Merge branch 'kcsan-for-tip' of...

The Kernel Concurrency Sanitizer (KCSAN)

========================================

Overview

--------

*Kernel Concurrency Sanitizer (KCSAN)* is a dynamic data race detector for

kernel space. KCSAN is a sampling watchpoint-based data race detector. Key

priorities in KCSAN's design are lack of false positives, scalability, and

simplicity. More details can be found in `Implementation Details`_.

KCSAN uses compile-time instrumentation to instrument memory accesses. KCSAN is

supported in both GCC and Clang. With GCC it requires version 7.3.0 or later.

With Clang it requires version 7.0.0 or later.

The Kernel Concurrency Sanitizer (KCSAN) is a dynamic race detector, which

relies on compile-time instrumentation, and uses a watchpoint-based sampling

approach to detect races. KCSAN's primary purpose is to detect `data races`_.

Usage

-----

To enable KCSAN configure kernel with::

KCSAN is supported in both GCC and Clang. With GCC it requires version 7.3.0 or

later. With Clang it requires version 7.0.0 or later.

To enable KCSAN configure the kernel with::

    CONFIG_KCSAN = y

KCSAN provides several other configuration options to customize behaviour (see

their respective help text for more info).

the respective help text in ``lib/Kconfig.kcsan`` for more info).

Error reports

~~~~~~~~~~~~~

This report is generated where it was not possible to determine the other

racing thread, but a race was inferred due to the data value of the watched

memory location having changed. These can occur either due to missing

instrumentation or e.g. DMA accesses.

instrumentation or e.g. DMA accesses. These reports will only be generated if

``CONFIG_KCSAN_REPORT_RACE_UNKNOWN_ORIGIN=y`` (selected by default).

Selective analysis

~~~~~~~~~~~~~~~~~~

  behaviour when encountering a data race is deemed safe.

* Disabling data race detection for entire functions can be accomplished by

  using the function attribute ``__no_kcsan`` (or ``__no_kcsan_or_inline`` for

  ``__always_inline`` functions). To dynamically control for which functions

  data races are reported, see the `debugfs`_ blacklist/whitelist feature.

  using the function attribute ``__no_kcsan``::

    __no_kcsan

    void foo(void) {

        ...

  To dynamically limit for which functions to generate reports, see the

  `DebugFS interface`_ blacklist/whitelist feature.

  For ``__always_inline`` functions, replace ``__always_inline`` with

  ``__no_kcsan_or_inline`` (which implies ``__always_inline``)::

    static __no_kcsan_or_inline void foo(void) {

        ...

  Note: Older compiler versions (GCC < 9) also do not always honor the

  ``__no_kcsan`` attribute on regular ``inline`` functions. If false positives

  with these compilers cannot be tolerated, for small functions where

  ``__always_inline`` would be appropriate, ``__no_kcsan_or_inline`` should be

  preferred instead.

* To disable data race detection for a particular compilation unit, add to the

  ``Makefile``::

    KCSAN_SANITIZE := n

debugfs

~~~~~~~

Furthermore, it is possible to tell KCSAN to show or hide entire classes of

data races, depending on preferences. These can be changed via the following

Kconfig options:

* ``CONFIG_KCSAN_REPORT_VALUE_CHANGE_ONLY``: If enabled and a conflicting write

  is observed via a watchpoint, but the data value of the memory location was

  observed to remain unchanged, do not report the data race.

* ``CONFIG_KCSAN_ASSUME_PLAIN_WRITES_ATOMIC``: Assume that plain aligned writes

  up to word size are atomic by default. Assumes that such writes are not

  subject to unsafe compiler optimizations resulting in data races. The option

  causes KCSAN to not report data races due to conflicts where the only plain

  accesses are aligned writes up to word size.

DebugFS interface

~~~~~~~~~~~~~~~~~

* The file ``/sys/kernel/debug/kcsan`` can be read to get stats.

The file ``/sys/kernel/debug/kcsan`` provides the following interface:

* KCSAN can be turned on or off by writing ``on`` or ``off`` to

  ``/sys/kernel/debug/kcsan``.

* Reading ``/sys/kernel/debug/kcsan`` returns various runtime statistics.

* Writing ``on`` or ``off`` to ``/sys/kernel/debug/kcsan`` allows turning KCSAN

  on or off, respectively.

* Writing ``!some_func_name`` to ``/sys/kernel/debug/kcsan`` adds

  ``some_func_name`` to the report filter list, which (by default) blacklists

  can be used to silence frequently occurring data races; the whitelist feature

  can help with reproduction and testing of fixes.

Tuning performance

~~~~~~~~~~~~~~~~~~

Core parameters that affect KCSAN's overall performance and bug detection

ability are exposed as kernel command-line arguments whose defaults can also be

changed via the corresponding Kconfig options.

* ``kcsan.skip_watch`` (``CONFIG_KCSAN_SKIP_WATCH``): Number of per-CPU memory

  operations to skip, before another watchpoint is set up. Setting up

  watchpoints more frequently will result in the likelihood of races to be

  observed to increase. This parameter has the most significant impact on

  overall system performance and race detection ability.

* ``kcsan.udelay_task`` (``CONFIG_KCSAN_UDELAY_TASK``): For tasks, the

  microsecond delay to stall execution after a watchpoint has been set up.

  Larger values result in the window in which we may observe a race to

  increase.

* ``kcsan.udelay_interrupt`` (``CONFIG_KCSAN_UDELAY_INTERRUPT``): For

  interrupts, the microsecond delay to stall execution after a watchpoint has

  been set up. Interrupts have tighter latency requirements, and their delay

  should generally be smaller than the one chosen for tasks.

They may be tweaked at runtime via ``/sys/module/kcsan/parameters/``.

Data Races

----------

Informally, two operations *conflict* if they access the same memory location,

and at least one of them is a write operation. In an execution, two memory

operations from different threads form a **data race** if they *conflict*, at

least one of them is a *plain access* (non-atomic), and they are *unordered* in

the "happens-before" order according to the `LKMM

<../../tools/memory-model/Documentation/explanation.txt>`_.

In an execution, two memory accesses form a *data race* if they *conflict*,

they happen concurrently in different threads, and at least one of them is a

*plain access*; they *conflict* if both access the same memory location, and at

least one is a write. For a more thorough discussion and definition, see `"Plain

Accesses and Data Races" in the LKMM`_.

Relationship with the Linux Kernel Memory Model (LKMM)

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

.. _"Plain Accesses and Data Races" in the LKMM: https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/tools/memory-model/Documentation/explanation.txt#n1922

Relationship with the Linux-Kernel Memory Consistency Model (LKMM)

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The LKMM defines the propagation and ordering rules of various memory

operations, which gives developers the ability to reason about concurrent code.

Ultimately this allows to determine the possible executions of concurrent code,

and if that code is free from data races.

KCSAN is aware of *atomic* accesses (``READ_ONCE``, ``WRITE_ONCE``,

``atomic_*``, etc.), but is oblivious of any ordering guarantees. In other

words, KCSAN assumes that as long as a plain access is not observed to race

with another conflicting access, memory operations are correctly ordered.

KCSAN is aware of *marked atomic operations* (``READ_ONCE``, ``WRITE_ONCE``,

``atomic_*``, etc.), but is oblivious of any ordering guarantees and simply

assumes that memory barriers are placed correctly. In other words, KCSAN

assumes that as long as a plain access is not observed to race with another

conflicting access, memory operations are correctly ordered.

This means that KCSAN will not report *potential* data races due to missing

memory ordering. If, however, missing memory ordering (that is observable with

a particular compiler and architecture) leads to an observable data race (e.g.

entering a critical section erroneously), KCSAN would report the resulting

data race.

Race conditions vs. data races

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Race conditions are logic bugs, where unexpected interleaving of racing

concurrent operations result in an erroneous state.

Data races on the other hand are defined at the *memory model/language level*.

Many data races are also harmful race conditions, which a tool like KCSAN

reports!  However, not all data races are race conditions and vice-versa.

KCSAN's intent is to report data races according to the LKMM. A data race

detector can only work at the memory model/language level.

Deeper analysis, to find high-level race conditions only, requires conveying

the intended kernel logic to a tool. This requires (1) the developer writing a

specification or model of their code, and then (2) the tool verifying that the

implementation matches. This has been done for small bits of code using model

checkers and other formal methods, but does not scale to the level of what can

be covered with a dynamic analysis based data race detector such as KCSAN.

For reasons outlined in this `article <https://lwn.net/Articles/793253/>`_,

data races can be much more subtle, but can cause no less harm than high-level

race conditions.

memory ordering. Developers should therefore carefully consider the required

memory ordering requirements that remain unchecked. If, however, missing

memory ordering (that is observable with a particular compiler and

architecture) leads to an observable data race (e.g. entering a critical

section erroneously), KCSAN would report the resulting data race.

Race Detection Beyond Data Races

--------------------------------

For code with complex concurrency design, race-condition bugs may not always

manifest as data races. Race conditions occur if concurrently executing

operations result in unexpected system behaviour. On the other hand, data races

are defined at the C-language level. The following macros can be used to check

properties of concurrent code where bugs would not manifest as data races.

.. kernel-doc:: include/linux/kcsan-checks.h

    :functions: ASSERT_EXCLUSIVE_WRITER ASSERT_EXCLUSIVE_WRITER_SCOPED

                ASSERT_EXCLUSIVE_ACCESS ASSERT_EXCLUSIVE_ACCESS_SCOPED

                ASSERT_EXCLUSIVE_BITS

Implementation Details

----------------------

The general approach is inspired by `DataCollider

KCSAN relies on observing that two accesses happen concurrently. Crucially, we

want to (a) increase the chances of observing races (especially for races that

manifest rarely), and (b) be able to actually observe them. We can accomplish

(a) by injecting various delays, and (b) by using address watchpoints (or

breakpoints).

If we deliberately stall a memory access, while we have a watchpoint for its

address set up, and then observe the watchpoint to fire, two accesses to the

same address just raced. Using hardware watchpoints, this is the approach taken

in `DataCollider

<http://usenix.org/legacy/events/osdi10/tech/full_papers/Erickson.pdf>`_.

Unlike DataCollider, KCSAN does not use hardware watchpoints, but instead

relies on compiler instrumentation. Watchpoints are implemented using an

efficient encoding that stores access type, size, and address in a long; the

benefits of using "soft watchpoints" are portability and greater flexibility in

limiting which accesses trigger a watchpoint.

relies on compiler instrumentation and "soft watchpoints".

More specifically, KCSAN requires instrumenting plain (unmarked, non-atomic)

memory operations; for each instrumented plain access:

In KCSAN, watchpoints are implemented using an efficient encoding that stores

access type, size, and address in a long; the benefits of using "soft

watchpoints" are portability and greater flexibility. KCSAN then relies on the

compiler instrumenting plain accesses. For each instrumented plain access:

1. Check if a matching watchpoint exists; if yes, and at least one access is a

   write, then we encountered a racing access.

2. Periodically, if no matching watchpoint exists, set up a watchpoint and

   stall for a small delay.

   stall for a small randomized delay.

3. Also check the data value before the delay, and re-check the data value

   after delay; if the values mismatch, we infer a race of unknown origin.

To detect data races between plain and atomic memory operations, KCSAN also

annotates atomic accesses, but only to check if a watchpoint exists

(``kcsan_check_atomic_*``); i.e.  KCSAN never sets up a watchpoint on atomic

accesses.

To detect data races between plain and marked accesses, KCSAN also annotates

marked accesses, but only to check if a watchpoint exists; i.e. KCSAN never

sets up a watchpoint on marked accesses. By never setting up watchpoints for

marked operations, if all accesses to a variable that is accessed concurrently

are properly marked, KCSAN will never trigger a watchpoint and therefore never

report the accesses.

Key Properties

~~~~~~~~~~~~~~

1. **Memory Overhead:**  The current implementation uses a small array of longs

   to encode watchpoint information, which is negligible.

1. **Memory Overhead:**  The overall memory overhead is only a few MiB

   depending on configuration. The current implementation uses a small array of

   longs to encode watchpoint information, which is negligible.

2. **Performance Overhead:** KCSAN's runtime aims to be minimal, using an

   efficient watchpoint encoding that does not require acquiring any shared

Alternatives Considered

-----------------------

An alternative data race detection approach for the kernel can be found in

An alternative data race detection approach for the kernel can be found in the

`Kernel Thread Sanitizer (KTSAN) <https://github.com/google/ktsan/wiki>`_.

KTSAN is a happens-before data race detector, which explicitly establishes the

happens-before order between memory operations, which can then be used to

determine data races as defined in `Data Races`_. To build a correct

happens-before relation, KTSAN must be aware of all ordering rules of the LKMM

and synchronization primitives. Unfortunately, any omission leads to false

positives, which is especially important in the context of the kernel which

includes numerous custom synchronization mechanisms. Furthermore, KTSAN's

implementation requires metadata for each memory location (shadow memory);

currently, for each page, KTSAN requires 4 pages of shadow memory.

determine data races as defined in `Data Races`_.

To build a correct happens-before relation, KTSAN must be aware of all ordering

rules of the LKMM and synchronization primitives. Unfortunately, any omission

leads to large numbers of false positives, which is especially detrimental in

the context of the kernel which includes numerous custom synchronization

mechanisms. To track the happens-before relation, KTSAN's implementation

requires metadata for each memory location (shadow memory), which for each page

corresponds to 4 pages of shadow memory, and can translate into overhead of

tens of GiB on a large system.

#define data_race(expr)                                                        \

	({                                                                     \

		typeof(({ expr; })) __val;                                     \

		kcsan_nestable_atomic_begin();                                 \

		kcsan_disable_current();                                       \

		__val = ({ expr; });                                           \

		kcsan_nestable_atomic_end();                                   \

		kcsan_enable_current();                                        \

		__val;                                                         \

	})

#else

	 * Access mask for all accesses if non-zero.

	 */

	unsigned long access_mask;

	/* List of scoped accesses. */

	struct list_head scoped_accesses;

};

/**

 */

void kcsan_init(void);

/**

 * kcsan_disable_current - disable KCSAN for the current context

 *

 * Supports nesting.

 */

void kcsan_disable_current(void);

/**

 * kcsan_enable_current - re-enable KCSAN for the current context

 *

 * Supports nesting.

 */

void kcsan_enable_current(void);

#else /* CONFIG_KCSAN */

static inline void kcsan_init(void)			{ }

static inline void kcsan_disable_current(void)		{ }

static inline void kcsan_enable_current(void)		{ }

#endif /* CONFIG_KCSAN */

		.atomic_nest_count	= 0,

		.in_flat_atomic		= false,

		.access_mask		= 0,

		.scoped_accesses	= {LIST_POISON1, NULL},

	},

#endif

#ifdef CONFIG_TRACE_IRQFLAGS