Jetson TK1

The Jetson TK1 is a affordable embedded system developed by NVIDIA. It runs seL4. We will explain how to run seL4 on the Tegra.

Pre-Requisites

Getting Started

To get started, check out the NVIDIA developer page, make sure your board is correctly configured and plugged.

Build your first seL4 system

Checkout the sel4test project using repo as per seL4Test

repo init -u https://github.com/seL4/sel4test-manifest.git
repo sync
make tk1_debug_xml_defconfig
# The defconfig provides a set build configuration. You can use `make menuconfig` to customize build settings further if necessary.
make

Generated binaries can be found in the images/ directory.

Load the binary

You need to be able to see output from the serial console on the Tegra. Connect the serial port to your computer with a serial cable, either a USB->RS232 converter, or if your computer has a serial port, connect to it.

Once you have the wires in place, you can connect to the console via screen (or you can use minicom or another serial console program). In the following, we assume that the Tegra is connected to /dev/ttyUSB0.

screen /dev/ttyUSB0 115200

When you start the board, you will see the U-Boot prompt. To load the binary you need to interact with U-Boot. I personally use a DHCP/TFTP server to get the binary onto the board. Copy sel4.img onto the tftp server; if you’ve set up DHCP properly it will pass the server IP to the board. Otherwise you can specify the IOP address on the command. The following command will then scan the PCI bus and enable the ethernet, and then ask to get an address via the DHCP and get sel4.img file from the TFTP server at 192.168.1.1.

pci enum dhcp ${loadaddr} 192.168.1.1:sel4.img

Then, let’s start the program.

bootelf ${loadaddr}

Flash U-Boot

Warning: This flashing procedure is for the Jetson TK1 by NVIDIA. There is another TK1 board called the TK1-SOM by Colorado Engineering which requires a different flashing procedure. Please be sure you’re following these instructions if you are truly trying to flash a Jetson and not the TK1-SOM. If you are trying to flash a TK1-SOM, please use the procedure described here instead.

The initial version of U-Boot does not provides all necessary functionality. In particular, it boots the system in secure mode. To run a virtual machine monitor, the Tegra needs to be booted in nonsecure or HYP mode. After installing a new u-boot (instructions below) you can boot in either secure on non-secure mode based on a u-boot environment variable.

Do

setenv bootm_boot_mode nonsec
saveenv

to boot in nonsecure (HYP) mode. This also enables kvm if you boot Linux.

To go back to secure mode booting do

setenv bootm_boot_mode sec
saveenv

Getting the sources

mkdir tegra-u-boot-flasher
cd tegra-u-boot-flasher
repo init -u https://github.com/NVIDIA/tegra-uboot-flasher-manifests.git
repo sync

Patching the sources

Apply the following patch to increase the console buffer size.

diff --git
a/include/configs/tegra-common.h b/include/configs/tegra-common.h
index 1c469d0..234023d 100644
--- a/include/configs/tegra-common.h 
+++ b/include/configs/tegra-common.h
@@ -77,7 +77,7 @@
* Increasing the size of the IO buffer as default nfsargs size is more
* than 256 and so it is not possible to edit it
*/
-#define CONFIG_SYS_CBSIZE (256* 2) /* Console I/O Buffer Size */
+#define CONFIG_SYS_CBSIZE (256* 3) /* Console I/O Buffer Size */
/* Print Buffer Size */
#define CONFIG_SYS_PBSIZE (CONFIG_SYS_CBSIZE + \
sizeof(CONFIG_SYS_PROMPT) + 16)

Building

To build the sources, build the necessary tools first.

Install autoconf, pkg-config, flex, bison, libcrypto++-dev and libusb-1.0.0-dev for your distribution. On Debian or Ubuntu you can do:

sudo apt-get update
sudo apt-get install build-essential autoconf pkg-config flex bison libcrypto++-dev libusb-1.0.0-dev gcc-arm-linux-gnueabi

Then do:

cd scripts
./build-tools build

Then, in the script directory, build everything.

./build --socs tegra124 --boards jetson-tk1 build

Flashing

To flash, attach the Jetson board’s OTG USB port to a USB port on your machine. Hold down the FORCE RECOVERY button while pressing the RESET button next to it; release FORCE RECOVERY a second or two after releasing the reset button

Then issue:

./tegra-uboot-flasher flash jetson-tk1

The board should now be updated.

Running Linux with the new U-Boot

To boot Linux in non-secure mode, build the kernel with the Power-State Coordination Interface (PSCI) enabled (CONFIG_ARM_PSCI=y, in Kernel Features menu)and CPU-Idle PM support disabled (CONFIG_CPU_IDLE is not set in CPU Power Management->CPU Idle). Without these changes the kernel will hang.