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使用petalinux构建ZYNQ Linux系统_ug1144

作者：不正经 | 2024-03-31 21:38:09

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ug1144

0、说明

        UG1144文档中描述:PetaLinux 是一种嵌入式 Linux 软件开发套件 (SDK)，主要用于赛灵思 FPGA 片上系统设计。 其主要是帮助搭建嵌入式端整套固件。完成编译后可产生运行于ZYNQ PS端的uboot、内核、文件系统等。

        其实，我并推荐使用这种方式，主要是其编译依赖库太多，编译时间长，磁盘空间要求大、编译中可能由于各种问题导致失败，且调试不方便。或许对于FPGA工程师来说，不太关注PS端的开发者比较适合使用PetaLinux，不过和论坛技术支持聊天说自己单独编译使用可能会遇到ip driver的麻烦。后续章节使用源码独立编译ZYNQ Linux系统专门说明一下如何通过最原始的方法，单独编译uboot、内核、文件系统来构建ZYNQ PS端系统。

1、环境

1.1硬件环境

  • Xilinx ZCU104开发板

1.2软件环境

  • VM ubuntu 18.04
  • windows 10

1.3资源下载准备

      https://china.xilinx.com/support/download.html

  • 下载PetaLinux 安装工具petalinux-v2021.1-final-installer.run

用于安装PetaLinu工具，之后可以使用PetaLinu相关命令。

https://china.xilinx.com/support/download/index.html/content/xilinx/zh/downloadNav/embedded-design-tools.html

  • BSP包

  • 离线资源包

  • 参考文档UG1144

2、安装petalinux

2.1 安装ubuntu基本工具

           一下工具是按照PetaLinux及后续编译阶段依赖的工具，需要确认安装成功。不然后续编译报错缺少工具。此处也可以关注最新版UG1144文档中描述的依赖工具。不同版本可能依赖的工具略有不同。

sudo apt-get install -y gcc git make net-tools libncurses5-dev tftpd zlib1g-dev libssl-dev flex bison libselinux1 gnupg wget diffstat chrpath socat xterm autoconf libtool tar unzip texinfo zlib1g-dev gcc-multilib build-essential zlib1g:i386 screen pax gzip gawk

2.2 安装petalinux

  • 将petalinux-v2021.1-final-installer.run上传到ubuntu
  • chmod +x petalinux-v2021.1-final-installer.run 增加执行权限
  • ./petalinux-v2021.1-final-installer.run  --dir 安装路径
  • source <path-to-installed-PetaLinux>/settings.sh 设置环境变量

         petalinux安装相对比较容易，如果执行报错，可以参考UG1144里面，里面根据每一个操作，列出了常见错误及解决方法。比/bin/sh is no tbash需要sudo dpkg-reconfigure dash切换到dash。

        输入petalinux-config 可以正常识别命令，说明安装成功了。      

3、构建系统

通过BSP创建工程

  • petalinux-create -t project -s xilinx-zcu104-v2021.1-final.bsp

配置uboot、内核

  • petalinux-config -c uboot
  • petalinux-config -c kernel

过程中需要联网，下载依赖的工具及源码

编译

  • petalinux-build

同样需要联网，下载依赖的源码。或者配置离线资源包

输出

  1. yangf@ubuntu:~/src/xilinx/zcu104/xilinx-zcu104-2021.1/images/linux$ ls
  2. bl31.bin  config     pxelinux.cfg            ramdisk.tar.gz         rootfs.ext4      system.bit      u-boot-dtb.elf   zynqmp-qemu-arm.dtb
  3. bl31.elf  Image      ramdisk.cpio.gz         rootfs.cpio            rootfs.jffs2     system.dtb      u-boot.elf       zynqmp-qemu-multiarch-arm.dtb
  4. BOOT.BIN  image.ub   ramdisk.cpio.gz.u-boot  rootfs.cpio.gz         rootfs.manifest  u-boot.bin      vmlinux          zynqmp-qemu-multiarch-pmu.dtb
  5. boot.scr  pmufw.elf  ramdisk.manifest        rootfs.cpio.gz.u-boot  rootfs.tar.gz    u-boot-dtb.bin  zynqmp_fsbl.elf
  6. yangf@ubuntu:~/src/xilinx/zcu104/xilinx-zcu104-2021.1/images/linux$

SD启动

  • 格式化SD:可在ubuntu中通过disks格式化分区，第一分区为fat，第二分区为ext4
  • BOOT.BIN、image.ub、 boot.scr拷贝到第一分区
  • 解压文件系统到第二分区:tar xvf rootfs.tar.gz -C /media/rootfs

启动日志

  1. Xilinx Zynq MP First Stage Boot Loader 
  2. Release 2021.1   Jun  6 2021  -  07:07:32
  3. NOTICE:  ATF running on XCZU7EV/silicon v4/RTL5.1 at 0xfffea000
  4. NOTICE:  BL31: v2.4(release):v1.1-7609-g851523ea2
  5. NOTICE:  BL31: Built : 08:27:07, Apr 28 2021
  6.  
  7.  
  8. U-Boot 2021.01 (Jun 01 2021 - 11:54:06 +0000)
  9.  
  10. Model: ZynqMP ZCU104 RevC
  11. Board: Xilinx ZynqMP
  12. DRAM:  2 GiB
  13. PMUFW:  v1.1
  14. EL Level:       EL2
  15. Chip ID:        zu7ev
  16. NAND:  0 MiB
  17. MMC:   mmc@ff170000: 0
  18. Loading Environment from FAT... *** Warning - bad CRC, using default environment
  19.  
  20. In:    serial
  21. Out:   serial
  22. Err:   serial
  23. Bootmode: LVL_SHFT_SD_MODE1
  24. Reset reason:   EXTERNAL 
  25. Net:   
  26. ZYNQ GEM: ff0e0000, mdio bus ff0e0000, phyaddr 12, interface rgmii-id
  27. eth0: ethernet@ff0e0000
  28. Hit any key to stop autoboot:  0 
  29. switch to partitions #0, OK
  30. mmc0 is current device
  31. Scanning mmc 0:1...
  32. Found U-Boot script /boot.scr
  33. 2594 bytes read in 15 ms (168 KiB/s)
  34. ## Executing script at 20000000
  35. Trying to load boot images from mmc0
  36. 14527336 bytes read in 967 ms (14.3 MiB/s)
  37. ## Loading kernel from FIT Image at 10000000 ...
  38.    Using 'conf-system-top.dtb' configuration
  39.    Trying 'kernel-1' kernel subimage
  40.      Description:  Linux kernel
  41.      Created:      2021-06-04  15:57:16 UTC
  42.      Type:         Kernel Image
  43.      Compression:  gzip compressed
  44.      Data Start:   0x100000f8
  45.      Data Size:    9356113 Bytes = 8.9 MiB
  46.      Architecture: AArch64
  47.      OS:           Linux
  48.      Load Address: 0x00080000
  49.      Entry Point:  0x00080000
  50.      Hash algo:    sha256
  51.      Hash value:   287de5bbc5cd30503aafb8e4ca18d11c0ab014c2a3179466cb92bd30308d1026
  52.    Verifying Hash Integrity ... sha256+ OK
  53. ## Loading ramdisk from FIT Image at 10000000 ...
  54.    Using 'conf-system-top.dtb' configuration
  55.    Trying 'ramdisk-1' ramdisk subimage
  56.      Description:  petalinux-initramfs-image
  57.      Created:      2021-06-04  15:57:16 UTC
  58.      Type:         RAMDisk Image
  59.      Compression:  uncompressed
  60.      Data Start:   0x108f8220
  61.      Data Size:    5120976 Bytes = 4.9 MiB
  62.      Architecture: AArch64
  63.      OS:           Linux
  64.      Load Address: unavailable
  65.      Entry Point:  unavailable
  66.      Hash algo:    sha256
  67.      Hash value:   9eee10878a9166c32fa8a2936805d88fb07b5c47321e9bf3aa87dfa87be05d94
  68.    Verifying Hash Integrity ... sha256+ OK
  69. ## Loading fdt from FIT Image at 10000000 ...
  70.    Using 'conf-system-top.dtb' configuration
  71.    Trying 'fdt-system-top.dtb' fdt subimage
  72.      Description:  Flattened Device Tree blob
  73.      Created:      2021-06-04  15:57:16 UTC
  74.      Type:         Flat Device Tree
  75.      Compression:  uncompressed
  76.      Data Start:   0x108ec55c
  77.      Data Size:    48111 Bytes = 47 KiB
  78.      Architecture: AArch64
  79.      Hash algo:    sha256
  80.      Hash value:   0c6d9bda884531e6af70a45b8f4d7b51921f615772deed64e14dd2c82000422a
  81.    Verifying Hash Integrity ... sha256+ OK
  82.    Booting using the fdt blob at 0x108ec55c
  83.    Uncompressing Kernel Image
  84.    Loading Ramdisk to 7d82f000, end 7dd113d0 ... OK
  85.    Loading Device Tree to 000000007d820000, end 000000007d82ebee ... OK
  86.  
  87. Starting kernel ...
  88.  
  89. [    0.000000] Booting Linux on physical CPU 0x0000000000 [0x410fd034]
  90. [    0.000000] Linux version 5.10.0-xilinx-v2021.1 (oe-user@oe-host) (aarch64-xilinx-linux-gcc (GCC) 10.2.0, GNU ld (GNU Binutils) 2.35.1) #1 SMP Fri Jun 4 15:57:16 UTC 2021
  91. [    0.000000] Machine model: ZynqMP ZCU104 RevC
  92. [    0.000000] earlycon: cdns0 at MMIO 0x00000000ff000000 (options '115200n8')
  93. [    0.000000] printk: bootconsole [cdns0] enabled
  94. [    0.000000] efi: UEFI not found.
  95. [    0.000000] [Firmware Bug]: Kernel image misaligned at boot, please fix your bootloader!
  96. [    0.000000] cma: Reserved 1000 MiB at 0x000000003f000000
  97. [    0.000000] Zone ranges:
  98. [    0.000000]   DMA32    [mem 0x0000000000000000-0x000000007fefffff]
  99. [    0.000000]   Normal   empty
  100. [    0.000000] Movable zone start for each node
  101. [    0.000000] Early memory node ranges
  102. [    0.000000]   node   0: [mem 0x0000000000000000-0x000000007fefffff]
  103. [    0.000000] Zeroed struct page in unavailable ranges: 256 pages
  104. [    0.000000] Initmem setup node 0 [mem 0x0000000000000000-0x000000007fefffff]
  105. [    0.000000] psci: probing for conduit method from DT.
  106. [    0.000000] psci: PSCIv1.1 detected in firmware.
  107. [    0.000000] psci: Using standard PSCI v0.2 function IDs
  108. [    0.000000] psci: MIGRATE_INFO_TYPE not supported.
  109. [    0.000000] psci: SMC Calling Convention v1.2
  110. [    0.000000] percpu: Embedded 22 pages/cpu s50968 r8192 d30952 u90112
  111. [    0.000000] Detected VIPT I-cache on CPU0
  112. [    0.000000] CPU features: detected: ARM erratum 845719
  113. [    0.000000] Built 1 zonelists, mobility grouping on.  Total pages: 515844
  114. [    0.000000] Kernel command line:  earlycon console=ttyPS0,115200 clk_ignore_unused init_fatal_sh=1 cma=1000M
  115. [    0.000000] Dentry cache hash table entries: 262144 (order: 9, 2097152 bytes, linear)
  116. [    0.000000] Inode-cache hash table entries: 131072 (order: 8, 1048576 bytes, linear)
  117. [    0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off
  118. [    0.000000] Memory: 1004876K/2096128K available (13952K kernel code, 980K rwdata, 3916K rodata, 2112K init, 588K bss, 67252K reserved, 1024000K cma-reserved)
  119. [    0.000000] rcu: Hierarchical RCU implementation.
  120. [    0.000000] rcu:     RCU event tracing is enabled.
  121. [    0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 25 jiffies.
  122. [    0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
  123. [    0.000000] GIC: Adjusting CPU interface base to 0x00000000f902f000
  124. [    0.000000] GIC: Using split EOI/Deactivate mode
  125. [    0.000000] irq-xilinx: mismatch in kind-of-intr param
  126. [    0.000000] irq-xilinx: /amba_pl@0/interrupt-controller@80000000: num_irq=32, sw_irq=0, edge=0x1
  127. [    0.000000] random: get_random_bytes called from start_kernel+0x31c/0x524 with crng_init=0
  128. [    0.000000] arch_timer: cp15 timer(s) running at 100.00MHz (phys).
  129. [    0.000000] clocksource: arch_sys_counter: mask: 0xffffffffffffff max_cycles: 0x171024e7e0, max_idle_ns: 440795205315 ns
  130. [    0.000003] sched_clock: 56 bits at 100MHz, resolution 10ns, wraps every 4398046511100ns
  131. [    0.008364] Console: colour dummy device 80x25
  132. [    0.012479] Calibrating delay loop (skipped), value calculated using timer frequency.. 200.00 BogoMIPS (lpj=400000)
  133. [    0.022841] pid_max: default: 32768 minimum: 301
  134. [    0.027563] Mount-cache hash table entries: 4096 (order: 3, 32768 bytes, linear)
  135. [    0.034785] Mountpoint-cache hash table entries: 4096 (order: 3, 32768 bytes, linear)
  136. [    0.043613] rcu: Hierarchical SRCU implementation.
  137. [    0.047599] EFI services will not be available.
  138. [    0.051964] smp: Bringing up secondary CPUs ...
  139. [    0.056698] Detected VIPT I-cache on CPU1
  140. [    0.056739] CPU1: Booted secondary processor 0x0000000001 [0x410fd034]
  141. [    0.057126] Detected VIPT I-cache on CPU2
  142. [    0.057150] CPU2: Booted secondary processor 0x0000000002 [0x410fd034]
  143. [    0.057515] Detected VIPT I-cache on CPU3
  144. [    0.057537] CPU3: Booted secondary processor 0x0000000003 [0x410fd034]
  145. [    0.057585] smp: Brought up 1 node, 4 CPUs
  146. [    0.091780] SMP: Total of 4 processors activated.
  147. [    0.096453] CPU features: detected: 32-bit EL0 Support
  148. [    0.101556] CPU features: detected: CRC32 instructions
  149. [    0.106695] CPU: All CPU(s) started at EL2
  150. [    0.110736] alternatives: patching kernel code
  151. [    0.116225] devtmpfs: initialized
  152. [    0.123902] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 7645041785100000 ns
  153. [    0.128123] futex hash table entries: 1024 (order: 4, 65536 bytes, linear)
  154. [    0.157571] pinctrl core: initialized pinctrl subsystem
  155. [    0.158074] DMI not present or invalid.
  156. [    0.161151] NET: Registered protocol family 16
  157. [    0.166819] DMA: preallocated 256 KiB GFP_KERNEL pool for atomic allocations
  158. [    0.172501] DMA: preallocated 256 KiB GFP_KERNEL|GFP_DMA32 pool for atomic allocations
  159. [    0.180305] audit: initializing netlink subsys (disabled)
  160. [    0.185710] audit: type=2000 audit(0.128:1): state=initialized audit_enabled=0 res=1
  161. [    0.193343] cpuidle: using governor menu
  162. [    0.197285] hw-breakpoint: found 6 breakpoint and 4 watchpoint registers.
  163. [    0.204018] ASID allocator initialised with 65536 entries
  164. [    0.209430] Serial: AMBA PL011 UART driver
  165. [    0.238754] HugeTLB registered 1.00 GiB page size, pre-allocated 0 pages
  166. [    0.239805] HugeTLB registered 32.0 MiB page size, pre-allocated 0 pages
  167. [    0.246479] HugeTLB registered 2.00 MiB page size, pre-allocated 0 pages
  168. [    0.253139] HugeTLB registered 64.0 KiB page size, pre-allocated 0 pages
  169. [    1.304651] cryptd: max_cpu_qlen set to 1000
  170. [    1.329581] DRBG: Continuing without Jitter RNG
  171. [    1.408609] raid6: neonx8   gen()  2143 MB/s
  172. [    1.476662] raid6: neonx8   xor()  1598 MB/s
  173. [    1.544733] raid6: neonx4   gen()  2186 MB/s
  174. [    1.612786] raid6: neonx4   xor()  1565 MB/s
  175. [    1.680865] raid6: neonx2   gen()  2077 MB/s
  176. [    1.748916] raid6: neonx2   xor()  1438 MB/s
  177. [    1.816992] raid6: neonx1   gen()  1775 MB/s
  178. [    1.885052] raid6: neonx1   xor()  1220 MB/s
  179. [    1.953116] raid6: int64x8  gen()  1438 MB/s
  180. [    2.021181] raid6: int64x8  xor()   771 MB/s
  181. [    2.089248] raid6: int64x4  gen()  1602 MB/s
  182. [    2.157321] raid6: int64x4  xor()   819 MB/s
  183. [    2.225399] raid6: int64x2  gen()  1398 MB/s
  184. [    2.293445] raid6: int64x2  xor()   745 MB/s
  185. [    2.361523] raid6: int64x1  gen()  1033 MB/s
  186. [    2.429596] raid6: int64x1  xor()   517 MB/s
  187. [    2.429634] raid6: using algorithm neonx4 gen() 2186 MB/s
  188. [    2.433586] raid6: .... xor() 1565 MB/s, rmw enabled
  189. [    2.438517] raid6: using neon recovery algorithm
  190. [    2.443589] iommu: Default domain type: Translated 
  191. [    2.448171] SCSI subsystem initialized
  192. [    2.451803] usbcore: registered new interface driver usbfs
  193. [    2.457145] usbcore: registered new interface driver hub
  194. [    2.462417] usbcore: registered new device driver usb
  195. [    2.467460] mc: Linux media interface: v0.10
  196. [    2.471664] videodev: Linux video capture interface: v2.00
  197. [    2.477138] EDAC MC: Ver: 3.0.0
  198. [    2.480587] zynqmp-ipi-mbox mailbox@ff990400: Registered ZynqMP IPI mbox with TX/RX channels.
  199. [    2.488880] FPGA manager framework
  200. [    2.492178] Advanced Linux Sound Architecture Driver Initialized.
  201. [    2.498424] Bluetooth: Core ver 2.22
  202. [    2.501673] NET: Registered protocol family 31
  203. [    2.506075] Bluetooth: HCI device and connection manager initialized
  204. [    2.512391] Bluetooth: HCI socket layer initialized
  205. [    2.517234] Bluetooth: L2CAP socket layer initialized
  206. [    2.522257] Bluetooth: SCO socket layer initialized
  207. [    2.527342] clocksource: Switched to clocksource arch_sys_counter
  208. [    2.533289] VFS: Disk quotas dquot_6.6.0
  209. [    2.537082] VFS: Dquot-cache hash table entries: 512 (order 0, 4096 bytes)
  210. [    2.548402] NET: Registered protocol family 2
  211. [    2.548801] tcp_listen_portaddr_hash hash table entries: 1024 (order: 2, 16384 bytes, linear)
  212. [    2.556704] TCP established hash table entries: 16384 (order: 5, 131072 bytes, linear)
  213. [    2.564651] TCP bind hash table entries: 16384 (order: 6, 262144 bytes, linear)
  214. [    2.572009] TCP: Hash tables configured (established 16384 bind 16384)
  215. [    2.578371] UDP hash table entries: 1024 (order: 3, 32768 bytes, linear)
  216. [    2.585002] UDP-Lite hash table entries: 1024 (order: 3, 32768 bytes, linear)
  217. [    2.592177] NET: Registered protocol family 1
  218. [    2.596663] RPC: Registered named UNIX socket transport module.
  219. [    2.602274] RPC: Registered udp transport module.
  220. [    2.606935] RPC: Registered tcp transport module.
  221. [    2.611607] RPC: Registered tcp NFSv4.1 backchannel transport module.
  222. [    2.618591] PCI: CLS 0 bytes, default 64
  223. [    2.622004] Trying to unpack rootfs image as initramfs...
  224. [    2.863902] Freeing initrd memory: 5000K
  225. [    2.886317] Initialise system trusted keyrings
  226. [    2.886449] workingset: timestamp_bits=46 max_order=19 bucket_order=0
  227. [    2.892246] NFS: Registering the id_resolver key type
  228. [    2.896594] Key type id_resolver registered
  229. [    2.900698] Key type id_legacy registered
  230. [    2.904695] nfs4filelayout_init: NFSv4 File Layout Driver Registering...
  231. [    2.911352] jffs2: version 2.2. (NAND) (SUMMARY)  © 2001-2006 Red Hat, Inc.
  232. [    2.953900] NET: Registered protocol family 38
  233. [    2.953944] xor: measuring software checksum speed
  234. [    2.961634]    8regs           :  2363 MB/sec
  235. [    2.965302]    32regs          :  2799 MB/sec
  236. [    2.970245]    arm64_neon      :  2380 MB/sec
  237. [    2.970435] xor: using function: 32regs (2799 MB/sec)
  238. [    2.975460] Key type asymmetric registered
  239. [    2.979522] Asymmetric key parser 'x509' registered
  240. [    2.984386] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 247)
  241. [    2.991720] io scheduler mq-deadline registered
  242. [    2.996216] io scheduler kyber registered
  243. [    3.002208] ps_pcie_dma init()
  244. [    3.003445] xilinx-frmbuf a0000000.v_frmbuf_rd: Probe deferred due to GPIO reset defer
  245. [    3.011146] xilinx-frmbuf a0010000.v_frmbuf_wr: Probe deferred due to GPIO reset defer
  246. [    3.043857] Serial: 8250/16550 driver, 4 ports, IRQ sharing disabled
  247. [    3.045655] Serial: AMBA driver
  248. [    3.049988] cacheinfo: Unable to detect cache hierarchy for CPU 0
  249. [    3.058421] brd: module loaded
  250. [    3.062890] loop: module loaded
  251. [    3.063745] mtdoops: mtd device (mtddev=name/number) must be supplied
  252. [    3.068248] libphy: Fixed MDIO Bus: probed
  253. [    3.072151] tun: Universal TUN/TAP device driver, 1.6
  254. [    3.075968] CAN device driver interface
  255. [    3.080408] usbcore: registered new interface driver asix
  256. [    3.085100] usbcore: registered new interface driver ax88179_178a
  257. [    3.091127] usbcore: registered new interface driver cdc_ether
  258. [    3.096925] usbcore: registered new interface driver net1080
  259. [    3.102546] usbcore: registered new interface driver cdc_subset
  260. [    3.108428] usbcore: registered new interface driver zaurus
  261. [    3.113973] usbcore: registered new interface driver cdc_ncm
  262. [    3.120427] usbcore: registered new interface driver uas
  263. [    3.124880] usbcore: registered new interface driver usb-storage
  264. [    3.131443] rtc_zynqmp ffa60000.rtc: registered as rtc0
  265. [    3.136023] rtc_zynqmp ffa60000.rtc: setting system clock to 2020-12-22T09:30:33 UTC (1608629433)
  266. [    3.144869] i2c /dev entries driver
  267. [    3.149801] usbcore: registered new interface driver uvcvideo
  268. [    3.153995] USB Video Class driver (1.1.1)
  269. [    3.158584] Bluetooth: HCI UART driver ver 2.3
  270. [    3.162474] Bluetooth: HCI UART protocol H4 registered
  271. [    3.167575] Bluetooth: HCI UART protocol BCSP registered
  272. [    3.172867] Bluetooth: HCI UART protocol LL registered
  273. [    3.177959] Bluetooth: HCI UART protocol ATH3K registered
  274. [    3.183330] Bluetooth: HCI UART protocol Three-wire (H5) registered
  275. [    3.189578] Bluetooth: HCI UART protocol Intel registered
  276. [    3.194922] Bluetooth: HCI UART protocol QCA registered
  277. [    3.200122] usbcore: registered new interface driver bcm203x
  278. [    3.205747] usbcore: registered new interface driver bpa10x
  279. [    3.211280] usbcore: registered new interface driver bfusb
  280. [    3.216733] usbcore: registered new interface driver btusb
  281. [    3.222192] usbcore: registered new interface driver ath3k
  282. [    3.227683] EDAC MC: ECC not enabled
  283. [    3.231286] EDAC DEVICE0: Giving out device to module zynqmp-ocm-edac controller zynqmp_ocm: DEV ff960000.memory-controller (INTERRUPT)
  284. [    3.243645] sdhci: Secure Digital Host Controller Interface driver
  285. [    3.249408] sdhci: Copyright(c) Pierre Ossman
  286. [    3.253730] sdhci-pltfm: SDHCI platform and OF driver helper
  287. [    3.259664] ledtrig-cpu: registered to indicate activity on CPUs
  288. [    3.265334] SMCCC: SOC_ID: ARCH_SOC_ID not implemented, skipping ....
  289. [    3.271758] zynqmp_firmware_probe Platform Management API v1.1
  290. [    3.277519] zynqmp_firmware_probe Trustzone version v1.0
  291. [    3.308841] zynqmp-pinctrl firmware:zynqmp-firmware:pinctrl: zynqmp pinctrl initialized
  292. [    3.352014] alg: No test for xilinx-zynqmp-aes (zynqmp-aes)
  293. [    3.352085] zynqmp_aes firmware:zynqmp-firmware:zynqmp-aes: AES Successfully Registered
  294. [    3.360097] alg: No test for xilinx-keccak-384 (zynqmp-keccak-384)
  295. [    3.366231] alg: No test for xilinx-zynqmp-rsa (zynqmp-rsa)
  296. [    3.371744] usbcore: registered new interface driver usbhid
  297. [    3.377122] usbhid: USB HID core driver
  298. [    3.383650] ARM CCI_400_r1 PMU driver probed
  299. [    3.384112] fpga_manager fpga0: Xilinx ZynqMP FPGA Manager registered
  300. [    3.392012] usbcore: registered new interface driver snd-usb-audio
  301. [    3.398540] pktgen: Packet Generator for packet performance testing. Version: 2.75
  302. [    3.405850] Initializing XFRM netlink socket
  303. [    3.409542] NET: Registered protocol family 10
  304. [    3.414302] Segment Routing with IPv6
  305. [    3.417689] sit: IPv6, IPv4 and MPLS over IPv4 tunneling driver
  306. [    3.423747] NET: Registered protocol family 17
  307. [    3.427823] NET: Registered protocol family 15
  308. [    3.432232] can: controller area network core
  309. [    3.436574] NET: Registered protocol family 29
  310. [    3.440960] can: raw protocol
  311. [    3.443900] can: broadcast manager protocol
  312. [    3.448053] can: netlink gateway - max_hops=1
  313. [    3.452453] Bluetooth: RFCOMM TTY layer initialized
  314. [    3.457231] Bluetooth: RFCOMM socket layer initialized
  315. [    3.462339] Bluetooth: RFCOMM ver 1.11
  316. [    3.466047] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
  317. [    3.471319] Bluetooth: BNEP filters: protocol multicast
  318. [    3.476511] Bluetooth: BNEP socket layer initialized
  319. [    3.481438] Bluetooth: HIDP (Human Interface Emulation) ver 1.2
  320. [    3.487324] Bluetooth: HIDP socket layer initialized
  321. [    3.492366] 9pnet: Installing 9P2000 support
  322. [    3.496509] Key type dns_resolver registered
  323. [    3.500926] registered taskstats version 1
  324. [    3.504801] Loading compiled-in X.509 certificates
  325. [    3.510477] Btrfs loaded, crc32c=crc32c-generic
  326. [    3.523211] ff000000.serial: ttyPS0 at MMIO 0xff000000 (irq = 50, base_baud = 6249999) is a xuartps
  327. [    3.532236] printk: console [ttyPS0] enabled
  328. [    3.532236] printk: console [ttyPS0] enabled
  329. [    3.536530] printk: bootconsole [cdns0] disabled
  330. [    3.536530] printk: bootconsole [cdns0] disabled
  331. [    3.546295] ff010000.serial: ttyPS1 at MMIO 0xff010000 (irq = 51, base_baud = 6249999) is a xuartps
  332. [    3.559407] of-fpga-region fpga-full: FPGA Region probed
  333. [    3.565469] xilinx-zynqmp-dma fd500000.dma: ZynqMP DMA driver Probe success
  334. [    3.572662] xilinx-zynqmp-dma fd510000.dma: ZynqMP DMA driver Probe success
  335. [    3.579836] xilinx-zynqmp-dma fd520000.dma: ZynqMP DMA driver Probe success
  336. [    3.587009] xilinx-zynqmp-dma fd530000.dma: ZynqMP DMA driver Probe success
  337. [    3.594179] xilinx-zynqmp-dma fd540000.dma: ZynqMP DMA driver Probe success
  338. [    3.601347] xilinx-zynqmp-dma fd550000.dma: ZynqMP DMA driver Probe success
  339. [    3.608514] xilinx-zynqmp-dma fd560000.dma: ZynqMP DMA driver Probe success
  340. [    3.615692] xilinx-zynqmp-dma fd570000.dma: ZynqMP DMA driver Probe success
  341. [    3.622945] xilinx-zynqmp-dma ffa80000.dma: ZynqMP DMA driver Probe success
  342. [    3.630118] xilinx-zynqmp-dma ffa90000.dma: ZynqMP DMA driver Probe success
  343. [    3.637289] xilinx-zynqmp-dma ffaa0000.dma: ZynqMP DMA driver Probe success
  344. [    3.644458] xilinx-zynqmp-dma ffab0000.dma: ZynqMP DMA driver Probe success
  345. [    3.651627] xilinx-zynqmp-dma ffac0000.dma: ZynqMP DMA driver Probe success
  346. [    3.658804] xilinx-zynqmp-dma ffad0000.dma: ZynqMP DMA driver Probe success
  347. [    3.665978] xilinx-zynqmp-dma ffae0000.dma: ZynqMP DMA driver Probe success
  348. [    3.673148] xilinx-zynqmp-dma ffaf0000.dma: ZynqMP DMA driver Probe success
  349. [    3.680554] xilinx-zynqmp-dpdma fd4c0000.dma-controller: Xilinx DPDMA engine is probed
  350. [    3.688678] xilinx-frmbuf a0000000.v_frmbuf_rd: Xilinx AXI frmbuf DMA_MEM_TO_DEV
  351. [    3.696131] xilinx-frmbuf a0000000.v_frmbuf_rd: Xilinx AXI FrameBuffer Engine Driver Probed!!
  352. [    3.704820] xilinx-frmbuf a0010000.v_frmbuf_wr: Xilinx AXI frmbuf DMA_DEV_TO_MEM
  353. [    3.712268] xilinx-frmbuf a0010000.v_frmbuf_wr: Xilinx AXI FrameBuffer Engine Driver Probed!!
  354. [    3.721700] zynqmp-display fd4a0000.display: vtc bridge property not present
  355. [    3.730636] xilinx-dp-snd-codec fd4a0000.display:zynqmp_dp_snd_codec0: Xilinx DisplayPort Sound Codec probed
  356. [    3.740789] xilinx-dp-snd-pcm zynqmp_dp_snd_pcm0: Xilinx DisplayPort Sound PCM probed
  357. [    3.748923] xilinx-dp-snd-pcm zynqmp_dp_snd_pcm1: Xilinx DisplayPort Sound PCM probed
  358. [    3.758228] xilinx-dp-snd-card fd4a0000.display:zynqmp_dp_snd_card: ASoC: no DMI vendor name!
  359. [    3.767081] xilinx-dp-snd-card fd4a0000.display:zynqmp_dp_snd_card: Xilinx DisplayPort Sound Card probed
  360. [    3.776661] OF: graph: no port node found in /axi/display@fd4a0000
  361. [    3.783118] xlnx-drm xlnx-drm.0: bound fd4a0000.display (ops 0xffff800010efb8e0)
  362. [    4.867359] zynqmp-display fd4a0000.display: [drm] Cannot find any crtc or sizes
  363. [    4.874999] [drm] Initialized xlnx 1.0.0 20130509 for fd4a0000.display on minor 0
  364. [    4.882492] zynqmp-display fd4a0000.display: ZynqMP DisplayPort Subsystem driver probed
  365. [    4.890871] ahci-ceva fd0c0000.ahci: supply ahci not found, using dummy regulator
  366. [    4.898421] ahci-ceva fd0c0000.ahci: supply phy not found, using dummy regulator
  367. [    4.905883] ahci-ceva fd0c0000.ahci: supply target not found, using dummy regulator
  368. [    4.923788] ahci-ceva fd0c0000.ahci: AHCI 0001.0301 32 slots 2 ports 6 Gbps 0x3 impl platform mode
  369. [    4.932744] ahci-ceva fd0c0000.ahci: flags: 64bit ncq sntf pm clo only pmp fbs pio slum part ccc sds apst 
  370. [    4.943578] scsi host0: ahci-ceva
  371. [    4.947196] scsi host1: ahci-ceva
  372. [    4.950633] ata1: SATA max UDMA/133 mmio [mem 0xfd0c0000-0xfd0c1fff] port 0x100 irq 48
  373. [    4.958546] ata2: SATA max UDMA/133 mmio [mem 0xfd0c0000-0xfd0c1fff] port 0x180 irq 48
  374. [    4.967197] spi-nor spi0.0: found mt25qu512a, expected m25p80
  375. [    4.973631] spi-nor spi0.0: trying to lock already unlocked area
  376. [    4.979636] spi-nor spi0.0: mt25qu512a (65536 Kbytes)
  377. [    4.984701] 3 fixed-partitions partitions found on MTD device spi0.0
  378. [    4.991050] Creating 3 MTD partitions on "spi0.0":
  379. [    4.995835] 0x000000000000-0x000001e00000 : "boot"
  380. [    5.001460] 0x000001e00000-0x000001e40000 : "bootenv"
  381. [    5.007193] 0x000001e40000-0x000004000000 : "kernel"
  382. [    5.015589] macb ff0e0000.ethernet: Not enabling partial store and forward
  383. [    5.023113] libphy: MACB_mii_bus: probed
  384. [    5.028559] macb ff0e0000.ethernet eth0: Cadence GEM rev 0x50070106 at 0xff0e0000 irq 39 (00:0a:35:05:5c:96)
  385. [    5.038863] xilinx-axipmon ffa00000.perf-monitor: Probed Xilinx APM
  386. [    5.045458] xilinx-axipmon fd0b0000.perf-monitor: Probed Xilinx APM
  387. [    5.051986] xilinx-axipmon fd490000.perf-monitor: Probed Xilinx APM
  388. [    5.058515] xilinx-axipmon ffa10000.perf-monitor: Probed Xilinx APM
  389. [    5.086135] xhci-hcd xhci-hcd.1.auto: xHCI Host Controller
  390. [    5.091633] xhci-hcd xhci-hcd.1.auto: new USB bus registered, assigned bus number 1
  391. [    5.099388] xhci-hcd xhci-hcd.1.auto: hcc params 0x0238f625 hci version 0x100 quirks 0x0000000002010810
  392. [    5.108807] xhci-hcd xhci-hcd.1.auto: irq 92, io mem 0xfe200000
  393. [    5.114944] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002, bcdDevice= 5.10
  394. [    5.123206] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
  395. [    5.130417] usb usb1: Product: xHCI Host Controller
  396. [    5.135285] usb usb1: Manufacturer: Linux 5.10.0-xilinx-v2021.1 xhci-hcd
  397. [    5.141977] usb usb1: SerialNumber: xhci-hcd.1.auto
  398. [    5.147142] hub 1-0:1.0: USB hub found
  399. [    5.150910] hub 1-0:1.0: 1 port detected
  400. [    5.155024] xhci-hcd xhci-hcd.1.auto: xHCI Host Controller
  401. [    5.160513] xhci-hcd xhci-hcd.1.auto: new USB bus registered, assigned bus number 2
  402. [    5.168176] xhci-hcd xhci-hcd.1.auto: Host supports USB 3.0 SuperSpeed
  403. [    5.174904] usb usb2: New USB device found, idVendor=1d6b, idProduct=0003, bcdDevice= 5.10
  404. [    5.183170] usb usb2: New USB device strings: Mfr=3, Product=2, SerialNumber=1
  405. [    5.190386] usb usb2: Product: xHCI Host Controller
  406. [    5.195254] usb usb2: Manufacturer: Linux 5.10.0-xilinx-v2021.1 xhci-hcd
  407. [    5.201952] usb usb2: SerialNumber: xhci-hcd.1.auto
  408. [    5.207076] hub 2-0:1.0: USB hub found
  409. [    5.210840] hub 2-0:1.0: 1 port detected
  410. [    5.216271] pca953x 0-0020: supply vcc not found, using dummy regulator
  411. [    5.222950] pca953x 0-0020: using no AI
  412. [    5.227910] at24 2-0054: supply vcc not found, using dummy regulator
  413. [    5.234776] at24 2-0054: 1024 byte 24c08 EEPROM, writable, 1 bytes/write
  414. [    5.241506] i2c i2c-0: Added multiplexed i2c bus 2
  415. [    5.246543] i2c i2c-0: Added multiplexed i2c bus 3
  416. [    5.267289] random: fast init done
  417. [    5.284512] ata1: SATA link down (SStatus 0 SControl 330)
  418. [    5.289924] ata2: SATA link down (SStatus 0 SControl 330)
  419. [    5.503951] i2c i2c-0: Added multiplexed i2c bus 4
  420. [    5.509685] i2c i2c-0: Added multiplexed i2c bus 5
  421. [    5.514595] i2c i2c-0: Added multiplexed i2c bus 6
  422. [    5.519514] i2c i2c-0: Added multiplexed i2c bus 7
  423. [    5.524430] i2c i2c-0: Added multiplexed i2c bus 8
  424. [    5.529349] i2c i2c-0: Added multiplexed i2c bus 9
  425. [    5.534137] pca954x 0-0074: registered 8 multiplexed busses for I2C switch pca9548
  426. [    5.541731] cdns-i2c ff030000.i2c: 400 kHz mmio ff030000 irq 41
  427. [    5.548400] cdns-wdt fd4d0000.watchdog: Xilinx Watchdog Timer with timeout 60s
  428. [    5.555903] cdns-wdt ff150000.watchdog: Xilinx Watchdog Timer with timeout 10s
  429. [    5.566394] of_cfs_init
  430. [    5.568890] of_cfs_init: OK
  431. [    5.571827] cfg80211: Loading compiled-in X.509 certificates for regulatory database
  432. [    5.595359] mmc0: SDHCI controller on ff170000.mmc [ff170000.mmc] using ADMA 64-bit
  433. [    5.637622] mmc0: Problem switching card into high-speed mode!
  434. [    5.644018] mmc0: new SDHC card at address 0001
  435. [    5.648952] mmcblk0: mmc0:0001 SD16G 14.9 GiB 
  436. [    5.655299]  mmcblk0: p1 p2
  437. [    5.707929] cfg80211: Loaded X.509 cert 'sforshee: 00b28ddf47aef9cea7'
  438. [    5.714456] clk: Not disabling unused clocks
  439. [    5.718968] ALSA device list:
  440. [    5.721932]   #0: DisplayPort monitor
  441. [    5.725864] platform regulatory.0: Direct firmware load for regulatory.db failed with error -2
  442. [    5.734474] cfg80211: failed to load regulatory.db
  443. [    5.739924] Freeing unused kernel memory: 2112K
  444. [    5.759386] Run /init as init process
  445. rootfs: recovering journal
  446. [    5.979379] zynqmp-display fd4a0000.display: [drm] Cannot find any crtc or sizes
  447. rootfs: clean, 14862/731520 files, 156910/2926080 blocks
  448. [    6.434022] EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null)
  449. INIT: version 2.97 booting
  450. Starting udev
  451. [    7.501353] udevd[334]: starting version 3.2.9
  452. [    7.534842] random: udevd: uninitialized urandom read (16 bytes read)
  453. [    7.542678] random: udevd: uninitialized urandom read (16 bytes read)
  454. [    7.549147] random: udevd: uninitialized urandom read (16 bytes read)
  455. [    7.631328] udevd[335]: starting eudev-3.2.9
  456. [    7.786236] zocl: loading out-of-tree module taints kernel.
  457. [    7.794227] [drm] Probing for xlnx,zocl
  458. [    7.798439] zocl-drm amba_pl@0:zyxclmm_drm: IRQ index 32 not found
  459. [    7.804773] [drm] FPGA programming device pcap founded.
  460. [    7.809997] [drm] PR Isolation addr 0x0
  461. [    7.810378] [drm] Initialized zocl 0.0.0 00000 for amba_pl@0:zyxclmm_drm on minor 1
  462. [    7.900557] xilinx-vcu a0140000.vcu: could not find xlnx,vcu-settings: trying direct register access
  463. [    8.336520] al5d a0120000.al5d: l2 prefetch size:12451840 (bits), l2 color bitdepth:10
  464. [    8.354350] al5e a0100000.al5e: l2 prefetch size:12451840 (bits), l2 color bitdepth:10
  465. [    8.877963] FAT-fs (mmcblk0p1): Volume was not properly unmounted. Some data may be corrupt. Please run fsck.
  466. [    8.970337] EXT4-fs (mmcblk0p2): re-mounted. Opts: (null)
  467. [    9.272790] macb ff0e0000.ethernet eth0: PHY [ff0e0000.ethernet-ffffffff:0c] driver [TI DP83867] (irq=POLL)
  468. [    9.282573] macb ff0e0000.ethernet eth0: configuring for phy/rgmii-id link mode
  469. [   11.341085] macb ff0e0000.ethernet eth0: Link is Up - 100Mbps/Full - flow control tx
  470. [   11.348863] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
  471. Starting tcf-agent: 
  472. [   13.673596] random: crng init done
  473. [   13.677013] random: 7 urandom warning(s) missed due to ratelimiting
  474. OK
  475.  
  476.  
  477. X.Org X Server 1.20.9
  478. X Protocol Version 11, Revision 0
  479. Build Operating System: Linux 
  480. Current Operating System: Linux xilinx-zcu104-2021_1 5.10.0-xilinx-v2021.1 #1 SMP Fri Jun 4 15:57:16 UTC 2021 aarch64
  481. Kernel command line:  earlycon console=ttyPS0,115200 clk_ignore_unused init_fatal_sh=1 cma=1000M
  482. Build Date: 25 August 2020  03:40:19PM
  483.  
  484. Current version of pixman: 0.40.0
  485.         Before reporting problems, check http://wiki.x.org
  486.         to make sure that you have the latest version.
  487. Markers: (--) probed, (**) from config file, (==) default setting,
  488.         (++) from command line, (!!) notice, (II) informational,
  489.         (WW) warning, (EE) error, (NI) not implemented, (??) unknown.
  490. (==) Log file: "/var/log/Xorg.0.log", Time: Tue Dec 22 09:30:42 2020
  491. (==) Using config file: "/etc/X11/xorg.conf"
  492. [   13.999312] zocl-drm amba_pl@0:zyxclmm_drm: zocl_create_client: created KDS client for pid(740), ret: 0
  493.  
  494. [   14.009883] zocl-drm amba_pl@0:zyxclmm_drm: zocl_destroy_client: client exits pid(740)
  495. root@xilinx-zcu104-2021_1:~# 
  496. root@xilinx-zcu104-2021_1:~#

通过XSA创建ZYNQ-7000工程

xas创建ZYNQ工程的时候，需要一个vivado工程，完成设计，并导出xas文件，这里需要指出的是，一个简单的vivado工程也可以来创建petalinux工程，如vivado仅实现了PL的led闪灯和PS的穿串口打印，但是简单的xas配置，只能保证系统可以起来，很多外设可能无法正常使用。需要配置更多PL、PS资源来支持。

在打包BOOT.BIN的时候，会把xsa中的bin文件打包，可以看到petalinux制作好系统后，pl端的led是在闪烁的。

当我们使用更多资源的时候，需要在vivado中完成更多设计，从而使PL配置出更多裸机，且需要PS端对应的驱动支持。

petalinux-create --type project --template zynq --name linux_prj

配置工程信息:

petalinux-config --get-hw-description ../../led_zdyz/ps_uart_wrapper.xsa

配置系统

  1. petalinux-config -c uboot
  2. petalinux-config -c kernel
  3. petalinux-config -c rootfs

产生bin文件

petalinux-package --boot --u-boot --format BIN

制作SD启动

        BOOT.BIN、image.ub、 boot.scr拷贝到第一分区

备注:

通过BSP构建的工程，完成petalinux-build后，虽然新产生了image目录，但是要里面的image.ub发现内核编译时间并非新编译的时间，但文件确实是新编译产生的，和petalinux的编译机制有关吧。

4、petalinux工程说明

4.1 DTS自动生成路径

components/plnx_workspace/device-tree/device-tree/下

  1. device-tree.mss           include   ps7_init.c      ps7_init_gpl.h  ps7_init.html  ps_uart_wrapper.bit  system-conf.dtsi  zynq-7000.dtsi
  2. hardware_description.xsa  pcw.dtsi  ps7_init_gpl.c  ps7_init.h      ps7_init.tcl   skeleton.dtsi        system-top.dts

其中system-top.dts就是最顶层的dts，同时该目录下也包含了PL的配置文件。

  1. /*
  2.  * CAUTION: This file is automatically generated by Xilinx.
  3.  * Version:  
  4.  * Today is: Sat Aug  7 10:22:07 2021
  5.  */
  7.  
  8. /dts-v1/;
  9. #include "zynq-7000.dtsi"
  10. #include "pcw.dtsi"
  11. / {
  12.     chosen {
  13.         bootargs = "earlycon";
  14.         stdout-path = "serial0:115200n8";
  15.     };
  16.     aliases {
  17.         serial0 = &uart1;
  18.         spi0 = &qspi;
  19.     };
  20.     memory {
  21.         device_type = "memory";
  22.         reg = <0x0 0x40000000>;
  23.     };
  24. };
  25. #include "system-user.dtsi"

用户后期可自定义补充的设备树文件：system-user.dtsi

（project-spec/meta-user/recipes-bsp/device-tree/files/system-user.dtsi）

4.2 指定使用本地uboot、内核源码

petalinux-config选择Linux Components Selection  ---> 中修改源码源为本地源码路径。

附件：

vivado2017在ZYNQ-7000的VIVADO工程(HJ)

  • 通过vivado工程配置petalinux工程
  • vivado工程实现PL端led流水灯和PS端串口打印，工程如下：

链接：https://pan.baidu.com/s/1qAMd11qfo5_H2L8984FqZA   提取码：r1r1 

  • petalinux-create --type project --template zynq --name led_peta
  • petalinux-config --get-hw-description ../project.sdk
  • petalinux-config -c kernel
  • petalinux-config -c rootfs
  • petalinux-build
  • petalinux-package --boot --fsbl ./images/linux/zynq_fsbl.elf --fpga --u-boot --force
  •  BOOT.BIN 和 image.ub 复制到 sd 卡

vivado2021在ZYNQ-7000的VIVADO工程(ZDYZ)

  • 通过vivado工程配置petalinux工程
  • vivado工程实现PL端led流水灯和PS端串口打印，工程如下：

链接：https://pan.baidu.com/s/1rmIehi6ZSjmXxk1mAAPhkA 
提取码：4jdb 

petalinux工程创建参考如上: 通过XSA创建ZYNQ-7000工程 小节

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