doc: Add a simple guide for thread local storage

Explain the basic concept of thread local storage and
the usage, limits of CONFIG_SCHED_THREAD_LOCAL.

Documentation/guides/index.rst

@@ -31,3 +31,4 @@ Guides
   stm32ccm.rst
   stackrecord.rst
   etcromfs.rst
+  thread_local_storage.rst

Documentation/guides/thread_local_storage.rst

@@ -0,0 +1,44 @@
+=========================
+Thread Local Storage
+=========================
+
+Thread local storage (TLS) is a mechanism that allows each thread to have its own
+copy of a variable.  This is useful for variables that are used by multiple
+functions in a thread, but should not be shared with other threads.
+
+There are some approaches to using TLS in NuttX:
+
+1. Use the ``pthread_key_create()`` and ``pthread_setspecific()`` that from the POSIX standard. This is the most portable approach, but it requires that
+the platform support pthreads.
+2. Use the ``thread_local`` or ``__thread`` keyword from the C standard: https://gcc.gnu.org/onlinedocs/gcc/extensions-to-the-c-language-family/thread-local-storage.html
+
+Configuration
+=============
+
+.. code-block:: console
+
+    CONFIG_SCHED_THREAD_LOCAL  /* Enable native thread local storage support */
+
+
+Enable it to support native thread local storage, which is required that the compiler configured with ``--enable-tls`` option, this approach is more efficient if the compiler support it.
+
+If your compiler support it then you still need further configuration to use it:
+
+1. Enable ``CONFIG_SCHED_THREAD_LOCAL`` in menuconfig
+2. Handle ``tbss`` and ``tdata`` sections in linker script, your can refer to the example in rv-virt
+
+To confirm that your compiler supports TLS, you can try this command:
+.. code-block:: console
+
+    arm-none-eabi-gcc --verbose
+    COLLECT_GCC=arm-none-eabi-gcc
+    COLLECT_LTO_WRAPPER=/home/huang/.local/pkg/arm/bin/../libexec/gcc/arm-none-eabi/13.3.1/lto-wrapper
+    Target: arm-none-eabi
+    Configured with: /data/jenkins/workspace/GNU-toolchain/arm-13/src/gcc/configure --target=arm-none-eabi --prefix=/data/jenkins/workspace/GNU-toolchain/arm-13/build-arm-none-eabi/install --with-gmp=/data/jenkins/workspace/GNU-toolchain/arm-13/build-arm-none-eabi/host-tools --with-mpfr=/data/jenkins/workspace/GNU-toolchain/arm-13/build-arm-none-eabi/host-tools --with-mpc=/data/jenkins/workspace/GNU-toolchain/arm-13/build-arm-none-eabi/host-tools --with-isl=/data/jenkins/workspace/GNU-toolchain/arm-13/build-arm-none-eabi/host-tools --disable-shared --disable-nls --disable-threads --disable-tls --enable-checking=release --enable-languages=c,c++,fortran --with-newlib --with-gnu-as --with-headers=yes --with-gnu-ld --with-native-system-header-dir=/include --with-sysroot=/data/jenkins/workspace/GNU-toolchain/arm-13/build-arm-none-eabi/install/arm-none-eabi --with-multilib-list=aprofile,rmprofile --with-pkgversion='Arm GNU Toolchain 13.3.Rel1 (Build arm-13.24)' --with-bugurl=https://bugs.linaro.org/
+    Thread model: single
+    Supported LTO compression algorithms: zlib
+    gcc version 13.3.1 20240614 (Arm GNU Toolchain 13.3.Rel1 (Build arm-13.24))
+
+Then you can see ``--disable-tls`` in the output, which means that your compiler does not support TLS.
+
+In this case, you can still use the thread local relative keyword, but it would be implemented by libgcc's emutls.