zynq-linux

Setup flow of Debian Linux on Zynq

Copyright (C) 2015, Shinya Takamaeda-Yamazaki

E-mail: shinya_at_is.naist.jp

License

Apache License 2.0 (http://www.apache.org/licenses/LICENSE-2.0)

Contents

• README.md: This file
• config: configuration files for building software
• setting: setting files on Linux
• lib: user-level library
• sample: sample applications
• compiled_file: compiled binary files

Tutorial Slide

Debian Linux on Zynq Setup Flow

Setup Flow

Under development.

FPGA board file (for Zybo)

Hardware Development

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

Environment

If you use bash (default) and zsh

source /opt/xilinx/Vivado/2015.4/setting64.sh
export CROSS_COMPILE=arm-xilinx-linux-gnueabi-
export ARCH=arm

If you use tcsh

source /opt/xilinx/Vivado/2015.4/setting64.csh
setenv CROSS_COMPILE arm-xilinx-linux-gnueabi-
setenv ARCH arm

U-boot

Download U-Boot

git clone https://github.com/Xilinx/u-boot-xlnx.git
cd u-boot-xlnx
git checkout xilinx-v2015.4

Edit zynq_common.h

emacs include/configs/zynq-common.h

diff --git a/include/configs/zynq-common.h b/include/configs/zynq-common.h

Build U-boot image.

for Zybo

make zynq_zybo_config

for ZedBoard

make zynq_zed_config

Then "make"

make

You have "u-boot-xlnx/u-boot.img" and "u-boot-xlnx/boot.bin".

Linux kernel (only once) and device tree

Downlaod kernel image from Analog device's repository

Download the linux kernel image. Revision 3590cfe88b1a2d418d59e0ed9c928eb8c094c7cf works well for ZC706 and ZedBoard.

git clone https://github.com/analogdevicesinc/linux.git ; cd linux 
git checkout xcomm_zynq
git checkout 3590cfe88b1a2d418d59e0ed9c928eb8c094c7cf

Load the default setting

make zynq_xcomm_adv7511_defconfig

Configure

Configure the kernel. Edit each option as following.

Or, replace ".config" with "zynq-linux/config/linug.config".

make menuconfig

• UIO

Follow "Device Drivers" —> "Userspace I/O drivers". Then select <*> for three itmes there.

• CMA

Follow "Device Drivers" —> "Generic Driver Options" —> select <*> for DMA Contiguous Memory Allocator. Then set 260 (not 256) for "Size in Mega Bytes" and 8 for "Maximum PAGE_SIZE order of alignment for contiguous buffers".

• NFS

For NFS users, follow "File systems" —> select <> for "Network file systems". Then select <> for some related items of NFS.

Check

Check ".config" has lines as below.

for UIO

CONFIG_UIO=y
CONFIG_UIO_PDRV=y
CONFIG_UIO_PDRV_GENIRQ=y

for CMA

#
# Default contiguous memory area size:
#
CONFIG_CMA_SIZE_MBYTES=260
CONFIG_CMA_SIZE_SEL_MBYTES=y
# CONFIG_CMA_SIZE_SEL_PERCENTAGE is not set
# CONFIG_CMA_SIZE_SEL_MIN is not set
# CONFIG_CMA_SIZE_SEL_MAX is not set
CONFIG_CMA_ALIGNMENT=8

for NFS

CONFIG_NETWORK_FILESYSTEMS=y
CONFIG_NFS_FS=y
CONFIG_NFS_V2=y
CONFIG_NFS_V3=y
CONFIG_NFS_V3_ACL=y
CONFIG_NFS_V4=y
CONFIG_NFS_SWAP=y
CONFIG_NFS_V4_1=y
CONFIG_NFS_V4_2=y
CONFIG_PNFS_FILE_LAYOUT=y
CONFIG_NFS_V4_1_IMPLEMENTATION_ID_DOMAIN="kernel.org"
CONFIG_NFS_V4_1_MIGRATION=y
# CONFIG_ROOT_NFS is not set
CONFIG_NFS_USE_LEGACY_DNS=y
# CONFIG_NFSD is not set
CONFIG_GRACE_PERIOD=y
CONFIG_LOCKD=y
CONFIG_LOCKD_V4=y
CONFIG_NFS_ACL_SUPPORT=y
CONFIG_NFS_COMMON=y

Expand PATH variable with "u-boot-xlnx/tools"

for bash or zsh

export PATH=/home/yourname/u-boot-xlnx/tools:$PATH

for tcsh or csh

setenv PATH /home/yourname/u-boot-xlnx/tools:$PATH

Build a kernel image.

make uImage LOADADDR=0x00008000

You have "uImage" at "linux/arch/arm/boot". Copy it to somewhere.

cp linux/arch/arm/boot/uImage ~/work/uImage

Device tree (devicetree.dtb)

This package includes the custom ".dts" and ".dtsi" files. In those, "bootargs" option is modified, and several "dmem-uio" interfaces are appended.

Copy "zynq-linux/config/.dts" and "zynq-linux/config/.dtsi" into "linux/arch/arm/boot/dts/"

cp zynq-linux/config/*.dts* ~/work/linux/arch/arm/boot/dts

for ZedBoard

make zynq-zed-empty-custom.dtb
make zynq-zed-empty-custom-cma.dtb

for ZC706

make zynq-zc706-empty-custom.dtb
make zynq-zc706-empty-custom-cma.dtb

zynq-*-empty-custom.dtb is a separated design that uses the first half of DRAM as linux-managed region and the second half as the accelerator reserved region. The second half region can be accessed via "/dev/uio0" from linux. Note that the cache memory of ARM processor for the second region is disabled, because it uses /dev/uio0.

zynq-*-empty-custom-cma.dtb is a more sophisticated design that uses the entire DRAM as linux-managed region, but some contigunous physical spaces (260 MB) of that region can be allocated for accelerator use by using udmabuf driver. Note that the region has contigunous physical spaces on DRAM, so that the accelerator can access easily that region without a complex address translation. Additionally, that region can be cached by the cache memory. If you use ACP port to access the DRAM from an accelerator, enabling the cache memory will improve the performance.

Copy the corresponding dtb file on "linux/arch/arm/boot/dts/" as "devicetree.dtb" on somewhere.

For example

cp linux/arch/arm/boot/dts/zynq-zed-empty-custom-cma.dtb ~/work/devicetree.dtb

If you use "zynq-*-empty-custom.dtb (for /dev/uio0)", prepare "uEnv.txt" as below.

touch ~/work/uEnv.txt
emacs ~/work/uEnv.txt

for ZedBoard

fdt_high=0x10000000
initrd_high=0x10000000

for ZC706

fdt_high=0x20000000
initrd_high=0x20000000

Debian root file system

Initialization

cd ~/work/
sudo apt-get install qemu-user-static debootstrap binfmt-support
export targetdir=rootfs
export distro=jessie
mkdir $targetdir
sudo debootstrap --arch=armhf --foreign $distro $targetdir
sudo cp /usr/bin/qemu-arm-static $targetdir/usr/bin
sudo cp /etc/resolv.conf $targetdir/etc

chroot

sudo chroot $targetdir

distro=jessie 
export LANG=C
/debootstrap/debootstrap --second-stage

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

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

apt-get update
apt-get install locales dialog 
dpkg-reconfigure locales
apt-get install openssh-server ntpdate resolvconf sudo less hwinfo ntp tcsh zsh
passwd

If you have multiple Zynq-linux systems, assign an appropriate hwaddress value for each system.

echo <<EOT >> /etc/network/interfaces
auto eth0
iface eth0 inet static
hwaddress ether 00:0a:35:00:01:??
address 192.168.0.xxx
netmask 255.255.255.0
gateway 192.168.0.yyy
dns-nameservers 192.168.0.aaa 192.168.0.bbb
dns-domain foo.bar.jp
dns-search foo.bar.jp
EOT

echo <<EOT >> /etc/resolv.conf
nameserver 192.168.0.aaa
nameserver 192.168.0.bbb
EOT

Create a new admin user.

adduser yourname

Enter, enter, enter, ... . Then edit sudoers.

editor=vi visudo

Edit like this.

# User privilege specification
root    ALL=(ALL:ALL) ALL
yourname ALL=(ALL:ALL) ALL

Open "/etc/rc.local".

vi /etc/rc.local

Then add 3 lines to use NTP at boot time.

service ntp stop
ntpdate ntp.nict.jp
service ntp start
exit 0

Setup hostname.

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

Install some applications as you like.

apt-get install build-essential
apt-get install screen bash-completion time
apt-get install python python-pip python3 python3-pip
apt-get install nis nfs-common

Finish.

exit

Finalization

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

Setup SD card

Setup a disk partition by using gparted or fdisk as below.

• 1st partition: empty (4MB)
• 2nd partition: BOOT (64MB, FAT32, bootable)
• 3rd partition: rootfs (entire rest, ext4)

Copy "BOOT.BIN", "devicetree.dtb", "uImage", and "uEnv.txt (If you need)" into the "BOOT" partition.

cp ~/work/BOOT.BIN /media/yourname/BOOT/
cp ~/work/devicetree.dtb /media/yourname/BOOT/
cp ~/work/uEnv.txt /media/yourname/BOOT/
cp ~/work/uImage /media/yourname/BOOT/

Copy all the contentes in "rootfs" directory you created above into "rootfs" on SD card.

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

Boot from SD card

Hardware settting and login

Boot the Zynq linux system with the prepared SD card.

Jumper-pin setting should be as below.

H  __
L _  __

Login the system via ssh.

ssh yourname@192.168.0.xxx

NTP and Timezone

After you login the Debian on Zynq, please set up NTP and Timezone.

(on Zynq) sudo emacs /etc/ntp.conf

Comment out the orignal lines and insert a new line as below.

#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

Restart NTP.

(on Zynq) sudo service ntp restart

Change the time zone to Asia/Tokyo

(on Zynq) sudo dpkg-reconfigure tzdata

Select "Asia", then "Tokyo".

Mount SD card

Mount the 1st partition of SD card on /sdcard .

(on Zynq) sudo mkdir /sdcard
(on Zynq) sudo vi /etc/fstab

Insert 1 line.

/dev/mmcblk0p1 /sdcard auto defaults 0 0

locales

(on Zynq) sudo dpkg-reconfigure locales

select "en_US.UTF-8", "ja_JP.UTF-8", and "ja_JP.EUC-JP". Then select "en_US.UTF-8" as default.

Reboot

(on Zynq) sudo reboot

CMA (Continuous memory allocator) driver (Only once)

Setup kernel image

Copy the "linux" directory used above from the host computer to "/usr/src/" on Zynq-linux system.

scp -r ~/work/linux yourname@192.168.0.xxx:

Then create a symbolic link named "/usr/src/kernel" to it on Zynq-linux system.

(on Zynq) sudo mv linux /usr/src/linux
(on Zynq) sudo ln -s /usr/src/linux /usr/src/kernel

Go to "/usr/src/kernel" and "make modules_prepare"

(on Zynq) sudo make modules_prepare

Download and compile

Download the CMA memory driver from GitHub, and copy it to Zynq-linux system.

git clone https://github.com/shtaxxx/udmabuf.git
scp -r udmabuf yourname@192.168.0.xxx:

(on Zynq) cd udmabuf
(on Zynq) make 

You will have "udmabuf.ko".

Or use "zynq-linux/compiled_file/udmabuf.ko".

Copy it into "/drivers/".

(on Zynq) sudo mkdir /drivers
(on Zynq) sudo cp udmabuf.ko /drivers

Run test applications

Go to "zynq-linux/sample/. Then compile a sample program that uses user-level library (zynq-linux/lib/cma.h).

scp -r zynq-linux yourname@192.168.0.xxx

(on Zynq) cd zynq-linux/sample
(on Zynq) make
(on Zynq) ./a.out 10000 1

The second argument of a.out is the run mode:

• 0: standard memory space (malloc, fastest)
• 1: CMA space (cma_malloc without O_SYNC, CPU cache enabled, very fast but no consistent to accelerators)
• 2: CMA space (cma_malloc with O_SYNC, CPU cache disabled, slow)
• 3: CMA space (cma_malloc with O_SYNC, CPU cache disabled, write combined, fast)
• 4: CMA space (cma_malloc with O_SYNC, CPU cache disabled, DMA coherent, fast)

You can find other user-level libraries ("axis.h" and "umem.h").

How to replace the bitstream

Reference

Yet Another Guide to Running Linaro Ubuntu Linux Desktop on Xilinx Zynq on the ZedBoard

Building a pure Debian armhf rootfs

ADI Reference Designs HDL User Guide If you need HDMI, download the FPGA reference design from GitHub: git clone https://github.com/analogdevicesinc/hdl.git

ADI Reference Designs HDL User Guide

udmabuf (User space mappable DMA Buffer) (In Japanese)

Zynq+PyCoRAM(+Debian) Introduction (In Japanese)