| |
| ## CantripOS software organization (what's included here). |
| |
| [More software will be published as we deem it ready for sharing until eventually |
| all of Sparrow (software and hardware designs) will be available.] |
| |
| All of CantripOS is written in Rust. The Rust crates reside in the |
| *apps/system/components* directory of this git repository. |
| CantripOS system services are structured as CAmkES components and assembled |
| using the stock CAmkES tools together with CantripOS-specific templates. |
| Target-platform-dependent services are tagged, e.g. [sparrow-only] for |
| services that are only supported on apps/system/platforms/sparrow.: |
| |
| - *DebugConsole*: a command line interface intended for debug builds that also handles logging to the console |
| - *MailboxDriver*: a driver for the Mailbox hardware used to communicate betwen the security and management cores [sparow-only] |
| - *MemoryManager*: the service that supports dynamic memory / object management |
| - *MlCoordinator*: a service that manages running ML jobs [requires ML accelerator support that is sparrow-only] |
| - *ProcessManager*: the service that creates & manages execution of applications |
| - *SDKRuntime*: the service that handles application runtime requests |
| - *SecurityCoordinator*: the service that provides an interface to the security core (using the MailboxDriver) |
| - *TimerService*: a service that provides timers to system services & applications [requires hardware timer support] |
| - *UARTDriver*: a driver for the UART on the management core [sparrow-only] |
| |
| The set of system services depends on the target platform. At the moment two platforms |
| are buildable: sparrow and rpi3 (Raspberry Pi BCM2837 running in 64-bit mode). |
| The sparrow platform is not currently useful other than for reference as building it |
| requires toolchain & simulator support that is not yet released. The rpi3 platform is |
| the intended target platform for public consumption. Contribution of additional |
| platform support is welcomed (e.g. an rpi3 timer driver would enable use of the TimerService). |
| |
| All platform-supported CantripOS services are included in both debug and release builds. |
| Production builds replace the *DebugConsole* with a more limited interface and drop |
| the UART driver when there is no serial console. The *SDKRuntime* is more a proof of |
| concept than anything else. There are test applications written in C and Rust in the |
| *apps* tree that exercise the experimental api. Production systems may have |
| their own SDK and associated runtime tailored to their needs. |
| |
| In addition to the system services described above, common/shared code is in the |
| *cantrip-os-common* directory/crate: |
| |
| - *allocator*: a heap allocator built on the linked-list-allocator crate |
| - *camkes*: support for writing CAmkES components in Rust |
| - *capdl*: support for reading the capDL specification generated by capDL-tool |
| - *copyregion*: a helper for temporarily mapping physical pages into a thread's VSpace |
| - *cspace-slot*: an RAII helper for the *slot-allocator* |
| - *logger*: seL4 integration with the Rust logger crate |
| - *model*: support for processing capDL; used by the cantrip-os-rootserver |
| - *panic*: an seL4-specific panic handler |
| - *sel4-config*: build glue for seL4 kernel configuration |
| - *sel4-sys*: seL4 system interfaces & glue |
| - *slot-allocator*: an allocator for slots in the top-level CNode |
| |
| The *allocator* and *logger* crates are used by both system services and applications. |
| |
| ### Crate versioning. |
| |
| We are still working out the versioning of the crates. At the moment development is done |
| entirely from source code and is still very active so there has been no benefit to |
| rev'ing crate versions. |
| |
| ### [Next Section: CantripOS target architecture dependcies](ArchitectureDependencies.md) |
