#################################################################################
# I. Main Contents of Prebuilt #
# II. BSP generation steps #
# II.a Create and Configure a project #
# II.b Get openamp,qemu and xen device tree #
# II.c Enable openamp and its examples in rootfs #
# II.d Configuring BSP #
# II.e Project Build #
# II.f Clean up of configurations #
# II.g Packageing a BSP #
# III. Software Images #
# IV. Hardware Images #
# V. Software Projects #
# VI. Vitis Platform tcl #
# VII. Booting Prebuilt Images #
#################################################################################
I. Main Contents of Prebuilt
================================================================================
|-- pre-built/ # Pre-built images directory
| |-- linux/ # Pre-built Linux system images
| | |-- images/
| | | |-- zynqmp_fsbl.elf # First stage bootloader ELF
| | | |-- pmufw.elf # pmu firmware ELF
| | | |-- system.dtb # Device-tree Blob(DTB) used for Linux kernel
| | | |-- image.ub # FIT image including the kernel, DTB and rootfs
| | | |-- Image # FIT image including the kernel
| | | |-- u-boot.elf # U-boot ELF
| | | |-- u-boot.bin # U-boot bin
| | | |-- petalinux-sdimage.wic.xz # Compressed wic image for SD card with BOOT and ROOT partitions with required files
| | | |-- BOOT.BIN # ZynqMP boot BIN file
| | | |-- bootgen.bif # Sample bif file used for creation of prebuilt BOOT.BIN file
| | | |-- boot.scr # boot.scr to provide the required default boot
| | | |-- pxelinux.cfg # pxelinux.cfg directory with default configuration file for pxe boot
| | | |-- bl31.elf # Arm trusted firmware ELF file
| | | |-- bl31.bin # Arm trusted firmware BIN file
| | | |-- rootfs.cpio.gz # Rootfs CPIO image used for FIT image(image.ub)
| | | |-- rootfs.cpio.gz.u-boot # Rootfs CPIO image with u-boot header for loading from u-boot
| | | |-- rootfs.tar.gz # Rootfs tar file which can be used for SD ext4 partition
| | | |-- rootfs.jffs2 # Rootfs jffs2 file which can be used for mounting rootfs on jffs2 file system
| | | |-- rootfs.manifest # Rootfs manifest file will have list of packages and version details
| | | |-- ramdisk.cpio.gz # Ramdisk rootfs CPIO image
| | | |-- ramdisk.cpio.gz.u-boot # Ramdisk rootfs CPIO image with u-boot header for loading from u-boot
| | | |-- ramdisk.tar.gz # Ramdisk rootfs CPIO image with gz compression
| | | |-- ramdisk.manifest # Ramdisk manifest file will have list of packages and version details
| | | |-- pmu_rom_qemu_sha3.elf # Pre-built pmu-rom ELF need for qemu boot
| | | |-- system.bit # FPGA bitstream used in BSP HW design(same as below download.bit)
| | | |-- vmlinux # Statically linked kernel executable file used for kernel debugging
| | | |-- openamp.dtb # Openamp device-tree blob file
| | | |-- zynqmp-qemu-arm.dtb # qemu device-tree blob file for single arch
| | | |-- zynqmp-qemu-multiarch-arm.dtb # qemu device-tree blob file for multi arch and it has information of a53 and other devices
| | | |-- zynqmp-qemu-multiarch-pmu.dtb # qemu device-tree blob file for multi arch and it has information of microblaze nodes
| | | |-- pl.dtbo # PL device-tree overlay blob file
| | |-- xen
| | | |-- xen.dtb # Xen device-tree blob file
| | | |-- xen-Image # Xen kernel image
| | | |-- xen-openamp.dtb # Xen openamp device-tree blob file
| | | |-- xen-qemu.dtb # Xen qemu device-tree blob file
| | | |-- xen-rootfs.cpio.gz # Xen rootfs CPIO image
| | | |-- xen # Xen binary
| | | |-- xen.cfg # Xen config file for image builder
| | | |-- xen_boot_sd.scr # Xen boot file for booting from SD card
| | | |-- xen_boot_sd.source # Xen boot source file of SD card booting
| | | |-- xen_boot_tftp.scr # Xen boot file for booting through tftp
| | | |-- xen_boot_tftp.source # Xen boot source file of tftp booting
| | |-- implementation/
| | | |-- download.bit # FPGA bitstream
II. BSP generation steps
================================================================================
This section explain about BSP generation steps.
Note: While building bsps, we use some openAMP, Xen and QEMU files from internal repos
If you want to use openAMP, Xen or QEMU, Please copy the files from published bsp's
While copying files please maintain same directory structure.
II.a Creation and configuration of project
$ petalinux-create -t project --template zynqMP --force -n <name of project>
$ petalinux-config --get-hw-description=<path to xsa directory> --silentconfig
II.b Get openamp,qemu and xen device trees
$ cp -r <any-zynqMP-BSP>/project-spec/meta-user/recipes-bsp/device-tree/files/{openamp.dtsi,xen.dtsi} <project root>/project-spec/meta-user/recipes-bsp/device-tree/files
$ echo '/include/ "openamp.dtsi"' >> <project root>/project-spec/meta-user/recipes-bsp/device-tree/files/system-user.dtsi
$ echo 'SRC_URI += "file://openamp.dtsi"' >> project-spec/meta-user/recipes-bsp/device-tree/device-tree.bbappend
II.c Enable openamp and its examples in rootfs
$ petalinux-config -c rootfs
Select following packages and save it
openamp-fw-echo-testd
openamp-fw-mat-muld
openamp-fw-rpc-demo
packagegroup-petalinux-openamp
II.d Configuring BSP
1. zcu102 rev1.0 boards
2. zcu104 and zcu106 boards
3. ultra96 board.
4. zcu111 board
5. zcu1275 and zc1285 boards
6. zcu216 and zcu208 boards
7. zcu670 board
8. kv260 and kr260 starterkit boards
Choose any desired board and follow steps in it.
1.zcu102 rev1.0 board
$ petalinux-config
Enter xilinx-zcu102 for YOCTO_MACHINE_NAME option ( ZCU102 DTG board parameter for rev1.0)
$ petalinux-config -c rootfs
Select following packages and save it
libmali-xlnx
package-management
zocl
xrt
opencl-clhpp
opencl-headers
2. zcu104 boards
$ echo 'CONFIG_gstreamer-vcu-examples' >> <project root>/project-spec/meta-user/conf/user-rootfsconfig
$ petalinux-config --silentconfig
$ petalinux-config -c rootfs
Select following packages and save it
packagegroup-petalinux-gstreamer
packagegroup-petalinux-matchbox
packagegroup-petalinux-x11
packagegroup-petalinux-v4lutils
packagegroup-petalinux-audio
libdrm
libdrm-kms
libdrm-tests
gstreamer-vcu-examples
libmali-xlnx
package-management
zocl
xrt
opencl-clhpp
opencl-hearders
gstreamer-vcu-notebooks
$ petalinux-config
Enter xilinx-zcu104 for YOCTO_MACHINE_NAME option for zcu104 board ( ZCU104 DTG board parameter)
NOTE: zcu104/zcu106 - Due to limited flash size, reduce the rootfs size to flash image.ub to qspi.
2.1 zcu106 boards
$ echo 'CONFIG_gstreamer-vcu-examples' >> <project root>/project-spec/meta-user/conf/user-rootfsconfig
$ petalinux-config --silentconfig
$ petalinux-config -c rootfs
Select following packages and save it
packagegroup-petalinux-gstreamer
packagegroup-petalinux-matchbox
packagegroup-petalinux-x11
libdrm
libdrm-kms
libdrm-tests
gstreamer-vcu-examples
packagegroup-petalinux-v4lutils
packagegroup-petalinux-audio
libmali-xlnx
zocl
xrt
opencl-clhpp
opencl-hearders
gstreamer-vcu-notebooks
# For zcu106 create xsa dir in proj-spec
mkdir project-spec/xsa_dir/
cp hardware/xilinx-zcu106-2020.2/outputs/zcu106_1.xsa project-spec/xsa_dir/
cp hardware/xilinx-zcu106-2020.2-Rev2/outputs/zcu106_2.xsa roject-spec/xsa_dir/zcu106_2.0.xsa
# if rev1 or rev2 board info found in EEPROM it loads bitstream and dtbo of the corresponding board goes to the root prompt.
# if it is not able to identify as rev1 or rev2. It prints a bold warning like below and It loads rev 1 bitstream and dtbo and goes to the root prompt.
Valid Board Information Not Found, Loading zcu106 rev1.0 bitstream and dtbo (see fpgautil -h for removing and loading different bitstream and dtbo).
$ petalinux-config
check the below are enable
CONFIG_SUBSYSTEM_REMOVE_PL_DTB
CONFIG_SUBSYSTEM_FPGA_MANAGER
$ petalinux-config --silentconfig
$ petalinux-config
Enter xilinx-zcu106 for YOCTO_MACHINE_NAME option for zcu106 boards (ZCU106 DTG board parameter )
$ petalinux-config -c rootfs
Select following package and save it
dfx-mgr
$ create the shell.json file at your workspace path
echo -e '{\n "shell_type" : "XRT_FLAT",\n "num_slots": "1" \n}' >> "<workspace>/shell.json"
$ petalinux-create -t apps --template fpgamanager_dtg -n zcu106-1.0 --srcuri hardware/xilinx-zcu106-2020.2/outputs/zcu106_1.xsa --srcuri <workspace_path>/shell.json --enable
$ petalinux-create -t apps --template fpgamanager_dtg -n zcu106-2.0 --srcuri hardware/xilinx-zcu106-2020.2-Rev2/outputs/zcu106_2.xsa --srcuri <workspace_path>/shell.json --enable
3. ultra96 board
$ cat >> project-spec/meta-user/conf/user-rootfsconfig <<EOF
CONFIG_peekpoke
CONFIG_gpio-demo
CONFIG_packagegroup-base-extended
CONFIG_cmake
CONFIG_lmsensors-sensorsdetect
CONFIG_python-pyserial
CONFIG_libftdi
CONFIG_python3-pip
CONFIG_iperf3
CONFIG_packagegroup-petalinux-ultra96-webapp
CONFIG_packagegroup-petalinux-v4lutils
CONFIG_packagegroup-petalinux-96boards-sensors
CONFIG_packagegroup-petalinux-x11
CONFIG_packagegroup-petalinux-matchbox
CONFIG_ultra96-ap-setup
EOF
$ petalinux-config -c rootfs
Select following packages and save it
packagegroup-base-extended
cmake
lmsensors-sensorsdetect
packagegroup-petalinux-self-hosted
packagegroup-petalinux
git
python-pyserial
libftdi
python3-pip
iperf3
packagegroup-petalinux-ultra96-webapp
packagegroup-petalinux-v4lutils
packagegroup-petalinux-96boards-sensors
packagegroup-petalinux-x11
packagegroup-petalinux-matchbox
ultra96-ap-setup
libmali-xlnx
package-management
$petalinux-config
Select CONFIG_SUBSYSTEM_SERIAL_PSU_UART_1_SELECT
Select CONFIG_SUBSYSTEM_ROOTFS_EXT4
Enter avnet_ultra96_rev1_defconfig to SUBSYSTEM_UBOOT_CONFIG_TARGET for ultra96 boards
Enter xilinx-ultra96-reva for YOCTO_MACHINE_NAME option ( Ultra96 DTG board parameter)
$ petalinux-config -c u-boot
Change CONFIG_BOOTDELAY to 2 and then enable below configs and save.
CONFIG_NET
CONFIG_NET_TFTP_VARS
CONFIG_NET_RANDOM_ETHADDR
CONFIG_CMD_NET
CONFIG_CMD_PING
CONFIG_CMD_DHCP
CONFIG_CMD_TFTPPUT
CONFIG_CMD_NFS
4.zcu111 board
$ cat >> project-spec/meta-user/conf/user-rootfsconfig << EOF
CONFIG_peekpoke
CONFIG_gpio-demo
CONFIG_rfdc
CONFIG_rfdc-read-write
CONFIG_rfdc-selftest
CONFIG_libsdfecusrintf
CONFIG_sdfec-demo
EOF
$ petalinux-config -c rootfs
Select following packages and save it
rfdc
rfdc-read-write
rfdc-selftest
libsdfecusrintf
sdfec-demo
$ petalinux-config
Enter xilinx-zcu111 for YOCTO_MACHINE_NAME option ( ZCU111 DTG board parameter)
5.zcu1275 and zc1285 boards
$ cat >> project-spec/meta-user/conf/user-rootfsconfig << EOF
CONFIG_peekpoke
CONFIG_gpio-demo
CONFIG_rfdc
CONFIG_rfdc-read-write
CONFIG_rfdc-selftest
EOF
$ petalinux-config -c rootfs
Select following packages and save it
rfdc
rfdc-read-write
rfdc-selftest
$ petalinux-config
Enter xilinx-zc1275 for YOCTO_MACHINE_NAME option ( ZC1275 DTG board parameter)
Enter xilinx-zc1285 for YOCTO_MACHINE_NAME option ( ZC1285 DTG board parameter)
$ Optional configurations.
If prebuilt kernel image is more than 128M, jtag boot command "petalinux-boot --jtag/--qemu --prebuilt 3 would not work due to overlap between kernel image & linux-boot.elf (bl33 used in jtag mode). So, to overcome this issue, BL33 entry address (U-boot and linux-boot.elf start/load address) is changed to 0x10080000. This is done through:
$petalinux-config
Enter 0x10080000 to CONFIG_SUBSYSTEM_PRELOADED_BL33_BASE.
$petalinux-config -c u-boot
Enter 0x10080000 to CONFIG_SYS_TEXT_BASE.
6.zcu216 and zcu208 and zcu208-sdfec boards
$ cat >> project-spec/meta-user/conf/user-rootfsconfig << EOF
CONFIG_peekpoke
CONFIG_gpio-demo
CONFIG_rfdc
CONFIG_rfdc-read-write
CONFIG_rfdc-selftest
CONFIG_rfclk
EOF
$ petalinux-config -c rootfs
Select following packages and save it
rfdc
rfdc-read-write
rfdc-selftest
rfclk
sdfec (only for zcu208 sdfec board)
$ petalinux-config
Enter xilinx-zcu216 for YOCTO_MACHINE_NAME option ( ZCU216 DTG board parameter)
Enter xilinx-zcu208 for YOCTO_MACHINE_NAME option ( ZCU208 and zcu208-sdfec DTG board parameter)
7.zcu670
$ cat >> project-spec/meta-user/conf/user-rootfsconfig << EOF
CONFIG_gpio-demo
CONFIG_peekpoke
CONFIG_rfdc
CONFIG_rfdc-read-write
CONFIG_rfdc-selftest
CONFIG_rfclk
CONFIG_python3-pyro4
CONFIG_python3-cffi
CONFIG_dfeccf
CONFIG_dfeequ
CONFIG_dfemix
CONFIG_dfeprach
EOF
$ petalinux-config -c rootfs
Select following packages and save it
rfdc
rfdc-read-write
rfdc-selftest
rfclk
python3-pyro4
python3-cffi
python3
libmetal
dfeccf
dfeequ
dfemix
dfeprach
$ petalinux-config
Enter xilinx-zcu670 for YOCTO_MACHINE_NAME option ( ZCU670 DTG board parameter)
8.kv260 and kr260 starterkit boards
$ petalinux-config -c rootfs
Select following packages and save it
openamp-fw-echo-testd
openamp-fw-mat-muld
openamp-fw-rpc-demo
packagegroup-petalinux-openamp
$ petalinux-config
Enter zynqmp-smk-k26-reva for MACHINE_NAME option ( DTG parameter for revA )
Enter xilinx-k26-kv for YOCTO_MACHINE_NAME option for kv260-starter board
Enter xilinx-k26-kr for YOCTO_MACHINE_NAME option for kr260-starter board
Enable CONFIG_SUBSYSTEM_COMPONENT_IMG_SEL
Set the CONFIG_SUBSYSTEM_INITRAMFS_IMAGE_NAME as "petalinux-initramfs-image"
Set the CONFIG_SUBSYSTEM_EXTRA_BOOTARGS as "cma=900M"
# Enabling misc-config recipe for ramdisk rfs
echo "INITRAMFS_PACKAGES:append = \" misc-config\"" >> <project>/project-spec/meta-user/conf/petalinuxbsp.conf
echo "UBOOT_IMAGE_BLOB:k26 = \"0\"" >> <project>/project-spec/meta-user/conf/petalinuxbsp.conf
cp -r <kv260/kr260 bsp>/project-spec/dts_dir/* <project root>/project-spec/dts_dir/.
Add CONFIG_SUBSYSTEM_EXTRA_DT_FILES with pointing carrier dts file copied above
DTG Settings --> Extra dts/dtsi files
Enter dts files path <project root>/project-spec/dts_dir/zynqmp-sck-kr-g-revB.dts (for kr260 starterkit)
Enter dts files path <project root>/project-spec/dts_dir/zynqmp-sck-kv-g-revB.dts (for kv260 starterkit)
cat > <project root>/project-spec/meta-user/conf/petalinuxbsp.conf << EOL
EXTRA_DTFILE_PREFIX = "system"
EXTRA_DTFILES_BUNDLE = "1"
EOL
$ petalinux-config -c rootfs
Select following packages and save it
packagegroup-petalinux-som
$ petalinux-config -c u-boot
Select following configs and save it
CONFIG_OF_BOARD
II.e. Project Build
1. Build regular images
$ petalinux-build
$ petalinux-package --boot --u-boot --force
$ mkdir -p pre-built/linux/images
$ cp <project root>/images/linux/* <project root>/pre-built/linux/images/
$ petalinux-package --wic --extra-bootfiles "rootfs.cpio.gz.u-boot" --images-dir <project root>/pre-built/linux/images --outdir <project root>/pre-built/linux/images
Append --disk-name "mmcblk1" for kv260 starterkit and --disk-name "sda" for kr260 starterkit in the below command to create wic image
$ petalinux-package --wic --bootfiles "ramdisk.cpio.gz.u-boot boot.scr Image system*.dtb" --images-dir <project root>/pre-built/linux/images --outdir <project root>/pre-built/linux/images
2. Build xen images
$ echo '/include/ "xen.dtsi"' >> <project root>/project-spec/meta-user/recipes-bsp/device-tree/files/system-user.dtsi
$ echo 'SRC_URI += "file://xen.dtsi"' >> project-spec/meta-user/recipes-bsp/device-tree/device-tree.bbappend
$ petalinux-config
Select following config and save it.
Image Packaging Configuration
Root filesystem type (INITRD)
INITRAMFS/INITRD Image name (petalinux-image-minimal)
$ petalinux-config -c rootfs
Select following package and save it
packagegroup-petalinux-xen
$ petalinux-build
$ cp -L <project root>/images/linux/Image <project root>/pre-built/linux/images/xen-Image
$ cp -L <project root>/images/linux/system.dtb <project root>/pre-built/linux/images/xen.dtb
$ cp -L <project root>/images/linux/xen <project root>/pre-built/linux/images/xen
$ cp -L <project root>/images/linux/rootfs.cpio.gz <project root>/pre-built/linux/images/xen-rootfs.cpio.gz
$ cat > <project root>/pre-built/linux/xen/xen.cfg << EOL
MEMORY_START="0x0"
MEMORY_END="0x80000000"
XEN="xen"
DOM0_KERNEL="xen-Image"
DEVICE_TREE="xen.dtb"
DOM0_RAMDISK="xen-rootfs.cpio.gz"
NUM_DOMUS="0"
UBOOT_SOURCE="xen_boot.source"
UBOOT_SCRIPT="xen_boot.scr"
EOL
$ for kr260 and kv260 starterkit boards
cat > <project root>/pre-built/linux/xen/xen.cfg << EOL
XEN_CMD="console=dtuart dtuart=serial1 dom0_mem=2G dom0_max_vcpus=1 bootscrub=0 vwfi=native sched=null"
EOF
$ export XEN_CONFIG="<full path/project root>/pre-built/linux/xen/xen.cfg"
$ export XEN_CONFIG_SKIP="1"
$ export BB_ENV_EXTRAWHITE="$BB_ENV_EXTRAWHITE XEN_CONFIG XEN_CONFIG_SKIP"
$ petalinux-build -c kernel -x do_deploy
$ rsync -arz --progress --delete <project root>/images/linux/xen_boot_* <project root>/pre-built/linux/xen
II.f. Clean up of configurations
Bydefault few configurations are enabled to generate prebuilt images. These configurations are cleaned up while packaging a bsp. However you can keep them if you need them in project.
$ petalinux-config -c rootfs
disable following packages and save it
openamp-fw-echo-testd
openamp-fw-mat-muld
openamp-fw-rpc-demo
packagegroup-petalinux-openamp
packagegroup-petalinux-xen
libmali-xlnx
gstreamer-vcu-notebooks(for zcu106 and zcu104)
$ petalinux-config
Select following config and save it.
Image Packaging Configuration
Root filesystem type (INITRD)
II.g. Packageing a BSP
Package the BSP with files generated with following command
$ petalinux-package --bsp -p <plnx-proj-root> --hwsource <hw-project-root> --output <name of the BSP>
NOTE: --hwsource is optional and can be removed
III. Software Images
================================================================================
You can run the following command to rebuild the software images:
* zynqmp_fsbl.elf
* image.ub
* Image
* u-boot.elf
* system.dtb
* pmufw.elf
* bl31.elf
$ petalinux-build
You can also rebuild some of the images alone as follows:
* zynqmp_fsbl.elf
$ petalinux-build -c bootloader
* u-boot.elf
$ petalinux-build -c u-boot
* system.dtb
$ petalinux-build -c device-tree
* kernel only:
$ petalinux-build -c kernel
For more info regarding how to build images run "petalinux-build --help" command
You can generate BOOT.BIN file with "petalinux-package --boot" command:
$ petalinux-package --boot --fpga pre-built/linux/images/system.bit \
--fsbl pre-built/linux/images/zynqmp_fsbl.elf \
--u-boot pre-built/linux/images/u-boot.elf \
--pmufw prebuilt/linux/images/pmufw.elf \
--atf pre-built/linux/images/bl31.elf
IV. Hardware Images
================================================================================
* design_1_wrapper.bit
The hardware project source files are in "hardware/" directory. You can
open the hardware project with vivado, and rebuild it.
V. Software Projects
================================================================================
* device-tree
DTG xsct software components can be found at "components/plnx_workspace/" directory
VI. Vitis Platform tcl (supported for zcu104,zcu102,zcu106)
================================================================================
* Please find the pfm.tcl at <project>/hardware/vitis/pfm.tcl
Run this tcl pointing the xsa in bsp
EX: xsct -sdx pfm.tcl -xsa <file> -name <name for platform>
Note: Make sure you have vitis installed before running this command.
For information on acceleration apps development please refer to Vitis documentation.
VII. Booting Prebuilt Images
=====================================================================================
We can boot petalinux images using petalinux-boot command.
For more information on booting prebuilt images please refer the "Booting and Packaging" section of ug1144.