Hello. I’m setting up a TEE architecture in my drone to prevent hardware and software tampering. I have a Raspberry Pi Model 4 B, and a Pixhawk Orange Cube. I have the process of connecting them both figured out. How does one go about enabling ARM TrustZone in the Pi,and setting up a secure boot process. I have looked at the Ardupilot documentation on signing the firmware, but that uses only the flight controller. The certification standard in India needs a companion computer which would handle the secure boot process.
You should look into Raspberry Pi documentation.