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boards/risc-v: Add support for Milk-V Duo S SBC (SOPHGO SG2000 SoC)
This PR adds support for Milk-V Duo S 64-bit RISC-V SBC, based on SOPHGO SG2000 SoC (T-Head C906 Core). Most of the code is derived from NuttX for Ox64 BL808. The source files are explained in the articles here: https://github.com/lupyuen/nuttx-sg2000 Modified Files: `boards/Kconfig`: Added Milk-V Duo S board `arch/risc-v/src/sg2000/sg2000_timerisr.c`: Fixed MTIMER_FREQ for sleep() to work correctly New Files in boards/risc-v/sg2000/milkv_duos: `src/sg2000_appinit.c`: Startup Code `include/board.h`: Milk-V Duo S Definitions `include/board_memorymap.h`: Memory Map `src/etc/init.d/rc.sysinit`, `rcS`: Startup Script `src/.gitignore`: Ignore the tmp filesystem `scripts/ld.script`: Linker Script `scripts/Make.defs`: Milk-V Duo S Makefile `src/Makefile`: Milk-V Duo S Makefile `Kconfig`: Milk-V Duo S Config `configs/nsh/defconfig`: Build Config for `milkv_duos:nsh` Updated Documentation: `platforms/risc-v/sg2000/index.rst`: New page for SOPHGO SG2000 SoC `platforms/risc-v/sg2000/boards/milkv_duos/index.rst`: Building and booting NuttX for Milk-V Duo S
This commit is contained in:
Lup Yuen Lee
Xiang Xiao
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============
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Milk-V Duo S
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============
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`Milk-V Duo S <https://milkv.io/duo-s>`_ is a RISC-V Single-Board Computer
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based on the SOPHGO SG2000 RISC-V SoC with T-Head C906 64-bit Main Processor,
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512 MB of SIP DRAM memory and 100 Mbps Ethernet.
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Features
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========
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- **System on Chip:** SOPHGO SG2000
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- **CPU:**
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- 64-bit T-Head C906 1.0 GHz (Main Processor)
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- 64-bit T-Head C906 700 MHz (Co-Processor)
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- 64-bit Arm Cortex-A53 1.0 GHz (Alternate Main Processor)
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- **MCU:** 8051 with 6 KB SRAM
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- **Memory:** SIP DRAM 512 MB
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- **TPU:** 0.5 TOPS INT8
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- **Storage:** 1 x microSD Connector, 1 x eMMC Pad
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- **USB:** 1 x Type-C for Power and Data or 1 x USB 2.0 A Port Host
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- **MIPI CSI:** 1 x 16P FPC Connector (MIPI CSI 2-Lane), 1 x 15P FPC Connector (MIPI CSI 2-Lane)
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- **Sensor Support:** 5M @ 30 FPS
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- **MIPI DSI:** Via GPIO Header (MIPI DSI 4-Lane)
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- **Ethernet:** 100 Mbps Ethernet Port (RJ45)
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- **Wireless:** Optional Wi-Fi 6 / Bluetooth 5
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- **Audio:** Via GPIO Pin
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- **GPIO:** Up to 39 x GPIO Pin (via 2 x 26-Pin GPIO Header)
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- **Others:** 1 x Boot Switch, 1 x Recovery Key, 1 x Reset Key
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Serial Console
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==============
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A **USB Serial Adapter** is required to run NuttX on Milk-V Duo S,
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**CP2102** is recommended. CH340 might not work correctly with Duo S.
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Connect the USB Serial Adapter to Duo S Serial Console at:
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========== ================
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USB Serial Milk-V Duo S Pin
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========== ================
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GND Pin 6 (GND)
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RX Pin 8 (XGPIOA 16 / UART0 TX)
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TX Pin 10 (XGPIOA 17 / UART0 RX)
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========== ================
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On the USB Serial Adapter, set the **Voltage Level** to 3V3.
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Connect Duo S to our computer with the USB Serial Adapter.
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On our computer, start a Serial Terminal and connect to the USB Serial Port
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at **115.2 kbps**:
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.. code:: console
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$ screen /dev/ttyUSB0 115200
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NuttX will appear in the Serial Console when it boots on Duo S.
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RISC-V Toolchain
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================
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Before building NuttX for Milk-V Duo S, download the toolchain for
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`xPack GNU RISC-V Embedded GCC (riscv-none-elf) <https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack/releases>`_.
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Add the downloaded toolchain ``xpack-riscv-none-elf-gcc-.../bin``
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to the ``PATH`` Environment Variable.
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Check the RISC-V Toolchain:
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.. code:: console
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$ riscv-none-elf-gcc -v
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Building
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========
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To build NuttX for Milk-V Duo S, :doc:`install the prerequisites </quickstart/install>` and
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:doc:`clone the git repositories </quickstart/install>` for ``nuttx`` and ``apps``.
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Configure the NuttX project and build the project:
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.. code:: console
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$ cd nuttx
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$ tools/configure.sh milkv_duos:nsh
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$ make
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This produces the NuttX Kernel ``nuttx.bin``. Next, build the NuttX Apps Filesystem:
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.. code:: console
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$ make export
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$ pushd ../apps
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$ tools/mkimport.sh -z -x ../nuttx/nuttx-export-*.tar.gz
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$ make import
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$ popd
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$ genromfs -f initrd -d ../apps/bin -V "NuttXBootVol"
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This generates the Initial RAM Disk ``initrd``.
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Package the NuttX Kernel and Initial RAM Disk into a NuttX Image:
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.. code:: console
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$ head -c 65536 /dev/zero >/tmp/nuttx.pad
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$ cat nuttx.bin /tmp/nuttx.pad initrd >Image-sg2000
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The NuttX Image ``Image-sg2000`` will be copied to the TFTP Server in the next step.
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Booting
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=======
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NuttX requires a microSD Card with U-Boot Bootloader. Prepare a
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`Linux microSD Card <https://lupyuen.github.io/articles/sg2000#download-the-linux-microsd>`_
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for Duo S.
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To boot NuttX on Milk-V Duo S, flip the `Main Processor Switch <https://lupyuen.github.io/articles/sg2000#boot-without-microsd>`_
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to **RV** (RISC-V).
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On our computer, `install the TFTP Server <https://lupyuen.github.io/articles/sg2000#boot-nuttx-over-tftp>`_.
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Copy the file ``Image-sg2000`` from the previous section to the TFTP Server,
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together with the Device Tree:
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.. code:: console
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$ wget https://github.com/lupyuen2/wip-nuttx/releases/download/sg2000-1/cv181x_milkv_duos_sd.dtb
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$ scp Image-sg2000 \
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tftpserver:/tftpfolder/Image-sg2000
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$ scp cv181x_milkv_duos_sd.dtb \
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tftpserver:/tftpfolder/cv181x_milkv_duos_sd.dtb
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Check that Duo S is connected to our computer via a USB Serial Adapter at 115.2 kbps:
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.. code:: console
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$ screen /dev/ttyUSB0 115200
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Insert the microSD Card into Duo S, connect the Ethernet Port and power up via the USB-C Port.
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When Duo S boots, press Enter to see the U-Boot Prompt.
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Run these commands to `boot NuttX over TFTP <https://lupyuen.github.io/articles/sg2000#boot-nuttx-over-tftp>`_:
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.. code:: console
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# Change to your TFTP Server
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$ setenv tftp_server 192.168.x.x
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$ saveenv
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$ dhcp ${kernel_addr_r} ${tftp_server}:Image-sg2000
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$ tftpboot ${fdt_addr_r} ${tftp_server}:cv181x_milkv_duos_sd.dtb
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$ fdt addr ${fdt_addr_r}
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$ booti ${kernel_addr_r} - ${fdt_addr_r}
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Or configure U-Boot to `boot NuttX automatically <https://lupyuen.github.io/articles/sg2000#boot-nuttx-over-tftp>`_.
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NuttX boots on Duo S and NuttShell (nsh) appears in the Serial Console.
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To see the available commands in NuttShell:
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.. code:: console
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$ help
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Configurations
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==============
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nsh
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---
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Basic configuration that runs NuttShell (nsh).
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This configuration is focused on low level, command-line driver testing.
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Built-in applications are supported, but none are enabled.
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Serial Console is enabled on UART0 at 115.2 kbps.
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Peripheral Support
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==================
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NuttX for Milk-V Duo S supports these peripherals:
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======================== ======= =====
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Peripheral Support NOTES
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======================== ======= =====
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UART Yes
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======================== ======= =====
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@@ -0,0 +1,36 @@
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=============
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SOPHGO SG2000
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=============
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`SOPHGO SG2000 <https://milkv.io/chips/sg2000>`_ is a 64-bit RISC-V SoC with 2 RISC-V Cores and 1 Arm Core:
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- **Main Processor:** T-Head C906 1.0 GHz 64-bit RISC-V Core
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- 32 KB I-Cache, 64KB D-Cache
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- Integrated Vector and Floating-Point Operation Unit (FPU)
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- **Co-Processor:** T-Head C906 700 MHz 64-bit RISC-V Core
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- Integrated Floating-Point Unit (FPU)
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- **Alternate Main Processor:** Cortex-A53 1.0 GHz 64-bit Arm Core
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- 32 KB I-Cache, 32 KB D-Cache
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- 128 KB L2 Cache
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- Support Neon and Floating-Point Operation Unit (FPU)
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- **MCU:** 8051 with 6 KB SRAM
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- **TPU:** 0.5 TOPS INT8
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- **Memory:** SIP DRAM 512 MB
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- **Video Module:** ISP 5M @ 30 FPS, 2L MIPI DSI 5M @ 30 FPS, 4L or 2L+2L MIPI CSI 5M @ 30 FPS, H.265 / H.264 Decoding and Encoding 5M @ 30 FPS
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- **Audio Module:** 16-bit Audio Codec, 2 x I2S / PCM, 1 x DMIC
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- **Storage:** SPI-NOR, SPI-NAND, eMMC 5.0, 2 x SDIO 3.0
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- **Network:** 10M / 100M MAC PHY
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- **Security Module:** Crypto, Secure Boot, TRNG, Efuse
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- **Peripherals:** 1 x USB 2.0 DRD, 5 x UART, 4 x SPI, 16 x PWM, 1 x IR, 6 x I2C, 6 x ADC, GPIOs
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Supported Boards
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================
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.. toctree::
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:glob:
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:maxdepth: 1
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boards/*/*
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