PX4: Add support for CONFIG_SMP=y (NuttX only) #827
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pussuw
commented
Nov 28, 2024
jlaitine
approved these changes
Nov 28, 2024
platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h
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jlaitine
approved these changes
Nov 29, 2024
jlaitine
approved these changes
Dec 3, 2024
Implement the critical sections as spin locks. When CONFIG_SMP=n they fall back to normal critical sections i.e. local interrupts are disabled.
Execute the reboot command (jump to __start) on all CPUs. The boot CPU i.e. CPU0 will wait for the other CPUs to reboot first, otherwise when CPU0 does the .data/.bss section initialization it will pull the rug from under the other CPUs feet by modifying global data unexpectedly.
Replace the critical sections with a dedicated hrt_ioctl spin lock
Use spinlock as the kernel side lock
Remove dead code
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Set of patches that add SMP support to PX4