This page includes information to complement and clarify UG1186 "Getting Started Guide" for 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 tarball to sdcard

Code Block

theme	Midnight

host shell$ tar xvf xilinx-zcu102-v2018.3-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

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...
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
...

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-v2018.3
- OpenAMP Library and Demonstration code
https://github.com/Xilinx/libmetal/tree/xilinx-v2018.3
- Libmetal Library and Demonstration code
https://github.com/Xilinx/meta-openamp/tree/rel-v2018.3
- Yocto recipe to build OpenAMP and Libmetal
https://github.com/Xilinx/linux-xlnx/tree/xilinx-v2018.3
- Xilinx version of Linux kernel
https://github.com/Xilinx/embeddedsw/tree/xilinx-v2018.3
- 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

theme	Midnight

/ {
    reserved-memory {
        #address-cells = <2>;
        #size-cells = <2>;
        ranges;
        rproc_0_reserved: rproc@3ed00000 {
            no-map;
            reg = <0x0 0x3ed00000 0x0 0x1000000>;
        };
    };
 
    power-domains {
        pd_r5_0: pd_r5_0 {
            #power-domain-cells = <0x0>;
            pd-id = <0x7>;
        };
        pd_r5_1: pd_r5_1 {
            #power-domain-cells = <0x0>;
            pd-id = <0x8>;
        };
        pd_tcm_0_a: pd_tcm_0_a {
            #power-domain-cells = <0x0>;
            pd-id = <0xf>;
        };
        pd_tcm_0_b: pd_tcm_0_b {
            #power-domain-cells = <0x0>;
            pd-id = <0x10>;
        };
        pd_tcm_1_a: pd_tcm_1_a {
            #power-domain-cells = <0x0>;
            pd-id = <0x11>;
        };
        pd_tcm_1_b: pd_tcm_1_b {
            #power-domain-cells = <0x0>;
            pd-id = <0x12>;
        };
    };
 
    amba {
        r5_0_tcm_a: tcm@ffe00000 {
            compatible = "mmio-sram";
            reg = <0 0xFFE00000 0x0 0x10000>;
            pd-handle = <&pd_tcm_0_a>;
        };
        r5_0_tcm_b: tcm@ffe20000 {
            compatible = "mmio-sram";
            reg = <0 0xFFE20000 0x0 0x10000>;
            pd-handle = <&pd_tcm_0_b>;
        };
        r5_1_tcm_a: tcm@ffe90000 {
            compatible = "mmio-sram";
            reg = <0 0xFFE90000 0x0 0x10000>;
            pd-handle = <&pd_tcm_1_a>;
        };
        r5_1_tcm_b: tcm@ffe92000 {
            compatible = "mmio-sram";
            reg = <0 0xFFEB0000 0x0 0x10000>;
            pd-handle = <&pd_tcm_1_b>;
        };
 
        elf_ddr_0: ddr@3ed00000 {
            compatible = "mmio-sram";
            reg = <0 0x3ed00000 0x0 0x40000>;
        };
 
        elf_ddr_1: ddr@3ed40000 {
            compatible = "mmio-sram";
            reg = <0 0x3ed40000 0x0 0x40000>;
        };
 
        test_r50: zynqmp_r5_rproc@0 {
            compatible = "xlnx,zynqmp-r5-remoteproc-1.0";
            reg = <0x0 0xff9a0100 0 0x100>, <0x0 0xff340000 0 0x100>, <0x0 0xff9a0000 0 0x100>;
            reg-names = "rpu_base", "ipi", "rpu_glbl_base";
            dma-ranges;
            core_conf = "split0";
            srams = <&r5_0_tcm_a &r5_0_tcm_b &elf_ddr_0>;
            pd-handle = <&pd_r5_0>;
            interrupt-parent = <&gic>;
            interrupts = <0 29 4>;
 
        } ;
 
        test_r51: zynqmp_r5_rproc@1 {
            compatible = "xlnx,zynqmp-r5-remoteproc-1.0";
            reg =<0x0 0xff9a0200 0 0x100>, <0x0 0xff340000 0 0x100>, <0x0 0xff9a0000 0 0x100>;
            reg-names = "rpu_base", "ipi", "rpu_glbl_base";
            dma-ranges;
            core_conf = "split1";
            srams = <&r5_1_tcm_a &r5_1_tcm_b &elf_ddr_1>;
            pd-handle = <&pd_r5_1>;
            interrupt-parent = <&gic>;
            interrupts = <0 29 4>;
 
        } ;
 
    };
};

rebuild the device tree
Code Block
theme Midnight
petalinux-build -c device-tree

Building remote processor demo applications with Xilinx SDK:
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.

...

Setting Device Tree
1. Add following device tree content to <petalinux project>/project-spec/meta-user/recipes-bsp/device-tree/file/system-user.dtsi

Code Block

theme	Midnight

/ {
	reserved-memory {
		#address-cells = <2>;
		#size-cells = <2>;
		ranges;
		rproc_0_reserved: rproc@3ed000000 {
			no-map;
			reg = <0x0 0x3ed00000 0x0 0x1000000>;
		};
	};

	amba {
		/* Shared memory (APU to RPU) */
		shm0: shm@0 {
			compatible = "shm";
			reg = <0x0 0x3ed20000 0x0 0x0100000>;
			/* reg = <0x0 0x3ed04000 0x0 0x0100000>; */
		};
		/* Shared memory on OCM (APU to RPU) */
		shm_ocm: shm_ocm@fffc0000 {
			compatible = "shm-ocm";
			reg = <0x0 0xfffc0000 0x0 0x10000>;
		};
		/* IPI device */
		ipi0: ipi@0 {
			compatible = "ipi_uio";
			reg = <0x0 0xff340000 0x0 0x1000>;
			interrupt-parent = <&gic>;
			interrupts = <0 29 4>;
		};
	};
};

&uart1 {
	status = "disabled";
};

2. Enable the OpenAMP and libmetal packages with "petalinux-config -c rootfs":

Code Block

theme	Midnight

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

Building Linux OpenAMP user space application with XSDK

Create Empty Application for Linux and for A53
- OS: Linux
- Processor: psu_cortexa53
- Linux sysroot: the sysroot from the Petalinux project:
  - <plnx proj>/build/tmp/sysroots/plnx_aarch_64
- Once project is built, select properties:
  - C/C++ Build --> Settings
    - Tool Settings Tab Libraries
      - Libaries (-l) add "metal" and "open_amp"
      - Miscellaneous
        in Linker Flags, add --sysroot=<plnx proj>/build/tmp/sysroots/plnx_aarch_64
- Copy the following files for OpenAMP application for ZynqMP into the directory:
  - platform_info.c, platform_info.h, rsc_table.c and rsc_table.h from here
  - helper.c from here
- And the Linux files for one of the three OpenAMP applications in the link:
  - OpenAMP echo-test
  - OpenAMP matrix multiplication Demo
  - OpenAMP RPC Demo

Install XSDK-built Linux applications in the Petalinux project
The Linux applications can be installed via a yocto recipe as follows:

Code Block

theme	Midnight

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

Building remote processor demo applications to run on RPU 0 (cortex_r5_0) with Xilinx SDK
Proceed as documented in UG1186 to generate remote processor openamp applications with Xilinx SDK.

...

Code Block

theme	Midnight

# Create yocto application inside of Petalinux project 
petalinux-create -t apps --template install -n <app_name> --enable

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

theme	Midnight

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>

Build Linux images with the "petalinux-build" command inside the PetaLinux project.

2. Modify the device tree at project-spec/meta-user/recipes-bsp/device-tree/files/system-user.dtsi. For example:

Code Block

theme	Midnight

/ {
reserved-memory {
#address-cells = <2>;
#size-cells = <2>;
ranges;
rproc_0_reserved: rproc@3ed000000 {
no-map;
/* DDR memory reserved for RPU firmware.
If you want to use predefined shared memory,
you should also reserved them here.
*/
reg = <0x0 0x3ed00000 0x0 0x1000000>;
};
};

power-domains {
/* For TCM memories, you will need specify the power domain
IDs. As APU will need to use the power domain ID to request
access through PMU FW.
*/
pd_r5_0: pd_r5_0 {
#power-domain-cells = <0x0>;
pd-id = <0x7>;
};
pd_tcm_0_a: pd_tcm_0_a {
#power-domain-cells = <0x0>;
pd-id = <0xf>;
};
pd_tcm_0_b: pd_tcm_0_b {
#power-domain-cells = <0x0>;
pd-id = <0x10>;
};

};

amba {
/* You will need to specify the firmware memory as "mmio-sram". */
r5_0_tcm_a: tcm@ffe00000 {
compatible = "mmio-sram";
reg = <0 0xFFE00000 0x0 0x10000>;
pd-handle = <&pd_tcm_0_a>;
};
r5_0_tcm_b: tcm@ffe20000 {
compatible = "mmio-sram";
reg = <0 0xFFE20000 0x0 0x10000>;
pd-handle = <&pd_tcm_0_b>;
};

elf_ddr_0: ddr@3ed00000 {
compatible = "mmio-sram";
reg = <0 0x3ed00000 0x0 0x40000>;
};

test_r50: zynqmp_r5_rproc@0 {
compatible = "xlnx,zynqmp-r5-remoteproc-1.0";
reg = <0x0 0xff9a0100 0 0x100>, <0x0 0xff9a0000 0 0x100>;
reg-names = "rpu_base", "rpu_glbl_base";
dma-ranges;
core_conf = "split0";
/* Specify the firmware memories here */
srams = <&r5_0_tcm_a &r5_0_tcm_b &elf_ddr_0>;
pd-handle = <&pd_r5_0>;
} ;
};
};

3. Run the following to build your petalinux project.

...

Versions Compared

Old Version 9

New Version Current

Key

Table of Contents

Quick try!

Docs and source code:

Documents:

URLs to source code:

Xilinx Openamp and Libmetal related code:

Additional examples:

ZynqMP Linux Master running on APU with RPMsg in kernel space and 2 RPU slaves.

Page Comparison

Versions Compared

Old Version 9

New Version Current

Key

Table of Contents

Quick try!

Docs and source code:

Documents:

URLs to source code:

Xilinx Openamp and Libmetal related code:

Additional examples:

ZynqMP Linux Master running on APU with RPMsg in kernel space and 2 RPU slaves.