小核引导RTOS

本文主要是介绍小核引导RTOS，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

参考

• 参考1. How does FSBL load the FreeRTOS on the small core and execute it?
• 参考2. Duo now supports big and little cores?Come and play!Milk-V Duo, start！

日志

FSBL Jb2829:g362832ac6-dirty:2024-04-02T13:31:11+00:00				# 版本信息
st_on_reason=40f0003
st_off_reason=800e0003
P2S/0x1000/0xc00a400.
SD/0x9400/0x1000/0x1000/0.P2E.
DPS/0xa400/0x2000.
SD/0xa400/0x2000/0x2000/0.DPE.
DDR init.							# DDR 初始化
ddr_param[0]=0x78075562.
pkg_type=1
D2_4_1
DDR3-4G-BGA
Data rate=1866.
DDR BIST PASS
PLLS/OD.
C2S/0xc400/0x9fe00000/0x3600.2RET.:00/0x3600/0x3600/0.RSC.[M1S./208x2f8a0000]/P0rxe8 0s0y0s0t0e0m0 /i0nxi1tb 0d0o0n.eRT: [1.289126]CVIRTOS Build Date:Apr  2 2024  (Time :13:31:11) 		# FreeRTOS 启动；
RT: [1.295040]Post system init done
RT: [1.298355]create cvi task
RT: [1.301172][cvi_spinlock_init] succeess
RT: [1.305076]prvCmdQuRunTask run
SD/0xfa00/0x1b000/0x1b000/0.ME.
L2/0x2aa00.
SD/0x2aa00/0x200/0x200/0.L2/0x414d3342/0xcafedbb7/0x80200000/0x37400/0x37400
COMP/1.
SD/0x2aa00/0x37400/0x37400/0.DCP/0x80200020/0x1000000/0x81900020/0x37400/1.
DCP/0x73c7a/0.
Loader_2nd loaded.					# 第二阶段：Opensbi；
Switch RTC mode to xtal32k
Jump to monitor at 0x80000000.
OPENSBI: next_addr=0x80200020 arg1=0x80080000
OpenSBI v0.9

可知：

1. FSBL Jb2829...，FSBL启动，打印版本信息；
2. DDR初始化完成后，紧跟RTOS任务初始化打印，中间无引导小核的工作打印；

所以可以先对FSBL有个大致认知，再确认RTOS启动过程。

编译框架

# fsbl/Makefile.DEFAULT_GOAL := all	# 如果没有指定.DEFAULT_GOAL，make会执行第一个在Makefile中定义的目标。
MAKEOVERRIDES =			# 不传递任何父make的变量给子make，保持子make实例的独立性ARCH ?=					# make 传参可带ARCH=xxx 指定架构；ifneq ($(origin CROSS_COMPILE),command line)ifeq ($(ARCH),riscv)	# 如果不是命令行 make ARCH=xxx 形式，指明由RiscV核心来完成引导启动工作CROSS_COMPILE := ${CROSS_COMPILE_GLIBC_RISCV64}BOOT_CPU ?= riscv
...
ifeq (${CHIP_ARCH},)		# 必带参数：CHIP_ARCH$(error CHIP_ARCH is undefined)
...
ifeq (${CROSS_COMPILE},)	# 必带参数：CROSS_COMPILE$(error CROSS_COMPILE is undefined)
...
HOSTCC		:=	gcc
export HOSTCCCC			:=	${CROSS_COMPILE}gcc
...							# 工具链配置
include ${MAKE_HELPERS_DIRECTORY}build_macros.mk	# Makefile 宏定义，如：assert_boolean、add_define_val
include ${MAKE_HELPERS_DIRECTORY}plat_helpers.mk	# Make 辅助实现
...
include ${PLAT_MAKEFILE_FULL}	# 在plat_makefiles.mk中定义，指向：plat/${CHIP_ARCH}/platform.mk文件，
# fsbl/plat/sg200x/platform.mk，工作：
# - 定义哪些源码文件加入编辑链接；
# - 定义链接脚本文件；all: fip bl2 blmacros		# 第一目标all，依赖于fip、bl2、blmaacros
...
include ${MAKE_HELPERS_DIRECTORY}fip.mk	# 目标：fip
$(eval $(call MAKE_BL,2))				# 目标：bl2
$(eval $(call MAKE_BL,macros))			# 目标：blmacros

目标fip

目标fip有如下涉及RTOS的内容

# fsbl/make_helpers/fip.mk
...
fip: fip-all
...
fip-all: fip-dep$(print_target)${Q}echo "  [GEN] fip.bin"${Q}. ${BUILD_PLAT}/blmacros.env && \${FIPTOOL} -v genfip \'${BUILD_PLAT}/fip.bin' \--MONITOR_RUNADDR="$${MONITOR_RUNADDR}" \--BLCP_2ND_RUNADDR="$${BLCP_2ND_RUNADDR}" \...--BL2='${BUILD_PLAT}/bl2.bin' \...--BLCP_2ND='${BLCP_2ND_PATH}' \--MONITOR='${MONITOR_PATH}' \--LOADER_2ND='${LOADER_2ND_PATH}' \		...

由实际编译过程打印有：

• --BLCP_2ND='${SDK_TOP}/freertos/cvitek/install/bin/cvirtos.bin' \，RTOS定义为BLCP_2ND；

  其运行地址BLCP_2ND在源头在板型目录下的memmap.py文件中定义，如文件：build/boards/cv181x/cv1813h_milkv_duos_sd/memmap.py

  class MemoryMap:...DRAM_BASE = 0x80000000DRAM_SIZE = 512 * SIZE_1M# ==============# C906L FreeRTOS# ==============FREERTOS_SIZE = 2 * SIZE_1M# FreeRTOS is at the end of DRAMFREERTOS_ADDR = DRAM_BASE + DRAM_SIZE - FREERTOS_SIZEFSBL_C906L_START_ADDR = FREERTOS_ADDR
  

  可知：

  • Duos 内存起始地位：0x80000000；大小：512MB；
  • FreeRTOS镜像运行地址(非加载地址)：0x9fe00000(内存倒数2MB位置)；大小：2MB；

  转化路径：mempa.py – build/scripts/mmap.mk --> build/output/${PROJECT_FULLNAME}/cvi_board_memmap.h。

  关联方式：软链如上cvi_board_memmap.h文件链接到：fsbl/build/cvi_board_memmap.h；

• --MONITOR='${SDK_TOP}/opensbi/build/platform/generic/firmware/fw_dynamic.bin' \，Opensbi定义为MONITOR；

  借鉴ATF，MilkV将Risc-V下的Opensbi等同于ATF中的BL31，也称为Monitor；

      # ==============================# OpenSBI | arm-trusted-firmware# ==============================# Monitor is at the begining of DRAMMONITOR_ADDR = DRAM_BASEATF_SIZE = 512 * SIZE_1KOPENSBI_SIZE = 512 * SIZE_1KOPENSBI_FDT_ADDR = MONITOR_ADDR + OPENSBI_SIZE
  

  可知：

  • Opensbi镜像运行地址：0x80000000；大小：512KB；

• --LOADER_2ND='${SDK_TOP}/u-boot-2021.10/build/cv1813h_milkv_duos_sd/u-boot-raw.bin' \，U-boot定义为LOADER_2ND；

  借鉴ATF，MilkV将Risc-V下的U-boot等同于ATF中的BL32；

      # ===================# FSBL and u-boot-2021# ===================CVI_UPDATE_HEADER_SIZE = SIZE_1KUIMAG_SIZE = 16 * SIZE_1M# kernel image loading bufferUIMAG_ADDR = DRAM_BASE + 24 * SIZE_1M...# u-boot's run address and entry pointCONFIG_SYS_TEXT_BASE = DRAM_BASE + 2 * SIZE_1M
  

  可知：

  • U-boot运行地址：0x8020000(内存偏移2MB)；大小：2MB；

启动流程

​ 由上一章节可知追寻着BLCP_2ND的引用位置即可知晓RTOS如何加载启动。
----待继续补充 240403

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