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Merged
merged 1 commit into from
Jun 20, 2024
Merged

Esp32c6 adc set to 12bits #2

merged 1 commit into from
Jun 20, 2024

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@dmfaria
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@dmfaria dmfaria commented Jun 14, 2024

  1. Changed esp32c6 to 12 bits according to the specification (https://www.espressif.com/en/products/socs/esp32-c6)
  2. added CONFIG_IDF_TARGET_ESP32C6 to adc.c since this config was missiging

@andrewleech
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andrewleech commented Jun 20, 2024

Thanks heaps for this, I hadn't found the time to look into the reported issues with the ADC so I really appreciate your work!

@andrewleech andrewleech merged commit 602a0f9 into andrewleech:esp32c6 Jun 20, 2024
@dmfaria dmfaria deleted the esp32c6-ADC-minorfix branch June 20, 2024 03:41
andrewleech pushed a commit that referenced this pull request Oct 27, 2025
@pi-anl
py: Fix Zephyr threading double initialization bugs.
d198c5e 
Threads were hanging when executing Python functions due to two critical bugs
in the thread initialization path when MICROPY_ZEPHYR_THREADING is enabled:

Bug #1 - C Stack Initialization Corruption (runtime.h):
zephyr_entry() correctly sets C stack bounds using actual Zephyr thread
stack info, but mp_thread_init_state() was then overwriting those bounds
by calling mp_cstack_init_with_top(ts + 1, stack_size). The ts + 1 address
points to memory after a local variable, causing mp_cstack_check() to
calculate garbage values and potentially raise recursion depth errors.

Bug #2 - Thread State Pointer Corruption (modthread.c):
zephyr_entry() correctly sets TLS to heap-allocated self->thread_state,
but thread_entry() creates a local variable mp_state_thread_t ts and calls
mp_thread_init_state(&ts, ...) which overwrites the TLS pointer to point
to this local stack variable. When the stack frame changes, all
MP_STATE_THREAD() accesses point to invalid memory.

Root cause: For Zephyr threading there are two entry points:
1. zephyr_entry() - Zephyr thread entry that initializes MicroPython
2. thread_entry() - Generic MicroPython thread entry

The bugs occurred because thread_entry() was reinitializing everything
that zephyr_entry() had already correctly initialized, causing double
initialization and memory corruption.

Solution: Modified thread_entry() to skip thread state allocation,
C stack initialization, and mp_thread_start() call when Zephyr threading
is enabled, as these are already handled by zephyr_entry(). Thread_entry()
now only handles GIL, NLR, and function execution for Zephyr threading.

Changes:
- py/runtime.h: Skip mp_cstack_init_with_top() for Zephyr threading
- py/modthread.c: Skip thread state init and mp_thread_start() for Zephyr

Tested on STM32 NUCLEO_F429ZI (STM32F429ZITx).
Threads now successfully execute Python functions.

Signed-off-by: Andrew Leech <andrew.leech@planetinnovation.com.au>
andrewleech pushed a commit that referenced this pull request Nov 18, 2025
@pi-anl
tests: Sprint 1 + two-phase init achieves 70.6% pass rate (24/34 tests).
71511b6 
Test Results Summary:
- 24/34 tests passed (70.6%)
- 10/34 tests failed (29.4%)
- Firmware: v1.26.0-preview.323.g57456a5acc

Comparison to Baselines:
- Sprint 1 only (without two-phase): 6/33 passed (18.2%)
- Current (Sprint 1 + two-phase): 24/34 passed (70.6%)
- Improvement: +18 tests (+52.4 percentage points)

Sprint 1 Fixes Applied (commits 2032aa2, 724f018, 57456a5):
1. PRIMASK interrupt masking: arch_irq_lock() now masks ALL interrupts
2. Removed GC test instrumentation: Eliminated gc_recently_run causing MemoryErrors
3. PendSV delegation: Proper context switching via z_arm_pendsv

Two-Phase Initialization:
- Phase 1 (early): mp_thread_set_state() before gc_init() for MP_STATE_THREAD access
- Phase 2 (after GC): Allocate thread structures on GC heap with canary protection
- Required due to circular dependency: gc_init() needs thread state,
  mp_thread_init() needs GC heap

Tests Now Passing (vs Sprint 1 baseline):
- disable_irq, mutate_dict, mutate_instance, mutate_list, mutate_set
- stress_aes, thread_create_basic, thread_exc1, thread_exc2
- thread_exit1, thread_exit2, thread_gc1, thread_heap_lock
- thread_ident1, thread_lock1, thread_lock2, thread_lock5
- thread_shared1, thread_shared2, thread_sleep2, thread_stacksize1
- thread_start1, thread_start2, thread_stdin

Remaining Failures (10 tests):
- mutate_bytearray: Memory corruption during bytearray mutation
- stress_create, stress_heap, stress_recurse, stress_schedule:
  Resource exhaustion under heavy load
- thread_coop: Cooperative scheduling issues
- thread_lock3, thread_lock4: Advanced lock timeout/context manager scenarios
- thread_qstr1: QSTR allocation in threads
- thread_sleep1: Sleep precision/behavior

Known Issues from Code Review (ZEPHYR_THREADING_CODE_REVIEW.md):
1. Thread initialization race (Phase 2, Finding #1): Thread started with K_NO_WAIT
   before all fields initialized. If GC runs between k_thread_create() and field
   initialization, it scans garbage pointers.
   FIX: Initialize all fields before k_thread_create() or use K_FOREVER then
   k_thread_start().

2. Static name buffer race (Phase 2, Finding #2): Single static char name[16]
   shared across all threads causes corruption under concurrent creation.
   FIX: Allocate per-thread or embed in mp_thread_t structure.

3. Stack scanning fallback bug (Phase 2, Finding #3): On PSP corruption,
   falls back to scanning entire stack including garbage.
   FIX: Skip thread or halt, don't scan garbage.

Next Steps:
- Address thread initialization race (highest impact)
- Fix static name buffer race
- Investigate remaining 10 test failures
- Consider simplification to reduce maintenance burden (667 lines vs 308 in ports/zephyr)

Test Command:
  cd ~/micropython/tests && \
  env RESET='pyocd reset --probe 066CFF495177514867213407' \
  ./run-tests.py -t port:/dev/serial/by-id/usb-STMicroelectronics_STM32_STLink_066CFF495177514867213407-if02 \
  ~/micropython/tests/thread/*.py

Signed-off-by: Andrew Leech <andrew@alelec.net>
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2 participants

@dmfaria @andrewleech