RT-Thread
scheduler opt
[ #5949 新调度优化策略，测试版本 ， 已在ch32v103, stm32f4disc1 上测试正常 smp ,signal 部分未测，暂不需合并 ]
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代码质量 Code Quality：
我在这个拉取/合并请求中已经考虑了 As part of this pull request, I've considered the following:
- [x] 已经仔细查看过代码改动的对比 Already check the difference between PR and old code
- [x] 代码风格正确，包括缩进空格，命名及其他风格 Style guide is adhered to, including spacing, naming and other styles
- [x] 没有垃圾代码，代码尽量精简，不包含
#if 0代码，不包含已经被注释了的代码 All redundant code is removed and cleaned up - [x] 所有变更均有原因及合理的，并且不会影响到其他软件组件代码或BSP All modifications are justified and not affect other components or BSP
- [x] 对难懂代码均提供对应的注释 I've commented appropriately where code is tricky
- [x] 本拉取/合并请求代码是高质量的 Code in this PR is of high quality
- [x] 本拉取/合并使用formatting等源码格式化工具确保格式符合RT-Thread代码规范 This PR complies with RT-Thread code specification
跑了下这里面的测试用例：https://github.com/RT-Thread/rt-thread/issues/6092 abort了
r08:0x00000000 r09:0x00000000 r10:0x00000000
fp :0x600b53ac ip :0x00000000
sp :0x600b5398 lr :0x6001ff74 pc :0x6001ff94
cpsr:0xa00001d3
thread pri status sp stack size max used left tick error
-------- --- ------- ---------- ---------- ------ ---------- ---
tidle0 31 ready 0x0000004c 0x00000400 07% 0x00000020 000
timer 4 ready 0x00000048 0x00000400 07% 0x0000000a 000
main 10 ready 0x0000004c 0x00000800 03% 0x00000014 000
shutdown...
(0) assertion failed at function:rt_hw_cpu_shutdown, line number:74
看了一下 am335x的源码
RT_WEAK void rt_hw_cpu_shutdown()
{
rt_base_t level;
rt_kprintf("shutdown...\n");
level = rt_hw_interrupt_disable();
while (level)
{
RT_ASSERT(0);
}
}
rt_hw_trap_udef，未定义指令 rt_hw_trap_swi，触发超级模式 rt_hw_trap_pabt，正在预取指令时,不能完成当前memory访问 rt_hw_trap_dabt 正在访问data,不能完成当前memory 访问
只有上面四种情况，会调用rt_hw_cpu_shutdown，出现显示的断言错误，但 这个PR,一般不会触发这些异常吧，我又在 407上试了，可以解决该小伙伴发现的bug,未出现异常
