ARM Trusted Firmware User Guide
===============================
Contents :
1. Introduction
2. Host machine requirements
3. Tools
4. Building the Trusted Firmware
5. Obtaining the normal world software
6. Preparing the images to run on FVP
7. Running the software on FVP
8. Preparing the images to run on Juno
9. Running the software on Juno
1. Introduction
----------------
This document describes how to build ARM Trusted Firmware and run it with a
tested set of other software components using defined configurations on the Juno
ARM development platform and ARM Fixed Virtual Platform (FVP) models. It is
possible to use other software components, configurations and platforms but that
is outside the scope of this document.
This document should be used in conjunction with the [Firmware Design].
2. Host machine requirements
-----------------------------
The minimum recommended machine specification for building the software and
running the FVP models is a dual-core processor running at 2GHz with 12GB of
RAM. For best performance, use a machine with a quad-core processor running at
2.6GHz with 16GB of RAM.
The software has been tested on Ubuntu 12.04.04 (64-bit). Packages used
for building the software were installed from that distribution unless
otherwise specified.
3. Tools
---------
The following tools are required to use the ARM Trusted Firmware:
* `git` package to obtain source code.
* `ia32-libs` package.
* `build-essential`, `uuid-dev` and `iasl` packages for building UEFI and the
Firmware Image Package (FIP) tool.
* `bc` and `ncurses-dev` packages for building Linux.
* `device-tree-compiler` package for building the Flattened Device Tree (FDT)
source files (`.dts` files) provided with this software.
* Baremetal GNU GCC tools. Verified packages can be downloaded from [Linaro]
[Linaro Toolchain]. The rest of this document assumes that the
`gcc-linaro-aarch64-none-elf-4.9-2014.07_linux.tar.xz` tools are used.
wget http://releases.linaro.org/14.07/components/toolchain/binaries/gcc-linaro-aarch64-none-elf-4.9-2014.07_linux.tar.xz
tar -xf gcc-linaro-aarch64-none-elf-4.9-2014.07_linux.tar.xz
* (Optional) For debugging, ARM [Development Studio 5 (DS-5)][DS-5] v5.19.
4. Building the Trusted Firmware
---------------------------------
To build the Trusted Firmware images, follow these steps:
1. Clone the ARM Trusted Firmware repository from GitHub:
git clone https://github.com/ARM-software/arm-trusted-firmware.git
2. Change to the trusted firmware directory:
cd arm-trusted-firmware
3. Set the compiler path, specify a Non-trusted Firmware image (BL3-3) and
a valid platform, and then build:
CROSS_COMPILE=<path-to-aarch64-gcc>/bin/aarch64-none-elf- \
BL33=<path-to>/<bl33_image> \
make PLAT=<platform> all fip
If `PLAT` is not specified, `fvp` is assumed by default. See the "Summary of
build options" for more information on available build options.
The BL3-3 image corresponds to the software that is executed after switching
to the non-secure world. UEFI can be used as the BL3-3 image. Refer to the
"Obtaining the normal world software" section below.
The TSP (Test Secure Payload), corresponding to the BL3-2 image, is not
compiled in by default. Refer to the "Building the Test Secure Payload"
section below.
By default this produces a release version of the build. To produce a debug
version instead, refer to the "Debugging options" section below.
The build process creates products in a `build` directory tree, building
the objects and binaries for each boot loader stage in separate
sub-directories. The following boot loader binary files are created from
the corresponding ELF files:
* `build/<platform>/<build-type>/bl1.bin`
* `build/<platform>/<build-type>/bl2.bin`
* `build/<platform>/<build-type>/bl31.bin`
where `<platform>` is the name of the chosen platform and `<build-type>` is
either `debug` or `release`. A Firmare Image Package (FIP) will be created
as part of the build. It contains all boot loader images except for
`bl1.bin`.
* `build/<platform>/<build-type>/fip.bin`
For more information on FIPs, see the "Firmware Image Package" section in
the [Firmware Design].
4. (Optional) Some platforms may require a BL3-0 image to boot. This image can
be included in the FIP when building the Trusted Firmware by specifying the
`BL30` build option:
BL30=<path-to>/<bl30_image>
5. Output binary files `bl1.bin` and `fip.bin` are both required to boot the
system. How these files are used is platform specific. Refer to the
platform documentation on how to use the firmware images.
6. (Optional) Build products for a specific build variant can be removed using:
make DEBUG=<D> PLAT=<platform> clean
... where `<D>` is `0` or `1`, as specified when building.
The build tree can be removed completely using:
make realclean
### Summary of build options
ARM Trusted Firmware build system supports the following build options. Unless
mentioned otherwise, these options are expected to be specified at the build
command line and are not to be modified in any component makefiles. Note that
the build system doesn't track dependency for build options. Therefore, if any
of the build options are changed from a previous build, a clean build must be
performed.
#### Common build options
* `BL30`: Path to BL3-0 image in the host file system. This image is optional.
If a BL3-0 image is present then this option must be passed for the `fip`
target.
* `BL33`: Path to BL33 image in the host file system. This is mandatory for
`fip` target.
* `CROSS_COMPILE`: Prefix to toolchain binaries. Please refer to examples in
this document for usage.
* `DEBUG`: Chooses between a debug and release build. It can take either 0
(release) or 1 (debug) as values. 0 is the default.
* `LOG_LEVEL`: Chooses the log level, which controls the amount of console log
output compiled into the build. This should be one of the following:
0 (LOG_LEVEL_NONE)
10 (LOG_LEVEL_NOTICE)
20 (LOG_LEVEL_ERROR)
30 (LOG_LEVEL_WARNING)
40 (LOG_LEVEL_INFO)
50 (LOG_LEVEL_VERBOSE)
All log output up to and including the log level is compiled into the build.
The default value is 40 in debug builds and 20 in release builds.
* `NS_TIMER_SWITCH`: Enable save and restore for non-secure timer register
contents upon world switch. It can take either 0 (don't save and restore) or
1 (do save and restore). 0 is the default. An SPD may set this to 1 if it
wants the timer registers to be saved and restored.
* `PLAT`: Choose a platform to build ARM Trusted Firmware for. The chosen
platform name must be the name of one of the directories under the `plat/`
directory other than `common`.
* `SPD`: Choose a Secure Payload Dispatcher component to be built into the
Trusted Firmware. The value should be the path to the directory containing
the SPD source, relative to `services/spd/`; the directory is expected to
contain a makefile called `<spd-value>.mk`.
* `V`: Verbose build. If assigned anything other than 0, the build commands
are printed. Default is 0.
* `ARM_GIC_ARCH`: Choice of ARM GIC architecture version used by the ARM GIC
driver for implementing the platform GIC API. This API is used
by the interrupt management framework. Default is 2 (that is, version 2.0).
* `IMF_READ_INTERRUPT_ID`: Boolean flag used by the interrupt management
framework to enable passing of the interrupt id to its handler. The id is
read using a platform GIC API. `INTR_ID_UNAVAILABLE` is passed instead if
this option set to 0. Default is 0.
* `RESET_TO_BL31`: Enable BL3-1 entrypoint as the CPU reset vector instead
of the BL1 entrypoint. It can take the value 0 (CPU reset to BL1
entrypoint) or 1 (CPU reset to BL3-1 entrypoint).
The default value is 0.
* `CRASH_REPORTING`: A non-zero value enables a console dump of processor
register state when an unexpected exception occurs during execution of
BL3-1. This option defaults to the value of `DEBUG` - i.e. by default
this is only enabled for a debug build of the firmware.
* `ASM_ASSERTION`: This flag determines whether the assertion checks within
assembly source files are enabled or not. This option defaults to the
value of `DEBUG` - that is, by default this is only enabled for a debug
build of the firmware.
* `TSP_INIT_ASYNC`: Choose BL3-2 initialization method as asynchronous or
synchronous, (see "Initializing a BL3-2 Image" section in [Firmware
Design]). It can take the value 0 (BL3-2 is initialized using
synchronous method) or 1 (BL3-2 is initialized using asynchronous method).
Default is 0.
#### FVP specific build options
* `FVP_SHARED_DATA_LOCATION`: location of the shared memory page. Available
options:
- `tsram` (default) : top of Trusted SRAM
- `tdram` : base of Trusted DRAM
* `FVP_TSP_RAM_LOCATION`: location of the TSP binary. Options:
- `tsram` (default) : base of Trusted SRAM
- `tdram` : Trusted DRAM (above shared data)
For a better understanding of FVP options, the FVP memory map is explained in
the [Firmware Design].
### Creating a Firmware Image Package
FIPs are automatically created as part of the build instructions described in
the previous section. It is also possible to independently build the FIP
creation tool and FIPs if required. To do this, follow these steps:
Build the tool:
make -C tools/fip_create
It is recommended to remove the build artifacts before rebuilding:
make -C tools/fip_create clean
Create a Firmware package that contains existing BL2 and BL3-1 images:
# fip_create --help to print usage information
# fip_create <fip_name> <images to add> [--dump to show result]
./tools/fip_create/fip_create fip.bin --dump \
--bl2 build/<platform>/debug/bl2.bin --bl31 build/<platform>/debug/bl31.bin
Firmware Image Package ToC:
---------------------------
- Trusted Boot Firmware BL2: offset=0x88, size=0x81E8
file: 'build/<platform>/debug/bl2.bin'
- EL3 Runtime Firmware BL3-1: offset=0x8270, size=0xC218
file: 'build/<platform>/debug/bl31.bin'
---------------------------
Creating "fip.bin"
View the contents of an existing Firmware package:
./tools/fip_create/fip_create fip.bin --dump
Firmware Image Package ToC:
---------------------------
- Trusted Boot Firmware BL2: offset=0x88, size=0x81E8
- EL3 Runtime Firmware BL3-1: offset=0x8270, size=0xC218
---------------------------
Existing package entries can be individially updated:
# Change the BL2 from Debug to Release version
./tools/fip_create/fip_create fip.bin --dump \
--bl2 build/<platform>/release/bl2.bin
Firmware Image Package ToC:
---------------------------
- Trusted Boot Firmware BL2: offset=0x88, size=0x7240
file: 'build/<platform>/release/bl2.bin'
- EL3 Runtime Firmware BL3-1: offset=0x72C8, size=0xC218
---------------------------
Updating "fip.bin"
### Debugging options
To compile a debug version and make the build more verbose use
CROSS_COMPILE=<path-to-aarch64-gcc>/bin/aarch64-none-elf- \
BL33=<path-to>/<bl33_image> \
make PLAT=<platform> DEBUG=1 V=1 all fip
AArch64 GCC uses DWARF version 4 debugging symbols by default. Some tools (for
example DS-5) might not support this and may need an older version of DWARF
symbols to be emitted by GCC. This can be achieved by using the
`-gdwarf-<version>` flag, with the version being set to 2 or 3. Setting the
version to 2 is recommended for DS-5 versions older than 5.16.
When debugging logic problems it might also be useful to disable all compiler
optimizations by using `-O0`.
NOTE: Using `-O0` could cause output images to be larger and base addresses
might need to be recalculated (see the "Memory layout of BL images" section in
the [Firmware Design]).
Extra debug options can be passed to the build system by setting `CFLAGS`:
CFLAGS='-O0 -gdwarf-2' \
CROSS_COMPILE=<path-to-aarch64-gcc>/bin/aarch64-none-elf- \
BL33=<path-to>/<bl33_image> \
make PLAT=<platform> DEBUG=1 V=1 all fip
### Building the Test Secure Payload
The TSP is coupled with a companion runtime service in the BL3-1 firmware,
called the TSPD. Therefore, if you intend to use the TSP, the BL3-1 image
must be recompiled as well. For more information on SPs and SPDs, see the
"Secure-EL1 Payloads and Dispatchers" section in the [Firmware Design].
First clean the Trusted Firmware build directory to get rid of any previous
BL3-1 binary. Then to build the TSP image and include it into the FIP use:
CROSS_COMPILE=<path-to-aarch64-gcc>/bin/aarch64-none-elf- \
BL33=<path-to>/<bl33_image> \
make PLAT=<platform> SPD=tspd all fip
An additional boot loader binary file is created in the `build` directory:
* `build/<platform>/<build-type>/bl32.bin`
The FIP will now contain the additional BL3-2 image. Here is an example
output from an FVP build in release mode including BL3-2 and using
FVP_AARCH64_EFI.fd as BL3-3 image:
Firmware Image Package ToC:
---------------------------
- Trusted Boot Firmware BL2: offset=0xD8, size=0x6000
file: './build/fvp/release/bl2.bin'
- EL3 Runtime Firmware BL3-1: offset=0x60D8, size=0x9000
file: './build/fvp/release/bl31.bin'
- Secure Payload BL3-2 (Trusted OS): offset=0xF0D8, size=0x3000
file: './build/fvp/release/bl32.bin'
- Non-Trusted Firmware BL3-3: offset=0x120D8, size=0x280000
file: '../FVP_AARCH64_EFI.fd'
---------------------------
Creating "build/fvp/release/fip.bin"
### Checking source code style
When making changes to the source for submission to the project, the source
must be in compliance with the Linux style guide, and to assist with this check
the project Makefile contains two targets, which both utilise the
`checkpatch.pl` script that ships with the Linux source tree.
To check the entire source tree, you must first download a copy of
`checkpatch.pl` (or the full Linux source), set the `CHECKPATCH` environment
variable to point to the script and build the target checkcodebase:
make CHECKPATCH=<path-to-linux>/linux/scripts/checkpatch.pl checkcodebase
To just check the style on the files that differ between your local branch and
the remote master, use:
make CHECKPATCH=<path-to-linux>/linux/scripts/checkpatch.pl checkpatch
If you wish to check your patch against something other than the remote master,
set the `BASE_COMMIT` variable to your desired branch. By default, `BASE_COMMIT`
is set to `origin/master`.
5. Obtaining the normal world software
---------------------------------------
### Obtaining EDK2
Potentially any kind of non-trusted firmware may be used with the ARM Trusted
Firmware but the software has only been tested with the EFI Development Kit 2
(EDK2) open source implementation of the UEFI specification.
To build the software to be compatible with the Foundation and Base FVPs, or the
Juno platform, follow these steps:
1. Clone the [EDK2 source code][EDK2] from GitHub:
git clone -n https://github.com/tianocore/edk2.git
Not all required features are available in the EDK2 mainline yet. These can
be obtained from the ARM-software EDK2 repository instead:
cd edk2
git remote add -f --tags arm-software https://github.com/ARM-software/edk2.git
git checkout --detach v1.2
2. Copy build config templates to local workspace
# in edk2/
. edksetup.sh
3. Build the EDK2 host tools
make -C BaseTools clean
make -C BaseTools
4. Build the EDK2 software
1. Build for FVP
GCC49_AARCH64_PREFIX=<absolute-path-to-aarch64-gcc>/bin/aarch64-none-elf- \
make -f ArmPlatformPkg/Scripts/Makefile EDK2_ARCH=AARCH64 \
EDK2_DSC=ArmPlatformPkg/ArmVExpressPkg/ArmVExpress-FVP-AArch64.dsc \
EDK2_TOOLCHAIN=GCC49 EDK2_BUILD=RELEASE \
EDK2_MACROS="-n 6 -D ARM_FOUNDATION_FVP=1"
The EDK2 binary for use with the ARM Trusted Firmware can then be found
here:
Build/ArmVExpress-FVP-AArch64/RELEASE_GCC49/FV/FVP_AARCH64_EFI.fd
2. Build for Juno
GCC49_AARCH64_PREFIX=<absolute-path-to-aarch64-gcc>/bin/aarch64-none-elf- \
make -f ArmPlatformPkg/ArmJunoPkg/Makefile EDK2_ARCH=AARCH64 \
EDK2_TOOLCHAIN=GCC49 EDK2_BUILD=RELEASE
The EDK2 binary for use with the ARM Trusted Firmware can then be found
here:
Build/ArmJuno/RELEASE_GCC49/FV/BL33_AP_UEFI.fd
The EDK2 binary should be specified as `BL33` in in the `make` command line
when building the Trusted Firmware. See the "Building the Trusted Firmware"
section above.
5. (Optional) To build EDK2 in debug mode, remove `EDK2_BUILD=RELEASE` from the
command line.
6. (Optional) To boot Linux using a VirtioBlock file-system, the command line
passed from EDK2 to the Linux kernel must be modified as described in the
"Obtaining a root file-system" section below.
7. (Optional) If legacy GICv2 locations are used, the EDK2 platform description
must be updated. This is required as EDK2 does not support probing for the
GIC location. To do this, first clean the EDK2 build directory.
make -f ArmPlatformPkg/Scripts/Makefile EDK2_ARCH=AARCH64 \
EDK2_DSC=ArmPlatformPkg/ArmVExpressPkg/ArmVExpress-FVP-AArch64.dsc \
EDK2_TOOLCHAIN=ARMGCC clean
Then rebuild EDK2 as described in step 3, using the following flag:
-D ARM_FVP_LEGACY_GICV2_LOCATION=1
Finally rebuild the Trusted Firmware to generate a new FIP using the
instructions in the "Building the Trusted Firmware" section.
### Obtaining a Linux kernel
Preparing a Linux kernel for use on the FVPs can be done as follows
(GICv2 support only):
1. Clone Linux:
git clone git://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git
Not all required features are available in the kernel mainline yet. These
can be obtained from the ARM-software EDK2 repository instead:
cd linux
git remote add -f --tags arm-software https://github.com/ARM-software/linux.git
git checkout --detach 1.1-Juno
2. Build with the Linaro GCC tools.
# in linux/
make mrproper
make ARCH=arm64 defconfig
CROSS_COMPILE=<path-to-aarch64-gcc>/bin/aarch64-none-elf- \
make -j6 ARCH=arm64
The compiled Linux image will now be found at `arch/arm64/boot/Image`.
6. Preparing the images to run on FVP
--------------------------------------
### Obtaining the Flattened Device Trees
Depending on the FVP configuration and Linux configuration used, different
FDT files are required. FDTs for the Foundation and Base FVPs can be found in
the Trusted Firmware source directory under `fdts/`. The Foundation FVP has a
subset of the Base FVP components. For example, the Foundation FVP lacks CLCD
and MMC support, and has only one CPU cluster.
* `fvp-base-gicv2-psci.dtb`
(Default) For use with both AEMv8 and Cortex-A57-A53 Base FVPs with
Base memory map configuration.
* `fvp-base-gicv2legacy-psci.dtb`
For use with AEMv8 Base FVP with legacy VE GIC memory map configuration.
* `fvp-base-gicv3-psci.dtb`
For use with both AEMv8 and Cortex-A57-A53 Base FVPs with Base memory map
configuration and Linux GICv3 support.
* `fvp-foundation-gicv2-psci.dtb`
(Default) For use with Foundation FVP with Base memory map configuration.
* `fvp-foundation-gicv2legacy-psci.dtb`
For use with Foundation FVP with legacy VE GIC memory map configuration.
* `fvp-foundation-gicv3-psci.dtb`
For use with Foundation FVP with Base memory map configuration and Linux
GICv3 support.
Copy the chosen FDT blob as `fdt.dtb` to the directory from which the FVP
is launched. Alternatively a symbolic link may be used.
### Preparing the kernel image
Copy the kernel image file `arch/arm64/boot/Image` to the directory from which
the FVP is launched. Alternatively a symbolic link may be used.
### Obtaining a root file-system
To prepare a Linaro LAMP based Open Embedded file-system, the following
instructions can be used as a guide. The file-system can be provided to Linux
via VirtioBlock or as a RAM-disk. Both methods are described below.
#### Prepare VirtioBlock
To prepare a VirtioBlock file-system, do the following:
1. Download and unpack the disk image.
NOTE: The unpacked disk image grows to 3 GiB in size.
wget http://releases.linaro.org/14.07/openembedded/aarch64/vexpress64-openembedded_lamp-armv8-gcc-4.9_20140727-682.img.gz
gunzip vexpress64-openembedded_lamp-armv8-gcc-4.9_20140727-682.img.gz
2. Make sure the Linux kernel has Virtio support enabled using
`make ARCH=arm64 menuconfig`.
Device Drivers ---> Virtio drivers ---> <*> Platform bus driver for memory mapped virtio devices
Device Drivers ---> [*] Block devices ---> <*> Virtio block driver
File systems ---> <*> The Extended 4 (ext4) filesystem
If some of these configurations are missing, enable them, save the kernel
configuration, then rebuild the kernel image using the instructions
provided in the section "Obtaining a Linux kernel".
3. Change the Kernel command line to include `root=/dev/vda2`. This can either
be done in the EDK2 boot menu or in the platform file. Editing the platform
file and rebuilding EDK2 will make the change persist. To do this:
1. In EDK2, edit the following file:
ArmPlatformPkg/ArmVExpressPkg/ArmVExpress-FVP-AArch64.dsc
2. Add `root=/dev/vda2` to:
gArmPlatformTokenSpaceGuid.PcdDefaultBootArgument|"<Other default options>"
3. Remove the entry:
gArmPlatformTokenSpaceGuid.PcdDefaultBootInitrdPath|""
4. Rebuild EDK2 (see "Obtaining UEFI" section above).
4. The file-system image file should be provided to the model environment by
passing it the correct command line option. In the FVPs the following
option should be provided in addition to the ones described in the
"Running the software on FVP" section below.
NOTE: A symbolic link to this file cannot be used with the FVP; the path
to the real file must be provided.
On the Base FVPs:
-C bp.virtioblockdevice.image_path="<path-to>/<file-system-image>"
On the Foundation FVP:
--block-device="<path-to>/<file-system-image>"
5. Ensure that the FVP doesn't output any error messages. If the following
error message is displayed:
ERROR: BlockDevice: Failed to open "<path-to>/<file-system-image>"!
then make sure the path to the file-system image in the model parameter is
correct and that read permission is correctly set on the file-system image
file.
#### Prepare RAM-disk
To prepare a RAM-disk root file-system, do the following:
1. Download the file-system image:
wget http://releases.linaro.org/14.07/openembedded/aarch64/linaro-image-lamp-genericarmv8-20140727-701.rootfs.tar.gz
2. Modify the Linaro image:
# Prepare for use as RAM-disk. Normally use MMC, NFS or VirtioBlock.
# Be careful, otherwise you could damage your host file-system.
mkdir tmp; cd tmp
sudo sh -c "zcat ../linaro-image-lamp-genericarmv8-20140727-701.rootfs.tar.gz | cpio -id"
sudo ln -s sbin/init .
sudo sh -c "echo 'devtmpfs /dev devtmpfs mode=0755,nosuid 0 0' >> etc/fstab"
sudo sh -c "find . | cpio --quiet -H newc -o | gzip -3 -n > ../filesystem.cpio.gz"
cd ..
3. Copy the resultant `filesystem.cpio.gz` to the directory where the FVP is
launched from. Alternatively a symbolic link may be used.
7. Running the software on FVP
-------------------------------
This version of the ARM Trusted Firmware has been tested on the following ARM
FVPs (64-bit versions only).
* `Foundation_v8` (Version 2.1, Build 9.0.24)
* `FVP_Base_AEMv8A-AEMv8A` (Version 5.8, Build 0.8.5802)
* `FVP_Base_Cortex-A57x4-A53x4` (Version 5.8, Build 0.8.5802)
* `FVP_Base_Cortex-A57x1-A53x1` (Version 5.8, Build 0.8.5802)
* `FVP_Base_Cortex-A57x2-A53x4` (Version 5.8, Build 0.8.5802)
NOTE: The build numbers quoted above are those reported by launching the FVP
with the `--version` parameter.
NOTE: The software will not work on Version 1.0 of the Foundation FVP.
The commands below would report an `unhandled argument` error in this case.
NOTE: The Foundation FVP does not provide a debugger interface.
Please refer to the FVP documentation for a detailed description of the model
parameter options. A brief description of the important ones that affect the
ARM Trusted Firmware and normal world software behavior is provided below.
The Foundation FVP is a cut down version of the AArch64 Base FVP. It can be
downloaded for free from [ARM's website][ARM FVP website].
### Running on the Foundation FVP with reset to BL1 entrypoint
The following `Foundation_v8` parameters should be used to boot Linux with
4 CPUs using the ARM Trusted Firmware.
NOTE: Using the `--block-device` parameter is not necessary if a Linux RAM-disk
file-system is used (see the "Obtaining a File-system" section above).
NOTE: The `--data="<path to FIP binary>"@0x8000000` parameter is used to load a
Firmware Image Package at the start of NOR FLASH0 (see the "Building the
Trusted Firmware" section above).
<path-to>/Foundation_v8 \
--cores=4 \
--no-secure-memory \
--visualization \
--gicv3 \
--data="<path-to>/<bl1-binary>"@0x0 \
--data="<path-to>/<FIP-binary>"@0x8000000 \
--block-device="<path-to>/<file-system-image>"
The default use-case for the Foundation FVP is to enable the GICv3 device in
the model but use the GICv2 FDT, in order for Linux to drive the GIC in GICv2
emulation mode.
The memory mapped addresses `0x0` and `0x8000000` correspond to the start of
trusted ROM and NOR FLASH0 respectively.
### Notes regarding Base FVP configuration options
Please refer to these notes in the subsequent "Running on the Base FVP"
sections.
1. The `-C bp.flashloader0.fname` parameter is used to load a Firmware Image
Package at the start of NOR FLASH0 (see the "Building the Trusted Firmware"
section above).
2. Using `cache_state_modelled=1` makes booting very slow. The software will
still work (and run much faster) without this option but this will hide any
cache maintenance defects in the software.
3. Using the `-C bp.virtioblockdevice.image_path` parameter is not necessary
if a Linux RAM-disk file-system is used (see the "Obtaining a root
file-system" section above).
4. Setting the `-C bp.secure_memory` parameter to `1` is only supported on
Base FVP versions 5.4 and newer. Setting this parameter to `0` is also
supported. The `-C bp.tzc_400.diagnostics=1` parameter is optional. It
instructs the FVP to provide some helpful information if a secure memory
violation occurs.
5. This and the following notes only apply when the firmware is built with
the `RESET_TO_BL31` option.
The `--data="<path-to><bl31|bl32|bl33-binary>"@<base-address-of-binary>`
parameter is used to load bootloader images into Base FVP memory (see the
"Building the Trusted Firmware" section above). The base addresses used
should match the image base addresses in `platform_def.h` used while linking
the images. The BL3-2 image is only needed if BL3-1 has been built to expect
a Secure-EL1 Payload.
6. The `-C cluster<X>.cpu<Y>.RVBAR=@<base-address-of-bl31>` parameter, where
X and Y are the cluster and CPU numbers respectively, is used to set the
reset vector for each core.
7. Changing the default value of `FVP_SHARED_DATA_LOCATION` will also require
changing the value of
`--data="<path-to><bl31-binary>"@<base-address-of-bl31>` and
`-C cluster<X>.cpu<X>.RVBAR=@<base-address-of-bl31>`, to the new value of
`BL31_BASE` in `platform_def.h`.
8. Changing the default value of `FVP_TSP_RAM_LOCATION` will also require
changing the value of
`--data="<path-to><bl32-binary>"@<base-address-of-bl32>` to the new value of
`BL32_BASE` in `platform_def.h`.
### Running on the AEMv8 Base FVP with reset to BL1 entrypoint
Please read "Notes regarding Base FVP configuration options" section above for
information about some of the options to run the software.
The following `FVP_Base_AEMv8A-AEMv8A` parameters should be used to boot Linux
with 8 CPUs using the ARM Trusted Firmware.
<path-to>/FVP_Base_AEMv8A-AEMv8A \
-C pctl.startup=0.0.0.0 \
-C bp.secure_memory=1 \
-C bp.tzc_400.diagnostics=1 \
-C cluster0.NUM_CORES=4 \
-C cluster1.NUM_CORES=4 \
-C cache_state_modelled=1 \
-C bp.pl011_uart0.untimed_fifos=1 \
-C bp.secureflashloader.fname="<path-to>/<bl1-binary>" \
-C bp.flashloader0.fname="<path-to>/<FIP-binary>" \
-C bp.virtioblockdevice.image_path="<path-to>/<file-system-image>"
### Running on the Cortex-A57-A53 Base FVP with reset to BL1 entrypoint
Please read "Notes regarding Base FVP configuration options" section above for
information about some of the options to run the software.
The following `FVP_Base_Cortex-A57x4-A53x4` model parameters should be used to
boot Linux with 8 CPUs using the ARM Trusted Firmware.
<path-to>/FVP_Base_Cortex-A57x4-A53x4 \
-C pctl.startup=0.0.0.0 \
-C bp.secure_memory=1 \
-C bp.tzc_400.diagnostics=1 \
-C cache_state_modelled=1 \
-C bp.pl011_uart0.untimed_fifos=1 \
-C bp.secureflashloader.fname="<path-to>/<bl1-binary>" \
-C bp.flashloader0.fname="<path-to>/<FIP-binary>" \
-C bp.virtioblockdevice.image_path="<path-to>/<file-system-image>"
### Running on the AEMv8 Base FVP with reset to BL3-1 entrypoint
Please read "Notes regarding Base FVP configuration options" section above for
information about some of the options to run the software.
The following `FVP_Base_AEMv8A-AEMv8A` parameters should be used to boot Linux
with 8 CPUs using the ARM Trusted Firmware.
<path-to>/FVP_Base_AEMv8A-AEMv8A \
-C pctl.startup=0.0.0.0 \
-C bp.secure_memory=1 \
-C bp.tzc_400.diagnostics=1 \
-C cluster0.NUM_CORES=4 \
-C cluster1.NUM_CORES=4 \
-C cache_state_modelled=1 \
-C bp.pl011_uart0.untimed_fifos=1 \
-C cluster0.cpu0.RVBAR=0x04022000 \
-C cluster0.cpu1.RVBAR=0x04022000 \
-C cluster0.cpu2.RVBAR=0x04022000 \
-C cluster0.cpu3.RVBAR=0x04022000 \
-C cluster1.cpu0.RVBAR=0x04022000 \
-C cluster1.cpu1.RVBAR=0x04022000 \
-C cluster1.cpu2.RVBAR=0x04022000 \
-C cluster1.cpu3.RVBAR=0x04022000 \
--data cluster0.cpu0="<path-to>/<bl31-binary>"@0x04022000 \
--data cluster0.cpu0="<path-to>/<bl32-binary>"@0x04000000 \
--data cluster0.cpu0="<path-to>/<bl33-binary>"@0x88000000 \
-C bp.virtioblockdevice.image_path="<path-to>/<file-system-image>"
### Running on the Cortex-A57-A53 Base FVP with reset to BL3-1 entrypoint
Please read "Notes regarding Base FVP configuration options" section above for
information about some of the options to run the software.
The following `FVP_Base_Cortex-A57x4-A53x4` model parameters should be used to
boot Linux with 8 CPUs using the ARM Trusted Firmware.
<path-to>/FVP_Base_Cortex-A57x4-A53x4 \
-C pctl.startup=0.0.0.0 \
-C bp.secure_memory=1 \
-C bp.tzc_400.diagnostics=1 \
-C cache_state_modelled=1 \
-C bp.pl011_uart0.untimed_fifos=1 \
-C cluster0.cpu0.RVBARADDR=0x04022000 \
-C cluster0.cpu1.RVBARADDR=0x04022000 \
-C cluster0.cpu2.RVBARADDR=0x04022000 \
-C cluster0.cpu3.RVBARADDR=0x04022000 \
-C cluster1.cpu0.RVBARADDR=0x04022000 \
-C cluster1.cpu1.RVBARADDR=0x04022000 \
-C cluster1.cpu2.RVBARADDR=0x04022000 \
-C cluster1.cpu3.RVBARADDR=0x04022000 \
--data cluster0.cpu0="<path-to>/<bl31-binary>"@0x04022000 \
--data cluster0.cpu0="<path-to>/<bl32-binary>"@0x04000000 \
--data cluster0.cpu0="<path-to>/<bl33-binary>"@0x88000000 \
-C bp.virtioblockdevice.image_path="<path-to>/<file-system-image>"
### Configuring the GICv2 memory map
The Base FVP models support GICv2 with the default model parameters at the
following addresses. The Foundation FVP also supports these addresses when
configured for GICv3 in GICv2 emulation mode.
GICv2 Distributor Interface 0x2f000000
GICv2 CPU Interface 0x2c000000
GICv2 Virtual CPU Interface 0x2c010000
GICv2 Hypervisor Interface 0x2c02f000
The AEMv8 Base FVP can be configured to support GICv2 at addresses
corresponding to the legacy (Versatile Express) memory map as follows. These are
the default addresses when using the Foundation FVP in GICv2 mode.
GICv2 Distributor Interface 0x2c001000
GICv2 CPU Interface 0x2c002000
GICv2 Virtual CPU Interface 0x2c004000
GICv2 Hypervisor Interface 0x2c006000
The choice of memory map is reflected in the build variant field (bits[15:12])
in the `SYS_ID` register (Offset `0x0`) in the Versatile Express System
registers memory map (`0x1c010000`).
* `SYS_ID.Build[15:12]`
`0x1` corresponds to the presence of the Base GIC memory map. This is the
default value on the Base FVPs.
* `SYS_ID.Build[15:12]`
`0x0` corresponds to the presence of the Legacy VE GIC memory map. This is
the default value on the Foundation FVP.
This register can be configured as described in the following sections.
NOTE: If the legacy VE GIC memory map is used, then the corresponding FDT and
BL3-3 images should be used.
#### Configuring AEMv8 Foundation FVP GIC for legacy VE memory map
The following parameters configure the Foundation FVP to use GICv2 with the
legacy VE memory map:
<path-to>/Foundation_v8 \
--cores=4 \
--no-secure-memory \
--visualization \
--no-gicv3 \
--data="<path-to>/<bl1-binary>"@0x0 \
--data="<path-to>/<FIP-binary>"@0x8000000 \
--block-device="<path-to>/<file-system-image>"
Explicit configuration of the `SYS_ID` register is not required.
#### Configuring AEMv8 Base FVP GIC for legacy VE memory map
The following parameters configure the AEMv8 Base FVP to use GICv2 with the
legacy VE memory map. They must added to the parameters described in the
"Running on the AEMv8 Base FVP" section above:
-C cluster0.gic.GICD-offset=0x1000 \
-C cluster0.gic.GICC-offset=0x2000 \
-C cluster0.gic.GICH-offset=0x4000 \
-C cluster0.gic.GICH-other-CPU-offset=0x5000 \
-C cluster0.gic.GICV-offset=0x6000 \
-C cluster0.gic.PERIPH-size=0x8000 \
-C cluster1.gic.GICD-offset=0x1000 \
-C cluster1.gic.GICC-offset=0x2000 \
-C cluster1.gic.GICH-offset=0x4000 \
-C cluster1.gic.GICH-other-CPU-offset=0x5000 \
-C cluster1.gic.GICV-offset=0x6000 \
-C cluster1.gic.PERIPH-size=0x8000 \
-C gic_distributor.GICD-alias=0x2c001000 \
-C bp.variant=0x0
The `bp.variant` parameter corresponds to the build variant field of the
`SYS_ID` register. Setting this to `0x0` allows the ARM Trusted Firmware to
detect the legacy VE memory map while configuring the GIC.
8. Preparing the images to run on Juno
---------------------------------------
### Preparing Trusted Firmware images
The Juno platform requires a BL3-0 image to boot up. This image contains the
runtime firmware that runs on the SCP (System Control Processor). It can be
downloaded from the [ARM Silver SCP website] (requires registration).
Rebuild the Trusted Firmware specifying the BL3-0 image. Refer to the section
"Building the Trusted Firmware". Alternatively, the FIP image can be updated
manually with the BL3-0 image:
fip_create --dump --bl30 <path-to>/<bl30-binary> <path-to>/<FIP-binary>
### Obtaining the Flattened Device Tree
Juno's device tree blob is built along with the kernel. It is located in:
<path-to-linux>/arch/arm64/boot/dts/juno.dtb
### Deploying a root filesystem on a USB mass storage device
1. Format the partition on the USB mass storage as ext4 filesystem.
A 2GB or larger USB mass storage device is required. If another filesystem
type is preferred then support needs to be enabled in the kernel. For
example, if the USB mass storage corresponds to /dev/sdb device on your
computer, use the following command to format partition 1 as ext4:
sudo mkfs.ext4 /dev/sdb1
Note: Please be cautious with this command as it could format your hard
drive instead if you specify the wrong device.
2. Mount the USB mass storage on the computer (if not done automatically):
sudo mount /dev/sdb1 /media/usb_storage
where '/media/usb_storage' corresponds to the mount point (the directory
must exist prior to using the mount command).
3. Download the rootfs specified in section "Prepare RAM-disk" and extract the
files as root user onto the formatted partition:
sudo tar zxf <linaro-image>.tar.gz -C /media/usb_storage/
Note: It is not necessary to modify the Linaro image as described in that
section since we are not using a RAM-disk.
5. Unmount the USB mass storage:
sudo umount /media/usb_storage
9. Running the software on Juno
--------------------------------
The steps to install and run the binaries on Juno are as follows:
1. Connect a serial cable to the UART0 port (the top UART port on the back
panel). The UART settings are 115200 bauds, 8 bits data, no parity, 1 stop
bit.
2. Mount the Juno board storage via the CONFIG USB port
This is the only USB type B port on the board, labelled DBG_USB and located
on the back panel next to the ON/OFF and HW RESET buttons. Plug a type B USB
cable into this port on the Juno board and plug the other end into a host
PC, and then issue the following command in the UART0 session:
Cmd> usb_on
If the board doesn't show the Cmd> prompt then press the black HW RESET
button once. Once the Juno board storage is detected by your PC, mount it
(if not automatically done by your operating system).
mount /dev/sdbX /media/JUNO
For the rest of the installation instructions, we will assume that the Juno
board storage has been mounted under the /media/JUNO directory.
3. Copy the files obtained from the build process into /media/JUNO/SOFTWARE:
bl1.bin
fip.bin
Image
juno.dtb
4. Umount the Juno board storage
umount /media/JUNO
5. Reboot the board. In the UART0 session, type:
Cmd> reboot
- - - - - - - - - - - - - - - - - - - - - - - - - -
_Copyright (c) 2013-2014, ARM Limited and Contributors. All rights reserved._
[Firmware Design]: ./firmware-design.md
[ARM FVP website]: http://www.arm.com/fvp
[ARM Silver SCP website]: https://silver.arm.com/download/download.tm?pv=1764630
[Linaro Toolchain]: http://releases.linaro.org/14.07/components/toolchain/binaries/
[EDK2]: http://github.com/tianocore/edk2
[DS-5]: http://www.arm.com/products/tools/software-tools/ds-5/index.php
