Fix incremental builds

CMakeLists.txt

@@ -96,7 +96,6 @@ set(OFFSETS_H_TARGET           offsets_h)
 set(SYSCALL_LIST_H_TARGET      syscall_list_h_target)
 set(DRIVER_VALIDATION_H_TARGET driver_validation_h_target)
 set(KOBJ_TYPES_H_TARGET        kobj_types_h_target)
-set(PARSE_SYSCALLS_TARGET      parse_syscalls_target)
 set(DEVICE_API_LD_TARGET       device_api_ld_target)
 
 define_property(GLOBAL PROPERTY PROPERTY_OUTPUT_FORMAT BRIEF_DOCS " " FULL_DOCS " ")
@@ -344,6 +343,18 @@ if (CONFIG_PICOLIBC AND NOT CONFIG_PICOLIBC_IO_FLOAT)
   zephyr_compile_options($<$<COMPILE_LANGUAGE:C>:$<TARGET_PROPERTY:compiler,no_printf_return_value>>)
 endif()
 
+if(CONFIG_UBSAN)
+  zephyr_compile_options($<$<COMPILE_LANGUAGE:C>:$<TARGET_PROPERTY:compiler,sanitizer_undefined>>)
+  zephyr_link_libraries($<TARGET_PROPERTY:linker,sanitizer_undefined>)
+  if(CONFIG_UBSAN_LIBRARY)
+    zephyr_compile_options($<$<COMPILE_LANGUAGE:C>:$<TARGET_PROPERTY:compiler,sanitizer_undefined_library>>)
+    zephyr_link_libraries($<TARGET_PROPERTY:linker,sanitizer_undefined_library>)
+  elseif(CONFIG_UBSAN_TRAP)
+    zephyr_compile_options($<$<COMPILE_LANGUAGE:C>:$<TARGET_PROPERTY:compiler,sanitizer_undefined_trap>>)
+    zephyr_link_libraries($<TARGET_PROPERTY:linker,sanitizer_undefined_trap>)
+  endif()
+endif()
+
 # @Intent: Set compiler specific flag for tentative definitions, no-common
 zephyr_compile_options($<TARGET_PROPERTY:compiler,no_common>)
 
@@ -822,7 +833,7 @@ add_custom_command(
   --file-list        ${syscalls_file_list_output}
   $<$<BOOL:${CONFIG_EMIT_ALL_SYSCALLS}>:--emit-all-syscalls>
   DEPENDS ${syscalls_subdirs_trigger} ${PARSE_SYSCALLS_HEADER_DEPENDS}
-          ${syscalls_file_list_output} ${syscalls_interface}
+          ${syscalls_file_list_output} syscalls_interface
   )
 
 # Make sure Picolibc is built before the rest of the system; there's no explicit
@@ -840,12 +851,6 @@ set_property(TARGET ${SYSCALL_LIST_H_TARGET}
              ${CMAKE_CURRENT_BINARY_DIR}/include/generated/zephyr/syscalls
 )
 
-add_custom_target(${PARSE_SYSCALLS_TARGET}
-  DEPENDS
-  ${syscalls_json}
-  ${struct_tags_json}
-  )
-
 # 64-bit systems do not require special handling of 64-bit system call
 # parameters or return values, indicate this to the system call boilerplate
 # generation script.
@@ -888,30 +893,24 @@ add_custom_command(
   COMMAND
   ${LEGACY_SYSCALL_LIST_H_ARGS}
   WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-  DEPENDS ${PARSE_SYSCALLS_TARGET}
+  DEPENDS ${syscalls_json}
   )
 
-# This is passed into all calls to the gen_kobject_list.py script.
-set(gen_kobject_list_include_args --include-subsystem-list ${struct_tags_json})
+include(${ZEPHYR_BASE}/cmake/kobj.cmake)
 
 set(DRV_VALIDATION ${PROJECT_BINARY_DIR}/include/generated/zephyr/driver-validation.h)
-add_custom_command(
-  OUTPUT ${DRV_VALIDATION}
-  COMMAND
-  ${PYTHON_EXECUTABLE}
-  ${ZEPHYR_BASE}/scripts/build/gen_kobject_list.py
-  --validation-output ${DRV_VALIDATION}
-  ${gen_kobject_list_include_args}
-  $<$<BOOL:${CMAKE_VERBOSE_MAKEFILE}>:--verbose>
-  DEPENDS
-  ${ZEPHYR_BASE}/scripts/build/gen_kobject_list.py
-  ${PARSE_SYSCALLS_TARGET}
-  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+gen_kobject_list(
+  TARGET ${DRIVER_VALIDATION_H_TARGET}
+  OUTPUTS ${DRV_VALIDATION}
+  SCRIPT_ARGS --validation-output ${DRV_VALIDATION}
+  INCLUDES ${struct_tags_json}
+  DEPENDS ${struct_tags_json}
   )
-add_custom_target(${DRIVER_VALIDATION_H_TARGET} DEPENDS ${DRV_VALIDATION})
 
-include(${ZEPHYR_BASE}/cmake/kobj.cmake)
-gen_kobj(KOBJ_INCLUDE_PATH)
+gen_kobject_list_headers(
+  INCLUDES ${struct_tags_json}
+  DEPENDS ${struct_tags_json}
+  )
 
 # Generate sections for kernel device subsystems
 set(
@@ -1110,7 +1109,6 @@ if(CONFIG_USERSPACE)
          NO_COVERAGE_FLAGS "${compiler_flags_priv}"
   )
 
-  set(GEN_KOBJ_LIST ${ZEPHYR_BASE}/scripts/build/gen_kobject_list.py)
   set(PROCESS_GPERF ${ZEPHYR_BASE}/scripts/build/process_gperf.py)
 endif()
 
@@ -1264,23 +1262,13 @@ if(CONFIG_USERSPACE)
   set(KOBJECT_PREBUILT_HASH_OUTPUT_SRC_PRE kobject_prebuilt_hash_preprocessed.c)
   set(KOBJECT_PREBUILT_HASH_OUTPUT_SRC     kobject_prebuilt_hash.c)
 
-  add_custom_command(
+  gen_kobject_list_gperf(
+    TARGET kobj_prebuilt_hash_list
     OUTPUT ${KOBJECT_PREBUILT_HASH_LIST}
-    COMMAND
-    ${PYTHON_EXECUTABLE}
-    ${GEN_KOBJ_LIST}
-    --kernel $<TARGET_FILE:${ZEPHYR_LINK_STAGE_EXECUTABLE}>
-    --gperf-output ${KOBJECT_PREBUILT_HASH_LIST}
-    ${gen_kobject_list_include_args}
-    $<$<BOOL:${CMAKE_VERBOSE_MAKEFILE}>:--verbose>
-    DEPENDS
-    ${ZEPHYR_LINK_STAGE_EXECUTABLE}
-    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+    KERNEL_TARGET ${ZEPHYR_LINK_STAGE_EXECUTABLE}
+    INCLUDES ${struct_tags_json}
+    DEPENDS ${struct_tags_json}
     )
-  add_custom_target(
-    kobj_prebuilt_hash_list
-    DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/${KOBJECT_PREBUILT_HASH_LIST}
-  )
 
   add_custom_command(
     OUTPUT ${KOBJECT_PREBUILT_HASH_OUTPUT_SRC_PRE}
@@ -1471,23 +1459,13 @@ if(CONFIG_USERSPACE)
   # Use the script GEN_KOBJ_LIST to scan the kernel binary's
   # (${ZEPHYR_LINK_STAGE_EXECUTABLE}) DWARF information to produce a table of kernel
   # objects (KOBJECT_HASH_LIST) which we will then pass to gperf
-  add_custom_command(
+  gen_kobject_list_gperf(
+    TARGET kobj_hash_list
     OUTPUT ${KOBJECT_HASH_LIST}
-    COMMAND
-    ${PYTHON_EXECUTABLE}
-    ${GEN_KOBJ_LIST}
-    --kernel $<TARGET_FILE:${ZEPHYR_LINK_STAGE_EXECUTABLE}>
-    --gperf-output ${KOBJECT_HASH_LIST}
-    ${gen_kobject_list_include_args}
-    $<$<BOOL:${CMAKE_VERBOSE_MAKEFILE}>:--verbose>
-    DEPENDS
-    ${ZEPHYR_LINK_STAGE_EXECUTABLE}
-    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+    KERNEL_TARGET ${ZEPHYR_LINK_STAGE_EXECUTABLE}
+    INCLUDES ${struct_tags_json}
+    DEPENDS ${struct_tags_json}
     )
-  add_custom_target(
-    kobj_hash_list
-    DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/${KOBJECT_HASH_LIST}
-  )
 
   # Use gperf to generate C code (KOBJECT_HASH_OUTPUT_SRC_PRE) which implements a
   # perfect hashtable based on KOBJECT_HASH_LIST
@@ -1750,13 +1728,8 @@ if(CONFIG_BUILD_OUTPUT_ADJUST_LMA)
     )
 endif()
 
-if(NOT CONFIG_CPP_EXCEPTIONS)
-  set(eh_frame_section ".eh_frame")
-else()
-  set(eh_frame_section "")
-endif()
 set(remove_sections_argument_list "")
-foreach(section .comment COMMON ${eh_frame_section})
+foreach(section .comment COMMON)
   list(APPEND remove_sections_argument_list
     $<TARGET_PROPERTY:bintools,elfconvert_flag_section_remove>${section})
 endforeach()
@@ -1837,6 +1810,28 @@ if(CONFIG_BUILD_OUTPUT_BIN AND CONFIG_BUILD_OUTPUT_UF2)
   set(BYPRODUCT_KERNEL_UF2_NAME "${PROJECT_BINARY_DIR}/${KERNEL_UF2_NAME}" CACHE FILEPATH "Kernel uf2 file" FORCE)
 endif()
 
+if(CONFIG_BUILD_OUTPUT_MOT)
+  get_property(elfconvert_formats TARGET bintools PROPERTY elfconvert_formats)
+  if(srec IN_LIST elfconvert_formats)
+    list(APPEND
+      post_build_commands
+      COMMAND $<TARGET_PROPERTY:bintools,elfconvert_command>
+              $<TARGET_PROPERTY:bintools,elfconvert_flag>
+              ${GAP_FILL}
+              $<TARGET_PROPERTY:bintools,elfconvert_flag_outtarget>srec
+              $<TARGET_PROPERTY:bintools,elfconvert_flag_intarget>${OUTPUT_FORMAT}
+              $<TARGET_PROPERTY:bintools,elfconvert_flag_infile>${KERNEL_ELF_NAME}
+              $<TARGET_PROPERTY:bintools,elfconvert_flag_outfile>${KERNEL_MOT_NAME}
+              $<TARGET_PROPERTY:bintools,elfconvert_flag_final>
+      )
+    list(APPEND
+      post_build_byproducts
+      ${KERNEL_MOT_NAME}
+      )
+    set(BYPRODUCT_KERNEL_MOT_NAME "${PROJECT_BINARY_DIR}/${KERNEL_MOT_NAME}" CACHE FILEPATH "Kernel mot file" FORCE)
+  endif()
+endif()
+
 set(KERNEL_META_PATH  ${PROJECT_BINARY_DIR}/${KERNEL_META_NAME} CACHE INTERNAL "")
 if(CONFIG_BUILD_OUTPUT_META)
   list(APPEND
@@ -2302,7 +2297,7 @@ if(CONFIG_LLEXT_EDK)
       ${SYSCALL_SPLIT_TIMEOUT_ARG}
     COMMAND ${CMAKE_COMMAND}
         -P ${ZEPHYR_BASE}/cmake/llext-edk.cmake
-    DEPENDS ${logical_target_for_zephyr_elf} build_info_yaml_saved
+    DEPENDS ${logical_target_for_zephyr_elf} ${syscalls_json} build_info_yaml_saved
     COMMAND_EXPAND_LISTS
   )
   add_custom_target(llext-edk DEPENDS ${llext_edk_file})

Kconfig.zephyr

@@ -785,6 +785,12 @@ config BUILD_OUTPUT_UF2
 	  Build a UF2 binary zephyr/zephyr.uf2 in the build directory.
 	  The name of this file can be customized with CONFIG_KERNEL_BIN_NAME.
 
+config BUILD_OUTPUT_MOT
+	bool "Build a binary in MOT format"
+	help
+	  Build a MOT binary zephyr/zephyr.mot in the build directory.
+	  The name of this file can be customized with CONFIG_KERNEL_BIN_NAME.
+
 if BUILD_OUTPUT_UF2
 
 config BUILD_OUTPUT_UF2_FAMILY_ID

arch/Kconfig

@@ -328,6 +328,7 @@ config PRIVILEGED_STACK_SIZE
 
 config KOBJECT_TEXT_AREA
 	int "Size of kobject text area"
+	default 1024 if UBSAN
 	default 512 if COVERAGE_GCOV
 	default 512 if NO_OPTIMIZATIONS
 	default 512 if STACK_CANARIES && RISCV

arch/arm64/core/Kconfig

@@ -126,6 +126,7 @@ config PRIVILEGED_STACK_SIZE
 	default 4096
 
 config KOBJECT_TEXT_AREA
+	default 1024 if UBSAN
 	default 512 if TEST
 
 config WAIT_AT_RESET_VECTOR

cmake/bintools/gnu/target_bintools.cmake

@@ -27,8 +27,8 @@
 set_property(TARGET bintools PROPERTY elfconvert_command ${CMAKE_OBJCOPY})
 
 # List of format the tool supports for converting, for example,
-# GNU tools uses objectcopy, which supports the following: ihex, srec, binary
-set_property(TARGET bintools PROPERTY elfconvert_formats ihex srec binary)
+# GNU tools uses objectcopy, which supports the following: ihex, srec, binary, mot
+set_property(TARGET bintools PROPERTY elfconvert_formats ihex srec binary mot)
 
 set_property(TARGET bintools PROPERTY elfconvert_flag "")
 set_property(TARGET bintools PROPERTY elfconvert_flag_final "")

cmake/compiler/gcc/compiler_flags.cmake

@@ -197,6 +197,10 @@ if(NOT CONFIG_NO_OPTIMIZATIONS)
   set_compiler_property(PROPERTY security_fortify_run_time _FORTIFY_SOURCE=2)
 endif()
 
+check_set_compiler_property(PROPERTY sanitizer_undefined -fsanitize=undefined)
+check_set_compiler_property(PROPERTY sanitizer_undefined_trap -fsanitize-undefined-trap-on-error)
+check_set_compiler_property(PROPERTY sanitizer_undefined_library)
+
 # gcc flag for a hosted (no-freestanding) application
 check_set_compiler_property(APPEND PROPERTY hosted -fno-freestanding)
 

cmake/flash/CMakeLists.txt

@@ -60,6 +60,10 @@ function(runners_yaml_append_config)
     get_runners_prop(uf2_file uf2 "${KERNEL_UF2_NAME}")
     runners_yaml_append("  uf2_file: ${uf2}")
   endif()
+  if(CONFIG_BUILD_OUTPUT_MOT)
+    get_runners_prop(mot_file mot "${KERNEL_MOT_NAME}")
+    runners_yaml_append("  mot_file: ${mot}")
+  endif()
 
   zephyr_get(OPENOCD)
   zephyr_get(OPENOCD_DEFAULT_PATH)

cmake/kobj.cmake

@@ -1,6 +1,62 @@
 # SPDX-License-Identifier: Apache-2.0
 
-function(gen_kobj gen_dir_out)
+set(GEN_KOBJECT_LIST ${ZEPHYR_BASE}/scripts/build/gen_kobject_list.py)
+
+# Invokes gen_kobject_list.py with the given SCRIPT_ARGS, creating a TARGET that depends on the
+# script's OUTPUTS
+function(gen_kobject_list)
+  cmake_parse_arguments(PARSE_ARGV 0 arg
+    ""
+    "TARGET"
+    "OUTPUTS;SCRIPT_ARGS;INCLUDES;DEPENDS"
+  )
+  foreach(include ${arg_INCLUDES})
+    list(APPEND arg_SCRIPT_ARGS --include-subsystem-list ${include})
+  endforeach()
+  add_custom_command(
+    OUTPUT ${arg_OUTPUTS}
+    COMMAND
+      ${PYTHON_EXECUTABLE}
+      ${GEN_KOBJECT_LIST}
+      ${arg_SCRIPT_ARGS}
+      $<$<BOOL:${CMAKE_VERBOSE_MAKEFILE}>:--verbose>
+    DEPENDS
+      ${arg_DEPENDS}
+      ${GEN_KOBJECT_LIST}
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+    )
+  add_custom_target(${arg_TARGET} DEPENDS ${arg_OUTPUTS})
+endfunction()
+
+# Generates a gperf header file named OUTPUT using the symbols found in the KERNEL_TARGET's output
+# binary. INCLUDES is a list of JSON files defining kernel subsystems and sockets.
+function(gen_kobject_list_gperf)
+  cmake_parse_arguments(PARSE_ARGV 0 arg
+    ""
+    "TARGET;OUTPUT;KERNEL_TARGET"
+    "INCLUDES;DEPENDS"
+  )
+  gen_kobject_list(
+    TARGET ${arg_TARGET}
+    OUTPUTS ${arg_OUTPUT}
+    SCRIPT_ARGS
+      --kernel $<TARGET_FILE:${arg_KERNEL_TARGET}>
+      --gperf-output ${arg_OUTPUT}
+    INCLUDES ${arg_INCLUDES}
+    DEPENDS
+      ${arg_DEPENDS}
+      ${arg_KERNEL_TARGET}
+    )
+endfunction()
+
+# Generates header files describing the kernel subsystems defined by the JSON files in INCLUDES. The
+# variable named by GEN_DIR_OUT_VAR is set to the directory containing the header files.
+function(gen_kobject_list_headers)
+  cmake_parse_arguments(PARSE_ARGV 0 arg
+    ""
+    "GEN_DIR_OUT_VAR"
+    "INCLUDES;DEPENDS"
+  )
   if (PROJECT_BINARY_DIR)
     set(gen_dir ${PROJECT_BINARY_DIR}/include/generated/zephyr)
   else ()
@@ -13,24 +69,21 @@ function(gen_kobj gen_dir_out)
 
   file(MAKE_DIRECTORY ${gen_dir})
 
-  add_custom_command(
-    OUTPUT ${KOBJ_TYPES} ${KOBJ_OTYPE} ${KOBJ_SIZE}
-    COMMAND
-    ${PYTHON_EXECUTABLE}
-    ${ZEPHYR_BASE}/scripts/build/gen_kobject_list.py
-    --kobj-types-output ${KOBJ_TYPES}
-    --kobj-otype-output ${KOBJ_OTYPE}
-    --kobj-size-output ${KOBJ_SIZE}
-    ${gen_kobject_list_include_args}
-    $<$<BOOL:${CMAKE_VERBOSE_MAKEFILE}>:--verbose>
+  gen_kobject_list(
+    TARGET ${KOBJ_TYPES_H_TARGET}
+    OUTPUTS ${KOBJ_TYPES} ${KOBJ_OTYPE} ${KOBJ_SIZE}
+    SCRIPT_ARGS
+      --kobj-types-output ${KOBJ_TYPES}
+      --kobj-otype-output ${KOBJ_OTYPE}
+      --kobj-size-output ${KOBJ_SIZE}
+    INCLUDES ${arg_INCLUDES}
     DEPENDS
-    ${ZEPHYR_BASE}/scripts/build/gen_kobject_list.py
-    ${PARSE_SYSCALLS_TARGET}
-    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-    )
-  add_custom_target(${KOBJ_TYPES_H_TARGET} DEPENDS ${KOBJ_TYPES} ${KOBJ_OTYPE})
-
-  cmake_path(GET gen_dir PARENT_PATH gen_dir)
-  set(${gen_dir_out} ${gen_dir} PARENT_SCOPE)
+      ${arg_DEPENDS}
+      ${arg_KERNEL_TARGET}
+  )
 
+  if(arg_GEN_DIR_OUT_VAR)
+    cmake_path(GET gen_dir PARENT_PATH gen_dir)
+    set(${arg_GEN_DIR_OUT_VAR} ${gen_dir} PARENT_SCOPE)
+  endif()
 endfunction ()

cmake/linker/ld/linker_flags.cmake

@@ -24,6 +24,10 @@ check_set_linker_property(TARGET linker PROPERTY orphan_error
 
 check_set_linker_property(TARGET linker PROPERTY memusage "${LINKERFLAGPREFIX},--print-memory-usage")
 
+check_set_linker_property(TARGET linker PROPERTY sanitizer_undefined -fsanitize=undefined)
+check_set_linker_property(TARGET linker PROPERTY sanitizer_undefined_trap -fsanitize-undefined-trap-on-error)
+check_set_linker_property(TARGET linker PROPERTY sanitizer_undefined_library)
+
 # -no-pie is not supported until binutils 2.37.
 # If -no-pie is passed to old binutils <= 2.36, it is parsed
 # as separate arguments -n and -o, which results in output file