seL4操作系统编程手册（中文版）

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seL4 操作系统编程

1 seL4 微内核介绍 ........................................................................................................................ 7

1.1 基础概念 ........................................................................................................................ 7

1.1 1 内核对象（Kernel Objects） .............................................................................. 7

1.1.2 句柄（Capabilities） .......................................................................................... 7

1.1.3 虚拟地址空间（Virtual Address Spaces） ......................................................... 8

1.1.4 线程（Threads） ................................................................................................ 9

1.1.5 进程间通信（Inter-Process Communication，IPC） ........................................ 9

1.1.6 设备驱动与中断（Device Drivers and IRQs） ................................................... 9

1.1.7 抢占（Preemption） .......................................................................................... 9

1.2 零碎信息 ...................................................................................................................... 10

1.2. 1 L4 操作系统综述 ............................................................................................... 10

1.2. 2 微内核操作系统分代 ...................................................................................... 12

2 内核服务与内核对象 ............................................................................................................. 14

2.1 基于句柄的访问控制 .................................................................................................. 14

2.2 系统调用 ...................................................................................................................... 15

2.3 内核对象 ...................................................................................................................... 16

2.4 内核内存申请 .............................................................................................................. 17

2.4.1 内存重用 ........................................................................................................... 17

3 句柄空间 ................................................................................................................................. 19

3.1 句柄与 CSpace 管理 .................................................................................................... 20

3.1.1 CSpace 创建........................................................................................................ 20

3.1.2 CNode 方法（CNode Methods） ...................................................................... 20

3.1.3 句柄权限（Capability Rights） ........................................................................ 21

3.1.4 句柄继承树（Capability Derivation Tree） ...................................................... 22

3.2 删除、撤销、回收（Deletion, Revocation, and Recycling） ..................................... 23

3.3 CSpace 编址（CSpace Addressing） ............................................................................ 24

3.3.1 句柄地址查找 Capability Address Lookup） .................................................... 26

3.3.2 句柄编址（Addressing Capabilities） .............................................................. 28

3.4 查找失败描述（Lookup Failure Description） ........................................................... 29

3.4.1 Invalid Root ......................................................................................................... 29

3.4.2 Missing Capability ............................................................................................... 29

3.4.3 Depth Mismatch ................................................................................................. 30

3.4.4 Guard Mismatch ................................................................................................. 30

3.5 句柄调用 Capability Invocation ................................................................................... 30

4 进程间通信 IPC ....................................................................................................................... 32

4.1 消息寄存器 Message Register ..................................................................................... 32

4.2 同步端点 Synchronous Endpoint ................................................................................. 37

4.2.1 端点标记 Endpoint Badge ................................................................................. 37

4.2.2 句柄传输 Capability Transfer ............................................................................ 38

4.2.3 错误 Errors ........................................................................................................ 38

4.3 异步端点 Asynchronous Endpoint ............................................................................... 39

4.3.1 异步端点标记 Asynchronous Endpoint Badges ............................................... 39

4.4 同步端点与 IPC（Synchronous Endpoints and IPC） ................................................. 40

4.4 系统功能调用（Sysyem Calls） .................................................................................. 41

5 线程及其执行 ......................................................................................................................... 43

5.1 Threads（线程） .......................................................................................................... 43

5.1.1 线程创建 Thread Creation ................................................................................ 44

5.1.2 线程停止 Thread Deactivation .......................................................................... 45

5.1.3 调度 Scheduling ................................................................................................ 45

5.1.4 异常 Exceptions ................................................................................................. 46

5.1.5 寄存器读写方法中的消息结构 ........................................................................ 46

5.2 故障 Faults .................................................................................................................. 47

5.2.1 句柄故障 Capability Faults ................................................................................ 48

5.2.2 不明系统调用 Unknown Syscall ....................................................................... 48

5.2.3 用户异常 User Exception .................................................................................. 50

5.2.4 缺页 VM Fault.................................................................................................... 51

5.3 域（Domains） ............................................................................................................ 51

5.4 线程控制块 TCB ........................................................................................................... 52

6 地址空间与虚拟内存 ............................................................................................................. 54

6.1 概述（Overview） ....................................................................................................... 56

6.2 内核对象（Objects） .................................................................................................. 56

6.3 映射属性（Mapping Attributes） ............................................................................... 59

6.4 共享内存（Sharing Memory） ................................................................................... 59

6.5 页出错（Page Faults） ................................................................................................ 61

7 硬件 IO .................................................................................................................................... 62

7.1 中断指派（Interrupt Delivery） ................................................................................. 62

7.2 IA-3 特定 I/O ................................................................................................................. 63

7.2.1 I/O 端口（I/O Ports） ........................................................................................ 63

7.2.2 I/O 空间（I/O Space） ...................................................................................... 64

8 系统启动过程 ......................................................................................................................... 66

8.1 初始线程环境（Initial Thread's Environment） ......................................................... 66

8.2 起动信息帧（BootInfo Frame） ................................................................................. 68

8.3 引导用令行（Boot Command-line Arguments） ....................................................... 69

8.4 多核起动（Multikernel Bootstrapping） .................................................................... 70

9 编程接口 API ........................................................................................................................... 72

9.1 出错代码 ...................................................................................................................... 72

9.1.1 Invalid Argument ................................................................................................ 72

9.1.2 Invalid Capability ................................................................................................. 72

9.1.3 Illegal Operation ................................................................................................. 72

9.1.4 Range Error ......................................................................................................... 73

9.1.5 Alignment Error .................................................................................................. 73

9.1.6 Failed Lookup ...................................................................................................... 73

9.1.7 Delete First .......................................................................................................... 73

9.1.8 Revoke First ......................................................................................................... 74

9.1.9 Not Enough Memory .......................................................................................... 74

9.2 基础系统 API ................................................................................................................ 74

9.2.1 Send .................................................................................................................... 75

9.2.2 Wait..................................................................................................................... 76

9.2.3 Call ...................................................................................................................... 76

9.2.4 Reply ................................................................................................................... 77

9.2.5 Non-blocking Send .............................................................................................. 77

9.2.6 Reply Wait ........................................................................................................... 78

9.2.7 Yield .................................................................................................................... 78

9.2.8 Notify .................................................................................................................. 79

9.3 体系结构无关的对象方法 .......................................................................................... 79

9.3.1 CNode - Copy ...................................................................................................... 82

9.3.2 CNode - Delete .................................................................................................... 83

9.3.3 CNode - Mint ...................................................................................................... 84

9.3.4 CNode - Move ..................................................................................................... 85

9.3.5 CNode - Mutate .................................................................................................. 85

9.3.6 CNode - Recycle .................................................................................................. 86

9.3.7 CNode - Revoke ................................................................................................... 87

9.3.8 CNode - Rotate .................................................................................................... 87

9.3.9 CNode - Save Caller ............................................................................................. 88

9.3.10 Debug - Halt ...................................................................................................... 89

9.3.11 Debug - Put Character....................................................................................... 89

9.3.12 Debug - Snapshot .............................................................................................. 89

9.3.13 Debug - CapIdentify .......................................................................................... 89

9.3.14 Debug - Run ...................................................................................................... 90

9.3.15 Benchmark - ResetLog ...................................................................................... 90

9.3.16 Benchmark - DumpLog ..................................................................................... 91

9.3.17 Benchmark - LogSize ......................................................................................... 91

9.3.18 DomainSet - Set ................................................................................................ 92

9.3.19 IRQ Control - Get ............................................................................................... 92

9.3.20 IRQ Handler - Acknowledge .............................................................................. 93

9.3.21 IRQ Handler - Clear ........................................................................................... 93

9.3.22 IRQ Handler - Set Endpoint ............................................................................... 94

9.3.23 TCB - Configure ................................................................................................. 94

9.3.24 TCB - Copy Registers ......................................................................................... 95

9.3.25 TCB - Read Registers ......................................................................................... 96

9.3.26 TCB - Resume .................................................................................................... 97

9.3.27 TCB - Set IPC_Buffer .......................................................................................... 97

9.3.28 TCB - Set Priority ............................................................................................... 98

9.3.29 TCB - Set Space ................................................................................................. 98

9.3.30 TCB - Suspend ................................................................................................... 99

9.3.31 TCB - Write Registers ........................................................................................ 99

9.3.32 Untyped - Retype ............................................................................................ 100

9.3.33 对象大小汇总 ............................................................................................... 101

9.4 IA-32 特定对象方法（IA-32-Specific Object Methods） ........................................... 103

9.4.1 IA32 ASID Control - Make Pool ......................................................................... 103

9.4.2 IA32 ASID Pool - Assign ..................................................................................... 103

9.4.3 IA32 IO Port - In 8 ............................................................................................. 104

9.4.4 IA32 IO Port - In 16 ........................................................................................... 105

9.4.5 IA32 IO Port - In 32 ........................................................................................... 105

9.4.6 IA32 IO Port - Out 8........................................................................................... 106

9.4.7 IA32 IO Port - Out 16......................................................................................... 106

9.4.8 IA32 IO Port - Out 32......................................................................................... 107

9.4.9 IA32 IO Page Table - Map .................................................................................. 107

9.4.10 IA32 Page - Map IO ......................................................................................... 108

9.4.11 IA32 Page - Map .............................................................................................. 109

9.4.12 IA32 Page - Remap .......................................................................................... 109

9.4.13 IA32 Page - Unmap ......................................................................................... 110

9.4.14 IA32 Page - Get Address.................................................................................. 111

9.4.15 IA32 Page Table - Map .................................................................................... 111

9.4.16 IA32 Page Table - Unmap ................................................................................ 112

9.5 ARM-Speci c Object Methods ...................................................................................... 112

9.5.1 ARM ASID Control - Make Pool ......................................................................... 112

9.5.2 ARM ASID Pool - Assign .................................................................................... 113

9.5.3 ARM Page - Flush Caches .................................................................................. 114

9.5.4 ARM Page - Map ............................................................................................... 114

9.5.5 ARM Page - Remap ........................................................................................... 115

9.5.6 ARM Page - Unmap ........................................................................................... 116

9.5.7 ARM Page - Get Address ................................................................................... 116

9.5.8 ARM Page Table - Map ...................................................................................... 117

9.5.9 ARM Page Table - Unmap ................................................................................. 117

10 muslc c 库 ............................................................................................................................. 119

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