Minimum petalinux example with GPIO LED only.
- Xilinx Vivado 2023.2
- PetaLinux 2023.2
- Genesys ZU 3EG Board : Zynq MPSoC
You can find prebuilt project in hw directory.
You need to select board Genesys ZU 3EG. If you cannot find board, refresh list first.
Add Zynq MPSoC IP and run block automation and apply board preset. Then double click block and add 1 bit GPIO EMIO. This will be I2C mux reset pin.
Add AXI GPIO IP and run block automation with GPIO (led 4bits), S_AXI (auto).
Connect saxihpc0_fpd_aclk to pl_clk0. Make external to GPIO_0 of Zynq block.
Add constraints using constraints/Genesys-ZU-3EG-D-Master.xdc. Make sure I2C mux pin match to name in external pin. In this case, it will be GPIO_0_0_tri. The GPIO LED pins can be skipped since they are handled internally.
Run File/Export/Export Hardware with Include bitstream.
You can find prebuilt project in os directory.
petalinux-create --type project --template zynqMP --name test_min
Specifies the exported xsa directory.
petalinux-config --get-hw-description ../hw
Enable Auto Config Settings/Specify a manual device tree include directory and set to default value, ${STAGING_KERNEL_DIR}/include.
To boot with tftp, change tftp directory in Image Packaging Configuration/tftpboot directory to /srv/tftp.
To boot with writable rootfs, change the root file system type in Image Packaging Configuration/Root filesystem type to ext4. The default is initrd and changes will not be saved. Leave it as initrd if you don't care.
I added a modified patch to read ethaddr from SPI in u-boot. For this, leave the Subsystem AUTO Hardware Settings/Ethernet Settings/Ethernet MAC address as blank.
Edit project-spec/meta-user/meta-xilinx-tools/recipes-bsp/uboot-device-tree/files/system-user.dtsi before building. The file below was taken from https://github.com/Digilent/Genesys-ZU and edited for 2023.2.
/include/ "system-conf.dtsi"
#include <dt-bindings/interrupt-controller/irq.h>
#include <dt-bindings/gpio/gpio.h>
#include <dt-bindings/media/xilinx-vip.h>
#include <dt-bindings/net/ti-dp83867.h>
#include <dt-bindings/phy/phy.h>
#include <dt-bindings/mux/mux.h>
/ {
};
&pinctrl0 {
status = "okay";
pinctrl_i2c0_default: i2c0-default {
mux {
groups = "i2c0_5_grp"; /* MIO22, MIO23 */
function = "i2c0";
};
conf {
groups = "i2c0_5_grp";
bias-pull-up;
slew-rate = <0>;
io-standard = <1>;
};
};
pinctrl_i2c1_default: i2c1-default {
mux {
groups = "i2c1_2_grp"; /* MIO8, MIO 9 */
function = "i2c1";
};
conf {
groups = "i2c1_2_grp";
bias-pull-up;
slew-rate = <0>;
io-standard = <1>;
};
};
};
&sdhci1 {
disable-wp;
xlnx,itap-delay-sd-hsd = <0x29>;
xlnx,itap-delay-sd-ddr50 = <0x32>;
xlnx,itap-delay-sdr25 = <0x2A>;
xlnx,itap-delay-sdr50 = <0x1E>;
xlnx,itap-delay-sdr104 = <0x0B>; //although auto-tuned, tuning fails on some cards if not set
};
/*
devicetree/bindings/net/macb.txt
devicetree/bindings/net/ti,dp83867.txt
devicetree/bindings/net/phy.txt
*/
&gem0 {
phy-handle = <&phy0>;
phy-mode = "rgmii-id";
phy0: phy@15 {
reg = <0x0F>;
reset-gpios = <&gpio 44 GPIO_ACTIVE_LOW>;
reset-assert-us = <1>;
reset_deassert-us = <200>;
interrupt-parent = <&gpio>;
interrupts = <38 IRQ_TYPE_LEVEL_LOW>;
ti,rx-internal-delay = <DP83867_RGMIIDCTL_2_00_NS>; //overwrites strap config
ti,tx-internal-delay = <DP83867_RGMIIDCTL_1_50_NS>; //overwrites strap config
ti,fifo-depth = <DP83867_PHYCR_FIFO_DEPTH_4_B_NIB>;
ti,clk-output-sel = <DP83867_CLK_O_SEL_REF_CLK>;
};
};
/*
Adding support for the mux and expose all 8 segments.
RESET# pin of TCA9548 is inverted on-board. Mapped to
EMIO[0] which is line 78.
devicetree/bindings/i2c/i2c-mux-pca954x.txt
devicetree/bindings/mux/mux-controller.txt
*/
&i2c0 {
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_i2c0_default>;
i2c-mux@70 {
compatible = "nxp,pca9548";
#address-cells = <1>;
#size-cells = <0>;
reg = <0x70>;
reset-gpios = <&gpio 78 GPIO_ACTIVE_HIGH>;
i2c-mux-idle-disconnect;
idle-state = <MUX_IDLE_DISCONNECT>;
i2c@0 {
#address-cells = <1>;
#size-cells = <0>;
reg = <0>;
};
i2c@1 {
#address-cells = <1>;
#size-cells = <0>;
reg = <1>;
};
i2c@2 {
#address-cells = <1>;
#size-cells = <0>;
reg = <2>;
};
i2c@3 {
#address-cells = <1>;
#size-cells = <0>;
reg = <3>;
/* skip PMBUS */
};
i2c@4 {
#address-cells = <1>;
#size-cells = <0>;
reg = <4>;
eeprom@51 { /*FMC VITA 57.1 FRU*/
compatible = "atmel,24c02";
reg = <0x51>;
pagesize = <1>; /* varies between models, so use a safe value */
};
};
i2c@5 {
#address-cells = <1>;
#size-cells = <0>;
reg = <5>;
/* not sure if we should bind the eeprom driver to the SYZYGY DNA */
eeprom@30 { /* SYZYGY DNA */
compatible = "atmel,24c02";
reg = <0x30>;
read-only;
address-width = <16>;
size = <65536>; /*the whole 16-bit address range*/
};
};
i2c@6 {
#address-cells = <1>;
#size-cells = <0>;
reg = <6>;
};
i2c@7 {
#address-cells = <1>;
#size-cells = <0>;
reg = <7>;
};
};
};
&i2c1 {
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_i2c1_default>;
};
&spi0 {
gpioexp: gpio@1 {
compatible = "microchip,mcp23s08";
gpio-controller;
#reset-cells = <1>;
#gpio-cells = <2>;
interrupt-parent = <&gpio>;
interrupts = <25 IRQ_TYPE_LEVEL_LOW>;
microchip,spi-present-mask = <0x01>;
interrupt-controller;
#interrupt-cells = <0x2>;
reg = <1>; /*SS[1]*/
spi-max-frequency = <10000000>;
};
};
&qspi {
u-boot,dm-pre-reloc;
};
/* flash0 node is defined in system-conf by Petalinux */
&flash0 {
compatible = "jedec,spi-nor";
reg = <0>;
spi-max-frequency = <80000000>; /* IS25LP256D max frequency for normal read 03h/13h */
spi-tx-bus-width = <1>; /*TODO: Would quad write work?*/
spi-rx-bus-width = <1>; /* Quad does not work in 2020.1 */
/delete-node/ partition@0;
/delete-node/ partition@1;
/delete-node/ partition@2;
partitions {
compatible = "fixed-partitions";
#address-cells = <1>;
#size-cells = <1>;
partition@0 {
label = "boot";
reg = <0x00000000 0x00100000>;
};
partition@1 {
label = "bootenv";
reg = <0x00100000 0x00040000>;
};
partition@2 {
label = "kernel";
reg = <0x00140000 0x01600000>;
};
partition@3 {
label = "board-id";
reg = <0x1FFF000 0x1000>;
read-only;
};
};
};
&dwc3_0 {
dr_mode = "host";
snps,usb3_lpm_capable;
snps,dis_u2_susphy_quirk ;
snps,dis_u3_susphy_quirk ;
maximum-speed = "super-speed";
};
&dwc3_1 {
snps,dis_u2_susphy_quirk;
snps,dis_u3_susphy_quirk;
dr_mode = "host";
};
&ams_pl {
xlnx,ext-channels {
#address-cells = <1>;
#size-cells = <0>;
channel@0 {
reg = <0>;
};
channel@5 {
reg = <5>;
};
channel@6 {
reg = <6>;
};
channel@7 {
reg = <7>;
};
channel@8 {
reg = <8>;
};
};
};
&gpio {
gpio-line-names =
"gpio0",
"gpio1",
"gpio2",
"gpio3",
"gpio4",
"gpio5",
"gpio6",
"gpio7",
"gpio8",
"gpio9",
"btn1",
"btn0",
"gpio12",
"gpio13",
"gpio14",
"gpio15",
"gpio16",
"gpio17",
"gpio18",
"gpio19",
"gpio20",
"led0",
"gpio22",
"gpio23",
"gpio24",
"gpio25",
"gpio26",
"gpio27",
"gpio28",
"gpio29",
"gpio30",
"gpio31",
"gpio32",
"gpio33",
"gpio34",
"gpio35",
"gpio36",
"gpio37",
"gpio38",
"gpio39",
"gpio40",
"gpio41",
"gpio42",
"gpio43",
"gpio44",
"gpio45",
"gpio46",
"gpio47",
"gpio48",
"gpio49",
"gpio50",
"gpio51",
"gpio52",
"gpio53",
"gpio54",
"gpio55",
"gpio56",
"gpio57",
"gpio58",
"gpio59",
"gpio60",
"gpio61",
"gpio62",
"gpio63",
"gpio64",
"gpio65",
"gpio66",
"gpio67",
"gpio68",
"gpio69",
"gpio70",
"gpio71",
"gpio72",
"gpio73",
"gpio74",
"gpio75",
"gpio76",
"gpio77",
"iic_mux_reset",
"mipiA_pwup",
"mipiB_pwup",
"gpio81",
"gpio82",
"gpio83",
"gpio84",
"gpio85",
"gpio86",
"gpio87",
"gpio88",
"gpio89",
"gpio90",
"gpio91",
"gpio92",
"gpio93",
"gpio94",
"gpio95",
"gpio96",
"gpio97",
"gpio98",
"gpio99",
"gpio100",
"gpio101",
"gpio102",
"gpio103",
"gpio104",
"gpio105",
"gpio106",
"gpio107",
"gpio108",
"gpio109",
"gpio110",
"gpio111",
"gpio112",
"gpio113",
"gpio114",
"gpio115",
"gpio116",
"gpio117",
"gpio118",
"gpio119",
"gpio120",
"gpio121",
"gpio122",
"gpio123",
"gpio124",
"gpio125",
"gpio126",
"gpio127",
"gpio128",
"gpio129",
"gpio130",
"gpio131",
"gpio132",
"gpio133",
"gpio134",
"gpio135",
"gpio136",
"gpio137",
"gpio138",
"gpio139",
"gpio140",
"gpio141",
"gpio142",
"gpio143",
"gpio144",
"gpio145",
"gpio146",
"gpio147",
"gpio148",
"gpio149",
"gpio150",
"gpio151",
"gpio152",
"gpio153",
"gpio154",
"gpio155",
"gpio156",
"gpio157",
"gpio158",
"gpio159",
"gpio160",
"gpio161",
"gpio162",
"gpio163",
"gpio164",
"gpio165",
"gpio166",
"gpio167",
"gpio168",
"gpio169",
"gpio170",
"gpio171",
"gpio172",
"gpio173";
};
&axi_gpio_0 {
gpio-line-names = "led1", "led2", "led3", "led4";
};
petalinux-build
petalinux-package --boot --force --fsbl images/linux/zynqmp_fsbl.elf --fpga images/linux/system.bit --u-boot
If you haven't prepared SD card before, create partitions and new file systems first. You can use any partitioning program, such as fdisk, parted or gparted.
If your partitioning program doesn't recognize it, use dd to remove the head region.
Create the first partition with 512 MBytes FAT. And the second partition for ext4.
For example, if your SD card is /dev/sdc
sudo dd if=/dev/zero of=/dev/sdc bs=512 count=1024
sudo parted -s -a optimal -- /dev/sdc mklabel msdos mkpart primary fat32 1MiB 512MiB mkpart primary ext4 512MiB -1s
sudo mkfs.vfat /dev/sdc1
sudo mkfs.ext4 /dev/sdc2
Skip this if you OS mounts automatically.
For example, if your SD card is /dev/sdc
sudo mount /dev/sdc1 /mnt/sd_card_vfat
sudo mount /dev/sdc2 /mnt/sd_card_ext4
Copy BOOT.BIN, boot.scr, image.ub to the FAT partition of your SD card.
sudo cp images/linux/BOOT.BIN /mnt/sd_card_vfat/
sudo cp images/linux/boot.scr /mnt/sd_card_vfat/
sudo cp images/linux/image.ub /mnt/sd_card_vfat/
Extract rootfs.tar.gz to the ext4 partition of your SD card.
sudo tar -xvzf images/linux/roofs.tar.gz -C /mnt/sd_card_ext4/
If you have not set a password before, you must login with serial first.
If you use the minicom, you must disable 'Hardware Flow Control' in the options.
sudo minicom -b 115200 -D /dev/ttyUSB1
Make sure the boot jumper is set to SD.
The root account is disabled, so you need to log in to petalinux account.
When logging in for the first time, there is no password and you must set a password.
If you use the root file system as initrd, changed password will not be saved.
After setting a password, you can log in using SSH.
If you use tftp, you can skip the copy process.
See for detailed setting: https://www.pixela.co.jp/products/pickup/dev/petalinux/p4_tftp.html
- Install tftpd-hpa
sudo apt install tftpd-hpa
- Edit tftpd-hpa config
Change TFTP_OPTIONS option to --secure --create.
- Adjust permissions
sudo chown -R tftp /srv/tftp
sudo chmod 777 /srv/tftp
- Restart tftp-hpa
sudo service tftpd-hpa restart
- Install the USB cable driver if you have not installed
You can find the driver installation script in data/xicom/cable_drivers/lin64/install_script/install_drivers under Vivado installation directory.
If you use the minicom, you must disable 'hardware flow control' in the options.
sudo minicom -b 115200 -D /dev/ttyUSB1
Make sure there is no boot image on SD card. If there is a boot image on the SD card, it will boot from that image.
petalinux-boot --jtag --u-boot
For example, if the address of your tftp server is 192.168.0.18,
setenv serverip 192.168.0.18
pxe get
pxe boot
The root account is disabled, so you need to log in to petalinux account.
When logging in for the first time, there is no password and you must set a password.
If you use the root file system as initrd, changed password will not be saved.
After setting a password, you can log in using SSH.
If your Ethernet device does not work after booting with tftp, you may need to re-enable it.
sudo ifconfig eth0 down
sudo ifconfig eth0 up
Check /sys/class/gpio to find the target device.
For example, the address of the GPIO LED is 0x80000000, so you should use gpiochip504. This address can be found when createing a hardware project in Vivado.
testmin:~$ ls -l /sys/class/gpio/
total 0
--w------- 1 root root 4096 Jan 2 18:27 export
lrwxrwxrwx 1 root root 0 Jan 2 18:26 gpiochip330 -> ../../devices/platform/axi/ff0a0000.gpio/gpio/gpiochip330
lrwxrwxrwx 1 root root 0 Jan 2 18:26 gpiochip504 -> ../../devices/platform/amba_pl@0/80000000.gpio/gpio/gpiochip504
lrwxrwxrwx 1 root root 0 Jan 2 18:26 gpiochip508 -> ../../devices/platform/firmware:zynqmp-firmware/firmware:zynqmp-firmware8
--w------- 1 root root 4096 Jan 2 18:27 unexport
With root privileges (sudo su), export the 4 GPIOs and change their direction.
echo -n 504 > /sys/class/gpio/export
echo -n 505 > /sys/class/gpio/export
echo -n 506 > /sys/class/gpio/export
echo -n 507 > /sys/class/gpio/export
echo -n out > /sys/class/gpio/gpio504/direction
echo -n out > /sys/class/gpio/gpio505/direction
echo -n out > /sys/class/gpio/gpio506/direction
echo -n out > /sys/class/gpio/gpio507/direction
You can control the GPIO LED by setting value with root privileges.
echo 1 > /sys/class/gpio/gpio504/value
echo 0 > /sys/class/gpio/gpio504/value
echo 1 > /sys/class/gpio/gpio505/value
echo 0 > /sys/class/gpio/gpio505/value