Hi Ben,
The kernel requires knowledge of the platform layout at 
configuration/compilation time. My understanding is that on a platform like the 
RPI the RAM available for the CPU is shared with the GPU and while isn't 
statically defined, is still user controlled by a boot config file.  Changes to 
the config file that change the amount of ram available to the kernel would 
require a reconfiguration of the kernel. You can take a look at how this is 
handled for the qemu-arm-virt platform, where the qemu instance can have an 
arbitrary amount of memory: 
https://github.com/seL4/seL4/blob/master/src/plat/qemu-arm-virt/config.cmake#L69.
 The build scripts update the dts based on how much memory is available.  

If you don't want to continuously change the kernel build upon changes to the 
RPI4's memory layout, you could fix a minimum size of memory that the kernel 
has as a memory node in the device tree. Any additional address ranges will 
still get given to userlevel as device untyped memory but will only be able to 
be used as frames and won't be able to be used for kernel objects that the 
kernel writes to, such as CNodes or page tables. Userlevel could then 
dynamically interpret the memory layout based on the supplied device tree and 
still use the memory that the GPU isn't using.

The camkes-arm-vm/camkes also requires knowledge of what RAM will be at 
configuration/compilation time in order to statically allocate memory resources 
also.
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