feat(freertos-s32z2): bring up lwIP over NETC Ethernet in poll mode by youtalk · Pull Request #23 · autowarefoundation/autoware-safety-island

youtalk · 2026-06-01T18:26:58Z

Summary

Part 3 of the S32Z2 FreeRTOS stack (on top of #22). Adds the lwIP + NETC
networking path, run in poll mode (no RX IRQ, avoiding the R52 lazy-FPU
ISR wall):

lwip_bringup.c — initialises the NETC switch + Ethernet controller, brings
the interface up with a deterministic static IP matching the DDS bind, and
enables the ETH0 RX RGMII clock (MC_CGM_1 MUX_7, PHY-driven external RXC)
that the default clock config left disabled — so the MAC RX state machine had
no clock and received nothing while TX worked.
vendor_patched/eth_port.c — fixes the upstream poll (STD_OFF) path: seed the
RX ring in STD_OFF; recycle freed RX pbufs via pbuf->if_idx/rx_buf (the ring
otherwise stalled after ETH_RXBD_NUM frames); balance the pbuf_coalesce ref
count on TX (a double-free that spun lwIP's assert); and make the netif
linkoutput non-blocking (bounded retry + sys_mbox_trypost_fromisr, never
sleeping under LOCK_TCPIP_CORE).
ethif_shim.c — bridges the AUTOSAR EthIf RxIndication/TxConfirmation
callbacks and supplies OsIf_TimeDelay for the poll thread.
lwipopts.h — sizes the netconn / UDP-PCB / mailbox pools for CycloneDDS.
platform_network.h — dispatches PLATFORM_FREERTOS_S32Z2 to the new
freertos_network.h.

The non-blocking linkoutput is the key fix: a blocking linkoutput under the TCP/IP
core lock deadlocked tcpip_thread and froze both RX and TX once the TX ring
filled (the long-standing "one discovery burst then DDS-silent" symptom).

Evidence — RX and TX both flow on hardware (gdb datapath probe)

After the fix, RX delivery (rxind0) and TX confirmations (txconf0) both climb,
the TCP/IP core lock is free, and the INPKT pool drains:

[NETCNT t~5s]  poll_iters=703   eth_recv=827    eth_got=124  tx_calls=462  rxind0=124  txconf0=126
[NETCNT t~12s] poll_iters=7052  eth_recv=7299   eth_got=248  tx_calls=531  rxind0=248  txconf0=195
[NETCNT t~20s] poll_iters=14567 eth_recv=14924  eth_got=357  tx_calls=594  rxind0=357  txconf0=258
[NETCNT t~28s] poll_iters=22264 eth_recv=22650  eth_got=386  tx_calls=631  rxind0=386  txconf0=295

[MEMP t~28s] 9:TCPIP_MSG_INPKT used=0 max=8 avail=8      # drains (no starvation)
[HANDOFF t~28s] core_lock_count=0 core_lock_holder=0x0   # core lock FREE

(The temporary gdb-only datapath counters used to capture this are stripped from
the committed eth_port.c.)

Stack

#21 → #22 → this PR → DDS round-trip. No CI files touched.

Copilot

Pull request overview

This PR adds the FreeRTOS S32Z2 networking backend by bringing up lwIP over the NXP NETC Ethernet controller in poll mode, wiring the platform dispatch to the new backend, and introducing a patched NETC↔lwIP port to avoid core-lock deadlocks and RX ring stalls.

Changes:

Add S32Z2-specific lwIP configuration headers and a NETC/lwIP bring-up implementation.
Add an EthIf/OsIf shim to bridge AUTOSAR-style driver callbacks into the lwIP port and provide missing OS hooks.
Introduce a vendor-patched eth_port.c intended to fix poll-mode RX/TX lifecycle issues and make linkoutput non-blocking.

Reviewed changes

Copilot reviewed 8 out of 8 changed files in this pull request and generated 24 comments.

Show a summary per file

File	Description
actuation_module/include/platform/platform_network.h	Routes `PLATFORM_FREERTOS_S32Z2` to the new S32Z2 FreeRTOS networking backend.
actuation_module/include/platform/freertos/s32z2/lwipopts.h	Adds lwIP configuration tuned for S32Z2 + CycloneDDS usage.
actuation_module/include/platform/freertos/s32z2/lwipcfg.h	Provides a minimal stub required by NXP lwIP glue headers.
actuation_module/include/platform/freertos/s32z2/lwip_init.h	Declares the S32Z2 lwIP bring-up entry point.
actuation_module/include/platform/freertos/s32z2/freertos_network.h	Implements `configure_network()` for the S32Z2 FreeRTOS target.
actuation_module/freertos_s32z2/vendor_patched/eth_port.c	Adds a patched NETC↔lwIP integration layer (poll-mode focus).
actuation_module/freertos_s32z2/lwip_bringup.c	Initializes NETC + lwIP and configures the network interface.
actuation_module/freertos_s32z2/ethif_shim.c	Bridges EthIf callbacks to the lwIP port and supplies missing OS hooks.

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Add the lwIP + NETC networking path for the S32Z2 port: - lwip_bringup.c initialises the NETC switch and Ethernet controller, brings up the interface with a deterministic static IP that matches the DDS bind, and enables the ETH0 RX RGMII clock (MC_CGM_1 MUX_7, sourced from the PHY-driven external RXC) which the default clock config left disabled, so the MAC RX state machine had no clock and received nothing while TX worked. - vendor_patched/eth_port.c runs NETC RX/TX completion in poll mode (STD_OFF); the upstream poll path was never exercised and is fixed here: seed the RX ring in STD_OFF, recycle freed RX pbufs via pbuf->if_idx/rx_buf (the ring otherwise stalled after ETH_RXBD_NUM frames), balance the pbuf_coalesce ref count on TX (a double-free that spun lwIP's assert), and make the netif linkoutput non-blocking (bounded retry + sys_mbox_trypost_fromisr, never sleeping under LOCK_TCPIP_CORE) — a blocking linkoutput deadlocked tcpip_thread and froze both RX and TX once the TX ring filled. - ethif_shim.c bridges the AUTOSAR EthIf RxIndication/TxConfirmation callbacks to eth_port.c and supplies OsIf_TimeDelay for the poll thread. - lwipopts.h sizes the netconn / UDP-PCB / mailbox pools for CycloneDDS's five sockets per participant and the tcpip mailbox. - platform_network.h dispatches the PLATFORM_FREERTOS_S32Z2 branch to the new freertos_network.h (lwIP-backed configure_network()). Stacked on the boot PR. Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

- Rename the freertos_network.h include guard to PLATFORM__FREERTOS__S32Z2__* so it no longer collides with the POSIX simulator's freertos_network.h, and match the closing #endif comment. - Correct the network bring-up comments: the path configures a static IP and blocks only on tcpip_init; it does not request DHCP or wait for a lease (freertos_network.h, lwip_init.h, lwipopts.h). Disable LWIP_DHCP accordingly (unused with static IP). - lwip_bringup.c: delete the one-shot tcpip_done semaphore after init completes (was leaked), and check ip4addr_aton() return values so an invalid LWIP_STATIC_* override fails loudly instead of silently configuring 0.0.0.0. Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

Address PR review (eth_port.c:12): the vendored NXP lwIP NETC glue carried the NXP Confidential and Proprietary header and must not live in this public repo. Replace it with vendor_patched/eth_port.c.patch (our poll-mode datapath fixes: RX-ring seeding, pbuf recycling, balanced pbuf_coalesce ref, non-blocking linkoutput); the build copies the pristine NXP eth_port.c from $LWIP_PATH and applies this patch at configure time. Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

main() ignored configure_network()'s return value, so the firmware could construct the DDS/controller stack and report "Live" even after lwIP/NETC failed to come up. Every platform's configure_network() returns 0 on success and nonzero on failure, so check it and std::exit(1) on failure, matching the file's existing error-handling idiom. Addresses PR #23 review (oguzkaganozt). Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

tcpip_init_done() received &tcpip_done, the address of lwip_bring_up_blocking()'s local handle. On the 5 s timeout path the function returns and its stack frame dies while the tcpip thread may still run the callback and dereference that dead address. Pass the SemaphoreHandle_t value directly (it is a pointer typedef) so the callback never touches our stack. Addresses PR #23 review (oguzkaganozt). Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

…gnostically eth_port.c.patch carried mixed CRLF/LF endings and trailing whitespace, which `git diff --check` flagged extensively and made review and apply fragile. Normalize it to pure LF with no trailing whitespace. GNU patch refuses to apply across a CRLF/LF mismatch ("different line endings") and the NXP vendor sources are CRLF, so s32z2_apply_vendor_patch() now strips CRs from both the copied source and the patch before applying -- robust to either ending (port.c.patch, still CRLF, is unaffected). A unified-diff context line for tab-indented vendor code intrinsically begins "<space><tab>", which `git diff --check` reports as space-before-tab; a scoped .gitattributes exempts the committed patches from whitespace checks. Verified: both vendor patches apply (rc=0) with byte-identical output and `git diff --check` is clean. Addresses PR #23 review (oguzkaganozt). Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

oguzkaganozt

LGTM

youtalk mentioned this pull request Jun 1, 2026

feat(freertos-s32z2): DDS round-trip controller and edge-ECU peer #24

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youtalk force-pushed the feat/freertos-s32z2-boot branch from b017bf8 to 9e0777f Compare June 1, 2026 18:44

youtalk force-pushed the feat/freertos-s32z2-net branch from cced82a to 2ef0c7f Compare June 1, 2026 18:44

youtalk requested review from Copilot, mitsudome-r and oguzkaganozt June 1, 2026 19:01

Copilot started reviewing on behalf of youtalk June 1, 2026 19:02

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Copilot AI reviewed Jun 1, 2026

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youtalk force-pushed the feat/freertos-s32z2-boot branch from 9e0777f to 03ff0a6 Compare June 1, 2026 20:43

youtalk force-pushed the feat/freertos-s32z2-net branch from 2ef0c7f to e4508ea Compare June 1, 2026 20:43

youtalk marked this pull request as ready for review June 1, 2026 20:58

youtalk added 3 commits June 1, 2026 14:01

youtalk force-pushed the feat/freertos-s32z2-net branch from e4508ea to f9467e4 Compare June 1, 2026 21:03

youtalk force-pushed the feat/freertos-s32z2-boot branch from 03ff0a6 to 3078bb2 Compare June 1, 2026 21:03

This was referenced Jun 4, 2026

Proposal: ROS client API & middleware strategy — standardise on CycloneDDS, retire micro-ROS/XRCE, time-box a nano-ros evaluation #25

Closed

fix(freertos-s32z2): run the DDS control_cmd round-trip on S32Z2 hardware, MPC at -O2 #26

Merged

oguzkaganozt reviewed Jun 5, 2026

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Comment thread actuation_module/include/platform/freertos/s32z2/freertos_network.h Resolved

oguzkaganozt reviewed Jun 5, 2026

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Comment thread actuation_module/freertos_s32z2/lwip_bringup.c Resolved

oguzkaganozt reviewed Jun 5, 2026

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Comment thread actuation_module/freertos_s32z2/vendor_patched/eth_port.c.patch Resolved

youtalk added 3 commits June 5, 2026 14:04

youtalk requested a review from oguzkaganozt June 5, 2026 21:11

oguzkaganozt approved these changes Jun 8, 2026

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feat(freertos-s32z2): DDS round-trip controller and edge-ECU peer (#24)

927c4db

youtalk merged commit 5d60d82 into feat/freertos-s32z2-boot Jun 8, 2026
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oguzkaganozt deleted the feat/freertos-s32z2-net branch October 11, 2026 13:59

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feat(freertos-s32z2): bring up lwIP over NETC Ethernet in poll mode - #23

feat(freertos-s32z2): bring up lwIP over NETC Ethernet in poll mode#23
youtalk merged 7 commits into
feat/freertos-s32z2-bootfrom
feat/freertos-s32z2-net

youtalk commented Jun 1, 2026 •

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youtalk commented Jun 1, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Summary

Evidence — RX and TX both flow on hardware (gdb datapath probe)

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youtalk commented Jun 1, 2026 •

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