Support of musl C library

.github/workflows/build.yml

@@ -5,8 +5,7 @@ on:
     branches:
       - main
   pull_request:
-    branches:
-      - main
+    branches: ["main", "144-support-musl"]
 
 jobs:
   build-so3:
@@ -25,15 +24,15 @@ jobs:
 
       - name: Build 
         run: |
-          docker run --rm -v "${PWD}:/so3" ghcr.io/smartobjectoriented/so3-env:main bash -c "cd so3 && make ${{ matrix.CONFIG }} && make -j`nproc`"
+          docker run --rm -v "${PWD}:/so3" ghcr.io/smartobjectoriented/so3-env:latest bash -c "cd so3 && make ${{ matrix.CONFIG }} && make -j`nproc`"
 
   build-usr:
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        CMAKE_TOOLCHAIN_FILE: ['aarch64_toolchain.cmake', 
-                               'arm_toolchain.cmake']
+        CMAKE_TOOLCHAIN_FILE: ['aarch64-linux-musl.cmake',
+                               'arm-linux-musl.cmake']
         BUILD_TYPE: ['Debug', 'Release']
     steps:
       - name: Checkout repository
@@ -43,4 +42,4 @@ jobs:
 
       - name: Build
         run: |
-          docker run --rm -t -v "${PWD}:/so3" ghcr.io/smartobjectoriented/so3-env:main bash -c "mkdir usr/build && cd usr/build && cmake --no-warn-unused-cli -DCMAKE_C_FLAGS='-Werror' -Wno-dev -DCMAKE_BUILD_TYPE=${{ matrix.BUILD_TYPE }} -DCMAKE_TOOLCHAIN_FILE=../${{matrix.CMAKE_TOOLCHAIN_FILE }} .. && make -j`nproc`"
+          docker run --rm -t -v "${PWD}:/so3" ghcr.io/smartobjectoriented/so3-env:latest bash -c "mkdir usr/build && cd usr/build && cmake --no-warn-unused-cli -DCMAKE_C_FLAGS='-Werror' -Wno-dev -DCMAKE_BUILD_TYPE=${{ matrix.BUILD_TYPE }} -DCMAKE_TOOLCHAIN_FILE=../${{matrix.CMAKE_TOOLCHAIN_FILE }} .. && make -j`nproc`"

.github/workflows/docker.yml

@@ -2,15 +2,64 @@ name: Docker Image CI
 
 on:
   push:
-    branches: ["main"]
+    paths:
+      - 'docker/Dockerfile.*'
+      - 'toolchains/*'
   workflow_dispatch:
 
 env:
   REGISTRY: ghcr.io
 
 jobs:
+  build-toolchains:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+
+    permissions:
+      contents: read
+      packages: write
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ghcr.io/smartobjectoriented/so3-toolchains
+          tags: |
+            type=raw,value=latest
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Build and push
+        id: build_toolchains
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: ./docker/Dockerfile.toolchains
+          push: true
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          annotations: ${{ steps.meta.outputs.annotations }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+
   build-image:
     runs-on: ubuntu-latest
+    needs: ['build-toolchains']
     strategy:
       fail-fast: false
       matrix:
@@ -47,6 +96,8 @@ jobs:
         uses: docker/metadata-action@v5
         with:
           images: ${{ matrix.image }}
+          tags: |
+            type=raw,value=latest
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3

.github/workflows/style.yml

@@ -10,7 +10,7 @@ on:
   push:
     branches: ["main"]
   pull_request:
-    branches: ["main"]
+    branches: ["main", "144-support-musl"]
 
 jobs:
   formatting-check:

doc/source/user_guide.rst

@@ -67,8 +67,8 @@ SO3 root directory (main subdirs)::
 Build of the environment
 ************************
 
-About the toolchain
-===================
+kernel toolchain
+================
 
 We use the ``arm-none-eabi`` toolchain which has no dependencies on a libc.
 
@@ -78,6 +78,24 @@ The following package can be installed:
 
    apt install gcc-arm-none-eabi
 
+usr-space toolchain
+===================
+
+The usr-space uses MUSL as libc. The Musl toolchains can be generated with
+``toolchains/build-toolchain.sh`` script.
+
+.. code-block:: bash
+
+   $ ./build-toolchain.sh
+
+By default, it generates ``aarch64-linux-musl`` and ``arm-linux-musleabihf``
+folder in the ``toolchains`` directory
+
+.. note::
+
+   The output directory (by default ``toolchains`` floder) can be changed by setting
+   the ``OUTPUT_PATH`` variable in the ``build-toolchain.sh`` script
+
 Quick setup & early test
 ========================
 

docker/Dockerfile.env

@@ -1,8 +1,11 @@
-FROM ubuntu:22.04 
+FROM ghcr.io/smartobjectoriented/so3-toolchains
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV TZ=UTC
 
 RUN dpkg --add-architecture i386
 RUN apt update
-RUN apt install libc6:i386 libncurses5:i386 libstdc++6:i386 -y
+RUN apt install libc6:i386 libncurses6:i386 libstdc++6:i386 -y
 RUN apt install lib32z1-dev -y
 RUN apt install zlib1g:i386 -y
 RUN apt install pkg-config libgtk2.0-dev bridge-utils -y
@@ -13,35 +16,22 @@ RUN apt install fdisk -y
 RUN apt install libncurses-dev -y
 RUN apt install flex bison -y
 
-RUN apt install gcc-arm-none-eabi -y
 RUN apt install wget unzip -y
 RUN apt install python3-venv -y
 RUN apt install ninja-build -y
 RUN apt install git -y
 RUN apt install cmake -y
 RUN apt install python3-pip -y
 
-RUN pip3 install pcpp
-
-# Download aarch64-none-linux-gnu toolchain
-RUN wget https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-a/10.3-2021.07/binrel/gcc-arm-10.3-2021.07-x86_64-aarch64-none-linux-gnu.tar.xz
-RUN tar -xvf gcc-arm-10.3-2021.07-x86_64-aarch64-none-linux-gnu.tar.xz
-RUN rm gcc-arm-10.3-2021.07-x86_64-aarch64-none-linux-gnu.tar.xz
-
-ENV PATH="$PATH:/gcc-arm-10.3-2021.07-x86_64-aarch64-none-linux-gnu/bin"
-
-# Download aarch64-none-elf toolchain
-RUN wget https://developer.arm.com/-/media/Files/downloads/gnu/12.3.rel1/binrel/arm-gnu-toolchain-12.3.rel1-x86_64-aarch64-none-elf.tar.xz
-RUN tar -xvf arm-gnu-toolchain-12.3.rel1-x86_64-aarch64-none-elf.tar.xz
-RUN rm arm-gnu-toolchain-12.3.rel1-x86_64-aarch64-none-elf.tar.xz
-
-ENV PATH="$PATH:/arm-gnu-toolchain-12.3.rel1-x86_64-aarch64-none-elf/bin"
+RUN pip install --break-system-packages pcpp
 
 # Get current so3 so we can build qemu
 RUN wget https://github.com/smartobjectoriented/so3/archive/refs/heads/main.zip
 RUN unzip main.zip
 RUN rm main.zip
 RUN mv so3-* generated
+
+# Build qemu
 RUN cd /generated/qemu && ./fetch.sh &&  ./configure --target-list=arm-softmmu,aarch64-softmmu --disable-attr --disable-werror --disable-docs
 ENV PATH="$PATH:/generated/qemu/build"
 # Remove everything except qemu

docker/Dockerfile.lvperf_32b

@@ -1,11 +1,12 @@
-FROM alpine:latest AS baseimage
+FROM ghcr.io/smartobjectoriented/so3-toolchains:latest AS baseimage
 
 FROM baseimage AS builder
 
-RUN apk update; \
-    apk add --no-cache make cmake gcc-arm-none-eabi \
-    g++-arm-none-eabi qemu-system-arm \
-    bison flex libc-dev  libressl-dev dtc
+RUN apt update && \
+    apt install -y build-essential cmake qemu-system-arm gcc-arm-none-eabi \
+    bison flex libssl-dev device-tree-compiler qemu-system-arm && \
+    apt clean && \
+    rm -rf /var/lib/apt/lists/*
 
 WORKDIR /so3
 
@@ -29,10 +30,12 @@ RUN cd u-boot;\
 
 FROM baseimage AS runner
 
-RUN apk update; \
-    apk add --no-cache make cmake gcc-arm-none-eabi \
-    g++-arm-none-eabi qemu-system-arm \
-    util-linux dtc u-boot-tools dosfstools python3 py3-pip
+RUN apt-get update && \
+      apt install -y make cmake gcc-arm-none-eabi qemu-system-arm \
+      util-linux device-tree-compiler u-boot-tools dosfstools python3 \
+      python3-pip && \
+      apt clean && \
+      rm -rf /var/lib/apt/lists/*
 
 RUN pip install --break-system-packages pcpp
 

docker/Dockerfile.lvperf_64b

@@ -1,11 +1,15 @@
-FROM alpine:latest AS baseimage
+FROM ghcr.io/smartobjectoriented/so3-toolchains:latest AS baseimage
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV TZ=UTC
 
 FROM baseimage AS builder
 
-RUN apk update; \
-    apk add --no-cache make cmake gcc-aarch64-none-elf \
-    qemu-system-aarch64 \
-    bison flex libc-dev  libressl-dev dtc
+RUN apt update && \
+    apt install -y build-essential cmake qemu-system-arm \
+    bison flex libssl-dev device-tree-compiler && \
+    apt clean && \
+    rm -rf /var/lib/apt/lists/*
 
 WORKDIR /so3
 
@@ -29,10 +33,19 @@ RUN cd u-boot;\
 
 FROM baseimage AS runner
 
-RUN apk update; \
-    apk add --no-cache make cmake gcc-aarch64-none-elf \
-    g++-aarch64-none-elf qemu-system-aarch64 \
-    util-linux dtc u-boot-tools dosfstools python3 py3-pip
+RUN apt update && apt install -y --no-install-recommends \
+    build-essential \
+    cmake \
+    qemu-system-arm \
+    util-linux \
+    device-tree-compiler \
+    u-boot-tools \
+    dosfstools \
+    python3 \
+    python3-pip \
+    bash patch git && \
+    apt clean && \
+    rm -rf /var/lib/apt/lists/*
 
 RUN pip install --break-system-packages pcpp
 
@@ -66,10 +79,6 @@ RUN echo "#!/bin/sh" > install_dependencies.sh && chmod +x install_dependencies.
 RUN rm -rf /var/cache/apk/*
 RUN rm -rf /usr/share/man /usr/share/doc /usr/share/info /var/cache/apk/*
 
-# This env varialbe is read from the usr/build.sh script  in order to set a custom aarch64 toolchain
-# This may be removed if so3 is fully migrated to the aarch64-none-elf toolchain
-# Right now aarch64-none-linux-gnu is still used by default
-ENV USR_BUILD_TOOLCHAIN_FILE=aarch64_none_toolchain.cmake 
 ENV QEMU_ARCH=aarch64
 ENV PLATFORM=virt64
 

docker/Dockerfile.toolchains

@@ -0,0 +1,29 @@
+# Create a Docker image which prepare the toolchains needed by SO3 env.
+#
+# Copyright (c) 2025 REDS Institute, HEIG-VD
+#
+# Set 'aarch64-none-elf' toolchain & build arm & aarch64 musl toolchains
+#
+# Note: 'arm-none-eabi-' is installed for package manager in the others docker images
+
+FROM ubuntu:24.04 AS toolchains-utils
+
+RUN apt-get update && apt-get install -y gcc-arm-none-eabi gcc-11 g++-11 git make \
+    patch sudo xz-utils wget && \
+	update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 10 && \
+	update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-11 10 && \
+	apt clean && \
+	rm -rf /var/lib/apt/lists/*
+
+# Download aarch64-none-elf toolchain
+RUN wget https://developer.arm.com/-/media/Files/downloads/gnu/12.3.rel1/binrel/arm-gnu-toolchain-12.3.rel1-x86_64-aarch64-none-elf.tar.xz
+RUN tar -xvf arm-gnu-toolchain-12.3.rel1-x86_64-aarch64-none-elf.tar.xz
+RUN rm arm-gnu-toolchain-12.3.rel1-x86_64-aarch64-none-elf.tar.xz
+
+ENV PATH="$PATH:/arm-gnu-toolchain-12.3.rel1-x86_64-aarch64-none-elf/bin"
+
+COPY  toolchains /toolchains
+RUN   /toolchains/build-toolchain.sh && rm -rf /toolchains/musl-cross-make
+
+ENV   PATH=$PATH:/toolchains/aarch64-linux-musl/bin
+ENV   PATH=$PATH:/toolchains/arm-linux-musleabihf/bin

so3/Kbuild

@@ -2,15 +2,31 @@
 # Kbuild for top-level directory of the kernel
 # This file takes care of the following:
 
-# Generate asm-offsets.h 
+# Generate syscall_table.h.in and syscall_number.h
+
+syscall-files = include/generated/syscall_table.h.in
+syscall-files += include/generated/syscall_number.h
+syscall-script = scripts/syscall_gen.sh
+syscall-src = syscall.tbl arch/$(SRCARCH)/syscall.h.in
+
+quiet_cmd_syscall_gen = GEN     $@
+      cmd_syscall_gen = $(syscall-script) $(syscall-src) $(syscall-files)
+
+$(syscall-files) &: $(syscall-script) $(syscall-src) Kbuild FORCE
+	$(call if_changed,syscall_gen)
+
+always  := $(syscall-files)
+targets := $(syscall-files)
+
+# Generate asm-offsets.h
 #
 
 offsets-file := include/generated/asm-offsets.h
 
-always  := $(offsets-file)
-targets := $(offsets-file)
+always  += $(offsets-file)
+targets += $(offsets-file)
 targets += arch/$(SRCARCH)/asm-offsets.s
- 
+
 # Default sed regexp - multiline due to syntax constraints
 define sed-y
 	"/^->/{s:^->\([^ ]*\) [\$$#]*\([^ ]*\) \(.*\):#define \1 \2 /* \3 */:; s:->::; p;}"
@@ -34,10 +50,9 @@ define cmd_offsets
 endef
 
 # We use internal kbuild rules to avoid the "is up to date" message from make
-arch/$(SRCARCH)/asm-offsets.s: $(srctree)/arch/$(SRCARCH)/asm-offsets.c  FORCE
+arch/$(SRCARCH)/asm-offsets.s: $(srctree)/arch/$(SRCARCH)/asm-offsets.c include/generated/syscall_number.h FORCE
 	$(Q)mkdir -p $(dir $@)
 	$(call if_changed_dep,cc_s_c)
 
 $(offsets-file): arch/$(SRCARCH)/asm-offsets.s Kbuild
 	$(call cmd,offsets)
-

so3/arch/arm32/Makefile

@@ -2,7 +2,7 @@
 obj-y += head.o
 obj-y += setup.o exception.o context.o fault.o
 obj-y += cache_v7_asm.o cache_v7.o cache-cp15.o
-obj-y += thread.o ptrace.o
+obj-y += thread.o
 obj-y += vfp.o
 obj-y += backtrace.o backtrace_asm.o
 obj-y += smccc-call.o

so3/arch/arm32/asm-offsets.c

@@ -78,6 +78,7 @@ int main(void)
 	DEFINE(OFFSET_PSR, offsetof(cpu_regs_t, psr));
 	DEFINE(OFFSET_SP_USR, offsetof(cpu_regs_t, sp_usr));
 	DEFINE(OFFSET_LR_USR, offsetof(cpu_regs_t, lr_usr));
+	DEFINE(OFFSET_TLS_USR, offsetof(cpu_regs_t, tls_usr));
 
 	BLANK();