arch/risc-v: tick timer improvements #15929
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Arch: risc-v
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[Experimental Bot, please feedback here] No, this PR does not fully meet the NuttX requirements. While it provides a decent summary and explains the impact, it lacks several key elements:
In short, the PR needs more detail and, most importantly, the testing logs to demonstrate the effectiveness of the proposed changes. |
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@nuttxpr test milkv_duos:nsh |
cederom
approved these changes
Mar 3, 2025
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Thank you @jlaitine :-)
- Nice api sync with arm64 :-)
- Please provide build and runtime (nsh/ostest) logs even from your board for changes affecting many chips / boards :-)
- Tested on ESP32-C6 with
CROSSDEV=riscv32-esp-elf-gccversion8.4.0:
% uname -a
FreeBSD octagon 14.2-RELEASE-p1 FreeBSD 14.2-RELEASE-p1 GENERIC amd64
% git branch
* (HEAD detached at tiiuae/riscv_tick_timer_improvements)
% git log -2
commit 30fc08aaeafa189e6d725845f48f9d8b14234ab5 (HEAD, tiiuae/riscv_tick_timer_improvements)
Author: Jukka Laitinen <[email protected]>
Date: Mon Mar 3 11:22:40 2025 +0200
arch/risc-v/src/common/riscv_mtimer.c: Remove clock drift from tick timer
This is the same that was done earlier for arm64 in 429252152, and fixes the
same issues with the tick timer:
1) Each tick is a bit longer than the requested period
2) after a long period of clock drift, the oneshot_callback might
randomly advance two ticks at a time, causing wdog timers complete
one tick too early
Signed-off-by: Jukka Laitinen <[email protected]>
commit 01a9f006e887f774ad466e0f069128f067e82488
Author: Jukka Laitinen <[email protected]>
Date: Mon Mar 3 11:06:04 2025 +0200
arch/risc-v/src/common/riscv_mtimer.c: Change risc-v tick timer to use oneshot timer tick_ operations
As the riscv_mtimer is just a OS tick timer, use the interface ment
for the purpose.
Signed-off-by: Jukka Laitinen <[email protected]>
% ./tools/configure.sh -B esp32c6-devkitm:nsh
% /usr/bin/time -h gmake -j8 CROSSDEV=riscv32-esp-elf-
(..)
Memory region Used Size Region Size %age Used
ROM: 240229 B 16 MB 1.43%
iram0_0_seg: 19792 B 452112 B 4.38%
irom_seg: 119486 B 16 MB 0.71%
dram0_0_seg: 31008 B 452112 B 6.86%
drom_seg: 174696 B 16 MB 1.04%
lp_ram_seg: 16 B 16360 B 0.10%
lp_reserved_seg: 0 GB 24 B 0.00%
CP: nuttx.hex
MKIMAGE: NuttX binary
esptool.py -c esp32c6 elf2image --ram-only-header -fs 4MB -fm dio -ff 80m -o nuttx.bin nuttx
esptool.py v4.8.1
Creating esp32c6 image...
Image has only RAM segments visible. ROM segments are hidden and SHA256 digest is not appended.
Merged 1 ELF section
Successfully created esp32c6 image.
Generated: nuttx.bin
15,47s real 48,91s user 31,89s sys
% /usr/bin/time -h gmake flash CROSSDEV=riscv32-esp-elf-
(..)
Memory region Used Size Region Size %age Used
ROM: 240229 B 16 MB 1.43%
iram0_0_seg: 19792 B 452112 B 4.38%
irom_seg: 119486 B 16 MB 0.71%
dram0_0_seg: 31008 B 452112 B 6.86%
drom_seg: 174696 B 16 MB 1.04%
lp_ram_seg: 16 B 16360 B 0.10%
lp_reserved_seg: 0 GB 24 B 0.00%
CP: nuttx.hex
MKIMAGE: NuttX binary
esptool.py -c esp32c6 elf2image --ram-only-header -fs 4MB -fm dio -ff 80m -o nuttx.bin nuttx
esptool.py v4.8.1
Creating esp32c6 image...
Image has only RAM segments visible. ROM segments are hidden and SHA256 digest is not appended.
Merged 1 ELF section
Successfully created esp32c6 image.
Generated: nuttx.bin
esptool.py -c esp32c6 -p /dev/cuaU0 -b 115200 write_flash -fs 4MB -fm dio -ff 80m 0x0000 nuttx.bin
esptool.py v4.8.1
Serial port /dev/cuaU0
Connecting.........
Chip is ESP32-C6 (QFN40) (revision v0.1)
Features: WiFi 6, BT 5, IEEE802.15.4
Crystal is 40MHz
MAC: XXX
BASE MAC: XXX
MAC_EXT: ff:fe
Uploading stub...
Running stub...
Stub running...
Configuring flash size...
Flash will be erased from 0x00000000 to 0x0003dfff...
Compressed 250560 bytes to 108027...
Wrote 250560 bytes (108027 compressed) at 0x00000000 in 9.6 seconds (effective 208.0 kbit/s)...
Hash of data verified.
Leaving...
Hard resetting via RTS pin...
19,64s real 3,55s user 4,18s sys
nsh> uname -a
NuttX 10.4.0 30fc08aaea Mar 3 2025 20:26:32 risc-v esp32c6-devkitm
nsh> ?
help usage: help [-v] [<cmd>]
. cp exit ls reboot truncate
[ cmp expr mkdir rm uname
? dirname false mkrd rmdir umount
alias dd fdinfo mount set unset
unalias df free mv sleep uptime
basename dmesg help pidof source usleep
break echo hexdump printf test watch
cat env kill ps time xd
cd exec pkill pwd true wait
Builtin Apps:
dumpstack getprime nsh ostest sh
nsh> ostest
stdio_test: write fd=1
stdio_test: Standard I/O Check: printf
stdio_test: write fd=2
stdio_test: Standard I/O Check: fprintf to stderr
ostest_main: putenv(Variable1=BadValue3)
ostest_main: setenv(Variable1, GoodValue1, TRUE)
ostest_main: setenv(Variable2, BadValue1, FALSE)
ostest_main: setenv(Variable2, GoodValue2, TRUE)
ostest_main: setenv(Variable3, GoodValue3, FALSE)
ostest_main: setenv(Variable3, BadValue2, FALSE)
show_variable: Variable=Variable1 has value=GoodValue1
show_variable: Variable=Variable2 has value=GoodValue2
show_variable: Variable=Variable3 has value=GoodValue3
ostest_main: Started user_main at PID=3
user_main: Begin argument test
user_main: Started with argc=5
user_main: argv[0]="ostest"
user_main: argv[1]="Arg1"
user_main: argv[2]="Arg2"
user_main: argv[3]="Arg3"
user_main: argv[4]="Arg4"
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 1 1
mxordblk 730e8 730e8
uordblks 4358 4358
fordblks 730e8 730e8
user_main: getopt() test
getopt(): Simple test
getopt(): Invalid argument
getopt(): Missing optional argument
getopt_long(): Simple test
getopt_long(): No short options
getopt_long(): Argument for --option=argument
getopt_long(): Invalid long option
getopt_long(): Mixed long and short options
getopt_long(): Invalid short option
getopt_long(): Missing optional arguments
getopt_long_only(): Mixed long and short options
getopt_long_only(): Single hyphen long options
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 1 1
mxordblk 730e8 730e8
uordblks 4358 4358
fordblks 730e8 730e8
user_main: libc tests
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 1 1
mxordblk 730e8 730e8
uordblks 4358 4358
fordblks 730e8 730e8
show_variable: Variable=Variable1 has value=GoodValue1
show_variable: Variable=Variable2 has value=GoodValue2
show_variable: Variable=Variable3 has value=GoodValue3
show_variable: Variable=Variable1 has no value
show_variable: Variable=Variable2 has value=GoodValue2
show_variable: Variable=Variable3 has value=GoodValue3
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 1 2
mxordblk 730e8 730e8
uordblks 4358 4338
fordblks 730e8 73108
show_variable: Variable=Variable1 has no value
show_variable: Variable=Variable2 has no value
show_variable: Variable=Variable3 has no value
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 2
mxordblk 730e8 730e8
uordblks 4338 42c0
fordblks 73108 73180
user_main: setvbuf test
setvbuf_test: Test NO buffering
setvbuf_test: Using NO buffering
setvbuf_test: Test default FULL buffering
setvbuf_test: Using default FULL buffering
setvbuf_test: Test FULL buffering, buffer size 64
setvbuf_test: Using FULL buffering, buffer size 64
setvbuf_test: Test FULL buffering, pre-allocated buffer
setvbuf_test: Using FULL buffering, pre-allocated buffer
setvbuf_test: Test LINE buffering, buffer size 64
setvbuf_test: Using LINE buffering, buffer size 64
setvbuf_test: Test FULL buffering, pre-allocated buffer
setvbuf_test: Using FULL buffering, pre-allocated buffer
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 2
mxordblk 730e8 730e8
uordblks 42c0 42c0
fordblks 73180 73180
user_main: /dev/null test
dev_null: Read 0 bytes from /dev/null
dev_null: Wrote 1024 bytes to /dev/null
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 2
mxordblk 730e8 730e8
uordblks 42c0 42c0
fordblks 73180 73180
user_main: task_restart test
Test task_restart()
restart_main: setenv(VarName, VarValue, TRUE)
restart_main: Started restart_main at PID=4
restart_main: Started with argc=4
restart_main: argv[0]="ostest"
restart_main: argv[1]="This is argument 1"
restart_main: argv[2]="Argument 2 here"
restart_main: argv[3]="Lastly, the 3rd argument"
restart_main: Variable=VarName has value=VarValue
restart_main: I am still here
restart_main: I am still here
restart_main: Started restart_main at PID=4
restart_main: Started with argc=4
restart_main: argv[0]="ostest"
restart_main: argv[1]="This is argument 1"
restart_main: argv[2]="Argument 2 here"
restart_main: argv[3]="Lastly, the 3rd argument"
restart_main: Variable=VarName has value=VarValue
restart_main: Started with argc=4
restart_main: argv[0]="ostest"
restart_main: argv[1]="This is argument 1"
restart_main: argv[2]="Argument 2 here"
restart_main: argv[3]="Lastly, the 3rd argument"
restart_main: Variable=VarName has value=VarValue
restart_main: Exiting
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 2
mxordblk 730e8 70d10
uordblks 42c0 66d0
fordblks 73180 70d70
user_main: waitpid test
Test waitpid()
waitpid_start_child: Started waitpid_main at PID=5
waitpid_main: PID 5 Started
waitpid_start_child: Started waitpid_main at PID=6
waitpid_main: PID 6 Started
waitpid_start_child: Started waitpid_main at PID=7
waitpid_main: PID 7 Started
waitpid_test: Waiting for PID=5 with waitpid()
waitpid_main: PID 5 exitting with result=14
waitpid_test: PID 5 waitpid succeeded with stat_loc=0e00
waitpid_last: Waiting for PID=7 with waitpid()
waitpid_main: PID 6 exitting with result=14
waitpid_main: PID 7 exitting with result=14
waitpid_last: PASS: PID 7 waitpid succeeded with stat_loc=0e00
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 5
mxordblk 70d10 6c510
uordblks 66d0 a6e0
fordblks 70d70 6cd60
user_main: mutex test
Initializing mutex
Starting thread 1
Starting thread 2
Thread1 Thread2
Loops 32 32
Errors 0 0
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 5 2
mxordblk 6c510 71f28
uordblks a6e0 54b8
fordblks 6cd60 71f88
user_main: timed mutex test
mutex_test: Initializing mutex
mutex_test: Starting thread
pthread: Started
pthread: Waiting for lock or timeout
mutex_test: Unlocking
pthread: Got the lock
pthread: Waiting for lock or timeout
pthread: Got the timeout. Terminating
mutex_test: PASSED
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 2
mxordblk 71f28 72808
uordblks 54b8 4bd8
fordblks 71f88 72868
user_main: cancel test
cancel_test: Test 1a: Normal Cancellation
cancel_test: Starting thread
start_thread: Initializing mutex
start_thread: Initializing cond
start_thread: Starting thread
start_thread: Yielding
sem_waiter: Taking mutex
sem_waiter: Starting wait for condition
cancel_test: Canceling thread
cancel_test: Joining
cancel_test: waiter exited with result=0xffffffff
cancel_test: PASS thread terminated with PTHREAD_CANCELED
cancel_test: Test 2: Asynchronous Cancellation
... Skipped
cancel_test: Test 3: Cancellation of detached thread
cancel_test: Re-starting thread
restart_thread: Destroying cond
restart_thread: Destroying mutex
restart_thread: Re-starting thread
start_thread: Initializing mutex
start_thread: Initializing cond
start_thread: Starting thread
start_thread: Yielding
sem_waiter: Taking mutex
sem_waiter: Starting wait for condition
cancel_test: Canceling thread
cancel_test: Joining
cancel_test: PASS pthread_join failed with status=ESRCH
cancel_test: Test 5: Non-cancelable threads
cancel_test: Re-starting thread (non-cancelable)
restart_thread: Destroying cond
restart_thread: Destroying mutex
restart_thread: Re-starting thread
start_thread: Initializing mutex
start_thread: Initializing cond
start_thread: Starting thread
start_thread: Yielding
sem_waiter: Taking mutex
sem_waiter: Starting wait for condition
sem_waiter: Setting non-cancelable
cancel_test: Canceling thread
cancel_test: Joining
sem_waiter: Releasing mutex
sem_waiter: Setting cancelable
cancel_test: waiter exited with result=0xffffffff
cancel_test: PASS thread terminated with PTHREAD_CANCELED
cancel_test: Test 6: Cancel message queue wait
cancel_test: Starting thread (cancelable)
Skipped
cancel_test: Test 7: Cancel signal wait
cancel_test: Starting thread (cancelable)
Skipped
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 2
mxordblk 72808 71008
uordblks 4bd8 63d8
fordblks 72868 71068
user_main: robust test
robust_test: Initializing mutex
robust_test: Starting thread
robust_waiter: Taking mutex
robust_waiter: Exiting with mutex
robust_test: Take the lock again
robust_test: Make the mutex consistent again.
robust_test: Take the lock again
robust_test: Joining
robust_test: waiter exited with result=0
robust_test: Test complete with nerrors=0
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 2
mxordblk 71008 71008
uordblks 63d8 63d8
fordblks 71068 71068
user_main: semaphore test
sem_test: Initializing semaphore to 0
sem_test: Starting waiter thread 1
sem_test: Set thread 1 priority to 191
waiter_func: Thread 1 Started
waiter_func: Thread 1 initial semaphore value = 0
sem_test: Starting waiter thread 2
waiter_func: Thread 1 waiting on semaphore
sem_test: Set thread 2 priority to 128
waiter_func: Thread 2 Started
waiter_func: Thread 2 initial semaphore value = -1
waiter_func: Thread 2 waiting on semaphore
sem_test: Starting poster thread 3
sem_test: Set thread 3 priority to 64
poster_func: Thread 3 started
poster_func: Thread 3 semaphore value = -2
poster_func: Thread 3 posting semaphore
waiter_func: Thread 1 awakened
waiter_func: Thread 1 new semaphore value = -1
waiter_func: Thread 1 done
poster_func: Thread 3 new semaphore value = -1
poster_func: Thread 3 semaphore value = -1
poster_func: Thread 3 posting semaphore
waiter_func: Thread 2 awakened
poster_func: Thread 3 new semaphore value = 0
waiter_func: Thread 2 new semaphore value = 0
waiter_func: Thread 2 done
poster_func: Thread 3 done
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 2
mxordblk 71008 71648
uordblks 63d8 5d98
fordblks 71068 716a8
user_main: timed semaphore test
semtimed_test: Initializing semaphore to 0
semtimed_test: Waiting for two second timeout
semtimed_test: PASS: first test returned timeout
BEFORE: (40 sec, 780000000 nsec)
AFTER: (42 sec, 790000000 nsec)
semtimed_test: Starting poster thread
semtimed_test: Set thread 1 priority to 191
semtimed_test: Starting poster thread 3
semtimed_test: Set thread 3 priority to 64
semtimed_test: Waiting for two second timeout
poster_func: Waiting for 1 second
poster_func: Posting
semtimed_test: PASS: sem_timedwait succeeded
BEFORE: (42 sec, 790000000 nsec)
AFTER: (43 sec, 800000000 nsec)
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 2
mxordblk 71648 72808
uordblks 5d98 4bd8
fordblks 716a8 72868
user_main: condition variable test
cond_test: Initializing mutex
cond_test: Initializing cond
cond_test: Starting waiter
cond_test: Set thread 1 priority to 128
waiter_thread: Started
cond_test: Starting signaler
cond_test: Set thread 2 priority to 64
thread_signaler: Started
thread_signaler: Terminating
cond_test: signaler terminated, now cancel the waiter
cond_test: Waiter Signaler
cond_test: Loops 32 32
cond_test: Errors 0 0
cond_test:
cond_test: 0 times, waiter did not have to wait for data
cond_test: 0 times, data was already available when the signaler run
cond_test: 0 times, the waiter was in an unexpected state when the signaler ran
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 3
mxordblk 72808 71f28
uordblks 4bd8 4bd8
fordblks 72868 72868
user_main: pthread_exit() test
pthread_exit_test: Started pthread_exit_main at PID=25
pthread_exit_main 25: Starting pthread_exit_thread
pthread_exit_main 25: Sleeping for 5 seconds
pthread_exit_thread 26: Sleeping for 10 second
pthread_exit_main 25: Calling pthread_exit()
pthread_exit_thread 26: Still running...
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 3 2
mxordblk 71f28 70728
uordblks 4bd8 6cb8
fordblks 72868 70788
user_main: pthread_rwlock test
pthread_rwlock: Initializing rwlock
pthread_exit_thread 26: Exiting
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 3
mxordblk 70728 70728
uordblks 6cb8 4be8
fordblks 70788 72858
user_main: pthread_rwlock_cancel test
pthread_rwlock_cancel: Starting test
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 3 2
mxordblk 70728 730e8
uordblks 4be8 4308
fordblks 72858 73138
user_main: timed wait test
thread_waiter: Initializing mutex
timedwait_test: Initializing cond
timedwait_test: Starting waiter
timedwait_test: Set thread 2 priority to 177
thread_waiter: Taking mutex
timedwait_test: Joining
thread_waiter: Starting 5 second wait for condition
thread_waiter: pthread_cond_timedwait timed out
thread_waiter: Releasing mutex
thread_waiter: Exit with status 0x12345678
timedwait_test: waiter exited with result=0x12345678
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 2
mxordblk 730e8 72808
uordblks 4308 4be8
fordblks 73138 72858
user_main: message queue test
mqueue_test: Starting receiver
mqueue_test: Set receiver priority to 128
receiver_thread: Starting
mqueue_test: Starting sender
mqueue_test: Set sender thread priority to 64
mqueue_test: Waiting for sender to complete
sender_thread: Starting
receiver_thread: mq_receive succeeded on msg 0
sender_thread: mq_send succeeded on msg 0
receiver_thread: mq_receive succeeded on msg 1
sender_thread: mq_send succeeded on msg 1
receiver_thread: mq_receive succeeded on msg 2
sender_thread: mq_send succeeded on msg 2
receiver_thread: mq_receive succeeded on msg 3
sender_thread: mq_send succeeded on msg 3
receiver_thread: mq_receive succeeded on msg 4
sender_thread: mq_send succeeded on msg 4
receiver_thread: mq_receive succeeded on msg 5
sender_thread: mq_send succeeded on msg 5
receiver_thread: mq_receive succeeded on msg 6
sender_thread: mq_send succeeded on msg 6
receiver_thread: mq_receive succeeded on msg 7
sender_thread: mq_send succeeded on msg 7
receiver_thread: mq_receive succeeded on msg 8
sender_thread: mq_send succeeded on msg 8
receiver_thread: mq_receive succeeded on msg 9
sender_thread: mq_send succeeded on msg 9
sender_thread: returning nerrors=0
mqueue_test: Killing receiver
receiver_thread: mq_receive interrupted!
receiver_thread: returning nerrors=0
mqueue_test: Canceling receiver
mqueue_test: receiver has already terminated
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 3
mxordblk 72808 6ee50
uordblks 4be8 8528
fordblks 72858 6ef18
user_main: timed message queue test
timedmqueue_test: Starting sender
timedmqueue_test: Waiting for sender to complete
sender_thread: Starting
sender_thread: mq_timedsend succeeded on msg 0
sender_thread: mq_timedsend succeeded on msg 1
sender_thread: mq_timedsend succeeded on msg 2
sender_thread: mq_timedsend succeeded on msg 3
sender_thread: mq_timedsend succeeded on msg 4
sender_thread: mq_timedsend succeeded on msg 5
sender_thread: mq_timedsend succeeded on msg 6
sender_thread: mq_timedsend succeeded on msg 7
sender_thread: mq_timedsend succeeded on msg 8
sender_thread: mq_timedsend 9 timed out as expected
sender_thread: returning nerrors=0
timedmqueue_test: Starting receiver
timedmqueue_test: Waiting for receiver to complete
receiver_thread: Starting
receiver_thread: mq_timedreceive succeed on msg 0
receiver_thread: mq_timedreceive succeed on msg 1
receiver_thread: mq_timedreceive succeed on msg 2
receiver_thread: mq_timedreceive succeed on msg 3
receiver_thread: mq_timedreceive succeed on msg 4
receiver_thread: mq_timedreceive succeed on msg 5
receiver_thread: mq_timedreceive succeed on msg 6
receiver_thread: mq_timedreceive succeed on msg 7
receiver_thread: mq_timedreceive succeed on msg 8
receiver_thread: Receive 9 timed out as expected
receiver_thread: returning nerrors=0
timedmqueue_test: Test complete
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 3 2
mxordblk 6ee50 70fd8
uordblks 8528 6448
fordblks 6ef18 70ff8
user_main: sigprocmask test
sigprocmask_test: SUCCESS
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 2
mxordblk 70fd8 70fd8
uordblks 6448 6448
fordblks 70ff8 70ff8
user_main: signal handler test
sighand_test: Initializing semaphore to 0
sighand_test: Starting waiter task
sighand_test: Started waiter_main pid=42
waiter_main: Waiter started
waiter_main: Unmasking signal 32
waiter_main: Registering signal handler
waiter_main: oact.sigaction=0 oact.sa_flags=0 oact.sa_mask=0000000000000000
waiter_main: Waiting on semaphore
sighand_test: Signaling pid=42 with signo=32 sigvalue=42
waiter_main: sem_wait() successfully interrupted by signal
waiter_main: done
sighand_test: done
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 1
mxordblk 70fd8 70fc8
uordblks 6448 6478
fordblks 70ff8 70fc8
user_main: nested signal handler test
signest_test: Starting signal waiter task at priority 101
waiter_main: Waiter started
waiter_main: Setting signal mask
waiter_main: Registering signal handler
signest_test: Started waiter_main pid=43
waiter_main: Waiting on semaphore
signest_test: Starting interfering task at priority 102
interfere_main: Waiting on semaphore
signest_test: Started interfere_main pid=44
signest_test: Simple case:
Total signalled 1240 Odd=620 Even=620
Total handled 1240 Odd=620 Even=620
Total nested 0 Odd=0 Even=0
signest_test: With task locking
Total signalled 2480 Odd=1240 Even=1240
Total handled 2480 Odd=1240 Even=1240
Total nested 0 Odd=0 Even=0
signest_test: With intefering thread
Total signalled 3720 Odd=1860 Even=1860
Total handled 3720 Odd=1860 Even=1860
Total nested 0 Odd=0 Even=0
signest_test: done
End of test memory usage:
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 0 ns
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 1 2
mxordblk 70fc8 6e798
uordblks 6478 6bd8
fordblks 70fc8 70868
user_main: wdog test
wdog_test start...
wdtest_once 1 ns
wdtest_once 1 ns
wdtest_once 1 ns
wdtest_once 1 ns
wdtest_once 10 ns
wdtest_once 10 ns
wdtest_once 10 ns
wdtest_once 10 ns
wdtest_once 100 ns
wdtest_once 100 ns
wdtest_once 100 ns
wdtest_once 100 ns
wdtest_once 1000 ns
wdtest_once 1000 ns
wdtest_once 1000 ns
wdtest_once 1000 ns
wdtest_once 10000 ns
wdtest_once 10000 ns
wdtest_once 10000 ns
wdtest_once 10000 ns
wdtest_once 100000 ns
wdtest_once 100000 ns
wdtest_once 100000 ns
wdtest_once 100000 ns
wdtest_once 1000000 ns
wdtest_once 1000000 ns
wdtest_once 1000000 ns
wdtest_once 1000000 ns
wd_start with maximum delay, cancel OK, rest 2147483646
wdtest_recursive 1000000us
wd_start with maximum delay, cancel OK, rest 2147483646
wdtest_recursive 1000000us
wd_start with maximum delay, cancel OK, rest 2147483646
wdtest_recursive 1000000us
wd_start with maximum delay, cancel OK, rest 2147483645
wdtest_recursive 1000000us
recursive wdog triggered 6 times, elapsed tick 12
wdtest_recursive 10000000us
recursive wdog triggered 6 times, elapsed tick 12
wdtest_recursive 10000000us
recursive wdog triggered 6 times, elapsed tick 12
wdtest_recursive 10000000us
recursive wdog triggered 6 times, elapsed tick 12
wdtest_recursive 10000000us
recursive wdog triggered 6 times, elapsed tick 12
recursive wdog triggered 6 times, elapsed tick 12
recursive wdog triggered 6 times, elapsed tick 12
recursive wdog triggered 6 times, elapsed tick 12
wdog_test end...
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 2 3
mxordblk 6e798 6e798
uordblks 6bd8 6e78
fordblks 70868 705c8
user_main: POSIX timer test
timer_test: Initializing semaphore to 0
timer_test: Unmasking signal 32
timer_test: Registering signal handler
timer_test: oact.sigaction=0x42016ce0 oact.sa_flags=0 oact.sa_mask=aaaaaaaaaaaaaaaa
timer_test: Creating timer
timer_test: Starting timer
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=1
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=2
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=3
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=4
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=5
timer_test: Deleting timer
timer_test: done
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 3 4
mxordblk 6e798 6e798
uordblks 6e78 4ad8
fordblks 705c8 72968
user_main: round-robin scheduler test
rr_test: Set thread priority to 1
rr_test: Set thread policy to SCHED_RR
rr_test: Starting first get_primes_thread
First get_primes_thread: 53
rr_test: Starting second get_primes_thread
Second get_primes_thread: 54
rr_test: Waiting for threads to complete -- this should take awhile
If RR scheduling is working, they should start and complete at
about the same time
get_primes_thread id=1 started, looking for primes < 10000, doing 10 run(s)
get_primes_thread id=2 started, looking for primes < 10000, doing 10 run(s)
get_primes_thread id=1 finished, found 1230 primes, last one was 9973
get_primes_thread id=2 finished, found 1230 primes, last one was 9973
rr_test: Done
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 4 4
mxordblk 6e798 6e798
uordblks 4ad8 5c98
fordblks 72968 717a8
user_main: barrier test
barrier_test: Initializing barrier
barrier_test: Thread 0 created
barrier_test: Thread 1 created
barrier_test: Thread 2 created
barrier_test: Thread 3 created
barrier_func: Thread 0 started
barrier_func: Thread 1 started
barrier_func: Thread 2 started
barrier_func: Thread 3 started
barrier_test: Thread 4 created
barrier_func: Thread 4 started
barrier_test: Thread 5 created
barrier_func: Thread 5 started
barrier_test: Thread 6 created
barrier_func: Thread 6 started
barrier_test: Thread 7 created
barrier_func: Thread 7 started
barrier_func: Thread 0 calling pthread_barrier_wait()
barrier_func: Thread 1 calling pthread_barrier_wait()
barrier_func: Thread 2 calling pthread_barrier_wait()
barrier_func: Thread 3 calling pthread_barrier_wait()
barrier_func: Thread 4 calling pthread_barrier_wait()
barrier_func: Thread 5 calling pthread_barrier_wait()
barrier_func: Thread 6 calling pthread_barrier_wait()
barrier_func: Thread 7 calling pthread_barrier_wait()
barrier_func: Thread 7, back with status=PTHREAD_BARRIER_SERIAL_THREAD (I AM SPECIAL)
barrier_func: Thread 0, back with status=0 (I am not special)
barrier_func: Thread 1, back with status=0 (I am not special)
barrier_func: Thread 2, back with status=0 (I am not special)
barrier_func: Thread 3, back with status=0 (I am not special)
barrier_func: Thread 4, back with status=0 (I am not special)
barrier_func: Thread 5, back with status=0 (I am not special)
barrier_func: Thread 6, back with status=0 (I am not special)
barrier_func: Thread 7 done
barrier_func: Thread 0 done
barrier_func: Thread 1 done
barrier_test: Thread 0 completed with result=0
barrier_test: Thread 1 completed with result=0
barrier_func: Thread 2 done
barrier_func: Thread 3 done
barrier_test: Thread 2 completed with result=0
barrier_test: Thread 3 completed with result=0
barrier_func: Thread 4 done
barrier_func: Thread 5 done
barrier_test: Thread 4 completed with result=0
barrier_test: Thread 5 completed with result=0
barrier_func: Thread 6 done
barrier_test: Thread 6 completed with result=0
barrier_test: Thread 7 completed with result=0
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 4 6
mxordblk 6e798 6e798
uordblks 5c98 5c98
fordblks 717a8 717a8
user_main: scheduler lock test
sched_lock: Starting lowpri_thread at 97
sched_lock: Set lowpri_thread priority to 97
sched_lock: Starting highpri_thread at 98
sched_lock: Set highpri_thread priority to 98
sched_lock: Waiting...
sched_lock: PASSED No pre-emption occurred while scheduler was locked.
sched_lock: Starting lowpri_thread at 97
sched_lock: Set lowpri_thread priority to 97
sched_lock: Starting highpri_thread at 98
sched_lock: Set highpri_thread priority to 98
sched_lock: Waiting...
sched_lock: PASSED No pre-emption occurred while scheduler was locked.
sched_lock: Finished
End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 6 5
mxordblk 6e798 6e798
uordblks 5c98 53b8
fordblks 717a8 72088
user_main: vfork() test
vfork_test: Child 71 ran successfully
Final memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 77440 77440
ordblks 1 4
mxordblk 730e8 6e798
uordblks 4358 6ae0
fordblks 730e8 70960
user_main: Exiting
ostest_main: Exiting with status 0
|
@jlaitine you may want to sync your local fork https://github.com/jlaitine/incubator-nuttx with the upstream https://github.com/apache/nuttx and the tags :-) |
|
[Experimental Bot, please feedback here] Build and Test Successful (milkv_duos:nsh) |
lupyuen
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jerpelea
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@xiaoxiang781216 I believe it is possible to combine my effort of aligning the tick starts properly (to avoid clock drift) and your concern of measuring long intervals with ticks when the tick time is not aligned to the underlying hw timer. Please see the current proposal. Attached ostest on mfps, with SMP (4 harts), CONFIG_BUILD_FLAT. |
|
Here are ostest results for rv_virt:nsh and rv_virt:nsh64: All tests pass. |
|
@nuttxpr test milkv_duos:nsh |
|
[Experimental Bot, please feedback here] Build and Test Successful (milkv_duos:nsh) |
lupyuen
approved these changes
Mar 6, 2025
Add the mtimer _tick operations for use when tickless mode is not used. This corrects the tick-based timing calculations, removing tick timer drift and rounding errors causing early wdog expirations. Signed-off-by: Jukka Laitinen <[email protected]>
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@xiaoxiang781216 I kept all the previous oneshot interfaces unmodified, but added the "tick" functions for tick based operations. This should address your concern of tickless mode, I believe. And when using tick-based mode, the time calculations should work properly without drift in ticks or time. |
|
Re tested the latest patch. Ostest passes for mpfs (flat build, smp w. 4 harts), rv-virt:nsh and rv-virt:nsh64, also verified that the tick timer doesn't have the previous errors on the mpfs. |
|
@nuttxpr test milkv_duos:nsh |
|
[Experimental Bot, please feedback here] Build and Test Successful (milkv_duos:nsh) |
lupyuen
approved these changes
Mar 7, 2025
xiaoxiang781216
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jerpelea
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Summary
This updates the risc-v tick timer to use oneshot timer's tick_* interface, which is meant for this purpose.
This also fixes the same clock drifting issue on risc-v, which was earlier fixed for arm 64 in 4292521, using the same mechanism: as the irq handling delay is unknown, align the next mtimecmp on the tick duration boundary.
Impact
Syncs the risc-v code with arm64, fixes the clock drift issue. Impacts all real risc-v hardware, can't be tested on qemu where the timer accuracy hides the problem.
Testing
Tested on MPFS250T hardware; this is the only risc-v HW which I have available atm.