Carrier Card Source repository

This is VxWorks source code for carrier card software, an initial archive to the repository for on-going work on R-EGI project. This source code is targeted Xilinx ZCU102 ZynqMP Ultrascale+ design reference platform.

The software produces VxWorks (ELF) and uVxWorks (U-Bootable) as well as its binary to run on ZCU102 board.

Host build requirements

WIN10 PC

Optional: VMWare for WIN10 running Linux guest OS to run QEMU. This is helpful if you don't have ZCU102 board.
VxWorks 7 OS and toolchain, vx_sr540 for WIN10. Typically this is installed in c:RTNwindriver directory.
VxWorks board support package (BSP), xlnx_zynqmp_1_0_4_0. This is included in the installation package that support ZCU102 board.

Build environments

You need to have the following environment variables defined for VxWorks toolchain,

WIND_HOME WIND_BASE WIND_WRTOOL_WORKSPACE WIND_LAYER_PATHS WIND_LICENS_FILE

When those variables are defined, you can build. These variable in be put into a batch file. An example, myenv.bat is provided as an example. Edit it to match your settings then excute it so you can run VxWorks's wrtool or the GUI workbench. I use the command line wrtool.

Three main directories are:

regi, this is VxWorks Source Build directory (VSB).
kernel, this is VxWorks Image Project directory (VIP).
ntsf, this is RTX directory containing NTSF messaging code ported from Green Hills's OMEGA project. This directory is called outer layer of VxWorks. WIND_LAYER_PATHS point to this directory. If you don'tdefine this path, the build will fail.

What changes

Currenly the code is bare bone. IS177 messages in ntsf/msg compiled to object codes. No task is written to use it yet. So everything outside of ntsf directory is pretty much VxWorks code.

kernel/usrAppInit.c

A call to ntsfInitialize() is added to its initialization to start up two sample tasks using message queue. This function is in ntsf/src directory.

Enable UART1 of ZCU102 board

In the VIP workspace,the ZCU102 device tree source file, xlnx_zynqmp_1_0_4_0/xlnx-zcu102.dts is edited to enable UART1 port (alias serial1). This will show up on VxWorks as /tyC0/1 device. It is intended that this port is to be used for connecting to host for GPS messages processing. UART0 is used for VxWorks shell console.

Building source code for output images

You can use either GUI workbench or its command line, wrtool to build the project. Please refer to VxWorks documents on how to its IDE tool. For command line, wrtool, the step I used,

Open command prompt shell on WIN10.
In DOS command line prompt, cd to c:RTNwindrivervx7_sr40 then run myenv.bat, the batch file that set my environment variables.
run wrtool
In wrtool shell, cd to my workspace, for example, cd c:/users/1234567/workspace/carrier-card-source, which is the base of the source code.
cd to regi
prj build the VSB (regi).
cd to ../kernel, then prj build to build bootable image.

Loading and running VxWorks on ZCU102 board

Image file vxWorks (ELF) or uVxWorks built from this source can be copied to SD card of ZCU102. Using uVxWorks for u-boot is recommened so copy it to SD card along with xlnx-zcu102.dtb file. Do not use U-Boot or Linux DTB file for VxWorks. They don't work. Edit U-Boot boot script to automatically load and boot the VxWorks. This is U-Boot instructions and its related Xilinx instruction for ZCU102. I won't cover here.

Booting on real h/w ZCU102 board

Set the boot switch options on ZCU102 board for SD card accordingly (see Xilinx doc). Alhough ZCU102 can boot from various devices, JTAG, SD card, Flash, ony SD card is mentioned here and it is considered standard default booting. Xilinx shipped their reference design board with this option.

It is easiest to edit the u-boot script to make it boot automaticall (see u-boot doc) on ZCU102, but if you do not want to you can always boot it manually.

Manually boot from SD card

Stop at u-boot prompt and use u-boot MMC utilities to load uVxWorks and its dtb file, for example (assuming the VxWorks files needed are in SD card),
```
fatload mmc 0 2000000 uVxWorks
fatload mmc 0 1000000 xlnx-zcu102.dtb
bootm 2000000 - 1000000
```

This should boot VxWorks. An automate boot script can be created and automatically performs the boot operation.

Loading and running VxWorks on QEMU

What happen if you don't have ZCU102 board ? QEMU is the solution. You need to build QEMU package on a Linux PC though. You can install VMWare and Linux guest OS on it for your own convenience. The instruction below apply to Linux host.

Requirements: git clone QEMU from Xilinx's repository and follow its instruction on configuration options, for example,

./configure --target-list=aarch64-softmmu,aarch64-linux-user,arm-softmmu,arm-linux-user,microblazeel --prefix=/opt/qemu-xlnx
make && make install

note: QEMU from upstream will not work, use Xilinx's QEMU instead. If using Xilinx's petalinux, it will be build along the image, but this package is too big and it is not necessary for VxWorks.

uVxWorks uses its own xlnx-zcu102.dtb file. Do not use Linux's or U-Boot DTB file.

Xilinx QEMU boot ZCU102 in multiple stages, one is to boot ARM ATF and its microblaze with PMU f/w. This is the 1st boot. It then wait to connect to 2nd boot with FSBL and U-Boot before let go of control.

Miscellaneous

Some helper scripts are provided in misc directory for buiding VxWorks and for running QEMU h/w emulation. These are,

myenv.bat - VxWorks build environment variables setting. Edit it to fit your host installation.
vx.sh bash shell script (QEMU booting scripts), ublazepeta.sh its MicroBlaze companion invoked by vx.sh.
vxboot.scr (u-boot script) that vx.sh loads. vxargs.txt is text file that create vxboot.scr using u-boot's mkimage.
Companions firmware files that can be used on both QEMU or real ZCU102 board. The provided boot scripts need these firmwware files to bring up the virtual core on QEMU. The ELF firmware files are identically used for real h/w except the DTBs where they are specific for QEMU. You cannot use QEMU DTBs on real h/w.

Console capture of QEMU boot

PMU Firmware 2020.2     Feb 10 2021   15:27:10
PMU_ROM Version: xpbr-v8.1.0-0
NOTICE:  ATF running on XCZUUNKN/QEMU v4/RTL0.0 at 0xfffea000
NOTICE:  BL31: v2.2(release):xilinx_rebase_v2.2_2020.2
NOTICE:  BL31: Built : 15:26:48, Feb 10 2021


U-Boot 2020.01 (Feb 10 2021 - 15:38:17 +0000)

Model: ZynqMP ZCU102 Rev1.0
Board: Xilinx ZynqMP
DRAM:  4 GiB
PMUFW:  v1.1
EL Level:       EL2
Chip ID:        unknown
NAND:  0 MiB
MMC:   mmc@ff170000: 0
In:    serial@ff000000
Out:   serial@ff000000
Err:   serial@ff000000
Bootmode: SD_MODE1
Reset reason:
Net:
ZYNQ GEM: ff0e0000, mdio bus ff0e0000, phyaddr 12, interface rgmii-id

Warning: ethernet@ff0e0000 using MAC address from DT
eth0: ethernet@ff0e0000
Hit any key to stop autoboot:  0
MMC: no card present
JTAG: Trying to boot script at 0x20000000
## Executing script at 20000000
## Booting kernel from Legacy Image at 02000000 ...
   Image Name:   vxWorks
   Image Type:   AArch64 VxWorks Kernel Image (uncompressed)
   Data Size:    1386912 Bytes = 1.3 MiB
   Load Address: 00100000
   Entry Point:  00100000
   Verifying Checksum ... OK
## Flattened Device Tree blob at 01000000
   Booting using the fdt blob at 0x1000000
   Loading Kernel Image
   !!! WARNING !!! Using legacy DTB
   Loading Device Tree to 000000000fff8000, end 000000000ffff802 ... OK
## Starting vxWorks at 0x00100000, device tree at 0x0fff8000 ...

 _________            _________
 \77777777\          /77777777/
  \77777777\        /77777777/
   \77777777\      /77777777/
    \77777777\    /77777777/
     \77777777\   \7777777/
      \77777777\   \77777/              VxWorks 7 SMP 64-bit
       \77777777\   \777/
        \77777777\   \7/     Core Kernel version: 1.2.7.0
         \77777777\   -      Build date: Feb 25 2021 10:38:40
          \77777777\
           \7777777/         Copyright Wind River Systems, Inc.
            \77777/   -                 1984-2021
             \777/   /7\
              \7/   /777\
               -   -------

           Board: Xilinx ZCU102
       CPU Count: 4
  OS Memory Size: 4095MB
ED&R Policy Mode: Permanently Deployed


 Adding 4412 symbols for standalone.
ntsfInitialize
 entering
_ntsfTask entering
_IOTask entering, tps 60
code 1
.ntsfInitialize exiting, status
-> ....code 1
..d.ev.s
drv name
  0 /null
  1 /tyCo/0
  1 /tyCo/1
value = 25 = 0x19
-> .code 1
.....code 1
.....code 1
...w
  NAME             TID          STATUS     DELAY    OBJ_TYPE        OBJ_ID
---------- ------------------ ---------- --------- ---------- ------------------
tJobTask   0xffff800000044b80 PEND               0 SEM_B      0xffffffff8021cdd0
tExcTask   0xffffffff802665b0 PEND               0 SEM_B      0xffffffff8021cb80
tLogTask   0xffff80000004a670 PEND               0 MSG_Q(R)   0xffff800000049260
tShell0    0xffff80000005d490 READY              0                           0x0
tVxdbgTask 0xffff8000000514d0 PEND               0 SEM_B      0xffffffff8021a1d0
ntsfTask   0xffffffff80265a50 PEND               0 MSG_Q(R)   0xffffffff80264f00
IOTask     0xffffffff80260a20 DELAY             15                           0x0
miiBusMoni 0xffff800000070a00 DELAY             77                           0x0
tIdleTask0 0xffffffff8026f290 READY              0                           0x0
tIdleTask1 0xffffffff80274760 READY              0                           0x0
tIdleTask2 0xffffffff80279c30 READY              0                           0x0
tIdleTask3 0xffffffff8027f100 READY              0                           0x0
value = 0 = 0x0
-> ..code 1