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
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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-testdopenamp-fw-mat-muld --->[*] openamp-fw-mat-muldopenamp-fw-rpc-demo --->[*] openamp-fw-rpc-demo

Filesystem Packages--->misc --->sysfsutils --->[*] libsysfsLibs --->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

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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 0x0remoteproc@0#vdev0buffer: registered virtio0 (type 7)
remoteproc remoteproc0: remote processor remoteproc@0 is now up
root@donce:/lib/firmware# cd /dev/Echo test startMaster>probe rpmsg_charOpen 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 : 9received payload number 0 of size 9sending payload number 1 of size 10
echo test: sent : 10received payload number 1 of size 10sending payload number 2 of size 11
echo test: sent : 11received payload number 2 of size 11sending payload number 3 of size 12