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  1. Create a PetaLinux application 

    Code Block
    $ petalinux-create -t apps --template install -n freertos-hello-world-r50 --enable

  2. Replace the default application installed by the template with the freertos_hello_world elf built in Xilinx Vitis for the R5-0 processor into the project-spec/meta-user/recipes-apps/freertos-hello-world-r50/files/ folder.

    Code Block
    cp <vitis-app-proj>/Debug/freertos_hello_world_r50.elf <plnx-proj-root>/project-spec/meta-user/recipes-apps/freertos-hello-world-r50/files/

  3. Modify the recipe for the application to include the RPU firmware ELF built in Vitis into the the rootfs.

    Code Block
    $ vim project-spec/meta-user/recipes-apps/freertos-hello-world-r50/freertos-hello-world-r50.bb
#
# This file is the freertos-hello-world-r50 recipe.
#
 
SUMMARY = "Simple freertos-hello-world-r50 application"
SECTION = "PETALINUX/apps"
LICENSE = "MIT"
LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/MIT;md5=0835ade698e0bcf8506ecda2f7b4f302"
 
SRC_URI = "file://freertos_hello_world_r50.elf"
 
S = "${WORKDIR}"
INSANE_SKIP_${PN} = "arch"
 
do_install() {
         install -d ${D}/lib/firmware
         install -m 0644 ${S}/freertos_hello_world_r50.elf ${D}/lib/firmware/freertos_hello_world_r50.elf
}
 
FILES_${PN} = "/lib/firmware/freertos_hello_world_r50.elf"

  4. Copy the contents of the openamp.dtsi from <plnx-proj>/project-spec/meta-user/recipes-bsp/device-tree/files into the system-user.dtsi. Please see the dtsi below for reference. NOTE: the node entry for rproc_0_reserved has the same memory region as the one carved out in the lscript.ld in the Vitis application.

    1. system-user.dtsi for 2020.2

      Code Block
      /include/ "system-conf.dtsi"
/ {
};
/ {
	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 = <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>;
			};
		};
	};

	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>;
		};
	};
};

    2. system-user.dtsi for 2021.1

      Code Block
      /include/ "system-conf.dtsi"
/ {
	reserved-memory {
		#address-cells = <2>;
		#size-cells = <2>;
		ranges;
		rproc_0_reserved: rproc@3ed00000 {
			no-map;
			reg = <0x0 0x3ed00000 0x0 0x40000>;
		};
		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_1_reserved: rproc@3ef00000 {
			no-map;
			reg = <0x0 0x3ef00000 0x0 0x40000>;
		};
		rpu1vdev0vring0: rpu1vdev0vring0@3ef40000 {
			no-map;
			reg = <0x0 0x3ef40000 0x0 0x4000>;
		};
		rpu1vdev0vring1: rpu1vdev0vring1@3ef44000 {
			no-map;
			reg = <0x0 0x3ef44000 0x0 0x4000>;
		};
		rpu1vdev0buffer: rpu1vdev0buffer@3ef48000 {
			no-map;
			compatible = "shared-dma-pool";
			reg = <0x0 0x3ef48000 0x0 0x100000>;
			};
	};

	tcm_0a@ffe00000 {
		no-map;
		reg = <0x0 0xffe00000 0x0 0x10000>;
		phandle = <0x40>;
		status = "okay";
		compatible = "mmio-sram";
	};

	tcm_0b@ffe20000 {
		no-map;
		reg = <0x0 0xffe20000 0x0 0x10000>;
		phandle = <0x41>;
		status = "okay";
		compatible = "mmio-sram";
	};

	tcm_0a@ffe90000 {
		no-map;
		reg = <0x0 0xffe90000 0x0 0x10000>;
		phandle = <0x42>;
		status = "okay";
		compatible = "mmio-sram";
	};

	tcm_0b@ffeb0000 {
		no-map;
		reg = <0x0 0xffeb0000 0x0 0x10000>;
		phandle = <0x43>;
		status = "okay";
		compatible = "mmio-sram";
	};

	rf5ss@ff9a0000 {
		compatible = "xlnx,zynqmp-r5-remoteproc";
		#address-cells = <0x2>;
		#size-cells = <0x2>;
		ranges;
		xlnx,cluster-mode = <1>;
		reg = <0x0 0xff9a0000 0x0 0x10000>;

		r5f_0 {
			compatible = "xilinx,r5f";
			#address-cells = <0x2>;
			#size-cells = <0x2>;
			ranges;
			sram = <0x40 0x41>;
			memory-region = <&rproc_0_reserved>, <&rpu0vdev0buffer>, <&rpu0vdev0vring0>, <&rpu0vdev0vring1>;
			power-domain = <0x18110005>;
			mboxes = <&ipi_mailbox_rpu0 0>, <&ipi_mailbox_rpu0 1>;
			mbox-names = "tx", "rx";
		};
		r5f_1 {
			compatible = "xilinx,r5f";
			#address-cells = <0x2>;
			#size-cells = <0x2>;
			ranges;
			sram = <0x42 0x43>;
			memory-region = <&rproc_1_reserved>, <&rpu1vdev0buffer>, <&rpu1vdev0vring0>, <&rpu1vdev0vring1>;
			power-domain = <0x18110006>;
			mboxes = <&ipi_mailbox_rpu1 0>, <&ipi_mailbox_rpu1 1>;
			mbox-names = "tx", "rx";
		};
	};

	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>;
			reg-names = "local_request_region",
				    "local_response_region",
				    "remote_request_region",
				    "remote_response_region";
			#mbox-cells = <1>;
			xlnx,ipi-id = <4>;
		};
	};
};

&amba {
        zyxclmm_drm {
                compatible = "xlnx,zocl-versal";
        };
};

  5. Build the PetaLinux project and package the BOOT.bin

    Code Block
    $ petalinux-build
$ petalinux-package --boot --plm --psmfw --u-boot --dtb

Running the firmware

...

SD Booting

  • Version 2020.2

From your <plnx-proj-root>/images/linux folder, copy the BOOT.bin, image.ub and boot.scr to the SD card.

...

Code Block
PetaLinux 2020.2 xilinx-vck190-es1-2020_2 /dev/ttyAMA0

xilinx-vck190-es1-2020_2 login: root
Password: 
root@xilinx-vck190-es1-2020_2:~# lsmod
    Tainted: G  
zocl 126976 0 - Live 0xffff800008c20000 (O)
zynqmp_r5_remoteproc 20480 0 - Live 0xffff800008c40000
root@xilinx-vck190-es1-2020_2:~# echo stop > /sys/class/remoteproc/remoteproc0/state
[   96.037285] remoteproc remoteproc0: stopped remote processor r5@0
root@xilinx-vck190-es1-2020_2:~# cd /lib/firmware/
root@xilinx-vck190-es1-2020_2:/lib/firmware# ls
aie                           freertos_hello_world_r50.elf
root@xilinx-vck190-es1-2020_2:/lib/firmware# echo pm_request_node 0x18224024 0x7 0x64 0 > /sys/kernel/debug/zynqmp-firmware/pm
root@xilinx-vck190-es1-2020_2:/lib/firmware# echo freertos_hello_world_r50.elf > /sys/class/remoteproc/remoteproc0/firmware 
root@xilinx-vck190-es1-2020_2:/lib/firmware# echo start > /sys/class/remoteproc/remoteproc0/state
[  159.487837] remoteproc remoteproc0: powering up r5@0
[  159.491488] remoteproc remoteproc0: Booting fw image freertos_hello_world_r50.elf, size 629284
[  159.692086] remoteproc remoteproc0: header-less resource table
[  159.693294] remoteproc remoteproc0: header-less resource table
[  159.693643]  r5@0: RPU boot from TCM.
[  159.709198] remoteproc remoteproc0: remote processor r5@0 is now up
Hello from Freertos example main
root@xilinx-vck190-es1-2020_2:/lib/firmware# Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Successfully ran FreeRTOS Hello World Example

Booting using QEMU

In 2021.1, package the rootfs into the qemu_boot.img

Code Block
$ petalinux-package --boot --u-boot --qemu-rootfs images/linux/rootfs.cpio.gz.u-boot --force
$ petalinux-boot --qemu --kernel

Snippet of qemu boot console

Code Block
root@xilinx-vck190-2021_1:~# lsmod
    Tainted: G  
zocl 151552 0 - Live 0xffff800008d8a000 (O)
zynqmp_r5_remoteproc 16384 0 - Live 0xffff800008d80000
uio_pdrv_genirq 16384 0 - Live 0xffff800008d85000
root@xilinx-vck190-2021_1:~# cd /lib/firmware/
root@xilinx-vck190-2021_1:/lib/firmware# ls
freertos_hello_world.elf
root@xilinx-vck190-2021_1:/lib/firmware# echo freertos_hello_world.elf > /sys/class/remoteproc/remoteproc0/firmware 
root@xilinx-vck190-2021_1:/lib/firmware# echo start > /sys/class/remoteproc/remoteproc0/state
[   95.947112] remoteproc remoteproc0: powering up ff9a0000.rf5ss:r5f_0
[   95.953763] remoteproc remoteproc0: Booting fw image freertos_hello_world.elf, size 913976
[   96.022718] remoteproc remoteproc0: header-less resource table
[   96.023252] remoteproc remoteproc0: no resource table found.
[   96.025618] remoteproc remoteproc0: header-less resource table
[   96.146313] remoteproc remoteproc0: remote processor ff9a0000.rf5ss:r5f_0 is now up
Hello from Freertos example main
root@xilinx-vck190-2021_1:/lib/firmware# Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Successfully ran FreeRTOS Hello World Example

...