debian linux on zynq (xilinx arm-soc fpga) setup flow (vivado 2015.4)

Debian Linux on ZynqSetup Flow(Version March 2016 for Vivado 2015.4)

Shinya Takamaeda-YamazakiNara Institute of Science and Technology (NAIST)

E-mail: shinya_at_is.naist.jp

Goal of this tutorialn Constructing Zynq system with GPIO I/F and Debian Linux

l GPIO devices (LED and SW) are accessed from software on CPU

l (User IP can be added on PL part, if needed)

Shinya T-Y, NAIST 2

ARMCore

L1L2

DRAMI/F

ARMCore

L1

PS

PL

GPIO User IP

LED SW

FPGA

DRAM

GP

ACP HP

Setup flow for Debian Linux on Zynqn Download and setup of FPGA board file (for Zybo)

n Hardware development on Vivado

n U-boot SPL and U-boot (only once)

n Linux kernel (only once) and device tree (only once)

n Debian root file system (only once)n Setup SD card (only once)

n Boot from SD card

n CMA (Continuous memory allocator) driver (only once)

n Run test applications

n How to replace the bitstream

Shinya T-Y, NAIST 3

Reference platformn FPGA board: Digilent Zybo (Zynq XC7Z010)

l Almost same flow can be applied to ZedBoard and ZC706

n FPGA tool: Xilinx Vivado 2015.4l License is "Web Pack"

n Target OS: Debian 8.0 (Jessie)

n Host OS: Ubuntu 14.04

Shinya T-Y, NAIST 4

Download and setup FPGA board file

Shinya T-Y, NAIST 5

FPGA board file for Zybon Zybo's board setting (I/O pins, …) is not included in Vivado.

Download and install it from Digilent web pagel https://reference.digilentinc.com/vivado:boardfiles/

l Follow the procedure on the web page

Shinya T-Y, NAIST 6

Install board file into Vivado systemn Unzip the download file and copy it into Vivado system

Shinya T-Y, NAIST 7

cp -a vivado-boardfiles-master/new/boardfiles/* ¥/opt/Xilinx/Vivado/2015.4/data/boards/board_files/

Hardware development on Vivado

Shinya T-Y, NAIST 8

Hardware development on Vivadon Setup PATH

l If you use bash (default) or zsh

l If you use tcsh

n Create a working directory and launch Vivado

Shinya T-Y, NAIST 9

source /opt/Xilinx/Vivado/2015.4/settings64.sh

source /opt/Xilinx/Vivado/2015.4/settings64.csh

cd ~/mkdir zybo_debianmkdir zybo_debian/hwcd zybo_debian/hwvivado &

Create a new project

Shinya T-Y, NAIST 10


Select your board

Add a block design


Add IP


Add CPU


Add GPIO for LED and switch


Customize CPU


Double click

Connect to DRAM


Customize GPIO


Double click

Connect to LED and switches


Connect CPU and GPIO


Connect S_AXI and GPIO by auto


Connect LED and GPIO


Connect switches and GPIO2


Complete HW block design


Modify address value


0x43c0_0000 is recommended

Validate design


Create HDL wrapper


Then right click the block design,and select "Create HDL Wrapper"

Generate Bitstream


Click "Generate Bitstream"

Bitstream has been Generated


Export Hardware with Bitstream (only once)

n This step is required only once for U-boot compilation


File -> Export -> Export Hardware

Export Hardware with Bitstream (only once)


Prepare "ps7_init_gpl.{c,h}" by using "hsi" (only once, for Zybo)n Go to the SDK directory

n Launch "hsi"

n Open HW design

n Generate application filesl Type this command in 1 line!

n Complete!


cd ~/zybo_debian/hw/zybo/zybo.sdk

hsi

open_hw_design zybo_wrapper.hdf

generate_app -hw zybo_wrapper -os standalone -procps7_cortex9_0 -app zynq_fsbl -sw fsbl -dir zynq_fsbl

quit

Prepare "ps7_init_gpl.{c,h}" by using "hsi" (only once, for Zybo)n Example in PNG

n If you use Zybo or other special boards unlike ZedBoardand ZC706, you must create ps7_init_gpl.*l ps7_init_gpl.* for ZedBoard and ZC706 are already included in U-

boot as default

n Generated "ps7_init_gpl.{c,h}" files are used later for building U-boot


Hardware development completedn Your bitstream can be found at

zynq_debian/hw/zybo/zybo.runs/impl_1/zybo_wrapper.bit

n Copy the bitstream to somewhere (BOOT)


mkdir ~/zybo_debian/BOOTcp ~/zybo_debian/hw/zybo/zybo.runs/impl_1/zybo_wrapper.bit ~/zybo_debian/BOOT

U-boot SPL and U-boot


Download U-boot and modify itn Create a new working directory for software

n Clone from GitHub

n Checkout the tagged version for Vivado 2015.4

n Edit "zynq-common.h"


mkdir ~/zybo_debian/swcd ~/zybo_debian/sw

git clone https://github.com/Xilinx/u-boot-xlnx.git

emacs include/configs/zynq-common.h

cd u-boot-xlnxgit checkout xilinx-v2015.4

Edit "CONFIG_EXTRA_ENV_SETTINGS" and "CONFIG_BOOTCOMMAND"n CONFIG_EXTRA_ENV_SETTINGS

n CONFIG_BOOTCOMMAND


/* Default environment */#define CONFIG_EXTRA_ENV_SETTINGS ¥

"fpgaload=load mmc 0 0x1000000 zynq.bit¥0 " ¥"fpgaboot=fpga loadb 0 0x1000000 $filesize¥0 " ¥"bootimage=uImage¥0" ¥"fdtaddr=0x00000100¥0" ¥"fdtimage=devicetree.dtb¥0" ¥"loadaddr=0x8000¥0" ¥"mmcloadcmd=fatload¥0" ¥"mmcloadpart=1¥0" ¥"mmcroot=/dev/mmcblk0p2¥0" ¥"mmcload=mmc rescan; fatload mmc 0:1 ${loadaddr} ${bootimage}; fatload mmc 0:1 ${fdtaddr} ${fdtimage}¥0" ¥"mmcboot=setenv bootargs console=ttyPS0,115200 root=${mmcroot} rw rootwait uio_pdrv_genirq.of_id=dmem-uio; bootm ${loadaddr} - ${fdtaddr}¥0" ¥DFU_ALT_INFO

/* default boot is according to the bootmode switch settings */#define CONFIG_BOOTCOMMAND "run fpgaload; run fpgaboot; run mmcload; run mmcboot"

Edit "CONFIG_EXTRA_ENV_SETTINGS" and "CONFIG_BOOTCOMMAND"n Example in PNG (Check carefully!)


Build U-bootn Setup PATH


l If you use tcsh

n Setup some parametersl If you use bash or zsh

l If you use tcsh


source /opt/Xilinx/Vivado/2015.4/settings64.sh

source /opt/Xilinx/Vivado/2015.4/settings64.csh

export CROSS_COMPILE=arm-xilinx-linux-gnueabi-export ARCH=arm

setenv CROSS_COMPILE arm-xilinx-linux-gnueabi-setenv ARCH arm

Build U-bootn If you use Zybo (or an other board that its fsbl software

source code is NOT included in "u-boot-xlnx/board/zynq/"), copy "ps7_init_gpl.{c,h}" from SDK directory to "u-boot-xlnx/board/xilinx/zynq/custom_hw_platform"l Files for ZedBoard and ZC706 are included as default

You can find these files, such like"u-boot-xlnx/board/xilinx/zynq/zed_hw_platform"

n At "u-boot-xlnx"


cp ~/zybo_debian/hw/zybo/zybo.sdk/ps7_init_gpl.* ¥board/xilinx/zynq/custom_hw_platform

Build U-bootn At u-boot-xlnx

l If you youse other boards, such as ZedBoard, please find its corresponding config command at u-boo-xlnx/configs, such as "configs/zynq_zed_defconfig"

n Then, make


make zynq_zybo_defconfig

make

Build U-bootn Example in PNG

n "u-boot.img" and "boot.bin" have been generated at u-boot-xlnx


U-boot has been successfully generated

n Copy two files into somewhere

n Boot order is(1) U-boot SPL -> (2) U-boot -> (3) Linux Kernel

n Even if you want to change the hardware design, no build of U-boot is required anymore


cp u-boot.img ~/zybo_debian/BOOT/cp boot.bin ~/zybo_debian/BOOT/

Linux kernel


Download Linux kerneln Move to the software directory

n Clone from GitHub

n Checkout the tagged version for Vivado 2015.4


cd ~/zybo_debian/sw

git clone https://github.com/Xilinx/linux-xlnx.git

cd linux-xlnxgit checkout xilinx-v2015.4.01

Edit device tree filen Edit "zynz-zybo.dts"

l if you use other device, please find the corresponding device tree file in "linux-xlnx/arch/arm/boot/dts/"

n Edit it to addUIO(user-space I/O)interfaces


emacs arch/arm/boot/dts/zynq-zybo.dtsaxis0 {

compatible = "dmem-uio";reg = < 0x43c00000 0x010000 >; // (address, size)

};

axis1 {compatible = "dmem-uio";reg = < 0x43c10000 0x010000 >; // (address, size)

};


};


};


};


};


};


};

Insert these lines

Configure the kernel optionsn At linux-xlnx, load the default options

n Configure the kernel options by menuconfig


make xilinx_zynq_defconfig

make menuconfig

Device Drivers->


Device Drivers->Userspace I/O drivers


Enable UIO


Device Drivers->Generic Driver Options


Edit Size in Mega Bytes of CMA


Set 256

(Option) File systems->Network File Systems


Check "linux-xlnx/.config"n At linux-xlnx

n Especially, check the size of CMA


less .config

Build Linux kernel and device treen Setup PATH


l If you use tcsh

n Build the kernel image and device tree


export PATH=~/zybo_debian/sw/u-boot-xlnx/tools:$PATH

make uImage LOADADDR=0x00008000

setenv PATH ~/zybo_debian/sw/u-boot-xlnx/tools:$PATH

Build Linux kernel and device treen Example in PNG


Linux kernel and device tree have been successfully generatedn Copy uImage and zynq-zybo.dtb to somewhere

n Even if you want to change the hardware design, no build of Linux kernel is required anymorel Device tree should be modified, if you change different address

mapping


cp arch/arm/boot/uImage ~/zybo_debian/BOOTcp arch/arm/boot/dts/zynq-zybo.dtb ~/zybo_debian/BOOT

Debian root file sytem


Setup environmentn Setup parameters (on bash)

n Build the root file system in $targetdir (= rootfs)


cd ~/zybo_debiansudo apt-get install qemu-user-static debootstrap binfmt-supportexport targetdir=rootfsexport distro=jessie

mkdir $targetdirsudo debootstrap --arch=armhf --foreign $distro $targetdirsudo cp /usr/bin/qemu-arm-static $targetdir/usr/binsudo cp /etc/resolv.conf $targetdir/etcsudo chroot $targetdir

Build rootfs with QEMUn Setup APT


distro=jessieexport LANG=C/debootstrap/debootstrap --second-stage

cat <<EOT > /etc/apt/sources.listdeb http://ftp.jp.debian.org/debian $distro main contrib non-freedeb-src http://ftp.jp.debian.org/debian $distro main contrib non-freedeb http://ftp.debian.org/debian $distro-updates main contrib non-freedeb-src http://ftp.debian.org/debian $distro-updates main contrib non-freedeb http://security.debian.org/debian-security $distro/updates main contrib non-freedeb-src http://security.debian.org/debian-security $distro/updates main contrib non-freeEOT

cat << EOT > /etc/apt/apt.conf.d/71-no-recommendsAPT::Install-Recommends "0";APT::Install-Suggests "0";EOT

Build rootfs with QEMUn Install applications and setup root password

n IP address


apt-get updateapt-get install locales dialog dpkg-reconfigure localesapt-get install openssh-server ntpdate resolvconf sudo less hwinfo ntp tcsh zshpasswd

echo <<EOT >> /etc/network/interfacesauto eth0iface eth0 inet statichwaddress ether 00:0a:35:00:02:00address 192.168.0.100netmask 255.255.255.0gateway 192.168.0.1dns-nameservers 192.168.0.1EOT

Build rootfs with QEMUn resolve.conf

n sshd_config

l “PasswordAuthentication yes”


echo <<EOT >> /etc/resolv.confnameserver 192.168.0.1EOT

vi /etc/ssh/sshd_config

Build rootfs with QEMUn Add a new admin user

l Enter, enter, …

n Edit sudo user

l Edit like below


adduser username

editor=vi visudo

# User privilege specificationroot ALL=(ALL:ALL) ALLusername ALL=(ALL:ALL) ALL

Build rootfs with QEMUn ntp.conf

n Insert a new server (in my case "ntp.nict.jp")


vi /etc/ntp.conf

#server 0.debian.pool.ntp.org iburst#server 1.debian.pool.ntp.org iburst#server 2.debian.pool.ntp.org iburst#server 3.debian.pool.ntp.org iburst

server ntp.nict.jp

Build rootfs with QEMUn rc.local

n Insert 3 lines for NTP setup


vi /etc/rc.local

service ntp stopntpdate ntp.nict.jpservice ntp startexit 0

Build rootfs with QEMUn fstab

n Insert 1 line (to mount 1st partition of SD card)

n Create a new directory for 1st partition of SD card


vi /etc/fstab

/dev/mmcblk0p1 /sdcard auto defaults 0 0

mkdir sdcard

Build rootfs with QEMUn Permission rule of /dev/uio (Userspace I/O)

n Permission rule of /dev/xdevconfig (Configuration port)


echo KERNEL=="uio*", MODE="0666",OWNER="root",GROUP="root" >> /etc/udev/rules.d/50-uio.rules

echo KERNEL=="xdevcfg", MODE="0666",OWNER="root",GROUP="root" >> /etc/udev/rules.d/50-xdevcfg.rules

Build rootfs with QEMUn Hostname, etc.

n Install applications (if you need)

n Finish


echo debian-zynq > /etc/hostnameecho T0:2345:respawn:/sbin/getty -L ttyS0 115200 vt1000 >> /etc/inittabecho 127.0.0.1 debian-zynq >> /etc/hosts

apt-get install build-essentialapt-get install screen bash-completion timeapt-get install python python-pip python3 python3-pipapt-get install nis nfs-common

exitsudo rm -f $targetdir/usr/bin/qemu-arm-static

Setup SD card


Format SD cardn Prepare SD card (> 8GB)

n Install and launch gparted

n Setup 2 partitionsl BOOT (64MB, FAT32, with "bootable" flag)

ü 4MB empty space ahead

l rootfs (rest all, ext4)


sudo apt-get install gparted -ysudo gparted &

empty(4MB)

BOOT(64MB, FAT32, bootable)

rootfs(rest, ext4)

Copy the created files into the SD cardn Mount the formatted SD card

l /media/yourname/BOOT and /media/yourname/rootfs

n Copy bitstream, U-boot, Linux kernel, and device tree

n Copy rootfs

n Unmount BOOT and rootfs


cp ~/zybo_debian/BOOT/boot.bin /media/yourname/BOOT/cp ~/zybo_debian/BOOT/u-boot.img /media/yourname/BOOT/cp ~/zybo_debian/BOOT/zybo_wrapper.bit /media/yourname/BOOT/zynq.bitcp ~/zybo_debian/BOOT/uImage /media/yourname/BOOT/cp ~/zybo_debian/BOOT/zynq-zybo.dtb /media/yourname/BOOT/devicetree.dtb

sudo cp -a ~/zybo_debian/rootfs/* /media/yourname/rootfs/

Boot from SD card


Jumper pin (Zybo): Set SD boot


Jumper pin (ZedBoard)


Boot system from SD cardn Connect Zybo to network

l Or connect UART port to the host PC

n Insert SD card and power-on

n Login via SSH (type password)

n Or login via UART: type username and password


ssh username192.168.0.100

Time zone and localen Change the time zone

l In my case, Asia -> Tokyo

n Change the locale

l Select "en_US.UTF-8", "ja_JP.UTF-8", and "ja_JP.EUC-JP"

l Then select "en_US.UTF-8" as default

n Reboot


(on zynq) sudo dpkg-reconfigure tzdata

(on zynq) sudo dpkg-reconfigure locales

(on zynq) sudo reboot

CMA (Continuous memory allocator) driver


Copy linux-xlnx into the SD cardn Mount the formatted SD card

l /media/yourname/BOOT and /media/yourname/rootfs

n Copy linux-xlnx into rootfs

n Create symbolic link to "linux"

n Download "udmabuf" from GitHub

n Remove SD card and boot again from SD card


sudo cp -a ~/zybo_debian/sw/linux-xlnx /media/yourname/rootfs/usr/src/linux

sudo ln -s /media/yourname/rootfs/usr/src/linux /media/yourname/rootfs/usr/src/kernel

git clone https://github.com/shtaxxx/udmabuf.gitsudo mkdir /media/yourname/rootfs/driverssudo cp -a udmabuf /media/yourname/rootfs/drivers/

Build CMA drivern Login

n Compile kernel modules

n Compile CMA driver


(on zynq) cd /usr/src/kernel(on zynq) sudo make modules_prepare

(on zynq) cd /drivers/udmabuf(on zynq) sudo make(on zynq) sudo cp udmabuf.ko /drivers/(on zynq) sudo cp settings/setup_udmabuf.sh /drivers/

Modify /etc/rc.local for CMA drivern Edit /etc/rc.local

n Insert 1 line before "exit 0"

n Reboot


sh /drivers/setup_udmabuf.shexit 0

(on zynq) sudo vi /etc/rc.local

(on zynq) sudo reboot

Run test applications


Download applications and libraryn Download "zynq-linux" from GitHub

n Copy zynq-linux to Zynq system

l Type password

n Login on Zynq and go to zynq-linux/sample


(on zynq) cd zynq-linux/sample

git clone https://github.com/PyHDI/zynq-linux.git

scp -r zynq-linux [email protected]

Run GPIO testn Compile "axis_test.c" and run it

l LED pattern is changed

l The value of switches is read


(on zynq) gcc -O2 -I ../lib/ -o axis.out axis_test.c(on zynq) ./axis.out 15

write: 15read: 1

Run CMA testn Compile "cma_test.c" and run it

n RUN MODE 0: No CMA

n RUN MODE 1-3: CMAl 1: Cache Enabled

l 2: Cache Disabled

l 3: Cache Disabled, Write-merged


(on zynq) gcc -O2 -I ../lib/ -o cma.out cma_test.c(on zynq) ./cma.out 10000000 0(on zynq) ./cma.out 10000000 1(on zynq) ./cma.out 10000000 2(on zynq) ./cma.out 10000000 3

How to replace the bitstream


Method1: Replace zynq.bit in /sdcard/n The bitstream on SD card can be replaced on host PC

n Since 1st partition of SD card is mounted on /sdcard/, the bistream can be replaced directly by Zynq software

n No modifications of U-boot and Linux kernel are required

n If you don't chage the address mapping for GPIO, no modification of device tree is required


(on zynq) sudo cp new_zynq.bit /sdcard/zynq.bit(on zynq) sudo reboot

Method2: Reconfigure via /dev/xdevcfg

n Logic part (PL) can be dynamically changed from SW

n If you change the CPU settings, such as frequency, port configuration, etc., this flow is not perfect.Replace "zynq.bit" on SD card and reboot, instead of this flow


(on zynq) cat new_zynq.bit > /dev/xdevcfg

Reference


Referencen Yet Another Guide to Running Linaro Ubuntu Linux Desktop

on Xilinx Zynq on the ZedBoardl https://fpgacpu.wordpress.com/2013/05/24/yet-another-guide-to-

running-linaro-ubuntu-desktop-on-xilinx-zynq-on-the-zedboard/

n Building a pure Debian armhf rootfsl https://blog.night-shade.org.uk/2013/12/building-a-pure-debian-

armhf-rootfs/

n FPGA Magazine (No.12, March 2016)l http://www.kumikomi.net/fpga/contents/0012.php
