zephyr-dynamic-pthread-stacks.patch

diff --git a/include/kernel.h b/include/kernel.h
index 381af7907241..c81918c2d3da 100644
--- a/include/kernel.h
+++ b/include/kernel.h
@@ -488,6 +488,14 @@ extern void k_thread_foreach_unlocked(
  */
 #define K_INHERIT_PERMS (BIT(3))
 
+/**
+ * @brief dynamically allocated stack
+ *
+ * This flag indicates that a thread stack has been heap-allocated with
+ * @ref k_malloc.
+ */
+#define K_STACK_ON_HEAP (BIT(4))
+
 #ifdef CONFIG_X86
 /* x86 Bitmask definitions for threads user options */
 
diff --git a/include/posix/pthread.h b/include/posix/pthread.h
index 12707894db0f..59771450067f 100644
--- a/include/posix/pthread.h
+++ b/include/posix/pthread.h
@@ -477,6 +477,7 @@ static inline int pthread_rwlockattr_init(pthread_rwlockattr_t *attr)
 	return 0;
 }
 
+int pthread_attr_setstacksize(pthread_attr_t *attr, size_t stacksize);
 int pthread_attr_getstacksize(const pthread_attr_t *attr, size_t *stacksize);
 int pthread_attr_setschedpolicy(pthread_attr_t *attr, int policy);
 int pthread_attr_getschedpolicy(const pthread_attr_t *attr, int *policy);
diff --git a/lib/posix/Kconfig b/lib/posix/Kconfig
index b1a0d52995b1..35f31f92794f 100644
--- a/lib/posix/Kconfig
+++ b/lib/posix/Kconfig
@@ -39,6 +39,30 @@ config SEM_VALUE_MAX
 	help
 	  Maximum semaphore count in POSIX compliant Application.
 
+config PTHREAD_DYNAMIC_STACK
+	bool "Support for dynamic stacks"
+	select THREAD_STACK_INFO
+	default y
+	help
+	  POSIX 1003.1 allows a NULL pthread_attr_t* to be passed to
+	  pthread_create(3). However, Zephyr has traditionally required
+	  that the caller statically allocate a stack and pass it in via the
+	  pthread_attr_t*. With this option selected, NULL will be permitted
+	  and a suitable stack will be automatically allocated and assigned,
+	  inheriting permissions from the calling thread.
+
+if PTHREAD_DYNAMIC_STACK
+config PTHREAD_DYNAMIC_STACK_DEFAULT_SIZE
+	int "Default size for a dynamic pthread stack (in bytes)"
+	default 1024
+	help
+	  This value is used for the default size of dynamically-allocated
+	  stacks. However, users may still specify the size of
+	  dynamically-allocated stacks via pthread_attr_setstacksize(3)
+	  prior to calling pthread_create(3).
+
+endif # PTHREAD_DYNAMIC_STACK
+
 endif # PTHREAD_IPC
 
 config POSIX_CLOCK
diff --git a/lib/posix/pthread.c b/lib/posix/pthread.c
index e997d6653466..75baef2488d1 100644
--- a/lib/posix/pthread.c
+++ b/lib/posix/pthread.c
@@ -6,12 +6,19 @@
 
 #include <kernel.h>
 #include <stdio.h>
+#include <stdlib.h>
 #include <sys/atomic.h>
 #include <ksched.h>
 #include <wait_q.h>
 #include <posix/pthread.h>
 #include <sys/slist.h>
 
+#ifdef CONFIG_PTHREAD_DYNAMIC_STACK_DEFAULT_SIZE
+#define DYNAMIC_STACK_SIZE CONFIG_PTHREAD_DYNAMIC_STACK_DEFAULT_SIZE
+#else
+#define DYNAMIC_STACK_SIZE 0
+#endif
+
 #define PTHREAD_INIT_FLAGS	PTHREAD_CANCEL_ENABLE
 #define PTHREAD_CANCELED	((void *) -1)
 
@@ -115,7 +122,11 @@ int pthread_attr_setstack(pthread_attr_t *attr, void *stackaddr,
 static void zephyr_thread_wrapper(void *arg1, void *arg2, void *arg3)
 {
 	void * (*fun_ptr)(void *) = arg3;
-
+	struct _thread_stack_info *stack_info
+		= &k_current_get()->stack_info;
+	__ASSERT_NO_MSG(stack_info->delta == 0);
+	stack_info->delta = (size_t)
+			((uint8_t *)stack_info->start - (uint8_t *)arg2);
 	fun_ptr(arg1);
 	pthread_exit(NULL);
 }
@@ -135,17 +146,43 @@ int pthread_create(pthread_t *newthread, const pthread_attr_t *attr,
 	uint32_t pthread_num;
 	pthread_condattr_t cond_attr;
 	struct posix_thread *thread;
+	pthread_attr_t dynamic_attr;
+	k_thread_stack_t *dynamic_stack = NULL;
+	/* a non-const pthread_attr_t* that we can modify, if needed */
+	pthread_attr_t *mattr = (pthread_attr_t *)attr;
 
-	/*
-	 * FIXME: Pthread attribute must be non-null and it provides stack
-	 * pointer and stack size. So even though POSIX 1003.1 spec accepts
-	 * attrib as NULL but zephyr needs it initialized with valid stack.
-	 */
-	if ((attr == NULL) || (attr->initialized == 0U)
-	    || (attr->stack == NULL) || (attr->stacksize == 0)) {
+	if (mattr != NULL && mattr->initialized == 0) {
 		return EINVAL;
 	}
 
+	if (mattr == NULL || mattr->stack == NULL) {
+		if (IS_ENABLED(CONFIG_PTHREAD_DYNAMIC_STACK)) {
+			/*
+			 * We dynamically allocate space when either
+			 * 1) attr == NULL -> use DYNAMIC_STACK_SIZE, or
+			 * 2) attr != NULL && attr->stack == NULL
+			 *    -> allocate attr->stacksize
+			 */
+			if (mattr == NULL) {
+				(void) pthread_attr_init(&dynamic_attr);
+				dynamic_attr.stacksize = DYNAMIC_STACK_SIZE;
+				mattr = &dynamic_attr;
+			}
+
+			dynamic_stack = k_aligned_alloc(ARCH_STACK_PTR_ALIGN,
+				Z_KERNEL_STACK_SIZE_ADJUST(mattr->stacksize));
+			if (dynamic_stack == NULL) {
+				return EAGAIN;
+			}
+
+			__ASSERT_NO_MSG(dynamic_stack != NULL);
+			mattr->stack = dynamic_stack;
+			mattr->flags |= K_STACK_ON_HEAP;
+		} else {
+			return EINVAL;
+		}
+	}
+
 	pthread_mutex_lock(&pthread_pool_lock);
 	for (pthread_num = 0;
 	    pthread_num < CONFIG_MAX_PTHREAD_COUNT; pthread_num++) {
@@ -158,10 +195,14 @@ int pthread_create(pthread_t *newthread, const pthread_attr_t *attr,
 	pthread_mutex_unlock(&pthread_pool_lock);
 
 	if (pthread_num >= CONFIG_MAX_PTHREAD_COUNT) {
+		if (IS_ENABLED(CONFIG_PTHREAD_DYNAMIC_STACK)
+			&& dynamic_stack != NULL) {
+			free(dynamic_stack);
+		}
 		return EAGAIN;
 	}
 
-	prio = posix_to_zephyr_priority(attr->priority, attr->schedpolicy);
+	prio = posix_to_zephyr_priority(mattr->priority, mattr->schedpolicy);
 
 	thread = &posix_thread_pool[pthread_num];
 	/*
@@ -172,25 +213,25 @@ int pthread_create(pthread_t *newthread, const pthread_attr_t *attr,
 	(void)pthread_mutex_init(&thread->cancel_lock, NULL);
 
 	pthread_mutex_lock(&thread->cancel_lock);
-	thread->cancel_state = (1 << _PTHREAD_CANCEL_POS) & attr->flags;
+	thread->cancel_state = (1 << _PTHREAD_CANCEL_POS) & mattr->flags;
 	thread->cancel_pending = 0;
 	pthread_mutex_unlock(&thread->cancel_lock);
 
 	pthread_mutex_lock(&thread->state_lock);
-	thread->state = attr->detachstate;
+	thread->state = mattr->detachstate;
 	pthread_mutex_unlock(&thread->state_lock);
 
 	pthread_cond_init(&thread->state_cond, &cond_attr);
 	sys_slist_init(&thread->key_list);
 
-	*newthread = (pthread_t) k_thread_create(&thread->thread, attr->stack,
-						 attr->stacksize,
+	*newthread = (pthread_t) k_thread_create(&thread->thread, mattr->stack,
+						 mattr->stacksize,
 						 (k_thread_entry_t)
 						 zephyr_thread_wrapper,
-						 (void *)arg, NULL,
+						 (void *)arg, dynamic_stack,
 						 threadroutine, prio,
-						 (~K_ESSENTIAL & attr->flags),
-						 K_MSEC(attr->delayedstart));
+						 (~K_ESSENTIAL & mattr->flags),
+						 K_MSEC(mattr->delayedstart));
 	return 0;
 }
 
@@ -347,6 +388,23 @@ int pthread_once(pthread_once_t *once, void (*init_func)(void))
 	return 0;
 }
 
+#ifdef CONFIG_PTHREAD_DYNAMIC_STACK
+static void zephyr_pthread_stack_reclaim(struct k_thread *thread)
+{
+	uint8_t *p = (uint8_t *)thread->stack_info.start;
+
+	p -= thread->stack_info.delta;
+	memset((void *)thread->stack_info.start, 0,
+		thread->stack_info.size);
+	k_free(p);
+}
+#else
+static inline void zephyr_pthread_stack_reclaim(struct k_thread *thread)
+{
+	ARG_UNUSED(thread);
+}
+#endif
+
 /**
  * @brief Terminate calling thread.
  *
@@ -385,6 +443,10 @@ void pthread_exit(void *retval)
 		}
 	}
 
+	if ((self->thread.base.user_options & K_STACK_ON_HEAP) != 0) {
+		self->thread.fn_abort = zephyr_pthread_stack_reclaim;
+	}
+
 	pthread_mutex_unlock(&self->state_lock);
 	k_thread_abort((k_tid_t)self);
 }
@@ -534,6 +596,21 @@ int pthread_attr_setschedpolicy(pthread_attr_t *attr, int policy)
 	return 0;
 }
 
+/**
+ * @brief Set stack size attribute in thread attributes object.
+ *
+ * See IEEE 1003.1
+ */
+int pthread_attr_setstacksize(pthread_attr_t *attr, size_t stacksize)
+{
+	if ((attr == NULL) || (attr->initialized == 0U)) {
+		return EINVAL;
+	}
+
+	attr->stacksize = stacksize;
+	return 0;
+}
+
 /**
  * @brief Get stack size attribute in thread attributes object.
  *
diff --git a/tests/posix/common/prj.conf b/tests/posix/common/prj.conf
index f01ae5140a96..1f98f40157c7 100644
--- a/tests/posix/common/prj.conf
+++ b/tests/posix/common/prj.conf
@@ -4,8 +4,13 @@ CONFIG_MAX_PTHREAD_COUNT=20
 CONFIG_ZTEST=y
 CONFIG_SEM_VALUE_MAX=32767
 CONFIG_POSIX_MQUEUE=y
-CONFIG_HEAP_MEM_POOL_SIZE=4096
+# increased since pthread_create calls k_malloc() with dynamic stacks
+CONFIG_HEAP_MEM_POOL_SIZE=16384
+CONFIG_MINIMAL_LIBC_MALLOC_ARENA_SIZE=16384
 CONFIG_MAX_THREAD_BYTES=4
 CONFIG_THREAD_NAME=y
 
 CONFIG_SMP=n
+
+# increased since idle calls k_free() with dynamic stacks
+CONFIG_IDLE_STACK_SIZE=768
diff --git a/tests/posix/common/src/main.c b/tests/posix/common/src/main.c
index 1637a19e891d..e370fbd673bf 100644
--- a/tests/posix/common/src/main.c
+++ b/tests/posix/common/src/main.c
@@ -19,6 +19,7 @@ extern void test_posix_pthread_execution(void);
 extern void test_posix_pthread_termination(void);
 extern void test_posix_multiple_threads_single_key(void);
 extern void test_posix_single_thread_multiple_keys(void);
+extern void test_posix_thread_attr_stacksize(void);
 extern void test_nanosleep_NULL_NULL(void);
 extern void test_nanosleep_NULL_notNULL(void);
 extern void test_nanosleep_notNULL_NULL(void);
@@ -42,6 +43,7 @@ void test_main(void)
 			ztest_unit_test(test_posix_pthread_termination),
 			ztest_unit_test(test_posix_multiple_threads_single_key),
 			ztest_unit_test(test_posix_single_thread_multiple_keys),
+			ztest_unit_test(test_posix_thread_attr_stacksize),
 			ztest_unit_test(test_posix_clock),
 			ztest_unit_test(test_posix_semaphore),
 			ztest_unit_test(test_posix_normal_mutex),
diff --git a/tests/posix/common/src/pthread.c b/tests/posix/common/src/pthread.c
index da46c3afb254..eae02fe4249f 100644
--- a/tests/posix/common/src/pthread.c
+++ b/tests/posix/common/src/pthread.c
@@ -214,6 +214,9 @@ void *thread_top_term(void *p1)
 	}
 
 	if (id >= 2) {
+		if (IS_ENABLED(CONFIG_PTHREAD_DYNAMIC_STACK)) {
+			zassert_false(pthread_detach(self), "failed to set detach state");
+		}
 		ret = pthread_detach(self);
 		if (id == 2) {
 			zassert_equal(ret, EINVAL, "re-detached thread!");
@@ -301,18 +304,20 @@ void test_posix_pthread_execution(void)
 	ret = pthread_setname_np(NULL, thr_name);
 	zassert_equal(ret, ESRCH, "uninitialized setname!");
 
-	/* TESTPOINT: Try creating thread before attr init */
-	ret = pthread_create(&newthread[0], &attr[0],
-				thread_top_exec, NULL);
-	zassert_equal(ret, EINVAL, "thread created before attr init!");
+	if (!IS_ENABLED(CONFIG_PTHREAD_DYNAMIC_STACK)) {
+		/*  TESTPOINT: Try creating thread before attr init */
+		ret = pthread_create(&newthread[0], &attr[0],
+					thread_top_exec, NULL);
+		zassert_equal(ret, EINVAL, "thread created before attr init!");
+	}
 
 	for (i = 0; i < N_THR_E; i++) {
 		ret = pthread_attr_init(&attr[i]);
 		if (ret != 0) {
 			zassert_false(pthread_attr_destroy(&attr[i]),
-				      "Unable to destroy pthread object attrib");
+					  "Unable to destroy pthread object attrib");
 			zassert_false(pthread_attr_init(&attr[i]),
-				      "Unable to create pthread object attrib");
+					  "Unable to create pthread object attrib");
 		}
 
 		/* TESTPOINTS: Retrieve set stack attributes and compare */
@@ -333,11 +338,16 @@ void test_posix_pthread_execution(void)
 		pthread_attr_setschedparam(&attr[i], &schedparam);
 		pthread_attr_getschedparam(&attr[i], &getschedparam);
 		zassert_equal(schedparam.sched_priority,
-			      getschedparam.sched_priority,
-			      "scheduling priorities do not match!");
+				  getschedparam.sched_priority,
+				  "scheduling priorities do not match!");
 
-		ret = pthread_create(&newthread[i], &attr[i], thread_top_exec,
-				INT_TO_POINTER(i));
+		if (IS_ENABLED(CONFIG_PTHREAD_DYNAMIC_STACK)) {
+			ret = pthread_create(&newthread[i], NULL, thread_top_exec,
+					INT_TO_POINTER(i));
+		} else {
+			ret = pthread_create(&newthread[i], &attr[i], thread_top_exec,
+					INT_TO_POINTER(i));
+		}
 
 		/* TESTPOINT: Check if thread is created successfully */
 		zassert_false(ret, "Number of threads exceed max limit");
@@ -429,8 +439,13 @@ void test_posix_pthread_termination(void)
 		schedparam.sched_priority = 2;
 		pthread_attr_setschedparam(&attr[i], &schedparam);
 		pthread_attr_setstack(&attr[i], &stack_t[i][0], STACKS);
-		ret = pthread_create(&newthread[i], &attr[i], thread_top_term,
-				     INT_TO_POINTER(i));
+		if (IS_ENABLED(CONFIG_PTHREAD_DYNAMIC_STACK)) {
+			ret = pthread_create(&newthread[i], NULL, thread_top_term,
+						INT_TO_POINTER(i));
+		} else {
+			ret = pthread_create(&newthread[i], &attr[i], thread_top_term,
+						INT_TO_POINTER(i));
+		}
 
 		zassert_false(ret, "Not enough space to create new thread");
 	}
@@ -464,3 +479,29 @@ void test_posix_pthread_termination(void)
 	ret = pthread_getschedparam(newthread[N_THR_T/2], &policy, &schedparam);
 	zassert_equal(ret, ESRCH, "got attr from terminated thread!");
 }
+
+#ifdef CONFIG_PTHREAD_DYNAMIC_STACK
+static void *fun(void *arg)
+{
+	*((uint32_t *)arg) = 0xB105F00D;
+	return NULL;
+}
+
+void test_posix_thread_attr_stacksize(void)
+{
+	uint32_t x = 0;
+	pthread_attr_t attr;
+	pthread_t th;
+
+	/* TESTPOINT: specify a custom stack size via pthread_attr_t */
+	zassert_equal(0, pthread_attr_init(&attr), "");
+	zassert_equal(0, pthread_attr_setstacksize(&attr, 256), "");
+	zassert_equal(0, pthread_create(&th, &attr, fun, &x), "");
+	zassert_equal(0, pthread_join(th, NULL), "");
+	zassert_equal(0xB105F00D, x, "");
+}
+#else
+void test_posix_thread_attr_stacksize(void)
+{
+}
+#endif
diff --git a/tests/posix/common/testcase.yaml b/tests/posix/common/testcase.yaml
index 4f931437071f..024c42e993b3 100644
--- a/tests/posix/common/testcase.yaml
+++ b/tests/posix/common/testcase.yaml
@@ -36,3 +36,17 @@ tests:
     extra_configs:
       - CONFIG_NEWLIB_LIBC=y
       - CONFIG_TEST_HW_STACK_PROTECTION=n
+  portability.posix.common.dynamic_stack:
+    platform_exclude: nsim_sem_mpu_stack_guard nsim_em_mpu_stack_guard
+    extra_configs:
+      - CONFIG_NEWLIB_LIBC=n
+      - CONFIG_PTHREAD_DYNAMIC_STACK=y
+      - CONFIG_IDLE_STACK_SIZE=768
+      - CONFIG_MINIMAL_LIBC_MALLOC_ARENA_SIZE=16384
+  portability.posix.common.dynamic_stack.newlib:
+    platform_exclude: nsim_sem_mpu_stack_guard nsim_em_mpu_stack_guard
+    filter: TOOLCHAIN_HAS_NEWLIB == 1
+    extra_configs:
+      - CONFIG_NEWLIB_LIBC=y
+      - CONFIG_PTHREAD_DYNAMIC_STACK=y
+      - CONFIG_IDLE_STACK_SIZE=768