ZYNQ下LINUX+FREERTOS同时运行

前言

本试验基于《PetaLinux学习笔记三》中移植成功的LINUX系统，并在petalinux-config -c rootfs中将peekpoke配置进去，再重新编译，打包，拷贝到SD卡。

peekpoke：用于启动cpu1上的应用程序。

一、在windows下的xilinx sdk创建cpu1的freeeros应用程序

1.创建应用程序时，选择cpu1。

2.更改链接文件中的内存地址。

3.在编译选项中增加：-g -DUSE_AMP=1 -DSTDOUT_REDIR=1

tips：导入已有源码的快速方法

左侧工程目录–>sr+右键–>Import

freertos应用程序如下：

/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "timers.h"
/* Xilinx includes. */
#include "xil_printf.h"
#include "xparameters.h"

#define configGENERATE_RUN_TIME_STATS 1

#define TIMER_ID	1
#define DELAY_10_SECONDS	10000UL
#define DELAY_1_SECOND		1000UL
#define TIMER_CHECK_THRESHOLD	9
/*-----------------------------------------------------------*/

/* The Tx and Rx tasks as described at the top of this file. */
static void prvTxTask( void *pvParameters );
static void prvRxTask( void *pvParameters );
static void vTimerCallback( TimerHandle_t pxTimer );
/*-----------------------------------------------------------*/

/* The queue used by the Tx and Rx tasks, as described at the top of this
file. */
static TaskHandle_t xTxTask;
static TaskHandle_t xRxTask;
static QueueHandle_t xQueue = NULL;
static TimerHandle_t xTimer = NULL;
char HWstring[15] = "Hello World";
long RxtaskCntr = 0;

int main( void )
{
	const TickType_t x10seconds = pdMS_TO_TICKS( DELAY_10_SECONDS );

	xil_printf( "Hello from Freertos example main\r\n" );

	/* Create the two tasks.  The Tx task is given a lower priority than the
	Rx task, so the Rx task will leave the Blocked state and pre-empt the Tx
	task as soon as the Tx task places an item in the queue. */
	xTaskCreate( 	prvTxTask, 					/* The function that implements the task. */
					( const char * ) "Tx", 		/* Text name for the task, provided to assist debugging only. */
					configMINIMAL_STACK_SIZE, 	/* The stack allocated to the task. */
					NULL, 						/* The task parameter is not used, so set to NULL. */
					tskIDLE_PRIORITY,			/* The task runs at the idle priority. */
					&xTxTask );

	xTaskCreate( prvRxTask,
				 ( const char * ) "GB",
				 configMINIMAL_STACK_SIZE,
				 NULL,
				 tskIDLE_PRIORITY + 1,
				 &xRxTask );

	/* Create the queue used by the tasks.  The Rx task has a higher priority
	than the Tx task, so will preempt the Tx task and remove values from the
	queue as soon as the Tx task writes to the queue - therefore the queue can
	never have more than one item in it. */
	xQueue = xQueueCreate( 	1,						/* There is only one space in the queue. */
							sizeof( HWstring ) );	/* Each space in the queue is large enough to hold a uint32_t. */

	/* Check the queue was created. */
	configASSERT( xQueue );

	/* Create a timer with a timer expiry of 10 seconds. The timer would expire
	 after 10 seconds and the timer call back would get called. In the timer call back
	 checks are done to ensure that the tasks have been running properly till then.
	 The tasks are deleted in the timer call back and a message is printed to convey that
	 the example has run successfully.
	 The timer expiry is set to 10 seconds and the timer set to not auto reload. */
	xTimer = xTimerCreate( (const char *) "Timer",
							x10seconds,
							pdFALSE,
							(void *) TIMER_ID,
							vTimerCallback);
	/* Check the timer was created. */
	configASSERT( xTimer );

	/* start the timer with a block time of 0 ticks. This means as soon
	   as the schedule starts the timer will start running and will expire after
	   10 seconds */
	xTimerStart( xTimer, 0 );

	/* Start the tasks and timer running. */
	vTaskStartScheduler();

	/* If all is well, the scheduler will now be running, and the following line
	will never be reached.  If the following line does execute, then there was
	insufficient FreeRTOS heap memory available for the idle and/or timer tasks
	to be created.  See the memory management section on the FreeRTOS web site
	for more details. */
	for( ;; );
}


/*-----------------------------------------------------------*/
static void prvTxTask( void *pvParameters )
{
const TickType_t x1second = pdMS_TO_TICKS( DELAY_1_SECOND );

	for( ;; )
	{
		/* Delay for 1 second. */
		vTaskDelay( x1second );

		/* Send the next value on the queue.  The queue should always be
		empty at this point so a block time of 0 is used. */
		xQueueSend( xQueue,			/* The queue being written to. */
					HWstring, /* The address of the data being sent. */
					0UL );			/* The block time. */
	}
}

/*-----------------------------------------------------------*/
static void prvRxTask( void *pvParameters )
{
char Recdstring[15] = "";

	for( ;; )
	{
		/* Block to wait for data arriving on the queue. */
		xQueueReceive( 	xQueue,				/* The queue being read. */
						Recdstring,	/* Data is read into this address. */
						portMAX_DELAY );	/* Wait without a timeout for data. */

		/* Print the received data. */
		xil_printf( "Rx task received string from Tx task: %s\r\n", Recdstring );
		RxtaskCntr++;
	}
}

/*-----------------------------------------------------------*/
static void vTimerCallback( TimerHandle_t pxTimer )
{
	long lTimerId;
	configASSERT( pxTimer );

	lTimerId = ( long ) pvTimerGetTimerID( pxTimer );

	if (lTimerId != TIMER_ID) {
		xil_printf("FreeRTOS Hello World Example FAILED");
	}

	/* If the RxtaskCntr is updated every time the Rx task is called. The
	 Rx task is called every time the Tx task sends a message. The Tx task
	 sends a message every 1 second.
	 The timer expires after 10 seconds. We expect the RxtaskCntr to at least
	 have a value of 9 (TIMER_CHECK_THRESHOLD) when the timer expires. */
	if (RxtaskCntr >= TIMER_CHECK_THRESHOLD) {
		xil_printf("FreeRTOS Hello World Example PASSED");
	} else {
		xil_printf("FreeRTOS Hello World Example FAILED");
	}

	vTaskDelete( xRxTask );
	vTaskDelete( xTxTask );
}

二、将CPU1的应用程序与linux的BOOT.BIN文件合并

将cpu1.elf拷贝到虚拟机里。
fsbl、bit流、u-boot、cpu1.elf一起打包生成BOOT.BIN。

使用如下命令即可：

petalinux-package --boot --fsbl ./images/linux/zynq_fsbl.elf --fpga --u-boot --add freertos_cpu1.elf --force

三、试验效果

执行poke 0xfffffff0 0x18000000启动cpu1的应用程序。效果如下：

root@zedboard:~# poke 0xfffffff0 0x18000000
Hello from Freertos example main
root@zedboard:~# Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
Rx task received string from Tx task: Hello World
FreeRTOS Hello World Example PASSED
root@zedboard:~#