Merge pull request #245 from balena-os/jetson_select_ab_slots_on_update

jetson: Update next active slots on HUP

layers/meta-balena-jetson/recipes-bsp/tegra-binaries/tegra194-flash-dry_32.6.1.bb

@@ -5,6 +5,8 @@ LIC_FILES_CHKSUM = "file://${BALENA_COREBASE}/COPYING.Apache-2.0;md5=89aea4e17d9
 
 IMAGE_ROOTFS_ALIGNMENT ?= "4"
 
+BOOT_BINDIFF="boot0_t194_agx.bindiff"
+
 DEPENDS = " \
     coreutils-native \
     virtual/bootloader \
@@ -22,6 +24,7 @@ SRC_URI = " \
     file://resinOS-flash194.xml \
     file://partition_specification194.txt \
     file://cti-rogue-32-4-3-pinmux.cfg \
+    file://${BOOT_BINDIFF} \
 "
 
 PINMUXCFG = "tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg"
@@ -44,7 +47,7 @@ LNXFILE="${KERNEL_IMAGETYPE}${KERNEL_INITRAMFS}-${MACHINE}.bin"
 IMAGE_TEGRAFLASH_KERNEL ?= "${DEPLOY_DIR_IMAGE}/${LNXFILE}"
 BINARY_INSTALL_PATH = "/opt/tegra-binaries"
 
-OS_KERNEL_CMDLINE = "${@bb.utils.contains('DEVELOPMENT_IMAGE','1','console=ttyTHS0,115200n8 console=tty1 debug loglevel=7','console=null quiet splash vt.global_cursor_default=0 consoleblank=0',d)}"
+OS_KERNEL_CMDLINE = "${@bb.utils.contains('DISTRO_FEATURES','osdev-image','console=ttyTHS0,115200n8 console=tty1 ','console=null quiet splash vt.global_cursor_default=0 consoleblank=0',d)}"
 ROOTA_ARGS="root=LABEL=resin-rootA ro rootwait rootfstype=ext4 ${KERNEL_ARGS} ${OS_KERNEL_CMDLINE}"
 ROOTB_ARGS="root=LABEL=resin-rootB ro rootwait rootfstype=ext4 ${KERNEL_ARGS} ${OS_KERNEL_CMDLINE}"
 
@@ -253,6 +256,24 @@ do_configure() {
     dd if=${DEPLOY_DIR_IMAGE}/bootfiles/mem_coldboot_sigheader.bct.encrypt of=boot0.img seek=720896 bs=1 conv=notrunc
     dd if=${DEPLOY_DIR_IMAGE}/bootfiles/mem_coldboot_sigheader.bct.encrypt of=boot0.img seek=925696 bs=1 conv=notrunc
 
+    # Although the device will boot fine, rtcpu may not run as expected unless
+    # we patch the boot blob to resemble entirely the one created during provisioning by the flashing tools.
+    # Example dmesg logs of this failure:
+    # tegra-hsp-mailbox ivc-bc00000.rtcpu: IOVM setup error: 110
+    # tegra186-cam-rtcpu bc00000.rtcpu: command: 0x00000000: empty mailbox timeout
+    dd if=${WORKDIR}/${BOOT_BINDIFF} of=boot0.img seek=557072 bs=1 count=32 conv=notrunc
+    dd if=${WORKDIR}/${BOOT_BINDIFF} of=boot0.img seek=560096 skip=32  bs=1 count=32 conv=notrunc
+    dd if=${WORKDIR}/${BOOT_BINDIFF} of=boot0.img seek=561168 skip=64  bs=1 count=32 conv=notrunc
+    dd if=${WORKDIR}/${BOOT_BINDIFF} of=boot0.img seek=562176 skip=96  bs=1 count=320 conv=notrunc
+    dd if=${WORKDIR}/${BOOT_BINDIFF} of=boot0.img seek=563536 skip=416  bs=1 count=320 conv=notrunc
+    dd if=${WORKDIR}/${BOOT_BINDIFF} of=boot0.img seek=587152 skip=736  bs=1 count=32 conv=notrunc
+    dd if=${WORKDIR}/${BOOT_BINDIFF} of=boot0.img seek=638992 skip=768  bs=1 count=32 conv=notrunc
+    dd if=${WORKDIR}/${BOOT_BINDIFF} of=boot0.img seek=642016 skip=800  bs=1 count=32 conv=notrunc
+    dd if=${WORKDIR}/${BOOT_BINDIFF} of=boot0.img seek=643088 skip=832  bs=1 count=32 conv=notrunc
+    dd if=${WORKDIR}/${BOOT_BINDIFF} of=boot0.img seek=644096 skip=864  bs=1 count=320 conv=notrunc
+    dd if=${WORKDIR}/${BOOT_BINDIFF} of=boot0.img seek=645456 skip=1184  bs=1 count=320 conv=notrunc
+    dd if=${WORKDIR}/${BOOT_BINDIFF} of=boot0.img seek=669072 skip=1504  bs=1 count=32 conv=notrunc
+
     cp boot0.img ${DEPLOY_DIR_IMAGE}/bootfiles/
 }
 

layers/meta-balena-jetson/recipes-bsp/tegra-binaries/tegra194-nxde-flash-dry_32.6.1.bb

@@ -44,7 +44,7 @@ LNXFILE="${KERNEL_IMAGETYPE}${KERNEL_INITRAMFS}-${MACHINE}.bin"
 IMAGE_TEGRAFLASH_KERNEL ?= "${DEPLOY_DIR_IMAGE}/${LNXFILE}"
 BINARY_INSTALL_PATH = "/opt/tegra-binaries"
 
-OS_KERNEL_CMDLINE = "${@bb.utils.contains('DEVELOPMENT_IMAGE','1','console=ttyTHS0,115200n8 console=tty1 debug loglevel=7','console=null quiet splash vt.global_cursor_default=0 consoleblank=0',d)}"
+OS_KERNEL_CMDLINE = "${@bb.utils.contains('DISTRO_FEATURES','osdev-image','console=ttyTHS0,115200n8 console=tty1 debug loglevel=7','console=null quiet splash vt.global_cursor_default=0 consoleblank=0',d)}"
 ROOTA_ARGS="root=LABEL=resin-rootA ro rootwait rootfstype=ext4 ${KERNEL_ARGS} ${OS_KERNEL_CMDLINE}"
 ROOTB_ARGS="root=LABEL=resin-rootB ro rootwait rootfstype=ext4 ${KERNEL_ARGS} ${OS_KERNEL_CMDLINE}"
 
@@ -139,6 +139,7 @@ signfile() {
      --scr_cold_boot_config tegra194-mb1-bct-scr-cbb-mini-p3668.cfg \
      --br_cmd_config tegra194-mb1-bct-reset-p3668-0001-a00.cfg \
      --dev_params tegra194-br-bct-qspi.cfg \
+     --trim_bpmp_dtb \
      --bin "${bins}"
 }
 
@@ -370,6 +371,12 @@ do_configure() {
     dd if=${BOOT_BINDIFF} of=boot0.img seek=15101952 skip=18224 bs=1 count=128 conv=notrunc
     dd if=${BOOT_BINDIFF} of=boot0.img seek=15405568 skip=18352 bs=1 count=48 conv=notrunc
     dd if=${BOOT_BINDIFF} of=boot0.img seek=15560704 skip=18400 bs=1 count=128 conv=notrunc
+
+    # Added starting with 32.6.1
+    dd if=${BOOT_BINDIFF} of=boot0.img seek=31067056 skip=18528 bs=1 count=16 conv=notrunc
+    dd if=${BOOT_BINDIFF} of=boot0.img seek=31067104 skip=18544 bs=1 count=32 conv=notrunc
+    dd if=${BOOT_BINDIFF} of=boot0.img seek=31068160 skip=18576 bs=1 count=64 conv=notrunc
+
 }
 
 do_install() {

layers/meta-balena-jetson/recipes-bsp/tegra-binaries/tegra194-nxde-sdcard-flash_32.6.1.bb

@@ -43,7 +43,7 @@ LNXFILE="${KERNEL_IMAGETYPE}${KERNEL_INITRAMFS}-${MACHINE}.bin"
 IMAGE_TEGRAFLASH_KERNEL ?= "${DEPLOY_DIR_IMAGE}/${LNXFILE}"
 BINARY_INSTALL_PATH = "/opt/tegra-binaries"
 
-OS_KERNEL_CMDLINE = "${@bb.utils.contains('DEVELOPMENT_IMAGE','1','console=ttyTHS0,115200n8 console=tty1 debug loglevel=7','console=null quiet splash vt.global_cursor_default=0 consoleblank=0',d)}"
+OS_KERNEL_CMDLINE = "${@bb.utils.contains('DISTRO_FEATURES','osdev-image','console=ttyTHS0,115200n8 console=tty1 debug loglevel=7','console=null quiet splash vt.global_cursor_default=0 consoleblank=0',d)}"
 ROOTA_ARGS="root=LABEL=resin-rootA ro rootwait rootfstype=ext4 ${KERNEL_ARGS} ${OS_KERNEL_CMDLINE}"
 ROOTB_ARGS="root=LABEL=resin-rootB ro rootwait rootfstype=ext4 ${KERNEL_ARGS} ${OS_KERNEL_CMDLINE}"
 
@@ -140,6 +140,7 @@ signfile() {
         --scr_cold_boot_config tegra194-mb1-bct-scr-cbb-mini-p3668.cfg \
         --br_cmd_config tegra194-mb1-bct-reset-p3668-0001-a00.cfg \
         --dev_params tegra194-br-bct-qspi.cfg \
+        --trim_bpmp_dtb \
         --bin "${bins}"
 }
 
@@ -176,7 +177,7 @@ do_configure() {
     done
 
     for f in ${STAGING_DATADIR}/tegraflash/tegra194-*-bpmp-*.dtb; do
-        ln -s $f .
+        cp $f .
         cp $f ${DEPLOY_DIR_IMAGE}/bootfiles/
     done
 
@@ -221,7 +222,6 @@ do_configure() {
     # Make bootable image from kernel and sign it
     cp ${DEPLOY_DIR_IMAGE}/${LNXFILE} ${LNXFILE}
     ln -sf ${STAGING_BINDIR_NATIVE}/tegra186-flash/mkbootimg ./
-
     # mkbootimg really needs initrd, even if empty
     touch initrd
     ./mkbootimg --kernel ${LNXFILE} --ramdisk initrd --board mmcblk0p1 --output boot.img
@@ -335,7 +335,7 @@ do_configure() {
     #dd if=${DEPLOY_DIR_IMAGE}/bootfiles/cbo.dtb seek=33161216 bs=1 conv=notrunc
     #dd if=${DEPLOY_DIR_IMAGE}/bootfiles/cbo.dtb seek=33226752 bs=1 conv=notrunc
 
-    # For 32.5.1 /opt/tegra-binaries/boot0.img MD5 should have the same MD5
+    # For 32.6.1 /opt/tegra-binaries/boot0.img MD5 should have the same MD5
     # even if building images for compatible carrier boards. If it isn't identical,
     # then board won't boot after HUP.
     cp ${WORKDIR}/${BOOT_BINDIFF} .
@@ -367,6 +367,11 @@ do_configure() {
     dd if=${BOOT_BINDIFF} of=boot0.img seek=15101952 skip=18224 bs=1 count=128 conv=notrunc
     dd if=${BOOT_BINDIFF} of=boot0.img seek=15405568 skip=18352 bs=1 count=48 conv=notrunc
     dd if=${BOOT_BINDIFF} of=boot0.img seek=15560704 skip=18400 bs=1 count=128 conv=notrunc
+
+    # Needed on 32.6.1
+    dd if=${BOOT_BINDIFF} of=boot0.img seek=31067056 skip=18528 bs=1 count=16 conv=notrunc
+    dd if=${BOOT_BINDIFF} of=boot0.img seek=31067104 skip=18544 bs=1 count=32 conv=notrunc
+    dd if=${BOOT_BINDIFF} of=boot0.img seek=31068160 skip=18576 bs=1 count=64 conv=notrunc
 }
 
 do_install() {

layers/meta-balena-jetson/recipes-bsp/tools/files/mark-active-slot.service

@@ -0,0 +1,9 @@
+[Unit]
+Description=Mark boot slot as successful once the system is up
+
+[Service]
+Type=oneshot
+ExecStart=/bin/sh -c /usr/bin/mark_active_tegra_boot_slot.sh
+
+[Install]
+WantedBy=multi-user.target

layers/meta-balena-jetson/recipes-bsp/tools/files/mark_active_tegra_boot_slot.sh

@@ -0,0 +1,21 @@
+#!/bin/sh
+
+# Ensure reduntant boot is enabled
+if /usr/bin/tegra-boot-control -e ; then
+    echo "Tegra redundant boot: enabled successfully"
+else
+    echo "Tegra redundant boot: failed to enable!"
+fi;
+
+# If the boot process was
+# able to start the rollback service, we can
+# mark the current boot as successful
+# Othrwise if not marked, the old kernel
+# and dtb slots will be used after 3 attempts
+# as per https://forums.developer.nvidia.com/t/failed-bootloader-watchdog-recovery/154380/5
+if /usr/bin/tegra-boot-control -m ; then
+    echo "Tegra redundant boot: marked successful boot"
+else
+    echo "Tegra redundant boot: failed to record successful boot"
+fi
+

layers/meta-balena-jetson/recipes-bsp/tools/tegra-boot-tools_%.bbappend

@@ -0,0 +1,33 @@
+FILESEXTRAPATHS:prepend := "${THISDIR}/files:"
+
+# libuuid was split from the main
+# util-linux later, after Dunfell
+DEPENDS:remove = "util-linux-libuuid"
+DEPENDS:append = " util-linux"
+
+SRC_URI += " \
+	file://mark_active_tegra_boot_slot.sh \
+	file://mark-active-slot.service \
+"
+
+# Once redundant boot is enabled, each boot
+# needs to be marked as successful once
+# the system is up to prevent the tegra
+# bootloaders from decrementing boot count
+# and reverting to the previous slot. If
+# redundant boot is disabled, default slot _a
+# is used.
+SYSTEMD_PACKAGES += " ${PN}"
+SYSTEMD_SERVICE:${PN} += " mark-active-slot.service"
+
+# Upon rollback to a release that does not have
+# this feature implemented, the _a slots will
+# be used by default, without chaning behavior.
+do_install:append() {
+    install -m 0755 ${WORKDIR}/mark_active_tegra_boot_slot.sh ${D}${bindir}/
+    install -m 0644 ${WORKDIR}/mark-active-slot.service ${D}${systemd_unitdir}/system/
+}
+
+FILES:${PN} += " \
+    /lib/systemd/system/mark-active-slot.service \
+"

layers/meta-balena-jetson/recipes-core/images/balena-image.inc

@@ -120,6 +120,7 @@ IMAGE_INSTALL:append:jetson-xavier = " \
     tegra-nvpmodel \
     tegra-configs-nvstartup \
     tegra-configs-udev \
+    tegra-boot-tools \
 "
 
 IMAGE_INSTALL:append:jetson-xavier-nx-devkit-emmc = " \
@@ -130,6 +131,7 @@ IMAGE_INSTALL:append:jetson-xavier-nx-devkit-emmc = " \
     tegra-configs-nvstartup \
     tegra-configs-udev \
     mtd-utils \
+    tegra-boot-tools \
 "
 
 IMAGE_INSTALL:append:jetson-xavier-nx-devkit = " \
@@ -145,6 +147,7 @@ IMAGE_INSTALL:append:jetson-xavier-nx-devkit = " \
     tegra-wifi \
     tegra-firmware-rtl8822 \
     tegra-udrm-probeconf \
+    tegra-boot-tools \
 "
 
 IMAGE_INSTALL:append:jetson-tx2 = " \