The purpose of the seL4 Core Platform (sel4cp) is to enable system designers to create static software systems based on the seL4 microkernel.
The seL4 Core Platform consists of three parts:
- seL4 Core Platform Library
- seL4 Core Platform initial task
- seL4 Core Platform tool
The seL4 Core Platform is distributed as a software development kit (SDK).
This repository is the source for the sel4cp SDK.
If you are developing sel4cp itself this is the repo you want!
If you are a system designer and want to use the sel4cp SDK please download a pre-built SDK.
The remainder of this README is for sel4cp developers.
Development of sel4cp has primarily been performed on Ubuntu 18.04 LTS (x86_64).
This section attempts to list the packages or external development tools which are required during development. At this stage it may be incomplete. Please file an issue if additional packages are required.
- git
- make
- python3.9
- python3.9-venv
- musl-1.2.2
- ARM GCC compiler; 10.2-2020.11
On Ubuntu 18.04 there are no packages available for musl-1.2.2; it must be compiled from source. On Ubuntu 18.04 Python 3.9 is available via the deadsnakes PPA: https://launchpad.net/~deadsnakes/+archive/ubuntu/ppa To use this:
$ sudo add-apt-repository ppa:deadsnakes/ppa
$ sudo apt update
$ sudo apt install python3.9 python3.9-venv
Additonally, a number of Python libraries are needed.
These should be installed using pip.
$ python3.8 -m venv pyenv
$ ./pyenv/bin/pip install --upgrade pip setuptools wheel
$ ./pyenv/bin/pip install -r requirements.txt
Note: It is a high priority of the authors to ensure builds are self-contained and repeatable. A high value is placed on using specifically versioned tools. At this point in time this is not fully realised, however it is a high priority to enable this in the near future.
The ARM toolchain is available from:
The specific version used for development is the x86_64-aarch64-none-elf version:
Note: There are no plans to support development of sel4cp on any platforms other than Linux x86_64.
The SDK includes a binary of the seL4 kernel. During the SDK build process the kernel is build from source.
At this point in time there are some minor changes to the seL4 kernel required for seL4 Core Platform.
Please clone seL4 from:
git@github.com:BreakawayConsulting/seL4.git
The correct branch to use is sel4cp-core-support.
Testing has been performed using commit c8ef493d038b81cc43f82c0190788e4b3bdb4d9d.
$ ./env/bin/python build_sdk.py --sel4=<path to sel4>
The SDK is delivered as a tar.gz file.
The SDK top-level directory is sel4cp-sdk-$VERSION.
The directory layout underneath the top-level directory is:
bin/
bin/sel4cp
bsp/$board/$config/include/
bsp/$board/$config/include/sel4cp.h
bsp/$board/$config/lib/
bsp/$board/$config/lib/libsel4cp.a
bsp/$board/$config/lib/sel4cp.ld
bsp/$board/$config/elf
bsp/$board/$config/elf/loader.elf
bsp/$board/$config/elf/kernel.elf
bsp/$board/$config/elf/monitor.elf
The currently supported boards:
- tqma8xqp1gb
The currently supported configurations are:
- release
- debug
The TQMa8Xx Embedded Module from TQ Group configured with the NXP i.MX8QXP SoC and 1GiB of DDR3 ECC memory.
https://www.tq-group.com/en/products/tq-embedded/arm-architecture/tqma8xx/
All testing has been performed with the module on the MBa8Xx carrier board which is included in the starter kit.
The provided board support should be at the module level and does not make any assumptions about the carrier board.
Note: There are different configured of the TQMa8Xx board which include different NXP SoCs and different memory configurations. Such modules are not supported.
In release configuration the loader, kernel and monitor do not perform any direct serial output.
The debug configuration includes basic print output form the loader, kernel and monitor.