01 介紹

有工程師反饋R5引導(dǎo)A53和R5的應(yīng)用程序后，A53和R5的應(yīng)用程序沒有正確執(zhí)行。因此做了一個MPSoC R5引導(dǎo)4個A53和兩個R5的應(yīng)用程序的例子。

02 FSBL

MPSoC的FSBL能引導(dǎo)多個CPU的應(yīng)用程序。工程師可以不理解上述寄存器的細(xì)節(jié)。如果boot.bin里的某個parttiion是某一個CPU的可執(zhí)行代碼，F(xiàn)SBL中的函數(shù)XFsbl_Handoff( )會啟動對應(yīng)的CPU。如果是目標(biāo)CPU是A53，會使用函數(shù)

XFsbl_UpdateResetVector()更新A53的服務(wù)地址。

03 應(yīng)用程序例子

由于只是簡單例子，所以所有CPU都使用同一個串口。為了防止所有CPU打印出來的信息，混雜在一起，所以在打印之后，增加了1秒鐘延時。

打印中，增加了CPU的信息，用于區(qū)分不同CPU。

int main()
{
    init_platform();

sleep(1);

    for( int i=0; ; i++ )
    {
    xil_printf("No.%d Hello World from r5-aaa.

", i );
    sleep(1);
    }

    cleanup_platform();
    return 0;
}

04 內(nèi)存分配

4個A53和兩個R5的應(yīng)用程序，都運(yùn)行在DDR里。每個應(yīng)用程序，必須使用不同的DDR空間。

CPU DDR起始地址 DDR大小

請根據(jù)上表，更新lscript.ld中的MEMORY里的ddr字段。A53-0的lscript.ld中的MEMORY部分，設(shè)置如下：

MEMORY
{
   psu_ddr_0_MEM_0 : ORIGIN = 0x1000000, LENGTH = 0x1000000
}

R5-0的lscript.ld中的MEMORY部分，設(shè)置如下：

MEMORY
{
   psu_ocm_ram_0_MEM_0 : ORIGIN = 0xFFFC0000, LENGTH = 0x40000
   psu_r5_0_atcm_MEM_0 : ORIGIN = 0x0, LENGTH = 0x10000
   psu_r5_0_btcm_MEM_0 : ORIGIN = 0x20000, LENGTH = 0x10000
   psu_r5_ddr_0_MEM_0 : ORIGIN = 0x3000000, LENGTH = 0x1000000
   psu_r5_tcm_ram_0_MEM_0 : ORIGIN = 0x0, LENGTH = 0x40000
}

05 R5引導(dǎo)4個A53和兩個R5的bif文件例子

在SDK里，制作啟動文件boot.bin時，需要正確設(shè)置每個ELF文件的目標(biāo)CPU。SDK不能根據(jù)ELF文件，自動設(shè)置目標(biāo)CPU。如果設(shè)置錯誤，可能引起錯誤，導(dǎo)致相關(guān)CPU的代碼，不能正確執(zhí)行。

//arch = zynqmp; split = false; format = BIN
the_ROM_image:
{
[fsbl_config]r5_single
[bootloader]C:prjzcu106v183zcu106_bsp_hw_hdf
5a_fsblDebugd_r5a_fsbl.elf
[destination_cpu = a53-0]C:prjzcu106v183zcu106_bsp_hw_hdfa53a_helloDebugd_a53a_hello.elf
[destination_cpu = a53-1]C:prjzcu106v183zcu106_bsp_hw_hdfa53b_helloDebugd_a53b_hello.elf
[destination_cpu = a53-2]C:prjzcu106v183zcu106_bsp_hw_hdfa53c_helloDebugd_a53c_hello.elf
[destination_cpu = a53-3]C:prjzcu106v183zcu106_bsp_hw_hdfa53d_helloDebugd_a53d_hello.elf
[destination_cpu = r5-0]C:prjzcu106v183zcu106_bsp_hw_hdf
5a_helloDebugd_r5a_hello.elf
[destination_cpu = r5-1]C:prjzcu106v183zcu106_bsp_hw_hdf
5b_helloDebugd_r5b_hello.elf
}

06 R5引導(dǎo)4個A53和兩個R5的啟動記錄

Xilinx Zynq MP First Stage Boot Loader
Release 2018.3   Oct 12 2020  -  1708
Reset Mode      :       System Reset
Platform: Silicon (4.0), Cluster ID 0xC0000100
Running on R5-0 Processor, Device Name: XCZU7EV
Initializing TCM ECC
Address 0xFFFD95F0, Length FFE00020, ECC initialized
Address 0xFFFD95F0, Length FFE20000, ECC initialized
FMC VADJ Configuration Successful
Board Configuration successful
Processor Initialization Done
================= In Stage 2 ============
SD1 with level shifter Boot Mode
SD: rc= 0
File name is BOOT.BIN
Multiboot Reg : 0x0
Image Header Table Offset 0x8C0
*****Image Header Table Details********
Boot Gen Ver: 0x1020000
No of Partitions: 0x9
Partition Header Address: 0x440
Partition Present Device: 0x0
Initialization Success
======= In Stage 3, Partition No:1 =======
UnEncrypted data Length: 0x2812
Data word offset: 0x2812
Total Data word length: 0x2812
Destination Load Address: 0x1000000
Execution Address: 0x1000000
Data word offset: 0x5CF0
Partition Attributes: 0x116
Partition 1 Load Success
======= In Stage 3, Partition No:2 =======
UnEncrypted data Length: 0x2812
Data word offset: 0x2812
Total Data word length: 0x2812
Destination Load Address: 0x2000000
Execution Address: 0x2000000
Data word offset: 0x8510
Partition Attributes: 0x216
Partition 2 Load Success
======= In Stage 3, Partition No:3 =======
UnEncrypted data Length: 0x2812
Data word offset: 0x2812
Total Data word length: 0x2812
Destination Load Address: 0x5000000
Execution Address: 0x5000000
Data word offset: 0xAD30
Partition Attributes: 0x316
Partition 3 Load Success
======= In Stage 3, Partition No:4 =======
UnEncrypted data Length: 0x2812
Data word offset: 0x2812
Total Data word length: 0x2812
Destination Load Address: 0x6000000
Execution Address: 0x6000000
Data word offset: 0xD550
Partition Attributes: 0x416
Partition 4 Load Success
======= In Stage 3, Partition No:5 =======
UnEncrypted data Length: 0x148
Data word offset: 0x148
Total Data word length: 0x148
Destination Load Address: 0x0
Execution Address: 0x3C
Data word offset: 0xFD70
Partition Attributes: 0x51E
XFsbl_PartitionCopy:Going for LOVEC HIGHVEC Mechanism for R5.
XFsbl_PartitionLoad:After Partition Validation
Going for LOVEC HIGHVEC Mechanism for R5.
Partition 5 Load Success
======= In Stage 3, Partition No:6 =======
UnEncrypted data Length: 0x9B1
Data word offset: 0x9B1
Total Data word length: 0x9B1
Destination Load Address: 0x3000000
Execution Address: 0x0
Data word offset: 0xFEC0
Partition Attributes: 0x51E
Partition 6 Load Success
======= In Stage 3, Partition No:7 =======
UnEncrypted data Length: 0x148
Data word offset: 0x148
Total Data word length: 0x148
Destination Load Address: 0x0
Execution Address: 0x3C
Data word offset: 0x10880
Partition Attributes: 0x61E
Initializing TCM ECC
Address 0xFFFD95F0, Length FFE90000, ECC initialized
Address 0xFFFD95F0, Length FFEB0000, ECC initialized
Partition 7 Load Success
======= In Stage 3, Partition No:8 =======
UnEncrypted data Length: 0x9B1
Data word offset: 0x9B1
Total Data word length: 0x9B1
Destination Load Address: 0x4000000
Execution Address: 0x0
Data word offset: 0x109D0
Partition Attributes: 0x61E
Partition 8 Load Success
All Partitions Loaded
================= In Stage 4 ============
PMU-FW is not running, certain applications may not be supported.
Protection configuration applied
CPU 0x100 reset release, Exec State 0x0, HandoffAddress: 1000000
CPU 0x200 reset release, Exec State 0x0, HandoffAddress: 2000000
CPU 0x300 reset release, Exec State 0x0, HandoffAddress: 5000000
CPU 0x400 reset release, Exec State 0x0, HandoffAddress: 6000000
CPU 0x600 reset release, Exec State 0x8, HandoffAddress: 3C
XFsbl_Handoff:Restored R5LovecBuffer to LOVEC for R5.
Running Cpu Handoff address: 0x3C, Exec State: 8
Exit from FSBL
No.0 Hello World from a53-aaa.
No.0 Hello World from a53-bbb.
No.0 Hello World from a53-ccc.
No.0 Hello World from a53-ddd.
No.0 Hello World from r5-bbb.
No.0 Hello World from r5-aaa.
No.1 Hello World from a53-aaa.
No.1 Hello World from a53-bbb.
No.1 Hello World from a53-ccc.
No.1 Hello World from a53-ddd.
No.1 Hello World from r5-bbb.
No.1 Hello World from r5-aaa.
No.2 Hello World from a53-aaa.
No.2 Hello World from a53-bbb.
No.2 Hello World from a53-ccc.
No.2 Hello World from a53-ddd.
No.2 Hello World from r5-bbb.

07 APU Module

由于MPSoC的FSBL能引導(dǎo)多個CPU的應(yīng)用程序，工程師可以不理解下述寄存器的細(xì)節(jié)。

APU Module的基地址是0xFD5C0000，下列寄存器用于設(shè)置APU的復(fù)位地址。

RVBARADDR0L0x00000040Reset Vector Base Address
RVBARADDR0H0x00000044Reset Vector Base Address
RVBARADDR1L0x00000048Reset Vector Base Address
RVBARADDR1H0x0000004CReset Vector Base Address
RVBARADDR2L0x00000050Reset Vector Base Address
RVBARADDR2H0x00000054Reset Vector Base Address
RVBARADDR3L0x00000058Reset Vector Base Address
RVBARADDR3H0x0000005CReset Vector Base Address

08 RPU Module

RPU Module的基地址是0xFF9A0000，下列寄存器用于設(shè)置RPU的復(fù)位地址。

RPU0_CFG    0x00000100Configuration Parameters specific to RPU0
RPU1_CFG0x00000200Configuration Parameters specific to RPU1

審核編輯 ：李倩