Arndale

Note: This board is not being regression tested, but has same SoC as Odroid-XU (which is tested).

seL4 supports the the Arndale dual core A15 ARM development board.

Client setup

Hardware requirements:

  1. 5V power supply, center +ve

SD card setup

The offsets depend on which versions of bl1, bl2 and U-Boot you get.

For BL1 from the Android tree:

Key Position (block) file
BL1 1  
BL2 (uboot-module) 31 (8k)  
u-boot 63 (24k)
!TrustZone 719  

For BL1 from https://wiki.linaro.org/Boards/Arndale/Setup/EnterpriseUbuntuServer?action=AttachFile&do=view&target=arndale-bl1.img

Key Position (block) file
BL1 1  
SPL 17 https://wiki.linaro.org/Boards/Arndale/Setup/EnterpriseUbuntuServer?action=AttachFile&do=view&target=smdk5250-spl.bin
u-boot 49 https://wiki.linaro.org/Boards/Arndale/Setup/EnterpriseUbuntuServer?action=AttachFile&do=view&target=u-boot.binu-boot.bin (24k)
kernel 1105 https://wiki.linaro.org/Boards/Arndale/Setup/EnterpriseUbuntuServer?action=AttachFile&do=view&target=uImage
DTB 9297 https://wiki.linaro.org/Boards/Arndale/Setup/EnterpriseUbuntuServer?action=AttachFile&do=view&target=exynos5250-arndale.dtb

Note — U-Boot understands DOS filesystems (and ext2) so uImage, uInitrd and the DTB could be normal files in a partition, rather than at a fixed offset on the SD card.

These offsets are designed for a U-Boot environment like this:

bootargs=root=/dev/mmcblk1p1 rw rootwait console=ttySAC2,115200n8 init --no-log
bootcmd=mmc read 40007000 451 2000;mmc read 42000000 2451 20;bootm 40007000 - 42000000

If you have a separate boot partition on your card you could instead use: (untested as yet)

kernel=0x40007000
dtb=42000000
bootcmd=mmc init; fatload mmc 0:1 ${kernel} uImage; fatload mmc 0:1 ${dtb} dtb; bootm ${kernel} - ${dtb}

U-Boot

There are at least three versions available, the one in the Android tree (which should have Fastboot) and the one from Linaro (which understands the USB and network drivers).

There’s also http://www.spinics.net/lists/kvm-arm/msg02817.html which is supposed to enable the virtualisation features. I’m not sure at present whether the difference is merely configuration or if there are source differences. U-Boot.

Inside the Android environment do:

make ARCH=arm CROSS_COMPILE=arm-eabi-arndale
sudo dd iflag=dsync oflag=dsync if=u-boot.bin of=/dev/sdb seek=63

seL4 Image file preparation

In most cases it is okay to simply load the elf file into memory and run bootelf. However, Fastboot may require that the ELF file be packed into a U-Boot application image file. Follow the below instructions to create this image.

sudo apt-get install uboot-mkimage
INPUT_FILE=images/sel4test-image-arm-exynos4
OUTPUT_FILE=sel4-uImage
mkimage -a 0x48000000 -e 0x48000000 -C none -A arm -T kernel -O qnx -d $INPUT_FILE $OUTPUT_FILE

The reason we choose QNX is because we exploit the fact that, like seL4, QNX expects to be ELF-loaded. The alternative is to convert our ELF file into a binary file using objcopy.

Booting

Building an image

Checkout the sel4test project using repo as per seL4Test

repo init -u https://github.com/seL4/sel4test-manifest.git
repo sync
mkdir cbuild
../init-build -DPLATFORM=exynos5250 -DAARCH32=1
# The default cmake wrapper sets up a default configuration for the target platform.
# To change individual settings, run `ccmake` and change the configuration
# parameters to suit your needs.
ninja

Generated binaries can be found in the images/ directory.

From SD card

<TODO>

Fastboot

<TODO> Currently not working…

tftpboot

At the U-Boot prompt, type print to see the list of environment variables and their values. Use the following commands to set any variables that are missing from the list.

setenv bootfile filename
setenv ethaddr 00:40:5c:26:0a:FF
setenv usbethaddr 00:40:5c:26:0a:FF
setenv pxefile_addr_r 0x50000000

Now run:

usb start; dhcp; bootelf; bootm;

References

http://www.arndaleboard.org

PXE boot setup

Better PXE instructions