Introduction
PULPino is an open-source single-core microcontroller system, based on 32-bit RISC-V cores developed at ETH Zurich. PULPino is configurable to use either the RISCY or the zero-riscy core.
RISCY is an in-order, single-issue core with 4 pipeline stages and it has an IPC close to 1, full support for the base integer instruction set (RV32I), compressed instructions (RV32C) and multiplication instruction set extension (RV32M). It can be configured to have single-precision floating-point instruction set extension (RV32F). It implements several ISA extensions such as: hardware loops, post-incrementing load and store instructions, bit-manipulation instructions, MAC operations, support fixed-point operations, packed-SIMD instructions and the dot product. It has been designed to increase the energy efficiency of in ultra-low-power signal processing applications. RISCY implementes a subset of the 1.9 privileged specification. Further informations can be found in http://ieeexplore.ieee.org/abstract/document/7864441/.
zero-riscy is an in-order, single-issue core with 2 pipeline stages and it has full support for the base integer instruction set (RV32I) and compressed instructions (RV32C). It can be configured to have multiplication instruction set extension (RV32M) and the reduced number of registers extension (RV32E). It has been designed to target ultra-low-power and ultra-low-area constraints. zero-riscy implementes a subset of the 1.9 privileged specification.
When the core is idle, the platform can be put into a low power mode, where only a simple event unit is active and everything else is clock-gated and consumes minimal power (leakage). A specialized event unit wakes up the core in case an event/interrupt arrives.
For communication with the outside world, PULPino contains a broad set of peripherals, including I2S, I2C, SPI and UART. The platform internal devices can be accessed from outside via JTAG and SPI which allows pre-loading RAMs with executable code. In standalone mode, the platform boots from an internal boot ROM and loads its program from an external SPI flash.
The PULPino platform is available for RTL simulation as well FPGA. PULPino has been taped-out as an ASIC in UMC 65nm in January 2016. It has full debug support on all targets. In addition we support extended profiling with source code annotated execution times through KCacheGrind in RTL simulations.
Requirements
PULPino has the following requirements
- ModelSim in reasonably recent version (we tested it with versions >= 10.2c)
- CMake >= 2.8.0, versions greater than 3.1.0 recommended due to support for ninja
- riscv-toolchain, specifically you need riscv32-unknown-elf-gcc compiler and friends. There are two choices for this toolchain: Either using the official RISC-V toolchain supported by Berkeley or the custom RISC-V toolchain from ETH. The ETH versions supports all the ISA extensions that were incorporated into the RI5CY core as well as the reduced base instruction set for zero-riscy. Please make sure you are using the newlib version of the toolchain.
- python2 >= 2.6
- verilator 3.884 only necessary if you want to use Verilator to evaluate PULPino.
ISA Support
PULPino can run either with RISCY or zero-riscy.
The software included in this repository is compatible with both the cores
and automatically targets the correct ISA based on the flags used.
The simulator (modelsim) must be explicitely told which edition you want to build.
Use the environment variable USE_ZERO_RISCY and set it to either 1 for zero-riscy or
0 for RISCY.
Version Control
PULPino uses multiple git subrepositories
To clone those subrepositores and update them, use
./update-ips.py
This script will read the ips_lists.txt file and update to the versions
specified in there. You can choose specific commits, tags or branches.
Documentation
There is a preliminary datasheet available that includes a block diagram and a memory map of PULPino. See docs/datasheet/ in this repository.
It is written in LaTeX and there is no pdf included in the repository. Simply type
make all
inside the folder to generate the pdf. Note that you need a working version of latex for this step.
Running simulations
The software is built using CMake. Create a build folder somewhere, e.g. in the sw folder
mkdir build
Copy the cmake-configure.{*}.gcc.sh bash script to the build folder. This script can be found in the sw subfolder of the git repository.
Modify the cmake-configure script to your needs and execute it inside the build folder. This will setup everything to perform simulations using ModelSim.
Four cmake-configure bash scripts have been already configured:
1) cmake_configure.riscv.gcc.sh
It automatically selects the RISCY cores and compiles SW with all the PULP-extensions and the RV32IM support. The GCC ETH compiler is needed and the GCC march flag set to "IMXpulpv2".
2) cmake_configure.riscvfloat.gcc.sh
It automatically selects the RISCY cores and compiles SW with all the PULP-extensions and the RV32IMF support. The GCC ETH compiler is needed and he GCC march flag set to "IMFXpulpv2".
3) cmake_configure.zeroriscy.gcc.sh
It automatically selects the zero-riscy cores and compiles SW with the RV32IM support (march flag set to RV32IM).
4) cmake_configure.microriscy.gcc.sh
It automatically selects the zero-riscy cores and compiles SW with the RV32E support. The slim GCC ETH compiler is needed and he GCC march flag set to "RV32I" and the "-m16r" is passed to the compiler to use only the RV32E ISA support.
Activate the RVC flag in the cmake file if compressed instructions are desired.
Inside the build folder, execute
make vcompile
to compile the RTL libraries using ModelSim.
To run a simulation in the modelsim GUI use
make helloworld.vsim
To run simulations in the modelsim console use
make helloworld.vsimc
This will output a summary at the end of the simulation. This is intended for batch processing of a large number of tests.
Replace helloworld with the test/application you want to run.
Using ninja instead of make
You can use ninja instead make to build software for PULPino, just replace all occurrences of make with ninja. The same targets are supported on both make and ninja.
Interactive debug
To interactively debug software via gdb, you need the jtag bridge as well as a
working version of gdb for the ISA you want to debug. The debug bridge depends
on the jtag_dpi package that emulates a JTAG port and provides a TCP socket
to which the jtag bridge can connect to.
Utilities
We additionally provide some utilitiy targets that are supposed to make development for PULPino easier.
For disassembling a program call
make helloworld.read
To regenerate the bootcode and copy it to the rtl folder use
make boot_code.install
FPGA
PULPino can be synthesized and run on a ZedBoard.
Take a look at the fpga subfolder for more information.
Creating a tarball of the PULPino sources
If for some reason you don't want to use the git sub-repository approach, you
can create a tarball of the whole design by executing ./create-tarball.py.
This will download the latest PULPino sources, including all IPS, remove the
git internal folders and create a tar gz.
Arduino compatible libraries
Most of official Arduino libraries are supported by PULPino software, they can be compiled, simulated and uploded the same way as traditional software programs using the available PULPino utilities. You only need to include main.cpp at the beginning of the program:
#include "main.cpp"
Take a look at the sw/libs/Arduino_libs subfolder for more information about
the status of the currently supported libraries.
SOLDERPAD HARDWARE LICENSE version 0.51
This license is based closely on the Apache License Version 2.0, but is not
approved or endorsed by the Apache Foundation. A copy of the non-modified
Apache License 2.0 can be found at http://www.apache.org/licenses/LICENSE-2.0.
As this license is not currently OSI or FSF approved, the Licensor permits any
Work licensed under this License, at the option of the Licensee, to be treated
as licensed under the Apache License Version 2.0 (which is so approved).
This License is licensed under the terms of this License and in particular
clause 7 below (Disclaimer of Warranties) applies in relation to its use.
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
“License” shall mean the terms and conditions for use, reproduction, and
distribution as defined by Sections 1 through 9 of this document.
“Licensor” shall mean the Rights owner or entity authorized by the Rights owner
that is granting the License.
“Legal Entity” shall mean the union of the acting entity and all other entities
that control, are controlled by, or are under common control with that entity.
For the purposes of this definition, “control” means (i) the power, direct or
indirect, to cause the direction or management of such entity, whether by
contract or otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
“You” (or “Your”) shall mean an individual or Legal Entity exercising
permissions granted by this License.
“Rights” means copyright and any similar right including design right (whether
registered or unregistered), semiconductor topography (mask) rights and
database rights (but excluding Patents and Trademarks).
“Source” form shall mean the preferred form for making modifications, including
but not limited to source code, net lists, board layouts, CAD files,
documentation source, and configuration files.
“Object” form shall mean any form resulting from mechanical transformation or
translation of a Source form, including but not limited to compiled object
code, generated documentation, the instantiation of a hardware design and
conversions to other media types, including intermediate forms such as
bytecodes, FPGA bitstreams, artwork and semiconductor topographies (mask
works).
“Work” shall mean the work of authorship, whether in Source form or other
Object form, made available under the License, as indicated by a Rights notice
that is included in or attached to the work (an example is provided in the
Appendix below).
“Derivative Works” shall mean any work, whether in Source or Object form, that
is based on (or derived from) the Work and for which the editorial revisions,
annotations, elaborations, or other modifications represent, as a whole, an
original work of authorship. For the purposes of this License, Derivative Works
shall not include works that remain separable from, or merely link (or bind by
name) or physically connect to or interoperate with the interfaces of, the Work
and Derivative Works thereof.
“Contribution” shall mean any design or work of authorship, including the
original version of the Work and any modifications or additions to that Work or
Derivative Works thereof, that is intentionally submitted to Licensor for
inclusion in the Work by the Rights owner or by an individual or Legal Entity
authorized to submit on behalf of the Rights owner. For the purposes of this
definition, “submitted” means any form of electronic, verbal, or written
communication sent to the Licensor or its representatives, including but not
limited to communication on electronic mailing lists, source code control
systems, and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but excluding
communication that is conspicuously marked or otherwise designated in writing
by the Rights owner as “Not a Contribution.”
“Contributor” shall mean Licensor and any individual or Legal Entity on behalf
of whom a Contribution has been received by Licensor and subsequently
incorporated within the Work.
2. Grant of License. Subject to the terms and conditions of this License, each
Contributor hereby grants to You a perpetual, worldwide, non-exclusive,
no-charge, royalty-free, irrevocable license under the Rights to reproduce,
prepare Derivative Works of, publicly display, publicly perform, sublicense,
and distribute the Work and such Derivative Works in Source or Object form and
do anything in relation to the Work as if the Rights did not exist.
3. Grant of Patent License. Subject to the terms and conditions of this
License, each Contributor hereby grants to You a perpetual, worldwide,
non-exclusive, no-charge, royalty-free, irrevocable (except as stated in this
section) patent license to make, have made, use, offer to sell, sell, import,
and otherwise transfer the Work, where such license applies only to those
patent claims licensable by such Contributor that are necessarily infringed by
their Contribution(s) alone or by combination of their Contribution(s) with the
Work to which such Contribution(s) was submitted. If You institute patent
litigation against any entity (including a cross-claim or counterclaim in a
lawsuit) alleging that the Work or a Contribution incorporated within the Work
constitutes direct or contributory patent infringement, then any patent
licenses granted to You under this License for that Work shall terminate as of
the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the Work or
Derivative Works thereof in any medium, with or without modifications, and in
Source or Object form, provided that You meet the following conditions:
You must give any other recipients of the Work or Derivative Works a copy
of this License; and
You must cause any modified files to carry prominent notices stating that
You changed the files; and
You must retain, in the Source form of any Derivative Works that You
distribute, all copyright, patent, trademark, and attribution notices from
the Source form of the Work, excluding those notices that do not pertain to
any part of the Derivative Works; and
If the Work includes a “NOTICE” text file as part of its distribution, then
any Derivative Works that You distribute must include a readable copy of
the attribution notices contained within such NOTICE file, excluding those
notices that do not pertain to any part of the Derivative Works, in at
least one of the following places: within a NOTICE text file distributed as
part of the Derivative Works; within the Source form or documentation, if
provided along with the Derivative Works; or, within a display generated by
the Derivative Works, if and wherever such third-party notices normally
appear. The contents of the NOTICE file are for informational purposes only
and do not modify the License. You may add Your own attribution notices
within Derivative Works that You distribute, alongside or as an addendum to
the NOTICE text from the Work, provided that such additional attribution
notices cannot be construed as modifying the License. You may add Your own
copyright statement to Your modifications and may provide additional or
different license terms and conditions for use, reproduction, or
distribution of Your modifications, or for any such Derivative Works as a
whole, provided Your use, reproduction, and distribution of the Work
otherwise complies with the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise, any
Contribution intentionally submitted for inclusion in the Work by You to the
Licensor shall be under the terms and conditions of this License, without any
additional terms or conditions. Notwithstanding the above, nothing herein shall
supersede or modify the terms of any separate license agreement you may have
executed with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade names,
trademarks, service marks, or product names of the Licensor, except as required
for reasonable and customary use in describing the origin of the Work and
reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or agreed to in
writing, Licensor provides the Work (and each Contributor provides its
Contributions) on an “AS IS” BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
KIND, either express or implied, including, without limitation, any warranties
or conditions of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any risks
associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory, whether in
tort (including negligence), contract, or otherwise, unless required by
applicable law (such as deliberate and grossly negligent acts) or agreed to in
writing, shall any Contributor be liable to You for damages, including any
direct, indirect, special, incidental, or consequential damages of any
character arising as a result of this License or out of the use or inability to
use the Work (including but not limited to damages for loss of goodwill, work
stoppage, computer failure or malfunction, or any and all other commercial
damages or losses), even if such Contributor has been advised of the
possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing the Work or
Derivative Works thereof, You may choose to offer, and charge a fee for,
acceptance of support, warranty, indemnity, or other liability obligations
and/or rights consistent with this License. However, in accepting such
obligations, You may act only on Your own behalf and on Your sole
responsibility, not on behalf of any other Contributor, and only if You agree
to indemnify, defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason of your
accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
Last updated 5 months ago
Pulpino_v2.1 released 3 years ago
Language: C/C++ Header
38 open issues
2 open pull requests
137 forks
84 watchers
493 stars
784 commits by 23 contributors
Activity in last 1 year
Updated 5 months ago