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Ultra96v2 firmware. Package for enabling hardware acceleration capabilities in ROS 2 with Avnet's Ultra96-V2 board.

License: Apache License 2.0

acceleration_firmware_ultra96v2's Introduction

acceleration_firmware_ultra96v2

Board	Picture	Description
Avnet Ultra96-V2 Board (`ultra96v2`)		The Ultra96-V2 updates and refreshes the Ultra96 product that was released in 2018. Like Ultra96, the Ultra96-V2 is an Arm-based, Xilinx Zynq UltraScale+™ MPSoC development board based on the Linaro 96Boards Consumer Edition (CE) specification.

This repository provides Xilinx's firmware artifacts for the ultra96v2 board meant to accelerate ROS 2 robotic applications.

NOTE: This repository is has various GB of data. Due to GitHub size restrictions, the whole source code is available under releases. Refer to each corresponding's release firmware/ARTIFACTS.md file for a description of all the artifacts included.

Install Instructions

Examples

Hardware Acceleration capabilities

According to REP-2008's proposal.

Capability	Status
`1.` Kernel Levels
`1.i` level I kernels
`1.ii` level II kernels
`1.iii` level III kernels
`2.` Build System
`2.i` ament extensions	✓
`2.ii` `ament_acceleration` support
`3`. Build Tools
`3.i` hardware emulation (`hw_emu`)
`3.ii` hardware emulation (`sw_emu`)
`3.iii` image tooling	✓
`3.iv` Linux kernel	✓
`3.iv.a` modern Linux kernel	✓
`3.iv.b` LTS Linux kernel
`3.v` hypervisor
`3.v.a` no control domain VMs
`3.v.b` guest VMs in disk
`3.v.c` control domain in disk
`3.v.d` no control domain VMs in disk
`3.vi` network booting
`3.vi.a` boot artifacts
`3.vi.b` rootfs
`3.vi.c` multi-network boot
`3.vi.d` secure network booting
`3.vi.e` save in disk network boot
`4.` Benchmarking
`4.i` kernel benchmarking
`4.ii` ROS 2 acceleration benchmarking
`5.` Documentation
`5.i` in-code documentation	✓
`6.` Testing and CI
`6.i` `acceleration_examples`	✓

Quality Declaration

No quality is claimed according to REP-2004. This package should only be used in workstations to produced valid firmware for the targeted hardware.

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