Xilinx ZCU102

Introduction

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

The following sections give an overview of the board and the Xilinx compilation environment with particular attention on how to build and install Linux kernel on the Xilinx ZCU102. Furthermore, they explain how to build and install Jailhouse and create an ERIKA3 guest (AKA Jailhouse inmate).

Platform description

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.

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 PetaLinux SDK includes tools and utilities to automate complex tasks across configuration, build, and deployment, whereas the Xilinx Vivado (with SDK) is used to define the hardware design of the related board.

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 and in this manual we refer to Petalinux version 2017.2. 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 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

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

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 allows the configuration of the system by launching the top system configuration menu, run the following command:

$ petalinux-config

More in detail, it defines 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). Furthermore , the petalinux-config command allows to configure a single component (e.g., u-boot, kernel or rootfs).

$ petalinux-config -c kernel

Build PetaLinux System Image

In order to build and create, 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]

For creating a BOOT.BIN image for the ZynqMP, the command line is the following:

$ petalinux-package --boot –u-boot

For creating a uImage of the Linux kernel, the command line is the following:

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

More in detail, the images built by the PetaLinux tools will be loaded into the images/linux folder.

ERIKA3 on Jailhouse

Please, refer to the following documents:

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