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653 lines
30 KiB
Plaintext
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===============================================
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Release notes for the Genode OS Framework 16.02
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===============================================
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Genode Labs
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With version 16.02, we add RISC-V to Genode's supported CPU architectures,
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enable the secure pass-through of individual USB devices to virtual machines,
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and update the support for the Muen and seL4 kernels.
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Trustworthy hardware becomes an increasingly pressing problem. With each new
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generation of today's commodity hardware comes a dramatic increase of
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complexity, the addition of proprietary companion processors, and opaque
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firmware blobs. Even with a perfectly secure operating system, the user's
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privacy and security remains at risk as there is no way to assess the
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trustworthiness of our underlying hardware. RISC-V is a new hardware
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architecture that tries to overcome this problem by the means of open source
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and transparency. It is designed to scale from micro controllers to
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general-purpose computers, and to be both synthesizable as FPGA softcores and
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implementable in ASICs. The prospect of a scalable and trustworthy open-source
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hardware platform motivated us to add RISC-V to Genode's supported CPU
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architectures. Section [New support for the RISC-V CPU architecture] gives a
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brief overview of this line of work.
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Thanks to the growing number of our regular developers using Genode as day to
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day OS, we create a natural incentive to address typical desktop-OS work
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flows. In particular, the new version comes with the ability to assign
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individual USB devices to VirtualBox instances. Conceptually, this looks like
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a relatively straight-forward feature. But as discussed in Section
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[Assignment of USB devices to virtual machines], we had to overcome a number of
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challenging problems caused by the inherently dynamic nature of USB-device
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hot-plugging. Also on the account of day-to-day computing, the GUI stack
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received welcomed usability improvements like keyboard shortcuts for certain
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window-management operations.
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With respect to Genode's underlying base platforms, we are happy to announce
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the updates of the Muen and seL4 kernels. The Muen separation kernel received
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an update to version 0.7, which accommodates Genode's regular work flows (via
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run scripts) much better than the previous version. As described in Section
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[Muen separation kernel], this change clears the way to subject Muen to
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Genode's regular automated tests. The seL4 kernel represents an exciting
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playground as a future base platform for Genode. We have updated the kernel to
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version 2.1, which prompted us to fundamentally revisit the low-level resource
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management of Genode on this kernel. A summary of this undertaking is presented
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in Section [seL4 version 2.1].
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According to the [http:/about/road-map - road map], we originally planned to
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revise the framework API in this release. Even though this topic is
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[https://github.com/genodelabs/genode/issues/1832 - very actively pursued], we
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decided to not rush it. We find it important to provide a smooth migration path
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from the old API to the new one. Determining the best path is actually trickier
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than revising the API, though. To let our decisions settle a bit, we postpone
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the transition to the upcoming release.
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Assignment of USB devices to virtual machines
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#############################################
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As a migration strategy for running Genode on a daily basis, using VirtualBox
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to execute a feature-rich OS is vital. In release
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[http://genode.org/documentation/release-notes/15.05#USB-device_pass-through_support - 15.05],
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we added USB pass-through support to VirtualBox by enabling its integrated USB
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proxy service. Since we use the open-source edition of VirtualBox, we were
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merely able to use the OHCI device model and were therefore limited to using
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USB 1.x devices in low and full speed mode only. To make matters worse, when
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using the OHCI controller model, it is difficult if not impossible to access
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USB mass-storage devices. Usually, VirtualBox facilitates the EHCI or xHCI
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device models for the pass-through of storage devices. Unfortunately, those
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models are only available as a proprietary extension, which cannot be used by
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our VirtualBox port.
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Having support for the pass-through of high-speed and super-speed USB devices
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is a must in such controller models. Therefore, we either have to implement
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these models ourselves or port existing ones from another VMM or emulator to
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fill the gap. We went for porting existing models first because device-model
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development from scratch could end up being time consuming if we want to
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guarantee them to work with a variety of different OS drivers.
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QEMU xHCI device model
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----------------------
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QEMU features a NEC xHCI (UPD720200) device model that works well with Windows
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guests. For this reason, we decided to give porting this device model a shot.
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We applied the DDE approach and started by creating a QEMU emulation
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environment so that only the bare minimum amount of source code needed to be
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taken from the QEMU sources. It came down to a handful of source files, mainly
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the USB core and the xHCI device model files. We iteratively extended the
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emulation environment until the QEMU sources compiled and linked fine. One
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particular cumbersome issue we had to overcome was the emulation of the QEMU
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Object Model. Since QEMU is written in C, it uses its own object model to
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implement inheritance. This object model is used throughout QEMU. We took the
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easy way out and just used a C++ wrapper class that contains all QEMU objects
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that are used in the USB subsystem.
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The next step was to develop a USB host device model. This model connects a
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USB device attached to Genode's USB host-controller driver to the xHCI device
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model. Lucky for us, QEMU already contains a USB host device model that uses
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libusb, which we could use as blueprint. We implemented a USB host device that
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leverages Genode's custom USB session interface. This host device reacts to a
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USB device report coming from another component such as the host-controller
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driver. It tries to claim all devices it finds in that report and then creates
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a QEMU USB device for each of them that is attached to the xHCI device model.
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The xHCI device model needs infrastructure that normally is provided by QEMU
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itself such as a timer queue and PCI device handling. We introduced a QEMU
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USB controller interface _repos/libports/include/qemu/usb.h_ whose back-end
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library interface has to be implemented by a component, i.e. the VMM, that
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wants to use the library.
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In the end, this work resulted in a small library that contains the xHCI
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device model and works in a standalone way. All required resources have to be
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provided by the component using the library. This makes it easy to integrate
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the library in different VMMs because the user of the library is not forced to
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employ the library in a certain way but free to use it any way he chooses.
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xHCI device model wrapper in VirtualBox
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---------------------------------------
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We implemented an xHCI device model _repos/port/src/virtualbox/devxhci.cc_ in
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VirtualBox that merely wraps the QEMU USB library and provides the back-end
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functionality required by the library to glue QEMU's xHCI device model to
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VirtualBox. For now, this device is always part of a VM because there is
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currently no way to disable it from within the VirtualBox configuration
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front end. Therefore, it is necessary to always give VirtualBox access to a
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_usb_devices_ ROM module.
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We removed the afore mentioned USB proxy service from our VirtualBox port
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because it became redundant with the advent of our xHCI device model.
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USB device report filter
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------------------------
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With the xHCI support in VirtualBox in place, we had to come up with a
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mechanism to select, which USB devices it may access. Since USB devices are
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usually hot-plugged by the user of the system, we need to be able to configure
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the access permissions dynamically at run-time. On this account, we created a
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component that intercepts the report from the USB host-controller driver. On
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the one hand, this USB device report-filter component screens the device
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report coming from the USB host-controller driver by checking each reported
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device against a given white list of devices. Only approved devices are
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reported to a consumer of the report, i.e. VirtualBox. On the other hand, this
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component generates a new configuration for the USB host-controller driver.
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The configuration has to be changed each time the filter component finds a
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suitable device because the driver will hand out access to a given device to a
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client only if there is a valid policy. As we do not know in advance, which
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devices might be plugged in, this policy must be maintained dynamically. The
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report filter will send the device report only if the host-controller driver
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has changed its configuration. This ensures that a matching policy will be in
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effect at the time when the client component tries to access the device.
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The configuration of the report-filter component can also be changed at run
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time.
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See _repos/os/src/app/usb_report_filter/README_ for more details on how the
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USB device report filter may be configured.
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Example configuration
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---------------------
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The following figure illustrates the interplay and configuration of the
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involved components:
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[image qemu_xhci]
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When the user plugs in a USB device, the USB host-controller driver generates
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a device report that is consumed by the USB device report-filter component
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(1). The filter component then examines the report and checks if it contains a
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device it should report to its report consumer. It then reconfigures the
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host-controller driver (2). Afterwards it sends a report to its consumer (3).
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The consumer, in this case a VMM, then accesses the USB device (4).
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New support for the RISC-V CPU architecture
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###########################################
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We became aware of [http://riscv.org - RISC-V] when attending several talks
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about the project at [https://fosdem.org - FOSDEM] in 2015. RISC-V aims to be
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an open-source hardware architecture and is now complemented by many projects
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that target the release of real hardware or ASICs (for example,
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[http://lowrisc.org - the LowRISC project]). We have experience with various
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major CPU architectures and many systems on a chip and, therefore, embrace a
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sharp eye on certain platform properties. Intel's ME and ARM's Trustzone
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practically lock out operating systems of certain hardware and firmware
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features. The true nature of these mechanisms becomes increasingly dubious,
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especially when trying to build a secure open-source operating system. Intel's
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AMT technology for instance comes with a complete TCP/IP stack that intercepts
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packets from the integrated NIC and a VNC server that can magically expose a
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mouse and a keyboard at the USB controller. If you are interested in more
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details about this topic
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[http://blog.invisiblethings.org/papers/2015/x86_harmful.pdf - Intel x86 considered harmful]
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by Joanna Rutkowska is a very good read. We decided to have a deeper look at
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the RISC-V architecture as an alternative open hardware platform. Especially,
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since the LowRISC project promises a completely open system on chip, including
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the peripherals.
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RISC-V comes with a lot of optional features, so it can cover a large field of
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applications reaching from simple I/O processors to general-purpose computing.
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For example, there are 64 and 32 bit ISA (instruction set architecture)
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versions, three page table formats with the option to omit paging at all, up
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to four privilege modes, and a minimal integer core ISA (I). Everything else,
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like multiplication and division (M), atomic instructions (A), and floating
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point support (F) are subject to ISA extensions and are completely optional
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for a specific hardware implementation.
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For Genode, we chose to add the RISC-V support to our custom _base-hw_ kernel.
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Since Genode may be used as a general purpose OS, we implemented the kernel
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using the 64 bit RISC-V version, the Sv39 three-level page table format, and
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the so-called general-purpose extension (G), which is the abbreviation for the
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IAMF extensions. The current implementation provides the kernel and the
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necessary adaptations of the user level part of core.
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For testing, we used the RISC-V instruction emulator called
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[https://github.com/riscv/riscv-isa-sim - Spike]. There also exists a RISC-V
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implementation for various Zynq FPGAs. Genode's Zynq board support has kindly
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been added and contributed by Mark Vels.
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In the current state, basic Genode applications including core, init, and
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components that use shared libraries can be executed on top of our RISC-V
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port. We did not enable the libc and postponed further activity as the
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platform currently does not specify the interaction with peripherals.
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Steps to test Genode on RISC-V
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------------------------------
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# Building the instruction emulator
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! # download the front end server
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! git clone https://github.com/ssumpf/riscv-fesvr.git
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!
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! # build the front end server
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! cd riscv-fesvr
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! mkdir build
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! cd build
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! export RISCV=<installation path>
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! ../configure --prefix=$RISCV
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! (sudo) make install
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!
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! # download the instruction emulator
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! cd ../../
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! git clone https://github.com/ssumpf/riscv-isa-sim.git
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! cd riscv-isa-sim
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!
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! # build the emulator
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! mkdir build
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! cd build
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! ../configure --prefix=$RISCV --with-fesvr=$RISCV
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! (sudo) make install
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!
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! # add $RISCV/bin to path
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! export PATH=$RISCV/bin:$PATH
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# Building Genode and running a test scenario
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! # download Genode
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! cd ../../
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! git clone https://github.com/genodelabs/genode.git
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!
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! # build the Genode tool chain
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! cd genode
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! ./tool/tool_chain riscv
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!
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! # create RISC-V build directory
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! ./tool/create_builddir hw_riscv
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! cd build/hw_riscv
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!
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! # build and execute the printf run script
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! make run/printf
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GUI stack usability improvements
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################################
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Motivated by the daily use of Genode as desktop OS by an increasingly number
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of developers, the window-layouter component of the
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[http://genode.org/documentation/release-notes/15.11#GUI_stack - GUI stack]
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received welcomed usability improvements.
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Configurable window placement
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-----------------------------
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The policy of the window layouter can be adjusted via its configuration. For
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a given window label, the window's initial position and its maximized state
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can be defined as follows:
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! <config>
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! <policy label="mupdf" maximized="yes"/>
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! <policy label="nit_fb" xpos="50" ypos="50"/>
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! </config>
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Keyboard shortcuts
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------------------
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The window layouter has become able to respond to key sequences. However,
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normally, the layouter is not a regular nitpicker client but receives only
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those input events that refer to the window decorations. It never owns the
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keyboard focus. In order to propagate global key sequences to the layouter,
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nitpicker must be explicitly configured to direct key sequences initiated with
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certain keys to the decorator. For example, the following nitpicker
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configuration routes key sequences starting with the left windows key to the
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decorator. The window manager, in turn, forwards those events to the layouter.
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! <start name="nitpicker">
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! ...
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! <config>
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! ...
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! <global-key name="KEY_LEFTMETA" label="wm -> decorator" />
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! ...
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! </config>
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! ...
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! </start>
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The response of the window layouter to key sequences can be expressed in the
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layouter configuration as follows:
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! <config>
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! <press key="KEY_LEFTMETA">
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! <press key="KEY_TAB" action="next_window">
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! <release key="KEY_TAB">
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! <release key="KEY_LEFTMETA" action="raise_window"/>
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! </release>
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! </press>
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! <press key="KEY_LEFTSHIFT">
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! <press key="KEY_TAB" action="prev_window">
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! <release key="KEY_TAB">
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! <release key="KEY_LEFTMETA" action="raise_window"/>
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! </release>
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! </press>
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! </press>
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! <press key="KEY_ENTER" action="toggle_fullscreen"/>
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! </press>
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! </config>
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Each '<press>' node defines the policy when the specified 'key' is pressed.
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It can be equipped with an 'action' attribute that triggers a window action.
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The supported window actions are:
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:next_window: Focus the next window in the focus history.
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:prev_window: Focus the previous window in the focus history.
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:raise_window: Bring the focused window to the front.
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:toggle_fullscreen: Maximize/unmaximize the focused window.
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By nesting '<press>' nodes, actions can be tied to key sequences. In the
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example above, the 'next_window' action is executed only if TAB is pressed
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while the left windows-key is kept pressed. Furthermore, key sequences can
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contain specific release events. In the example above, the release of the left
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windows key brings the focused window to front, but only if TAB was pressed
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before.
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Device drivers
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##############
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USB host-controller driver enhancements
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=======================================
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The _usb_drv_ component now solely uses a policy to grant other components
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access to USB devices exposed by its raw interface (USB session). On the basis
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of the 'label' attribute, it will choose a pre-configured device that is
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identified by either the 'bus' and 'dev' or the 'vendor' and 'product'
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attribute tuple. To accommodate policy decisions made at run time, the USB
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driver is now able to reload its configuration on demand. The USB device
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report now contains a 'bus' and a 'dev' attribute as well in order to identify
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a USB device more precisely. In addition to that, there is also a generated
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'label' attribute in form of 'usb-<bus>-<dev>' that may be used to form
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policies while configuring the system dynamically, e.g., when using the
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_usb_report_filter_ component.
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USB mass-storage driver
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=======================
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Up to now, access to USB storage devices was provided by the USB
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host-controller driver only. However, its ability to do so is limited. E.g.,
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it only supports one storage device and the storage device cannot be changed
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at run-time. With this release we add a USB mass-storage driver that supports
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UMS bulk-only devices that use the SCSI Block Commands set (direct-access).
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This is still most common for USB sticks. Devices using different command
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sets, e.g SD/HC devices or some external disc drives, will not work properly
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if at all. The driver uses the USB session interface to access the USB device
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and provides its service as block session to its client.
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This component is part of the first step providing the ability to mount and
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use USB sticks dynamically when using Genode as a general purpose OS. In the
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future, the _usb_drv_ component should solely be the host-controller driver
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while other tasks are handled by dedicated USB driver components such as this
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one.
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Audio output on Linux
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=====================
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The audio-out driver for Linux was modernized by replacing its multi-threaded
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architecture by an event-driven architecture using Genode's server API. In
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addition, the playback is now driven by a timer. For now it is a periodic
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timer that triggers every 11 ms which is roughly the current audio-out period.
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The driver now also behaves like the other BSD-based audio-out driver, i.e.,
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it always advances the play pointer. That is vital for the audio-out stack
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above the driver to work properly (e.g., the mixer).
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Libraries and applications
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##########################
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New Genode-world repository
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===========================
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With a growing number of users and contributors comes the desire to bring more
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and more existing software to Genode. Most of such libraries and applications,
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however, are outside of the scope of Genode as an OS framework. In contrast to
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device drivers, protocol stacks, and low-level OS services, which we subject
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to our regular automated tests, most 3rd-party software is pretty independent
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from Genode. The attempt to integrate the growing pool of such diverse
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software into the main repository does not scale.
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For this reason, we introduce the new
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[https://github.com/genodelabs/genode-world - Genode World] repository, which
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is the designated place for hosting ported applications, libraries, and games.
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To use it, you first need to obtain a clone of Genode:
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! git clone https://github.com/genodelabs/genode.git genode
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Now, clone the _genode-world.git_ repository to _genode/repos/world:_
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! git clone https://github.com/genodelabs/genode-world.git genode/repos/world
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By placing the _world_ repository under the _repos/_ directory, Genode's tools
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will automatically incorporate the ports provided by the _world_ repository.
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For building software of the _world_ repository, the build-directory
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configuration _etc/build.conf_ must be extended with the following line:
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! REPOSITORIES += $(GENODE_DIR)/repos/world
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*Word of caution*
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In contrast to the components found in the mainline Genode repository, the
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components within the _world_ repository are not subjected to the regular
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quality-assurance measures of Genode Labs. Hence, problems are to be expected.
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If you encounter bugs, build problems, or stability issues, please report them
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to the [https://github.com/genodelabs/genode-world/issues - issue tracker] or
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the [http://genode.org/community/mailing-lists - mailing list].
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Updated 3rd-party software
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==========================
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The following 3rd-party code packages of the _ports_ and _libports_
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repositories have been ported or updated:
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* Lynx 2.8.8rel.2 (noux package)
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* OpenSSH 7.1p1 (noux package)
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* tar-1.27 (noux package)
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* libssh 0.7.2
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* Lighttpd 1.4.38
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Platforms
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#########
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Execution on bare hardware (base-hw)
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====================================
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Within the last months, the initialization code of our custom kernel got
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re-arranged to simplify the addition of new architectures, e.g., the RISC-V
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port (Section [New support for the RISC-V CPU architecture]) while also making
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its implementation leaner. A positive side effect of this work was the
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generalization of multi-processor and L2-cache support for ARM's Cortex-A9
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CPUs. For instance, the Wandboard (Freescale i.MX6 SoC) is now driven with all
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four cores, and its memory can be accessed with full speed.
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Besides those feature additions, we fixed an extremely rare and tricky race
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condition in the implementation of the kernel-protected capabilities,
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introduced in release 15.05. A capability's lifetime within a component is
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tracked by a reference-counting like mechanism that is under control of the
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component itself. When the kernel transfered a capability to a component, and
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the very same capability was deleted within the component simultaneously, the
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received capability was marked as invalid, which led to diverse, sporadic
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faults. This deficit in the capabilities reference-counting is solved with the
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current release.
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Muen separation kernel
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======================
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Build integration
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-----------------
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Building Genode scenarios running on top of the
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[http://muen.sk - Muen separation kernel] has been greatly simplified by
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properly integrating the Muen system build process into the Genode build system.
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As described in the
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[http://genode.org/documentation/release-notes/15.08#Genode_on_top_of_the_Muen_Separation_Kernel - 15.08 release notes],
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the architecture with Muen is different since the entire hw_x86_64_muen Genode
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system runs as a guest VM on top of the separation kernel. This means that the
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Genode base-hw image must itself be packaged into the final Muen system image
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as an additional step after the Genode system build.
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The packaging process of a Muen system image is performed by the new
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_image/muen_ run-tool plugin, which processes the following RUN_OPT parameters.
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:--image-muen-external-build:
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Muen system is built automatically or externally
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:--image-muen-system:
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Muen system policy
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:--image-muen-components:
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Muen system components required for the given system policy
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:--image-muen-hardware:
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Muen target hardware platform
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:--image-muen-gnat-path:
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Path to GNAT toolchain
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:--image-muen-spark-path:
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Path to SPARK toolchain
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The options are automatically added to the _etc/build.conf_ file for the
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hw_x86_64_muen base-hw platform. The
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[http://genode.org/documentation/platforms/muen - documentation] has been
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updated to reflect the new, simplified build process.
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A port file was added to facilitate the download of the Muen sources v0.7 and
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to check the required dependencies.
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Using the new _image/muen_ script in combination with iPXE allows to run the
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Genode test suite via the autopilot tool.
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MSI support
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-----------
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Muen employs Intel VT-d interrupt remapping (IR) besides DMA remapping for
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secure device assignment. As a consequence, PCI devices using Message Signaled
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Interrupts (MSI) must be programmed to trigger requests in remappable format
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(see Intel VT-d specification, Section 5.1.2.2 for further details).
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To enable the use of MSIs with the base-hw kernel, a platform-specific
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function has been introduced that returns the necessary MSI parameters for a
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given PCI device. If either the platform or the specific device does not
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support MSI, the function returns false.
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On hw_x86_64_muen, the function consults the Muen subject info page to supply
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the appropriate information to the IRQ session. This allows Genode device
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drivers to transparently use MSIs for passed-through PCI devices.
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seL4 version 2.1
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================
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By the end of 2015, the [http://sel4.systems/ - seL4 kernel] version 2.0 was
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published. With the current release, we update Genode's preliminary support
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for this kernel from the experimental branch of one year ago to the master
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branch of version 2.1. Note that this line of work is still considered as an
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exploration. As of now, there is still a way to go until we can leverage seL4
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as a fully featured base platform. Under the hood of Genode, the transition to
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the version 2.1 master branch had the following implications.
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In contrast to the experimental branch, the seL4 master branch has no way to
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manually define the allocation of kernel objects within untyped memory ranges.
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Instead, the kernel maintains a built-in allocation policy. This policy rules
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out the deallocation of once-used parts of untyped memory. The only way to
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reuse memory is to revoke the entire untyped memory range. Consequently, we
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cannot share a large untyped memory range for kernel objects of different
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protection domains. In order to reuse memory at a reasonably fine granularity,
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we need to split the initial untyped memory ranges into small chunks that can
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be individually revoked. Those chunks are called "untyped pages". An untyped
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page is a 4 KiB untyped memory region.
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The bootstrapping of core has to employ a two-stage allocation approach now.
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For creating the initial kernel objects for core, which remain static during
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the entire lifetime of the system, kernel objects are created directly out of
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the initial untyped memory regions as reported by the kernel. The so-called
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"initial untyped pool" keeps track of the consumption of those untyped memory
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ranges by mimicking the kernel's internal allocation policy. Kernel objects
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created this way can be of any size. For example the CNode, which is used to
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store page-frame capabilities is 16 MiB in size. Also, core's CSpace uses a
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relatively large CNode.
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After the initial setup phase, all remaining untyped memory is turned into
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untyped pages. From this point on, newly created kernel objects cannot exceed
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4 KiB in size because one kernel object cannot span multiple untyped memory
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regions. The capability selectors for untyped pages are organized similarly to
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those of page-frame capabilities. There is a new 2nd-level CNode
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(UNTYPED_CORE_CNODE) that is dimensioned according to the maximum amount of
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physical memory (1M entries, each entry representing 4 KiB). The CNode is
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organized such that an index into the CNode directly corresponds to the
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physical frame number of the underlying memory. This way, we can easily
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determine an untyped page selector for any physical addresses, i.e., for
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revoking the kernel objects allocated at a specific physical page. The
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downside is the need for another 16 MiB chunk of meta data. Also, we need to
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keep in mind that this approach won't scale to 64-bit systems. We will
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eventually need to replace the PHYS_CORE_CNODE and UNTYPED_CORE_CNODE by CNode
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hierarchies to model a sparsely populated CNode. The following figure
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illustrates the layout of core's capability space.
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[image sel4_core_cspace_master]
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Organization of core's capability space on seL4
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For each protection domain, core maintains a so-called VM CSpace that holds
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capability selectors for page frames and page tables. The size constraint of
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kernel objects has the immediate implication that the VM CSpaces of protection
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domains must be organized via several levels of CNodes. I.e., as the top-level
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CNode of core has a size of 2^12, the remaining 20 PD-specific CSpace address
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bits are organized as a 2nd-level 2^4 padding CNode, a 3rd-level 2^8 CNode,
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and several 4th-level 2^8 leaf CNodes. The latter contain the actual selectors
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for the page tables and page-table entries of the respective PD.
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As another slight difference from the experimental branch, the master branch
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requires the explicit assignment of page directories to an ASID pool.
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Functionality-wise the update to version 2.1 brings no changes. The
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preliminary support is still limited to Genode's most fundamental mechanisms
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like the bootstrapping, the creation of protection domains, the execution of
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threads, and inter-component communication. User-level device drivers are not
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supported yet. Such functional improvements are scheduled for Genode 16.08.
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Linux
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=====
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We started to experience crashes of our dynamic linker (ldso) when using
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Genode's _base-linux_ platform on recent Linux kernels. Ldso is primarily a
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shared object, which is linked to dynamic binaries. But ldso is also an
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executable, which, once started loads the dynamically-linked binary along with
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all shared libraries required by the binary. Up to now, ldso had to be loaded
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at a link address defined at compilation time, which we enforced through
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linker-script magic. Unfortunately, this does not work any longer on recent
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Linux versions. The kernel notices that ldso is a shared object and loads it
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at an arbitrary (randomized) address, which ultimately results in a
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segmentation fault during ldso initialization. We found a fix for this issue
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by marking ldso as an executable in the ELF header. But since ldso is linked
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to all dynamic binaries (it contains Genode's base libraries) the GNU linker
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then refused to link because ldso was not marked as a shared object.
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Therefore, we decided to implement true self relocation within ldso. This
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feature only works on Genode's base-linux platform as it requires some
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symbol-address magic.
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