Purpose: make the the os crash when busyloop with interrupt disable
Follow the arm gicv2 spec, if we want to use the IRQ and FIQ
simultaneously when not using the processor Security Externsions.
We should:
1. IRQ to Group 1 and FIQ to Group 0;
2. Set CICC_CTLR.FIQEn to 1;
Then in NuttX:
1. implement the arm_decodefiq and directly crash in it;
2. provide interface to change the IRQ to FIQ, e.g. change the
watchdog IRQ to FIQ, so the watchdog can trigger even with the
interrupt disabled (up_irq_save() called);
Signed-off-by: wangbowen6 <wangbowen6@xiaomi.com>
Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>
Signed-off-by: ligd <liguiding1@xiaomi.com>
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>
Adjust the v4l2 framework to support both capture and v4l2m2m,
and can easily add other v4l2 features.
Signed-off-by: shizhenghui <shizhenghui@xiaomi.com>
Modify control id definition to avoid duplication even if
the control ids belong to the same control class.
Also, not refer to control class in driver.
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>
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>
Pre-allocated files to avoid allocator access during thread creation
phase, For functional safety requirements, increase
CONFIG_NFILE_DESCRIPTORS_PER_BLOCK could also avoid allocator access
caused by the file descriptor exceeding the limit.
For Task Termination, the time consumption will be reduced ~3us (Tricore TC397 300MHZ):
10.65(us) -> 7.35(us)
NOTE:
This commit will not waste of extra heap, just pre-allocates the list of files for task_group.
Signed-off-by: chao an <anchao@lixiang.com>
This change is missing from the below commit:
| commit 7cb1f3b3c0
| Author: chao an <anchao@lixiang.com>
| Date: Tue Mar 5 10:23:30 2024 +0800
|
| 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>
Signed-off-by: chao an <anchao@lixiang.com>
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>
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.
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>
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>
Use private naming to avoid conflicts with user applications
In file included from libuv/src/unix/internal.h:25,
from libuv/src/unix/udp.c:23:
libuv/src/uv-common.h:57: warning: "container_of" redefined
57 | #define container_of(ptr, type, member) \
|
In file included from nuttx/include/nuttx/list.h:47,
from nuttx/include/nuttx/tls.h:40,
from nuttx/include/nuttx/sched.h:48,
from nuttx/include/nuttx/arch.h:87,
from nuttx/include/nuttx/userspace.h:35,
from nuttx/include/nuttx/mm/mm.h:30,
from nuttx/include/nuttx/kmalloc.h:34,
from nuttx/include/nuttx/lib/lib.h:31,
from nuttx/include/stdio.h:35,
from apps/system/libuv/libuv/include/uv.h:59,
from libuv/src/unix/udp.c:22:
nuttx/include/nuttx/nuttx.h:48: note: this is the location of the previous definition
48 | #define container_of(ptr, type, member) \
|
Signed-off-by: chao an <anchao@lixiang.com>
Requirement of nuttx as a minimum scheduler os.
Test build on Cortex-R52, fvp-armv8r-aarch32/nsh
Disable CONFIG_DEBUG_ASSERTIONS and without this change:
$ size nuttx
text data bss dec hex filename
19484 104 1092 20680 50c8 nuttx
Disable CONFIG_DEBUG_ASSERTIONS and with this change:
$ size nuttx
text data bss dec hex filename
17604 80 848 18532 4864 nuttx
Signed-off-by: chao an <anchao@lixiang.com>
include/nuttx/tls.h:52:4: warning: #warning CONFIG_TLS_NELEM is not defined [-Wcpp]
52 | # warning CONFIG_TLS_NELEM is not defined
| ^~~~~~~
In file included from include/nuttx/sched.h:48,
from include/nuttx/arch.h:87,
from include/nuttx/userspace.h:35,
from include/nuttx/mm/mm.h:30,
from include/nuttx/kmalloc.h:34,
from sim_bringup.c:33:
include/nuttx/tls.h:52:4: warning: #warning CONFIG_TLS_NELEM is not defined [-Wcpp]
52 | # warning CONFIG_TLS_NELEM is not defined
| ^~~~~~~
Signed-off-by: chao an <anchao@lixiang.com>
In the previous patch, we moved rptun_panic and rptun_dump_all in rptun to rpmsg.
In order to ensure CI pass, this two API in rptun is not removed. So we remove rptun_panic and rptun_dump_all in this patch.
Signed-off-by: wangyongrong <wangyongrong@xiaomi.com>
The implementation of assert in linux is as follows:
define assert(expr) (__ASSERT_VOID_CAST (0))
After defining NDEBUG in sqlite, some variables will be undefined,
and referencing variables in assert will cause compilation errors.
sqlite3.c:28729:23: error: ‘mutexIsInit’ undeclared (first use in this function)
28729 | assert( GLOBAL(int, mutexIsInit) );
Signed-off-by: yinshengkai <yinshengkai@xiaomi.com>
According to the standard definition, assert should return a void expression
https://pubs.opengroup.org/onlinepubs/007904875/basedefs/assert.h.html
This patch involves two changes:
If you define the NDEBUG macro, assert does not use any parameters and directly returns a void expression.
assert should return a void expression and cannot use do-while statements.
If the following code , a compilation error will occur.
Signed-off-by: yinshengkai <yinshengkai@xiaomi.com>
