This article will discuss the steps needed to download and compile a Bootable (SD) Linux Image for the ZCU102 using the OSL flow.
The recommended flow for building a Linux system is to use the Petalinux tools. However, this article offers an alternative for users that want full visibility into the Image.
This assumes that the users has downloaded Vitis (used to by the devcetree generator). I have structured this wiki in a way that users can copy this into their Makefile for ease of use. However, users will need to be careful of the makefile syntax while copy and pasting.
Some steps are duplicated. For example, the cross_compile steps. This is intentional to allow the users to build each image in isolation. However, users must use the same tag, as there are dependencies between pmufw and atf for example.
NOTE: If building on an Ubuntu (or derivative machine), ensure that the default shell has been changed from Dash to Bash. Compiling in Dash may result in syntax errors within the Makefile that will prevent the code from compiling.
SHELL := /bin/bash TOOLS ?= /proj/gsd/vivado/Vitis VERSION ?= 2020.2 BOARD ?= ZCU102 |
Note: Make sure that the tools patch point to your relevant install on your machine
get_sources: if [ ! -d "./bootgen" ];then \ git clone https://github.com/Xilinx/bootgen; \ $(MAKE) -C bootgen; \ fi if [ ! -d "./linux-xlnx" ];then \ git clone https://github.com/Xilinx/linux-xlnx; \ cd linux-xlnx && git checkout xilinx-v$(VERSION); \ fi if [ ! -d "./repo" ];then \ mkdir -p repo/my_dtg; \ cd repo/my_dtg && git clone https://github.com/Xilinx/device-tree-xlnx; \ cd device-tree-xlnx && git checkout xilinx-v$(VERSION); \ fi if [ ! -d "./u-boot-xlnx" ];then \ git clone https://github.com/Xilinx/u-boot-xlnx; \ cd u-boot-xlnx && git checkout xilinx-v$(VERSION); \ fi if [ ! -d "./arm-trusted-firmware" ];then \ git clone https://github.com/Xilinx/arm-trusted-firmware; \ cd arm-trusted-firmware && git checkout xilinx-v$(VERSION); \ fi if [ ! -d "./dtc" ];then \ git clone https://git.kernel.org/pub/scm/utils/dtc/dtc.git; \ $(MAKE) -C dtc; \ fi if [ ! -d "./embeddedsw" ];then \ git clone https://github.com/Xilinx/embeddedsw; \ cd embeddedsw && git checkout xilinx-v$(VERSION); \ fi |
Create, or append the proc below to your xsct_script.tcl
proc fsbl {args} { set board 0 for {set i 0} {$i < [llength $args]} {incr i} { if {[lindex $args $i] == "-board"} { set board [string toupper [lindex $args [expr {$i + 1}]]] } } set xsa [glob -nocomplain -directory [pwd] -type f *.xsa *.hdf] hsi::open_hw_design $xsa if {[file isdirectory embeddedsw]} { puts "INFO: Adding embeddedsw repo" hsi::set_repo_path ./embeddedsw } set fsbl_design [hsi::create_sw_design fsbl_1 -proc psu_cortexa53_0 -app zynqmp_fsbl] if {$board != 0} { common::set_property -name APP_COMPILER_FLAGS -value "-DXPS_BOARD_${board}" -objects $fsbl_design } hsi::generate_app -dir zynqmp_fsbl -compile hsi::close_hw_design [hsi::current_hw_design] } |
Note: if you have a development board such as the ZCU102, then you can pass this as a symbol to the compiler
Then call this from your Makefile:
fsbl: $(RM) -r zynqmp_fsbl $(TOOLS)/$(VERSION)/bin/xsct -eval "source xsct_script.tcl; fsbl -board $(BOARD)" |
If users want to make modifications to the FSBL then they can do this in the embeddedsw/lib/sw_apps/zynqmp_fsbl/src. Or, if a valid patch then apply this to embeddedsw
Create, or append the proc below to your xsct_script.tcl
proc pmufw {} { set xsa [glob -nocomplain -directory [pwd] -type f *.xsa *.hdf] hsi::open_hw_design $xsa if {[file isdirectory embeddedsw]} { puts "INFO: Adding embeddedsw repo" hsi::set_repo_path ./embeddedsw } hsi::generate_app -app zynqmp_pmufw -proc psu_pmu_0 -dir zynqmp_pmufw -compile hsi::close_hw_design [hsi::current_hw_design] } |
Then call this from your Makefile:
pmufw: $(RM) -r zynqmp_pmufw $(TOOLS)/$(VERSION)/bin/xsct -eval "source xsct_script.tcl; pmufw" |
If users want to make modifications to the PMUFW then they can do this in the embeddedsw/lib/sw_apps/zynqmp_pmufw/src. Or, if a valid patch then apply this to embeddedsw
atf: $(MAKE) -C arm-trusted-firmware clean source $(TOOLS)/$(VERSION)/settings64.sh; \ export CROSS_COMPILE=aarch64-none-elf-; \ cd arm-trusted-firmware; \ $(MAKE) -f Makefile DEBUG=0 PLAT=zynqmp bl31 |
Note: If users want to debug (ie use the symbols) the ATF in Vitis, then set the DEBUG=1. This will place the ATF in DDR at 0x1000. For more info see the ATF wiki here
uboot: $(MAKE) -C u-boot-xlnx clean source $(TOOLS)/$(VERSION)/settings64.sh; \ export CROSS_COMPILE=aarch64-linux-gnu-; \ export ARCH=aarch64; \ export CC=aarch64-linux-gnu-gcc; \ export PATH=$$PATH:$(shell pwd)/dtc; \ cd u-boot-xlnx; \ $(MAKE) xilinx_zynqmp_virt_defconfig; \ $(MAKE) -f Makefile all -j 32 |
Note: If users want to debug (ie use the symbols) the u-boot in Vitis, then use the u-boot (renamed u-boot.elf) in the boot image.
kernel: $(MAKE) -C linux-xlnx clean source $(TOOLS)/$(VERSION)/settings64.sh; \ export CROSS_COMPILE=aarch64-linux-gnu-; \ export ARCH=arm64; \ export CC=aarch64-linux-gnu-gcc; \ cd linux-xlnx; \ $(MAKE) -f Makefile xilinx_zynqmp_defconfig; \ $(MAKE) -f Makefile all -j 32; \ $(MAKE) -f Makefile modules_install INSTALL_MOD_PATH=. |
proc build_dts {args} { set board 0 set version 2020.2 for {set i 0} {$i < [llength $args]} {incr i} { if {[lindex $args $i] == "-board"} { set board [string tolower [lindex $args [expr {$i + 1}]]] } if {[lindex $args $i] == "-version"} { set version [string toupper [lindex $args [expr {$i + 1}]]] } } set xsa [glob -nocomplain -directory [pwd] -type f *.xsa] hsi::open_hw_design $xsa hsi::set_repo_path ./repo hsi::create_sw_design device-tree -os device_tree -proc psu_cortexa53_0 hsi::generate_target -dir my_dts hsi::close_hw_design [hsi::current_hw_design] if {$board != 0} { foreach lib [glob -nocomplain -directory repo/my_dtg/device-tree-xlnx/device_tree/data/kernel_dtsi/${version}/include/dt-bindings -type d *] { if {![file exists my_dts/include/dt-bindings/[file tail $lib]]} { file copy -force $lib my_dts/include/dt-bindings } } set dtsi_files [glob -nocomplain -directory repo/my_dtg/device-tree-xlnx/device_tree/data/kernel_dtsi/${version}/BOARD -type f *${board}*] if {[llength $dtsi_files] != 0} { file copy -force [lindex $dtsi_files end] my_dts set fileId [open my_dts/system-user.dtsi "w"] puts $fileId "/include/ \"[file tail [lindex $dtsi_files end]]\"" puts $fileId "/ {" puts $fileId "};" close $fileId } else { puts "Info: Board file: $board is not found and will not be added to the system-top.dts" } } } |
If there is a valid board found, then it will added to dtsi files. Then we can call this from our Makefile:
build_dts: $(RM) -r my_dts $(TOOLS)/$(VERSION)/bin/xsct -eval "source xsct_script.tcl; build_dts -version $(VERSION) -board $(BOARD)" |
build_dtb: $(RM) -r system.dtb export PATH=$$PATH:$(shell pwd)/dtc; \ gcc -I my_dts -E -nostdinc -undef -D__DTS__ -x assembler-with-cpp -o my_dts/system-top.dts.tmp my_dts/system-top.dts; \ dtc -I dts -O dtb -o system.dtb my_dts/system-top.dts.tmp |
Note: Users can add the symbols by adding the -@ switch here. The symbols are added by default in petalinux
the_ROM_image: { [fsbl_config] a53_x64 [bootloader, destination_cpu=a53-0] zynqmp_fsbl/executable.elf [pmufw_image] zynqmp_pmufw/executable.elf [destination_device=pl] design_1_wrapper.bit [destination_cpu=a53-0, load=0x00100000] system.dtb [destination_cpu=a53-0,exception_level=el-3,trustzone] arm-trusted-firmware/build/zynqmp/release/bl31/bl31.elf [destination_cpu=a53-0,exception_level=el-2] u-boot-xlnx/u-boot.elf } |
bootimage: export PATH=$$PATH:$(shell pwd)/bootgen; \ bootgen -arch zynqmp -image bootgen.bif -w -o BOOT.BIN |
There are released images for all Xilinx development boards. I will extract the rootfs from the image.ub here using dumpimage utility:
extract_rootfs: tar xvf $(VERSION)-$(BOARD)-release.tar.xz ./u-boot-xlnx/tools/dumpimage -T flat_dt -p 2 $(VERSION)-$(BOARD)-release/image.ub -o petalinux-image-minimal-zynqmp-generic.cpio.gz |
/dts-v1/; / { description = "U-Boot fitImage for plnx_aarch64 kernel"; #address-cells = <1>; images { kernel@0 { description = "Linux Kernel"; data = /incbin/("./linux-xlnx/arch/arm64/boot/Image"); type = "kernel"; arch = "arm64"; os = "linux"; compression = "none"; load = <0x80000>; entry = <0x80000>; hash@1 { algo = "sha1"; }; }; fdt@0 { description = "Flattened Device Tree blob"; data = /incbin/("./system.dtb"); type = "flat_dt"; arch = "arm64"; compression = "none"; hash@1 { algo = "sha1"; }; }; ramdisk@0 { description = "ramdisk"; data = /incbin/("./petalinux-user-image-plnx_aarch64.cpio.gz"); type = "ramdisk"; arch = "arm64"; os = "linux"; compression = "none"; hash@1 { algo = "sha1"; }; }; }; configurations { default = "conf@1"; conf@1 { description = "Boot Linux kernel with FDT blob + ramdisk"; kernel = "kernel@0"; fdt = "fdt@0"; ramdisk = "ramdisk@0"; hash@1 { algo = "sha1"; }; }; conf@2 { description = "Boot Linux kernel with FDT blob"; kernel = "kernel@0"; fdt = "fdt@0"; hash@1 { algo = "sha1"; }; }; }; }; |
fit_image: export PATH=$$PATH:$(shell pwd)/dtc; \ ./u-boot-xlnx/tools/mkimage -f fitimage.its image.ub |