DESK-XZ7-L/pdf

History

DESK-XZ7-L History
Version	Issue Date	Notes	Refers to
1.0.0-rc1	Q1 2023	DESK-XZ7-L-1.0.0 rc1 release	BORA SOM
1.0.1	Jan 2024	DESK-XZ7-L-1.0.1 release	BORA SOM
			BORA Xpress SOM
			BORA Lite SOM
1.1.0	Jun 2024	DESK-XZ7-L-1.1.0 release	BORA SOM
			BORA Xpress SOM
			BORA Lite SOM

General Information

Release Notes

DAVE Embedded Systems adds to the latest Vivado/Petalinux BSP from Xilinx the customization required to support the SOC platform. For this reason most of the documentation provided by Xilinx remains valid for the DESK development kit.

However, some customization is required, in particular at bootloader and linux kernel levels.

The following table reports the DESK releases information.

	DESK version
Release number	1.1.0
Release type	Minor
Status	Released
Release date	Jun 2024
Release notes	Ver 1.1.0
Product support	BORA / BORA Xpress / BORA Lite
Drivers	SPI NOR Flash (boot) NAND (boot) UART debug (2-wire) USB Host SD Ethernet 0 Ethernet 1 (*) UART1
Vivado version	2021.2
Petalinux version	2021.2
U-Boot version	U-boot Version v2021.01
Linux version	Linux Kernel rebase version 5.10
Build system	Yocto Gatesgarth (3.2.0)

(*): ask Sales department for a dedicated Application Note

DESK 1.1.0

Release notes:

• fix bug for use all NAND size
• enable ETH1 in Linux for Bora and Borax platforms

Known Limitations

The following table reports the known limitations of this DESK release:

Issue	Description
microSD hotplug	microSD hotplug functionality not work correctly

Downloadable binary images

All binary images for DESK-XZ7-L are hosted on DAVE Embedded System mirror server. There you can find a sub directory for each version of this development kit.

A summary of images with a brief description can be found into the table below:

Image	DESK-XZ-L version 1.0.1
Platform	BORA Evaluation Kit	BORA Xpress Evaluation Kit	BORA Lite Evaluation Kit	BORA Lite EVK with NAND support	BORA Lite Evaluation Kit
Boot storage device	SD / NOR	SD / NOR	SD / NOR	SD (NAND storage support)	NAND
bootscript	boot.scr	boot.scr	boot.scr	boot.scr	-
boot.bin	BOOT.BIN	BOOT.BIN	BOOT.BIN	BOOT.BIN	BOOT.BIN
Fit image	image.ub	image.ub	image.ub	image.ub	-
SD card image	dave-image-devel.wic.bz2	dave-image-devel.wic.bz2	dave-image-devel.wic.bz2	dave-image-devel.wic.bz2	dave-image-devel.tar.gz

DESK 1.0.1

Release notes:

• Major change to Xilinx BSP 2021.2

Known Limitations

The following table reports the known limitations of this DESK release:

Issue	Description
NAND	Zynq7000 NAND controller can access up to 512MB

Downloadable binary images

All binary images for DESK-XZ7-L are hosted on DAVE Embedded System mirror server. There you can find a sub directory for each version of this development kit.

A summary of images with a brief description can be found into the table below:

Image	DESK-XZ-L version 1.0.1
Platform	BORA Evaluation Kit	BORA Xpress Evaluation Kit	BORA Lite Evaluation Kit	BORA Lite EVK with NAND support	BORA Lite Evaluation Kit
Boot storage device	SD / NOR	SD / NOR	SD / NOR	SD (NAND storage support)	NAND
bootscript	boot.scr	boot.scr	boot.scr	boot.scr	-
boot.bin	BOOT.BIN	BOOT.BIN	BOOT.BIN	BOOT.BIN	BOOT.BIN
Fit image	image.ub	image.ub	image.ub	image.ub	-
SD card image	dave-image-devel.wic.bz2	dave-image-devel.wic.bz2	dave-image-devel.wic.bz2	dave-image-devel.wic.bz2	dave-image-devel.tar.gz

Release types

DESK release type can be:

• Major, when substantial changes are applied to the BSP (eg: major kernel version upgrades) or to the development kit (eg: new features, build system updates, ..). This usually means that a new DVDK is created for the DESK release
• Maintenance, when minor updates and bug fixes are introduced. This usually means that the DVDK remains the same as provided with the previous major version, and only an update of the source tree repositories (and the tftp binaries) is required

As an example, DESK 1.1.0 is a maintenance release, so it provides the DVDK released with the 1.0.0 major release; customers can easily upgrade to the 1.1.0 release by updating the software components as described in Synchronizing git repositories.

Supported platforms

The following table reports the supported platforms in this DESK release:

Platform	Description
BORA Evaluation Kit	Evaluation kit using BORA SOM
BORA Xpress Evaluation Kit	Evaluation kit using BORA Xpress SOM
BORA Lite Evaluation Kit	Evaluation kit using BORA Lite SOM

Build host

Before run petalinux-build, please perform the following command

ssh -T git@git.dave.eu

We assume that:

• Xilinx Vivado 2021.2 is installed into /opt/Xilinx/2021.2 directory
• Xilinx Petalinux 2021.2 is installed into /opt/Xilinx/petalinux/2021.2 directory
• Ubuntu 20.04 is used as build host

For more information about setup of host machine for build Petalinux, Vivado and Vitis, please see DESK-XZ7-L-AN-0001

ConfigID and UniqueID

ConfigID

ConfigID is a new feature of DAVE Embedded Systems products. Its main purpose is providing an automatic mechanism for the identification of the product model and configuration.

With ConfigID, we aim at:

• completing the hardware configuration information that the software can't normally auto-detect (i.e. RAM chip version,...), implementing a dedicated reliable detect procedure
• when required, overriding the auto-detected hardware configuration information

When implemented, this mechanism allows for:

• initializing in the proper way the hardware platform, based on the specific features and parameters of the product, using a common software base (eg: a typical case is the SDRAM controller parameters, which must be configured by U-Boot depending on the particular memory chip, which can be different for the various SOM models)
• getting the complete hardware configuration (combining ConfigID with the information collectable at runtime) of a product deployed on the field

In simple words, model identification means the capability of reading a numerical code, stored in an available device (SOC's OTP , I2C EEPROM, 1-wire memories, protected NOR flash, etc.)

There are two ConfigIDs:

• SOM ConfigID: which reflects the characteristics of the SOM (stored on the SOM itself)
• Carrier Board (CB) ConfigID: which reflects the characteristics of the carrier board that hosts the SOM (stored on the carrier board itself and read by the SOM at boot time)

UniqueID

An additional attribute is UniqueID, which is a read-only code which univocally identifies a single product and is used for traceability.

It is worth remembering that ConfigID and UniqueID are independent from product serial number.

Customer's action

DAVE Embedded Systems recommends to be up-to-date with Official SOM's BSPs for taking advantages of ConfigID/UniqueId features: this is the only required action.

• ConfigID advantage: to allow U-Boot bootloader to be executed only with the correct configuration (if the U-Boot loaded is not the proper one, it may stop execution avoiding incorrect behaviour)
• UniqueID advantage: to trace univocally each individual SOMs and, in turn, all the on-the-field equipments

ConfigID values

ConfigID is a N-bit (typically N>8) signed integer, that can have the following values:

• < 0: error
  • -1: not initialized
• = 0: ConfigID legacy
  • for prototypes (ConfigID not yet defined) or for products manufactured before the introduction of the ConfigID feature
• > 0: valid ConfigID
  • values are reported accordingly with the specific product table

Hardware implementations of the ConfigID

The following paragraphs briefly describe the available solutions for storing the ConfigID.

OTP on the SOC

Some SOCs provides programmable OTPs (eg. for security, MAC address, boot modes, etc). Usually, some of these are general purpose registers and can be managed by the user.

This is the ideal implementation, because:

• ConfigID is stored in the most important component of the SOM
• the component that hosts the ConfigID is NOT optional
• typically, a very selective lock can be forced. In general, for reliability and/or security reasons, OTP areas used to store ConfigIDs may be locked during the manufacturing process.

OTP 1-wire memory

This implementation requires a 1-wire memory chip.

I2C Eeprom

This implementation requires connecting an EEPROM to an I2C bus of the SOC. Moreover, routing a write protect pin to the SOM connector is required.

NOR Flash SPI

This implementation requires a NOR flash connected to the SPI bus of the SOC.

DAVE Embedded Systems' hardware implementation

DAVE's SOCs implement the ConfigID feature depending on hardware Capabilities of the SOCs. The following list shows the priority used for its implementation:

1. OTPs
   1. example: AXEL family processor (i.MX6) implements ConfigID using processor's OTP
   2. AXEL uses GP1 eFuse register to store ConfigID
2. NOR Flash SPI
   1. example: DIVA family processor (AM335x) implements ConfigID using NOR SPI (if present)
   2. DIVA and BORA use the first 32bytes OTP block on NOR SPI to store ConfigID (and its CRC32), UniqueID (and its CRC32)
3. I2C Eeprom
   1. example: DIVA family processor (AM335x) or BORA Lite processor (ZYNQ) implements ConfigID using I2C Eeprom when NOR SPI is not present (module boots from NAND or SD)
   2. DIVA and BORA Lite use the first 32bytes on I2C EPROM to store ConfigID (and its CRC32), UniqueID (and its CRC32)
4. 1-wire
   1. example: latest AXEL Lite, AXEL ULite and BORA/BORA Xpress/BORA Lite Evaluation Kits implement CB ConfigID using the onboard 1-wire device (DS2431)

Software implementation

U-Boot

u-boot integrates the software routines for reading and displaying the ConfigID: hereunder an example of SOM ConfigID at startup:

U-Boot 2013.04-00010-gcb05b30 (Jun 26 2015 - 12:49:26)-xelk-2.1.0

CPU:   Freescale i.MX6Q rev1.5 at 792 MHz
CPU:   Temperature 47 C, limits (-40 C, 125 C), calibration data: 0xc0
Reset cause: POR
Environment: SPI Flash
I2C:   ready
DRAM:  2 GiB
Now running in RAM - U-Boot at: 8ff35000
NAND:  512 MiB
MMC:   FSL_SDHC: 0, FSL_SDHC: 1
SF: Detected S25FL256S with page size 64 KiB, total 32 MiB
In:    serial
Out:   serial
Err:   serial
Power: found PFUZE100 (devid=10, revid=21)
SOM ConfigID#: 00000003
SOM UniqueID#: df646299:0b0579d4

For accessing these information on Linux procfs, the device tree must be modified (using u-boot fdt command): for example:

DIVA# setenv fdtfixup 'fdt addr ${fdtaddr}; run fdtfixup_configid'
DIVA# setenv fdtfixup_configid 'fdt set / som_configid ${som_configid#}; fdt set / som_uniqueid ${som_uniqueid#}; fdt set / cb_configid ${cb_configid#}; fdt set / cb_uniqueid ${cb_uniqueid#}'

Linux

It is possible to read the ConfigID/UniqueID via procfs; for example:

root@axel-lite:~# cat /proc/device-tree/som/configid && echo
00000003
root@axel-lite:~# cat /proc/device-tree/som/uniqueid && echo
df646299:0b0579d4
root@axel-lite:~#

Legacy device tree, has a sightly different procfs structure:

root@axel-lite:~# cat /proc/device-tree/som_configid && echo
00000003
root@axel-lite:~# cat /proc/device-tree/som_uniqueid && echo
df646299:0b0579d4
root@axel-lite:~#

A real case example of ConfigID benefit

The ConfigID benefit is clear when:

• there is a number of products deployed on the field
• the products deployed on the field needs a SW update

The ideal scenario is that all products are equal and there are no differences on the Bill Of Material (BOM):

• All products have the same BOM with a single Config ID
• 

  ConfigID A

• 

  ConfigID A

• 

  ConfigID A

• 

  ConfigID A

• 

  ConfigID A

• 

  ConfigID A

In this case there are no problems to deploy a new SW update on the field: all products have the same HW configuration, then the same SW configuration.

Unfortunately, this is an ideal scenario. The reality is that:

• component obsolescence
• product shortage
• second source strategies

force to have an on-the-field different version of product (with same functionalities but with different HW configuration) which doesn't permit to realize what proposed in the ideal case.

The usage of the ConfigID technique, allows the running SW to identify the underlying HW configuration and automatically adapt the BSP (i.e. the driver layer) to properly use the HW subsystems: this, maintaining the overall product features identical to the final User point-of-view.

• All products are similar BUT there are different Config ID between the 2 product versions
• 

  ConfigID A

• 

  ConfigID A

• 

  ConfigID B

• 

  ConfigID B

• 

  ConfigID A

• 

  ConfigID B

With a scenario, like the one described above, if you would like to update the SW you need to implement a strategy for understanding what platform version is going to be updated. The Config ID is used exactly for this goal.

The ConfigID provides to the software update routine the information on which product version is so the update can be adapted to the exact product version.

In this way, you can distribute one single version of the software update which will automatically adapt itself to the currently running platform.

How to handle After Sales with Config ID

One of the mos common questions about Config ID is how to handle the Config ID issue. Below is described with an example how to handle it.

This product is returned from the field with a problem on the display:

Config ID A

After Sales Dept analizes the product and decide to substitute the display. The problem is that the existing display is not available - because of is End Of Life (EOL) - and it is required to move to a different display: in the product a different Config ID will be written because of the 2 displays requires a dedicated SW version and cannot be distinguished automatically during the startup. The final result is to have the similar product:

Config ID B

As indicated, the new display requires a different Config ID (from A to B) so it can be updated with an easy software routine before start the SW update. This Config ID update routine can be implemented in manufacturing facility typically using a dedicated USB pen drive which modify the saved ConfigID to the new one depending on the storage memory in use

ConfigID

This article describes how the ConfigID is implemented in the products supported by the DESK-XZ7-L Linux Kit.

Hardware implementation

BORA family uses the first 32bytes OTP block on NOR SPI to store ConfigID (and its CRC32), UniqueID (and its CRC32). For BORA Lite module configured for booting from NAND, the ConfigID is stored on internal I2C EPROM: see here for more information.

U-Boot integrates the software routines for reading and displaying the ConfigID. Hereunder an example of SOM ConfigID at startup:

...
SOM ConfigID#: 00000002
SOM UniqueID#: fffffefc:fffffefc
CB ConfigID#: 00000001
CB UniqueID#: a600000f:24188b2d
...

Generally speaking

• SOM ConfigID is used to identify the configuration of the basic features of the SOM
• CB ConfigID is used to identify the peripherals and the I/O interfaces.

Booting from NFS

This configuration is very helpful during software development (both for kernel and applications). The kernel image is downloaded via TFTP while the root file system is remotely mounted via NFS from the host. It is assumed that the development host:

• is connected with the target host board through an ethernet LAN
• exports the directory containing the root file system for the target through the NFS server
• runs a TFTP server
• has a proper subnet IP address

DESK-XZ7-L Virtual Machine is properly configured for the TFTP and NFS debug.

In any case, some variables have to be configured on the target and the VM itself has to be configured with respect to the network environment.

Host (Virtual Machine) configuration

The DESK-XZ7-L Virtual Machine has the tftp and nfs services already running. Optionally, their configuration has to be changed according to the network configuration to which the target is connected.

Check and properly configure the items describe in VirtualBox Network Configuration

Target configuration

The IP address for the server and target should be configured: as an example (for a network subnet 192.168.0.x)

u-boot=> setenv serverip 192.168.10.100
u-boot=> setenv ipaddr 192.168.10.56
u-boot=> setenv gatewayip 192.168.10.254
u-boot=> setenv netmask 255.255.255.0
u-boot=> setenv netdev eth0

• serverip is the IP address of the host machine running the tftp/nfs server
• ipaddr is the IP address of the target
• gatewayip is the gateway address of the target
• netmask is the netmask address of the target
• netdev is the name of the ethernet interface of the target

For using the DVDK Virtual Machine, a static IP address configuration has been selected, so the U-Boot variable ip_dyn has to be set to no:

u-boot=> setenv ip_dyn no

Boot via NFS with PXE protocol

Booting via pxe protocol is a very simple and efficient way to save a lot of time to update. In this case, the following artifacts will be downloaded from our mirror server or built with Petalinux:

• zImage, this file has to be installed in your host device directory for tftp server, configurated for pxe, for example /tftpboot/bora/
• system.dtb, this file has to be installed in your host device directory for tftp server, configurated for pxe, for example /tftpboot/bora/
• rootfs.tar.gz, this file has to be decompressed in your host device directory /home/dvdk/nfsroot

For more information about boot and configuration files see DESK-XZ7-L-AN-0003: using PXE protocol for boot

Boot via NFS with Petalinux

In the case of NFS Boot, the root file system is mounted through NFS but the bootloader (FSBL, bitstream, U-Boot) and kernel can be downloaded using various methods, for example with JTAG, micro SD or tftp server.

To boot your target via NFS, you need to update your configuration file with the following command:

petalinux-config

Here below there are properties that you have to update:

• CONFIG_SUBSYSTEM_ROOTFS_NFS
• SUBSYSTEM_NFSROOT_DIR
• CONFIG_SUBSYSTEM_NFSSERVER_IP
• CONFIG_SUBSYSTEM_TFTPBOOT_DIR

For more information about NFS Boot with Petalinux see Petalinux guide.

Development

Synchronizing the repository

In DESK-XZ7-L, the following source trees are clones of the correspondent DAVE Embedded Systems git repositories:

Component	GIT Remote
Vivado	git@git.dave.eu:desk-xz-l/vivado.git
Petalinux	git@git.dave.eu:desk-xz-l/petalinux.git
U-Boot	git@git.dave.eu:desk-xz-l/u-boot-xlnx.git

There are two main repositories to:

• track and reproduce hardware design with Vivado
• track and reproduce Petalinux/Yocto build

Additional repositories will be used to track other piece of software that requires customization (e.g. U-Boot bootloader, Linux kernel, sample application and so on)

Access to DAVE Embedded Systems' git repositories is granted to the development kit's owners only. Please refer to this page for detailed instructions on how to get access.

Instructions

The components listed in the table above can be kept in sync and up to date with DAVE Embedded Systems' repositories.

Once the git account has been enabled, the developer can:

• clone the repository with the git clone <git_remote_repository> -b desk-xz7-l-1.1.0 command. In case of clone about Petalinux use the --recursive option
• synchronize a source tree entering the repository directory and launching the git fetch origin command

Please note that git fetch doesn't merge the commits on the current branch. To do that, the developer should run the git merge command or replace the fetch-merge process with a single git pull command. Please note that the recommended method is the fetch-merge process. For further information on Git, please refer to the official Git Documentation

Vivado installation path, in this documentation, is the /opt directory. If you have chosen a different one, set it properly. The commands reported here below have been used on a native server running Ubuntu 20.04.

Creating and building the Vivado project

The Vivado repository allows to:

• track hardware/fpga related sources/configuration
• reproduce hardware design output (FPGA bitstream, XSA) using TCL scripts

Development kit TCL scripts supported are the following one:

Script	Boot
recreate_prj_bora.tcl	uSD and QSPI-NOR
recreate_prj_bora_ETH1.tcl	uSD and QSPI-NOR with ETH1 support
recreate_prj_borax_BASE.tcl	uSD and QSPI-NOR
recreate_prj_borax_ETH1.tcl	uSD and QSPI-NOR with ETH1 support
recreate_prj_boralite_BASE.tcl	uSD and QSPI-NOR
recreate_prj_boralite_NAND.tcl	uSD and NAND

As an example, to reproduce the build for the Bora platform, here below are the steps:

• clone the repository:

git clone git@git.dave.eu:desk-xz-l/vivado.git -b desk-xz7-l-1.1.0
cd vivado

or clone the Vivado repository when you clone Petalinux repository

git clone --recursive git@git.dave.eu:desk-xz-l/petalinux.git -b desk-xz7-l-1.1.0
cd petalinux/vivado

• (only once as first tools setup) copy Bora hardware definition into Vivado installation path:

cp -r boards/ <vivado directory installation>/Xilinx/2021.2/Vivado/2021.2/data/

• lunch Vivado Design Suite with the following commands and parameters:

source <vivado directory installation>/Xilinx/2021.2/Vivado/2021.2/settings64.sh
vivado -mode tcl -source scripts/recreate_prj_bora_BASE.tcl -notrace -tclargs "gen_bitstream"

• at the end of the bitstream build process, the script automatically exports the Xilinx Support Archive (XSA) hardware design
  • the Vivado project vivado/bora.xpr is ready for customization through the Vivado GUI
    

    Load xpr file from Vivado GUI
  • the bitstream files are
    • vivado/bora.runs/impl_1/bora_wrapper.bit
    • vivado/bora.runs/impl_1/bora_wrapper.bin
  • the hardware design file vivado/bora.xsa is ready for the import into Petalinux

CAN0 and UART0 routing example project

The following pictures show a simple PL design used to route PS' CAN0 and UART0 signals through EMIO.

Block diagram of BORA example project

Block diagram of BORA Xpress example project

Block diagram of BORA Lite example project

Petalinux installation path, in this documentation, is the /opt directory. If you have chosen a different one, set it properly. The commands reported here below have been used on a native server running Ubuntu 20.04.

Creating and building the Petalinux project

Documentation reference

• PetaLinux Tools Documentation Reference guide UG1144
• PetaLinux Tools DocumentationCommand Line Reference Guide UG1157

Petalinux environment setup

To reproduce the Petalinux build:

• clone the repository

git clone --recursive git@git.dave.eu:desk-xz-l/petalinux.git -b desk-xz7-l-1.1.0
cd petalinux

• setup the Petalinux environment

source <petalinux installation path>/Xilinx/petalinux/2021.2/settings.sh

• initialize the configuration file

You can use the proper configuration file from the following table:

Config file	Boot
config_bora	uSD and QSPI-NOR
config_bora_ETH1	uSD and QSPI-NOR with ETH1 support
config_borax	uSD and QSPI-NOR
config_borax_ETH1	uSD and QSPI-NOR with ETH1 support
config_boralite	uSD and QSPI-NOR
config_boralite_NAND	NAND
config_boralite_nand_usd	uSD with NAND support

In order to select a configuration file use the following command:

cp project-spec/configs/<configuration file> project-spec/configs/config

Update the hardware description

The hardware description comes from the Vivado project. The Vivado project is already cloned into the Petalinux project.

To build the Hardware description file, please look at this page: Creating and building the Vivado project

You can use the following command to update the hardware description:

petalinux-config --get-hw-description vivado/vivado/<path to .xsa>

When applying the hardware description, the standard menuconfig interface will pop up: just save the current configuration to proceed. If the menuconfig interface will not bring up, send the following command:

petalinux-config --get-hw-description vivado/vivado/<path to .xsa> --silentconfig

Run the Petalinux build

To build petalinux-image-minimal use the following command:

petalinux-build

For building the dave-image-devel target, use the following command:

petalinux-build -c dave-image-devel

For building only the Linux kernel, use the following command

petalinux-build -c kernel

For building only U-Boot use the following command:

petalinux-build -c u-boot

For generating the BOOT.BIN artifact, run the following command:

petalinux-package --boot --u-boot --force

Note: BOOT.BIN includes the files below. In this case, the system.bit bitstream was generated with Vivado and imported in Petalinux with xsa file.

• fsbl.elf
• system.bit
• u-boot.elf

In case of boot from NAND for the BORA Lite SOM, be careful on using the following command:

petalinux-package --boot --u-boot --kernel --offset 0x1080000 --force

Note: BOOT.BIN includes the files below. In this case, the bitstream system.bit was generated with Vivado and imported in Petalinux with xsa file.

• fsbl.elf
• system.bit
• u-boot.elf
• image.ub

The offset 0x1080000 for kernel is a default setting for NAND device installed on the SoM.

SD card image

To generate the SD card wic image, execute the following command:

petalinux-package --wic --bootfiles "BOOT.BIN boot.scr image.ub"

If you want to use dave-image-devel root file system, run the following command:

petalinux-package --wic --bootfiles "BOOT.BIN boot.scr image.ub" --rootfs-file build/tmp/deploy/images/zynq-generic/dave-image-devel-zynq-generic.tar.gz

How to create a bootable microSD card

The process is relatively straightforward: it consists of writing the WIC file of interest generated by Petalinux onto the SD card. There are multiple ways to do that.

The most common is to use the well-known BalenaEtcher tool (download BalenaEtcher). The following instruction explains how to use it on a Windows host. The procedure is similar when working with a Linux host.

• Download the desired binary image to flash (*.wic or *.wic.bz2). In case you have a *.wic.bz2, unzip the file in order to have a *.wic file
  • Among the binaries made available in the mirror there are several *.wic.bz2 files for the available releases. In particular, there is the desk-xz7-l-1.0.1_bora_dave-image-devel.wic.bz2 file. This image is the one used to program the microSD card delivered along with the evaluation kit.
• Connect the microSD card to the PC Host
• Open BalenaEtcher tool
• Once the tool is open:
  • Select the binary to flash by clicking on "Flash from file"
  • Select the microSD to flash by clicking on "Select target"
  • Flash the uSD by clicking o "Flash".

Flashing

Unpacking

Hello World example

Here below is an example of C code displaying the classic Hello World! message on the target serial console.

This example shows how to use the arm cross-compiler using the environment configured for this purpose

Setting the cross-compiler

• start the Linux development VM and login into the system
• install the toolchain, for example for BORA SOM

dvdk@vagrant:~$ wget https://mirror.dave.eu/desk-xz-l/desk-xz7-l-1.0.1/desk-xz7-l-1.0.1_bora_sdk.sh
--2024-01-26 11:57:04--  https://mirror.dave.eu/desk-xz-l/desk-xz7-l-1.0.1/desk-xz7-l-1.0.1_bora_sdk.sh
Resolving mirror.dave.eu (mirror.dave.eu)... 84.46.251.143
Connecting to mirror.dave.eu (mirror.dave.eu)|84.46.251.143|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: 998591008 (952M) [text/x-sh]
Saving to: ‘desk-xz7-l-1.0.1_bora_sdk.sh’

desk-xz7-l-1.0.1_bora_sdk.sh                    100%[====================================================================================================>] 952.33M  10.8MB/s    in 1m 40s  

2024-01-26 11:58:43 (9.57 MB/s) - ‘desk-xz7-l-1.0.1_bora_sdk.sh’ saved [998591008/998591008]

dvdk@vagrant:~$ chmod 755 desk-xz7-l-1.0.1_bora_sdk.sh 
dvdk@vagrant:~$ ./desk-xz7-l-1.0.1_bora_sdk.sh 
PetaLinux SDK installer version 2021.2
======================================
Enter target directory for SDK (default: /opt/petalinux/2021.2): 
You are about to install the SDK to "/opt/petalinux/2021.2". Proceed [Y/n]? y
Extracting SDK.......................................................................................................................................................................................................................done
Setting it up...done
SDK has been successfully set up and is ready to be used.
Each time you wish to use the SDK in a new shell session, you need to source the environment setup script e.g.
 $ . /opt/petalinux/2021.2/environment-setup-cortexa9t2hf-neon-xilinx-linux-gnueabi

• open a terminal window and cd into your source code directory

dvdk@vagrant:~$ mkdir -p ~/myproject
dvdk@vagrant:~$ cd ~/myproject/
dvdk@vagrant:~/myproject$ vi hello.c
dvdk@vagrant:~/myproject$ cat hello.c 
#include <stdio.h>

int main(){
        printf("Hello, World!\n");
        return 0;
}

• configure the build environment

dvdk@vagrant:~/myproject$ source /opt/petalinux/2021.2/environment-setup-cortexa9t2hf-neon-xilinx-linux-gnueabi 

• as you can see here below, the $CC environment variable has been properly configured for using the SDK sysroot parameter:

dvdk@vagrant:~/myproject$ echo $CC                                                                                                                                                                     
arm-xilinx-linux-gnueabi-gcc -mthumb -mfpu=neon -mfloat-abi=hard -mcpu=cortex-a9 -fstack-protector-strong -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security --sysroot=/opt/petalinux/2021.2/sysroots/cortexa9t2hf-neon-xilinx-linux-gnueabi

• invoke the cross-compiler for compiling your source code example: the object file obtained, is a proper ELF 32-bit for the target microprocessor

dvdk@vagrant:~/myproject$ $CC -O hello.c -o hello
dvdk@vagrant:~/myproject$ file hello
hello: ELF 32-bit LSB shared object, ARM, EABI5 version 1 (SYSV), dynamically linked, interpreter /lib/ld-linux-armhf.so.3, BuildID[sha1]=cd0630d98370eb6b80423fb1b4b1e3411f2f4576, for GNU/Linux 3.2.0, with debug_info, not stripped

Running the example on the target

Now it is enough to copy the object file on target and execute it:

...
...
root@bora:~# ./hello
Hello, World!
root@bora:~#

Deployment

Standalone boot

This document was written and tested with the software/hardware combination described in the history table above. However, it contains general concepts that can be adapted to any DAVE Embedded Systems' Linux platform.

The following programming examples are intended for laboratory usage or for preliminary deployment strategy. A complete deployment strategy has to be carefully identifiyed taking into account the overall arguments like: boot speed, safe boot, recovery mechanisms, watchdog supervisor, etc.

We'll explain how to program and configure a SOM to boot in standalone mode, without the need for a system microSD card, with the following option:

• booting with Quad-SPI NOR
  • in this configuration the primary boot images will be fetched from Quad-SPI NOR flash storage, while the root file system will be fetched from microSD
• booting with NAND
  • in this configuration the primary boot images and rootfs will be fetched from NAND flash storage

Program the Quad-SPI NOR flash

This chapter is compatible with BORA, BORA Xpress and BORA Lite platforms, but below there is log for BORA Xpress SOM.

First of all, create a bootable microSD card as described here. Alternatively you can download binaries from mirror and install it on microSD or into tftpboot directory in your host device.

Then, boot the board with the microSD card and stop the automatic boot process of U-Boot in order to access the console.

U-Boot 2021.01-desk-xz7-l-1.0.1 (Jan 12 2024 - 10:44:15 +0000)

CPU:   Zynq 7z030
Silicon: v3.1
Model: Bora
DRAM:  ECC disabled 1 GiB
Flash: 0 Bytes
NAND:  0 MiB
MMC:   mmc@e0100000: 0
Loading Environment from FAT... *** Warning - bad CRC, using default environment

In:    serial@e0001000
Out:   serial@e0001000
Err:   serial@e0001000
SF: Detected s25fl128s with page size 256 Bytes, erase size 64 KiB, total 16 MiB
SF: Detected s25fl128s with page size 256 Bytes, erase size 64 KiB, total 16 MiB
SOM ConfigID#: 00000004
SOM UniqueID#: 2a0e92c4:03193a4b
CB ConfigID#: ffffffff
CB UniqueID#: ffffffff:ffffffff
SF: Detected s25fl128s with page size 256 Bytes, erase size 64 KiB, total 16 MiB
Warning: MAC addr not found in SPI NOR at block 8
Net:
ZYNQ GEM: e000b000, mdio bus e000b000, phyaddr 7, interface rgmii-id

Warning: ethernet@e000b000 (eth0) using random MAC address - 72:2c:e1:44:08:28
eth0: ethernet@e000b000
Hit ENTER within 2 seconds to stop autoboot
Zynq>

Programming Quad-SPI NOR flash from microSD

• Initialize and format Quad-SPI NOR flash memory

Zynq> sf probe
SF: Detected s25fl128s with page size 256 Bytes, erase size 64 KiB, total 16 MiB
Zynq> sf erase 0 0x1000000
SF: 16777216 bytes @ 0x0 Erased: OK

• Install BOOT.BIN on Quad-SPI NOR flash memory

Zynq> fatload mmc 0:1 $kernel_addr_r BOOT.BIN
7033004 bytes read in 406 ms (16.5 MiB/s)
Zynq> sf write $kernel_addr_r 0x0 $filesize
device 0 offset 0x0, size 0x6b50ac
SF: 7033004 bytes @ 0x0 Written: OK

• Install image.ub on Quad-SPI NOR flash memory

Zynq> mw $kernel_addr_r 0x0 $filesize
Zynq> fatload mmc 0:1 $kernel_addr_r image.ub
4868556 bytes read in 287 ms (16.2 MiB/s)
Zynq> sf write $kernel_addr_r 0x700000 $filesize
device 0 offset 0x700000, size 0x4a49cc
SF: 4868556 bytes @ 0x700000 Written: OK

• Install boot.scr on Quad-SPI NOR flash memory

Zynq> mw $kernel_addr_r 0x0 $filesize
Zynq> fatload mmc 0:1 $kernel_addr_r boot.scr
2709 bytes read in 14 ms (188.5 KiB/s)
Zynq> sf write $kernel_addr_r 0xFC0000 $filesize
device 0 offset 0xfc0000, size 0xa95
SF: 2709 bytes @ 0xfc0000 Written: OK

Programming Quad-SPI NOR flash from ethernet

• Initialize and format Quad-SPI NOR flash memory

Zynq> sf probe
SF: Detected s25fl128s with page size 256 Bytes, erase size 64 KiB, total 16 MiB
Zynq> sf erase 0 0x1000000
SF: 16777216 bytes @ 0x0 Erased: OK

• Properly define the ethernet configuration parameter:

Zynq> setenv ipaddr 192.168.0.89
Zynq> setenv serverip 192.168.0.99

• download via TFTP the BOOT.BIN binary image and write BOOT.BIN on Quad-SPI NOR flash memory

Zynq> tftpboot $kernel_addr_r desk-xz7-l/desk-xz7-l-1.0.1_borax_BOOT.BIN
Using ethernet@e000b000 device
TFTP from server 192.168.0.99; our IP address is 192.168.0.89
Filename 'desk-xz7-l/desk-xz7-l-1.0.1_borax_BOOT.BIN'.
Load address: 0x2000000
Loading: #T ################################################################
         #################################################################
         ...
         #################################################################
         #########
         444.3 KiB/s
done
Bytes transferred = 7033004 (6b50ac hex)
Zynq> sf write $kernel_addr_r 0x0 $filesize
device 0 offset 0x0, size 0x6b50ac
SF: 7033004 bytes @ 0x0 Written: OK

• download via TFTP the image.ub binary image and write image.ub on Quad-SPI NOR flash memory

Zynq> mw $kernel_addr_r 0x0 $filesize
Zynq> tftpboot $kernel_addr_r desk-xz7-l/desk-xz7-l-1.0.1_borax_image.ub
Using ethernet@e000b000 device
TFTP from server 192.168.0.99; our IP address is 192.168.0.89
Filename 'desk-xz7-l/desk-xz7-l-1.0.1_borax_image.ub'.
Load address: 0x2000000
Loading: #T ################################################################
         #################################################################
         ...
         #################################################################
         #########################################
         394.5 KiB/s
done
Bytes transferred = 4868556 (4a49cc hex)
Zynq> sf write $kernel_addr_r 0x700000 $filesize
device 0 offset 0x700000, size 0x4a49cc
SF: 4868556 bytes @ 0x700000 Written: OK

• download via TFTP the boot.scr binary image and write boot.scr on Quad-SPI NOR flash memory

Zynq> mw $kernel_addr_r 0x0 $filesize
Zynq> tftpboot $kernel_addr_r desk-xz7-l/desk-xz7-l-1.0.1_borax_boot.scr
Using ethernet@e000b000 device
TFTP from server 192.168.0.99; our IP address is 192.168.0.89
Filename 'desk-xz7-l/desk-xz7-l-1.0.1_borax_boot.scr'.
Load address: 0x2000000
Loading: #T
         0 Bytes/s
done
Bytes transferred = 2709 (a95 hex)
Zynq> sf write $kernel_addr_r 0xFC0000 $filesize
device 0 offset 0xfc0000, size 0xa95
SF: 2709 bytes @ 0xfc0000 Written: OK

Once change boot mode and restarted, the complete boot log can be like this one:

U-Boot 2021.01-desk-xz7-l-1.0.1 (Jan 12 2024 - 10:44:15 +0000)

CPU:   Zynq 7z030
Silicon: v3.1
Model: Bora
DRAM:  ECC disabled 1 GiB
Flash: 0 Bytes
NAND:  0 MiB
MMC:   mmc@e0100000: 0
Loading Environment from SPIFlash... SF: Detected s25fl128s with page size 256 Bytes, erase size 64 KiB, total 16 MiB
*** Warning - bad CRC, using default environment

In:    serial@e0001000
Out:   serial@e0001000
Err:   serial@e0001000
SF: Detected s25fl128s with page size 256 Bytes, erase size 64 KiB, total 16 MiB
SF: Detected s25fl128s with page size 256 Bytes, erase size 64 KiB, total 16 MiB
SOM ConfigID#: 00000004
SOM UniqueID#: 2a0e92c4:03193a4b
CB ConfigID#: ffffffff
CB UniqueID#: ffffffff:ffffffff
SF: Detected s25fl128s with page size 256 Bytes, erase size 64 KiB, total 16 MiB
Warning: MAC addr not found in SPI NOR at block 8
Net:
ZYNQ GEM: e000b000, mdio bus e000b000, phyaddr 7, interface rgmii-id

Warning: ethernet@e000b000 (eth0) using random MAC address - 7a:68:29:db:0b:f6
eth0: ethernet@e000b000
Hit ENTER within 2 seconds to stop autoboot
SF: Detected s25fl128s with page size 256 Bytes, erase size 64 KiB, total 16 MiB
device 0 offset 0xfc0000, size 0x40000
SF: 262144 bytes @ 0xfc0000 Read: OK
QSPI: Trying to boot script at 3000000
## Executing script at 03000000
Trying to load boot images from qspi
SF: Detected s25fl128s with page size 256 Bytes, erase size 64 KiB, total 16 MiB
device 0 offset 0x700000, size 0x600000
SF: 6291456 bytes @ 0x700000 Read: OK
## Loading kernel from FIT Image at 10000000 ...
   Using 'conf-system-top.dtb' configuration
   Verifying Hash Integrity ... OK
   Trying 'kernel-1' kernel subimage
     Description:  Linux kernel
     Type:         Kernel Image
     Compression:  uncompressed
     Data Start:   0x100000f8
     Data Size:    4845944 Bytes = 4.6 MiB
     Architecture: ARM
     OS:           Linux
     Load Address: 0x00200000
     Entry Point:  0x00200000
     Hash algo:    sha256
     Hash value:   f5d0c9b9a689e4b0657468fb280f0c8fb60064196b7938a77a43b36a2743acca
   Verifying Hash Integrity ... sha256+ OK
## Loading fdt from FIT Image at 10000000 ...
   Using 'conf-system-top.dtb' configuration
   Verifying Hash Integrity ... OK
   Trying 'fdt-system-top.dtb' fdt subimage
     Description:  Flattened Device Tree blob
     Type:         Flat Device Tree
     Compression:  uncompressed
     Data Start:   0x1049f37c
     Data Size:    20716 Bytes = 20.2 KiB
     Architecture: ARM
     Hash algo:    sha256
     Hash value:   f93874aa1f1a0c6d52c423e12b25b4a2ae14a09b40a8068a49b4c8914be75e4c
   Verifying Hash Integrity ... sha256+ OK
   Booting using the fdt blob at 0x1049f37c
   Loading Kernel Image
   Loading Device Tree to 2fff7000, end 2ffff0eb ... OK

Starting kernel ...

[    0.000000] Booting Linux on physical CPU 0x0
[    0.000000] Linux version 5.10.0-xilinx-v2021.2 (oe-user@oe-host) (arm-xilinx-linux-gnueabi-gcc (GCC) 10.2.0, GNU ld (GNU Binutils) 2.35.1) #1 SMP PREEMPT Tue Oct 12 09:30:57 UTC 2021
[    0.000000] CPU: ARMv7 Processor [413fc090] revision 0 (ARMv7), cr=18c5387d
[    0.000000] CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache
[    0.000000] OF: fdt: Machine model: Bora
[    0.000000] earlycon: cdns0 at MMIO 0xe0001000 (options '115200n8')
[    0.000000] printk: bootconsole [cdns0] enabled
[    0.000000] Memory policy: Data cache writealloc
[    0.000000] cma: Reserved 16 MiB at 0x3f000000
[    0.000000] Zone ranges:
[    0.000000]   Normal   [mem 0x0000000000000000-0x000000002fffffff]
[    0.000000]   HighMem  [mem 0x0000000030000000-0x000000003fffffff]
[    0.000000] Movable zone start for each node
[    0.000000] Early memory node ranges
[    0.000000]   node   0: [mem 0x0000000000000000-0x000000003fffffff]
[    0.000000] Initmem setup node 0 [mem 0x0000000000000000-0x000000003fffffff]
[    0.000000] percpu: Embedded 16 pages/cpu s32780 r8192 d24564 u65536
[    0.000000] Built 1 zonelists, mobility grouping on.  Total pages: 260416
[    0.000000] Kernel command line: console=ttyPS0,115200 earlycon root=/dev/mmcblk0p2 rw rootwait
[    0.000000] Dentry cache hash table entries: 131072 (order: 7, 524288 bytes, linear)
[    0.000000] Inode-cache hash table entries: 65536 (order: 6, 262144 bytes, linear)
[    0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off
[    0.000000] Memory: 1009768K/1048576K available (7168K kernel code, 279K rwdata, 1952K rodata, 1024K init, 162K bss, 22424K reserved, 16384K cma-reserved, 245760K highmem)
[    0.000000] rcu: Preemptible hierarchical RCU implementation.
[    0.000000] rcu:     RCU event tracing is enabled.
[    0.000000] rcu:     RCU restricting CPUs from NR_CPUS=4 to nr_cpu_ids=2.
[    0.000000]  Trampoline variant of Tasks RCU enabled.
[    0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 10 jiffies.
[    0.000000] rcu: Adjusting geometry for rcu_fanout_leaf=16, nr_cpu_ids=2
[    0.000000] NR_IRQS: 16, nr_irqs: 16, preallocated irqs: 16
[    0.000000] efuse mapped to (ptrval)
[    0.000000] slcr mapped to (ptrval)
[    0.000000] GIC physical location is 0xf8f01000
[    0.000000] L2C: platform modifies aux control register: 0x72360000 -> 0x72760000
[    0.000000] L2C: DT/platform modifies aux control register: 0x72360000 -> 0x72760000
[    0.000000] L2C-310 erratum 769419 enabled
[    0.000000] L2C-310 enabling early BRESP for Cortex-A9
[    0.000000] L2C-310 full line of zeros enabled for Cortex-A9
[    0.000000] L2C-310 ID prefetch enabled, offset 1 lines
[    0.000000] L2C-310 dynamic clock gating enabled, standby mode enabled
[    0.000000] L2C-310 cache controller enabled, 8 ways, 512 kB
[    0.000000] L2C-310: CACHE_ID 0x410000c8, AUX_CTRL 0x76760001
[    0.000000] random: get_random_bytes called from start_kernel+0x2c0/0x4a0 with crng_init=0
[    0.000000] zynq_clock_init: clkc starts at (ptrval)
[    0.000000] Zynq clock init
[    0.000011] sched_clock: 64 bits at 333MHz, resolution 3ns, wraps every 4398046511103ns
[    0.005723] clocksource: arm_global_timer: mask: 0xffffffffffffffff max_cycles: 0x4ce07af025, max_idle_ns: 440795209040 ns
[    0.016655] Switching to timer-based delay loop, resolution 3ns
[    0.023169] Console: colour dummy device 80x30
[    0.026895] Calibrating delay loop (skipped), value calculated using timer frequency.. 666.66 BogoMIPS (lpj=3333333)
[    0.037305] pid_max: default: 32768 minimum: 301
[    0.042082] Mount-cache hash table entries: 2048 (order: 1, 8192 bytes, linear)
[    0.049081] Mountpoint-cache hash table entries: 2048 (order: 1, 8192 bytes, linear)
[    0.057754] CPU: Testing write buffer coherency: ok
[    0.061529] CPU0: Spectre v2: using BPIALL workaround
[    0.066749] CPU0: thread -1, cpu 0, socket 0, mpidr 80000000
[    0.072812] Setting up static identity map for 0x100000 - 0x100060
[    0.078378] rcu: Hierarchical SRCU implementation.
[    0.083352] smp: Bringing up secondary CPUs ...
[    0.088388] CPU1: thread -1, cpu 1, socket 0, mpidr 80000001
[    0.088399] CPU1: Spectre v2: using BPIALL workaround
[    0.098134] smp: Brought up 1 node, 2 CPUs
[    0.102036] SMP: Total of 2 processors activated (1333.33 BogoMIPS).
[    0.108358] CPU: All CPU(s) started in SVC mode.
[    0.113587] devtmpfs: initialized
[    0.121144] VFP support v0.3: implementor 41 architecture 3 part 30 variant 9 rev 4
[    0.124128] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 19112604462750000 ns
[    0.133462] futex hash table entries: 512 (order: 3, 32768 bytes, linear)
[    0.141395] pinctrl core: initialized pinctrl subsystem
[    0.146259] NET: Registered protocol family 16
[    0.151964] DMA: preallocated 256 KiB pool for atomic coherent allocations
[    0.157733] thermal_sys: Registered thermal governor 'step_wise'
[    0.158046] cpuidle: using governor ladder
[    0.166503] cpuidle: using governor menu
[    0.182919] hw-breakpoint: found 5 (+1 reserved) breakpoint and 1 watchpoint registers.
[    0.185265] hw-breakpoint: maximum watchpoint size is 4 bytes.
[    0.191178] zynq-ocm f800c000.ocmc: ZYNQ OCM pool: 256 KiB @ 0x(ptrval)
[    0.198318] e0000000.serial: ttyPS1 at MMIO 0xe0000000 (irq = 34, base_baud = 3125000) is a xuartps
[    0.207234] e0001000.serial: ttyPS0 at MMIO 0xe0001000 (irq = 35, base_baud = 3125000) is a xuartps
[    0.221091] printk: console [ttyPS0] enabled
[    0.221091] printk: console [ttyPS0] enabled
[    0.225396] printk: bootconsole [cdns0] disabled
[    0.225396] printk: bootconsole [cdns0] disabled
[    0.249776] vgaarb: loaded
[    0.252888] SCSI subsystem initialized
[    0.256896] usbcore: registered new interface driver usbfs
[    0.262468] usbcore: registered new interface driver hub
[    0.267875] usbcore: registered new device driver usb
[    0.273183] mc: Linux media interface: v0.10
[    0.277485] videodev: Linux video capture interface: v2.00
[    0.283046] pps_core: LinuxPPS API ver. 1 registered
[    0.288002] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <giometti@linux.it>
[    0.297158] PTP clock support registered
[    0.301145] EDAC MC: Ver: 3.0.0
[    0.304805] FPGA manager framework
[    0.308536] Advanced Linux Sound Architecture Driver Initialized.
[    0.315660] clocksource: Switched to clocksource arm_global_timer
[    0.332917] NET: Registered protocol family 2
[    0.337977] tcp_listen_portaddr_hash hash table entries: 512 (order: 0, 6144 bytes, linear)
[    0.346425] TCP established hash table entries: 8192 (order: 3, 32768 bytes, linear)
[    0.354267] TCP bind hash table entries: 8192 (order: 4, 65536 bytes, linear)
[    0.361542] TCP: Hash tables configured (established 8192 bind 8192)
[    0.368054] UDP hash table entries: 512 (order: 2, 16384 bytes, linear)
[    0.374750] UDP-Lite hash table entries: 512 (order: 2, 16384 bytes, linear)
[    0.382042] NET: Registered protocol family 1
[    0.387083] RPC: Registered named UNIX socket transport module.
[    0.393034] RPC: Registered udp transport module.
[    0.397734] RPC: Registered tcp transport module.
[    0.402441] RPC: Registered tcp NFSv4.1 backchannel transport module.
[    0.408896] PCI: CLS 0 bytes, default 64
[    0.413390] hw perfevents: no interrupt-affinity property for /pmu@f8891000, guessing.
[    0.421576] hw perfevents: enabled with armv7_cortex_a9 PMU driver, 7 counters available
[    0.431150] workingset: timestamp_bits=14 max_order=18 bucket_order=4
[    0.438734] jffs2: version 2.2. (NAND) (SUMMARY)  © 2001-2006 Red Hat, Inc.
[    0.446129] bounce: pool size: 64 pages
[    0.449974] io scheduler mq-deadline registered
[    0.454520] io scheduler kyber registered
[    0.458913] zynq-pinctrl 700.pinctrl: zynq pinctrl initialized
[    0.467704] dma-pl330 f8003000.dmac: Loaded driver for PL330 DMAC-241330
[    0.474442] dma-pl330 f8003000.dmac:         DBUFF-128x8bytes Num_Chans-8 Num_Peri-4 Num_Events-16
[    0.494238] brd: module loaded
[    0.504037] loop: module loaded
[    0.511083] random: fast init done
[    0.614245] random: crng init done
[    0.623641] spi-nor spi0.0: trying to lock already unlocked area
[    0.629650] spi-nor spi0.0: s25fl128s1 (16384 Kbytes)
[    0.639922] libphy: Fixed MDIO Bus: probed
[    0.645716] CAN device driver interface
[    0.652273] libphy: MACB_mii_bus: probed
[    0.688524] macb e000b000.ethernet eth0: Cadence GEM rev 0x00020118 at 0xe000b000 irq 37 (7a:68:29:db:0b:f6)
[    0.698709] e1000e: Intel(R) PRO/1000 Network Driver
[    0.703668] e1000e: Copyright(c) 1999 - 2015 Intel Corporation.
[    0.710509] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
[    0.717037] ehci-pci: EHCI PCI platform driver
[    0.721607] usbcore: registered new interface driver usb-storage
[    0.728609] ULPI transceiver vendor/product ID 0x0424/0x0006
[    0.734267] Found SMSC USB331x ULPI transceiver.
[    0.738913] ULPI integrity check: passed.
[    0.745040] i2c /dev entries driver
[    0.752088] rtc-ds3232 0-0068: registered as rtc0
[    0.757162] rtc-ds3232 0-0068: setting system clock to 2018-03-09T17:29:17 UTC (1520616557)
[    0.765791] cdns-i2c e0004000.i2c: 400 kHz mmio e0004000 irq 31
[    0.774272] cdns-wdt f8005000.watchdog: Xilinx Watchdog Timer with timeout 10s
[    0.781826] EDAC MC: ECC not enabled
[    0.785972] cpufreq: cpufreq_online: CPU0: Running at unlisted initial frequency: 666666 KHz, changing to: 666667 KHz
[    0.796932] Xilinx Zynq CpuIdle Driver started
[    0.800410] sdhci: Secure Digital Host Controller Interface driver
[    0.803503] sdhci: Copyright(c) Pierre Ossman
[    0.805718] sdhci-pltfm: SDHCI platform and OF driver helper
[    0.809266] ledtrig-cpu: registered to indicate activity on CPUs
[    0.812545] clocksource: ttc_clocksource: mask: 0xffff max_cycles: 0xffff, max_idle_ns: 1075096770 ns
[    0.817251] timer #0 at dfb516c6, irq=50
[    0.819556] usbcore: registered new interface driver usbhid
[    0.822381] usbhid: USB HID core driver
[    0.827302] fpga_manager fpga0: Xilinx Zynq FPGA Manager registered
[    0.831575] mmc0: SDHCI controller on e0100000.mmc [e0100000.mmc] using ADMA
[    0.831977] NET: Registered protocol family 10
[    0.838558] Segment Routing with IPv6
[    0.840631] sit: IPv6, IPv4 and MPLS over IPv4 tunneling driver
[    0.847540] NET: Registered protocol family 17
[    0.852063] can: controller area network core
[    0.856576] NET: Registered protocol family 29
[    0.861071] can: raw protocol
[    0.864050] can: broadcast manager protocol
[    0.868298] can: netlink gateway - max_hops=1
[    0.873045] Registering SWP/SWPB emulation handler
[    0.880140] of-fpga-region fpga-full: FPGA Region probed
[    0.886112] of_cfs_init
[    0.888667] of_cfs_init: OK
[    0.891875] ALSA device list:
[    0.894839]   No soundcards found.
[    0.898729] Waiting for root device /dev/mmcblk0p2...
[    1.052324] mmc0: new high speed SDHC card at address aaaa
[    1.055781] mmcblk0: mmc0:aaaa SA16G 14.8 GiB
[    1.060584]  mmcblk0: p1 p2
[    1.086701] EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null)
[    1.090810] VFS: Mounted root (ext4 filesystem) on device 179:2.
[    1.094724] devtmpfs: mounted
[    1.099892] Freeing unused kernel memory: 1024K
[    1.136017] Run /sbin/init as init process
INIT: version 2.97 booting
[    1.516983] FAT-fs (mmcblk0p1): Volume was not properly unmounted. Some data may be corrupt. Please run fsck.
Starting udev
[    1.712872] udevd[82]: starting version 3.2.9
[    1.763498] udevd[83]: starting eudev-3.2.9
[    2.244862] EXT4-fs (mmcblk0p2): re-mounted. Opts: (null)
INIT: Entering runlevel: 5
Configuring network interfaces... done.
Starting system message bus: dbus.
Starting haveged: haveged: command socket is listening at fd 3
haveged: haveged starting up


Starting Dropbear SSH server: dropbear.
Starting rpcbind daemon...done.
starting statd: done
Starting atd: OK
Starting internet superserver: inetd.
NFS daemon support not enabled in kernel
Starting system log daemon...0
Mar  9 17:29:22 borax kernel: [    0.000000] L2C: platform modifies aux control register: 0x72360000 -> 0x72760000
Mar  9 17:29:22 borax kernel: [    0.000000] L2C: DT/platform modifies aux control register: 0x72360000 -> 0x72760000
Mar  9 17:29:22 borax kernel: [    0.413390] hw perfevents: no interrupt-affinity property for /pmu@f8891000, guessing.
Mar  9 17:29:22 borax kernel: [    0.623641] spi-nor spi0.0: trying to lock already unlocked area
Mar  9 17:29:22 borax kernel: [    1.516983] FAT-fs (mmcblk0p1): Volume was not properly unmounted. Some data may be corrupt. Please run fsck.
Starting internet superserver: xinetd.
Starting crond: OK
Starting tcf-agent: OK

PetaLinux 2021.2 borax ttyPS0


root@borax:~# uname -a
Linux borax 5.10.0-xilinx-v2021.2 #1 SMP PREEMPT Tue Oct 12 09:30:57 UTC 2021 armv7l armv7l armv7l GNU/Linux
root@borax:~# cat /etc/build
-----------------------
Build Configuration:  |
-----------------------
DISTRO = petalinux
DISTRO_VERSION = 2021.2
MACHINE = zynq-generic
IMAGE_BASENAME = dave-image-devel
-----------------------
Layer Revisions:      |
-----------------------
meta              = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-poky         = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-perl         = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-python       = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-filesystems  = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-gnome        = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-multimedia   = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-networking   = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-webserver    = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-xfce         = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-initramfs    = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-oe           = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-clang        = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-chromium     = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-qt5          = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-microblaze   = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-xilinx-bsp   = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-xilinx-pynq  = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-xilinx-contrib = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-xilinx-standalone = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-xilinx-tools = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-petalinux    = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-virtualization = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-openamp      = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-jupyter      = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-vitis-ai     = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-python2      = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-som          = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-security     = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-tpm          = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-user         = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
meta-dave         = HEAD:e944801f104f86191cd086d0cea8f3df88dda061
workspace         = HEAD:829c44d28c8c46b51744c14a92107ec3c5790934 -- modified
root@borax:~# cat /etc/os-release
ID=petalinux
NAME="PetaLinux"
VERSION="2021.2 (gatesgarth)"
VERSION_ID=2021.2
PRETTY_NAME="PetaLinux 2021.2 (gatesgarth)"
BUILD_VERSION="desk-xz7-l-1.0.1"
root@borax:~# shutdown -h now

Broadcast message from root@borax (ttyPS0) (Fri Mar  9 17:29:35 2018):

The system is going down for system halt NOW!
INIT: Sending processes configured via /etc/inittab the TERM signal
Stopping haveged:

Stopping Dropbear SSH server: stopped /usr/sbin/dropbear (pid 217)
dropbear.
Stopping atd: OK
Stopping system message bus: dbus.
Stopping internet superserver: inetd.
stopping mountd: done
stopping nfsd: done
Stopping system log daemon...0
Stopping tcf-agent: OK
Stopping internet superserver: xinetd.
stopping statd: done
Stopping crond: OK
Stopping rpcbind daemon...
done.
Deconfiguring network interfaces... done.
Sending all processes the TERM signal...
logout
Sending all processes the KILL signal...
Unmounting remote filesystems...
Deactivating swap...
Unmounting local filesystems...
[   24.097545] reboot: System halted

Program the NAND flash

This chapter is compatible with BORA Lite SOM.

First of all, create a bootable microSD card as described here with config_boralite_nand_usd configuration file, and install wic binary on microSD. Then create artifact to install on NAND flash with config_boralite_nand configuration file, as described here, and save the BOOT.BIN and dave-image-devel-zynq-generic.tar.gz artifact into the first partition of microSD.

In this case BOOT.BIN binary that came from to config_boralite_nand_usd and config_boralite_nand are different, so save it with different name. Alternatively you can download binaries from mirror and install on microSD.

Then, install the following files into the microSD first partition:

• BOOT.BIN. This binary come from to config_boralite_nand_usd configuration file, and need to install on microSD
• boot.scr. This binary come from to config_boralite_nand_usd configuration file, and need to install on microSD
• image.ub. This binary come from to config_boralite_nand_usd configuration file, and need to install on microSD
• desk-xz7-l-1.0.1_boralite_nand_BOOT.BIN.EXTENDED. This binary come from to config_boralite_nand configuration file, and has to be installed on NAND flash
• desk-xz7-l-1.1.0_boralite_NAND_dave-image-devel-zynq-generic.ubi. This binary come from to config_boralite_nand configuration file, and has to be installed on NAND flash

Programming NAND flash from microSD

• delete all partition on NAND flash memory

root@boralite:~# for i in $(seq 0 2); do sudo flash_erase /dev/mtd$i 0 0; done
Erasing 128 Kibyte @ 15e0000 -- 100 % complete 
Erasing 128 Kibyte @ 20000 -- 100 % complete 
Erasing 128 Kibyte @ 3e920000 -- 99 % complete flash_erase: Skipping bad block at 3e940000
flash_erase: Skipping bad block at 3e960000
flash_erase: Skipping bad block at 3e980000
flash_erase: Skipping bad block at 3e9a0000
Erasing 128 Kibyte @ 3e9a0000 -- 100 % complete 

• install BOOT.BIN on NAND flash memory

root@boralite:~# nandwrite -p /dev/mtd0 /boot/desk-xz7-l-1.1.0_boralite_NAND_BOOT.BIN.EXTENDED
Writing data to block 0 at offset 0x0
Writing data to block 1 at offset 0x20000
Writing data to block 2 at offset 0x40000
...
Writing data to block 174 at offset 0x15c0000
Writing data to block 175 at offset 0x15e0000

• install rootfs on NAND flash memory

root@boralite:~# ubiformat /dev/mtd2 -f /boot/desk-xz7-l-1.1.0_boralite_NAND_dave-image-devel-zynq-generic.ubi
ubiformat: mtd2 (nand), size 1050411008 bytes (1001.7 MiB), 8014 eraseblocks of 131072 bytes (128.0 KiB), min. I/O size 2048 bytes
libscan: scanning eraseblock 8013 -- 100 % complete
ubiformat: 8010 eraseblocks are supposedly empty
ubiformat: 4 bad eraseblocks found, numbers: 8010, 8011, 8012, 8013
ubiformat: flashing eraseblock 1894 -- 100 % complete
ubiformat: formatting eraseblock 8013 -- 100 % complete

Once change boot mode and restarted, the complete boot log can be like this one:

U-Boot 2021.01-desk-xz7-l-1.0.1 (Jan 12 2024 - 10:44:15 +0000)

CPU:   Zynq 7z020
Silicon: v3.1
Model: Bora
DRAM:  ECC disabled 1 GiB
Flash: 0 Bytes
NAND:  1024 MiB
MMC:   mmc@e0100000: 0
Loading Environment from NAND... *** Warning - bad CRC, using default environment

In:    serial@e0001000
Out:   serial@e0001000
Err:   serial@e0001000
SOM ConfigID#: 77777777
SOM UniqueID#: 55555555:66666666
CB ConfigID#: ffffffff
CB UniqueID#: ffffffff:ffffffff
Net:
ZYNQ GEM: e000b000, mdio bus e000b000, phyaddr 7, interface rgmii-id

Warning: ethernet@e000b000 (eth0) using random MAC address - 3e:1a:de:54:41:09
eth0: ethernet@e000b000
Hit ENTER within 2 seconds to stop autoboot

Device 0: nand0, sector size 128 KiB
  Page size       2048 b
  OOB size          64 b
  Erase size    131072 b
  subpagesize      512 b
  options     0x40004000
  bbt options 0x00020000

NAND read: device 0 offset 0xfc0000, size 0x40000
 262144 bytes read: OK
NAND: Trying to boot script at 3000000
## Executing script at 03000000
Trying to load boot images from nand

Device 0: nand0, sector size 128 KiB
  Page size       2048 b
  OOB size          64 b
  Erase size    131072 b
  subpagesize      512 b
  options     0x40004000
  bbt options 0x00020000

NAND read: device 0 offset 0x1080000, size 0x6400000
 104857600 bytes read: OK
## Loading kernel from FIT Image at 10000000 ...
   Using 'conf-system-top.dtb' configuration
   Verifying Hash Integrity ... OK
   Trying 'kernel-1' kernel subimage
     Description:  Linux kernel
     Type:         Kernel Image
     Compression:  uncompressed
     Data Start:   0x100000f8
     Data Size:    5647032 Bytes = 5.4 MiB
     Architecture: ARM
     OS:           Linux
     Load Address: 0x00200000
     Entry Point:  0x00200000
     Hash algo:    sha256
     Hash value:   8190a3d693bca4da06460265eb066437a89fc51cde33121353a61c7e5b3c00b3
   Verifying Hash Integrity ... sha256+ OK
## Loading fdt from FIT Image at 10000000 ...
   Using 'conf-system-top.dtb' configuration
   Verifying Hash Integrity ... OK
   Trying 'fdt-system-top.dtb' fdt subimage
     Description:  Flattened Device Tree blob
     Type:         Flat Device Tree
     Compression:  uncompressed
     Data Start:   0x10562cbc
     Data Size:    20625 Bytes = 20.1 KiB
     Architecture: ARM
     Hash algo:    sha256
     Hash value:   dd4f01191b5971a192cb469fc4c43c7137a26ccc87277f9156f08f0b7b77116c
   Verifying Hash Integrity ... sha256+ OK
   Booting using the fdt blob at 0x10562cbc
   Loading Kernel Image
   Loading Device Tree to 2fff7000, end 2ffff090 ... OK

Starting kernel ...

[    0.000000] Booting Linux on physical CPU 0x0
[    0.000000] Linux version 5.10.0-xilinx-v2021.2 (oe-user@oe-host) (arm-xilinx-linux-gnueabi-gcc (GCC) 10.2.0, GNU ld (GNU Binutils) 2.35.1) #1 SMP PREEMPT Tue Oct 12 09:30:57 UTC 2021
[    0.000000] CPU: ARMv7 Processor [413fc090] revision 0 (ARMv7), cr=18c5387d
[    0.000000] CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache
[    0.000000] OF: fdt: Machine model: Bora
[    0.000000] earlycon: cdns0 at MMIO 0xe0001000 (options '115200n8')
[    0.000000] printk: bootconsole [cdns0] enabled
[    0.000000] Memory policy: Data cache writealloc
[    0.000000] cma: Reserved 16 MiB at 0x3f000000
[    0.000000] Zone ranges:
[    0.000000]   Normal   [mem 0x0000000000000000-0x000000002fffffff]
[    0.000000]   HighMem  [mem 0x0000000030000000-0x000000003fffffff]
[    0.000000] Movable zone start for each node
[    0.000000] Early memory node ranges
[    0.000000]   node   0: [mem 0x0000000000000000-0x000000003fffffff]
[    0.000000] Initmem setup node 0 [mem 0x0000000000000000-0x000000003fffffff]
[    0.000000] percpu: Embedded 20 pages/cpu s49484 r8192 d24244 u81920
[    0.000000] Built 1 zonelists, mobility grouping on.  Total pages: 260416
[    0.000000] Kernel command line: console=ttyPS0,115200 earlycon noinitrd root=ubi0_0 rw rootfstype=ubifs ubi.mtd=2
[    0.000000] Dentry cache hash table entries: 131072 (order: 7, 524288 bytes, linear)
[    0.000000] Inode-cache hash table entries: 65536 (order: 6, 262144 bytes, linear)
[    0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off
[    0.000000] Memory: 1007176K/1048576K available (9216K kernel code, 773K rwdata, 2352K rodata, 1024K init, 181K bss, 25016K reserved, 16384K cma-reserved, 245760K highmem)
[    0.000000] ftrace: allocating 34293 entries in 67 pages
[    0.000000] ftrace: allocated 67 pages with 3 groups
[    0.000000] rcu: Preemptible hierarchical RCU implementation.
[    0.000000] rcu:     RCU event tracing is enabled.
[    0.000000] rcu:     RCU restricting CPUs from NR_CPUS=4 to nr_cpu_ids=2.
[    0.000000]  Trampoline variant of Tasks RCU enabled.
[    0.000000]  Rude variant of Tasks RCU enabled.
[    0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 10 jiffies.
[    0.000000] rcu: Adjusting geometry for rcu_fanout_leaf=16, nr_cpu_ids=2
[    0.000000] NR_IRQS: 16, nr_irqs: 16, preallocated irqs: 16
[    0.000000] efuse mapped to (ptrval)
[    0.000000] slcr mapped to (ptrval)
[    0.000000] GIC physical location is 0xf8f01000
[    0.000000] L2C: platform modifies aux control register: 0x72360000 -> 0x72760000
[    0.000000] L2C: DT/platform modifies aux control register: 0x72360000 -> 0x72760000
[    0.000000] L2C-310 erratum 769419 enabled
[    0.000000] L2C-310 enabling early BRESP for Cortex-A9
[    0.000000] L2C-310 full line of zeros enabled for Cortex-A9
[    0.000000] L2C-310 ID prefetch enabled, offset 1 lines
[    0.000000] L2C-310 dynamic clock gating enabled, standby mode enabled
[    0.000000] L2C-310 cache controller enabled, 8 ways, 512 kB
[    0.000000] L2C-310: CACHE_ID 0x410000c8, AUX_CTRL 0x76760001
[    0.000000] random: get_random_bytes called from start_kernel+0x308/0x4fc with crng_init=0
[    0.000000] zynq_clock_init: clkc starts at (ptrval)
[    0.000000] Zynq clock init
[    0.000012] sched_clock: 64 bits at 333MHz, resolution 3ns, wraps every 4398046511103ns
[    0.005316] clocksource: arm_global_timer: mask: 0xffffffffffffffff max_cycles: 0x4ce07af025, max_idle_ns: 440795209040 ns
[    0.016249] Switching to timer-based delay loop, resolution 3ns
[    0.022905] Console: colour dummy device 80x30
[    0.026491] Calibrating delay loop (skipped), value calculated using timer frequency.. 666.66 BogoMIPS (lpj=3333333)
[    0.036905] pid_max: default: 32768 minimum: 301
[    0.041722] Mount-cache hash table entries: 2048 (order: 1, 8192 bytes, linear)
[    0.048678] Mountpoint-cache hash table entries: 2048 (order: 1, 8192 bytes, linear)
[    0.057480] CPU: Testing write buffer coherency: ok
[    0.061121] CPU0: Spectre v2: using BPIALL workaround
[    0.066393] CPU0: thread -1, cpu 0, socket 0, mpidr 80000000
[    0.072561] Setting up static identity map for 0x100000 - 0x100060
[    0.077999] rcu: Hierarchical SRCU implementation.
[    0.083708] smp: Bringing up secondary CPUs ...
[    0.088167] CPU1: thread -1, cpu 1, socket 0, mpidr 80000001
[    0.088181] CPU1: Spectre v2: using BPIALL workaround
[    0.097757] smp: Brought up 1 node, 2 CPUs
[    0.101628] SMP: Total of 2 processors activated (1333.33 BogoMIPS).
[    0.107963] CPU: All CPU(s) started in SVC mode.
[    0.113327] devtmpfs: initialized
[    0.121410] VFP support v0.3: implementor 41 architecture 3 part 30 variant 9 rev 4
[    0.124055] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 19112604462750000 ns
[    0.133198] futex hash table entries: 512 (order: 3, 32768 bytes, linear)
[    0.141293] pinctrl core: initialized pinctrl subsystem
[    0.146374] NET: Registered protocol family 16
[    0.151988] DMA: preallocated 256 KiB pool for atomic coherent allocations
[    0.157737] thermal_sys: Registered thermal governor 'step_wise'
[    0.158110] cpuidle: using governor ladder
[    0.166247] cpuidle: using governor menu
[    0.184578] hw-breakpoint: found 5 (+1 reserved) breakpoint and 1 watchpoint registers.
[    0.186930] hw-breakpoint: maximum watchpoint size is 4 bytes.
[    0.192897] zynq-ocm f800c000.ocmc: ZYNQ OCM pool: 256 KiB @ 0x(ptrval)
[    0.200120] e0000000.serial: ttyPS1 at MMIO 0xe0000000 (irq = 34, base_baud = 3125000) is a xuartps
[    0.208992] e0001000.serial: ttyPS0 at MMIO 0xe0001000 (irq = 35, base_baud = 3125000) is a xuartps
[    0.222757] printk: console [ttyPS0] enabled
[    0.222757] printk: console [ttyPS0] enabled
[    0.227046] printk: bootconsole [cdns0] disabled
[    0.227046] printk: bootconsole [cdns0] disabled
[    0.254007] vgaarb: loaded
[    0.257202] SCSI subsystem initialized
[    0.261323] usbcore: registered new interface driver usbfs
[    0.266893] usbcore: registered new interface driver hub
[    0.272350] usbcore: registered new device driver usb
[    0.277673] mc: Linux media interface: v0.10
[    0.282043] videodev: Linux video capture interface: v2.00
[    0.287589] pps_core: LinuxPPS API ver. 1 registered
[    0.292584] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <giometti@linux.it>
[    0.301755] PTP clock support registered
[    0.305736] EDAC MC: Ver: 3.0.0
[    0.309570] FPGA manager framework
[    0.313314] Advanced Linux Sound Architecture Driver Initialized.
[    0.320649] clocksource: Switched to clocksource arm_global_timer
[    0.623097] NET: Registered protocol family 2
[    0.628269] tcp_listen_portaddr_hash hash table entries: 512 (order: 0, 6144 bytes, linear)
[    0.636714] TCP established hash table entries: 8192 (order: 3, 32768 bytes, linear)
[    0.644561] TCP bind hash table entries: 8192 (order: 4, 65536 bytes, linear)
[    0.651835] TCP: Hash tables configured (established 8192 bind 8192)
[    0.658407] UDP hash table entries: 512 (order: 2, 16384 bytes, linear)
[    0.665141] UDP-Lite hash table entries: 512 (order: 2, 16384 bytes, linear)
[    0.672513] NET: Registered protocol family 1
[    0.677671] RPC: Registered named UNIX socket transport module.
[    0.683628] RPC: Registered udp transport module.
[    0.688345] RPC: Registered tcp transport module.
[    0.693043] RPC: Registered tcp NFSv4.1 backchannel transport module.
[    0.699507] PCI: CLS 0 bytes, default 64
[    0.704113] hw perfevents: no interrupt-affinity property for /pmu@f8891000, guessing.
[    0.712358] hw perfevents: enabled with armv7_cortex_a9 PMU driver, 7 counters available
[    0.722399] workingset: timestamp_bits=14 max_order=18 bucket_order=4
[    0.730304] jffs2: version 2.2. (NAND) (SUMMARY)  © 2001-2006 Red Hat, Inc.
[    0.737774] bounce: pool size: 64 pages
[    0.741626] io scheduler mq-deadline registered
[    0.746179] io scheduler kyber registered
[    0.750754] zynq-pinctrl 700.pinctrl: zynq pinctrl initialized
[    0.760032] dma-pl330 f8003000.dmac: Loaded driver for PL330 DMAC-241330
[    0.766787] dma-pl330 f8003000.dmac:         DBUFF-128x8bytes Num_Chans-8 Num_Peri-4 Num_Events-16
[    0.789262] brd: module loaded
[    0.804344] loop: module loaded
[    0.809631] libphy: Fixed MDIO Bus: probed
[    0.815731] CAN device driver interface
[    0.822634] libphy: MACB_mii_bus: probed
[    0.862391] macb e000b000.ethernet eth0: Cadence GEM rev 0x00020118 at 0xe000b000 irq 37 (3e:1a:de:54:41:09)
[    0.872618] e1000e: Intel(R) PRO/1000 Network Driver
[    0.877579] e1000e: Copyright(c) 1999 - 2015 Intel Corporation.
[    0.884505] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
[    0.891064] ehci-pci: EHCI PCI platform driver
[    0.895690] usbcore: registered new interface driver usb-storage
[    0.902828] ULPI transceiver vendor/product ID 0x0424/0x0006
[    0.908490] Found SMSC USB331x ULPI transceiver.
[    0.913157] ULPI integrity check: passed.
[    0.919619] i2c /dev entries driver
[    0.927188] rtc-ds3232 0-0068: registered as rtc0
[    0.932291] rtc-ds3232 0-0068: setting system clock to 2018-03-11T16:20:50 UTC (1520785250)
[    0.940932] cdns-i2c e0004000.i2c: 400 kHz mmio e0004000 irq 31
[    0.948473] tmp421 0-004f: Could not read configuration register (-6)
[    0.955902] cdns-wdt f8005000.watchdog: Xilinx Watchdog Timer with timeout 10s
[    0.963560] EDAC MC: ECC not enabled
[    0.968031] cpufreq: cpufreq_online: CPU0: Running at unlisted initial frequency: 666666 KHz, changing to: 666667 KHz
[    0.979128] Xilinx Zynq CpuIdle Driver started
[    0.984239] sdhci: Secure Digital Host Controller Interface driver
[    0.990418] sdhci: Copyright(c) Pierre Ossman
[    0.994827] sdhci-pltfm: SDHCI platform and OF driver helper
[    1.001388] ledtrig-cpu: registered to indicate activity on CPUs
[    1.007781] clocksource: ttc_clocksource: mask: 0xffff max_cycles: 0xffff, max_idle_ns: 537538477 ns
[    1.016949] timer #0 at (ptrval), irq=50
[    1.021309] usbcore: registered new interface driver usbhid
[    1.026919] usbhid: USB HID core driver
[    1.030832] mmc0: SDHCI controller on e0100000.mmc [e0100000.mmc] using ADMA
[    1.031968] nand: device found, Manufacturer ID: 0xef, Chip ID: 0xd3
[    1.044349] nand: Winbond W29N08GV
[    1.047826] nand: 1024 MiB, SLC, erase size: 128 KiB, page size: 2048, OOB size: 64
[    1.055618] nand: SDR timing mode 4 not acknowledged by the NAND chip
[    1.062632] Bad block table found at page 524224, version 0x01
[    1.069325] Bad block table found at page 524160, version 0x01
[    1.075922] 3 fixed-partitions partitions found on MTD device W29N08GV
[    1.082543] Creating 3 MTD partitions on "W29N08GV":
[    1.087580] 0x000000000000-0x000001600000 : "bootbin"
[    1.101849] 0x000001600000-0x000001640000 : "ubootenv"
[    1.111887] 0x000001640000-0x000040000000 : "rootfs"
[    1.131185] fpga_manager fpga0: Xilinx Zynq FPGA Manager registered
[    1.139624] NET: Registered protocol family 10
[    1.145534] Segment Routing with IPv6
[    1.149300] sit: IPv6, IPv4 and MPLS over IPv4 tunneling driver
[    1.156122] NET: Registered protocol family 17
[    1.160584] can: controller area network core
[    1.165189] NET: Registered protocol family 29
[    1.169729] can: raw protocol
[    1.172767] can: broadcast manager protocol
[    1.177048] can: netlink gateway - max_hops=1
[    1.181957] Registering SWP/SWPB emulation handler
[    1.203441] of-fpga-region fpga-full: FPGA Region probed
[    1.209218] ubi0: attaching mtd2
[    3.944731] ubi0: scanning is finished
[    3.984970] ubi0: volume 0 ("ubifs") re-sized from 1893 to 7850 LEBs
[    3.992391] ubi0: attached mtd2 (name "rootfs", size 1001 MiB)
[    3.998226] ubi0: PEB size: 131072 bytes (128 KiB), LEB size: 129024 bytes
[    4.005153] ubi0: min./max. I/O unit sizes: 2048/2048, sub-page size 512
[    4.011919] ubi0: VID header offset: 512 (aligned 512), data offset: 2048
[    4.018701] ubi0: good PEBs: 8010, bad PEBs: 4, corrupted PEBs: 0
[    4.024820] ubi0: user volume: 1, internal volumes: 1, max. volumes count: 128
[    4.032097] ubi0: max/mean erase counter: 0/0, WL threshold: 4096, image sequence number: 303836513
[    4.041168] ubi0: available PEBs: 0, total reserved PEBs: 8010, PEBs reserved for bad PEB handling: 156
[    4.050589] ubi0: background thread "ubi_bgt0d" started, PID 54
[    4.050796] of_cfs_init
[    4.059156] of_cfs_init: OK
[    4.062394] ALSA device list:
[    4.065363]   No soundcards found.
[    4.070167] UBIFS (ubi0:0): Mounting in unauthenticated mode
[    4.076139] UBIFS (ubi0:0): background thread "ubifs_bgt0_0" started, PID 55
[    4.175402] UBIFS (ubi0:0): UBIFS: mounted UBI device 0, volume 0, name "ubifs"
[    4.182766] UBIFS (ubi0:0): LEB size: 129024 bytes (126 KiB), min./max. I/O unit sizes: 2048 bytes/2048 bytes
[    4.192747] UBIFS (ubi0:0): FS size: 1011419136 bytes (964 MiB, 7839 LEBs), journal size 9033728 bytes (8 MiB, 71 LEBs)
[    4.203551] UBIFS (ubi0:0): reserved for root: 0 bytes (0 KiB)
[    4.209390] UBIFS (ubi0:0): media format: w4/r0 (latest is w5/r0), UUID 5FEDC81D-3977-4B81-B939-CAEF7CAEBED8, small LPT model
[    4.223631] VFS: Mounted root (ubifs filesystem) on device 0:15.
[    4.232185] devtmpfs: mounted
[    4.241085] Freeing unused kernel memory: 1024K
[    4.246055] Run /sbin/init as init process
INIT: version 2.97 booting
Starting udev
[    5.284603] udevd[81]: starting version 3.2.9
[    5.318975] random: udevd: uninitialized urandom read (16 bytes read)
[    5.326069] random: udevd: uninitialized urandom read (16 bytes read)
[    5.341534] random: udevd: uninitialized urandom read (16 bytes read)
[    5.403685] udevd[82]: starting eudev-3.2.9
bootlogd: /dev/ttyPS0chown: cannot access '/var/log/wtmp': No such file or directory
Failed to set owner -root- for -/var/log/wtmp-.
Configuring packages on first boot....
 (This may take several minutes. Please do not power off the machine.)
Running postinst /etc/rpm-postinsts/100-sysvinit-inittab...
update-rc.d: /etc/init.d/run-postinsts exists during rc.d purge (continuing)
 Removing any system startup links for run-postinsts ...
  /etc/rcS.d/S99run-postinsts
INIT: Entering runlevel: 5
Configuring network interfaces... done.
Starting system message bus: dbus.
Starting haveged: haveged: command socket is listening at fd 3
haveged: haveged starting up


Starting Dropbear SSH server: Waiting for kernel randomness to be initialised...
haveged: haveged: ver: 1.9.13; arch: generic; vend: ; build: (gcc 10.2.0 CTV); collect: 128K

haveged: haveged: cpu: (VC); data: 16K (D); inst: 16K (D); idx: 12/40; sz: 15006/57790

haveged: haveged: tot tests(BA8): A:1/1 B:1/1 continuous tests(B):  last entropy estimate 7.99907

haveged: haveged: fills: 0, generated: 0

Generating 2048 bit rsa key, this may take a while...
Public key portion is:
ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC8WDRfMV0EWtxgmu0taCucHnUDLw11tQb1sD03U1aL+GgjpVU2Z7vgJU4YwgoJtKTXsTBNMpkKdLSENmK2Ms5Xbv5mT190+FCexkjmpSnWATjXe8gX/SVxTCLUBU3yZjtED5MbyK7M6iY+yEjS7purLqKxO8dfsShxeuzpqGHwIZ2veargJl99775G5CANcs62MP+VZ2XVBOja0wuVvRi7HNVupzufecNzNfU/EE2GGXKwWuuf2q+leXSsv3M8J6WX2qivZTCKnKDLBsh1i8GTR9lass1QfsBYECpT7RNPyHwP8OoSLeN1qr4hiqyHYrgGtWj/1EDJOhaHGhco7CXx root@boralite
Fingerprint: sha1!! 84:cf:73:1a:fa:1d:bc:6e:13:ba:6f:0c:c7:32:51:8f:57:42:15:08
dropbear.
Starting rpcbind daemon...done.
starting statd: done
Starting atd: OK
Starting internet superserver: inetd.
NFS daemon support not enabled in kernel
Starting system log daemon...0
Mar 11 16:21:12 boralite kernel: [    0.000000] L2C: platform modifies aux control register: 0x72360000 -> 0x72760000
Mar 11 16:21:12 boralite kernel: [    0.000000] L2C: DT/platform modifies aux control register: 0x72360000 -> 0x72760000
Mar 11 16:21:12 boralite kernel: [    0.704113] hw perfevents: no interrupt-affinity property for /pmu@f8891000, guessing.
Mar 11 16:21:12 boralite kernel: [    0.948473] tmp421 0-004f: Could not read configuration register (-6)
Mar 11 16:21:12 boralite kernel: [    1.055618] nand: SDR timing mode 4 not acknowledged by the NAND chip
Mar 11 16:21:12 boralite kernel: [    7.162906] urandom_read: 4 callbacks suppressed
Starting internet superserver: xinetd.
Starting crond: OK
Starting tcf-agent: OK

PetaLinux 2021.2 boralite ttyPS0


root@boralite:~# cat /etc/os-release
ID=petalinux
NAME="PetaLinux"
VERSION="2021.2 (gatesgarth)"
VERSION_ID=2021.2
PRETTY_NAME="PetaLinux 2021.2 (gatesgarth)"
BUILD_VERSION="desk-xz7-l-1.1.0"
root@boralite:~# cat /etc/build
-----------------------
Build Configuration:  |
-----------------------
DISTRO = petalinux
DISTRO_VERSION = 2021.2
MACHINE = zynq-generic
IMAGE_BASENAME = dave-image-devel
-----------------------
Layer Revisions:      |
-----------------------
meta              = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-poky         = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-perl         = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-python       = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-filesystems  = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-gnome        = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-multimedia   = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-networking   = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-webserver    = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-xfce         = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-initramfs    = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-oe           = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-clang        = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-chromium     = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-qt5          = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-microblaze   = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-xilinx-bsp   = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-xilinx-pynq  = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-xilinx-contrib = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-xilinx-standalone = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-xilinx-tools = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-petalinux    = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-virtualization = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-openamp      = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-jupyter      = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-vitis-ai     = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-python2      = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-som          = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-security     = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-tpm          = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-user         = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
meta-dave         = HEAD:e944801f104f86191cd086d0cea8f3df88dda061
workspace         = HEAD:3b09904245b9f132fc8951d4d4ba9c3ee1b2b656 -- modified
root@boralite:~# uname -a
Linux boralite 5.10.0-xilinx-v2021.2 #1 SMP PREEMPT Tue Oct 12 09:30:57 UTC 2021 armv7l armv7l armv7l GNU/Linux
root@boralite:~# shutdown -h now

Broadcast message from root@boralite (ttyPS0) (Sun Mar 11 16:21:21 2018):

The system is going down for system halt NOW!
INIT: Sending processes configured via /etc/inittab the TERM signal
root@boralite:~# Stopping haveged:

Stopping Dropbear SSH server: stopped /usr/sbin/dropbear (pid 278)
dropbear.
Stopping atd: OK
Stopping system message bus: dbus.
Stopping internet superserver: inetd.
stopping mountd: done
stopping nfsd: done
Stopping system log daemon...0
Stopping tcf-agent: OK
Stopping internet superserver: xinetd.
stopping statd: done
Stopping crond: OK
Stopping rpcbind daemon...
done.
Deconfiguring network interfaces... done.
Sending all processes the TERM signal...
logout
Sending all processes the KILL signal...
Unmounting remote filesystems...
Deactivating swap...
Unmounting local filesystems...
[   37.521365] reboot: System halted

How to configure the network interfaces

For deploying an Embedded System, one of the most important configuration is the Network Interface configuration.

Once the Embedded Device is finally configured for stand-alone bootstrap, the network interface should be configured for reaching the device remotely via network connections like ssh, telnet, ftp, http, etc.

This Application Note briefly describes how it is possible to simply configure the network interfaces on SystemV (aka SysV) or systemd

Resources

For further details on network configuration, please refer - for example - to:

• Debian - The basic network configuration
• systemd network configuration

Examples

The following configuration assumptions are used in the paragraphs shown below:

• IP address range of the LAN network 192.168.1.0 - 192.168.1.255
• IP address of the gateway 192.168.1.254
• IP address of the device 192.168.1.100

SysV

The configuration files for SysV can be found in pre-defined directorys as written here

Basically, for network configuration, it should be enough to properly configure the /etc/network/interfaces file.

# /etc/network/interfaces -- configuration file for ifup(8), ifdown(8)

Here below an example of configuration file:

Static IP address

The network interface is configured with a static IP address by creating the configuration entry in the /etc/network/interfaces file as the following:

auto eth0
iface eth0 inet static
 address 192.168.1.100
 netmask 255.255.255.0
 gateway 192.168.1.254

Dynamic IP addres (DHCP)

The network interface is configured - using a proper DHCP server on the network - by creating the configuration entry in the /etc/network/interfaces file as the following:

allow-hotplug eth0
iface eth0 inet dhcp

When the Linux kernel detects the physical interface eth0, the iface causes ifup to use DHCP to configure the interface.

DNS

If the resolvconf package is not installed, the DNS configuration can be done manually by editing the /etc/resolv.conf as the following:

nameserver 192.168.1.1

For example, it can be done on the command line echoing the string in this way:

root@axel-lite:~# echo "nameserver 192.168.1.1" > /etc/resolv.conf

loopback network interface

The following configuration entry in the /etc/network/interfaces file brings up the loopback network interface lo upon booting the system.

# The loopback interface
auto lo
iface lo inet loopback

This one always exists in the /etc/network/interfaces file.

systemd

The network configuration for systemd are basically found in the /etc/systemd/network/ directory.

The most simply way for configuring the network interface is to create/edit the file /etc/systemd/network/20-eth0.network as per the following paragraphs.

For more example and usage hints on systemd, please refer to our wiki page.

Static IP address

[Match]
Name=eth0

# Prevent the interface loading if the kernel boots from nfs
KernelCommandLine=!nfsroot

[Network]
Address=192.168.1.100
Gateway=192.168.1.254
DNS=192.168.1.1

Once modified, the networkd service should be resarted:

systemctl restart systemd-networkd

Dynamic IP addres (DHCP)

The network interface is configured - using a proper DHCP server on the network - by using the DHCP key in the configuration file as the following:

[Match]
Name=eth0

# Prevent the interface loading if the kernel boots from nfs
KernelCommandLine=!nfsroot

[Network]
DHCP=yes

When systemd network starts, it tries to use a DHCP server present in the network to configure the interface.

DNS

The DNS key (in the configuration file) is used only if the systemd-resolved service is enabled and the /etc/resolv.conf has a symbolic link to /run/systemd/resolve/stub-resolv.conf

ln -sf /run/systemd/resolve/stub-resolv.conf /etc/resolv.conf

Once modified, the resolved service should be resarted:

systemctl restart systemd-resolved

loopback network interface

systemd contains native implementations of various tasks that need to be executed as part of the boot process.

For example, it sets the hostname or configures the loopback network device.

Apply configuration changes

After editing the above files, changes are applied after reboot or by restarting systemd-networkd.service:

root@imx6qdlxelk:~# systemctl restart systemd-networkd.service

Peripherals

Peripheral Console

The Zynq-7000 main UART device (UART1) is mapped to the ttyPS0 device.

Accessing the peripheral

Linux messages at boot time

...
[    0.000000] Kernel command line: console=ttyPS0,115200 earlycon root=/dev/mmcblk0p2 rw rootwait
...
[    0.207202] e0001000.serial: ttyPS0 at MMIO 0xe0001000 (irq = 35, base_baud = 3125000) is a xuartps
[    0.221089] printk: console [ttyPS0] enabled
...

Peripheral Ethernet

The ethernet interface 0 is made available through the gem0 interface, this interface should be initialized on the device tree.

Device tree configuration

Here below an example of device tree for ethernet interface 0 configuration used on standard DAVE's kit for the BORA, BORA Xpress and BORA Lite:

From bora.dtsi:

&gem0 {

    status = "okay";
    phy-mode = "rgmii-id";
    phy-handle = <&ethernet_phy>;

    ethernet_phy: ethernet-phy@7 {
        reg = <0x07>;
        device_type = "ethernet-phy";

        mdio {
            #address-cells = <1>;
            #size-cells = <0>;

            phy0: phy@7 {
                rxc-skew-ps = <0x744>;
                txc-skew-ps = <0x744>;
                micrel,led-mode = <0x01>;

                compatible = "micrel,ksz9031";
                device_type = "ethernet-phy";
                reg = <0x07>;
            };
        };
    };
};

Accessing the peripheral

Linux messages at boot time

• eth0

[    0.588523] macb e000b000.ethernet eth0: Cadence GEM rev 0x00020118 at 0xe000b000 irq 37 (00:50:c2:1e:af:e0)
...
[    3.538025] macb e000b000.ethernet eth0: PHY [e000b000.ethernet-ffffffff:07] driver [Micrel KSZ9031 Gigabit PHY] (irq=POLL)
[    3.538044] macb e000b000.ethernet eth0: configuring for phy/rgmii-id link mode

Cable connection:

...
...
[    7.698004] macb e000b000.ethernet eth0: Link is Up - 1Gbps/Full - flow control off
[    7.698035] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready

Check the interface with ifconfig

root@bora:~# ifconfig eth0
eth0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 192.168.0.89  netmask 255.255.255.0  broadcast 0.0.0.0
        inet6 fe80::250:c2ff:fe1e:afe0  prefixlen 64  scopeid 0x20<link>
        ether 00:50:c2:1e:af:e0  txqueuelen 1000  (Ethernet)
        RX packets 1141  bytes 62918 (61.4 KiB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 45  bytes 4892 (4.7 KiB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 37  base 0xb000

Test with iperf3

root@bora:~# iperf3 -t 5 -c 192.168.0.167
Connecting to host 192.168.0.167, port 5201
[  5] local 192.168.0.89 port 33028 connected to 192.168.0.167 port 5201
[ ID] Interval           Transfer     Bitrate         Retr  Cwnd
[  5]   0.00-1.00   sec  63.0 MBytes   527 Mbits/sec    0    427 KBytes
[  5]   1.00-2.02   sec  88.3 MBytes   727 Mbits/sec    0    655 KBytes
[  5]   2.02-3.01   sec  87.0 MBytes   735 Mbits/sec    1    522 KBytes
[  5]   3.01-4.01   sec  80.5 MBytes   675 Mbits/sec    0    602 KBytes
[  5]   4.01-5.00   sec  76.9 MBytes   651 Mbits/sec    0    636 KBytes
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Retr
[  5]   0.00-5.00   sec   396 MBytes   663 Mbits/sec    1             sender
[  5]   0.00-5.58   sec   396 MBytes   595 Mbits/sec                  receiver

iperf Done.
root@bora:~#

Peripheral SD

The SD device, if present, will be associated by the Linux kernel to the mmcblk0 device:

Accessing the peripheral

Linux messages at boot time

[    0.740571] mmc0: SDHCI controller on e0100000.mmc [e0100000.mmc] using ADMA
...
[    0.824174] mmc0: new high speed SDHC card at address aaaa
[    0.830415] mmcblk0: mmc0:aaaa SA16G 14.8 GiB
[    0.837970]  mmcblk0: p1 p2

Additional information

Once detected, it can be mounted and accessed via usual Linux commands:

root@bora:~# mkdir -p /mnt/mmcblk0p1
root@bora:~# mkdir -p /mnt/mmcblk0p2
root@bora:~# mount /dev/mmcblk0p1 /mnt/mmcblk0p1
root@bora:~# mount /dev/mmcblk0p2 /mnt/mmcblk0p2
root@bora:~# ls /mnt/mmcblk0p1
BOOT.BIN  System Volume Information  boot.scr  image.ub
root@bora:~# ls /mnt/mmcblk0p2
bin  boot  dev  etc  home  lib  lost+found  media  mnt  proc  run  sbin  sys  tmp  usr  var
root@bora:~# dd if=/dev/zero of=test_file_100MB bs=1M count=100
100+0 records in
100+0 records out
104857600 bytes (105 MB, 100 MiB) copied, 1.50526 s, 69.7 MB/s
root@bora:~# time cp test_file_100MB /mnt/mmcblk0p1

real    0m3.006s
user    0m0.011s
sys     0m1.853s
root@bora:~#

Peripheral CAN

CAN is routed through the PL using the TCL scripts for the Vivado project example here below:

• recreate_prj_bora_BASE.tcl
• recreate_prj_boralite_BASE.tcl
• recreate_prj_boralite_NAND.tcl
• recreate_prj_borax_BASE.tcl

Accessing the peripheral

Linux messages at boot time

root@bora:~# dmesg | grep -i can
[    0.545770] CAN device driver interface
[    0.752012] can: controller area network core
[    0.761010] can: raw protocol
[    0.763989] can: broadcast manager protocol
[    0.768236] can: netlink gateway - max_hops=1

Enable the interface and check status

The following commands can be issued from the command line to enable the CAN interface on BORA:

root@bora:~# ip link set can0 type can bitrate 500000
root@bora:~# ifconfig can0 up

To test the CAN interface it is possible to use a PCAN-USB device connected to the DESK-XZ7-L-MVM. The following commands can be issued from the command line to enable the CAN interface on the MVM:

dvdk@vagrant:~# sudo ip link set can0 type can bitrate 500000
dvdk@vagrant:~# sudo ifconfig can0 up

Usage with can-utils

cansend

This is an example of using a BORA Evaluation Kit to send data connected to a PCAN-USB device (that receives the data).

• the following commands can be issued from the command line on BORA to send data to PCAN-USB

root@bora:~# cansend can0 -i 0x7ff 00 01 02 03 04 05 06 07
interface = can0, family = 29, type = 3, proto = 1
<0x7ff> [8] 00 01 02 03 04 05 06 07

• the following commands can be issued from the command line on MVM to receive data from BORA with PCAN-USB

dvdk@vagrant:~# candump can0
  can0  7FF   [8]  00 01 02 03 04 05 06 0

candump

This is an example of using a PCAN-USB device to send data to a connected BORA Evaluation Kit (that receives the data).

• the following commands can be issued from the command line on MVM to send data with PCAN-USB

dvdk@vagrant:~# cansend can0 7ff#0001020304050607
  can0  7FF   [8]  00 01 02 03 04 05 06 07

• the following commands can be issued from the command line on BORA to receive data from PCAN-USB

root@bora:~# candump can0
interface = can0, family = 29, type = 3, proto = 1
<0x7ff> [8] 00 01 02 03 04 05 06 07

Peripheral NOR

Device tree configuration

Here below an example of device tree for the Quad-SPI NOR flash configuration used on standard DAVE's kit for the BORA, BORA Xpress and BORA Lite:

From bora.dtsi:

...
...
&qspi {
    flash0: flash@0 {
        // we need to use 128Mbit (16MiB) device compatibile even if
        // the real hardware has a 256Mbit (32MiB) device because of
        // Zynq QSPI controller limits
        compatible = "spansion,s25fl128s1", "jedec,spi-nor";
        #address-cells = <1>;
        #size-cells = <1>;
        reg = <0>;
        spi-tx-bus-width = <1>;
        spi-rx-bus-width = <4>;
        spi-max-frequency = <25000000>;
    };
};
...
...

Accessing the peripheral

Linux messages at boot time

[    0.509067] spi-nor spi0.0: found s25fl256s1, expected s25fl128s1
[    0.515401] spi-nor spi0.0: s25fl256s1 (32768 Kbytes)
[    0.520482] 1 fixed-partitions partitions found on MTD device spi0.0
[    0.526863] Creating 1 MTD partitions on "spi0.0":
[    0.531648] 0x000000000000-0x000002000000 : "boot"

Check the mtd partitions

root@bora:~# cat /proc/mtd
dev:    size   erasesize  name
mtd0: 02000000 00010000 "boot"

Peripheral NAND

Device tree configuration

If user use petalinux-config for configuration NAND partition this is not apply to device-tree correctly.

Here below an example of device tree configuration used on standard DAVE's kit for the BORA Lite NAND flash:

From bora.dtsi:

...
...
&nand0{
    partition@nand-bootbin {
        label = "bootbin";
        reg = <0x00000000 0x01600000>;
    };

    partition@nand-ubootenv {
        label = "ubootenv";
        reg = <0x01600000 0x00040000>;
    };

    partition@nand-rootfs {
        label = "rootfs";
        reg = <0x01640000 0x0>;
    };
};
...
...

Accessing the peripheral

Linux messages at boot time (boot from SD with NAND flash support)

[    0.709510] nand: device found, Manufacturer ID: 0xef, Chip ID: 0xd3
[    0.712698] nand: Winbond W29N08GV
[    0.714412] nand: 1024 MiB, SLC, erase size: 128 KiB, page size: 2048, OOB size: 64
...
[    0.741479] 3 fixed-partitions partitions found on MTD device W29N08GV
[    0.748115] Creating 3 MTD partitions on "W29N08GV":
[    0.753138] 0x000000000000-0x000001600000 : "bootbin"
[    0.760908] 0x000001600000-0x000001640000 : "ubootenv"
[    0.776202] 0x000001640000-0x000040000000 : "rootfs"

Check the mtd partitions

root@boralite:~# cat /proc/mtd
dev:    size   erasesize  name
mtd0: 01600000 00020000 "bootbin"
mtd1: 00040000 00020000 "ubootenv"
mtd2: 3e9c0000 00020000 "rootfs"

Linux messages at boot time (boot from NAND flash)

[    0.705403] nand: device found, Manufacturer ID: 0xef, Chip ID: 0xd3
[    0.708607] nand: Winbond W29N08GV
[    0.710317] nand: 1024 MiB, SLC, erase size: 128 KiB, page size: 2048, OOB size: 64
...
[    1.076003] 3 fixed-partitions partitions found on MTD device W29N08GV
[    1.082625] Creating 3 MTD partitions on "W29N08GV":
[    1.087662] 0x000000000000-0x000001600000 : "bootbin"
[    1.101780] 0x000001600000-0x000001640000 : "ubootenv"
[    1.111817] 0x000001640000-0x000040000000 : "rootfs"
...
[    1.209392] ubi0: attaching mtd2
[    3.943763] ubi0: scanning is finished
[    3.970955] ubi0: attached mtd2 (name "rootfs", size 1001 MiB)
[    3.976801] ubi0: PEB size: 131072 bytes (128 KiB), LEB size: 129024 bytes
[    3.983713] ubi0: min./max. I/O unit sizes: 2048/2048, sub-page size 512
[    3.990409] ubi0: VID header offset: 512 (aligned 512), data offset: 2048
[    3.997277] ubi0: good PEBs: 8010, bad PEBs: 4, corrupted PEBs: 0
[    4.003395] ubi0: user volume: 1, internal volumes: 1, max. volumes count: 128
[    4.010637] ubi0: max/mean erase counter: 1/0, WL threshold: 4096, image sequence number: 1501637841
[    4.019766] ubi0: available PEBs: 0, total reserved PEBs: 8010, PEBs reserved for bad PEB handling: 156
[    4.029253] ubi0: background thread "ubi_bgt0d" started, PID 54
[    4.048733] UBIFS (ubi0:0): Mounting in unauthenticated mode
[    4.054771] UBIFS (ubi0:0): background thread "ubifs_bgt0_0" started, PID 55
[    4.098540] UBIFS (ubi0:0): recovery needed
[    4.252929] UBIFS (ubi0:0): recovery completed
[    4.257516] UBIFS (ubi0:0): UBIFS: mounted UBI device 0, volume 0, name "ubifs"
[    4.264862] UBIFS (ubi0:0): LEB size: 129024 bytes (126 KiB), min./max. I/O unit sizes: 2048 bytes/2048 bytes
[    4.274857] UBIFS (ubi0:0): FS size: 1011419136 bytes (964 MiB, 7839 LEBs), journal size 9033728 bytes (8 MiB, 71 LEBs)
[    4.285664] UBIFS (ubi0:0): reserved for root: 0 bytes (0 KiB)
[    4.291525] UBIFS (ubi0:0): media format: w4/r0 (latest is w5/r0), UUID 18F323BA-5A9C-422A-912C-2C06647F3EDF, small LPT model
...

Check the mtd partitions

root@boralite:~# cat /proc/mtd
dev:    size   erasesize  name
mtd0: 01600000 00020000 "bootbin"
mtd1: 00040000 00020000 "ubootenv"
mtd2: 3e9c0000 00020000 "rootfs"

Peripheral UART

The Zynq-7000 second UART device (UART0) is routed through the PL and it is mapped to the ttyPS1 device. This feature is available in the Vivado project example using the TCL scripts here below:

• recreate_prj_bora_BASE.tcl
• recreate_prj_bora_ETH1.tcl
• recreate_prj_boralite_BASE.tcl
• recreate_prj_boralite_ETH1.tcl
• recreate_prj_boralite_NAND.tcl
• recreate_prj_borax_BASE.tcl
• recreate_prj_borax_ETH1.tcl

Accessing the peripheral

Linux messages at boot time

...
[    0.198315] e0000000.serial: ttyPS1 at MMIO 0xe0000000 (irq = 34, base_baud = 3125000) is a xuartps
[    0.207202] e0001000.serial: ttyPS0 at MMIO 0xe0001000 (irq = 35, base_baud = 3125000) is a xuartps
...

Usage with stty

N.B. UART mapping respect to ttyPSX is the following one:

UART0 (RS232) <-> ttyPS1
UART1 (Serial Port) <-> ttyPS0

root@bora:~# stty -F /dev/ttyPS1 115200 -echo
root@bora:~# cat /dev/ttyPS1 &
[1] 297
root@bora:~# echo "Test loopback" > /dev/ttyPS1
root@bora:~# Test loopback

Helloworld from UART0

On target we need to loopback pin 4 and 6 of PMOD A.

Here below an example on C code for initializing and using UART0 through FPGA:

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <fcntl.h> 

int main()
{
	int fd;
	char *portname = "/dev/ttyPS1";
	int numchar;

	char msg[] = "Hello World from BELK (FPGA PS0 UART)!\r";

	fd = open(portname, O_RDWR | O_NOCTTY | O_SYNC);
	if (fd < 0)
	{
        	printf("error %d opening %s: %s", errno, portname, strerror (errno));
	        exit(1);
	}

	numchar = write(fd, msg, strlen(msg));

	exit(errno);
}

For compile it, please use the following instruction:

dvdk@vagrant:~$ wget https://mirror.dave.eu/desk-xz-l/desk-xz7-l-1.0.1/desk-xz7-l-1.0.1_bora_sdk.sh
--2024-01-26 11:57:04--  https://mirror.dave.eu/desk-xz-l/desk-xz7-l-1.0.1/desk-xz7-l-1.0.1_bora_sdk.sh
Resolving mirror.dave.eu (mirror.dave.eu)... 84.46.251.143
Connecting to mirror.dave.eu (mirror.dave.eu)|84.46.251.143|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: 998591008 (952M) [text/x-sh]
Saving to: ‘desk-xz7-l-1.0.1_bora_sdk.sh’

desk-xz7-l-1.0.1_bora_sdk.sh                    100%[====================================================================================================>] 952.33M  10.8MB/s    in 1m 40s  

2024-01-26 11:58:43 (9.57 MB/s) - ‘desk-xz7-l-1.0.1_bora_sdk.sh’ saved [998591008/998591008]

dvdk@vagrant:~$ chmod 755 desk-xz7-l-1.0.1_bora_sdk.sh 
dvdk@vagrant:~$ ./desk-xz7-l-1.0.1_bora_sdk.sh 
PetaLinux SDK installer version 2021.2
======================================
Enter target directory for SDK (default: /opt/petalinux/2021.2): 
You are about to install the SDK to "/opt/petalinux/2021.2". Proceed [Y/n]? y
Extracting SDK.......................................................................................................................................................................................................................done
Setting it up...done
SDK has been successfully set up and is ready to be used.
Each time you wish to use the SDK in a new shell session, you need to source the environment setup script e.g.
 $ . /opt/petalinux/2021.2/environment-setup-cortexa9t2hf-neon-xilinx-linux-gnueabi
dvdk@vagrant:~$ source /opt/petalinux/2021.2/environment-setup-cortexa9t2hf-neon-xilinx-linux-gnueabi 
dvdk@vagrant:~$ vi hello_UART0.c
dvdk@vagrant:~$ $CC -O hello_UART0.c -o hello_UART0

Copy hello_UART0 on target and perform the following command:

root@bora:~# chmod u+x hello_UART0
root@bora:~# ./hello_UART0
Hello World from BELK (FPGA PS0 UART)!

Additional information

Serial ports can be used through the standard serial programming API.

For detailed information, please refer to the Serial Programming HOWTO at Serial-Programming-HOWTO

Peripheral USB OTG

Device tree configuration

Here below an example of device tree configuration used on standard DAVE's kit for the BORA, BORA Xpress and BORA Lite:

From bora.dtsi:

...
...

/ {

...
...
    usb_phy0: phy0@e0002000{
        compatible = "ulpi-phy";
        #phy-cells = <0x00>;
        reg = <0xe0002000 0x1000>;
        view-port = <0x170>;
        drv-vbus;
    };

...
...

};

...
...

&usb0 {
    dr_mode = "otg";
    usb-phy = <&usb_phy0>;

};

...
...

Accessing the peripheral

Linux messages in host mode

When a USB2.0 peripheral is inserted, in the following example a memory mass storage device, the kernel recognizes the device (i.e. class, vendor id, product id, etc.)

[  456.139975] ci_hdrc ci_hdrc.0: EHCI Host Controller
[  456.140014] ci_hdrc ci_hdrc.0: new USB bus registered, assigned bus number 1
[  456.165598] ci_hdrc ci_hdrc.0: USB 2.0 started, EHCI 1.00
[  456.165904] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002, bcdDevice= 5.10
[  456.165921] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[  456.165932] usb usb1: Product: EHCI Host Controller
[  456.165941] usb usb1: Manufacturer: Linux 5.10.0-xilinx-v2021.2 ehci_hcd
[  456.165951] usb usb1: SerialNumber: ci_hdrc.0
[  456.166730] hub 1-0:1.0: USB hub found
[  456.166800] hub 1-0:1.0: 1 port detected
[  457.115612] usb 1-1: new high-speed USB device number 2 using ci_hdrc
[  457.316438] usb 1-1: New USB device found, idVendor=0781, idProduct=557d, bcdDevice= 1.00
[  457.316454] usb 1-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[  457.316465] usb 1-1: Product: Cruzer Force
[  457.316474] usb 1-1: Manufacturer: SanDisk
[  457.316483] usb 1-1: SerialNumber: 03021401121621082422
[  457.317184] usb-storage 1-1:1.0: USB Mass Storage device detected
[  457.318430] scsi host0: usb-storage 1-1:1.0
[  458.336628] scsi 0:0:0:0: Direct-Access     SanDisk  Cruzer Force     1.00 PQ: 0 ANSI: 6
[  458.338116] sd 0:0:0:0: Attached scsi generic sg0 type 0
[  458.338359] sd 0:0:0:0: [sda] 60088320 512-byte logical blocks: (30.8 GB/28.7 GiB)
[  458.339341] sd 0:0:0:0: [sda] Write Protect is off
[  458.339358] sd 0:0:0:0: [sda] Mode Sense: 43 00 00 00
[  458.340543] sd 0:0:0:0: [sda] Write cache: disabled, read cache: enabled, doesn't support DPO or FUA
[  458.401467]  sda: sda1
[  458.409036] sd 0:0:0:0: [sda] Attached SCSI removable disk
[  458.416048] usb 1-1: Get one byte OTG status failed

Additional information

If the root file system configuration does not automatically mount the partition, it is possible to mount the device using the following command:

root@bora:~# mkdir -p /mnt/usb
root@bora:~# mount /dev/sda1 /mnt/usb
root@bora:~# ls -la /mnt/usb/
total 116
drwxr-xr-x 4 root root 65536 Jan  1  1970 .
drwxr-xr-x 3 root root  4096 Mar 12 16:05 ..
drwxr-xr-x 2 root root 16384 Feb  3  2023 System Volume Information
drwxr-xr-x 3 root root 16384 Aug  1  2023 phytool
-rwxr-xr-x 1 root root    13 Oct  6  2022 uboot_testfile.txt

Accessing the device

Usage with mass-storage

root@bora:~# dd if=/dev/zero of=/tmp/mass count=16 bs=1M
16+0 records in
16+0 records out
16777216 bytes (17 MB, 16 MiB) copied, 0.0903981 s, 186 MB/s
root@bora:~# mkfs.ext4 /tmp/mass
mke2fs 1.45.6 (20-Mar-2020)
Discarding device blocks: done
Creating filesystem with 16384 1k blocks and 4096 inodes
Filesystem UUID: 3f0fa651-33af-4001-b6c0-8774cf2d2f56
Superblock backups stored on blocks:
        8193

Allocating group tables: done
Writing inode tables: done
Creating journal (1024 blocks): done
Writing superblocks and filesystem accounting information: done

root@bora:~# mkdir -p /tmp/loop
root@bora:~# mount /tmp/mass /tmp/loop
Mar 12 16:08:24 bora kernel: [  659.854210] ext4 filesystem being mounted at /var/volatile/tmp/loop supports timestamps until 2038 (0x7fffffff)
root@bora:~# echo "Hello from desk-xz7-l" > /tmp/loop/usb.txt
root@bora:~# umount /tmp/loop
root@bora:~#

then insert the g_mass_storage kernel module driver enabling an Windows PC to see it as a removable device

root@bora:~# modprobe --first-time g_mass_storage file=/tmp/mass iSerialNumber=USBOTGCHECK

Once the USB cable is connected to the PC, the kernel prints the following messages:

[   34.208769] Mass Storage Function, version: 2009/09/11
[   34.208790] LUN: removable file: (no medium)
[   34.208929] LUN: file: /var/volatile/tmp/mass
[   34.208940] Number of LUNs=1
[   34.209181] g_mass_storage gadget: Mass Storage Gadget, version: 2009/09/11
[   34.209194] g_mass_storage gadget: g_mass_storage ready

and the Windows PC activate the driver and the disk is available as a Drive Unit (with the usb.txt file available).

Peripheral Temperature sensors

BORA and BORA Xpress SOMs has a TMP421AIDCN temperature sensor onboard.

Accessing the peripheral

The temperature information can be accessed through the sysfs interface:

read the PCB temperature

root@bora:~# cat /sys/devices/soc0/axi/e0004000.i2c/i2c-0/0-004f/hwmon/hwmon1/temp1_input

the returned value has to be divided by 1000 for a °C temperature

read the CPU temperature

root@bora:~# cat /sys/devices/soc0/axi/e0004000.i2c/i2c-0/0-004f/hwmon/hwmon1/temp2_input

the returned value has to be divided by 1000 for a °C temperature

internal SoC temperature

Moreover, the SoC has an internal temperature sensor device which can be read using the following shell script:

root@bora:~# cat temp.sh
#!/bin/sh

# Tcpu
TEMP_RAW=`cat /sys/devices/soc0/axi/f8007100.adc//iio\:device1/in_temp0_raw`
TEMP_OFFSET=`cat /sys/devices/soc0/axi/f8007100.adc//iio\:device1/in_temp0_offset`
TEMP_SCALE=`cat /sys/devices/soc0/axi/f8007100.adc//iio\:device1/in_temp0_scale`
TEMP=`awk "BEGIN {print (($TEMP_RAW+$TEMP_OFFSET)*$TEMP_SCALE)/1000}"`

echo "Cpu Temp: ${TEMP}"
root@bora:~# chmod u+x temp.sh
root@bora:~# ./temp.sh
Cpu Temp: 46.0172

Peripheral Power meter

BORA, BORA Xpress and BORA Lite EVBs has a INA226 device connected to the I2C bus. The following commands can be saved as a shell script (e.g. read_power_values.sh) and run to collect the measurements data:

root@bora:~# cat read_power_values.sh
#!/bin/sh

path_dev=/sys/bus/iio/devices/iio\:device0/

IN_VOLT0_RAW=$(cat "$path_dev/in_voltage0_raw")
IN_VOLT0_SCALE=$(cat "$path_dev/in_voltage0_scale")
IN_VOLT1_RAW=$(cat "$path_dev/in_voltage1_raw")
IN_VOLT1_SCALE=$(cat "$path_dev/in_voltage1_scale")
IN_VOLT0=$(echo "$IN_VOLT0_RAW*$IN_VOLT0_SCALE" | bc)
IN_VOLT1=$(echo "$IN_VOLT1_RAW*$IN_VOLT1_SCALE" | bc)
VOLTAGE=`awk "BEGIN {print ($IN_VOLT1-$IN_VOLT0)/1000}"`

IN_CURRENT3_RAW=`cat $path_dev/in_current3_raw`
IN_CURRENT3_SCALE=`cat $path_dev/in_current3_scale`
CURRENT=`awk "BEGIN {print ($IN_CURRENT3_RAW*$IN_CURRENT3_SCALE)/1000}"`

IN_POWER2_RAW=`cat $path_dev/in_power2_raw`
IN_POWER2_SCALE=`cat $path_dev/in_power2_scale`
POWER=`awk "BEGIN {print ($IN_POWER2_RAW*$IN_POWER2_SCALE)/1000}"`

echo "Voltage: ${VOLTAGE}, Current: ${CURRENT}, Power: ${POWER}"

root@bora:~# ./read_power_values.sh
Voltage: 3.30573, Current: 0.72375, Power: 2.3875
root@bora:~#