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It's not possible to write a test suite or list of requirements to impose upon other companies to force their software and hardware to be reasonably secure. They need to care about security themselves and put resources into it, beyond just complying with bare minimum standards.
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CTS runs tests via apps and adb shell within the security model of the OS. It runs on a production build of the OS with the full security model intact and is very limited in how deeply it can probe and test. It can't peak behind the curtain and enforce implementation details.
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Google doesn't require that vendors use a specific implementation of hardware, firmware or software. In theory, they could make a test suite specific to each common SoC, etc. but it's hard to see how that would really work and it's still up to the vendor to run it and comply.
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If a vendor skips the step of signing their firmware and burning the keys into the fuses, it seems highly likely that they would skip testing that it works. It's already written that they need to do this, so if they're running through the list it's something they need to check.
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How can you test low-level secure boot beyond setting it up and flashing images not signed with the correct keys? The SDK from Qualcomm and other SoC vendors already provides everything that's needed, and Google lists it as something that has to be done, and presumably checked.
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