From 8e2db50d2da289c5e3432689835ba905d2826987 Mon Sep 17 00:00:00 2001 From: Annie Tallund Date: Tue, 27 May 2025 08:02:55 +0200 Subject: [PATCH 1/3] Initial tech review of Linux on FVP LP --- .../linux-on-fvp/debug.md | 131 +++------ .../linux-on-fvp/example-picture.png | Bin 63167 -> 0 bytes .../linux-on-fvp/intro.md | 88 ++----- .../linux-on-fvp/modify.md | 249 +++--------------- .../linux-on-fvp/run.md | 79 ++---- .../linux-on-fvp/steps.md | 149 +++-------- 6 files changed, 164 insertions(+), 532 deletions(-) delete mode 100644 content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/example-picture.png diff --git a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/debug.md b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/debug.md index b01f537bb9..cfde22743a 100644 --- a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/debug.md +++ b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/debug.md @@ -6,90 +6,32 @@ weight: 6 layout: learningpathall --- -## Debug using Arm Development Studio - -To debug TF-A and Linux kernel, you can use the Arm Development Studio (Arm DS) debugger. You can get it from the [Arm Development Studio download page](https://developer.arm.com/downloads/view/DS000B). - -DWARF 5 is the default option in GCC 11 and Arm Development Studio version v2022.2 includes initial support for DWARF 5 debug information. - -If your GCC version is later than GCC 11, download the latest Arm Development Studio to get support for DWARF 5. - -Arm Development Studio includes the following Base FVP models: - -* FVP_Base_Cortex-A32x1 -* FVP_Base_Cortex-A35x1 -* FVP_Base_Cortex-A510x2 -* FVP_Base_Cortex-A53x1 -* FVP_Base_Cortex-A55x1 -* FVP_Base_Cortex-A55x4+Cortex-A75x2 -* FVP_Base_Cortex-A55x4+Cortex-A76x2 -* FVP_Base_Cortex-A57x1 -* FVP_Base_Cortex-A57x2-A53x4 -* FVP_Base_Cortex-A65AEx2 -* FVP_Base_Cortex-A65x2 -* FVP_Base_Cortex-A710x2 -* FVP_Base_Cortex-A72x1 -* FVP_Base_Cortex-A72x2-A53x4 -* FVP_Base_Cortex-A73x1 -* FVP_Base_Cortex-A73x2-A53x4 -* FVP_Base_Cortex-A75x1 -* FVP_Base_Cortex-A76AEx2 -* FVP_Base_Cortex-A76x1 -* FVP_Base_Cortex-A77x2 -* FVP_Base_Cortex-A78AEx2 -* FVP_Base_Cortex-A78Cx2 -* FVP_Base_Cortex-A78x2 -* FVP_Base_Cortex-X1Cx2 -* FVP_Base_Cortex-X1x2 -* FVP_Base_Cortex-X2x2 - -Arm FVPs that are not provided by Arm DS installation must be defined in the PATH environment variable to be available for Arm Development Studio. Otherwise, you might get the following error when starting the debug connection. - -![Connection Failed Screen #center](failed.png") - -For Linux, set up the PATH in the appropriate shell configuration file. - -For example, add the following line in your `~/.bashrc` file: - -```console -export PATH=/bin:$PATH -``` - -After changing the search PATH, you need to start Arm Development Studio from a terminal with the new PATH. - -Start Development Studio by running the `armds_ide` command: - -```console -/opt/arm/developmentstudio-2022.2/bin/armds_ide -``` - -![Arm DS IDE #center](armds_ide.png) - -## FVP Debug Connection - -Before debugging, the FVP model you want to use must be available in the Arm DS configuration database so that you can select it in the Model Connection dialog box. - -If the FVP model is not available, you must import it and create a new model configuration. For details, see [create a new model](https://developer.arm.com/documentation/101470/2022-2/Platform-Configuration/Model-targets/Create-a-new-model-configuration). +## Debug the Software Stack with Arm Development Studio -Most CPU FVP models are available for your edition of Arm DS and the FVPs are listed under the Arm FVP (Installed with Arm DS) and Arm FVP as shown in the following figure: +Once your software stack is running on the FVP, you can debug Trusted Firmware-A and the Linux kernel using Arm Development Studio (Arm DS). -![Debug Configurations screen #center](debug_config.png) +### Step 1: Install Arm Development Studio -To use Arm DS to connect to an FVP model for bare-metal debugging, perform the following steps: +Download and install the latest version from the [Arm Development Studio download page](https://developer.arm.com/downloads/view/DS000B). -1. From the Arm Development Studio main menu, select Run > Debug Configurations. +DWARF 5 is enabled by default in GCC 11 and later. Arm DS v2022.2 or newer is recommended to support DWARF 5 debug information. -2. Select the Generic Arm C/C++ Application from the left panel and click the new launch configuration button to create a new debug configuration. -3. In the Connection tab, select the target and connection settings: -In the Select target panel confirm the target selected. For example, select Arm FVP (Installed with Arm DS) Base_A55 x4 > Bare Metal Debug: +Launch Arm DS: +``` +/opt/arm/developmentstudio-2022.2/bin/armds_ide +``` -![Select target #center](Select_target.png) -Specify the Model parameters under the Connections. The model parameters are similar to those listed below. These parameters are described at the section Run software stack on FVP. Different CPU FVPs might have different parameters. +### Step 2: Create a Debug Configuration +1. Open Arm DS, go to Run > Debug Configurations. +2. Select Generic Arm C/C++ Application and create a new configuration. +3. In the Connection tab: + - Choose your FVP model (e.g., Base_A55x4). + - Enter model parameters: -```console +```output -C pctl.startup=0.0.0.0 \ -C bp.secure_memory=0 \ -C cache_state_modelled=0 \ @@ -108,27 +50,40 @@ Specify the Model parameters under the Connections. The model parameters are sim --data cluster0.cpu0=/output/aemfvp-a/aemfvp-a/fvp-base-revc.dtb@0x83000000 ``` -4. Configure debugger settings in the Debugger +### Step 3: Load Debug Symbols -In Run control, choose Connect only to the target. +In the Debugger tab: +- Select “Connect only to the target.” +- Enable Execute debugger commands and add: +```output +add-symbol-file "~/arm/sw/cpufvp-a/arm-tf/build/fvp/debug/bl1/bl1.elf" EL3:0 +add-symbol-file "~/arm/sw/cpufvp-a/arm-tf/build/fvp/debug/bl2/bl2.elf" EL1S:0 +add-symbol-file "~/arm/sw/cpufvp-a/arm-tf/build/fvp/debug/bl31/bl31.elf" EL3:0 +add-symbol-file "~/arm/sw/cpufvp-a/linux/out/aemfvp-a/defconfig/vmlinux" EL2N:0 +``` -5. Select the Execute debugger commands option and add load symbols commands if you want to debug your application at source level. For example, add TF-A and Linux kernel debug symbols as follows: +Click Apply and then Close. -``` -add-symbol-file “~/arm/sw/cpufvp-a/arm-tf/build/fvp/debug/bl1/bl1.elf” EL3:0 -add-symbol-file “~/arm/sw/cpufvp-a/arm-tf/build/fvp/debug/bl2/bl2.elf” EL1S:0 -add-symbol-file “~/arm/sw/cpufvp-a/arm-tf/build/fvp/debug/bl31/bl31.elf” EL3:0 -add-symbol-file “~/arm/sw/cpufvp-a/linux/out/aemfvp-a/defconfig/vmlinux” EL2N:0 -``` +### Step 4: Start Debugging + +1. In the Debug Control view, double-click your new configuration. +2. Wait for the target to connect and symbols to load. +3. Set breakpoints, step through code, and inspect registers or memory. + +You might get the following error when starting the debug connection. -6. Click Apply and then Close to save the configuration settings and close the Debug Configurations dialog box. +![Connection Failed Screen #center](failed.png) -7. In the Debug Control view, double-click the debug configuration that you create. +This means your Arm FVP is not provided by default in the Arm DS installation. Set the `PATH` in this case: -This step starts the debug connection, loads the application on the model, and loads the debug information into the debugger. +```bash +export PATH=/bin:$PATH +``` -8. Set breakpoints and click Continue running application to continue running your FVP. +{{% notice tip %}} +Ensure your FVP instance is running and matches the model and parameters selected in Arm DS. +{{% /notice %}} -9. 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a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/intro.md b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/intro.md index 06e9d130f5..5845609060 100644 --- a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/intro.md +++ b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/intro.md @@ -1,76 +1,46 @@ --- -title: Introduction to Arm Ecosystem Fixed Virtual Platforms +title: Introduction to Arm Fixed Virtual Platforms (FVPs) weight: 2 ### FIXED, DO NOT MODIFY layout: learningpathall --- -Arm Ecosystem Fixed Virtual Platforms (FVPs) model hardware subsystems and target different market segments and applications. +Arm Fixed Virtual Platforms (FVPs) are simulation models that let you run and test full software stacks on Arm systems before physical hardware is available. They replicate the behavior of Arm CPUs, memory, and peripherals using fast binary translation. -FVPs use binary translation technology to deliver fast, functional simulations of Arm-based systems, including processor, memory, and peripherals. They implement a programmer's view suitable for software development and enable execution of full software stacks, providing an available platform to run software before silicon is available. +### Why Use FVPs? +FVPs are useful for developers who want to: +- Prototype software before silicon availability +- Debug firmware and kernel issues +- Simulate multicore systems -Arm provides two different types of FVPs. +FVPs provide a programmer's view of the hardware, making them ideal for system bring-up, kernel porting, and low-level debugging. -## Arm Ecosystem FVPs +### Freely Available Arm Ecosystem FVPs +Several pre-built Armv8-A FVPs can be downloaded for free from the [Arm Ecosystem Models](https://developer.arm.com/Tools%20and%20Software/Fixed%20Virtual%20Platforms#Downloads) page. Categories include: +- Architecture +- Automotive +- Infrastructure +- IoT -There are several freely available, pre-built Armv8‑A FVPs for download from [Arm Ecosystem Models](https://developer.arm.com/Tools%20and%20Software/Fixed%20Virtual%20Platforms#Downloads) on the Arm Developer website. You can use these FVPs without a license. +A popular model is the **AEMv8-A Base Platform RevC**, which supports Armv8.7 and Armv9-A. The [Arm reference software stack](https://gitlab.arm.com/arm-reference-solutions/arm-reference-solutions-docs/-/blob/master/docs/aemfvp-a/user-guide.rst) is designed for this model. -There are multiple categories of Ecosystem FVPs such as: -- Architecture FVPs -- Automotive FVPs -- Infrastructure FVPs -- IoT FVPs +### CPU-Specific Arm Base FVPs +Other FVPs target specific CPU types and come pre-configured with a fixed number of cores. These are often called **CPU FVPs**. -For example, in the architecture category, the AEMv8-A Base Platform RevC FVP is freely available, and it supports the latest Armv8‑A architecture versions up to v8.7 and Armv9-A. +Here are some examples: +- FVP_Base_Cortex-A55x4 +- FVP_Base_Cortex-A72x4 +- FVP_Base_Cortex-A78x4 +- FVP_Base_Cortex-A510x4+Cortex-A710x4 -The [Arm reference software stack](https://gitlab.arm.com/arm-reference-solutions/arm-reference-solutions-docs/-/blob/master/docs/aemfvp-a/user-guide.rst) is based on the above RevC model. +To use these, request access via [support@arm.com](mailto:support@arm.com). -## Arm Base FVPs specific CPU types +### Setting Up Your Environment +This Learning Path uses the [Arm reference software stack](https://gitlab.arm.com/arm-reference-solutions/arm-reference-solutions-docs/-/blob/master/docs/aemfvp-a/user-guide.rst). -Arm Base Armv8-A FVPs with specific CPU types are configured with a fixed number of cores. These are also called CPU FVPs because they specify the CPU types instead of the architecture version. - -The FVP_Base_Cortex-\ FVP is available for you to build and run on Linux computers. Contact Arm Support [support@arm.com](mailto:support@arm.com) to request access. - -You can use any of the FVPs listed below to run the reference software stack: - -* FVP_Base_Cortex-A510x4 -* FVP_Base_Cortex-A510x4+Cortex-A710x4 -* FVP_Base_Cortex-A53x4 -* FVP_Base_Cortex-A55x4 -* FVP_Base_Cortex-A55x4+Cortex-A75x4 -* FVP_Base_Cortex-A55x4+Cortex-A78x4 -* FVP_Base_Cortex-A57x2-A35x4 -* FVP_Base_Cortex-A57x2-A53x4 -* FVP_Base_Cortex-A57x4 -* FVP_Base_Cortex-A57x4-A35x4 -* FVP_Base_Cortex-A57x4-A53x4 -* FVP_Base_Cortex-A65AEx4 -* FVP_Base_Cortex-A65AEx4+Cortex-A76AEx4 -* FVP_Base_Cortex-A65x4 -* FVP_Base_Cortex-A710x4 -* FVP_Base_Cortex-A72x2-A53x4 -* FVP_Base_Cortex-A72x4 -* FVP_Base_Cortex-A72x4-A53x4 -* FVP_Base_Cortex-A73x2-A53x4 -* FVP_Base_Cortex-A73x4 -* FVP_Base_Cortex-A73x4-A53x4 -* FVP_Base_Cortex-A75x4 -* FVP_Base_Cortex-A76AEx4 -* FVP_Base_Cortex-A76x4 -* FVP_Base_Cortex-A77x4 -* FVP_Base_Cortex-A78AEx4 -* FVP_Base_Cortex-A78Cx4 -* FVP_Base_Cortex-A78x4 -* FVP_Base_Cortex-X1Cx4 -* FVP_Base_Cortex-X1x4 -* FVP_Base_Cortex-X2x4 -* FVP_Base_Neoverse-E1x4 -* FVP_Base_Neoverse-N1x4 - -### Set up the environment - -This Learning Path uses the [Arm reference software](https://gitlab.arm.com/arm-reference-solutions/arm-reference-solutions-docs/-/blob/master/docs/aemfvp-a/user-guide.rst) stack. - -Follow the [Armv-A Base AEM FVP Platform Software User Guide](https://gitlab.arm.com/arm-reference-solutions/arm-reference-solutions-docs/-/blob/master/docs/aemfvp-a/user-guide.rst) to set up the environment, download the software stack, and get the toolchain. +To get started: +1. Follow the software user guide to download the stack. +2. Set up the required toolchain and environment variables. +Once configured, you’ll be ready to run and debug Linux on your selected Arm FVP model. \ No newline at end of file diff --git a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/modify.md b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/modify.md index eca21d7c95..7a4f4ea097 100644 --- a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/modify.md +++ b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/modify.md @@ -6,244 +6,63 @@ weight: 4 layout: learningpathall --- -## Remove PCI and SMMU nodes - -CPU FVPs do not include PCI and SMMU support. To run the reference software stack on CPU FVPs remove the PCI and SMMU nodes from the device tree. - -If you build the software without modifying the device tree, you get the following error message after running the software stack: - -```console -[ 0.563774] pci-host-generic 40000000.pci: host bridge /pci@40000000 ranges: -[ 0.563972] pci-host-generic 40000000.pci: MEM 0x0050000000..0x005fffffff -> 0x0050000000 -[ 0.564233] pci-host-generic 40000000.pci: ECAM at [mem 0x40000000-0x4fffffff] for [bus 00-01] -[ 0.564878] pci-host-generic 40000000.pci: PCI host bridge to bus 0000:00 -[ 0.565014] pci_bus 0000:00: root bus resource [bus 00-01] -[ 0.565138] pci_bus 0000:00: root bus resource [mem 0x50000000-0x5fffffff] -[ 0.565266] Internal error: synchronous external abort: 96000010 [#1] PREEMPT SMP -[ 0.565366] Modules linked in: -[ 0.565448] CPU: 2 PID: 1 Comm: swapper/0 Not tainted 5.13.13 #1 -[ 0.565534] Hardware name: FVP Base RevC (DT) -[ 0.565621] pstate: 204000c9 (nzCv daIF +PAN -UAO -TCO BTYPE=--) -[ 0.565746] pc : pci_generic_config_read+0x3c/0xe4 -[ 0.565832] lr : pci_generic_config_read+0x28/0xe4 -[ 0.565966] sp : ffff80001205b960 -[ 0.566006] x29: ffff80001205b960 x28: 0000000000000000 x27: ffff8000116904b8 -[ 0.566179] x26: ffff800011741060 x25: 0000000000000000 x24: ffff800011fca8b8 -[ 0.566366] x23: 0000000000000000 x22: ffff80001205ba64 x21: 0000000000000087 -[ 0.566566] x20: 0000000000000004 x19: ffff80001205b9c4 x18: 0000000000000030 -[ 0.566723] x17: 000000000000003f x16: 000000000000000b x15: ffffffffffffffff -[ 0.566923] x14: ffff80009205b697 x13: ffff800011ca2a30 x12: 0000000000000267 -[ 0.567096] x11: 00000000000000cd x10: ffff800011cfaa30 x9 : 00000000fffff000 -[ 0.567270] x8 : ffff800011ca2a30 x7 : ffff800011cfaa30 x6 : 0000000000000001 -[ 0.567443] x5 : 0000000000000000 x4 : ffff800012800000 x3 : 0000000000000000 -[ 0.567624] x2 : 0000000000000000 x1 : 0000000000000000 x0 : ffff800012800000 -[ 0.567790] Call trace: -[ 0.567866] pci_generic_config_read+0x3c/0xe4 -[ 0.567966] pci_bus_read_config_dword+0x7c/0xd0 -[ 0.568066] pci_bus_generic_read_dev_vendor_id+0x38/0x1b4 -[ 0.568198] pci_scan_single_device+0xa0/0x150 -[ 0.568311] pci_scan_slot+0x44/0x130 -[ 0.568435] pci_scan_child_bus_extend+0x54/0x2a0 -[ 0.568525] pci_scan_root_bus_bridge+0x68/0xdc -[ 0.568666] pci_host_probe+0x1c/0xc4 -[ 0.568782] pci_host_common_probe+0x11c/0x19c -[ 0.568918] platform_probe+0x6c/0xdc -[ 0.569017] really_probe+0xe4/0x510 -[ 0.569129] driver_probe_device+0x64/0xc4 -[ 0.569263] device_driver_attach+0xc4/0xd0 -[ 0.569366] __driver_attach+0x94/0x134 -[ 0.569508] bus_for_each_dev+0x70/0xd0 -[ 0.569613] driver_attach+0x28/0x34 -[ 0.569737] bus_add_driver+0x108/0x1f0 -[ 0.569836] driver_register+0x7c/0x130 -[ 0.569966] __platform_driver_register+0x2c/0x40 -[ 0.570084] gen_pci_driver_init+0x20/0x2c -[ 0.570171] do_one_initcall+0x50/0x1b0 -[ 0.570266] kernel_init_freeable+0x220/0x2a4 -[ 0.570409] kernel_init+0x18/0x124 -[ 0.570491] ret_from_fork+0x10/0x30 -[ 0.570566] Code: 7100069f 540001c0 71000a9f 54000300 (b9400001) -[ 0.570778] ---[ end trace 6db9afd6e7186a9a ]--- -[ 0.570827] note: swapper/0[1] exited with preempt_count 1 -[ 0.570952] Kernel panic - not syncing: Attempted to kill init! exitcode=0x0000000b -[ 0.571066] SMP: stopping secondary CPUs -[ 0.571147] Kernel Offset: disabled -[ 0.571174] CPU features: 0x10000081,a3300e46 -[ 0.571266] Memory Limit: none -[ 0.571366] ---[ end Kernel panic - not syncing: Attempted to kill init! exitcode=0x0000000b ]--- -``` +## Modify the Device Tree for CPU FVPs -The [Arm reference software stack](https://gitlab.arm.com/arm-reference-solutions/arm-reference-solutions-docs/-/blob/master/docs/aemfvp-a/user-guide.rst) uses the following device tree: +To run Linux on Arm CPU FVPs, you need to adjust the device tree to match the hardware features of these platforms. This involves removing unsupported nodes (like SMMU (System Memory Management Unit)and PCI (Peripheral Component Interconnect)) and ensuring CPU affinity values are set correctly. -```output -linux/arch/arm64/boot/dts/arm/fvp-base-revc.dts -``` - -Use a text editor to delete the following lines from the device tree: - -```console -155 pci: pci@40000000 { -156 #address-cells = <0x3>; -157 #size-cells = <0x2>; -158 #interrupt-cells = <0x1>; -159 compatible = "pci-host-ecam-generic"; -160 device_type = "pci"; -161 bus-range = <0x0 0x1>; -162 reg = <0x0 0x40000000 0x0 0x10000000>; -163 ranges = <0x2000000 0x0 0x50000000 0x0 0x50000000 0x0 0x10000000>; -164 interrupt-map = <0 0 0 1 &gic 0 0 GIC_SPI 168 IRQ_TYPE_LEVEL_HIGH>, -165 <0 0 0 2 &gic 0 0 GIC_SPI 169 IRQ_TYPE_LEVEL_HIGH>, -166 <0 0 0 3 &gic 0 0 GIC_SPI 170 IRQ_TYPE_LEVEL_HIGH>, -167 <0 0 0 4 &gic 0 0 GIC_SPI 171 IRQ_TYPE_LEVEL_HIGH>; -168 interrupt-map-mask = <0x0 0x0 0x0 0x7>; -169 msi-map = <0x0 &its 0x0 0x10000>; -170 iommu-map = <0x0 &smmu 0x0 0x10000>; -171 -172 dma-coherent; -173 }; -174 -175 smmu: iommu@2b400000 { -176 compatible = "arm,smmu-v3"; -177 reg = <0x0 0x2b400000 0x0 0x100000>; -178 interrupts = , -179 , -180 , -181 ; -182 interrupt-names = "eventq", "gerror", "priq", "cmdq-sync"; -183 dma-coherent; -184 #iommu-cells = <1>; -185 msi-parent = <&its 0x10000>; -186 }; -``` +### Step 1: Remove PCI and SMMU Nodes -Rebuild Linux using the following commands: +CPU FVPs don't support PCI and SMMU. If you don't remove these nodes, Linux will crash at boot with a kernel panic. -```console -./build-scripts/build-linux.sh -p aemfvp-a -f busybox clean -./build-scripts/build-linux.sh -p aemfvp-a -f busybox build +1. Open the device tree file in a text editor: +```bash +vim linux/arch/arm64/boot/dts/arm/fvp-base-revc.dts ``` +2. Delete the following two blocks: +- `pci@40000000` +- `iommu@2b400000` -Package the built Linux to the BusyBox disk image by using the following command: - -```console -./build-scripts/aemfvp-a/build-test-busybox.sh -p aemfvp-a package -``` - -### Modify CPU nodes - -On Arm64 SMP systems, cores are identified by the MPIDR_EL1 register. The MPIDR_EL1 in the [Arm Architecture Reference Manual](https://developer.arm.com/documentation/ddi0487/latest) does not provide strict enforcement of MPIDR_EL1 layout. - -For example, Cortex-A55 has a layout different from the layout of Cortex-A53. - -The following two tables compare the MPIDR_EL1 Layout between Cortex-A55 and Cortex-A53. - -![Cortex-A55 MPIDR_EL1 Layout #center](cortex-a55_MPIDR_EL1.png) - -![Cortex-A53 MPIDR_EL1 Layout #center](Cortex-a53_MPIDR_EL1.png) - -Linux Kernel boots the CPU cores according to the affinity values in the device tree. However, different CPU FVP platforms use different affinity values. If the affinity value in the device tree is not consistent with the CPU FVP platform, you might get the following error: +{{% notice warning %}} +If you skip this, you’ll get an error like: ```output -[ 0.023728] psci: failed to boot CPU2 (-22) -[ 0.023948] CPU2: failed to boot: -22 -[ 0.025770] psci: failed to boot CPU3 (-22) -[ 0.025867] CPU3: failed to boot: -22 -[ 0.027567] psci: failed to boot CPU4 (-22) -[ 0.027679] CPU4: failed to boot: -22 -[ 0.029541] psci: failed to boot CPU5 (-22) -[ 0.029615] CPU5: failed to boot: -22 -[ 0.031410] psci: failed to boot CPU6 (-22) -[ 0.031467] CPU6: failed to boot: -22 -[ 0.033319] psci: failed to boot CPU7 (-22) -[ 0.033383] CPU7: failed to boot: -22 +Kernel panic - not syncing: Attempted to kill init! exitcode=0x0000000b ``` +{{% /notice %}} -Affinity values in the device tree must be consistent with the affinity values in the FVP platform. Perform the following steps to modify affinity values: +### Step 2: Set CPU Affinity Values -### Get correct affinity value for the FVP platforms - -The parameter pctl.CPU-affinities in the FVP platform shows the correct affinity values, for example: - -```console -$FVP_Base_Cortex-A55x4 -l |grep pctl.CPU-affinities -pctl.CPU-affinities=0.0.0.0, 0.0.1.0, 0.0.2.0, 0.0.3.0 -$FVP_Base_Cortex-A57x2-A53x4 -l |grep pctl.CPU-affinities -pctl.CPU-affinities=0.0.0.0, 0.0.0.1, 0.0.1.0, 0.0.1.1, 0.0.1.2, 0.0.1.3 -``` - -The CPU affinity values on the FVP_Base_Cortex-A55x4 are: - -```console -0x0,0x0100,0x0200,0x300 +Each FVP model uses specific CPU affinity values. If these don’t match what’s in the device tree, some CPU cores won’t boot. +1. Find the correct affinities: +```bash +FVP_Base_Cortex-A55x4 -l | grep pctl.CPU-affinities ``` -The CPU affinity values on the FVP_Base_Cortex-A57x2-A53x4 are: +Example output: -```console -0x0,0x1,0x0100,0x0101,0x0102,0x0103 +```output +pctl.CPU-affinities=0.0.0.0, 0.0.1.0, 0.0.2.0, 0.0.3.0 ``` -### Modify the affinity values in the device tree to be consistent with the FVP platform +2. Convert each to hex for the reg field: -You must change the affinity value in the device tree: - -```console -linux/arch/arm64/boot/dts/arm/fvp-base-revc.dts +```output +0x0, 0x0100, 0x0200, 0x0300 ``` -Consider FVP_Base_Cortex-A57x2-A53x4 as an example: - -```console -cpu0: cpu@0 { - device_type = "cpu"; - compatible = "arm,armv8"; - reg = <0x0 0x000>; - enable-method = "psci"; -}; -cpu1: cpu@1 { - device_type = "cpu"; - compatible = "arm,armv8"; - reg = <0x0 0x01>; - enable-method = "psci"; -}; -cpu2: cpu@100 { - device_type = "cpu"; - compatible = "arm,armv8"; - reg = <0x0 0x100>; - enable-method = "psci"; -}; -cpu3: cpu@101 { - device_type = "cpu"; - compatible = "arm,armv8"; - reg = <0x00 0x101>; - enable-method = "psci"; -}; -cpu4: cpu@102 { - device_type = "cpu"; - compatible = "arm,armv8"; - reg = <0x00 0x102>; - enable-method = "psci"; -}; -cpu5: cpu@103 { - device_type = "cpu"; - compatible = "arm,armv8"; - reg = <0x00 0x103>; - enable-method = "psci"; -}; -``` +3. Update the CPU nodes in your device tree file to use these reg values. -### Remove unnecessary CPU nodes +{{% notice tip %}} +To avoid boot errors like psci: failed to boot CPUx (-22), make sure every cpu@xxx entry matches the FVP layout. +{{% /notice %}} -Remove unnecessary CPU nodes from the device tree, according to the CPU numbers of the FVP platform. +### Step 3: Rebuild Linux -Rebuild the Linux by using the following commands: +After editing the device tree, rebuild Linux: -``` +```bash ./build-scripts/build-linux.sh -p aemfvp-a -f busybox clean ./build-scripts/build-linux.sh -p aemfvp-a -f busybox build +./build-scripts/aemfvp-a/build-test-busybox.sh -p aemfvp-a package ``` -Package the built Linux to the BusyBox disk image by using the following command: - -``` -./build-scripts/aemfvp-a/build-test-busybox.sh -p aemfvp-a package -``` \ No newline at end of file +This regenerates the image with the updated device tree, ready for use with your FVP. \ No newline at end of file diff --git a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/run.md b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/run.md index c6f2c042e5..4c5f4ac836 100644 --- a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/run.md +++ b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/run.md @@ -6,17 +6,19 @@ weight: 5 layout: learningpathall --- -### Firmware and Kernel Images -After adding extra TF-A build options and removing the PCI and MMU nodes from the device tree, you can follow the [Arm Reference Solution Guide](https://gitlab.arm.com/arm-reference-solutions/arm-reference-solutions-docs/-/blob/master/docs/aemfvp-a/user-guide.rst) to build the software stack. +## Run the Linux Software Stack on an FVP -When the build is complete, you can use the `tree` command to look at the directory structure. +Once you've built the Linux stack with the correct configuration, you're ready to run it on an Arm CPU Fixed Virtual Platform (FVP). -```console +### Step 1: Verify the Build Output + +After building, check the output directory to make sure the expected files were generated: + +```bash tree output/aemfvp-a/aemfvp-a/ ``` - -The directory structure is similar to: +Expected output: ```output output/aemfvp-a/aemfvp-a/ @@ -33,15 +35,10 @@ output/aemfvp-a/aemfvp-a/ └── uefi.bin -> ../components/aemfvp-a/uefi.bin ``` -### Run software stack on FVP - -After the build of the software stack, you can follow the [guide](https://gitlab.arm.com/arm-reference-solutions/arm-reference-solutions-docs/-/tree/master) to run the software stack on the Armv-A Base AEM FVP platform. - -CPU FVP platforms have a fixed number of cores, so you cannot use the model-scripts/aemfvp-a/boot.sh to run the CPU FVP platforms. - -To run the software stack in the CPU FVP platform, use a command similar to: +### Step 2: Run the Software Stack -```console +To launch the software stack on the FVP, use a command like the following: +```bash FVP_Base_Cortex-A55x4 \ -C pctl.startup=0.0.0.0 \ -C bp.secure_memory=0 \ @@ -60,63 +57,41 @@ FVP_Base_Cortex-A55x4 \ --data cluster0.cpu0=/output/aemfvp-a/aemfvp-a/Image@0x80080000 \ --data cluster0.cpu0=/output/aemfvp-a/aemfvp-a/fvp-base-revc.dtb@0x83000000 ``` +This will boot Trusted Firmware-A, UEFI/U-Boot, Linux, and BusyBox in sequence. -After the previous command is run, the CPU FVP starts booting Trusted Firmware-A, followed by UEFI/U-Boot, Linux, and BusyBox. +### Step 3: Troubleshoot FVP Launch Issues -If you use the GUI, you can run it as shown in the following figure: - -![GUI #center](FVP.png) - -### Alternative running option - -On some CPU FVP platforms, you might encounter the following error and the system cannot boot successfully. +Different FVP models use different CPU instance names. If you see an error like: ```output -Warning: target instance not found: 'FVP_Base_Cortex_A65AEx4_Cortex_A76AEx4.cluster0.cpu0' (data: 'output/aemfvp-a/aemfvp-a/Image') -In file: /tmp/plgbuild/abs_build/1153836_60931/trunk/work/fastsim/Framework/scx/SCXExportedVirtualSubsystem.cpp:358 Warning: target instance not found: 'FVP_Base_Cortex_A65AEx4_Cortex_A76AEx4.cluster0.cpu0' (data: 'output/aemfvp-a/aemfvp-a/fvp-base-revc.dtb') -In file: /tmp/plgbuild/abs_build/1153836_60931/trunk/work/fastsim/Framework/scx/SCXExportedVirtualSubsystem.cpp:358 -``` - -The FVP platform contains multiple CPU instances, and the CPU instance names are different on different CPU FVP platforms. - -To load raw data into right CPU instances, use the `––dataoption` to specify correct CPU instance names, according to the CPU FVP platform. For example, on FVP_Base_Cortex-A55x4, the CPU0 instance is cluster0.cpu0: - -```console -data cluster0.cpu0=/output/aemfvp-a/aemfvp-a/Image@0x80080000 \ ---data cluster0.cpu0=/output/aemfvp-a/aemfvp-a/fvp-base-revc.dtb@0x83000000 ``` -Run the FVP to dump the parameters and use `grep` to get the correct CPU0 instance name in the CPU FVP platform. +You need to identify the correct instance name for your platform. Run: -```console +```bash FVP_Base_Cortex-A65AEx4+Cortex-A76AEx4 -l | grep RVBARADDR | grep cpu0 ``` -The output is similar to: +Example output: ```output -cluster0.subcluster0.cpu0.thread0.RVBARADDR=0 # (int , init-time) default = '0x0' : Value of RVBAR_ELx register. -cluster0.subcluster0.cpu0.thread1.RVBARADDR=0 # (int , init-time) default = '0x0' : Value of RVBAR_ELx register. cluster0.subcluster1.cpu0.RVBARADDR=0 # (int , init-time) default = '0x0' : Value of RVBAR_ELx register. ``` -For another FVP: +Update your --data parameters accordingly: -```console -FVP_Base_Cortex-A55x4+Cortex-A78x4 -l | grep RVBARADDR | grep cpu0 +```output +--data cluster0.subcluster0.cpu0.thread0=/output/aemfvp-a/aemfvp-a/Image@0x80080000 \ +--data cluster0.subcluster0.cpu0.thread0=/output/aemfvp-a/aemfvp-a/fvp-base-revc.dtb@0x83000000 ``` -The output is similar to: +{{% notice tip %}} +Always confirm the CPU instance name when switching between different FVP models. +{{% /notice %}} -```output -cluster0.subcluster0.cpu0.RVBARADDR=0 # (int , init-time) default = '0x0' : Value of RVBAR_ELx register. -cluster0.subcluster1.cpu0.RVBARADDR=0 # (int , init-time) default = '0x0' : Value of RVBAR_ELx register. -``` +### Optional: Use the GUI -For FVP_Base_Cortex-A65AEx4+Cortex-A76AEx4, use the –data option like the following to run the FVP: +You can also run the FVP using its graphical user interface: -```console ---data cluster0.subcluster0.cpu0.thread0=/output/aemfvp-a/aemfvp-a/Image@0x80080000 \ ---data cluster0.subcluster0.cpu0.thread0=/output/aemfvp-a/aemfvp-a/fvp-base-revc.dtb@0x83000000 -``` +![GUI #center](FVP.png) diff --git a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/steps.md b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/steps.md index 4f51c9148b..3ab3891c1d 100644 --- a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/steps.md +++ b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/steps.md @@ -6,145 +6,58 @@ weight: 3 layout: learningpathall --- -## What are cpu_ops? +## Build TF-A with CPU Operations Support -In the context of Arm Trusted Firmware-A (TF-A), cpu_ops refers to a framework that defines CPU-specific operations essential for managing power states and initialization sequences. This framework is particularly crucial for implementing the Power State Coordination Interface (PSCI), which standardizes power management in Arm systems.   +Some Arm FVPs require CPU-specific initialization routines to boot properly. These routines are part of the TF-A `cpu_ops` framework. -## What is the purpose of cpu_ops? +### What are cpu_ops? +The `cpu_ops` framework in Trusted Firmware-A contains functions to: +- Handle CPU resets +- Manage power states +- Apply errata workarounds -The cpu_ops framework provides a set of function pointers tailored to specific CPU architectures. These functions handle operations such as: - • Reset Handling: Executing CPU-specific reset sequences. - • Power Management: Managing CPU power-down and power-up sequences. - • Errata Workarounds: Applying necessary workarounds for known CPU errata during initialization. - -By abstracting these operations, TF-A can support multiple CPU types seamlessly, allowing for a modular and maintainable codebase. - -## Why build cpu_ops into images? - -If you build the software without any modification, you might get the following error message after running the software stack: - -```console -ASSERT: File lib/cpus/aarch64/cpu_helpers.S Line 00035 -``` - -The previous error message occurs because the TF-A does not build the cpu_ops into the images: - -```console -31 /* Get the matching cpu_ops pointer */ - -32 bl get_cpu_ops_ptr - -33 #if ENABLE_ASSERTIONS - -34 cmp x0, #0 - -35 ASM_ASSERT(ne) - -36 #endif -``` - - -The cpu_ops are defined in the source file as follows: - -```console -lib/cpus/aarch64/cortex_a510.S -lib/cpus/aarch64/cortex_a53.S +Each CPU type has its own implementation, defined in files like: +```output lib/cpus/aarch64/cortex_a55.S -lib/cpus/aarch64/cortex_a57.S -lib/cpus/aarch64/cortex_a65.S -lib/cpus/aarch64/cortex_a65ae.S -lib/cpus/aarch64/cortex_a710.S -lib/cpus/aarch64/cortex_a715.S -lib/cpus/aarch64/cortex_a72.S -lib/cpus/aarch64/cortex_a73.S -``` - -Check the Makefile (plat/arm/board/fvp/platform.mk) of the FVP platform. - -Find the following code: - -```console -ifeq (${HW_ASSISTED_COHERENCY}, 0) -# Cores used without DSU - FVP_CPU_LIBS += lib/cpus/aarch64/cortex_a35.S \ - lib/cpus/aarch64/cortex_a53.S \ - lib/cpus/aarch64/cortex_a57.S \ - lib/cpus/aarch64/cortex_a72.S \ - lib/cpus/aarch64/cortex_a73.S -else -# Cores used with DSU only - ifeq (${CTX_INCLUDE_AARCH32_REGS}, 0) - # AArch64-only cores - FVP_CPU_LIBS += lib/cpus/aarch64/cortex_a76.S \ - lib/cpus/aarch64/cortex_a76ae.S \ - lib/cpus/aarch64/cortex_a77.S \ - lib/cpus/aarch64/cortex_a78.S \ - lib/cpus/aarch64/neoverse_n_common.S \ - lib/cpus/aarch64/neoverse_n1.S \ - lib/cpus/aarch64/neoverse_n2.S \ - lib/cpus/aarch64/neoverse_e1.S \ - lib/cpus/aarch64/neoverse_v1.S \ - lib/cpus/aarch64/neoverse_v2.S \ - lib/cpus/aarch64/cortex_a78_ae.S \ - lib/cpus/aarch64/cortex_a510.S \ - lib/cpus/aarch64/cortex_a710.S \ - lib/cpus/aarch64/cortex_a715.S \ - lib/cpus/aarch64/cortex_x3.S \ - lib/cpus/aarch64/cortex_a65.S \ - lib/cpus/aarch64/cortex_a65ae.S \ - lib/cpus/aarch64/cortex_a78c.S \ - lib/cpus/aarch64/cortex_hayes.S \ - lib/cpus/aarch64/cortex_hunter.S \ - lib/cpus/aarch64/cortex_x2.S \ - lib/cpus/aarch64/neoverse_poseidon.S - endif - # AArch64/AArch32 cores - FVP_CPU_LIBS += lib/cpus/aarch64/cortex_a55.S \ - lib/cpus/aarch64/cortex_a75.S -endif +lib/cpus/aarch64/cortex_a53.S +... etc. ``` -Default build options are `HW_ASSISTED_COHERENCY = 0` and `CTX_INCLUDE_AARCH32_REGS = 1`. - -### What are the required build options to fix the problem? +## Why you need this -Building the cpu_ops into the TF-A image requires different build options, depending on the CPU type. For example, different platforms require different build options when building the TF-A: +If the firmware is built without proper cpu_ops, you’ll hit an assertion failure like: -* For the A55 CPU FVP, add the HW_ASSISTED_COHERENCY=1 and USE_COHERENT_MEM=0 build options. -* For the A78 CPU FVP, add the HW_ASSISTED_COHERENCY=1, USE_COHERENT_MEM=0, and CTX_INCLUDE_AARCH32_REGS=0 build options. -* For the A53 CPU FVP, you do not need extra build options. - -Note: The build option USE_COHERENT_MEM cannot be enabled with HW_ASSISTED_COHERENCY=1. +```output +ASSERT: File lib/cpus/aarch64/cpu_helpers.S Line 00035 +``` -### What are the steps to build cpu_ops into the TF-A image? +This means the required CPU operation routines are missing from the build. -Perform the following steps to build cpu_ops into the TF-A image: +## Step-by-Step: Add TF-A Build Flags -Modify the following build script to add build options. The [Arm reference software stack](https://gitlab.arm.com/arm-reference-solutions/arm-reference-solutions-docs/-/blob/master/docs/aemfvp-a/user-guide.rst) uses the [build-scripts](https://gitlab.arm.com/arm-reference-solutions/build-scripts) to build the TF-A. +To include the correct `cpu_ops`, you need to set TF-A build options depending on the CPU. -Add TF-A build options, depending on the CPU type. For example: +### Example: A55 CPU FVP -* For A55 CPU FVP, add the following line: +Add the following line to your TF-A build script: -```console -ARM_TF_BUILD_FLAGS="$ARM_TF_BUILD_FLAGS HW_ASSISTED_COHERENCY=1 USE_COHERENT_MEM=0 " +```output +ARM_TF_BUILD_FLAGS="$ARM_TF_BUILD_FLAGS HW_ASSISTED_COHERENCY=1 USE_COHERENT_MEM=0" ``` -* For A78 CPU FVP, add the following line: - -```console +### Example: A78 CPU FVP +```output ARM_TF_BUILD_FLAGS="$ARM_TF_BUILD_FLAGS HW_ASSISTED_COHERENCY=1 USE_COHERENT_MEM=0 CTX_INCLUDE_AARCH32_REGS=0" ``` +{{% notice Note %}} +USE_COHERENT_MEM=1 cannot be used with HW_ASSISTED_COHERENCY=1. +{{% /notice %}} -Rebuild the TF-A by using the following commands: +## Rebuild and Package -```console +Run the following commands to rebuild TF-A and integrate it into the BusyBox image: +```bash ./build-scripts/build-arm-tf.sh -p aemfvp-a -f busybox clean ./build-scripts/build-arm-tf.sh -p aemfvp-a -f busybox build -``` - -Package the built TF-A into the BusyBox disk image by using the following command: - -```console ./build-scripts/aemfvp-a/build-test-busybox.sh -p aemfvp-a package ``` From 6859d1cc43c81e836655781663c141e7250685b2 Mon Sep 17 00:00:00 2001 From: Annie Tallund Date: Mon, 16 Jun 2025 11:07:40 +0200 Subject: [PATCH 2/3] Remove draft status for review process --- .../embedded-and-microcontrollers/linux-on-fvp/_index.md | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/_index.md b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/_index.md index 103dc30bdf..ef7f7d6b28 100644 --- a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/_index.md +++ b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/_index.md @@ -3,13 +3,9 @@ title: Run and Debug a Linux Software Stack on Arm Virtual Platforms minutes_to_complete: 180 -draft: true -cascade: - draft: true - who_is_this_for: This introductory topic is designed for developers interested in running Linux on Arm Fixed Virtual Platforms (FVPs) and debugging Trusted Firmware-A and the Linux Kernel using Arm Development Studio. -learning_objectives: +learning_objectives: - Run a Linux software stack using Arm Fixed Virtual Platforms. - Debug the firmware and Linux kernel using Arm Development Studio. @@ -33,7 +29,7 @@ tools_software_languages: further_reading: - resource: - title: Fast Models Fixed Virtual Platforms Reference Guide + title: Fast Models Fixed Virtual Platforms Reference Guide link: https://developer.arm.com/documentation/100966/ type: documentation - resource: From b1e1cef03411c9d8d454632c8335e23e2cc8f424 Mon Sep 17 00:00:00 2001 From: Annie Tallund Date: Wed, 18 Jun 2025 08:19:48 +0200 Subject: [PATCH 3/3] Add draft status back --- .../embedded-and-microcontrollers/linux-on-fvp/_index.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/_index.md b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/_index.md index ef7f7d6b28..59fa4fd0e8 100644 --- a/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/_index.md +++ b/content/learning-paths/embedded-and-microcontrollers/linux-on-fvp/_index.md @@ -15,6 +15,10 @@ prerequisites: author: Qixiang Xu +draft: true +cascade: + draft: true + ### Tags skilllevels: Introductory subjects: Embedded Linux