Support SMP scheduling and synchronization#6

Draft

visitorckw wants to merge 18 commits intosysprog21:mainfrom

visitorckw:support-smp

Commits on Jun 29, 2025

Add spinlock implementation using RV32A atomics
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Replace interrupt masking with spinlock in malloc for SMP support
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Replace interrupt masking with spinlock in mqueue for SMP support
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Replace interrupt masking with spinlock in task management for SMP support
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Replace interrupt masking with spinlock in pipe for SMP support
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Replace interrupt masking with spinlock in semaphore for SMP support
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Replace interrupt masking with spinlock in timer for SMP support
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Replace interrupt masking with spinlock in mutex for SMP support
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Protect printf with spinlock to prevent interleaved output on SMP
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Remove obsolete NOSCHED_ENTER/LEAVE and CRITICAL_ENTER/LEAVE macros
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Add per-hart stack allocation in RISC-V boot for SMP support
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Remove hart parking and add spinlock synchronization during boot for SMP
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Move task_lock spinlock into kcb struct
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Add idle task per hart at boot to prevent panic on no runnable tasks
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Use per-hart current task pointer in KCB
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Protect shared kcb->ticks with spinlock
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Adapt mtimecmp read/write for per-hart registers
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Add -smp 4 to QEMU run command for multi-core simulation
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