前言

Zynq7000 openamp实验，最近想做一个多cpu异构系统，后面会用zynqmp去做，先拿zynq7000试一下

首先说明，openamp是开源异构多处理通信框架。现在cpu不再像以前单个cpu，而是越来越复杂，比如TI的TDA4芯片，4个A72、两个R5、四个DSP，再比如XILINX的ZynqMP，四个A53，两个R5。一般做法都是A72、A53跑linux或者QNX，R5跑RTOS，在一些实时性较高的场景。
环境：PETALINUX2020.1

开始

首先参考官方的APP UG1186，一切都可以在里面找到答案。

LINUX配置

配置kernel：

[*] Enable loadable module support --->

Device Drivers --->
	Remoteproc drivers --->
	# for R5:
	 <M> ZynqMP_r5 remoteproc support
	# for Zynq A9
	<M> Support ZYNQ remoteproc

配置rootfs：

Filesystem Packages --->
	-> Petalinux Package Groups
  		-> packagegroup-petalinux-openamp

Filesystem Packages --->
	misc --->
		openamp-fw-echo-testd --->
			[*] openamp-fw-echo-testd
			openamp-fw-mat-muld --->
			[*] openamp-fw-mat-muld
			openamp-fw-rpc-demo --->
			[*] openamp-fw-rpc-demo

Filesystem Packages--->
	misc --->
	sysfsutils --->
		[*] libsysfs
	Libs --->
		libmetal--->
			[*] libmetal

Filesystem Packages --->
	libs --->
		libmetal-->
			[*] libmetal-demos

配置设备树：

/include/ "system-conf.dtsi"
/ {
    leds {
    	compatible = "gpio-leds";
    	heartbeat_led {
    		label = "heartbeat";
    		gpios = <&gpio0 0 1>;
    		linux,default-trigger = "heartbeat";
    	};
    };
    
    reserved-memory {
        #address-cells = <1>;
        #size-cells = <1>;
        ranges;
        vdev0vring0: vdev0vring0@0e800000 {
            no-map;
            compatible = "shared-dma-pool";
            reg = <0x0e800000 0x4000>;
        };
        vdev0vring1: vdev0vring1@0e804000 {
            no-map;
            compatible = "shared-dma-pool";
            reg = <0x0e804000 0x4000>;
        };
        vdev0buffer: vdev0buffer@0e808000 {
            no-map;compatible = "shared-dma-pool";
            reg = <0x0e808000 0x100000>;
        };
        rproc_0_reserved: rproc@0e000000 {
            no-map;compatible = "shared-dma-pool";
            reg = <0x0e000000 0x800000>;
        };
    };

    remoteproc0: remoteproc@0 {
        compatible = "xlnx,zynq_remoteproc";
        firmware = "firmware";
        vring0 = <15>;
        vring1 = <14>;
        memory-region = <&rproc_0_reserved>, <&vdev0buffer>, <&vdev0vring0>, <&vdev0vring1>;
    };
};

配置boot cfg：
（1）我这边使用的是串口0
（2）启动命令：maxcpus=1

CPU1程序

链接脚本起始地址要和设备树对应

Shared mem也要对上

串口更换设备1

cpu flag增加 -DUSE_AMP=1

编译启动

root@joker:/lib/firmware# echo echo_test.elf > /sys/class/remoteproc/remoteproc0/firmware
root@joker:/lib/firmware# echo start > /sys/class/remoteproc/remoteproc0/state
remoteproc remoteproc0: powering up remoteproc@0
remoteproc remoteproc0: Booting fw image echo_test.elf, size 2904672
virtio_rpmsg_bus virtio0: rpmsg host is online
virtio_rpmsg_bus virtio0: creating channel rpmsg-openamp-demo-channel addr 0x0
 remoteproc@0#vdev0buffer: registered virtio0 (type 7)
remoteproc remoteproc0: remote processor remoteproc@0 is now up
root@donce:/lib/firmware# cd /dev/

 Echo test start

Master>probe rpmsg_char

 Open rpmsg dev virtio0.rpmsg-openamp-demo-channel.-1.0!
Opening file rpmsg_ctrl0.
checking /sys/class/rpmsg/rpmsg_ctrl0/rpmsg0/name
svc_name: rpmsg-openamp-demo-channel
.

 **************************************

  Echo Test Round 0

 **************************************

 sending payload number 0 of size 9
echo test: sent : 9
 received payload number 0 of size 9

 sending payload number 1 of size 10
echo test: sent : 10
 received payload number 1 of size 10

 sending payload number 2 of size 11
echo test: sent : 11
 received payload number 2 of size 11

 sending payload number 3 of size 12

可以发现正常运行