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fix(drv_hrt): fix TSAN issues

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This commit is contained in:
Julian Oes
2026-02-18 12:44:41 +13:00
committed by Ramon Roche
parent 578ecc0681
commit a74f1da74c
2 changed files with 19 additions and 8 deletions
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23
platforms/posix/src/px4/common/drv_hrt.cpp
View File

@@ -134,7 +134,10 @@ void hrt_store_absolute_time(volatile hrt_abstime *t)
*/
bool hrt_called(struct hrt_call *entry)
{
return (entry->deadline == 0);
hrt_lock();
bool result = (entry->deadline == 0);
hrt_unlock();
return result;
}
/*
@@ -241,6 +244,13 @@ hrt_call_enter(struct hrt_call *entry)
static void
hrt_tim_isr(void *p)
{
// Take the HRT lock for the whole "tick": latency_actual / latency_baseline
// are also written from hrt_call_reschedule() under this lock from other
// threads (any caller of hrt_call_every / hrt_call_after etc.), so reading
// them in hrt_latency_update() outside the lock is a data race. The mutex
// is recursive, so the nested acquire inside hrt_call_invoke() is fine.
hrt_lock();
/* grab the timer for latency tracking purposes */
latency_actual = hrt_absolute_time();
@@ -250,8 +260,6 @@ hrt_tim_isr(void *p)
/* run any callouts that have met their deadline */
hrt_call_invoke();
hrt_lock();
/* and schedule the next interrupt */
hrt_call_reschedule();
@@ -416,12 +424,15 @@ hrt_call_invoke()
call->deadline = 0;
/* invoke the callout (if there is one) */
if (call->callout) {
hrt_callout callout = call->callout;
void *arg = call->arg;
if (callout) {
// Unlock so we don't deadlock in callback
hrt_unlock();
//PX4_INFO("call %p: %p(%p)", call, call->callout, call->arg);
call->callout(call->arg);
//PX4_INFO("call %p: %p(%p)", call, callout, arg);
callout(arg);
hrt_lock();
}

4
src/drivers/drv_hrt.h
View File

@@ -272,14 +272,14 @@ static inline uint16_t get_latency_bucket_count(void) { return LATENCY_BUCKET_CO
static inline latency_info_t get_latency(uint16_t bucket_idx, uint16_t counter_idx)
{
latency_info_t ret = {latency_buckets[bucket_idx], latency_counters[counter_idx]};
latency_info_t ret = {latency_buckets[bucket_idx], __atomic_load_n(&latency_counters[counter_idx], __ATOMIC_RELAXED)};
return ret;
}
static inline void reset_latency_counters(void)
{
for (int i = 0; i <= get_latency_bucket_count(); i++) {
latency_counters[i] = 0;
__atomic_store_n(&latency_counters[i], 0, __ATOMIC_RELAXED);
}
}