README.md

Running machinekit-hal on the Kria KR260 board

First Iteration of the KR260 port runs on the Xilinx Ubuntu Desktop 22.04 LTS from Canonical: https://ubuntu.com/download/amd-xilinx

Docker based build image for building custom bitfiles:

docker pull thesnowwhite/bionic-vivado-sdk:2022.2
sudo mkdir /tftpboot
/usr/bin/docker run --rm --privileged --memory 48g --shm-size 1g --device /dev/snd -itv $(pwd):/work -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --net=host -e TZ=Europe/Copenhagen -v $HOME/.Xauthority:/home/vivado/.Xauthority -v $HOME/.Xresources:/home/vivado/.Xresources -v $HOME/.Xilinx:/home/vivado/.Xilinx -v /tftpboot:/tftpboot --name xilinx-sdk bionic-vivado-sdk:2022.2 /bin/bash

To enable running hostmot2 based machinekit-hal the mksocfpga fpga firmware can be auto loaded

wget https://github.com/machinekit/mksocfpga/releases/download/v1/kr260_xck26.bit
wget https://github.com/machinekit/mksocfpga/releases/download/v1/kria_kr260_xck26_ol.dtbo

sudo mkdir -p /lib/firmware/xilinx/machinekit
sudo mv ./kr260_xck26.bit ./kria_kr260_xck26_ol.dtbo /lib/firmware/xilinx/machinekit

sudo sh -c 'cat <<EOF > "/lib/firmware/xilinx/machinekit/shell.json"
{
    "shell_type" : "XRT_FLAT",
    "num_slots": "1"
}
EOF'

sudo sh -c 'cat <<EOF > "/etc/dfx-mgrd/default_firmware"
machinekit
EOF'

Remember to reboot.

Then install the following packages from the Machinekit(-hal) cloudsmith repos :

sudo apt install machinekit-hal \
libmachinekit-hal \
modmachinekit-hal-components \
modmachinekit-hal-drivers

Hal is then invoked with:

halrun -I

loadrt hostmot2
newinst hm2_soc_ol hm2-socfpga0 already_programmed=1 -- config="num_pwmgens=3 num_stepgens=6"

exit

To check what happened in the log:

cat /var/log/syslog | grep 'rtapi\|msgd'

The syslog can be cleared with:

sudo sh -c 'echo "" > /var/log/syslog'