[bsp][cvitek] Milk-V Duo 256M Supports running ARM large core and RISCV small core

支持将rtthread.bin和dtb文件合成boot.sd文件，使用uboot直接通过bootcmd命令启动rtthread内核。

支持构建带有小核riscv程序的fip.bin文件，保证在运行arm大核的同时运行小核的riscv程序。

bsp/cvitek/cv18xx_aarch64/.gitignore

@@ -0,0 +1 @@
+Image

bsp/cvitek/cv18xx_aarch64/README.md

@@ -63,7 +63,7 @@ scons -j12
 
 ## 3. 运行
 
-> 目前仅支持使用uboot对 `rtthread.bin` 文件进行加载，uboot对 `boot.sd` 的加载方式后续会实现。
+### 3.1 uboot加载rtthread.bin
 
 1. 将 SD 卡分为 2 个分区，第 1 个分区用于存放 bin 文件，第 2 个分区用于作为数据存储分区，分区格式为 `FAT32`。
 
@@ -81,6 +81,22 @@ go 0x80200000
 
 > 0x80200000为rtthread.bin加载到内存的位置，可在menuconfig中自己修改，注意不能与小核固件加载位置重叠。
 
+### 3.2 uboot加载boot.sd
+
+1. 将 SD 卡分为 2 个分区，第 1 个分区用于存放 bin 文件，第 2 个分区用于作为数据存储分区，分区格式为 `FAT32`。
+
+2. 将bsp的boot目录下的 `fip.bin` 和编译生成的 `boot.sd` 复制 SD 卡第一个分区中。后续更新固件只需要复制 `boot.sd` 文件即可。
+
+配置**串口0**参数： 115200 8N1 ，硬件和软件流控为关。
+
+直接上电运行，uboot会自动调用bootcmd解析boot.sd文件，然后加载`rtthread.bin`运行。
+
+### 3.3 如何生成fip.bin
+
+在本bsp的boot/milkv-duo256m目录下存放了所有需要构建出fip.bin的一些依赖文件和相关脚本。用户只需要在boot目录下执行`combine.sh`即可生成fip.bin。
+
+> 如何用户编译了小核c906_little的bsp，那么`combine.sh`脚本将会生成带有小核程序的fip.bin。未编译则不会。
+
 完成后可以看到串口的输出信息：
 
 **标准版log信息：**

bsp/cvitek/cv18xx_aarch64/boot/combine.sh

@@ -0,0 +1,44 @@
+C906_LITTLE_BIN_PATH=../../c906_little/rtthread.bin
+GEN_FIP_PATH=.
+DEPENDS_FILE_PATH=${GEN_FIP_PATH}/milkv-duo256m
+
+BLCP_IMG_RUNADDR=0x05200200
+BLCP_PARAM_LOADADDR=0
+NAND_INFO=00000000
+NOR_INFO='FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF'
+FIP_COMPRESS=lzma
+
+CHIP_CONF_PATH=${DEPENDS_FILE_PATH}/chip_conf.bin
+DDR_PARAM_TEST_PATH=${DEPENDS_FILE_PATH}/ddr_param.bin
+BL2_PATH=${DEPENDS_FILE_PATH}/bl2.bin
+BLCP_PATH=${DEPENDS_FILE_PATH}/empty.bin
+MONITOR_PATH=${DEPENDS_FILE_PATH}/bl31.bin
+LOADER_2ND_PATH=${DEPENDS_FILE_PATH}/u-boot-raw.bin
+
+if [ -f "$C906_LITTLE_BIN_PATH" ]; then
+    echo "The file $C906_LITTLE_BIN_PATH exist."
+    BLCP_2ND_PATH=${C906_LITTLE_BIN_PATH}
+else
+    echo "The file $C906_LITTLE_BIN_PATH does not exist. Execute scons to compile it."
+fi
+
+echo "Combining fip.bin..."
+. ${DEPENDS_FILE_PATH}/blmacros.env && \
+${DEPENDS_FILE_PATH}/fiptool.py -v genfip \
+${GEN_FIP_PATH}/fip.bin \
+--MONITOR_RUNADDR="${MONITOR_RUNADDR}" \
+--BLCP_2ND_RUNADDR="${BLCP_2ND_RUNADDR}" \
+--CHIP_CONF=${CHIP_CONF_PATH} \
+--NOR_INFO=${NOR_INFO} \
+--NAND_INFO=${NAND_INFO} \
+--BL2=${BL2_PATH} \
+--BLCP_IMG_RUNADDR=${BLCP_IMG_RUNADDR} \
+--BLCP_PARAM_LOADADDR=${BLCP_PARAM_LOADADDR} \
+--BLCP=${BLCP_PATH} \
+--DDR_PARAM=${DDR_PARAM_TEST_PATH} \
+--BLCP_2ND=${BLCP_2ND_PATH} \
+--MONITOR=${MONITOR_PATH} \
+--LOADER_2ND=${LOADER_2ND_PATH} \
+--compress=${FIP_COMPRESS}
+
+echo "Combining fip.bin done!"

bsp/cvitek/cv18xx_aarch64/boot/milkv-duo256m/blmacros.env

@@ -0,0 +1,2 @@
+MONITOR_RUNADDR=0x0000000080000000
+BLCP_2ND_RUNADDR=0x000000008fe00000

bsp/cvitek/cv18xx_aarch64/dtb/milkv-duo256m/multi.its

@@ -0,0 +1,56 @@
+/*
+ * U-Boot uImage source file with multiple kernels, ramdisks and FDT blobs
+ */
+
+/dts-v1/;
+
+/ {
+	description = "Various kernels, ramdisks and FDT blobs";
+	#address-cells = <2>;
+
+	images {
+		kernel-1 {
+			description = "cvitek kernel";
+			data = /incbin/("./Image.lzma");
+			type = "kernel";
+			arch = "arm64";
+			os = "linux";
+			compression = "lzma";
+			load = <0x0 0x80200000>;
+			entry = <0x0 0x80200000>;
+			hash-2 {
+				algo = "crc32";
+			};
+		};
+
+
+		/*FDT*/
+    
+        fdt-sg2002_milkv_duo256m_arm_sd {
+            description = "cvitek device tree - sg2002_milkv_duo256m_arm_sd";
+            data = /incbin/("./sg2002_milkv_duo256m_arm_sd.dtb");
+            type = "flat_dt";
+            arch = "arm64";
+            compression = "none";
+            hash-1 {
+                algo = "sha256";
+            };
+        };
+
+
+
+	};
+
+	/*CFG*/
+    configurations {
+        
+        config-sg2002_milkv_duo256m_arm_sd {
+            description = "boot cvitek system with board sg2002_milkv_duo256m_arm_sd";
+            kernel = "kernel-1";
+            fdt = "fdt-sg2002_milkv_duo256m_arm_sd";
+        };
+
+    };
+
+
+};

bsp/cvitek/cv18xx_aarch64/rtconfig.py

@@ -45,3 +45,5 @@ if PLATFORM == 'gcc':
 
 DUMP_ACTION = OBJDUMP + ' -D -S $TARGET > rtt.asm\n'
 POST_ACTION = OBJCPY + ' -O binary $TARGET rtthread.bin\n' + SIZE + ' $TARGET \n'
+POST_ACTION += OBJCPY + ' -O binary $TARGET Image \n' + SIZE + ' $TARGET \n'
+POST_ACTION += 'cd .. && bash mksdimg.sh ' + os.getcwd() + ' Image \n'