NXP i.MX 93 seL4 Port Convenience Repo

This repo contains the sel4test and sel4bench projects, as well a simple hello world test program.

The imx93 branch additionally has the UUU scripts and binaries added to reproduce the seL4 porting setup. Using these is entirely optional and only for development. For release, the seL4 image should be stored in flash and loaded by U-boot as usual.

Submodules

git submodules are used to get all the required repos, but are not checked out by default, except if you used git clone --recurse-submodules.

git submodule init
git submodule update

(If you do update --remote to get the newest submodule commits, please make sure to revert the checkout of nanopb, newer version do not compile.)

Configuration and Build

To build a specific project 'hello', 'test' or 'bench':

proj=<hello|test|bench>
mkdir build-$proj
cd build-$proj
../$proj/init-build.sh -DPLATFORM=imx93 <options>
ninja

sel4test

Example for sel4test:

mkdir build-test
cd build-test
../test/init-build.sh -DPLATFORM=imx93 -DARM_HYP=ON -DRELEASE=ON \
	-DSMP=ON -DNUM_NODES=2 -DMCS=ON \
	-DKernelArmExportPCNTUser=ON -DKernelArmExportPTMRUser=ON
ninja

The image to use on the board is: images/sel4test-driver-image-arm-imx93

sel4bench

Example for sel4bench:

mkdir build-bench
cd build-bench
../bench/init-build.sh -DPLATFORM=imx93 -DARM_HYP=ON \
	-DSMP=ON -DMCS=ON -DFAULT=ON -DHARDWARE=ON
	-DKernelArmExportPCNTUser=ON -DKernelArmExportPTMRUser=ON
ninja

(sel4bench does not have NUM_NODES, but hardcodes the number of cores per platform. FAULT and HARDWARE are additional tests.)

The image to use on the board is: images/sel4benchapp-image-arm-imx93

UUU

“Universal Update Utility”, NXP specific tool to do firmware updates, used to be called mfgtools. Your distro will have a package, but it probably won’t be new enough to support the i.MX93 yet.

Version 1.5.182 was used during development of the port.

The UUU script used to load and run the seL4 images can be found at

tools/sel4.uuu and should be executed like:

uuu -b tools/sel4.uuu <spl> <image>

The sel4.uuu script will upload the SPL+U-boot image, boot it, and then run Uboot Fastboot commands to upload the seL4 image to SDRAM memory and execute it. No file or flash content on any storage will be modified.

When the script is started with also the -d option to keep UUU running in daemon mode, all you need to do to reload the board is reset it with the ON-OFF switch and UUU will automatically upload and execute the seL4 image again. If you recompile the image in the meantime, the updated file will be used. This is very useful when developing for seL4.

SPL + U-boot

During development the spl file extraced from the NXP binary release LF_v6.6.36-2.1.0_boot_IMX-SystemReady-IR-certified was used:

imx-boot-imx93evk-sd.bin-flash_singleboot

Newer and alternative releases can be downloaded from:

https://www.nxp.com/design/design-center/software/embedded-software/i-mx-software/embedded-linux-for-i-mx-applications-processors:IMXLINUX

SPL and U-Boot image files can be either downloaded or build from source using the NXP repositories.

EVK Board Setup

the script assumes the board boots in either serial download mode or in U-boot Fastboot mode. Blank chips always boot in serial download mode.

To boot the EVK board in serial download boot, set the BMODE jumpers to: 1=ON, 2=ON, 3=OFF, 4=OFF.

• Connect the programming cable to USB1 (next to ENET2 Ethernet port).
• Connect the cable to DBG (first USB port near the WIFI/BT Antenna).
• Connect a PD aware power supplying USB-C cable to the PD port.

Run uuu -lsusb to verify your setup:

$ uuu -lsusb
uuu (Universal Update Utility) for nxp imx chips -- libuuu_1.5.182-0-gda3cd53

Connected Known USB Devices
	Path	 Chip	 Pro	 Vid	 Pid	 BcdVersion	 Serial_no
	====================================================================
	1:4	 MX93	 SDPS:	 0x1FC9	0x014E	 0x0001	 BD374F4BD24143A9

Examples

Run sel4test:

uuu -d -b tools/sel4.uuu imx-boot-imx93evk-sd.bin-flash_singleboot \
	build-test/images/sel4test-driver-image-arm-imx93

Run sel4bench:

uuu -d -b tools/sel4.uuu imx-boot-imx93evk-sd.bin-flash_singleboot \
	build-bench/images/sel4benchapp-image-arm-imx93