NXP启动Jailhouse
时间：2024/2/25 更新时间：2024/3/13
作者：杨竣轶，陈星宇
整体思路：
- 使用SD卡启动第一个Linux，这个Linux最好使用ubuntu的rootfs，并且配通网络【方便安装包】。
- 启动root Linux，并且编译一遍Linux 内核以及Jailhouse。
- 重启，修改root dtb，启动root Linux。
- jailhouse 启动nonroot Linux，该Linux是emmc上的Linux（原厂商的Linux），指定rootfs为emmc。
一、制作ubuntu SD卡镜像
wget https://cdimage.ubuntu.com/ubuntu-base/releases/18.04/release/ubuntu-base-18.04.5-base-arm64.tar.gz
tar zxvf ubuntu-base-18.04.5-base-arm64.tar.gz
cd ubuntu-base-18.04.5-base-arm64
# chroot in x86
sudo apt-get install qemu
sudo cp /usr/bin/qemu-aarch64-static usr/bin/
sudo mount /sys ./sys -o bind
sudo mount /proc ./proc -o bind
sudo mount /dev ./dev -o bind
sudo mv etc/resolv.conf etc/resolv.conf.saved
sudo cp /etc/resolv.conf etc
sudo LC_ALL=C chroot . /bin/bash
# chroot in arm
sudo arch-chroot .
sudo apt-get update
# 安装需要的包，如vim, build-essential, python3, python3-dev, gcc, g++, git, make, kmod.
sudo apt-get install <PKG_NAME>
exit
# 如果用arch-chroot不需要手动umount
sudo umount ./sys
sudo umount ./proc
sudo umount ./dev
mv etc/resolv.conf.saved etc/resolv.conf
## 另外，将Linux和jailhouse复制到SD卡中，这里改成本机路径。
sudo cp -r LINUX_DEMO ubuntu-base-18.04.5-base-arm64/home #源码路径见linux内核编译部分
sudo cp -r Jailhouse_DEMO ubuntu-base-18.04.5-base-arm64/home
# 然后将ubuntu-base-18.04.5-base-arm64目录拷进SD卡中作为rootfs。
# 建议先完成“二、编译”后再进行拷贝，也可进入系统后再进行编译
sudo fdisk -l # 确定sd卡设备名称
sudo mount /dev/sdb1 /mnt
sudo cp -r ubuntu-base-18.04.5-base-arm64 /mnt
二、编译NXP Linux 内核
源码可以从厂商提供的资料中获取（源码位置：/OKMX8MP-C_Linux5.4.70+Qt5.15.0_用户资料_R5（更新日期：20231012）/Linux/源码/OK8MP-linux-sdk/OK8MP-linux-kernel）
该步骤编译可以在chroot环境中进行，也可以先采用现成的Image和dtb先启动板子后再进行编译(官方文件里提供了一份Image和OK8MP-C.dtb)
添加root设备树
设备树存储位置为arch/arm64/boot/dts/freescale，添加新设备树OK8MP-C-root.dts，主要修改为禁用usdhc3（emmc）和uart4，并将usdhc3和usdhc2进行引脚共享，以便于启动non-root-linux
内容：
// SPDX-License-Identifier: (GPL-2.0+ OR MIT)
/*
* Copyright 2019 NXP
*/
/dts-v1/;
#include "OK8MP-C.dts"
/ {
interrupt-parent = <&gic>;
resmem: reserved-memory {
#address-cells = <2>;
#size-cells = <2>;
ranges;
};
};
&cpu_pd_wait {
/delete-property/ compatible;
};
&clk {
init-on-array = <IMX8MP_CLK_USDHC3_ROOT
IMX8MP_CLK_NAND_USDHC_BUS
IMX8MP_CLK_HSIO_ROOT
IMX8MP_CLK_UART4_ROOT
IMX8MP_CLK_OCOTP_ROOT>;
};
&{/busfreq} {
status = "disabled";
};
&{/reserved-memory} { // 预留的jailhouse内存区域
jh_reserved: jh@fdc00000 {
no-map;
reg = <0 0xfdc00000 0x0 0x400000>;
};
loader_reserved: loader@fdb00000 {
no-map;
reg = <0 0xfdb00000 0x0 0x00100000>;
};
ivshmem_reserved: ivshmem@fda00000 {
no-map;
reg = <0 0xfda00000 0x0 0x00100000>;
};
ivshmem2_reserved: ivshmem2@fd900000 {
no-map;
reg = <0 0xfd900000 0x0 0x00100000>;
};
pci_reserved: pci@fd700000 {
no-map;
reg = <0 0xfd700000 0x0 0x00200000>;
};
inmate_reserved: inmate@60000000 {
no-map;
reg = <0 0x60000000 0x0 0x10000000>;
};
};
&iomuxc {
pinctrl_uart4: uart4grp {
fsl,pins = <
MX8MP_IOMUXC_UART4_RXD__UART4_DCE_RX 0x49
MX8MP_IOMUXC_UART4_TXD__UART4_DCE_TX 0x49
>;
};
};
&usdhc3 { // emmc: mmc2，即从emmc启动的Linux，因为这个emmc是nonroot，所以root不要占用，因此要禁用掉
status = "disabled";
};
&uart4 { // 这个也禁用掉，用于nonroot启动。
/delete-property/ dmas;
/delete-property/ dma-names;
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_uart4>;
status = "disabled";
};
&uart2 { // uart1=ttymxc0 uart4=ttymxc3 default for ttymxc1。
/* uart4 is used by the 2nd OS, so configure pin and clk */
pinctrl-0 = <&pinctrl_uart2>, <&pinctrl_uart4>;
assigned-clocks = <&clk IMX8MP_CLK_UART4>;
assigned-clock-parents = <&clk IMX8MP_CLK_24M>;
};
&usdhc2 {
pinctrl-0 = <&pinctrl_usdhc3>, <&pinctrl_usdhc2>, <&pinctrl_usdhc2_gpio>;
pinctrl-1 = <&pinctrl_usdhc3>, <&pinctrl_usdhc2_100mhz>, <&pinctrl_usdhc2_gpio>;
pinctrl-2 = <&pinctrl_usdhc3>, <&pinctrl_usdhc2_200mhz>, <&pinctrl_usdhc2_gpio>;
};
内核编译
# 首先参考前面chroot并进入源码目录
make OK8MP-C_defconfig # 配置默认config
make -j$(nproc) ARCH=arm64 #编译大约15分钟左右
如果gcc版本较高可能会出现yylloc的问题，可以降低版本也可以在scripts/dtc下面将dtc-lexer.lex.c_shipped里的yylloc前加上extern
jailhouse如果和内核存在定义冲突的问题以内核为准，修改jailhouse即可
编译jailhouse
jailhouse版本采用v0.12然后手动添加dts和配置文件
git checkout v0.12
.c 文件添加位置 configs/arm64
.dts 文件添加位置 configs/arm64/dts
imx8mp.c
/*
* i.MX8MM Target
*
* Copyright 2018 NXP
*
* Authors:
* Peng Fan <peng.fan@nxp.com>
*
* This work is licensed under the terms of the GNU GPL, version 2. See
* the COPYING file in the top-level directory.
*
* Reservation via device tree: reg = <0x0 0xffaf0000 0x0 0x510000>
*/
#include <jailhouse/types.h>
#include <jailhouse/cell-config.h>
struct {
struct jailhouse_system header;
__u64 cpus[1];
struct jailhouse_memory mem_regions[15];
struct jailhouse_irqchip irqchips[3];
struct jailhouse_pci_device pci_devices[2];
} __attribute__((packed)) config = {
.header = {
.signature = JAILHOUSE_SYSTEM_SIGNATURE,
.revision = JAILHOUSE_CONFIG_REVISION,
.flags = JAILHOUSE_SYS_VIRTUAL_DEBUG_CONSOLE,
.hypervisor_memory = {
.phys_start = 0xfdc00000,
.size = 0x00400000,
},
.debug_console = {
.address = 0x30890000,
.size = 0x1000,
.flags = JAILHOUSE_CON_TYPE_IMX |
JAILHOUSE_CON_ACCESS_MMIO |
JAILHOUSE_CON_REGDIST_4,
.type = JAILHOUSE_CON_TYPE_IMX,
},
.platform_info = {
.pci_mmconfig_base = 0xfd700000,
.pci_mmconfig_end_bus = 0,
.pci_is_virtual = 1,
.pci_domain = 0,
.arm = {
.gic_version = 3,
.gicd_base = 0x38800000,
.gicr_base = 0x38880000,
.maintenance_irq = 25,
},
},
.root_cell = {
.name = "imx8mp",
.num_pci_devices = ARRAY_SIZE(config.pci_devices),
.cpu_set_size = sizeof(config.cpus),
.num_memory_regions = ARRAY_SIZE(config.mem_regions),
.num_irqchips = ARRAY_SIZE(config.irqchips),
/* gpt5/4/3/2 not used by root cell */
.vpci_irq_base = 51, /* Not include 32 base */
},
},
.cpus = {
0xf,
},
.mem_regions = {
/* IVHSMEM shared memory region for 00:00.0 (demo )*/ {
.phys_start = 0xfd900000,
.virt_start = 0xfd900000,
.size = 0x1000,
.flags = JAILHOUSE_MEM_READ,
},
{
.phys_start = 0xfd901000,
.virt_start = 0xfd901000,
.size = 0x9000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE ,
},
{
.phys_start = 0xfd90a000,
.virt_start = 0xfd90a000,
.size = 0x2000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE ,
},
{
.phys_start = 0xfd90c000,
.virt_start = 0xfd90c000,
.size = 0x2000,
.flags = JAILHOUSE_MEM_READ,
},
{
.phys_start = 0xfd90e000,
.virt_start = 0xfd90e000,
.size = 0x2000,
.flags = JAILHOUSE_MEM_READ,
},
/* IVSHMEM shared memory regions for 00:01.0 (networking) */
JAILHOUSE_SHMEM_NET_REGIONS(0xfda00000, 0),
/* IO */ {
.phys_start = 0x00000000,
.virt_start = 0x00000000,
.size = 0x40000000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE |
JAILHOUSE_MEM_IO,
},
/* RAM 00*/ {
.phys_start = 0x40000000,
.virt_start = 0x40000000,
.size = 0x80000000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE |
JAILHOUSE_MEM_EXECUTE,
},
/* Inmate memory */{
.phys_start = 0x60000000,
.virt_start = 0x60000000,
.size = 0x10000000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE |
JAILHOUSE_MEM_EXECUTE | JAILHOUSE_MEM_DMA,
},
/* Loader */{
.phys_start = 0xfdb00000,
.virt_start = 0xfdb00000,
.size = 0x100000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE |
JAILHOUSE_MEM_EXECUTE,
},
/* OP-TEE reserved memory?? */{
.phys_start = 0xfe000000,
.virt_start = 0xfe000000,
.size = 0x2000000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE,
},
/* RAM04 */{
.phys_start = 0x100000000,
.virt_start = 0x100000000,
.size = 0xC0000000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE,
},
},
.irqchips = {
/* GIC */ {
.address = 0x38800000,
.pin_base = 32,
.pin_bitmap = {
0xffffffff, 0xffffffff, 0xffffffff, 0xffffffff,
},
},
/* GIC */ {
.address = 0x38800000,
.pin_base = 160,
.pin_bitmap = {
0xffffffff, 0xffffffff, 0xffffffff, 0xffffffff,
},
},
/* GIC */ {
.address = 0x38800000,
.pin_base = 288,
.pin_bitmap = {
0xffffffff, 0xffffffff, 0xffffffff, 0xffffffff,
},
},
},
.pci_devices = {
{ /* IVSHMEM 0000:00:00.0 (demo) */
.type = JAILHOUSE_PCI_TYPE_IVSHMEM,
.domain = 0,
.bdf = 0 << 3,
.bar_mask = JAILHOUSE_IVSHMEM_BAR_MASK_INTX,
.shmem_regions_start = 0,
.shmem_dev_id = 0,
.shmem_peers = 3,
.shmem_protocol = JAILHOUSE_SHMEM_PROTO_UNDEFINED,
},
{ /* IVSHMEM 0000:00:01.0 (networking) */
.type = JAILHOUSE_PCI_TYPE_IVSHMEM,
.domain = 0,
.bdf = 1 << 3,
.bar_mask = JAILHOUSE_IVSHMEM_BAR_MASK_INTX,
.shmem_regions_start = 5,
.shmem_dev_id = 0,
.shmem_peers = 2,
.shmem_protocol = JAILHOUSE_SHMEM_PROTO_VETH,
},
},
};
imx8mp-linux-demo.c
/*
* iMX8MM target - linux-demo
*
* Copyright 2019 NXP
*
* Authors:
* Peng Fan <peng.fan@nxp.com>
*
* This work is licensed under the terms of the GNU GPL, version 2. See
* the COPYING file in the top-level directory.
*/
/*
* Boot 2nd Linux cmdline:
* export PATH=$PATH:/usr/share/jailhouse/tools/
* jailhouse cell linux imx8mp-linux-demo.cell Image -d imx8mp-evk-inmate.dtb -c "clk_ignore_unused console=ttymxc3,115200 earlycon=ec_imx6q,0x30890000,115200 root=/dev/mmcblk2p2 rootwait rw"
*/
#include <jailhouse/types.h>
#include <jailhouse/cell-config.h>
struct {
struct jailhouse_cell_desc cell;
__u64 cpus[1];
struct jailhouse_memory mem_regions[15];
struct jailhouse_irqchip irqchips[2];
struct jailhouse_pci_device pci_devices[2];
} __attribute__((packed)) config = {
.cell = {
.signature = JAILHOUSE_CELL_DESC_SIGNATURE,
.revision = JAILHOUSE_CONFIG_REVISION,
.name = "linux-inmate-demo",
.flags = JAILHOUSE_CELL_PASSIVE_COMMREG,
.cpu_set_size = sizeof(config.cpus),
.num_memory_regions = ARRAY_SIZE(config.mem_regions),
.num_irqchips = ARRAY_SIZE(config.irqchips),
.num_pci_devices = ARRAY_SIZE(config.pci_devices),
.vpci_irq_base = 154, /* Not include 32 base */
},
.cpus = {
0xc,
},
.mem_regions = {
/* IVHSMEM shared memory region for 00:00.0 (demo )*/ {
.phys_start = 0xfd900000,
.virt_start = 0xfd900000,
.size = 0x1000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_ROOTSHARED,
},
{
.phys_start = 0xfd901000,
.virt_start = 0xfd901000,
.size = 0x9000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE |
JAILHOUSE_MEM_ROOTSHARED,
},
{
.phys_start = 0xfd90a000,
.virt_start = 0xfd90a000,
.size = 0x2000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_ROOTSHARED,
},
{
.phys_start = 0xfd90c000,
.virt_start = 0xfd90c000,
.size = 0x2000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_ROOTSHARED,
},
{
.phys_start = 0xfd90e000,
.virt_start = 0xfd90e000,
.size = 0x2000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE |
JAILHOUSE_MEM_ROOTSHARED,
},
/* IVSHMEM shared memory regions for 00:01.0 (networking) */
JAILHOUSE_SHMEM_NET_REGIONS(0xfda00000, 1),
/* UART2 earlycon */ {
.phys_start = 0x30890000,
.virt_start = 0x30890000,
.size = 0x1000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE |
JAILHOUSE_MEM_IO | JAILHOUSE_MEM_ROOTSHARED,
},
/* UART4 */ {
.phys_start = 0x30a60000,
.virt_start = 0x30a60000,
.size = 0x1000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE |
JAILHOUSE_MEM_IO,
},
/* SHDC3 */ {
.phys_start = 0x30b60000,
.virt_start = 0x30b60000,
.size = 0x10000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE |
JAILHOUSE_MEM_IO,
},
/* RAM: Top at 4GB Space */ {
.phys_start = 0xfdb00000,
.virt_start = 0,
.size = 0x10000, /* 64KB */
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE |
JAILHOUSE_MEM_EXECUTE | JAILHOUSE_MEM_LOADABLE,
},
/* RAM */ {
/*
* We could not use 0x80000000 which conflicts with
* COMM_REGION_BASE
*/
.phys_start = 0x60000000,
.virt_start = 0x60000000,
.size = 0x10000000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE |
JAILHOUSE_MEM_EXECUTE | JAILHOUSE_MEM_DMA |
JAILHOUSE_MEM_LOADABLE,
},
/* communication region */ {
.virt_start = 0x80000000,
.size = 0x00001000,
.flags = JAILHOUSE_MEM_READ | JAILHOUSE_MEM_WRITE |
JAILHOUSE_MEM_COMM_REGION,
},
},
.irqchips = {
/* uart2/sdhc1 */ {
.address = 0x38800000,
.pin_base = 32,
.pin_bitmap = {
(1 << (24 + 32 - 32)) | (1 << (29 + 32 - 32))
},
},
/* IVSHMEM */ {
.address = 0x38800000,
.pin_base = 160,
.pin_bitmap = {
0xf << (154 + 32 - 160) /* SPI 154-157 */
},
},
},
.pci_devices = {
{ /* IVSHMEM 00:00.0 (demo) */
.type = JAILHOUSE_PCI_TYPE_IVSHMEM,
.domain = 0,
.bdf = 0 << 3,
.bar_mask = JAILHOUSE_IVSHMEM_BAR_MASK_INTX,
.shmem_regions_start = 0,
.shmem_dev_id = 2,
.shmem_peers = 3,
.shmem_protocol = JAILHOUSE_SHMEM_PROTO_UNDEFINED,
},
{ /* IVSHMEM 00:01.0 (networking) */
.type = JAILHOUSE_PCI_TYPE_IVSHMEM,
.domain = 0,
.bdf = 1 << 3,
.bar_mask = JAILHOUSE_IVSHMEM_BAR_MASK_INTX,
.shmem_regions_start = 5,
.shmem_dev_id = 1,
.shmem_peers = 2,
.shmem_protocol = JAILHOUSE_SHMEM_PROTO_VETH,
},
},
};
non-root imx8mp-evk-inmate.dts
// SPDX-License-Identifier: (GPL-2.0+ OR MIT)
/*
* Copyright 2019 NXP
*/
/dts-v1/;
#include <dt-bindings/interrupt-controller/arm-gic.h>
/ {
model = "Freescale i.MX8MP EVK";
compatible = "fsl,imx8mp-evk", "fsl,imx8mp";
interrupt-parent = <&gic>;
#address-cells = <2>;
#size-cells = <2>;
aliases {
serial3 = &uart4;
mmc2 = &usdhc3;
};
cpus {
#address-cells = <1>;
#size-cells = <0>;
A53_2: cpu@2 {
device_type = "cpu";
compatible = "arm,cortex-a53";
reg = <0x2>;
clock-latency = <61036>; /* two CLK32 periods */
next-level-cache = <&A53_L2>;
enable-method = "psci";
#cooling-cells = <2>;
};
A53_3: cpu@3 {
device_type = "cpu";
compatible = "arm,cortex-a53";
reg = <0x3>;
clock-latency = <61036>; /* two CLK32 periods */
next-level-cache = <&A53_L2>;
enable-method = "psci";
#cooling-cells = <2>;
};
A53_L2: l2-cache0 {
compatible = "cache";
};
};
psci {
compatible = "arm,psci-1.0";
method = "smc";
};
gic: interrupt-controller@38800000 {
compatible = "arm,gic-v3";
reg = <0x0 0x38800000 0 0x10000>, /* GIC Dist */
<0x0 0x38880000 0 0xC0000>; /* GICR (RD_base + SGI_base) */
#interrupt-cells = <3>;
interrupt-controller;
interrupts = <GIC_PPI 9 IRQ_TYPE_LEVEL_HIGH>;
interrupt-parent = <&gic>;
};
timer {
compatible = "arm,armv8-timer";
interrupts = <GIC_PPI 13 (GIC_CPU_MASK_SIMPLE(6) | IRQ_TYPE_LEVEL_LOW)>, /* Physical Secure */
<GIC_PPI 14 (GIC_CPU_MASK_SIMPLE(6) | IRQ_TYPE_LEVEL_LOW)>, /* Physical Non-Secure */
<GIC_PPI 11 (GIC_CPU_MASK_SIMPLE(6) | IRQ_TYPE_LEVEL_LOW)>, /* Virtual */
<GIC_PPI 10 (GIC_CPU_MASK_SIMPLE(6) | IRQ_TYPE_LEVEL_LOW)>; /* Hypervisor */
clock-frequency = <8333333>;
};
clk_dummy: clock@7 {
compatible = "fixed-clock";
#clock-cells = <0>;
clock-frequency = <0>;
clock-output-names = "clk_dummy";
};
/* The clocks are configured by 1st OS */
clk_400m: clock@8 {
compatible = "fixed-clock";
#clock-cells = <0>;
clock-frequency = <200000000>;
clock-output-names = "200m";
};
clk_266m: clock@9 {
compatible = "fixed-clock";
#clock-cells = <0>;
clock-frequency = <266000000>;
clock-output-names = "266m";
};
osc_24m: clock@1 {
compatible = "fixed-clock";
#clock-cells = <0>;
clock-frequency = <24000000>;
clock-output-names = "osc_24m";
};
pci@fd700000 {
compatible = "pci-host-ecam-generic";
device_type = "pci";
bus-range = <0 0>;
#address-cells = <3>;
#size-cells = <2>;
#interrupt-cells = <1>;
interrupt-map-mask = <0 0 0 7>;
interrupt-map = <0 0 0 1 &gic GIC_SPI 154 IRQ_TYPE_EDGE_RISING>,
<0 0 0 2 &gic GIC_SPI 155 IRQ_TYPE_EDGE_RISING>,
<0 0 0 3 &gic GIC_SPI 156 IRQ_TYPE_EDGE_RISING>,
<0 0 0 4 &gic GIC_SPI 157 IRQ_TYPE_EDGE_RISING>;
reg = <0x0 0xfd700000 0x0 0x100000>;
ranges = <0x02000000 0x00 0x10000000 0x0 0x10000000 0x00 0x10000>;
};
soc@0 {
compatible = "simple-bus";
#address-cells = <1>;
#size-cells = <1>;
ranges = <0x0 0x0 0x0 0x3e000000>;
aips3: bus@30800000 {
compatible = "simple-bus";
reg = <0x30800000 0x400000>;
#address-cells = <1>;
#size-cells = <1>;
ranges;
uart4: serial@30a60000 {
compatible = "fsl,imx8mp-uart", "fsl,imx6q-uart";
reg = <0x30a60000 0x10000>;
interrupts = <GIC_SPI 29 IRQ_TYPE_LEVEL_HIGH>;
status = "disabled";
};
usdhc3: mmc@30b60000 {
compatible = "fsl,imx8mm-usdhc", "fsl,imx7d-usdhc";
reg = <0x30b60000 0x10000>;
interrupts = <GIC_SPI 24 IRQ_TYPE_LEVEL_HIGH>;
fsl,tuning-start-tap = <20>;
fsl,tuning-step= <2>;
status = "disabled";
};
};
};
};
&uart4 {
clocks = <&osc_24m>,
<&osc_24m>;
clock-names = "ipg", "per";
status = "okay";
};
&usdhc3 {
clocks = <&clk_dummy>,
<&clk_266m>,
<&clk_400m>;
clock-names = "ipg", "ahb", "per";
bus-width = <8>;
non-removable;
status = "okay";
};
编译jailhouse命令如下，KDIR是指定jailhouse运行环境内核，因为部分dts文件需要配合内核中的文件进行，如果将所有dts挪到内核编译可以不指定KDIR
make -j($nproc) ARCH=arm64 KDIR=/home/ubuntu-base-18.04.5-base-arm64
三、启动Linux
实际上启动只需要一个Image和一个dtb即可，也可以使用已经编译好的文件直接启动
把sd卡插入，拨码开关选择TF模式，连接串口后在启动时按住空格进入uboot模式，选择1进入uboot shell
uboot指令如下:
setenv mmcroot /dev/mmcblk1p1 rootwait rw; setenv fdt_file OK8MP-C-root.dtb; run mmcargs; ext4load mmc 1:1 ${loadaddr} home/OK8MP-linux-kernel/arch/arm64/boot/Image; ext4load mmc 1:1 ${fdt_addr} home/OK8MP-linux-kernel/arch/arm64/boot/dts/freescale/OK8MP-C-root.dtb; booti ${loadaddr} - ${fdt_addr}
解释：
指令中的以下部分均按照本机实际修改地址，如果不确定文件位置可以用ext4ls mmc 1:1 /等指令查看具体位置。出现问题最好把指令拆开一句句试验。
mmcblk1p1: SD卡ext4文件系统分区
OK8MP-C-root.dtb：所采用的dtb
home/OK8MP_linux_kernel/arch/arm64/boot/Image：Image路径
home/OK8MP_linux_kernel/arch/arm64/boot/dts/freescale/OK8MP-C-root.dtb：dtb路径
成功启动后进入命令行，此时插入网线即可联网，可配置环境，安装软件，编译代码等，如果没有网络，因为我们提前编译好了内容也可以正常进行后续操作。
四、根据需要安装内核与jailhouse（可跳过）
su #进入系统后会发现环境有问题，因为之前到软件都是安装到root用户下的，需要先切到root
cd /home/ubuntu-base-18.04.5-base-arm64
make && make install
cd /home/jailhouse && make && make install
# 因为jailhouse安装需要重新编译，如果编译环境有问题可以只复制bin文件到firmware即可，如下
sudo cp /home/jailhouse/hypervisor/jailhouse.bin /lib/firmware
五、启动nonroot
连接硬件：打开两个串口窗口。
cat non.sh
#!/bin/bash
insmod /home/jailhouse/driver/jailhouse.ko
jailhouse disabled
jailhouse enable /home/jailhouse/configs/arm64/imx8mp.cell
export PATH=$PATH:/home/jailhouse/tools/
jailhouse cell linux /home/jailhouse/configs/arm64/imx8mp-linux-demo.cell /home/OK8MP_linux_kernel/arch/arm64/boot/Image -d /home/OK8MP_linux_kernel/arch/arm64/boot/dts/freescale/imx8mp-evk-inmate.dtb -c "clk_ignore_unused console=ttymxc3,115200 earlycon=ec_imx6q,0x30890000,115200 root=/dev/mmcblk2p2 rootwait rw"
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