/ {
	reserved-memory {
		#address-cells = <2>;
		#size-cells = <2>;
		ranges;
		rpu0vdev0vring0: rpu0vdev0vring0@3ed40000 {
			no-map;
			reg = <0x0 0x3ed40000 0x0 0x4000>;
		};
		rpu0vdev0vring1: rpu0vdev0vring1@3ed44000 {
			no-map;
			reg = <0x0 0x3ed44000 0x0 0x4000>;
		};
		rpu0vdev0buffer: rpu0vdev0buffer@3ed48000 {
			no-map;
			reg = <0x0 0x3ed48000 0x0 0x100000>;
		};
		rproc_0_reserved: rproc@3ed00000 {
			no-map;
			reg = <0x0 0x3ed00000 0x0 0x40000>;
		};
	};
 
	zynqmp-rpu {
		compatible = "xlnx,zynqmp-r5-remoteproc-1.0";
		#address-cells = <2>;
		#size-cells = <2>;
		ranges;
		core_conf = "split";
		reg = <0x0 0xFF9A0000 0x0 0x10000>;
		r5_0: r5@0 {
			#address-cells = <2>;
			#size-cells = <2>;
			ranges;
			memory-region = <&rproc_0_reserved>, <&rpu0vdev0buffer>, <&rpu0vdev0vring0>, <&rpu0vdev0vring1>;
			pnode-id = <0x7>;
			mboxes = <&ipi_mailbox_rpu0 0>, <&ipi_mailbox_rpu0 1>;
			mbox-names = "tx", "rx";
			tcm_0_a: tcm_0@0 {
				reg = <0x0 0xFFE00000 0x0 0x10000>;
				pnode-id = <0xf>;
			};
			tcm_0_b: tcm_0@1 {
				reg = <0x0 0xFFE20000 0x0 0x10000>;
				pnode-id = <0x10>;
			};
		};
		/* if instead for RPU1 use the following: 
    	r5_1: r5@1 {
        	#address-cells = <2>;
        	#size-cells = <2>;
        	ranges;
        	memory-region = <&rproc_0_fw_reserved>,
                <&rproc_0_dma_reserved>;
        	pnode-id = <0x8>;
        	mboxes = <&ipi_mailbox_rpu0 0>, <&ipi_mailbox_rpu0 1>;
        	mbox-names = "tx", "rx";
        	tcm_a: tcm@0 {
            	reg = <0x0 0xFFE90000 0x0 0x10000>;
            	pnode-id = <0x11>;
        	};
        	tcm_b: tcm@1 {
            	reg = <0x0 0xFFEb0000 0x0 0x10000>;
            	pnode-id = <0x12>;
        	};
    	};
		*/
	};


	zynqmp_ipi1 {
		compatible = "xlnx,zynqmp-ipi-mailbox";
		interrupt-parent = <&gic>;
		interrupts = <0 29 4>;
		xlnx,ipi-id = <7>;
		#address-cells = <1>;
		#size-cells = <1>;
		ranges;

		/* APU<->RPU0 IPI mailbox controller */
		ipi_mailbox_rpu0: mailbox@ff990600 {
			reg = <0xff990600 0x20>,
			      <0xff990620 0x20>,
			      <0xff9900c0 0x20>,
			      <0xff9900e0 0x20>;
			reg-names = "local_request_region",
				    "local_response_region",
				    "remote_request_region",
				    "remote_response_region";
			#mbox-cells = <1>;
			xlnx,ipi-id = <1>;
		};
	};
};

...

1. Create R5-0 standalone BSP
   • NOTE: make sure that R5 BSP has XilPM and GIC software components built. XilPM is used to interface with the ZU+ PMUFW to bring up RPU. The GIC is needed as IPIs are the mechanism by which to communicate with the XilPM framework.
2. Build libmetal for R5 standalone
   1. below is sample toolchain file

      
      

      Code Block
      theme Midnight
      set (CMAKE_SYSTEM_PROCESSOR "arm"           CACHE STRING "") set (MACHINE        "zynqmp_r5" CACHE STRING "")   set (CROSS_PREFIX           "armr5-none-eabi-" CACHE STRING "") set (CMAKE_C_FLAGS          "-mfloat-abi=hard -mcpu=cortex-r5 -mfpu=vfpv3-d16  -Wall -Werror -Wextra \    -flto -Os -I<path to bsp>/bsp/psu_cortexr5_0/include" CACHE STRING "")   link_directories( <path to bsp>/bsp/psu_cortexr5_0/lib ) set (PLATFORM_LIB_DEPS      "  -lxil -lxilstandalone  -lc -lm  -lxilpm " CACHE STRING "") SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -flto") SET(CMAKE_AR  "gcc-ar" CACHE STRING "") SET(CMAKE_C_ARCHIVE_CREATE "<CMAKE_AR> qcs <TARGET> <LINK_FLAGS> <OBJECTS>") SET(CMAKE_C_ARCHIVE_FINISH   true) include (cross-generic-gcc)

      
      

   2. script to build libmetal

      Code Block
      theme Midnight
      git clone https://github.com/OpenAMP/libmetal.git cd libmetal    mkdir build_r5 cd build_r5 cmake .. -DCMAKE_TOOLCHAIN_FILE=<toolchain_file>  \ -DCMAKE_LIBRARY_PATH=<path to bsp>/bsp/psu_cortexr5_0/lib     make DESTDIR=. install VERBOSE=1

      
      

3. build openamp for r5 standalone

   1. 
      

      toolchain file for openamp

      Code Block
      theme Midnight
      set (CMAKE_SYSTEM_PROCESSOR "arm" CACHE STRING "")     set (MACHINE                zynqmp_r5 )     set (CROSS_PREFIX           "armr5-none-eabi-" CACHE STRING "")     set (CMAKE_C_FLAGS          "-mfloat-abi=hard -mcpu=cortex-r5 -Os -flto -mfpu=vfpv3-d16 -DUNDEFINE_FILE_OPS \     -I<path to libmetal repo>/libmetal/build_r5/usr/local/include \     -I<bsp path>/bsp/psu_cortexr5_0/include" CACHE STRING "")     set (CMAKE_ASM_FLAGS        " -mcpu=cortex-r5  " CACHE STRING "")     set (PLATFORM_LIB_DEPS      "  -lxil -lxilstandalone  -lxilpm -lxilmem -lc -lm" CACHE STRING "")     SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -flto ")     SET(CMAKE_AR  "gcc-ar" CACHE STRING "")     SET(CMAKE_C_ARCHIVE_CREATE "<CMAKE_AR> qcs <TARGET> <LINK_FLAGS> <OBJECTS>")     SET(CMAKE_C_ARCHIVE_FINISH   true)     link_directories( <path to libmetal repo>/libmetal/build_r5/usr/local/include/ <path to libmetal repo>/libmetal/build_r5/usr/local/lib/         )    set (WITH_LOAD_FW ON)    set (CMAKE_FIND_ROOT_PATH <path to libmetal repo>/libmetal/build/usr/local/lib <bsp path>/bsp/psu_cortexr5_0/lib )     include (cross_generic_gcc)     string (TOLOWER "FreeRTOS"                PROJECT_SYSTEM)     string (TOUPPER "FreeRTOS"                PROJECT_SYSTEM_UPPER) # vim: expandtab:ts=2:sw=2:smartindent

      
      

   2. srcipt using toolchain file for openamp

      Code Block
      theme Midnight
      git clone https://github.com/OpenAMP/open-amp.git cd open-amp mkdir build cd build cmake .. \  -DCMAKE_TOOLCHAIN_FILE=toolchain \  -DCMAKE_INCLUDE_PATH="<path to libmetal repo>/libmetal/build_r5/lib/include/;<path to bsp>/bsp/psu_cortexr5_0/include/" \  -DCMAKE_LIBRARY_PATH="<path to libmetal repo>/libmetal/build_r5/usr/local/lib/<path to bsp>/bsp/psu_cortexr5_0/lib/" -DWITH_APPS=on -DWITH_LOAD_FW=ON make DESTDIR=$(pwd) install VERBOSE=1

      
      

      Note: how to set remoteproc elf-load slave
      1. If RPU1 is slave, add thef ollowing after -DWITH_LOAD_FW=ON, add -DLOAD_FW_TARGET=NODE_RPU_1
      2. If APU is slave, add thef ollowing after -DWITH_LOAD_FW=ON, add -DLOAD_FW_TARGET=NODE_APU_1
4. boot up to uboot on target zcu102
   1. in xsdb: 
      1. WARNING: do not reset remoteproc slave processor. as this introduces issue when using PM library for lifecycle management
      2. confgure r5 to be in split mode if using single r5 as remoteproc slave
      3. reset tcm
      4. load remoteproc slave application into base address (default 0x3ed00000)
      5. load binary for r5 remoteproc master (in this case r5 0)

      6. start r5 0

         
         

         Code Block
         theme Midnight
         ta 6 # set r5 to split mwr 0xFF9A0000 0x08 # reset tcm ta 7 rst -processor mwr 0xFFE00000 0 10000 after 1000 mwr 0xFFE20000 0 10000 after 1000   # load apu dow -data <a53 app> 0x3ed00000     # load rpu ta 6 dow load_fw.out # start rpu con

         
         

...