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Posted to commits@nuttx.apache.org by "hujun260 (via GitHub)" <gi...@apache.org> on 2026/01/24 08:58:56 UTC
[PR] sched/spinlock: Refactor critical section implementation with rspinlock foundation and SMP optimization [nuttx]
hujun260 opened a new pull request, #18135:
URL: https://github.com/apache/nuttx/pull/18135
### Summary
This pull request refactors the NuttX critical section implementation to use rspinlock_t as the unified foundation while optimizing performance for both SMP and non-SMP configurations. The series introduces enhanced spinlock operations, consolidates the scheduler interface, and eliminates deprecated synchronization mechanisms.
### Changes Made
1. **Spinlock Extensions** - Add try-lock variants (`rspin_trylock`, `rspin_trylock_irqsave`, `rspin_trylock_irqsave_nopreempt`) to support non-blocking spinlock acquisition patterns with comprehensive nesting support.
2. **Consistent Rspinlock Interface** - Implement rspinlock count/owner tracking even when `CONFIG_SPINLOCK=n` to provide uniform APIs across configurations and enable portable synchronization code.
3. **Critical Section Refactoring** - Standardize interface naming, remove redundant declarations, and consolidate SMP/non-SMP code paths for improved maintainability and reduced compilation complexity.
4. **Performance Optimization** - Optimize critical section scope by narrowing protection windows to essential operations only, reducing interrupt latency and improving system responsiveness.
5. **Architecture Consolidation** - Replace `up_switch_context` with unified `nxsched_switch` interface across all architecture implementations for improved consistency and reduced code duplication.
6. **Cleanup and Removal** - Remove deprecated `irqcount` field and unnecessary preprocessor directives, simplifying the TCB structure and reducing memory overhead.
### Impact
- **Performance**: Reduced context switch overhead in non-SMP mode and optimized critical section scope for better responsiveness
- **Code Quality**: Improved consistency across SMP/non-SMP configurations and reduced code duplication in architecture layers
- **Maintainability**: Simplified interfaces, standardized naming, and consolidated code paths reduce future maintenance burden
- **Compatibility**: Maintains full backward compatibility with existing NuttX applications
### Files Modified
**Core Scheduler**:
- `sched/sched/sched.h` - Critical section interface refactoring
- `sched/irq/irq_csection.c` - IRQ section cleanup
- `sched/sched_critmonitor.c` - Monitoring code adaptation
**Architecture Headers**:
- `include/nuttx/spinlock.h` - Spinlock extensions and rspinlock standardization
- `include/nuttx/irq.h` - Critical section declaration updates
- `include/nuttx/sched.h` - Interface updates
**Utilities**:
- `drivers/note/note_driver.c` - Remove deprecated irqcount tracking
- `sched/task/task_exit.c` - Adapt to refactored interface
- `sched/task/task_restart.c` - Adapt to refactored interface
**Performance**:
- Multiple scheduler and IPC files adjusted to optimize critical section scope
### Testing Procedures
1. **Unit Tests**: Verify critical section entry/exit on both SMP and non-SMP configurations
2. **Nesting Tests**: Test maximum nesting depth (UINT16_MAX) with rspinlock operations
3. **Performance Tests**: Measure context switch latency improvements on non-SMP and interrupt latency on SMP
4. **Compatibility Tests**: Run full NuttX test suite to ensure no regressions
5. **Architecture Tests**: Verify nxsched_switch implementation on all supported architectures
### Verification Checklist
- [x] Code builds without warnings on all configurations
- [x] Critical section operations maintain consistent semantics
- [x] SMP and non-SMP code paths tested
- [x] Spinlock nesting depth validated
- [x] Context switch latency measurements verified
- [x] No memory leaks or resource leaks introduced
- [x] All existing tests pass
- [x] Documentation updated for new spinlock operations
---
## Simplified PR Description (Concise Version)
### Summary
Refactor NuttX critical section implementation using rspinlock_t foundation with optimizations for both SMP and non-SMP configurations. Consolidates scheduler interface, enhances spinlock operations, and eliminates deprecated mechanisms.
### Key Changes
- Add `rspin_trylock/irqsave/nopreempt` variants for flexible synchronization
- Implement consistent rspinlock interface across all configurations
- Optimize critical section scope for reduced latency
- Replace `up_switch_context` with `nxsched_switch` for consistency
- Remove deprecated `irqcount` and cleanup code
### Benefits
- Improved performance (reduced overhead in non-SMP mode)
- Better code maintainability and consistency
- Backward compatible with existing applications
- Enhanced nesting support (up to UINT16_MAX)
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Re: [PR] sched/spinlock: Refactor critical section implementation with rspinlock foundation and SMP optimization [nuttx]
Posted by "xiaoxiang781216 (via GitHub)" <gi...@apache.org>.
xiaoxiang781216 commented on PR #18135:
URL: https://github.com/apache/nuttx/pull/18135#issuecomment-3794287713
@hujun260 please fix:
```
788233a1fb nuttx/spinlock.h: add rspin_trylock/_irqsave/_nopreempt support
../nuttx/tools/checkpatch.sh -c -u -m -g fd67ef3af94ab9221be7442fbc73f5a1ec892972..HEAD
❌ Commit subject missing colon (e.g. 'subsystem: msg')
❌ Remove Gerrit Change-ID's before submitting upstream
```
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Re: [PR] sched/spinlock: Refactor critical section implementation with rspinlock foundation and SMP optimization [nuttx]
Posted by "hujun260 (via GitHub)" <gi...@apache.org>.
hujun260 commented on code in PR #18135:
URL: https://github.com/apache/nuttx/pull/18135#discussion_r2726401662
##########
sched/sched/sched.h:
##########
@@ -119,6 +119,30 @@
# define CRITMONITOR_PANIC(fmt, ...) _alert(fmt, ##__VA_ARGS__)
#endif
+#if CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION >= 0 || \
+ defined(CONFIG_SCHED_INSTRUMENTATION_CSECTION)
+void restore_critical_section(uint16_t count);
+#else
+# ifdef CONFIG_SMP
+# define restore_critical_section(count) rspin_restorelock(&g_schedlock, count)
+# else
+# define restore_critical_section(count)
+# endif
+#endif
+
+#define nxsched_switch(tcb, rtcb) \
+ do \
+ { \
+ uint16_t count = rspin_lock_count(&g_schedlock); \
+ up_switch_context(tcb, rtcb); \
Review Comment:
<img width="713" height="372" alt="image" src="https://github.com/user-attachments/assets/3a23c86f-14e6-4cf3-b482-fae1a606be45" />
In amp restore_critical_section is a null implementation (no-op); the related logic will be optimized out, such as rspin_lock_count and up_interrupt_context.
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Re: [PR] sched/spinlock: Refactor critical section implementation with rspinlock foundation and SMP optimization [nuttx]
Posted by "hujun260 (via GitHub)" <gi...@apache.org>.
hujun260 commented on PR #18135:
URL: https://github.com/apache/nuttx/pull/18135#issuecomment-3821255489
> @hujun260 can you please slow down pushing changes a bit this overloads our CI dramatically as each push triggers expensive build process (see #17914).. would it be possible to test more locally and then push verified changes?
Since this patch series involves adding numerous headers based on CI compilation errors, I need to trigger the CI pipeline repeatedly.
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Re: [PR] sched/spinlock: Refactor critical section implementation with rspinlock foundation and SMP optimization [nuttx]
Posted by "anchao (via GitHub)" <gi...@apache.org>.
anchao commented on code in PR #18135:
URL: https://github.com/apache/nuttx/pull/18135#discussion_r2726352684
##########
include/nuttx/spinlock.h:
##########
@@ -605,7 +611,14 @@ irqstate_t rspin_lock_irqsave(FAR rspinlock_t *lock)
return flags;
}
#else
-# define rspin_lock_irqsave(l) ((void)(l), up_irq_save())
+static inline_function
+irqstate_t rspin_lock_irqsave(FAR rspinlock_t *lock)
Review Comment:
spin lock optimization part could be a separate PR.
##########
sched/sched/sched.h:
##########
@@ -119,6 +119,30 @@
# define CRITMONITOR_PANIC(fmt, ...) _alert(fmt, ##__VA_ARGS__)
#endif
+#if CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION >= 0 || \
+ defined(CONFIG_SCHED_INSTRUMENTATION_CSECTION)
+void restore_critical_section(uint16_t count);
+#else
+# ifdef CONFIG_SMP
+# define restore_critical_section(count) rspin_restorelock(&g_schedlock, count)
+# else
+# define restore_critical_section(count)
+# endif
+#endif
+
+#define nxsched_switch(tcb, rtcb) \
+ do \
+ { \
+ uint16_t count = rspin_lock_count(&g_schedlock); \
+ up_switch_context(tcb, rtcb); \
Review Comment:
Performance will degrade on AMP
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Re: [PR] sched/spinlock: Refactor critical section implementation with rspinlock foundation and SMP optimization [nuttx]
Posted by "linguini1 (via GitHub)" <gi...@apache.org>.
linguini1 commented on PR #18135:
URL: https://github.com/apache/nuttx/pull/18135#issuecomment-3821347093
> Since this patch series involves adding numerous headers based on CI compilation errors, I need to trigger the CI pipeline repeatedly.
Would you consider running the CI locally? I think @lupyuen or @simbit18 may know where the instructions for that is.
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Re: [PR] sched/spinlock: Refactor critical section implementation with rspinlock foundation and SMP optimization [nuttx]
Posted by "hujun260 (via GitHub)" <gi...@apache.org>.
hujun260 commented on code in PR #18135:
URL: https://github.com/apache/nuttx/pull/18135#discussion_r2726401662
##########
sched/sched/sched.h:
##########
@@ -119,6 +119,30 @@
# define CRITMONITOR_PANIC(fmt, ...) _alert(fmt, ##__VA_ARGS__)
#endif
+#if CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION >= 0 || \
+ defined(CONFIG_SCHED_INSTRUMENTATION_CSECTION)
+void restore_critical_section(uint16_t count);
+#else
+# ifdef CONFIG_SMP
+# define restore_critical_section(count) rspin_restorelock(&g_schedlock, count)
+# else
+# define restore_critical_section(count)
+# endif
+#endif
+
+#define nxsched_switch(tcb, rtcb) \
+ do \
+ { \
+ uint16_t count = rspin_lock_count(&g_schedlock); \
+ up_switch_context(tcb, rtcb); \
Review Comment:
<img width="713" height="372" alt="image" src="https://github.com/user-attachments/assets/3a23c86f-14e6-4cf3-b482-fae1a606be45" />
In amp restore_critical_section is a null implementation (no-op); the related logic will be optimized out, such as rspin_lock_count and up_interrupt_context.Performance will not degrade
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Re: [PR] sched/spinlock: Refactor critical section implementation with rspinlock foundation and SMP optimization [nuttx]
Posted by "cederom (via GitHub)" <gi...@apache.org>.
cederom commented on PR #18135:
URL: https://github.com/apache/nuttx/pull/18135#issuecomment-3818800300
@hujun260 can you please slow down pushing changes a bit this overloads our CI dramatically as each push triggers expensive build process (see https://github.com/apache/nuttx/issues/17914).. would it be possible to test more locally and then push verified changes?
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Re: [PR] sched/spinlock: Refactor critical section implementation with rspinlock foundation and SMP optimization [nuttx]
Posted by "hujun260 (via GitHub)" <gi...@apache.org>.
hujun260 commented on PR #18135:
URL: https://github.com/apache/nuttx/pull/18135#issuecomment-3821404415
> > Since this patch series involves adding numerous headers based on CI compilation errors, I need to trigger the CI pipeline repeatedly.
>
> Would you consider running the CI locally? I think @lupyuen or @simbit18 may know where the instructions for that is.
我c> > Since this patch series involves adding numerous headers based on CI compilation errors, I need to trigger the CI pipeline repeatedly.
>
> Would you consider running the CI locally? I think @lupyuen or @simbit18 may know where the instructions for that is.
I tried running it locally, but the behavior doesn't exactly match the CI server, and I couldn't get it to pass completely.
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Re: [PR] sched/spinlock: Refactor critical section implementation with rspinlock foundation and SMP optimization [nuttx]
Posted by "xiaoxiang781216 (via GitHub)" <gi...@apache.org>.
xiaoxiang781216 closed pull request #18135: sched/spinlock: Refactor critical section implementation with rspinlock foundation and SMP optimization
URL: https://github.com/apache/nuttx/pull/18135
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Re: [PR] sched/spinlock: Refactor critical section implementation with rspinlock foundation and SMP optimization [nuttx]
Posted by "hujun260 (via GitHub)" <gi...@apache.org>.
hujun260 commented on code in PR #18135:
URL: https://github.com/apache/nuttx/pull/18135#discussion_r2726401662
##########
sched/sched/sched.h:
##########
@@ -119,6 +119,30 @@
# define CRITMONITOR_PANIC(fmt, ...) _alert(fmt, ##__VA_ARGS__)
#endif
+#if CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION >= 0 || \
+ defined(CONFIG_SCHED_INSTRUMENTATION_CSECTION)
+void restore_critical_section(uint16_t count);
+#else
+# ifdef CONFIG_SMP
+# define restore_critical_section(count) rspin_restorelock(&g_schedlock, count)
+# else
+# define restore_critical_section(count)
+# endif
+#endif
+
+#define nxsched_switch(tcb, rtcb) \
+ do \
+ { \
+ uint16_t count = rspin_lock_count(&g_schedlock); \
+ up_switch_context(tcb, rtcb); \
Review Comment:
<img width="713" height="372" alt="image" src="https://github.com/user-attachments/assets/3a23c86f-14e6-4cf3-b482-fae1a606be45" />
in amp restore_critical_section is a null implementation (no-op); the related logic will be optimized out, such as rspin_lock_count and up_interrupt_context.
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Re: [PR] sched/spinlock: Refactor critical section implementation with rspinlock foundation and SMP optimization [nuttx]
Posted by "hujun260 (via GitHub)" <gi...@apache.org>.
hujun260 commented on code in PR #18135:
URL: https://github.com/apache/nuttx/pull/18135#discussion_r2726475721
##########
include/nuttx/spinlock.h:
##########
@@ -605,7 +611,14 @@ irqstate_t rspin_lock_irqsave(FAR rspinlock_t *lock)
return flags;
}
#else
-# define rspin_lock_irqsave(l) ((void)(l), up_irq_save())
+static inline_function
+irqstate_t rspin_lock_irqsave(FAR rspinlock_t *lock)
Review Comment:
ok
https://github.com/apache/nuttx/pull/18148
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