BELK-TN-007: FreeRTOS on single-core Bora Lite SoM
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This technical note was validated against specific versions of hardware and software. What is described here may not work with other versions. |
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Contents
History[edit | edit source]
| Version | Date | Notes |
|---|---|---|
| 1.0.0 | February 2020 | First public release |
Introduction[edit | edit source]
In general, Bora Lite SoM is suited for compact, cost-sensitive applications for which Bora or BoraX would be overkilling. In this scenario, Bora Lite is often equipped with XC7Z007 or XC7Z014 SoC's, which implement single-core processors. In combination with FreeRTOS, such configurations can be the right solution to address real-time applications not requiring the rich set of features provided by GNU/Linux operating system. This Technical Note (TN) describes how to run a FreeRTOS Hello, world!-type application a single-core Bora Lite model.
Testbed[edit | edit source]
From the hardware perspective, the testbed is like the one shown here. It consists of a BoraXEVB carrier board, a Bora Lite Adapter, and a single-core Bora Lite SoM (equipped with XC7Z007 SoC).
The BoraXEVB carrier board is set up to make the SoM boot from the microSD card.
As bootloader, the U-Boot release provided by the BELK kit is used:
U-Boot SPL 2017.01-belk-4.1.1 (Jan 08 2020 - 16:46:11) mmc boot Trying to boot from MMC1 reading fpga.bit spl_load_image_fat: error reading image fpga.bit, err - -1 spl: error reading image fpga.bit, err - 1 reading u-boot.img reading u-boot.img U-Boot 2017.01-belk-4.1.1 (Jan 08 2020 - 16:46:11 +0100), Build: belk-4.1.1 Model: Bora Board: Xilinx Zynq I2C: ready DRAM: ECC disabled 1 GiB Relocating to 3ff14000, new gd at 3ead3ee8, sp at 3ead3ec0 NAND: 1024 MiB MMC: sdhci@e0100000: 0 (SD) reading bora.env In: serial@e0001000 Out: serial@e0001000 Err: serial@e0001000 Model: Bora Board: Xilinx Zynq SF: Detected is25lp128 with page size 256 Bytes, erase size 64 KiB, total 32 MiB SOM ConfigID CRC mismatch for 0xff0101ff (was 0xffffffff, expected 0xca9a6d16) at block 2 (offset 96): using default SF: Detected is25lp128 with page size 256 Bytes, erase size 64 KiB, total 32 MiB SOM UniqueID not found, using default SOM ConfigID#: ffffffff SOM UniqueID#: ffffffff:ffffffff ds2431_readmem(): error in chip reset ds2431_readmem(): error in reading buffer ds2431_readmem(): error in chip reset ds2431_readmem(): error in reading buffer CB ConfigID CRC mismatch for 0x00000000 (was 0x00000000, expected 0x2144df1c) at block 3 (offset 96): using default CB ConfigID#: ffffffff CB UniqueID#: 00000000:00000000 Net: ZYNQ GEM: e000b000, phyaddr 7, interface rgmii-id eth0: ethernet@e000b000 Bora>
The procedure described in this TN makes use of the Xilinx SDK (XSDK) too. Specifically, the version 2019.1 running on a Windows PC was used.
Setting up the Hello, world! project[edit | edit source]
This section illustrates how to set up the software project. As an example, the classical Hello, world!-type application was used.
The first step is to create a new Application Project:
Regarding the Hardware Platform, a new one has to be created. To do that, a hardware specification file needs to be imported as shown in the following screenshot. In this example, the hardware specification file used is associated with the basic Vivado project delivered along with the BELK kit.
Please configure the remaining parameters as illustrated here:
Then select the FreeRTOS Hello World template:
Once the creation process is completed, you should see three different "projects" on the left (one is the real application project, one is the FreeRTOS BSP, and one is associated with the imported hardware platform).
In order to route the serial console to the UART1, please click on Modify this BSP's settings button and change stdin and stdout parameter as shown below:
Select the Clean item from the Project menu:
By default, the cleaning process will trigger the build process as well. Once the build process in finished, the application executable is ready to be deployed on the target.
Running the application[edit | edit source]
There are several ways to run the application on the target. For instance, a JTAG debugging tool can be used. The following is a script in PRACTICE language used to set up a debugging session with Lauterbach TRACE32 PowerView:
SYStem.CPU ZYNQ-7000CORE0
; This selects the DAP for accessing the ARM cores
; (accessing the TAP of the FPGA logic requires different settings)
SYStem.CONFIG DAPIRPRE 6.
SYStem.CONFIG DAPIRPOST 0.
SYStem.CONFIG DAPDRPRE 1.
SYStem.CONFIG DAPDRPOST 0.
TRONCHIP.SET UNDEF OFF
TRONCHIP.SET DABORT OFF
TRONCHIP.SET PABORT OFF
SYStem.Option DACR ON
SYStem.OPTION MMU ON
SYStem.OPTION MMUSPACES OFF ; linux is not started yet!
;enddo
; run bootrom and FSBL to init the whole system
;SYStem.UP
; go is disabled because reset is not connected and UP act like a attach
;go
system.mode attach
break
break.delete /all
TASK.CONFIG ~~/demo/arm/kernel/freertos/freertos.t32 ; load FreeRTOS awareness
MENU.ReProgram ~~/demo/arm/kernel/freertos/freertos.men ; load FreeRTOS menu
data.load.elf r:\home\dvdk\devel\boralite\workspace-2019.1\freertos_hello_world\Debug\freertos_hello_world.elf
b.s main
go
enddo
Please note that the FreeRTOS console is routed to the same UART used for the U-Boot console:
Another way to download and run the application is by using the tftpboot and bootelf commands as shown in the following example (*):
Bora> tftpboot ${loadaddr} boralite/freertos_hello_world.elf
Using ethernet@e000b000 device
TFTP from server 192.168.0.13; our IP address is 192.168.0.81
Filename 'boralite/freertos_hello_world.elf'.
Load address: 0x2080000
Loading: #################################################################
#########################
1.4 MiB/s
done
Bytes transferred = 457608 (6fb88 hex)
Bora> bootelf 0x2080000
CACHE: Misaligned operation at range [00100000, 0010e78c]
CACHE: Misaligned operation at range [0010e78c, 0010e798]
CACHE: Misaligned operation at range [0010e798, 0010e7a4]
CACHE: Misaligned operation at range [0010e7a8, 0010ef84]
CACHE: Misaligned operation at range [0010ef88, 0010fcbc]
CACHE: Misaligned operation at range [0010fcbc, 0010fcc0]
CACHE: Misaligned operation at range [00114000, 00114008]
CACHE: Misaligned operation at range [00114008, 0011400c]
CACHE: Misaligned operation at range [0011400c, 00114010]
CACHE: Misaligned operation at range [00114010, 00124554]
CACHE: Misaligned operation at range [00124554, 00126560]
CACHE: Misaligned operation at range [00126560, 00129d60]
## Starting application at 0x00100000 ...
Hello from Freertos example main
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
FreeRTOS Hello World Example PASSED
(*) It seems that the message CACHE: Misaligned operation at range [x, y] is not a real problem.
