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user/zynqmp-rpu: Add load and debug information

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This adds some information about loading the RPU TCMs from A53 u-boot
and additional information about debugging the RPU within QEMU since it
is non-standard.
This commit is contained in:
Kinsey Moore 2024-03-27 11:55:09 -05:00 committed by Joel Sherrill
parent 7fafbede33
commit 8597e8e984
1 changed files with 27 additions and 8 deletions
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35
user/bsps/arm/xilinx-zynqmp-rpu.rst
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@ -35,14 +35,13 @@ it is recommended to use Cortex-A53 u-boot to avoid repeated BOOT.bin
generation since the provided Cortex-R5 u-boot is highly limited and has no
network or MMC/SD access.
Note that if the RPU image is started by the Cortex-A53 u-boot, the BSP
configuration must be updated to move ZYNQMP_RPU_RAM_INT_0_ORIGIN and
ZYNQMP_RPU_RAM_INT_1_ORIGIN into DDR since the TCMs are not directly available
to the Cortex-A53 cores at their Cortex-R5 internal addresses. Alternatively,
those sections could be copied to the TCMs using their global addresses, but
this must be done using additional commands within u-boot. If this is not taken
into account, the Cortex-R5 CPU will fail to boot correctly since execution
will jump into uninitialized TCM.
Note that if the RPU image is started by the Cortex-A53 u-boot, the program
sections located at ZYNQMP_RPU_RAM_INT_0_ORIGIN and ZYNQMP_RPU_RAM_INT_1_ORIGIN
must be manually relocated from DDR to TCM since the TCMs are not directly
available to the Cortex-A53 cores at their Cortex-R5 internal addresses. This
can be accomplished by disabling dcache in u-boot and using u-boot's "cp"
command. Once this is done, the program can be started at 0x0 by using u-boot's
"cpu" command to first disable core 4 and then release it in split mode.
Hardware Boot Image Generation
------------------------------
@ -74,3 +73,23 @@ following command:
-device loader,addr=0xff9a0000,data=0x80000218,data-len=4 \
-hw-dtb /xlnx-qemu-devtrees-path/LATEST/SINGLE_ARCH/board-zynqmp-zcu102.dtb \
-m 4096 -display none
Debugging Executables on QEMU
-----------------------------
Debugging the RPU cores under QEMU presents unique challenges due to requiring
the AArch64 QEMU to emulate the entire processing subsystem. Debugging requires
a multi-arch GDB which can be created by adding "--enable-targets=all" to the
normal GDB configure line and then building as normal.
To attach to the RPU core once QEMU is started with "-s -S", The following steps
are required:
.. code-block:: shell
aarch64-rtems6-gdb
(gdb) tar ext :1234
(gdb) add-inferior
(gdb) inferior 2
(gdb) file example.exe
(gdb) attach 2