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rtems-docs: add example booting aarch64 image on Xilinx ZCU102
This patch is for the rtems-docs repo. I added details on the procedure I used to boot RTEMS images on the Xilinx ZCU102 board. I applied this patch, and generated the HTML docs, and everything looks ok to me.
This commit is contained in:
Alan Cudmore
Joel Sherrill
parent
df8261a46e
commit
c0d6983483
@ -44,6 +44,173 @@ When booting via u-boot, RTEMS must be packaged into a u-boot image or booted
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as a raw binary since u-boot does not currently support ELF64 which is required
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for AArch64 ELF binaries.
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Example: Booting a RTEMS image on the ZCU102 ZynqMP board
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---------------------------------------------------------
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This example will walk through the steps needed for booting RTEMS from a SD card
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on the
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`ZCU102 ZynqMP board. <https://www.xilinx.com/products/boards-and-kits/ek-u1-zcu102-g.html>`_
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The reference for setting up a SD card and obtaining pre-built boot images is
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`here. <https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/18841858/Board+bring+up+using+pre-built+images>`_
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Hardware Setup
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^^^^^^^^^^^^^^
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Set the dip switch SW6 according to the table below. This will allow the board
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to boot from the SD card. Connect a Micro-USB cable to the USB UART interface
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J83. This is a quad USB UART interface which will show up on the development
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host computer as four different serial or tty devices. Use the first channel
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for the console UART. It should be set to 115k baud.
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+---------------------------+
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| Dip Switch JW6 |
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+------+------+------+------+
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| ON | OFF | OFF | OFF |
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+------+------+------+------+
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Prepare a SD card with a bootable partition
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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The goal is to have a bootable SD card with a partition that is formatted with
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the FAT file system. The file system will contain the boot artifacts including
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BOOT.bin and the u-boot image. The RTEMS image will be placed on this volume. To
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create the bootable SD card, follow the directions
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`here. <https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/18842385/How+to+format+SD+card+for+SD+boot>`_
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Once you have the card formatted correctly, you need to place the files from
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`this archive <https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/2202763266/2021.2+Release#Downloads>`_
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on the FAT partition. The following file was used for this example:
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`xilinx-vck190-v2021.2-final.bsp <https://www.xilinx.com/member/forms/download/xef.html?filename=xilinx-vck190-v2021.2-final.bsp>`_
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In order to download these files, you need to have a Xilinx account login. As an
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alternative, you can download a bootable image for Ubuntu 20.04 and write it to
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an SD card using a utility such as `Balena Etcher <https://www.balena.io/etcher>`_
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or dd. The Ubuntu image is available `here. <https://ubuntu.com/download/xilinx>`_
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Download the image for the Zynq Ultrascale+ MPSoC Development boards, uncompress
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it and write it to the SD card. This image creates multiple partitions, but we
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only need to use the FAT partition with the boot artifacts on it.
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Verify that the board can boot from the SD card
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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It is worth booting the board from the SD card before trying to boot RTEMS.
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Insert the card and power on the board. You should see the messages on the first
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console indicating the various boot loader stages and eventually the Linux
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kernel. The goal is to interrupt u-boot when given the chance to access the
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u-boot command prompt.
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Build RTEMS with examples
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^^^^^^^^^^^^^^^^^^^^^^^^^
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Build the RTEMS `xilinx-zynqmp-lp64-zu3eg` BSP. Use the ticker.exe sample which
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can be found in the directory:
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.. code-block:: shell
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build/aarch64/xilinx-zynqmp-lp64-zu3eg/testsuites/samples
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Prepare the RTEMS image
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^^^^^^^^^^^^^^^^^^^^^^^
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Prepare your RTEMS image to boot from u-boot with the following commands:
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.. code-block:: shell
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$ aarch64-rtems6-objcopy -Obinary ticker.exe ticker.bin
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$ gzip -9 ticker.bin
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$ mkimage -A arm64 -O rtems -T kernel -a 0x10000000 -e 0x10000000 -n RTEMS -d ticker.bin.gz rtems.img
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Boot the RTEMS image
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^^^^^^^^^^^^^^^^^^^^
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Copy the prepared RTEMS image to the SD card and insert the SD crd in the ZCU102
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board. Power on the board. When you see the prompt on the console to interupt
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u-boot, hit a key to bring up the u-boot command prompt. On the u-boot command
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prompt you can boot your RTEMS image:
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.. code-block:: shell
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Zynq-MP> fatload mmc 0:1 0x1000 rtems.img
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Zynq-MP> bootm 0x1000
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This is the entire boot sequence:
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.. code-block:: shell
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Pre-FSBL boot Started
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Xilinx Zynq MP First Stage Boot Loader
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Release 2020.2 Nov 18 2020 - 11:46:01
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NOTICE: ATF running on XCZU9EG/silicon v1/RTL5.1 at 0xfffea000
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NOTICE: BL31: v2.2(release):xilinx_rebase_v2.2_2020.1-10-ge6eea88b1
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NOTICE: BL31: Built : 12:28:45, Nov 17 2020
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U-Boot 2020.01 (Jun 15 2021 - 14:24:32 +0000)
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Model: ZynqMP ZCU102 Rev1.0
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Board: Xilinx ZynqMP
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DRAM: 4 GiB
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PMUFW: v1.1
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EL Level: EL2
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Chip ID: zu9eg
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NAND: 0 MiB
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MMC: mmc@ff170000: 0
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In: serial@ff000000
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Out: serial@ff000000
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Err: serial@ff000000
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Bootmode: SD_MODE1
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Reset reason: SOFT
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Net:
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ZYNQ GEM: ff0e0000, mdio bus ff0e0000, phyaddr 12, interface rgmii-id
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Warning: ethernet@ff0e0000 (eth0) using random MAC address - 82:32:1d:80:d9:c9
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eth0: ethernet@ff0e0000
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Hit any key to stop autoboot: 0
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ZynqMP> fatload mmc 0:1 0x1000 rtems.img
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46669 bytes read in 27 ms (1.6 MiB/s)
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ZynqMP> bootm 0x1000
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## Booting kernel from Legacy Image at 00001000 ...
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Image Name: RTEMS
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Image Type: AArch64 RTEMS Kernel Image (gzip compressed)
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Data Size: 46605 Bytes = 45.5 KiB
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Load Address: 10000000
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Entry Point: 10000000
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Verifying Checksum ... OK
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Uncompressing Kernel Image
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## Transferring control to RTEMS (at address 10000000) ...
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*** BEGIN OF TEST CLOCK TICK ***
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*** TEST VERSION: 6.0.0.f381e9bab29278e4434b1a93e70d17a7562dc64c
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*** TEST STATE: EXPECTED_PASS
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*** TEST BUILD: RTEMS_POSIX_API RTEMS_SMP
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*** TEST TOOLS: 10.3.1 20210409 (RTEMS 6, RSB ad54d1dd3cf8249d9d39deb1dd28b2f294df062d, Newlib eb03ac1)
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TA1 - rtems_clock_get_tod - 09:00:00 12/31/1988
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TA2 - rtems_clock_get_tod - 09:00:00 12/31/1988
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TA3 - rtems_clock_get_tod - 09:00:00 12/31/1988
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TA1 - rtems_clock_get_tod - 09:00:05 12/31/1988
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TA2 - rtems_clock_get_tod - 09:00:10 12/31/1988
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TA1 - rtems_clock_get_tod - 09:00:10 12/31/1988
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TA1 - rtems_clock_get_tod - 09:00:15 12/31/1988
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TA3 - rtems_clock_get_tod - 09:00:15 12/31/1988
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TA2 - rtems_clock_get_tod - 09:00:20 12/31/1988
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TA1 - rtems_clock_get_tod - 09:00:20 12/31/1988
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TA1 - rtems_clock_get_tod - 09:00:25 12/31/1988
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TA2 - rtems_clock_get_tod - 09:00:30 12/31/1988
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TA1 - rtems_clock_get_tod - 09:00:30 12/31/1988
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TA3 - rtems_clock_get_tod - 09:00:30 12/31/1988
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*** END OF TEST CLOCK TICK ***
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[ RTEMS shutdown ]
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Follow up
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^^^^^^^^^
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This is just one possible way to boot the RTEMS image. For a development
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environment you may wish to configure u-boot to boot the RTEMS image from a TFTP
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server. For a production environment, you may wish to download, configure, and
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build u-boot, or develop a BOOT.BIN image with the RTEMS application.
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Clock Driver
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------------
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