hartmannathan commented on PR #6318: URL: https://github.com/apache/incubator-nuttx/pull/6318#issuecomment-1256553354
Hmm... `ostest` is still crashing when priority inheritance is enabled. See below... Now, it is possible that the crash is not caused by priority inheritance, but by something else that is triggered under the conditions produced by `ostest`. I am not sure, because: When priority inheritance is disabled, this part of `ostest` does not run at all. I was not able to pinpoint the cause of the hard faults in the debugger. What I do know is: A project I was working on recently would hard-fault at seemingly random times. Since I turned off priority inheritance, I haven't seen any more hard-faults there. As I wrote here: https://lists.apache.org/thread/qsyc453vc8stwd54rjxfdqjw1y5zq2fb it seems like the hard faults I was seeing were related to an unexpected ISR. I tried to identify which ISR that was, but I couldn't quite pinpoint it. This is the output from my `ostest` run just now, with this PR applied: ``` user_main: priority inheritance test priority_inheritance: Started priority_inheritance: Starting lowpri_thread-1 (of 3) at 1 priority_inheritance: Set lowpri_thread-1 priority to 1 priority_inheritance: Starting lowpri_thread-2 (of 3) at 1 lowpri_thread-1: Started priority_inheritance: Set lowpri_thread-2 priority to 1 lowpri_thread-1: initial priority: 1 priority_inheritance: Starting lowpri_thread-3 (of 3) at 1 lowpri_thread-2: Started priority_inheritance: Set lowpri_thread-3 priority to 1 lowpri_thread-1: Waiting for the midle pri task to run priority_inheritance: Waiting... lowpri_thread-2: initial priority: 1 lowpri_thread-3: Started g_middlestate: 0 lowpri_thread-2: Waiting for the midle pri task to run lowpri_thread-3: initial priority: 1 g_highstate[0]: 0 g_middlestate: 0 lowpri_thread-3: Waiting for the midle pri task to run I still have a count on the semaphore g_highstate[0]: 0 g_middlestate: 0 I still have a count on the semaphore g_highstate[0]: 0 I still have a count on the semaphore lowpri_thread-1: Waiting for the midle pri task to run g_middlestate: 0 g_highstate[0]: 0 I still have a count on the semaphore lowpri_thread-2: Waiting for the midle pri task to run g_middlestate: 0 g_highstate[0]: 0 I still have a count on the semaphore lowpri_thread-3: Waiting for the midle pri task to run g_middlestate: 0 g_highstate[0]: 0 I still have a count on the semaphore priority_inheritance: Starting medpri_thread at 99 priority_inheritance: Set medpri_thread priority to 99 priority_inheritance: Waiting... medpri_thread: Started ... I won't let go of the CPU! priority_inheritance: Starting highpri_thread-1 (of 1) at 255 priority_inheritance: Set highpri_thread-1 priority to 255 highpri_thread-1: Started priority_inheritance: Waiting for highpri_thread-1 to complete highpri_thread-1: Calling sem_wait() lowpri_thread-3: Sem count: -1, No. highpri thread: 1 highpri_thread-1: SUCCESS midpri_thread is still running! highpri_thread-1: Okay... I'm done! priority_inheritance: Waiting for medpri_thread to complete medpri_thread: Okay... I'm done! priority_inheritance: Waiting for lowpri_thread-1 to complete lowpri_thread-2: Sem count: 1, No. highpri thread: 0 lowpri_thread-2: SUCCESS the middle priority task has already exitted! g_middlestate: 3 sem count=1 g_highstate[0]: 3 lowpri_thread-1: Sem count: 1, No. highpri thread: 0 lowpri_thread-3: SUCCESS priority before sem_post: 255 lowpri_thread-2: SUCCESS priority before sem_post: 1 lowpri_thread-1: SUCCESS the middle priority task has already exitted! lowpri_thread-3: SUCCESS final priority: 1 lowpri_thread-2: SUCCESS final priority: 1 g_middlestate: 3 sem count=1 lowpri_thread-3: Okay... I'm done! lowpri_thread-2: Okay... I'm done! g_highstate[0]: 3 lowpri_thread-1: SUCCESS priority before sem_post: 1 lowpri_thread-1: SUCCESS final priority: 1 lowpri_thread-1: Okay... I'm done! priority_inheritance: Waiting for lowpri_thread-2 to complete priority_inheritance: Waiting for lowpri_thread-3 to complete priority_inheritancpriority_inheritance: Waiting for Task-0 to complete priority_inheritance: FF�]�� Started, waiting 0 uS to take count priority_inheritance: Started, waiting 20000 uS to take count priority_inheritance: Task0 priority was:200 is:220 priority_inheritance: (null) Posted priority_inheritance: Task0 priority was:220 is:200 priority_inheritance: Waiting for Task-1 to complete up_assert: Assertion failed at file:armv7-m/arm_hardfault.c line: 173 task: Tas2 arm_registerdump: R0: 000000e2 R1: 0800310d R2: 00000072 R3: 14110800 arm_registerdump: R4: 00000000 R5: 00000000 R6: 00000000 FP: 00000000 arm_registerdump: R8: 00000000 SB: 00000000 SL: 00000000 R11: 00000000 arm_registerdump: IP: 00008000 SP: 20008cc8 LR: 08010d77 PC: 080117e0 arm_registerdump: xPSR: 21000000 BASEPRI: 000000f0 CONTROL: 00000000 arm_registerdump: EXC_RETURN: ffffffe9 arm_dump_stack: User Stack: arm_dump_stack: sp: 20008a88 arm_dump_stack: base: 200089d0 arm_dump_stack: size: 000003c0 arm_stackdump: 20008a80: 00000001 20008a90 20008a88 20008610 00000000 0800a1bd c arm_stackdump: 20008aa0: 000000ad 08023db8 20008610 08007341 000000ad 08023db8 3 arm_stackdump: 20008ac0: 40004808 00000000 20008bf4 00000003 20008704 00008200 1 arm_stackdump: 20008ae0: 000000f0 40000000 080030a1 08002d1f 20008bf4 00000003 3 arm_stackdump: 20008b00: 00000000 08001875 00000080 08001849 00000000 00000003 b arm_stackdump: 20008b20: 00000000 00000000 009a1d1f ffffffe9 00000000 00000000 0 arm_stackdump: 20008b40: 00000000 00000000 00000000 00000000 00000000 00000000 0 arm_stackdump: 20008b60: 00000000 00000000 00000000 00000000 00000002 20008688 8 arm_stackdump: 20008b80: 00008000 0800a28f 0800a1f4 01000000 00000000 00000000 0 arm_stackdump: 20008ba0: 00000000 00000000 00000000 00000000 00000000 00000000 0 arm_stackdump: 20008bc0: 00000000 00000000 20008610 20008704 00000000 20000acc 4 arm_stackdump: 20008be0: 20008688 20008808 20000a7c 20001c70 20008804 20008cc8 0 arm_stackdump: 20008c00: 00000000 00000000 00000000 00000000 00000000 00000000 9 arm_stackdump: 20008c20: 00000000 00000000 00000000 00000000 00000000 00000000 0 arm_stackdump: 20008c40: 00000000 00000000 00000000 00000000 00000000 00000000 0 arm_stackdump: 20008c60: 000000e2 0800310d 00000072 14110800 00008000 08010d77 0 arm_stackdump: 20008c80: 00000000 00000000 00000000 00000000 00000000 00000000 0 arm_stackdump: 20008ca0: 00000000 00000000 00000000 00000000 00000000 00000000 0 arm_stackdump: 20008cc0: 00000000 200086d8 f002bb08 000000e2 14110800 00000000 7 arm_stackdump: 20008ce0: f002bb08 20008704 00000007 00000000 f0008f35 0800466b 0 arm_stackdump: 20008d00: 200086c0 080046cb 00000000 20008610 00000000 200086c0 5 arm_stackdump: 20008d20: 000000dc 0001ecf7 00000000 20008610 000000dc 0801557d 0 arm_stackdump: 20008d40: 200089a8 20008610 00000000 08008c69 00004e20 00000000 1 arm_stackdump: 20008d60: 00000000 200089a8 00000004 0801ed21 00000000 08003db7 0 arm_showtasks: PID PRI STACK COMMAND arm_dump_task: 0 0 1000 Idle Task arm_dump_task: 1 224 1992 hpwork 0x20000094 arm_dump_task: 2 100 1992 lpwork 0x200000a8 arm_dump_task: 3 100 2000 nsh_main arm_dump_task: 4 100 2008 ostest arm_dump_task: 5 100 8112 ostest Arg1 Arg2 Arg3 Arg4 arm_dump_task: 89 210 960 Task1 arm_dump_task: 90 220 960 Task2 � � � hD`������hD ``` -- This is an automated message from the Apache Git Service. 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