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arch: native: Run Zephyr natively in a POSIX OS
A new arch (posix) which relies on pthreads to emulate the context switching A new soc for it (inf_clock) which emulates a CPU running at an infinely high clock (so when the CPU is awaken it runs till completion in 0 time) A new board, which provides a trivial system tick timer and irq generation. Origin: Original Fixes #1891 Signed-off-by: Alberto Escolar Piedras <[email protected]> Signed-off-by: Anas Nashif <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| zephyr_cc_option_ifdef(CONFIG_LTO -flto) | ||
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| zephyr_compile_options( | ||
| -fno-freestanding | ||
| -Wno-undef | ||
| -Wno-implicit-function-declaration | ||
| -m32 | ||
| -MMD | ||
| -MP | ||
| ${TOOLCHAIN_C_FLAGS} | ||
| ${ARCH_FLAG} | ||
| -include ${PROJECT_SOURCE_DIR}/arch/posix/include/posix_cheats.h | ||
| ) | ||
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| zephyr_compile_definitions(_POSIX_C_SOURCE=199309) | ||
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| zephyr_ld_options( | ||
| -ldl | ||
| -pthread | ||
| -m32 | ||
| ) | ||
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| # About the -include directive: The reason to do it this way, is because in this | ||
| # manner it is transparent to the application. Otherwise posix_cheats.h needs to | ||
| # be included in all the applications' files which define main( ), and in any | ||
| # app file which uses the pthreads like API provided by Zephyr | ||
| # ( include/posix/pthread.h / kernel/pthread.c ) [And any future API added to | ||
| # Zephyr which will clash with the native POSIX API] . It would also need to | ||
| # be included in a few zephyr kernel files. | ||
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| add_subdirectory(soc) | ||
| add_subdirectory(core) | ||
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| # Override the flag used with linker.cmd | ||
| # "-Wl,--just-symbols linker.cmd" instead of "-T linker.cmd" | ||
| set_property(GLOBAL PROPERTY TOPT -Wl,--just-symbols) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,31 @@ | ||
| # Kconfig - General configuration options | ||
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| # | ||
| # Copyright (c) 2017 Intel Corporation | ||
| # | ||
| # SPDX-License-Identifier: Apache-2.0 | ||
| # | ||
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| choice | ||
| prompt "POSIX Configuration Selection" | ||
| depends on ARCH_POSIX | ||
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| source "arch/posix/soc/*/Kconfig.soc" | ||
| endchoice | ||
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| menu "POSIX (native) Options" | ||
| depends on ARCH_POSIX | ||
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| config ARCH | ||
| default "posix" | ||
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| config ARCH_DEFCONFIG | ||
| string | ||
| default "arch/posix/defconfig" | ||
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| source "arch/posix/core/Kconfig" | ||
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| source "arch/posix/soc/*/Kconfig" | ||
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| endmenu |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,9 @@ | ||
| zephyr_library() | ||
| zephyr_library_compile_definitions(_POSIX_CHEATS_H) | ||
| zephyr_library_sources( | ||
| cpuhalt.c | ||
| fatal.c | ||
| posix_core.c | ||
| swap.c | ||
| thread.c | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,64 @@ | ||
| /* | ||
| * Copyright (c) 2011-2015 Wind River Systems, Inc. | ||
| * Copyright (c) 2017 Oticon A/S | ||
| * | ||
| * SPDX-License-Identifier: Apache-2.0 | ||
| */ | ||
| /** | ||
| * @file CPU power management code for POSIX | ||
| * | ||
| * This module provides an implementation of the architecture-specific | ||
| * k_cpu_idle() primitive required by the kernel idle loop component. | ||
| * It can be called within an implementation of _sys_power_save_idle(), | ||
| * which is provided for the kernel by the platform. | ||
| * | ||
| * The module also provides an implementation of k_cpu_atomic_idle(), which | ||
| * atomically re-enables interrupts and enters low power mode. | ||
| * | ||
| */ | ||
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| #include "posix_core.h" | ||
| #include "posix_soc_if.h" | ||
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| /** | ||
| * | ||
| * @brief Power save idle routine for IA-32 | ||
| * | ||
| * This function will be called by the kernel idle loop or possibly within | ||
| * an implementation of _sys_power_save_idle in the kernel when the | ||
| * '_sys_power_save_flag' variable is non-zero. | ||
| * | ||
| * This function is just a pass thru to the SOC one | ||
| * | ||
| * @return N/A | ||
| */ | ||
| void k_cpu_idle(void) | ||
| { | ||
| posix_irq_full_unlock(); | ||
| posix_halt_cpu(); | ||
| } | ||
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| /** | ||
| * | ||
| * @brief Atomically re-enable interrupts and enter low power mode | ||
| * | ||
| * INTERNAL | ||
| * The requirements for k_cpu_atomic_idle() are as follows: | ||
| * 1) The enablement of interrupts and entering a low-power mode needs to be | ||
| * atomic, i.e. there should be no period of time where interrupts are | ||
| * enabled before the processor enters a low-power mode. See the comments | ||
| * in k_lifo_get(), for example, of the race condition that | ||
| * occurs if this requirement is not met. | ||
| * | ||
| * 2) After waking up from the low-power mode, the interrupt lockout state | ||
| * must be restored as indicated in the 'imask' input parameter. | ||
| * | ||
| * This function is just a pass thru to the SOC one | ||
| * | ||
| * @return N/A | ||
| */ | ||
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| void k_cpu_atomic_idle(unsigned int imask) | ||
| { | ||
| posix_atomic_halt_cpu(imask); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,124 @@ | ||
| /* | ||
| * Copyright (c) 2016 Intel Corporation | ||
| * Copyright (c) 2017 Oticon A/S | ||
| * | ||
| * SPDX-License-Identifier: Apache-2.0 | ||
| */ | ||
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| #include <kernel.h> | ||
| #include <arch/cpu.h> | ||
| #include <kernel_structs.h> | ||
| #include <misc/printk.h> | ||
| #include <inttypes.h> | ||
| #include "posix_soc_if.h" | ||
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| const NANO_ESF _default_esf = { | ||
| 0xdeadbaad | ||
| }; | ||
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| /** | ||
| * | ||
| * @brief Kernel fatal error handler | ||
| * | ||
| * This routine is called when a fatal error condition is detected | ||
| * | ||
| * The caller is expected to always provide a usable ESF. In the event that the | ||
| * fatal error does not have a hardware generated ESF, the caller should either | ||
| * create its own or call _Fault instead. | ||
| * | ||
| * @param reason the reason that the handler was called | ||
| * @param pEsf pointer to the exception stack frame | ||
| * | ||
| * @return This function does not return. | ||
| */ | ||
| FUNC_NORETURN void _NanoFatalErrorHandler(unsigned int reason, | ||
| const NANO_ESF *esf) | ||
| { | ||
| #ifdef CONFIG_PRINTK | ||
| switch (reason) { | ||
| case _NANO_ERR_CPU_EXCEPTION: | ||
| case _NANO_ERR_SPURIOUS_INT: | ||
| break; | ||
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| case _NANO_ERR_INVALID_TASK_EXIT: | ||
| printk("***** Invalid Exit Software Error! *****\n"); | ||
| break; | ||
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| case _NANO_ERR_ALLOCATION_FAIL: | ||
| printk("**** Kernel Allocation Failure! ****\n"); | ||
| break; | ||
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| case _NANO_ERR_KERNEL_OOPS: | ||
| printk("***** Kernel OOPS! *****\n"); | ||
| break; | ||
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| case _NANO_ERR_KERNEL_PANIC: | ||
| printk("***** Kernel Panic! *****\n"); | ||
| break; | ||
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| #ifdef CONFIG_STACK_SENTINEL | ||
| case _NANO_ERR_STACK_CHK_FAIL: | ||
| printk("***** Stack overflow *****\n"); | ||
| break; | ||
| #endif | ||
| default: | ||
| printk("**** Unknown Fatal Error %u! ****\n", reason); | ||
| break; | ||
| } | ||
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| #endif | ||
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| void _SysFatalErrorHandler(unsigned int reason, | ||
| const NANO_ESF *pEsf); | ||
| _SysFatalErrorHandler(reason, esf); | ||
| } | ||
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| /** | ||
| * | ||
| * @brief Fatal error handler | ||
| * | ||
| * This routine implements the corrective action to be taken when the system | ||
| * detects a fatal error. | ||
| * | ||
| * This sample implementation attempts to abort the current thread and allow | ||
| * the system to continue executing, which may permit the system to continue | ||
| * functioning with degraded capabilities. | ||
| * | ||
| * System designers may wish to enhance or substitute this sample | ||
| * implementation to take other actions, such as logging error (or debug) | ||
| * information to a persistent repository and/or rebooting the system. | ||
| * | ||
| * @param reason the fatal error reason | ||
| * @param pEsf pointer to exception stack frame | ||
| * | ||
| * @return N/A | ||
| */ | ||
| FUNC_NORETURN __weak void _SysFatalErrorHandler(unsigned int reason, | ||
| const NANO_ESF *pEsf) | ||
| { | ||
| ARG_UNUSED(pEsf); | ||
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| #ifdef CONFIG_STACK_SENTINEL | ||
| if (reason == _NANO_ERR_STACK_CHK_FAIL) { | ||
| goto hang_system; | ||
| } | ||
| #endif | ||
| if (reason == _NANO_ERR_KERNEL_PANIC) { | ||
| goto hang_system; | ||
| } | ||
| if (k_is_in_isr() || _is_thread_essential()) { | ||
| posix_print_error_and_exit( | ||
| "Fatal fault in %s! Stopping...\n", | ||
| k_is_in_isr() ? "ISR" : "essential thread"); | ||
| } | ||
| printk("Fatal fault in thread %p! Aborting.\n", _current); | ||
| k_thread_abort(_current); | ||
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| hang_system: | ||
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| posix_print_error_and_exit( | ||
| "Stopped in _SysFatalErrorHandler()\n"); | ||
| CODE_UNREACHABLE; | ||
| } |
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