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User-level C libraries

The following collection of C libraries is useful for prototyping directly on the seL4 API. They are meant for trying things out, not for production code. They are not verified and come with no particular code assurance. They are provided because they might be useful for experimentation.

For production code we recommend the seL4 Microkit, or CAmkES when the Microkit is not applicable, and the Rust libraries for more dynamic systems.

Microkit does not use these libraries and expects a separate development environment for user-level code. Some CAmkES example applications do use the libraries below. Most of the CAmkES applications and also the libraries above use the seL4 port of libmuslc.

The library collections maintained by the seL4 Foundation are util_libs, projects_libs, seL4_libs, seL4_projects_libs, and libplatsupport.

OS independent libraries

OS independent low-level utilities in the repositories util_libs and projects_libs. New libraries should go into project_libs.

util_libs

Sources: https://github.com/seL4/util_libs

libcpio

A library for parsing files in CPIO format.

libelf

A library for reading ELF files.

libethdrivers

A library for ethernet drivers on selected platforms, supporting lwIP and picoTCP.

libpci

A library for PCI drivers.

libpicotcp

A library of picoTCP header files.

libplatsupport

A library of platform support utilities, interfaces for interacting with drivers, timer drivers, serial drivers and clock drivers.

libutils

A library of generic utilities, such as debugging macros and compile time asserts.

projects_libs

Sources: https://github.com/seL4/projects_libs

libfdtgen

A library for generating flattened device trees which can be passed to virtual machines.

libplatsupportports

A collection of drivers proted from GPL-based sources such as U-Boot and Linux.

libtx2bpmp

A port of the Tegra186 Boot and Power Management Processor (BPMP) interfaces from U-Boot to seL4.

libvirtqueue

A library implementation of a virtqueue inspired from the virtio specification.

libvswitch

A library implementation of a vswitch, which is designed for providing an interface to manage and route data between components identified by a MAC address.

seL4-specific libraries

Basic libraries with abstractions for interacting with seL4 from C.

seL4_libs

Sources: https://github.com/seL4/seL4_libs

libsel4allocman

An allocator for managing virtual memory, malloc memory and cspaces.

libsel4bench

A library of benchmarking utilities on seL4, such as logging and PMU event counters.

libsel4debug

A library for debugging userspace applications on seL4.

libsel4muslcsys

A library of minimal muslc syscall implementation for seL4.

libsel4platsupport

A wrapper around libplatsupport specificially for seL4.

libsel4serialserver

A library for creating serial servers. A server thread is able to connect to a serial device and act as a multiplexer for writes.

libsel4simple

An interface which abstracts over the boot environment of an seL4 application.

libsel4simple-default

An implementation of libsel4simple for the master branch of the seL4 kernel.

libsel4sync

A synchronisation library that uses notifications to construct basic locks.

libsel4test

A library for running tests and generating test output in either human readable or xml format.

libsel4utils

A library of OS-like utilities for building benchmarks and applications on seL4.

libsel4vka

An allocation interface for seL4.

libsel4vspace

A virtual memory management interface for seL4.

seL4_projects_libs

Sources: https://github.com/seL4/seL4_projects_libs

libsel4dma

An allocator for managing DMA memory.

libsel4keyboard

A basic keyboard driver.

libsel4nanopb

An interface between seL4 IPC buffers and nanopb. Nanopb is a small code-size Protocol Buffers implementation in ANSI C.

libsel4rpc

A library for allocating resources over process boundaries. It defines a Protocol Buffer protocol, and contains wrappers for processing RPC messages used by servers.

Platform support

Drivers for some of the devices on boards that seL4 supports.

The categories below are Serial, Timer, Clock, I2C, Pinmux, Reset, GPIO, ltimer, Ethernet, and Other. Not all drivers are supported on all boards. Serial and Timer/ltimer drivers are necessary to support the sel4test and sel4bench test suites and are supported on nearly all boards.

The seL4-independent parts of the libpatsupport libraries live in util_libs, and the seL4-specific parts in sel4_libs.

Sources:

Serial

plat/rockpro64/serial.c

rockchip,rk3399-uart driver

Supported on rockpro64 platform 
plat/bcm2837/serial.c

rpi3 brcm,bcm2835-aux-uart UART driver

Supported on rpi3 platform 
plat/odroidc2/serial.c

odroidc2 amlogic,meson-gx-uart uart driver

Supported on odroidc2 platform 
plat/am335x/serial.c

am335x ti,am3352-uart serial driver

Supported on am335x platforms. 
plat/fvp/serial.c

fvp arm,pl011 serial driver

Derived from the pl011 driver for the hikey platform. 
plat/hikey/serial.c

hikey arm,pl011 Serial driver

Supported on Hikey platform. Could likely be extended to other platforms. 
plat/qemu-arm-virt/serial.c

qemu-arm-virt arm,pl011 serial driver

Derived from the pl011 driver for the hikey platform. 
plat/hifive/uart.c

hifive sifive,uart0 UART serial driver

Supported on hifive platform 
plat/pc99/serial.c

UART serial driver for the serial devices on the pc99 platform

Supported on pc99 platform 
plat/pc99/ega.c

EGA driver for the EGA (Enhanced Graphics Adapter) device on the pc99 platform

Supported on pc99 platform 
plat/omap3/serial.c

omap3 ti,omap3-uart UART serial driver

Supported on omap3 platform 
mach/imx/serial/serial.c

UART serial drivers for the UART devices in the i.MX SoCs

Supported on i.MX SoCs 
mach/exynos/serial.c

UART serial driver for the UART devices in the Exynos SoCs

Supported on Exynos SoCs 
mach/zynq/serial.c

UART serial drivers for the UART devices in the ZYNQ SoCs

Supported on ZYNQ SoCs 
mach/zynq/axi_uartlite.c

UART serial driver to the AXI UART lite device on ZYNQ SoCs

Suppored on ZYNQ SoCs 
mach/nvidia/serial.c

Serial drivers for the UART serial devices on the NVIDIA SoCs

Supported on the NVIDIA SoCs

Timer

arch/arm/generic_timer.c

Arm generic timer driver. Should be used for debugging or development configurations only as register access is global.

Requires configuring seL4 to make the Physical timer registers available to user level. 
plat/rockpro64/timer.c

rockchip,rk3399-timer driver

Supported on rockpro64 platform 
plat/bcm2837/spt.c

rpi3 spt timer driver. The timer is based on a SP804 timer with some modifications.

Supported on rpi3 platform 
plat/bcm2837/system_timer.c

rpi3 system timer driver.

Supported on rpi3 platform 
plat/odroidc2/meson_timer.c

odroidc2 meson timer implementation

Supported on odroidc2 platform 
plat/am335x/timer.c

am335x ti,am335x-timer driver for DMTimer

Supported on am335x platforms. 
plat/fvp/sp804.c

fvp arm,sp804 timer driver

Derived from the sp804 driver for the hikey platform. 
plat/hikey/rtc.c

hikey arm,pl031 RTC driver

Supported on Hikey platform. Could likely be extended to other platforms. 
plat/hikey/dmt.c

hikey arm,sp804 timer driver

Supported on Hikey platform. Could likely be extended to other platforms. 
plat/hifive/pwm.c

hifive sifive,pwm0 timer driver

Supported on hifive platform 
plat/pc99/pit.c

PIT driver for the PIT (Programmable Interval Timer) on the pc99 platform

Supported on pc99 platform 
plat/pc99/rtc.c

RTC driver for the RTC on the pc99 platform

Supported on pc99 platform 
plat/pc99/hpet.c

HPET driver for the HPET (High Precision Event Timer) device on the pc99 platform

Supported on pc99 platform 
mach/omap/gpt.c

GPT driver for the GPT timers in the OMAP SoCs

Supported on OMAP SoCs 
mach/imx/epit/epit.c

EPIT driver for the EPIT timers in the i.MX SoCs

Supported on i.MX SoCs 
mach/imx/gpt.c

GPT driver for the GPT timers in the i.MX SoCs

Supported on i.MX SoCs 
mach/exynos/clock/exynos_common_clock.c

Exynos platform-common functions to manipulate the clock device in the Exynos SoCs

Supported on Exynos SoCs 
mach/exynos/clock/exynos_5422_clock.c

Exynos5422 platform-specific functions to manipulate the clock device in the Exynos5422 SoC

Supported on Exynos SoCs 
mach/exynos/clock.h

Clock subsystem driver for the clock controller in the Exynos SoCs

Supported on Exynos SoCs 
mach/exynos/pwm.c

PWM drivers for the PWM timers in the Exynos SoCs

Supported on Exynos SoCs 
mach/zynq/timer.c

TTC driver for the TTC timers in the ZYNQ SoCs

Supported on ZYNQ SoCs 
mach/nvidia/timer.c

Timer drivers for the timers on the NVIDIA SoCs

Supported on the NVIDIA SoCs

Clock

plat/zynq7000/clock.c

zynq7000 clock subsystem driver

Supported on zynq7000 platform. 
plat/exynos5/clock.c

exynos5 clock subsystem driver

Supported on exynos5 platform. 
plat/tk1/clock.c

tk1 nvidia,tegra124-car clock subsystem driver

Supported on tk1 platform. 
plat/exynos4/clock.c

exynos4 clock subsystem driver

Supported on exynos4 platform. 
plat/imx6/clock.c

i.MX6 fsl,imx6q-ccm clock subsystem driver

Supported on sabre platform 
src/plat/tx2/clock_bindings.c

libplatsupport clock ID to TX2 BPMP clock ID bindings

Supported on tx2 platform 
src/plat/tx2/clock_bindings.c

Clock driver for the TX2 CAR (Clock And Reset) controller which relies on libtx2bpmp

Supported on the tx2 platform

I2C

arch/arm/i2c_bitbang.c

Transforms a GPIO interface into an I2C bitbang interface

Currently used by libusbdrivers. 
plat/am335x/i2c.c

am335x ti,omap4-i2c driver for I2C.

Supported on am335x platforms. 
plat/tk1/i2c.c

tk1 nvidia,tegra124-i2c I2C driver

Supported on tk1 platform. 
plat/imx6/i2c.c

i.MX6 fsl,imx6q-i2c driver I2C

Supported on sabre platform 
mach/exynos/i2c.c

I2C driver for the I2C devices in the Exynos SoCs

Supported on the Exynos SoCs

Pinmux

plat/tk1/mux.c

tk1 nvidia,tegra124-pinmux pinmux driver

Supported on tk1 platform 
plat/imx6/mux.c

i.MX6 fsl,imx6q-iomuxc IO MUX driver

Supported on sabre 
mach/exnyos4/mux.c

Pinctrl configurations for the Exynos4xxx SoCs

Supported on the Exynos4xxx SoCs 
mach/exynos5/mux.c

Pinctrl configurations for the Exynos5xxx SoCs

Supported on the Exynos5xxx SoCs 
mach/exynos/mux.c

Pinctrl driver for the pinctrl device in the Exynos SoCs

Supported on the Exynos SoCs 
mach/exynos/ltimer.c

ltimer implementation for the Exynos platforms using the PWM timers

Supported on the Exynos SoCs 
src/plat/tx2/mux.c

Pin controller driver for the TX2 MUX based off on NVIDIA’s L4T implementation

Supported on the tx2 platform

Reset

plat/imx6/src.c

i.MX6 fsl,imx6q-src reset controller driver

Supported on sabre platform 
src/plat/tx2/reset_bindings.c

libplatsupport reset ID to TX2 BPMP reset ID bindings

Supported on the tx2 platform 
src/plat/tx2/reset.c

Reset driver for the TX2 CAR (Clock And Reset) controller which relies on libtx2bpmp

Supported on the tx2 platform

GPIO

plat/tk1/gpio.c

tk1 nvidia,tegra124-gpio GPIO driver

Supported on i2c platform. 
plat/imx6/gpio.c

i.MX6 fsl,imx6q-gpio GPIO driver

Supported on sabre platform 
src/plat/tx2/gpio.c

GPIO driver for the TX2 GPIO controller based off on U-Boot’s implementation

Supported on the tx2 platform

ltimer

arch/arm/generic_ltimer.c

ltimer implementation for Arm generic timer physical timer. Should be used for debugging or development configurations only as register access is global

Requires configuring seL4 to make the Physical timer registers available to user level. 
local_time_manager.c

Uses an ltimer to provide timeout multiplexing across several clients

Requires ltimer implementation for the target platform. 
plat/rockpro64/ltimer.c

rockpro64 ltimer implementation using 2 rk3399-timers

Supported on rockpro64 platform 
plat/bcm2837/ltimer.c

rpi3 ltimer implementation using the system timer and spt timer

Supported on rpi3 platform 
plat/odroidc2/ltimer.c

odroidc2 ltimer implementation using the meson timer

Supported on odroidc2 platform 
plat/am335x/ltimer.c

am335x ltimer implementation using 2 DMTimers

Supported on am335x platforms. 
plat/fvp/ltimer.c

fvp ltimer implementation using 2 sp804 timers.

Supported on fvp platform. 
plat/hikey/ltimer.c

hikey ltimer implementation using 2 sp804 timers

Supported on hikey platform. 
plat/hifive/ltimer.c

ltimer implementation for the hifive platform using two PWM timers

Supported on hifive platform 
plat/pc99/ltimer.c

ltimer implementation for the pc99 platform using either PIT or HPET timers

Supported on pc99 platform 
mach/imx/ltimer.c

ltimer implementation for the i.MX platforms using a combination of GPT and EPIT timers

Supported on i.MX SoCs 
mach/zynq/ltimer.c

ltimer implementation for the ZYNQ platforms using TTC timers

Supported on ZYNQ SoCs 
mach/nvidia/ltimer.c

ltimer implementation for the NVIDIA platforms using the NVIDIA timers

Supported on the NVIDIA SoCs

Ethernet

src/pico_dev_eth.c

Ethernet device interface to connect with the PicoTCP TCP/IP stack

Supported 
src/lwip.c

Ethernet device interface to connect with the lwIP TCP/IP stack

Deprecated in favour of the PicoTCP Ethernet device interface 
src/plat/imx6/*

Ethernet driver for the i.MX6 platform based off on U-Boot’s implementation

Supported on the sabre platform 
src/plat/pc99/*

Ethernet driver for the e1000 Ethernet devices

Supported on pc99 platform 
src/plat/tx2/*

Ethernet driver for the TX2 platform based off on U-Boot’s implementation

Supported on the tx2 platform 
src/plat/zynq700/*

Ethernet driver for the zynq7000 platform based off on U-Boot’s implementation

Supported on the zynq7000 platform

Other

arch/x86/delay.c

x86 busy wait delay driver by spinning on tsc value

Supported on x86 but currently unused by anything. 
arch/x86/tsc.c

Calculates tsc frequency using HPET or PIT

Supported on x86. It may be better to use the tsc_freq Bootinfo field that seL4 provides. 
arch/arm/delay.c

arm busy wait delay driver by repeatedly performing no-op instructions

Supported on arm but currently relies on each instruction taking a constant amount of time 
plat/zynq7000/devcfg.c

devcfg (Device configuration Interface) zynq7000 driver

Supported only for zynq7000 platform. Only functionality is mapping registers and providing a reference. 
plat/zynq7000/tmu.c

Temperature sensor driver for zynq7000 tmu.

Supported on zynq7000 platform. 
plat/zynq7000/xadc.c

zynq7000 XADC driver

Supported on zynq7000 platform. Currently only used to read values from a temperature monitoring unit. 
plat/zynq7000/src.c

zynq7000 System Level Control Registers driver

Supported on zynq7000 platform. Currently used to unlock clock and reset registers only. 
plat/exynos5/sysreg.c

exynos5 samsung,exynos5-sysreg system control driver

Supported on exynos5 platforms. Currently can only be used to enable power for USB PHYs. 
plat/tk1/spi.c

tk1 nvidia,tegra124-spi SPI driver

Supported on tk1 platform. 
plat/exynos4/src.c

exynos4 samsung,exynos4-sysreg system control driver

Supported on exynos4 platforms. Currently can only be used to enable power for USB PHYs. 
mach/omap/ltimer.c

ltimer implementation for the OMAP platforms using GPT timers

Supported on OMAP SoCs 
mach/exynos/tmu.c

TMU driver for the TMU (Thermal Management Unit) device in the Exynos SoCs

Supported on Exynos SoCs 
mach/exynos/pmic.c

PMIC driver for the PMIC (Power Management IC) device in the Exynos SoCs

Supported on the Exynos SoCs 
mach/exynos/pmic_rtc.c

RTC driver for the RTC located inside the PMIC device in the Exynos SoCs

Supported on the Exynos SoCs 
mach/exnyos/irq_combiner.c

IRQ combiner driver for the IRQ combiner device in the Exynos SoCs

Supported on the Exynos SoCs 
src/helpers.c

Helper functions for the Ethernet drivers in libethdrivers

Supported 
src/bpmp.c

BPMP driver for the BPMP (Boot and Power Management Processor) co-processor on the TX2 based off on U-Boot’s implementation

Supported on the tx2 platform 
src/hsp.c

HSP driver for the HSP (Hardware Synchronisation Primitives) module on the TX2

Supported on the tx2 platform 
src/ivc.c

IVC implementation for the IVC (Inter-VM Communication) protocol used for communicating with the BPMP

Supported on the tx2 platform