[PATCH v2] docs/user: add docs for riscv/kendrytek210 BSP variant

Alan Cudmore alan.cudmore at gmail.com
Sun Apr 2 03:05:05 UTC 2023 

Update on K210/ticker on Renode:
If I define CLOCK_DRIVER_USE_ONLY_BOOT_PROCESSOR in the RISC-V BSP,  ticker
works on the unmodified .resc file.
Alan

On Sat, Apr 1, 2023 at 8:17 PM Alan Cudmore <alan.cudmore at gmail.com> wrote:

> Hi Hesham,
> I found a difference between the .resc file I use to run single tests and
> the .resc file that the renode-test uses.
> The resc file where ticker.exe fails has this extra statement:
> $ex='machine SetSerialExecution True'
> If I comment that out, ticker runs on Renode.
> I couldn't find that in the documentation, so I'm going to have to search
> the renode code to see what it does. I'm pretty sure I used to run
> ticker.exe by itself without commenting out that line.
> It's odd because a number of other examples work with the statement like
> smp08.exe, unlimited.exe, hello.exe.
>
> For reference, my renode-test setup for the K210 is here:
> https://github.com/alanc98/k210-rtems-test
> Note that if you run this, the rki test will fail unless you remove the
> last test or build an RKI image for the k210:
> https://github.com/alanc98/rki2/tree/rtems6
>
> Alan
>
>
> On Sat, Apr 1, 2023 at 6:13 PM Alan Cudmore <alan.cudmore at gmail.com>
> wrote:
>
>> Interesting - I get the same error when I run ticker on renode now. I
>> just tried it on a board and it works.
>> It also still passes the renode-test that I run, which includes ticker
>> ticker along with a dozen other tests. I'll look into why this does not
>> work right now.
>> Thanks,
>> Alan
>>
>>
>> On Sat, Apr 1, 2023 at 5:32 PM Hesham Almatary <heshamelmatary at gmail.com>
>> wrote:
>>
>>> Thanks Alan! It Looks good to me. I'd appreciate your help with
>>> running on the simulator. I followed your documentation in this patch,
>>> but ticker seems to fatal error as follows:
>>>
>>> "*** FATAL ***
>>> fatal source: 6 (RTEMS_FATAL_SOURCE_BSP)
>>> CPU: 0
>>> fatal code: 3342 (0x00000d0e)
>>> RTEMS version: 6.0.0.4021b87e002a094fb0d8ddd099cb8483d6986c8b
>>> RTEMS tools: 12.2.1 20221121 (RTEMS 6, RSB
>>> 65f83cf973d6f1f8974ea1818e653753b83eaea8-modified, Newlib b9898fc)
>>> executing thread ID: 0x09010001
>>> executing thread name: IDLE"
>>>
>>> This is the log from Renode:
>>>
>>> 22:28:53.3268 [INFO] Loaded monitor commands from:
>>> /home/hesham/Downloads/renode_portable/scripts/monitor.py
>>> 22:28:58.0077 [INFO] Including script:
>>>
>>> /home/hesham/Downloads/renode_portable/scripts/single-node/kendryte_k210.resc
>>> 22:28:58.0181 [INFO] System bus created.
>>> 22:28:58.8437 [INFO] sysbus: Loading segment of 68760 bytes length at
>>> 0x80000000.
>>> 22:28:58.8568 [INFO] sysbus: Loading segment of 4096 bytes length at
>>> 0x80010C98.
>>> 22:28:58.8571 [INFO] sysbus: Loading segment of 6217728 bytes length
>>> at 0x80012000.
>>> 22:28:58.8783 [INFO] cpu1: Setting PC value to 0x80000000.
>>> 22:28:58.8793 [INFO] cpu2: Setting PC value to 0x80000000.
>>> 22:28:58.9003 [INFO] machine-0: Machine started.
>>> 22:28:58.9704 [WARNING] plic: Unhandled write to offset 0x200000, value
>>> 0x0.
>>> 22:28:58.9790 [WARNING] sysbus: [cpu1: 0x80009FE0] (tag:
>>> 'SYSCTL/clk_sel0') ReadDoubleWord from non existing peripheral at
>>> 0x50440020, returning 0x00000000.
>>>
>>>
>>> On Sat, 1 Apr 2023 at 21:22, Alan Cudmore <alan.cudmore at gmail.com>
>>> wrote:
>>> >
>>> > Hi Hesham,
>>> > I applied your suggestions and sent a v3 patch.
>>> > Thanks for the review,
>>> > Alan
>>> >
>>> >
>>> > On Sat, Apr 1, 2023 at 1:43 PM Hesham Almatary <
>>> heshamelmatary at gmail.com> wrote:
>>> >>
>>> >> On Fri, 31 Mar 2023 at 17:15, Alan Cudmore <alan.cudmore at gmail.com>
>>> wrote:
>>> >> >
>>> >> > This patch adds the documentation for building and running RTEMS on
>>> the Kendryte K210
>>> >> > RISC-V SoC. The generic riscv introducion was re-arranged to list
>>> the multilib variants
>>> >> > then the specific hardware targets. In addition a couple of errors
>>> were fixed for the
>>> >> > generic QEMU commands.
>>> >> >
>>> >> > V2 corrected a typo, expanded K210 Console UART parameters, and
>>> addded a hyperlink
>>> >> > to renode.io install instructions.
>>> >> >
>>> >> > Closes #4876
>>> >> > ---
>>> >> >  user/bsps/bsps-riscv.rst | 116
>>> ++++++++++++++++++++++++++++++++++-----
>>> >> >  1 file changed, 103 insertions(+), 13 deletions(-)
>>> >> >
>>> >> > diff --git a/user/bsps/bsps-riscv.rst b/user/bsps/bsps-riscv.rst
>>> >> > index 41f369f..af79e6e 100644
>>> >> > --- a/user/bsps/bsps-riscv.rst
>>> >> > +++ b/user/bsps/bsps-riscv.rst
>>> >> > @@ -8,7 +8,7 @@ riscv (RISC-V)
>>> >> >  riscv
>>> >> >  =====
>>> >> >
>>> >> > -This BSP offers 12 variants:
>>> >> > +**This BSP offers 10 variants, each corresponding to a GCC
>>> multilib:**
>>> >> >
>>> >> We should probably remove the number as it changes and what we have in
>>> >> RTEMS might not be an exact match. i.e., "This BSP corresponds to
>>> >> multilib variants, with different RISC-V standard extensions" or
>>> >> something.
>>> >>
>>> >> >  * rv32i
>>> >> >
>>> >> > @@ -30,23 +30,22 @@ This BSP offers 12 variants:
>>> >> >
>>> >> >  * rv64imafdc
>>> >> >
>>> >> > -* frdme310arty
>>> >> > -
>>> >> > -* mpfs64imafdc
>>> >> > -
>>> >> > -Each rv* variant corresponds to a GCC multilib.  A particular
>>> variant reflects an
>>> >> > -ISA with ABI and code model choice. All rv64 BSPs have medany code
>>> model by
>>> >> > +Each variant reflects an ISA with ABI and code model choice. All
>>> rv64 BSPs have medany code model by
>>> >> >  default, while rv32 BSPs are medlow. The reason is that RV32
>>> medlow can access
>>> >> >  the entire 32-bit address space, while RV64 medlow can only access
>>> addresses
>>> >> >  below 0x80000000. With RV64 medany, it's possible to perform
>>> accesses above
>>> >> > -0x80000000.
>>> >> > +0x80000000. The BSP must be started in machine mode.
>>> >> > +
>>> >> > +The reference platform for the rv* variants is the QEMU `virt`
>>> machine.
>>> >> > +
>>> >> QEMU and Spike.
>>> >>
>>> >> > +**The BSP also provides the following 3 variants for specific
>>> hardware targets:**
>>> >> >
>>> >> > -The BSP must be started im machine mode.
>>> >> > +* frdme310arty - The reference platform for this variant is the
>>> Arty FPGA board with the Sifive Freedom E310 reference design.
>>> >> >
>>> >> > -The reference platform for this BSP is the QEMU `virt` machine.
>>> >> > +* mpfs64imafdc - The reference platform for this variant is the
>>> Microchip PolarFire SoC Icicle Kit.
>>> >> > +
>>> >> > +* kendrytek210 - The reference platform for this variant is the
>>> Kendryte K210 SoC on the Sipeed MAiX Bit or MAiXDuino board.
>>> >> >
>>> >> > -The reference platform for the mpfs64imafdc BSP variant is the
>>> Microchip
>>> >> > -PolarFire SoC Icicle Kit.
>>> >> >
>>> >> >  Build Configuration Options
>>> >> >  ---------------------------
>>> >> > @@ -90,6 +89,9 @@ configuration INI file. The ``waf`` defaults can
>>> be used to inspect the values.
>>> >> >       The maximum number of NS16550 devices supported by the
>>> console driver (2
>>> >> >       by default).
>>> >> >
>>> >> > +``RISCV_ENABLE_SIFIVE_UART_SUPPORT``
>>> >> > +     Enable the Sifive console UART (disabled by default)
>>> >> > +
>>> >> np: SiFive.
>>> >>
>>> >> >  ``RISCV_RAM_REGION_BEGIN``
>>> >> >       The begin of the RAM region for linker command file (default
>>> is 0x80000000).
>>> >> >
>>> >> > @@ -104,6 +106,10 @@ configuration INI file. The ``waf`` defaults
>>> can be used to inspect the values.
>>> >> >       Enables support Microchip PolarFire SoC if defined to a
>>> non-zero
>>> >> >       value, otherwise it is disabled (disabled by default).
>>> >> >
>>> >> > +``RISCV_ENABLE_KENDRYTE_K210_SUPPORT``
>>> >> > +     Enables support for the Kendtryte K210 SoC if defined to a
>>> non-zero
>>> >> > +     value, otherwise it is disabled (disabled by default).
>>> >> > +
>>> >> >  ``RISCV_BOOT_HARTID``
>>> >> >       The boot hartid (processor number) of risc-v cpu by default 0.
>>> >> >
>>> >> > @@ -131,7 +137,7 @@ The console driver supports devices compatible
>>> to
>>> >> >
>>> >> >  * "ns16750" (see ``RISCV_CONSOLE_MAX_NS16550_DEVICES`` BSP option).
>>> >> >
>>> >> > -* "sifive,uart0" (see ``RISCV_ENABLE_FRDME310ARTY_SUPPORT`` BSP
>>> option).
>>> >> > +* "sifive,uart0" (see ``RISCV_ENABLE_SIFIVE_UART_SUPPORT`` BSP
>>> option). This console driver is used by the frdme310arty and kendrytek210
>>> BSP variants.
>>> >> >
>>> >> >  They are initialized according to the device tree.  The console
>>> driver does not
>>> >> >  configure the pins or peripheral clocks.  The console device is
>>> selected
>>> >> > @@ -145,11 +151,13 @@ and spike machines. For instance, to run the
>>> ``rv64imafdc`` BSP with the
>>> >> >  following "config.ini" file.
>>> >> >
>>> >> >  .. code-block:: none
>>> >> > +
>>> >> >      [riscv/rv64imafdc]
>>> >> >
>>> >> >  Run the following QEMU command.
>>> >> >
>>> >> >  .. code-block:: shell
>>> >> > +
>>> >> >      $ qemu-system-riscv64 -M virt -nographic -bios $RTEMS_EXE
>>> >> >      $ qemu-system-riscv64 -M spike -nographic -bios $RTEMS_EXE
>>> >> >
>>> >> > @@ -160,11 +168,13 @@ For instance, to run the ``rv64imafdc`` BSP
>>> with the following
>>> >> >  "config.ini" file.
>>> >> >
>>> >> >  .. code-block:: none
>>> >> > +
>>> >> >      [riscv/rv64imafdc]
>>> >> >
>>> >> >  Run the following Spike command.
>>> >> >
>>> >> >  .. code-block:: shell
>>> >> > +
>>> >> >      $ spike --isa=rv64imafdc $RTEMS_EXE
>>> >> >
>>> >> >  Unlike QEMU, Spike supports enabling/disabling a subset of the
>>> imafdc extensions
>>> >> > @@ -277,6 +287,86 @@ Serial terminal UART1 displays the SMP example
>>> messages
>>> >> >
>>> >> >      *** END OF TEST SMP 1 ***
>>> >> >
>>> >> > +Kendryte K210
>>> >> > +-------------
>>> >> > +
>>> >> > +The Kendryte K210 SoC is a dual core 64-bit RISC-V SoC with an AI
>>> NPU,
>>> >> > +built in SRAM, and a variety of peripherals. Currently just the
>>> console UART, interrupt controller, and timer are supported.
>>> >> > +
>>> >> > +The device tree blob is embedded in the ``kendrytek210`` BSP
>>> variant by default.
>>> >> > +When the kendrytek210 BSP variant is selected,
>>> ``BSP_DTB_IS_SUPPORTED`` enabled and the DTB header path
>>> >> > +``BSP_DTB_HEADER_PATH`` is set to bsp/kendryte-k210-dtb.h.
>>> >> > +
>>> >> > +The ``kendrytek210`` BSP variant has been tested on the following
>>> simulator and boards:
>>> >> > +
>>> >> > +* Renode.io simulator using the Kendrtye k210 model
>>> >> > +* Sipeed MAix BiT board
>>> >> > +* Sipeed MaixDuino board
>>> >> > +
>>> >> > +**Building the Kendryte K210 BSP**
>>> >> > +
>>> >> > +Configuration file ``config.ini``:
>>> >> > +
>>> >> > +.. code-block:: none
>>> >> > +
>>> >> > +    [riscv/kendrytek210]
>>> >> > +    RTEMS_SMP = True
>>> >> > +
>>> >> > +Build RTEMS:
>>> >> > +
>>> >> > +.. code-block:: shell
>>> >> > +
>>> >> > +    $ ./waf configure --prefix=$HOME/rtems-start/rtems/6
>>> >> > +    $ ./waf
>>> >> > +
>>> >> > +**Flash an executable to the Sipeed MAix BiT or MAixDuino board**
>>> >> > +
>>> >> > +Binary images can be flashed to the Sipeed boards through the USB
>>> port using the kflash.py utility available from the python pip utility.
>>> >> > +
>>> >> > +.. code-block:: shell
>>> >> > +
>>> >> > +    $ riscv-rtems6-objcopy -Obinary ticker.exe ticker.bin
>>> >> > +    $ kflash.py --uart /dev/ttyUSB0 ticker.bin
>>> >> > +
>>> >> > +After the image is flashed, the RTEMS image will automatically
>>> boot. It will also run when the board is reset or powered through the USB
>>> cable. The USB port provides the power and console UART. Plug the USB cable
>>> into a host PC and bring up a terminal emulator at 115200 baud, 8 data
>>> bits, 1 stop bit, no parity, and no flow control. On Linux the UART device
>>> is often ``/dev/ttyUSB0``.
>>> >> > +
>>> >> > +**Run a RTEMS application on the Renode.io simulator**
>>> >> > +
>>> >> > +RTEMS executables compiled with the kendrytek210 BSP can run on
>>> the renode.io simulator using the built-in K210 model. The simulator
>>> currently supports the console UART, interrupt controller, and timer.
>>> >> > +
>>> >> > +To install renode.io please refer to the `installation
>>> instructions <https://github.com/renode/renode#installation>`_. Once
>>> installed make a local copy of the ``kendryte_k210.resc`` script from the
>>> ``renode/scripts/single-node`` directory to a local directory where it can
>>> be edited. Edit the script and change the line that loads the Linux image
>>> to load a RTEMS elf image instead. The default extension for the RTEMS
>>> sample ELF images is ``.exe``.
>>> >> > +
>>> >> > +Change this line in the kendryte_k210.resc file:
>>> >> > +
>>> >> > +.. code-block:: shell
>>> >> > +
>>> >> > +    sysbus LoadELF @
>>> https://dl.antmicro.com/projects/renode/kendryte-k210--vmlinux-s_2206416-2c1f2b2c2f2fc0c48a7b12a3f3c65809b81f452e
>>> >> > +
>>> >> > +To this:
>>> >> > +
>>> >> > +.. code-block:: shell
>>> >> > +
>>> >> > +    sysbus LoadELF @ticker.exe
>>> >> > +
>>> >> > +After editing the script, start renode and load the
>>> kendryte_k210.resc script to start the emulation.
>>> >> > +
>>> >> > +.. code-block:: shell
>>> >> > +
>>> >> > +    (monitor) s @kendryte_k210.resc
>>> >> > +
>>> >> > +You should see a renode UART window and the RTEMS ticker example
>>> output.
>>> >> > +
>>> >> > +
>>> >> > +**Generating the Device Tree Header**
>>> >> > +
>>> >> > +The kendrytek210 BSP uses a built in device tree blob. If
>>> additional peripheral support is added to the BSP, the device tree may need
>>> to be updated. After editing the device tree source, compile it to a device
>>> tree blob with the following command:
>>> >> > +
>>> >> > +.. code-block:: shell
>>> >> > +
>>> >> > +    $ dtc -O dtb -b 0 -o kendryte-k210.dtb kendryte-k210.dts
>>> >> > +
>>> >> > +The dtb file can then be converted to a C array using the
>>> rtems-bin2c tool. The data for the device tree binary can then replace the
>>> existing device tree binary data in the ``kendryte-k210-dtb.h`` header file.
>>> >> > +
>>> >> >  noel
>>> >> >  ====
>>> >> >
>>> >> > --
>>> >> > 2.25.1
>>> >> >
>>> >> > _______________________________________________
>>> >> > devel mailing list
>>> >> > devel at rtems.org
>>> >> > http://lists.rtems.org/mailman/listinfo/devel
>>> >>
>>> >>
>>> >>
>>> >> --
>>> >> Regards,
>>> >> Hesham
>>>
>>>
>>>
>>> --
>>> Regards,
>>> Hesham
>>>
>>
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