Crate kernel

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Expand description

The kernel binary.

§Code organization and architecture

The code is divided into different modules, each representing a typical subsystem of the kernel. Top-level module files of subsystems reside directly in the src folder. For example, src/memory.rs contains code that is concerned with all things memory management.

§Visibility of processor architecture code

Some of the kernel’s subsystems depend on low-level code that is specific to the target processor architecture. For each supported processor architecture, there exists a subfolder in src/_arch, for example, src/_arch/aarch64.

The architecture folders mirror the subsystem modules laid out in src. For example, architectural code that belongs to the kernel’s MMU subsystem (src/memory/mmu.rs) would go into src/_arch/aarch64/memory/mmu.rs. The latter file is loaded as a module in src/memory/mmu.rs using the path attribute. Usually, the chosen module name is the generic module’s name prefixed with arch_.

For example, this is the top of src/memory/mmu.rs:

#[cfg(target_arch = "aarch64")]
#[path = "../_arch/aarch64/memory/mmu.rs"]
mod arch_mmu;

Often times, items from the arch_ module will be publicly reexported by the parent module. This way, each architecture specific module can provide its implementation of an item, while the caller must not be concerned which architecture has been conditionally compiled.

§BSP code

BSP stands for Board Support Package. BSP code is organized under src/bsp.rs and contains target board specific definitions and functions. These are things such as the board’s memory map or instances of drivers for devices that are featured on the respective board.

Just like processor architecture code, the BSP code’s module structure tries to mirror the kernel’s subsystem modules, but there is no reexporting this time. That means whatever is provided must be called starting from the bsp namespace, e.g. bsp::driver::driver_manager().

§Kernel interfaces

Both arch and bsp contain code that is conditionally compiled depending on the actual target and board for which the kernel is compiled. For example, the interrupt controller hardware of the Raspberry Pi 3 and the Raspberry Pi 4 is different, but we want the rest of the kernel code to play nicely with any of the two without much hassle.

In order to provide a clean abstraction between arch, bsp and generic kernel code, interface traits are provided whenever possible and where it makes sense. They are defined in the respective subsystem module and help to enforce the idiom of program to an interface, not an implementation. For example, there will be a common IRQ handling interface which the two different interrupt controller drivers of both Raspberrys will implement, and only export the interface to the rest of the kernel.

        +-------------------+
        | Interface (Trait) |
        |                   |
        +--+-------------+--+
           ^             ^
           |             |
           |             |
+----------+--+       +--+----------+
| kernel code |       |  bsp code   |
|             |       |  arch code  |
+-------------+       +-------------+

§Summary

For a logical kernel subsystem, corresponding code can be distributed over several physical locations. Here is an example for the memory subsystem:

  • src/memory.rs and src/memory/**/*
    • Common code that is agnostic of target processor architecture and BSP characteristics.
      • Example: A function to zero a chunk of memory.
    • Interfaces for the memory subsystem that are implemented by arch or BSP code.
      • Example: An MMU interface that defines MMU function prototypes.
  • src/bsp/__board_name__/memory.rs and src/bsp/__board_name__/memory/**/*
    • BSP specific code.
    • Example: The board’s memory map (physical addresses of DRAM and MMIO devices).
  • src/_arch/__arch_name__/memory.rs and src/_arch/__arch_name__/memory/**/*
    • Processor architecture specific code.
    • Example: Implementation of the MMU interface for the __arch_name__ processor architecture.

From a namespace perspective, memory subsystem code lives in:

  • crate::memory::*
  • crate::bsp::memory::*

§Boot flow

  1. The kernel’s entry point is the function cpu::boot::arch_boot::_start().
    • It is implemented in src/_arch/__arch_name__/cpu/boot.s.

Modules§

  • bsp 🔒
    Conditional reexporting of Board Support Packages
  • console 🔒
    System console.
  • cpu 🔒
    Processor code.
  • driver 🔒
    Driver support
  • panic_wait 🔒
    A panic handler that infinitely waits
  • print 🔒
    Printing
  • synchronization 🔒
    Synchronization primitives.

Macros§

Functions§