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It's extremely likely that it's based on the verifiedBootHash from key attestation. Key attestation also might be getting extended to cover firmware attestation better. Our Auditor app provides support for obtaining that both locally and via our attestation.app service.
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See developer.android.com/training/artic for information about key attestation. It hasn't been updated for the latest revisions though. v3 already wasn't the latest. 5th generation Pixels launched with v4 attestation. So just bear in mind that already wasn't fully up-to-date/complete docs.
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Verified boot hash is currently the hash of the entire OS. It would be nice if there was also a way to get that information from the secure element for the firmware. Possible that the newer attestation APIs support more but the documentation hasn't been kept fully up-to-date.