Commit graph

3196 commits

Author SHA1 Message Date
Andrew Boie
5e0b55c30e kernel: demote k_mem_map to z_mem_map
Memory mapping, for now, will be a private kernel API
and is not intended to be application-facing at this time.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-09-03 14:24:38 -04:00
Andrew Boie
7d32e9f9a5 mmu: support only identity RAM mapping
We no longer plan to support a split address space with
the kernel in high memory and per-process address spaces.
Because of this, we can simplify some things. System RAM
is now always identity mapped at boot.

We no longer require any virtual-to-physical translation
for page tables, and can remove the dual-mapping logic
from the page table generation script since we won't need
to transition the instruction point off of physical
addresses.

CONFIG_KERNEL_VM_BASE and CONFIG_KERNEL_VM_LIMIT
have been removed. The kernel's address space always
starts at CONFIG_SRAM_BASE_ADDRESS, of a fixed size
specified by CONFIG_KERNEL_VM_SIZE.

Driver MMIOs and other uses of k_mem_map() are still
virtually mapped, and the later introduction of demand
paging will result in only a subset of system RAM being
a fixed identity mapping instead of all of it.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-09-03 14:24:38 -04:00
Flavio Ceolin
5408f3102d debug: x86: Add gdbstub for X86
It implements gdb remote protocol to talk with a host gdb during the
debug session. The implementation is divided in three layers:

1 - The top layer that is responsible for the gdb remote protocol.
2 - An architecture specific layer responsible to write/read registers,
    set breakpoints, handle exceptions, ...
3 - A transport layer to be used to communicate with the host

The communication with GDB in the host is synchronous and the systems
stops execution waiting for instructions and return its execution after
a "continue" or "step" command. The protocol has an exception that is
when the host sends a packet to cause an interruption, usually triggered
by a Ctrl-C. This implementation ignores this instruction though.

This initial work supports only X86 using uart as backend.

Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
2020-09-02 20:54:57 -04:00
Andrew Boie
ffc1da08f9 kernel: add z_thread_single_abort to private hdr
We shouldn't be copy-pasting extern declarations like this.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-09-02 15:02:06 -07:00
Andrew Boie
3425c32328 kernel: move stuff into z_thread_single_abort()
The same code was being copypasted in k_thread_abort()
implementations, just move into z_thread_single_abort().

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-09-02 15:02:06 -07:00
Tomasz Bursztyka
ae5a761f85 kernel: Apply IRQ offload API change
Switching to constant parameter.

Fixes #27399

Signed-off-by: Tomasz Bursztyka <tomasz.bursztyka@linux.intel.com>
2020-09-02 13:48:13 +02:00
Tomasz Bursztyka
e18fcbba5a device: Const-ify all device driver instance pointers
Now that device_api attribute is unmodified at runtime, as well as all
the other attributes, it is possible to switch all device driver
instance to be constant.

A coccinelle rule is used for this:

@r_const_dev_1
  disable optional_qualifier
@
@@
-struct device *
+const struct device *

@r_const_dev_2
 disable optional_qualifier
@
@@
-struct device * const
+const struct device *

Fixes #27399

Signed-off-by: Tomasz Bursztyka <tomasz.bursztyka@linux.intel.com>
2020-09-02 13:48:13 +02:00
Peter Bigot
2fcf76219e userspace: update k_object API to support immutable objects
The k_object API associates mutable state structures with known kernel
objects to support userspace.  The kernel objects themselves are not
modified by the API, and in some cases (e.g. device structures) may be
const-qualified.  Update the API so that pointers to these const
kernel objects can be passed without casting away the const qualifier.

Fixes #27399

Signed-off-by: Peter Bigot <peter.bigot@nordicsemi.no>
2020-09-02 13:48:13 +02:00
Tomasz Bursztyka
aac9e2c5e3 device: Revise how initialization status is being handled
In order to make all device instances constant, driver_api pointer is
not set to NULL anymore if initialization failed.

Instead, have a bitfield dedicated to it.

Fixes #27399

Signed-off-by: Tomasz Bursztyka <tomasz.bursztyka@linux.intel.com>
2020-09-02 13:48:13 +02:00
Spoorthy Priya Yerabolu
9247e8bc44 code-guideline: Tag name should be a unique identifier
Following are the changes to variable names that are matching
with tag names (Rule 5.7 violations)

In kernel.h, event_type is matching with a tag name in
lib/os/onoff.c. Added a _ prefix to event_type and
also to the macro argument names.

In userspace.c, *dyn_obj is matching with the tag name
dyn_obj in the file itslef. Changed it to dyn

In device.h, device_mmio.h, init.h and init.c,
changed the *device to dev. Except for one change in
init.h

Signed-off-by: Spoorthy Priya Yerabolu <spoorthy.priya.yerabolu@intel.com>
2020-09-01 08:03:23 -04:00
Andrew Boie
00f71b0d63 kernel: add CONFIG_ARCH_MEM_DOMAIN_SYNCHRONOUS_API
Saves us a few bytes of program text on arches that don't need
these implemented, currently all uniprocessor MPU-based systems.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-08-26 20:35:02 -04:00
Andrew Boie
d11e3c3456 userspace: add debug logs to mem domain code
Useful when debugging stuff.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-08-26 20:35:02 -04:00
Andrew Boie
9bfc8d82d0 userspace: introduce default memory domain
We make a policy change here: all threads are members of a
memory domain, never NULL. We introduce a default memory domain
for threads that haven't been assigned to or inherited another one.

Primary motivation for this change is better MMU support, as
one common configuration will be to maintain page tables at
the memory domain level.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-08-26 20:35:02 -04:00
Andrew Boie
e433494f40 kernel: mmu: implement virtual mappings
These will grow downward from CONFIG_KERNEL_VM_LIMIT.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-08-25 15:49:59 -04:00
Daniel Leung
49206a86ff debug/coredump: add a primitive coredump mechanism
This adds a very primitive coredump mechanism under subsys/debug
where during fatal error, register and memory content can be
dumped to coredump backend. One such backend utilizing log
module for output is included. Once the coredump log is converted
to a binary file, it can be used with the ELF output file as
inputs to an overly simplified implementation of a GDB server.
This GDB server can be attached via the target remote command of
GDB and will be serving register and memory content. This allows
using GDB to examine stack and memory where the fatal error
occurred.

Signed-off-by: Daniel Leung <daniel.leung@intel.com>
2020-08-24 20:28:24 -04:00
Anas Nashif
390537bf68 tracing: trace mutex/semaphore using dedicated calls
Instead of using generic trace calls, use dedicated functions for
tracing sempahores and mutexes.

Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2020-08-24 13:21:12 +02:00
Anas Nashif
d1049dc258 tracing: swap: cleanup trace points and their location
Move tracing switched_in and switched_out to the architecture code and
remove duplications. This changes swap tracing for x86, xtensa.

Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2020-08-24 13:21:12 +02:00
Anas Nashif
5c31d00a6a tracing: trace k_sleep
Trace when k_sleep is called.

Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2020-08-24 13:21:12 +02:00
Anas Nashif
3b75a08e3f Kconfig: move power management Kconfig into subsys/power
Consolidate all PM related Kconfigs in one place.

Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2020-08-24 10:24:30 +02:00
Andrew Boie
72792a5e63 userspace: cleanup mem domain assertions
The memory domain APIs document that overlapping regions are
not allowed, check for this unconditionally.

Cleanup assertion error messages. Use __ASSERT_NO_MSG for
blindingly obvious NULL checks.

We now have a `check_add_partition()` function to perform
all the necessary sanity checks on adding a partition to a
domain. This returns true or false, which will help later
when we implement #24609

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-08-20 13:58:54 -04:00
Andrew Boie
bc35b0b780 userspace: add optional member to memory domains
Some systems may need to associate arch-specific data to
a memory domain. Add a Kconfig and `arch` field for this,
and a new arch API to initialize it.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-08-20 13:58:54 -04:00
Andrew Boie
282cd932c8 kernel: don't reschedule thread abort in ISR
Zephyr has a policy of invoking the scheduler on the way
out of IRQs anyway for all arches, this is unnecessary.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-08-18 08:36:35 +02:00
David Leach
1ab90044f2 kernel/timeout: Fix coverity warning CID 211045
The dticks field was changed from a signed to an unsigned
value so now the assert test to ensure it isn't negative
is no longer needed.

fixes #26355

Signed-off-by: David Leach <david.leach@nxp.com>
2020-08-16 09:29:41 -04:00
Anas Nashif
379b93f0d3 kernel: do not call swap if next ready thread is current thread
Check if next ready thread is same as current thread before calling
z_swap.
This avoids calling swap to just go back to the original thread.

Original code: thread 0x20000118 switches out and then in again...

>> 0x20000118 gives semaphore(signal): 0x20000104 (count: 0)
>> thread ready: 0x20000118
>> 0x20000118 switched out
>> 0x20000118 switched in
>> end call to k_sem_give
>> 0x20000118 takes semaphore(wait): 0x200000f4 (count: 0)
>> thread pend: 0x20000118
>> 0x20000118 switched out
>> 0x200001d0 switched in

with this patch:

>> 0x200001d0 gives semaphore(signal): 0x200000f4 (count: 0)
>> thread ready: 0x200001d0
>> end call to k_sem_give
>> 0x200001d0 takes semaphore(wait): 0x20000104 (count: 0)
>> thread pend: 0x200001d0
>> 0x200001d0 switched out
>> 0x20000118 switched in
>> end call to k_sem_take

The above is output from tracing with a custom format used for
debugging.

Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2020-08-12 15:32:29 -04:00
Tomasz Bursztyka
98d9b01322 device: Apply driver_api/data attributes rename everywhere
Via coccinelle:

@r_device_driver_api_and_data_1@
struct device *D;
@@
(
D->
-	driver_api
+	api
|
D->
-	driver_data
+	data
)

@r_device_driver_api_and_data_2@
expression E;
@@
(
net_if_get_device(E)->
-	driver_api
+	api
|
net_if_get_device(E)->
-	driver_data
+	data
)

And grep/sed rules for macros:

git grep -rlz 'dev)->driver_data' |
	xargs -0 sed -i 's/dev)->driver_data/dev)->data/g'

git grep -rlz 'dev->driver_data' |
	xargs -0 sed -i 's/dev->driver_data/dev->data/g'

git grep -rlz 'device->driver_data' |
	xargs -0 sed -i 's/device->driver_data/device->data/g'

Fixes #27397

Signed-off-by: Tomasz Bursztyka <tomasz.bursztyka@linux.intel.com>
2020-08-11 19:30:53 +02:00
Ioannis Glaropoulos
60bd51aa37 kernel: init: allow custom switch to main for no-multithreading case
Certain architectures, such as ARM Cortex-M require a custom
switch to main(), in case the case we build Zephyr without
support for multithreading (CONFIG_MULTITHREADING=n). So as
to keep the change to kernel/init.c as unintrusive as
possible, we install an ARCH-specific hook in z_cstart(),
which gets called for architectures that require this
customized switch to main() function.

Signed-off-by: Ioannis Glaropoulos <Ioannis.Glaropoulos@nordicsemi.no>
2020-08-07 13:06:04 +02:00
Torsten Rasmussen
bb3946666f cmake: fix include directories to work with out-of-tree arch
Include directories for ${ARCH} is not specified correctly.
Several places in Zephyr, the include directories are specified as:
${ZEPHYR_BASE}/arch/${ARCH}/include
the correct line is:
${ARCH_DIR}/${ARCH}/include
to correctly support out of tree archs.

Signed-off-by: Torsten Rasmussen <Torsten.Rasmussen@nordicsemi.no>
2020-08-05 08:06:07 -04:00
Aastha Grover
2d9b459f15 syscalls: Add system call for cache flush & invalidate
include/cache.h: System calls declaration and implementation
kernel/cache_handlers.c: Defination of verification functions

Signed-off-by: Aastha Grover <aastha.grover@intel.com>
2020-08-04 17:26:45 -04:00
Joakim Andersson
ea9590448d kernel: Add k_delayed_work_pending to check if work has been submitted
Add k_delayed_work_pending similar to k_work_pending to check if the
delayed work item has been submitted but not yet completed.
This would compliment the API since using k_work_pending or
k_delayed_work_remaining_get is not enough to check this condition.
This is because the timeout could have run out, but the timeout handler
not yet processed and put the work into the workqueue.

Signed-off-by: Joakim Andersson <joakim.andersson@nordicsemi.no>
2020-08-04 17:32:56 +02:00
Carles Cufi
244f826e3c cmake: remove _if_kconfig() functions
This set of functions seem to be there just because of historical
reasons, stemming from Kbuild. They are non-obvious and prone to errors,
so remove them in favor of the `_ifdef()` ones with an explicit
`CONFIG_` condition.

Script used:

git grep -l _if_kconfig | xargs sed -E -i
"s/_if_kconfig\(\s*(\w*)/_ifdef(CONFIG_\U\1\E \1/g"

Signed-off-by: Carles Cufi <carles.cufi@nordicsemi.no>
2020-08-01 12:35:20 +02:00
Andrew Boie
b4ce7a77c6 kernel: sys_workq thread stack is kernel-only
The system workqueue is a kernel thread that doesn't run
in user mode.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-07-30 21:11:14 -04:00
Andrew Boie
0c297461c5 kernel: idle thread stacks are kernel-only
The idle thread(s) always run in supervisor mode.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-07-30 21:11:14 -04:00
Andrew Boie
8b4b0d6264 kernel: z_interrupt_stacks are now kernel stacks
This will save memory on many platforms that enable
user mode.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-07-30 21:11:14 -04:00
Andrew Boie
8ce260d8df kernel: introduce supervisor-only stacks
These stacks are appropriate for threads that run purely in
supervisor mode, and also as stacks for interrupt and exception
handling.

Two new arch defines are introduced:

- ARCH_KERNEL_STACK_GUARD_SIZE
- ARCH_KERNEL_STACK_OBJ_ALIGN

New public declaration macros:

- K_KERNEL_STACK_RESERVED
- K_KERNEL_STACK_EXTERN
- K_KERNEL_STACK_DEFINE
- K_KERNEL_STACK_ARRAY_DEFINE
- K_KERNEL_STACK_MEMBER
- K_KERNEL_STACK_SIZEOF

If user mode is not enabled, K_KERNEL_STACK_* and K_THREAD_STACK_*
are equivalent.

Separately generated privilege elevation stacks are now declared
like kernel stacks, removing the need for K_PRIVILEGE_STACK_ALIGN.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-07-30 21:11:14 -04:00
Andrew Boie
e4cc84a537 kernel: update arch_switch_to_main_thread()
This now takes a stack pointer as an argument with TLS
and random offsets accounted for properly.

Based on #24467 authored by Flavio Ceolin.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-07-30 21:11:14 -04:00
Andrew Boie
b0c155f3ca kernel: overhaul stack specification
The core kernel computes the initial stack pointer
for a thread, properly aligning it and subtracting out
any random offsets or thread-local storage areas.
arch_new_thread() no longer needs to make any calculations,
an initial stack frame may be placed at the bounds of
the new 'stack_ptr' parameter passed in. This parameter
replaces 'stack_size'.

thread->stack_info is now set before arch_new_thread()
is invoked, z_new_thread_init() has been removed.
The values populated may need to be adjusted on arches
which carve-out MPU guard space from the actual stack
buffer.

thread->stack_info now has a new member 'delta' which
indicates any offset applied for TLS or random offset.
It's used so the calculations don't need to be repeated
if the thread later drops to user mode.

CONFIG_INIT_STACKS logic is now performed inside
z_setup_new_thread(), before arch_new_thread() is called.

thread->stack_info is now defined as the canonical
user-accessible area within the stack object, including
random offsets and TLS. It will never include any
carved-out memory for MPU guards and must be updated at
runtime if guards are removed.

Available stack space is now optimized. Some arches may
need to significantly round up the buffer size to account
for page-level granularity or MPU power-of-two requirements.
This space is now accounted for and used by virtue of
the Z_THREAD_STACK_SIZE_ADJUST() call in z_setup_new_thread.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-07-30 21:11:14 -04:00
Andrew Boie
aa464052ff arch_interface: remove CamelCase
Naming cleanup of this interface declaration.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-07-30 21:11:14 -04:00
Andrew Boie
62eb7d99dc arch_interface: remove unnecessary params
arch_new_thread() passes along the thread priority and option
flags, but these are already initialized in thread->base and
can be accessed there if needed.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-07-30 21:11:14 -04:00
Daniel Leung
ac53880cef kernel: smp: avoid identifier collisions
MISRA-C Rule 5.3 states that identifiers in inner scope should
not hide identifiers in outer scope.

In the function smp_init_top(), the variable "start_flags"
collide with global variable of the same name. So rename the one
inside the function.

Signed-off-by: Daniel Leung <daniel.leung@intel.com>
2020-07-25 21:26:15 -04:00
Daniel Leung
b907cf7694 kernel: timeout: avoid identifier collisions
MISRA-C Rule 5.3 states that identifiers in inner scope should
not hide identifiers in outer scope.

In the function z_set_timeout_expiry(), the parameter "idle"
and an inner variable "next" collide with function named idle()
and next(). So rename those variables.

Signed-off-by: Daniel Leung <daniel.leung@intel.com>
2020-07-25 21:26:15 -04:00
Daniel Leung
2acafafae1 kernel: pipes: rename inner spinlock keys
MISRA-C Rule 5.3 states that identifiers in inner scope should
not hide identifiers in outer scope. There are a few spinlock
keys simply named "key". So rename those in inner scope to avoid
shadowing the outer ones.

Signed-off-by: Daniel Leung <daniel.leung@intel.com>
2020-07-25 21:26:15 -04:00
David Leach
db36b146e1 kernel: Remove supported size comments from HEAP_MEM_POOL_SIZE
The mempool implementation doesn't require specific sizes and can
support arbitrary sizes up to the limit of available memory. The
Kconfig documentation on this configuration was confusing user.

Fixes #20418

Signed-off-by: David Leach <david.leach@nxp.com>
2020-07-24 10:19:47 +02:00
Andrew Boie
476fc405e7 kernel: mem_domain: centralize assertions
Later this year I hope to overhaul the memory domain APIs,
but at least for now let's at least consolidate these checks.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-07-20 15:32:16 +02:00
Andrew Boie
06cf6d27f7 kernel: add k_mem_map() and related defines
This will be the interface for mapping memory in the kernel's
part of the address space, which is guaranteed to be persistent
regardless of what thread is scheduled.

Further code for specifically managing virtual memory will end up in
kernel/mmu.c.

Further defintions for memory management in general will end up
in sys/mem_manage.h.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-07-17 11:38:18 +02:00
Andrew Boie
9ff148ac83 kernel: define arch_mem_map()
This is the low-level arch function to map a region into page
tables.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2020-07-17 11:38:18 +02:00
Anas Nashif
568211738d doc: replace lifo/fifo with LIFO/FIFO
Replace all occurances of lifo/fifo with LIFO/FIFO to be consistent.

Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2020-07-15 14:01:33 -04:00
Flavio Ceolin
c4f7faea10 random: Include header where it is used
Unit tests were failing to build because random header was included by
kernel_includes.h. The problem is that rand32.h includes a generated
file that is either not generated or not included when building unit
tests. Also, it is better to limit the scope of this file to where it is
used.

Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
2020-07-08 21:05:36 -04:00
Enjia Mai
7ac40aabc0 tests: adding test cases for arch-dependent SMP function
Add one another test case for testing both arch_curr_cpu() and
arch_sched_ipi() architecture layer interface.

Signed-off-by: Enjia Mai <enjiax.mai@intel.com>
2020-07-02 08:42:53 -04:00
Anas Nashif
8aa3dc340d kernel: cleanup header inclusion
Remove unused header inclusion in kernel code.

Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2020-06-25 16:12:36 -05:00
Anas Nashif
2c5d40437b kernel: logging: convert K_DEBUG to LOG_DBG
Move K_DEBUG to use LOG_DBG instead of plain printk.

Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2020-06-25 16:12:36 -05:00