NuttX on Milk-V Duo S Test Report

Test Environment

Operating System Information

Debian Linux Image + U-Boot: https://github.com/Fishwaldo/sophgo-sg200x-debian/releases
Toolchain: xPack https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack/releases
dtb file: https://github.com/lupyuen2/wip-nuttx/releases/download/sg2000-1/cv181x_milkv_duos_sd.dtb
Reference Installation Document: https://nuttx.apache.org/docs/latest/quickstart/install.html

Hardware Information

Milk-V Duo S (512M, SG2000)
A USB Power Adapter
A USB-A to C or USB C to C cable for powering the development board
A microSD card
A USB card reader
A USB to UART Debugger (e.g., CP2102, FT2232, etc. Be aware that WCH CH340/341 series will cause garbled text output, DO NOT USE)
Three DuPont wires
Ethernet access for TFTP Boot

Installation Steps

Install Build Dependencies

Debian based:

sudo apt install \
bison flex gettext texinfo libncurses5-dev libncursesw5-dev xxd \
gperf automake libtool pkg-config build-essential gperf genromfs \
libgmp-dev libmpc-dev libmpfr-dev libisl-dev binutils-dev libelf-dev \
libexpat-dev gcc-multilib g++-multilib picocom u-boot-tools util-linux

sudo apt install kconfig-frontends
# pip install kconfiglib

Fedora / RPM based:

sudo dnf install \
bison flex gettext texinfo ncurses-devel ncurses ncurses-compat-libs \
gperf automake libtool pkgconfig @development-tools gperf genromfs \
gmp-devel mpfr-devel libmpc-devel isl-devel binutils-devel elfutils-libelf-devel \
expat-devel gcc-c++ g++ picocom uboot-tools util-linux

pip install kconfiglib
# Or install from source:
# git clone https://bitbucket.org/nuttx/tools.git
# cd tools/kconfig-frontends
# ./configure --enable-mconf --disable-nconf --disable-gconf --disable-qconf
# aclocal
# automake
# make
# sudo make install

Arch / pacman based:

sudo pacman -S --needed base-devel ncurses5-compat-libs gperf pkg-config gmp libmpc mpfr libelf expat picocom uboot-tools util-linux git wget libisl
# AUR packages only, use any AUR helper as you wish
paru -S kconfig-frontends genromfs
# yay -S kconfig-frontends genromfs

Retrieve the Source Code

mkdir nuttxspace
cd nuttxspace
git clone https://github.com/apache/nuttx.git nuttx
git clone https://github.com/apache/nuttx-apps apps

Configure Toolchain and Build NuttX

The xPack toolchain is needed for the compilation, get the toolchain first from the Github, suggest 13.3.0 version as it has been tested, change the version to match your system:

wget https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack/releases/download/v11.5.0-1/xpack-riscv-none-elf-gcc-13.3.0-1-linux-x64.tar.gz
tar -xvzf xpack-riscv-none-elf-gcc-13.3.0-1-linux-x64.tar.gz

Export it into your PATH:

export PATH=/path/to/toolchain/you/untar:$PATH

Then, build the Nuttx kernel:

cd nuttx
tools/configure.sh milkv_duos:nsh
make -j$(nproc)

If you encounter file loss during the build process, you can configure options through menuconfig

Select whether to use the math library and its path in (Top) → Library Routines → Select math library
Select whether to enable llvm in (Top) → Library Routines → Builtin libclang_rt.profile

Then, build the file system:

make export
pushd ../apps
tools/mkimport.sh -z -x ../nuttx/nuttx-export-*.tar.gz
make import
popd
genromfs -f initrd -d ../apps/bin -V "NuttXBootVol"

Finally , padding the image:

head -c 65536 /dev/zero >/tmp/nuttx.pad
cat nuttx.bin /tmp/nuttx.pad initrd >Image-sg2000

Booting NuttX RTOS from TFTP Server

First, flash the Debian image onto the storage card.

wget https://github.com/Fishwaldo/sophgo-sg200x-debian/releases/download/v1.4.0/duos_sd.img.lz4
lz4 -d duos_sd.img.lz4
sudo dd if=duos_sd.img of=/dev/sdX bs=1M status=progress

The storage card is now ready. Insert it into the development board.

Start a TFTP server on your computer. Ensure both the compiled Image (located in the NuttX source directory) and dtb are accessible by the TFTP server.

Refer to: Arch Wiki/TFTP for TFTP server configuration. Generally speaking, you can try tftpd:

systemctl start tftpd

On Windows, you may consider using Tftpd64.

Put the image file and dtb file under the tftp service foder, like for tftpd, it’s /srv/tftp:

wget https://github.com/lupyuen2/wip-nuttx/releases/download/sg2000-1/cv181x_milkv_duos_sd.dtb
cp Image-sg2000 /path/to/tftp/folder
cp cv181x_milkv_duos_sd.dtb /path/to/tftp/folder

Connect the UART debug cable, power on the development board, and press any key when prompted (Hit any key to stop autoboot) to interrupt U-Boot. Manually configure U-Boot to boot NuttX from TFTP:

If you need DHCP to get the IP address, run dhcp then interrupt the start procedure to maintain the ip address.

setenv tftp_server your_tftp_server_ip
dhcp ${kernel_addr_r} ${tftp_server}:Image-sg2000
tftpboot ${fdt_addr_r} ${tftp_server}:cv181x_milkv_duos_sd.dtb
fdt addr ${fdt_addr_r}
booti ${kernel_addr_r} - ${fdt_addr_r}

Expected Results

The system should boot normally, and you should be able to access the NuttX shell via the serial connection.

Actual Results

The system booted successfully, and the NuttX shell was accessible via the serial connection.

Commands like uname, ls, and ostest were executed successfully.

Boot Information

Boot log:

Starting kernel ...

ABC
NuttShell (NSH) NuttX-12.6.0-RC1
nsh> help
help usage:  help [-v] [<cmd>]

    .           cp          exit        mkdir       rmdir       umount      
    [           cmp         expr        mkrd        set         unset       
    ?           dirname     false       mount       sleep       uptime      
    alias       dd          fdinfo      mv          source      usleep      
    unalias     df          free        pidof       test        xd          
    basename    dmesg       help        printf      time        
    break       echo        hexdump     ps          true        
    cat         env         kill        pwd         truncate    
    cd          exec        ls          rm          uname       
nsh> uname -a
NuttX 12.6.0-RC1 98f5d6adc5 Jul 29 2024 00:32:01 risc-v milkv_duos
nsh> cat /proc/cpuinfo
processor       : 0
hart            : 0
isa             : rv64imafdc
mmu             : none
nsh>

Screen recording:

Test Criteria

Successful: The actual result matches the expected result.

Failed: The actual result does not match the expected result.

Test Conclusion

Test successful.

System Version

Status

Last Update