Some init tasks may use some bss app memory areas and
expect them to be zeroed out. Do this much earlier
in the boot process, before any of the init tasks
run.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
This is an integral part of userspace and cannot be used
on its own. Fold into the main userspace configuration.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
User mode needs to be able to read this value in
compiler generated function prologues/epilogues.
Special handling in init.c for arches that use
_data_copy. This happens before _Cstart() gets
called. We need to make sure that the compiler
stack canary checks in _data_copy itself do not
fail.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
Instead of having to enable ramfunc support manually, just make it
transparently available to users, keeping the MPU region disabled if not
used to not waste a MPU region. This however wastes 24 bytes of code
area when the MPU is disabled and 48 bytes when it is enabled, and
probably a dozen of CPU cycles during boot. I believe it is something
acceptable.
Note that when XIP is used, code is already in RAM, so the __ramfunc
keyword does nothing, but does not generate an error.
Signed-off-by: Aurelien Jarno <aurelien@aurel32.net>
The linker file defines the __ramfunc_ram_size symbols to get the size
of the __ramfunc_ram section. Use that instead of computing the value at
runtime from the start and end symbols. This saves 16 bytes of code with
CONFIG_RAM_FUNCTION=y.
Signed-off-by: Aurelien Jarno <aurelien@aurel32.net>
Using __ramfunc to places a function in RAM instead of Flash.
Code that for example reprograms flash at runtime can't execute
from flash, in that case must placing code into RAM.
This commit create a new section named '.ramfunc' in link scripts,
all functions has __ramfunc keyword saved in thats sections and
will load from flash to sram after the system booted.
Fixes: #10253
Signed-off-by: qianfan Zhao <qianfanguijin@163.com>
These functions, for good design reason, take a locking key to
atomically release along with the context swtich. But there's still a
common pattern in code to do a switch unconditionally by passing
irq_lock() directly. On SMP that's a little hurtful as it spams the
global lock. Provide an _unlocked() variant for
_Swap/_reschedule/_pend_curr for simplicity and efficiency.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
We want a _Swap() variant that can atomically release/restore a
spinlock state in addition to the legacy irqlock. The function as it
was is now named "_Swap_irqlock()", while _Swap() now refers to a
spinlock and takes two arguments. The former will be going away once
existing users (not that many! Swap() is an internal API, and the
long port away from legacy irqlocking is going to be happening mostly
in drivers) are ported to spinlocks.
Obviously on uniprocessor setups, these produce identical code. But
SMP requires that the correct API be used to maintain the global lock.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
Since we know do DTS before Kconfig we should try and remove dts from
creating Kconfig namespaced symbols and leave that to Kconfig. So
rename CONFIG_CCM_<FOO> to DT_CCM_<FOO>.
Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
This was never a long-term solution, more of a gross hack
to get test cases working until we could figure out a good
end-to-end solution for memory domains that generated
appropriate linker sections. Now that we have this with
the app shared memory feature, and have converted all tests
to remove it, delete this feature.
To date all userspace APIs have been tagged as 'experimental'
which sidesteps deprecation policies.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
This adds a simple implementation of SMP CPU affinity to Zephyr. The
API is simple and doesn't try to invent abstractions like "cpu sets".
Each thread has an enable/disable flag associated with each CPU in the
system, and the bits can be turned on and off (for threads that are
not currently runnable, of course) using an easy three-function API.
Because the implementation picked requires enumerating runnable
threads in priority order looking for one that match the current CPU,
this is not a good fit for the SCALABLE or MULTIQ scheduler backends,
so it currently can be enabled only for SCHED_DUMB (which is the
default anyway). Fancier algorithms do exist, but even the best of
them scale as O(N_CPUS), so aren't quite constant time and often
require significant memory overhead to keep separate lists for
different cpus/sets.
The intended use here is for apps that want to "pin" threads to
specific CPUs for latency control, or conversely to prevent certain
threads from taking time on specific CPUs to leave them free for fast
response.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
When under SMP, _current is a macro that indirects to a CPU-specific
address, and that trick won't work until kernel_arch_init() has
returned.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
For historical reasons, some architectures had a valid _current thread
pointer at initialization time and others didn't. So the scheduler
logic had a test that checks _current vs. NULL every time it needed to
check premption, when this was only a workaround for initialization
state.
Fix things so that there is a dummy thread always (and clean up the
code to do a struct assignment instead of a memset of bare memory),
and we can remove that test from the scheduler hot path.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
This patch provides support for generating Code coverage reports.
The prj.conf needs to enable CONFIG_COVERAGE. Once enabled, the
code coverage data dump now comes via UART.
This data dump on the UART is triggered once the main
thread exits.
Next step is to save this data dump on file. Then run
scripts/gen_gcov_files.py with the serial console log as argument.
The last step would be be to run the gcovr. Use the following cmd
gcovr -r . --html -o gcov_report/coverage.html --html-details
Currently supported architectures are ARM and x86.
Signed-off-by: Adithya Baglody <adithya.nagaraj.baglody@intel.com>
The main function is just a weak function that should be override by the
applications if they need. Just adding a nop instructions to explicitly
says that this function does nothing.
MISRA-C rule 2.2
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
This patch splits the text section into 2 parts. The first section
will have some info regarding vector tables and debug info. The
second section will have the complete text section.
This is needed to force the required functions and data variables
the correct locations.
This is due to the behavior of the linker. The linker will only link
once and hence this text section had to be split to make room
for the generated linker script.
Added a new Kconfig CODE_DATA_RELOCATION which when enabled will
invoke the script, which does the required relocation.
Added hooks inside init.c for bss zeroing and data copy operations.
Needed when we have to copy data from ROM to required memory type.
Signed-off-by: Adithya Baglody <adithya.nagaraj.baglody@intel.com>
The comment explaining why _IntLibInit was being invoked was left in
place after the invocation itself was removed. Remove it too.
Signed-off-by: Peter A. Bigot <pab@pabigot.com>
There were many platforms where this function was doing nothing. Just
merging its functionality with _PrepC function.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
According with MISRA-C an object should be defined in a block scope if
it is used in a single function.
MISRA-C rule 8.9
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
There is a struct and a macro called _ready_q, this is error
prone. Just removing it.
MISRA-C rule 5.4
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
Added k_thread_name_set() and enable thread name setting when declaring
static threads. This is enabled only when THREAD_MONITOR is used. System
threads get a name by default.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
The Kconfig option CONFIG_BUILD_TIMESTAMP became unused when
BUILD_VERSION was introduced, but it's option and parts of it's
implementation was not completely cleaned from the repository.
Signed-off-by: Sebastian Bøe <sebastian.boe@nordicsemi.no>
MISRA C requires that every controlling expression of and if or while
statement have a boolean type.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
The return of memset is never checked. This patch explicitly ignore
the return to avoid MISRA-C violations.
The only directory excluded directory was ext/* since it contains
only imported code.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
This reverts commit 17e9d623b4.
Single thread keep introducing more issues, decided to remove the
feature completely and push any required changes for after 1.13.
See #9808
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
Now that we call main() with interrupts enabled in !MULTITHREADING, we
need to disable them again for the final fallback "loop-forever
because user code returned" state. Otherwise some architectures will
toss interrupts into a context where we obviously aren't prepared.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
Some applications have a use case for a tiny MULTITHREADING=n build
(which lacks most of the kernel) but still want special-purpose
drivers in that mode that might need to handle interupts. This
creates a chicken and egg problem, as arch code (for obvious reasons)
runs _Cstart() with interrupts disabled, and enables them only on
switching into a newly created thread context. Zephyr does not have a
"turn interrupts on now, please" API at the architecture level.
So this creates one as an arch-specific wrapper around
_arch_irq_unlock(). It's implemented as an optional macro the arch
can define to enable this behavior, falling back to the previous
scheme (and printing a helpful message) if it doesn't find it defined.
Only ARM and x86 are enabled in this patch.
Fixes#8393
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
Define generic interface and hooks for tracing to replace
kernel_event_logger and existing tracing facilities with something more
common.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
memcpy always return a pointer to dest, it can be ignored. Just making
it explicitly so compilers will never raise warnings/errors to this.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
Summary: revised attempt at addressing issue 6290. The
following provides an alternative to using
CONFIG_APPLICATION_MEMORY by compartmentalizing data into
Memory Domains. Dependent on MPU limitations, supports
compartmentalized Memory Domains for 1...N logical
applications. This is considered an initial attempt at
designing flexible compartmentalized Memory Domains for
multiple logical applications and, with the provided python
script and edited CMakeLists.txt, provides support for power
of 2 aligned MPU architectures.
Overview: The current patch uses qualifiers to group data into
subsections. The qualifier usage allows for dynamic subsection
creation and affords the developer a large amount of flexibility
in the grouping, naming, and size of the resulting partitions and
domains that are built on these subsections. By additional macro
calls, functions are created that help calculate the size,
address, and permissions for the subsections and enable the
developer to control application data in specified partitions and
memory domains.
Background: Initial attempts focused on creating a single
section in the linker script that then contained internally
grouped variables/data to allow MPU/MMU alignment and protection.
This did not provide additional functionality beyond
CONFIG_APPLICATION_MEMORY as we were unable to reliably group
data or determine their grouping via exported linker symbols.
Thus, the resulting decision was made to dynamically create
subsections using the current qualifier method. An attempt to
group the data by object file was tested, but found that this
broke applications such as ztest where two object files are
created: ztest and main. This also creates an issue of grouping
the two object files together in the same memory domain while
also allowing for compartmenting other data among threads.
Because it is not possible to know a) the name of the partition
and thus the symbol in the linker, b) the size of all the data
in the subsection, nor c) the overall number of partitions
created by the developer, it was not feasible to align the
subsections at compile time without using dynamically generated
linker script for MPU architectures requiring power of 2
alignment.
In order to provide support for MPU architectures that require a
power of 2 alignment, a python script is run at build prior to
when linker_priv_stacks.cmd is generated. This script scans the
built object files for all possible partitions and the names given
to them. It then generates a linker file (app_smem.ld) that is
included in the main linker.ld file. This app_smem.ld allows the
compiler and linker to then create each subsection and align to
the next power of 2.
Usage:
- Requires: app_memory/app_memdomain.h .
- _app_dmem(id) marks a variable to be placed into a data
section for memory partition id.
- _app_bmem(id) marks a variable to be placed into a bss
section for memory partition id.
- These are seen in the linker.map as "data_smem_id" and
"data_smem_idb".
- To create a k_mem_partition, call the macro
app_mem_partition(part0) where "part0" is the name then used to
refer to that partition. This macro only creates a function and
necessary data structures for the later "initialization".
- To create a memory domain for the partition, the macro
app_mem_domain(dom0) is called where "dom0" is the name then
used for the memory domain.
- To initialize the partition (effectively adding the partition
to a linked list), init_part_part0() is called. This is followed
by init_app_memory(), which walks all partitions in the linked
list and calculates the sizes for each partition.
- Once the partition is initialized, the domain can be
initialized with init_domain_dom0(part0) which initializes the
domain with partition part0.
- After the domain has been initialized, the current thread
can be added using add_thread_dom0(k_current_get()).
- The code used in ztests ans kernel/init has been added under
a conditional #ifdef to isolate the code from other tests.
The userspace test CMakeLists.txt file has commands to insert
the CONFIG_APP_SHARED_MEM definition into the required build
targets.
Example:
/* create partition at top of file outside functions */
app_mem_partition(part0);
/* create domain */
app_mem_domain(dom0);
_app_dmem(dom0) int var1;
_app_bmem(dom0) static volatile int var2;
int main()
{
init_part_part0();
init_app_memory();
init_domain_dom0(part0);
add_thread_dom0(k_current_get());
...
}
- If multiple partitions are being created, a variadic
preprocessor macro can be used as provided in
app_macro_support.h:
FOR_EACH(app_mem_partition, part0, part1, part2);
or, for multiple domains, similarly:
FOR_EACH(app_mem_domain, dom0, dom1);
Similarly, the init_part_* can also be used in the macro:
FOR_EACH(init_part, part0, part1, part2);
Testing:
- This has been successfully tested on qemu_x86 and the
ARM frdm_k64f board. It compiles and builds power of 2
aligned subsections for the linker script on the 96b_carbon
boards. These power of 2 alignments have been checked by
hand and are viewable in the zephyr.map file that is
produced during build. However, due to a shortage of
available MPU regions on the 96b_carbon board, we are unable
to test this.
- When run on the 96b_carbon board, the test suite will
enter execution, but each individaul test will fail due to
an MPU FAULT. This is expected as the required number of
MPU regions exceeds the number allowed due to the static
allocation. As the MPU driver does not detect this issue,
the fault occurs because the data being accessed has been
placed outside the active MPU region.
- This now compiles successfully for the ARC boards
em_starterkit_em7d and em_starterkit_em7d_v22. However,
as we lack ARC hardware to run this build on, we are unable
to test this build.
Current known issues:
1) While the script and edited CMakeLists.txt creates the
ability to align to the next power of 2, this does not
address the shortage of available MPU regions on certain
devices (e.g. 96b_carbon). In testing the APB and PPB
regions were commented out.
2) checkpatch.pl lists several issues regarding the
following:
a) Complex macros. The FOR_EACH macros as defined in
app_macro_support.h are listed as complex macros needing
parentheses. Adding parentheses breaks their
functionality, and we have otherwise been unable to
resolve the reported error.
b) __aligned() preferred. The _app_dmem_pad() and
_app_bmem_pad() macros give warnings that __aligned()
is preferred. Prior iterations had this implementation,
which resulted in errors due to "complex macros".
c) Trailing semicolon. The macro init_part(name) has
a trailing semicolon as the semicolon is needed for the
inlined macro call that is generated when this macro
expands.
Update: updated to alternative CONFIG_APPLCATION_MEMORY.
Added config option CONFIG_APP_SHARED_MEM to enable a new section
app_smem to contain the shared memory component. This commit
seperates the Kconfig definition from the definition used for the
conditional code. The change is in response to changes in the
way the build system treats definitions. The python script used
to generate a linker script for app_smem was also midified to
simplify the alignment directives. A default linker script
app_smem.ld was added to remove the conditional includes dependency
on CONFIG_APP_SHARED_MEM. By addining the default linker script
the prebuild stages link properly prior to the python script running
Signed-off-by: Joshua Domagalski <jedomag@tycho.nsa.gov>
Signed-off-by: Shawn Mosley <smmosle@tycho.nsa.gov>
Log API can be used before user can explicitly initialize the logger.
In order to ensure that logger core is ready to buffer log messages
it must be initialize as early as possible. Initialization does not
include initialization of default backend since driver may not be
ready and backend is needed only when log messages are processed.
Signed-off-by: Krzysztof Chruscinski <krzysztof.chruscinski@nordicsemi.no>
The prepare_multithreading()/switch_to_main_thread() steps were being
done unconditionally, when with multhreading disabled we want to jump
straight into the main thread on the existing stack.
Needless to say, that doesn't work well. Fixes#8361.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
During the early boot process, in prepare_multithreading(), the kernel
structures and scheduler are not ready yet. In order to obtain entropy
for early works such as stack randomization, optionally use when present
the ISR-specific function that some drivers will provide.
Signed-off-by: Carles Cufi <carles.cufi@nordicsemi.no>
We generalize querying the entropy driver directly with
a new internal API, which is now used by CONFIG_STACK_RANDOM
and stack canary initialization.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
Some sys_rand32_get() implementation will use shared state and protect
that using some synchronization primitive such as a mutex or a
semaphore. It's too early in the boot process to use any of them,
which causes some issues.
Use the entropy API directly to set up the stack canaries.
This doesn't completely solve the problem, as some drivers will use the
same synchronization primitives anyway. Some drivers (e.g. the NRF5
entropy driver) provide an API to be used by ISRs that might be
suitable here, but not all drivers do that.
Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
This was in prepare_multithreading(), which was moved
to after driver initialization and not before it.
The function now really just prepares system threads.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
STACK_ALIGN has somewhat different semantics across our arches,
particularly ARC.
These checks are unnecessary, _new_thread() is required
to properly align stack sizes anyway.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
prepare_multithreading() was done very early as it had a call
to initialize the interrupt subsystem. This was causing problems
with stack pointer randomization as any HW-based entropy drivers
had not been initialized.
Move the call to initialize the interrupt system out of
prepare_multithreading(), which now really does just prepare
the system to start threads. This is now done after the PRE_KERNEL
phases.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
This replaces the existing scheduler (but not priority handling)
implementation with a somewhat simpler one. Behavior as to thread
selection does not change. New features:
+ Unifies SMP and uniprocessing selection code (with the sole
exception of the "cache" trick not being possible in SMP).
+ The old static multi-queue implementation is gone and has been
replaced with a build-time choice of either a "dumb" list
implementation (faster and significantly smaller for apps with only
a few threads) or a balanced tree queue which scales well to
arbitrary numbers of threads and priority levels. This is
controlled via the CONFIG_SCHED_DUMB kconfig variable.
+ The balanced tree implementation is usable symmetrically for the
wait_q abstraction, fixing a scalability glitch Zephyr had when many
threads were waiting on a single object. This can be selected via
CONFIG_WAITQ_FAST.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
This was wrong in two ways, one subtle and one awful.
The subtle problem was that the IRQ lock isn't actually globally
recursive, it gets reset when you context switch (i.e. a _Swap()
implicitly releases and reacquires it). So the recursive count I was
keeping needs to be per-thread or else we risk deadlock any time we
swap away from a thread holding the lock.
And because part of my brain apparently knew this, there was an
"optimization" in the code that tested the current count vs. zero
outside the lock, on the argument that if it was non-zero we must
already hold the lock. Which would be true of a per-thread counter,
but NOT a global one: the other CPU may be holding that lock, and this
test will tell you *you* do. The upshot is that a recursive
irq_lock() would almost always SUCCEED INCORRECTLY when there was lock
contention. That this didn't break more things is amazing to me.
The rework is actually simpler than the original, thankfully. Though
there are some further subtleties:
* The lock state implied by irq_lock() allows the lock to be
implicitly released on context switch (i.e. you can _Swap() with the
lock held at a recursion level higher than 1, which needs to allow
other processes to run). So return paths into threads from _Swap()
and interrupt/exception exit need to check and restore the global
lock state, spinning as needed.
* The idle loop design specifies a k_cpu_idle() function that is on
common architectures expected to enable interrupts (for obvious
reasons), but there is no place to put non-arch code to wire it into
the global lock accounting. So on SMP, even CPU0 needs to use the
"dumb" spinning idle loop.
Finally this patch contains a simple bugfix too, found by inspection:
the interrupt return code used when CONFIG_SWITCH is enabled wasn't
correctly setting the active flag on the threads, opening up the
potential for a race that might result in a thread being scheduled on
two CPUs simultaneously.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
The smp_init() call was too early. Device and subsystem
initialization doesn't happen until after the main thread starts
running. Starting extra CPUs and allowing them to schedule threads
before their drivers are alive is a bad idea, even if it works in a
unit test.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
This uses the version and hash (git describe) and replaces the timestamp
currently used in the boot banner. This works much better than using
timestamps. It lets us point to the exact commit being used to run a
certain application or test.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
The scheduler exposed two APIs to do the same thing:
_add_thread_to_ready_q() was a low level primitive that in most cases
was wrapped by _ready_thread(), which also (1) checks that the thread
_is_ready() or exits, (2) flags the thread as "started" to handle the
case of a thread running for the first time out of a waitq timeout,
and (3) signals a logger event.
As it turns out, all existing usage was already checking case #1.
Case #2 can be better handled in the timeout resume path instead of on
every call. And case #3 was probably wrong to have been skipping
anyway (there were paths that could make a thread runnable without
logging).
Now _add_thread_to_ready_q() is an internal scheduler API, as it
probably always should have been.
This also moves some asserts from the inline _ready_thread() wrapper
to the underlying true function for code size reasons, otherwise the
extra use of the inline added by this patch blows past code size
limits on Quark D2000.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
