gpoulios opened a new pull request, #16298: URL: https://github.com/apache/nuttx/pull/16298
Add kernel build (target `imx93-evk:knsh`) to i.MX93 EVK. ## Summary The new target is preconfigured for use with AHAB boot (see https://spsdk.readthedocs.io/en/latest/examples/ahab/imx93/imx93_ahab_uboot.html) as a replacement of U-Boot proper (BL33 at EL2), hence the load address is set to 0x80200000. It introduces NuttX kernel build to i.MX93 platform. ## Impact Should not affect existing users. Changes to existing config are minimal and wrapped by Kconfig settings that are disabled for existing users (`CONFIG_BUILD_KERNEL`, `CONFIG_IMX9_BIN_ROMFS` newly introduced). Adds also a section on i.MX93 documentation (step 5) with instructions on how to use this target. ## Testing Built on Linux host, target `imx93-evk:knsh` (as specified in Documentation/platforms/arm64/imx9/boards/imx93-evk/README.txt). Tested on i.MX93 EVK using i.MX U-boot SPL @ lf_v2024.04. <details> <summary>OS test results</summary> Note: the results below were obtained with the following changes compared to the provided defconfig: - `CONFIG_PRIORITY_INHERITANCE` was disabled because `ostest` uses `task_create` when priority inheritance is enabled. - `CONFIG_TESTING_OSTEST` was enabled to provide `ostest` - `CONFIG_TESTING_OSTEST_FPUTESTDISABLE` was disabled as it's not compatible with kernel builds. ``` NuttShell (NSH) knsh> 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=7 user_main: Begin argument test user_main: Started with argc=5 user_main: argv[0]="user_main" 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 21000 21000 ordblks 2 2 mxordblk 1aff8 1aff8 uordblks 27e8 27e8 fordblks 1e818 1e818 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 21000 21000 ordblks 2 2 mxordblk 1aff8 1aff8 uordblks 27e8 27e8 fordblks 1e818 1e818 user_main: libc tests End of test memory usage: VARIABLE BEFORE AFTER ======== ======== ======== arena 21000 21000 ordblks 2 2 mxordblk 1aff8 1aff8 uordblks 27e8 27e8 fordblks 1e818 1e818 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 21000 21000 ordblks 2 3 mxordblk 1aff8 1aff8 uordblks 27e8 27c8 fordblks 1e818 1e838 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 21000 21000 ordblks 3 2 mxordblk 1aff8 1aff8 uordblks 27c8 26f0 fordblks 1e838 1e910 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 21000 21000 ordblks 2 2 mxordblk 1aff8 1aff8 uordblks 26f0 26f0 fordblks 1e910 1e910 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 21000 21000 ordblks 2 2 mxordblk 1aff8 1aff8 uordblks 26f0 26f0 fordblks 1e910 1e910 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 21000 21000 ordblks 2 3 mxordblk 1aff8 d178 uordblks 26f0 a578 fordblks 1e910 16a88 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 21000 21000 ordblks 3 3 mxordblk d178 d178 uordblks a578 a578 fordblks 16a88 16a88 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=0xffffffffffffffff cancel_test: PASS thread terminated with PTHREAD_CANCELED cancel_test: Test 2: Asynchronous Cancellation ... 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 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=0xffffffffffffffff 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 21000 21000 ordblks 3 3 mxordblk d178 12ff8 uordblks a578 46f8 fordblks 16a88 1c908 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 21000 21000 ordblks 3 3 mxordblk 12ff8 12ff8 uordblks 46f8 46f8 fordblks 1c908 1c908 user_main: semaphore test sem_test: Initializing semaphore to 0 sem_test: Starting waiter thread 1 sem_test: Set thread 1 priority to 191 waiter_func: Thread 1 Started sem_test: Starting waiter thread 2 waiter_func: Thread 1 initial semaphore value = 0 sem_test: Set thread 2 priority to 128 waiter_func: Thread 1 waiting on semaphore waiter_func: Thread 2 Started waiter_func: Thread 2 initial semaphore value = -1 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 waiter_func: Thread 1 new semaphore value = -1 poster_func: Thread 3 new semaphore value = -1 waiter_func: Thread 1 done poster_func: Thread 3 semaphore value = -1 poster_func: Thread 3 posting semaphore waiter_func: Thread 2 awakened poster_func: Thread 3 new semaphore value = 0 waiter_func: Thread 2 new semaphore value = 0 poster_func: Thread 3 done waiter_func: Thread 2 done End of test memory usage: VARIABLE BEFORE AFTER ======== ======== ======== arena 21000 39000 ordblks 3 5 mxordblk 12ff8 15178 uordblks 46f8 1a288 fordblks 1c908 1ed78 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: (35 sec, 830000000 nsec) AFTER: (37 sec, 840000000 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: (37 sec, 840000000 nsec) AFTER: (38 sec, 850000000 nsec) End of test memory usage: VARIABLE BEFORE AFTER ======== ======== ======== arena 39000 39000 ordblks 5 3 mxordblk 15178 25178 uordblks 1a288 a578 fordblks 1ed78 2ea88 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 39000 39000 ordblks 3 3 mxordblk 25178 1d178 uordblks a578 a578 fordblks 2ea88 2ea88 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 39000 39000 ordblks 3 4 mxordblk 1d178 1d178 uordblks a578 c580 fordblks 2ea88 2ca80 user_main: pthread_rwlock test pthread_rwlock: Initializing rwlock pthread_exit_thread 31: Exiting End of test memory usage: VARIABLE BEFORE AFTER ======== ======== ======== arena 39000 41000 ordblks 4 5 mxordblk 1d178 15178 uordblks c580 1a288 fordblks 2ca80 26d78 user_main: pthread_rwlock_cancel test pthread_rwlock_cancel: Starting test End of test memory usage: VARIABLE BEFORE AFTER ======== ======== ======== arena 41000 41000 ordblks 5 2 mxordblk 15178 3aff8 uordblks 1a288 26f0 fordblks 26d78 3e910 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 thread_waiter: Taking mutex timedwait_test: Joining 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 41000 41000 ordblks 2 3 mxordblk 3aff8 2d178 uordblks 26f0 a578 fordblks 3e910 36a88 user_main: sigprocmask test sigprocmask_test: SUCCESS End of test memory usage: VARIABLE BEFORE AFTER ======== ======== ======== arena 41000 41000 ordblks 3 3 mxordblk 2d178 2d178 uordblks a578 a578 fordblks 36a88 36a88 user_main: signal handler test sighand_test: Initializing semaphore to 0 sighand_test: Unmasking SIGCHLD sighand_test: Registering SIGCHLD handler sighand_test: Starting waiter task sighand_test: Started waiter_main pid=46 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=46 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 41000 41000 ordblks 3 3 mxordblk 2d178 32ff8 uordblks a578 46f8 fordblks 36a88 3c908 user_main: nested signal handler test signest_test: Starting signal waiter task at priority 101 waiter_main: Waiter started signest_test: Started waiter_main pid=47 waiter_main: Setting signal mask signest_test: Starting interfering task at priority 102 waiter_main: Registering signal handler interfere_main: Waiting on semaphore waiter_main: Waiting on semaphore signest_test: Started interfere_main pid=52 signest_test: Simple case: Total signalled 1180 Odd=580 Even=600 Total handled 1180 Odd=580 Even=600 Total nested 0 Odd=0 Even=0 signest_test: With task locking Total signalled 2360 Odd=1160 Even=1200 Total handled 2360 Odd=1160 Even=1200 Total nested 0 Odd=0 Even=0 signest_test: With intefering thread Total signalled 3540 Odd=1740 Even=1800 Total handled 3540 Odd=1740 Even=1800 Total nested 0 Odd=0 Even=0 signest_test: done End of test memory usage: VARIABLE BEFORE AFTER ======== ======== ======== arena 41000 41000 ordblks 3 4 mxordblk 32ff8 2aff8 uordblks 46f8 6700 fordblks 3c908 3a900 user_main: POSIX timer test timer_test: Initializing semaphore to 0 timer_test: Unmasking signal 32 timer_test: Registering signal handler timer_test: oact.sigaction=0xc00094a4 oact.sa_flags=0 oact.sa_mask=aaaaaaaaaaa2a8aa timer_test: Creating timer timer_test: Starting timer timer_test: Waiting on semaphore timer_expiration: Received signal 32 timer_expiration: sival_int=42 timer_expiration: si_code=2 (SI_TIMER) timer_expiration: ucontext=0 timer_test: sem_wait() successfully interrupted by signal timer_test: g_nsigreceived=1 timer_test: Waiting on semaphore timer_expiration: Received signal 32 timer_expiration: sival_int=42 timer_expiration: si_code=2 (SI_TIMER) timer_expiration: ucontext=0 timer_test: sem_wait() successfully interrupted by signal timer_test: g_nsigreceived=2 timer_test: Waiting on semaphore timer_expiration: Received signal 32 timer_expiration: sival_int=42 timer_expiration: si_code=2 (SI_TIMER) timer_expiration: ucontext=0 timer_test: sem_wait() successfully interrupted by signal timer_test: g_nsigreceived=3 timer_test: Waiting on semaphore timer_expiration: Received signal 32 timer_expiration: sival_int=42 timer_expiration: si_code=2 (SI_TIMER) timer_expiration: ucontext=0 timer_test: sem_wait() successfully interrupted by signal timer_test: g_nsigreceived=4 timer_test: Waiting on semaphore timer_expiration: Received signal 32 timer_expiration: sival_int=42 timer_expiration: si_code=2 (SI_TIMER) timer_expiration: ucontext=0 timer_test: sem_wait() successfully interrupted by signal timer_test: g_nsigreceived=5 timer_test: Deleting timer timer_test: done End of test memory usage: VARIABLE BEFORE AFTER ======== ======== ======== arena 41000 41000 ordblks 4 4 mxordblk 2aff8 2aff8 uordblks 6700 6700 fordblks 3a900 3a900 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: 56 rr_test: Starting second get_primes_thread Second get_primes_thread: 57 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 < 10000, doing 10 run(s) get_primes_thread id=2 started, looking for primes < 10000, doing 10 run(s) get_primes_thread id=1 finished, found 1230 primes, last one was 9973 get_primes_thread id=2 finished, found 1230 primes, last one was 9973 rr_test: Done End of test memory usage: VARIABLE BEFORE AFTER ======== ======== ======== arena 41000 41000 ordblks 4 4 mxordblk 2aff8 25178 uordblks 6700 12400 fordblks 3a900 2ec00 user_main: barrier test barrier_test: Initializing barrier barrier_test: Thread 0 created barrier_func: Thread 0 started barrier_test: Thread 1 created barrier_func: Thread 1 started barrier_test: Thread 2 created barrier_func: Thread 2 started barrier_test: Thread 3 created barrier_func: Thread 3 started barrier_test: Thread 4 created barrier_func: Thread 4 started barrier_test: Thread 5 created barrier_func: Thread 5 started barrier_test: Thread 6 created barrier_func: Thread 6 started barrier_test: Thread 7 created 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_test: Thread 0 completed with result=0 barrier_test: Thread 1 completed with result=0 barrier_func: Thread 2 done barrier_func: Thread 3 done barrier_test: Thread 2 completed with result=0 barrier_test: Thread 3 completed with result=0 barrier_func: Thread 4 done barrier_func: Thread 5 done barrier_test: Thread 4 completed with result=0 barrier_test: Thread 5 completed with result=0 barrier_func: Thread 6 done 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 41000 61000 ordblks 4 10 mxordblk 25178 15178 uordblks 12400 41b30 fordblks 2ec00 1f4d0 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 61000 61000 ordblks 10 4 mxordblk 15178 45178 uordblks 41b30 12400 fordblks 1f4d0 4ec00 Final memory usage: VARIABLE BEFORE AFTER ======== ======== ======== arena 21000 61000 ordblks 2 4 mxordblk 1aff8 45178 uordblks 27e8 12400 fordblks 1e818 4ec00 user_main: Exiting ostest_main: Exiting with status 0 ``` </details> -- This is an automated message from the Apache Git Service. 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