基于Xilinx平台的嵌入式软件开发流程_libmetal

Xilinx

嵌入式

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1Resource
 
U-boot
U-Boot source code
https://github.com/Xilinx/u-boot-xlnx
device tree compiler
device tree generator for Xilinx SDK
https://github.com/Xilinx/device-tree-xlnx
Linux OS
Xilinx Open Source Linux: PetaLinux
http://www.xilinx.com/petalinux
Embedded Design Hub - PetaLinux
http://www.xilinx.com/support/documentation-navigation/design-hubs/dh0016-petalinux-tools-hub.html
from ADI
https://github.com/analogdevicesinc/linux
Third-party OS
http://www.wiki.xilinx.com/3rd+Party+Operating+Systems
Real-Time Linux
http://www.wiki.xilinx.com/Real-Time+Linux
Ubuntu on Zynq
http://www.wiki.xilinx.com/Ubuntu+on+Zynq
Yocto Open Linux project
http://www.wiki.xilinx.com/Yocto
http://git.yoctoproject.org/cgit/cgit.cgi/meta-xilinx/
Drivers & Libraries
Linux Drivers：
http://www.wiki.xilinx.com/Linux+Drivers
Bare-metal Drivers and Libraries
http://www.wiki.xilinx.com/Baremetal+Drivers+and+Libraries
Documents
The Xilinx Design Flow：Getting Started
http://www.wiki.xilinx.com/Getting+Started
Technical Articles
http://www.wiki.xilinx.com/Technical+Articles
Zynq Linux
http://www.wiki.xilinx.com/Zynq+Linux
SDK software development online documents
https://www.xilinx.com/html_docs/xilinx2017_4/SDK_Doc/index.html
 
2Keywordsandrelatedinformatioin
Bootloader
u-boot
make and build
Linux Kernel
File system
root file system
standard desktop OS
file system mount
Device
 
driver
device tree compiler and blobber
insmod
Firmware
Library and Middleware
static library
dynamic library
cross compile/debug
Debug
PL simulation and debug
Software debug
PS-PL co-debug, co-simulation
IDE and related build tools
Eclipse-likeVivado SDK
Petalinux
Profiling
 
3TopLevelOverviewofXilinxdesignlowforZynqSOC
 

PL-PS co-design and co-debug

complex and is commonly system bottleneck, lots of debug, test tools and methods are designed around this domain

Delivery by vivado:

XML file: Programmable Logic (PL) informationdescribing processors, peripherals, memory maps, and additional system data

INIT files: (

, and

.tcl

files) used by software design tools to create and configure Board Support Package (

BSP

) libraries, infer

compiler options, define JTAG settings, and automate other operations that require information about the hardware.

bitstream

file:programmable logic (PL) bit file

BMM

file:A block RAM memory map (BMM) file

B System Software development

Tools: Vivado SDK

Create Boot Image

import hardware design files (HDF)

create and build FSBL

create and build U-boot

delivery: boot.bin

Build OS (here use Linux)

build Linux Kernel (delivery：uImage or zImage)

build Device Tree Blob (delivery：

devicetree.dtb

)

build root file system (delivery: rootfs, rootramfs

filesystem-1: build RamDisk Root File System (delivery：

uImage

zImage

)

filesystem-2: standard Linux File System (delivery:

extracted



ext3/4

partition, mount required)

C Application Software development

Tools：Vivado SDK/SDSOC

What to do：

traditional CPU-based only application software （drivers, libaries, middleware, lightweight OS or bare-metal, your applications)

software with CPU-FPGA co-design, commonly is kind of intensive and high-speed data flow and algorithm accerleration

Procedures

-------------------------------------------------------------------------------------------------------

Step 1：architecturedefinition and design of software-hardware system

hardware definition and setting (clock frequency, low-speed interface, high-speed interface, interrupt, GPIO etc.)

resource budget of FPGA

software processing budget

top-level timing and throughput

FPGA sub-system level timing and throughput

CPU software level throughput

function mapping/partition into software and hardware

Step 2：hardware configuration and FPGA subsystem design

design hardware system, including IP development, FPGA subsystem development and hardware part of PL-PS communication.

Step 3：handover fromhardware to SDK

hardware abstraction through compiling vivado hardware project and generating related HDF files. Since now, hardware part is done,

PL part is successfully abstracted as binary file and some configuration files

export to SDK environment then let's turn to focus on software part

Step 4：launch Vivado SDK and build the necessary system software environment

Here, you should need know which kind of software project you want to build

option-1: Bare-metal software application (with only necessary libraries and hardware driver and no OS), typically it is a kind of single-

thread unlimitted loop-based wait-activation-work-wait application

option-2: software project with light-weight OS (multiple tasks, GUI, more device drivers support etc.)

Step 5：build basic BSP software (for bare-metal applicaiton)

basic software functional libraries

hardware-level driver including PL

basic boot environment (except U-boot)

Step 6：build Linux OS environment (optional)

Step 7：develop application software

4.SystemSoftwaredevelopment

Procedures:

Step 1：Build FSBL (BSP)

Step 2：Build U-Boot and generate boot.bin (SSBL)

Step

：Build

Linux Kernel

Step

：Build

Device Tree Blob

Step 5：Build Root File System

Step 6：Prepare Boot Image and programm into boot device

Step 7：Setup serial-port console

Step 8：Power-on reset

devicetree forZynq:

-------------------------------------------------------------------------------------------------------------------------

device tree is a data structure of nodes and properties describing components and features supported by the hardware (PS peripherals,

ARM processors, and PL peripherals).

The nodes provide information such as the hardware-component map address, interrupt number, default settings, etc.

device tree information is passed to Linux kernel at boot time. While booting, the kernel uses this information to load the corresponding

device drivers

background information of device tree：

在过去的Linux内核源码中，存在大量对板级细节信息描述的代码。这些代码充斥在/arch/arm/plat-xxx和/arch/arm/mach-xxx目录，对内核而言这些

platform设备、resource、i2c_board_info、spi_board_info以及各种硬件的platform_data绝大多数纯属垃圾冗余代码

为了解决这一问题，ARM内核版本3.x之后引入了原先在Power PC等其他体系架构已经使用的Flattened Device Tree。Device Tree改变了原来用

hardcode方式将HW 配置信息嵌入到内核代码的方法，改用bootloader传递一个DataBase的形式。

对于基于ARM CPU的嵌入式系统，我们习惯于针对每一个platform进行内核的编译。但是随着ARM在消费类电子上的广泛应用（甚至桌面系统、服务器系

统），我们期望ARM能够象X86那样用一个kernel image来支持多个platform。

在这种情况下，如果我们认为kernel是一个black box，那么其输入参数应该包括：

识别platform的信息

runtime的配置参数

设备的拓扑结构以及特性

对于嵌入式系统，在系统启动阶段，bootloader会加载内核并将控制权转交给内核，此外，还需要把上述的三个参数信息传递给kernel，以便kernel可以有

较大的灵活性。在linux kernel中，Device Tree的设计目标就是如此。

Device Tree的描述信息

CPU的数量和类别

内存基地址和大小

总线和桥

外设连接

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