seL4 · lsf37 · Jan 24, 2024 · Sep 7, 2023
diff --git a/README.md b/README.md
@@ -16,6 +16,7 @@ Currently the supported platforms include:
 * TX1
 * TX2
 * QEMU ARM virt machine
+* ZCU102
 * x86
 * x86_64 (coming)
 
@@ -29,7 +30,8 @@ cd build
 ../init-build.sh -DCAMKES_VM_APP=vm_minimal -DPLATFORM=tk1
 ninja
 ```
-*Note: To buid for another platform you can substitute the value of the `-DPLATFORM` variable e.g. (exynos5422, tx1, tx2, qemu-arm-virt)*
+*Note: To buid for another platform you can substitute the value of the `-DPLATFORM` variable
+e.g. (exynos5422, tx1, tx2, qemu-arm-virt, zcu102)*
 *Note: If building for x86 you don't need to specify the `-DPLATFORM` variable*
 
 ### For Arm
@@ -98,12 +100,13 @@ See the below feature matrix for the various features the CAmkES ARM VMM impleme
 | TK1 | 32-bit | Unsupported | Unsupported | Unsupported | Unsupported | Unsupported | Unsupported | SMP configurations are unsupported due to: * No TK1 kernel SMP support * No virtual power device interface to manage VCPU's at runtime (e.g. core startup) Virtio PCI, Console, Net, Cross VM connector support & Multi-VM are untested  |
 | TX1 | 64-bit | Supported | Unsupported | Unsupported | Unsupported | Unsupported | Unsupported | Virtio PCI, Console, Net, Cross VM connector support & Multi-VM are untested |
 | TX2 | 64-bit | Supported | Supported | Supported | Supported | Supported | Unsupported | Cross VM connector support is untested |
+| ZCU102 | 64-bit | Supported | Supported | Supported | Supported | Supported | Unsupported | Cross VM connector support is untested |
 | QEMU Virt | 64-bit | Supported | Unsupported | Supported | Supported | Supported | Supported | Multi-VM support depends on porting the TimeServer to QEMU (See https://github.com/sel4/global-components/tree/master/components/TimeServer) |
 
 
 ## Arm Platform Configuration Notes
 
-### Exynos5422, TX1, TX2, QEMU ARM Virt configuration
+### Exynos5422, TX1, TX2, ZCU102, QEMU ARM Virt configuration
 We provide a pre-built Linux image and Buildroot image for our guest VM's. See the images in the `camkes-vm-images` repository @ https://github.com/sel4/camkes-vm-images
 When compiling an application for these platforms, the images are sourced from the platforms subdirectory in the `camkes-vm-images` repo.
 Feel free also to compile your own Linux and Rootfs images, see the README's in each platform subdirectory (within `camkes-vm-images`) for information about our

diff --git a/apps/Arm/vm_minimal/CMakeLists.txt b/apps/Arm/vm_minimal/CMakeLists.txt
@@ -10,6 +10,8 @@ project(camkes-arm-tk1-vm C)
 
 include(${CAMKES_ARM_VM_HELPERS_PATH})
 
+set(cpp_includes "${CAMKES_VM_DIR}/components/VM_Arm")
+
 # Create our CPP Flags based on ARM VM config variables
 if("${KernelARMPlatform}" STREQUAL "tk1")
     set(cpp_flags "-DKERNELARMPLATFORM_TK1")
@@ -128,6 +130,36 @@ elseif("${KernelARMPlatform}" STREQUAL "odroidc2")
         output_dtb_location
     )
     AddToFileServer("linux-dtb" "${output_dtb_location}" DEPENDS dtb_gen_target)
+
+elseif("${KernelARMPlatform}" STREQUAL "zcu102")
+
+    if("${VmZynqmpPetalinuxVersion}" STREQUAL "")
+        message(
+            FATAL_ERROR
+                "VmZynqmpPetalinuxVersion is not set. Please set to include proper VM artifacts"
+        )
+    endif()
+
+    AddToFileServer("linux" "${CAMKES_VM_IMAGES_DIR}/zynqmp/${VmZynqmpPetalinuxVersion}/linux")
+    AddToFileServer(
+        "linux-initrd"
+        "${CAMKES_VM_IMAGES_DIR}/zynqmp/${VmZynqmpPetalinuxVersion}/rootfs-minimal.cpio.gz"
+    )
+
+    set(dts_file "${CAMKES_VM_IMAGES_DIR}/zynqmp/${VmZynqmpPetalinuxVersion}/linux.dts")
+
+    add_custom_command(
+        OUTPUT linux/linux-dtb
+        COMMAND bash -c "which dtc && dtc -q -I dts -O dtb ${dts_file} > linux/linux-dtb"
+        VERBATIM
+        DEPENDS ${dts_file}
+    )
+
+    # Create custom target for setting the dtb
+    add_custom_target(set_dtb DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/linux/linux-dtb")
+    AddToFileServer("linux-dtb" "${CMAKE_CURRENT_BINARY_DIR}/linux/linux-dtb" DEPENDS set_dtb)
+
+    list(APPEND cpp_includes "${CAMKES_VM_DIR}/components/VM_Arm/plat_include/zynqmp")
 endif()
 
 AddCamkesCPPFlag(cpp_flags CONFIG_VARS VmEmmc2NoDMA VmVUSB Tk1DeviceFwd Tk1Insecure)
@@ -137,10 +169,4 @@ DefineCAmkESVMFileServer()
 CAmkESAddImportPath(${KernelARMPlatform})
 
 # Declare root server
-DeclareCAmkESRootserver(
-    vm_minimal.camkes
-    CPP_FLAGS
-    ${cpp_flags}
-    CPP_INCLUDES
-    ${CAMKES_VM_DIR}/components/VM_Arm
-)
+DeclareCAmkESRootserver(vm_minimal.camkes CPP_FLAGS ${cpp_flags} CPP_INCLUDES ${cpp_includes})
diff --git a/apps/Arm/vm_minimal/settings.cmake b/apps/Arm/vm_minimal/settings.cmake
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-2-Clause
 #
 
-set(supported "tk1;tx1;tx2;exynos5422;qemu-arm-virt;odroidc2")
+set(supported "tk1;tx1;tx2;exynos5422;qemu-arm-virt;odroidc2;zcu102")
 if(NOT "${PLATFORM}" IN_LIST supported)
     message(FATAL_ERROR "PLATFORM: ${PLATFORM} not supported.
          Supported: ${supported}")
@@ -36,3 +36,8 @@ if(${PLATFORM} STREQUAL "qemu-arm-virt")
     set(KernelArmCPU cortex-a53 CACHE STRING "" FORCE)
     set(VmInitRdFile ON CACHE BOOL "" FORCE)
 endif()
+if(${PLATFORM} STREQUAL "zcu102")
+    set(AARCH64 ON CACHE BOOL "" FORCE)
+    set(KernelAllowSMCCalls ON CACHE BOOL "" FORCE)
+    set(VmZynqmpPetalinuxVersion 2021_1 CACHE STRING "" FORCE)
+endif()
diff --git a/apps/Arm/vm_minimal/zcu102/devices.camkes b/apps/Arm/vm_minimal/zcu102/devices.camkes
@@ -0,0 +1,134 @@
+/*
+ * Copyright 2023, DornerWorks
+ *
+ * SPDX-License-Identifier: BSD-2-Clause
+ */
+
+#include <plat/smc.h>
+#include <configurations/vm.h>
+
+#define VM_INITRD_MAX_SIZE 0x1900000 //25 MB
+#define VM_RAM_BASE 0x10000000
+#define VM_RAM_SIZE 0x10000000
+#define VM_ENTRY_ADDR 0x10080000
+#define VM_RAM_OFFSET 0
+#define VM_DTB_ADDR 0x12000000
+#define VM_INITRD_ADDR 0x13000000
+
+assembly {
+	composition {}
+	configuration {
+
+        vm0.vm_address_config = {
+            "ram_base" : VAR_STRINGIZE(VM_RAM_BASE),
+            "ram_paddr_base" : VAR_STRINGIZE(VM_RAM_BASE),
+            "ram_size" : VAR_STRINGIZE(VM_RAM_SIZE),
+            "dtb_addr" : VAR_STRINGIZE(VM_DTB_ADDR),
+            "initrd_addr" : VAR_STRINGIZE(VM_INITRD_ADDR),
+            "kernel_entry_addr" : VAR_STRINGIZE(VM_ENTRY_ADDR),
+        };
+        vm0.num_vcpus = 4;
+
+        /* Extra untyped pool to allow for 256MB of RAM */
+        vm0.simple_untyped28_pool = 1;
+
+        vm0.vm_image_config = {
+            "kernel_name" : "linux",
+            "initrd_name" : "linux-initrd",
+            "dtb_base_name" : "linux-dtb",
+            "kernel_bootcmdline" : "console=ttyPS0,115200 root=/dev/ram rw earlycon clk_ignore_unused",
+            "kernel_stdout" : "serial0:115200n8",
+            "generate_dtb" : true,
+            "provide_dtb" : false,
+            "map_one_to_one" : false,
+            "provide_initrd": true,
+            "clean_cache" : false,
+        };
+
+        vm0.dtb = dtb([{"path": "/amba/serial@ff000000"} ]);
+
+        vm0.untyped_mmios = ["0xf9060000:12"]; // Interrupt Controller Virtual CPU interface (Virtual Machine view)
+
+        vm0.plat_keep_devices = [
+            "/__symbols__",
+            "/aliases",
+            "/aux_ref_clk",
+            "/axi/interrupt-controller@f9010000",
+            "/dcc",
+            "/dp_aclk",
+            "/edac",
+            "/fclk0",
+            "/fclk1",
+            "/fclk2",
+            "/fclk3",
+            "/fpga-full",
+            "/gt_crx_ref_clk",
+            "/ina226-u15",
+            "/ina226-u16",
+            "/ina226-u65",
+            "/ina226-u74",
+            "/ina226-u75",
+            "/ina226-u76",
+            "/ina226-u77",
+            "/ina226-u78",
+            "/ina226-u79",
+            "/ina226-u80",
+            "/ina226-u81",
+            "/ina226-u84",
+            "/ina226-u85",
+            "/ina226-u86",
+            "/ina226-u87",
+            "/ina226-u88",
+            "/ina226-u92",
+            "/ina226-u93",
+            "/pmu",
+            "/psci",
+            "/pss_alt_ref_clk",
+            "/pss_ref_clk",
+            "/ref48M",
+            "/refhdmi",
+            "/timer",
+            "/video_clk",
+            "/axi/serial@ff000000",
+        ];
+
+        vm0.plat_keep_devices_and_subtree = [
+            "/firmware",
+            "/gpio-keys",
+            "/leds",
+            "/zynqmp_ipi",
+        ];
+
+        vm0.allow_smc = true;
+        vm0.allowed_smc_functions = [
+            SMC_PM_GET_API_VERSION,
+            SMC_PM_REQUEST_NODE,
+            SMC_PM_RELEASE_NODE,
+            SMC_PM_SET_REQUIREMENT,
+            SMC_PM_INIT_FINALIZE,
+            SMC_PM_FPGA_GET_STATUS,
+            SMC_PM_RESET_ASSERT,
+            SMC_PM_RESET_GET_STATUS,
+            SMC_PM_MMIO_WRITE,
+            SMC_PM_MMIO_READ,
+            SMC_PM_GET_CHIPID,
+            SMC_PM_PINCTRL_REQUEST,
+            SMC_PM_PINCTRL_RELEASE,
+            SMC_PM_PINCTRL_SET_FUNCTION,
+            SMC_PM_PINCTRL_CONFIG_PARAM_GET,
+            SMC_PM_PINCTRL_CONFIG_PARAM_SET,
+            SMC_PM_IOCTL,
+            SMC_PM_QUERY_DATA,
+            SMC_PM_CLOCK_ENABLE,
+            SMC_PM_CLOCK_DISABLE,
+            SMC_PM_CLOCK_GETSTATE,
+            SMC_PM_CLOCK_SETDIVIDER,
+            SMC_PM_CLOCK_GETDIVIDER,
+            SMC_PM_CLOCK_GETPARENT,
+            SMC_PM_GET_TRUSTZONE_VERSION,
+            SMC_IPI_MAILBOX_OPEN,
+            SMC_IPI_MAILBOX_RELEASE,
+            SMC_IPI_MAILBOX_ENABLE_IRQ
+        ];
+	}
+}