How to run ubuntu guest + freeRTOS guest on bao?

[wusnga8dn]

Hello, I want to run the combination of ubuntu + freeRTOS guest on bao, may I ask if you have done related configuration work, and how should I do it?

[D3boker1]

Hello!

Yes, we have done a similar configuration using Raspberry Pi OS (previously called Raspbian). The steps required should be quite similar if you are using a custom Linux image, as in the demos. The process involves providing the necessary configuration required by the guest OS.

For instance, if you need to use the Ethernet port on the guest OS, you'll need to give the guest access to the Ethernet device in its configuration. Similarly, if you plan to connect a monitor to the board, you'll need to give the guest access to the HDMI device.

A similar approach must be taken for both operating systems (Linux and freeRTOS), as you can see in our demos. For example, please refer to the Linux+freeRTOS configuration for the Raspberry Pi 4B available here

[wusnga8dn]

你好！

是的，我们已经使用 Raspberry Pi OS（以前称为 Raspbian）完成了类似的配置。如果您使用的是自定义 Linux 映像，则所需的步骤应该与演示中的步骤非常相似。该过程涉及提供来宾操作系统所需的必要配置。

例如，如果您需要在来宾操作系统上使用以太网端口，则需要在其配置中授予来宾访问以太网设备的权限。同样，如果您计划将显示器连接到开发板上，则需要授予来宾访问 HDMI 设备的权限。

正如您在我们的演示中所见，必须对两种操作系统（Linux 和 freeRTOS）采取类似的方法。例如，请参考此处提供的 Raspberry Pi 4B 的 Linux+freeRTOS 配置

I'm very sorry that I don't understand such a configuration. If it is convenient, can you send your configuration file and configuration process? (Similar to the operation of bao-demo step-by-step guide) My basic configuration is similar to the example you described, and I need hdmi to display the Raspberry Pi and configure Ethernet. thank you very much for your help

[D3boker1]

The configuration is straightforward, and we highly recommend that you take a look at the configuration example provided in the Bao repository at https://github.com/bao-project/bao-hypervisor/blob/main/configs/example/config.c This should give you the basic knowledge to adapt one of our configuration files to meet your needs. To do so, you will need mainly to add your entries to devs and dev_num. I am attaching a configuration file that includes a Linux guest and a FreeRTOS guest for the RPI4b. This configuration file provides more extensive coverage than the demos.

The Linux guest is using:

• 2 Cores
• UART
• HDMI
• USB
• 1 GPIO Port

The FreeRTOS is using:

• 2 Cores
• 1 GPIO Port
• PWM0
• UART2
• GPIO Clock for the PWM
• I2C1

The guests have shared memory at address 0x70000000 for communication.

#include <config.h>

VM_IMAGE(linux_image, "path/to/Linux/image.bin");
VM_IMAGE(freertos_image, "path/to/freeRTOS/image.bin");

struct config config = {

    CONFIG_HEADER

    .shmemlist_size = 1,
    .shmemlist = (struct shmem[]) {
        [0] = { .size = 0x00010000 }
    },

    .vmlist_size = 2,
    .vmlist = {
        { /** Linux */
            .image = {
                .base_addr = 0x10000000,
                .load_addr = VM_IMAGE_OFFSET(linux_image),
                .size = VM_IMAGE_SIZE(linux_image)
            },

            .entry = 0x10000000,

            .platform = {
                .cpu_num = 2,

                .region_num = 1,
                .regions =  (struct mem_region[]) {
                    {
                        .base = 0x10000000,
                        .size = 0x30000000,
                        .place_phys = true,
                        .phys = 0x10000000
                    }
                },

                .ipc_num = 1,
                .ipcs = (struct ipc[]) {
                    {
                        .base = 0x70000000,
                        .size = 0x00010000,
                        .shmem_id = 0
                    }
                },

                .dev_num = 11,
                .devs =  (struct dev_region[]) {
                    {   
                        /* uarta */
                        .pa = 0xfe215000,
                        .va = 0xfe215000,
                        .size = 0x1000,
                        .interrupt_num = 1,
                        .interrupts = (uint64_t[]) {125}                        
                    },
                    {
                        .pa = 0xfd580000,
                        .va = 0xfd580000,
                        .size = 0x10000,
                        .interrupt_num = 2,
                        .interrupts = (uint64_t[]) {189, 190}  
                    },
                    {   
                        /* Arch timer interrupt */
                        .interrupt_num = 1,
                        .interrupts = 
                            (uint64_t[]) {27}                         
                    },
                    /** HDMI */
                    {
                        /*HDMI 0 and 1, ddc 0 and 1, DVP*/
                        .va = 0XFEF00000,
                        .pa = 0XFEF00000,
                        .size = 0x10000,
                        .interrupt_num = 1,
                        .interrupts = (uint64_t[]) {128}
                    },
                    {
                        /*dma*/
                        .va = 0xFE007000,
                        .pa = 0xFE007000,
                        .size = 0X1000,
                        .interrupt_num = 9,
                        .interrupts = (uint64_t[]) {112, 113, 114, 115, 116, 117, 118, 119, 120}
                    },
                    {
                        /*Mailbox Can go out. HDMI its not using it*/
                        .va = 0XFE00B000,
                        .pa = 0XFE00B000,
                        .size = 0x1000,
                        .interrupt_num = 1,
                        .interrupts = (uint64_t[]) {65}
                    },
                    {
                        /* GPIO */
                        .va = 0XFE200000,
                        .pa = 0XFE200000,
                        .size = 0x1000
                    },
                    {   
                        /** cprman */  
                        .pa = 0xfe101000,
                        .va = 0xfe101000,
                        .size = 0x2000,                     
                    },
                    {
                        /* pcie */
                        .pa = 0xfd500000,
                        .va = 0xfd500000,
                        .size = 0x10000,
                        .interrupt_num = 1,
                        .interrupts = (uint64_t[]) {180}                          
                    },
                    {
                        /* pcie  address space */
                        .pa = 0x600000000,
                        .va = 0x600000000,
                        .size = 0x200000000,                    
                    },
                    {
                        /* usb */
                        .pa = 0xfe980000,
                        .va = 0xfe980000,
                        .size = 0x10000,
                        .interrupt_num = 2,
                        .interrupts = (uint64_t[]) {72, 105}                          
                    },
                },

                .arch = {
                    .gic = {
                        .gicd_addr = 0xff841000,
                        .gicc_addr = 0xff842000,
                    }
                }
            },
        },
        { /** FreeRTOS*/
            .image = {
                .base_addr = 0x20000000,
                .load_addr = VM_IMAGE_OFFSET(freertos_image),
                .size = VM_IMAGE_SIZE(freertos_image)
            },

            .entry = 0x20001788,
            .cpu_affinity = 0b0001,

            .platform = {
                .cpu_num = 1,

                .region_num = 1,
                .regions =  (struct mem_region[]) {
                    {
                        .base = 0x20000000,
                        .size = 0x4000000 
                    }
                },

                .ipc_num = 1,
                .ipcs = (struct ipc[]) {
                    {
                        .base = 0x70000000,
                        .size = 0x00010000,
                        .shmem_id = 0
                    }
                },

                .dev_num = 6,
                .devs =  (struct dev_region[]) {
                    {   
                        // UART2 
                        .pa = 0xFE201000,
                        .va = 0xFE201000,
                        .size = 0x1000,
                        .interrupt_num = 1,
                        .interrupts = (uint64_t[]) {153}                        
                    },
                    {
                        /*GPIO*/
                        .pa = 0xFE200000,
                        .va = 0xFE200000,
                        .size = 0x1000,
                        .interrupt_num = 1,
                        .interrupts = (uint64_t[]) {145}
                    },
                    {
                        /*PWM0*/
                        .pa = 0xFE20C000,
                        .va = 0xFE20C000,
                        .size = 0x1000,
                    },
                    {
                        /*GPIO Clock: this is a GPIO clock for the PWM device*/
                        .pa = 0xFE101000,
                        .va = 0xFE101000,
                        .size = 0x1000,
                    },
                    {
                        /*I2C device 1*/
                        .pa = 0xFE804000,
                        .va = 0xFE804000,
                        .size = 0x1000,
                    },
                    {   
                        /* Arch timer interrupt */
                        .interrupt_num = 1,
                        .interrupts = 
                            (uint64_t[]) {27}                         
                    }
                },

                .arch = {
                    .gic = {
                        .gicd_addr = 0xFF841000,
                        .gicc_addr = 0xFF842000,
                    }
                }
            },
        }
    },
};

[wusnga8dn]

The configuration is straightforward, and we highly recommend that you take a look at the configuration example provided in the Bao repository at https://github.com/bao-project/bao-hypervisor/blob/main/configs/example/config.c This should give you the basic knowledge to adapt one of our configuration files to meet your needs. To do so, you will need mainly to add your entries to devs and _devnum. I am attaching a configuration file that includes a Linux guest and a FreeRTOS guest for the RPI4b. This configuration file provides more extensive coverage than the demos.

The Linux guest is using:

• 2 Cores
• UART
• HDMI
• USB
• 1 GPIO Port

The FreeRTOS is using:

• 2 Cores
• 1 GPIO Port
• PWM0
• UART2
• GPIO Clock for the PWM
• I2C1

The guests have shared memory at address 0x70000000 for communication.

#include <config.h>

VM_IMAGE(linux_image, "path/to/Linux/image.bin");
VM_IMAGE(freertos_image, "path/to/freeRTOS/image.bin");

struct config config = {

    CONFIG_HEADER

    .shmemlist_size = 1,
    .shmemlist = (struct shmem[]) {
        [0] = { .size = 0x00010000 }
    },

    .vmlist_size = 2,
    .vmlist = {
        { /** Linux */
            .image = {
                .base_addr = 0x10000000,
                .load_addr = VM_IMAGE_OFFSET(linux_image),
                .size = VM_IMAGE_SIZE(linux_image)
            },

            .entry = 0x10000000,

            .platform = {
                .cpu_num = 2,

                .region_num = 1,
                .regions =  (struct mem_region[]) {
                    {
                        .base = 0x10000000,
                        .size = 0x30000000,
                        .place_phys = true,
                        .phys = 0x10000000
                    }
                },

                .ipc_num = 1,
                .ipcs = (struct ipc[]) {
                    {
                        .base = 0x70000000,
                        .size = 0x00010000,
                        .shmem_id = 0
                    }
                },

                .dev_num = 11,
                .devs =  (struct dev_region[]) {
                    {   
                        /* uarta */
                        .pa = 0xfe215000,
                        .va = 0xfe215000,
                        .size = 0x1000,
                        .interrupt_num = 1,
                        .interrupts = (uint64_t[]) {125}                        
                    },
                    {
                        .pa = 0xfd580000,
                        .va = 0xfd580000,
                        .size = 0x10000,
                        .interrupt_num = 2,
                        .interrupts = (uint64_t[]) {189, 190}  
                    },
                    {   
                        /* Arch timer interrupt */
                        .interrupt_num = 1,
                        .interrupts = 
                            (uint64_t[]) {27}                         
                    },
                    /** HDMI */
                    {
                        /*HDMI 0 and 1, ddc 0 and 1, DVP*/
                        .va = 0XFEF00000,
                        .pa = 0XFEF00000,
                        .size = 0x10000,
                        .interrupt_num = 1,
                        .interrupts = (uint64_t[]) {128}
                    },
                    {
                        /*dma*/
                        .va = 0xFE007000,
                        .pa = 0xFE007000,
                        .size = 0X1000,
                        .interrupt_num = 9,
                        .interrupts = (uint64_t[]) {112, 113, 114, 115, 116, 117, 118, 119, 120}
                    },
                    {
                        /*Mailbox Can go out. HDMI its not using it*/
                        .va = 0XFE00B000,
                        .pa = 0XFE00B000,
                        .size = 0x1000,
                        .interrupt_num = 1,
                        .interrupts = (uint64_t[]) {65}
                    },
                    {
                        /* GPIO */
                        .va = 0XFE200000,
                        .pa = 0XFE200000,
                        .size = 0x1000
                    },
                    {   
                        /** cprman */  
                        .pa = 0xfe101000,
                        .va = 0xfe101000,
                        .size = 0x2000,                     
                    },
                    {
                        /* pcie */
                        .pa = 0xfd500000,
                        .va = 0xfd500000,
                        .size = 0x10000,
                        .interrupt_num = 1,
                        .interrupts = (uint64_t[]) {180}                          
                    },
                    {
                        /* pcie  address space */
                        .pa = 0x600000000,
                        .va = 0x600000000,
                        .size = 0x200000000,                    
                    },
                    {
                        /* usb */
                        .pa = 0xfe980000,
                        .va = 0xfe980000,
                        .size = 0x10000,
                        .interrupt_num = 2,
                        .interrupts = (uint64_t[]) {72, 105}                          
                    },
                },

                .arch = {
                    .gic = {
                        .gicd_addr = 0xff841000,
                        .gicc_addr = 0xff842000,
                    }
                }
            },
        },
        { /** FreeRTOS*/
            .image = {
                .base_addr = 0x20000000,
                .load_addr = VM_IMAGE_OFFSET(freertos_image),
                .size = VM_IMAGE_SIZE(freertos_image)
            },

            .entry = 0x20001788,
            .cpu_affinity = 0b0001,

            .platform = {
                .cpu_num = 1,

                .region_num = 1,
                .regions =  (struct mem_region[]) {
                    {
                        .base = 0x20000000,
                        .size = 0x4000000 
                    }
                },

                .ipc_num = 1,
                .ipcs = (struct ipc[]) {
                    {
                        .base = 0x70000000,
                        .size = 0x00010000,
                        .shmem_id = 0
                    }
                },

                .dev_num = 6,
                .devs =  (struct dev_region[]) {
                    {   
                        // UART2 
                        .pa = 0xFE201000,
                        .va = 0xFE201000,
                        .size = 0x1000,
                        .interrupt_num = 1,
                        .interrupts = (uint64_t[]) {153}                        
                    },
                    {
                        /*GPIO*/
                        .pa = 0xFE200000,
                        .va = 0xFE200000,
                        .size = 0x1000,
                        .interrupt_num = 1,
                        .interrupts = (uint64_t[]) {145}
                    },
                    {
                        /*PWM0*/
                        .pa = 0xFE20C000,
                        .va = 0xFE20C000,
                        .size = 0x1000,
                    },
                    {
                        /*GPIO Clock: this is a GPIO clock for the PWM device*/
                        .pa = 0xFE101000,
                        .va = 0xFE101000,
                        .size = 0x1000,
                    },
                    {
                        /*I2C device 1*/
                        .pa = 0xFE804000,
                        .va = 0xFE804000,
                        .size = 0x1000,
                    },
                    {   
                        /* Arch timer interrupt */
                        .interrupt_num = 1,
                        .interrupts = 
                            (uint64_t[]) {27}                         
                    }
                },

                .arch = {
                    .gic = {
                        .gicd_addr = 0xFF841000,
                        .gicc_addr = 0xFF842000,
                    }
                }
            },
        }
    },
};

Thanks a lot for your help, here I have two questions: First of all, I am going to directly try the configuration file you gave and make a debian linux image. How should I change it in the following steps? Second, I am going to modify this part of the content after testing the configuration file you gave me, but I don’t know much about the settings of the physical address and virtual address inside. How is this part calculated? Is there any documentation available? refer to? Linux Guest

1. Download the Linux kernel source Setup linux environment variables. Start by the demo resource directory:

export BAO_DEMOS_LINUX=$BAO_DEMOS/guests/linux Setup repo and version. Specifically for the NXP iMX platforms use:

export BAO_DEMOS_LINUX_REPO=https://source.codeaurora.org/external/imx/linux-imx export BAO_DEMOS_LINUX_VERSION=rel_imx_5.4.24_2.1.0 For all other platforms clone the latest mainline Linux release:

export BAO_DEMOS_LINUX_REPO=https://github.com/torvalds/linux.git export BAO_DEMOS_LINUX_VERSION=v6.1 Setup an environment variable pointing to Linux's source code:

export BAO_DEMOS_LINUX_SRC=$BAO_DEMOS_WRKDIR_SRC/linux-$BAO_DEMOS_LINUX_VERSION And make a shallow clone of the target repo:

git clone $BAO_DEMOS_LINUX_REPO $BAO_DEMOS_LINUX_SRC\ --depth 1 --branch $BAO_DEMOS_LINUX_VERSION cd $BAO_DEMOS_LINUX_SRC git apply $BAO_DEMOS_LINUX/patches/$BAO_DEMOS_LINUX_VERSION/*.patch Finally, setup and environment variable pointing to the target architecture and platform specific config to be used by buildroot:

export BAO_DEMOS_LINUX_CFG_FRAG=$(ls $BAO_DEMOS_LINUX/configs/base.config\ $BAO_DEMOS_LINUX/configs/$ARCH.config\ $BAO_DEMOS_LINUX/configs/$PLATFORM.config 2> /dev/null) Use Buildroot to build Linux with a built-in initramfs Setup buildroot environment variables:

export BAO_DEMOS_BUILDROOT=$BAO_DEMOS_WRKDIR_SRC/\ buildroot-$ARCH-$BAO_DEMOS_LINUX_VERSION export BAO_DEMOS_BUILDROOT_DEFCFG=$BAO_DEMOS_LINUX/buildroot/$ARCH.config export LINUX_OVERRIDE_SRCDIR=$BAO_DEMOS_LINUX_SRC Clone the latest buildroot at the latest stable version:

git clone https://github.com/buildroot/buildroot.git $BAO_DEMOS_BUILDROOT\ --depth 1 --branch 2022.11 cd $BAO_DEMOS_BUILDROOT Use our provided buildroot defconfig, which itself points to the a Linux kernel defconfig and patches (mainly for the inter-vm communication drivers) and build:

make defconfig BR2_DEFCONFIG=$BAO_DEMOS_BUILDROOT_DEFCFG make linux-reconfigure all mv $BAO_DEMOS_BUILDROOT/output/images/Image\ $BAO_DEMOS_BUILDROOT/output/images/Image-$PLATFORM Build the device tree and wrap it with the kernel image NOTE

If your target demo features multiple Linux virtual machines, you will have to repeat this last step for each of these, which should correspond to different .dts files in $BAO_DEMOS/$DEMO/devicetrees.

The device tree(s) for your target demo are available in $BAO_DEMOS/$DEMO/devicetrees/$PLATFORM. For a device tree file named linux.dts define a virtual machine variable:

export BAO_DEMO_LINUX_VM=linux Then build:

dtc $BAO_DEMOS/demos/$DEMO/devicetrees/$PLATFORM/$BAO_DEMO_LINUX_VM.dts >\ $BAO_DEMOS_WRKDIR_IMGS/$BAO_DEMO_LINUX_VM.dtb Wrap the kernel image and device tree blob in a single binary:

make -C $BAO_DEMOS_LINUX/lloader\ ARCH=$ARCH\ IMAGE=$BAO_DEMOS_BUILDROOT/output/images/Image-$PLATFORM\ DTB=$BAO_DEMOS_WRKDIR_IMGS/$BAO_DEMO_LINUX_VM.dtb\ TARGET=$BAO_DEMOS_WRKDIR_IMGS/$BAO_DEMO_LINUX_VM

[D3boker1]

Hi @wusnga8dn,

I believe it would be better if you took a step back and understood the configuration file for bao's guests. Note that our demos exist to provide users with a "plug and play" experience, allowing you to test Bao on your platform and ensure everything runs smoothly.

That being said, I noticed you are attempting to replace the Rasberry Linux kernel URL in buildroot. If you already have a Linux image (the Raspberry Pi OS), why are you trying to use buildroot?

Therefore, it would be best to perform the steps separately. Here's what I suggest:

1. Get the Linux image (the RPIOS).
2. Obtain the freeRTOS image.
3. Adapt the configuration file I provided above by changing the path to your files, adding or removing devices as needed for the guests, and consulting the BCM2711 datasheet to obtain the devices addresses.

[wusnga8dn]

2. freeRTOS

Thank you very much for your help, but I don't understand a little about the steps you mentioned. Here are my questions:

1. How should I make the linux image of the Raspberry Pi system so that it can be successfully loaded by bao like the linux in the demo? I am currently trying to make a kernel image through the steps of compiling the kernel provided on the Raspberry Pi official website, and use it to replace the linux image in the demo. Is this possible?
2. For the freeRTOS image, what I think of is to make it according to the method given in the demo. I hope to change the steps in the demo as little as possible to obtain the Linux + freeRTOS image I want

[josecm]

@wusnga8dn We'll be working on adding a demo featuring a full Ubuntu image to some of the platforms. For that reason, I've marked this as a feature request.

[josecm]

@ninolomata is looking into this. Hoping to have some news soon.