A manifest that allows one to build virtualized seL4 for zcu102 and i.MX8.

All of the code pointed to by default.xml is released by TARDEC for contract ASM17-04 under DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.

mkdir ~/sel4-vmm
cd ~/sel4-vmm
repo init -u https://github.com/dornerworks/sel4-armv8-vmm-manifest.git
repo sync

These instructions assume you are using the seL4 docker image.

• Install petalinux using the following instructions. (I used version 2017.3)
  • Note: We have seen some issues with using 2017.4 and we haven't tested any newer versions.
• Create a project from the petalinux BSP:

cd ~
petalinux-create -t project -s xilinx-zcu102-v2017.4-final.bsp
cd xilinx-zcu102-2017.4

• Make modifications so that Linux will start a getty for either serial device:
  • Add the following to the end of project-spec/meta-user/conf/layer.conf:

  require conf/distro/include/console.inc
  

  • Create the file project-spec/meta-user/conf/distro/include/console.inc with the following:

  SERIAL_CONSOLES_append = " 115200;ttyPS1"
  

• Add the vchan module
  • Get the vchan source code

  cd ~
  git clone https://github.com/dornerworks/vchan_module.git
  

  • Create a new module:

  cd ~/xilinx-zcu102-2017.4
  petalinux-create -t modules -n vchan --enable
  

  • Install module files:

  cp ~/vchan_module/vchan.bb project-spec/meta-user/recipes-modules/vchan/vchan.bb
  cp ~/vchan_module/vchan/* project-spec/meta-user/recipes-modules/vchan/files/
  

• Build Linux

petalinux-build

• Copy built image to seL4 project

cp images/linux/Image ~/sel4-vmm/apps/linux/zynqmp/Image1

• Generate BOOT.bin

petalinux-package --boot --fsbl images/linux/zynqmp_fsbl.elf --pmufw images/linux/pmufw.elf --u-boot

• Copy ./BOOT.BIN to a boot partition on an SD card.

• Start the seL4 Docker

cd ~/sel4-vmm
make -C /path/to/seL4-CAmkES-L4v-dockerfiles user HOST_DIR=$(pwd)

• Install old necessary package

sudo pip2 install tempita
sudo pip3 install tempita

• Build for the ZCU102

make zynqmp_vm_linux_defconfig
make
aarch64-linux-gnu-objcopy -O binary images/sel4arm-vmm-image-arm-zynqmp sel4-vmm

• Connect to both APU UARTs from the ZCU102
  • U-Boot and seL4 use the first UART
  • The VMs all use the second UART
    • The virtual console can be switched with ctrl+]
• Copy sel4-vmm to your tftp directory
• Run the image via u-boot

dhcp; tftpb 0x10000000 172.192.10.15:sel4-vmm; go 0x10000000