Difference between revisions of "Xilinx ZCU102"

Revision as of 12:00, 2 March 2018

Introduction

The ERIKA3 RTOS can be run as a guest OS of the Jailhouse hypervisor on the Xilinx ZCU102.

Zynq UltraScale+™ MPSoC device has a quad-core ARM® Cortex-A53, dual-core Cortex-R5 real-time processors, and a Mali-400 MP2 graphics processing unit based on Xilinx's 16nm FinFET+ programmable logic fabric. The ZCU102 supports all major peripherals and interfaces enabling development for a wide range of applications.

Figure: Xilinx ZCU102 evaluation board.

Here are the steps to run ERIKA3 as Jailhouse guest:

• Build and install Linux kernel v4.7+ on the Xilinx ZCU102
• Build and install Jailhouse
• Create an ERIKA3 guest (AKA Jailhouse inmate)
• Load and run the ERIKA3 Jailhouse inmate

Linux kernel v4.7+ on Xilinx ZCU102

Xilinx provides the tools in order to customize, build and deploy embedded Linux solutions on Xilinx processing systems. Such tools consists a set of pre-configured binary bootable images, fully customizable Linux for the Xilinx devices, and PetaLinux/Xilinx Vivado SDK. The Xilinx Vivado (with SDK) is used to define the hardware design of the related board, whereas the PetaLinux SDK includes tools and utilities to automate complex tasks across configuration, build, and deployment.

According to the Jailhouse documentation a linux kernel version 4.7+ is needed for ARM64. Starting from release 2017.1, the Xilinx kernel in PetaLinux has been upgraded from version 4.6 to version v.9 and thus the referred PetaLinux/Vivado SDKtool release has to be 2017.1 and further. In the following part of the section, we refer, without loss of generality, to PetaLinux tools 2017.2 release.

The compilation environment: PetaLinux tool

The PetaLinux Tools aim to configure, build and deploy a booting image for the Xilinx board on the basis of the hardware design file (.hdf). PetaLinux installation is very straight-forward. Without any options, PetaLinux tools will be installed into a subdirectory of the current working directory. Alternatively, an installation path may be specified.

Example of PetaLinux Tools 2017.2 installation in the /opt/pkg directory:

$ mkdir /opt/pkg
$ ./petalinux-v2017.2-final-installer.run /opt/pkg

In order to setup the PetaLinux working environment, it is required to source the appropriate settings script (e.g., from a bash shell):

$ source /opt/pkg/2017.2/settings.sh

A detailed instruction of the PetaLinux tools is in the reference user guide (link to manual). In the following part of the section, we give an overview on how to create a new PetaLinux project and build the boot image for the referred board.

Create a New PetaLinux Project

In order to create a new PetaLinux project for the referred board, run the following command from the command console (e.g. bash):

$ petalinux-create -t project -n <name> --template zynqMP

where name is used the project name.

After creating the project, the hardware configuration should be imported in order to build a Linux system for a customized hardware platform. Example of hardware design file can be found in the PetaLinux installation path (e.g.,/opt/pkg/2017.2/tools/hsm/data/embeddedsw/lib/hwplatform_templates/ZCU102_hw_platform/system.hdf) or in the Xilinx repository (zcu102 hdf example), whereas customized hardware design file can be created by means of Xilinx Vivado SDK. Run the following command to import the hardware description:

$ petalinux-config --get-hw-description=<path to directory which contains hardware description file>

Such command will import the hardware description of the .hdf file given as input. Then, it will launch the top system configuration menu when it runs first time for the PetaLinux project or the tool detects there is a change in the system primary hardware candidates.

In order to change the configuration of the system by launching the top system configuration menu, run the following command:

$ petalinux-config

This command is used to define the sets of components (e.g., u-boot, arm-trusted-firmware, kernel and rootfs). For each component, it defines the configuration settings and whether the configuration files will be auto updated (i.e., Auto Config Settings). Furthermore, the command allows to configure the hardware settings (e.g., system processor, memory, Serial port, Ethernet and so forth). o configur Furthermore , the petalinux-config command allows to configure a single component (e.g., u-boot, kernel or rootfs) as follows:

• Kernel configuration:
  $ petalinux-config -c kernel
• U-boot configuration:
  $ petalinux-config -c u-boot

Build the boot image

In order to build and create the boot image, the PetaLinux 2017.2 tool provides the following commands:

$ petalinux-build

The petalinux-build command is used to build the system image. As for the petalinux-config command, it is possible to rebuild a single component instead of the entire system with the -c <component> option.

Finally, the petalinux-package command is used to build various image format, firmware, prebuilt and bsps.

$ petalinux-package --boot|--bsp|--firmware|--image|--prebuilt [options]

The boot image for the ZynqMP contains a first stage bootloader image, FPGA bitstream and u-boot. It will be contained in a file referred to as BOOT.BIN, whereas the Linux kernel image will contained in a separated file, referred to as uImage.ub.

For creating the boot image , the command line is the following:

$ petalinux-package --boot --u-boot <path of the u-boot elf file> --fpga <path of the bitstream file>

Note that the images BOOT.BIN and uImage.ub, including the u-boot elf file and the bitstream file, are stored in <petalinux-project-root>/images/linux where <petalinux-project-root> is the path of the referred PetaLinux project.

For creating only the Linux kernel image, the command line is the following:

$ petalinux-package --image -c kernel --format uImage

Install the boot image

The boot image can be put into Flash or SD card. This section refers to the steps for booting from SD card and the the board configuration for SD boot has to be switche as shown in the following picture:

Figure: Configuration for SD boot.

The SD card has to contain two partitions:

• the first partition, referred to as BOOT, contains the bootloader, u-boot, device-tree and kernel image. More in detail, the boot images created in PetaLinux project (i.e., BOOT.BIN and image.ub) will be installed in the root directory of the BOOT partition.
• the second partition, referred to as rootfs, stores the system root filesystem.

The SD card partitions can be built by flashing prebuilded SD images or from scratch.

Prebuilded SD images can be found in the Xilinx repository and the SD card setup can be performed as follows:

1. Mount the SD card on your host machine.
2. Flash the downloaded image into the SD card:
   $ dd if=<file image> of=/dev/sdX bs=8M && sync

In case of the SD card partitions built from scratch, the SD card setup can be performed as follows:

1. Mount the SD card on your host machine.
2. Format the SD card in two partitions using gparted or fdisk:
   • The BOOT partition should be at least 40MB in size and formatted as a FAT32 filesystem. Ensure that there is 4MB of free space preceding the partition.
   • The rootfs partition should be formatted as an ext4 file-system and can take up the remaining space on the SD card.
3. Copy BOOT.BIN and image.ub from <petalinux-project-root>/pre-built/linux/images/ into the root directory of the BOOT partition.
4. Extract the file-system archive into the rootfs partition.
   

Build and install kernel modules

In order to build and install the kernel modules, run the following command:

$ make -C <path to kernel build> ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- INSTALL_MOD_PATH=<destination path>  modules_install 

where <path to kernel build> is the path of folder containing the kernel build in the petalinux project and <destination path> is typically the filesystem root.

Jailhouse for Xilinx ZCU102

The hypervisor requires a contiguous piece of RAM for itself and each additional cell. This currently has to be pre-allocated during boot-up. On ARM platforms this is usually achieved by reducing the amount of memory seen by the Linux kernel. You therefore need to modify the kernel boot arguments by resizing the kernel memory.

Jailhouse setup

$ git clone https://github.com/siemens/jailhouse

As for jailhouse installation on Xilinx ZCU102, we refer to Jailhouse v0.7. The commands to checkout at such version are the following:

$ cd jailhouse
$ git checkout v0.7 -b xilinx_jailhouse

Jailhouse directory contains the following subdirectories:

• Documentation
• ci - configuration files for different platforms.
• configs - cell configuration files.
• driver - jailhouse.ko kernel module code.
• hypervisor - hypervisor code.
• inmates - inmates demos. It also contains code for ti_app inmate example.
• scripts
• tools - jailhouse management utility.

Jailhouse build and installation

For building and installing Jailhouse, first setup the environment by simply setting the PetaLinux working environment:

$ source /opt/pkg/2017.2/settings.sh

Copy the jailhouse-config-am57xx-evm.h file into hypervisor/include/jailhouse directory and rename it to config.h Then

a copy of the compiled Linux kernel with all object files is needed, to be able of building the kernel module.

sudo make KDIR=/path/to/compiled/kernel/

1. Compiling jailhouse

cd ~/Jailhouse/xilinx-demo-jailhouse/jailhouse make clean make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- KDIR=$XPROJECT/build/linux/kernel/linux-v4.9.52/ DESTDIR=$DESTINATION/jailhouse_rootfs/ install

Jailhouse run

Since the hypervisor requires a contiguous piece of RAM for itself and each additional cell, the amount of memory seen by the Linux kernel has to be reduced. This can be achieved by modifying the kernel boot arguments adding mem=<new value> as follows:

• Reboot the board and stop the execution at the u-boot prompt (typically by pressing any key at the boot)
• Change the bootargs
  u-boot prompt> setenv bootargs '<previous values> mem=1536M
• Save the environment for the next reboots
  u-boot prompt> saveenv
• Restart the execution
  u-boot prompt> run bootcmd

Insert jailhouse.ko kernel module

 $ sudo depmod -a
 $ sudo modprobe jailhouse
 $ sudo jailhouse enable <zcu102-root-cell>.cell

ERIKA3 on Jailhouse

ERIKA3 setup

In order to build and install jailhouse, setup the environment by setting the following environmental variables:

$ export JAILHOUSE_DIR=<path of the jailhouse directory>
$ export JAILHOUSE_AARCH64_GCCPREFIX=aarch64-linux-gnu-

ERIKA3 build and installation

Please, refer to the following documents:

• ERIKA on the Jailhouse hypervisor
• Remote projects on RT-Druid