1Firmware Design 2=============== 3 4Trusted Firmware-A (TF-A) implements a subset of the Trusted Board Boot 5Requirements (TBBR) Platform Design Document (PDD) for Arm reference 6platforms. 7 8The TBB sequence starts when the platform is powered on and runs up 9to the stage where it hands-off control to firmware running in the normal 10world in DRAM. This is the cold boot path. 11 12TF-A also implements the `Power State Coordination Interface PDD`_ as a 13runtime service. PSCI is the interface from normal world software to firmware 14implementing power management use-cases (for example, secondary CPU boot, 15hotplug and idle). Normal world software can access TF-A runtime services via 16the Arm SMC (Secure Monitor Call) instruction. The SMC instruction must be 17used as mandated by the SMC Calling Convention (`SMCCC`_). 18 19TF-A implements a framework for configuring and managing interrupts generated 20in either security state. The details of the interrupt management framework 21and its design can be found in :ref:`Interrupt Management Framework`. 22 23TF-A also implements a library for setting up and managing the translation 24tables. The details of this library can be found in 25:ref:`Translation (XLAT) Tables Library`. 26 27TF-A can be built to support either AArch64 or AArch32 execution state. 28 29.. note:: 30 31 The descriptions in this chapter are for the Arm TrustZone architecture. 32 For changes to the firmware design for the 33 `Arm Confidential Compute Architecture (Arm CCA)`_ please refer to the 34 chapter :ref:`Realm Management Extension (RME)`. 35 36Cold boot 37--------- 38 39The cold boot path starts when the platform is physically turned on. If 40``COLD_BOOT_SINGLE_CPU=0``, one of the CPUs released from reset is chosen as the 41primary CPU, and the remaining CPUs are considered secondary CPUs. The primary 42CPU is chosen through platform-specific means. The cold boot path is mainly 43executed by the primary CPU, other than essential CPU initialization executed by 44all CPUs. The secondary CPUs are kept in a safe platform-specific state until 45the primary CPU has performed enough initialization to boot them. 46 47Refer to the :ref:`CPU Reset` for more information on the effect of the 48``COLD_BOOT_SINGLE_CPU`` platform build option. 49 50The cold boot path in this implementation of TF-A depends on the execution 51state. For AArch64, it is divided into five steps (in order of execution): 52 53- Boot Loader stage 1 (BL1) *AP Trusted ROM* 54- Boot Loader stage 2 (BL2) *Trusted Boot Firmware* 55- Boot Loader stage 3-1 (BL31) *EL3 Runtime Software* 56- Boot Loader stage 3-2 (BL32) *Secure-EL1 Payload* (optional) 57- Boot Loader stage 3-3 (BL33) *Non-trusted Firmware* 58 59For AArch32, it is divided into four steps (in order of execution): 60 61- Boot Loader stage 1 (BL1) *AP Trusted ROM* 62- Boot Loader stage 2 (BL2) *Trusted Boot Firmware* 63- Boot Loader stage 3-2 (BL32) *EL3 Runtime Software* 64- Boot Loader stage 3-3 (BL33) *Non-trusted Firmware* 65 66Arm development platforms (Fixed Virtual Platforms (FVPs) and Juno) implement a 67combination of the following types of memory regions. Each bootloader stage uses 68one or more of these memory regions. 69 70- Regions accessible from both non-secure and secure states. For example, 71 non-trusted SRAM, ROM and DRAM. 72- Regions accessible from only the secure state. For example, trusted SRAM and 73 ROM. The FVPs also implement the trusted DRAM which is statically 74 configured. Additionally, the Base FVPs and Juno development platform 75 configure the TrustZone Controller (TZC) to create a region in the DRAM 76 which is accessible only from the secure state. 77 78The sections below provide the following details: 79 80- dynamic configuration of Boot Loader stages 81- initialization and execution of the first three stages during cold boot 82- specification of the EL3 Runtime Software (BL31 for AArch64 and BL32 for 83 AArch32) entrypoint requirements for use by alternative Trusted Boot 84 Firmware in place of the provided BL1 and BL2 85 86Dynamic Configuration during cold boot 87~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 88 89Each of the Boot Loader stages may be dynamically configured if required by the 90platform. The Boot Loader stage may optionally specify a firmware 91configuration file and/or hardware configuration file as listed below: 92 93- FW_CONFIG - The firmware configuration file. Holds properties shared across 94 all BLx images. 95 An example is the "dtb-registry" node, which contains the information about 96 the other device tree configurations (load-address, size, image_id). 97- HW_CONFIG - The hardware configuration file. Can be shared by all Boot Loader 98 stages and also by the Normal World Rich OS. 99- TB_FW_CONFIG - Trusted Boot Firmware configuration file. Shared between BL1 100 and BL2. 101- SOC_FW_CONFIG - SoC Firmware configuration file. Used by BL31. 102- TOS_FW_CONFIG - Trusted OS Firmware configuration file. Used by Trusted OS 103 (BL32). 104- NT_FW_CONFIG - Non Trusted Firmware configuration file. Used by Non-trusted 105 firmware (BL33). 106 107The Arm development platforms use the Flattened Device Tree format for the 108dynamic configuration files. 109 110Each Boot Loader stage can pass up to 4 arguments via registers to the next 111stage. BL2 passes the list of the next images to execute to the *EL3 Runtime 112Software* (BL31 for AArch64 and BL32 for AArch32) via `arg0`. All the other 113arguments are platform defined. The Arm development platforms use the following 114convention: 115 116- BL1 passes the address of a meminfo_t structure to BL2 via ``arg1``. This 117 structure contains the memory layout available to BL2. 118- When dynamic configuration files are present, the firmware configuration for 119 the next Boot Loader stage is populated in the first available argument and 120 the generic hardware configuration is passed the next available argument. 121 For example, 122 123 - FW_CONFIG is loaded by BL1, then its address is passed in ``arg0`` to BL2. 124 - TB_FW_CONFIG address is retrieved by BL2 from FW_CONFIG device tree. 125 - If HW_CONFIG is loaded by BL1, then its address is passed in ``arg2`` to 126 BL2. Note, ``arg1`` is already used for meminfo_t. 127 - If SOC_FW_CONFIG is loaded by BL2, then its address is passed in ``arg1`` 128 to BL31. Note, ``arg0`` is used to pass the list of executable images. 129 - Similarly, if HW_CONFIG is loaded by BL1 or BL2, then its address is 130 passed in ``arg2`` to BL31. 131 - For other BL3x images, if the firmware configuration file is loaded by 132 BL2, then its address is passed in ``arg0`` and if HW_CONFIG is loaded 133 then its address is passed in ``arg1``. 134 - In case of the Arm FVP platform, FW_CONFIG address passed in ``arg1`` to 135 BL31/SP_MIN, and the SOC_FW_CONFIG and HW_CONFIG details are retrieved 136 from FW_CONFIG device tree. 137 138BL1 139~~~ 140 141This stage begins execution from the platform's reset vector at EL3. The reset 142address is platform dependent but it is usually located in a Trusted ROM area. 143The BL1 data section is copied to trusted SRAM at runtime. 144 145On the Arm development platforms, BL1 code starts execution from the reset 146vector defined by the constant ``BL1_RO_BASE``. The BL1 data section is copied 147to the top of trusted SRAM as defined by the constant ``BL1_RW_BASE``. 148 149The functionality implemented by this stage is as follows. 150 151Determination of boot path 152^^^^^^^^^^^^^^^^^^^^^^^^^^ 153 154Whenever a CPU is released from reset, BL1 needs to distinguish between a warm 155boot and a cold boot. This is done using platform-specific mechanisms (see the 156``plat_get_my_entrypoint()`` function in the :ref:`Porting Guide`). In the case 157of a warm boot, a CPU is expected to continue execution from a separate 158entrypoint. In the case of a cold boot, the secondary CPUs are placed in a safe 159platform-specific state (see the ``plat_secondary_cold_boot_setup()`` function in 160the :ref:`Porting Guide`) while the primary CPU executes the remaining cold boot 161path as described in the following sections. 162 163This step only applies when ``PROGRAMMABLE_RESET_ADDRESS=0``. Refer to the 164:ref:`CPU Reset` for more information on the effect of the 165``PROGRAMMABLE_RESET_ADDRESS`` platform build option. 166 167Architectural initialization 168^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 169 170BL1 performs minimal architectural initialization as follows. 171 172- Exception vectors 173 174 BL1 sets up simple exception vectors for both synchronous and asynchronous 175 exceptions. The default behavior upon receiving an exception is to populate 176 a status code in the general purpose register ``X0/R0`` and call the 177 ``plat_report_exception()`` function (see the :ref:`Porting Guide`). The 178 status code is one of: 179 180 For AArch64: 181 182 :: 183 184 0x0 : Synchronous exception from Current EL with SP_EL0 185 0x1 : IRQ exception from Current EL with SP_EL0 186 0x2 : FIQ exception from Current EL with SP_EL0 187 0x3 : System Error exception from Current EL with SP_EL0 188 0x4 : Synchronous exception from Current EL with SP_ELx 189 0x5 : IRQ exception from Current EL with SP_ELx 190 0x6 : FIQ exception from Current EL with SP_ELx 191 0x7 : System Error exception from Current EL with SP_ELx 192 0x8 : Synchronous exception from Lower EL using aarch64 193 0x9 : IRQ exception from Lower EL using aarch64 194 0xa : FIQ exception from Lower EL using aarch64 195 0xb : System Error exception from Lower EL using aarch64 196 0xc : Synchronous exception from Lower EL using aarch32 197 0xd : IRQ exception from Lower EL using aarch32 198 0xe : FIQ exception from Lower EL using aarch32 199 0xf : System Error exception from Lower EL using aarch32 200 201 For AArch32: 202 203 :: 204 205 0x10 : User mode 206 0x11 : FIQ mode 207 0x12 : IRQ mode 208 0x13 : SVC mode 209 0x16 : Monitor mode 210 0x17 : Abort mode 211 0x1a : Hypervisor mode 212 0x1b : Undefined mode 213 0x1f : System mode 214 215 The ``plat_report_exception()`` implementation on the Arm FVP port programs 216 the Versatile Express System LED register in the following format to 217 indicate the occurrence of an unexpected exception: 218 219 :: 220 221 SYS_LED[0] - Security state (Secure=0/Non-Secure=1) 222 SYS_LED[2:1] - Exception Level (EL3=0x3, EL2=0x2, EL1=0x1, EL0=0x0) 223 For AArch32 it is always 0x0 224 SYS_LED[7:3] - Exception Class (Sync/Async & origin). This is the value 225 of the status code 226 227 A write to the LED register reflects in the System LEDs (S6LED0..7) in the 228 CLCD window of the FVP. 229 230 BL1 does not expect to receive any exceptions other than the SMC exception. 231 For the latter, BL1 installs a simple stub. The stub expects to receive a 232 limited set of SMC types (determined by their function IDs in the general 233 purpose register ``X0/R0``): 234 235 - ``BL1_SMC_RUN_IMAGE``: This SMC is raised by BL2 to make BL1 pass control 236 to EL3 Runtime Software. 237 - All SMCs listed in section "BL1 SMC Interface" in the :ref:`Firmware Update (FWU)` 238 Design Guide are supported for AArch64 only. These SMCs are currently 239 not supported when BL1 is built for AArch32. 240 241 Any other SMC leads to an assertion failure. 242 243- CPU initialization 244 245 BL1 calls the ``reset_handler()`` function which in turn calls the CPU 246 specific reset handler function (see the section: "CPU specific operations 247 framework"). 248 249- Control register setup (for AArch64) 250 251 - ``SCTLR_EL3``. Instruction cache is enabled by setting the ``SCTLR_EL3.I`` 252 bit. Alignment and stack alignment checking is enabled by setting the 253 ``SCTLR_EL3.A`` and ``SCTLR_EL3.SA`` bits. Exception endianness is set to 254 little-endian by clearing the ``SCTLR_EL3.EE`` bit. 255 256 - ``SCR_EL3``. The register width of the next lower exception level is set 257 to AArch64 by setting the ``SCR.RW`` bit. The ``SCR.EA`` bit is set to trap 258 both External Aborts and SError Interrupts in EL3. The ``SCR.SIF`` bit is 259 also set to disable instruction fetches from Non-secure memory when in 260 secure state. 261 262 - ``CPTR_EL3``. Accesses to the ``CPACR_EL1`` register from EL1 or EL2, or the 263 ``CPTR_EL2`` register from EL2 are configured to not trap to EL3 by 264 clearing the ``CPTR_EL3.TCPAC`` bit. Access to the trace functionality is 265 configured not to trap to EL3 by clearing the ``CPTR_EL3.TTA`` bit. 266 Instructions that access the registers associated with Floating Point 267 and Advanced SIMD execution are configured to not trap to EL3 by 268 clearing the ``CPTR_EL3.TFP`` bit. 269 270 - ``DAIF``. The SError interrupt is enabled by clearing the SError interrupt 271 mask bit. 272 273 - ``MDCR_EL3``. The trap controls, ``MDCR_EL3.TDOSA``, ``MDCR_EL3.TDA`` and 274 ``MDCR_EL3.TPM``, are set so that accesses to the registers they control 275 do not trap to EL3. AArch64 Secure self-hosted debug is disabled by 276 setting the ``MDCR_EL3.SDD`` bit. Also ``MDCR_EL3.SPD32`` is set to 277 disable AArch32 Secure self-hosted privileged debug from S-EL1. 278 279- Control register setup (for AArch32) 280 281 - ``SCTLR``. Instruction cache is enabled by setting the ``SCTLR.I`` bit. 282 Alignment checking is enabled by setting the ``SCTLR.A`` bit. 283 Exception endianness is set to little-endian by clearing the 284 ``SCTLR.EE`` bit. 285 286 - ``SCR``. The ``SCR.SIF`` bit is set to disable instruction fetches from 287 Non-secure memory when in secure state. 288 289 - ``CPACR``. Allow execution of Advanced SIMD instructions at PL0 and PL1, 290 by clearing the ``CPACR.ASEDIS`` bit. Access to the trace functionality 291 is configured not to trap to undefined mode by clearing the 292 ``CPACR.TRCDIS`` bit. 293 294 - ``NSACR``. Enable non-secure access to Advanced SIMD functionality and 295 system register access to implemented trace registers. 296 297 - ``FPEXC``. Enable access to the Advanced SIMD and floating-point 298 functionality from all Exception levels. 299 300 - ``CPSR.A``. The Asynchronous data abort interrupt is enabled by clearing 301 the Asynchronous data abort interrupt mask bit. 302 303 - ``SDCR``. The ``SDCR.SPD`` field is set to disable AArch32 Secure 304 self-hosted privileged debug. 305 306Platform initialization 307^^^^^^^^^^^^^^^^^^^^^^^ 308 309On Arm platforms, BL1 performs the following platform initializations: 310 311- Enable the Trusted Watchdog. 312- Initialize the console. 313- Configure the Interconnect to enable hardware coherency. 314- Enable the MMU and map the memory it needs to access. 315- Configure any required platform storage to load the next bootloader image 316 (BL2). 317- If the BL1 dynamic configuration file, ``TB_FW_CONFIG``, is available, then 318 load it to the platform defined address and make it available to BL2 via 319 ``arg0``. 320- Configure the system timer and program the `CNTFRQ_EL0` for use by NS-BL1U 321 and NS-BL2U firmware update images. 322 323Firmware Update detection and execution 324^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 325 326After performing platform setup, BL1 common code calls 327``bl1_plat_get_next_image_id()`` to determine if :ref:`Firmware Update (FWU)` is 328required or to proceed with the normal boot process. If the platform code 329returns ``BL2_IMAGE_ID`` then the normal boot sequence is executed as described 330in the next section, else BL1 assumes that :ref:`Firmware Update (FWU)` is 331required and execution passes to the first image in the 332:ref:`Firmware Update (FWU)` process. In either case, BL1 retrieves a descriptor 333of the next image by calling ``bl1_plat_get_image_desc()``. The image descriptor 334contains an ``entry_point_info_t`` structure, which BL1 uses to initialize the 335execution state of the next image. 336 337BL2 image load and execution 338^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 339 340In the normal boot flow, BL1 execution continues as follows: 341 342#. BL1 prints the following string from the primary CPU to indicate successful 343 execution of the BL1 stage: 344 345 :: 346 347 "Booting Trusted Firmware" 348 349#. BL1 loads a BL2 raw binary image from platform storage, at a 350 platform-specific base address. Prior to the load, BL1 invokes 351 ``bl1_plat_handle_pre_image_load()`` which allows the platform to update or 352 use the image information. If the BL2 image file is not present or if 353 there is not enough free trusted SRAM the following error message is 354 printed: 355 356 :: 357 358 "Failed to load BL2 firmware." 359 360#. BL1 invokes ``bl1_plat_handle_post_image_load()`` which again is intended 361 for platforms to take further action after image load. This function must 362 populate the necessary arguments for BL2, which may also include the memory 363 layout. Further description of the memory layout can be found later 364 in this document. 365 366#. BL1 passes control to the BL2 image at Secure EL1 (for AArch64) or at 367 Secure SVC mode (for AArch32), starting from its load address. 368 369BL2 370~~~ 371 372BL1 loads and passes control to BL2 at Secure-EL1 (for AArch64) or at Secure 373SVC mode (for AArch32) . BL2 is linked against and loaded at a platform-specific 374base address (more information can be found later in this document). 375The functionality implemented by BL2 is as follows. 376 377Architectural initialization 378^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 379 380For AArch64, BL2 performs the minimal architectural initialization required 381for subsequent stages of TF-A and normal world software. EL1 and EL0 are given 382access to Floating Point and Advanced SIMD registers by setting the 383``CPACR.FPEN`` bits. 384 385For AArch32, the minimal architectural initialization required for subsequent 386stages of TF-A and normal world software is taken care of in BL1 as both BL1 387and BL2 execute at PL1. 388 389Platform initialization 390^^^^^^^^^^^^^^^^^^^^^^^ 391 392On Arm platforms, BL2 performs the following platform initializations: 393 394- Initialize the console. 395- Configure any required platform storage to allow loading further bootloader 396 images. 397- Enable the MMU and map the memory it needs to access. 398- Perform platform security setup to allow access to controlled components. 399- Reserve some memory for passing information to the next bootloader image 400 EL3 Runtime Software and populate it. 401- Define the extents of memory available for loading each subsequent 402 bootloader image. 403- If BL1 has passed TB_FW_CONFIG dynamic configuration file in ``arg0``, 404 then parse it. 405 406Image loading in BL2 407^^^^^^^^^^^^^^^^^^^^ 408 409BL2 generic code loads the images based on the list of loadable images 410provided by the platform. BL2 passes the list of executable images 411provided by the platform to the next handover BL image. 412 413The list of loadable images provided by the platform may also contain 414dynamic configuration files. The files are loaded and can be parsed as 415needed in the ``bl2_plat_handle_post_image_load()`` function. These 416configuration files can be passed to next Boot Loader stages as arguments 417by updating the corresponding entrypoint information in this function. 418 419SCP_BL2 (System Control Processor Firmware) image load 420^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 421 422Some systems have a separate System Control Processor (SCP) for power, clock, 423reset and system control. BL2 loads the optional SCP_BL2 image from platform 424storage into a platform-specific region of secure memory. The subsequent 425handling of SCP_BL2 is platform specific. For example, on the Juno Arm 426development platform port the image is transferred into SCP's internal memory 427using the Boot Over MHU (BOM) protocol after being loaded in the trusted SRAM 428memory. The SCP executes SCP_BL2 and signals to the Application Processor (AP) 429for BL2 execution to continue. 430 431EL3 Runtime Software image load 432^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 433 434BL2 loads the EL3 Runtime Software image from platform storage into a platform- 435specific address in trusted SRAM. If there is not enough memory to load the 436image or image is missing it leads to an assertion failure. 437 438AArch64 BL32 (Secure-EL1 Payload) image load 439^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 440 441BL2 loads the optional BL32 image from platform storage into a platform- 442specific region of secure memory. The image executes in the secure world. BL2 443relies on BL31 to pass control to the BL32 image, if present. Hence, BL2 444populates a platform-specific area of memory with the entrypoint/load-address 445of the BL32 image. The value of the Saved Processor Status Register (``SPSR``) 446for entry into BL32 is not determined by BL2, it is initialized by the 447Secure-EL1 Payload Dispatcher (see later) within BL31, which is responsible for 448managing interaction with BL32. This information is passed to BL31. 449 450BL33 (Non-trusted Firmware) image load 451^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 452 453BL2 loads the BL33 image (e.g. UEFI or other test or boot software) from 454platform storage into non-secure memory as defined by the platform. 455 456BL2 relies on EL3 Runtime Software to pass control to BL33 once secure state 457initialization is complete. Hence, BL2 populates a platform-specific area of 458memory with the entrypoint and Saved Program Status Register (``SPSR``) of the 459normal world software image. The entrypoint is the load address of the BL33 460image. The ``SPSR`` is determined as specified in Section 5.13 of the 461`Power State Coordination Interface PDD`_. This information is passed to the 462EL3 Runtime Software. 463 464AArch64 BL31 (EL3 Runtime Software) execution 465^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 466 467BL2 execution continues as follows: 468 469#. BL2 passes control back to BL1 by raising an SMC, providing BL1 with the 470 BL31 entrypoint. The exception is handled by the SMC exception handler 471 installed by BL1. 472 473#. BL1 turns off the MMU and flushes the caches. It clears the 474 ``SCTLR_EL3.M/I/C`` bits, flushes the data cache to the point of coherency 475 and invalidates the TLBs. 476 477#. BL1 passes control to BL31 at the specified entrypoint at EL3. 478 479Running BL2 at EL3 execution level 480~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 481 482Some platforms have a non-TF-A Boot ROM that expects the next boot stage 483to execute at EL3. On these platforms, TF-A BL1 is a waste of memory 484as its only purpose is to ensure TF-A BL2 is entered at S-EL1. To avoid 485this waste, a special mode enables BL2 to execute at EL3, which allows 486a non-TF-A Boot ROM to load and jump directly to BL2. This mode is selected 487when the build flag BL2_AT_EL3 is enabled. The main differences in this 488mode are: 489 490#. BL2 includes the reset code and the mailbox mechanism to differentiate 491 cold boot and warm boot. It runs at EL3 doing the arch 492 initialization required for EL3. 493 494#. BL2 does not receive the meminfo information from BL1 anymore. This 495 information can be passed by the Boot ROM or be internal to the 496 BL2 image. 497 498#. Since BL2 executes at EL3, BL2 jumps directly to the next image, 499 instead of invoking the RUN_IMAGE SMC call. 500 501 502We assume 3 different types of BootROM support on the platform: 503 504#. The Boot ROM always jumps to the same address, for both cold 505 and warm boot. In this case, we will need to keep a resident part 506 of BL2 whose memory cannot be reclaimed by any other image. The 507 linker script defines the symbols __TEXT_RESIDENT_START__ and 508 __TEXT_RESIDENT_END__ that allows the platform to configure 509 correctly the memory map. 510#. The platform has some mechanism to indicate the jump address to the 511 Boot ROM. Platform code can then program the jump address with 512 psci_warmboot_entrypoint during cold boot. 513#. The platform has some mechanism to program the reset address using 514 the PROGRAMMABLE_RESET_ADDRESS feature. Platform code can then 515 program the reset address with psci_warmboot_entrypoint during 516 cold boot, bypassing the boot ROM for warm boot. 517 518In the last 2 cases, no part of BL2 needs to remain resident at 519runtime. In the first 2 cases, we expect the Boot ROM to be able to 520differentiate between warm and cold boot, to avoid loading BL2 again 521during warm boot. 522 523This functionality can be tested with FVP loading the image directly 524in memory and changing the address where the system jumps at reset. 525For example: 526 527 -C cluster0.cpu0.RVBAR=0x4022000 528 --data cluster0.cpu0=bl2.bin@0x4022000 529 530With this configuration, FVP is like a platform of the first case, 531where the Boot ROM jumps always to the same address. For simplification, 532BL32 is loaded in DRAM in this case, to avoid other images reclaiming 533BL2 memory. 534 535 536AArch64 BL31 537~~~~~~~~~~~~ 538 539The image for this stage is loaded by BL2 and BL1 passes control to BL31 at 540EL3. BL31 executes solely in trusted SRAM. BL31 is linked against and 541loaded at a platform-specific base address (more information can be found later 542in this document). The functionality implemented by BL31 is as follows. 543 544Architectural initialization 545^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 546 547Currently, BL31 performs a similar architectural initialization to BL1 as 548far as system register settings are concerned. Since BL1 code resides in ROM, 549architectural initialization in BL31 allows override of any previous 550initialization done by BL1. 551 552BL31 initializes the per-CPU data framework, which provides a cache of 553frequently accessed per-CPU data optimised for fast, concurrent manipulation 554on different CPUs. This buffer includes pointers to per-CPU contexts, crash 555buffer, CPU reset and power down operations, PSCI data, platform data and so on. 556 557It then replaces the exception vectors populated by BL1 with its own. BL31 558exception vectors implement more elaborate support for handling SMCs since this 559is the only mechanism to access the runtime services implemented by BL31 (PSCI 560for example). BL31 checks each SMC for validity as specified by the 561`SMC Calling Convention`_ before passing control to the required SMC 562handler routine. 563 564BL31 programs the ``CNTFRQ_EL0`` register with the clock frequency of the system 565counter, which is provided by the platform. 566 567Platform initialization 568^^^^^^^^^^^^^^^^^^^^^^^ 569 570BL31 performs detailed platform initialization, which enables normal world 571software to function correctly. 572 573On Arm platforms, this consists of the following: 574 575- Initialize the console. 576- Configure the Interconnect to enable hardware coherency. 577- Enable the MMU and map the memory it needs to access. 578- Initialize the generic interrupt controller. 579- Initialize the power controller device. 580- Detect the system topology. 581 582Runtime services initialization 583^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 584 585BL31 is responsible for initializing the runtime services. One of them is PSCI. 586 587As part of the PSCI initializations, BL31 detects the system topology. It also 588initializes the data structures that implement the state machine used to track 589the state of power domain nodes. The state can be one of ``OFF``, ``RUN`` or 590``RETENTION``. All secondary CPUs are initially in the ``OFF`` state. The cluster 591that the primary CPU belongs to is ``ON``; any other cluster is ``OFF``. It also 592initializes the locks that protect them. BL31 accesses the state of a CPU or 593cluster immediately after reset and before the data cache is enabled in the 594warm boot path. It is not currently possible to use 'exclusive' based spinlocks, 595therefore BL31 uses locks based on Lamport's Bakery algorithm instead. 596 597The runtime service framework and its initialization is described in more 598detail in the "EL3 runtime services framework" section below. 599 600Details about the status of the PSCI implementation are provided in the 601"Power State Coordination Interface" section below. 602 603AArch64 BL32 (Secure-EL1 Payload) image initialization 604^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 605 606If a BL32 image is present then there must be a matching Secure-EL1 Payload 607Dispatcher (SPD) service (see later for details). During initialization 608that service must register a function to carry out initialization of BL32 609once the runtime services are fully initialized. BL31 invokes such a 610registered function to initialize BL32 before running BL33. This initialization 611is not necessary for AArch32 SPs. 612 613Details on BL32 initialization and the SPD's role are described in the 614:ref:`firmware_design_sel1_spd` section below. 615 616BL33 (Non-trusted Firmware) execution 617^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 618 619EL3 Runtime Software initializes the EL2 or EL1 processor context for normal- 620world cold boot, ensuring that no secure state information finds its way into 621the non-secure execution state. EL3 Runtime Software uses the entrypoint 622information provided by BL2 to jump to the Non-trusted firmware image (BL33) 623at the highest available Exception Level (EL2 if available, otherwise EL1). 624 625Using alternative Trusted Boot Firmware in place of BL1 & BL2 (AArch64 only) 626~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 627 628Some platforms have existing implementations of Trusted Boot Firmware that 629would like to use TF-A BL31 for the EL3 Runtime Software. To enable this 630firmware architecture it is important to provide a fully documented and stable 631interface between the Trusted Boot Firmware and BL31. 632 633Future changes to the BL31 interface will be done in a backwards compatible 634way, and this enables these firmware components to be independently enhanced/ 635updated to develop and exploit new functionality. 636 637Required CPU state when calling ``bl31_entrypoint()`` during cold boot 638^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 639 640This function must only be called by the primary CPU. 641 642On entry to this function the calling primary CPU must be executing in AArch64 643EL3, little-endian data access, and all interrupt sources masked: 644 645:: 646 647 PSTATE.EL = 3 648 PSTATE.RW = 1 649 PSTATE.DAIF = 0xf 650 SCTLR_EL3.EE = 0 651 652X0 and X1 can be used to pass information from the Trusted Boot Firmware to the 653platform code in BL31: 654 655:: 656 657 X0 : Reserved for common TF-A information 658 X1 : Platform specific information 659 660BL31 zero-init sections (e.g. ``.bss``) should not contain valid data on entry, 661these will be zero filled prior to invoking platform setup code. 662 663Use of the X0 and X1 parameters 664''''''''''''''''''''''''''''''' 665 666The parameters are platform specific and passed from ``bl31_entrypoint()`` to 667``bl31_early_platform_setup()``. The value of these parameters is never directly 668used by the common BL31 code. 669 670The convention is that ``X0`` conveys information regarding the BL31, BL32 and 671BL33 images from the Trusted Boot firmware and ``X1`` can be used for other 672platform specific purpose. This convention allows platforms which use TF-A's 673BL1 and BL2 images to transfer additional platform specific information from 674Secure Boot without conflicting with future evolution of TF-A using ``X0`` to 675pass a ``bl31_params`` structure. 676 677BL31 common and SPD initialization code depends on image and entrypoint 678information about BL33 and BL32, which is provided via BL31 platform APIs. 679This information is required until the start of execution of BL33. This 680information can be provided in a platform defined manner, e.g. compiled into 681the platform code in BL31, or provided in a platform defined memory location 682by the Trusted Boot firmware, or passed from the Trusted Boot Firmware via the 683Cold boot Initialization parameters. This data may need to be cleaned out of 684the CPU caches if it is provided by an earlier boot stage and then accessed by 685BL31 platform code before the caches are enabled. 686 687TF-A's BL2 implementation passes a ``bl31_params`` structure in 688``X0`` and the Arm development platforms interpret this in the BL31 platform 689code. 690 691MMU, Data caches & Coherency 692'''''''''''''''''''''''''''' 693 694BL31 does not depend on the enabled state of the MMU, data caches or 695interconnect coherency on entry to ``bl31_entrypoint()``. If these are disabled 696on entry, these should be enabled during ``bl31_plat_arch_setup()``. 697 698Data structures used in the BL31 cold boot interface 699'''''''''''''''''''''''''''''''''''''''''''''''''''' 700 701These structures are designed to support compatibility and independent 702evolution of the structures and the firmware images. For example, a version of 703BL31 that can interpret the BL3x image information from different versions of 704BL2, a platform that uses an extended entry_point_info structure to convey 705additional register information to BL31, or a ELF image loader that can convey 706more details about the firmware images. 707 708To support these scenarios the structures are versioned and sized, which enables 709BL31 to detect which information is present and respond appropriately. The 710``param_header`` is defined to capture this information: 711 712.. code:: c 713 714 typedef struct param_header { 715 uint8_t type; /* type of the structure */ 716 uint8_t version; /* version of this structure */ 717 uint16_t size; /* size of this structure in bytes */ 718 uint32_t attr; /* attributes: unused bits SBZ */ 719 } param_header_t; 720 721The structures using this format are ``entry_point_info``, ``image_info`` and 722``bl31_params``. The code that allocates and populates these structures must set 723the header fields appropriately, and the ``SET_PARAM_HEAD()`` a macro is defined 724to simplify this action. 725 726Required CPU state for BL31 Warm boot initialization 727^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 728 729When requesting a CPU power-on, or suspending a running CPU, TF-A provides 730the platform power management code with a Warm boot initialization 731entry-point, to be invoked by the CPU immediately after the reset handler. 732On entry to the Warm boot initialization function the calling CPU must be in 733AArch64 EL3, little-endian data access and all interrupt sources masked: 734 735:: 736 737 PSTATE.EL = 3 738 PSTATE.RW = 1 739 PSTATE.DAIF = 0xf 740 SCTLR_EL3.EE = 0 741 742The PSCI implementation will initialize the processor state and ensure that the 743platform power management code is then invoked as required to initialize all 744necessary system, cluster and CPU resources. 745 746AArch32 EL3 Runtime Software entrypoint interface 747~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 748 749To enable this firmware architecture it is important to provide a fully 750documented and stable interface between the Trusted Boot Firmware and the 751AArch32 EL3 Runtime Software. 752 753Future changes to the entrypoint interface will be done in a backwards 754compatible way, and this enables these firmware components to be independently 755enhanced/updated to develop and exploit new functionality. 756 757Required CPU state when entering during cold boot 758^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 759 760This function must only be called by the primary CPU. 761 762On entry to this function the calling primary CPU must be executing in AArch32 763EL3, little-endian data access, and all interrupt sources masked: 764 765:: 766 767 PSTATE.AIF = 0x7 768 SCTLR.EE = 0 769 770R0 and R1 are used to pass information from the Trusted Boot Firmware to the 771platform code in AArch32 EL3 Runtime Software: 772 773:: 774 775 R0 : Reserved for common TF-A information 776 R1 : Platform specific information 777 778Use of the R0 and R1 parameters 779''''''''''''''''''''''''''''''' 780 781The parameters are platform specific and the convention is that ``R0`` conveys 782information regarding the BL3x images from the Trusted Boot firmware and ``R1`` 783can be used for other platform specific purpose. This convention allows 784platforms which use TF-A's BL1 and BL2 images to transfer additional platform 785specific information from Secure Boot without conflicting with future 786evolution of TF-A using ``R0`` to pass a ``bl_params`` structure. 787 788The AArch32 EL3 Runtime Software is responsible for entry into BL33. This 789information can be obtained in a platform defined manner, e.g. compiled into 790the AArch32 EL3 Runtime Software, or provided in a platform defined memory 791location by the Trusted Boot firmware, or passed from the Trusted Boot Firmware 792via the Cold boot Initialization parameters. This data may need to be cleaned 793out of the CPU caches if it is provided by an earlier boot stage and then 794accessed by AArch32 EL3 Runtime Software before the caches are enabled. 795 796When using AArch32 EL3 Runtime Software, the Arm development platforms pass a 797``bl_params`` structure in ``R0`` from BL2 to be interpreted by AArch32 EL3 Runtime 798Software platform code. 799 800MMU, Data caches & Coherency 801'''''''''''''''''''''''''''' 802 803AArch32 EL3 Runtime Software must not depend on the enabled state of the MMU, 804data caches or interconnect coherency in its entrypoint. They must be explicitly 805enabled if required. 806 807Data structures used in cold boot interface 808''''''''''''''''''''''''''''''''''''''''''' 809 810The AArch32 EL3 Runtime Software cold boot interface uses ``bl_params`` instead 811of ``bl31_params``. The ``bl_params`` structure is based on the convention 812described in AArch64 BL31 cold boot interface section. 813 814Required CPU state for warm boot initialization 815^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 816 817When requesting a CPU power-on, or suspending a running CPU, AArch32 EL3 818Runtime Software must ensure execution of a warm boot initialization entrypoint. 819If TF-A BL1 is used and the PROGRAMMABLE_RESET_ADDRESS build flag is false, 820then AArch32 EL3 Runtime Software must ensure that BL1 branches to the warm 821boot entrypoint by arranging for the BL1 platform function, 822plat_get_my_entrypoint(), to return a non-zero value. 823 824In this case, the warm boot entrypoint must be in AArch32 EL3, little-endian 825data access and all interrupt sources masked: 826 827:: 828 829 PSTATE.AIF = 0x7 830 SCTLR.EE = 0 831 832The warm boot entrypoint may be implemented by using TF-A 833``psci_warmboot_entrypoint()`` function. In that case, the platform must fulfil 834the pre-requisites mentioned in the 835:ref:`PSCI Library Integration guide for Armv8-A AArch32 systems`. 836 837EL3 runtime services framework 838------------------------------ 839 840Software executing in the non-secure state and in the secure state at exception 841levels lower than EL3 will request runtime services using the Secure Monitor 842Call (SMC) instruction. These requests will follow the convention described in 843the SMC Calling Convention PDD (`SMCCC`_). The `SMCCC`_ assigns function 844identifiers to each SMC request and describes how arguments are passed and 845returned. 846 847The EL3 runtime services framework enables the development of services by 848different providers that can be easily integrated into final product firmware. 849The following sections describe the framework which facilitates the 850registration, initialization and use of runtime services in EL3 Runtime 851Software (BL31). 852 853The design of the runtime services depends heavily on the concepts and 854definitions described in the `SMCCC`_, in particular SMC Function IDs, Owning 855Entity Numbers (OEN), Fast and Yielding calls, and the SMC32 and SMC64 calling 856conventions. Please refer to that document for more detailed explanation of 857these terms. 858 859The following runtime services are expected to be implemented first. They have 860not all been instantiated in the current implementation. 861 862#. Standard service calls 863 864 This service is for management of the entire system. The Power State 865 Coordination Interface (`PSCI`_) is the first set of standard service calls 866 defined by Arm (see PSCI section later). 867 868#. Secure-EL1 Payload Dispatcher service 869 870 If a system runs a Trusted OS or other Secure-EL1 Payload (SP) then 871 it also requires a *Secure Monitor* at EL3 to switch the EL1 processor 872 context between the normal world (EL1/EL2) and trusted world (Secure-EL1). 873 The Secure Monitor will make these world switches in response to SMCs. The 874 `SMCCC`_ provides for such SMCs with the Trusted OS Call and Trusted 875 Application Call OEN ranges. 876 877 The interface between the EL3 Runtime Software and the Secure-EL1 Payload is 878 not defined by the `SMCCC`_ or any other standard. As a result, each 879 Secure-EL1 Payload requires a specific Secure Monitor that runs as a runtime 880 service - within TF-A this service is referred to as the Secure-EL1 Payload 881 Dispatcher (SPD). 882 883 TF-A provides a Test Secure-EL1 Payload (TSP) and its associated Dispatcher 884 (TSPD). Details of SPD design and TSP/TSPD operation are described in the 885 :ref:`firmware_design_sel1_spd` section below. 886 887#. CPU implementation service 888 889 This service will provide an interface to CPU implementation specific 890 services for a given platform e.g. access to processor errata workarounds. 891 This service is currently unimplemented. 892 893Additional services for Arm Architecture, SiP and OEM calls can be implemented. 894Each implemented service handles a range of SMC function identifiers as 895described in the `SMCCC`_. 896 897Registration 898~~~~~~~~~~~~ 899 900A runtime service is registered using the ``DECLARE_RT_SVC()`` macro, specifying 901the name of the service, the range of OENs covered, the type of service and 902initialization and call handler functions. This macro instantiates a ``const struct rt_svc_desc`` for the service with these details (see ``runtime_svc.h``). 903This structure is allocated in a special ELF section ``rt_svc_descs``, enabling 904the framework to find all service descriptors included into BL31. 905 906The specific service for a SMC Function is selected based on the OEN and call 907type of the Function ID, and the framework uses that information in the service 908descriptor to identify the handler for the SMC Call. 909 910The service descriptors do not include information to identify the precise set 911of SMC function identifiers supported by this service implementation, the 912security state from which such calls are valid nor the capability to support 91364-bit and/or 32-bit callers (using SMC32 or SMC64). Responding appropriately 914to these aspects of a SMC call is the responsibility of the service 915implementation, the framework is focused on integration of services from 916different providers and minimizing the time taken by the framework before the 917service handler is invoked. 918 919Details of the parameters, requirements and behavior of the initialization and 920call handling functions are provided in the following sections. 921 922Initialization 923~~~~~~~~~~~~~~ 924 925``runtime_svc_init()`` in ``runtime_svc.c`` initializes the runtime services 926framework running on the primary CPU during cold boot as part of the BL31 927initialization. This happens prior to initializing a Trusted OS and running 928Normal world boot firmware that might in turn use these services. 929Initialization involves validating each of the declared runtime service 930descriptors, calling the service initialization function and populating the 931index used for runtime lookup of the service. 932 933The BL31 linker script collects all of the declared service descriptors into a 934single array and defines symbols that allow the framework to locate and traverse 935the array, and determine its size. 936 937The framework does basic validation of each descriptor to halt firmware 938initialization if service declaration errors are detected. The framework does 939not check descriptors for the following error conditions, and may behave in an 940unpredictable manner under such scenarios: 941 942#. Overlapping OEN ranges 943#. Multiple descriptors for the same range of OENs and ``call_type`` 944#. Incorrect range of owning entity numbers for a given ``call_type`` 945 946Once validated, the service ``init()`` callback is invoked. This function carries 947out any essential EL3 initialization before servicing requests. The ``init()`` 948function is only invoked on the primary CPU during cold boot. If the service 949uses per-CPU data this must either be initialized for all CPUs during this call, 950or be done lazily when a CPU first issues an SMC call to that service. If 951``init()`` returns anything other than ``0``, this is treated as an initialization 952error and the service is ignored: this does not cause the firmware to halt. 953 954The OEN and call type fields present in the SMC Function ID cover a total of 955128 distinct services, but in practice a single descriptor can cover a range of 956OENs, e.g. SMCs to call a Trusted OS function. To optimize the lookup of a 957service handler, the framework uses an array of 128 indices that map every 958distinct OEN/call-type combination either to one of the declared services or to 959indicate the service is not handled. This ``rt_svc_descs_indices[]`` array is 960populated for all of the OENs covered by a service after the service ``init()`` 961function has reported success. So a service that fails to initialize will never 962have it's ``handle()`` function invoked. 963 964The following figure shows how the ``rt_svc_descs_indices[]`` index maps the SMC 965Function ID call type and OEN onto a specific service handler in the 966``rt_svc_descs[]`` array. 967 968|Image 1| 969 970.. _handling-an-smc: 971 972Handling an SMC 973~~~~~~~~~~~~~~~ 974 975When the EL3 runtime services framework receives a Secure Monitor Call, the SMC 976Function ID is passed in W0 from the lower exception level (as per the 977`SMCCC`_). If the calling register width is AArch32, it is invalid to invoke an 978SMC Function which indicates the SMC64 calling convention: such calls are 979ignored and return the Unknown SMC Function Identifier result code ``0xFFFFFFFF`` 980in R0/X0. 981 982Bit[31] (fast/yielding call) and bits[29:24] (owning entity number) of the SMC 983Function ID are combined to index into the ``rt_svc_descs_indices[]`` array. The 984resulting value might indicate a service that has no handler, in this case the 985framework will also report an Unknown SMC Function ID. Otherwise, the value is 986used as a further index into the ``rt_svc_descs[]`` array to locate the required 987service and handler. 988 989The service's ``handle()`` callback is provided with five of the SMC parameters 990directly, the others are saved into memory for retrieval (if needed) by the 991handler. The handler is also provided with an opaque ``handle`` for use with the 992supporting library for parameter retrieval, setting return values and context 993manipulation. The ``flags`` parameter indicates the security state of the caller 994and the state of the SVE hint bit per the SMCCCv1.3. The framework finally sets 995up the execution stack for the handler, and invokes the services ``handle()`` 996function. 997 998On return from the handler the result registers are populated in X0-X7 as needed 999before restoring the stack and CPU state and returning from the original SMC. 1000 1001Exception Handling Framework 1002---------------------------- 1003 1004Please refer to the :ref:`Exception Handling Framework` document. 1005 1006Power State Coordination Interface 1007---------------------------------- 1008 1009TODO: Provide design walkthrough of PSCI implementation. 1010 1011The PSCI v1.1 specification categorizes APIs as optional and mandatory. All the 1012mandatory APIs in PSCI v1.1, PSCI v1.0 and in PSCI v0.2 draft specification 1013`Power State Coordination Interface PDD`_ are implemented. The table lists 1014the PSCI v1.1 APIs and their support in generic code. 1015 1016An API implementation might have a dependency on platform code e.g. CPU_SUSPEND 1017requires the platform to export a part of the implementation. Hence the level 1018of support of the mandatory APIs depends upon the support exported by the 1019platform port as well. The Juno and FVP (all variants) platforms export all the 1020required support. 1021 1022+-----------------------------+-------------+-------------------------------+ 1023| PSCI v1.1 API | Supported | Comments | 1024+=============================+=============+===============================+ 1025| ``PSCI_VERSION`` | Yes | The version returned is 1.1 | 1026+-----------------------------+-------------+-------------------------------+ 1027| ``CPU_SUSPEND`` | Yes\* | | 1028+-----------------------------+-------------+-------------------------------+ 1029| ``CPU_OFF`` | Yes\* | | 1030+-----------------------------+-------------+-------------------------------+ 1031| ``CPU_ON`` | Yes\* | | 1032+-----------------------------+-------------+-------------------------------+ 1033| ``AFFINITY_INFO`` | Yes | | 1034+-----------------------------+-------------+-------------------------------+ 1035| ``MIGRATE`` | Yes\*\* | | 1036+-----------------------------+-------------+-------------------------------+ 1037| ``MIGRATE_INFO_TYPE`` | Yes\*\* | | 1038+-----------------------------+-------------+-------------------------------+ 1039| ``MIGRATE_INFO_CPU`` | Yes\*\* | | 1040+-----------------------------+-------------+-------------------------------+ 1041| ``SYSTEM_OFF`` | Yes\* | | 1042+-----------------------------+-------------+-------------------------------+ 1043| ``SYSTEM_RESET`` | Yes\* | | 1044+-----------------------------+-------------+-------------------------------+ 1045| ``PSCI_FEATURES`` | Yes | | 1046+-----------------------------+-------------+-------------------------------+ 1047| ``CPU_FREEZE`` | No | | 1048+-----------------------------+-------------+-------------------------------+ 1049| ``CPU_DEFAULT_SUSPEND`` | No | | 1050+-----------------------------+-------------+-------------------------------+ 1051| ``NODE_HW_STATE`` | Yes\* | | 1052+-----------------------------+-------------+-------------------------------+ 1053| ``SYSTEM_SUSPEND`` | Yes\* | | 1054+-----------------------------+-------------+-------------------------------+ 1055| ``PSCI_SET_SUSPEND_MODE`` | No | | 1056+-----------------------------+-------------+-------------------------------+ 1057| ``PSCI_STAT_RESIDENCY`` | Yes\* | | 1058+-----------------------------+-------------+-------------------------------+ 1059| ``PSCI_STAT_COUNT`` | Yes\* | | 1060+-----------------------------+-------------+-------------------------------+ 1061| ``SYSTEM_RESET2`` | Yes\* | | 1062+-----------------------------+-------------+-------------------------------+ 1063| ``MEM_PROTECT`` | Yes\* | | 1064+-----------------------------+-------------+-------------------------------+ 1065| ``MEM_PROTECT_CHECK_RANGE`` | Yes\* | | 1066+-----------------------------+-------------+-------------------------------+ 1067 1068\*Note : These PSCI APIs require platform power management hooks to be 1069registered with the generic PSCI code to be supported. 1070 1071\*\*Note : These PSCI APIs require appropriate Secure Payload Dispatcher 1072hooks to be registered with the generic PSCI code to be supported. 1073 1074The PSCI implementation in TF-A is a library which can be integrated with 1075AArch64 or AArch32 EL3 Runtime Software for Armv8-A systems. A guide to 1076integrating PSCI library with AArch32 EL3 Runtime Software can be found 1077at :ref:`PSCI Library Integration guide for Armv8-A AArch32 systems`. 1078 1079.. _firmware_design_sel1_spd: 1080 1081Secure-EL1 Payloads and Dispatchers 1082----------------------------------- 1083 1084On a production system that includes a Trusted OS running in Secure-EL1/EL0, 1085the Trusted OS is coupled with a companion runtime service in the BL31 1086firmware. This service is responsible for the initialisation of the Trusted 1087OS and all communications with it. The Trusted OS is the BL32 stage of the 1088boot flow in TF-A. The firmware will attempt to locate, load and execute a 1089BL32 image. 1090 1091TF-A uses a more general term for the BL32 software that runs at Secure-EL1 - 1092the *Secure-EL1 Payload* - as it is not always a Trusted OS. 1093 1094TF-A provides a Test Secure-EL1 Payload (TSP) and a Test Secure-EL1 Payload 1095Dispatcher (TSPD) service as an example of how a Trusted OS is supported on a 1096production system using the Runtime Services Framework. On such a system, the 1097Test BL32 image and service are replaced by the Trusted OS and its dispatcher 1098service. The TF-A build system expects that the dispatcher will define the 1099build flag ``NEED_BL32`` to enable it to include the BL32 in the build either 1100as a binary or to compile from source depending on whether the ``BL32`` build 1101option is specified or not. 1102 1103The TSP runs in Secure-EL1. It is designed to demonstrate synchronous 1104communication with the normal-world software running in EL1/EL2. Communication 1105is initiated by the normal-world software 1106 1107- either directly through a Fast SMC (as defined in the `SMCCC`_) 1108 1109- or indirectly through a `PSCI`_ SMC. The `PSCI`_ implementation in turn 1110 informs the TSPD about the requested power management operation. This allows 1111 the TSP to prepare for or respond to the power state change 1112 1113The TSPD service is responsible for. 1114 1115- Initializing the TSP 1116 1117- Routing requests and responses between the secure and the non-secure 1118 states during the two types of communications just described 1119 1120Initializing a BL32 Image 1121~~~~~~~~~~~~~~~~~~~~~~~~~ 1122 1123The Secure-EL1 Payload Dispatcher (SPD) service is responsible for initializing 1124the BL32 image. It needs access to the information passed by BL2 to BL31 to do 1125so. This is provided by: 1126 1127.. code:: c 1128 1129 entry_point_info_t *bl31_plat_get_next_image_ep_info(uint32_t); 1130 1131which returns a reference to the ``entry_point_info`` structure corresponding to 1132the image which will be run in the specified security state. The SPD uses this 1133API to get entry point information for the SECURE image, BL32. 1134 1135In the absence of a BL32 image, BL31 passes control to the normal world 1136bootloader image (BL33). When the BL32 image is present, it is typical 1137that the SPD wants control to be passed to BL32 first and then later to BL33. 1138 1139To do this the SPD has to register a BL32 initialization function during 1140initialization of the SPD service. The BL32 initialization function has this 1141prototype: 1142 1143.. code:: c 1144 1145 int32_t init(void); 1146 1147and is registered using the ``bl31_register_bl32_init()`` function. 1148 1149TF-A supports two approaches for the SPD to pass control to BL32 before 1150returning through EL3 and running the non-trusted firmware (BL33): 1151 1152#. In the BL32 setup function, use ``bl31_set_next_image_type()`` to 1153 request that the exit from ``bl31_main()`` is to the BL32 entrypoint in 1154 Secure-EL1. BL31 will exit to BL32 using the asynchronous method by 1155 calling ``bl31_prepare_next_image_entry()`` and ``el3_exit()``. 1156 1157 When the BL32 has completed initialization at Secure-EL1, it returns to 1158 BL31 by issuing an SMC, using a Function ID allocated to the SPD. On 1159 receipt of this SMC, the SPD service handler should switch the CPU context 1160 from trusted to normal world and use the ``bl31_set_next_image_type()`` and 1161 ``bl31_prepare_next_image_entry()`` functions to set up the initial return to 1162 the normal world firmware BL33. On return from the handler the framework 1163 will exit to EL2 and run BL33. 1164 1165#. The BL32 setup function registers an initialization function using 1166 ``bl31_register_bl32_init()`` which provides a SPD-defined mechanism to 1167 invoke a 'world-switch synchronous call' to Secure-EL1 to run the BL32 1168 entrypoint. 1169 1170 .. note:: 1171 The Test SPD service included with TF-A provides one implementation 1172 of such a mechanism. 1173 1174 On completion BL32 returns control to BL31 via a SMC, and on receipt the 1175 SPD service handler invokes the synchronous call return mechanism to return 1176 to the BL32 initialization function. On return from this function, 1177 ``bl31_main()`` will set up the return to the normal world firmware BL33 and 1178 continue the boot process in the normal world. 1179 1180Crash Reporting in BL31 1181----------------------- 1182 1183BL31 implements a scheme for reporting the processor state when an unhandled 1184exception is encountered. The reporting mechanism attempts to preserve all the 1185register contents and report it via a dedicated UART (PL011 console). BL31 1186reports the general purpose, EL3, Secure EL1 and some EL2 state registers. 1187 1188A dedicated per-CPU crash stack is maintained by BL31 and this is retrieved via 1189the per-CPU pointer cache. The implementation attempts to minimise the memory 1190required for this feature. The file ``crash_reporting.S`` contains the 1191implementation for crash reporting. 1192 1193The sample crash output is shown below. 1194 1195:: 1196 1197 x0 = 0x000000002a4a0000 1198 x1 = 0x0000000000000001 1199 x2 = 0x0000000000000002 1200 x3 = 0x0000000000000003 1201 x4 = 0x0000000000000004 1202 x5 = 0x0000000000000005 1203 x6 = 0x0000000000000006 1204 x7 = 0x0000000000000007 1205 x8 = 0x0000000000000008 1206 x9 = 0x0000000000000009 1207 x10 = 0x0000000000000010 1208 x11 = 0x0000000000000011 1209 x12 = 0x0000000000000012 1210 x13 = 0x0000000000000013 1211 x14 = 0x0000000000000014 1212 x15 = 0x0000000000000015 1213 x16 = 0x0000000000000016 1214 x17 = 0x0000000000000017 1215 x18 = 0x0000000000000018 1216 x19 = 0x0000000000000019 1217 x20 = 0x0000000000000020 1218 x21 = 0x0000000000000021 1219 x22 = 0x0000000000000022 1220 x23 = 0x0000000000000023 1221 x24 = 0x0000000000000024 1222 x25 = 0x0000000000000025 1223 x26 = 0x0000000000000026 1224 x27 = 0x0000000000000027 1225 x28 = 0x0000000000000028 1226 x29 = 0x0000000000000029 1227 x30 = 0x0000000088000b78 1228 scr_el3 = 0x000000000003073d 1229 sctlr_el3 = 0x00000000b0cd183f 1230 cptr_el3 = 0x0000000000000000 1231 tcr_el3 = 0x000000008080351c 1232 daif = 0x00000000000002c0 1233 mair_el3 = 0x00000000004404ff 1234 spsr_el3 = 0x0000000060000349 1235 elr_el3 = 0x0000000088000114 1236 ttbr0_el3 = 0x0000000004018201 1237 esr_el3 = 0x00000000be000000 1238 far_el3 = 0x0000000000000000 1239 spsr_el1 = 0x0000000000000000 1240 elr_el1 = 0x0000000000000000 1241 spsr_abt = 0x0000000000000000 1242 spsr_und = 0x0000000000000000 1243 spsr_irq = 0x0000000000000000 1244 spsr_fiq = 0x0000000000000000 1245 sctlr_el1 = 0x0000000030d00800 1246 actlr_el1 = 0x0000000000000000 1247 cpacr_el1 = 0x0000000000000000 1248 csselr_el1 = 0x0000000000000000 1249 sp_el1 = 0x0000000000000000 1250 esr_el1 = 0x0000000000000000 1251 ttbr0_el1 = 0x0000000000000000 1252 ttbr1_el1 = 0x0000000000000000 1253 mair_el1 = 0x0000000000000000 1254 amair_el1 = 0x0000000000000000 1255 tcr_el1 = 0x0000000000000000 1256 tpidr_el1 = 0x0000000000000000 1257 tpidr_el0 = 0x0000000000000000 1258 tpidrro_el0 = 0x0000000000000000 1259 par_el1 = 0x0000000000000000 1260 mpidr_el1 = 0x0000000080000000 1261 afsr0_el1 = 0x0000000000000000 1262 afsr1_el1 = 0x0000000000000000 1263 contextidr_el1 = 0x0000000000000000 1264 vbar_el1 = 0x0000000000000000 1265 cntp_ctl_el0 = 0x0000000000000000 1266 cntp_cval_el0 = 0x0000000000000000 1267 cntv_ctl_el0 = 0x0000000000000000 1268 cntv_cval_el0 = 0x0000000000000000 1269 cntkctl_el1 = 0x0000000000000000 1270 sp_el0 = 0x0000000004014940 1271 isr_el1 = 0x0000000000000000 1272 dacr32_el2 = 0x0000000000000000 1273 ifsr32_el2 = 0x0000000000000000 1274 icc_hppir0_el1 = 0x00000000000003ff 1275 icc_hppir1_el1 = 0x00000000000003ff 1276 icc_ctlr_el3 = 0x0000000000080400 1277 gicd_ispendr regs (Offsets 0x200-0x278) 1278 Offset Value 1279 0x200: 0x0000000000000000 1280 0x208: 0x0000000000000000 1281 0x210: 0x0000000000000000 1282 0x218: 0x0000000000000000 1283 0x220: 0x0000000000000000 1284 0x228: 0x0000000000000000 1285 0x230: 0x0000000000000000 1286 0x238: 0x0000000000000000 1287 0x240: 0x0000000000000000 1288 0x248: 0x0000000000000000 1289 0x250: 0x0000000000000000 1290 0x258: 0x0000000000000000 1291 0x260: 0x0000000000000000 1292 0x268: 0x0000000000000000 1293 0x270: 0x0000000000000000 1294 0x278: 0x0000000000000000 1295 1296Guidelines for Reset Handlers 1297----------------------------- 1298 1299TF-A implements a framework that allows CPU and platform ports to perform 1300actions very early after a CPU is released from reset in both the cold and warm 1301boot paths. This is done by calling the ``reset_handler()`` function in both 1302the BL1 and BL31 images. It in turn calls the platform and CPU specific reset 1303handling functions. 1304 1305Details for implementing a CPU specific reset handler can be found in 1306Section 8. Details for implementing a platform specific reset handler can be 1307found in the :ref:`Porting Guide` (see the ``plat_reset_handler()`` function). 1308 1309When adding functionality to a reset handler, keep in mind that if a different 1310reset handling behavior is required between the first and the subsequent 1311invocations of the reset handling code, this should be detected at runtime. 1312In other words, the reset handler should be able to detect whether an action has 1313already been performed and act as appropriate. Possible courses of actions are, 1314e.g. skip the action the second time, or undo/redo it. 1315 1316.. _configuring-secure-interrupts: 1317 1318Configuring secure interrupts 1319----------------------------- 1320 1321The GIC driver is responsible for performing initial configuration of secure 1322interrupts on the platform. To this end, the platform is expected to provide the 1323GIC driver (either GICv2 or GICv3, as selected by the platform) with the 1324interrupt configuration during the driver initialisation. 1325 1326Secure interrupt configuration are specified in an array of secure interrupt 1327properties. In this scheme, in both GICv2 and GICv3 driver data structures, the 1328``interrupt_props`` member points to an array of interrupt properties. Each 1329element of the array specifies the interrupt number and its attributes 1330(priority, group, configuration). Each element of the array shall be populated 1331by the macro ``INTR_PROP_DESC()``. The macro takes the following arguments: 1332 1333- 10-bit interrupt number, 1334 1335- 8-bit interrupt priority, 1336 1337- Interrupt type (one of ``INTR_TYPE_EL3``, ``INTR_TYPE_S_EL1``, 1338 ``INTR_TYPE_NS``), 1339 1340- Interrupt configuration (either ``GIC_INTR_CFG_LEVEL`` or 1341 ``GIC_INTR_CFG_EDGE``). 1342 1343.. _firmware_design_cpu_ops_fwk: 1344 1345CPU specific operations framework 1346--------------------------------- 1347 1348Certain aspects of the Armv8-A architecture are implementation defined, 1349that is, certain behaviours are not architecturally defined, but must be 1350defined and documented by individual processor implementations. TF-A 1351implements a framework which categorises the common implementation defined 1352behaviours and allows a processor to export its implementation of that 1353behaviour. The categories are: 1354 1355#. Processor specific reset sequence. 1356 1357#. Processor specific power down sequences. 1358 1359#. Processor specific register dumping as a part of crash reporting. 1360 1361#. Errata status reporting. 1362 1363Each of the above categories fulfils a different requirement. 1364 1365#. allows any processor specific initialization before the caches and MMU 1366 are turned on, like implementation of errata workarounds, entry into 1367 the intra-cluster coherency domain etc. 1368 1369#. allows each processor to implement the power down sequence mandated in 1370 its Technical Reference Manual (TRM). 1371 1372#. allows a processor to provide additional information to the developer 1373 in the event of a crash, for example Cortex-A53 has registers which 1374 can expose the data cache contents. 1375 1376#. allows a processor to define a function that inspects and reports the status 1377 of all errata workarounds on that processor. 1378 1379Please note that only 2. is mandated by the TRM. 1380 1381The CPU specific operations framework scales to accommodate a large number of 1382different CPUs during power down and reset handling. The platform can specify 1383any CPU optimization it wants to enable for each CPU. It can also specify 1384the CPU errata workarounds to be applied for each CPU type during reset 1385handling by defining CPU errata compile time macros. Details on these macros 1386can be found in the :ref:`Arm CPU Specific Build Macros` document. 1387 1388The CPU specific operations framework depends on the ``cpu_ops`` structure which 1389needs to be exported for each type of CPU in the platform. It is defined in 1390``include/lib/cpus/aarch64/cpu_macros.S`` and has the following fields : ``midr``, 1391``reset_func()``, ``cpu_pwr_down_ops`` (array of power down functions) and 1392``cpu_reg_dump()``. 1393 1394The CPU specific files in ``lib/cpus`` export a ``cpu_ops`` data structure with 1395suitable handlers for that CPU. For example, ``lib/cpus/aarch64/cortex_a53.S`` 1396exports the ``cpu_ops`` for Cortex-A53 CPU. According to the platform 1397configuration, these CPU specific files must be included in the build by 1398the platform makefile. The generic CPU specific operations framework code exists 1399in ``lib/cpus/aarch64/cpu_helpers.S``. 1400 1401CPU specific Reset Handling 1402~~~~~~~~~~~~~~~~~~~~~~~~~~~ 1403 1404After a reset, the state of the CPU when it calls generic reset handler is: 1405MMU turned off, both instruction and data caches turned off and not part 1406of any coherency domain. 1407 1408The BL entrypoint code first invokes the ``plat_reset_handler()`` to allow 1409the platform to perform any system initialization required and any system 1410errata workarounds that needs to be applied. The ``get_cpu_ops_ptr()`` reads 1411the current CPU midr, finds the matching ``cpu_ops`` entry in the ``cpu_ops`` 1412array and returns it. Note that only the part number and implementer fields 1413in midr are used to find the matching ``cpu_ops`` entry. The ``reset_func()`` in 1414the returned ``cpu_ops`` is then invoked which executes the required reset 1415handling for that CPU and also any errata workarounds enabled by the platform. 1416This function must preserve the values of general purpose registers x20 to x29. 1417 1418Refer to Section "Guidelines for Reset Handlers" for general guidelines 1419regarding placement of code in a reset handler. 1420 1421CPU specific power down sequence 1422~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 1423 1424During the BL31 initialization sequence, the pointer to the matching ``cpu_ops`` 1425entry is stored in per-CPU data by ``init_cpu_ops()`` so that it can be quickly 1426retrieved during power down sequences. 1427 1428Various CPU drivers register handlers to perform power down at certain power 1429levels for that specific CPU. The PSCI service, upon receiving a power down 1430request, determines the highest power level at which to execute power down 1431sequence for a particular CPU. It uses the ``prepare_cpu_pwr_dwn()`` function to 1432pick the right power down handler for the requested level. The function 1433retrieves ``cpu_ops`` pointer member of per-CPU data, and from that, further 1434retrieves ``cpu_pwr_down_ops`` array, and indexes into the required level. If the 1435requested power level is higher than what a CPU driver supports, the handler 1436registered for highest level is invoked. 1437 1438At runtime the platform hooks for power down are invoked by the PSCI service to 1439perform platform specific operations during a power down sequence, for example 1440turning off CCI coherency during a cluster power down. 1441 1442CPU specific register reporting during crash 1443~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 1444 1445If the crash reporting is enabled in BL31, when a crash occurs, the crash 1446reporting framework calls ``do_cpu_reg_dump`` which retrieves the matching 1447``cpu_ops`` using ``get_cpu_ops_ptr()`` function. The ``cpu_reg_dump()`` in 1448``cpu_ops`` is invoked, which then returns the CPU specific register values to 1449be reported and a pointer to the ASCII list of register names in a format 1450expected by the crash reporting framework. 1451 1452.. _firmware_design_cpu_errata_reporting: 1453 1454CPU errata status reporting 1455~~~~~~~~~~~~~~~~~~~~~~~~~~~ 1456 1457Errata workarounds for CPUs supported in TF-A are applied during both cold and 1458warm boots, shortly after reset. Individual Errata workarounds are enabled as 1459build options. Some errata workarounds have potential run-time implications; 1460therefore some are enabled by default, others not. Platform ports shall 1461override build options to enable or disable errata as appropriate. The CPU 1462drivers take care of applying errata workarounds that are enabled and applicable 1463to a given CPU. Refer to :ref:`arm_cpu_macros_errata_workarounds` for more 1464information. 1465 1466Functions in CPU drivers that apply errata workaround must follow the 1467conventions listed below. 1468 1469The errata workaround must be authored as two separate functions: 1470 1471- One that checks for errata. This function must determine whether that errata 1472 applies to the current CPU. Typically this involves matching the current 1473 CPUs revision and variant against a value that's known to be affected by the 1474 errata. If the function determines that the errata applies to this CPU, it 1475 must return ``ERRATA_APPLIES``; otherwise, it must return 1476 ``ERRATA_NOT_APPLIES``. The utility functions ``cpu_get_rev_var`` and 1477 ``cpu_rev_var_ls`` functions may come in handy for this purpose. 1478 1479For an errata identified as ``E``, the check function must be named 1480``check_errata_E``. 1481 1482This function will be invoked at different times, both from assembly and from 1483C run time. Therefore it must follow AAPCS, and must not use stack. 1484 1485- Another one that applies the errata workaround. This function would call the 1486 check function described above, and applies errata workaround if required. 1487 1488CPU drivers that apply errata workaround can optionally implement an assembly 1489function that report the status of errata workarounds pertaining to that CPU. 1490For a driver that registers the CPU, for example, ``cpux`` via ``declare_cpu_ops`` 1491macro, the errata reporting function, if it exists, must be named 1492``cpux_errata_report``. This function will always be called with MMU enabled; it 1493must follow AAPCS and may use stack. 1494 1495In a debug build of TF-A, on a CPU that comes out of reset, both BL1 and the 1496runtime firmware (BL31 in AArch64, and BL32 in AArch32) will invoke errata 1497status reporting function, if one exists, for that type of CPU. 1498 1499To report the status of each errata workaround, the function shall use the 1500assembler macro ``report_errata``, passing it: 1501 1502- The build option that enables the errata; 1503 1504- The name of the CPU: this must be the same identifier that CPU driver 1505 registered itself with, using ``declare_cpu_ops``; 1506 1507- And the errata identifier: the identifier must match what's used in the 1508 errata's check function described above. 1509 1510The errata status reporting function will be called once per CPU type/errata 1511combination during the software's active life time. 1512 1513It's expected that whenever an errata workaround is submitted to TF-A, the 1514errata reporting function is appropriately extended to report its status as 1515well. 1516 1517Reporting the status of errata workaround is for informational purpose only; it 1518has no functional significance. 1519 1520Memory layout of BL images 1521-------------------------- 1522 1523Each bootloader image can be divided in 2 parts: 1524 1525- the static contents of the image. These are data actually stored in the 1526 binary on the disk. In the ELF terminology, they are called ``PROGBITS`` 1527 sections; 1528 1529- the run-time contents of the image. These are data that don't occupy any 1530 space in the binary on the disk. The ELF binary just contains some 1531 metadata indicating where these data will be stored at run-time and the 1532 corresponding sections need to be allocated and initialized at run-time. 1533 In the ELF terminology, they are called ``NOBITS`` sections. 1534 1535All PROGBITS sections are grouped together at the beginning of the image, 1536followed by all NOBITS sections. This is true for all TF-A images and it is 1537governed by the linker scripts. This ensures that the raw binary images are 1538as small as possible. If a NOBITS section was inserted in between PROGBITS 1539sections then the resulting binary file would contain zero bytes in place of 1540this NOBITS section, making the image unnecessarily bigger. Smaller images 1541allow faster loading from the FIP to the main memory. 1542 1543For BL31, a platform can specify an alternate location for NOBITS sections 1544(other than immediately following PROGBITS sections) by setting 1545``SEPARATE_NOBITS_REGION`` to 1 and defining ``BL31_NOBITS_BASE`` and 1546``BL31_NOBITS_LIMIT``. 1547 1548Linker scripts and symbols 1549~~~~~~~~~~~~~~~~~~~~~~~~~~ 1550 1551Each bootloader stage image layout is described by its own linker script. The 1552linker scripts export some symbols into the program symbol table. Their values 1553correspond to particular addresses. TF-A code can refer to these symbols to 1554figure out the image memory layout. 1555 1556Linker symbols follow the following naming convention in TF-A. 1557 1558- ``__<SECTION>_START__`` 1559 1560 Start address of a given section named ``<SECTION>``. 1561 1562- ``__<SECTION>_END__`` 1563 1564 End address of a given section named ``<SECTION>``. If there is an alignment 1565 constraint on the section's end address then ``__<SECTION>_END__`` corresponds 1566 to the end address of the section's actual contents, rounded up to the right 1567 boundary. Refer to the value of ``__<SECTION>_UNALIGNED_END__`` to know the 1568 actual end address of the section's contents. 1569 1570- ``__<SECTION>_UNALIGNED_END__`` 1571 1572 End address of a given section named ``<SECTION>`` without any padding or 1573 rounding up due to some alignment constraint. 1574 1575- ``__<SECTION>_SIZE__`` 1576 1577 Size (in bytes) of a given section named ``<SECTION>``. If there is an 1578 alignment constraint on the section's end address then ``__<SECTION>_SIZE__`` 1579 corresponds to the size of the section's actual contents, rounded up to the 1580 right boundary. In other words, ``__<SECTION>_SIZE__ = __<SECTION>_END__ - _<SECTION>_START__``. Refer to the value of ``__<SECTION>_UNALIGNED_SIZE__`` 1581 to know the actual size of the section's contents. 1582 1583- ``__<SECTION>_UNALIGNED_SIZE__`` 1584 1585 Size (in bytes) of a given section named ``<SECTION>`` without any padding or 1586 rounding up due to some alignment constraint. In other words, 1587 ``__<SECTION>_UNALIGNED_SIZE__ = __<SECTION>_UNALIGNED_END__ - __<SECTION>_START__``. 1588 1589Some of the linker symbols are mandatory as TF-A code relies on them to be 1590defined. They are listed in the following subsections. Some of them must be 1591provided for each bootloader stage and some are specific to a given bootloader 1592stage. 1593 1594The linker scripts define some extra, optional symbols. They are not actually 1595used by any code but they help in understanding the bootloader images' memory 1596layout as they are easy to spot in the link map files. 1597 1598Common linker symbols 1599^^^^^^^^^^^^^^^^^^^^^ 1600 1601All BL images share the following requirements: 1602 1603- The BSS section must be zero-initialised before executing any C code. 1604- The coherent memory section (if enabled) must be zero-initialised as well. 1605- The MMU setup code needs to know the extents of the coherent and read-only 1606 memory regions to set the right memory attributes. When 1607 ``SEPARATE_CODE_AND_RODATA=1``, it needs to know more specifically how the 1608 read-only memory region is divided between code and data. 1609 1610The following linker symbols are defined for this purpose: 1611 1612- ``__BSS_START__`` 1613- ``__BSS_SIZE__`` 1614- ``__COHERENT_RAM_START__`` Must be aligned on a page-size boundary. 1615- ``__COHERENT_RAM_END__`` Must be aligned on a page-size boundary. 1616- ``__COHERENT_RAM_UNALIGNED_SIZE__`` 1617- ``__RO_START__`` 1618- ``__RO_END__`` 1619- ``__TEXT_START__`` 1620- ``__TEXT_END__`` 1621- ``__RODATA_START__`` 1622- ``__RODATA_END__`` 1623 1624BL1's linker symbols 1625^^^^^^^^^^^^^^^^^^^^ 1626 1627BL1 being the ROM image, it has additional requirements. BL1 resides in ROM and 1628it is entirely executed in place but it needs some read-write memory for its 1629mutable data. Its ``.data`` section (i.e. its allocated read-write data) must be 1630relocated from ROM to RAM before executing any C code. 1631 1632The following additional linker symbols are defined for BL1: 1633 1634- ``__BL1_ROM_END__`` End address of BL1's ROM contents, covering its code 1635 and ``.data`` section in ROM. 1636- ``__DATA_ROM_START__`` Start address of the ``.data`` section in ROM. Must be 1637 aligned on a 16-byte boundary. 1638- ``__DATA_RAM_START__`` Address in RAM where the ``.data`` section should be 1639 copied over. Must be aligned on a 16-byte boundary. 1640- ``__DATA_SIZE__`` Size of the ``.data`` section (in ROM or RAM). 1641- ``__BL1_RAM_START__`` Start address of BL1 read-write data. 1642- ``__BL1_RAM_END__`` End address of BL1 read-write data. 1643 1644How to choose the right base addresses for each bootloader stage image 1645~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 1646 1647There is currently no support for dynamic image loading in TF-A. This means 1648that all bootloader images need to be linked against their ultimate runtime 1649locations and the base addresses of each image must be chosen carefully such 1650that images don't overlap each other in an undesired way. As the code grows, 1651the base addresses might need adjustments to cope with the new memory layout. 1652 1653The memory layout is completely specific to the platform and so there is no 1654general recipe for choosing the right base addresses for each bootloader image. 1655However, there are tools to aid in understanding the memory layout. These are 1656the link map files: ``build/<platform>/<build-type>/bl<x>/bl<x>.map``, with ``<x>`` 1657being the stage bootloader. They provide a detailed view of the memory usage of 1658each image. Among other useful information, they provide the end address of 1659each image. 1660 1661- ``bl1.map`` link map file provides ``__BL1_RAM_END__`` address. 1662- ``bl2.map`` link map file provides ``__BL2_END__`` address. 1663- ``bl31.map`` link map file provides ``__BL31_END__`` address. 1664- ``bl32.map`` link map file provides ``__BL32_END__`` address. 1665 1666For each bootloader image, the platform code must provide its start address 1667as well as a limit address that it must not overstep. The latter is used in the 1668linker scripts to check that the image doesn't grow past that address. If that 1669happens, the linker will issue a message similar to the following: 1670 1671:: 1672 1673 aarch64-none-elf-ld: BLx has exceeded its limit. 1674 1675Additionally, if the platform memory layout implies some image overlaying like 1676on FVP, BL31 and TSP need to know the limit address that their PROGBITS 1677sections must not overstep. The platform code must provide those. 1678 1679TF-A does not provide any mechanism to verify at boot time that the memory 1680to load a new image is free to prevent overwriting a previously loaded image. 1681The platform must specify the memory available in the system for all the 1682relevant BL images to be loaded. 1683 1684For example, in the case of BL1 loading BL2, ``bl1_plat_sec_mem_layout()`` will 1685return the region defined by the platform where BL1 intends to load BL2. The 1686``load_image()`` function performs bounds check for the image size based on the 1687base and maximum image size provided by the platforms. Platforms must take 1688this behaviour into account when defining the base/size for each of the images. 1689 1690Memory layout on Arm development platforms 1691^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 1692 1693The following list describes the memory layout on the Arm development platforms: 1694 1695- A 4KB page of shared memory is used for communication between Trusted 1696 Firmware and the platform's power controller. This is located at the base of 1697 Trusted SRAM. The amount of Trusted SRAM available to load the bootloader 1698 images is reduced by the size of the shared memory. 1699 1700 The shared memory is used to store the CPUs' entrypoint mailbox. On Juno, 1701 this is also used for the MHU payload when passing messages to and from the 1702 SCP. 1703 1704- Another 4 KB page is reserved for passing memory layout between BL1 and BL2 1705 and also the dynamic firmware configurations. 1706 1707- On FVP, BL1 is originally sitting in the Trusted ROM at address ``0x0``. On 1708 Juno, BL1 resides in flash memory at address ``0x0BEC0000``. BL1 read-write 1709 data are relocated to the top of Trusted SRAM at runtime. 1710 1711- BL2 is loaded below BL1 RW 1712 1713- EL3 Runtime Software, BL31 for AArch64 and BL32 for AArch32 (e.g. SP_MIN), 1714 is loaded at the top of the Trusted SRAM, such that its NOBITS sections will 1715 overwrite BL1 R/W data and BL2. This implies that BL1 global variables 1716 remain valid only until execution reaches the EL3 Runtime Software entry 1717 point during a cold boot. 1718 1719- On Juno, SCP_BL2 is loaded temporarily into the EL3 Runtime Software memory 1720 region and transferred to the SCP before being overwritten by EL3 Runtime 1721 Software. 1722 1723- BL32 (for AArch64) can be loaded in one of the following locations: 1724 1725 - Trusted SRAM 1726 - Trusted DRAM (FVP only) 1727 - Secure region of DRAM (top 16MB of DRAM configured by the TrustZone 1728 controller) 1729 1730 When BL32 (for AArch64) is loaded into Trusted SRAM, it is loaded below 1731 BL31. 1732 1733The location of the BL32 image will result in different memory maps. This is 1734illustrated for both FVP and Juno in the following diagrams, using the TSP as 1735an example. 1736 1737.. note:: 1738 Loading the BL32 image in TZC secured DRAM doesn't change the memory 1739 layout of the other images in Trusted SRAM. 1740 1741CONFIG section in memory layouts shown below contains: 1742 1743:: 1744 1745 +--------------------+ 1746 |bl2_mem_params_descs| 1747 |--------------------| 1748 | fw_configs | 1749 +--------------------+ 1750 1751``bl2_mem_params_descs`` contains parameters passed from BL2 to next the 1752BL image during boot. 1753 1754``fw_configs`` includes soc_fw_config, tos_fw_config, tb_fw_config and fw_config. 1755 1756**FVP with TSP in Trusted SRAM with firmware configs :** 1757(These diagrams only cover the AArch64 case) 1758 1759:: 1760 1761 DRAM 1762 0xffffffff +----------+ 1763 : : 1764 0x82100000 |----------| 1765 |HW_CONFIG | 1766 0x82000000 |----------| (non-secure) 1767 | | 1768 0x80000000 +----------+ 1769 1770 Trusted DRAM 1771 0x08000000 +----------+ 1772 |HW_CONFIG | 1773 0x07f00000 |----------| 1774 : : 1775 | | 1776 0x06000000 +----------+ 1777 1778 Trusted SRAM 1779 0x04040000 +----------+ loaded by BL2 +----------------+ 1780 | BL1 (rw) | <<<<<<<<<<<<< | | 1781 |----------| <<<<<<<<<<<<< | BL31 NOBITS | 1782 | BL2 | <<<<<<<<<<<<< | | 1783 |----------| <<<<<<<<<<<<< |----------------| 1784 | | <<<<<<<<<<<<< | BL31 PROGBITS | 1785 | | <<<<<<<<<<<<< |----------------| 1786 | | <<<<<<<<<<<<< | BL32 | 1787 0x04003000 +----------+ +----------------+ 1788 | CONFIG | 1789 0x04001000 +----------+ 1790 | Shared | 1791 0x04000000 +----------+ 1792 1793 Trusted ROM 1794 0x04000000 +----------+ 1795 | BL1 (ro) | 1796 0x00000000 +----------+ 1797 1798**FVP with TSP in Trusted DRAM with firmware configs (default option):** 1799 1800:: 1801 1802 DRAM 1803 0xffffffff +--------------+ 1804 : : 1805 0x82100000 |--------------| 1806 | HW_CONFIG | 1807 0x82000000 |--------------| (non-secure) 1808 | | 1809 0x80000000 +--------------+ 1810 1811 Trusted DRAM 1812 0x08000000 +--------------+ 1813 | HW_CONFIG | 1814 0x07f00000 |--------------| 1815 : : 1816 | BL32 | 1817 0x06000000 +--------------+ 1818 1819 Trusted SRAM 1820 0x04040000 +--------------+ loaded by BL2 +----------------+ 1821 | BL1 (rw) | <<<<<<<<<<<<< | | 1822 |--------------| <<<<<<<<<<<<< | BL31 NOBITS | 1823 | BL2 | <<<<<<<<<<<<< | | 1824 |--------------| <<<<<<<<<<<<< |----------------| 1825 | | <<<<<<<<<<<<< | BL31 PROGBITS | 1826 | | +----------------+ 1827 0x04003000 +--------------+ 1828 | CONFIG | 1829 0x04001000 +--------------+ 1830 | Shared | 1831 0x04000000 +--------------+ 1832 1833 Trusted ROM 1834 0x04000000 +--------------+ 1835 | BL1 (ro) | 1836 0x00000000 +--------------+ 1837 1838**FVP with TSP in TZC-Secured DRAM with firmware configs :** 1839 1840:: 1841 1842 DRAM 1843 0xffffffff +----------+ 1844 | BL32 | (secure) 1845 0xff000000 +----------+ 1846 | | 1847 0x82100000 |----------| 1848 |HW_CONFIG | 1849 0x82000000 |----------| (non-secure) 1850 | | 1851 0x80000000 +----------+ 1852 1853 Trusted DRAM 1854 0x08000000 +----------+ 1855 |HW_CONFIG | 1856 0x7f000000 |----------| 1857 : : 1858 | | 1859 0x06000000 +----------+ 1860 1861 Trusted SRAM 1862 0x04040000 +----------+ loaded by BL2 +----------------+ 1863 | BL1 (rw) | <<<<<<<<<<<<< | | 1864 |----------| <<<<<<<<<<<<< | BL31 NOBITS | 1865 | BL2 | <<<<<<<<<<<<< | | 1866 |----------| <<<<<<<<<<<<< |----------------| 1867 | | <<<<<<<<<<<<< | BL31 PROGBITS | 1868 | | +----------------+ 1869 0x04003000 +----------+ 1870 | CONFIG | 1871 0x04001000 +----------+ 1872 | Shared | 1873 0x04000000 +----------+ 1874 1875 Trusted ROM 1876 0x04000000 +----------+ 1877 | BL1 (ro) | 1878 0x00000000 +----------+ 1879 1880**Juno with BL32 in Trusted SRAM :** 1881 1882:: 1883 1884 Flash0 1885 0x0C000000 +----------+ 1886 : : 1887 0x0BED0000 |----------| 1888 | BL1 (ro) | 1889 0x0BEC0000 |----------| 1890 : : 1891 0x08000000 +----------+ BL31 is loaded 1892 after SCP_BL2 has 1893 Trusted SRAM been sent to SCP 1894 0x04040000 +----------+ loaded by BL2 +----------------+ 1895 | BL1 (rw) | <<<<<<<<<<<<< | | 1896 |----------| <<<<<<<<<<<<< | BL31 NOBITS | 1897 | BL2 | <<<<<<<<<<<<< | | 1898 |----------| <<<<<<<<<<<<< |----------------| 1899 | SCP_BL2 | <<<<<<<<<<<<< | BL31 PROGBITS | 1900 | | <<<<<<<<<<<<< |----------------| 1901 | | <<<<<<<<<<<<< | BL32 | 1902 | | +----------------+ 1903 | | 1904 0x04001000 +----------+ 1905 | MHU | 1906 0x04000000 +----------+ 1907 1908**Juno with BL32 in TZC-secured DRAM :** 1909 1910:: 1911 1912 DRAM 1913 0xFFE00000 +----------+ 1914 | BL32 | (secure) 1915 0xFF000000 |----------| 1916 | | 1917 : : (non-secure) 1918 | | 1919 0x80000000 +----------+ 1920 1921 Flash0 1922 0x0C000000 +----------+ 1923 : : 1924 0x0BED0000 |----------| 1925 | BL1 (ro) | 1926 0x0BEC0000 |----------| 1927 : : 1928 0x08000000 +----------+ BL31 is loaded 1929 after SCP_BL2 has 1930 Trusted SRAM been sent to SCP 1931 0x04040000 +----------+ loaded by BL2 +----------------+ 1932 | BL1 (rw) | <<<<<<<<<<<<< | | 1933 |----------| <<<<<<<<<<<<< | BL31 NOBITS | 1934 | BL2 | <<<<<<<<<<<<< | | 1935 |----------| <<<<<<<<<<<<< |----------------| 1936 | SCP_BL2 | <<<<<<<<<<<<< | BL31 PROGBITS | 1937 | | +----------------+ 1938 0x04001000 +----------+ 1939 | MHU | 1940 0x04000000 +----------+ 1941 1942.. _firmware_design_fip: 1943 1944Firmware Image Package (FIP) 1945---------------------------- 1946 1947Using a Firmware Image Package (FIP) allows for packing bootloader images (and 1948potentially other payloads) into a single archive that can be loaded by TF-A 1949from non-volatile platform storage. A driver to load images from a FIP has 1950been added to the storage layer and allows a package to be read from supported 1951platform storage. A tool to create Firmware Image Packages is also provided 1952and described below. 1953 1954Firmware Image Package layout 1955~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 1956 1957The FIP layout consists of a table of contents (ToC) followed by payload data. 1958The ToC itself has a header followed by one or more table entries. The ToC is 1959terminated by an end marker entry, and since the size of the ToC is 0 bytes, 1960the offset equals the total size of the FIP file. All ToC entries describe some 1961payload data that has been appended to the end of the binary package. With the 1962information provided in the ToC entry the corresponding payload data can be 1963retrieved. 1964 1965:: 1966 1967 ------------------ 1968 | ToC Header | 1969 |----------------| 1970 | ToC Entry 0 | 1971 |----------------| 1972 | ToC Entry 1 | 1973 |----------------| 1974 | ToC End Marker | 1975 |----------------| 1976 | | 1977 | Data 0 | 1978 | | 1979 |----------------| 1980 | | 1981 | Data 1 | 1982 | | 1983 ------------------ 1984 1985The ToC header and entry formats are described in the header file 1986``include/tools_share/firmware_image_package.h``. This file is used by both the 1987tool and TF-A. 1988 1989The ToC header has the following fields: 1990 1991:: 1992 1993 `name`: The name of the ToC. This is currently used to validate the header. 1994 `serial_number`: A non-zero number provided by the creation tool 1995 `flags`: Flags associated with this data. 1996 Bits 0-31: Reserved 1997 Bits 32-47: Platform defined 1998 Bits 48-63: Reserved 1999 2000A ToC entry has the following fields: 2001 2002:: 2003 2004 `uuid`: All files are referred to by a pre-defined Universally Unique 2005 IDentifier [UUID] . The UUIDs are defined in 2006 `include/tools_share/firmware_image_package.h`. The platform translates 2007 the requested image name into the corresponding UUID when accessing the 2008 package. 2009 `offset_address`: The offset address at which the corresponding payload data 2010 can be found. The offset is calculated from the ToC base address. 2011 `size`: The size of the corresponding payload data in bytes. 2012 `flags`: Flags associated with this entry. None are yet defined. 2013 2014Firmware Image Package creation tool 2015~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 2016 2017The FIP creation tool can be used to pack specified images into a binary 2018package that can be loaded by TF-A from platform storage. The tool currently 2019only supports packing bootloader images. Additional image definitions can be 2020added to the tool as required. 2021 2022The tool can be found in ``tools/fiptool``. 2023 2024Loading from a Firmware Image Package (FIP) 2025~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 2026 2027The Firmware Image Package (FIP) driver can load images from a binary package on 2028non-volatile platform storage. For the Arm development platforms, this is 2029currently NOR FLASH. 2030 2031Bootloader images are loaded according to the platform policy as specified by 2032the function ``plat_get_image_source()``. For the Arm development platforms, this 2033means the platform will attempt to load images from a Firmware Image Package 2034located at the start of NOR FLASH0. 2035 2036The Arm development platforms' policy is to only allow loading of a known set of 2037images. The platform policy can be modified to allow additional images. 2038 2039Use of coherent memory in TF-A 2040------------------------------ 2041 2042There might be loss of coherency when physical memory with mismatched 2043shareability, cacheability and memory attributes is accessed by multiple CPUs 2044(refer to section B2.9 of `Arm ARM`_ for more details). This possibility occurs 2045in TF-A during power up/down sequences when coherency, MMU and caches are 2046turned on/off incrementally. 2047 2048TF-A defines coherent memory as a region of memory with Device nGnRE attributes 2049in the translation tables. The translation granule size in TF-A is 4KB. This 2050is the smallest possible size of the coherent memory region. 2051 2052By default, all data structures which are susceptible to accesses with 2053mismatched attributes from various CPUs are allocated in a coherent memory 2054region (refer to section 2.1 of :ref:`Porting Guide`). The coherent memory 2055region accesses are Outer Shareable, non-cacheable and they can be accessed with 2056the Device nGnRE attributes when the MMU is turned on. Hence, at the expense of 2057at least an extra page of memory, TF-A is able to work around coherency issues 2058due to mismatched memory attributes. 2059 2060The alternative to the above approach is to allocate the susceptible data 2061structures in Normal WriteBack WriteAllocate Inner shareable memory. This 2062approach requires the data structures to be designed so that it is possible to 2063work around the issue of mismatched memory attributes by performing software 2064cache maintenance on them. 2065 2066Disabling the use of coherent memory in TF-A 2067~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 2068 2069It might be desirable to avoid the cost of allocating coherent memory on 2070platforms which are memory constrained. TF-A enables inclusion of coherent 2071memory in firmware images through the build flag ``USE_COHERENT_MEM``. 2072This flag is enabled by default. It can be disabled to choose the second 2073approach described above. 2074 2075The below sections analyze the data structures allocated in the coherent memory 2076region and the changes required to allocate them in normal memory. 2077 2078Coherent memory usage in PSCI implementation 2079~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 2080 2081The ``psci_non_cpu_pd_nodes`` data structure stores the platform's power domain 2082tree information for state management of power domains. By default, this data 2083structure is allocated in the coherent memory region in TF-A because it can be 2084accessed by multiple CPUs, either with caches enabled or disabled. 2085 2086.. code:: c 2087 2088 typedef struct non_cpu_pwr_domain_node { 2089 /* 2090 * Index of the first CPU power domain node level 0 which has this node 2091 * as its parent. 2092 */ 2093 unsigned int cpu_start_idx; 2094 2095 /* 2096 * Number of CPU power domains which are siblings of the domain indexed 2097 * by 'cpu_start_idx' i.e. all the domains in the range 'cpu_start_idx 2098 * -> cpu_start_idx + ncpus' have this node as their parent. 2099 */ 2100 unsigned int ncpus; 2101 2102 /* 2103 * Index of the parent power domain node. 2104 */ 2105 unsigned int parent_node; 2106 2107 plat_local_state_t local_state; 2108 2109 unsigned char level; 2110 2111 /* For indexing the psci_lock array*/ 2112 unsigned char lock_index; 2113 } non_cpu_pd_node_t; 2114 2115In order to move this data structure to normal memory, the use of each of its 2116fields must be analyzed. Fields like ``cpu_start_idx``, ``ncpus``, ``parent_node`` 2117``level`` and ``lock_index`` are only written once during cold boot. Hence removing 2118them from coherent memory involves only doing a clean and invalidate of the 2119cache lines after these fields are written. 2120 2121The field ``local_state`` can be concurrently accessed by multiple CPUs in 2122different cache states. A Lamport's Bakery lock ``psci_locks`` is used to ensure 2123mutual exclusion to this field and a clean and invalidate is needed after it 2124is written. 2125 2126Bakery lock data 2127~~~~~~~~~~~~~~~~ 2128 2129The bakery lock data structure ``bakery_lock_t`` is allocated in coherent memory 2130and is accessed by multiple CPUs with mismatched attributes. ``bakery_lock_t`` is 2131defined as follows: 2132 2133.. code:: c 2134 2135 typedef struct bakery_lock { 2136 /* 2137 * The lock_data is a bit-field of 2 members: 2138 * Bit[0] : choosing. This field is set when the CPU is 2139 * choosing its bakery number. 2140 * Bits[1 - 15] : number. This is the bakery number allocated. 2141 */ 2142 volatile uint16_t lock_data[BAKERY_LOCK_MAX_CPUS]; 2143 } bakery_lock_t; 2144 2145It is a characteristic of Lamport's Bakery algorithm that the volatile per-CPU 2146fields can be read by all CPUs but only written to by the owning CPU. 2147 2148Depending upon the data cache line size, the per-CPU fields of the 2149``bakery_lock_t`` structure for multiple CPUs may exist on a single cache line. 2150These per-CPU fields can be read and written during lock contention by multiple 2151CPUs with mismatched memory attributes. Since these fields are a part of the 2152lock implementation, they do not have access to any other locking primitive to 2153safeguard against the resulting coherency issues. As a result, simple software 2154cache maintenance is not enough to allocate them in coherent memory. Consider 2155the following example. 2156 2157CPU0 updates its per-CPU field with data cache enabled. This write updates a 2158local cache line which contains a copy of the fields for other CPUs as well. Now 2159CPU1 updates its per-CPU field of the ``bakery_lock_t`` structure with data cache 2160disabled. CPU1 then issues a DCIVAC operation to invalidate any stale copies of 2161its field in any other cache line in the system. This operation will invalidate 2162the update made by CPU0 as well. 2163 2164To use bakery locks when ``USE_COHERENT_MEM`` is disabled, the lock data structure 2165has been redesigned. The changes utilise the characteristic of Lamport's Bakery 2166algorithm mentioned earlier. The bakery_lock structure only allocates the memory 2167for a single CPU. The macro ``DEFINE_BAKERY_LOCK`` allocates all the bakery locks 2168needed for a CPU into a section ``bakery_lock``. The linker allocates the memory 2169for other cores by using the total size allocated for the bakery_lock section 2170and multiplying it with (PLATFORM_CORE_COUNT - 1). This enables software to 2171perform software cache maintenance on the lock data structure without running 2172into coherency issues associated with mismatched attributes. 2173 2174The bakery lock data structure ``bakery_info_t`` is defined for use when 2175``USE_COHERENT_MEM`` is disabled as follows: 2176 2177.. code:: c 2178 2179 typedef struct bakery_info { 2180 /* 2181 * The lock_data is a bit-field of 2 members: 2182 * Bit[0] : choosing. This field is set when the CPU is 2183 * choosing its bakery number. 2184 * Bits[1 - 15] : number. This is the bakery number allocated. 2185 */ 2186 volatile uint16_t lock_data; 2187 } bakery_info_t; 2188 2189The ``bakery_info_t`` represents a single per-CPU field of one lock and 2190the combination of corresponding ``bakery_info_t`` structures for all CPUs in the 2191system represents the complete bakery lock. The view in memory for a system 2192with n bakery locks are: 2193 2194:: 2195 2196 bakery_lock section start 2197 |----------------| 2198 | `bakery_info_t`| <-- Lock_0 per-CPU field 2199 | Lock_0 | for CPU0 2200 |----------------| 2201 | `bakery_info_t`| <-- Lock_1 per-CPU field 2202 | Lock_1 | for CPU0 2203 |----------------| 2204 | .... | 2205 |----------------| 2206 | `bakery_info_t`| <-- Lock_N per-CPU field 2207 | Lock_N | for CPU0 2208 ------------------ 2209 | XXXXX | 2210 | Padding to | 2211 | next Cache WB | <--- Calculate PERCPU_BAKERY_LOCK_SIZE, allocate 2212 | Granule | continuous memory for remaining CPUs. 2213 ------------------ 2214 | `bakery_info_t`| <-- Lock_0 per-CPU field 2215 | Lock_0 | for CPU1 2216 |----------------| 2217 | `bakery_info_t`| <-- Lock_1 per-CPU field 2218 | Lock_1 | for CPU1 2219 |----------------| 2220 | .... | 2221 |----------------| 2222 | `bakery_info_t`| <-- Lock_N per-CPU field 2223 | Lock_N | for CPU1 2224 ------------------ 2225 | XXXXX | 2226 | Padding to | 2227 | next Cache WB | 2228 | Granule | 2229 ------------------ 2230 2231Consider a system of 2 CPUs with 'N' bakery locks as shown above. For an 2232operation on Lock_N, the corresponding ``bakery_info_t`` in both CPU0 and CPU1 2233``bakery_lock`` section need to be fetched and appropriate cache operations need 2234to be performed for each access. 2235 2236On Arm Platforms, bakery locks are used in psci (``psci_locks``) and power controller 2237driver (``arm_lock``). 2238 2239Non Functional Impact of removing coherent memory 2240~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 2241 2242Removal of the coherent memory region leads to the additional software overhead 2243of performing cache maintenance for the affected data structures. However, since 2244the memory where the data structures are allocated is cacheable, the overhead is 2245mostly mitigated by an increase in performance. 2246 2247There is however a performance impact for bakery locks, due to: 2248 2249- Additional cache maintenance operations, and 2250- Multiple cache line reads for each lock operation, since the bakery locks 2251 for each CPU are distributed across different cache lines. 2252 2253The implementation has been optimized to minimize this additional overhead. 2254Measurements indicate that when bakery locks are allocated in Normal memory, the 2255minimum latency of acquiring a lock is on an average 3-4 micro seconds whereas 2256in Device memory the same is 2 micro seconds. The measurements were done on the 2257Juno Arm development platform. 2258 2259As mentioned earlier, almost a page of memory can be saved by disabling 2260``USE_COHERENT_MEM``. Each platform needs to consider these trade-offs to decide 2261whether coherent memory should be used. If a platform disables 2262``USE_COHERENT_MEM`` and needs to use bakery locks in the porting layer, it can 2263optionally define macro ``PLAT_PERCPU_BAKERY_LOCK_SIZE`` (see the 2264:ref:`Porting Guide`). Refer to the reference platform code for examples. 2265 2266Isolating code and read-only data on separate memory pages 2267---------------------------------------------------------- 2268 2269In the Armv8-A VMSA, translation table entries include fields that define the 2270properties of the target memory region, such as its access permissions. The 2271smallest unit of memory that can be addressed by a translation table entry is 2272a memory page. Therefore, if software needs to set different permissions on two 2273memory regions then it needs to map them using different memory pages. 2274 2275The default memory layout for each BL image is as follows: 2276 2277:: 2278 2279 | ... | 2280 +-------------------+ 2281 | Read-write data | 2282 +-------------------+ Page boundary 2283 | <Padding> | 2284 +-------------------+ 2285 | Exception vectors | 2286 +-------------------+ 2 KB boundary 2287 | <Padding> | 2288 +-------------------+ 2289 | Read-only data | 2290 +-------------------+ 2291 | Code | 2292 +-------------------+ BLx_BASE 2293 2294.. note:: 2295 The 2KB alignment for the exception vectors is an architectural 2296 requirement. 2297 2298The read-write data start on a new memory page so that they can be mapped with 2299read-write permissions, whereas the code and read-only data below are configured 2300as read-only. 2301 2302However, the read-only data are not aligned on a page boundary. They are 2303contiguous to the code. Therefore, the end of the code section and the beginning 2304of the read-only data one might share a memory page. This forces both to be 2305mapped with the same memory attributes. As the code needs to be executable, this 2306means that the read-only data stored on the same memory page as the code are 2307executable as well. This could potentially be exploited as part of a security 2308attack. 2309 2310TF provides the build flag ``SEPARATE_CODE_AND_RODATA`` to isolate the code and 2311read-only data on separate memory pages. This in turn allows independent control 2312of the access permissions for the code and read-only data. In this case, 2313platform code gets a finer-grained view of the image layout and can 2314appropriately map the code region as executable and the read-only data as 2315execute-never. 2316 2317This has an impact on memory footprint, as padding bytes need to be introduced 2318between the code and read-only data to ensure the segregation of the two. To 2319limit the memory cost, this flag also changes the memory layout such that the 2320code and exception vectors are now contiguous, like so: 2321 2322:: 2323 2324 | ... | 2325 +-------------------+ 2326 | Read-write data | 2327 +-------------------+ Page boundary 2328 | <Padding> | 2329 +-------------------+ 2330 | Read-only data | 2331 +-------------------+ Page boundary 2332 | <Padding> | 2333 +-------------------+ 2334 | Exception vectors | 2335 +-------------------+ 2 KB boundary 2336 | <Padding> | 2337 +-------------------+ 2338 | Code | 2339 +-------------------+ BLx_BASE 2340 2341With this more condensed memory layout, the separation of read-only data will 2342add zero or one page to the memory footprint of each BL image. Each platform 2343should consider the trade-off between memory footprint and security. 2344 2345This build flag is disabled by default, minimising memory footprint. On Arm 2346platforms, it is enabled. 2347 2348Publish and Subscribe Framework 2349------------------------------- 2350 2351The Publish and Subscribe Framework allows EL3 components to define and publish 2352events, to which other EL3 components can subscribe. 2353 2354The following macros are provided by the framework: 2355 2356- ``REGISTER_PUBSUB_EVENT(event)``: Defines an event, and takes one argument, 2357 the event name, which must be a valid C identifier. All calls to 2358 ``REGISTER_PUBSUB_EVENT`` macro must be placed in the file 2359 ``pubsub_events.h``. 2360 2361- ``PUBLISH_EVENT_ARG(event, arg)``: Publishes a defined event, by iterating 2362 subscribed handlers and calling them in turn. The handlers will be passed the 2363 parameter ``arg``. The expected use-case is to broadcast an event. 2364 2365- ``PUBLISH_EVENT(event)``: Like ``PUBLISH_EVENT_ARG``, except that the value 2366 ``NULL`` is passed to subscribed handlers. 2367 2368- ``SUBSCRIBE_TO_EVENT(event, handler)``: Registers the ``handler`` to 2369 subscribe to ``event``. The handler will be executed whenever the ``event`` 2370 is published. 2371 2372- ``for_each_subscriber(event, subscriber)``: Iterates through all handlers 2373 subscribed for ``event``. ``subscriber`` must be a local variable of type 2374 ``pubsub_cb_t *``, and will point to each subscribed handler in turn during 2375 iteration. This macro can be used for those patterns that none of the 2376 ``PUBLISH_EVENT_*()`` macros cover. 2377 2378Publishing an event that wasn't defined using ``REGISTER_PUBSUB_EVENT`` will 2379result in build error. Subscribing to an undefined event however won't. 2380 2381Subscribed handlers must be of type ``pubsub_cb_t``, with following function 2382signature: 2383 2384.. code:: c 2385 2386 typedef void* (*pubsub_cb_t)(const void *arg); 2387 2388There may be arbitrary number of handlers registered to the same event. The 2389order in which subscribed handlers are notified when that event is published is 2390not defined. Subscribed handlers may be executed in any order; handlers should 2391not assume any relative ordering amongst them. 2392 2393Publishing an event on a PE will result in subscribed handlers executing on that 2394PE only; it won't cause handlers to execute on a different PE. 2395 2396Note that publishing an event on a PE blocks until all the subscribed handlers 2397finish executing on the PE. 2398 2399TF-A generic code publishes and subscribes to some events within. Platform 2400ports are discouraged from subscribing to them. These events may be withdrawn, 2401renamed, or have their semantics altered in the future. Platforms may however 2402register, publish, and subscribe to platform-specific events. 2403 2404Publish and Subscribe Example 2405~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 2406 2407A publisher that wants to publish event ``foo`` would: 2408 2409- Define the event ``foo`` in the ``pubsub_events.h``. 2410 2411 .. code:: c 2412 2413 REGISTER_PUBSUB_EVENT(foo); 2414 2415- Depending on the nature of event, use one of ``PUBLISH_EVENT_*()`` macros to 2416 publish the event at the appropriate path and time of execution. 2417 2418A subscriber that wants to subscribe to event ``foo`` published above would 2419implement: 2420 2421.. code:: c 2422 2423 void *foo_handler(const void *arg) 2424 { 2425 void *result; 2426 2427 /* Do handling ... */ 2428 2429 return result; 2430 } 2431 2432 SUBSCRIBE_TO_EVENT(foo, foo_handler); 2433 2434 2435Reclaiming the BL31 initialization code 2436~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 2437 2438A significant amount of the code used for the initialization of BL31 is never 2439needed again after boot time. In order to reduce the runtime memory 2440footprint, the memory used for this code can be reclaimed after initialization 2441has finished and be used for runtime data. 2442 2443The build option ``RECLAIM_INIT_CODE`` can be set to mark this boot time code 2444with a ``.text.init.*`` attribute which can be filtered and placed suitably 2445within the BL image for later reclamation by the platform. The platform can 2446specify the filter and the memory region for this init section in BL31 via the 2447plat.ld.S linker script. For example, on the FVP, this section is placed 2448overlapping the secondary CPU stacks so that after the cold boot is done, this 2449memory can be reclaimed for the stacks. The init memory section is initially 2450mapped with ``RO``, ``EXECUTE`` attributes. After BL31 initialization has 2451completed, the FVP changes the attributes of this section to ``RW``, 2452``EXECUTE_NEVER`` allowing it to be used for runtime data. The memory attributes 2453are changed within the ``bl31_plat_runtime_setup`` platform hook. The init 2454section section can be reclaimed for any data which is accessed after cold 2455boot initialization and it is upto the platform to make the decision. 2456 2457.. _firmware_design_pmf: 2458 2459Performance Measurement Framework 2460--------------------------------- 2461 2462The Performance Measurement Framework (PMF) facilitates collection of 2463timestamps by registered services and provides interfaces to retrieve them 2464from within TF-A. A platform can choose to expose appropriate SMCs to 2465retrieve these collected timestamps. 2466 2467By default, the global physical counter is used for the timestamp 2468value and is read via ``CNTPCT_EL0``. The framework allows to retrieve 2469timestamps captured by other CPUs. 2470 2471Timestamp identifier format 2472~~~~~~~~~~~~~~~~~~~~~~~~~~~ 2473 2474A PMF timestamp is uniquely identified across the system via the 2475timestamp ID or ``tid``. The ``tid`` is composed as follows: 2476 2477:: 2478 2479 Bits 0-7: The local timestamp identifier. 2480 Bits 8-9: Reserved. 2481 Bits 10-15: The service identifier. 2482 Bits 16-31: Reserved. 2483 2484#. The service identifier. Each PMF service is identified by a 2485 service name and a service identifier. Both the service name and 2486 identifier are unique within the system as a whole. 2487 2488#. The local timestamp identifier. This identifier is unique within a given 2489 service. 2490 2491Registering a PMF service 2492~~~~~~~~~~~~~~~~~~~~~~~~~ 2493 2494To register a PMF service, the ``PMF_REGISTER_SERVICE()`` macro from ``pmf.h`` 2495is used. The arguments required are the service name, the service ID, 2496the total number of local timestamps to be captured and a set of flags. 2497 2498The ``flags`` field can be specified as a bitwise-OR of the following values: 2499 2500:: 2501 2502 PMF_STORE_ENABLE: The timestamp is stored in memory for later retrieval. 2503 PMF_DUMP_ENABLE: The timestamp is dumped on the serial console. 2504 2505The ``PMF_REGISTER_SERVICE()`` reserves memory to store captured 2506timestamps in a PMF specific linker section at build time. 2507Additionally, it defines necessary functions to capture and 2508retrieve a particular timestamp for the given service at runtime. 2509 2510The macro ``PMF_REGISTER_SERVICE()`` only enables capturing PMF timestamps 2511from within TF-A. In order to retrieve timestamps from outside of TF-A, the 2512``PMF_REGISTER_SERVICE_SMC()`` macro must be used instead. This macro 2513accepts the same set of arguments as the ``PMF_REGISTER_SERVICE()`` 2514macro but additionally supports retrieving timestamps using SMCs. 2515 2516Capturing a timestamp 2517~~~~~~~~~~~~~~~~~~~~~ 2518 2519PMF timestamps are stored in a per-service timestamp region. On a 2520system with multiple CPUs, each timestamp is captured and stored 2521in a per-CPU cache line aligned memory region. 2522 2523Having registered the service, the ``PMF_CAPTURE_TIMESTAMP()`` macro can be 2524used to capture a timestamp at the location where it is used. The macro 2525takes the service name, a local timestamp identifier and a flag as arguments. 2526 2527The ``flags`` field argument can be zero, or ``PMF_CACHE_MAINT`` which 2528instructs PMF to do cache maintenance following the capture. Cache 2529maintenance is required if any of the service's timestamps are captured 2530with data cache disabled. 2531 2532To capture a timestamp in assembly code, the caller should use 2533``pmf_calc_timestamp_addr`` macro (defined in ``pmf_asm_macros.S``) to 2534calculate the address of where the timestamp would be stored. The 2535caller should then read ``CNTPCT_EL0`` register to obtain the timestamp 2536and store it at the determined address for later retrieval. 2537 2538Retrieving a timestamp 2539~~~~~~~~~~~~~~~~~~~~~~ 2540 2541From within TF-A, timestamps for individual CPUs can be retrieved using either 2542``PMF_GET_TIMESTAMP_BY_MPIDR()`` or ``PMF_GET_TIMESTAMP_BY_INDEX()`` macros. 2543These macros accept the CPU's MPIDR value, or its ordinal position 2544respectively. 2545 2546From outside TF-A, timestamps for individual CPUs can be retrieved by calling 2547into ``pmf_smc_handler()``. 2548 2549:: 2550 2551 Interface : pmf_smc_handler() 2552 Argument : unsigned int smc_fid, u_register_t x1, 2553 u_register_t x2, u_register_t x3, 2554 u_register_t x4, void *cookie, 2555 void *handle, u_register_t flags 2556 Return : uintptr_t 2557 2558 smc_fid: Holds the SMC identifier which is either `PMF_SMC_GET_TIMESTAMP_32` 2559 when the caller of the SMC is running in AArch32 mode 2560 or `PMF_SMC_GET_TIMESTAMP_64` when the caller is running in AArch64 mode. 2561 x1: Timestamp identifier. 2562 x2: The `mpidr` of the CPU for which the timestamp has to be retrieved. 2563 This can be the `mpidr` of a different core to the one initiating 2564 the SMC. In that case, service specific cache maintenance may be 2565 required to ensure the updated copy of the timestamp is returned. 2566 x3: A flags value that is either 0 or `PMF_CACHE_MAINT`. If 2567 `PMF_CACHE_MAINT` is passed, then the PMF code will perform a 2568 cache invalidate before reading the timestamp. This ensures 2569 an updated copy is returned. 2570 2571The remaining arguments, ``x4``, ``cookie``, ``handle`` and ``flags`` are unused 2572in this implementation. 2573 2574PMF code structure 2575~~~~~~~~~~~~~~~~~~ 2576 2577#. ``pmf_main.c`` consists of core functions that implement service registration, 2578 initialization, storing, dumping and retrieving timestamps. 2579 2580#. ``pmf_smc.c`` contains the SMC handling for registered PMF services. 2581 2582#. ``pmf.h`` contains the public interface to Performance Measurement Framework. 2583 2584#. ``pmf_asm_macros.S`` consists of macros to facilitate capturing timestamps in 2585 assembly code. 2586 2587#. ``pmf_helpers.h`` is an internal header used by ``pmf.h``. 2588 2589Armv8-A Architecture Extensions 2590------------------------------- 2591 2592TF-A makes use of Armv8-A Architecture Extensions where applicable. This 2593section lists the usage of Architecture Extensions, and build flags 2594controlling them. 2595 2596In general, and unless individually mentioned, the build options 2597``ARM_ARCH_MAJOR`` and ``ARM_ARCH_MINOR`` select the Architecture Extension to 2598target when building TF-A. Subsequent Arm Architecture Extensions are backward 2599compatible with previous versions. 2600 2601The build system only requires that ``ARM_ARCH_MAJOR`` and ``ARM_ARCH_MINOR`` have a 2602valid numeric value. These build options only control whether or not 2603Architecture Extension-specific code is included in the build. Otherwise, TF-A 2604targets the base Armv8.0-A architecture; i.e. as if ``ARM_ARCH_MAJOR`` == 8 2605and ``ARM_ARCH_MINOR`` == 0, which are also their respective default values. 2606 2607.. seealso:: :ref:`Build Options` 2608 2609For details on the Architecture Extension and available features, please refer 2610to the respective Architecture Extension Supplement. 2611 2612Armv8.1-A 2613~~~~~~~~~ 2614 2615This Architecture Extension is targeted when ``ARM_ARCH_MAJOR`` >= 8, or when 2616``ARM_ARCH_MAJOR`` == 8 and ``ARM_ARCH_MINOR`` >= 1. 2617 2618- By default, a load-/store-exclusive instruction pair is used to implement 2619 spinlocks. The ``USE_SPINLOCK_CAS`` build option when set to 1 selects the 2620 spinlock implementation using the ARMv8.1-LSE Compare and Swap instruction. 2621 Notice this instruction is only available in AArch64 execution state, so 2622 the option is only available to AArch64 builds. 2623 2624Armv8.2-A 2625~~~~~~~~~ 2626 2627- The presence of ARMv8.2-TTCNP is detected at runtime. When it is present, the 2628 Common not Private (TTBRn_ELx.CnP) bit is enabled to indicate that multiple 2629 Processing Elements in the same Inner Shareable domain use the same 2630 translation table entries for a given stage of translation for a particular 2631 translation regime. 2632 2633Armv8.3-A 2634~~~~~~~~~ 2635 2636- Pointer authentication features of Armv8.3-A are unconditionally enabled in 2637 the Non-secure world so that lower ELs are allowed to use them without 2638 causing a trap to EL3. 2639 2640 In order to enable the Secure world to use it, ``CTX_INCLUDE_PAUTH_REGS`` 2641 must be set to 1. This will add all pointer authentication system registers 2642 to the context that is saved when doing a world switch. 2643 2644 The TF-A itself has support for pointer authentication at runtime 2645 that can be enabled by setting ``BRANCH_PROTECTION`` option to non-zero and 2646 ``CTX_INCLUDE_PAUTH_REGS`` to 1. This enables pointer authentication in BL1, 2647 BL2, BL31, and the TSP if it is used. 2648 2649 Note that Pointer Authentication is enabled for Non-secure world irrespective 2650 of the value of these build flags if the CPU supports it. 2651 2652 If ``ARM_ARCH_MAJOR == 8`` and ``ARM_ARCH_MINOR >= 3`` the code footprint of 2653 enabling PAuth is lower because the compiler will use the optimized 2654 PAuth instructions rather than the backwards-compatible ones. 2655 2656Armv8.5-A 2657~~~~~~~~~ 2658 2659- Branch Target Identification feature is selected by ``BRANCH_PROTECTION`` 2660 option set to 1. This option defaults to 0. 2661 2662- Memory Tagging Extension feature is unconditionally enabled for both worlds 2663 (at EL0 and S-EL0) if it is only supported at EL0. If instead it is 2664 implemented at all ELs, it is unconditionally enabled for only the normal 2665 world. To enable it for the secure world as well, the build option 2666 ``CTX_INCLUDE_MTE_REGS`` is required. If the hardware does not implement 2667 MTE support at all, it is always disabled, no matter what build options 2668 are used. 2669 2670Armv7-A 2671~~~~~~~ 2672 2673This Architecture Extension is targeted when ``ARM_ARCH_MAJOR`` == 7. 2674 2675There are several Armv7-A extensions available. Obviously the TrustZone 2676extension is mandatory to support the TF-A bootloader and runtime services. 2677 2678Platform implementing an Armv7-A system can to define from its target 2679Cortex-A architecture through ``ARM_CORTEX_A<X> = yes`` in their 2680``platform.mk`` script. For example ``ARM_CORTEX_A15=yes`` for a 2681Cortex-A15 target. 2682 2683Platform can also set ``ARM_WITH_NEON=yes`` to enable neon support. 2684Note that using neon at runtime has constraints on non secure world context. 2685TF-A does not yet provide VFP context management. 2686 2687Directive ``ARM_CORTEX_A<x>`` and ``ARM_WITH_NEON`` are used to set 2688the toolchain target architecture directive. 2689 2690Platform may choose to not define straight the toolchain target architecture 2691directive by defining ``MARCH32_DIRECTIVE``. 2692I.e: 2693 2694.. code:: make 2695 2696 MARCH32_DIRECTIVE := -mach=armv7-a 2697 2698Code Structure 2699-------------- 2700 2701TF-A code is logically divided between the three boot loader stages mentioned 2702in the previous sections. The code is also divided into the following 2703categories (present as directories in the source code): 2704 2705- **Platform specific.** Choice of architecture specific code depends upon 2706 the platform. 2707- **Common code.** This is platform and architecture agnostic code. 2708- **Library code.** This code comprises of functionality commonly used by all 2709 other code. The PSCI implementation and other EL3 runtime frameworks reside 2710 as Library components. 2711- **Stage specific.** Code specific to a boot stage. 2712- **Drivers.** 2713- **Services.** EL3 runtime services (eg: SPD). Specific SPD services 2714 reside in the ``services/spd`` directory (e.g. ``services/spd/tspd``). 2715 2716Each boot loader stage uses code from one or more of the above mentioned 2717categories. Based upon the above, the code layout looks like this: 2718 2719:: 2720 2721 Directory Used by BL1? Used by BL2? Used by BL31? 2722 bl1 Yes No No 2723 bl2 No Yes No 2724 bl31 No No Yes 2725 plat Yes Yes Yes 2726 drivers Yes No Yes 2727 common Yes Yes Yes 2728 lib Yes Yes Yes 2729 services No No Yes 2730 2731The build system provides a non configurable build option IMAGE_BLx for each 2732boot loader stage (where x = BL stage). e.g. for BL1 , IMAGE_BL1 will be 2733defined by the build system. This enables TF-A to compile certain code only 2734for specific boot loader stages 2735 2736All assembler files have the ``.S`` extension. The linker source files for each 2737boot stage have the extension ``.ld.S``. These are processed by GCC to create the 2738linker scripts which have the extension ``.ld``. 2739 2740FDTs provide a description of the hardware platform and are used by the Linux 2741kernel at boot time. These can be found in the ``fdts`` directory. 2742 2743.. rubric:: References 2744 2745- `Trusted Board Boot Requirements CLIENT (TBBR-CLIENT) Armv8-A (ARM DEN0006D)`_ 2746 2747- `Power State Coordination Interface PDD`_ 2748 2749- `SMC Calling Convention`_ 2750 2751- :ref:`Interrupt Management Framework` 2752 2753-------------- 2754 2755*Copyright (c) 2013-2022, Arm Limited and Contributors. All rights reserved.* 2756 2757.. _Power State Coordination Interface PDD: http://infocenter.arm.com/help/topic/com.arm.doc.den0022d/Power_State_Coordination_Interface_PDD_v1_1_DEN0022D.pdf 2758.. _SMCCC: https://developer.arm.com/docs/den0028/latest 2759.. _PSCI: http://infocenter.arm.com/help/topic/com.arm.doc.den0022d/Power_State_Coordination_Interface_PDD_v1_1_DEN0022D.pdf 2760.. _Power State Coordination Interface PDD: http://infocenter.arm.com/help/topic/com.arm.doc.den0022d/Power_State_Coordination_Interface_PDD_v1_1_DEN0022D.pdf 2761.. _Arm ARM: https://developer.arm.com/docs/ddi0487/latest 2762.. _SMC Calling Convention: https://developer.arm.com/docs/den0028/latest 2763.. _Trusted Board Boot Requirements CLIENT (TBBR-CLIENT) Armv8-A (ARM DEN0006D): https://developer.arm.com/docs/den0006/latest/trusted-board-boot-requirements-client-tbbr-client-armv8-a 2764.. _Arm Confidential Compute Architecture (Arm CCA): https://www.arm.com/why-arm/architecture/security-features/arm-confidential-compute-architecture 2765 2766.. |Image 1| image:: ../resources/diagrams/rt-svc-descs-layout.png 2767
