# Tillitis Key software ## Definitions * Firmware -- software that is part of ROM, and is currently supplied via the FPGA bit stream. * Application -- software supplied by the host machine, which is received, loaded, and measured by the firmware (by hashing a digest over the binary). Learn more about the concepts in the [system_description.md](system_description.md). ## CPU We use a PicoRV32, a 32-bit RISC-V system, as the CPU for running the firmware and the loaded app. All types are little-endian. ## Constraints The application FPGA is a Lattice ICE40 UP5K, with the following specifications: * 30 EBR[^1] x 4 Kbit => 120 Kbit. PicoRV32 uses ~4 EBRs internally => 13 KB for Firmware. We should probably aim for less; 8 KB should be the target. * 4 SPRAM[^2] x 32 KB => 128 KB RAM for application/software [^1]: Embedded Block RAM (also BRAM) residing in the FPGA, can be configured as RAM or ROM. [^2]: Single Port RAM (also SRAM). ## Introduction The Tillitis Key has two modes of operation; firmware/loader mode and application mode. The firmware mode has the responsibility of receiving, measuring, and loading the application. The firmware and application uses a memory mapped IO for SoC communication. This MMIO resides at `0xc000_0000`. *Nota bene*: Almost all access to MMIO should be word (32 bit) aligned. See table below. The application has a constrained variant of the firmware memory map, which is outlined below. E.g. UDS isn't readable, and the `APP_{ADDR, SIZE}` are not writable for the application. The software on the Tillitis Key communicates to the host via the `UART_{RX,TX}_{STATUS,DATA}` registers, using the framing protocol described in [Framing Protocol](../framing_protocol/framing_protocol.md). The firmware defines a protocol (command/response interface) on top of the framing layer, which is used to bootstrap the application onto the device. On the framing layer, it's required that each frame the device receives, a responding frame must be sent back to the host, in a ping-pong manner. Applications define a per-application protocol, which is the contract between the host and the device. ## Firmware The device has 128 KB RAM. The current firmware loads the app at the upper 64 KB. The lower 64 KB is currently set up as stack for the app. The firmware is part of FPGA bitstream (ROM), and is loaded at `0x0000_0000`. ### Reset The PicoRV32 starts executing at `0x0000_0000`. Our firmware starts at `_start` from `start.S` which initializes the `.data`, and `.bss` at `0x4000_0000` and upwards. A stack is also initialized, starting at 0x4000_fff0 and downwards. When the initialization is finished, the firmware waits for incoming commands from the host, by busy-polling the `UART_RX_{STATUS,DATA}` registers. When a complete command is read, the firmware executes the command. ### Loading an application The purpose of the firmware is to bootstrap an application. The host will send a raw binary targeted to be loaded at `0x4001_0000` in the device. 1. The host sends the User Supplied Secret (USS) by using the `FW_CMD_LOAD_USS` command and gets a `FW_RSP_LOAD_USS` back. 2. The host sends the size of the app by using the `FW_CMD_LOAD_APP_SIZE` command. 3. The firmware executes `FW_CMD_LOAD_APP_SIZE` command, which stores the application size into `APP_SIZE`, and sets `APP_ADDR` to zero. A `FW_RSP_LOAD_APP_SIZE` reponse is sent back to the host, with the status of the action (ok/fail). 4. If the the host receive a sucessful response, it will send multiple `FW_CMD_LOAD_APP_DATA` commands, together containing the full application. 5. For each received `FW_CMD_LOAD_APP_DATA` command the firmware places the data into `0x4001_0000` and upwards. The firmware replies with a `FW_RSP_LOAD_APP_DATA` response to the host for each received block. 6. When the final block of the application image is received, we measure the application by computing a BLAKE2s digest over the entire application, The Compound Device Identifier is computed by using the `UDS`, the measurement of the application, and the `USS`, and placed in the `CDI` register. Then `0x4001_0000` is written to `APP_ADDR`. The final `FW_RSP_LOAD_APP_DATA` response is sent to the host, completing the loading. NOTE: The firmware uses SPRAM for data and stack. We need to make sure that the application image does not overwrite the firmware's running state. The application should probably do a similar relocation for stack/data at reset, as the firmware does. Further; the firmware need to check application image is sane. The shared firmware data area (e.g. `.data` and the stack must be cleared prior launching the application. ### CDI computation The CDI is computed by: ``` CDI = blake2s(UDS, blake2s(app), USS) ``` In an ideal world, software would never be able to read UDS at all and we would have a BLAKE2s function in hardware that would be the only thing able to read the UDS. Unfortunately, we couldn't fit a BLAKE2s implementation in the FPGA at this time. The firmware instead does the CDI computation using the special firmware-only `FW_RAM` which is invisible after switching to app mode. The `blake2s()` function in the firmware is fed with a buffer in `FW_RAM` containing the UDS, the app digest, and the USS. It is also fed with a context used for computations that is also part of the `FW_RAM`. ### Loading the User Supplied Secret (USS) The host program may send `FW_CMD_LOAD_USS` and `FW_CMD_LOAD_APP_SIZE` in any order. But it *should* always send both `FW_CMD_LOAD_USS` and `FW_CMD_LOAD_APP_SIZE` before sending the multiple `FW_CMD_LOAD_APP_DATA`. If it does not, the USS will not be predictable because somebody could have send `FW_CMD_LOAD_USS` before, and the last `FW_CMD_LOAD_APP_DATA` (on whichever iteration) will cause the currently loaded USS to be used for calculating CDI. ### Starting an application Starting an application includes the "switch to application mode" step, which is done by writing to the `SWITCH_APP` register. The switch from firmware mode to application mode is a mode switch, and context switch. When entering application mode the MMIO region is restricted; e.g. some registers are removed (`UDS`), and some are switched from read/write to read-only. This is outlined in the memory map below. There is no other means of getting back from application mode to firmware mode than resetting/power cycling the device. Prerequisites: `APP_SIZE` and `APP_ADDR` has to be non-zero. Procedure: 1. The host sends `FW_CMD_RUN_APP` to the device. 2. The firmware responds with `FW_RSP_RUN_APP` 3. The firmware writes to `SWITCH_APP`, and executes assembler code that writes zeros to stack and data of the firmware, then jumps to what's in APP_ADDR. 4. The device is now in application mode and is executing the application. ### Protocol definition Available commands/reponses: #### `FW_{CMD,RSP}_LOAD_USS` #### `FW_{CMD,RSP}_LOAD_APP_SIZE` #### `FW_{CMD,RSP}_LOAD_APP_DATA` #### `FW_{CMD,RSP}_RUN_APP` #### `FW_{CMD,RSP}_NAME_VERSION` #### `FW_{CMD,RSP}_UDI` #### `FW_{CMD,RSP}_VERIFY_DEVICE` Verification that the device is an authentic Tillitis device. Implemented using challenge/response. #### `FW_{CMD,RSP}_GET_APP_DIGEST` This command returns the un-keyed hash digest for the application that was loaded. It allows the host to verify that the application was correctly loaded. This means that the CDI calculated will be correct given that the UDS has not been modified. #### Get the name and version of the device ``` host -> u8 CMD[1 + 1]; CMD[0].len = 1 // command frame format CMD[1] = 0x01 // FW_CMD_NAME_VERSION host <- u8 RSP[1 + 32] RSP[0].len = 32 // command frame format RSP[1] = 0x02 // FW_RSP_NAME_VERSION RSP[2..6] = NAME0 RSP[6..10] = NAME1 RSP[10..14] = VERSION RSP[14..] = 0 ``` #### Load an application ``` host -> u8 CMD[1 + 128]; CMD[0].len = 128 // command frame format CMD[1] = 0x0a // FW_CMD_LOAD_USS CMD[2..6] = User Supplied Secret CMD[6..] = 0 host <- u8 RSP[1 + 4]; RSP[0].len = 4 // command frame format RSP[1] = 0x0b // FW_RSP_LOAD_USS RSP[2] = STATUS RSP[3..] = 0 host -> u8 CMD[1 + 32]; CMD[0].len = 32 // command frame format CMD[1] = 0x03 // FW_CMD_LOAD_APP_SIZE CMD[2..6] = APP_SIZE CMD[6..] = 0 host <- u8 RSP[1 + 4]; RSP[0].len = 4 // command frame format RSP[1] = 0x04 // FW_RSP_LOAD_APP_SIZE RSP[2] = STATUS RSP[3..] = 0 repeat ceil(APP_SIZE / 127) times: host -> u8 CMD[1 + 128]; CMD[0].len = 128 // command frame format CMD[1] = 0x05 // FW_CMD_LOAD_APP_DATA CMD[2..] = APP_DATA (127 bytes of app data, pad with zeros) host <- u8 RSP[1 + 4] RSP[0].len = 4 // command frame format RSP[1] = 0x06 // FW_RSP_LOAD_APP_DATA RSP[2] = STATUS RSP[3..] = 0 ``` ### Memory map Assigned top level prefixes: | *name* | *prefix* | *address length* | |----------|----------|--------------------------------------| | ROM | 0b00 | 30 bit address | | RAM | 0b01 | 30 bit address | | reserved | 0b10 | | | MMIO | 0b11 | 6 bits for core select, 24 bits rest | Addressing: ``` 31st bit 0th bit v v 0000 0000 0000 0000 0000 0000 0000 0000 - Bits [31 .. 30] (2 bits): Top level prefix (described above) - Bits [29 .. 24] (6 bits): Core select. We want to support at least 16 cores - Bits [23 .. 0] (24 bits): Memory/in-core address. ``` The memory exposes SoC functionality to the software when in firmware mode. It is a set of memory mapped registers (MMIO), starting at base address `0xc000_0000`. For specific offsets/bitmasks, see the file [tk1_mem.h](../../hw/application_fpga/fw/tk1_mem.h) (in this repo). Assigned core prefixes: | *name* | *prefix* | |--------|----------| | ROM | 0x00 | | RAM | 0x40 | | TRNG | 0xc0 | | TIMER | 0xc1 | | UDS | 0xc2 | | UART | 0xc3 | | TOUCH | 0xc4 | | FW_RAM | 0xd0 | | TK1 | 0xff | *Nota bene*: MMIO accesses should be 32 bit wide, e.g use `lw` and `sw`. Exceptions are `FW_RAM` and `QEMU_DEBUG`. | *name* | *fw* | *app* | *size* | *type* | *content* | *description* | |-------------------|-------|-----------|--------|----------|-----------|------------------------------------------------------------------------| | `TRNG_STATUS` | r | r | | | | TRNG_STATUS_READY_BIT is 1 when an entropy word is available. | | `TRNG_ENTROPY` | r | r | 4B | u32 | | Entropy word. Reading a word will clear status. | | `TIMER_CTRL` | r/w | r/w | | | | If TIMER_STATUS_READY_BIT in TIMER_STATUS is 1, writing anything here | | | | | | | | starts the timer. If the same bit is 0 then writing stops the timer. | | `TIMER_STATUS` | r | r | | | | TIMER_STATUS_READY_BIT is 1 when timer is ready to start running. | | `TIMER_PRESCALER` | r/w | r/w | 4B | | | Prescaler init value. Write blocked when running. | | `TIMER_TIMER` | r/w | r/w | 4B | | | Timer init or current value while running. Write blocked when running. | | `UDS_FIRST` | r[^3] | invisible | 4B | u8[32] | | First word of Unique Device Secret key. | | `UDS_LAST` | | invisible | | | | The last word of the UDS | | `UART_BITRATE` | r/w | | | | | TBD | | `UART_DATABITS` | r/w | | | | | TBD | | `UART_STOPBITS` | r/w | | | | | TBD | | `UART_RX_STATUS` | r | r | 1B | u8 | | Non-zero when there is data to read | | `UART_RX_DATA` | r | r | 1B | u8 | | Data to read. Only LSB contains data | | `UART_TX_STATUS` | r | r | 1B | u8 | | Non-zero when it's OK to write data | | `UART_TX_DATA` | w | w | 1B | u8 | | Data to send. Only LSB contains data | | `TOUCH_STATUS` | r/w | r/w | | | | TOUCH_STATUS_EVENT_BIT is 1 when touched. After detecting a touch | | | | | | | | event (reading a 1), write anything here to acknowledge it. | | `FW_RAM` | r/w | invisible | 1 kiB | u8[1024] | | Firmware-only RAM. | | `UDA` | r | invisible | 16B | u8[16] | | Unique Device Authentication key. | | `UDI` | r | r | 8B | u64 | | Unique Device ID (UDI). | | `QEMU_DEBUG` | w | w | | u8 | | Debug console (only in QEMU) | | `NAME0` | r | r | 4B | char[4] | "tk1 " | ID of core/stick | | `NAME1` | r | r | 4B | char[4] | "mkdf" | ID of core/stick | | `VERSION` | r | r | 4B | u32 | 1 | Current version. | | `SWITCH_APP` | r/w | r | 1B | u8 | | Write anything here to trigger the switch to application mode. Reading | | | | | | | | returns 0 if device is in firmware mode, 0xffffffff if in app mode. | | `LED` | w | w | 1B | u8 | | | | `GPIO` | | | | | | | | `APP_ADDR` | r/w | r | 4B | u32 | | Application address (0x4000_0000) | | `APP_SIZE` | r/w | r | 4B | u32 | | Application size | | `CDI_FIRST` | r/w | r | 32B | u8[32] | | Compound Device Identifier (CDI). UDS+measurement... | | `CDI_LAST` | | r | | | | Last word of CDI | [^3]: The UDS can only be read *once* per power-cycle.