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Apache NuttX RTOS on 64-bit RISC-V Sophgo SG2000 (T-Head C906 / Milk-V Duo S)
| .github | ||
| LICENSE | ||
| README.md | ||
Apache NuttX RTOS on 64-bit RISC-V Sophgo SG2000 (T-Head C906 / Milk-V Duo S)
64-bit RISC-V Sophgo SG2000 SoC ... Will it boot Apache NuttX RTOS? 🤔 (T-Head C906 / Milk-V Duo S)
Let's find out!
Is this a sponsored review?
I was given a Milk-V Duo S, and I bought another. So it cancels out, I guess?
Boot Milk-V Duo S without MicroSD
Connect our USB UART Dongle like so...
https://milkv.io/docs/duo/getting-started/duos
USB UART Dongle must be CP2102, it doesn't like CH340G 😬
Flip the switch so it's set to "RV" (RISC-V) instead of "Arm"...
Power up via the USB-C Port. We should see in RISC-V Mode...
https://gist.github.com/lupyuen/a7c3af98be36dcd5cc5b45f5aadc5d16
C.SCS/0/0.WD.URPL.USBI.USBEF.BS/EMMC.EMI/25000000/12000000. E:bm_emmc_send_cmd_without_data CMD: 1 INT_STAT: 0x E:bm_emmc_send_cmd_without_data CMD: 0 INT_STAT: 0x E:eMMC init failed, 3
E:eMMC initializing failed
PS. E:bm_emmc_send_cmd_without_data CMD: 6 INT_STAT: 0x E:load param1 (-5)
E:Boot failed (8).
E:RESET:plat/mars/platform.c:114
WD.C.SCS/0/0.WD.URPL.USBI.USBEF.BS/EMMC.EMI/25000000/12000000. E:bm_emmc_send_cmd_without_data CMD: 1 INT_STAT: 0x E:bm_emmc_send_cmd_without_data CMD: 0 INT_STAT: 0x E:eMMC init failed, 3
E:eMMC initializing failed
If we see B.SCS instead of C.SCS...
https://gist.github.com/lupyuen/d55b77a51ee8b258d6d1c0799770742a
B.SCS/0/0.WD.URPL.USBI.USBEF.BS/EMMC.EMI/25000000/12000000.
Nope we're in Arm Mode! Flip the switch back to RISC-V!
If we use CH340G: UART Output will be garbled (happens on Linux and macOS, maybe Windows too)...
https://gist.github.com/lupyuen/1d5ba1b2a47c110ee7ff265102b1aae5
Milk-V Duo S doesn't ship with U-Boot Bootloader preinstalled. Too bad we can't boot NuttX over TFTP, our NuttX Porting will be a bit slower. Bummer :-(
TODO: Get the eMMC Version with U-Boot preinstalled. But flashing the eMMC only works on Windows. Sigh
Boot Linux on Milk-V Duo S
Let's boot Linux on MicroSD...
https://github.com/Fishwaldo/sophgo-sg200x-debian/releases
We pick the Latest Release for Milk-V Duo S...
https://github.com/Fishwaldo/sophgo-sg200x-debian/releases/download/v1.1.0/duos_sd.img.lz4
$ brew install lz4
$ lz4 ~/Downloads/duos_sd.img.lz4
## TODO: Write duos_sd.img to MicroSD with Balena Etcher
→ ls -l /Volumes/boot
total 17488
-rwxrwxrwx 1 Luppy staff 3494900 Apr 24 11:33 System.map-5.10.4-20240329-1+
-rwxrwxrwx 1 Luppy staff 125534 Apr 24 11:33 config-5.10.4-20240329-1+
drwxrwxrwx 1 Luppy staff 2048 Apr 24 11:33 extlinux
drwxrwxrwx 1 Luppy staff 2048 Apr 24 11:33 fdt
-rwxrwxrwx 1 Luppy staff 388608 Apr 24 11:33 fip.bin
-rwxrwxrwx 1 Luppy staff 4937389 Apr 24 11:33 vmlinuz-5.10.4-20240329-1+
→ ls -l /Volumes/boot/extlinux
total 4
-rwxrwxrwx 1 Luppy staff 749 Apr 24 11:33 extlinux.conf
→ ls -l /Volumes/boot/fdt
total 4
drwxrwxrwx 1 Luppy staff 2048 Apr 24 11:33 linux-image-duos-5.10.4-20240329-1+
→ ls -l /Volumes/boot/fdt/linux-image-duos-5.10.4-20240329-1+
total 44
-rwxrwxrwx 1 Luppy staff 21575 Apr 24 11:33 cv181x_milkv_duos_sd.dtb
Here's the Boot Config...
→ cat /Volumes/boot/extlinux/extlinux.conf
## /boot/extlinux/extlinux.conf
##
## IMPORTANT WARNING
##
## The configuration of this file is generated automatically.
## Do not edit this file manually, use: u-boot-update
default l0
menu title U-Boot menu
prompt 1
timeout 50
label l0
menu label Debian GNU/Linux trixie/sid 5.10.4-20240329-1+
linux /vmlinuz-5.10.4-20240329-1+
fdtdir /fdt/linux-image-duos-5.10.4-20240329-1+/
append root=/dev/root console=ttyS0,115200 earlycon=sbi root=/dev/mmcblk0p2 rootwait rw
label l0r
menu label Debian GNU/Linux trixie/sid 5.10.4-20240329-1+ (rescue target)
linux /vmlinuz-5.10.4-20240329-1+
fdtdir /fdt/linux-image-duos-5.10.4-20240329-1+/
append root=/dev/root console=ttyS0,115200 earlycon=sbi root=/dev/mmcblk0p2 rootwait rw single
Yep Linux boots OK on Milk-V Duo S! (Together with OpenSBI and U-Boot Bootloader)
https://gist.github.com/lupyuen/01d409b7bde9607a96cd4d460e53330a
OpenSBI v0.9
____ _____ ____ _____
/ __ \ / ____| _ \_ _|
| | | |_ __ ___ _ __ | (___ | |_) || |
| | | | '_ \ / _ \ '_ \ \___ \| _ < | |
| |__| | |_) | __/ | | |____) | |_) || |_
\____/| .__/ \___|_| |_|_____/|____/_____|
| |
|_|
Platform Name : Milk-V DuoS
Platform Features : mfdeleg
Platform HART Count : 1
Platform IPI Device : clint
Platform Timer Device : clint
Platform Console Device : uart8250
Platform HSM Device : ---
Platform SysReset Device : ---
Firmware Base : 0x80000000
Firmware Size : 132 KB
Runtime SBI Version : 0.3
Domain0 Name : root
Domain0 Boot HART : 0
Domain0 HARTs : 0*
Domain0 Region00 : 0x0000000074000000-0x000000007400ffff (I)
Domain0 Region01 : 0x0000000080000000-0x000000008003ffff ()
Domain0 Region02 : 0x0000000000000000-0xffffffffffffffff (R,W,X)
Domain0 Next Address : 0x0000000080200020
Domain0 Next Arg1 : 0x0000000080080000
Domain0 Next Mode : S-mode
Domain0 SysReset : yes
Boot HART ID : 0
Boot HART Domain : root
Boot HART ISA : rv64imafdcvsux
Boot HART Features : scounteren,mcounteren,time
Boot HART PMP Count : 16
Boot HART PMP Granularity : 4096
Boot HART PMP Address Bits: 38
Boot HART MHPM Count : 8
Boot HART MHPM Count : 8
Boot HART MIDELEG : 0x0000000000000222
Boot HART MEDELEG : 0x000000000000b109
...
Debian GNU/Linux trixie/sid duos ttyS0
duos login:
Let's dump the U-Boot Config...
https://gist.github.com/lupyuen/000b55a46336cddf217a589f469d60e2
U-Boot 2021.10-ga57aa1f2-dirty (Apr 24 2024 - 11:24:46 +0000) cvitek_cv181x
DRAM: 510 MiB
gd->relocaddr=0x9fbc7000. offset=0x1f9c7000
set_rtc_register_for_power
MMC: cv-sd@4310000: 0, wifi-sd@4320000: 1
Loading Environment from nowhere... OK
In: serial
Out: serial
Err: serial
Net:
Warning: ethernet@4070000 (eth0) using random MAC address - 82:c2:1a:b2:ee:b5
eth0: ethernet@4070000
Hit any key to stop autoboot: 0
$ printenv
arch=riscv
baudrate=115200
board=mars
board_name=mars
boot_a_script=load ${devtype} ${devnum}:${distro_bootpart} ${scriptaddr} ${prefix}${script}; source ${scriptaddr}
boot_efi_binary=load ${devtype} ${devnum}:${distro_bootpart} ${kernel_addr_r} efi/boot/bootriscv64.efi; if fdt addr ${fdt_addr_r}; then bootefi ${kernel_addr_r} ${fdt_addr_r};else bootefi ${kernel_addr_r} ${fdtcontroladdr};fi
boot_efi_bootmgr=if fdt addr ${fdt_addr_r}; then bootefi bootmgr ${fdt_addr_r};else bootefi bootmgr;fi
boot_extlinux=sysboot ${devtype} ${devnum}:${distro_bootpart} any ${scriptaddr} ${prefix}${boot_syslinux_conf}
boot_prefixes=/ /boot/
boot_script_dhcp=boot.scr.uimg
boot_scripts=boot.scr.uimg boot.scr
boot_syslinux_conf=extlinux/extlinux.conf
boot_targets=mmc0 dhcp pxe
bootcmd=run distro_bootcmd || run sdboot || run sdbootauto
bootcmd_dhcp=devtype=dhcp; if dhcp ${scriptaddr} ${boot_script_dhcp}; then source ${scriptaddr}; fi;setenv efi_fdtfile ${fdtfile}; setenv efi_old_vci ${bootp_vci};setenv efi_old_arch ${bootp_arch};setenv bootp_vci PXEClient:Arch:00027:UNDI:003000;setenv bootp_arch 0x1b;if dhcp ${kernel_addr_r}; then tftpboot ${fdt_addr_r} dtb/${efi_fdtfile};if fdt addr ${fdt_addr_r}; then bootefi ${kernel_addr_r} ${fdt_addr_r}; else bootefi ${kernel_addr_r} ${fdtcontroladdr};fi;fi;setenv bootp_vci ${efi_old_vci};setenv bootp_arch ${efi_old_arch};setenv efi_fdtfile;setenv efi_old_arch;setenv efi_old_vci;
bootcmd_mmc0=devnum=0; run mmc_boot
bootcmd_pxe=dhcp; if pxe get; then pxe boot; fi
bootdelay=1
consoledev=ttyS0
cpu=generic
distro_bootcmd=for target in ${boot_targets}; do run bootcmd_${target}; done
efi_dtb_prefixes=/ /dtb/ /dtb/current/
fdt_addr_r=0x81200000
fdtcontroladdr=9f280810
fdtfile=cv181x_milkv_duos_sd.dtb
fdtoverlay_addr_r=0x81300000
gatewayip=192.168.0.11
ipaddr=192.168.0.3
kernel_addr_r=0x80200000
kernel_comp_addr_r=0x81800000
kernel_comp_size=0x1000000
load_efi_dtb=load ${devtype} ${devnum}:${distro_bootpart} ${fdt_addr_r} ${prefix}${efi_fdtfile}
mmc_boot=if mmc dev ${devnum}; then devtype=mmc; run scan_dev_for_boot_part; fi
netdev=eth0
netmask=255.255.255.0
othbootargs=earlycon=sbi riscv.fwsz=0x80000 loglevel=9
pxefile_addr_r=0x81400000
ramdisk_addr_r=0x81600000
root=root=/dev/mmcblk0p2 rootwait rw
scan_dev_for_boot=echo Scanning ${devtype} ${devnum}:${distro_bootpart}...; for prefix in ${boot_prefixes}; do run scan_dev_for_extlinux; run scan_dev_for_scripts; done;run scan_dev_for_efi;
scan_dev_for_boot_part=part list ${devtype} ${devnum} -bootable devplist; env exists devplist || setenv devplist 1; for distro_bootpart in ${devplist}; do if fstype ${devtype} ${devnum}:${distro_bootpart} bootfstype; then run scan_dev_for_boot; fi; done; setenv devplist
scan_dev_for_efi=setenv efi_fdtfile ${fdtfile}; for prefix in ${efi_dtb_prefixes}; do if test -e ${devtype} ${devnum}:${distro_bootpart} ${prefix}${efi_fdtfile}; then run load_efi_dtb; fi;done;run boot_efi_bootmgr;if test -e ${devtype} ${devnum}:${distro_bootpart} efi/boot/bootriscv64.efi; then echo Found EFI removable media binary efi/boot/bootriscv64.efi; run boot_efi_binary; echo EFI LOAD FAILED: continuing...; fi; setenv efi_fdtfile
scan_dev_for_extlinux=if test -e ${devtype} ${devnum}:${distro_bootpart} ${prefix}${boot_syslinux_conf}; then echo Found ${prefix}${boot_syslinux_conf}; run boot_extlinux; echo SCRIPT FAILED: continuing...; fi
scan_dev_for_scripts=for script in ${boot_scripts}; do if test -e ${devtype} ${devnum}:${distro_bootpart} ${prefix}${script}; then echo Found U-Boot script ${prefix}${script}; run boot_a_script; echo SCRIPT FAILED: continuing...; fi; done
scriptaddr=0x81500000
sdboot=setenv bootargs ${reserved_mem} ${root} ${mtdparts} console=$consoledev,$baudrate $othbootargs;echo Boot from SD dev ${sddev} ...;mmc dev ${sddev} && fatload mmc ${sddev} ${uImage_addr} boot.sd;if test $? -eq 0; then bootm ${uImage_addr}#config-cv181x_milkv_duos_sd;fi;
sdbootauto=cvi_sd_boot;setenv bootargs ${reserved_mem} ${root} ${mtdparts} console=$consoledev,$baudrate $othbootargs;echo Boot from SD dev ${sddev} auto ...;mmc dev ${sddev} && fatload mmc ${sddev} ${uImage_addr} boot.sd;if test $? -eq 0; then bootm ${uImage_addr}#config-cv181x_milkv_duos_sd;fi;
sddev=0
serverip=192.168.56.101
stderr=serial
stdin=serial
stdout=serial
uImage_addr=0x81800000
update_addr=0x9fe00000
vendor=cvitek
Environment size: 4333/131068 bytes
Aha Ethernet Driver is available in U-Boot. Which means we can boot NuttX over TFTP yay!
$ net list
eth0 : ethernet@4070000 00:00:00:00:00:00 active
(See below for the U-Boot Commands)
Here's another Linux Image: https://github.com/logicethos/Milk-V_Duo_Linux2SD
Boot Milk-V Duo S over TFTP
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...
https://lupyuen.github.io/articles/tftp#configure-u-boot-for-tftp
## Set U-Boot TFTP Server
setenv tftp_server 192.168.31.10
printenv tftp_server
## Set RAM Disk Size (assume the max)
setenv ramdisk_size 0x1000000
printenv ramdisk_size
## TODO: saveenv doesn't exist, can't save Environment Variables!
## TODO: Update the Boot Config in MicroSD instead
## saveenv
## Fetch the IP Address over DHCP
## Load the NuttX Image from TFTP Server
## kernel_addr_r=0x80200000
## tftp_server=192.168.x.x
## TODO: Fix the NuttX Image
dhcp ${kernel_addr_r} ${tftp_server}:Image-sg2000
## Load the Device Tree from TFTP Server
## fdt_addr_r=0x81200000
## TODO: Fix the Device Tree
tftpboot ${fdt_addr_r} ${tftp_server}:jh7110-star64-pine64.dtb
## Set the RAM Address of Device Tree
## fdt_addr_r=0x81200000
fdt addr ${fdt_addr_r}
## TODO: If Initial RAM Disk is needed...
## Load the Intial RAM Disk from TFTP Server
## ramdisk_addr_r=0x81600000
## tftpboot ${ramdisk_addr_r} ${tftp_server}:initrd
## Boot the NuttX Image with the Initial RAM Disk and Device Tree
## kernel_addr_r=0x80200000
## ramdisk_addr_r=0x81600000
## ramdisk_size=0x1000000
## fdt_addr_r=0x81200000
booti ${kernel_addr_r} ${ramdisk_addr_r}:${ramdisk_size} ${fdt_addr_r}
What happens when we run it at the U-Boot Command Prompt?
This happens...
$ setenv tftp_server 192.168.31.10
$ printenv tftp_server
tftp_server=192.168.31.10
$ setenv ramdisk_size 0x1000000
$ printenv ramdisk_size
ramdisk_size=0x1000000
$ dhcp ${kernel_addr_r} ${tftp_server}:Image
Speed: 100, full duplex
BOOTP broadcast 1
BOOTP broadcast 2
*** Unhandled DHCP Option in OFFER/ACK: 43
*** Unhandled DHCP Option in OFFER/ACK: 43
DHCP client bound to address 192.168.31.47 (550 ms)
Using ethernet@4070000 device
TFTP from server 192.168.31.10; our IP address is 192.168.31.47
Filename 'Image'.
Load address: 0x80200000
Loading: #################################################################
. 1.2 MiB/s
done
Bytes transferred = 2097800 (200288 hex)
$ 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
Filename 'jh7110-star64-pine64.dtb'.
Load address: 0x81200000
Loading: ####
. 1.1 MiB/s
done
Bytes transferred = 50235 (c43b hex)
$ fdt addr ${fdt_addr_r}
$ 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
Filename 'initrd'.
Load address: 0x81600000
Loading: #################################################################
. 1.2 MiB/s
done
Bytes transferred = 8354816 (7f7c00 hex)
$ 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
Loading Device Tree to 000000009e26f000, end 000000009e27e43a ... OK
Starting kernel ...
NuttX Kernel hangs, but that's OK! We haven't modified NuttX Kernel for SG2000 yet. Let's print something...
UART Controller for SG2000
According to the SG2000 Reference Manual, the UART Controller Base Addresses are...
| GPIO Module | Base Address |
|---|---|
| UART0 | 0x04140000 |
| UART1 | 0x04150000 |
| UART2 | 0x04160000 |
| UART3 | 0x04170000 |
| UART4 | 0x041C0000 |
| RTCSYS_UART | 0x05022000 |
We'll print to UART0 in NuttX.
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
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
/* RISC-V Boot Code for Apache NuttX RTOS */
real_start:
/* Print `123` to UART */
/* Load UART Base Address to Register t0 */
li t0, 0x04140000
/* Load `1` to Register t1 */
li t1, 0x31
/* Store byte from Register t1 to UART Base Address, Offset 0 */
sb t1, 0(t0)
/* Load `2` to Register t1 */
li t1, 0x32
/* Store byte from Register t1 to UART Base Address, Offset 0 */
sb t1, 0(t0)
/* Load `3` to Register t1 */
li t1, 0x33
/* Store byte from Register t1 to UART Base Address, Offset 0 */
sb t1, 0(t0)
Which will print 123 when NuttX boots. Let's build and test this!
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...
## 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(at NuttX Startup) -
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!
$ 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
*** Unhandled DHCP Option in OFFER/ACK: 43
*** Unhandled DHCP Option in OFFER/ACK: 43
DHCP client bound to address 192.168.31.243 (424 ms)
Using ethernet@4070000 device
TFTP from server 192.168.31.10; our IP address is 192.168.31.243
Filename 'Image-sg2000'.
Load address: 0x80200000
Loading: #################################################################
. 1.2 MiB/s
done
Bytes transferred = 14195281 (d89a51 hex)
$ 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
Filename 'jh7110-star64-pine64.dtb'.
Load address: 0x81200000
Loading: ####
. 1.2 MiB/s
done
Bytes transferred = 50235 (c43b hex)
$ fdt addr ${fdt_addr_r}
NuttX boots a tiny bit, and prints 123 yay!
$ 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
Loading Device Tree to 000000009f26f000, end 000000009f27e43a ... OK
Starting kernel ...
123
Our NuttX Boot Code is actually running on SG2000 / Milk-V Duo S!
TODO: Fix the Boot Address of NuttX, so the rest of NuttX can start
TODO: Configure the 16550 UART Driver for NuttX, so can see the Console Output
U-Boot Commands for Milk-V Duo S
Here are the U-Boot Commands...
$ help
? - alias for 'help'
base - print or set address offset
bdinfo - print Board Info structure
blkcache - block cache diagnostics and control
boot - boot default, i.e., run 'bootcmd'
bootd - boot default, i.e., run 'bootcmd'
bootefi - Boots an EFI payload from memory
bootelf - Boot from an ELF image in memory
booti - boot Linux kernel 'Image' format from memory
bootm - boot application image from memory
bootp - boot image via network using BOOTP/TFTP protocol
bootvx - Boot vxWorks from an ELF image
cmp - memory compare
cp - memory copy
cpu - display information about CPUs
cvi_sd_boot- boot from SD card
cvi_update- cvi_update [eth, sd, usb]- check boot status and update if necessary
cvi_utask - bootloader control block command
dcache - enable or disable data cache
dhcp - boot image via network using DHCP/TFTP protocol
echo - echo args to console
efuser - Read efuse
efuser_dump- Read/Dump efuse
efusew - Write efuse
efusew_word- Write word to efuse
env - environment handling commands
erase - erase FLASH memory
exit - exit script
ext2load - load binary file from a Ext2 filesystem
ext2ls - list files in a directory (default /)
ext4load - load binary file from a Ext4 filesystem
ext4ls - list files in a directory (default /)
ext4size - determine a file's size
false - do nothing, unsuccessfully
fatinfo - print information about filesystem
fatload - load binary file from a dos filesystem
fatls - list files in a directory (default /)
fatmkdir - create a directory
fatrm - delete a file
fatsize - determine a file's size
fatwrite - write file into a dos filesystem
fdt - flattened device tree utility commands
flinfo - print FLASH memory information
fstype - Look up a filesystem type
fstypes - List supported filesystem types
go - start application at address 'addr'
help - print command description/usage
icache - enable or disable instruction cache
iminfo - print header information for application image
ln - Create a symbolic link
load - load binary file from a filesystem
loadb - load binary file over serial line (kermit mode)
loadx - load binary file over serial line (xmodem mode)
loady - load binary file over serial line (ymodem mode)
loop - infinite loop on address range
ls - list files in a directory (default /)
md - memory display
mdio - MDIO utility commands
mii - MII utility commands
mm - memory modify (auto-incrementing address)
mmc - MMC sub system
mmcinfo - display MMC info
mw - memory write (fill)
net - NET sub-system
nfs - boot image via network using NFS protocol
nm - memory modify (constant address)
panic - Panic with optional message
part - disk partition related commands
ping - send ICMP ECHO_REQUEST to network host
printenv - print environment variables
protect - enable or disable FLASH write protection
pxe - commands to get and boot from pxe
reset - Perform RESET of the CPU
run - run commands in an environment variable
save - save file to a filesystem
setenv - set environment variables
setexpr - set environment variable as the result of eval expression
showvar - print local hushshell variables
size - determine a file's size
sleep - delay execution for some time
source - run script from memory
sysboot - command to get and boot from syslinux files
test - minimal test like /bin/sh
tftpboot - boot image via network using TFTP protocol
true - do nothing, successfully
version - print monitor, compiler and linker version