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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
cv181x_c906# 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!
cv181x_c906# 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
Here are the steps to boot Milk-V Duo S over TFTP...
https://lupyuen.github.io/articles/tftp#configure-u-boot-for-tftp
## U-Boot tftpserver
setenv tftp_server 192.168.31.10
printenv tftp_server
saveenv
## Load the NuttX Image from TFTP Server
## kernel_addr_r=0x40200000
## tftp_server=192.168.x.x
if tftpboot ${kernel_addr_r} ${tftp_server}:Image;
then
## Load the Device Tree from TFTP Server
## fdt_addr_r=0x46000000
if tftpboot ${fdt_addr_r} ${tftp_server}:jh7110-star64-pine64.dtb;
then
## Set the RAM Address of Device Tree
## fdt_addr_r=0x46000000
if fdt addr ${fdt_addr_r};
then
## Load the Intial RAM Disk from TFTP Server
## ramdisk_addr_r=0x46100000
if tftpboot ${ramdisk_addr_r} ${tftp_server}:initrd;
then
## Boot the NuttX Image with the Initial RAM Disk and Device Tree
## kernel_addr_r=0x40200000
## ramdisk_addr_r=0x46100000
## ramdisk_size=0x1000000
## fdt_addr_r=0x46000000
booti ${kernel_addr_r} ${ramdisk_addr_r}:${ramdisk_size} ${fdt_addr_r};
fi;
fi;
fi;
fi
TODO: What happens?
Boot Apache NuttX RTOS over TFTP
TODO
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.
TODO: What UART Controller is inside Milk-V Duo S? Modify the NuttX Boot Code to write UART Output Register in RISC-V Assembly
U-Boot Commands for Milk-V Duo S
Here are the U-Boot Commands...
cv181x_c906# 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