Re: [seL4] Problem booting camkes arm vmm on TK1 from SD Card

One update on this. I pulled the sel4test-manifest project and built that for the TK1. When it built the efi image, I wasn't able to get it to work on my TK1 device. When I made the changes to the settings and got it to build the elf file instead, the tests ran just fine. I did double check to make sure I had done this. I am still not able to boot the ARM VMM. setenv bootm_boot_mode nonsec saveenv On Mon, Jan 27, 2020 at 10:41 AM Mike Clark wrote:

Hi Chris,

Thank you for the suggestion. I removed tk1 from the efi_list (so now it is the empty string). I rebuilt everything. Now when I run file on the resulting image I get: capdl-loader-image-arm-tk1: ELF 32-bit LSB executable, ARM, EABI5 version 1 (SYSV), statically linked, with debug_info, not stripped

Running readelf -h on the file returns:

ELF Header: Magic: 7f 45 4c 46 01 01 01 00 00 00 00 00 00 00 00 00 Class: ELF32 Data: 2's complement, little endian Version: 1 (current) OS/ABI: UNIX - System V ABI Version: 0 Type: EXEC (Executable file) Machine: ARM Version: 0x1 Entry point address: 0x817f0000 Start of program headers: 52 (bytes into file) Start of section headers: 20647556 (bytes into file) Flags: 0x5000200, Version5 EABI, soft-float ABI Size of this header: 52 (bytes) Size of program headers: 32 (bytes) Number of program headers: 2 Size of section headers: 40 (bytes) Number of section headers: 20 Section header string table index: 19

I copied that image to the SD card and tried to boot with fatload followed by bootelf. It sits there doing nothing for a little while (maybe a minute) then resets the CPU:

Tegra124 (Jetson TK1) # bootelf ${loadaddr} ## Starting application at 0x817f0000 ... data abort pc : [<817f7590>] lr : [<817f7650>] reloc pc : [<019ba590>] lr : [<019ba650>] sp : 81809f98 ip : 00000002 fp : 81809fb4 r10: 00000000 r9 : fd7ffed0 r8 : 00000014 r7 : fda60610 r6 : 00000000 r5 : 823b117c r4 : 81000000 r3 : ffffffff r2 : ffffefff r1 : fda60610 r0 : 82b7aa40 Flags: Nzcv IRQs off FIQs off Mode SVC_32 Code: e50b300c e51b3018 e5932000 e51b300c (e5933000) Resetting CPU ...

resetting ...

U-Boot SPL 2020.01-00442-gc00bd81ae0 (Jan 10 2020 - 11:10:18 -0500) Trying to boot from RAM

This is all with basically a fresh clone of the camkes-arm-vm-manifest git project then doing "../init-build.sh -DAARCH32=TRUE -DTk1Insecure=TRUE -DCAMKES_VM_APP=vm_minimal -DPLATFORM=tk1" then "ninja" in the build folder.

Mike

On Mon, Jan 27, 2020 at 9:58 AM Chris Guikema < Chris.Guikema@dornerworks.com> wrote:

...

Mike,

Do you happen to have the “ApplyData61ElfloaderSettings()” command in your project files?

function(ApplyData61ElfLoaderSettings kernel_platform kernel_sel4_arch)

set(

binary_list

"tx1;hikey;am335x;odroidc2;imx8mq-evk;rockpro64;imx8mm-evk;hifive"

)

set(efi_list "tk1")

set(uimage_list "tx2")

That sets any compiled images for the tk1 to be efi. You can remove the “tk1” from the “efi_list” and running “ccmake .” should allow you to choose the output setting as an elf. I’ve seen some issues where efi images don’t boot properly, but not with u-boot, so I can’t be sure your exact problem.

Thanks,

Chris Guikema

DornerWorks

*From:* Mike Clark *Sent:* Monday, January 27, 2020 8:53 AM *To:* Shen, Yanyan (Data61, Kensington NSW) *Cc:* Chris Guikema ; devel@sel4.systems *Subject:* Re: [seL4] Problem booting camkes arm vmm on TK1 from SD Card

CAUTION: This email originated from outside the organization. Do not click links or open attachments unless you recognize the sender and know the content is safe.

Thanks.

I checked the output of file and it does list it as MS-DOS executable.

Now I tried

# fatload mmc 1 ${loadaddr} capdl-loader-image-arm-tk1

# bootefi ${loadaddr}

After that I get nothing. The system just sits there and I get no further output.

Anything else I can try? Is there any way to change the type of image that is getting created? I never had any issues with bootelf before and my old elf images still work.

Mike

On Sat, Jan 25, 2020 at 10:03 AM Shen, Yanyan (Data61, Kensington NSW) < Yanyan.Shen@data61.csiro.au> wrote:

Hi Mike,

Could you run "file images/capdl-loader-image-arm-tk1"? If you see "images/capdl-loader-image-arm-tk1: MS-DOS executable", the image is an EFI image, so bootefi command should help.

Also, the link, https://docs.sel4.systems/Hardware/jetsontk1.html, may be helpful.

Regards, Yanyan

On Fri, 2020-01-24 at 15:24 -0500, Mike Clark wrote:

...

Chris,

Looks like I might have spoken too soon. When I use go instead of bootelf, the board actually resets. Here are the log messages:

Tegra124 (Jetson TK1) # fatload mmc 1 0x82000000 capdl-loader-image- arm-tk1 20435184 bytes read in 964 ms (20.2 MiB/s) Tegra124 (Jetson TK1) # go 0x82000000 ## Starting application at 0x82000000 ... data abort pc : [<82000110>] lr : [<fff51d84>] reloc pc : [<021c3110>] lr : [<80114d84>] sp : fd7f8610 ip : 00000002 fp : fff6be40 r10: 00000002 r9 : fd7ffed0 r8 : fffcbe9c r7 : fda60420 r6 : 82000000 r5 : 00000001 r4 : 00000000 r3 : 82000000 r2 : fda60424 r1 : fda60424 r0 : 00006090 Flags: nzCv IRQs off FIQs off Mode SVC_32 Code: 00000000 00000000 00000000 42100040 (7865742e) Resetting CPU ...

resetting ...

U-Boot SPL 2020.01-00442-gc00bd81ae0 (Jan 10 2020 - 11:10:18 -0500) Trying to boot from RAM

U-Boot 2020.01-00442-gc00bd81ae0 (Jan 10 2020 - 11:10:18 -0500)

SoC: tegra124 Reset cause: SW_MAIN Model: NVIDIA Jetson TK1 Board: NVIDIA Jetson TK1 DRAM: 2 GiB MMC: sdhci@700b0400: 1, sdhci@700b0600: 0 Loading Environment from MMC... OK In: serial Out: serial Err: serial Net: No ethernet found. Hit any key to stop autoboot: 0 Tegra124 (Jetson TK1) #

Doing readelf on the image that is being built doesn't work either

$ readelf -h capdl-loader-image-arm-tk1 readelf: Error: Not an ELF file - it has the wrong magic bytes at the start

My old images from a year ago still boot just fine with bootelf. Any thoughts?

Mike

On Fri, Jan 10, 2020 at 3:46 PM Mike Clark wrote:

...

That did the trick Chris. Thanks!

On Fri, Jan 10, 2020 at 3:30 PM Chris Guikema < Chris.Guikema@dornerworks.com> wrote:

...

Mike,

Can you do a readelf of your outputted image to make sure its not compiling as a binary? If it is, you’ll have to use the “go” command in u-boot instead.

Thanks,

Chris Guikema

DornerWorks

From: Devel On Behalf Of Mike Clark Sent: Friday, January 10, 2020 3:22 PM To: devel@sel4.systems Subject: [seL4] Problem booting camkes arm vmm on TK1 from SD Card

CAUTION: This email originated from outside the organization. Do not click links or open attachments unless you recognize the sender and know the content is safe. I'm using the docker image to build the CAmkES ARM VMM project using roughly the instructions here: https://docs.sel4.systems/VM/CAmkESARMVM.html (they are slightly out of date).

I do:

../init-build.sh -DAARCH32=TRUE -DCAMKES_VM_APP=vm_minimal -DPLATFORM=tk1

ninja

Then I copy the resulting image from the images directory to an SD card and put that in my TK1.

When U-Boot starts I use the following commands to try to boot

fatload mmc 1 0x10000000 capdl-loader-image-arm-tk1

bootelf 0x10000000

To which I get an error: No elf image at address 0x10000000

I tried with an older version of U-Boot (that worked following this same procedure about a year ago). It is U-Boot SPL 2014.10- rc2-g3127911 (Jun 07 2016 - 21:00:01)

I also tried updating U-Boot to U-Boot SPL 2020.01-00442- gc00bd81ae0 (Jan 10 2020 - 11:10:18 -0500). Same error.

Any thoughts or suggestions on how I get this to boot?

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