WIP: Apache NuttX RTOS for Pine64 Star64 JH7110 RISC-V SBC (Kernel Mode)
Pre-release
Pre-release
Read the article...
See below for the Build Outputs. We built NuttX with these steps...
## Install the Build Prerequisites and Toolchain:
## https://lupyuen.github.io/articles/nuttx#install-prerequisites
## https://lupyuen.github.io/articles/riscv#appendix-download-toolchain-for-64-bit-risc-v
## Download the `star64a` branch of our WIP NuttX Repos
mkdir nuttx
cd nuttx
git clone --branch star64a https://github.com/lupyuen2/wip-pinephone-nuttx nuttx
git clone --branch star64a https://github.com/lupyuen2/wip-pinephone-nuttx-apps apps
## Configure and build NuttX
cd nuttx
tools/configure.sh rv-virt:knsh64
make
## We assume that `nuttx` contains the NuttX ELF Image.
## Export the NuttX Binary Image to `nuttx.bin`
riscv64-unknown-elf-objcopy \
-O binary \
nuttx \
nuttx.bin
## Dump the disassembly to nuttx.S
riscv64-unknown-elf-objdump \
-t -S --demangle --line-numbers --wide \
nuttx \
>nuttx.S \
2>&1
## Copy the config to nuttx.config
cp .config nuttx.config
## To boot NuttX on Star64, we prepare the Armbian MicroSD Card:
## Download the Armbian Image (Minimal) for Star64: https://www.armbian.com/star64/
## Or pick the latest Star64 Minimal Image: https://github.com/armbianro/os/releases/
## Uncompress the `.xz` file. Write the `.img` file to a microSD Card with
## Balena Etcher: https://www.balena.io/etcher/
## or GNOME Disks: https://wiki.gnome.org/Apps/Disks
## Fix the Missing Device Tree in the Armbian MicroSD Card:
sudo chmod go+w /run/media/$USER/armbi_root/boot
sudo chmod go+w /run/media/$USER/armbi_root/boot/dtb/starfive
cp \
/run/media/$USER/armbi_root/boot/dtb/starfive/jh7110-visionfive-v2.dtb \
/run/media/$USER/armbi_root/boot/dtb/starfive/jh7110-star64-pine64.dtb
## Delete Linux Kernel `/boot/Image`
rm /run/media/$USER/armbi_root/boot/Image
## Copy `nuttx.bin` to Linux Kernel `/boot/Image`
cp nuttx.bin /run/media/$USER/armbi_root/boot/Image
## Insert the MicroSD Card into Star64 and power up.
## Or try Network Booting with TFTP (instead of MicroSD):
## https://lupyuen.github.io/articles/tftpHere's the Star64 Output Log...
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
OK
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: 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 ...
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....... done
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.x.x (773 ms)
Using ethernet@16030000 device
TFTP from server 192.168.x.x; our IP address is 192.168.x.x
Filename 'boot.scr.uimg'.
Load address: 0x43900000
Loading:
TFTP server died; starting again
BOOTP broadcast 1
*** Unhandled DHCP Option in OFFER/ACK: 43
*** Unhandled DHCP Option in OFFER/ACK: 43
DHCP client bound to address 192.168.x.x (545 ms)
Using ethernet@16030000 device
TFTP from server 192.168.x.x; our IP address is 192.168.x.x
Filename 'boot.scr.uimg'.
Load address: 0x40200000
Loading:
TFTP server died; starting again
Using ethernet@16030000 device
TFTP from server 192.168.x.x; our IP address is 192.168.x.x
Filename 'Image'.
Load address: 0x40200000
Loading: #################################################################
. #################################################################
. #############
. 7.3 MiB/s
done
Bytes transferred = 2097832 (2002a8 hex)
Using ethernet@16030000 device
TFTP from server 192.168.x.x; our IP address is 192.168.x.x
Filename 'jh7110-star64-pine64.dtb'.
Load address: 0x46000000
Loading: ####
. 5.3 MiB/s
done
Bytes transferred = 50235 (c43b hex)
## Flattened Device Tree blob at 46000000
Booting using the fdt blob at 0x46000000
Using Device Tree in place at 0000000046000000, end 000000004600f43a
Starting kernel ...
clk u5_dw_i2c_clk_core already disabled
clk u5_dw_i2c_clk_apb already disabled
123067DFHBCqemu_rv_kernel_mappings: map I/O regions
qemu_rv_kernel_mappings: map kernel text
qemu_rv_kernel_mappings: map kernel data
qemu_rv_kernel_mappings: connect the L1 and L2 page tables
qemu_rv_kernel_mappings: map the page pool
qemu_rv_mm_init: mmu_enable: satp=1077956608
Inx_start: Entry
elf_initialize: Registering ELF
uart_register: Registering /dev/console
uart_register: Registering /dev/ttyS0
work_start_lowpri: Starting low-priority kernel worker thread(s)
nx_start_application: Starting init task: /system/bin/init
load_absmodule: Loading /system/bin/init
elf_loadbinary: Loading file: /system/bin/init
elf_init: filename: /system/bin/init loadinfo: 0x404069e8
host_call: nbr=0x1, parm=0x40406788, size=24
_assert: Current Version: NuttX 12.0.3 c994f46 Jul 17 2023 18:06:52 risc-v
_assert: Assertion failed panic: at file: common/riscv_hostfs.c:58 task: Idle Task 0x40200cd0
up_dump_register: EPC: 000000004020f590
up_dump_register: A0: 0000000040401630 A1: 000000000000003a A2: 0000000040219ee8 A3: 0000000000000000
up_dump_register: A4: 000000000000000a A5: 0000000000000000 A6: 0000000000000009 A7: 0000000000000068
up_dump_register: T0: 0000000000000030 T1: 0000000000000009 T2: 0000000000000020 T3: 000000000000002a
up_dump_register: T4: 000000000000002e T5: 00000000000001ff T6: 000000000000002d
up_dump_register: S0: 0000000000000000 S1: 0000000040400b28 S2: 0000000040401768 S3: 0000000040219ee8
up_dump_register: S4: 0000000040229b08 S5: 000000000000003a S6: 0000000000000000 S7: 0000000000000000
up_dump_register: S8: 00000000fff47194 S9: 0000000000000000 S10: 0000000000000000 S11: 0000000000000000
up_dump_register: SP: 0000000040406650 FP: 0000000000000000 TP: 0000000000000001 RA: 000000004020f590
dump_stack: User Stack:
dump_stack: base: 0x40406030
dump_stack: size: 00003024
dump_stack: sp: 0x40406650
stack_dump: 0x40406640: 40406650 00000000 4020f688 00000000 00000000 00000000 40212bc8 00000000
stack_dump: 0x40406660: deadbeef deadbeef 40406680 00000000 deadbeef deadbeef 7474754e 00000058
stack_dump: 0x40406680: 404066b8 00000000 00000001 00000000 40406788 00000000 40205cc0 00000000
stack_dump: 0x404066a0: 00000074 00000000 fffffff8 2e323100 00332e30 00000000 40229ae0 00000000
stack_dump: 0x404066c0: 39636708 34663439 754a2036 3731206c 32303220 38312033 3a36303a 00003235
stack_dump: 0x404066e0: 40205cc0 00000000 0000000a 00000000 00000000 73697200 00762d63 00000000
stack_dump: 0x40406700: ffff9fef ffffffff 40406740 00000000 fff47194 00000000 00000000 00000000
stack_dump: 0x40406720: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
stack_dump: 0x40406740: 40408720 00000000 40406968 00000000 00000000 00000000 40204e80 00000000
stack_dump: 0x40406760: 00000074 00000000 40213e3c 00000000 fff47194 00000000 40213e64 00000000
stack_dump: 0x40406780: 00000000 00000000 404067d0 00000000 00000001 00000000 00000010 00000000
stack_dump: 0x404067a0: 40408720 00000000 40213f7e 00000000 00000000 00000000 4020c7d6 00000000
stack_dump: 0x404067c0: 00000800 00000000 40219e70 00000000 612f2e2e 2f737070 2f6e6962 74696e69
stack_dump: 0x404067e0: 00000a00 00000000 00000000 00000000 00000000 00000000 00000000 00000000
stack_dump: 0x40406800: fff47194 00000000 00000000 00000000 00000000 00000000 00000000 00000000
stack_dump: 0x40406820: 00000000 00000000 00000000 00000000 40219e68 00000000 404069e8 00000000
stack_dump: 0x40406840: 40219e68 00000000 40212bc8 00000000 402276b6 00000000 40406870 00000000
stack_dump: 0x40406860: 00000000 00000000 fffffffc ffffffff 40219e68 00000000 404069e8 00000000
stack_dump: 0x40406880: 40400170 00000000 40204fd4 00000000 0000006c 00000000 404069e8 00000000
stack_dump: 0x404068a0: 40400170 00000000 40205098 00000000 40406908 00000000 40208f50 00000000
stack_dump: 0x404068c0: 40406908 00000000 4020c8b0 00000000 40219e68 00000000 404086d0 00000000
stack_dump: 0x404068e0: ffffffda ffffffff 40215b2a 00000000 40406968 00000000 00000001 00000000
stack_dump: 0x40406900: 40400b28 00000000 40219e70 00000000 404086d0 00000000 40407e30 00000000
stack_dump: 0x40406920: 40407370 00000000 40219e70 00000000 00000000 00000000 40219e01 00000000
stack_dump: 0x40406940: 404069e8 00000000 404069e8 00000000 40219e68 00000000 4020dfc6 00000000
stack_dump: 0x40406960: 40219e68 00000000 40205ec8 00000000 fff47194 00000000 404069b0 00000000
stack_dump: 0x40406980: 00000000 00000000 40205ee8 00000000 00000000 00000000 404069b0 00000000
stack_dump: 0x404069a0: 40408830 00000000 4020d876 00000000 40226b00 00000000 40219e68 00000000
stack_dump: 0x404069c0: 40408830 00000000 00000000 00000000 40219e68 00000000 4020d87e 00000000
stack_dump: 0x404069e0: 40406a18 00000000 00000000 00000000 00000000 00000000 00000000 00000000
stack_dump: 0x40406a00: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
stack_dump: 0x40406a20: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
stack_dump: 0x40406a40: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
stack_dump: 0x40406a60: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
stack_dump: 0x40406a80: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
stack_dump: 0x40406aa0: 40227710 00000000 40219e68 00000000 40408830 00000000 404001f8 00000000
stack_dump: 0x40406ac0: fffffffe ffffffff 4020eb20 00000000 00000000 00000000 00000000 00000000
stack_dump: 0x40406ae0: 40406b60 00000000 40406b68 00000000 40219e68 00000000 40408830 00000000
stack_dump: 0x40406b00: 00000c00 00000000 4020d374 00000000 00000000 00000000 00000000 00000000
stack_dump: 0x40406b20: 00000000 00000000 fffda848 00000000 fffffff3 ffffffff 40400b18 00000000
stack_dump: 0x40406b40: 4040177c 00000000 00000064 00000000 00000c00 00000000 40200fde 00000000
stack_dump: 0x40406b60: 00000000 00000000 40016400 00000000 00000000 00000000 00000c00 00000000
stack_dump: 0x40406b80: 4040177c 00000000 40401780 00000000 40400b28 00000000 40200ed0 00000000
stack_dump: 0x40406ba0: 40600000 00000000 00400000 00000000 00000026 00000000 00000003 00000000
stack_dump: 0x40406bc0: fff47194 00000000 ffff1428 00000000 10000000 00000000 402004fe 00000000
stack_dump: 0x40406be0: 00000400 00000000 4020053c 00000000 00000000 00000000 402000de 00000000
dump_tasks: PID GROUP PRI POLICY TYPE NPX STATE EVENT SIGMASK STACKBASE STACKSIZE USED FILLED COMMAND
dump_tasks: ---- --- --- -------- ------- --- ------- ---------- -------- 0x404002b0 2048 0 0.0% irq
dump_task: 0 0 0 FIFO Kthread N-- Running 0000000000000000 0x40406030 3024 2248 74.3% Idle Task
dump_task: 1 1 100 RR Kthread --- Waiting Unlock 0000000000000000 0x4040a060 1952 264 13.5% lpwork 0x404013e0