1d1bdd85a3
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
248 lines
8.7 KiB
Plaintext
248 lines
8.7 KiB
Plaintext
STM32L562E-DK README
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====================
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This README file discusses the port of NuttX to the STMicro STM32L562E-DK
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board. That board features the STM32L562QEI6QU MCU with 512KiB of FLASH
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and 256KiB of SRAM.
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This port is a proof-of-concept to demonstrate running NuttX in the Non-
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Secure TrustZone domain as a companion to TrustedFirmware-M (TFM). Running
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NuttX on the STM32L562E-DK without TFM is currently not supported.
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Contents
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========
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- Status
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- LEDs
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- Buttons
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- Serial Console
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- TrustedFirmware-M
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- Configurations
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Status
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======
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2021-03-03: The board now boots and the basic NSH configuration works
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without problem.
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LEDs
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====
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The Board provides a 2 user LEDs, LD9 and LD10
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LED9 (Red) PD_3
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LED10 (Green) PG_12
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- When the I/O is LOW value, the LEDs are on.
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- When the I/O is HIGH value, the LEDs are off.
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These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
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defined. In that case, the usage by the board port is defined in
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include/board.h and src/stm32_autoleds.c. The LEDs are used to encode OS
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related events as follows when the LEDs are available:
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SYMBOL Meaning RED GREEN
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------------------- ----------------------- --- -----
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LED_STARTED NuttX has been started OFF OFF
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LED_HEAPALLOCATE Heap has been allocated ON OFF
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LED_IRQSENABLED Interrupts enabled ON ON
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LED_STACKCREATED Idle stack created OFF ON
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LED_INIRQ In an interrupt GLOW NC (momentary)
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LED_SIGNAL In a signal handler GLOW NC (momentary)
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LED_ASSERTION An assertion failed GLOW NC (momentary)
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LED_PANIC The system has crashed ON OFF (flashing 2Hz)
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LED_IDLE MCU is is sleep mode NC ON
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OFF - means that the OS is still initializing. Initialization is very fast
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so if you see this at all, it probably means that the system is
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hanging up somewhere in the initialization phases.
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GREEN - This means that the OS completed initialization.
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Flashing RED - In the event of a fatal crash, all other LEDs will be
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extinguished and RED LED will FLASH at a 2Hz rate.
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Thus if the GREEN LED is lit, NuttX has successfully booted and is,
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apparently, idleing normally. If the RED LED is flashing at
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approximately 2Hz, then a fatal error has been detected and the system has
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halted.
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Buttons
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=======
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B1 USER: the user button is connected to the I/O PC13 (pin 2) of the STM32
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microcontroller.
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Serial Consoles
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===============
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USART1 - Virtual COM Port
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-------------------------
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Default board is configured to use USART1 as console, which is wired to
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the STLINK Virtual COM Port.
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FUNC GPIO
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---- ----
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TXD: PA9
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RXD: PA10
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---- ----
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Use make menuconfig to configure USART1 as the console:
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CONFIG_STM32L5_USART1=y
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CONFIG_USART1_SERIALDRIVER=y
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CONFIG_USART1_SERIAL_CONSOLE=y
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CONFIG_USART1_RXBUFSIZE=256
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CONFIG_USART1_TXBUFSIZE=256
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CONFIG_USART1_BAUD=115200
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CONFIG_USART1_BITS=8
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CONFIG_USART1_PARITY=0
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CONFIG_USART1_2STOP=0
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Default
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-------
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As shipped, the virtual COM port is enabled.
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TrustedFirmware-M
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=================
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You should study [UM2671] STMicroelectronics. UM2671: Getting started with
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STM32CubeL5 TFM application, 2nd edition, July 2020.
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I was using STM32CubeL5 v1.3.1
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(https://github.com/STMicroelectronics/STM32CubeL5/tree/v1.3.1).
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Changes required to STM32CubeL5's TFM
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-------------------------------------
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The following two changes to TFM have to be applied to be able to run NuttX.
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The first one is required since NuttX issues SVC instructions while interrupts
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are disabled, which causes HardFaults. NuttX then detects this situation in
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the HardFault handler. Per default HardFaults are taken to the secure domain,
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though. Thus, this change:
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--- a/Projects/STM32L562E-DK/Applications/TFM/TFM_SBSFU_Boot/Src/boot_hal.c
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+++ b/Projects/STM32L562E-DK/Applications/TFM/TFM_SBSFU_Boot/Src/boot_hal.c
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@@ -306,6 +306,9 @@ void jumper(struct arm_vector_table *vector)
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/* set the secure vector */
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SCB->VTOR = (uint32_t)vector;
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+ /* Stay in Non-Secure mode for BusFault, HardFault, and NMI exceptions */
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+ SCB->AIRCR = (SCB->AIRCR & 0x0000FFFF) | 0x05FA0000 | SCB_AIRCR_BFHFNMINS_Msk;
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+
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vt = (struct arm_vector_table *)vector;
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The second change is required to ensure all interrupts are taken to the
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non-secure domain:
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--- a/Projects/STM32L562E-DK/Applications/TFM/TFM_Appli/Secure/Src/spm_hal.c
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+++ b/Projects/STM32L562E-DK/Applications/TFM/TFM_Appli/Secure/Src/spm_hal.c
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@@ -535,6 +535,7 @@ enum tfm_plat_err_t tfm_spm_hal_system_reset_cfg(void)
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enum tfm_plat_err_t tfm_spm_hal_nvic_interrupt_target_state_cfg(void)
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{
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/* return nvic_interrupt_target_state_cfg();*/
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+ nvic_interrupt_target_state_cfg();
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return TFM_PLAT_ERR_SUCCESS;
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}
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Encrypting and Signing the NuttX Binary
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---------------------------------------
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According to Figure 24 of [UM2671] and since we use the 'external flash
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configuration', we must create the 'tfm_ns_enc_sign.bin' image from
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'nuttx.bin'. This is done with mcuboot's imgtool.py.
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imgtool.py sign \
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-k root-rsa-2048_1.pem \ Key used for signing
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-E enc-rsa2048-pub.pem \ Encrypt image using the provided public key
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-o 0x90000400 \ OTFDEC
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-e little \ Little Endian
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-S 0x100000 \ Size of Flash Slot
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-H 0x400 \ Header Size
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--pad-header \ Pad header with zeroes
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-v $version \ Version (TEXT)
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-s auto \ Security Counter - auto: Create from Version
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--align 8 \ 8 byte alignment
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nuttx.bin \ input file
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tfm_ns_enc_sign.bin output file
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On my system the full command is as follows:
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$ python3 ~/compile/STM32CubeL5/Middlewares/Third_Party/mcuboot/scripts/imgtool.py sign -k ~/compile/STM32CubeL5/Middlewares/Third_Party/trustedfirmware/bl2/ext/mcuboot/root-rsa-2048_1.pem -E ~/compile/STM32CubeL5/Middlewares/Third_Party/trustedfirmware/bl2/ext/mcuboot/enc-rsa2048-pub.pem -o 0x90000400 -e little -S 0x100000 -H 0x400 --pad-header -v 1 -s auto --align 8 nuttx.bin tfm_ns_enc_sign.bin
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Configurations
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==============
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Information Common to All Configurations
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----------------------------------------
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Each configuration is maintained in a sub-directory and can be
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selected as follow:
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tools/configure.sh nucleo-l552ze:<subdir>
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Before building, make sure the PATH environment variable includes the
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correct path to the directory than holds your toolchain binaries.
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And then build NuttX by simply typing the following. At the conclusion of
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the make, the nuttx binary will reside in an ELF file called, simply, nuttx.
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make oldconfig
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make
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The <subdir> that is provided above as an argument to the tools/configure.sh
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must be is one of the following.
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NOTES:
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1. These configurations use the mconf-based configuration tool. To
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change any of these configurations using that tool, you should:
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a. Build and install the kconfig-mconf tool. See nuttx/README.txt
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see additional README.txt files in the NuttX tools repository.
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b. Execute 'make menuconfig' in nuttx/ in order to start the
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reconfiguration process.
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2. Unless stated otherwise, all configurations generate console
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output on USART1, as described above under "Serial Console". The
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elevant configuration settings are listed below:
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CONFIG_STM32L5_USART1=y
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CONFIG_STM32L5_USART1_SERIALDRIVER=y
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CONFIG_STM32L5_USART=y
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CONFIG_USART1_SERIALDRIVER=y
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CONFIG_USART1_SERIAL_CONSOLE=y
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CONFIG_USART1_RXBUFSIZE=256
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CONFIG_USART1_TXBUFSIZE=256
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CONFIG_USART1_BAUD=115200
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CONFIG_USART1_BITS=8
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CONFIG_USART1_PARITY=0
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CONFIG_USART1_2STOP=0
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3. All of these configurations are set up to build under Linux using the
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"GNU Tools for ARM Embedded Processors" that is maintained by ARM
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(unless stated otherwise in the description of the configuration).
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https://developer.arm.com/open-source/gnu-toolchain/gnu-rm
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That toolchain selection can easily be reconfigured using
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'make menuconfig'. Here are the relevant current settings:
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Build Setup:
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CONFIG_HOST_LINUX=y : Linux environment
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System Type -> Toolchain:
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CONFIG_ARMV8M_TOOLCHAIN_GNU_EABIL=y : GNU ARM EABI toolchain
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Configuration sub-directories
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-----------------------------
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nsh:
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Configures the NuttShell (nsh) located at examples/nsh. This
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configuration is focused on low level, command-line driver testing.
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