kernel: make user-kernel boundary in Chip

This removes the burden that the board author has to think about this, since once the chip has been decided, the architecture has been decided as well.
tock · Sep 28, 2018 · a2c3347 · a2c3347
1 parent 1c34d78
commit a2c3347
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Showing 13 changed files with 100 additions and 65 deletions.
diff --git a/boards/ek-tm4c1294xl/src/main.rs b/boards/ek-tm4c1294xl/src/main.rs
@@ -16,7 +16,6 @@ use capsules::virtual_uart::{UartDevice, UartMux};
 use kernel::capabilities;
 use kernel::hil;
 use kernel::hil::Controller;
-use kernel::Chip;
 use kernel::Platform;
 
 #[macro_use]
@@ -255,8 +254,7 @@ pub unsafe fn reset_handler() {
     }
     kernel::procs::load_processes(
         board_kernel,
-        &cortexm4::syscall::SysCall::new(),
-        chip.mpu(),
+        chip,
         &_sapps as *const u8,
         &mut APP_MEMORY,
         &mut PROCESSES,

diff --git a/boards/hail/src/main.rs b/boards/hail/src/main.rs
@@ -23,7 +23,6 @@ use kernel::capabilities;
 use kernel::hil;
 use kernel::hil::spi::SpiMaster;
 use kernel::hil::Controller;
-use kernel::Chip;
 use kernel::Platform;
 
 /// Support routines for debugging I/O.
@@ -591,8 +590,7 @@ pub unsafe fn reset_handler() {
 
     kernel::procs::load_processes(
         board_kernel,
-        &cortexm4::syscall::SysCall::new(),
-        chip.mpu(),
+        chip,
         &_sapps as *const u8,
         &mut APP_MEMORY,
         &mut PROCESSES,

diff --git a/boards/imix/src/main.rs b/boards/imix/src/main.rs
@@ -31,7 +31,6 @@ use kernel::hil::radio;
 use kernel::hil::radio::{RadioConfig, RadioData};
 use kernel::hil::spi::SpiMaster;
 use kernel::hil::Controller;
-use kernel::Chip;
 
 use components::adc::AdcComponent;
 use components::alarm::AlarmDriverComponent;
@@ -392,8 +391,7 @@ pub unsafe fn reset_handler() {
     }
     kernel::procs::load_processes(
         board_kernel,
-        &cortexm4::syscall::SysCall::new(),
-        chip.mpu(),
+        chip,
         &_sapps as *const u8,
         &mut APP_MEMORY,
         &mut PROCESSES,

diff --git a/boards/launchxl/src/main.rs b/boards/launchxl/src/main.rs
@@ -16,7 +16,6 @@ use cc26x2::aon;
 use cc26x2::prcm;
 use kernel::capabilities;
 use kernel::hil;
-use kernel::Chip;
 
 #[macro_use]
 pub mod io;
@@ -364,8 +363,7 @@ pub unsafe fn reset_handler() {
 
     kernel::procs::load_processes(
         board_kernel,
-        &cortexm4::syscall::SysCall::new(),
-        chip.mpu(),
+        chip,
         &_sapps as *const u8,
         &mut APP_MEMORY,
         &mut PROCESSES,

diff --git a/boards/nordic/nrf51dk/src/main.rs b/boards/nordic/nrf51dk/src/main.rs
@@ -405,8 +405,7 @@ pub unsafe fn reset_handler() {
     }
     kernel::procs::load_processes(
         board_kernel,
-        &cortexm0::syscall::SysCall::new(),
-        chip.mpu(),
+        chip,
         &_sapps as *const u8,
         &mut APP_MEMORY,
         &mut PROCESSES,

diff --git a/boards/nordic/nrf52dk_base/src/lib.rs b/boards/nordic/nrf52dk_base/src/lib.rs
@@ -21,7 +21,6 @@ use capsules::virtual_spi::MuxSpiMaster;
 use capsules::virtual_uart::{UartDevice, UartMux};
 use kernel::capabilities;
 use kernel::hil;
-use kernel::Chip;
 use nrf5x::rtc::Rtc;
 
 /// Pins for SPI for the flash chip MX25R6435F
@@ -430,8 +429,7 @@ pub unsafe fn setup_board(
     }
     kernel::procs::load_processes(
         board_kernel,
-        &cortexm4::syscall::SysCall::new(),
-        chip.mpu(),
+        chip,
         &_sapps as *const u8,
         app_memory,
         process_pointers,

diff --git a/chips/cc26x2/src/chip.rs b/chips/cc26x2/src/chip.rs
@@ -8,13 +8,15 @@ use uart;
 
 pub struct Cc26X2 {
     mpu: cortexm4::mpu::MPU,
+    userspace_kernel_boundary: cortexm4::syscall::SysCall,
     systick: cortexm4::systick::SysTick,
 }
 
 impl Cc26X2 {
     pub unsafe fn new() -> Cc26X2 {
         Cc26X2 {
             mpu: cortexm4::mpu::MPU::new(),
+            userspace_kernel_boundary: cortexm4::syscall::SysCall::new(),
             // The systick clocks with 48MHz by default
             systick: cortexm4::systick::SysTick::new_with_calibration(48 * 1000000),
         }
@@ -23,6 +25,7 @@ impl Cc26X2 {
 
 impl kernel::Chip for Cc26X2 {
     type MPU = cortexm4::mpu::MPU;
+    type UserspaceKernelBoundary = cortexm4::syscall::SysCall;
     type SysTick = cortexm4::systick::SysTick;
 
     fn mpu(&self) -> &Self::MPU {
@@ -32,6 +35,11 @@ impl kernel::Chip for Cc26X2 {
     fn systick(&self) -> &Self::SysTick {
         &self.systick
     }
+
+    fn userspace_kernel_boundary(&self) -> &Self::UserspaceKernelBoundary {
+        &self.userspace_kernel_boundary
+    }
+
     fn service_pending_interrupts(&self) {
         unsafe {
             while let Some(interrupt) = nvic::next_pending() {

diff --git a/chips/nrf51/src/chip.rs b/chips/nrf51/src/chip.rs
@@ -7,24 +7,33 @@ use nrf5x::peripheral_interrupts;
 use radio;
 use uart;
 
-pub struct NRF51(());
+pub struct NRF51 {
+    userspace_kernel_boundary: cortexm0::syscall::SysCall,
+}
 
 impl NRF51 {
     pub unsafe fn new() -> NRF51 {
-        NRF51(())
+        NRF51 {
+            userspace_kernel_boundary: cortexm0::syscall::SysCall::new(),
+        }
     }
 }
 
 impl kernel::Chip for NRF51 {
     type MPU = ();
+    type UserspaceKernelBoundary = cortexm0::syscall::SysCall;
     type SysTick = ();
 
     fn mpu(&self) -> &Self::MPU {
-        &self.0
+        &()
     }
 
     fn systick(&self) -> &Self::SysTick {
-        &self.0
+        &()
+    }
+
+    fn userspace_kernel_boundary(&self) -> &cortexm0::syscall::SysCall {
+        &self.userspace_kernel_boundary
     }
 
     fn service_pending_interrupts(&self) {

diff --git a/chips/nrf52/src/chip.rs b/chips/nrf52/src/chip.rs
@@ -13,13 +13,15 @@ use uart;
 
 pub struct NRF52 {
     mpu: cortexm4::mpu::MPU,
+    userspace_kernel_boundary: cortexm4::syscall::SysCall,
     systick: cortexm4::systick::SysTick,
 }
 
 impl NRF52 {
     pub unsafe fn new() -> NRF52 {
         NRF52 {
             mpu: cortexm4::mpu::MPU::new(),
+            userspace_kernel_boundary: cortexm4::syscall::SysCall::new(),
             // The NRF52's systick is uncalibrated, but is clocked from the
             // 64Mhz CPU clock.
             systick: cortexm4::systick::SysTick::new_with_calibration(64000000),
@@ -29,6 +31,7 @@ impl NRF52 {
 
 impl kernel::Chip for NRF52 {
     type MPU = cortexm4::mpu::MPU;
+    type UserspaceKernelBoundary = cortexm4::syscall::SysCall;
     type SysTick = cortexm4::systick::SysTick;
 
     fn mpu(&self) -> &Self::MPU {
@@ -39,6 +42,10 @@ impl kernel::Chip for NRF52 {
         &self.systick
     }
 
+    fn userspace_kernel_boundary(&self) -> &Self::UserspaceKernelBoundary {
+        &self.userspace_kernel_boundary
+    }
+
     fn service_pending_interrupts(&self) {
         unsafe {
             loop {

diff --git a/chips/sam4l/src/chip.rs b/chips/sam4l/src/chip.rs
@@ -22,8 +22,9 @@ use usart;
 use usbc;
 
 pub struct Sam4l {
-    pub mpu: cortexm4::mpu::MPU,
-    pub systick: cortexm4::systick::SysTick,
+    mpu: cortexm4::mpu::MPU,
+    userspace_kernel_boundary: cortexm4::syscall::SysCall,
+    systick: cortexm4::systick::SysTick,
 }
 
 impl Sam4l {
@@ -62,13 +63,15 @@ impl Sam4l {
 
         Sam4l {
             mpu: cortexm4::mpu::MPU::new(),
+            userspace_kernel_boundary: cortexm4::syscall::SysCall::new(),
             systick: cortexm4::systick::SysTick::new(),
         }
     }
 }
 
 impl Chip for Sam4l {
     type MPU = cortexm4::mpu::MPU;
+    type UserspaceKernelBoundary = cortexm4::syscall::SysCall;
     type SysTick = cortexm4::systick::SysTick;
 
     fn service_pending_interrupts(&self) {
@@ -163,6 +166,10 @@ impl Chip for Sam4l {
         &self.systick
     }
 
+    fn userspace_kernel_boundary(&self) -> &cortexm4::syscall::SysCall {
+        &self.userspace_kernel_boundary
+    }
+
     fn sleep(&self) {
         if pm::deep_sleep_ready() {
             unsafe {

diff --git a/chips/tm4c129x/src/chip.rs b/chips/tm4c129x/src/chip.rs
@@ -6,21 +6,24 @@ use kernel::Chip;
 use uart;
 
 pub struct Tm4c129x {
-    pub mpu: cortexm4::mpu::MPU,
-    pub systick: cortexm4::systick::SysTick,
+    mpu: cortexm4::mpu::MPU,
+    userspace_kernel_boundary: cortexm4::syscall::SysCall,
+    systick: cortexm4::systick::SysTick,
 }
 
 impl Tm4c129x {
     pub unsafe fn new() -> Tm4c129x {
         Tm4c129x {
             mpu: cortexm4::mpu::MPU::new(),
+            userspace_kernel_boundary: cortexm4::syscall::SysCall::new(),
             systick: cortexm4::systick::SysTick::new(),
         }
     }
 }
 
 impl Chip for Tm4c129x {
     type MPU = cortexm4::mpu::MPU;
+    type UserspaceKernelBoundary = cortexm4::syscall::SysCall;
     type SysTick = cortexm4::systick::SysTick;
 
     fn service_pending_interrupts(&self) {
@@ -58,6 +61,10 @@ impl Chip for Tm4c129x {
         &self.systick
     }
 
+    fn userspace_kernel_boundary(&self) -> &cortexm4::syscall::SysCall {
+        &self.userspace_kernel_boundary
+    }
+
     fn sleep(&self) {
         /*if pm::deep_sleep_ready() {
             unsafe {

diff --git a/kernel/src/platform/mod.rs b/kernel/src/platform/mod.rs
@@ -1,6 +1,7 @@
 //! Interface for chips and boards.
 
 use driver::Driver;
+use syscall;
 
 pub mod mpu;
 crate mod systick;
@@ -17,12 +18,14 @@ pub trait Platform {
 /// Interface for individual MCUs.
 pub trait Chip {
     type MPU: mpu::MPU;
+    type UserspaceKernelBoundary: syscall::UserspaceKernelBoundary;
     type SysTick: systick::SysTick;
 
     fn service_pending_interrupts(&self);
     fn has_pending_interrupts(&self) -> bool;
     fn mpu(&self) -> &Self::MPU;
     fn systick(&self) -> &Self::SysTick;
+    fn userspace_kernel_boundary(&self) -> &Self::UserspaceKernelBoundary;
     fn sleep(&self);
     unsafe fn atomic<F, R>(&self, f: F) -> R
     where