Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
SlideShare a Scribd company logo

Linux on RISC-V with Open Source Hardware (Open Source Summit Japan 2020)

•
•
Drew Fustini
Drew Fustini

Want to run Linux on open hardware? This talk will explore how the RISC-V, an open instruction set (ISA), and open source FPGA tools can be leveraged to achieve that goal. I will explain how myself and others at Hackaday Supercon teamed up to get Linux running on a RISC-V soft-core in the ECP5 FPGA on the conference badge. I will introduce Migen, LiteX and Vexriscv, and explain how they enabled us to quickly implement an SoC in the FPGA capable of running Linux. I will also explore other Linux-capable open source RISC-V implementations, and how some are being used in industry. Finally, I will look at what Linux-capable "hard" RISC-V SoC's currently exist, and what is on the horizon for 2021. This talk is should be relevant to people who are interested in building open hardware systems capable of running Linux. It should also be useful to people who are curious about RISC-V. Software engineers may find it exciting to learn how Python can be used to for chip-level design with Migen and LiteX, and simplify building a System-on-Chip (SoC) for an FPGA. Google Slides link https://tinyurl.com/y6j8lfyz

1 of 77
Linux on RISC-V with Open Source Hardware Drew Fustini (@pdp7) <drew@beagleboard.org> Open Source Summit Japan 2020 https://tinyurl.com/y6j8lfyz
$ whoami ● Open Source Hardware designer at OSH Park ○ PCB manufacturing service in the USA ○ <drew@oshpark.com> | twitter: @oshpark ● Board of Directors, BeagleBoard.org Foundation ○ BeagleBone is a small open source hardware Linux computer ○ <drew@beagleboard.org> ● Board of Directors, Open Source Hardware Association (OSHWA) ○ OSHW Certification Program: https://certification.oshwa.org/ ● RISC-V Ambassador for RISC-V International ○ https://riscv.org/risc-v-ambassadors/
RISC-V (virtual) meetups around the world Find many more at: https://riscv.org/local/
Upcoming Events ● RISC-V (Virtual) Summit 2020 ○ December 8th to 10th ○ https://tmt.knect365.com/risc-v-summit/
Upcoming Events Hardware whose design is made publicly available so that anyone can study, modify, distribute, make, and sell the design or hardware based on that design (source: Open Source Hardware (OSHW) Statement of Principles 1.0)
Upcoming Events
Linux on Open Source Hardware with Open Source chip design Chaos Communication Congress (36c3), December 2019
Instruction Set Architecture (ISA) ● Interface between hardware and software ○ C++ program is compiled into instructions for a microprocessor (CPU) to execute. ● How does compiler know what instructions the CPU understands? ○ This is defined by the Instruction Set Architecture ● ISA is a standard ○ a set of rules that define the tasks the processor can perform ○ proprietary ISA’s like x86 and ARM require commercial licensing
● History ○ Started in 2010 by computer architecture researchers at UC Berkeley ○ Watch the Instruction Sets Want to be Free by Krste Asanovic ● Why “RISC”? ○ RISC = Reduced Instruction Set Computer ● Why “V”? ○ 5th RISC instruction set to come of out UC Berkeley ● Why is it “Free and Open”? ○ Specifications licensed as Creative Commons Attribution 4.0 International RISC-V: a Free and Open ISA
● Simple, clean-slate design ○ Far smaller than other commercial ISAs ○ Clear separation between unprivileged and privileged ISA ○ Avoids micro-architecture or technology dependent features ● Modular ISA designed for extensibility and specialization ○ Small standard base, with multiple standard extensions ○ Suitable for everything from tiny microcontrollers to supercomputers ● Stable ○ Base and standard extensions are frozen ○ Additions via optional extensions, not new versions of base ISA What is different about RISC-V? (source: Instruction Sets Want to be Free (Krste Asanović))
RISC-V Base Integer ISA ● RV32I: 32-bit ○ less than 50 instructions needed! ● RV32E: 32-bit embedded ○ reduces register count from 32 to 16 for tiny microcontrollers ● RV64I: 64-bit ● RV128I: 128-bit ○ Future-proof for nonvolatile RAM capacity; benefits security research (source: RISC-V Summit 2019: State of the Union)
RISC-V Standard Extensions ● M: integer multiply/divide ● A: atomic memory operations ● F, D, Q: floating point, double-precision, quad-precision ● G: “general purpose” ISA, equivalent to IMAFD ● C: compressed instructions conserve memory and cache like ARM Thumb ● Additions through optional extensions like Vector but not new base ISA ● Standard extensions are ratified and will be supported forever ● Linux distros like Debian and Fedora target RV64GC (source: RISC-V Summit 2019: State of the Union)
(source: Hot Chips Tutorial, Part 1: RISC-V overview and ISA design, Krste Asanovic)
Learn more about RISC-V ● Get up-to-speed quick with the RISC-V Reader riscvbook.com
RISC-V and Industry ● RISC-V International now controls the specifications: riscv.org ○ Non-profit organization with 690+ members from 50 countries including companies, universities and more ○ Become a member (free of cost to individuals and non-profits) ○ YouTube channel has hundreds of talks! ● Companies plan to ship billions of devices with RISC-V cores ○ Nvidia already shipping RISC-V cores for system management in its GPU products ○ Western Digital will be using RISC-V controllers in all of its storage products
RISC-V and Industry ● Avoid ISA licensing and royalty fees ○ including the legal costs and long delays due to complex licensing agreements ● Freedom to choose micro-architecture implementation ○ only a few companies like Apple, Samsung and Qualcomm have ARM architecture licenses which allows them to do a custom implementation ● Freedom to leverage existing open source implementations ○ Linux-capable: Berkeley’s Rocket & BOOM, ETH Zurich’s Ariane, OpenHW CVA6, Vexriscv ● Already has a well supported software ecosystem ○ Linux, BSD, gcc, glibc, LLVM/clang, FreeRTOS, Zephyr, QEMU ○ The State of Software Development Tools for RISC-V by Khem Raj
RISC-V around the world ● RISC-V International based in Switzerland ○ U.S.-based RISC-V Foundation reincorporated at the beginning of 2020 as RISC-V International in Switzerland to avoid being hampered by U.S. politics ● EU, India and Pakistan have RISC-V processor design initiatives ○ Desire for sovereign control of technology and avoid backdoors from other nations ● Strong interest from chipmakers in China ○ U.S. companies banned in 2019 from doing business with Huawei… who’s next? ○ ARM was deemed to be a UK-origin technology in 2019, so it is ok to do business with Huawei… but how long will that last? Will the Nvidia acquisition impact that?
“Is RISC-V an Open Source processor?” ● RISC-V is a set of specifications under an open source license ● RISC-V implementations can be open source or proprietary ● Open specifications make open source implementations possible ○ An open ISA like RISC-V enables the open source processor implementations
RISC-V Privileged Architecture ● Three privilege modes ○ User (U-Mode): applications ○ Supervisor (S-Mode): OS kernel ○ Machine (M-Mode): bootloader and firmware ● Supported combinations of modes ○ M (simple embedded systems) ○ M, U (embedded systems with memory protection) ○ M, S, U (Unix-style operating systems with virtual memory) ● Hypervisors run in modified S mode (HS) (source: Co-developing RISC-V Hypervisor Support, Anup Patel)
RISC-V Boot Flow ● Follows commonly used multiple boot stages model ○ ZSBL and FSBL are initial platform-specific bootloaders (SiFive FU540 SoC in this example) ○ U-Boot is the final stage bootloader that jumps into Linux kernel ○ NOTE: hart is a hardware thread of execution, which users may refer to as a “core” (source: RISC-V software ecosystem in 2020, Atish Patra)
What is SBI? ● SBI stands for Supervisor Binary Interface ○ calling convention between Supervisor (S-mode OS) and Supervisor Execution Environment (SEE) ○ allows supervisor-mode software to be written that is portable to all RISC-V implementations ● Unix-class Platform Spec working group ○ Chaired by Al Stone ○ Now named the RISC-V Profiles and Platform Spec WG (source: OpenSBI Deep Dive, Anup Patel)
What is OpenSBI? ● OpenSBI is an open source SBI implementation ○ avoid fragmentation of SBI implementations ● Layers of implementation ○ Platform specific reference firmware ○ Platform specific library ○ SBI library ● Provides run-time in M-mode ○ Typically used in boot stage following ROM/Loader ○ Provides support for reference platforms ○ Generic simple drivers included for M-mode to operate (source: OpenSBI Deep Dive, Anup Patel)
UEFI Support (source: Introduction to RISC-V Boot Flow, Atish Patra and Anup Patel) ● UEFI support for RISC-V coming in Linux 5.10 (ETA December 2020) ● U-Boot and TianoCore edk2 both have UEFI implementations for RISC-V ● Grub2 can be UEFI payload on RISC-V
RISC-V emulation in QEMU ● Support for RISC-V in mainline QEMU ○ QEMU can boot 32-bit and 64-bit mainline Linux kernel ○ QEMU can run OpenSBI, U-Boot and Coreboot ○ Draft versions of Hypervisor and Vector extensions supported ○ QEMU sifive_u machine can boot same binaries as the physical board ● Tutorial: Running 64- and 32-bit RISC-V Linux on QEMU (source: OpenSBI Deep Dive, Anup Patel)
RISC-V in the Linux kernel ● Initial port by Palmer Dabbelt landed in Linux 4.15 ○ Mailing list: linux-riscv@lists.infradead.org (archive) ● “What's missing in RISC-V Linux, and how YOU can help!” ○ Björn Töpel at Munich RISC-V meetup (jump to 43:25) ○ “A great way to learn the nitty gritty details of the Linux kernel” ○ “It’s a fun, friendly, and still pretty small community” (source: “What's missing in RISC-V Linux, and how YOU can help!”, Björn Töpel)
(source: “What's missing in RISC-V Linux, and how YOU can help!”, Björn Töpel) $ ./Documentation/features/list-arch.sh riscv | grep TODO core/ cBPF-JIT : TODO | HAVE_CBPF_JIT # arch supports cBPF JIT optimizations debug/ kprobes : TODO | HAVE_KPROBES # arch supports live patched kernel probe debug/ kprobes-on-ftrace : TODO | HAVE_KPROBES_ON_FTRACE # arch supports combined kprobes and ftrace live patching debug/ kretprobes : TODO | HAVE_KRETPROBES # arch supports kernel function-return probes debug/ optprobes : TODO | HAVE_OPTPROBES # arch supports live patched optprobes debug/ uprobes : TODO | ARCH_SUPPORTS_UPROBES # arch supports live patched user probes debug/ user-ret-profiler : TODO | HAVE_USER_RETURN_NOTIFIER # arch supports user-space return from system call profiler locking/ cmpxchg-local : TODO | HAVE_CMPXCHG_LOCAL # arch supports the this_cpu_cmpxchg() API locking/ queued-rwlocks : TODO | ARCH_USE_QUEUED_RWLOCKS # arch supports queued rwlocks locking/ queued-spinlocks : TODO | ARCH_USE_QUEUED_SPINLOCKS # arch supports queued spinlocks perf/ kprobes-event : TODO | HAVE_REGS_AND_STACK_ACCESS_API # arch supports kprobes with perf events sched/ membarrier-sync-core : TODO | ARCH_HAS_MEMBARRIER_SYNC_CORE # arch supports core serializing membarrier sched/ numa-balancing : TODO | ARCH_SUPPORTS_NUMA_BALANCING # arch supports NUMA balancing time/ arch-tick-broadcast : TODO | ARCH_HAS_TICK_BROADCAST # arch provides tick_broadcast() time/ irq-time-acct : TODO | HAVE_IRQ_TIME_ACCOUNTING # arch supports precise IRQ time accounting time/ virt-cpuacct : TODO | HAVE_VIRT_CPU_ACCOUNTING # arch supports precise virtual CPU time accounting vm/ ELF-ASLR : TODO | ARCH_HAS_ELF_RANDOMIZE # arch randomizes the stack, heap and binary images of ELF binar vm/ huge-vmap : TODO | HAVE_ARCH_HUGE_VMAP # arch supports the ioremap_pud_enabled() and ioremap_pmd_enable vm/ ioremap_prot : TODO | HAVE_IOREMAP_PROT # arch has ioremap_prot() vm/ PG_uncached : TODO | ARCH_USES_PG_UNCACHED # arch supports the PG_uncached page flag vm/ THP : TODO | HAVE_ARCH_TRANSPARENT_HUGEPAGE # arch supports transparent hugepages vm/ batch-unmap-tlb-flush: TODO | ARCH_WANT_BATCHED_UNMAP_TLB_FLUSH # arch supports deferral of TLB flush until multiple pages are unmapped RISC-V in the Linux kernel
RISC-V in the Linux kernel (source: “What's missing in RISC-V Linux, and how YOU can help!” (Björn Töpel) and linux-riscv mailing list) ● Recent work for debug, trace and security ○ eBPF JIT for RV64 (Björn Töpel) and RV32 (Luke Wilson) ○ kprobes and kretprobes will enable bpftrace and make perf more usable (Guo Ren) ○ jump-label support to reduce overhead of debug and trace features (Emil Renner) ○ KGDB and KDB support (Vincent Chen) ○ kexec and kdump support (Nick Kossifidis) ○ relocatable kernel will help KASLR implementation (Alex Ghiti) ○ syszcaller fuzzing support to discover kernel vulnerabilities
RISC-V in the Linux kernel (source: “What's missing in RISC-V Linux, and how YOU can help!” (Björn Töpel) and linux-riscv mailing list) ● Recent work on hardware support ○ KVM support is waiting on ratification of Hypervisor spec (Anup Patel/Atish Patra) ○ Vector ISA support based on the draft vector extension (Greentime Hu) ○ sv48 support of 4-level page table for up to 64TB physical RAM (Alex Ghiti) ○ Unify NUMA implementation (Atish Patra, based on Greentime Hu) ○ Kendryte K210 support improvements including SPI for SD card slot (Damien Le Moal) ○ Microchip PolarFire SoC and Icicle board support (Atish Patra)
Linux distro: Fedora (source: Fedora on RISC-V, Wei Fu) ● ”This project, informally called Fedora/RISC-V, aims to provide a complete Fedora experience on the RISC-V (RV64GC)”
Linux distro: Fedora (source: Fedora on RISC-V, Wei Fu) ● QEMU and libvirt/QEMU ○ Fedora Images can run on the QEMU with graphics parameters (VGA and bochs-display). ● SiFive Unleashed board ○ Fedora GNOME Image can run on SiFive Unleashed with Expansion Board, PCI-E graphic Card & SATA SSD ● Installation instructions
● Port of Debian for the RISC-V architecture called riscv64 ○ “a port in Debian terminology means to provide the software normally available in the Debian archive (over 20,000 source packages) ready to install and run” ● 95% of packages are built for RISC-V ○ The Debian port uses RV64GC as the hardware baseline and the lp64d ABI (the default ABI for RV64G systems). Linux distro: Debian
OpenEmbedded / Yocto ● meta-riscv: general hardware-specific BSP overlay for the RISC-V ○ The core BSP part of meta-riscv should work with different OpenEmbedded/Yocto distributions and layer stacks ○ Supports QEMU and the SiFive HiFive Unleashed board
BuildRoot ● RISC-V port is now supported in the upstream BuildRoot project ● “Embedded Linux from scratch in 40 minutes (on RISC-V)” ○ Tutorial by Michael Opdenacker, Bootlin ○ Hardware emulator: QEMU ○ Cross-compiling toolchain: Buildroot ○ Bootloader: BBL Berkeley Boot Loader ○ Kernel: Linux 5.4-rc7 ○ Root filesystem and application: BusyBox ○ That’s easy to compile and assemble in less than 40 minutes!
SiFive Freedom FU540 SoC ● SiFive is a start-up founded by members of the Berkeley RISC-V team ● FU540 debuted in 2018 as the first RISC-V SoC that could run Linux ○ 4x U54 cores (up to 1.5 GHz) which implement RV64GC to run Linux ○ 1x E51 low-power “minion” core for system management tasks ○ 64-bit DDR4 with ECC ○ Gigabit Ethernet, ChipLink, SPI, I2C, UART, GPIO, PWM (no USB)
SiFive Freedom Unleashed ● The first Linux-capable RISC-V dev board ○ And the board design is Open Source Hardware! ● High performance compared to FPGA ○ FU540 SoC clocked over 10x faster than FPGA ‘soft’ cores ● Too expensive for widespread adoption ○ Sold for $999 on CrowdSupply and no longer available ○ FU540 SoC chip is not sold separately ○ SiFive core business is designing cores, not SoC’s or boards NOTE: ASIC is a term often used to indicate that an SoC (System-on-Chip) has a “hard” processor core constructed by silicon fabrication instead of “soft” core on FPGA where clock speeds are much lower
SiFive Freedom Unleashed ● Fedora GNOME image running on Unleashed with PCIe graphics card
Microchip PolarFire SoC ● Microchip designed a SoC similar to SiFive U540 but adds a FPGA ○ 4x 667 MHz U54 cores, 1x E51 core ○ PolarFire FPGA fabric with 25k to 460k logic elements (LEs) ○ DDR3/4, LPDDR3/4 ○ PCIe Gen2, USB 2.0 OTG, 2x GbE ● Full commercial product family ○ Available from distributors ○ Formerly branded as Microsemi before Microchip acquired it
Microchip Icicle board ● PolarFire SoC dev board ○ $499 on CrowdSuppy ○ Pre-orders now shipping ○ Available soon from distributors ● MPFS250T-FCVG484EES ○ 600 MHz clock RISC-V cores ○ 254K logic element FPGA ● Memory ○ 2 GB LPDDR4 x 32 ○ 8 GB eMMC flash and SD card
Kendryte K210 ● 400MHz dual core RV64GC ○ 8MB SRAM but no DRAM interface ● Affordable Sipeed dev boards ○ Sipeed MAiX BiT is only $13 ● Full support added in Linux 5.8 ○ “RISC-V NOMMU and M-mode Linux” ○ Damien Le Moal, Christoph Hellwig ● 2 boards supported by u-boot ○ Sean Anderson
Kendryte K210 ● Buildroot with busybox for rootfs ○ upstreaming in progress on the mailing list ○ tutorial from CNX Software ● 8MB runs out very quick! ○ MMU based on draft spec not supported by Linux ○ userspace needs shared library support ○ "RISC-V FDPIC/NOMMU toolchain/runtime support" (Maciej W. Rozycki)
Kendryte K210
PicoRio ● Open source project from RIOS Lab ○ Goal is to create low-cost Linux-capable RISC-V platform ● Introduction by Zhangxi Tan ○ during RISC-V Global Summit back in September ○ Three phases of PicoRio planned ○ Samples of PicoRio 1.0 expected in Q4 2020
SiFive Unmatched ● Announced in October 2020 ○ $665 on CrowdSupply ○ scheduled to ship in January 2021 ● SiFive Freedom FU740 SoC ○ 4x U74 RV64GC application cores ○ 1x S7 RV64IMAC embedded core
SiFive Unmatched ● Mini-ITX PC form factor ○ 8GB DDR4 RAM ○ 4x USB 3.2 Gen 1 ports ○ Gigabit Ethernet ○ x16 PCIe Gen 3 Expansion Slot ○ M.2 connector for NVMe SSD ○ M.2 connector for WiFi/Bluetooth
Alibaba XuanTie 910 ● T-Head is a subsidiary of Alibaba ● 16-core 2.5 GHz RISC-V processor ○ implementation of draft Vector extension ○ expected to debut in 2021
Sipeed board with Allwinner SoC ● Alibaba T-Head XuanTie C906 ○ single-core RV64GCV processor up to 1 GHz ● $12.50 per Sipeed tweet ○ At least 256 MB RAM ○ Planned to early 2021
Open source FPGA toolchains “RISC-V and FPGAs: Open Source Hardware Hacking” Keynote at Hackday Supercon 2019 by Dr. Megan Wachs
Open source FPGA toolchains ● Project IceStorm for Lattice iCE40 FPGA ○ “A Free and Open Source Verilog-to-Bitstream Flow for iCE40 FPGAs” ○ Claire Wolf (oe1cxw) at 32c3
Open source FPGA toolchains ● Project Trellis for the more capable Lattice ECP5 FPGA ○ “Project Trellis and nextpnr FOSS FPGA flow for the Lattice ECP5” ○ David Shah @fpga_dave at FOSDEM 19
Open source FPGA toolchains ● Project X-Ray & SymbiFlow for much more capable Xilinix Series 7 ○ “Xilinx Series 7 FPGAs Now Have a Fully Open Source Toolchain!” [almost] Tim Ansell ○ “Open Source Verilog-to-Bitstream FPGA synthesis flow, currently targeting Xilinx 7-Series, Lattice iCE40 and Lattice ECP5 FPGAs. Think of it as the GCC of FPGAs”
Hackaday Supercon badge ● RISC-V “soft” core on ECP5 FPGA ● Gigantic FPGA In Game Boy Form Factor
“Team Linux on Badge” ● Michael Welling, Tim Ansell, Sean Cross, Jacob Creedon ● Attempt to use the built-in 16MB failed...
“Team Linux on Badge” ● Jacob Creedon designed a cartridge board that adds 32MB of SDRAM to the Hackaday Supercon badge… before the event!
Linux on RISC-V with Open Source Hardware (Open Source Summit Japan 2020)
source: https://twitter.com/ico_TC/status/1205996588499210241
Why design an SoC in Python? ● Python has advantages over traditional HDL like VHDL and Verilog ○ Many people already are familiar with Python than HDL (hardware description languages) ○ There are currently more software developers than hardware designers ● Migen is a Python framework that can automate chip design ○ Leverages the object-oriented, modular nature of Python ○ Produces Verilog code so it can be used with existing chip design workflows ● “Using Python for creating hardware to record FOSS conferences!”
source: https://github.com/litex-hub/fpga_101
LiteX ● Based on Migen, builds full SoC that can be loaded into an FPGA
LiteX ● “LiteX vs. Vivado: First Impressions” ● Collection of open cores for DRAM, Ethernet, PCIe, SATA and more...
Linux on LiteX-VexRiscv ● VexRiscv: 32-bit Linux-capable RISC-V core ○ Designed to be FPGA friendly ○ Written in Spinal HDL (based on Scala) ● Builds an SoC using VexRiscv core and LiteX modules ○ Such as LiteDRAM, LiteEth, LiteSDCard, LitePCIe ○ “This project demonstrates how high level HDLs (Spinal HDL, Migen) enable new possibilities and complement each other. Results shown here are the results of a productive collaboration between open-source communities” ● Supports large number of FPGA dev boards 
Linux on RISC-V with Open Source Hardware (Open Source Summit Japan 2020)
Linux on RISC-V with Open Source Hardware (Open Source Summit Japan 2020)
LiteX ● upstream support for Hackaday Supercon badge: ● https://github.com/litex-hub/litex-boards/pull/31
Linux on RISC-V with Open Source Hardware (Open Source Summit Japan 2020)
Linux on RISC-V with Open Source Hardware (Open Source Summit Japan 2020)
Linux on RISC-V with Open Source Hardware (Open Source Summit Japan 2020)
Linux on RISC-V with Open Source Hardware (Open Source Summit Japan 2020)
https://twitter.com/GregDavill/status/1231082623633543168
● Radiona.org ULX3S ○ 32MB SDRAM; ESP32 on board for WiFi and Bluetooth ○ Sold for $115 on CrowdSupply and Mouser Open Source ECP5 FPGA boards
Open Source ECP5 FPGA boards ● OrangeCrab by Greg Davill ○ 128MB DDR RAM; Adafruit Feather form factor ○ Sold on GroupGets for $129
Want to learn FPGAs? Try Fomu! ● Online workshop from Tim Ansell and Sean Cross ● $50 on CrowdSupply ● Fits inside USB port! ● Learn how to use: ○ MicroPython ○ Verilog ○ LiteX
No hardware? Try Renode! ● Renode can simulate physical hardware systems including CPU, peripherals, sensors, and wired or wireless network between nodes
source: Renode supported boards
source: Renode supported boards
Trustworthy self-hosted computer ● “A Trustworthy, Free (Libre), Linux Capable, Self-Hosting 64bit RISC-V Computer” by Gabriel L. Somlo ○ “My goal is to build a Free/OpenSource computer from the ground up, so I may completely trust that the entire hardware+software system's behavior is 100% attributable to its fully available HDL (Hardware Description Language) and Software sources” ● Talk: “Toward a Trustable, Self-Hosting Computer System” ○ Video: youtube.com/watch?v=5IhujGl_-K0
source: “Toward a Trustable, Self-Hosting Computer System”
Linux on RISC-V with Open Source Hardware Drew Fustini (@pdp7) <drew@beagleboard.org> Open Source Summit Japan 2020 https://tinyurl.com/y6j8lfyz

More Related Content

Linux on RISC-V with Open Source Hardware (Open Source Summit Japan 2020)

  • 1. Linux on RISC-V with Open Source Hardware Drew Fustini (@pdp7) <drew@beagleboard.org> Open Source Summit Japan 2020 https://tinyurl.com/y6j8lfyz
  • 2. $ whoami ● Open Source Hardware designer at OSH Park ○ PCB manufacturing service in the USA ○ <drew@oshpark.com> | twitter: @oshpark ● Board of Directors, BeagleBoard.org Foundation ○ BeagleBone is a small open source hardware Linux computer ○ <drew@beagleboard.org> ● Board of Directors, Open Source Hardware Association (OSHWA) ○ OSHW Certification Program: https://certification.oshwa.org/ ● RISC-V Ambassador for RISC-V International ○ https://riscv.org/risc-v-ambassadors/
  • 3. RISC-V (virtual) meetups around the world Find many more at: https://riscv.org/local/
  • 4. Upcoming Events ● RISC-V (Virtual) Summit 2020 ○ December 8th to 10th ○ https://tmt.knect365.com/risc-v-summit/
  • 5. Upcoming Events Hardware whose design is made publicly available so that anyone can study, modify, distribute, make, and sell the design or hardware based on that design (source: Open Source Hardware (OSHW) Statement of Principles 1.0)
  • 7. Linux on Open Source Hardware with Open Source chip design Chaos Communication Congress (36c3), December 2019
  • 8. Instruction Set Architecture (ISA) ● Interface between hardware and software ○ C++ program is compiled into instructions for a microprocessor (CPU) to execute. ● How does compiler know what instructions the CPU understands? ○ This is defined by the Instruction Set Architecture ● ISA is a standard ○ a set of rules that define the tasks the processor can perform ○ proprietary ISA’s like x86 and ARM require commercial licensing
  • 9. ● History ○ Started in 2010 by computer architecture researchers at UC Berkeley ○ Watch the Instruction Sets Want to be Free by Krste Asanovic ● Why “RISC”? ○ RISC = Reduced Instruction Set Computer ● Why “V”? ○ 5th RISC instruction set to come of out UC Berkeley ● Why is it “Free and Open”? ○ Specifications licensed as Creative Commons Attribution 4.0 International RISC-V: a Free and Open ISA
  • 10. ● Simple, clean-slate design ○ Far smaller than other commercial ISAs ○ Clear separation between unprivileged and privileged ISA ○ Avoids micro-architecture or technology dependent features ● Modular ISA designed for extensibility and specialization ○ Small standard base, with multiple standard extensions ○ Suitable for everything from tiny microcontrollers to supercomputers ● Stable ○ Base and standard extensions are frozen ○ Additions via optional extensions, not new versions of base ISA What is different about RISC-V? (source: Instruction Sets Want to be Free (Krste Asanović))
  • 11. RISC-V Base Integer ISA ● RV32I: 32-bit ○ less than 50 instructions needed! ● RV32E: 32-bit embedded ○ reduces register count from 32 to 16 for tiny microcontrollers ● RV64I: 64-bit ● RV128I: 128-bit ○ Future-proof for nonvolatile RAM capacity; benefits security research (source: RISC-V Summit 2019: State of the Union)
  • 12. RISC-V Standard Extensions ● M: integer multiply/divide ● A: atomic memory operations ● F, D, Q: floating point, double-precision, quad-precision ● G: “general purpose” ISA, equivalent to IMAFD ● C: compressed instructions conserve memory and cache like ARM Thumb ● Additions through optional extensions like Vector but not new base ISA ● Standard extensions are ratified and will be supported forever ● Linux distros like Debian and Fedora target RV64GC (source: RISC-V Summit 2019: State of the Union)
  • 13. (source: Hot Chips Tutorial, Part 1: RISC-V overview and ISA design, Krste Asanovic)
  • 14. Learn more about RISC-V ● Get up-to-speed quick with the RISC-V Reader riscvbook.com
  • 15. RISC-V and Industry ● RISC-V International now controls the specifications: riscv.org ○ Non-profit organization with 690+ members from 50 countries including companies, universities and more ○ Become a member (free of cost to individuals and non-profits) ○ YouTube channel has hundreds of talks! ● Companies plan to ship billions of devices with RISC-V cores ○ Nvidia already shipping RISC-V cores for system management in its GPU products ○ Western Digital will be using RISC-V controllers in all of its storage products
  • 16. RISC-V and Industry ● Avoid ISA licensing and royalty fees ○ including the legal costs and long delays due to complex licensing agreements ● Freedom to choose micro-architecture implementation ○ only a few companies like Apple, Samsung and Qualcomm have ARM architecture licenses which allows them to do a custom implementation ● Freedom to leverage existing open source implementations ○ Linux-capable: Berkeley’s Rocket & BOOM, ETH Zurich’s Ariane, OpenHW CVA6, Vexriscv ● Already has a well supported software ecosystem ○ Linux, BSD, gcc, glibc, LLVM/clang, FreeRTOS, Zephyr, QEMU ○ The State of Software Development Tools for RISC-V by Khem Raj
  • 17. RISC-V around the world ● RISC-V International based in Switzerland ○ U.S.-based RISC-V Foundation reincorporated at the beginning of 2020 as RISC-V International in Switzerland to avoid being hampered by U.S. politics ● EU, India and Pakistan have RISC-V processor design initiatives ○ Desire for sovereign control of technology and avoid backdoors from other nations ● Strong interest from chipmakers in China ○ U.S. companies banned in 2019 from doing business with Huawei… who’s next? ○ ARM was deemed to be a UK-origin technology in 2019, so it is ok to do business with Huawei… but how long will that last? Will the Nvidia acquisition impact that?
  • 18. “Is RISC-V an Open Source processor?” ● RISC-V is a set of specifications under an open source license ● RISC-V implementations can be open source or proprietary ● Open specifications make open source implementations possible ○ An open ISA like RISC-V enables the open source processor implementations
  • 19. RISC-V Privileged Architecture ● Three privilege modes ○ User (U-Mode): applications ○ Supervisor (S-Mode): OS kernel ○ Machine (M-Mode): bootloader and firmware ● Supported combinations of modes ○ M (simple embedded systems) ○ M, U (embedded systems with memory protection) ○ M, S, U (Unix-style operating systems with virtual memory) ● Hypervisors run in modified S mode (HS) (source: Co-developing RISC-V Hypervisor Support, Anup Patel)
  • 20. RISC-V Boot Flow ● Follows commonly used multiple boot stages model ○ ZSBL and FSBL are initial platform-specific bootloaders (SiFive FU540 SoC in this example) ○ U-Boot is the final stage bootloader that jumps into Linux kernel ○ NOTE: hart is a hardware thread of execution, which users may refer to as a “core” (source: RISC-V software ecosystem in 2020, Atish Patra)
  • 21. What is SBI? ● SBI stands for Supervisor Binary Interface ○ calling convention between Supervisor (S-mode OS) and Supervisor Execution Environment (SEE) ○ allows supervisor-mode software to be written that is portable to all RISC-V implementations ● Unix-class Platform Spec working group ○ Chaired by Al Stone ○ Now named the RISC-V Profiles and Platform Spec WG (source: OpenSBI Deep Dive, Anup Patel)
  • 22. What is OpenSBI? ● OpenSBI is an open source SBI implementation ○ avoid fragmentation of SBI implementations ● Layers of implementation ○ Platform specific reference firmware ○ Platform specific library ○ SBI library ● Provides run-time in M-mode ○ Typically used in boot stage following ROM/Loader ○ Provides support for reference platforms ○ Generic simple drivers included for M-mode to operate (source: OpenSBI Deep Dive, Anup Patel)
  • 23. UEFI Support (source: Introduction to RISC-V Boot Flow, Atish Patra and Anup Patel) ● UEFI support for RISC-V coming in Linux 5.10 (ETA December 2020) ● U-Boot and TianoCore edk2 both have UEFI implementations for RISC-V ● Grub2 can be UEFI payload on RISC-V
  • 24. RISC-V emulation in QEMU ● Support for RISC-V in mainline QEMU ○ QEMU can boot 32-bit and 64-bit mainline Linux kernel ○ QEMU can run OpenSBI, U-Boot and Coreboot ○ Draft versions of Hypervisor and Vector extensions supported ○ QEMU sifive_u machine can boot same binaries as the physical board ● Tutorial: Running 64- and 32-bit RISC-V Linux on QEMU (source: OpenSBI Deep Dive, Anup Patel)
  • 25. RISC-V in the Linux kernel ● Initial port by Palmer Dabbelt landed in Linux 4.15 ○ Mailing list: linux-riscv@lists.infradead.org (archive) ● “What's missing in RISC-V Linux, and how YOU can help!” ○ Björn Töpel at Munich RISC-V meetup (jump to 43:25) ○ “A great way to learn the nitty gritty details of the Linux kernel” ○ “It’s a fun, friendly, and still pretty small community” (source: “What's missing in RISC-V Linux, and how YOU can help!”, Björn Töpel)
  • 26. (source: “What's missing in RISC-V Linux, and how YOU can help!”, Björn Töpel) $ ./Documentation/features/list-arch.sh riscv | grep TODO core/ cBPF-JIT : TODO | HAVE_CBPF_JIT # arch supports cBPF JIT optimizations debug/ kprobes : TODO | HAVE_KPROBES # arch supports live patched kernel probe debug/ kprobes-on-ftrace : TODO | HAVE_KPROBES_ON_FTRACE # arch supports combined kprobes and ftrace live patching debug/ kretprobes : TODO | HAVE_KRETPROBES # arch supports kernel function-return probes debug/ optprobes : TODO | HAVE_OPTPROBES # arch supports live patched optprobes debug/ uprobes : TODO | ARCH_SUPPORTS_UPROBES # arch supports live patched user probes debug/ user-ret-profiler : TODO | HAVE_USER_RETURN_NOTIFIER # arch supports user-space return from system call profiler locking/ cmpxchg-local : TODO | HAVE_CMPXCHG_LOCAL # arch supports the this_cpu_cmpxchg() API locking/ queued-rwlocks : TODO | ARCH_USE_QUEUED_RWLOCKS # arch supports queued rwlocks locking/ queued-spinlocks : TODO | ARCH_USE_QUEUED_SPINLOCKS # arch supports queued spinlocks perf/ kprobes-event : TODO | HAVE_REGS_AND_STACK_ACCESS_API # arch supports kprobes with perf events sched/ membarrier-sync-core : TODO | ARCH_HAS_MEMBARRIER_SYNC_CORE # arch supports core serializing membarrier sched/ numa-balancing : TODO | ARCH_SUPPORTS_NUMA_BALANCING # arch supports NUMA balancing time/ arch-tick-broadcast : TODO | ARCH_HAS_TICK_BROADCAST # arch provides tick_broadcast() time/ irq-time-acct : TODO | HAVE_IRQ_TIME_ACCOUNTING # arch supports precise IRQ time accounting time/ virt-cpuacct : TODO | HAVE_VIRT_CPU_ACCOUNTING # arch supports precise virtual CPU time accounting vm/ ELF-ASLR : TODO | ARCH_HAS_ELF_RANDOMIZE # arch randomizes the stack, heap and binary images of ELF binar vm/ huge-vmap : TODO | HAVE_ARCH_HUGE_VMAP # arch supports the ioremap_pud_enabled() and ioremap_pmd_enable vm/ ioremap_prot : TODO | HAVE_IOREMAP_PROT # arch has ioremap_prot() vm/ PG_uncached : TODO | ARCH_USES_PG_UNCACHED # arch supports the PG_uncached page flag vm/ THP : TODO | HAVE_ARCH_TRANSPARENT_HUGEPAGE # arch supports transparent hugepages vm/ batch-unmap-tlb-flush: TODO | ARCH_WANT_BATCHED_UNMAP_TLB_FLUSH # arch supports deferral of TLB flush until multiple pages are unmapped RISC-V in the Linux kernel
  • 27. RISC-V in the Linux kernel (source: “What's missing in RISC-V Linux, and how YOU can help!” (Björn Töpel) and linux-riscv mailing list) ● Recent work for debug, trace and security ○ eBPF JIT for RV64 (Björn Töpel) and RV32 (Luke Wilson) ○ kprobes and kretprobes will enable bpftrace and make perf more usable (Guo Ren) ○ jump-label support to reduce overhead of debug and trace features (Emil Renner) ○ KGDB and KDB support (Vincent Chen) ○ kexec and kdump support (Nick Kossifidis) ○ relocatable kernel will help KASLR implementation (Alex Ghiti) ○ syszcaller fuzzing support to discover kernel vulnerabilities
  • 28. RISC-V in the Linux kernel (source: “What's missing in RISC-V Linux, and how YOU can help!” (Björn Töpel) and linux-riscv mailing list) ● Recent work on hardware support ○ KVM support is waiting on ratification of Hypervisor spec (Anup Patel/Atish Patra) ○ Vector ISA support based on the draft vector extension (Greentime Hu) ○ sv48 support of 4-level page table for up to 64TB physical RAM (Alex Ghiti) ○ Unify NUMA implementation (Atish Patra, based on Greentime Hu) ○ Kendryte K210 support improvements including SPI for SD card slot (Damien Le Moal) ○ Microchip PolarFire SoC and Icicle board support (Atish Patra)
  • 29. Linux distro: Fedora (source: Fedora on RISC-V, Wei Fu) ● ”This project, informally called Fedora/RISC-V, aims to provide a complete Fedora experience on the RISC-V (RV64GC)”
  • 30. Linux distro: Fedora (source: Fedora on RISC-V, Wei Fu) ● QEMU and libvirt/QEMU ○ Fedora Images can run on the QEMU with graphics parameters (VGA and bochs-display). ● SiFive Unleashed board ○ Fedora GNOME Image can run on SiFive Unleashed with Expansion Board, PCI-E graphic Card & SATA SSD ● Installation instructions
  • 31. ● Port of Debian for the RISC-V architecture called riscv64 ○ “a port in Debian terminology means to provide the software normally available in the Debian archive (over 20,000 source packages) ready to install and run” ● 95% of packages are built for RISC-V ○ The Debian port uses RV64GC as the hardware baseline and the lp64d ABI (the default ABI for RV64G systems). Linux distro: Debian
  • 32. OpenEmbedded / Yocto ● meta-riscv: general hardware-specific BSP overlay for the RISC-V ○ The core BSP part of meta-riscv should work with different OpenEmbedded/Yocto distributions and layer stacks ○ Supports QEMU and the SiFive HiFive Unleashed board
  • 33. BuildRoot ● RISC-V port is now supported in the upstream BuildRoot project ● “Embedded Linux from scratch in 40 minutes (on RISC-V)” ○ Tutorial by Michael Opdenacker, Bootlin ○ Hardware emulator: QEMU ○ Cross-compiling toolchain: Buildroot ○ Bootloader: BBL Berkeley Boot Loader ○ Kernel: Linux 5.4-rc7 ○ Root filesystem and application: BusyBox ○ That’s easy to compile and assemble in less than 40 minutes!
  • 34. SiFive Freedom FU540 SoC ● SiFive is a start-up founded by members of the Berkeley RISC-V team ● FU540 debuted in 2018 as the first RISC-V SoC that could run Linux ○ 4x U54 cores (up to 1.5 GHz) which implement RV64GC to run Linux ○ 1x E51 low-power “minion” core for system management tasks ○ 64-bit DDR4 with ECC ○ Gigabit Ethernet, ChipLink, SPI, I2C, UART, GPIO, PWM (no USB)
  • 35. SiFive Freedom Unleashed ● The first Linux-capable RISC-V dev board ○ And the board design is Open Source Hardware! ● High performance compared to FPGA ○ FU540 SoC clocked over 10x faster than FPGA ‘soft’ cores ● Too expensive for widespread adoption ○ Sold for $999 on CrowdSupply and no longer available ○ FU540 SoC chip is not sold separately ○ SiFive core business is designing cores, not SoC’s or boards NOTE: ASIC is a term often used to indicate that an SoC (System-on-Chip) has a “hard” processor core constructed by silicon fabrication instead of “soft” core on FPGA where clock speeds are much lower
  • 36. SiFive Freedom Unleashed ● Fedora GNOME image running on Unleashed with PCIe graphics card
  • 37. Microchip PolarFire SoC ● Microchip designed a SoC similar to SiFive U540 but adds a FPGA ○ 4x 667 MHz U54 cores, 1x E51 core ○ PolarFire FPGA fabric with 25k to 460k logic elements (LEs) ○ DDR3/4, LPDDR3/4 ○ PCIe Gen2, USB 2.0 OTG, 2x GbE ● Full commercial product family ○ Available from distributors ○ Formerly branded as Microsemi before Microchip acquired it
  • 38. Microchip Icicle board ● PolarFire SoC dev board ○ $499 on CrowdSuppy ○ Pre-orders now shipping ○ Available soon from distributors ● MPFS250T-FCVG484EES ○ 600 MHz clock RISC-V cores ○ 254K logic element FPGA ● Memory ○ 2 GB LPDDR4 x 32 ○ 8 GB eMMC flash and SD card
  • 39. Kendryte K210 ● 400MHz dual core RV64GC ○ 8MB SRAM but no DRAM interface ● Affordable Sipeed dev boards ○ Sipeed MAiX BiT is only $13 ● Full support added in Linux 5.8 ○ “RISC-V NOMMU and M-mode Linux” ○ Damien Le Moal, Christoph Hellwig ● 2 boards supported by u-boot ○ Sean Anderson
  • 40. Kendryte K210 ● Buildroot with busybox for rootfs ○ upstreaming in progress on the mailing list ○ tutorial from CNX Software ● 8MB runs out very quick! ○ MMU based on draft spec not supported by Linux ○ userspace needs shared library support ○ "RISC-V FDPIC/NOMMU toolchain/runtime support" (Maciej W. Rozycki)
  • 42. PicoRio ● Open source project from RIOS Lab ○ Goal is to create low-cost Linux-capable RISC-V platform ● Introduction by Zhangxi Tan ○ during RISC-V Global Summit back in September ○ Three phases of PicoRio planned ○ Samples of PicoRio 1.0 expected in Q4 2020
  • 43. SiFive Unmatched ● Announced in October 2020 ○ $665 on CrowdSupply ○ scheduled to ship in January 2021 ● SiFive Freedom FU740 SoC ○ 4x U74 RV64GC application cores ○ 1x S7 RV64IMAC embedded core
  • 44. SiFive Unmatched ● Mini-ITX PC form factor ○ 8GB DDR4 RAM ○ 4x USB 3.2 Gen 1 ports ○ Gigabit Ethernet ○ x16 PCIe Gen 3 Expansion Slot ○ M.2 connector for NVMe SSD ○ M.2 connector for WiFi/Bluetooth
  • 45. Alibaba XuanTie 910 ● T-Head is a subsidiary of Alibaba ● 16-core 2.5 GHz RISC-V processor ○ implementation of draft Vector extension ○ expected to debut in 2021
  • 46. Sipeed board with Allwinner SoC ● Alibaba T-Head XuanTie C906 ○ single-core RV64GCV processor up to 1 GHz ● $12.50 per Sipeed tweet ○ At least 256 MB RAM ○ Planned to early 2021
  • 47. Open source FPGA toolchains “RISC-V and FPGAs: Open Source Hardware Hacking” Keynote at Hackday Supercon 2019 by Dr. Megan Wachs
  • 48. Open source FPGA toolchains ● Project IceStorm for Lattice iCE40 FPGA ○ “A Free and Open Source Verilog-to-Bitstream Flow for iCE40 FPGAs” ○ Claire Wolf (oe1cxw) at 32c3
  • 49. Open source FPGA toolchains ● Project Trellis for the more capable Lattice ECP5 FPGA ○ “Project Trellis and nextpnr FOSS FPGA flow for the Lattice ECP5” ○ David Shah @fpga_dave at FOSDEM 19
  • 50. Open source FPGA toolchains ● Project X-Ray & SymbiFlow for much more capable Xilinix Series 7 ○ “Xilinx Series 7 FPGAs Now Have a Fully Open Source Toolchain!” [almost] Tim Ansell ○ “Open Source Verilog-to-Bitstream FPGA synthesis flow, currently targeting Xilinx 7-Series, Lattice iCE40 and Lattice ECP5 FPGAs. Think of it as the GCC of FPGAs”
  • 51. Hackaday Supercon badge ● RISC-V “soft” core on ECP5 FPGA ● Gigantic FPGA In Game Boy Form Factor
  • 52. “Team Linux on Badge” ● Michael Welling, Tim Ansell, Sean Cross, Jacob Creedon ● Attempt to use the built-in 16MB failed...
  • 53. “Team Linux on Badge” ● Jacob Creedon designed a cartridge board that adds 32MB of SDRAM to the Hackaday Supercon badge… before the event!
  • 56. Why design an SoC in Python? ● Python has advantages over traditional HDL like VHDL and Verilog ○ Many people already are familiar with Python than HDL (hardware description languages) ○ There are currently more software developers than hardware designers ● Migen is a Python framework that can automate chip design ○ Leverages the object-oriented, modular nature of Python ○ Produces Verilog code so it can be used with existing chip design workflows ● “Using Python for creating hardware to record FOSS conferences!”
  • 58. LiteX ● Based on Migen, builds full SoC that can be loaded into an FPGA
  • 59. LiteX ● “LiteX vs. Vivado: First Impressions” ● Collection of open cores for DRAM, Ethernet, PCIe, SATA and more...
  • 60. Linux on LiteX-VexRiscv ● VexRiscv: 32-bit Linux-capable RISC-V core ○ Designed to be FPGA friendly ○ Written in Spinal HDL (based on Scala) ● Builds an SoC using VexRiscv core and LiteX modules ○ Such as LiteDRAM, LiteEth, LiteSDCard, LitePCIe ○ “This project demonstrates how high level HDLs (Spinal HDL, Migen) enable new possibilities and complement each other. Results shown here are the results of a productive collaboration between open-source communities” ● Supports large number of FPGA dev boards 
  • 63. LiteX ● upstream support for Hackaday Supercon badge: ● https://github.com/litex-hub/litex-boards/pull/31
  • 69. ● Radiona.org ULX3S ○ 32MB SDRAM; ESP32 on board for WiFi and Bluetooth ○ Sold for $115 on CrowdSupply and Mouser Open Source ECP5 FPGA boards
  • 70. Open Source ECP5 FPGA boards ● OrangeCrab by Greg Davill ○ 128MB DDR RAM; Adafruit Feather form factor ○ Sold on GroupGets for $129
  • 71. Want to learn FPGAs? Try Fomu! ● Online workshop from Tim Ansell and Sean Cross ● $50 on CrowdSupply ● Fits inside USB port! ● Learn how to use: ○ MicroPython ○ Verilog ○ LiteX
  • 72. No hardware? Try Renode! ● Renode can simulate physical hardware systems including CPU, peripherals, sensors, and wired or wireless network between nodes
  • 75. Trustworthy self-hosted computer ● “A Trustworthy, Free (Libre), Linux Capable, Self-Hosting 64bit RISC-V Computer” by Gabriel L. Somlo ○ “My goal is to build a Free/OpenSource computer from the ground up, so I may completely trust that the entire hardware+software system's behavior is 100% attributable to its fully available HDL (Hardware Description Language) and Software sources” ● Talk: “Toward a Trustable, Self-Hosting Computer System” ○ Video: youtube.com/watch?v=5IhujGl_-K0
  • 76. source: “Toward a Trustable, Self-Hosting Computer System”
  • 77. Linux on RISC-V with Open Source Hardware Drew Fustini (@pdp7) <drew@beagleboard.org> Open Source Summit Japan 2020 https://tinyurl.com/y6j8lfyz