Move boards over to new capabilities

boards/acd52832/src/main.rs

@@ -7,7 +7,7 @@
 #![deny(missing_docs)]
 
 use capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm;
-use kernel::capabilities;
+use kernel::capabilities::{Capability, MainLoop, MemoryAllocation, ProcessManagement};
 use kernel::component::Component;
 use kernel::dynamic_deferred_call::{DynamicDeferredCall, DynamicDeferredCallClientState};
 use kernel::hil;
@@ -22,7 +22,7 @@ use kernel::hil::time::{Alarm, Counter};
 use kernel::platform::{KernelResources, SyscallDriverLookup};
 use kernel::scheduler::round_robin::RoundRobinSched;
 #[allow(unused_imports)]
-use kernel::{create_capability, debug, debug_gpio, static_init};
+use kernel::{debug, debug_gpio, static_init};
 use nrf52832::gpio::Pin;
 use nrf52832::interrupt_service::Nrf52832DefaultPeripherals;
 use nrf52832::rtc::Rtc;
@@ -186,10 +186,9 @@ pub unsafe fn main() {
 
     // Create capabilities that the board needs to call certain protected kernel
     // functions.
-    let process_management_capability =
-        create_capability!(capabilities::ProcessManagementCapability);
-    let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
-    let memory_allocation_capability = create_capability!(capabilities::MemoryAllocationCapability);
+    let process_management_capability = unsafe { Capability::<ProcessManagement>::new() };
+    let main_loop_capability = unsafe { Capability::<MainLoop>::new() };
+    let memory_allocation_capability = unsafe { Capability::<MemoryAllocation>::new() };
 
     let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&PROCESSES));
 

boards/apollo3/lora_things_plus/src/main.rs

@@ -40,7 +40,7 @@ use capsules_core::virtualizers::virtual_alarm::MuxAlarm;
 use capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm;
 use components::bme280::Bme280Component;
 use components::ccs811::Ccs811Component;
-use kernel::capabilities;
+use kernel::capabilities::{Capability, MainLoop, MemoryAllocation, ProcessManagement};
 use kernel::component::Component;
 use kernel::dynamic_deferred_call::DynamicDeferredCall;
 use kernel::dynamic_deferred_call::DynamicDeferredCallClientState;
@@ -49,7 +49,7 @@ use kernel::hil::led::LedHigh;
 use kernel::hil::time::Counter;
 use kernel::platform::{KernelResources, SyscallDriverLookup};
 use kernel::scheduler::round_robin::RoundRobinSched;
-use kernel::{create_capability, debug, static_init};
+use kernel::{debug, static_init};
 
 /// Support routines for debugging I/O.
 pub mod io;
@@ -82,7 +82,7 @@ static mut BOARD: Option<&'static kernel::Kernel> = None;
 static mut PLATFORM: Option<&'static LoRaThingsPlus> = None;
 // Test access to main loop capability
 #[cfg(test)]
-static mut MAIN_CAP: Option<&dyn kernel::capabilities::MainLoopCapability> = None;
+static MAIN_CAP: Capability<MainLoop> = unsafe { Capability::<MainLoop>::new() };
 // Test access to alarm
 static mut ALARM: Option<&'static MuxAlarm<'static, apollo3::stimer::STimer<'static>>> = None;
 // Test access to sensors
@@ -205,8 +205,8 @@ unsafe fn setup() -> (
     clkgen.set_clock_frequency(apollo3::clkgen::ClockFrequency::Freq48MHz);
 
     // initialize capabilities
-    let process_mgmt_cap = create_capability!(capabilities::ProcessManagementCapability);
-    let memory_allocation_cap = create_capability!(capabilities::MemoryAllocationCapability);
+    let process_mgmt_cap = unsafe { Capability::<ProcessManagement>::new() };
+    let memory_allocation_cap = unsafe { Capability::<MemoryAllocation>::new() };
 
     let dynamic_deferred_call_clients =
         static_init!([DynamicDeferredCallClientState; 5], Default::default());
@@ -482,7 +482,7 @@ pub unsafe fn main() {
     {
         let (board_kernel, sf_lora_thing_plus_board, chip, _peripherals) = setup();
 
-        let main_loop_cap = create_capability!(capabilities::MainLoopCapability);
+        let main_loop_cap = unsafe { Capability::<MainLoop>::new() };
 
         board_kernel.kernel_loop(
             sf_lora_thing_plus_board,
@@ -504,7 +504,6 @@ fn test_runner(tests: &[&dyn Fn()]) {
         BOARD = Some(board_kernel);
         PLATFORM = Some(&sf_lora_thing_plus_board);
         PERIPHERALS = Some(peripherals);
-        MAIN_CAP = Some(&create_capability!(capabilities::MainLoopCapability));
 
         PLATFORM.map(|p| {
             p.watchdog().setup();

boards/apollo3/lora_things_plus/src/tests/mod.rs

@@ -13,7 +13,7 @@ fn run_kernel_op(loops: usize) {
                 CHIP.unwrap(),
                 None::<&kernel::ipc::IPC<{ NUM_PROCS as u8 }>>,
                 true,
-                MAIN_CAP.unwrap(),
+                &MAIN_CAP,
             );
         }
     }

boards/apollo3/redboard_artemis_nano/src/main.rs

@@ -16,7 +16,7 @@ use capsules_core::virtualizers::virtual_alarm::MuxAlarm;
 use capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm;
 use components::bme280::Bme280Component;
 use components::ccs811::Ccs811Component;
-use kernel::capabilities;
+use kernel::capabilities::{Capability, MainLoop, MemoryAllocation, ProcessManagement};
 use kernel::component::Component;
 use kernel::dynamic_deferred_call::DynamicDeferredCall;
 use kernel::dynamic_deferred_call::DynamicDeferredCallClientState;
@@ -25,7 +25,7 @@ use kernel::hil::led::LedHigh;
 use kernel::hil::time::Counter;
 use kernel::platform::{KernelResources, SyscallDriverLookup};
 use kernel::scheduler::round_robin::RoundRobinSched;
-use kernel::{create_capability, debug, static_init};
+use kernel::{debug, static_init};
 
 /// Support routines for debugging I/O.
 pub mod io;
@@ -58,7 +58,7 @@ static mut BOARD: Option<&'static kernel::Kernel> = None;
 static mut PLATFORM: Option<&'static RedboardArtemisNano> = None;
 // Test access to main loop capability
 #[cfg(test)]
-static mut MAIN_CAP: Option<&dyn kernel::capabilities::MainLoopCapability> = None;
+static MAIN_CAP: Capability<MainLoop> = unsafe { Capability::<MainLoop>::new() };
 // Test access to alarm
 static mut ALARM: Option<&'static MuxAlarm<'static, apollo3::stimer::STimer<'static>>> = None;
 // Test access to sensors
@@ -181,8 +181,8 @@ unsafe fn setup() -> (
     clkgen.set_clock_frequency(apollo3::clkgen::ClockFrequency::Freq48MHz);
 
     // initialize capabilities
-    let process_mgmt_cap = create_capability!(capabilities::ProcessManagementCapability);
-    let memory_allocation_cap = create_capability!(capabilities::MemoryAllocationCapability);
+    let process_mgmt_cap = unsafe { Capability::<ProcessManagement>::new() };
+    let memory_allocation_cap = unsafe { Capability::<MemoryAllocation>::new() };
 
     let dynamic_deferred_call_clients =
         static_init!([DynamicDeferredCallClientState; 4], Default::default());
@@ -446,7 +446,7 @@ pub unsafe fn main() {
     {
         let (board_kernel, esp32_c3_board, chip, _peripherals) = setup();
 
-        let main_loop_cap = create_capability!(capabilities::MainLoopCapability);
+        let main_loop_cap = unsafe { Capability::<MainLoop>::new() };
 
         board_kernel.kernel_loop(
             esp32_c3_board,
@@ -468,7 +468,6 @@ fn test_runner(tests: &[&dyn Fn()]) {
         BOARD = Some(board_kernel);
         PLATFORM = Some(&esp32_c3_board);
         PERIPHERALS = Some(peripherals);
-        MAIN_CAP = Some(&create_capability!(capabilities::MainLoopCapability));
 
         PLATFORM.map(|p| {
             p.watchdog().setup();

boards/apollo3/redboard_artemis_nano/src/tests/mod.rs

@@ -13,7 +13,7 @@ fn run_kernel_op(loops: usize) {
                 CHIP.unwrap(),
                 None::<&kernel::ipc::IPC<{ NUM_PROCS as u8 }>>,
                 true,
-                MAIN_CAP.unwrap(),
+                &MAIN_CAP,
             );
         }
     }

boards/arty_e21/src/main.rs

@@ -8,13 +8,13 @@
 use arty_e21_chip::chip::ArtyExxDefaultPeripherals;
 use capsules_core::virtualizers::virtual_alarm::{MuxAlarm, VirtualMuxAlarm};
 
-use kernel::capabilities;
+use kernel::capabilities::{Capability, MainLoop, ProcessManagement};
 use kernel::component::Component;
 use kernel::dynamic_deferred_call::{DynamicDeferredCall, DynamicDeferredCallClientState};
 use kernel::hil;
 use kernel::platform::{KernelResources, SyscallDriverLookup};
 use kernel::scheduler::priority::PrioritySched;
-use kernel::{create_capability, debug, static_init};
+use kernel::{debug, static_init};
 
 #[allow(dead_code)]
 mod timer_test;
@@ -134,8 +134,8 @@ pub unsafe fn main() {
     CHIP = Some(chip);
     chip.initialize();
 
-    let process_mgmt_cap = create_capability!(capabilities::ProcessManagementCapability);
-    let main_loop_cap = create_capability!(capabilities::MainLoopCapability);
+    let process_mgmt_cap = unsafe { Capability::<ProcessManagement>::new() };
+    let main_loop_cap = unsafe { Capability::<MainLoop>::new() };
 
     let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&PROCESSES));
 

boards/clue_nrf52840/src/main.rs

@@ -10,7 +10,7 @@
 
 use capsules_core::virtualizers::virtual_aes_ccm::MuxAES128CCM;
 
-use kernel::capabilities;
+use kernel::capabilities::{Capability, MainLoop, MemoryAllocation, ProcessManagement};
 use kernel::component::Component;
 use kernel::dynamic_deferred_call::{DynamicDeferredCall, DynamicDeferredCallClientState};
 use kernel::hil::buzzer::Buzzer;
@@ -25,7 +25,7 @@ use kernel::platform::mpu::MPU;
 use kernel::platform::{KernelResources, SyscallDriverLookup};
 use kernel::scheduler::round_robin::RoundRobinSched;
 #[allow(unused_imports)]
-use kernel::{create_capability, debug, debug_gpio, debug_verbose, static_init};
+use kernel::{debug, debug_gpio, debug_verbose, static_init};
 
 use nrf52840::gpio::Pin;
 use nrf52840::interrupt_service::Nrf52840DefaultPeripherals;
@@ -295,10 +295,9 @@ pub unsafe fn main() {
 
     // Create capabilities that the board needs to call certain protected kernel
     // functions.
-    let process_management_capability =
-        create_capability!(capabilities::ProcessManagementCapability);
-    let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
-    let memory_allocation_capability = create_capability!(capabilities::MemoryAllocationCapability);
+    let process_management_capability = unsafe { Capability::<ProcessManagement>::new() };
+    let main_loop_capability = unsafe { Capability::<MainLoop>::new() };
+    let memory_allocation_capability = unsafe { Capability::<MemoryAllocation>::new() };
 
     //--------------------------------------------------------------------------
     // DEBUG GPIO

boards/esp32-c3-devkitM-1/src/main.rs

@@ -11,14 +11,14 @@
 
 use capsules_core::virtualizers::virtual_alarm::{MuxAlarm, VirtualMuxAlarm};
 use esp32_c3::chip::Esp32C3DefaultPeripherals;
-use kernel::capabilities;
+use kernel::capabilities::{Capability, MainLoop, MemoryAllocation, ProcessManagement};
 use kernel::component::Component;
 use kernel::dynamic_deferred_call::{DynamicDeferredCall, DynamicDeferredCallClientState};
 use kernel::platform::scheduler_timer::VirtualSchedulerTimer;
 use kernel::platform::{KernelResources, SyscallDriverLookup};
 use kernel::scheduler::priority::PrioritySched;
 use kernel::utilities::registers::interfaces::ReadWriteable;
-use kernel::{create_capability, debug, hil, static_init};
+use kernel::{debug, hil, static_init};
 use rv32i::csr;
 
 pub mod io;
@@ -55,7 +55,7 @@ static mut BOARD: Option<&'static kernel::Kernel> = None;
 static mut PLATFORM: Option<&'static Esp32C3Board> = None;
 // Test access to main loop capability
 #[cfg(test)]
-static mut MAIN_CAP: Option<&dyn kernel::capabilities::MainLoopCapability> = None;
+static MAIN_CAP: Capability<MainLoop> = unsafe { Capability::<MainLoop>::new() };
 // Test access to alarm
 static mut ALARM: Option<&'static MuxAlarm<'static, esp32_c3::timg::TimG<'static>>> = None;
 
@@ -154,8 +154,8 @@ unsafe fn setup() -> (
         .use_pll_clock_source(PllFrequency::MHz320, CpuFrequency::MHz160);
 
     // initialise capabilities
-    let process_mgmt_cap = create_capability!(capabilities::ProcessManagementCapability);
-    let memory_allocation_cap = create_capability!(capabilities::MemoryAllocationCapability);
+    let process_mgmt_cap = unsafe { Capability::<ProcessManagement>::new() };
+    let memory_allocation_cap = unsafe { Capability::<MemoryAllocation>::new() };
 
     let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&PROCESSES));
 
@@ -340,7 +340,7 @@ pub unsafe fn main() {
     {
         let (board_kernel, esp32_c3_board, chip, _peripherals) = setup();
 
-        let main_loop_cap = create_capability!(capabilities::MainLoopCapability);
+        let main_loop_cap = unsafe { Capability::<MainLoop>::new() };
 
         board_kernel.kernel_loop(
             esp32_c3_board,
@@ -364,7 +364,6 @@ fn test_runner(tests: &[&dyn Fn()]) {
         PERIPHERALS = Some(peripherals);
         SCHEDULER =
             Some(components::sched::priority::PriorityComponent::new(board_kernel).finalize(()));
-        MAIN_CAP = Some(&create_capability!(capabilities::MainLoopCapability));
 
         PLATFORM.map(|p| {
             p.watchdog().setup();

boards/esp32-c3-devkitM-1/src/tests/mod.rs

@@ -13,7 +13,7 @@ fn run_kernel_op(loops: usize) {
                 CHIP.unwrap(),
                 None::<&kernel::ipc::IPC<0>>,
                 true,
-                MAIN_CAP.unwrap(),
+                &MAIN_CAP,
             );
         }
     }

boards/hail/src/main.rs

@@ -9,7 +9,7 @@
 #![cfg_attr(not(doc), no_main)]
 #![deny(missing_docs)]
 
-use kernel::capabilities;
+use kernel::capabilities::{Capability, MainLoop, MemoryAllocation, ProcessManagement};
 use kernel::component::Component;
 use kernel::dynamic_deferred_call::{DynamicDeferredCall, DynamicDeferredCallClientState};
 use kernel::hil;
@@ -18,7 +18,7 @@ use kernel::hil::Controller;
 use kernel::platform::{KernelResources, SyscallDriverLookup};
 use kernel::scheduler::round_robin::RoundRobinSched;
 #[allow(unused_imports)]
-use kernel::{create_capability, debug, debug_gpio, static_init};
+use kernel::{debug, debug_gpio, static_init};
 use sam4l::chip::Sam4lDefaultPeripherals;
 
 /// Support routines for debugging I/O.
@@ -266,10 +266,9 @@ pub unsafe fn main() {
 
     // Create capabilities that the board needs to call certain protected kernel
     // functions.
-    let process_management_capability =
-        create_capability!(capabilities::ProcessManagementCapability);
-    let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
-    let memory_allocation_capability = create_capability!(capabilities::MemoryAllocationCapability);
+    let process_management_capability = unsafe { Capability::<ProcessManagement>::new() };
+    let main_loop_capability = unsafe { Capability::<MainLoop>::new() };
+    let memory_allocation_capability = unsafe { Capability::<MemoryAllocation>::new() };
 
     // Configure kernel debug gpios as early as possible
     kernel::debug::assign_gpios(

boards/hifive1/src/main.rs

@@ -11,7 +11,7 @@
 
 use capsules_core::virtualizers::virtual_alarm::{MuxAlarm, VirtualMuxAlarm};
 use e310_g002::interrupt_service::E310G002DefaultPeripherals;
-use kernel::capabilities;
+use kernel::capabilities::{Capability, MainLoop, MemoryAllocation, ProcessManagement};
 use kernel::component::Component;
 use kernel::dynamic_deferred_call::{DynamicDeferredCall, DynamicDeferredCallClientState};
 use kernel::hil;
@@ -22,7 +22,7 @@ use kernel::platform::{KernelResources, SyscallDriverLookup};
 use kernel::scheduler::cooperative::CooperativeSched;
 use kernel::utilities::registers::interfaces::ReadWriteable;
 use kernel::Kernel;
-use kernel::{create_capability, debug, static_init};
+use kernel::{debug, static_init};
 use rv32i::csr;
 
 pub mod io;
@@ -171,7 +171,7 @@ fn load_processes_not_inlined<C: Chip>(board_kernel: &'static Kernel, chip: &'st
         )
     };
 
-    let process_mgmt_cap = create_capability!(capabilities::ProcessManagementCapability);
+    let process_mgmt_cap = unsafe { Capability::<ProcessManagement>::new() };
     kernel::process::load_processes(
         board_kernel,
         chip,
@@ -210,7 +210,7 @@ pub unsafe fn main() {
         .prci
         .set_clock_frequency(sifive::prci::ClockFrequency::Freq344Mhz);
 
-    let main_loop_cap = create_capability!(capabilities::MainLoopCapability);
+    let main_loop_cap = unsafe { Capability::<MainLoop>::new() };
 
     let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&PROCESSES));
 
@@ -276,7 +276,7 @@ pub unsafe fn main() {
     );
     systick_virtual_alarm.setup();
 
-    let memory_allocation_cap = create_capability!(capabilities::MemoryAllocationCapability);
+    let memory_allocation_cap = unsafe { Capability::<MemoryAllocation>::new() };
     let alarm = static_init!(
         capsules_core::alarm::AlarmDriver<
             'static,

boards/hifive_inventor/src/main.rs

@@ -9,15 +9,15 @@
 
 use capsules_core::virtualizers::virtual_alarm::{MuxAlarm, VirtualMuxAlarm};
 use e310_g003::interrupt_service::E310G003DefaultPeripherals;
-use kernel::capabilities;
+use kernel::capabilities::{Capability, MainLoop, MemoryAllocation, ProcessManagement};
 use kernel::component::Component;
 use kernel::dynamic_deferred_call::{DynamicDeferredCall, DynamicDeferredCallClientState};
 use kernel::hil;
 use kernel::platform::scheduler_timer::VirtualSchedulerTimer;
 use kernel::platform::{KernelResources, SyscallDriverLookup};
 use kernel::scheduler::cooperative::CooperativeSched;
 use kernel::utilities::registers::interfaces::ReadWriteable;
-use kernel::{create_capability, debug, static_init};
+use kernel::{debug, static_init};
 use rv32i::csr;
 
 pub mod io;
@@ -152,10 +152,10 @@ pub unsafe fn main() {
     peripherals.e310x.uart1.disable();
 
     // initialize capabilities
-    let process_mgmt_cap = create_capability!(capabilities::ProcessManagementCapability);
-    let memory_allocation_cap = create_capability!(capabilities::MemoryAllocationCapability);
+    let process_mgmt_cap = unsafe { Capability::<ProcessManagement>::new() };
+    let memory_allocation_cap = unsafe { Capability::<MemoryAllocation>::new() };
 
-    let main_loop_cap = create_capability!(capabilities::MainLoopCapability);
+    let main_loop_cap = unsafe { Capability::<MainLoop>::new() };
 
     let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&PROCESSES));