Introduction

Punchboot is a secure and fast bootloader for embedded systems. It is designed to:

• Boot as fast as possible
• Integrate with the SoC's secure boot functionality
• Authenticate the next piece of software in the boot chain
• Support A/B system partitions for atomic updates
• Support automatic rollbacks
• Minimize software download time in production
• Be useful for day-to-day development

Punchboot is designed for embedded systems and therefore it has a minimalistic apporach. There is no run-time configuration, everything is configured in the board files.

Punchboot could be useful if you care about the following:

• Boot speed
• Secure boot
• Downloading software quickly in production

Releases history:

Version	Release date	Changes
v0.5	2019-12-07	Add internal platform API documentation
		Re-organized tools to include output build directories
		Support board specific commands in recovery mode
		Support verification of data written to partitions without booting
		Support for out-of-tree board directories
		Various bugfixes and improvements
v0.4	2019-06-19	Use separate config partitions instead of GPT headers for storing the state
		Improve test/build system reliability
		Docker image can now build all targets and run tests
		NXP's cst 3.2.0 is now released under BSD3 a minimal version is included in the tools folder
		Increased usb flashing speed by interleaving emmc and usb DMA requests
		Added script for creating authentication tokens
		Various bugfixes and improvements
v0.3	2019-05-09	Support for authentication of recovery mode
		Support optional verbose boot mode
		pbimage support for PKCS11/Yubikey backend
		USB VID/PID allocated from pid.codes, 1209:2019
		Support for linux/initramfs
		Various bugfixes and improvements
v0.2	2019-03-18	Support for EC signatures, improved boot speed
v0.1	2019-02-25	First release

Building

The easiest way is using docker.

First generate the docker image using the top most makefile

make docker

Build the cst tool (for NXP targets)

docker run -it -u $(id -u $USER) -v $(readlink -f .):/pb/ pb_docker_env make -C /pb/src/tools/imxcst/src

Building the jiffy-board target:

docker run -it -u $(id -u $USER) -v $(readlink -f .):/pb/ pb_docker_env make -C /pb/src BOARD=jiffy LOGLEVEL=3

Run test suite

Run the built in tests:

docker run -it -u $(id -u $USER) -v $(readlink -f .):/pb/ pb_docker_env make -C /pb/ tests

The dockerfile in the top directory details the dependencies on ubuntu xenial

Design

Internal API documentation

Punchboot is written in C and some assembler. Currently armv7a and armv8 is supported.

The directory layout is as follows:

Folder	Description
/doc	Documentation
/pki	Crypto keys for testing
/src	Bootloader source
/src/board	Board support
/src/arch	Architecture support
/src/plat	Platform support
/tools	Tools

Supported architectures:

Architecture	Supported
armv7a	Yes
armv8a	Yes

Supported platforms:

Platform	Supported	USB	EMMC	HW Crypto	Secure Boot	Fusebox
NXP imx6ul	Yes	Yes	Yes	Yes	Yes	Yes
NXP imx8m	Yes	Yes	Yes	Yes	No	Yes
NXP imx8x	Yes	Yes	Yes	Yes	Yes	Yes
Rockchip RK3399	Planned
Allwinner H3	Planned
Allwinner H5	Planned

Supportd boards:

Board	Supported	More info
Jiffy	Fully supported	https://github.com/jonasblixt/jiffy
Bebop	Fully supported	https://github.com/jonasblixt/bebop
Technexion PICO-IMX8M	Partial support	https://www.technexion.com/products/system-on-modules/pico/pico-compute-modules/detail/PICO-IMX8M
Rockpro64	Planned	https://www.pine64.org/?page_id=61454
NanoPi-NEO-core	Planned	http://www.nanopi.org/NanoPi-NEO-Core_Feature.html
NanoPi-NEO-core2	Planned	http://www.nanopi.org/NanoPi-NEO-Core2_Feature.html
NXP IMX8QXP MEK	Fully supported	https://www.nxp.com/products/processors-and-microcontrollers/arm-based-processors-and-mcus/i.mx-applications-processors/i.mx-8-processors/i.mx-8-multisensory-enablement-kit:i.MX8-MEK

Hardware accelerated signature verification

Platform	RSA4096	EC secp256r1	EC secp384r1	EC secp521
NXP imx6ul	Yes	Yes	No	No
NXP imx8m	Yes	Yes	No	No
NXP imx8x	Yes	Yes	Yes	Yes

Hardware accelerated hash algorithms

Platform	MD5	SHA256	SHA384	SHA512
NXP imx6ul	Yes	Yes	No	No
NXP imx8m	Yes	Yes	No	No
NXP imx8x	Yes	Yes	Yes	Yes

Secure Boot

Typical and simplified secure boot flow

• ROM loads a set of public keys, calculates the checksum of the keys and compares the result to a fused checksum
• ROM loads punchboot, calculates checksum and verifies signature using key's in step one
• Run punchboot
• Punchboot loads a PBI bundle, calculates the checksum and verifies the signature using built in keys
• Run next step in boot chain

Most SoC:s have a boot rom that includes meachanisms for calculating a checksum of the bootloader and cryptographically verifying a signature using a public key fused to the device.

Normally fuses are a limited resource and therefor a common way is to calculate a sha256 checksum of the public key(s) and then store this checksum in fuses, this way many different public keys can be stored in a flash memory and every time the device boots it will compute a sha256 checksum and compare it to the fused checksum.

Punchboot is designed to be a part of a secure boot chain. This means that the bootloader is cryptographically signed, the ROM code of the SoC must support a mechanism to validate this signature, otherwise there is no root of trust.

When punchboot has been verified it, in turn, will load and verify the next software component in the boot chain. The bootloader only supports signed binaries.

Testing and integration tests

Punchboot uses QEMU for all module and integration tests. The 'test' platform and board target relies on virtio serial ports and block devices. The punchboot cli can be built with a domain socket transport instead of USB for communicating with an QEMU environment.

The test platform code includes gcov code that calls the QEMU semihosting API for storing test coverage data on the host.

Building and running tests:

$ export BOARD=test 
$ export LOGLEVEL=3
$ make clean && make && make test

A/B paritions and atomic upgrades

To support a robust way of upgrading the system the simplest way is to have two copies of the system software; System A and System B. When system A is active System B can be reprogrammed and activated only when it is verified. This is known as "Atomic Upgrade"

Punchboot uses a special config partition to store the current state. The state includes information about which system is active, boot count tries and error bits.

Automatic rollback

Sometimes upgrades fail. Punchboot supports a mechanism for so called automatic rollbacks.

The left most column describes a simplified way a linux system could initiate an upgrade. In this case System A is active and System B is to be prepared and eventually activated.

The new software is written to System B and verified then system A verified flag, error bits must be reset and boot try counter is programmed to a desired try-count. A cleared OK bit but set counter constitutes and upgrade state and punchboot will try to start this system and decrement the counter unless the counter has reched zero.

If the counter reaches zero the error bit is set and System A is automatically activated again (Rollback event)

At this point the upgrade is staged, and the OK bit of System A can be cleared and finally the system is reset.

Punchboot recognizes that none of the System partitions has the OK bit set but System B has a non-zero counter. System B is started.

When returning back to the upgrade application in linux final checks can be performed, for example checking connectivity and such before finally setting the OK bit of system B and thus permanently activate System B

Device identity

Most modern SoC's provide some kind of unique identity, that is guaranteed to be unique for that particular type of SoC / Vendor etc but can not be guarateed to be globally unique.

Punchboot provides a UUID3 device identity based on a combination of the unique data from the SoC and an allocated, random, namspace UUID per platform.

When booting a linux system this information is relayed to linux through in-line patching of the device-tree. The device identity can be found in '/proc/device-tree/chosen/device-uuid'

Allocated UUID's

GPT Partitions

Partition	UUID
System A	2af755d8-8de5-45d5-a862-014cfa735ce0
System B	c046ccd8-0f2e-4036-984d-76c14dc73992
Root A	c284387a-3377-4c0f-b5db-1bcbcff1ba1a
Root B	ac6a1b62-7bd0-460b-9e6a-9a7831ccbfbb
Config Primary	f5f8c9ae-efb5-4071-9ba9-d313b082281e
Config Backup	656ab3fc-5856-4a5e-a2ae-5a018313b3ee

Platform namespace UUID's

Platform	UUID
NXP imx6ul	aeda39be-792b-4de5-858a-4c357b9b6302
NXP imx8m	3292d7d2-2825-4100-90c3-968f2960c9f2
NXP imx8x	aeda39be-792b-4de5-858a-4c357b9b6302

Recovery mode

Recovery mode is entered when the system can't boot or if the bootloader is forced by a configurable, external event to do so.

In the recovery mode it is possible to update the bootloader, write data to partitions and install default settings. From v0.3 and forward an 'authentication cookie' must be used to interact with the bootloader to prevent malicious activity. The only command that can be executed without authentication is listing the device information (including the device UUID)

The authentication cookie consists of the device UUID encrypted with one of the active key pair's private key.

punchboot tool

The punchboot CLI is used for interacting with the recovery mode. A summary of the features available:

• Update the bootloader it self
• Manually start system A or B
• Activate boot partitions
• Load image to ram and execute it
• Display basic device info
• Configure fuses and GPT parition tables

pbimage tool

The pbimage tool is used to create a punchboot compatible image. The tool uses a manifest file to describe which binaries should be included and what signing key that should be used.

Example image manifest:

[pbimage]
key_index = 0
key_source = ../pki/secp256r1-key-pair.pem
hash_kind = SHA256
sign_kind = EC256
output = test_image.pbi

[component]
type = ATF
load_addr = 0x80000000
file = bl31.bin

[component]
type = DT
load_addr = 0x82000000
file = linux.dtb

[component]
type = LINUX
load_addr = 0x82020000
file = Image

Signing an image using a yubikey, through opensc:

[pbimage]
key_index = 1
key_source = PKCS11
pkcs11_key_id = 02
pkcs11_provider = /usr/lib/x86_64-linux-gnu/opensc-pkcs11.so
hash_kind = SHA384
sign_kind = EC384
output = output.pbi


[component]
type = ATF
load_addr = 0x80000000
file = bl31.bin

[component]
type = DT
load_addr = 0x80080000
file = imx8qxpmek.dtb

[component]
type = LINUX
load_addr = 0x80100000
file = Image

[component]
type = RAMDISK
load_addr = 0x80b00000
file = rootfs.cpio

Punchboot Image Format (pbi)

PBI image

Region	Alignment	Offset	Comment
Header	512 bytes	0b	Header data
Signature		512b	Signature data
Components			Component data

Header

Field	Type	Description
header_magic	uint32_t	Magic value
haeder_version	uint32_t	Header version
no_of_components	uint32_t	Number of components in the image
key_index	uint32_t	Which key pair was used to sign the image
hash_kind	uint32_t	Hash algorithm that was used to hash image
sign_kind	uint32_t	Signature format
reserved		Reserved, for future use

Each board makefile contains a list of key's. The order they are added maps to the key_index parameter.

Supported hashes:

Hash	hash_kind
SHA256	2
SHA384	3
SHA512	4

Supported signature formats

Signature format	sign_kind
secp256	2
secp384	3
secp521	4
rsa4096	1

Component

Field	Type	Description
comp_header_version	uint32_t	Version of component header
component_type	uint32_t	Component type
load_addr	uint64_t	Where the component should be loaded into RAM
component_size	uint32_t	Component size in bytes
component_offset	uint32_t	Component offset within the PBI file
reserved		Reserved for future use

Supported component types:

Component type	component_type
TEE	0
VMM	1
LINUX	2
DT	3
RAMDISK	4
ATF	5
KERNEL	6

Authentication token

Punchboot enforces authentication when a device is enforcing secure boot. It is still possible to access the USB recovert mode after authentication. When the device enters recovery mode it is still possible to issue the ' dev -l ' command to get the device UUID.

The authentication token is generated by hashing the device UUID and signing it with one of the active key pairs.

Example:

$ punchboot dev -l

Device info:
 Bootloader Version: PB v0.3-82-gea3a-dirty

Parameter           Value
---------           -----
Platform            NXP IMX8M
Device UUID         0B177094-6B62-3572-902E-C1DE339ECB01
Board               Pico8ml

Creating the authentication token using the 'createtoken.sh' script located in the tools folder. In this example the private key is stored on a yubikey 5 HSM.

$ ./createtoken.sh 0B177094-6B62-3572-902E-C1DE339ECB01 pkcs11 -sha256 "pkcs11:id=%02;type=private"

engine "pkcs11" set.
Enter PKCS#11 token PIN for PIV Card Holder pin (PIV_II):
Enter PKCS#11 key PIN for SIGN key:
 
$ punchboot dev -a -s secp256r1:sha256 -n 0 -f ./0B177094-6B62-3572-902E-C1DE339ECB01.token

Signature format: secp256r1
Hash: sha256
Authenticating using key index 0 and './0B177094-6B62-3572-902E-C1DE339ECB01.token'
Read 103 bytes
Authentication successful

Now the recovery mode is fully unlocked. The token is ofcourse only valid for the individual unit with that perticular UUID.

Metrics

Measurements taken on IMX6UL, running at 528 MHz loading a 400kByte binary.

Using hardware accelerators for SHA and RSA signatures:

Parameter	Value	Unit
Power On Reset	28	ms
Bootloader init	7	ms
Blockdev read	13	ms
SHA256 Hash	4	ms
RSA 4096 Signaure	5	ms
Total	57	ms

Using libtomcrypt for SHA and RSA:

Parameter	Value	Unit
Power On Reset	28	ms
Bootloader init	7	ms
Blockdev read	13	ms
SHA256 Hash	431	ms
RSA 4096 Signaure	567	ms
Total	1046	ms

Measurements taken on IMX8QXP, loading a 14296kByte binary.

Using hardware accelerators for SHA and RSA signatures:

Parameter	Value	Unit
Power On Reset	175	ms
Bootloader init	6.358	ms
Blockdev read / hash	107	ms
RSA 4096 Signature	0.676	ms
Total	288	ms

The POR time is off due to some unidentified problem with the SCU firmware. A guess would be that this metric should be in the 20ms -range.