README
¶
TamaGo - bare metal Go for ARM/RISC-V SoCs
tamago | https://github.com/usbarmory/tamago
Copyright (c) WithSecure Corporation
https://foundry.withsecure.com
Introduction
TamaGo is a framework that enables compilation and execution of unencumbered Go applications on bare metal ARM/RISC-V System-on-Chip (SoC) components.
The projects spawns from the desire of reducing the attack surface of embedded systems firmware by removing any runtime dependency on C code and Operating Systems.
The TamaGo framework consists of the following components:
-
A modified Go distribution which extends
GOOSsupport to thetamagotarget, allowing bare metal execution. -
Go packages for SoC driver support.
-
Go packages for board support.
The modifications are meant to be minimal for both the Go distribution (< ~4000 LOC changed) and the target application (one import required), with a clean separation from other architectures.
Strong emphasis is placed on code re-use from existing architectures already included within the standard Go runtime, see Internals.
Both aspects are motivated by the desire of providing a framework that allows secure Go firmware development on embedded systems.
Current release level
The current release for the TamaGo modified Go distribution is
tamago1.22.3,
which adds
GOOS=tamago support to go1.22.3.
Binary releases for amd64 and armv7l Linux hosts are available.
Documentation
The main documentation can be found on the project wiki.
The package API documentation can be found on pkg.go.dev.
Supported ARM hardware
The following table summarizes currently supported ARM SoCs and boards
(GOOS=tamago GOARCH=arm).
| SoC | Board | SoC package | Board package |
|---|---|---|---|
| NXP i.MX6ULZ/i.MX6UL | USB armory Mk II | imx6ul | usbarmory/mk2 |
| NXP i.MX6ULL/i.MX6UL | USB armory Mk II LAN | imx6ul | usbarmory/mk2 |
| NXP i.MX6ULL/i.MX6ULZ | MCIMX6ULL-EVK | imx6ul | mx6ullevk |
| Broadcom BCM2835 | Raspberry Pi Zero | bcm2835 | pi/pizero |
| Broadcom BCM2835 | Raspberry Pi 1 Model A+ | bcm2835 | pi/pi1 |
| Broadcom BCM2835 | Raspberry Pi 1 Model B+ | bcm2835 | pi/pi1 |
| Broadcom BCM2836 | Raspberry Pi 2 Model B | bcm2835 | pi/pi2 |
Supported RISC-V hardware
The following table summarizes currently supported RISC-V SoCs and boards
(GOOS=tamago GOARCH=riscv64).
| SoC | Board | SoC package | Board package |
|---|---|---|---|
| SiFive FU540 | QEMU sifive_u | fu540 | qemu/sifive_u |
Compiling
Go applications are simply required to import, the relevant board package to ensure that hardware initialization and runtime support takes place:
import (
// Example for USB armory Mk II
_ "github.com/usbarmory/tamago/board/usbarmory/mk2"
)
Build the TamaGo compiler (or use the latest binary release):
wget https://github.com/usbarmory/tamago-go/archive/refs/tags/latest.zip
unzip latest.zip
cd tamago-go-latest/src && ./all.bash
cd ../bin && export TAMAGO=`pwd`/go
Go applications can be compiled with the compiler built in the previous step, with the addition of a few flags/variables:
# Example for USB armory Mk II
GO_EXTLINK_ENABLED=0 CGO_ENABLED=0 GOOS=tamago GOARM=7 GOARCH=arm \
${TAMAGO} build -ldflags "-T 0x80010000 -E _rt0_arm_tamago -R 0x1000"
# Example for QEMU RISC-V sifive_u
GO_EXTLINK_ENABLED=0 CGO_ENABLED=0 GOOS=tamago GOARCH=riscv64 \
${TAMAGO} build -ldflags "-T 0x80010000 -E _rt0_riscv64_tamago -R 0x1000"
See the respective board package README file for compilation information for each specific target.
Executing and debugging
See the respective board package README file for execution and debugging information for each specific target (real or emulated).
The example application provides sample driver usage and instructions for native as well as emulated execution.
An emulated run of the example application can be launched as follows:
git clone https://github.com/usbarmory/tamago-example
cd tamago-example && make qemu
Applications using TamaGo
- GoKey - the bare metal Go smartcard
- GoTEE - Go Trusted Execution Environment
- armory-drive - USB encrypted drive
- armory-ums - USB Mass Storage firmware
- armory-boot - primary bootloader
- tamago-example - TamaGo example application
External drivers using TamaGo
- imx-usbserial - i.MX Serial over USB driver
- imx-usbnet - i.MX Ethernet over USB driver
- imx-enet - i.MX Ethernet driver
Additional resources
Maintainers
Andrea Barisani
andrea.barisani@withsecure.com | andrea@inversepath.com
Andrej Rosano
andrej.rosano@withsecure.com | andrej@inversepath.com
License
tamago | https://github.com/usbarmory/tamago
Copyright (c) WithSecure Corporation
This project is distributed under the BSD-style license found in the LICENSE file.
The TamaGo logo is adapted from the Go gopher designed by Renee French and licensed under the Creative Commons 3.0 Attributions license. Go Gopher vector illustration by Hugo Arganda.
Directories
¶
| Path | Synopsis |
|---|---|
|
Package arm provides support for ARM architecture specific operations.
|
Package arm provides support for ARM architecture specific operations. |
|
gic
Package gic implements a driver for the ARM Generic Interrupt Controller.
|
Package gic implements a driver for the ARM Generic Interrupt Controller. |
|
tzc380
Package tzc380 implements a driver for the ARM TrustZone Address Space Controller TZC-380.
|
Package tzc380 implements a driver for the ARM TrustZone Address Space Controller TZC-380. |
|
Package bits provides primitives for bitwise operations on 32/64 bit registers.
|
Package bits provides primitives for bitwise operations on 32/64 bit registers. |
|
board
|
|
|
nxp/mx6ullevk
Package mx6ullevk provides hardware initialization, automatically on import, for the NXP MCIMX6ULL-EVK evaluation board.
|
Package mx6ullevk provides hardware initialization, automatically on import, for the NXP MCIMX6ULL-EVK evaluation board. |
|
qemu/sifive_u
Package sifive_u provides hardware initialization, automatically on import, for the QEMU sifive_u machine configured (see the `dts` file in this directory) with a single U54 core.
|
Package sifive_u provides hardware initialization, automatically on import, for the QEMU sifive_u machine configured (see the `dts` file in this directory) with a single U54 core. |
|
raspberrypi
Package pi provides basic abstraction for support of different models of Raspberry Pi single board computers.
|
Package pi provides basic abstraction for support of different models of Raspberry Pi single board computers. |
|
raspberrypi/pi1
Package pi1 provides hardware initialization, automatically on import, for the Raspberry Pi 1 single board computer.
|
Package pi1 provides hardware initialization, automatically on import, for the Raspberry Pi 1 single board computer. |
|
raspberrypi/pi2
Package pi2 provides hardware initialization, automatically on import, for the Raspberry Pi 2 single board computer.
|
Package pi2 provides hardware initialization, automatically on import, for the Raspberry Pi 2 single board computer. |
|
raspberrypi/pizero
Package pizero provides hardware initialization, automatically on import, for the Raspberry Pi Zero single board computer.
|
Package pizero provides hardware initialization, automatically on import, for the Raspberry Pi Zero single board computer. |
|
usbarmory/mk2
Package mk2 provides hardware initialization, automatically on import, for the USB armory Mk II single board computer.
|
Package mk2 provides hardware initialization, automatically on import, for the USB armory Mk II single board computer. |
|
Package dma provides primitives for direct memory allocation and alignment, it is primarily used in bare metal device driver operation to avoid passing Go pointers for DMA purposes.
|
Package dma provides primitives for direct memory allocation and alignment, it is primarily used in bare metal device driver operation to avoid passing Go pointers for DMA purposes. |
|
internal
|
|
|
reg
Package reg provides primitives for retrieving and modifying hardware registers.
|
Package reg provides primitives for retrieving and modifying hardware registers. |
|
Package riscv provides support for RISC-V architecture specific operations.
|
Package riscv provides support for RISC-V architecture specific operations. |
|
soc
|
|
|
bcm2835
Package bcm2835 provides support to Go bare metal unikernels written using the TamaGo framework on BCM2835/BCM2836 SoCs.
|
Package bcm2835 provides support to Go bare metal unikernels written using the TamaGo framework on BCM2835/BCM2836 SoCs. |
|
nxp/bee
Package bee implements a driver for the NXP Bus Encryption Engine (BEE) adopting the following reference specifications:
|
Package bee implements a driver for the NXP Bus Encryption Engine (BEE) adopting the following reference specifications: |
|
nxp/caam
Package caam implements a driver for the NXP Cryptographic Acceleration and Assurance Module (CAAM) adopting the following reference specifications:
|
Package caam implements a driver for the NXP Cryptographic Acceleration and Assurance Module (CAAM) adopting the following reference specifications: |
|
nxp/csu
Package csu implements a driver for the NXP Central Security Unit (CSU) adopting the following reference specifications:
|
Package csu implements a driver for the NXP Central Security Unit (CSU) adopting the following reference specifications: |
|
nxp/dcp
Package dcp implements a driver for the NXP Data Co-Processor (DCP) cryptographic accelerator adopting the following reference specifications:
|
Package dcp implements a driver for the NXP Data Co-Processor (DCP) cryptographic accelerator adopting the following reference specifications: |
|
nxp/enet
Package enet implements a driver for NXP Ethernet controllers adopting the following reference specifications:
|
Package enet implements a driver for NXP Ethernet controllers adopting the following reference specifications: |
|
nxp/gpio
Package gpio implements helpers for GPIO configuration on NXP SoCs.
|
Package gpio implements helpers for GPIO configuration on NXP SoCs. |
|
nxp/i2c
Package i2c implements a driver for NXP I2C controllers adopting the following reference specifications:
|
Package i2c implements a driver for NXP I2C controllers adopting the following reference specifications: |
|
nxp/imx6ul
Package imx6ul provides support to Go bare metal unikernels, written using the TamaGo framework, on the NXP i.MX6UL family of System-on-Chip (SoC) application processors.
|
Package imx6ul provides support to Go bare metal unikernels, written using the TamaGo framework, on the NXP i.MX6UL family of System-on-Chip (SoC) application processors. |
|
nxp/iomuxc
Package iomuxc implements helpers for IOMUX configuration on NXP SoCs.
|
Package iomuxc implements helpers for IOMUX configuration on NXP SoCs. |
|
nxp/ocotp
Package ocotp implements a driver for the NXP On-Chip OTP Controller (OCOTP_CTRL), which provides an interface to on-chip fuses for read/write operation, adopting the following reference specifications:
|
Package ocotp implements a driver for the NXP On-Chip OTP Controller (OCOTP_CTRL), which provides an interface to on-chip fuses for read/write operation, adopting the following reference specifications: |
|
nxp/rngb
Package rngb implements a driver for the NXP True Random Number Generator (RNGB) adopting the following specifications:
|
Package rngb implements a driver for the NXP True Random Number Generator (RNGB) adopting the following specifications: |
|
nxp/snvs
Package snvs implements a driver for NXP Secure Non-Volatile Storage (SNVS) following reference specifications:
|
Package snvs implements a driver for NXP Secure Non-Volatile Storage (SNVS) following reference specifications: |
|
nxp/tempmon
Package bee implements a driver for the NXP Temperature Monitor (TEMPMON) adopting the following reference specifications:
|
Package bee implements a driver for the NXP Temperature Monitor (TEMPMON) adopting the following reference specifications: |
|
nxp/uart
Package uart implements a driver for NXP UART controllers adopting the following reference specifications:
|
Package uart implements a driver for NXP UART controllers adopting the following reference specifications: |
|
nxp/usb
Package usb implements a driver for the USB PHY designated as NXP USBOH3USBO2, included in several i.MX SoCs, adopting the following specifications:
|
Package usb implements a driver for the USB PHY designated as NXP USBOH3USBO2, included in several i.MX SoCs, adopting the following specifications: |
|
nxp/usdhc
Package usdhc implements a driver for the Freescale Enhanced Secure Digital Host Controller (eSDHC) interface, also known as NXP Ultra Secured Digital Host Controller (uSDHC).
|
Package usdhc implements a driver for the Freescale Enhanced Secure Digital Host Controller (eSDHC) interface, also known as NXP Ultra Secured Digital Host Controller (uSDHC). |
|
nxp/wdog
Package bee implements a driver for the NXP Watchdog Timer (WDOG) adopting the following reference specifications:
|
Package bee implements a driver for the NXP Watchdog Timer (WDOG) adopting the following reference specifications: |
|
sifive/clint
Package clint implements a driver for SiFive Core-Local Interruptor (CLINT) block adopting the following reference specifications:
|
Package clint implements a driver for SiFive Core-Local Interruptor (CLINT) block adopting the following reference specifications: |
|
sifive/fu540
Package fu530 provides support to Go bare metal unikernels written using the TamaGo framework.
|
Package fu530 provides support to Go bare metal unikernels written using the TamaGo framework. |
|
sifive/physicalfilter
Package physicalfilter implements a driver for SiFive physical-filter IP adopting the following reference specifications:
|
Package physicalfilter implements a driver for SiFive physical-filter IP adopting the following reference specifications: |
|
sifive/uart
Package uart implements a driver for SiFive UART controllers adopting the following reference specifications:
|
Package uart implements a driver for SiFive UART controllers adopting the following reference specifications: |