/acceleration_firmware_ultra96v2

Ultra96v2 firmware. Package for enabling hardware acceleration capabilities in ROS 2 with Avnet's Ultra96-V2 board.

Apache License 2.0Apache-2.0

acceleration_firmware_ultra96v2

Board Picture Description
Avnet Ultra96-V2 Board (ultra96v2) The Ultra96-V2 updates and refreshes the Ultra96 product that was released in 2018. Like Ultra96, the Ultra96-V2 is an Arm-based, Xilinx Zynq UltraScale+™ MPSoC development board based on the Linaro 96Boards Consumer Edition (CE) specification.

This repository provides Xilinx's firmware artifacts for the ultra96v2 board meant to accelerate ROS 2 robotic applications.

NOTE: This repository is has various GB of data. Due to GitHub size restrictions, the whole source code is available under releases. Refer to each corresponding's release firmware/ARTIFACTS.md file for a description of all the artifacts included.

Install Instructions

Examples

Hardware Acceleration capabilities

According to REP-2008's proposal.

Capability Status
1. Kernel Levels
1.i level I kernels
1.ii level II kernels
1.iii level III kernels
2. Build System
2.i ament extensions ✓
2.ii ament_acceleration support
3. Build Tools
3.i hardware emulation (hw_emu)
3.ii hardware emulation (sw_emu)
3.iii image tooling ✓
3.iv Linux kernel ✓
3.iv.a modern Linux kernel ✓
3.iv.b LTS Linux kernel
3.v hypervisor
3.v.a no control domain VMs
3.v.b guest VMs in disk
3.v.c control domain in disk
3.v.d no control domain VMs in disk
3.vi network booting
3.vi.a boot artifacts
3.vi.b rootfs
3.vi.c multi-network boot
3.vi.d secure network booting
3.vi.e save in disk network boot
4. Benchmarking
4.i kernel benchmarking
4.ii ROS 2 acceleration benchmarking
5. Documentation
5.i in-code documentation ✓
6. Testing and CI
6.i acceleration_examples ✓

Quality Declaration

No quality is claimed according to REP-2004. This package should only be used in workstations to produced valid firmware for the targeted hardware.