⚠️ This demo is based on PetaLinux 2024.1 release.

• PetaLinux Tools Documentation: Reference Guide (UG1144) (2024.1 English)

• Download 2024.1 PetaLinux Tools Installer & ZCU102 BSP: https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/embedded-design-tools/2024-1.html

• Switch to bash:

  1

  $ bash

• Set $SHELL to /bin/bash:

  1	$ export SHELL=/bin/bash

• Disable dash as the default system shell (/bin/sh):

  1	$ sudo dpkg-reconfigure dash

  • Select:

• Install PetaLinux Tools Installer:

  1 2	$ chmod u+x petalinux-v2024.1-05202009-installer.run $ ./petalinux-v2024.1-05202009-installer.run -d install

  • Installer will be installed to: ./install

• Source PetaLinux environments:

  1 2	$ cd ./install $ source settings.sh

• Create project from ZCU102 BSP:

  1 2	$ petalinux-create project -s xilinx-zcu102-v2024.1-05230256.bsp $ cd ./xilinx-zcu102-2024.1

  • The project will be created to: ./xilinx-zcu102-2024.1

• Build OpenAMP dtb:

  1	$ petalinux-config

  • Select configs:
    • DTG Settings → Enable openamp dtsi
    • Yocto Settings → Parallel thread execution → Set number of bb threads (BB_NUMBER_THREADS)
      • E.g. 8
  • PetaLinux project config is located at: ./project-spec/configs/config

• Enable OpenAMP and its examples in rootfs:

  1	$ petalinux-config -c rootfs

  • Select the configs:
    • Filesystem Packages → misc → openamp-fw-echo-testd
    • Filesystem Packages → misc → openamp-fw-mat-muld
    • Filesystem Packages → misc → openamp-fw-rpc-demo
    • Petalinux Package Groups → packagegroup-petalinux-openamp → packagegroup-petalinux-openamp

• Enable Linux Kernel debug info:

  1	$ petalinux-config -c kernel

  • Select the configs:
    • Kernel hacking → Kernel debugging
    • Kernel hacking → Compile-time checks and compiler options → Debug information → Rely on the toolchain’s implicit default DWARF version
    • General setup →Compiler optimization level → Optimize for size (-Os)
    • Device Drivers → Character devices → /dev/mem virtual device support

• If we want to build zynqmp_r5_remoteproc driver into kernel, instead of kernel module:

  • Select the configs:
    • Device Drivers → Remoteproc drivers → Support for Remote Processor subsystem → ZynqMP R5 remoteproc support, choose: y

• Build the project:

  1	$ nice -19 petalinux-build

• Boot QEMU with Linux kernel and rootfs we just built:

  1 2 3 4 5 6 7 8

  $ petalinux-boot qemu --kernel [INFO] Set QEMU tftp to "/tftpboot" [INFO] qemu-system-microblazeel -M microblaze-fdt -serial mon:stdio -serial /dev/null -display none -kernel /home/frank.chang/Projects/sifive/petalinux/2024.1/xilinx-zcu102-2024.1/images/linux/pmu_rom_qemu_sha3.elf -device loader,file=/home/frank.chang/Projects/sifive/petalinux/2024.1/xilinx-zcu102-2024.1/images/linux/pmufw.elf -hw-dtb /home/frank.chang/Projects/sifive/petalinux/2024.1/xilinx-zcu102-2024.1/images/linux/zynqmp-qemu-multiarch-pmu.dtb -machine-path /tmp/tmp29lts2le -device loader,addr=0xfd1a0074,data=0x1011003,data-len=4 -device loader,addr=0xfd1a007C,data=0x1010f03,data-len=4 & Image resized. [INFO] qemu-system-aarch64 -M arm-generic-fdt -serial mon:stdio -serial /dev/null -display none -device loader,file=/home/frank.chang/Projects/sifive/petalinux/2024.1/xilinx-zcu102-2024.1/images/linux/system.dtb,addr=0x100000,force-raw=on -device loader,file=/home/frank.chang/Projects/sifive/petalinux/2024.1/xilinx-zcu102-2024.1/images/linux/u-boot.elf -device loader,file=/home/frank.chang/Projects/sifive/petalinux/2024.1/xilinx-zcu102-2024.1/images/linux/Image,addr=0x200000,force-raw=on -device loader,file=/home/frank.chang/Projects/sifive/petalinux/2024.1/xilinx-zcu102-2024.1/images/linux/ramdisk.cpio.gz.u-boot,addr=0x4000000,force-raw=on -device loader,file=/home/frank.chang/Projects/sifive/petalinux/2024.1/xilinx-zcu102-2024.1/images/linux/bl31.elf,cpu-num=0 -drive if=sd,format=raw,index=1,file=/home/frank.chang/Projects/sifive/petalinux/2024.1/xilinx-zcu102-2024.1/images/linux/rootfs.ext4 -global xlnx,zynqmp-boot.cpu-num=0 -global xlnx,zynqmp-boot.use-pmufw=true -global xlnx,zynqmp-boot.drive=pmu-cfg -blockdev node-name=pmu-cfg,filename=/home/frank.chang/Projects/sifive/petalinux/2024.1/xilinx-zcu102-2024.1/images/linux/pmu-conf.bin,driver=file -hw-dtb /home/frank.chang/Projects/sifive/petalinux/2024.1/xilinx-zcu102-2024.1/images/linux/zynqmp-qemu-multiarch-arm.dtb -device loader,file=/home/frank.chang/Projects/sifive/petalinux/2024.1/xilinx-zcu102-2024.1/images/linux/boot.scr,addr=0x20000000,force-raw=on -gdb tcp:localhost:9000 -net nic -net nic -net nic -net nic,netdev=eth3 -netdev user,id=eth3,tftp=/tftpboot -machine-path /tmp/tmp29lts2le -m 4G qemu-system-microblazeel: Failed to connect to '/tmp/tmp29lts2le/qemu-rport-_pmu@0': No such file or directory qemu-system-microblazeel: info: QEMU waiting for connection on: disconnected:unix:/tmp/tmp29lts2le/qemu-rport-_pmu@0,server=on qemu-system-aarch64: warning: hub 0 is not connected to host network

  • When --kernel is specified, PetaLinux will try to load all the images from <plnx-proj-root>/images/linux/:
    • For Zynq UltraScale+ MPSoC:
      • TF-A image: <plnx-proj-root>/images/linux/bl31.elf
      • U-Boot: <plnx-proj-root>/images/linux/u-boot.elf
      • Linux kernel image: <plnx-proj-root>/images/linux/Image
      • Initrd/Initramfs image: <plnx-proj-root>/images/linux/ramdisk.cpio.gz.u-boot
      • Rootfs (as SD card image): <plnx-proj-root>/images/linux/rootfs.ext4
      • DTB: <plnx-proj-root>/images/linux/system.dtb
      • HW DTB: <plnx-proj-root>/images/linux/zynqmp-qemu-multiarch-arm.dtb
      • … etc
      • P.S. The TF-A boots the loaded kernel image, with PMU firmware running in the background.

• After booting to Linux shell:

  • Default login:

    • Username: petalinux
    • Password:

  • If we didn’t build zynqmp_r5_remoteproc driver into kernel, we need to make sure zynqmp_r5_remoteproc kernel module is installed:

    1 2 3 4

    $ lsmod zynqmp_r5_remoteproc 16384 0 uio_pdrv_genirq 12288 0 cfg80211 319488 0

    • If not, modprobe to install it:

      1	$ modprobe zynqmp_r5_remoteproc

  • rpmsg_ctrl, rpmsg_char kernel modules will be installed automatically when starting remoteproc.

  • Change remoteproc file permissions:

    1 2	$ sudo chmod 666 /sys/class/remoteproc/remoteproc0/firmware $ sudo chmod 666 /sys/class/remoteproc/remoteproc0/state

  • Follow the tutorials to run OpenAMP demos:

    • echo_test:

      • https://openamp.readthedocs.io/en/latest/openamp-system-reference/examples/linux/rpmsg-echo-test/README.html

    • matrix multiply:

      • https://openamp.readthedocs.io/en/latest/openamp-system-reference/examples/linux/rpmsg-mat-mul/README.html

    • proxy_app:

      • https://openamp.readthedocs.io/en/latest/openamp-system-reference/examples/linux/rpmsg-proxy-app/README.html

    • Firmware is located in /lib/firmware:

      1 2	$ ls /lib/firmware/ image_echo_test image_matrix_multiply image_rpc_demo

    • P.S. We need to use sudo to run the test application, e.g.

      1	$ sudo echo_test

• Remote debug Linux kernel:

  1 2	$ petalinux-util gdb linux/image/vmlinux (gdb) target remote :9000

• QEMU source: https://github.com/Xilinx/qemu/tree/xlnx_rel_v2024.1
• Linux kernel source: https://github.com/Xilinx/linux-xlnx/tree/xlnx_rebase_v6.6_LTS
  • zynqmp_r5_remoteproc: drivers/remoteproc/zynqmp_r5_remoteproc.c
  • rpmsg_ctrl: drivers/rpmsg/rpmsg_ctrl.c
  • rpmsg_char: drivers/rpmsg/rpmsg_char.c