NuttX Milk-V Mars 测试报告

测试环境

硬件信息

开发板：Milk-V Mars (8GB RAM)
其他硬件：
- USB 电源适配器和USB-A to C 或 C to C 线缆一条
- microSD 卡一张
- USB to UART 调试器一个（如：CH340, CH341, FT2232 等）

操作系统信息

操作系统版本：NuttX 12.9.0
下载链接：
参考安装文档：
- https://milkv.io/zh/docs/mars/getting-started/boot
- https://nuttx.apache.org/docs/latest/platforms/risc-v/jh7110/boards/star64/index.html

安装步骤

准备环境并下载工具链

saicogn@saicogn:~$ mkdir nuttx_mars && cd nuttx_mars

saicogn@saicogn:~/nuttx_mars$ sudo apt install bison flex gettext texinfo libncurses5-dev libncursesw5-dev xxd git gperf automake libtool pkg-config build-essential gperf genromfs libgmp-dev libmpc-dev libmpfr-dev libisl-dev binutils-dev libelf-dev libexpat1-dev gcc-multilib g++-multilib picocom u-boot-tools util-linux

saicogn@saicogn:~/nuttx_mars$ sudo apt install kconfig-frontends

saicogn@saicogn:~/nuttx_mars$ wget https://static.dev.sifive.com/dev-tools/freedom-tools/v2020.12/riscv64-unknown-elf-toolchain-10.2.0-2020.12.8-x86_64-linux-ubuntu14.tar.gz

saicogn@saicogn:~/nuttx_mars$ tar -xvf riscv64-unknown-elf-toolchain-10.2.0-2020.12.8-x86_64-linux-ubuntu14.tar.gz

saicogn@saicogn:~/nuttx_mars/$ export PATH=/home/saicogn/nuttx_mars/riscv64-unknown-elf-toolchain-10.2.0-2020.12.8-x86_64-linux-ubuntu14/bin:$PATH

saicogn@saicogn:~/nuttx_mars/$ riscv64-unknown-elf-gcc -v
Using built-in specs.
COLLECT_GCC=riscv64-unknown-elf-gcc
COLLECT_LTO_WRAPPER=/home/saicogn/nuttx_mars/riscv64-unknown-elf-toolchain-10.2.0-2020.12.8-x86_64-linux-ubuntu14/bin/../libexec/gcc/riscv64-unknown-elf/10.2.0/lto-wrapper
Target: riscv64-unknown-elf
Configured with: /scratch/jenkins/workspace/tpp-freedom-tools/tpp03--build-binary-packages--parameterized/obj/x86_64-linux-ubuntu14/build/riscv64-unknown-elf-gcc/riscv-gcc/configure --target=riscv64-unknown-elf --host=x86_64-linux-gnu --prefix=/scratch/jenkins/workspace/tpp-freedom-tools/tpp03--build-binary-packages--parameterized/obj/x86_64-linux-ubuntu14/install/riscv64-unknown-elf-gcc-10.2.0-2020.12.8-x86_64-linux-ubuntu14 --with-pkgversion='SiFive GCC-Metal 10.2.0-2020.12.8' --with-bugurl=https://github.com/sifive/freedom-tools/issues --disable-shared --disable-threads --enable-languages=c,c++ --enable-tls --with-newlib --with-sysroot=/scratch/jenkins/workspace/tpp-freedom-tools/tpp03--build-binary-packages--parameterized/obj/x86_64-linux-ubuntu14/install/riscv64-unknown-elf-gcc-10.2.0-2020.12.8-x86_64-linux-ubuntu14/riscv64-unknown-elf --with-native-system-header-dir=/include --disable-libmudflap --disable-libssp --disable-libquadmath --disable-libgomp --disable-nls --disable-tm-clone-registry --src=../riscv-gcc --with-system-zlib --enable-checking=yes --enable-multilib --with-abi=lp64d --with-arch=rv64imafdc CFLAGS=-O2 CXXFLAGS=-O2 'CFLAGS_FOR_TARGET=-Os -mcmodel=medany' 'CXXFLAGS_FOR_TARGET=-Os -mcmodel=medany'
Thread model: single
Supported LTO compression algorithms: zlib
gcc version 10.2.0 (SiFive GCC-Metal 10.2.0-2020.12.8)

下载源码并解压得到 `nuttx` 和 `apps` 目录

saicogn@saicogn:~/nuttx_mars$ curl -L https://www.apache.org/dyn/closer.lua/nuttx/12.9.0/apache-nuttx-apps-12.9.0.tar.gz?action=download -o nuttx-apps-12.9.0.tar.gz

saicogn@saicogn:~/nuttx_mars$ curl -L https://www.apache.org/dyn/closer.lua/nuttx/12.9.0/apache-nuttx-12.9.0.tar.gz?action=download -o nuttx-12.9.0.tar.gz

saicogn@saicogn:~/nuttx_mars$ tar -xvf nuttx-12.9.0.tar.gz 

saicogn@saicogn:~/nuttx_mars$ tar -xvf nuttx-apps-12.9.0.tar.gz

构建NuttX镜像

构建NuttX内核文件 nuttx.bin

saicogn@saicogn:~/nuttx_mars$ cd nuttx

saicogn@saicogn:~/nuttx_mars/nuttx$ make distclean

saicogn@saicogn:~/nuttx_mars/nuttx$ tools/configure.sh star64:nsh
    Copy files
Select CONFIG_HOST_LINUX=y
Refreshing...
...
mkkconfig in /home/saicogn/nuttx_mars/apps
#
# configuration written to .config
#
saicogn@saicogn:~/nuttx_mars/nuttx$ 

saicogn@saicogn:~/nuttx_mars/nuttx$ make
Create version.h
LN: platform/board to /home/saicogn/nuttx_mars/apps/platform/dummy
Register: hello
Register: init
Register: sh
Register: getprime
CPP:  /home/saicogn/nuttx_mars/nuttx/boards/risc-v/jh7110/star64/scripts/ld.script-> /home/saicogn/nuttx_mars/nuttx/boards/risc-v/jLD: nuttx
Memory region         Used Size  Region Size  %age Used
          kflash:      177940 B         2 MB      8.48%
          ksram:         32 KB         2 MB      1.56%
          pgram:          0 GB         4 MB      0.00%
        ramdisk:          0 GB        16 MB      0.00%
CP: nuttx.hex

saicogn@saicogn:~/nuttx_mars/nuttx$ file nuttx
nuttx: ELF 64-bit LSB executable, UCB RISC-V, RVC, double-float ABI, version 1 (SYSV), statically linked, with debug_info, not stripped

saicogn@saicogn:~/nuttx_mars/nuttx$ riscv64-unknown-elf-objcopy -O binary nuttx nuttx.bin

构建NuttX Apps文件系统，生成 initrd

saicogn@saicogn:~/nuttx_mars/nuttx$ make export

saicogn@saicogn:~/nuttx_mars/nuttx$ pushd ../apps
~/nuttx_mars/apps ~/nuttx_mars/nuttx

saicogn@saicogn:~/nuttx_mars/apps$ tools/mkimport.sh -z -x ../nuttx/nuttx-export-*.tar.gz

saicogn@saicogn:~/nuttx_mars/apps$ make import

saicogn@saicogn:~/nuttx_mars/apps$ popd
~/nuttx_mars/nuttx

saicogn@saicogn:~/nuttx_mars/nuttx$ genromfs -f initrd -d ../apps/bin -V "NuttXBootVol"

saicogn@saicogn:~/nuttx_mars/nuttx$ file initrd
initrd: romfs filesystem, version 1 1028928 bytes, named NuttXBootVol.

下载官方设备树并生成 Flat Image Tree (FIT) 镜像文件

下载设备树文件 .dtb

saicogn@saicogn:~/nuttx_mars/nuttx$ wget https://github.com/starfive-tech/VisionFive2/releases/download/JH7110_VF2_515_v5.11.3/jh7110-visionfive-v2.dtb

在 nuttx 目录下创建FIT的描述文件 nuttx.its

saicogn@saicogn:~/nuttx_mars/nuttx$ cat << EOF > nuttx.its
/dts-v1/;

/ {
  description = "NuttX FIT image";
  #address-cells = <2>;

  images {
    vmlinux {
      description = "vmlinux";
      data = /incbin/("./nuttx.bin");
      type = "kernel";
      arch = "riscv";
      os = "linux";
      load = <0x0 0x40200000>;
      entry = <0x0 0x40200000>;
      compression = "none";
    };

    ramdisk {
      description = "buildroot initramfs";
      data = /incbin/("./initrd");
      type = "ramdisk";
      arch = "riscv";
      os = "linux";
      load = <0x0 0x46100000>;
      compression = "none";
      hash-1 {
        algo = "sha256";
      };
    };

    fdt {
      data = /incbin/("./jh7110-visionfive-v2.dtb");
      type = "flat_dt";
      arch = "riscv";
      load = <0x0 0x46000000>;
      compression = "none";
      hash-1 {
        algo = "sha256";
      };
    };
  };

  configurations {
    default = "nuttx";

    nuttx {
      description = "NuttX";
      kernel = "vmlinux";
      fdt = "fdt";
      loadables = "ramdisk";
    };
  };
};
EOF

saicogn@saicogn:~/nuttx_mars/nuttx$ file nuttx.its 
uttx.its: Device Tree File (v1), ASCII text

使用 U-Boot的 mkimage 将NuttX内核、文件系统和设备树打包为FIT文件 starfiveu.fit

saicogn@saicogn:~/nuttx_mars/nuttx$ mkimage -f nuttx.its -A riscv -O linux -T flat_dt starfiveu.fit

FIT description: NuttX FIT image
Created:         Fri Apr 25 16:20:00 2025
Image 0 (vmlinux)
  Description:  vmlinux
  Created:      Fri Apr 25 16:20:00 2025
  Type:         Kernel Image
  Compression:  uncompressed
  Data Size:    2098704 Bytes = 2049.52 KiB = 2.00 MiB
  Architecture: RISC-V
  OS:           Linux
  Load Address: 0x40200000
  Entry Point:  0x40200000
Image 1 (ramdisk)
  Description:  buildroot initramfs
  Created:      Fri Apr 25 16:20:00 2025
  Type:         RAMDisk Image
  Compression:  uncompressed
  Data Size:    1029120 Bytes = 1005.00 KiB = 0.98 MiB
  Architecture: RISC-V
  OS:           Linux
  Load Address: 0x46100000
  Entry Point:  unavailable
  Hash algo:    sha256
  Hash value:   97908d825b8efa8413a1094bd659c9ebe3283309e995062da40030ce6f0b1aff
Image 2 (fdt)
  Description:  unavailable
  Created:      Fri Apr 25 16:20:00 2025
  Type:         Flat Device Tree
  Compression:  uncompressed
  Data Size:    52430 Bytes = 51.20 KiB = 0.05 MiB
  Architecture: RISC-V
  Load Address: 0x46000000
  Hash algo:    sha256
  Hash value:   9537d7c8ea049fa11e59710e7eb3dcbf79cf028829bda12709552c0ffc3a646f
Default Configuration: 'nuttx'
Configuration 0 (nuttx)
  Description:  NuttX
  Kernel:       vmlinux
  FDT:          fdt
  Loadables:    ramdisk        
  
saicogn@saicogn:~/nuttx_mars/nuttx$ file starfiveu.fit 
starfiveu.fit: Device Tree Blob version 17, size=3182154, boot CPU=0, string block size=118, DT structure block size=3181076

烧写官方镜像并替换为NuttX的FIT镜像文件

下载并烧写官方镜像至 MicroSD 卡

使用 dd 命令或 balenaEtcher 软件将镜像写入 microSD 卡。

其中，/dev/sdc 为存储卡对应设备。

saicogn@saicogn:~/nuttx_mars/nuttx$ wget https://github.com/starfive-tech/VisionFive2/releases/download/JH7110_VF2_515_v5.11.3/sdcard.img

sudo dd if=sdcard.img of=/dev/sdX bs=1M status=progress

sync

挂载MicroSD 卡并使用上述生成的 starfiveu.fit 文件替换第三个分区中的 starfiveu.fit 文件如果MicroSD 卡没有自动挂载需要手动使用 mount 挂载

sudo mount /dev/your/sdcard/partition3 /media/saicogn/

覆盖 starfiveu.fit文件

saicogn@saicogn:~/nuttx_mars/nuttx$ df -ha
Filesystem      Size  Used Avail Use% Mounted on
/dev/sdc3       292M  3.1M  289M   2% /media/saicogn/F01E-258D
/dev/sdc4       459M  272M  159M  64% /media/saicogn/rootfs

saicogn@saicogn:~/nuttx_mars/nuttx$ ls /media/saicogn/F01E-258D/ -lh
total 135M
-rw-r--r-- 1 saicogn saicogn 1.3K Mar 15  2024  jh7110_uEnv.txt
-rw-r--r-- 1 saicogn saicogn 135M Mar 15  2024  starfiveu.fit
drwxr-xr-x 2 saicogn saicogn 8.0K Apr 26  2025 'System Volume Information'
-rw-r--r-- 1 saicogn saicogn 1.5K Mar 15  2024  vf2_nvme_uEnv.txt
-rw-r--r-- 1 saicogn saicogn 1.3K Mar 15  2024  vf2_uEnv.txt

saicogn@saicogn:~/nuttx_mars/nuttx$ cp starfiveu.fit /media/saicogn/F01E-258D/ -f

saicogn@saicogn:~/nuttx_mars/nuttx$ ls /media/saicogn/F01E-258D/ -lh
total 3.1M
-rw-r--r-- 1 saicogn saicogn 1.3K Mar 15  2024  jh7110_uEnv.txt
-rw-r--r-- 1 saicogn saicogn 3.1M Apr 25 23:19  starfiveu.fit
drwxr-xr-x 2 saicogn saicogn 8.0K Apr 26  2025 'System Volume Information'
-rw-r--r-- 1 saicogn saicogn 1.5K Mar 15  2024  vf2_nvme_uEnv.txt
-rw-r--r-- 1 saicogn saicogn 1.3K Mar 15  2024  vf2_uEnv.txt

saicogn@saicogn:~/nuttx_mars/nuttx$ sync

登录系统

通过串口登录系统，启动NuttShell(nsh)。

默认用户无密码。

预期结果

系统正常启动，能够通过板载串口登录。

实际结果

系统正常启动，成功通过串口查看输出。

启动信息

U-Boot SPL 2021.10 (Mar 14 2024 - 19:21:18 +0800)
LPDDR4: 8G version: g8ad50857.
Trying to boot from MMC2

OpenSBI v1.2
   ____                    _____ ____ _____
  / __ \                  / ____|  _ \_   _|
 | |  | |_ __   ___ _ __ | (___ | |_) || |
 | |  | | '_ \ / _ \ '_ \ \___ \|  _ < | |
 | |__| | |_) |  __/ | | |____) | |_) || |_
  \____/| .__/ \___|_| |_|_____/|___/_____|
        | |
        |_|

Platform Name             : StarFive VisionFive V2
Platform Features         : medeleg
Platform HART Count       : 5
Platform IPI Device       : aclint-mswi
Platform Timer Device     : aclint-mtimer @ 4000000Hz
Platform Console Device   : uart8250
Platform HSM Device       : ---
Platform PMU Device       : ---
Platform Reboot Device    : pm-reset
Platform Shutdown Device  : pm-reset
Platform Suspend Device   : ---
Firmware Base             : 0x40000000
Firmware Size             : 392 KB
Firmware RW Offset        : 0x40000
Runtime SBI Version       : 1.0

Domain0 Name              : root
Domain0 Boot HART         : 1
Domain0 HARTs             : 0*,1*,2*,3*,4*
Domain0 Region00          : 0x0000000002000000-0x000000000200ffff M: (I,R,W) S/U: ()
Domain0 Region01          : 0x0000000040000000-0x000000004003ffff M: (R,X) S/U: ()
Domain0 Region02          : 0x0000000040040000-0x000000004007ffff M: (R,W) S/U: ()
Domain0 Region03          : 0x0000000000000000-0xffffffffffffffff M: (R,W,X) S/U: (R,W,X)
Domain0 Next Address      : 0x0000000040200000
Domain0 Next Arg1         : 0x0000000042200000
Domain0 Next Mode         : S-mode
Domain0 SysReset          : yes
Domain0 SysSuspend        : yes

Boot HART ID              : 1
Boot HART Domain          : root
Boot HART Priv Version    : v1.11
Boot HART Base ISA        : rv64imafdcbx
Boot HART ISA Extensions  : none
Boot HART PMP Count       : 8
Boot HART PMP Granularity : 4096
Boot HART PMP Address Bits: 34
Boot HART MHPM Count      : 2
Boot HART MIDELEG         : 0x0000000000000222
Boot HART MEDELEG         : 0x000000000000b109


U-Boot 2021.10 (Mar 14 2024 - 19:21:18 +0800), Build: jenkins-github_visionfive2-23

CPU:   rv64imacu_zba_zbb
Model: StarFive VisionFive V2
DRAM:  8 GiB
MMC:   sdio0@16010000: 0, sdio1@16020000: 1
Loading Environment from SPIFlash... SF: Detected gd25lq128 with page size 256 Bytes, erase size 4 KiB, total 16 MiB
*** Warning - bad CRC, using default environment

StarFive EEPROM format v2

--------EEPROM INFO--------
Vendor : MILK-V
Product full SN: MARS-V11-2340-D008E000-00000FB6
data version: 0x2
PCB revision: 0xc1
BOM revision: A
Ethernet MAC0 address: 6c:cf:39:00:94:c3
Ethernet MAC1 address: 6c:cf:39:00:94:c4
--------EEPROM INFO--------

In:    serial
Out:   serial
Err:   serial
Model: StarFive VisionFive V2
Net:   eth0: ethernet@16030000, eth1: ethernet@16040000
Hit any key to stop autoboot:  0
switch to partitions #0, OK
mmc1 is current device
Try booting from MMC1 ...
1235 bytes read in 7 ms (171.9 KiB/s)
3182154 bytes read in 146 ms (20.8 MiB/s)
## Loading kernel from FIT Image at 60000000 ...
   Using 'nuttx' configuration
   Trying 'vmlinux' kernel subimage
     Description:  vmlinux
     Type:         Kernel Image
     Compression:  uncompressed
     Data Start:   0x600000b4
     Data Size:    2098704 Bytes = 2 MiB
     Architecture: RISC-V
     OS:           Linux
     Load Address: 0x40200000
     Entry Point:  0x40200000
   Verifying Hash Integrity ... OK
## Loading fdt from FIT Image at 60000000 ...
   Using 'nuttx' configuration
   Trying 'fdt' fdt subimage
     Description:  unavailable
     Type:         Flat Device Tree
     Compression:  uncompressed
     Data Start:   0x602fbc44
     Data Size:    52430 Bytes = 51.2 KiB
     Architecture: RISC-V
     Load Address: 0x46000000
     Hash algo:    sha256
     Hash value:   9537d7c8ea049fa11e59710e7eb3dcbf79cf028829bda12709552c0ffc3a646f
   Verifying Hash Integrity ... sha256+ OK
   Loading fdt from 0x602fbc44 to 0x46000000
   Booting using the fdt blob at 0x46000000
## Loading loadables from FIT Image at 60000000 ...
   Trying 'ramdisk' loadables subimage
     Description:  buildroot initramfs
     Type:         RAMDisk Image
     Compression:  uncompressed
     Data Start:   0x60200778
     Data Size:    1029120 Bytes = 1005 KiB
     Architecture: RISC-V
     OS:           Linux
     Load Address: 0x46100000
     Entry Point:  unavailable
     Hash algo:    sha256
     Hash value:   97908d825b8efa8413a1094bd659c9ebe3283309e995062da40030ce6f0b1aff
   Verifying Hash Integrity ... sha256+ OK
   Loading loadables from 0x60200778 to 0x46100000
   Loading Kernel Image
Booting kernel in
## Flattened Device Tree blob at 46000000
   Booting using the fdt blob at 0x46000000
   Using Device Tree in place at 0000000046000000, end 000000004600ffff

Starting kernel ...

clk u2_dw_i2c_clk_core already disabled
clk u2_dw_i2c_clk_apb already disabled
clk u5_dw_i2c_clk_core already disabled
clk u5_dw_i2c_clk_apb already disabled
ABC
NuttShell (NSH) NuttX-12.9.0
nsh> 

nsh> cd /proc

nsh> cat cpuinfo
processor       : 0
hart            : 0
isa             : rv64imafdc
mmu             : none

nsh> cat version
NuttX version 12.9.0 7c95e3c613 Apr 25 2025 01:45:35 star64:nsh

nsh> help
help usage:  help [-v] [<cmd>]

    .           cp          exit        ls          rm          uname
    [           cmp         expr        mkdir       rmdir       umount
    ?           dirname     false       mkrd        set         unset
    alias       dd          fdinfo      mount       sleep       uptime
    unalias     df          free        mv          source      usleep
    basename    dmesg       help        pidof       test        watch
    break       echo        hexdump     printf      time        xd
    cat         env         kill        ps          true        wait
    cd          exec        pkill       pwd         truncate

nsh> ps
  PID GROUP PRI POLICY   TYPE    NPX STATE    EVENT     SIGMASK            STACK    USED FILLED COMMAND
    0     0   0 FIFO     Kthread   - Ready              0000000000000000 0003056 0000760  24.8%  Idle_Task
    1     0 100 RR       Kthread   - Waiting  Semaphore 0000000000000000 0001968 0000736  37.3%  lpwork 0x40400100 0x40400148
    3     3 100 RR       Task      - Running            0000000000000000 0003008 0001880  62.5%  /system/bin/init

测试判定标准

测试成功：实际结果与预期结果相符。

测试失败：实际结果与预期结果不符。

测试结论

测试成功

支持状态

系统版本

最后更新

NuttX Milk-V Mars 测试报告

测试环境

硬件信息

操作系统信息

安装步骤

准备环境并下载工具链

下载源码并解压得到 `nuttx` 和 `apps` 目录

构建NuttX镜像

烧写官方镜像并替换为NuttX的FIT镜像文件

登录系统

预期结果

实际结果

启动信息

测试判定标准

测试结论

支持状态

系统版本

最后更新

NuttX Milk-V Mars 测试报告

测试环境

硬件信息

操作系统信息

安装步骤

准备环境并下载工具链

下载源码并解压得到 nuttx 和 apps 目录

构建NuttX镜像

烧写官方镜像并替换为NuttX的FIT镜像文件

登录系统

预期结果

实际结果

启动信息

测试判定标准

测试结论

下载源码并解压得到 `nuttx` 和 `apps` 目录