A SIGEV_THREAD notification -- from mq_notify() or timer_create() -- runs its
callback on a shared signal-notification work queue, not in the registering
task. That worker carries no FDPIC data base, so a module's callback reaches
it with the wrong base and cannot touch its own globals. This is unlike every
other callback entry point, where the callback runs in a task that inherited
the module's data space and resolving the code address is enough.
The base is knowable exactly once, at registration, when the call is still in
the module's own context: capture it there with fdpic_base() into the
persisted work structure (mq's ntwork, the timer's pt_work). At send or
expiry the descriptor is resolved to its code address -- a plain memory read
that needs no base -- and stored in work->func. The worker, seeing a non-zero
base, installs it in the FDPIC register around the call and restores it after;
a zero base, which is every non-module callback, takes the direct path
unchanged.
fdpic_base() exposes the test fdpic_callback() already makes internally --
whether the caller is a module -- for a site that has to decide before it
stores a pointer somewhere the register will no longer be correct.
fdpic_invoke() is the install-call-restore, in the same ARM-thumb inline asm
as the rest of fdpic.h. It saves the register on the stack and keeps the push
8-byte aligned, and pins the argument in r0, so it asks the allocator for only
two free registers -- enough on builds that also reserve a frame pointer. It
is safe against preemption: the FDPIC register is REG_PIC in the saved
context, preserved across a context switch, and base firmware reserves it so
no interrupt handler disturbs it. A context switch or interrupt while the
callback runs therefore keeps the module's base.
Verified with CONFIG_SIG_EVTHREAD on two ARM cores: an RP2350 (Cortex-M33,
armv8-m) on hardware and mps2-an500 (Cortex-M7, armv7e-m) under QEMU. On each
a module's mq_notify and timer_create SIGEV_THREAD callbacks run on the worker
and write a distinctive value into a module global, proving the base was
installed. Removing just the register install makes the same callback
HardFault the board, confirming it is load-bearing.
Assisted-by: Claude Code:claude-opus-5
Signed-off-by: Marco Casaroli <marco.casaroli@gmail.com>
POSIX leaves the signedness of time_t and clock_t unspecified, but
mainstream implementations (Linux glibc/musl, the BSDs, macOS, RTEMS,
Zephyr's POSIX layer, Windows _time64) expose time_t as signed 64-bit.
NuttX has historically used uint64_t only because it was tied to the
CONFIG_SYSTEM_TIME64 knob; with that gone, switch:
time_t : uint64_t -> int64_t
clock_t : uint64_t -> int64_t
CLOCK_MAX: UINT64_MAX -> INT64_MAX
This lets (time_t)-1 sentinels, negative tick deltas, and host-side
headers behave as on every other POSIX system without source churn.
Headers updated:
- include/sys/types.h, include/limits.h, include/nuttx/clock.h
- include/nuttx/fs/hostfs.h (nuttx_time_t alias)
- include/nuttx/{mqueue.h,wdog.h,wqueue.h,timers/clkcnt.h}
Because clock_t is now signed 64-bit, the NuttX-internal sclock_t
alias becomes redundant: every sclock_t/SCLOCK_MAX use is folded
back to clock_t/CLOCK_MAX (notably in sched/wdog, sched/mqueue,
sched/sched, sched/clock, sched/timer, libs/libc/time, fs/vfs and
the drivers/arch consumers below).
Tick/period constants (NSEC_PER_SEC, USEC_PER_SEC, MSEC_PER_SEC,
SEC_PER_MIN, ...) in include/nuttx/clock.h are retyped from "long"
literals to INT64_C(...) so that 64-bit arithmetic no longer
depends on the host's long width.
Strip now-redundant (time_t)/(clock_t)/(unsigned long) casts and
unsigned-only branches across the tree:
- arch RTC / oneshot / tickless lowerhalfs:
arm: cxd56xx, efm32, imxrt, lc823450, max326xx, sam34, sama5,
samd5e5, samv7, stm32, stm32f7, stm32h7, stm32l4, stm32wb,
xmc4
mips: pic32mz sparc: bm3803 x86_64: intel64
risc-v/xtensa: espressif (esp_i2c[_slave], esp_rtc,
esp32c3{_i2c,_rtc,_wifi_adapter}, esp32{,s2,s3}_*),
mpfs_perf
- drivers: audio/tone, input/aw86225, power/pm/{activity,
stability}_governor, rpmsg/rpmsg_ping,
timers/{ds3231,mcp794xx,pcf85263,rx8010},
wireless/ieee80211/bcm43xxx, wireless/spirit/spirit_spi
- core: fs/vfs/{fs_poll,fs_timerfd}, mm/iob/iob_alloc,
libs/libc/{netdb/lib_dnscache,time/{lib_calendar2utc,
lib_time}}, net/icmp/icmp_pmtu, net/icmpv6/icmpv6_pmtu,
net/ipfrag, net/tcp/{tcp.h,tcp_timer},
net/utils/net_snoop, net/mld/mld_query (drop the now-dead
mld_mrc2mrd helper since signed math handles it directly),
sched/clock/{clock,clock_initialize},
sched/sched/{sched_profil,sched_setparam,sched_setscheduler},
sched/pthread/pthread_create,
sched/wdog/{wd_gettime,wd_start,wdog.h},
sched/timer/timer_gettime, sched/mqueue/*
Flip the few in-tree printf format strings that assumed an
unsigned 64-bit tv_sec:
* drivers/rpmsg/rpmsg_ping.c PRIu64 -> PRId64
* arch/xtensa/src/esp32{,s2,s3}/esp32*_oneshot_lowerhalf.c
PRIu32 (already wrong) -> PRId64
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
Fix MISRA Rule 10.3 exist clock to sclock cause wide type implicit conversion to narrow type, NSEC_PER_USEC to l
Signed-off-by: jiangtao16 <jiangtao16@xiaomi.com>
This commit replaced periodical timer with the wd_start_next to improve the timing accuracy.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
This commit added a macro function clock_delay2abstick to calculate the
absolute tick after the delay.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
This commit resolves a timing error caused by the round-up behavior in clock_time2ticks. In rare cases, this could lead to a two-tick increment within a single tick interval. To fix this, we introduced clock_time2ticks_floor, which guarantees the correct semantics for obtaining current system ticks.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
To improve the absolute timer accuracy, this commit move the tick++ to relative wdog timer.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
Summary:
When the user sets an illegal signo, the error will only be known when timer_signotify is triggered during timeout.
By intercepting timer_create, we can directly locate the problem
Signed-off-by: chenrun1 <chenrun1@xiaomi.com>
This commit simplified setitmer implementation by eliminating a redundant conditional branch.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
Converted the timer overrun check from a loop-based approach to a division-based method. This change ensures a deterministic worst-case execution time (WCET), even if it might not outperform the loop in average scenarios.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
This patch added support for SIGEV_THREAD_ID and sigev_notify_thread_id.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
Signed-off-by: ligd <liguiding1@xiaomi.com>
Using the ts/tick conversion functions provided in clock.h
Do this caused we want speed up the time calculation, so change:
clock_time2ticks, clock_ticks2time, clock_timespec_add,
clock_timespec_compare, clock_timespec_subtract... to MACRO
Signed-off-by: ligd <liguiding1@xiaomi.com>
Most tools used for compliance and SBOM generation use SPDX identifiers
This change brings us a step closer to an easy SBOM generation.
Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>
modify the default errno from ENOSYS to EINVAL can pass the ltp
case: ltp_timer_getoverrun_speculative_6_1,
ltp_timer_getoverrun_speculative_6_2, ltp_timer_getoverrun_speculative_6_3
Signed-off-by: guoshichao <guoshichao@xiaomi.com>
1. Update all CMakeLists.txt to adapt to new layout
2. Fix cmake build break
3. Update all new file license
4. Fully compatible with current compilation environment(use configure.sh or cmake as you choose)
------------------
How to test
From within nuttx/. Configure:
cmake -B build -DBOARD_CONFIG=sim/nsh -GNinja
cmake -B build -DBOARD_CONFIG=sim:nsh -GNinja
cmake -B build -DBOARD_CONFIG=sabre-6quad/smp -GNinja
cmake -B build -DBOARD_CONFIG=lm3s6965-ek/qemu-flat -GNinja
(or full path in custom board) :
cmake -B build -DBOARD_CONFIG=$PWD/boards/sim/sim/sim/configs/nsh -GNinja
This uses ninja generator (install with sudo apt install ninja-build). To build:
$ cmake --build build
menuconfig:
$ cmake --build build -t menuconfig
--------------------------
2. cmake/build: reformat the cmake style by cmake-format
https://github.com/cheshirekow/cmake_format
$ pip install cmakelang
$ for i in `find -name CMakeLists.txt`;do cmake-format $i -o $i;done
$ for i in `find -name *\.cmake`;do cmake-format $i -o $i;done
Co-authored-by: Matias N <matias@protobits.dev>
Signed-off-by: chao an <anchao@xiaomi.com>
NuttX kernel should not use the syscall functions, especially after
enabling CONFIG_SCHED_INSTRUMENTATION_SYSCALL, all system functions
will be traced to backend, which will impact system performance.
Signed-off-by: chao an <anchao@xiaomi.com>
TIMER_SETTIME(2)
NAME
timer_settime, timer_gettime - arm/disarm and fetch state of POSIX per-process timer
SYNOPSIS
#include <time.h>
int timer_settime(timer_t timerid, int flags,
const struct itimerspec *new_value,
struct itimerspec *old_value);
int timer_gettime(timer_t timerid, struct itimerspec *curr_value);
...
ERRORS
...
EINVAL timerid is invalid.
Signed-off-by: chao an <anchao@xiaomi.com>
because not all compiler support the weak attribute, and
many features are either always used or guarded by config.
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
here is the reason:
1.clock_systime_timespec(core function) always exist regardless the setting
2.CLOCK_MONOTONIC is a foundamental clock type required by many places
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
Reference here:
https://pubs.opengroup.org/onlinepubs/009695399/functions/timer_create.html
DESCRIPTION
...
Each implementation shall define a set of clocks that can be
used as timing bases for per-process timers. All implementations
shall support a clock_id of CLOCK_REALTIME.
*** If the Monotonic Clock option is supported, implementations shall
support a clock_id of CLOCK_MONOTONIC. ***
...
Change-Id: Ia8e7302ed4a7e9ec11a0059bd68e9674ea942001
Signed-off-by: chao.an <anchao@xiaomi.com>
to save the preserved space(1KB) and also avoid the heap overhead
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
Change-Id: I694073f68e1bd63960cedeea1ddec441437be025
