Orin crashes during boot in Jetpack 6.0 if optee/atf/tof image is rebuild (with custom FV key)

Robotics & Edge Computing Jetson & Embedded Systems Jetson AGX Orin
1

Hello,

I migrated from Linux for Tegra 35.5 (Jetpack 5) to Linux for Tegra 36.3 (Jetpack 6). I use an encrypted disk with custom keys. E.g. a custom FV key. To use a custom FV key optee the fv key in the file source/public/optee/optee_os/core/pta/tegra/jetson_user_key_pta.c has to be changed to the custom one and OpTee has to be rebuild in many steps to finally output a tos.img. This file then has to be copied to bootloader/tos-optee_t234.img and flashed. It even crashes if just OpTee is rebuild and the default FV key is used.

Everything worked in Tegra 35.5 (Jetpack 5). But it crashes during boot in Linux for Tegra 36.3 (Jetpack 6) with the same steps.

Software downloaded

Commands used

      export CROSS_COMPILE_AARCH64_PATH="${PWD}/toolchain"
      export UEFI_STMM_PATH="${PWD}/bootloader/standalonemm_optee_t234.bin"
      echo "CROSS_COMPILE_AARCH64_PATH=${CROSS_COMPILE_AARCH64_PATH}"
      echo "UEFI_STMM_PATH=${UEFI_STMM_PATH}"
      sudo -E ./source/public/optee_src_build.sh -p t234

      export CROSS_COMPILE_AARCH64_PATH="${PWD}/toolchain"
      export CROSS_COMPILE_AARCH64="${CROSS_COMPILE_AARCH64_PATH}/bin/aarch64-buildroot-linux-gnu-"
      echo "CROSS_COMPILE_AARCH64_PATH=${CROSS_COMPILE_AARCH64_PATH}"
      echo "CROSS_COMPILE_AARCH64=${CROSS_COMPILE_AARCH64}"
      cd source/public
      sudo dtc -I dts -O dtb -o ./optee/tegra234-optee.dtb ./optee/tegra234-optee.dts

      export CROSS_COMPILE_AARCH64_PATH="${PWD}/toolchain"
      export CROSS_COMPILE_AARCH64="${CROSS_COMPILE_AARCH64_PATH}/bin/aarch64-buildroot-linux-gnu-"
      echo "CROSS_COMPILE_AARCH64_PATH=${CROSS_COMPILE_AARCH64_PATH}"
      echo "CROSS_COMPILE_AARCH64=${CROSS_COMPILE_AARCH64}"
      cd source/public/arm-trusted-firmware
      sudo -E make BUILD_BASE=./build CROSS_COMPILE="${CROSS_COMPILE_AARCH64}" DEBUG=0 LOG_LEVEL=20 PLAT=tegra SPD=opteed TARGET_SOC=t234 V=0

      sudo ./nv_tegra/tos-scripts/gen_tos_part_img.py --monitor ./source/public/arm-trusted-firmware/build/tegra/t234/release/bl31.bin \
       --os ./source/public/optee/build/t234/core/tee-raw.bin \
       --dtb ./source/public/optee/tegra234-optee.dtb \
       --tostype optee \
       ./nv_tegra/tos-scripts/tos.img

cp ./nv_tegra/tos-scripts/tos.img ./bootloader/tos-optee_t234.img

Error output

--> will be added soon

This worked in Jetpack 5 and crashes in Jetpack 6.

Best regards

2

Hi,
Please check the quick start in developer guide and make sure you follow the steps one by one:
https://docs.nvidia.com/jetson/archives/r36.3/DeveloperGuide/IN/QuickStart.html
If the device still cannot be flashed/booted, please refer to the page to get uart log from the device:
https://elinux.org/Jetson/General_debug
If you are using custom board, you can compare uart log of developer kit and custom board to get more information.

Thanks!

4

hello bj25,

had you also update below FV vector to rebuilt op-tee binaries?
for instance,
r36.3/Linux_for_Tegra/source/atf_and_optee/optee/optee_os/core/pta/tegra/jetson_user_key_pta.c

/*
 * Random fixed vector for EKB.
 *
 * Note: This vector MUST match the 'fv' vector used for EKB binary
 * generation process.
 * ba d6 6e b4 48 49 83 68 4b 99 2f e5 4a 64 8b b8
 */
static uint8_t fv_for_ekb[] = {
        0xba, 0xd6, 0x6e, 0xb4, 0x48, 0x49, 0x83, 0x68,
        0x4b, 0x99, 0x2f, 0xe5, 0x4a, 0x64, 0x8b, 0xb8,
};
5

Yes, it crashes whether I update it or not.

Note that the in Jetpack 5 (not 6):

  • if it is updated (same change): it boots successfully with recompiled optee.
  • if it is not updated: it does throws an error with the wrong key and does not just crash
6

hello bj25,

could you please try with below by running script files to build the ATF and OP-TEE sources.
for instance,
$ ./nv_public_src_build.sh -p t234
$ ./nv_public_src_build_tos.sh -p t234 -u $OUT/Linux_for_Tegra/bootloader/standalonemm_optee_t234.bin -s $OUT/Linux_for_Tegra/nv_tegra/tos-scripts/gen_tos_part_img.py

8

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