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# meta-xt-prod-devel-rpi5

The Xen-Troops RPI 5 Xen demonstration project is intended to demonstrate how
RPI 5 can be used to run Xen, which includes the following images:

* Zephyr-operated control domain, which is a thin Zephyr Dom0
  `zephyr-dom0-xt` application with shell and SD-card storage support (SDHC).
  It also supports dom0less functionality.
  This domain is responsible for Xen domains control. 
  It includes xen-tools library, which gives the ability to control other
  domains.
* Linux-operated driver domain. This domain manages hardware and provides
  access to some of this hardware to other domains using PV backends. It has
  access to USB and rootfs, which is placed on USB storage.
* A set of domains to be started from the control domain.
* NVME storage support as DomD rootfs.

Once the Zephyr control domain is booted, it can start other guest domains.

The Zephyr Dom0 `zephyr-dom0-xt` provides the following guest domain
configurations:

- **rpi_5_domd**: The Xen guest domain configuration which uses real RPI5 GPIO
  HW `/soc/gpio@7d517c00`. It is based on the Zephyr Blinky sample.
- **rpi_5_domu**: The Xen guest domain configuration that starts the Xen guest
  domain without using real RPI5 HW. It's based on Zephyr
  samples/synchronization sample.
- **helloworld_xen-arm64**: The Xen guest domain configuration that does not
  use real RPI5 HW and starts a Unikraft kernel. It is based on "Unikraft
  helloworld" and "monkey" examples.
- **linux_pv_domu**: The Linux-based Xen guest domain with initramfs and PV
  network support.

#### Fetching

You can clone this whole repository, or download it as an archive. During
the build, a few directories will be created, and additional dependencies
will be fetched into them.
The build system will create a build directory `yocto/` for Yocto's
meta-layers, and `zephyr/` for the Dom0 with Zephyr OS.

#### Building

Moulin is used to generate Ninja build file: `moulin rpi5.yaml`.
This project provides a number of additional parameters. You can check them
with the `--help-config` command line option:

```
$ moulin rpi5.yaml --help-config
usage: moulin rpi5.yaml [--MACHINE {rpi5}] [--XEN_EARLY {yes,no}] [--DOMD_ROOT {usb,nvme}] [--ENABLE_SCMI {yes,no}] [--ENABLE_WIFI {yes,no}]
                        [--ENABLE_CAN {mcp2515-can,seeed-can-fd-hat-v2,no}] [--ENABLE_HDMI {yes,no}]

Config file description: Raspberry 5 with xen dom0less

options:
  --MACHINE {rpi5}      Raspberry Pi machines (default: rpi5)
  --XEN_EARLY {yes,no}  Enable early printk for Xen (default: yes)
  --DOMD_ROOT {usb,nvme}
                        Domd root device (default: usb)
  --ENABLE_SCMI {yes,no}
                        Enable ARM SCMI support (default: no)
  --ENABLE_WIFI {yes,no}
                        Allow wifi in domd (default: no)
  --ENABLE_CAN {mcp2515-can,seeed-can-fd-hat-v2,no}
                        Allow CAN in DomD and choose it type. The naming of options align with the overlay naming used in RPI OS (default: no)
  --ENABLE_HDMI {yes,no}
                        Allow HDMI in DomD (default: no)
```

You can choose root device and CAN for the DomD, enable SCMI, HDMI, and WiFi.

Moulin will generate a `build.ninja` file. After that, run `ninja` to build the
image. This will take some time and disk space as it builds a few separate OS
images.

##### CAN options

The naming of supported CAN options was chosen to align with the overlay naming
conventions in RPI OS, making it easier for users who are already familiar with
and have experience using supported HATs in RPI OS to seamlessly transition to
our product.

The required overlay(s) can be easily found in the relevant documentation for the
specific HAT. For now, supported options are:

- `mcp2515-can` is the option for the **2-CH CAN HAT** with the MCP2515 chip
  ([documentation](https://www.waveshare.com/wiki/2-CH_CAN_HAT#Documentation)).
- `seeed-can-fd-hat-v2` is the option for the **2-Channel CAN BUS FD Shield**
  with the MCP251XFD chip
  ([documentation](https://wiki.seeedstudio.com/2-Channel-CAN-BUS-FD-Shield-for-Raspberry-Pi/)).

Additionally, note that enabling the `mcp2515-can` option corresponds to enabling
the mcp2515-can0 and mcp2515-can1 overlays in RPI OS, which are not exclusive to
the **2-CH CAN HAT**. Therefore, if you are using any other CAN HAT with the
MCP2515 chip that requires these overlays, it may also work.

#### Build products

During the build, the following artifacts will be created.

After `moulin rpi5.yaml`:
```
| build.ninja
```

#### Boot process:

* RPI5 bootloader started **u-boot**
* **u-boot** executes boot script:
  * loads **Zephyr Dom0** binary
  * loads **RPI 5 Linux DomU** binary for DomU0
  * loads **Xen Passthrough device tree** binary for DomU0
  * loads **Linux System device tree device tree** binary
  * applies changes to **Linux System device tree device tree** for Xen `dom0less`
  boot mode
  * loads **Xen** binary and starts **Xen**
* **Xen** is booted and starts **Zephyr Dom0 zephyr-dom0-xt** and RPI 5 Linux DomU0

Build for the driver domain device is based on RPI5 bsp Yocto build:
[meta-raspberrypi](https://git.yoctoproject.org/meta-raspberrypi)

## Status

This is release 0.4.0. This release supports the following features:

* Zephyr-operated control domain:
  * xen libraries integration that allows control of the other domains.
  * domd with running OCI containers as Aos services capability.
* Linux-operated driver domain (DomD):
  * controls hardware;
  * provides PV backends for the domains;
  * supports 2-CH CAN HAT and 2-Channel CAN BUS FD Shield;
  * supports HDMI;
  * supports WiFi [experimental].
* rpi_5_domd domain:
  * Zephyr-based domain built on top of zephyr-blinky sample;
  * GPIO device passedthrough to the domain to control onboard LED;
  * does not start automatically.
* rpi_5_domu domain:
  * zephyr-based domain built on top of zephyr-sync sample;
  * do not start automatically.
* helloworld_xen-arm64 domain:
  * demonstrates the work of unikernel images as a domains.
* linux_pv_domu domain:
  * simple Linux-based domain with initramfs
  * implements PVnet interface to access other domains via PV network;
  * implements PVblock interface, which allows mounting block devices to the
    domains.
* Configuration to use either NVME or USB as a DomD rootfs storage.

Testing pvnet connection instruction:
[linux_pv_domu testing](https://github.com/xen-troops/meta-xt-rpi5/wiki/RPI5-build-Linux-domain#test)

## System Requirements

The following dependencies must be satisfied before starting to build the
project:

[Moulin requirements](https://moulin.readthedocs.io/en/latest/about.html#requirements-and-installation)

[Yocto requirements](https://docs.yoctoproject.org/ref-manual/system-requirements.html)

[Zephyr requirements](https://docs.zephyrproject.org/latest/develop/getting_started/index.html)

## Build

You can clone the entire repository or download it as an archive. During the
build process, several directories will be created and additional dependencies
will be fetched into them.

**NOTE:** Please ensure that your storage devices do not use `ecryptfs` or
other file systems that impose filename length limitations. Yocto requires a
file system that supports long filenames. Failure to meet this requirement will
result in an error during the build process.

To start the build, run:

```
cd meta-xt-prod-devel-rpi5
moulin rpi5.yaml
ninja
```

The build process generates two images:

* An SD-card image, used for boot and by the Zephyr Dom0 `zephyr-dom0-xt`
  application;
* A USB-flash image, used as the **rootfs** by the Linux-operated driver domain.

To build the system with the DomD rootfs on NVMe storage, run:

```
moulin rpi5.yaml --DOMD_ROOT nvme
ninja
```

## Create SD-card Image

```
ninja full.img
```
or
```
ninja full.img.bmap
```
or
```
ninja full.img.gz
```

### Flash SD-card Image

To flash the SD-card image, run the following command:
```
sudo dd if=./full.img of=/dev/<sd-dev> bs=4M status=progress

```

**NOTE:** Be sure to identify correctly <sd-dev>, which is usually "sda". For
SD-card identification, plug/unplug the SD-card and check `/dev/` for devices
that have been added/removed.

**NOTE:** Ensure any existing SD-card partitions are unmounted if auto-mount is
enabled.

### SD-card Image Content

The SD-card image **full.img** is created using GPT format and contains two
FATFS partitions:

* First: 512 MB bootfs partition, containing files required for the RPI5 to
  boot.
* Second: 512 MB dom0 partition, used exclusively by the Zephyr Dom0
  `zephyr-dom0-xt` application and containing guest domain images.

#### bootfs Partition Content

The bootfs partition contains the following files. Generic RPI 5 files are
marked as **"RPI5"**. The Xen-Troops RPI 5 Xen demonstration project files (or
modified files) are marked as **"Xen-Troops:"**:

```
bcm2712-rpi-5-b.dtb //RPI5
bootcode.bin //RPI5
cmdline.txt //RPI5
config.txt  //RPI5
fixup4cd.dat //RPI5
fixup4.dat //RPI5
fixup4db.dat //RPI5
fixup4x.dat //RPI5
fixup_cd.dat //RPI5
fixup.dat //RPI5
fixup_db.dat //RPI5
fixup_x.dat //RPI5
overlays/bcm2712d0.dtbo //RPI5
start4cd.elf //RPI5
start4db.elf //RPI5
start4.elf //RPI5
start4x.elf //RPI5
start_cd.elf //RPI5
start_db.elf //RPI5
start.elf //RPI5
start_x.elf //RPI5

u-boot //Xen-Troops: u-boot image
boot.scr //Xen-Troops: u-boot script to prepare and start Xen
xen //Xen-Troops: Xen image
xenpolicy //Xen-Troops: Xen xenpolicy image
zephyr.bin //Xen-Troops: Zephyr Dom0 `zephyr-dom0-xt` application
Image.gz // Xen-Troops: RPI5 Linux DomD kernel with Xen support enabled
armstub8-2712.bin   //Xen-Troops: OPTEE
bcm2712-raspberrypi5-domd.dtb //Xen-Troops: Linux DomD Partial DT
bcm2712-raspberrypi5-mmc.dtbo //Xen-Troops: Xen overlay for System (RPI5) DT to
  enable mmc in DomD
bcm2712-raspberrypi5-usb.dtbo //Xen-Troops: Xen overlay for System (RPI5) DT to
  enable USB in DomD
bcm2712-raspberrypi5-xen.dtbo //Xen-Troops: Xen overlay for System (RPI5) DT
bcm2712-raspberrypi5-pcie1.dtbo //Xen-Troops: Xen overlay for System (RPI5) DT
  to enable pcie1 in DomD (nvme support)
bcm2712-raspberrypi5-can.dtbo //Xen-Troops: Xen overlay for System (RPI5) DT
  to enable CAN in DomD (can support)
bcm2712-raspberrypi5-hdmi.dtbo //Xen-Troops: Xen overlay for System (RPI5) DT
  to enable HDMI in DomD (hdmi support)
mmc-passthrough.dtbo //Xen-Troops: Linux DomD Partial DT overlay with mmc
  support
usb-passthrough.dtbo //Xen-Troops: Linux DomD Partial DT overlay with USB
  support
pcie1-passthrough.dtbo //Xen-Troops: Linux DomD Partial DT overlay with pcie1
  support (for nvme support)
hdmi-passthrough.dtbo //Xen-Troops: Linux DomD Partial DT overlay with hdmi
  support
```

In `config.txt`, the kernel parameter is set to 'kernel=u-boot'.

#### dom0 Partition Content

The dom0 partition is used exclusively by the Zephyr Dom0 `zephyr-dom0-xt`
application and contains guest domains images:

rpi_5_domd
rpi_5_domu
helloworld_xen-arm64
linux_pv_domu

```
dom0/z_sync.bin //Xen-Troops: kernel image for **rpi_5_domu** guest domain
  configuration
dom0/z_blinky.bin //Xen-Troops: kernel image for **rpi_5_domd** guest domain
  configuration
dom0/helloworld_xen-arm64 //Xen-Troops: kernel image for **helloworld_xen-arm64**
  guest domain configuration
dom0/liunx-pv-image //Xen-Troops: kernel image for **linux_pv_domu** guest
  domain configuration
```

## Create DomD rootfs Image

```
ninja rootfs.img
```
or
```
ninja rootfs.img.gz
```

### Flash rootfs Image to the USB-flash

To flash the USB flash image, run below command:
```
sudo dd if=./rootfs.img of=/dev/<usb-dev> bs=4M status=progress

```

**NOTE:** Be sure to identify correctly <usb-dev>, which could look like "sdc".
For USB-flash identification, plug/unplug the USB-flash and check `/dev/` for
devices that have been added/removed.

**NOTE:** Ensure any existing SD-card partitions are unmounted if auto-mount is
enabled.

Alternatively, you can use the generated **"ext4"** image to flash to the
USB-flash, which can be found in the relative build directory:

```
yocto/build-domd/tmp/deploy/images/raspberrypi5/rpi5-image-xt-domd-raspberrypi5.rootfs.ext4
```

To flash the **"ext4"** image, run:

```
dd if=yocto/build-domd/tmp/deploy/images/raspberrypi5/rpi5-image-xt-domd-raspberrypi5.rootfs.ext4 of=<usb-dev> bs=1M
```

**NOTE:** In case of **"ext4"** image usage, the media should be properly
partitioned, (e.g., using `fdisk`), before writing the image.

#### USB-flash Image Content

The USB flash image contains the RPI 5 Linux rootfs based on RPI5 bsp yocto
build [meta-raspberrypi](https://git.yoctoproject.org/meta-raspberrypi) with Xen
tools enabled.

### Flash rootfs Image to the NVMe Storage

* Create an SD-card with the official Ubuntu from the Raspberry Pi Foundation.
* Copy the file `yocto/build-domd/tmp/deploy/images/raspberrypi5/rpi5-image-xt-domd-raspberrypi5.rootfs.ext4` to the USB-Flash dongle.
* Boot from the SD-card with Ubuntu. Plug the USB-Flash dongle into the
  Raspberry Pi board.
* Create a partition on the NVMe storage by running the following command (as
  root):
```
(
echo o
echo n
echo p
echo 1
echo
echo +32G
echo w
) | fdisk /dev/nvme0n1
```
* Flash the **"ext4"** image onto NVMe storage:

```
dd if=<usb-dev>/rpi5-image-xt-domd-raspberrypi5.rootfs.ext4 of=/dev/nvme0n1p1 bs=1M
```

## Testing

This section describes how to start domains:

To start domains, please execute the following commands from the control domain
console:

* rpi_5_domd
```
	xu create rpi_5_domd
	xu console <domain id>
```
To exit the console, use `Ctrl-']'`

* rpi_5_domu

```
	xu create rpi_5_domu
	xu console <domain id>
```
To exit the console, use `Ctrl-']'`

* helloworld_xen-arm64

```
	xu create helloworld_xen-arm64
	xu console <domain id>
```
To exit the console, use `Ctrl-']'`

* linux_pv_domu

```
	xu create linux_pv_domu
	xu console <domain id>
```
To exit the console, use `Ctrl-']'`

To switch between the control domain and driver domain consoles, please press
"Ctrl + a" 3 times.

**NOTE**: If you use a console program, which have "Ctrl + a" as a command key
(such as, minicom), you need to press 6 times instead of 3.

Current domains IDs could be get by running the following command:
```
	xu list
```

This will list all the domains that were started from the control domain
console. For example, the output might look like this:
```
uart:~$ xu list
Name                                        ID   Mem VCPUs      State   Time(s)
Domain-0                                     0   128     1      r----       3.0
Dom0less-1                                   1   512     1      -b---       3.1
rpi_5_domd                                   2    16     1      -b---       0.1
rpi_5_domu                                   3    16     1      -b---       4.7
helloworld_xen-arm64                         4    16     1      -b---       0.1
```

## Start Zephyr rpi_5_domd Domain Example

The **rpi_5_domd**  mockups Driver Domain (DomD) behavior and uses real RPI5 GPIO
hardware at `/soc/gpio@7d517c00`. It is based on the Zephyr Blinky sample.

Create the DomD by running `xu create` with the **rpi_5_domd** configuration.

**NOTE**: Look for a line similar to  **"domain:2 created"** to obtain the Xen domain
ID, which will be used as input to all subsequent commands.

```
uart:~$ xu config_list
rpi_5_domd
rpi_5_domu
helloworld_xen-arm64
linux_pv_domu
uart:~$ xu create rpi_5_domd
(XEN) avc:  denied  { create } for current=d0 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=domain
(XEN) avc:  denied  { max_vcpus } for source=d0 target=d2 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=domain
(XEN) avc:  denied  { setaddrsize } for source=d0 target=d2 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=domain
(XEN) avc:  denied  { setdomainmaxmem } for source=d0 target=d2 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=domain
(XEN) avc:  denied  { setpagingmempool } for source=d0 target=d2 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=domain
(XEN) avc:  denied  { create } for current=d0 scontext=system_u:system_r:dom0_t tcontext=system_u:object_r:dom0_t tclass=event
(XEN) avc:  denied  { adjust } for source=d0 target=d2 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=mmu
(XEN) avc:  denied  { cacheflush } for source=d0 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:dom0_t tclass=domain2
I: storage: file read /0:/dom0/z_blinky.bin size: 64
I: storage: file read /0:/dom0/z_blinky.bin size: 64
I: bootargs =
I: Extended region 0: 0x41000000->0xc0000000
I: Extended region 1: 0x200000000->0x10000000000
I: rambase = 40000000, ramsize = 16777216
I: kernbase = 40000000 kernsize = 360452, dtbsize = 8192
I: kernsize_aligned = 2097152
I: DTB will be placed on addr = 0x40e00000
I: storage: file read /0:/dom0/z_blinky.bin size: 360452
(XEN) avc:  denied  { add } for source=d0 target=d2 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=resource
(XEN) avc:  denied  { use_noiommu } for current=d0 range=0x107d517-0x107d517 scontext=system_u:system_r:unlabeled_t tcontext=system_u:object_r:iomem_t tclass=resource
(XEN) memory_map:add: dom2 gfn=107d517 mfn=107d517 nr=1
(XEN) avc:  denied  { setvcpucontext } for source=d0 target=d2 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=domain
(XEN) avc:  denied  { unpause } for source=d0 target=d2 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=domain
domain:2 created
^^^^^^^^^^^^^^^^
uart:~$ (XEN) d2v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER0
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 1 to 2 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 2 to 3 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 3 to 4 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 4 to 5 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 5 to 6 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 6 to 7 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 7 to 8 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 8 to 9 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 9 to 10 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 10 to 11 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 11 to 12 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 12 to 13 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 13 to 14 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 14 to 15 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d2v0 Expanding d2 grant table from 15 to 16 frames
(XEN) avc:  denied  { setup } for source=d2 scontext=system_u:system_r:unlabeled_t tcontext=system_u:system_r:unlabeled_t tclass=grant
```

At this moment RPI5 led should start blinking.

Attach to DomD console with `xu console`, use `Ctrl-']'` to exit console:

```
uart:~$ xu console 2
Attached to a domain console
LED state: OFF
[00:00:00.000,000] <inf> xen_events: xen_events_init: events inited

[00:00:00.000,000] <inf> uart_hvc_xen: Xen HVC inited successfully

*** Booting Zephyr OS build cb85dfaa5099 ***
LED state: ON
LED state: OFF
LED state: ON
LED state: OFF
LED state: ON
LED state: OFF
LED state: ON
LED state: OFF
LED state: ON
LED state: OFF
LED state: ON
LED state: OFF
LED state: ON
Detached from console
```

Pause DomD - RPI5 led should stop blinking and console should produce no new
messages:

```
uart:~$ xu pause 2
(XEN) avc:  denied  { pause } for source=d0 target=d2 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=domain
domain:2 paused
uart:~$ xu console 2
Attached to a domain console
LED state: OFF
LED state: ON
LED state: OFF
LED state: ON
LED state: OFF
LED state: ON
LED state: OFF
Detached from console
```

Unpause DomD - RPI5 led should start blinking again:

```
uart:~$ xu unpause 2
domain:2 unpaused
```

Destroy DomD - after destroying the Xen domain, ID "2" will no longer be
accessible.

```
uart:~$ xu destroy 2
domain:2 destroyed
```

## Start Zephyr rpi_5_domu domain example

The **rpi_5_domu** mockups simple Xen guest domain (DomU) without using real RPI5
HW. It's based on Zephyr samples/synchronization sample.

Create DomU by using `xu create` with **rpi_5_domu**.

**NOTE**: Look for a line similar to **"domain:3 created"** to obtain the Xen domain
ID, which will be used as input to all subsequent commands.

```
uart:~$ xu create rpi_5_domu
I: storage: file read /0:/dom0/z_sync.bin size: 64
I: storage: file read /0:/dom0/z_sync.bin size: 64
I: bootargs =
I: Extended region 0: 0x41000000->0xc0000000
I: Extended region 1: 0x200000000->0x10000000000
I: rambase = 40000000, ramsize = 16777216
I: kernbase = 40000000 kernsize = 364548, dtbsize = 8192
I: kernsize_aligned = 2097152
I: DTB will be placed on addr = 0x40e00000
I: storage: file read /0:/dom0/z_sync.bin size: 364548
domain:3 created
^^^^^^^^^^^^^^^^
uart:~$ (XEN) d3v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER0
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 1 to 2 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 2 to 3 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 3 to 4 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 4 to 5 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 5 to 6 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 6 to 7 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 7 to 8 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 8 to 9 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 9 to 10 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 10 to 11 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 11 to 12 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 12 to 13 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 13 to 14 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 14 to 15 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d3v0 Expanding d3 grant table from 15 to 16 frames
```

Attach to DomU console with `xu console`, use `Ctrl-']'` to exit console:

```
uart:~$ xu console 3
Attached to a domain console
[00:00:00.000,000] <inf> xen_events: xen_events_init: events inited

[00:00:00.000,000] <inf> uart_hvc_xen: Xen HVC inited successfully

*** Booting Zephyr OS build cb85dfaa5099 ***
thread_a: Hello World from cpu 0 on xenvm!
thread_b: Hello World from cpu 0 on xenvm!
thread_a: Hello World from cpu 0 on xenvm!
thread_b: Hello World from cpu 0 on xenvm!
thread_a: Hello World from cpu 0 on xenvm!
thread_b: Hello World from cpu 0 on xenvm!
thread_a: Hello World from cpu 0 on xenvm!
thread_b: Hello World from cpu 0 on xenvm!
thread_a: Hello World from cpu 0 on xenvm!
thread_b: Hello World from cpu 0 on xenvm!
thread_a: Hello World from cpu 0 on xenvm!
thread_b: Hello World from cpu 0 on xenvm!
thread_a: Hello World from cpu 0 on xenvm!
thread_b: Hello World from cpu 0 on xenvm!
Detached from console
```

Destroy domain - after destroying the DomU Xen domain, ID "3" will no
longer be accessible.

```
uart:~$ xu destroy 3
domain:3 destroyed
```

## Start Unikraft helloworld_xen-arm64 Domain Example

The **helloworld_xen-arm64** is Xen guest domain (DomU Unikraft) that does not use
real RPI5 hardware. It is based on the "Unikraft helloworld" and "monkey"
examples.

Create the Unikraft DomU by using `xu create` with **helloworld_xen-arm64**.

**NOTE**: Look for a line similar to **"domain:4 created"** to obtain the Xen
domain ID, which will be used as input for all subsequent commands.

```
uart:~$ xu config_list
rpi_5_domd
rpi_5_domu
helloworld_xen-arm64
linux_pv_domu
uart:~$ xu create helloworld_xen-arm64
I: storage: file read /0:/dom0/helloworld_xen-arm64 size: 64
I: storage: file read /0:/dom0/helloworld_xen-arm64 size: 64
I: bootargs =
I: Extended region 0: 0x41000000->0xc0000000
I: Extended region 1: 0x200000000->0x10000000000
I: rambase = 40000000, ramsize = 16777216
I: kernbase = 40000000 kernsize = 884744, dtbsize = 8192
I: kernsize_aligned = 2097152
I: DTB will be placed on addr = 0x40e00000
I: storage: file read /0:/dom0/helloworld_xen-arm64 size: 884744
XEN) avc:  denied  { writeconsole } for current=d4 scontext=system_u:system_r:unlabeled_t tcontext=system_u:system_r:xen_t tclass=xen
;(d4) - Mini-OS booting -
3(d4) - Setup CPU -
2(d4) - Setup booting pagetable -
m(d4) - MMU on -
d(d4) - Setup stack -
o(d4) - Jumping to C entry -
main(XEN) d4v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER0
:4 created
^^^^^^^^^^^^^^^^
uart:~$ (XEN) xen-source/xen/common/grant_table.c:1909:d4v0 Expanding d4 grant table from 1 to 2 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d4v0 Expanding d4 grant table from 2 to 3 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d4v0 Expanding d4 grant table from 3 to 4 frames
```

Attach to the Unikraft DomU console with `xu console <domid>`. Use `Ctrl-']'`
to exit the console. There should be seen a moving monkey:

```
uart:~$ xu console 4
Attached to a domain console
Domain console overrun detected. 705 bytes was lost
00 (order 2)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc0000e0000 - ffffffc000100000 (order 5)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000100000 - ffffffc000200000 (order 8)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000200000 - ffffffc000400000 (order 9)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000400000 - ffffffc000800000 (order 10)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000800000 - ffffffc000c00000 (order 10)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000c00000 - ffffffc000e00000 (order 9)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000e00000 - ffffffc000f00000 (order 8)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000f00000 - ffffffc000f80000 (order 7)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000f80000 - ffffffc000fc0000 (order 6)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000fc0000 - ffffffc000fe0000 (order 5)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000fe0000 - ffffffc000ff0000 (order 4)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000ff0000 - ffffffc000ff8000 (order 3)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000ff8000 - ffffffc000ffc000 (order 2)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000ffc000 - ffffffc000ffe000 (order 1)
dbg:  [libukallocbbuddy] ffffffc0000d9000: Add allocate unit ffffffc000ffe000 - ffffffc000fff000 (order 0)
dbg:  [libxenplat] FDT suggests grant table base 38000000
dbg:  [libxenplat] map_gnttab, phys = 0x38000000
dbg:  [libcontext] tls_area_init: target: 0xffffffc000ffe020 (312 bytes)
dbg:  [libcontext] tls_area_init: pad: 0 bytes
dbg:  [libcontext] tls_area_init: tcb: 16 bytes
dbg:  [libcontext] tls_area_init: pad: 0 bytes
dbg:  [libcontext] tls_area_init: copy (.tdata): 0 bytes
dbg:  [libcontext] tls_area_init: uninitialized (.tbss): 0 bytes
dbg:  [libcontext] (tls_area): ffffffc000ffe020  00 00 00 00 00 00 00 00  00 00 00 00 00 00 00 00  |................|
dbg:  [libcontext] *
dbg:  [libuksched] uk_thread 0xffffffc0000db0b0 (idle): ctx:0xffffffc0000db0b0, ectx:0xffffffc000ffc160, tlsp:0xffffffc000ffc020
dbg:  [libcontext] tls_area_init: target: 0xffffffc000ffc020 (312 bytes)
dbg:  [libcontext] tls_area_init: pad: 0 bytes
dbg:  [libcontext] tls_area_init: tcb: 16 bytes
dbg:  [libcontext] tls_area_init: pad: 0 bytes
dbg:  [libcontext] tls_area_init: copy (.tdata): 0 bytes
dbg:  [libcontext] tls_area_init: uninitialized (.tbss): 0 bytes
dbg:  [libcontext] (tls_area): ffffffc000ffc020  00 00 00 00 00 00 00 00  00 00 00 00 00 00 00 00  |................|
dbg:  [libcontext] *
dbg:  [libcontext] ukarch_ctx 0xffffffc0000db0b0: entry:0xffffffc000049fd8(ffffffc0000db018), sp:0xffffffc000fd0020
dbg:  [libuksched] uk_thread 0xffffffc000ffd018 (init): ctx:0xffffffc000ffd018, ectx:0xffffffc000ffd0d0, tlsp:0xffffffc000ffe020
dbg:  [libukboot] Call init function: 0xffffffc00002f2cc()...
dbg:  [libukboot] Call init function: 0xffffffc00004cacc()...
dbg:  [libvfscore] (int) uk_syscall_r_dup2((int) 0x0, (int) 0x1)
dbg:  [libvfscore] (int) uk_syscall_r_dup3((int) 0x0, (int) 0x1, (int) 0x0)
dbg:  [libvfscore] (int) uk_syscall_r_dup2((int) 0x0, (int) 0x2)
dbg:  [libvfscore] (int) uk_syscall_r_dup3((int) 0x0, (int) 0x2, (int) 0x0)
dbg:  [libukboot] Call init function: 0xffffffc00004ace4()...
dbg:  [libukboot] Call init function: 0xffffffc00003b020()...
dbg:  [libukbus] Initialize bus handler 0xffffffc0000a1178...
dbg:  [libuksched] uk_thread 0xffffffc000ff8018 (xenstore): ctx:0xffffffc000ff8018, ectx:0xffffffc000ff9160, tlsp:0xffffffc000ff9020
dbg:  [libcontext] tls_area_init: target: 0xffffffc000ff9020 (312 bytes)
dbg:  [libcontext] tls_area_init: pad: 0 bytes
dbg:  [libcontext] tls_area_init: tcb: 16 bytes
dbg:  [libcontext] tls_area_init: pad: 0 bytes
dbg:  [libcontext] tls_area_init: copy (.tdata): 0 bytes
dbg:  [libcontext] tls_area_init: uninitialized (.tbss): 0 bytes
dbg:  [libcontext] (tls_area): ffffffc000ff9020  00 00 00 00 00 00 00 00  00 00 00 00 00 00 00 00  |................|
dbg:  [libcontext] *
dbg:  [libcontext] ukarch_ctx 0xffffffc000ff8018: entry:0xffffffc00000ae14(0), sp:0xffffffc0000f0020
dbg:  [libukbus] Probe bus 0xffffffc0000a1178...
dbg:  [libxenbus] Complete main loop of xs_msg_write.
dbg:  [libxengic] EL1 IRQ#31 caught
dbg:  [libxengic] EL1 IRQ#1023 caught
dbg:  [libxenbus] Rsp_cons 0, rsp_prod 28.
dbg:  [libxenbus] Msg len 28, 28 avail, id 0.
dbg:  [libxenbus] Message is good.
dbg:  [libxenbus] Rsp_cons 28, rsp_prod 28.
dbg:  [libxenbus] Complete main loop of xs_msg_write.
dbg:  [libxengic] EL1 IRQ#31 caught
dbg:  [libxengic] EL1 IRQ#1023 caught
dbg:  [libxenbus] Rsp_cons 28, rsp_prod 44.
dbg:  [libxenbus] Msg len 16, 16 avail, id 1.
dbg:  [libxenbus] Message is good.
dbg:  [libxenbus] Rsp_cons 44, rsp_prod 44.
Powered by
o.   .o       _ _               __ _
Oo   Oo  ___ (_) | __ __  __ _ ' _) :_
oO   oO ' _ `| | |/ /  _)' _` | |_|  _)
oOo oOO| | | | |   (| | | (_) |  _) :_
 OoOoO ._, ._:_:_,\_._,  .__,_:_, \___)
             Epimetheus 0.12.0~d25310a4
Hello world!
Arguments:  "helloworld"

c'_'o  .--'
    (| |)_/            dbg:  [libposix_time] (int) uk_syscall_r_nanosleep((const struct timespec*) 0xffffffc0000a0ec8, (struct timespec*) 0xffffffc0000a0ec8)
      _                RQ#27 caught
    c'o'o  .--.        RQ#1023 caught
    (| |)_/            dbg:  [libposix_time] (int) uk_syscall_r_nanosleep((const struct timespec*) 0xffffffc0000a0ec8, (struct timespec*) 0xffffffc0000a0ec8)
      _                RQ#27 caught
    c'_'o  .-.         RQ#1023 caught
    (| |)_/   `        dbg:  [libposix_time] (int) uk_syscall_r_nanosleep((const struct timespec*) 0xffffffc0000a0ec8, (struct timespec*) 0xffffffc0000a0ec8)
      _                RQ#27 caught
    c'o'o  .--.        RQ#1023 caught
    (| |)_/            dbg:  [libposix_time] (int) uk_syscall_r_nanosleep((const struct timespec*) 0xffffffc0000a0ec8, (struct timespec*) 0xffffffc0000a0ec8)
      _                RQ#27 caught
    c'_'o  .--'        RQ#1023 caught
    (| |)_/            dbg:  [libposix_time] (int) uk_syscall_r_nanosleep((const struct timespec*) 0xffffffc0000a0ec8, (struct timespec*) 0xffffffc0000a0ec8)
      _                RQ#27 caught
    c'_'o  .--.        RQ#1023 caught
    (| |)_/            dbg:  [libposix_time] (int) uk_syscall_r_nanosleep((const struct timespec*) 0xffffffc0000a0ec8, (struct timespec*) 0xffffffc0000a0ec8)
      _                RQ#27 caught
    c'_'o  .-.         RQ#1023 caught
    (| |)_/   `        dbg:  [libposix_time] (int) uk_syscall_r_nanosleep((const struct timespec*) 0xffffffc0000a0ec8, (struct timespec*) 0xffffffc0000a0ec8)
      _                RQ#27 caught
    c'_'o  .--.        RQ#1023 caught
    (| |)_/            dbg:  [libposix_time] (int) uk_syscall_r_nanosleep((const struct timespec*) 0xffffffc0000a0ec8, (struct timespec*) 0xffffffc0000a0ec8)
      _                RQ#27 caught
    c-_-o  .--'        RQ#1023 caught
    (| |)_/            dbg:  [libposix_time] (int) uk_syscall_r_nanosleep((const struct timespec*) 0xffffffc0000a0ec8, (struct timespec*) 0xffffffc0000a0ec8)
      _                RQ#27 caught
    c'_'o  .--.        RQ#1023 caught
    (| |)_/            dbg:  [libposix_time] (int) uk_syscall_r_nanosleep((const struct timespec*) 0xffffffc0000a0ec8, (struct timespec*) 0xffffffc0000a0ec8)
      _                RQ#27 caught
Detached from console
```

Destroy domain - after destroying the DomU Unikraft Xen domain, ID "4" will no
longer be accessible.

```
uart:~$ xu destroy 4
domain:4 destroyed
```

## Start Linux linux_pv_domu Domain Example

The **linux_pv_domu** is Xen guest domain (Linux minimal) that demonstrates
connection of the PVnet and PVblock device.

Create the Linux guest domain by running `xu create` with **linux_pv_domu**.

**NOTE**: Look for a line similar to **"domain:5 created"** to obtain the Xen domain
ID, which will be used as input for all subsequent commands.

Attach to the linux_pv_domu console with `xu console <domid>`. Use `Ctrl-']'`
to exit the console.
There should be seen Linux boot log:

```
uart:~$ xu create linux_pv_domu
uart:~$ xu console 5
Attached to a domain console
Domain console overrun detected. 14099 bytes was lost
: Listening on udev Kernel Socket.
[  OK  ] Listening on udev Kernel Socket.
[    0.609439] systemd[1]: Listening on User Database Manager Socket.
[  OK  ] Listening on User Database Manager Socket.
[    0.610455] systemd[1]: Mounting Huge Pages File System...
         Mounting Huge Pages File System...
[    0.615688] systemd[1]: Mounting POSIX Message Queue File System...
         Mounting POSIX Message Queue File System...
[    0.618311] systemd[1]: Mounting Kernel Debug File System...
         Mounting Kernel Debug File System...
[    0.618539] systemd[1]: Kernel Trace File System was skipped because of an unmet condition check (ConditionPathExists=/sys/kernel/t.
[    0.620439] systemd[1]: Mounting Temporary Directory /tmp...
         Mounting Temporary Directory /tmp...
[    0.620630] systemd[1]: Create List of Static Device Nodes was skipped because of an unmet condition check (ConditionFileNotEmpty=/.
[    0.624489] systemd[1]: Starting Load Kernel Module configfs...
         Starting Load Kernel Module configfs...
[    0.631126] systemd[1]: Starting Load Kernel Module drm...
         Starting Load Kernel Module drm...
[    0.636449] systemd[1]: Starting Load Kernel Module fuse...
         Starting Load Kernel Module fuse...
[    0.638931] systemd[1]: File System Check on Root Device was skipped because of an unmet condition check (ConditionPathIsReadWrite=.
[    0.639238] systemd[1]: systemd-journald.service: unit configures an IP firewall, but the local system does not support BPF/cgroup .
[    0.639257] systemd[1]: systemd-journald.service: (This warning is only shown for the first unit using IP firewalling.)
[    0.644618] systemd[1]: Starting Journal Service...
         Starting Journal Service...
[    0.644970] systemd[1]: Load Kernel Modules was skipped because no trigger condition checks were met.
[    0.647169] systemd[1]: Starting Generate network units from Kernel command line...
         Starting Generate network units from Kernel command line...
[    0.652564] systemd[1]: Starting Remount Root and Kernel File Systems...
         Starting Remount Root and Kernel File Systems...
[    0.660503] systemd[1]: Starting Apply Kernel Variables...
         Starting Apply Kernel Variables...
[    0.670856] systemd[1]: Starting Create Static Device Nodes in /dev gracefully...
         Starting Create Static Device Nodes in /dev gracefully...
[    0.677689] systemd-journald[69]: Collecting audit messages is enabled.
[    0.684423] systemd[1]: Starting Coldplug All udev Devices...
         Starting Coldplug All udev Devices...
[    0.686087] systemd[1]: Started Journal Service.
[  OK  ] Started Journal Service.
[  OK  ] Mounted Huge Pages File System.
[  OK  ] Mounted POSIX Message Queue File System.
[  OK  ] Mounted Kernel Debug File System.
[  OK  ] Mounted Temporary Directory /tmp.
[  OK  ] Finished Load Kernel Module configfs.
[  OK  ] Finished Load Kernel Module drm.
[  OK  ] Finished Load Kernel Module fuse.
[  OK  ] Finished Generate network units from Kernel command line.
[FAILED] Failed to start Remount Root and Kernel File Systems.
See 'systemctl status systemd-remount-fs.service' for details.
[  OK  ] Finished Apply Kernel Variables.
[  OK  ] Finished Create Static Device Nodes in /dev gracefully.
[  OK  ] Reached target Preparation for Network.
         Mounting Kernel Configuration File System...
         Starting Flush Journal to Persistent Storage...
         Starting Create System Users...
[    0.753352] systemd-journald[69]: Received client request to flush runtime journal.
[  OK  ] Finished Flush Journal to Persistent Storage.
[  OK  ] Finished Coldplug All udev Devices.
[  OK  ] Mounted Kernel Configuration File System.
         Starting User Database Manager...
[  OK  ] Started User Database Manager.
[  OK  ] Finished Create System Users.
         Starting Create Static Device Nodes in /dev...
[  OK  ] Finished Create Static Device Nodes in /dev.
[  OK  ] Reached target Preparation for Local File Systems.
         Mounting /var/volatile...
         Starting Rule-based Manager for Device Events and Files...
[  OK  ] Mounted /var/volatile.
         Starting Load/Save OS Random Seed...
[  OK  ] Reached target Local File Systems.
         Starting Rebuild Dynamic Linker Cache...
         Starting Create Volatile Files and Directories...
[  OK  ] Finished Rebuild Dynamic Linker Cache.
[  OK  ] Started Rule-based Manager for Device Events and Files.
         Starting Network Configuration...
[    0.941190] vif vif-0 enX0: renamed from eth0
[  OK  ] Finished Create Volatile Files and Directories.
         Starting Rebuild Journal Catalog...
         Starting Network Name Resolution...
         Starting Network Time Synchronization...
         Starting Record System Boot/Shutdown in UTMP...
[  OK  ] Started Network Configuration.
[  OK  ] Finished Rebuild Journal Catalog.
         Starting Update is Completed...
[  OK  ] Started Network Name Resolution.
[  OK  ] Reached target Network.
[  OK  ] Reached target Host and Network Name Lookups.
         Starting Virtual Console Setup...
[  OK  ] Started Network Time Synchronization.
[  OK  ] Finished Update is Completed.
[  OK  ] Finished Record System Boot/Shutdown in UTMP.
[  OK  ] Reached target System Time Set.
[  OK  ] Finished Virtual Console Setup.
[  OK  ] Reached target System Initialization.
[  OK  ] Started Daily Cleanup of Temporary Directories.
[  OK  ] Reached target Timer Units.
[  OK  ] Listening on D-Bus System Message Bus Socket.
[  OK  ] Reached target Socket Units.
[  OK  ] Reached target Basic System.
         Starting D-Bus System Message Bus...
[  OK  ] Started Getty on tty1.
[  OK  ] Started Serial Getty on hvc0.
[  OK  ] Started Serial Getty on ttyS0.
[  OK  ] Reached target Login Prompts.
         Starting User Login Management...
[  OK  ] Started User Login Management.
[    1.660108] random: crng init done
[  OK  ] Finished Load/Save OS Random Seed.
[  OK  ] Started D-Bus System Message Bus.
[  OK  ] Reached target Multi-User System.
         Starting Record Runlevel Change in UTMP...
[  OK  ] Finished Record Runlevel Change in UTMP.

Poky (Yocto Project Reference Distro) 5.0.1 generic-armv8-xt-domu hvc0

generic-armv8-xt-domu login: root

WARNING: Poky is a reference Yocto Project distribution that should be used for
testing and development purposes only. It is recommended that you create your
own distribution for production use.
```

### Test PVnet Connection

-  Connect your host machine to your RPi board using an Ethernet cable.
-  Set a static IP address for the Ethernet interface on your PC (in this
   example will be used `192.168.0.1/24`)

Set an IP address to the network interface inside the **linux_pv_domu** domain by
executing the following commands:
```
ip a
ip addr add dev enX0 192.168.0.2/24
ping -c 3 192.168.0.1
```
The output should be similar to:
```

root@generic-armv8-xt-domu:~# ip a
1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue qlen 1000
    link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
    inet 127.0.0.1/8 scope host lo
       valid_lft forever preferred_lft forever
    inet6 ::1/128 scope host noprefixroute
       valid_lft forever preferred_lft forever
2: enX0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq qlen 1000
    link/ether 08:00:27:ff:cb:ce brd ff:ff:ff:ff:ff:ff
    inet6 fe80::a00:27ff:feff:cbce/64 scope link
       valid_lft forever preferred_lft forever

root@generic-armv8-xt-domu:~# ip addr add dev enX0 192.168.0.2/24
```

To test the connection run the following command:
```
ping -c 3 192.168.0.1
```

The expected result should be:

```
root@generic-armv8-xt-domu:~# ping -c 3 192.168.0.1
PING 192.168.0.1 (192.168.0.1): 56 data bytes
64 bytes from 192.168.0.1: seq=0 ttl=64 time=0.239 ms
^C
--- 192.168.0.1 ping statistics ---
1 packets transmitted, 1 packets received, 0% packet loss
round-trip min/avg/max = 0.239/0.239/0.239 ms
root@generic-armv8-xt-domu:~# ^C
```

Also, the **/dev/xvda** device should be present, indicating that PVblock is
attached.

Destroy domain - after destroying the Linux Xen domain, ID "5" will no longer
be accessible.

```
uart:~$ xu destroy 5
domain:5 destroyed
```

## Testing CAN Loopback in DomD

**NOTE**: CAN support requires using the additional parameter
`--ENABLE_CAN <can_type>` when generating the Ninja build file.

To switch between the control domain (`DOM0`) and the driver domain console
(`DOM1`), press "Ctrl + a" 3 times.

**NOTE**: If you use the console which have "Ctrl + a" as the command key
(such as, minicom), you need to press 6 times instead of 3.

Check that the CAN interfaces are initialized successfully:
```
dmesg | grep spi
```
The output should look like this:
```
(XEN) root@raspberrypi5-domd:~# dmesg | grep spi
(XEN) [    1.371594] mcp251x spi0.0 can0: MCP2515 successfully initialized.
(XEN) [    1.384168] mcp251x spi0.1 can1: MCP2515 successfully initialized.
```
Set up CAN:
```
ip link set can0 up type can bitrate 1000000
ip link set can1 up type can bitrate 1000000
ifconfig can0 txqueuelen 65536
ifconfig can1 txqueuelen 65536
```
Connect CAN0_H to CAN1_L and CAN1_H to CAN0_L on the 2-CH CAN HAT.

Using `ifconfig` fix down the amount of RX/TX packets on each CAN interface.

Start receiving messages from `can0` in the background with redirecting the
output to a file:
```
candump can0 >> can0.txt &
```
Send some data from `can1`:
```
cansend can1 000#11.22.33.44
```
Use `fg` and "Ctrl + c" to bring the background process to the foreground and
terminate it.

Check the contents of the file `can0.txt`:
```
(XEN) root@raspberrypi5-domd:~# cat can0.txt
(XEN)   can0  000   [4]  11 22 33 44
```
Check the increased amount of TX/RX packets in `ifconfig`:
```
(XEN) root@raspberrypi5-domd:~# ifconfig
(XEN) can0      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
(XEN)           UP RUNNING NOARP  MTU:16  Metric:1
(XEN)           RX packets:1 errors:0 dropped:0 overruns:0 frame:0
(XEN)           TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
(XEN)           collisions:0 txqueuelen:65536
(XEN)           RX bytes:4 (4.0 B)  TX bytes:0 (0.0 B)
(XEN)
(XEN) can1      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
(XEN)           UP RUNNING NOARP  MTU:16  Metric:1
(XEN)           RX packets:0 errors:0 dropped:0 overruns:0 frame:0
(XEN)           TX packets:1 errors:0 dropped:0 overruns:0 carrier:0
(XEN)           collisions:0 txqueuelen:65536
(XEN)           RX bytes:0 (0.0 B)  TX bytes:4 (4.0 B)
```

## Testing HDMI in DomD

**NOTE**: HDMI support requires using the additional parameter
`--ENABLE_HDMI yes` when generating the Ninja build file.

To switch between the control domain (`DOM0`) and the driver domain console
(`DOM1`), press "Ctrl + a" 3 times.

**NOTE**: If you use the console which have "Ctrl + a" as the command key
(such as, minicom), you need to press 6 times instead of 3.

Connect a monitor to the HDMI port on your Raspberry Pi board and start the
kmscube program:
```
(XEN) root@raspberrypi5-domd:~# kmscube
(XEN) Using display 0x55566a7655a0 with EGL version 1.4
(XEN) ===================================
(XEN) EGL information:
(XEN)   version: "1.4"
(XEN)   vendor: "Mesa Project"
(XEN)   client extensions: "EGL_EXT_client_extensions EGL_EXT_device_base EGL_EXT_device_enumeration EGL_EXT_device_query EGL_EXT_platform_base EGL_KHR_client_get_all_proc_addresses EGL_KHR"
(XEN)   display extensions: "EGL_ANDROID_blob_cache EGL_ANDROID_native_fence_sync EGL_EXT_buffer_age EGL_EXT_image_dma_buf_import EGL_EXT_image_dma_buf_import_modifiers EGL_KHR_cl_event2 EG"
(XEN) ===================================
(XEN) OpenGL ES 2.x information:
(XEN)   version: "OpenGL ES 3.1 Mesa 24.0.7"
(XEN)   shading language version: "OpenGL ES GLSL ES 3.10"
(XEN)   vendor: "Broadcom"
(XEN)   renderer: "V3D 7.1.7"
(XEN)   extensions: "GL_EXT_blend_minmax GL_EXT_multi_draw_arrays GL_EXT_texture_filter_anisotropic GL_EXT_texture_compression_s3tc GL_EXT_texture_compression_dxt1 GL_EXT_texture_compressio"
(XEN) ===================================
(XEN) Rendered 121 frames in 2.016660 sec (60.000200 fps)
(XEN) Rendered 242 frames in 4.033326 sec (60.000112 fps)
(XEN) Rendered 362 frames in 6.033326 sec (60.000070 fps)
(XEN) Rendered 482 frames in 8.033326 sec (60.000052 fps)
(XEN) Rendered 602 frames in 10.033327 sec (60.000038 fps)
(XEN) ^C
```
To stop the program, press `Ctrl + C`.
During execution, a colorful, 3D rotating cube should be visible on the screen.

## Bootlog

The boot log will look like the following when RPI5 is booted:

```
NOTICE:  BL31: v2.10.0(release):v2.10.0-958-g09a1cc2a0b-dirty
NOTICE:  BL31: Built : 14:54:20, May 10 2024
I/TC: 
I/TC: Non-secure external DT found
I/TC: pl011: device parameters ignored (115200n8)
E/TC:0 0   pl011_dev_init:216 pl011: unexpected register size: 200
I/TC: OP-TEE version: 4.2.0 (gcc version 13.2.0 (GCC)) #1 Fri Apr 12 09:51:21 UTC 2024 aarch64
I/TC: WARNING: This OP-TEE configuration might be insecure!
I/TC: WARNING: Please check https://optee.readthedocs.io/en/latest/architecture/porting_guidelines.html
I/TC: Primary CPU initializing
I/TC: Initializing virtualization support
I/TC: Primary CPU switching to normal world boot
I/TC: WARNING: Using fixed value for stack canary

U-Boot 2024.04 (May 31 2024 - 15:00:11 +0000)

DRAM:  1020 MiB (effective 8 GiB)
mbox: Header response code invalid
RPI 5 Model B (0xd04170)
Core:  44 devices, 15 uclasses, devicetree: board
MMC:   mmc@fff000: 0, mmc@1100000: 1
Loading Environment from FAT... Unable to read "uboot.env" from mmc0:1... 
In:    serial,usbkbd
Out:   serial,vidconsole
Err:   serial,vidconsole
mbox: Header response code invalid
bcm2835: Could not query MAC address
PCIe BRCM: link up, 5.0 Gbps x4 (!SSC)
Net:   eth0: ethernet@100000

starting USB...
No working controllers found
Hit any key to stop autoboot:  0 
No EFI system partition
No EFI system partition
Failed to persist EFI variables
No EFI system partition
Failed to persist EFI variables
No EFI system partition
Failed to persist EFI variables
** Booting bootflow '<NULL>' with efi_mgr
Loading Boot0000 'mmc 0' failed
EFI boot manager: Cannot load any image
Boot failed (err=-14)
** Booting bootflow 'mmc@fff000.bootdev.part_1' with script
Working FDT set to 2efec900
1179656 bytes read in 52 ms (21.6 MiB/s)
1994 bytes read in 2 ms (973.6 KiB/s)
341 bytes read in 2 ms (166 KiB/s)
11982 bytes read in 2 ms (5.7 MiB/s)
2961412 bytes read in 125 ms (22.6 MiB/s)
10149062 bytes read in 424 ms (22.8 MiB/s)
6116 bytes read in 2 ms (2.9 MiB/s)
Working FDT set to 1c00000
920 bytes read in 1 ms (898.4 KiB/s)
## Flattened Device Tree blob at 2efec900
   Booting using the fdt blob at 0x2efec900
Working FDT set to 2efec900
   Using Device Tree in place at 000000002efec900, end 000000002f005fff
Working FDT set to 2efec900

Starting kernel ...

Xen 4.19-unstable
(XEN) Xen version 4.19-unstable (xtrs@) (aarch64-poky-linux-gcc (GCC) 13.2.0) debug=y 2024-02-02
(XEN) Latest ChangeSet: Fri Jan 5 10:46:44 2024 +0200 git:8ff1f6708a-dirty
(XEN) build-id: 9987ca876899bfc009d6377fd79ced2324a56e1b
(XEN) Processor: 00000000414fd0b1: "ARM Limited", variant: 0x4, part 0xd0b,rev 0x1
(XEN) 64-bit Execution:
(XEN)   Processor Features: 1100000010111112 0000000000000010
(XEN)     Exception Levels: EL3:64 EL2:64 EL1:64 EL0:64+32
(XEN)     Extensions: FloatingPoint AdvancedSIMD
(XEN)   Debug Features: 0000000010305408 0000000000000000
(XEN)   Auxiliary Features: 0000000000000000 0000000000000000
(XEN)   Memory Model Features: 0000000000101122 0000000010212122
(XEN)   ISA Features:  0000100010211120 0000000000100001
(XEN) 32-bit Execution:
(XEN)   Processor Features: 0000000010010131:0000000000010000
(XEN)     Instruction Sets: AArch32 A32 Thumb Thumb-2 Jazelle
(XEN)     Extensions: GenericTimer
(XEN)   Debug Features: 0000000004010088
(XEN)   Auxiliary Features: 0000000000000000
(XEN)   Memory Model Features: 0000000010201105 0000000040000000
(XEN)                          0000000001260000 0000000002122211
(XEN)   ISA Features: 0000000002101110 0000000013112111 0000000021232042
(XEN)                 0000000001112131 0000000000010142 0000000001011121
(XEN) Using SMC Calling Convention v1.5
(XEN) Using PSCI v1.1
(XEN) SMP: Allowing 4 CPUs
(XEN) Generic Timer IRQ: phys=30 hyp=26 virt=27 Freq: 54000 KHz
(XEN) GICv2 initialization:
(XEN)         gic_dist_addr=000000107fff9000
(XEN)         gic_cpu_addr=000000107fffa000
(XEN)         gic_hyp_addr=000000107fffc000
(XEN)         gic_vcpu_addr=000000107fffe000
(XEN)         gic_maintenance_irq=25
(XEN) GICv2: 320 lines, 4 cpus, secure (IID 0200143b).
(XEN) XSM Framework v1.0.1 initialized
(XEN) Flask: 128 avtab hash slots, 361 rules.
(XEN) Flask: 128 avtab hash slots, 361 rules.
(XEN) Flask:  4 users, 3 roles, 42 types, 2 bools
(XEN) Flask:  13 classes, 361 rules
(XEN) Flask:  Starting in permissive mode.
(XEN) Initialized GSX IRQ
(XEN) Using scheduler: SMP Credit Scheduler rev2 (credit2)
(XEN) Initializing Credit2 scheduler
(XEN)  load_precision_shift: 18
(XEN)  load_window_shift: 30
(XEN)  underload_balance_tolerance: 0
(XEN)  overload_balance_tolerance: -3
(XEN)  runqueues arrangement: socket
(XEN)  cap enforcement granularity: 10ms
(XEN) load tracking window length 1073741824 ns
(XEN) Allocated console ring of 32 KiB.
(XEN) CPU0: Guest atomics will try 17 times before pausing the domain
(XEN) Bringing up CPU1
I/TC: Secondary CPU 1 initializing
I/TC: Secondary CPU 1 switching to normal world boot
(XEN) CPU1: Guest atomics will try 15 times before pausing the domain
(XEN) CPU 1 booted.
(XEN) Bringing up CPU2
I/TC: Secondary CPU 2 initializing
I/TC: Secondary CPU 2 switching to normal world boot
(XEN) CPU2: Guest atomics will try 6 times before pausing the domain
(XEN) CPU 2 booted.
(XEN) Bringing up CPU3
I/TC: Secondary CPU 3 initializing
I/TC: Secondary CPU 3 switching to normal world boot
(XEN) CPU3: Guest atomics will try 2 times before pausing the domain
(XEN) Brought up 4 CPUs
(XEN) CPU 3 booted.
(XEN) I/O virtualisation disabled
(XEN) P2M: 40-bit IPA with 40-bit PA and 16-bit VMID
(XEN) P2M: 3 levels with order-1 root, VTCR 0x00000000800a3558
(XEN) Scheduling granularity: cpu, 1 CPU per sched-resource
(XEN) Initializing Credit2 scheduler
(XEN)  load_precision_shift: 18
(XEN)  load_window_shift: 30
(XEN)  underload_balance_tolerance: 0
(XEN)  overload_balance_tolerance: -3
(XEN)  runqueues arrangement: socket
(XEN)  cap enforcement granularity: 10ms
(XEN) load tracking window length 1073741824 ns
(XEN) Adding cpu 0 to runqueue 0
(XEN)  First cpu on runqueue, activating
(XEN) Adding cpu 1 to runqueue 0
(XEN) Adding cpu 2 to runqueue 0
(XEN) Adding cpu 3 to runqueue 0
(XEN) OP-TEE supports 4 simultaneous threads per guest.
I/TC: Removing guest 0
E/TC:0 0   virt_guest_destroyed:393 Client with id 0 is not found
(XEN) Using TEE mediator for OP-TEE
(XEN) alternatives: Patching with alt table 00000a00002f0d88 -> 00000a00002f1fa0
(XEN) CPU0 will use 24 loops workaround on exception entry
(XEN) CPU2 will use 24 loops workaround on exception entry
(XEN) CPU3 will use 24 loops workaround on exception entry
(XEN) CPU1 will use 24 loops workaround on exception entry
I/TC: Added guest 1
(XEN) *** LOADING DOMAIN 0 ***
(XEN) Loading d0 kernel from boot module @ 0000000000e00000
(XEN) Allocating 1:1 mappings totalling 128MB for dom0:
(XEN) BANK[0] 0x00000010000000-0x00000018000000 (128MB)
(XEN) Grant table range: 0x00000002000000-0x00000002040000
(XEN) Allocating PPI 16 for event channel interrupt
(XEN) d0: extended region 0: 0x2200000->0x7e00000
(XEN) d0: extended region 1: 0x8400000->0xfe00000
(XEN) d0: extended region 2: 0x18000000->0x1ce00000
(XEN) d0: extended region 3: 0x1f000000->0x3fa00000
(XEN) d0: extended region 4: 0x40000000->0x4fe00000
(XEN) d0: extended region 5: 0x70000000->0x1ffe00000
(XEN) Loading zImage from 0000000000e00000 to 0000000010000000-00000000102d3004
(XEN) Loading d0 DTB to 0x0000000017e00000-0x0000000017e13436
(XEN) avc:  denied  { create } for current=d[IDLE] scontext=system_u:system_r:xenboot_t tcontext=system_u:system_r:unlabeled_t tclass=domain
(XEN) *** LOADING DOMU cpus=1 memory=0x80000KB ***
(XEN) Loading d1 kernel from boot module @ 0000000001200000
(XEN) d1: STATIC BANK[0] 0x00000050000000-0x00000070000000
I/TC: Added guest 2
(XEN) d1: extended region 0: 0x200000->0x7e00000
(XEN) d1: extended region 1: 0x8400000->0x1ce00000
(XEN) d1: extended region 2: 0x1f000000->0x37e00000
(XEN) d1: extended region 3: 0x39000000->0x3fa00000
(XEN) d1: extended region 4: 0x40000000->0x4fe00000
(XEN) d1: extended region 5: 0x70000000->0x1ffe00000
(XEN) Loading zImage from 0000000034000000 to 0000000050000000-0000000051aaba00
(XEN) Loading d1 DTB to 0x0000000058000000-0x0000000058001984
(XEN) avc:  denied  { create } for current=d[IDLE] scontext=system_u:system_r:xenboot_t tcontext=system_u:object_r:dom0_t tclass=event
(XEN) avc:  denied  { bind } for current=d[IDLE] scontext=system_u:object_r:dom0_t tcontext=system_u:system_r:dom0_t tclass=event
(XEN) Initial low memory virq threshold set at 0x4000 pages.
(XEN) Scrubbing Free RAM in background
(XEN) Std. Loglevel: All
(XEN) Guest Loglevel: All
(XEN) ***************************************************
(XEN) WARNING: SILO mode is not enabled.
(XEN) It has implications on the security of the system,
(XEN) unless the communications have been forbidden between
(XEN) untrusted domains.
(XEN) ***************************************************
(XEN) 3... 2... 1... 
(XEN) *** Serial input to DOM0 (type 'CTRL-a' three times to switch input)
(XEN) Freed 396kB init memory.
(XEN) d1v0 Unhandled SMC/HVC: 0x84000050
(XEN) d1v0 Unhandled SMC/HVC: 0x8600ff01
(XEN) d1v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER4
(XEN) d1v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER8
(XEN) d1v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER12
(XEN) d1v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER16
(XEN) d1v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER20
(XEN) d1v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER24
(XEN) d1v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER28
(XEN) d1v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER32
(XEN) d1v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER36
(XEN) d1v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER0
(XEN) avc:  denied  { getparam } for source=d1 scontext=system_u:system_r:unlabeled_t tcontext=system_u:system_r:unlabeled_t tclass=hvm
(XEN) avc:  denied  { physmap } for source=d1 scontext=system_u:system_r:unlabeled_t tcontext=system_u:system_r:unlabeled_t tclass=mmu
(XEN) avc:  denied  { query } for source=d1 scontext=system_u:system_r:unlabeled_t tcontext=system_u:system_r:unlabeled_t tclass=grant
(XEN) d0v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER4
(XEN) d0v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER8
(XEN) d0v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER12
(XEN) d0v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER16
(XEN) d0v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER20
(XEN) d0v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER24
(XEN) d0v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER28
(XEN) d0v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER32
(XEN) d0v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER36
(XEN) d0v0: vGICD: unhandled word write 0x000000ffffffff to ICACTIVER0
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 1 to 2 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 2 to 3 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 3 to 4 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 4 to 5 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 5 to 6 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 6 to 7 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 7 to 8 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 8 to 9 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 9 to 10 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 10 to 11 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 11 to 12 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 12 to 13 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 13 to 14 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 14 to 15 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 15 to 16 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 16 to 17 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 17 to 18 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 18 to 19 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant It/TC: Reserved shared memory is enabled
abI/TC: Dynamic shared memory is enabled
leI/TC: Normal World virtualization support is enabled
 If/TC: Asynchronous notifications are disabled
rom 19 to 20 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 20 to 21 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 21 to 22 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 22 to 23 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 23 to 24 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 24 to 25 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 25 to 26 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 26 to 27 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 27 to 28 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 28 to 29 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 29 to 30 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 30 to 31 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 31 to 32 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 32 to 33 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 33 to 34 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 34 to 35 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 35 to 36 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 36 to 37 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 37 to 38 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 38 to 39 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 39 to 40 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 40 to 41 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 41 to 42 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 42 to 43 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 43 to 44 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 44 to 45 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 45 to 46 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 46 to 47 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 47 to 48 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 48 to 49 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 49 to 50 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 50 to 51 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 51 to 52 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 52 to 53 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 53 to 54 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 54 to 55 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 55 to 56 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 56 to 57 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 57 to 58 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 58 to 59 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 59 to 60 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 60 to 61 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 61 to 62 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 62 to 63 frames
(XEN) xen-source/xen/common/grant_table.c:1909:d0v0 Expanding d0 grant table from 63 to 64 frames
I: sdhc: detected ver:2 vendor_ver:16 supported
I: sdhc: capabilities caps0:15eac832 caps1:8000a577
I: mmc@1000fff000:"reset max bus frequency to 200000000 from 0"

** Booting Zephyr OS build cb85dfaa5099 ***
(XEN) avc:  denied  { getdomaininfo } for source=d0 target=d1 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=domain
(XEN) avc:  denied  { getparam } for source=d0 target=d1 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=hvm
(XEN) avc:  denied  { map_read map_write } for source=d0 target=d1 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=mmu
(XEN) avc:  denied  { create } for source=d0 target=d1 scontext=system_u:system_r:dom0_t tcontext=system_u:object_r:unlabeled_t tclass=event
(XEN) avc:  denied  { bind } for source=d0 target=d1 scontext=system_u:object_r:unlabeled_t tcontext=system_u:system_r:unlabeled_t tclass=event
(XEN) avc:  denied  { setparam } for source=d0 target=d1 scontext=system_u:system_r:dom0_t tcontext=system_u:system_r:unlabeled_t tclass=hvm
(XEN) avc:  denied  { send } for current=d0 scontext=system_u:system_r:dom0_t tcontext=system_u:object_r:unlabeled_t tclass=event
I: d(XEN) avc:  denied  { send } for current=d1 scontext=system_u:system_r:unlabeled_t tcontext=system_u:object_r:dom0_t tclass=event
om0less: attached 1 domains
32muart:~$ I: Card switched to 1.8V signaling
I: storage: block count 124735488, Sector size 512, Memory Size(MB) 60906
I: storage: mounted, binaries folder /0:/dom0/

uart:~$ 
uart:~$ (XEN) avc:  denied  { xen_extraversion } for current=d1 scontext=system_u:system_r:unlabeled_t tcontext=system_u:system_r:xen_t tclass=version
(XEN) avc:  denied  { xen_compile_info } for current=d1 scontext=system_u:system_r:unlabeled_t tcontext=system_u:system_r:xen_t tclass=version
(XEN) avc:  denied  { xen_capabilities } for current=d1 scontext=system_u:system_r:unlabeled_t tcontext=system_u:system_r:xen_t tclass=version
(XEN) avc:  denied  { xen_changeset } for current=d1 scontext=system_u:system_r:unlabeled_t tcontext=system_u:system_r:xen_t tclass=version
(XEN) avc:  denied  { xen_pagesize } for current=d1 scontext=system_u:system_r:unlabeled_t tcontext=system_u:system_r:xen_t tclass=version
(XEN) avc:  denied  { xen_commandline } for current=d1 scontext=system_u:system_r:unlabeled_t tcontext=system_u:system_r:xen_t tclass=version
(XEN) avc:  denied  { xen_build_id } for current=d1 scontext=system_u:system_r:unlabeled_t tcontext=system_u:system_r:xen_t tclass=version
(XEN) avc:  denied  { physinfo } for current=d1 scontext=system_u:system_r:unlabeled_t tcontext=system_u:system_r:xen_t tclass=xen
fs ls /0(XEN) DOM1: 
(XEN) DOM1: Poky (Yocto Project Reference Distro) 5.0.1 raspberrypi5-domd ttyAMA0
(XEN) DOM1: 
:/dom0
z_sync.bin
z_blinky.bin
helloworld_xen-arm64
liunx_pv_image
uart:~$
```

## Features and Tasks

The following section lists features that have already been implemented and
plans for the future releases:

### Features implemented in Release v0.4

* Add CAN support for both HATs
 * Add support for Docker image
 * Upgrade the DomD RPi Linux to the 6.12 version
 * Add HDMI support
 * Add the parameter to enable early printk in Xen
 * Add missed target/rules in yaml
 * Improve and update README.md

### TODO

* Enable the SCMI server in ARM-TF and port the reset and pinctrl drivers;
 * Implement the pinctrl-scmi protocol server in ARM-TF;
 * Implementation of the SCMI support in Zephyr for reset;
 * Integration of the SCMI Mediator support in Xen, allowing different domains
   to access resources;
 * Add SCMI-Agent permissions support to ARM-TF and the Xen SCMI Mediator;
 * Backport the pinctrl-scmi driver from master to the Raspberry PI 5 Linux
   kernel;
 * Configure the Linux kernel (in DomD) to use set resets and pinctrl;
 * Ddd WLAN support to DomD. This requires SCMI to share pinctrl access.

## Wiki
Link to the wiki pages:
[wiki](https://github.com/xen-troops/meta-xt-rpi5/wiki)

## Known Issues
1. Sometimes, RPi boot firmware files are not deployed during the build. In
this case, rpi-bootfiles, rpi-config and rpi-cmdline recipes should be cleaned
using the Yocto command:

```
cd yocto
. poky/oe-init-build-env build-domd
bitbake -c clean rpi-bootfiles -c clean rpi-config -c clean rpi-cmdline
cd ../..
ninja
```

## ChangeLog
| Release| Date      | Comments                                          |
|--------|-----------|---------------------------------------------------|
| v0.1.0 | 06/07/2024|                                                   |
| v0.1.1 | 06/20/2024| Stabilizing versions for the following components:|
|        |           |  - xen                                            |
|        |           |  - fatfs for zephyr-dom0-xt                       |
| v0.1.2 | 07/29/2024| fix incompatibility with new rpi5 fw              |
| v0.2.0 | 08/30/2024| - add nvme storage for DomD rootfs support        |
|        |           | - OP-TEE integration enhancements                 |
|        |           | - u-boot: fix initialization when several PCIe    |
|        |           |   devices enabled                                 |
|        |           | - add vchan utilities to the DomD                 |
|        |           | - XSM security labeld configuration               |
| v0.3.0 | 08/12/2025| - add CAN support to domd                         |
|        |           | - add WiFi support to domd                        |
|        |           | - fix console for rpi5 1.1 rev boards             |
|        |           | - reorganize the build                            |
| v0.3.1 | 08/13/2025| add release tag for meta-xt-common                |
| v0.4.0 | 01/03/2025| - add CAN support for both HATs                   |
|        |           | - add support for Docker image                    |
|        |           | - upgrade the DomD RPi Linux to the 6.12 version  |
|        |           | - add HDMI support                                |
|        |           | - add the parameter to enable early printk in Xen |
|        |           | - add missed target/rules in yaml                 |
|        |           | - improve and update README.md                    |

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