Add 2 new benchmark utilization syscalls

- seL4_BenchmarkDumpAllThreadsUtilisation: Prints a JSON formatted
record of total and per-thread utilisation statistics about the system.
This currently includes a thread's total cycles scheduled, total number
of times scheduled, total cycles spent in the kernel and total number of
times entering the kernel and then totals of each for all threads on the
current core.
- seL4_BenchmarkResetAllThreadsUtilisation: Resets the current counts of
every user thread on the current core.

These syscalls are only available in a Debug build configuration as they
use a kernel debug list of all of the threads that exist for a given
node.

Signed-off-by: Kent McLeod <Kent.Mcleod@data61.csiro.au>

Enabled IPC debug features under new config

Introduced a new config flag to enable
userError format strings to be written to the IPC buffer.
Another config bool has been introduced to toggle
printing the error out and this can also be set at runtime.

Signed-off-by: Saer Debel <saer.debel@data61.csiro.au>

replacing all ifndef with pargma once

All the kernel header files now use pargma once rather than the ifndef,
as the pre-processed C files do not change while header files
are protected with pargma once. This will also solve any naming issues
caused by ifndef.

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.

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.

Add syscall for setting the current TLS register.

Some platforms and configurations do not allow user code to change the
value of the register used for TLS. On these architectures a syscall can
be used to allow the kernel to update the register on their behalf.

This does not immediately update the value in the user context on many
configurations as the values are only stored in the user context on a
context switch.

Remove platform IPC buffer register.

This removes the assumption that each platform sotres the IPC buffer
address in a platform-specific register. The IPC buffer address is
instead stored in a thread-local variable in libsel4 which must be
initialised by the runtime.

style: set code width to 120

style: consistently attach return type

Add attach-return-type to astyle

style: consistently align pointer with name

Run astyle with align-pointer=name

style: correct parenthesis padding

Use astyle's unpad-paren to unpad all parentheses that are not included
by pad-header, pad-oper, and pad-comma.

libsel4: Correct type typo in syscalls.h

x86: Dangerous read/write MSR interface

Provides a syscall interface for reading and writing arbitrary MSR values. This is
being introduced as an alternative to the DebugRun, as the main purpose of debug run
is for modifying the performance monitoring events via read/write MSR.

libsel4: Remove unused argument in seL4_VMEnter syscall

This VCPU argument does not make sense given semantics of the VMEnter syscall,
and as a result the argument is ignored by the kernel.

libsel4: fix licenses

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

seL4_DebugDumpScheduler: remove unused argument

SELFOUR-880: add seL4_DebugDumpScheduler

- when CONFIG_DEBUG is enabled, track all threads
- when CONFIG_PRINTING is enabled, provide seL4_DebugDumpScheduler which
allows the user to dump the state of the kernel scheduler.

SELFOUR-862: CONFIG_PRINTING --> seL4_DebugPutChar

seL4_DebugPutChar is only available when CONFIG_PRINTING is enabled

Modify FinalizeLog syscall

There is no way to know how many entries the syscall log contains
otherwise. One option was iterating through until finding a 0
terminator, however this requires the log to be zeroed before each
trial. This changes the FinalizeLog syscall to return the number of
entries.

Change debug #ifdefs to be from autoconf.h

Previously the #ifdefs for some debug syscalls relied on definitions
from Makefile.flags in sel4_tools. This changes them to use configs
defined in autoconf.h which makes them easier to import when building
projects that don't use sel4_tools.

libsel4: Optional public symbols for external interfaces

CONFIG_LIB_SEL4_PUBLIC_SYMBOLS=y will disable inlining for external
interfaces (except deprecated functions), thereby providing public
symbols for easy linkage with other languages.

add seL4_BenchmarkFlushCaches() for arm and ia32

Available when CONFIG_ENABLE_BENCHMARKS is set, flushes caches for
running cold-cache benchmarks

SELFOUR-287: 32-bit vt-x implementation

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

[STYLE_FIX]

ia32/libsel4: Refactor syscall functions

Refactors syscalls to use common base functions for assembly stubs.
These base functions are duplicated to create the PIC variants.

SELFOUR-603 - Benchmark: Add null syscall

Benchmark: Implement per-thread reset syscall

x86: Correct seL4_DebugRun syscall stub

This stub was messed up during the merge of
fbeb95edb927fa1c7f8cd9b0b33d3db1d7725339
this commit corrects

[STYLE_FIX]

x86: support position independent syscall bindings

Fixes #34

SELFOUR-518: Benchmark - User-level log buffer, delete dump and size system calls

Given that the log buffer is now
(79291252a8cf7bf88a6597a96e25313d56e9c7a5) in user-level, the kernel doesn't have
to dump and send the size for users. Users have to take care of this.

SELFOUR-518: User-level log buffer

Remove global ksLog and use KS_LOG_PPTR instead

Benchmark - Log buffer: use global page table

SELFOUR-566: Decouble seL4_DebugNameThread from CONFIG_PRINTING

SELFOUR-448 Benchmark: Track thread's CPU utilisation time

SELFOUR-446 Unify code base for trace points and track feature

SELFOUR-446 Benchmark: Track interrupts and user/vm faults

SELFOUR-446 Benchmark: Track syscall feature

Benchmark feature that currently:
- Keeps track of system calls info
- Start time
- Duration
- Capability type
- Invocation tag
- Log the number of invocations of each system call*
- Log the number of invocations for each capability type per syscall.
- Has 3 new syscalls (dump, reset, get size).
- This new feature uses the existing log buffer (which is 1MiB for x86
and ARM). Since the number of syscall invocations is not
deterministic, the logged number of invocations is limited by the size
of the buffer. I suggested to enable the users to pass their own
user-level buffer, to enable more flexibility, later.
- ENABLE_BENCHMARKS is now a parent config option of trace points and
system call track features, they can't be used at the same time.

Correct separation of printing and debug builds

Fixes some build issues with 541289a32603cee8242b5360b05e8f0c52795433
as well as further allowing debugging (via the capdl interface) to
happen when printing is turned off.

SELFOUR-406: fix message length used by seL4_Signal in libsel4

libsel4: Generate libsel4 definitions from the current ARCH as well as the SEL4_ARCH