tillitis-key/doc/system_description/software.md

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.

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 EBR¹ 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 SPRAM² x 32 KB => 128 KB RAM for application/software

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.

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 100 KB. The lower 28 KB is set up as stack for the app. A smaller app that wants continuous memory may want to relocate itself when starting.

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_6ff0 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 0x4000_7000 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 0x4000_7000 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 0x4000_7000 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 (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	r3	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		Firmware stores app load address here, so app can read its own location
APP_SIZE	r/w	r	4B	u32		Firmware stores app app size here, so app can read its own size
CDI_FIRST	r/w	r	32B	u8[32]		Compound Device Identifier (CDI). UDS+measurement...
CDI_LAST		r				Last word of CDI

---

1. Embedded Block RAM (also BRAM) residing in the FPGA, can be configured as RAM or ROM. ↩︎

2. Single Port RAM (also SRAM). ↩︎

3. The UDS can only be read once per power-cycle. ↩︎