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基于NANO 9K 开发板加载PICORV32软核，并建立交叉编译环境

作者：笔触狂放9 | 2024-05-31 07:25:04

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基于NANO 9K 开发板加载PICORV32软核，并建立交叉编译环境

目录

0. 环境准备

1. 安装交叉编译器 

2. 理解makefile工作机理

3. 熟悉示例程序的代码结构，理解软核代码的底层驱动原理

4. 熟悉烧录环节的工作机理， 建立下载环境 

5. 编写例子blink， printf等， 加载运行

6. 后续任务

 

0. 环境准备

NANO 9K低成本体验FPGA开发，还是挺香的，官方例子有加载PICORV32软核的例子，可以建立简单的ISP编程环境，通过串口就可以加载程序，很方便。 

Tang Nano 9K picoRV 简单示例 - Sipeed Wiki

运行效果 

可以通过命令行进行点灯喝运行benchmark等操作。 

相当于例子包括了： 

  • 串口打印，
  • 串口接收指令
  • GPIO控制

等基本操作。 

如果要基于RISCV软核，进一步熟悉工作机制和编程环境，需要参考例子建立交叉编译环境。 

step by step.......，以下基于虚拟机运行ubuntu18.04环境，少一点干扰。 

为帮助理解， 可以看看高云的官方文档对于picorv32内核架构的介绍： 

1. 安装交叉编译器 

 在虚拟机环境下，解压toolchain到目标目录即可。编译器路径可以在makefile文件里进行指定。 

当然，虚拟机依赖环境至少需要安装make工具,gcc也一起

sudo apt-get install make gcc 

下载地址： 

riscv32交叉编译器，ubuntu18.04亲测可用资源-CSDN文库

2. 理解makefile工作机理

参考文章： 

 从零开始：一步步教你如何写Makefile_makefile菜鸟教程-CSDN博客

makefile组成三要素：目标，依赖， 命令 

picotiny工作示例里有两层makefile， 先看主目录下的： 

  1. PYTHON_NAME ?= python
  2. RISCV_NAME 	?= riscv-none-embed
  3. RISCV_PATH 	?= /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004
  4. MAKE		?= make
  5.  
  6. FW_FILE 	 = fw/fw-flash/build/fw-flash.v
  7.  
  8. PROG_FILE	?= $(FW_FILE)
  9. COMx	 	?= COM14
  10.  
  11. export PYTHON_NAME
  12. export RISCV_NAME
  13. export RISCV_PATH
  14.  
  15.  
  16. .PHONY: all brom flash clean program
  17.  
  18. all: brom flash
  19.  
  20. $(FW_FILE): flash
  21.  
  22. brom:
  23. 	$(MAKE) -C fw/fw-brom
  24.  
  25. flash:
  26. 	$(MAKE) -C fw/fw-flash
  27.  
  28. clean:
  29. 	$(MAKE) -C fw/fw-brom clean
  30. 	$(MAKE) -C fw/fw-flash clean
  31.  
  32. program: $(PROG_FILE)
  33. 	$(PYTHON_NAME) sw/pico-programmer.py $(PROG_FILE) $(COMx)

第一部分：指定环境变量

第二部分：指定分支

第三部分：分支命令编写

这个根目录下的makefile主要功能：一是执行不同的子目录下 ，二是program命令分支。 

真正编译项目代码的makefile是在子目录下。 

再来看子目录下的makefile

  1. PROJ_NAME=blink-flash
  2. DEBUG=no
  3. BENCH=no
  4. MULDIV=no
  5. COMPRESSED=no
  6.  
  7. SRCS = 	$(wildcard *.c)       		\
  8. 		$(wildcard *.S)
  9.  
  10. LDSCRIPT = ./linker_flash.ld
  11.  
  12. RISCV_NAME ?= riscv-none-embed
  13. RISCV_PATH ?= /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004
  14.  
  15. MABI=ilp32
  16. MARCH := rv32i
  17. ifeq ($(MULDIV),yes)
  18. 	MARCH := $(MARCH)m
  19. endif
  20. ifeq ($(COMPRESSED),yes)
  21. 	MARCH := $(MARCH)ac
  22. endif
  23.  
  24. CFLAGS += -march=$(MARCH)  -mabi=$(MABI)  -ffunction-sections -fdata-sections
  25. LDFLAGS += -march=$(MARCH)  -mabi=$(MABI)  -Wl,--gc-sections
  26.  
  27. ifeq ($(DEBUG),yes)
  28. 	CFLAGS += -g3 -O0 
  29. endif
  30.  
  31. ifeq ($(DEBUG),no)
  32. 	CFLAGS += -g -O3 
  33. endif
  34.  
  35. ifeq ($(BENCH),yes)
  36. 	CFLAGS += -fno-inline  
  37. endif
  38.  
  39. RISCV_CLIB=$(RISCV_PATH)/$(RISCV_NAME)/lib/$(MARCH)/$(MABI)/
  40.  
  41. RISCV_OBJCOPY = $(RISCV_PATH)/bin/$(RISCV_NAME)-objcopy
  42. RISCV_OBJDUMP = $(RISCV_PATH)/bin/$(RISCV_NAME)-objdump
  43. RISCV_CC = $(RISCV_PATH)/bin/$(RISCV_NAME)-gcc
  44.  
  45. CFLAGS +=  -MD -fstrict-volatile-bitfields 
  46. LDFLAGS +=  -nostdlib -lgcc -mcmodel=medany -nostartfiles -ffreestanding -Wl,-Bstatic,-T,$(LDSCRIPT),-Map,$(OBJDIR)/$(PROJ_NAME).map,--print-memory-usage
  47.  
  48. OBJDIR = build
  49. OBJS := $(SRCS)
  50. OBJS := $(OBJS:.c=.o)
  51. OBJS := $(OBJS:.cpp=.o)
  52. OBJS := $(OBJS:.S=.o)
  53. OBJS := $(addprefix $(OBJDIR)/,$(OBJS))
  54.  
  55. SUBOBJ := $(addprefix $(OBJDIR)/,$(SUBDIRS))
  56. SUBOBJ := $(addsuffix /*.o,$(SUBOBJ))
  57.  
  58. export RISCV_CC CFLAGS LDFLAGS OBJDIR
  59.  
  60. all: $(SUBDIRS) $(OBJDIR)/$(PROJ_NAME).elf $(OBJDIR)/$(PROJ_NAME).hex $(OBJDIR)/$(PROJ_NAME).asm $(OBJDIR)/$(PROJ_NAME).v
  61.  
  62. $(SUBDIRS): ECHO
  63. 	make -C $@
  64.  
  65. ECHO:
  66. 	@echo $(SUBDIRS)
  67.  
  68. $(OBJDIR)/%.elf: $(OBJS) | $(OBJDIR)
  69. 	$(RISCV_CC) $(CFLAGS) -o $@ $^ $(SUBOBJ) $(LDFLAGS) $(LIBS)
  70.  
  71. %.hex: %.elf
  72. 	$(RISCV_OBJCOPY) -O ihex $^ $@
  73.  
  74. %.bin: %.elf
  75. 	$(RISCV_OBJCOPY) -O binary $^ $@
  76. 	
  77. %.v: %.elf
  78. 	$(RISCV_OBJCOPY) -O verilog $^ $@
  79.  
  80. %.asm: %.elf
  81. 	$(RISCV_OBJDUMP) -S -d $^ > $@
  82.  
  83. $(OBJDIR)/%.o: %.c
  84. 	mkdir -p $(dir $@)
  85. 	$(RISCV_CC) -c $(CFLAGS)  $(INC) -o $@ $^
  86. 	
  87. $(OBJDIR)/%.o: %.cpp
  88. 	mkdir -p $(dir $@)
  89. 	$(RISCV_CC) -c $(CFLAGS)  $(INC) -o $@ $^	
  90.  
  91. $(OBJDIR)/%.o: %.S
  92. 	mkdir -p $(dir $@)
  93. 	$(RISCV_CC) -c $(CFLAGS) -o $@ $^ -D__ASSEMBLY__=1
  94.  
  95. $(OBJDIR):
  96. 	mkdir -p $@
  97.  
  98. clean:
  99. 	rm -f $(OBJDIR)/$(PROJ_NAME).elf
  100. 	rm -f $(OBJDIR)/$(PROJ_NAME).hex
  101. 	rm -f $(OBJDIR)/$(PROJ_NAME).map
  102. 	rm -f $(OBJDIR)/$(PROJ_NAME).v
  103. 	rm -f $(OBJDIR)/$(PROJ_NAME).asm
  104. 	find $(OBJDIR) -type f -name '*.d' -print0 | xargs -0 -r rm
  105. 	find $(OBJDIR) -type f -name '*.o' -print0 | xargs -0 -r rm
  106.  
  107. .SECONDARY: $(OBJS)
  108.  
  109.  
  110.

主要完成的工作： 指定了环境变量，编译输出目标文件，编译后的处理（文件转换等） 。 

编写完示例代码后，可以在子目录下运行make命令，执行响应的makefile即可完成目标代码编译。 

3. 熟悉示例程序的代码结构，理解软核代码的底层驱动原理

4. 熟悉烧录环节的工作机理， 建立下载环境 

 烧录的riscv软核支持ISP（串口在线烧录）功能。 所以make program xxx命令调用的python脚本主要是握手协议和烧录固件的传输。 

简单理解： 软核的ISP功能完成了flash固件的调用启动和程序引导运行工作。 

小知识： 理解ISP

ISP的全称是：In System Programming，即在系统编程，该操作是通过MCU厂商出厂BootLoader来实现，通过ISP可以对主flash区域进行擦除、编程操作，还可以修改芯片的选项字节等。

ISP的实现逻辑是出厂“芯片”（我们这里是软核）自带了BootLoader程序，即出厂引导程序，通过BootLoader可以将程序从串口（上位机）下载到Flash中，实际的时序是通过RST来区分正常启动还是烧录状态，然后上位机的烧录脚本来控制串口时序， 用户程序实际上是通过串口最终下载到了FLASH中，然后程序从flash启动。

5. 编写例子blink， printf等， 加载运行

 1)点灯--blink

blink主要是调用GPIO寄存器写入功能

  1. #include <stdint.h>
  2. #include <stdbool.h>
  3.  
  4. // a pointer to this is a null pointer, but the compiler does not
  5. // know that because "sram" is a linker symbol from sections.lds.
  6. extern uint32_t sram;
  7.  
  8. typedef struct {
  9.     volatile uint32_t OUT;
  10.     volatile uint32_t IN;
  11.     volatile uint32_t OE;
  12. } PICOGPIO;
  13.  
  14. // 寄存器地址
  15. #define GPIO0 ((PICOGPIO*)0x82000000)
  16.  
  17.  
  18. #define FLASHIO_ENTRY_ADDR ((void *)0x80000054)
  19.  
  20.  
  21. volatile int i;
  22. // --------------------------------------------------------
  23.  
  24.  
  25. void main()
  26. {
  27.     GPIO0->OE = 0x3F;
  28.     GPIO0->OUT = 0x3F;
  29.  
  30.  
  31.    while (1)
  32.     {
  33.     for ( i = 0 ; i < 10000; i++);
  34.     GPIO0->OUT = 0x3F ^ 0x01;
  35.     for ( i = 0 ; i < 10000; i++);
  36.     GPIO0->OUT = 0x3F ^ 0x02;
  37.     for ( i = 0 ; i < 10000; i++);
  38.     GPIO0->OUT = 0x3F ^ 0x04;
  39.     for ( i = 0 ; i < 10000; i++);
  40.     GPIO0->OUT = 0x3F ^ 0x08;
  41.     for ( i = 0 ; i < 10000; i++);
  42.     GPIO0->OUT = 0x3F ^ 0x10;
  43.     for ( i = 0 ; i < 10000; i++);
  44.     GPIO0->OUT = 0x3F ^ 0x20;
  45.     for ( i = 0 ; i < 10000; i++);
  46.     GPIO0->OUT = 0x3F;
  47.     for ( i = 0 ; i < 10000; i++);
  48.     GPIO0->OUT = 0x00;
  49.     for ( i = 0 ; i < 10000; i++);
  50.     GPIO0->OUT = 0x3F;
  51.     for ( i = 0 ; i < 10000; i++);
  52.  
  53.     }
  54.        
  55. }
  56.  
  57. void irqCallback() {
  58.  
  59. }

 makefile，其实之修改了PROJ_NAME

  1. PROJ_NAME=blink-demo
  2. DEBUG=no
  3. BENCH=no
  4. MULDIV=no
  5. COMPRESSED=no
  6.  
  7. SRCS = 	$(wildcard *.c)       		\
  8. 		$(wildcard *.S)
  9.  
  10. LDSCRIPT = ./linker_flash.ld
  11.  
  12. RISCV_NAME ?= riscv-none-embed
  13. RISCV_PATH ?= /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004
  14.  
  15. MABI=ilp32
  16. MARCH := rv32i
  17. ifeq ($(MULDIV),yes)
  18. 	MARCH := $(MARCH)m
  19. endif
  20. ifeq ($(COMPRESSED),yes)
  21. 	MARCH := $(MARCH)ac
  22. endif
  23.  
  24. CFLAGS += -march=$(MARCH)  -mabi=$(MABI)  -ffunction-sections -fdata-sections
  25. LDFLAGS += -march=$(MARCH)  -mabi=$(MABI)  -Wl,--gc-sections
  26.  
  27. ifeq ($(DEBUG),yes)
  28. 	CFLAGS += -g3 -O0 
  29. endif
  30.  
  31. ifeq ($(DEBUG),no)
  32. 	CFLAGS += -g -O3 
  33. endif
  34.  
  35. ifeq ($(BENCH),yes)
  36. 	CFLAGS += -fno-inline  
  37. endif
  38.  
  39. RISCV_CLIB=$(RISCV_PATH)/$(RISCV_NAME)/lib/$(MARCH)/$(MABI)/
  40.  
  41. RISCV_OBJCOPY = $(RISCV_PATH)/bin/$(RISCV_NAME)-objcopy
  42. RISCV_OBJDUMP = $(RISCV_PATH)/bin/$(RISCV_NAME)-objdump
  43. RISCV_CC = $(RISCV_PATH)/bin/$(RISCV_NAME)-gcc
  44.  
  45. CFLAGS +=  -MD -fstrict-volatile-bitfields 
  46. LDFLAGS +=  -nostdlib -lgcc -mcmodel=medany -nostartfiles -ffreestanding -Wl,-Bstatic,-T,$(LDSCRIPT),-Map,$(OBJDIR)/$(PROJ_NAME).map,--print-memory-usage
  47.  
  48. OBJDIR = build
  49. OBJS := $(SRCS)
  50. OBJS := $(OBJS:.c=.o)
  51. OBJS := $(OBJS:.cpp=.o)
  52. OBJS := $(OBJS:.S=.o)
  53. OBJS := $(addprefix $(OBJDIR)/,$(OBJS))
  54.  
  55. SUBOBJ := $(addprefix $(OBJDIR)/,$(SUBDIRS))
  56. SUBOBJ := $(addsuffix /*.o,$(SUBOBJ))
  57.  
  58. export RISCV_CC CFLAGS LDFLAGS OBJDIR
  59.  
  60. all: $(SUBDIRS) $(OBJDIR)/$(PROJ_NAME).elf $(OBJDIR)/$(PROJ_NAME).hex $(OBJDIR)/$(PROJ_NAME).asm $(OBJDIR)/$(PROJ_NAME).v
  61.  
  62. $(SUBDIRS): ECHO
  63. 	make -C $@
  64.  
  65. ECHO:
  66. 	@echo $(SUBDIRS)
  67.  
  68. $(OBJDIR)/%.elf: $(OBJS) | $(OBJDIR)
  69. 	$(RISCV_CC) $(CFLAGS) -o $@ $^ $(SUBOBJ) $(LDFLAGS) $(LIBS)
  70.  
  71. %.hex: %.elf
  72. 	$(RISCV_OBJCOPY) -O ihex $^ $@
  73.  
  74. %.bin: %.elf
  75. 	$(RISCV_OBJCOPY) -O binary $^ $@
  76. 	
  77. %.v: %.elf
  78. 	$(RISCV_OBJCOPY) -O verilog $^ $@
  79.  
  80. %.asm: %.elf
  81. 	$(RISCV_OBJDUMP) -S -d $^ > $@
  82.  
  83. $(OBJDIR)/%.o: %.c
  84. 	mkdir -p $(dir $@)
  85. 	$(RISCV_CC) -c $(CFLAGS)  $(INC) -o $@ $^
  86. 	
  87. $(OBJDIR)/%.o: %.cpp
  88. 	mkdir -p $(dir $@)
  89. 	$(RISCV_CC) -c $(CFLAGS)  $(INC) -o $@ $^	
  90.  
  91. $(OBJDIR)/%.o: %.S
  92. 	mkdir -p $(dir $@)
  93. 	$(RISCV_CC) -c $(CFLAGS) -o $@ $^ -D__ASSEMBLY__=1
  94.  
  95. $(OBJDIR):
  96. 	mkdir -p $@
  97.  
  98. clean:
  99. 	rm -f $(OBJDIR)/$(PROJ_NAME).elf
  100. 	rm -f $(OBJDIR)/$(PROJ_NAME).hex
  101. 	rm -f $(OBJDIR)/$(PROJ_NAME).map
  102. 	rm -f $(OBJDIR)/$(PROJ_NAME).v
  103. 	rm -f $(OBJDIR)/$(PROJ_NAME).asm
  104. 	find $(OBJDIR) -type f -name '*.d' -print0 | xargs -0 -r rm
  105. 	find $(OBJDIR) -type f -name '*.o' -print0 | xargs -0 -r rm
  106.  
  107. .SECONDARY: $(OBJS)
  108.  
  109.  
  110.

项目目录下编译： 

  1. /blink-demo$ make
  2. mkdir -p build/
  3. /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004/bin/riscv-none-embed-gcc -c -march=rv32i  -mabi=ilp32  -ffunction-sections -fdata-sections -g -O3  -MD -fstrict-volatile-bitfields    -o build/main.o main.c
  4. /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004/bin/riscv-none-embed-gcc -march=rv32i  -mabi=ilp32  -ffunction-sections -fdata-sections -g -O3  -MD -fstrict-volatile-bitfields  -o build/blink-demo.elf build/main.o build/crt_flash.o  -march=rv32i  -mabi=ilp32  -Wl,--gc-sections -nostdlib -lgcc -mcmodel=medany -nostartfiles -ffreestanding -Wl,-Bstatic,-T,./linker_flash.ld,-Map,build/blink-demo.map,--print-memory-usage 
  5. Memory region         Used Size  Region Size  %age Used
  6.            FLASH:         728 B         8 MB      0.01%
  7.              RAM:        1040 B         8 KB     12.70%
  8. /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004/bin/riscv-none-embed-objcopy -O ihex build/blink-demo.elf build/blink-demo.hex
  9. /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004/bin/riscv-none-embed-objdump -S -d build/blink-demo.elf > build/blink-demo.asm
  10. /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004/bin/riscv-none-embed-objcopy -O verilog build/blink-demo.elf build/blink-demo.v

生成的.v文件即用于执行的文件。 

执行根目录下的make program来烧录

 烧录成功： 

  1. ...../picotiny$ make programBlink
  2. python sw/pico-programmer.py fw/blink-demo/build/blink-demo.v /dev/ttyUSB1
  3. Read program with 736 bytes
  4.   - Waiting for reset -
  5.     ...
  6. Total sectors 1
  7. Total pages 3
  8. Flashing 1 / 1
  9.  
  10. Flashing completed

 RISCV例程执行--blink-CSDN直播

 

 2)单独编写串口交互： 

main.c: 

  1.  
  2.  
  3. #include <stdint.h>
  4. #include <stdbool.h>
  5.  
  6. // a pointer to this is a null pointer, but the compiler does not
  7. // know that because "sram" is a linker symbol from sections.lds.
  8. extern uint32_t sram;
  9.  
  10. typedef struct {
  11.     volatile uint32_t DATA;
  12.     volatile uint32_t CLKDIV;
  13. } PICOUART;
  14.  
  15. typedef struct {
  16.     volatile uint32_t OUT;
  17.     volatile uint32_t IN;
  18.     volatile uint32_t OE;
  19. } PICOGPIO;
  20.  
  21. typedef struct {
  22.     union {
  23.         volatile uint32_t REG;
  24.         volatile uint16_t IOW;
  25.         struct {
  26.             volatile uint8_t IO;
  27.             volatile uint8_t OE;
  28.             volatile uint8_t CFG;
  29.             volatile uint8_t EN; 
  30.         };
  31.     };
  32. } PICOQSPI;
  33.  
  34. #define QSPI0 ((PICOQSPI*)0x81000000)
  35. #define GPIO0 ((PICOGPIO*)0x82000000)
  36. #define UART0 ((PICOUART*)0x83000000)
  37.  
  38. #define FLASHIO_ENTRY_ADDR ((void *)0x80000054)
  39.  
  40. void (*spi_flashio)(uint8_t *pdata, int length, int wren) = FLASHIO_ENTRY_ADDR;
  41.  
  42. int putchar(int c)
  43. {	
  44.     if (c == '\n')
  45.         UART0->DATA = '\r';
  46.     UART0->DATA = c;
  47.     
  48.     return c;
  49. }
  50.  
  51. void print(const char *p)
  52. {
  53.     while (*p)
  54.         putchar(*(p++));
  55. }
  56.  
  57. void print_hex(uint32_t v, int digits)
  58. {
  59.     for (int i = 7; i >= 0; i--) {
  60.         char c = "0123456789abcdef"[(v >> (4*i)) & 15];
  61.         if (c == '0' && i >= digits) continue;
  62.         putchar(c);
  63.         digits = i;
  64.     }
  65. }
  66.  
  67. void print_dec(uint32_t v)
  68. {
  69.     if (v >= 100) {
  70.         print(">=100");
  71.         return;
  72.     }
  73.  
  74.     if      (v >= 90) { putchar('9'); v -= 90; }
  75.     else if (v >= 80) { putchar('8'); v -= 80; }
  76.     else if (v >= 70) { putchar('7'); v -= 70; }
  77.     else if (v >= 60) { putchar('6'); v -= 60; }
  78.     else if (v >= 50) { putchar('5'); v -= 50; }
  79.     else if (v >= 40) { putchar('4'); v -= 40; }
  80.     else if (v >= 30) { putchar('3'); v -= 30; }
  81.     else if (v >= 20) { putchar('2'); v -= 20; }
  82.     else if (v >= 10) { putchar('1'); v -= 10; }
  83.  
  84.     if      (v >= 9) { putchar('9'); v -= 9; }
  85.     else if (v >= 8) { putchar('8'); v -= 8; }
  86.     else if (v >= 7) { putchar('7'); v -= 7; }
  87.     else if (v >= 6) { putchar('6'); v -= 6; }
  88.     else if (v >= 5) { putchar('5'); v -= 5; }
  89.     else if (v >= 4) { putchar('4'); v -= 4; }
  90.     else if (v >= 3) { putchar('3'); v -= 3; }
  91.     else if (v >= 2) { putchar('2'); v -= 2; }
  92.     else if (v >= 1) { putchar('1'); v -= 1; }
  93.     else putchar('0');
  94. }
  95.  
  96. char getchar_prompt(char *prompt)
  97. {
  98.     int32_t c = -1;
  99.  
  100.     uint32_t cycles_begin, cycles_now, cycles;
  101.     __asm__ volatile ("rdcycle %0" : "=r"(cycles_begin));
  102.  
  103.     if (prompt)
  104.         print(prompt);
  105.  
  106.     // if (prompt)
  107.         // GPIO0->OUT = ~0;
  108.         // reg_leds = ~0;
  109.  
  110.     while (c == -1) {
  111.         __asm__ volatile ("rdcycle %0" : "=r"(cycles_now));
  112.         cycles = cycles_now - cycles_begin;
  113.         if (cycles > 12000000) {
  114.             if (prompt)
  115.                 print(prompt);
  116.             cycles_begin = cycles_now;
  117.             // if (prompt)
  118.                 // GPIO0->OUT = ~GPIO0->OUT;
  119.                 // reg_leds = ~reg_leds;
  120.         }
  121.         c = UART0->DATA;
  122.     }
  123.     // if (prompt)
  124.         // GPIO0->OUT = 0;
  125.         // reg_leds = 0;
  126.     return c;
  127. }
  128.  
  129. char getchar()
  130. {
  131.     return getchar_prompt(0);
  132. }
  133.  
  134. #define QSPI_REG_CRM  0x00100000
  135. #define QSPI_REG_DSPI 0x00400000
  136.  
  137. void cmd_set_crm(int on)
  138. {
  139.     if (on) {
  140.         QSPI0->REG |= QSPI_REG_CRM;
  141.     } else {
  142.         QSPI0->REG &= ~QSPI_REG_CRM;
  143.     }
  144. }
  145.  
  146. int cmd_get_crm() {
  147.     return QSPI0->REG & QSPI_REG_CRM;
  148. }
  149.  
  150. volatile int i;
  151. // --------------------------------------------------------
  152.  
  153. #define CLK_FREQ        25175000
  154. #define UART_BAUD       115200
  155.  
  156. void main()
  157. {
  158.     UART0->CLKDIV = CLK_FREQ / UART_BAUD - 2;
  159.  
  160.     GPIO0->OE = 0x3F;
  161.     GPIO0->OUT = 0x3F;
  162.  
  163.     cmd_set_crm(1);
  164.  
  165.  
  166.     print("\n");
  167.     print("  ____  _          ____         ____\n");
  168.     print(" |  _ \\(_) ___ ___/ ___|  ___  / ___|\n");
  169.     print(" | |_) | |/ __/ _ \\___ \\ / _ \\| |\n");
  170.     print(" |  __/| | (_| (_) |__) | (_) | |___\n");
  171.     print(" |_|   |_|\\___\\___/____/ \\___/ \\____|\n");
  172.     print("\n");
  173.     print("        On Lichee Tang Nano-9K\n");
  174.     print("\n");
  175.  
  176.     for ( i = 0 ; i < 10000; i++);
  177.     GPIO0->OUT = 0x3F ^ 0x01;
  178.     for ( i = 0 ; i < 10000; i++);
  179.     GPIO0->OUT = 0x3F ^ 0x02;
  180.     for ( i = 0 ; i < 10000; i++);
  181.     GPIO0->OUT = 0x3F ^ 0x04;
  182.     for ( i = 0 ; i < 10000; i++);
  183.     GPIO0->OUT = 0x3F ^ 0x08;
  184.     for ( i = 0 ; i < 10000; i++);
  185.     GPIO0->OUT = 0x3F ^ 0x10;
  186.     for ( i = 0 ; i < 10000; i++);
  187.     GPIO0->OUT = 0x3F ^ 0x20;
  188.     for ( i = 0 ; i < 10000; i++);
  189.     GPIO0->OUT = 0x3F;
  190.     for ( i = 0 ; i < 10000; i++);
  191.     GPIO0->OUT = 0x00;
  192.     for ( i = 0 ; i < 10000; i++);
  193.     GPIO0->OUT = 0x3F;
  194.     for ( i = 0 ; i < 10000; i++);
  195.  
  196.     while (1)
  197.     {
  198.         print("\n");
  199.         print("Select an action:\n");
  200.         print("\n");
  201.         print("   [1] Toggle led 1\n");
  202.         print("   [2] Toggle led 2\n");
  203.         print("   [3] Toggle led 3\n");
  204.         print("   [4] Toggle led 4\n");
  205.         print("   [5] Toggle led 5\n");
  206.         print("   [6] Toggle led 6\n");
  207.        
  208.         
  209.         for (int rep = 10; rep > 0; rep--)
  210.         {
  211.             print("\n");
  212.             print("IO State: ");
  213.             print_hex(GPIO0->IN, 8);
  214.             print("\n");
  215.  
  216.             print("\n");
  217.  
  218.             print("Command> ");
  219.             char cmd = getchar();
  220.             if (cmd > 32 && cmd < 127)
  221.                 putchar(cmd);
  222.             print("\n");
  223.  
  224.             switch (cmd)
  225.             {
  226.             
  227.  
  228.             case '1':
  229.                 GPIO0->OUT ^= 0x00000001;
  230.                 break;
  231.  
  232.             case '2':
  233.                 GPIO0->OUT ^= 0x00000002;
  234.                 break;
  235.  
  236.             case '3':
  237.                 GPIO0->OUT ^= 0x00000004;
  238.                 break;
  239.  
  240.             case '4':
  241.                 GPIO0->OUT ^= 0x00000008;
  242.                 break;
  243.  
  244.             case '5':
  245.                 GPIO0->OUT ^= 0x00000010;
  246.                 break;
  247.  
  248.             case '6':
  249.                 GPIO0->OUT ^= 0x00000020;
  250.                 break;
  251.  
  252.             default:
  253.                 continue;
  254.             }
  255.         }
  256.     }
  257. }
  258.  
  259. void irqCallback() {
  260.  
  261. }

makefile: 

  1. PROJ_NAME=uart-demo
  2. DEBUG=no
  3. BENCH=no
  4. MULDIV=no
  5. COMPRESSED=no
  6.  
  7. SRCS = 	$(wildcard *.c)       		\
  8. 		$(wildcard *.S)
  9.  
  10. LDSCRIPT = ./linker_flash.ld
  11.  
  12. RISCV_NAME ?= riscv-none-embed
  13. RISCV_PATH ?= /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004
  14.  
  15. MABI=ilp32
  16. MARCH := rv32i
  17. ifeq ($(MULDIV),yes)
  18. 	MARCH := $(MARCH)m
  19. endif
  20. ifeq ($(COMPRESSED),yes)
  21. 	MARCH := $(MARCH)ac
  22. endif
  23.  
  24. CFLAGS += -march=$(MARCH)  -mabi=$(MABI)  -ffunction-sections -fdata-sections
  25. LDFLAGS += -march=$(MARCH)  -mabi=$(MABI)  -Wl,--gc-sections
  26.  
  27. ifeq ($(DEBUG),yes)
  28. 	CFLAGS += -g3 -O0 
  29. endif
  30.  
  31. ifeq ($(DEBUG),no)
  32. 	CFLAGS += -g -O3 
  33. endif
  34.  
  35. ifeq ($(BENCH),yes)
  36. 	CFLAGS += -fno-inline  
  37. endif
  38.  
  39. RISCV_CLIB=$(RISCV_PATH)/$(RISCV_NAME)/lib/$(MARCH)/$(MABI)/
  40.  
  41. RISCV_OBJCOPY = $(RISCV_PATH)/bin/$(RISCV_NAME)-objcopy
  42. RISCV_OBJDUMP = $(RISCV_PATH)/bin/$(RISCV_NAME)-objdump
  43. RISCV_CC = $(RISCV_PATH)/bin/$(RISCV_NAME)-gcc
  44.  
  45. CFLAGS +=  -MD -fstrict-volatile-bitfields 
  46. LDFLAGS +=  -nostdlib -lgcc -mcmodel=medany -nostartfiles -ffreestanding -Wl,-Bstatic,-T,$(LDSCRIPT),-Map,$(OBJDIR)/$(PROJ_NAME).map,--print-memory-usage
  47.  
  48. OBJDIR = build
  49. OBJS := $(SRCS)
  50. OBJS := $(OBJS:.c=.o)
  51. OBJS := $(OBJS:.cpp=.o)
  52. OBJS := $(OBJS:.S=.o)
  53. OBJS := $(addprefix $(OBJDIR)/,$(OBJS))
  54.  
  55. SUBOBJ := $(addprefix $(OBJDIR)/,$(SUBDIRS))
  56. SUBOBJ := $(addsuffix /*.o,$(SUBOBJ))
  57.  
  58. export RISCV_CC CFLAGS LDFLAGS OBJDIR
  59.  
  60. all: $(SUBDIRS) $(OBJDIR)/$(PROJ_NAME).elf $(OBJDIR)/$(PROJ_NAME).hex $(OBJDIR)/$(PROJ_NAME).asm $(OBJDIR)/$(PROJ_NAME).v
  61.  
  62. $(SUBDIRS): ECHO
  63. 	make -C $@
  64.  
  65. ECHO:
  66. 	@echo $(SUBDIRS)
  67.  
  68. $(OBJDIR)/%.elf: $(OBJS) | $(OBJDIR)
  69. 	$(RISCV_CC) $(CFLAGS) -o $@ $^ $(SUBOBJ) $(LDFLAGS) $(LIBS)
  70.  
  71. %.hex: %.elf
  72. 	$(RISCV_OBJCOPY) -O ihex $^ $@
  73.  
  74. %.bin: %.elf
  75. 	$(RISCV_OBJCOPY) -O binary $^ $@
  76. 	
  77. %.v: %.elf
  78. 	$(RISCV_OBJCOPY) -O verilog $^ $@
  79.  
  80. %.asm: %.elf
  81. 	$(RISCV_OBJDUMP) -S -d $^ > $@
  82.  
  83. $(OBJDIR)/%.o: %.c
  84. 	mkdir -p $(dir $@)
  85. 	$(RISCV_CC) -c $(CFLAGS)  $(INC) -o $@ $^
  86. 	
  87. $(OBJDIR)/%.o: %.cpp
  88. 	mkdir -p $(dir $@)
  89. 	$(RISCV_CC) -c $(CFLAGS)  $(INC) -o $@ $^	
  90.  
  91. $(OBJDIR)/%.o: %.S
  92. 	mkdir -p $(dir $@)
  93. 	$(RISCV_CC) -c $(CFLAGS) -o $@ $^ -D__ASSEMBLY__=1
  94.  
  95. $(OBJDIR):
  96. 	mkdir -p $@
  97.  
  98. clean:
  99. 	rm -f $(OBJDIR)/$(PROJ_NAME).elf
  100. 	rm -f $(OBJDIR)/$(PROJ_NAME).hex
  101. 	rm -f $(OBJDIR)/$(PROJ_NAME).map
  102. 	rm -f $(OBJDIR)/$(PROJ_NAME).v
  103. 	rm -f $(OBJDIR)/$(PROJ_NAME).asm
  104. 	find $(OBJDIR) -type f -name '*.d' -print0 | xargs -0 -r rm
  105. 	find $(OBJDIR) -type f -name '*.o' -print0 | xargs -0 -r rm
  106.  
  107. .SECONDARY: $(OBJS)
  108.  
  109.  
  110.

项目子目录下编译结果，生成目标文件： 

  1. /uart-demo$ make
  2. mkdir -p build/
  3. /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004/bin/riscv-none-embed-gcc -c -march=rv32i  -mabi=ilp32  -ffunction-sections -fdata-sections -g -O3  -MD -fstrict-volatile-bitfields    -o build/main.o main.c
  4. mkdir -p build/
  5. /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004/bin/riscv-none-embed-gcc -c -march=rv32i  -mabi=ilp32  -ffunction-sections -fdata-sections -g -O3  -MD -fstrict-volatile-bitfields  -o build/crt_flash.o crt_flash.S -D__ASSEMBLY__=1
  6. /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004/bin/riscv-none-embed-gcc -march=rv32i  -mabi=ilp32  -ffunction-sections -fdata-sections -g -O3  -MD -fstrict-volatile-bitfields  -o build/uart-demo.elf build/main.o build/crt_flash.o  -march=rv32i  -mabi=ilp32  -Wl,--gc-sections -nostdlib -lgcc -mcmodel=medany -nostartfiles -ffreestanding -Wl,-Bstatic,-T,./linker_flash.ld,-Map,build/uart-demo.map,--print-memory-usage 
  7. Memory region         Used Size  Region Size  %age Used
  8.            FLASH:        3152 B         8 MB      0.04%
  9.              RAM:        1040 B         8 KB     12.70%
  10. /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004/bin/riscv-none-embed-objcopy -O ihex build/uart-demo.elf build/uart-demo.hex
  11. /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004/bin/riscv-none-embed-objdump -S -d build/uart-demo.elf > build/uart-demo.asm
  12. /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004/bin/riscv-none-embed-objcopy -O verilog build/uart-demo.elf build/uart-demo.v

根目录下烧录运行： 

makefile增加选项programUart： 

  1.  
  2. PYTHON_NAME ?= python
  3. RISCV_NAME 	?= riscv-none-embed
  4. RISCV_PATH 	?= /home/hy/riscv/gnu-mcu-eclipse/riscv-none-gcc/8.2.0-2.2-20190521-0004
  5. MAKE		?= make
  6.  
  7. FW_FILE_BLINK 	 = fw/blink-demo/build/blink-demo.v
  8. FW_FILE_UART	 = fw/uart-demo/build/uart-demo.v
  9.  
  10.  
  11. PROG_FILE_BLINK	?= $(FW_FILE_BLINK)
  12. PROG_FILE_UART	?= $(FW_FILE_UART)
  13.  
  14. COMx	 	?= /dev/ttyUSB1
  15.  
  16. export PYTHON_NAME
  17. export RISCV_NAME
  18. export RISCV_PATH
  19.  
  20.  
  21. .PHONY: all brom flash clean program
  22.  
  23. all: brom flash
  24.  
  25. $(FW_FILE): flash
  26.  
  27. brom:
  28. 	$(MAKE) -C fw/fw-brom
  29.  
  30. flash:
  31. 	$(MAKE) -C fw/blink-demo
  32.  
  33. clean:
  34. 	$(MAKE) -C fw/fw-brom clean
  35. 	$(MAKE) -C fw/fw-flash clean
  36.  
  37.  
  38. program: $(PROG_FILE)
  39. 	$(PYTHON_NAME) sw/pico-programmer.py $(PROG_FILE) $(COMx)
  40.  
  41. programBlink: $(PROG_FILE_BLINK)
  42. 	$(PYTHON_NAME) sw/pico-programmer.py $(PROG_FILE_BLINK) $(COMx)	
  43.  
  44. programUart: $(PROG_FILE_UART)
  45. 	$(PYTHON_NAME) sw/pico-programmer.py $(PROG_FILE_UART) $(COMx)

运行烧录： 

  1. /picotiny$ make programUart
  2. python sw/pico-programmer.py fw/uart-demo/build/uart-demo.v /dev/ttyUSB1
  3. Read program with 3152 bytes
  4.   - Waiting for reset -
  5.     ..
  6. Total sectors 1
  7. Total pages 13
  8. Flashing 1 / 1
  9.  
  10. Flashing completed

调用cutecom运行页面： 

 

输入框输入1-6可以控制对应的LED亮灭。 

6. 后续任务

1）延申理解，通过官方开发包，编写更易于移植和开发的库

2）理解配合软核的SDK架构（理解指令集） 和HAL库的基本逻辑。 理解SDK应该按什么逻辑来规划

3）移植FREERTOS， 理解操作系统移植的基本逻辑

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