ChaOS

Tim Scheuermann, Julian Holzwarth & Adrian Herrmann

This project was developed during Barry Linnert's operating systems course at Freie Universität Berlin over the course of fourteen weeks in 2018-2019.

It is a small microkernel operating system developed from scratch for the ARM-based taskit Portux MiniPC SoC with an AT91RM9200 CPU, 16 MiB Flash memory and 64 MiB RAM.

Supported features

• Serial interface (DBGU) driver (supports read/write, interrupts)
• Processor modes, stacks, dynamic kernel memory management
• Interrupt handlers (SWI, ABT, FIQ, IRQ, UND)
• System timer and scheduling
• Processes/threads, context switches, simple round-robin-based scheduling (preemptive multitasking)
• Memory protection with MMU, logical address spaces
• User/kernel interface (syscalls, utility library)

There are two example applications that demonstrate several capabilities of the kernel:

1. An application to demonstrate address space separation, context switching, system calls and process/thread creation.
2. An application to demonstrate protection against various forbidden actions.

Limitations

• No filesystem - everything happens in RAM.
• Therefore, also no dynamic loading of code - everything is statically linked into the kernel binary.

Instructions

• Recommended: Clone, patch and build QEMU by running make qemu.
• Build by running app=<num> make, where <num> is the example application that should run (1 or 2).
• Run by running make run (this assumes the QEMU binary to be in qemu/build/arm-softmmu/qemu-system-arm).
• make debug starts a debuggable session (under TCP port 12345 by default) that GDB can then connect to (this also assumes the above location for the QEMU binary).

Requirements

• The GNU Arm Embedded Toolchain (arm-none-eabi) is required for building.
• A patched version of QEMU is required to virtualize the OS and can be built automatically by running make qemu. Alternatively, the patch and instructions for how to build and run the patched QEMU manually are available in the qemu-patch directory.

Design

Directory structure

src contains all the source code, in particular code for the kernel entry point, two example applications and the kernel linker script in its root.

[src/include]/drivers contains device drivers (e.g. for DBGU or ST) and functions that interact with hardware directly (e.g. for writing in specific memory areas).

[src/include]/lib contains application libraries with utilities and basic functions that facilitate application and driver development and do not interact with the hardware directly but via the drivers. E.g. math.c provides mathematical functions and buffer.c a ring buffer implementation.

[src/include]/sys contains operating system libraries that are not for application use but only for drivers and the system.

doc contains documentation, including the syscall documentation.

qemu-patch includes the patch necessary for QEMU to emulate the target platform.

Memory organization

All interrupt mode stacks are placed at the end of the internal RAM.

FIQ: 0x002FFFF8 - 0x002FDFF9
IRQ: 0x002FDFF8 - 0x002FBFF9
SVC: 0x002FBFF8 - 0x002F9FF9
ABT: 0x002F9FF8 - 0x002F7FF9
UND: 0x002F7FF8 - ...

The system mode stack is placed at the end of the external RAM.

SYS: 0x23FFFFF8 - ...