Milk-V Duo
Milk-V Duo
- SoC: CVITEK CV1800B
- CPU: RISC-V C906 @ 1 GHz + C906 @ 700 MHz
- MCU: 8051, 8 KB SRAM
- memory: 64 MB SIP DRAM
- storage: 1 x microSD connector
- usb: 1 x USB-C, power and data
- CSI: 1 x MIPI CSI 2-lane, 1 x 16 FPC connector
- Ethernet: 100 Mbps with phy (via optional add-on board)
- GPIO: up to 26
- power: 5V, 1A
- OS support: Linux, RTOS
- Integrated CVITEK TPU for smart detection
back to machines page.
Links
Milk-V Duo, docs, Milk-V Duo tutorial, community forum, CV1800B, Baremetal, 8051 core inside CV1800B, Github milkv-duo duo-buildroot-sdk, CV180-Duo, Rust on Milk-V Duo Linux side: I Got a Milk-V Duo, milkv-duo-rust, milkv-duo-rust-helloworld, bare metal side milkv-duo-hal, Milk-V Duo S Little Core Rust Firmware,
Sophgo forum: Duo English forum, Use Opensbi to boot your own operating system, sophgo-hardware, sophgo-doc, sophgo-arduino, Ubuntu on the Milk-V Duo, MILK-V Linux and Arduino Example of using inter-core mailbox on the MILK-V DUO,
local links
History
2024-08-29: ti21-w10 - after doing pip install pyserial from powershell, uploading code from arduino IDE (2.3.2) works in w10 also.
The compiler generates these errors, but the compiled program works
C:/Users/torfinn.ingolfsen/AppData/Local/Arduino15/packages/sophgo/tools/xpack-riscv-none-elf-gcc/13.2.0-2/bin/../lib/gcc/riscv-none-elf/13.2.0/../../../../riscv-none-elf/bin/ld.exe: C:/Users/torfinn.ingolfsen/AppData/Local/Arduino15/packages/sophgo/tools/xpack-riscv-none-elf-gcc/13.2.0-2/bin/../lib/gcc/riscv-none-elf/13.2.0/../../../../riscv-none-elf/lib/rv64imfd_zicsr/lp64d\libc_nano.a(libc_a-signalr.o): in function `_getpid_r': signalr.c:(.text._getpid_r+0x0): warning: _getpid is not implemented and will always fail C:/Users/torfinn.ingolfsen/AppData/Local/Arduino15/packages/sophgo/tools/xpack-riscv-none-elf-gcc/13.2.0-2/bin/../lib/gcc/riscv-none-elf/13.2.0/../../../../riscv-none-elf/bin/ld.exe: C:/Users/torfinn.ingolfsen/AppData/Local/Arduino15/packages/sophgo/tools/xpack-riscv-none-elf-gcc/13.2.0-2/bin/../lib/gcc/riscv-none-elf/13.2.0/../../../../riscv-none-elf/lib/rv64imfd_zicsr/lp64d\libc_nano.a(libc_a-signalr.o): in function `.L0 ': signalr.c:(.text._kill_r+0x20): warning: _kill is not implemented and will always fail
2024-08-29: ti21-w10 - I had to install Microsoft UsbNcm Host Device driver manually to get the network interface working. After that, ssh'ing to 'root@192.168.42.1' works.
2024-08-27: c2 - from /var/log/messages
Aug 27 19:32:37 kg-core2 kernel: ugen1.9: <Cvitek NCM> at usbus1 Aug 27 19:32:37 kg-core2 kernel: ugen1.9: <Cvitek NCM> at usbus1 (disconnected) Aug 27 19:32:37 kg-core2 kernel: ugen1.9: <Cvitek NCM> at usbus1 Aug 27 19:32:37 kg-core2 kernel: cdce0 on uhub3 Aug 27 19:32:37 kg-core2 kernel: cdce0: <CDC Network Control Model (NCM)> on usbus1 Aug 27 19:32:37 kg-core2 kernel: umodem0 on uhub3 Aug 27 19:32:37 kg-core2 kernel: ue0: <USB Ethernet> on cdce0 Aug 27 19:32:37 kg-core2 kernel: ue0: Ethernet address: d2:02:e9:da:4a:e2 Aug 27 19:32:37 kg-core2 kernel: umodem0: <CDC Abstract Control Model (ACM)> on usbus1 Aug 27 19:32:37 kg-core2 kernel: umodem0: data interface 3, has no CM over data, has no break
so, one network interface and one serial port. The serial port is
root@kg-core2:~ # sysctl dev.umodem.0.ttyname dev.umodem.0.ttyname: U0
and
root@kg-core2:~ # ll /dev/cuaU0 /dev/ttyU0 crw-rw---- 1 uucp dialer 0x22b Aug 27 19:32 /dev/cuaU0 crw------- 1 root wheel 0x228 Aug 27 19:32 /dev/ttyU0
get the network interface up
root@kg-core2:~ # ifconfig ue0 ue0: flags=8802<BROADCAST,SIMPLEX,MULTICAST> metric 0 mtu 1500 options=80000<LINKSTATE> ether d2:02:e9:da:4a:e2 media: Ethernet autoselect nd6 options=29<PERFORMNUD,IFDISABLED,AUTO_LINKLOCAL> root@kg-core2:~ # ifconfig ue0 up root@kg-core2:~ # ifconfig ue0 ue0: flags=8843<UP,BROADCAST,RUNNING,SIMPLEX,MULTICAST> metric 0 mtu 1500 options=80000<LINKSTATE> ether d2:02:e9:da:4a:e2 media: Ethernet autoselect status: active nd6 options=29<PERFORMNUD,IFDISABLED,AUTO_LINKLOCAL> root@kg-core2:~ # dhclient ue0 DHCPDISCOVER on ue0 to 255.255.255.255 port 67 interval 4 DHCPOFFER from 192.168.42.1 DHCPREQUEST on ue0 to 255.255.255.255 port 67 DHCPACK from 192.168.42.1 bound to 192.168.42.108 -- renewal in 1800 seconds.
try to ping it
tingo@kg-core2:~ $ ping 192.168.42.1 PING 192.168.42.1 (192.168.42.1): 56 data bytes 64 bytes from 192.168.42.1: icmp_seq=0 ttl=64 time=0.668 ms 64 bytes from 192.168.42.1: icmp_seq=1 ttl=64 time=0.707 ms ^C --- 192.168.42.1 ping statistics --- 2 packets transmitted, 2 packets received, 0.0% packet loss round-trip min/avg/max/stddev = 0.668/0.688/0.707/0.020 ms
and ssh into it
tingo@kg-core2:~ $ ssh root@192.168.42.1 root@192.168.42.1's password: [root@milkv-duo]~#
yes, it works
2024-08-27: c2 - I connect a Milk-V Duo to my FreeBSD workstation. It shows up in usbconfig as
root@kg-core2:~ # usbconfig -d ugen1.9 ugen1.9: <Cvitek NCM> at usbus1, cfg=0 md=HOST spd=HIGH (480Mbps) pwr=ON (120mA)
usbconfig - device description
root@kg-core2:~ # usbconfig -d ugen1.9 dump_device_desc ugen1.9: <Cvitek NCM> at usbus1, cfg=0 md=HOST spd=HIGH (480Mbps) pwr=ON (120mA) bLength = 0x0012 bDescriptorType = 0x0001 bcdUSB = 0x0200 bDeviceClass = 0x00ef <Miscellaneous device> bDeviceSubClass = 0x0002 bDeviceProtocol = 0x0001 bMaxPacketSize0 = 0x0040 idVendor = 0x3346 idProduct = 0x100c bcdDevice = 0x0510 iManufacturer = 0x0001 <Cvitek> iProduct = 0x0002 <NCM> iSerialNumber = 0x0003 <0123456789> bNumConfigurations = 0x0001
usbconfig - current config
root@kg-core2:~ # usbconfig -d ugen1.9 dump_curr_config_desc ugen1.9: <Cvitek NCM> at usbus1, cfg=0 md=HOST spd=HIGH (480Mbps) pwr=ON (120mA) Configuration index 0 bLength = 0x0009 bDescriptorType = 0x0002 wTotalLength = 0x00a0 bNumInterfaces = 0x0004 bConfigurationValue = 0x0001 iConfiguration = 0x0004 <config1> bmAttributes = 0x0080 bMaxPower = 0x003c Additional Descriptor bLength = 0x08 bDescriptorType = 0x0b bDescriptorSubType = 0x00 RAW dump: 0x00 | 0x08, 0x0b, 0x00, 0x02, 0x02, 0x0d, 0x00, 0x08 Interface 0 bLength = 0x0009 bDescriptorType = 0x0004 bInterfaceNumber = 0x0000 bAlternateSetting = 0x0000 bNumEndpoints = 0x0001 bInterfaceClass = 0x0002 <Communication device> bInterfaceSubClass = 0x000d bInterfaceProtocol = 0x0000 iInterface = 0x0005 <CDC Network Control Model (NCM)> Additional Descriptor bLength = 0x05 bDescriptorType = 0x24 bDescriptorSubType = 0x00 RAW dump: 0x00 | 0x05, 0x24, 0x00, 0x10, 0x01 Additional Descriptor bLength = 0x05 bDescriptorType = 0x24 bDescriptorSubType = 0x06 RAW dump: 0x00 | 0x05, 0x24, 0x06, 0x00, 0x01 Additional Descriptor bLength = 0x0d bDescriptorType = 0x24 bDescriptorSubType = 0x0f RAW dump: 0x00 | 0x0d, 0x24, 0x0f, 0x06, 0x00, 0x00, 0x00, 0x00, 0x08 | 0xea, 0x05, 0x00, 0x00, 0x00 Additional Descriptor bLength = 0x06 bDescriptorType = 0x24 bDescriptorSubType = 0x1a RAW dump: 0x00 | 0x06, 0x24, 0x1a, 0x00, 0x01, 0x11 Endpoint 0 bLength = 0x0007 bDescriptorType = 0x0005 bEndpointAddress = 0x0082 <IN> bmAttributes = 0x0003 <INTERRUPT> wMaxPacketSize = 0x0010 bInterval = 0x0009 bRefresh = 0x0000 bSynchAddress = 0x0000 Interface 1 bLength = 0x0009 bDescriptorType = 0x0004 bInterfaceNumber = 0x0001 bAlternateSetting = 0x0000 bNumEndpoints = 0x0000 bInterfaceClass = 0x000a <CDC-data> bInterfaceSubClass = 0x0000 bInterfaceProtocol = 0x0001 iInterface = 0x0007 <CDC Network Data> Interface 1 Alt 1 bLength = 0x0009 bDescriptorType = 0x0004 bInterfaceNumber = 0x0001 bAlternateSetting = 0x0001 bNumEndpoints = 0x0002 bInterfaceClass = 0x000a <CDC-data> bInterfaceSubClass = 0x0000 bInterfaceProtocol = 0x0001 iInterface = 0x0007 <CDC Network Data> Endpoint 0 bLength = 0x0007 bDescriptorType = 0x0005 bEndpointAddress = 0x0081 <IN> bmAttributes = 0x0002 <BULK> wMaxPacketSize = 0x0200 bInterval = 0x0000 bRefresh = 0x0000 bSynchAddress = 0x0000 Endpoint 1 bLength = 0x0007 bDescriptorType = 0x0005 bEndpointAddress = 0x0001 <OUT> bmAttributes = 0x0002 <BULK> wMaxPacketSize = 0x0200 bInterval = 0x0000 bRefresh = 0x0000 bSynchAddress = 0x0000 Additional Descriptor bLength = 0x08 bDescriptorType = 0x0b bDescriptorSubType = 0x02 RAW dump: 0x00 | 0x08, 0x0b, 0x02, 0x02, 0x02, 0x02, 0x01, 0x0c Interface 2 bLength = 0x0009 bDescriptorType = 0x0004 bInterfaceNumber = 0x0002 bAlternateSetting = 0x0000 bNumEndpoints = 0x0001 bInterfaceClass = 0x0002 <Communication device> bInterfaceSubClass = 0x0002 bInterfaceProtocol = 0x0001 iInterface = 0x000a <CDC Abstract Control Model (ACM)> Additional Descriptor bLength = 0x05 bDescriptorType = 0x24 bDescriptorSubType = 0x00 RAW dump: 0x00 | 0x05, 0x24, 0x00, 0x10, 0x01 Additional Descriptor bLength = 0x05 bDescriptorType = 0x24 bDescriptorSubType = 0x01 RAW dump: 0x00 | 0x05, 0x24, 0x01, 0x00, 0x03 Additional Descriptor bLength = 0x04 bDescriptorType = 0x24 bDescriptorSubType = 0x02 RAW dump: 0x00 | 0x04, 0x24, 0x02, 0x02 Additional Descriptor bLength = 0x05 bDescriptorType = 0x24 bDescriptorSubType = 0x06 RAW dump: 0x00 | 0x05, 0x24, 0x06, 0x02, 0x03 Endpoint 0 bLength = 0x0007 bDescriptorType = 0x0005 bEndpointAddress = 0x0084 <IN> bmAttributes = 0x0003 <INTERRUPT> wMaxPacketSize = 0x000a bInterval = 0x0009 bRefresh = 0x0000 bSynchAddress = 0x0000 Interface 3 bLength = 0x0009 bDescriptorType = 0x0004 bInterfaceNumber = 0x0003 bAlternateSetting = 0x0000 bNumEndpoints = 0x0002 bInterfaceClass = 0x000a <CDC-data> bInterfaceSubClass = 0x0000 bInterfaceProtocol = 0x0000 iInterface = 0x000b <CDC ACM Data> Endpoint 0 bLength = 0x0007 bDescriptorType = 0x0005 bEndpointAddress = 0x0083 <IN> bmAttributes = 0x0002 <BULK> wMaxPacketSize = 0x0200 bInterval = 0x0000 bRefresh = 0x0000 bSynchAddress = 0x0000 Endpoint 1 bLength = 0x0007 bDescriptorType = 0x0005 bEndpointAddress = 0x0002 <OUT> bmAttributes = 0x0002 <BULK> wMaxPacketSize = 0x0200 bInterval = 0x0000 bRefresh = 0x0000 bSynchAddress = 0x0000
2024-08-27: it doesn't look like there is a SVD file for CV1800B anywhere. But still, the Arduino code uses sg200x.
2024-08-27: ti21 - it is possible to upload firmware with the burntool script like so
tingo@no-osl-ti21-linux:~/work/2024/0827_til_fredagsinnslag/Milk-V_Duo/milkv-duo-hal$ python3 ~/.arduino15/packages/sophgo/tools/burntool_py/0.3/burntool.py --port /dev/ttyACM0 --firmware blinky.elf burntool.py v0.3 upload firmware blinky.elf start upload... communication and testing... connecting... connection successful... stop firmware... ready to update firmware... start to update firmware... send data... 10.00% send data... 20.00% send data... 30.00% send data... 40.00% send data... 50.00% send data... 60.00% send data... 70.00% send data... 80.00% send data... 90.00% send data... 100.00% send data... 100.00% update firmware done... restart firmware... upload and runing success...
so far I haven't had any success in getting the LED to blink.
2024-08-27: ti21 - I install Arduino IDE 2.3.2 (appimage), add the additional boards manager URL for the Milk-V Duo
https://github.com/milkv-duo/duo-arduino/releases/download/config/package_sg200x_index.json
install the SG200X from Boards Manager, select he board "Duo Dev Module" and port /dev/ttyACM0. I open Examples, 01. Basics, Blink, then I upload the code. First it failed becasue I didn't have python3-serial installed, but after that
burntool.py v0.3 upload firmware /tmp/arduino/sketches/EF3734BEDA1DB34961E05C32CFD65B45/Blink.ino.elf start upload... …send data... 100.00% update firmware done... restart firmware... upload and runing success...
and the blue LED next to the usb-C connector starts blinking again. On the duo, I check various things
[root@milkv-duo]~# ls -l /lib/firmware total 96 -rw-r--r-- 1 root root 97976 Jan 1 00:14 arduino.elf [root@milkv-duo]~# cat /sys/class/remoteproc/remoteproc0/name c906l_rproc@0 [root@milkv-duo]~# cat /sys/class/remoteproc/remoteproc0/state running
interesting. burntool.py is in ~/.arduino15/packages/sophgo/tools/burntool_py/0.3/burntool.py
2024-08-27: duo - I remove the blink script with
[root@milkv-duo]~# mv /mnt/system/blink.sh /mnt/system/no_blink.sh [root@milkv-duo]~# reboot [root@milkv-duo]~# Connection to 192.168.42.1 closed by remote host.
after the machine has rebooted, the bluie LED next to the usb-C connector doesn't blink anymore.
2024-08-27: ti21 - there is also a usb serial port
$ ls -l /dev/tty[ACU]* crw-rw---- 1 root dialout 166, 0 Aug 27 12:36 /dev/ttyACM0
2024-08-27: duo - related to remote proc aka 'arduino'
[root@milkv-duo]~# ls -l /lib/firmware total 0 [root@milkv-duo]~# ls -l /usr/bin/burnd -rwxr-xr-x 1 root root 585056 Aug 1 2024 /usr/bin/burnd [root@milkv-duo]~# ls -l /sys/class/remoteproc total 0 lrwxrwxrwx 1 root root 0 Jan 1 01:07 remoteproc0 -> ../../devices/platform/c906l_rproc@0/remoteproc/remoteproc0 [root@milkv-duo]~# ls -l /sys/class/remoteproc/remoteproc0/ total 0 -rw-r--r-- 1 root root 4096 Jan 1 01:07 coredump lrwxrwxrwx 1 root root 0 Jan 1 01:07 device -> ../../../c906l_rproc@0 -rw-r--r-- 1 root root 4096 Jan 1 01:07 firmware -r--r--r-- 1 root root 4096 Jan 1 01:07 name -rw-r--r-- 1 root root 4096 Jan 1 01:07 recovery -rw-r--r-- 1 root root 4096 Jan 1 01:07 state lrwxrwxrwx 1 root root 0 Jan 1 01:07 subsystem -> ../../../../../class/remoteproc -rw-r--r-- 1 root root 4096 Jan 1 01:07 uevent
and more
[root@milkv-duo]~# cat /sys/class/remoteproc/remoteproc0/name c906l_rproc@0 [root@milkv-duo]~# cat /sys/class/remoteproc/remoteproc0/state offline
2024-08-27: duo - scripts in /mnt/system auto.sh
[root@milkv-duo]~# more /mnt/system/auto.sh #!/bin/sh # Put the program you want to run automatically here
blink.sh
[root@milkv-duo]~# more /mnt/system/blink.sh #!/bin/sh LED_PIN=440 LED_GPIO=/sys/class/gpio/gpio${LED_PIN} if test -d ${LED_GPIO}; then echo "PIN ${LED_PIN} already exported" else echo ${LED_PIN} > /sys/class/gpio/export fi echo out > ${LED_GPIO}/direction while true; do echo 0 > ${LED_GPIO}/value sleep 0.5 echo 1 > ${LED_GPIO}/value sleep 0.5 done
duo-init.sh
[root@milkv-duo]~# more /mnt/system/duo-init.sh #!/bin/sh # Set Pin-29(GP22) to GPIO devmem 0x0502707c 32 0x111 devmem 0x03001068 32 0x3 # Set Pin-19(GP14) to GPIO duo-pinmux -w GP14/GP14 > /dev/null # Insmod PWM Module insmod /mnt/system/ko/cv180x_pwm.ko
usb-host.sh
[root@milkv-duo]~# more /mnt/system/usb-host.sh #!/bin/sh echo host > /proc/cviusb/otg_role >> /tmp/usb.log 2>&1
usb-ncm.sh
[root@milkv-duo]~# more /mnt/system/usb-ncm.sh #!/bin/sh /etc/uhubon.sh device >> /tmp/ncm.log 2>&1 /etc/run_usb.sh probe ncm >> /tmp/ncm.log 2>&1 if test -e /usr/bin/burnd; then /etc/run_usb.sh probe acm >> /tmp/ncm.log 2>&1 fi /etc/run_usb.sh start ncm >> /tmp/ncm.log 2>&1 sleep 0.5 ifconfig usb0 192.168.42.1 count=`ps | grep dnsmasq | grep -v grep | wc -l` if [ ${count} -lt 1 ] ;then echo "/etc/init.d/S80dnsmasq start" >> /tmp/ncm.log 2>&1 /etc/init.d/S80dnsmasq start >> /tmp/ncm.log 2>&1 fi sleep 2 mkdir -p /lib/firmware if test -e /usr/bin/burnd; then burnd & if test -e /lib/firmware/arduino.elf; then sleep 2 echo stop > /sys/class/remoteproc/remoteproc0/state echo start > /sys/class/remoteproc/remoteproc0/state fi fi
usb-rndis.sh
[root@milkv-duo]~# more /mnt/system/usb-rndis.sh #!/bin/sh /etc/uhubon.sh device >> /tmp/rndis.log 2>&1 /etc/run_usb.sh probe rndis >> /tmp/rndis.log 2>&1 if test -e /usr/bin/burnd; then /etc/run_usb.sh probe acm >> /tmp/rndis.log 2>&1 fi /etc/run_usb.sh start rndis >> /tmp/rndis.log 2>&1 sleep 0.5 ifconfig usb0 192.168.42.1 count=`ps | grep dnsmasq | grep -v grep | wc -l` if [ ${count} -lt 1 ] ;then echo "/etc/init.d/S80dnsmasq start" >> /tmp/rndis.log 2>&1 /etc/init.d/S80dnsmasq start >> /tmp/rndis.log 2>&1 fi sleep 2 mkdir -p /lib/firmware if test -e /usr/bin/burnd; then burnd & if test -e /lib/firmware/arduino.elf; then sleep 2 echo stop > /sys/class/remoteproc/remoteproc0/state echo start > /sys/class/remoteproc/remoteproc0/state fi fi
2024-08-27: duo - from /mnt
[root@milkv-duo]~# ls -l /mnt total 4 drwxr-xr-x 3 root root 1024 Aug 1 2024 cfg drwxr-xr-x 2 root root 1024 Aug 1 2024 cvimodel drwxr-xr-x 2 root root 1024 Aug 1 2024 data drwxr-xr-x 5 root root 1024 Aug 1 2024 system
/mnt/data
[root@milkv-duo]~# ls -la /mnt/data total 6 drwxr-xr-x 2 root root 1024 Aug 1 2024 . drwxr-xr-x 6 root root 1024 Aug 1 2024 .. lrwxrwxrwx 1 root root 21 Aug 1 2024 sensor_cfg.ini -> sensor_cfg_GC2083.ini -rw-r--r-- 1 root root 259 Aug 1 2024 sensor_cfg_GC2083.ini -rw-r--r-- 1 root root 259 Aug 1 2024 sensor_cfg_OV5647.ini -rw-r--r-- 1 root root 263 Aug 1 2024 sensor_cfg_SC035HGS.ini -rw-r--r-- 1 root root 258 Aug 1 2024 sensor_cfg_SC200AI.ini
/mnt/system
[root@milkv-duo]~# ls -la /mnt/system total 14 drwxr-xr-x 5 root root 1024 Aug 1 2024 . drwxr-xr-x 6 root root 1024 Aug 1 2024 .. -rwxr-xr-x 1 root root 65 Aug 1 2024 auto.sh -rwxr-xr-x 1 root root 336 Aug 1 2024 blink.sh -rwxr-xr-x 1 root root 212 Aug 1 2024 duo-init.sh drwxr-xr-x 3 root root 1024 Aug 1 2024 ko drwxr-xr-x 2 root root 3072 Aug 1 2024 lib -rw-r--r-- 1 root root 101 Aug 1 2024 sdk-release -rwxr-xr-x 1 root root 67 Aug 1 2024 usb-host.sh -rwxr-xr-x 1 root root 715 Aug 1 2024 usb-ncm.sh -rwxr-xr-x 1 root root 731 Aug 1 2024 usb-rndis.sh lrwxrwxrwx 1 root root 10 Aug 1 2024 usb.sh -> usb-ncm.sh drwxr-xr-x 3 root root 1024 Aug 1 2024 usr
/mnt/cfg
[root@milkv-duo]~# ls -la /mnt/cfg total 3 drwxr-xr-x 3 root root 1024 Aug 1 2024 . drwxr-xr-x 6 root root 1024 Aug 1 2024 .. drwxr-xr-x 2 root root 1024 Aug 1 2024 param [root@milkv-duo]~# ls -la /mnt/cfg/param/ total 1074 drwxr-xr-x 2 root root 1024 Aug 1 2024 . drwxr-xr-x 3 root root 1024 Aug 1 2024 .. lrwxrwxrwx 1 root root 18 Aug 1 2024 cvi_sdr_bin -> cvi_sdr_bin_GC2083 -rw-r--r-- 1 root root 628456 Aug 1 2024 cvi_sdr_bin_GC2083 -rw-r--r-- 1 root root 229179 Aug 1 2024 cvi_sdr_bin_OV5647.bin -rw-r--r-- 1 root root 233368 Aug 1 2024 cvi_sdr_bin_SC035HGS
/mnt/cvimodel
[root@milkv-duo]~# ls -la /mnt/cvimodel/ total 862 drwxr-xr-x 2 root root 1024 Aug 1 2024 . drwxr-xr-x 6 root root 1024 Aug 1 2024 .. -rwxr-xr-x 1 root root 874920 Aug 1 2024 scrfd_480_270_int8.cvimodel
2024-08-27: duo - from /sys/class/gpio
[root@milkv-duo]~# ls -l /sys/class/gpio total 0 --w------- 1 root root 4096 Jan 1 00:00 export lrwxrwxrwx 1 root root 0 Jan 1 00:00 gpio440 -> ../../devices/platform/3022000.gpio/gpiochip2/gpio/gpio440 lrwxrwxrwx 1 root root 0 Jan 1 00:42 gpiochip352 -> ../../devices/platform/5021000.gpio/gpio/gpiochip352 lrwxrwxrwx 1 root root 0 Jan 1 00:42 gpiochip384 -> ../../devices/platform/3023000.gpio/gpio/gpiochip384 lrwxrwxrwx 1 root root 0 Jan 1 00:42 gpiochip416 -> ../../devices/platform/3022000.gpio/gpio/gpiochip416 lrwxrwxrwx 1 root root 0 Jan 1 00:42 gpiochip448 -> ../../devices/platform/3021000.gpio/gpio/gpiochip448 lrwxrwxrwx 1 root root 0 Jan 1 00:42 gpiochip480 -> ../../devices/platform/3020000.gpio/gpio/gpiochip480 --w------- 1 root root 4096 Jan 1 00:42 unexport
2024-08-27: duo - network interfaces
[root@milkv-duo]~# ip a 1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN qlen 1000 link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00 inet 127.0.0.1/8 scope host lo valid_lft forever preferred_lft forever inet6 ::1/128 scope host valid_lft forever preferred_lft forever 2: eth0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP qlen 1000 link/ether 9e:7a:67:9d:56:81 brd ff:ff:ff:ff:ff:ff inet 169.254.101.59/16 brd 169.254.255.255 scope global noprefixroute eth0 valid_lft forever preferred_lft forever inet6 fe80::7e49:6379:b610:bd0f/64 scope link valid_lft forever preferred_lft forever 3: usb0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc pfifo_fast state UP qlen 1000 link/ether 7e:48:f6:ce:44:57 brd ff:ff:ff:ff:ff:ff inet 192.168.42.1/24 brd 192.168.42.255 scope global usb0 valid_lft forever preferred_lft forever inet6 fe80::7c48:f6ff:fece:4457/64 scope link valid_lft forever preferred_lft forever
2024-08-27: duo - various info from dmesg
[ 0.000000] earlycon: sbi0 at I/O port 0x0 (options '') [ 0.000000] SBI specification v0.3 detected [ 0.000000] SBI implementation ID=0x1 Version=0x9 [ 0.000000] SBI v0.2 TIME extension detected [ 0.000000] SBI v0.2 IPI extension detected [ 0.000000] SBI v0.2 RFENCE extension detected [ 0.000000] riscv: ISA extensions acdfimsuv [ 0.000000] riscv: ELF capabilities acdfimv [ 0.000000] Memory: 56196K/64768K available (4045K kernel code, 494K rwdata, 1818K rodata, 152K init, 210K bss, 8572K reserved, 0K cma-reserved) [ 0.241367] Ion: ion_parse_dt_heap_common: id 0 type 2 name carveout align 1000 [ 0.249262] Ion: rmem_ion_device_init: heap carveout base 0x0000000083e3f000 size 0x0000000000000000 dev (____ptrval____) [ 0.260551] ion_carveout_heap_create, size=0x0 [ 0.265323] cvi_get_rtos_ion_size, rtos ion_size get:0x0 [ 0.445540] RTOS_CMDQU_INIT [ 0.448452] mbox_reg=(____ptrval____) [ 0.452297] mbox_done_reg=(____ptrval____) [ 0.456596] mailbox_context=(____ptrval____) [ 0.461115] cvi_rtos_cmdqu_probe DONE [ 0.465081] cvi_rtos_cmdqu_init done [ 0.468746] [cvi_spinlock_init] success [ 0.472993] Serial: 8250/16550 driver, 5 ports, IRQ sharing disabled [ 0.481576] printk: console [ttyS0] disabled [ 0.486107] 4140000.serial: ttyS0 at MMIO 0x4140000 (irq = 15, base_baud = 1562500) is a 16550A [ 0.495276] printk: console [ttyS0] enabled [ 0.503869] printk: bootconsole [sbi0] disabled [ 0.514158] 4150000.serial: ttyS1 at MMIO 0x4150000 (irq = 16, base_baud = 1562500) is a 16550A [ 0.524109] 4160000.serial: ttyS2 at MMIO 0x4160000 (irq = 17, base_baud = 1562500) is a 16550A [ 0.534095] 4170000.serial: ttyS3 at MMIO 0x4170000 (irq = 18, base_baud = 1562500) is a 16550A [ 0.544065] 41c0000.serial: ttyS4 at MMIO 0x41c0000 (irq = 19, base_baud = 1562500) is a 16550A [ 0.588697] bm-dwmac 4070000.ethernet: IRQ eth_wake_irq not found [ 0.595071] bm-dwmac 4070000.ethernet: IRQ eth_lpi not found [ 0.601061] bm-dwmac 4070000.ethernet: Hash table entries set to unexpected value 0 [ 0.609138] bm-dwmac 4070000.ethernet: no reset control found [ 0.615385] bm-dwmac 4070000.ethernet: User ID: 0x10, Synopsys ID: 0x37 [ 0.622307] bm-dwmac 4070000.ethernet: DWMAC1000 [ 0.627211] bm-dwmac 4070000.ethernet: DMA HW capability register supported [ 0.634434] bm-dwmac 4070000.ethernet: RX Checksum Offload Engine supported [ 0.641659] bm-dwmac 4070000.ethernet: COE Type 2 [ 0.646551] bm-dwmac 4070000.ethernet: TX Checksum insertion supported [ 0.653327] bm-dwmac 4070000.ethernet: Normal descriptors [ 0.658936] bm-dwmac 4070000.ethernet: Ring mode enabled [ 0.664458] bm-dwmac 4070000.ethernet: Enable RX Mitigation via HW Watchdog Timer [ 0.672224] bm-dwmac 4070000.ethernet: device MAC address 9e:7a:67:9d:56:81 [ 0.706367] libphy: stmmac: probed [ 0.711684] bm-dwmac 4070000.ethernet: Cannot get clk_500m_eth! [ 0.717948] bm-dwmac 4070000.ethernet: Cannot get gate_clk_axi4! [ 0.863164] mmc0: SDHCI controller on 4310000.cv-sd [4310000.cv-sd] using ADMA 64-bit [ 1.214978] mmc0: Problem switching card into high-speed mode! [ 1.235225] mmc0: new SDHC card at address 0001 [ 1.240829] mmcblk0: mmc0:0001 SD32G 28.8 GiB [ 1.248786] mmcblk0: p1 p2 p3 [ 2.329223] bm-dwmac 4070000.ethernet eth0: PHY [stmmac-0:00] driver [Generic PHY] (irq=POLL) [ 2.355206] dwmac1000: Master AXI performs any burst length [ 2.362167] bm-dwmac 4070000.ethernet eth0: No Safety Features support found [ 2.369957] bm-dwmac 4070000.ethernet eth0: IEEE 1588-2002 Timestamp supported [ 2.378799] bm-dwmac 4070000.ethernet eth0: configuring for phy/rmii link mode
2024-08-27: ti21 - ssh into the duo (ssh keys do not work, need to check the config)
tingo@no-osl-ti21-linux:~$ ssh root@192.168.42.1 root@192.168.42.1's password: [root@milkv-duo]~# ls -la total 3 drwx------ 2 root root 1024 Jan 1 00:09 . drwxr-xr-x 19 root root 1024 Jan 1 00:00 .. -rw------- 1 root root 12 Jan 1 00:10 .ash_history [root@milkv-duo]~#
version
[root@milkv-duo]~# cat /etc/os-release NAME=Buildroot VERSION=20240801-1858 ID=buildroot VERSION_ID=2021.05 PRETTY_NAME="Buildroot 2021.05"
kernel
[root@milkv-duo]~# uname -a Linux milkv-duo 5.10.4-tag- #1 PREEMPT Thu Aug 1 18:51:26 CST 2024 riscv64 GNU/Linux
lsblk info
[root@milkv-duo]~# lsblk -f NAME FSTYPE FSVER LABEL UUID FSAVAIL FSUSE% MOUNTPOINT mmcblk0 |-mmcblk0p1 vfat boot AA94-3653 124.6M 2% /boot |-mmcblk0p2 ext4 rootfs 75ee0820-1cdd-479e-a7cc-8f51cfbb6386 565.4M 18% / `-mmcblk0p3
df info
[root@milkv-duo]~# df -h Filesystem Size Used Avail Use% Mounted on /dev/root 746M 138M 566M 20% / devtmpfs 28M 0 28M 0% /dev tmpfs 28M 0 28M 0% /dev/shm tmpfs 28M 56K 28M 1% /tmp tmpfs 28M 28K 28M 1% /run /dev/mmcblk0p1 128M 3.2M 125M 3% /boot
info from /proc
[root@milkv-duo]~# cat /proc/cmdline root=/dev/mmcblk0p2 rootwait rw console=ttyS0,115200 earlycon=sbi riscv.fwsz=0x80000 loglevel=9 [root@milkv-duo]~# cat /proc/cpuinfo processor : 0 hart : 0 isa : rv64imafdvcsu mmu : sv39
2024-08-27: ti21 - connecting the Duo to my machine with a usb-C cable. A red LED near the top left corner close to the microSD card lights up. On my machine I have
$ lsusb -d 3346:100c Bus 005 Device 010: ID 3346:100c Cvitek NCM
and a new network interface
$ ip link show dev enxcaa52c3a1c1b 4: enxcaa52c3a1c1b: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UP mode DEFAULT group default qlen 1000 link/ether ca:a5:2c:3a:1c:1b brd ff:ff:ff:ff:ff:ff $ ip a show enxcaa52c3a1c1b 4: enxcaa52c3a1c1b: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UP group default qlen 1000 link/ether ca:a5:2c:3a:1c:1b brd ff:ff:ff:ff:ff:ff inet 192.168.42.103/24 brd 192.168.42.255 scope global dynamic noprefixroute enxcaa52c3a1c1b valid_lft 3135sec preferred_lft 3135sec inet6 fe80::6108:a689:a4c5:c561/64 scope link noprefixroute valid_lft forever preferred_lft forever
2024-08-27: ti21 - the microSD card written from image (arduino-milkv-duo-sd-v1.1.2-2024-0801.img.zip) looks like this:
$ sudo parted /dev/sde print Model: Generic- MicroSD/M2 (scsi) Disk /dev/sde: 30.9GB Sector size (logical/physical): 512B/512B Partition Table: msdos Disk Flags: Number Start End Size Type File system Flags 1 512B 134MB 134MB primary fat16 boot, lba 2 134MB 940MB 805MB primary ext4
mount and explore the boot partition
$ sudo mount /dev/sde1 /mnt $ ls -l /mnt total 3250 -rwxr-xr-x 1 root root 3007172 Aug 1 20:59 boot.sd -rwxr-xr-x 1 root root 317952 Aug 1 20:59 fip.bin
not much. Unmount, then mount and explore the root partition
$ sudo mount /dev/sde2 /mnt $ l -F /mnt/* /mnt/lib64@ /mnt/linuxrc@ /mnt/bin: ./ busybox* compile_et* dir@ false@ gunzip@ linux32@ lsblk* mount@ nuke@ pwd@ setarch@ su@ uname@ ../ cat@ cp@ dmesg* fdflush@ gzip@ linux64@ mk_cmds* mountpoint@ pidof@ resume@ setpriv@ sync@ usleep@ arch@ chattr* cpio@ dnsdomainname@ fgrep@ hostname@ ln@ mkdir@ mt@ ping@ rm@ setserial@ tar@ vdir@ ash@ chgrp@ date@ dumpkmap@ findmnt* join@ login@ mknod@ mv@ pipe_progress@ rmdir@ sh@ touch@ vi@ base32@ chmod@ dd@ echo@ getopt@ kill@ ls@ mktemp@ netstat@ printenv@ run-parts@ sleep@ true@ watch@ base64@ chown@ df@ egrep@ grep@ link@ lsattr* more@ nice@ ps@ sed@ stty@ umount@ zcat@ /mnt/dev: ./ ../ fd@ log@ pts/ shm/ stderr@ stdin@ stdout@ /mnt/etc: ./ dnsmasq.conf group init.d/ libnl/ network/ passwd protocols services ssl/ wpa_supplicant.conf ../ dropbear@ hostname inittab mke2fs.conf ntp.conf profile resolv.conf@ shadow uhubon.sh* dhcpcd.conf fstab hosts issue mtab@ os-release@ profile.d/ run_usb.sh* shells wgetrc /mnt/lib: ./ ld-musl-riscv64v0p7_xthead.so.1@ libblkid.so.1@ libfdisk.so.1.1.0* libmount.so.1.1.0* libstdc++.so.6@ libuuid.so.1@ ../ libatomic.so.1@ libblkid.so.1.1.0* libgcc_s.so.1* libsmartcols.so.1@ libstdc++.so.6.0.28* libuuid.so.1.3.0* dhcpcd/ libatomic.so.1.2.0* libfdisk.so.1@ libmount.so.1@ libsmartcols.so.1.1.0* libstdc++.so.6.0.28-gdb.py* lp64d@ ls: cannot open directory '/mnt/lost+found': Permission denied /mnt/media: ./ ../ /mnt/mnt: ./ ../ cfg/ cvimodel/ data/ system/ /mnt/opt: ./ ../ /mnt/proc: ./ ../ ls: cannot open directory '/mnt/root': Permission denied /mnt/run: ./ ../ /mnt/sbin: ./ cfdisk* e2label@ fsck* hdparm@ ipaddr@ logsave* mkfs.ext2@ poweroff@ sfdisk* syslogd@ ../ chcpu* e2mmpstatus@ fsck.ext2@ hwclock@ iplink@ losetup@ mkfs.ext3@ reboot@ start-stop-daemon@ tc@ arp@ ctrlaltdel* e2undo* fsck.ext3@ ifconfig@ ipneigh@ lsmod@ mkfs.ext4@ resize2fs* sulogin@ tune2fs* badblocks* devmem@ e4crypt* fsck.ext4@ ifdown@ iproute@ makedevs@ mklost+found* rmmod@ swaplabel* udhcpc@ blkdiscard* dhcpcd* fdisk* fsfreeze* ifup@ iprule@ mdev@ mkswap* route@ swapoff* uevent@ blkid* dumpe2fs* filefrag* fstrim* init@ iptunnel@ mkdosfs@ modprobe@ run-init@ swapon* vconfig@ blkzone* e2freefrag* findfs* getty@ insmod@ klogd@ mke2fs* nameif@ runlevel@ switch_root@ watchdog@ blockdev* e2fsck* freeramdisk@ halt@ ip@ loadkmap@ mkfs* pivot_root@ setconsole@ sysctl@ /mnt/sys: ./ ../ /mnt/tmp: ./ ../ /mnt/usr: ./ ../ bin/ lib/ lib64@ lib64v0p7_xthead/ libexec/ local/ sbin/ share/ /mnt/var: ./ ../ cache@ db/ lib/ lock@ log@ run@ spool@ tmp@ www/
2024-08-25: I created this page.
2023-10-17: the package was delivered, straight into my mailbox.
2023-10-16: shipping notice from Posten.
2023-10-11 the package was shipped.
2023-10-09: I ordered 4 x Milk-V Duo from a seller on Aliexpress. The price was USD 6.89 each (total USD 27.56), with shipping the total is USD 41.15 (about NOK 474.76 via PayPal)