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README.md
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README.md
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@ -4,6 +4,10 @@
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# Apache NuttX RTOS on 64-bit RISC-V Sophgo SG2000 (T-Head C906 / Milk-V Duo S)
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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64-bit RISC-V Sophgo SG2000 SoC ... Will it boot Apache NuttX RTOS? 🤔 (T-Head C906 / Milk-V Duo S)
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- [SG2000 Overview](https://www.cnx-software.com/2024/02/07/sophgo-sg2000-sg2002-ai-soc-features-risc-v-arm-8051-cores-android-linux-freertos/)
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@ -26,6 +30,10 @@ _Why are we doing all this?_
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# Sophgo SG2000 RISC-V SoC
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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__Sophgo SG2000 SoC__ has a fascinating mix of 64-bit RISC-V Cores (Arm too)...
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- __Main Processor:__ 64-bit RISC-V Core
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@ -58,6 +66,10 @@ Actually there's a __Hardware Switch__ that selects the Main CPU: __RISC-V OR Ar
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# Boot Milk-V Duo S without MicroSD
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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_What happens if we boot Milk-V Duo S? Fresh from the box?_
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Connect our __USB UART Dongle__ like so (pic above)...
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@ -108,6 +120,10 @@ Milk-V Duo S doesn't ship with U-Boot Bootloader preinstalled in Flash Memory. W
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# Boot Linux on Milk-V Duo S
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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_Milk-V Duo S won't boot without MicroSD. How now?_
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Let's boot __Linux on MicroSD__, thanks to the awesome work by [__Justin Hammond__](https://github.com/Fishwaldo) (Fishwaldo)...
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@ -325,6 +341,10 @@ Here's another Linux Image: https://github.com/logicethos/Milk-V_Duo_Linux2SD
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# Boot Milk-V Duo S over TFTP
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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We'll port NuttX by booting over TFTP, but let's test TFTP first. Here are the steps to boot Milk-V Duo S over TFTP...
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https://lupyuen.github.io/articles/tftp#configure-u-boot-for-tftp
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@ -469,6 +489,10 @@ NuttX Kernel hangs, but that's OK! We haven't modified NuttX Kernel for SG2000 y
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# UART Controller for SG2000
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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According to the [SG2000 Reference Manual](https://github.com/sophgo/sophgo-doc/releases), the UART Controller Base Addresses are...
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| GPIO Module | Base Address |
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@ -492,6 +516,10 @@ Let's modify the NuttX Boot Code to write to the UART Output Register. We'll do
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# Print to SG2000 UART in RISC-V Assembly
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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Here's how we print to 8250 UART in RISC-V Assembly...
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https://lupyuen.github.io/articles/nuttx2#print-to-qemu-console
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@ -530,6 +558,10 @@ Which will print `123` when NuttX boots. Let's build and test this!
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# Build Apache NuttX RTOS for Milk-V Duo S
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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Follow these steps to build (work-in-progress) Apache NuttX RTOS for SG2000 / Milk-V Duo S...
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```bash
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@ -655,6 +687,10 @@ We have copied the NuttX Image to our TFTP Server. Let's boot this on Milk-V Duo
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# Apache NuttX RTOS boots a tiny bit on Milk-V Duo S
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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Earlier we have...
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- Inserted the RISC-V Boot Code to print `123` (at NuttX Startup)
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@ -739,6 +775,10 @@ TODO: If we prefer to boot NuttX with MicroSD instead of TFTP, try this [MicroSD
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# Set the NuttX Memory Map for SG2000
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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From the U-Boot Bootloader Config above: We see that SG2000 boots at this address...
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```bash
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@ -792,6 +832,10 @@ SECTIONS {
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# Disable the PLIC Interrupt Controller
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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Most RISC-V SBCs (Ox64, Star64) will manage Interrupts with a Platform-Level Interrupt Controller (PLIC). For now, let's disable PLIC in NuttX...
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https://github.com/lupyuen2/wip-nuttx/commit/6d66caa1408d7a7d7b21b0e876ce32ceb5b93ec4
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@ -800,6 +844,10 @@ Later we'll dump the SG2000 Linux Device Tree to understand the Interrupt Contro
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# Select the NuttX Driver for 16550 UART
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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From the OpenSBI Log above: We see that SG2000 operates with a 8250 UART Controller.
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Thus we select the NuttX Driver for 16550 UART, which is compatible with 8250...
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@ -869,6 +917,10 @@ TODO: Fix the UART Clock: 16550_UART0_CLOCK
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# Enable Logging for NuttX Scheduler and Binary Loader
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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For easier troubleshooting: We enable the Logging for NuttX Scheduler and Binary Loader...
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https://github.com/lupyuen2/wip-nuttx/commit/4cee79630359f6b31fc9fa40f31bb476c8bc4d47
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@ -889,6 +941,10 @@ Remember: Always use `make menuconfig` to update the settings!
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# NuttX Crash Dump on SG2000
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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We apply the fixes above. Now NuttX boots some more on RISC-V SG2000 SoC / Milk-V Duo S. And shows our very first NuttX Crash Dump yay!
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https://gist.github.com/lupyuen/594f0df20d39001bac171412d594d517
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@ -951,6 +1007,10 @@ Which overwrites the NuttX Image in RAM. Watch what happens when we use the corr
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# NuttX Kernel Boots OK on SG2000
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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Earlier we made these fixes...
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1. We set the __NuttX Memory Map__ for SG2000: [nsh/defconfig](https://github.com/lupyuen2/wip-nuttx/commit/c6c0bd3882a855420acf0d53fa9d37bbd9d125b2#diff-fa4b30efe1c5e19ba2fdd2216528406d85fa89bf3d2d0e5161794191c1566078)
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@ -1041,6 +1101,10 @@ Let's sniff around and find out how it works...
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# Dump the SG2000 Linux Device Tree
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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Let's dump the SG2000 Linux Device Tree to understand the Interrupt Controller.
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From the SG2000 Debian Release: https://github.com/Fishwaldo/sophgo-sg200x-debian/releases
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@ -1062,6 +1126,10 @@ dtc \
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# Interrupt Controller for SG2000
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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We dumped the SG2000 Linux Device Tree. Let's extract the Interrupt Controller to understand it.
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Based on the SG2000 Device Tree: [cv181x_milkv_duos_sd.dts](cv181x_milkv_duos_sd.dts)
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@ -1132,6 +1200,10 @@ We see that PLIC is at 0x7000_0000, CLINT at 0x7400_0000. Let's implement this i
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# Fix the PLIC Interrupt Controller for SG2000
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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Based on the PLIC Address from above: We fix the PLIC Interrupt Controller for SG2000...
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https://github.com/lupyuen2/wip-nuttx/commit/f5f1aeac36350b8149fc2a77c817217711f082f6
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@ -1202,6 +1274,10 @@ Thus we compute [NuttX IRQ](https://lupyuen.github.io/articles/plic2#uart-interr
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# NuttX Shell runs OK on SG2000
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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Earlier we made these fixes...
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1. We dumped the __Linux Device Tree__ for SG2000...
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@ -1315,6 +1391,10 @@ Sadly we're hitting a RISC-V Exception: __Load Access Fault__. Needs more troubl
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# U-Boot Commands for Milk-V Duo S
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Read the article...
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- ["Apache NuttX RTOS on Sophgo SG2000 RISC-V SoC (Milk-V Duo S SBC)"](https://lupyuen.github.io/articles/sg2000)
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Here are the U-Boot Commands available for Milk-V Duo S...
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https://gist.github.com/lupyuen/000b55a46336cddf217a589f469d60e2
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