From c26607b02b8f76acbb66968f166db3a3bc7fb58e Mon Sep 17 00:00:00 2001 From: Yuuki Takano Date: Tue, 7 Jul 2026 14:56:31 +0900 Subject: [PATCH 01/15] feat(sched): add CPU core affinity via ClusteredEDF scheduler Generalize the PartitionedEDF scheduler, which pinned each task to a single core, into ClusteredEDF where each task carries a CpuSet of cores it may run on. Run queues are managed by the affinity_btree_queue crate: a single affinity-aware priority queue replaces the per-core BinaryHeap array, and get_next pops the earliest-deadline task runnable on the calling CPU via pop_for_cpu. - awkernel_lib: add const-friendly CpuSet ([u64; NUM_MAX_CPU/64]) with const constructors so it can live in the const-evaluated PRIORITY_LIST. - SchedulerType::PartitionedEDF(u64, u16) -> ClusteredEDF(u64, CpuSet); Task.partitioned_core -> cpu_set: Option. spawn masks out CPU 0 and out-of-range bits, falling back to all worker cores when empty. - invoke_preemption picks the core running the lowest-priority task among the set; enqueues without preemption when any core in the set is idle. - Rename partitioned symbols to clustered (PartitionedTask -> ClusteredTask, NUM_PARTITIONED_TASKS_IN_QUEUE -> NUM_CLUSTERED_TASKS_IN_QUEUE, test crate test_partitioned_edf -> test_clustered_edf). - Fix a pre-existing lost-wakeup bug in wake_workers: break -> continue so higher-numbered CPUs with queued clustered tasks are not skipped. Co-Authored-By: Claude Fable 5 Signed-off-by: Yuuki Takano --- .../Cargo.toml | 2 +- .../src/lib.rs | 51 ++++- awkernel_async_lib/Cargo.toml | 1 + awkernel_async_lib/src/scheduler.rs | 103 ++++----- .../src/scheduler/clustered_edf.rs | 205 ++++++++++++++++++ .../src/scheduler/partitioned_edf.rs | 201 ----------------- awkernel_async_lib/src/task.rs | 50 +++-- awkernel_lib/src/cpu.rs | 92 ++++++++ kernel/Cargo.toml | 2 +- mdbook/src/internal/scheduler.md | 16 +- userland/Cargo.toml | 6 +- userland/src/lib.rs | 4 +- 12 files changed, 426 insertions(+), 307 deletions(-) rename applications/tests/{test_partitioned_edf => test_clustered_edf}/Cargo.toml (89%) rename applications/tests/{test_partitioned_edf => test_clustered_edf}/src/lib.rs (64%) create mode 100644 awkernel_async_lib/src/scheduler/clustered_edf.rs delete mode 100644 awkernel_async_lib/src/scheduler/partitioned_edf.rs diff --git a/applications/tests/test_partitioned_edf/Cargo.toml b/applications/tests/test_clustered_edf/Cargo.toml similarity index 89% rename from applications/tests/test_partitioned_edf/Cargo.toml rename to applications/tests/test_clustered_edf/Cargo.toml index cf8692dab..561137e65 100644 --- a/applications/tests/test_partitioned_edf/Cargo.toml +++ b/applications/tests/test_clustered_edf/Cargo.toml @@ -1,5 +1,5 @@ [package] -name = "test_partitioned_edf" +name = "test_clustered_edf" version = "0.1.0" edition = "2021" diff --git a/applications/tests/test_partitioned_edf/src/lib.rs b/applications/tests/test_clustered_edf/src/lib.rs similarity index 64% rename from applications/tests/test_partitioned_edf/src/lib.rs rename to applications/tests/test_clustered_edf/src/lib.rs index 83702760c..2989a39df 100644 --- a/applications/tests/test_partitioned_edf/src/lib.rs +++ b/applications/tests/test_clustered_edf/src/lib.rs @@ -7,7 +7,7 @@ use alloc::string::ToString; use awkernel_async_lib::sleep; use awkernel_async_lib::{scheduler::SchedulerType, spawn}; use awkernel_lib::{ - cpu::{cpu_id, num_cpu}, + cpu::{cpu_id, num_cpu, CpuSet}, delay::{uptime, wait_microsec}, }; use core::time::Duration; @@ -16,11 +16,12 @@ pub async fn run() { wait_microsec(2_000_000); if num_cpu() < 2 { - log::warn!("test_partitioned_edf: requires at least 2 CPUs, skipping"); + log::warn!("test_clustered_edf: requires at least 2 CPUs, skipping"); return; } test_core_pinning().await; + test_cluster_affinity().await; test_edf_preemption().await; test_multi_core().await; @@ -28,12 +29,11 @@ pub async fn run() { } /// Test 1: Verify tasks are pinned to their assigned cores. -/// Spawns one periodic task per worker core (1..num_cpu()). -/// Each task checks cpu_id() matches the assigned core. +/// Spawns one periodic task per worker core (1..num_cpu()) with a +/// single-core CPU set. Each task checks cpu_id() matches the assigned core. async fn test_core_pinning() { log::info!("=== test_core_pinning start ==="); for core in 1..num_cpu() { - let core_u16 = core as u16; spawn( alloc::format!("pinning_core{core}").into(), async move { @@ -49,13 +49,44 @@ async fn test_core_pinning() { awkernel_async_lib::r#yield().await; } }, - SchedulerType::PartitionedEDF(1_000_000, core_u16), + SchedulerType::ClusteredEDF(1_000_000, CpuSet::empty().insert(core)), ) .await; } } -/// Test 2: Verify EDF preemption on a single core. +/// Test 2: Verify a task with a multi-core CPU set only runs on cores +/// within the set. +async fn test_cluster_affinity() { + if num_cpu() < 4 { + log::info!("test_cluster_affinity: skipped (num_cpu < 4)"); + return; + } + log::info!("=== test_cluster_affinity start ==="); + + // Cluster {1, 2}: the task must never run on other cores. + let cluster = CpuSet::empty().insert(1).insert(2); + spawn( + "cluster_1_2".into(), + async move { + for _ in 0..5 { + let actual = cpu_id(); + if cluster.contains(actual) { + log::info!("cluster_affinity: task ran on cpu {actual} [OK]"); + } else { + log::error!("cluster_affinity: task ran on cpu {actual} [FAIL]"); + } + wait_microsec(100_000); + sleep(Duration::from_millis(200)).await; + awkernel_async_lib::r#yield().await; + } + }, + SchedulerType::ClusteredEDF(1_000_000, cluster), + ) + .await; +} + +/// Test 3: Verify EDF preemption on a single core. /// heavy (deadline=9900ms) is preempted by light (deadline=990ms) on core 1. async fn test_edf_preemption() { log::info!("=== test_edf_preemption start ==="); @@ -63,7 +94,7 @@ async fn test_edf_preemption() { spawn_periodic_task("light".to_string(), 900_000, 1_000_000, 990_000, 1).await; } -/// Test 3: Verify core independence when num_cpu >= 3. +/// Test 4: Verify core independence when num_cpu >= 3. /// Tasks on core 1 and core 2 run in parallel without interfering. async fn test_multi_core() { if num_cpu() < 3 { @@ -81,7 +112,7 @@ async fn spawn_periodic_task( exe_time: u64, period: u64, relative_deadline: u64, - core: u16, + core: usize, ) { let task_name_clone = task_name.clone(); spawn( @@ -102,7 +133,7 @@ async fn spawn_periodic_task( awkernel_async_lib::r#yield().await; } }, - SchedulerType::PartitionedEDF(relative_deadline, core), + SchedulerType::ClusteredEDF(relative_deadline, CpuSet::empty().insert(core)), ) .await; } diff --git a/awkernel_async_lib/Cargo.toml b/awkernel_async_lib/Cargo.toml index 1abcf8e9c..2e76c4bcc 100644 --- a/awkernel_async_lib/Cargo.toml +++ b/awkernel_async_lib/Cargo.toml @@ -12,6 +12,7 @@ array-macro = "2.1" fixedbitset = "0.5.7" async-trait = "0.1" async-recursion = "1.1" +affinity_btree_queue = "0.1" [dependencies.futures] version = "0.3" diff --git a/awkernel_async_lib/src/scheduler.rs b/awkernel_async_lib/src/scheduler.rs index b9c98d726..822483d59 100644 --- a/awkernel_async_lib/src/scheduler.rs +++ b/awkernel_async_lib/src/scheduler.rs @@ -10,16 +10,16 @@ use alloc::collections::{binary_heap::BinaryHeap, btree_map::BTreeMap}; use alloc::sync::Arc; use awkernel_async_lib_verified::delta_list::DeltaList; use awkernel_lib::{ - cpu::num_cpu, + cpu::{num_cpu, CpuSet}, sync::mutex::{MCSNode, Mutex}, }; #[cfg(not(feature = "std"))] use alloc::boxed::Box; +mod clustered_edf; pub mod gedf; pub(super) mod panicked; -mod partitioned_edf; mod prioritized_fifo; mod prioritized_rr; @@ -73,8 +73,8 @@ pub fn move_preemption_pending(cpu_id: usize) -> Option>> { /// 0 is the lowest priority and 31 is the highest priority. #[derive(Debug, Clone, Copy, PartialEq, Eq)] pub enum SchedulerType { - PartitionedEDF(u64, u16), // relative deadline and partitioned core - GEDF(u64), // relative deadline + ClusteredEDF(u64, CpuSet), // relative deadline and CPU affinity set + GEDF(u64), // relative deadline PrioritizedFIFO(u8), PrioritizedRR(u8), Panicked, @@ -86,8 +86,8 @@ impl SchedulerType { (self, other), (SchedulerType::GEDF(_), SchedulerType::GEDF(_)) | ( - SchedulerType::PartitionedEDF(_, _), - SchedulerType::PartitionedEDF(_, _) + SchedulerType::ClusteredEDF(_, _), + SchedulerType::ClusteredEDF(_, _) ) | ( SchedulerType::PrioritizedFIFO(_), @@ -101,13 +101,13 @@ impl SchedulerType { ) } - /// Return the partitioned core index if this is a [`SchedulerType::PartitionedEDF`] scheduler. + /// Return the CPU affinity set if this is a [`SchedulerType::ClusteredEDF`] scheduler. /// - /// Returns `Some(n)` where `n` is the CPU core index (`1..num_cpu()`) assigned to the - /// partitioned EDF scheduler. Returns `None` for all other scheduler variants. - pub const fn partitioned_core(&self) -> Option { + /// Returns `Some(set)` where `set` is the set of CPU cores (`1..num_cpu()`) the task + /// may run on. Returns `None` for all other scheduler variants. + pub const fn cpu_set(&self) -> Option { match self { - SchedulerType::PartitionedEDF(_, n) => Some(*n), + SchedulerType::ClusteredEDF(_, set) => Some(*set), _ => None, } } @@ -118,7 +118,7 @@ impl SchedulerType { /// `priority()` returns the priority of the scheduler for preemption. /// /// - The highest priority. -/// - Partitioned EDF scheduler. +/// - Clustered EDF scheduler. /// - The second highest priority. /// - GEDF scheduler. /// - The third highest priority. @@ -128,19 +128,19 @@ impl SchedulerType { /// - The lowest priority. /// - Panicked scheduler. static PRIORITY_LIST: [SchedulerType; 5] = [ - SchedulerType::PartitionedEDF(0, 0), + SchedulerType::ClusteredEDF(0, CpuSet::empty()), SchedulerType::GEDF(0), SchedulerType::PrioritizedFIFO(0), SchedulerType::PrioritizedRR(0), SchedulerType::Panicked, ]; -/// Return the number of partitioned schedulers in `PRIORITY_LIST`. -/// Update this function if you add a new partitioned scheduler to `PRIORITY_LIST`. -const fn get_num_partitioned_schedulers() -> usize { +/// Return the number of clustered schedulers in `PRIORITY_LIST`. +/// Update this function if you add a new clustered scheduler to `PRIORITY_LIST`. +const fn get_num_clustered_schedulers() -> usize { let mut count = 0; while count < PRIORITY_LIST.len() { - if matches!(PRIORITY_LIST[count], SchedulerType::PartitionedEDF(_, _)) { + if matches!(PRIORITY_LIST[count], SchedulerType::ClusteredEDF(_, _)) { count += 1; } else { break; @@ -177,15 +177,15 @@ pub(crate) fn get_next_task(execution_ensured: bool) -> Option> { let mut node = MCSNode::new(); let _guard = GLOBAL_WAKE_GET_MUTEX.lock(&mut node); - let num_partitioned_tasks = - crate::task::NUM_PARTITIONED_TASKS_IN_QUEUE[cpu_id].load(Ordering::Relaxed); + let num_clustered_tasks = + crate::task::NUM_CLUSTERED_TASKS_IN_QUEUE[cpu_id].load(Ordering::Relaxed); - if num_partitioned_tasks > 0 { - let task = PRIORITY_LIST[..get_num_partitioned_schedulers()] + if num_clustered_tasks > 0 { + let task = PRIORITY_LIST[..get_num_clustered_schedulers()] .iter() .find_map(|&scheduler_type| get_scheduler(scheduler_type).get_next(execution_ensured)); - // Decrement is handled by PartitionedTask::Drop inside get_next(). + // Decrement is handled by ClusteredTask::Drop inside get_next(). task } else { let task = PRIORITY_LIST @@ -206,7 +206,7 @@ pub(crate) fn get_scheduler(sched_type: SchedulerType) -> &'static dyn Scheduler SchedulerType::PrioritizedFIFO(_) => &prioritized_fifo::SCHEDULER, SchedulerType::PrioritizedRR(_) => &prioritized_rr::SCHEDULER, SchedulerType::GEDF(_) => &gedf::SCHEDULER, - SchedulerType::PartitionedEDF(_, _) => &partitioned_edf::SCHEDULER, + SchedulerType::ClusteredEDF(_, _) => &clustered_edf::SCHEDULER, SchedulerType::Panicked => &panicked::SCHEDULER, } } @@ -222,72 +222,57 @@ pub const fn get_priority(sched_type: SchedulerType) -> u8 { panic!("Scheduler type not registered in PRIORITY_LIST or equals()") } -/// RAII wrapper representing one slot in `NUM_PARTITIONED_TASKS_IN_QUEUE[cpu_id]`. +/// RAII wrapper representing one slot in `NUM_CLUSTERED_TASKS_IN_QUEUE` for every +/// CPU in `cpu_set`. /// -/// Constructing a `PartitionedTask` increments the counter for `cpu_id`. -/// The counter is decremented exactly once — either via [`take`] (explicit +/// Constructing a `ClusteredTask` increments the counter of each CPU in `cpu_set`. +/// The counters are decremented exactly once — either via [`take`] (explicit /// ownership transfer) or via `Drop` (e.g. when a terminated task is /// discarded). If `take` has already been called, `Drop` is a no-op. /// -/// [`take`]: PartitionedTask::take -pub(crate) struct PartitionedTask { +/// [`take`]: ClusteredTask::take +pub(crate) struct ClusteredTask { inner: Option, - cpu_id: usize, + cpu_set: CpuSet, } -impl PartitionedTask { - pub(crate) fn new(inner: T, cpu_id: usize) -> Self { - crate::task::NUM_PARTITIONED_TASKS_IN_QUEUE[cpu_id].fetch_add(1, Ordering::Relaxed); +impl ClusteredTask { + pub(crate) fn new(inner: T, cpu_set: CpuSet) -> Self { + for cpu_id in cpu_set.iter() { + crate::task::NUM_CLUSTERED_TASKS_IN_QUEUE[cpu_id].fetch_add(1, Ordering::Relaxed); + } Self { inner: Some(inner), - cpu_id, + cpu_set, } } - /// Take the inner value and decrement the counter. + /// Take the inner value and decrement the counters. /// /// Returns `None` if the value has already been taken. /// After this call `Drop` will be a no-op. pub(crate) fn take(&mut self) -> Option { let val = self.inner.take(); if val.is_some() { - crate::task::NUM_PARTITIONED_TASKS_IN_QUEUE[self.cpu_id] - .fetch_sub(1, Ordering::Relaxed); + for cpu_id in self.cpu_set.iter() { + crate::task::NUM_CLUSTERED_TASKS_IN_QUEUE[cpu_id].fetch_sub(1, Ordering::Relaxed); + } } val } } -impl Drop for PartitionedTask { +impl Drop for ClusteredTask { fn drop(&mut self) { // Decrement only if take() has not been called yet. if self.inner.is_some() { - crate::task::NUM_PARTITIONED_TASKS_IN_QUEUE[self.cpu_id] - .fetch_sub(1, Ordering::Relaxed); + for cpu_id in self.cpu_set.iter() { + crate::task::NUM_CLUSTERED_TASKS_IN_QUEUE[cpu_id].fetch_sub(1, Ordering::Relaxed); + } } } } -impl PartialEq for PartitionedTask { - fn eq(&self, other: &Self) -> bool { - self.inner == other.inner - } -} - -impl Eq for PartitionedTask {} - -impl PartialOrd for PartitionedTask { - fn partial_cmp(&self, other: &Self) -> Option { - self.inner.partial_cmp(&other.inner) - } -} - -impl Ord for PartitionedTask { - fn cmp(&self, other: &Self) -> core::cmp::Ordering { - self.inner.cmp(&other.inner) - } -} - /// Maintain sleeping tasks by a delta list. struct SleepingTasks { delta_list: DeltaList>, diff --git a/awkernel_async_lib/src/scheduler/clustered_edf.rs b/awkernel_async_lib/src/scheduler/clustered_edf.rs new file mode 100644 index 000000000..1b46f0f0b --- /dev/null +++ b/awkernel_async_lib/src/scheduler/clustered_edf.rs @@ -0,0 +1,205 @@ +//! A Clustered EDF scheduler. +//! +//! Each task carries a [`CpuSet`] describing the CPU cores it may run on. +//! Runnable tasks are kept in a single affinity-aware priority queue +//! ([`AffinityBTreeQueue`]); `get_next` on CPU `c` pops the earliest-deadline +//! task whose `cpu_set` contains `c`. + +use super::{Scheduler, SchedulerType, Task}; +use crate::{ + scheduler::{ + gedf::calculate_and_update_dag_deadline, get_priority, peek_preemption_pending, + push_preemption_pending, ClusteredTask, GLOBAL_WAKE_GET_MUTEX, + }, + task::{ + get_task, get_task_running, set_current_task, set_need_preemption, State, MAX_TASK_PRIORITY, + }, +}; +use affinity_btree_queue::{AffinityBTreeQueue, CpuMask, DEFAULT_MIN_DEGREE}; +use alloc::sync::Arc; +use awkernel_lib::{ + cpu::{num_cpu, CpuSet, CPU_SET_WORDS}, + sync::mutex::{MCSNode, Mutex}, +}; + +/// The run queue. Priority is `(absolute_deadline, wake_time)`; smaller values +/// dequeue first, and entries with fully equal keys are FIFO-ordered by the +/// queue's internal sequence number. +type EDFQueue = + AffinityBTreeQueue<(u64, u64), ClusteredTask>, DEFAULT_MIN_DEGREE, CPU_SET_WORDS>; + +pub struct ClusteredEDFScheduler { + // `AffinityBTreeQueue::new` is not a const fn, so the queue is lazily + // initialized with `num_cpu()` on first use. + data: Mutex>, + priority: u8, +} + +fn to_cpu_mask(cpu_set: &CpuSet) -> CpuMask { + let mut mask = CpuMask::empty(); + for idx in 0..CPU_SET_WORDS { + mask.set_word(idx, cpu_set.word(idx)); + } + mask +} + +impl Scheduler for ClusteredEDFScheduler { + fn wake_task(&self, task: Arc) { + let (wake_time, absolute_deadline) = { + let mut node_inner = MCSNode::new(); + let mut info = task.info.lock(&mut node_inner); + let dag_info = info.get_dag_info(); + match info.scheduler_type { + SchedulerType::ClusteredEDF(relative_deadline, _) => { + let wake_time = awkernel_lib::delay::uptime(); + let absolute_deadline = if let Some(ref dag_info) = dag_info { + calculate_and_update_dag_deadline(dag_info, wake_time) + } else { + // If dag_info is not present, the task is treated as a regular task, and + // the absolute_deadline is calculated using the scheduler's relative_deadline. + wake_time + relative_deadline + }; + + task.priority + .update_priority_info(self.priority, MAX_TASK_PRIORITY - absolute_deadline); + info.update_absolute_deadline(absolute_deadline); + + (wake_time, absolute_deadline) + } + _ => unreachable!(), + } + }; + + // `Tasks::spawn` normalizes the set to worker cores (1..num_cpu()), + // so an invalid set here is an internal invariant violation. + let cpu_set = task.cpu_set.expect("Task has no CPU set"); + if cpu_set.is_empty() || cpu_set.masked_workers(num_cpu()) != cpu_set { + panic!("ClusteredEDF: CPU set {cpu_set:?} is out of range"); + } + + let mut node = MCSNode::new(); + let _guard = GLOBAL_WAKE_GET_MUTEX.lock(&mut node); + if !self.invoke_preemption(task.clone()) { + let mut node_inner = MCSNode::new(); + let mut data = self.data.lock(&mut node_inner); + let queue = data.get_or_insert_with(|| EDFQueue::new(num_cpu())); + queue + .push( + (absolute_deadline, wake_time), + to_cpu_mask(&cpu_set), + ClusteredTask::new(task.clone(), cpu_set), + ) + .expect("ClusteredEDF: failed to push a task"); + } + } + + fn get_next(&self, execution_ensured: bool) -> Option> { + let cpu_id = awkernel_lib::cpu::cpu_id(); + + let mut node = MCSNode::new(); + let mut data = self.data.lock(&mut node); + let queue = (*data).as_mut()?; + + // Note: spawn removes CPU 0 from every set, so `pop_for_cpu(0)` always + // returns `None` and the `get_next_task(false)` path executed on the + // primary CPU can never dequeue a clustered task. + loop { + let (_, _, mut entry) = queue.pop_for_cpu(cpu_id)?; + + // take() decrements the counters; entry then drops with inner == None. + let Some(task) = entry.take() else { + continue; + }; + + { + let mut node = MCSNode::new(); + let mut task_info = task.info.lock(&mut node); + + if matches!(task_info.state, State::Terminated | State::Panicked) { + continue; + } + + if task_info.state == State::Preempted { + task_info.need_preemption = false; + } + if execution_ensured { + task_info.state = State::Running; + set_current_task(awkernel_lib::cpu::cpu_id(), task.id); + } + } + + return Some(task); + } + } + + fn scheduler_name(&self) -> SchedulerType { + SchedulerType::ClusteredEDF(0, CpuSet::empty()) + } + + fn priority(&self) -> u8 { + self.priority + } +} + +pub static SCHEDULER: ClusteredEDFScheduler = ClusteredEDFScheduler { + data: Mutex::new(None), + priority: get_priority(SchedulerType::ClusteredEDF(0, CpuSet::empty())), +}; + +impl ClusteredEDFScheduler { + fn invoke_preemption(&self, task: Arc) -> bool { + let cpu_set = task.cpu_set.expect("Task has no CPU set"); + + // Find the CPU whose target (running or pending-preemption) task has + // the lowest priority among the set. + let mut victim: Option<(usize, Arc)> = None; + + for cpu_id in cpu_set.iter() { + let task_running = get_task_running(cpu_id); + + // If the task has already been running, preempt is not required. + if task_running.task_id == task.id { + return false; + } + + // An idle CPU in the set will pick the task up; no preemption needed. + if task_running.task_id == 0 { + return false; + } + + let task_running = get_task(task_running.task_id); + let task_pending = peek_preemption_pending(cpu_id); + + let target_task = match (task_running, task_pending) { + (Some(running), Some(pending)) => running.max(pending), + (Some(running), None) => running, + (None, Some(pending)) => pending, + (None, None) => return false, + }; + + match victim { + Some((_, ref lowest)) if target_task >= *lowest => (), + _ => victim = Some((cpu_id, target_task)), + } + } + + let Some((victim_cpu, target_task)) = victim else { + return false; + }; + + if task > target_task { + push_preemption_pending(victim_cpu, task); + let preempt_irq = awkernel_lib::interrupt::get_preempt_irq(); + set_need_preemption(target_task.id, victim_cpu); + awkernel_lib::interrupt::send_ipi(preempt_irq, victim_cpu as u32); + + // NOTE(atsushi421): Currently, preemption is requested regardless of the number of idle CPUs. + // While this implementation easily prevents priority inversion, it may also cause unnecessary preemption. + // Therefore, a more sophisticated implementation will be considered in the future. + + return true; + } + + false + } +} diff --git a/awkernel_async_lib/src/scheduler/partitioned_edf.rs b/awkernel_async_lib/src/scheduler/partitioned_edf.rs deleted file mode 100644 index 5a5ce9b55..000000000 --- a/awkernel_async_lib/src/scheduler/partitioned_edf.rs +++ /dev/null @@ -1,201 +0,0 @@ -//! A Partitioned EDF scheduler. - -use core::cmp::max; - -use super::{Scheduler, SchedulerType, Task}; -use crate::{ - scheduler::{ - gedf::calculate_and_update_dag_deadline, get_priority, peek_preemption_pending, - push_preemption_pending, PartitionedTask, GLOBAL_WAKE_GET_MUTEX, - }, - task::{ - get_task, get_task_running, set_current_task, set_need_preemption, State, MAX_TASK_PRIORITY, - }, -}; -use alloc::{collections::BinaryHeap, sync::Arc}; -use awkernel_lib::{ - cpu::{num_cpu, NUM_MAX_CPU}, - sync::mutex::{MCSNode, Mutex}, -}; - -pub struct PartitionedEDFScheduler { - data: [Mutex; NUM_MAX_CPU], // Run queue. - priority: u8, -} - -struct PartitionedEDFTask { - task: Arc, - absolute_deadline: u64, - wake_time: u64, -} - -impl PartialOrd for PartitionedEDFTask { - fn partial_cmp(&self, other: &Self) -> Option { - Some(self.cmp(other)) - } -} - -impl PartialEq for PartitionedEDFTask { - fn eq(&self, other: &Self) -> bool { - self.absolute_deadline == other.absolute_deadline && self.wake_time == other.wake_time - } -} - -impl Ord for PartitionedEDFTask { - fn cmp(&self, other: &Self) -> core::cmp::Ordering { - match other.absolute_deadline.cmp(&self.absolute_deadline) { - core::cmp::Ordering::Equal => other.wake_time.cmp(&self.wake_time), - other => other, - } - } -} - -impl Eq for PartitionedEDFTask {} - -struct EDFData { - queue: BinaryHeap>, -} - -impl EDFData { - const fn new() -> Self { - Self { - queue: BinaryHeap::new(), - } - } -} - -impl Scheduler for PartitionedEDFScheduler { - fn wake_task(&self, task: Arc) { - let (wake_time, absolute_deadline) = { - let mut node_inner = MCSNode::new(); - let mut info = task.info.lock(&mut node_inner); - let dag_info = info.get_dag_info(); - match info.scheduler_type { - SchedulerType::PartitionedEDF(relative_deadline, _) => { - let wake_time = awkernel_lib::delay::uptime(); - let absolute_deadline = if let Some(ref dag_info) = dag_info { - calculate_and_update_dag_deadline(dag_info, wake_time) - } else { - // If dag_info is not present, the task is treated as a regular task, and - // the absolute_deadline is calculated using the scheduler's relative_deadline. - wake_time + relative_deadline - }; - - task.priority - .update_priority_info(self.priority, MAX_TASK_PRIORITY - absolute_deadline); - info.update_absolute_deadline(absolute_deadline); - - (wake_time, absolute_deadline) - } - _ => unreachable!(), - } - }; - - let partitioned_core = - task.partitioned_core.expect("Task has no partitioned core") as usize; - if partitioned_core >= num_cpu() || partitioned_core == 0 { - panic!("PartitionedEDF: core {partitioned_core} is out of range"); - } - - let mut node = MCSNode::new(); - let _guard = GLOBAL_WAKE_GET_MUTEX.lock(&mut node); - if !self.invoke_preemption(task.clone()) { - let mut node_inner = MCSNode::new(); - let mut data = self.data[partitioned_core].lock(&mut node_inner); - data.queue.push(PartitionedTask::new( - PartitionedEDFTask { - task: task.clone(), - absolute_deadline, - wake_time, - }, - partitioned_core, - )); - } - } - - fn get_next(&self, execution_ensured: bool) -> Option> { - let cpu_id = awkernel_lib::cpu::cpu_id(); - - let mut node = MCSNode::new(); - let mut data = self.data[cpu_id].lock(&mut node); - - loop { - let mut entry = data.queue.pop()?; - - // take() decrements the counter; entry then drops with inner == None. - let Some(edf_task) = entry.take() else { - continue; - }; - - { - let mut node = MCSNode::new(); - let mut task_info = edf_task.task.info.lock(&mut node); - - if matches!(task_info.state, State::Terminated | State::Panicked) { - continue; - } - - if task_info.state == State::Preempted { - task_info.need_preemption = false; - } - if execution_ensured { - task_info.state = State::Running; - set_current_task(awkernel_lib::cpu::cpu_id(), edf_task.task.id); - } - } - - return Some(edf_task.task); - } - } - - fn scheduler_name(&self) -> SchedulerType { - SchedulerType::PartitionedEDF(0, 0) - } - - fn priority(&self) -> u8 { - self.priority - } -} - -pub static SCHEDULER: PartitionedEDFScheduler = PartitionedEDFScheduler { - data: array_macro::array! [ _ => Mutex::new(EDFData::new()); NUM_MAX_CPU ], - priority: get_priority(SchedulerType::PartitionedEDF(0, 0)), -}; - -impl PartitionedEDFScheduler { - fn invoke_preemption(&self, task: Arc) -> bool { - let cpu_id = task.partitioned_core.expect("Task has no partitioned core") as usize; - - let task_running = get_task_running(cpu_id); - - // If the task has already been running, preempt is not required. - if task_running.task_id == task.id || task_running.task_id == 0 { - return false; - } - - let task_running = get_task(task_running.task_id); - let task_pending = peek_preemption_pending(cpu_id); - - let target_task = match (task_running, task_pending) { - (Some(running), Some(pending)) => max(running, pending), - (Some(running), None) => running, - (None, Some(pending)) => pending, - (None, None) => return false, - }; - - if task > target_task { - push_preemption_pending(cpu_id, task); - let preempt_irq = awkernel_lib::interrupt::get_preempt_irq(); - set_need_preemption(target_task.id, cpu_id); - awkernel_lib::interrupt::send_ipi(preempt_irq, cpu_id as u32); - - // NOTE(atsushi421): Currently, preemption is requested regardless of the number of idle CPUs. - // While this implementation easily prevents priority inversion, it may also cause unnecessary preemption. - // Therefore, a more sophisticated implementation will be considered in the future. - - return true; - } - - false - } -} diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index 8f0235260..5356529ae 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -17,7 +17,7 @@ use alloc::{ }; use array_macro::array; use awkernel_lib::{ - cpu::{num_cpu, NUM_MAX_CPU}, + cpu::{num_cpu, CpuSet, NUM_MAX_CPU}, priority_queue::HIGHEST_PRIORITY, sync::mutex::{MCSNode, Mutex}, unwind::catch_unwind, @@ -53,7 +53,9 @@ pub(crate) static MAX_TASK_PRIORITY: u64 = (1 << 56) - 1; // Maximum task priori #[cfg(target_pointer_width = "64")] pub(crate) static NUM_TASK_IN_QUEUE: AtomicU32 = AtomicU32::new(0); // Number of tasks in the queue. -pub(crate) static NUM_PARTITIONED_TASKS_IN_QUEUE: [AtomicU32; NUM_MAX_CPU] = +/// `NUM_CLUSTERED_TASKS_IN_QUEUE[cpu]` is the number of tasks in the clustered +/// schedulers' queues whose `cpu_set` contains `cpu`. +pub(crate) static NUM_CLUSTERED_TASKS_IN_QUEUE: [AtomicU32; NUM_MAX_CPU] = array![_ => AtomicU32::new(0); NUM_MAX_CPU]; #[cfg(target_pointer_width = "32")] @@ -70,7 +72,7 @@ pub struct Task { pub info: Mutex, scheduler: &'static dyn Scheduler, pub priority: PriorityInfo, - pub partitioned_core: Option, // The core to which the task is statically assigned in partitioned scheduling. None if not assigned. + pub cpu_set: Option, // The set of cores on which the task may run in clustered scheduling. None if not assigned. } impl Task { @@ -139,9 +141,9 @@ impl ArcWake for Task { } // Panicked tasks go to the global panicked scheduler, so always use the global counter. - // Non-panicked partitioned tasks: counter is managed inside partitioned_edf::wake_task. - // Non-panicked non-partitioned tasks: increment the global counter here. - if panicked || self.partitioned_core.is_none() { + // Non-panicked clustered tasks: counters are managed inside clustered_edf::wake_task. + // Non-panicked non-clustered tasks: increment the global counter here. + if panicked || self.cpu_set.is_none() { NUM_TASK_IN_QUEUE.fetch_add(1, Ordering::Release); } @@ -285,22 +287,23 @@ impl Tasks { // Find an unused task ID. if let btree_map::Entry::Vacant(e) = self.id_to_task.entry(id) { - // Validate and normalise the partitioned core before creating TaskInfo so that - // info.scheduler_type and task.partitioned_core stay in sync. - let partitioned_core = if let SchedulerType::PartitionedEDF(deadline, core) = - scheduler_type - { - if core == 0 || core >= num_cpu() as u16 { + // Validate and normalise the CPU set before creating TaskInfo so that + // info.scheduler_type and task.cpu_set stay in sync. + let cpu_set = if let SchedulerType::ClusteredEDF(deadline, set) = scheduler_type { + // CPU 0 is the primary core and cannot run clustered tasks. + let masked = set.masked_workers(num_cpu()); + let normalized = if masked.is_empty() { log::warn!( - "Partitioned core should be between 1 and {}. Falling back to core 1. Given core: {}", + "The CPU set must contain at least one core between 1 and {}. Falling back to all worker cores. Given set: {:?}", num_cpu() - 1, - core + set ); - scheduler_type = SchedulerType::PartitionedEDF(deadline, 1); - Some(1u16) + CpuSet::all_workers(num_cpu()) } else { - Some(core) - } + masked + }; + scheduler_type = SchedulerType::ClusteredEDF(deadline, normalized); + Some(normalized) } else { None }; @@ -335,7 +338,7 @@ impl Tasks { id, info, priority: PriorityInfo::new(scheduler.priority(), task_priority), - partitioned_core, + cpu_set, }; e.insert(Arc::new(task)); @@ -1169,18 +1172,21 @@ pub fn wake_workers() { let num_cpus = awkernel_lib::cpu::num_cpu(); let mut num_tasks = NUM_TASK_IN_QUEUE.load(Ordering::Relaxed); - for (i, partitioned_tasks) in NUM_PARTITIONED_TASKS_IN_QUEUE[..num_cpus] + for (i, clustered_tasks) in NUM_CLUSTERED_TASKS_IN_QUEUE[..num_cpus] .iter() .enumerate() .skip(1) { - if (*partitioned_tasks).load(Ordering::Relaxed) > 0 { + if (*clustered_tasks).load(Ordering::Relaxed) > 0 { awkernel_lib::cpu::wake_cpu(i); continue; } + // Even if there are no global tasks left, keep scanning: a + // higher-numbered CPU may still have clustered tasks waiting and + // breaking here would leave it asleep (lost wakeup). if num_tasks == 0 { - break; + continue; } if awkernel_lib::cpu::wake_cpu(i) { diff --git a/awkernel_lib/src/cpu.rs b/awkernel_lib/src/cpu.rs index 352f02988..84db42fce 100644 --- a/awkernel_lib/src/cpu.rs +++ b/awkernel_lib/src/cpu.rs @@ -5,8 +5,100 @@ use core::{ }; pub const NUM_MAX_CPU: usize = 512; + +/// Number of 64-bit words needed to represent a set of `NUM_MAX_CPU` CPUs. +pub const CPU_SET_WORDS: usize = NUM_MAX_CPU / 64; + static NUM_CPU: AtomicUsize = AtomicUsize::new(0); +/// A set of CPU cores, represented as a bitmask supporting up to `NUM_MAX_CPU` CPUs. +/// +/// All constructors and predicates are `const fn` so that a `CpuSet` can be +/// embedded in const-evaluated statics. +#[derive(Clone, Copy, PartialEq, Eq, Debug)] +pub struct CpuSet([u64; CPU_SET_WORDS]); + +impl CpuSet { + /// Create an empty set. + pub const fn empty() -> Self { + Self([0; CPU_SET_WORDS]) + } + + /// Create a set from a bitmask of CPUs 0..64. + /// Bit `i` of `bits` corresponds to CPU `i`. + pub const fn from_bits(bits: u64) -> Self { + let mut words = [0; CPU_SET_WORDS]; + words[0] = bits; + Self(words) + } + + /// Return a new set with the bit for `cpu` set. + /// Panics if `cpu >= NUM_MAX_CPU`. + pub const fn insert(mut self, cpu: usize) -> Self { + assert!(cpu < NUM_MAX_CPU, "CPU index out of range"); + self.0[cpu / 64] |= 1 << (cpu % 64); + self + } + + /// True if the bit for `cpu` is set. + pub const fn contains(&self, cpu: usize) -> bool { + cpu < NUM_MAX_CPU && (self.0[cpu / 64] >> (cpu % 64)) & 1 == 1 + } + + /// True if no bit is set. + pub const fn is_empty(&self) -> bool { + let mut i = 0; + while i < CPU_SET_WORDS { + if self.0[i] != 0 { + return false; + } + i += 1; + } + true + } + + /// Return word `idx` of the backing bitmask. Panics if `idx >= CPU_SET_WORDS`. + pub const fn word(&self, idx: usize) -> u64 { + self.0[idx] + } + + /// Return a new set keeping only CPUs in `1..num_cpus` + /// (CPU 0 is always excluded). + pub const fn masked_workers(mut self, num_cpus: usize) -> Self { + let mut i = 0; + while i < CPU_SET_WORDS { + let lo = i * 64; + if lo >= num_cpus { + self.0[i] = 0; + } else { + let valid = num_cpus - lo; // 1..=64 bits of this word are valid. + if valid < 64 { + self.0[i] &= (1 << valid) - 1; + } + } + i += 1; + } + self.0[0] &= !1; // Exclude CPU 0. + self + } + + /// Return the set of all worker CPUs (`1..num_cpus`). + pub const fn all_workers(num_cpus: usize) -> Self { + let mut set = Self([u64::MAX; CPU_SET_WORDS]); + set = set.masked_workers(num_cpus); + set + } + + /// Iterate over the CPUs contained in the set, in ascending order. + pub fn iter(&self) -> impl Iterator + '_ { + self.0.iter().enumerate().flat_map(|(w, &word)| { + (0..64) + .filter(move |bit| (word >> bit) & 1 == 1) + .map(move |bit| w * 64 + bit) + }) + } +} + #[cfg(feature = "std")] mod sleep_cpu_std; diff --git a/kernel/Cargo.toml b/kernel/Cargo.toml index 847e6ec39..ac3297cfd 100644 --- a/kernel/Cargo.toml +++ b/kernel/Cargo.toml @@ -143,4 +143,4 @@ aarch64_virt = [ ] spinlock = ["awkernel_lib/spinlock"] linux = [] -test_partitioned_edf = ["userland/test_partitioned_edf"] +test_clustered_edf = ["userland/test_clustered_edf"] diff --git a/mdbook/src/internal/scheduler.md b/mdbook/src/internal/scheduler.md index 8db4a0972..0d6a04626 100644 --- a/mdbook/src/internal/scheduler.md +++ b/mdbook/src/internal/scheduler.md @@ -30,8 +30,8 @@ There are several functions regarding the scheduler in [awkernel_async_lib/src/s ```rust pub enum SchedulerType { - PartitionedEDF(u64, u16), // relative deadline and partitioned core - GEDF(u64), // relative deadline + ClusteredEDF(u64, CpuSet), // relative deadline and CPU affinity set + GEDF(u64), // relative deadline PrioritizedFIFO(u8), PrioritizedRR(u8), Panicked, @@ -63,22 +63,22 @@ Some schedulers are implemented under the folder [awkernel_async_lib/src/schedul ```shell $ ls awkernel_async_lib/src/scheduler -> gedf.rs panicked.rs partitioned_edf.rs prioritized_fifo.rs prioritized_rr.rs +> clustered_edf.rs gedf.rs panicked.rs prioritized_fifo.rs prioritized_rr.rs ``` A scheduler can be implemented by implementing `Scheduler` Trait. Each scheduler must be registered in the following three locations. `fn get_next_task()`, `fn get_scheduler(sched_type: SchedulerType)` and `pub enum SchedulerType`. -### PartitionedEDF Scheduler +### ClusteredEDF Scheduler -The Partitioned Earliest Deadline First (PartitionedEDF) scheduler is implemented in [partitioned_edf.rs](https://github.com/tier4/awkernel/blob/main/awkernel_async_lib/src/scheduler/partitioned_edf.rs). This scheduler is an EDF variant that pins each task to a specific CPU core (partition), maintaining a separate run queue per core. +The Clustered Earliest Deadline First (ClusteredEDF) scheduler is implemented in [clustered_edf.rs](https://github.com/tier4/awkernel/blob/main/awkernel_async_lib/src/scheduler/clustered_edf.rs). This scheduler is an EDF variant that restricts each task to a set of CPU cores (a cluster), specified as a `CpuSet` bitmask. Pinning a task to a single core (partitioned scheduling) is the special case of a one-bit `CpuSet`. -The scheduler holds a `[Mutex>; NUM_MAX_CPU]` array, one slot per CPU. Each slot's `EDFData` contains a `BinaryHeap` ordered by absolute deadline (earliest deadline first), with wake time used as a tie-breaker when deadlines are equal. +The scheduler holds a single affinity-aware priority queue, [`AffinityBTreeQueue`](https://crates.io/crates/affinity_btree_queue), backed by an augmented B-tree. Each entry carries `(priority, affinity, task)`, where the priority is the pair `(absolute_deadline, wake_time)`; smaller values dequeue first, so tasks are ordered by earliest deadline with wake time as a tie-breaker. Every B-tree node stores the OR of the affinities in its subtree, which lets `pop_for_cpu(cpu)` find the earliest-deadline task runnable on `cpu` in logarithmic time while skipping subtrees with no eligible entry. -When a task is enqueued via `wake_task()`, the scheduler reads the `SchedulerType::PartitionedEDF(relative_deadline, partitioned_core)` attached to the task and calculates the absolute deadline as `uptime + relative_deadline`. If the task is part of a DAG, `calculate_and_update_dag_deadline()` (shared with the GEDF scheduler) is used instead to propagate deadlines through the DAG. The task is then inserted into the run queue of the assigned `partitioned_core`. Preemption is handled via `invoke_preemption()`, which sends an IPI to the target core when a newly enqueued task has an earlier deadline than the task currently running (or pending preemption) on that core. +When a task is enqueued via `wake_task()`, the scheduler reads the `SchedulerType::ClusteredEDF(relative_deadline, cpu_set)` attached to the task and calculates the absolute deadline as `uptime + relative_deadline`. If the task is part of a DAG, `calculate_and_update_dag_deadline()` (shared with the GEDF scheduler) is used instead to propagate deadlines through the DAG. The task is then pushed into the queue with its `cpu_set` as the affinity mask. Preemption is handled via `invoke_preemption()`: if no core in the set is idle and the task is not already running, the core running the lowest-priority task among the set is chosen, and an IPI is sent to it when the newly enqueued task has an earlier deadline than the task currently running (or pending preemption) on that core. -`get_next()` pops the task with the earliest deadline from the run queue of the calling CPU, so each core only dequeues its own tasks. This guarantees strict CPU affinity. +`get_next()` pops the earliest-deadline task whose `cpu_set` contains the calling CPU (`pop_for_cpu`), so a task is only ever dequeued by a core within its set. This guarantees CPU affinity. CPU 0 (the primary core) is always excluded from `cpu_set` when a task is spawned. ### GEDF Scheduler diff --git a/userland/Cargo.toml b/userland/Cargo.toml index 6e5b64012..5360b1b4b 100644 --- a/userland/Cargo.toml +++ b/userland/Cargo.toml @@ -78,8 +78,8 @@ optional = true path = "../applications/tests/test_voluntary_preemption" optional = true -[dependencies.test_partitioned_edf] -path = "../applications/tests/test_partitioned_edf" +[dependencies.test_clustered_edf] +path = "../applications/tests/test_clustered_edf" optional = true [features] @@ -103,4 +103,4 @@ test_measure_channel = ["dep:test_measure_channel"] test_measure_channel_heavy = ["dep:test_measure_channel_heavy"] test_dag = ["dep:test_dag"] test_voluntary_preemption = ["dep:test_voluntary_preemption"] -test_partitioned_edf = ["dep:test_partitioned_edf"] +test_clustered_edf = ["dep:test_clustered_edf"] diff --git a/userland/src/lib.rs b/userland/src/lib.rs index 1b64e34b4..b1fc08311 100644 --- a/userland/src/lib.rs +++ b/userland/src/lib.rs @@ -55,8 +55,8 @@ pub async fn main() -> Result<(), Cow<'static, str>> { #[cfg(feature = "test_voluntary_preemption")] test_voluntary_preemption::run().await; // test for voluntary preemption - #[cfg(feature = "test_partitioned_edf")] - test_partitioned_edf::run().await; // test for Partitioned EDF scheduler + #[cfg(feature = "test_clustered_edf")] + test_clustered_edf::run().await; // test for Clustered EDF scheduler Ok(()) } From 8c3dd66e688e31f9989326dcf7713851d915b0d4 Mon Sep 17 00:00:00 2001 From: Yuuki Takano Date: Tue, 7 Jul 2026 15:04:34 +0900 Subject: [PATCH 02/15] update documents Signed-off-by: Yuuki Takano --- docs/internal/arch/mapper.html | 102 +++++ docs/internal/interrupt_controller.html | 118 ++++++ docs/internal/memory_allocator.html | 97 ++++- docs/internal/page_table.html | 147 ++++++++ docs/internal/scheduler.html | 16 +- docs/print.html | 480 +++++++++++++++++++++++- docs/searchindex.js | 2 +- 7 files changed, 939 insertions(+), 23 deletions(-) diff --git a/docs/internal/arch/mapper.html b/docs/internal/arch/mapper.html index dfb0cbe3e..12bea5921 100644 --- a/docs/internal/arch/mapper.html +++ b/docs/internal/arch/mapper.html @@ -238,6 +238,108 @@

x86_64

AArch64

For AArch64, the AArch64 structure implements the Mapper trait in awkernel_lib/src/arch/aarch64/paging.rs. To handle page tables, the PageTable structure defined in the awkernel_lib/src/arch/aarch64/page_table.rs is used.

+

RISC-V 32-bit (RV32)

+

For RV32, the RV32 structure implements the Mapper trait in +awkernel_lib/src/arch/rv32/paging.rs. +Each operation reads the currently active page table from the satp register via +get_page_table (see Page Table), then delegates to the Sv32 +PageTable. The generic Flags are translated into RISC-V PTE flags — entries are always +valid, accessed and readable (V | A | R), writable pages also set W | D, and executable +pages set X.

+
#![allow(unused)]
+fn main() {
+impl crate::paging::Mapper for super::RV32 {
+    unsafe fn map(
+        vm_addr: VirtAddr,
+        phy_addr: PhyAddr,
+        flags: crate::paging::Flags,
+    ) -> Result<(), MapError> {
+        // Check address alignment
+        if !vm_addr.aligned() || !phy_addr.aligned() {
+            return Err(MapError::AddressNotAligned);
+        }
+
+        // Get current page table
+        if let Some(mut page_table) = get_page_table(vm_addr) {
+            let vpn = VirtPageNum::from(vm_addr);
+            let ppn = phy_addr.floor();
+
+            // Convert common flags to RV32 flags
+            let mut rv_flags = Flags::V | Flags::A; // Always valid and accessed
+            if flags.write {
+                rv_flags |= Flags::W | Flags::D; // Writable and dirty
+            }
+            rv_flags |= Flags::R; // Always readable
+            if flags.execute {
+                rv_flags |= Flags::X;
+            }
+
+            // Try to map the page
+            if page_table.map(vpn, ppn, rv_flags) {
+                Ok(())
+            } else {
+                Err(MapError::AlreadyMapped)
+            }
+        } else {
+            Err(MapError::InvalidPageTable)
+        }
+    }
+
+    // unmap / vm_to_phy omitted
+}
+}
+

vm_to_phy walks the active page table for the page's virtual page number, and, if the +leaf PTE is valid, reconstructs the physical address from the entry's PPN plus the page +offset.

+

RISC-V 64-bit (RV64)

+

For RV64, the RV64 structure implements the Mapper trait in +awkernel_lib/src/arch/rv64/paging.rs. +The structure mirrors RV32 but uses the Sv39 PageTable. Two differences are worth noting: +map first checks vm_to_phy to reject an already-mapped address, and both map and +unmap explicitly align the virtual and physical addresses down to the 4 KiB page +boundary before walking the table.

+
#![allow(unused)]
+fn main() {
+impl crate::paging::Mapper for super::RV64 {
+    unsafe fn map(
+        vm_addr: VirtAddr,
+        phy_addr: PhyAddr,
+        flags: crate::paging::Flags,
+    ) -> Result<(), MapError> {
+        // Check if already mapped
+        if Self::vm_to_phy(vm_addr).is_some() {
+            return Err(MapError::AlreadyMapped);
+        }
+
+        let vm_addr_aligned = vm_addr.as_usize() & !(PAGESIZE - 1);
+        let phy_addr_aligned = phy_addr.as_usize() & !(PAGESIZE - 1);
+
+        if let Some(mut page_table) = get_page_table(VirtAddr::from_usize(vm_addr_aligned)) {
+            let vpn = VirtPageNum::from(VirtAddr::from_usize(vm_addr_aligned));
+            let ppn = PhysPageNum::from(PhyAddr::from_usize(phy_addr_aligned));
+
+            let mut rv_flags = Flags::V | Flags::A;
+            rv_flags |= Flags::R; // Always readable
+            if flags.write {
+                rv_flags |= Flags::W | Flags::D;
+            }
+            if flags.execute {
+                rv_flags |= Flags::X;
+            }
+
+            if page_table.map(vpn, ppn, rv_flags) {
+                Ok(())
+            } else {
+                Err(MapError::AlreadyMapped)
+            }
+        } else {
+            Err(MapError::InvalidPageTable)
+        }
+    }
+
+    // unmap / vm_to_phy omitted
+}
+}
diff --git a/docs/internal/interrupt_controller.html b/docs/internal/interrupt_controller.html index 6ab1115a6..2f4849700 100644 --- a/docs/internal/interrupt_controller.html +++ b/docs/internal/interrupt_controller.html @@ -270,6 +270,42 @@

AArch64

interrupt::handle_irqs(); } } +

RISC-V 64-bit (RV64)

+

For RV64, traps are taken in machine mode by a low-level handler installed into mtvec +during boot in kernel/src/arch/rv64/boot.S. +The handler reads mcause to distinguish exceptions from interrupts and dispatches on the +interrupt code: a machine timer interrupt (code 7) and a machine software interrupt / IPI +(code 3) are handled, while other causes return without action.

+
early_trap_handler:
+  csrr t0, mcause
+  blt t0, zero, handle_interrupt   # MSB set => interrupt
+  j unhandled_trap
+
+handle_interrupt:
+  # ... mask off the interrupt code ...
+  li t1, 7                         # M-mode timer interrupt
+  beq t0, t1, handle_timer_interrupt
+  li t1, 3                         # M-mode software interrupt (IPI)
+  beq t0, t1, handle_software_interrupt
+
+

After saving the clobbered registers, the timer path calls riscv_handle_timer and the +IPI path calls riscv_handle_ipi. Both are defined in +kernel/src/arch/rv64/kernel_main.rs +and forward to the architecture-independent handle_irqs:

+
#![allow(unused)]
+fn main() {
+/// M-mode software interrupt (IPI) handler called from assembly.
+pub extern "C" fn riscv_handle_ipi() {
+    awkernel_lib::interrupt::handle_irqs(true);
+}
+
+/// M-mode timer interrupt handler called from assembly.
+pub extern "C" fn riscv_handle_timer() {
+    awkernel_lib::interrupt::handle_irqs(true);
+}
+}
+

The software-interrupt (MSIP) bit is cleared in assembly before returning, and the timer +is re-armed by the registered timer handler.

Handling Preemption

A preemption request can be sent by an inter process interrupt (IPI) to the target CPU. This means that the target CPU should handle the preemption request if it receives the IPI.

@@ -321,6 +357,88 @@

AArch64

  • GICv2
  • GICv3
    • +

    RISC-V 64-bit (RV64)

    +

    For RV64, external interrupts are managed by the PLIC (Platform-Level Interrupt +Controller), and inter-processor interrupts (IPIs) are delivered through the +CLINT/ACLINT software-interrupt (MSIP) registers. Both are implemented by the +RiscvPlic structure in +kernel/src/arch/rv64/interrupt_controller.rs.

    +
    #![allow(unused)]
+fn main() {
+/// RISC-V PLIC (Platform-Level Interrupt Controller) implementation.
+/// Combined with CLINT/ACLINT for IPI support.
+pub struct RiscvPlic {
+    base_address: usize,
+    max_priority: u32,
+    num_sources: u16,
+}
+
+// CLINT/ACLINT base address for IPIs.
+const ACLINT_BASE: usize = 0x0200_0000;
+const MSIP_OFFSET: usize = 0x0000; // Machine Software Interrupt Pending
+}
    +

    The PLIC register layout is computed relative to base_address:

    +
    + + + + +
    registeraddresspurpose
    prioritybase + source * 4per-source interrupt priority (0-7)
    enablebase + 0x2000 + context * 0x80per-context enable bitmap
    thresholdbase + 0x200000 + context * 0x1000per-context priority threshold
    claim/completebase + 0x200004 + context * 0x1000claim a pending IRQ / signal completion
    +
    +

    The PLIC context for the running hart is computed as hartid * 2 + 1 (the +supervisor-mode context), where the hart ID is read from the mhartid CSR.

    +

    RiscvPlic implements the InterruptController trait:

    +
      +
    • enable_irq sets the source priority to 1 and sets its bit in the enable register.
      • +
    • disable_irq clears the source's bit in the enable register.
      • +
    • pending_irqs reads the claim register; a non-zero value is the claimed IRQ, which is +immediately written back to the claim register to signal completion.
      • +
    • send_ipi writes 1 to the target hart's MSIP register; the broadcast variants do so +for every hart (skipping the sender for send_ipi_broadcast_without_self).
      • +
    • init_non_primary sets the context threshold to 0 (accept all priorities) and enables +machine software interrupts (mie.MSIE) so the core can receive IPIs.
      • +
    +
    #![allow(unused)]
+fn main() {
+impl InterruptController for RiscvPlic {
+    fn enable_irq(&mut self, irq: u16) {
+        self.set_priority(irq, 1);
+        let context = self.get_supervisor_context();
+        self.enable_interrupt(context, irq);
+    }
+
+    fn pending_irqs(&self) -> Box<dyn Iterator<Item = u16>> {
+        let context = self.get_supervisor_context();
+        let claim_reg = self.claim_reg(context);
+        let mut pending = alloc::vec::Vec::new();
+        unsafe {
+            let claimed = read_volatile(claim_reg);
+            if claimed != 0 {
+                pending.push(claimed as u16);
+                write_volatile(claim_reg, claimed); // Complete the interrupt.
+            }
+        }
+        Box::new(pending.into_iter())
+    }
+
+    // ... send_ipi / init_non_primary / irq_range omitted ...
+}
+}
    +

    The controller is instantiated and registered during boot in +kernel/src/arch/rv64/kernel_main.rs, +with the PLIC mapped at 0x0c00_0000 and 128 interrupt sources:

    +
    #![allow(unused)]
+fn main() {
+const PLIC_BASE: usize = 0x0c000000;
+const NUM_SOURCES: u16 = 128;
+
+let plic = Box::new(RiscvPlic::new(PLIC_BASE, NUM_SOURCES));
+awkernel_lib::interrupt::register_interrupt_controller(plic);
+}
    +

    RISC-V 32-bit (RV32)

    +

    For RV32, a PLIC-based InterruptController is not yet implemented; +awkernel_lib/src/arch/rv32/interrupt.rs +currently provides only the low-level enable/disable of interrupts via the sstatus CSR.

    diff --git a/docs/internal/memory_allocator.html b/docs/internal/memory_allocator.html index 3125766a7..0f13efeb9 100644 --- a/docs/internal/memory_allocator.html +++ b/docs/internal/memory_allocator.html @@ -280,9 +280,9 @@

    Memory Allo

    The wf_alloc backend maps each CPU id directly to a per-CPU token and must know the number of CPUs that can use the heap concurrently (active_threads) at initialization time, -because it sizes its metadata region from that count. If the count is 0, wf_alloc's -init bails out and the heap is left uninitialized. The TLSF backend ignores the count.

    -

    The bare init_primary / init_backup read this count from cpu::num_cpu() internally, so +because it sizes its metadata region from that count. If the count is 0, allocator +initialization fails and the kernel halts during heap setup. The TLSF backend ignores the count. +The bare init_primary / init_backup read this count from cpu::num_cpu() internally, so they only behave correctly after the active CPU count has been established. On x86_64 the heap is initialized before that count is set (so cpu::num_cpu() would return 0); the boot code therefore uses the init_primary_with_num_cpu / init_backup_with_num_cpu variants and @@ -353,6 +353,97 @@

    AArch64

    // omitted } +} +

    RISC-V 32-bit (RV32)

    +

    For RISC-V 32-bit, the primary and backup allocators are initialized +in primary_hart function defined in +kernel/src/arch/rv32/kernel_main.rs as follows.

    +

    Unlike x86_64 and AArch64, RISC-V initializes heap allocators BEFORE setting up virtual memory. +This is because the page table allocation itself requires heap memory. +The initialization order is:

    +
      +
    1. Initialize heap allocators (lines 89-92)
      2. +
    2. Initialize page allocator (line 123)
      3. +
    3. Initialize and activate virtual memory (lines 126-129)
      4. +
    +
    #![allow(unused)]
+fn main() {
+unsafe fn primary_hart(hartid: usize) {
+    // omitted
+
+    // setup the VM
+    let backup_start = HEAP_START;
+    let backup_size = BACKUP_HEAP_SIZE;
+    let primary_start = HEAP_START + BACKUP_HEAP_SIZE;
+    let primary_size = HEAP_SIZE;
+
+    // enable heap allocator
+    heap::init_primary(primary_start, primary_size);
+    heap::init_backup(backup_start, backup_size);
+    heap::TALLOC.use_primary_then_backup(); // use backup allocator
+
+    // omitted
+
+    // Initialize memory management (page allocator)
+    awkernel_lib::arch::rv32::init_page_allocator();
+
+    // Initialize virtual memory system
+    awkernel_lib::arch::rv32::init_kernel_space();
+
+    // Activate virtual memory (enable MMU and page tables)
+    awkernel_lib::arch::rv32::activate_kernel_space();
+
+    // omitted
+}
+}
    +

    RISC-V 64-bit (RV64)

    +

    For RISC-V 64-bit, the primary and backup allocators are initialized +in init_heap_allocation function defined in +kernel/src/arch/rv64/kernel_main.rs as follows.

    +

    Like RV32, RV64 also initializes heap allocators BEFORE setting up virtual memory, +as stated in the comment "Setup heap allocation FIRST - page tables need this!" +The initialization order in primary_hart function is:

    +
      +
    1. Initialize UART for early debugging (line 241)
      2. +
    2. Setup heap allocation (line 244, calling init_heap_allocation())
      3. +
    3. Initialize memory management including page allocator and virtual memory (line 247, calling init_memory_management())
      4. +
    4. Initialize architecture-specific features, console, timer, and interrupts
      5. +
    +

    RV64 has additional unique features:

    +
      +
    • Uses the ekernel symbol to determine heap start address dynamically
      • +
    • Implements dynamic heap sizing with get_heap_size() based on available memory
      • +
    • Has fallback logic for minimal heap configuration (64MB) when memory is limited
      • +
    +
    #![allow(unused)]
+fn main() {
+unsafe fn init_heap_allocation() {
+    // omitted
+
+    extern "C" {
+        fn ekernel();
+    }
+
+    let heap_start = (ekernel as usize + 0xfff) & !0xfff; // Align to 4K
+    let backup_size = BACKUP_HEAP_SIZE;
+    let total_heap_size = awkernel_lib::arch::rv64::get_heap_size();
+
+    if total_heap_size <= backup_size {
+        // Use minimal heap if not enough memory
+        let primary_size = 64 * 1024 * 1024; // 64MB minimum
+        heap::init_primary(heap_start + backup_size, primary_size);
+        heap::init_backup(heap_start, backup_size);
+    } else {
+        // Use dynamic calculation
+        let primary_size = total_heap_size - backup_size;
+        heap::init_primary(heap_start + backup_size, primary_size);
+        heap::init_backup(heap_start, backup_size);
+    }
+
+    heap::TALLOC.use_primary_then_backup();
+
+    // omitted
+}
 }
    diff --git a/docs/internal/page_table.html b/docs/internal/page_table.html index 64235bf90..9b409085e 100644 --- a/docs/internal/page_table.html +++ b/docs/internal/page_table.html @@ -301,6 +301,153 @@

    AArch64

    self.map_to_aarch64(virt_addr, phy_addr, f, page_allocator) } } +} +

    RISC-V 32-bit (RV32)

    +

    For RV32, the PageTable structure is defined in +awkernel_lib/src/arch/rv32/page_table.rs. +It implements the Sv32 translation scheme: 32-bit virtual addresses, 4 KiB pages +and a 2-level page table. Each page table entry (PTE) holds a physical page number +(PPN) and the standard RISC-V flag bits.

    +
    #![allow(unused)]
+fn main() {
+bitflags! {
+    /// PTE Flags for RISC-V Sv32 page table
+    pub struct Flags: u8 {
+        const V = 1 << 0; // Valid
+        const R = 1 << 1; // Readable
+        const W = 1 << 2; // Writable
+        const X = 1 << 3; // Executable
+        const U = 1 << 4; // User-accessible
+        const G = 1 << 5; // Global
+        const A = 1 << 6; // Accessed
+        const D = 1 << 7; // Dirty
+    }
+}
+
+pub struct PageTable {
+    root_ppn: PhysPageNum,
+    frames: Vec<FrameTracker>,
+}
+}
    +

    The root page table is allocated from the physical frame allocator on PageTable::new, +and every intermediate table allocated while walking the tree is tracked in frames +so that it is kept alive for the lifetime of the address space. +The virtual page number is split into two 10-bit indices (VirtPageNum::indexes), +one per level of the Sv32 table.

    +

    The PageTable structure implements the PageTable:awkernel_lib/src/paging.rs trait as follows. +The generic Flags are translated into RISC-V PTE flags: entries are always made valid, +accessed and readable (V | A | R); writable mappings also set the dirty bit (W | D), +and executable mappings set X.

    +
    #![allow(unused)]
+fn main() {
+impl crate::paging::PageTable<Page, RV32PageAllocator, &'static str> for PageTable {
+    unsafe fn map_to(
+        &mut self,
+        virt_addr: VirtAddr,
+        phy_addr: PhyAddr,
+        flags: crate::paging::Flags,
+        _page_allocator: &mut RV32PageAllocator,
+    ) -> Result<(), &'static str> {
+        let vpn = VirtPageNum::from(virt_addr);
+        let ppn = PhysPageNum::from(phy_addr);
+
+        let mut rv_flags = Flags::V | Flags::A; // Always valid and accessed
+        if flags.write {
+            rv_flags |= Flags::W | Flags::D; // Writable and dirty
+        }
+        rv_flags |= Flags::R; // Always readable
+        if flags.execute {
+            rv_flags |= Flags::X;
+        }
+
+        if self.map(vpn, ppn, rv_flags) {
+            Ok(())
+        } else {
+            Err("Mapping failed")
+        }
+    }
+}
+}
    +

    Translation is enabled by writing the satp (Supervisor Address Translation and Protection) +register. For Sv32 the token method returns the register value with MODE = 1 (Sv32) in +bit 31 and the root table's PPN in the low bits.

    +
    #![allow(unused)]
+fn main() {
+pub fn token(&self) -> usize {
+    (1usize << 31)    // MODE = 1 (Sv32 paging mode)
+    | self.root_ppn.0 // PPN of the root page table
+}
+}
    +

    RISC-V 64-bit (RV64)

    +

    For RV64, the PageTable structure is defined in +awkernel_lib/src/arch/rv64/page_table.rs. +It implements the Sv39 translation scheme: 39-bit virtual addresses, 4 KiB pages +and a 3-level page table. The PTE layout and Flags definition are identical to RV32; +the differences are the number of levels and the satp encoding.

    +
    #![allow(unused)]
+fn main() {
+pub struct PageTable {
+    root_ppn: PhysPageNum,
+    frames: Vec<FrameTracker>,
+}
+}
    +

    The virtual page number is split into three 9-bit indices (VirtPageNum::indexes), +walked by find_pte / find_pte_create; the leaf PTE is reached at level index 2.

    +

    The map_to implementation is the same as RV32 — generic Flags are mapped to the +RISC-V PTE flags (V | A | R, plus W | D for writable and X for executable pages):

    +
    #![allow(unused)]
+fn main() {
+impl crate::paging::PageTable<Page, RV64PageAllocator, &'static str> for PageTable {
+    unsafe fn map_to(
+        &mut self,
+        virt_addr: VirtAddr,
+        phy_addr: PhyAddr,
+        flags: crate::paging::Flags,
+        _page_allocator: &mut RV64PageAllocator,
+    ) -> Result<(), &'static str> {
+        let vpn = VirtPageNum::from(virt_addr);
+        let ppn = PhysPageNum::from(phy_addr);
+
+        let mut rv_flags = Flags::V | Flags::A;
+        if flags.write {
+            rv_flags |= Flags::W | Flags::D;
+        }
+        rv_flags |= Flags::R;
+        if flags.execute {
+            rv_flags |= Flags::X;
+        }
+
+        if self.map(vpn, ppn, rv_flags) {
+            Ok(())
+        } else {
+            Err("Mapping failed")
+        }
+    }
+}
+}
    +

    For Sv39 the token method encodes MODE = 8 (Sv39) in bits 63-60 and the root PPN in +the low 44 bits:

    +
    #![allow(unused)]
+fn main() {
+pub fn token(&self) -> usize {
+    (8usize << 60)    // MODE = 8 (Sv39 paging mode)
+    | self.root_ppn.0 // PPN of the root page table
+}
+}
    +

    The kernel address space is built in +awkernel_lib/src/arch/rv64/vm.rs: +new_kernel maps the kernel sections (.text, .rodata, .data, .bss) and an +identity mapping for available RAM, and activate installs the table by writing satp +and flushing the TLB:

    +
    #![allow(unused)]
+fn main() {
+pub fn activate(&self) {
+    let satp = self.page_table.token();
+    unsafe {
+        asm!("csrw satp, {}", in(reg) satp);
+        asm!("sfence.vma");
+    }
+}
 }
    diff --git a/docs/internal/scheduler.html b/docs/internal/scheduler.html index bdb46c56a..9e1d9f027 100644 --- a/docs/internal/scheduler.html +++ b/docs/internal/scheduler.html @@ -204,8 +204,8 @@

    Scheduler

    #![allow(unused)]
 fn main() {
 pub enum SchedulerType {
-    PartitionedEDF(u64, u16), // relative deadline and partitioned core
-    GEDF(u64),                // relative deadline
+    ClusteredEDF(u64, CpuSet), // relative deadline and CPU affinity set
+    GEDF(u64),                 // relative deadline
     PrioritizedFIFO(u8),
     PrioritizedRR(u8),
     Panicked,
@@ -230,16 +230,16 @@ 
    SleepingTasks
 
    Scheduler Implementation
    
 
    Some schedulers are implemented under the folder awkernel_async_lib/src/scheduler.
    
 
    $ ls awkernel_async_lib/src/scheduler
-> gedf.rs  panicked.rs  partitioned_edf.rs  prioritized_fifo.rs  prioritized_rr.rs
+> clustered_edf.rs  gedf.rs  panicked.rs  prioritized_fifo.rs  prioritized_rr.rs
 
    
 
    A scheduler can be implemented by implementing Scheduler Trait.
 Each scheduler must be registered in the following three locations.
 fn get_next_task(), fn get_scheduler(sched_type: SchedulerType) and pub enum SchedulerType.
    
-
    PartitionedEDF Scheduler
    
-
    The Partitioned Earliest Deadline First (PartitionedEDF) scheduler is implemented in partitioned_edf.rs. This scheduler is an EDF variant that pins each task to a specific CPU core (partition), maintaining a separate run queue per core.
    
-
    The scheduler holds a [Mutex<Option<EDFData>>; NUM_MAX_CPU] array, one slot per CPU. Each slot's EDFData contains a BinaryHeap<PartitionedEDFTask> ordered by absolute deadline (earliest deadline first), with wake time used as a tie-breaker when deadlines are equal.
    
-
    When a task is enqueued via wake_task(), the scheduler reads the SchedulerType::PartitionedEDF(relative_deadline, partitioned_core) attached to the task and calculates the absolute deadline as uptime + relative_deadline. If the task is part of a DAG, calculate_and_update_dag_deadline() (shared with the GEDF scheduler) is used instead to propagate deadlines through the DAG. The task is then inserted into the run queue of the assigned partitioned_core. Preemption is handled via invoke_preemption(), which sends an IPI to the target core when a newly enqueued task has an earlier deadline than the task currently running (or pending preemption) on that core.
    
-
    get_next() pops the task with the earliest deadline from the run queue of the calling CPU, so each core only dequeues its own tasks. This guarantees strict CPU affinity.
    
+
    ClusteredEDF Scheduler
    
+
    The Clustered Earliest Deadline First (ClusteredEDF) scheduler is implemented in clustered_edf.rs. This scheduler is an EDF variant that restricts each task to a set of CPU cores (a cluster), specified as a CpuSet bitmask. Pinning a task to a single core (partitioned scheduling) is the special case of a one-bit CpuSet.
    
+
    The scheduler holds a single affinity-aware priority queue, AffinityBTreeQueue, backed by an augmented B-tree. Each entry carries (priority, affinity, task), where the priority is the pair (absolute_deadline, wake_time); smaller values dequeue first, so tasks are ordered by earliest deadline with wake time as a tie-breaker. Every B-tree node stores the OR of the affinities in its subtree, which lets pop_for_cpu(cpu) find the earliest-deadline task runnable on cpu in logarithmic time while skipping subtrees with no eligible entry.
    
+
    When a task is enqueued via wake_task(), the scheduler reads the SchedulerType::ClusteredEDF(relative_deadline, cpu_set) attached to the task and calculates the absolute deadline as uptime + relative_deadline. If the task is part of a DAG, calculate_and_update_dag_deadline() (shared with the GEDF scheduler) is used instead to propagate deadlines through the DAG. The task is then pushed into the queue with its cpu_set as the affinity mask. Preemption is handled via invoke_preemption(): if no core in the set is idle and the task is not already running, the core running the lowest-priority task among the set is chosen, and an IPI is sent to it when the newly enqueued task has an earlier deadline than the task currently running (or pending preemption) on that core.
    
+
    get_next() pops the earliest-deadline task whose cpu_set contains the calling CPU (pop_for_cpu), so a task is only ever dequeued by a core within its set. This guarantees CPU affinity. CPU 0 (the primary core) is always excluded from cpu_set when a task is spawned.
    
 
    GEDF Scheduler
    
 
    The Global Earliest Deadline First (GEDF) scheduler is implemented in gedf.rs. This scheduler implements a real-time scheduling algorithm that prioritizes tasks based on their absolute deadlines.
    
 
    The scheduler maintains a BinaryHeap<GEDFTask> as its run queue, where tasks are ordered by their absolute deadlines. When a task is enqueued via wake_task(), the scheduler calculates the absolute deadline by adding the relative deadline (specified in SchedulerType::GEDF(relative_deadline)) to the current uptime. The task's priority is updated using MAX_TASK_PRIORITY - absolute_deadline to ensure proper inter-scheduler priority comparison.
    
diff --git a/docs/print.html b/docs/print.html
index 749c62816..0d34fd2f4 100644
--- a/docs/print.html
+++ b/docs/print.html
@@ -923,6 +923,108 @@ 
    x86_64
    
 
    AArch64
    
 
    For AArch64, the AArch64 structure implements the Mapper trait in awkernel_lib/src/arch/aarch64/paging.rs.
 To handle page tables, the PageTable structure defined in the awkernel_lib/src/arch/aarch64/page_table.rs is used.
    
+
    RISC-V 32-bit (RV32)
    
+
    For RV32, the RV32 structure implements the Mapper trait in
+awkernel_lib/src/arch/rv32/paging.rs.
+Each operation reads the currently active page table from the satp register via
+get_page_table (see Page Table), then delegates to the Sv32
+PageTable. The generic Flags are translated into RISC-V PTE flags — entries are always
+valid, accessed and readable (V | A | R), writable pages also set W | D, and executable
+pages set X.
    
+
    #![allow(unused)]
+fn main() {
+impl crate::paging::Mapper for super::RV32 {
+    unsafe fn map(
+        vm_addr: VirtAddr,
+        phy_addr: PhyAddr,
+        flags: crate::paging::Flags,
+    ) -> Result<(), MapError> {
+        // Check address alignment
+        if !vm_addr.aligned() || !phy_addr.aligned() {
+            return Err(MapError::AddressNotAligned);
+        }
+
+        // Get current page table
+        if let Some(mut page_table) = get_page_table(vm_addr) {
+            let vpn = VirtPageNum::from(vm_addr);
+            let ppn = phy_addr.floor();
+
+            // Convert common flags to RV32 flags
+            let mut rv_flags = Flags::V | Flags::A; // Always valid and accessed
+            if flags.write {
+                rv_flags |= Flags::W | Flags::D; // Writable and dirty
+            }
+            rv_flags |= Flags::R; // Always readable
+            if flags.execute {
+                rv_flags |= Flags::X;
+            }
+
+            // Try to map the page
+            if page_table.map(vpn, ppn, rv_flags) {
+                Ok(())
+            } else {
+                Err(MapError::AlreadyMapped)
+            }
+        } else {
+            Err(MapError::InvalidPageTable)
+        }
+    }
+
+    // unmap / vm_to_phy omitted
+}
+}
    
+
    vm_to_phy walks the active page table for the page's virtual page number, and, if the
+leaf PTE is valid, reconstructs the physical address from the entry's PPN plus the page
+offset.
    
+
    RISC-V 64-bit (RV64)
    
+
    For RV64, the RV64 structure implements the Mapper trait in
+awkernel_lib/src/arch/rv64/paging.rs.
+The structure mirrors RV32 but uses the Sv39 PageTable. Two differences are worth noting:
+map first checks vm_to_phy to reject an already-mapped address, and both map and
+unmap explicitly align the virtual and physical addresses down to the 4 KiB page
+boundary before walking the table.
    
+
    #![allow(unused)]
+fn main() {
+impl crate::paging::Mapper for super::RV64 {
+    unsafe fn map(
+        vm_addr: VirtAddr,
+        phy_addr: PhyAddr,
+        flags: crate::paging::Flags,
+    ) -> Result<(), MapError> {
+        // Check if already mapped
+        if Self::vm_to_phy(vm_addr).is_some() {
+            return Err(MapError::AlreadyMapped);
+        }
+
+        let vm_addr_aligned = vm_addr.as_usize() & !(PAGESIZE - 1);
+        let phy_addr_aligned = phy_addr.as_usize() & !(PAGESIZE - 1);
+
+        if let Some(mut page_table) = get_page_table(VirtAddr::from_usize(vm_addr_aligned)) {
+            let vpn = VirtPageNum::from(VirtAddr::from_usize(vm_addr_aligned));
+            let ppn = PhysPageNum::from(PhyAddr::from_usize(phy_addr_aligned));
+
+            let mut rv_flags = Flags::V | Flags::A;
+            rv_flags |= Flags::R; // Always readable
+            if flags.write {
+                rv_flags |= Flags::W | Flags::D;
+            }
+            if flags.execute {
+                rv_flags |= Flags::X;
+            }
+
+            if page_table.map(vpn, ppn, rv_flags) {
+                Ok(())
+            } else {
+                Err(MapError::AlreadyMapped)
+            }
+        } else {
+            Err(MapError::InvalidPageTable)
+        }
+    }
+
+    // unmap / vm_to_phy omitted
+}
+}
    
 
    Page Table
    
 
    PageTable defined in awkernel_lib/src/paging.rs is a trait that provides a way to abstract page tables.
 It is defined as follows.
    
@@ -1050,6 +1152,153 @@ 
    AArch64
    
     }
 }
 }
    +

    RISC-V 32-bit (RV32)

    +

    For RV32, the PageTable structure is defined in +awkernel_lib/src/arch/rv32/page_table.rs. +It implements the Sv32 translation scheme: 32-bit virtual addresses, 4 KiB pages +and a 2-level page table. Each page table entry (PTE) holds a physical page number +(PPN) and the standard RISC-V flag bits.

    +
    #![allow(unused)]
+fn main() {
+bitflags! {
+    /// PTE Flags for RISC-V Sv32 page table
+    pub struct Flags: u8 {
+        const V = 1 << 0; // Valid
+        const R = 1 << 1; // Readable
+        const W = 1 << 2; // Writable
+        const X = 1 << 3; // Executable
+        const U = 1 << 4; // User-accessible
+        const G = 1 << 5; // Global
+        const A = 1 << 6; // Accessed
+        const D = 1 << 7; // Dirty
+    }
+}
+
+pub struct PageTable {
+    root_ppn: PhysPageNum,
+    frames: Vec<FrameTracker>,
+}
+}
    +

    The root page table is allocated from the physical frame allocator on PageTable::new, +and every intermediate table allocated while walking the tree is tracked in frames +so that it is kept alive for the lifetime of the address space. +The virtual page number is split into two 10-bit indices (VirtPageNum::indexes), +one per level of the Sv32 table.

    +

    The PageTable structure implements the PageTable:awkernel_lib/src/paging.rs trait as follows. +The generic Flags are translated into RISC-V PTE flags: entries are always made valid, +accessed and readable (V | A | R); writable mappings also set the dirty bit (W | D), +and executable mappings set X.

    +
    #![allow(unused)]
+fn main() {
+impl crate::paging::PageTable<Page, RV32PageAllocator, &'static str> for PageTable {
+    unsafe fn map_to(
+        &mut self,
+        virt_addr: VirtAddr,
+        phy_addr: PhyAddr,
+        flags: crate::paging::Flags,
+        _page_allocator: &mut RV32PageAllocator,
+    ) -> Result<(), &'static str> {
+        let vpn = VirtPageNum::from(virt_addr);
+        let ppn = PhysPageNum::from(phy_addr);
+
+        let mut rv_flags = Flags::V | Flags::A; // Always valid and accessed
+        if flags.write {
+            rv_flags |= Flags::W | Flags::D; // Writable and dirty
+        }
+        rv_flags |= Flags::R; // Always readable
+        if flags.execute {
+            rv_flags |= Flags::X;
+        }
+
+        if self.map(vpn, ppn, rv_flags) {
+            Ok(())
+        } else {
+            Err("Mapping failed")
+        }
+    }
+}
+}
    +

    Translation is enabled by writing the satp (Supervisor Address Translation and Protection) +register. For Sv32 the token method returns the register value with MODE = 1 (Sv32) in +bit 31 and the root table's PPN in the low bits.

    +
    #![allow(unused)]
+fn main() {
+pub fn token(&self) -> usize {
+    (1usize << 31)    // MODE = 1 (Sv32 paging mode)
+    | self.root_ppn.0 // PPN of the root page table
+}
+}
    +

    RISC-V 64-bit (RV64)

    +

    For RV64, the PageTable structure is defined in +awkernel_lib/src/arch/rv64/page_table.rs. +It implements the Sv39 translation scheme: 39-bit virtual addresses, 4 KiB pages +and a 3-level page table. The PTE layout and Flags definition are identical to RV32; +the differences are the number of levels and the satp encoding.

    +
    #![allow(unused)]
+fn main() {
+pub struct PageTable {
+    root_ppn: PhysPageNum,
+    frames: Vec<FrameTracker>,
+}
+}
    +

    The virtual page number is split into three 9-bit indices (VirtPageNum::indexes), +walked by find_pte / find_pte_create; the leaf PTE is reached at level index 2.

    +

    The map_to implementation is the same as RV32 — generic Flags are mapped to the +RISC-V PTE flags (V | A | R, plus W | D for writable and X for executable pages):

    +
    #![allow(unused)]
+fn main() {
+impl crate::paging::PageTable<Page, RV64PageAllocator, &'static str> for PageTable {
+    unsafe fn map_to(
+        &mut self,
+        virt_addr: VirtAddr,
+        phy_addr: PhyAddr,
+        flags: crate::paging::Flags,
+        _page_allocator: &mut RV64PageAllocator,
+    ) -> Result<(), &'static str> {
+        let vpn = VirtPageNum::from(virt_addr);
+        let ppn = PhysPageNum::from(phy_addr);
+
+        let mut rv_flags = Flags::V | Flags::A;
+        if flags.write {
+            rv_flags |= Flags::W | Flags::D;
+        }
+        rv_flags |= Flags::R;
+        if flags.execute {
+            rv_flags |= Flags::X;
+        }
+
+        if self.map(vpn, ppn, rv_flags) {
+            Ok(())
+        } else {
+            Err("Mapping failed")
+        }
+    }
+}
+}
    +

    For Sv39 the token method encodes MODE = 8 (Sv39) in bits 63-60 and the root PPN in +the low 44 bits:

    +
    #![allow(unused)]
+fn main() {
+pub fn token(&self) -> usize {
+    (8usize << 60)    // MODE = 8 (Sv39 paging mode)
+    | self.root_ppn.0 // PPN of the root page table
+}
+}
    +

    The kernel address space is built in +awkernel_lib/src/arch/rv64/vm.rs: +new_kernel maps the kernel sections (.text, .rodata, .data, .bss) and an +identity mapping for available RAM, and activate installs the table by writing satp +and flushing the TLB:

    +
    #![allow(unused)]
+fn main() {
+pub fn activate(&self) {
+    let satp = self.page_table.token();
+    unsafe {
+        asm!("csrw satp, {}", in(reg) satp);
+        asm!("sfence.vma");
+    }
+}
+}

    Context Switch

    Context defined in awkernel_lib/src/context.rs is a trait that enables preemptive multitasking. @@ -1397,6 +1646,42 @@

    AArch64

    interrupt::handle_irqs(); } } +

    RISC-V 64-bit (RV64)

    +

    For RV64, traps are taken in machine mode by a low-level handler installed into mtvec +during boot in kernel/src/arch/rv64/boot.S. +The handler reads mcause to distinguish exceptions from interrupts and dispatches on the +interrupt code: a machine timer interrupt (code 7) and a machine software interrupt / IPI +(code 3) are handled, while other causes return without action.

    +
    early_trap_handler:
+  csrr t0, mcause
+  blt t0, zero, handle_interrupt   # MSB set => interrupt
+  j unhandled_trap
+
+handle_interrupt:
+  # ... mask off the interrupt code ...
+  li t1, 7                         # M-mode timer interrupt
+  beq t0, t1, handle_timer_interrupt
+  li t1, 3                         # M-mode software interrupt (IPI)
+  beq t0, t1, handle_software_interrupt
+
    +

    After saving the clobbered registers, the timer path calls riscv_handle_timer and the +IPI path calls riscv_handle_ipi. Both are defined in +kernel/src/arch/rv64/kernel_main.rs +and forward to the architecture-independent handle_irqs:

    +
    #![allow(unused)]
+fn main() {
+/// M-mode software interrupt (IPI) handler called from assembly.
+pub extern "C" fn riscv_handle_ipi() {
+    awkernel_lib::interrupt::handle_irqs(true);
+}
+
+/// M-mode timer interrupt handler called from assembly.
+pub extern "C" fn riscv_handle_timer() {
+    awkernel_lib::interrupt::handle_irqs(true);
+}
+}
    +

    The software-interrupt (MSIP) bit is cleared in assembly before returning, and the timer +is re-armed by the registered timer handler.

    Handling Preemption

    A preemption request can be sent by an inter process interrupt (IPI) to the target CPU. This means that the target CPU should handle the preemption request if it receives the IPI.

    @@ -1448,6 +1733,88 @@

    AArch64

  • GICv2
  • GICv3
    • +

    RISC-V 64-bit (RV64)

    +

    For RV64, external interrupts are managed by the PLIC (Platform-Level Interrupt +Controller), and inter-processor interrupts (IPIs) are delivered through the +CLINT/ACLINT software-interrupt (MSIP) registers. Both are implemented by the +RiscvPlic structure in +kernel/src/arch/rv64/interrupt_controller.rs.

    +
    #![allow(unused)]
+fn main() {
+/// RISC-V PLIC (Platform-Level Interrupt Controller) implementation.
+/// Combined with CLINT/ACLINT for IPI support.
+pub struct RiscvPlic {
+    base_address: usize,
+    max_priority: u32,
+    num_sources: u16,
+}
+
+// CLINT/ACLINT base address for IPIs.
+const ACLINT_BASE: usize = 0x0200_0000;
+const MSIP_OFFSET: usize = 0x0000; // Machine Software Interrupt Pending
+}
    +

    The PLIC register layout is computed relative to base_address:

    +
    + + + + +
    registeraddresspurpose
    prioritybase + source * 4per-source interrupt priority (0-7)
    enablebase + 0x2000 + context * 0x80per-context enable bitmap
    thresholdbase + 0x200000 + context * 0x1000per-context priority threshold
    claim/completebase + 0x200004 + context * 0x1000claim a pending IRQ / signal completion
    +
    +

    The PLIC context for the running hart is computed as hartid * 2 + 1 (the +supervisor-mode context), where the hart ID is read from the mhartid CSR.

    +

    RiscvPlic implements the InterruptController trait:

    +
      +
    • enable_irq sets the source priority to 1 and sets its bit in the enable register.
      • +
    • disable_irq clears the source's bit in the enable register.
      • +
    • pending_irqs reads the claim register; a non-zero value is the claimed IRQ, which is +immediately written back to the claim register to signal completion.
      • +
    • send_ipi writes 1 to the target hart's MSIP register; the broadcast variants do so +for every hart (skipping the sender for send_ipi_broadcast_without_self).
      • +
    • init_non_primary sets the context threshold to 0 (accept all priorities) and enables +machine software interrupts (mie.MSIE) so the core can receive IPIs.
      • +
    +
    #![allow(unused)]
+fn main() {
+impl InterruptController for RiscvPlic {
+    fn enable_irq(&mut self, irq: u16) {
+        self.set_priority(irq, 1);
+        let context = self.get_supervisor_context();
+        self.enable_interrupt(context, irq);
+    }
+
+    fn pending_irqs(&self) -> Box<dyn Iterator<Item = u16>> {
+        let context = self.get_supervisor_context();
+        let claim_reg = self.claim_reg(context);
+        let mut pending = alloc::vec::Vec::new();
+        unsafe {
+            let claimed = read_volatile(claim_reg);
+            if claimed != 0 {
+                pending.push(claimed as u16);
+                write_volatile(claim_reg, claimed); // Complete the interrupt.
+            }
+        }
+        Box::new(pending.into_iter())
+    }
+
+    // ... send_ipi / init_non_primary / irq_range omitted ...
+}
+}
    +

    The controller is instantiated and registered during boot in +kernel/src/arch/rv64/kernel_main.rs, +with the PLIC mapped at 0x0c00_0000 and 128 interrupt sources:

    +
    #![allow(unused)]
+fn main() {
+const PLIC_BASE: usize = 0x0c000000;
+const NUM_SOURCES: u16 = 128;
+
+let plic = Box::new(RiscvPlic::new(PLIC_BASE, NUM_SOURCES));
+awkernel_lib::interrupt::register_interrupt_controller(plic);
+}
    +

    RISC-V 32-bit (RV32)

    +

    For RV32, a PLIC-based InterruptController is not yet implemented; +awkernel_lib/src/arch/rv32/interrupt.rs +currently provides only the low-level enable/disable of interrupts via the sstatus CSR.

    Memory Allocator

    The heap backend in Awkernel is selected at compile time by feature flags.

      @@ -1553,9 +1920,9 @@

      AArch64

      The wf_alloc backend maps each CPU id directly to a per-CPU token and must know the number of CPUs that can use the heap concurrently (active_threads) at initialization time, -because it sizes its metadata region from that count. If the count is 0, wf_alloc's -init bails out and the heap is left uninitialized. The TLSF backend ignores the count.

      -

      The bare init_primary / init_backup read this count from cpu::num_cpu() internally, so +because it sizes its metadata region from that count. If the count is 0, allocator +initialization fails and the kernel halts during heap setup. The TLSF backend ignores the count. +The bare init_primary / init_backup read this count from cpu::num_cpu() internally, so they only behave correctly after the active CPU count has been established. On x86_64 the heap is initialized before that count is set (so cpu::num_cpu() would return 0); the boot code therefore uses the init_primary_with_num_cpu / init_backup_with_num_cpu variants and @@ -1627,6 +1994,97 @@

      AArch64

      // omitted } } +

      RISC-V 32-bit (RV32)

      +

      For RISC-V 32-bit, the primary and backup allocators are initialized +in primary_hart function defined in +kernel/src/arch/rv32/kernel_main.rs as follows.

      +

      Unlike x86_64 and AArch64, RISC-V initializes heap allocators BEFORE setting up virtual memory. +This is because the page table allocation itself requires heap memory. +The initialization order is:

      +
        +
      1. Initialize heap allocators (lines 89-92)
        2. +
      2. Initialize page allocator (line 123)
        3. +
      3. Initialize and activate virtual memory (lines 126-129)
        4. +
      +
      #![allow(unused)]
+fn main() {
+unsafe fn primary_hart(hartid: usize) {
+    // omitted
+
+    // setup the VM
+    let backup_start = HEAP_START;
+    let backup_size = BACKUP_HEAP_SIZE;
+    let primary_start = HEAP_START + BACKUP_HEAP_SIZE;
+    let primary_size = HEAP_SIZE;
+
+    // enable heap allocator
+    heap::init_primary(primary_start, primary_size);
+    heap::init_backup(backup_start, backup_size);
+    heap::TALLOC.use_primary_then_backup(); // use backup allocator
+
+    // omitted
+
+    // Initialize memory management (page allocator)
+    awkernel_lib::arch::rv32::init_page_allocator();
+
+    // Initialize virtual memory system
+    awkernel_lib::arch::rv32::init_kernel_space();
+
+    // Activate virtual memory (enable MMU and page tables)
+    awkernel_lib::arch::rv32::activate_kernel_space();
+
+    // omitted
+}
+}
      +

      RISC-V 64-bit (RV64)

      +

      For RISC-V 64-bit, the primary and backup allocators are initialized +in init_heap_allocation function defined in +kernel/src/arch/rv64/kernel_main.rs as follows.

      +

      Like RV32, RV64 also initializes heap allocators BEFORE setting up virtual memory, +as stated in the comment "Setup heap allocation FIRST - page tables need this!" +The initialization order in primary_hart function is:

      +
        +
      1. Initialize UART for early debugging (line 241)
        2. +
      2. Setup heap allocation (line 244, calling init_heap_allocation())
        3. +
      3. Initialize memory management including page allocator and virtual memory (line 247, calling init_memory_management())
        4. +
      4. Initialize architecture-specific features, console, timer, and interrupts
        5. +
      +

      RV64 has additional unique features:

      +
        +
      • Uses the ekernel symbol to determine heap start address dynamically
        • +
      • Implements dynamic heap sizing with get_heap_size() based on available memory
        • +
      • Has fallback logic for minimal heap configuration (64MB) when memory is limited
        • +
      +
      #![allow(unused)]
+fn main() {
+unsafe fn init_heap_allocation() {
+    // omitted
+
+    extern "C" {
+        fn ekernel();
+    }
+
+    let heap_start = (ekernel as usize + 0xfff) & !0xfff; // Align to 4K
+    let backup_size = BACKUP_HEAP_SIZE;
+    let total_heap_size = awkernel_lib::arch::rv64::get_heap_size();
+
+    if total_heap_size <= backup_size {
+        // Use minimal heap if not enough memory
+        let primary_size = 64 * 1024 * 1024; // 64MB minimum
+        heap::init_primary(heap_start + backup_size, primary_size);
+        heap::init_backup(heap_start, backup_size);
+    } else {
+        // Use dynamic calculation
+        let primary_size = total_heap_size - backup_size;
+        heap::init_primary(heap_start + backup_size, primary_size);
+        heap::init_backup(heap_start, backup_size);
+    }
+
+    heap::TALLOC.use_primary_then_backup();
+
+    // omitted
+}
+}

      Scheduler

      Scheduler is a trait for the scheduler and defined in awkernel_async_lib/src/scheduler.rs as follows.

      #![allow(unused)]
@@ -1656,8 +2114,8 @@ 
      AArch64
      
 
      #![allow(unused)]
 fn main() {
 pub enum SchedulerType {
-    PartitionedEDF(u64, u16), // relative deadline and partitioned core
-    GEDF(u64),                // relative deadline
+    ClusteredEDF(u64, CpuSet), // relative deadline and CPU affinity set
+    GEDF(u64),                 // relative deadline
     PrioritizedFIFO(u8),
     PrioritizedRR(u8),
     Panicked,
@@ -1682,16 +2140,16 @@ 
      SleepingTasks
 
      Scheduler Implementation
      
 
      Some schedulers are implemented under the folder awkernel_async_lib/src/scheduler.
      
 
      $ ls awkernel_async_lib/src/scheduler
-> gedf.rs  panicked.rs  partitioned_edf.rs  prioritized_fifo.rs  prioritized_rr.rs
+> clustered_edf.rs  gedf.rs  panicked.rs  prioritized_fifo.rs  prioritized_rr.rs
 
      
 
      A scheduler can be implemented by implementing Scheduler Trait.
 Each scheduler must be registered in the following three locations.
 fn get_next_task(), fn get_scheduler(sched_type: SchedulerType) and pub enum SchedulerType.
      
-
      PartitionedEDF Scheduler
      
-
      The Partitioned Earliest Deadline First (PartitionedEDF) scheduler is implemented in partitioned_edf.rs. This scheduler is an EDF variant that pins each task to a specific CPU core (partition), maintaining a separate run queue per core.
      
-
      The scheduler holds a [Mutex<Option<EDFData>>; NUM_MAX_CPU] array, one slot per CPU. Each slot's EDFData contains a BinaryHeap<PartitionedEDFTask> ordered by absolute deadline (earliest deadline first), with wake time used as a tie-breaker when deadlines are equal.
      
-
      When a task is enqueued via wake_task(), the scheduler reads the SchedulerType::PartitionedEDF(relative_deadline, partitioned_core) attached to the task and calculates the absolute deadline as uptime + relative_deadline. If the task is part of a DAG, calculate_and_update_dag_deadline() (shared with the GEDF scheduler) is used instead to propagate deadlines through the DAG. The task is then inserted into the run queue of the assigned partitioned_core. Preemption is handled via invoke_preemption(), which sends an IPI to the target core when a newly enqueued task has an earlier deadline than the task currently running (or pending preemption) on that core.
      
-
      get_next() pops the task with the earliest deadline from the run queue of the calling CPU, so each core only dequeues its own tasks. This guarantees strict CPU affinity.
      
+
      ClusteredEDF Scheduler
      
+
      The Clustered Earliest Deadline First (ClusteredEDF) scheduler is implemented in clustered_edf.rs. This scheduler is an EDF variant that restricts each task to a set of CPU cores (a cluster), specified as a CpuSet bitmask. Pinning a task to a single core (partitioned scheduling) is the special case of a one-bit CpuSet.
      
+
      The scheduler holds a single affinity-aware priority queue, AffinityBTreeQueue, backed by an augmented B-tree. Each entry carries (priority, affinity, task), where the priority is the pair (absolute_deadline, wake_time); smaller values dequeue first, so tasks are ordered by earliest deadline with wake time as a tie-breaker. Every B-tree node stores the OR of the affinities in its subtree, which lets pop_for_cpu(cpu) find the earliest-deadline task runnable on cpu in logarithmic time while skipping subtrees with no eligible entry.
      
+
      When a task is enqueued via wake_task(), the scheduler reads the SchedulerType::ClusteredEDF(relative_deadline, cpu_set) attached to the task and calculates the absolute deadline as uptime + relative_deadline. If the task is part of a DAG, calculate_and_update_dag_deadline() (shared with the GEDF scheduler) is used instead to propagate deadlines through the DAG. The task is then pushed into the queue with its cpu_set as the affinity mask. Preemption is handled via invoke_preemption(): if no core in the set is idle and the task is not already running, the core running the lowest-priority task among the set is chosen, and an IPI is sent to it when the newly enqueued task has an earlier deadline than the task currently running (or pending preemption) on that core.
      
+
      get_next() pops the earliest-deadline task whose cpu_set contains the calling CPU (pop_for_cpu), so a task is only ever dequeued by a core within its set. This guarantees CPU affinity. CPU 0 (the primary core) is always excluded from cpu_set when a task is spawned.
      
 
      GEDF Scheduler
      
 
      The Global Earliest Deadline First (GEDF) scheduler is implemented in gedf.rs. This scheduler implements a real-time scheduling algorithm that prioritizes tasks based on their absolute deadlines.
      
 
      The scheduler maintains a BinaryHeap<GEDFTask> as its run queue, where tasks are ordered by their absolute deadlines. When a task is enqueued via wake_task(), the scheduler calculates the absolute deadline by adding the relative deadline (specified in SchedulerType::GEDF(relative_deadline)) to the current uptime. The task's priority is updated using MAX_TASK_PRIORITY - absolute_deadline to ensure proper inter-scheduler priority comparison.
      
diff --git a/docs/searchindex.js b/docs/searchindex.js
index 61d041e7e..e0e418706 100644
--- a/docs/searchindex.js
+++ b/docs/searchindex.js
@@ -1 +1 @@
-window.search = Object.assign(window.search, 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» Awkernel","id":"0","title":"Awkernel"},"1":{"body":"","breadcrumbs":"Internal » Internal","id":"1","title":"Internal"},"10":{"body":"Awkernel uses log crate for logging. So, you can use the log macros like defined in this crate as follows. The logger uses the console module internally. log::error!(\\"This is an error message.\\");\\nlog::warn!(\\"This is a warning message.\\");\\nlog::info!(\\"Hello, world!\\");\\nlog::debug!(\\"This is a debug message.\\");\\nlog::trace!(\\"This is a trace message.\\"); log::debug! is useful when implementing and debugging the kernel because it displays a message with the file name and line number where the macro is called. You can use log::set_max_level function to set the maximum log level as follows. log::set_max_level(log::LevelFilter::Trace);","breadcrumbs":"Internal » Logger » Logger","id":"10","title":"Logger"},"11":{"body":"After booting Awkernel, the logger implementation defined in awkernel_lib/src/logger.rs is switched to a buffered logger defined in applications/awkernel_services/src/buffered_logger.rs . The buffered logger buffers log messages and writes them to the UART in a batch. Note that the buffered logger will discard messages if the buffer is full to avoid memory exhaustion. The buffered logger is executed as an async/await task and spawned in applications/awkernel_services/src/main.rs .","breadcrumbs":"Internal » Logger » Buffered Logger","id":"11","title":"Buffered Logger"},"12":{"body":"In this section, we explain how Awkernel boots.","breadcrumbs":"Internal » Boot » Boot","id":"12","title":"Boot"},"13":{"body":"","breadcrumbs":"Internal » Boot » x86_64","id":"13","title":"x86_64"},"14":{"body":"The primary core calls kernel_main of x86_64 first, which is called by UEFI. kernel_main:kernel/src/arch/x86_64/kernel_main.rs kernel_main2:kernel/src/arch/x86_64/kernel_main.rs main:kernel/src/main.rs graph TD; kernel_main:kernel_main.rs-->kernel_main2:kernel_main.rs; kernel_main2:kernel_main.rs-->main:main.rs; During the primary core is booting, it wakes up non-primary cores by sending ACPI\'s IPIs.","breadcrumbs":"Internal » Boot » Primary Core","id":"14","title":"Primary Core"},"15":{"body":"Non-primary cores calls _start_cpu defined in mpboot.S first, and it then calls non_primary_kernel_main. It eventually calls main like the primary core. _start_cpu:kernel/asm/x86/mpboot.S non_primary_kernel_main:kernel/src/arch/x86_64/kernel_main.rs main:kernel/src/main.rs graph TD; _start_cpu:mpboot.S-->non_primary_kernel_main:kernel_main.rs; non_primary_kernel_main:kernel_main.rs-->main:main.rs;","breadcrumbs":"Internal » Boot » Non-primary Cores","id":"15","title":"Non-primary Cores"},"16":{"body":"","breadcrumbs":"Internal » Boot » AArch64","id":"16","title":"AArch64"},"17":{"body":"_start defined in boot.S is the entry point for both the primary and non-primary cores. _start eventually calls kernel_main in kernel_main.rs. After that, the primary core calls primary_cpu and non-primary cores call non_primary_cpu. Eventually, main is called. _start:kernel/asm/aarch64/boot.S kernel_main:kernel/src/arch/aarch64/kernel_main.rs The primary core calls primary_cpu and non-primary cores call non_primary_cpu. primary_cpu:kernel/src/arch/aarch64/kernel_main.rs non_primary_cpu:kernel/src/arch/aarch64/kernel_main.rs main:kernel/src/main.rs graph TD; _start:boot.S-->kernel_main:kernel_main.rs; kernel_main:kernel_main.rs-->primary_cpu:kernel_main.rs; kernel_main:kernel_main.rs-->non_primary_cpu:kernel_main.rs; primary_cpu:kernel_main.rs-->main:main.rs; non_primary_cpu:kernel_main.rs-->main:main.rs;","breadcrumbs":"Internal » Boot » Primary and Non-primary Cores","id":"17","title":"Primary and Non-primary Cores"},"18":{"body":"After booting, in the main function, the primary core wakes async/await tasks, and non-primary cores execute async/await tasks.","breadcrumbs":"Internal » Boot » Main Function","id":"18","title":"Main Function"},"19":{"body":"In main function, the primary core periodically calls wake_task and poll functions defined in awkernel_async_lib and awkernel_lib, main:kernel/src/main.rs wake_task:awkernel_async_lib/src/scheduler.rs poll:awkernel_lib/src/net.rs graph TD; main:kernel/src/main.rs-->wake_task:awkernel_async_lib/src/scheduler.rs; main:kernel/src/main.rs-->poll:awkernel_lib/src/net.rs; wake_task is a function to wake sleeping async/await tasks up, and it will be explained in Sec. Scheduler . poll is a function to poll network interface controllers. If some events arrives, poll wakes async/await tasks related to the controllers.","breadcrumbs":"Internal » Boot » Primary Core","id":"19","title":"Primary Core"},"2":{"body":"The awkernel_lib/src/sync.rs module provides synchronization primitives. Mutex:awkernel_lib/src/sync/mutex.rs is used for mutual exclusion. RwLock:awkernel_lib/src/sync/rwlock.rs is used for read-write locks. Note that these locks are spin-based, and interrupts are disabled during the critical section.","breadcrumbs":"Internal » Synchronization » Synchronization","id":"2","title":"Synchronization"},"20":{"body":"In main function, non-primary core periodically call run defined in awkernel_async_lib. run initializes variables regarding preemption by calling preempt::init. After that, it calls run_main to execute async/await tasks. main:kernel/src/main.rs run:awkernel_async_lib/src/task.rs init:awkernel_async_lib/src/task/preempt.rs run_main:awkernel_async_lib/src/task.rs graph TD; main:kernel/src/main.rs-->run:awkernel_async_lib/src/task.rs; run:awkernel_async_lib/src/task.rs-->init:awkernel_async_lib/src/task/preempt.rs; run:awkernel_async_lib/src/task.rs-->run_main:awkernel_async_lib/src/task.rs; run_main executes async/await tasks, and it will be explained in Sec. Scheduler .","breadcrumbs":"Internal » Boot » Non-primary Cores","id":"20","title":"Non-primary Cores"},"21":{"body":"Awkernel abstracts the architecture-specific details of the underlying hardware using the Arch trait, which is defined in the awkernel_lib/src/arch.rs . The Arch trait requires the Delay, Interrupt, CPU, and Mapper traits as follows. #[allow(dead_code)]\\n#[cfg(not(feature = \\"std\\"))]\\ntrait Arch: super::delay::Delay + super::interrupt::Interrupt + super::cpu::CPU + super::paging::Mapper\\n{\\n} #[allow(dead_code)]\\n#[cfg(feature = \\"std\\")]\\ntrait Arch: super::delay::Delay + super::interrupt::Interrupt + super::cpu::CPU {} graph LR; Arch:awkernel_lib/src/arch.rs-->Delay:awkernel_lib/src/delay.rs; Arch:awkernel_lib/src/arch.rs-->Interrupt:awkernel_lib/src/interrupt.rs; Arch:awkernel_lib/src/arch.rs-->CPU:awkernel_lib/src/cpu.rs; Arch:awkernel_lib/src/arch.rs-->Mapper:awkernel_lib/src/paging.rs; The Delay trait provides a way to wait for a certain amount of time and to get the time. The Interrupt trait provides a way to enable and disable interrupts. The CPU trait provides a way to get the current CPU ID. The Mapper trait provides a way to map and unmap virtual memory regions. For the std environment, the Arch trait does not require the Mapper trait because user space applications do not need to manage memory mappings.","breadcrumbs":"Internal » Architecture Abstraction » Architecture Abstraction","id":"21","title":"Architecture Abstraction"},"22":{"body":"","breadcrumbs":"Internal » Architecture Abstraction » Implementation","id":"22","title":"Implementation"},"23":{"body":"For x86_64, the X86:awkernel_lib/src/arch/x86_64.rs structure implements the Arch trait. In addition, it implements the Delay, Interrupt, CPU, and Mapper traits as follows. Delay: awkernel_lib/src/arch/x86_64/delay.rs Interrupt: awkernel_lib/src/arch/x86_64/interrupt.rs CPU: awkernel_lib/src/arch/x86_64/cpu.rs Mapper: awkernel_lib/src/arch/x86_64/paging.rs","breadcrumbs":"Internal » Architecture Abstraction » x86_64","id":"23","title":"x86_64"},"24":{"body":"For AArch64, the AArch64:awkernel_lib/src/arch/aarch64.rs structure implements the Arch trait. In addition, it implements the Delay, Interrupt, CPU, and Mapper traits as follows. Delay: awkernel_lib/src/arch/aarch64/delay.rs Interrupt: awkernel_lib/src/arch/aarch64/interrupt.rs CPU: awkernel_lib/src/arch/aarch64/cpu.rs Mapper: awkernel_lib/src/arch/aarch64/paging.rs","breadcrumbs":"Internal » Architecture Abstraction » AArch64","id":"24","title":"AArch64"},"25":{"body":"The Delay trait provides a way to wait for a certain amount of time and to get the time. It is defined in awkernel_lib/src/delay.rs as follows. pub trait Delay { /// Wait interrupt. fn wait_interrupt(); /// Wait microseconds. fn wait_microsec(usec: u64); /// Never return. fn wait_forever() -> ! { loop { Self::wait_interrupt(); } } /// Wait milliseconds. fn wait_millisec(msec: u64) { assert!(msec < u64::MAX / 1000); Self::wait_microsec(msec * 1000); } /// Wait seconds. fn wait_sec(sec: u64) { assert!(sec < u64::MAX / 1_000_000); Self::wait_microsec(sec * 1000 * 1000); } /// This function returns uptime in microseconds. fn uptime() -> u64; /// Return CPU cycle counter. fn cpu_counter() -> u64; /// Pause a CPU during busy loop to reduce CPU power consumption. fn pause() { core::hint::spin_loop(); }\\n} There are several functions regarding the Delay trait in awkernel_lib/src/delay.rs . function description fn wait_interrupt() Wait interrupt. fn wait_microsec(usec: u64) Wait microseconds. fn wait_millisec(msec: u64) Wait milliseconds. fn wait_sec(sec: u64) Wait seconds. fn wait_forever() -> ! Never return. fn uptime() -> u64 Return uptime in microseconds. fn cpu_counter() -> u64 Return CPU cycle counter. fn pause() Pause a CPU during busy loop to reduce CPU power consumption.","breadcrumbs":"Internal » Architecture Abstraction » Delay » Delay","id":"25","title":"Delay"},"26":{"body":"","breadcrumbs":"Internal » Architecture Abstraction » Delay » Implementation","id":"26","title":"Implementation"},"27":{"body":"For x86_64, the the X86 structure implements the Delay trait in awkernel_lib/src/arch/x86_64/delay.rs as follows. impl Delay for super::X86 { fn wait_interrupt() { unsafe { core::arch::asm!(\\"hlt\\") }; } fn wait_microsec(usec: u64) { let start = uptime(); loop { let diff = uptime() - start; if diff >= usec { break; } core::hint::spin_loop(); } } fn uptime() -> u64 { let base = HPET_BASE.load(Ordering::Relaxed); let hz = HPET_COUNTER_HZ.load(Ordering::Relaxed); let start = HPET_COUNTER_START.load(Ordering::Relaxed); if hz == 0 { 0 } else { let now = HPET_MAIN_COUNTER.read(base); let diff = now - start; diff * 1_000_000 / hz } } fn cpu_counter() -> u64 { unsafe { core::arch::x86_64::_rdtsc() } }\\n} Awkernel currently uses High Precision Event Timer (HPET) to get uptime in microseconds. So, if you want to use Awkernel on KVM, you need to enable HPET in the virtual machine settings. To get the cpu cycle counter, Awkernel uses the _rdtsc instruction.","breadcrumbs":"Internal » Architecture Abstraction » Delay » x86_64","id":"27","title":"x86_64"},"28":{"body":"For x86_64, the AArch64 structure implements the Delay trait in awkernel_lib/src/arch/aarch64/delay.rs as follows. impl Delay for super::AArch64 { fn wait_interrupt() { unsafe { core::arch::asm!(\\"wfi\\") }; } fn wait_microsec(usec: u64) { let frq = awkernel_aarch64::cntfrq_el0::get(); let t = awkernel_aarch64::cntvct_el0::get(); let end = t + ((frq / 1000) * usec) / 1000; while awkernel_aarch64::cntvct_el0::get() < end { awkernel_aarch64::isb(); } } fn uptime() -> u64 { let start = unsafe { read_volatile(addr_of!(COUNT_START)) }; let frq = awkernel_aarch64::cntfrq_el0::get(); let now = awkernel_aarch64::cntvct_el0::get(); let diff = now - start; diff * 1_000_000 / frq } fn cpu_counter() -> u64 { awkernel_aarch64::pmccntr_el0::get() }\\n} To get uptime in microseconds, Awkernel uses the counter-timer frequency register (CNTFRQ_EL0) and the counter-timer virtual count register (CNTVCT_EL0) of AArch64. To get the cpu cycle counter, Awkernel uses the performance monitors cycle count register (PMCCNTR_EL0).","breadcrumbs":"Internal » Architecture Abstraction » Delay » AArch64","id":"28","title":"AArch64"},"29":{"body":"The CPU trait provides a way to get the current CPU ID. It is defined in awkernel_lib/src/cpu.rs as follows. pub trait CPU { /// CPU ID returns the ID of the CPU. /// The ID is unique for each CPU and starts from 0 to `num_cpu() - 1`. fn cpu_id() -> usize; /// Raw CPU ID returns the ID of the CPU without any modification. fn raw_cpu_id() -> usize;\\n} The cpu_id method returns the current CPU ID. The ID is unique for each CPU and ranges from 0 to num_cpu() - 1. The num_cpu function, which returns the number of CPUs, is also defined in awkernel_lib/src/cpu.rs . The raw_cpu_id method returns the ID of the CPU without any modification. The ID is unique for each CPU, but it may not be in the range of 0 to num_cpu() - 1. There are functions regarding CPU in awkernel_lib/src/cpu.rs as follows. function description fn cpu_id() -> usize Return the ID of the CPU. fn raw_cpu_id() -> usize Return the ID of the CPU without any modification. fn num_cpu() -> usize Return the number of CPUs.","breadcrumbs":"Internal » Architecture Abstraction » CPU » CPU","id":"29","title":"CPU"},"3":{"body":"Awkernel adopts MCS lock [1] for mutual exclusion by default because the safety and liveliness of MCS lock have been formally verified [2]. Therefore, MCSNode have to be used when using Mutex as follows. use awkernel_lib::sync::mutex::{MCSNode, Mutex};\\nuse alloc::sync::Arc; let data = Arc::new(Mutex::new(0)); // acquire the lock\\nlet mut node = MCSNode::new();\\nlet guard = data.lock(&mut node); *guard = 10;","breadcrumbs":"Internal » Synchronization » Mutex","id":"3","title":"Mutex"},"30":{"body":"","breadcrumbs":"Internal » Architecture Abstraction » CPU » Implementation","id":"30","title":"Implementation"},"31":{"body":"For x86_64, the X86 structure implements the CPU trait in awkernel_lib/src/arch/x86_64/cpu.rs as follows. impl CPU for super::X86 { fn cpu_id() -> usize { let cpuid_leaf_1 = unsafe { core::arch::x86_64::__cpuid(1) }; // Check if x2APIC is supported if (cpuid_leaf_1.ecx & (1 << 21)) != 0 { // Get x2APIC ID from leaf 1FH or leaf 0BH (1FH is preferred) let max_leaf = unsafe { core::arch::x86_64::__cpuid(0) }.eax; let edx = if max_leaf >= 0x1F { unsafe { core::arch::x86_64::__cpuid(0x1F).edx } } else { unsafe { core::arch::x86_64::__cpuid(0x0B).edx } }; edx as usize } else { (cpuid_leaf_1.ebx >> 24 & 0xff) as usize } } fn raw_cpu_id() -> usize { Self::cpu_id() }\\n} Awkernel uses core::arch::x86_64::__cpuid to get the CPU ID. It assumes that the CPU ID is unique for each CPU and ranges from 0 to num_cpu() - 1. If you find any hardware that does not follow this assumption, please let us know or send us a PR.","breadcrumbs":"Internal » Architecture Abstraction » CPU » x86_64","id":"31","title":"x86_64"},"32":{"body":"For x86_64, the AArch64 structure implements the CPU trait in awkernel_lib/src/arch/aarch64/cpu.rs as follows. impl CPU for super::AArch64 { fn cpu_id() -> usize { let mpidr = mpidr_el1::get(); let aff0 = mpidr & 0xff; let aff1 = (mpidr >> 8) & 0xff; let aff2 = (mpidr >> 16) & 0xff; let aff3 = (mpidr >> 32) & 0xff; let result = unsafe { aff0 + AFF0_MAX * aff1 + AFF0_X_AFF1 * aff2 + AFF0_X_AFF1_X_AFF2 * aff3 }; result as usize } fn raw_cpu_id() -> usize { mpidr_el1::get() as usize }\\n} For AArch64, Awkernel calculates the CPU ID based on the MPIDR_EL1 register and the affinity information variables.","breadcrumbs":"Internal » Architecture Abstraction » CPU » AArch64","id":"32","title":"AArch64"},"33":{"body":"The Interrupt trait provides a way to enable and disable interrupts. It is defined in awkernel_lib/src/interrupt.rs as follows. pub trait Interrupt { fn get_flag() -> usize; fn disable(); fn enable(); fn set_flag(flag: usize);\\n} The get_flag and set_flag methods get and set the interrupt flag. These methods are used to save and restore the interrupt flag when enabling and disabling interrupts and used in the InterruptGuard structure.","breadcrumbs":"Internal » Architecture Abstraction » Interrupt » Interrupt","id":"33","title":"Interrupt"},"34":{"body":"The InterruptGuard structure defined in awkernel_lib/src/interrupt.rs is used to disable interrupts in a scope. After the scope, interrupts are enabled automatically as follows. { use awkernel_lib::interrupt::InterruptGuard; let _int_guard = InterruptGuard::new(); // interrupts are disabled.\\n} There are enable and disable functions in awkernel_lib/src/interrupt.rs . You can use these functions rather than using the InterruptGuard.","breadcrumbs":"Internal » Architecture Abstraction » Interrupt » Interrupt Guard","id":"34","title":"Interrupt Guard"},"35":{"body":"","breadcrumbs":"Internal » Architecture Abstraction » Interrupt » Implementation","id":"35","title":"Implementation"},"36":{"body":"For x86_64, the X86 structure implements the Interrupt trait in awkernel_lib/src/arch/x86_64/interrupt.rs as follows. impl Interrupt for super::X86 { fn get_flag() -> usize { if x86_64::instructions::interrupts::are_enabled() { 1 } else { 0 } } fn disable() { x86_64::instructions::interrupts::disable(); } fn enable() { x86_64::instructions::interrupts::enable(); } fn set_flag(flag: usize) { if flag == 0 { x86_64::instructions::interrupts::disable(); } else { x86_64::instructions::interrupts::enable(); } }\\n} For x86_64, Awkernel uses the x86_64 crate to enable and disable interrupts.","breadcrumbs":"Internal » Architecture Abstraction » Interrupt » x86_64","id":"36","title":"x86_64"},"37":{"body":"For x86_64, the AArch64 structure implements the Interrupt trait in awkernel_lib/src/arch/aarch64/interrupt.rs as follows. impl Interrupt for super::AArch64 { fn get_flag() -> usize { awkernel_aarch64::daif::get() as usize } fn disable() { unsafe { core::arch::asm!(\\"msr daifset, #0b0010\\",) }; } fn enable() { unsafe { core::arch::asm!(\\"msr daifclr, #0b0010\\",) }; } fn set_flag(flag: usize) { unsafe { awkernel_aarch64::daif::set(flag as u64) }; }\\n}","breadcrumbs":"Internal » Architecture Abstraction » Interrupt » AArch64","id":"37","title":"AArch64"},"38":{"body":"Mapper is a trait that provides a way to map and unmap virtual memory. It is defined in awkernel_lib/src/paging.rs as follows. pub trait Mapper { /// Return the physical address of `vm_addr`. fn vm_to_phy(vm_addr: VirtAddr) -> Option; /// Map `vm_addr` to `phy_addr` with `flag`. /// /// # Safety /// /// - Virtual memory must be enabled. /// - `flag` must be reasonable. /// - `phy_addr` must be being unmapped. unsafe fn map(vm_addr: VirtAddr, phy_addr: PhyAddr, flags: Flags) -> Result<(), MapError>; /// Unmap `vm_addr`. /// /// # Safety /// /// - Virtual memory must be enabled. /// - `vm_addr` must be being mapped. unsafe fn unmap(vm_addr: VirtAddr);\\n} Mapper uses VirtAddr and PhyAddr types to represent virtual and physical addresses. These types are defined in awkernel_lib/src/addr/virt_addr.rs and awkernel_lib/src/addr/phy_addr.rs . The Flags type is used to represent the flags of the page table entry. It is defined in awkernel_lib/src/paging.rs as follows. /// Flag for a page.\\n/// Note that every page is readable.\\n#[derive(Debug, Clone, Copy)]\\npub struct Flags { pub execute: bool, // executable pub write: bool, // writable pub cache: bool, // enable cache pub write_through: bool, // write back if disabled pub device: bool, // this page is for MMIO, ignored on x86\\n} There are functions regarding the Mapper trait in awkernel_lib/src/paging.rs as follows. function description fn vm_to_phy(vm_addr: VirtAddr) -> Option Return the physical address of vm_addr. unsafe fn map(vm_addr: VirtAddr, phy_addr: PhyAddr, flags: Flags) -> Result<(), MapError> Map vm_addr to phy_addr with flag. fn unsafe fn unmap(vm_addr: VirtAddr) Unmap vm_addr. Awkernel\'s page size is 4 KiB and it is defined by PAGESIZE:awkernel_lib/src/paging.rs . pub const PAGESIZE: usize = 4 * 1024;","breadcrumbs":"Internal » Architecture Abstraction » Mapper (Virtual Memory Management) » Mapper (Virtual Memory Management)","id":"38","title":"Mapper (Virtual Memory Management)"},"39":{"body":"","breadcrumbs":"Internal » Architecture Abstraction » Mapper (Virtual Memory Management) » Implementation","id":"39","title":"Implementation"},"4":{"body":"RwLock can be used as normal read-write lock as follows. use awkernel_lib::sync::rwlock::RwLock;\\nuse alloc::sync::Arc; let data = Arc::new(RwLock::new(0)); { // write lock let guard = data.write(); *guard = 10;\\n} { // read lock let guard = data.read(); assert_eq!(*guard, 10);\\n}","breadcrumbs":"Internal » Synchronization » RwLock","id":"4","title":"RwLock"},"40":{"body":"For x86_64, the X86 structure implements the Mapper trait in awkernel_lib/src/arch/x86_64/paging.rs . To handle page tables, the OffsetPageTable structure defined in the x86_64 crate is used.","breadcrumbs":"Internal » Architecture Abstraction » Mapper (Virtual Memory Management) » x86_64","id":"40","title":"x86_64"},"41":{"body":"For AArch64, the AArch64 structure implements the Mapper trait in awkernel_lib/src/arch/aarch64/paging.rs . To handle page tables, the PageTable structure defined in the awkernel_lib/src/arch/aarch64/page_table.rs is used.","breadcrumbs":"Internal » Architecture Abstraction » Mapper (Virtual Memory Management) » AArch64","id":"41","title":"AArch64"},"42":{"body":"PageTable defined in awkernel_lib/src/paging.rs is a trait that provides a way to abstract page tables. It is defined as follows. pub trait PageTable\\nwhere F: Frame, FA: FrameAllocator,\\n{ /// Map `virt_addr` to `phy_addr` with `flag`. /// /// # Safety /// /// - virt_addr and phy_addr must be aligned to page size. unsafe fn map_to( &mut self, virt_addr: VirtAddr, phy_addr: PhyAddr, flags: Flags, page_allocator: &mut FA, ) -> Result<(), E>;\\n} map_to method of PageTable is used to specify a page frame allocator, which allocates physical pages for the page table, when mapping pages. It is typically used when initializing the kernel\'s page tables or initializing device drivers. Frame defined in awkernel_lib/src/paging.rs is a trait to represent a physical page frame. It is defined as follows. pub trait Frame { fn start_address(&self) -> PhyAddr; fn set_address(&mut self, addr: PhyAddr); fn size(&self) -> usize;\\n} FrameAllocator defined in awkernel_lib/src/paging.rs is a trait to allocate physical pages. It is used by PageTable as described above.","breadcrumbs":"Internal » Page Table » Page Table","id":"42","title":"Page Table"},"43":{"body":"","breadcrumbs":"Internal » Page Table » Implementation","id":"43","title":"Implementation"},"44":{"body":"For x86_64, the PageTable structure is defined in awkernel_lib/src/arch/x86_64/page_table.rs as follows. pub struct PageTable<\'a> { offset_page_table: &\'a mut OffsetPageTable<\'static>,\\n} The PageTable structure implements the PageTable:awkernel_lib/src/paging.rs trait as follows. impl<\'a> crate::paging::PageTable for PageTable<\'a>\\n{ unsafe fn map_to( &mut self, virt_addr: crate::addr::virt_addr::VirtAddr, phy_addr: crate::addr::phy_addr::PhyAddr, flags: crate::paging::Flags, page_allocator: &mut VecPageAllocator, ) -> Result<(), &\'static str> { let flags = flags_to_x86_flags(flags); let page = Page::containing_address(VirtAddr::new(virt_addr.as_usize() as u64)); let frame = PhysFrame::::containing_address(PhysAddr::new(phy_addr.as_usize() as u64)); match self .offset_page_table .map_to(page, frame, flags, page_allocator) { Ok(flusher) => { flusher.flush(); Ok(()) } Err(_) => Err(\\"Failed to map page\\"), } }\\n}","breadcrumbs":"Internal » Page Table » x86_64","id":"44","title":"x86_64"},"45":{"body":"For AArch64, the PageTable structure is defined in awkernel_lib/src/arch/aarch64/page_table.rs as follows. /// - 3 transition levels\\n/// - 4KiB page\\n/// - up to 512GiB memory\\npub struct PageTable { root: PageTableEntry,\\n} The PageTable structure implements the PageTable:awkernel_lib/src/paging.rs trait as follows. impl crate::paging::PageTable, &\'static str> for PageTable { unsafe fn map_to( &mut self, virt_addr: VirtAddr, phy_addr: PhyAddr, flags: crate::paging::Flags, page_allocator: &mut PageAllocator, ) -> Result<(), &\'static str> { let mut f = FLAG_L3_AF | 0b11; if !flags.execute { f |= FLAG_L3_XN | FLAG_L3_PXN; } if flags.write { f |= FLAG_L3_SH_RW_N; } else { f |= FLAG_L3_SH_R_N; } match (flags.device, flags.cache) { (true, true) => f |= FLAG_L3_ATTR_MEM | FLAG_L3_OSH, (true, false) => f |= FLAG_L3_ATTR_DEV | FLAG_L3_OSH, (false, true) => f |= FLAG_L3_ATTR_MEM | FLAG_L3_ISH, (false, false) => f |= FLAG_L3_NS | FLAG_L3_ISH, } self.map_to_aarch64(virt_addr, phy_addr, f, page_allocator) }\\n}","breadcrumbs":"Internal » Page Table » AArch64","id":"45","title":"AArch64"},"46":{"body":"Context defined in awkernel_lib/src/context.rs is a trait that enables preemptive multitasking. It provides methods to set the stack pointer, entry point, and argument of the context as follows. pub trait Context: Default { /// # Safety /// /// Ensure that changing the stack pointer is valid at that time. unsafe fn set_stack_pointer(&mut self, sp: usize); /// # Safety /// /// This function must be called for only initialization purpose. unsafe fn set_entry_point(&mut self, entry: extern \\"C\\" fn(usize) -> !, arg: usize); /// # Safety /// /// This function must be called for only initialization purpose. unsafe fn set_argument(&mut self, arg: usize);\\n} The context_switch function must be implemented for each architecture to enable context switching. extern \\"C\\" { /// Switch context from `current` to `next`. pub fn context_switch(current: *mut ArchContext, next: *const ArchContext);\\n} The context_switch function stores and restores CPU registers, and the ArchContext structure is an architecture-specific context structure.","breadcrumbs":"Internal » Context Switch » Context Switch","id":"46","title":"Context Switch"},"47":{"body":"In awkernel_async_lib/Cargo.toml , there is the no_preempt feature to disable preemption. [features]\\ndefault = []\\nstd = [\\"awkernel_lib/std\\", \\"no_preempt\\"]\\nno_preempt = [] If you want to disable preemption, please enable the no_preempt feature as default = [\\"no_preempt\\"].","breadcrumbs":"Internal » Context Switch » Disable Preemption","id":"47","title":"Disable Preemption"},"48":{"body":"","breadcrumbs":"Internal » Context Switch » Implementation","id":"48","title":"Implementation"},"49":{"body":"For x86_64, the Context structure is defined in awkernel_lib/src/context/x86_64.rs as follows. #[derive(Debug, Copy, Clone, Default)]\\n#[repr(C)]\\npub struct Context { pub rbx: u64, pub rsp: u64, pub rbp: u64, pub r12: u64, pub r13: u64, pub r14: u64, pub r15: u64,\\n} The Context structure is imported as the ArchContext in awkernel_lib/src/context.rs . The context_switch function is implemented in assembly as follows. This stores and restores only general-purpose registers because the floating-point registers are stored and restored by each interrupt handler. core::arch::global_asm!( \\"\\n.global context_switch\\ncontext_switch:\\n// Store general purpose registers\\nmov [rdi], rbx\\nmov 8[rdi], rsp\\nmov 16[rdi], rbp\\nmov 24[rdi], r12\\nmov 32[rdi], r13\\nmov 40[rdi], r14\\nmov 48[rdi], r15 // Load general purpose registers\\nmov rbx, [rsi]\\nmov rsp, 8[rsi]\\nmov rbp, 16[rsi]\\nmov r12, 24[rsi]\\nmov r13, 32[rsi]\\nmov r14, 40[rsi]\\nmov r15, 48[rsi] ret\\n\\"\\n); The Context:awkernel_lib/src/context.rs trait is implemented for the Context:awkernel_lib/src/context/x86_64.rs structure as follows. These methods set the stack pointer, entry point, and argument of the context. impl crate::context::Context for Context { unsafe fn set_stack_pointer(&mut self, sp: usize) { self.rsp = sp as u64; } unsafe fn set_entry_point(&mut self, entry: extern \\"C\\" fn(usize) -> !, arg: usize) { self.r12 = arg as u64; self.r13 = entry as usize as u64; let entry_point_addr = entry_point as usize as u64; unsafe { core::arch::asm!(\\"mov {}, rsp\\", lateout(reg) self.r15); core::arch::asm!(\\"mov rsp, {}\\", in(reg) self.rsp); core::arch::asm!(\\"push {}\\", in(reg) entry_point_addr); core::arch::asm!(\\"mov rsp, {}\\", in(reg) self.r15); } self.rsp -= 8; } unsafe fn set_argument(&mut self, arg: usize) { self.r12 = arg as u64; }\\n} extern \\"C\\" { fn entry_point() -> !;\\n} global_asm!( \\"\\n.global entry_point\\nentry_point: mov rdi, r12 call r13\\n1: hlt jmp 1b\\n\\"\\n);","breadcrumbs":"Internal » Context Switch » x86_64","id":"49","title":"x86_64"},"5":{"body":"J. M. Mellor-Crummey and M. L. Scott. Algorithms for scalable synchronization on shared- memory multiprocessors. ACM Trans. Comput. Syst., 9(1), Feb. 1991. J. Kim, V. Sjöberg, R. Gu, Z. Shao. Safety and Liveness of MCS Lock - Layer by Layer. APLAS 2017: 273-297","breadcrumbs":"Internal » Synchronization » References","id":"5","title":"References"},"50":{"body":"For AArch64, the Context structure is defined in awkernel_lib/src/context/aarch64.rs as follows. #[derive(Debug, Copy, Clone, Default)]\\n#[repr(C)]\\npub struct Context { // 8 * 8 bytes pub fp_regs: FPRegs, // floating point registers //------------------------------ offset: 16 * 4 (+4) // 8 * 12 bytes pub gp_regs: GPRegs, // general purpose registers // ----------------------------- offset: 16 * 10 (+6) // 8 * 2 bytes pub sp: u64, // stack pointer _unused: [u8; 8],\\n} The Context structure is imported as the ArchContext in awkernel_lib/src/context.rs . The context_switch function is implemented in assembly as follows. core::arch::global_asm!( \\"\\n.global context_switch\\ncontext_switch:\\n// Save the current context. // Store floating-point registers.\\nstp d8, d9, [x0], #16\\nstp d10, d11, [x0], #16\\nstp d12, d13, [x0], #16\\nstp d14, d15, [x0], #16 // Store general purpose registers.\\nstp x19, x20, [x0], #16\\nstp x21, x22, [x0], #16\\nstp x23, x24, [x0], #16\\nstp x25, x26, [x0], #16\\nstp x27, x28, [x0], #16\\nstp x29, x30, [x0], #16 // Store SP.\\nmov x9, sp\\nstr x9, [x0] // Restore the next context. // Load floating-point registers.\\nldp d8, d9, [x1], #16\\nldp d10, d11, [x1], #16\\nldp d12, d13, [x1], #16\\nldp d14, d15, [x1], #16 // Load general purpose registers.\\nldp x19, x20, [x1], #16\\nldp x21, x22, [x1], #16\\nldp x23, x24, [x1], #16\\nldp x25, x26, [x1], #16\\nldp x27, x28, [x1], #16\\nldp x29, x30, [x1], #16 // Load SP.\\nldr x9, [x1]\\nmov sp, x9 ret\\n\\"\\n); The Context:awkernel_lib/src/context.rs trait is implemented for the Context:awkernel_lib/src/context/aarch64.rs structure as follows. These methods set the stack pointer, entry point, and argument of the context. impl crate::context::Context for Context { unsafe fn set_stack_pointer(&mut self, sp: usize) { self.sp = sp as u64; } unsafe fn set_entry_point(&mut self, entry: extern \\"C\\" fn(usize) -> !, arg: usize) { self.gp_regs.x19 = arg as u64; self.gp_regs.x20 = entry as usize as u64; self.gp_regs.x30 = entry_point as *const () as u64; } unsafe fn set_argument(&mut self, arg: usize) { self.gp_regs.x19 = arg as u64; }\\n} extern \\"C\\" { fn entry_point() -> !;\\n} global_asm!( \\"\\n.global entry_point\\nentry_point: mov x0, x19 blr x20\\n1: wfi b 1b\\n\\"\\n);","breadcrumbs":"Internal » Context Switch » AArch64","id":"50","title":"AArch64"},"51":{"body":"InterruptController is a trait for interrupt controllers. It is defined in awkernel_lib/src/interrupt.rs as follows. pub trait InterruptController: Sync + Send { fn enable_irq(&mut self, irq: u16); fn disable_irq(&mut self, irq: u16); fn pending_irqs(&self) -> Box>; /// Send an inter-process interrupt to `target` CPU. fn send_ipi(&mut self, irq: u16, cpu_id: u32); /// Send an inter-process interrupt to all CPUs. fn send_ipi_broadcast(&mut self, irq: u16); /// Send an inter-process interrupt to all CPUs except the sender CPU. fn send_ipi_broadcast_without_self(&mut self, irq: u16); /// Initialization for non-primary core. fn init_non_primary(&mut self) {} /// End of interrupt. /// This will be used by only x86_64. fn eoi(&mut self) {} /// Return the range of IRQs, which can be registered. /// The range is [start, end). fn irq_range(&self) -> (u16, u16); /// Return the range of IRQs, which can be used for PnP devices. /// The range is [start, end). fn irq_range_for_pnp(&self) -> (u16, u16); /// Set the PCIe MSI or MSI-X interrupt #[allow(unused_variables)] fn set_pcie_msi( &self, segment_number: usize, target: u32, irq: u16, message_data: &mut u32, message_address: &mut u32, message_address_upper: Option<&mut u32>, ) -> Result { Err(\\"Interrupt controller does not support PCIe MSI or MSI-X.\\") }\\n} Some related functions are defined in awkernel_lib/src/interrupt.rs as follows. function description fn register_handler(...) -> Result<(), &\'static str> Register a handler for the interrupt. fn get_handlers() -> BTreeMap> Return the list of IRQs and their handlers. fn enable_irq(irq: u16) Enable the interrupt. fn disable_irq(irq: u16) Disable the interrupt. fn send_ipi(irq: u16, cpu_id: u32) Send an inter-process interrupt to cpu_id CPU. fn send_ipi_broadcast(irq: u16) Send an inter-process interrupt to all CPUs. fn send_ipi_broadcast_without_self(irq: u16) Send an inter-process interrupt to all CPUs except the sender CPU. fn register_handler_pcie_msi(...) -> Result Register a handler for PCIe MSI or MSI-X interrupt. fn handle_irq(irq: u16) Handle the interrupt. fn handle_irqs() Handle all pending interrupts. fn enable() Enable interrupts. fn disable() Disable interrupts. fn eoi() End of interrupt. fn handle_preemption() Handle preemption. fn set_preempt_irq(irq: u16, preemption: unsafe fn()) Set the preemption handler. fn get_preempt_irq() -> u16 Return the IRQ number for preemption.","breadcrumbs":"Internal » Interrupt Controller » Interrupt Controller","id":"51","title":"Interrupt Controller"},"52":{"body":"","breadcrumbs":"Internal » Interrupt Controller » Handling Interrupts","id":"52","title":"Handling Interrupts"},"53":{"body":"handle_irq is called in interrupt handlers defined in. kernel/src/arch/x86_64/interrupt_handler.rs for x86_64 as follows. macro_rules! irq_handler { ($name:ident, $id:expr) => { extern \\"x86-interrupt\\" fn $name(_stack_frame: InterruptStackFrame) { awkernel_lib::interrupt::eoi(); // End of interrupt. awkernel_lib::interrupt::handle_irq($id); } };\\n} irq_handler macro is called in each interrupt handler.","breadcrumbs":"Internal » Interrupt Controller » x86_64","id":"53","title":"x86_64"},"54":{"body":"The handle_irqs function is called in interrupt handlers defined in. kernel/src/arch/aarch64/exception.rs for aarch64 as follows. #[no_mangle]\\npub extern \\"C\\" fn curr_el_spx_irq_el1(_ctx: *mut Context, _sp: usize, _esr: usize) { interrupt::handle_irqs();\\n}","breadcrumbs":"Internal » Interrupt Controller » AArch64","id":"54","title":"AArch64"},"55":{"body":"A preemption request can be sent by an inter process interrupt (IPI) to the target CPU. This means that the target CPU should handle the preemption request if it receives the IPI.","breadcrumbs":"Internal » Interrupt Controller » Handling Preemption","id":"55","title":"Handling Preemption"},"56":{"body":"For x86_64, the handle_preempt function is called in a interrupt handler defined in kernel/src/arch/x86_64/interrupt_handler.rs as follows. extern \\"x86-interrupt\\" fn preemption(_stack_frame: InterruptStackFrame) { awkernel_lib::interrupt::eoi(); // End of interrupt. awkernel_lib::interrupt::handle_preemption();\\n}","breadcrumbs":"Internal » Interrupt Controller » x86_64","id":"56","title":"x86_64"},"57":{"body":"For AArch64, handling preemption is performed in the handle_irqs function defined in awkernel_lib/src/interrupt.rs . /// Handle all pending interrupt requests.\\n/// This function will be used by only aarch64 and called from CPU\'s interrupt handlers.\\n#[cfg(feature = \\"aarch64\\")]\\npub fn handle_irqs() { use crate::{heap, unwind::catch_unwind}; use core::mem::transmute; let handlers = IRQ_HANDLERS.read(); let mut need_preemption = false; // omitted if need_preemption { let ptr = PREEMPT_FN.load(Ordering::Relaxed); let preemption = unsafe { transmute::<*mut (), fn()>(ptr) }; preemption(); }\\n}","breadcrumbs":"Internal » Interrupt Controller » AArch64","id":"57","title":"AArch64"},"58":{"body":"There are some device drivers for interrupt controllers in awkernel_drivers/src/interrupt_controller .","breadcrumbs":"Internal » Interrupt Controller » Implementation","id":"58","title":"Implementation"},"59":{"body":"xAPIC and x2APIC are supported for x86_64. xAPIC and x2APIC","breadcrumbs":"Internal » Interrupt Controller » x86_64","id":"59","title":"x86_64"},"6":{"body":"Console is a trait for the console and defined in awkernel_lib/src/console.rs as follows. pub trait Console: Write + Send { /// Enable the serial port. fn enable(&mut self); /// Disable the serial port. fn disable(&mut self); /// Enable the reception interrupt. fn enable_recv_interrupt(&mut self); /// Disable the reception interrupt. fn disable_recv_interrupt(&mut self); /// Acknowledge to the reception interrupt. fn acknowledge_recv_interrupt(&mut self); /// Get IRQ#. fn irq_id(&self) -> u16; /// Read a byte. fn get(&mut self) -> Option; /// Write a byte. fn put(&mut self, data: u8);\\n} There are several functions regarding the Console trait in awkernel_lib/src/console.rs . function description fn register_unsafe_puts(console: unsafe fn(&str)) Register the unsafe puts function. unsafe fn unsafe_puts(data: &str) Write a string. unsafe fn unsafe_print_hex_u32(num: u32) Write a hexadecimal number. unsafe fn unsafe_print_hex_u64(num: u64) Write a hexadecimal number. unsafe fn unsafe_print_hex_u96(num: u128) Write a hexadecimal number. unsafe fn unsafe_print_hex_u128(num: u128) Write a hexadecimal number. fn register_console(console: Box) Register the console. fn enable() Enable the console. fn disable() Disable the console. fn enable_recv_interrupt() Enable the reception interrupt. fn disable_recv_interrupt() Disable the reception interrupt. fn acknowledge_recv_interrupt() Acknowledge to the reception interrupt. fn irq_id() Get IRQ#. fn get() Read a byte. fn put(data: u8) Write a byte. fn print(data: &str) Write a string. When booting, an unsafe console should be registered by calling the register_unsafe_puts function. After that, the unsafe_puts and unsafe_print_hex functions can be used to print messages. Note that these functions are unsafe because they may cause data races. After enabling mutual exclusion, a safe console should be registered by calling the register_console function. Then, the print, get, and put functions can be used to print messages.","breadcrumbs":"Internal » Console » Console","id":"6","title":"Console"},"60":{"body":"BCM2835\'s (Raspberry Pi 3) interrupt controller, GICv2 and GICv3 are supported for AAarch64. BCM2835\'s interrupt controller GICv2 GICv3","breadcrumbs":"Internal » Interrupt Controller » AArch64","id":"60","title":"AArch64"},"61":{"body":"The heap backend in Awkernel is selected at compile time by feature flags. heap-wf-alloc selects the wait-free wf_alloc backend, supported on x86_64 and aarch64. Otherwise, the rlsf Two-Level Segregated Fit (TLSF) backend is used. The two features are mutually exclusive; enabling both fails the build with a compile_error!. The kernel crate enables heap-wf-alloc on x86 by default, while TLSF remains for other targets. Regardless of the backend, the Talloc structure represents the allocator in Awkernel, which contains a primary allocator and a backup allocator. Async/await tasks use only the primary allocator, but kernel tasks, such as interrupt handlers, use both the primary and the backup allocators for safety. The following code shows how to use the primary and backup allocators in the task scheduler defined in awkernel_async_lib/src/task.rs . pub fn run_main() { loop { if let Some(task) = get_next_task() { // Use the primary memory allocator. #[cfg(not(feature = \\"std\\"))] unsafe { awkernel_lib::heap::TALLOC.use_primary() }; let result = catch_unwind(|| { guard.poll_unpin(&mut ctx) }); // Use the primary and backup memory allocator. unsafe { awkernel_lib::heap::TALLOC.use_primary_then_backup() }; } }\\n} In run_main function, a executable task is taken from the task queue by get_next_task function. Before executing the task, awkernel_lib::heap::TALLOC.use_primary() is called to use only the primary memory allocator. The task is executed by calling poll_unpin method in the catch_unwind block to catch a panic. If the task exhausts the primary memory region, it will panic and run_main function will catch the panic. After catching the panic, awkernel_lib::heap::TALLOC.use_primary_then_backup() is called to use both the primary and backup memory allocators, and safely deallocate the task. Each backend implements the HeapBackend trait, defined in awkernel_lib/src/heap.rs as follows. trait HeapBackend { /// Initialize the backend over the `[heap_start, heap_start + heap_size)` region. /// `active_threads` is the number of CPUs that can use the heap concurrently. /// Returns `Err(reason)` if the backend could not be initialized. unsafe fn init( &self, heap_start: usize, heap_size: usize, active_threads: usize, ) -> Result<(), &\'static str>; unsafe fn alloc(&self, layout: Layout) -> *mut u8; unsafe fn dealloc(&self, ptr: *mut u8, layout: Layout);\\n} The backend is chosen by a compile-time type alias. // `heap-wf-alloc` on x86_64 / aarch64:\\ntype Allocator = wf_alloc_backend::WfAllocBackend; // otherwise:\\ntype Allocator = tlsf_backend::TlsfBackend; The Talloc structure holds a primary and a backup allocator of the selected backend. pub struct Talloc { primary: Allocator, backup: Allocator, /// bitmap for each CPU to decide which allocator to use flags: [AtomicU32; NUM_MAX_CPU / 32], primary_start: AtomicUsize, primary_size: AtomicUsize, backup_start: AtomicUsize, backup_size: AtomicUsize,\\n} The Talloc structure is defined as a global allocator as follows. #[global_allocator]\\npub static TALLOC: Talloc = Talloc::new(); The following functions initialize the memory regions of the primary and backup allocators. function description fn init_primary(primary_start: usize, primary_size: usize) Initialize the primary allocator, using cpu::num_cpu() as the CPU count. fn init_backup(backup_start: usize, backup_size: usize) Initialize the backup allocator, using cpu::num_cpu() as the CPU count. fn init_primary_with_num_cpu(primary_start: usize, primary_size: usize, num_cpu: usize) Initialize the primary allocator with an explicit CPU count. fn init_backup_with_num_cpu(backup_start: usize, backup_size: usize, num_cpu: usize) Initialize the backup allocator with an explicit CPU count. The wf_alloc backend maps each CPU id directly to a per-CPU token and must know the number of CPUs that can use the heap concurrently (active_threads) at initialization time, because it sizes its metadata region from that count. If the count is 0, wf_alloc\'s init bails out and the heap is left uninitialized. The TLSF backend ignores the count. The bare init_primary / init_backup read this count from cpu::num_cpu() internally, so they only behave correctly after the active CPU count has been established. On x86_64 the heap is initialized before that count is set (so cpu::num_cpu() would return 0); the boot code therefore uses the init_primary_with_num_cpu / init_backup_with_num_cpu variants and passes the CPU count it detected from ACPI explicitly.","breadcrumbs":"Internal » Memory Allocator » Memory Allocator","id":"61","title":"Memory Allocator"},"62":{"body":"","breadcrumbs":"Internal » Memory Allocator » Initialization","id":"62","title":"Initialization"},"63":{"body":"For x86_64, the primary and backup allocators are initialized in init_primary_heap and init_backup_heap functions defined in kernel/src/arch/x86_64/kernel_main.rs as follows. These functions initialize virtual memory regions for the primary and backup heaps before initializing the primary and backup allocators. The num_cpu argument is the CPU count detected from ACPI during boot, passed through to the *_with_num_cpu initializers. fn init_primary_heap( page_table: &mut OffsetPageTable<\'static>, page_allocators: &mut BTreeMap, num_cpu: usize,\\n) { let primary_start = HEAP_START + BACKUP_HEAP_SIZE; let num_pages = map_primary_heap(page_table, page_allocators, primary_start); let heap_size = num_pages * PAGESIZE; unsafe { awkernel_lib::heap::init_primary_with_num_cpu(primary_start, heap_size, num_cpu) }; // omitted\\n} fn init_backup_heap( boot_info: &mut BootInfo, page_table: &mut OffsetPageTable<\'static>, num_cpu: usize,\\n) -> (usize, MemoryRegion, Option) { // omitted: Initialize virtual memory regions for the backup heap. // Initialize. // Enable heap allocator. unsafe { awkernel_lib::heap::init_backup_with_num_cpu(HEAP_START, BACKUP_HEAP_SIZE, num_cpu); awkernel_lib::heap::TALLOC.use_primary_then_backup(); } (backup_pages, backup_heap_region, next_page)\\n}","breadcrumbs":"Internal » Memory Allocator » x86_64","id":"63","title":"x86_64"},"64":{"body":"For AArch64, the primary and backup allocators are initialized in primary_cpu function defined in kernel/src/arch/aarch64/kernel_main.rs as follows. unsafe fn primary_cpu(device_tree_base: usize) { // omitted // 5. Enable heap allocator. let backup_start = HEAP_START; let backup_size = BACKUP_HEAP_SIZE; let primary_start = HEAP_START + BACKUP_HEAP_SIZE; let primary_size = vm.get_heap_size().unwrap() - BACKUP_HEAP_SIZE; let num_cpu = initializer.get_num_cpus(); heap::init_primary_with_num_cpu(primary_start, primary_size, num_cpu); heap::init_backup_with_num_cpu(backup_start, backup_size, num_cpu); // omitted\\n}","breadcrumbs":"Internal » Memory Allocator » AArch64","id":"64","title":"AArch64"},"65":{"body":"Scheduler is a trait for the scheduler and defined in awkernel_async_lib/src/scheduler.rs as follows. pub(crate) trait Scheduler { /// Enqueue an executable task. /// The enqueued task will be taken by `get_next()`. fn wake_task(&self, task: Arc); /// Get the next executable task. fn get_next(&self) -> Option>; /// Get the scheduler name. fn scheduler_name(&self) -> SchedulerType; #[allow(dead_code)] // TODO: to be removed fn priority(&self) -> u8;\\n} There are several functions regarding the scheduler in awkernel_async_lib/src/scheduler.rs . function description fn get_next_task() Get the next executable task. fn get_scheduler(sched_type: SchedulerType) Get a scheduler. SchedulerType is an enum for the scheduler type and defined in awkernel_async_lib/src/scheduler.rs as follows. pub enum SchedulerType { PartitionedEDF(u64, u16), // relative deadline and partitioned core GEDF(u64), // relative deadline PrioritizedFIFO(u8), PrioritizedRR(u8), Panicked,\\n}","breadcrumbs":"Internal » Scheduler » Scheduler","id":"65","title":"Scheduler"},"66":{"body":"SleepingTasks is a struct for managing sleeping tasks and defined in awkernel_async_lib/src/scheduler.rs as follows. struct SleepingTasks { delta_list: DeltaList>, base_time: u64,\\n} SleepingTasks struct has the following functions. function description fn new() Create a new SleepingTasks instance. fn sleep_task(&mut self, handler: Box, mut dur: u64) Sleep a task for a certain duration. fn wake_task(&mut self) Wake up tasks after sleep.","breadcrumbs":"Internal » Scheduler » SleepingTasks","id":"66","title":"SleepingTasks"},"67":{"body":"Some schedulers are implemented under the folder awkernel_async_lib/src/scheduler . $ ls awkernel_async_lib/src/scheduler\\n> gedf.rs panicked.rs partitioned_edf.rs prioritized_fifo.rs prioritized_rr.rs A scheduler can be implemented by implementing Scheduler Trait. Each scheduler must be registered in the following three locations. fn get_next_task(), fn get_scheduler(sched_type: SchedulerType) and pub enum SchedulerType.","breadcrumbs":"Internal » Scheduler » Scheduler Implementation","id":"67","title":"Scheduler Implementation"},"68":{"body":"The Partitioned Earliest Deadline First (PartitionedEDF) scheduler is implemented in partitioned_edf.rs . This scheduler is an EDF variant that pins each task to a specific CPU core (partition), maintaining a separate run queue per core. The scheduler holds a [Mutex>; NUM_MAX_CPU] array, one slot per CPU. Each slot\'s EDFData contains a BinaryHeap ordered by absolute deadline (earliest deadline first), with wake time used as a tie-breaker when deadlines are equal. When a task is enqueued via wake_task(), the scheduler reads the SchedulerType::PartitionedEDF(relative_deadline, partitioned_core) attached to the task and calculates the absolute deadline as uptime + relative_deadline. If the task is part of a DAG, calculate_and_update_dag_deadline() (shared with the GEDF scheduler) is used instead to propagate deadlines through the DAG. The task is then inserted into the run queue of the assigned partitioned_core. Preemption is handled via invoke_preemption(), which sends an IPI to the target core when a newly enqueued task has an earlier deadline than the task currently running (or pending preemption) on that core. get_next() pops the task with the earliest deadline from the run queue of the calling CPU, so each core only dequeues its own tasks. This guarantees strict CPU affinity.","breadcrumbs":"Internal » Scheduler » PartitionedEDF Scheduler","id":"68","title":"PartitionedEDF Scheduler"},"69":{"body":"The Global Earliest Deadline First (GEDF) scheduler is implemented in gedf.rs . This scheduler implements a real-time scheduling algorithm that prioritizes tasks based on their absolute deadlines. The scheduler maintains a BinaryHeap as its run queue, where tasks are ordered by their absolute deadlines. When a task is enqueued via wake_task(), the scheduler calculates the absolute deadline by adding the relative deadline (specified in SchedulerType::GEDF(relative_deadline)) to the current uptime. The task\'s priority is updated using MAX_TASK_PRIORITY - absolute_deadline to ensure proper inter-scheduler priority comparison. The GEDFTask struct implements custom ordering where tasks are compared first by absolute deadline (earlier deadlines have higher priority), and then by wake time for tie-breaking. The scheduler supports preemption through the invoke_preemption() method, which sends IPIs to target CPUs when a task with an earlier deadline arrives and can preempt currently running tasks.","breadcrumbs":"Internal » Scheduler » GEDF Scheduler","id":"69","title":"GEDF Scheduler"},"7":{"body":"","breadcrumbs":"Internal » Console » Implementation","id":"7","title":"Implementation"},"70":{"body":"The PrioritizedFIFO scheduler is implemented in prioritized_fifo.rs . This scheduler provides fixed-priority scheduling where tasks are executed in First-In-First-Out order within each priority level. The scheduler uses a PriorityQueue as its run queue. When a task is enqueued through wake_task(), the priority is extracted from SchedulerType::PrioritizedFIFO(priority) and used to insert the task into the priority queue. The get_next() method retrieves the task at the head of the highest-priority non-empty queue. The scheduler implements preemption via invoke_preemption(), which evaluates all currently running tasks and determines if the newly awakened task should preempt any of them. If preemption is triggered, the scheduler sends an IPI to the target CPU and updates the preemption pending queue.","breadcrumbs":"Internal » Scheduler » PrioritizedFIFO Scheduler","id":"70","title":"PrioritizedFIFO Scheduler"},"71":{"body":"The PrioritizedRR (Prioritized Round Robin) scheduler is implemented in prioritized_rr.rs . This scheduler combines fixed-priority scheduling with time quantum enforcement to provide fair CPU time distribution. The scheduler maintains a PriorityQueue similar to PrioritizedFIFO, but adds time quantum management with a default interval of 4ms (4,000 microseconds). The scheduler provides two preemption mechanisms: invoke_preemption_wake() for priority-based preemption when tasks are awakened, and invoke_preemption_tick() for time quantum-based preemption. The invoke_preemption_tick() method is called periodically on primary CPU to check if the currently running task has exceeded its time quantum. It compares the elapsed execution time against the configured interval and triggers preemption by sending an IPI if the quantum is exceeded.","breadcrumbs":"Internal » Scheduler » PrioritizedRR Scheduler","id":"71","title":"PrioritizedRR Scheduler"},"72":{"body":"The Panicked scheduler is implemented in panicked.rs . This scheduler handles tasks that have entered a panicked state and provides them with the lowest scheduling priority in the system. The scheduler uses a simple VecDeque> as its run queue, implementing basic FIFO ordering without any priority considerations.","breadcrumbs":"Internal » Scheduler » Panicked Scheduler","id":"72","title":"Panicked Scheduler"},"73":{"body":"This section explains the functions and structures defined in awkernel/awkernel_drivers/src/pcie.rs .","breadcrumbs":"Internal » PCIe » PCIe","id":"73","title":"PCIe"},"74":{"body":"PCIeTree is a structure for managing a hierarchical collection of PCIe buses. struct PCIeTree { // - Key: Bus number // - Value: PCIeBus tree: BTreeMap>,\\n} There are several methods regarding the PCIeTree structure. function description fn update_bridge_info(...) Update the bridge information for each bus in the tree. fn attach(&mut self) Attach all the buses in the tree to enable communication with the PCIe device. fn init_base_address(&mut self, ranges: &mut [PCIeRange]) Initialize the base address of each bus in the tree based on the PCIe memory range. PCIeTree structure implements the fmt::Display trait as follows. impl fmt::Display for PCIeTree { fn fmt(&self, f: &mut fmt::Formatter<\'_>) -> fmt::Result { for (_, bus) in self.tree.iter() { if !bus.devices.is_empty() { write!(f, \\"{bus}\\")?; } } Ok(()) }\\n}","breadcrumbs":"Internal » PCIe » PCIeTree","id":"74","title":"PCIeTree"},"75":{"body":"PCIeBus is a structure that represents individual PCIe buses. pub struct PCIeBus { segment_group: u16, bus_number: u8, base_address: Option, info: Option, devices: Vec,\\n} There are several methods regarding the PCIeBus structure. function description fn new(...) Construct the PCIeBus structure. fn update_bridge_info(...) Update the bus information by reflecting the bridge details. fn attach(&mut self) Attaches all devices connected to the bus. fn init_base_address(&mut self, ranges: &mut [PCIeRange]) Initializes the base addresses of all devices connected to the bus based on the PCIe memory range. PCIeBus structure implements the PCIeDevice trait in awkernel/awkernel_drivers/src/pcie.rs as follows. impl PCIeDevice for PCIeBus { fn device_name(&self) -> Cow<\'static, str> { if let Some(info) = self.info.as_ref() { let bdf = info.get_bdf(); let name = format!(\\"{bdf}: Bridge, Bus #{:02x}\\", self.bus_number); name.into() } else { let name = format!(\\"Bus #{:02x}\\", self.bus_number); name.into() } } fn children(&self) -> Option<&Vec> { Some(&self.devices) }\\n} PCIeBus structure implements the fmt::Display trait as follows. impl fmt::Display for PCIeBus { fn fmt(&self, f: &mut fmt::Formatter<\'_>) -> fmt::Result { print_pcie_devices(self, f, 0) }\\n}","breadcrumbs":"Internal » PCIe » PCIeBus","id":"75","title":"PCIeBus"},"76":{"body":"PCIeInfo is a structure used to store the essential information required to initialize a PCIe device. /// Information necessary for initializing the device\\n#[derive(Debug)]\\npub struct PCIeInfo { pub(crate) config_space: ConfigSpace, segment_group: u16, bus_number: u8, device_number: u8, function_number: u8, id: u16, vendor: u16, revision_id: u8, interrupt_pin: u8, pcie_class: pcie_class::PCIeClass, device_name: Option, pub(crate) header_type: u8, base_addresses: [BaseAddress; 6], msi: Option, msix: Option, pcie_cap: Option, // The bridge having this device. bridge_bus_number: Option, bridge_device_number: Option, bridge_function_number: Option,\\n} There are several methods regarding PCIeInfo structure. function description fn from_io(...) Construct the PCIeInfo structure using I/O ports (x86 only). fn from_addr(...) Construct the PCIeInfo structure using virtual address. fn new(...) Construct the PCIeInfo structure. fn init_base_address(&mut self, ranges: &mut [PCIeRange]) Initialize the base address of the PCIeInfo based on the PCIe memory range. pub fn get_bdf(&self) Get PCIe information in BDF (Bus, Device, Function) format. pub fn get_secondary_bus(&self) Get the number of the PCIe secondary bus. pub fn get_device_name(&self) Get the name of the PCIe device. pub fn get_class(&self) Get the PCIe device classification. pub fn get_id(&self) Get the PCIe device ID. pub fn get_revision_id(&self) Get the PCIe revision ID. pub fn set_revision_id(&mut self, revision_id: u8) Set the PCIe revision ID. pub fn get_msi_mut(&mut self) Get a mutable reference to the MSI (Message Signaled Interrupts) of the PCIe device. pub fn get_msix_mut(&mut self) Get a mutable reference to the MSI-X (Message Signaled Interrupts eXtended) of the PCIe device. pub fn get_pcie_cap_mut(&mut self) Get a mutable reference to the PCIe capabilities pointer (extended functionality) of the device. pub fn read_status_command(&self) Get the value of the STATUS_COMMAND register of the PCIe device. pub fn write_status_command(&mut self, csr: registers::StatusCommand) Set the value of the STATUS_COMMAND register of the PCIe device. pub fn get_segment_group(&self) Get the segment group to which the PCIe device belongs. pub fn get_interrupt_line(&self) Get the interrupt line number for the PCIe device. pub fn set_interrupt_line(&mut self, irq: u8) Set the interrupt line number for the PCIe device. pub fn get_interrupt_pin(&self) Get the interrupt pin number of the PCIe device. pub(crate) fn read_capability(&mut self) Check PCIe device extension functionality and construct structures for extensions such as MSI, MSI-X, etc. fn read_bar(&mut self) Read the base address of the PCIe device and reflect it in the PCIeInfo structure. pub(crate) fn map_bar(&mut self) Map the base address of the PCIe device to a page. pub fn get_bar(&self, i: usize) Get the base address at the specified index. fn attach(self) Initialize the PCIe device based on the information. pub fn disable_legacy_interrupt(&mut self) Disable legacy (non-MSI) interrupts on the PCIe device. pub fn enable_legacy_interrupt(&mut self) Enable legacy (non-MSI) interrupts on the PCIe device. PCIeInfo structure implements the fmt::Display trait as follows. impl fmt::Display for PCIeInfo { fn fmt(&self, f: &mut fmt::Formatter<\'_>) -> fmt::Result { write!( f, \\"{:04x}:{:02x}:{:02x}.{:01x}, Device ID = {:04x}, PCIe Class = {:?}\\", self.segment_group, self.bus_number, self.device_number, self.function_number, self.id, self.pcie_class, ) }\\n}","breadcrumbs":"Internal » PCIe » PCIeInfo","id":"76","title":"PCIeInfo"},"77":{"body":"ChildDevice is an enum that represents different types of devices and their attachment states on a PCIe bus. pub enum ChildDevice { Bus(Box), Attached(Arc), Attaching, Unattached(Box),\\n} There are several methods regarding ChildDevice enum. function description fn attach(&mut self) Attach a child PCIe device. fn init_base_address(&mut self, ranges: &mut [PCIeRange]) Initialize the base address of a child PCIe device based on the PCIe memory range.","breadcrumbs":"Internal » PCIe » ChildDevice","id":"77","title":"ChildDevice"},"78":{"body":"UnknownDevice is a structure that represents an attached PCIe device including its segment group, bus, device and function numbers. struct UnknownDevice { segment_group: u16, bus_number: u8, device_number: u8, function_number: u8, vendor: u16, id: u16, pcie_class: pcie_class::PCIeClass,\\n} UnknownDevice structure implements the PCIeDevice trait in awkernel/awkernel_drivers/src/pcie.rs as follows. impl PCIeDevice for PCIeBus { fn device_name(&self) -> Cow<\'static, str> { let bdf = format!( \\"{:04x}:{:02x}:{:02x}.{:01x}\\", self.segment_group, self.bus_number, self.device_number, self.function_number ); let name = format!( \\"{bdf}: Vendor ID = {:04x}, Device ID = {:04x}, PCIe Class = {:?}\\", self.vendor, self.id, self.pcie_class, ); name.into() } fn children(&self) -> Option<&Vec> { None }\\n}","breadcrumbs":"Internal » PCIe » UnknownDevice","id":"78","title":"UnknownDevice"},"79":{"body":"PCIeDeviceErr is an enum that represents various error types related to PCIe devices. #[derive(Debug, Clone)]\\npub enum PCIeDeviceErr { InitFailure, ReadFailure, PageTableFailure, CommandFailure, UnRecognizedDevice { bus: u8, device: u16, vendor: u16 }, InvalidClass, Interrupt, NotImplemented, BARFailure,\\n} PCIeDeviceErr structure implements the fmt::Display trait as follows. impl fmt::Display for PCIeDeviceErr { fn fmt(&self, f: &mut fmt::Formatter<\'_>) -> fmt::Result { match self { Self::InitFailure => { write!(f, \\"Failed to initialize the device driver.\\") } // omitted } }\\n}","breadcrumbs":"Internal » PCIe » PCIeDeviceErr","id":"79","title":"PCIeDeviceErr"},"8":{"body":"x86_64 should equip UART 16550 serial ports, and Awkerenel uses the serial port to output messages as a console. UART 16550\'s device driver is implemented in awkernel_drivers/src/uart/uart_16550 whose original source code is from uart_16550 . The Uart structure defined in kernel/src/arch/x86_64/console.rs implements the Console trait as follows. pub struct Uart { port: uart_16550::SerialPort, enabled: bool,\\n} impl Console for Uart { fn enable(&mut self) { self.enabled = true; } fn disable(&mut self) { self.enabled = false; } fn enable_recv_interrupt(&mut self) { self.port.enable_interrupt(); } fn disable_recv_interrupt(&mut self) { self.port.disable_interrupt(); } fn acknowledge_recv_interrupt(&mut self) { // nothing to do } fn irq_id(&self) -> u16 { 36 // COM1 } fn get(&mut self) -> Option { if self.enabled { self.port.try_receive() } else { None } } fn put(&mut self, data: u8) { if self.enabled { self.port.send(data); } }\\n}","breadcrumbs":"Internal » Console » x86_64","id":"8","title":"x86_64"},"80":{"body":"","breadcrumbs":"Internal » PCIe » Initialization","id":"80","title":"Initialization"},"81":{"body":"For x86, the PCIe is initialized with ACPI or I/O port by init_with_acpi:awkernel/awkernel_drivers/src/pcie.rs or init_with_io:awkernel/awkernel_drivers/src/pcie.rs as follows. /// Initialize the PCIe with ACPI.\\n#[cfg(feature = \\"x86\\")]\\npub fn init_with_acpi(acpi: &AcpiTables) -> Result<(), PCIeDeviceErr> { use awkernel_lib::{addr::phy_addr::PhyAddr, paging::Flags}; const CONFIG_SPACE_SIZE: usize = 256 * 1024 * 1024; // 256 MiB let pcie_info = PciConfigRegions::new(acpi).or(Err(PCIeDeviceErr::InitFailure))?; for segment in pcie_info.iter() { let flags = Flags { write: true, execute: false, cache: false, write_through: false, device: true, }; let mut config_start = segment.physical_address; let config_end = config_start + CONFIG_SPACE_SIZE; while config_start < config_end { let phy_addr = PhyAddr::new(config_start); let virt_addr = VirtAddr::new(config_start); unsafe { paging::map(virt_addr, phy_addr, flags).or(Err(PCIeDeviceErr::PageTableFailure))? }; config_start += PAGESIZE; } let base_address = segment.physical_address; init_with_addr(segment.segment_group, VirtAddr::new(base_address), None); } Ok(())\\n} /// Initialize the PCIe with IO port.\\n#[cfg(feature = \\"x86\\")]\\npub fn init_with_io() { init(0, None, PCIeInfo::from_io, None);\\n}","breadcrumbs":"Internal » PCIe » x86","id":"81","title":"x86"},"82":{"body":"The PCIe is initialized with the base address by init_with_addr:awkernel/awkernel_drivers/src/pcie.rs or init:awkernel/awkernel_drivers/src/pcie.rs as follows. /// If `ranges` is not None, the base address registers of the device will be initialized by using `ranges`.\\npub fn init_with_addr( segment_group: u16, base_address: VirtAddr, ranges: Option<&mut [PCIeRange]>,\\n) { init( segment_group, Some(base_address), PCIeInfo::from_addr, ranges, );\\n} fn init( segment_group: u16, base_address: Option, f: F, ranges: Option<&mut [PCIeRange]>,\\n) where F: Fn(u16, u8, u8, u8, VirtAddr) -> Result,\\n{ let mut visited = BTreeSet::new(); let mut bus_tree = PCIeTree { tree: BTreeMap::new(), }; let mut host_bridge_bus = 0; //omitted: Construct `PCIeTree` and create a tree structure. bus_tree.update_bridge_info(host_bridge_bus, 0, 0); if let Some(ranges) = ranges { bus_tree.init_base_address(ranges); } bus_tree.attach(); log::info!(\\"PCIe: segment_group = {segment_group:04x}\\\\r\\\\n{bus_tree}\\"); let mut node = MCSNode::new(); let mut pcie_trees = PCIE_TREES.lock(&mut node); pcie_trees.insert(segment_group, Arc::new(bus_tree));\\n}","breadcrumbs":"Internal » PCIe » Others","id":"82","title":"Others"},"83":{"body":"The following functions are used to check all devices on the PCIe bus.","breadcrumbs":"Internal » PCIe » Checking the PCI Buses","id":"83","title":"Checking the PCI Buses"},"84":{"body":"Check thirty-two devices on the PCIe bus. #[inline]\\nfn check_bus(bus: &mut PCIeBus, bus_tree: &mut PCIeTree, visited: &mut BTreeSet, f: &F)\\nwhere F: Fn(u16, u8, u8, u8, VirtAddr) -> Result,\\n{ for device in 0..32 { check_device(bus, device, bus_tree, visited, f); }\\n}","breadcrumbs":"Internal » PCIe » check_bus","id":"84","title":"check_bus"},"85":{"body":"Check eight functions on the device. #[inline]\\nfn check_device( bus: &mut PCIeBus, device: u8, bus_tree: &mut PCIeTree, visited: &mut BTreeSet, f: &F,\\n) where F: Fn(u16, u8, u8, u8, VirtAddr) -> Result,\\n{ for function in 0..8 { check_function(bus, device, function, bus_tree, visited, f); }\\n}","breadcrumbs":"Internal » PCIe » check_device","id":"85","title":"check_device"},"86":{"body":"Retrieve PCIe bus information and store it in the PCIeTree structure. fn check_function( bus: &mut PCIeBus, device: u8, function: u8, bus_tree: &mut PCIeTree, visited: &mut BTreeSet, f: &F,\\n) -> bool\\nwhere F: Fn(u16, u8, u8, u8, VirtAddr) -> Result,\\n{ let offset = (bus.bus_number as usize) << 20 | (device as usize) << 15 | (function as usize) << 12; let addr = if let Some(base_address) = bus.base_address { base_address + offset } else { VirtAddr::new(0) }; if let Ok(info) = f(bus.segment_group, bus.bus_number, device, function, addr) { // omitted: Push PCIe device to `PCIeTree`, considering if it is a bridge device true } else { false }\\n}","breadcrumbs":"Internal » PCIe » check_function","id":"86","title":"check_function"},"87":{"body":"Read the base address specified by the offset from the PCIe device\'s configuration space.","breadcrumbs":"Internal » PCIe » Read the base address","id":"87","title":"Read the base address"},"88":{"body":"Read the base address. /// Read the base address of `addr`.\\nfn read_bar(config_space: &ConfigSpace, offset: usize) -> BaseAddress { let bar = config_space.read_u32(offset); if (bar & BAR_IO) == 1 { // omitted: Read the base address for x86 } else { // Memory space let bar_type = bar & BAR_TYPE_MASK; if bar_type == BAR_TYPE_32 { // ommitted: Read the base address for 32bit target } else if bar_type == BAR_TYPE_64 { // ommitted: Read the base address for 64bit target } else { BaseAddress::None } }\\n}","breadcrumbs":"Internal » PCIe » read_bar","id":"88","title":"read_bar"},"89":{"body":"Print the configuration of the devices on the PCIe bus.","breadcrumbs":"Internal » PCIe » Print the PCIe devices","id":"89","title":"Print the PCIe devices"},"9":{"body":"AArch64 should equip PL011 UART serial ports, and Awkerenel uses the serial port to output messages as a console. PL011 UART\'s device driver is implemented in awkernel_drivers/src/uart/pl011.rs , and it implements the Console trait as follows. impl Console for PL011 { fn enable(&mut self) { use registers::CR; registers::UART0_CR.write(CR::EN | CR::RXE | CR::TXE, self.base_addr); // enable, Rx, Tx } fn disable(&mut self) { registers::UART0_CR.write(registers::CR::empty(), self.base_addr); } fn enable_recv_interrupt(&mut self) { registers::UART0_IMSC.setbits(IMSC_RXIM, self.base_addr); } fn disable_recv_interrupt(&mut self) { registers::UART0_IMSC.clrbits(IMSC_RXIM, self.base_addr); } fn acknowledge_recv_interrupt(&mut self) { registers::UART0_ICR.write(registers::ICR::RXIC, self.base_addr); } fn irq_id(&self) -> u16 { self.irq } fn get(&mut self) -> Option { if registers::UART0_FR.read(self.base_addr) & 0x10 != 0 { None } else { Some(registers::UART0_DR.read(self.base_addr) as u8) } } fn put(&mut self, data: u8) { // wait until we can send unsafe { asm!(\\"nop;\\") }; while registers::UART0_FR.read(self.base_addr) & 0x20 != 0 { core::hint::spin_loop(); } // write the character to the buffer registers::UART0_DR.write(data as u32, self.base_addr); }\\n}","breadcrumbs":"Internal » Console » AArch64","id":"9","title":"AArch64"},"90":{"body":"Print the configuration of PCIe devices, including device names, vendor ID, device ID, PCIe class and bridge information. fn print_pcie_devices(device: &dyn PCIeDevice, f: &mut fmt::Formatter, indent: u8) -> fmt::Result { let indent_str = \\" \\".repeat(indent as usize * 4); write!(f, \\"{}{}\\\\r\\\\n\\", indent_str, device.device_name())?; if let Some(children) = device.children() { for child in children.iter() { match child { ChildDevice::Attached(child) => { print_pcie_devices(child.as_ref(), f, indent + 1)?; } ChildDevice::Unattached(info) => { let name = format!( \\"{}: Vendor ID = {:04x}, Device ID = {:04x}, PCIe Class = {:?}, bridge = {:?}-{:?}-{:?}\\", info.get_bdf(), info.vendor, info.id, info.pcie_class, info.bridge_bus_number, info.bridge_device_number, info.bridge_function_number, ); let indent_str = \\" \\".repeat((indent as usize + 1) * 4); write!(f, \\"{indent_str}{name}\\\\r\\\\n\\")?; } ChildDevice::Bus(bus) => { print_pcie_devices(bus.as_ref(), f, indent + 1)?; } _ => (), } } } Ok(())\\n}","breadcrumbs":"Internal » PCIe » print_pcie_devices","id":"90","title":"print_pcie_devices"},"91":{"body":"","breadcrumbs":"License » License","id":"91","title":"License"},"92":{"body":"See https://github.com/tier4/awkernel/blob/main/LICENSE .","breadcrumbs":"License » Awkernel » Awkernel License","id":"92","title":"Awkernel License"},"93":{"body":"Copyright (c) 1982, 1986, 1990, 1991, 1993 The Regents of the University of California. All rights reserved. Redistribution and use in source and binary forms, with or without\\nmodification, are permitted provided that the following conditions\\nare met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. All advertising materials mentioning features or use of this software must display the following acknowledgement: This product includes software developed by the University of California, Berkeley and its contributors. 4. Neither the name of the University nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS\'\' AND\\nANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\\nIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\\nARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE\\nFOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL\\nDAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS\\nOR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)\\nHOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT\\nLIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY\\nOUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF\\nSUCH DAMAGE.","breadcrumbs":"License » OpenBSD » OpenBSD License","id":"93","title":"OpenBSD License"},"94":{"body":"Copyright (C) smoltcp contributors Permission to use, copy, modify, and/or distribute this software for\\nany purpose with or without fee is hereby granted. THE SOFTWARE IS PROVIDED \\"AS IS\\" AND THE AUTHOR DISCLAIMS ALL WARRANTIES\\nWITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF\\nMERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR\\nANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES\\nWHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN\\nAN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT\\nOF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.","breadcrumbs":"License » smoltcp » smoltcp License","id":"94","title":"smoltcp License"},"95":{"body":"Copyright (c) 2016 Alex Crichton\\nCopyright (c) 2017 The Tokio Authors Permission is hereby granted, free of charge, to any\\nperson obtaining a copy of this software and associated\\ndocumentation files (the \\"Software\\"), to deal in the\\nSoftware without restriction, including without\\nlimitation the rights to use, copy, modify, merge,\\npublish, distribute, sublicense, and/or sell copies of\\nthe Software, and to permit persons to whom the Software\\nis furnished to do so, subject to the following\\nconditions: The above copyright notice and this permission notice\\nshall be included in all copies or substantial portions\\nof the Software. THE SOFTWARE IS PROVIDED \\"AS IS\\", WITHOUT WARRANTY OF\\nANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED\\nTO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A\\nPARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT\\nSHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY\\nCLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION\\nOF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR\\nIN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\\nDEALINGS IN THE SOFTWARE.","breadcrumbs":"License » Futures » Futures License","id":"95","title":"Futures License"},"96":{"body":"SPDX-License-Identifier: BSD-3-Clause Copyright (c) 2001-2017, Intel Corporation\\nAll rights reserved. Redistribution and use in source and binary forms, with or without\\nmodification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the Intel Corporation nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \\"AS IS\\"\\nAND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\\nIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\\nARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\\nLIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\\nCONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\\nSUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\\nINTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\\nCONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\\nARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\\nPOSSIBILITY OF SUCH DAMAGE.","breadcrumbs":"License » Ixgbe device driver » Ixgbe License","id":"96","title":"Ixgbe License"},"97":{"body":"Copyright (c) 2001-2003, Intel Corporation\\nAll rights reserved. Redistribution and use in source and binary forms, with or without\\nmodification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the Intel Corporation nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \\"AS IS\\"\\nAND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\\nIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\\nARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\\nLIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\\nCONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\\nSUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\\nINTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\\nCONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\\nARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\\nPOSSIBILITY OF SUCH DAMAGE.","breadcrumbs":"License » Igb device driver » Igb License","id":"97","title":"Igb License"},"98":{"body":"Copyright (c) 2020 Jared McNeill \\nCopyright (c) 2020 Mark Kettenis \\nAll rights reserved. Redistribution and use in source and binary forms, with or without\\nmodification, are permitted provided that the following conditions\\nare met:\\n1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.\\n2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 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» Awkernel","id":"0","title":"Awkernel"},"1":{"body":"","breadcrumbs":"Internal » Internal","id":"1","title":"Internal"},"10":{"body":"Awkernel uses log crate for logging. So, you can use the log macros like defined in this crate as follows. The logger uses the console module internally. log::error!(\\"This is an error message.\\");\\nlog::warn!(\\"This is a warning message.\\");\\nlog::info!(\\"Hello, world!\\");\\nlog::debug!(\\"This is a debug message.\\");\\nlog::trace!(\\"This is a trace message.\\"); log::debug! is useful when implementing and debugging the kernel because it displays a message with the file name and line number where the macro is called. You can use log::set_max_level function to set the maximum log level as follows. log::set_max_level(log::LevelFilter::Trace);","breadcrumbs":"Internal » Logger » Logger","id":"10","title":"Logger"},"100":{"body":"","breadcrumbs":"License » License","id":"100","title":"License"},"101":{"body":"See https://github.com/tier4/awkernel/blob/main/LICENSE .","breadcrumbs":"License » Awkernel » Awkernel License","id":"101","title":"Awkernel License"},"102":{"body":"Copyright (c) 1982, 1986, 1990, 1991, 1993 The Regents of the University of California. All rights reserved. Redistribution and use in source and binary forms, with or without\\nmodification, are permitted provided that the following conditions\\nare met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. All advertising materials mentioning features or use of this software must display the following acknowledgement: This product includes software developed by the University of California, Berkeley and its contributors. 4. Neither the name of the University nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS\'\' AND\\nANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\\nIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\\nARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE\\nFOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL\\nDAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS\\nOR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)\\nHOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT\\nLIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY\\nOUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF\\nSUCH DAMAGE.","breadcrumbs":"License » OpenBSD » OpenBSD License","id":"102","title":"OpenBSD License"},"103":{"body":"Copyright (C) smoltcp contributors Permission to use, copy, modify, and/or distribute this software for\\nany purpose with or without fee is hereby granted. THE SOFTWARE IS PROVIDED \\"AS IS\\" AND THE AUTHOR DISCLAIMS ALL WARRANTIES\\nWITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF\\nMERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR\\nANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES\\nWHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN\\nAN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT\\nOF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.","breadcrumbs":"License » smoltcp » smoltcp License","id":"103","title":"smoltcp License"},"104":{"body":"Copyright (c) 2016 Alex Crichton\\nCopyright (c) 2017 The Tokio Authors Permission is hereby granted, free of charge, to any\\nperson obtaining a copy of this software and associated\\ndocumentation files (the \\"Software\\"), to deal in the\\nSoftware without restriction, including without\\nlimitation the rights to use, copy, modify, merge,\\npublish, distribute, sublicense, and/or sell copies of\\nthe Software, and to permit persons to whom the Software\\nis furnished to do so, subject to the following\\nconditions: The above copyright notice and this permission notice\\nshall be included in all copies or substantial portions\\nof the Software. THE SOFTWARE IS PROVIDED \\"AS IS\\", WITHOUT WARRANTY OF\\nANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED\\nTO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A\\nPARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT\\nSHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY\\nCLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION\\nOF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR\\nIN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\\nDEALINGS IN THE SOFTWARE.","breadcrumbs":"License » Futures » Futures License","id":"104","title":"Futures License"},"105":{"body":"SPDX-License-Identifier: BSD-3-Clause Copyright (c) 2001-2017, Intel Corporation\\nAll rights reserved. Redistribution and use in source and binary forms, with or without\\nmodification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the Intel Corporation nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \\"AS IS\\"\\nAND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\\nIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\\nARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\\nLIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\\nCONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\\nSUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\\nINTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\\nCONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\\nARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\\nPOSSIBILITY OF SUCH DAMAGE.","breadcrumbs":"License » Ixgbe device driver » Ixgbe License","id":"105","title":"Ixgbe License"},"106":{"body":"Copyright (c) 2001-2003, Intel Corporation\\nAll rights reserved. Redistribution and use in source and binary forms, with or without\\nmodification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the Intel Corporation nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \\"AS IS\\"\\nAND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\\nIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\\nARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\\nLIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\\nCONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\\nSUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\\nINTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\\nCONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\\nARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\\nPOSSIBILITY OF SUCH DAMAGE.","breadcrumbs":"License » Igb device driver » Igb License","id":"106","title":"Igb License"},"107":{"body":"Copyright (c) 2020 Jared McNeill \\nCopyright (c) 2020 Mark Kettenis \\nAll rights reserved. Redistribution and use in source and binary forms, with or without\\nmodification, are permitted provided that the following conditions\\nare met:\\n1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.\\n2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS\'\' AND ANY EXPRESS OR\\nIMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES\\nOF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.\\nIN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,\\nINCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,\\nBUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;\\nLOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED\\nAND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,\\nOR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY\\nOUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF\\nSUCH DAMAGE.","breadcrumbs":"License » Genet device driver » Genet License","id":"107","title":"Genet License"},"11":{"body":"After booting Awkernel, the logger implementation defined in awkernel_lib/src/logger.rs is switched to a buffered logger defined in applications/awkernel_services/src/buffered_logger.rs . The buffered logger buffers log messages and writes them to the UART in a batch. Note that the buffered logger will discard messages if the buffer is full to avoid memory exhaustion. The buffered logger is executed as an async/await task and spawned in applications/awkernel_services/src/main.rs .","breadcrumbs":"Internal » Logger » Buffered Logger","id":"11","title":"Buffered Logger"},"12":{"body":"In this section, we explain how Awkernel boots.","breadcrumbs":"Internal » Boot » Boot","id":"12","title":"Boot"},"13":{"body":"","breadcrumbs":"Internal » Boot » x86_64","id":"13","title":"x86_64"},"14":{"body":"The primary core calls kernel_main of x86_64 first, which is called by UEFI. kernel_main:kernel/src/arch/x86_64/kernel_main.rs kernel_main2:kernel/src/arch/x86_64/kernel_main.rs main:kernel/src/main.rs graph TD; kernel_main:kernel_main.rs-->kernel_main2:kernel_main.rs; kernel_main2:kernel_main.rs-->main:main.rs; During the primary core is booting, it wakes up non-primary cores by sending ACPI\'s IPIs.","breadcrumbs":"Internal » Boot » Primary Core","id":"14","title":"Primary Core"},"15":{"body":"Non-primary cores calls _start_cpu defined in mpboot.S first, and it then calls non_primary_kernel_main. It eventually calls main like the primary core. _start_cpu:kernel/asm/x86/mpboot.S non_primary_kernel_main:kernel/src/arch/x86_64/kernel_main.rs main:kernel/src/main.rs graph TD; _start_cpu:mpboot.S-->non_primary_kernel_main:kernel_main.rs; non_primary_kernel_main:kernel_main.rs-->main:main.rs;","breadcrumbs":"Internal » Boot » Non-primary Cores","id":"15","title":"Non-primary Cores"},"16":{"body":"","breadcrumbs":"Internal » Boot » AArch64","id":"16","title":"AArch64"},"17":{"body":"_start defined in boot.S is the entry point for both the primary and non-primary cores. _start eventually calls kernel_main in kernel_main.rs. After that, the primary core calls primary_cpu and non-primary cores call non_primary_cpu. Eventually, main is called. _start:kernel/asm/aarch64/boot.S kernel_main:kernel/src/arch/aarch64/kernel_main.rs The primary core calls primary_cpu and non-primary cores call non_primary_cpu. primary_cpu:kernel/src/arch/aarch64/kernel_main.rs non_primary_cpu:kernel/src/arch/aarch64/kernel_main.rs main:kernel/src/main.rs graph TD; _start:boot.S-->kernel_main:kernel_main.rs; kernel_main:kernel_main.rs-->primary_cpu:kernel_main.rs; kernel_main:kernel_main.rs-->non_primary_cpu:kernel_main.rs; primary_cpu:kernel_main.rs-->main:main.rs; non_primary_cpu:kernel_main.rs-->main:main.rs;","breadcrumbs":"Internal » Boot » Primary and Non-primary Cores","id":"17","title":"Primary and Non-primary Cores"},"18":{"body":"After booting, in the main function, the primary core wakes async/await tasks, and non-primary cores execute async/await tasks.","breadcrumbs":"Internal » Boot » Main Function","id":"18","title":"Main Function"},"19":{"body":"In main function, the primary core periodically calls wake_task and poll functions defined in awkernel_async_lib and awkernel_lib, main:kernel/src/main.rs wake_task:awkernel_async_lib/src/scheduler.rs poll:awkernel_lib/src/net.rs graph TD; main:kernel/src/main.rs-->wake_task:awkernel_async_lib/src/scheduler.rs; main:kernel/src/main.rs-->poll:awkernel_lib/src/net.rs; wake_task is a function to wake sleeping async/await tasks up, and it will be explained in Sec. Scheduler . poll is a function to poll network interface controllers. If some events arrives, poll wakes async/await tasks related to the controllers.","breadcrumbs":"Internal » Boot » Primary Core","id":"19","title":"Primary Core"},"2":{"body":"The awkernel_lib/src/sync.rs module provides synchronization primitives. Mutex:awkernel_lib/src/sync/mutex.rs is used for mutual exclusion. RwLock:awkernel_lib/src/sync/rwlock.rs is used for read-write locks. Note that these locks are spin-based, and interrupts are disabled during the critical section.","breadcrumbs":"Internal » Synchronization » Synchronization","id":"2","title":"Synchronization"},"20":{"body":"In main function, non-primary core periodically call run defined in awkernel_async_lib. run initializes variables regarding preemption by calling preempt::init. After that, it calls run_main to execute async/await tasks. main:kernel/src/main.rs run:awkernel_async_lib/src/task.rs init:awkernel_async_lib/src/task/preempt.rs run_main:awkernel_async_lib/src/task.rs graph TD; main:kernel/src/main.rs-->run:awkernel_async_lib/src/task.rs; run:awkernel_async_lib/src/task.rs-->init:awkernel_async_lib/src/task/preempt.rs; run:awkernel_async_lib/src/task.rs-->run_main:awkernel_async_lib/src/task.rs; run_main executes async/await tasks, and it will be explained in Sec. Scheduler .","breadcrumbs":"Internal » Boot » Non-primary Cores","id":"20","title":"Non-primary Cores"},"21":{"body":"Awkernel abstracts the architecture-specific details of the underlying hardware using the Arch trait, which is defined in the awkernel_lib/src/arch.rs . The Arch trait requires the Delay, Interrupt, CPU, and Mapper traits as follows. #[allow(dead_code)]\\n#[cfg(not(feature = \\"std\\"))]\\ntrait Arch: super::delay::Delay + super::interrupt::Interrupt + super::cpu::CPU + super::paging::Mapper\\n{\\n} #[allow(dead_code)]\\n#[cfg(feature = \\"std\\")]\\ntrait Arch: super::delay::Delay + super::interrupt::Interrupt + super::cpu::CPU {} graph LR; Arch:awkernel_lib/src/arch.rs-->Delay:awkernel_lib/src/delay.rs; Arch:awkernel_lib/src/arch.rs-->Interrupt:awkernel_lib/src/interrupt.rs; Arch:awkernel_lib/src/arch.rs-->CPU:awkernel_lib/src/cpu.rs; Arch:awkernel_lib/src/arch.rs-->Mapper:awkernel_lib/src/paging.rs; The Delay trait provides a way to wait for a certain amount of time and to get the time. The Interrupt trait provides a way to enable and disable interrupts. The CPU trait provides a way to get the current CPU ID. The Mapper trait provides a way to map and unmap virtual memory regions. For the std environment, the Arch trait does not require the Mapper trait because user space applications do not need to manage memory mappings.","breadcrumbs":"Internal » Architecture Abstraction » Architecture Abstraction","id":"21","title":"Architecture Abstraction"},"22":{"body":"","breadcrumbs":"Internal » Architecture Abstraction » Implementation","id":"22","title":"Implementation"},"23":{"body":"For x86_64, the X86:awkernel_lib/src/arch/x86_64.rs structure implements the Arch trait. In addition, it implements the Delay, Interrupt, CPU, and Mapper traits as follows. Delay: awkernel_lib/src/arch/x86_64/delay.rs Interrupt: awkernel_lib/src/arch/x86_64/interrupt.rs CPU: awkernel_lib/src/arch/x86_64/cpu.rs Mapper: awkernel_lib/src/arch/x86_64/paging.rs","breadcrumbs":"Internal » Architecture Abstraction » x86_64","id":"23","title":"x86_64"},"24":{"body":"For AArch64, the AArch64:awkernel_lib/src/arch/aarch64.rs structure implements the Arch trait. In addition, it implements the Delay, Interrupt, CPU, and Mapper traits as follows. Delay: awkernel_lib/src/arch/aarch64/delay.rs Interrupt: awkernel_lib/src/arch/aarch64/interrupt.rs CPU: awkernel_lib/src/arch/aarch64/cpu.rs Mapper: awkernel_lib/src/arch/aarch64/paging.rs","breadcrumbs":"Internal » Architecture Abstraction » AArch64","id":"24","title":"AArch64"},"25":{"body":"The Delay trait provides a way to wait for a certain amount of time and to get the time. It is defined in awkernel_lib/src/delay.rs as follows. pub trait Delay { /// Wait interrupt. fn wait_interrupt(); /// Wait microseconds. fn wait_microsec(usec: u64); /// Never return. fn wait_forever() -> ! { loop { Self::wait_interrupt(); } } /// Wait milliseconds. fn wait_millisec(msec: u64) { assert!(msec < u64::MAX / 1000); Self::wait_microsec(msec * 1000); } /// Wait seconds. fn wait_sec(sec: u64) { assert!(sec < u64::MAX / 1_000_000); Self::wait_microsec(sec * 1000 * 1000); } /// This function returns uptime in microseconds. fn uptime() -> u64; /// Return CPU cycle counter. fn cpu_counter() -> u64; /// Pause a CPU during busy loop to reduce CPU power consumption. fn pause() { core::hint::spin_loop(); }\\n} There are several functions regarding the Delay trait in awkernel_lib/src/delay.rs . function description fn wait_interrupt() Wait interrupt. fn wait_microsec(usec: u64) Wait microseconds. fn wait_millisec(msec: u64) Wait milliseconds. fn wait_sec(sec: u64) Wait seconds. fn wait_forever() -> ! Never return. fn uptime() -> u64 Return uptime in microseconds. fn cpu_counter() -> u64 Return CPU cycle counter. fn pause() Pause a CPU during busy loop to reduce CPU power consumption.","breadcrumbs":"Internal » Architecture Abstraction » Delay » Delay","id":"25","title":"Delay"},"26":{"body":"","breadcrumbs":"Internal » Architecture Abstraction » Delay » Implementation","id":"26","title":"Implementation"},"27":{"body":"For x86_64, the the X86 structure implements the Delay trait in awkernel_lib/src/arch/x86_64/delay.rs as follows. impl Delay for super::X86 { fn wait_interrupt() { unsafe { core::arch::asm!(\\"hlt\\") }; } fn wait_microsec(usec: u64) { let start = uptime(); loop { let diff = uptime() - start; if diff >= usec { break; } core::hint::spin_loop(); } } fn uptime() -> u64 { let base = HPET_BASE.load(Ordering::Relaxed); let hz = HPET_COUNTER_HZ.load(Ordering::Relaxed); let start = HPET_COUNTER_START.load(Ordering::Relaxed); if hz == 0 { 0 } else { let now = HPET_MAIN_COUNTER.read(base); let diff = now - start; diff * 1_000_000 / hz } } fn cpu_counter() -> u64 { unsafe { core::arch::x86_64::_rdtsc() } }\\n} Awkernel currently uses High Precision Event Timer (HPET) to get uptime in microseconds. So, if you want to use Awkernel on KVM, you need to enable HPET in the virtual machine settings. To get the cpu cycle counter, Awkernel uses the _rdtsc instruction.","breadcrumbs":"Internal » Architecture Abstraction » Delay » x86_64","id":"27","title":"x86_64"},"28":{"body":"For x86_64, the AArch64 structure implements the Delay trait in awkernel_lib/src/arch/aarch64/delay.rs as follows. impl Delay for super::AArch64 { fn wait_interrupt() { unsafe { core::arch::asm!(\\"wfi\\") }; } fn wait_microsec(usec: u64) { let frq = awkernel_aarch64::cntfrq_el0::get(); let t = awkernel_aarch64::cntvct_el0::get(); let end = t + ((frq / 1000) * usec) / 1000; while awkernel_aarch64::cntvct_el0::get() < end { awkernel_aarch64::isb(); } } fn uptime() -> u64 { let start = unsafe { read_volatile(addr_of!(COUNT_START)) }; let frq = awkernel_aarch64::cntfrq_el0::get(); let now = awkernel_aarch64::cntvct_el0::get(); let diff = now - start; diff * 1_000_000 / frq } fn cpu_counter() -> u64 { awkernel_aarch64::pmccntr_el0::get() }\\n} To get uptime in microseconds, Awkernel uses the counter-timer frequency register (CNTFRQ_EL0) and the counter-timer virtual count register (CNTVCT_EL0) of AArch64. To get the cpu cycle counter, Awkernel uses the performance monitors cycle count register (PMCCNTR_EL0).","breadcrumbs":"Internal » Architecture Abstraction » Delay » AArch64","id":"28","title":"AArch64"},"29":{"body":"The CPU trait provides a way to get the current CPU ID. It is defined in awkernel_lib/src/cpu.rs as follows. pub trait CPU { /// CPU ID returns the ID of the CPU. /// The ID is unique for each CPU and starts from 0 to `num_cpu() - 1`. fn cpu_id() -> usize; /// Raw CPU ID returns the ID of the CPU without any modification. fn raw_cpu_id() -> usize;\\n} The cpu_id method returns the current CPU ID. The ID is unique for each CPU and ranges from 0 to num_cpu() - 1. The num_cpu function, which returns the number of CPUs, is also defined in awkernel_lib/src/cpu.rs . The raw_cpu_id method returns the ID of the CPU without any modification. The ID is unique for each CPU, but it may not be in the range of 0 to num_cpu() - 1. There are functions regarding CPU in awkernel_lib/src/cpu.rs as follows. function description fn cpu_id() -> usize Return the ID of the CPU. fn raw_cpu_id() -> usize Return the ID of the CPU without any modification. fn num_cpu() -> usize Return the number of CPUs.","breadcrumbs":"Internal » Architecture Abstraction » CPU » CPU","id":"29","title":"CPU"},"3":{"body":"Awkernel adopts MCS lock [1] for mutual exclusion by default because the safety and liveliness of MCS lock have been formally verified [2]. Therefore, MCSNode have to be used when using Mutex as follows. use awkernel_lib::sync::mutex::{MCSNode, Mutex};\\nuse alloc::sync::Arc; let data = Arc::new(Mutex::new(0)); // acquire the lock\\nlet mut node = MCSNode::new();\\nlet guard = data.lock(&mut node); *guard = 10;","breadcrumbs":"Internal » Synchronization » Mutex","id":"3","title":"Mutex"},"30":{"body":"","breadcrumbs":"Internal » Architecture Abstraction » CPU » Implementation","id":"30","title":"Implementation"},"31":{"body":"For x86_64, the X86 structure implements the CPU trait in awkernel_lib/src/arch/x86_64/cpu.rs as follows. impl CPU for super::X86 { fn cpu_id() -> usize { let cpuid_leaf_1 = unsafe { core::arch::x86_64::__cpuid(1) }; // Check if x2APIC is supported if (cpuid_leaf_1.ecx & (1 << 21)) != 0 { // Get x2APIC ID from leaf 1FH or leaf 0BH (1FH is preferred) let max_leaf = unsafe { core::arch::x86_64::__cpuid(0) }.eax; let edx = if max_leaf >= 0x1F { unsafe { core::arch::x86_64::__cpuid(0x1F).edx } } else { unsafe { core::arch::x86_64::__cpuid(0x0B).edx } }; edx as usize } else { (cpuid_leaf_1.ebx >> 24 & 0xff) as usize } } fn raw_cpu_id() -> usize { Self::cpu_id() }\\n} Awkernel uses core::arch::x86_64::__cpuid to get the CPU ID. It assumes that the CPU ID is unique for each CPU and ranges from 0 to num_cpu() - 1. If you find any hardware that does not follow this assumption, please let us know or send us a PR.","breadcrumbs":"Internal » Architecture Abstraction » CPU » x86_64","id":"31","title":"x86_64"},"32":{"body":"For x86_64, the AArch64 structure implements the CPU trait in awkernel_lib/src/arch/aarch64/cpu.rs as follows. impl CPU for super::AArch64 { fn cpu_id() -> usize { let mpidr = mpidr_el1::get(); let aff0 = mpidr & 0xff; let aff1 = (mpidr >> 8) & 0xff; let aff2 = (mpidr >> 16) & 0xff; let aff3 = (mpidr >> 32) & 0xff; let result = unsafe { aff0 + AFF0_MAX * aff1 + AFF0_X_AFF1 * aff2 + AFF0_X_AFF1_X_AFF2 * aff3 }; result as usize } fn raw_cpu_id() -> usize { mpidr_el1::get() as usize }\\n} For AArch64, Awkernel calculates the CPU ID based on the MPIDR_EL1 register and the affinity information variables.","breadcrumbs":"Internal » Architecture Abstraction » CPU » AArch64","id":"32","title":"AArch64"},"33":{"body":"The Interrupt trait provides a way to enable and disable interrupts. It is defined in awkernel_lib/src/interrupt.rs as follows. pub trait Interrupt { fn get_flag() -> usize; fn disable(); fn enable(); fn set_flag(flag: usize);\\n} The get_flag and set_flag methods get and set the interrupt flag. These methods are used to save and restore the interrupt flag when enabling and disabling interrupts and used in the InterruptGuard structure.","breadcrumbs":"Internal » Architecture Abstraction » Interrupt » Interrupt","id":"33","title":"Interrupt"},"34":{"body":"The InterruptGuard structure defined in awkernel_lib/src/interrupt.rs is used to disable interrupts in a scope. After the scope, interrupts are enabled automatically as follows. { use awkernel_lib::interrupt::InterruptGuard; let _int_guard = InterruptGuard::new(); // interrupts are disabled.\\n} There are enable and disable functions in awkernel_lib/src/interrupt.rs . You can use these functions rather than using the InterruptGuard.","breadcrumbs":"Internal » Architecture Abstraction » Interrupt » Interrupt Guard","id":"34","title":"Interrupt Guard"},"35":{"body":"","breadcrumbs":"Internal » Architecture Abstraction » Interrupt » Implementation","id":"35","title":"Implementation"},"36":{"body":"For x86_64, the X86 structure implements the Interrupt trait in awkernel_lib/src/arch/x86_64/interrupt.rs as follows. impl Interrupt for super::X86 { fn get_flag() -> usize { if x86_64::instructions::interrupts::are_enabled() { 1 } else { 0 } } fn disable() { x86_64::instructions::interrupts::disable(); } fn enable() { x86_64::instructions::interrupts::enable(); } fn set_flag(flag: usize) { if flag == 0 { x86_64::instructions::interrupts::disable(); } else { x86_64::instructions::interrupts::enable(); } }\\n} For x86_64, Awkernel uses the x86_64 crate to enable and disable interrupts.","breadcrumbs":"Internal » Architecture Abstraction » Interrupt » x86_64","id":"36","title":"x86_64"},"37":{"body":"For x86_64, the AArch64 structure implements the Interrupt trait in awkernel_lib/src/arch/aarch64/interrupt.rs as follows. impl Interrupt for super::AArch64 { fn get_flag() -> usize { awkernel_aarch64::daif::get() as usize } fn disable() { unsafe { core::arch::asm!(\\"msr daifset, #0b0010\\",) }; } fn enable() { unsafe { core::arch::asm!(\\"msr daifclr, #0b0010\\",) }; } fn set_flag(flag: usize) { unsafe { awkernel_aarch64::daif::set(flag as u64) }; }\\n}","breadcrumbs":"Internal » Architecture Abstraction » Interrupt » AArch64","id":"37","title":"AArch64"},"38":{"body":"Mapper is a trait that provides a way to map and unmap virtual memory. It is defined in awkernel_lib/src/paging.rs as follows. pub trait Mapper { /// Return the physical address of `vm_addr`. fn vm_to_phy(vm_addr: VirtAddr) -> Option; /// Map `vm_addr` to `phy_addr` with `flag`. /// /// # Safety /// /// - Virtual memory must be enabled. /// - `flag` must be reasonable. /// - `phy_addr` must be being unmapped. unsafe fn map(vm_addr: VirtAddr, phy_addr: PhyAddr, flags: Flags) -> Result<(), MapError>; /// Unmap `vm_addr`. /// /// # Safety /// /// - Virtual memory must be enabled. /// - `vm_addr` must be being mapped. unsafe fn unmap(vm_addr: VirtAddr);\\n} Mapper uses VirtAddr and PhyAddr types to represent virtual and physical addresses. These types are defined in awkernel_lib/src/addr/virt_addr.rs and awkernel_lib/src/addr/phy_addr.rs . The Flags type is used to represent the flags of the page table entry. It is defined in awkernel_lib/src/paging.rs as follows. /// Flag for a page.\\n/// Note that every page is readable.\\n#[derive(Debug, Clone, Copy)]\\npub struct Flags { pub execute: bool, // executable pub write: bool, // writable pub cache: bool, // enable cache pub write_through: bool, // write back if disabled pub device: bool, // this page is for MMIO, ignored on x86\\n} There are functions regarding the Mapper trait in awkernel_lib/src/paging.rs as follows. function description fn vm_to_phy(vm_addr: VirtAddr) -> Option Return the physical address of vm_addr. unsafe fn map(vm_addr: VirtAddr, phy_addr: PhyAddr, flags: Flags) -> Result<(), MapError> Map vm_addr to phy_addr with flag. fn unsafe fn unmap(vm_addr: VirtAddr) Unmap vm_addr. Awkernel\'s page size is 4 KiB and it is defined by PAGESIZE:awkernel_lib/src/paging.rs . pub const PAGESIZE: usize = 4 * 1024;","breadcrumbs":"Internal » Architecture Abstraction » Mapper (Virtual Memory Management) » Mapper (Virtual Memory Management)","id":"38","title":"Mapper (Virtual Memory Management)"},"39":{"body":"","breadcrumbs":"Internal » Architecture Abstraction » Mapper (Virtual Memory Management) » Implementation","id":"39","title":"Implementation"},"4":{"body":"RwLock can be used as normal read-write lock as follows. use awkernel_lib::sync::rwlock::RwLock;\\nuse alloc::sync::Arc; let data = Arc::new(RwLock::new(0)); { // write lock let guard = data.write(); *guard = 10;\\n} { // read lock let guard = data.read(); assert_eq!(*guard, 10);\\n}","breadcrumbs":"Internal » Synchronization » RwLock","id":"4","title":"RwLock"},"40":{"body":"For x86_64, the X86 structure implements the Mapper trait in awkernel_lib/src/arch/x86_64/paging.rs . To handle page tables, the OffsetPageTable structure defined in the x86_64 crate is used.","breadcrumbs":"Internal » Architecture Abstraction » Mapper (Virtual Memory Management) » x86_64","id":"40","title":"x86_64"},"41":{"body":"For AArch64, the AArch64 structure implements the Mapper trait in awkernel_lib/src/arch/aarch64/paging.rs . To handle page tables, the PageTable structure defined in the awkernel_lib/src/arch/aarch64/page_table.rs is used.","breadcrumbs":"Internal » Architecture Abstraction » Mapper (Virtual Memory Management) » AArch64","id":"41","title":"AArch64"},"42":{"body":"For RV32, the RV32 structure implements the Mapper trait in awkernel_lib/src/arch/rv32/paging.rs . Each operation reads the currently active page table from the satp register via get_page_table (see Page Table ), then delegates to the Sv32 PageTable. The generic Flags are translated into RISC-V PTE flags — entries are always valid, accessed and readable (V | A | R), writable pages also set W | D, and executable pages set X. impl crate::paging::Mapper for super::RV32 { unsafe fn map( vm_addr: VirtAddr, phy_addr: PhyAddr, flags: crate::paging::Flags, ) -> Result<(), MapError> { // Check address alignment if !vm_addr.aligned() || !phy_addr.aligned() { return Err(MapError::AddressNotAligned); } // Get current page table if let Some(mut page_table) = get_page_table(vm_addr) { let vpn = VirtPageNum::from(vm_addr); let ppn = phy_addr.floor(); // Convert common flags to RV32 flags let mut rv_flags = Flags::V | Flags::A; // Always valid and accessed if flags.write { rv_flags |= Flags::W | Flags::D; // Writable and dirty } rv_flags |= Flags::R; // Always readable if flags.execute { rv_flags |= Flags::X; } // Try to map the page if page_table.map(vpn, ppn, rv_flags) { Ok(()) } else { Err(MapError::AlreadyMapped) } } else { Err(MapError::InvalidPageTable) } } // unmap / vm_to_phy omitted\\n} vm_to_phy walks the active page table for the page\'s virtual page number, and, if the leaf PTE is valid, reconstructs the physical address from the entry\'s PPN plus the page offset.","breadcrumbs":"Internal » Architecture Abstraction » Mapper (Virtual Memory Management) » RISC-V 32-bit (RV32)","id":"42","title":"RISC-V 32-bit (RV32)"},"43":{"body":"For RV64, the RV64 structure implements the Mapper trait in awkernel_lib/src/arch/rv64/paging.rs . The structure mirrors RV32 but uses the Sv39 PageTable. Two differences are worth noting: map first checks vm_to_phy to reject an already-mapped address, and both map and unmap explicitly align the virtual and physical addresses down to the 4 KiB page boundary before walking the table. impl crate::paging::Mapper for super::RV64 { unsafe fn map( vm_addr: VirtAddr, phy_addr: PhyAddr, flags: crate::paging::Flags, ) -> Result<(), MapError> { // Check if already mapped if Self::vm_to_phy(vm_addr).is_some() { return Err(MapError::AlreadyMapped); } let vm_addr_aligned = vm_addr.as_usize() & !(PAGESIZE - 1); let phy_addr_aligned = phy_addr.as_usize() & !(PAGESIZE - 1); if let Some(mut page_table) = get_page_table(VirtAddr::from_usize(vm_addr_aligned)) { let vpn = VirtPageNum::from(VirtAddr::from_usize(vm_addr_aligned)); let ppn = PhysPageNum::from(PhyAddr::from_usize(phy_addr_aligned)); let mut rv_flags = Flags::V | Flags::A; rv_flags |= Flags::R; // Always readable if flags.write { rv_flags |= Flags::W | Flags::D; } if flags.execute { rv_flags |= Flags::X; } if page_table.map(vpn, ppn, rv_flags) { Ok(()) } else { Err(MapError::AlreadyMapped) } } else { Err(MapError::InvalidPageTable) } } // unmap / vm_to_phy omitted\\n}","breadcrumbs":"Internal » Architecture Abstraction » Mapper (Virtual Memory Management) » RISC-V 64-bit (RV64)","id":"43","title":"RISC-V 64-bit (RV64)"},"44":{"body":"PageTable defined in awkernel_lib/src/paging.rs is a trait that provides a way to abstract page tables. It is defined as follows. pub trait PageTable\\nwhere F: Frame, FA: FrameAllocator,\\n{ /// Map `virt_addr` to `phy_addr` with `flag`. /// /// # Safety /// /// - virt_addr and phy_addr must be aligned to page size. unsafe fn map_to( &mut self, virt_addr: VirtAddr, phy_addr: PhyAddr, flags: Flags, page_allocator: &mut FA, ) -> Result<(), E>;\\n} map_to method of PageTable is used to specify a page frame allocator, which allocates physical pages for the page table, when mapping pages. It is typically used when initializing the kernel\'s page tables or initializing device drivers. Frame defined in awkernel_lib/src/paging.rs is a trait to represent a physical page frame. It is defined as follows. pub trait Frame { fn start_address(&self) -> PhyAddr; fn set_address(&mut self, addr: PhyAddr); fn size(&self) -> usize;\\n} FrameAllocator defined in awkernel_lib/src/paging.rs is a trait to allocate physical pages. It is used by PageTable as described above.","breadcrumbs":"Internal » Page Table » Page Table","id":"44","title":"Page Table"},"45":{"body":"","breadcrumbs":"Internal » Page Table » Implementation","id":"45","title":"Implementation"},"46":{"body":"For x86_64, the PageTable structure is defined in awkernel_lib/src/arch/x86_64/page_table.rs as follows. pub struct PageTable<\'a> { offset_page_table: &\'a mut OffsetPageTable<\'static>,\\n} The PageTable structure implements the PageTable:awkernel_lib/src/paging.rs trait as follows. impl<\'a> crate::paging::PageTable for PageTable<\'a>\\n{ unsafe fn map_to( &mut self, virt_addr: crate::addr::virt_addr::VirtAddr, phy_addr: crate::addr::phy_addr::PhyAddr, flags: crate::paging::Flags, page_allocator: &mut VecPageAllocator, ) -> Result<(), &\'static str> { let flags = flags_to_x86_flags(flags); let page = Page::containing_address(VirtAddr::new(virt_addr.as_usize() as u64)); let frame = PhysFrame::::containing_address(PhysAddr::new(phy_addr.as_usize() as u64)); match self .offset_page_table .map_to(page, frame, flags, page_allocator) { Ok(flusher) => { flusher.flush(); Ok(()) } Err(_) => Err(\\"Failed to map page\\"), } }\\n}","breadcrumbs":"Internal » Page Table » x86_64","id":"46","title":"x86_64"},"47":{"body":"For AArch64, the PageTable structure is defined in awkernel_lib/src/arch/aarch64/page_table.rs as follows. /// - 3 transition levels\\n/// - 4KiB page\\n/// - up to 512GiB memory\\npub struct PageTable { root: PageTableEntry,\\n} The PageTable structure implements the PageTable:awkernel_lib/src/paging.rs trait as follows. impl crate::paging::PageTable, &\'static str> for PageTable { unsafe fn map_to( &mut self, virt_addr: VirtAddr, phy_addr: PhyAddr, flags: crate::paging::Flags, page_allocator: &mut PageAllocator, ) -> Result<(), &\'static str> { let mut f = FLAG_L3_AF | 0b11; if !flags.execute { f |= FLAG_L3_XN | FLAG_L3_PXN; } if flags.write { f |= FLAG_L3_SH_RW_N; } else { f |= FLAG_L3_SH_R_N; } match (flags.device, flags.cache) { (true, true) => f |= FLAG_L3_ATTR_MEM | FLAG_L3_OSH, (true, false) => f |= FLAG_L3_ATTR_DEV | FLAG_L3_OSH, (false, true) => f |= FLAG_L3_ATTR_MEM | FLAG_L3_ISH, (false, false) => f |= FLAG_L3_NS | FLAG_L3_ISH, } self.map_to_aarch64(virt_addr, phy_addr, f, page_allocator) }\\n}","breadcrumbs":"Internal » Page Table » AArch64","id":"47","title":"AArch64"},"48":{"body":"For RV32, the PageTable structure is defined in awkernel_lib/src/arch/rv32/page_table.rs . It implements the Sv32 translation scheme: 32-bit virtual addresses, 4 KiB pages and a 2-level page table. Each page table entry (PTE) holds a physical page number (PPN) and the standard RISC-V flag bits. bitflags! { /// PTE Flags for RISC-V Sv32 page table pub struct Flags: u8 { const V = 1 << 0; // Valid const R = 1 << 1; // Readable const W = 1 << 2; // Writable const X = 1 << 3; // Executable const U = 1 << 4; // User-accessible const G = 1 << 5; // Global const A = 1 << 6; // Accessed const D = 1 << 7; // Dirty }\\n} pub struct PageTable { root_ppn: PhysPageNum, frames: Vec,\\n} The root page table is allocated from the physical frame allocator on PageTable::new, and every intermediate table allocated while walking the tree is tracked in frames so that it is kept alive for the lifetime of the address space. The virtual page number is split into two 10-bit indices (VirtPageNum::indexes), one per level of the Sv32 table. The PageTable structure implements the PageTable:awkernel_lib/src/paging.rs trait as follows. The generic Flags are translated into RISC-V PTE flags: entries are always made valid, accessed and readable (V | A | R); writable mappings also set the dirty bit (W | D), and executable mappings set X. impl crate::paging::PageTable for PageTable { unsafe fn map_to( &mut self, virt_addr: VirtAddr, phy_addr: PhyAddr, flags: crate::paging::Flags, _page_allocator: &mut RV32PageAllocator, ) -> Result<(), &\'static str> { let vpn = VirtPageNum::from(virt_addr); let ppn = PhysPageNum::from(phy_addr); let mut rv_flags = Flags::V | Flags::A; // Always valid and accessed if flags.write { rv_flags |= Flags::W | Flags::D; // Writable and dirty } rv_flags |= Flags::R; // Always readable if flags.execute { rv_flags |= Flags::X; } if self.map(vpn, ppn, rv_flags) { Ok(()) } else { Err(\\"Mapping failed\\") } }\\n} Translation is enabled by writing the satp (Supervisor Address Translation and Protection) register. For Sv32 the token method returns the register value with MODE = 1 (Sv32) in bit 31 and the root table\'s PPN in the low bits. pub fn token(&self) -> usize { (1usize << 31) // MODE = 1 (Sv32 paging mode) | self.root_ppn.0 // PPN of the root page table\\n}","breadcrumbs":"Internal » Page Table » RISC-V 32-bit (RV32)","id":"48","title":"RISC-V 32-bit (RV32)"},"49":{"body":"For RV64, the PageTable structure is defined in awkernel_lib/src/arch/rv64/page_table.rs . It implements the Sv39 translation scheme: 39-bit virtual addresses, 4 KiB pages and a 3-level page table. The PTE layout and Flags definition are identical to RV32; the differences are the number of levels and the satp encoding. pub struct PageTable { root_ppn: PhysPageNum, frames: Vec,\\n} The virtual page number is split into three 9-bit indices (VirtPageNum::indexes), walked by find_pte / find_pte_create; the leaf PTE is reached at level index 2. The map_to implementation is the same as RV32 — generic Flags are mapped to the RISC-V PTE flags (V | A | R, plus W | D for writable and X for executable pages): impl crate::paging::PageTable for PageTable { unsafe fn map_to( &mut self, virt_addr: VirtAddr, phy_addr: PhyAddr, flags: crate::paging::Flags, _page_allocator: &mut RV64PageAllocator, ) -> Result<(), &\'static str> { let vpn = VirtPageNum::from(virt_addr); let ppn = PhysPageNum::from(phy_addr); let mut rv_flags = Flags::V | Flags::A; if flags.write { rv_flags |= Flags::W | Flags::D; } rv_flags |= Flags::R; if flags.execute { rv_flags |= Flags::X; } if self.map(vpn, ppn, rv_flags) { Ok(()) } else { Err(\\"Mapping failed\\") } }\\n} For Sv39 the token method encodes MODE = 8 (Sv39) in bits 63-60 and the root PPN in the low 44 bits: pub fn token(&self) -> usize { (8usize << 60) // MODE = 8 (Sv39 paging mode) | self.root_ppn.0 // PPN of the root page table\\n} The kernel address space is built in awkernel_lib/src/arch/rv64/vm.rs : new_kernel maps the kernel sections (.text, .rodata, .data, .bss) and an identity mapping for available RAM, and activate installs the table by writing satp and flushing the TLB: pub fn activate(&self) { let satp = self.page_table.token(); unsafe { asm!(\\"csrw satp, {}\\", in(reg) satp); asm!(\\"sfence.vma\\"); }\\n}","breadcrumbs":"Internal » Page Table » RISC-V 64-bit (RV64)","id":"49","title":"RISC-V 64-bit (RV64)"},"5":{"body":"J. M. Mellor-Crummey and M. L. Scott. Algorithms for scalable synchronization on shared- memory multiprocessors. ACM Trans. Comput. Syst., 9(1), Feb. 1991. J. Kim, V. Sjöberg, R. Gu, Z. Shao. Safety and Liveness of MCS Lock - Layer by Layer. APLAS 2017: 273-297","breadcrumbs":"Internal » Synchronization » References","id":"5","title":"References"},"50":{"body":"Context defined in awkernel_lib/src/context.rs is a trait that enables preemptive multitasking. It provides methods to set the stack pointer, entry point, and argument of the context as follows. pub trait Context: Default { /// # Safety /// /// Ensure that changing the stack pointer is valid at that time. unsafe fn set_stack_pointer(&mut self, sp: usize); /// # Safety /// /// This function must be called for only initialization purpose. unsafe fn set_entry_point(&mut self, entry: extern \\"C\\" fn(usize) -> !, arg: usize); /// # Safety /// /// This function must be called for only initialization purpose. unsafe fn set_argument(&mut self, arg: usize);\\n} The context_switch function must be implemented for each architecture to enable context switching. extern \\"C\\" { /// Switch context from `current` to `next`. pub fn context_switch(current: *mut ArchContext, next: *const ArchContext);\\n} The context_switch function stores and restores CPU registers, and the ArchContext structure is an architecture-specific context structure.","breadcrumbs":"Internal » Context Switch » Context Switch","id":"50","title":"Context Switch"},"51":{"body":"In awkernel_async_lib/Cargo.toml , there is the no_preempt feature to disable preemption. [features]\\ndefault = []\\nstd = [\\"awkernel_lib/std\\", \\"no_preempt\\"]\\nno_preempt = [] If you want to disable preemption, please enable the no_preempt feature as default = [\\"no_preempt\\"].","breadcrumbs":"Internal » Context Switch » Disable Preemption","id":"51","title":"Disable Preemption"},"52":{"body":"","breadcrumbs":"Internal » Context Switch » Implementation","id":"52","title":"Implementation"},"53":{"body":"For x86_64, the Context structure is defined in awkernel_lib/src/context/x86_64.rs as follows. #[derive(Debug, Copy, Clone, Default)]\\n#[repr(C)]\\npub struct Context { pub rbx: u64, pub rsp: u64, pub rbp: u64, pub r12: u64, pub r13: u64, pub r14: u64, pub r15: u64,\\n} The Context structure is imported as the ArchContext in awkernel_lib/src/context.rs . The context_switch function is implemented in assembly as follows. This stores and restores only general-purpose registers because the floating-point registers are stored and restored by each interrupt handler. core::arch::global_asm!( \\"\\n.global context_switch\\ncontext_switch:\\n// Store general purpose registers\\nmov [rdi], rbx\\nmov 8[rdi], rsp\\nmov 16[rdi], rbp\\nmov 24[rdi], r12\\nmov 32[rdi], r13\\nmov 40[rdi], r14\\nmov 48[rdi], r15 // Load general purpose registers\\nmov rbx, [rsi]\\nmov rsp, 8[rsi]\\nmov rbp, 16[rsi]\\nmov r12, 24[rsi]\\nmov r13, 32[rsi]\\nmov r14, 40[rsi]\\nmov r15, 48[rsi] ret\\n\\"\\n); The Context:awkernel_lib/src/context.rs trait is implemented for the Context:awkernel_lib/src/context/x86_64.rs structure as follows. These methods set the stack pointer, entry point, and argument of the context. impl crate::context::Context for Context { unsafe fn set_stack_pointer(&mut self, sp: usize) { self.rsp = sp as u64; } unsafe fn set_entry_point(&mut self, entry: extern \\"C\\" fn(usize) -> !, arg: usize) { self.r12 = arg as u64; self.r13 = entry as usize as u64; let entry_point_addr = entry_point as usize as u64; unsafe { core::arch::asm!(\\"mov {}, rsp\\", lateout(reg) self.r15); core::arch::asm!(\\"mov rsp, {}\\", in(reg) self.rsp); core::arch::asm!(\\"push {}\\", in(reg) entry_point_addr); core::arch::asm!(\\"mov rsp, {}\\", in(reg) self.r15); } self.rsp -= 8; } unsafe fn set_argument(&mut self, arg: usize) { self.r12 = arg as u64; }\\n} extern \\"C\\" { fn entry_point() -> !;\\n} global_asm!( \\"\\n.global entry_point\\nentry_point: mov rdi, r12 call r13\\n1: hlt jmp 1b\\n\\"\\n);","breadcrumbs":"Internal » Context Switch » x86_64","id":"53","title":"x86_64"},"54":{"body":"For AArch64, the Context structure is defined in awkernel_lib/src/context/aarch64.rs as follows. #[derive(Debug, Copy, Clone, Default)]\\n#[repr(C)]\\npub struct Context { // 8 * 8 bytes pub fp_regs: FPRegs, // floating point registers //------------------------------ offset: 16 * 4 (+4) // 8 * 12 bytes pub gp_regs: GPRegs, // general purpose registers // ----------------------------- offset: 16 * 10 (+6) // 8 * 2 bytes pub sp: u64, // stack pointer _unused: [u8; 8],\\n} The Context structure is imported as the ArchContext in awkernel_lib/src/context.rs . The context_switch function is implemented in assembly as follows. core::arch::global_asm!( \\"\\n.global context_switch\\ncontext_switch:\\n// Save the current context. // Store floating-point registers.\\nstp d8, d9, [x0], #16\\nstp d10, d11, [x0], #16\\nstp d12, d13, [x0], #16\\nstp d14, d15, [x0], #16 // Store general purpose registers.\\nstp x19, x20, [x0], #16\\nstp x21, x22, [x0], #16\\nstp x23, x24, [x0], #16\\nstp x25, x26, [x0], #16\\nstp x27, x28, [x0], #16\\nstp x29, x30, [x0], #16 // Store SP.\\nmov x9, sp\\nstr x9, [x0] // Restore the next context. // Load floating-point registers.\\nldp d8, d9, [x1], #16\\nldp d10, d11, [x1], #16\\nldp d12, d13, [x1], #16\\nldp d14, d15, [x1], #16 // Load general purpose registers.\\nldp x19, x20, [x1], #16\\nldp x21, x22, [x1], #16\\nldp x23, x24, [x1], #16\\nldp x25, x26, [x1], #16\\nldp x27, x28, [x1], #16\\nldp x29, x30, [x1], #16 // Load SP.\\nldr x9, [x1]\\nmov sp, x9 ret\\n\\"\\n); The Context:awkernel_lib/src/context.rs trait is implemented for the Context:awkernel_lib/src/context/aarch64.rs structure as follows. These methods set the stack pointer, entry point, and argument of the context. impl crate::context::Context for Context { unsafe fn set_stack_pointer(&mut self, sp: usize) { self.sp = sp as u64; } unsafe fn set_entry_point(&mut self, entry: extern \\"C\\" fn(usize) -> !, arg: usize) { self.gp_regs.x19 = arg as u64; self.gp_regs.x20 = entry as usize as u64; self.gp_regs.x30 = entry_point as *const () as u64; } unsafe fn set_argument(&mut self, arg: usize) { self.gp_regs.x19 = arg as u64; }\\n} extern \\"C\\" { fn entry_point() -> !;\\n} global_asm!( \\"\\n.global entry_point\\nentry_point: mov x0, x19 blr x20\\n1: wfi b 1b\\n\\"\\n);","breadcrumbs":"Internal » Context Switch » AArch64","id":"54","title":"AArch64"},"55":{"body":"InterruptController is a trait for interrupt controllers. It is defined in awkernel_lib/src/interrupt.rs as follows. pub trait InterruptController: Sync + Send { fn enable_irq(&mut self, irq: u16); fn disable_irq(&mut self, irq: u16); fn pending_irqs(&self) -> Box>; /// Send an inter-process interrupt to `target` CPU. fn send_ipi(&mut self, irq: u16, cpu_id: u32); /// Send an inter-process interrupt to all CPUs. fn send_ipi_broadcast(&mut self, irq: u16); /// Send an inter-process interrupt to all CPUs except the sender CPU. fn send_ipi_broadcast_without_self(&mut self, irq: u16); /// Initialization for non-primary core. fn init_non_primary(&mut self) {} /// End of interrupt. /// This will be used by only x86_64. fn eoi(&mut self) {} /// Return the range of IRQs, which can be registered. /// The range is [start, end). fn irq_range(&self) -> (u16, u16); /// Return the range of IRQs, which can be used for PnP devices. /// The range is [start, end). fn irq_range_for_pnp(&self) -> (u16, u16); /// Set the PCIe MSI or MSI-X interrupt #[allow(unused_variables)] fn set_pcie_msi( &self, segment_number: usize, target: u32, irq: u16, message_data: &mut u32, message_address: &mut u32, message_address_upper: Option<&mut u32>, ) -> Result { Err(\\"Interrupt controller does not support PCIe MSI or MSI-X.\\") }\\n} Some related functions are defined in awkernel_lib/src/interrupt.rs as follows. function description fn register_handler(...) -> Result<(), &\'static str> Register a handler for the interrupt. fn get_handlers() -> BTreeMap> Return the list of IRQs and their handlers. fn enable_irq(irq: u16) Enable the interrupt. fn disable_irq(irq: u16) Disable the interrupt. fn send_ipi(irq: u16, cpu_id: u32) Send an inter-process interrupt to cpu_id CPU. fn send_ipi_broadcast(irq: u16) Send an inter-process interrupt to all CPUs. fn send_ipi_broadcast_without_self(irq: u16) Send an inter-process interrupt to all CPUs except the sender CPU. fn register_handler_pcie_msi(...) -> Result Register a handler for PCIe MSI or MSI-X interrupt. fn handle_irq(irq: u16) Handle the interrupt. fn handle_irqs() Handle all pending interrupts. fn enable() Enable interrupts. fn disable() Disable interrupts. fn eoi() End of interrupt. fn handle_preemption() Handle preemption. fn set_preempt_irq(irq: u16, preemption: unsafe fn()) Set the preemption handler. fn get_preempt_irq() -> u16 Return the IRQ number for preemption.","breadcrumbs":"Internal » Interrupt Controller » Interrupt Controller","id":"55","title":"Interrupt Controller"},"56":{"body":"","breadcrumbs":"Internal » Interrupt Controller » Handling Interrupts","id":"56","title":"Handling Interrupts"},"57":{"body":"handle_irq is called in interrupt handlers defined in. kernel/src/arch/x86_64/interrupt_handler.rs for x86_64 as follows. macro_rules! irq_handler { ($name:ident, $id:expr) => { extern \\"x86-interrupt\\" fn $name(_stack_frame: InterruptStackFrame) { awkernel_lib::interrupt::eoi(); // End of interrupt. awkernel_lib::interrupt::handle_irq($id); } };\\n} irq_handler macro is called in each interrupt handler.","breadcrumbs":"Internal » Interrupt Controller » x86_64","id":"57","title":"x86_64"},"58":{"body":"The handle_irqs function is called in interrupt handlers defined in. kernel/src/arch/aarch64/exception.rs for aarch64 as follows. #[no_mangle]\\npub extern \\"C\\" fn curr_el_spx_irq_el1(_ctx: *mut Context, _sp: usize, _esr: usize) { interrupt::handle_irqs();\\n}","breadcrumbs":"Internal » Interrupt Controller » AArch64","id":"58","title":"AArch64"},"59":{"body":"For RV64, traps are taken in machine mode by a low-level handler installed into mtvec during boot in kernel/src/arch/rv64/boot.S . The handler reads mcause to distinguish exceptions from interrupts and dispatches on the interrupt code: a machine timer interrupt (code 7) and a machine software interrupt / IPI (code 3) are handled, while other causes return without action. early_trap_handler: csrr t0, mcause blt t0, zero, handle_interrupt # MSB set => interrupt j unhandled_trap handle_interrupt: # ... mask off the interrupt code ... li t1, 7 # M-mode timer interrupt beq t0, t1, handle_timer_interrupt li t1, 3 # M-mode software interrupt (IPI) beq t0, t1, handle_software_interrupt After saving the clobbered registers, the timer path calls riscv_handle_timer and the IPI path calls riscv_handle_ipi. Both are defined in kernel/src/arch/rv64/kernel_main.rs and forward to the architecture-independent handle_irqs: /// M-mode software interrupt (IPI) handler called from assembly.\\npub extern \\"C\\" fn riscv_handle_ipi() { awkernel_lib::interrupt::handle_irqs(true);\\n} /// M-mode timer interrupt handler called from assembly.\\npub extern \\"C\\" fn riscv_handle_timer() { awkernel_lib::interrupt::handle_irqs(true);\\n} The software-interrupt (MSIP) bit is cleared in assembly before returning, and the timer is re-armed by the registered timer handler.","breadcrumbs":"Internal » Interrupt Controller » RISC-V 64-bit (RV64)","id":"59","title":"RISC-V 64-bit (RV64)"},"6":{"body":"Console is a trait for the console and defined in awkernel_lib/src/console.rs as follows. pub trait Console: Write + Send { /// Enable the serial port. fn enable(&mut self); /// Disable the serial port. fn disable(&mut self); /// Enable the reception interrupt. fn enable_recv_interrupt(&mut self); /// Disable the reception interrupt. fn disable_recv_interrupt(&mut self); /// Acknowledge to the reception interrupt. fn acknowledge_recv_interrupt(&mut self); /// Get IRQ#. fn irq_id(&self) -> u16; /// Read a byte. fn get(&mut self) -> Option; /// Write a byte. fn put(&mut self, data: u8);\\n} There are several functions regarding the Console trait in awkernel_lib/src/console.rs . function description fn register_unsafe_puts(console: unsafe fn(&str)) Register the unsafe puts function. unsafe fn unsafe_puts(data: &str) Write a string. unsafe fn unsafe_print_hex_u32(num: u32) Write a hexadecimal number. unsafe fn unsafe_print_hex_u64(num: u64) Write a hexadecimal number. unsafe fn unsafe_print_hex_u96(num: u128) Write a hexadecimal number. unsafe fn unsafe_print_hex_u128(num: u128) Write a hexadecimal number. fn register_console(console: Box) Register the console. fn enable() Enable the console. fn disable() Disable the console. fn enable_recv_interrupt() Enable the reception interrupt. fn disable_recv_interrupt() Disable the reception interrupt. fn acknowledge_recv_interrupt() Acknowledge to the reception interrupt. fn irq_id() Get IRQ#. fn get() Read a byte. fn put(data: u8) Write a byte. fn print(data: &str) Write a string. When booting, an unsafe console should be registered by calling the register_unsafe_puts function. After that, the unsafe_puts and unsafe_print_hex functions can be used to print messages. Note that these functions are unsafe because they may cause data races. After enabling mutual exclusion, a safe console should be registered by calling the register_console function. Then, the print, get, and put functions can be used to print messages.","breadcrumbs":"Internal » Console » Console","id":"6","title":"Console"},"60":{"body":"A preemption request can be sent by an inter process interrupt (IPI) to the target CPU. This means that the target CPU should handle the preemption request if it receives the IPI.","breadcrumbs":"Internal » Interrupt Controller » Handling Preemption","id":"60","title":"Handling Preemption"},"61":{"body":"For x86_64, the handle_preempt function is called in a interrupt handler defined in kernel/src/arch/x86_64/interrupt_handler.rs as follows. extern \\"x86-interrupt\\" fn preemption(_stack_frame: InterruptStackFrame) { awkernel_lib::interrupt::eoi(); // End of interrupt. awkernel_lib::interrupt::handle_preemption();\\n}","breadcrumbs":"Internal » Interrupt Controller » x86_64","id":"61","title":"x86_64"},"62":{"body":"For AArch64, handling preemption is performed in the handle_irqs function defined in awkernel_lib/src/interrupt.rs . /// Handle all pending interrupt requests.\\n/// This function will be used by only aarch64 and called from CPU\'s interrupt handlers.\\n#[cfg(feature = \\"aarch64\\")]\\npub fn handle_irqs() { use crate::{heap, unwind::catch_unwind}; use core::mem::transmute; let handlers = IRQ_HANDLERS.read(); let mut need_preemption = false; // omitted if need_preemption { let ptr = PREEMPT_FN.load(Ordering::Relaxed); let preemption = unsafe { transmute::<*mut (), fn()>(ptr) }; preemption(); }\\n}","breadcrumbs":"Internal » Interrupt Controller » AArch64","id":"62","title":"AArch64"},"63":{"body":"There are some device drivers for interrupt controllers in awkernel_drivers/src/interrupt_controller .","breadcrumbs":"Internal » Interrupt Controller » Implementation","id":"63","title":"Implementation"},"64":{"body":"xAPIC and x2APIC are supported for x86_64. xAPIC and x2APIC","breadcrumbs":"Internal » Interrupt Controller » x86_64","id":"64","title":"x86_64"},"65":{"body":"BCM2835\'s (Raspberry Pi 3) interrupt controller, GICv2 and GICv3 are supported for AAarch64. BCM2835\'s interrupt controller GICv2 GICv3","breadcrumbs":"Internal » Interrupt Controller » AArch64","id":"65","title":"AArch64"},"66":{"body":"For RV64, external interrupts are managed by the PLIC (Platform-Level Interrupt Controller), and inter-processor interrupts (IPIs) are delivered through the CLINT/ACLINT software-interrupt (MSIP) registers. Both are implemented by the RiscvPlic structure in kernel/src/arch/rv64/interrupt_controller.rs . /// RISC-V PLIC (Platform-Level Interrupt Controller) implementation.\\n/// Combined with CLINT/ACLINT for IPI support.\\npub struct RiscvPlic { base_address: usize, max_priority: u32, num_sources: u16,\\n} // CLINT/ACLINT base address for IPIs.\\nconst ACLINT_BASE: usize = 0x0200_0000;\\nconst MSIP_OFFSET: usize = 0x0000; // Machine Software Interrupt Pending The PLIC register layout is computed relative to base_address: register address purpose priority base + source * 4 per-source interrupt priority (0-7) enable base + 0x2000 + context * 0x80 per-context enable bitmap threshold base + 0x200000 + context * 0x1000 per-context priority threshold claim/complete base + 0x200004 + context * 0x1000 claim a pending IRQ / signal completion The PLIC context for the running hart is computed as hartid * 2 + 1 (the supervisor-mode context), where the hart ID is read from the mhartid CSR. RiscvPlic implements the InterruptController trait: enable_irq sets the source priority to 1 and sets its bit in the enable register. disable_irq clears the source\'s bit in the enable register. pending_irqs reads the claim register; a non-zero value is the claimed IRQ, which is immediately written back to the claim register to signal completion. send_ipi writes 1 to the target hart\'s MSIP register; the broadcast variants do so for every hart (skipping the sender for send_ipi_broadcast_without_self). init_non_primary sets the context threshold to 0 (accept all priorities) and enables machine software interrupts (mie.MSIE) so the core can receive IPIs. impl InterruptController for RiscvPlic { fn enable_irq(&mut self, irq: u16) { self.set_priority(irq, 1); let context = self.get_supervisor_context(); self.enable_interrupt(context, irq); } fn pending_irqs(&self) -> Box> { let context = self.get_supervisor_context(); let claim_reg = self.claim_reg(context); let mut pending = alloc::vec::Vec::new(); unsafe { let claimed = read_volatile(claim_reg); if claimed != 0 { pending.push(claimed as u16); write_volatile(claim_reg, claimed); // Complete the interrupt. } } Box::new(pending.into_iter()) } // ... send_ipi / init_non_primary / irq_range omitted ...\\n} The controller is instantiated and registered during boot in kernel/src/arch/rv64/kernel_main.rs , with the PLIC mapped at 0x0c00_0000 and 128 interrupt sources: const PLIC_BASE: usize = 0x0c000000;\\nconst NUM_SOURCES: u16 = 128; let plic = Box::new(RiscvPlic::new(PLIC_BASE, NUM_SOURCES));\\nawkernel_lib::interrupt::register_interrupt_controller(plic);","breadcrumbs":"Internal » Interrupt Controller » RISC-V 64-bit (RV64)","id":"66","title":"RISC-V 64-bit (RV64)"},"67":{"body":"For RV32, a PLIC-based InterruptController is not yet implemented; awkernel_lib/src/arch/rv32/interrupt.rs currently provides only the low-level enable/disable of interrupts via the sstatus CSR.","breadcrumbs":"Internal » Interrupt Controller » RISC-V 32-bit (RV32)","id":"67","title":"RISC-V 32-bit (RV32)"},"68":{"body":"The heap backend in Awkernel is selected at compile time by feature flags. heap-wf-alloc selects the wait-free wf_alloc backend, supported on x86_64 and aarch64. Otherwise, the rlsf Two-Level Segregated Fit (TLSF) backend is used. The two features are mutually exclusive; enabling both fails the build with a compile_error!. The kernel crate enables heap-wf-alloc on x86 by default, while TLSF remains for other targets. Regardless of the backend, the Talloc structure represents the allocator in Awkernel, which contains a primary allocator and a backup allocator. Async/await tasks use only the primary allocator, but kernel tasks, such as interrupt handlers, use both the primary and the backup allocators for safety. The following code shows how to use the primary and backup allocators in the task scheduler defined in awkernel_async_lib/src/task.rs . pub fn run_main() { loop { if let Some(task) = get_next_task() { // Use the primary memory allocator. #[cfg(not(feature = \\"std\\"))] unsafe { awkernel_lib::heap::TALLOC.use_primary() }; let result = catch_unwind(|| { guard.poll_unpin(&mut ctx) }); // Use the primary and backup memory allocator. unsafe { awkernel_lib::heap::TALLOC.use_primary_then_backup() }; } }\\n} In run_main function, a executable task is taken from the task queue by get_next_task function. Before executing the task, awkernel_lib::heap::TALLOC.use_primary() is called to use only the primary memory allocator. The task is executed by calling poll_unpin method in the catch_unwind block to catch a panic. If the task exhausts the primary memory region, it will panic and run_main function will catch the panic. After catching the panic, awkernel_lib::heap::TALLOC.use_primary_then_backup() is called to use both the primary and backup memory allocators, and safely deallocate the task. Each backend implements the HeapBackend trait, defined in awkernel_lib/src/heap.rs as follows. trait HeapBackend { /// Initialize the backend over the `[heap_start, heap_start + heap_size)` region. /// `active_threads` is the number of CPUs that can use the heap concurrently. /// Returns `Err(reason)` if the backend could not be initialized. unsafe fn init( &self, heap_start: usize, heap_size: usize, active_threads: usize, ) -> Result<(), &\'static str>; unsafe fn alloc(&self, layout: Layout) -> *mut u8; unsafe fn dealloc(&self, ptr: *mut u8, layout: Layout);\\n} The backend is chosen by a compile-time type alias. // `heap-wf-alloc` on x86_64 / aarch64:\\ntype Allocator = wf_alloc_backend::WfAllocBackend; // otherwise:\\ntype Allocator = tlsf_backend::TlsfBackend; The Talloc structure holds a primary and a backup allocator of the selected backend. pub struct Talloc { primary: Allocator, backup: Allocator, /// bitmap for each CPU to decide which allocator to use flags: [AtomicU32; NUM_MAX_CPU / 32], primary_start: AtomicUsize, primary_size: AtomicUsize, backup_start: AtomicUsize, backup_size: AtomicUsize,\\n} The Talloc structure is defined as a global allocator as follows. #[global_allocator]\\npub static TALLOC: Talloc = Talloc::new(); The following functions initialize the memory regions of the primary and backup allocators. function description fn init_primary(primary_start: usize, primary_size: usize) Initialize the primary allocator, using cpu::num_cpu() as the CPU count. fn init_backup(backup_start: usize, backup_size: usize) Initialize the backup allocator, using cpu::num_cpu() as the CPU count. fn init_primary_with_num_cpu(primary_start: usize, primary_size: usize, num_cpu: usize) Initialize the primary allocator with an explicit CPU count. fn init_backup_with_num_cpu(backup_start: usize, backup_size: usize, num_cpu: usize) Initialize the backup allocator with an explicit CPU count. The wf_alloc backend maps each CPU id directly to a per-CPU token and must know the number of CPUs that can use the heap concurrently (active_threads) at initialization time, because it sizes its metadata region from that count. If the count is 0, allocator initialization fails and the kernel halts during heap setup. The TLSF backend ignores the count. The bare init_primary / init_backup read this count from cpu::num_cpu() internally, so they only behave correctly after the active CPU count has been established. On x86_64 the heap is initialized before that count is set (so cpu::num_cpu() would return 0); the boot code therefore uses the init_primary_with_num_cpu / init_backup_with_num_cpu variants and passes the CPU count it detected from ACPI explicitly.","breadcrumbs":"Internal » Memory Allocator » Memory Allocator","id":"68","title":"Memory Allocator"},"69":{"body":"","breadcrumbs":"Internal » Memory Allocator » Initialization","id":"69","title":"Initialization"},"7":{"body":"","breadcrumbs":"Internal » Console » Implementation","id":"7","title":"Implementation"},"70":{"body":"For x86_64, the primary and backup allocators are initialized in init_primary_heap and init_backup_heap functions defined in kernel/src/arch/x86_64/kernel_main.rs as follows. These functions initialize virtual memory regions for the primary and backup heaps before initializing the primary and backup allocators. The num_cpu argument is the CPU count detected from ACPI during boot, passed through to the *_with_num_cpu initializers. fn init_primary_heap( page_table: &mut OffsetPageTable<\'static>, page_allocators: &mut BTreeMap, num_cpu: usize,\\n) { let primary_start = HEAP_START + BACKUP_HEAP_SIZE; let num_pages = map_primary_heap(page_table, page_allocators, primary_start); let heap_size = num_pages * PAGESIZE; unsafe { awkernel_lib::heap::init_primary_with_num_cpu(primary_start, heap_size, num_cpu) }; // omitted\\n} fn init_backup_heap( boot_info: &mut BootInfo, page_table: &mut OffsetPageTable<\'static>, num_cpu: usize,\\n) -> (usize, MemoryRegion, Option) { // omitted: Initialize virtual memory regions for the backup heap. // Initialize. // Enable heap allocator. unsafe { awkernel_lib::heap::init_backup_with_num_cpu(HEAP_START, BACKUP_HEAP_SIZE, num_cpu); awkernel_lib::heap::TALLOC.use_primary_then_backup(); } (backup_pages, backup_heap_region, next_page)\\n}","breadcrumbs":"Internal » Memory Allocator » x86_64","id":"70","title":"x86_64"},"71":{"body":"For AArch64, the primary and backup allocators are initialized in primary_cpu function defined in kernel/src/arch/aarch64/kernel_main.rs as follows. unsafe fn primary_cpu(device_tree_base: usize) { // omitted // 5. Enable heap allocator. let backup_start = HEAP_START; let backup_size = BACKUP_HEAP_SIZE; let primary_start = HEAP_START + BACKUP_HEAP_SIZE; let primary_size = vm.get_heap_size().unwrap() - BACKUP_HEAP_SIZE; let num_cpu = initializer.get_num_cpus(); heap::init_primary_with_num_cpu(primary_start, primary_size, num_cpu); heap::init_backup_with_num_cpu(backup_start, backup_size, num_cpu); // omitted\\n}","breadcrumbs":"Internal » Memory Allocator » AArch64","id":"71","title":"AArch64"},"72":{"body":"For RISC-V 32-bit, the primary and backup allocators are initialized in primary_hart function defined in kernel/src/arch/rv32/kernel_main.rs as follows. Unlike x86_64 and AArch64, RISC-V initializes heap allocators BEFORE setting up virtual memory. This is because the page table allocation itself requires heap memory. The initialization order is: Initialize heap allocators (lines 89-92) Initialize page allocator (line 123) Initialize and activate virtual memory (lines 126-129) unsafe fn primary_hart(hartid: usize) { // omitted // setup the VM let backup_start = HEAP_START; let backup_size = BACKUP_HEAP_SIZE; let primary_start = HEAP_START + BACKUP_HEAP_SIZE; let primary_size = HEAP_SIZE; // enable heap allocator heap::init_primary(primary_start, primary_size); heap::init_backup(backup_start, backup_size); heap::TALLOC.use_primary_then_backup(); // use backup allocator // omitted // Initialize memory management (page allocator) awkernel_lib::arch::rv32::init_page_allocator(); // Initialize virtual memory system awkernel_lib::arch::rv32::init_kernel_space(); // Activate virtual memory (enable MMU and page tables) awkernel_lib::arch::rv32::activate_kernel_space(); // omitted\\n}","breadcrumbs":"Internal » Memory Allocator » RISC-V 32-bit (RV32)","id":"72","title":"RISC-V 32-bit (RV32)"},"73":{"body":"For RISC-V 64-bit, the primary and backup allocators are initialized in init_heap_allocation function defined in kernel/src/arch/rv64/kernel_main.rs as follows. Like RV32, RV64 also initializes heap allocators BEFORE setting up virtual memory, as stated in the comment \\"Setup heap allocation FIRST - page tables need this!\\" The initialization order in primary_hart function is: Initialize UART for early debugging (line 241) Setup heap allocation (line 244, calling init_heap_allocation()) Initialize memory management including page allocator and virtual memory (line 247, calling init_memory_management()) Initialize architecture-specific features, console, timer, and interrupts RV64 has additional unique features: Uses the ekernel symbol to determine heap start address dynamically Implements dynamic heap sizing with get_heap_size() based on available memory Has fallback logic for minimal heap configuration (64MB) when memory is limited unsafe fn init_heap_allocation() { // omitted extern \\"C\\" { fn ekernel(); } let heap_start = (ekernel as usize + 0xfff) & !0xfff; // Align to 4K let backup_size = BACKUP_HEAP_SIZE; let total_heap_size = awkernel_lib::arch::rv64::get_heap_size(); if total_heap_size <= backup_size { // Use minimal heap if not enough memory let primary_size = 64 * 1024 * 1024; // 64MB minimum heap::init_primary(heap_start + backup_size, primary_size); heap::init_backup(heap_start, backup_size); } else { // Use dynamic calculation let primary_size = total_heap_size - backup_size; heap::init_primary(heap_start + backup_size, primary_size); heap::init_backup(heap_start, backup_size); } heap::TALLOC.use_primary_then_backup(); // omitted\\n}","breadcrumbs":"Internal » Memory Allocator » RISC-V 64-bit (RV64)","id":"73","title":"RISC-V 64-bit (RV64)"},"74":{"body":"Scheduler is a trait for the scheduler and defined in awkernel_async_lib/src/scheduler.rs as follows. pub(crate) trait Scheduler { /// Enqueue an executable task. /// The enqueued task will be taken by `get_next()`. fn wake_task(&self, task: Arc); /// Get the next executable task. fn get_next(&self) -> Option>; /// Get the scheduler name. fn scheduler_name(&self) -> SchedulerType; #[allow(dead_code)] // TODO: to be removed fn priority(&self) -> u8;\\n} There are several functions regarding the scheduler in awkernel_async_lib/src/scheduler.rs . function description fn get_next_task() Get the next executable task. fn get_scheduler(sched_type: SchedulerType) Get a scheduler. SchedulerType is an enum for the scheduler type and defined in awkernel_async_lib/src/scheduler.rs as follows. pub enum SchedulerType { ClusteredEDF(u64, CpuSet), // relative deadline and CPU affinity set GEDF(u64), // relative deadline PrioritizedFIFO(u8), PrioritizedRR(u8), Panicked,\\n}","breadcrumbs":"Internal » Scheduler » Scheduler","id":"74","title":"Scheduler"},"75":{"body":"SleepingTasks is a struct for managing sleeping tasks and defined in awkernel_async_lib/src/scheduler.rs as follows. struct SleepingTasks { delta_list: DeltaList>, base_time: u64,\\n} SleepingTasks struct has the following functions. function description fn new() Create a new SleepingTasks instance. fn sleep_task(&mut self, handler: Box, mut dur: u64) Sleep a task for a certain duration. fn wake_task(&mut self) Wake up tasks after sleep.","breadcrumbs":"Internal » Scheduler » SleepingTasks","id":"75","title":"SleepingTasks"},"76":{"body":"Some schedulers are implemented under the folder awkernel_async_lib/src/scheduler . $ ls awkernel_async_lib/src/scheduler\\n> clustered_edf.rs gedf.rs panicked.rs prioritized_fifo.rs prioritized_rr.rs A scheduler can be implemented by implementing Scheduler Trait. Each scheduler must be registered in the following three locations. fn get_next_task(), fn get_scheduler(sched_type: SchedulerType) and pub enum SchedulerType.","breadcrumbs":"Internal » Scheduler » Scheduler Implementation","id":"76","title":"Scheduler Implementation"},"77":{"body":"The Clustered Earliest Deadline First (ClusteredEDF) scheduler is implemented in clustered_edf.rs . This scheduler is an EDF variant that restricts each task to a set of CPU cores (a cluster), specified as a CpuSet bitmask. Pinning a task to a single core (partitioned scheduling) is the special case of a one-bit CpuSet. The scheduler holds a single affinity-aware priority queue, AffinityBTreeQueue , backed by an augmented B-tree. Each entry carries (priority, affinity, task), where the priority is the pair (absolute_deadline, wake_time); smaller values dequeue first, so tasks are ordered by earliest deadline with wake time as a tie-breaker. Every B-tree node stores the OR of the affinities in its subtree, which lets pop_for_cpu(cpu) find the earliest-deadline task runnable on cpu in logarithmic time while skipping subtrees with no eligible entry. When a task is enqueued via wake_task(), the scheduler reads the SchedulerType::ClusteredEDF(relative_deadline, cpu_set) attached to the task and calculates the absolute deadline as uptime + relative_deadline. If the task is part of a DAG, calculate_and_update_dag_deadline() (shared with the GEDF scheduler) is used instead to propagate deadlines through the DAG. The task is then pushed into the queue with its cpu_set as the affinity mask. Preemption is handled via invoke_preemption(): if no core in the set is idle and the task is not already running, the core running the lowest-priority task among the set is chosen, and an IPI is sent to it when the newly enqueued task has an earlier deadline than the task currently running (or pending preemption) on that core. get_next() pops the earliest-deadline task whose cpu_set contains the calling CPU (pop_for_cpu), so a task is only ever dequeued by a core within its set. This guarantees CPU affinity. CPU 0 (the primary core) is always excluded from cpu_set when a task is spawned.","breadcrumbs":"Internal » Scheduler » ClusteredEDF Scheduler","id":"77","title":"ClusteredEDF Scheduler"},"78":{"body":"The Global Earliest Deadline First (GEDF) scheduler is implemented in gedf.rs . This scheduler implements a real-time scheduling algorithm that prioritizes tasks based on their absolute deadlines. The scheduler maintains a BinaryHeap as its run queue, where tasks are ordered by their absolute deadlines. When a task is enqueued via wake_task(), the scheduler calculates the absolute deadline by adding the relative deadline (specified in SchedulerType::GEDF(relative_deadline)) to the current uptime. The task\'s priority is updated using MAX_TASK_PRIORITY - absolute_deadline to ensure proper inter-scheduler priority comparison. The GEDFTask struct implements custom ordering where tasks are compared first by absolute deadline (earlier deadlines have higher priority), and then by wake time for tie-breaking. The scheduler supports preemption through the invoke_preemption() method, which sends IPIs to target CPUs when a task with an earlier deadline arrives and can preempt currently running tasks.","breadcrumbs":"Internal » Scheduler » GEDF Scheduler","id":"78","title":"GEDF Scheduler"},"79":{"body":"The PrioritizedFIFO scheduler is implemented in prioritized_fifo.rs . This scheduler provides fixed-priority scheduling where tasks are executed in First-In-First-Out order within each priority level. The scheduler uses a PriorityQueue as its run queue. When a task is enqueued through wake_task(), the priority is extracted from SchedulerType::PrioritizedFIFO(priority) and used to insert the task into the priority queue. The get_next() method retrieves the task at the head of the highest-priority non-empty queue. The scheduler implements preemption via invoke_preemption(), which evaluates all currently running tasks and determines if the newly awakened task should preempt any of them. If preemption is triggered, the scheduler sends an IPI to the target CPU and updates the preemption pending queue.","breadcrumbs":"Internal » Scheduler » PrioritizedFIFO Scheduler","id":"79","title":"PrioritizedFIFO Scheduler"},"8":{"body":"x86_64 should equip UART 16550 serial ports, and Awkerenel uses the serial port to output messages as a console. UART 16550\'s device driver is implemented in awkernel_drivers/src/uart/uart_16550 whose original source code is from uart_16550 . The Uart structure defined in kernel/src/arch/x86_64/console.rs implements the Console trait as follows. pub struct Uart { port: uart_16550::SerialPort, enabled: bool,\\n} impl Console for Uart { fn enable(&mut self) { self.enabled = true; } fn disable(&mut self) { self.enabled = false; } fn enable_recv_interrupt(&mut self) { self.port.enable_interrupt(); } fn disable_recv_interrupt(&mut self) { self.port.disable_interrupt(); } fn acknowledge_recv_interrupt(&mut self) { // nothing to do } fn irq_id(&self) -> u16 { 36 // COM1 } fn get(&mut self) -> Option { if self.enabled { self.port.try_receive() } else { None } } fn put(&mut self, data: u8) { if self.enabled { self.port.send(data); } }\\n}","breadcrumbs":"Internal » Console » x86_64","id":"8","title":"x86_64"},"80":{"body":"The PrioritizedRR (Prioritized Round Robin) scheduler is implemented in prioritized_rr.rs . This scheduler combines fixed-priority scheduling with time quantum enforcement to provide fair CPU time distribution. The scheduler maintains a PriorityQueue similar to PrioritizedFIFO, but adds time quantum management with a default interval of 4ms (4,000 microseconds). The scheduler provides two preemption mechanisms: invoke_preemption_wake() for priority-based preemption when tasks are awakened, and invoke_preemption_tick() for time quantum-based preemption. The invoke_preemption_tick() method is called periodically on primary CPU to check if the currently running task has exceeded its time quantum. It compares the elapsed execution time against the configured interval and triggers preemption by sending an IPI if the quantum is exceeded.","breadcrumbs":"Internal » Scheduler » PrioritizedRR Scheduler","id":"80","title":"PrioritizedRR Scheduler"},"81":{"body":"The Panicked scheduler is implemented in panicked.rs . This scheduler handles tasks that have entered a panicked state and provides them with the lowest scheduling priority in the system. The scheduler uses a simple VecDeque> as its run queue, implementing basic FIFO ordering without any priority considerations.","breadcrumbs":"Internal » Scheduler » Panicked Scheduler","id":"81","title":"Panicked Scheduler"},"82":{"body":"This section explains the functions and structures defined in awkernel/awkernel_drivers/src/pcie.rs .","breadcrumbs":"Internal » PCIe » PCIe","id":"82","title":"PCIe"},"83":{"body":"PCIeTree is a structure for managing a hierarchical collection of PCIe buses. struct PCIeTree { // - Key: Bus number // - Value: PCIeBus tree: BTreeMap>,\\n} There are several methods regarding the PCIeTree structure. function description fn update_bridge_info(...) Update the bridge information for each bus in the tree. fn attach(&mut self) Attach all the buses in the tree to enable communication with the PCIe device. fn init_base_address(&mut self, ranges: &mut [PCIeRange]) Initialize the base address of each bus in the tree based on the PCIe memory range. PCIeTree structure implements the fmt::Display trait as follows. impl fmt::Display for PCIeTree { fn fmt(&self, f: &mut fmt::Formatter<\'_>) -> fmt::Result { for (_, bus) in self.tree.iter() { if !bus.devices.is_empty() { write!(f, \\"{bus}\\")?; } } Ok(()) }\\n}","breadcrumbs":"Internal » PCIe » PCIeTree","id":"83","title":"PCIeTree"},"84":{"body":"PCIeBus is a structure that represents individual PCIe buses. pub struct PCIeBus { segment_group: u16, bus_number: u8, base_address: Option, info: Option, devices: Vec,\\n} There are several methods regarding the PCIeBus structure. function description fn new(...) Construct the PCIeBus structure. fn update_bridge_info(...) Update the bus information by reflecting the bridge details. fn attach(&mut self) Attaches all devices connected to the bus. fn init_base_address(&mut self, ranges: &mut [PCIeRange]) Initializes the base addresses of all devices connected to the bus based on the PCIe memory range. PCIeBus structure implements the PCIeDevice trait in awkernel/awkernel_drivers/src/pcie.rs as follows. impl PCIeDevice for PCIeBus { fn device_name(&self) -> Cow<\'static, str> { if let Some(info) = self.info.as_ref() { let bdf = info.get_bdf(); let name = format!(\\"{bdf}: Bridge, Bus #{:02x}\\", self.bus_number); name.into() } else { let name = format!(\\"Bus #{:02x}\\", self.bus_number); name.into() } } fn children(&self) -> Option<&Vec> { Some(&self.devices) }\\n} PCIeBus structure implements the fmt::Display trait as follows. impl fmt::Display for PCIeBus { fn fmt(&self, f: &mut fmt::Formatter<\'_>) -> fmt::Result { print_pcie_devices(self, f, 0) }\\n}","breadcrumbs":"Internal » PCIe » PCIeBus","id":"84","title":"PCIeBus"},"85":{"body":"PCIeInfo is a structure used to store the essential information required to initialize a PCIe device. /// Information necessary for initializing the device\\n#[derive(Debug)]\\npub struct PCIeInfo { pub(crate) config_space: ConfigSpace, segment_group: u16, bus_number: u8, device_number: u8, function_number: u8, id: u16, vendor: u16, revision_id: u8, interrupt_pin: u8, pcie_class: pcie_class::PCIeClass, device_name: Option, pub(crate) header_type: u8, base_addresses: [BaseAddress; 6], msi: Option, msix: Option, pcie_cap: Option, // The bridge having this device. bridge_bus_number: Option, bridge_device_number: Option, bridge_function_number: Option,\\n} There are several methods regarding PCIeInfo structure. function description fn from_io(...) Construct the PCIeInfo structure using I/O ports (x86 only). fn from_addr(...) Construct the PCIeInfo structure using virtual address. fn new(...) Construct the PCIeInfo structure. fn init_base_address(&mut self, ranges: &mut [PCIeRange]) Initialize the base address of the PCIeInfo based on the PCIe memory range. pub fn get_bdf(&self) Get PCIe information in BDF (Bus, Device, Function) format. pub fn get_secondary_bus(&self) Get the number of the PCIe secondary bus. pub fn get_device_name(&self) Get the name of the PCIe device. pub fn get_class(&self) Get the PCIe device classification. pub fn get_id(&self) Get the PCIe device ID. pub fn get_revision_id(&self) Get the PCIe revision ID. pub fn set_revision_id(&mut self, revision_id: u8) Set the PCIe revision ID. pub fn get_msi_mut(&mut self) Get a mutable reference to the MSI (Message Signaled Interrupts) of the PCIe device. pub fn get_msix_mut(&mut self) Get a mutable reference to the MSI-X (Message Signaled Interrupts eXtended) of the PCIe device. pub fn get_pcie_cap_mut(&mut self) Get a mutable reference to the PCIe capabilities pointer (extended functionality) of the device. pub fn read_status_command(&self) Get the value of the STATUS_COMMAND register of the PCIe device. pub fn write_status_command(&mut self, csr: registers::StatusCommand) Set the value of the STATUS_COMMAND register of the PCIe device. pub fn get_segment_group(&self) Get the segment group to which the PCIe device belongs. pub fn get_interrupt_line(&self) Get the interrupt line number for the PCIe device. pub fn set_interrupt_line(&mut self, irq: u8) Set the interrupt line number for the PCIe device. pub fn get_interrupt_pin(&self) Get the interrupt pin number of the PCIe device. pub(crate) fn read_capability(&mut self) Check PCIe device extension functionality and construct structures for extensions such as MSI, MSI-X, etc. fn read_bar(&mut self) Read the base address of the PCIe device and reflect it in the PCIeInfo structure. pub(crate) fn map_bar(&mut self) Map the base address of the PCIe device to a page. pub fn get_bar(&self, i: usize) Get the base address at the specified index. fn attach(self) Initialize the PCIe device based on the information. pub fn disable_legacy_interrupt(&mut self) Disable legacy (non-MSI) interrupts on the PCIe device. pub fn enable_legacy_interrupt(&mut self) Enable legacy (non-MSI) interrupts on the PCIe device. PCIeInfo structure implements the fmt::Display trait as follows. impl fmt::Display for PCIeInfo { fn fmt(&self, f: &mut fmt::Formatter<\'_>) -> fmt::Result { write!( f, \\"{:04x}:{:02x}:{:02x}.{:01x}, Device ID = {:04x}, PCIe Class = {:?}\\", self.segment_group, self.bus_number, self.device_number, self.function_number, self.id, self.pcie_class, ) }\\n}","breadcrumbs":"Internal » PCIe » PCIeInfo","id":"85","title":"PCIeInfo"},"86":{"body":"ChildDevice is an enum that represents different types of devices and their attachment states on a PCIe bus. pub enum ChildDevice { Bus(Box), Attached(Arc), Attaching, Unattached(Box),\\n} There are several methods regarding ChildDevice enum. function description fn attach(&mut self) Attach a child PCIe device. fn init_base_address(&mut self, ranges: &mut [PCIeRange]) Initialize the base address of a child PCIe device based on the PCIe memory range.","breadcrumbs":"Internal » PCIe » ChildDevice","id":"86","title":"ChildDevice"},"87":{"body":"UnknownDevice is a structure that represents an attached PCIe device including its segment group, bus, device and function numbers. struct UnknownDevice { segment_group: u16, bus_number: u8, device_number: u8, function_number: u8, vendor: u16, id: u16, pcie_class: pcie_class::PCIeClass,\\n} UnknownDevice structure implements the PCIeDevice trait in awkernel/awkernel_drivers/src/pcie.rs as follows. impl PCIeDevice for PCIeBus { fn device_name(&self) -> Cow<\'static, str> { let bdf = format!( \\"{:04x}:{:02x}:{:02x}.{:01x}\\", self.segment_group, self.bus_number, self.device_number, self.function_number ); let name = format!( \\"{bdf}: Vendor ID = {:04x}, Device ID = {:04x}, PCIe Class = {:?}\\", self.vendor, self.id, self.pcie_class, ); name.into() } fn children(&self) -> Option<&Vec> { None }\\n}","breadcrumbs":"Internal » PCIe » UnknownDevice","id":"87","title":"UnknownDevice"},"88":{"body":"PCIeDeviceErr is an enum that represents various error types related to PCIe devices. #[derive(Debug, Clone)]\\npub enum PCIeDeviceErr { InitFailure, ReadFailure, PageTableFailure, CommandFailure, UnRecognizedDevice { bus: u8, device: u16, vendor: u16 }, InvalidClass, Interrupt, NotImplemented, BARFailure,\\n} PCIeDeviceErr structure implements the fmt::Display trait as follows. impl fmt::Display for PCIeDeviceErr { fn fmt(&self, f: &mut fmt::Formatter<\'_>) -> fmt::Result { match self { Self::InitFailure => { write!(f, \\"Failed to initialize the device driver.\\") } // omitted } }\\n}","breadcrumbs":"Internal » PCIe » PCIeDeviceErr","id":"88","title":"PCIeDeviceErr"},"89":{"body":"","breadcrumbs":"Internal » PCIe » Initialization","id":"89","title":"Initialization"},"9":{"body":"AArch64 should equip PL011 UART serial ports, and Awkerenel uses the serial port to output messages as a console. PL011 UART\'s device driver is implemented in awkernel_drivers/src/uart/pl011.rs , and it implements the Console trait as follows. impl Console for PL011 { fn enable(&mut self) { use registers::CR; registers::UART0_CR.write(CR::EN | CR::RXE | CR::TXE, self.base_addr); // enable, Rx, Tx } fn disable(&mut self) { registers::UART0_CR.write(registers::CR::empty(), self.base_addr); } fn enable_recv_interrupt(&mut self) { registers::UART0_IMSC.setbits(IMSC_RXIM, self.base_addr); } fn disable_recv_interrupt(&mut self) { registers::UART0_IMSC.clrbits(IMSC_RXIM, self.base_addr); } fn acknowledge_recv_interrupt(&mut self) { registers::UART0_ICR.write(registers::ICR::RXIC, self.base_addr); } fn irq_id(&self) -> u16 { self.irq } fn get(&mut self) -> Option { if registers::UART0_FR.read(self.base_addr) & 0x10 != 0 { None } else { Some(registers::UART0_DR.read(self.base_addr) as u8) } } fn put(&mut self, data: u8) { // wait until we can send unsafe { asm!(\\"nop;\\") }; while registers::UART0_FR.read(self.base_addr) & 0x20 != 0 { core::hint::spin_loop(); } // write the character to the buffer registers::UART0_DR.write(data as u32, self.base_addr); }\\n}","breadcrumbs":"Internal » Console » AArch64","id":"9","title":"AArch64"},"90":{"body":"For x86, the PCIe is initialized with ACPI or I/O port by init_with_acpi:awkernel/awkernel_drivers/src/pcie.rs or init_with_io:awkernel/awkernel_drivers/src/pcie.rs as follows. /// Initialize the PCIe with ACPI.\\n#[cfg(feature = \\"x86\\")]\\npub fn init_with_acpi(acpi: &AcpiTables) -> Result<(), PCIeDeviceErr> { use awkernel_lib::{addr::phy_addr::PhyAddr, paging::Flags}; const CONFIG_SPACE_SIZE: usize = 256 * 1024 * 1024; // 256 MiB let pcie_info = PciConfigRegions::new(acpi).or(Err(PCIeDeviceErr::InitFailure))?; for segment in pcie_info.iter() { let flags = Flags { write: true, execute: false, cache: false, write_through: false, device: true, }; let mut config_start = segment.physical_address; let config_end = config_start + CONFIG_SPACE_SIZE; while config_start < config_end { let phy_addr = PhyAddr::new(config_start); let virt_addr = VirtAddr::new(config_start); unsafe { paging::map(virt_addr, phy_addr, flags).or(Err(PCIeDeviceErr::PageTableFailure))? }; config_start += PAGESIZE; } let base_address = segment.physical_address; init_with_addr(segment.segment_group, VirtAddr::new(base_address), None); } Ok(())\\n} /// Initialize the PCIe with IO port.\\n#[cfg(feature = \\"x86\\")]\\npub fn init_with_io() { init(0, None, PCIeInfo::from_io, None);\\n}","breadcrumbs":"Internal » PCIe » x86","id":"90","title":"x86"},"91":{"body":"The PCIe is initialized with the base address by init_with_addr:awkernel/awkernel_drivers/src/pcie.rs or init:awkernel/awkernel_drivers/src/pcie.rs as follows. /// If `ranges` is not None, the base address registers of the device will be initialized by using `ranges`.\\npub fn init_with_addr( segment_group: u16, base_address: VirtAddr, ranges: Option<&mut [PCIeRange]>,\\n) { init( segment_group, Some(base_address), PCIeInfo::from_addr, ranges, );\\n} fn init( segment_group: u16, base_address: Option, f: F, ranges: Option<&mut [PCIeRange]>,\\n) where F: Fn(u16, u8, u8, u8, VirtAddr) -> Result,\\n{ let mut visited = BTreeSet::new(); let mut bus_tree = PCIeTree { tree: BTreeMap::new(), }; let mut host_bridge_bus = 0; //omitted: Construct `PCIeTree` and create a tree structure. bus_tree.update_bridge_info(host_bridge_bus, 0, 0); if let Some(ranges) = ranges { bus_tree.init_base_address(ranges); } bus_tree.attach(); log::info!(\\"PCIe: segment_group = {segment_group:04x}\\\\r\\\\n{bus_tree}\\"); let mut node = MCSNode::new(); let mut pcie_trees = PCIE_TREES.lock(&mut node); pcie_trees.insert(segment_group, Arc::new(bus_tree));\\n}","breadcrumbs":"Internal » PCIe » Others","id":"91","title":"Others"},"92":{"body":"The following functions are used to check all devices on the PCIe bus.","breadcrumbs":"Internal » PCIe » Checking the PCI Buses","id":"92","title":"Checking the PCI Buses"},"93":{"body":"Check thirty-two devices on the PCIe bus. #[inline]\\nfn check_bus(bus: &mut PCIeBus, bus_tree: &mut PCIeTree, visited: &mut BTreeSet, f: &F)\\nwhere F: Fn(u16, u8, u8, u8, VirtAddr) -> Result,\\n{ for device in 0..32 { check_device(bus, device, bus_tree, visited, f); }\\n}","breadcrumbs":"Internal » PCIe » check_bus","id":"93","title":"check_bus"},"94":{"body":"Check eight functions on the device. #[inline]\\nfn check_device( bus: &mut PCIeBus, device: u8, bus_tree: &mut PCIeTree, visited: &mut BTreeSet, f: &F,\\n) where F: Fn(u16, u8, u8, u8, VirtAddr) -> Result,\\n{ for function in 0..8 { check_function(bus, device, function, bus_tree, visited, f); }\\n}","breadcrumbs":"Internal » PCIe » check_device","id":"94","title":"check_device"},"95":{"body":"Retrieve PCIe bus information and store it in the PCIeTree structure. fn check_function( bus: &mut PCIeBus, device: u8, function: u8, bus_tree: &mut PCIeTree, visited: &mut BTreeSet, f: &F,\\n) -> bool\\nwhere F: Fn(u16, u8, u8, u8, VirtAddr) -> Result,\\n{ let offset = (bus.bus_number as usize) << 20 | (device as usize) << 15 | (function as usize) << 12; let addr = if let Some(base_address) = bus.base_address { base_address + offset } else { VirtAddr::new(0) }; if let Ok(info) = f(bus.segment_group, bus.bus_number, device, function, addr) { // omitted: Push PCIe device to `PCIeTree`, considering if it is a bridge device true } else { false }\\n}","breadcrumbs":"Internal » PCIe » check_function","id":"95","title":"check_function"},"96":{"body":"Read the base address specified by the offset from the PCIe device\'s configuration space.","breadcrumbs":"Internal » PCIe » Read the base address","id":"96","title":"Read the base address"},"97":{"body":"Read the base address. /// Read the base address of `addr`.\\nfn read_bar(config_space: &ConfigSpace, offset: usize) -> BaseAddress { let bar = config_space.read_u32(offset); if (bar & BAR_IO) == 1 { // omitted: Read the base address for x86 } else { // Memory space let bar_type = bar & BAR_TYPE_MASK; if bar_type == BAR_TYPE_32 { // ommitted: Read the base address for 32bit target } else if bar_type == BAR_TYPE_64 { // ommitted: Read the base address for 64bit target } else { BaseAddress::None } }\\n}","breadcrumbs":"Internal » PCIe » read_bar","id":"97","title":"read_bar"},"98":{"body":"Print the configuration of the devices on the PCIe bus.","breadcrumbs":"Internal » PCIe » Print the PCIe devices","id":"98","title":"Print the PCIe devices"},"99":{"body":"Print the configuration of PCIe devices, including device names, vendor ID, device ID, PCIe class and bridge information. fn print_pcie_devices(device: &dyn PCIeDevice, f: &mut fmt::Formatter, indent: u8) -> fmt::Result { let indent_str = \\" \\".repeat(indent as usize * 4); write!(f, \\"{}{}\\\\r\\\\n\\", indent_str, device.device_name())?; if let Some(children) = device.children() { for child in children.iter() { match child { ChildDevice::Attached(child) => { print_pcie_devices(child.as_ref(), f, indent + 1)?; } ChildDevice::Unattached(info) => { let name = format!( \\"{}: Vendor ID = {:04x}, Device ID = {:04x}, PCIe Class = {:?}, bridge = {:?}-{:?}-{:?}\\", info.get_bdf(), info.vendor, info.id, info.pcie_class, info.bridge_bus_number, info.bridge_device_number, info.bridge_function_number, ); let indent_str = \\" \\".repeat((indent as usize + 1) * 4); write!(f, \\"{indent_str}{name}\\\\r\\\\n\\")?; } ChildDevice::Bus(bus) => { print_pcie_devices(bus.as_ref(), f, indent + 1)?; } _ => (), } } } Ok(())\\n}","breadcrumbs":"Internal » PCIe » 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From 6428162b1dacbd9a81c7534e7a6c3c84f018f05e Mon Sep 17 00:00:00 2001
From: Yuuki Takano 
Date: Tue, 7 Jul 2026 15:26:28 +0900
Subject: [PATCH 03/15] add `any` method to `CpuSet`

Signed-off-by: Yuuki Takano 
---
 awkernel_lib/src/cpu.rs | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/awkernel_lib/src/cpu.rs b/awkernel_lib/src/cpu.rs
index 84db42fce..820c5dd05 100644
--- a/awkernel_lib/src/cpu.rs
+++ b/awkernel_lib/src/cpu.rs
@@ -24,6 +24,11 @@ impl CpuSet {
         Self([0; CPU_SET_WORDS])
     }
 
+    /// Create a set containing all CPUs.
+    pub fn any() -> Self {
+        Self::all_workers(num_cpu())
+    }
+
     /// Create a set from a bitmask of CPUs 0..64.
     /// Bit `i` of `bits` corresponds to CPU `i`.
     pub const fn from_bits(bits: u64) -> Self {

From 84c90c939f35a8414808a16926d1499d1eba9090 Mon Sep 17 00:00:00 2001
From: ytakano 
Date: Tue, 7 Jul 2026 15:51:49 +0900
Subject: [PATCH 04/15] Potential fix for pull request finding

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
---
 awkernel_lib/src/cpu.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/awkernel_lib/src/cpu.rs b/awkernel_lib/src/cpu.rs
index 820c5dd05..96569f21d 100644
--- a/awkernel_lib/src/cpu.rs
+++ b/awkernel_lib/src/cpu.rs
@@ -24,7 +24,7 @@ impl CpuSet {
         Self([0; CPU_SET_WORDS])
     }
 
-    /// Create a set containing all CPUs.
+    /// Create a set containing all worker CPUs (`1..num_cpu()`).
     pub fn any() -> Self {
         Self::all_workers(num_cpu())
     }

From da86164c88c0c9550e0553d0f1f45a8a2e8e7392 Mon Sep 17 00:00:00 2001
From: Yuuki Takano 
Date: Tue, 7 Jul 2026 16:17:03 +0900
Subject: [PATCH 05/15] consider if `task` is `Some`

Signed-off-by: Yuuki Takano 
---
 awkernel_async_lib/src/scheduler.rs | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/awkernel_async_lib/src/scheduler.rs b/awkernel_async_lib/src/scheduler.rs
index 822483d59..5fa45396f 100644
--- a/awkernel_async_lib/src/scheduler.rs
+++ b/awkernel_async_lib/src/scheduler.rs
@@ -186,18 +186,20 @@ pub(crate) fn get_next_task(execution_ensured: bool) -> Option> {
             .find_map(|&scheduler_type| get_scheduler(scheduler_type).get_next(execution_ensured));
 
         // Decrement is handled by ClusteredTask::Drop inside get_next().
-        task
-    } else {
-        let task = PRIORITY_LIST
-            .iter()
-            .find_map(|&scheduler_type| get_scheduler(scheduler_type).get_next(execution_ensured));
-
         if task.is_some() {
-            crate::task::NUM_TASK_IN_QUEUE.fetch_sub(1, Ordering::Relaxed);
+            return task;
         }
+    }
+
+    let task = PRIORITY_LIST
+        .iter()
+        .find_map(|&scheduler_type| get_scheduler(scheduler_type).get_next(execution_ensured));
 
-        task
+    if task.is_some() {
+        crate::task::NUM_TASK_IN_QUEUE.fetch_sub(1, Ordering::Relaxed);
     }
+
+    task
 }
 
 /// Get a scheduler.

From eb784de2d45ad9800c2ab3ec905c722822ea3979 Mon Sep 17 00:00:00 2001
From: Yuuki Takano 
Date: Tue, 7 Jul 2026 16:18:51 +0900
Subject: [PATCH 06/15] fix the comment

Signed-off-by: Yuuki Takano 
---
 awkernel_lib/src/cpu.rs | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/awkernel_lib/src/cpu.rs b/awkernel_lib/src/cpu.rs
index 96569f21d..636f1fda5 100644
--- a/awkernel_lib/src/cpu.rs
+++ b/awkernel_lib/src/cpu.rs
@@ -12,9 +12,6 @@ pub const CPU_SET_WORDS: usize = NUM_MAX_CPU / 64;
 static NUM_CPU: AtomicUsize = AtomicUsize::new(0);
 
 /// A set of CPU cores, represented as a bitmask supporting up to `NUM_MAX_CPU` CPUs.
-///
-/// All constructors and predicates are `const fn` so that a `CpuSet` can be
-/// embedded in const-evaluated statics.
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 pub struct CpuSet([u64; CPU_SET_WORDS]);
 

From 4617978f4ca81cd691db77d4cde1d478128f461e Mon Sep 17 00:00:00 2001
From: Yuuki Takano 
Date: Tue, 21 Jul 2026 13:42:47 +0900
Subject: [PATCH 07/15] perf(sched): make clustered-task bookkeeping O(1) per
 operation

Replace the per-CPU counter array NUM_CLUSTERED_TASKS_IN_QUEUE with a
single global counter plus the run queue's exact affinity mask:

- ClusteredTask::new/take/Drop now perform one atomic RMW instead of
  one per member CPU (up to 511 for wide-affinity tasks).
- wake_workers() reads the exact set of CPUs with eligible queued tasks
  via the new Scheduler::queued_cpu_mask() (default: empty), which
  ClusteredEDF implements with AffinityBTreeQueue::affinity_mask(),
  an O(1) read of the B-tree root's aggregated subtree_affinity.
- get_next_task() checks the global counter only; per-CPU eligibility
  is delegated to pop_for_cpu's O(1) root-mask fast-fail.

Replace awkernel_lib's CpuSet with a type alias of
affinity_btree_queue::CpuMask (now const-friendly in 0.1.1), removing
the to_cpu_mask() conversion and the unused from_bits()/any(). The
CPU-0-exclusion policy remains in awkernel as cpu::masked_workers()/
all_workers().

Add SchedulerType::is_clustered() and a compile-time assert that
clustered schedulers form a strict prefix of PRIORITY_LIST, so future
clustered schedulers only need to (1) wrap queue entries in
ClusteredTask, (2) implement queued_cpu_mask(), (3) join the prefix.

Note: wake_workers() now briefly acquires the run-queue mutex without
GLOBAL_WAKE_GET_MUTEX; the queue mutex remains innermost everywhere,
so no lock cycle is introduced.

Co-Authored-By: Claude Fable 5 
Signed-off-by: Yuuki Takano 
---
 .../tests/test_clustered_edf/src/lib.rs       |   6 +-
 awkernel_async_lib/Cargo.toml                 |   2 +-
 awkernel_async_lib/src/scheduler.rs           |  97 +++++++++++-----
 .../src/scheduler/clustered_edf.rs            |  30 ++---
 awkernel_async_lib/src/task.rs                |  28 ++---
 awkernel_lib/Cargo.toml                       |   1 +
 awkernel_lib/src/cpu.rs                       | 104 +++---------------
 mdbook/src/internal/scheduler.md              |   4 +
 8 files changed, 124 insertions(+), 148 deletions(-)

diff --git a/applications/tests/test_clustered_edf/src/lib.rs b/applications/tests/test_clustered_edf/src/lib.rs
index 2989a39df..dfb69539a 100644
--- a/applications/tests/test_clustered_edf/src/lib.rs
+++ b/applications/tests/test_clustered_edf/src/lib.rs
@@ -49,7 +49,7 @@ async fn test_core_pinning() {
                     awkernel_async_lib::r#yield().await;
                 }
             },
-            SchedulerType::ClusteredEDF(1_000_000, CpuSet::empty().insert(core)),
+            SchedulerType::ClusteredEDF(1_000_000, CpuSet::empty().with(core)),
         )
         .await;
     }
@@ -65,7 +65,7 @@ async fn test_cluster_affinity() {
     log::info!("=== test_cluster_affinity start ===");
 
     // Cluster {1, 2}: the task must never run on other cores.
-    let cluster = CpuSet::empty().insert(1).insert(2);
+    let cluster = CpuSet::empty().with(1).with(2);
     spawn(
         "cluster_1_2".into(),
         async move {
@@ -133,7 +133,7 @@ async fn spawn_periodic_task(
                 awkernel_async_lib::r#yield().await;
             }
         },
-        SchedulerType::ClusteredEDF(relative_deadline, CpuSet::empty().insert(core)),
+        SchedulerType::ClusteredEDF(relative_deadline, CpuSet::empty().with(core)),
     )
     .await;
 }
diff --git a/awkernel_async_lib/Cargo.toml b/awkernel_async_lib/Cargo.toml
index 2e76c4bcc..7602551e0 100644
--- a/awkernel_async_lib/Cargo.toml
+++ b/awkernel_async_lib/Cargo.toml
@@ -12,7 +12,7 @@ array-macro = "2.1"
 fixedbitset = "0.5.7"
 async-trait = "0.1"
 async-recursion = "1.1"
-affinity_btree_queue = "0.1"
+affinity_btree_queue = "0.1.1"
 
 [dependencies.futures]
 version = "0.3"
diff --git a/awkernel_async_lib/src/scheduler.rs b/awkernel_async_lib/src/scheduler.rs
index 5fa45396f..4f159f20b 100644
--- a/awkernel_async_lib/src/scheduler.rs
+++ b/awkernel_async_lib/src/scheduler.rs
@@ -111,6 +111,14 @@ impl SchedulerType {
             _ => None,
         }
     }
+
+    /// True if this is a clustered scheduler, i.e. one whose tasks carry a
+    /// CPU affinity set. Update this function when adding a new clustered
+    /// scheduler; it is the single source of truth for the clustered prefix
+    /// of `PRIORITY_LIST`.
+    pub const fn is_clustered(&self) -> bool {
+        matches!(self, SchedulerType::ClusteredEDF(_, _))
+    }
 }
 
 /// # Priority
@@ -136,11 +144,10 @@ static PRIORITY_LIST: [SchedulerType; 5] = [
 ];
 
 /// Return the number of clustered schedulers in `PRIORITY_LIST`.
-/// Update this function if you add a new clustered scheduler to `PRIORITY_LIST`.
 const fn get_num_clustered_schedulers() -> usize {
     let mut count = 0;
     while count < PRIORITY_LIST.len() {
-        if matches!(PRIORITY_LIST[count], SchedulerType::ClusteredEDF(_, _)) {
+        if PRIORITY_LIST[count].is_clustered() {
             count += 1;
         } else {
             break;
@@ -149,11 +156,36 @@ const fn get_num_clustered_schedulers() -> usize {
     count
 }
 
+// `get_next_task` and `NUM_TASK_IN_QUEUE` accounting rely on the clustered
+// schedulers forming a strict prefix of `PRIORITY_LIST`. Reject any reorder
+// at compile time.
+const _: () = {
+    let mut i = get_num_clustered_schedulers();
+    while i < PRIORITY_LIST.len() {
+        assert!(
+            !PRIORITY_LIST[i].is_clustered(),
+            "clustered schedulers must form a strict prefix of PRIORITY_LIST"
+        );
+        i += 1;
+    }
+};
+
 /// For exclusion execution of `wake_task` and `get_next` across all schedulers.
 /// In order to resolve priority inversion in multiple priority-based schedulers,
 /// the decision to preempt, dequeuing, enqueuing, and updating of RUNNING must be executed exclusively.
 static GLOBAL_WAKE_GET_MUTEX: Mutex<()> = Mutex::new(());
 
+/// # Implementing a clustered scheduler
+///
+/// A clustered scheduler keeps tasks that may run only on a subset of CPUs.
+/// Every clustered scheduler must:
+///
+/// 1. Wrap each entry of its run queue in [`ClusteredTask`] so that
+///    `NUM_CLUSTERED_TASKS_IN_QUEUE` is kept consistent.
+/// 2. Implement [`Scheduler::queued_cpu_mask`] to report the exact set of
+///    CPUs its queued tasks are runnable on (`wake_workers` relies on it).
+/// 3. Be placed in the clustered prefix of `PRIORITY_LIST` and be matched by
+///    `SchedulerType::is_clustered` (checked at compile time).
 pub(crate) trait Scheduler {
     /// Enqueue an executable task.
     /// The enqueued task will be taken by `get_next()`.
@@ -167,25 +199,43 @@ pub(crate) trait Scheduler {
 
     #[allow(dead_code)] // TODO: to be removed
     fn priority(&self) -> u8;
+
+    /// The set of CPUs that have at least one queued task eligible to run on
+    /// them. Non-clustered schedulers use the default (empty) implementation;
+    /// clustered schedulers must override it.
+    fn queued_cpu_mask(&self) -> CpuSet {
+        CpuSet::empty()
+    }
+}
+
+/// Return the union of [`Scheduler::queued_cpu_mask`] over all clustered
+/// schedulers: the exact set of CPUs for which a clustered task is queued.
+pub(crate) fn clustered_queued_cpu_mask() -> CpuSet {
+    let mut mask = CpuSet::empty();
+    for scheduler_type in &PRIORITY_LIST[..get_num_clustered_schedulers()] {
+        mask = mask.union(get_scheduler(*scheduler_type).queued_cpu_mask());
+    }
+    mask
 }
 
 /// Get the next executable task.
 #[inline]
 pub(crate) fn get_next_task(execution_ensured: bool) -> Option> {
-    let cpu_id = awkernel_lib::cpu::cpu_id();
-
     let mut node = MCSNode::new();
     let _guard = GLOBAL_WAKE_GET_MUTEX.lock(&mut node);
 
-    let num_clustered_tasks =
-        crate::task::NUM_CLUSTERED_TASKS_IN_QUEUE[cpu_id].load(Ordering::Relaxed);
+    let num_clustered_tasks = crate::task::NUM_CLUSTERED_TASKS_IN_QUEUE.load(Ordering::Relaxed);
 
+    // The counter is global: it may be non-zero even when no queued clustered
+    // task is runnable on this CPU. That is fine because the run queues fail
+    // fast (`pop_for_cpu` checks the root affinity mask in O(1)).
     if num_clustered_tasks > 0 {
         let task = PRIORITY_LIST[..get_num_clustered_schedulers()]
             .iter()
             .find_map(|&scheduler_type| get_scheduler(scheduler_type).get_next(execution_ensured));
 
-        // Decrement is handled by ClusteredTask::Drop inside get_next().
+        // The counter is decremented by the ClusteredTask::take() call inside
+        // get_next() (Drop is a no-op once take() has run).
         if task.is_some() {
             return task;
         }
@@ -224,41 +274,32 @@ pub const fn get_priority(sched_type: SchedulerType) -> u8 {
     panic!("Scheduler type not registered in PRIORITY_LIST or equals()")
 }
 
-/// RAII wrapper representing one slot in `NUM_CLUSTERED_TASKS_IN_QUEUE` for every
-/// CPU in `cpu_set`.
+/// RAII wrapper representing one slot in `NUM_CLUSTERED_TASKS_IN_QUEUE`.
 ///
-/// Constructing a `ClusteredTask` increments the counter of each CPU in `cpu_set`.
-/// The counters are decremented exactly once — either via [`take`] (explicit
-/// ownership transfer) or via `Drop` (e.g. when a terminated task is
-/// discarded). If `take` has already been called, `Drop` is a no-op.
+/// Constructing a `ClusteredTask` increments the counter. The counter is
+/// decremented exactly once — either via [`take`] (explicit ownership
+/// transfer) or via `Drop` (e.g. when a terminated task is discarded). If
+/// `take` has already been called, `Drop` is a no-op.
 ///
 /// [`take`]: ClusteredTask::take
 pub(crate) struct ClusteredTask {
     inner: Option,
-    cpu_set: CpuSet,
 }
 
 impl ClusteredTask {
-    pub(crate) fn new(inner: T, cpu_set: CpuSet) -> Self {
-        for cpu_id in cpu_set.iter() {
-            crate::task::NUM_CLUSTERED_TASKS_IN_QUEUE[cpu_id].fetch_add(1, Ordering::Relaxed);
-        }
-        Self {
-            inner: Some(inner),
-            cpu_set,
-        }
+    pub(crate) fn new(inner: T) -> Self {
+        crate::task::NUM_CLUSTERED_TASKS_IN_QUEUE.fetch_add(1, Ordering::Relaxed);
+        Self { inner: Some(inner) }
     }
 
-    /// Take the inner value and decrement the counters.
+    /// Take the inner value and decrement the counter.
     ///
     /// Returns `None` if the value has already been taken.
     /// After this call `Drop` will be a no-op.
     pub(crate) fn take(&mut self) -> Option {
         let val = self.inner.take();
         if val.is_some() {
-            for cpu_id in self.cpu_set.iter() {
-                crate::task::NUM_CLUSTERED_TASKS_IN_QUEUE[cpu_id].fetch_sub(1, Ordering::Relaxed);
-            }
+            crate::task::NUM_CLUSTERED_TASKS_IN_QUEUE.fetch_sub(1, Ordering::Relaxed);
         }
         val
     }
@@ -268,9 +309,7 @@ impl Drop for ClusteredTask {
     fn drop(&mut self) {
         // Decrement only if take() has not been called yet.
         if self.inner.is_some() {
-            for cpu_id in self.cpu_set.iter() {
-                crate::task::NUM_CLUSTERED_TASKS_IN_QUEUE[cpu_id].fetch_sub(1, Ordering::Relaxed);
-            }
+            crate::task::NUM_CLUSTERED_TASKS_IN_QUEUE.fetch_sub(1, Ordering::Relaxed);
         }
     }
 }
diff --git a/awkernel_async_lib/src/scheduler/clustered_edf.rs b/awkernel_async_lib/src/scheduler/clustered_edf.rs
index 1b46f0f0b..14aac8be2 100644
--- a/awkernel_async_lib/src/scheduler/clustered_edf.rs
+++ b/awkernel_async_lib/src/scheduler/clustered_edf.rs
@@ -15,10 +15,10 @@ use crate::{
         get_task, get_task_running, set_current_task, set_need_preemption, State, MAX_TASK_PRIORITY,
     },
 };
-use affinity_btree_queue::{AffinityBTreeQueue, CpuMask, DEFAULT_MIN_DEGREE};
+use affinity_btree_queue::{AffinityBTreeQueue, DEFAULT_MIN_DEGREE};
 use alloc::sync::Arc;
 use awkernel_lib::{
-    cpu::{num_cpu, CpuSet, CPU_SET_WORDS},
+    cpu::{masked_workers, num_cpu, CpuSet, CPU_SET_WORDS},
     sync::mutex::{MCSNode, Mutex},
 };
 
@@ -35,14 +35,6 @@ pub struct ClusteredEDFScheduler {
     priority: u8,
 }
 
-fn to_cpu_mask(cpu_set: &CpuSet) -> CpuMask {
-    let mut mask = CpuMask::empty();
-    for idx in 0..CPU_SET_WORDS {
-        mask.set_word(idx, cpu_set.word(idx));
-    }
-    mask
-}
-
 impl Scheduler for ClusteredEDFScheduler {
     fn wake_task(&self, task: Arc) {
         let (wake_time, absolute_deadline) = {
@@ -73,7 +65,7 @@ impl Scheduler for ClusteredEDFScheduler {
         // `Tasks::spawn` normalizes the set to worker cores (1..num_cpu()),
         // so an invalid set here is an internal invariant violation.
         let cpu_set = task.cpu_set.expect("Task has no CPU set");
-        if cpu_set.is_empty() || cpu_set.masked_workers(num_cpu()) != cpu_set {
+        if cpu_set.is_empty() || masked_workers(cpu_set, num_cpu()) != cpu_set {
             panic!("ClusteredEDF: CPU set {cpu_set:?} is out of range");
         }
 
@@ -86,8 +78,8 @@ impl Scheduler for ClusteredEDFScheduler {
             queue
                 .push(
                     (absolute_deadline, wake_time),
-                    to_cpu_mask(&cpu_set),
-                    ClusteredTask::new(task.clone(), cpu_set),
+                    cpu_set,
+                    ClusteredTask::new(task.clone()),
                 )
                 .expect("ClusteredEDF: failed to push a task");
         }
@@ -139,6 +131,18 @@ impl Scheduler for ClusteredEDFScheduler {
     fn priority(&self) -> u8 {
         self.priority
     }
+
+    fn queued_cpu_mask(&self) -> CpuSet {
+        let mut node = MCSNode::new();
+        let data = self.data.lock(&mut node);
+
+        // O(1): the queue maintains the OR of all queued affinities in its
+        // B-tree root.
+        match &*data {
+            Some(queue) => queue.affinity_mask(),
+            None => CpuSet::empty(),
+        }
+    }
 }
 
 pub static SCHEDULER: ClusteredEDFScheduler = ClusteredEDFScheduler {
diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs
index 5356529ae..7c241ccec 100644
--- a/awkernel_async_lib/src/task.rs
+++ b/awkernel_async_lib/src/task.rs
@@ -17,7 +17,7 @@ use alloc::{
 };
 use array_macro::array;
 use awkernel_lib::{
-    cpu::{num_cpu, CpuSet, NUM_MAX_CPU},
+    cpu::{all_workers, masked_workers, num_cpu, CpuSet, NUM_MAX_CPU},
     priority_queue::HIGHEST_PRIORITY,
     sync::mutex::{MCSNode, Mutex},
     unwind::catch_unwind,
@@ -53,10 +53,10 @@ pub(crate) static MAX_TASK_PRIORITY: u64 = (1 << 56) - 1; // Maximum task priori
 #[cfg(target_pointer_width = "64")]
 pub(crate) static NUM_TASK_IN_QUEUE: AtomicU32 = AtomicU32::new(0); // Number of tasks in the queue.
 
-/// `NUM_CLUSTERED_TASKS_IN_QUEUE[cpu]` is the number of tasks in the clustered
-/// schedulers' queues whose `cpu_set` contains `cpu`.
-pub(crate) static NUM_CLUSTERED_TASKS_IN_QUEUE: [AtomicU32; NUM_MAX_CPU] =
-    array![_ => AtomicU32::new(0); NUM_MAX_CPU];
+/// Total number of tasks in the clustered schedulers' queues.
+/// Which CPUs those tasks are runnable on is tracked exactly by the run
+/// queues themselves; see `scheduler::clustered_queued_cpu_mask`.
+pub(crate) static NUM_CLUSTERED_TASKS_IN_QUEUE: AtomicU32 = AtomicU32::new(0);
 
 #[cfg(target_pointer_width = "32")]
 pub(crate) static NUM_TASK_IN_QUEUE: AtomicU32 = AtomicU32::new(0); // Number of tasks in the queue.
@@ -291,14 +291,14 @@ impl Tasks {
                 // info.scheduler_type and task.cpu_set stay in sync.
                 let cpu_set = if let SchedulerType::ClusteredEDF(deadline, set) = scheduler_type {
                     // CPU 0 is the primary core and cannot run clustered tasks.
-                    let masked = set.masked_workers(num_cpu());
+                    let masked = masked_workers(set, num_cpu());
                     let normalized = if masked.is_empty() {
                         log::warn!(
                             "The CPU set must contain at least one core between 1 and {}. Falling back to all worker cores. Given set: {:?}",
                             num_cpu() - 1,
                             set
                         );
-                        CpuSet::all_workers(num_cpu())
+                        all_workers(num_cpu())
                     } else {
                         masked
                     };
@@ -1172,19 +1172,19 @@ pub fn wake_workers() {
     let num_cpus = awkernel_lib::cpu::num_cpu();
     let mut num_tasks = NUM_TASK_IN_QUEUE.load(Ordering::Relaxed);
 
-    for (i, clustered_tasks) in NUM_CLUSTERED_TASKS_IN_QUEUE[..num_cpus]
-        .iter()
-        .enumerate()
-        .skip(1)
-    {
-        if (*clustered_tasks).load(Ordering::Relaxed) > 0 {
+    // The exact set of CPUs for which a clustered task is queued, read from
+    // the clustered schedulers' run queues.
+    let clustered_mask = crate::scheduler::clustered_queued_cpu_mask();
+
+    for i in 1..num_cpus {
+        if clustered_mask.contains(i) {
             awkernel_lib::cpu::wake_cpu(i);
             continue;
         }
 
         // Even if there are no global tasks left, keep scanning: a
         // higher-numbered CPU may still have clustered tasks waiting and
-        // breaking here would leave it asleep (lost wakeup).
+        // skipping the rest would leave it asleep (lost wakeup).
         if num_tasks == 0 {
             continue;
         }
diff --git a/awkernel_lib/Cargo.toml b/awkernel_lib/Cargo.toml
index aa6b6062e..4ae2b0c03 100644
--- a/awkernel_lib/Cargo.toml
+++ b/awkernel_lib/Cargo.toml
@@ -6,6 +6,7 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
+affinity_btree_queue = "0.1.1"
 log = "0.4"
 rlsf = "0.2"
 bitflags = "2.3"
diff --git a/awkernel_lib/src/cpu.rs b/awkernel_lib/src/cpu.rs
index 636f1fda5..50e8f6d38 100644
--- a/awkernel_lib/src/cpu.rs
+++ b/awkernel_lib/src/cpu.rs
@@ -11,94 +11,22 @@ pub const CPU_SET_WORDS: usize = NUM_MAX_CPU / 64;
 
 static NUM_CPU: AtomicUsize = AtomicUsize::new(0);
 
-/// A set of CPU cores, represented as a bitmask supporting up to `NUM_MAX_CPU` CPUs.
-#[derive(Clone, Copy, PartialEq, Eq, Debug)]
-pub struct CpuSet([u64; CPU_SET_WORDS]);
-
-impl CpuSet {
-    /// Create an empty set.
-    pub const fn empty() -> Self {
-        Self([0; CPU_SET_WORDS])
-    }
-
-    /// Create a set containing all worker CPUs (`1..num_cpu()`).
-    pub fn any() -> Self {
-        Self::all_workers(num_cpu())
-    }
-
-    /// Create a set from a bitmask of CPUs 0..64.
-    /// Bit `i` of `bits` corresponds to CPU `i`.
-    pub const fn from_bits(bits: u64) -> Self {
-        let mut words = [0; CPU_SET_WORDS];
-        words[0] = bits;
-        Self(words)
-    }
-
-    /// Return a new set with the bit for `cpu` set.
-    /// Panics if `cpu >= NUM_MAX_CPU`.
-    pub const fn insert(mut self, cpu: usize) -> Self {
-        assert!(cpu < NUM_MAX_CPU, "CPU index out of range");
-        self.0[cpu / 64] |= 1 << (cpu % 64);
-        self
-    }
-
-    /// True if the bit for `cpu` is set.
-    pub const fn contains(&self, cpu: usize) -> bool {
-        cpu < NUM_MAX_CPU && (self.0[cpu / 64] >> (cpu % 64)) & 1 == 1
-    }
-
-    /// True if no bit is set.
-    pub const fn is_empty(&self) -> bool {
-        let mut i = 0;
-        while i < CPU_SET_WORDS {
-            if self.0[i] != 0 {
-                return false;
-            }
-            i += 1;
-        }
-        true
-    }
-
-    /// Return word `idx` of the backing bitmask. Panics if `idx >= CPU_SET_WORDS`.
-    pub const fn word(&self, idx: usize) -> u64 {
-        self.0[idx]
-    }
-
-    /// Return a new set keeping only CPUs in `1..num_cpus`
-    /// (CPU 0 is always excluded).
-    pub const fn masked_workers(mut self, num_cpus: usize) -> Self {
-        let mut i = 0;
-        while i < CPU_SET_WORDS {
-            let lo = i * 64;
-            if lo >= num_cpus {
-                self.0[i] = 0;
-            } else {
-                let valid = num_cpus - lo; // 1..=64 bits of this word are valid.
-                if valid < 64 {
-                    self.0[i] &= (1 << valid) - 1;
-                }
-            }
-            i += 1;
-        }
-        self.0[0] &= !1; // Exclude CPU 0.
-        self
-    }
-
-    /// Return the set of all worker CPUs (`1..num_cpus`).
-    pub const fn all_workers(num_cpus: usize) -> Self {
-        let mut set = Self([u64::MAX; CPU_SET_WORDS]);
-        set = set.masked_workers(num_cpus);
-        set
-    }
-
-    /// Iterate over the CPUs contained in the set, in ascending order.
-    pub fn iter(&self) -> impl Iterator + '_ {
-        self.0.iter().enumerate().flat_map(|(w, &word)| {
-            (0..64)
-                .filter(move |bit| (word >> bit) & 1 == 1)
-                .map(move |bit| w * 64 + bit)
-        })
-    }
+/// A set of CPU cores, represented as a bitmask supporting up to `NUM_MAX_CPU`
+/// CPUs. This is the affinity mask type of the `affinity_btree_queue` crate,
+/// so schedulers can pass it to the run queue without conversion. All
+/// constructors are `const fn`; build sets with the chainable builder, e.g.
+/// `CpuSet::empty().with(1).with(2)`.
+pub type CpuSet = affinity_btree_queue::CpuMask;
+
+/// Return a new set keeping only the worker CPUs (`1..num_cpus`) of `set`.
+/// CPU 0 is the primary core and is always excluded.
+pub const fn masked_workers(set: CpuSet, num_cpus: usize) -> CpuSet {
+    set.masked_below(num_cpus).without(0)
+}
+
+/// Return the set of all worker CPUs (`1..num_cpus`).
+pub const fn all_workers(num_cpus: usize) -> CpuSet {
+    masked_workers(CpuSet::all(), num_cpus)
 }
 
 #[cfg(feature = "std")]
diff --git a/mdbook/src/internal/scheduler.md b/mdbook/src/internal/scheduler.md
index 0d6a04626..4b4de08ff 100644
--- a/mdbook/src/internal/scheduler.md
+++ b/mdbook/src/internal/scheduler.md
@@ -80,6 +80,10 @@ When a task is enqueued via `wake_task()`, the scheduler reads the `SchedulerTyp
 
 `get_next()` pops the earliest-deadline task whose `cpu_set` contains the calling CPU (`pop_for_cpu`), so a task is only ever dequeued by a core within its set. This guarantees CPU affinity. CPU 0 (the primary core) is always excluded from `cpu_set` when a task is spawned.
 
+Bookkeeping for sleeping workers uses two pieces of state. A single global counter (`NUM_CLUSTERED_TASKS_IN_QUEUE`) tracks how many tasks are queued across all clustered schedulers; it is maintained by the `ClusteredTask` RAII wrapper (incremented on enqueue, decremented exactly once on dequeue or drop) and lets `get_next_task()` skip the clustered schedulers entirely when it is zero. The per-CPU information — which CPUs actually have an eligible task queued — is not duplicated in counters: it is read directly from the run queue, whose B-tree root already maintains the OR of all queued affinities (`affinity_mask()`, O(1)). `wake_workers()` obtains this set via `Scheduler::queued_cpu_mask()` (unioned over all clustered schedulers by `clustered_queued_cpu_mask()`) and wakes exactly the cores that have an eligible clustered task.
+
+A new clustered scheduler must (1) wrap its queue entries in `ClusteredTask`, (2) implement `Scheduler::queued_cpu_mask()`, and (3) be placed in the clustered prefix of `PRIORITY_LIST` and matched by `SchedulerType::is_clustered()`; the prefix requirement is enforced at compile time.
+
 ### GEDF Scheduler
 
 The Global Earliest Deadline First (GEDF) scheduler is implemented in [gedf.rs](https://github.com/tier4/awkernel/blob/main/awkernel_async_lib/src/scheduler/gedf.rs). This scheduler implements a real-time scheduling algorithm that prioritizes tasks based on their absolute deadlines.

From 640e4da24d890cc10172309114f9c82d1bea47ea Mon Sep 17 00:00:00 2001
From: Yuuki Takano 
Date: Tue, 21 Jul 2026 20:26:33 +0900
Subject: [PATCH 08/15] docs(sched): note the preemption latency window in
 invoke_preemption

When preemption is invoked, the task is pinned to the victim CPU's
preemption-pending heap and is invisible to the other CPUs in its
cpu_set, so a core that becomes idle while the IPI is in flight cannot
pick it up. Document that this window is bounded (IPI delivery plus the
victim's interrupt-disabled sections), why it is not a lost wakeup, and
the enqueue-instead-of-pin strategy as future work.

Co-Authored-By: Claude Fable 5 
Signed-off-by: Yuuki Takano 
---
 .../src/scheduler/clustered_edf.rs               | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/awkernel_async_lib/src/scheduler/clustered_edf.rs b/awkernel_async_lib/src/scheduler/clustered_edf.rs
index 14aac8be2..e0d9e62e6 100644
--- a/awkernel_async_lib/src/scheduler/clustered_edf.rs
+++ b/awkernel_async_lib/src/scheduler/clustered_edf.rs
@@ -201,6 +201,22 @@ impl ClusteredEDFScheduler {
             // While this implementation easily prevents priority inversion, it may also cause unnecessary preemption.
             // Therefore, a more sophisticated implementation will be considered in the future.
 
+            // NOTE: The task is now pinned to `victim_cpu`'s preemption-pending
+            // heap and is not in the affinity queue, so it is invisible to the
+            // other CPUs in its `cpu_set` (neither `pop_for_cpu`, the clustered
+            // task counter, nor `queued_cpu_mask` sees it). If another CPU in
+            // the set becomes idle while the IPI is in flight, it cannot pick
+            // the task up and may go to sleep — a latency window bounded by the
+            // IPI delivery plus the victim's interrupt-disabled sections. This
+            // is not a lost wakeup: the task is eventually run either by the
+            // victim's preemption handler (`do_preemption`), or re-woken by the
+            // victim's `run_main` if its running task finishes first, in which
+            // case the idle check above routes it to the queue. Future work:
+            // an enqueue-instead-of-pin strategy (push to the affinity queue
+            // and treat the IPI as a hint) would close this window, but it
+            // requires redesigning the duplicate-IPI suppression that the
+            // pending heap currently provides via `peek_preemption_pending`.
+
             return true;
         }
 

From e6b070f9484abfb622ee5a78b85a586cd68b4ba3 Mon Sep 17 00:00:00 2001
From: Yuuki Takano 
Date: Wed, 22 Jul 2026 11:35:16 +0900
Subject: [PATCH 09/15] test(cpu): add unit tests for CpuSet worker-mask logic

Cover the awkernel-specific CPU-0-exclusion policy in masked_workers()
and all_workers(): sizes including 1 (empty), word boundaries at 64/65/
128, CPU 0 always excluded, ascending iter() ordering across words, and
the idempotence that clustered_edf::wake_task relies on.

Co-Authored-By: Claude Fable 5 
Signed-off-by: Yuuki Takano 
---
 awkernel_lib/src/cpu.rs | 77 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 77 insertions(+)

diff --git a/awkernel_lib/src/cpu.rs b/awkernel_lib/src/cpu.rs
index 50e8f6d38..0f674c10d 100644
--- a/awkernel_lib/src/cpu.rs
+++ b/awkernel_lib/src/cpu.rs
@@ -122,3 +122,80 @@ pub fn wait_init_sleep() {
 pub(crate) fn reset_wakeup_timer() {
     sleep_cpu_no_std::reset_wakeup_timer();
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use alloc::vec::Vec;
+
+    /// Collect the CPUs contained in `set`, in ascending order.
+    fn cpus(set: CpuSet) -> Vec {
+        set.iter().collect()
+    }
+
+    #[test]
+    fn all_workers_excludes_cpu0_and_sizes() {
+        // Only CPU 0 exists, so there is no worker core.
+        assert!(all_workers(1).is_empty());
+
+        assert_eq!(cpus(all_workers(2)), [1]);
+        assert_eq!(cpus(all_workers(4)), [1, 2, 3]);
+
+        // Word boundary: num_cpus 64 keeps CPUs 1..=63 (CPU 0 dropped).
+        let w64 = all_workers(64);
+        assert_eq!(cpus(w64), (1..64).collect::>());
+
+        // num_cpus 65 spills one bit (CPU 64) into the second word.
+        let w65 = all_workers(65);
+        assert_eq!(cpus(w65), (1..65).collect::>());
+
+        // Two full words minus CPU 0.
+        let w128 = all_workers(128);
+        assert_eq!(cpus(w128), (1..128).collect::>());
+
+        // CPU 0 is never a worker, at any size.
+        for n in [1, 2, 4, 64, 65, 128] {
+            assert!(!all_workers(n).contains(0), "num_cpus={n}");
+        }
+    }
+
+    #[test]
+    fn all_workers_iter_is_ascending_across_words() {
+        // The 63 -> 64 transition crosses the first word boundary.
+        let v = cpus(all_workers(65));
+        assert_eq!(v.first(), Some(&1));
+        assert_eq!(v.last(), Some(&64));
+        assert!(
+            v.windows(2).all(|w| w[0] < w[1]),
+            "must be strictly ascending"
+        );
+    }
+
+    #[test]
+    fn masked_workers_normalizes() {
+        // CPU 0 is stripped even when explicitly present.
+        let s = CpuSet::empty().with(0).with(1).with(2);
+        assert_eq!(cpus(masked_workers(s, 4)), [1, 2]);
+
+        // Out-of-range CPUs are trimmed.
+        let s = CpuSet::empty().with(1).with(100);
+        assert_eq!(cpus(masked_workers(s, 4)), [1]);
+
+        // Around a word boundary: with num_cpus=65, valid CPUs are 0..=64,
+        // so CPU 65 is out of range and dropped.
+        let s = CpuSet::empty().with(64).with(65);
+        assert_eq!(cpus(masked_workers(s, 65)), [64]);
+    }
+
+    #[test]
+    fn masked_workers_is_idempotent_on_valid_sets() {
+        // An already-normalized set is a fixed point. This is the invariant
+        // `clustered_edf::wake_task` relies on (`masked_workers(s, n) != s`
+        // is false for a valid set).
+        let s = all_workers(64);
+        assert_eq!(masked_workers(s, 64), s);
+
+        let s = CpuSet::empty().with(1).with(2);
+        assert_eq!(masked_workers(s, 4), s);
+    }
+}

From f61c054b713be89b9aa0f0d20dd52995cf7294fd Mon Sep 17 00:00:00 2001
From: Yuuki Takano 
Date: Wed, 22 Jul 2026 11:42:09 +0900
Subject: [PATCH 10/15] test(sched): cover clustered CPU-set fallback and
 document it

Add test_empty_set_fallback to test_clustered_edf: spawn a ClusteredEDF
task with an empty set and with an out-of-range-only set, and verify
both fall back to a worker core (never CPU 0) instead of being rejected.

Document the spawn-time normalization and fallback on the
SchedulerType::ClusteredEDF variant and in the mdbook scheduler section,
so callers know an invalid set is normalized to all workers rather than
rejected.

Verified in QEMU (-smp 4): both cases run on worker cores, all [OK].

Co-Authored-By: Claude Fable 5 
Signed-off-by: Yuuki Takano 
---
 .../tests/test_clustered_edf/src/lib.rs       | 35 ++++++++++++++++++-
 awkernel_async_lib/src/scheduler.rs           | 12 +++++--
 mdbook/src/internal/scheduler.md              |  2 +-
 3 files changed, 45 insertions(+), 4 deletions(-)

diff --git a/applications/tests/test_clustered_edf/src/lib.rs b/applications/tests/test_clustered_edf/src/lib.rs
index dfb69539a..600408393 100644
--- a/applications/tests/test_clustered_edf/src/lib.rs
+++ b/applications/tests/test_clustered_edf/src/lib.rs
@@ -7,7 +7,7 @@ use alloc::string::ToString;
 use awkernel_async_lib::sleep;
 use awkernel_async_lib::{scheduler::SchedulerType, spawn};
 use awkernel_lib::{
-    cpu::{cpu_id, num_cpu, CpuSet},
+    cpu::{all_workers, cpu_id, num_cpu, CpuSet},
     delay::{uptime, wait_microsec},
 };
 use core::time::Duration;
@@ -24,6 +24,7 @@ pub async fn run() {
     test_cluster_affinity().await;
     test_edf_preemption().await;
     test_multi_core().await;
+    test_empty_set_fallback().await;
 
     wait_microsec(100_000_000);
 }
@@ -106,6 +107,38 @@ async fn test_multi_core() {
     spawn_periodic_task("task_core2".to_string(), 4_000_000, 5_000_000, 4_900_000, 2).await;
 }
 
+/// Test 5: Verify the spawn-time fallback for invalid CPU sets.
+/// An empty set, or a set naming only out-of-range cores, is normalized to
+/// an empty worker set and falls back to all worker cores instead of being
+/// rejected, so the task still runs — and never on CPU 0.
+async fn test_empty_set_fallback() {
+    log::info!("=== test_empty_set_fallback start ===");
+    let workers = all_workers(num_cpu());
+
+    // (a) an empty set, (b) a set whose only core is out of range.
+    let invalid_sets = [CpuSet::empty(), CpuSet::empty().with(num_cpu())];
+    for (i, set) in invalid_sets.into_iter().enumerate() {
+        spawn(
+            alloc::format!("fallback_{i}").into(),
+            async move {
+                for _ in 0..3 {
+                    let actual = cpu_id();
+                    if actual != 0 && workers.contains(actual) {
+                        log::info!("empty_set_fallback: case {i} ran on worker cpu {actual} [OK]");
+                    } else {
+                        log::error!("empty_set_fallback: case {i} ran on cpu {actual} [FAIL]");
+                    }
+                    wait_microsec(100_000);
+                    sleep(Duration::from_millis(200)).await;
+                    awkernel_async_lib::r#yield().await;
+                }
+            },
+            SchedulerType::ClusteredEDF(1_000_000, set),
+        )
+        .await;
+    }
+}
+
 /// Spawn a pseudo-periodic task pinned to `core`.
 async fn spawn_periodic_task(
     task_name: String,
diff --git a/awkernel_async_lib/src/scheduler.rs b/awkernel_async_lib/src/scheduler.rs
index 4f159f20b..24f8754ff 100644
--- a/awkernel_async_lib/src/scheduler.rs
+++ b/awkernel_async_lib/src/scheduler.rs
@@ -73,8 +73,16 @@ pub fn move_preemption_pending(cpu_id: usize) -> Option>> {
 /// 0 is the lowest priority and 31 is the highest priority.
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum SchedulerType {
-    ClusteredEDF(u64, CpuSet), // relative deadline and CPU affinity set
-    GEDF(u64),                 // relative deadline
+    /// Clustered EDF: `(relative_deadline, cpu_set)`.
+    ///
+    /// `cpu_set` is the set of cores the task may run on. It is normalized at
+    /// spawn time: CPU 0 (the primary core) and any out-of-range bits are
+    /// removed. If normalization leaves the set empty — e.g. an empty set, or
+    /// one naming only CPU 0 or out-of-range cores — the task is **not**
+    /// rejected; it falls back to all worker cores (`1..num_cpu()`) with a
+    /// warning.
+    ClusteredEDF(u64, CpuSet),
+    GEDF(u64), // relative deadline
     PrioritizedFIFO(u8),
     PrioritizedRR(u8),
     Panicked,
diff --git a/mdbook/src/internal/scheduler.md b/mdbook/src/internal/scheduler.md
index 4b4de08ff..30c9fb504 100644
--- a/mdbook/src/internal/scheduler.md
+++ b/mdbook/src/internal/scheduler.md
@@ -78,7 +78,7 @@ The scheduler holds a single affinity-aware priority queue, [`AffinityBTreeQueue
 
 When a task is enqueued via `wake_task()`, the scheduler reads the `SchedulerType::ClusteredEDF(relative_deadline, cpu_set)` attached to the task and calculates the absolute deadline as `uptime + relative_deadline`. If the task is part of a DAG, `calculate_and_update_dag_deadline()` (shared with the GEDF scheduler) is used instead to propagate deadlines through the DAG. The task is then pushed into the queue with its `cpu_set` as the affinity mask. Preemption is handled via `invoke_preemption()`: if no core in the set is idle and the task is not already running, the core running the lowest-priority task among the set is chosen, and an IPI is sent to it when the newly enqueued task has an earlier deadline than the task currently running (or pending preemption) on that core.
 
-`get_next()` pops the earliest-deadline task whose `cpu_set` contains the calling CPU (`pop_for_cpu`), so a task is only ever dequeued by a core within its set. This guarantees CPU affinity. CPU 0 (the primary core) is always excluded from `cpu_set` when a task is spawned.
+`get_next()` pops the earliest-deadline task whose `cpu_set` contains the calling CPU (`pop_for_cpu`), so a task is only ever dequeued by a core within its set. This guarantees CPU affinity. CPU 0 (the primary core) is always excluded from `cpu_set` when a task is spawned. The `cpu_set` is normalized at spawn time by removing CPU 0 and out-of-range bits; if this leaves the set empty (for example an empty set, or one naming only CPU 0 or out-of-range cores), the task is not rejected but falls back to all worker cores (`1..num_cpu()`) with a warning.
 
 Bookkeeping for sleeping workers uses two pieces of state. A single global counter (`NUM_CLUSTERED_TASKS_IN_QUEUE`) tracks how many tasks are queued across all clustered schedulers; it is maintained by the `ClusteredTask` RAII wrapper (incremented on enqueue, decremented exactly once on dequeue or drop) and lets `get_next_task()` skip the clustered schedulers entirely when it is zero. The per-CPU information — which CPUs actually have an eligible task queued — is not duplicated in counters: it is read directly from the run queue, whose B-tree root already maintains the OR of all queued affinities (`affinity_mask()`, O(1)). `wake_workers()` obtains this set via `Scheduler::queued_cpu_mask()` (unioned over all clustered schedulers by `clustered_queued_cpu_mask()`) and wakes exactly the cores that have an eligible clustered task.
 

From 7443459d66560bf229c3eccfa5387c715a46d426 Mon Sep 17 00:00:00 2001
From: Yuuki Takano 
Date: Wed, 22 Jul 2026 11:51:18 +0900
Subject: [PATCH 11/15] feat(cpu): enforce num_cpu() >= 2 at boot

Awkernel reserves CPU 0 as the primary core and runs tasks only on the
worker cores 1..num_cpu(); with a single CPU there is no worker core and
no task can ever be scheduled. Add cpu::sanity_check() (called from
sanity::check() on the primary CPU after set_num_cpu) that panics with a
clear message if num_cpu() < 2, making the invariant a single source of
truth instead of surfacing as a confusing downstream panic.

This makes the ClusteredEDF empty-set fallback's num_cpu()-1 message
always valid (previously "between 1 and 0" when num_cpu()==1) and its
all_workers(num_cpu()) fallback always non-empty.

Co-Authored-By: Claude Fable 5 
Signed-off-by: Yuuki Takano 
---
 awkernel_async_lib/src/task.rs |  2 ++
 awkernel_lib/src/cpu.rs        | 18 ++++++++++++++++++
 awkernel_lib/src/sanity.rs     |  3 ++-
 3 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs
index 7c241ccec..589a99915 100644
--- a/awkernel_async_lib/src/task.rs
+++ b/awkernel_async_lib/src/task.rs
@@ -293,6 +293,8 @@ impl Tasks {
                     // CPU 0 is the primary core and cannot run clustered tasks.
                     let masked = masked_workers(set, num_cpu());
                     let normalized = if masked.is_empty() {
+                        // `cpu::sanity_check()` guarantees num_cpu() >= 2 at boot,
+                        // so `all_workers(num_cpu())` below is always non-empty.
                         log::warn!(
                             "The CPU set must contain at least one core between 1 and {}. Falling back to all worker cores. Given set: {:?}",
                             num_cpu() - 1,
diff --git a/awkernel_lib/src/cpu.rs b/awkernel_lib/src/cpu.rs
index 0f674c10d..2ff5b13ce 100644
--- a/awkernel_lib/src/cpu.rs
+++ b/awkernel_lib/src/cpu.rs
@@ -74,6 +74,24 @@ pub fn num_cpu() -> usize {
     NUM_CPU.load(Ordering::Relaxed)
 }
 
+/// Verify the CPU count invariant during kernel initialization.
+///
+/// Awkernel reserves CPU 0 as the primary core and runs tasks on the worker
+/// cores `1..num_cpu()`, so it requires at least two CPUs: with a single CPU
+/// there is no worker core and no task can ever be scheduled. This panics if
+/// the invariant does not hold, making `num_cpu() >= 2` a guarantee for the
+/// rest of the kernel.
+///
+/// Must be called on the primary CPU after [`set_num_cpu`].
+pub fn sanity_check() {
+    let n = num_cpu();
+    assert!(
+        n >= 2,
+        "Awkernel requires at least 2 CPUs (primary core 0 plus at least one worker core), but num_cpu() = {n}"
+    );
+    log::info!("cpu: {n} CPUs available ({} worker cores).", n - 1);
+}
+
 pub trait SleepCpu {
     /// Sleep current CPU.
     fn sleep(&self, timeout: Option);
diff --git a/awkernel_lib/src/sanity.rs b/awkernel_lib/src/sanity.rs
index 1ca289f07..75d046c2b 100644
--- a/awkernel_lib/src/sanity.rs
+++ b/awkernel_lib/src/sanity.rs
@@ -1,6 +1,7 @@
-use crate::{interrupt, timer};
+use crate::{cpu, interrupt, timer};
 
 pub fn check() {
+    cpu::sanity_check();
     interrupt::sanity_check();
     timer::sanity_check();
 }

From eab6c54ae63f24599a099d0b45629728a8c79e64 Mon Sep 17 00:00:00 2001
From: Yuuki Takano 
Date: Wed, 22 Jul 2026 12:11:02 +0900
Subject: [PATCH 12/15] perf(sched): take &SchedulerType in
 get_scheduler/get_priority

SchedulerType embeds a CpuSet and is large, so passing it by value made
the find_map in get_next_task copy the full payload out of each list
entry on every iteration even though only the discriminant is matched.
Take &SchedulerType instead; callers pass references (the static SCHEDULER
initializers rely on const promotion of the borrowed temporary).

Co-Authored-By: Claude Fable 5 
Signed-off-by: Yuuki Takano 
---
 awkernel_async_lib/src/scheduler.rs              | 16 ++++++++++------
 .../src/scheduler/clustered_edf.rs               |  2 +-
 awkernel_async_lib/src/scheduler/gedf.rs         |  2 +-
 awkernel_async_lib/src/scheduler/panicked.rs     |  2 +-
 .../src/scheduler/prioritized_fifo.rs            |  2 +-
 .../src/scheduler/prioritized_rr.rs              |  2 +-
 awkernel_async_lib/src/task.rs                   |  2 +-
 7 files changed, 16 insertions(+), 12 deletions(-)

diff --git a/awkernel_async_lib/src/scheduler.rs b/awkernel_async_lib/src/scheduler.rs
index 24f8754ff..5509d82e2 100644
--- a/awkernel_async_lib/src/scheduler.rs
+++ b/awkernel_async_lib/src/scheduler.rs
@@ -221,7 +221,7 @@ pub(crate) trait Scheduler {
 pub(crate) fn clustered_queued_cpu_mask() -> CpuSet {
     let mut mask = CpuSet::empty();
     for scheduler_type in &PRIORITY_LIST[..get_num_clustered_schedulers()] {
-        mask = mask.union(get_scheduler(*scheduler_type).queued_cpu_mask());
+        mask = mask.union(get_scheduler(scheduler_type).queued_cpu_mask());
     }
     mask
 }
@@ -240,7 +240,7 @@ pub(crate) fn get_next_task(execution_ensured: bool) -> Option> {
     if num_clustered_tasks > 0 {
         let task = PRIORITY_LIST[..get_num_clustered_schedulers()]
             .iter()
-            .find_map(|&scheduler_type| get_scheduler(scheduler_type).get_next(execution_ensured));
+            .find_map(|scheduler_type| get_scheduler(scheduler_type).get_next(execution_ensured));
 
         // The counter is decremented by the ClusteredTask::take() call inside
         // get_next() (Drop is a no-op once take() has run).
@@ -251,7 +251,7 @@ pub(crate) fn get_next_task(execution_ensured: bool) -> Option> {
 
     let task = PRIORITY_LIST
         .iter()
-        .find_map(|&scheduler_type| get_scheduler(scheduler_type).get_next(execution_ensured));
+        .find_map(|scheduler_type| get_scheduler(scheduler_type).get_next(execution_ensured));
 
     if task.is_some() {
         crate::task::NUM_TASK_IN_QUEUE.fetch_sub(1, Ordering::Relaxed);
@@ -261,7 +261,11 @@ pub(crate) fn get_next_task(execution_ensured: bool) -> Option> {
 }
 
 /// Get a scheduler.
-pub(crate) fn get_scheduler(sched_type: SchedulerType) -> &'static dyn Scheduler {
+///
+/// Takes `&SchedulerType` so the caller does not copy the full payload (the
+/// embedded `CpuSet` makes `SchedulerType` large); only the discriminant is
+/// matched.
+pub(crate) fn get_scheduler(sched_type: &SchedulerType) -> &'static dyn Scheduler {
     match sched_type {
         SchedulerType::PrioritizedFIFO(_) => &prioritized_fifo::SCHEDULER,
         SchedulerType::PrioritizedRR(_) => &prioritized_rr::SCHEDULER,
@@ -271,10 +275,10 @@ pub(crate) fn get_scheduler(sched_type: SchedulerType) -> &'static dyn Scheduler
     }
 }
 
-pub const fn get_priority(sched_type: SchedulerType) -> u8 {
+pub const fn get_priority(sched_type: &SchedulerType) -> u8 {
     let mut index = 0;
     while index < PRIORITY_LIST.len() {
-        if PRIORITY_LIST[index].equals(&sched_type) {
+        if PRIORITY_LIST[index].equals(sched_type) {
             return (PRIORITY_LIST.len() - 1 - index) as u8;
         }
         index += 1;
diff --git a/awkernel_async_lib/src/scheduler/clustered_edf.rs b/awkernel_async_lib/src/scheduler/clustered_edf.rs
index e0d9e62e6..d4228965f 100644
--- a/awkernel_async_lib/src/scheduler/clustered_edf.rs
+++ b/awkernel_async_lib/src/scheduler/clustered_edf.rs
@@ -147,7 +147,7 @@ impl Scheduler for ClusteredEDFScheduler {
 
 pub static SCHEDULER: ClusteredEDFScheduler = ClusteredEDFScheduler {
     data: Mutex::new(None),
-    priority: get_priority(SchedulerType::ClusteredEDF(0, CpuSet::empty())),
+    priority: get_priority(&SchedulerType::ClusteredEDF(0, CpuSet::empty())),
 };
 
 impl ClusteredEDFScheduler {
diff --git a/awkernel_async_lib/src/scheduler/gedf.rs b/awkernel_async_lib/src/scheduler/gedf.rs
index 09ec0d4f3..dd5029051 100644
--- a/awkernel_async_lib/src/scheduler/gedf.rs
+++ b/awkernel_async_lib/src/scheduler/gedf.rs
@@ -149,7 +149,7 @@ impl Scheduler for GEDFScheduler {
 
 pub static SCHEDULER: GEDFScheduler = GEDFScheduler {
     data: Mutex::new(None),
-    priority: get_priority(SchedulerType::GEDF(0)),
+    priority: get_priority(&SchedulerType::GEDF(0)),
 };
 
 impl GEDFScheduler {
diff --git a/awkernel_async_lib/src/scheduler/panicked.rs b/awkernel_async_lib/src/scheduler/panicked.rs
index eb27bff8c..e25d907d3 100644
--- a/awkernel_async_lib/src/scheduler/panicked.rs
+++ b/awkernel_async_lib/src/scheduler/panicked.rs
@@ -88,5 +88,5 @@ impl Scheduler for PanickedScheduler {
 
 pub static SCHEDULER: PanickedScheduler = PanickedScheduler {
     data: Mutex::new(None),
-    priority: get_priority(SchedulerType::Panicked),
+    priority: get_priority(&SchedulerType::Panicked),
 };
diff --git a/awkernel_async_lib/src/scheduler/prioritized_fifo.rs b/awkernel_async_lib/src/scheduler/prioritized_fifo.rs
index da125cf3b..c9930a81c 100644
--- a/awkernel_async_lib/src/scheduler/prioritized_fifo.rs
+++ b/awkernel_async_lib/src/scheduler/prioritized_fifo.rs
@@ -148,5 +148,5 @@ impl PrioritizedFIFOScheduler {
 
 pub static SCHEDULER: PrioritizedFIFOScheduler = PrioritizedFIFOScheduler {
     data: Mutex::new(None),
-    priority: get_priority(SchedulerType::PrioritizedFIFO(0)),
+    priority: get_priority(&SchedulerType::PrioritizedFIFO(0)),
 };
diff --git a/awkernel_async_lib/src/scheduler/prioritized_rr.rs b/awkernel_async_lib/src/scheduler/prioritized_rr.rs
index d06b3fe63..8a1335bbb 100644
--- a/awkernel_async_lib/src/scheduler/prioritized_rr.rs
+++ b/awkernel_async_lib/src/scheduler/prioritized_rr.rs
@@ -115,7 +115,7 @@ pub static SCHEDULER: PrioritizedRRScheduler = PrioritizedRRScheduler {
     // Time quantum (4 ms)
     interval: 4_000,
     data: Mutex::new(None),
-    priority: get_priority(SchedulerType::PrioritizedRR(0)),
+    priority: get_priority(&SchedulerType::PrioritizedRR(0)),
 };
 
 impl PrioritizedRRScheduler {
diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs
index 589a99915..760ca2a04 100644
--- a/awkernel_async_lib/src/task.rs
+++ b/awkernel_async_lib/src/task.rs
@@ -435,7 +435,7 @@ pub fn inner_spawn(
 
     let future = future.boxed();
 
-    let scheduler = get_scheduler(sched_type);
+    let scheduler = get_scheduler(&sched_type);
 
     let mut node = MCSNode::new();
     let mut tasks = TASKS.lock(&mut node);

From 2b1efe0a23bce5c7b06b54f8f66ba549ddc187f5 Mon Sep 17 00:00:00 2001
From: Yuuki Takano 
Date: Wed, 22 Jul 2026 12:22:49 +0900
Subject: [PATCH 13/15] refactor(sched): mark ClusteredEDF wake-time set check
 as unreachable

The invalid-set check in wake_task is an internal-invariant assertion,
not error handling: Tasks::spawn is the single point that validates and
normalizes the CPU set, so reaching wake_task with an invalid set is an
internal bug. Use unreachable! (matching the existing unreachable!() in
the same function) with a comment naming spawn as the guarantor, so the
fail-loud intent is explicit.

Co-Authored-By: Claude Fable 5 
Signed-off-by: Yuuki Takano 
---
 awkernel_async_lib/src/scheduler/clustered_edf.rs | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/awkernel_async_lib/src/scheduler/clustered_edf.rs b/awkernel_async_lib/src/scheduler/clustered_edf.rs
index d4228965f..f26250b47 100644
--- a/awkernel_async_lib/src/scheduler/clustered_edf.rs
+++ b/awkernel_async_lib/src/scheduler/clustered_edf.rs
@@ -62,11 +62,13 @@ impl Scheduler for ClusteredEDFScheduler {
             }
         };
 
-        // `Tasks::spawn` normalizes the set to worker cores (1..num_cpu()),
-        // so an invalid set here is an internal invariant violation.
-        let cpu_set = task.cpu_set.expect("Task has no CPU set");
+        // `Tasks::spawn` is the single point that validates and normalizes the
+        // set (masking to worker cores, falling back to all workers when empty).
+        // Reaching here with an invalid set means that invariant was violated
+        // internally, so fail loud rather than enqueue an unrunnable task.
+        let cpu_set = task.cpu_set.expect("ClusteredEDF task has no CPU set");
         if cpu_set.is_empty() || masked_workers(cpu_set, num_cpu()) != cpu_set {
-            panic!("ClusteredEDF: CPU set {cpu_set:?} is out of range");
+            unreachable!("ClusteredEDF: cpu_set {cpu_set:?} was not normalized by spawn");
         }
 
         let mut node = MCSNode::new();

From 5301ca29aef174880e1b68640fd8191b8feffc50 Mon Sep 17 00:00:00 2001
From: Yuuki Takano 
Date: Wed, 22 Jul 2026 12:34:57 +0900
Subject: [PATCH 14/15] build(deps): vendor affinity_btree_queue as a workspace
 member

Bring the scheduler's core queue in-tree (like smoltcp) instead of
depending on the floating crates.io "0.1.1", which with the gitignored
Cargo.lock would resolve to any future 0.1.x of a single-author crate on
every clean build. awkernel_lib/awkernel_async_lib now use
`path = "../affinity_btree_queue"`, pinning the exact reviewed source and
removing the external fetch. Its unit tests run via a new
test_affinity_btree_queue alias wired into `make test`.

Only the library is vendored (Cargo.toml, README, src); the upstream repo
keeps the dev-only spec/reference material and remains the crates.io
source.

Co-Authored-By: Claude Fable 5 
Signed-off-by: Yuuki Takano 
---
 .cargo/config.toml                |    1 +
 Cargo.toml                        |    1 +
 Makefile                          |    1 +
 affinity_btree_queue/Cargo.toml   |   12 +
 affinity_btree_queue/README.md    |  159 ++++
 affinity_btree_queue/src/lib.rs   | 1325 +++++++++++++++++++++++++++++
 affinity_btree_queue/src/tests.rs | 1080 +++++++++++++++++++++++
 awkernel_async_lib/Cargo.toml     |    2 +-
 awkernel_lib/Cargo.toml           |    2 +-
 9 files changed, 2581 insertions(+), 2 deletions(-)
 create mode 100644 affinity_btree_queue/Cargo.toml
 create mode 100644 affinity_btree_queue/README.md
 create mode 100644 affinity_btree_queue/src/lib.rs
 create mode 100644 affinity_btree_queue/src/tests.rs

diff --git a/.cargo/config.toml b/.cargo/config.toml
index 8aa9a4f69..c00cc477c 100644
--- a/.cargo/config.toml
+++ b/.cargo/config.toml
@@ -9,6 +9,7 @@ test_awkernel_lib = "test --package awkernel_lib --no-default-features --feature
 test_awkernel_async_lib = "test --package awkernel_async_lib --no-default-features --features std"
 test_awkernel_drivers = "test --package awkernel_drivers --no-default-features --features std"
 test_smoltcp = "test --package smoltcp --no-default-features --features std --features awkernel"
+test_affinity_btree_queue = "test --package affinity_btree_queue"
 test_rd_gen_to_dags = "test --package rd_gen_to_dags --no-default-features --features std --features milliseconds"
 
 clippy_x86 = "clippy --package awkernel --no-default-features --features x86 --target targets/x86_64-kernel.json -Zbuild-std=core,alloc,compiler_builtins -Zbuild-std-features=compiler-builtins-mem -Zjson-target-spec"
diff --git a/Cargo.toml b/Cargo.toml
index 3e46c056e..65a89b195 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -2,6 +2,7 @@
 
 [workspace]
 members = [
+    "affinity_btree_queue",
     "kernel",
     "userland",
     "x86bootdisk",
diff --git a/Makefile b/Makefile
index 545b4099e..0f95beb9c 100644
--- a/Makefile
+++ b/Makefile
@@ -259,6 +259,7 @@ test: FORCE
 	cargo test_awkernel_async_lib -- --nocapture
 	cargo test_awkernel_drivers
 	cargo test_smoltcp
+	cargo test_affinity_btree_queue
 	cargo test_rd_gen_to_dags
 
 # Format
diff --git a/affinity_btree_queue/Cargo.toml b/affinity_btree_queue/Cargo.toml
new file mode 100644
index 000000000..ed0444f1a
--- /dev/null
+++ b/affinity_btree_queue/Cargo.toml
@@ -0,0 +1,12 @@
+[package]
+name = "affinity_btree_queue"
+version = "0.1.1"
+edition = "2024"
+license = "MIT OR Apache-2.0"
+description = "An affinity-aware priority queue backed by an augmented classical (CLRS-style) B-tree."
+readme = "README.md"
+keywords = ["no-std", "priority-queue"]
+categories = ["data-structures"]
+repository = "https://github.com/ytakano/affinity_btree_queue"
+
+[dependencies]
diff --git a/affinity_btree_queue/README.md b/affinity_btree_queue/README.md
new file mode 100644
index 000000000..19bd664c4
--- /dev/null
+++ b/affinity_btree_queue/README.md
@@ -0,0 +1,159 @@
+# Affinity BTree Queue
+
+An affinity-aware priority queue backed by an augmented classical (CLRS-style) B-tree, written in Rust.
+
+Each entry carries `(priority, affinity: CpuMask, value)`.
+`pop_for_cpu(cpu)` returns the highest-priority entry whose affinity includes that CPU in O(log N),
+making it suitable for task schedulers where tasks are pinned to specific CPUs.
+
+## Features
+
+- **Affinity-aware scheduling** — every node stores the OR of all affinities in its subtree;
+  `pop_for_cpu` prunes ineligible subtrees in a single traversal
+- **`no_std` + `alloc`** — works in embedded and OS-kernel environments
+- **O(log N)** push / pop / remove via an arena-based augmented B-tree
+- **Generic priority** — any `P: Ord`; smaller value = higher priority;
+  use `core::cmp::Reverse` for max-first order
+- **Configurable CPU count** — `CpuMask` supports up to `N × 64` CPUs
+  (default `N = 1` → 64 CPUs, `N = 2` → 128 CPUs, …)
+- **No unsafe code** — `#![forbid(unsafe_code)]`
+
+## Usage
+
+Add the crate to `Cargo.toml`:
+
+```toml
+[dependencies]
+affinity_btree_queue = { path = "..." }
+```
+
+### Basic example
+
+```rust
+use affinity_btree_queue::{AffinityBTreeQueue, CpuMask};
+
+// Create a queue for a 4-CPU system.
+// Smaller priority value = higher priority.
+let mut q: AffinityBTreeQueue = AffinityBTreeQueue::new(4);
+
+// Build CPU affinity masks.
+let mut cpu0 = CpuMask::empty();
+cpu0.insert(0);
+
+let mut cpu12 = CpuMask::empty();
+cpu12.insert(1);
+cpu12.insert(2);
+
+let mut all = CpuMask::empty();
+for c in 0..4 { all.insert(c); }
+
+// push returns a PriorityKey handle that can be passed to remove() later.
+q.push(10, all,   "low priority, any CPU").unwrap();
+q.push(5,  cpu12, "medium, CPUs 1-2 only").unwrap();
+q.push(1,  cpu0,  "high priority, CPU 0 only").unwrap();
+
+// pop_for_cpu returns the highest-priority entry runnable on the given CPU.
+let (_, _, v) = q.pop_for_cpu(0).unwrap();
+assert_eq!(v, "high priority, CPU 0 only"); // priority=1
+
+// The cpu12 entry (priority=5) is not runnable on CPU 0, so priority=10 is next.
+let (_, _, v) = q.pop_for_cpu(0).unwrap();
+assert_eq!(v, "low priority, any CPU");     // priority=10
+
+// CPU 1 can run the cpu12 entry (priority=5).
+let (_, _, v) = q.pop_for_cpu(1).unwrap();
+assert_eq!(v, "medium, CPUs 1-2 only");     // priority=5
+```
+
+### Max-first ordering with `Reverse`
+
+```rust
+use affinity_btree_queue::{AffinityBTreeQueue, CpuMask};
+use core::cmp::Reverse;
+
+let mut q: AffinityBTreeQueue, u32> = AffinityBTreeQueue::new(1);
+let mut m = CpuMask::empty();
+m.insert(0);
+q.push(Reverse(1),   m, 1).unwrap();
+q.push(Reverse(100), m, 100).unwrap();
+
+// Reverse(100) < Reverse(1), so the numerically larger value dequeues first.
+let (_, _, v) = q.pop_for_cpu(0).unwrap();
+assert_eq!(v, 100);
+```
+
+## API overview
+
+### `AffinityBTreeQueue`
+
+| Method | Description |
+|--------|-------------|
+| `new(num_cpus)` | Create an empty queue for CPUs `0..num_cpus` |
+| `push(priority, affinity, value)` | Insert an entry; returns a `PriorityKey` handle |
+| `pop_for_cpu(cpu)` | Remove and return the highest-priority entry runnable on `cpu` |
+| `peek_key_for_cpu(cpu)` | Return the key of the best entry for `cpu` without removing it |
+| `remove(&key)` | Remove an entry by its `PriorityKey` |
+| `len()` / `is_empty()` | Entry count |
+| `num_cpus()` | Configured CPU count |
+
+Type parameters: `P: Ord` (priority), `V` (value), `T` (B-tree minimum degree, default 16),
+`N` (words in `CpuMask`, default 1).
+
+### `CpuMask`
+
+| Method | Description |
+|--------|-------------|
+| `empty()` | All-zero mask |
+| `insert(cpu)` | Set the bit for `cpu` |
+| `contains(cpu)` | Test whether `cpu` is set |
+| `union(other)` | Bitwise OR of two masks |
+| `from_bits_truncate(bits)` | Construct from a raw `u64` (word 0) |
+
+### `PushError`
+
+| Variant | Meaning |
+|---------|---------|
+| `EmptyAffinity` | `affinity` has no bits set |
+| `InvalidCpu` | `affinity` has a bit set for a CPU ≥ `num_cpus` |
+| `SequenceOverflow` | Internal sequence counter exhausted (2⁶⁴ pushes) |
+
+## Building and testing
+
+```bash
+cargo build
+cargo test        # unit tests + randomized property tests + doctests
+```
+
+Tests compare every operation against a simple `Vec`-based reference model and verify
+all B-tree structural invariants (key order, subtree affinity summaries, leaf depth
+uniformity, entry count) after every mutation.
+
+## Implementation notes
+
+- The tree is an **arena-based augmented B-tree** (`Vec>` + free list).
+  Node IDs are stable indices; the arena is never compacted.
+- Every node stores **`subtree_affinity`** = OR of all entry affinities in its subtree.
+  `pop_for_cpu` uses this summary to skip entire subtrees with no eligible entry.
+- Ordering is by **`(priority, seq)`** — the monotonically increasing `seq` counter
+  makes every key unique, so no two entries ever compare equal.
+- Priority / affinity updates are **remove + re-insert**; no in-place mutation of keys.
+- Deletion is **top-down**: before descending into a child, the algorithm ensures it has
+  ≥ T entries (borrowing from a sibling or merging), so underflow never propagates upward.
+
+## License
+
+This project is licensed under either of
+
+- Apache License, Version 2.0
+- MIT license
+
+at your option.
+
+## Test Coverage
+
+[coverage.txt](coverage.txt) contains line-by-line coverage data from `cargo llvm-cov` for the latest test run.
+
+```bash
+cargo llvm-cov --workspace --all-features --text --output-path coverage.txt
+cargo llvm-cov --workspace --all-features --lcov --output-path lcov.info
+```
diff --git a/affinity_btree_queue/src/lib.rs b/affinity_btree_queue/src/lib.rs
new file mode 100644
index 000000000..39200abf1
--- /dev/null
+++ b/affinity_btree_queue/src/lib.rs
@@ -0,0 +1,1325 @@
+//! Affinity-aware priority queue backed by an augmented classical (CLRS-style) B-tree.
+//!
+//! Each entry carries `(priority, affinity: CpuMask, value)`. The tree is ordered
+//! solely by `PriorityKey
       = (priority, seq)`, where `seq` is a unique tie-breaker.
+//! Every node stores `subtree_affinity`, the OR of all entry affinities in its
+//! subtree, which lets `peek_key_for_cpu`/`pop_for_cpu` skip subtrees with no
+//! entry runnable on the requested CPU. Smaller priority value = higher priority;
+//! wrap with `core::cmp::Reverse` for the opposite order.
+//!
+//! # Quick start
+//!
+//! ```
+//! use affinity_btree_queue::{AffinityBTreeQueue, CpuMask};
+//!
+//! // Create a queue for a 4-CPU system.
+//! // Smaller priority value = higher priority.
+//! // Use `core::cmp::Reverse` if you want larger values to dequeue first.
+//! let mut q: AffinityBTreeQueue = AffinityBTreeQueue::new(4);
+//!
+//! // Build CPU affinity masks.
+//! let mut cpu0 = CpuMask::empty();
+//! cpu0.insert(0);
+//!
+//! let mut cpu12 = CpuMask::empty();
+//! cpu12.insert(1);
+//! cpu12.insert(2);
+//!
+//! let mut all = CpuMask::empty();
+//! for c in 0..4 { all.insert(c); }
+//!
+//! // push returns a PriorityKey handle that can be passed to remove() later.
+//! q.push(10, all,   "low priority, any CPU").unwrap();
+//! q.push(5,  cpu12, "medium, CPUs 1-2 only").unwrap();
+//! q.push(1,  cpu0,  "high priority, CPU 0 only").unwrap();
+//!
+//! // pop_for_cpu(cpu) returns the highest-priority (lowest value) entry
+//! // whose affinity includes the given CPU.
+//! let (_, _, v) = q.pop_for_cpu(0).unwrap();
+//! assert_eq!(v, "high priority, CPU 0 only"); // priority=1
+//!
+//! // The cpu12 entry (priority=5) is not runnable on CPU 0, so priority=10 is next.
+//! let (_, _, v) = q.pop_for_cpu(0).unwrap();
+//! assert_eq!(v, "low priority, any CPU");     // priority=10
+//!
+//! // CPU 1 can run the cpu12 entry (priority=5).
+//! let (_, _, v) = q.pop_for_cpu(1).unwrap();
+//! assert_eq!(v, "medium, CPUs 1-2 only");     // priority=5
+//! ```
+//!
+//! # Max-first ordering with `Reverse`
+//!
+//! ```
+//! use affinity_btree_queue::{AffinityBTreeQueue, CpuMask};
+//! use core::cmp::Reverse;
+//!
+//! let mut q: AffinityBTreeQueue, u32> = AffinityBTreeQueue::new(1);
+//! let mut m = CpuMask::empty();
+//! m.insert(0);
+//! q.push(Reverse(1),   m, 1).unwrap();
+//! q.push(Reverse(100), m, 100).unwrap();
+//!
+//! // Reverse(100) < Reverse(1), so the numerically larger value dequeues first.
+//! let (_, _, v) = q.pop_for_cpu(0).unwrap();
+//! assert_eq!(v, 100);
+//! ```
+
+#![no_std]
+#![forbid(unsafe_code)]
+
+extern crate alloc;
+
+use alloc::vec::Vec;
+use core::cmp::Ordering;
+use core::mem;
+
+/// Default B-tree minimum degree for production builds.
+pub const DEFAULT_MIN_DEGREE: usize = 16;
+
+/// Sequence number type used as a unique tie-breaker for entries with the same
+/// priority.
+pub type Seq = u64;
+
+/// CPU affinity bitmask backed by `N` 64-bit words, supporting up to `N * 64`
+/// CPUs. `CpuMask<1>` (the default) supports up to 64 CPUs; `CpuMask<2>`
+/// supports up to 128, etc.
+///
+/// All constructors and bit operations are `const fn`, so masks can be built
+/// in `const`/`static` initializers with the chainable [`with`](Self::with)
+/// builder.
+///
+/// # Examples
+///
+/// ```
+/// use affinity_btree_queue::CpuMask;
+///
+/// let mut m: CpuMask = CpuMask::empty();
+/// m.insert(0);
+/// m.insert(3);
+/// assert!(m.contains(0));
+/// assert!(m.contains(3));
+/// assert!(!m.contains(1));
+///
+/// // Construct directly from a bitmask.
+/// let m2: CpuMask = CpuMask::from_bits_truncate(0b1001); // CPU 0 and 3
+/// assert_eq!(m, m2);
+///
+/// // Construct in a const context.
+/// const M3: CpuMask = CpuMask::empty().with(0).with(3);
+/// assert_eq!(M3, m);
+/// ```
+#[derive(Clone, Copy, Debug, PartialEq, Eq)]
+pub struct CpuMask([u64; N]);
+
+impl CpuMask {
+    pub const fn empty() -> Self {
+        CpuMask([0u64; N])
+    }
+
+    /// Creates a mask with all `N * 64` bits set.
+    ///
+    /// Combine with [`masked_below`](Self::masked_below) to build "all CPUs
+    /// of an `n`-CPU system" masks.
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::CpuMask;
+    /// let m: CpuMask<2> = CpuMask::all();
+    /// assert!(m.contains(0));
+    /// assert!(m.contains(127));
+    /// ```
+    pub const fn all() -> Self {
+        CpuMask([u64::MAX; N])
+    }
+
+    pub const fn is_empty(self) -> bool {
+        let mut i = 0;
+        while i < N {
+            if self.0[i] != 0 {
+                return false;
+            }
+            i += 1;
+        }
+        true
+    }
+
+    pub const fn contains(self, cpu: usize) -> bool {
+        let word = cpu / 64;
+        let bit = cpu % 64;
+        word < N && (self.0[word] >> bit) & 1 == 1
+    }
+
+    pub const fn union(self, other: Self) -> Self {
+        let mut result = [0u64; N];
+        let mut i = 0;
+        while i < N {
+            result[i] = self.0[i] | other.0[i];
+            i += 1;
+        }
+        CpuMask(result)
+    }
+
+    /// Sets the bit for `cpu`. Panics if `cpu >= N * 64`.
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::CpuMask;
+    /// let mut m: CpuMask = CpuMask::empty();
+    /// m.insert(0);
+    /// m.insert(63);
+    /// assert!(m.contains(0));
+    /// assert!(m.contains(63));
+    /// assert!(!m.contains(1));
+    /// ```
+    pub const fn insert(&mut self, cpu: usize) {
+        assert!(cpu < N * 64, "CPU index out of CpuMask range");
+        self.0[cpu / 64] |= 1u64 << (cpu % 64);
+    }
+
+    /// Clears the bit for `cpu`. Panics if `cpu >= N * 64`.
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::CpuMask;
+    /// let mut m: CpuMask = CpuMask::from_bits_truncate(0b11);
+    /// m.remove(0);
+    /// assert!(!m.contains(0));
+    /// assert!(m.contains(1));
+    /// ```
+    pub const fn remove(&mut self, cpu: usize) {
+        assert!(cpu < N * 64, "CPU index out of CpuMask range");
+        self.0[cpu / 64] &= !(1u64 << (cpu % 64));
+    }
+
+    /// Chainable version of [`insert`](Self::insert): returns a copy of the
+    /// mask with the bit for `cpu` set. Panics if `cpu >= N * 64`.
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::CpuMask;
+    /// const M: CpuMask = CpuMask::empty().with(1).with(2);
+    /// assert!(!M.contains(0));
+    /// assert!(M.contains(1));
+    /// assert!(M.contains(2));
+    /// ```
+    pub const fn with(mut self, cpu: usize) -> Self {
+        self.insert(cpu);
+        self
+    }
+
+    /// Chainable version of [`remove`](Self::remove): returns a copy of the
+    /// mask with the bit for `cpu` cleared. Panics if `cpu >= N * 64`.
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::CpuMask;
+    /// const M: CpuMask = CpuMask::all().without(0);
+    /// assert!(!M.contains(0));
+    /// assert!(M.contains(1));
+    /// ```
+    pub const fn without(mut self, cpu: usize) -> Self {
+        self.remove(cpu);
+        self
+    }
+
+    /// Returns a copy of the mask with every bit at index `>= n` cleared,
+    /// keeping only CPUs `0..n`.
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::CpuMask;
+    /// let m: CpuMask<2> = CpuMask::all().masked_below(65);
+    /// assert!(m.contains(64));
+    /// assert!(!m.contains(65));
+    /// assert_eq!(m.word(0), u64::MAX);
+    /// assert_eq!(m.word(1), 1);
+    /// ```
+    pub const fn masked_below(mut self, n: usize) -> Self {
+        let mut i = 0;
+        while i < N {
+            let lo = i * 64;
+            if lo >= n {
+                self.0[i] = 0;
+            } else {
+                let valid = n - lo; // 1..=64 bits of this word are valid.
+                if valid < 64 {
+                    self.0[i] &= (1u64 << valid) - 1;
+                }
+            }
+            i += 1;
+        }
+        self
+    }
+
+    /// Creates a mask with word 0 set to `bits` and all other words zeroed.
+    /// For `N = 1`, this is equivalent to setting the full mask.
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::CpuMask;
+    /// // Set bits for CPU 0 and CPU 2.
+    /// let m: CpuMask = CpuMask::from_bits_truncate(0b0101);
+    /// assert!(m.contains(0));
+    /// assert!(!m.contains(1));
+    /// assert!(m.contains(2));
+    /// ```
+    pub const fn from_bits_truncate(bits: u64) -> Self {
+        let mut result = [0u64; N];
+        if N > 0 {
+            result[0] = bits;
+        }
+        CpuMask(result)
+    }
+
+    /// Returns word 0 of the mask as a `u64`.
+    /// For `N = 1`, this is the full mask.
+    pub const fn bits(self) -> u64 {
+        if N > 0 { self.0[0] } else { 0 }
+    }
+
+    /// Returns word `idx` of the backing array. Panics if `idx >= N`.
+    pub const fn word(self, idx: usize) -> u64 {
+        self.0[idx]
+    }
+
+    /// Sets word `idx` of the backing array. Panics if `idx >= N`.
+    pub const fn set_word(&mut self, idx: usize, bits: u64) {
+        self.0[idx] = bits;
+    }
+
+    /// Iterates over the CPU indices contained in the mask, in ascending
+    /// order. Cost is O(number of set bits): zero words are skipped in one
+    /// step and each set bit is located with `trailing_zeros`.
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::CpuMask;
+    /// let m: CpuMask<2> = CpuMask::empty().with(1).with(63).with(64).with(100);
+    /// let cpus: Vec = m.iter().collect();
+    /// assert_eq!(cpus, [1, 63, 64, 100]);
+    /// ```
+    pub fn iter(self) -> impl Iterator {
+        (0..N).flat_map(move |w| {
+            let mut word = self.0[w];
+            core::iter::from_fn(move || {
+                if word == 0 {
+                    return None;
+                }
+                let bit = word.trailing_zeros() as usize;
+                word &= word - 1; // Clear the lowest set bit.
+                Some(w * 64 + bit)
+            })
+        })
+    }
+
+    /// True if no bit at index >= `num_cpus` is set.
+    fn fits_within(self, num_cpus: usize) -> bool {
+        if num_cpus >= N * 64 {
+            return true;
+        }
+        let full_words = num_cpus / 64;
+        let extra_bits = num_cpus % 64;
+        let upper_start = if extra_bits > 0 {
+            full_words + 1
+        } else {
+            full_words
+        };
+        for i in upper_start..N {
+            if self.0[i] != 0 {
+                return false;
+            }
+        }
+        if extra_bits > 0 && full_words < N && self.0[full_words] >> extra_bits != 0 {
+            return false;
+        }
+        true
+    }
+}
+
+#[derive(Clone, Copy, Debug, PartialEq, Eq)]
+pub enum PushError {
+    EmptyAffinity,
+    SequenceOverflow,
+    InvalidCpu,
+}
+
+/// Unique B-tree key: ordered by `(priority, seq)` lexicographically.
+#[derive(Clone, Debug, PartialEq, Eq)]
+pub struct PriorityKey
       {
+    pub priority: P,
+    pub seq: Seq,
+}
+
+impl Ord for PriorityKey
       {
+    fn cmp(&self, other: &Self) -> Ordering {
+        self.priority
+            .cmp(&other.priority)
+            .then_with(|| self.seq.cmp(&other.seq))
+    }
+}
+
+impl PartialOrd for PriorityKey
       {
+    fn partial_cmp(&self, other: &Self) -> Option {
+        Some(self.cmp(other))
+    }
+}
+
+#[derive(Debug)]
+struct Entry {
+    key: PriorityKey
      ,
+    affinity: CpuMask,
+    value: V,
+}
+
+#[derive(Clone, Copy, Debug, PartialEq, Eq)]
+struct NodeId(usize);
+
+#[derive(Debug)]
+struct Node {
+    leaf: bool,
+    entries: Vec>,
+    // Empty when leaf; otherwise children.len() == entries.len() + 1.
+    children: Vec,
+    // OR of all affinities in this node and its descendants.
+    subtree_affinity: CpuMask,
+}
+
+/// First index in `entries` whose key is >= `key`.
+fn lower_bound(
+    entries: &[Entry],
+    key: &PriorityKey
      ,
+) -> usize {
+    let mut lo = 0;
+    let mut hi = entries.len();
+    while lo < hi {
+        let mid = (lo + hi) / 2;
+        if entries[mid].key < *key {
+            lo = mid + 1;
+        } else {
+            hi = mid;
+        }
+    }
+    lo
+}
+
+/// Affinity-aware priority queue over an augmented classical B-tree of
+/// minimum degree `T` (`MIN_KEYS = T - 1`, `MAX_KEYS = 2 * T - 1`).
+///
+/// `N` is the number of 64-bit words in the CPU mask; the default `N = 1`
+/// supports up to 64 CPUs. Use `N = 2` for up to 128 CPUs, etc.
+pub struct AffinityBTreeQueue {
+    root: Option,
+    // Arena with stable ids; never compacted. Freed slots go to `free_list`.
+    nodes: Vec>>,
+    free_list: Vec,
+    len: usize,
+    next_seq: Seq,
+    num_cpus: usize,
+}
+
+impl AffinityBTreeQueue {
+    // Only referenced by the test invariant checker.
+    #[cfg_attr(not(test), allow(dead_code))]
+    const MIN_KEYS: usize = T - 1;
+    const MAX_KEYS: usize = 2 * T - 1;
+
+    /// Creates an empty queue for CPUs `0..num_cpus`. Panics if `T < 2` or
+    /// `num_cpus > N * 64`.
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::AffinityBTreeQueue;
+    ///
+    /// // Default degree T=16, supports up to 64 CPUs (N=1).
+    /// let q: AffinityBTreeQueue = AffinityBTreeQueue::new(8);
+    /// assert_eq!(q.num_cpus(), 8);
+    /// assert!(q.is_empty());
+    /// ```
+    pub fn new(num_cpus: usize) -> Self {
+        assert!(T >= 2, "B-tree minimum degree T must be at least 2");
+        assert!(num_cpus <= N * 64, "num_cpus exceeds CpuMask capacity N*64");
+        Self {
+            root: None,
+            nodes: Vec::new(),
+            free_list: Vec::new(),
+            len: 0,
+            next_seq: 0,
+            num_cpus,
+        }
+    }
+
+    pub fn len(&self) -> usize {
+        self.len
+    }
+
+    pub fn is_empty(&self) -> bool {
+        self.len == 0
+    }
+
+    pub fn num_cpus(&self) -> usize {
+        self.num_cpus
+    }
+
+    /// Returns the OR of the affinities of all entries currently in the
+    /// queue, i.e. the set of CPUs for which at least one entry is eligible.
+    /// O(1): reads the root node's aggregated `subtree_affinity`.
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::{AffinityBTreeQueue, CpuMask};
+    ///
+    /// let mut q: AffinityBTreeQueue = AffinityBTreeQueue::new(4);
+    /// assert!(q.affinity_mask().is_empty());
+    ///
+    /// q.push(1, CpuMask::empty().with(1), ()).unwrap();
+    /// q.push(2, CpuMask::empty().with(3), ()).unwrap();
+    /// assert_eq!(q.affinity_mask(), CpuMask::empty().with(1).with(3));
+    ///
+    /// q.pop_for_cpu(1).unwrap();
+    /// assert_eq!(q.affinity_mask(), CpuMask::empty().with(3));
+    /// ```
+    pub fn affinity_mask(&self) -> CpuMask {
+        match self.root {
+            Some(r) => self.node(r).subtree_affinity,
+            None => CpuMask::empty(),
+        }
+    }
+
+    fn node(&self, id: NodeId) -> &Node {
+        self.nodes[id.0].as_ref().expect("dangling NodeId")
+    }
+
+    fn node_mut(&mut self, id: NodeId) -> &mut Node {
+        self.nodes[id.0].as_mut().expect("dangling NodeId")
+    }
+
+    fn alloc_node(&mut self, leaf: bool) -> NodeId {
+        let node = Node {
+            leaf,
+            entries: Vec::new(),
+            children: Vec::new(),
+            subtree_affinity: CpuMask::empty(),
+        };
+        if let Some(id) = self.free_list.pop() {
+            debug_assert!(self.nodes[id.0].is_none());
+            self.nodes[id.0] = Some(node);
+            id
+        } else {
+            let id = NodeId(self.nodes.len());
+            self.nodes.push(Some(node));
+            id
+        }
+    }
+
+    fn free_node(&mut self, id: NodeId) {
+        let taken = self.nodes[id.0].take();
+        debug_assert!(taken.is_some());
+        self.free_list.push(id);
+    }
+
+    /// Recomputes `subtree_affinity` of `id` from its entries and children.
+    /// Must be called after every mutation of a node's entries or children.
+    fn pull(&mut self, id: NodeId) {
+        let mut mask = CpuMask::empty();
+        {
+            let x = self.node(id);
+            for e in &x.entries {
+                mask = mask.union(e.affinity);
+            }
+            for &c in &x.children {
+                mask = mask.union(self.node(c).subtree_affinity);
+            }
+        }
+        self.node_mut(id).subtree_affinity = mask;
+    }
+
+    /// Inserts an entry with the given `priority`, CPU `affinity`, and `value`.
+    ///
+    /// Returns a [`PriorityKey`] handle that uniquely identifies the entry and
+    /// can be passed to [`remove`](Self::remove) later.
+    ///
+    /// # Errors
+    ///
+    /// - [`PushError::EmptyAffinity`] — `affinity` has no bits set.
+    /// - [`PushError::InvalidCpu`] — `affinity` has a bit set for a CPU ≥ `num_cpus`.
+    /// - [`PushError::SequenceOverflow`] — internal sequence counter wrapped
+    ///   (requires 2⁶⁴ prior pushes; practically impossible).
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::{AffinityBTreeQueue, CpuMask, PushError};
+    ///
+    /// let mut q: AffinityBTreeQueue = AffinityBTreeQueue::new(4);
+    ///
+    /// let mut m = CpuMask::empty();
+    /// m.insert(0);
+    /// let _key = q.push(10, m, 42).unwrap();
+    /// assert_eq!(q.len(), 1);
+    ///
+    /// // Empty affinity mask is rejected.
+    /// assert_eq!(q.push(1, CpuMask::empty(), 0), Err(PushError::EmptyAffinity));
+    ///
+    /// // CPU 4 is out of range for a 4-CPU queue.
+    /// let mut bad = CpuMask::empty();
+    /// bad.insert(4);
+    /// assert_eq!(q.push(1, bad, 0), Err(PushError::InvalidCpu));
+    /// ```
+    pub fn push(
+        &mut self,
+        priority: P,
+        affinity: CpuMask,
+        value: V,
+    ) -> Result, PushError> {
+        if affinity.is_empty() {
+            return Err(PushError::EmptyAffinity);
+        }
+        if !affinity.fits_within(self.num_cpus) {
+            return Err(PushError::InvalidCpu);
+        }
+        let seq = self.next_seq;
+        let next_seq = seq.checked_add(1).ok_or(PushError::SequenceOverflow)?;
+        self.next_seq = next_seq;
+
+        let key = PriorityKey { priority, seq };
+        let ret = key.clone();
+        let entry = Entry {
+            key,
+            affinity,
+            value,
+        };
+
+        match self.root {
+            None => {
+                let r = self.alloc_node(true);
+                self.node_mut(r).entries.push(entry);
+                self.pull(r);
+                self.root = Some(r);
+            }
+            Some(r) => {
+                if self.node(r).entries.len() == Self::MAX_KEYS {
+                    let s = self.alloc_node(false);
+                    self.node_mut(s).children.push(r);
+                    self.root = Some(s);
+                    self.split_child(s, 0);
+                    self.insert_non_full(s, entry);
+                } else {
+                    self.insert_non_full(r, entry);
+                }
+            }
+        }
+        self.len += 1;
+        Ok(ret)
+    }
+
+    /// Splits the full child `parent.children[index]` around its median entry.
+    fn split_child(&mut self, parent_id: NodeId, index: usize) {
+        let y_id = self.node(parent_id).children[index];
+        let y_leaf = self.node(y_id).leaf;
+        let z_id = self.alloc_node(y_leaf);
+
+        let (median, right_entries, right_children) = {
+            let y = self.node_mut(y_id);
+            debug_assert_eq!(y.entries.len(), Self::MAX_KEYS);
+            let right_entries = y.entries.split_off(T);
+            let median = y.entries.pop().expect("full node has a median");
+            let right_children = if y_leaf {
+                Vec::new()
+            } else {
+                y.children.split_off(T)
+            };
+            (median, right_entries, right_children)
+        };
+
+        {
+            let z = self.node_mut(z_id);
+            z.entries = right_entries;
+            z.children = right_children;
+        }
+        {
+            let p = self.node_mut(parent_id);
+            p.entries.insert(index, median);
+            p.children.insert(index + 1, z_id);
+        }
+
+        self.pull(y_id);
+        self.pull(z_id);
+        self.pull(parent_id);
+    }
+
+    fn insert_non_full(&mut self, node_id: NodeId, entry: Entry) {
+        debug_assert!(self.node(node_id).entries.len() < Self::MAX_KEYS);
+
+        if self.node(node_id).leaf {
+            let i = lower_bound(&self.node(node_id).entries, &entry.key);
+            debug_assert!(
+                i >= self.node(node_id).entries.len()
+                    || self.node(node_id).entries[i].key != entry.key,
+                "duplicate key"
+            );
+            self.node_mut(node_id).entries.insert(i, entry);
+            self.pull(node_id);
+            return;
+        }
+
+        let mut i = lower_bound(&self.node(node_id).entries, &entry.key);
+        let child_id = self.node(node_id).children[i];
+        if self.node(child_id).entries.len() == Self::MAX_KEYS {
+            self.split_child(node_id, i);
+            if entry.key > self.node(node_id).entries[i].key {
+                i += 1;
+            } else {
+                debug_assert!(
+                    entry.key != self.node(node_id).entries[i].key,
+                    "duplicate key"
+                );
+            }
+        }
+        let next_child = self.node(node_id).children[i];
+        self.insert_non_full(next_child, entry);
+        self.pull(node_id);
+    }
+
+    /// Smallest key whose affinity contains `cpu`, or `None`.
+    ///
+    /// Does not remove the entry; use [`pop_for_cpu`](Self::pop_for_cpu) to
+    /// remove it.
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::{AffinityBTreeQueue, CpuMask};
+    ///
+    /// let mut q: AffinityBTreeQueue = AffinityBTreeQueue::new(2);
+    /// assert_eq!(q.peek_key_for_cpu(0), None); // empty queue
+    ///
+    /// let mut m = CpuMask::empty();
+    /// m.insert(1); // CPU 1 only
+    /// let key = q.push(5, m, 99).unwrap();
+    ///
+    /// assert_eq!(q.peek_key_for_cpu(1), Some(key.clone())); // visible on CPU 1
+    /// assert_eq!(q.peek_key_for_cpu(0), None);              // not visible on CPU 0
+    /// assert_eq!(q.len(), 1);                               // entry was not consumed
+    /// ```
+    pub fn peek_key_for_cpu(&self, cpu: usize) -> Option> {
+        if cpu >= self.num_cpus {
+            return None;
+        }
+        let r = self.root?;
+        if !self.node(r).subtree_affinity.contains(cpu) {
+            return None;
+        }
+        Some(self.find_first_eligible_key(r, cpu))
+    }
+
+    /// Precondition: `node(node_id).subtree_affinity.contains(cpu)`.
+    /// Scans in logical order child[0], entry[0], child[1], ... so the first
+    /// eligible entry found is the minimum eligible key in the subtree.
+    fn find_first_eligible_key(&self, node_id: NodeId, cpu: usize) -> PriorityKey
       {
+        let mut cur = node_id;
+
+        'descend: loop {
+            let x = self.node(cur);
+            debug_assert!(x.subtree_affinity.contains(cpu));
+            let n = x.entries.len();
+
+            for i in 0..n {
+                if !x.leaf {
+                    let child_id = x.children[i];
+                    if self.node(child_id).subtree_affinity.contains(cpu) {
+                        cur = child_id;
+                        continue 'descend;
+                    }
+                }
+                if x.entries[i].affinity.contains(cpu) {
+                    return x.entries[i].key.clone();
+                }
+            }
+
+            if !x.leaf {
+                let child_id = x.children[n];
+                if self.node(child_id).subtree_affinity.contains(cpu) {
+                    cur = child_id;
+                    continue 'descend;
+                }
+            }
+
+            panic!("subtree_affinity invariant is broken");
+        }
+    }
+
+    /// Removes and returns the highest-priority entry runnable on `cpu`.
+    ///
+    /// Returns `None` if the queue is empty or no entry's affinity includes
+    /// `cpu`.
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::{AffinityBTreeQueue, CpuMask};
+    ///
+    /// let mut q: AffinityBTreeQueue = AffinityBTreeQueue::new(2);
+    ///
+    /// let mut cpu0 = CpuMask::empty();
+    /// cpu0.insert(0);
+    /// let mut cpu1 = CpuMask::empty();
+    /// cpu1.insert(1);
+    ///
+    /// q.push(1, cpu0, "only cpu0").unwrap();
+    /// q.push(2, cpu1, "only cpu1").unwrap();
+    ///
+    /// // CPU 0 only dequeues its own entry.
+    /// let (_, affinity, value) = q.pop_for_cpu(0).unwrap();
+    /// assert_eq!(value, "only cpu0");
+    /// assert!(affinity.contains(0));
+    ///
+    /// // No more entries runnable on CPU 0.
+    /// assert!(q.pop_for_cpu(0).is_none());
+    /// ```
+    pub fn pop_for_cpu(&mut self, cpu: usize) -> Option<(PriorityKey
      , CpuMask, V)> {
+        let key = self.peek_key_for_cpu(cpu)?;
+        let removed = self.remove(&key);
+        debug_assert!(removed.is_some());
+        debug_assert!(removed.as_ref().is_none_or(|(_, a, _)| a.contains(cpu)));
+        removed
+    }
+
+    /// Removes the entry identified by `key` and returns `(key, affinity, value)`,
+    /// or `None` if no such entry exists.
+    ///
+    /// The key is obtained from [`push`](Self::push) or
+    /// [`peek_key_for_cpu`](Self::peek_key_for_cpu).
+    ///
+    /// # Examples
+    ///
+    /// ```
+    /// use affinity_btree_queue::{AffinityBTreeQueue, CpuMask};
+    ///
+    /// let mut q: AffinityBTreeQueue = AffinityBTreeQueue::new(1);
+    /// let mut m = CpuMask::empty();
+    /// m.insert(0);
+    ///
+    /// let key = q.push(7, m, 42).unwrap();
+    /// let (k, _, v) = q.remove(&key).unwrap();
+    /// assert_eq!(k, key);
+    /// assert_eq!(v, 42);
+    ///
+    /// // Removing the same key a second time returns None.
+    /// assert!(q.remove(&key).is_none());
+    /// ```
+    pub fn remove(&mut self, key: &PriorityKey
      ) -> Option<(PriorityKey
      , CpuMask, V)> {
+        let root = self.root?;
+        let removed = self.delete_from_node(root, key);
+
+        if let Some(r) = self.root
+            && self.node(r).entries.is_empty()
+        {
+            if self.node(r).leaf {
+                self.free_node(r);
+                self.root = None;
+            } else {
+                let new_root = self.node(r).children[0];
+                self.free_node(r);
+                self.root = Some(new_root);
+            }
+        }
+
+        if removed.is_some() {
+            self.len -= 1;
+        }
+        removed.map(|e| (e.key, e.affinity, e.value))
+    }
+
+    fn delete_from_node(
+        &mut self,
+        node_id: NodeId,
+        key: &PriorityKey
      ,
+    ) -> Option> {
+        let i = lower_bound(&self.node(node_id).entries, key);
+        let leaf = self.node(node_id).leaf;
+        let found_here =
+            i < self.node(node_id).entries.len() && self.node(node_id).entries[i].key == *key;
+
+        if found_here {
+            if leaf {
+                let entry = self.node_mut(node_id).entries.remove(i);
+                self.pull(node_id);
+                Some(entry)
+            } else {
+                let removed = self.delete_internal_entry(node_id, i);
+                self.pull(node_id);
+                removed
+            }
+        } else if leaf {
+            None
+        } else {
+            let child_index = self.ensure_child_has_at_least_t(node_id, i);
+            let child_id = self.node(node_id).children[child_index];
+            let removed = self.delete_from_node(child_id, key);
+            self.pull(node_id);
+            removed
+        }
+    }
+
+    /// Deletes `entries[index]` of the internal node `node_id` using the
+    /// standard predecessor / successor / merge cases.
+    fn delete_internal_entry(&mut self, node_id: NodeId, index: usize) -> Option> {
+        let left_id = self.node(node_id).children[index];
+        let right_id = self.node(node_id).children[index + 1];
+
+        if self.node(left_id).entries.len() >= T {
+            let predecessor = self.remove_max_entry(left_id);
+            let old = mem::replace(&mut self.node_mut(node_id).entries[index], predecessor);
+            self.pull(node_id);
+            return Some(old);
+        }
+
+        if self.node(right_id).entries.len() >= T {
+            let successor = self.remove_min_entry(right_id);
+            let old = mem::replace(&mut self.node_mut(node_id).entries[index], successor);
+            self.pull(node_id);
+            return Some(old);
+        }
+
+        let target_key = self.node(node_id).entries[index].key.clone();
+        let merged_id = self.merge_children_around_entry(node_id, index);
+        let removed = self.delete_from_node(merged_id, &target_key);
+        self.pull(node_id);
+        removed
+    }
+
+    fn remove_min_entry(&mut self, node_id: NodeId) -> Entry {
+        if self.node(node_id).leaf {
+            let entry = self.node_mut(node_id).entries.remove(0);
+            self.pull(node_id);
+            return entry;
+        }
+        let child_index = self.ensure_child_has_at_least_t(node_id, 0);
+        debug_assert_eq!(child_index, 0);
+        let child_id = self.node(node_id).children[child_index];
+        let entry = self.remove_min_entry(child_id);
+        self.pull(node_id);
+        entry
+    }
+
+    fn remove_max_entry(&mut self, node_id: NodeId) -> Entry {
+        if self.node(node_id).leaf {
+            let entry = self
+                .node_mut(node_id)
+                .entries
+                .pop()
+                .expect("remove_max_entry on empty node");
+            self.pull(node_id);
+            return entry;
+        }
+        let last_child_index = self.node(node_id).children.len() - 1;
+        // If the rightmost child gets merged into its left sibling, the
+        // returned index is last_child_index - 1; always use the return value.
+        let child_index = self.ensure_child_has_at_least_t(node_id, last_child_index);
+        let child_id = self.node(node_id).children[child_index];
+        let entry = self.remove_max_entry(child_id);
+        self.pull(node_id);
+        entry
+    }
+
+    /// Ensures `parent.children[index]` has at least `T` entries before a
+    /// descent, borrowing from a sibling or merging. Returns the (possibly
+    /// shifted) index of the child to descend into.
+    fn ensure_child_has_at_least_t(&mut self, parent_id: NodeId, index: usize) -> usize {
+        let child_id = self.node(parent_id).children[index];
+        if self.node(child_id).entries.len() >= T {
+            return index;
+        }
+
+        if index > 0 {
+            let left_id = self.node(parent_id).children[index - 1];
+            if self.node(left_id).entries.len() >= T {
+                self.borrow_from_left(parent_id, index);
+                return index;
+            }
+        }
+
+        if index + 1 < self.node(parent_id).children.len() {
+            let right_id = self.node(parent_id).children[index + 1];
+            if self.node(right_id).entries.len() >= T {
+                self.borrow_from_right(parent_id, index);
+                return index;
+            }
+        }
+
+        if index > 0 {
+            self.merge_children_around_entry(parent_id, index - 1);
+            index - 1
+        } else {
+            self.merge_children_around_entry(parent_id, index);
+            index
+        }
+    }
+
+    /// Rotates the separator down into `children[index]` and the left
+    /// sibling's max entry up into the parent.
+    fn borrow_from_left(&mut self, parent_id: NodeId, index: usize) {
+        let left_id = self.node(parent_id).children[index - 1];
+        let child_id = self.node(parent_id).children[index];
+
+        let up_entry = self
+            .node_mut(left_id)
+            .entries
+            .pop()
+            .expect("borrow_from_left from empty sibling");
+        let down_entry = mem::replace(&mut self.node_mut(parent_id).entries[index - 1], up_entry);
+        self.node_mut(child_id).entries.insert(0, down_entry);
+
+        if !self.node(child_id).leaf {
+            let moved_child = self
+                .node_mut(left_id)
+                .children
+                .pop()
+                .expect("internal sibling has children");
+            self.node_mut(child_id).children.insert(0, moved_child);
+        }
+
+        self.pull(left_id);
+        self.pull(child_id);
+        self.pull(parent_id);
+    }
+
+    /// Rotates the separator down into `children[index]` and the right
+    /// sibling's min entry up into the parent.
+    fn borrow_from_right(&mut self, parent_id: NodeId, index: usize) {
+        let child_id = self.node(parent_id).children[index];
+        let right_id = self.node(parent_id).children[index + 1];
+
+        let up_entry = self.node_mut(right_id).entries.remove(0);
+        let down_entry = mem::replace(&mut self.node_mut(parent_id).entries[index], up_entry);
+        self.node_mut(child_id).entries.push(down_entry);
+
+        if !self.node(child_id).leaf {
+            let moved_child = self.node_mut(right_id).children.remove(0);
+            self.node_mut(child_id).children.push(moved_child);
+        }
+
+        self.pull(child_id);
+        self.pull(right_id);
+        self.pull(parent_id);
+    }
+
+    /// Merges `children[index]`, `entries[index]`, and `children[index + 1]`
+    /// into the left child. Frees the right child and returns the merged id.
+    fn merge_children_around_entry(&mut self, parent_id: NodeId, index: usize) -> NodeId {
+        let left_id = self.node(parent_id).children[index];
+        let right_id = self.node(parent_id).children[index + 1];
+
+        let separator = self.node_mut(parent_id).entries.remove(index);
+        self.node_mut(parent_id).children.remove(index + 1);
+
+        let right = self.nodes[right_id.0].take().expect("dangling NodeId");
+        self.free_list.push(right_id);
+
+        let left = self.node_mut(left_id);
+        left.entries.push(separator);
+        left.entries.extend(right.entries);
+        left.children.extend(right.children);
+
+        self.pull(left_id);
+        self.pull(parent_id);
+        left_id
+    }
+}
+
+#[cfg(test)]
+impl AffinityBTreeQueue {
+    pub(crate) fn debug_set_next_seq(&mut self, seq: Seq) {
+        self.next_seq = seq;
+    }
+
+    fn for_each_entry_in_order)>(&self, mut f: F) {
+        enum Item {
+            Visit(NodeId),
+            Emit(NodeId, usize),
+        }
+
+        let Some(root) = self.root else { return };
+        let mut stack = Vec::new();
+        stack.push(Item::Visit(root));
+
+        while let Some(item) = stack.pop() {
+            match item {
+                Item::Visit(id) => {
+                    let x = self.node(id);
+                    if x.leaf {
+                        for e in &x.entries {
+                            f(e);
+                        }
+                    } else {
+                        let n = x.entries.len();
+                        // Push in reverse so child[0] is processed first:
+                        // child[0], entry[0], child[1], ..., entry[n-1], child[n].
+                        stack.push(Item::Visit(x.children[n]));
+                        let mut i = n;
+                        while i > 0 {
+                            i -= 1;
+                            stack.push(Item::Emit(id, i));
+                            stack.push(Item::Visit(x.children[i]));
+                        }
+                    }
+                }
+                Item::Emit(id, i) => f(&self.node(id).entries[i]),
+            }
+        }
+    }
+
+    pub(crate) fn debug_count_entries(&self) -> usize {
+        let mut count = 0;
+        self.for_each_entry_in_order(|_| count += 1);
+        count
+    }
+
+    pub(crate) fn debug_all_keys_in_order(&self) -> Vec> {
+        let mut out = Vec::new();
+        self.for_each_entry_in_order(|e| out.push(e.key.clone()));
+        out
+    }
+
+    /// Asserts every structural, key-order, augmentation, and arena invariant.
+    pub(crate) fn check_invariants(&self) {
+        for id in &self.free_list {
+            assert!(
+                self.nodes[id.0].is_none(),
+                "free_list entry points to a live node"
+            );
+        }
+
+        let Some(root) = self.root else {
+            assert_eq!(self.len, 0, "empty tree must have len 0");
+            assert!(
+                self.nodes.iter().all(|n| n.is_none()),
+                "empty tree must have no live nodes"
+            );
+            assert_eq!(self.free_list.len(), self.nodes.len());
+            return;
+        };
+        assert!(self.len > 0, "non-empty root with len 0");
+
+        struct WorkItem
       {
+            id: NodeId,
+            is_root: bool,
+            min_key: Option>,
+            max_key: Option>,
+            depth: usize,
+        }
+
+        let mut total_entries = 0usize;
+        let mut total_nodes = 0usize;
+        let mut leaf_depth: Option = None;
+
+        let mut stack: Vec> = Vec::new();
+        stack.push(WorkItem {
+            id: root,
+            is_root: true,
+            min_key: None,
+            max_key: None,
+            depth: 0,
+        });
+
+        while let Some(item) = stack.pop() {
+            let x = self.node(item.id);
+            total_nodes += 1;
+            total_entries += x.entries.len();
+
+            assert!(x.entries.len() <= Self::MAX_KEYS, "node overflow");
+            if item.is_root {
+                assert!(!x.entries.is_empty(), "root must be non-empty");
+            } else {
+                assert!(x.entries.len() >= Self::MIN_KEYS, "non-root underflow");
+            }
+
+            for w in x.entries.windows(2) {
+                assert!(w[0].key < w[1].key, "node entries not strictly sorted");
+            }
+            for e in &x.entries {
+                if let Some(m) = &item.min_key {
+                    assert!(*m < e.key, "entry below child key range");
+                }
+                if let Some(m) = &item.max_key {
+                    assert!(e.key < *m, "entry above child key range");
+                }
+                assert!(!e.affinity.is_empty(), "entry with empty affinity");
+                assert!(
+                    e.affinity.fits_within(self.num_cpus),
+                    "entry affinity outside num_cpus"
+                );
+            }
+
+            let mut mask = CpuMask::empty();
+            for e in &x.entries {
+                mask = mask.union(e.affinity);
+            }
+
+            if x.leaf {
+                assert!(x.children.is_empty(), "leaf with children");
+                match leaf_depth {
+                    None => leaf_depth = Some(item.depth),
+                    Some(d) => assert_eq!(d, item.depth, "leaves at different depths"),
+                }
+            } else {
+                assert_eq!(
+                    x.children.len(),
+                    x.entries.len() + 1,
+                    "internal node child count"
+                );
+                for ci in 0..x.children.len() {
+                    let child_id = x.children[ci];
+                    mask = mask.union(self.node(child_id).subtree_affinity);
+                    stack.push(WorkItem {
+                        id: child_id,
+                        is_root: false,
+                        min_key: if ci == 0 {
+                            item.min_key.clone()
+                        } else {
+                            Some(x.entries[ci - 1].key.clone())
+                        },
+                        max_key: if ci == x.entries.len() {
+                            item.max_key.clone()
+                        } else {
+                            Some(x.entries[ci].key.clone())
+                        },
+                        depth: item.depth + 1,
+                    });
+                }
+            }
+
+            assert_eq!(mask, x.subtree_affinity, "stale subtree_affinity");
+        }
+
+        assert_eq!(total_entries, self.len, "entry count != len");
+        let live = self.nodes.iter().filter(|n| n.is_some()).count();
+        assert_eq!(live, total_nodes, "unreachable live nodes in arena");
+        assert_eq!(live + self.free_list.len(), self.nodes.len());
+
+        {
+            let keys = self.debug_all_keys_in_order();
+            for w in keys.windows(2) {
+                assert!(w[0] < w[1], "in-order keys not strictly sorted");
+            }
+        }
+    }
+}
+
+#[cfg(test)]
+impl AffinityBTreeQueue {
+    pub(crate) fn debug_all_entries_in_order(&self) -> Vec<(PriorityKey
      , CpuMask, V)> {
+        let mut out = Vec::new();
+        self.for_each_entry_in_order(|e| out.push((e.key.clone(), e.affinity, e.value.clone())));
+        out
+    }
+}
+
+/// Deliberately simple Vec-based reference model used by tests to check the
+/// B-tree's observable behavior.
+#[cfg(test)]
+#[derive(Clone, Debug, PartialEq, Eq)]
+struct RefEntry {
+    key: PriorityKey
      ,
+    affinity: CpuMask,
+    value: V,
+}
+
+#[cfg(test)]
+#[derive(Clone, Debug)]
+struct RefModel {
+    entries: Vec>,
+    next_seq: Seq,
+    num_cpus: usize,
+}
+
+#[cfg(test)]
+impl RefModel {
+    fn new(num_cpus: usize) -> Self {
+        Self {
+            entries: Vec::new(),
+            next_seq: 0,
+            num_cpus,
+        }
+    }
+
+    fn push(
+        &mut self,
+        priority: P,
+        affinity: CpuMask,
+        value: V,
+    ) -> Result, PushError> {
+        if affinity.is_empty() {
+            return Err(PushError::EmptyAffinity);
+        }
+        if !affinity.fits_within(self.num_cpus) {
+            return Err(PushError::InvalidCpu);
+        }
+        let seq = self.next_seq;
+        let next_seq = seq.checked_add(1).ok_or(PushError::SequenceOverflow)?;
+        self.next_seq = next_seq;
+
+        let key = PriorityKey { priority, seq };
+        self.entries.push(RefEntry {
+            key: key.clone(),
+            affinity,
+            value,
+        });
+        Ok(key)
+    }
+
+    fn peek_key_for_cpu(&self, cpu: usize) -> Option> {
+        if cpu >= self.num_cpus {
+            return None;
+        }
+        self.entries
+            .iter()
+            .filter(|e| e.affinity.contains(cpu))
+            .map(|e| e.key.clone())
+            .min()
+    }
+
+    fn pop_for_cpu(&mut self, cpu: usize) -> Option<(PriorityKey
      , CpuMask, V)> {
+        let key = self.peek_key_for_cpu(cpu)?;
+        let index = self.entries.iter().position(|e| e.key == key).unwrap();
+        let entry = self.entries.remove(index);
+        Some((entry.key, entry.affinity, entry.value))
+    }
+
+    fn remove(&mut self, key: &PriorityKey
      ) -> Option<(PriorityKey
      , CpuMask, V)> {
+        let index = self.entries.iter().position(|e| e.key == *key)?;
+        let entry = self.entries.remove(index);
+        Some((entry.key, entry.affinity, entry.value))
+    }
+
+    fn len(&self) -> usize {
+        self.entries.len()
+    }
+
+    fn is_empty(&self) -> bool {
+        self.entries.is_empty()
+    }
+
+    fn entries_in_order(&self) -> Vec<(PriorityKey
      , CpuMask, V)> {
+        let mut out: Vec<_> = self
+            .entries
+            .iter()
+            .map(|e| (e.key.clone(), e.affinity, e.value.clone()))
+            .collect();
+        out.sort_by(|a, b| a.0.cmp(&b.0));
+        out
+    }
+}
+
+#[cfg(test)]
+mod tests;
diff --git a/affinity_btree_queue/src/tests.rs b/affinity_btree_queue/src/tests.rs
new file mode 100644
index 000000000..e316f5ec2
--- /dev/null
+++ b/affinity_btree_queue/src/tests.rs
@@ -0,0 +1,1080 @@
+use super::*;
+use alloc::vec::Vec;
+use core::cmp::Reverse;
+
+/// Degree-2 queue: every structural case (split, borrow, merge, root shrink)
+/// is reachable with a handful of entries.
+type Q2 = AffinityBTreeQueue;
+/// Production-degree queue.
+type Q16 = AffinityBTreeQueue;
+
+fn mask(cpus: &[usize]) -> CpuMask {
+    let mut m = CpuMask::empty();
+    for &c in cpus {
+        m.insert(c);
+    }
+    m
+}
+
+fn all_cpus(num_cpus: usize) -> CpuMask {
+    let mut m = CpuMask::empty();
+    for cpu in 0..num_cpus {
+        m.insert(cpu);
+    }
+    m
+}
+
+struct XorShift64 {
+    state: u64,
+}
+
+impl XorShift64 {
+    fn new(seed: u64) -> Self {
+        Self {
+            state: seed.wrapping_mul(0x9E37_79B9_7F4A_7C15).max(1),
+        }
+    }
+
+    fn next(&mut self) -> u64 {
+        let mut x = self.state;
+        x ^= x << 13;
+        x ^= x >> 7;
+        x ^= x << 17;
+        self.state = x;
+        x
+    }
+}
+
+// ---------------------------------------------------------------------------
+// CpuMask
+// ---------------------------------------------------------------------------
+
+#[test]
+fn cpu_mask_basics() {
+    let mut m = CpuMask::empty();
+    assert!(m.is_empty());
+    assert!(!m.contains(0));
+    m.insert(0);
+    m.insert(63);
+    assert!(m.contains(0));
+    assert!(m.contains(63));
+    assert!(!m.contains(1));
+    assert!(!m.contains(64));
+    assert!(!m.contains(1000));
+    assert_eq!(m.union(mask(&[1])), mask(&[0, 1, 63]));
+    assert!(mask(&[3]).fits_within(4));
+    assert!(!mask(&[4]).fits_within(4));
+    assert!(mask(&[63]).fits_within(64));
+}
+
+#[test]
+fn cpu_mask_wide() {
+    let mut m = CpuMask::<2>::empty();
+    assert!(m.is_empty());
+    m.insert(0);
+    m.insert(63);
+    m.insert(64);
+    m.insert(127);
+    assert!(m.contains(0));
+    assert!(m.contains(63));
+    assert!(m.contains(64));
+    assert!(m.contains(127));
+    assert!(!m.contains(1));
+    assert!(!m.contains(128));
+    assert!(!m.contains(10000));
+
+    assert!(m.fits_within(128));
+    assert!(!m.fits_within(127)); // bit 127 is set
+    assert!(!m.fits_within(64)); // bits 64+ are set
+    assert!(!m.fits_within(63)); // bits 63+ are set
+
+    let mut a = CpuMask::<2>::empty();
+    a.insert(65);
+    let mut b = CpuMask::<2>::empty();
+    b.insert(70);
+    let c = a.union(b);
+    assert!(c.contains(65));
+    assert!(c.contains(70));
+    assert!(!c.contains(66));
+
+    let mut w = CpuMask::<2>::empty();
+    w.set_word(0, 0xAB);
+    w.set_word(1, 0xCD);
+    assert_eq!(w.word(0), 0xAB);
+    assert_eq!(w.word(1), 0xCD);
+}
+
+#[test]
+fn cpu_mask_from_bits_truncate_and_bits() {
+    let m: CpuMask = CpuMask::from_bits_truncate(0b0101);
+    assert!(m.contains(0));
+    assert!(!m.contains(1));
+    assert!(m.contains(2));
+    assert_eq!(m.bits(), 0b0101);
+
+    let zero: CpuMask = CpuMask::from_bits_truncate(0);
+    assert!(zero.is_empty());
+    assert_eq!(zero.bits(), 0);
+}
+
+#[test]
+fn cpu_mask_const_builders() {
+    // All constructors must be usable in const contexts.
+    const M: CpuMask<2> = CpuMask::empty().with(1).with(64).without(1);
+    assert!(!M.contains(1));
+    assert!(M.contains(64));
+
+    const ALL: CpuMask<2> = CpuMask::all();
+    assert!(ALL.contains(0));
+    assert!(ALL.contains(127));
+
+    const WORKERS: CpuMask<2> = CpuMask::all().masked_below(4).without(0);
+    assert_eq!(WORKERS, CpuMask::empty().with(1).with(2).with(3));
+}
+
+#[test]
+fn cpu_mask_remove() {
+    let mut m = CpuMask::<2>::empty();
+    m.insert(0);
+    m.insert(64);
+    m.remove(0);
+    assert!(!m.contains(0));
+    assert!(m.contains(64));
+    m.remove(64);
+    assert!(m.is_empty());
+    // Removing an already-clear bit is a no-op.
+    m.remove(1);
+    assert!(m.is_empty());
+}
+
+#[test]
+fn cpu_mask_masked_below_word_boundaries() {
+    let all = CpuMask::<2>::all();
+
+    assert!(all.masked_below(0).is_empty());
+
+    assert_eq!(all.masked_below(1), CpuMask::empty().with(0));
+
+    let below63 = all.masked_below(63);
+    assert!(below63.contains(62));
+    assert!(!below63.contains(63));
+
+    let below64 = all.masked_below(64);
+    assert_eq!(below64.word(0), u64::MAX);
+    assert_eq!(below64.word(1), 0);
+
+    let below65 = all.masked_below(65);
+    assert_eq!(below65.word(0), u64::MAX);
+    assert_eq!(below65.word(1), 1);
+
+    // n >= N * 64 keeps every bit.
+    assert_eq!(all.masked_below(128), all);
+    assert_eq!(all.masked_below(1000), all);
+
+    // Already-clear bits stay clear.
+    let sparse = CpuMask::<2>::empty().with(1).with(70);
+    assert_eq!(sparse.masked_below(70), CpuMask::empty().with(1));
+}
+
+#[test]
+fn cpu_mask_iter() {
+    // Empty mask yields nothing.
+    assert_eq!(CpuMask::<2>::empty().iter().count(), 0);
+
+    // Ascending order across word boundaries; zero words are skipped.
+    let m = CpuMask::<2>::empty().with(1).with(63).with(64).with(127);
+    let cpus: Vec = m.iter().collect();
+    assert_eq!(cpus, [1, 63, 64, 127]);
+
+    // A mask whose first word is zero.
+    let hi = CpuMask::<2>::empty().with(100);
+    assert_eq!(hi.iter().collect::>(), [100]);
+
+    // Full mask yields every index.
+    let all: Vec = CpuMask::<2>::all().iter().collect();
+    assert_eq!(all.len(), 128);
+    assert_eq!(all[0], 0);
+    assert_eq!(all[127], 127);
+}
+
+#[test]
+fn fits_within_upper_word_all_zero() {
+    // word 0 has bits; word 1 is entirely zero.
+    // fits_within(64): full_words=1, extra_bits=0, upper_start=1
+    // Loop for i in 1..2: self.0[1]==0 → no early return, falls through line 199.
+    let mut m = CpuMask::<2>::empty();
+    m.insert(0);
+    m.insert(63);
+    assert!(m.fits_within(64));
+}
+
+#[test]
+fn priority_key_ordering() {
+    let a = PriorityKey {
+        priority: 1u32,
+        seq: 5,
+    };
+    let b = PriorityKey {
+        priority: 2u32,
+        seq: 0,
+    };
+    let c = PriorityKey {
+        priority: 1u32,
+        seq: 6,
+    };
+    assert!(a < b);
+    assert!(a < c);
+    assert!(c < b);
+    assert_eq!(a, a.clone());
+}
+
+// ---------------------------------------------------------------------------
+// Basic operations
+// ---------------------------------------------------------------------------
+
+#[test]
+fn queue_num_cpus_getter() {
+    let q: Q16 = AffinityBTreeQueue::new(8);
+    assert_eq!(q.num_cpus(), 8);
+    let q2: Q2 = AffinityBTreeQueue::new(2);
+    assert_eq!(q2.num_cpus(), 2);
+}
+
+#[test]
+fn queue_affinity_mask_tracks_entries() {
+    let mut q = Q16::new(4);
+    assert!(q.affinity_mask().is_empty());
+
+    let k1 = q.push(10, mask(&[1]), 100).unwrap();
+    assert_eq!(q.affinity_mask(), mask(&[1]));
+
+    q.push(20, mask(&[2, 3]), 200).unwrap();
+    assert_eq!(q.affinity_mask(), mask(&[1, 2, 3]));
+
+    // Two entries share CPU 1; removing one must keep the bit set.
+    q.push(30, mask(&[1]), 300).unwrap();
+    q.remove(&k1).unwrap();
+    assert_eq!(q.affinity_mask(), mask(&[1, 2, 3]));
+
+    assert!(q.pop_for_cpu(1).is_some());
+    assert_eq!(q.affinity_mask(), mask(&[2, 3]));
+
+    assert!(q.pop_for_cpu(3).is_some());
+    assert!(q.affinity_mask().is_empty());
+    q.check_invariants();
+}
+
+#[test]
+fn queue_affinity_mask_with_deep_tree() {
+    // Force splits (T=2) so the mask is aggregated across multiple levels.
+    let mut q = Q2::new(2);
+    for i in 0..64u32 {
+        let cpu = (i % 2) as usize;
+        q.push(i, mask(&[cpu]), i).unwrap();
+    }
+    assert_eq!(q.affinity_mask(), mask(&[0, 1]));
+
+    // Drain every CPU-0 entry; only CPU-1 entries remain.
+    while q.pop_for_cpu(0).is_some() {}
+    assert_eq!(q.affinity_mask(), mask(&[1]));
+
+    while q.pop_for_cpu(1).is_some() {}
+    assert!(q.affinity_mask().is_empty());
+    q.check_invariants();
+}
+
+#[test]
+fn empty_tree_pop_for_cpu() {
+    let mut q = Q16::new(4);
+    assert_eq!(q.len(), 0);
+    assert!(q.is_empty());
+    for cpu in 0..4 {
+        assert_eq!(q.peek_key_for_cpu(cpu), None);
+        assert_eq!(q.pop_for_cpu(cpu), None);
+    }
+    assert_eq!(q.pop_for_cpu(99), None);
+    q.check_invariants();
+}
+
+#[test]
+fn single_insert_and_pop() {
+    let mut q = Q16::new(4);
+    let key = q.push(10, mask(&[1, 2]), 100).unwrap();
+    q.check_invariants();
+    assert_eq!(q.len(), 1);
+    assert_eq!(q.peek_key_for_cpu(0), None);
+    assert_eq!(q.peek_key_for_cpu(1), Some(key.clone()));
+    assert_eq!(q.pop_for_cpu(2), Some((key, mask(&[1, 2]), 100)));
+    assert!(q.is_empty());
+    q.check_invariants();
+}
+
+#[test]
+fn single_insert_and_remove() {
+    let mut q = Q16::new(4);
+    let key = q.push(10, mask(&[0]), 7).unwrap();
+    assert_eq!(q.remove(&key), Some((key.clone(), mask(&[0]), 7)));
+    assert_eq!(q.remove(&key), None);
+    assert!(q.is_empty());
+    q.check_invariants();
+}
+
+#[test]
+fn same_priority_multiple_sequence_numbers() {
+    let mut q = Q2::new(2);
+    let mut keys = Vec::new();
+    for i in 0..8u32 {
+        let key = q.push(7, mask(&[0]), i).unwrap();
+        keys.push(key);
+        q.check_invariants();
+    }
+    // All same priority: dequeue order must follow seq (FIFO).
+    for (i, expected) in keys.into_iter().enumerate() {
+        let (key, _, value) = q.pop_for_cpu(0).unwrap();
+        assert_eq!(key, expected);
+        assert_eq!(value, i as u32);
+        q.check_invariants();
+    }
+    assert!(q.is_empty());
+}
+
+#[test]
+fn sequence_number_uniqueness() {
+    let mut q = Q16::new(1);
+    let mut seqs = Vec::new();
+    for _ in 0..50 {
+        let key = q.push(3, mask(&[0]), 0).unwrap();
+        assert!(!seqs.contains(&key.seq));
+        seqs.push(key.seq);
+    }
+    for w in seqs.windows(2) {
+        assert!(w[0] < w[1]);
+    }
+}
+
+#[test]
+fn ascending_priority_insertion() {
+    let mut q = Q16::new(4);
+    for p in 0..300u32 {
+        q.push(p, all_cpus(4), p).unwrap();
+        q.check_invariants();
+    }
+    for p in 0..300u32 {
+        let (key, _, value) = q.pop_for_cpu((p as usize) % 4).unwrap();
+        assert_eq!(key.priority, p);
+        assert_eq!(value, p);
+        q.check_invariants();
+    }
+    assert!(q.is_empty());
+}
+
+#[test]
+fn descending_priority_insertion() {
+    let mut q = Q16::new(4);
+    for p in (0..300u32).rev() {
+        q.push(p, all_cpus(4), p).unwrap();
+        q.check_invariants();
+    }
+    for p in 0..300u32 {
+        let (key, _, value) = q.pop_for_cpu(0).unwrap();
+        assert_eq!(key.priority, p);
+        assert_eq!(value, p);
+        q.check_invariants();
+    }
+}
+
+#[test]
+fn random_priority_insertion() {
+    let mut rng = XorShift64::new(42);
+    let mut q = Q16::new(4);
+    let mut model = RefModel::::new(4);
+    for i in 0..500u32 {
+        let p = (rng.next() % 100) as u32;
+        assert_eq!(q.push(p, all_cpus(4), i), model.push(p, all_cpus(4), i));
+        q.check_invariants();
+    }
+    while !model.is_empty() {
+        assert_eq!(q.pop_for_cpu(1), model.pop_for_cpu(1));
+        q.check_invariants();
+    }
+    assert!(q.is_empty());
+}
+
+// ---------------------------------------------------------------------------
+// Structural cases (degree 2 makes shapes deterministic)
+// ---------------------------------------------------------------------------
+
+/// Pushes priorities 10, 20, 30, 40 into a T=2 queue, producing the shape
+/// root=[20], left=[10], right=[30,40]. Returns the key of priority 20.
+fn build_split_tree(q: &mut Q2) -> PriorityKey {
+    let mut key20 = None;
+    for p in [10u32, 20, 30, 40] {
+        let key = q.push(p, mask(&[0]), p).unwrap();
+        if p == 20 {
+            key20 = Some(key);
+        }
+        q.check_invariants();
+    }
+    key20.unwrap()
+}
+
+fn pop_all_priorities(q: &mut Q2, cpu: usize) -> Vec {
+    let mut out = Vec::new();
+    while let Some((key, _, _)) = q.pop_for_cpu(cpu) {
+        out.push(key.priority);
+        q.check_invariants();
+    }
+    out
+}
+
+#[test]
+fn root_split() {
+    let mut q = Q2::new(1);
+    build_split_tree(&mut q);
+    assert_eq!(q.len(), 4);
+    assert_eq!(pop_all_priorities(&mut q, 0), [10, 20, 30, 40]);
+}
+
+#[test]
+fn multiple_level_split() {
+    let mut q = Q2::new(2);
+    for p in 0..60u32 {
+        q.push(p, mask(&[(p % 2) as usize]), p).unwrap();
+        q.check_invariants();
+    }
+    assert_eq!(q.len(), 60);
+    let evens = pop_all_priorities(&mut q, 0);
+    assert_eq!(evens, (0..60).filter(|p| p % 2 == 0).collect::>());
+    q.check_invariants();
+
+    let odds = pop_all_priorities(&mut q, 1);
+    assert_eq!(odds, (0..60).filter(|p| p % 2 == 1).collect::>());
+    assert!(q.is_empty());
+}
+
+#[test]
+fn multiple_level_split_production_degree() {
+    let mut q = Q16::new(4);
+    // > MAX_KEYS + (MAX_KEYS + 1) * MAX_KEYS = 1023 entries forces height >= 3.
+    for p in 0..1200u32 {
+        q.push(p, all_cpus(4), p).unwrap();
+        if p % 50 == 0 {
+            q.check_invariants();
+        }
+    }
+    q.check_invariants();
+    assert_eq!(q.len(), 1200);
+    for p in 0..1200u32 {
+        let (key, _, _) = q.pop_for_cpu(3).unwrap();
+        assert_eq!(key.priority, p);
+        if p % 50 == 0 {
+            q.check_invariants();
+        }
+    }
+    q.check_invariants();
+}
+
+#[test]
+fn root_shrink_after_deletion() {
+    let mut q = Q2::new(1);
+    let mut keys = Vec::new();
+    for p in 0..20u32 {
+        keys.push(q.push(p, mask(&[0]), p).unwrap());
+    }
+    q.check_invariants();
+    for key in keys {
+        assert!(q.remove(&key).is_some());
+        q.check_invariants();
+    }
+    assert!(q.is_empty());
+    assert_eq!(q.peek_key_for_cpu(0), None);
+}
+
+#[test]
+fn delete_from_leaf() {
+    let mut q = Q2::new(1);
+    let k10 = q.push(10, mask(&[0]), 10).unwrap();
+    let k20 = q.push(20, mask(&[0]), 20).unwrap();
+    let k30 = q.push(30, mask(&[0]), 30).unwrap();
+    // Root is still a single leaf [10, 20, 30].
+    assert_eq!(q.remove(&k20), Some((k20, mask(&[0]), 20)));
+    q.check_invariants();
+    assert_eq!(q.remove(&k10), Some((k10, mask(&[0]), 10)));
+    q.check_invariants();
+    assert_eq!(q.remove(&k30), Some((k30, mask(&[0]), 30)));
+    q.check_invariants();
+    assert!(q.is_empty());
+}
+
+#[test]
+fn delete_internal_entry_using_predecessor() {
+    let mut q = Q2::new(1);
+    let key20 = build_split_tree(&mut q);
+    // Push 5 so the left child [5,10] has T=2 entries: removing the internal
+    // key 20 must take the predecessor (10) from the left child.
+    q.push(5, mask(&[0]), 5).unwrap();
+    q.check_invariants();
+    assert!(q.remove(&key20).is_some());
+    q.check_invariants();
+    assert_eq!(pop_all_priorities(&mut q, 0), [5, 10, 30, 40]);
+}
+
+#[test]
+fn delete_internal_entry_using_successor() {
+    let mut q = Q2::new(1);
+    let key20 = build_split_tree(&mut q);
+    // Shape: root=[20], left=[10], right=[30,40]. Left child is minimal but
+    // the right child has T entries: must take the successor (30).
+    assert!(q.remove(&key20).is_some());
+    q.check_invariants();
+    assert_eq!(pop_all_priorities(&mut q, 0), [10, 30, 40]);
+}
+
+#[test]
+fn delete_internal_entry_using_merge() {
+    let mut q = Q2::new(1);
+    let key20 = build_split_tree(&mut q);
+    // Trim the right child to [30] so both children are minimal: removing the
+    // internal key 20 must merge left + separator + right, then root-shrink.
+    let (k40, _, _) = {
+        let mut found = None;
+        let keys = q.debug_all_keys_in_order();
+        for key in keys {
+            if key.priority == 40 {
+                found = Some(key);
+            }
+        }
+        (found.unwrap(), (), ())
+    };
+    assert!(q.remove(&k40).is_some());
+    q.check_invariants();
+    assert!(q.remove(&key20).is_some());
+    q.check_invariants();
+    assert_eq!(pop_all_priorities(&mut q, 0), [10, 30]);
+}
+
+#[test]
+fn borrow_from_left_sibling() {
+    let mut q = Q2::new(1);
+    build_split_tree(&mut q);
+    q.push(5, mask(&[0]), 5).unwrap();
+    // Shape: root=[20], left=[5,10], right=[30,40]. Trim right to [30].
+    let k40 = q
+        .debug_all_keys_in_order()
+        .into_iter()
+        .find(|k| k.priority == 40)
+        .unwrap();
+    assert!(q.remove(&k40).is_some());
+    q.check_invariants();
+    // Removing 30 descends into the minimal right child; the left sibling has
+    // T entries, so the fix-up must borrow from the left.
+    let k30 = q
+        .debug_all_keys_in_order()
+        .into_iter()
+        .find(|k| k.priority == 30)
+        .unwrap();
+    assert!(q.remove(&k30).is_some());
+    q.check_invariants();
+    assert_eq!(pop_all_priorities(&mut q, 0), [5, 10, 20]);
+}
+
+#[test]
+fn borrow_from_right_sibling() {
+    let mut q = Q2::new(1);
+    build_split_tree(&mut q);
+    // Shape: root=[20], left=[10], right=[30,40]. Removing 10 descends into
+    // the minimal left child; the right sibling has T entries, so the fix-up
+    // must borrow from the right.
+    let k10 = q
+        .debug_all_keys_in_order()
+        .into_iter()
+        .find(|k| k.priority == 10)
+        .unwrap();
+    assert!(q.remove(&k10).is_some());
+    q.check_invariants();
+    assert_eq!(pop_all_priorities(&mut q, 0), [20, 30, 40]);
+}
+
+#[test]
+fn merge_children() {
+    let mut q = Q2::new(1);
+    build_split_tree(&mut q);
+    // Trim right child to [30]: both children minimal.
+    let k40 = q
+        .debug_all_keys_in_order()
+        .into_iter()
+        .find(|k| k.priority == 40)
+        .unwrap();
+    assert!(q.remove(&k40).is_some());
+    q.check_invariants();
+    // Removing 10 descends into the minimal left child with a minimal right
+    // sibling: the fix-up must merge children around the separator.
+    let k10 = q
+        .debug_all_keys_in_order()
+        .into_iter()
+        .find(|k| k.priority == 10)
+        .unwrap();
+    assert!(q.remove(&k10).is_some());
+    q.check_invariants();
+    assert_eq!(pop_all_priorities(&mut q, 0), [20, 30]);
+}
+
+// ---------------------------------------------------------------------------
+// Affinity behavior
+// ---------------------------------------------------------------------------
+
+#[test]
+fn pop_for_cpu_when_no_runnable_entry_exists() {
+    let mut q = Q16::new(4);
+    q.push(1, mask(&[1]), 1).unwrap();
+    q.push(2, mask(&[1, 3]), 2).unwrap();
+    assert_eq!(q.peek_key_for_cpu(0), None);
+    assert_eq!(q.pop_for_cpu(0), None);
+    assert_eq!(q.pop_for_cpu(2), None);
+    assert_eq!(q.len(), 2);
+    q.check_invariants();
+}
+
+#[test]
+fn pop_for_cpu_when_only_one_cpu_matches() {
+    let mut q = Q2::new(4);
+    // Entry with priority 5 is only runnable on CPU 2; entries runnable on
+    // other CPUs have worse priority.
+    q.push(5, mask(&[2]), 5).unwrap();
+    q.push(10, mask(&[0, 1, 3]), 10).unwrap();
+    let (key, affinity, _) = q.pop_for_cpu(2).unwrap();
+    assert_eq!(key.priority, 5);
+    assert_eq!(affinity, mask(&[2]));
+    assert_eq!(q.pop_for_cpu(2), None);
+    q.check_invariants();
+}
+
+#[test]
+fn pop_for_cpu_with_all_cpu_affinity() {
+    let mut q = Q2::new(4);
+    for p in [30u32, 10, 20] {
+        q.push(p, all_cpus(4), p).unwrap();
+    }
+    for cpu in 0..4 {
+        assert_eq!(q.peek_key_for_cpu(cpu).unwrap().priority, 10);
+    }
+    let (key, _, _) = q.pop_for_cpu(3).unwrap();
+    assert_eq!(key.priority, 10);
+    q.check_invariants();
+}
+
+#[test]
+fn affinity_pruning_skips_subtrees() {
+    // Many CPU-0 entries with low priorities, one CPU-1 entry with the worst
+    // priority: peek for CPU 1 must descend past subtrees full of CPU-0 work.
+    let mut q = Q2::new(2);
+    for p in 0..40u32 {
+        q.push(p, mask(&[0]), p).unwrap();
+    }
+    let key = q.push(1000, mask(&[1]), 1000).unwrap();
+    q.check_invariants();
+    assert_eq!(q.peek_key_for_cpu(1), Some(key.clone()));
+    assert_eq!(q.pop_for_cpu(1), Some((key, mask(&[1]), 1000)));
+    assert_eq!(q.peek_key_for_cpu(1), None);
+    assert_eq!(q.peek_key_for_cpu(0).unwrap().priority, 0);
+    q.check_invariants();
+}
+
+#[test]
+fn example_behavior_from_spec() {
+    // Spec section 32.
+    let mut q = Q16::new(2);
+    let k10 = q.push(10, mask(&[1]), 0).unwrap();
+    let k20 = q.push(20, mask(&[0, 1]), 1).unwrap();
+    let _k30 = q.push(30, mask(&[0]), 2).unwrap();
+
+    assert_eq!(q.peek_key_for_cpu(0), Some(k20.clone()));
+    assert_eq!(q.peek_key_for_cpu(1), Some(k10.clone()));
+
+    let (popped, _, _) = q.pop_for_cpu(1).unwrap();
+    assert_eq!(popped, k10);
+
+    assert_eq!(q.peek_key_for_cpu(1), Some(k20.clone()));
+    assert_eq!(q.peek_key_for_cpu(0), Some(k20));
+}
+
+#[test]
+fn num_cpus_64_uses_high_bits() {
+    let mut q = AffinityBTreeQueue::::new(64);
+    let key = q.push(1, mask(&[63]), 1).unwrap();
+    assert_eq!(q.peek_key_for_cpu(63), Some(key));
+    assert_eq!(q.peek_key_for_cpu(62), None);
+    assert_eq!(q.peek_key_for_cpu(64), None);
+    q.check_invariants();
+}
+
+#[test]
+fn num_cpus_wide_uses_high_bits() {
+    // N=2: CPUs 0..128. Exercise CPU 64 (first bit of word 1) and CPU 127.
+    let mut q = AffinityBTreeQueue::::new(128);
+    let mut m64 = CpuMask::<2>::empty();
+    m64.insert(64);
+    let mut m127 = CpuMask::<2>::empty();
+    m127.insert(127);
+
+    let k64 = q.push(1, m64, 64).unwrap();
+    let k127 = q.push(2, m127, 127).unwrap();
+    q.check_invariants();
+
+    assert_eq!(q.peek_key_for_cpu(64), Some(k64.clone()));
+    assert_eq!(q.peek_key_for_cpu(127), Some(k127.clone()));
+    assert_eq!(q.peek_key_for_cpu(63), None);
+    assert_eq!(q.peek_key_for_cpu(128), None);
+
+    assert_eq!(q.pop_for_cpu(64), Some((k64, m64, 64)));
+    assert_eq!(q.pop_for_cpu(127), Some((k127, m127, 127)));
+    assert!(q.is_empty());
+    q.check_invariants();
+}
+
+// ---------------------------------------------------------------------------
+// Error handling
+// ---------------------------------------------------------------------------
+
+#[test]
+fn remove_nonexistent_key() {
+    let mut q = Q16::new(2);
+    q.push(10, mask(&[0]), 0).unwrap();
+    let missing = PriorityKey {
+        priority: 10u32,
+        seq: 999,
+    };
+    assert_eq!(q.remove(&missing), None);
+    assert_eq!(q.len(), 1);
+    q.check_invariants();
+}
+
+#[test]
+fn invalid_empty_affinity() {
+    let mut q = Q16::new(4);
+    assert_eq!(
+        q.push(1, CpuMask::empty(), 0),
+        Err(PushError::EmptyAffinity)
+    );
+    assert!(q.is_empty());
+    q.check_invariants();
+}
+
+#[test]
+fn invalid_cpu_in_affinity() {
+    let mut q = Q16::new(4);
+    assert_eq!(q.push(1, mask(&[4]), 0), Err(PushError::InvalidCpu));
+    assert_eq!(q.push(1, mask(&[0, 5]), 0), Err(PushError::InvalidCpu));
+    assert!(q.is_empty());
+    q.check_invariants();
+}
+
+#[test]
+fn sequence_overflow_is_rejected() {
+    let mut q = Q16::new(2);
+    q.debug_set_next_seq(u64::MAX - 1);
+    let key = q.push(1, mask(&[0]), 0).unwrap();
+    assert_eq!(key.seq, u64::MAX - 1);
+    assert_eq!(q.push(2, mask(&[0]), 1), Err(PushError::SequenceOverflow));
+    assert_eq!(q.len(), 1);
+    q.check_invariants();
+}
+
+// ---------------------------------------------------------------------------
+// Generic priority types
+// ---------------------------------------------------------------------------
+
+#[derive(Clone, Copy, Debug, PartialEq, Eq)]
+struct ClassPriority {
+    class: u8,
+    sub: u8,
+}
+
+impl Ord for ClassPriority {
+    fn cmp(&self, other: &Self) -> core::cmp::Ordering {
+        self.class
+            .cmp(&other.class)
+            .then_with(|| self.sub.cmp(&other.sub))
+    }
+}
+
+impl PartialOrd for ClassPriority {
+    fn partial_cmp(&self, other: &Self) -> Option {
+        Some(self.cmp(other))
+    }
+}
+
+#[test]
+fn custom_priority_type_implementing_ord() {
+    let mut q = AffinityBTreeQueue::::new(2);
+    let inputs = [
+        ClassPriority { class: 2, sub: 0 },
+        ClassPriority { class: 0, sub: 9 },
+        ClassPriority { class: 1, sub: 1 },
+        ClassPriority { class: 0, sub: 3 },
+        ClassPriority { class: 1, sub: 0 },
+    ];
+    for (i, p) in inputs.iter().enumerate() {
+        q.push(*p, mask(&[0]), i as u32).unwrap();
+        q.check_invariants();
+    }
+    let mut sorted = inputs;
+    sorted.sort();
+    for expected in sorted {
+        let (key, _, _) = q.pop_for_cpu(0).unwrap();
+        assert_eq!(key.priority, expected);
+        q.check_invariants();
+    }
+}
+
+#[test]
+fn reverse_priority_ordering() {
+    let mut q = AffinityBTreeQueue::, u32, 2>::new(2);
+    for p in [10u32, 30, 20] {
+        q.push(Reverse(p), mask(&[0]), p).unwrap();
+        q.check_invariants();
+    }
+    // With Reverse, larger raw values dequeue first.
+    let mut popped = Vec::new();
+    while let Some((key, _, _)) = q.pop_for_cpu(0) {
+        popped.push(key.priority.0);
+        q.check_invariants();
+    }
+    assert_eq!(popped, [30, 20, 10]);
+}
+
+// ---------------------------------------------------------------------------
+// Randomized property tests against the reference model (spec section 28)
+// ---------------------------------------------------------------------------
+
+fn random_mask(rng: &mut XorShift64, num_cpus: usize) -> CpuMask {
+    let mut m = CpuMask::empty();
+    let num_words = (num_cpus + 63).div_ceil(64);
+    for w in 0..num_words.min(N) {
+        let first_cpu = w * 64;
+        let last_cpu = ((w + 1) * 64).min(num_cpus);
+        let bits_count = last_cpu - first_cpu;
+        let allowed = if bits_count >= 64 {
+            u64::MAX
+        } else {
+            (1u64 << bits_count) - 1
+        };
+        let bits = rng.next() & allowed;
+        m.set_word(w, bits);
+    }
+    if m.is_empty() {
+        let cpu = (rng.next() as usize) % num_cpus;
+        m.insert(cpu);
+    }
+    m
+}
+
+fn run_random_ops(num_cpus: usize, seed: u64, num_ops: usize) {
+    let mut rng = XorShift64::new(seed);
+    let mut q = AffinityBTreeQueue::::new(num_cpus);
+    let mut model = RefModel::::new(num_cpus);
+
+    for op_index in 0..num_ops {
+        match rng.next() % 6 {
+            // Push half the time so trees grow into multiple levels.
+            0..=2 => {
+                let priority = (rng.next() % 64) as u32;
+                let affinity = random_mask(&mut rng, num_cpus);
+                let value = op_index as u32;
+                assert_eq!(
+                    q.push(priority, affinity, value),
+                    model.push(priority, affinity, value)
+                );
+            }
+            3 => {
+                let cpu = (rng.next() as usize) % num_cpus;
+                assert_eq!(q.pop_for_cpu(cpu), model.pop_for_cpu(cpu));
+            }
+            4 => {
+                if !model.entries.is_empty() {
+                    let idx = (rng.next() as usize) % model.entries.len();
+                    let key = model.entries[idx].key.clone();
+                    assert_eq!(q.remove(&key), model.remove(&key));
+                }
+            }
+            _ => {
+                let key = PriorityKey {
+                    priority: (rng.next() % 64) as u32,
+                    seq: rng.next() % 64,
+                };
+                assert_eq!(q.remove(&key), model.remove(&key));
+            }
+        }
+
+        q.check_invariants();
+        assert_eq!(q.len(), model.len());
+        assert_eq!(q.debug_count_entries(), model.len());
+        for cpu in 0..num_cpus {
+            assert_eq!(
+                q.peek_key_for_cpu(cpu),
+                model.peek_key_for_cpu(cpu),
+                "peek mismatch for cpu {cpu}"
+            );
+        }
+        assert_eq!(q.debug_all_entries_in_order(), model.entries_in_order());
+    }
+}
+
+#[test]
+fn random_ops_1_cpu() {
+    for seed in 0..30 {
+        run_random_ops::<16, 1>(1, seed, 1000);
+    }
+}
+
+#[test]
+fn random_ops_2_cpus() {
+    for seed in 100..125 {
+        run_random_ops::<16, 1>(2, seed, 1000);
+    }
+}
+
+#[test]
+fn random_ops_4_cpus() {
+    for seed in 200..220 {
+        run_random_ops::<16, 1>(4, seed, 1000);
+    }
+}
+
+#[test]
+fn random_ops_8_cpus() {
+    for seed in 300..315 {
+        run_random_ops::<16, 1>(8, seed, 1000);
+    }
+}
+
+#[test]
+fn random_ops_16_cpus() {
+    for seed in 400..407 {
+        run_random_ops::<16, 1>(16, seed, 1000);
+    }
+}
+
+#[test]
+fn random_ops_64_cpus() {
+    for seed in 500..503 {
+        run_random_ops::<16, 1>(64, seed, 1000);
+    }
+}
+
+#[test]
+fn random_ops_degree_2() {
+    // T=2 reaches splits, merges, borrows, and root shrink constantly.
+    for seed in 600..620 {
+        run_random_ops::<2, 1>(4, seed, 600);
+    }
+}
+
+#[test]
+fn random_ops_degree_3() {
+    for seed in 700..710 {
+        run_random_ops::<3, 1>(4, seed, 600);
+    }
+}
+
+#[test]
+fn random_ops_narrow_cpu_count_degree_2() {
+    // T=2, N=1, 8 CPUs: exercises low CPU count with many structural changes.
+    for seed in 800..815 {
+        run_random_ops::<2, 1>(8, seed, 600);
+    }
+}
+
+#[test]
+fn random_ops_narrow_cpu_count_degree_16() {
+    for seed in 900..905 {
+        run_random_ops::<16, 1>(16, seed, 800);
+    }
+}
+
+#[test]
+fn random_ops_n2_65_cpus() {
+    // N=2: first test that crosses the 64-CPU boundary.
+    for seed in 1000..1010 {
+        run_random_ops::<2, 2>(65, seed, 600);
+    }
+}
+
+#[test]
+fn random_ops_n2_128_cpus() {
+    // N=2: full 128-CPU mask exercises both words of CpuMask<2>.
+    for seed in 1100..1105 {
+        run_random_ops::<16, 2>(128, seed, 800);
+    }
+}
+
+// ---------------------------------------------------------------------------
+// Invariant violation (defensive panic paths)
+// ---------------------------------------------------------------------------
+
+#[test]
+#[should_panic(expected = "subtree_affinity invariant is broken")]
+fn broken_subtree_affinity_internal_node_panics() {
+    let mut q: Q2 = AffinityBTreeQueue::new(2);
+    // Insert 4 entries to force a root split (root becomes internal with T=2).
+    for i in 1u32..=4 {
+        q.push(i, mask(&[0]), i).unwrap();
+    }
+    // Corrupt the root's subtree_affinity to claim CPU 1 is present.
+    let root_id = q.root.unwrap();
+    q.nodes[root_id.0]
+        .as_mut()
+        .unwrap()
+        .subtree_affinity
+        .insert(1);
+    // pop_for_cpu(1): at the internal root, all children and entries are CPU 0
+    // only, so the rightmost-child block (lines 584-590) is entered but the
+    // inner condition is false → falls through to panic.
+    let _ = q.pop_for_cpu(1);
+}
+
+#[test]
+#[should_panic(expected = "subtree_affinity invariant is broken")]
+fn broken_subtree_affinity_leaf_node_panics() {
+    let mut q: Q2 = AffinityBTreeQueue::new(2);
+    // Single entry: root is a leaf.
+    q.push(1, mask(&[0]), 1).unwrap();
+    // Corrupt the leaf root's subtree_affinity to claim CPU 1 is present.
+    let root_id = q.root.unwrap();
+    q.nodes[root_id.0]
+        .as_mut()
+        .unwrap()
+        .subtree_affinity
+        .insert(1);
+    // pop_for_cpu(1): the for loop exhausts all leaf entries, the outer
+    // `if !x.leaf` is skipped (leaf), falls straight to panic.
+    let _ = q.pop_for_cpu(1);
+}
+
+// ---------------------------------------------------------------------------
+// RefModel error paths
+// ---------------------------------------------------------------------------
+
+#[test]
+fn ref_model_push_empty_affinity() {
+    let mut model: RefModel = RefModel::new(4);
+    assert_eq!(
+        model.push(1, CpuMask::empty(), 0),
+        Err(PushError::EmptyAffinity)
+    );
+}
+
+#[test]
+fn ref_model_push_invalid_cpu() {
+    let mut model: RefModel = RefModel::new(4);
+    // CPU 4 >= num_cpus(4) → InvalidCpu
+    assert_eq!(model.push(1, mask(&[4]), 0), Err(PushError::InvalidCpu));
+}
+
+#[test]
+fn ref_model_pop_out_of_range_cpu_returns_none() {
+    let mut model: RefModel = RefModel::new(4);
+    model.push(1, mask(&[0]), 0).unwrap();
+    // CPU 4 >= num_cpus(4): peek_key_for_cpu returns None
+    assert_eq!(model.pop_for_cpu(4), None);
+}
diff --git a/awkernel_async_lib/Cargo.toml b/awkernel_async_lib/Cargo.toml
index 7602551e0..40d1d8a32 100644
--- a/awkernel_async_lib/Cargo.toml
+++ b/awkernel_async_lib/Cargo.toml
@@ -12,7 +12,7 @@ array-macro = "2.1"
 fixedbitset = "0.5.7"
 async-trait = "0.1"
 async-recursion = "1.1"
-affinity_btree_queue = "0.1.1"
+affinity_btree_queue = { path = "../affinity_btree_queue" }
 
 [dependencies.futures]
 version = "0.3"
diff --git a/awkernel_lib/Cargo.toml b/awkernel_lib/Cargo.toml
index 4ae2b0c03..83a350322 100644
--- a/awkernel_lib/Cargo.toml
+++ b/awkernel_lib/Cargo.toml
@@ -6,7 +6,7 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-affinity_btree_queue = "0.1.1"
+affinity_btree_queue = { path = "../affinity_btree_queue" }
 log = "0.4"
 rlsf = "0.2"
 bitflags = "2.3"

From 6b5e25d5d51eba756975c7262e2579aa83ff59b5 Mon Sep 17 00:00:00 2001
From: Yuuki Takano 
Date: Wed, 22 Jul 2026 12:46:00 +0900
Subject: [PATCH 15/15] fix bool.toml

Signed-off-by: Yuuki Takano 
---
 mdbook/book.toml      | 1 -
 mdbook/src/LICENSE.md | 1 +
 2 files changed, 1 insertion(+), 1 deletion(-)
 create mode 100644 mdbook/src/LICENSE.md

diff --git a/mdbook/book.toml b/mdbook/book.toml
index 8f5c1c4a3..4bf31f613 100644
--- a/mdbook/book.toml
+++ b/mdbook/book.toml
@@ -1,7 +1,6 @@
 [book]
 authors = ["Yuuki Takano"]
 language = "en"
-multilingual = false
 src = "src"
 title = "Awkernel"
 
diff --git a/mdbook/src/LICENSE.md b/mdbook/src/LICENSE.md
new file mode 100644
index 000000000..cc3e07485
--- /dev/null
+++ b/mdbook/src/LICENSE.md
@@ -0,0 +1 @@
+# License