lupyuen/nuttx-sg2000
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Lee Lup Yuen 2024-04-28 23:24:39 +08:00
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@ -204,7 +204,7 @@ Warning: ethernet@4070000 (eth0) using random MAC address - 82:c2:1a:b2:ee:b5
eth0: ethernet@4070000
Hit any key to stop autoboot: 0
cv181x_c906# printenv
$ printenv
arch=riscv
baudrate=115200
@ -268,7 +268,7 @@ Environment size: 4333/131068 bytes
Aha Ethernet Driver is available in U-Boot. Which means we can boot NuttX over TFTP yay!
```bash
cv181x_c906# net list
$ net list
eth0 : ethernet@4070000 00:00:00:00:00:00 active
```
@ -325,18 +325,20 @@ fdt addr ${fdt_addr_r}
booti ${kernel_addr_r} ${ramdisk_addr_r}:${ramdisk_size} ${fdt_addr_r}
```
_What happens when we run this?_
_What happens when we run it at the U-Boot Command Prompt?_
This happens...
```bash
cv181x_c906# setenv tftp_server 192.168.31.10
cv181x_c906# printenv tftp_server
$ setenv tftp_server 192.168.31.10
$ printenv tftp_server
tftp_server=192.168.31.10
cv181x_c906# setenv ramdisk_size 0x1000000
cv181x_c906# printenv ramdisk_size
$ setenv ramdisk_size 0x1000000
$ printenv ramdisk_size
ramdisk_size=0x1000000
cv181x_c906# dhcp ${kernel_addr_r} ${tftp_server}:Image
$ dhcp ${kernel_addr_r} ${tftp_server}:Image
Speed: 100, full duplex
BOOTP broadcast 1
BOOTP broadcast 2
@ -352,7 +354,7 @@ Loading: #################################################################
done
Bytes transferred = 2097800 (200288 hex)
cv181x_c906# tftpboot ${fdt_addr_r} ${tftp_server}:jh7110-star64-pine64.dtb
$ tftpboot ${fdt_addr_r} ${tftp_server}:jh7110-star64-pine64.dtb
Speed: 100, full duplex
Using ethernet@4070000 device
TFTP from server 192.168.31.10; our IP address is 192.168.31.47
@ -363,9 +365,9 @@ Loading: ####
done
Bytes transferred = 50235 (c43b hex)
cv181x_c906# fdt addr ${fdt_addr_r}
$ fdt addr ${fdt_addr_r}
cv181x_c906# tftpboot ${ramdisk_addr_r} ${tftp_server}:initrd
$ tftpboot ${ramdisk_addr_r} ${tftp_server}:initrd
Speed: 100, full duplex
Using ethernet@4070000 device
TFTP from server 192.168.31.10; our IP address is 192.168.31.47
@ -376,7 +378,7 @@ Loading: #################################################################
done
Bytes transferred = 8354816 (7f7c00 hex)
cv181x_c906# booti ${kernel_addr_r} ${ramdisk_addr_r}:${ramdisk_size} ${fdt_addr_r}
$ booti ${kernel_addr_r} ${ramdisk_addr_r}:${ramdisk_size} ${fdt_addr_r}
## Flattened Device Tree blob at 81200000
Booting using the fdt blob at 0x81200000
Loading Ramdisk to 9e27f000, end 9f27f000 ... OK
@ -385,11 +387,7 @@ cv181x_c906# booti ${kernel_addr_r} ${ramdisk_addr_r}:${ramdisk_size} ${fdt_addr
Starting kernel ...
```
NuttX Kernel hangs, but that's OK! We haven't modified NuttX Kernel for SG2000 yet. Let's fix this...
# Boot Apache NuttX RTOS over TFTP
TODO
NuttX Kernel hangs, but that's OK! We haven't modified NuttX Kernel for SG2000 yet. Let's print something...
# UART Controller for SG2000
@ -406,17 +404,28 @@ According to the [SG2000 Reference Manual](https://github.com/sophgo/sophgo-doc/
We'll print to UART0 in NuttX.
TODO: What UART Controller is inside Milk-V Duo S? Modify the NuttX Boot Code to write UART Output Register in RISC-V Assembly
_What UART Controller is inside SG2000 / Milk-V Duo S?_
According to the OpenSBI Log above: The UART Controller is `uart8250`.
Which is supported by NuttX yay!
Let's modify the NuttX Boot Code to write to the UART Output Register. We'll do this in RISC-V Assembly...
# Print to SG2000 UART in RISC-V Assembly
TODO
Here's how we print to SG2000 UART in RISC-V Assembly...
https://lupyuen.github.io/articles/nuttx2#print-to-qemu-console
From the previous section: SG2000 UART0 Controller is at 0x04140000. We'll write to that address, to print something to Serial Console.
We insert this RISC-V Assembly at the top of the NuttX Boot Code...
https://github.com/lupyuen2/wip-nuttx/blob/sg2000/arch/risc-v/src/bl808/bl808_head.S#L70-L89
```c
/* RISC-V Boot Code for Apache NuttX RTOS */
real_start:
/* Print `123` to UART */
@ -439,13 +448,146 @@ real_start:
sb t1, 0(t0)
```
# Apache NuttX RTOS boots a tiny bit on Milk-V Duo S
Which will print `123` when NuttX boots. Let's build and test this!
TODO
# Build Apache NuttX RTOS for Milk-V Duo S
Follow these steps to build (work-in-progress) Apache NuttX RTOS for SG2000 / Milk-V Duo S...
```bash
cv181x_c906# setenv tftp_server 192.168.31.10
cv181x_c906# dhcp ${kernel_addr_r} ${tftp_server}:Image-sg2000
## Download WIP NuttX for SG2000 (based on Ox64 BL808)
git clone --branch sg2000 \
https://github.com/lupyuen2/wip-nuttx \
nuttx
git clone --branch sg2000 \
https://github.com/lupyuen2/wip-nuttx-apps \
apps
cd nuttx
## TODO: Set PATH
export PATH="$HOME/riscv64-unknown-elf-toolchain-10.2.0-2020.12.8-x86_64-apple-darwin/bin:$PATH"
set -e # Exit when any command fails
set -x # Echo commands
## Build NuttX
function build_nuttx {
## Go to NuttX Folder
pushd ../nuttx
## Build NuttX
make -j 8
## Return to previous folder
popd
}
## Build Apps Filesystem
function build_apps {
## Go to NuttX Folder
pushd ../nuttx
## Build Apps Filesystem
make -j 8 export
pushd ../apps
./tools/mkimport.sh -z -x ../nuttx/nuttx-export-*.tar.gz
make -j 8 import
popd
## Return to previous folder
popd
}
## Pull updates
git pull && git status && hash1=`git rev-parse HEAD`
pushd ../apps
git pull && git status && hash2=`git rev-parse HEAD`
popd
echo NuttX Source: https://github.com/apache/nuttx/tree/$hash1 >nuttx.hash
echo NuttX Apps: https://github.com/apache/nuttx-apps/tree/$hash2 >>nuttx.hash
## Show the versions of GCC and Zig
riscv64-unknown-elf-gcc -v
## Configure build
tools/configure.sh ox64:nsh
## Build NuttX
build_nuttx
## Build Apps Filesystem
build_apps
## Generate Initial RAM Disk
genromfs -f initrd -d ../apps/bin -V "NuttXBootVol"
## Show the size
riscv64-unknown-elf-size nuttx
## Export the Binary Image to `nuttx.bin`
riscv64-unknown-elf-objcopy \
-O binary \
nuttx \
nuttx.bin
## Prepare a Padding with 64 KB of zeroes
head -c 65536 /dev/zero >/tmp/nuttx.pad
## Append Padding and Initial RAM Disk to NuttX Kernel
cat nuttx.bin /tmp/nuttx.pad initrd \
>Image
## Copy the config
cp .config nuttx.config
## Dump the disassembly to nuttx.S
riscv64-unknown-elf-objdump \
--syms --source --reloc --demangle --line-numbers --wide \
--debugging \
nuttx \
>nuttx.S \
2>&1
## Dump the init disassembly to init.S
riscv64-unknown-elf-objdump \
--syms --source --reloc --demangle --line-numbers --wide \
--debugging \
../apps/bin/init \
>init.S \
2>&1
## Dump the hello disassembly to hello.S
riscv64-unknown-elf-objdump \
--syms --source --reloc --demangle --line-numbers --wide \
--debugging \
../apps/bin/hello \
>hello.S \
2>&1
## Copy NuttX Image to TFTP Server
scp Image tftpserver:/tftpboot/Image-sg2000
ssh tftpserver ls -l /tftpboot/Image-sg2000
```
We have copied the NuttX Image to our TFTP Server. Let's boot this on Milk-V Duo S...
# Apache NuttX RTOS boots a tiny bit on Milk-V Duo S
Earlier we have...
- Inserted the RISC-V Boot Code to print `123`
- Compiled Apache NuttX RTOS for Milk-V Duo S
- Copied the NuttX Image to our TFTP Server
Let's boot NuttX over TFTP, with a little help from U-Boot Bootloader!
```bash
$ setenv tftp_server 192.168.31.10
$ dhcp ${kernel_addr_r} ${tftp_server}:Image-sg2000
Speed: 100, full duplex
BOOTP broadcast 1
BOOTP broadcast 2
@ -460,7 +602,7 @@ Loading: #################################################################
. 1.2 MiB/s
done
Bytes transferred = 14195281 (d89a51 hex)
cv181x_c906# tftpboot ${fdt_addr_r} ${tftp_server}:jh7110-star64-pine64.dtb
$ tftpboot ${fdt_addr_r} ${tftp_server}:jh7110-star64-pine64.dtb
Speed: 100, full duplex
Using ethernet@4070000 device
TFTP from server 192.168.31.10; our IP address is 192.168.31.243
@ -470,8 +612,13 @@ Loading: ####
. 1.2 MiB/s
done
Bytes transferred = 50235 (c43b hex)
cv181x_c906# fdt addr ${fdt_addr_r}
cv181x_c906# booti ${kernel_addr_r} ${ramdisk_addr_r}:${ramdisk_size} ${fdt_addr_r}
$ fdt addr ${fdt_addr_r}
```
NuttX boots a tiny bit, and prints `123` yay!
```bash
$ booti ${kernel_addr_r} ${ramdisk_addr_r}:${ramdisk_size} ${fdt_addr_r}
## Flattened Device Tree blob at 81200000
Booting using the fdt blob at 0x81200000
Loading Ramdisk to 9fe00000, end 9fe00000 ... OK
@ -482,12 +629,16 @@ Starting kernel ...
123
```
TODO: Fix the Boot Address of NuttX
TODO: Configure the 16550 UART Driver for NuttX
# U-Boot Commands for Milk-V Duo S
Here are the U-Boot Commands...
```bash
cv181x_c906# help
$ help
? - alias for 'help'
base - print or set address offset