Below are 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
  • host shell$ tar xvf xilinx-zcu102-v2017.2-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
  • ...
    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
  • 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.
     **************************************** 
     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>

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:

  • Is there a way to reduce Petalinux build time with OpenAMP?
    To reduce extra (re)-compilation time for the remote processor firmware built with Petalinux and to preserve the source code in the temporary build directory:
    Edit your <petalinux-project>/project-spec/meta-user/conf/petalinuxbsp.conf file and add:
RM_WORK_EXCLUDE += "openamp-fw-echo-testd openamp-fw-mat-muld openamp-fw-rpc-demo"
  • Remote firmware failed to boot and now I see an error saying "failed to declare rproc mem as DMA mem", why?
    This happens after an invalid image is provided to remoteproc and this one exited before freeing all allocated memory, preventing further allocation on next run.
    In this situation, in order to load a new openamp image you need to reboot Linux.
    The patch below will take care of fixing remoteproc so that you are not forced to reboot Linux.

    Note this however doesn't fix the root cause of the issue, which is probably the footprint of the elf image provided to remotproc doesn't match the allocated memory in the DTS.

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 content of file openamp-overlay-split.dtsi to file:
    <petalinux project>/project-spec/meta-user/recipes-bsp/device-tree/file/system-user.dtsi

  • rebuild the device tree
    petalinux-build -c 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:
  • Edit platform_info.h and replace IPI_IRQ_VECT_ID value 65 by 66
  • Edit platform_info.c and replace IPI_BASE_ADDR value 0xFF310000 by 0xFF320000
  • Check that the application linker script (lscript.ld) addresses match and fit the DTS zynqmp_r5_rproc memory sections.
  • Check that the appplication rsc_table.c address for RSC_RPROC_MEM carveout is not overlapping the linker script addresses.


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.

  • RPU-0 slave:
    Petalinux BSPs provide a default template to generate a DTB with support for OpenAMP running on RPU-0, see:
    <petalinux project>/project-spec/meta-usr/recipes-bsp/device-tree/files/openamp-overlay.dtsi
    Add its content to file <petalinux project>/project-spec/meta-user/recipes-bsp/device-tree/file/system-user.dtsi
  • RPU-1 slave:
    Proceed as for the two RPU configuration above and edit your device tree to remove the unused 'zynmp_r5_rproc' entry and associated nodes (tcm, pd,...) that may not be needed any more.
  • RPU in lockstep:
    When running with RPU in lockstep mode, the setup is almost as if running on RPU-0, however the device tree is slightly different, please see openamp-overlay-lockstep.dtsi
    Note: Depending on your BSP, you may need to update the Vivado design to add RPU to the isolation configuration, mark it non-secure, and assign 4 TCMs.

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
 



ZynqMP Linux Master running on APU Linux loads and runs arbitrary RPU Firmware; APU communicate with RPU via RPMsg in Userspace



Overview
The information below is intended to provide guidance to users who wish to set up a Linux + Bare-metal,RTOS, etc.APU Linux using remoteproc will load the RPU. Linux running on APU will communicate with RPU via Userspace RPMsg.

Setting up Remote Firmware

The user can use, for example, a similar structure as the OpenAMP RPU applications created in the Building Remote Applications sections of UG1186 .

Using these sample applications as a model, edit the rsc_table.c file and modify the RSC_VDEV entry in the resources structure, to look as follows:
{ RSC_VDEV, VIRTIO_ID_RPMSG_, 0, RPMSG_IPU_C0_FEATURES, 0, 0, 0,
...
}
and change to:
{ RSC_VDEV, VIRTIO_ID_RPMSG_, 0, RPMSG_IPU_C0_FEATURES, 0, 0, VIRTIO_CONFIG_STATUS_DRIVER_OK,
...
}
In this example, you replaced 0 with VIRTIO_CONFIG_STATUS_DRIVER_OK. Without this change, the RPU firmware will not finish remoteproc/rpmsg initialization until the status bit is set, which indicates that the RPMsg driver is ready.

In addition to changing the resource table, the user will also need to speciy a different IPI in the remoteproc device tree node. Otherwise, it will conflict with the IPI used in the Linux userspace RPMsg application. This change will be required in 2017.3

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:
/include/ "system-conf.dtsi"
/{
    reserved-memory {
        #address-cells = <2>;
        #size-cells = <2>;
        ranges;
        rproc_0_reserved: rproc@3ed000000 {
            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 = <0x0 0xFFE00000 0x0 0x10000>;
            pd-handle = <&pd_tcm_0_a>;
        };
        r5_0_tcm_b: tcm@ffe20000 {
            compatible = "mmio-sram";
            reg = <0x0 0xFFE20000 0x0 0x10000>;
            pd-handle = <&pd_tcm_0_b>;
        };
        r5_1_tcm_a: tcm@ffe90000 {
            compatible = "mmio-sram";
            reg = <0x0 0xFFE90000 0x0 0x10000>;
            pd-handle = <&pd_tcm_1_a>;
        };
        r5_1_tcm_b: tcm@ffeb0000 {
            compatible = "mmio-sram";
            reg = <0x0 0xFFEB0000 0x0 0x10000>;
            pd-handle = <&pd_tcm_1_b>;
        };
 
        elf_ddr_0: ddr@3ed00000 {
            compatible = "mmio-sram";
            reg = <0x0 0x3ed00000 0x0 0x40000>;
        };
 
        test_r50: zynqmp_r5_rproc@0 {
            compatible = "xlnx,zynqmp-r5-remoteproc-1.0";
            reg = <0x0 0xff9a0100 0x0 0x100>, <0x0 0xff350000 0x0 0x100>, <0x0 0xff9a0000 0x0 0x100>;
            reg-names = "rpu_base", "ipi", "rpu_glbl_base";
            dma-ranges;
            core_conf = "split0";
            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 30 4>;
 
        } ;
        /* UIO device node for vring device memory */
        vring: vring@0 {
            compatible = "vring_uio";
            reg = <0x0 0x3ed40000 0x0 0x40000>;
        };
        /* UIO device node for shared memory device memory */
        shm0: shm@0 {
            compatible = "shm_uio";
            reg = <0x0 0x3ed80000 0x0 0x80000>;
        };
        /* UIO device node for IPI device */
        ipi0: ipi@0 {
            compatible = "ipi_uio";
            reg = <0x0 0xff340000 0x0 0x1000>;
            interrupt-parent = <&gic>;
            interrupts = <0 29 4>;
        };
    };
 
};
 

Build Petalinux with required packages

1. Enable the required packages with petalinux tools. For example, go to your petalinux project's topmost directory and start the rootfs configuration utility:
petalinux-config -c rootfs
2. Enable the required rootfs packages for the application. If you are running the sample applications from UG1186, the packages would be enabled by the following:
Filesystem Packages --->
  misc --->
    packagegroup-petalinux-openamp --->
       [*] packagegroup-petalinux-openamp

3. Then build the petalinux project.
petalinux-build

Load firmware and start the application step-by-step:
Log into Linux, then start RPU firmware, e.g:
echo <fw_name> /sys/class/remoteproc/remoteproc0/firmware
echo start > /sys/class/remoteproc/remoteproc0/state



ZynqMP Linux Master running on APU Linux communicate with RPU via Shared Memory

Overview
The information below is intended to provide guidance to users who wish to set up a Linux + Bare-metal,RTOS, etc. We make the assumption that the Linux master and RPU will communicate via Shared Memory. Additonally, IPI can be used to further coordinate communication between processors. Both the use of IPI and Shared memory are documented in the example at the end of this section.
Device Tree Settings for Linux
To make the shared memory device accessible to Linux running on APU, there must be some modifications in the device tree.
For example, if configuring the device tree for the OpenAMP echo_test demo found here, a shared memory node is placed in the amba section. E.g.:
/{
amba {
        /* UIO device node for shared memory device memory */
        shm0: shm@0 {
       compatible = "shm_uio";
       reg = <0x0 0x3ed80000 0x0 0x80000>;
        };
   };
};
Configuring the Petalinux project
In addition, the Libmetal package in your petalinux project should be enabled. This package can be enabled by going into the rootfs by using the petalinux-config utility.
petalinux-config -c rootfs
Filesystem Packages --->
    libs
      libmetal
        [*] libmetal
Communicating via Shared memory
The below information is constructed with the assumptoin that the shared memory node is visible in Linux userspace.

Using the Libmetal API, we can read from and write to shared memory with the following functions:
static inline uint64_t metal_io_read(struct metal_io_region *io, unsigned long offset, memory_order order, int width);
and
static inline void metal_io_write(struct metal_io_region *io, unsigned long offset, uint64_t value, memory_order order, int width);

An example showing the use of these functions in Linux userspace can be found here. At the link are some examples showing the use of reading from, and writing to shared memory as well as initialization and cleanup of Libmetal resources.



ZynqMP Linux Master running on APU Linux communicate with RPU via Shared Memory; FSBL load APU and RPU

Overview
The information below is intended to provide guidance to users who wish to set up a Linux + Bare-metal,RTOS, etc. We make the assumption that the Linux master and RPU will communicate via Shared Memory. Please refer to the section here for communication. Similar to the previous section, we make the assumption that the device tree, Linux Master C code and firmware C code are set up to use Libmetal on either Linux userspace, Baremetal or FreeRTOS.
Examples for using shared memory via Libmetal for varying platforms can be found here:


Generating BOOT.BIN
This section assumes that your Petalinux project has already run Petalinux-build to build all the necessary components for your embedded Linux solution in addition to firmware to run on an RPU.
We will use Petalinux tools to construct the BOOT.BIN that you can then put on an SD card to boot your ZynqMP board.
Below is a sample bootgen.bif file that you can create or modify in the top level directory of your Petalinux project that you can use to help construct the BOOT.BIN:
the_ROM_image:
 {
           [fsbl_config] a53_x64
           [bootloader,  destination_cpu=a53-0] ./images/linux/zynqmp_fsbl.elf
           [pmufw_image, destination_cpu=a53-0] ./images/linux/pmufw.elf
           [destination_cpu=a53-0, exception_level=el-3, trustzone] ./images/linux/bl31.elf
           [destination_cpu=a53-0, exception_level=el-2] ./images/linux/u-boot.elf
   }
Using this .bif file and petalinux tools, we will build a BOOT.BIN file that you can use for your ZynqMP board.
petalinux-package --boot --force --u-boot ./images/linux/u-boot.elf --cpu r5-0 --add /path/to/firmware
Here we have shown a few things:

  • We specify to which RPU the data file (your firmware) will go with the --cpu option and r5-0. You can also use r5-1 or r5-lockstep options.
  • The --add option where the following argument specifies the path to your firmware.
  • The --force option overwrites the existing BOOT.BIN file into the current directory.
  • The --u-boot option that specifies the location of the u-boot.elf