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Bare-metal Examples

This repository contains bare-metal software developed by Codasip to run on Codasip RISC-V processors in Codasip SDK IA/CA simulators or on development FPGA boards with Codasip FPGA platform.

This README explains how to build individual demo applications. For instructions how to run them in the simulator, please refer to SDK documentation for the particular Codasip Processor. For instructions how to run them in an FPGA, please refer to the documentation for the particular Codasip FPGA Platform.

Repository structure

baremetal-examples
  |- doc/doc.md      # Documentation
  |- lib/            # Common library (HAL) sources
    |- include/      # Header files
    |- linker/       # Linker scripts
    |- src/          # Generic source files
    |- startup/      # Startup assembly files
    |- syscalls/     # Syscalls sources for different environments
    |- targets
       |- configs/   # Prepared (example) target configuration files
       |- cores/     # Core specific files
       |- platforms/ # Platform specific files
  |- share/          # Support files and scripts (Makefiles)
  |- software/       # Software applications (demos)
  |- README.md
  |- config.mk       # Configuration file
  |- Makefile        # Top level makefile, also used from Codasip Studio (CodeSpace)

Quick start

Building with Codasip Studio (CodeSpace)

  1. Import Codasip SDK for the processor you are working with
  2. Import baremetal examples directory using Existing Code as Makefile Project option
  3. Assign the IA Codasip SDK to the project
  4. Make sure that file config.mk is configured correctly:
    1. Remove or comment out the first line with error message
    2. Uncomment appropriate environment setting, see Environments section
    3. Uncomment include of appropriate target config file
    4. Uncomment selected demo application setting
  5. Build the project

Building from command-line (terminal)

  1. Install make
  2. Install a RISC-V toolchain (assembler, compiler, linker)
  3. Provide its prefix in the $SDK_PREFIX variable, and make sure the tools are available in $PATH
  4. Make sure that file config.mk is configured correctly:
    1. Remove or comment out the first line with error message
    2. Uncomment appropriate environment setting, see Environments section
    3. Uncomment include of appropriate config file
    4. Uncomment selected demo application setting
  5. Build the application by running make clean all <bin>.

Configuring toolchain

It must be possible to run one of the following (build system will try the other options unless $CC_NAME is defined, which should therefore be prefered to avoid warnings):

${SDK_PREFIX}-clang --version
${SDK_PREFIX}clang --version
${SDK_PREFIX}-gcc --version
${SDK_PREFIX}gcc --version
${SDK_PREFIX}${CC_NAME} --version

Additionally, for building the bin make target, it must be possible to run one of:

${SDK_PREFIX}-objcopy --version
${SDK_PREFIX}objcopy --version

For example, to setup a toolchain from command line:

PATH=$PATH:/path/to/toolchain/folder/bin
export SDK_PREFIX=riscv32-unknown-elf-
export CC_NAME=gcc

Alternatively, it is also possible to configure a toolchain in config.mk, for example by adding the following at the start of the file:

PATH := ${PATH}:/path/to/toolchain/folder/bin
SDK_PREFIX = riscv32-unknown-elf-
CC_NAME = gcc

Environments

Variable CONFIG_ENVIRONMENT is used in order to build an application for different environments. The environments differ in the memory map, peripherals that they provide, and in the mechanism of providing system calls (syscalls), notably I/O (console). Supported values are:

SIMULATOR:

  • Application targets Codasip IA/CA simulator.
  • Only the processor and a single memory region is simulated, no peripherals.
  • Syscalls are provided through (simulated) Nexus debugger.

FPGA_SEMIHOSTING:

  • Application targets Codasip FPGA Platform.
  • Syscalls are implemented over semihosting through JTAG.
    • Debugger with RISC-V semihosting support (e.g. OpenOCD) must be running on the host system connected to the JTAG, and configured with semihosting enabled (for OpenOCD, use command arm semihosting enable).

FPGA_UART:

  • Application targets Codasip FPGA Platform.
  • I/O (console) is implemented using UART peripheral.
    • Terminal emulator application (e.g. PuTTy or Picocom) must be running on the host system, connected to the serial device (COM / TTY) representing the UART on the FPGA development board.
    • Default UART configuration is 8N1 (same as deafult for Picocom), and the default baudrate is 115200. These settings can be adjusted in lib/syscalls/sys_uart.c, and must match the terminal emulator settings.

It is possible to either set the value in config file, or override the variable from command line:

make CONFIG_ENVIRONMENT=FPGA_SEMIHOSTING

Targets

A number of cores and platforms are supported. The folder lib/targets/configs contains example target configuration files. These can be used by including in top-level config.mk, or instead of the top-level config, by specifying CONFIG_FILE variable (settings from config.mk will not be applied in this case):

make CONFIG_FILE=lib/targets/configs/config-{target configuration}.mk

Defining custom targets

If the target core and the target platform are both already supported, a new configuration file can be created setting appropriate options, similar to ones in the lib/targets/configs folder. Alternatively, an existing configuration file can be modified. The target configuration file needs to be included in the top-level config.mk, or set in the CONFIG_FILE variable.

If either the target core or the target platform is not fully supported, for example when it was customized, the core/platform specific files in lib/targets/cores/<core> or lib/targets/platforms/<platform> need to be modified. Alternatively, a new core or platform folder can be created, in which case the variable CONFIG_PROCESSOR or CONFIG_PLATFORM simply needs to be assigned the folder name.

Software demos

Most of the provided demos contain a single source file and a Makefile which includes shared makefiles configuring the build, so demos can utilize as much as possible from the shared library and build system. Demos therefore do not have to contain any linker or startup scripts, or syscalls.

A notable exception is the First Stage Bootloader (FSBL) demo. FSBL uses a custom syscalls to facilitate SD card filestem, and also requires a custom linker script, as it needs to be linked in ROM instead of RAM.

Creating custom demos

Additional demos can be created by the user, and integrated with the build system:

  • define DEMO_APP variable so that software/$(DEMO_APP)/Makefile resolves to the demo's Makefile (the DEMO_APP variable can be set in the top-level config.mk file or from command line),
  • in the demo's Makefile, include the share/app.mk for basic demos, or share/common.mk if a more specialized build configuration is required (see FSBL demo).