Use a Cargo workspace to make builds reproducible and speed up CI.

Cargo.toml

@@ -0,0 +1,59 @@
+[workspace]
+members = [
+    "arch/cortex-m",
+    "arch/cortex-m0",
+    "arch/cortex-m3",
+    "arch/cortex-m4",
+    "arch/rv32i",
+    "boards/acd52832",
+    "boards/arty_e21",
+    "boards/hail",
+    "boards/hifive1",
+    "boards/imix",
+    "boards/launchxl",
+    "boards/nordic/nrf52840dk",
+    "boards/nordic/nrf52840_dongle",
+    "boards/nordic/nrf52dk",
+    "boards/nucleo_f429zi",
+    "boards/nucleo_f446re",
+    "boards/opentitan",
+    "capsules",
+    "chips/arty_e21_chip",
+    "chips/cc26x2",
+    "chips/e310x",
+    "chips/ibex",
+    "chips/lowrisc",
+    "chips/nrf52",
+    "chips/nrf52832",
+    "chips/nrf52840",
+    "chips/nrf5x",
+    "chips/sam4l",
+    "chips/sifive",
+    "chips/stm32f4xx",
+    "kernel",
+    "libraries/enum_primitive",
+    "libraries/riscv-csr",
+    "libraries/tock-cells",
+    "libraries/tock-register-interface",
+    "libraries/tock-rt0",
+]
+exclude = [
+    "tools/alert_codes",
+    "tools/sha256sum",
+    "tools/usb/bulk-echo",
+    "tools/usb/bulk-echo-fast",
+    "tools/usb/bulk-test",
+    "tools/usb/control-test",
+]
+
+[profile.dev]
+panic = "abort"
+lto = false
+opt-level = "z"
+debug = true
+
+[profile.release]
+panic = "abort"
+lto = true
+opt-level = "z"
+debug = true

Makefile

@@ -104,13 +104,9 @@ audit:
 
 .PHONY: clean
 clean:
-	@for f in `./tools/list_archs.sh`; do echo "$$(tput bold)Clean arch/$$f"; cargo clean --manifest-path "arch/$$f/Cargo.toml" || exit 1; done
-	@for f in `./tools/list_chips.sh`; do echo "$$(tput bold)Clean chips/$$f"; cargo clean --manifest-path "chips/$$f/Cargo.toml" || exit 1; done
-	@for f in `./tools/list_boards.sh`; do echo "$$(tput bold)Clean boards/$$f"; $(MAKE) -C "boards/$$f" clean || exit 1; done
+	@echo "$$(tput bold)Clean top-level Cargo workspace" && cargo clean
 	@for f in `./tools/list_tools.sh`; do echo "$$(tput bold)Clean tools/$$f"; cargo clean --manifest-path "tools/$$f/Cargo.toml" || exit 1; done
-	@cd kernel && echo "$$(tput bold)Clean kernel" && cargo clean
-	@cd libraries/tock-cells && echo "$$(tput bold)Clean libraries/tock-cells" && cargo clean
-	@cd libraries/tock-register-interface && echo "$$(tput bold)Clean libraries/tock-register-interface" && cargo clean
+	@echo "$$(tput bold)Clean rustdoc" && rm -Rf doc/rustdoc
 
 .PHONY: fmt format formatall
 fmt format formatall:

boards/Makefile.common

@@ -3,8 +3,12 @@
 MAKEFLAGS += -r
 MAKEFLAGS += -R
 
+# The absolute path of the directory containing this `Makefile.common` file.
 MAKEFILE_COMMON_PATH := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))
-MAKEFILE_PARENT_PATH := $(dir $(abspath $(MAKEFILE_COMMON_PATH)/..))
+
+# The absolute path of Tock's root directory.
+# This is currently the parent directory of MAKEFILE_COMMON_PATH.
+TOCK_ROOT_DIRECTORY := $(dir $(abspath $(MAKEFILE_COMMON_PATH)))
 
 # Common defaults that specific boards can override, but likely do not need to.
 TOOLCHAIN ?= llvm
@@ -24,7 +28,28 @@ RUSTFLAGS_FOR_CARGO ?= \
   -C linker-flavor=ld.lld \
   -C relocation-model=dynamic-no-pic \
   -C link-arg=-zmax-page-size=512 \
-  --remap-path-prefix=$(MAKEFILE_PARENT_PATH)= \
+  --remap-path-prefix=$(TOCK_ROOT_DIRECTORY)= \
+
+# The following flags should only be passed to the board's binary crate, but
+# not to any of its dependencies (the kernel, capsules, chips, etc.). The
+# dependencies wouldn't use it, but because the link path is different for each
+# board, Cargo wouldn't be able to cache builds of the dependencies.
+#
+# Indeed, as far as Cargo is concerned, building the kernel with
+# `-C link-arg=-L/tock/boards/imix` is different than building the kernel with
+# `-C link-arg=-L/tock/boards/hail`, so Cargo would have to rebuild the kernel
+# for each board instead of caching it per board (even if in reality the same
+# kernel is built because the link-arg isn't used by the kernel).
+#
+# Ultimately, this should move to the Cargo.toml, for example when
+# https://github.com/rust-lang/cargo/pull/7811 is merged into Cargo.
+#
+# The difference between `RUSTFLAGS_FOR_CARGO` and `RUSTFLAGS_FOR_BIN` is that
+# the former is forwarded to all the dependencies (being passed to cargo via
+# the `RUSTFLAGS` environment variable), whereas the latter is only applied to
+# the final binary crate (being passed as parameter to `cargo rustc`).
+RUSTFLAGS_FOR_BIN ?= \
+  -C link-arg=-L$(abspath .) \
 
 # Disallow warnings for continuous integration builds. Disallowing them here
 # ensures that warnings during testing won't prevent compilation from succeeding.
@@ -60,7 +85,7 @@ export TOCK_KERNEL_VERSION := $(shell git describe --tags --always 2> /dev/null
 # Validate that rustup is new enough.
 MINIMUM_RUSTUP_VERSION := 1.11.0
 RUSTUP_VERSION := $(strip $(word 2, $(shell $(RUSTUP) --version)))
-ifeq ($(shell $(MAKEFILE_COMMON_PATH)../tools/semver.sh $(RUSTUP_VERSION) \< $(MINIMUM_RUSTUP_VERSION)), true)
+ifeq ($(shell $(TOCK_ROOT_DIRECTORY)tools/semver.sh $(RUSTUP_VERSION) \< $(MINIMUM_RUSTUP_VERSION)), true)
   $(warning Required tool `$(RUSTUP)` is out-of-date.)
   $(warning Running `$(RUSTUP) update` in 3 seconds (ctrl-c to cancel))
   $(shell sleep 3s)
@@ -107,23 +132,26 @@ ifneq ($(V),)
   $(info *******************************************************)
   $(info TOCK KERNEL BUILD SYSTEM -- VERBOSE BUILD CONFIGURATION)
   $(info *******************************************************)
-  $(info PLATFORM            = $(PLATFORM))
-  $(info TARGET              = $(TARGET))
-  $(info TOCK_KERNEL_VERSION = $(TOCK_KERNEL_VERSION))
-  $(info RUSTFLAGS_FOR_CARGO = $(RUSTFLAGS_FOR_CARGO))
-  $(info MAKEFLAGS           = $(MAKEFLAGS))
-  $(info OBJDUMP_FLAGS       = $(OBJDUMP_FLAGS))
+  $(info MAKEFILE_COMMON_PATH = $(MAKEFILE_COMMON_PATH))
+  $(info TOCK_ROOT_DIRECTORY  = $(TOCK_ROOT_DIRECTORY))
+  $(info )
+  $(info PLATFORM             = $(PLATFORM))
+  $(info TARGET               = $(TARGET))
+  $(info TOCK_KERNEL_VERSION  = $(TOCK_KERNEL_VERSION))
+  $(info RUSTFLAGS_FOR_CARGO  = $(RUSTFLAGS_FOR_CARGO))
+  $(info MAKEFLAGS            = $(MAKEFLAGS))
+  $(info OBJDUMP_FLAGS        = $(OBJDUMP_FLAGS))
   $(info )
-  $(info TOOLCHAIN           = $(TOOLCHAIN))
-  $(info SIZE                = $(SIZE))
-  $(info OBJCOPY             = $(OBJCOPY))
-  $(info OBJDUMP             = $(OBJDUMP))
-  $(info CARGO               = $(CARGO))
-  $(info RUSTUP              = $(RUSTUP))
+  $(info TOOLCHAIN            = $(TOOLCHAIN))
+  $(info SIZE                 = $(SIZE))
+  $(info OBJCOPY              = $(OBJCOPY))
+  $(info OBJDUMP              = $(OBJDUMP))
+  $(info CARGO                = $(CARGO))
+  $(info RUSTUP               = $(RUSTUP))
   $(info )
-  $(info cargo --version     = $(shell $(CARGO) --version))
-  $(info rustc --version     = $(shell rustc --version))
-  $(info rustup --version    = $(shell $(RUSTUP) --version))
+  $(info cargo --version      = $(shell $(CARGO) --version))
+  $(info rustc --version      = $(shell rustc --version))
+  $(info rustup --version     = $(shell $(RUSTUP) --version))
   $(info *******************************************************)
   $(info )
 endif
@@ -139,27 +167,27 @@ all: release
 # binary. This makes checking for Rust errors much faster.
 .PHONY: check
 check:
-	$(Q)RUSTFLAGS="$(RUSTFLAGS_FOR_CARGO)" $(CARGO) check --target=$(TARGET) $(VERBOSE) --release
+	$(Q)RUSTFLAGS="$(RUSTFLAGS_FOR_CARGO)" $(CARGO) check $(VERBOSE) --target=$(TARGET) --package $(PLATFORM) --release
 
 .PHONY: clean
 clean::
 	$(Q)$(CARGO) clean $(VERBOSE)
 
 .PHONY: release
-release: target/$(TARGET)/release/$(PLATFORM).bin
+release: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).bin
 
 .PHONY: debug
-debug: target/$(TARGET)/debug/$(PLATFORM).bin
+debug: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM).bin
 
 .PHONY: debug-lst
-debug-lst: target/$(TARGET)/debug/$(PLATFORM).lst
+debug-lst: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM).lst
 
 .PHONY: doc
 doc: | target
-	$(Q)RUSTDOCFLAGS='-Z unstable-options --document-hidden-items' $(CARGO) doc $(VERBOSE) --release --target=$(TARGET)
+	$(Q)RUSTDOCFLAGS='-Z unstable-options --document-hidden-items' $(CARGO) doc $(VERBOSE) --release --package $(PLATFORM)
 
 .PHONY: lst
-lst: target/$(TARGET)/release/$(PLATFORM).lst
+lst: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).lst
 
 # Helper rule for showing the TARGET used by this board. Useful when building
 # the documentation for all boards.
@@ -170,34 +198,34 @@ show-target:
 # Support rules
 
 target:
-	@mkdir -p target
+	@mkdir -p $(TOCK_ROOT_DIRECTORY)target
 
 # Cargo outputs an elf file (just without a file extension)
 %.elf: %
 	$(Q)cp $< $@
 
-%.bin: %.elf $(MAKEFILE_COMMON_PATH)../tools/sha256sum/target/debug/sha256sum
+%.bin: %.elf $(TOCK_ROOT_DIRECTORY)tools/sha256sum/target/debug/sha256sum
 	$(Q)$(OBJCOPY) --output-target=binary $< $@
-	$(Q)$(MAKEFILE_COMMON_PATH)../tools/sha256sum/target/debug/sha256sum $@
+	$(Q)$(TOCK_ROOT_DIRECTORY)tools/sha256sum/target/debug/sha256sum $@
 
 %.lst: %.elf
 	$(Q)$(OBJDUMP) $(OBJDUMP_FLAGS) $< > $@
 
 
-$(MAKEFILE_COMMON_PATH)../tools/sha256sum/target/debug/sha256sum:
-	$(Q)$(CARGO) build $(VERBOSE) --manifest-path $(MAKEFILE_COMMON_PATH)../tools/sha256sum/Cargo.toml
+$(TOCK_ROOT_DIRECTORY)tools/sha256sum/target/debug/sha256sum:
+	$(Q)$(CARGO) build $(VERBOSE) --manifest-path $(TOCK_ROOT_DIRECTORY)tools/sha256sum/Cargo.toml
 
 
 # Cargo-drivers
 # We want to always invoke cargo (yay nested build systems), so these need to
 # be phony, which means they can't be pattern rules.
 
-.PHONY: target/$(TARGET)/release/$(PLATFORM)
-target/$(TARGET)/release/$(PLATFORM):
-	$(Q)RUSTFLAGS="$(RUSTFLAGS_FOR_CARGO)" $(CARGO) build --target=$(TARGET) $(VERBOSE) --release
+.PHONY: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)
+$(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM):
+	$(Q)RUSTFLAGS="$(RUSTFLAGS_FOR_CARGO)" $(CARGO) rustc $(VERBOSE) --target=$(TARGET) --package $(PLATFORM) --bin $(PLATFORM) --release -- $(RUSTFLAGS_FOR_BIN)
 	$(Q)$(SIZE) $@
 
-.PHONY: target/$(TARGET)/debug/$(PLATFORM)
-target/$(TARGET)/debug/$(PLATFORM):
-	$(Q)RUSTFLAGS="$(RUSTFLAGS_FOR_CARGO)" $(CARGO) build $(VERBOSE) --target=$(TARGET)
+.PHONY: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM)
+$(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM):
+	$(Q)RUSTFLAGS="$(RUSTFLAGS_FOR_CARGO)" $(CARGO) rustc $(VERBOSE) --target=$(TARGET) --package $(PLATFORM) --bin $(PLATFORM) -- $(RUSTFLAGS_FOR_BIN)
 	$(Q)$(SIZE) $@

boards/acd52832/Cargo.toml

@@ -5,18 +5,6 @@ authors = ["Tock Project Developers <tock-dev@googlegroups.com>"]
 build = "build.rs"
 edition = "2018"
 
-[profile.dev]
-panic = "abort"
-lto = false
-opt-level = "z"
-debug = true
-
-[profile.release]
-panic = "abort"
-lto = true
-opt-level = "z"
-debug = true
-
 [dependencies]
 components = { path = "../components" }
 cortexm4 = { path = "../../arch/cortex-m4" }

boards/acd52832/Makefile

@@ -1,6 +1,5 @@
 # Makefile for building the tock kernel for the nRF development kit
 
-TOCK_ARCH=cortex-m4
 TARGET=thumbv7em-none-eabi
 PLATFORM=acd52832
 
@@ -20,5 +19,5 @@ TOCKLOADER_JTAG_FLAGS = --jlink --board nrf52dk
 
 # Upload the kernel over JTAG
 .PHONY: flash
-flash: target/$(TARGET)/release/$(PLATFORM).bin
+flash: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).bin
 	$(TOCKLOADER) $(TOCKLOADER_GENERAL_FLAGS) flash --address $(KERNEL_ADDRESS) $(TOCKLOADER_JTAG_FLAGS) $<

boards/arty-e21/Cargo.toml → boards/arty_e21/Cargo.toml

@@ -1,26 +1,14 @@
 [package]
-name = "arty-e21"
+name = "arty_e21"
 version = "0.1.0"
 authors = ["Tock Project Developers <tock-dev@googlegroups.com>"]
 build = "build.rs"
 edition = "2018"
 
-[profile.dev]
-panic = "abort"
-lto = false
-opt-level = "z"
-debug = true
-
-[profile.release]
-panic = "abort"
-lto = true
-opt-level = "z"
-debug = true
-
 [dependencies]
 components = { path = "../components" }
 rv32i = { path = "../../arch/rv32i" }
 capsules = { path = "../../capsules" }
 kernel = { path = "../../kernel" }
-arty_e21 = { path = "../../chips/arty_e21" }
+arty_e21_chip = { path = "../../chips/arty_e21_chip" }
 sifive = { path = "../../chips/sifive" }

boards/arty-e21/Makefile → boards/arty_e21/Makefile

@@ -1,7 +1,7 @@
 # Makefile for building the tock kernel for the HiFive1 platform
 
 TARGET=riscv32imac-unknown-none-elf
-PLATFORM=arty-e21
+PLATFORM=arty_e21
 
 include ../Makefile.common
 
@@ -11,10 +11,10 @@ KERNEL_ADDRESS=0x400000
 TOCKLOADER_OPENOCD_FLAGS = --openocd --board arty
 
 .PHONY: flash-tockloader
-flash-tockloader: target/$(TARGET)/release/$(PLATFORM).bin
+flash-tockloader: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).bin
 	$(TOCKLOADER) $(TOCKLOADER_GENERAL_FLAGS) flash --address $(KERNEL_ADDRESS) $(TOCKLOADER_OPENOCD_FLAGS) $<
 
-flash: target/$(TARGET)/release/$(PLATFORM).bin
+flash: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).bin
 	openocd -f openocd/arty-openocd-digilent.cfg \
 		-c "init; jtagspi_init 0 openocd/bscan_spi_xc7a100t.bit; jtagspi_program $< 0x400000; shutdown"
 

boards/arty-e21/src/io.rs → boards/arty_e21/src/io.rs

@@ -1,4 +1,4 @@
-use arty_e21;
+use arty_e21_chip;
 use core::fmt::Write;
 use core::panic::PanicInfo;
 use core::str;
@@ -34,15 +34,15 @@ impl IoWrite for Writer {
 #[panic_handler]
 pub unsafe extern "C" fn panic_fmt(pi: &PanicInfo) -> ! {
     // turn off the non panic leds, just in case
-    let led_green = &arty_e21::gpio::PORT[19];
+    let led_green = &arty_e21_chip::gpio::PORT[19];
     gpio::Pin::make_output(led_green);
     gpio::Pin::set(led_green);
 
-    let led_blue = &arty_e21::gpio::PORT[21];
+    let led_blue = &arty_e21_chip::gpio::PORT[21];
     gpio::Pin::make_output(led_blue);
     gpio::Pin::set(led_blue);
 
-    let led_red = &mut led::LedLow::new(&mut arty_e21::gpio::PORT[22]);
+    let led_red = &mut led::LedLow::new(&mut arty_e21_chip::gpio::PORT[22]);
     let writer = &mut WRITER;
     debug::panic(
         &mut [led_red],