[2/4] mm/pgalloc, arch/xtensa: Support BUILD_KERNEL on Xtensa

arch/xtensa/include/irq.h

@@ -216,6 +216,23 @@ struct xcptcontext
 
   uint32_t *regs;
 
+#ifdef CONFIG_ARCH_KERNEL_STACK
+  /* In a kernel build the kernel cannot run on the stack of the process it
+   * is working for.  That stack lives in a cache-MMU window which
+   * up_addrenv_select() reprograms, so it would move out from under the
+   * kernel the moment it touched another process's address environment --
+   * taking the exception frame and every spilled register window with it.
+   * Each thread therefore gets a small stack of its own in kernel memory,
+   * which no address environment change can disturb.
+   */
+
+  uint32_t *kstack;    /* Allocated base of the kernel stack */
+  uint32_t *ktopstk;   /* Top of the kernel stack (initial stack pointer) */
+  uint32_t *ustkptr;   /* Saved user stack pointer, while in a system call */
+  uint32_t *kstkptr;   /* Saved kernel stack pointer, while a user signal
+                        * handler runs on the user stack */
+#endif
+
 #ifdef CONFIG_LIB_SYSCALL
   /* The exception frame of the system call currently in progress, i.e. the
    * caller's register context as the vector saved it.  A system call body

arch/xtensa/src/Makefile

@@ -199,10 +199,20 @@ ifneq ($(CONFIG_WINDOWS_NATIVE),y)
 endif
 
 # This is part of the top-level export target
+#
+# A kernel build links its user programs outside this tree, against the
+# export package, so crt0 has to travel with it:  apps/import expects to
+# find it as startup/crt0.o.
+
+ifeq ($(CONFIG_BUILD_KERNEL),y)
+EXPORT_STARTUP_OBJS = $(STARTUP_OBJS) $(STARTUP_ELF_OBJS)
+else
+EXPORT_STARTUP_OBJS = $(STARTUP_OBJS)
+endif
 
-export_startup: $(STARTUP_OBJS)
+export_startup: $(EXPORT_STARTUP_OBJS)
 	$(Q) if [ -d "$(EXPORT_DIR)/startup" ]; then \
-		cp -f $(STARTUP_OBJS) "$(EXPORT_DIR)/startup"; \
+		cp -f $(EXPORT_STARTUP_OBJS) "$(EXPORT_DIR)/startup"; \
 	 else \
 		echo "$(EXPORT_DIR)/startup does not exist"; \
 		exit 1; \

arch/xtensa/src/common/Make.defs

@@ -86,7 +86,11 @@ ifeq ($(CONFIG_XTENSA_SEMIHOSTING_HOSTFS),y)
   CMN_CSRCS += xtensa_hostfs.c
 endif
 
-ifeq ($(CONFIG_BUILD_PROTECTED),y)
+ifeq ($(CONFIG_ARCH_KERNEL_STACK),y)
+  CMN_CSRCS += xtensa_addrenv_kstack.c
+endif
+
+ifneq ($(CONFIG_BUILD_FLAT),y)
   CMN_UASRCS += xtensa_signal_handler.S
   CMN_ASRCS  += xtensa_dispatch_syscall.S
   CMN_CSRCS  += xtensa_task_start.c xtensa_pthread_start.c

arch/xtensa/src/common/crt0.c

@@ -25,6 +25,7 @@
  ****************************************************************************/
 
 #include <nuttx/config.h>
+#include <nuttx/macro.h>
 
 #include <sys/types.h>
 #include <stdlib.h>
@@ -55,6 +56,53 @@ int main(int argc, char *argv[]);
  * Private Functions
  ****************************************************************************/
 
+#ifdef CONFIG_BUILD_KERNEL
+
+/****************************************************************************
+ * Name: sig_trampoline
+ *
+ * Description:
+ *   The user-space signal handler trampoline.  A kernel build cannot reach
+ *   the one in xtensa_signal_handler.S -- that lives in libarch, which user
+ *   programs do not link -- so it is carried here in crt0 instead, and
+ *   _start() publishes it to the kernel through ARCH_DATA_RESERVE.  The
+ *   kernel enters it from the SYS_signal_handler case of xtensa_swint().
+ *
+ *   Written as file-scope assembly rather than as a naked function because
+ *   GCC does not implement the naked attribute on Xtensa: it would emit a
+ *   window-rotating prologue and quietly invalidate the register assignments
+ *   below.
+ *
+ * Input Parameters:
+ *   a2 = sighand, the user-space signal handling function
+ *   a3, a4, a5 = signo, info and ucontext, its arguments
+ *
+ * Returned Value:
+ *   None.  This function does not return in the normal sense; it returns
+ *   via the SYS_signal_handler_return syscall.
+ *
+ ****************************************************************************/
+
+__asm__
+(
+  "  .text\n"
+  "  .global sig_trampoline\n"
+  "  .type   sig_trampoline, @function\n"
+  "  .align  4\n"
+  "sig_trampoline:\n"
+  "  mov    a6, a3\n"          /* Move signo into the callee's a2 */
+  "  mov    a7, a4\n"          /* Move info into the callee's a3 */
+  "  mov    a8, a5\n"          /* Move ucontext into the callee's a4 */
+  "  callx4 a2\n"              /* Call the signal handler */
+  "  movi   a2, " STRINGIFY(SYS_signal_handler_return) "\n"
+  "  syscall\n"                /* Will not return */
+  "  .size sig_trampoline, .-sig_trampoline\n"
+);
+
+void sig_trampoline(void);
+
+#endif /* CONFIG_BUILD_KERNEL */
+
 #ifdef CONFIG_HAVE_CXXINITIALIZE
 
 /****************************************************************************

arch/xtensa/src/common/xtensa_addrenv_kstack.c

@@ -0,0 +1,129 @@
+/****************************************************************************
+ * arch/xtensa/src/common/xtensa_addrenv_kstack.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/sched.h>
+
+#include "xtensa.h"
+
+#if defined(CONFIG_ARCH_ADDRENV) && defined(CONFIG_ARCH_KERNEL_STACK)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* The Xtensa windowed ABI requires 16-byte stack alignment */
+
+#define KSTACK_ALIGNMENT  16
+#define KSTACK_ALIGN_DOWN(a) ((a) & ~(KSTACK_ALIGNMENT - 1))
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: up_addrenv_kstackalloc
+ *
+ * Description:
+ *   This function is called when a new thread is created to allocate the
+ *   new thread's kernel stack.  This function may be called for certain
+ *   terminating threads which have no kernel stack.  It must be tolerant of
+ *   that case.
+ *
+ *   The stack comes from the kernel heap, which lives in internal SRAM and
+ *   is mapped identically no matter which address environment is selected.
+ *   That is the whole point of it:  the kernel needs somewhere to keep the
+ *   exception frame and its spilled register windows that does not move when
+ *   up_addrenv_select() reprograms the user cache-MMU windows.
+ *
+ * Input Parameters:
+ *   tcb - The TCB of the thread that requires the kernel stack.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int up_addrenv_kstackalloc(struct tcb_s *tcb)
+{
+  DEBUGASSERT(tcb && tcb->xcp.kstack == NULL);
+
+  tcb->xcp.kstack = kmm_memalign(KSTACK_ALIGNMENT, ARCH_KERNEL_STACKSIZE);
+  if (tcb->xcp.kstack == NULL)
+    {
+      berr("ERROR: Failed to allocate the kernel stack\n");
+      return -ENOMEM;
+    }
+
+  /* Xtensa stacks grow down and must stay aligned, so the usable top is the
+   * far end of the allocation.
+   */
+
+  tcb->xcp.ktopstk = (uint32_t *)
+    KSTACK_ALIGN_DOWN((uintptr_t)tcb->xcp.kstack + ARCH_KERNEL_STACKSIZE);
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: up_addrenv_kstackfree
+ *
+ * Description:
+ *   This function is called when any thread exits.  This function frees
+ *   the kernel stack.
+ *
+ * Input Parameters:
+ *   tcb - The TCB of the thread that no longer requires the kernel stack.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int up_addrenv_kstackfree(struct tcb_s *tcb)
+{
+  DEBUGASSERT(tcb);
+
+  /* Does the exiting thread have a kernel stack? */
+
+  if (tcb->xcp.kstack != NULL)
+    {
+      kmm_free(tcb->xcp.kstack);
+      tcb->xcp.kstack  = NULL;
+      tcb->xcp.ktopstk = NULL;
+    }
+
+  return OK;
+}
+
+#endif /* CONFIG_ARCH_ADDRENV && CONFIG_ARCH_KERNEL_STACK */

arch/xtensa/src/common/xtensa_initialstate.c

@@ -81,11 +81,24 @@ void up_initial_state(struct tcb_s *tcb)
   const uintptr_t base = ALIGN_UP((uintptr_t)&_rodata_reserved_align,
                                  TCB_SIZE);
 #endif
+#ifdef CONFIG_ARCH_KERNEL_STACK
+  /* The kernel stack is allocated before the thread's initial state is set
+   * up, so hold on to it across the wipe below.
+   */
+
+  uint32_t *kstack  = xcp->kstack;
+  uint32_t *ktopstk = xcp->ktopstk;
+#endif
 
   /* Initialize the initial exception register context structure */
 
   memset(xcp, 0, sizeof(struct xcptcontext));
 
+#ifdef CONFIG_ARCH_KERNEL_STACK
+  xcp->kstack  = kstack;
+  xcp->ktopstk = ktopstk;
+#endif
+
   /* Initialize the idle thread stack */
 
   if (tcb->pid == IDLE_PROCESS_ID)