Merge 3f9dd51ec8 into 43797ea6cc

Add support for watchdog timer notifer chain so that users
can customize the callback function when the watchdog timer
times out which enabled by Auto-monitor

Signed-off-by: yaojiaqi <yaojiaqi@lixiang.com>

drivers/timers/Kconfig

@@ -439,6 +439,14 @@ menuconfig WATCHDOG_AUTOMONITOR
 
 if WATCHDOG_AUTOMONITOR
 
+config WATCHDOG_TIMEOUT_NOTIFIER
+	bool "Enable watchdog timeout notifier"
+	default n
+	---help---
+		The watchdog timeout notifier chain mechanism supports users registering
+		custom callback functions, which will be called when the watchdog timer
+		managed by Auto-monitor times out.
+
 choice
 	prompt "Auto-monitor keepalive by"
 	default WATCHDOG_AUTOMONITOR_BY_WDOG

drivers/timers/watchdog.c

@@ -71,6 +71,20 @@
 #  endif
 #endif
 
+#if defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_ONESHOT)
+#  define WATCHDOG_NOTIFIER_ACTION WATCHDOG_KEEPALIVE_BY_ONESHOT
+#elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_TIMER)
+#  define WATCHDOG_NOTIFIER_ACTION WATCHDOG_KEEPALIVE_BY_TIMER
+#elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_WDOG)
+#  define WATCHDOG_NOTIFIER_ACTION WATCHDOG_KEEPALIVE_BY_WDOG
+#elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_WORKER)
+#  define WATCHDOG_NOTIFIER_ACTION WATCHDOG_KEEPALIVE_BY_WORKER
+#elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_CAPTURE)
+#  define WATCHDOG_NOTIFIER_ACTION WATCHDOG_KEEPALIVE_BY_CAPTURE
+#elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_IDLE)
+#  define WATCHDOG_NOTIFIER_ACTION WATCHDOG_KEEPALIVE_BY_IDLE
+#endif
+
 /****************************************************************************
  * Private Type Definitions
  ****************************************************************************/
@@ -135,6 +149,10 @@ static const struct file_operations g_wdogops =
   wdog_ioctl, /* ioctl */
 };
 
+#ifdef CONFIG_WATCHDOG_TIMEOUT_NOTIFIER
+static ATOMIC_NOTIFIER_HEAD(g_watchdog_notifier_list);
+#endif
+
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -699,6 +717,55 @@ static int wdog_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
  * Public Functions
  ****************************************************************************/
 
+#ifdef CONFIG_WATCHDOG_TIMEOUT_NOTIFIER
+/****************************************************************************
+ * Name:  watchdog_notifier_chain_register
+ *
+ * Description:
+ *   Add notifier to the watchdog notifier chain
+ *
+ * Input Parameters:
+ *    nb - New entry in notifier chain
+ *
+ ****************************************************************************/
+
+void watchdog_notifier_chain_register(FAR struct notifier_block *nb)
+{
+  atomic_notifier_chain_register(&g_watchdog_notifier_list, nb);
+}
+
+/****************************************************************************
+ * Name:  watchdog_notifier_chain_unregister
+ *
+ * Description:
+ *   Remove notifier from the watchdog notifier chain
+ *
+ * Input Parameters:
+ *    nb - Entry to remove from notifier chain
+ *
+ ****************************************************************************/
+
+void watchdog_notifier_chain_unregister(FAR struct notifier_block *nb)
+{
+  atomic_notifier_chain_unregister(&g_watchdog_notifier_list, nb);
+}
+
+/****************************************************************************
+ * Name: watchdog_automonitor_timeout
+ *
+ * Description:
+ *   This function can be called in the watchdog timeout interrupt handler.
+ *   If so, callbacks on the watchdog timer notify chain are called when the
+ *   watchdog timer times out.
+ *
+ ****************************************************************************/
+
+void watchdog_automonitor_timeout(void)
+{
+  atomic_notifier_call_chain(&g_watchdog_notifier_list, action, data);
+}
+#endif /* CONFIG_WATCHDOG_TIMEOUT_NOTIFIER */
+
 /****************************************************************************
  * Name: watchdog_register
  *

include/nuttx/timers/watchdog.h

@@ -31,6 +31,7 @@
 #include <nuttx/compiler.h>
 #include <nuttx/irq.h>
 #include <nuttx/fs/ioctl.h>
+#include <nuttx/notifier.h>
 
 #ifdef CONFIG_WATCHDOG
 
@@ -88,6 +89,35 @@
 #define WDFLAGS_CAPTURE  (1 << 2) /* 1=Call the user function when the
                                    *   watchdog timer expires */
 
+/* Keepalive Actions ********************************************************/
+
+/* According to the keepalive action specified by the Auto-monitor, callback
+ * functions registered on the watchdog notifier chain may take corresponding
+ * actions.
+ *
+ * These are detected and handled by the "upper half" watchdog timer driver.
+ *
+ * WATCHDOG_KEEPALIVE_BY_ONESHOT      - The watchdog timer is keepalive by
+ *                                      oneshot timer.
+ * WATCHDOG_KEEPALIVE_BY_TIMER        - The watchdog timer is keepalive by
+ *                                      timer.
+ * WATCHDOG_KEEPALIVE_BY_WDOG         - The watchdog timer is keepalive by
+ *                                      wdog.
+ * WATCHDOG_KEEPALIVE_BY_WORKER       - The watchdog timer is keepalive by
+ *                                      worker queue.
+ * WATCHDOG_KEEPALIVE_BY_CAPTURE      - The watchdog timer is keepalive by
+ *                                      capture.
+ * WATCHDOG_KEEPALIVE_BY_IDLE         - The watchdog timer is keepalive by
+ *                                      idle task.
+ */
+
+#define WATCHDOG_KEEPALIVE_BY_ONESHOT 0
+#define WATCHDOG_KEEPALIVE_BY_TIMER   1
+#define WATCHDOG_KEEPALIVE_BY_WDOG    2
+#define WATCHDOG_KEEPALIVE_BY_WORKER  3
+#define WATCHDOG_KEEPALIVE_BY_CAPTURE 4
+#define WATCHDOG_KEEPALIVE_BY_IDLE    5
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
@@ -197,6 +227,47 @@ extern "C"
 #define EXTERN extern
 #endif
 
+#ifdef CONFIG_WATCHDOG_TIMEOUT_NOTIFIER
+/****************************************************************************
+ * Name:  watchdog_notifier_chain_register
+ *
+ * Description:
+ *   Add notifier to the watchdog notifier chain
+ *
+ * Input Parameters:
+ *    nb - New entry in notifier chain
+ *
+ ****************************************************************************/
+
+void watchdog_notifier_chain_register(FAR struct notifier_block *nb);
+
+/****************************************************************************
+ * Name:  watchdog_notifier_chain_unregister
+ *
+ * Description:
+ *   Remove notifier from the watchdog notifier chain
+ *
+ * Input Parameters:
+ *    nb - Entry to remove from notifier chain
+ *
+ ****************************************************************************/
+
+void watchdog_notifier_chain_unregister(FAR struct notifier_block *nb);
+
+/****************************************************************************
+ * Name: watchdog_automonitor_timeout
+ *
+ * Description:
+ *   This function can be called in the watchdog timeout interrupt handler.
+ *   If so, callbacks on the watchdog timer notify chain are called when the
+ *   watchdog timer times out.
+ *
+ ****************************************************************************/
+
+void watchdog_automonitor_timeout(void);
+
+#endif /* CONFIG_WATCHDOG_TIMEOUT_NOTIFIER */
+
 /****************************************************************************
  * Name: watchdog_register
  *

mm/kasan/generic.c

@@ -25,6 +25,7 @@
  ****************************************************************************/
 
 #include <nuttx/nuttx.h>
+#include <nuttx/mm/mm.h>
 #include <nuttx/mm/kasan.h>
 #include <nuttx/compiler.h>
 #include <nuttx/spinlock.h>
@@ -44,10 +45,8 @@
 #define KASAN_LAST_WORD_MASK(end) \
   (UINTPTR_MAX >> (-(end) & (KASAN_BITS_PER_WORD - 1)))
 
-#define KASAN_SHADOW_SCALE (sizeof(uintptr_t))
-
 #define KASAN_SHADOW_SIZE(size) \
-  (KASAN_BYTES_PER_WORD * ((size) / KASAN_SHADOW_SCALE / KASAN_BITS_PER_WORD))
+  (KASAN_BYTES_PER_WORD * ((size) / MM_ALIGN / KASAN_BITS_PER_WORD))
 #define KASAN_REGION_SIZE(size) \
   (sizeof(struct kasan_region_s) + KASAN_SHADOW_SIZE(size))
 
@@ -87,7 +86,7 @@ kasan_mem_to_shadow(FAR const void *ptr, size_t size,
         {
           DEBUGASSERT(addr + size <= g_region[i]->end);
           addr -= g_region[i]->begin;
-          addr /= KASAN_SHADOW_SCALE;
+          addr /= MM_ALIGN;
           *bit  = addr % KASAN_BITS_PER_WORD;
           return &g_region[i]->shadow[addr / KASAN_BITS_PER_WORD];
         }
@@ -110,15 +109,15 @@ kasan_is_poisoned(FAR const void *addr, size_t size)
       return kasan_global_is_poisoned(addr, size);
     }
 
-  if (size <= KASAN_SHADOW_SCALE)
+  if (size <= MM_ALIGN)
     {
       return ((*p >> bit) & 1);
     }
 
   nbit = KASAN_BITS_PER_WORD - bit % KASAN_BITS_PER_WORD;
   mask = KASAN_FIRST_WORD_MASK(bit);
-  size = ALIGN_UP(size, KASAN_SHADOW_SCALE);
-  size /= KASAN_SHADOW_SCALE;
+  size = ALIGN_UP(size, MM_ALIGN);
+  size /= MM_ALIGN;
 
   while (size >= nbit)
     {
@@ -155,6 +154,9 @@ static void kasan_set_poison(FAR const void *addr, size_t size,
   unsigned int nbit;
   uintptr_t mask;
 
+  DEBUGASSERT((uintptr_t)addr % MM_ALIGN == 0);
+  DEBUGASSERT(size % MM_ALIGN == 0);
+
   p = kasan_mem_to_shadow(addr, size, &bit);
   if (p == NULL)
     {
@@ -163,7 +165,7 @@ static void kasan_set_poison(FAR const void *addr, size_t size,
 
   nbit = KASAN_BITS_PER_WORD - bit % KASAN_BITS_PER_WORD;
   mask = KASAN_FIRST_WORD_MASK(bit);
-  size /= KASAN_SHADOW_SCALE;
+  size /= MM_ALIGN;
 
   flags = spin_lock_irqsave(&g_lock);
   while (size >= nbit)

mm/kasan/sw_tags.c

@@ -22,6 +22,7 @@
  * Included Files
  ****************************************************************************/
 
+#include <nuttx/mm/mm.h>
 #include <nuttx/mm/kasan.h>
 #include <nuttx/compiler.h>
 #include <nuttx/spinlock.h>
@@ -45,10 +46,8 @@
 
 #define kasan_random_tag() (1 + rand() % ((1 << (64 - KASAN_TAG_SHIFT)) - 2))
 
-#define KASAN_SHADOW_SCALE (sizeof(uintptr_t))
-
 #define KASAN_SHADOW_SIZE(size) \
-  ((size) + KASAN_SHADOW_SCALE - 1) / KASAN_SHADOW_SCALE
+  ((size) + MM_ALIGN - 1) / MM_ALIGN
 #define KASAN_REGION_SIZE(size) \
   (sizeof(struct kasan_region_s) + KASAN_SHADOW_SIZE(size))
 
@@ -89,7 +88,7 @@ kasan_mem_to_shadow(FAR const void *ptr, size_t size)
         {
           DEBUGASSERT(addr + size <= g_region[i]->end);
           addr -= g_region[i]->begin;
-          return &g_region[i]->shadow[addr / KASAN_SHADOW_SCALE];
+          return &g_region[i]->shadow[addr / MM_ALIGN];
         }
     }
 
@@ -135,6 +134,9 @@ static void kasan_set_poison(FAR const void *addr,
   irqstate_t flags;
   FAR uint8_t *p;
 
+  DEBUGASSERT((uintptr_t)addr % MM_ALIGN == 0);
+  DEBUGASSERT(size % MM_ALIGN == 0);
+
   p = kasan_mem_to_shadow(addr, size);
   if (p == NULL)
     {

mm/mm_heap/mm.h

@@ -143,7 +143,7 @@
  * previous freenode
  */
 
-#define MM_ALLOCNODE_OVERHEAD (MM_SIZEOF_ALLOCNODE - sizeof(mmsize_t))
+#define MM_ALLOCNODE_OVERHEAD (MM_SIZEOF_ALLOCNODE - MM_ALIGN)
 
 /* Get the node size */
 
@@ -173,7 +173,12 @@ typedef size_t mmsize_t;
 
 struct mm_allocnode_s
 {
-  mmsize_t preceding;                       /* Physical preceding chunk size */
+  union
+  {
+    mmsize_t preceding;                     /* Physical preceding chunk size */
+    uint8_t  align[MM_ALIGN];
+  };
+
   mmsize_t size;                            /* Size of this chunk */
 #if CONFIG_MM_BACKTRACE >= 0
   pid_t pid;                                /* The pid for caller */
@@ -182,13 +187,19 @@ struct mm_allocnode_s
   FAR void *backtrace[CONFIG_MM_BACKTRACE]; /* The backtrace buffer for caller */
 #  endif
 #endif
-};
+}
+aligned_data(MM_ALIGN);
 
 /* This describes a free chunk */
 
 struct mm_freenode_s
 {
-  mmsize_t preceding;                       /* Physical preceding chunk size */
+  union
+  {
+    mmsize_t preceding;                     /* Physical preceding chunk size */
+    uint8_t  align[MM_ALIGN];
+  };
+
   mmsize_t size;                            /* Size of this chunk */
 #if CONFIG_MM_BACKTRACE >= 0
   pid_t pid;                                /* The pid for caller */
@@ -199,7 +210,8 @@ struct mm_freenode_s
 #endif
   FAR struct mm_freenode_s *flink;          /* Supports a doubly linked list */
   FAR struct mm_freenode_s *blink;
-};
+}
+aligned_data(MM_ALIGN);
 
 static_assert(MM_SIZEOF_ALLOCNODE <= MM_MIN_CHUNK,
               "Error size for struct mm_allocnode_s\n");

mm/mm_heap/mm_initialize.c

@@ -150,7 +150,7 @@ void mm_addregion(FAR struct mm_heap_s *heap, FAR void *heapstart,
 
   heapbase = MM_ALIGN_UP((uintptr_t)heapstart + 2 * MM_SIZEOF_ALLOCNODE) -
              2 * MM_SIZEOF_ALLOCNODE;
-  heapsize = heapsize - (heapbase - (uintptr_t)heapstart);
+  heapsize = MM_ALIGN_DOWN(heapsize - (heapbase - (uintptr_t)heapstart));
 
   /* Register KASan for access rights check. We need to register after
    * address alignment.