mirror of
https://github.com/projectacrn/acrn-hypervisor.git
synced 2025-06-19 12:12:16 +00:00
doc: update redirects for deleted docs
Add a couple of redirect pages for 404 errors noted in analytics data, and add replace the deleted roscube GSG with a doc linking to the last updated version in v2.5. Signed-off-by: David B. Kinder <david.b.kinder@intel.com>
This commit is contained in:
David B. Kinder
David Kinder
parent
0f55ae4001
commit
d8e0b7df43
@ -381,8 +381,10 @@ html_redirect_pages = [
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('developer-guides/index', 'contribute'),
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('developer-guides/index', 'contribute'),
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('getting-started/index', 'try'),
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('getting-started/index', 'try'),
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('user-guides/index', 'develop'),
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('user-guides/index', 'develop'),
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('tutorials/index', 'develop'),
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('hardware', 'reference/hardware'),
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('hardware', 'reference/hardware'),
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('release_notes', 'release_notes/index'),
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('release_notes', 'release_notes/index'),
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('getting-started/rt_industry', 'getting-started/getting-started'),
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('getting-started/rt_industry', 'getting-started/getting-started'),
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('getting-started/rt_industry_ubuntu', 'getting-started/getting-started'),
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('getting-started/rt_industry_ubuntu', 'getting-started/getting-started'),
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('getting-started/building-from-source', 'getting-started/getting-started'),
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]
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]
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@ -5,709 +5,7 @@
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Getting Started Guide for ACRN Industry Scenario With ROScube-I
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Getting Started Guide for ACRN Industry Scenario With ROScube-I
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###############################################################
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###############################################################
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.. contents::
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ROScube support is not verified with the latest release of ACRN. See the
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:local:
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`v2.5 release ROSCube documentation
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:depth: 1
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<https://projectacrn.github.io/2.5/getting-started/roscube/roscube-gsg.html>`_
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for the latest instructions.
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Verified Version
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****************
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- Ubuntu version: **18.04**
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- GCC version: **7.5.0**
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- ACRN-hypervisor branch: **v2.1**
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- ACRN-Kernel (Service VM kernel): **v2.1**
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- RT kernel for Ubuntu User VM OS: **Linux kernel 4.19.59 with Xenomai 3.1**
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- HW: `ROScube-I`_
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ADLINK `ROScube-I`_ is a real-time `ROS 2`_-enabled robotic controller based
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on Intel® Xeon® 9th Gen Intel® Core™ i7/i3 and 8th Gen Intel® Core™ i5
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processors. It features comprehensive I/O connectivity supporting a wide
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variety of sensors and actuators for unlimited robotic applications.
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.. _ROScube-I:
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https://www.adlinktech.com/Products/ROS2_Solution/ROS2_Controller/ROScube-I?lang=en
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.. _ROS 2:
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https://index.ros.org/doc/ros2/
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Architecture
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************
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This tutorial will show you how to install the ACRN Industry Scenario on ROScube-I.
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The scenario is shown here:
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.. figure:: images/rqi-acrn-architecture.png
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* Service VM: Used to launch the User VM and real-time VM.
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* User VM: Run `ROS 2`_ application in this VM, such as for SLAM or navigation.
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* Real-time VM: Run critical tasks in this VM, such as the base driver.
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Prerequisites
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*************
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* Connect the ROScube-I as shown here:
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- HDMI for monitor.
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- Network on Ethernet port 1.
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- Keyboard and mouse on USB.
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.. figure:: images/rqi-acrn-hw-connection.jpg
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:width: 600px
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* Install Ubuntu 18.04 on ROScube-I.
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* Modify the following BIOS settings.
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.. csv-table::
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:widths: 15, 30, 10
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"Hyper-threading", "Advanced -> CPU Configuration", "Disabled"
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"Intel (VMX) Virtualization", "Advanced -> CPU Configuration", "Enabled"
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"Intel(R) SpeedStep(tm)", "Advanced -> CPU Configuration", "Disabled"
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"Intel(R) Speed Shift Technology", "Advanced -> CPU configuration", "Disabled"
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"Turbo Mode", "Advanced -> CPU configuration", "Disabled"
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"C States", "Advanced -> CPU configuration", "Disabled"
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"VT-d", "Chipset -> System Agent (SA) Configuration", "Enabled"
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"DVMT-Pre Allocated", "Chipset -> System Agent (SA) Configuration -> Graphics Configuration", "64M"
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.. rst-class:: numbered-step
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Install ACRN Hypervisor
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***********************
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Set Up Environment
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==================
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#. Open ``/etc/default/grub/`` and add ``idle=nomwait intel_pstate=disable``
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to the end of ``GRUB_CMDLINE_LINUX_DEFAULT``.
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.. figure:: images/rqi-acrn-grub.png
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#. Update GRUB and then reboot.
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.. code-block:: bash
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sudo update-grub
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sudo reboot
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#. Install the necessary libraries:
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.. code-block:: bash
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sudo apt update
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sudo apt install -y gcc git make gnu-efi libssl-dev libpciaccess-dev \
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uuid-dev libsystemd-dev libevent-dev libxml2-dev libxml2-utils \
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libusb-1.0-0-dev python3 python3-pip libblkid-dev \
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e2fslibs-dev pkg-config libnuma-dev liblz4-tool flex bison
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sudo pip3 install kconfiglib
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#. Get code from GitHub.
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.. code-block:: bash
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mkdir ~/acrn && cd ~/acrn
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git clone https://github.com/projectacrn/acrn-hypervisor -b release_2.1
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cd acrn-hypervisor
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Configure Hypervisor
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====================
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#. Parse system information.
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.. code-block:: bash
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sudo apt install -y cpuid msr-tools
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cd ~/acrn/acrn-hypervisor/misc/acrn-config/target/
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sudo python3 board_parser.py ros-cube-cfl
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cp ~/acrn/acrn-hypervisor/misc/acrn-config/target/out/ros-cube-cfl.xml \
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~/acrn/acrn-hypervisor/misc/acrn-config/xmls/board-xmls/
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#. Run ACRN configuration app and it will open a browser page.
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.. code-block:: bash
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cd ~/acrn/acrn-hypervisor/misc/acrn-config/config_app
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sudo pip3 install -r requirements
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python3 app.py
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.. figure:: images/rqi-acrn-config-web.png
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#. Select "Import Board info".
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.. figure:: images/rqi-acrn-config-import-board.png
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#. Select target board name.
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.. figure:: images/rqi-acrn-config-select-board.png
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#. Select "Scenario Setting" and choose "Load a default scenario".
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.. figure:: images/rqi-acrn-config-scenario-settings.png
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#. Settings "HV": You can ignore this if your RAM is <= 16GB.
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.. figure:: images/rqi-acrn-config-hv-settings.png
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#. Settings "VM0": Select the hard disk currently used.
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.. figure:: images/rqi-acrn-config-vm0-settings.png
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#. Settings "VM1": Enable all the cpu_affinity.
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You can press :kbd:`+` to increase CPU ID.
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This doesn't mean to attach all CPUs to the VM. The CPU number can be
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adjusted later.
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.. figure:: images/rqi-acrn-config-vm1-settings.png
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#. Settings "VM2": Set up RT flags and enable all the cpu_affinity.
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.. figure:: images/rqi-acrn-config-vm2-settings1.png
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.. figure:: images/rqi-acrn-config-vm2-settings2.png
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#. Export XML.
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.. figure:: images/rqi-acrn-config-export-xml.png
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.. figure:: images/rqi-acrn-config-export-xml-submit.png
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#. Generate configuration files.
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.. figure:: images/rqi-acrn-config-generate-config.png
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.. figure:: images/rqi-acrn-config-generate-config-submit.png
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#. Close the browser and stop the process (Ctrl+C).
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#. Optional: Patch the hypervisor if you want to passthrough GPIO to VM.
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.. code-block:: bash
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cd ~/acrn/acrn-hypervisor
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wget https://raw.githubusercontent.com/Adlink-ROS/ROScube_ACRN_guide/v2.1/patch/0001-Fix-ROScube-I-gpio-pin-assignment-table.patch
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git apply 0001-Fix-ROScube-I-gpio-pin-assignment-table.patch
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#. Build hypervisor
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.. code-block:: bash
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cd ~/acrn/acrn-hypervisor
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make all \
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BOARD_FILE=misc/acrn-config/xmls/board-xmls/ros-cube-cfl.xml \
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SCENARIO_FILE=misc/acrn-config/xmls/config-xmls/ros-cube-cfl/user_defined/industry_ROS2SystemOS.xml \
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RELEASE=0
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#. Install hypervisor
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.. code-block:: bash
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sudo make install
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sudo mkdir /boot/acrn
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sudo cp ~/acrn/acrn-hypervisor/build/hypervisor/acrn.bin /boot/acrn/
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.. rst-class:: numbered-step
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Install Service VM Kernel
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*************************
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Build Service VM Kernel
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=======================
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#. Get code from GitHub
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.. code-block:: bash
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cd ~/acrn
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git clone https://github.com/projectacrn/acrn-kernel -b release_2.1
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cd acrn-kernel
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#. Restore default ACRN configuration.
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.. code-block:: bash
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cp kernel_config_uefi_sos .config
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make olddefconfig
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sed -ri '/CONFIG_LOCALVERSION=/s/=.+/="-ROS2SystemSOS"/g' .config
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sed -i '/CONFIG_PINCTRL_CANNONLAKE/c\CONFIG_PINCTRL_CANNONLAKE=m' .config
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#. Build Service VM kernel. It will take some time.
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.. code-block:: bash
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make all
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#. Install kernel and module.
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.. code-block:: bash
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sudo make modules_install
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sudo cp arch/x86/boot/bzImage /boot/acrn-ROS2SystemSOS
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Update Grub
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===========
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#. Get the UUID and PARTUUID.
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.. code-block:: bash
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sudo blkid /dev/sda*
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.. note:: The UUID and PARTUUID we need should be ``/dev/sda2``, which is ``TYPE="ext4"``,
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as shown in the following graph:
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.. figure:: images/rqi-acrn-blkid.png
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#. Update ``/etc/grub.d/40_custom`` as below. Remember to edit
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``<UUID>`` and ``<PARTUUID>`` to your system's values.
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.. code-block:: bash
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menuentry "ACRN Multiboot Ubuntu Service VM" --id ubuntu-service-vm {
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load_video
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insmod gzio
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insmod part_gpt
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insmod ext2
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search --no-floppy --fs-uuid --set <UUID>
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echo 'loading ACRN Service VM...'
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multiboot2 /boot/acrn/acrn.bin root=PARTUUID="<PARTUUID>"
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module2 /boot/acrn-ROS2SystemSOS Linux_bzImage
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}
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.. figure:: images/rqi-acrn-grun-40_custom.png
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#. Update ``/etc/default/grub`` to make GRUB menu visible and load Service VM as default.
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.. code-block:: bash
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GRUB_DEFAULT=ubuntu-service-vm
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#GRUB_TIMEOUT_STYLE=hidden
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GRUB_TIMEOUT=5
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#. Then update GRUB and reboot.
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.. code-block:: bash
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sudo update-grub
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sudo reboot
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#. ``ACRN Multiboot Ubuntu Service VM`` entry will be shown in the GRUB
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menu. Choose it to load ACRN. You can check that the installation is
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successful by using ``dmesg``.
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.. code-block:: bash
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sudo dmesg | grep ACRN
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.. figure:: images/rqi-acrn-dmesg.png
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.. rst-class:: numbered-step
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Install User VM
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***************
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Before Create User VM
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=====================
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#. Download Ubuntu image (Here we use `Ubuntu 18.04 LTS
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<https://releases.ubuntu.com/18.04/>`_ for example):
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#. Install necessary packages.
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.. code-block:: bash
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sudo apt install qemu-kvm libvirt-clients libvirt-daemon-system \
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bridge-utils virt-manager ovmf
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sudo reboot
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Create User VM Image
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====================
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.. note:: Reboot into the **native Linux kernel** (not the ACRN kernel)
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and create User VM image.
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#. Start virtual machine manager application.
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.. code-block:: bash
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sudo virt-manager
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#. Create a new virtual machine.
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.. figure:: images/rqi-acrn-kvm-new-vm.png
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#. Select your ISO image path.
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.. figure:: images/rqi-acrn-kvm-choose-iso.png
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#. Select CPU and RAM for the VM. You can modify as high as you can to
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accelerate the installation time. The settings here are not related to
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the resource of the User VM on ACRN, which can be decided later.
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.. figure:: images/rqi-acrn-kvm-cpu-ram.png
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#. Select disk size you want. **Note that this can't be modified after creating image!**
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.. figure:: images/rqi-acrn-kvm-storage.png
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#. Edit image name and select "Customize configuration before install".
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.. figure:: images/rqi-acrn-kvm-name.png
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#. Select correct Firmware, apply it, and Begin Installation.
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.. figure:: images/rqi-acrn-kvm-firmware.png
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#. Now you'll see the installation page of Ubuntu.
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After installing Ubuntu, you can also install some necessary
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packages, such as ssh, vim, and ROS 2.
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We'll clone the image for real-time VM to save time.
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#. To install ROS 2, refer to `Installing ROS 2 via Debian Packages
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<https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/>`_
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||||||
#. Optional: Use ACRN kernel if you want to passthrough GPIO to User VM.
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||||||
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||||||
.. code-block:: bash
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||||||
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|
||||||
sudo apt install git build-essential bison flex libelf-dev libssl-dev liblz4-tool
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# Clone code
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git clone -b release_2.1 https://github.com/projectacrn/acrn-kernel
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cd acrn-kernel
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# Set up kernel config
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cp kernel_config_uos .config
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||||||
make olddefconfig
|
|
||||||
export ACRN_KERNEL_UOS=`make kernelversion`
|
|
||||||
export UOS="ROS2SystemUOS"
|
|
||||||
export BOOT_DEFAULT="${ACRN_KERNEL_UOS}-${UOS}"
|
|
||||||
sed -ri "/CONFIG_LOCALVERSION=/s/=.+/=\"-${UOS}\"/g" .config
|
|
||||||
|
|
||||||
# Build and install kernel and modules
|
|
||||||
make all
|
|
||||||
sudo make modules_install
|
|
||||||
sudo make install
|
|
||||||
|
|
||||||
# Update Grub
|
|
||||||
sudo sed -ri \
|
|
||||||
"/GRUB_DEFAULT/s/=.+/=\"Advanced options for Ubuntu>Ubuntu, with Linux ${BOOT_DEFAULT}\"/g" \
|
|
||||||
/etc/default/grub
|
|
||||||
sudo update-grub
|
|
||||||
|
|
||||||
#. When that completes, poweroff the VM.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
sudo poweroff
|
|
||||||
|
|
||||||
Run User VM
|
|
||||||
===========
|
|
||||||
|
|
||||||
Now back to the native machine to set up the environment for launching
|
|
||||||
the User VM.
|
|
||||||
|
|
||||||
#. Manually fetch and install the ``iasl`` binary to ``/usr/bin`` (where
|
|
||||||
ACRN expects it) with a newer version of the
|
|
||||||
than what's included with Ubuntu 18.04:
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
cd /tmp
|
|
||||||
wget https://acpica.org/sites/acpica/files/acpica-unix-20210105.tar.gz
|
|
||||||
tar zxvf acpica-unix-20210105.tar.gz
|
|
||||||
cd acpica-unix-20210105
|
|
||||||
make clean && make iasl
|
|
||||||
sudo cp ./generate/unix/bin/iasl /usr/sbin/
|
|
||||||
|
|
||||||
#. Convert KVM image file format.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
mkdir -p ~/acrn/uosVM
|
|
||||||
cd ~/acrn/uosVM
|
|
||||||
sudo qemu-img convert -f qcow2 -O raw /var/lib/libvirt/images/ROS2SystemUOS.qcow2 ./ROS2SystemUOS.img
|
|
||||||
|
|
||||||
#. Prepare a Launch Script File.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
wget https://raw.githubusercontent.com/Adlink-ROS/ROScube_ACRN_guide/v2.1/scripts/launch_ubuntu_uos.sh
|
|
||||||
chmod +x ./launch_ubuntu_uos.sh
|
|
||||||
|
|
||||||
#. Set up network and reboot to take effect.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
mkdir -p ~/acrn/tools/
|
|
||||||
cd ~/acrn/tools
|
|
||||||
wget https://raw.githubusercontent.com/Adlink-ROS/ROScube_ACRN_guide/v2.1/scripts/acrn_bridge.sh
|
|
||||||
chmod +x ./acrn_bridge.sh
|
|
||||||
./acrn_bridge.sh
|
|
||||||
sudo reboot
|
|
||||||
|
|
||||||
#. **Reboot to ACRN kernel** and now you can launch the VM.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
cd ~/acrn/uosVM
|
|
||||||
sudo ./launch_ubuntu_uos.sh
|
|
||||||
|
|
||||||
.. rst-class:: numbered-step
|
|
||||||
|
|
||||||
Install Real-Time VM
|
|
||||||
********************
|
|
||||||
|
|
||||||
Copy Real-Time VM Image
|
|
||||||
=======================
|
|
||||||
|
|
||||||
.. note:: Reboot into the **native Linux kernel** (not the ACRN kernel)
|
|
||||||
and create User VM image.
|
|
||||||
|
|
||||||
#. Clone real-time VM from User VM. (Right-click User VM and then clone)
|
|
||||||
|
|
||||||
.. figure:: images/rqi-acrn-rtos-clone.png
|
|
||||||
|
|
||||||
#. You'll see the real-time VM is ready.
|
|
||||||
|
|
||||||
.. figure:: images/rqi-acrn-rtos-ready.png
|
|
||||||
|
|
||||||
Set Up Real-Time VM
|
|
||||||
===================
|
|
||||||
|
|
||||||
.. note:: The section will show you how to install Xenomai on ROScube-I.
|
|
||||||
If help is needed, `contact ADLINK
|
|
||||||
<https://go.adlinktech.com/ROS-Inquiry_LP.html>`_ for more
|
|
||||||
information, or ask a question on the `ACRN users mailing list
|
|
||||||
<https://lists.projectacrn.org/g/acrn-users>`_
|
|
||||||
|
|
||||||
#. Run the VM and modify your VM hostname.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
hostnamectl set-hostname ros-RTOS
|
|
||||||
|
|
||||||
#. Install Xenomai kernel.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
# Install necessary packages
|
|
||||||
sudo apt install git build-essential bison flex kernel-package libelf-dev libssl-dev haveged
|
|
||||||
|
|
||||||
# Clone code from GitHub
|
|
||||||
git clone -b F/4.19.59/base/ipipe/xenomai_3.1 https://github.com/intel/linux-stable-xenomai
|
|
||||||
|
|
||||||
# Build
|
|
||||||
cd linux-stable-xenomai
|
|
||||||
cp arch/x86/configs/xenomai_test_defconfig .config
|
|
||||||
make olddefconfig
|
|
||||||
sed -i '/CONFIG_GPIO_VIRTIO/c\CONFIG_GPIO_VIRTIO=m' .config
|
|
||||||
CONCURRENCY_LEVEL=$(nproc) make-kpkg --rootcmd fakeroot --initrd kernel_image kernel_headers
|
|
||||||
|
|
||||||
# Install
|
|
||||||
sudo dpkg -i ../linux-headers-4.19.59-xenomai+_4.19.59-xenomai+-10.00.Custom_amd64.deb \
|
|
||||||
../linux-image-4.19.59-xenomai+_4.19.59-xenomai+-10.00.Custom_amd64.deb
|
|
||||||
|
|
||||||
#. Install Xenomai library and tools. For more details, refer to
|
|
||||||
`Xenomai Official Documentation
|
|
||||||
<https://gitlab.denx.de/Xenomai/xenomai/-/wikis/Installing_Xenomai_3#library-install>`_.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
cd ~
|
|
||||||
wget https://xenomai.org/downloads/xenomai/stable/xenomai-3.1.tar.bz2
|
|
||||||
tar xf xenomai-3.1.tar.bz2
|
|
||||||
cd xenomai-3.1
|
|
||||||
./configure --with-core=cobalt --enable-smp --enable-pshared
|
|
||||||
make -j`nproc`
|
|
||||||
sudo make install
|
|
||||||
|
|
||||||
#. Allow non-root user to run Xenomai.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
sudo addgroup xenomai --gid 1234
|
|
||||||
sudo addgroup root xenomai
|
|
||||||
sudo usermod -a -G xenomai $USER
|
|
||||||
|
|
||||||
#. Update ``/etc/default/grub``.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
GRUB_DEFAULT="Advanced options for Ubuntu>Ubuntu, with Linux 4.19.59-xenomai+"
|
|
||||||
#GRUB_TIMEOUT_STYLE=hidden
|
|
||||||
GRUB_TIMEOUT=5
|
|
||||||
...
|
|
||||||
GRUB_CMDLINE_LINUX="xenomai.allowed_group=1234"
|
|
||||||
|
|
||||||
#. Update GRUB.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
sudo update-grub
|
|
||||||
|
|
||||||
#. Poweroff the VM.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
sudo poweroff
|
|
||||||
|
|
||||||
Run Real-Time VM
|
|
||||||
================
|
|
||||||
|
|
||||||
Now back to the native machine and we'll set up the environment for
|
|
||||||
launching the real-time VM.
|
|
||||||
|
|
||||||
#. Convert KVM image file format.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
mkdir -p ~/acrn/rtosVM
|
|
||||||
cd ~/acrn/rtosVM
|
|
||||||
sudo qemu-img convert -f qcow2 \
|
|
||||||
-O raw /var/lib/libvirt/images/ROS2SystemRTOS.qcow2 \
|
|
||||||
./ROS2SystemRTOS.img
|
|
||||||
|
|
||||||
#. Create a new launch file
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
wget https://raw.githubusercontent.com/Adlink-ROS/ROScube_ACRN_guide/v2.1/scripts/launch_ubuntu_rtos.sh
|
|
||||||
chmod +x ./launch_ubuntu_rtos.sh
|
|
||||||
|
|
||||||
#. **Reboot to ACRN kernel** and now you can launch the VM.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
cd ~/acrn/rtosVM
|
|
||||||
sudo ./launch_ubuntu_rtos.sh
|
|
||||||
|
|
||||||
.. note:: Use ``poweroff`` instead of ``reboot`` in the real-time VM.
|
|
||||||
In ACRN design, rebooting the real-time VM will also reboot the whole
|
|
||||||
system.
|
|
||||||
|
|
||||||
Customizing the Launch File
|
|
||||||
***************************
|
|
||||||
|
|
||||||
The launch file in this tutorial has the following hardware resource allocation.
|
|
||||||
|
|
||||||
.. csv-table::
|
|
||||||
:header: "Resource", "Service VM", "User VM", "Real-time VM"
|
|
||||||
:widths: 15, 15, 15, 15
|
|
||||||
|
|
||||||
"CPU", "0", "1,2,3", "4,5"
|
|
||||||
"Memory", "Remaining", "8 GB", "2 GB"
|
|
||||||
"Ethernet", "Ethernet 1 & 2", "Ethernet 3", "Ethernet 4"
|
|
||||||
"USB", "Remaining", "1-2", "1-1"
|
|
||||||
|
|
||||||
You can modify the launch file for your own hardware resource allocation.
|
|
||||||
We'll provide some modification methods below.
|
|
||||||
For more detail, see :ref:`acrn-dm_parameters`.
|
|
||||||
|
|
||||||
CPU
|
|
||||||
===
|
|
||||||
|
|
||||||
Modify the ``--cpu-affinity`` value in the command ``acrn-dm`` command.
|
|
||||||
The number should be between 0 and max CPU ID.
|
|
||||||
For example, if you want to run VM with core 1 and 2, use ``--cpu-affinity 1,2``.
|
|
||||||
|
|
||||||
Memory
|
|
||||||
======
|
|
||||||
|
|
||||||
Modify the ``mem_size`` in launch file. This variable will be passed to
|
|
||||||
``acrn-dm``. The possible values are 1024M, 2048M, 4096M, and 8192M.
|
|
||||||
|
|
||||||
Ethernet
|
|
||||||
========
|
|
||||||
|
|
||||||
Run ``lspci -Dnn | grep "Ethernet controller"`` to get the ID of Ethernet port.
|
|
||||||
|
|
||||||
.. figure:: images/rqi-acrn-ethernet-lspci.png
|
|
||||||
|
|
||||||
You'll see 4 IDs, one for each Ethernet port.
|
|
||||||
Assign the ID of the port you want to passthrough in the launch file.
|
|
||||||
For example, if we want to passthrough Ethernet 3 to the VM:
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
passthru_vpid=(
|
|
||||||
["ethernet"]="8086 1539"
|
|
||||||
)
|
|
||||||
passthru_bdf=(
|
|
||||||
["ethernet"]="0000:04:00.0"
|
|
||||||
)
|
|
||||||
|
|
||||||
# Passthrough ETHERNET
|
|
||||||
echo ${passthru_vpid["ethernet"]} > /sys/bus/pci/drivers/pci-stub/new_id
|
|
||||||
echo ${passthru_bdf["ethernet"]} > /sys/bus/pci/devices/${passthru_bdf["ethernet"]}/driver/unbind
|
|
||||||
echo ${passthru_bdf["ethernet"]} > /sys/bus/pci/drivers/pci-stub/bind
|
|
||||||
|
|
||||||
acrn-dm
|
|
||||||
⋮
|
|
||||||
-s 4,passthru,04/00/0 \
|
|
||||||
⋮
|
|
||||||
|
|
||||||
USB
|
|
||||||
===
|
|
||||||
|
|
||||||
To passthrough USB to VM, we need to know the ID for each USB first.
|
|
||||||
|
|
||||||
.. figure:: images/rqi-acrn-usb-port.png
|
|
||||||
|
|
||||||
Then modify the launch file and add the USB ID.
|
|
||||||
For example, if you want to passthrough USB 1-2 and 1-4.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
acrn-dm
|
|
||||||
⋮
|
|
||||||
-s 8,xhci,1-2,1-4 \
|
|
||||||
⋮
|
|
||||||
|
|
||||||
GPIO
|
|
||||||
====
|
|
||||||
|
|
||||||
This is the PIN definition of ROScube-I.
|
|
||||||
|
|
||||||
.. figure:: images/rqi-pin-definition.png
|
|
||||||
|
|
||||||
To pass GPIO to VM, you need to add the following section.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
acrn-dm
|
|
||||||
⋮
|
|
||||||
-s X,virtio-gpio,@gpiochip0{<offset>=<alias_name>:<offset>=<alias_name>: ... :} \
|
|
||||||
⋮
|
|
||||||
|
|
||||||
The offset and pin mapping is as shown here:
|
|
||||||
|
|
||||||
.. csv-table::
|
|
||||||
:widths: 5, 10, 15
|
|
||||||
|
|
||||||
"Fn", "GPIO Pin", "In Chip Offset"
|
|
||||||
"DI0", "GPIO220", "72"
|
|
||||||
"DI1", "GPIO221", "73"
|
|
||||||
"DI2", "GPIO222", "74"
|
|
||||||
"DI3", "GPIO223", "75"
|
|
||||||
"DI4", "GPIO224", "76"
|
|
||||||
"DI5", "GPIO225", "77"
|
|
||||||
"DI6", "GPIO226", "78"
|
|
||||||
"DI7", "GPIO227", "79"
|
|
||||||
"DO0", "GPIO253", "105"
|
|
||||||
"DO1", "GPIO254", "106"
|
|
||||||
"DO2", "GPIO255", "107"
|
|
||||||
"DO3", "GPIO256", "108"
|
|
||||||
"DO4", "GPIO257", "109"
|
|
||||||
"DO5", "GPIO258", "110"
|
|
||||||
"DO6", "GPIO259", "111"
|
|
||||||
"DO7", "GPIO260", "112"
|
|
||||||
|
|
||||||
For example, if you want to pass DI0 and DO0 to VM:
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
acrn-dm
|
|
||||||
⋮
|
|
||||||
-s X,virtio-gpio,@gpiochip0{72=gpi0:105=gpo0} \
|
|
||||||
⋮
|
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user