Porting the Dovetail interface to a different kernel release, or a different CPU architecture involves enabling the interrupt pipeline first, then the alternate scheduling feature which builds on the former.
Interrupt pipelining is enabled by turning on CONFIG_IRQ_PIPELINE: getting this feature to work flawlessly is a prerequisite before the rest of the Dovetail port can proceed. At the very least, you should check that these kernel features get along with interrupt pipelining:
Once and only when this layer is rock-solid should you start working on enabling the alternate scheduling support, which will allow your autonomous core to schedule tasks created by the kernel. At the end of this process, turning on CONFIG_DOVETAIL should enable full support for coupling your autonomous core to the kernel.
To clarify what such porting effort involves, let’s have a look at the main kernel sub-systems/features impacted by the Dovetail-related changes:
This is the most basic change to introduce into the kernel, in order to turn the architecture-specific API manipulating the CPU’s interrupt flag into the equivalent virtualized calls the interrupt pipeline provides. By virtualizing these operations, Dovetail keeps the hardware interrupt events flowing in while still preserving the in-band kernel code from undue interrupt delivery as explained in this document. You need to follow this procedure for implementing such virtualization.
Once the IRQFLAGS have been adapted to interrupt pipelining, the original atomic operations which rely on explicitly disabling the hardware interrupts to guarantee atomicity cannot longer work, unless the call sites are restricted to in-band context, which is not an option as we will certainly need them for carrying out atomic operations from out-of-band context too. So we need to iron them in a way that adds back serialization between callers during updates, regardless of the caller’s context. Both a few generic and architecture-specific operations need fix ups to achieve this as documented here.
With SMP-capable hardware, the kernel uses Inter-Processor Interrupts (aka IPI) to notify remote cores about particular events which may have happened on the send side. For Dovetail to enable the autonomous core to trigger and receive some of those special interrupts like any common (e.g. device) interrupt, some architecture-specific code is required. For instance, a SMP-capable autonomous core will need the rescheduling IPI Dovetail defines in order to force a remote core to reschedule its tasks.
A kernel entry starts with low level assembly code receiving interrupts, traps/exceptions and system calls. For this reason, we need the following set of changes:
first, we want to channel IRQ events to the interrupt pipeline, instead of
delivering IRQs directly to the original low-level in-band handler
handle_arch_irq() for ARM). With this change in, the
pipeline can dispatch events immediately to out-of-band handlers if
any, then conditionally dispatch them to the in-band code too if it
accepts interrupts, or defer them until it does. This change is a
prerequisite for enabling the interrupt pipeline.
because faults/exceptions can happen when running on the out-of-band stage (e.g. some task running out-of-band blunders, causing a memory access violation), returning from a fault handling must skip the epilogue code which checks for in-band-specific conditions, such as opportunities for userr task rescheduling or/and kernel preemption.
system calls are a particular type of synchronous traps, voluntarily triggerred by application code in order to have the kernel perform some action for them. Dovetail routes system calls issued by tasks for which alternate scheduling is enabled to the companion core. Most architectures Dovetail supports handle system calls from C code these days (such as x86 and arm64). A few may still do this from a low level assembly section though (e.g. ARM), in which case Dovetail’s routing logic takes place from there. There is a clear trend in the mainline kernel to move most syscall handling code from assembly to a (generic) C implementation, which Dovetail benefits from already.