Add AArch64 UEFI support (NVIDIA Jetson Orin)

.github/workflows/test-build.yml

@@ -13,6 +13,9 @@ on:
       make-args:
         required: false
         type: string
+      prep-run:
+        required: false
+        type: string
 
 jobs:
 
@@ -42,6 +45,10 @@ jobs:
         run: |
           make -C tools/keytools && make -C tools/bin-assemble
 
+      - name: Pre-build setup
+        if: inputs.prep-run != ''
+        run: ${{inputs.prep-run}}
+
       - name: Build wolfboot
         run: |
           make ${{inputs.make-args}}

.github/workflows/test-configs.yml

@@ -738,6 +738,14 @@ jobs:
       arch: host
       config-file: ./config/examples/x86_64_efi.config
 
+  aarch64_efi_test:
+    uses: ./.github/workflows/test-build.yml
+    with:
+      arch: aarch64
+      config-file: ./config/examples/aarch64_efi.config
+      # Build gnu-efi for aarch64 (pinned in the script) before wolfboot.efi.
+      prep-run: ./tools/scripts/build-gnu-efi-aarch64.sh
+
   zynqmp_test:
     uses: ./.github/workflows/test-build-aarch64.yml
     with:

.gitignore

@@ -421,3 +421,10 @@ sdcard.img
 
 # wolfHSM STM32H5 TZ demo build output
 port/stmicro/stm32h5-tz-wolfhsm/out/
+
+# gnu-efi built for the AArch64 UEFI target and its cloned source
+tools/gnu-efi-aarch64/
+tools/gnu-efi-src/
+# aarch64_efi working/staging dirs (build artifacts, not tracked)
+aarch64_efi-stage/
+tools/qemu-esp/

Makefile

@@ -265,6 +265,9 @@ SIGN_ENV=IMAGE_HEADER_SIZE=$(IMAGE_HEADER_SIZE) \
 
 
 MAIN_TARGET=factory.bin
+# PE/COFF output format for the wolfboot.efi objcopy rule. Overridden per
+# target in arch.mk (e.g. pei-aarch64-little for aarch64_efi).
+EFI_OBJCOPY_TARGET?=pei-x86-64
 TARGET_H_TEMPLATE:=include/target.h.in
 
 ifeq ($(TZEN),1)
@@ -293,6 +296,10 @@ ifeq ($(TARGET),x86_64_efi)
     MAIN_TARGET:=wolfboot.efi
 endif
 
+ifeq ($(TARGET),aarch64_efi)
+    MAIN_TARGET:=wolfboot.efi
+endif
+
 ifeq ($(FSP), 1)
     MAIN_TARGET:=wolfboot_stage1.bin
 endif
@@ -379,7 +386,7 @@ wolfboot.efi: wolfboot.elf
 	$(Q)$(OBJCOPY) -j .rodata -j .text -j .sdata -j .data \
 					-j .dynamic -j .dynsym  -j .rel \
 					-j .rela -j .reloc -j .eh_frame \
-					-O pei-x86-64 --subsystem=10 $^ $@
+					-O $(EFI_OBJCOPY_TARGET) --subsystem=10 $^ $@
 	@echo
 	@echo "\t[SIZE]"
 	$(Q)$(SIZE) wolfboot.efi

arch.mk

@@ -63,9 +63,20 @@ endif
 
 ## ARM Cortex-A
 ifeq ($(ARCH),AARCH64)
-  CROSS_COMPILE?=aarch64-none-elf-
+  ifeq ($(TARGET),aarch64_efi)
+    # UEFI app: Linux GNU toolchain (freestanding EFI ABI), not aarch64-none-elf-
+    CROSS_COMPILE?=aarch64-linux-gnu-
+  else
+    CROSS_COMPILE?=aarch64-none-elf-
+  endif
   CFLAGS+=-DARCH_AARCH64 -DFAST_MEMCPY
-  OBJS+=src/boot_aarch64.o src/boot_aarch64_start.o
+  ifeq ($(TARGET),aarch64_efi)
+    # UEFI app: gnu-efi CRT0 is the entry; do_boot is in boot_aarch64_efi.o.
+    # Skip the bare-metal reset (boot_aarch64_start.S) and EL2/GIC glue.
+    OBJS+=src/boot_aarch64_efi.o
+  else
+    OBJS+=src/boot_aarch64.o src/boot_aarch64_start.o
+  endif
 
   ifeq ($(TARGET),zynq)
     ARCH_FLAGS=-march=armv8-a+crypto
@@ -1664,6 +1675,37 @@ ifeq ($(TARGET),x86_64_efi)
   UPDATE_OBJS:=src/update_ram.o
 endif
 
+ifeq ($(TARGET),aarch64_efi)
+  # Generic AArch64 UEFI application (validated on NVIDIA Jetson Orin Nano).
+  # Build gnu-efi for aarch64 first: ./tools/scripts/build-gnu-efi-aarch64.sh
+  # (override the install path with GNU_EFI_PATH=... if needed).
+  USE_GCC_HEADLESS=0
+  GNU_EFI_PATH?=tools/gnu-efi-aarch64
+  GNU_EFI_LIB_PATH?=$(GNU_EFI_PATH)/lib
+  GNU_EFI_INC_PATH?=$(GNU_EFI_PATH)/include
+  GNU_EFI_CRT0=$(GNU_EFI_LIB_PATH)/crt0-efi-aarch64.o
+  GNU_EFI_LSCRIPT=$(GNU_EFI_LIB_PATH)/elf_aarch64_efi.lds
+  CFLAGS += -fpic -ffreestanding -fno-stack-protector -fno-stack-check \
+            -fshort-wchar -mstrict-align
+  CFLAGS += -I$(GNU_EFI_INC_PATH) -I$(GNU_EFI_INC_PATH)/efi \
+            -I$(GNU_EFI_INC_PATH)/efi/aarch64 \
+            -DTARGET_aarch64_efi -DWOLFBOOT_DUALBOOT
+  # avoid using of fixed LOAD_ADDRESS, uefi target uses dynamic location
+  CFLAGS += -DWOLFBOOT_NO_LOAD_ADDRESS
+  # AArch64 PE/COFF output format for objcopy (see the wolfboot.efi rule).
+  # This binutils exposes it as pei-aarch64-little (not efi-app-aarch64).
+  EFI_OBJCOPY_TARGET=pei-aarch64-little
+  # --allow-multiple-definition: gnu-efi's libefi init.o (pulled in for
+  # InitializeLib) also defines memset/memcpy; wolfBoot's src/string.o comes
+  # first in link order and wins.
+  LDFLAGS = -shared -Bsymbolic --allow-multiple-definition \
+            -L$(GNU_EFI_LIB_PATH) -T$(GNU_EFI_LSCRIPT)
+  LD_START_GROUP = $(GNU_EFI_CRT0)
+  LD_END_GROUP = -lgnuefi -lefi
+  LD = $(CROSS_COMPILE)ld
+  UPDATE_OBJS:=src/update_ram.o
+endif
+
 ifeq ($(ARCH),sim)
   USE_GCC_HEADLESS=0
   LD = gcc
@@ -1914,6 +1956,19 @@ endif
 
 ## Update mechanism
 ifeq ($(ARCH),AARCH64)
+ifeq ($(TARGET),aarch64_efi)
+  # UEFI app: UEFI owns MMU/FDT, so skip the -DMMU/-DWOLFBOOT_FDT DTS path and
+  # fdt.o/gpt.o (like x86_64_efi). update_ram.o is set in the block above.
+  # DEBUG=1: route wolfBoot_printf to the UEFI console (gnu-efi Print).
+  ifeq ($(DEBUG),1)
+    CFLAGS += -DWOLFBOOT_DEBUG_EFI=1
+  endif
+  # Drop -Werror for this target: WOLFBOOT_DEBUG_EFI pulls gnu-efi headers into
+  # every TU and efidebug.h redefines the -DDEBUG object macro as a function
+  # macro. That cpp macro-redefinition warning has no -W name, so it can't be
+  # scoped with -Wno-error=<name>; our own sources are kept warning-clean.
+  CFLAGS := $(filter-out -Werror,$(CFLAGS))
+else
   CFLAGS+=-DMMU -DWOLFBOOT_FDT -DWOLFBOOT_DUALBOOT
   OBJS+=src/fdt.o
   # src/gpt.c provides the CRC32 helpers reused by update_ram.c's uImage
@@ -1934,6 +1989,7 @@ ifeq ($(ARCH),AARCH64)
     # RAM-based boot from external flash (default)
     UPDATE_OBJS:=src/update_ram.o
   endif
+endif
 else
   ifeq ($(DUALBANK_SWAP),1)
     CFLAGS+=-DWOLFBOOT_DUALBOOT

config/examples/aarch64_efi.config

@@ -0,0 +1,25 @@
+# AArch64 UEFI application - wolfBoot as a UEFI app (the AArch64 sibling of the
+# x86_64_efi target). Validated on the NVIDIA Jetson Orin Nano (Tegra234).
+#
+# wolfBoot builds as an AArch64 UEFI application (wolfboot.efi) launched by the
+# platform UEFI firmware. It reads kernel.img/update.img from the EFI Simple
+# File System, verifies them, and boots via UEFI LoadImage/StartImage.
+# Modeled on config/examples/x86_64_efi.config.
+#
+# Prerequisite: build gnu-efi for AArch64 first (one-time):
+#   ./tools/scripts/build-gnu-efi-aarch64.sh
+# then:  cp config/examples/aarch64_efi.config .config && make
+#
+# Crypto starts on ED25519/SHA256 (matches the proven x86 EFI target) to
+# de-risk the first build. Switch to ECC384/SHA384 once the port builds and
+# runs: set SIGN?=ECC384, HASH?=SHA384, SPMATH=1 (pulls in SP math objects).
+ARCH=AARCH64
+TARGET=aarch64_efi
+WOLFBOOT_SMALL_STACK=1
+SIGN?=ED25519
+HASH?=SHA256
+DEBUG=1
+SPMATH=0
+# required for keytools
+WOLFBOOT_SECTOR_SIZE?=0x1000
+WOLFBOOT_NO_PARTITIONS=1

docs/Targets.md

@@ -33,6 +33,7 @@ This README describes configuration of supported targets.
 * [NXP T10xx PPC (T1024 / T1040)](#nxp-qoriq-t10xx-ppc-t1024--t1040)
 * [NXP T2080 PPC](#nxp-qoriq-t2080-ppc)
 * [Qemu x86-64 UEFI](#qemu-x86-64-uefi)
+* [NVIDIA Jetson Orin (aarch64_efi)](#nvidia-jetson-orin-aarch64_efi)
 * [Raspberry Pi pico 2 (rp2350)](#raspberry-pi-pico-rp2350)
 * [Renesas RA6M4](#renesas-ra6m4)
 * [Renesas RX65N](#renesas-rx65n)
@@ -7785,6 +7786,115 @@ You can `Ctrl-C` or login as `root` and power off qemu with `poweroff`
 
 
 
+## NVIDIA Jetson Orin (aarch64_efi)
+
+The `aarch64_efi` target builds wolfBoot as an AArch64 UEFI application (`wolfboot.efi`), the direct counterpart of the [Qemu x86-64 UEFI](#qemu-x86-64-uefi) target. It uses only UEFI Boot Services (no SoC-specific registers), so the same binary runs on any AArch64 UEFI platform. It has been validated on the NVIDIA Jetson Orin Nano Developer Kit (Tegra234), where the on-module UEFI firmware (edk2-nvidia) launches it after the NVIDIA-signed early boot chain (BootROM -> MB1 -> MB2 -> UEFI). wolfBoot reads the next-stage image from the EFI Simple File System, authenticates it with wolfCrypt, and boots it via the UEFI `LoadImage`/`StartImage` services (an AArch64 Linux `Image` is itself a PE/COFF EFI-stub application).
+
+### Prerequisites
+
+ * An AArch64 GNU toolchain (`aarch64-linux-gnu-gcc`)
+ * gnu-efi built for AArch64 (the host distro package is usually x86-only, so build it with the helper script below)
+ * For emulation: `qemu-system-aarch64` plus the AArch64 UEFI firmware (AAVMF, package `qemu-efi-aarch64`)
+
+On a debian-like system:
+
+```
+apt install git make gcc-aarch64-linux-gnu dosfstools mtools
+apt install qemu-system-arm qemu-efi-aarch64   # emulation (optional)
+```
+
+Build the AArch64 gnu-efi runtime once (installs into `tools/gnu-efi-aarch64/`):
+
+```
+./tools/scripts/build-gnu-efi-aarch64.sh
+```
+
+### Configuration
+
+An example configuration is provided in [config/examples/aarch64_efi.config](config/examples/aarch64_efi.config). It selects `ARCH=AARCH64`, `TARGET=aarch64_efi`, and a signature/hash algorithm (ED25519/SHA256 by default). No partition addresses are required -- UEFI provides the storage and dynamic image placement.
+
+### Building
+
+```
+cp config/examples/aarch64_efi.config .config
+make
+```
+
+This produces `wolfboot.efi`, a PE32+ AArch64 EFI application (objcopy output format `pei-aarch64-little`).
+
+### Signing a payload
+
+Sign the image to boot (an AArch64 Linux `Image`, or any EFI application for testing) with the generated key, tagging it with a version. wolfBoot looks for `kernel.img` and `update.img` on the volume it was launched from and boots the higher valid version:
+
+```
+./tools/keytools/sign --ed25519 --sha256 Image wolfboot_signing_private_key.der 1
+cp Image_v1_signed.bin kernel.img
+```
+
+### Running in QEMU
+
+```
+./tools/scripts/aarch64-efi-qemu.sh        # add --gdb to debug with gdb-multiarch
+```
+
+The script exposes a scratch directory to the UEFI firmware as a FAT ESP, copies `wolfboot.efi` (and `kernel.img` from `aarch64_efi-stage/` if present), and auto-runs it.
+
+### Deploying on the Jetson Orin Nano
+
+The Jetson UEFI auto-boots removable media via `\EFI\BOOT\BOOTAA64.EFI`. Place wolfBoot and a signed payload on a FAT32 partition:
+
+```
+\EFI\BOOT\BOOTAA64.EFI   <- wolfboot.efi
+\kernel.img              <- signed payload (read from the volume root)
+\cmdline.txt             <- optional Linux kernel command line (see below)
+```
+
+Insert the card and power on; UEFI auto-launches wolfBoot, which verifies and boots the payload. The debug console on the Orin Nano Developer Kit is the J14 button header (not the 40-pin), 115200 8N1. Example output:
+
+```
+Image base: 0x25E5D4000
+Opening file: kernel.img, size: 57969
+Checking integrity...done
+Verifying signature...done
+Successfully selected image in part: 0
+Firmware Valid
+Booting at 0x5E254100
+Staging kernel at address 5E254100, size: 57969
+```
+
+### Booting Linux
+
+An AArch64 Linux `Image` carries a PE/COFF EFI stub, so wolfBoot boots it with the same `LoadImage`/`StartImage` path used above -- no initrd or bare-metal handoff is needed when the kernel has built-in MMC/ext4 drivers (the NVIDIA L4T kernel does). This has been validated end to end on the Jetson Orin Nano: wolfBoot verifies the signed kernel and boots NVIDIA Jetson Linux (L4T R36.4.4, `5.15.148-tegra`) all the way to an Ubuntu 22.04 login prompt.
+
+Obtain a Tegra234-compatible kernel and root filesystem from the [NVIDIA Jetson Linux (L4T)](https://developer.nvidia.com/embedded/jetson-linux) BSP. The driver package (`Jetson_Linux_R36.x.x_aarch64.tbz2`) contains `Linux_for_Tegra/kernel/Image` and `Linux_for_Tegra/kernel/dtb/tegra234-*.dtb`; the matching `Tegra_Linux_Sample-Root-Filesystem_*.tbz2` provides the rootfs.
+
+Sign the kernel `Image` with the wolfBoot key and name it `kernel.img`:
+
+```
+./tools/keytools/sign --ed25519 --sha256 Linux_for_Tegra/kernel/Image \
+    wolfboot_signing_private_key.der 1
+cp Linux_for_Tegra/kernel/Image_v1_signed.bin kernel.img
+```
+
+Lay out the microSD as a FAT ESP plus a rootfs partition and place:
+
+```
+FAT (p1):   \EFI\BOOT\BOOTAA64.EFI   <- wolfboot.efi (UEFI auto-boots this)
+            \kernel.img              <- signed L4T kernel
+            \cmdline.txt             <- kernel command line (below)
+ext4 (p2):  the L4T sample root filesystem
+```
+
+`cmdline.txt` (read by wolfBoot and passed to the kernel via `LoadOptions`):
+
+```
+root=/dev/mmcblk0p2 rw rootwait console=ttyTCU0,115200
+```
+
+On power-up the Jetson UEFI auto-boots `\EFI\BOOT\BOOTAA64.EFI`; wolfBoot verifies `kernel.img` and hands off to the kernel, which receives the real Tegra234 device tree from the UEFI configuration table (`EFI stub: Using DTB from configuration table`), mounts `mmcblk0p2`, and brings up systemd and the login on the J14 debug console (`ttyTCU0`).
+
+Security note: the plaintext `\cmdline.txt` is not covered by the image signature. For a production trust chain the command line should be authenticated -- baked into the signed image, or supplied via the device-tree `/chosen` bootargs. An initramfs-based flow (rather than a direct `root=` mount) would additionally need initrd support via the `LINUX_EFI_INITRD_MEDIA_GUID` LoadFile2 protocol, which this target does not currently implement.
+
 ## Intel x86_64 with Intel FSP support
 
 This setup is more complex than the UEFI approach described earlier, but allows