943 sched/task: Remove spawn_proxyattrs as obsolete implementation
Like the name implies, it is supposed to set the spawn attributes for
the NuttX specific "spawn proxy task" which was historically used as
a proxy to spawn new tasks. The proxy handled file actions and the signal
mask which are inherited from the parent.

The proxy task does not exist anymore, thus the proxy task attributes
do not need to be set anymore either.

Also, the function is currently still used, but the signal mask is set
for the spawning process, not the proxy process, and this is most
DEFINITELY an error (as the spawning process's signal mask changes
unexpectedly).

Setting the signal mask for the newly spawned process is simple, just
set it directly, if instructed to do so. This will be done in a later
patch!
2023-10-30 22:30:03 +08:00
dongjiuzhu1
18819b6b24 sched/task: close file descriptor with O_CLOEXEC before active task or exec
VELAPLATFO-18473

refs:
https://man7.org/linux/man-pages/man2/fcntl.2.html
If the FD_CLOEXEC bit is set, the file descriptor will automatically
be closed during a successful execve(2).
(If the execve(2) fails, the file descriptor is left open.)

modify:
1. Ensure that the child task copies all fds of the parent task,
   including those with O_CLOEXE.
2. Make sure spawn_file_action is executed under fd with O_CLOEXEC,
   otherwise it will fail.
3. When a new task is activated or exec is called, close all fds
   with O_CLOEXEC flags.

Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
2023-10-27 21:15:07 +08:00
dongjiuzhu1
db13ff2dd5 libs/libc: fix compile warning about modlib_depend when CONFIG_MODLIB_MAXDEPEND = 0
modlib/modlib_symbols.c: In function ‘modlib_symcallback’:
modlib/modlib_symbols.c:215:13: warning: implicit declaration of function ‘modlib_depend’; did you mean ‘modlib_read’? [-Wimplicit-function-declaration]
  215 |       ret = modlib_depend(exportinfo->modp, modp);
      |             ^~~~~~~~~~~~~
      |             modlib_read

Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
2023-10-26 01:53:38 +08:00
dongjiuzhu1
e88a36fa92 libs/modlib: Adding architecture-specific memory allocator for dynamic data loading
Arch can specific the memory allocator for data to optimize access speed.

Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
2023-10-26 01:53:38 +08:00
dongjiuzhu1
968e89303f env_dup: fix issue about USE_AFTER_FREE
Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
2023-10-26 00:11:14 +08:00
Ville Juven
ab78e3817a sched/task_[posix]spawn: Simplify how spawn attributes are handled
Handle task spawn attributes as task spawn file actions are handled.

Why? This removes the need for sched_lock() when the task is being
spawned. When loading the new task from a file the scheduler can be
locked for a VERY LONG time, in the order of hundreds of milliseconds!

This is unacceptable for real time operation.

Also fixes a latent bug in exec_module, spawn_file_actions is executed
at a bad location; when CONFIG_ARCH_ADDRENV=y actions will point to the
new process's address environment (as it is temporarily instantiated at
that point). Fix this by moving it to after addrenv_restore.
2023-10-25 11:55:44 -03:00
chao an
87d6084f31 sched: fix the minor style issue
and remove the unused return value

Signed-off-by: chao an <anchao@xiaomi.com>
2023-10-25 15:46:45 +08:00
chao an
50b17fb3fc group/killchildren: replace syscall(2) to kernel api
syscall(2) cannot be called from kernel space

Signed-off-by: chao an <anchao@xiaomi.com>
2023-10-25 15:46:45 +08:00
chao an
cdec5c80c2 sched/pthread/barrierwait: replace syscall(2) to kernel api
syscall(2) cannot be called from kernel space

Signed-off-by: chao an <anchao@xiaomi.com>
2023-10-25 09:18:55 +08:00
TaiJuWu
51eaa59cc0 Replace enter_critical_section with spin_irqsave
Base on discusion: https://github.com/apache/nuttx/issues/10981

Signed-off-by: TaiJuWu <tjwu1217@gmail.com>
2023-10-21 11:00:07 +08:00
Michal Lenc
0a107ca6d9 libc: add support for custom streams with fopencookie()
This commit adds support for custom stream via fopencookie function.
The function allows the programmer the create his own custom stream
for IO operations and hook his custom functions to it.

This is a non POSIX interface defined in Standard C library and implemented
according to it. The only difference is in usage of off_t instead of
off64_t. Programmer can use 64 bits offset if CONFIG_FS_LARGEFILE is
enabled. In that case off_t is defined as int64_t (int32_t otherwise).

Field fs_fd is removed from file_struct and fs_cookie is used instead
as a shared variable for file descriptor or user defined cookie.

The interface will be useful for future fmemopen implementation.

Signed-off-by: Michal Lenc <michallenc@seznam.cz>
2023-10-18 21:13:01 +08:00
zhangyuan21
083c87b39a sched: Exit immediately when cpuset change to 0.
Exit immediately when finished processing the current CPU
if there are no other CPUs to be processed.

Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>
2023-10-18 21:12:35 +08:00
zhangyuan21
34412349e9 sched: add smp function call
Support smp function call, calling smp_call_function allows
a specific core to execute a function. It should be noted
that there should be no waiting operations in the executed
function.

Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>
2023-10-18 09:57:50 +08:00
Xiang Xiao
a34be7f7c2 sched: Remove the unused tcb argument from group_setupidlefiles
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2023-10-17 17:23:05 +03:00
Xiang Xiao
62c2b1abba stdio: Initialize stdin, stdout and stderr directly
and then remove group_setupstreams

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2023-10-17 13:34:00 +08:00
Xiang Xiao
b0d197534f stdio: Move lib_stream_[initialize|release] from libc/stdio to sched/tls
both functions aren't suitable to be put into libc,
because they call the kernel internal functions directly.

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2023-10-17 13:34:00 +08:00
Bowen Wang
77306e5029 assert: move the backtrace dump after the stack dump
Execute the simple logic first to avoid rarely crash information
when crash in backtrace again.

Signed-off-by: Bowen Wang <wangbowen6@xiaomi.com>
2023-10-16 16:07:44 +08:00
TaiJu Wu
e28fcbd777 fix: Mac sim-02 compiler issue
This path just for modify Mac sim-02 issue.
The compiler require the firt paramter of atomic_compare_exchange_strong
is atomic type and second parameter is int type.

Signed-off-by: TaiJu Wu <tjwu1217@gmail.com>
2023-10-16 08:55:01 +08:00
TaiJu Wu
68a4d3df7e spinlock: implement read writer spinlock
spinlock.c:
Implement read write spinlock.
Readers can take lock simultaneously but only one writer can take lock.

irq_spinlock.c:
Align g_irq_spin_count.
If the lock is NULL, the caller will get global lock (e.g. g_irq_spin) and spin_lock_irqsave() support nest on the same CPU.
If the CPU can write lock, it can call write_lock_irqsave() again (e.g. support nest).

Signed-off-by: TaiJu Wu <tjwu1217@gmail.com>

Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com>
2023-10-16 08:55:01 +08:00
Ville Juven
d72de58aa8 sched/assert.c: Print process name in assert dump
In addition to printing out the thread name (task name in flat mode),
print the parent process's name as well.

It is quite useful to know which process is the parent of a faulting
thread, although this information can be read from the assert dump, in
some cases the dump might be incomplete (due to e.g. stack corruption,
which causes another exception and PANIC().)
2023-10-09 21:30:33 +08:00
Xiang Xiao
dfa0283d83 spinlock: Rename spin_islocked to spin_is_locked
align with Linux naming style

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2023-10-06 20:03:19 -04:00
TaiJu Wu
ffba0d15a5 Feature: implement ticket spinlock
test config: ./tools/configure.sh -l qemu-armv8a:nsh_smp

Pass ostest

No matter big-endian or little-endian, ticket spinlock only check the
next and the owner is equal or not.

If they are equal, it means there is a task hold the lock or lock is
free.

Signed-off-by: TaiJu Wu <tjwu1217@gmail.com>

Co-authored-by: Xiang Xiao <xiaoxiang781216@gmail.com>
2023-10-07 01:38:37 +08:00
yinshengkai
ddb87d3b86 clock: replace all up_perf_xx with perf_xx
Signed-off-by: yinshengkai <yinshengkai@xiaomi.com>
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2023-10-02 16:11:43 +02:00
yinshengkai
b99820744c timer: handle perf count overflow
clock_getcycle always returns an incremented cycle value
If the hardware does not support perf event it will use arch_alarm's up_perf_gettime

Signed-off-by: yinshengkai <yinshengkai@xiaomi.com>
2023-10-02 16:11:43 +02:00
Petteri Aimonen
0611f39cdc adjtime(): Improve configuration and math
1) Previously adjustments less than 1 microsecond per tick would be
   completely ignored. Now they are applied over a shorter period at
   a rate of 1 us per tick.

2) Previously CLOCK_ADJTIME_PERIOD was in units of 1/100th of second.
   Change to milliseconds to be more generally useful unit.
   Change setting name to CLOCK_ADJTIME_PERIOD_MS to make the unit change
   easier to notice.

3) Previously CLOCK_ADJTIME_SLEWLIMIT was in percentage.
   Most clock crystals have better accuracy than 1%, so the minimum slew
   rate was excessive. Change to CLOCK_ADJTIME_SLEWLIMIT_PPM with setting
   value in parts per million.

4) No need to use floating point math in clock_adjtime.c.
2023-09-29 13:03:10 +08:00
Petteri Aimonen
a2da12a67e Fix dependencies of CONFIG_SCHED_CPULOAD_ settings
CONFIG_SCHED_CPULOAD_EXTCLK doesn't actually require tickless mode.
As long as the platform provides external call to nxsched_process_cpuload(),
it will work in either tickless or ticking mode.
Removed Kconfig dependency.

Instead, CONFIG_SCHED_CPULOAD_SYSCLK does require ticking mode to work,
as documented in CONFIG_SCHED_CPULOAD help text.
Added the dependency to Kconfig also.
2023-09-26 22:13:37 +08:00
Xiang Xiao
2acd975435 assert: Skip to include arch/board/board.h if CONFIG_ARCH_LEDS=n
follow up the change: https://github.com/apache/nuttx/pull/10553

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2023-09-26 15:41:35 +08:00
zhuanglin
13ee3f8117 sched/clock Add special handling for TCB null pointer cases
Adding a judgment in the code that null return values are not referenced for dereference

Signed-off-by: zhuanglin <zhuanglin@xiaomi.com>
2023-09-22 08:46:50 +08:00
ThomasNS
a2c806027f fix led panic feature 2023-09-21 00:35:12 +08:00
Neale Ferguson
5d7f2fdf16 Fix loading of ET_DYN type of shared objects
* build-globals.sh
  - Only look in the nuttx for external symbols used when loading
    dynamic shared objects

* include/elf64.h
  - Correct the type of fields in the Elf64_Phdr structure

* libs/libc/dlfcn/lib_dlclose.c
  - Distinguish between ET_DYN and other objects as the former
    has both text and data in a single allocation to reserve
    GOT offsets

* libs/libc/dlfcn/lib_dlopen.c
  - Code formatting

* libs/libc/modlib/modlib_bind.c
  - Distinguish between relocation entry sizes by section type
  - Handle RELA style relocations

* libs/libc/modlib/modlib_globals.S
  - Formatting fixes
  - Symbols should not be weak - they exist or they don't

* include/nuttx/lib/modlib.h
  - Add an inidcator to module_s to distinguish between ET_DYN and other

* libs/libc/modlib/modlib_load.c
  - ET_DYN objects need to keep the relative displacement between the text
    and data sections due to GOT references from the former to the latter.
    This also implies that linking may require modification from the default
    for the shared objects being produced. For example, default alignment may
    mean nearly 64K of wasted space.

* libs/libc/modlib/modlib_unload.c
  sched/module/mod_rmmod.c
  - Distingusih between freeing of ET_DYN storage and other as the former
    is a single allocation.

* libs/libc/modlib/mod_insmod.c
  - Cater for ET_DYN objects having init and preinit sections
2023-09-20 09:35:28 -04:00
Xu Xingliang
3cd5e20f74 sched: return 0 from clock_systime_ticks if failed
Signed-off-by: Xu Xingliang <xuxingliang@xiaomi.com>
2023-09-19 16:17:08 +08:00
ligd
415fe60695 signal: use work_cancel_sync() to fix used after free
bug:

user thread:                             hpwork:
timer_create() with SIGEV_THREAD
timer_settime()
    irq -> work_queue()                  add nxsig_notification_worker to Q
timer_delete()
    nxsig_cancel_notification()
                                         call nxsig_notification_worker()
    work_cancel()
    timer_free()
                                         nxsig_notification_worker() used after free

root cause:
work_cancel() can't cancel work completely, the worker may alreay be running.

resolve:
use work_cancel_sync() API to cancel the work completely

Signed-off-by: ligd <liguiding1@xiaomi.com>
2023-09-19 15:52:48 +08:00
ligd
61ef7eb3dc wqueue: add work_cancel_sync() support
Signed-off-by: ligd <liguiding1@xiaomi.com>
2023-09-19 15:52:48 +08:00