maxikrie opened a new issue, #16829: URL: https://github.com/apache/nuttx/issues/16829
### Description / Steps to reproduce the issue When enabling tickless scheduler, usleep does not return when called from nsh or an app. I am attaching the defconfig for the nucleo-h743zi2 board, if needed I can also add a similar defconfig for the stm32f4discovery where I am also seeing the issue. On the ESP32-devkitc board, for instance, usleep works as expected. As far as I can tell, when it fails it never gets past up_switch_context(this_task(), rtcb); (line 327 sig_timedwait.c). Sometimes it works for a few times, but then fails with blocking nsh. [defconfig.txt](https://github.com/user-attachments/files/21721705/defconfig.txt) ### On which OS does this issue occur? [OS: Linux] ### What is the version of your OS? Debian 12 ### NuttX Version 12.10 ### Issue Architecture [Arch: arm] ### Issue Area [Area: Kernel] ### Host information NuttX CFLAGS: -Wstrict-prototypes -Wno-attributes -Wno-unknown-pragmas -Wno-psabi -fomit-frame-pointer --param=min-pagesize=0 -fno-common -Wall -Wshadow -Wundef -ffunction-sections -fdata-sections \-g\ -mlittle-endian -march=armv7e-m -mtune=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard -mthumb -Wa-mthumb -Wa-mimplicit-it=always -isystem /home/max/Sauce/GIPS/software/firmware/build/nuttx/include -D__NuttX__ -DNDEBUG NuttX CXXFLAGS: -Wno-attributes -Wno-unknown-pragmas -nostdinc++ -Wno-psabi -std=\gnu++20\ -fno-exceptions -fcheck-new -fno-rtti -fomit-frame-pointer --param=min-pagesize=0 -fno-common -Wall -Wshadow -Wundef -ffunction-sections -fdata-sections \-g\ -mlittle-endian -march=armv7e-m -mtune=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard -mthumb -Wa-mthumb -Wa-mimplicit-it=always -isystem /home/max/Sauce/GIPS/software/firmware/build/nuttx/include/cxx -isystem /home/max/Sauce/GIPS/software/firmware/build/nuttx/include -D__NuttX__ -DNDEBUG NuttX LDFLAGS: --print-memory-usage --entry=__start -nostdlib --gc-sections --cref -Map=/home/max/Sauce/GIPS/software/firmware/build/nuttx/nuttx.map NuttX configuration options: CONFIG_HOST_LINUX=y CONFIG_APPS_DIR=\../apps\ CONFIG_BASE_DEFCONFIG=\nucleo-h743zi2:usleep\ CONFIG_BUILD_FLAT=y CONFIG_INTELHEX_BINARY=y CONFIG_RAW_BINARY=y CONFIG_OUTPUT_STRIP_PATHS=y CONFIG_ARCH_FLOAT_H=y CONFIG_ARCH_HAVE_STDARG_H=y CONFIG_ARCH_HAVE_SETJMP=y CONFIG_ARCH_NONE_DEBUG_H=y CONFIG_FORTIFY_SOURCE=0 CONFIG_NDEBUG=y CONFIG_DEBUG_ALERT=y CONFIG_ARCH_HAVE_STACKCHECK=y CONFIG_STACK_COLORATION=y CONFIG_STACK_USAGE_WARNING=0 CONFIG_DEBUG_SYMBOLS=y CONFIG_DEBUG_SYMBOLS_LEVEL=\-g\ CONFIG_ARCH_HAVE_CUSTOMOPT=y CONFIG_DEBUG_NOOPT=y CONFIG_LTO_NONE=y CONFIG_DEBUG_OPT_UNUSED_SECTIONS=y CONFIG_DEBUG_LINK_MAP=y CONFIG_ARCH_ARM=y CONFIG_ARCH=\arm\ CONFIG_ARM_TOOLCHAIN_GNU_EABI=y CONFIG_ARCH_CHIP_STM32H7=y CONFIG_ARCH_ARMV7M=y CONFIG_ARCH_CORTEXM7=y CONFIG_ARCH_FAMILY=\armv7-m\ CONFIG_ARCH_CHIP=\stm32h7\ CONFIG_ARM_THUMB=y CONFIG_ARM_HAVE_MPU_UNIFIED=y CONFIG_ARCH_HAVE_HARDFAULT_DEBUG=y CONFIG_ARCH_HAVE_MEMFAULT_DEBUG=y CONFIG_ARCH_HAVE_BUSFAULT_DEBUG=y CONFIG_ARCH_HAVE_USAGEFAULT_DEBUG=y CONFIG_ARMV7M_HAVE_ICACHE=y CONFIG_ARMV7M_HAVE_DCACHE=y CONFIG_ARMV7M_ICACHE=y CONFIG_ARMV7M_DCACHE=y CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y CONFIG_ARMV7M_HAVE_ITCM=y CONFIG_ARMV7M_HAVE_DTCM=y CONFIG_ARMV7M_DTCM=y CONFIG_ARMV7M_HAVE_STACKCHECK=y CONFIG_ARCH_CHIP_STM32H743ZI=y CONFIG_STM32H7_IO_CONFIG_Z=y CONFIG_ARCH_CHIP_STM32H7_CORTEXM7=y CONFIG_STM32H7_STM32H7X3XX=y CONFIG_STM32H7_FLASH_CONFIG_I=y CONFIG_STM32H7_FLASH_OVERRIDE_DEFAULT=y CONFIG_STM32H7_FLASH_CR_PSIZE=3 CONFIG_STM32H7_AXI_SRAM_CORRUPTION_WAR=y CONFIG_STM32_APP_FORMAT_LEGACY=y CONFIG_STM32H7_HAVE_LTDC=y CONFIG_STM32H7_HAVE_ETHERNET=y CONFIG_STM32H7_HAVE_FMC=y CONFIG_STM32H7_HAVE_GPIOF=y CONFIG_STM32H7_HAVE_GPIOG=y CONFIG_STM32H7_HAVE_SPI4=y CONFIG_STM32H7_HAVE_SPI5=y CONFIG_STM32H7_HAVE_SPI6=y CONFIG_STM32H7_TIM=y CONFIG_STM32H7_USART=y CONFIG_STM32H7_SYSCFG=y CONFIG_STM32H7_TIM2=y CONFIG_STM32H7_USART3=y CONFIG_USART3_RXFIFO_THRES=3 CONFIG_STM32H7_HAVE_RTC_SUBSECONDS=y CONFIG_STM32H7_TICKLESS_TIMER=2 CONFIG_STM32H7_TICKLESS_CHANNEL=1 CONFIG_ARCH_TOOLCHAIN_GNU=y CONFIG_ARCH_TOOLCHAIN_GCC=y CONFIG_ARCH_HAVE_IRQTRIGGER=y CONFIG_ARCH_HAVE_IRQPRIO=y CONFIG_ARCH_ICACHE=y CONFIG_ARCH_DCACHE=y CONFIG_ARCH_HAVE_FORK=y CONFIG_ARCH_HAVE_FPU=y CONFIG_ARCH_HAVE_DPFPU=y CONFIG_ARCH_HAVE_MPU=y CONFIG_ARCH_HAVE_PROGMEM=y CONFIG_ARCH_HAVE_RESET=y CONFIG_ARCH_HAVE_TESTSET=y CONFIG_ARCH_HAVE_THREAD_LOCAL=y CONFIG_ARCH_HAVE_RTC_SUBSECONDS=y CONFIG_ARCH_HAVE_SYSCALL_HOOKS=y CONFIG_ARCH_HAVE_BACKTRACE=y CONFIG_ARCH_HAVE_DEBUG=y CONFIG_ARCH_HAVE_PERF_EVENTS=y CONFIG_ARCH_HAVE_CPUINFO=y CONFIG_ARCH_CPUINFO_FREQ_KHZ=0 CONFIG_ARCH_HAVE_TCBINFO=y CONFIG_ARCH_FPU=y CONFIG_ARCH_DPFPU=y CONFIG_ARCH_STACKDUMP=y CONFIG_ARCH_STACKDUMP_MAX_LENGTH=0 CONFIG_ARCH_HAVE_RAMVECTORS=y CONFIG_BOARD_LOOPSPERMSEC=43103 CONFIG_ARCH_HAVE_INTERRUPTSTACK=y CONFIG_ARCH_INTERRUPTSTACK=0 CONFIG_ARCH_HAVE_HIPRI_INTERRUPT=y CONFIG_BOOT_RUNFROMFLASH=y CONFIG_RAM_START=0x20010000 CONFIG_RAM_SIZE=245760 CONFIG_FLASH_START=0x0 CONFIG_FLASH_SIZE=0 CONFIG_ARCH_BOARD_NUCLEO_H743ZI2=y CONFIG_ARCH_BOARD=\nucleo-h743zi2\ CONFIG_ARCH_HAVE_LEDS=y CONFIG_ARCH_LEDS=y CONFIG_ARCH_HAVE_BUTTONS=y CONFIG_BOARD_CRASHDUMP_NONE=y CONFIG_BOARDCTL=y CONFIG_BOARDCTL_MKRD=y CONFIG_BOARD_MEMORY_RANGE=\\ CONFIG_DISABLE_OS_API=y CONFIG_ARCH_HAVE_TICKLESS=y CONFIG_SCHED_TICKLESS=y CONFIG_USEC_PER_TICK=1 CONFIG_TIMER_ADJUST_USEC=0 CONFIG_ARCH_HAVE_TIMEKEEPING=y CONFIG_START_YEAR=2011 CONFIG_START_MONTH=12 CONFIG_START_DAY=6 CONFIG_PREALLOC_TIMERS=4 CONFIG_IRQ_NWORKS=8 CONFIG_IRQ_WORK_SECTION=\\ CONFIG_IRQ_WORK_STACKSIZE=2048 CONFIG_INIT_ENTRY=y CONFIG_INIT_ARGS=\\ CONFIG_INIT_STACKSIZE=4096 CONFIG_INIT_PRIORITY=100 CONFIG_INIT_ENTRYPOINT=\nsh_main\ CONFIG_INIT_ENTRYNAME=\nsh_main\ CONFIG_RR_INTERVAL=200 CONFIG_TASK_NAME_SIZE=31 CONFIG_SCHED_WAITPID=y CONFIG_PTHREAD_MUTEX_ROBUST=y CONFIG_PTHREAD_MUTEX_DEFAULT_PRIO_NONE=y CONFIG_SCHED_CPULOAD_NONE=y CONFIG_SCHED_CPULOAD_TICKSPERSEC=100 CONFIG_SCHED_PROFILE_TICKSPERSEC=1000 CONFIG_SCHED_STACK_RECORD=0 CONFIG_DEV_CONSOLE=y CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=8 CONFIG_FILE_STREAM=y CONFIG_SIG_PREALLOC_ACTIONS=4 CONFIG_SIG_ALLOC_ACTIONS=1 CONFIG_SIG_PREALLOC_IRQ_ACTIONS=8 CONFIG_PREALLOC_MQ_MSGS=8 CONFIG_PREALLOC_MQ_IRQ_MSGS=8 CONFIG_MQ_MAXMSGSIZE=32 CONFIG_DEFAULT_TASK_STACKSIZE=2048 CONFIG_IDLETHREAD_STACKSIZE=2048 CONFIG_PTHREAD_STACK_MIN=256 CONFIG_PTHREAD_STACK_DEFAULT=2048 CONFIG_PID_INITIAL_COUNT=16 CONFIG_ARCH_HAVE_I2CRESET=y CONFIG_ARCH_HAVE_SPI_BITORDER=y CONFIG_TIMER=y CONFIG_DEV_NULL=y CONFIG_DEV_ZERO=y CONFIG_DEV_OPTEE_NONE=y CONFIG_DRVR_MKRD=y CONFIG_ARCH_HAVE_RDWR_MEM_CPU_RUN=y CONFIG_ARCH_HAVE_SERIAL_TERMIOS=y CONFIG_SERIAL=y CONFIG_SERIAL_CONSOLE=y CONFIG_MCU_SERIAL=y CONFIG_SERIAL_NPOLLWAITERS=4 CONFIG_USART3_SERIAL_CONSOLE=y CONFIG_USART3_SERIALDRIVER=y CONFIG_USART3_RXBUFSIZE=252 CONFIG_USART3_TXBUFSIZE=252 CONFIG_USART3_BAUD=115200 CONFIG_USART3_BITS=8 CONFIG_USART3_PARITY=0 CONFIG_USART3_2STOP=0 CONFIG_SYSLOG=y CONFIG_SYSLOG_DEFAULT_MASK=0xff CONFIG_SYSLOG_CRLF=y CONFIG_SYSLOG_MAX_CHANNELS=1 CONFIG_SYSLOG_DEVPATH=\/dev/ttyS1\ CONFIG_SYSLOG_DEFAULT=y CONFIG_FS_NEPOLL_DESCRIPTORS=8 CONFIG_FS_LOCK_BUCKET_SIZE=0 CONFIG_SENDFILE_BUFSIZE=512 CONFIG_FS_REFCOUNT=y CONFIG_FS_BACKTRACE=0 CONFIG_FS_MQUEUE_VFS_PATH=\/var/mqueue\ CONFIG_FS_MQUEUE_NPOLLWAITERS=4 CONFIG_FS_ANONMAP=y CONFIG_NXFONTS_PACKEDMSFIRST=y CONFIG_MM_DEFAULT_MANAGER=y CONFIG_MM_DEFAULT_ALIGNMENT=8 CONFIG_MM_REGIONS=4 CONFIG_MM_MAP_COUNT_MAX=1024 CONFIG_MM_BACKTRACE=-1 CONFIG_MM_FREE_DELAYCOUNT_MAX=0 CONFIG_MM_HEAP_BIGGEST_COUNT=30 CONFIG_MM_HEAP_MEMPOOL_THRESHOLD=-1 CONFIG_BINFMT_ELF_RELOCATABLE=y CONFIG_STDIO_BUFFER_SIZE=64 CONFIG_STDIO_LINEBUFFER=y CONFIG_NUNGET_CHARS=2 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_ARCH_LOWPUTC=y CONFIG_LIBC_RAND_ORDER=1 CONFIG_LIBC_HOMEDIR=\/\ CONFIG_LIBC_TMPDIR=\/tmp\ CONFIG_LIBC_MAX_TMPFILE=32 CONFIG_LIBC_MAX_EXITFUNS=0 CONFIG_POSIX_SPAWN_DEFAULT_STACKSIZE=2048 CONFIG_LIBC_HOSTNAME=\\ CONFIG_LIBC_OPEN_MAX=256 CONFIG_NAME_MAX=32 CONFIG_PATH_MAX=256 CONFIG_LINE_MAX=80 CONFIG_LIBC_STRERROR_ERRNUM=y CONFIG_LIBC_STRSIGNAL=y CONFIG_TLS_NELEM=0 CONFIG_TLS_TASK_NELEM=0 CONFIG_TLS_NCLEANUP=0 CONFIG_LIBC_GAISTRERROR_ERRNUM=y CONFIG_LIBC_FTOK_VFS_PATH=\/var/ftok\ CONFIG_LIBC_MEMFD_ERROR=y CONFIG_LIBC_TEMPBUFFER=y CONFIG_LIBC_MAX_TEMPBUFFER=2 CONFIG_LIBC_TEMPBUFFER_MALLOC=y CONFIG_LIBC_MUTEX_BACKTRACE=0 CONFIG_BUILTIN=y CONFIG_STREAM_OUT_BUFFER_SIZE=64 CONFIG_STREAM_HEXDUMP_BUFFER_SIZE=128 CONFIG_STREAM_BASE64_BUFFER_SIZE=128 CONFIG_LIBC_INLINE_QUEUE=y CONFIG_LIBM=y CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_LIBCXXMINI=y CONFIG_CXX_STANDARD=\gnu++20\ CONFIG_BUILTIN_TOOLCHAIN=y CONFIG_COVERAGE_NONE=y CONFIG_COVERAGE_DEFAULT_PREFIX_STRIP=\99\ CONFIG_COVERAGE_DEFAULT_PREFIX=\/data\ CONFIG_PROFILE_NONE=y CONFIG_NSH_LIBRARY=y CONFIG_NSH_PROMPT_STRING=\nsh> \ CONFIG_NSH_PROMPT_MAX=32 CONFIG_NSH_PROMPT_ENV=\PS1\ CONFIG_NSH_PROMPT_SUFFIX=\> \ CONFIG_NSH_READLINE=y CONFIG_NSH_QUOTE=y CONFIG_NSH_MAXARGUMENTS=7 CONFIG_NSH_ARGCAT=y CONFIG_NSH_NESTDEPTH=3 CONFIG_NSH_ALIAS=y CONFIG_NSH_ALIAS_MAX_AMOUNT=1 CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_DISABLE_DATE=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_LOSMART=y CONFIG_NSH_DISABLE_LOMTD=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TIMEDATECTL=y CONFIG_NSH_CODECS_BUFSIZE=128 CONFIG_NSH_CMDOPT_HEXDUMP=y CONFIG_NSH_FILEIOSIZE=512 CONFIG_NSH_SYSINITSCRIPT=\init.d/rc.sysinit\ CONFIG_NSH_INITSCRIPT=\init.d/rcS\ CONFIG_NSH_SCRIPT_REDIRECT_PATH=\\ CONFIG_NSH_CONSOLE=y CONFIG_SYSTEM_DD=y CONFIG_SYSTEM_DD_PROGNAME=\dd\ CONFIG_SYSTEM_DD_PRIORITY=100 CONFIG_SYSTEM_DD_STACKSIZE=2048 CONFIG_SYSTEM_DD_STATS=y CONFIG_SYSTEM_NSH=y CONFIG_SYSTEM_NSH_PRIORITY=100 CONFIG_SYSTEM_NSH_STACKSIZE=4096 CONFIG_SYSTEM_NSH_PROGNAME=\nsh\ CONFIG_SYSTEM_READLINE=y CONFIG_READLINE_HAVE_EXTMATCH=y CONFIG_READLINE_ECHO=y Host system OS: Linux T530 6.12.38+deb12-amd64 #1 SMP PREEMPT_DYNAMIC Debian 6.12.38-1~bpo12+1 (2025-07-27) x86_64 Host system PATH: /home/software/.venv/bin /home/.local/bin /usr/local/bin /usr/bin /bin /usr/local/games /usr/games /opt/arm-gnu-toolchain-13.2.Rel1-x86_64-arm-none-eabi/bin /opt/xtensa-esp-elf/bin /home/max/.local/bin /home/.config/Code/User/globalStorage/github.copilot-chat/debugCommand /home/.vscode/extensions/ms-python.debugpy-2025.8.0-linux-x64/bundled/scripts/noConfigScripts /opt/arm-gnu-toolchain-13.2.Rel1-x86_64-arm-none-eabi/bin /opt/xtensa-esp-elf/bin /home/.local/bin ### Verification - [x] I have verified before submitting the report. -- This is an automated message from the Apache Git Service. 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