Lup Yuen Lee
Published © Apache-2.0

$8 RISC-V SBC on a Real-Time Operating System: Ox64 + NuttX

Bare Metal Experiments with Apache NuttX RTOS (Real-Time Operating System) on the affordable Pine64 Ox64 BL808 64-bit RISC-V SBC

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$8 RISC-V SBC on a Real-Time Operating System: Ox64 + NuttX

Things used in this project

Hardware components

PINE64 Ox64 Single-Board Computer (128Mb)
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Software apps and online services

NuttX RTOS
NuttX RTOS

Story

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Schematics

Pinout for Ox64 BL808 SBC

Flashing UART and Serial Console for Ox64 BL808 SBC. Based on https://wiki.pine64.org/wiki/File:Ox64_pinout.png

Code

hello_main.c

C/C++
Hello App for Apache NuttX RTOS
#include <nuttx/config.h>
#include <stdio.h>

int main(int argc, FAR char *argv[])
{
  printf("Hello, World!!\n");
  return 0;
}

bl808_appinit.c

C/C++
UART Output and OpenSBI in Apache NuttX RTOS
// After NuttX boots on Ox64...
void board_late_initialize(void)
{
  /* Mount the RAM Disk */

  mount_ramdisk();

  /* Perform board-specific initialization */

#ifdef CONFIG_NSH_ARCHINIT

  mount(NULL, "/proc", "procfs", 0, NULL);

#endif

  // Print `456` to the Serial Console by writing to
  // UART3 Base Address: 0x3000 2000
  // Output FIFO Offset: 0x88 (uart_fifo_wdata)
  *(volatile uint8_t *) 0x30002088 = '4';
  *(volatile uint8_t *) 0x30002088 = '5';
  *(volatile uint8_t *) 0x30002088 = '6';

  // Call OpenSBI to print something
  int test_opensbi(void);
  int ret = test_opensbi();
  DEBUGASSERT(ret == OK);
}

// SBI Definitions
// https://github.com/riscv-software-src/opensbi/blob/master/include/sbi/sbi_ecall_interface.h

/* SBI Extension IDs */
#define SBI_EXT_0_1_SET_TIMER			          0x0
#define SBI_EXT_0_1_CONSOLE_PUTCHAR		      0x1
#define SBI_EXT_0_1_CONSOLE_GETCHAR		      0x2
#define SBI_EXT_0_1_CLEAR_IPI			          0x3
#define SBI_EXT_0_1_SEND_IPI			          0x4
#define SBI_EXT_0_1_REMOTE_FENCE_I		      0x5
#define SBI_EXT_0_1_REMOTE_SFENCE_VMA		    0x6
#define SBI_EXT_0_1_REMOTE_SFENCE_VMA_ASID	0x7
#define SBI_EXT_0_1_SHUTDOWN			          0x8
#define SBI_EXT_BASE				0x10
#define SBI_EXT_TIME				0x54494D45
#define SBI_EXT_IPI				  0x735049
#define SBI_EXT_RFENCE			0x52464E43
#define SBI_EXT_HSM				  0x48534D
#define SBI_EXT_SRST				0x53525354
#define SBI_EXT_PMU				  0x504D55
#define SBI_EXT_DBCN				0x4442434E
#define SBI_EXT_SUSP				0x53555350
#define SBI_EXT_CPPC				0x43505043

/* SBI function IDs for BASE extension*/
#define SBI_EXT_BASE_GET_SPEC_VERSION		0x0
#define SBI_EXT_BASE_GET_IMP_ID			    0x1
#define SBI_EXT_BASE_GET_IMP_VERSION		0x2
#define SBI_EXT_BASE_PROBE_EXT			    0x3
#define SBI_EXT_BASE_GET_MVENDORID		  0x4
#define SBI_EXT_BASE_GET_MARCHID		    0x5
#define SBI_EXT_BASE_GET_MIMPID			    0x6

/* SBI function IDs for TIME extension*/
#define SBI_EXT_TIME_SET_TIMER		      0x0

/* SBI function IDs for IPI extension*/
#define SBI_EXT_IPI_SEND_IPI			      0x0

/* SBI function IDs for RFENCE extension*/
#define SBI_EXT_RFENCE_REMOTE_FENCE_I		        0x0
#define SBI_EXT_RFENCE_REMOTE_SFENCE_VMA	      0x1
#define SBI_EXT_RFENCE_REMOTE_SFENCE_VMA_ASID	  0x2
#define SBI_EXT_RFENCE_REMOTE_HFENCE_GVMA_VMID	0x3
#define SBI_EXT_RFENCE_REMOTE_HFENCE_GVMA	      0x4
#define SBI_EXT_RFENCE_REMOTE_HFENCE_VVMA_ASID	0x5
#define SBI_EXT_RFENCE_REMOTE_HFENCE_VVMA	      0x6

/* SBI function IDs for HSM extension */
#define SBI_EXT_HSM_HART_START			0x0
#define SBI_EXT_HSM_HART_STOP			  0x1
#define SBI_EXT_HSM_HART_GET_STATUS	0x2
#define SBI_EXT_HSM_HART_SUSPEND		0x3

/* SBI function IDs for SRST extension */
#define SBI_EXT_SRST_RESET			    0x0

#define SBI_SRST_RESET_TYPE_SHUTDOWN		0x0
#define SBI_SRST_RESET_TYPE_COLD_REBOOT	0x1
#define SBI_SRST_RESET_TYPE_WARM_REBOOT	0x2
#define SBI_SRST_RESET_TYPE_LAST	SBI_SRST_RESET_TYPE_WARM_REBOOT

#define SBI_SRST_RESET_REASON_NONE	  0x0
#define SBI_SRST_RESET_REASON_SYSFAIL	0x1

/* SBI function IDs for PMU extension */
#define SBI_EXT_PMU_NUM_COUNTERS	      0x0
#define SBI_EXT_PMU_COUNTER_GET_INFO	  0x1
#define SBI_EXT_PMU_COUNTER_CFG_MATCH	  0x2
#define SBI_EXT_PMU_COUNTER_START	      0x3
#define SBI_EXT_PMU_COUNTER_STOP	      0x4
#define SBI_EXT_PMU_COUNTER_FW_READ	    0x5
#define SBI_EXT_PMU_COUNTER_FW_READ_HI	0x6

/* SBI function IDs for DBCN extension */
#define SBI_EXT_DBCN_CONSOLE_WRITE		    0x0
#define SBI_EXT_DBCN_CONSOLE_READ		      0x1
#define SBI_EXT_DBCN_CONSOLE_WRITE_BYTE		0x2

/* SBI function IDs for SUSP extension */
#define SBI_EXT_SUSP_SUSPEND			0x0

#define SBI_SUSP_SLEEP_TYPE_SUSPEND		  0x0
#define SBI_SUSP_SLEEP_TYPE_LAST		    SBI_SUSP_SLEEP_TYPE_SUSPEND
#define SBI_SUSP_PLATFORM_SLEEP_START		0x80000000

/* SBI function IDs for CPPC extension */
#define SBI_EXT_CPPC_PROBE			0x0
#define SBI_EXT_CPPC_READ			  0x1
#define SBI_EXT_CPPC_READ_HI		0x2
#define SBI_EXT_CPPC_WRITE			0x3

/* SBI return error codes */
#define SBI_SUCCESS				          0
#define SBI_ERR_FAILED				      -1
#define SBI_ERR_NOT_SUPPORTED			  -2
#define SBI_ERR_INVALID_PARAM			  -3
#define SBI_ERR_DENIED				      -4
#define SBI_ERR_INVALID_ADDRESS			-5
#define SBI_ERR_ALREADY_AVAILABLE		-6
#define SBI_ERR_ALREADY_STARTED			-7
#define SBI_ERR_ALREADY_STOPPED			-8

// SBI Return Type. From
// https://github.com/riscv-software-src/opensbi/blob/master/firmware/payloads/test_main.c
struct sbiret {
  unsigned long error;
  unsigned long value;
};

static struct sbiret sbi_ecall(unsigned int extid, unsigned int fid,
                               uintptr_t parm0, uintptr_t parm1,
                               uintptr_t parm2, uintptr_t parm3,
                               uintptr_t parm4, uintptr_t parm5);

// Make an ecall to OpenSBI. Based on
// https://github.com/riscv-software-src/opensbi/blob/master/firmware/payloads/test_main.c
// https://www.thegoodpenguin.co.uk/blog/an-overview-of-opensbi/
int test_opensbi(void)
{
  // Print `789` to Debug Console with Legacy Console Putchar.
  // Call sbi_console_putchar: EID 0x01, FID 0
  // https://github.com/riscv-non-isa/riscv-sbi-doc/blob/master/src/ext-legacy.adoc
  sbi_ecall(SBI_EXT_0_1_CONSOLE_PUTCHAR, 0, '7', 0, 0, 0, 0, 0);
  sbi_ecall(SBI_EXT_0_1_CONSOLE_PUTCHAR, 0, '8', 0, 0, 0, 0, 0);
  sbi_ecall(SBI_EXT_0_1_CONSOLE_PUTCHAR, 0, '9', 0, 0, 0, 0, 0);

  // TODO: Not supported by SBI v1.0, this will return SBI_ERR_NOT_SUPPORTED
  // Print `DEF` to Debug Console.
  // Call sbi_debug_console_write: EID 0x4442434E "DBCN", FID 0
  // https://github.com/riscv-non-isa/riscv-sbi-doc/blob/master/src/ext-debug-console.adoc#function-console-write-fid-0
  const char *str = "DEF";
  struct sbiret sret = sbi_ecall(
    SBI_EXT_DBCN,  // Extension ID
    SBI_EXT_DBCN_CONSOLE_WRITE,  // Function ID
    strlen(str),         // Number of bytes
    (unsigned long)str,  // Address Low
    0,                   // Address High
    0, 0, 0              // Unused
  );
  _info("debug_console_write: value=0x%x, error=%d\n", sret.value, sret.error);
  // DEBUGASSERT(sret.error == SBI_SUCCESS);
  // DEBUGASSERT(sret.value == strlen(str));

  // TODO: Not supported by SBI v1.0, this will return SBI_ERR_NOT_SUPPORTED
  // Print `GHI` to Debug Console.
  // Call sbi_debug_console_write_byte: EID 0x4442434E "DBCN", FID 2
  // https://github.com/riscv-non-isa/riscv-sbi-doc/blob/master/src/ext-debug-console.adoc#function-console-write-byte-fid-2
  sret = sbi_ecall(SBI_EXT_DBCN, SBI_EXT_DBCN_CONSOLE_WRITE_BYTE, 'G', 0, 0, 0, 0, 0);
  sret = sbi_ecall(SBI_EXT_DBCN, SBI_EXT_DBCN_CONSOLE_WRITE_BYTE, 'H', 0, 0, 0, 0, 0);
  sret = sbi_ecall(SBI_EXT_DBCN, SBI_EXT_DBCN_CONSOLE_WRITE_BYTE, 'I', 0, 0, 0, 0, 0);
  _info("debug_console_write_byte: value=0x%x, error=%d\n", sret.value, sret.error);
  // DEBUGASSERT(sret.error == SBI_SUCCESS);
  // DEBUGASSERT(sret.value == 0);

  // Get SBI Spec Version
  // Call sbi_get_spec_version: EID 0x10, FID 0
  // https://github.com/riscv-non-isa/riscv-sbi-doc/blob/v1.0.0/riscv-sbi.adoc#41-function-get-sbi-specification-version-fid-0
  sret = sbi_ecall(SBI_EXT_BASE, SBI_EXT_BASE_GET_SPEC_VERSION, 0, 0, 0, 0, 0, 0);
  _info("get_spec_version: value=0x%x, error=%d\n", sret.value, sret.error);

  // Get SBI Implementation ID
  // Call sbi_get_impl_id: EID 0x10, FID 1
  // https://github.com/riscv-non-isa/riscv-sbi-doc/blob/v1.0.0/riscv-sbi.adoc#42-function-get-sbi-implementation-id-fid-1
  sret = sbi_ecall(SBI_EXT_BASE, SBI_EXT_BASE_GET_IMP_ID, 0, 0, 0, 0, 0, 0);
  _info("get_impl_id: value=0x%x, error=%d\n", sret.value, sret.error);

  // Get SBI Implementation Version
  // Call sbi_get_impl_version: EID 0x10, FID 2
  // https://github.com/riscv-non-isa/riscv-sbi-doc/blob/v1.0.0/riscv-sbi.adoc#43-function-get-sbi-implementation-version-fid-2
  sret = sbi_ecall(SBI_EXT_BASE, SBI_EXT_BASE_GET_IMP_VERSION, 0, 0, 0, 0, 0, 0);
  _info("get_impl_version: value=0x%x, error=%d\n", sret.value, sret.error);

  // Get Machine Vendor ID
  // Call sbi_get_mvendorid: EID 0x10, FID 4
  // https://github.com/riscv-non-isa/riscv-sbi-doc/blob/v1.0.0/riscv-sbi.adoc#45-function-get-machine-vendor-id-fid-4
  sret = sbi_ecall(SBI_EXT_BASE, SBI_EXT_BASE_GET_MVENDORID, 0, 0, 0, 0, 0, 0);
  _info("get_mvendorid: value=0x%x, error=%d\n", sret.value, sret.error);

  // Get Machine Architecture ID
  // Call sbi_get_marchid: EID 0x10, FID 5
  // https://github.com/riscv-non-isa/riscv-sbi-doc/blob/v1.0.0/riscv-sbi.adoc#46-function-get-machine-architecture-id-fid-5
  sret = sbi_ecall(SBI_EXT_BASE, SBI_EXT_BASE_GET_MARCHID, 0, 0, 0, 0, 0, 0);
  _info("get_marchid: value=0x%x, error=%d\n", sret.value, sret.error);

  // Get Machine Implementation ID
  // Call sbi_get_mimpid: EID 0x10, FID 6
  // https://github.com/riscv-non-isa/riscv-sbi-doc/blob/v1.0.0/riscv-sbi.adoc#47-function-get-machine-implementation-id-fid-6
  sret = sbi_ecall(SBI_EXT_BASE, SBI_EXT_BASE_GET_MIMPID, 0, 0, 0, 0, 0, 0);
  _info("get_mimpid: value=0x%x, error=%d\n", sret.value, sret.error);

  // Probe SBI Extension: Base Extension
  // Call sbi_probe_extension: EID 0x10, FID 3
  // https://github.com/riscv-non-isa/riscv-sbi-doc/blob/v1.0.0/riscv-sbi.adoc#44-function-probe-sbi-extension-fid-3
  sret = sbi_ecall(SBI_EXT_BASE, SBI_EXT_BASE_PROBE_EXT, SBI_EXT_BASE, 0, 0, 0, 0, 0);
  _info("probe_extension[0x10]: value=0x%x, error=%d\n", sret.value, sret.error);

  // Probe SBI Extension: Debug Console Extension
  sret = sbi_ecall(SBI_EXT_BASE, SBI_EXT_BASE_PROBE_EXT, SBI_EXT_DBCN, 0, 0, 0, 0, 0);
  _info("probe_extension[0x4442434E]: value=0x%x, error=%d\n", sret.value, sret.error);

  // HART Get Status
  // Call sbi_hart_get_status: EID 0x48534D "HSM", FID 2
  // https://github.com/riscv-non-isa/riscv-sbi-doc/blob/v1.0.0/riscv-sbi.adoc#93-function-hart-get-status-fid-2
  for (uintptr_t hart = 0; hart < 6; hart++) {
    sret = sbi_ecall(SBI_EXT_HSM, SBI_EXT_HSM_HART_GET_STATUS, hart, 0, 0, 0, 0, 0);
    _info("hart_get_status[%d]: value=0x%x, error=%d\n", hart, sret.value, sret.error);
  }

  // Set Timer
  // Call sbi_set_timer: EID 0x54494D45 "TIME", FID 0
  // https://github.com/riscv-non-isa/riscv-sbi-doc/blob/v1.0.0/riscv-sbi.adoc#61-function-set-timer-fid-0
  sret = sbi_ecall(SBI_EXT_TIME, SBI_EXT_TIME_SET_TIMER, 0, 0, 0, 0, 0, 0);
  _info("set_timer: value=0x%x, error=%d\n", sret.value, sret.error);

  // System Reset: Shutdown
  // Call sbi_system_reset: EID 0x53525354 "SRST", FID 0
  // https://github.com/riscv-non-isa/riscv-sbi-doc/blob/v1.0.0/riscv-sbi.adoc#101-function-system-reset-fid-0
  // sret = sbi_ecall(SBI_EXT_SRST, SBI_EXT_SRST_RESET, SBI_SRST_RESET_TYPE_SHUTDOWN, SBI_SRST_RESET_REASON_NONE, 0, 0, 0, 0);
  // _info("system_reset[shutdown]: value=0x%x, error=%d\n", sret.value, sret.error);

  // System Reset: Cold Reboot
  // sret = sbi_ecall(SBI_EXT_SRST, SBI_EXT_SRST_RESET, SBI_SRST_RESET_TYPE_COLD_REBOOT, SBI_SRST_RESET_REASON_NONE, 0, 0, 0, 0);
  // _info("system_reset[cold_reboot]: value=0x%x, error=%d\n", sret.value, sret.error);

  // System Reset: Warm Reboot
  // sret = sbi_ecall(SBI_EXT_SRST, SBI_EXT_SRST_RESET, SBI_SRST_RESET_TYPE_WARM_REBOOT, SBI_SRST_RESET_REASON_NONE, 0, 0, 0, 0);
  // _info("system_reset[warm_reboot]: value=0x%x, error=%d\n", sret.value, sret.error);

  return OK;
}

// Make an ecall to OpenSBI. Based on
// https://github.com/apache/nuttx/blob/master/arch/risc-v/src/common/supervisor/riscv_sbi.c#L52-L77
// https://github.com/riscv-software-src/opensbi/blob/master/firmware/payloads/test_main.c
static struct sbiret sbi_ecall(unsigned int extid, unsigned int fid,
                               uintptr_t parm0, uintptr_t parm1,
                               uintptr_t parm2, uintptr_t parm3,
                               uintptr_t parm4, uintptr_t parm5)
{
  struct sbiret ret;
  register long r0 asm("a0") = (long)(parm0);
  register long r1 asm("a1") = (long)(parm1);
  register long r2 asm("a2") = (long)(parm2);
  register long r3 asm("a3") = (long)(parm3);
  register long r4 asm("a4") = (long)(parm4);
  register long r5 asm("a5") = (long)(parm5);
  register long r6 asm("a6") = (long)(fid);
  register long r7 asm("a7") = (long)(extid);

  asm volatile
    (
     "ecall"
     : "+r"(r0), "+r"(r1)
     : "r"(r2), "r"(r3), "r"(r4), "r"(r5), "r"(r6), "r"(r7)
     : "memory"
     );

  ret.error = r0;
  ret.value = r1;
  return ret;
}

/* Output Log:
123ABC456789test_opensbi: debug_console_write: value=0x0, error=-2
test_opensbi: debug_console_write_byte: value=0x0, error=-2
test_opensbi: get_spec_version: value=0x1000000, error=0
test_opensbi: get_impl_id: value=0x1, error=0
test_opensbi: get_impl_version: value=0x10002, error=0
test_opensbi: get_mvendorid: value=0x5b7, error=0
test_opensbi: get_marchid: value=0x0, error=0
test_opensbi: get_mimpid: value=0x0, error=0
test_opensbi: probe_extension[0x10]: value=0x1, error=0
test_opensbi: probe_extension[0x4442434E]: value=0x0, error=0
test_opensbi: hart_get_status[0]: value=0x0, error=0
test_opensbi: hart_get_status[1]: value=0x0, error=-3
test_opensbi: hart_get_status[2]: value=0x0, error=-3
test_opensbi: hart_get_status[3]: value=0x0, error=-3
test_opensbi: hart_get_status[4]: value=0x0, error=-3
test_opensbi: hart_get_status[5]: value=0x0, error=-3
test_opensbi: set_timer: value=0x0, error=0
*/

bl808_head.S

Assembly x86
UART Output in Boot Code for Apache NuttX RTOS
  /* Print `123`: Load UART3 Base Address to Register t0 */
  li  t0, 0x30002000

  /* Load `1` to Register t1 */
  li  t1, 0x31
  /* Store byte from Register t1 to UART3 Base Address, Offset 0x88 */
  sb  t1, 0x88(t0)

  /* Load `2` to Register t1 */
  li  t1, 0x32
  /* Store byte from Register t1 to UART3 Base Address, Offset 0x88 */
  sb  t1, 0x88(t0)

  /* Load `3` to Register t1 */
  li  t1, 0x33
  /* Store byte from Register t1 to UART3 Base Address, Offset 0x88 */
  sb  t1, 0x88(t0)

hello_main.c

Hello App for Apache NuttX RTOS

bl808_appinit.c

UART Output and OpenSBI with Apache NuttX RTOS

bl808_head.S

UART Output in Boot Code for Apache NuttX RTOS

Credits

Lup Yuen Lee

Lup Yuen Lee

3 projects • 20 followers
IoT Techie and Educator

Comments

Related channels and tags
  • NuttX RTOS
  • PINE64