zynqmp-arch

Arch Linux ARM for Xilinx Zynq UltraScale+ devices.

Installation

Required tools:

• Linux-based host PC
• Vitis 2020.1 or later
• Statically-linked QEMU User space emulator for AArch64 + binfmt_misc configurations
  • If you are using Arch Linux, you can use binfmt-qemu-static and qemu-user-static packages from the AUR (ArchWiki).
  • You can also use the tonistiigi/binfmt container image.
• arch-install-scripts
  • We will use arch-chroot(8) to chroot into the target system.

Step1: Prepare the Hardware Design

Use Vivado to create the hardware design. After synth, impl, and generating bitstream, export the .xsa file by following the TCL command.

Vivado% write_hw_platform -fixed -include_bit system.xsa

Step2: Build Boot Loaders and Firmwares

1. Generate First Stage Boot Loader (fsbl) and PMU Firmware (pmufw) sources:

   $ mkdir xsct && cd $_
   $ cp /path/to/system.xsa .
   
   $ xsct -nodisp -interactive <<'EOS'
   hsi open_hw_design system.xsa
   
   hsi create_sw_design fsbl -proc psu_cortexa53_0 -app zynqmp_fsbl
   hsi set_property CONFIG.stdin  psu_uart_1 [hsi get_os]
   hsi set_property CONFIG.stdout psu_uart_1 [hsi get_os]
   hsi generate_app -app zynqmp_fsbl -dir fsbl
   hsi close_sw_design [hsi current_sw_design]
   
   hsi create_sw_design pmufw -proc psu_pmu_0 -app zynqmp_pmufw
   hsi set_property CONFIG.stdin  psu_uart_1 [hsi get_os]
   hsi set_property CONFIG.stdout psu_uart_1 [hsi get_os]
   hsi generate_app -app zynqmp_pmufw -dir pmufw
   hsi close_sw_design [hsi current_sw_design]
   EOS
   
   $ cd ..
   

2. Patch the pmufw sources (Ultra96/Ultra96-V2):

   $ sed -i 's/^\(CFLAGS :=.*$\)/\1 -DENABLE_MOD_ULTRA96 -DULTRA96_VERSION=2/' xsct/pmufw/Makefile
   $ sed -i 's/^\(#define\s\+PMU_MIO_INPUT_PIN_VAL\).*/\1 (1U)/;
             s/^\(#define\s\+BOARD_SHUTDOWN_PIN_VAL\).*/\1 (1U)/;
             s/^\(#define\s\+BOARD_SHUTDOWN_PIN_STATE_VAL\).*/\1 (1U)/' xsct/pmufw/xpfw_config.h
   

3. Build fsbl and pmufw:

   $ make -C xsct/fsbl
   $ make -C xsct/pmufw
   

4. Build Xilinx/arm-trusted-firmware:

   $ mkdir arm-trusted-firmware && cd $_
   $ curl -L https://github.com/Xilinx/arm-trusted-firmware/archive/xilinx-v2022.2.tar.gz | \
       tar xz --strip-components=1 -C .
   $ sed -i 's!\s\(-Wl,\)\?--fatal-warnings\b!!g' Makefile
   
   $ CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 \
       make -j12 PLAT=zynqmp RESET_TO_BL31=1 ZYNQMP_CONSOLE=cadence1
   
   $ cd ..
   

5. Build Xilinx/u-boot-xlnx:

   $ mkdir u-boot-xlnx && cd $_
   $ curl -L https://github.com/Xilinx/u-boot-xlnx/archive/xilinx-v2022.2.tar.gz | \
       tar xz --strip-components=1 -C .
   
   $ CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 make xilinx_zynqmp_virt_defconfig
   $ CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 \
       DEVICE_TREE="<your-target-device-tree-name>" \
       BL31=$PWD/../arm-trusted-firmware/build/zynqmp/release/bl31.bin \
       make -j12 u-boot.elf
   
   $ cd ..
   

6. Create BOOT.BIN:

   $ mkdir boot && cd $_
   $ cp ../xsct/fsbl/executable.elf fsbl.elf
   $ cp ../xsct/pmufw/executable.elf pmufw.elf
   $ cp ../xsct/<bitstream_name>.bit bitstream.bit
   $ cp ../arm-trusted-firmware/build/zynqmp/release/bl31/bl31.elf .
   $ cp ../u-boot-xlnx/u-boot.elf .
   
   $ cat > boot.bif <<EOS
   all:
   {
     [destination_cpu=a53-0, bootloader]                       fsbl.elf
     [destination_cpu=pmu]                                     pmufw.elf
     [destination_device=pl]                                   bitstream.bit
     [destination_cpu=a53-0, exception_level=el-3, trustzone]  bl31.elf
     [destination_cpu=a53-0, exception_level=el-2]             u-boot.elf
   }
   EOS
   
   $ bootgen -arch zynqmp -image boot.bif -w -o BOOT.BIN
   
   $ cd ..
   

Step3: Create Bootable SD Card

1. Partition the SD card:
   1. Start fdisk:

      $ sudo fdisk /dev/sdX
      

   2. Clear out all partitions:

      Command (m for help): o
      

   3. Create the first partition (32 MiB, FAT16, for BOOT.BIN):

      Command (m for help): n
      Partition type
      p   primary (0 primary, 0 extended, 4 free)
      e   extended (container for logical partitions)
      Select (default p): p
      Partition number (1-4, default 1): 1
      First sector (2048-15661055, default 2048):
      Last sector, +/-sectors or +/-size{K,M,G,T,P} (2048-15661055, default 15661055): +32M
      
      Created a new partition 1 of type 'Linux' and of size 32 MiB.
      
      Command (m for help): t
      Selected partition 1
      Hex code or alias (type L to list all): e
      Changed type of partition 'Linux' to 'W95 FAT16 (LBA)'.
      

   4. Create the second partition (remaining space, bootable, for Linux rootfs):

      Command (m for help): n
      Partition type
      p   primary (1 primary, 0 extended, 3 free)
      e   extended (container for logical partitions)
      Select (default p): p
      Partition number (2-4, default 2):
      First sector (67584-15661055, default 67584):
      Last sector, +/-sectors or +/-size{K,M,G,T,P} (67584-15661055, default 15661055):
      
      Created a new partition 2 of type 'Linux' and of size 7.4 GiB.
      
      Command (m for help): a
      Partition number (1,2, default 2):
      
      The bootable flag on partition 2 is enabled now.
      

   5. Write the partition table and exit:

      Command (m for help): w
      The partition table has been altered.
      Calling ioctl() to re-read partition table.
      Syncing disks.
      

2. Format partitions:

   $ sudo mkfs.vfat -F 16 /dev/sdX1
   $ sudo mkfs.ext4 /dev/sdX2
   

3. Download the latest Arch Linux ARM tarball and extract to the second partiton:

   $ curl -LO http://os.archlinuxarm.org/os/ArchLinuxARM-aarch64-latest.tar.gz
   $ curl -LO http://os.archlinuxarm.org/os/ArchLinuxARM-aarch64-latest.tar.gz.md5
   $ md5sum -c ArchLinuxARM-aarch64-latest.tar.gz.md5
   
   $ sudo mount /dev/sdX2 /mnt
   $ sudo bsdtar -xpf ArchLinuxARM-aarch64-latest.tar.gz -C /mnt
   $ sync
   

4. Chroot into the target system:

   $ sudo arch-chroot /mnt /bin/bash
   
   (chroot)# uname -m
   aarch64
   

5. Initialize the pacman keyring:

   (chroot)# pacman-key --init
   (chroot)# pacman-key --populate archlinuxarm
   

6. Add zynqmp-arch package repository:

   (chroot)# cat >> /etc/pacman.conf <<EOS
   
   [zynqmp-arch]
   SigLevel = Never
   Server = https://zynqmp-arch.myon.info/\$arch
   EOS
   

7. Add/Remove/Update packages:
   • Remove unneeded utilities:

     (chroot)# pacman -Rncs netctl dhcpcd net-tools
     

   • Remove pre-installed kernel:

     (chroot)# pacman -Rnd linux-aarch64
     

   • Update the system:

     (chroot)# pacman -Syu
     

   • Install the kernel (linux-zynqmp):

     (chroot)# pacman -S linux-zynqmp
     

   • Install Ultra96-V2 Wifi/BT driver (wilc3000-ultra96v2) and firmware (wilc-firmware):

     (chroot)# pacman -S wilc3000-ultra96v2 wilc-firmware
     

   • Install wpa_supplicant for connecting Wifi:

     (chroot)# pacman -S wireless_tools wpa_supplicant
     

   • Remove unrequired packages:

     (chroot)# pacman -Rncs $(pacman -Qdtq)
     

8. Set passwords:

   (chroot)# passwd
   (chroot)# passwd alarm
   

9. Configure /etc/fstab and exit the chroot environment:

   (chroot)# cat >> /etc/fstab <<EOS
   /dev/mmcblk0p2 /     ext4 defaults 0 1
   EOS
   
   (chroot)# exit
   

10. Copy boot.scr to /boot:

    $ vim /path/to/zynqmp-arch/boot/boot.cmd    # modify if needed
    $ /path/to/u-boot-xlnx/tools/mkimage -c none -A arm64 -T script -d /path/to/zynqmp-arch/boot/boot.cmd boot.scr
    $ sudo mv boot.scr /mnt/boot/
    $ sudo umount /mnt
    

11. Copy BOOT.BIN (created in step2) to the first partition:

    $ sudo mount /dev/sdX2 /mnt
    $ sudo cp BOOT.BIN /mnt
    $ sudo umount /mnt
    

Step4: Boot!

Insert the SD card and turn on the power. You will see the following messages via serial console.

Xilinx Zynq MP First Stage Boot Loader
Release 2022.1   Mar 18 2023  -  09:00:14
PMU Firmware 2022.1	Mar 18 2023   09:02:24
PMU_ROM Version: xpbr-v8.1.0-0
NOTICE:  BL31: v2.6(release):
NOTICE:  BL31: Built : 16:20:14, Mar 18 2023


U-Boot 2022.01 (Mar 18 2023 - 16:22:09 +0900)

CPU:   ZynqMP
Silicon: v3
Model: Avnet Ultra96 Rev1
Board: Xilinx ZynqMP
DRAM:  2 GiB
PMUFW:	v1.1
PMUFW no permission to change config object
EL Level:	EL2
Chip ID:	zu3eg
NAND:  0 MiB
MMC:   mmc@ff160000: 0, mmc@ff170000: 1
Loading Environment from FAT... Unable to use mmc 0:2... In:    serial
Out:   serial
Err:   serial
Bootmode: SD_MODE
Reset reason:	EXTERNAL
Net:   No ethernet found.
scanning bus for devices...
starting USB...
Bus usb@fe300000: probe failed, error -2
No working controllers found
Hit any key to stop autoboot:  0
switch to partitions #0, OK
mmc0 is current device
Scanning mmc 0:2...
Found U-Boot script /boot/boot.scr
540 bytes read in 18 ms (29.3 KiB/s)
## Executing script at 20000000
26909184 bytes read in 1931 ms (13.3 MiB/s)
41247 bytes read in 29 ms (1.4 MiB/s)
7612522 bytes read in 558 ms (13 MiB/s)
## Flattened Device Tree blob at 00100000
   Booting using the fdt blob at 0x100000
   Loading Ramdisk to 7b6bf000, end 7be0186a ... OK
   Loading Device Tree to 000000007b6b1000, end 000000007b6be11e ... OK

Starting kernel ...

[    0.000000] Booting Linux on physical CPU 0x0000000000 [0x410fd034]
[    0.000000] Linux version 5.15.36-1-zynqmp-ARCH (alarm@buildenv) (gcc (GCC) 12.1.0, GNU ld (GNU Binutils) 2.38) #1 SMP Sat Mar 18 04:38:57 UTC 2023
[    0.000000] Machine model: Avnet Ultra96-V2 Rev1
[    0.000000] earlycon: cdns0 at MMIO 0x00000000ff010000 (options '115200n8')
[    0.000000] printk: bootconsole [cdns0] enabled

(...)

Arch Linux 5.15.36-1-zynqmp-ARCH (ttyPS0)

alarm login: