AMP Demo about Linux + FreeRTOS

[fanghuaqi]

Let us take Nuclei U900FD(rv32imafdc) 2 SMP Core as example, CPU 0 run Linux Kernel 5.10, and CPU 1 run FreeRTOS demo.

• Similar changes could be maded on UX900FD Core and 6.1/6.6/6.9 Linux Kernel.
• CPU required both PLIC and ECLIC present

Both Linux and FreeRTOS runs on DDR memory:

• Core 0 Linux use: 0x80000000 -> 0xFE000000
• Core 1 FreeRTOS use 4M started from 0xFE000000 to 0xFE040000

1. Let us clone source code and switch to dev_nuclei_5.10_v3 branch, following steps how to do git clone clean source code 如何Clone下载干净的代码 #10

2. Modify conf/evalsoc/build.mk and conf/evalsoc/freeloader.mk as below:

diff --git a/conf/evalsoc/build.mk b/conf/evalsoc/build.mk
index c18315c..220ec62 100644
--- a/conf/evalsoc/build.mk
+++ b/conf/evalsoc/build.mk
@@ -4,7 +4,7 @@ QEMU_MACHINE_OPTS := -M nuclei_evalsoc,download=flashxip -smp 8 -m 2G
 # initramfs pre command before generate initrd ramfs
 INITRAMFS_PRECMD := bash $(confdir)/preramfs.sh $(confdir) $(buildroot_initramfs_sysroot) copyfiles.txt
 # eg. $(confdir)/amp/cx.bin
-CORE1_APP_BIN :=
+CORE1_APP_BIN := $(confdir)/amp/amp_c1.bin
 CORE2_APP_BIN :=
 CORE3_APP_BIN :=
 CORE4_APP_BIN :=
diff --git a/conf/evalsoc/freeloader.mk b/conf/evalsoc/freeloader.mk
index 31e3d3b..7ac9644 100644
--- a/conf/evalsoc/freeloader.mk
+++ b/conf/evalsoc/freeloader.mk
@@ -12,4 +12,4 @@ ENABLE_SMP ?= 1
 ENABLE_L2 ?= 1
 AMPFW_START_OFFSET ?= 0x7E000000
 AMPFW_SIZE ?= 0x400000
-AMP_START_CORE ?= 8
+AMP_START_CORE ?= 1

3. Clone Nuclei SDK 0.5.0 master branch from https://github.com/Nuclei-Software/nuclei-sdk

4. Following steps in https://doc.nucleisys.com/nuclei_sdk/quickstart.html to setup Nuclei SDK build environment

5. Download prepared ampdemo.zip and unzip it to /path/to/nuclei-sdk/application/freertos/

Now in Nuclei SDK folder

cd /path/to/nuclei-sdk/application/freertos/ampdemo
# make sure Makefile is in this ampdemo folder
# build this application for U900FD, and generate binary
make CORE=u900fd clean
make CORE=u900fd bin
# sample binary as below
$ ll -h freertos_demo.bin
-rwxr-xr-x 1 hqfang hqfang 130K Nov 16 18:03 freertos_demo.bin
# copy this binary to Nuclei Linux SDK's folder as  conf/evalsoc/amp/amp_c1.bin
mkdir -p /path/to/nuclei-linux-sdk/conf/evalsoc/amp/
cp -f freertos_demo.bin /path/to/nuclei-linux-sdk/conf/evalsoc/amp/amp_c1.bin

6. Build Linux SDK for U900FD

Now in Nuclei Linux SDK folder, make sure you are using a clean and up to date dev_nuclei_5.10_v2 branch

cd /path/to/nuclei-linux-sdk
# build and generate freeloader and boot images for sdcard
# make sure step 1 changes have been made, and step 5 freertos binary has been copied
make CORE=u900fd freeloader bootimages

Get a 2 Core U900FD FPGA bitstream from Nuclei AE and evaluate it on hardware, this is not possible to run on Nuclei QEMU.

Following steps in https://github.com/Nuclei-Software/nuclei-linux-sdk/tree/dev_nuclei_5.10_v2#upload-freeloader-to-fpga-evaluation-board to upload freeloader and place boot images into SDCard.

Here is sample output, you can see freertos and linux both output in the same uart:

linux_5.10_freertos_ampdemo.log

Our prebuilt images could be found here:

• U900FD Freeloader with FreeRTOS demo: freeloader_u900fd_amp_demo_20231116.zip
• U900FD Prebuilt boot images: boot_u900fd.zip

[matthewgui]

UX900FD SMP2(ECLIC+PLIC Required)，CPU 0 run Linux Kernel 6.6, and CPU 1 run FreeRTOS.

Follow #18 (comment) steps to modify and build linux kernel images and freertos image.

The above example is for rv32, here we use rv64, so building image command is different as below：

Linux sdk branch switch to dev_nuclei_6.6_v3 . If prebranch is not dev_nuclei_6.6_v3 it's better to remove output built images work directory and then rebuild images.

• build linux images for UX900FD

make CORE=ux900fd freeloader bootimages
# if place kernel images at SDCard, please add BOOTMODE=sd parameters to make command, such as 
# make CORE=ux900fd BOOTMODE=sd freeloader bootimages

• build freertos images for UX900FD

make CORE=ux900fd clean
make CORE=ux900fd bin

Here is sample output, you can see freertos and linux both output in the same uart:

linux_6.6_freertos_ampdemo.log

Our prebuilt images could be found here:

• UX900FD Freeloader with FreeRTOS demo:
  freeloader_ux900fd_amp_demo_20240919.zip

• UX900FD Prebuilt boot images:
  boot_sd_ux900fd.zip