blob: 2ac065eadc6eccc21bca82b3789b0558bba45682 [file] [log] [blame]
/*
* Copyright © 2021, Keith Packard <keithp@keithp.com>
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <errno.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/stat.h>
#include <sys/time.h>
#include <zephyr/arch/cpu.h>
#include <zephyr/linker/linker-defs.h>
#include <zephyr/sys/util.h>
#include <zephyr/sys/errno_private.h>
#include <zephyr/sys/libc-hooks.h>
#include <zephyr/syscall_handler.h>
#include <zephyr/app_memory/app_memdomain.h>
#include <zephyr/init.h>
#include <zephyr/sys/sem.h>
#include <zephyr/logging/log.h>
#ifdef CONFIG_MMU
#include <zephyr/sys/mem_manage.h>
#endif
#define LIBC_BSS K_APP_BMEM(z_libc_partition)
#define LIBC_DATA K_APP_DMEM(z_libc_partition)
#ifdef CONFIG_MMU
/* When there is an MMU, allocate the heap at startup time */
# if Z_MALLOC_PARTITION_EXISTS
struct k_mem_partition z_malloc_partition;
# endif
LIBC_BSS static unsigned char *heap_base;
LIBC_BSS static size_t max_heap_size;
# define HEAP_BASE ((uintptr_t) heap_base)
# define MAX_HEAP_SIZE max_heap_size
# define USE_MALLOC_PREPARE 1
#elif CONFIG_PICOLIBC_HEAP_SIZE == 0
/* No heap at all */
# define HEAP_BASE 0
# define MAX_HEAP_SIZE 0
#else /* CONFIG_PICOLIBC_HEAP_SIZE != 0 */
/* Figure out alignment requirement */
# ifdef Z_MALLOC_PARTITION_EXISTS
# if defined(CONFIG_MPU_REQUIRES_POWER_OF_TWO_ALIGNMENT)
# if CONFIG_PICOLIBC_HEAP_SIZE < 0
# error CONFIG_PICOLIBC_HEAP_SIZE must be defined on this target
# endif
# if (CONFIG_PICOLIBC_HEAP_SIZE & (CONFIG_PICOLIBC_HEAP_SIZE - 1)) != 0
# error CONFIG_PICOLIBC_HEAP_SIZE must be power of two on this target
# endif
# define HEAP_ALIGN CONFIG_PICOLIBC_HEAP_SIZE
# elif defined(CONFIG_ARM) || defined(CONFIG_ARM64)
# define HEAP_ALIGN CONFIG_ARM_MPU_REGION_MIN_ALIGN_AND_SIZE
# elif defined(CONFIG_ARC)
# define HEAP_ALIGN Z_ARC_MPU_ALIGN
# elif defined(CONFIG_RISCV)
# define HEAP_ALIGN Z_RISCV_STACK_GUARD_SIZE
# else
/*
* Default to 64-bytes; we'll get a run-time error if this doesn't work.
*/
# define HEAP_ALIGN 64
# endif /* CONFIG_<arch> */
# else /* Z_MALLOC_PARTITION_EXISTS */
# define HEAP_ALIGN sizeof(double)
# endif /* else Z_MALLOC_PARTITION_EXISTS */
# if CONFIG_PICOLIBC_HEAP_SIZE > 0
/* Static allocation of heap in BSS */
# ifdef Z_MALLOC_PARTITION_EXISTS
K_APPMEM_PARTITION_DEFINE(z_malloc_partition);
# define MALLOC_BSS K_APP_BMEM(z_malloc_partition)
# else
# define MALLOC_BSS
# endif
MALLOC_BSS static unsigned char __aligned(HEAP_ALIGN)
heap_base[CONFIG_PICOLIBC_HEAP_SIZE];
# define HEAP_BASE ((uintptr_t) heap_base)
# define MAX_HEAP_SIZE CONFIG_PICOLIBC_HEAP_SIZE
# else /* CONFIG_PICOLIBC_HEAP_SIZE > 0 */
/*
* Heap base and size are determined based on the available unused SRAM, in the
* interval from a properly aligned address after the linker symbol `_end`, to
* the end of SRAM
*/
# ifdef Z_MALLOC_PARTITION_EXISTS
/*
* Need to be able to program a memory protection region from HEAP_BASE to the
* end of RAM so that user threads can get at it. Implies that the base address
* needs to be suitably aligned since the bounds have to go in a
* k_mem_partition.
*/
struct k_mem_partition z_malloc_partition;
# define USE_MALLOC_PREPARE 1
# endif /* Z_MALLOC_PARTITION_EXISTS */
# define USED_RAM_END_ADDR POINTER_TO_UINT(&_end)
/*
* No partition, heap can just start wherever _end is, with
* suitable alignment
*/
# define HEAP_BASE ROUND_UP(USED_RAM_END_ADDR, HEAP_ALIGN)
# ifdef CONFIG_XTENSA
extern char _heap_sentry[];
# define MAX_HEAP_SIZE (POINTER_TO_UINT(_heap_sentry) - HEAP_BASE)
# else
# define MAX_HEAP_SIZE (KB(CONFIG_SRAM_SIZE) - \
(HEAP_BASE - CONFIG_SRAM_BASE_ADDRESS))
# endif /* CONFIG_XTENSA */
# endif /* CONFIG_PICOLIBC_HEAP_SIZE < 0 */
#endif /* CONFIG_PICOLIBC_HEAP_SIZE == 0 */
#ifdef USE_MALLOC_PREPARE
static int malloc_prepare(const struct device *unused)
{
ARG_UNUSED(unused);
#ifdef CONFIG_MMU
/* With an MMU, the heap is allocated at runtime */
# if CONFIG_PICOLIBC_HEAP_SIZE < 0
# define MMU_MAX_HEAP_SIZE PTRDIFF_MAX
# else
# define MMU_MAX_HEAP_SIZE CONFIG_PICOLIBC_HEAP_SIZE
# endif
max_heap_size = MIN(MMU_MAX_HEAP_SIZE,
k_mem_free_get());
max_heap_size &= ~(CONFIG_MMU_PAGE_SIZE-1);
if (max_heap_size != 0) {
heap_base = k_mem_map(max_heap_size, K_MEM_PERM_RW);
__ASSERT(heap_base != NULL,
"failed to allocate heap of size %zu", max_heap_size);
}
#endif
#if Z_MALLOC_PARTITION_EXISTS
z_malloc_partition.start = HEAP_BASE;
z_malloc_partition.size = MAX_HEAP_SIZE;
z_malloc_partition.attr = K_MEM_PARTITION_P_RW_U_RW;
#endif
return 0;
}
SYS_INIT(malloc_prepare, APPLICATION, CONFIG_KERNEL_INIT_PRIORITY_DEFAULT);
#endif /* USE_MALLOC_PREPARE */
LIBC_BSS static uintptr_t heap_sz;
static int (*_stdout_hook)(int);
int z_impl_zephyr_fputc(int a, FILE *out)
{
(*_stdout_hook)(a);
return 0;
}
#ifdef CONFIG_USERSPACE
static inline int z_vrfy_zephyr_fputc(int c, FILE *stream)
{
return z_impl_zephyr_fputc(c, stream);
}
#include <syscalls/zephyr_fputc_mrsh.c>
#endif
static int picolibc_put(char a, FILE *f)
{
zephyr_fputc(a, f);
return 0;
}
static FILE __stdout = FDEV_SETUP_STREAM(picolibc_put, NULL, NULL, 0);
static FILE __stdin = FDEV_SETUP_STREAM(NULL, NULL, NULL, 0);
#ifdef __strong_reference
#define STDIO_ALIAS(x) __strong_reference(stdout, x);
#else
#define STDIO_ALIAS(x) FILE *const x = &__stdout;
#endif
FILE *const stdin = &__stdin;
FILE *const stdout = &__stdout;
STDIO_ALIAS(stderr);
void __stdout_hook_install(int (*hook)(int))
{
_stdout_hook = hook;
__stdout.flags |= _FDEV_SETUP_WRITE;
}
void __stdin_hook_install(unsigned char (*hook)(void))
{
__stdin.get = (int (*)(FILE *)) hook;
__stdin.flags |= _FDEV_SETUP_READ;
}
int z_impl_zephyr_read_stdin(char *buf, int nbytes)
{
int i = 0;
for (i = 0; i < nbytes; i++) {
*(buf + i) = getchar();
if ((*(buf + i) == '\n') || (*(buf + i) == '\r')) {
i++;
break;
}
}
return i;
}
int z_impl_zephyr_write_stdout(const void *buffer, int nbytes)
{
const char *buf = buffer;
int i;
for (i = 0; i < nbytes; i++) {
if (*(buf + i) == '\n') {
putchar('\r');
}
putchar(*(buf + i));
}
return nbytes;
}
#include <sys/cbprintf.h>
struct cb_bits {
FILE f;
cbprintf_cb out;
void *ctx;
};
static int cbputc(char c, FILE *_s)
{
struct cb_bits *s = (struct cb_bits *) _s;
(*s->out) (c, s->ctx);
return 0;
}
int cbvprintf(cbprintf_cb out, void *ctx, const char *fp, va_list ap)
{
struct cb_bits s = {
.f = FDEV_SETUP_STREAM(cbputc, NULL, NULL, _FDEV_SETUP_WRITE),
.out = out,
.ctx = ctx,
};
return vfprintf(&s.f, fp, ap);
}
#ifndef CONFIG_POSIX_API
int _read(int fd, char *buf, int nbytes)
{
ARG_UNUSED(fd);
return z_impl_zephyr_read_stdin(buf, nbytes);
}
__weak FUNC_ALIAS(_read, read, int);
int _write(int fd, const void *buf, int nbytes)
{
ARG_UNUSED(fd);
return z_impl_zephyr_write_stdout(buf, nbytes);
}
__weak FUNC_ALIAS(_write, write, int);
int _open(const char *name, int mode)
{
return -1;
}
__weak FUNC_ALIAS(_open, open, int);
int _close(int file)
{
return -1;
}
__weak FUNC_ALIAS(_close, close, int);
int _lseek(int file, int ptr, int dir)
{
return 0;
}
__weak FUNC_ALIAS(_lseek, lseek, int);
#else
extern ssize_t write(int file, const char *buffer, size_t count);
#define _write write
#endif
int _isatty(int file)
{
return 1;
}
__weak FUNC_ALIAS(_isatty, isatty, int);
int _kill(int i, int j)
{
return 0;
}
__weak FUNC_ALIAS(_kill, kill, int);
int _getpid(void)
{
return 0;
}
__weak FUNC_ALIAS(_getpid, getpid, int);
int _fstat(int file, struct stat *st)
{
st->st_mode = S_IFCHR;
return 0;
}
__weak FUNC_ALIAS(_fstat, fstat, int);
__weak void _exit(int status)
{
_write(1, "exit\n", 5);
while (1) {
;
}
}
static LIBC_DATA SYS_SEM_DEFINE(heap_sem, 1, 1);
void *_sbrk(intptr_t incr)
{
void *ret = (void *) -1;
char *brk;
char *heap_start = (char *) HEAP_BASE;
char *heap_end = (char *) (HEAP_BASE + MAX_HEAP_SIZE);
sys_sem_take(&heap_sem, K_FOREVER);
brk = ((char *)HEAP_BASE) + heap_sz;
if (incr < 0) {
if (brk - heap_start < -incr) {
goto out;
}
} else {
if (heap_end - brk < incr) {
goto out;
}
}
ret = brk;
heap_sz += incr;
out:
/* coverity[CHECKED_RETURN] */
sys_sem_give(&heap_sem);
return ret;
}
__weak FUNC_ALIAS(_sbrk, sbrk, void *);
#ifdef CONFIG_MULTITHREADING
#define _LOCK_T void *
K_MUTEX_DEFINE(__lock___libc_recursive_mutex);
#ifdef CONFIG_USERSPACE
/* Grant public access to picolibc lock after boot */
static int picolibc_locks_prepare(const struct device *unused)
{
ARG_UNUSED(unused);
/* Initialise recursive locks */
k_object_access_all_grant(&__lock___libc_recursive_mutex);
return 0;
}
SYS_INIT(picolibc_locks_prepare, POST_KERNEL,
CONFIG_KERNEL_INIT_PRIORITY_DEFAULT);
#endif /* CONFIG_USERSPACE */
/* Create a new dynamic non-recursive lock */
void __retarget_lock_init(_LOCK_T *lock)
{
__ASSERT_NO_MSG(lock != NULL);
/* Allocate semaphore object */
#ifndef CONFIG_USERSPACE
*lock = malloc(sizeof(struct k_sem));
#else
*lock = k_object_alloc(K_OBJ_SEM);
#endif /* !CONFIG_USERSPACE */
__ASSERT(*lock != NULL, "non-recursive lock allocation failed");
k_sem_init((struct k_sem *)*lock, 1, 1);
}
/* Create a new dynamic recursive lock */
void __retarget_lock_init_recursive(_LOCK_T *lock)
{
__ASSERT_NO_MSG(lock != NULL);
/* Allocate mutex object */
#ifndef CONFIG_USERSPACE
*lock = malloc(sizeof(struct k_mutex));
#else
*lock = k_object_alloc(K_OBJ_MUTEX);
#endif /* !CONFIG_USERSPACE */
__ASSERT(*lock != NULL, "recursive lock allocation failed");
k_mutex_init((struct k_mutex *)*lock);
}
/* Close dynamic non-recursive lock */
void __retarget_lock_close(_LOCK_T lock)
{
__ASSERT_NO_MSG(lock != NULL);
#ifndef CONFIG_USERSPACE
free(lock);
#else
k_object_release(lock);
#endif /* !CONFIG_USERSPACE */
}
/* Close dynamic recursive lock */
void __retarget_lock_close_recursive(_LOCK_T lock)
{
__ASSERT_NO_MSG(lock != NULL);
#ifndef CONFIG_USERSPACE
free(lock);
#else
k_object_release(lock);
#endif /* !CONFIG_USERSPACE */
}
/* Acquiure non-recursive lock */
void __retarget_lock_acquire(_LOCK_T lock)
{
__ASSERT_NO_MSG(lock != NULL);
k_sem_take((struct k_sem *)lock, K_FOREVER);
}
/* Acquiure recursive lock */
void __retarget_lock_acquire_recursive(_LOCK_T lock)
{
__ASSERT_NO_MSG(lock != NULL);
k_mutex_lock((struct k_mutex *)lock, K_FOREVER);
}
/* Try acquiring non-recursive lock */
int __retarget_lock_try_acquire(_LOCK_T lock)
{
__ASSERT_NO_MSG(lock != NULL);
return !k_sem_take((struct k_sem *)lock, K_NO_WAIT);
}
/* Try acquiring recursive lock */
int __retarget_lock_try_acquire_recursive(_LOCK_T lock)
{
__ASSERT_NO_MSG(lock != NULL);
return !k_mutex_lock((struct k_mutex *)lock, K_NO_WAIT);
}
/* Release non-recursive lock */
void __retarget_lock_release(_LOCK_T lock)
{
__ASSERT_NO_MSG(lock != NULL);
k_sem_give((struct k_sem *)lock);
}
/* Release recursive lock */
void __retarget_lock_release_recursive(_LOCK_T lock)
{
__ASSERT_NO_MSG(lock != NULL);
k_mutex_unlock((struct k_mutex *)lock);
}
#endif /* CONFIG_MULTITHREADING */
/* This function gets called if static buffer overflow detection is enabled on
* stdlib side (Picolibc here), in case such an overflow is detected. Picolibc
* provides an implementation not suitable for us, so we override it here.
*/
__weak FUNC_NORETURN void __chk_fail(void)
{
static const char chk_fail_msg[] = "* buffer overflow detected *\n";
_write(2, chk_fail_msg, sizeof(chk_fail_msg) - 1);
z_except_reason(K_ERR_STACK_CHK_FAIL);
CODE_UNREACHABLE;
}
int _gettimeofday(struct timeval *__tp, void *__tzp)
{
ARG_UNUSED(__tp);
ARG_UNUSED(__tzp);
return -1;
}
#include <stdlib.h>
#include <zephyr.h>
/* Replace picolibc abort with native Zephyr one */
void abort(void)
{
printk("%s\n", __func__);
k_panic();
CODE_UNREACHABLE;
}
#ifndef CONFIG_LIBC_ERRNO
/*
* Picolibc needs to be able to declare this itself so that the library
* doesn't end up needing zephyr header files. That means using a regular
* function instead of an inline.
*/
int *z_errno_wrap(void)
{
return z_errno();
}
#endif