Move tls_dup_info() call to after child process priority is set, ensuring
the child's pid is properly initialized before duplicating TLS information.
This fixes incorrect thread ID assignment during task fork operations.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
Replace global enter_critical_section() calls with lightweight spinlock in
addrenv_switch() to reduce interrupt latency, and convert refs counter to
atomic_t for thread-safe reference counting without blocking operations.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
Consolidate nxsched_process_timer into sched_timer.c, and introduce
nxsched_process_tick() to improve readability and maintainability of
the scheduler timer processing logic.
Signed-off-by: Chengdong Wang <wangchengdong@lixiang.com>
Add spinlock protection to child task pool allocation and deallocation in
group_childstatus.c. Protects g_child_pool freelist and group child list
traversal/modification operations against concurrent access in SMP systems.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
The SRN number in TriCore far exceeds the PN number.
Using IRQ as the PN number would result in an overflow.
Therefore, MINIMAL_VECTORTABLE is used to ensure that
the PN number does not overflow.
Signed-off-by: zhangyuan29 <zhangyuan29@xiaomi.com>
Add aligned_data(STACK_ALIGNMENT) attribute to g_irq_work_stack buffer declaration
in irq_attach_wqueue.c. Ensures stack memory is properly aligned to architecture
requirements, preventing unaligned stack addresses that could cause data access
faults or performance degradation on strict alignment architectures.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
Move nxsched_switch_context() call after setting TSTATE_TASK_INACTIVE to ensure
proper IRQ count state before context switching, preventing assertion failures
in enter_critical_section() when rtcb->irqcount is incorrectly zero during termination.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
Add null-check for ISR handler before invoking in irq_default_handler.
Fix comment documentation and initialize return value to IRQ_WAKE_THREAD.
Ensures safe handler invocation when isr parameter is NULL in threaded IRQ mode.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
Move kernel stack allocation from exec_module() (binary format execution) to
nxtask_init() (task initialization) with proper type checking. Add conditional
check to allocate kernel stack only for non-kernel tasks (ttype != TCB_FLAG_TTYPE_KERNEL).
Enables kernel stack allocation for both exec'd tasks and regular task_create()
calls in protected builds, allowing userspace to create tasks with proper kernel
stack isolation.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
Expand ARCH_KERNEL_STACK configuration to support both BUILD_KERNEL and
BUILD_PROTECTED modes. Change Kconfig dependency from "depends on BUILD_KERNEL"
to "depends on BUILD_KERNEL || BUILD_PROTECTED". Update pthread_create.c to
remove redundant BUILD_KERNEL check when allocating kernel stacks with
CONFIG_ARCH_KERNEL_STACK enabled. Enables protected builds to use separate
kernel and user stacks for processes.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
Remove deprecated group_exitinfo() function and related critical section locking
from binfmt_exec.c, moving module unload setup directly into exec_module() where
it integrates naturally with task activation, simplifying code flow and reducing
unnecessary synchronization overhead.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
Signals in NuttX serve two primary purposes:
1. Synchronization and wake-up:
Signals can be used to block threads on specific signal sets and later
wake them up by delivering the corresponding signals to those threads.
2. Asynchronous notification:
Signals can also be used to install callback handlers for specific signals, allowing threads to
asynchronously invoke those handlers when the signals are delivered.
This change introduces the ability to disable all signal functionality to reduce footprint for NuttX.
Signed-off-by: Chengdong Wang wangchengdong@lixiang.com
Signals in NuttX serve two primary purposes:
1. Synchronization and wake-up:
Signals can be used to block threads on specific signal sets and later
wake them up by delivering the corresponding signals to those threads.
2. Asynchronous notification:
Signals can also be used to install callback handlers for specific signals, allowing threads to
asynchronously invoke those handlers when the signals are delivered.
This change introduces the ability to partially disable signal functionality: to disable only signal functions for
Asynchronous notification, keeping functions for Synchronization and wake-up.
This enables finer-grained control over signal usage while preserving existing behavior for supported use cases.
Co-authored-by: Guo Shichao guoshichao@xiaomi.com
Signed-off-by: Chengdong Wang wangchengdong@lixiang.com
Replace global critical section with fine-grained spinlock protection for
signal action queue (tg_sigactionq) and signal pending queue (tg_sigpendingq).
Use spin_lock_irqsave/spin_unlock_irqrestore with group->tg_lock for proper
synchronization, reducing interrupt latency and improving SMP scalability.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
Add stack dump functionality when tasks exit, which helps with
debugging and understanding task termination conditions.
Signed-off-by: ligd <liguiding1@xiaomi.com>
In SMP mode, running tasks are in g_assignedtasks[cpu], not the
ready-to-run list, so tcb->flink is NULL. When a round-robin timeslice
expires, checking tcb->flink fails to find the next task.
Fix by calling nxsched_switch_running() directly in SMP mode when the
timeslice expires, which properly finds the next eligible task from the
ready-to-run list.
Signed-off-by: Filipe Cavalcanti <filipe.cavalcanti@espressif.com>
Move addrenv_join() call after group_initialize() in nxtask_setup_fork() to fix
null pointer dereference. addrenv_join() accesses child->group which is
initialized by group_initialize(), so the operations must be sequenced
correctly. Reorder initialization to ensure child task group is set up before
address environment join operations.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
Replace global critical section with mutex in environment
variable operations. Use nxrmutex_lock/unlock(&group->tg_mutex)
instead of enter/leave_critical_section() to protect
environment access, reducing interrupt latency and
improving SMP responsiveness. Clean up unused
irqstate_t flags variables in env_dup,
env_getenv, env_setenv, and env_unsetenv.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
The TCB initializes the pid early, but the argvstack is not initialized
at that time. This may cause invalid addresses to be obtained when
nxsched_get_stackargs is called during task enumeration.
Initialize the argv pointer to NULL to enable safe validity checks.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
tricore csa is not continuous. when assert prints information, we need to handle the regs specially in order to dump all the registers.
Signed-off-by: zhangyu117 <zhangyu117@xiaomi.com>
Improve sched make and cmake scripts to select sched_processtimer.c
and sched_timerexpiration.c separatly for tickless and non-tickless mode
Signed-off-by: Chengdong Wang <wangchengdong@lixiang.com>
according to the posix standard: the default action for SIGURG is to
ignore the signal, we need to add the default sigaction handler for
SIGURG
this fix the /tset/ANSI.os/signal/signal_X/T.signal_X testcase
Signed-off-by: guoshichao <guoshichao@xiaomi.com>
The hrtimer is designed to replace the wdog timer in future, so it
should have the callback function in its API. The evaluation results showed there is no any
performance degradation since the CPU pipeline can hide the latency.
This commit also decoupled the rb-tree implementation with the pending
state checking.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
rename nxsched_timer_expiration to nxsched_tick_expiration
to align with nxsched_process_tick()
Signed-off-by: Chengdong Wang <wangchengdong@lixiang.com>
This commit simplified the wdog expiration handling by introducing the
`g_sched_event` timer.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
The hrtimer infrastructure only works with 64-bit system timers.
Add a dependency on SYSTEM_TIME64 in the hrtimer Kconfig.
Signed-off-by: Chengdong Wang <wangchengdong@lixiang.com>
Separate SMP-specific logic from the hrtimer core to improve
performance and maintainability.
Signed-off-by: Chengdong Wang <wangchengdong@lixiang.com>
This commit added dependency on CONFIG_SYSTEM_TIME64 for the hrtimer, sin
ce the hrtimer use `clock_compare` to compare 64-bit time.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
This commit renamed the callback type to `hrtimer_entry_t`, aligning with
the `wdentry_t` in wdog..
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
The expired field can not be used to indicate the cancelled state. Because
the `UINT64_MAX` is valid expired time. A periodic hrtimer started with
the hrtimer_start_absolute(hrtimer, period_func, UINT64_MAX) can
not be cancelled via `hrtimer_cancel`.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
Allow running/armed hrtimer to be restarted to
fix hrtimer bug: #17567
Co-authored-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
Signed-off-by: Chengdong Wang <wangchengdong@lixiang.com>
Since the task and group structures are no longer allocated in the same space, the memory for group is allocated in the group_allocate() function, and no further allocation is needed during the task allocation process.
Signed-off-by: wangzhi16 <wangzhi16@xiaomi.com>
This patch implements clock_adjtime() with CLOCKFD support, enabling
precise time and frequency adjustments for PTP clocks through the
standard POSIX clock API.
Key changes include:
1. New clock_adjtime() system call:
- Added sched/clock/clock_adjtime.c implementation
- Provides POSIX-compliant time adjustment interface
- Supports both standard clocks and CLOCKFD-based dynamic clocks
- Added CONFIG_CLOCK_ADJTIME Kconfig option
2. CLOCKFD support in clock_adjtime():
- Detects CLOCKFD-encoded clockids via CLOCKFD_TO_FD() check
- Extracts file descriptor and validates through fs_getfilep()
- Issues PTP_CLOCK_ADJTIME ioctl to underlying PTP clock device
- Returns clock status and adjustment results via struct timex
3. Enhanced struct timex support:
- Extended include/sys/timex.h with additional ADJ_* flags
- Added ADJ_OFFSET, ADJ_FREQUENCY, ADJ_MAXERROR, ADJ_ESTERROR
- Added ADJ_STATUS, ADJ_TIMECONST, ADJ_TAI, ADJ_SETOFFSET
- Added ADJ_MICRO, ADJ_NANO for time unit selection
- Added STA_* status flags for clock state reporting
4. Clock operations supported:
- ADJ_SETOFFSET: Apply time offset adjustment
- ADJ_FREQUENCY: Adjust clock frequency (PPM)
- ADJ_MAXERROR: Set maximum error estimate
- ADJ_ESTERROR: Set estimated error
- ADJ_STATUS: Modify clock status bits
- ADJ_NANO: Use nanosecond resolution
- ADJ_SETOFFSET: Set absolute time offset
5. API declarations:
- Added clock_adjtime() prototype in include/nuttx/clock.h
- Enabled by CONFIG_CLOCK_ADJTIME configuration
- Compatible with Linux clock_adjtime() interface
Usage example:
int fd = open("/dev/ptp0", O_RDWR);
struct timex tx = {0};
tx.modes = ADJ_FREQUENCY;
tx.freq = 10000000; /* Adjust frequency by 10 PPM */
clock_adjtime(CLOCKFD(fd), &tx);
close(fd);
This completes the PTP clock framework's POSIX clock API integration,
providing comprehensive time control capabilities for precision timing
applications including PTP synchronization daemons (ptp4l, timemaster).
Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
This patch extends CLOCKFD support to clock_getres(), allowing
applications to query the resolution of PTP clocks through file
descriptors using the standard POSIX clock API.
Key changes include:
1. Move clock_getres() from libc to kernel:
- Relocated from libs/libc/sched/clock_getres.c to sched/clock/
- Enables direct kernel-level file descriptor handling
- Maintains POSIX compliance while adding CLOCKFD support
2. CLOCKFD support in clock_getres():
- Detects CLOCKFD-encoded clockids using CLOCKFD_TO_FD() check
- Extracts file descriptor from clockid parameter
- Validates file descriptor through fs_getfilep()
- Issues PTP_CLOCK_GETRES ioctl to query clock resolution
3. PTP clock resolution query:
- Retrieves resolution from PTP clock device via ioctl
- Returns nanosecond-precision timing resolution
- Enables applications to determine clock accuracy capabilities
- Falls back to standard clock resolution for non-CLOCKFD clockids
4. Error handling:
- Returns EINVAL for invalid CLOCKFD file descriptors
- Properly manages file reference counting with fs_putfilep()
- Maintains backward compatibility with existing clock types
5. Build system updates:
- Updated libs/libc/sched/CMakeLists.txt and Make.defs
- Updated sched/clock/CMakeLists.txt to include clock_getres.c
- Ensures proper compilation in kernel context
Usage example:
int fd = open("/dev/ptp0", O_RDONLY);
struct timespec res;
clock_getres(CLOCKFD(fd), &res); /* Query PTP clock resolution */
printf("Resolution: %ld.%09ld sec\n", res.tv_sec, res.tv_nsec);
close(fd);
This completes the basic POSIX clock API support for dynamic PTP clocks,
providing applications with comprehensive clock information access.
Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
This patch implements POSIX-compliant CLOCKFD support, enabling user
applications to access dynamic PTP clocks through file descriptors
combined with clock_gettime() and clock_settime() system calls.
Key changes include:
1. CLOCKFD macro support:
- Added CLOCKFD() macro in include/nuttx/clock.h
- Allows encoding file descriptor into clockid_t: CLOCKFD(fd)
- Enables accessing PTP clocks via: clock_gettime(CLOCKFD(fd), &ts)
2. clock_gettime() enhancements:
- Modified sched/clock/clock_gettime.c to detect CLOCKFD clockids
- Extracts file descriptor from clockid using CLOCKFD_TO_FD()
- Validates file descriptor and calls file_ioctl() with PTP_CLOCK_GETTIME
- Falls back to standard clock handling for non-CLOCKFD clockids
3. clock_settime() enhancements:
- Modified sched/clock/clock_settime.c to support CLOCKFD clockids
- Extracts file descriptor and validates accessibility
- Issues PTP_CLOCK_SETTIME ioctl to underlying PTP clock device
- Maintains backward compatibility with standard POSIX clocks
4. File descriptor validation:
- Checks file descriptor validity using fs_getfilep()
- Ensures proper reference counting with fs_putfilep()
- Returns appropriate error codes (EINVAL, EBADF) on failures
5. Integration with PTP clock framework:
- Seamlessly integrates with PTP clock driver's ioctl interface
- Enables standard POSIX clock API usage for dynamic PTP clocks
- No changes required to existing applications using standard clocks
Usage example:
int fd = open("/dev/ptp0", O_RDONLY);
struct timespec ts;
clock_gettime(CLOCKFD(fd), &ts); /* Get PTP clock time */
clock_settime(CLOCKFD(fd), &ts); /* Set PTP clock time */
close(fd);
This implementation follows the Linux kernel's PTP clock model, providing
a familiar interface for developers working with PTP hardware.
Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
