【ZynqMP】4. 認定UbuntuでOpenAMPを試す【CR5Lockstep】

# 認定Ubuntu22.04
# まずはRPMSG
$ find /lib/modules/5.15.0-1031-xilinx-zynqmp/kernel/drivers/ -name "*rpmsg*"
/lib/modules/5.15.0-1031-xilinx-zynqmp/kernel/drivers/rpmsg
/lib/modules/5.15.0-1031-xilinx-zynqmp/kernel/drivers/rpmsg/virtio_rpmsg_bus.ko
/lib/modules/5.15.0-1031-xilinx-zynqmp/kernel/drivers/rpmsg/rpmsg_ns.ko
/lib/modules/5.15.0-1031-xilinx-zynqmp/kernel/drivers/rpmsg/rpmsg_core.ko
/lib/modules/5.15.0-1031-xilinx-zynqmp/kernel/drivers/rpmsg/rpmsg_char.ko

# Remoteproc
$ find /lib/modules/5.15.0-1031-xilinx-zynqmp/kernel/drivers/ -name "*remoteproc*"
/lib/modules/5.15.0-1031-xilinx-zynqmp/kernel/drivers/remoteproc
/lib/modules/5.15.0-1031-xilinx-zynqmp/kernel/drivers/remoteproc/zynqmp_r5_remoteproc.ko

/*
 * SPDX-License-Identifier: MIT
 *
 * dts file for ZynqMP OpenAMP
 *
 * Copyright (C) 2022, Advanced Micro Devices, Inc.  All rights reserved.
 *
 */

&{/} {
	reserved-memory {
		#address-cells = <2>;
		#size-cells = <2>;
		ranges;
		rpu0vdev0vring0: rpu0vdev0vring0@3ed40000 {
			no-map;
			reg = <0x0 0x3ed40000 0x0 0x4000>;
		};
		rpu0vdev0vring1: rpu0vdev0vring1@3ed44000 {
			no-map;
			reg = <0x0 0x3ed44000 0x0 0x4000>;
		};
		rpu0vdev0buffer: rpu0vdev0buffer@3ed48000 {
			no-map;
			reg = <0x0 0x3ed48000 0x0 0x100000>;
		};
		rproc_0_reserved: rproc@3ed00000 {
			no-map;
			reg = <0x0 0x3ed00000 0x0 0x40000>;
		};
	};

	tcm_0a: tcm_0a@ffe00000 {
		no-map;
		reg = <0x0 0xffe00000 0x0 0x10000>;
		status = "okay";
		compatible = "mmio-sram";
		power-domain = <&zynqmp_firmware 15>;
	};

	tcm_0b: tcm_0b@ffe20000 {
		no-map;
		reg = <0x0 0xffe20000 0x0 0x10000>;
		status = "okay";
		compatible = "mmio-sram";
		power-domain = <&zynqmp_firmware 16>;
	};

	rf5ss@ff9a0000 {
		compatible = "xlnx,zynqmp-r5-remoteproc";
		xlnx,cluster-mode = <0>;
		ranges;
		reg = <0x0 0xFF9A0000 0x0 0x10000>;
		#address-cells = <0x2>;
		#size-cells = <0x2>;

		r5f_0: r5f@0 {
			compatible = "xilinx,r5f";
			#address-cells = <2>;
			#size-cells = <2>;
			ranges;
			sram = <&tcm_0a>, <&tcm_0b>;
			memory-region = <&rproc_0_reserved>, <&rpu0vdev0buffer>, <&rpu0vdev0vring0>, <&rpu0vdev0vring1>;
			power-domain = <&zynqmp_firmware 7>;
			mboxes = <&ipi_mailbox_rpu0 0>, <&ipi_mailbox_rpu0 1>;
			mbox-names = "tx", "rx";
		};
	};

	zynqmp_ipi1 {
		compatible = "xlnx,zynqmp-ipi-mailbox";
		interrupt-parent = <&gic>;
		interrupts = <0 29 4>;
		xlnx,ipi-id = <7>;
		#address-cells = <1>;
		#size-cells = <1>;
		ranges;

		/* APU<->RPU0 IPI mailbox controller */
		ipi_mailbox_rpu0: mailbox@ff990600 {
			reg = <0xff990600 0x20>,
			      <0xff990620 0x20>,
			      <0xff9900c0 0x20>,
			      <0xff9900e0 0x20>;
			reg-names = "local_request_region",
				    "local_response_region",
				    "remote_request_region",
				    "remote_response_region";
			#mbox-cells = <1>;
			xlnx,ipi-id = <1>;
		};
	};
};

sudo dtc /sys/firmware/fdt 2> /dev/null > system.dts

/include/ "zynqmp_openamp.dtsi"

$ dtc -@ -O dtb system.dts -o user-override.dtb

$ sudo cp user-override.dtb /boot/firmware/

$ ls /sys/class/remoteproc/
remoteproc0

$ git clone -b v2024.05 https://github.com/OpenAMP/openamp-system-reference.git
$ cd openamp-system-reference/examples/linux/rpmsg-echo-test/

$ ls -1
Makefile
README.md
echo_test.c

$ make
$ ls -1
Makefile
README.md
echo_test    # <--これ
echo_test.c
echo_test.o

$ sudo cp ./app_echo_test_r5_0.elf /lib/firmware/
#ELFのロード
$ sudo sh -c "echo app_echo_test_r5_0.elf > /sys/class/remoteproc/remoteproc0/firmware"
#CR5-0の状態
$ cat /sys/class/remoteproc/remoteproc0/state 
offline
#CR5-0を起動
$ sudo sh -c "echo start > /sys/class/remoteproc/remoteproc0/state"
$ cat /sys/class/remoteproc/remoteproc0/state 
running

$ ls -1 /sys/bus/rpmsg/devices/
virtio0.rpmsg-openamp-demo-channel.-1.1024
virtio0.rpmsg_ctrl.0.0
virtio0.rpmsg_ns.53.53

#ドライバのロード
$ sudo modprobe rpmsg_char
# Echo test実行
$ cd openamp-system-reference/examples/linux/rpmsg-echo-test/
$ sudo ./echo_test

 Echo test start 
using dev file: virtio0.rpmsg-openamp-demo-channel.-1.1024
open /sys/bus/rpmsg/devices/virtio0.rpmsg-openamp-demo-channel.-1.1024/driver_override
write virtio0.rpmsg-openamp-demo-channel.-1.1024 to /sys/bus/rpmsg/drivers/rpmsg_chrdev/bind
opendir /sys/bus/rpmsg/devices/virtio0.rpmsg_ctrl.0.0/rpmsg
opendir /sys/bus/rpmsg/devices/virtio0.rpmsg-openamp-demo-channel.-1.1024/rpmsg
open /dev/rpmsg_ctrl0
main():137 app_rpmsg_create_ept: rpmsg-openamp-demo-channel[src=0,dst=0x400]
checking /sys/class/rpmsg/rpmsg_ctrl0/rpmsg0/name
svc_name: rpmsg-openamp-demo-channel
.
open /dev/rpmsg0

 **************************************

  Echo Test Round 0 

 **************************************

 sending payload number 0 of size 17
echo test: sent : 17
 received payload number 0 of size 17

 sending payload number 1 of size 18
echo test: sent : 18
 received payload number 1 of size 18

 sending payload number 2 of size 19
echo test: sent : 19

(...)

 sending payload number 469 of size 486
echo test: sent : 486
 received payload number 469 of size 486

 sending payload number 470 of size 487
echo test: sent : 487
 received payload number 470 of size 487

 sending payload number 471 of size 488
echo test: sent : 488
 received payload number 471 of size 488

 **************************************

 Echo Test Round 0 Test Results: Error count = 0

 **************************************
 $

# Try 2nd run.
$ sudo ./echo_test

 Echo test start 
using dev file: virtio0.rpmsg-openamp-demo-channel.-1.1024
open /sys/bus/rpmsg/devices/virtio0.rpmsg-openamp-demo-channel.-1.1024/driver_override
write virtio0.rpmsg-openamp-demo-channel.-1.1024 to /sys/bus/rpmsg/drivers/rpmsg_chrdev/bind
Failed to write virtio0.rpmsg-openamp-demo-channel.-1.1024 to /sys/bus/rpmsg/drivers/rpmsg_chrdev/bind, Device or resource busy