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mirror of https://git.elphel.com/Elphel/ezynq

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# Ezynq 
Ezynq project is started to create a bootloader for systems based on the Xilinx Zynq SoC without
the inconvenience of the non-free tools and/or files.
The goal is not just to "free" the code, but to provide users with the higher degree of flexibi-
lity in fine-tuning of the configuration parameters.

Initial release includes configuration for the MicroZed board we used for this software develop-
ment, we plan to add support for more boards, including Elphel NC393 camera - the reason we
started this project.

Ezynq partially duplicates functionality of Xilinx proprietary tools - bootgen and fsbl (first
stage boot loader). It does not support secure boot functionality (that we have no interest in)
and loading the FPGA (PL) part with the bitstream - we plan to do that under control of the
operating system as we did in our earlier products, if needed this feature can be implemented
using U-boot.

This software consists of Python program that processes data from U-boot configuration files
(configuration parameters start with CONFIG_EZYNQ_ prefix) that are collected in
include/autoconf.mk (it is generated by "make include/autoconf.mk") and generates several output
files:

1. the header file (default name boot_head.bin) formatted for the Zynq ROM Boot Loader (RBL)
according to section 6.3.2 of Xilinx UG585 -"Zynq-7000 AP SoC Technical Reference Manual". This
file uses RBL register initialization feature to set registers (MIO, DDR) that can be written
before system clocks and DDR memory are initialized - that requires polling status information
and waiting for particular states are reached.

2. *ezynq.c* file to be compiled and linked with other U-boot files. All ezynq-specific code is
called by a modified version of the arch_cpu_init() function - the only difference from the
U-boot version for Xilinx Zynq designed to be used with the proprietary FSBL program. This code
finishes register initialization (contrary to RBL it can wait for certain states are reached)
and performs relocation of the code from the on-chip memory (OCM) to the main system memory,
U-boot takes over from there. Optionally the debug code is generated that controls the LED state
at different stages of the boot process and outputs register states to the serial port.

3. html output file (default name u-boot.html) that lists the configuration parameters used
(specified and calculated from others), used PLLs and clocks, configured interfaces and their
usage of the MIO pins. It then lists all the registers written by RBL and written/tested during
execution of the arch_cpu_init(). Most of the registers are listed in the same sequence as they
are set in hardware, the very last ones show registers that may be set/tested multiple times (as
related to UART debug data output). The software keeps track of the register data writes and
uses the default values provided in UG585, so when only some bit fields of the whole register
need to be modified, software relies on the calculated previous value and does not perform read
operations on the actual registers before writing the modified data back.

The U-boot version designed to be used with FSBL relied on it to initialize registers, clocks
and DRAM memory, load U-boot image to DRAM at address 0x4000000 and pass control there. FSBL
itself was loaded by RBL into on-chip memory (OCM) at address 0, having 192K of the total 256K
mapped to 0x0..0x2ffff and the remaining 64K - to the upper 0xffff0000..0xffffffff, the same
mapping is passed to U-boot that uses the high OCM memory for stack initially and later remaps
all of the OCM to 0xfffc0000.0xffffffff. Starting from 0x4000000 U-boot relocates itself to
address zero and runs there.

When using Ezynq the size of the U-boot image is limited to 192K - it is all what Zynq RBL can
load by itself. It is quite a lot (192K is just for code, data uses DRAM and is not limited by
the OCM) so U-boot can be loaded in a simple one-stage process without the need of the SPL when
first a mini-version of U-boot is loaded, and that version later loads the full U-boot to DRAM.

Generated *arch_cpu_init()* starts running in OCM, initializes DRAM, copies itself (first 192K
OCM) to DRAM to 0x4000000.0x402ffff (using just C, not assembly code) and than adds 0x4000000 to
the program counter. In this state it is possible to map DRAM to the 0x0.0x2ffff instead of the
OCM and copy 0x4000000.0x402ffff back to 0x0.0x2ffff and so return from the function
arch_cpu_init() gets the execution to the same low address where it started, but now it is in
the DRAM, not in the OCM. U-boot relocation functionality nicely skips actual relocation (as
the source and destination addresses are the same) and the data memory is initialized when 192K
OCM limit is not in effect anymore.

## SUPPORTED BOARDS

* **Avnet MicroZed**
* **Xilinx ZC706**
* **Elphel 10393**
* **Digilent/Avnet Zedboard** (not yet tested)

## INSTALLATION (see below for testing without U-boot installation)

When Ezynq repository is cloned, there is install_uboot.sh script in the top directory. Running
this script clones u-boot-xlnx and then adds links to the files in Ezynq sub-directory
u-boot-tree from the corresponding directories of the u-boot-xlnx, that allows to update Ezynq
project files by "git pull".

These links created by install_uboot.sh add new configuration files and replace 3 files in the
  u-boot-xlnx:

* boards.cfg - adding zynq-microzed there
* arch/arm/cpu/armv7/zynq/cpu.c - disabling arch_cpu_init() there if configuration was made for
  Ezynq
* arch/arm/cpu/armv7/zynq/Makefile - to add autogenerated (not in the repository)
  arch/arm/cpu/armv7/zynq/ezynq.c

New files include (for microzed):

* *include/configs/zynq_microzed.h* configuration parameters for U-boot features, described in
  U-boot README file
* *include/configs/ezynq/ezynq_MT41K256M16RE125.h* - Ezynq configuration parameters containing
  Micron DDR3 memory datasheet for the memory used by MicroZed board
* *include/configs/ezynq/ezynq_XC7Z010_1CLG400.h* - Ezynq configuration parameters containing
  Xilinx Zynq datasheet data for the SoC used by MicroZed board
* include/configs/ezynq/ezynq_microzed.h - rest of the Ezynq configuration parameters (it has the
  include lines for the 2 datasheet files listed above)
* *makeuboot* - script that configures U-boot for the microzed board, creates include/autoconf.mk,
  runs ezynqcfg.py to create Ezynq code (RBL header and ezynq.c), builds and links U-boot
  generating u-boot.bin, reruns ezynqcfg.py to include the length of the u-boot.bin into
  boot_head.bin and then combines boot_head.bin and u-boot.bin into boot.bin with a simple
  'cat' command.
 
## Testing without u-boot and cross-compiler toolchain
 
 It is possible to try just the ezynqcfg.py script without building u-boot, no ARM toolchain
 is required  
 ./ezynqcfg.py -c test.mk --html test.html --html-mask 0x3ff --lowlevel ezynq.c
 This command uses a demo test.mk that mimics include/autoconf.mk and generates test.html and
 ezynq.c files  
 
## Useful links
* [Ezynq wiki page](http://wiki.elphel.com/index.php?title=Ezynq)
* [meta-ezynq](https://sourceforge.net/p/elphel/meta-ezynq) - recipes for Yocto Poky

## Known issues
1. [FIXED] Linux: USB does not work yet. 
2. [FIXED] Linux: Ethernet is not tested (on the board we have it does not work with provided images, so we
   suspect a hardware problem.
3. Bitstream loading is not tested, current code does not enable level shifters - it may be
   more appropriate to do just before loading of the bitstream.
4. Write level training for DDR memory doesn't work in MicroZed and ZC706

## Trademark notices

Xilinx® and Zynq® are registered trademarks of Xilinx.

Ezynq project is not endorsed by or affiliated with Xilinx Inc.

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