AMD XILINX Kria KR260 User manual

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
1/26
Kria KR260 Robotics Starter Kit
User Guide (UG1092)

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
2/26
Summary
What's in the Box?
Interfaces
Initial Setup
Powering the Starter Kit and Power Budgets
Fan and Heat Sink
Boot Devices and Firmware Overview
Primary Boot Device
Secondary Boot Device
Software Getting Started
Platform Management Utility
Accelerated Applications
Accelerated Application Package Selection
Supported Peripherals
Xilinx Tools Integration
Vivado Board Flow
Board Reset, Firmware Update, and Recovery
Firmware Update
Ethernet Recovery Tool
Boot Firmware A/B Update
Board Reset
Additional Resources and Legal Notices
Xilinx Resources
Documentation Navigator and Design Hubs
References
Revision History
Please Read: Important Legal Notices

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
3/26
Summary
The Xilinx® Kria™ KR260 Robotics Starter Kit is comprised of a non-production
version of the K26 system-on-module (SOM), carrier card, and thermal solution. The
SOM integrates core digital hardware components including a Zynq® UltraScale+™
MPSoC, run-time memory, non-volatile boot devices, an integrated power solution,
and a security module. The robotic-focused carrier card provides various
application peripheral options including a sensor input, video display outputs, USB,
SD card, Raspberry Pi HAT interface, Pmod headers, SFP+ connector, and Ethernet
physical interfaces. The thermal solution includes a heat sink, heat sink cover, and
fan. The Kria KR260 Robotics Starter Kit is designed to provide customers a
platform to evaluate their target applications and ultimately design their own carrier
card with K26 SOMs. Key target robotics applications are supported with an
emphasis on industrial and automation markets.
Figure: KR260 Starter Kit Block Diagram

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
4/26
What's in the Box?
The Kria KR260 Robotics Starter Kit includes a K26 SOM, integrated thermal
solution, and carrier card. The kit is only meant for SOM platform evaluation with
the carrier card providing a variety of interfaces for integrating different peripherals.
The Kria KR260 Robotics Starter Kit also includes the following accessories inside
the box: power supply an its adapters, Ethernet cable, USB A-male to micro B cable,
a microSD with adapter, and developer stickers. The box also includes a Getting
Started card that directs you to the getting started web page and product page. This
guide lists the Supported Peripherals that can be purchased separately.
Table: Summary of Box Contents
Line Item Items Quantity

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
5/26
Line Item Items Quantity
1 Starter Kit (SOM with fansink thermal solution
on top of robotic carrier card)
1
2Getting Started card 1
3 Developer stickers 1
4 Power supply and its adapters 1
5 Ethernet cable 1
6 USB A-male to micro B cable 1
7 microSD with adapter 1
Interfaces
The following figure and table provide an overview of the physical connections, their
designators, and relative position on the starter kit. The table uses the following
abbreviations to indicate if a specific designator is located on the carrier card or on
the SOM.
CC = Device or interface is located on the carrier card
SOM = Device or interface is located on the SOM
On the carrier card, there are four USB ports. USB0 and USB1 are each connected to
a pair or USB physical port interfaces. There are four Ethernet interfaces with one
pair connected to PS GEMs and one pair to PL-based GEMs. As shown in the
following figure, GEM1 on J10C is the default firmware and software Ethernet
interface used for the image recovery application and the primary Ethernet interface
in Linux.
Figure: Interfaces and Connectors—Top of Card

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
6/26
Figure: Interfaces and Connectors—Bottom of Card

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
7/26
Table: Descriptions and Locations
Location Name Description
SOM DS34 PS done LED Lit indicates that the PS has successfully
loaded a PL design.
SOM DS35 Heartbeat LED Periodic flashing green LED driven by the
Zynq UltraScale+ MPSoC APU processor.
SOM DS36 PS status LED Status LED, when lit indicates a successful
application load.
CC DS1-DS6 Power status
LEDs
Indicates various power supply and power
domain status. Green LED indicates good
status.
CC J2, J18,
J19, J20
Pmod Digilent Pmod 2x6 expansion header
CC J3 PC4 JTAG Direct JTAG interface, bypasses the FTDI
device.

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
8/26
Location Name Description
CC J4 FTDI USB2.0
UART and JTAG
Integrated JTAG and device UART interface
via USB2.0
CC J6 DisplayPort DisplayPort video output
CC J10A Ethernet RJ45
jack
1 Gb/s PL GEM3 RGMII Ethernet interface on
HPB
CC J10B Ethernet RJ45
jack
1 Gb/s PL GEM2 RGMII Ethernet interface on
HPA
CC J10C Ethernet RJ45
jack
1 Gb/s PS GEM1 RGMII Ethernet interface
CC J10D Ethernet RJ45
jack
1 Gb/s PS GEM0 SGMII Ethernet interface
CC J11 microSD card microSD card boot device
CC J12 12V power
input
12V power input jack
CC J13 Fan power 12V SOM fan power interface
CC J21 Raspberry Pi
HAT
Raspberry Pi expansion header for HAT
interface
CC J22 SLVS-EC Framos FPA SLVS-EC interface
CC J23 SFP+ SFP+ connector
CC J24 SFP+ cage SFP+ cage
CC SW1 Firmware
update button
Push button used during the boot firmware
update process
CC SW2 Reset button Push button that resets the SOM via the
device POR_B signal
CC U44 USB0 Two USB3.0 or USB2.0 compatible
connectors

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
9/26
Location Name Description
CC U46 USB1 Two USB3.0 or USB2.0 compatible
connectors
Initial Setup
Powering the Starter Kit and Power Budgets
The Kria™ KR260 Robotics Starter Kit requires a 12V, 3A power supply adapter to
power the kit. The adapter is included in the kit. The power supply adapter barrel
connector plugs into the DC jack (J12) to supply the +12V power source to KR260
Starter Kit.
Powering the K26 SOM
1. The KR260 Starter Kit carrier card on-board regulator generates a 5V supply
and provides power to other voltage regulators.
2. The SOM power rail (VCC_SOM) is powered by the 5V supply.
3. Next, the SOM on-board power-on sequencing starts.
4. The carrier card provides the programmable logic (PL) the VCCO voltage rails
after the SOM asserts the VCCOEN_PS_M2C and VCCOEN_PL_M2C signals.
Power Telemetry
A power monitor device is available on the SOM power rail (SOM_5V0). You can
access the total power consumed by the SOM module through the I2C bus and
Xilinx provided utilities.
Powering Peripherals
The KR260 Starter Kit carrier card supplies power to the I/O peripherals as specified
by the following interface specifications.
USB3.0

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
10/26
✎
There are four USB3.0 interface ports available on the KR260 Starter Kit carrier
card. There are two independent USB controllers, but they share a power source.
Each port can deliver a 5V supply to the attached I/O peripherals with up to 900 mA
per port. All ports are protected against an over-current event through 1.0A power
switches per pair.
Note: The total current (across all four ports) is allocated at 2.0A.
Pmod Connector
The 12-pin Pmod interface (from Digilent Inc.) is specified to be 3.3V, 100 mA. The
four ports are supported by a 3.3V, 1.0A shared capacity across all connectors.
Raspberry Pi Expansion Header
The Raspberry Pi expansion header is for use with Raspberry Pi HATs. This 40-pin
interface connector is supported by 3.3V and 5.0V supply voltages. There is a 1.0A
limit per voltage rail.
SFP+
Pluggable SPF+ transceiver modules are supported by the SFP+ cage that provides
a 3.3V, 600 mA supply budget.The total power consumed must fall within the
power budget for the SPF+ module. The SFP+ power is not explicitly limited, thus
care must be taken when attaching optional accessories to your carrier card.
Framos FPA SLVS-EC
The Framos FPA SLVS-EC connector is supported with two voltages. The carrier
provides 1.8V at 800 mA and 3.8V with a limit of 1.0A. Because the 1.8V is not
explicitly limited, care must be taken when attaching accessories to ensure a
proper power budget.
microSD Card
The microSD card is supported by the 3.3V supply voltage with a power budget of
200 mA. This should be more than adequate for standard cards. It is also not
explicitly limited. The starter kit supports up to 64 GB microSD cards.

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
11/26
✎
Fan and Heat Sink
The KR260 Starter Kit is built with an integrated active cooling solution (see Figure
1). The integrated fansink allows you to exercise the full 10W Zynq® UltraScale+™
MPSoC application power budget without any additional accessories.
Out of the box, the 12V fan should already be plugged into the starter kit. If it is not,
be sure that the fan is plugged into the connector designated in Table 1. The fan
connector is keyed to ensure proper orientation.
By default, the fan runs at a constant speed. Variable fan speed control can be
implemented through a FPGA based PWM fan controller. The fan gating signal is
connected to a FPGA HD I/O bank pin for control. Consult the corresponding KR260
Starter Kit carrier card schematic for specific pin assignments.
Boot Devices and Firmware Overview
The Kria™ KR260 Robotics Starter Kit has a primary and secondary boot device that
provides isolation of platform-specific boot firmware from the runtime operating
system and application. This allows you to focus on developing and updating your
application code within the application image without having to rebuild and flash
boot firmware. The primary boot device is a QSPI memory located on the SOM and
the secondary boot device is an SD card interface on the carrier card. By default,
the KR260 Starter Kit carrier card sets the XCK26 boot mode to QSPI32. The SOM
boots up to U-Boot using the QSPI contents and then U-Boot does a hand-off to the
secondary boot device.
Note: You must flash the SD card image and populate the microSD card in the
carrier card for the kit to successfully boot to Linux.
The overall boot device definition and firmware contents are outlined in the
following figure.
Figure: Boot Devices

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
12/26

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
13/26
‼Important: Production SOMs provide both QSPI and eMMC devices on the SOM
PCB to support integrated primary and secondary boot configurations.
Primary Boot Device
The primary boot device is a QSPI device located on the SOM. The necessary
elements are packaged in a Zynq® UltraScale+™ MPSoC specific format and file
captured as BOOT.BIN. The BOOT.BIN file contains the board-specific boot firmware
that consists of the following elements:
FSBL
First-stage boot-loader firmware
PMU
Platform management unit firmware
ATF
Arm® trusted firmware
U-Boot
Second-stage boot loader
U-Boot provides the functionality for the hand-off between the primary boot device
and the secondary boot device. It will search for both the SD card and eMMC
secondary boot devices; if both are detected it will provide a menu interface to you
to select the desired Linux boot target.
The primary boot device provides a redundant copy of boot firmware arranged in an
A/B configuration. The A/B configuration provides a dynamic primary and
secondary image operation with corresponding update mechanisms. On boot, the
system automatically boots from the defined primary image, and, if boot fails, it
falls back to the previously known good boot image.
Secondary Boot Device
The secondary boot device on the KR260 Starter Kit is the SD card. It contains the
operating system image and associated application files. The KR260 Starter Kit
accelerated application references are built on the Linux operating system. The
Getting Started webpage provides a pre-built reference image that can be written to
a microSD card for out-of-the-box functionality. SOM board support packages
(BSPs) are also available if you want to customize your OS.

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
14/26
✎
Recommended: The SOM is designed to use SDHC standard microSD cards. See
AR66779 for a list of tested microSD cards.
Software Getting Started
To get started with the KR260 Starter Kit, prior to powering, booting the board, and
running your first application, you need to follow the instructions on the Getting
Started with Kria KR260 Robotic Starter Kit pages to download and write the Xilinx
SOM Starter Linux image to a microSD card. The webpage guides you to power on
the KR260, boot Linux, and run a number of pre-built accelerated applications to
start evaluation of the capabilities on the platform.
Platform Management Utility
The following section outlines the platform management utility called xmutil that
is included in the SOM Linux image to help you configure and work with the SOM.
The table provides a list and description of the functions available from Xilinx. You
should use the -h or help functions with each utility to get detailed use instructions.
Using sudo is required with many of the xmutil functions.
Table: SOM Utility Functions
Utility Function Description
xmutil boardid Reads all board EEPROM contents. Prints information
summary to command line interface.
xmutil
bootfw_status
Reads primary boot device information. Prints A/B status
information, image IDs, and checksums to command line
interface.
xmutil
bootfw_update
Tool for updating the primary boot device with a new boot
image in the inactive partition.
xmutil getpkgs Queries Xilinx package feeds and provides a summary to
the debug interface of relevant packages for the active
platform based on board ID information.

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
15/26
Utility Function Description
xmutil listapps Queries on the target hardware resource manager daemon
of pre-built applications that are available on the platform
and provides a summary to the debug interface.
xmutil loadapp Loads the integrated HW+SW application inclusive of the
bitstream, and starts the corresponding pre-built
application software executable.
xmutil unloadapp Removes accelerated application inclusive of unloading its
bitstream.
xmutil
platformstats
Reads and prints a summary of the following performance
related information: CPU frequency, RAM usage,
temperature, and power information.
xmutil ddrqos Utility for changing configuration of PS DDR quality of
service (QoS) settings. Initial implementation focuses on
PS DDR memory controller traffic class configuration.
xmutil axiqos Utility for changing configuration of PS/PL AXI interface
quality of service (QoS) settings. Initial implementation
focuses on AXI port read/write priority configurations.
Accelerated Applications
The Xilinx SOM platforms are enabled with a number of accelerated applications
(AA) that can be dynamically installed on the SOM platform. The SOM starter Linux
image is application agnostic and provides a set of utilities for pulling the hardware
accelerated application examples from the SOM Linux package feeds.
Accelerated applications are software controllable, application-specific reference
designs for roboticist, AI developers, embedded developers, and system architects
to customize and enhance the functionality through software control or updating
the AI models.
The Kria™ robotics stack (KRS) is an integrated set of robot libraries and utilities
that use hardware to accelerate the development, maintenance, and
commercialization of industrial-grade robotic solutions. It adopts the robot
operating system (ROS) Software Development Kit (SDK) and enables a ROS 2-
centric development approach that spans from the creation of computational

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
16/26
✎
graphs to the commercialization of ROS 2 overlay workspaces found in the KriaApp
Store. Some robotic accelerated applications are developed using the KRS.
The following table outlines some featured accelerated applications available for
the KR260 Starter Kit. Consider this list as a starting point. Visit the SOM Getting
Started webpage for the most up-to-date accelerated applications availability.
Table: KR260 Accelerated Applications Overview
Name Description
ROS 2 Perception
Node
Using the hardware accelerated perception for ROS 2
developers makes it easier to build high-performance
solutions on Kria platforms. The focus of this accelerated
application is to improve the throughput of image
processing, an important facet to roboticists leveraging the
Kria robotic stack (KRS) and Vitis Vision Library . The
accelerated application reduces the load on the host CPU
while providing significant performance gain. The data
source and virtual environment are provided by the Gazebo
simulator with Ubuntu Linux 22.04.
ROS 2 Multi-Node
Communications
via TSN
The ROS 2 multi-node communication via TSN is an
accelerated application that focuses on applying ROS 2
within the context of an time-sensitive networking (TSN)
based communications infrastructure that is developed
using the Kria robotics stack.
10GigE Vision
Camera
The 10GigE vision camera is a hardware accelerated
machine vision application that is used in defect detection
on the KR260 platform. It uses the Framos SLVS-EC sensor
interface, the Euresys 10GigE vision interface, and the
defect detection algorithm using the Vitis Vision Library .
Accelerated Application Package Selection
Recommended: Public Ethernet connectivity is necessary to dynamically pull
down the latest accelerated application designs.
1. If you have not already verified Internet connectivity do so before proceeding
via ping test or DNS lookup (e.g., nslookup).

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
17/26
✎
2. Example applications are deployed using the Linux package management
framework for over-the-air deployment. The sudo xmutil getpkgs lists a
series of package groups that can be installed on your platform. The package
group naming convention is: packagegroup-kit_name-application_name.
For example, the machine vision application for the KR260 platform has the
following package group name packagegroup-kr260-machine-vision. You
can install any number of matching accelerated applications to your platform.
For exact commands to install, refer to the Kria SOM Wiki for further details.
Note: You should only install package-groups that are compatible with your
particular starter kit configuration.
3. For any applications installed on the local file system via the package feed, the
platform can now dynamically load and swap those applications. To see a list
of the applications local to the system, execute sudo xmutil listapps. You
can also see what applications are local by manually exploring the
/opt/xilinx directory.
4. By default, kr260-dp is loaded on boot. From the applications list, check for an
active application loaded (active = 1 in the xmutil listapps output). If there
is a loaded application, unload it by running the sudo xmutil unloadapp
command to unload the current application before proceeding to the next
step.
5. From the application list, start the new application by running sudo xmutil
loadapp application_name. The platform configuration is automatically
handled and starts the application.
. Applications with a Jupyter-based cockpit will start-up automatically. You
need to point your web-browser to the associated IP address and port. The
associated IP address and port information is printed to the UART at boot. To
query your Jupyter lab server URL after the initial boot, run: sudo jupyter
notebook list.
Supported Peripherals
The following table outlines external peripherals that are tested with the
corresponding accelerated applications. It is recommended that you use a
peripheral from the list to ensure that you realize maximum platform performance.
Table: Accelerated Application Peripherals
Accelerated ApplicationPeripheral Part Number

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
18/26
Accelerated ApplicationPeripheral Part Number
10GigE Vision
Camera
Sony IMX547 camera kit
color for SLVS_EC (J22)
Sony HW-IMX547C-SK-G
Sony IMX547 camera kit
monochrome for SLVS_EC
(J22)
Sony HW-IMX547M-SK-G
10GBase-SR SFP+
transceiver (J23)
10Gtek AXS85-192-M3
The following table outlines external peripherals that are functionally verified with
the KR260 Starter Kit.
Table: KR260 Starter Kit Functionally Tested Peripherals
Peripheral Part Number
Pmod RS485 isolated
communications
Digilent 410-310
USB 4K camera Logitech BRIO
For a complete list of KR260 compatible accessories, refer to the Kria SOM Forum.
Xilinx Tools Integration
The K26 SOM and KR260 Starter Kit are integrated with the Vitis™ software
development platform and Vivado® Design Suite for rapid development of your
unique applications on the platform.
Vivado Board Flow
The K26 SOM is enabled in the Vivado Design Suite through the Vivado Board Flow
functionality. Vivado Board Flow enables a level of hardware abstraction that
automatically configures peripherals fixed on the SOM card (e.g., DDR4), defines
associated timing constraints, and presents the customizable physical I/O available
on the SOM connector(s).

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
19/26
The Vivado SOM board model is available through the Vivado installation process
as well as on the Vivado board file GitHub repository. The following KR260 related
Vivado board files are available.
KR260 Starter Kit
Configured K26 SOM with Robotics Starter Kit companion card
SM-K26-XCL2GC
K26 commercial grade production SOM
SM-K26-XCL2GI
K26 industrial grade production SOM
The Xilinx SOM board flow infrastructure provides starter kit carrier card awareness
through the Vivado tools companion card mechanism. Automation for I/O
connection and peripheral IP configuration when selecting a SOM and an
associated carrier card, such as the KR260 Starter Kit, is used to create a hardware
configuration.
For additional information on using the Vivado tools and the Vivado board flow,
refer to the Vitis Model Composer User Guide (UG1483).
Board Reset, Firmware Update, and
Recovery
This section outlines the update and recovery mechanisms built into the KR260
Starter Kit. Two tools are provided for firmware updates. The first is a Linux based
A/B update tool that supports remote and redundant firmware updates to the A/B
firmware partitions of the QSPI device with custom or Xilinx provided updates. The
second tool is the Ethernet recovery tool that is intended to be used only when
recovering a full platform to the original factory firmware.
Firmware Update
The firmware update button is the physical SW1/FWUEN push button located on
the KR260 Starter Kit carrier card. The button is used to support two features:
1. To force the platform into a recovery mode application during power-on. The
recovery application is described in the Ethernet Recovery Tool section of this
document.

6/6/22, 10:35 AM
Unofficial Document
https://docs.xilinx.com/internal/api/webapp/print/5e0a42c0-dd90-44ad-a73a-52ad8ea03f9e
20/26
2. Security mechanism to prevent remote update of the boot firmware, without
the user being physically present.
Ethernet Recovery Tool
The Ethernet recovery tool is a small application included in the Xilinx provided
KR260 Starter Kit QSPI image. It provides a simple Ethernet-based interface and
application for updating the boot firmware. This application and interface is
initiated by holding the firmware update button during the power-on sequence. The
application uses a fixed IP address of 192.168.0.111. The following figure shows an
overview of the set-up.
Figure: Ethernet Recovery Tool Setup
The Ethernet recovery tool provides a mechanism for updating either of the
dynamic boot partitions within the primary boot device if Linux is not functional. If
Linux is functional, the recommendation is to update the boot firmware using the
xmutil boot firmware update utilities. The associated update content is a Xilinx
XCK26 binary boot image captured as BOOT.BIN. To support platform recovery, the
KR260 Starter Kit factory BOOT.BIN image is made available on the Xilinx SOM
Getting Started web page. You can also use this tool when customizing the
platforms boot firmware with your own BOOT.BIN generated through the XilinxVitis
and PetaLinux tools.
To use the Ethernet recovery tool, follow these steps:
1. Connect the PC to the KR260 Starter Kit via Ethernet as shown in Figure 1.
Ensure that the system is connected to the KR260 J10C Ethernet port. The
other ports will not work for platform recovery.
2. Set the PC to a static IP address that is on the same subnet as the recovery
tool (192.168.0.XYZ), but not 192.168.0.111.