KV260 - 2つのzephyr rtosの間で、OpenAMPを使って通信

Posted at 2026-05-01

KV260 - 2つのzephyr rtosの間で、OpenAMPを使って通信

はじめに
KV260を使用して、RPU0(cortex-R5-0)上のzephyr rtosとRPU1(cortex-R5-1)上の
zephyr rtosとの間で、OpenAMPにより通信動作が行われるのかを確認したときの
設定などの記録メモです。

参照情報
- OpenAMP/openamp-system-reference
  https://github.com/OpenAMP/openamp-system-reference
- Inter-Processor Interrupt (IPI)
  https://docs.amd.com/v/u/en-US/ug1085-zynq-ultrascale-trm
- device treeの編集
  https://blog-between-hw-sw.com/howto-use-openamp-r5-2core-ubuntu/
zephyr rtosの起動方法
petalinuxからremoteprocを利用して、
2つのファームウェアであるelfファイルをロードして、
それぞれのファームウェアをRPU0とRPU1で開始させる。
確認に使用したサンプルアプリケーション
hello_worldのフォルダ内に、
openampのソースコードなどをコピーしてビルドして確認を実施。
- zephyr/samples/hello_world
- zephyr/samples/subsys/ipc/openamp/src/main.c
- zephyr/samples/subsys/ipc/openamp/remote/src/main.c
編集したdtsの内容（petalinux)

project-spec/meta-user/recipes-bsp/device-tree/filessystem-user.dtsi

/include/ "system-conf.dtsi"
/ {
+	reserved-memory {
+		#address-cells = <0x02>;
+		#size-cells = <0x02>;
+		ranges;
+
+		rproc_0_fw_image: memory@3ed00000 {
+			no-map;
+			reg = <0x0 0x3ed00000 0x0 0x40000>;
+		};
+
+		rproc_1_fw_image: memory@3ed40000 {
+			no-map;
+			reg = <0x0 0x3ed40000 0x0 0x40000>;
+		};
+
+        shared_mem: memory@3ed80000 {
+			no-map;
+			reg = <0x0 0x3ed80000 0x0 0x480000>;
+		};		
+	};
+
+	r5fss@ff9a0000 {
+		compatible = "xlnx,zynqmp-r5fss";
+		xlnx,cluster-mode = <0>;
+		ranges;
+		reg = <0x0 0xFF9A0000 0x0 0x10000>;
+		status = "okay"; 
+		#address-cells = <0x2>;
+		#size-cells = <0x2>;
+
+		r5f_0: r5f@0 {
+		    compatible = "xilinx,r5f";
+		    #address-cells = <0x2>;
+		    #size-cells = <0x2>;
+		    ranges;
+           memory-region = <&rproc_0_fw_image>;
+		    power-domains = <&zynqmp_firmware 7>;
+       };
+
+       r5f_1: r5f@1 {
+           compatible = "xilinx,r5f";
+           #address-cells = <0x2>;
+           #size-cells = <0x2>;
+           ranges;
+           memory-region = <&rproc_1_fw_image>;
+           power-domains = <&zynqmp_firmware 8>;
+       };
+   };
+};
+/ { 
+    chosen {
+        bootargs = "console=ttyUSB0,115200 root=/dev/ram0 rw init_fatal_sh=1 cma=900M +clk_ignore_unused";
+    };
};

編集したdtsの内容（zephyr rtos) （1）
★の部分は、RPU1に適用するファームウェアの時は、
zephyr,ipc = &rpu1_rpu0_mailbox;とする。

zephyr/boards/amd/kv260_r5/kv260_r5.dtsi

/dts-v1/;
#include <arm/xilinx/zynqmp_rpu.dtsi>

/ {
	model = "KV260 Cortex-R5";
	compatible = "xlnx,zynqmp-r5";

	chosen {
-        zephyr,sram = &sram0;
	    zephyr,flash = &flash0;
		zephyr,console = &uart1;
		zephyr,shell-uart = &uart1;
-        zephyr,ocm = &ocm;
+		zephyr,ipc = &rpu0_rpu1_mailbox; ★
+		zephyr,ipc_shm = &ipc_shm;
	};

	aliases {
		eeprom-0 = &eeprom0;
		eeprom-1 = &eeprom1;
	};

	i2c_ref_clk: i2c-ref-clk {
		compatible = "fixed-clock";
		clock-frequency = <100000000>;
		#clock-cells = <0>;
	};

+	reserved-memory {
+		compatible = "reserved-memory";
+		#address-cells = <1>;
+		#size-cells = <1>;
+		status = "okay";
+		ranges;
+
+		ipc_shm: ipc-shm@3ed80000 {
+			compatible = "mmio-sram";
+			reg = <0x3ed80000 DT_SIZE_K(288)>;
+		};
+	};
};

&uart1 {
	status = "okay";
	current-speed = <115200>;
	clock-frequency = <99999901>;
};

&ttc0 {
	status = "okay";
	clock-frequency = <100000000>;
};

&psgpio {
	status = "okay";
};

&i2c1 {
	status = "okay";
	clocks = <&i2c_ref_clk>;
	clock-frequency = <400000>;

	eeprom0: eeprom@50 {
		compatible = "st,24c64", "atmel,at24";
		reg = <0x50>;
		size = <DT_SIZE_K(8)>;
		pagesize = <32>;
		address-width = <16>;
		timeout = <5>;
		read-only;
	};

	eeprom1: eeprom@51 {
		compatible = "st,24c64", "atmel,at24";
		reg = <0x51>;
		size = <DT_SIZE_K(8)>;
		pagesize = <32>;
		address-width = <16>;
		timeout = <5>;
		read-only;
	};
};

+&rpu0_ipi {
+	status = "okay";
+};

+&rpu1_ipi {
+	status = "okay";
+};

+&rpu0_rpu1_mailbox {
+	status = "okay";
+	remote-ipi-id = <2>;
+};

+&rpu1_rpu0_mailbox {
+	status = "okay";
+	remote-ipi-id = <1>;
+};

+&rpu0_apu_mailbox {
+	status = "disabled";
+	remote-ipi-id = <0>; /* APU */
+};

+&rpu1_apu_mailbox {
+	status = "disabled";
+	remote-ipi-id = <0>; /* APU */
+};

編集したdtsの内容（zephyr rtos) （2）
★の部分は、RPU0に適用するファームウェアの時は、0、
RPU1に適用するファームウェアの時は、1とする。

zephyr/dts/arm/xilinx/zynqmp_rpu.dtsi

#include <arm/xilinx/zynqmp.dtsi>

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

		cpu@0 { ★
			device_type = "cpu";
			compatible = "arm,cortex-r5f";
			reg = <0>; ★
		};
	};

割り込みコントローラのドライバに関する対応
RPU0、RPU1、共通の割り込みコントローラが使用されるので、
割り込みの配信設定について、RPU1では、行わないように修正する。
また、RPU0実行時の配信設定が実行される際に、RPU1で受けたい割り込みを
設定しておく。
対応方法は、動作確認のための暫定的対処。

zephyr/drivers/interrupt_controller/intc_gic.c

@@ -182,6 +182,14 @@ static void gic_dist_init(void)
 	uint8_t cpu_mask = 0;
 	uint32_t reg_val;
 
+	/*
+	 * If Distributor is already enabled by another OS/firmware,
+	 * do not reconfigure global GIC state.
+	 */
+	if (sys_read32(GICD_CTLR) & 0x1U) {
+		return;
+	}
+
 	gic_irqs = sys_read32(GICD_TYPER) & 0x1f;
 	gic_irqs = (gic_irqs + 1) * 32;
    
@@ -208,6 +216,8 @@ static void gic_dist_init(void)
 	for (i = GIC_SPI_INT_BASE; i < gic_irqs; i += 4) {
 		sys_write32(reg_val, GICD_ITARGETSRn + i);
 	}
+	/* rewrite for rpu1 */
+   sys_write8(0x02, GICD_ITARGETSRn + 66);

IPIドライバ初期化に対する対応
対応方法は、動作確認のための暫定的対処。

zephyr/drivers/ipm/ipm_xlnx_ipi.c

static int xlnx_ipi_init(const struct device *dev)
{
	const struct xlnx_ipi_config *conf = dev->config;

	/* disable all the interrupts */
-	sys_write32(0xFFFFFFFF, conf->host_ipi_reg + IPI_IDR);
+//	sys_write32(0xFFFFFFFF, conf->host_ipi_reg + IPI_IDR);

	/* clear status of any previous interrupts */
	sys_write32(0xFFFFFFFF, conf->host_ipi_reg + IPI_ISR);

サンプルアプリケーション（RPU0で用いる）に対するprj.conf

prj.conf

# nothing here

#FW-R0
CONFIG_KERNEL_BIN_NAME="zephyr_r0"
CONFIG_SRAM_BASE_ADDRESS=0x3ED00000
CONFIG_SRAM_SIZE=1024
CONFIG_ROMSTART_RELOCATION_ROM=y
CONFIG_ROMSTART_REGION_ADDRESS=0x00000000
CONFIG_ROMSTART_REGION_SIZE=0x40

CONFIG_IPM=y
CONFIG_MAIN_STACK_SIZE=1024
CONFIG_HEAP_MEM_POOL_SIZE=1024
CONFIG_OPENAMP=y
CONFIG_OPENAMP_SLAVE=n

サンプルアプリケーション（RPU1で用いる）に対するprj.conf

prj.conf

# nothing here

#FW-R1
CONFIG_KERNEL_BIN_NAME="zephyr_r1"
CONFIG_SRAM_BASE_ADDRESS=0x3ED40000
CONFIG_SRAM_SIZE=548
CONFIG_ROMSTART_RELOCATION_ROM=y
CONFIG_ROMSTART_REGION_ADDRESS=0x00000000
CONFIG_ROMSTART_REGION_SIZE=0x40

CONFIG_IPM=y
CONFIG_MAIN_STACK_SIZE=1024
CONFIG_HEAP_MEM_POOL_SIZE=1024
CONFIG_OPENAMP=y
CONFIG_OPENAMP_MASTER=n

petalinux側のコンソール上での、実行コマンド
ファームウェア(elfファイル)のコピー～開始まで。

petalinux

$ sudo cp /tmp/zephyr_r0.elf /lib/firmware
$ sudo cp /tmp/zephyr_r1.elf /lib/firmware
$ sudo -i
# echo zephyr_r0.elf > /sys/class/remoteproc/remoteproc0/firmware
# echo start > /sys/class/remoteproc/remoteproc0/state

# echo zephyr_r1.elf > /sys/class/remoteproc/remoteproc1/firmware
# echo start > /sys/class/remoteproc/remoteproc1/state

実行時のzephyr rtos側のコンソールのメッセージ

zephyr rtos

*** Booting Zephyr OS build v4.2.0-5452-g169cf86969d7 ***
Starting application thread!

OpenAMP[master] demo started
*** Booting Zephyr OS build v4.2.0-5452-g169cf86969d7 ***
Starting application thread!

OpenAMP[remote] demo started
Remote core received a message: 0
Master core received a message: 1
Remote core received a message: 2
Master core received a message: 3
Remote core received a message: 4
Master core received a message: 5
Remote core received a message: 6
Master core received a message: 7
Remote core received a message: 8
Master core received a message: 9
Remote core received a message: 10
Master core received a message: 11
Remote core received a message: 12
Master core received a message: 13
Remote core received a message: 14
Master core received a message: 15
～中略～
Remote core received a message: 90
Master core received a message: 91
Remote core received a message: 92
Master core received a message: 93
Remote core received a message: 94
Master core received a message: 95
Remote core received a message: 96
Master core received a message: 97
Remote core received a message: 98
 a message: 99eceive
OpenAMP demo ended.

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