Scalys Grapeboard Bsp User Guide 180518

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Grapeboard BSP user guide

Description
This technical reference document serves as a guide on
how to build and use the BSP for the Scalys grapeboard.

www.scalys.com

Introduction
This document serves as a technical reference document on how to build the Board Support
Package (BSP) for the Scalys Grapeboard™. This document is meant to supplement the available
documentation already provided by NXP[1, 2].
The Grapeboard™ features a QorIQ LS1012A processor[3] that contains a single Arm Cortex-A53
core. NXP provides two flavours of BSP s for this specific processor. The first being the Yocto
based Linux Software Development Kit (SDK) for QorIQ processors and the second flavour is
the more recently introduced Layerscape Software Development Kit (LSDK). The QorIQ Linux
SDK is based upon the Yocto Project [4], whilst the LSDK is based on a more disaggregated
flex-building environment [5].
This document assumes the reader has a basic knowledge of platform software and deployment,
and it will not go into too much detail of the actions performed to build the BSPs. This document
currently only describes building the BSP through the LSDK method. Contact Scalys for more
information on the Yocto based SDK. Additionally, NXP intends to update the LSDK regularly,
however this document only focusses on a specific release version. Contact Scalys when updates
are desired.

Rev
1.0

Date
th

18
2018

Description
May,

First release

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Contents
List of Tables

Preparation
1.1 Install the dependencies using the package manager . . . . . . . . . . . . . . . . . .
1.1.1 LSDK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Git setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4
4
4
4

Building images
2.1 Building with LSDK . . . . . .
2.2 Standalone Linux kernel build .
2.3 Building U-boot . . . . . . . . .
2.4 Secure boot . . . . . . . . . . . .

5
5
7
8
9

.
.
.
.

Configuration necessary for a TFTP boot
10
3.1 TFTP server installation and configuration . . . . . . . . . . . . . . . . . . . . . . . 10
3.2 DHCP Server installation and configuration . . . . . . . . . . . . . . . . . . . . . . . 11

Grapeboard flash configuration
12
4.1 Primary flash partitioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.2 Rescue flash partitioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Installing and updating images
14
5.1 Flashing/updating the RFS on the SD card . . . . . . . . . . . . . . . . . . . . . . . 14
5.2 Updating partitions on the primary flash . . . . . . . . . . . . . . . . . . . . . . . . 14
5.3 Recovering from the rescue flash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Modifying the Reset Configuration Word

Frequently asked questions
7.1 What is the default login of the LSDK/QorIQ SDK? . . . . . . . . . . . . . . . . .
7.2 How to connect to the Grapeboard? . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.1 Serial port connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.2 SSH connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 The ethernet interfaces of the Packet Forwarding Engine (PFE) are not working?
7.4 Bluetooth can’t find any devices? . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17
17
17
17
17
17
18

.
.
.
.
.
.

A References

B List of Acronyms

List of Tables
4.1

Primary NOR flash Partitioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

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1
Preparation
This document assumes the system used to build the BSP is a newly installed OS.

1.1

Install the dependencies using the package manager

A list of additional packages used throughout this user guide are as follows:
curl
git
gawk
wget
tftpd
tftp
isc-dhcp-server
nfs-kernel-server
gcc-aarch64-linux-gnu
device-tree-compiler
libncurses5-dev
libncursesw5-dev
docker.io
You can install them through your package manager using the following command:
sudo apt-get install curl git gawk wget tftpd tftp isc-dhcp-server nfs-kernel-server \
gcc-aarch64-linux-gnu docker.io device-tree-compiler libncursesw5-dev libncurses5-dev

1.1.1

LSDK

The LSDK build has been verified to work on Kubuntu 16.04.

1.2

Git setup

# Setup username and email for git if not already done
git config --global user.name "Your Name"
git config --global user.email "user@example.com"

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2
Building images
2.1

Building with LSDK

The following stepwise guide primarily follows the steps given in the LSDK documentation.
More in-depth information regarding the LSDK flexbuild environment can be found in the NXP
manual[2] and the REAMDE.md file found in step 4 below. For compatibility reasons we will
choose to use an Ubuntu 16.04 Docker container in the flex-build environment, which allows for
the use of Linux distros other than Ubuntu 16.04 on the host machine.
In the this section we will build our LSDK Root File System (RFS) which includes the Linux
kernel and device tree. Note that only a subset of the default LSDK commands is supported for
the Grapeboard™.
1. First begin with creating a working directory in your home directory:
mkdir -p ~/grapeboard/ && cd ~/grapeboard/

2. Set-up Docker on the host machine. If not already installed, then do so from your package
manager. Add your user to the docker group.
sudo
sudo
sudo
sudo

addgroup --system docker
usermod -aG docker
gpasswd -a docker
service docker restart

Make sure you logout once to apply the changes to your user.
3. Manually download the flexbuild_lsdk1712.tgz tar-ball[6] from the NXP webpage:
Source: Layerscape Software Development Kit (rev 17.12)
flexbuild_lsdk1712.tgz
MD5 Signature
a3dd27757377c53bb1dca599cb3eaf21

44.3 KB

4. And set-up the flex-build environment and open the directory.
tar xvzf flexbuild_lsdk1712.tgz -C /home//grapeboard && cd flexbuild

5. Patch the flexbuild environment to support the Grapeboard™. Ensure you apply the latest
patch to the associated flexbuild version.
curl https://git.scalys.com/lsdk/lsdk-scalys-bsp/plain/grapeboard_support_lsdk-1712.patch |\
patch -p1

6. Enter the docker environment.
source setup.env
flex-builder docker
source setup.env

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7. Build generic RFS for arm64 with additional packages. Modify the ’additional_packages_list_full_grapeboard’ file to add/remove packages. It can be found in ’packages/apt-packages/’.
flex-builder -i mkrfs -a arm64 -m grapeboard -B additional_packages_list_full_grapeboard

8. Now we have to build the Linux kernel. With the following command we use the default
configuration:
flex-builder -c linux -a arm64 -m grapeboard

Alternatively, we can append the ’-B menuconfig’ argument to modify the default configuration or use ’-B fragment:"defconfig "’ to specify custom configuration
files.
9. Download the pre-compiled components tar ball for the ARM64 target[7]:
Source: LSDK (rev 17.12) prebuilt components for ARM64 target
components_arm64.tgz
MD5 Signature
e22f92f6311e7678bcf5f95b9c4b4c4f

135.0 MB

Provided you accept the license[7] you can also directly download it using the following
command:
wget http://www.nxp.com/lgfiles/sdk/lsdk1712/components_arm64.tgz

10. Insert the arm64 components and modules
tar xvzf components_arm64.tgz -C build/images
flex-builder -i merge-component -a arm64 -m grapeboard

11. Optionally we can compress the RFS
flex-builder -i compressrfs -a arm64 -m grapeboard

12. Leave the docker environment
exit

Now that we have a RFS prepared, we have the option to go directly to section 5.1 in order to
prepare the SD card for the Grapeboard™ or continue with the following sections to build and
modify U-boot and the Linux kernel.

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Standalone Linux kernel build

Modifying the Linux kernel to your requirements is recommended to do within the flexbuild.
Refer to the official NXP guide[2] to get more details on how to accomplish this. In this section
we will show how to build a Linux kernel in a stand-alone fashion.
Start by cloning the correct Linux kernel repository (with the appropriate branch) from the Scalys
website. For this example we take the kernel used in the LSDK with the Grapeboard™ patches,
so make sure you also use the associated RFS for it to work.
git clone http://git.scalys.com/lsdk/linux -b scalys-lsdk-1712 && cd linux/

Configure the kernel:
CROSS_COMPILE=aarch64-linux-gnu- ARCH=arm64 make defconfig lsdk.config grapeboard_wireless.config

Optionally, we can now configure and modify the kernel manually with:
CROSS_COMPILE=aarch64-linux-gnu- ARCH=arm64 make menuconfig

Build the kernel:
CROSS_COMPILE=aarch64-linux-gnu- ARCH=arm64 make -j 8

Convert the kernel image to a uImage format:
CROSS_COMPILE=aarch64-linux-gnu- ARCH=arm64 mkimage -A arm64 -O linux -T kernel -C gzip \
-a 0x80080000 -e 0x80080000 -n Linux -d arch/arm64/boot/Image.gz uImage

Install the generated files in the RFS , e.g. on the SD card:
sudo cp uImage /boot/uImage
sudo cp arch/arm64/boot/dts/freescale/grapeboard.dtb /boot/grapeboard.dtb
sudo CROSS_COMPILE=aarch64-linux-gnu- ARCH=arm64 make INSTALL_MOD_PATH= modules_install

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Building U-boot

Although the flexbuild build system does support the command to build a U-boot image, for the
Grapeboard™ it has been chosen to focus on building and customizing U-boot outside of the
flexbuild environment.
Download the Scalys U-boot repository:
git clone http://git.scalys.com/lsdk/u-boot -b scalys-lsdk-1803 && cd u-boot

We now can choose between two default options to configure U-boot.
• PCIe support on the M.2. connector:
ARCH=aarch64 CROSS_COMPILE=aarch64-linux-gnu- make grapeboard_pcie_qspi_defconfig

• SATA support on the M.2. connector:
ARCH=aarch64 CROSS_COMPILE=aarch64-linux-gnu- make grapeboard_sata_qspi_defconfig

Optionally, we can now configure U-boot with additional options. The Grapeboard™ specific
options may be found under "ARM architecture > Grapeboard configuration options > ...".
ARCH=aarch64 CROSS_COMPILE=aarch64-linux-gnu- make menuconfig

Build U-boot image:
ARCH=aarch64 CROSS_COMPILE=aarch64-linux-gnu- make -j 8

Unlike for the existing NXP LS1012A development boards, the Grapeboard™ U-boot and PreBoot Loader (PBL) binaries are combined together in order to reduce the total memory footprint.
This combined binary is automatically generated with the U-boot ’make’ command, which results
in a file named: ’u-boot-with-pbl.bin’. Through the ’make menuconfig’ U-boot compiler command
you have the option to select a different PBL binary file or skip it entirely.

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Secure boot

Contact Scalys for more information.

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3
Configuration necessary for a TFTP boot
These steps are optional and only necessary when the target is connected directly to the computer
used to build the BSP.

3.1

TFTP server installation and configuration

Install the TFTP server (if not already done):
sudo apt-get install xinetd tftpd tftp

Create/edit the "/etc/xinetd.d/tftp" file and add the following entry:
service tftp
{
protocol
port
socket_type
wait
user
server
server_args
disable
}

=
=
=
=
=
=
=
=

udp
69
dgram
yes
nobody
/usr/sbin/in.tftpd
/tftpboot
no

Create a folder to serve the TFTP data:
Warning: TFTP has no security so be aware this folder is NOT SECURE!
sudo
sudo
sudo
sudo

mkdir
chmod
chown
chmod

/tftpboot
-R 777 /tftpboot
-R nobody /tftpboot
g+s /tftpboot

Restart the xinetd service:
sudo /etc/init.d/xinetd restart

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Chapter 3. Configuration necessary for a TFTP boot

3.2

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DHCP Server installation and configuration

Install the DHCP server (if not already done):
sudo apt-get install isc-dhcp-server

edit the ’/etc/network/interfaces’ file, where ’eth1’ is the chosen interface to the board:
# Make sure the network ranges match your host system!
auto
allow-hotplug
iface inet static
address 192.168.1.1
netmask 255.255.255.0

and edit the ’/etc/dhcp/dhcpd.conf’ file:
default-lease-time 600;
max-lease-time 7200;
# Optionally, we can assign static addresses for the targets
host {
hardware ethernet 00:11:22:33:44:55;
fixed-address 192.168.1.180;
}
subnet 192.168.1.0 netmask 255.255.255.0 {
range 192.168.1.150 192.168.1.200;
option routers 192.168.1.254;
option domain-name-servers 192.168.1.1, 192.168.1.2;
}

Specify the interface in the ’/etc/default/isc-dhcp-server’ file:
INTERFACES=""

Restart the DHCP service.
sudo service isc-dhcp-server restart

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4
Grapeboard flash configuration
4.1

Primary flash partitioning

The primary NOR flash has been partitioned into the following functional parts:
u-boot
Partition containing the PBL (Reset Configuration Word (RCW) + Pre-Boot Instructions
(PBI)) and U-boot bootloader
env
Environment settings as used in U-boot
pfe
Primary firmware for the PFE under U-boot
ppa
Primary Protected Application (PPA) firmware.
u-boot_hdr
U-boot header for secure boot.
ppa_hdr
PPA header for secure boot.
UBI/rootfs
Remainder is available for user to place small a RFS. By default its prepared for UBIFS.
The partitioning may be modified to fit a specific application, as long as the requirement is met for
the PBL binary to start at address 0x0. Altering these partitions requires updates to the offset(s)
defined within the PBI and/or U-boot.
Table 4.1: Primary NOR flash Partitioning
No.

Name

Size

Offset

0
1
2
3
4
5
6

u-boot
env
pfe
ppa
u-boot_hdr
ppa_hdr
UBI

0x00200000
0x00040000
0x00040000
0x00100000
0x00040000
0x00040000
0x03c00000

0x00000000
0x00200000
0x00240000
0x00280000
0x00380000
0x003c0000
0x00400000

mtdparts: mtdparts=1550000.quadspi:2M@0x0(u-boot),256k(env),256k(pfe),1M(ppa),256k(u-boot_hdr),256k(
ppa_hdr),-(UBI)

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4.2

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Rescue flash partitioning

The rescue flash is read-only by default and contains a U-boot binary to recover the Grapeboard’s™ primary flash. It also holds unique board configuration data, such as MAC addresses
and manufacturing data. Contact Scalys for more information regarding the rescue flash memory.

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5
Installing and updating images
5.1

Flashing/updating the RFS on the SD card

By default the Grapeboard™ will attempt to boot the Linux kernel from an SD card. Without
modification it requires the first partition to be formatted into a ext4 filesystem. You can accomplish this with, for instance, the fdisk+mkfs.ext4 command line tools or the gparted tool.
Mount the SD card and go to your flexbuild folder and enter the following commands:
cd build/images/ubuntu_xenial_arm64_rootfs.d/
sudo rsync -avxHAWX --progress ./
#This will take several minutes depending on your system and sdcard.
sync

Wait for complete synchronisation before unmounting the SD card. Alternatively, if we have a
compressed RFS image we can also simply extract the file onto the empty prepared SD card.

5.2

Updating partitions on the primary flash

The default U-boot image on the Grapeboard™ has a set of environment variables to update the
partition data in the primary flash memory from external sources. The default supported sources
are:
tftp
Refer to section 3.1 to setup the TFTP server.
mmc
By default the variables expect the first partition on the SD card to be formatted with an
ext4 filesystem.
usb
By default the variables expect the first partition on the USB memory stick to be formatted
with a fat32 filesystem.
If the updated files are put in a subdirectory on the source then you have to ensure that the
’update_files_path’ U-boot environment variable is matched correctly. By default this variable is set
to ’.’. It can be modified using the ’editenv’ command in U-boot.
Updating the u-boot target partition requires the file named ’u-boot-with-pbl.bin’ to be available on
the chosen file source. Similarly, the ppa target partition requires the file named ’ppa.itb’, and the
pfe target partition requires the file named ’pfe_fw_sbl.itb’[8].
Each of these variables can be executed using the following command:
run update___qspi_nor

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These variables can be modified to change the partition index or filesystem type using the U-boot
editenv command.

5.3

Recovering from the rescue flash

The primary flash memory data may become corrupted during usage. The Grapeboard™ therefore includes a back-up U-boot image on a read-only rescue flash memory, that may be used to
write correct data onto the primary flash memory. To boot from this rescue flash the following
two steps should be performed:
1. Connect the Grapeboard™ to your host PC and open the terminal application.
2. Press and hold switch ’S2’ on the Grapeboard™.
3. Power-up (or reset with switch ’S1’) the Grapeboard™.
4. Release switch ’S2’ once U-boot prints the message: ’Please release the rescue mode button (S2)
to enter the recovery mode’
After performing these steps the user should be able to program the primary flash memory using
the commands described in the previous section 5.2.

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6
Modifying the Reset Configuration Word
The LS1012A processor requires a valid Reset Configuration Word RCW in order to be successfully
initialized at boot time. The current revisions of the processor merely support reading the RCW
from two sources, namely an external QSPI flash device and an internal hardcoded source. The
Grapeboard™ by default selects the QSPI device as the RCW source. Refer to XXXXXXXX to
learn how to use the hardcoded source.
The RCW is a set of 64 bytes, which define how the LS1012A and its interfaces are configured.
The PBL reads these 64 bytes along with any appended Pre-Boot Instructions PBI from the chosen
source.
The Grapeboard™ by default comes with an RCW configuration with the following main features:
• SATA configuration on the M.2. port.
• I2C and DSPI configured on the 26-pins header.
When the two default RCW options are not sufficient we can modify it using the following steps.
1. Download and install CodeWarrior Development Studio for QorIQ LS series - ARM V8 ISA
(modifying the PBL binary using the included PBL configuration tool does not require a
paid license).
2. Create a QCVS project for the LS1012A1 with a default PBL component and make sure to
set its RCW source to ’Quad SPI(QSPI)’ in the properties tab.
3. Import one of the existing PBL binaries from the u-boot repository, namely: ’grapeboard/uboot/board/scalys/grapeboard/PBL_0x##_0x0#_800_250_1000.bin’.
4. Modify any desired settings (at your own risk!).
5. Generate the new file.
6. Copy the generated ’PBL_swapped_CRC_not_swapped.bin’ file to u-boot.
7. Overwrite the old binary or use the u-boot ’make menuconfig’ command to select your
custom file.
8. Refer to section 2.3 in order to build a new U-boot binary with the updated PBL file.

1 At the time of writing, an LS1012A rev. 2 project had to be used because the PBL tool for a rev. 1.0 project forces bit
188 of the RCW to 0, which should actually be forced to 1 in order to boot the LS1012A rev.1 successfully. Make sure you
don’t modify any bits that aren’t officially supported by your LS1012A revision!

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7
Frequently asked questions
7.1

What is the default login of the LSDK/QorIQ SDK?

For the LSDK built RFS the default login is root with the password root. For the QorIQ SDK RFS
the default login is simply root. It is recommended to change the password after your initial login!

7.2
7.2.1

How to connect to the Grapeboard?
Serial port connection

Connect the Grapeboard™ to your host PC with the micro usb port. Verify that a serial device has been successfully added. Note that for Windows 10 based hosts you have to manually install the drivers from: https://www.silabs.com/products/development-tools/software/
usb-to-uart-bridge-vcp-drivers. Using your favourite terminal program, e.g. PuTTY for Windows
or Minicom/Kermit for Linux, you have to open the connection with the serial device with the
following settings: 115200 8N1 with no flow control.

7.2.2

SSH connection

There are several ways to achieve this, but for simplicity we will chose a setup without a DHCP
server in the network. Note that by default this connection does not allow access to the U-boot
bootloader.
Using the serial connection described subsection 7.2.1 you should configure the ethernet
interface on your Grapeboard™ with a static IP in the address range of your dedicated network
port on your host PC. To do this we can add the following lines in the ’/etc/network/interfaces’ file:
auto eth0
allow-hotplug eth0
iface eth0 inet static
address 192.168.1.100
netmask 255.255.255.0

Now configure the network interfaces of your host PC with the 192.168.1.0 address and connect
it directly to the Grapeboard™. Verify that it works by pinging the Grapeboard’s™ address. Note
that it may takes several seconds for the Grapeboard™ to boot completely before the SSH service
become available. Once successfully connected we can open the SSH connection using PuTTY
(under Windows) or the SSH command under Linux with the chosen Grapeboard’s™ address.

7.3

The ethernet interfaces of the PFE are not working?

The PFE on the LS1012A processor requires firmware to operate. For U-boot it requires the ’pfe_fw_sbl.itb’ image (see section 5.2 on how to program it) and under Linux the ’ppfe_class_ls1012a.elf ’
and ’ppfe_tmu_ls1012a.elf ’ files in the ’/lib/firmware/’ directory. These files can be retrieved from
the LSDK github page[6]. Note that it is required to execute the command ’pfe stop’ in U-boot

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before booting a Linux kernel. This has already been included for the default boot command(s)
of the Grapeboard™.

7.4

Bluetooth can’t find any devices?

The default bluetooth kernel driver doesn’t initialize the RF-component of the WiFi/BT module
properly. You first need to initialize it through the WiFi interface, e.g.:
ifconfig up

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A
References
[1] SDK QorIQ online manual. [Online]. Available: http://cache.nxp.com/files/infocenter/QORIQSDK_
INFOCTR.html
[2] LSDK online manual. [Online]. Available: https://freescale.sdlproducts.com/LiveContent/web/pub.
xql?c=t&action=home&pub=QorIQ_LSDK&lang=en-US
[3] QorIQ© Layerscape 1012A Low Power Communication Processor. [Online]. Available:
https:
//www.nxp.com/products/processors-and-microcontrollers/arm-based-processors-and-mcus/
qoriq-layerscape-arm-processors/qoriq-layerscape-1012a-low-power-communication-processor:
LS1012A
[4] Yocto project. [Online]. Available: https://www.yoctoproject.org/
[5] NXP supporting information on LSDK in comparison to QorIQ Linux SDK, 2018. [Online]. Available:
https://www.nxp.com/docs/en/supporting-information/DN-LSDK-Introduction.pdf
[6] Layerscape Software Development Kit download link (requires registration. [Online]. Available: https://www.
nxp.com/support/developer-resources/run-time-software/linux-software-and-development-tools/
layerscape-software-development-kit:LAYERSCAPE-SDK?tab=Design_Tools_Tab
[7] Layerscape Software Development Kit github component page. [Online]. Available: https://lsdk.github.io/
components.html
[8] Layerscape Software Development Kit github page. [Online]. Available: https://lsdk.github.io/

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B
List of Acronyms
BSP

Board Support Package

LSDK Layerscape Software Development Kit
PBI

RCW Reset Configuration Word
SDK

Software Development Kit

PFE

Packet Forwarding Engine

PPA

Primary Protected Application

Pre-Boot Instructions

PBL

Pre-Boot Loader

RFS

Root File System

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