First openmv version with 8.2.0 toolchain

CMakeLists.txt

@@ -5,7 +5,12 @@ set(BUILDING_SDK "yes" CACHE INTERNAL "")
 
 # basic config
 if (NOT PROJ)
-    message(FATAL_ERROR "PROJ must be set. e.g. -DPROJ=hello_world")
+    get_filename_component(PROJ ${CMAKE_CURRENT_BINARY_DIR} DIRECTORY)
+    get_filename_component(PROJ ${PROJ} NAME)
+    string(REPLACE " " "_" PROJ ${PROJ})
+    message(STATUS "PROJ not set, use ${PROJ} as PROJ. Also, you can set it manually. e.g. -DPROJ=hello_world")
+else()
+    message("PROJ = ${PROJ}")
 endif ()
 cmake_minimum_required(VERSION 3.0)
 include(./cmake/common.cmake)
@@ -17,10 +22,8 @@ header_directories(${SDK_ROOT}/lib)
 # build library first
 add_subdirectory(lib)
 
-# TODO
-#add_subdirectory(third_party)
-
 # compile project
+#add_source_files(src/${PROJ}/*.c src/${PROJ}/*.s src/${PROJ}/*.S src/${PROJ}/*.cpp)
 add_custom_target(build_metis ALL
         COMMAND ${CMAKE_MAKE_PROGRAM}
         WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/src/openmv/src/micropython/ports/k210-standalone

LICENSE

@@ -0,0 +1,14 @@
+/* Copyright 2018 Canaan Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */

README.md

@@ -0,0 +1,9 @@
+Kendryte-standalone-opemv build steps:
+1. download V8.2.0 toolchain from https://kendryte.com/downloads/
+2. export PATH=/opt/maix-toolchain/bin/:$PATH (riscv toolchain path for micropython build)
+3. mkdir build
+4. cd build
+5. cmake .. -DPROJ=openmv -DTOOLCHAIN=/opt/maix-toolchain/bin (riscv toolchain path for kendryte sdk build)
+6. make
+
+The default example is face detect, you can change src/openmv/src/micropython/ports/k210-standalone/buildin-py/boot.py to implement other openmv functions.

cmake/common.cmake

@@ -20,7 +20,7 @@ IF (CMAKE_BUILD_TYPE STREQUAL Debug)
 ENDIF ()
 
 # definitions in macros
-add_definitions(-DCONFIG_LOG_LEVEL=LOG_VERBOSE -DCONFIG_LOG_ENABLE -DCONFIG_LOG_COLORS -DLOG_KERNEL -D__riscv64 -DFPGA_PLL)
+add_definitions(-DCONFIG_LOG_LEVEL=LOG_VERBOSE -DCONFIG_LOG_ENABLE -DCONFIG_LOG_COLORS -DLOG_KERNEL -D__riscv64)
 
 if (NOT SDK_ROOT)
     get_filename_component(_SDK_ROOT ${CMAKE_CURRENT_LIST_DIR} DIRECTORY)

cmake/compile-flags.cmake

@@ -19,11 +19,19 @@ add_compile_flags(BOTH
         -fdata-sections
         -fstrict-volatile-bitfields
         -fno-zero-initialized-in-bss
-        -Os
+	-Os
+	-ffloat-store
         -ggdb
-        )
+	)
+
+#hukai
+#add_compile_flags(C
+#	-fstack-protector
+#	-fstack-protector-all
+#	-fstack-usage
+#	)
 
-add_compile_flags(C -std=gnu11)
+add_compile_flags(C -std=gnu11 -Wno-pointer-to-int-cast)
 add_compile_flags(CXX -std=gnu++17)
 
 if (BUILDING_SDK)
@@ -42,9 +50,9 @@ if (BUILDING_SDK)
 			-Wno-error=return-type
 			-Wno-error=pointer-sign
 			-Wno-missing-braces
-			-Wno-pointer-to-int-cast
 			-Wno-strict-aliasing
 			-Wno-implicit-fallthrough
+			-Wno-missing-field-initializers
             )
 
     add_compile_flags(C -Wno-old-style-declaration)

cmake/dump-config.cmake

@@ -1,13 +1,22 @@
 message("")
 message("Project: ${PROJECT_NAME}")
+message("  LIST_FILE=${CMAKE_PARENT_LIST_FILE}")
 message("  TOOLCHAIN=${TOOLCHAIN}")
-message("  KENDRYTE IDE=${KENDRYTE_IDE}")
+message("  KENDRYTE_IDE=${KENDRYTE_IDE}")
+message("  BUILDING_SDK=${BUILDING_SDK}")
 message("")
 message("  CMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}")
 message("  CMAKE_C_COMPILER=${CMAKE_C_COMPILER}")
 message("  CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}")
 message("  CMAKE_LINKER=${CMAKE_LINKER}")
 message("  CMAKE_OBJCOPY=${CMAKE_OBJCOPY}")
+message("  CMAKE_OBJDUMP=${CMAKE_OBJDUMP}")
+message("  CMAKE_MAKE_PROGRAM=${CMAKE_MAKE_PROGRAM}")
+message("")
+message("  CMAKE_C_FLAGS=${CMAKE_C_FLAGS}")
+message("  CMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}")
+message("  LDFLAGS=${LDFLAGS}")
+message("  CMAKE_BINARY_DIR=${CMAKE_BINARY_DIR}")
 message("Makefile created.")
 message("")
 message("")

cmake/executable.cmake

@@ -1,37 +1,40 @@
 if (NOT BUILDING_SDK)
     add_library(kendryte STATIC IMPORTED)
-    set_property(TARGET kendryte PROPERTY IMPORTED_LOCATION ${SDK_ROOT}/libmaix.a)
+    set_property(TARGET kendryte PROPERTY IMPORTED_LOCATION ${SDK_ROOT}/libkendryte.a)
     include_directories(${SDK_ROOT}/include/)
 endif ()
 
+removeDuplicateSubstring(${CMAKE_C_FLAGS} CMAKE_C_FLAGS)
+removeDuplicateSubstring(${CMAKE_CXX_FLAGS} CMAKE_CXX_FLAGS)
+
+message("SOURCE_FILES=${SOURCE_FILES}")
 add_executable(${PROJECT_NAME} ${SOURCE_FILES})
-# add_dependencies(${PROJECT_NAME} kendryte) # TODO: third_party
-# target_link_libraries(${PROJECT_NAME} kendryte) # TODO: third_party
-# link_directories(${CMAKE_BINARY_DIR})
+
 target_link_libraries(${PROJECT_NAME}
         ${SDK_ROOT}/src/openmv/src/micropython/ports/k210-standalone/micropython.a
         )
+
 set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE C)
 
 target_link_libraries(${PROJECT_NAME}
         -Wl,--start-group
-        gcc m c kendryte
+        gcc m c
+        -Wl,--whole-archive
+        kendryte
+        -Wl,--no-whole-archive
         -Wl,--end-group
         )
+
 IF(SUFFIX)
     SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SUFFIX ${SUFFIX})
 ENDIF()
 
-#message("CMAKE_OBJCOPY=${CMAKE_OBJCOPY}")
-
 # Build target
 add_custom_command(TARGET ${PROJECT_NAME} POST_BUILD
         COMMAND ${CMAKE_OBJCOPY} --output-format=binary ${CMAKE_BINARY_DIR}/${PROJECT_NAME}${SUFFIX} ${CMAKE_BINARY_DIR}/${PROJECT_NAME}.bin
         DEPENDS ${PROJECT_NAME}
         COMMENT "Generating .bin file ...")
 
-
 add_custom_target(firmware DEPENDS ${PROJECT_NAME}.firmware.bin)
-
 # show information
 include(${CMAKE_CURRENT_LIST_DIR}/dump-config.cmake)

cmake/macros.cmake

@@ -36,6 +36,13 @@ global_set(CMAKE_EXE_LINKER_FLAGS "")
 global_set(CMAKE_SHARED_LINKER_FLAGS "")
 global_set(CMAKE_MODULE_LINKER_FLAGS "")
 
+function(removeDuplicateSubstring stringIn stringOut)
+    separate_arguments(stringIn)
+    list(REMOVE_DUPLICATES stringIn)
+    string(REPLACE ";" " " stringIn "${stringIn}")
+    set(${stringOut} "${stringIn}" PARENT_SCOPE)
+endfunction()
+
 macro(add_compile_flags WHERE)
     JOIN("${ARGN}" " " STRING_ARGS)
     if (${WHERE} STREQUAL C)

cmake/toolchain.cmake

@@ -1,20 +1,42 @@
-if (NOT TOOLCHAIN)
-    message(FATAL_ERROR "TOOLCHAIN must be set, to absolute path of kendryte-toolchain dist/bin folder.")
-endif ()
-
 if (WIN32)
     set(EXT ".exe")
 else ()
     set(EXT "")
 endif ()
 
-condition_set(CMAKE_C_COMPILER "${TOOLCHAIN}/riscv64-unknown-elf-gcc${EXT}" CACHE INTERNAL "")
-condition_set(CMAKE_CXX_COMPILER "${TOOLCHAIN}/riscv64-unknown-elf-g++${EXT}" CACHE INTERNAL "")
-condition_set(CMAKE_LINKER "${TOOLCHAIN}/riscv64-unknown-elf-ld${EXT}" CACHE INTERNAL "")
-condition_set(CMAKE_AR "${TOOLCHAIN}/riscv64-unknown-elf-ar${EXT}" CACHE INTERNAL "")
-condition_set(CMAKE_CXX_COMPILER_AR "${CMAKE_AR}${EXT}" CACHE INTERNAL "")
-condition_set(CMAKE_C_COMPILER_AR "${CMAKE_AR}${EXT}" CACHE INTERNAL "")
-condition_set(CMAKE_OBJCOPY "${TOOLCHAIN}/riscv64-unknown-elf-objcopy${EXT}" CACHE INTERNAL "")
+message(STATUS "Check for RISCV toolchain ...")
+if(NOT TOOLCHAIN)
+    find_path(_TOOLCHAIN riscv64-unknown-elf-gcc${EXT})
+    global_set(TOOLCHAIN "${_TOOLCHAIN}")
+elseif(NOT "${TOOLCHAIN}" MATCHES "/$")
+    global_set(TOOLCHAIN "${TOOLCHAIN}")
+endif()
+
+if (NOT TOOLCHAIN)
+    message(FATAL_ERROR "TOOLCHAIN must be set, to absolute path of kendryte-toolchain dist/bin folder.")
+endif ()
+
+message(STATUS "Using ${TOOLCHAIN} RISCV toolchain")
+
+global_set(CMAKE_C_COMPILER "${TOOLCHAIN}/riscv64-unknown-elf-gcc${EXT}")
+global_set(CMAKE_CXX_COMPILER "${TOOLCHAIN}/riscv64-unknown-elf-g++${EXT}")
+global_set(CMAKE_LINKER "${TOOLCHAIN}/riscv64-unknown-elf-ld${EXT}")
+global_set(CMAKE_AR "${TOOLCHAIN}/riscv64-unknown-elf-ar${EXT}")
+global_set(CMAKE_OBJCOPY "${TOOLCHAIN}/riscv64-unknown-elf-objcopy${EXT}")
+global_set(CMAKE_SIZE "${TOOLCHAIN}/riscv64-unknown-elf-size${EXT}")
+global_set(CMAKE_OBJDUMP "${TOOLCHAIN}/riscv64-unknown-elf-objdump${EXT}")
+
+execute_process(COMMAND ${CMAKE_C_COMPILER} -print-file-name=crt0.o OUTPUT_STRIP_TRAILING_WHITESPACE OUTPUT_VARIABLE CRT0_OBJ)
+execute_process(COMMAND ${CMAKE_C_COMPILER} -print-file-name=crtbegin.o OUTPUT_STRIP_TRAILING_WHITESPACE OUTPUT_VARIABLE CRTBEGIN_OBJ)
+execute_process(COMMAND ${CMAKE_C_COMPILER} -print-file-name=crtend.o OUTPUT_STRIP_TRAILING_WHITESPACE OUTPUT_VARIABLE CRTEND_OBJ)
+execute_process(COMMAND ${CMAKE_C_COMPILER} -print-file-name=crti.o OUTPUT_STRIP_TRAILING_WHITESPACE OUTPUT_VARIABLE CRTI_OBJ)
+execute_process(COMMAND ${CMAKE_C_COMPILER} -print-file-name=crtn.o OUTPUT_STRIP_TRAILING_WHITESPACE OUTPUT_VARIABLE CRTN_OBJ)
+
+global_set(CMAKE_C_LINK_EXECUTABLE
+        "<CMAKE_C_COMPILER>  <FLAGS> <CMAKE_C_LINK_FLAGS> <LINK_FLAGS> \"${CRTI_OBJ}\" \"${CRTBEGIN_OBJ}\" <OBJECTS> \"${CRTEND_OBJ}\" \"${CRTN_OBJ}\" -o <TARGET> <LINK_LIBRARIES>")
+
+global_set(CMAKE_CXX_LINK_EXECUTABLE
+        "<CMAKE_CXX_COMPILER>  <FLAGS> <CMAKE_CXX_LINK_FLAGS> <LINK_FLAGS> \"${CRTI_OBJ}\" \"${CRTBEGIN_OBJ}\" <OBJECTS> \"${CRTEND_OBJ}\" \"${CRTN_OBJ}\" -o <TARGET> <LINK_LIBRARIES>")
 
 get_filename_component(_BIN_DIR "${CMAKE_C_COMPILER}" DIRECTORY)
 if (NOT "${TOOLCHAIN}" STREQUAL "${_BIN_DIR}")

lds/kendryte.ld

@@ -9,7 +9,8 @@ MEMORY
    * Memory with CPU cache.
    *6M CPU SRAM
    */
-  ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = (6 * 1024 * 1024)
+  /*ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = (6 * 1024 * 1024)*/
+   ram (wxa!ri) : ORIGIN = 0x80000000, LENGTH = (6 * 1024 * 1024)
   /*
    * Memory without CPU cache
    * 6M CPU SRAM
@@ -23,7 +24,7 @@ PROVIDE( _ram_start  = ORIGIN(ram) );
 PROVIDE( _ram_end    = ORIGIN(ram) + LENGTH(ram) );
 PROVIDE( _io_start   = 0x40000000 );
 PROVIDE( _io_end     = _io_start + LENGTH(ram) );
-PROVIDE( _stack_size = 1 << 17 );
+PROVIDE( _stack_size = 1 << 16 );
 
 
 /*
@@ -244,6 +245,7 @@ SECTIONS
   PROVIDE( _tp1 = _tp0 + _stack_size );
   PROVIDE( _sp0 = _tp0 + _stack_size );
   PROVIDE( _sp1 = _tp1 + _stack_size );
+
   /* Heap end is at the end of memory, the memory size can set in kconfig */
   PROVIDE( _heap_end = _ram_end );
 }

lib/CMakeLists.txt

@@ -16,17 +16,11 @@ FILE(GLOB_RECURSE ASSEMBLY_FILES
         "${CMAKE_CURRENT_LIST_DIR}/*.S"
         )
 
-include_directories(${CMAKE_CURRENT_LIST_DIR}/drivers/include ${CMAKE_CURRENT_LIST_DIR}/bsp/include ${CMAKE_CURRENT_LIST_DIR}/firmware/include)
-#
-#HEADER_DIRECTORIES(LIB_HEADERS)
-#
-#INCLUDE_DIRECTORIES(${LIB_HEADERS})
+include_directories(${CMAKE_CURRENT_LIST_DIR}/drivers/include ${CMAKE_CURRENT_LIST_DIR}/bsp/include)
 
 SET_PROPERTY(SOURCE ${ASSEMBLY_FILES} PROPERTY LANGUAGE C)
 SET_SOURCE_FILES_PROPERTIES(${ASSEMBLY_FILES} PROPERTIES COMPILE_FLAGS "-x assembler-with-cpp -D __riscv64")
 
-#MESSAGE("CMAKE_C_FLAGS: ${CMAKE_C_FLAGS}")
-
 ADD_LIBRARY(kendryte
         ${LIB_SRC}
         )

lib/bsp/crt.S

@@ -19,7 +19,7 @@
 # define LFREG fld
 # define SFREG fsd
 # define REGBYTES 8
-# define STKSHIFT 17
+# define STKSHIFT 16
 
 
 .section .text.start, "ax", @progbits
@@ -72,14 +72,6 @@ _start:
   li  x30,0
   li  x31,0
 
-  csrr t0, misa
-  bltz t0, 1f
-  li a0, 1234
-  j sys_exit
-1:
-
-  andi t0, t0, 1 << ('f' - 'a')
-  beqz t0, 1f
   li t0, MSTATUS_FS
   csrs mstatus, t0
 
@@ -116,18 +108,14 @@ _start:
   fmv.d.x f29,x0
   fmv.d.x f30,x0
   fmv.d.x f31,x0
-
-1:
+
   .option push
   .option norelax
-    la gp, __global_pointer$
+   la gp, __global_pointer$
   .option pop
   la  tp, _end + 63
   and tp, tp, -64
   csrr a0, mhartid
-  li a1, 2
-
-1:bgeu a0, a1, 1b
 
   sll a2, a0, STKSHIFT
   add tp, tp, a2

lib/bsp/entry_user.c

@@ -66,8 +66,6 @@ void _init_bsp(int core_id, int number_of_cores)
     extern int main(int argc, char* argv[]);
     extern void __libc_init_array(void);
     extern void __libc_fini_array(void);
-    /* Initialize thread local data */
-    init_tls();
 
     if (core_id == 0)
     {
@@ -101,3 +99,8 @@ void _init_bsp(int core_id, int number_of_cores)
     exit(ret);
 }
 
+int pthread_setcancelstate(int __state, int *__oldstate)
+{
+    return 0;
+}
+

lib/bsp/include/atomic.h

@@ -72,7 +72,6 @@ typedef struct _corelock
     int core;
 } corelock_t;
 
-
 static inline int spinlock_trylock(spinlock_t *lock)
 {
     int res = atomic_swap(&lock->lock, -1);
@@ -83,18 +82,15 @@ static inline int spinlock_trylock(spinlock_t *lock)
 
 static inline void spinlock_lock(spinlock_t *lock)
 {
-    do
-    {
-        while (atomic_read(&lock->lock))
-            ;
-    } while (spinlock_trylock(lock));
+    while (spinlock_trylock(lock));
 }
 
 static inline void spinlock_unlock(spinlock_t *lock)
 {
     /* Use memory barrier to keep coherency */
     mb();
     atomic_set(&lock->lock, 0);
+    asm volatile ("nop");
 }
 
 static inline void semaphore_signal(semaphore_t *semaphore, int i)
@@ -143,7 +139,10 @@ static inline int corelock_trylock(corelock_t *lock)
 
     asm volatile("csrr %0, mhartid;"
                  : "=r"(core));
-    spinlock_lock(&lock->lock);
+    if(spinlock_trylock(&lock->lock))
+    {
+        return -1;
+    }
 
     if (lock->count == 0)
     {