| LICENSE | ||
| README.md | ||
Apache NuttX RTOS for Pine64 Star64 64-bit RISC-V SBC (StarFive JH7110)
Read the articles...
Let's port Apache NuttX RTOS to Pine64 Star64 64-bit RISC-V SBC!
(Based on StarFive JH7110 SoC)
Hopefully NuttX will run on Pine64 PineTab-V, which is also based on StarFive JH7110 SoC.
Linux Images for Star64
Let's examine the Linux Images for Star64 SBC, to see how U-Boot Bootloader is configured. (We'll boot NuttX later with U-Boot)
According to Software Releases for Star64, we have...
-
Yocto Images at pine64.my-ho.st
Let's inspect star64-image-minimal
-
Let's inspect Armbian 23.8 Lunar (Minimal)
Current state of RISC-V Linux: Linux on RISC-V (2022)
Armbian Image for Star64
Let's inspect the Armbian Image for Star64: Armbian 23.8 Lunar (Minimal)
Uncompress the .xz, mount the .img file on Linux / macOS / Windows as an ISO Volume.
The image contains 1 used partition: armbi_root (612 MB) that contains the Linux Root Filesystem.
Plus one unused partition (4 MB) at the top. (Partition Table)
We see the U-Boot Bootloader Configuration at armbi_root/boot/uEnv.txt...
fdt_high=0xffffffffffffffff
initrd_high=0xffffffffffffffff
kernel_addr_r=0x44000000
kernel_comp_addr_r=0x90000000
kernel_comp_size=0x10000000
fdt_addr_r=0x48000000
ramdisk_addr_r=0x48100000
# Move distro to first boot to speed up booting
boot_targets=distro mmc1 dhcp
distro_bootpart=1
# Fix missing bootcmd
bootcmd=run bootcmd_distro
kernel_addr_r says that Linux Kernel will be loaded at 0x4400 0000...
kernel_addr_r=0x44000000
(Yocto Image boots Linux Kernel at a different address, see next section)
This probably means that U-Boot Bootloader is loaded at 0x4000 0000.
U-Boot Bootloader will also read the options from armbi_root/boot/extlinux/extlinux.conf...
label Armbian
kernel /boot/Image
initrd /boot/uInitrd
fdt /boot/dtb/starfive/jh7110-star64-pine64.dtb
append root=UUID=99f62df4-be35-475c-99ef-2ba3f74fe6b5 console=ttyS0,115200n8 console=tty0 earlycon=sbi rootflags=data=writeback stmmaceth=chain_mode:1 rw rw no_console_suspend consoleblank=0 fsck.fix=yes fsck.repair=yes net.ifnames=0 splash plymouth.ignore-serial-consoles
This says that U-Boot will load the Linux Kernel from armbi_root/boot/Image
Which is sym-linked to armbi_root/boot/vmlinuz-5.15.0-starfive2
But the Flattened Device Tree (FDT) is missing! /boot/dtb/starfive/jh7110-star64-pine64.dtb
Which will fail the Armbian boot. (As we'll see later)
→ ls /Volumes/armbi_root/boot/dtb-5.15.0-starfive2/starfive
evb-overlay jh7110-evb-usbdevice.dtb
jh7110-evb-can-pdm-pwmdac.dtb jh7110-evb.dtb
jh7110-evb-dvp-rgb2hdmi.dtb jh7110-fpga.dtb
jh7110-evb-i2s-ac108.dtb jh7110-visionfive-v2-A10.dtb
jh7110-evb-pcie-i2s-sd.dtb jh7110-visionfive-v2-A11.dtb
jh7110-evb-spi-uart2.dtb jh7110-visionfive-v2-ac108.dtb
jh7110-evb-uart1-rgb2hdmi.dtb jh7110-visionfive-v2-wm8960.dtb
jh7110-evb-uart4-emmc-spdif.dtb jh7110-visionfive-v2.dtb
jh7110-evb-uart5-pwm-i2c-tdm.dtb vf2-overlay
Here are the files in armbi_root/boot...
→ ls -l /Volumes/armbi_root/boot
total 94416
lrwxrwxrwx 1 Luppy staff 24 Jun 21 13:59 Image -> vmlinuz-5.15.0-starfive2
-rw-r--r-- 1 Luppy staff 4276712 Jun 21 12:16 System.map-5.15.0-starfive2
-rw-r--r-- 1 Luppy staff 1536 Jun 21 14:00 armbian_first_run.txt.template
-rw-r--r-- 1 Luppy staff 38518 Jun 21 14:00 boot.bmp
-rw-r--r-- 1 Luppy staff 144938 Jun 21 12:16 config-5.15.0-starfive2
lrwxrwxrwx 1 Luppy staff 20 Jun 21 13:59 dtb -> dtb-5.15.0-starfive2
drwxr-xr-x 1 Luppy staff 0 Jun 21 13:59 dtb-5.15.0-starfive2
drwxrwxr-x 1 Luppy staff 0 Jun 21 13:58 extlinux
lrwxrwxrwx 1 Luppy staff 27 Jun 21 13:59 initrd.img -> initrd.img-5.15.0-starfive2
-rw-r--r-- 1 Luppy staff 10911474 Jun 21 14:01 initrd.img-5.15.0-starfive2
lrwxrwxrwx 1 Luppy staff 27 Jun 21 13:59 initrd.img.old -> initrd.img-5.15.0-starfive2
-rw-rw-r-- 1 Luppy staff 341 Jun 21 14:00 uEnv.txt
lrwxrwxrwx 1 Luppy staff 24 Jun 21 14:01 uInitrd -> uInitrd-5.15.0-starfive2
-rw-r--r-- 1 Luppy staff 10911538 Jun 21 14:01 uInitrd-5.15.0-starfive2
lrwxrwxrwx 1 Luppy staff 24 Jun 21 13:59 vmlinuz -> vmlinuz-5.15.0-starfive2
-rw-r--r-- 1 Luppy staff 22040576 Jun 21 12:16 vmlinuz-5.15.0-starfive2
lrwxrwxrwx 1 Luppy staff 24 Jun 21 13:59 vmlinuz.old -> vmlinuz-5.15.0-starfive2
TODO: Explain boot/uInitrd RAM Disk
Yocto Image for Star64
Let's inspect the Yocto Image for Star64: star64-image-minimal
Uncompress the .bz2, rename as .img. Balena Etcher won't work with .bz2 files!
Write the .img to a microSD Card with Balena Etcher. Insert the microSD Card into a Linux Machine. (Like Pinebook Pro)
We see 4 used partitions...
-
spl (2 MB): Secondary Program Loader
-
uboot (4 MB): U-Boot Bootloader
-
boot (380 MB): U-Boot Configuration and Linux Kernel Image
-
root (686 MB): Linux Root Filesystem
Plus one unused partition (2 MB) at the top. (Partition Table)
boot partition has 2 files...
$ ls -l /run/media/luppy/boot
total 14808
-rw-r--r-- 1 luppy luppy 15151064 Apr 6 2011 fitImage
-rw-r--r-- 1 luppy luppy 1562 Apr 6 2011 vf2_uEnv.txt
boot/vf2_uEnv.txt contains the U-Boot Bootloader Configuration...
# This is the sample jh7110_uEnv.txt file for starfive visionfive U-boot
# The current convention (SUBJECT TO CHANGE) is that this file
# will be loaded from the third partition on the
# MMC card.
#devnum=1
partnum=3
# The FIT file to boot from
fitfile=fitImage
# for debugging boot
bootargs_ext=if test ${devnum} = 0; then setenv bootargs "earlyprintk console=tty1 console=ttyS0,115200 rootwait earlycon=sbi root=/dev/mmcblk0p4"; else setenv bootargs "earlyprintk console=tty1 console=ttyS0,115200 rootwait earlycon=sbi root=/dev/mmcblk1p4"; fi;
#bootargs=earlyprintk console=ttyS0,115200 debug rootwait earlycon=sbi root=/dev/mmcblk1p4
# for addr info
fileaddr=0xa0000000
fdtaddr=0x46000000
# boot Linux flat or compressed 'Image' stored at 'kernel_addr_r'
kernel_addr_r=0x40200000
irdaddr=46100000
irdsize=5f00000
# Use the FDT in the FIT image..
setupfdt1=fdt addr ${fdtaddr}; fdt resize;
setupird=setexpr irdend ${irdaddr} + ${irdsize}; fdt set /chosen linux,initrd-start <0x0 0x${irdaddr}>; fdt set /chosen linux,initrd-end <0x0 0x${irdend}>
setupfdt2=fdt set /chosen bootargs "${bootargs}";
bootwait=setenv _delay ${bootdelay}; echo ${_delay}; while test ${_delay} > 0; do sleep 1; setexpr _delay ${_delay} - 1; echo ${_delay}; done
boot2=run bootargs_ext; mmc dev ${devnum}; fatload mmc ${devnum}:${partnum} ${fileaddr} ${fitfile}; bootm start ${fileaddr}; run setupfdt1;run setupird;run setupfdt2; bootm loados ${fileaddr}; run chipa_set_linux; run cpu_vol_set; echo "Booting kernel in"; booti ${kernel_addr_r} ${irdaddr}:${filesize} ${fdtaddr}
kernel_addr_r says that Linux Kernel will be loaded at 0x4020 0000...
# boot Linux flat or compressed 'Image' stored at 'kernel_addr_r'
kernel_addr_r=0x40200000
(Different from Armbian: 0x4400 0000)
Yocto boots from the Flat Image Tree (FIT): boot/fitImage
Yocto's root/boot looks different from Armbian...
$ ls -l /run/media/luppy/root/boot
total 24376
lrwxrwxrwx 1 root root 17 Mar 9 2018 fitImage -> fitImage-5.15.107
-rw-r--r-- 1 root root 9807808 Mar 9 2018 fitImage-5.15.107
-rw-r--r-- 1 root root 15151064 Mar 9 2018 fitImage-initramfs-5.15.107
Boot NuttX with U-Boot Bootloader
Will we boot NuttX with Armbian or Yocto settings? 0x4400 0000 or 0x4020 0000?
Armbian looks simpler, since it uses a plain Linux Kernel Image File Image. (Instead of Yocto's complicated Flat Image Tree)
Hence we'll overwrite Armbian's armbi_root/boot/Image by the NuttX Kernel Image.
We'll compile NuttX Kernel to boot at 0x4400 0000.
NuttX Kernel will begin with a RISC-V Linux Header. (See next section)
We'll use a Temporary File for the Flattened Device Tree (FDT) since it's missing from Armbian.
Inside the Armbian Kernel Image
What's inside the Armbian Linux Kernel Image?
Let's look inside armbi_root/boot/vmlinuz-5.15.0-starfive2...
See the "RISCV" at 0x30? That's the Magic Number for the RISC-V Linux Image Header!
u32 code0; /* Executable code */
u32 code1; /* Executable code */
u64 text_offset; /* Image load offset, little endian */
u64 image_size; /* Effective Image size, little endian */
u64 flags; /* kernel flags, little endian */
u32 version; /* Version of this header */
u32 res1 = 0; /* Reserved */
u64 res2 = 0; /* Reserved */
u64 magic = 0x5643534952; /* Magic number, little endian, "RISCV" */
u32 magic2 = 0x05435352; /* Magic number 2, little endian, "RSC\x05" */
u32 res3; /* Reserved for PE COFF offset */
This is how we decode the RISC-V Linux Header...
Let's decompile the Kernel Image...
TODO: Explain MZ and the funny RISC-V instruction at the top
Decompile Armbian Kernel Image with Ghidra
We decompile the Armbian Linux Kernel Image with Ghidra.
In Ghidra, create a New Project. Click File > Import File.
Select armbi_root/boot/vmlinuz-5.15.0-starfive2 and enter these Import Options...
-
Format: Raw Binary
-
Language: RISCV > RV64GC (RISCV:LE:64:RV64GC:gcc)
-
Options > Base Address: 0x44000000
(Based on the U-Boot Configuration from above)
Double-click vmlinuz-5.15.0-starfive2, analyse the file with the Default Options.
Ghidra displays the Decompiled Linux Kernel...
At Address 0x4400 0002 we see a Jump to FUN_440010c8...
// Load -13 into Register S4
li s4,-0xd
// Jump to Actual Boot Code
j FUN_440010c8
Double-click FUN_440010c8 to see the Linux Boot Code...
TODO: Explain MZ and the funny RISC-V instruction at the top
TODO: Where is the source file?
TODO: Any interesting CSR Instructions?
Serial Console on Star64
To access the Serial Console, we connect a USB Serial Adapter to Star64...
According to Star64 Schematic, UART0 TX and RX (GPIO 5 and 6) are connected to the Pi GPIO Header (Pins 8 and 10).
Thus we connect these pins...
| Star64 GPIO Header | USB Serial Adapter | Wire Colour |
|---|---|---|
| Pin 6 (GND) | GND | Brown |
| Pin 8 (TX) | RX | Red |
| Pin 10 (RX) | TX | Orange |
On our computer, connect to the USB Serial Port at 115.2 kbps...
screen /dev/ttyUSB0 115200
Power up Star64. The DIP Switches for GPIO 0 and 1 default to Low and Low, so Star64 should boot from Flash Memory, which has the U-Boot Bootloader inside.
(DIP Switch Labels are inverted: "ON" actually means "Low")
We'll see this U-Boot Bootloader Log...
TODO: Explain OpenSBI
Star64 U-Boot Bootloader Log
Here's the log for U-Boot Bootloader on Star64 (without microSD Card)...
U-Boot SPL 2021.10 (Jan 19 2023 - 04:09:41 +0800)
DDR version: dc2e84f0.
Trying to boot from SPI
OpenSBI v1.2
____ _____ ____ _____
/ __ \ / ____| _ \_ _|
| | | |_ __ ___ _ __ | (___ | |_) || |
| | | | '_ \ / _ \ '_ \ \___ \| _ < | |
| |__| | |_) | __/ | | |____) | |_) || |_
\____/| .__/ \___|_| |_|_____/|____/_____|
| |
|_|
Platform Name : StarFive VisionFive V2
Platform Features : medeleg
Platform HART Count : 5
Platform IPI Device : aclint-mswi
Platform Timer Device : aclint-mtimer @ 4000000Hz
Platform Console Device : uart8250
Platform HSM Device : jh7110-hsm
Platform PMU Device : ---
Platform Reboot Device : pm-reset
Platform Shutdown Device : pm-reset
Firmware Base : 0x40000000
Firmware Size : 288 KB
Runtime SBI Version : 1.0
Domain0 Name : root
Domain0 Boot HART : 1
Domain0 HARTs : 0*,1*,2*,3*,4*
Domain0 Region00 : 0x0000000002000000-0x000000000200ffff (I)
Domain0 Region01 : 0x0000000040000000-0x000000004007ffff ()
Domain0 Region02 : 0x0000000000000000-0xffffffffffffffff (R,W,X)
Domain0 Next Address : 0x0000000040200000
Domain0 Next Arg1 : 0x0000000042200000
Domain0 Next Mode : S-mode
Domain0 SysReset : yes
Boot HART ID : 1
Boot HART Domain : root
Boot HART Priv Version : v1.11
Boot HART Base ISA : rv64imafdcbx
Boot HART ISA Extensions : none
Boot HART PMP Count : 8
Boot HART PMP Granularity : 4096
Boot HART PMP Address Bits: 34
Boot HART MHPM Count : 2
Boot HART MIDELEG : 0x0000000000000222
Boot HART MEDELEG : 0x000000000000b109
U-Boot 2021.10 (Jan 19 2023 - 04:09:41 +0800), Build: jenkins-github_visionfive2-6
CPU: rv64imacu
Model: StarFive VisionFive V2
DRAM: 8 GiB
MMC: sdio0@16010000: 0, sdio1@16020000: 1
Loading Environment from SPIFlash... SF: Detected gd25lq128 with page size 256 Bytes, erase size 4 KiB, total 16 MiB
*** Warning - bad CRC, using default environment
StarFive EEPROM format v2
--------EEPROM INFO--------
Vendor : PINE64
Product full SN: STAR64V1-2310-D008E000-00000003
data version: 0x2
PCB revision: 0xc1
BOM revision: A
Ethernet MAC0 address: 6c:cf:39:00:75:5d
Ethernet MAC1 address: 6c:cf:39:00:75:5e
--------EEPROM INFO--------
In: serial@10000000
Out: serial@10000000
Err: serial@10000000
Model: StarFive VisionFive V2
Net: eth0: ethernet@16030000, eth1: ethernet@16040000
Card did not respond to voltage select! : -110
Card did not respond to voltage select! : -110
bootmode flash device 0
Card did not respond to voltage select! : -110
Hit any key to stop autoboot: 2 1 0
Card did not respond to voltage select! : -110
Couldn't find partition mmc 0:3
Can't set block device
Importing environment from mmc0 ...
## Warning: Input data exceeds 1048576 bytes - truncated
## Info: input data size = 1048578 = 0x100002
Card did not respond to voltage select! : -110
Couldn't find partition mmc 1:2
Can't set block device
## Warning: defaulting to text format
## Error: "boot2" not defined
Card did not respond to voltage select! : -110
ethernet@16030000 Waiting for PHY auto negotiation to complete......... TIMEOUT !
phy_startup() failed: -110FAILED: -110ethernet@16040000 Waiting for PHY auto negotiation to complete......... TIMEOUT !
phy_startup() failed: -110FAILED: -110ethernet@16030000 Waiting for PHY auto negotiation to complete......... TIMEOUT !
phy_startup() failed: -110FAILED: -110ethernet@16040000 Waiting for PHY auto negotiation to complete......... TIMEOUT !
phy_startup() failed: -110FAILED: -110StarFive #
StarFive #
Which is OK because we haven't inserted a microSD Card.
U-Boot Commands for Star64
Here are the U-Boot Commands...
StarFive # 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
config - print .config
coninfo - print console devices and information
cp - memory copy
cpu - display information about CPUs
crc32 - checksum calculation
dhcp - boot image via network using DHCP/TFTP protocol
dm - Driver model low level access
echo - echo args to console
editenv - edit environment variable
eeprom - EEPROM sub-system
efidebug - Configure UEFI environment
env - environment handling commands
erase - erase FLASH memory
eraseenv - erase environment variables from persistent storage
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
ext4write - create a file in the root directory
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
fsuuid - Look up a filesystem UUID
go - start application at address 'addr'
gpio - query and control gpio pins
gpt - GUID Partition Table
gzwrite - unzip and write memory to block device
help - print command description/usage
i2c - I2C sub-system
iminfo - print header information for application image
imxtract - extract a part of a multi-image
itest - return true/false on integer compare
ln - Create a symbolic link
load - load binary file from a filesystem
loadb - load binary file over serial line (kermit mode)
loads - load S-Record file over serial line
loadx - load binary file over serial line (xmodem mode)
loady - load binary file over serial line (ymodem mode)
log - log system
loop - infinite loop on address range
ls - list files in a directory (default /)
lzmadec - lzma uncompress a memory region
mac - display and program the system ID and MAC addresses in EEPROM
md - memory display
misc - Access miscellaneous devices with MISC uclass driver APIs
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
pinmux - show pin-controller muxing
printenv - print environment variables
protect - enable or disable FLASH write protection
random - fill memory with random pattern
reset - Perform RESET of the CPU
run - run commands in an environment variable
save - save file to a filesystem
saveenv - save environment variables to persistent storage
setenv - set environment variables
setexpr - set environment variable as the result of eval expression
sf - SPI flash sub-system
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
tftpput - TFTP put command, for uploading files to a server
true - do nothing, successfully
unlz4 - lz4 uncompress a memory region
unzip - unzip a memory region
version - print monitor, compiler and linker version
U-Boot Settings for Star64
Here are the U-Boot Settings...
StarFive # printenv
baudrate=115200
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
bootargs=console=ttyS0,115200 debug rootwait earlycon=sbi
bootcmd=run load_vf2_env;run importbootenv;run load_distro_uenv;run boot2;run distro_bootcmd
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_distro=run fdt_loaddtb; run fdt_sizecheck; run set_fdt_distro; sysboot mmc ${fatbootpart} fat c0000000 ${bootdir}/${boot_syslinux_conf};
bootcmd_mmc0=devnum=0; run mmc_boot
bootdelay=2
bootdir=/boot
bootenv=uEnv.txt
bootmode=flash
bootpart=0:3
chip_vision=UNKOWN
chipa_gmac_set=fdt set /soc/ethernet@16030000/ethernet-phy@0 tx_inverted_10 <0x0>;fdt set /soc/ethernet@16030000/ethernet-phy@0 tx_inverted_100 <0x0>;fdt set /soc/ethernet@16030000/ethernet-phy@0 tx_inverted_1000 <0x0>;fdt set /soc/ethernet@16030000/ethernet-phy@0 tx_delay_sel <0x9>;fdt set /soc/ethernet@16040000/ethernet-phy@1 tx_inverted_10 <0x0>;fdt set /soc/ethernet@16040000/ethernet-phy@1 tx_inverted_100 <0x0>;fdt set /soc/ethernet@16040000/ethernet-phy@1 tx_inverted_1000 <0x0>;fdt set /soc/ethernet@16040000/ethernet-phy@1 tx_delay_sel <0x9>
chipa_set=if test ${chip_vision} = A; then run chipa_gmac_set;fi;
chipa_set_linux=fdt addr ${fdt_addr_r};run visionfive2_mem_set;run chipa_set;
chipa_set_linux_force=fdt addr ${fdt_addr_r};run visionfive2_mem_set;run chipa_gmac_set;
chipa_set_uboot=fdt addr ${uboot_fdt_addr};run chipa_set;
chipa_set_uboot_force=fdt addr ${uboot_fdt_addr};run chipa_gmac_set;
devnum=0
distro_bootcmd=for target in ${boot_targets}; do run bootcmd_${target}; done
distroloadaddr=0xb0000000
efi_dtb_prefixes=/ /dtb/ /dtb/current/
eth0addr=6c:cf:39:00:75:5d
eth1addr=6c:cf:39:00:75:5e
ethact=ethernet@16030000
ethaddr=6c:cf:39:00:75:5d
ext4bootenv=ext4load mmc ${bootpart} ${loadaddr} ${bootdir}/${bootenv}
fatbootpart=1:2
fdt_addr_r=0x46000000
fdt_high=0xffffffffffffffff
fdt_loaddtb=fatload mmc ${fatbootpart} ${fdt_addr_r} ${bootdir}/dtbs/${fdtfile}; fdt addr ${fdt_addr_r};
fdt_sizecheck=fatsize mmc ${fatbootpart} ${bootdir}/dtbs/${fdtfile};
fdtaddr=fffc6aa0
fdtcontroladdr=fffc6aa0
fdtfile=starfive/starfive_visionfive2.dtb
importbootenv=echo Importing environment from mmc${devnum} ...; env import -t ${loadaddr} ${filesize}
initrd_high=0xffffffffffffffff
ipaddr=192.168.120.230
kernel_addr_r=0x40200000
load_distro_uenv=fatload mmc ${fatbootpart} ${distroloadaddr} ${bootdir}/${bootenv}; env import ${distroloadaddr} 17c;
load_efi_dtb=load ${devtype} ${devnum}:${distro_bootpart} ${fdt_addr_r} ${prefix}${efi_fdtfile}
load_vf2_env=fatload mmc ${bootpart} ${loadaddr} ${testenv}
loadaddr=0xa0000000
loadbootenv=fatload mmc ${bootpart} ${loadaddr} ${bootenv}
memory_addr=40000000
memory_size=200000000
mmc_boot=if mmc dev ${devnum}; then devtype=mmc; run scan_dev_for_boot_part; fi
mmcbootenv=run scan_mmc_dev; setenv bootpart ${devnum}:${mmcpart}; if mmc rescan; then run loadbootenv && run importbootenv; run ext4bootenv && run importbootenv; if test -n $uenvcmd; then echo Running uenvcmd ...; run uenvcmd; fi; fi
mmcpart=3
netmask=255.255.255.0
partitions=name=loader1,start=17K,size=1M,type=${type_guid_gpt_loader1};name=loader2,size=4MB,type=${type_guid_gpt_loader2};name=system,size=-,bootable,type=${type_guid_gpt_system};
preboot=run chipa_set_uboot;run mmcbootenv
pxefile_addr_r=0x45900000
ramdisk_addr_r=0x46100000
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
scan_mmc_dev=if test ${bootmode} = flash; then if mmc dev ${devnum}; then echo found device ${devnum};else setenv devnum 0;mmc dev 0;fi; fi; echo bootmode ${bootmode} device ${devnum};
scan_sf_for_scripts=${devtype} read ${scriptaddr} ${script_offset_f} ${script_size_f}; source ${scriptaddr}; echo SCRIPT FAILED: continuing...
script_offset_f=0x1fff000
script_size_f=0x1000
scriptaddr=0x43900000
serial#=STAR64V1-2310-D008E000-00000003
set_fdt_distro=if test ${chip_vision} = A; then if test ${memory_size} = 200000000; then run chipa_gmac_set;run visionfive2_mem_set;fatwrite mmc ${fatbootpart} ${fdt_addr_r} ${bootdir}/dtbs/${fdtfile} ${filesize};else run chipa_gmac_set;run visionfive2_mem_set;fatwrite mmc ${fatbootpart} ${fdt_addr_r} ${bootdir}/dtbs/${fdtfile} ${filesize};fi;else run visionfive2_mem_set;fatwrite mmc ${fatbootpart} ${fdt_addr_r} ${bootdir}/dtbs/${fdtfile} ${filesize};fi;
sf_boot=if sf probe ${busnum}; then devtype=sf; run scan_sf_for_scripts; fi
stderr=serial@10000000
stdin=serial@10000000
stdout=serial@10000000
testenv=vf2_uEnv.txt
type_guid_gpt_loader1=5B193300-FC78-40CD-8002-E86C45580B47
type_guid_gpt_loader2=2E54B353-1271-4842-806F-E436D6AF6985
type_guid_gpt_system=0FC63DAF-8483-4772-8E79-3D69D8477DE4
uboot_fdt_addr=0xfffc6aa0
ver=U-Boot 2021.10 (Jan 19 2023 - 04:09:41 +0800)
visionfive2_mem_set=fdt memory ${memory_addr} ${memory_size};
Environment size: 7246/65532 bytes
StarFive #
Boot Armbian on Star64
Let's boot Armbian on Star64!
We download the Armbian Image for Star64: Armbian 23.8 Lunar (Minimal)
Uncompress the .xz, write the .img to a microSD Card with Balena Etcher.
Here's what happens when we boot the microSD Card on Star64...
Armbian fails to boot...
Found /boot/extlinux/extlinux.conf
Retrieving file: /boot/extlinux/extlinux.conf
383 bytes read in 7 ms (52.7 KiB/s)
1:[6CArmbian
Retrieving file: /boot/uInitrd
10911538 bytes read in 466 ms (22.3 MiB/s)
Retrieving file: /boot/Image
22040576 bytes read in 936 ms (22.5 MiB/s)
append: root=UUID=99f62df4-be35-475c-99ef-2ba3f74fe6b5 console=ttyS0,115200n8 console=tty0 earlycon=sbi rootflags=data=writeback stmmaceth=chain_mode:1 rw rw no_console_suspend consoleblank=0 fsck.fix=yes fsck.repair=yes net.ifnames=0 splash plymouth.ignore-serial-consoles
Retrieving file: /boot/dtb/starfive/jh7110-star64-pine64.dtb
Failed to load '/boot/dtb/starfive/jh7110-star64-pine64.dtb'
Skipping Armbian for failure retrieving FDT
The Flattened Device Tree (FDT) is missing! /boot/dtb/starfive/jh7110-star64-pine64.dtb
→ ls /Volumes/armbi_root/boot/dtb-5.15.0-starfive2/starfive
evb-overlay jh7110-evb-usbdevice.dtb
jh7110-evb-can-pdm-pwmdac.dtb jh7110-evb.dtb
jh7110-evb-dvp-rgb2hdmi.dtb jh7110-fpga.dtb
jh7110-evb-i2s-ac108.dtb jh7110-visionfive-v2-A10.dtb
jh7110-evb-pcie-i2s-sd.dtb jh7110-visionfive-v2-A11.dtb
jh7110-evb-spi-uart2.dtb jh7110-visionfive-v2-ac108.dtb
jh7110-evb-uart1-rgb2hdmi.dtb jh7110-visionfive-v2-wm8960.dtb
jh7110-evb-uart4-emmc-spdif.dtb jh7110-visionfive-v2.dtb
jh7110-evb-uart5-pwm-i2c-tdm.dtb vf2-overlay
The missing Device Tree is noted in this Pine64 Forum Post. So we might need to check back later for the Official Armbian Image, if it's fixed.
(balbes150 suggests that we try this Armbian Image instead)
Boot Yocto on Star64
Now we boot Yocto on Star64.
We download the Yocto Minimal Image for Star64: star64-image-minimal
Uncompress the .bz2, rename as .img. Balena Etcher won't work with .bz2 files!
Write the .img to a microSD Card with Balena Etcher.
Here's what happens when we boot the microSD Card on Star64...
Usernames and Passwords are...
- root / pine64
- pine64 / pine64
Yep the Yocto Minimal Image boots OK on Star64!
Boot Yocto Plasma on Star64
Finally we boot Yocto Plasma on Star64.
We download the Yocto Plasma Image for Star64: star64-image-plasma
Uncompress the .bz2, rename as .img. Balena Etcher won't work with .bz2 files!
Write the .img to a microSD Card with Balena Etcher.
When we boot the microSD Card on Star64, the Plasma Desktop Environment runs OK on a HDMI Display! (Pic below)
Usernames and Passwords are...
- root / pine64
- pine64 / pine64
UART Output on Star64
TODO
From System Memory Map:
UART0 is at 0x00_1000_0000
From UART Device Tree:
UART Register base address "0x10000000" and range "0x10000"
From u16550_send:
/****************************************************************************
* Name: u16550_send
*
* Description:
* This method will send one byte on the UART
*
****************************************************************************/
static void u16550_send(struct uart_dev_s *dev, int ch)
{
FAR struct u16550_s *priv = (FAR struct u16550_s *)dev->priv;
u16550_serialout(priv, UART_THR_OFFSET, (uart_datawidth_t)ch);
}
UART_THR_OFFSET is 0:
#define UART_THR_INCR 0 /* (DLAB =0) Transmit Holding Register */
#define UART_THR_OFFSET (CONFIG_16550_REGINCR*UART_THR_INCR)
So we can transmit to UART0 by writing to 0x1000 0000. How convenient!
NuttX on Star64
TODO: Test printing in QEMU
From qemu_rv_head.S:
/* Load UART Base Address to Register t0 */
li t0, 0x10000000
/* 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)
Output:
+ qemu-system-riscv64 -semihosting -M virt,aclint=on -cpu rv64 -smp 8 -bios none -kernel nuttx -nographic
123123123123123123112323
NuttShell (NSH) NuttX-12.0.3
nsh>
Which is correct because QEMU is running with 8 CPUs.
Cody AI Assistant explains our RISC-V Assembly Code...
And optimises our RISC-V Assembly Code...
TODO: Embed Linux Kernel Header in QEMU
This is how we decode the RISC-V Linux Header...
Copy from Arm64 Linux Header: arm64_head.S
To qemu_rv_head.S:
__start:
/* Begin Test */
/* DO NOT MODIFY. Image Header expected by Linux bootloaders.
*
* This `li` instruction has no meaningful effect except that
* its opcode forms the magic "MZ" signature of a PE/COFF file
* that is required for UEFI applications.
*
* Some bootloaders check the magic "MZ" to see if the image is a valid
* Linux image. But modifying the bootLoader is unnecessary unless we
* need to do a customized secure boot. So we just put "MZ" in the
* header to make the bootloader happy.
*/
li s4, -0xd /* Magic Signature "MZ" (2 bytes) */
j real_start /* Jump to Kernel Start (2 bytes) */
.long 0 /* Executable Code padded to 8 bytes */
/* TODO: Is this used? */
.quad 0x0 /* Image load offset from start of RAM */
/* TODO: _e_initstack - __start */
.quad 171644 /* Effective size of kernel image, little-endian */
.quad 0x0 /* Kernel flags, little-endian */
.long 0x2 /* Version of this header */
.long 0 /* Reserved */
.quad 0 /* Reserved */
.ascii "RISCV\x00\x00\x00" /* Magic number, "RISCV" (8 bytes) */
.ascii "RSC\x05" /* Magic number 2, "RSC\x05" (4 bytes) */
.long 0 /* Reserved for PE COFF offset */
real_start:
/* Load UART Base Address to Register t0 */
li t0, 0x10000000
Which assembles to...
0000000080000000 <__start>:
80000000: 5a4d li s4,-13
80000002: a83d j 80000040 <real_start>
...
80000010: 9e7c 0x9e7c
80000012: 0002 c.slli64 zero
...
80000020: 0002 c.slli64 zero
...
8000002e: 0000 unimp
80000030: 4952 lw s2,20(sp)
80000032: 00564353 fadd.s ft6,fa2,ft5,rmm
80000036: 0000 unimp
80000038: 5352 lw t1,52(sp)
8000003a: 00000543 fmadd.s fa0,ft0,ft0,ft0,rne
...
0000000080000040 <real_start>:
Check that the lengths and offsets match the RISC-V Linux Header Format.
Tested OK with QEMU.
TODO: Set Kernel Start Address
From nsh64/defconfig:
CONFIG_RAM_SIZE=33554432
CONFIG_RAM_START=0x80000000
Change to 0x4400 0000
From ld.script
SECTIONS
{
/* Previously 0x80000000 */
. = 0x44000000;
.text :
Also change this if building for NuttX Kernel Mode: ld-kernel64.script:
MEMORY
{
/* Previously 0x80000000 */
kflash (rx) : ORIGIN = 0x44000000, LENGTH = 2048K /* w/ cache */
/* Previously 0x80200000 */
ksram (rwx) : ORIGIN = 0x44200000, LENGTH = 2048K /* w/ cache */
/* Previously 0x80400000 */
pgram (rwx) : ORIGIN = 0x44400000, LENGTH = 4096K /* w/ cache */
}
...
SECTIONS
{
/* Previously 0x80000000 */
. = 0x44000000;
.text :
TODO: Set UART Base Address
From nsh64/defconfig:
CONFIG_16550_ADDRWIDTH=0
CONFIG_16550_UART0=y
CONFIG_16550_UART0_BASE=0x10000000
CONFIG_16550_UART0_CLOCK=3686400
CONFIG_16550_UART0_IRQ=37
CONFIG_16550_UART0_SERIAL_CONSOLE=y
CONFIG_16550_UART=y
UART Base Address is already 0x1000 0000 yay!
TODO: Set CLINT and PLIC Addresses
From U74 Memory Map:
0x00_0200_0000 0x00_0200_FFFF RW A CLINT
0x00_0C00_0000 0x00_0FFF_FFFF RW A PLIC
TODO: We update qemu_rv_memorymap.h:
#define QEMU_RV_CLINT_BASE 0x02000000
#define QEMU_RV_ACLINT_BASE 0x02f00000
#define QEMU_RV_PLIC_BASE 0x0c000000