Rust seL4 toy system built on ferros for the imx6 sabrelite platform

• ferros: A Rust-based userland which also adds compile-time assurances to seL4 development
• QEMU sabrelite machine
• device tree
• IMX6DQRM refman
• HW user manual
• HW components
• imx6 platform sdk
• TickV

Overview

Process Tree

Persistent Storage

TODO - diagrams for enet, tcpip, iomux

Getting Started

Dependencies

• rust (nightly)

  curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
  rustup install nightly
  rustup target add armv7-unknown-linux-gnueabihf

• qemu-system-arm (for simulation, version >= 6.0.1)

  wget https://download.qemu.org/qemu-6.1.0.tar.xz
  tar xvJf qemu-6.1.0.tar.xz
  cd qemu-6.1.0
  ./configure --target-list=arm-softmmu,arm-linux-user
  make -j 4
  sudo make install

• seL4 Python build dependencies

  pip3 install --user setuptools sel4-deps

• selfe

  cargo install --git https://github.com/auxoncorp/selfe-sys selfe-config --bin selfe --features bin --force

Buidling

Log level can be set at build-time with the RUST_ENV environment variable (off, error, warn, info, debug, trace). The default is RUST_LOG=debug.

./scripts/build.sh

Simulating

When using QEMU, the script mkflash.sh setups up a binary file to back the flash storage (target/flash/flash.bin).

In a separate terminal, run the QEMU networking script:

sudo ./scripts/setup-networking.sh
Adding interface 'qemu-net'

./scripts/simulate.sh

ELF-loader started on CPU: ARM Ltd. Cortex-A9 r0p0
  paddr=[20000000..20825037]
No DTB found!
Looking for DTB in CPIO archive...
Found dtb at 200e1254
Loaded dtb from 200e1254
   paddr=[10041000..1004bfff]
ELF-loading image 'kernel'
  paddr=[10000000..10040fff]
  vaddr=[e0000000..e0040fff]
  virt_entry=e0000000
ELF-loading image 'root-task'
  paddr=[1004c000..1047efff]
  vaddr=[10000..442fff]
  virt_entry=22eac
ELF loader relocated, continuing boot...
Bringing up 3 other cpus
Enabling MMU and paging
Jumping to kernel-image entry point...

Bootstrapping kernel
Booting all finished, dropped to user space
DEBUG: [root-task] Initializing version=0.1.0 profile=debug
DEBUG: [root-task] Found iomux ELF data size=3085664
DEBUG: [root-task] Found enet ELF data size=4850064
DEBUG: [root-task] Found tcpip ELF data size=5925980
DEBUG: [root-task] Found persistent-storage ELF data size=4913648
DEBUG: [root-task] Found console ELF data size=5142756
DEBUG: [root-task] Setting up iomux driver
DEBUG: [root-task] Setting up tcpip driver
DEBUG: [root-task] Setting up enet driver
DEBUG: [root-task] Setting up persistent-storage driver
DEBUG: [root-task] Setting up console application
DEBUG: [iomux] Process started
DEBUG: [enet-driver] Process started
DEBUG: [tcpip-driver] Process started
DEBUG: [persistent-storage] Process started
DEBUG: [persistent-storage] storage vaddr=0x66000 size=4096
DEBUG: [persistent-storage] scratchpad vaddr=0x67000 size=4096
DEBUG: [iomux] Processing request ConfigureEcSpi1
DEBUG: [persistent-storage] Configured ECSPI1 IO resp=EcSpi1Configured
DEBUG: [tcpip-driver] TCP/IP stack is up IP=192.0.2.80 MAC=00:AD:BE:EF:CA:FE
DEBUG: [console] Process started
INFO: [console] Run 'telnet 0.0.0.0 8888' to connect to the console interface (QEMU)

Telnet to get at the console:

telnet 0.0.0.0 8888

***************************
* Welcome to the console! *
***************************

> help
AVAILABLE ITEMS:
  storage
  net
  help [ <command> ]

> help storage
SUMMARY:
  storage

DESCRIPTION:
Enter the persistent storage sub-menu.

> storage

/storage> help
AVAILABLE ITEMS:
  append <key> <value>
  get <key>
  invalidate <key>
  gc
  exit
  help [ <command> ]

> help net
SUMMARY:
  net

DESCRIPTION:
Enter the network sub-menu.

> net

/net> help
AVAILABLE ITEMS:
  sendto <addr> <port> <data>
  exit
  help [ <command> ]

You can ping the IP stack (smoltcp):

ping -4 192.0.2.80

PING 192.0.2.80 (192.0.2.80) 56(84) bytes of data.
64 bytes from 192.0.2.80: icmp_seq=1 ttl=64 time=44.4 ms
64 bytes from 192.0.2.80: icmp_seq=2 ttl=64 time=8.38 ms
64 bytes from 192.0.2.80: icmp_seq=3 ttl=64 time=8.61 ms

Send UDP data from the console. On the remote side:

netcat -lu 192.0.2.2 4567

In the console:

> net

/net> sendto 192.0.2.2 4567 hello