feat(petalinux): add support for KR260

.gitmodules

@@ -61,3 +61,9 @@
 [submodule "project/yocto/rpi4b/layers/meta-user/recipes-apps/ros2-helloworld-python/files/ros2_helloworld_python"]
 	path = project/yocto/rpi4b/layers/meta-user/recipes-apps/ros2-helloworld-python/files/ros2_helloworld_python
 	url = https://github.com/extra2000/ros2_helloworld_python.git
+[submodule "project/petalinux/kr260/project-spec/meta-user/recipes-apps/ros2-helloworld-cpp/files/ros2-helloworld-cpp"]
+	path = project/petalinux/kr260/project-spec/meta-user/recipes-apps/ros2-helloworld-cpp/files/ros2-helloworld-cpp
+	url = https://github.com/extra2000/ros2-helloworld-cpp.git
+[submodule "project/petalinux/kr260/project-spec/meta-user/recipes-apps/ros2-helloworld-python/files/ros2_helloworld_python"]
+	path = project/petalinux/kr260/project-spec/meta-user/recipes-apps/ros2-helloworld-python/files/ros2_helloworld_python
+	url = https://github.com/extra2000/ros2_helloworld_python.git

docs/petalinux/kr260.md

@@ -0,0 +1,114 @@
+# Xilinx KR260
+
+
+## Prerequisites
+
+Requirements:
+* [extra2000/xilinx-toolkit v3.x image](https://github.com/extra2000/xilinx-toolkit)
+* Vitis `v2022.1` and PetaLinux `v2022.1 Update 3`
+* [Kria KR260 Starter Kit 2022.1 BSP Update 1](https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/embedded-design-tools/2022-1.html)
+* [KR260 board that have it's firmware updated with 2022.1_update3_BOOT.BIN](https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/1641152513/Kria+K26+SOM#Boot-Firmware-Updates)
+
+Allow source files to be mounted into container:
+```
+chcon -R -t container_file_t project
+```
+
+
+## Building PetaLinux
+
+Spawn new container:
+```
+podman run -it --rm \
+    --network=host \
+    --userns="keep-id:uid=1000,gid=1000" \
+    -v ${PWD}/project:${PWD}/project:rw \
+    -v xilinx-tools-v2022-1:/tools/Xilinx:ro \
+    --workdir ${PWD}/project/petalinux \
+    --security-opt label=type:xilinx_toolkit_podman.process \
+    localhost/extra2000/xilinx-toolkit:latest \
+    bash
+source /tools/Xilinx/PetaLinux/2022.1/tool/settings.sh
+```
+
+Create project:
+```
+petalinux-create \
+    --force \
+    --type project \
+    --source ../third-party/xilinx-kr260-starterkit-v2022.1-*.bsp \
+    --name kr260
+```
+
+Restore replaced configs and remove old backup (should be executed by host, not by container):
+```
+git restore project/petalinux/kr260
+git clean -f project/petalinux/kr260.old
+```
+
+`cd` into `kr260/`:
+```
+cd kr260
+```
+
+Get hardware description:
+```
+petalinux-config --get-hw-description hardware/xilinx-kr260-starterkit-2022.1/kr260_starter_kit.xsa
+```
+
+Build and package `rootfs`, and then build for WIC `images/linux/petalinux-sdimage.wic` for SD card:
+```
+petalinux-build
+petalinux-package \
+    --boot \
+    --u-boot
+petalinux-package \
+    --wic \
+    --images-dir ./images/linux/ \
+    --bootfiles "ramdisk.cpio.gz.u-boot,boot.scr,Image,system.dtb,system-zynqmp-sck-kr-g-revB.dtb" \
+    --disk-name "sda"
+```
+
+Build and package `sysroot` (SDK):
+```
+petalinux-build --sdk
+petalinux-package --sysroot
+```
+
+**NOTE: Later to source SDK:**
+```
+source images/linux/sdk/environment-setup-cortexa72-cortexa53-xilinx-linux
+```
+
+Exit the container.
+
+
+## Flashing to SD Card
+
+Insert SD card and execute the following command:
+```
+sudo dd \
+    bs=4M \
+    if=project/petalinux/kr260/images/linux/petalinux-sdimage.wic \
+    iflag=fullblock \
+    oflag=direct \
+    status=progress \
+    of=/dev/sdX
+sudo sync
+```
+
+
+## Testing
+
+Insert SD card into KR260 board, connect USB to your computer, and power on the board. Use the following `screen` command to access shell:
+```
+screen /dev/ttyUSB1 115200
+```
+
+Then, follow [Testing](../yocto/common/testing.md) instructions. To exit from `screen`, do `CTRL` + `A` and then type `:quit`.
+
+
+## Known Issues
+
+* Warnings from `project/petalinux/kr260/components/yocto/layers/meta-ros/meta-ros2-humble/generated-recipes/iceoryx/iceoryx-posh_2.0.2-3.bb` can be safely ignored.
+* Running with QEMU is not possible (I haven't figured out how to boot QEMU with the starter kit BSP).

project/petalinux/kr260/.gitignore

@@ -0,0 +1,12 @@
+*/*/config.old
+*/*/rootfs_config.old
+build/
+images/linux/
+pre-built/linux/
+.petalinux/*
+!.petalinux/metadata
+*.o
+*.jou
+*.log
+/components/plnx_workspace
+/components/yocto