arch/risc-v/rp23xx-rv: Add SMP support for dual Hazard3

[shtirlic]

Summary

Add SMP support to rp23xx risc-v port

Changes

• asm setintstack macro for interrupt stack
• hazard3 specific instrunctions (dmb, block, unblock)
• cpustart minor updates
• IRQ send to core0
• USB update to spinlocks
• USB updates for robustness

Todo

• serial nsh smp config
• more usb work
• check other drivers (i2c,spi)
• check complex firmware on PicoCalc
• Update toolchain for new extensions like Zcmp ci/docker: bump risc-v toolchain #19030
• update docs
• test without SMP

Impact

SMP support should work utilizing 2 Hazard3 cores

Testing

nsh> cat /proc/cpuinfo
processor       : 0
hart            : 0
isa             : rv32imac
mmu             : none
processor       : 1
hart            : 1
isa             : rv32imac
mmu             : none

nsh> ps
  TID   PID  PPID CPU PRI POLICY   TYPE    NPX STATE    EVENT     SIGMASK            STACK COMMAND
    0     0     0   0   0 FIFO     Kthread   - Assigned           0000000000000000 0004064 CPU0 IDLE
    1     0     0   1   0 FIFO     Kthread   - Running            0000000000000000 0004064 CPU1 IDLE
    3     3     0   0 100 RR       Task      - Running            0000000000000000 0004024 nsh_main

nsh> getprime 2
Set thread priority to 10
Set thread policy to SCHED_RR
Start thread #0
Start thread #1
thread #0 started, looking for primes < 10000, doing 10 run(s)
thread #1 started, looking for primes < 10000, doing 10 run(s)
thread #1 finished, found 1230 primes, last one was 9973
thread #0 finished, found 1230 primes, last one was 9973
Done
getprime took 4277 msec
nsh> getprime
Set thread priority to 10
Set thread policy to SCHED_RR
Start thread #0
thread #0 started, looking for primes < 10000, doing 10 run(s)
thread #0 finished, found 1230 primes, last one was 9973
Done
getprime took 4275 msec

ostest nsh output

NuttShell (NSH) NuttX-12.13.0
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=5

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       79a9c    79a9c
ordblks         1        1
mxordblk    73a68    73a68
uordblks     6034     6034
fordblks    73a68    73a68

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       79a9c    79a9c
ordblks         1        1
mxordblk    73a68    73a68
uordblks     6034     6034
fordblks    73a68    73a68

user_main: libc tests

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena       79a9c    79a9c
ordblks         1        1
mxordblk    73a68    73a68
uordblks     6034     6034
fordblks    73a68    73a68
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       79a9c    79a9c
ordblks         1        2
mxordblk    73a68    73a68
uordblks     6034     6014
fordblks    73a68    73a88
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       79a9c    79a9c
ordblks         2        3
mxordblk    73a68    73a68
uordblks     6014     5f94
fordblks    73a88    73b08

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       79a9c    79a9c
ordblks         3        3
mxordblk    73a68    73a68
uordblks     5f94     5f94
fordblks    73b08    73b08

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       79a9c    79a9c
ordblks         3        3
mxordblk    73a68    73a68
uordblks     5f94     5f94
fordblks    73b08    73b08

user_main: task_restart test

Test task_restart()
restart_main: setenv(VarName, VarValue, TRUE)
restart_main: Started with argc=4
restart_main: Started restart_main at PID=6
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 with argc=4
restart_main: Started restart_main at PID=6
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       79a9c    79a9c
ordblks         3        2
mxordblk    73a68    73a68
uordblks     5f94     5fcc
fordblks    73b08    73ad0

user_main: waitpid test

Test waitpid()
waitpid_main: PID 7 Started
waitpid_start_child: Started waitpid_main at PID=7
waitpid_main: PID 8 Started
waitpid_start_child: Started waitpid_main at PID=8
waitpid_main: PID 9 Started
waitpid_start_child: Started waitpid_main at PID=9
waitpid_test: Waiting for PID=7 with waitpid()
waitpid_main: PID 7 exitting with result=14
waitpid_main: PID 8 exitting with result=14
waitpid_main: PID 9 exitting with result=14
waitpid_test: PID 7 waitpid succeeded with stat_loc=0e00
waitpid_last: Waiting for PID=9 with waitpid()
waitpid_last: PASS: PID 9 waitpid failed with ECHILD.  That may be
              acceptable because child status is disabled on this thread.

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena       79a9c    79a9c
ordblks         2        2
mxordblk    73a68    73a68
uordblks     5fcc     5fcc
fordblks    73ad0    73ad0

user_main: mutex test
Initializing mutex
Starting thread 1
Starting thread 2
                Thread1 Thread2
        Loops   32      32
        Errors  0       0


Testing moved mutex
Starting moved mutex thread 1
Starting moved mutex thread 2
                Thread1 Thread2
        Moved Loops     32      32
        Moved Errors    0       0

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena       79a9c    79a9c
ordblks         2        2
mxordblk    73a68    73a68
uordblks     5fcc     5fcc
fordblks    73ad0    73ad0

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       79a9c    79a9c
ordblks         2        2
mxordblk    73a68    73a68
uordblks     5fcc     5fcc
fordblks    73ad0    73ad0

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
... 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 condthread: 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       79a9c    79a9c
ordblks         2        2
mxordblk    73a68    71978
uordblks     5fcc     80bc
fordblks    73ad0    719e0

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       79a9c    79a9c
ordblks         2        2
mxordblk    71978    71978
uordblks     80bc     80bc
fordblks    719e0    719e0

user_main: semaphore test
sem_test: Initializing semaphore to 0
sem_test: Starting waiter thread 1
sem_test: Set thread 1 priority to 191
sem_test: Starting waiter thread 2
waiter_func: Thread 1 Started
sem_test: Set thread 2 priority to 128
waiter_func: Thread 1 initial semaphore value = 0
waiter_func: Thread 2 Started
waiter_func: Thread 1 waiting on semaphore
waiter_func: Thread 2 initial semaphore value = 0
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
poster_func: Thread 3 new semaphore value = -1
waiter_func: Thread 1 new semaphore value = -1
poster_func: Thread 3 semaphore value = -1
waiter_func: Thread 1 done
poster_func: Thread 3 posting semaphore
poster_func: Thread 3 new semaphore value = 0
waiter_func: Thread 2 awakened
poster_func: Thread 3 done
waiter_func: Thread 2 new semaphore value = 0
waiter_func: Thread 2 done

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena       79a9c    79a9c
ordblks         2        3
mxordblk    71978    6e6a8
uordblks     80bc     70bc
fordblks    719e0    729e0

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: (1612828842 sec, 521443120 nsec)
AFTER:  (1612828844 sec, 530039940 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: (1612828844 sec, 531438600 nsec)
AFTER:  (1612828845 sec, 540188713 nsec)

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena       79a9c    79a9c
ordblks         3        3
mxordblk    6e6a8    6e6a8
uordblks     70bc     70bc
fordblks    729e0    729e0

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       79a9c    79a9c
ordblks         3        3
mxordblk    6e6a8    71888
uordblks     70bc     70bc
fordblks    729e0    729e0

user_main: pthread_exit() test
pthread_exit_test: Started pthread_exit_main at PID=30
pthread_exit_main 30: Starting pthread_exit_thread
pthread_exit_main 30: Sleeping for 5 seconds
pthread_exit_thread 31: Sleeping for 10 second
pthread_exit_thread 31: Still running...
pthread_exit_main 30: Calling pthread_exit()

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena       79a9c    79a9c
ordblks         3        3
mxordblk    71888    72890
uordblks     70bc     70bc
fordblks    729e0    729e0

user_main: pthread_rwlock test
pthread_rwlock: Initializing rwlock
pthread_exit_thread 31: Exiting

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena       79a9c    79a9c
ordblks         3        3
mxordblk    72890    70798
uordblks     70bc     81bc
fordblks    729e0    718e0

user_main: pthread_rwlock_cancel test
pthread_rwlock_cancel: Starting test

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena       79a9c    79a9c
ordblks         3        3
mxordblk    70798    70798
uordblks     81bc     81bc
fordblks    718e0    718e0

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
timedwait_test: Joining
thread_waiter: Taking mutex
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       79a9c    79a9c
ordblks         3        3
mxordblk    70798    70798
uordblks     81bc     81bc
fordblks    718e0    718e0

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       79a9c    79a9c
ordblks         3        3
mxordblk    70798    73a30
uordblks     81bc     6044
fordblks    718e0    73a58

user_main: sigprocmask test
sigprocmask_test: SUCCESS

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena       79a9c    79a9c
ordblks         3        3
mxordblk    73a30    73a30
uordblks     6044     6044
fordblks    73a58    73a58

user_main: message queue test
mqueue_test: Starting receiver
mqueue_test: Set receiver priority to 128
mqueue_test: Starting sender
receiver_thread: Starting
mqueue_test: Set sender thread priority to 64
mqueue_test: Waiting for sender to complete
sender_thread: Starting
sender_thread: mq_send succeeded on msg 0
receiver_thread: mq_receive succeeded on msg 0
sender_thread: mq_send succeeded on msg 1
receiver_thread: mq_receive succeeded on msg 1
sender_thread: mq_send succeeded on msg 2
receiver_thread: mq_receive succeeded on msg 2
sender_thread: mq_send succeeded on msg 3
receiver_thread: mq_receive succeeded on msg 3
sender_thread: mq_send succeeded on msg 4
receiver_thread: mq_receive succeeded on msg 4
sender_thread: mq_send succeeded on msg 5
receiver_thread: mq_receive succeeded on msg 5
sender_thread: mq_send succeeded on msg 6
receiver_thread: mq_receive succeeded on msg 6
sender_thread: mq_send succeeded on msg 7
receiver_thread: mq_receive succeeded on msg 7
sender_thread: mq_send succeeded on msg 8
receiver_thread: mq_receive succeeded on msg 8
sender_thread: mq_send succeeded on msg 9
receiver_thread: mq_receive 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       79a9c    79a9c
ordblks         3        3
mxordblk    73a30    71940
uordblks     6044     8134
fordblks    73a58    71968

user_main: signal handler test
sighand_test: Initializing semaphore to 0
sighand_test: Starting waiter task
sighand_test: Started waiter_main pid=50
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=50 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       79a9c    79a9c
ordblks         3        3
mxordblk    71940    6f850
uordblks     8134     8144
fordblks    71968    71958

user_main: nested signal handler test
signest_test: Starting signal waiter task at priority 101
signest_test: Started waiter_main pid=54
waiter_main: Waiter started
signest_test: Starting interfering task at priority 102
waiter_main: Setting signal mask
interfere_main: Waiting on semaphore
waiter_main: Registering signal handler
signest_test: Started interfere_main pid=55
waiter_main: Waiting on semaphore
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 interfering 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:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena       79a9c    79a9c
ordblks         3        3
mxordblk    6f850    6d580
uordblks     8144     81ac
fordblks    71958    718f0

user_main: spinlock test
Start Lock test:
Thread num: 1, Loop times: 10000000

Test type: spinlock
spinlock: Test Results:
spinlock: Final counter: 10000000
spinlock: Average throughput : 7893548 op/s
spinlock: Total execution time: 1267229166 ns
 
Test type: rspinlock
rspinlock: Test Results:
rspinlock: Final counter: 10000000
rspinlock: Average throughput : 3657938 op/s
rspinlock: Total execution time: 2734068047 ns
 
Test type: seqcount
seqcount: Test Results:
seqcount: Final counter: 10000000
seqcount: Average throughput : 5998826 op/s
seqcount: Total execution time: 1667286106 ns
 
Start Lock test:
Thread num: 2, Loop times: 10000000

Test type: spinlock
spinlock: Test Results:
spinlock: Final counter: 20000000
spinlock: Average throughput : 3948735 op/s
spinlock: Total execution time: 2534039053 ns
 
Test type: rspinlock
rspinlock: Test Results:
rspinlock: Final counter: 20000000
rspinlock: Average throughput : 2387234 op/s
rspinlock: Total execution time: 4191229867 ns
 
Test type: seqcount
seqcount: Test Results:
seqcount: Final counter: 20000000
seqcount: Average throughput : 2778935 op/s
seqcount: Total execution time: 3600607113 ns
 

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena       79a9c    79a9c
ordblks         3        5
mxordblk    6d580    6d580
uordblks     81ac     71ac
fordblks    718f0    728f0

user_main: wdog test
wdog_test start...
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 1 ns
wdtest_once 1 ns
wdtest_once 1 ns
wdtest_once 1 ns
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 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 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 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 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 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
wdtest_once 1000000 ns
wdtest_once 1000000 ns
wdtest_once 1000000 ns
wdtest_once 1000000 ns
wd_start with maximum delay, cancel OK, rest 2305843009213693949
wdtest_recursive 1000000ns
wd_start with maximum delay, cancel OK, rest 2305843009213693949
wdtest_recursive 1000000ns
wd_start with maximum delay, cancel OK, rest 2305843009213693949
wdtest_recursive 1000000ns
wd_start with maximum delay, cancel OK, rest 2305843009213693949
wdtest_recursive 1000000ns
wd_start with maximum delay, cancel OK, rest 2305843009213693949
wdtest_recursive 1000000ns
wd_start with maximum delay, cancel OK, rest 2305843009213693949
wdtest_recursive 1000000ns
wd_start with maximum delay, cancel OK, rest 2305843009213693949
wdtest_recursive 1000000ns
wd_start with maximum delay, cancel OK, rest 2305843009213693949
wdtest_recursive 1000000ns
recursive wdog triggered 6 times, elapsed tick 12
wdtest_recursive 10000000ns
recursive wdog triggered 6 times, elapsed tick 12
wdtest_recursive 10000000ns
recursive wdog triggered 6 times, elapsed tick 12
wdtest_recursive 10000000ns
recursive wdog triggered 6 times, elapsed tick 12
wdtest_recursive 10000000ns
recursive wdog triggered 6 times, elapsed tick 12
wdtest_recursive 10000000ns
recursive wdog triggered 6 times, elapsed tick 12
wdtest_recursive 10000000ns
recursive wdog triggered 6 times, elapsed tick 12
wdtest_recursive 10000000ns
recursive wdog triggered 6 times, elapsed tick 12
wdtest_recursive 10000000ns
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
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       79a9c    79a9c
ordblks         5        5
mxordblk    6d580    6d580
uordblks     71ac     71ac
fordblks    728f0    728f0

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: 78
rr_test: Starting second get_primes_thread
         Second get_primes_thread: 79
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 < 30000, doing 10 run(s)
get_primes_thread id=2 started, looking for primes < 30000, doing 10 run(s)
get_primes_thread id=1 finished, found 3246 primes, last one was 29989
get_primes_thread id=2 finished, found 3246 primes, last one was 29989
rr_test: Done

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena       79a9c    79a9c
ordblks         5        5
mxordblk    6d580    6d580
uordblks     71ac     71ac
fordblks    728f0    728f0

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_test: Thread 4 created
barrier_test: Thread 5 created
barrier_test: Thread 6 created
barrier_test: Thread 7 created
barrier_func: Thread 0 started
barrier_func: Thread 1 started
barrier_func: Thread 2 started
barrier_func: Thread 3 started
barrier_func: Thread 4 started
barrier_func: Thread 5 started
barrier_func: Thread 6 started
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_func: Thread 2 done
barrier_func: Thread 3 done
barrier_func: Thread 4 done
barrier_func: Thread 5 done
barrier_func: Thread 6 done
barrier_test: Thread 0 completed with result=0
barrier_test: Thread 1 completed with result=0
barrier_test: Thread 2 completed with result=0
barrier_test: Thread 3 completed with result=0
barrier_test: Thread 4 completed with result=0
barrier_test: Thread 5 completed with result=0
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       79a9c    79a9c
ordblks         5        5
mxordblk    6d580    6d580
uordblks     71ac     71ac
fordblks    728f0    728f0

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       79a9c    79a9c
ordblks         5        5
mxordblk    6d580    6d580
uordblks     71ac     71ac
fordblks    728f0    728f0

user_main: vfork() test
vfork_test: Child 102 ran successfully

user_main: smp call test
smp_call_test: Test start
smp_call_test: Call cpu 0, nowait
smp_call_test: Call cpu 0, wait
smp_call_test: Call cpu 1, nowait
smp_call_test: Call cpu 1, wait
smp_call_test: Call multi cpu, nowait
smp_call_test: Call in interrupt, wait
smp_call_test: Call multi cpu, wait
smp_call_test: Test success

Final memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena       79a9c    79a9c
ordblks         1        5
mxordblk    73a68    6d580
uordblks     6034     71ac
fordblks    73a68    728f0
user_main: Exiting
ostest_main: Exiting with status 0
nsh> 

[linguini1]

Awesome!

Side note, have you had any issues with the usbnsh config on your board? See #18377 (if not, I will have another try!)

[lupyuen]

FYI: I restarted the CI Build to fix the Docker Image

• ci/docker: bump risc-v toolchain gcc14 #19035

[shtirlic]

Awesome!

Side note, have you had any issues with the usbnsh config on your board? See #18377 (if not, I will have another try!)

Working fine, a rearranged init process to be more like in the reference and disabled CDC buffering in config, will also update single core config, also reworked spinlock/critical section points while in app context and in ISR.