OpenAMP Demo Docker images
The OpenAMP project maintains the following docker images to demonstrate the project. In the future docker images for use with CI will also be provided. At this time the following images are provided:
Just enough to run the openamp QEMU demos and lopper CLI demo
Placeholder for image to build and run the above demos
You will need docker on your machine. A docker install from your Linux distribution or from the official docker project should work fine.
Arm64 host machines (like a MacBook with Apple Silicon instead of x86 ) are not tested at this time. Binary translation may or may not work. An aarch64 docker image will be provided in the future.
Some quick start information is given below but also checkout the docker cheat-sheet at the end of this document.
Docker quick start for Ubuntu
Example for Ubuntu 20.04 or 22.04:
$ sudo apt update; sudo apt install docker.io; sudo adduser $USER docker
Then logout and log back in in order to get the new group. You can check your groups with the command:
If you cannot add yourself to the docker group, you can run docker with
but doing so with any docker image is not recommended based on general
security best practice. There is nothing in the openamp images that should
make them more dangerous than other images.
Your life will be easier if you are not behind a corporate firewall. However if you can pull the docker image you should be able to run the demos as they are self contained. Some of the other activities described like installing new packages etc may not work without additional effort. If needed, please checkout this tutorial
Docker for other host systems
There are a ton of tutorials for installing and using docker on the web. Some good ones include:
Start the container
you@your-machine:~$ docker run -it openamp/demo-lite
This will pull the openamp/demo-lite image to your machine if it is not already there. If it is there it will be used without checking if it is the latest.
It will then create and start a container based on this image and attach to it.
You will now be at a command prompt inside the container. As part of logging you in, some guidance will be printed on how to run the demos.
Welcome to the OpenAMP demo (lite version) You can run the demos by using $ qemu-zcu102 demo1 Where demo1 is any of demo1 demo2 demo3 or demo4 You can also run the lopper demo like $ ./demo5/demo5 Enjoy! dev@openamp-demo:~$
Run the QEMU based demos
To run demo1, use the following command:
dev@openamp-demo:~$ qemu-zcu102 demo1
- Build a custom cpio file for the tftp/zcu102 directory
This cpio will contain the contents of the base cpio file plus the contents of the my-extra-stuff directory
This is done every boot so changes to the my-extra-stuff directory will be used on the next boot
- Start tmux and create multiple panes
The main QEMU pane with the main UART
A “host” pane for container level commands
Two additional UART panes
- QEMU will:
Emulate the four A53 CPUs and the two R5 CPUs
In a separate QEMU process, emulate the microblaze based PDU
- The A53s (in main QEMU pane) will:
Run TrustedFirmware-A, and U-Boot
U-boot will autoboot from TFTP (provided by by QEMU from the tftp directory)
Load and run the kernel, dtb, and cpio based initramfs
present a login prompt
The container shell pane will present a container prompt
- The 2nd and 3rd UART panes will
wait for QEMU to start
connect to the other UARTs of the emulated SOC
The 2nd UART is not used by demo 1 & 2 but is used by demo 3 & 4
The 3rd UART is not currently used
Let the SOC autoboot (don’t stop at the U-boot count down) and then login as directed (user is root with no password). If you don’t see the login prompt hit enter to get a fresh prompt. At SOC login, instructions will be printed for running the current demo.
Poky (Yocto Project Reference Distro) 4.0 generic-arm64 /dev/ttyPS0 (Login as root with no password) generic-arm64 login: root This is demo1, rpmsg examples on R5 lockstep There are 3 sub-demos here: demo1A demo1B and demo1C Look at them $ cat demo1A or just run them $ ./demo1A root@generic-arm64:~#
Demo1 contains 3 sub-demos,
You should look at each before running it:
root@generic-arm64:~# cat ./demo1A #!/bin/sh R5_0=/sys/class/remoteproc/remoteproc0 echo "Make sure the R5 is not running" echo stop >$R5_0/state 2>/dev/null echo "Set the firmware to use" echo image_echo_test_zcu102 >$R5_0/firmware echo "Start the R5" echo start >$R5_0/state echo "Now run the echo test Linux application" echo_test
and then run it:
root@generic-arm64:~# ./demo1A Make sure the R5 is not running Set the firmware to use Start the R5 [ 809.815718] remoteproc remoteproc0: powering up ff9a0000.rf5ss:r5f_0 [ 809.818340] remoteproc remoteproc0: Booting fw image image_echo_test_zcu102, size 610856 main():98[ op 8enamp l09.833571ib v] remotersion: eproc0#v1.dev0buffe1.0 (r: registered virtio0 (type 7) main():99 Major: 1, main():100 Minor: 1, main():101 Patch: 0) [ 809.833965] remoteproc remmain()ote:103 libmetal libpro version: c0: 1.1.remot0 (e processor ff9maina0000.rf5s():104 Major: 1, s:r5f_0 mais innow up ():105 Minor: 1, main():106 Patch: 0) main():108 Starting application... 0 L7 registered generic bus
sending payload number 470 of size 487 echo test: sent : 487 received payload number 470 of size 487 sending payload number 471 of size 488 echo test: sent : 488 received payload number 471 of size 488 ************************************** Echo Test Round 0 Test Results: Error count = 0 ************************************** 18 L6 rpmsg_endpoint_cb():36 shutdown message is received. 19 L7 app():82 done [ 814.610677] virtio_rpmsg_bus virtio0: 20 L6 main():129 Stopdestroyiping ang channelpp rlication.pm.. sg-openamp-demo-channel addr 0x400 21 L7 unregistered generic bus
Do the same for
To exit QEMU do either one of these:
In QEMU pane, hit Ctrl-A and then x
Click the “host” shell pane and type the
Now do the same for
These demos do not have sub-demos so contain a single demo script.
Run the Lopper CLI demo
The Lopper demo is fairly standalone but the container already has the needed requirements and the and the git repository has already been cloned with the correct branch. Additionally, scripts have been written to cut down the typing or cut-and-paste required.
To run this demo use:
The script will first give the URL of the README file. You should open this URL in a browser and follow along.
The script will then step you through the commands in the README and let you view the various files. At the end you can look at all the files in the ~/demo5/lopper/demos/openamp directory.
Exit and clean-up the docker container
When at the docker container prompt, the exit command will stop the container and return you to your machine’s prompt.
dev@openamp-demo:~$ exit you@your-machine:~$
Now the container is not running but still exists. To check and delete it do:
you@your-machine:~$ docker ps -a CONTAINER ID IMAGE COMMAND CREATED STATUS PORTS NAMES nnnnnnnnnnnn openamp/demo-lite "/bin/sh -c 'su -l d…" 2 hours ago Exited (0) 36 seconds ago random_name nnnn openamp/demo-lite "bash" Exited (0) 2 minutes ago random_name dev@openamp-demo:~$ docker rm random_name
You can use tab completion to fill in the random name assigned to the container
The reusable docker image still exists on your machine. To see the images and delete the the openamp ones, you can do:
you@your-machine:~$ docker image list openamp/demo-lite latest 6ee85d920453 24 hours ago 837MB you@your-machine:~$ docker image rm openamp/demo-lite
qemu-zcu102 tips and tricks
Some help is available with
qemu-zcu102 help but it is not yet complete.
tmux mouse mode is turned on. You can:
click in a pane to give it focus
hold the right mouse button to show a menu (zoom and un-zoom are useful)
the mouse scroll wheel will scroll the pane, use
qto exit this mode
if you don’t need the 2nd or 3rd UART pane, you can kill them with the right button menu
you can drag the pane borders to resize the panes
you can kill the container host pane w/o stopping QEMU
The container host pane can be used with
ssh to connect with the
emulated SOC or with
scp to transfer files.
SSH configuration is already setup for the name
From the container host pane:
dev@openamp$ ssh qemu-zcu102 root@generic-arm64:~# exit dev@openamp$ date >date.txt; scp date.txt qemu-zcu102: dev@openamp$ ssh qemu-zcu102 cat date.txt
You can manually send output to the 2nd UART like so:
root@generic-arm64:~# echo “Hello there” >/dev/ttyPS1
First some tips specific to the openamp demo containers
The container is based on the standard Ubuntu 20.04 docker image. Like the Ubuntu standard images it is minimized (no man pages etc). However bash completion has been added.
There is no init system running (no systemd, no sysvinit) so no daemons are
running. You cannot ssh into the container nor use scp between your host and
the container. You can use
docker cp and
docker attach in
a fashion similar to
You have no password required sudo access as the
dev user. You can update
and install packages if you wish.
All of the below are standard docker usage but may be helpful to people less familiar with docker.
You can add
--rm to the
docker run command to automatically delete the
container when you exit.
You cannot change your mind while running the container so do this only if
you are sure you do not want to reuse the changes you made in the container.
This will not delete the image, just the container.
To restart and reattach to a container that is stopped, do this (tab completion will help with the random name):
you@your-machine:~$ docker start random_name you@your-machine:~$ docker attach random_name
To detach from a container without stopping it, you can use
To reattach use the attach command as show above.
docker ps will show all running containers and
docker ps -a will
show all containers running or stopped