Convert license tags to SPDX identifiers

This commit also converts our own copyright headers to directly use
SPDX, but leaves all other copyright header intact, only adding the
SPDX ident. As far as possible this commit also merges multiple
Data61 copyright statements/headers into one for consistency.

trivial: add correct section in docs

mcs: add seL4_SchedContext_YieldTo

Implement seL4_SchedContext_YieldTo, which allows users to manipulate
the scheduling queues up to their MCP and can be used for user level
scheduling.

mcs: timeout exceptions

- Add seL4_TCB_SetTimeoutEndpoint
- implement timeout exceptions

mcs: install fault endpoint into tcb cnode

- seL4_TCB_Configure no longer takes a fault endpoint.
- seL4_TCB_SetSpace takes a cap in the callers cspace for the
fault endpoint, not the target tcbs.
- seL4_TCB_SetSchedParams now also takes a fault endpoint as above.

This change installs the fault endpoint cap into the tcb cnode
first validating it.

This means either of the functions that set it will now return an error
if the cap is not either a null cap or an endpoint with send and
grant rights.

Significantly, the cap passed to the function should be in the callers
cspace, not the target tcbs.

mcs: configurable scheduling context size

This allows users to define custom amounts of refills without
increasing the scheduling context size system wide.

also add libsel4 functions for refill size

trivial: fix error tags in sel4.xml

mcs: update manual

Major manual update with details of the MCS configuration option of the
kernel.

mcs: scheduling context donation over ipc

After this commit, threads blocked on an endpoint can recieve a
scheduling context from the thread that wakes the blocked thread.

mcs: add periodic scheduling

This commit adds periodic scheduling with sporadic servers.

mcs: Add a scheduling context object

This is the first part of the seL4 MCS. This commit:

* adds a scheduling context object. Threads without scheduling
context objects cannot be scheduled.
* replaces tcbTimeSlice with the scheduling context object
* adds seL4_SchedControl caps for each core
* adds seL4_SchedControl_Configure which allows users to configure
amount of ticks a scheduling context has, and set a core for the
scheduling context.
* adds seL4_SchedContext_Bind, Unbind and UnbindObject, which allows
a tcb to be bound to a scheduling context.

manual: document badge range for 64-bit platforms

Strongly type these interface arguments

TCB API: Fix minor discrepancy: seL4_CNode was used for VSpace roots

docs: s/depth of 32/depth equivalent to the wordsize

SELFOUR-823: Provide TCB invocation for setting TLS_BASE

This provides a common invocation for all architectures for setting their respective
TLS_BASE virtual register. As you frequently want to modify your *own* TLS_BASE, and
doing read/write registers to modify your own registers is tricky to impossible
depending on which register and how they are ordered in seL4_UserContext, this is a
separate invocation.

libsel4: Removed use of parentheses in XML docs

Removed use of parentheses in sel4.xml around \texttt tag as it
deforms markdown generated output.

manual: Added <docref> XML Tag to Doxygen

Introduced a new Doxygen XML tag '<docref>'. The intention of
this tag is to indicate a section of text in the Doxygen XML that
will contain a reference to another section in the Manual e.g.
"See \autoref<sec:x>". As other generation formats aren't aware of
other chapters/sections in the manual, the <docref> encapsulation
allows it to omit the text from the output. The Latex generator
has been modified to continue parsing the 'docref' contents.

SELFOUR-331: add seL4_TCB_SetSchedParams

This allows the prio and mcp to be set in one system call.

Change prio, mcp to seL4_Word from Uint8_t

Although seL4_MaxPrio does fit into 8 bits, making
the argument 8 bits is not saving us anything.

SELFOUR-1016: Require auth cap to set prio/mcp

This fixes confused deputy problem when setting priorities/mcps.

libsel4: Remove bitfield type unifying Guard and Badge construction

Using the bitfield generator to treat guards and badges as a union type can be convenient,
but it requires reserving a bit in the data for the bitfield run time type information.
This type information is not needed by the kernel as it knows implicitly whether the passed
data is a badge or a guard based on the kind of cap being operated on. However, with the
type information present we cannot pass a word sized piece of data to the kernel.

The solution here is to go back to using a plain seL4_Word as the type for invocations
that want a capdata and let the user either construct a badge as a plain word, or use
the seL4_CNode_CapData bitfield for constructing a guard, although they have to manually extract
the word representation out of it.

manual: allow non sec autorefs

Previously anything in an autoref block was assumed to reference
a section, which isn't true. Change 'sec' to 'label' and move the
'sec' prefix into the label itself.

libsel4: fix licenses

- some were incorrectly marked GPL (libsel4 is BSD)
- update NICTA --> DATA61 etc
- fix tags D61 --> DATA61
- update year to 2017

manual: Remove errorenumdesc docs from sel4 idl

Methods with no output params return an error. Previously each such
method had a line of documentation in its interface definition
explaining this. This commit removes this. The documentation is
for such cases is generated implicitly.

SELFOUR-708: fix priority docs on TCBConfigure

manual: Remove empty cap description attribute

manual: Add docs to arch-independent inv xml file

This also moves the description of TCBSetEPTRoot from the general object
invocation xml file to the x86-specific one to prevent the need for
documentation-generating scripts to distinguish between VTX (ie. x86)
invocations, and truly architecture independent invocations.

JIRA: SELFOUR-606

libsel4: Trivial whitespace

SELFOUR-567: use seL4_CapRights_t from libsel4

This change

* changes seL4_CapRights from the kernel to be seL4_CapRights_t in
libsel4
* deprecates the duplicated seL4_CapRights in libsel4, which is
now the bitfield generated type seL4_CapRights_t.
* fixes all usages in kernel and libsel4

Impact: for verification, this will require the type to change name
from cap_rights to seL4_CapRights_t.
This is a breaking libsel4 API change, although most code uses
seL4_AllRights or similar constants, which will not break
at a source level as these constants have been updated.

Remove recycle

Removes the recycle operation and adds an operation
to cancel any badged sends on and endpoint. Calling
Revoke + CancelBadgedSend is equivalent to Recycle
on a badged endpoint

libsel4: Update condition for SetEPTRoot

Using `config=` for guarding invocations was changed to be
`condition=`, but `SetEPTRoot` was not updated

SELFOUR-287: 32-bit vt-x implementation

This is an implementation of vt-x for x86 kernels running in
ia32 mode.

add basic api for setting affinity

update #ifdef to #if in auto generated files

SELFOUR-499: X86, ARM: Add userspace invocations for hardware debugging

This commit implements the body of SELFOUR-499. The API exposes the x86 DR0-7
and ARM coprocessor 14 features to userspace by virtualizing them as context-
switched registers in the TCB. Implemented as TCB invocations. This feature is
only built when CONFIG_HARDWARE_DEBUG_API is selected.

* Add low-level support routines for setting, unsetting, getting, enabling
and disabling breakpoints.
* Add support for single-stepping as well.
^ Single-stepping is not supported on ARMv6 since the hardware
doesn't have support.
^ ARM implements single-stepping as instruction breakpoints
configured to fault on every instruction -- this is achieved through
the "mismatch" mode, which is only supported from ARMv7 onwards.
* Also support explicit software break requests, a la "BKPT" and "INT $3".

* New invocations:
* seL4_TCB_SetBreakpoint().
* seL4_TCB_GetBreakpoint().
* seL4_TCB_UnsetBreakpoint().
* seL4_TCB_ConfigureSingleStepping().
* New constants:
^ Event types:
^ seL4_InstructionBreakpoint.
^ seL4_DataBreakpoint.
^ seL4_SoftwareBreakRequest.
^ Access types:
^ seL4_BreakOnRead.
^ seL4_BreakOnWrite.
^ seL4_BreakOnReadWrite.
^ Exports:
^ seL4_NumHWBreakpoints.
^ seL4_NumExclusiveBreakpoints.
^ seL4_NumExclusiveWatchpoints.
^ seL4_NumDualFunctionMonitors.
^ seL4_FirstBreakpoint.
^ seL4_FirstWatchpoint.
^ seL4_FirstDualFunctionMonitor.

See documentation in the seL4 API manual.

SELFOUR-276: Add MCP field to threads.

Where MCP = Maximum Controlled Priority

This commit adds:

* seL4_TCB_SetMCPriority

and changes the arguments to

* seL4_TCB_Configure

As of this commit, a thread cannot create or set a threads
priority (including itself) above its mcp. Previously the kernel
did this check against a threads priority, which prevented a thread
from setting it's own priority down and then up again.

x86: IOAPIC/MSI syscalls

Restructure the x86 interrupt handling to allow for a more flexible
method of using IOAPIC and MSI interrupts. The essence of this change
is to allow for the user to pick, for both IOAPIC and MSIs, which
CPU vector to use. Additionally there is future support, in the API,
for seL4 to eventually protect MSI interrupts with the vt-d interrupt
routing tables.

API behaviour for legacy systems using the PIC is preserved

Part of SELFOUR-281

Remove redundant IRQInterruptControl invocation, and replace with a mechanism to actually decode arch specific IRQ invocations

Part of SELFOUR-281

libsel4: use seL4_Word to avoid packing on architectures where int is not the machine size

AEP -> Notification: deprecate old API syscalls, functions and constants that refer to AEP's and introduce new ones that refer to Notifications

Introduce 'Notification Binding': a new feature which allows a tcb to be bound to a single asynchronous endpoint.

Streamline libsel4 and remove its libc dependencies.

There are now separate libs for benchmark, assert, printf, putchar
start/stop:

libs/libsel4benchmark
libs/libsel4assert
libs/libsel4printf
libs/libsel4putchar
libs/libsel4startstop

The primary changes are introducing sel4/sel4.h and removing std* types
plus porting assert and IO code from the kernel to libsel4assert,
libsel4printf, libsel4putchar.

This means the code within libsel4 and the newlibs do not overload any
typical libc entities. Instead the libraries use types like
seL4_Uint32 ... instead of uint32_t. And printf is now seL4_Printf and
assert is seL4_Assert ....

Finally, the only file modified that effects kernel code is
kernel/tools/bitfield_gen.py. It needed to be modified as it generates
files for both kernel and user space. And for user space the generated code
(types_gen.h) needed to use the new types and asserts. The changes should
not change what is generated for the kernel and I did a comparison of
kernel_final.{c|s} before and after my change and the only differences
were time stamps.

Bug: #15 Streamline kernel/libsel4 and remove its libc dependencies

Support IOAPIC on ia32 and modify interrupt handling to support user level setting of modes

Release snapshot