【Xilinx-Petalinux學習】-08-OpenAMP系統實現
openAMP系統實現。html
一個核跑Linux，一個核裸跑。 -----> 已經實現。linux
一個核跑Linux，一個核跑UCOS -----> 還未實現。bash
Micrium的ucos OpenAMP例子與Xilinx的例子框架結構有些不一樣，嘗試修改共享內存基地址、改變程序結構，還未成功。先放一放，之後再來實驗，或者等Micrium給出官方的例程~~~~TT架構
step1: openAMP框架介紹app
參考文檔：ug1186框架
step2: 建立standalone應用工程
dom
從Vivado中Export Hardwre(Include bitstream)後，點擊Launch SDK打開Xilinx SDK開發工具。ide
這一次咱們須要實如今裸機上運行AMP架構的程序。工具
首先建立BSP：File -> New -> Board Support Package開發工具
對話框的選項按下面配置：
Hardware Platform ：選擇從vivado中輸出的平臺名稱 CPU ：選擇ps7_cortexa9_1，（即第二個arm核，第一個用來運行Linux和做爲AMP的主機） BSP OS platform ：選擇standalone
點擊Finish按鍵，進入BSP的詳細配置界面：
Overview，庫支持中選中xilopenamp standalone選項，stdin和stdout須要選擇與Linux系統(ps_uart1)不一樣的串口 drivers->ps7_cortexa9_1，修改 extra_compiler_flags的值，加入「-DUSE_AMP=1」 #-DUSE_AMP=1說明 #Add -DUSEAMP=1 to the extra_compiler_flags to disable the definition of #low-level read, write, and open operations. #This also disables the vector table location in #the tightly-coupled memory (TCM).
點擊OK，BSP就配置完成了，等待Xilinx SDK自動生成各類文件。
接着，須要依賴這個BSP去建立OpenAMP的應用程序。
針對裸機standalone，軟件內提供了三個例子：echo-test，matrix multiplication Demo，RPC Demo。以下圖：
咱們直接調用例子，生成三個OpenAMP應用程序。編譯後，咱們就可以在每一個應用工程的Debug文件夾下，找到須要的裸機elf可執行文件。
編譯時候有一些警告，官網查到說不用理會這些。警告有：
in expansion of macro 'XScuGic_EnableIntr' in expansion of macro 'XScuGic_DisableIntr' implicit declaration of function 'Xil_Out32' [-Wimplicit-function-declaration] implicit declaration of function 'Xil_In32' [-Wimplicit-function-declaration]
我下載的2015.4的PetaLinux中，默認是沒有OpenAMP的例子的。
所以我從別的地方拷貝了一些例子來用。
網址：https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/embedded-design-tools/2015-4.html
在裏面下載Avnet-Digilent-ZedBoard BSP安裝包，安裝後在 ./componets/apps 和 ./componets/modules 文件夾下會有我須要用到了三個APP和兩個Module
從裏面直接複製如下文件夾，並粘貼到咱們的PetaLinux工程相同的目錄下：
/componets/apps/echo_test /componets/apps/mat_mul_demo /componets/apps/proxy_app /componets/modules/rpmsg_proxy_dev_driver /componets/modules/rpmsg_usr_dev_driver
複製完成後，每一個app文件夾下還有一個「data」文件夾，這個就是咱們以後OpenAMP系統中第二個內核須要加載的可執行代碼。分別是：
image_echo_test , image_matrix_multiply , image_rpc_demo
這三個代碼是基於ZedBoard，用FreeRTOS實現的三個例子。試驗過，它們也可以在個人系統中直接使用，能夠試試。
咱們如今講咱們本身經過Xilinx SDK編譯出的三個elf文件複製出來，分別命名爲image_echo_test , image_matrix_multiply , image_rpc_demo，並複製到各自app中的data文件夾中去（提早刪除或是備份原有的文件）。
這樣，針對OpenAMP的準備工做就作好了，開始進行PetaLinux的配置。
step3: PetaLinux中加入OpenAMP的支持
硬件平臺的內存爲4Gb，即512MB。咱們將低256MB做爲裸機的內存，高256MB則做爲Linux的內存。
下面來進行配置。
首先是地址空間配置：
petalinux-config #在選項中配置Linux內核基地址爲0x10000000 Subsystem AUTO Hardware Settings ---> Memory Settings ---> (0x10000000) kernel base address u-boot Configuration ---> (0x11000000) netboot offset
kernel配置：
petalinux-config -c kernel #手動配置 [*] Enable loadable module support ---> Device Drivers ---> Generic Driver Options ---> <*> Userspace firmware loading support Remoteproc drivers ---> <M> Support ZYNQ remoteproc <M> Support Microblaze remoteproc #can be unselected Rpmsg drivers ---> <M> An rpmsg server sample Kernel Features---> Memory split (...)---> (x) 2G/2G user/kernel split [*] High Memory Support--->
rootfs配置：
petalinux-config -c rootfs #手動配置 Apps ---> [*] echo_test ---> [*] mat_mul_demo ---> [*] proxy_app ---> Modules ---> [*] rpmsg_proxy_dev_driver ---> [*] rpmsg_user_dev_driver --->
最後是修改設備樹：
#建立設備樹文件
gedit ./subsystem/linux/configs/device-tree/openamp-overlay.dtsi
#加入如下文本信息：
/ {
amba {
remoteproc0: remoteproc@0 {
compatible = "xlnx,zynq_remoteproc";
reg = < 0x00000000 0x10000000 >;
firmware = "firmware";
vring0 = <15>;
vring1 = <14>;
};
};
};
#保存並關閉
#添加到openamp-overlay.dtsi的引用
gedit ./subsystem/linux/configs/device-tree/system-top.dtsi
#在最後面加入下面的文本
/include/ "openamp-overlay.dtsi"
#保存並關閉
最後進行編譯：
petalinux-build
生成BOOT.bin，並拷貝它和image.ub兩個文件，更新咱們硬件平臺上的文件。從新啓動運行！
step4: OpenAMP程序測試
echo_test測試：
#安裝 modprobe zynq_remoteproc firmware=image_echo_test modprobe rpmsg_user_dev_driver #運行 echo_test #卸載 modprobe -r rpmsg_user_dev_driver modprobe -r zynq_remoteproc
mat_mul_demo測試：
#安裝 modprobe zynq_remoteproc firmware=image_matrix_multiply modprobe rpmsg_user_dev_driver #運行 mat_mul_demo #卸載 modprobe -r rpmsg_user_dev_driver modprobe -r zynq_remoteproc
proxy_app測試：
#運行： proxy_app -m zynq_remoteproc
出現的問題：
問題一：執行echo_test時，出現錯誤：Failed to open rpmsg file /dev/rpmsg0.: No such file or directory
網址：https://forums.xilinx.com/t5/OpenAMP/Failed-to-open-rmpsg-file-in-open-amp/td-p/672640
緣由：沒有包含openamp的設備樹信息
解決：在system-top.dts文件最後面加入
/include/ "openamp-overlay.dtsi"
問題二：加載指定目錄的image時，出現錯誤remoteproc0: Direct firmware load for /lib/firmware/test.elf failed with error -2
網址：https://forums.xilinx.com/t5/OpenAMP/remoteproc-don-t-load-pre-built-test-apps-when-specifing-full/td-p/714886
解決：須要使用相對路徑
modprobe zynq_remoteproc firmware=../../myrootdir/test.elf
測試程序log：
echo_test：
root@ifc_petalinux:~# modprobe zynq_remoteproc firmware=image_echo_test CPU1: shutdown remoteproc0: 0.remoteproc is available remoteproc0: Note: remoteproc is still under development and considered experimental. remoteproc0: THE BINARY FORMAT IS NOT YET FINALIZED, and backward compatibility isn't yet guaranteed. root@ifc_petalinux:~# remoteproc0: registered virtio0 (type 7) remoteproc0: powering up 0.remoteproc remoteproc0: Booting fw image image_echo_test, size 164688 root@ifc_petalinux:~# modprobe zynq_remoteproc firmware=image_echo_test remoteproc0: remote processor 0.remoteproc is now up virtio_rpmsg_bus virtio0: rpmsg host is online virtio_rpmsg_bus virtio0: creating channel rpmsg-openamp-demo-channel addr 0x1 root@ifc_petalinux:~# modprobe rpmsg_user_dev_driver rpmsg_proxy_dev_rpmsg rpmsg0: rpmsg_user_dev_rpmsg_drv_probe rpmsg_proxy_dev_rpmsg rpmsg0: Sent init_msg to target 0x0. rpmsg_proxy_dev_rpmsg rpmsg0: new channel: 0x400 -> 0x1! root@ifc_petalinux:~# echo_test Echo test start Open rpmsg dev! Query internal info .. rpmsg kernel fifo size = 2048 rpmsg kernel fifo free space = 2048 **************************************** 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>1 sending payload number 0 of size 9 echo test: sent : 9 received payload number 0 of size 16 sending payload number 2 of size 10 echo test: sent : 10 received payload number 2 of size 16 sending payload number 3 of size 11 echo test: sent : 11 received payload number 3 of size 16 ~~~~~~~~~~~~ sending payload number 470 of size 478 echo test: sent : 478 received payload number 470 of size 480 sending payload number 471 of size 479 echo test: sent : 479 received payload number 471 of size 480 ************************************** Test Results: Error count = 0 ************************************** **************************************** 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>2 virtio_rpmsg_bus virtio0: destroying channel rpmsg-openamp-demo-channel addr 0x1 rpmsg_proxy_dev_rpmsg rpmsg0: rpmsg_user_dev_rpmsg_drv_remove Quitting application .. Echo test end root@ifc_petalinux:~# modprobe -r rpmsg_user_dev_driver remoteproc0: stopped remote processor 0.remoteproc root@ifc_petalinux:~# modprobe -r zynq_remoteproc zynq_remoteproc 0.remoteproc: zynq_remoteproc_remove zynq_remoteproc 0.remoteproc: Deleting the irq_list remoteproc0: releasing 0.remoteproc root@ifc_petalinux:~#
mat_mul_demo：
root@ifc_petalinux:~# modprobe zynq_remoteproc firmware=image_matrix_multiply CPU1: shutdown remoteproc0: 0.remoteproc is available remoteproc0: Note: remoteproc is still under development and considered experimental. remoteproc0: THE BINARY FORMAT IS NOT YET FINALIZED, and backward compatibility isn't yet guaranteed. root@ifc_petalinux:~# remoteproc0: registered virtio0 (type 7) remoteproc0: powering up 0.remoteproc remoteproc0: Booting fw image image_matrix_multiply, size 164688 remoteproc0: remote processor 0.remoteproc is now up virtio_rpmsg_bus virtio0: rpmsg host is online virtio_rpmsg_bus virtio0: creating channel rpmsg-openamp-demo-channel addr 0x1 root@ifc_petalinux:~# modprobe rpmsg_user_dev_driver rpmsg_proxy_dev_rpmsg rpmsg0: rpmsg_user_dev_rpmsg_drv_probe rpmsg_proxy_dev_rpmsg rpmsg0: Sent init_msg to target 0x0. rpmsg_proxy_dev_rpmsg rpmsg0: new channel: 0x400 -> 0x1! root@ifc_petalinux:~# mat_mul_demo Matrix multiplication demo start Open rpmsg dev! Query internal info .. rpmsg kernel fifo size = 2048 rpmsg kernel fifo free space = 2048 Creating ui_thread and compute_thread ... **************************************** Please enter command and press enter key **************************************** 1 - Generates random 6x6 matrices and transmits them to remote core over rpmsg .. 2 - Quit this application .. CMD>1 Compute thread unblocked .. The compute thread is now blocking ona read() from rpmsg device Generating random matrices now ... Master : Linux : Input matrix 0 4 0 3 5 9 6 7 1 6 4 1 4 2 9 4 4 7 4 8 6 4 3 7 2 5 4 0 4 9 0 1 5 2 4 0 2 Master : Linux : Input matrix 1 2 9 5 0 4 6 5 8 5 1 4 4 7 2 0 2 7 0 6 3 4 6 9 5 9 0 0 1 6 0 5 0 2 0 3 6 Writing generated matrices to rpmsg rpmsg device, 296 bytes written .. Received results! - 148 bytes from rpmsg device (transmitted from remote context) Master : Linux : Printing results 170 57 52 45 154 85 114 95 64 38 128 90 184 110 79 48 162 92 165 137 86 39 159 99 135 89 61 37 126 66 75 65 50 33 80 58 **************************************** Please enter command and press enter key **************************************** 1 - Generates random 6x6 matrices and transmits them to remote core over rpmsg .. 2 - Quit this application .. CMD>2 Quitting application .. virtio_rpmsg_bus virtio0: destroying channel rpmsg-openamp-demo-channel addr 0x1 rpmsg_proxy_dev_rpmsg rpmsg0: rpmsg_user_dev_rpmsg_drv_remove Quitting application .. Matrix multiply application end root@ifc_petalinux:~# modprobe -r rpmsg_user_dev_driver remoteproc0: stopped remote processor 0.remoteproc root@ifc_petalinux:~# modprobe -r zynq_remoteproc zynq_remoteproc 0.remoteproc: zynq_remoteproc_remove zynq_remoteproc 0.remoteproc: Deleting the irq_list remoteproc0: releasing 0.remoteproc root@ifc_petalinux:~#
proxy_app：
root@ifc_petalinux:~# proxy_app -m zynq_remoteproc Master>Loading remote firmware CPU1: shutdown remoteproc0: 0.remoteproc is available remoteproc0: Note: remoteproc is still under development and considered experimental. remoteproc0: THE BINARY FORMAT IS NOT YET FINALIZED, and backward compatibility isn't yet guaranteed. Master>Create rpmsg proxy device Master>Opening rpmsg proxy device remoteproc0: powering up 0.remoteproc remoteproc0: Booting fw image image_rpc_demo, size 181072 remoteproc0: remote processor 0.remoteproc is now up virtio_rpmsg_bus virtio0: rpmsg host is online remoteproc0: registered virtio0 (type 7) virtio_rpmsg_bus virtio0: creating channel rpmsg-openamp-demo-channel addr 0x1 rpmsg_proxy_dev_rpmsg rpmsg0: rpmsg_proxy_dev_rpmsg_drv_probe rpmsg_proxy_dev_rpmsg rpmsg0: Sent init_msg to target 0x1. rpmsg_proxy_dev_rpmsg rpmsg0: new channel: 0x400 -> 0x1! rpmsg_dev_open Master>RPC service started !! Remote>Baremetal Remote Procedure Call (RPC) Demonstration Remote>*************************************************** Remote>Rpmsg based retargetting to proxy initialized.. Remote>FileIO demo .. Remote>Creating a file on master and writing to it.. Remote>Opened file 'remote.file' with fd = 4 Remote>Wrote to fd = 4, size = 45, content = This is a test string being written to file.. Remote>Closed fd = 4 Remote>Reading a file on master and displaying its contents.. Remote>Opened file 'remote.file' with fd = 4 Remote>Read from fd = 4, size = 45, printing contents below .. This is a test string being written to file.. Remote>Closed fd = 4 Remote>Remote firmware using scanf and printf .. Remote>Scanning user input from master.. Remote>Enter name vacajk Remote>Enter age 22 Remote>Enter value for pi 11.11 Remote>User name = 'vacajk' Remote>User age = '22' Remote>User entered value of pi = '11.110000' Remote>Repeat demo ? (enter yes or no) no Remote>RPC retargetting quitting ... Master>RPC service exivirtio_rpmsg_bus virtio0: destroying channel rpmsg-openamp-demo-channel addr 0x1 ting !! Master> sending shutdown signal. rpmsg_proxy_dev_rpmsg rpmsg0: rpmsg_proxy_dev_rpmsg_drv_remove remoteproc0: stopped remote processor 0.remoteproc zynq_remoteproc 0.remoteproc: zynq_remoteproc_remove zynq_remoteproc 0.remoteproc: Deleting the irq_list remoteproc0: releasing 0.remoteproc root@ifc_petalinux:~#
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