CV-Bowen opened a new pull request, #18163:
URL: https://github.com/apache/nuttx/pull/18163
## Summary
This PR contains a series of improvements and bug fixes for the
`rpmsg_port_uart` driver, focusing on stability, debugging capabilities, and
power management features.
### Key Changes
1. **Power Management Support**: Added support for wake up by peer core
(Linux) with new commands (STAYWAKE/RELAXWAKE/STAYWAKEACK) to enable proper
sleep/wake coordination between cores.
2. **Ping-Pong Wake/Ack Mechanism**: Fixed the mismatch wake/ack issue by
implementing a ping-pong wake/ack protocol to prevent stale ACK commands from
incorrectly waking up new wakeup processes.
3. **RX Recursive Logic**: Fixed a deadlock scenario where TX thread could
hang forever when trying to wake up peer while RX thread was blocked on TX
buffer processing.
4. **Debug Enhancements**:
- Added debug buffer to record history receive data
- Added dump support for rx/tx thread backtrace
- Added dump ops in rpmsg_port for timeout debugging
- Enhanced error logging with more detailed information
5. **Reboot Notifier**: Added reboot notifier to send power off command to
peer, allowing proper cleanup of rpmsg connections.
6. **Error Handling Improvements**: Changed from panic to error logging when
receive errors occur, allowing continued operation and firmware updates via adb.
7. **Code Cleanup**: Unified timeout usage, renamed variables for
consistency, and extracted command processing to standalone function.
### Commits (21 total)
| # | Commit | Description |
|---|--------|-------------|
| 1 | `76946a330a59` | Zero next when hit RPMSG_PORT_UART_RX_WAIT_START
twice |
| 2 | `c10c3ac5ebba` | Unify the timeout usage |
| 3 | `496b46d8efc7` | Do not panic when received error happened |
| 4 | `882688c07390` | Reserved more commands for future use |
| 5 | `ae7bf0ce5128` | Switch the uart IO to GPIO when peer poweroff |
| 6 | `7597b3e6f107` | Change some important debug logs level |
| 7 | `ad0a8e5efb29` | Process the commands as much as possible |
| 8 | `b6c344dba108` | Support wake up by peer core (Linux) |
| 9 | `c73224496ab7` | Add reboot notifier for rpmsg_port_uart |
| 10 | `ffc48819214b` | Add debug buffer for rpmsg_port_uart |
| 11 | `de02171b3bca` | Dump error data when recv error char |
| 12 | `f8bbbdd52218` | Use ping-pong wake/ack to fix the mismatch wake/ack
issue |
| 13 | `42c93def05e2` | Rename tx/rxwakelock to tx/rx_wakelock |
| 14 | `e2b8c859a7f3` | Move the command process to a function |
| 15 | `73476f1dedb7` | Notify the lower transport when no free buffers |
| 16 | `db232d1f1237` | Support the rx recursive logic |
| 17 | `6ecdd4be6a7b` | Support dump ops and dump when get buffer timeout |
| 18 | `50c4f47354a6` | Add rpmsg_port_uart dump support |
| 19 | `7c40dd940e33` | Do rpmsg_port_unreigster when connected |
| 20 | `eb50cf6e6245` | Clear the connected stats first when recv poweroff |
| 21 | `3696b8112bca` | Fix some compile warnings |
### Files Changed
```
drivers/rpmsg/Kconfig | 1 +
drivers/rpmsg/rpmsg_port.c | 29 ++-
drivers/rpmsg/rpmsg_port.h | 17 +-
drivers/rpmsg/rpmsg_port_spi.c | 1 +
drivers/rpmsg/rpmsg_port_spi_slave.c | 1 +
drivers/rpmsg/rpmsg_port_uart.c | 727
+++++++++++++++++++++++++++--------
6 files changed, 593 insertions(+), 183 deletions(-)
```
## Impact
- **Stability**: Improved - fixes several race conditions and deadlock
scenarios
- **Compatibility**: Backward compatible - reserved more commands for future
use
- **Code Quality**: Improved - better code organization and naming
conventions
- **No Breaking Changes**: All changes are backward compatible
## Testing
Building
```c
cmake -B cmake_out/v8a_server -DBOARD_CONFIG=qemu-armv8a:rpserver -GNinja
cmake --build cmake_out/v8a_server
cmake -B cmake_out/v8a_proxy -DBOARD_CONFIG=qemu-armv8a:rpproxy -GNinja
cmake --build cmake_out/v8a_proxy
```
Running
```c
qemu-system-aarch64 -cpu cortex-a53 -nographic \
-machine virt,virtualization=on,gic-version=3 \
-chardev stdio,id=con,mux=on -serial chardev:con \
-object
memory-backend-file,discard-data=on,id=shmmem-shmem0,mem-path=/dev/shm/my_shmem0,size=4194304,share=yes
\
-device ivshmem-plain,id=shmem0,memdev=shmmem-shmem0,addr=0xb \
-device virtio-serial-device,bus=virtio-mmio-bus.0 \
-chardev socket,path=/tmp/rpmsg_port_uart_socket,server=on,wait=off,id=foo \
-device virtconsole,chardev=foo \
-mon chardev=con,mode=readline -kernel ./nuttx/cmake_out/v8a_server/nuttx \
-gdb tcp::7775
qemu-system-aarch64 -cpu cortex-a53 -nographic \
-machine virt,virtualization=on,gic-version=3 \
-chardev stdio,id=con,mux=on -serial chardev:con \
-object
memory-backend-file,discard-data=on,id=shmmem-shmem0,mem-path=/dev/shm/my_shmem0,size=4194304,share=yes
\
-device ivshmem-plain,id=shmem0,memdev=shmmem-shmem0,addr=0xb \
-device virtio-serial-device,bus=virtio-mmio-bus.0 \
-chardev socket,path=/tmp/rpmsg_port_uart_socket,server=off,id=foo \
-device virtconsole,chardev=foo \
-mon chardev=con,mode=readline -kernel ./nuttx/cmake_out/v8a_proxy/nuttx \
-gdb tcp::7776
```
LOG:
```c
❯ qemu-system-aarch64 -cpu cortex-a53 -nographic \
-machine virt,virtualization=on,gic-version=3 \
-chardev stdio,id=con,mux=on -serial chardev:con \
-object
memory-backend-file,discard-data=on,id=shmmem-shmem0,mem-path=/dev/shm/my_shmem0,size=4194304,share=yes
\
-device ivshmem-plain,id=shmem0,memdev=shmmem-shmem0,addr=0xb \
-device virtio-serial-device,bus=virtio-mmio-bus.0 \
-chardev socket,path=/tmp/rpmsg_port_uart_socket,server=on,wait=off,id=foo \
-device virtconsole,chardev=foo \
-mon chardev=con,mode=readline -kernel ./nuttx/cmake_out/v8a_server/nuttx \
-gdb tcp::7775
[ 0.000000] [ 0] [ INFO] [server] pci_register_rptun_ivshmem_driver:
Register ivshmem driver, id=0, cpuname=proxy, master=1
[ 0.000000] [ 3] [ INFO] [server] pci_scan_bus: pci_scan_bus for bus 0
[ 0.000000] [ 3] [ INFO] [server] pci_scan_bus: class = 00000600,
hdr_type = 00000000
[ 0.000000] [ 3] [ INFO] [server] pci_scan_bus: 00:00 [1b36:0008]
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar0 set bad mask
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar1 set bad mask
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar2 set bad mask
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar3 set bad mask
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar4 set bad mask
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar5 set bad mask
[ 0.000000] [ 3] [ INFO] [server] pci_scan_bus: class = 00000200,
hdr_type = 00000000
[ 0.000000] [ 3] [ INFO] [server] pci_scan_bus: 00:08 [1af4:1000]
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar0:
mask64=fffffffe 32bytes
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar1:
mask64=fffffff0 4096bytes
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar2 set bad mask
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar3 set bad mask
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar4:
mask64=fffffffffffffff0 16384bytes
[ 0.000000] [ 3] [ INFO] [server] pci_scan_bus: class = 00000500,
hdr_type = 00000000
[ 0.000000] [ 3] [ INFO] [server] pci_scan_bus: 00:58 [1af4:1110]
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar0:
mask64=fffffff0 256bytes
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar1 set bad mask
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar2:
mask64=fffffffffffffff0 4194304bytes
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar4 set bad mask
[ 0.000000] [ 3] [ INFO] [server] pci_setup_device: pbar5 set bad mask
[ 0.000000] [ 3] [ INFO] [server] ivshmem_probe: shmem addr=0x10400000
size=4194304 reg=0x10008000
[ 0.000000] [ 3] [ INFO] [server] rptun_ivshmem_probe: shmem
addr=0x10400000 size=4194304
NuttShell (NSH) NuttX-12.10.0
server>
server>
server>
server>
server>
server> [ 0.000000] [ 0] [ INFO] [proxy]
pci_register_rptun_ivshmem_driver: Register ivshmem driver, id=0,
cpuname=server, master=0
[ 0.000000] [ 3] [ INFO] [proxy] pci_scan_bus: pci_scan_bus for bus 0
[ 0.000000] [ 3] [ INFO] [proxy] pci_scan_bus: class = 00000600,
hdr_type = 00000000
[ 0.000000] [ 3] [ INFO] [proxy] pci_scan_bus: 00:00 [1b36:0008]
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar0 set bad mask
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar1 set bad mask
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar2 set bad mask
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar3 set bad mask
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar4 set bad mask
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar5 set bad mask
[ 0.000000] [ 3] [ INFO] [proxy] pci_scan_bus: class = 00000200,
hdr_type = 00000000
[ 0.000000] [ 3] [ INFO] [proxy] pci_scan_bus: 00:08 [1af4:1000]
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar0:
mask64=fffffffe 32bytes
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar1:
mask64=fffffff0 4096bytes
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar2 set bad mask
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar3 set bad mask
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar4:
mask64=fffffffffffffff0 16384bytes
[ 0.000000] [ 3] [ INFO] [proxy] pci_scan_bus: class = 00000500,
hdr_type = 00000000
[ 0.000000] [ 3] [ INFO] [proxy] pci_scan_bus: 00:58 [1af4:1110]
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar0:
mask64=fffffff0 256bytes
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar1 set bad mask
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar2:
mask64=fffffffffffffff0 4194304bytes
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar4 set bad mask
[ 0.000000] [ 3] [ INFO] [proxy] pci_setup_device: pbar5 set bad mask
[ 0.000000] [ 3] [ INFO] [proxy] ivshmem_probe: shmem addr=0x10400000
size=4194304 reg=0x10008000
[ 0.000000] [ 3] [ INFO] [proxy] rptun_ivshmem_probe: shmem
addr=0x10400000 size=4194304
[ 0.000000] [ 3] [ INFO] [proxy] rptun_ivshmem_probe: Start the wdog
server>
server>
server> ps
TID PID PPID PRI POLICY TYPE NPX STATE EVENT SIGMASK
STACK USED FILLED COMMAND
0 0 0 0 FIFO Kthread - Ready
0000000000000000 0008128 0001792 22.0% Idle_Task
1 0 0 192 FIFO Kthread - Waiting Semaphore
0000000000000000 0008064 0001344 16.6% hpwork 0x4047ac60 0x4047ace0
2 0 0 100 FIFO Kthread - Waiting Semaphore
0000000000000000 0008064 0001344 16.6% lpwork 0x4047ad10 0x4047ad90
5 0 0 224 FIFO Kthread - Waiting Semaphore
0000000000000000 0008064 0002128 26.3% rpmsg-uart-rx proxy2 0x404b0048
6 0 0 224 FIFO Kthread - Waiting Event
0000000000000000 0008064 0001968 24.4% rpmsg-uart-tx proxy2 0x404b0048
7 7 0 100 FIFO Task - Running
0000000000000000 0008096 0004176 51.5% nsh_main
8 0 0 224 FIFO Kthread - Waiting Semaphore
0000000000000000 0008064 0002208 27.3% rpmsg-virtio proxy 0x40494b18
server>
server>
server> rpmsg dump all
[ 0.000000] [ 7] [ EMERG] [server] Local: server Remote: proxy Headrx 7
[ 0.000000] [ 7] [ EMERG] [server] Dump rpmsg info between cpu (master:
yes)server <==> proxy:
[ 0.000000] [ 7] [ EMERG] [server] rpmsg vq RX:
[ 0.000000] [ 7] [ EMERG] [server] rpmsg vq TX:
[ 0.000000] [ 7] [ EMERG] [server] rpmsg ept list:
[ 0.000000] [ 7] [ EMERG] [server] ept NS
[ 0.000000] [ 7] [ EMERG] [server] ept rpmsg-sensor
[ 0.000000] [ 7] [ EMERG] [server] ept rpmsg-ping
[ 0.000000] [ 7] [ EMERG] [server] ept rpmsg-syslog
[ 0.000000] [ 7] [ EMERG] [server] rpmsg buffer list:
[ 0.000000] [ 7] [ EMERG] [server] RX buffer, total 8, pending 0
[ 0.000000] [ 7] [ EMERG] [server] TX buffer, total 8, pending 0
[ 0.000000] [ 7] [ EMERG] [server] Remote: proxy2 state: 1
[ 0.000000] [ 7] [ EMERG] [server] ept NS
[ 0.000000] [ 7] [ EMERG] [server] ept rpmsg-sensor
[ 0.000000] [ 7] [ EMERG] [server] ept rpmsg-ping
[ 0.000000] [ 7] [ EMERG] [server] rpmsg_port queue RX: {used: 0, avail:
8}
[ 0.000000] [ 7] [ EMERG] [server] rpmsg buffer list:
[ 0.000000] [ 7] [ EMERG] [server] rpmsg_port queue TX: {used: 0, avail:
8}
[ 0.000000] [ 7] [ EMERG] [server] rpmsg buffer list:
[ 0.000000] [ 7] [ ALERT] [server] sched_dumpstack: backtrace| 5:
0x00000000402a83e8 0x00000000402aa100 0x000000004029c024 0x000000004028cb64
0x00000000402e3a08 0x00000000402e3ab8 0x00000000402bcaec 0x00000000402bcf74
[ 0.000000] [ 7] [ ALERT] [server] sched_dumpstack: backtrace| 5:
0x00000000402acdb0
[ 0.000000] [ 7] [ ALERT] [server] sched_dumpstack: backtrace| 6:
0x00000000402a8808 0x00000000402f5958 0x00000000402bbec0 0x00000000402bd05c
0x00000000402acdb0
server>
server>
server> uname -a
NuttX server 12.10.0 4a5c10d742d Jan 26 2026 21:02:43 arm64 qemu-armv8a
server>
server>
server>
server> rpmsg ping all 1 1 1 1
[ 0.000000] [ 7] [ EMERG] [server] ping times: 1
[ 0.000000] [ 7] [ EMERG] [server] buffer_len: 1520, send_len: 17
[ 0.000000] [ 7] [ EMERG] [server] avg: 0 s, 17177808 ns
[ 0.000000] [ 7] [ EMERG] [server] min: 0 s, 17177808 ns
[ 0.000000] [ 7] [ EMERG] [server] max: 0 s, 17177808 ns
[ 0.000000] [ 7] [ EMERG] [server] rate: 0.007917 Mbits/sec
[ 0.000000] [ 7] [ EMERG] [server] ping times: 1
[ 0.000000] [ 7] [ EMERG] [server] buffer_len: 2024, send_len: 17
[ 0.000000] [ 7] [ EMERG] [server] avg: 0 s, 15456496 ns
[ 0.000000] [ 7] [ EMERG] [server] min: 0 s, 15456496 ns
[ 0.000000] [ 7] [ EMERG] [server] max: 0 s, 15456496 ns
[ 0.000000] [ 7] [ EMERG] [server] rate: 0.008798 Mbits/sec
server>
```
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