hujun260 opened a new pull request, #18104:
URL: https://github.com/apache/nuttx/pull/18104
## Summary
This PR fixes a critical recursion issue in the notifier system that occurs
during early
system startup. The problem occurs when DEBUGASSERT is triggered in
sched_lock(), which
internally calls panic_notifier_call_chain() - causing a cascading chain of
recursive
DEBUGASSERT failures.
The fix adds explicit notifier head pointer checks before executing notifier
chains,
preventing unnecessary lock operations on uninitialized notifiers during
system startup
and error handling paths.
## Problem Description
During early system startup or when DEBUGASSERT fails in the scheduler:
1. ARM64 fatal handler triggers DEBUGASSERT
2. _assert() is called
3. panic_notifier_call_chain() attempts lock acquisition
4. sched_lock() contains a DEBUGASSERT that checks `rtcb && rtcb->lockcount
< MAX_LOCK_COUNT`
5. Since this_task() may return NULL during startup, the DEBUGASSERT fails
again
6. Recursion cycle causes cascading failures instead of clean panic/reboot
## Changes Made
### Atomic Notifier Chain (ATOMIC_NOTIFIER_CALL macro)
**Before:**
```c
do {
FAR struct atomic_notifier_head *nh = (nhead);
irqstate_t flags;
flags = rspin_lock_irqsave_nopreempt(&nh->lock);
notifier_call_chain(nh->head, (val), (v), -1, NULL);
rspin_unlock_irqrestore_nopreempt(&nh->lock, flags);
} while(0)
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