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Configuring pinmux in am335x (beaglebone) can't be done from user mode
by Stephen Sherratt 18 Mar '20

18 Mar '20

Hi all, I've been experimenting with seL4 running on a Ninjablocks (https://www.engadget.com/2013/05/01/ninja-blocks/) that I had lying around. Inside there is a beaglebone, with a custom shield (or cape) containing a microcontroller (atmega328p), some LEDs and a radio. The beaglebone (which normally runs linux) sends json-encoded commands over a serial connection to the on-cape microcontroller, which runs firmware that decodes these commands and controls the LEDs and radio. The complication is that the am335x pins connected to the custom shield are multiplexed, and don't connect to a uart device by default (they are gpio pins by default). The "Control Module" in the am335x can be used to configure pin multiplexing, but it can't be written to in user-mode. From the am335x manual (http://www.ti.com/lit/ug/spruh73q/spruh73q.pdf, page 1449): "Note: For writingto the controlmoduleregisters,the MPUwill need to be in privileged modeof operationand writes will not work fromusermode." To test that the rest of my app works I added the control module to the beaglebone device tree overlay and hacked the kernel to configure the relevant pins to connect to the uart device during boot: https://github.com/stevebob/seL4/commit/4295035ac7fd720fb531b7e0893f1f1191e… And now I have a little rootserver that can control the colours of LEDs on the shield: https://github.com/stevebob/sel4ninja/blob/master/apps/hello-ninja/src/main… What would be the right way of configuring the control module in a seL4-based system, given that it has to happen in kernel mode? To configure the uart pins when running linux on the board, I had to add the following to the device tree: scm@0 { ... pinmux@800 { ... pinmux_uart0_pins { // <-- this was already here pinctrl-single,pins = <0x170 0x30 0x174 0x00>; phandle = <0x20>; }; pinmux_uart1_pins { // <-- I had to add this pinctrl-single,pins = <0x180 0x30 0x184 0x00>; phandle = <0x60>; }; The (seL4) kernel build system already has basic support for interpreting device trees. Would a reasonable solution to my problem be extending this support with a minimal statically-generated control module driver that configures pinmux during boot based on the device tree? There would still be a problem where each board could only have a single pinmux config (as specified by that board's device tree). It seems like an easy fix for this would be a config variable passed to the build system (similar to -DPLATFORM) that overrides the default device tree file. That way projects that want non-standard pinmux configs could bring their own device trees. Cheers, Steve

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seL4 design principles
by Heiser, Gernot (Data61, Kensington NSW) 15 Mar '20

15 Mar '20

I’ve just posted a blog that tries to explain why de do things the way we de in seL4, and why we don’t do some other things, such as hardware abstraction. I hope this helps people understand better which kind of kernel changes are acceptable and which aren’t, and why the API isn’t designed for ease of use. https://microkerneldude.wordpress.com/2020/03/11/sel4-design-principles/ Gernot

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intel-vtd.c::vtd_get_n_paging looks so suspicious
by laokz 15 Mar '20

15 Mar '20

Hello all, kernel/src/plat/pc99/machine/intel-vtd.c::vtd_get_n_paging() confused me a lot. Wish to get any help. This func intends to calculate paging pages needed for all RMRRs. The following code 'filter the identical regions by pci bus id', and use them to figure out the final result. ``` for (word_t i = 1; i < rmrr_list->num; i++) { if (vtd_get_root_index(rmrr_list->entries[i].device) != vtd_get_root_index(filtered.entries[filtered.num - 1].device) && rmrr_list->entries[i].base != filtered.entries[filtered.num - 1].base && rmrr_list->entries[i].limit != filtered.entries[filtered.num - 1].limit) { filtered.entries[filtered.num] = rmrr_list->entries[i]; filtered.num++; } } ``` But vtd_map_reserved_page() says, every different devices(with diff bus-dev- func ID) have their own paging structures. Then why do filter here like this , yet the logic looks so confusing. And on line 313, it counts pages according to the specified level address bits. ``` size += get_n_paging(region, 32 - (VTD_PT_INDEX_BITS * i + seL4_PageBits)); ``` So what does 32 mean? Maybe a typo? Thanks, laokz

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Using sel4.xml/sel4arch.xml to generate custom bindings
by Alexandre Mutel 12 Mar '20

12 Mar '20

Hello, I would like to use the sel4.xml API description files to generate custom bindings for a prototype language to interact directly with seL4 without going through libsel4 C API. I assume that the structure of these files could change, which I'm willing to accept, but wanted to know if these files are here to stay in the future? I understand also that I will still have to parse libsel4 C headers to recover the full API which I'm fine with too. Do you see any trouble following this approach or would you recommend something else?

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May be an error in "alloc_free_io_port_range" of projects/seL4_projects_libs/libsel4vmmplatsupport/src/ioports.c
by yadong.li 12 Mar '20

12 Mar '20

Hi: background: I run virtio_net and virt_con in the lastest version, it is run OK, but I try to add another virito blk, I meet run error below: "Unhandled offset of 0x400 of size 4, reading Assertion failed: !"panic" (/home/yadong.li/seL4_vm_11/sel4_horizon/camkes-arm-vm/projects/seL4_projects_libs/libsel4vmmplatsupport/src/drivers/virtio_emul.c: emul_io_in: 71)" I add print on my enviornmen, found: ********************start[0x1000], end[0x1400] /*net*/ ********************start[0x1400], end[0x1800] /*con*/ ********************start[0x1800], end[0x1c00] /*blk*/ ---------------------------virtio_con_io_in, con = 0x55f3238, offset = 0x400[0x1800:0x1400] port_no:1800 should belong "blk", but it recongnize as belong "con"(con may be not use the offset 0 feature), the boundary may be have some problem the function: static int alloc_free_io_port_range(vmm_io_port_list_t *io_list, ioport_range_t *io_range) { uint16_t free_port_addr = io_list->alloc_addr; if (free_port_addr + io_range->size < free_port_addr) { /* Possible overflow */ return -1; } io_list->alloc_addr += io_range->size; io_range->start = free_port_addr; io_range->end = free_port_addr + io_range->size; return 0; } I think "io_range->end = free_port_addr + io_range->size;" should change to "io_range->end = free_port_addr + io_range->size - 1;" ? Thank you very much!

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Booting on a Jetson TK1 board.
by Travis Wheatley 12 Mar '20

12 Mar '20

Hello all, I am spinning up on sel4 and having difficulty booting a kernel on a Jetson TK1 board. I have successfully downloaded the cmakes repo and can build the x86 version of the code and run it as a simulation. I can also successfully build the TK1 version by changing the -DARCHETECTURE argument passed to init-build.sh to “tk1”. This results in a single image file named “capdl-loader-image-arm-tk1” to show up in my images folder (as opposed to both a kernel image and “userland” image that get created in the x86 version). So… I put that image on an SD card, plug it into the TK1, boot to a uboot prompt, and load the image using the command “fatload mmc 1 0x82000000 <filename>”. I can use “md” to see that the image is actually loaded properly. However, when I type “go 0x82000000” I see no output what so ever going out of the serial port. What I expect to see is similar output to what was displayed in the x86 simulation. I posted the question to the IRC channel yesterday and someone suggested using bootm or bootelf. No luck with either of these. So… hoping someone here might be able to give me a clue. — Travis

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L4 Risc-v touchscreen board
by Luca Tapponi 27 Feb '20

27 Feb '20

I am newby in this sector and involved in a project to create a prototype (hardware and software) based on risc-v cpu and running L4-based microkernel. I need to control and program an attached touchscreen where I can create a simple graphic user interface too. I would appreciate any suggestion that bring me on the right road. Board should embed wi-fi network too. First step is to find the right hardware and second is to have development tools/environment to program the board. As much as possible open licensing should be adopted because the project falls in IT security solution and want to avoid any hidden backdoors. Thank you in advance. Best regards, Luca

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devices.camkes: vm#.untyped_mmios: What does the integer after the addresses in this array represent?
by Turner, Ben 27 Feb '20

27 Feb '20

Hi all, As stated in the question, I'm not certain about how the integer part of the elements in the untyped_mmios array in devices.camkes are derived? E.g. in the TX2 devices.camkes file: vm0.untyped_mmios = [ "0x3886000:12", // GICV Iface. /* The purpose of these untyped regions is to force the untyped * allocator to treat this memory region as reserved so that when we * try to ensure that the VMM is placed into this region in RAM, it * will definitely be available for placement. * * This address pertains to guest-vm@f1000000 in the overlay DTS */ "0xF1000000:24", "0xF2000000:25", "0xF4000000:26", "0xF8000000:24", ]; I recognise that the range of addresses here covers the VM_RAM_SIZE specified, and so the pattern that emerges is: 24 --> 0x01000000 25 --> 0x02000000 26 --> 0x04000000 And so the above would cover the range 0xf1000000 --> 0xf9000000, which is the range of memory specified for the VM. Is this simply a case of the integer representing double the value with each increment. E.g: Integer Int Rep Hex 0 1 0x0000_0001 1 2 0x0000_0002 2 4 0x0000_0004 3 8 0x0000_0008 4 16 0x0000_0010 5 32 0x0000_0020 6 64 0x0000_0040 7 128 0x0000_0080 8 256 0x0000_0100 9 512 0x0000_0200 10 1024 0x0000_0400 11 2048 0x0000_0800 12 4096 0x0000_1000 13 8192 0x0000_2000 14 16384 0x0000_4000 15 32768 0x0000_8000 16 65536 0x0001_0000 17 131072 0x0002_0000 18 262144 0x0004_0000 19 524288 0x0008_0000 20 1E+06 0x0010_0000 21 2E+06 0x0020_0000 22 4E+06 0x0040_0000 23 8E+06 0x0080_0000 24 2E+07 0x0100_0000 25 3E+07 0x0200_0000 26 7E+07 0x0400_0000 27 1E+08 0x0800_0000 28 3E+08 0x1000_0000 29 5E+08 0x2000_0000 30 1E+09 0x4000_0000 31 2E+09 0x8000_0000 Thanks, Ben Turner Senior Engineer Roke Manor Research Ltd Tel: +44 (0)1794 833721 ben.turner(a)roke.co.uk<mailto:ben.turner@roke.co.uk> ________________________________________ Roke Manor Research Limited, Romsey, Hampshire, SO51 0ZN, United Kingdom.Part of the Chemring Group. Registered in England & Wales. Registered No: 00267550 http://www.roke.co.uk _______________________________________ The information contained in this e-mail and any attachments is proprietary to Roke Manor Research Limited and must not be passed to any third party without permission. This communication is for information only and shall not create or change any contractual relationship. ________________________________________

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two questions when I add virtio net with virtio_console meanwhile in arm-vm project
by yadong.li 24 Feb '20

24 Feb '20

hi, I had make virtio_console work OK on my environment（armv8）, But I meet two question when I add virtio net with virtio_console meanwhile. Question1: "add_io_port_range@io.c:111 Requested ioport range 0x6200-0x6600" for VIRTIO CON overlaps with existing range 0x6200-0x6600 for VIRTIO PCI NET According to the print above: common_make_virtio_con(virtio_emul_vm, vm->pci, vm->io_port, VIRTIO_IOPORT_START, VIRTIO_IOPORT_SIZE, VIRTIO_INTERRUPT_PIN, VIRTIO_CON_PLAT_INTERRUPT_LINE, backend); common_make_virtio_net(virtio_emul_vm, vm->pci, vm->io_port, VIRTIO_IOPORT_START + 0x1000, VIRTIO_IOPORT_SIZE, VIRTIO_INTERRUPT_PIN, VIRTIO_NET_PLAT_INTERRUPT_LINE, backend); a、above two function，I found they use the same VIRTIO_IOPORT_START， I modify VIRTIO_IOPORT_START of common_make_virtio_net to （VIRTIO_IOPORT_START + 0x1000）, is it OK? b、I also found（VIRTIO_CON_PLAT_INTERRUPT_LINE == VIRTIO_NET_PLAT_INTERRUPT_LINE）,is that OK? Whether it should be make interrupt line different ? Question2: "_utspace_split_alloc@split.c:272 Failed to find any untyped capable of creating an object at address 0xc0001000 Failed to find device cap for 0xc0001000" According to the print above: a、my PCI region define as below: #define PCI_CFG_REGION_ADDR 0xC1000000 #define PCI_IO_REGION_ADDR 0xC0000000 #define PCI_CFG_REGION_SIZE 0x1000000 #define PCI_IO_REGION_SIZE 0x1000 #define PCI_CFG_BAR_MASK 0xFFFFFFFF I found 'virtio_net_init' and 'virtio_console_init' will call the same function 'install_virtio_vpci_device', net and console will have the same PCI_IO_REGION_ADDR ? is it OK? b、If I want to support two or muti virtio device, which should I add a new macro define for virtio_net in a? for example add PCI_IO_REGION_ADDR for net or add PCI_CFG_REGION_ADDR ? c、Can you give me some list file to change for support for support net and console meanwhile? Thank you very much.

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Adding Platform Support: CAmkES-ARM-VM: VM_Minimal: Raspberry Pi 3b
by Turner, Ben 21 Feb '20

21 Feb '20

Hi, I have been attempting to add support for the Raspberry Pi 3 b platform so that I can run the vm_minimal application on it. The platform supports ARM_HYP, so I believe it should be possible to get this working. I have reached to point where ninja errors on an implicit declaration for `set_gic_vcpu_ctrl_hcr`. From what I understand, this is to do with the ARM Generic Interrupt Controller, however the RPi3b doesn't have a GIC, it has a `bcm2836-armctrl-ic`. This occurs because the file vcpu.h defines an inline function that calls this function, however as the RPi3b doesn't have a GIC, neither the gic_v2.h or gic_v3.h files are provided in the build environment, and hence the build fails. I am unsure what this means in terms of implementation. What needs to be added or changed to get this compiling for the RPi3b? Thanks in advance Ben Turner ________________________________________ Roke Manor Research Limited, Romsey, Hampshire, SO51 0ZN, United Kingdom.Part of the Chemring Group. Registered in England & Wales. Registered No: 00267550 http://www.roke.co.uk _______________________________________ The information contained in this e-mail and any attachments is proprietary to Roke Manor Research Limited and must not be passed to any third party without permission. This communication is for information only and shall not create or change any contractual relationship. ________________________________________

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