[fix][lwp]Update the vdso framework

[rcitach]

拉取/合并请求描述：(PR description)

[

为什么提交这份PR (why to submit this PR)

riscv 架构开启 RT-SMART 后，用户态调用 time / clock_gettime 一类接口时会进入 vDSO 路径，触发任务崩溃。

同时，原有 vDSO 相关文件命名和职责划分不清晰，内核侧、用户侧、共享数据页定义分散，后续维护和定位问题成本较高。

你的解决方案是什么 (what is your solution)

本次修改对 RT-Thread 的 vDSO 进行了整理和修复，主要包括：

1. 重构 vDSO 目录结构和命名

• 统一共享定义、内核侧实现、用户侧实现的文件命名和层次关系；
• 新增统一的共享头文件、数据页定义、内核接口头文件和用户侧内部实现文件；
• 删除旧的 vdso.h、vdso_data.h、vdso_datapage.h、vdso_sys.* 等历史实现，避免同一能力存在多套命名和逻辑。

2. 重写内核侧 vDSO 运行时逻辑

• 使用独立的 vDSO 数据页保存 seq_counter、counter_last、counter_freq、base_time[] 等共享时间数据；

3. 修复 monotonic 时间采样不一致问题

• 原实现中 base_time 与 counter_last 不是同一采样点，用户态按 base_time + (now - counter_last) 计算时会产生固定偏差；
• 现在改为基于同一次 counter 快照生成 base_time 和 counter_last，保证 CLOCK_MONOTONIC 计算一致。

4. 补齐 realtime 同步和回退逻辑

• 新增 realtime_offset 缓存与 RT_VDSO_FLAG_REALTIME_VALID 标志；
• 在 settimeofday() / clock_settime() 成功后同步刷新 vDSO realtime 数据；
• 当 realtime 尚未就绪时，vDSO 对 CLOCK_REALTIME 返回 -ENOSYS，由 musl 自动回退到 syscall 路径，避免用户态拿到错误时间数据。

5. 修复用户态 vDSO 构建链路

• 新增统一的 components/lwp/vdso/user/SConstruct；
• 统一 aarch64/risc-v 的 vDSO 链接脚本和共享页符号定义。

请提供验证的bsp和config (provide the config and bsp)

• BSP:
  qemu-virt-aarch64 与 qemu-virt-riscv

• .config:

• action:

]

当前拉取/合并请求的状态 Intent for your PR

必须选择一项 Choose one (Mandatory):

• 本拉取/合并请求是一个草稿版本 This PR is for a code-review and is intended to get feedback
• [√ ] 本拉取/合并请求是一个成熟版本 This PR is mature, and ready to be integrated into the repo

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:

• 已经仔细查看过代码改动的对比 Already check the difference between PR and old code
• 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
• 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
• 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
• 对难懂代码均提供对应的注释 I've commented appropriately where code is tricky
• 代码是高质量的 Code in this PR is of high quality
• 已经使用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
• 如果是新增bsp, 已经添加ci检查到.github/ALL_BSP_COMPILE.json 详细请参考链接BSP自查

[github-actions]

👋 感谢您对 RT-Thread 的贡献！Thank you for your contribution to RT-Thread!

为确保代码符合 RT-Thread 的编码规范，请在你的仓库中执行以下步骤运行代码格式化工作流（如果格式化CI运行失败）。
To ensure your code complies with RT-Thread's coding style, please run the code formatting workflow by following the steps below (If the formatting of CI fails to run).

---

🛠 操作步骤 | Steps

1. 前往 Actions 页面 | Go to the Actions page
   点击进入工作流 → | Click to open workflow →

2. 点击 Run workflow | Click Run workflow

• 设置需排除的文件/目录（目录请以"/"结尾）
  Set files/directories to exclude (directories should end with "/")
• 将目标分支设置为 \ Set the target branch to：rcitach/vdso
• 设置PR number为 \ Set the PR number to：11340

3. 等待工作流完成 | Wait for the workflow to complete
   格式化后的代码将自动推送至你的分支。
   The formatted code will be automatically pushed to your branch.

完成后，提交将自动更新至 rcitach/vdso 分支，关联的 Pull Request 也会同步更新。
Once completed, commits will be pushed to the rcitach/vdso branch automatically, and the related Pull Request will be updated.

如有问题欢迎联系我们，再次感谢您的贡献！💐
If you have any questions, feel free to reach out. Thanks again for your contribution!

[github-actions]

📌 Code Review Assignment

🏷️ Tag: components

Reviewers: Maihuanyi

Changed Files (Click to expand)

• components/libc/compilers/common/ctime.c
• components/lwp/SConscript
• components/lwp/arch/aarch64/common/vdso_data.c
• components/lwp/arch/common/vdso.c
• components/lwp/arch/common/vdso_kernel.c
• components/lwp/arch/risc-v/common/vdso_data.c
• components/lwp/lwp_elf.c
• components/lwp/vdso/Kconfig
• components/lwp/vdso/SConscript
• components/lwp/vdso/kernel/vdso.h
• components/lwp/vdso/kernel/vdso_data.h
• components/lwp/vdso/kernel/vdso_image.S
• components/lwp/vdso/kernel/vdso_kernel.h
• components/lwp/vdso/kernel/vdso_kernel_internal.h
• components/lwp/vdso/user/SConstruct
• components/lwp/vdso/user/arch/aarch64/SConstruct
• components/lwp/vdso/user/arch/aarch64/vdso.lds.S
• components/lwp/vdso/user/arch/aarch64/vdso_arch.h
• components/lwp/vdso/user/arch/aarch64/vdso_sys.c
• components/lwp/vdso/user/arch/aarch64/vdso_sys.h
• components/lwp/vdso/user/arch/arm/vdso.lds.S
• components/lwp/vdso/user/arch/arm/vdso_arch.h
• components/lwp/vdso/user/arch/risc-v/SConstruct
• components/lwp/vdso/user/arch/risc-v/vdso.lds.S
• components/lwp/vdso/user/arch/risc-v/vdso_arch.h
• components/lwp/vdso/user/arch/risc-v/vdso_sys.c
• components/lwp/vdso/user/arch/risc-v/vdso_sys.h
• components/lwp/vdso/user/common/vdso_clock_gettime.c
• components/lwp/vdso/user/common/vdso_user_internal.h
• components/lwp/vdso/vdso_config.h

🏷️ Tag: components_libc

Reviewers: GorrayLi mysterywolf

Changed Files (Click to expand)

• components/libc/compilers/common/ctime.c

🏷️ Tag: components_lwp

Reviewers: xu18838022837

Changed Files (Click to expand)

• components/lwp/SConscript
• components/lwp/arch/aarch64/common/vdso_data.c
• components/lwp/arch/common/vdso.c
• components/lwp/arch/common/vdso_kernel.c
• components/lwp/arch/risc-v/common/vdso_data.c
• components/lwp/lwp_elf.c
• components/lwp/vdso/Kconfig
• components/lwp/vdso/SConscript
• components/lwp/vdso/kernel/vdso.h
• components/lwp/vdso/kernel/vdso_data.h
• components/lwp/vdso/kernel/vdso_image.S
• components/lwp/vdso/kernel/vdso_kernel.h
• components/lwp/vdso/kernel/vdso_kernel_internal.h
• components/lwp/vdso/user/SConstruct
• components/lwp/vdso/user/arch/aarch64/SConstruct
• components/lwp/vdso/user/arch/aarch64/vdso.lds.S
• components/lwp/vdso/user/arch/aarch64/vdso_arch.h
• components/lwp/vdso/user/arch/aarch64/vdso_sys.c
• components/lwp/vdso/user/arch/aarch64/vdso_sys.h
• components/lwp/vdso/user/arch/arm/vdso.lds.S
• components/lwp/vdso/user/arch/arm/vdso_arch.h
• components/lwp/vdso/user/arch/risc-v/SConstruct
• components/lwp/vdso/user/arch/risc-v/vdso.lds.S
• components/lwp/vdso/user/arch/risc-v/vdso_arch.h
• components/lwp/vdso/user/arch/risc-v/vdso_sys.c
• components/lwp/vdso/user/arch/risc-v/vdso_sys.h
• components/lwp/vdso/user/common/vdso_clock_gettime.c
• components/lwp/vdso/user/common/vdso_user_internal.h
• components/lwp/vdso/vdso_config.h

---

📊 Current Review Status (Last Updated: 2026-04-24 17:48 CST)

• ⌛ GorrayLi Pending Review
• ⌛ Maihuanyi Pending Review
• ⌛ mysterywolf Pending Review
• ⌛ xu18838022837 Pending Review

---

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1. 维护者可以通过单击此处来刷新审查状态: 🔄 刷新状态
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2. 确认审核通过后评论 LGTM/lgtm
   Comment LGTM/lgtm after confirming approval

3. PR合并前需至少一位维护者确认
   PR must be confirmed by at least one maintainer before merging

ℹ️ 刷新CI状态操作需要具备仓库写入权限。
ℹ️ Refresh CI status operation requires repository Write permission.

[Copilot]

Pull request overview

This PR refactors and fixes the RT-Thread RT-SMART vDSO time path (notably clock_gettime/time) to avoid user-mode crashes and to make kernel/user/shared-page responsibilities clearer.

本次 PR 对 RT-Thread RT-SMART 的 vDSO 时间路径（主要是 clock_gettime/time）进行重构与修复，避免用户态崩溃，并梳理内核/用户/共享页的职责边界。

Changes:

• Reworked vDSO shared data page + kernel runtime, and updated tick/realtime synchronization hooks. / 重构 vDSO 共享数据页与内核运行时，并更新 tick/实时钟同步路径
• Rebuilt user-side vDSO implementation and unified linker scripts/build flow for aarch64 & riscv64. / 重建用户态 vDSO 实现，统一 aarch64/riscv64 链接脚本与构建流程
• Removed legacy vDSO headers/impl files to reduce duplication. / 删除历史 vDSO 相关文件以减少重复实现

Reviewed changes

Copilot reviewed 32 out of 32 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
src/clock.c	Call new rt_vdso_sync_clock_data() on ticks / 在 tick 增加时同步 vDSO 时钟数据
components/lwp/vdso/vdso_weak.c	Removed legacy weak stubs / 删除旧弱符号兜底实现
components/lwp/vdso/vdso_datapage.h	Removed legacy shared-page definition / 删除旧共享页定义
components/lwp/vdso/vdso_data_page.h	New shared clock data page layout / 新共享时钟数据页结构
components/lwp/vdso/vdso_constants.h	New shared constants (page size, image path) / 新公共常量定义（页大小、镜像路径）
components/lwp/vdso/vdso_config.h	Removed legacy config header / 删除旧配置头
components/lwp/vdso/user/common/vdso_user_internal.h	New user-side seqlock helpers & barriers / 新用户态 seqlock 辅助与屏障
components/lwp/vdso/user/common/vdso_clock_gettime.c	New vDSO clock_gettime implementation / 新 vDSO clock_gettime 实现
components/lwp/vdso/user/arch/risc-v/vdso_sys.h	Removed legacy arch-specific user code / 删除旧 RISC-V 用户态实现
components/lwp/vdso/user/arch/risc-v/vdso_sys.c	Removed legacy arch-specific user code / 删除旧 RISC-V 用户态实现
components/lwp/vdso/user/arch/risc-v/vdso_arch.h	New RISC-V arch helpers / 新 RISC-V 架构辅助
components/lwp/vdso/user/arch/risc-v/vdso.lds.S	Updated RISC-V vDSO linker script / 更新 RISC-V vDSO 链接脚本
components/lwp/vdso/user/arch/risc-v/SConstruct	Removed per-arch build script / 删除按架构拆分的构建脚本
components/lwp/vdso/user/arch/aarch64/vdso_sys.h	Removed legacy arch-specific user code / 删除旧 AArch64 用户态实现
components/lwp/vdso/user/arch/aarch64/vdso_sys.c	Removed legacy arch-specific user code / 删除旧 AArch64 用户态实现
components/lwp/vdso/user/arch/aarch64/vdso_arch.h	New AArch64 arch helpers / 新 AArch64 架构辅助
components/lwp/vdso/user/arch/aarch64/vdso.lds.S	Updated AArch64 vDSO linker script / 更新 AArch64 vDSO 链接脚本
components/lwp/vdso/user/arch/aarch64/SConstruct	Removed per-arch build script / 删除按架构拆分的构建脚本
components/lwp/vdso/user/SConstruct	New unified vDSO user build / 新统一用户态 vDSO 构建脚本
components/lwp/vdso/kernel/vdso_kernel_internal.h	New kernel-side seqlock write helpers / 新内核侧 seqlock 写辅助
components/lwp/vdso/kernel/vdso_kernel.h	New public kernel vDSO API header / 新内核 vDSO 公共 API 头文件
components/lwp/vdso/kernel/vdso_image.S	Embed vDSO image via .incbin / 通过 .incbin 嵌入 vDSO 镜像
components/lwp/vdso/kernel/vdso_data.h	Removed legacy kernel vDSO data header / 删除旧内核 vDSO 数据头
components/lwp/vdso/kernel/vdso.h	Removed legacy kernel vDSO header / 删除旧内核 vDSO 头
components/lwp/vdso/SConscript	Invoke unified user build + compile kernel vDSO sources / 调用统一用户构建并编译内核侧 vDSO
components/lwp/lwp_elf.c	Map vDSO via new kernel API & update auxv logging / 使用新接口映射 vDSO 并更新日志
components/lwp/arch/risc-v/common/vdso_data.c	Removed legacy per-arch vDSO data sync / 删除旧 RISC-V vDSO 数据同步
components/lwp/arch/common/vdso_kernel.c	New common kernel vDSO runtime (mapping + clock snapshots) / 新通用内核 vDSO 运行时
components/lwp/arch/common/vdso.c	Removed legacy common runtime / 删除旧通用运行时
components/lwp/arch/aarch64/common/vdso_data.c	Removed legacy per-arch vDSO data sync / 删除旧 AArch64 vDSO 数据同步
components/lwp/SConscript	Wire vDSO sources/headers into lwp build when enabled / VDSO 启用时纳入构建与头文件路径
components/libc/compilers/common/ctime.c	Sync vDSO realtime after settimeofday/clock_settime / 在设置 RTC 成功后同步 vDSO realtime

[Rbb666]

@BernardXiong 熊大，帮忙review下~

[BernardXiong]

请确认下这个：components/lwp/arch/common/vdso_kernel.c:320

这版已把 arm 纳入了构建路径（components/lwp/vdso/SConscript:15-20），且 components/lwp/vdso/user/arch/arm/vdso.lds.S:3-4 明确生成的是 elf32-littlearm。但运行时校验仍然把镜像按 Elf64_Ehdr 解析，并强制要求 ELFCLASS64。

结果可能是 AArch32 的 vDSO 会在初始化时被直接判 invalid，rt_vdso_runtime_status 进入错误态，后续进程都拿不到 vDSO。

请检查下是否存在这样的情况。

[rcitach]

请确认下这个：components/lwp/arch/common/vdso_kernel.c:320

这版已把 arm 纳入了构建路径（components/lwp/vdso/SConscript:15-20），且 components/lwp/vdso/user/arch/arm/vdso.lds.S:3-4 明确生成的是 elf32-littlearm。但运行时校验仍然把镜像按 Elf64_Ehdr 解析，并强制要求 ELFCLASS64。

结果可能是 AArch32 的 vDSO 会在初始化时被直接判 invalid，rt_vdso_runtime_status 进入错误态，后续进程都拿不到 vDSO。

请检查下是否存在这样的情况。

已经更新了，目前vdso 依赖 Clock Time 子系统，该子系统暂不支持 arm ,所以arm 并不会开启vdso，先保留功能，等日后 arm 也支持DM 就可以开启vdso了

[BernardXiong]

可能的 3 个问题，请注意下：

• vDSO 锁会在 tick 中断中自旋死锁
  rt_vdso_set_realtime() 在普通线程路径持有 rt_hw_spin_lock，而 rt_vdso_sync_clock_data() 会从 rt_tick_increase_tick() 的 tick 中断路径进入并拿同一把锁。SMP 下 rt_hw_spin_lock 不保存/关闭本地中断；如果线程持锁时本 CPU tick 中断打进来，ISR 会在同一把锁上自旋，线程无法继续释放锁。这里应改成 irqsave 语义的锁，或在两条写路径上显式关本地中断后再拿硬件 spinlock。
  components/lwp/arch/common/vdso_kernel.c:217

• RISC-V 上共享 vDSO 页可能被用户态写
  当前优先选择 MMU_MAP_U_RWCB_XN 作为数据页属性；在 RISC-V virt64/c906 等实现里这个宏包含用户写权限。这样所有进程映射到同一个内核 vDSO 数据页后，用户态可以改 seq_counter、flags、base_time 等共享时间数据，影响本进程甚至其他进程。应提供/使用用户只读且 XN 的属性；没有只读 XN 时，至少不要退化成用户可写。
  components/lwp/arch/common/vdso_kernel.c:70

• vDSO fallback errno 可能与用户 libc ABI 不一致
  PR 依赖 vDSO 对 realtime 未就绪返回 -ENOSYS 让 musl 回退 syscall，但这个 vDSO 由 *-none-elf-gcc 构建并直接包含工具链的 <errno.h>，不保证 ENOSYS 数值等于 RT-SMART 用户态 libc/musl 的 ABI 值。若工具链 newlib 给出不同值，musl 不会识别为 -ENOSYS，CLOCK_REALTIME fallback 会失效。建议在 vDSO 共享头里固定使用目标用户 ABI 的 errno 常量，或确保构建显式包含同一套用户态 errno 头。
  components/lwp/vdso/user/common/vdso_clock_gettime.c:33