Linux に平行してベアメタルプログラムを走らせる のバックアップ差分(No.10)

• バックアップ一覧
• 現在との差分 を表示
• ソース を表示
• バックアップ を表示
• 電気回路/zynq/Linux に平行してベアメタルプログラムを走らせる へ行く。
  • 1 (2017-02-13 (月) 18:19:30)
  • 2 (2017-02-13 (月) 21:36:35)
  • 3 (2017-02-14 (火) 01:41:48)
  • 4 (2017-02-14 (火) 17:26:39)
  • 5 (2017-02-15 (水) 01:32:47)
  • 6 (2017-02-15 (水) 03:47:02)
  • 7 (2017-02-15 (水) 15:25:29)
  • 8 (2017-02-24 (金) 20:11:28)
  • 9 (2017-02-25 (土) 11:53:28)
  • 10 (2017-02-26 (日) 07:53:22)
  • 11 (2017-02-27 (月) 00:32:54)
  • 12 (2017-02-28 (火) 00:22:04)
  • 13 (2017-03-01 (水) 12:06:41)
  • 14 (2017-03-01 (水) 12:06:41)
  • 15 (2017-05-25 (木) 21:52:34)
  • 16 (2017-05-25 (木) 23:01:01)
  • 17 (2017-05-26 (金) 11:44:16)

• 追加された行はこの色です。
• 削除された行はこの色です。

[[公開メモ]]

#contents

* CPU でリアルタイム処理をしたい [#p86d9575]

UI や通信を Linux で行いつつ、~
リアルタイム性能の必要な処理を別途動かしたい。

Zynq には CPU が２つあるので、１つを Linux に、
１つをベアメタルに使えば完全な並列処理ができるはず？

http://www.wiki.xilinx.com/Real-Time+Linux によれば、~
IRQ Affinity という機能で、Linux で受け取る IRQ を特定の CPU 
に回すという方法もあるらしい。そちらの CPU を常時 Idle にしておき、
割り込み処理中の追加割り込みを禁止できるなら、Linux 
だけでリアルタイム処理ができるのかもしれないけれど、
そういう話にはなっていないようで。

* 資料 [#w2117929]
** 資料 [#w2117929]

シンプルな AMP : 2 つの Zynq SoC プロセッサ上で動作する Linux およびベアメタルシステム~
https://japan.xilinx.com/support/documentation/application_notes/j_xapp1078-amp-linux-bare-metal.pdf

上記に対する最新の補遺~
http://www.wiki.xilinx.com/XAPP1078+Latest+Information

むしろこっちが最新か？~
http://www.wiki.xilinx.com/Multi-OS+Support+(AMP+%26+Hypervisor)

FPGAマガジンの16に FreeRTOS をメインに動かして、
後から Linux を起動する方法が書かれている。

OpenAmp~
https://github.com/OpenAMP/open-amp ~
http://www.wiki.xilinx.com/OpenAMP

これを読めばいいのかも。

* 概要 [#ya93739b]
** OpenAmp を使えるとよさそう [#ya93739b]

https://github.com/OpenAMP/open-amp

Xilinx の OpenAmp というしくみを使うと、
CPU0 で走る Linux アプリから FreeRTOS や ベアメタル アプリを CPU1 で立ち上げたり、
そのリモートアプリとの間で通信をしたり、リモートアプリに Linux の資源を使わせたり
できるとのことで、まさに欲しかった機能と言えます。

- OpenAmp の機能
-- remoteproc ホストからリモートのプロセスを制御する
-- RPMsg ホストとリモートとの間での通信手段を提供する

OpenAMP は petalinux と、libmetal ライブラリの上に成り立っています。
OpenAmp は petalinux を前提としていて、libmetal に依存しているのだそうです。

** petalinux [#ma53223d]
ただ、試してみると petalinux のビルドシステムは重すぎて使いづらい気が・・・
どうするべきか。

* petalinux [#ma53223d]

Xilinx がメンテナンスしている Linux ディストリビューション。

開発環境、ブートローダ、カーネル、ソフトウェアパッケージ、すべてがこれでまかなえる。

ただし設定、コンパイル、デプロイにものすごく時間がかかるので、
そのままの形で開発に使うには向かないのかも。

- [[電気回路/zynq/Petalinux のビルド]]~
とりあえず標準の形でビルドするところまで~
~
- [[電気回路/zynq/Petalinux のカスタマイズ]]~
いろいろカスタマイズして開発環境を整えた内容

** libmetal [#nc69c479]
* libmetal [#nc69c479]

https://github.com/OpenAMP/libmetal

linux, freertos, baremetal で共通に使えるライブラリ API を提供し、
デバイスへのアクセスや割り込み制御、メモリ確保、その他ユーティリティ機能を提供するもの
のようです。

- Linux user space (based on UIO and VFIO support in the kernel)
- RTOS (with and without virtual memory)
- Bare-metal environments

となっているので、metal_xxx という共通の名前の関数ではあるものの、
環境によって実装を変え、適切な API 呼び出しに変換してくれる、ということみたい。

** libhugetlbfs-dev が必要 [#kb5f67e2]

make には cmake, doxygen, libsysfs-dev, libhugetlbfs-dev が必要になりますが、
Debian stretch には libhugetlbfs-dev が含まれていませんでした。Ubuntu には含まれていました。

** cmake では out-of-source build が推奨されているそうで [#c65d31dc]

http://stackoverflow.com/questions/27247123/how-to-clean-up-the-project-files-generated-by-cmake ~
cmake は out-of-source build が推奨されているそうで・・・
cmake は out-of-source build が推奨されているそうで・・・最初、これがわからず苦労しました。

 LANG:console
 $ cd ~/z-turn
 $ git clone https://github.com/OpenAMP/libmetal.git
 $ cd libmetal
 $ mkdir build
 $ cd build
 $ cmake ..
  -- The C compiler identification is GNU 5.4.0
  -- Check for working C compiler: /usr/bin/cc
  -- Check for working C compiler: /usr/bin/cc -- works
  -- Detecting C compiler ABI info
  -- Detecting C compiler ABI info - done
  -- Detecting C compile features
  -- Detecting C compile features - done
  -- Host:    Linux/x86_64
  -- Target:  Linux/x86_64
  -- Machine: Generic
  -- Found Doxygen: /usr/bin/doxygen (found version "1.8.11")
  -- Looking for include file stdatomic.h
  -- Looking for include file stdatomic.h - found
  -- Looking for include file linux/futex.h
  -- Looking for include file linux/futex.h - found
  -- Found HUGETLBFS: /usr/lib/libhugetlbfs.so
  -- Found LIBSYSFS: /usr/lib/x86_64-linux-gnu/libsysfs.so
  -- Looking for pthread.h
  -- Looking for pthread.h - found
  -- Looking for pthread_create
  -- Looking for pthread_create - not found
  -- Looking for pthread_create in pthreads
  -- Looking for pthread_create in pthreads - not found
  -- Looking for pthread_create in pthread
  -- Looking for pthread_create in pthread - found
  -- Found Threads: TRUE
  -- Found LibRt: /usr/lib/x86_64-linux-gnu/librt.so
  -- Configuring done
  -- Generating done
  -- Build files have been written to: /home/osamu/z-turn/libmetal/build
 $ ls
  CMakeCache.txt  CTestTestfile.cmake  cmake_install.cmake  lib/
  CMakeFiles/     Makefile             doc/                 test/
 $ make doc
 $ browse doc/html

ドキュメントは見られるようになったけれど・・・~
Target が Linux/x86_64 になってしまっている？

** zynq7-linux 用の設定を読み込む [#ofb6845b]

Target を arm にするにはどうするのか、

 LANG:console
 $ cd ~/z-turn/libmetal
 $ grep -s CROSS `find`
  ./build/CMakeFiles/3.5.1/CMakeSystem.cmake:set(CMAKE_CROSSCOMPILING "FALSE")
  ./cmake/platforms/zynq7-freertos.cmake:set (CROSS_PREFIX           "arm-none-eabi-" CACHE STRING "")
  ./cmake/platforms/cross-linux-gcc.cmake:set (CMAKE_C_COMPILER   "${CROSS_PREFIX}gcc" CACHE STRING "")
  ./cmake/platforms/cross-linux-gcc.cmake:set (CMAKE_CXX_COMPILER "${CROSS_PREFIX}g++" CACHE STRING "")
  ./cmake/platforms/cross-generic-iar.cmake:CMAKE_FORCE_C_COMPILER   ("icc${CROSS_SUFFIX}" IAR)
  ./cmake/platforms/cross-generic-iar.cmake:CMAKE_FORCE_CXX_COMPILER ("icc${CROSS_SUFFIX} --eec++" IAR)
  ./cmake/platforms/zynqmp-a53-generic.cmake:set (CROSS_PREFIX           "aarch64-none-elf-" CACHE STRING "")
  ./cmake/platforms/zynqmp-r5-generic.cmake:set (CROSS_PREFIX           "armr5-none-eabi-" CACHE STRING "")
  ./cmake/platforms/zynqmp-r5-freertos.cmake:set (CROSS_PREFIX           "armr5-none-eabi-" CACHE STRING "")
  ./cmake/platforms/zynq7-linux.cmake:set (CROSS_PREFIX           "arm-xilinx-linux-gnueabi-" CACHE STRING "")
  ./cmake/platforms/zynq7-generic.cmake:set (CROSS_PREFIX           "arm-none-eabi-" CACHE STRING "")
  ./cmake/platforms/zynq7-generic-iar.cmake:set (CROSS_SUFFIX           "arm" CACHE STRING "")
  ./cmake/platforms/zynqmp-linux.cmake:set (CROSS_PREFIX           "aarch64-linux-gnu-" CACHE STRING "")
  ./cmake/platforms/cross-generic-gcc.cmake:CMAKE_FORCE_C_COMPILER   ("${CROSS_PREFIX}gcc" GNU)
  ./cmake/platforms/cross-generic-gcc.cmake:CMAKE_FORCE_CXX_COMPILER ("${CROSS_PREFIX}g++" GNU)
 $ arm-^T
  ...
  arm-linux-gnueabihf-gcc
  ...
  arm-none-eabi-gcc
  ...
 $ cat cmake/platforms/zynq7-generic.cmake
  set (CMAKE_SYSTEM_PROCESSOR "arm"              CACHE STRING "")
  set (MACHINE "zynq7" CACHE STRING "")
  set (CROSS_PREFIX           "arm-none-eabi-" CACHE STRING "")
  
  set (CMAKE_C_FLAGS          "-mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -O2 -g" CACHE STRING "")
  
  include (cross-generic-gcc)
  
  # vim: expandtab:ts=2:sw=2:smartindent
 $ cat cmake/platforms/cross-generic-gcc.cmake
  set (CMAKE_SYSTEM_NAME "Generic"             CACHE STRING "")
  set (CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER CACHE STRING "")
  set (CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER CACHE STRING "")
  set (CMAKE_FIND_ROOT_PATH_MODE_INCLUDE NEVER CACHE STRING "")
  
  include (CMakeForceCompiler)
  CMAKE_FORCE_C_COMPILER   ("${CROSS_PREFIX}gcc" GNU)
  CMAKE_FORCE_CXX_COMPILER ("${CROSS_PREFIX}g++" GNU)
  
  # vim: expandtab:ts=2:sw=2:smartindent
 $

なので、
- platforms/zynq7-freertos.cmake
- platforms/zynq7-linux.cmake
- platforms/zynq7-generic.cmake

のいずれかが読み込まれてくれると良さそうなのだけれど、、、
実は zynq7-linux だと CROSS_PREFIX が arm-linux-gnueabihf- となってほしいところ、
arm-xilinx-linux-gnueabi- となってしまう？

ただ、CMakeLists.txt を読んでもこの platform を指定する方法がわかりませんでした。

そこで、CMakeLists.txt に

 LANG:cmake
    cmake_minimum_required (VERSION 2.6)
    
    list (APPEND CMAKE_MODULE_PATH
          "${CMAKE_SOURCE_DIR}/cmake"
          "${CMAKE_SOURCE_DIR}/cmake/modules"
          "${CMAKE_SOURCE_DIR}/cmake/platforms")
   
  　 project (metal C)
    
  + include (${PLATFORM_NAME})
  +
    include (CheckIncludeFiles)
    include (CheckCSourceCompiles)
    include (collect)
    include (options)
    include (depends)
    ...

のようにして PLATFORM_NAME へ platform 名を渡せるようにしてみたところ、

 LANG:console
 $ cd ~/z-turn/libmetal
 $ mkdir build-zynq7-linux
 $ cd build-zynq7-linux
 $ mkdir build_zynq7-linux
 $ cd build_zynq7-linux
 $ cmake -DPLATFORM_NAME=zynq7-linux ..
  -- The C compiler identification is GNU 5.4.0
  -- Check for working C compiler: /usr/bin/cc
  -- Check for working C compiler: /usr/bin/cc -- works
  -- Detecting C compiler ABI info
  -- Detecting C compiler ABI info - done
  -- Detecting C compile features
  -- Detecting C compile features - done
  -- Host:    Linux/x86_64
  -- Target:  Linux/arm
  -- Machine: Generic
  -- Found Doxygen: /usr/bin/doxygen (found version "1.8.11")
  -- Looking for include file stdatomic.h
  -- Looking for include file stdatomic.h - found
  -- Looking for include file linux/futex.h
  -- Looking for include file linux/futex.h - found
  -- Found HUGETLBFS: /usr/lib/libhugetlbfs.so
  -- Found LIBSYSFS: /usr/lib/x86_64-linux-gnu/libsysfs.so
  -- Looking for pthread.h
  -- Looking for pthread.h - found
  -- Looking for pthread_create
  -- Looking for pthread_create - not found
  -- Looking for pthread_create in pthreads
  -- Looking for pthread_create in pthreads - not found
  -- Looking for pthread_create in pthread
  -- Looking for pthread_create in pthread - found
  -- Found Threads: TRUE
  -- Found LibRt: /usr/lib/x86_64-linux-gnu/librt.so
  -- Configuring done
  -- Generating done
  -- Build files have been written to: /home/osamu/z-turn/libmetal/build-zynq7-linux
  -- Build files have been written to: /home/osamu/z-turn/libmetal/build_zynq7-linux
 $ ls
  CMakeCache.txt  CTestTestfile.cmake  cmake_install.cmake  lib
  CMakeFiles      Makefile             doc                  test
 $ make
  Scanning dependencies of target metal-shared
  [  1%] Building C object lib/CMakeFiles/metal-shared.dir/device.c.o
  [  2%] Building C object lib/CMakeFiles/metal-shared.dir/init.c.o
  [  3%] Building C object lib/CMakeFiles/metal-shared.dir/log.c.o
  [  5%] Building C object lib/CMakeFiles/metal-shared.dir/shmem.c.o
  [  6%] Building C object lib/CMakeFiles/metal-shared.dir/version.c.o
  [  7%] Building C object lib/CMakeFiles/metal-shared.dir/dma.c.o
  [  8%] Building C object lib/CMakeFiles/metal-shared.dir/io.c.o
  [ 10%] Building C object lib/CMakeFiles/metal-shared.dir/system/linux/device.c.o
  [ 11%] Building C object lib/CMakeFiles/metal-shared.dir/system/linux/init.c.o
  [ 12%] Building C object lib/CMakeFiles/metal-shared.dir/system/linux/shmem.c.o
  [ 13%] Building C object lib/CMakeFiles/metal-shared.dir/system/linux/utilities.c.o
  [ 15%] Building C object lib/CMakeFiles/metal-shared.dir/system/linux/condition.c.o
  [ 16%] Building C object lib/CMakeFiles/metal-shared.dir/system/linux/irq.c.o
  [ 17%] Building C object lib/CMakeFiles/metal-shared.dir/system/linux/cache.c.o
  [ 18%] Building C object lib/CMakeFiles/metal-shared.dir/system/linux/io.c.o
  [ 20%] Building C object lib/CMakeFiles/metal-shared.dir/system/linux/time.c.o
  [ 21%] Building C object lib/CMakeFiles/metal-shared.dir/system/linux/sleep.c.o
  [ 22%] Linking C shared library libmetal.so
  [ 22%] Built target metal-shared
  Scanning dependencies of target metal-static
  [ 23%] Building C object lib/CMakeFiles/metal-static.dir/device.c.o
  [ 25%] Building C object lib/CMakeFiles/metal-static.dir/init.c.o
  [ 26%] Building C object lib/CMakeFiles/metal-static.dir/log.c.o
  [ 27%] Building C object lib/CMakeFiles/metal-static.dir/shmem.c.o
  [ 28%] Building C object lib/CMakeFiles/metal-static.dir/version.c.o
  [ 30%] Building C object lib/CMakeFiles/metal-static.dir/dma.c.o
  [ 31%] Building C object lib/CMakeFiles/metal-static.dir/io.c.o
  [ 32%] Building C object lib/CMakeFiles/metal-static.dir/system/linux/device.c.o
  [ 33%] Building C object lib/CMakeFiles/metal-static.dir/system/linux/init.c.o
  [ 35%] Building C object lib/CMakeFiles/metal-static.dir/system/linux/shmem.c.o
  [ 36%] Building C object lib/CMakeFiles/metal-static.dir/system/linux/utilities.c.o
  [ 37%] Building C object lib/CMakeFiles/metal-static.dir/system/linux/condition.c.o
  [ 38%] Building C object lib/CMakeFiles/metal-static.dir/system/linux/irq.c.o
  [ 40%] Building C object lib/CMakeFiles/metal-static.dir/system/linux/cache.c.o
  [ 41%] Building C object lib/CMakeFiles/metal-static.dir/system/linux/io.c.o
  [ 42%] Building C object lib/CMakeFiles/metal-static.dir/system/linux/time.c.o
  [ 43%] Building C object lib/CMakeFiles/metal-static.dir/system/linux/sleep.c.o
  [ 45%] Linking C static library libmetal.a
  [ 45%] Built target metal-static
  Scanning dependencies of target test-metal-shared
  [ 46%] Building C object test/CMakeFiles/test-metal-shared.dir/system/linux/main.c.o
  [ 47%] Building C object test/CMakeFiles/test-metal-shared.dir/system/linux/atomic.c.o
  [ 48%] Building C object test/CMakeFiles/test-metal-shared.dir/system/linux/mutex.c.o
  [ 50%] Building C object test/CMakeFiles/test-metal-shared.dir/system/linux/shmem.c.o
  [ 51%] Building C object test/CMakeFiles/test-metal-shared.dir/system/linux/condition.c.o
  [ 52%] Building C object test/CMakeFiles/test-metal-shared.dir/system/linux/threads.c.o
  [ 53%] Building C object test/CMakeFiles/test-metal-shared.dir/system/linux/spinlock.c.o
  [ 55%] Building C object test/CMakeFiles/test-metal-shared.dir/system/linux/alloc.c.o
  [ 56%] Building C object test/CMakeFiles/test-metal-shared.dir/version.c.o
  [ 57%] Building C object test/CMakeFiles/test-metal-shared.dir/metal-test.c.o
  [ 58%] Linking C executable test-metal-shared
  [ 58%] Built target test-metal-shared
  Scanning dependencies of target test-metal-static
  [ 60%] Building C object test/CMakeFiles/test-metal-static.dir/system/linux/main.c.o
  [ 61%] Building C object test/CMakeFiles/test-metal-static.dir/system/linux/atomic.c.o
  [ 62%] Building C object test/CMakeFiles/test-metal-static.dir/system/linux/mutex.c.o
  [ 63%] Building C object test/CMakeFiles/test-metal-static.dir/system/linux/shmem.c.o
  [ 65%] Building C object test/CMakeFiles/test-metal-static.dir/system/linux/condition.c.o
  [ 66%] Building C object test/CMakeFiles/test-metal-static.dir/system/linux/threads.c.o
  [ 67%] Building C object test/CMakeFiles/test-metal-static.dir/system/linux/spinlock.c.o
  [ 68%] Building C object test/CMakeFiles/test-metal-static.dir/system/linux/alloc.c.o
  [ 70%] Building C object test/CMakeFiles/test-metal-static.dir/version.c.o
  [ 71%] Building C object test/CMakeFiles/test-metal-static.dir/metal-test.c.o
  [ 72%] Linking C executable test-metal-static
  [ 72%] Built target test-metal-static
  Scanning dependencies of target metal-headers
  [ 73%] Building C object test/CMakeFiles/metal-headers.dir/metal-atomic-h.c.o
  [ 75%] Building C object test/CMakeFiles/metal-headers.dir/metal-compiler-h.c.o
  [ 76%] Building C object test/CMakeFiles/metal-headers.dir/metal-config-h.c.o
  [ 77%] Building C object test/CMakeFiles/metal-headers.dir/metal-device-h.c.o
  [ 78%] Building C object test/CMakeFiles/metal-headers.dir/metal-io-h.c.o
  [ 80%] Building C object test/CMakeFiles/metal-headers.dir/metal-list-h.c.o
  [ 81%] Building C object test/CMakeFiles/metal-headers.dir/metal-log-h.c.o
  [ 82%] Building C object test/CMakeFiles/metal-headers.dir/metal-mutex-h.c.o
  [ 83%] Building C object test/CMakeFiles/metal-headers.dir/metal-condition-h.c.o
  [ 85%] Building C object test/CMakeFiles/metal-headers.dir/metal-shmem-h.c.o
  [ 86%] Building C object test/CMakeFiles/metal-headers.dir/metal-sys-h.c.o
  [ 87%] Building C object test/CMakeFiles/metal-headers.dir/metal-utilities-h.c.o
  [ 88%] Building C object test/CMakeFiles/metal-headers.dir/metal-version-h.c.o
  [ 90%] Building C object test/CMakeFiles/metal-headers.dir/metal-cpu-h.c.o
  [ 91%] Building C object test/CMakeFiles/metal-headers.dir/metal-spinlock-h.c.o
  [ 92%] Building C object test/CMakeFiles/metal-headers.dir/metal-irq-h.c.o
  [ 93%] Building C object test/CMakeFiles/metal-headers.dir/metal-alloc-h.c.o
  [ 95%] Building C object test/CMakeFiles/metal-headers.dir/metal-cache-h.c.o
  [ 96%] Building C object test/CMakeFiles/metal-headers.dir/metal-dma-h.c.o
  [ 97%] Building C object test/CMakeFiles/metal-headers.dir/metal-time-h.c.o
  [ 98%] Building C object test/CMakeFiles/metal-headers.dir/metal-sleep-h.c.o
  [100%] Linking C static library libmetal-headers.a
  [100%] Built target metal-headers
  Scanning dependencies of target doc
  /home/osamu/z-turn/libmetal/lib/io.h:381: warning: end of file while inside a group
  
  /home/osamu/z-turn/libmetal/lib/system/freertos/irq.h:44: warning: argument 'interrupt' of command @param is not found in the argument list of metal_irq_isr(unsigned int vector)
  /home/osamu/z-turn/libmetal/lib/system/freertos/irq.h:47: warning: The following parameters of metal_irq_isr(unsigned int vector) are not documented:
    parameter 'vector'
  /home/osamu/z-turn/libmetal/lib/system/freertos/irq.h:44: warning: argument 'interrupt' of command @param is not found in the argument list of metal_irq_isr(unsigned int vector)
  /home/osamu/z-turn/libmetal/lib/system/generic/irq.h:47: warning: The following parameters of metal_irq_isr(unsigned int vector) are not documented:
    parameter 'vector'
  /home/osamu/z-turn/libmetal/lib/system/freertos/irq.h:44: warning: argument 'interrupt' of command @param is not found in the argument list of metal_irq_isr(unsigned int vector)
  /home/osamu/z-turn/libmetal/lib/system/freertos/irq.c:182: warning: The following parameters of metal_irq_isr(unsigned int vector) are not documented:
    parameter 'vector'
  [100%] Built target doc

として、ちゃんとビルドできました。
として、(なぜか)ちゃんとビルドできました。

でも、
インストールは後で試す。

ん？

 LANG:console
 $ mkdir build-zynq7-generic
 $ cd build-zynq7-generic
 $ file lib/libmetal.so.0.1.0
  lib/libmetal.so.0.1.0: ELF 64-bit LSB shared object, x86-64, version 1 (SYSV), dynamically linked, BuildID[sha1]=398b57d8d9b6c74b202d3abb480b317926bd8028, not stripped

ダメっぽい？？？

** zynq-generic 用のビルド [#ded5b367]

 LANG:console
 $ mkdir build_zynq7-generic
 $ cd build_zynq7-generic
 $ cmake -DPLATFORM_NAME=zynq7-generic ..
  -- The C compiler identification is GNU 5.4.0
  -- Check for working C compiler: /usr/bin/cc
  -- Check for working C compiler: /usr/bin/cc -- works
  -- Detecting C compiler ABI info
  -- Detecting C compiler ABI info - done
  -- Detecting C compile features
  -- Detecting C compile features - done
  -- Host:    Linux/x86_64
  -- Target:  Generic/arm
  -- Machine: zynq7
  -- Found Doxygen: /usr/bin/doxygen (found version "1.8.11")
  -- Looking for include file stdatomic.h
  -- Looking for include file stdatomic.h - found
  -- Configuring done
  -- Generating done
  -- Build files have been written to: /home/osamu/z-turn/libmetal/build-zynq7-generic
  -- Build files have been written to: /home/osamu/z-turn/libmetal/build_zynq7-generic
 $ ls -F
  CMakeCache.txt  CTestTestfile.cmake  cmake_install.cmake  lib/
  CMakeFiles/     Makefile             doc/
 $ make
  Scanning dependencies of target metal-static
  [  5%] Building C object lib/CMakeFiles/metal-static.dir/device.c.o
  In file included from /home/osamu/z-turn/libmetal/build-zynq7-generic/lib/include/metal/system/generic/sys.h:52:0,
                   from /home/osamu/z-turn/libmetal/build-zynq7-generic/lib/include/metal/sys.h:108,
                   from /home/osamu/z-turn/libmetal/build-zynq7-generic/lib/include/metal/io.h:44,
                   from /home/osamu/z-turn/libmetal/build-zynq7-generic/lib/include/metal/device.h:40,
  In file included from /home/osamu/z-turn/libmetal/build_zynq7-generic/lib/include/metal/system/generic/sys.h:52:0,
                   from /home/osamu/z-turn/libmetal/build_zynq7-generic/lib/include/metal/sys.h:108,
                   from /home/osamu/z-turn/libmetal/build_zynq7-generic/lib/include/metal/io.h:44,
                   from /home/osamu/z-turn/libmetal/build_zynq7-generic/lib/include/metal/device.h:40,
                   from /home/osamu/z-turn/libmetal/lib/device.c:33:
  /home/osamu/z-turn/libmetal/build-zynq7-generic/lib/include/metal/system/generic/./zynq7/sys.h:40:21: fatal error: xscugic.h: No such file or directory
  /home/osamu/z-turn/libmetal/build_zynq7-generic/lib/include/metal/system/generic/./zynq7/sys.h:40:21: fatal error: xscugic.h: No such file or directory
  compilation terminated.
  lib/CMakeFiles/metal-static.dir/build.make:62: ターゲット 'lib/CMakeFiles/metal-static.dir/device.c.o' のレシピで失敗しました
  make[2]: *** [lib/CMakeFiles/metal-static.dir/device.c.o] エラー 1
  CMakeFiles/Makefile2:93: ターゲット 'lib/CMakeFiles/metal-static.dir/all' のレシピで失敗しました
  make[1]: *** [lib/CMakeFiles/metal-static.dir/all] エラー 2
  Makefile:138: ターゲット 'all' のレシピで失敗しました
  make: *** [all] エラー 2

のように、generic や freertos では cmake は成功するものの、
こちらでは cmake は成功するものの、
make では一部のヘッダーファイルが足りないようで失敗してしまいました。

xscugic.h は xilinx の gic = 割り込みコントローラ関連のヘッダーファイルと思われます。


** OpenAMP [#oa16b34b]
* OpenAMP [#oa16b34b]

https://github.com/OpenAMP/open-amp

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