Zephyr 3.6 support

.github/workflows/main.yml

@@ -12,7 +12,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        zephyr_version: [3.4.0, 2.7.3, 2.6.0, 2.5.0, 2.4.0, 2.3.0]
+        zephyr_version: [3.6.0, 3.5.0, 3.4.0, 2.7.3, 2.3.0]
         board: [qemu_x86, qemu_cortex_m3, qemu_cortex_r5, nucleo_l552ze_q, native_posix, qemu_riscv32, qemu_riscv64]
         test: [samples/rust-app, samples/no_std, samples/serial]
         exclude:
@@ -38,6 +38,10 @@ jobs:
             zephyr_version: 2.7.3
           - board: native_posix
             test: samples/serial
+          - board: native_posix
+            zephyr_version: 3.5.0
+          - board: native_posix
+            zephyr_version: 3.6.0
         include:
           - fails: false
           - run: false

Kconfig

@@ -2,6 +2,7 @@ menuconfig RUST
 	bool "Rust"
 	select THREAD_CUSTOM_DATA
 	select CPLUSPLUS
+	select PICOLIBC_USE_MODULE if PICOLIBC
 	help
 	  Rust language support.
 

README.rst

@@ -10,10 +10,15 @@ Zephyr app.
 
 Version Compatibility
 =====================
-**Zephyr**: v2.3, v2.4, v2.5, v2.6, v2.7, v3.4
+**Zephyr**: v2.3, v2.7.3, v3.4, v3.5, v3.6
 
 **Rust**: exactly 1.68.0
 
+Please use one of the above Zephyr releases before reporting issues! At the
+time you are reading this, Zephyr's main branch will likely not work, though it
+is usually one 1-2 minor changes to support a new release. The project aims to
+support everything from 2.3 to the present.
+
 Features
 ========
 

ci/build-all.sh

@@ -2,7 +2,7 @@
 
 #rm -rf log
 
-ZEPHYR_VERSIONS="3.4.0 2.7.3 2.6.0 2.5.0 2.4.0 2.3.0"
+ZEPHYR_VERSIONS="3.6.0 3.5.0 3.4.0 2.7.3 2.3.0"
 
 #parallel \
 #    -j8 \

rust-smem.c

@@ -37,13 +37,18 @@ struct k_heap Z_GENERIC_SECTION(RUST_STD_SECTION) rust_std_mem_pool;
 #if defined(CONFIG_USERSPACE) || defined(CONFIG_RUST_ALLOC_POOL)
 
 /* Harmless API difference that generates a warning */
-#if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(2, 4, 0)
+#if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(3, 4, 0)
+static int rust_std_init(void)
+{
+#elif ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(2, 4, 0)
 static int rust_std_init(const struct device *arg)
+{
+	ARG_UNUSED(arg);
 #else
 static int rust_std_init(struct device *arg)
-#endif /* ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(2, 4, 0) */
 {
 	ARG_UNUSED(arg);
+#endif /* ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(2, 4, 0) */
 
 #ifdef CONFIG_USERSPACE
 	struct k_mem_partition *rust_std_parts[] = { &rust_std_partition };

rust/zephyr-core/build.rs

@@ -5,16 +5,18 @@ fn main() {
     let kernel_version = u32::from_str_radix(&kernel_version_str_trimmed, 16)
         .expect("ZEPHYR_KERNEL_VERSION_NUM must be an integer");
 
-    if kernel_version >= 0x3_00_00 {
-        println!("cargo:rustc-cfg=zephyr300");
-    }
     if kernel_version >= 0x2_05_00 {
         println!("cargo:rustc-cfg=zephyr250");
     }
-
     if kernel_version >= 0x2_07_00 {
         println!("cargo:rustc-cfg=zephyr270");
     }
+    if kernel_version >= 0x3_00_00 {
+        println!("cargo:rustc-cfg=zephyr300");
+    }
+    if kernel_version >= 0x3_05_00 {
+        println!("cargo:rustc-cfg=zephyr350");
+    }
 
     if std::env::var("CONFIG_USERSPACE").expect("CONFIG_USERSPACE must be set") == "y" {
         println!("cargo:rustc-cfg=usermode");

rust/zephyr-core/src/thread.rs

@@ -32,13 +32,15 @@ macro_rules! trait_impl {
                 unsafe { zephyr_sys::syscalls::$context::k_wakeup(thread.tid()) }
             }
 
-            #[cfg(not(any(zephyr270, zephyr300)))]
+            /* If less than 2.7, always use the k_current_get syscall */
+            #[cfg(not(zephyr270))]
             fn k_current_get() -> crate::thread::ThreadId {
                 ThreadId(unsafe {
                     NonNull::new_unchecked(zephyr_sys::syscalls::$context::k_current_get())
                 })
             }
 
+            /* 2.7 and above with TLS allows pulling from TLS */
             #[cfg(all(zephyr270, tls))]
             fn k_current_get() -> crate::thread::ThreadId {
                 extern "C" {
@@ -50,13 +52,22 @@ macro_rules! trait_impl {
                 })
             }
 
-            #[cfg(any(zephyr300, all(zephyr270, not(tls))))]
+            /* 2.7 without TLS renames the syscall to z_current_get */
+            #[cfg(all(zephyr270, not(zephyr350), not(tls)))]
             fn k_current_get() -> crate::thread::ThreadId {
                 ThreadId(unsafe {
                     NonNull::new_unchecked(zephyr_sys::syscalls::$context::z_current_get())
                 })
             }
 
+            /* 3.5 renames the syscall again to k_sched_current_thread_query */
+            #[cfg(all(zephyr350, not(tls)))]
+            fn k_current_get() -> crate::thread::ThreadId {
+                ThreadId(unsafe {
+                    NonNull::new_unchecked(zephyr_sys::syscalls::$context::k_sched_current_thread_query())
+                })
+            }
+
             fn k_object_access_grant<K: KObj>(kobj: &K, thread: ThreadId) {
                 if !zephyr_sys::raw::RUST_CONFIG_USERSPACE {
                     // Avoid unnecessary call to stub function

scripts/gen_syscalls.py

@@ -147,7 +147,7 @@ def main():
     whitelist = set(["kernel.h", "kobject.h", "device.h", "uart.h", "mutex.h", "errno_private.h", "eeprom.h", "time.h"])
     includes = ["kernel.h", "device.h", "drivers/uart.h", "sys/mutex.h", "sys/errno_private.h", "drivers/eeprom.h", "posix/time.h"]
 
-    for match_group, fn in syscalls:
+    for match_group, fn in [i[:2] for i in syscalls]:
         if fn not in whitelist:
             continue
         include = "syscalls/%s" % fn