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This repository contains tutorials on getting started with the Kria™️ KR260 development kit for Robotic applications. This includes building a FPGA platform with offload engines for specific tasks. The tutorial is structured in the following way:
- AMD Kria adaptable Robotics I – The right engine for the right task.
- AMD Kria adaptable Robotics II – Unifying the communication protocol.
- AMD Kria adaptable Robotics III – Isolation, separation and APU realtime - In planning...
- AMD Kria adaptable Robotics IV – The awakening - adding camera, lidar and sensor-In planning dependent on demand...
- AMD Kria adaptable Robotics VI – Simulation – hardware in the loop with KR260-In planning dependent on demand...
Introduction
This repository contains tutorials on getting started with the Kria™️ KR260 development kit for Robotic applications. This includes building a FPGA platform with offload engines for specific tasks. The concept of the tutorial series is to ease the onboarding and to give a starting point for further development. The tutorials will give an introduction to the following topics -
- Building a FPGA platform with offload engines for specific tasks using the makefile flow and containers.
- Configuring and running software on the different parts of the system.
- Adding communication protocol.
- Using the Kria™️ KR260 development kit to interface with sensors.
- Using the hardware in the loop simulation.
Here you can see the functionality reached from this tutorial.
Let's get started!AMD Kria™️ adaptable Robotics I – "The right engine for the right task".DescriptionIn this first chapter we will build an FPGA image with four(4) classic MicroBlaze softcore CPU's(Classic MicroBlaze do not include the RISC-V instruction set ). These CPU's will run completely independent from the rest of the system and each other, and executables will be loaded through remoteproc protocol to the independent CPUs from Ubuntu.
Platform Overview
Following this tutorial, you should be able to put together a system containing the following -
- Ubuntu running on the A53 cluster
- MicroBlaze soft CPU's, running on demand in the FPGA fabric
- MicroBlaze controlled from Ubuntu via RemoteProc (start/stop/load)
- ARM Cortex R5's free to use
What's needed for this Tutorial.
- Kria™️ KR260 development kit
- Four(4) USBtoTTL connector - At least one to get started
- Ethernet connected to board - use GEM0 (see picture below)
- License for the TEMAC block in the FPGA https://www.xilinx.com/products/intellectual-property/temac.html
IMPORTANT: The "Tri-Mode Ethernet Media Access Controller (TEMAC)" needs a license. For more information and evaluation, more information can be found here -https://www.xilinx.com/products/intellectual-property/temac.html
Here is an overview of the internal design blocks used in this tutorial.
Figure # 1 - Conceptual picture of Kria™️ K26 System On Module(SOM) with the added FPGA logic. Items depicted in purple is added and used in this tutorial.
Here you can see the functionality reached from this tutorial.
Flash OS imageIn this tutorial we will use Ubuntu 22.04 LTS.
Follow the instructions here to flash Ubuntu 22.04. Getting Started with KRIA KR260 Robotics Starter Kit
Once you have flashed Ubuntu the next step is to update the boot firmware.
Note - On first boot of Ubuntu, you will be asked to change the password.
Follow the instructions here to update the boot firmware. "Boot FW management via xmutil" https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/1641152513/Kria+SOMs+Starter+Kits#Boot-FW-Update-Process
Build hardware platformClone the hardware platform and build for the xlnx_rel_v2022.1 branch.
git clone --recursive -b xlnx_rel_v2022.1 https://github.com/Xilinx/kria-vitis-platformsSetup the AMD Vitis 2022.1 SDK build tools. (Change the path to where you have installed the Vitis 2022.1 tools)
source <path>/Vitis/2022.1/settings64.shBuild the platform.
cd kria-vitis-platforms/kr260
make platform PFM=kr260_4mb_4pmodThe above step will create the fpga bitstream(.bit) and a fpga bitstream binary file(.bin). We will use the tool "xmutil" to load the binary to the FPGA fabric from Ubuntu. More on "xmutil" here - https://github.com/Xilinx/xmutil
When finished building, locate the kr260_4mb_4pmod_wrapper.bin that was created and copy the *.bin file to the board running Ubuntu. I.e. username@(board ip). I.e.
scp kr260_4mb_4pmod_wrapper.bin ubuntu@192.168.2.155:/tmpNote - The design includes the Tri-Mode Ethernet Media Access Controller (TEMAC) and it requires a license. Without this license the design will not build. See link above to get an evaluation license.
Modify device tree imageTo prepare for OpenAMP's remoteproc applications, we will need to reserve some memory and inform Ubuntu about the MicroBlaze BRAM controllers. MicroBlaze BRAM controller is used to hold the MicroBlaze boot vector executable software. Furthermore, MicroBlaze is the soft CPU in the FPGA, and BRAM is the local memory for the CPU.
Do the following to extract the devicetree from Ubuntu.
To do this, we find the fit image, extract the right devicetree, modify it and create a new devicetree to override the existing one.
Modify the devicetree with the following:
Find the following node and insert the following code below this node.
reserved-memory {
#address-cells = <0x02>;
#size-cells = <0x02>;
ranges;
pmu@7ff00000 {
reg = <0x00 0x7ff00000 0x00 0x100000>;
no-map;
phandle = <0x7a>;
};
---Insert code start---
ddr_memory_proc_zero: mproc0@20000000 {
no-map;
reg = <0x00 0x20000000 0x00 0x2000000>;
};
ddr_memory_proc_one: mproc1@22000000 {
no-map;
reg = <0x00 0x22000000 0x00 0x2000000>;
};
ddr_memory_proc_two: mproc2@24000000 {
no-map;
reg = <0x00 0x24000000 0x00 0x2000000>;
};
ddr_memory_proc_three: mproc3@26000000 {
no-map;
reg = <0x00 0x26000000 0x00 0x2000000>;
};
---Insert code end---
};Compile the devicetree after making the above changes and call the file "user-override.dtb" and put the file in /boot/firmware directory.
root@kria:/boot/firmware# dtc -I dts -O dtb fdt-smk-k26-revA-sck-kr-g-revB.dts -o user-override.dtbHere is how to modify the devicetree for the step above:
Modifying FIT imageOn the target running Ubuntu do the following:
sudo su
cd /boot/firmwareDump images from the fit image:
dumpimage -l <image>.fit
root@kria:/boot/firmware# dumpimage -l image.fit
FIT description: Simple image with single Linux kernel, ramdisk and FDT blob
Created: Thu Mar 2 07:05:14 2023
Image 0 (kernel-1)
Description: Ubuntu kernel
Created: Thu Mar 2 07:05:14 2023
Type: Kernel Image
Compression: gzip compressed
Data Size: 19130648 Bytes = 18682.27 KiB = 18.24 MiB
Architecture: AArch64
OS: Linux
Load Address: 0x00200000
Entry Point: 0x00200000
Hash algo: sha1
Hash value: c05e4e61dc48c8e10ba5df242e377caabcf5fe23
Image 1 (ramdisk-1)
Description: Ubuntu ramdisk
Created: Thu Mar 2 07:05:14 2023
Type: RAMDisk Image
Compression: uncompressed
Data Size: 55205822 Bytes = 53911.94 KiB = 52.65 MiB
Architecture: AArch64
OS: Linux
Load Address: unavailable
Entry Point: unavailable
Hash algo: sha1
Hash value: d8e3aec7d391b2f09e0f9acb1c8c959b7b1192c1
Image 2 (fdt-zynqmp-smk-k26-revA.dtb)
Description: Flattened device tree blob - zynqmp-smk-k26-revA
Created: Thu Mar 2 07:05:14 2023
Type: Flat Device Tree
Compression: uncompressed
Data Size: 38330 Bytes = 37.43 KiB = 0.04 MiB
Architecture: AArch64
Load Address: 0x44000000
Hash algo: sha1
Hash value: 25e542b74f5d5851a9c5d13e3ec25766a4793971
Image 3 (fdt-smk-k26-revA-sck-kr-g-revA.dtb)
Description: Flattened device tree blob - smk-k26-revA-sck-kr-g-revA
Created: Thu Mar 2 07:05:14 2023
Type: Flat Device Tree
Compression: uncompressed
Data Size: 43258 Bytes = 42.24 KiB = 0.04 MiB
Architecture: AArch64
Load Address: 0x44000000
Hash algo: sha1
Hash value: 8dc8e120b68b61e89790464278376f3243cf80c0
Image 4 (fdt-smk-k26-revA-sck-kv-g-revA.dtb)
Description: Flattened device tree blob - smk-k26-revA-sck-kv-g-revA
Created: Thu Mar 2 07:05:14 2023
Type: Flat Device Tree
Compression: uncompressed
Data Size: 42568 Bytes = 41.57 KiB = 0.04 MiB
Architecture: AArch64
Load Address: 0x44000000
Hash algo: sha1
Hash value: e318d1b34ecf5a0700e7246b351d983eff46689c
Image 5 (fdt-smk-k26-revA-sck-kr-g-revB.dtb)
Description: Flattened device tree blob - smk-k26-revA-sck-kr-g-revB
Created: Thu Mar 2 07:05:14 2023
Type: Flat Device Tree
Compression: uncompressed
Data Size: 43234 Bytes = 42.22 KiB = 0.04 MiB
Architecture: AArch64
Load Address: 0x44000000
Hash algo: sha1
Hash value: 14153e2eb63c6eee59306997bd7ad60a4609883f
Image 6 (fdt-smk-k26-revA-sck-kv-g-revB.dtb)
Description: Flattened device tree blob - smk-k26-revA-sck-kv-g-revB
Created: Thu Mar 2 07:05:14 2023
Type: Flat Device Tree
Compression: uncompressed
Data Size: 42368 Bytes = 41.38 KiB = 0.04 MiB
Architecture: AArch64
Load Address: 0x44000000
Hash algo: sha1
Hash value: dc7d080caf288ddc8e242bd653c80af5dd9d8d31
Default Configuration: 'conf-zynqmp-smk-k26-revA'
Configuration 0 (conf-zynqmp-smk-k26-revA)
Description: Boot Ubuntu on kria SOM
Kernel: kernel-1
Init Ramdisk: ramdisk-1
FDT: fdt-zynqmp-smk-k26-revA.dtb
Hash algo: sha1
Hash value: unavailable
Configuration 1 (conf-smk-k26-revA-sck-kr-g-revA)
Description: Boot Ubuntu on kria SOM
Kernel: kernel-1
Init Ramdisk: ramdisk-1
FDT: fdt-smk-k26-revA-sck-kr-g-revA.dtb
Hash algo: sha1
Hash value: unavailable
Configuration 2 (conf-smk-k26-revA-sck-kv-g-revA)
Description: Boot Ubuntu on kria SOM
Kernel: kernel-1
Init Ramdisk: ramdisk-1
FDT: fdt-smk-k26-revA-sck-kv-g-revA.dtb
Hash algo: sha1
Hash value: unavailable
Configuration 3 (conf-smk-k26-revA-sck-kr-g-revB)
Description: Boot Ubuntu on kria SOM
Kernel: kernel-1
Init Ramdisk: ramdisk-1
FDT: fdt-smk-k26-revA-sck-kr-g-revB.dtb
Hash algo: sha1
Hash value: unavailable
Configuration 4 (conf-smk-k26-revA-sck-kv-g-revB)
Description: Boot Ubuntu on kria SOM
Kernel: kernel-1
Init Ramdisk: ramdisk-1
FDT: fdt-smk-k26-revA-sck-kv-g-revB.dtb
Hash algo: sha1
Hash value: unavailable
root@kria:/boot/firmware#Extract the default devicetree used for Ubuntu.
We find the devicetree used from the bootlogs:
Hit any key to stop autoboot: 0
model=SMK-K26-XCL2G-ED
Device 0: Vendor: Generic Rev: 1.98 Prod: Ultra HS-COMBO
Type: Removable Hard Disk
Capacity: 121909.5 MB = 119.0 GB (249670656 x 512)
... is now current device
Scanning usb 0:1...
Found U-Boot script /boot.scr.uimg
6234 bytes read in 1 ms (5.9 MiB/s)
## Executing script at 20000000
Selecting DT for Kria boards
Kria DT: #conf-smk-k26-revA-sck-kr-g-revB
Configuring the cma value based on the board type
cma=1000MKria DT: #conf-smk-k26-revA-sck-kr-g-revB
The conf-smk-k26-revA-sck-kr-g-revB is in configuration #3 from the fit image. Within configuration number 3, the devicetree used is "fdt-smk-k26-revA-sck-kr-g-revB.dtb". We then find the devicetree binary file, which is image # 5, in the fit image and extract it.
We extract it the following way:
dumpimage -T flat_dt -p <?> devicetree.dtb -o temp/system.dtb
root@kria:/boot/firmware# dumpimage -T flat_dt -p 5 image.fit -o fdt-smk-k26-revA-sck-kr-g-revB.dtb
Extracted:
Image 5 (fdt-smk-k26-revA-sck-kr-g-revB.dtb)
Description: Flattened device tree blob - smk-k26-revA-sck-kr-g-revB
Created: Thu Mar 2 07:05:14 2023
Type: Flat Device Tree
Compression: uncompressed
Data Size: 43234 Bytes = 42.22 KiB = 0.04 MiB
Architecture: AArch64
Load Address: 0x44000000
Hash algo: sha1
Hash value: 14153e2eb63c6eee59306997bd7ad60a4609883fWe decompress the devicetree binary fdt-smk-k26-revA-sck-kr-g-revB.dtb:
root@kria:/boot/firmware# dtc -I dtb -O dts fdt-smk-k26-revA-sck-kr-g-revB.dtb -o fdt-smk-k26-revA-sck-kr-g-revB.dts -@Now we add the nodes described earlier in "Modify the devicetree with the following" and generate the devicetree binary file again.
To make it a bit easier to edit the devicetree file, we login to our board from the host. (On the board do "ifconfig" to find your IP address )"
ssh ubuntu@192.168.2.137
The authenticity of host '192.168.2.137 (192.168.2.137)' can't be established.
ED25519 key fingerprint is SHA256:Km7MF3TsdgnPgyhw9wUC6WR7pAF00UM52NzgPuuDnGY.
This key is not known by any other names
Are you sure you want to continue connecting (yes/no/[fingerprint])? yes
Warning: Permanently added '192.168.2.137' (ED25519) to the list of known hosts.
ubuntu@192.168.2.137's password:
Welcome to Ubuntu 22.04.2 LTS (GNU/Linux 5.15.0-1020-xilinx-zynqmp aarch64)
* Documentation: https://help.ubuntu.com
* Management: https://landscape.canonical.com
* Support: https://ubuntu.com/advantage
System information as of Tue Jun 27 09:37:15 UTC 2023
System load: 0.08740234375
Usage of /: 6.2% of 116.10GB
Memory usage: 16%
Swap usage: 0%
Processes: 240
Users logged in: 1
IPv4 address for docker0: 172.17.0.1
IPv4 address for eth1: 192.168.2.137
IPv6 address for eth1: fd95:7f2f:c450:1:30c7:6ebd:e96e:aae8
* Introducing Expanded Security Maintenance for Applications.
Receive updates to over 25,000 software packages with your
Ubuntu Pro subscription. Free for personal use.
https://ubuntu.com/pro
Expanded Security Maintenance for Applications is not enabled.
234 updates can be applied immediately.
157 of these updates are standard security updates.
To see these additional updates run: apt list --upgradable
11 additional security updates can be applied with ESM Apps.
Learn more about enabling ESM Apps service at https://ubuntu.com/esm
Last login: Tue Jun 27 08:47:22 2023
ubuntu@kria:~$ cd /boot/firmwareBecome root and edit the devicetree file.
sudo su
vi fdt-smk-k26-revA-sck-kr-g-revB.dtsCompile the devicetree after making the above changes and call the file "user-override.dtb" and put the file in /boot/firmware directory.
root@kria:/boot/firmware# dtc -I dts -O dtb fdt-smk-k26-revA-sck-kr-g-revB.dts -o user-override.dtb -@On the next reboot, Ubuntu will look for and load any "user-override.dtb" files in the /boot/firmware folder.
Build XMUTIL overlay filesClone the Linux device tree generator to somewhere on your computer
git clone -b xlnx_rel_v2023.1 https://github.com/Xilinx/device-tree-xlnxMake a directory called "overlay" and create the following files. I.e.
cd ros-dds-microblaze/KR260/examples/MB/Adaptable_Robotics_I
mkdir overlay
cd overlayNote - This path "ros-dds-microblaze/KR260/examples/MB/Adaptable_Robotics_I" is taken from the github repo that is clones later in this tutorial: "https://github.com/tomasthoresen/ros-dds-microblaze"
Find the vivado project *.xsa file and copy it to the current directory. I.e.
cp <path>/kria-vitis-platforms/kr260/platforms/xilinx_kr260_4mb_4pmod_202210_1/hw/kr260_4mb_4pmod.xsa .Create the following xsct.ini file in the overlay directory.
#
# Modify the path to the device-tree-xlnx
#
hsi open_hw_design kr260_4mb_4pmod.xsa;
hsi set_repo_path /home/tomast/git/device-tree-xlnx;
hsi create_sw_design device-tree -os device_tree -proc psu_cortexa53_0;
hsi set_property CONFIG.dt_overlay true [hsi::get_os];
hsi generate_target -dir overlay;
hsi close_hw_design [hsi::current_hw_design];Note - Modify the path in the script "/home/tomast/git/device-tree-xlnx;" to the path of your device-tree-xlnx installation.
Run the xsct.ini file with the tool XSCT. Make sure Vitis environment is sourced.
xsct xsct.iniOpen the overlay/pl.dtsi file and add the following code. I.e.
vi overlay/pl.dtsiAdd the code in between the "--- add code start ---" and "--- add code end ---" tags. Do not include the tags in the file.
Overlay modifications:
/*
* CAUTION: This file is automatically generated by Xilinx.
* Version: XSCT 2022.1
* Today is: Thu Jul 18 11:49:58 2024
*/
/dts-v1/;
/plugin/;
--- add code start ---
&{/} {
ipi_amp: ipi@ff340000 {
compatible = "ipi_uio";
reg = <0x0 0xff340000 0x0 0x1000>;
interrupt-parent = <&gic>;
interrupts = <0 29 4>;
};
mb_rproc0 {
compatible = "xlnx,mb_remoteproc";
#address-cells = <0x2>;
#size-cells = <0x2>;
ranges;
reg = <0x0 0x90000000 0x0 0x10000>;
reset-gpio = <&gpio 82 0>;
sleep-gpio = <&gpio 78 0>;
power-gpio = <&gpio 100 0>;
memory-region = <&ddr_memory_proc_zero>;
bram = <&mb_subsystem_0_microblaze_0_local_memory_axi_bram_ctrl_0>;
};
mb_rproc1 {
compatible = "xlnx,mb_remoteproc";
#address-cells = <0x2>;
#size-cells = <0x2>;
ranges;
reg = <0x0 0x90000000 0x0 0x10000>;
reset-gpio = <&gpio 84 0>;
sleep-gpio = <&gpio 80 0>;
power-gpio = <&gpio 172 0>;
memory-region = <&ddr_memory_proc_one>;
bram = <&mb_subsystem_1_microblaze_0_local_memory_axi_bram_ctrl_0>;
};
mb_rproc2 {
compatible = "xlnx,mb_remoteproc";
#address-cells = <0x2>;
#size-cells = <0x2>;
ranges;
reg = <0x0 0x90000000 0x0 0x10000>;
reset-gpio = <&gpio 86 0>;
sleep-gpio = <&gpio 90 0>;
power-gpio = <&gpio 171 0>;
memory-region = <&ddr_memory_proc_two>;
bram = <&iop_pmod_3_lmb_0_mb_bram_ctrl>;
};
mb_rproc3 {
compatible = "xlnx,mb_remoteproc";
#address-cells = <0x2>;
#size-cells = <0x2>;
ranges;
reg = <0x0 0x90000000 0x0 0x10000>;
reset-gpio = <&gpio 88 0>;
sleep-gpio = <&gpio 92 0>;
power-gpio = <&gpio 170 0>;
memory-region = <&ddr_memory_proc_three>;
bram = <&iop_pmod_4_lmb_0_mb_bram_ctrl>;
};
};
--- add code end ---
Then find the following nodes and add the following tag to the nodes.
gpio: gpio@ff0a0000 {
gic: interrupt-controller@f9010000 {Note - the devicetree tags (gpio, gic) above might not be needed.
Save the file and then compile the new pl.dtsi file to a pl.dtbo file.
dtc -@ -O dtb -o pl.dtbo overlay/pl.dtsiThe above command should result in a new file called "pl.dtbo" in the current directory.
Create a new directory on the board(KR260) called "kr260_4mb_4pmod" at the following location "/lib/firmware/xilinx", the result will be (/lib/firmware/xilinx/kr260_4mb_4pmod). Then copy the pl.dtbo file to the directory and rename it to kr260_4mb_4pmod.dtbo.
scp pl.dtbo ubuntu@<ip_address>:/tmpOn the board, copy the file to the /lib/firmware/xilinx/kr260_4mb_4pmod/kr260_4mb_4pmod.dtbo directory.I.e.
cp /tmp/pl.dtbo /lib/firmware/xilinx/kr260_4mb_4pmod/kr260_4mb_4pmod.dtboNote - If the directory does not exist, create it.
In the same directory, create a file called "shell.json" and add the following code.
{
"shell_type" : "XRT_FLAT",
"num_slots": "1"
}Last but not least, copy the vivado project *.bin file to the /lib/firmware/xilinx/kr260_4mb_4pmod directory and rename it. I.e.
scp kr260_4mb_4pmod_wrapper.bin ubuntu@<ip_address>:/tmp
cp /tmp/kr260_4mb_4pmod_wrapper.bin /lib/firmware/xilinx/kr260_4mb_4pmod/kr260_4mb_4pmod.binAt the end you should have the following files in the /lib/firmware/xilinx/kr260_4mb_4pmod directory, all with the same name, except the shell.json file.
root@kria:/lib/firmware/xilinx/kr260_4mb_4pmod# ls -l
total 6512
-rw-r--r-- 1 root root 6649268 Jul 22 13:06 kr260_4mb_4pmod.bin
-rw-r--r-- 1 root root 10932 Jul 22 13:06 kr260_4mb_4pmod.dtbo
-rw-r--r-- 1 root root 56 Jul 22 10:02 shell.json
root@kria:/lib/firmware/xilinx/kr260_4mb_4pmod#Note: All the files in the /lib/firmware/xilinx/kr260_4mb_4pmod directory should be owned by root and have the same name.
Execute the following command, on the board as root, to list the apps available. This should then display the new app "kr260_4mb_4pmod".
xmutil listappsroot@kria:/lib/firmware/xilinx/kr260_4mb_4pmod# xmutil listapps
Accelerator Accel_type Base Base_type #slots(PL+AIE) Active_slot
axi_bram XRT_FLAT axi_bram XRT_FLAT (0+0) -1
k26-starter-kits XRT_FLAT k26-starter-kits XRT_FLAT (0+0) -1
kr260_4mb_4pmod XRT_FLAT kr260_4mb_4pmod XRT_FLAT (0+0) 0,
root@kria:/lib/firmware/xilinx/kr260_4mb_4pmod#Build the Linux kernel driver on the target board (KR260).
Building the kernel module.Here is the kernel driver. Create a directory in the root folder and copy the code to a file called "mb_remoteproc.c" and "Makefile" respectively.
Kernel driver code:
/*
* This file is licensed under the terms of the GNU General Public
* License version 2. This program is licensed "as is" without any
* warranty of any kind, whether express or implied.
*/
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/init.h>
#include <linux/of_platform.h>
#include <linux/of_address.h>
#include <linux/platform_device.h>
#include <linux/remoteproc.h>
#include <linux/of_reserved_mem.h>
#include <linux/of_gpio.h>
#include <linux/delay.h>
#include <linux/gpio/consumer.h>
#include <linux/dma-mapping.h>
/*#include "remoteproc_internal.h"*/
int rproc_elf_load_rsc_table(struct rproc *rproc, const struct firmware *fw);
int rproc_elf_load_segments(struct rproc *rproc, const struct firmware *fw);
struct resource_table *rproc_elf_find_loaded_rsc_table(struct rproc *rproc, const struct firmware *fw);
int rproc_elf_sanity_check(struct rproc *rproc, const struct firmware *fw);
u64 rproc_elf_get_boot_addr(struct rproc *rproc, const struct firmware *fw);
// #define FULL_PL_RESET
struct mb_rproc_pdata {
struct device_node *memnp;
struct device_node *bram_memnp;
struct gpio_desc *mb_reset;
struct gpio_desc *mb_sleep;
struct gpio_desc *mb_power;
};
static int mb_rproc_stop(struct rproc *rproc)
{
struct mb_rproc_pdata *pdata = rproc->priv;
struct rproc_mem_entry *mem;
printk(KERN_INFO "mb_rproc_stop...\n");
// Zero out the memory regions (DDR and BRAM)
list_for_each_entry(mem, &rproc->carveouts, node) {
if (mem->va) {
memset(mem->va, 0, mem->len);
printk(KERN_INFO "Memory region %pa+%zx zeroed out.\n", &mem->dma, mem->len);
}
}
//set MB to sleep mode
gpiod_set_value(pdata->mb_power, 0x0);
printk(KERN_INFO "mb_reset - sleep mode - value %x",gpiod_get_value(pdata->mb_reset));
ssleep(1);
gpiod_set_value(pdata->mb_power, 0x1);
printk(KERN_INFO "mb_reset - sleep mode - value %x",gpiod_get_value(pdata->mb_reset));
return 0;
}
static int mb_rproc_start(struct rproc *rproc)
{
printk(KERN_INFO "At the beginning of the start function (DEBUG)...\n");
struct mb_rproc_pdata *pdata = rproc->priv;
// Wake up MB
printk(KERN_INFO "mb_reset - before start - value %x",gpiod_get_value(pdata->mb_reset));
gpiod_set_value(pdata->mb_sleep, 0x1);
ssleep(1);
printk(KERN_INFO "mb_reset - after start - value %x",gpiod_get_value(pdata->mb_reset));
gpiod_set_value(pdata->mb_sleep, 0x0);
printk(KERN_INFO "mb_reset - after start - value %x",gpiod_get_value(pdata->mb_reset));
return 0;
}
static int mb_rproc_mem_alloc(struct rproc *rproc,
struct rproc_mem_entry *mem)
{
printk(KERN_INFO "mb_rproc_mem_alloc...\n");
struct device *dev = rproc->dev.parent;
void *va;
/*va = ioremap_wc(mem->dma, mem->len);*/
va = ioremap_wc(mem->dma, mem->len);
if (!va) {
dev_err(dev, "Unable to map memory region: %pa+%zx\n",
&mem->dma, mem->len);
return -ENOMEM;
}
/* Update memory entry va */
mem->va = va;
return 0;
}
static int mb_rproc_mem_release(struct rproc *rproc,
struct rproc_mem_entry *mem)
{
printk(KERN_INFO "mb_rproc_mem_release...\n");
iounmap(mem->va);
return 0;
}
static int mb_parse_fw(struct rproc *rproc, const struct firmware *fw)
{
int ret;
ret = rproc_elf_load_rsc_table(rproc, fw);
if (ret == -EINVAL) {
dev_info(&rproc->dev, "no resource table found.\n");
ret = 0;
}
return ret;
}
static int mb_prepare(struct rproc *rproc)
{
struct mb_rproc_pdata *pdata = rproc->priv;
struct resource bram_res;
int ret = 0;
struct reserved_mem *rmem;
struct rproc_mem_entry *mem;
/* Create a memory carveout for reserved memory
* typically DDR
*/
rmem = of_reserved_mem_lookup(pdata->memnp);
if (!rmem){
printk(KERN_ERR "Failed to lookup reserved memory\n");
return -EINVAL;
}
mem = rproc_mem_entry_init(&rproc->dev, NULL,
(dma_addr_t)rmem->base,
rmem->size, rmem->base,
mb_rproc_mem_alloc, mb_rproc_mem_release,
pdata->memnp->name);
if (!mem){
printk(KERN_ERR "Failed to initialize memory entry for reserved memory\n");
return -ENOMEM;
}
rproc_add_carveout(rproc, mem);
/* Create a memory carveout for BRAM which is not
* required assuming DDR is required.
*/
if (!of_device_is_available(pdata->bram_memnp))
goto nobram;
ret = of_address_to_resource(pdata->bram_memnp, 0, &bram_res);
if (ret < 0)
goto nobram;
mem = rproc_mem_entry_init(&rproc->dev, NULL,
(dma_addr_t)bram_res.start,
resource_size(&bram_res), bram_res.start,
mb_rproc_mem_alloc, mb_rproc_mem_release, "bram");
if (!mem)
return -ENOMEM;
rproc_add_carveout(rproc, mem);
return 0;
nobram:
printk(KERN_INFO "rproc bram not used\n");
return 0;
}
static struct rproc_ops mb_rproc_ops = {
.start = mb_rproc_start,
.stop = mb_rproc_stop,
.load = rproc_elf_load_segments,
.parse_fw = mb_parse_fw,
.prepare = mb_prepare,
.find_loaded_rsc_table = rproc_elf_find_loaded_rsc_table,
.sanity_check = rproc_elf_sanity_check,
.get_boot_addr = rproc_elf_get_boot_addr,
};
static struct of_device_id mb_remoteproc_match[] = {
{ .compatible = "xlnx,mb_remoteproc"},
{ /* end of table */ },
};
MODULE_DEVICE_TABLE(of, mb_remoteproc_match);
static int mb_remoteproc_probe(struct platform_device *pdev)
{
int ret = 0;
struct mb_rproc_pdata *pdata;
const struct of_device_id *match;
struct rproc *rproc;
/* Allocate a remote proc device making sure to pass the size of
* the private data and after the call the private data of the
* rproc points to the private data.
*/
rproc = devm_rproc_alloc(&pdev->dev, dev_name(&pdev->dev),
&mb_rproc_ops, NULL, sizeof(struct mb_rproc_pdata));
if (!rproc) {
dev_err(&pdev->dev, "rproc allocation failed\n");
}
rproc->auto_boot = false;
ret = dma_set_coherent_mask(&pdev->dev, DMA_BIT_MASK(64));
if (ret)
goto error;
ret = devm_rproc_add(&pdev->dev, rproc);
if (ret) {
dev_err(&pdev->dev, "rproc registration failed\n");
}
pdata = rproc->priv;
match = of_match_node(mb_remoteproc_match, pdev->dev.of_node);
if (!match) {
dev_err(&pdev->dev, "of_match_node() failed\n");
return -EINVAL;
}
pdata->memnp = of_parse_phandle(pdev->dev.of_node, "memory-region", 0);
if (!pdata->memnp) {
dev_err(&pdev->dev, "no memory-region node\n");
return -ENODEV;
}
pdata->bram_memnp = of_parse_phandle(pdev->dev.of_node, "bram", 0);
if (!pdata->bram_memnp)
printk(KERN_INFO "no bram memory node\n");
pdata->mb_reset = devm_gpiod_get(&pdev->dev, "reset", GPIOD_OUT_HIGH);
if(IS_ERR(pdata->mb_reset)) {
dev_err(&pdev->dev, "could not setup GPIO reset\n");
}
pdata->mb_sleep = devm_gpiod_get(&pdev->dev, "sleep", GPIOD_OUT_LOW);
if(IS_ERR(pdata->mb_power)) {
dev_err(&pdev->dev, "could not setup GPIO power\n");
}
pdata->mb_power = devm_gpiod_get(&pdev->dev, "power", GPIOD_OUT_LOW);
if(IS_ERR(pdata->mb_power)) {
dev_err(&pdev->dev, "could not setup GPIO power\n");
}
gpiod_set_value(pdata->mb_power, 0x1);
return 0;
error:
return 1;
dev_err(&pdev->dev, "Could not setup DMA to 32bit\n");
}
static int mb_remoteproc_remove(struct platform_device *pdev)
{
dev_info(&pdev->dev, "%s\n", __func__);
of_reserved_mem_device_release(&pdev->dev);
return 0;
}
static struct platform_driver mb_remoteproc_driver = {
.driver = {
.name = "mb_remoteproc",
.of_match_table = mb_remoteproc_match,
},
.probe = mb_remoteproc_probe,
.remove = mb_remoteproc_remove,
};
module_platform_driver(mb_remoteproc_driver);
MODULE_AUTHOR("John Linn");
MODULE_LICENSE("GPL v2");Makefile code:
obj-m += mb_remoteproc.o
KERNEL_VERSION := $(shell uname -r)
KVERSION =/usr/lib/modules/$(KERNEL_VERSION)/build
PWD := $(shell pwd)
all:
make -C $(KVERSION) M=$(PWD) modules
clean:
make -C $(KVERSION) M=$(PWD) cleanNote: The kernel driver needs Ubuntu kernel source files installed, if this is missing please install them.
Build the kernel driver.
makeThis should result in a file called "mb_remoteproc.ko" in the current directory.
Build Software applicationsBuild the MicroBlaze executablesClone the repository and build the MicroBlaze executables. At this stage, this step might already be done. If so, please ignore this step.
git clone --recursive https://github.com/tomasthoresen/ros-dds-microblazeSource the Vitis build environment
source <path>/Vitis/2022.1/settings64.shBuild the hardware platform and copy the hardware platform to the Vitis platform directory. Change out path, with the path to the repository.
cp -r <path>/kria-vitis-platforms/kr260/platforms/xilinx_kr260_4mb_4pmod_202210_1 <path>/ros-dds-microblaze/KR260/platforms/Build the Board Support Package(BSP) for the MicroBlaze applications.
cd <path>/ros-dds-microblaze/KR260/BSP
make repoBuild the MicroBlaze executables.
cd <path>/ros-dds-microblaze/KR260/examples/MB/Adaptable_Robotics_I
make exampleTo clean the build, use the following command.
make cleanThe executables are built in the Vitis workspace within the "Debug" directory. To start the debugger and modify the code, use the following command.
vitis --workspace ./vitis_kr260_wsThe executables are built in the Vitis workspace within the "Debug" directory.
Copy the executables to the target. Change the IP address to the target IP address. I.e.
scp vitis_kr260_ws/MB1_print/Debug/MB0_print.elf ubuntu@192.168.2.155:/tmp
scp vitis_kr260_ws/MB2_print/Debug/MB1_print.elf ubuntu@192.168.2.155:/tmp
scp vitis_kr260_ws/MB3_print/Debug/MB2_print.elf ubuntu@192.168.2.155:/tmp
scp vitis_kr260_ws/MB4_print/Debug/MB3_print.elf ubuntu@192.168.2.155:/tmpNote: Another way to copy files from the host SDK development environment to the remote board is to use Remote Systems within Vitis. The board needs to have ssh server running.
Run the MicroBlaze executablesTo see any output from the MicroBlaze applications, connect a USB to TTL cable to the PMOD port on the target(KR260). The PMOD port is connected to the MicroBlaze UART. The UART is used to print the output from the MicroBlaze applications. The UART is connected to the USB to TTL cable, which is connected to the host computer. The host computer can then read the output from the MicroBlaze applications. see pictures below.
The USB to TTL cable is connected to the PMOD port on the target(KR260).
USB -> PMOD
USBTTL TX -> PMOD RX (pin2)
USBTTL RX -> PMOD TX (pin1)
USBTTL ground -> PMOD ground (pin5)
USBTTL power 3.3v -> DO NOT CONNECT!Note - Connect TX to RX and RX to TX. (See pics below)
Before running the MicroBlaze executables, the devicetree overlay and the FPGA binary file must be loaded, along with the kernel driver.
Become root, on the target(KR260).
sudo suUnload any app that is already loaded.The loaded app would would display as a zero(0) at the #slots. Unloaded apps would show a minus one (-1). I.e.
root@kria:~# xmutil unloadapp
remove from slot returns: 0 (Ok)
root@kria:~#Load the FPGA binary file, the overlay and the kernel driver through the app.
root@kria:~# xmutil loadapp kr260_4mb_4pmod
kr260_4mb_4pmod: loaded to slot 0
root@kria:~#If the app returns a zero(0) it is loaded successfully, as shown above.
Then load the kernel driver that we built earlier.
insmod mb_remoteproc.koNow the system should be ready to run the MicroBlaze executables.
Copy the MicroBlaze executables to the remoteproc directory lib/firmware on the target(KR260 board).
cp /tmp/MB0_print.elf /lib/firmware
cp /tmp/MB1_print.elf /lib/firmware
cp /tmp/MB2_print.elf /lib/firmware
cp /tmp/MB3_print.elf /lib/firmwareRun the MicroBlaze executables with remote proc.
MicroBlaze #1
echo MB0_print.elf > /sys/class/remoteproc/remoteproc1/firmware
echo start > /sys/class/remoteproc/remoteproc1/stateMicroBlaze #2
echo MB1_print.elf > /sys/class/remoteproc/remoteproc2/firmware
echo start > /sys/class/remoteproc/remoteproc2/stateMicroBlaze #3
echo MB2_print.elf > /sys/class/remoteproc/remoteproc3/firmware
echo start > /sys/class/remoteproc/remoteproc3/stateMicroBlaze #4
echo MB3_print.elf > /sys/class/remoteproc/remoteproc4/firmware
echo start > /sys/class/remoteproc/remoteproc4/stateTo stop the MicroBlaze executables, use the following commands.
echo stop > /sys/class/remoteproc/remoteproc0/state
echo stop > /sys/class/remoteproc/remoteproc1/state
echo stop > /sys/class/remoteproc/remoteproc2/state
echo stop > /sys/class/remoteproc/remoteproc3/stateIn the end, this is what it should look like. Hope you made it this far! Thanks for trying this out, I hope it will help in your future endeavors.
Physical hardware informationPMOD 1 - 4 address mapModification can be done in the Vivado Project.
Connect RX and TX to the opposite on the PMOD.
USBTTL TX -> PMOD RX
USBTTL RX -> PMOD TX
USBTTL ground -> PMOD ground
USBTTL power 3.3v -> DO NOT CONNECT!
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