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Prepare SD Card

This doc is used to prepare SD card for PS (Processing System) on FPGA. Refer to www.wiki.xilinx.com/Fetch+Sources for more information.

To prepare SD card for PL (Programmable Logic) in stand-alone mode (like on PYNQ), plase refer to this doc.

Build bl31.elf - Arm Trusted Firmware

This step is only needed for zynqmp. If your target board is zynq, skip this step.

git clone --depth 1 https://github.com/xilinx/arm-trusted-firmware
cd arm-trusted-firmware
make PLAT=zynqmp RESET_TO_BL31=1 CROSS_COMPILE=aarch64-none-elf-
mkdir -p $(NUTSHELL_HOME)/fpga/boot/build/zynqmp
cp build/zynqmp/release/bl31/bl31.elf $(NUTSHELL_HOME)/fpga/boot/build/zynqmp/

To clean, run

make PLAT=zynqmp RESET_TO_BL31=1 clean

Build u-boot

git clone --depth 1 -b xilinx-v2019.1 https://github.com/xilinx/u-boot-xlnx
cd u-boot-xlnx

# for zynqmp
make xilinx_zynqmp_zcu102_rev1_0_defconfig  # can be found under u-boot-xlnx/configs/
make CROSS_COMPILE=aarch64-linux-gnu-
mkdir -p $(NUTSHELL_HOME)/fpga/boot/build/zynqmp
cp u-boot-xlnx/u-boot.elf $(NUTSHELL_HOME)/fpga/boot/build/zynqmp/

# for zynq
make zynq_zed_defconfig  # can be found under u-boot-xlnx/configs/
make CROSS_COMPILE=arm-linux-gnueabihf-
mkdir -p $(NUTSHELL_HOME)/fpga/boot/build/zynq
cp u-boot-xlnx/u-boot.elf $(NUTSHELL_HOME)/fpga/boot/build/zynq/

Build BOOT.BIN and Device Tree Source

  • (Optional) If you want to download the bitstream in fsbl, also put the bitstream under $(NUTSHELL_HOME)/fpga/boot/build/{zynqmp,zynq}, and uncomment the description about bitstream in bootgen-{zynqmp,zynq}.bif.
# for zynqmp
$(NUTSHELL_HOME)/fpga/boot $ ls build/zynqmp
bl31.elf   system_top.bit   u-boot.elf
$(NUTSHELL_HOME)/fpga/boot $ cat bootgen-zynqmp.bif
the_ROM_image:
{
  [fsbl_config] a53_x64
  [bootloader] build/zynqmp/fsbl.elf
  [pmufw_image] build/zynqmp/pmufw.elf
  [destination_device=pl] build/zynqmp/system_top.bit
  [destination_cpu=a53-0, exception_level=el-3,trustzone] build/zynqmp/bl31.elf
  [destination_cpu=a53-0, exception_level=el-2] build/zynqmp/u-boot.elf
}

# for zynq
$(NUTSHELL_HOME)/fpga/boot $ ls build/zynq
system_top.bit   u-boot.elf
$(NUTSHELL_HOME)/fpga/boot $ cat bootgen-zynq.bif
the_ROM_image:
{
  [bootloader] build/zynq/fsbl.elf
  build/zynq/system_top.bit
  build/zynq/u-boot.elf
}
  • generate hardware description file in Vivado
Vivado -> File -> Export -> Export Hardware
  • set the correct path of device tree repo
git clone --depth 1 -b xilinx-v2019.1 https://github.com/xilinx/device-tree-xlnx
# modify the `device_tree_repo_path` variable in `mk.tcl` to the repo just cloned
  • generate BOOT.BIN and device tree source
cd $(NUTSHELL_HOME)/fpga
make bootgen PRJ=my-project BOARD=your-target-board

Find BOOT.BIN and dts under $(NUTSHELL_HOME)/fpga/boot/build/myproject-your-target-board/.

Build linux kernel

git clone --depth 1 -b xilinx-v2019.1 https://github.com/xilinx/linux-xlnx
cd linux-xlnx

# for zynqmp
make ARCH=arm64 xilinx_zynqmp_defconfig # can be found under linux-xlnx/arch/arm64/configs/
make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- menuconfig
  General setup -> unchoose `Initial RAM filesystem and RAM disk (initramfs/initrd) support`
make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- -j16
# Find `Image` under `linux-xlnx/arch/arm64/boot/`


# for zynq
make ARCH=arm xilinx_zynq_defconfig # can be found under linux-xlnx/arch/arm/configs/
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- menuconfig
  Kernel hacking -> unchoose `Fliter access to /dev/mem`
  General setup -> unchoose `Initial RAM filesystem and RAM disk (initramfs/initrd) support`
  Devices Drivers -> Character devices -> Serial drivers -> choose `Xilinx uartilite serial port support`
                                                         -> then choose `Support for console on Xilinx uartlite serial port`
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- -j16
# Find `Image` under `linux-xlnx/arch/arm/boot/`

Build system.dtb - Device Tree Blob

  • create a new file top.dts to set bootargs and reserved-memory for the RISC-V subsystem
# for zynqmp
$(NUTSHELL_HOME)/fpga/boot/build/myproject-your-target-board/dts $ cat top.dts
#include "system-top.dts"
/ {
  chosen {
    bootargs = "root=/dev/mmcblk0p2 rootfstype=ext4 rootwait earlycon clk_ignore_unused cpuidle.off=1";
  };
  reserved-memory {
    #address-cells = <2>;
    #size-cells = <2>;
    ranges;

    mem_reserved: buffer@800000000 {
      reg = <0x00000008 0x00000000 0x0 0x80000000>;
    };
	};
};

# for zynq
$(NUTSHELL_HOME)/fpga/boot/build/myproject-your-target-board/dts $ cat top.dts
#include "system-top.dts"
/ {
  chosen {
    bootargs = "root=/dev/mmcblk0p2 rootfstype=ext4 rootwait earlycon clk_ignore_unused";
  };
  reserved-memory {
    #address-cells = <1>;
    #size-cells = <1>;
    ranges;

    mem_reserved: buffer@100000000 {
      reg = <0x10000000 0x10000000>;
    };
	};
};
  • fix misc bug according to ./bug-list.md
  • compile the dts to dtb
cpp -nostdinc -I include -undef -x assembler-with-cpp top.dts top.dts.preprocessed
dtc -I dts -O dtb -o system.dtb top.dts.preprocessed

Build rootfs in SD card

  • New an ext4 partition mmcblk0p2 in SD card. Refer to the step of here before executing debootstrap.
  • download the debian base system to mmcblk0p2 with qemu-debootstrap.
sudo qemu-debootstrap --arch arm64 stable /mnt http://ftp.debian.org/debian
# or for zynq
sudo qemu-debootstrap --arch armhf stable /mnt http://ftp.debian.org/debian

sudo chroot /mnt /bin/bash
passwd
apt-get update
apt-get install net-tools openssh-server vim build-essential minicom tmux libreadline-dev
# fix long delay of openssh server
apt-get install haveged
exit
  • Add a line of ttyPS0 in /mnt/etc/securetty to allow login debian via ttyPS0. See here for more details.
  • Add a line of PermitRootLogin yes in /mnt/etc/ssh/sshd_config to enable root login via ssh. See here for more details.
  • Add the following lines to /mnt/etc/fstab
# <file system> <mount point> <type>  <options> <dump>  <pass>
proc /proc proc defaults 0 0
/dev/mmcblk0p1 /boot vfat defaults 0 2
/dev/mmcblk0p2 / ext4 errors=remount-ro 0 1

Put BOOT.BIN, Image and system.dtb generated in the previous steps into /dev/mmcblk0p1. Finally, insert the SD card into the board. It should be ready to boot debian.

Some useful build-in commands under u-boot

  • help
  • load mmc 0:auto <addr> <file> - load file in SD card into memory addr
  • fatls mmc 0 <path> - list files under path in SD card
  • fatwrite mmc 0 <addr> <file> <byte_in_hex> - write file of size byte_in_hex from memory addr into SD card
  • fpga loadb 0 <addr> <byte_in_hex> - download bitstream of size byte_in_hex from memory addr

Some useful customized commands

  • set IP address and TFTP server address
setenv ipaddr 10.30.6.61
setenv serverip 10.30.6.123
  • download FPGA, get linux kernel image and DTB file by TFTP, then boot the kernel
"netboot=tftpboot 0x100000 fpga.bit && fpga loadb 0 $fileaddr $filesize && " \
"tftpboot $kernel_addr Image && tftpboot $fdt_addr system.dtb && booti $kernel_addr - $fdt_addr \0"
  • download file by TFTP to the boot partition (mmcblk0p1) of SD card
// should set $filename first
"download_sd=tftpboot 0x100000 $filename && fatwrite mmc 0 $fileaddr $filename $filesize\0"
  • update the boot partition (mmcblk0p1) of SD card (BOOT.BIN and system.dtb) by TFTP
"update_sdboot=setenv filename BOOT.BIN && run download_sd && " \
"setenv filename system.dtb && run download_sd\0"