HLS AXI Master tutorial without using Pynq?

[TitechTraj]

I found this tutorial about using an AXI Master HLS (https://github.com/cathalmccabe/PYNQ_tutorials/blob/master/hls_m_axi/hls_m_axi_example.ipynb) and it is very instructive, thank you!

The Pynq libraries seem to provide many functions to ease the runtime software. I am trying to replicate the same concept using a regular Petalinux image and C++ but I can't figure out how to allocate and get the physical memory that I can assign to the AXI base address register.

Is there a way to use the same Pynq "my_ip.register_map.a_1 = py_buffer.physical_address" function with C++?
When I allocate a C++ pointer with malloc, it provides the virtual space address, not the actual physical address.

Thank you