Implements the device end of virtio-net, so a peer running the stock
virtio-net driver sees this side as a network card, and registers a netdev
lowerhalf.
Ring layout follows the peer's numbering: vq[0] is its RX queue, which we fill
to transmit, and vq[1] its TX queue, which we harvest. No features are
negotiated, so every frame carries the zeroed legacy virtio_net_hdr.
Peer buffers are reached by raw 64-bit address through an arch-provided
translation window -- the AM67 RAT, identity mapping elsewhere -- splitting
copies that straddle it.
Also gives DRIVERS_VHOST a prompt; it was promptless and so unselectable
without a driver forcing it.
Verified on t3-gem-o1 against an unmodified Linux virtio_net: eth0 registers,
ifup brings it to RUNNING, and the peer pings it 5/5 at 0.27 ms and 60/60 with
0% loss.
Assisted-by: Claude Code:claude-fable-5
Signed-off-by: Ulaş Sertan Kemeç <sertan.usk@gmail.com>
vhost_get_vq_buffers() converts descriptor addresses through the shared-memory
I/O region, which truncates silently when the CPU cannot address all of the
peer's memory -- a 32-bit remote core against a 64-bit host, where
metal_phys_addr_t is 32-bit and Linux posts buffers above 4 GB.
Returns the raw 64-bit address and length instead, so class drivers can
translate through platform window hardware. Completion is unchanged.
Assisted-by: Claude Code:claude-fable-5
Signed-off-by: Ulaş Sertan Kemeç <sertan.usk@gmail.com>
NuttX-side support for the zbus message bus port (apps/system/zbus in
nuttx-apps), built on the link-time iterable sections infrastructure
added in a companion PR:
- include/nuttx/linker/common-rom.ld and common-insert.ld: register the
zbus channel, observer and channel observation iterable sections
(ITERABLE_SECTION blocks guarded by CONFIG_ZBUS, no-op otherwise) for
the include and the zero-touch INSERT modes respectively;
common-ram.ld: note that zbus needs no RAM sections.
- Documentation/applications/system/zbus: Sphinx documentation for the
zbus application, with the upstream Zephyr diagrams (Apache-2.0).
- .codespellrc: skip the reused zbus SVG diagrams (embedded base64
raster data trips the spell checker).
Assisted-by: Claude Code
Signed-off-by: Jorge Guzman <jorge.gzm@gmail.com>
Implements the pthread_sigqueue Linux extension to pthreads. Follows a
similar implementation to sigqueue, except targeting a specific thread
through nxsig_dispatch.
Signed-off-by: Matteo Golin <matteo.golin@gmail.com>
The controller moves every byte itself, so on a machine whose caches are
not coherent with it the driver must flush before the controller reads and
invalidate before the processor does. Data buffers got no maintenance at
all: nothing pushed before an OUT, nothing dropped after an IN.
Cache operations act a whole line at a time, which is unsafe for a buffer
that does not own its lines: invalidating drops whatever else shares the
line, and a writeback lands on top of what the controller has just put
there. Mass storage passes a 31 byte command block and a 13 byte status
out of its instance structure. Such a buffer is copied through an aligned
stand-in; anything large comes from a filesystem or from xhci_ioalloc(),
which now rounds its length up as well as aligning its start, so what it
returns owns its last line.
Whether the controller can reach a buffer at all is asked of the platform
through a new dmacapable operation, since it is a property of the system
the controller was fitted into rather than of the controller. A platform
that does not supply it is taken to accept every address, which is what
existing users have. A refused buffer gives -EFAULT, which the FAT
filesystem answers by retrying through its own DMA-safe sector buffer.
The device output context is also invalidated before the assigned address
is read out of it; the controller wrote that address, and reading without
invalidating returns whatever the processor had cached.
Compiles to nothing where there is no cache to maintain, and dmacapable is
NULL on PCI, so the existing user is unaffected.
Assisted-by: Claude:claude-opus-5
Signed-off-by: Justin Hammond <justin@dynam.ac>
Add CONFIG_FS_CHROOT and POSIX chroot(). Store the jail as an
absolute path on the task group, and require euid 0 when user
identity is enabled.
Signed-off-by: Abhishek Mishra <mishra.abhishek2808@gmail.com>
Store the jail as an absolute path on the task group, copy it to
children, and free it when the last member leaves.
Signed-off-by: Abhishek Mishra <mishra.abhishek2808@gmail.com>
The voltage, current, power, resistance and conductivity messages
declare their measurement as float, where every other message in
uorb.h declares it as sensor_data_t. That type is b16_t under
CONFIG_SENSORS_USE_B16 and float otherwise, so on a fixed point
configuration these five are the only sensors still producing floats.
A driver that computes in sensor_data_t, as the helpers in fixedmath.h
encourage, then assigns a b16_t to a float field: the raw fixed point
integer is stored as a float and the reading is wrong by 65536 with no
diagnostic.
The accumulators keep int64_t. Energy in uJ and charge in uC are
counts of micro units rather than measurements, and neither is
affected by the fixed point option.
Assisted-by: Claude:claude-opus-5
Signed-off-by: Justin Hammond <justin@dynam.ac>
The tflm tool registered DEPTHWISE_CONV_2D in nuttx-apps#3773, but the
docs still listed eight operators. Document the unused -C compile path,
that the sim helper uses heap I/O, and the pinned TFLM/CMSIS/NNABLA
versions. Add missing gemmlowp, KissFFT, Ruy, and FlatBuffers pages,
document the AI-engine character driver, and wire it into CMake.
Signed-off-by: Abhishek Mishra <mishra.abhishek2808@gmail.com>
Define standard IOCTL commands to enable and disable analog comparator
devices from user-space applications.
Assisted-by: Gemini:gemini-2.5-pro
Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>
Add missing SCM_TIMESTAMPNS and SCM_TIMESTAMPING control message type
definitions mapped to their corresponding SO_TIMESTAMPNS and
SO_TIMESTAMPING socket options. Also align whitespace of existing
SCM_* definitions for consistency.
Signed-off-by: wenquan1 <wenquan1@xiaomi.com>
Consolidate the two separate timestamp Kconfig options into a single
CONFIG_NET_TIMESTAMP option that covers SO_TIMESTAMP, SO_TIMESTAMPNS
and SO_TIMESTAMPING socket options.
Previously CONFIG_NET_TIMESTAMPING was a separate option only used by
PKT sockets for hardware TX/RX timestamps and error queue support.
Since both options guard the same io_time field in iob_s and share
the s_options bitmask, merging them simplifies configuration without
functional impact.
Changes:
- Replace all CONFIG_NET_TIMESTAMPING with CONFIG_NET_TIMESTAMP in
pkt_input.c, pkt_recvmsg.c, pkt_sendmsg_buffered.c,
pkt_sendmsg_unbuffered.c, pkt_sockif.c, pkt_netpoll.c, pkt.h,
setsockopt.c, getsockopt.c
- Simplify iob.h conditional from OR of both to single option
- Remove NET_TIMESTAMPING Kconfig entry, update NET_TIMESTAMP
description to cover all three socket options
Signed-off-by: wenquan1 <wenquan1@xiaomi.com>
Add SO_TIMESTAMPING TX path for PKT sockets. Tagged TX
packets loop back through the driver with io_conn set,
are routed into conn->errahead, and delivered to userspace
via recvmsg(MSG_ERRQUEUE) with SO_TIMESTAMPING cmsg.
Add poll(POLLPRI) notification when errahead is non-empty.
Signed-off-by: wenquan1 <wenquan1@xiaomi.com>
Replace compile-time CONFIG_ARCH_HAVE_NETDEV_TIMESTAMP with
a runtime NETDEV_RX_STAMP bit in net_driver_s.d_features.
Drivers providing hardware RX timestamps set the flag at
probe time; the stack checks it at runtime.
Signed-off-by: OceanfromXiaomi <zhaohaiyang1@xiaomi.com>
Move RX timestamp storage from net_driver_s.d_rxtime into
iob_s.io_time so each IOB carries its own timestamp through
the stack. Remove old iob_trycopyin/iob_copyout timestamp
packing in CAN/PKT/UDP paths. Fix iob_clone_partial to copy
io_time before source pointer advances to NULL.
Signed-off-by: OceanfromXiaomi <zhaohaiyang1@xiaomi.com>
Signed-off-by: wenquan1 <wenquan1@xiaomi.com>
Add support for the Microchip TC74 digital temperature sensor using the
Sensor Driver Framework (uORB). The TC74 is an 8-bit I2C temperature
sensor with a measurement range from -40C to +125C and a resolution
of 1C.
The driver registers as a uORB topic (/dev/uorb/sensor_temp<n>) and
polls on the low-priority work queue. It supports dynamic interval
configuration and automatically enters low-power standby mode when
the topic is deactivated.
Validated against a real TC74A5-3.3 on a custom STM32H743BI board.
Assisted-by: Gemini:gemini-3.8-pro
Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>
Add commonly required POSIX/BSD interfaces that portable command-line
utilities expect but that were missing from the C library:
- include/paths.h: _PATH_DEFPATH and the other standard default paths.
- include/sys/ttydefaults.h: BSD default control-character and terminal
flag definitions.
- include/termios.h: define the IUTF8 input flag.
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
lio_listio() never validated 'nent' against {AIO_LISTIO_MAX}, so a
batch larger than the documented limit was silently accepted, and the
hard-coded _POSIX_AIO_LISTIO_MAX value of 2 was too small for real
workloads (LTP uses 10 entries per call).
Add the FS_AIO_LISTIO_MAX Kconfig option (default 10), use it for
_POSIX_AIO_LISTIO_MAX in include/limits.h, validate 'nent' in
lio_listio(), and report the limit through sysconf(_SC_AIO_LISTIO_MAX).
Signed-off-by: tengshuangshuang <tengshuangshuang@xiaomi.com>
POSIX declares lio_listio() as:
int lio_listio(int, struct aiocb *restrict const [restrict], int,
struct sigevent *restrict);
Update the prototype in include/aio.h (and the implementation and
libc.csv entry) accordingly, and drop the parameter names from the
other aio_* prototypes for consistency.
Signed-off-by: guoshichao <guoshichao@xiaomi.com>
When a queued operation fails immediately (bad fd, EINVAL, or a failed
aio_read/aio_write submission), lio_listio() unconditionally deleted
the aiocbp from the request list. In LIO_WAIT mode (or when no sig was
requested) the lio_link nodes were never linked into the list, so
list_delete() corrupted memory and crashed.
Only unlink the node when it was actually linked, i.e. when
mode == LIO_NOWAIT and a sigevent was provided.
Signed-off-by: tengshuangshuang <tengshuangshuang@xiaomi.com>
Previously, lio_listio() called aio_read()/aio_write() to submit the
I/O and only then initialized the per-request notification state
(aio_priv based), so a worker thread could complete an operation before
that state was set up (thread-unsafe), and the completion notification
hijacked the per-request sigevent machinery.
Rework the implementation: lio_listio() now links every aiocb of the
batch into a list (lio_link) before any I/O is submitted. When an
operation completes, aio_signal() removes its node from the list under
aio_lock() and delivers the lio_listio completion notification only
when the list becomes empty. The unused aio_priv field is replaced by
the lio_link/lio_sigevent/lio_sigwork fields in struct aiocb.
Co-developed-by: wushenhui <wushenhui@xiaomi.com>
Signed-off-by: wushenhui <wushenhui@xiaomi.com>
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
Cover the remaining electrical quantities so that they do not have to fork
into driver private namespaces later. Add SENSOR_TYPE_RESISTANCE (Ohm),
SENSOR_TYPE_CONDUCTIVITY (S/m), SENSOR_TYPE_ENERGY (J) and
SENSOR_TYPE_CHARGE (C), the last two matching the native unit of the
accumulator registers in power and energy monitors.
Signed-off-by: likun17 <likun17@xiaomi.com>
uORB has no type for electrical quantities, so power monitors can only use
the legacy character drivers, which are deprecated and report their values
in three incompatible unit systems. Add SENSOR_TYPE_VOLTAGE,
SENSOR_TYPE_CURRENT and SENSOR_TYPE_POWER with their message structs in SI
units (V, A, W).
Signed-off-by: likun17 <likun17@xiaomi.com>
Add CONFIG_MM_PGSIZE == 32768 and 65536 to the page-size switch (and the
Kconfig help text). The 64 KB size matches the ESP32-S3 cache-MMU page
granularity, so an address-environment port there can use one mm_pgalloc()
page per cache-MMU page (naturally 64 KB-aligned by the granule allocator)
instead of coalescing several smaller pages. Inert for existing configs:
MM_PGSIZE is only used when CONFIG_MM_PGALLOC is enabled (BUILD_KERNEL).
Assisted-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Signed-off-by: Marco Casaroli <marco.casaroli@gmail.com>
gotindex named the .got section header, and every user then reached through
shdr[] for what it actually wanted. Only one of the five wanted the index.
gotbase and gotsize say it directly. gotsize is the extent of .got and is
also what says the object has one, and gotbase is where the GOT ended up:
the placed address of .got for an ordinary object, or DT_PLTGOT for an FDPIC
one, which libelf_bind() already reads. Both are set in libelf_loadfile(),
after the sections are placed, so gotbase is the address the object will be
read at rather than the one it was linked for.
The GOT walk in libelf_loadfile() now runs only when there is a base, which
also keeps it off an FDPIC object. An FDPIC object's sections are never
placed, so .got carried a link time sh_addr there, and the walk read and
wrote through it. Its GOT is relocated through its own relocations.
The check that gates libelf_xipacquire() runs before the load, when neither
field is set, so it looks the section up by name. It hands the index it
found to libelf_loadfile(), which is the only reason that function takes
one: the object is searched once, not twice.
One behaviour changes: a .got that exists but is empty now reads as no GOT.
There is nothing for any of the five users to do with an empty one.
Built for pimoroni-pico-2-plus with CONFIG_PIC, CONFIG_ELF and
CONFIG_LIBC_ELF, and for mps3-an547:bl, which is the board that read the
index. Run on QEMU with mps3-an547:picostest, which loads PIC ELF modules
from a romfs: hello prints, and ostest reaches the timed mutex test, the
same as before the change.
Assisted-by: Claude Opus 5 (1M context) <noreply@anthropic.com>
Signed-off-by: Marco Casaroli <marco.casaroli@gmail.com>
libelf_relocatedyn() reads the handful of DT_* tags it needs to walk the
relocation tables and ignores the rest. Three more matter now.
DT_PLTGOT is where the object's data base lives. An FDPIC module runs
with that in the PIC base register, and every function descriptor built
for it names the same base as the one its callee should run with, so
without it there is nothing to put in a descriptor's second word.
The DT_*_ARRAY tags are the constructor and destructor tables. These are
already found through the section headers a few lines further down, and
that path is kept, but the dynamic tags are the authoritative copy and an
object is not obliged to carry section headers at all. Both paths now
translate through libelf_addr(), so they agree on the answer rather than
depending on which ran last. The tag values themselves were missing from
include/elf.h and are added.
Sizing the descriptor pool has to happen here rather than later.
R_ARM_FUNCDESC asks the loader to manufacture a descriptor and hand back
its address, which means the space must exist by the time the relocation
is applied, and by then the segment has been placed. So libelf_elfsize()
reserves it behind the writable data, bounded by the relocation count --
one relocation cannot ask for more than one descriptor. That bound has
slack in it, but a descriptor is two words and modules are small, which
is cheaper than walking every relocation twice to get an exact count.
Nothing here runs for a non-FDPIC object. Built and booted
mps3-an547:picostest with no change in behaviour.
Assisted-by: Claude Opus 5 (1M context) <noreply@anthropic.com>
Signed-off-by: Marco Casaroli <marco.casaroli@gmail.com>
An ET_DYN object is loaded into one allocation with its data behind its
text, because its data references sit at a fixed distance from the code
that makes them. An FDPIC object does not work that way: it reaches its
data through a base register, so the two segments can be placed wherever
suits, and the point of the format is that the read-only one is left on
the media and executed there while only the writable one is copied. One
copy of the text then serves every instance.
So libelf_load() grows a second case. The object announces itself in the
OS/ABI byte, which is noted once in libelf_loadhdrs() rather than
re-derived; e_flags cannot be used for this, as an FDPIC object's are an
unremarkable EABI version and testing them would reject every valid
module. Text is taken from the media address plus the segment's own file
offset -- the same arithmetic the ET_REL path already does with
sh_offset -- and libelf_loadfile() does not read it. If the filesystem
cannot show its media, the loader copies the text to RAM instead. The
module then loses the shared text and the flash saving, but it runs.
Obtaining that address needs two mechanisms, and they are not
interchangeable. A compacting filesystem can move a file's blocks, so it
hands out an address only with a pin that holds them still and expects
the pin back; xipfs is the one in tree. A filesystem whose layout never
changes has nothing to hold and answers FIOC_XIPBASE with a bare address;
romfs and tmpfs are those. libelf_xipacquire() asks for the pin first,
because a filesystem that needs one is not safe without it, and
libelf_unload() gives it back. The loader asks for a pin only if it can
hold one, or the pin would stay for ever.
The pin is thus not specific to FDPIC. Any module that executes in place
from a compacting filesystem takes one, and gives it back at unload.
mmap() is not used, though both filesystems implement it. The mapping
would be recorded against whichever task called the loader, while the
release happens when the module's own task exits, which is a different
group -- so the pin would outlive the module and the extent would never
become movable again.
Unloading has to change with placement: the existing path frees only
textalloc because ET_DYN had a single allocation, which would leak an
FDPIC object's data and free media the filesystem only lent us.
Nothing here runs for a non-FDPIC object; every branch is behind the flag
and the single-allocation path is untouched. Built and booted
mps3-an547:picostest, which is CONFIG_ELF with CONFIG_PIC, with no change
in behaviour.
Assisted-by: Claude Opus 5 (1M context) <noreply@anthropic.com>
Signed-off-by: Marco Casaroli <marco.casaroli@gmail.com>
The commits that follow teach the ELF loader to load an FDPIC object. This
puts the option they hang off and the definitions they share in one place
first, so each of them builds on its own.
CONFIG_FDPIC depends on ARCH_HAVE_ELF_FDPIC, which an architecture selects
when it has a PIC base register and the FDPIC relocations. Only armv7-m
and armv8-m select it today, and it defaults off, so nothing changes for
anyone who does not ask for it.
include/nuttx/fdpic.h holds what both sides of the loader need: the two
word function descriptor an FDPIC module passes instead of a code address,
the test for whether the caller is such a module, and the call sequence
that enters one with its own data base. All of it is behind CONFIG_FDPIC,
thus the header is empty without it and a file may include it
unconditionally.
The call sequence itself is architecture specific, so arch/arm/include/arch.h
supplies it as up_fdpic_invoke(), beside the other PIC base register macros.
up_setpicbase() cannot serve here: the register has to hold the module's
base for exactly one call and then go back, and nothing in C tells the
compiler the register is live across that call, so the save, the install,
the branch and the restore have to be one sequence.
Built for mps3-an547:bl and mps3-an547:picostest, with CONFIG_FDPIC off,
which is every configuration in the tree.
Assisted-by: Claude Opus 5 (1M context) <noreply@anthropic.com>
Signed-off-by: Marco Casaroli <marco.casaroli@gmail.com>
Remove the per-arch testset implementation from the spinlock layer.
The testset abstraction predates the unified spinlock.h API and is no
longer used now that all arches provide spin_lock_irqsave()/
spin_unlock_irqrestore() directly. Drop the per-arch *_testset.{c,S}
implementations and spinlock.h files for arm, sim, sparc, tricore,
x86_64, and xtensa, along with the CXD56_TESTSET,
CXD56_TESTSET_WITH_HWSEM, and CXD56_ATOMIC_WITH_HWSEM Kconfig options
in arch/arm/src/cxd56xx, and simplify the CXD56 semaphore pool loop
in cxd56_sph.c to a single unconditional range.
Signed-off-by: zhangyu117 <zhangyu117@xiaomi.com>
In tickless mode, the scheduler timer is stopped whenever the currently
running task requires no time slicing (CLOCK_MAX). When a SCHED_RR task
was later switched in, nothing re-armed the timer, so the task could run
indefinitely without round-robin rotation.
Also, when a SCHED_RR task was preempted, its timeslice counter was not
decremented for the time already consumed, effectively giving the task
"bonus" CPU time when resumed.
Solve both by performing RR accounting on context switches:
- nxsched_suspend_roundrobin() charges the elapsed execution time
against the timeslice of the RR task being switched out
- nxsched_resume_roundrobin() restarts the scheduler timer for the
remaining timeslice of the RR task being switched in, so the timer
is always armed while an RR task is running
This also removes the previous workaround in nxsched_process_timer
that triggered the scheduler on every timer tick.
Assisted-by: Zhipu GLM-5.3
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
Use round-up logic in clkcnt_delta_time2cnt() to prevent
timer sleep duration being too short due to truncation.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
Implement the handle-based create, queue, priority, cancellation, and
teardown APIs for CONFIG_LIBC_USRWORK. Custom queues use configurable
pthread worker pools while the predefined USRWORK queue remains available.
Match scheduler-backend delay, replacement, cancellation, and lifecycle
semantics. Restrict the libc backend to task context because it uses
blocking synchronization.
Tested on an STM32H7 PX4 FMUv6C with ostest wqueue in Protected user space.
Assisted-by: Codex:GPT-5
Signed-off-by: DuoYuWang <thirteenking.wang@gmail.com>
FOREACH_ARG() hands the position of each argument as the expression
"count - N", which can be used as a value but cannot be pasted into an
identifier, because "##" pastes a single token. Hand it out as a
literal instead, so that an action macro can build a symbol name out of
it, which is what a subsystem needs when the link order of its objects
has to follow the declaration order.
The list is reversed through REVERSE_ARG() so that the position becomes
the level of the chain, and each step emits the recursion before its own
action so that the actions still come out in the order the arguments
were given. This is how the same problem is solved upstream in Zephyr,
whose FOR_EACH_IDX() also reverses the list before walking a per arity
chain.
The index values are unchanged, so the arithmetic use keeps working:
NOTE_PRINTF_TYPES(), the only user in tree, produces the same tags for
every argument count. It now supplies the leading zero itself, because
FOREACH_ARG() no longer expands to "0" when the list is empty. An empty
list expanding to nothing is what lets an action expanding to
declarations be used at file scope.
Assisted-by: Claude Code
Signed-off-by: Jorge Guzman <jorge.gzm@gmail.com>
TX-complete and the deadline watchdog each queued their own callback on
the same work_s, and work_queue() cancels whatever is pending when a
work_s is reused, so whichever ran second was dropped: deadlines were
left set, the TX interrupt mask stayed off, or expired frames were never
aborted. Both now queue imxrt_tx_work(), which retires completions
before it aborts expired mailboxes.
Add SIOCGCANERRORS so a socket can read fault confinement, TEC/REC, a
monotonic bus error count and the RX mailbox overrun count. SIOCGCANSTATE
reports sleep/operational, not fault confinement, hence a new command.
The error count is sampled from the clear-on-read ESR1 error flags at
every driver entry rather than from ERRINT, which fires per error frame
and storms at bus rate once the bus is dead. Frames the CAN socket layer
drops for want of an IOB now count as rx_dropped in the netdev
statistics as well as in the global CAN statistics.
Tested on an i.MX RT1176 (ARK FMU-v6XRT) running PX4 with two DroneCAN
nodes: unplugging one node the ioctl reports error-passive, TEC 128,
REC 0 and a monotonic error count, matching ECR/ESR1 read over SWD at
20 Hz, while the other interface stays error-active with zero errors.
Assisted-by: Claude:claude-fable-5
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
C++ strict mode drops the GNU ", ##__VA_ARGS__" comma elision, so
GET_ARG_COUNT() and REVERSE_ARG() misselect their dispatch entry with
zero varargs. Centralize the empty-argument handling in GET_ARG_COUNT
(via __VA_OPT__ for C++) and make REVERSE_ARG and FOREACH_ARG dispatch
through CONCATENATE(prefix, GET_ARG_COUNT(...)), removing the two
duplicated 33-entry selector lists.
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
NuttX-side support for the zbus message bus port (apps/system/zbus in
nuttx-apps), built on the link-time iterable sections infrastructure
added in a companion PR:
- include/nuttx/linker/common-rom.ld and common-insert.ld: register the
zbus channel, observer and channel observation iterable sections
(ITERABLE_SECTION blocks guarded by CONFIG_ZBUS, no-op otherwise) for
the include and the zero-touch INSERT modes respectively;
common-ram.ld: note that zbus needs no RAM sections.
- Documentation/applications/system/zbus: Sphinx documentation for the
zbus application, with the upstream Zephyr diagrams (Apache-2.0).
- .codespellrc: skip the reused zbus SVG diagrams (embedded base64
raster data trips the spell checker).
Assisted-by: Claude Code
Signed-off-by: Jorge Guzman <jorge.gzm@gmail.com>
No driver exists for this exact chip. lsm6dsl.c is the closest
register-compatible match but is the deprecated legacy char-device
style; lsm6dso32_uorb.c is the closest uORB-style match but is for a
different chip variant. The new driver borrows lsm6dso32_uorb.c's
structure (dual sensor_lowerhalf_s, raw I2C_TRANSFER helpers) and
lsm6dsl.h's register map -- fixing a bug in the header it was ported
from along the way: LSM6DSL_FIFO_CTRL2_SHIFT is defined as 255 instead
of 0.
Delivery mode is chosen the same way mpu6050 does: kthread polling by
default, or interrupt-driven if the board supplies attach(). Unlike
the earlier lsm6dso32-style design this went through first -- one INT
pin and one activate()/interrupt path per sub-sensor -- the shipped
version uses a single shared INT pin for both, mirroring mpu6050's own
one-handler-one-worker design (#19601) instead. The two-independent-
paths version worked for accel alone but was intermittently broken for
gyro: activate() sometimes never actually turned CTRL2_G on even
though the interrupt-enable bit was written correctly, and other times
the whole console hung -- a real race, never conclusively root-caused
on a serial console with no JTAG available. The LSM6DS3TR-C supports
OR'ing both DRDY_XL and DRDY_G onto one pin via independent enable
bits in that pin's INTn_CTRL register, so there was no need for two
paths in the first place: one ISR times the burst, one HPWORK worker
reads OUT_TEMP_L..OUTZ_H_A (14 contiguous bytes covering temp, gyro
and accel in one I2C transaction) and pushes whichever topic(s) are
currently subscribed. activate() now just flips each sub-sensor's own
bit in the shared register instead of running its own attach.
On the XIAO ESP32-S3 with Seeed's IMU Breakout Board, INT1/INT2 route
to GPIO3/GPIO4 (confirmed from the breakout board's schematic, not
guessed). Only INT1/GPIO3 is wired up, since one pin is now enough;
GPIO4/INT2 is documented as available but unused.
Also: CTRL1_XL's FS_XL bits were never actually written to match the
driver's own software default (4g) -- registration set the in-memory
value but the chip stayed at its 2g reset default until a caller
issued an explicit SNIOC_SETFULLSCALE. register() now writes it.
Validated on the bench, both modes, reproduced across multiple fresh
reboots: WHO_AM_I reads 0x6a, sensor_accel0/sensor_gyro0 stream
continuously. Interrupt mode delivers ~300 samples of each per 6s
window with shared timestamps down to the microsecond between the two
topics per event, confirming both come from the same burst read.
Assisted-by: Claude <noreply@anthropic.com>
Signed-off-by: Felipe Moura <moura.fmo@gmail.com>
Fixes several bugs in EDID parsing and consolidates syslog output in
videomode_dump to prevent broken lines.
Specific changes include:
- Corrected bitwise masking for _HACT_HI (0xf0) and _HBLK_HI (0x0f)
to properly extract the upper bits of horizontal active and blanking
timings.
- Multiplied raw EDID pixel clock by 10 to convert it into kHz, matching
the expectation of the videomode struct dotclock field.
- Combined fragmented syslog calls in videomode_dump into a single line
to prevent unwanted newlines from splitting the output across multiple logs.
Signed-off-by: Lwazi Dube <lwazeh@gmail.com>
Increase LINK_MAX from _POSIX_LINK_MAX (8) to 128 to allow
directories to have a reasonable number of subdirectories while
still enforcing a hard link limit.
Also fix pathconf(_PC_LINK_MAX) to return the actual LINK_MAX
value instead of the minimum _POSIX_LINK_MAX.
Signed-off-by: yukangzhi <yukangzhi@xiaomi.com>
Use irq-based critical sections instead of spinlock_irq to avoid
potential deadlock in atomic contexts.
Signed-off-by: zhangyu117 <zhangyu117@xiaomi.com>
Add an lstat method to mountpt_operations so that mounted file systems
can report link metadata without dereferencing symbolic links.
In mountptrename() and stat_recursive(), prefer lstat() over stat()
when it is available so that rename() and the non-following stat path
operate on the link itself rather than its target, matching POSIX
semantics.
Signed-off-by: zhengyu16 <zhengyu16@xiaomi.com>
1. add three func to mountpt_operations:
link
symlink
readlink
2. modify fs_link、fs_symlink、fs_readlink for mountpt
Signed-off-by: zhengyu16 <zhengyu16@xiaomi.com>
The link support is no longer limited to the pseudo file system and now
covers both soft (symbolic) links and hard links across the VFS. Rename
the configuration option PSEUDOFS_SOFTLINKS to the more accurate FS_LINKS
and update all references in the source, headers, Kconfig, documentation
and board defconfigs accordingly.
This is a configuration rename; any out-of-tree defconfig that still
selects PSEUDOFS_SOFTLINKS must be updated to FS_LINKS.
Signed-off-by: zhengyu16 <zhengyu16@xiaomi.com>
Add generic support for link-time registration of struct instances,
modeled after the Zephyr STRUCT_SECTION_* mechanism:
- include/nuttx/iterable_sections.h: STRUCT_SECTION_ITERABLE/DECLARE/
FOREACH/GET/COUNT macros placing instances in name-sorted linker
sections delimited by _<type>_list_start/_end symbols (attributes
through the nuttx/compiler.h macros; FOREACH takes a caller-declared
iterator, like list_for_every_entry).
- include/nuttx/linker/iterable_sections.ld: ITERABLE_SECTION() macro
emitting the KEEP + SORT_BY_NAME collection statements (linker
scripts in ARCHSCRIPT are CPP-preprocessed).
- include/nuttx/linker/common-rom.ld / common-ram.ld: central
aggregators meant to be included by board linker scripts (inside
.text and .data respectively); subsystems register their sections
here guarded by their Kconfig options, so the fragments expand to
nothing on configurations that do not use them.
- CONFIG_ITERABLE_SECTIONS_LINKER_INSERT + include/nuttx/linker/
common-insert.ld (added before the board script by tools/Config.mk and
by the top-level CMakeLists.txt): optional zero-touch mode that
supplements the board script through GNU ld INSERT AFTER, collecting
the subsystems' ITERABLE_SECTION blocks in one output section; the
common-rom.ld/common-ram.ld fragments expand to nothing in that mode.
See the option help for the constraints.
- Documentation/components/iterable_sections.rst.
First user: the Zephyr zbus message bus port (apps/system/zbus in
nuttx-apps); its board integration comes in a companion PR.
Signed-off-by: Jorge Guzman <jorge.gzm@gmail.com>
The CH422G offers eight bi-directional pins, IO0-IO7, and four open-drain
outputs, OC0-OC3. It appears on boards that have run out of usable GPIOs
once a parallel RGB panel has taken its share, the Waveshare
ESP32-S3-Touch-LCD-7 among them, where it holds the panel and touch
controller in and out of reset and switches the backlight.
Two things about the device do not fit the shape a register-per-address
I2C driver usually takes, and both are handled here rather than pushed on
to board logic:
- A register is selected by the I2C address the transfer is addressed
to, not by a register address written ahead of the data. Each access
carries a single byte to one of four addresses.
- None of the write-only registers can be read back, so the driver
keeps a shadow copy of each and updates it in step with the device.
IO0-IO7 have no individual direction control; one bit of the system
parameter register drives the whole group. The driver records the
direction asked of each pin and puts the group in output mode once at
least one of them is an output, which is what a board that drives some of
the pins would expect. Reading a pin of a group held in output mode
reports the value last written, because the hardware cannot report the
level, and that is documented rather than hidden.
The four open-drain outputs are presented as pins 8-11 of the same
ioexpander_dev_s so that one instance covers the chip, which means
CONFIG_IOEXPANDER_NPINS must be at least 12.
Builds clean with no new warnings on esp32s3-touch-lcd7:usbnsh and passes
nxstyle.
Signed-off-by: Alan Carvalho de Assis <acassis@gmail.com>
Assisted-by: Claude Code
1. use _atomic as wrapper because if _Atomic empty, may affects the compilation of other files:
2. for clang builtin function, it donot accept param with keyword "_Atomic"
Signed-off-by: zhangyu117 <zhangyu117@xiaomi.com>
Rename atomic_fetch_add/sub/or/and/xor to atomic_add/sub/or/and/xor
to avoid conflicts with the C/C++ standard library naming. The
atomic_fetch_xxx naming is reserved by the standard; keeping it causes
function name conflicts when source files indirectly include both
<nuttx/atomic.h> and <atomic>/<stdatomic.h>.
Signed-off-by: zhangyu117 <zhangyu117@xiaomi.com>
