Below are information to complement and clarify UG1186 "Getting Started Guide" for Zynq UltraScale+ MPSoC.

Table of Contents


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.
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.
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"

Docs and source code:

Documents:


URLs to source code:


Xilinx Openamp related code:

The following location provide access to the code:

e.g for main components:



OpenAMP framework OSS:


FAQ:

RM_WORK_EXCLUDE += "openamp-fw-echo-testd openamp-fw-mat-muld openamp-fw-rpc-demo"


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:
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.
RPU 0 is also used by default for the pre-built applications provided with Petalinux BSPs.

Building remote processor demo applications to run on RPU 1 (cortex_r5_1) with Xilinx SDK
Remote processor applications (echo_test, matrix multiply, rpc demo) code is by default set to run with RPU 0 and need to be slightly modified for RPU-1.
When RPU-1 is selected in Xilinx SDK, the code generated need to be modified as follow:
Example: Running two echo_test application concurrently on Linux, each communicating to one RPU
  1. Use Petalinux to build/boot your target and then login to Linux console serial port.
  2. If you haven't added the remote processor firmware applications to your Linux root filesystem (see UG1186 ch. 3) you can tftp them in the target directory /lib/firmware

  3. Check remoteproc driver is already loaded (normally it is if your device tree is properly configured):

    root@plnx_aarch64:/lib/firmware# lsmod
    Tainted: G  
virtio_rpmsg_bus 20480 0 - Live 0xffffff800098e000
rpmsg_core 16384 1 virtio_rpmsg_bus, Live 0xffffff800097c000
zynqmp_r5_remoteproc 16384 0 - Live 0xffffff800096a000
remoteproc 40960 1 zynqmp_r5_remoteproc, Live 0xffffff8000959000
virtio 16384 2 virtio_rpmsg_bus,remoteproc, Live 0xffffff8000951000
virtio_ring 20480 2 virtio_rpmsg_bus,remoteproc, Live 0xffffff8000948000
uio_pdrv_genirq 16384 0 - Live 0xffffff8000940000


  4. Load rpmsg_user_dev_driver LKM:

    root@plnx_aarch64:/lib/firmware# modprobe rpmsg_user_dev_driver


  5. Start RPU-0:

    root@plnx_aarch64:/lib/firmware# echo image_echo_test_r5_0 > /sys/class/remoteproc/remoteproc0/firmware
root@plnx_aarch64:/lib/firmware#
root@plnx_aarch64:/lib/firmware# echo start > /sys/class/remoteproc/remoteproc0/state
root@plnx_aarch64:/lib/firmware#
[70982.961635] remoteproc remoteproc0: powering up ff9a0100.zynqmp_r5_rproc
[70982.971366] remoteproc remoteproc0: Booting fw image image_echo_test_r5_0, size 638724
[70982.985672] virtio_rpmsg_bus virtio0: rpmsg host is online
[70982.993691] remoteproc remoteproc0: registered virtio0 (type 7)
[70983.002197] zynqmp_r5_remoteproc ff9a0100.zynqmp_r5_rproc: RPU boot from TCM.
[7Starting application...
Try to init remoteproc resource
Init remoteproc resource succeeded
Waiting for events...
0983.012367] remoteproc remoteproc0: remote processor ff9a0100.zynqmp_r5_rproc is now up
[70983.032821] virtio_rpmsg_bus virtio0: creating channel rpmsg-openamp-demo-channel addr 0x1
[70983.043731] rpmsg_user_dev_driver virtio0:rpmsg-openamp-demo-channel: rpmsg_user_dev_rpmsg_drv_probe
root@plnx_aarch64:/lib/firmware# [70983.055535] rpmsg_user_dev_driver virtio0:rpmsg-openamp-demo-channel: new channel: 0x400 -> 0x1!



  6. Start RPU-1:

    root@plnx_aarch64:/lib/firmware# echo image_echo_test_r5_1 > /sys/class/remoteproc/remoteproc1/firmware
root@plnx_aarch64:/lib/firmware#
root@plnx_aarch64:/lib/firmware# echo start > /sys/class/remoteproc/remoteproc1/ 
[71185.157615] remoteproc remoteproc1: powering up ff9a0200.zynqmp_r5_rproc
[71185.167453] remoteproc remoteproc1: Booting fw image image_echo_test_r5_1, size 639140
[71185.182180] virtio_rpmsg_bus virtio1: rpmsg host is online
[71185.190226] remoteproc remoteproc1: registered virtio1 (type 7)
[71185.198724] zynqmp_r5_remoteproc ff9a0200.zynqmp_r5_rproc: RPU boot from TCM.
[7Starting application...
Try to init remoteproc resource
Init remoteproc resource succeeded
Waiting for events...
1185.208915] remoteproc remoteproc1: remote processor ff9a0200.zynqmp_r5_rproc is now up
[71185.229420] virtio_rpmsg_bus virtio1: creating channel rpmsg-openamp-demo-channel addr 0x1
[71185.240367] rpmsg_user_dev_driver virtio1:rpmsg-openamp-demo-channel: rpmsg_user_dev_rpmsg_drv_probe
root@plnx_aarch64:/lib/firmware# [71185.252200] rpmsg_user_dev_driver virtio1:rpmsg-openamp-demo-channel: new channel: 0x400 -> 0x1!


  7. Run echo_test Linux application with RPU-0 using either the serial port or other telnet or ssh connection:

    root@plnx_aarch64:/lib/firmware# echo_test
 Echo test start 
 Open rpmsg dev! 
[71507.962881] rpmsg_user_dev_driver virtio0:rpmsg-openamp-demo-channel: Sent init_msg to target 0x1.
 **************************************** 
 Please enter command and press enter key
 **************************************** 
 1 - Send data to remote core, retrieve the echo and validate its integrity .. 
 2 - Quit this application .. 
 CMD>


  8. Run a concurrent echo_test Linux application with RPU-1 using another connection (telnet, ssh...):

    root@plnx_aarch64:/lib/firmware# echo_test -d /dev/rpmsg1 
 Echo test start 
 Open rpmsg dev! 
 **************************************** 
 Please enter command and press enter key
 **************************************** 
 1 - Send data to remote core, retrieve the echo and validate its integrity .. 
 2 - Quit this application .. 
 CMD>


    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 kernel space and only one RPU slave or RPU in lockstep.


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.





ZynqMP Linux Master running on APU with RPMsg in kernel space, APU boots RPU and then later APU restart while RPU keeps running

In this use case, APU boots first into Linux, then boots the remote processor firmware on RPU with remoteproc.
The APU subsystem is then restarted while the RPU firmware keeps running.
After APU is restarted, you try to load the RPU firmware with remoteproc, this one then check:
Configure and Build PetaLinux
Building remote processor demo applications with Xilinx SDK
Proceed as documented in UG1186 to generate remote processor openamp applications with Xilinx SDK.
For this example we use the "echo test" demo for RPU-0, and we want it to ignore APU requests to shutdown generated on reboot by rpmsg_user_dev_driver LKM.
Modify echo_test.c and comment out the 'break' that is being called in the main while loop when 'evt_chnl_deleted' is received.
        /* we got a shutdown request, exit */
        if (evt_chnl_deleted) {
            //break;
        }

Running the demo step-by-step:

ZynqMP Linux Master running on APU Linux loads arbitrary RPU Firmware


Overview

The information below is intended to provide guidance to users who wish to set up a Linux + Bare-metal,RTOS, etc.This configuration relies on the FSBL to start the software running on the APU, and then APU Linux using remoteproc will load the RPU.

To Boot RPU Firmware via APU with Linux

These instructions assume the user has already generated firmware for the RPU and that the user is using Petalinux to create their embedded Linux solution.

1. As directed in User Guide 1186 Chapter 3, create an application inside of the Petalinux project to install the firmware into the Linux host's file system in /lib/firmware.
If creating a new application with the SDK, you may need to update the linker script DDR address to match the DTS address below (0x3ed00000).
2. Modify the device tree at project-spec/meta-user/recipes-bsp/device-tree/files/system-user.dtsi. For example:
/ {
    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 0xff340000 0 0x100>, <0x0 0xff9a0000 0 0x100>;
            reg-names = "rpu_base", "ipi", "rpu_glbl_base";
            dma-ranges;
            core_conf = "split0";
 
            /* Specify the firmware memories here */
            sram_0 = <&&r5_0_tcm_a>;
            sram_1 = <&&r5_0_tcm_b>;
            sram_2 = <&&elf_ddr_0>;
            pd-handle = <&&pd_r5_0>;
            interrupt-parent = <&&gic>;
            interrupts = <0 29 4>;
 
        } ;
    };
};
3. Run the following to build your petalinux project.
petalinux-build
4. After booting the Petalinux project, run the following to boot the RPU firmware onto RPU.
echo <name of firmware> > /sys/class/remoteproc/remoteproc0/firmware
echo start > /sys/class/remoteproc/remoteproc0/state