kernel: remove legacy kernel support

Change-Id: Iac1e21677d74f81a93cd29d64cce261676ae78a6
Signed-off-by: Anas Nashif <anas.nashif@intel.com>

doc/api/kernel_api.rst

@@ -238,13 +238,3 @@ of variable-size data items.
    :project: Zephyr
    :content-only:
 
-
-Legacy APIs
-***********
-
-These APIs will be deprecated in an upcoming release so we recommend you avoid
-using them in your applications.
-
-.. doxygengroup:: legacy_apis
-   :project: Zephyr
-   :content-only:

doc/zephyr.doxyfile

@@ -274,7 +274,6 @@ PREDEFINED             = "CONFIG_SYS_CLOCK_EXISTS=y" \
 			 "CONFIG_KERNEL_EVENT_LOGGER_DYNAMIC=y" \
 			 "CONFIG_KERNEL_EVENT_LOGGER_CUSTOM_TIMESTAMP=y" \
 			 "CONFIG_TASK_MONITOR=y" \
-			 "CONFIG_NANO_TIMEOUTS=y" \
 			 "CONFIG_UART_INTERRUPT_DRIVEN=y" \
 			 "CONFIG_UART_DRV_CMD=y" \
 			 "CONFIG_SYS_POWER_MANAGEMENT=y" \

drivers/adc/Kconfig

@@ -61,7 +61,6 @@ menuconfig ADC_TI_ADC108S102
 	bool "TI adc108s102 chip driver"
 	depends on ADC
 	select SPI
-	select NANO_TIMEOUTS
 	default n
 	help
 	Enable support for TI's ADC chip adc108s102 driver.

drivers/bluetooth/nble/Kconfig

@@ -9,7 +9,6 @@
 config NBLE
 	bool "Support for custom non-HCI nRF51 firmware [DEPRECATED]"
 	select UART_INTERRUPT_DRIVEN
-	select NANO_TIMEOUTS
 	select NET_BUF
 	depends on SERIAL
 	help

drivers/sensor/bmc150_magn/Kconfig

@@ -8,7 +8,7 @@
 
 menuconfig BMC150_MAGN
 	bool "BMC150_MAGN I2C Magnetometer Chip"
-	depends on SENSOR && I2C && NANO_TIMEOUTS
+	depends on SENSOR && I2C
 	default n
 	help
 	  Enable driver for BMC150 I2C-based magnetometer sensor.

drivers/sensor/lsm6ds0/Kconfig

@@ -9,7 +9,7 @@
 
 menuconfig LSM6DS0
 	bool "LSM6DS0 I2C accelerometer and gyroscope Chip"
-	depends on SENSOR && I2C && NANO_TIMEOUTS
+	depends on SENSOR && I2C
 	default n
 	help
 	  Enable driver for LSM6DS0 I2C-based accelerometer and gyroscope

drivers/sensor/lsm9ds0_gyro/Kconfig

@@ -8,7 +8,7 @@
 
 menuconfig LSM9DS0_GYRO
 	bool "LSM9DS0 I2C gyroscope Chip"
-	depends on SENSOR && I2C && NANO_TIMEOUTS
+	depends on SENSOR && I2C
 	default n
 	help
 	  Enable driver for LSM9DS0 I2C-based gyroscope sensor.

drivers/sensor/lsm9ds0_mfd/Kconfig

@@ -9,7 +9,7 @@
 
 menuconfig LSM9DS0_MFD
 	bool "LSM9DS0 I2C accelerometer, magnetometer and temperature sensor chip"
-	depends on SENSOR && I2C && NANO_TIMEOUTS
+	depends on SENSOR && I2C
 	default n
 	help
 	  Enable driver for LSM9DS0 I2C-based MFD sensor.

include/kernel.h

@@ -3553,10 +3553,6 @@ extern void k_cpu_atomic_idle(unsigned int key);
 
 extern void _sys_power_save_idle_exit(int32_t ticks);
 
-/* Include legacy APIs */
-#if defined(CONFIG_LEGACY_KERNEL)
-#include <legacy.h>
-#endif
 #include <arch/cpu.h>
 
 /*

include/logging/kernel_event_logger.h

@@ -280,7 +280,7 @@ static inline int sys_k_event_logger_get_wait(uint16_t *event_id,
  * @retval -EMSGSIZE Buffer too small; @a data_size now indicates
  *         the size of the event to be retrieved.
  */
-#if defined(CONFIG_KERNEL_EVENT_LOGGER) && defined(CONFIG_NANO_TIMEOUTS)
+#if defined(CONFIG_KERNEL_EVENT_LOGGER)
 static inline int sys_k_event_logger_get_wait_timeout(uint16_t *event_id,
 			uint8_t *dropped, uint32_t *event_data,
 			uint8_t *data_size, uint32_t timeout)
@@ -289,7 +289,7 @@ static inline int sys_k_event_logger_get_wait_timeout(uint16_t *event_id,
 						 dropped, event_data,
 						 data_size, timeout);
 }
-#endif /* CONFIG_KERNEL_EVENT_LOGGER && CONFIG_NANO_TIMEOUTS */
+#endif /* CONFIG_KERNEL_EVENT_LOGGER */
 
 /**
  * @brief Register thread that retrieves kernel events.

include/microkernel.h

@@ -1,14 +0,0 @@
-/* microkernel.h - public API for microkernel */
-
-/*
- * Copyright (c) 1997-2015, Wind River Systems, Inc.
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#ifndef _MICROKERNEL_H
-#define _MICROKERNEL_H
-
-#include <nanokernel.h>
-
-#endif /* _MICROKERNEL_H */

include/nanokernel.h

@@ -1,40 +0,0 @@
-/*
- * Copyright (c) 1997-2015, Wind River Systems, Inc.
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-/**
- * @file
- *
- * @brief Public APIs for the nanokernel.
- */
-
-#ifndef __NANOKERNEL_H__
-#define __NANOKERNEL_H__
-
-#if !defined(CONFIG_LEGACY_KERNEL)
-#error "You should include kernel.h and not nanokernel.h or microkernel.h"
-#endif
-
-/* fundamental include files */
-
-#include <stddef.h>
-#include <stdint.h>
-#include <toolchain.h>
-#include <sections.h>
-
-/* generic kernel public APIs */
-
-#include <kernel_version.h>
-#include <sys_clock.h>
-#include <drivers/rand32.h>
-#include <misc/slist.h>
-#include <misc/dlist.h>
-
-#include <kernel.h>
-
-/* architecture-specific nanokernel public APIs */
-#include <arch/cpu.h>
-
-#endif /* __NANOKERNEL_H__ */

kernel/Kconfig

@@ -307,7 +307,7 @@ menu "Other Kernel Object Options"
 
 config SEMAPHORE_GROUPS
 	bool "Enable semaphore groups"
-	default y if LEGACY_KERNEL
+	default n
 	help
 	This option enables support for semaphore groups. Threads that use
 	semaphore groups require more stack space. Disabling this option will
@@ -427,11 +427,6 @@ config SYS_CLOCK_TICKS_PER_SEC
 	can require a non-trivial extra amount of stack space (e.g. around 80
 	bytes on x86).
 
-	Using the legacy API also incurs an extra penalty, since when asking
-	for a timeout, a translation is made from ticks to milliseconds to call
-	the native kernel APIs, and then another translation is made back to
-	ticks, since the kernel is tick-based.
-
 config SYS_CLOCK_HW_CYCLES_PER_SEC
 	int "System clock's h/w timer frequency"
 	help
@@ -535,16 +530,10 @@ endmenu
 
 menu "Legacy Kernel Options"
 
-config LEGACY_KERNEL
-	bool "Legacy Kernel Options"
-	default n
-	help
-	Enable legacy kernel features.
-
 config MDEF
 	bool
 	prompt "Use MDEF files for statically configured kernel objects"
-	default y if LEGACY_KERNEL
+	default n
 	help
 	Using an MDEF file can help the startup time of the application since
 	the objects it lists are statically allocated and initialized, and may
@@ -554,22 +543,6 @@ config MDEF
 
 	In doubt, select 'y'.
 
-config  NANO_TIMEOUTS
-	bool
-	default y if LEGACY_KERNEL
-	depends on SYS_CLOCK_EXISTS
-	help
-	Only here for common (ie. non-unified kernel) code that rely on this.
-	Unified kernel uses SYS_CLOCK_EXISTS everywhere instead.
-
-config  NANO_TIMERS
-	bool
-	default y if LEGACY_KERNEL
-	depends on SYS_CLOCK_EXISTS
-	help
-	Only here for common (ie. non-unified kernel) code that rely on this.
-	Unified kernel uses SYS_CLOCK_EXISTS everywhere instead.
-
 endmenu
 
 source "kernel/Kconfig.event_logger"

kernel/Makefile

@@ -27,7 +27,6 @@ lib-y += $(strip \
 	mem_pool.o \
 	alert.o \
 	pipes.o \
-	legacy_offload.o \
 	errno.o \
 	work_q.o \
 	system_work_q.o \
@@ -36,6 +35,5 @@ lib-y += $(strip \
 lib-$(CONFIG_INT_LATENCY_BENCHMARK) += int_latency_bench.o
 lib-$(CONFIG_STACK_CANARIES) += compiler_stack_protect.o
 lib-$(CONFIG_SYS_CLOCK_EXISTS) += timer.o
-lib-$(CONFIG_LEGACY_KERNEL) += legacy_timer.o
 lib-$(CONFIG_ATOMIC_OPERATIONS_C) += atomic_c.o
 lib-$(CONFIG_POLL) += poll.o

kernel/include/timeout_q.h

@@ -188,9 +188,6 @@ static inline void _dump_timeout_q(void)
  * they were queued. This could be changed at the cost of potential longer
  * interrupt latency.
  *
- * NOTE: The current implementation of the legacy semaphore feature depends on
- * the timeouts being queued in reverse order.
- *
  * Must be called with interrupts locked.
  */
 

kernel/legacy_offload.c

@@ -1,79 +0,0 @@
-/*
- * Copyright (c) 2016 Wind River Systems, Inc.
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-/**
- * @file @brief task_offload_to_fiber() function for legacy applications
- *
- * For the legacy applications that need task_offload_to_fiber() function,
- * the moduel implements it by means of using work queue
- */
-
-#include <kernel.h>
-#include <kernel_structs.h>
-#include <ksched.h>
-#include <init.h>
-
-struct offload_work {
-	struct k_work work_item;
-	int (*offload_func)();
-	void *offload_args;
-	struct k_thread *thread;
-};
-
-static struct k_work_q offload_work_q;
-
-/*
- * Internal handler of the offload requests
- */
-
-static void offload_handler(struct k_work *work)
-{
-	struct offload_work *offload =
-		CONTAINER_OF(work, struct offload_work, work_item);
-	int result = (offload->offload_func)(offload->offload_args);
-	unsigned int key = irq_lock();
-
-	offload->thread->base.swap_data = (void *)result;
-	irq_unlock(key);
-}
-
-int task_offload_to_fiber(int (*func)(), void *argp)
-{
-	/*
-	 * Create work in stack. Task is scheduled out and does not
-	 * return until the work is consumed and complete, so the
-	 * work item will exists until then.
-	 */
-	struct offload_work offload = {
-		.offload_func = func,
-		.offload_args = argp
-	};
-
-	__ASSERT(_is_preempt(_current), "Fiber is trying to offload work");
-
-	k_work_init(&offload.work_item, offload_handler);
-
-	offload.thread = _current;
-	k_work_submit_to_queue(&offload_work_q, &offload.work_item);
-	return (int)_current->base.swap_data;
-}
-
-static char __stack offload_work_q_stack[CONFIG_OFFLOAD_WORKQUEUE_STACK_SIZE];
-
-static int k_offload_work_q_init(struct device *dev)
-{
-	ARG_UNUSED(dev);
-
-	k_work_q_start(&offload_work_q,
-		       offload_work_q_stack,
-		       sizeof(offload_work_q_stack),
-		       CONFIG_OFFLOAD_WORKQUEUE_PRIORITY);
-
-	return 0;
-}
-
-SYS_INIT(k_offload_work_q_init, POST_KERNEL,
-	 CONFIG_KERNEL_INIT_PRIORITY_DEFAULT);

kernel/legacy_timer.c

@@ -1,117 +0,0 @@
-/*
- * Copyright (c) 2016 Wind River Systems, Inc.
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#include <kernel.h>
-#include <init.h>
-#include <ksched.h>
-#include <wait_q.h>
-#include <misc/__assert.h>
-#include <misc/util.h>
-
-void _legacy_sleep(int32_t ticks)
-{
-	__ASSERT(!_is_in_isr(), "");
-	__ASSERT(ticks != TICKS_UNLIMITED, "");
-
-	if (ticks <= 0) {
-		k_yield();
-		return;
-	}
-
-	int key = irq_lock();
-
-	_remove_thread_from_ready_q(_current);
-	_add_thread_timeout(_current, NULL, ticks);
-
-	_Swap(key);
-}
-
-#if (CONFIG_NUM_DYNAMIC_TIMERS > 0)
-
-static struct k_timer dynamic_timers[CONFIG_NUM_DYNAMIC_TIMERS];
-static sys_dlist_t timer_pool;
-
-static void timer_sem_give(struct k_timer *timer)
-{
-	k_sem_give((ksem_t)timer->user_data);
-}
-
-static int init_dyamic_timers(struct device *dev)
-{
-	ARG_UNUSED(dev);
-
-	int i;
-	int n_timers = ARRAY_SIZE(dynamic_timers);
-
-	sys_dlist_init(&timer_pool);
-	for (i = 0; i < n_timers; i++) {
-		k_timer_init(&dynamic_timers[i], timer_sem_give, NULL);
-		sys_dlist_append(&timer_pool,
-				 &dynamic_timers[i].timeout.node);
-	}
-	return 0;
-}
-
-SYS_INIT(init_dyamic_timers, PRE_KERNEL_1, CONFIG_KERNEL_INIT_PRIORITY_OBJECTS);
-
-ktimer_t task_timer_alloc(void)
-{
-	_sched_lock();
-
-	/*
-	 * This conversion works only if timeout member
-	 * variable is the first in time structure.
-	 */
-	struct k_timer *timer = (struct k_timer *)sys_dlist_get(&timer_pool);
-
-	k_sched_unlock();
-	return timer;
-}
-
-void task_timer_free(ktimer_t timer)
-{
-	k_timer_stop(timer);
-	_sched_lock();
-	sys_dlist_append(&timer_pool, &timer->timeout.node);
-	k_sched_unlock();
-}
-
-void task_timer_start(ktimer_t timer, int32_t duration,
-		      int32_t period, ksem_t sema)
-{
-	if (duration < 0 || period < 0 || (duration == 0 && period == 0)) {
-		k_timer_stop(timer);
-		return;
-	}
-
-	timer->user_data = (void *)sema;
-
-	k_timer_start(timer, _ticks_to_ms(duration), _ticks_to_ms(period));
-}
-
-bool _timer_pool_is_empty(void)
-{
-	_sched_lock();
-
-	bool is_empty = sys_dlist_is_empty(&timer_pool);
-
-	k_sched_unlock();
-	return is_empty;
-}
-
-#endif /* (CONFIG_NUM_DYNAMIC_TIMERS > 0) */
-
-void *nano_timer_test(struct nano_timer *timer, int32_t timeout_in_ticks)
-{
-	uint32_t (*test_fn)(struct k_timer *timer);
-
-	if (timeout_in_ticks == TICKS_NONE) {
-		test_fn = k_timer_status_get;
-	} else {
-		test_fn = k_timer_status_sync;
-	}
-	return test_fn(timer) ? (void *)timer->user_data : NULL;
-}

kernel/thread_abort.c

@@ -40,10 +40,3 @@ void k_thread_abort(k_tid_t thread)
 	_reschedule_threads(key);
 }
 #endif
-
-/* legacy API */
-
-void task_abort_handler_set(void (*func)(void))
-{
-	_current->fn_abort = func;
-}

tests/benchmarks/app_kernel/prj_fp.conf

@@ -9,4 +9,3 @@ CONFIG_NUM_COMMAND_PACKETS=20
 
 # eliminate timer interrupts during the benchmark
 CONFIG_SYS_CLOCK_TICKS_PER_SEC=1
-CONFIG_LEGACY_KERNEL=n

tests/benchmarks/app_kernel/prj_no_fp.conf

@@ -4,4 +4,3 @@ CONFIG_NUM_COMMAND_PACKETS=20
 
 # eliminate timer interrupts during the benchmark
 CONFIG_SYS_CLOCK_TICKS_PER_SEC=1
-CONFIG_LEGACY_KERNEL=n

tests/include/test.config

@@ -1,3 +1,2 @@
 CONFIG_BOOT_BANNER=y
 CONFIG_BUILD_TIMESTAMP=y
-CONFIG_LEGACY_KERNEL=n

tests/kernel/profiling/profiling_api/prj.conf

@@ -6,7 +6,6 @@ CONFIG_PRINTK=y
 CONFIG_SYS_POWER_MANAGEMENT=y
 CONFIG_SYS_POWER_LOW_POWER_STATE=y
 CONFIG_TICKLESS_IDLE=y
-#CONFIG_NANO_TIMEOUTS=y
 CONFIG_IDLE_STACK_SIZE=512
 
 # to check isr

tests/kernel/static_idt/prj.conf

@@ -1,3 +1,2 @@
 CONFIG_EXCEPTION_DEBUG=n
-CONFIG_LEGACY_KERNEL=y
 CONFIG_MAIN_THREAD_PRIORITY=6

tests/kernel/test_sleep/testcase.ini

@@ -1,2 +1,2 @@
 [test]
-tags = legacy core bat_commit
+tags = core bat_commit

tests/kernel/test_tickless/testcase.ini

@@ -1,5 +1,5 @@
 [test]
-tags = legacy core
+tags = core
 arch_exclude = nios2
 filter = CONFIG_X86 or (CONFIG_ARM and
 		(CONFIG_SOC_MK64F12 or CONFIG_SOC_ATMEL_SAM3)) or

tests/kernel/timer/timer_api/prj.conf

@@ -1,3 +1,2 @@
 CONFIG_ZTEST=y
-CONFIG_NANO_TIMEOUTS=y
 CONFIG_NUM_DYNAMIC_TIMERS=10