Bluetooth: Controller: Add explicit LLCP error code check

Add unit tests to cover explicit LLCP error code check and
cover the same in the Controller implementation.

Signed-off-by: Vinayak Kariappa Chettimada <vich@nordicsemi.no>
(cherry picked from commit d6f2bc9669)
Signed-off-by: Vinayak Kariappa Chettimada <vich@nordicsemi.no>

.github/workflows/bsim-tests.yaml

@@ -28,12 +28,11 @@ concurrency:
 jobs:
   bsim-test:
     if: github.repository_owner == 'zephyrproject-rtos'
-    runs-on: zephyr-runner-linux-x64-4xlarge
+    runs-on:
+      group: zephyr-runner-v2-linux-x64-4xlarge
     container:
-      image: ghcr.io/zephyrproject-rtos/ci:v0.26.5
+      image: ghcr.io/zephyrproject-rtos/ci-repo-cache:v0.26.5.20231213
       options: '--entrypoint /bin/bash'
-      volumes:
-        - /repo-cache/zephyrproject:/github/cache/zephyrproject
     env:
       ZEPHYR_TOOLCHAIN_VARIANT: zephyr
       ZEPHYR_SDK_INSTALL_DIR: /opt/toolchains/zephyr-sdk-0.16.3
@@ -52,10 +51,16 @@ jobs:
           #        GitHub comes up with a fundamental fix for this problem.
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
 
+      - name: Print cloud service information
+        run: |
+          echo "ZEPHYR_RUNNER_CLOUD_PROVIDER = ${ZEPHYR_RUNNER_CLOUD_PROVIDER}"
+          echo "ZEPHYR_RUNNER_CLOUD_NODE = ${ZEPHYR_RUNNER_CLOUD_NODE}"
+          echo "ZEPHYR_RUNNER_CLOUD_POD = ${ZEPHYR_RUNNER_CLOUD_POD}"
+
       - name: Clone cached Zephyr repository
         continue-on-error: true
         run: |
-          git clone --shared /github/cache/zephyrproject/zephyr .
+          git clone --shared /repo-cache/zephyrproject/zephyr .
           git remote set-url origin ${GITHUB_SERVER_URL}/${GITHUB_REPOSITORY}
 
       - name: Checkout
@@ -75,7 +80,7 @@ jobs:
           west init -l . || true
           west config manifest.group-filter -- +ci
           west config --global update.narrow true
-          west update --path-cache /github/cache/zephyrproject 2>&1 1> west.update.log || west update --path-cache /github/cache/zephyrproject 2>&1 1> west.update.log || ( rm -rf ../modules ../bootloader ../tools && west update --path-cache /github/cache/zephyrproject)
+          west update --path-cache /repo-cache/zephyrproject 2>&1 1> west.update.log || west update --path-cache /repo-cache/zephyrproject 2>&1 1> west.update.log || ( rm -rf ../modules ../bootloader ../tools && west update --path-cache /repo-cache/zephyrproject)
           west forall -c 'git reset --hard HEAD'
 
       - name: Check common triggering files

.github/workflows/clang.yaml

@@ -9,18 +9,20 @@ concurrency:
 jobs:
   clang-build:
     if: github.repository_owner == 'zephyrproject-rtos'
-    runs-on: zephyr-runner-linux-x64-4xlarge
+    runs-on:
+      group: zephyr-runner-v2-linux-x64-4xlarge
     container:
-      image: ghcr.io/zephyrproject-rtos/ci:v0.26.5
+      image: ghcr.io/zephyrproject-rtos/ci-repo-cache:v0.26.5.20231213
       options: '--entrypoint /bin/bash'
-      volumes:
-        - /repo-cache/zephyrproject:/github/cache/zephyrproject
     strategy:
       fail-fast: false
       matrix:
         platform: ["native_posix"]
     env:
       ZEPHYR_SDK_INSTALL_DIR: /opt/toolchains/zephyr-sdk-0.16.3
+      CCACHE_DIR: /node-cache/ccache-zephyr
+      CCACHE_REMOTE_STORAGE: "redis://cache-*.keydb-cache.svc.cluster.local|shards=1,2,3"
+      CCACHE_REMOTE_ONLY: "true"
       LLVM_TOOLCHAIN_PATH: /usr/lib/llvm-16
       COMMIT_RANGE: ${{ github.event.pull_request.base.sha }}..${{ github.event.pull_request.head.sha }}
       BASE_REF: ${{ github.base_ref }}
@@ -35,10 +37,16 @@ jobs:
           #        GitHub comes up with a fundamental fix for this problem.
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
 
+      - name: Print cloud service information
+        run: |
+          echo "ZEPHYR_RUNNER_CLOUD_PROVIDER = ${ZEPHYR_RUNNER_CLOUD_PROVIDER}"
+          echo "ZEPHYR_RUNNER_CLOUD_NODE = ${ZEPHYR_RUNNER_CLOUD_NODE}"
+          echo "ZEPHYR_RUNNER_CLOUD_POD = ${ZEPHYR_RUNNER_CLOUD_POD}"
+
       - name: Clone cached Zephyr repository
         continue-on-error: true
         run: |
-          git clone --shared /github/cache/zephyrproject/zephyr .
+          git clone --shared /repo-cache/zephyrproject/zephyr .
           git remote set-url origin ${GITHUB_SERVER_URL}/${GITHUB_REPOSITORY}
 
       - name: Checkout
@@ -64,7 +72,7 @@ jobs:
           # So first retry to update, if that does not work, remove all modules
           # and start over. (Workaround until we implement more robust module
           # west caching).
-          west update --path-cache /github/cache/zephyrproject 2>&1 1> west.log || west update --path-cache /github/cache/zephyrproject 2>&1 1> west2.log || ( rm -rf ../modules ../bootloader ../tools && west update --path-cache /github/cache/zephyrproject)
+          west update --path-cache /repo-cache/zephyrproject 2>&1 1> west.log || west update --path-cache /repo-cache/zephyrproject 2>&1 1> west2.log || ( rm -rf ../modules ../bootloader ../tools && west update --path-cache /repo-cache/zephyrproject)
 
       - name: Check Environment
         run: |
@@ -73,31 +81,12 @@ jobs:
           gcc --version
           ls -la
 
-      - name: Prepare ccache timestamp/data
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
+      - name: Set up ccache
         run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          string(REPLACE "/" "_" repo ${{github.repository}})
-          string(REPLACE "-" "_" repo2 ${repo})
-          file(APPEND $ENV{GITHUB_OUTPUT} "repo=${repo2}\n")
-
-      - name: use cache
-        id: cache-ccache
-        uses: zephyrproject-rtos/action-s3-cache@v1.2.0
-        with:
-          key: ${{ steps.ccache_cache_timestamp.outputs.repo }}-${{ github.ref_name }}-clang-${{ matrix.platform }}-ccache
-          path: /github/home/.cache/ccache
-          aws-s3-bucket: ccache.zephyrproject.org
-          aws-access-key-id: ${{ vars.AWS_CCACHE_ACCESS_KEY_ID }}
-          aws-secret-access-key: ${{ secrets.AWS_CCACHE_SECRET_ACCESS_KEY }}
-          aws-region: us-east-2
-
-      - name: ccache stats initial
-        run: |
-          mkdir -p /github/home/.cache
-          test -d github/home/.cache/ccache && rm -rf /github/home/.cache/ccache && mv github/home/.cache/ccache /github/home/.cache/ccache
-          ccache -M 10G -s
+          mkdir -p ${CCACHE_DIR}
+          ccache -M 10G
+          ccache -p
+          ccache -z -s -vv
 
       - name: Run Tests with Twister
         id: twister
@@ -118,10 +107,10 @@ jobs:
             echo "report_needed=0" >> $GITHUB_OUTPUT
           fi
 
-      - name: ccache stats post
+      - name: Print ccache stats
+        if: always()
         run: |
-          ccache -s
-          ccache -p
+          ccache -s -vv
 
       - name: Upload Unit Test Results
         if: always() && steps.twister.outputs.report_needed != 0

.github/workflows/codecov.yaml

@@ -10,19 +10,23 @@ concurrency:
 
 jobs:
   codecov:
-    if: github.repository == 'zephyrproject-rtos/zephyr'
-    runs-on: zephyr-runner-linux-x64-4xlarge
+    if: github.repository_owner == 'zephyrproject-rtos'
+    runs-on:
+      group: zephyr-runner-v2-linux-x64-4xlarge
     container:
-      image: ghcr.io/zephyrproject-rtos/ci:v0.26.5
+      image: ghcr.io/zephyrproject-rtos/ci-repo-cache:v0.26.5.20231213
       options: '--entrypoint /bin/bash'
-      volumes:
-        - /repo-cache/zephyrproject:/github/cache/zephyrproject
     strategy:
       fail-fast: false
       matrix:
         platform: ["native_posix", "qemu_x86", "unit_testing"]
     env:
       ZEPHYR_SDK_INSTALL_DIR: /opt/toolchains/zephyr-sdk-0.16.3
+      CCACHE_DIR: /node-cache/ccache-zephyr
+      CCACHE_REMOTE_STORAGE: "redis://cache-*.keydb-cache.svc.cluster.local|shards=1,2,3"
+      CCACHE_REMOTE_ONLY: "true"
+      # `--specs` is ignored because ccache is unable to resovle the toolchain specs file path.
+      CCACHE_IGNOREOPTIONS: '--specs=*'
     steps:
       - name: Apply container owner mismatch workaround
         run: |
@@ -32,6 +36,12 @@ jobs:
           #        GitHub comes up with a fundamental fix for this problem.
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
 
+      - name: Print cloud service information
+        run: |
+          echo "ZEPHYR_RUNNER_CLOUD_PROVIDER = ${ZEPHYR_RUNNER_CLOUD_PROVIDER}"
+          echo "ZEPHYR_RUNNER_CLOUD_NODE = ${ZEPHYR_RUNNER_CLOUD_NODE}"
+          echo "ZEPHYR_RUNNER_CLOUD_POD = ${ZEPHYR_RUNNER_CLOUD_POD}"
+
       - name: Update PATH for west
         run: |
           echo "$HOME/.local/bin" >> $GITHUB_PATH
@@ -39,7 +49,7 @@ jobs:
       - name: Clone cached Zephyr repository
         continue-on-error: true
         run: |
-          git clone --shared /github/cache/zephyrproject/zephyr .
+          git clone --shared /repo-cache/zephyrproject/zephyr .
           git remote set-url origin ${GITHUB_SERVER_URL}/${GITHUB_REPOSITORY}
 
       - name: checkout
@@ -57,30 +67,13 @@ jobs:
           cmake --version
           gcc --version
           ls -la
-      - name: Prepare ccache keys
-        id: ccache_cache_prop
-        shell: cmake -P {0}
-        run: |
-          string(REPLACE "/" "_" repo ${{github.repository}})
-          string(REPLACE "-" "_" repo2 ${repo})
-          file(APPEND $ENV{GITHUB_OUTPUT} "repo=${repo2}\n")
 
-      - name: use cache
-        id: cache-ccache
-        uses: zephyrproject-rtos/action-s3-cache@v1.2.0
-        with:
-          key: ${{ steps.ccache_cache_prop.outputs.repo }}-${{github.event_name}}-${{matrix.platform}}-codecov-ccache
-          path: /github/home/.cache/ccache
-          aws-s3-bucket: ccache.zephyrproject.org
-          aws-access-key-id: ${{ vars.AWS_CCACHE_ACCESS_KEY_ID }}
-          aws-secret-access-key: ${{ secrets.AWS_CCACHE_SECRET_ACCESS_KEY }}
-          aws-region: us-east-2
-
-      - name: ccache stats initial
+      - name: Set up ccache
         run: |
-          mkdir -p /github/home/.cache
-          test -d github/home/.cache/ccache && mv github/home/.cache/ccache /github/home/.cache/ccache
-          ccache -M 10G -s
+          mkdir -p ${CCACHE_DIR}
+          ccache -M 10G
+          ccache -p
+          ccache -z -s -vv
 
       - name: Run Tests with Twister (Push)
         continue-on-error: true
@@ -88,7 +81,8 @@ jobs:
           export ZEPHYR_BASE=${PWD}
           export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
           mkdir -p coverage/reports
-          ./scripts/twister --force-color -N -v --filter runnable -p ${{ matrix.platform }} --coverage -T tests
+          ./scripts/twister --force-color -N -v --filter runnable -p ${{ matrix.platform }} \
+            --coverage -T tests --timeout-multiplier 2
 
       - name: Generate Coverage Report
         run: |
@@ -98,10 +92,10 @@ jobs:
             --remove lcov.pre.info *generated*  \
             -o coverage/reports/${{ matrix.platform }}.info --rc lcov_branch_coverage=1
 
-      - name: ccache stats post
+      - name: Print ccache stats
+        if: always()
         run: |
-          ccache -s
-          ccache -p
+          ccache -s -vv
 
       - name: Upload Coverage Results
         if: always()

.github/workflows/doc-build.yml

@@ -35,13 +35,29 @@ env:
 jobs:
   doc-build-html:
     name: "Documentation Build (HTML)"
-    runs-on: zephyr-runner-linux-x64-4xlarge
+    runs-on:
+      group: zephyr-runner-v2-linux-x64-4xlarge
     timeout-minutes: 45
     concurrency:
       group: doc-build-html-${{ github.ref }}
       cancel-in-progress: true
 
     steps:
+    - name: Print cloud service information
+      run: |
+        echo "ZEPHYR_RUNNER_CLOUD_PROVIDER = ${ZEPHYR_RUNNER_CLOUD_PROVIDER}"
+        echo "ZEPHYR_RUNNER_CLOUD_NODE = ${ZEPHYR_RUNNER_CLOUD_NODE}"
+        echo "ZEPHYR_RUNNER_CLOUD_POD = ${ZEPHYR_RUNNER_CLOUD_POD}"
+
+    - name: install-pkgs
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y wget python3-pip git ninja-build graphviz
+        wget --no-verbose "https://github.com/doxygen/doxygen/releases/download/Release_${DOXYGEN_VERSION//./_}/doxygen-${DOXYGEN_VERSION}.linux.bin.tar.gz"
+        sudo tar xf doxygen-${DOXYGEN_VERSION}.linux.bin.tar.gz -C /opt
+        echo "/opt/doxygen-${DOXYGEN_VERSION}/bin" >> $GITHUB_PATH
+        echo "${HOME}/.local/bin" >> $GITHUB_PATH
+
     - name: checkout
       uses: actions/checkout@v3
       with:
@@ -59,13 +75,22 @@ jobs:
         git rebase origin/${BASE_REF}
         git log --graph --oneline HEAD...${PR_HEAD}
 
-    - name: install-pkgs
+    - name: checkout
+      uses: actions/checkout@v3
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+        fetch-depth: 0
+
+    - name: Rebase
+      continue-on-error: true
+      env:
+        BASE_REF: ${{ github.base_ref }}
+        PR_HEAD: ${{ github.event.pull_request.head.sha }}
       run: |
-        sudo apt-get update
-        sudo apt-get install -y ninja-build graphviz
-        wget --no-verbose "https://github.com/doxygen/doxygen/releases/download/Release_${DOXYGEN_VERSION//./_}/doxygen-${DOXYGEN_VERSION}.linux.bin.tar.gz"
-        tar xf doxygen-${DOXYGEN_VERSION}.linux.bin.tar.gz
-        echo "${PWD}/doxygen-${DOXYGEN_VERSION}/bin" >> $GITHUB_PATH
+        git config --global user.email "actions@zephyrproject.org"
+        git config --global user.name "Github Actions"
+        git rebase origin/${BASE_REF}
+        git log --graph --oneline HEAD...${PR_HEAD}
 
     - name: cache-pip
       uses: actions/cache@v3
@@ -131,7 +156,8 @@ jobs:
   doc-build-pdf:
     name: "Documentation Build (PDF)"
     if: github.event_name != 'pull_request'
-    runs-on: zephyr-runner-linux-x64-4xlarge
+    runs-on:
+      group: zephyr-runner-v2-linux-x64-4xlarge
     container: texlive/texlive:latest
     timeout-minutes: 60
     concurrency:
@@ -139,6 +165,12 @@ jobs:
       cancel-in-progress: true
 
     steps:
+    - name: Print cloud service information
+      run: |
+        echo "ZEPHYR_RUNNER_CLOUD_PROVIDER = ${ZEPHYR_RUNNER_CLOUD_PROVIDER}"
+        echo "ZEPHYR_RUNNER_CLOUD_NODE = ${ZEPHYR_RUNNER_CLOUD_NODE}"
+        echo "ZEPHYR_RUNNER_CLOUD_POD = ${ZEPHYR_RUNNER_CLOUD_POD}"
+
     - name: checkout
       uses: actions/checkout@v3
 

.github/workflows/footprint-tracking.yml

@@ -22,10 +22,11 @@ concurrency:
 
 jobs:
   footprint-tracking:
-    runs-on: zephyr-runner-linux-x64-4xlarge
+    runs-on:
+      group: zephyr-runner-v2-linux-x64-4xlarge
     if: github.repository_owner == 'zephyrproject-rtos'
     container:
-      image: ghcr.io/zephyrproject-rtos/ci:v0.26.5
+      image: ghcr.io/zephyrproject-rtos/ci-repo-cache:v0.26.5.20231213
       options: '--entrypoint /bin/bash'
     strategy:
       fail-fast: false
@@ -41,6 +42,12 @@ jobs:
           #        GitHub comes up with a fundamental fix for this problem.
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
 
+      - name: Print cloud service information
+        run: |
+          echo "ZEPHYR_RUNNER_CLOUD_PROVIDER = ${ZEPHYR_RUNNER_CLOUD_PROVIDER}"
+          echo "ZEPHYR_RUNNER_CLOUD_NODE = ${ZEPHYR_RUNNER_CLOUD_NODE}"
+          echo "ZEPHYR_RUNNER_CLOUD_POD = ${ZEPHYR_RUNNER_CLOUD_POD}"
+
       - name: Update PATH for west
         run: |
           echo "$HOME/.local/bin" >> $GITHUB_PATH

.github/workflows/footprint.yml

@@ -8,10 +8,11 @@ concurrency:
 
 jobs:
   footprint-delta:
-    runs-on: zephyr-runner-linux-x64-4xlarge
+    runs-on:
+      group: zephyr-runner-v2-linux-x64-4xlarge
     if: github.repository == 'zephyrproject-rtos/zephyr'
     container:
-      image: ghcr.io/zephyrproject-rtos/ci:v0.26.5
+      image: ghcr.io/zephyrproject-rtos/ci-repo-cache:v0.26.5.20231213
       options: '--entrypoint /bin/bash'
     strategy:
       fail-fast: false
@@ -27,6 +28,12 @@ jobs:
           #        GitHub comes up with a fundamental fix for this problem.
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
 
+      - name: Print cloud service information
+        run: |
+          echo "ZEPHYR_RUNNER_CLOUD_PROVIDER = ${ZEPHYR_RUNNER_CLOUD_PROVIDER}"
+          echo "ZEPHYR_RUNNER_CLOUD_NODE = ${ZEPHYR_RUNNER_CLOUD_NODE}"
+          echo "ZEPHYR_RUNNER_CLOUD_POD = ${ZEPHYR_RUNNER_CLOUD_POD}"
+
       - name: Update PATH for west
         run: |
           echo "$HOME/.local/bin" >> $GITHUB_PATH

.github/workflows/twister.yaml

@@ -22,19 +22,18 @@ concurrency:
 jobs:
   twister-build-prep:
     if: github.repository_owner == 'zephyrproject-rtos'
-    runs-on: zephyr-runner-linux-x64-4xlarge
+    runs-on:
+      group: zephyr-runner-v2-linux-x64-4xlarge
     container:
-      image: ghcr.io/zephyrproject-rtos/ci:v0.26.5
+      image: ghcr.io/zephyrproject-rtos/ci-repo-cache:v0.26.5.20231213
       options: '--entrypoint /bin/bash'
-      volumes:
-        - /repo-cache/zephyrproject:/github/cache/zephyrproject
     outputs:
       subset: ${{ steps.output-services.outputs.subset }}
       size: ${{ steps.output-services.outputs.size }}
       fullrun: ${{ steps.output-services.outputs.fullrun }}
     env:
       MATRIX_SIZE: 10
-      PUSH_MATRIX_SIZE: 15
+      PUSH_MATRIX_SIZE: 20
       DAILY_MATRIX_SIZE: 80
       ZEPHYR_SDK_INSTALL_DIR: /opt/toolchains/zephyr-sdk-0.16.3
       BSIM_OUT_PATH: /opt/bsim/
@@ -51,11 +50,17 @@ jobs:
           #        GitHub comes up with a fundamental fix for this problem.
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
 
+      - name: Print cloud service information
+        run: |
+          echo "ZEPHYR_RUNNER_CLOUD_PROVIDER = ${ZEPHYR_RUNNER_CLOUD_PROVIDER}"
+          echo "ZEPHYR_RUNNER_CLOUD_NODE = ${ZEPHYR_RUNNER_CLOUD_NODE}"
+          echo "ZEPHYR_RUNNER_CLOUD_POD = ${ZEPHYR_RUNNER_CLOUD_POD}"
+
       - name: Clone cached Zephyr repository
         if: github.event_name == 'pull_request_target'
         continue-on-error: true
         run: |
-          git clone --shared /github/cache/zephyrproject/zephyr .
+          git clone --shared /repo-cache/zephyrproject/zephyr .
           git remote set-url origin ${GITHUB_SERVER_URL}/${GITHUB_REPOSITORY}
 
       - name: Checkout
@@ -77,7 +82,7 @@ jobs:
           west init -l . || true
           west config manifest.group-filter -- +ci,+optional
           west config --global update.narrow true
-          west update --path-cache /github/cache/zephyrproject 2>&1 1> west.update.log || west update --path-cache /github/cache/zephyrproject 2>&1 1> west.update.log || ( rm -rf ../modules ../bootloader ../tools && west update --path-cache /github/cache/zephyrproject)
+          west update --path-cache /repo-cache/zephyrproject 2>&1 1> west.update.log || west update --path-cache /repo-cache/zephyrproject 2>&1 1> west.update.log || ( rm -rf ../modules ../bootloader ../tools && west update --path-cache /repo-cache/zephyrproject)
           west forall -c 'git reset --hard HEAD'
 
       - name: Generate Test Plan with Twister
@@ -118,29 +123,40 @@ jobs:
           echo "fullrun=${TWISTER_FULL}" >> $GITHUB_OUTPUT
 
   twister-build:
-    runs-on: zephyr-runner-linux-x64-4xlarge
+    runs-on:
+      group: zephyr-runner-v2-linux-x64-4xlarge
     needs: twister-build-prep
     if: needs.twister-build-prep.outputs.size != 0
     container:
-      image: ghcr.io/zephyrproject-rtos/ci:v0.26.5
+      image: ghcr.io/zephyrproject-rtos/ci-repo-cache:v0.26.5.20231213
       options: '--entrypoint /bin/bash'
-      volumes:
-        - /repo-cache/zephyrproject:/github/cache/zephyrproject
     strategy:
       fail-fast: false
       matrix:
         subset: ${{fromJSON(needs.twister-build-prep.outputs.subset)}}
+    timeout-minutes: 1440
     env:
       ZEPHYR_SDK_INSTALL_DIR: /opt/toolchains/zephyr-sdk-0.16.3
+      CCACHE_DIR: /node-cache/ccache-zephyr
+      CCACHE_REMOTE_STORAGE: "redis://cache-*.keydb-cache.svc.cluster.local|shards=1,2,3"
+      CCACHE_REMOTE_ONLY: "true"
+      # `--specs` is ignored because ccache is unable to resolve the toolchain specs file path.
+      CCACHE_IGNOREOPTIONS: '--specs=*'
       BSIM_OUT_PATH: /opt/bsim/
       BSIM_COMPONENTS_PATH: /opt/bsim/components
-      TWISTER_COMMON: ' --force-color --inline-logs -v -N -M --retry-failed 3 '
+      TWISTER_COMMON: ' --force-color --inline-logs -v -N -M --retry-failed 3 --timeout-multiplier 2 '
       DAILY_OPTIONS: ' -M --build-only --all --show-footprint'
       PR_OPTIONS: ' --clobber-output --integration'
       PUSH_OPTIONS: ' --clobber-output -M --show-footprint'
       COMMIT_RANGE: ${{ github.event.pull_request.base.sha }}..${{ github.event.pull_request.head.sha }}
       BASE_REF: ${{ github.base_ref }}
     steps:
+      - name: Print cloud service information
+        run: |
+          echo "ZEPHYR_RUNNER_CLOUD_PROVIDER = ${ZEPHYR_RUNNER_CLOUD_PROVIDER}"
+          echo "ZEPHYR_RUNNER_CLOUD_NODE = ${ZEPHYR_RUNNER_CLOUD_NODE}"
+          echo "ZEPHYR_RUNNER_CLOUD_POD = ${ZEPHYR_RUNNER_CLOUD_POD}"
+
       - name: Apply container owner mismatch workaround
         run: |
           # FIXME: The owner UID of the GITHUB_WORKSPACE directory may not
@@ -152,7 +168,7 @@ jobs:
       - name: Clone cached Zephyr repository
         continue-on-error: true
         run: |
-          git clone --shared /github/cache/zephyrproject/zephyr .
+          git clone --shared /repo-cache/zephyrproject/zephyr .
           git remote set-url origin ${GITHUB_SERVER_URL}/${GITHUB_REPOSITORY}
 
       - name: Checkout
@@ -176,7 +192,7 @@ jobs:
           west init -l . || true
           west config manifest.group-filter -- +ci,+optional
           west config --global update.narrow true
-          west update --path-cache /github/cache/zephyrproject 2>&1 1> west.update.log || west update --path-cache /github/cache/zephyrproject 2>&1 1> west.update.log || ( rm -rf ../modules ../bootloader ../tools && west update --path-cache /github/cache/zephyrproject)
+          west update --path-cache /repo-cache/zephyrproject 2>&1 1> west.update.log || west update --path-cache /repo-cache/zephyrproject 2>&1 1> west.update.log || ( rm -rf ../modules ../bootloader ../tools && west update --path-cache /repo-cache/zephyrproject)
           west forall -c 'git reset --hard HEAD'
 
       - name: Check Environment
@@ -188,32 +204,12 @@ jobs:
           echo "github.base_ref: ${{ github.base_ref }}"
           echo "github.ref_name: ${{ github.ref_name }}"
 
-      - name: Prepare ccache timestamp/data
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
+      - name: Set up ccache
         run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          string(REPLACE "/" "_" repo ${{github.repository}})
-          string(REPLACE "-" "_" repo2 ${repo})
-          file(APPEND $ENV{GITHUB_OUTPUT} "repo=${repo2}\n")
-
-      - name: use cache
-        id: cache-ccache
-        uses: zephyrproject-rtos/action-s3-cache@v1.2.0
-        continue-on-error: true
-        with:
-          key: ${{ steps.ccache_cache_timestamp.outputs.repo }}-${{ github.ref_name }}-${{github.event_name}}-${{ matrix.subset }}-ccache
-          path: /github/home/.cache/ccache
-          aws-s3-bucket: ccache.zephyrproject.org
-          aws-access-key-id: ${{ vars.AWS_CCACHE_ACCESS_KEY_ID }}
-          aws-secret-access-key: ${{ secrets.AWS_CCACHE_SECRET_ACCESS_KEY }}
-          aws-region: us-east-2
-
-      - name: ccache stats initial
-        run: |
-          mkdir -p /github/home/.cache
-          test -d github/home/.cache/ccache && rm -rf /github/home/.cache/ccache && mv github/home/.cache/ccache /github/home/.cache/ccache
-          ccache -M 10G -s
+          mkdir -p ${CCACHE_DIR}
+          ccache -M 10G
+          ccache -p
+          ccache -z -s -vv
 
       - if: github.event_name == 'push'
         name: Run Tests with Twister (Push)
@@ -256,10 +252,10 @@ jobs:
             fi
           fi
 
-      - name: ccache stats post
+      - name: Print ccache stats
+        if: always()
         run: |
-          ccache -p
-          ccache -s
+          ccache -s -vv
 
       - name: Upload Unit Test Results
         if: always()

arch/arm64/core/mmu.c

@@ -731,6 +731,14 @@ static inline void add_arm_mmu_region(struct arm_mmu_ptables *ptables,
 
 static inline void inv_dcache_after_map_helper(void *virt, size_t size, uint32_t attrs)
 {
+	/*
+	 * DC IVAC instruction requires write access permission to the VA,
+	 * otherwise it can generate a permission fault
+	 */
+	if ((attrs & MT_RW) != MT_RW) {
+		return;
+	}
+
 	if (MT_TYPE(attrs) == MT_NORMAL || MT_TYPE(attrs) == MT_NORMAL_WT) {
 		sys_cache_data_invd_range(virt, size);
 	}
@@ -987,6 +995,7 @@ void arch_mem_map(void *virt, uintptr_t phys, size_t size, uint32_t flags)
 		case K_MEM_CACHE_WB:
 		case K_MEM_CACHE_WT:
 			mem_flags = (mem_flags == K_MEM_CACHE_WB) ? MT_NORMAL : MT_NORMAL_WT;
+			mem_flags |= (flags & K_MEM_PERM_RW) ? MT_RW : 0;
 			inv_dcache_after_map_helper(virt, size, mem_flags);
 		default:
 			break;

arch/x86/core/acpi.c

@@ -1,448 +0,0 @@
-/*
- * Copyright (c) 2020 Intel Corporation
- * SPDX-License-Identifier: Apache-2.0
- */
-#include <zephyr/kernel.h>
-#include <zephyr/arch/x86/acpi.h>
-#include <zephyr/arch/x86/efi.h>
-
-static struct acpi_rsdp *rsdp;
-static bool is_rsdp_searched;
-
-static struct acpi_dmar *dmar;
-static bool is_dmar_searched;
-
-static bool check_sum(struct acpi_sdt *t)
-{
-	uint8_t sum = 0U, *p = (uint8_t *)t;
-
-	for (int i = 0; i < t->length; i++) {
-		sum += p[i];
-	}
-
-	return sum == 0U;
-}
-
-static void find_rsdp(void)
-{
-	uint8_t *bda_seg, *zero_page_base;
-	uint64_t *search;
-	uintptr_t search_phys, rsdp_phys;
-	size_t search_length = 0U, rsdp_length;
-
-	if (is_rsdp_searched) {
-		/* Looking up for RSDP has already been done */
-		return;
-	}
-
-	/* Let's first get it from EFI, if enabled */
-	if (IS_ENABLED(CONFIG_X86_EFI)) {
-		rsdp_phys = (uintptr_t)efi_get_acpi_rsdp();
-		if (rsdp_phys != 0UL) {
-			/* See at found label why this is required */
-			search_length = sizeof(struct acpi_rsdp);
-			z_phys_map((uint8_t **)&search, rsdp_phys, search_length, 0);
-			rsdp = (struct acpi_rsdp *)search;
-
-			goto found;
-		}
-	}
-
-	/* We never identity map the NULL page, so need to map it before
-	 * it can be accessed.
-	 */
-	z_phys_map(&zero_page_base, 0, 4096, 0);
-
-	/* Physical (real mode!) address 0000:040e stores a (real
-	 * mode!!) segment descriptor pointing to the 1kb Extended
-	 * BIOS Data Area.
-	 *
-	 * We had to memory map this segment descriptor since it is in
-	 * the NULL page. The remaining structures (EBDA etc) are identity
-	 * mapped somewhere within the minefield of reserved regions in the
-	 * first megabyte and are directly accessible.
-	 */
-	bda_seg = 0x040e + zero_page_base;
-	search_phys = (long)(((int)*(uint16_t *)bda_seg) << 4);
-
-	/* Unmap after use */
-	z_phys_unmap(zero_page_base, 4096);
-
-	/* Might be nothing there, check before we inspect.
-	 * Note that EBDA usually is in 0x80000 to 0x100000.
-	 */
-	if ((POINTER_TO_UINT(search_phys) >= 0x80000UL) &&
-	    (POINTER_TO_UINT(search_phys) < 0x100000UL)) {
-		search_length = 1024;
-		z_phys_map((uint8_t **)&search, search_phys, search_length, 0);
-
-		for (int i = 0; i < 1024/8; i++) {
-			if (search[i] == ACPI_RSDP_SIGNATURE) {
-				rsdp_phys = search_phys + i * 8;
-				rsdp = (void *)&search[i];
-				goto found;
-			}
-		}
-
-		z_phys_unmap((uint8_t *)search, search_length);
-	}
-
-	/* If it's not there, then look for it in the last 128kb of
-	 * real mode memory.
-	 */
-	search_phys = 0xe0000;
-	search_length = 128 * 1024;
-	z_phys_map((uint8_t **)&search, search_phys, search_length, 0);
-
-	for (int i = 0; i < 128*1024/8; i++) {
-		if (search[i] == ACPI_RSDP_SIGNATURE) {
-			rsdp_phys = search_phys + i * 8;
-			rsdp = (void *)&search[i];
-			goto found;
-		}
-	}
-
-	z_phys_unmap((uint8_t *)search, search_length);
-
-	rsdp = NULL;
-
-	is_rsdp_searched = true;
-
-	return;
-
-found:
-	/* Determine length of RSDP table.
-	 * ACPI v2 and above uses the length field.
-	 * Otherwise, just the size of struct itself.
-	 */
-	if (rsdp->revision < 2) {
-		rsdp_length = sizeof(*rsdp);
-	} else {
-		rsdp_length = rsdp->length;
-	}
-
-	/* Need to unmap search since it is still mapped */
-	if (search_length != 0U) {
-		z_phys_unmap((uint8_t *)search, search_length);
-	}
-
-	/* Now map the RSDP */
-	z_phys_map((uint8_t **)&rsdp, rsdp_phys, rsdp_length, 0);
-
-	is_rsdp_searched = true;
-}
-
-void *z_acpi_find_table(uint32_t signature)
-{
-	uint8_t *mapped_tbl;
-	uint32_t length;
-	struct acpi_rsdt *rsdt;
-	struct acpi_xsdt *xsdt;
-	struct acpi_sdt *t;
-	uintptr_t t_phys;
-	bool tbl_found;
-
-	find_rsdp();
-
-	if (!rsdp) {
-		return NULL;
-	}
-
-	if (rsdp->rsdt_ptr != 0U) {
-		z_phys_map((uint8_t **)&rsdt, rsdp->rsdt_ptr, sizeof(*rsdt), 0);
-		tbl_found = false;
-
-		if (check_sum(&rsdt->sdt)) {
-			/* Remap the memory to the indicated length of RSDT */
-			length = rsdt->sdt.length;
-			z_phys_unmap((uint8_t *)rsdt, sizeof(*rsdt));
-			z_phys_map((uint8_t **)&rsdt, rsdp->rsdt_ptr, length, 0);
-
-			uint32_t *end = (uint32_t *)((char *)rsdt + rsdt->sdt.length);
-
-			/* Extra indirection required to avoid
-			 * -Waddress-of-packed-member
-			 */
-			void *table_ptrs = &rsdt->table_ptrs[0];
-
-			for (uint32_t *tp = table_ptrs; tp < end; tp++) {
-				t_phys = (long)*tp;
-				z_phys_map(&mapped_tbl, t_phys, sizeof(*t), 0);
-				t = (void *)mapped_tbl;
-
-				if (t->signature == signature && check_sum(t)) {
-					tbl_found = true;
-					break;
-				}
-
-				z_phys_unmap(mapped_tbl, sizeof(*t));
-			}
-		}
-
-		z_phys_unmap((uint8_t *)rsdt, sizeof(*rsdt));
-
-		if (tbl_found) {
-			goto found;
-		}
-	}
-
-	if (rsdp->revision < 2) {
-		return NULL;
-	}
-
-	if (rsdp->xsdt_ptr != 0ULL) {
-		z_phys_map((uint8_t **)&xsdt, rsdp->xsdt_ptr, sizeof(*xsdt), 0);
-
-		tbl_found = false;
-		if (check_sum(&xsdt->sdt)) {
-			/* Remap the memory to the indicated length of RSDT */
-			length = xsdt->sdt.length;
-			z_phys_unmap((uint8_t *)xsdt, sizeof(*xsdt));
-			z_phys_map((uint8_t **)&xsdt, rsdp->xsdt_ptr, length, 0);
-
-			uint64_t *end = (uint64_t *)((char *)xsdt + xsdt->sdt.length);
-
-			/* Extra indirection required to avoid
-			 * -Waddress-of-packed-member
-			 */
-			void *table_ptrs = &xsdt->table_ptrs[0];
-
-			for (uint64_t *tp = table_ptrs; tp < end; tp++) {
-				t_phys = (long)*tp;
-				z_phys_map(&mapped_tbl, t_phys, sizeof(*t), 0);
-				t = (void *)mapped_tbl;
-
-				if (t->signature == signature && check_sum(t)) {
-					tbl_found = true;
-					break;
-				}
-
-				z_phys_unmap(mapped_tbl, sizeof(*t));
-			}
-		}
-
-		z_phys_unmap((uint8_t *)xsdt, sizeof(*xsdt));
-
-		if (tbl_found) {
-			goto found;
-		}
-	}
-
-	return NULL;
-
-found:
-	/* Remap to indicated length of the table */
-	length = t->length;
-	z_phys_unmap(mapped_tbl, sizeof(*t));
-	z_phys_map(&mapped_tbl, t_phys, length, 0);
-	t = (void *)mapped_tbl;
-
-	return t;
-}
-
-/*
- * Return the 'n'th CPU entry from the ACPI MADT, or NULL if not available.
- */
-
-struct acpi_cpu *z_acpi_get_cpu(int n)
-{
-	struct acpi_madt *madt = z_acpi_find_table(ACPI_MADT_SIGNATURE);
-	uintptr_t base = POINTER_TO_UINT(madt);
-	uintptr_t offset;
-
-	if (!madt) {
-		return NULL;
-	}
-
-	offset = POINTER_TO_UINT(madt->entries) - base;
-
-	while (offset < madt->sdt.length) {
-		struct acpi_madt_entry *entry;
-
-		entry = (struct acpi_madt_entry *)(offset + base);
-		if (entry->type == ACPI_MADT_ENTRY_CPU) {
-			struct acpi_cpu *cpu = (struct acpi_cpu *)entry;
-
-			if ((cpu->flags & ACPI_CPU_FLAGS_ENABLED) != 0) {
-				if (n == 0) {
-					return cpu;
-				}
-
-				--n;
-			}
-		}
-
-		offset += entry->length;
-	}
-
-	return NULL;
-}
-
-static void find_dmar(void)
-{
-	if (is_dmar_searched) {
-		return;
-	}
-
-	dmar = z_acpi_find_table(ACPI_DMAR_SIGNATURE);
-	is_dmar_searched = true;
-}
-
-struct acpi_dmar *z_acpi_find_dmar(void)
-{
-	find_dmar();
-	return dmar;
-}
-
-struct acpi_drhd *z_acpi_find_drhds(int *n)
-{
-	struct acpi_drhd *drhds = NULL;
-	uintptr_t offset;
-	uintptr_t base;
-
-	find_dmar();
-
-	if (dmar == NULL) {
-		return NULL;
-	}
-
-	*n = 0;
-	base = POINTER_TO_UINT(dmar);
-
-	offset = POINTER_TO_UINT(dmar->remap_entries) - base;
-	while (offset < dmar->sdt.length) {
-		struct acpi_dmar_entry *entry;
-
-		entry = (struct acpi_dmar_entry *)(offset + base);
-		if (entry->type == ACPI_DMAR_TYPE_DRHD) {
-			if (*n == 0) {
-				drhds = (struct acpi_drhd *)entry;
-			}
-
-			(*n)++;
-		} else {
-			/* DMAR entries are found packed by type so
-			 * if type is not DRHD, we will not encounter one,
-			 * anymore.
-			 */
-			break;
-		}
-
-		offset += entry->length;
-	}
-
-	return drhds;
-}
-
-struct acpi_dmar_dev_scope *z_acpi_get_drhd_dev_scopes(struct acpi_drhd *drhd,
-						       int *n)
-{
-	uintptr_t offset;
-	uintptr_t base;
-
-	if (drhd->entry.length <= ACPI_DRHD_MIN_SIZE) {
-		return NULL;
-	}
-
-	*n = 0;
-	base = POINTER_TO_UINT(drhd);
-
-	offset = POINTER_TO_UINT(drhd->device_scope) - base;
-	while (offset < drhd->entry.length) {
-		struct acpi_dmar_dev_scope *dev_scope;
-
-		dev_scope = (struct acpi_dmar_dev_scope *)(offset + base);
-
-		(*n)++;
-
-		offset += dev_scope->length;
-	}
-
-	return (*n == 0) ? NULL : drhd->device_scope;
-}
-
-struct acpi_dmar_dev_path *
-z_acpi_get_dev_scope_paths(struct acpi_dmar_dev_scope *dev_scope, int *n)
-{
-	switch (dev_scope->type) {
-	case ACPI_DRHD_DEV_SCOPE_PCI_EPD:
-		/* Fall through */
-	case ACPI_DRHD_DEV_SCOPE_PCI_SUB_H:
-		/* Fall through */
-	case ACPI_DRHD_DEV_SCOPE_IOAPIC:
-		if (dev_scope->length < (ACPI_DMAR_DEV_SCOPE_MIN_SIZE +
-					 ACPI_DMAR_DEV_PATH_SIZE)) {
-			return NULL;
-		}
-
-		break;
-	case ACPI_DRHD_DEV_SCOPE_MSI_CAP_HPET:
-		/* Fall through */
-	case ACPI_DRHD_DEV_SCOPE_NAMESPACE_DEV:
-		if (dev_scope->length != (ACPI_DMAR_DEV_SCOPE_MIN_SIZE +
-					  ACPI_DMAR_DEV_PATH_SIZE)) {
-			return NULL;
-		}
-
-		break;
-	default:
-		return NULL;
-	}
-
-	*n = (dev_scope->length - ACPI_DMAR_DEV_SCOPE_MIN_SIZE) /
-		ACPI_DMAR_DEV_PATH_SIZE;
-
-	return dev_scope->path;
-}
-
-uint16_t z_acpi_get_dev_id_from_dmar(uint8_t dev_scope_type)
-{
-	struct acpi_drhd *drhd;
-	int n_drhd;
-
-	find_dmar();
-
-	if (dmar == NULL) {
-		return USHRT_MAX;
-	}
-
-	drhd = z_acpi_find_drhds(&n_drhd);
-
-	for (; n_drhd > 0; n_drhd--) {
-		struct acpi_dmar_dev_scope *dev_scope;
-		int n_ds;
-
-		dev_scope = z_acpi_get_drhd_dev_scopes(drhd, &n_ds);
-		for (; n_ds > 0; n_ds--) {
-			if (dev_scope->type == dev_scope_type) {
-				struct acpi_dmar_dev_path *path;
-				int n_path;
-
-				path = z_acpi_get_dev_scope_paths(dev_scope,
-								  &n_path);
-				if (n_path > 0) {
-					union acpi_dmar_id id;
-
-					/* Let's over simplify for now:
-					 * we don't look for secondary bus
-					 * and extra paths. We just stop here.
-					 */
-
-					id.bits.bus = dev_scope->start_bus_num;
-					id.bits.device = path->device;
-					id.bits.function = path->function;
-
-					return id.raw;
-				}
-			}
-
-			dev_scope = (struct acpi_dmar_dev_scope *)(
-				POINTER_TO_UINT(dev_scope) + dev_scope->length);
-		}
-
-		drhd = (struct acpi_drhd *)(POINTER_TO_UINT(drhd) +
-					    drhd->entry.length);
-	}
-
-	return USHRT_MAX;
-}

boards/arm/lpcxpresso55s06/lpcxpresso55s06_defconfig

@@ -13,7 +13,6 @@ CONFIG_SERIAL=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
 CONFIG_GPIO=y
 CONFIG_PINCTRL=y
-CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=96000000
 CONFIG_ARM_MPU=y
 
 CONFIG_RUNTIME_NMI=y

boards/arm/lpcxpresso55s16/lpcxpresso55s16_defconfig

@@ -13,7 +13,6 @@ CONFIG_SERIAL=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
 CONFIG_GPIO=y
 CONFIG_PINCTRL=y
-CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=96000000
 CONFIG_ARM_MPU=y
 
 CONFIG_RUNTIME_NMI=y

boards/arm/lpcxpresso55s28/lpcxpresso55s28_defconfig

@@ -13,7 +13,6 @@ CONFIG_SERIAL=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
 CONFIG_GPIO=y
 CONFIG_PINCTRL=y
-CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=96000000
 CONFIG_ARM_MPU=y
 CONFIG_HW_STACK_PROTECTION=y
 

boards/arm/lpcxpresso55s36/lpcxpresso55s36_defconfig

@@ -13,7 +13,6 @@ CONFIG_SERIAL=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
 CONFIG_GPIO=y
 CONFIG_PINCTRL=y
-CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=96000000
 CONFIG_ARM_MPU=y
 
 CONFIG_RUNTIME_NMI=y

boards/arm/lpcxpresso55s69/lpcxpresso55s69_cpu0_defconfig

@@ -12,7 +12,6 @@ CONFIG_UART_CONSOLE=y
 CONFIG_SERIAL=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
 CONFIG_GPIO=y
-CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=96000000
 CONFIG_ARM_MPU=y
 CONFIG_HW_STACK_PROTECTION=y
 CONFIG_PINCTRL=y

boards/arm/lpcxpresso55s69/lpcxpresso55s69_cpu1_defconfig

@@ -8,7 +8,6 @@ CONFIG_SOC_SERIES_LPC55XXX=y
 CONFIG_SOC_LPC55S69_CPU1=y
 CONFIG_BOARD_LPCXPRESSO55S69_CPU1=y
 CONFIG_GPIO=y
-CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=96000000
 CONFIG_PINCTRL=y
 
 CONFIG_RUNTIME_NMI=y

boards/arm/lpcxpresso55s69/lpcxpresso55s69_ns_defconfig

@@ -12,7 +12,6 @@ CONFIG_UART_CONSOLE=y
 CONFIG_SERIAL=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
 CONFIG_GPIO=y
-CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=96000000
 CONFIG_PINCTRL=y
 
 # TFM sets up MPU_NS, can't correctly change this configuration yet

boards/arm/mikroe_mini_m4_for_stm32/mikroe_mini_m4_for_stm32.dts

@@ -38,6 +38,10 @@
 	};
 };
 
+&clk_lsi {
+	status = "okay";
+};
+
 &clk_hse {
 	clock-frequency = <DT_FREQ_M(16)>;
 	status = "okay";
@@ -99,3 +103,9 @@ zephyr_udc0: &usbotg_fs {
 &cryp {
 	status = "okay";
 };
+
+&rtc {
+	clocks = <&rcc STM32_CLOCK_BUS_APB1 0x10000000>,
+		 <&rcc STM32_SRC_LSI RTC_SEL(2)>;
+	status = "okay";
+};

boards/x86/intel_adl/Kconfig.defconfig

@@ -36,6 +36,8 @@ config HEAP_MEM_POOL_SIZE
 	default 64000000
 config MAIN_STACK_SIZE
 	default 320000
+config ACPI_PRT_BUS_NAME
+	default "_SB.PC00"
 
 if SHELL
 config SHELL_STACK_SIZE

boards/x86/intel_ehl/Kconfig.defconfig

@@ -19,8 +19,12 @@ config SHELL_BACKEND_SERIAL_INTERRUPT_DRIVEN
 	default n
 endif
 
+config ACPI_PRT_BUS_NAME
+	depends on ACPI
+	default "_SB.PC00"
+
 config HEAP_MEM_POOL_SIZE
-	default 32768 if ACPI
+	default 2097152 if ACPI
 	depends on KERNEL_MEM_POOL
 
 # TSC on this board is 1.9 GHz, HPET and APIC are 19.2 MHz

boards/x86/intel_rpl/Kconfig.defconfig

@@ -29,6 +29,10 @@ endif
 config ACPI
 	default y
 
+config ACPI_PRT_BUS_NAME
+	depends on ACPI
+	default "_SB.PC00"
+
 if DMA
 config DMA_64BIT
 	default y

boards/x86/qemu_x86/Kconfig.defconfig

@@ -25,7 +25,7 @@ config KERNEL_VM_SIZE
 	default 0x10000000 if ACPI
 
 config HEAP_MEM_POOL_SIZE
-	default 32768 if ACPI
+	default 1048576 if ACPI
 	depends on KERNEL_MEM_POOL
 
 config MULTIBOOT
@@ -54,7 +54,7 @@ config KERNEL_VM_SIZE
 	default 0x10000000 if ACPI
 
 config HEAP_MEM_POOL_SIZE
-	default 32768 if ACPI
+	default 1048576 if ACPI
 	depends on KERNEL_MEM_POOL
 
 endif # BOARD_QEMU_X86_64

boards/x86/up_squared/Kconfig.defconfig

@@ -9,7 +9,7 @@ config MP_MAX_NUM_CPUS
 	default 2 if BOARD_UP_SQUARED
 
 config HEAP_MEM_POOL_SIZE
-	default 32768 if ACPI
+	default 1048576 if ACPI
 	depends on KERNEL_MEM_POOL
 
 config BUILD_OUTPUT_STRIPPED

boards/xtensa/m5stack_core2/m5stack_core2.dts

@@ -167,8 +167,8 @@
 &i2c1 {
 	status = "disabled";
 	clock-frequency = <I2C_BITRATE_STANDARD>;
-	sda-gpios = <&gpio0 32 GPIO_OPEN_DRAIN>;
-	scl-gpios = <&gpio0 33 GPIO_OPEN_DRAIN>;
+	sda-gpios = <&gpio1 0 GPIO_OPEN_DRAIN>;
+	scl-gpios = <&gpio1 1 GPIO_OPEN_DRAIN>;
 	pinctrl-0 = <&i2c1_default>;
 	pinctrl-names = "default";
 };

boards/xtensa/xiao_esp32s3/seeed_xiao_connector.dtsi

@@ -16,8 +16,8 @@
 				   <3 0 &gpio0 4 0>,	/* D3 */
 				   <4 0 &gpio0 5 0>,	/* D4 */
 				   <5 0 &gpio0 6 0>,	/* D5 */
-				   <6 0 &gpio0 43 0>,	/* D6 */
-				   <7 0 &gpio0 44 0>,	/* D7 */
+				   <6 0 &gpio1 11 0>,	/* D6 */
+				   <7 0 &gpio1 12 0>,	/* D7 */
 				   <8 0 &gpio0 7 0>,	/* D8 */
 				   <9 0 &gpio0 8 0>,	/* D9 */
 				   <10 0 &gpio0 9 0>;	/* D10 */

boards/xtensa/xiao_esp32s3/xiao_esp32s3.dts

@@ -79,6 +79,10 @@
 	status = "okay";
 };
 
+&gpio1 {
+	status = "okay";
+};
+
 &wdt0 {
 	status = "okay";
 };

cmake/bintools/llvm/target.cmake

@@ -26,7 +26,11 @@ find_program(CMAKE_OBJCOPY NAMES
                            llvm-objcopy-${CLANGVER}
                            objcopy
                            ${find_program_binutils_args})
-find_program(CMAKE_READELF readelf      ${find_program_binutils_args})
+find_program(CMAKE_READELF NAMES
+                           llvm-readelf
+                           llvm-readelf-${CLANGVER}
+                           readelf
+                           ${find_program_binutils_args})
 
 # Use the gnu binutil abstraction
 include(${ZEPHYR_BASE}/cmake/bintools/llvm/target_bintools.cmake)

cmake/modules/dts.cmake

@@ -134,7 +134,7 @@ set(VENDOR_PREFIXES             dts/bindings/vendor-prefixes.txt)
 set_ifndef(DTS_SOURCE ${BOARD_DIR}/${BOARD}.dts)
 if(EXISTS ${DTS_SOURCE})
   # We found a devicetree. Check for a board revision overlay.
-  if(BOARD_REVISION AND EXISTS ${BOARD_DIR}/${BOARD}_${BOARD_REVISION_STRING}.overlay)
+  if(DEFINED BOARD_REVISION AND EXISTS ${BOARD_DIR}/${BOARD}_${BOARD_REVISION_STRING}.overlay)
     list(APPEND DTS_SOURCE ${BOARD_DIR}/${BOARD}_${BOARD_REVISION_STRING}.overlay)
   endif()
 else()

cmake/modules/extensions.cmake

@@ -2095,16 +2095,12 @@ function(toolchain_parse_make_rule input_file include_files)
   # the element separator, so let's get the pure `;` back.
   string(REPLACE "\;" ";" input_as_list ${input})
 
-  # Pop the first line and treat it specially
-  list(POP_FRONT input_as_list first_input_line)
-  string(FIND ${first_input_line} ": " index)
-  math(EXPR j "${index} + 2")
-  string(SUBSTRING ${first_input_line} ${j} -1 first_include_file)
+  # The file might also contain multiple files on one line if one or both of
+  # the file paths are short, split these up into multiple elements using regex
+  string(REGEX REPLACE "([^ ])[ ]([^ ])" "\\1;\\2" input_as_list "${input_as_list}")
 
-  # Remove whitespace before and after filename and convert to CMake path.
-  string(STRIP "${first_include_file}" first_include_file)
-  file(TO_CMAKE_PATH "${first_include_file}" first_include_file)
-  set(result "${first_include_file}")
+  # Pop the first item containing "empty_file.o:"
+  list(POP_FRONT input_as_list first_input_line)
 
   # Remove whitespace before and after filename and convert to CMake path.
   foreach(file ${input_as_list})

doc/_scripts/redirects.py

@@ -71,7 +71,7 @@ REDIRECTS = [
     ('guides/pm/power_domain', 'services/pm/power_domain'),
     ('guides/pm/system', 'services/pm/system'),
     ('guides/portability/index', 'services/portability/index'),
-    ('guides/portability/posix', 'services/portability/posix'),
+    ('guides/portability/posix', 'services/portability/posix/index'),
     ('guides/porting/arch', 'hardware/porting/arch'),
     ('guides/porting/board_porting', 'hardware/porting/board_porting'),
     ('guides/porting/index', 'hardware/porting/index'),

doc/introduction/index.rst

@@ -80,6 +80,8 @@ Zephyr offers a large and ever growing number of features including:
      * Red/black tree ready queue
      * Traditional multi-queue ready queue
 
+.. _zephyr_intro_configurability:
+
 **Highly configurable / Modular for flexibility**
    Allows an application to incorporate *only* the capabilities it needs as it
    needs them, and to specify their quantity and size.

doc/releases/migration-guide-3.5.rst

@@ -79,6 +79,25 @@ C Library
     to a smaller, but inexact conversion algorithm. This requires building
     Picolibc as a module.
 
+Optional Modules
+================
+
+The following modules have been made optional and are not downloaded with `west update` by default anymore:
+
+* ``chre``
+* ``lz4``
+* ``nanopb``
+* ``psa-arch-tests``
+* ``sof``
+* ``tf-m-tests``
+* ``tflite-micro``
+* ``thrift``
+* ``zscilib``
+
+To enable them again use the ``west config manifest.project-filter -- +<module
+name>`` command, or ``west config manifest.group-filter -- +optional`` to
+enable all optional modules, and then run ``west update`` again.
+
 Device Drivers and Device Tree
 ==============================
 

doc/releases/release-notes-3.5.rst

@@ -68,6 +68,9 @@ https://docs.zephyrproject.org/latest/security/vulnerabilities.html
 * CVE-2023-5563 `Zephyr project bug tracker GHSA-98mc-rj7w-7rpv
   <https://github.com/zephyrproject-rtos/zephyr/security/advisories/GHSA-98mc-rj7w-7rpv>`_
 
+* CVE-2023-5753 `Zephyr project bug tracker GHSA-hmpr-px56-rvww
+  <https://github.com/zephyrproject-rtos/zephyr/security/advisories/GHSA-hmpr-px56-rvww>`_
+
 Kernel
 ******
 

doc/security/vulnerabilities.rst

@@ -1547,3 +1547,17 @@ This has been fixed in main for v3.5.0
 
 - `PR 63717 fix for 3.3
   <https://github.com/zephyrproject-rtos/zephyr/pull/63717>`_
+
+CVE-2023-5753
+-------------
+
+Potential buffer overflow vulnerabilities in the Zephyr Bluetooth
+subsystem source code when asserts are disabled.
+
+- `Zephyr project bug tracker GHSA-hmpr-px56-rvww
+  <https://github.com/zephyrproject-rtos/zephyr/security/advisories/GHSA-hmpr-px56-rvww>`_
+
+This has been fixed in main for v3.5.0
+
+- `PR 63605 fix for main
+  <https://github.com/zephyrproject-rtos/zephyr/pull/63605>`_

doc/services/portability/index.rst

@@ -14,6 +14,6 @@ supported by the Zephyr RTOS.
 .. toctree::
    :maxdepth: 1
 
-   posix.rst
+   posix/index.rst
    cmsis_rtos_v1.rst
    cmsis_rtos_v2.rst

doc/services/portability/posix/aep/index.rst

@@ -0,0 +1,191 @@
+.. _posix_aep:
+
+POSIX Application Environment Profiles (AEP)
+############################################
+
+Although inactive, `IEEE 1003.13-2003`_ defined a number of AEP that inspired the modern
+subprofiling options of `IEEE 1003.1-2017`_. The single-purpose realtime system profiles
+are listed below, for reference, in terms that agree with the current POSIX-1 standard. PSE54
+is not considered at this time.
+
+.. _posix_aep_pse51:
+
+Minimal Realtime System Profile (PSE51)
+=======================================
+
+.. Conforming implementations shall define _POSIX_AEP_REALTIME_MINIMAL to the value 200312L
+
+.. csv-table:: PSE51 System Interfaces
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    _POSIX_AEP_REALTIME_MINIMAL, -1,
+
+.. csv-table:: PSE51 Option Groups
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    POSIX_C_LANG_JUMP,,
+    POSIX_C_LANG_SUPPORT, yes, :ref:`†<posix_undefined_behaviour>`
+    POSIX_DEVICE_IO,, :ref:`†<posix_undefined_behaviour>`
+    POSIX_FILE_LOCKING,,
+    POSIX_SIGNALS,, :ref:`†<posix_undefined_behaviour>`
+    POSIX_SINGLE_PROCESS,, :ref:`†<posix_undefined_behaviour>`
+    POSIX_THREADS_BASE, yes, :ref:`†<posix_undefined_behaviour>`
+    XSI_THREADS_EXT, yes, :ref:`†<posix_undefined_behaviour>`
+
+.. csv-table:: PSE51 Option Requirements
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    _POSIX_CLOCK_SELECTION, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
+    _POSIX_FSYNC, -1,
+    _POSIX_MEMLOCK, -1,
+    _POSIX_MEMLOCK_RANGE, -1,
+    _POSIX_MONOTONIC_CLOCK, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
+    _POSIX_REALTIME_SIGNALS, -1,
+    _POSIX_SEMAPHORES, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
+    _POSIX_SHARED_MEMORY_OBJECTS, -1,
+    _POSIX_SYNCHRONIZED_IO, -1,
+    _POSIX_THREAD_ATTR_STACKADDR, 200809L, :kconfig:option:`CONFIG_PTHREAD`
+    _POSIX_THREAD_ATTR_STACKSIZE, 200809L, :kconfig:option:`CONFIG_PTHREAD`
+    _POSIX_THREAD_CPUTIME, -1,
+    _POSIX_THREAD_PRIO_INHERIT, 200809L, :kconfig:option:`CONFIG_PTHREAD_MUTEX`
+    _POSIX_THREAD_PRIO_PROTECT, -1,
+    _POSIX_THREAD_PRIORITY_SCHEDULING, -1,
+    _POSIX_THREAD_SPORADIC_SERVER, -1,
+    _POSIX_TIMEOUTS, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
+    _POSIX_TIMERS, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
+
+.. note::
+    For PSE51 support, 44 of 75 symbols are currently implemented.
+
+.. _posix_aep_pse52:
+
+Realtime Controller System Profile (PSE52)
+==========================================
+
+.. Conforming implementations shall define _POSIX_AEP_REALTIME_CONTROLLER to the value 200312L
+
+.. csv-table:: PSE52 System Interfaces
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    _POSIX_AEP_REALTIME_CONTROLLER, -1,
+
+.. csv-table:: PSE52 Option Groups
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    POSIX_C_LANG_JUMP,,
+    POSIX_C_LANG_MATH, yes,
+    POSIX_C_LANG_SUPPORT, yes, :ref:`†<posix_undefined_behaviour>`
+    POSIX_DEVICE_IO,, :ref:`†<posix_undefined_behaviour>`
+    POSIX_FD_MGMT,,
+    POSIX_FILE_LOCKING,,
+    POSIX_FILE_SYSTEM,,
+    POSIX_SIGNALS,, :ref:`†<posix_undefined_behaviour>`
+    POSIX_SINGLE_PROCESS,, :ref:`†<posix_undefined_behaviour>`
+    POSIX_THREADS_BASE, yes, :ref:`†<posix_undefined_behaviour>`
+    XSI_THREADS_EXT, yes, :ref:`†<posix_undefined_behaviour>`
+
+.. csv-table:: PSE52 Option Requirements
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    _POSIX_CLOCK_SELECTION, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
+    _POSIX_FSYNC, -1,
+    _POSIX_MAPPED_FILES, -1,
+    _POSIX_MEMLOCK, -1,
+    _POSIX_MEMLOCK_RANGE, -1,
+    _POSIX_MESSAGE_PASSING, 200809L, :kconfig:option:`CONFIG_POSIX_MQUEUE`
+    _POSIX_MONOTONIC_CLOCK, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
+    _POSIX_REALTIME_SIGNALS, -1,
+    _POSIX_SEMAPHORES, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
+    _POSIX_SHARED_MEMORY_OBJECTS, -1,
+    _POSIX_SYNCHRONIZED_IO, -1,
+    _POSIX_THREAD_ATTR_STACKADDR, 200809L, :kconfig:option:`CONFIG_PTHREAD`
+    _POSIX_THREAD_ATTR_STACKSIZE, 200809L, :kconfig:option:`CONFIG_PTHREAD`
+    _POSIX_THREAD_CPUTIME, -1,
+    _POSIX_THREAD_PRIO_INHERIT, 200809L, :kconfig:option:`CONFIG_PTHREAD_MUTEX`
+    _POSIX_THREAD_PRIO_PROTECT, -1,
+    _POSIX_THREAD_PRIORITY_SCHEDULING, -1,
+    _POSIX_THREAD_SPORADIC_SERVER, -1,
+    _POSIX_TIMEOUTS, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
+    _POSIX_TIMERS, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
+    _POSIX_TRACE, -1,
+    _POSIX_TRACE_EVENT_FILTER, -1,
+    _POSIX_TRACE_LOG, -1,
+
+.. _posix_aep_pse53:
+
+Dedicated Realtime System Profile (PSE53)
+=========================================
+
+.. Conforming implementations shall define _POSIX_AEP_REALTIME_MINIMAL to the value 200312L
+
+.. csv-table:: PSE53 System Interfaces
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    _POSIX_AEP_REALTIME_CONTROLLER, -1,
+
+.. csv-table:: PSE53 Option Groups
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    POSIX_C_LANG_JUMP,,
+    POSIX_C_LANG_MATH, yes,
+    POSIX_C_LANG_SUPPORT, yes, :ref:`†<posix_undefined_behaviour>`
+    POSIX_DEVICE_IO,, :ref:`†<posix_undefined_behaviour>`
+    POSIX_FD_MGMT,,
+    POSIX_FILE_LOCKING,,
+    POSIX_FILE_SYSTEM,,
+    POSIX_MULTI_PROCESS,, :ref:`†<posix_undefined_behaviour>`
+    POSIX_NETWORKING, yes, :ref:`†<posix_undefined_behaviour>`
+    POSIX_PIPE,, :ref:`†<posix_undefined_behaviour>`
+    POSIX_SIGNALS,, :ref:`†<posix_undefined_behaviour>`
+    POSIX_SIGNAL_JUMP,, :ref:`†<posix_undefined_behaviour>`
+    POSIX_SINGLE_PROCESS,, :ref:`†<posix_undefined_behaviour>`
+    POSIX_THREADS_BASE, yes, :ref:`†<posix_undefined_behaviour>`
+    XSI_THREADS_EXT, yes, :ref:`†<posix_undefined_behaviour>`
+
+.. csv-table:: PSE53 Option Requirements
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    _POSIX_ASYNCHRONOUS_IO, -1,
+    _POSIX_CLOCK_SELECTION, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
+    _POSIX_CPUTIME, -1,
+    _POSIX_FSYNC, -1,
+    _POSIX_MAPPED_FILES, -1,
+    _POSIX_MEMLOCK, -1,
+    _POSIX_MEMLOCK_RANGE, -1,
+    _POSIX_MEMORY_PROTECTION, -1,
+    _POSIX_MESSAGE_PASSING, 200809L, :kconfig:option:`CONFIG_POSIX_MQUEUE`
+    _POSIX_MONOTONIC_CLOCK, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
+    _POSIX_PRIORITIZED_IO, -1,
+    _POSIX_PRIORITY_SCHEDULING, -1,
+    _POSIX_RAW_SOCKETS, 200809L, :kconfig:option:`CONFIG_NET_SOCKETS`
+    _POSIX_REALTIME_SIGNALS, -1,
+    _POSIX_SEMAPHORES, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
+    _POSIX_SHARED_MEMORY_OBJECTS, -1,
+    _POSIX_SPAWN, -1,
+    _POSIX_SPORADIC_SERVER, -1,
+    _POSIX_SYNCHRONIZED_IO, -1,
+    _POSIX_THREAD_ATTR_STACKADDR, 200809L, :kconfig:option:`CONFIG_PTHREAD`
+    _POSIX_THREAD_ATTR_STACKSIZE, 200809L, :kconfig:option:`CONFIG_PTHREAD`
+    _POSIX_THREAD_CPUTIME, -1,
+    _POSIX_THREAD_PRIO_INHERIT, 200809L, :kconfig:option:`CONFIG_PTHREAD_MUTEX`
+    _POSIX_THREAD_PRIO_PROTECT, -1,
+    _POSIX_THREAD_PRIORITY_SCHEDULING, -1,
+    _POSIX_THREAD_PROCESS_SHARED, -1,
+    _POSIX_THREAD_SPORADIC_SERVER, -1,
+    _POSIX_TIMEOUTS, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
+    _POSIX_TIMERS, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
+    _POSIX_TRACE, -1,
+    _POSIX_TRACE_EVENT_FILTER, -1,
+    _POSIX_TRACE_LOG, -1,
+
+.. _IEEE 1003.1-2017: https://standards.ieee.org/ieee/1003.1/7101/
+.. _IEEE 1003.13-2003: https://standards.ieee.org/ieee/1003.13/3322/

doc/services/portability/posix/conformance/index.rst

@@ -0,0 +1,145 @@
+.. _posix_conformance:
+
+POSIX Conformance
+#################
+
+As per `IEEE 1003.1-2017`, this section details Zephyr's POSIX conformance.
+
+.. _posix_undefined_behaviour:
+
+.. note::
+   As per POSIX 1003.13, single process mode is supported directly by both PSE51 and PSE52
+   profiles. While Zephyr includes support for many features found in PSE53, PSE53 itself requires
+   supporting multiple processes. Since supporting multiple processes is beyond the scope of
+   Zephyr's current design, some features requiring multi-process capabilities may exhibit
+   undefined behaviour, which we denote with the † (obelus) symbol.
+
+.. _posix_system_interfaces:
+
+POSIX System Interfaces
+=======================
+
+.. The following have values greater than -1 in Zephyr, conformant with the POSIX specification.
+
+.. csv-table:: POSIX System Interfaces
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    _POSIX_CHOWN_RESTRICTED, 0,
+    _POSIX_NO_TRUNC, 0,
+    _POSIX_VDISABLE, 0,
+
+.. The following should be valued greater than zero in Zephyr, in order to be strictly conformant
+    with the POSIX specification.
+
+.. csv-table:: POSIX System Interfaces
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    _POSIX_JOB_CONTROL, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX_REGEXP, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX_SAVED_IDS, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX_SHELL, -1, :ref:`†<posix_undefined_behaviour>`
+
+.. TODO: POSIX_ASYNCHRONOUS_IO, and other interfaces below, are mandatory. That means that a
+   strictly conforming application need not be modified in order to compile against Zephyr.
+   However, we may add implementations that simply fail with ENOSYS as long as the functional
+   modification is clearly documented. The implementation is not required for PSE51 or PSE52
+   and beyond that POSIX async I/O functions are rarely used in practice.
+
+.. csv-table:: POSIX System Interfaces
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    _POSIX_VERSION, 200809L,
+    _POSIX_ASYNCHRONOUS_IO, -1, :ref:`†<posix_undefined_behaviour>`
+    :ref:`_POSIX_BARRIERS<posix_option_group_barriers>`, 200809L, :kconfig:option:`CONFIG_PTHREAD_BARRIER`
+    :ref:`_POSIX_CLOCK_SELECTION<posix_option_group_clock_selection>`, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
+    _POSIX_MAPPED_FILES, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX_MEMORY_PROTECTION, -1, :ref:`†<posix_undefined_behaviour>`
+    :ref:`_POSIX_READER_WRITER_LOCKS<posix_option_reader_writer_locks>`, -1, :kconfig:option:`CONFIG_PTHREAD_IPC`
+    _POSIX_REALTIME_SIGNALS, -1, :ref:`†<posix_undefined_behaviour>`
+    :ref:`_POSIX_SEMAPHORES<posix_option_group_semaphores>`, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
+    :ref:`_POSIX_SPIN_LOCKS<posix_option_group_spin_locks>`, 200809L, :kconfig:option:`CONFIG_PTHREAD_SPINLOCK`
+    _POSIX_THREAD_SAFE_FUNCTIONS, 200809L,
+    :ref:`_POSIX_THREADS<posix_option_group_threads_base>`, -1, :kconfig:option:`CONFIG_PTHREAD_IPC`
+    :ref:`_POSIX_TIMEOUTS<posix_option_timeouts>`, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
+    :ref:`_POSIX_TIMERS<posix_option_group_timers>`, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
+    _POSIX2_C_BIND, 200809L,
+
+.. csv-table:: POSIX System Interfaces (Optional)
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    _POSIX_ADVISORY_INFO, -1,
+    _POSIX_CPUTIME, -1,
+    _POSIX_FSYNC, -1,
+    _POSIX_IPV6, 200809L, :kconfig:option:`CONFIG_NET_IPV6`
+    _POSIX_MEMLOCK, -1,
+    _POSIX_MEMLOCK_RANGE, -1,
+    :ref:`_POSIX_MESSAGE_PASSING<posix_option_message_passing>`, 200809L, :kconfig:option:`CONFIG_POSIX_MQUEUE`
+    _POSIX_MONOTONIC_CLOCK, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
+    _POSIX_PRIORITIZED_IO, -1,
+    :ref:`_POSIX_PRIORITY_SCHEDULING<posix_option_priority_scheduling>`, -1, :kconfig:option:`CONFIG_PTHREAD`
+    _POSIX_RAW_SOCKETS, 200809L, :kconfig:option:`CONFIG_NET_SOCKETS`
+    _POSIX_SHARED_MEMORY_OBJECTS, -1,
+    _POSIX_SPAWN, -1,
+    _POSIX_SPORADIC_SERVER, -1,
+    _POSIX_SYNCHRONIZED_IO, -1,
+    :ref:`_POSIX_THREAD_ATTR_STACKADDR<posix_option_thread_attr_stackaddr>`, 200809L, :kconfig:option:`CONFIG_PTHREAD`
+    _POSIX_THREAD_CPUTIME, -1,
+    :ref:`_POSIX_THREAD_ATTR_STACKSIZE<posix_option_thread_attr_stacksize>`, 200809L, :kconfig:option:`CONFIG_PTHREAD`
+    _POSIX_THREAD_PRIO_INHERIT, 200809L, :kconfig:option:`CONFIG_PTHREAD_MUTEX`
+    _POSIX_THREAD_PRIO_PROTECT, -1,
+    :ref:`_POSIX_THREAD_PRIORITY_SCHEDULING<posix_option_thread_priority_scheduling>`, 200809L, :kconfig:option:`CONFIG_PTHREAD`
+    _POSIX_THREAD_PROCESS_SHARED, -1,
+    _POSIX_THREAD_SPORADIC_SERVER, -1,
+    _POSIX_TRACE, -1,
+    _POSIX_TRACE_EVENT_FILTER, -1,
+    _POSIX_TRACE_INHERIT, -1,
+    _POSIX_TRACE_LOG, -1,
+    _POSIX_TYPED_MEMORY_OBJECTS, -1,
+    _XOPEN_CRYPT, -1,
+    _XOPEN_REALTIME, -1,
+    _XOPEN_REALTIME_THREADS, -1,
+    :ref:`_XOPEN_STREAMS<posix_option_xopen_streams>`, -1, :kconfig:option:`CONFIG_NET_SOCKETS`
+    _XOPEN_UNIX, -1,
+
+POSIX Shell and Utilities
+=========================
+
+Zephyr does not support a POSIX shell or utilities at this time.
+
+.. csv-table:: POSIX Shell and Utilities
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    _POSIX2_C_DEV, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX2_CHAR_TERM, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX2_FORT_DEV, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX2_FORT_RUN, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX2_LOCALEDEF, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX2_PBS, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX2_PBS_ACCOUNTING, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX2_PBS_LOCATE, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX2_PBS_MESSAGE, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX2_PBS_TRACK, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX2_SW_DEV, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX2_UPE, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX2_UNIX, -1, :ref:`†<posix_undefined_behaviour>`
+    _POSIX2_UUCP, -1, :ref:`†<posix_undefined_behaviour>`
+
+XSI Conformance
+###############
+
+XSI System Interfaces
+=====================
+
+.. csv-table:: XSI System Interfaces
+   :header: Symbol, Support, Remarks
+   :widths: 50, 10, 50
+
+    _POSIX_FSYNC, -1, :ref:`†<posix_undefined_behaviour>`
+    :ref:`_POSIX_THREAD_ATTR_STACKADDR<posix_option_thread_attr_stackaddr>`, 200809L, :kconfig:option:`CONFIG_PTHREAD`
+    :ref:`_POSIX_THREAD_ATTR_STACKSIZE<posix_option_thread_attr_stacksize>`, 200809L, :kconfig:option:`CONFIG_PTHREAD`
+    _POSIX_THREAD_PROCESS_SHARED, -1,

doc/services/portability/posix/implementation/index.rst

@@ -0,0 +1,77 @@
+.. _posix_details:
+
+Implementation Details
+######################
+
+In many ways, Zephyr provides support like any POSIX OS; API bindings are provided in the C
+programming language, POSIX headers are available in the standard include path, when configured.
+
+Unlike other multi-purpose POSIX operating systems
+
+- Zephyr is not "a POSIX OS". The Zephyr kernel was not designed around the POSIX standard, and
+  POSIX support is an opt-in feature
+- Zephyr apps are not linked separately, nor do they execute as subprocesses
+- Zephyr, libraries, and application code are compiled and linked together, running similarly to
+  a single-process application, in a single (possibly virtual) address space
+- Zephyr does not provide a POSIX shell, compiler, utilities, and is not self-hosting.
+
+.. note::
+   Unlike the Linux kernel or FreeBSD, Zephyr does not maintain a static table of system call
+   numbers for each supported architecture, but instead generates system calls dynamically at
+   build time. See `System Calls <syscalls>`_ for more information.
+
+Design
+======
+
+As a library, Zephyr's POSIX API implementation makes an effort to be a thin abstraction layer
+between the application, middleware, and the Zephyr kernel.
+
+Some general design considerations:
+
+- The POSIX interface and implementations should be part of Zephyr's POSIX library, and not
+  elsewhere, unless required both by the POSIX API implementation and some other feature. An
+  example where the implementation should remain part of the POSIX implementation is
+  ``getopt()``. Examples where the implementation should be part of separate libraries are
+  multithreading and networking.
+
+- When the POSIX API and another Zephyr subsystem both rely on a feature, the implementation of
+  that feature should be as a separate Zephyr library that can be used by both the POSIX API and
+  the other library or subsystem. This reduces the likelihood of dependency cycles in code. When
+  practical, that rule should expand to include macros. In the example below, ``libposix``
+  depends on ``libzfoo`` for the implementation of some functionality "foo" in Zephyr. If
+  ``libzfoo`` also depends on ``libposix``, then there is a dependency cycle. The cycle can be
+  removed via mutual dependency, ``libcommon``.
+
+.. graphviz::
+   :caption: Dependency cycle between POSIX and another Zephyr library
+
+   digraph {
+       node [shape=rect, style=rounded];
+       rankdir=LR;
+
+       libposix [fillcolor="#d5e8d4"];
+       libzfoo [fillcolor="#dae8fc"];
+
+       libposix -> libzfoo;
+       libzfoo -> libposix;
+   }
+
+.. graphviz::
+   :caption: Mutual dependencies between POSIX and other Zephyr libraries
+
+   digraph {
+       node [shape=rect, style=rounded];
+       rankdir=LR;
+
+       libposix [fillcolor="#d5e8d4"];
+       libzfoo [fillcolor="#dae8fc"];
+       libcommon [fillcolor="#f8cecc"];
+
+       libposix -> libzfoo;
+       libposix -> libcommon;
+       libzfoo -> libcommon;
+   }
+
+- POSIX API calls should be provided as regular callable C functions; if a Zephyr
+  `System Call <syscalls>`_ is needed as part of the implementation, the declaration and the
+  implementation of that system call should be hidden behind the POSIX API.

doc/services/portability/posix/index.rst

@@ -0,0 +1,14 @@
+.. _posix_support:
+
+POSIX
+#####
+
+.. toctree::
+   :maxdepth: 2
+
+   overview/index.rst
+   conformance/index.rst
+   aep/index.rst
+   implementation/index.rst
+   option_groups/index.rst
+   kconfig/index.rst

doc/services/portability/posix/kconfig/index.rst

@@ -0,0 +1,52 @@
+.. _posix_kconfig_options:
+
+Configuration Options
+*********************
+
+This is a non-exhaustive list of specific :ref:`kconfig` options relating to Zephyr's
+implementation of the POSIX API.
+
+* :kconfig:option:`CONFIG_APP_LINK_WITH_POSIX_SUBSYS`
+* :kconfig:option:`CONFIG_EVENTFD`
+* :kconfig:option:`CONFIG_EVENTFD_MAX`
+* :kconfig:option:`CONFIG_FDTABLE`
+* :kconfig:option:`CONFIG_FNMATCH`
+* :kconfig:option:`CONFIG_GETOPT`
+* :kconfig:option:`CONFIG_GETOPT_LONG`
+* :kconfig:option:`CONFIG_MAX_PTHREAD_BARRIER_COUNT`
+* :kconfig:option:`CONFIG_MAX_PTHREAD_COUNT`
+* :kconfig:option:`CONFIG_MAX_PTHREAD_KEY_COUNT`
+* :kconfig:option:`CONFIG_MAX_PTHREAD_MUTEX_COUNT`
+* :kconfig:option:`CONFIG_MAX_PTHREAD_SPINLOCK_COUNT`
+* :kconfig:option:`CONFIG_MAX_TIMER_COUNT`
+* :kconfig:option:`CONFIG_MQUEUE_NAMELEN_MAX`
+* :kconfig:option:`CONFIG_MSG_COUNT_MAX`
+* :kconfig:option:`CONFIG_MSG_SIZE_MAX`
+* :kconfig:option:`CONFIG_NET_SOCKETPAIR`
+* :kconfig:option:`CONFIG_NET_SOCKETS`
+* :kconfig:option:`CONFIG_NET_SOCKETS_POLL_MAX`
+* :kconfig:option:`CONFIG_NET_SOCKETS_POSIX_NAMES`
+* :kconfig:option:`CONFIG_POSIX_API`
+* :kconfig:option:`CONFIG_POSIX_CLOCK`
+* :kconfig:option:`CONFIG_POSIX_FS`
+* :kconfig:option:`CONFIG_POSIX_LIMITS_RTSIG_MAX`
+* :kconfig:option:`CONFIG_POSIX_MAX_FDS`
+* :kconfig:option:`CONFIG_POSIX_MAX_OPEN_FILES`
+* :kconfig:option:`CONFIG_POSIX_MQUEUE`
+* :kconfig:option:`CONFIG_POSIX_RTSIG_MAX`
+* :kconfig:option:`CONFIG_POSIX_SIGNAL`
+* :kconfig:option:`CONFIG_POSIX_SIGNAL_STRING_DESC`
+* :kconfig:option:`CONFIG_POSIX_UNAME`
+* :kconfig:option:`CONFIG_POSIX_UNAME_NODENAME_LEN`
+* :kconfig:option:`CONFIG_POSIX_UNAME_VERSION_LEN`
+* :kconfig:option:`CONFIG_PTHREAD`
+* :kconfig:option:`CONFIG_PTHREAD_BARRIER`
+* :kconfig:option:`CONFIG_PTHREAD_COND`
+* :kconfig:option:`CONFIG_PTHREAD_CREATE_BARRIER`
+* :kconfig:option:`CONFIG_PTHREAD_IPC`
+* :kconfig:option:`CONFIG_PTHREAD_KEY`
+* :kconfig:option:`CONFIG_PTHREAD_MUTEX`
+* :kconfig:option:`CONFIG_PTHREAD_RECYCLER_DELAY_MS`
+* :kconfig:option:`CONFIG_PTHREAD_SPINLOCK`
+* :kconfig:option:`CONFIG_SEM_VALUE_MAX`
+* :kconfig:option:`CONFIG_TIMER`

doc/services/portability/posix/option_groups/index.rst

@@ -1,131 +1,18 @@
-.. _posix_support:
+.. _posix_option_groups:
 
-POSIX Support
-#############
+Subprofiling Option Groups
+##########################
 
-The Portable Operating System Interface (POSIX) is a family of standards
-specified by the IEEE Computer Society for maintaining compatibility between
-operating systems. Zephyr implements a subset of the embedded profiles PSE51
-and PSE52, and BSD Sockets API.
-
-With the POSIX support available in Zephyr, an existing POSIX compliant
-application can be ported to run on the Zephyr kernel, and therefore leverage
-Zephyr features and functionality. Additionally, a library designed for use with
-POSIX threading compatible operating systems can be ported to Zephyr kernel
-based applications with minimal or no changes.
-
-..  figure:: posix.svg
-    :align: center
-    :alt: POSIX Support in Zephyr
-
-    POSIX support in Zephyr
-
-The POSIX API subset is an increasingly popular OSAL (operating system
-abstraction layer) for IoT and embedded applications, as can be seen in
-Zephyr, AWS:FreeRTOS, TI-RTOS, and NuttX.
-
-Benefits of POSIX support in Zephyr include:
-
-- Offering a familiar API to non-embedded programmers, especially from Linux
-- Enabling reuse (portability) of existing libraries based on POSIX APIs
-- Providing an efficient API subset appropriate for small (MCU) embedded systems
-
-
-System Overview
-===============
-
-Units of Functionality
-++++++++++++++++++++++
-
-The system profile is defined in terms of component profiles that specify Units
-of Functionality that can be combined to realize the application platform. A Unit
-of Functionality is a defined set of services which can be implemented. If
-implemented, the standard prescribes that all services in the Unit must
-be implemented.
-
-A Minimal Realtime System Profile implementation must support the
-following Units of Functionality as defined in IEEE Std. 1003.1 (also referred to
-as POSIX.1-2017).
-
-
-.. csv-table:: Units of Functionality
-   :header: Requirements, Supported, Remarks
-   :widths: 50,10,60
-
-
-    POSIX_C_LANG_JUMP,
-    POSIX_C_LANG_SUPPORT,yes
-    POSIX_DEVICE_IO,
-    POSIX_FILE_LOCKING,
-    POSIX_SIGNALS,
-    POSIX_SINGLE_PROCESS,
-    POSIX_SPIN_LOCKS,yes
-    POSIX_THREADS_BASE,yes
-    XSI_THREAD_MUTEX_EXT,yes
-    XSI_THREADS_EXT,yes
-
-
-Option Requirements
-++++++++++++++++++++
-
-An implementation supporting the Minimal Realtime System
-Profile must support the POSIX.1 Option Requirements which are defined in the
-standard. Options Requirements are used for further sub-profiling within the
-units of functionality: they further define the functional behavior of the
-system service (normally adding extra functionality). Depending on the profile
-to which the POSIX implementation complies,parameters and/or the precise
-functionality of certain services may differ.
-
-The following list shows the option requirements that are implemented in
-Zephyr.
-
-
-.. csv-table:: Option Requirements
-   :header: Requirements, Supported
-   :widths: 50,10
-
-    _POSIX_BARRIERS,yes
-    _POSIX_CLOCK_SELECTION,yes
-    _POSIX_FSYNC,
-    _POSIX_MEMLOCK,
-    _POSIX_MEMLOCK_RANGE,
-    _POSIX_MONOTONIC_CLOCK,yes
-    _POSIX_NO_TRUNC,
-    _POSIX_REALTIME_SIGNALS,
-    _POSIX_SEMAPHORES,yes
-    _POSIX_SHARED_MEMORY_OBJECTS,
-    _POSIX_SPIN_LOCKS,yes
-    _POSIX_SYNCHRONIZED_IO,
-    _POSIX_THREAD_ATTR_STACKADDR,yes
-    _POSIX_THREAD_ATTR_STACKSIZE,yes
-    _POSIX_THREAD_CPUTIME,
-    _POSIX_THREAD_PRIO_INHERIT,
-    _POSIX_THREAD_PRIO_PROTECT,
-    _POSIX_THREAD_PRIORITY_SCHEDULING,yes
-    _POSIX_THREAD_SPORADIC_SERVER,
-    _POSIX_TIMEOUTS,
-    _POSIX_TIMERS,yes
-    _POSIX2_C_DEV,
-    _POSIX2_SW_DEV,
-
-
-
-Units of Functionality
-======================
-
-This section describes the Units of Functionality (fixed sets of interfaces)
-which are implemented (partially or completely) in Zephyr. Please refer to the
-standard for a full description of each listed interface.
+.. _posix_option_group_threads_base:
 
 POSIX_THREADS_BASE
-+++++++++++++++++++
+==================
 
 The basic assumption in this profile is that the system
 consists of a single (implicit) process with multiple threads. Therefore, the
 standard requires all basic thread services, except those related to
 multiple processes.
 
-
 .. csv-table:: POSIX_THREADS_BASE
    :header: API, Supported
    :widths: 50,10
@@ -179,12 +66,12 @@ multiple processes.
     pthread_sigmask(),
     pthread_testcancel(),
 
-
+.. _posix_option_group_xsi_thread_ext:
 
 XSI_THREAD_EXT
-++++++++++++++
+==============
 
-The XSI_THREADS_EXT Unit of Functionality is required because it provides
+The XSI_THREADS_EXT option group is required because it provides
 functions to control a thread's stack. This is considered useful for any
 real-time application.
 
@@ -201,33 +88,14 @@ This table lists service support status in Zephyr:
     pthread_getconcurrency(),
     pthread_setconcurrency()
 
-
-XSI_THREAD_MUTEX_EXT
-++++++++++++++++++++
-
-The XSI_THREAD_MUTEX_EXT Unit of Functionality is required because it has
-options for controlling the behavior of mutexes under erroneous application use.
-
-
-This table lists service support status in Zephyr:
-
-.. csv-table:: XSI_THREAD_MUTEX_EXT
-   :header: API, Supported
-   :widths: 50,10
-
-    pthread_mutexattr_gettype(),yes
-    pthread_mutexattr_settype(),yes
-
+.. _posix_option_group_c_lang_support:
 
 POSIX_C_LANG_SUPPORT
-++++++++++++++++++++
+====================
 
-The POSIX_C_LANG_SUPPORT Unit of Functionality contains the general ISO C
+The POSIX_C_LANG_SUPPORT option group contains the general ISO C
 Library.
 
-This is implemented as part of the minimal C library available in Zephyr.
-
-
 .. csv-table:: POSIX_C_LANG_SUPPORT
    :header: API, Supported
    :widths: 50,10
@@ -338,11 +206,12 @@ This is implemented as part of the minimal C library available in Zephyr.
     vsprintf(),yes
     vsscanf(),
 
+.. _posix_option_group_single_process:
 
 POSIX_SINGLE_PROCESS
-+++++++++++++++++++++
+====================
 
-The POSIX_SINGLE_PROCESS Unit of Functionality contains services for single
+The POSIX_SINGLE_PROCESS option group contains services for single
 process applications.
 
 .. csv-table:: POSIX_SINGLE_PROCESS
@@ -358,9 +227,10 @@ process applications.
     uname(),yes
     unsetenv()
 
+.. _posix_option_group_signals:
 
 POSIX_SIGNALS
-+++++++++++++
+=============
 
 Signal services are a basic mechanism within POSIX-based systems and are
 required for error and event handling.
@@ -369,7 +239,6 @@ required for error and event handling.
    :header: API, Supported
    :widths: 50,10
 
-
     abort(),yes
     alarm(),
     kill(),
@@ -388,32 +257,20 @@ required for error and event handling.
     sigwait(),
     strsignal(),yes
 
-.. csv-table:: POSIX_SPIN_LOCKS
-   :header: API, Supported
-   :widths: 50,10
-
-    pthread_spin_destroy(),yes
-    pthread_spin_init(),yes
-    pthread_spin_lock(),yes
-    pthread_spin_trylock(),yes
-    pthread_spin_unlock(),yes
-
+.. _posix_option_group_device_io:
 
 POSIX_DEVICE_IO
-+++++++++++++++
+===============
 
 .. csv-table:: POSIX_DEVICE_IO
    :header: API, Supported
    :widths: 50,10
 
-    flockfile(),
-    ftrylockfile(),
-    funlockfile(),
-    getc_unlocked(),
-    getchar_unlocked(),yes
-    putc_unlocked(),
-    putchar_unlocked()
-    clearerr(),
+    FD_CLR(),yes
+    FD_ISSET(),yes
+    FD_SET(),yes
+    FD_ZERO(),yes
+    clearerr(),yes
     close(),yes
     fclose(),
     fdopen(),
@@ -436,17 +293,22 @@ POSIX_DEVICE_IO
     gets(),
     open(),yes
     perror(),yes
+    poll(),yes
     printf(),yes
+    pread(),
+    pselect(),
     putc(),yes
     putchar(),yes
     puts(),yes
+    pwrite(),
     read(),yes
     scanf(),
+    select(),yes
     setbuf(),
     setvbuf(),
-    stderr,yes
-    stdin,yes
-    stdout,yes
+    stderr,
+    stdin,
+    stdout,
     ungetc(),
     vfprintf(),yes
     vfscanf(),
@@ -454,8 +316,72 @@ POSIX_DEVICE_IO
     vscanf(),
     write(),yes
 
+.. _posix_option_group_barriers:
+
+POSIX_BARRIERS
+==============
+
+.. csv-table:: POSIX_BARRIERS
+   :header: API, Supported
+   :widths: 50,10
+
+    pthread_barrier_destroy(),yes
+    pthread_barrier_init(),yes
+    pthread_barrier_wait(),yes
+    pthread_barrierattr_destroy(),yes
+    pthread_barrierattr_init(),yes
+
+.. _posix_option_group_clock_selection:
+
+POSIX_CLOCK_SELECTION
+=====================
+
+.. csv-table:: POSIX_CLOCK_SELECTION
+   :header: API, Supported
+   :widths: 50,10
+
+    pthread_condattr_getclock(),yes
+    pthread_condattr_setclock(),yes
+    clock_nanosleep(),yes
+
+.. _posix_option_group_semaphores:
+
+POSIX_SEMAPHORES
+================
+
+.. csv-table:: POSIX_SEMAPHORES
+   :header: API, Supported
+   :widths: 50,10
+
+    sem_close(),
+    sem_destroy(),yes
+    sem_getvalue(),yes
+    sem_init(),yes
+    sem_open(),
+    sem_post(),yes
+    sem_trywait(),yes
+    sem_unlink(),
+    sem_wait(),yes
+
+.. _posix_option_group_spin_locks:
+
+POSIX_SPIN_LOCKS
+================
+
+.. csv-table:: POSIX_SPIN_LOCKS
+   :header: API, Supported
+   :widths: 50,10
+
+    pthread_spin_destroy(),yes
+    pthread_spin_init(),yes
+    pthread_spin_lock(),yes
+    pthread_spin_trylock(),yes
+    pthread_spin_unlock(),yes
+
+.. _posix_option_group_timers:
+
 POSIX_TIMERS
-++++++++++++
+============
 
 .. csv-table:: POSIX_TIMERS
    :header: API, Supported
@@ -471,13 +397,143 @@ POSIX_TIMERS
     timer_getoverrun(),yes
     timer_settime(),yes
 
-POSIX_CLOCK_SELECTION
-+++++++++++++++++++++
 
-.. csv-table:: POSIX_CLOCK_SELECTION
+.. _posix_options:
+
+Additional POSIX Options
+========================
+
+.. _posix_option_message_passing:
+
+_POSIX_MESSAGE_PASSING
+++++++++++++++++++++++
+
+.. csv-table:: _POSIX_MESSAGE_PASSING
    :header: API, Supported
    :widths: 50,10
 
-    pthread_condattr_getclock(),yes
-    pthread_condattr_setclock(),yes
-    clock_nanosleep(),yes
+    mq_close(),yes
+    mq_getattr(),yes
+    mq_notify(),
+    mq_open(),yes
+    mq_receive(),yes
+    mq_send(),yes
+    mq_setattr(),yes
+    mq_unlink(),yes
+
+_POSIX_PRIORITY_SCHEDULING
+++++++++++++++++++++++++++
+
+.. _posix_option_priority_scheduling:
+
+.. csv-table:: _POSIX_PRIORITY_SCHEDULING
+   :header: API, Supported
+   :widths: 50,10
+
+    sched_get_priority_max(),yes
+    sched_get_priority_min(),yes
+    sched_getparam(),
+    sched_getscheduler(),
+    sched_rr_get_interval(),
+    sched_setparam(),
+    sched_setscheduler(),
+    sched_yield(),yes
+
+.. _posix_option_reader_writer_locks:
+
+_POSIX_READER_WRITER_LOCKS
+++++++++++++++++++++++++++
+
+.. csv-table:: _POSIX_READER_WRITER_LOCKS
+   :header: API, Supported
+   :widths: 50,10
+
+    pthread_rwlock_destroy(),yes
+    pthread_rwlock_init(),yes
+    pthread_rwlock_rdlock(),yes
+    pthread_rwlock_tryrdlock(),yes
+    pthread_rwlock_trywrlock(),yes
+    pthread_rwlock_unlock(),yes
+    pthread_rwlock_wrlock(),yes
+    pthread_rwlockattr_destroy(),yes
+    pthread_rwlockattr_getpshared(),
+    pthread_rwlockattr_init(),yes
+    pthread_rwlockattr_setpshared(),
+
+.. _posix_option_thread_attr_stackaddr:
+
+_POSIX_THREAD_ATTR_STACKADDR
+++++++++++++++++++++++++++++
+
+.. csv-table:: _POSIX_THREAD_ATTR_STACKADDR
+   :header: API, Supported
+   :widths: 50,10
+
+    pthread_attr_getstackaddr(),yes
+    pthread_attr_setstackaddr(),yes
+
+.. _posix_option_thread_attr_stacksize:
+
+_POSIX_THREAD_ATTR_STACKSIZE
+++++++++++++++++++++++++++++
+
+.. csv-table:: _POSIX_THREAD_ATTR_STACKSIZE
+   :header: API, Supported
+   :widths: 50,10
+
+    pthread_attr_getstacksize(),yes
+    pthread_attr_setstacksize(),yes
+
+.. _posix_option_thread_priority_scheduling:
+
+_POSIX_THREAD_PRIORITY_SCHEDULING
++++++++++++++++++++++++++++++++++
+
+.. csv-table:: _POSIX_THREAD_PRIORITY_SCHEDULING
+   :header: API, Supported
+   :widths: 50,10
+
+    pthread_attr_getinheritsched(),
+    pthread_attr_getschedpolicy(),yes
+    pthread_attr_getscope(),
+    pthread_attr_setinheritsched(),
+    pthread_attr_setschedpolicy(),yes
+    pthread_attr_setscope(),
+    pthread_getschedparam(),yes
+    pthread_setschedparam(),yes
+    pthread_setschedprio(),yes
+
+.. _posix_option_timeouts:
+
+_POSIX_TIMEOUTS
++++++++++++++++
+
+.. csv-table:: _POSIX_TIMEOUTS
+   :header: API, Supported
+   :widths: 50,10
+
+    mq_timedreceive(),
+    mq_timedsend(),
+    pthread_mutex_timedlock(),yes
+    pthread_rwlock_timedrdlock(),yes
+    pthread_rwlock_timedwrlock(),yes
+    sem_timedwait(),yes
+    posix_trace_timedgetnext_event(),
+
+.. _posix_option_xopen_streams:
+
+_XOPEN_STREAMS
+++++++++++++++
+
+.. csv-table:: _XOPEN_STREAMS
+   :header: API, Supported
+   :widths: 50,10
+
+    fattach(),
+    fdetach(),
+    getmsg(),
+    getpmsg(),
+    ioctl(),yes
+    isastream(),
+    putmsg(),
+    putpmsg(),

doc/services/portability/posix/overview/index.rst

@@ -0,0 +1,135 @@
+.. _posix_overview:
+
+Overview
+########
+
+The Portable Operating System Interface (POSIX) is a family of standards specified by the
+`IEEE Computer Society`_ for maintaining compatibility between operating systems. Zephyr
+implements a subset of the standard POSIX API specified by `IEEE 1003.1-2017`_ (also known as
+POSIX-1.2017).
+
+..  figure:: posix.svg
+    :align: center
+    :alt: POSIX Support in Zephyr
+
+    POSIX support in Zephyr
+
+.. note::
+    This page does not document Zephyr's :ref:`POSIX architecture<Posix arch>`, which is used to
+    run Zephyr as a native application under the host operating system for prototyping,
+    test, and diagnostic purposes.
+
+With the POSIX support available in Zephyr, an existing POSIX conformant
+application can be ported to run on the Zephyr kernel, and therefore leverage
+Zephyr features and functionality. Additionally, a library designed to be
+POSIX conformant can be ported to Zephyr kernel based applications with no changes.
+
+The POSIX API is an increasingly popular OSAL (operating system abstraction layer) for IoT and
+embedded applications, as can be seen in Zephyr, AWS:FreeRTOS, TI-RTOS, and NuttX.
+
+Benefits of POSIX support in Zephyr include:
+
+- Offering a familiar API to non-embedded programmers, especially from Linux
+- Enabling reuse (portability) of existing libraries based on POSIX APIs
+- Providing an efficient API subset appropriate for small (MCU) embedded systems
+
+.. _posix_subprofiles:
+
+POSIX Subprofiles
+=================
+
+While Zephyr supports running multiple `threads <threads_v2>`_ (possibly in an `SMP <smp_arch>`_
+configuration), as well as `Virtual Memory and MMUs <memory_management_api>`_, Zephyr code and data
+normally share a common address space. The Zephyr kernel executable code and the application
+executable code are typically compiled into the same binary artifact. From that perspective, Zephyr
+apps can be seen as running in the context of a single process.
+
+While multi-purpose operating systems (OS) offer full POSIX conformance, Real-Time Operating
+Systems (RTOS) such as Zephyr typically serve a fixed-purpose, have limited hardware resources,
+and experience limited user interaction. In such systems, full POSIX conformance can be
+impractical and unnecessary.
+
+For that reason, POSIX defined the following :ref:`Application Environment Profiles (AEP)<posix_aep>`
+as part of `IEEE 1003.13-2003`_ (also known as POSIX.13-2003).
+
+* Minimal Realtime System Profile (:ref:`PSE51 <posix_aep_pse51>`)
+* Realtime Controller System Profile (:ref:`PSE52 <posix_aep_pse52>`)
+* Dedicated Realtime System Profile (:ref:`PSE53 <posix_aep_pse53>`)
+* Multi-Purpose Realtime System (PSE54)
+
+POSIX.13-2003 AEP were formalized in 2003 via "Units of Functionality" but the specification is now
+inactive (for reference only). Nevertheless, the intent is still captured as part of POSIX-1.2017
+via :ref:`Options<posix_options>` and :ref:`Option Groups<posix_option_groups>`, in Appendix E.
+
+.. _posix_apps:
+
+POSIX Applications in Zephyr
+============================
+
+A POSIX app in Zephyr is :ref:`built like any other app<application>` and therefore requires the
+usual :file:`prj.conf`, :file:`CMakeLists.txt`, and source code. For example, the app below
+leverages the ``nanosleep()`` and ``perror()`` POSIX functions.
+
+.. code-block:: cfg
+   :caption: `prj.conf` for a simple POSIX app in Zephyr
+
+    CONFIG_POSIX_API=y
+
+.. code-block:: c
+   :caption: A simple app that uses Zephyr's POSIX API
+
+    #include <stddef.h>
+    #include <stdio.h>
+    #include <time.h>
+
+    void megasleep(size_t megaseconds)
+    {
+        struct timespec ts = {
+            .tv_sec = megaseconds * 1000000,
+            .tv_nsec = 0,
+        };
+
+        printf("See you in a while!\n");
+        if (nanosleep(&ts, NULL) == -1) {
+            perror("nanosleep");
+        }
+    }
+
+    int main()
+    {
+        megasleep(42);
+        return 0;
+    }
+
+..
+    TODO: insert a link to a list of all samples tagged with 'posix'
+
+.. _posix_config:
+
+Configuration
+=============
+
+Like most features in Zephyr, POSIX features are
+:ref:`highly configurable<zephyr_intro_configurability>` but disabled by default. Users must
+explicitly choose to enable POSIX options via :ref:`Kconfig<kconfig>` selection. Indeed, there are
+:ref:`many Kconfig options in Zephyr<posix_kconfig_options>` for the POSIX API to allow for
+feature selection at various levels of granularity.
+
+Alternatively, users may enable one of the Kconfig options below as a shortcut to enable multiple
+:ref:`Option Groups<posix_option_groups>`.
+
+* :kconfig:option:`CONFIG_POSIX_API`
+* :kconfig:option:`CONFIG_PTHREAD_IPC`
+
+.. note::
+    Since the POSIX environment in Zephyr is fully configurable via :ref:`Kconfig<kconfig>`,
+    configurations that require modifying features should not be made if strict compliance is
+    required (POSIX-1.2017, section 2.1.3.1).
+
+..
+    TODO: create Kconfig shortcuts for PSE51, PSE52, and PSE53
+
+.. _IEEE: https://www.ieee.org/
+.. _IEEE Computer Society: https://www.computer.org/
+.. _IEEE 1003.1-2017: https://standards.ieee.org/ieee/1003.1/7101/
+.. _IEEE 1003.13-2003: https://standards.ieee.org/ieee/1003.13/3322/

doc/services/zbus/index.rst

@@ -235,17 +235,22 @@ priority.
        it cannot access the channel since it is still locked.
 
    * - i
-     - VDED finishes the publishing by unlocking channel A.
+     - VDED finishes the publishing by unlocking channel A. The MS1 leaves the pending state and
+       starts executing.
 
-   * - j, k, l
+   * - j
+     - MS1 finishes execution. The MS2 leaves the pending state and starts executing.
+
+   * - k
+     - MS2 finishes execution. The S1 leaves the pending state and starts executing.
+
+   * - l, m, n
      - The S1 leaves the pending state since channel A is not locked. It gets in the CPU again and
-       starts executing. As it did receive a notification from channel A, it performs a channel read
-       (as simple as lock, memory copy, unlock), continues its execution, and goes out the CPU.
-   * - m
-     - S1 goes out of the MCU.
+       starts executing. As it did receive a notification from channel A, it performed a channel read
+       (as simple as lock, memory copy, unlock), continues its execution and goes out of the CPU.
 
-   * - n, o
-     - MS2 and MS1 execute and finish their workload.
+   * - o
+     - S1 finishes its workload.
 
 
 The figure below illustrates the actions performed during the VDED execution when T1 publishes to

drivers/adc/adc_lmp90xxx.c

@@ -639,7 +639,7 @@ static int lmp90xxx_adc_read_channel(const struct device *dev,
 		if (buf[3] != crc) {
 			LOG_ERR("CRC mismatch (0x%02x vs. 0x%02x)", buf[3],
 				crc);
-			return err;
+			return -EIO;
 		}
 	}
 

drivers/adc/adc_stm32.c

@@ -1007,8 +1007,6 @@ static void adc_context_on_complete(struct adc_context *ctx, int status)
 
 	ARG_UNUSED(status);
 
-	adc_stm32_disable(adc);
-
 	/* Reset acquisition time used for the sequence */
 	data->acq_time_index = -1;
 
@@ -1019,6 +1017,8 @@ static void adc_context_on_complete(struct adc_context *ctx, int status)
 #if defined(CONFIG_SOC_SERIES_STM32H7X) || defined(CONFIG_SOC_SERIES_STM32U5X)
 	/* Reset channel preselection register */
 	LL_ADC_SetChannelPreselection(adc, 0);
+#else
+	ARG_UNUSED(adc);
 #endif /* CONFIG_SOC_SERIES_STM32H7X || CONFIG_SOC_SERIES_STM32U5X */
 }
 

drivers/can/Kconfig.mcan

@@ -1,4 +1,4 @@
-# Bosch m_can configuration options
+# Bosch M_CAN configuration options
 
 # Copyright (c) 2020 Alexander Wachter
 # SPDX-License-Identifier: Apache-2.0
@@ -6,17 +6,4 @@
 config CAN_MCAN
 	bool
 	help
-	  Enable Bosch m_can driver.
-	  This driver supports the Bosch m_can IP. This IP is built into the
-	  STM32G4, STM32G0, STM32H7, and the Microchip SAM controllers with
-	  CAN-FD.
-
-if CAN_MCAN
-
-config CAN_DELAY_COMP
-	bool "Transceiver delay compensation"
-	default y
-	help
-	  Enable the automatic transceiver delay compensation.
-
-endif #CAN_MCAN
+	  Enable the Bosch M_CAN CAN IP module driver backend.

drivers/can/can_loopback.c

@@ -211,7 +211,7 @@ static void can_loopback_remove_rx_filter(const struct device *dev, int filter_i
 {
 	struct can_loopback_data *data = dev->data;
 
-	if (filter_id >= ARRAY_SIZE(data->filters)) {
+	if (filter_id < 0 || filter_id >= ARRAY_SIZE(data->filters)) {
 		LOG_ERR("filter ID %d out-of-bounds", filter_id);
 		return;
 	}

drivers/can/can_mcan.c

@@ -225,8 +225,10 @@ unlock:
 #ifdef CONFIG_CAN_FD_MODE
 int can_mcan_set_timing_data(const struct device *dev, const struct can_timing *timing_data)
 {
+	const uint8_t tdco_max = FIELD_GET(CAN_MCAN_TDCR_TDCO, CAN_MCAN_TDCR_TDCO);
 	struct can_mcan_data *data = dev->data;
 	uint32_t dbtp = 0U;
+	uint8_t tdco;
 	int err;
 
 	if (data->started) {
@@ -240,6 +242,23 @@ int can_mcan_set_timing_data(const struct device *dev, const struct can_timing *
 		FIELD_PREP(CAN_MCAN_DBTP_DTSEG2, timing_data->phase_seg2 - 1UL) |
 		FIELD_PREP(CAN_MCAN_DBTP_DBRP, timing_data->prescaler - 1UL);
 
+	if (timing_data->prescaler == 1U || timing_data->prescaler == 2U) {
+		/* TDC can only be enabled if DBRP = { 0, 1 } */
+		dbtp |= CAN_MCAN_DBTP_TDC;
+
+		/* Set TDC offset for correct location of the Secondary Sample Point (SSP) */
+		tdco = CAN_CALC_TDCO(timing_data, 0U, tdco_max);
+		LOG_DBG("TDC enabled, using TDCO %u", tdco);
+
+		err = can_mcan_write_reg(dev, CAN_MCAN_TDCR, FIELD_PREP(CAN_MCAN_TDCR_TDCO, tdco));
+		if (err != 0) {
+			goto unlock;
+		}
+	} else {
+		LOG_DBG("TDC cannot be enabled, prescaler value %u too high",
+			timing_data->prescaler);
+	}
+
 	err = can_mcan_write_reg(dev, CAN_MCAN_DBTP, dbtp);
 	if (err != 0) {
 		goto unlock;
@@ -426,16 +445,59 @@ unlock:
 
 static void can_mcan_state_change_handler(const struct device *dev)
 {
+	const struct can_mcan_config *config = dev->config;
 	struct can_mcan_data *data = dev->data;
-	const can_state_change_callback_t cb = data->state_change_cb;
-	void *cb_data = data->state_change_cb_data;
+	const can_state_change_callback_t state_cb = data->state_change_cb;
+	void *state_cb_data = data->state_change_cb_data;
+	const struct can_mcan_callbacks *cbs = config->callbacks;
+	can_tx_callback_t tx_cb;
+	uint32_t tx_idx;
 	struct can_bus_err_cnt err_cnt;
 	enum can_state state;
+	uint32_t cccr;
+	int err;
 
 	(void)can_mcan_get_state(dev, &state, &err_cnt);
 
-	if (cb != NULL) {
-		cb(dev, state, err_cnt, cb_data);
+	if (state_cb != NULL) {
+		state_cb(dev, state, err_cnt, state_cb_data);
+	}
+
+	if (state == CAN_STATE_BUS_OFF) {
+		/* Request all TX buffers to be cancelled */
+		err = can_mcan_write_reg(dev, CAN_MCAN_TXBCR, CAN_MCAN_TXBCR_CR);
+		if (err != 0) {
+			return;
+		}
+
+		/* Call all TX queue callbacks with -ENETUNREACH */
+		for (tx_idx = 0U; tx_idx < cbs->num_tx; tx_idx++) {
+			tx_cb = cbs->tx[tx_idx].function;
+
+			if (tx_cb != NULL) {
+				cbs->tx[tx_idx].function = NULL;
+				tx_cb(dev, -ENETUNREACH, cbs->tx[tx_idx].user_data);
+				k_sem_give(&data->tx_sem);
+			}
+		}
+
+		if (IS_ENABLED(CONFIG_CAN_AUTO_BUS_OFF_RECOVERY)) {
+			/*
+			 * Request leaving init mode, but do not take the lock (as we are in ISR
+			 * context), nor wait for the result.
+			 */
+			err = can_mcan_read_reg(dev, CAN_MCAN_CCCR, &cccr);
+			if (err != 0) {
+				return;
+			}
+
+			cccr &= ~CAN_MCAN_CCCR_INIT;
+
+			err = can_mcan_write_reg(dev, CAN_MCAN_CCCR, cccr);
+			if (err != 0) {
+				return;
+			}
+		}
 	}
 }
 
@@ -1149,12 +1211,17 @@ void can_mcan_remove_rx_filter(const struct device *dev, int filter_id)
 	struct can_mcan_data *data = dev->data;
 	int err;
 
+	if (filter_id < 0) {
+		LOG_ERR("filter ID %d out of bounds", filter_id);
+		return;
+	}
+
 	k_mutex_lock(&data->lock, K_FOREVER);
 
 	if (filter_id >= cbs->num_std) {
 		filter_id -= cbs->num_std;
 		if (filter_id >= cbs->num_ext) {
-			LOG_ERR("Wrong filter id");
+			LOG_ERR("filter ID %d out of bounds", filter_id);
 			k_mutex_unlock(&data->lock);
 			return;
 		}
@@ -1407,32 +1474,6 @@ int can_mcan_init(const struct device *dev)
 		return err;
 	}
 
-#if defined(CONFIG_CAN_DELAY_COMP) && defined(CONFIG_CAN_FD_MODE)
-	err = can_mcan_read_reg(dev, CAN_MCAN_DBTP, &reg);
-	if (err != 0) {
-		return err;
-	}
-
-	reg |= CAN_MCAN_DBTP_TDC;
-
-	err = can_mcan_write_reg(dev, CAN_MCAN_DBTP, reg);
-	if (err != 0) {
-		return err;
-	}
-
-	err = can_mcan_read_reg(dev, CAN_MCAN_TDCR, &reg);
-	if (err != 0) {
-		return err;
-	}
-
-	reg |= FIELD_PREP(CAN_MCAN_TDCR_TDCO, config->tx_delay_comp_offset);
-
-	err = can_mcan_write_reg(dev, CAN_MCAN_TDCR, reg);
-	if (err != 0) {
-		return err;
-	}
-#endif /* defined(CONFIG_CAN_DELAY_COMP) && defined(CONFIG_CAN_FD_MODE) */
-
 	err = can_mcan_read_reg(dev, CAN_MCAN_GFC, &reg);
 	if (err != 0) {
 		return err;
@@ -1527,7 +1568,7 @@ int can_mcan_init(const struct device *dev)
 		return err;
 	}
 
-	/* Interrupt on every TX fifo element*/
+	/* Interrupt on every TX buffer transmission event */
 	reg = CAN_MCAN_TXBTIE_TIE;
 	err = can_mcan_write_reg(dev, CAN_MCAN_TXBTIE, reg);
 	if (err != 0) {

drivers/can/can_mcp2515.c

@@ -661,6 +661,11 @@ static void mcp2515_remove_rx_filter(const struct device *dev, int filter_id)
 {
 	struct mcp2515_data *dev_data = dev->data;
 
+	if (filter_id < 0 || filter_id >= CONFIG_CAN_MAX_FILTER) {
+		LOG_ERR("filter ID %d out of bounds", filter_id);
+		return;
+	}
+
 	k_mutex_lock(&dev_data->mutex, K_FOREVER);
 	dev_data->filter_usage &= ~BIT(filter_id);
 	k_mutex_unlock(&dev_data->mutex);

drivers/can/can_mcux_flexcan.c

@@ -922,9 +922,8 @@ static void mcux_flexcan_remove_rx_filter(const struct device *dev, int filter_i
 {
 	struct mcux_flexcan_data *data = dev->data;
 
-	if (filter_id >= MCUX_FLEXCAN_MAX_RX) {
-		LOG_ERR("Detach: Filter id >= MAX_RX (%d >= %d)", filter_id,
-			MCUX_FLEXCAN_MAX_RX);
+	if (filter_id < 0 || filter_id >= MCUX_FLEXCAN_MAX_RX) {
+		LOG_ERR("filter ID %d out of bounds", filter_id);
 		return;
 	}
 

drivers/can/can_native_posix_linux.c

@@ -239,6 +239,7 @@ static void can_npl_remove_rx_filter(const struct device *dev, int filter_id)
 	struct can_npl_data *data = dev->data;
 
 	if (filter_id < 0 || filter_id >= ARRAY_SIZE(data->filters)) {
+		LOG_ERR("filter ID %d out of bounds");
 		return;
 	}
 

drivers/can/can_nxp_s32_canxl.c

@@ -396,7 +396,10 @@ static void can_nxp_s32_remove_rx_filter(const struct device *dev, int filter_id
 	struct can_nxp_s32_data *data = dev->data;
 	int mb_indx = ALLOC_IDX_TO_RXMB_IDX(filter_id);
 
-	__ASSERT_NO_MSG(filter_id >= 0 && filter_id < CONFIG_CAN_NXP_S32_MAX_RX);
+	if (filter_id < 0 || filter_id >= CONFIG_CAN_NXP_S32_MAX_RX) {
+		LOG_ERR("filter ID %d out of bounds", filter_id);
+		return;
+	}
 
 	k_mutex_lock(&data->rx_mutex, K_FOREVER);
 

drivers/can/can_rcar.c

@@ -975,7 +975,8 @@ static void can_rcar_remove_rx_filter(const struct device *dev, int filter_id)
 {
 	struct can_rcar_data *data = dev->data;
 
-	if (filter_id >= CONFIG_CAN_RCAR_MAX_FILTER) {
+	if (filter_id < 0 || filter_id >= CONFIG_CAN_RCAR_MAX_FILTER) {
+		LOG_ERR("filter ID %d out of bounds", filter_id);
 		return;
 	}
 

drivers/can/can_shell.c

@@ -560,7 +560,7 @@ static int cmd_can_send(const struct shell *sh, size_t argc, char **argv)
 	const struct device *dev = device_get_binding(argv[1]);
 	static unsigned int frame_counter;
 	unsigned int frame_no;
-	struct can_frame frame;
+	struct can_frame frame = { 0 };
 	uint32_t max_id;
 	int argidx = 2;
 	uint32_t val;
@@ -665,7 +665,7 @@ static int cmd_can_send(const struct shell *sh, size_t argc, char **argv)
 		    (frame.flags & CAN_FRAME_RTR) != 0 ? 1 : 0,
 		    (frame.flags & CAN_FRAME_FDF) != 0 ? 1 : 0,
 		    (frame.flags & CAN_FRAME_BRS) != 0 ? 1 : 0,
-		    can_dlc_to_bytes(frame.dlc));
+		    frame.dlc);
 
 	err = can_send(dev, &frame, K_NO_WAIT, can_shell_tx_callback, UINT_TO_POINTER(frame_no));
 	if (err != 0) {

drivers/can/can_stm32_bxcan.c

@@ -1035,7 +1035,10 @@ static void can_stm32_remove_rx_filter(const struct device *dev, int filter_id)
 	int bank_num;
 	bool bank_unused;
 
-	__ASSERT_NO_MSG(filter_id >= 0 && filter_id < CAN_STM32_MAX_FILTER_ID);
+	if (filter_id < 0 || filter_id >= CAN_STM32_MAX_FILTER_ID) {
+		LOG_ERR("filter ID %d out of bounds", filter_id);
+		return;
+	}
 
 	k_mutex_lock(&filter_mutex, K_FOREVER);
 	k_mutex_lock(&data->inst_mutex, K_FOREVER);

drivers/ethernet/eth_ivshmem.c

@@ -297,14 +297,15 @@ int eth_ivshmem_initialize(const struct device *dev)
 	}
 	dev_data->peer_id = (id == 0) ? 1 : 0;
 
-	bool tx_buffer_first = id == 0;
-	uintptr_t output_section_addr;
+	uintptr_t output_sections[2];
 	size_t output_section_size = ivshmem_get_output_mem_section(
-		cfg_data->ivshmem, 0, &output_section_addr);
+		cfg_data->ivshmem, 0, &output_sections[0]);
+	ivshmem_get_output_mem_section(
+		cfg_data->ivshmem, 1, &output_sections[1]);
 
 	res = eth_ivshmem_queue_init(
-		&dev_data->ivshmem_queue, output_section_addr,
-		output_section_size, tx_buffer_first);
+		&dev_data->ivshmem_queue, output_sections[id],
+		output_sections[dev_data->peer_id], output_section_size);
 	if (res != 0) {
 		LOG_ERR("Failed to init ivshmem queue");
 		return res;

drivers/ethernet/eth_ivshmem_priv.h

@@ -40,8 +40,8 @@ struct eth_ivshmem_queue {
 };
 
 int eth_ivshmem_queue_init(
-		struct eth_ivshmem_queue *q, uintptr_t shmem,
-		size_t shmem_section_size, bool tx_buffer_first);
+		struct eth_ivshmem_queue *q, uintptr_t tx_shmem,
+		uintptr_t rx_shmem, size_t shmem_section_size);
 void eth_ivshmem_queue_reset(struct eth_ivshmem_queue *q);
 int eth_ivshmem_queue_tx_get_buff(struct eth_ivshmem_queue *q, void **data, size_t len);
 int eth_ivshmem_queue_tx_commit_buff(struct eth_ivshmem_queue *q);

drivers/ethernet/eth_ivshmem_queue.c

@@ -28,8 +28,8 @@ static int tx_clean_used(struct eth_ivshmem_queue *q);
 static int get_rx_avail_desc_idx(struct eth_ivshmem_queue *q, uint16_t *avail_desc_idx);
 
 int eth_ivshmem_queue_init(
-		struct eth_ivshmem_queue *q, uintptr_t shmem,
-		size_t shmem_section_size, bool tx_buffer_first)
+		struct eth_ivshmem_queue *q, uintptr_t tx_shmem,
+		uintptr_t rx_shmem, size_t shmem_section_size)
 {
 	memset(q, 0, sizeof(*q));
 
@@ -44,14 +44,8 @@ int eth_ivshmem_queue_init(
 	q->desc_max_len = vring_desc_len;
 	q->vring_data_max_len = shmem_section_size - vring_header_size;
 	q->vring_header_size = vring_header_size;
-
-	if (tx_buffer_first) {
-		q->tx.shmem = (void *)shmem;
-		q->rx.shmem = (void *)(shmem + shmem_section_size);
-	} else {
-		q->rx.shmem = (void *)shmem;
-		q->tx.shmem = (void *)(shmem + shmem_section_size);
-	}
+	q->tx.shmem = (void *)tx_shmem;
+	q->rx.shmem = (void *)rx_shmem;
 
 	/* Init vrings */
 	vring_init(&q->tx.vring, vring_desc_len, q->tx.shmem, ETH_IVSHMEM_VRING_ALIGNMENT);

drivers/flash/flash_mcux_flexspi_nor.c

@@ -58,9 +58,17 @@ enum {
 	ERASE_CHIP,
 };
 
+struct flash_flexspi_nor_config {
+	/* Note: don't use this controller reference in code. It is
+	 * only used during init to copy the device structure from ROM
+	 * into a RAM structure
+	 */
+	const struct device *controller;
+};
+
 /* Device variables used in critical sections should be in this structure */
 struct flash_flexspi_nor_data {
-	const struct device *controller;
+	struct device controller;
 	flexspi_device_config_t config;
 	flexspi_port_t port;
 	struct flash_pages_layout layout;
@@ -154,10 +162,9 @@ static const uint32_t flash_flexspi_nor_lut[][4] = {
 	},
 };
 
-static int flash_flexspi_nor_get_vendor_id(const struct device *dev,
+static int flash_flexspi_nor_get_vendor_id(struct flash_flexspi_nor_data *data,
 		uint8_t *vendor_id)
 {
-	struct flash_flexspi_nor_data *data = dev->data;
 	uint32_t buffer = 0;
 	int ret;
 
@@ -173,17 +180,15 @@ static int flash_flexspi_nor_get_vendor_id(const struct device *dev,
 
 	LOG_DBG("Reading id");
 
-	ret = memc_flexspi_transfer(data->controller, &transfer);
+	ret = memc_flexspi_transfer(&data->controller, &transfer);
 	*vendor_id = buffer;
 
 	return ret;
 }
 
-static int flash_flexspi_nor_read_status(const struct device *dev,
+static int flash_flexspi_nor_read_status(struct flash_flexspi_nor_data *data,
 		uint32_t *status)
 {
-	struct flash_flexspi_nor_data *data = dev->data;
-
 	flexspi_transfer_t transfer = {
 		.deviceAddress = 0,
 		.port = data->port,
@@ -196,14 +201,12 @@ static int flash_flexspi_nor_read_status(const struct device *dev,
 
 	LOG_DBG("Reading status register");
 
-	return memc_flexspi_transfer(data->controller, &transfer);
+	return memc_flexspi_transfer(&data->controller, &transfer);
 }
 
-static int flash_flexspi_nor_write_status(const struct device *dev,
+static int flash_flexspi_nor_write_status(struct flash_flexspi_nor_data *data,
 		uint32_t *status)
 {
-	struct flash_flexspi_nor_data *data = dev->data;
-
 	flexspi_transfer_t transfer = {
 		.deviceAddress = 0,
 		.port = data->port,
@@ -216,13 +219,11 @@ static int flash_flexspi_nor_write_status(const struct device *dev,
 
 	LOG_DBG("Writing status register");
 
-	return memc_flexspi_transfer(data->controller, &transfer);
+	return memc_flexspi_transfer(&data->controller, &transfer);
 }
 
-static int flash_flexspi_nor_write_enable(const struct device *dev)
+static int flash_flexspi_nor_write_enable(struct flash_flexspi_nor_data *data)
 {
-	struct flash_flexspi_nor_data *data = dev->data;
-
 	flexspi_transfer_t transfer = {
 		.deviceAddress = 0,
 		.port = data->port,
@@ -235,14 +236,12 @@ static int flash_flexspi_nor_write_enable(const struct device *dev)
 
 	LOG_DBG("Enabling write");
 
-	return memc_flexspi_transfer(data->controller, &transfer);
+	return memc_flexspi_transfer(&data->controller, &transfer);
 }
 
-static int flash_flexspi_nor_erase_sector(const struct device *dev,
+static int flash_flexspi_nor_erase_sector(struct flash_flexspi_nor_data *data,
 	off_t offset)
 {
-	struct flash_flexspi_nor_data *data = dev->data;
-
 	flexspi_transfer_t transfer = {
 		.deviceAddress = offset,
 		.port = data->port,
@@ -255,14 +254,12 @@ static int flash_flexspi_nor_erase_sector(const struct device *dev,
 
 	LOG_DBG("Erasing sector at 0x%08zx", (ssize_t) offset);
 
-	return memc_flexspi_transfer(data->controller, &transfer);
+	return memc_flexspi_transfer(&data->controller, &transfer);
 }
 
-static int flash_flexspi_nor_erase_block(const struct device *dev,
+static int flash_flexspi_nor_erase_block(struct flash_flexspi_nor_data *data,
 					  off_t offset)
 {
-	struct flash_flexspi_nor_data *data = dev->data;
-
 	flexspi_transfer_t transfer = {
 		.deviceAddress = offset,
 		.port = data->port,
@@ -275,13 +272,11 @@ static int flash_flexspi_nor_erase_block(const struct device *dev,
 
 	LOG_DBG("Erasing block at 0x%08zx", (ssize_t) offset);
 
-	return memc_flexspi_transfer(data->controller, &transfer);
+	return memc_flexspi_transfer(&data->controller, &transfer);
 }
 
-static int flash_flexspi_nor_erase_chip(const struct device *dev)
+static int flash_flexspi_nor_erase_chip(struct flash_flexspi_nor_data *data)
 {
-	struct flash_flexspi_nor_data *data = dev->data;
-
 	flexspi_transfer_t transfer = {
 		.deviceAddress = 0,
 		.port = data->port,
@@ -294,14 +289,12 @@ static int flash_flexspi_nor_erase_chip(const struct device *dev)
 
 	LOG_DBG("Erasing chip");
 
-	return memc_flexspi_transfer(data->controller, &transfer);
+	return memc_flexspi_transfer(&data->controller, &transfer);
 }
 
-static int flash_flexspi_nor_page_program(const struct device *dev,
+static int flash_flexspi_nor_page_program(struct flash_flexspi_nor_data *data,
 		off_t offset, const void *buffer, size_t len)
 {
-	struct flash_flexspi_nor_data *data = dev->data;
-
 	flexspi_transfer_t transfer = {
 		.deviceAddress = offset,
 		.port = data->port,
@@ -314,16 +307,16 @@ static int flash_flexspi_nor_page_program(const struct device *dev,
 
 	LOG_DBG("Page programming %d bytes to 0x%08zx", len, (ssize_t) offset);
 
-	return memc_flexspi_transfer(data->controller, &transfer);
+	return memc_flexspi_transfer(&data->controller, &transfer);
 }
 
-static int flash_flexspi_nor_wait_bus_busy(const struct device *dev)
+static int flash_flexspi_nor_wait_bus_busy(struct flash_flexspi_nor_data *data)
 {
 	uint32_t status = 0;
 	int ret;
 
 	do {
-		ret = flash_flexspi_nor_read_status(dev, &status);
+		ret = flash_flexspi_nor_read_status(data, &status);
 		LOG_DBG("status: 0x%x", status);
 		if (ret) {
 			LOG_ERR("Could not read status");
@@ -334,14 +327,13 @@ static int flash_flexspi_nor_wait_bus_busy(const struct device *dev)
 	return 0;
 }
 
-static int flash_flexspi_nor_enable_quad_mode(const struct device *dev)
+static int flash_flexspi_nor_enable_quad_mode(struct flash_flexspi_nor_data *data)
 {
-	struct flash_flexspi_nor_data *data = dev->data;
 	uint32_t status = 0x40;
 
-	flash_flexspi_nor_write_status(dev, &status);
-	flash_flexspi_nor_wait_bus_busy(dev);
-	memc_flexspi_reset(data->controller);
+	flash_flexspi_nor_write_status(data, &status);
+	flash_flexspi_nor_wait_bus_busy(data);
+	memc_flexspi_reset(&data->controller);
 
 	return 0;
 }
@@ -350,7 +342,7 @@ static int flash_flexspi_nor_read(const struct device *dev, off_t offset,
 		void *buffer, size_t len)
 {
 	struct flash_flexspi_nor_data *data = dev->data;
-	uint8_t *src = memc_flexspi_get_ahb_address(data->controller,
+	uint8_t *src = memc_flexspi_get_ahb_address(&data->controller,
 						    data->port,
 						    offset);
 
@@ -368,11 +360,11 @@ static int flash_flexspi_nor_write(const struct device *dev, off_t offset,
 	int i;
 	unsigned int key = 0;
 
-	uint8_t *dst = memc_flexspi_get_ahb_address(data->controller,
+	uint8_t *dst = memc_flexspi_get_ahb_address(&data->controller,
 						    data->port,
 						    offset);
 
-	if (memc_flexspi_is_running_xip(data->controller)) {
+	if (memc_flexspi_is_running_xip(&data->controller)) {
 		/*
 		 * ==== ENTER CRITICAL SECTION ====
 		 * No flash access should be performed in critical section. All
@@ -390,20 +382,20 @@ static int flash_flexspi_nor_write(const struct device *dev, off_t offset,
 #ifdef CONFIG_FLASH_MCUX_FLEXSPI_NOR_WRITE_BUFFER
 		memcpy(nor_write_buf, src, i);
 #endif
-		flash_flexspi_nor_write_enable(dev);
+		flash_flexspi_nor_write_enable(data);
 #ifdef CONFIG_FLASH_MCUX_FLEXSPI_NOR_WRITE_BUFFER
-		flash_flexspi_nor_page_program(dev, offset, nor_write_buf, i);
+		flash_flexspi_nor_page_program(data, offset, nor_write_buf, i);
 #else
-		flash_flexspi_nor_page_program(dev, offset, src, i);
+		flash_flexspi_nor_page_program(data, offset, src, i);
 #endif
-		flash_flexspi_nor_wait_bus_busy(dev);
-		memc_flexspi_reset(data->controller);
+		flash_flexspi_nor_wait_bus_busy(data);
+		memc_flexspi_reset(&data->controller);
 		src += i;
 		offset += i;
 		len -= i;
 	}
 
-	if (memc_flexspi_is_running_xip(data->controller)) {
+	if (memc_flexspi_is_running_xip(&data->controller)) {
 		/* ==== EXIT CRITICAL SECTION ==== */
 		irq_unlock(key);
 	}
@@ -425,7 +417,7 @@ static int flash_flexspi_nor_erase(const struct device *dev, off_t offset,
 	int i;
 	unsigned int key = 0;
 
-	uint8_t *dst = memc_flexspi_get_ahb_address(data->controller,
+	uint8_t *dst = memc_flexspi_get_ahb_address(&data->controller,
 						    data->port,
 						    offset);
 
@@ -439,7 +431,7 @@ static int flash_flexspi_nor_erase(const struct device *dev, off_t offset,
 		return -EINVAL;
 	}
 
-	if (memc_flexspi_is_running_xip(data->controller)) {
+	if (memc_flexspi_is_running_xip(&data->controller)) {
 		/*
 		 * ==== ENTER CRITICAL SECTION ====
 		 * No flash access should be performed in critical section. All
@@ -449,29 +441,29 @@ static int flash_flexspi_nor_erase(const struct device *dev, off_t offset,
 	}
 
 	if ((offset == 0) && (size == data->config.flashSize * KB(1))) {
-		flash_flexspi_nor_write_enable(dev);
-		flash_flexspi_nor_erase_chip(dev);
-		flash_flexspi_nor_wait_bus_busy(dev);
-		memc_flexspi_reset(data->controller);
+		flash_flexspi_nor_write_enable(data);
+		flash_flexspi_nor_erase_chip(data);
+		flash_flexspi_nor_wait_bus_busy(data);
+		memc_flexspi_reset(&data->controller);
 	} else if ((0 == (offset % SPI_NOR_BLOCK_SIZE)) && (0 == (size % SPI_NOR_BLOCK_SIZE))) {
 		for (i = 0; i < num_blocks; i++) {
-			flash_flexspi_nor_write_enable(dev);
-			flash_flexspi_nor_erase_block(dev, offset);
-			flash_flexspi_nor_wait_bus_busy(dev);
-			memc_flexspi_reset(data->controller);
+			flash_flexspi_nor_write_enable(data);
+			flash_flexspi_nor_erase_block(data, offset);
+			flash_flexspi_nor_wait_bus_busy(data);
+			memc_flexspi_reset(&data->controller);
 			offset += SPI_NOR_BLOCK_SIZE;
 		}
 	} else {
 		for (i = 0; i < num_sectors; i++) {
-			flash_flexspi_nor_write_enable(dev);
-			flash_flexspi_nor_erase_sector(dev, offset);
-			flash_flexspi_nor_wait_bus_busy(dev);
-			memc_flexspi_reset(data->controller);
+			flash_flexspi_nor_write_enable(data);
+			flash_flexspi_nor_erase_sector(data, offset);
+			flash_flexspi_nor_wait_bus_busy(data);
+			memc_flexspi_reset(&data->controller);
 			offset += SPI_NOR_SECTOR_SIZE;
 		}
 	}
 
-	if (memc_flexspi_is_running_xip(data->controller)) {
+	if (memc_flexspi_is_running_xip(&data->controller)) {
 		/* ==== EXIT CRITICAL SECTION ==== */
 		irq_unlock(key);
 	}
@@ -504,17 +496,24 @@ static void flash_flexspi_nor_pages_layout(const struct device *dev,
 
 static int flash_flexspi_nor_init(const struct device *dev)
 {
+	const struct flash_flexspi_nor_config *config = dev->config;
 	struct flash_flexspi_nor_data *data = dev->data;
 	uint8_t vendor_id;
 	uint32_t temp_lut[sizeof(flash_flexspi_nor_lut) / sizeof(uint32_t)];
 
-	if (!device_is_ready(data->controller)) {
+	/* First step- use ROM pointer to controller device to create
+	 * a copy of the device structure in RAM we can use while in
+	 * critical sections of code.
+	 */
+	memcpy(&data->controller, config->controller, sizeof(struct device));
+
+	if (!device_is_ready(&data->controller)) {
 		LOG_ERR("Controller device is not ready");
 		return -ENODEV;
 	}
 
-	if (!memc_flexspi_is_running_xip(data->controller) &&
-	    memc_flexspi_set_device_config(data->controller, &data->config,
+	if (!memc_flexspi_is_running_xip(&data->controller) &&
+	    memc_flexspi_set_device_config(&data->controller, &data->config,
 					   data->port)) {
 		LOG_ERR("Could not set device configuration");
 		return -EINVAL;
@@ -530,22 +529,22 @@ static int flash_flexspi_nor_init(const struct device *dev)
 	memcpy(temp_lut, flash_flexspi_nor_lut,
 		sizeof(flash_flexspi_nor_lut));
 
-	if (memc_flexspi_update_lut(data->controller, 0,
+	if (memc_flexspi_update_lut(&data->controller, 0,
 				   (const uint32_t *) temp_lut,
 				   sizeof(temp_lut) / sizeof(uint32_t))) {
 		LOG_ERR("Could not update lut");
 		return -EINVAL;
 	}
 
-	memc_flexspi_reset(data->controller);
+	memc_flexspi_reset(&data->controller);
 
-	if (flash_flexspi_nor_get_vendor_id(dev, &vendor_id)) {
+	if (flash_flexspi_nor_get_vendor_id(data, &vendor_id)) {
 		LOG_ERR("Could not read vendor id");
 		return -EIO;
 	}
 	LOG_DBG("Vendor id: 0x%0x", vendor_id);
 
-	if (flash_flexspi_nor_enable_quad_mode(dev)) {
+	if (flash_flexspi_nor_enable_quad_mode(data)) {
 		LOG_ERR("Could not enable quad mode");
 		return -EIO;
 	}
@@ -596,9 +595,12 @@ static const struct flash_driver_api flash_flexspi_nor_api = {
 	}								\
 
 #define FLASH_FLEXSPI_NOR(n)						\
+	static const struct flash_flexspi_nor_config			\
+		flash_flexspi_nor_config_##n = {			\
+		.controller = DEVICE_DT_GET(DT_INST_BUS(n)),		\
+	};								\
 	static struct flash_flexspi_nor_data				\
 		flash_flexspi_nor_data_##n = {				\
-		.controller = DEVICE_DT_GET(DT_INST_BUS(n)),		\
 		.config = FLASH_FLEXSPI_DEVICE_CONFIG(n),		\
 		.port = DT_INST_REG_ADDR(n),				\
 		.layout = {						\
@@ -616,7 +618,7 @@ static const struct flash_driver_api flash_flexspi_nor_api = {
 			      flash_flexspi_nor_init,			\
 			      NULL,					\
 			      &flash_flexspi_nor_data_##n,		\
-			      NULL,					\
+			      &flash_flexspi_nor_config_##n,		\
 			      POST_KERNEL,				\
 			      CONFIG_FLASH_INIT_PRIORITY,		\
 			      &flash_flexspi_nor_api);

drivers/interrupt_controller/intc_plic.c

@@ -70,7 +70,7 @@ static int riscv_plic_is_edge_irq(uint32_t irq)
 	volatile uint32_t *trig = (volatile uint32_t *)PLIC_EDGE_TRIG_TYPE;
 
 	trig += (irq >> PLIC_EDGE_TRIG_SHIFT);
-	return *trig & BIT(irq);
+	return *trig & BIT(irq & BIT_MASK(PLIC_EDGE_TRIG_SHIFT));
 }
 
 /**

drivers/ps2/ps2_mchp_xec.c

@@ -16,10 +16,8 @@
 #include <zephyr/drivers/interrupt_controller/intc_mchp_xec_ecia.h>
 #endif
 #include <zephyr/drivers/pinctrl.h>
-#ifdef CONFIG_PM_DEVICE
 #include <zephyr/pm/device.h>
 #include <zephyr/pm/policy.h>
-#endif
 #include <zephyr/drivers/ps2.h>
 #include <soc.h>
 #include <zephyr/logging/log.h>

drivers/sensor/ams_as5600/ams_as5600.c

@@ -19,6 +19,7 @@ LOG_MODULE_REGISTER(ams_as5600, CONFIG_SENSOR_LOG_LEVEL);
 #define AS5600_ANGLE_REGISTER_H 0x0E
 #define AS5600_FULL_ANGLE		360
 #define AS5600_PULSES_PER_REV	4096
+#define AS5600_MILLION_UNIT	1000000
 
 struct as5600_dev_cfg {
 	struct i2c_dt_spec i2c_port;
@@ -60,8 +61,8 @@ static int as5600_get(const struct device *dev, enum sensor_channel chan,
 		val->val1 = ((int32_t)dev_data->position * AS5600_FULL_ANGLE) /
 							AS5600_PULSES_PER_REV;
 
-		val->val2 = ((int32_t)dev_data->position * AS5600_FULL_ANGLE) -
-					(val->val1 * AS5600_PULSES_PER_REV);
+		val->val2 = (((int32_t)dev_data->position * AS5600_FULL_ANGLE) %
+			     AS5600_PULSES_PER_REV) * (AS5600_MILLION_UNIT / AS5600_PULSES_PER_REV);
 	} else {
 		return -ENOTSUP;
 	}

drivers/sensor/nxp_kinetis_temp/Kconfig

@@ -7,7 +7,8 @@ config TEMP_KINETIS
 	bool "NXP Kinetis Temperature Sensor"
 	default y
 	depends on DT_HAS_NXP_KINETIS_TEMPERATURE_ENABLED
-	depends on (ADC && SOC_FAMILY_KINETIS)
+	depends on SOC_FAMILY_KINETIS
+	select ADC
 	help
 	  Enable driver for NXP Kinetis temperature sensor.
 

drivers/sensor/nxp_kinetis_temp/temp_kinetis.c

@@ -159,7 +159,7 @@ static int temp_kinetis_init(const struct device *dev)
 		},
 	};
 
-	memset(&data->buffer, 0, ARRAY_SIZE(data->buffer));
+	memset(&data->buffer, 0, sizeof(data->buffer));
 
 	if (!device_is_ready(config->adc)) {
 		LOG_ERR("ADC device is not ready");

drivers/spi/spi_mcux_lpspi.c

@@ -225,13 +225,18 @@ static int spi_mcux_configure(const struct device *dev,
 		return -EINVAL;
 	}
 
-	/* Setting the baud rate in LPSPI_MasterInit requires module to be disabled */
-	LPSPI_Enable(base, false);
-	while ((base->CR & LPSPI_CR_MEN_MASK) != 0U) {
-		/* Wait until LPSPI is disabled. Datasheet:
-		 * After writing 0, MEN (Module Enable) remains set until the LPSPI has completed
-		 * the current transfer and is idle.
+	if (data->ctx.config != NULL) {
+		/* Setting the baud rate in LPSPI_MasterInit requires module to be disabled. Only
+		 * disable if already configured, otherwise the clock is not enabled and the
+		 * CR register cannot be written.
 		 */
+		LPSPI_Enable(base, false);
+		while ((base->CR & LPSPI_CR_MEN_MASK) != 0U) {
+			/* Wait until LPSPI is disabled. Datasheet:
+			 * After writing 0, MEN (Module Enable) remains set until the LPSPI has
+			 * completed the current transfer and is idle.
+			 */
+		}
 	}
 
 	LPSPI_MasterInit(base, &master_config, clock_freq);

drivers/virtualization/Kconfig

@@ -66,4 +66,10 @@ config IVSHMEM_V2
 	  Enable ivshmem-v2 support.
 	  ivshmem-v2 is primarily used for IPC in the Jailhouse hypervisor.
 
+config IVSHMEM_V2_MAX_PEERS
+	int "Maximum number of ivshmem-v2 peers"
+	depends on IVSHMEM_V2
+	default 2
+	range 2 65536
+
 endif # VIRTUALIZATION

drivers/virtualization/virt_ivshmem.c

@@ -198,7 +198,7 @@ static bool ivshmem_configure(const struct device *dev)
 			(volatile struct ivshmem_v2_reg *)DEVICE_MMIO_GET(dev);
 
 		data->max_peers = regs->max_peers;
-		if (!IN_RANGE(data->max_peers, 2, 0x10000)) {
+		if (!IN_RANGE(data->max_peers, 2, CONFIG_IVSHMEM_V2_MAX_PEERS)) {
 			LOG_ERR("Invalid max peers %u", data->max_peers);
 			return false;
 		}
@@ -211,26 +211,49 @@ static bool ivshmem_configure(const struct device *dev)
 			shmem_phys_addr = pcie_conf_read_u64(data->pcie->bdf, cap_pos);
 		}
 
+		/* State table R/O */
 		cap_pos = vendor_cap + IVSHMEM_CFG_STATE_TAB_SZ / 4;
 		size_t state_table_size = pcie_conf_read(data->pcie->bdf, cap_pos);
-
 		LOG_INF("State table size 0x%zX", state_table_size);
 		if (state_table_size < sizeof(uint32_t) * data->max_peers) {
 			LOG_ERR("Invalid state table size %zu", state_table_size);
 			return false;
 		}
+		z_phys_map((uint8_t **)&data->state_table_shmem,
+			   shmem_phys_addr, state_table_size,
+			   K_MEM_CACHE_WB | K_MEM_PERM_USER);
 
+		/* R/W section (optional) */
 		cap_pos = vendor_cap + IVSHMEM_CFG_RW_SECTION_SZ / 4;
 		data->rw_section_size = pcie_conf_read_u64(data->pcie->bdf, cap_pos);
-		data->rw_section_offset = state_table_size;
+		size_t rw_section_offset = state_table_size;
 		LOG_INF("RW section size 0x%zX", data->rw_section_size);
+		if (data->rw_section_size > 0) {
+			z_phys_map((uint8_t **)&data->rw_section_shmem,
+				   shmem_phys_addr + rw_section_offset, data->rw_section_size,
+				   K_MEM_CACHE_WB | K_MEM_PERM_RW | K_MEM_PERM_USER);
+		}
 
+		/* Output sections */
 		cap_pos = vendor_cap + IVSHMEM_CFG_OUTPUT_SECTION_SZ / 4;
 		data->output_section_size = pcie_conf_read_u64(data->pcie->bdf, cap_pos);
-		data->output_section_offset = data->rw_section_offset + data->rw_section_size;
+		size_t output_section_offset = rw_section_offset + data->rw_section_size;
 		LOG_INF("Output section size 0x%zX", data->output_section_size);
+		for (uint32_t i = 0; i < data->max_peers; i++) {
+			uintptr_t phys_addr = shmem_phys_addr +
+				    output_section_offset +
+				    (data->output_section_size * i);
+			uint32_t flags = K_MEM_CACHE_WB | K_MEM_PERM_USER;
 
-		data->size = data->output_section_offset +
+			/* Only your own output section is R/W */
+			if (i == regs->id) {
+				flags |= K_MEM_PERM_RW;
+			}
+			z_phys_map((uint8_t **)&data->output_section_shmem[i],
+				   phys_addr, data->output_section_size, flags);
+		}
+
+		data->size = output_section_offset +
 			data->output_section_size * data->max_peers;
 
 		/* Ensure one-shot ISR mode is disabled */
@@ -249,11 +272,11 @@ static bool ivshmem_configure(const struct device *dev)
 		}
 
 		data->size = mbar_shmem.size;
-	}
 
-	z_phys_map((uint8_t **)&data->shmem,
-		   shmem_phys_addr, data->size,
-		   K_MEM_CACHE_WB | K_MEM_PERM_RW | K_MEM_PERM_USER);
+		z_phys_map((uint8_t **)&data->shmem,
+			   shmem_phys_addr, data->size,
+			   K_MEM_CACHE_WB | K_MEM_PERM_RW | K_MEM_PERM_USER);
+	}
 
 	if (msi_x_bar_present) {
 		if (!ivshmem_configure_msi_x_interrupts(dev)) {
@@ -284,6 +307,13 @@ static size_t ivshmem_api_get_mem(const struct device *dev,
 {
 	struct ivshmem *data = dev->data;
 
+#ifdef CONFIG_IVSHMEM_V2
+	if (data->ivshmem_v2) {
+		*memmap = 0;
+		return 0;
+	}
+#endif
+
 	*memmap = data->shmem;
 
 	return data->size;
@@ -389,11 +419,11 @@ static size_t ivshmem_api_get_rw_mem_section(const struct device *dev,
 	struct ivshmem *data = dev->data;
 
 	if (!data->ivshmem_v2) {
-		memmap = NULL;
+		*memmap = 0;
 		return 0;
 	}
 
-	*memmap = data->shmem + data->rw_section_offset;
+	*memmap = data->rw_section_shmem;
 
 	return data->rw_section_size;
 }
@@ -405,12 +435,11 @@ static size_t ivshmem_api_get_output_mem_section(const struct device *dev,
 	struct ivshmem *data = dev->data;
 
 	if (!data->ivshmem_v2 || peer_id >= data->max_peers) {
-		memmap = NULL;
+		*memmap = 0;
 		return 0;
 	}
 
-	*memmap = data->shmem + data->output_section_offset +
-		data->output_section_size * peer_id;
+	*memmap = data->output_section_shmem[peer_id];
 
 	return data->output_section_size;
 }
@@ -425,7 +454,7 @@ static uint32_t ivshmem_api_get_state(const struct device *dev,
 	}
 
 	const volatile uint32_t *state_table =
-		(const volatile uint32_t *)data->shmem;
+		(const volatile uint32_t *)data->state_table_shmem;
 
 	return state_table[peer_id];
 }

drivers/virtualization/virt_ivshmem.h

@@ -57,9 +57,10 @@ struct ivshmem {
 	bool ivshmem_v2;
 	uint32_t max_peers;
 	size_t rw_section_size;
-	size_t rw_section_offset;
 	size_t output_section_size;
-	size_t output_section_offset;
+	uintptr_t state_table_shmem;
+	uintptr_t rw_section_shmem;
+	uintptr_t output_section_shmem[CONFIG_IVSHMEM_V2_MAX_PEERS];
 #endif
 };
 

dts/arm/st/mp1/stm32mp157.dtsi

@@ -61,8 +61,8 @@
 			reg = <0x5000d000 0x400>;
 			num-lines = <16>;
 			interrupts = <6 0>, <7 0>, <8 0>, <9 0>,
-				     <10 0>, <23 0>, <40 0>, <42 0>,
-				     <64 0>, <65 0>, <66 0>, <67 0>,
+				     <10 0>, <23 0>, <64 0>, <65 0>,
+				     <66 0>, <67 0>, <40 0>, <42 0>,
 				     <76 0>, <77 0>, <121 0>, <127 0>;
 			interrupt-names = "line0", "line1", "line2", "line3",
 					  "line4", "line5", "line6", "line7",

dts/bindings/can/can-fd-controller.yaml

@@ -47,6 +47,3 @@ properties:
     description: |
       Initial time quanta of phase buffer 2 segment for the data phase (ISO11898-1:2015). Deprecated
       in favor of setting advanced timing parameters from the application.
-  tx-delay-comp-offset:
-    type: int
-    default: 0

include/zephyr/acpi/acpi.h

@@ -175,10 +175,10 @@ int acpi_drhd_get(enum AcpiDmarScopeType scope, struct acpi_dmar_device_scope *d
 	union acpi_dmar_id *dmar_id, int *num_inst, int max_inst);
 
 /**
- * @brief Retrieve lapic info for a specific cpu.
+ * @brief Retrieve the 'n'th enabled local apic info.
  *
  * @param cpu_num the cpu number
- * @return lapic info on success or NULL
+ * @return local apic info on success or NULL otherwise
  */
-struct acpi_madt_local_apic *acpi_local_apic_get(uint32_t cpu_num);
+struct acpi_madt_local_apic *acpi_local_apic_get(int cpu_num);
 #endif

include/zephyr/drivers/can.h

@@ -318,6 +318,23 @@ typedef void (*can_state_change_callback_t)(const struct device *dev,
  * For internal driver use only, skip these in public documentation.
  */
 
+/**
+ * @brief Calculate Transmitter Delay Compensation Offset from data phase timing parameters.
+ *
+ * Calculates the TDC Offset in minimum time quanta (mtq) using the sample point and CAN core clock
+ * prescaler specified by a set of data phase timing parameters.
+ *
+ * The result is clamped to the minimum/maximum supported TDC Offset values provided.
+ *
+ * @param _timing_data Pointer to data phase timing parameters.
+ * @param _tdco_min    Minimum supported TDC Offset value in mtq.
+ * @param _tdco_max    Maximum supported TDC Offset value in mtq.
+ * @return             Calculated TDC Offset value in mtq.
+ */
+#define CAN_CALC_TDCO(_timing_data, _tdco_min, _tdco_max)                                          \
+	CLAMP((1U + _timing_data->prop_seg + _timing_data->phase_seg1) * _timing_data->prescaler,  \
+	      _tdco_min, _tdco_max)
+
 /**
  * @brief Callback API upon setting CAN bus timing
  * See @a can_set_timing() for argument description

include/zephyr/drivers/can/can_mcan.h

@@ -640,7 +640,7 @@ enum can_mcan_psr_lec {
  */
 #define CAN_MCAN_DT_MRAM_DEFINE(node_id, _name)                                                    \
 	BUILD_ASSERT(CAN_MCAN_DT_MRAM_OFFSET(node_id) == 0, "offset must be 0");                   \
-	static char __noinit __nocache __aligned(4) _name[CAN_MCAN_DT_MRAM_ELEMENTS_SIZE(node_id)];
+	static char __nocache_noinit __aligned(4) _name[CAN_MCAN_DT_MRAM_ELEMENTS_SIZE(node_id)];
 
 /**
  * @brief Assert that the Message RAM configuration meets the Bosch M_CAN IP core restrictions
@@ -1253,7 +1253,6 @@ struct can_mcan_config {
 	uint8_t sjw_data;
 	uint8_t prop_ts1_data;
 	uint8_t ts2_data;
-	uint8_t tx_delay_comp_offset;
 #endif
 	const struct device *phy;
 	uint32_t max_bitrate;
@@ -1327,7 +1326,6 @@ struct can_mcan_config {
 		.prop_ts1_data = DT_PROP_OR(node_id, prop_seg_data, 0) +                           \
 				 DT_PROP_OR(node_id, phase_seg1_data, 0),                          \
 		.ts2_data = DT_PROP_OR(node_id, phase_seg2_data, 0),                               \
-		.tx_delay_comp_offset = DT_PROP(node_id, tx_delay_comp_offset),                    \
 		.phy = DEVICE_DT_GET_OR_NULL(DT_PHANDLE(node_id, phys)),                           \
 		.max_bitrate = DT_CAN_TRANSCEIVER_MAX_BITRATE(node_id, 8000000),                   \
 		.custom = _custom,                                                                 \

include/zephyr/drivers/virtualization/ivshmem.h

@@ -84,6 +84,12 @@ __subsystem struct ivshmem_driver_api {
 /**
  * @brief Get the inter-VM shared memory
  *
+ * Note: This API is not supported for ivshmem-v2, as
+ * the R/W and R/O areas may not be mapped contiguously.
+ * For ivshmem-v2, use the ivshmem_get_rw_mem_section,
+ * ivshmem_get_output_mem_section and ivshmem_get_state
+ * APIs to access the shared memory.
+ *
  * @param dev Pointer to the device structure for the driver instance
  * @param memmap A pointer to fill in with the memory address
  *

include/zephyr/linker/common-rom/common-rom-kernel-devices.ld

@@ -40,6 +40,11 @@
 		/* TODO: does this section require alignment? */
 		KEEP(*(_SHARED_SW_ISR_TABLE_SECTION_SYMS))
 	} GROUP_ROM_LINK_IN(RAMABLE_REGION, ROMABLE_REGION)
+
+	SECTION_PROLOGUE(.text.z_shared_isr,,)
+	{
+		KEEP(*(.text.z_shared_isr))
+	} GROUP_ROM_LINK_IN(RAMABLE_REGION, ROMABLE_REGION)
 #endif
 
 #endif

include/zephyr/linker/section_tags.h

@@ -49,8 +49,10 @@
 
 #if defined(CONFIG_NOCACHE_MEMORY)
 #define __nocache __in_section_unique(_NOCACHE_SECTION_NAME)
+#define __nocache_noinit __nocache
 #else
 #define __nocache
+#define __nocache_noinit __noinit
 #endif /* CONFIG_NOCACHE_MEMORY */
 
 #if defined(CONFIG_KERNEL_COHERENCE)

include/zephyr/sys/mem_manage.h

@@ -153,8 +153,12 @@ static inline uintptr_t z_mem_phys_addr(void *virt)
 #if CONFIG_KERNEL_VM_BASE != 0
 		 (addr >= CONFIG_KERNEL_VM_BASE) &&
 #endif
+#if (CONFIG_KERNEL_VM_BASE + CONFIG_KERNEL_VM_SIZE) != 0
 		 (addr < (CONFIG_KERNEL_VM_BASE +
 			  (CONFIG_KERNEL_VM_SIZE))),
+#else
+		 false,
+#endif
 		 "address %p not in permanent mappings", virt);
 #else
 	/* Should be identity-mapped */
@@ -162,8 +166,12 @@ static inline uintptr_t z_mem_phys_addr(void *virt)
 #if CONFIG_SRAM_BASE_ADDRESS != 0
 		 (addr >= CONFIG_SRAM_BASE_ADDRESS) &&
 #endif
+#if (CONFIG_SRAM_BASE_ADDRESS + (CONFIG_SRAM_SIZE * 1024UL)) != 0
 		 (addr < (CONFIG_SRAM_BASE_ADDRESS +
 			  (CONFIG_SRAM_SIZE * 1024UL))),
+#else
+		 false,
+#endif
 		 "physical address 0x%lx not in RAM",
 		 (unsigned long)addr);
 #endif /* CONFIG_MMU */
@@ -182,8 +190,12 @@ static inline void *z_mem_virt_addr(uintptr_t phys)
 #if CONFIG_SRAM_BASE_ADDRESS != 0
 		 (phys >= CONFIG_SRAM_BASE_ADDRESS) &&
 #endif
+#if (CONFIG_SRAM_BASE_ADDRESS + (CONFIG_SRAM_SIZE * 1024UL)) != 0
 		 (phys < (CONFIG_SRAM_BASE_ADDRESS +
 			  (CONFIG_SRAM_SIZE * 1024UL))),
+#else
+		 false,
+#endif
 		 "physical address 0x%lx not in RAM", (unsigned long)phys);
 
 	/* TODO add assertion that this page frame is pinned to boot mapping,

kernel/timer.c

@@ -141,7 +141,15 @@ void z_impl_k_timer_start(struct k_timer *timer, k_timeout_t duration,
 {
 	SYS_PORT_TRACING_OBJ_FUNC(k_timer, start, timer, duration, period);
 
+	/* Acquire spinlock to ensure safety during concurrent calls to
+	 * k_timer_start for scheduling or rescheduling. This is necessary
+	 * since k_timer_start can be preempted, especially for the same
+	 * timer instance.
+	 */
+	k_spinlock_key_t key = k_spin_lock(&lock);
+
 	if (K_TIMEOUT_EQ(duration, K_FOREVER)) {
+		k_spin_unlock(&lock, key);
 		return;
 	}
 
@@ -168,6 +176,8 @@ void z_impl_k_timer_start(struct k_timer *timer, k_timeout_t duration,
 
 	z_add_timeout(&timer->timeout, z_timer_expiration_handler,
 		     duration);
+
+	k_spin_unlock(&lock, key);
 }
 
 #ifdef CONFIG_USERSPACE

lib/acpi/Kconfig

@@ -14,6 +14,12 @@ module = ACPI
 module-str = acpi
 source "subsys/logging/Kconfig.template.log_config"
 
+config ACPI_PRT_BUS_NAME
+	string "ACPI name of PCI bus"
+	default "_SB.PCI0"
+	help
+	  ACPI name of PCI bus.
+
 config ACPI_MAX_PRT_ENTRY
 	int "Size of PRT buffer"
 	default 4096

lib/acpi/acpi.c

@@ -52,24 +52,6 @@ static void notify_handler(ACPI_HANDLE device, UINT32 value, void *ctx)
 	ACPI_INFO(("Received a notify 0x%X", value));
 }
 
-static ACPI_STATUS region_handler(UINT32 Function, ACPI_PHYSICAL_ADDRESS address, UINT32 bit_width,
-				  UINT64 *value, void *handler_ctx, void *region_ctx)
-{
-	return AE_OK;
-}
-
-static ACPI_STATUS region_init(ACPI_HANDLE RegionHandle, UINT32 Function, void *handler_ctx,
-			       void **region_ctx)
-{
-	if (Function == ACPI_REGION_DEACTIVATE) {
-		*region_ctx = NULL;
-	} else {
-		*region_ctx = RegionHandle;
-	}
-
-	return AE_OK;
-}
-
 static ACPI_STATUS install_handlers(void)
 {
 	ACPI_STATUS status;
@@ -82,13 +64,7 @@ static ACPI_STATUS install_handlers(void)
 		goto exit;
 	}
 
-	status = AcpiInstallAddressSpaceHandler(ACPI_ROOT_OBJECT, ACPI_ADR_SPACE_SYSTEM_MEMORY,
-						region_handler, region_init, NULL);
-	if (ACPI_FAILURE(status)) {
-		ACPI_EXCEPTION((AE_INFO, status, "While installing an OpRegion handler"));
-	}
 exit:
-
 	return status;
 }
 
@@ -115,10 +91,10 @@ static ACPI_STATUS initialize_acpica(void)
 		goto exit;
 	}
 
-	/* Initialize the ACPI hardware */
-	status = AcpiEnableSubsystem(ACPI_FULL_INITIALIZATION);
+	/* Create the ACPI namespace from ACPI tables */
+	status = AcpiLoadTables();
 	if (ACPI_FAILURE(status)) {
-		ACPI_EXCEPTION((AE_INFO, status, "While enabling ACPI"));
+		ACPI_EXCEPTION((AE_INFO, status, "While loading ACPI tables"));
 		goto exit;
 	}
 
@@ -129,10 +105,10 @@ static ACPI_STATUS initialize_acpica(void)
 		goto exit;
 	}
 
-	/* Create the ACPI namespace from ACPI tables */
-	status = AcpiLoadTables();
+	/* Initialize the ACPI hardware */
+	status = AcpiEnableSubsystem(ACPI_FULL_INITIALIZATION);
 	if (ACPI_FAILURE(status)) {
-		ACPI_EXCEPTION((AE_INFO, status, "While loading ACPI tables"));
+		ACPI_EXCEPTION((AE_INFO, status, "While enabling ACPI"));
 		goto exit;
 	}
 
@@ -239,7 +215,7 @@ static int acpi_get_irq_table(struct acpi *bus, char *bus_name,
 	}
 
 	rt_buffer.Pointer = rt_table;
-	rt_buffer.Length = ACPI_DEBUG_BUFFER_SIZE;
+	rt_buffer.Length = rt_size;
 
 	status = AcpiGetIrqRoutingTable(node, &rt_buffer);
 	if (ACPI_FAILURE(status)) {
@@ -263,7 +239,8 @@ static int acpi_get_irq_table(struct acpi *bus, char *bus_name,
 static int acpi_retrieve_legacy_irq(struct acpi *bus)
 {
 	/* TODO: assume platform have only one PCH with single PCI bus (bus 0). */
-	return acpi_get_irq_table(bus, "_SB.PC00", bus->pci_prt_table, sizeof(bus->pci_prt_table));
+	return acpi_get_irq_table(bus, CONFIG_ACPI_PRT_BUS_NAME,
+				  bus->pci_prt_table, sizeof(bus->pci_prt_table));
 }
 
 static ACPI_STATUS dev_resource_enum_callback(ACPI_HANDLE obj_handle, UINT32 level, void *ctx,
@@ -791,10 +768,13 @@ int acpi_drhd_get(enum AcpiDmarScopeType scope, struct acpi_dmar_device_scope *d
 	return 0;
 }
 
-struct acpi_madt_local_apic *acpi_local_apic_get(uint32_t cpu_num)
+#define ACPI_CPU_FLAGS_ENABLED 0x01u
+
+struct acpi_madt_local_apic *acpi_local_apic_get(int cpu_num)
 {
 	struct acpi_madt_local_apic *lapic;
 	int cpu_cnt;
+	int idx;
 
 	if (acpi_madt_entry_get(ACPI_MADT_TYPE_LOCAL_APIC, (ACPI_SUBTABLE_HEADER **)&lapic,
 				&cpu_cnt)) {
@@ -802,10 +782,15 @@ struct acpi_madt_local_apic *acpi_local_apic_get(uint32_t cpu_num)
 		return NULL;
 	}
 
-	if ((cpu_num >= cpu_cnt) || !(lapic[cpu_num].LapicFlags & 1u)) {
-		/* Proccessor not enabled. */
-		return NULL;
+	for (idx = 0; cpu_num >= 0 && idx < cpu_cnt; idx++) {
+		if (lapic[idx].LapicFlags & ACPI_CPU_FLAGS_ENABLED) {
+			if (cpu_num == 0) {
+				return &lapic[idx];
+			}
+
+			cpu_num--;
+		}
 	}
 
-	return &lapic[cpu_num];
+	return NULL;
 }

lib/posix/key.c

@@ -10,6 +10,7 @@
 #include <zephyr/posix/pthread.h>
 #include <zephyr/posix/pthread_key.h>
 #include <zephyr/sys/bitarray.h>
+#include <zephyr/sys/__assert.h>
 
 struct pthread_key_data {
 	sys_snode_t node;
@@ -120,6 +121,8 @@ int pthread_key_create(pthread_key_t *key,
  */
 int pthread_key_delete(pthread_key_t key)
 {
+	size_t bit;
+	__unused int ret;
 	pthread_key_obj *key_obj;
 	struct pthread_key_data *key_data;
 	sys_snode_t *node_l, *next_node_l;
@@ -145,7 +148,9 @@ int pthread_key_delete(pthread_key_t key)
 		k_free((void *)key_data);
 	}
 
-	(void)sys_bitarray_free(&posix_key_bitarray, 1, 0);
+	bit = posix_key_to_offset(key_obj);
+	ret = sys_bitarray_free(&posix_key_bitarray, 1, bit);
+	__ASSERT_NO_MSG(ret == 0);
 
 	k_spin_unlock(&pthread_key_lock, key_key);
 

lib/posix/pthread.c

@@ -628,6 +628,8 @@ void pthread_exit(void *retval)
 		/* not a valid posix_thread */
 		LOG_DBG("Aborting non-pthread %p", k_current_get());
 		k_thread_abort(k_current_get());
+
+		CODE_UNREACHABLE;
 	}
 
 	/* Make a thread as cancelable before exiting */

modules/canopennode/CO_driver_target.h

@@ -22,6 +22,7 @@ extern "C" {
 #include <zephyr/types.h>
 #include <zephyr/device.h>
 #include <zephyr/toolchain.h>
+#include <zephyr/dsp/types.h> /* float32_t, float64_t */
 
 /* Use static variables instead of calloc() */
 #define CO_USE_GLOBALS
@@ -46,12 +47,13 @@ extern "C" {
 #endif
 
 typedef bool          bool_t;
-typedef float         float32_t;
-typedef long double   float64_t;
 typedef char          char_t;
 typedef unsigned char oChar_t;
 typedef unsigned char domain_t;
 
+BUILD_ASSERT(sizeof(float32_t) >= 4);
+BUILD_ASSERT(sizeof(float64_t) >= 8);
+
 typedef struct canopen_rx_msg {
 	uint8_t data[8];
 	uint16_t ident;

samples/modules/tflite-micro/tflm_ethosu/src/main.cpp

@@ -149,6 +149,8 @@ void inferenceProcessTask(void *_name, void *heap, void *_params)
 	}
 
 	k_thread_abort(k_current_get());
+
+	CODE_UNREACHABLE;
 }
 
 /* inferenceSenderTask - Creates NUM_INFERENCE_JOBS jobs, queues them, and then

scripts/build/gen_isr_tables.py

@@ -23,9 +23,7 @@ ISR_FLAG_DIRECT = 1 << 0
 #              into 1 line which then goes into the 1st level)
 # 0x00FF0000 - represents the 3rd level (i.e. the interrupts funnel
 #              into 1 line which then goes into the 2nd level)
-FIRST_LVL_INTERRUPTS = 0x000000FF
-SECND_LVL_INTERRUPTS = 0x0000FF00
-THIRD_LVL_INTERRUPTS = 0x00FF0000
+INTERRUPT_LVL_BITMASK = [0x000000FF, 0x0000FF00, 0x00FF0000]
 
 INTERRUPT_BITS = [8, 8, 8]
 
@@ -269,16 +267,18 @@ def bit_mask(bits):
     return mask
 
 def update_masks():
-    global FIRST_LVL_INTERRUPTS
-    global SECND_LVL_INTERRUPTS
-    global THIRD_LVL_INTERRUPTS
-
     if sum(INTERRUPT_BITS) > 32:
         raise ValueError("Too many interrupt bits")
 
-    FIRST_LVL_INTERRUPTS = bit_mask(INTERRUPT_BITS[0])
-    SECND_LVL_INTERRUPTS = bit_mask(INTERRUPT_BITS[1]) << INTERRUPT_BITS[0]
-    THIRD_LVL_INTERRUPTS = bit_mask(INTERRUPT_BITS[2]) << INTERRUPT_BITS[0] + INTERRUPT_BITS[2]
+    INTERRUPT_LVL_BITMASK[0] = bit_mask(INTERRUPT_BITS[0])
+    INTERRUPT_LVL_BITMASK[1] = bit_mask(INTERRUPT_BITS[1]) << INTERRUPT_BITS[0]
+    INTERRUPT_LVL_BITMASK[2] = bit_mask(INTERRUPT_BITS[2]) << INTERRUPT_BITS[0] + INTERRUPT_BITS[1]
+
+    debug("Level    Bits        Bitmask")
+    debug("----------------------------")
+    for i in range(3):
+        bitmask_str = "0x" + format(INTERRUPT_LVL_BITMASK[i], '08X')
+        debug(f"{i + 1:>5} {INTERRUPT_BITS[i]:>7} {bitmask_str:>14}")
 
 def main():
     parse_args()
@@ -368,9 +368,9 @@ def main():
             else:
                 # Figure out third level interrupt position
                 debug('IRQ = ' + hex(irq))
-                irq3 = (irq & THIRD_LVL_INTERRUPTS) >> INTERRUPT_BITS[0] + INTERRUPT_BITS[1]
-                irq2 = (irq & SECND_LVL_INTERRUPTS) >> INTERRUPT_BITS[0]
-                irq1 = irq & FIRST_LVL_INTERRUPTS
+                irq3 = (irq & INTERRUPT_LVL_BITMASK[2]) >> INTERRUPT_BITS[0] + INTERRUPT_BITS[1]
+                irq2 = (irq & INTERRUPT_LVL_BITMASK[1]) >> INTERRUPT_BITS[0]
+                irq1 = irq & INTERRUPT_LVL_BITMASK[0]
 
                 if irq3:
                     irq_parent = irq2

scripts/requirements-extras.txt

@@ -19,7 +19,7 @@ lpc_checksum
 Pillow>=10.0
 
 # can be used to sign a Zephyr application binary for consumption by a bootloader
-imgtool>=1.9
+imgtool>=2.0.0
 
 # used by nanopb module to generate sources from .proto files
 grpcio-tools>=1.47.0

scripts/snippets.py

@@ -56,7 +56,7 @@ class Snippet:
                 path = pathobj.parent / value
                 if not path.is_file():
                     _err(f'snippet file {pathobj}: {variable}: file not found: {path}')
-                return f'"{path}"'
+                return f'"{path.as_posix()}"'
             if variable in ('DTS_EXTRA_CPPFLAGS'):
                 return f'"{value}"'
             _err(f'unknown append variable: {variable}')

share/sysbuild/cmake/modules/sysbuild_kconfig.cmake

@@ -67,6 +67,9 @@ if(DEFINED BOARD_REVISION)
   set(BOARD_REVISION_CONFIG "${CMAKE_CURRENT_BINARY_DIR}/empty.conf")
 endif()
 
+# Unset shield configuration files if set to prevent including in sysbuild
+set(shield_conf_files)
+
 list(APPEND ZEPHYR_KCONFIG_MODULES_DIR BOARD=${BOARD})
 set(KCONFIG_NAMESPACE SB_CONFIG)
 

soc/arm/nxp_lpc/lpc55xxx/Kconfig.soc

@@ -130,6 +130,10 @@ config INIT_PLL1
 	  Note that flash programming operations are limited to 100MHz, and
 	  this PLL should not be used as the core clock in those cases.
 
+config SYS_CLOCK_HW_CYCLES_PER_SEC
+	default 144000000 if INIT_PLL1
+	default 96000000
+
 config SECOND_CORE_MCUX
 	bool "LPC55xxx's second core"
 	depends on HAS_MCUX

subsys/bluetooth/controller/hci/hci.c

@@ -8505,7 +8505,7 @@ static void le_ltk_request(struct pdu_data *pdu_data, uint16_t handle,
 }
 
 static void encrypt_change(uint8_t err, uint16_t handle,
-			   struct net_buf *buf)
+			   struct net_buf *buf, bool encryption_on)
 {
 	struct bt_hci_evt_encrypt_change *ep;
 
@@ -8516,9 +8516,9 @@ static void encrypt_change(uint8_t err, uint16_t handle,
 	hci_evt_create(buf, BT_HCI_EVT_ENCRYPT_CHANGE, sizeof(*ep));
 	ep = net_buf_add(buf, sizeof(*ep));
 
-	ep->status = err;
+	ep->status = err ? err : (encryption_on ? err : BT_HCI_ERR_UNSPECIFIED);
 	ep->handle = sys_cpu_to_le16(handle);
-	ep->encrypt = !err ? 1 : 0;
+	ep->encrypt = encryption_on ? 1 : 0;
 }
 #endif /* CONFIG_BT_CTLR_LE_ENC */
 
@@ -8660,7 +8660,7 @@ static void encode_data_ctrl(struct node_rx_pdu *node_rx,
 		break;
 
 	case PDU_DATA_LLCTRL_TYPE_START_ENC_RSP:
-		encrypt_change(0x00, handle, buf);
+		encrypt_change(0x00, handle, buf, true);
 		break;
 #endif /* CONFIG_BT_CTLR_LE_ENC */
 
@@ -8677,7 +8677,7 @@ static void encode_data_ctrl(struct node_rx_pdu *node_rx,
 #if defined(CONFIG_BT_CTLR_LE_ENC)
 	case PDU_DATA_LLCTRL_TYPE_REJECT_IND:
 		encrypt_change(pdu_data->llctrl.reject_ind.error_code, handle,
-			       buf);
+			       buf, false);
 		break;
 #endif /* CONFIG_BT_CTLR_LE_ENC */
 

subsys/bluetooth/controller/ll_sw/nordic/lll/lll_adv_aux.c

@@ -49,6 +49,9 @@
 
 static int init_reset(void);
 static int prepare_cb(struct lll_prepare_param *p);
+#if !defined(CONFIG_BT_TICKER_EXT_EXPIRE_INFO)
+static void isr_early_abort(void *param);
+#endif /* !CONFIG_BT_TICKER_EXT_EXPIRE_INFO */
 static void isr_done(void *param);
 #if defined(CONFIG_BT_CTLR_ADV_AUX_PDU_BACK2BACK)
 static void isr_tx_chain(void *param);
@@ -188,7 +191,7 @@ static int prepare_cb(struct lll_prepare_param *p)
 
 	/* Abort if no aux_ptr filled */
 	if (unlikely(!pri_hdr->aux_ptr || !PDU_ADV_AUX_PTR_OFFSET_GET(aux_ptr))) {
-		radio_isr_set(lll_isr_early_abort, lll);
+		radio_isr_set(isr_early_abort, lll);
 		radio_disable();
 
 		return 0;
@@ -325,7 +328,7 @@ static int prepare_cb(struct lll_prepare_param *p)
 	if (overhead) {
 		LL_ASSERT_OVERHEAD(overhead);
 
-		radio_isr_set(lll_isr_abort, lll);
+		radio_isr_set(isr_done, lll);
 		radio_disable();
 
 		return -ECANCELED;
@@ -347,6 +350,33 @@ static int prepare_cb(struct lll_prepare_param *p)
 	return 0;
 }
 
+#if !defined(CONFIG_BT_TICKER_EXT_EXPIRE_INFO)
+static void isr_race(void *param)
+{
+	radio_status_reset();
+}
+
+static void isr_early_abort(void *param)
+{
+	struct event_done_extra *extra;
+	int err;
+
+	/* Generate auxiliary radio event done */
+	extra = ull_done_extra_type_set(EVENT_DONE_EXTRA_TYPE_ADV_AUX);
+	LL_ASSERT(extra);
+
+	radio_isr_set(isr_race, param);
+	if (!radio_is_idle()) {
+		radio_disable();
+	}
+
+	err = lll_hfclock_off();
+	LL_ASSERT(err >= 0);
+
+	lll_done(NULL);
+}
+#endif /* !CONFIG_BT_TICKER_EXT_EXPIRE_INFO */
+
 static void isr_done(void *param)
 {
 	struct event_done_extra *extra;

subsys/bluetooth/controller/ll_sw/ull.c

@@ -1951,12 +1951,15 @@ int ull_disable(void *lll)
 	if (!ull_ref_get(hdr)) {
 		return -EALREADY;
 	}
+	cpu_dmb(); /* Ensure synchronized data access */
 
 	k_sem_init(&sem, 0, 1);
 
 	hdr->disabled_param = &sem;
 	hdr->disabled_cb = disabled_cb;
 
+	cpu_dmb(); /* Ensure synchronized data access */
+
 	/* ULL_HIGH can run after we have call `ull_ref_get` and it can
 	 * decrement the ref count. Hence, handle this race condition by
 	 * ensuring that `disabled_cb` has been set while the ref count is still

subsys/bluetooth/controller/ll_sw/ull_llcp.c

@@ -284,11 +284,26 @@ void llcp_rx_node_retain(struct proc_ctx *ctx)
 {
 	LL_ASSERT(ctx->node_ref.rx);
 
-	/* Mark RX node to NOT release */
-	ctx->node_ref.rx->hdr.type = NODE_RX_TYPE_RETAIN;
+	/* Only retain if not already retained */
+	if (ctx->node_ref.rx->hdr.type != NODE_RX_TYPE_RETAIN) {
+		/* Mark RX node to NOT release */
+		ctx->node_ref.rx->hdr.type = NODE_RX_TYPE_RETAIN;
 
-	/* store link element reference to use once this node is moved up */
-	ctx->node_ref.rx->hdr.link = ctx->node_ref.link;
+		/* store link element reference to use once this node is moved up */
+		ctx->node_ref.rx->hdr.link = ctx->node_ref.link;
+	}
+}
+
+void llcp_rx_node_release(struct proc_ctx *ctx)
+{
+	LL_ASSERT(ctx->node_ref.rx);
+
+	/* Only release if retained */
+	if (ctx->node_ref.rx->hdr.type == NODE_RX_TYPE_RETAIN) {
+		/* Mark RX node to release and release */
+		ctx->node_ref.rx->hdr.type = NODE_RX_TYPE_RELEASE;
+		ll_rx_put_sched(ctx->node_ref.rx->hdr.link, ctx->node_ref.rx);
+	}
 }
 
 void llcp_nodes_release(struct ll_conn *conn, struct proc_ctx *ctx)
@@ -296,12 +311,14 @@ void llcp_nodes_release(struct ll_conn *conn, struct proc_ctx *ctx)
 	if (ctx->node_ref.rx && ctx->node_ref.rx->hdr.type == NODE_RX_TYPE_RETAIN) {
 		/* RX node retained, so release */
 		ctx->node_ref.rx->hdr.link->mem = conn->llcp.rx_node_release;
+		ctx->node_ref.rx->hdr.type = NODE_RX_TYPE_RELEASE;
 		conn->llcp.rx_node_release = ctx->node_ref.rx;
 	}
 #if defined(CONFIG_BT_CTLR_PHY) && defined(CONFIG_BT_CTLR_DATA_LENGTH)
 	if (ctx->proc == PROC_PHY_UPDATE && ctx->data.pu.ntf_dle_node) {
 		/* RX node retained, so release */
 		ctx->data.pu.ntf_dle_node->hdr.link->mem = conn->llcp.rx_node_release;
+		ctx->data.pu.ntf_dle_node->hdr.type = NODE_RX_TYPE_RELEASE;
 		conn->llcp.rx_node_release = ctx->data.pu.ntf_dle_node;
 	}
 #endif
@@ -706,9 +723,6 @@ void ull_cp_release_nodes(struct ll_conn *conn)
 		hdr = &rx->hdr;
 		rx = hdr->link->mem;
 
-		/* Mark for buffer for release */
-		hdr->type = NODE_RX_TYPE_RELEASE;
-
 		/* enqueue rx node towards Thread */
 		ll_rx_put(hdr->link, hdr);
 	}

subsys/bluetooth/controller/ll_sw/ull_llcp_common.c

@@ -1135,6 +1135,7 @@ static void rp_comm_ntf(struct ll_conn *conn, struct proc_ctx *ctx, uint8_t gene
 
 	/* Allocate ntf node */
 	ntf = ctx->node_ref.rx;
+	ctx->node_ref.rx = NULL;
 	LL_ASSERT(ntf);
 
 	/* This should be an 'old' RX node, so put/sched when done */

subsys/bluetooth/controller/ll_sw/ull_llcp_conn_upd.c

@@ -196,6 +196,22 @@ static bool cu_check_conn_parameters(struct ll_conn *conn, struct proc_ctx *ctx)
 }
 #endif /* CONFIG_BT_CTLR_CONN_PARAM_REQ */
 
+static bool cu_check_conn_ind_parameters(struct ll_conn *conn, struct proc_ctx *ctx)
+{
+	const uint16_t interval_max = ctx->data.cu.interval_max; /* unit 1.25ms */
+	const uint16_t timeout = ctx->data.cu.timeout; /* unit 10ms */
+	const uint16_t latency = ctx->data.cu.latency;
+
+	/* Valid conn_update_ind parameters */
+	return (interval_max >= CONN_INTERVAL_MIN(conn)) &&
+	       (interval_max <= CONN_UPDATE_CONN_INTV_4SEC) &&
+	       (latency <= CONN_UPDATE_LATENCY_MAX) &&
+	       (timeout >= CONN_UPDATE_TIMEOUT_100MS) &&
+	       (timeout <= CONN_UPDATE_TIMEOUT_32SEC) &&
+	       ((timeout * 4U) > /* *4U re. conn events is equivalent to *2U re. ms */
+		((latency + 1U) * interval_max));
+}
+
 static void cu_prepare_update_ind(struct ll_conn *conn, struct proc_ctx *ctx)
 {
 	ctx->data.cu.win_size = 1U;
@@ -585,8 +601,20 @@ static void lp_cu_st_wait_rx_conn_update_ind(struct ll_conn *conn, struct proc_c
 	switch (evt) {
 	case LP_CU_EVT_CONN_UPDATE_IND:
 		llcp_pdu_decode_conn_update_ind(ctx, param);
+
+		/* Invalid PDU, mark the connection for termination */
+		if (!cu_check_conn_ind_parameters(conn, ctx)) {
+			llcp_rr_set_incompat(conn, INCOMPAT_NO_COLLISION);
+			conn->llcp_terminate.reason_final = BT_HCI_ERR_INVALID_LL_PARAM;
+			lp_cu_complete(conn, ctx);
+			break;
+		}
+
+		llcp_rr_set_incompat(conn, INCOMPAT_RESERVED);
+
 		/* Keep RX node to use for NTF */
 		llcp_rx_node_retain(ctx);
+
 		ctx->state = LP_CU_STATE_WAIT_INSTANT;
 		break;
 	case LP_CU_EVT_UNKNOWN:
@@ -633,8 +661,7 @@ static void lp_cu_check_instant(struct ll_conn *conn, struct proc_ctx *ctx, uint
 			lp_cu_ntf_complete(conn, ctx, evt, param);
 		} else {
 			/* Release RX node kept for NTF */
-			ctx->node_ref.rx->hdr.type = NODE_RX_TYPE_RELEASE;
-			ll_rx_put_sched(ctx->node_ref.rx->hdr.link, ctx->node_ref.rx);
+			llcp_rx_node_release(ctx);
 			ctx->node_ref.rx = NULL;
 
 			lp_cu_complete(conn, ctx);
@@ -973,11 +1000,18 @@ static void rp_cu_st_wait_conn_param_req_available(struct ll_conn *conn, struct
 	case RP_CU_EVT_RUN:
 		if (cpr_active_is_set(conn)) {
 			ctx->state = RP_CU_STATE_WAIT_CONN_PARAM_REQ_AVAILABLE;
+
 			if (!llcp_rr_ispaused(conn) && llcp_tx_alloc_peek(conn, ctx)) {
 				/* We're good to reject immediately */
 				ctx->data.cu.rejected_opcode = PDU_DATA_LLCTRL_TYPE_CONN_PARAM_REQ;
 				ctx->data.cu.error = BT_HCI_ERR_UNSUPP_LL_PARAM_VAL;
 				rp_cu_send_reject_ext_ind(conn, ctx, evt, param);
+
+				/* Possibly retained rx node to be released as we won't need it */
+				llcp_rx_node_release(ctx);
+				ctx->node_ref.rx = NULL;
+
+				break;
 			}
 			/* In case we have to defer NTF */
 			llcp_rx_node_retain(ctx);
@@ -992,6 +1026,9 @@ static void rp_cu_st_wait_conn_param_req_available(struct ll_conn *conn, struct
 				rp_cu_conn_param_req_ntf(conn, ctx);
 				ctx->state = RP_CU_STATE_WAIT_CONN_PARAM_REQ_REPLY;
 			} else {
+				/* Possibly retained rx node to be released as we won't need it */
+				llcp_rx_node_release(ctx);
+				ctx->node_ref.rx = NULL;
 #if defined(CONFIG_BT_CTLR_USER_CPR_ANCHOR_POINT_MOVE)
 				/* Handle APM as a vendor specific user extension */
 				if (conn->lll.role == BT_HCI_ROLE_PERIPHERAL &&
@@ -1177,8 +1214,7 @@ static void rp_cu_check_instant(struct ll_conn *conn, struct proc_ctx *ctx, uint
 			cu_ntf(conn, ctx);
 		} else {
 			/* Release RX node kept for NTF */
-			ctx->node_ref.rx->hdr.type = NODE_RX_TYPE_RELEASE;
-			ll_rx_put_sched(ctx->node_ref.rx->hdr.link, ctx->node_ref.rx);
+			llcp_rx_node_release(ctx);
 			ctx->node_ref.rx = NULL;
 		}
 		rp_cu_complete(conn, ctx);
@@ -1198,19 +1234,27 @@ static void rp_cu_st_wait_rx_conn_update_ind(struct ll_conn *conn, struct proc_c
 		case BT_HCI_ROLE_PERIPHERAL:
 			llcp_pdu_decode_conn_update_ind(ctx, param);
 
-			if (is_instant_not_passed(ctx->data.cu.instant,
-						  ull_conn_event_counter(conn))) {
+			/* Valid PDU */
+			if (cu_check_conn_ind_parameters(conn, ctx)) {
+				if (is_instant_not_passed(ctx->data.cu.instant,
+							  ull_conn_event_counter(conn))) {
+					/* Keep RX node to use for NTF */
+					llcp_rx_node_retain(ctx);
 
-				llcp_rx_node_retain(ctx);
+					ctx->state = RP_CU_STATE_WAIT_INSTANT;
+
+					/* In case we only just received it in time */
+					rp_cu_check_instant(conn, ctx, evt, param);
+					break;
+				}
 
-				ctx->state = RP_CU_STATE_WAIT_INSTANT;
-				/* In case we only just received it in time */
-				rp_cu_check_instant(conn, ctx, evt, param);
-			} else {
 				conn->llcp_terminate.reason_final = BT_HCI_ERR_INSTANT_PASSED;
-				llcp_rr_complete(conn);
-				ctx->state = RP_CU_STATE_IDLE;
+			} else {
+				conn->llcp_terminate.reason_final = BT_HCI_ERR_INVALID_LL_PARAM;
 			}
+
+			llcp_rr_complete(conn);
+			ctx->state = RP_CU_STATE_IDLE;
 			break;
 		default:
 			/* Unknown role */

subsys/bluetooth/controller/ll_sw/ull_llcp_enc.c

@@ -225,6 +225,7 @@ static void lp_enc_ntf(struct ll_conn *conn, struct proc_ctx *ctx)
 
 	/* Piggy-back on RX node */
 	ntf = ctx->node_ref.rx;
+	ctx->node_ref.rx = NULL;
 	LL_ASSERT(ntf);
 
 	ntf->hdr.type = NODE_RX_TYPE_DC_PDU;
@@ -381,19 +382,29 @@ static void lp_enc_store_s(struct ll_conn *conn, struct proc_ctx *ctx, struct pd
 
 static inline uint8_t reject_error_code(struct pdu_data *pdu)
 {
+	uint8_t error;
+
 	if (pdu->llctrl.opcode == PDU_DATA_LLCTRL_TYPE_REJECT_IND) {
-		return pdu->llctrl.reject_ind.error_code;
+		error = pdu->llctrl.reject_ind.error_code;
 #if defined(CONFIG_BT_CTLR_EXT_REJ_IND)
 	} else if (pdu->llctrl.opcode == PDU_DATA_LLCTRL_TYPE_REJECT_EXT_IND) {
-		return pdu->llctrl.reject_ext_ind.error_code;
+		error = pdu->llctrl.reject_ext_ind.error_code;
 #endif /* CONFIG_BT_CTLR_EXT_REJ_IND */
 	} else {
 		/* Called with an invalid PDU */
 		LL_ASSERT(0);
 
 		/* Keep compiler happy */
-		return BT_HCI_ERR_UNSPECIFIED;
+		error = BT_HCI_ERR_UNSPECIFIED;
 	}
+
+	/* Check expected error code from the peer */
+	if (error != BT_HCI_ERR_PIN_OR_KEY_MISSING &&
+	    error != BT_HCI_ERR_UNSUPP_REMOTE_FEATURE) {
+		error = BT_HCI_ERR_UNSPECIFIED;
+	}
+
+	return error;
 }
 
 static void lp_enc_st_wait_rx_enc_rsp(struct ll_conn *conn, struct proc_ctx *ctx, uint8_t evt,

subsys/bluetooth/controller/ll_sw/ull_llcp_internal.h

@@ -413,6 +413,7 @@ void llcp_ntf_set_pending(struct ll_conn *conn);
 void llcp_ntf_clear_pending(struct ll_conn *conn);
 bool llcp_ntf_pending(struct ll_conn *conn);
 void llcp_rx_node_retain(struct proc_ctx *ctx);
+void llcp_rx_node_release(struct proc_ctx *ctx);
 
 /*
  * ULL -> LLL Interface

subsys/bluetooth/controller/ll_sw/ull_llcp_local.c

@@ -81,6 +81,12 @@ void llcp_lr_check_done(struct ll_conn *conn, struct proc_ctx *ctx)
 		ctx_header = llcp_lr_peek(conn);
 		LL_ASSERT(ctx_header == ctx);
 
+		/* If we have a node rx it must not be marked RETAIN as
+		 * the memory referenced would leak
+		 */
+		LL_ASSERT(ctx->node_ref.rx == NULL ||
+			  ctx->node_ref.rx->hdr.type != NODE_RX_TYPE_RETAIN);
+
 		lr_dequeue(conn);
 
 		llcp_proc_ctx_release(ctx);
@@ -312,6 +318,11 @@ void llcp_lr_rx(struct ll_conn *conn, struct proc_ctx *ctx, memq_link_t *link,
 		break;
 	}
 
+	/* If rx node was not retained clear reference */
+	if (ctx->node_ref.rx && ctx->node_ref.rx->hdr.type != NODE_RX_TYPE_RETAIN) {
+		ctx->node_ref.rx = NULL;
+	}
+
 	llcp_lr_check_done(conn, ctx);
 }
 

subsys/bluetooth/controller/ll_sw/ull_llcp_phy.c

@@ -433,6 +433,7 @@ static void pu_ntf(struct ll_conn *conn, struct proc_ctx *ctx)
 
 	/* Piggy-back on stored RX node */
 	ntf = ctx->node_ref.rx;
+	ctx->node_ref.rx = NULL;
 	LL_ASSERT(ntf);
 
 	if (ctx->data.pu.ntf_pu) {
@@ -449,15 +450,9 @@ static void pu_ntf(struct ll_conn *conn, struct proc_ctx *ctx)
 	}
 
 	/* Enqueue notification towards LL */
-#if defined(CONFIG_BT_CTLR_DATA_LENGTH)
-	/* only 'put' as the 'sched' is handled when handling DLE ntf */
-	ll_rx_put(ntf->hdr.link, ntf);
-#else
 	ll_rx_put_sched(ntf->hdr.link, ntf);
-#endif /* CONFIG_BT_CTLR_DATA_LENGTH */
 
 	ctx->data.pu.ntf_pu = 0;
-	ctx->node_ref.rx = NULL;
 }
 
 #if defined(CONFIG_BT_CTLR_DATA_LENGTH)