This is the second major release of Tock! Tock 2.0 comes with a revamped system call interface with clarified semantics for how resources are shared between processes and the kernel. This is a breaking change from Tock 1.x and Tock 2.0 requires apps compiled for the new syscall interface. System Call Interface Changes Two new system calls: AllowReadOnly and Exit. Allow has been renamed to AllowReadWrite. System calls can now return up to 4 registers of values to userspace. This flexibility introduces some additional restraints on capsule code, see https://github.com/tock/tock/blob/master/doc/Porting_v1_Capsules_to_v2.md for more details. Additional restrictions on how capsules implement Subscribe and Allow, with some in-kernel checks of these restrictions. New Requirements in Tock 2.0 All apps must include a TBF header specifying the minimum supported kernel version they require. By default, the process loader will check this header and refuse to load apps which are not explicitly compatible with 2.0. All capsules must store any process state in a Grant, and each capsule may only have up to one grant. Other Major Changes The Chip and Platform traits in the kernel have been refactored. Chip now only includes functions that are tightly coupled with microcontrollers. Platform has been divided into separate, clearly defined traits. How boards configure the kernel has been clarified. All resources the kernel needs to operate for a specific board are specified in the KernelResources trait. This replaces the previous ad-hoc approach where some configuration was passed in as function arguments and others where in a trait. Additionally, individual boards can now choose to exclude chip peripherals which they do not use. The kernel crate has been reorganized. Kernel exports are more clearly structured, and use full module paths by default. Inside the kernel crate, related files are namespaced as feature_X.rs, such as process_standard.rs and process_utilities.rs. The process console now is able to print memory maps. New Platforms Nano RP2040 Connect Clue nRF52840 BBC Micro:bit v2 WeAct F401CCU6 Core Board i.MX RT 1052 Evaluation Kit Teensy 4.0 Pico Explorer Base Rapsberry Pi Pico LiteX on Digilent Arty A-7 Verilated LiteX simulation ESP32-C3-DevKitM-1 New HILs key/value store 8080 bus (for LCDs) text screen screen touch All Merged PRs <details> <summary>All merged pull requests</summary> - #2799: doc: misc updates - #2798: doc: wg: core: maintenance update - #2778: [clue_nrf52840] Integrate tock bootloader - #2793: capsules: pconsole: fix kernel print - #2789: [cortex-m0+] Enable unprivileged mode and fix fault handler - #2744: Changelog for 2.0 release. - #2769: docs: syscalls: Update stability guarantees for 2.0 - #2753: readme: update with 2.0 news! - #2794: capsules: update touch driver - #2792: process console: update doc comment with recent changes - #2714: make: add aliases for root makefile commands - #2752: kernel: load_processes: do not skip indices for padding apps - #2768: add core notes 2021-08-13 - #2784: [stm32] Update stm32 boards - #2783: ESP32-C3: Add support for running apps - #2786: [imxrt1050-evkb] Fix GPIO interrupts - #2787: [spi] Update virtual_spi to report errors - #2791: Update touch panel and ft6x06 drivers - #2790: [nano_rp2040] Update makefile - #2725: First step on SPI documentation - #2779: Adjust app's watermark only for memory buffers - #2765: OpenTitan: Flash fixes - #2742: [arm] Cortex M0+ region - #2781: capsules/alarm: remove command 4 "set absolute expiration" - #2780: [imxrt1050-evkb] Fix number of processes supported and add process console - #2774: Update bus to prevent adding the SPI to the MUX twice - #2777: [nano33ble] Enabled ADC - #2776: Update Clue nRF52840 - #2767: nrf: pwm: handle 0 hz case - #2766: Quick fix elf2uf2 installation steps - #2761: boards/litex: bump targeted tock-litex release - #2762: Minor updates to SD card docs and error codes - #2758: boards/redboard_artemis_nano: Fixup issues with release tests - #2738: Update Microbit v2 README - #2764: boards/nrf52840: fix button driver number in Grant allocation - #2719: [rp2040] Use clocks frequency to set UART baud rate - #2729: Core working group notes of 2021-07-30 - #2712: make: update stack-analysis format - #2749: A few OpenTitan fixes for 2.0 - #2745: Fix the multi_alarm_test to provide output, refactor it - #2750: boards/esp32c3: Fixup tests - #2751: [rp2040] Fixed gpio pin numbers in interrupt handler - #2748: fix broken error handling in allow for udp - #2746: fix log test - #2743: fix MLFQ component after kernel reorg - #2737: Core wg call notes, August 6th - #2740: Rename allow's argument from slice to buffer - #2739: kernel: syscall driver: fix sample code path - #2735: Display driver number in hex for allocation warning - #2736: Fix LED Matrix message typo - #2731: cdc: delay before sending data - #2722: Process console: only print one process if two have the same name - #2732: capsules: hts221: fix i2c read command - #2720: Process console: iterate each process on command `list` - #2718: pconsole: separate hello message from start() - #2733: kernel: sched: priority: get correct proc index - #2723: arch: cortex-m: defend against large stack pointer - #2715: Move boards that have large main stack frames to get_peripherals - #2692: trd/104-syscalls: clarify guarantees w.r.t. returned Allow buffers - #2566: Make SPI return buffers upon error - #2687: Create core-notes-2021-07-23 - #2701: Separate schedule_upcall number and values through Rust types - #2716: readme: update chip support table - #2669: [rfc] Comptibility header (v1) - #2713: make: remove rustup nonsense with make V=1 - #2705: boards/litex: bump targeted tock-litex release - #2710: doc: add capsules to capsule readme - #2708: doc: various link and spelling fixes - #2681: Add Arduino Nano RP2040 Connect - #2695: virtual_alarm: handle large dt values more resiliently - #2706: capsules: hmac: A few small fixes - #2644: OpenTitan: Bump the FPGA bitstream - #2665: kernel/hil/time: allow time to be a dyn trait object - #2688: Add new time trd with ConvertTicks trait - #2703: Flash components - #2675: Added troubleshooting for microbit v2 if openOCD could not find MEM-AP - #2698: Updated lps25hb to handle i2c errors - #2177: TBF Header Persisent Access Control - #2694: Update hts221 to handle i2c errors - #2682: I2c return buffer for fxos8700cq - #2683: Update isl29035 to handle i2c errors - #2704: readme: spelling - #2581: Add I2C error verifications for lsm303 - #2702: fixed led matrix toggle bug - #2686: capsules: sha: Support a shorter destination buffer - #2689: msp432/adc: document safety invariants on &[u8] to &[u16] conversion - #2699: Fix make indentation for ST boards READMEs - #2659: Reorganize kernel/ Crate - #2696: Update the Pico Explorer Base - #2578: Initial support for the ESP32-C3 early dev board - #2680: Add Pico Explorer Base development board - #2691: Core working group notes of 2021-07-16 - #2674: Notes from Tock Core WG meeting July 9th - #2685: hil/gpio: add Copy and Clone to enums - #2679: [st77xx] make reset pin as optional - #2677: Makefile: Add setup support for dnf systems - #2678: Add SPI to RP2040 - #2673: Update imxrt to use new kernel exports - #2664: Add core WG notes from 2021-07-02 - #2672: Update nucleo - #2671: Update stm32f412gdiscovery - #2667: Update stm32f3 discovery - #2668: Update raspberry pi pico - #2666: Update microbit_v2 - #2653: Update text_screen driver to avoid re-enter to grant - #2638: Rename Driver trait parameters for consistency - #2656: kernel: schedule upcall, bool -> Result - #2632: Support aliasing of process-allowed memory - #2614: OpenTitan: Add SHA support - #2663: Auto implement Group Traits - #2655: kernel: hil: aes: Allow returning an error when setting mode - #2662: Update CRC system call driver - #2661: TRD104 changing "identifier" to "number" - #2660: doc: trd104 minor edits - #2639: Tock 2.0: implement Upcall swapping restrictions (v4) - #2636: Redesign CRC HIL & fix SAM4L implementation - #2658: Minor updates to grant.rs - #2657: Update screen to avoid grant re-enter - #2647: Add a Makefile rule to run cargo-bloat - #2648: Move kernel code out of monomorphized functions - #2446: Tock 2.0 Alpha1 - #2506: kernel: Reorganize process.rs - #2643: Add working group notes for 6/25/2021 - #2634: OpenTitan: Run tests - #2652: raspberry_pi_pico: delete semihosting comment - #2182: Stm32f412g: Add rng support - #2651: kernel: grant: rename `GrantMemory` to `GrantData` - #2645: rp2040: SysInfo peripheral - #2650: doc: trd104: spell check - #2646: Tock registers v0.7 - #2629: OpenTitan: AES: Update the AES implementation - #2642: Tock reg UIntLike - #2601: Change qemu-path to relative path. - #2618: tock-register-interface: reorganize & document - #2623: imxrt10xx: Add DMA peripheral, integrate DMA into LPUART - #2640: fixed broken hyperlinks to the "getting started" page - #2442: board: Raspberry Pi Pico Tock port - #2627: Core working group notes of 2021-06-11 - #2599: Add integration test support in the kernel, create tests for OpenTitan - #2626: boards/nordic/nrf52840dk: Connect the userspace SPI capsule - #2619: Add I2C slave support for nRF - #2595: OpenTitan: Initial support for OTBN - #2621: Add core WG notes for 2021-06-04. - #2617: Update TRD104 to more clearly state the expectations for allowed buffers. - #2624: Fixes three printing bugs in `print_tock_memory_usage.py` - #2622: [led_matrix] LEDs array macro - #2511: Define StatusCode which uses ErrorCode's numeric encoding - #2612: Update the nRF I2C - #2616: Fix a bug in the SPI controller capsule. - #2580: Add I2C error verifications for Bus and St77xx - #2585: boards/Makefile: remove relative libtock-c path assumptions - #2611: Add I2C error verifications for touch - #2607: Add I2C error verifications for apds9960 - #2608: shell.nix: add cxxfilt Python package - #2620: Rename Platform structure to MicroBit - #2587: New ProcessConsole features - #2598: doc: trd-hil: add tips from tock-book - #2606: build with codegen-units = 1 to reduce code size - #2609: opentitan: README: Update the QEMU requirement - #2586: OpenTitan: Update the HMAC Implementation - #2613: fix Yaffs1 link in tickv README - #2582: document compiler fence before switching to userspace - #2605: allow size printing tool to be used on non-arm architectures - #2596: boards: make: check for rustup - #2604: Add core WG notes for 2021-05-28 - #2592: Add core WG notes for 2021-05-21. - #2602: Fix: Replaced the cfg file with the rev B version. - #2600: Fix `make allaudit` - #2589: Bump rust nightly version to 2021-05-27 to fix tock-registers - #2597: opentitan: Bump the OpenTitan bitstream - #2538: Make I2C trait return buffers upon request error - #2588: add core notes 2021-05-07 - #2584: add notes for core wg meeting 2021-05-14 - #2583: doc/TockBinaryFormat.md: Add the missing TbfHeaderV2Permissions length - #2509: opentitan: Bump the OpenTitan bitstream SHA and enable ePMP - #2172: TBF Header Permissions - #2517: tock-registers: use traits for accessing / manipulating registers - #2576: litex/uart: fix TX race condition of unexpected txfull interrupt - #2577: Nonvirtualized userspace driver Grant migration fixes - #2572: capsules/l3gd20: migrating non-virtualized driver to Grants - #2565: April 30th, Core WG Call Notes - #2574: capsules/lsm303agr: migrating non-virtualized driver to Grants - #2575: capsules/ltc294x-grant: migrating non-virtualized driver to Grants - #2571: chips: e310x: check for pending mtimer interrupt - #2567: Led HIL for LedMarix - #2552: Core working group notes of 2021-04-23 - #2562: capsules/gpio_async: enforce grant/single-process - #2558: capsules/spi_controller: migrate non-virtualized driver to Grants - #2547: capsules/i2c_master_slave_driver: use grant, enforce single process - #2559: capsules/spi_peripheral: migrate non-virtualized driver to Grants - #2560: capsules/sdcard: migrate non-virtualized userspace driver to Grants - #2549: Notes for April 16 core call - #2554: capsules/pca9544a: use grant, enforce single process … - #2555: capsules/mlx90614: use grant, enforce single process - #2556: capsules/lps25hb: use grant, enforce single process - #2557: capsules/tsl2561: use grant, enforce single process - #2553: capsules/max17205: use grant, enforce single process - #2550: Update error code text in HIL TRD. - #2542: Change the Nano33BLE to the StopWithDebug fault response - #2520: tools/board-runner: Improve documentation and OpenTitan support - #2543: Update micro:bit readme - #2546: Implement driver for HTS221 temperature sensor - #2528: Add a "panic" command to process console - #2518: Lsm303dlhc: Enforce use by a single process, move callback to Grant - #2544: doc: Fix broken link - #2537: kernel: Change ProcessFaultPolicy to a trait, add StopWithDebug policy - #2507: Rename AppId to ProcessId (v2) - #2541: Fix NRF52 802.15.4 radio bug on CCA busy + add UDP/802154 driver to Nano 33 - #2535: Proximity capsule: don't double enter grant - #2431: Polishing pass on Tock 2.0 system call TRD. - #2510: Rewrite the interface between process.rs and grant.rs - #2524: Finalizing TRD 101. - #2529: Rewrite of GPIO TRD to follow the new traits. - #2523: TRD for HIL design - #2534: kernel: introduce debug::panic_print for boards without LEDs - #2521: capsules: Convert analog comparator to use grant - #2503: boards: reduce stack frame size of main() - #2532: Add Leon Schuermann to the core developers list. - #2533: tock-cells/OptionalCell: rename get-method to extract - #2525: doc: add core notes 2021-04-09 - #2531: tock-cells/OptionalCell: add get-method for retrieving inner Option - #2530: Update print_tock_memory_usage.py to properly parse Rust symbols. - #2526: kernel: sched: check for process.ready() - #2508: Replace `ReturnCode` with `Result<(), ErrorCode>` - #2522: Update stack-analysis script: reset_handler is now `main()` - #2515: doc: add core notes 2021-04-02 - #2519: RISC-V: Update the timer implementations to use the arch mtimer - #2505: Create core-notes-2021-03-26 - #2513: Add i.MX RT clock configuration - #2486: sifive: Move the machine timer from rv32i - #2512: rv32i: use atomic CSR instructions for rv32i::support::atomic - #2514: wg/core/notes: fix file extension of 2021-03-26 notes - #2504: add core notes 2021-03-19 - #2040: chips: plic: Disable only specific interrupts in the top half - #2204: lowrisc: flash_ctrl: Convert erase_page to be async - #2273: kernel: hil: Add a KV Store HIL - #2392: TicKV: Update the TicKV implementation - #2424: kernel: sched: Allow Platform to handle app faults - #2423: RISC-V: Add support for ePMP - #2499: SweRVolf: Add support for the platform timers - #2502: arch: Update arm cortex-m0, add cortex-m0p - #2497: kernel: process: Remove unsafe by switching flash function from add to wrapping_add - #2494: kernel: remove memory slice from Process struct - #2376: MicroBit v2 bootloader - #2489: litex/{sim, arty}: bump tock-litex release (updating LiteX packages) - #2498: Update Tock Readme with Note about 2.0. - #2501: tools: sdv2regs allow registers with no fields and fix imports - #2461: Implement RT0 in assembly - #2493: [tools] Update svd2regs to work without description - #2492: Update Rust Nightly to 2021-03-19 - #2500: Fix ADC 2.0 Bug - #2477: Remove variables which are never read - #2495: Remove @niklasad1 from Core Working Group - #2481: Initial support for SweRV EH1 and SweRVolf - #2488: add Makefile rules for analyzing stack frames - #2452: arch: use target-feature for thumbv7em - #2439: Tock 2.0: Remove userspace IEEE 802.15.4 driver from Imix platform - #2454: Transitions Callback to Upcall for 2.0. In a seprate PR for review sanity. - #2491: Corrected hifive1 README.md - #2487: allow: move allow system calls handling to sched.rs - #2483: Core working group notes from 2021-02-26 - #2482: Core WG notes from March 12, 2021 - #2484: shell.nix: fix missing lib import - #2422: OpenTitan: Enable PMP for kernel regions - #2472: riscv: Convert CSRs to use const generics - #2475: doc: add core notes 2021-03-05 - #2469: shell.nix: remove deprecated stdenv.lib - #2478: Cortex-m: document that userspace stack pointer will always be aligned on entry to the kernel - #2479: Remove ExitCall type, don't specify representation of YieldCall type - #2476: Tock 2.0: from_command_result -> from_command_return - #2450: arch: cortex-m0: switch to asm!() - #2458: RFC: kernel: change `unsafe` handling - #2474: Tock 2.0: Remove `mut_ptr` method from `ReadWrite` trait - #2464: Tock 2.0 - AppSlice: fix unsoundness with arbitrary pointers in slices - #2465: Tock 2.0 - ReadWriteAppSlice: require mutable borrow for ReadWrite::mut_map_or - #2232: Makefile: Don't require root permissions to install npm modules - #2420: RISC-V: Add support for detecting locked PMP regions, no need to sort - #2437: kernel: process: Add debug information on panic for grants - #2449: arch: cortex-m: update to asm! - #2440: RFC: Add `install` make target for boards - #2468: Pr 2446 comment cleanup - #2466: arch: cortex-m: clarify panic - #2463: Bump tockloader to version 1.6.0 - #2460: CI: format on ubuntu, separate clippy - #2459: make: rustup now prints to stderr - #2455: 2.0 courses update - #2456: Filtering fix 2.0 - #2447: Core WG notes for Feburary 19th - #2435: arch: cortex: fix MPU rounding calculation - #2428: Create core-notes-2021-02-12.md - #2448: Better method parsing for accounting for code size. - #2430: 2.0: Remove SuccessWithValue - #2444: Tock 2.0: Remove LegacyDriver - #2443: 2.0: lps25hb - #2441: Change process setup to minimize the initially-accessible amount of memory. - #2433: use const generics to remove duplicate code for cortex-m MPU - #2434: Tock 2.0 IPC - #2407: Tock 2.0: port #2383 (kernel: Remove setting/tracking the stack pointer in process.rs) - #2137: Simplify grant implementation and fix soundness errors - #2393: Port NRF Serialization to 2.0 - #2405: Tock 2.0: clarify subscribe behavior w.r.t. invalid/refused callback - #2323: Make out-of-tree builds easier - #2419: add core notes from january 15 2021 - #2421: Add core WG notes for 2021-02-05. - #2427: boards: doc: update readme - #2416: boards: nano33ble: update instructions to overwrite second bootloader - #2400: Double stack buffer for i.MX RT-based boards, prune panic! allocations - #2414: Remove tab characters & protect against accidentally introducing them - #2411: Port BLE advertising to new 2.0 driver interface - #2418: 2.0: kernel: change filter_syscall to ErrorCode - #2417: Updates SDCard capsule to Tock 2.0 system call API - #2387: Transition I2CMaster system call driver to 2.0 syscall API - #2412: ErrorCode: adjust ErrorCode discriminators to match system call TRD - #2410: Port the PCA9544a system call driver to 2.0 - #2409: Port MAX17205 system call capsule to 2.0 - #2408: OpenTitan: Connect TicKV - #2401: Working group notes for 01-29-2021 - #2363: rv32i: transition llvm_asm! to asm! - #2390: MSP432 I2C driver - #2406: Tock 2.0: fix system call return variant discriminators - #2403: Tock 2.0 TRD: Allow new error codes to be added in the future. - #2402: Tock 2.0 syscall TRD: Allow us to add new return variants in the future. - #2255: boards: BBC Micro:bit v2 (nRF52833) - #2404: boards: Update Micro:bit v2 readme - #2383: kernel: Remove setting/tracking