Contents :
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.
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.
The following tools are required to use the ARM Trusted Firmware:
git package to obtain source code.
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) v5.19.
To build the Trusted Firmware images, follow these steps:
Clone the ARM Trusted Firmware repository from GitHub:
git clone https://github.com/ARM-software/arm-trusted-firmware.git
Change to the trusted firmware directory:
cd arm-trusted-firmware
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.binbuild/<platform>/<build-type>/bl2.binbuild/<platform>/<build-type>/bl31.binwhere <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.binFor more information on FIPs, see the "Firmware Image Package" section in the Firmware Design.
(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>
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.
(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
(Optional) Path to binary for certain BL stages (BL2, BL3-1 and BL3-2) can be provided by specifying the BLx=/<blx_image> where BLx is the BL stage. This will bypass the build of the BL component from source, but will include the specified binary in the final FIP image. Please note that BL3-2 will be included in the build, only if the SPD build option is specified.
For example, specifying BL2=/<bl2_image> in the build option, will skip compilation of BL2 source in trusted firmware, but include the BL2 binary specified in the final FIP image.
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.
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 BL3-3 image in the host file system. This is mandatory for fip target in case the BL2 from ARM Trusted Firmware is used.
BL2: This is an optional build option which specifies the path to BL2 image for the fip target. In this case, the BL2 in the ARM Trusted Firmware will not be built.
BL31: This is an optional build option which specifies the path to BL3-1 image for the fip target. In this case, the BL3-1 in the ARM Trusted Firmware will not be built.
BL32: This is an optional build option which specifies the path to BL3-2 image for the fip target. In this case, the BL3-2 in the ARM Trusted Firmware will not be built.
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_TSP_RAM_LOCATION: location of the TSP binary. Options:tsram (default) : Trusted SRAMtdram : Trusted DRAMFor a better understanding of FVP options, the FVP memory map is explained in the Firmware Design.
PLAT_TSP_LOCATION: location of the TSP binary. Options:tsram : Trusted SRAM (default option)dram : Secure region in DRAM (set by the TrustZone controller)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"
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
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.binThe 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"
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.
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:
Clone the EDK2 source code 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
Copy build config templates to local workspace
# in edk2/ . edksetup.sh
Build the EDK2 host tools
make -C BaseTools clean make -C BaseTools
Build the EDK2 software
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
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.
(Optional) To build EDK2 in debug mode, remove EDK2_BUILD=RELEASE from the command line.
(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.
(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.
Preparing a Linux kernel for use on the FVPs can be done as follows (GICv2 support only):
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
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.
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.
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.
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.
To prepare a VirtioBlock file-system, do the following:
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
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".
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:
In EDK2, edit the following file:
ArmPlatformPkg/ArmVExpressPkg/ArmVExpress-FVP-AArch64.dsc
Add root=/dev/vda2 to:
gArmPlatformTokenSpaceGuid.PcdDefaultBootArgument|"<Other default options>"
Remove the entry:
gArmPlatformTokenSpaceGuid.PcdDefaultBootInitrdPath|""
Rebuild EDK2 (see "Obtaining UEFI" section above).
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>"
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.
To prepare a RAM-disk root file-system, do the following:
Download the file-system image:
wget http://releases.linaro.org/14.07/openembedded/aarch64/linaro-image-lamp-genericarmv8-20140727-701.rootfs.tar.gz
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 ..
Copy the resultant filesystem.cpio.gz to the directory where the FVP is launched from. Alternatively a symbolic link may be used.
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.
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.
Please refer to these notes in the subsequent "Running on the Base FVP" sections.
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).
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.
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).
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.
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.
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.
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.
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.
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>"
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>"
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>"
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>"
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.
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.
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.
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 [this ARM website] SCP download (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>
Juno's device tree blob is built along with the kernel. It is located in:
<path-to-linux>/arch/arm64/boot/dts/juno.dtb
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.
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).
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.
Unmount the USB mass storage:
sudo umount /media/usb_storage
Running the software on Juno
The steps to install and run the binaries on Juno are as follows:
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.
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.
Copy the files obtained from the build process into /media/JUNO/SOFTWARE:
bl1.bin fip.bin Image juno.dtb
Umount the Juno board storage
umount /media/JUNO
Reboot the board. In the UART0 session, type:
Cmd> reboot
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