Merge f14378a83a into a2d4d74af7

reason:
We would like to replace the critical section with a small lock.

Signed-off-by: hujun5 <hujun5@xiaomi.com>

arch/arm/src/imx9/imx9_lpi2c.c

@@ -1103,7 +1103,7 @@ static void imx9_lpi2c_setclock(struct imx9_lpi2c_priv_s *priv,
                                             &src_freq);
 
           /* LPI2C output frequency = (Source Clock (Hz)/ 2^prescale) /
-           *   (CLKLO + 1 + CLKHI + 1 + ROUNDDOWN((2 + FILTSCL) / 2^prescale)
+           *   (CLKLO + 1 + CLKHI + 1 + ALIGN_DOWN((2 + FILTSCL)/2^prescale)
            *
            * Assume  CLKLO = 2 * CLKHI, SETHOLD = CLKHI, DATAVD = CLKHI / 2
            */

arch/arm/src/imxrt/imxrt_lpi2c.c

@@ -1161,7 +1161,7 @@ static void imxrt_lpi2c_setclock(struct imxrt_lpi2c_priv_s *priv,
 #endif
 
           /* LPI2C output frequency = (Source Clock (Hz)/ 2^prescale) /
-           *   (CLKLO + 1 + CLKHI + 1 + ROUNDDOWN((2 + FILTSCL) / 2^prescale)
+           *   (CLKLO + 1 + CLKHI + 1 + ALIGN_DOWN((2 + FILTSCL)/2^prescale)
            *
            * Assume  CLKLO = 2 * CLKHI, SETHOLD = CLKHI, DATAVD = CLKHI / 2
            */

arch/arm/src/s32k1xx/s32k1xx_lpi2c.c

@@ -1010,7 +1010,7 @@ static void s32k1xx_lpi2c_setclock(struct s32k1xx_lpi2c_priv_s *priv,
           DEBUGASSERT(src_freq != 0);
 
           /* LPI2C output frequency = (Source Clock (Hz)/ 2^prescale) /
-           *   (CLKLO + 1 + CLKHI + 1 + ROUNDDOWN((2 + FILTSCL) / 2^prescale)
+           *   (CLKLO + 1 + CLKHI + 1 + ALIGN_DOWN((2 + FILTSCL)/2^prescale)
            *
            * Assume  CLKLO = 2 * CLKHI, SETHOLD = CLKHI, DATAVD = CLKHI / 2
            */

arch/arm/src/s32k3xx/s32k3xx_lpi2c.c

@@ -990,7 +990,7 @@ static void s32k3xx_lpi2c_setclock(struct s32k3xx_lpi2c_priv_s *priv,
           DEBUGASSERT(src_freq != 0);
 
           /* LPI2C output frequency = (Source Clock (Hz)/ 2^prescale) /
-           *   (CLKLO + 1 + CLKHI + 1 + ROUNDDOWN((2 + FILTSCL) / 2^prescale)
+           *   (CLKLO + 1 + CLKHI + 1 + ALIGN_DOWN((2 + FILTSCL)/2^prescale)
            *
            * Assume  CLKLO = 2 * CLKHI, SETHOLD = CLKHI, DATAVD = CLKHI / 2
            */

arch/arm64/src/imx9/imx9_lpi2c.c

@@ -1122,7 +1122,7 @@ static void imx9_lpi2c_setclock(struct imx9_lpi2c_priv_s *priv,
           imx9_get_rootclock(priv->config->clk_root, &src_freq);
 
           /* LPI2C output frequency = (Source Clock (Hz)/ 2^prescale) /
-           *   (CLKLO + 1 + CLKHI + 1 + ROUNDDOWN((2 + FILTSCL) / 2^prescale)
+           *   (CLKLO + 1 + CLKHI + 1 + ALIGN_DOWN((2 + FILTSCL)/2^prescale)
            *
            * Assume  CLKLO = 2 * CLKHI, SETHOLD = CLKHI, DATAVD = CLKHI / 2
            */

arch/risc-v/src/common/Toolchain.defs

@@ -433,7 +433,12 @@ LDMODULEFLAGS = -r -T $(call CONVERT_PATH,$(TOPDIR)/libs/libc/modlib/gnu-elf.ld)
 CELFFLAGS = $(CFLAGS) -fvisibility=hidden
 CXXELFFLAGS = $(CXXFLAGS) -fvisibility=hidden
 
-LDELFFLAGS = -r -e main
+LDELFFLAGS = -e main
+
+ifeq ($(CONFIG_BINFMT_ELF_RELOCATABLE),y)
+  LDELFFLAGS += -r
+endif
+
 ifeq ($(CONFIG_ARCH_RV32),y)
   LDELFFLAGS += --oformat elf32-littleriscv
 else

binfmt/binfmt_copyactions.c

@@ -31,18 +31,13 @@
 #include <errno.h>
 
 #include <nuttx/kmalloc.h>
+#include <nuttx/nuttx.h>
 #include <nuttx/binfmt/binfmt.h>
 
 #include "binfmt.h"
 
 #if defined(CONFIG_ARCH_ADDRENV) && defined(CONFIG_BUILD_KERNEL) && !defined(CONFIG_BINFMT_DISABLE)
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-#define ROUNDUP(x, y)     (((x) + (y) - 1) / (y) * (y))
-
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -98,7 +93,7 @@ int binfmt_copyactions(FAR const posix_spawn_file_actions_t **copy,
 
           case SPAWN_FILE_ACTION_OPEN:
             open = (FAR struct spawn_open_file_action_s *)entry;
-            size += ROUNDUP(SIZEOF_OPEN_FILE_ACTION_S(strlen(open->path)),
+            size += ALIGN_UP(SIZEOF_OPEN_FILE_ACTION_S(strlen(open->path)),
                              sizeof(FAR void *));
             break;
 
@@ -155,7 +150,7 @@ int binfmt_copyactions(FAR const posix_spawn_file_actions_t **copy,
             strcpy(open->path, tmp->path);
 
             buffer = (FAR char *)buffer +
-                     ROUNDUP(SIZEOF_OPEN_FILE_ACTION_S(strlen(tmp->path)),
+                     ALIGN_UP(SIZEOF_OPEN_FILE_ACTION_S(strlen(tmp->path)),
                               sizeof(FAR void *));
             break;
 

drivers/note/note_driver.c

@@ -1393,10 +1393,12 @@ void sched_note_irqhandler(int irq, FAR void *handler, bool enter)
 void sched_note_wdog(uint8_t event, FAR void *handler, FAR const void *arg)
 {
   FAR struct note_driver_s **driver;
+  irqstate_t flags;
   struct note_wdog_s note;
   bool formatted = false;
   FAR struct tcb_s *tcb = this_task();
 
+  flags = enter_critical_section_wo_note();
   for (driver = g_note_drivers; *driver; driver++)
     {
       if (note_wdog(*driver, event, handler, arg))
@@ -1421,6 +1423,8 @@ void sched_note_wdog(uint8_t event, FAR void *handler, FAR const void *arg)
 
       note_add(*driver, &note, sizeof(note));
     }
+
+  leave_critical_section_wo_note(flags);
 }
 #endif
 

include/nuttx/irq.h

@@ -258,9 +258,19 @@ int irqchain_detach(int irq, xcpt_t isr, FAR void *arg);
  ****************************************************************************/
 
 #ifdef CONFIG_IRQCOUNT
+
+#  if (defined(CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION) && \
+       CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION >= 0) || \
+       defined(CONFIG_SCHED_INSTRUMENTATION_CSECTION)
 irqstate_t enter_critical_section(void) noinstrument_function;
+#  else
+#    define enter_critical_section() enter_critical_section_wo_note()
+#  endif
+
+irqstate_t enter_critical_section_wo_note(void) noinstrument_function;
 #else
 #  define enter_critical_section() up_irq_save()
+#  define enter_critical_section_wo_note() up_irq_save()
 #endif
 
 /****************************************************************************
@@ -288,9 +298,19 @@ irqstate_t enter_critical_section(void) noinstrument_function;
  ****************************************************************************/
 
 #ifdef CONFIG_IRQCOUNT
+
+#  if (defined(CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION) && \
+       CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION >= 0) || \
+       defined(CONFIG_SCHED_INSTRUMENTATION_CSECTION)
 void leave_critical_section(irqstate_t flags) noinstrument_function;
+#  else
+#    define leave_critical_section(f) leave_critical_section_wo_note(f)
+#  endif
+
+void leave_critical_section_wo_note(irqstate_t flags) noinstrument_function;
 #else
 #  define leave_critical_section(f) up_irq_restore(f)
+#  define leave_critical_section_wo_note(f) up_irq_restore(f)
 #endif
 
 /****************************************************************************

libs/libbuiltin/libgcc/profile.c

@@ -35,6 +35,7 @@
 #include <nuttx/init.h>
 #include <nuttx/kmalloc.h>
 #include <nuttx/fs/fs.h>
+#include <nuttx/nuttx.h>
 #include <nuttx/spinlock.h>
 
 /****************************************************************************
@@ -112,11 +113,6 @@
 
 #define MAXARCS         (1 << 20)
 
-/* General rounding functions. */
-
-#define ROUNDDOWN(x, y) (((x) / (y)) * (y))
-#define ROUNDUP(x, y)   ((((x) + (y) - 1) / (y)) * (y))
-
 /* See profil(2) where this is described (incorrectly) */
 
 #define SCALE_1_TO_1    0x10000
@@ -288,12 +284,12 @@ void moncontrol(int mode)
 
   if (mode)
     {
-      uintptr_t lowpc = ROUNDDOWN((uintptr_t)&_stext,
+      uintptr_t lowpc = ALIGN_DOWN((uintptr_t)&_stext,
                                    HISTFRACTION * sizeof(HISTCOUNTER));
-      uintptr_t highpc = ROUNDUP((uintptr_t)&_etext,
+      uintptr_t highpc = ALIGN_UP((uintptr_t)&_etext,
                                   HISTFRACTION * sizeof(HISTCOUNTER));
       size_t textsize = highpc - lowpc;
-      size_t kcountsize = ROUNDUP(textsize / HISTFRACTION,
+      size_t kcountsize = ALIGN_UP(textsize / HISTFRACTION,
                                    sizeof(*p->kcount));
       int scale = kcountsize >= textsize ? SCALE_1_TO_1 :
                   (float)kcountsize / textsize * SCALE_1_TO_1;
@@ -370,10 +366,10 @@ void monstartup(unsigned long lowpc, unsigned long highpc)
    * so the rest of the scaling (here and in gprof) stays in ints.
    */
 
-  lowpc = ROUNDDOWN(lowpc, HISTFRACTION * sizeof(HISTCOUNTER));
-  highpc = ROUNDUP(highpc, HISTFRACTION * sizeof(HISTCOUNTER));
+  lowpc = ALIGN_DOWN(lowpc, HISTFRACTION * sizeof(HISTCOUNTER));
+  highpc = ALIGN_UP(highpc, HISTFRACTION * sizeof(HISTCOUNTER));
   textsize = highpc - lowpc;
-  fromssize = ROUNDUP(textsize / HASHFRACTION, sizeof(*p->froms));
+  fromssize = ALIGN_UP(textsize / HASHFRACTION, sizeof(*p->froms));
   tolimit = textsize * ARCDENSITY / 100;
 
   if (tolimit < MINARCS)

mm/iob/iob.h

@@ -41,8 +41,6 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#define ROUNDUP(x, y)            (((x) + (y) - 1) / (y) * (y))
-
 #if defined(CONFIG_DEBUG_FEATURES) && defined(CONFIG_IOB_DEBUG)
 #  define ioberr                 _err
 #  define iobwarn                _warn

mm/iob/iob_alloc.c

@@ -35,6 +35,7 @@
 #ifdef CONFIG_IOB_ALLOC
 #  include <nuttx/kmalloc.h>
 #endif
+#include <nuttx/nuttx.h>
 #include <nuttx/mm/iob.h>
 
 #include "iob.h"
@@ -333,7 +334,7 @@ FAR struct iob_s *iob_alloc_dynamic(uint16_t size)
   FAR struct iob_s *iob;
   size_t alignsize;
 
-  alignsize = ROUNDUP(sizeof(struct iob_s), CONFIG_IOB_ALIGNMENT) + size;
+  alignsize = ALIGN_UP(sizeof(struct iob_s), CONFIG_IOB_ALIGNMENT) + size;
 
   iob = kmm_memalign(CONFIG_IOB_ALIGNMENT, alignsize);
   if (iob)
@@ -344,7 +345,7 @@ FAR struct iob_s *iob_alloc_dynamic(uint16_t size)
       iob->io_bufsize = size;             /* Total length of the iob buffer */
       iob->io_pktlen  = 0;                /* Total length of the packet */
       iob->io_free    = iob_free_dynamic; /* Customer free callback */
-      iob->io_data    = (FAR uint8_t *)ROUNDUP((uintptr_t)(iob + 1),
+      iob->io_data    = (FAR uint8_t *)ALIGN_UP((uintptr_t)(iob + 1),
                                                 CONFIG_IOB_ALIGNMENT);
     }
 

mm/iob/iob_initialize.c

@@ -28,6 +28,7 @@
 
 #include <stdbool.h>
 
+#include <nuttx/nuttx.h>
 #include <nuttx/mm/iob.h>
 
 #include "iob.h"
@@ -39,10 +40,10 @@
 /* Fix the I/O Buffer size with specified alignment size */
 
 #ifdef CONFIG_IOB_ALLOC
-#  define IOB_ALIGN_SIZE  ROUNDUP(sizeof(struct iob_s) + CONFIG_IOB_BUFSIZE, \
+#  define IOB_ALIGN_SIZE  ALIGN_UP(sizeof(struct iob_s) + CONFIG_IOB_BUFSIZE, \
                                    CONFIG_IOB_ALIGNMENT)
 #else
-#  define IOB_ALIGN_SIZE  ROUNDUP(sizeof(struct iob_s), CONFIG_IOB_ALIGNMENT)
+#  define IOB_ALIGN_SIZE  ALIGN_UP(sizeof(struct iob_s), CONFIG_IOB_ALIGNMENT)
 #endif
 
 #define IOB_BUFFER_SIZE   (IOB_ALIGN_SIZE * CONFIG_IOB_NBUFFERS + \
@@ -137,7 +138,7 @@ void iob_initialize(void)
    * aligned to the CONFIG_IOB_ALIGNMENT memory boundary
    */
 
-  buf = ROUNDUP((uintptr_t)g_iob_buffer + offsetof(struct iob_s, io_data),
+  buf = ALIGN_UP((uintptr_t)g_iob_buffer + offsetof(struct iob_s, io_data),
                  CONFIG_IOB_ALIGNMENT) - offsetof(struct iob_s, io_data);
 
   /* Get I/O buffer instance from the start address and add each I/O buffer

sched/clock/clock_timekeeping.c

@@ -53,6 +53,7 @@ static struct timespec g_clock_wall_time;
 static uint64_t        g_clock_last_counter;
 static uint64_t        g_clock_mask;
 static long            g_clock_adjust;
+static spinlock_t      g_clock_lock = SP_UNLOCKED;
 
 /****************************************************************************
  * Private Functions
@@ -72,7 +73,7 @@ static int clock_get_current_time(FAR struct timespec *ts,
   time_t sec;
   int ret;
 
-  flags = enter_critical_section();
+  flags = spin_lock_irqsave(&g_clock_lock);
 
   ret = up_timer_gettick(&counter);
   if (ret < 0)
@@ -96,7 +97,7 @@ static int clock_get_current_time(FAR struct timespec *ts,
   ts->tv_sec = base->tv_sec + sec;
 
 errout_in_critical_section:
-  leave_critical_section(flags);
+  spin_unlock_irqrestore(&g_clock_lock, flags);
   return ret;
 }
 
@@ -123,7 +124,7 @@ int clock_timekeeping_set_wall_time(FAR const struct timespec *ts)
   uint64_t counter;
   int ret;
 
-  flags = enter_critical_section();
+  flags = spin_lock_irqsave(&g_clock_lock);
 
   ret = up_timer_gettick(&counter);
   if (ret < 0)
@@ -137,7 +138,7 @@ int clock_timekeeping_set_wall_time(FAR const struct timespec *ts)
   g_clock_last_counter = counter;
 
 errout_in_critical_section:
-  leave_critical_section(flags);
+  spin_unlock_irqrestore(&g_clock_lock, flags);
   return ret;
 }
 
@@ -188,7 +189,7 @@ int adjtime(FAR const struct timeval *delta, FAR struct timeval *olddelta)
       return -1;
     }
 
-  flags = enter_critical_section();
+  flags = spin_lock_irqsave(&g_clock_lock);
 
   adjust_usec = delta->tv_sec * USEC_PER_SEC + delta->tv_usec;
 
@@ -199,7 +200,7 @@ int adjtime(FAR const struct timeval *delta, FAR struct timeval *olddelta)
 
   g_clock_adjust = adjust_usec;
 
-  leave_critical_section(flags);
+  spin_unlock_irqrestore(&g_clock_lock, flags);
 
   return OK;
 }
@@ -217,7 +218,7 @@ void clock_update_wall_time(void)
   time_t sec;
   int ret;
 
-  flags = enter_critical_section();
+  flags = spin_lock_irqsave(&g_clock_lock);
 
   ret = up_timer_gettick(&counter);
   if (ret < 0)
@@ -271,7 +272,7 @@ void clock_update_wall_time(void)
   g_clock_last_counter = counter;
 
 errout_in_critical_section:
-  leave_critical_section(flags);
+  spin_unlock_irqrestore(&g_clock_lock, flags);
 }
 
 /****************************************************************************
@@ -280,6 +281,9 @@ errout_in_critical_section:
 
 void clock_inittimekeeping(FAR const struct timespec *tp)
 {
+  irqstate_t flags;
+
+  flags = spin_lock_irqsave(&g_clock_lock);
   up_timer_getmask(&g_clock_mask);
 
   if (tp)
@@ -292,6 +296,7 @@ void clock_inittimekeeping(FAR const struct timespec *tp)
     }
 
   up_timer_gettick(&g_clock_last_counter);
+  spin_unlock_irqrestore(&g_clock_lock, flags);
 }
 
 #endif /* CONFIG_CLOCK_TIMEKEEPING */

sched/irq/irq_csection.c

@@ -80,7 +80,7 @@ volatile uint8_t g_cpu_nestcount[CONFIG_SMP_NCPUS];
  ****************************************************************************/
 
 /****************************************************************************
- * Name: enter_critical_section
+ * Name: enter_critical_section_wo_note
  *
  * Description:
  *   Take the CPU IRQ lock and disable interrupts on all CPUs.  A thread-
@@ -90,7 +90,7 @@ volatile uint8_t g_cpu_nestcount[CONFIG_SMP_NCPUS];
  ****************************************************************************/
 
 #ifdef CONFIG_SMP
-irqstate_t enter_critical_section(void)
+irqstate_t enter_critical_section_wo_note(void)
 {
   FAR struct tcb_s *rtcb;
   irqstate_t ret;
@@ -246,15 +246,6 @@ irqstate_t enter_critical_section(void)
 
           cpu_irqlock_set(cpu);
           rtcb->irqcount = 1;
-
-          /* Note that we have entered the critical section */
-
-#if CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION >= 0
-          nxsched_critmon_csection(rtcb, true, return_address(0));
-#endif
-#ifdef CONFIG_SCHED_INSTRUMENTATION_CSECTION
-          sched_note_csection(rtcb, true);
-#endif
         }
     }
 
@@ -265,7 +256,7 @@ irqstate_t enter_critical_section(void)
 
 #else
 
-irqstate_t enter_critical_section(void)
+irqstate_t enter_critical_section_wo_note(void)
 {
   irqstate_t ret;
 
@@ -285,10 +276,28 @@ irqstate_t enter_critical_section(void)
        */
 
       DEBUGASSERT(rtcb->irqcount >= 0 && rtcb->irqcount < INT16_MAX);
-      if (++rtcb->irqcount == 1)
-        {
-          /* Note that we have entered the critical section */
+      rtcb->irqcount++;
+    }
 
+  /* Return interrupt status */
+
+  return ret;
+}
+#endif
+
+#if CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION >= 0 ||\
+    defined(CONFIG_SCHED_INSTRUMENTATION_CSECTION)
+irqstate_t enter_critical_section(void)
+{
+  FAR struct tcb_s *rtcb;
+  irqstate_t flags;
+  flags = enter_critical_section_wo_note();
+
+  if (!up_interrupt_context())
+    {
+      rtcb = this_task();
+      if (rtcb->irqcount == 1)
+        {
 #if CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION >= 0
           nxsched_critmon_csection(rtcb, true, return_address(0));
 #endif
@@ -298,14 +307,12 @@ irqstate_t enter_critical_section(void)
         }
     }
 
-  /* Return interrupt status */
-
-  return ret;
+  return flags;
 }
 #endif
 
 /****************************************************************************
- * Name: leave_critical_section
+ * Name: leave_critical_section_wo_note
  *
  * Description:
  *   Decrement the IRQ lock count and if it decrements to zero then release
@@ -314,7 +321,7 @@ irqstate_t enter_critical_section(void)
  ****************************************************************************/
 
 #ifdef CONFIG_SMP
-void leave_critical_section(irqstate_t flags)
+void leave_critical_section_wo_note(irqstate_t flags)
 {
   int cpu;
 
@@ -388,14 +395,6 @@ void leave_critical_section(irqstate_t flags)
         }
       else
         {
-          /* No.. Note that we have left the critical section */
-
-#if CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION >= 0
-          nxsched_critmon_csection(rtcb, false, return_address(0));
-#endif
-#ifdef CONFIG_SCHED_INSTRUMENTATION_CSECTION
-          sched_note_csection(rtcb, false);
-#endif
           /* Decrement our count on the lock.  If all CPUs have
            * released, then unlock the spinlock.
            */
@@ -421,10 +420,8 @@ void leave_critical_section(irqstate_t flags)
 
   up_irq_restore(flags);
 }
-
 #else
-
-void leave_critical_section(irqstate_t flags)
+void leave_critical_section_wo_note(irqstate_t flags)
 {
   /* Check if we were called from an interrupt handler and that the tasks
    * lists have been initialized.
@@ -440,17 +437,7 @@ void leave_critical_section(irqstate_t flags)
        */
 
       DEBUGASSERT(rtcb->irqcount > 0);
-      if (--rtcb->irqcount <= 0)
-        {
-          /* Note that we have left the critical section */
-
-#if CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION >= 0
-          nxsched_critmon_csection(rtcb, false, return_address(0));
-#endif
-#ifdef CONFIG_SCHED_INSTRUMENTATION_CSECTION
-          sched_note_csection(rtcb, false);
-#endif
-        }
+      --rtcb->irqcount;
     }
 
   /* Restore the previous interrupt state. */
@@ -458,4 +445,29 @@ void leave_critical_section(irqstate_t flags)
   up_irq_restore(flags);
 }
 #endif
+
+#if CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION >= 0 ||\
+    defined(CONFIG_SCHED_INSTRUMENTATION_CSECTION)
+void leave_critical_section(irqstate_t flags)
+{
+  FAR struct tcb_s *rtcb;
+
+  if (!up_interrupt_context())
+    {
+      rtcb = this_task();
+      if (rtcb->irqcount == 1)
+        {
+#  if CONFIG_SCHED_CRITMONITOR_MAXTIME_CSECTION >= 0
+          nxsched_critmon_csection(rtcb, false, return_address(0));
+#  endif
+#  ifdef CONFIG_SCHED_INSTRUMENTATION_CSECTION
+          sched_note_csection(rtcb, false);
+#  endif
+        }
+    }
+
+  leave_critical_section_wo_note(flags);
+}
+#endif
+
 #endif /* CONFIG_IRQCOUNT */

sched/misc/coredump.c

@@ -32,6 +32,7 @@
 
 #include <nuttx/coredump.h>
 #include <nuttx/elf.h>
+#include <nuttx/nuttx.h>
 #include <nuttx/sched.h>
 
 #include "sched/sched.h"
@@ -54,9 +55,6 @@
 
 #define PROGRAM_ALIGNMENT 64
 
-#define ROUNDUP(x, y)     ((x + (y - 1)) / (y)) * (y)
-#define ROUNDDOWN(x ,y)   (((x) / (y)) * (y))
-
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -166,7 +164,7 @@ static int elf_emit(FAR struct elf_dumpinfo_s *cinfo,
 
 static int elf_emit_align(FAR struct elf_dumpinfo_s *cinfo)
 {
-  off_t align = ROUNDUP(cinfo->stream->nput,
+  off_t align = ALIGN_UP(cinfo->stream->nput,
                          ELF_PAGESIZE) - cinfo->stream->nput;
   unsigned char null[256];
   off_t total = align;
@@ -258,9 +256,9 @@ static int elf_get_note_size(int stksegs)
 {
   int total;
 
-  total  = stksegs * (sizeof(Elf_Nhdr) + ROUNDUP(CONFIG_TASK_NAME_SIZE, 8) +
+  total  = stksegs * (sizeof(Elf_Nhdr) + ALIGN_UP(CONFIG_TASK_NAME_SIZE, 8) +
                       sizeof(elf_prstatus_t));
-  total += stksegs * (sizeof(Elf_Nhdr) + ROUNDUP(CONFIG_TASK_NAME_SIZE, 8) +
+  total += stksegs * (sizeof(Elf_Nhdr) + ALIGN_UP(CONFIG_TASK_NAME_SIZE, 8) +
                       sizeof(elf_prpsinfo_t));
   return total;
 }
@@ -276,7 +274,7 @@ static int elf_get_note_size(int stksegs)
 static void elf_emit_tcb_note(FAR struct elf_dumpinfo_s *cinfo,
                               FAR struct tcb_s *tcb)
 {
-  char name[ROUNDUP(CONFIG_TASK_NAME_SIZE, 8)];
+  char name[ALIGN_UP(CONFIG_TASK_NAME_SIZE, 8)];
   elf_prstatus_t status;
   elf_prpsinfo_t info;
   FAR uintptr_t *regs;
@@ -414,8 +412,8 @@ static void elf_emit_tcb_stack(FAR struct elf_dumpinfo_s *cinfo,
             (tcb->stack_base_ptr - tcb->stack_alloc_ptr);
     }
 
-  sp  = ROUNDDOWN(buf, PROGRAM_ALIGNMENT);
-  len = ROUNDUP(len + (buf - sp), PROGRAM_ALIGNMENT);
+  sp  = ALIGN_DOWN(buf, PROGRAM_ALIGNMENT);
+  len = ALIGN_UP(len + (buf - sp), PROGRAM_ALIGNMENT);
   buf = sp;
 
   elf_emit(cinfo, (FAR void *)buf, len);
@@ -546,17 +544,17 @@ static void elf_emit_tcb_phdr(FAR struct elf_dumpinfo_s *cinfo,
                       (tcb->stack_base_ptr - tcb->stack_alloc_ptr);
     }
 
-  sp = ROUNDDOWN(phdr->p_vaddr, PROGRAM_ALIGNMENT);
-  phdr->p_filesz = ROUNDUP(phdr->p_filesz +
+  sp = ALIGN_DOWN(phdr->p_vaddr, PROGRAM_ALIGNMENT);
+  phdr->p_filesz = ALIGN_UP(phdr->p_filesz +
                             (phdr->p_vaddr - sp), PROGRAM_ALIGNMENT);
   phdr->p_vaddr  = sp;
 
   phdr->p_type   = PT_LOAD;
-  phdr->p_offset = ROUNDUP(*offset, ELF_PAGESIZE);
+  phdr->p_offset = ALIGN_UP(*offset, ELF_PAGESIZE);
   phdr->p_paddr  = phdr->p_vaddr;
   phdr->p_memsz  = phdr->p_filesz;
   phdr->p_flags  = PF_X | PF_W | PF_R;
-  *offset       += ROUNDUP(phdr->p_memsz, ELF_PAGESIZE);
+  *offset       += ALIGN_UP(phdr->p_memsz, ELF_PAGESIZE);
 
   elf_emit(cinfo, phdr, sizeof(*phdr));
 }
@@ -608,13 +606,13 @@ static void elf_emit_phdr(FAR struct elf_dumpinfo_s *cinfo,
   for (i = 0; i < memsegs; i++)
     {
       phdr.p_type   = PT_LOAD;
-      phdr.p_offset = ROUNDUP(offset, ELF_PAGESIZE);
+      phdr.p_offset = ALIGN_UP(offset, ELF_PAGESIZE);
       phdr.p_vaddr  = cinfo->regions[i].start;
       phdr.p_paddr  = phdr.p_vaddr;
       phdr.p_filesz = cinfo->regions[i].end - cinfo->regions[i].start;
       phdr.p_memsz  = phdr.p_filesz;
       phdr.p_flags  = cinfo->regions[i].flags;
-      offset       += ROUNDUP(phdr.p_memsz, ELF_PAGESIZE);
+      offset       += ALIGN_UP(phdr.p_memsz, ELF_PAGESIZE);
       elf_emit(cinfo, &phdr, sizeof(phdr));
     }
 }

sched/wdog/wd_cancel.c

@@ -38,6 +38,8 @@
 #include "sched/sched.h"
 #include "wdog/wdog.h"
 
+spinlock_t g_wdog_spinlock = SP_UNLOCKED;
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -60,15 +62,10 @@
 
 int wd_cancel(FAR struct wdog_s *wdog)
 {
-  irqstate_t flags;
   int ret;
 
-  flags = enter_critical_section();
-
   ret = wd_cancel_irq(wdog);
 
-  leave_critical_section(flags);
-
   return ret;
 }
 
@@ -91,12 +88,16 @@ int wd_cancel(FAR struct wdog_s *wdog)
 
 int wd_cancel_irq(FAR struct wdog_s *wdog)
 {
+  irqstate_t flags;
   bool head;
 
+  flags = spin_lock_irqsave(&g_wdog_spinlock);
+
   /* Make sure that the watchdog is valid and still active. */
 
   if (wdog == NULL || !WDOG_ISACTIVE(wdog))
     {
+      spin_unlock_irqrestore(&g_wdog_spinlock, flags);
       return -EINVAL;
     }
 
@@ -116,6 +117,7 @@ int wd_cancel_irq(FAR struct wdog_s *wdog)
   /* Mark the watchdog inactive */
 
   wdog->func = NULL;
+  spin_unlock_irqrestore(&g_wdog_spinlock, flags);
 
   if (head)
     {

sched/wdog/wd_start.c

@@ -112,10 +112,11 @@ static unsigned int g_wdtimernested;
 static inline_function void wd_expiration(clock_t ticks)
 {
   FAR struct wdog_s *wdog;
+  wdparm_t arg;
   irqstate_t flags;
   wdentry_t func;
 
-  flags = enter_critical_section();
+  flags = spin_lock_irqsave(&g_wdog_spinlock);
 
 #ifdef CONFIG_SCHED_TICKLESS
   /* Increment the nested watchdog timer count to handle cases where wd_start
@@ -147,12 +148,17 @@ static inline_function void wd_expiration(clock_t ticks)
       /* Indicate that the watchdog is no longer active. */
 
       func = wdog->func;
+      arg = wdog->arg;
       wdog->func = NULL;
 
       /* Execute the watchdog function */
 
       up_setpicbase(wdog->picbase);
-      CALL_FUNC(func, wdog->arg);
+      spin_unlock_irqrestore(&g_wdog_spinlock, flags);
+
+      CALL_FUNC(func, arg);
+
+      flags = spin_lock_irqsave(&g_wdog_spinlock);
     }
 
 #ifdef CONFIG_SCHED_TICKLESS
@@ -161,7 +167,7 @@ static inline_function void wd_expiration(clock_t ticks)
   g_wdtimernested--;
 #endif
 
-  leave_critical_section(flags);
+  spin_unlock_irqrestore(&g_wdog_spinlock, flags);
 }
 
 /****************************************************************************
@@ -293,7 +299,7 @@ int wd_start_abstick(FAR struct wdog_s *wdog, clock_t ticks,
    * the critical section is established.
    */
 
-  flags = enter_critical_section();
+  flags = spin_lock_irqsave(&g_wdog_spinlock);
 #ifdef CONFIG_SCHED_TICKLESS
   /* We need to reassess timer if the watchdog list head has changed. */
 
@@ -314,8 +320,13 @@ int wd_start_abstick(FAR struct wdog_s *wdog, clock_t ticks,
        * then this will pick that new delay.
        */
 
+      spin_unlock_irqrestore(&g_wdog_spinlock, flags);
       nxsched_reassess_timer();
     }
+  else
+    {
+      spin_unlock_irqrestore(&g_wdog_spinlock, flags);
+    }
 #else
   UNUSED(reassess);
 
@@ -328,8 +339,8 @@ int wd_start_abstick(FAR struct wdog_s *wdog, clock_t ticks,
     }
 
   wd_insert(wdog, ticks, wdentry, arg);
+  spin_unlock_irqrestore(&g_wdog_spinlock, flags);
 #endif
-  leave_critical_section(flags);
 
   sched_note_wdog(NOTE_WDOG_START, wdentry, (FAR void *)(uintptr_t)ticks);
   return OK;
@@ -425,13 +436,13 @@ clock_t wd_timer(clock_t ticks, bool noswitches)
       wd_expiration(ticks);
     }
 
-  flags = enter_critical_section();
+  flags = spin_lock_irqsave(&g_wdog_spinlock);
 
   /* Return the delay for the next watchdog to expire */
 
   if (list_is_empty(&g_wdactivelist))
     {
-      leave_critical_section(flags);
+      spin_unlock_irqrestore(&g_wdog_spinlock, flags);
       return 0;
     }
 
@@ -442,7 +453,7 @@ clock_t wd_timer(clock_t ticks, bool noswitches)
   wdog = list_first_entry(&g_wdactivelist, struct wdog_s, node);
   ret = wdog->expired - ticks;
 
-  leave_critical_section(flags);
+  spin_unlock_irqrestore(&g_wdog_spinlock, flags);
 
   /* Return the delay for the next watchdog to expire */
 

sched/wdog/wdog.h

@@ -37,6 +37,7 @@
 #include <nuttx/queue.h>
 #include <nuttx/wdog.h>
 #include <nuttx/list.h>
+#include <nuttx/spinlock_type.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -64,6 +65,7 @@ extern "C"
  */
 
 extern struct list_node g_wdactivelist;
+extern spinlock_t g_wdog_spinlock;
 
 /****************************************************************************
  * Public Function Prototypes