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>
Implement gnss_get_info callback function to support device information query for GNSS sensor devices through the sensor framework.
Signed-off-by: chenzihan1 <chenzihan1@xiaomi.com>
According to the test results, the restart interface offers no
performance improvement and requires additional state to encode the
non-pending state. This commit removed the wd_restart API to simplify
the wdog module.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
issue description:
task A: NSH:
1.open-> reboot->sync->task_fsfsync
2.nx_vopen-> context switch
3.fdlist_allocate: ----> 4.fsync->file_sync->assert(inode or priv is empty)
(new fd with empty filep)
5.file_vopen:
(init empty filep)
6.return fd
Task A allocates a new fd with an empty filep in fdlist_allocate. Before
it can fully initialize the filep in file_vopen, the NSH task triggers a
file - system sync operation. The sync operation encounters the empty
filep associated with the newly allocated fd, causing the assertion to
fail and the system to crash.
To resolve this race condition, we should modify the fd allocation
process. Instead of allocating a new fd with an empty filep first and
then initializing it later, we should use the file_allocate_from_inode
function. This function allows us to initialize the file structure first
and then bind it to the new filep when allocating the fd. By doing so,
we ensure that the filep is always properly initialized before it is
used in any file - system operations, thus preventing the assertion
failure and the subsequent system crash.
Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
Add basic timer operations to the kernel, including registration,
start/stop, and callback handling. This provides a consistent timer
interface for use by kernel components and drivers.
Signed-off-by: zhaohaiyang1 <zhaohaiyang1@xiaomi.com>
Fix incorrect and non-existent flag usage in LIN handling:
- Replace undefined CANFD_FLAGS_BITS usage with valid bit definitions.
- Reassign CAN_TCF_FLAG to an available flag bit, as it is not defined in can.h.
- Add an identifier for LIN noise error frames.
Signed-off-by: wangxiaoxin <wangxiaoxin@xiaomi.com>
rpmsg_test is a rpmsg api test service inside the kernel, and user
can use ioctl to start this test.
Signed-off-by: mazhuang <mazhuang@xiaomi.com>
Signed-off-by: Bowen Wang <wangbowen6@xiaomi.com>
Signed-off-by: wangshaoxin <wangshaoxin@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>
Replace enter_critical_section() with spinlock-based protection to
avoid sleeping in atomic or interrupt contexts.
Signed-off-by: xucheng5 <xucheng5@xiaomi.com>
Fix the misspelling of the tick timeout API name
(tick_settimeouot -> tick_settimeout) for clarity and correctness.
This corrects a typographical error in the function/config name that
could lead to confusion and incorrect usage. No functional logic is
changed by this rename.
Signed-off-by: zhaohaiyang1 <zhaohaiyang1@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>
Introduce a single configuration option to provide strict transmit
priority ordering based on CAN ID.
The intention is to expose the user-visible behavior (strict TX
priority ordering) rather than the underlying implementation details.
Strict priority ordering is only meaningful when hardware transmit
buffer cancellation is available, so splitting this functionality into
separate configuration options was misleading and could result in
partially effective or incorrect configurations.
Signed-off-by: zhaohaiyang1 <zhaohaiyang1@xiaomi.com>
provide get_signals ops to the transport layer implementation.
add rpmsg_get_signals API for rpmsg service to get remote core's
status.
Signed-off-by: Yongrong Wang <wangyongrong@xiaomi.com>
Signed-off-by: cuiziwei <cuiziwei@xiaomi.com>
Signed-off-by: Bowen Wang <wangbowen6@xiaomi.com>
The USB driver framework only implements a single ISOC transfer.
If multiple transfers are needed, the class driver can initiate
multiple urbs to meet the real-time requirements of the ISOC
endpoint. The class driver's urb record the buf address, length,
and number of packets sent. The callback function calculates the
data location in the buf based on the callback number and length
returned.
Signed-off-by: yangsong8 <yangsong8@xiaomi.com>
This commit introduces a software-based fake capture driver that simulates
a 10Hz square wave with 50% duty cycle, enabling development and testing
of capture-related applications without requiring real hardware.
Background:
The capture driver subsystem requires hardware support (timers with input
capture functionality) to measure external signal frequency and duty cycle.
During development, testing, or on platforms without capture hardware, it's
difficult to develop and test applications that use the capture API.
Problem:
Without a fake/simulator driver:
- Developers cannot test capture applications without specific hardware
- Continuous Integration (CI) systems cannot run capture-related tests
- Applications cannot be developed on platforms lacking capture hardware
- Testing edge notification features requires complex hardware setup
- Difficult to reproduce specific timing scenarios for debugging
Solution:
This commit provides a software-simulated capture driver that generates
predictable capture events using a watchdog timer. The fake driver
produces a square wave signal at 10Hz frequency with 50% duty cycle,
allowing applications to test the full capture API without hardware.
Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
This commit adds comprehensive signal notification support to the capture
driver, enabling applications to be asynchronously notified when capture
edge events occur on any channel, rather than having to poll for events.
Background:
The capture driver is used to measure frequency and duty cycle of external
signals by detecting edges (rising/falling). Previously, applications could
only retrieve captured values through periodic polling via CAPIOC_GETDUTY
and CAPIOC_GETFREQ ioctl commands, which is inefficient for event-driven
applications.
Problem:
Without event notification, applications must:
- Continuously poll the capture device to check for new events
- Waste CPU cycles in polling loops
- Experience higher latency in responding to capture events
- Cannot efficiently handle multiple capture channels simultaneously
Solution:
This commit adds a signal-based notification mechanism that allows
applications to register callbacks for specific capture channels and
edge types (rising, falling, or both). When the hardware detects the
configured edge, a signal is sent to the registered task.
Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
reduce the execution consumption of irrelevant code
testing the TX rates of TCP and UDP based on the Infineon board can
increase them by 13%.
Signed-off-by: zhanghongyu <zhanghongyu@xiaomi.com>
two rmutexes can be passed in, and later the wait scenarios that require
break the conn and netdev locks will be replaced.
Signed-off-by: zhanghongyu <zhanghongyu@xiaomi.com>
This commit adds a new lower-half driver implementation for I2C bit-bang
that uses IO expander pins as the GPIO backend, enabling I2C bit-bang
functionality on systems where direct GPIO access is not available or
when I2C needs to be implemented using IO expander pins.
Background:
The existing I2C bit-bang driver (i2c_bitbang.c) provides a generic
upper-half implementation that requires a platform-specific lower-half
to control the SDA and SCL GPIO lines. Previously, each platform had to
implement its own lower-half using direct GPIO access.
Usage Example:
FAR struct ioexpander_dev_s *ioe = /* get IO expander */;
FAR struct i2c_master_s *i2c;
/* Initialize I2C bit-bang using IO expander pins 10 (SCL) and 11 (SDA) */
i2c = i2c_bitbang_ioexpander_initialize(ioe, 10, 11, 0);
if (i2c)
{
/* Use i2c master device normally */
}
Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
arp_out will replace the dev->d_iob to arp request if the iob destination
address is not exist in arp table, this mechanism cause this iob lost
result in first received ping no response or first synack retransmit.
to fix this bug, we queue the iob if arp_out failed, allocate a new
iob to send arp request, after the arp request completed, then we retry
send the queue iob packet.
Signed-off-by: wenquan1 <wenquan1@xiaomi.com>
OpenAMP already change virtqueue_get_available_buffer() to
virtqueue_get_first_avail_buffer(), so update them
Signed-off-by: Bowen Wang <wangbowen6@xiaomi.com>
new virtio_alloc_buf() return int type, so add virtio_malloc_buf()
for the convenience of use.
And replace all virtio_alloc_buf() to virtio_malloc_buf() in NuttX.
Signed-off-by: Bowen Wang <wangbowen6@xiaomi.com>
using Desired frequency offset from nominal frequency in
parts per billion(ppb) to adjust frequency
Signed-off-by: dongjiuzhu1 <dongjiuzhu1@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 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>
This patch adds a dummy PTP clock driver implementation that provides
a software-based PTP clock for testing and development purposes.
Key changes include:
1. Dummy PTP clock driver implementation:
- Added drivers/timers/ptp_clock_dummy.c
- Provides software-based PTP clock using system monotonic clock
- Implements all required lower-half driver operations
2. Lower-half driver operations:
- adjfine: Frequency adjustment (stores adjustment value)
- adjtime: Time offset adjustment (applies delta to base time)
- gettime: Returns current PTP clock time
- settime: Sets PTP clock time
- getcaps: Reports clock capabilities (1 billion PPB max adjustment)
- getcrosststamp: Provides system/device cross-timestamp
3. Driver initialization:
- Added ptp_clock_dummy_init() in drivers/drivers_initialize.c
- Auto-registration under CONFIG_PTP_CLOCK_DUMMY configuration
- Creates /dev/ptp0 character device node
4. Build system integration:
- Added CONFIG_PTP_CLOCK_DUMMY Kconfig option (depends on PTP_CLOCK)
- Updated CMakeLists.txt and Make.defs
- Added include/nuttx/timers/ptp_clock_dummy.h header
5. Implementation details:
- Uses clock_gettime(CLOCK_MONOTONIC) as time base
- Tracks time offset and frequency adjustment internally
- Suitable for testing PTP clock applications without hardware
This dummy driver enables development and testing of PTP clock applications
on platforms without dedicated PTP hardware support.
Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
This patch introduces the foundational PTP (Precision Time Protocol) clock
driver framework for NuttX, enabling precise time synchronization support
based on IEEE 1588 standard.
Key changes include:
1. New PTP clock driver infrastructure:
- Added drivers/timers/ptp_clock.c implementing upper-half driver
- Created include/nuttx/timers/ptp_clock.h with PTP clock interfaces
- Implemented upper/lower half driver architecture for hardware abstraction
2. Core functionality:
- Clock time get/set operations (gettime, settime)
- Frequency adjustment support (adjtime, adjfine)
- Phase adjustment capabilities
- System-device cross-timestamping for precise synchronization
3. IOCTL commands:
- PTP_CLOCK_SETTIME/GETTIME for time manipulation
- PTP_CLOCK_GETRES for resolution queries
- PTP_CLOCK_ADJTIME for time adjustment
- PTP_CLOCK_GETCAPS for capability queries
- PTP_SYS_OFFSET* for system offset measurements
4. Supporting structures:
- struct ptp_lowerhalf_s: lower-half driver interface
- struct ptp_clock_caps: clock capabilities descriptor
- struct ptp_sys_offset: system time offset measurement
- Added timex structures in include/sys/timex.h for ADJ_* operations
5. Build system integration:
- Added CONFIG_PTP_CLOCK Kconfig option
- Updated CMakeLists.txt and Make.defs
- Added PTPCLK debug macros in include/debug.h
This framework provides the base for PTP clock implementations, allowing
hardware-specific drivers to register and provide precise time services
through a standardized interface.
Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
avoid packet processing delays caused by task switching,
to support those applications that are extremely time-sensitive.
Signed-off-by: zhanghongyu <zhanghongyu@xiaomi.com>
