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README.booting.versal.md

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Booting OS Images on Versal target boards

Booting OS images on Versal boards can be done using JTAG, SD, eMMC and QSPI boot modes.

Setting Up the Target

Note: For versal-generic machine configuration file VCK190 evaluation board is used as reference.

  1. Connect a USB cable between the FTDI FT4232HL U20 USB-to-Quad-UART bridge USB Type-C connector on the target and the USB port on the host machine.
  2. Connect 12V power to the VCK190 6-Pin Molex connector and turn on the board power with the SW13 switch.
  3. Default UART terminal (serial port) settings is Speed 115200, Data 8 bit, Parity None, Stop bits 1 bit and Flow control None.
  4. Set the board to JTAG and other boot modes by setting the boot mode switch by referring to board user guide. For VCK190 board Below is the configuration boot mode settings (SW1).

Note: Switch OFF = 1 = High; ON = 0 = Low

Boot Mode Mode Pins [3:0] Mode SW1 [4:1] Comments
JTAG 0000 ON, ON, ON, ON Supported with or without boot module attached
QSPI 0010 ON, ON, OFF, ON Supported only with boot module X-EBM-01 attached
SD 1110 OFF, OFF, OFF, ON Supported with or without boot module attached

Booting from JTAG

This boot flow requires the use of the AMD Xilinx tools, specifically XSDB and the associated JTAG device drivers. This also requires access to the JTAG interface on the board, a number of AMD Xilinx and third-party boards come with on-board JTAG modules.

Sourcing the XSDB tools

Source the Vivado or Vitis tools settings.sh scripts.

Deploying the images to target

Deploying the images can be done in two methods.

Using devtool boot-jtag script

Note: For Xen boot flow boot-jtag script doesn't include loading xen, kernel and root filesystem, This step needs to be done manually as mentioned in XSDB or TFTP method below.

  1. Run devtool command to generate the boot-jtag.tcl script.
$ devtool boot-jtag --help
$ devtool boot-jtag --image core-image-minimal --hw_server TCP:<hostname/ip-addr>:3121
  1. Script will be generated under ${DEPLOY_DIR_IMAGE}/boot-jtag.tcl
  2. Execute this script using xsdb tool as shown below.
$ xsdb <absolute-path-to-deploy-dir-image>/boot-jtag.tcl

Manually executing xsdb commands

  1. Power on the board, Launch the XSDB shell from command line as shown below.
$ xsdb
  1. In the XSDB console, connect to the target over JTAG using the connect command. Optionally user can use -url to specify the local/remote hw_server. The connect command returns the channel ID of the connection.
xsdb% connect
  1. The targets command lists the available targets and allows you to select a target using its ID. The targets are assigned IDs as they are discovered on the JTAG chain, so the IDs can change from session to session.
xsdb% targets

Note: For non-interactive usage such as scripting, you can use the -filter option to select a target instead of selecting the target using its ID.

Loading boot.bin using XSDB
  1. Download the boot.bin for the target using XSDB with the device program command. Versal boot.bin will be located in the ${DEPLOY_DIR_IMAGE} directory. Default boot.bin consists of boot pdi, plm.elf, psm.elf, bl31.elf, u-boot.elf and system.dtb. This boot.bin is generated using bootgen tool by passing a .bif file.

Note: In yocto by default, ${DEPLOY_DIR_IMAGE}/system.dtb is used for both u-boot and kernel.

xsdb% targets -set -nocase -filter {name =~ "*PMC*"}
xsdb% device program ${DEPLOY_DIR_IMAGE}/boot.bin
xsdb% targets -set -nocase -filter {name =~ "*A72*#0"}
xsdb% stop
  1. After loading boot.bin resume the execution of active target using the con command in XSDB shell.
xsdb% con
  1. In the target Serial Terminal, press any key to stop the U-Boot auto-boot.
...
Hit any key to stop autoboot: 0
U-Boot>
Loading Kernel, Root Filesystem and U-boot boot script

Load the images into the target DDR/PL DRR load address i.e., DDR base address + <image_offset>.

Below example uses base DDR address as 0x0 which matches in vivado address editor.

  1. Linux
Image Type Base DDR Address Image Offset Load Address in DDR
Linux Kernel 0x0 0x200000 0x200000
Device Tree Blob 0x0 0x1000 0x1000
Rootfs 0x0 0x4000000 0x4000000
U-boot boot script 0x0 0x20000000 0x20000000
  1. Xen

Note: Xen, Rootfs and Device Tree image offset is calculated as shown below.

  • Xen Rootfs = Base DDR Address + Linux Kernel Image Offset(0xE00000) + Size of Linux Kernel Image
  • Xen Kernel = Base DDR Address + Xen Rootfs Image Offset (Ex: 0x2600000) + Size of Xen Rootfs
  • Device Tree Blob = Base DDR Address + Xen Kernel Image Offset (Ex: 0xBA00000) + Size of Device Tree Blob
Image Type Base DDR Address Image Offset Load Address in DDR
Linux Kernel 0x0 0xE00000 0xE00000
Xen Rootfs 0x0 0x2600000 0x2600000
Xen Kernel 0x0 0xBA00000 0xBA00000
Device Tree Blob 0x0 0xC000000 0xC000000
U-boot boot script 0x0 0x20000000 0x20000000

Note:

  1. <target-image> refers to core-image-minimal or petalinux-image-minimal
  2. For pxeboot boot create a symlink for <target-image>-${MACHINE}-${DATETIME}.cpio.gz.u-boot as shown $ ln -sf ${DEPLOY_DIR_IMAGE}/<target-image>-${MACHINE}-${DATETIME}.cpio.gz.u-boot ${DEPLOY_DIR_IMAGE}/rootfs.cpio.gz.u-boot to ensure the INITRD name in pxeboot.cfg matches with image name.
  3. Whilst it is possible to load the images via JTAG this connection is slow and this process can take a long time to execute (more than 10 minutes). If your system has ethernet it is recommended that you use TFTP to load these images using U-Boot.
  4. If common ${DEPLOY_DIR_IMAGE}/system.dtb is used by u-boot and kernel, this is already part of boot.bin we can skip loading dtb, else load kernel dtb.
Using XSDB
  1. Suspend the execution of active target using stop command in XSDB.
xsdb% stop
  1. Using the dow command to load the images into the target DDR/PL DDR load address.

    • Linux XSDB
    xsdb% targets -set -nocase -filter {name =~ "*A72*#0"}
    xsdb% dow -data ${DEPLOY_DIR_IMAGE}/Image 0x200000
    xsdb% dow -data ${DEPLOY_DIR_IMAGE}/system.dtb 0x1000
    xsdb% dow -data ${DEPLOY_DIR_IMAGE}/core-image-minimal-${MACHINE}.cpio.gz.u-boot 0x4000000
    xsdb% dow -data ${DEPLOY_DIR_IMAGE}/boot.scr 0x20000000
    
    • Xen XSDB
    xsdb% targets -set -nocase -filter {name =~ "*A72*#0"}
    xsdb% dow -data ${DEPLOY_DIR_IMAGE}/Image 0xE00000
    xsdb% dow -data ${DEPLOY_DIR_IMAGE}/core-image-minimal-${MACHINE}.cpio.gz 0x2600000
    xsdb% dow -data ${DEPLOY_DIR_IMAGE}/xen 0xBA00000
    xsdb% dow -data ${DEPLOY_DIR_IMAGE}/system.dtb 0xC000000
    xsdb% dow -data ${DEPLOY_DIR_IMAGE}/boot.scr 0x20000000
    
Using TFTP
  1. Setup TFTP directory on host machine and copy the images to your TFTP directory so that you can load them from U-Boot.
  2. Configure the ipaddr and serverip of the U-Boot environment.
Versal> set serverip <server ip>
Versal> set ipaddr <board ip>
  1. Load the images to DDR address.

    • Linux TFTP
    U-Boot> tftpboot 0x200000 Image
    U-Boot> tftpboot 0x1000 system.dtb
    U-Boot> tftpboot 0x4000000 core-image-minimal-${MACHINE}.cpio.gz.u-boot
    U-Boot> tftpboot 0x20000000 boot.scr
    
    • Xen TFTP
    U-Boot> tftpboot 0xE00000 Image
    U-Boot> setenv kernel_size 0x$filesize
    U-Boot> tftpboot 0x2600000 core-image-minimal-${MACHINE}.cpio.gz
    U-Boot> setenv ramdisk_size 0x$filesize
    U-Boot> tftpboot 0xBA00000 xen
    U-Boot> tftpboot 0xC000000 system.dtb
    U-Boot> tftpboot 0x20000000 boot.scr
    
Booting Linux

Once the images are loaded continue the execution.

  1. After loading images resume the execution of active target using the con command in XSDB shell, Skip step 1 for if you have used TFTP to load images.
xsdb% con
  1. Terminate xsdb shell.
xsdb% exit
  1. In the target Serial Terminal, from U-Boot prompt run boot command.
  • Linux boot
U-Boot> boot
  • XEN JTAG boot

    • XSDB

    Note: You need to calculate the Kernel(kernel_size) and ramdisk(ramdisk_size) image size manually from ${DEPLOY_DIR_IMAGE} directory. For example if your kernel size is 24269312 bytes you need to convert to hex 0x1725200 and use it.

    U-Boot> setenv kernel_size <filesize>
    U-Boot> setenv ramdisk_size <filesize>
    U-Boot> boot
    
    • TFTP
    U-Boot> boot
    

Booting from SD

  1. Load the SD card into the VCK190 board in the J302 SD slot.
  2. Configure the VCK190 board to boot in SD-Boot mode (1-ON, 2-OFF, 3-OFF, 4-OFF) by setting the SW1. Refer Setting Up the Target.
  3. Follow SD boot instructions README for more details.

Booting from QSPI

  1. To boot VCK190 board in QSPI boot mode, you need to connect a QSPI daughter card (part number: X_EBM-01, REV_A01).
  2. With the card powered off, install the QSPI daughter card.
  3. Power on the VCK190 board and boot using JTAG or SD boot mode, to ensure that U-Boot is running and also have boot.bin copied to DDR location using XSDB dow or tftpboot or fatload command.
  4. Follow Flash boot instructions README for more details.
  5. After flashing the images, turn off the power switch on the board, and change the SW1 boot mode pin settings to QSPI boot mode (1-ON, 2-OFF, 3-ON, 4-ON) by setting the SW1. Refer Setting Up the Target.