This page is intended to complement  UG1186 "LibMetal and OpenAMP User Guide"  for Zynq-7000 and Zynq UltraScale+ MPSoC.

Quick try!

Here are the basic steps to boot Linux and run an openamp application using pre-built images.

e.g for ZCU102:
The echo-test application sends packets from Linux running on quad-core Cortex-A53 to a single cortex-R5 running FreeRTOS which send them back.

• Extract files BOOT.BIN, image.ub and openamp.dtb files from a pre-built PetaLinux BSP to sdcard

• 
  

  Code Block
  theme Midnight
  host shell$ petalinux-create -s xilinx-zcu102-v2019.2-final.bsp --strip-components=4 --wildcards */BOOT.BIN */image.ub */openamp.dtb host shell$ cp BOOT.BIN image.ub openamp.dtb <your sd card>

  
  

Note: Alternatively, if you already created a PetaLinux project with a provided BSP for your board, pre-built images can also be found under the <your project>/pre-built/linux/images/ directory.

• Go to u-boot prompt and boot Linux from sdcard

• 
  

  Code Block
  theme Midnight
  ... Hit any key to stop autoboot: 0 > mmcinfo && fatload mmc 0 ${netstart} ${kernel_img} && fatload mmc 0 0x14000000 openamp.dtb Device: sdhci@ff170000 ... reading image.ub 31514140 bytes read in 2063 ms (14.6 MiB/s) reading openamp.dtb 38320 bytes read in 18 ms (2 MiB/s) > bootm $netstart $netstart 0x14000000 ...

  
  

Note: As an alternative to all steps above to sd-boot, you can jtag-boot the board. For this you need to have connected a jtag cable, installed jtag drivers and created a PetaLinux project using a provided BSP. You would then go into the <your project>/pre-built/linux/images directory and replace file system.dtb by openamp.dtb, then enter: "petalinux-boot --jtag --prebuilt 3"

• At Linux login prompt enter 'root' for user and 'root' for password and run echo-test demo

• 
  

  Code Block
  theme Midnight
  plnx_aarch64 login: root Password: root@plnx_aarch64:~# echo image_echo_test > /sys/class/remoteproc/remoteproc0/firmware root@plnx_aarch64:~# echo start > /sys/class/remoteproc/remoteproc0/state [ 177.375451] remoteproc remoteproc0: powering up ff9a0100.zynqmp_r5_rproc [ 177.384705] remoteproc remoteproc0: Booting fw image image_echo_test, size 644144 [ 177.396832] remoteproc remoteproc0: registered virtio0 (type 7) [ 177.399108] virtio_rpmsg_bus virtio0: rpmsg host is online [ 177.412370] zynqmp_r5_remoteproc ff9a0100.zynqmp_r5_rproc: RPU boot from TCM. [ 17Starting application... Try to init remoteproc resource Init remoteproc resource succeeded Waiting for events... 7.422089] remoteproc remoteproc0: remote processor ff9a0100.zynqmp_r5_rproc is now up [ 177.442121] virtio_rpmsg_bus virtio0: creating channel rpmsg-openamp-demo-channel addr 0x1 root@plnx_aarch64:~# modprobe rpmsg_user_dev_driver [ 188.089835] rpmsg_user_dev_driver virtio0:rpmsg-openamp-demo-channel: rpmsg_user_dev_rpmsg_drv_probe [ 188.101250] rpmsg_user_dev_driver virtio0:rpmsg-openamp-demo-channel: new channel: 0x400 -> 0x1! root@plnx_aarch64:~# echo_test Echo test start Open rpmsg dev! [ 190.364739] rpmsg_user_dev_driver virtio0:rpmsg-openamp-demo-channel: Sent init_msg to target 0x1.

  
  

Docs and source code

Documents

• The following document describes libmetal APIs:
  

  View file
  name libmetal-doc-20170418.pdf

URLs to source code

Xilinx Openamp and Libmetal related code

The following location provide access to the code:

• https://github.com/Xilinx/open-amp/tree/xilinx-v2019.2
  • OpenAMP Library and Demonstration code
• https://github.com/Xilinx/libmetal/tree/xilinx-v2019.2
  • Libmetal Library and Demonstration code
• https://github.com/Xilinx/meta-openamp/tree/rel-v2019.2
  • Yocto recipe to build OpenAMP and Libmetal
• https://github.com/Xilinx/linux-xlnx/tree/xilinx-v2019.2
  • Xilinx version of Linux kernel
• https://github.com/Xilinx/embeddedsw/tree/xilinx-v2019.2
  • RPU baremetal and FreeRTOS source code used in XSDK and XSCT

Additional examples

OpenAMP Demos using RPMsg in kernel-space on Versal

1. Configure PetaLinux to run the demo
   1. Download 2019.2 Versal BSP
   2. petalinux-config -c rootfs
      1. enable the following:
         
         • libmetal
         • open-amp
         • rpmsg-(demo name)
         • sysfsutils
         • libsysfs
         • openamp-echo-testd
   3. modify system-user.dtsi with the following

      1. 
         

         Code Block

         /include/ "system-conf.dtsi" / { reserved-memory { #address-cells = <2>; #size-cells = <2>; ranges; rproc_0_dma: rproc@3ed40000 { no-map; compatible = "shared-dma-pool"; reg = <0x0 0x3ed40000 0x0 0x100000>; }; rproc_0_reserved: rproc@3ed00000 { no-map; reg = <0x0 0x3ed00000 0x0 0x40000>; }; rproc_1_dma: rproc@3ef40000 { no-map; compatible = "shared-dma-pool"; reg = <0x0 0x3ef40000 0x0 0x100000>; }; rproc_1_reserved: rproc@3ef00000 { no-map; reg = <0x0 0x3ef00000 0x0 0x40000>; }; }; zynqmp-rpu { compatible = "xlnx,zynqmp-r5-remoteproc-1.0"; core_conf = "split"; #address-cells = <2>; #size-cells = <2>; ranges; r5_0: r5@0 { #address-cells = <2>; #size-cells = <2>; ranges; memory-region = <&rproc_0_reserved>, <&rproc_0_dma>; pnode-id = <0x18110005>; 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 = <0x1831800b>; }; tcm_0_b: tcm_0@1 { reg = <0x0 0xFFE20000 0x0 0x10000>; pnode-id = <0x1831800c>; }; }; r5_1: r5@1 { #address-cells = <2>; #size-cells = <2>; ranges; memory-region = <&rproc_1_reserved>, <&rproc_1_dma>; pnode-id = <0x18110006>; mboxes = <&ipi_mailbox_rpu1 0>, <&ipi_mailbox_rpu1 1>; mbox-names = "tx", "rx"; tcm_1_a: tcm_1@0 { reg = <0x0 0xFFE90000 0x0 0x10000>; pnode-id = <0x603060d>; }; tcm_1_b: tcm_1@1 { reg = <0x0 0xFFEB0000 0x0 0x10000>; pnode-id = <0x603060e>; }; }; }; zynqmp_ipi1 { compatible = "xlnx,zynqmp-ipi-mailbox"; interrupt-parent = <&gic>; interrupts = <0 33 4>; xlnx,ipi-id = <5>; #address-cells = <1>; #size-cells = <1>; ranges; /* APU<->RPU0 IPI mailbox controller */ ipi_mailbox_rpu0: mailbox@ff990600 { reg = <0xff3f0ac0 0x20>, <0xff3f0ae0 0x20>, <0xff3f0740 0x20>, <0xff3f0760 0x20>; reg-names = "local_request_region", "local_response_region", "remote_request_region", "remote_response_region"; #mbox-cells = <1>; xlnx,ipi-id = <3>; }; /* APU<->RPU1 IPI mailbox controller */ ipi_mailbox_rpu1: mailbox@ff990640 { reg = <0xff3f0b00 0x20>, <0xff3f0b20 0x20>, <0xff3f0940 0x20>, <0xff3f0960 0x20>; xlnx,ipi-id = <2>; } reg-names = "local_request_region", "local_response_region", "remote_request_region", "remote_response_region"; #mbox-cells = <1>; xlnx,ipi-id = <4>; }; }; };

         
         

   4. build project with "petalinux-build"
   1. Running the Demo on Target

      1. After starting firmware on target the output from running Linux-side the output is as follows:

         Code Block
         $ echo_test -d <rpmsg channel name> Echo test start Open rpmsg dev /dev/rpmsg0! **************************************

         
         

Libmetal Demo on Versal

1. R5 Baremetal Application
   
   1. source code can be found here
2. Configure PetaLinux to run the demo
   1. Download 2019.2 Versal BSP
   2. petalinux-config -c rootfs
      1. enable the following:
         
         • libmetal
         • libmetal-demo
   3. install the libmetal R5 application into the PetaLinux -generated rootfs on target with the following:
      1. create PetaLinux app to install the firmware
         1. petalinux-create -t apps --template install --name libmetal-fw --enable
         2. modify recipe as follows:
            1. copy firmware into project-spec/meta-user/recipes-apps/libmetal-fw/files/libmetal-fw 
            2. modify libmetal-fw.bb as follows

               1. 
                  

                  Code Block

                  # # This file is the libmetal-fw recipe. # SUMMARY = "Simple libmetal-fw application" SECTION = "PETALINUX/apps" LICENSE = "MIT" LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/MIT;md5=0835ade698e0bcf8506ecda2f7b4f302" SRC_URI = "file://libmetal-fw \ " INSANE_SKIP_${PN} = "arch" S = "${WORKDIR}" do_install() { install -d ${D}/lib/firmware/ install -m 644 ${S}/libmetal-fw ${D}/lib/firmware/ } FILES_${PN} = " /lib/firmware/libmetal-fw "

                  
                  

   4. modify system-user.dtsi with the following

      1. 
         

         Code Block

         / { reserved-memory { #address-cells = <2>; #size-cells = <2>; ranges; rproc_0_reserved: rproc@3ed00000 { no-map; reg = <0x0 0x3ed00000 0x0 0x2000000>; }; }; amba { /* Shared memory (APU to RPU) */ shm0: shm@0 { compatible = "shm"; reg = <0x0 0x3ed80000 0x0 0x01000000>; }; /* IPI device */ ipi0: ipi@0 { compatible = "ipi_uio"; reg = <0x0 0xff360000 0x0 0x1000>; interrupt-parent = <&gic>; interrupts = <0 33 4>; }; timer@ff0e0000 { compatible = "ttc-uio"; reg = <0x0 0xff0e0000 0x0 0x1000>; }; }; }; &sdhci0 { status = "disabled"; }; &sdhci1 { status = "disabled"; };

         
         

   5. build project with "petalinux-build"
3. Running the Demo on Target
   1. After starting firmware on target the output from running Linux-side the output is as follows:

      1. 
         

         Code Block

         # <linux libmetal application metal: warning: skipped page size 2097152 - invalid args CLIENT> ****** libmetal demo: shared memory ****** metal: info: meta SERVER> Demo has started. SERVER> Shared memory test finished SERVER> ====== libmetal demo: atomic operation over shared memory ====== SERVER> Starting atomic add on shared memory demo. l_uio_dev_open: No IRQ for device 3ed80000.shm. CLIENT> Setting up shared memory demo. CLIENT> Starting shared memory demo. CLIENT> Sending message: Hello World - libmetal shared memory demo CLIENT> Message Received: Hello World - libmetal shared memory demo CLIENT> Shared memory demo: Passed.

         
         

Filesystem Packages --->
   libs --->
       libmetal   --->
         [*] libmetal
       open-amp   --->
         [*] open-amp
 
 

SUMMARY = "Simple test application"
SECTION = "PETALINUX/apps"
LICENSE = "MIT"
LIC_FILES_CHKSUM ="file:${COMMON_LICENSE_DIR}/MIT;md5=0835ade698e0bcf8506ecda2f7b4f302"
SRC_URI = "file:<myfirmware>"
S = "${WORKDIR}"
INSANE_SKIP_${PN} = "arch"
do_install() {
  install -d ${D}/lib/firmware
  install -m 0644 ${S}/<myfirmware> ${D}/lib/firmware/<myfirmware>
}
FILES_${PN} = "/lib/firmware/<myfirmware>