【ZynqMP】4. 1. 認定UbuntuでOpenAMPを試す【CR5Split】

/*
 * 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;
        rproc_0_reserved: rproc@3ed00000 {
            no-map;
            reg = <0x0 0x3ed00000 0x0 0x40000>;
        };
        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_1_reserved: rproc@3ef00000 {
            no-map;
            reg = <0x0 0x3ef00000 0x0 0x40000>;
        };
        rpu1vdev0vring0: rpu0vdev0vring0@3ef40000 {
            no-map;
            reg = <0x0 0x3ef40000 0x0 0x4000>;
        };
        rpu1vdev0vring1: rpu0vdev0vring1@3ef44000 {
            no-map;
            reg = <0x0 0x3ef44000 0x0 0x4000>;
        };
        rpu1vdev0buffer: rpu0vdev0buffer@3ef48000 {
            no-map;
            reg = <0x0 0x3ef48000 0x0 0x100000>;
        };

    };

    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>;
    };

    tcm_1a: tcm_0a@ffe90000 {
        no-map;
        reg = <0x0 0xffe90000 0x0 0x10000>;
        status = "okay";
        compatible = "mmio-sram";
        power-domain = <&zynqmp_firmware 17>;
    };

    tcm_1b: tcm_0b@ffeb0000 {
        no-map;
        reg = <0x0 0xffeb0000 0x0 0x10000>;
        status = "okay";
        compatible = "mmio-sram";
        power-domain = <&zynqmp_firmware 18>;
    };

    rf5ss@ff9a0000 {
        compatible = "xlnx,zynqmp-r5-remoteproc";
        xlnx,cluster-mode = <1>;
        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";
        };
        r5f_1: r5f@1 {
            compatible = "xilinx,r5f";
            #address-cells = <2>;
            #size-cells = <2>;
            ranges;
            sram = <&tcm_1a>, <&tcm_1b>;
            memory-region = <&rproc_1_reserved>, <&rpu1vdev0buffer>, <&rpu1vdev0vring0>, <&rpu1vdev0vring1>;
            power-domain = <&zynqmp_firmware 8>;
            mboxes = <&ipi_mailbox_rpu1 0>, <&ipi_mailbox_rpu1 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;

        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>;
        };
    };
    zynqmp_ipi2 {
        compatible = "xlnx,zynqmp-ipi-mailbox";
        interrupt-parent = <&gic>;
        interrupts = <0 30 4>;
        xlnx,ipi-id = <8>;
        #address-cells = <1>;
        #size-cells = <1>;
        ranges;

        ipi_mailbox_rpu1: mailbox@ff990400 {
            reg = <0xff990400 0x20>,
                  <0xff990420 0x20>,
                  <0xff990040 0x20>,
                  <0xff990060 0x20>;
            reg-names = "local_request_region",
                        "local_response_region",
                        "remote_request_region",
                        "remote_response_region";
            #mbox-cells = <1>;
            xlnx,ipi-id = <2>;
        };
    };
};

Xilinx Ubuntu22.04
$ uname -r
5.15.0-1031-xilinx-zynqmp

(...)
_DDR_START = DEFINED(LINKER_DDR_BASE) ? LINKER_DDR_BASE : 0x3EF00000;

(...)

MEMORY
{
   psu_ddr_S_AXI_BASEADDR : ORIGIN = _DDR_START, LENGTH = 0x00040000
   psu_ocm_ram_1_S_AXI_BASEADDR : ORIGIN = 0xFFFF0000, LENGTH = 0x00010000
   psu_r5_tcm_ram_0_S_AXI_BASEADDR : ORIGIN = 0x00000000, LENGTH = 0x00010000
   psu_r5_tcm_ram_1_S_AXI_BASEADDR : ORIGIN = 0x00020000, LENGTH = 0x00010000
}
(...)

//plarform_info.h
(...)
#else /* ZynqMP case */

#ifndef IPI_IRQ_VECT_ID
#define IPI_IRQ_VECT_ID     XPAR_XIPIPSU_0_INT_ID
#endif /* IPI_IRQ_VECT_ID */

#ifndef POLL_BASE_ADDR
#define POLL_BASE_ADDR      XPAR_XIPIPSU_0_BASE_ADDRESS
#endif /* POLL_BASE_ADDR */

#ifndef IPI_CHN_BITMASK
#define IPI_CHN_BITMASK     0x01000000
#endif /* IPI_CHN_BITMASK */

#endif /* VERSAL_NET */
(...)

# CR5-0 FW
$ readelf -S app_echo_test_r5_0.elf 
There are 31 section headers, starting at offset 0xcb818:

Section Headers:
  [Nr] Name              Type            Addr     Off    Size   ES Flg Lk Inf Al
  [ 0]                   NULL            00000000 000000 000000 00      0   0  0
  [ 1] .vectors          PROGBITS        00000000 010000 000638 00  AX  0   0  8
  [ 2] .text             PROGBITS        3ed00000 020000 012fd4 00  AX  0   0  8
  [ 3] .init             PROGBITS        00000638 010638 00000c 00  AX  0   0  4
  [ 4] .fini             PROGBITS        00000644 010644 00000c 00  AX  0   0  4
  [ 5] .rodata           PROGBITS        00000650 010650 001fad 00   A  0   0  8
  [ 6] .data             PROGBITS        00002600 012600 001100 00  WA  0   0  8
  [ 7] .bootdata         PROGBITS        00003700 013700 000180 00  WA  0   0  8
  [ 8] .eh_frame         PROGBITS        00003880 013880 000004 00   A  0   0  4
  [ 9] .ARM.exidx        ARM_EXIDX       00003884 013884 000008 00  AL  2   0  4
  [10] .init_array       INIT_ARRAY      0000388c 01388c 000004 04  WA  0   0  4
  [11] .fini_array       FINI_ARRAY      00003890 013890 000004 04  WA  0   0  4
  [12] .ARM.attributes   ARM_ATTRIBUTES  00003894 040100 00002f 00      0   0  1
  [13] .bss              NOBITS          3ed20100 040100 00175c 00  WA  0   0  4
  [14] .heap             NOBITS          00003894 013894 00400c 00  WA  0   0  1
  [15] .stack            NOBITS          000078a0 013894 003800 00  WA  0   0  1
  [16] .resource_table   PROGBITS        3ed20000 040000 000100 00  WA  0   0 256
  [17] .comment          PROGBITS        00000000 04012f 000012 01  MS  0   0  1
  [18] .debug_line       PROGBITS        00000000 040141 018149 00      0   0  1
  [19] .debug_line_str   PROGBITS        00000000 05828a 000138 01  MS  0   0  1
  [20] .debug_info       PROGBITS        00000000 0583c2 0258ad 00      0   0  1
  [21] .debug_abbrev     PROGBITS        00000000 07dc6f 007800 00      0   0  1
  [22] .debug_aranges    PROGBITS        00000000 085470 000708 00      0   0  8
  [23] .debug_str        PROGBITS        00000000 085b78 0230e3 01  MS  0   0  1
  [24] .debug_loclists   PROGBITS        00000000 0a8c5b 00fcb5 00      0   0  1
  [25] .debug_rnglists   PROGBITS        00000000 0b8910 00180d 00      0   0  1
  [26] .debug_macro      PROGBITS        00000000 0ba11d 008012 00      0   0  1
  [27] .debug_frame      PROGBITS        00000000 0c2130 0022b0 00      0   0  4
  [28] .symtab           SYMTAB          00000000 0c43e0 004690 10     29 640  4
  [29] .strtab           STRTAB          00000000 0c8a70 002c66 00      0   0  1
  [30] .shstrtab         STRTAB          00000000 0cb6d6 000140 00      0   0  1
Key to Flags:
  W (write), A (alloc), X (execute), M (merge), S (strings), I (info),
  L (link order), O (extra OS processing required), G (group), T (TLS),
  C (compressed), x (unknown), o (OS specific), E (exclude),
  D (mbind), y (purecode), p (processor specific)



# CR5-1 FW
$ readelf -S app_echo_test_r5_1.elf 
There are 30 section headers, starting at offset 0x982c4:

Section Headers:
  [Nr] Name              Type            Addr     Off    Size   ES Flg Lk Inf Al
  [ 0]                   NULL            00000000 000000 000000 00      0   0  0
  [ 1] .vectors          PROGBITS        00000000 010000 000638 00  AX  0   0  8
  [ 2] .text             PROGBITS        3ef00000 020000 012fd4 00  AX  0   0  8
  [ 3] .init             PROGBITS        00000638 010638 00000c 00  AX  0   0  4
  [ 4] .fini             PROGBITS        00000644 010644 00000c 00  AX  0   0  4
  [ 5] .rodata           PROGBITS        00000650 010650 001fad 00   A  0   0  8
  [ 6] .data             PROGBITS        00002600 012600 001100 00  WA  0   0  8
  [ 7] .bootdata         PROGBITS        00003700 013700 000180 00  WA  0   0  8
  [ 8] .eh_frame         PROGBITS        00003880 013880 000004 00   A  0   0  4
  [ 9] .ARM.exidx        ARM_EXIDX       00003884 013884 000008 00  AL  2   0  4
  [10] .init_array       INIT_ARRAY      0000388c 01388c 000004 04  WA  0   0  4
  [11] .fini_array       FINI_ARRAY      00003890 013890 000004 04  WA  0   0  4
  [12] .ARM.attributes   ARM_ATTRIBUTES  00003894 040100 00002f 00      0   0  1
  [13] .bss              NOBITS          3ef20100 040100 00175c 00  WA  0   0  4
  [14] .heap             NOBITS          00003894 013894 00400c 00  WA  0   0  1
  [15] .stack            NOBITS          000078a0 013894 003800 00  WA  0   0  1
  [16] .resource_table   PROGBITS        3ef20000 040000 000100 00  WA  0   0 256
  [17] .comment          PROGBITS        00000000 04012f 000012 01  MS  0   0  1
  [18] .debug_line       PROGBITS        00000000 040141 013602 00      0   0  1
  [19] .debug_line_str   PROGBITS        00000000 053743 000138 01  MS  0   0  1
  [20] .debug_info       PROGBITS        00000000 05387b 01fb87 00      0   0  1
  [21] .debug_abbrev     PROGBITS        00000000 073402 006622 00      0   0  1
  [22] .debug_aranges    PROGBITS        00000000 079a28 000660 00      0   0  8
  [23] .debug_str        PROGBITS        00000000 07a088 004b9e 01  MS  0   0  1
  [24] .debug_loclists   PROGBITS        00000000 07ec26 00ec12 00      0   0  1
  [25] .debug_rnglists   PROGBITS        00000000 08d838 0016c8 00      0   0  1
  [26] .debug_frame      PROGBITS        00000000 08ef00 001fa8 00      0   0  4
  [27] .symtab           SYMTAB          00000000 090ea8 004680 10     28 639  4
  [28] .strtab           STRTAB          00000000 095528 002c66 00      0   0  1
  [29] .shstrtab         STRTAB          00000000 09818e 000133 00      0   0  1
Key to Flags:
  W (write), A (alloc), X (execute), M (merge), S (strings), I (info),
  L (link order), O (extra OS processing required), G (group), T (TLS),
  C (compressed), x (unknown), o (OS specific), E (exclude),
  D (mbind), y (purecode), p (processor specific)
  

$ ls -1 /sys/class/remoteproc/
remoteproc0
remoteproc1

$ sudo sh -c "echo app_echo_test_r5_0.elf > /sys/class/remoteproc/remoteproc0/firmware"
$ sudo sh -c "echo app_echo_test_r5_1.elf > /sys/class/remoteproc/remoteproc1/firmware"
$ sudo sh -c "echo start > /sys/class/remoteproc/remoteproc0/state"
$ sudo sh -c "echo start > /sys/class/remoteproc/remoteproc1/state"

$ ls -1 /sys/bus/rpmsg/devices/
virtio0.rpmsg-openamp-demo-channel.-1.1024
virtio0.rpmsg_ctrl.0.0
virtio0.rpmsg_ns.53.53
virtio1.rpmsg-openamp-demo-channel.-1.1024
virtio1.rpmsg_ctrl.0.0
virtio1.rpmsg_ns.53.53

$ sudo sh -c "echo stop > /sys/class/remoteproc/remoteproc0/state"

$ ls -1 /sys/bus/rpmsg/devices/
virtio1.rpmsg-openamp-demo-channel.-1.1024
virtio1.rpmsg_ctrl.0.0
virtio1.rpmsg_ns.53.53

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

 Echo test start 
using dev file: virtio1.rpmsg-openamp-demo-channel.-1.1024
open /sys/bus/rpmsg/devices/virtio1.rpmsg-openamp-demo-channel.-1.1024/driver_override
write virtio1.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/virtio1.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 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

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