OpenAMP 2019.1
Below is information to complement and clarify UG1186 "Getting Started Guide" forThis page is intended to complement UG1186 "LibMetal and OpenAMP User Guide" for Zynq-7000 and Zynq UltraScale+ MPSoC.
Table of Contents
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Quick try!
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 tarball to sdcard
Code Block theme Midnight host shell$ tar xvf xilinx-zcu102-v2019.1-final.bsp --strip-components=4 --wildcards */BOOT.BIN */image.ub */openamp.dtb host shell$ cp BOOT.BIN image.ub openamp.dtb <your sd card>
- Go to u-boot prompt and boot Linux from sdcard
Code Block theme Midnight ... Hit any key to stop autoboot: 0 ZynqMP> 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) ZynqMP> bootm $netstart $netstart 0x14000000 ...
- 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:~# echo_test Echo test start Open rpmsg dev!
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-v2019.1
- OpenAMP Library and Demonstration code
- https://github.com/Xilinx/libmetal/tree/xilinx-v2019.1
- Libmetal Library and Demonstration code
- https://github.com/Xilinx/meta-openamp/tree/rel-v2019.1
- Yocto recipe to build OpenAMP and Libmetal
- https://github.com/Xilinx/linux-xlnx/tree/xilinx-v2019.1
- Xilinx version of Linux kernel
- https://github.com/Xilinx/embeddedsw/tree/xilinx-v2019.1
- RPU baremetal and FreeRTOS source code used in XSDK and XSCT
Additional examples
ZynqMP Linux Master running on APU with RPMsg in kernel space and 2 RPU slaves.
Enabling Linux Drivers and other packages
Proceed as indicated in UG1186 to enable Linux remoteproc driver support and other openamp packages.
Device tree:
- Add the folloing to <petalinux project>/project-spec/meta-user/recipes-bsp/device-tree/file/system-user.dtsi
| Code Block | ||
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/include/ "system-conf.dtsi"
/ {
reserved-memory {
#address-cells = <2>;
#size-cells = <2>;
ranges;
rproc_0_dma_reserved: rproc@3ed40000{
no-map;
compatible = "shared-dma-pool";
reg = <0x0 0x3ed40000 0x0 0x100000>;
};
rproc_0_fw_reserved: rproc@3ed00000 {
no-map;
reg = <0x0 0x3ed00000 0x0 0x40000>;
};
rproc_1_fw_reserved: rproc@3ee00000{
no-map;
reg = <0x0 0x3ef00000 0x0 0x40000>;
};
rproc_1_dma_reserved: rproc@3ee40000 {
compatible = "shared-dma-pool";
no-map;
reg = <0x0 0x3ef40000 0x0 0x100000>;
};
};
zynqmp-rpu {
compatible = "xlnx,zynqmp-r5-remoteproc-1.0";
#address-cells = <2>;
#size-cells = <2>;
ranges;
core_conf = "split";
r5_0: r5@0 {
#address-cells = <2>;
#size-cells = <2>;
ranges;
memory-region = <&rproc_0_fw_reserved>, <&rproc_0_dma_reserved>;
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>;
};
};
r5_1: r5@1 {
#address-cells = <2>;
#size-cells = <2>;
ranges;
memory-region = <&rproc_1_fw_reserved>, <&rproc_1_dma_reserved>;
pnode-id = <0x8>;
mboxes = <&ipi_mailbox_rpu1 0>, <&ipi_mailbox_rpu1 1>;
mbox-names = "tx", "rx";
r5_1_tcm_a: tcm@ffe90000 {
reg = <0x0 0xFFE90000 0x0 0x10000>;
pnode-id = <0x11>;
};
r5_1_tcm_b: tcm@ffeb0000 {
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@ff90600 {
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>;
};
};
zynqmp_ipi2 {
compatible = "xlnx,zynqmp-ipi-mailbox";
interrupt-parent = <&gic>;
interrupts = <0 30 4>;
xlnx,ipi-id = <8>;
#address-cells = <1>;
#size-cells = <1>;
ranges;
/* APU<->RPU1 IPI mailbox controller */
ipi_mailbox_rpu1: mailbox@ff3f0b00 {
reg = <0xff3f0b00 0x20>,
<0xff3f0b20 0x20>,
<0xff3f0940 0x20>,
<0xff3f0960 0x20>;
reg-names = "local_request_region",
"local_response_region",
"remote_request_region",
"remote_response_region";
#mbox-cells = <1>;
xlnx,ipi-id = <2>;
};
};
};
*/
&i2c1 {
/* FIXME PL i2c via PCA9306 - u45 */
/* FIXME MSP430 - u41 - not detected */
i2c-mux@74 { /* u34 */
i2c@0 { /* i2c mw 74 0 1 */
/*
* IIC_EEPROM 1kB memory which uses 256B blocks
* where every block has different address.
* 0 - 256B address 0x54
* 256B - 512B address 0x55
* 512B - 768B address 0x56
* 768B - 1024B address 0x57
*/
eeprom: eeprom@54 { /* u23 */
compatible = "atmel,24c08";
reg = <0x54>;
};
};
};
};
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rebuild the device tree
Code Block theme Midnight petalinux-build -c device-tree
For RPU 0 (cortex_r5_0)
Proceed as documented in UG1186 to generate remote processor openamp applications with Xilinx SDK.
RPU 0 is also used by default for the pre-built applications provided with Petalinux BSPs.
...
Note: The order in which you start the RPU determines which /dev/rpmsgX device is being used with that RPU.
In the above case /dev/rpmsg0 is used for RPU-0.
If however RPU-1 was started first, it would have been associated with /dev/rpmsg0 and RPU-0 would have been using /dev/rpmsg1.
ZynqMP Linux Master running on APU with RPMsg in userspace and 2 RPU slaves.
- Add following device tree content to <petalinux project>/project-spec/meta-user/recipes-bsp/device-tree/file/system-user.dtsi
...
2. Enable the OpenAMP and libmetal packages with "petalinux-config -c rootfs":
| Code Block | ||
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Filesystem Packages --->
libs --->
libmetal --->
[*] libmetal
open-amp --->
[*] open-amp
|
...
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root@xilinx-zcu102-2019_2:~# linux_proxy_userspace_to_r5_1.elf metal: info: metal_uio_dev_open: No IRQ for device 3ef00000.vring. metal: iInitializating I/Os redirection... nfo: metal_uio_dev_open: No IRQ for device 3ef00000.vring. metal: info: metal_uio_dev_open: No IRQ for device 3ef40000.shm. Master> Remote proc resource initialized. Master> RPMSG channel has created. Remote>Baremetal Remote Procedure Call (RPC) Demonstration |
ZynqMP Linux Master running on APU with RPMsg in kernel space and one RPU slave.
When running with RPU in split mode and only one RPU is an OpenAMP slave, the second RPU can still run another non-openamp application.
- RPU-0 slave:
- Petalinux BSPs provide a default template to generate a DTB with support for OpenAMP running on RPU-0, see:
- <petalinux project>/project-spec/meta-usr/recipes-bsp/device-tree/files/openamp-overlay.dtsi >
- Add its content to file <petalinux project>/project-spec/meta-user/recipes-bsp/device-tree/file/system-user.dtsi
- Petalinux BSPs provide a default template to generate a DTB with support for OpenAMP running on RPU-0, see:
- RPU-1 slave:
- Proceed as for the two RPU configuration above and edit your device tree to remove the unused 'zynmp_r5_rproc' entry and associated nodes (tcm, pd,...) that may not be needed any more.
ZynqMP Linux Master running on APU Linux loads OpenAMP RPU Firmware
Overview
The information below is intended to provide guidance to users who wish to set up a Linux on APU + Bare-metal/RTOS on RPU. This configuration relies on the FSBL to start the software running on the APU, and then APU Linux using remoteproc will load the RPU.
...
- copy firmware (.elf file) into project-spec/meta-user/recipes-apps/<app_name>/files/ directory
- Modify the project-spec/meta-user/recipes-apps/<app_name>/<app_name>.bb to install the remote processor firmware in the RootFS as follows:
| Code Block | ||
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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>
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...
- Run Linux application
- Stop firmware
ZynqMP Linux loads RPU, Linux OpenAMP Application talks to RPU OpenAMP Application
Overview
Setting up Remote Firmware
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echo stop > /sys/class/remoteproc/remoteproc0/state |
ZynqMP on APU Linux communicate with RPU via Shared Memory without OpenAMP
Overview
The information below is intended to provide guidance to users who wish to set up a Linux + Bare-metal,RTOS, etc. We make the assumption that the Linux and RPU will communicate via Shared Memory. IPI can be used to further coordinate communication between processors. The use of IPI is documented in the section titled
...