- Go to your PetaLinux
project:
$ cd <plnx_proj>
- Build the PetaLinux
project:
$ petalinux-build
- Boot the RPU firmware built with AMD Vitis™
tools with the SD boot. Following is a BIF file
example:
the_ROM_image:
{
[fsbl_config] a53_x64
[bootloader] <plnx_proj>/images/linux/zynqmp_fsbl.elf
[destination_device=pl] <plnx_proj>/images/linux/system.bit
[destination_cpu=pmu] <plnx_proj>/images/linux/pmufw.elf
[destination_cpu=r5-0] <RPU firmware>
[destination_cpu=a53-0, exception_level=el-3, trustzone] <plnx_proj>/images/linux/arm/bl31.elf
[destination_cpu=a53-0, exception_level=el-2] <plnx_proj>/images/linux/u-boot.elf
}
- To ensure that the user-space demo kernel drivers for rpmsg are not loaded,
see the following two examples that demonstrate the ways it can be accomplished:
- Before loading the RPU firmware remove the kernel modules
using the following command:
rm
/lib/modules/6.1.30-xilinx-v2025.1/kernel/drivers/rpmsg/*
- If the firmware is loaded, check
lsmod to list down the modules loaded and use rmmod to remove the respective kernel loadable
modules, perform the previous step to remove kernel modules and reload the
firmware.
xilinx-zcu102-20251: lsmod
{
Module Size Used by
uio_dmem_genirq 16384 0
rpmsg_ctrl 16384 0
rpmsg_char 16384 1 rpmsg_ctrl
virtio_rpmsg_bus 20480 0
rpmsg_ns 16384 1 virtio_rpmsg_bus
rpmsg_core 16384 4 virtio_rpmsg_bus,rpmsg_char,rpmsg_ctrl,rpmsg_ns
zynqmp_r5_remoteproc 20480 0
cfg80211 360448 0
uio_pdrv_genirq 16384 0
zocl 196608 0
}
xilinx-zcu102-20251:/lib/firmware# rmmod rpmsg_ctrl
xilinx-zcu102-20251:/lib/firmware# rmmod rpmsg_char
xilinx-zcu102-20251:/lib/firmware# rmmod virtio_rpmsg_bus
xilinx-zcu102-20251:/lib/firmware# rmmod rpmsg_ns
xilinx-zcu102-20251:/lib/firmware# rmmod rpmsg_core
- On the APU Linux target console, run the demo applications
rpmsg-echo-ping-shared, matrix_multiply-shared, and rpc_demod-shared. This process
produces output similar to the
following:
root@xilinx-zcu102-2025_1:~# rpmsg-echo-ping-shared
{
metal: info: metal_uio_dev_open: No IRQ for device 3ed20000.shm.
Successful initializing rpmsg vdev
Try to create rpmsg endpoint.
Successfully created rpmsg endpoint.
ly open shm device.
Successfully added shared memory
Successfully probed IPI device
Successfully initialized Linux r5 remoteproc.
Successfully initialized remoteproc
Calling mmap resource table.
Successfully mmap resource table.
Successfully set resource table to remoteproc.
Creating virtio...
Successfully created virtio device.
initializing rpmsg vdev
echo test: sent : 488
received payload number 471 of size 488
**********************************
Test Results: Error count = 0
**********************************
Quitting application .. Echo test end
rpmsg_channel_deleted
WARNING rx_vq: freeing non-empty virtqueue
WARNING tx_vq: freeing non-empty virtqueue
}
root@Xilinx-ZCU102-2025_1:~#
# matrix_multiply-shared
{
...
CLIENT> Matrix multiply: sent : 296
CLIENT> Quitting application .. Matrix multiplication end
CLIENT> **********************************
CLIENT> Test Results: Error count = 0
CLIENT> **********************************
CLIENT> rpmsg_channel_deleted
WARNING rx_vq: freeing non-empty virtqueue
WARNING tx_vq: freeing non-empty virtqueue
}
root@Xilinx-ZCU102-2025_1:~#
# rpc_demod-shared
{
login[1900]: root login on 'ttyPS0'
root@Xilinx-ZCU102-2025_1:~# proxy_app-openamp
{
...
Master> Remote proc resource initialized.
Master> RPMSG channel has created.
Remote> FreeRTOS Remote Procedure Call (RPC) Demonstration
Remote> ***************************************************
Remote> Rpmsg based retargetting to proxy initialized..
Remote> FileIO demo ..
Remote> Creating a file on master and writing to it..
… …
Remote> Repeat demo ? (enter yes or no)
no
Remote> RPC retargetting quitting ...
Remote> Firmware's rpmsg-openamp-demo-channel going down!
Master> RPC service exiting !!
Master> sending shutdown signal.
WARNING rx_vq: freeing non-empty virtqueue
WARNING tx_vq: freeing non-empty virtqueue
}
}