Make kernel log buffer derived from cmake config

This removes the explicit CMake configuration for the kernel log buffer
and replaces it with a #define that is enabled for the required
configurations.

Signed-off-by: Curtis Millar <curtis@curtism.me>

SMMU: basic driver for init and probing

Introducing the driver in kernel for detecting SMMU features
and initialise the hardware.

Signed-off-by: Oliver Scott <Oliver.Scott@data61.csiro.au>

Remove references to kernelBase

kernelBase was used inconsistently between different architectures to
refer to the either of the first kernel address or the first address of
the mappings of the kernel ELF region specifically.

These have been replaced with more consistent use of constants
explicitly describing which region is being referenced.

Signed-off-by: Curtis Millar <curtis.millar@data61.csiro.au>

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.

arm: Restrict cache flush operations in hyp mode

Cache flush operations are applied through the kernel window mapping in
hyp mode. This requires an extra check that the frame being provided is
accessible through the kernel window.

Move vcpu_switch into Arch_switchToThread

Currently the vcpu_switch function is called in the setVMRoot function
after possible early returns. In order to make sure the vcpu is
always switched, the call is moved into Arch_switchToThread before the
call to setVMRoot.

SELFOUR-161: Merge Page_Remap with Page_Map

- Remove Remap function from seL4 API for arm, x86, riscv and the
respective invocation implementation.
- Update Map as replacement for Remap
- Update manual

This allows a change of rights if the frame being mapped is already
mapped in at the given vaddr. To map a page to a different address,
unmap it first.

Co-authored-by: Hesham Almatary <hesham.almatary@data61.csiro.au>
Co-authored-by: Anna Lyons <Anna.Lyons@data61.csiro.au>
Co-authored-by: Victor Phan <Victor.Phan@data61.csiro.au>
Co-authored-by: Kent McLeod <Kent.Mcleod@data61.csiro.au>

Replace IPC_BUF_GLOBALS_FRAME with KERNEL_GLOBALS_FRAME

The globals frame no longer serves its original purpose of informing a
thread of its IPC buffer address, and instead as a virtual
implementation of thread ID registers.

boot: refactor allocation of rootserver objects

Prior to this change, the boot process would dynamically allocate
memory for root server objects based on the order of initialisation.
Allocation was a best-fit algorithm.

This change preallocates all memory for root server objects to an
aligned untyped just after the user image. By allocating the objects in
order of size, allocation is greatly simplified and the ability to
reproduce the allocation offline based on the kernel and user image
sizes is increased.

boot: reduce duplicate code in map_kernel_frame

Reduce duplicated code by moving values that are different across
configs/attributes into their own conditionals, rather than the entire
call to pte_pte_small_new. This alters arm only.

style: set code width to 120

style: set min-conditional-indent to 0

Given we use braces all the time conditional indents do not make code
cleaner.

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.

Upgrade to astyle 3.1

This produces minor changes

ARM: stop using plat/machine/devices.h

This header is going away and contains nothing of substance. Remove it.

ARMv7: Fix cache and invalidation bugs in benchmark log setter

* Use cleanByVA_PoU since we are only cleaning a single word each iteration of the loop.
* invalidateTranslationSingle takes a virtual address, not a physical address

Declare and check IPC buffer size

Adds a named constant of the IPC buffer size bits that can be used when checking the
size/alignment of an IPC buffer. This constant has a compile time assertion to ensure
it corresponds to the actual IPC buffer

Share linker.h between architectures

SELFOUR-748: ARM - Support local/remote TLB invalidation operations

arm: Do not print out message on failed lookup

This case can happen regularly in common kernel usage and this warning message
unnecessarily clutters output

SELFOUR-879: expose index and entry constants

SELFOUR-160: Add missing userError messages

arm: Correctly get base address of super sections in resolveVAddr

resolveVAddr: add default case to switch

Needed to make C parser happy.

[STYLE_FIX]

arm-hyp: Do not assume pages have valid mapping in resolveVAddr

arm: Check type of all slots in large page mappings

arm: Construct correct addresses for multi entry mappings when hyp enabled

Multi entry mappings (large pages and super sections) are a just a hint with the paging
format when hyp is enabled. As such the entry needs to be correct as though the hint bit
is not set, meaning each of the 16 entries needs to have an independently correct
address field. This was already done in the case of remapping, but not for mapping. This
change implements this for mapping, and changes the remapping code to use a loop
formulation that will be easier to verify.

s/DEBUG/CONFIG_DEBUG_BUILD/

DEBUG definition is not supposed to be used in the kernel, rather CONFIG_DEBUG_BUILD,
which can be toggled separately to user notion of DEBUG

SELFOUR-836: Hardware debug API functions should take tcb_t and not arch_tcb_t

Touches files all throughout x86 (32 and 64) and ARM.

rename arch_tcb.vcpu -> arch_tcb.tcbVCPU, vcpu.tcb -> vcpu.vcpuTCB

struct vcpu { struct tcb* tcb; ...
struct arch_tcb { struct vcpu* vcpu; ...
and
struct tcb { struct arch_tcb tcbArch; ...

These conspire to generate a type error on verification side due to
assumptions about non-colliding names.

ARM/Hyp: vspace - enable nonexecutable (NX) attribute

Add UNUSED

SELFOUR-744: ARM/SMP - Map kernel window and root task as cache-shareable

Default user PTEs/PDEs are also default to be shared. Later, we can
provide an option to allow the user not to map frames as shared.

arm_hyp: Use an explicitly invalid PD when there is no user one

When the user has no PD in order to schedule them we must still set something as
the active PD, just so that they can then fault. Previously when hypervisor was
enabled `0` was at as the PD. This worked as platforms typically do not have
anything valid, and certainly nothing resembling a page directory, at physical
address 0. This assumption is not very clean and unknown physical addresses
should not be accessed, so this change adds an explicit PD that is empty that
can be switched to.

ARM/SMP: Prepare for ARM SMP adding stubs

Currently building ARM/SMP is broken. This commit:
1- Makes it possible to build ARM/SMP with stubs. Run-time SMP for ARM
DOES NOT WORK.
2- Can be a reference for future SMP targets to follow in order to
layout/add the minimal required files and functions needed to support SMP.
3- Builds for Sabre only. In order to support other platforms, ipi
interrupt ID should be defined in machine.h

arm: SELFOUR-167: Use write allocate cache policy in kernel

Kernel currently uses a write back but not write allocate cache policy for kernel
memory mappings. This results in extremely poor performance for kernel operations
that need to zero memory that is not currently located in the cache. The change
in this commit is to use a write back and write allocate cache policy, matching
the policy used for user mappings

ARM: Refactor how we get/set seL4 kernel stack

This commit makes seL4 hold the stack address on TPIDRPRW register (PL1 only
Thread ID Register, VMSA, see B4.1.150 section of ARMv7-A and ARMv7-R
edition reference manual).

Originally, the kernel stack was (re-)mapped to a fixed kernel virtual address and
on traps sp is loaded with this virtual address. Reason is to shave up some
cycles/instructions on (fast) traps path instead of having two instructions
(loading global variable pointer and then memory-load stack address from
it).

With ARM pipelining getting smart/complex (from ARMv7 onwards), there is
no noticeable difference in performance between the two implementations.
Furthermore, this change makes it easy for SMP to load different stacks
for each core and do CPU ID arithmetic efficiently. It also avoids the
issues involving (re-)mapping stacks for different cores if we
followed the original design.

Note: the main side-effect to this change is that the kernel stack for
ARM is no longer mapped with execute-never attribute.

Unify kernel stack definition/declaration and share it between architecures/modes

Rather than defining a kernel stack in random places for each
architecure for each mode (32/64) and for single/SMP modes, make the
stack definition shareable between all of the above. This is also useful
for the future ARM SMP work.

Benchmark: Fix error due to fault function name change

s/fault_cap_fault_new/seL4_Fault_CapFault_new

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.

SELFOUR-413: refactor libsel4 fault API

This is a *breaking API change*

This commit:

* makes seL4_Fault_tag_t common between the kernel and libsel4
* deprecates the existing functions from sel4/messages.h includes
* introduces a new fault API in sel4/faults.h and
* sel4/sel4_arch/faults.h
* deprecates seL4_GetTag(), as the function did not work without
the user calling seL4_SetTag() first (seL4_MessageInfo is passed
in registers and not set in the IPC buffer)
* removes previously deprecated functions (deprecated prior to 3.0.0)
* updates the seL4 manual to reflect the changes

Split fault types into arch/generic

Prior to this commit faults were separate
per architecture. This commit extracts the common
fault types and introduces arch specific faults,
reducing code duplication across architectures.

SELFOUR-553: Support alternate IPC buffer locations without globals frame

This commit adds support for using the ThreadID registers of the ARM MPCore
platforms for storing the address of the IPC buffer instead of the globals
frame. The choice of using the user readable/writeable ThreadID register
is chosen, even though it means the user cannot use it for its own
purposes, as it leaves room in the future for doing TLS support in the
user read only register, where compilers expect it.

Benchmark: Pack arch-independent benchmark-related files into separate directories

arm_hyp: Move hype state into correct statedata header

The hypervisor state is declared in arch/32/statedata.c, but is
defined in arch/statedata.h. This commit moves the definitions to
arch/32/statedata.h to match all the other state in arch/32/statedata.c

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.

[STYLE_FIX]

SELFOUR-421: minor changes for c-refine

SELFOUR-421 Introduce explicit device frames and untypeds

Kernel objects cannot be created from device untypeds, with the
exception of frames, which do not get zeroed and cannot be used
as an IPC buffer. Device untypeds additionally cannot be used
in the construction of ASID pools.

This then changes the API to the rootserver (i.e. bootinfo) to
send device untypeds instead of device frames. On ARM these
device untypeds are the same as the previously exported device
frame regions. On x86 PCI scanning is removed and all physical
memory addresses (that are not important for kernel integrity)
are released to the user.

In order to have bits in the frame and untyped caps on ARM the
number of software ASIDs had to be reduced from 2^18 to 2^17,
and the maximum untyped size reduced from 2^31 to 2^30

SELFOUR-556: Rationalize BITS vs INDEX_BITS

s/PD_BITS/PD_INDEX_BITS
Current convention is to say that X_BITS is the log base 2
size of an object, not the log base 2 number of indices

SELFOUR-556: Rationalize BITS vs INDEX_BITS

s/PT_BITS/PT_INDEX_BITS
Current convention is to say that X_BITS is the log base 2
size of an object, not the log base 2 number of indices

SELFOUR-518: User-level log buffer

Remove global ksLog and use KS_LOG_PPTR instead

Benchmark - Log buffer: use global page table

Benchmark: share and use KS_LOG_PPTR and PPTR_TOP for x86 and ARM

astyle: Make comments compatible with both 2.03 and 2.04 astyle versions

SELFOUR-559: Cleanup ARMPageUnmap for IO mappings

This commit moves setThreadState outside the 'perform' stage of the
invocation, and renames decodeARMIOUnmapInvocation to
performPageInvocationUnmapIO as it is actually doing a perform
and not a decode

SELFOUR-558: Consistently name Unmap instead of UnMap

SELFOUR-557: s/isIOSpaceFrame/isIOSpaceFrameCap/

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

arm-hyp: Use BIT macro

arm-hyp: Add preprocessor guard comments

trivial: style

arm-hyp: Hide ARMPageMapIO invocation

arm-hyp: Hide more calls to isIOSpaceFrame

Minor fixes for other ARM platforms

arm-hyp: Minor cleanups

Cleanup some small licensing, whitespace and configuration details

Correct merge of master

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

SELFOUR-208: Warn on downgraded write-only mappings

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.

SELFOUR-449 Implement user stack trace on double fault

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.

arm/tk1: connect objects with SMMU invocations

arm/tk1: a checkpoint for SMMU implementation

arm/arm_hyp: remove #ifdef ARM_HYPs

arm/arm_hyp: remove #ifdef ARM_HYPs

SELFOUR-114: remove bootinfo.h duplication

trivial: make style with astyle 2.03

trivial: make style commit

Correct previous merge

SELFOUR-399: object sizes and globals frame addr should come from the same source

Change bootinfo to have generic slot region for paging structures

Current bootinfo defines two slot regions for paging structures,
one for page directories and one for page tables. This does not
easily generalise for N levels of paging structures. This change
uses a single region that has a known order of objects for however
many levels exist

Remove mode dependant codes for initial thread from architecture dependant boot codes

Rearranging sources for aarch32 to 32/*