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SCP-firmware User Guide

This document describes how to build the SCP and MCP firmware and run it with a tested set of other software components using defined configurations on supported Arm platforms. While it is possible to use other software components, configurations and platforms, how to do so is outside the scope of this document.

Host machine requirements

Running SCP-firmware on Fixed Virtual Platform (FVP) models requires at least 12GB of available memory. A multicore CPU is highly recommended to maintain smooth operation.

This software has been tested on Ubuntu 20.04 LTS (64-bit).

Prerequisites

To build the SCP/MCP firmware for a target product, the following tools are required:

Additionally, the firmware may be built using one of three compilers:

If building using the LLVM toolchain, the GNU Arm Embedded Toolchain is also required for the Arm standard library and headers that ship with it. When building for a ARMv7 target the respective Arm Compiler-RT builtins are also required.

The following tools are recommended but not required:

  • Doxygen (1.8.13 or later): Required to generate supporting documentation
  • AArch64 GCC toolchain (6.2.1 or later): To build the Trusted Firmware in order to run the tests suites
  • ARM GCC GNU-A toolchain (7.4.0 or later): Required to build framework tests that run on the host system
  • [lcov] (1.13 or later): Required to run unit test framework
  • cppcheck (2.8): Required during build process to check the code
  • ninja-build (1.10.0 or later): Default build system to compile the project UNIX-Make is a suitable alternative if preferred.
  • clang-format (10.0.0 or later): Automatic code formatter.

If building for an Arm FVP platform, you will need to ensure you have the relevant FVP.

The FVPs also have a soft dependency on the following tools:

  • xterm: Required to view UART output

The instructions provided as a part of this guide assume you have Git (2.17.1 or later) available in your environment.

Installing some of these prerequisites can be done on any standard Debian-based system with the following:

sudo apt install \
    build-essential \
    doxygen \
    git \
    python3 \
    python3-pip \
    device-tree-compiler \
    ninja-build \
    lcov

For setting up the build system and its requirements (CMake among them), visit the cmake_readme.md file.

For the FVP prerequisites:

sudo apt install xterm

For code style checks in Python scripts (pip3 needs to be installed):

pip3 install pycodestyle
pip3 install --upgrade pycodestyle
sudo apt-get install pep8

Cloning the SCP-firmware source code

The SCP-firmware source code can be cloned from the official Gitlab repository:

git clone --recurse-submodules https://git.gitlab.arm.com/firmware/SCP-firmware.git\
 ${SCP_PATH}

Cloning dependencies

Under certain configurations the SCP-firmware has a dependency on the CMSIS-Core projects, which are part of the Cortex Microcontroller System Interface Standard (CMSIS) software pack. The source tree for this software is included with the firmware as a Git submodule. You can fetch all submodules from within the source directory with the following:

git submodule update --init --recursive

This command will also fetch submodules related to unit testing.For more information please refer to the unit_test/user_guide.md documentation.

Documentation

If Doxygen is available on the host system then comprehensive documentation can be generated. The complete set of documentation is compiled into bundles in HTML, LaTeX, and XML formats and placed in the build/doc directory. This documentation includes:

  • A README section
  • The BSD-3-Clause license under which this software and supporting files are distributed
  • The SCP-firmware user guide (the content of this file)
  • An overview of the framework on which SCP-firmware is written, including information on how components of the software must interact with the framework and with each other
  • An overview of the build system and the project directory structure
  • The project's coding style
  • Source documentation for the SCP-firmware framework
  • Source documentation for modules that are included in the currently supported products

From within the SCP-firmware root directory Doxygen can be invoked using the top-level Makefile.cmake file:

make -f Makefile.cmake doc

Building SCP-firmware

To build SCP-firmware for a specific product the basic command format for invoking make (from within the source directory) is:

make -f Makefile.cmake PRODUCT=<PRODUCT> [OPTIONS] [TARGET]

For example, to build the RAM firmware for TC2 in debug mode, use the following:

make -f Makefile.cmake PRODUCT=totalcompute/tc2 MODE=debug firmware-scp_ramfw

The all target will be used if [TARGET] is omitted, which will build all the firmware defined by the product.

Building example for all of the R-Car targets:

make -f Makefile.cmake PRODUCT=rcar TOOLCHAIN=GNU

Note: Currently it is only possible to build the rcar target with version 9.2-2019.12 or earlier of the the GNU Arm Embedded Toolchain.

The help target provides further information on the arguments that can be given:

make -f Makefile.cmake help

The framework includes a suite of tests that validate its core functionality. If you installed the native GCC prerequisite, these can be run on the host system using:

make -f Makefile.cmake test

For more guidance and information on the build system, refer to the full set of documentation included in the Build System chapter of the Doxygen-generated documentation.

Building with LLVM

When building with the LLVM toolchain, it is mandatory to pass the required standard library and headers. These are taken from the GNU Arm Embedded Toolchain. According to the desired product and target the required environment variables differ. The PATH variable of the system must incorporate path to the required toolchain.

The sysroot path of the GNU Arm Embedded Toolchain must be passed under the SYSROOT environment variable.

make -f Makefile.cmake PRODUCT=totalcompute/tc2 \
    LLVM_SYSROOT_CC=/path/to/sysroot

The Compiler-RT builtins for baremetal are usually placed in:

/path/to/clang/resource/dir/lib/baremetal

For a LLVM 13 installation on Ubuntu this could be:

/usr/lib/llvm-13/lib/clang/13.0.1/lib/baremetal

You can discover the resource dir of your Clang 13 installation by running:

clang-13 -print-resource-dir

Running the SCP-firmware on Total Compute (TC) platforms

For setting up the environment, installing all dependencies, configuration, building the system and running it on an FVP, please refer to, and follow, the TC2 User Guide. Bear in mind that the installation process might require root privileges.

The instructions within this section use TC2 BSP only without Android (buildroot) as an example platform, but they are relevant for all TC platforms.

After setting up the environment it would be desirable to set a SCP-firmware version, to do that please run:

cd <tc2_workspace>/src/SCP-firmware
git fetch <remote name/url> <branch/tag/hash commit id>
git checkout FETCH_HEAD

Build all components

export PLATFORM=tc2
export FILESYSTEM=buildroot
<tc2_workspace>/build-scripts/run_docker.sh <tc2_workspace>/build-scripts/build-all.sh -p $PLATFORM -f $FILESYSTEM build

Running Buildroot

When all build images are created and deployed you can run the following command to test the system in a FVP.

<tc2_workspace>/run-scripts/tc2/run_model.sh -m <model binary path> -d buildroot

Obtaining the TC2 FVP

The TC2 FVP is available to partners for build and run on Linux host environments. Please contact Arm to have access ([email protected]).

Running the SCP firmware on SGI and Neoverse Reference Design platforms

For an introduction to the System Guidance for Infrastructure (SGI) platforms, please refer to System Guidance for Infrastructure (SGI).

For an introduction to the Neoverse Reference Design (RD) platforms, please refer to Neoverse Reference Designs.

The instructions within this section use SGI-575 as an example platform, but they are relevant for all SGI and Neoverse Reference Design platforms.

Building the images

The build system generates firmware images per the product.mk file associated with the product. For SGI and Neoverse Reference Design platforms, three firmware images are built:

  • sgi575-bl1.bin: SCP ROM firmware image - loads the SCP RAM firmware from NOR flash into private SRAM and jumps to it
  • sgi575-bl2.bin: SCP RAM firmware image - manages the system runtime services
  • sgi575-mcp-bl1.bin: MCP ROM firmware image
cd ${SCP_PATH} && \
    make -f Makefile.cmake PRODUCT=neoverse-rd/sgi575 MODE=debug

export SCP_ROM_PATH=${SCP_PATH}/build/sgi575/GNU/debug/firmware-scp_romfw/bin/\
sgi575-bl1.bin
export SCP_RAM_PATH=${SCP_PATH}/build/sgi575/GNU/debug/firmware-scp_ramfw/bin/\
sgi575-bl2.bin
export MCP_ROM_PATH=${SCP_PATH}/build/sgi575/GNU/debug/firmware-mcp_romfw/bin/\
sgi575-mcp-bl1.bin

Note: If building with LLVM, make sure to pass the required environment variables to make as noted in Building with LLVM.

Creating the NOR flash image

Unlike in the System Guidance for Mobile platforms, a secure-world application processor firmware is not required to load the SCP firmware. Instead, the SCP ROM firmware loads the SCP RAM firmware directly from NOR flash memory at a fixed address.

To create a NOR flash image containing only the SCP RAM firmware, use:

export NOR_PATH=/tmp/nor.bin

dd if=/dev/zero of=${NOR_PATH} bs=1024 count=62976 && \
cat ${SCP_RAM_PATH} >> ${NOR_PATH}

Booting the firmware

To simulate the basic SCP boot flow on the SGI-575 FVP, use the following command line:

FVP_CSS_SGI-575 \
    -C css.scp.ROMloader.fname=${SCP_ROM_PATH} \
    -C css.mcp.ROMloader.fname=${MCP_ROM_PATH} \
    -C board.flashloader0.fname=${NOR_PATH}

Running the SCP firmware on the Juno Development Board

For an introduction to the Juno Development Board, please refer to the Arm Developer documentation.

Building the images

The build system generates firmware images per the product.mk file associated with the product. For Juno platform, three firmware images are built:

  • juno-bl1-bypass.bin: SCP ROM bypass firmware image - an alternative ROM firmware that is loaded from an external non volatile on-board memory. This binary needs to be used in order to successfully load the SCP RAM firmware, and is chain-loaded from the burned-in ROM on the physical board (not necessary for the FVP).
  • juno-bl2.bin: SCP RAM firmware image - manages the system runtime services
cd ${SCP_PATH} && \
    make -f Makefile.cmake PRODUCT=juno MODE=debug

export SCP_ROM_BYPASS_PATH=${SCP_PATH}/build/juno/GNU/debug/\
firmware-scp_romfw_bypass/bin/juno-bl1-bypass.bin
export SCP_RAM_PATH=${SCP_PATH}/build/juno/GNU/debug/firmware-scp_ramfw/\
bin/juno-bl2.bin

Note: If building with LLVM, make sure to pass the required environment variables as noted in Building with LLVM.

Booting the firmware

In order for the juno-bl2.bin firmware image to be loaded, an application processor secure world firmware needs to be available to load it. Arm maintains the Arm Trusted Firmware-A (TF-A) project, which handles this case. The remaining instructions assume you are using Trusted Firmware-A.

To boot the SCP firmware on Juno with TF-A, you will need at minimum three additional images:

  • bl1: BL1 - first-stage bootloader stored in the system ROM
  • bl2: BL2 - second-stage bootloader loaded by bl1, responsible for handing over scp_bl2 to the SCP
  • fip: FIP - firmware image package containing bl2 and scp_bl2

The FIP format acts as a container for a number of commonly-used images in the TF-A boot flow. Documentation for the FIP format can be found in the TF-A firmware design documentation.

An example command line to build Arm Trusted Firmware-A for AArch64 is given below. Note that you will need to have installed the prerequisites for building Arm Trusted Firmware-A for Juno.

export TFA_PATH=<your Trusted Firmware-A path>

git clone https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git \
${TFA_PATH}

cd ${TFA_PATH}

make CROSS_COMPILE=aarch64-linux-gnu- DEBUG=1 LOG_LEVEL=30 PLAT=juno \
    CSS_USE_SCMI_SDS_DRIVER=1 SCP_BL2=<path to scp_bl2> \
    BL33=<path to bl33file> bl1 bl2 fip

export BL1_PATH=${TFA_PATH}/build/juno/debug/bl1.bin
export BL2_PATH=${TFA_PATH}/build/juno/debug/bl2.bin
export FIP_PATH=${TFA_PATH}/build/juno/debug/fip.bin

Before beginning, please ensure the SD card used for your Juno board has been set up with a Linaro release software stack. If this is not the case, you can follow the Linaro software release instructions and/or download a new SD card filesystem from the Linaro releases page.

Once your SD card has been set up, you can do the following to get started with building and running the SCP firmware:

  • Replace SOFTWARE/fip.bin with your version of fip.bin
  • Replace SOFTWARE/bl1.bin with your version of bl1.bin
  • Replace SOFTWARE/scp_bl1.bin with your version of scp_romfw_bypass.bin

Lastly, ensure your host has synchronized any buffered data on the SD card (on Linux and Unix systems, this can be done with the sync command) and reset the board.

You can see the progress of the boot by connecting the UART to your host PC (please follow the instructions in the Juno Getting Started Guide).

Software stack

Arm provides a super-project with guides for building and running a full software stack on Arm platforms. This project provides a convenient wrapper around the various build systems involved in the software stack, including for SCP-firmware.

Deprecated platforms

This section provides some guidance for deprecating a platform. The code in this case remains in the repository, but support is no longer provided. The process involves removing the chosen platform from the build and adding it to the list of deprecated platforms.

  1. Remove the chosen-platform from the "products" list in tools/ci_cmake.py
  2. Add the chosen-platform to the "DEPRECATED_PLATFORMS" list in Makefile.cmake
  3. Submit a change to this repository