Building seL4test

Checkout the sel4test project using repo as per seL4Test

repo init -u
repo sync
mkdir cbuild
cd cbuild
../ -DPLATFORM=rockpro64 -DAARCH64=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.

Generated binaries can be found in the images/ directory.

Flashing the SPI with U-Boot


The first step is getting U-Boot onto the system. It is recommended, particularly for TFTP boot, to put U-Boot on the SPI flash.

If you have a “dirty” (any previously used) SPI flash, first:

  1. Download
  2. Write it to an SD card
  3. Boot from the SD card (will be done automatically if you don’t have a very weird setup). Once it completes (see this over serial or when white LED becomes stable), remove the SD card, but DO NOT reset.

Then, to flash the actual image:

  1. Get and write it to an SD card.
  2. Put the SD card into the rockpro64 and boot. Wait for completion (seen over serial or when white LED becomes stable).
  3. Remove the SD card.
  4. Reset and observe U-Boot come up.

Compiling u-boot onesself has not been done and has been left as an exercise to the reader if wanted. HINT: This fork is used as it resolves a number of issues present in mainline U-Boot and has pre-built images.

I assume you have:

  • setup a TFTP server
  • setup a DHCP server
  • linked the TFTP and DHCP servers appropriately

Luckily the U-Boot defconfig for rockpro64 includes UEFI support. We are not using EDK2 because no stable and tested implementations exist for rockpro64.

Copy your seL4 image to the TFTP root under the name sel4img (or any other name of your choosing but you will have to adjust following commands).

Manual method (well tested)

Drop into a U-Boot console when asked. Type in:

tftpboot ${kernel_addr_r} sel4img
bootefi ${kernel_addr_r}
  • Watch seL4 boot!

Automated method

Create pxelinux.cfg/default in TFTP root:

menu title PXE!

timeout 200

label sel4
menu default
kernel /sel4img

Create boot.scr:

bootefi 0x2080000

Significance of 0x2080000 being where seL4 image is loaded by U-Boot.

Convert boot.scr to a uImage using mkimage -A arm -T script -C none -n boot.scr -d boot.scr boot.scr.uimg. Ensure boot.scr.uimg is in the TFTP root and boot.scr is removed.

Building things

Ensure your tools/seL4 has the appropriate commit (TODO)

Setting up with UEFI, SD card

This process is similar to above with TFTP. The SD card should have one or more partitions, the first one must be ext2 and have the file files on it. (If required, you can change the 1:1 in the below commands to 1:2, 1:3 etc for using 2nd, 3rd, partition, etc).

Copy your sel4img aforementioned in UEFI section to SD card.


Drop to a U-Boot console and type in:

ext2load mmc 1:1 ${kernel_addr_r} sel4img
bootefi ${kernel_addr_r}


Create boot.scr:

ext2load mmc 1:1 ${kernel_addr_r} sel4img
bootefi ${kernel_addr_r}

Convert to uImage using mkimage -A arm -T script -C none -n boot.scr -d boot.scr boot.scr.uimg. Put in SD card and boot.