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Raspberry Pi4 Support

MilvusVisor has support for Raspberry Pi 4 environments. We tested "Raspberry Pi 4 Computer Model B"

How to build

To enable Raspberry Pi 4 support, you need to add raspberrypi feature flag on building binaries of hypervisor and bootloader.

cargo xtask build -r -f raspberrypi

How to boot

Build U-boot

(This step assumed that your environment is Ubuntu. Otherwise, please replace the package names to suitable.)

  1. Install gcc-aarch64-linux-gnu and libssl-dev
  2. Clone u-boot and move into the directory
  3. export CROSS_COMPILE=aarch64-linux-gnu-
  4. Set configuration for Raspberry Pi 4: make rpi_4_defconfig
  5. Build: make
  6. Copy u-boot.bin
  7. Create boot.scr with boot script like below: tools/mkimage -A arm64 -T script -C none -d boot.txt boot.scr
fatload mmc 0:1 ${kernel_addr_r} EFI/BOOT/BOOTAA64.EFI
bootefi ${kernel_addr_r}
fatload mmc 0:1 ${fdt_addr_r} EFI/BOOT/dtb
fdt addr ${fdt_addr_r}
fatload mmc 0:1 ${kernel_addr_r} kernel8.img
setenv kernel_comp_size ${filesize}
setenv kernel_comp_addr_r 0x3800000
booti ${kernel_addr_r} - ${fdt_addr_r}

You can build in the docker with the below shell script(When run docker, don't forget bind directory to get the output binary :) )

#!/bin/sh
apt-get update
apt-get install -y build-essential bison bc flex gcc-aarch64-linux-gnu libssl-dev git make
git clone --depth=1 https://source.denx.de/u-boot/u-boot.git
cd u-boot
export CROSS_COMPILE=aarch64-linux-gnu-
make rpi_4_defconfig
make -j`nproc`
cp u-boot.bin /path/to/bound/
cat <<"EOF" > boot.txt
fatload mmc 0:1 ${kernel_addr_r} EFI/BOOT/BOOTAA64.EFI
bootefi ${kernel_addr_r}
fatload mmc 0:1 ${fdt_addr_r} EFI/BOOT/dtb
fdt addr ${fdt_addr_r}
fatload mmc 0:1 ${kernel_addr_r} kernel8.img
setenv kernel_comp_size ${filesize}
setenv kernel_comp_addr_r 0x3800000
booti ${kernel_addr_r} - ${fdt_addr_r}
EOF
tools/mkimage -A arm64 -T script -C none -d boot.txt boot.scr
cp boot.scr /path/to/bound/

Download "Raspberry Pi OS (64-bit)"

Go to https://www.raspberrypi.com/software/operating-systems/ , find "Raspberry Pi OS (64-bit)" section, and download " Raspberry Pi OS with desktop" or "Raspberry Pi OS Lite". (We tested with "Raspberry Pi OS Lite")

Write image and binaries

  1. Write the OS image to SD: (For example: unxz 20XX-XX-XX-raspios-version-arm64-lite.img.xz && sudo dd if=20XX-XX-XX-raspios-version-arm64-lite.img of=/dev/mmcblk0 bs=10M status=progress)
  2. Mount SD Card: sudo mount /dev/mmcblk0p1 /mnt
  3. Copy u-boot.bin: sudo cp u-boot.bin /mnt/
  4. Copy MilvusVisor: sudo cp -r /path/to/MlivusVisor/bin/EFI /mnt
  5. Copy boot.scr: sudo cp boot.scr /mnt/
  6. Modify config.txt: sudo sed -i '/arm_64bit=1/akernel=u-boot.bin' /mnt/config.txt
  7. Modify cmdline.txt: sudo sed -i -e 's/console=serial0,115200 console=tty1//g' /mnt/cmdline.txt
  8. Enable UART( Optional): sudo sed -i '/arm_64bit=1/adtoverlay=miniuart-bt\ncore_freq=250' /mnt/config.txt && sudo sed -i -e 's/quiet/console=ttyAMA0/g' /mnt/cmdline.txt
  9. Unmount: sudo umount /mnt