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cmake_plat zcu106
xcompiler_arg -DAARCH64=1
arm_hardware true
platform Zynq ZCU106 Evaluation Kit
arch ARMv8A
virtualization true
iommu true
soc Zynq UltraScale+ MPSoC
cpu Cortex-A53
verification
ARM
AARCH64
Contrib <a href="https://dornerworks.com">DornerWorks</a>
Maintained <a href="https://dornerworks.com">DornerWorks</a>
parent /Hardware/
SPDX-License-Identifier CC-BY-SA-4.0
SPDX-FileCopyrightText 2020 seL4 Project a Series of LF Projects, LLC.

Zynq ZCU1026

The board is Zynq UltraScale MPSoC ZCU106 Evaluation Kit. The seL4 implementation is the same as for the ZCU102

{% include hw-info.html %}

Xilinx maintains online material, including designs and documentation.

Building

seL4test

{% include sel4test.md %}

The ZCU102 also supports AArch32 mode. If you choose to build the AArch32 kernel, please be sure to pass -DAARCH32=1 instead of -DAARCH64=1.

ARM Trusted Firmware (ATF)

git clone https://github.com/Xilinx/arm-trusted-firmware.git
cd arm-trusted-firmware
make PLAT=zynqmp RESET_TO_BL31=1 CROSS_COMPILE=aarch64-linux-gnu-

Generated ELF file can be found at build/zynqmp/release/bl31/bl31.elf.

U-Boot

git clone https://github.com/Xilinx/u-boot-xlnx.git
cd u-boot-xlnx
make xilinx_zynqmp_virt_defconfig
# Use "make menuconfig" to open the configuration interface, change the value
in "Default Device Tree" to "zynqmp-zcu106-rev1.0"
make CROSS_COMPILE=aarch64-linux-gnu-

If you use gcc > 10, apply the following patch before compiling:

diff --git a/scripts/dtc/dtc-lexer.l b/scripts/dtc/dtc-lexer.l
index fd825ebba6..24af549977 100644
--- a/scripts/dtc/dtc-lexer.l
+++ b/scripts/dtc/dtc-lexer.l
@@ -38,7 +38,6 @@ LINECOMMENT	"//".*\n
 #include "srcpos.h"
 #include "dtc-parser.tab.h"

-YYLTYPE yylloc;
 extern bool treesource_error;

 /* CAUTION: this will stop working if we ever use yyless() or yyunput() */

If you choose to use the AArch32 kernel, apply the following patch:

diff --git a/board/xilinx/zynqmp/zynqmp.c b/board/xilinx/zynqmp/zynqmp.c
index 52b08c4dbe..c9ebd33d15 100644
--- a/board/xilinx/zynqmp/zynqmp.c
+++ b/board/xilinx/zynqmp/zynqmp.c
@@ -358,7 +358,7 @@ unsigned long do_go_exec(ulong (*entry)(int, char * const []), int argc,
     smp_kick_all_cpus();
     dcache_disable();
     armv8_switch_to_el1(0x0, 0, 0, 0, (unsigned long)entry,
-                        ES_TO_AARCH64);
+                        ES_TO_AARCH32);
   } else {
     printf("FAIL: current EL is not above EL1\n");
     ret = EINVAL;

Generated ELF file is u-boot.elf.

Upstream U-Boot also works; instructions are here

Development Environment

Install Vivado SDK or Vitis Software Platform from Xilinx here (Requires a free Xilinx account). The following instructions are based on Vivado SDK v2019.1

First stage boot load (FSBL)

Open Vivado SDK, create a new application project.

  • OS platform: standalone
  • Hardware Platform: ZCU102_hw_platform
  • Processor: psu_cortexa53_0
  • Language: C
  • Compiler: 64-bit
  • Hypervisor Guest: No
  • Template: Zynq MP FSBL

Generated ELF file is in Debug directory

PMU firmware

Open Vivado SDK, create a new application project.

  • OS platform: standalone
  • Hardware Platform: ZCU102_hw_platform
  • Processor: psu_pmu_0
  • Language: C

Generated ELF file is in Debug directory

Booting via JTAG

Set DIP switch (SW6) to JTAG boot (on, on, on, on).

Start the Xilinx debug tool (shipped with Vivado SDK):

xsct -nodisp

Upload files to the board using XSCT prompt:

connect
targets -set -filter {name =~ "PSU"}
mwr 0xffca0038 0x1ff
targets -set -filter {name =~ "MicroBlaze*"}
dow pmufw.elf
con
target -set -filter {name =~ "Cortex-A53 #0*"}
rst -processor
dow fsbl.elf
con
dow bl31.elf
con
dow u-boot.elf
con
# Load the seL4 image in ELF format, the file can be found in the sel4test build directory
dow elfloader/elfloader
con

Booting via SD Card

Get an SD card can format it with FAT32.

Set DIP switch (SW6) to SD boot (off, off, off, on)

Create a output.bif file with the following content:

the_ROM_image:
{
    [bootloader, destination_cpu = a53-0] fsbl.elf
    [pmufw_image] pmufw.elf
    [destination_cpu = a53-0, exception_level = el-3] bl31.elf
    [destination_cpu = a53-0, exception_level = el-2] u-boot.elf
}

Generate the bootable binary:

bootgen -arch zynqmp -image output.bif -w on -o BOOT.bin

Copy BOOT.bin to the SD card

Insert the SD card into ZCU102 then power on the board, and drop into the U-Boot prompt. When you're at the prompt, type the following to load the ELF file generated from building seL4test:

fatload mmc 0 0x8000000 sel4test-driver-image-arm-zynqmp
bootelf 0x8000000