bsp: k230: support canmv-k230 #10221

unicornx · 2025-04-23T08:16:18Z

⭐ ⭐ ⭐ 本 PR 包含了 7 个 commit，建议 merge 时不要压缩，保留这 7 个修改记录。
这 7 个 commit 是故意保留的，不是临时的修改记录，一方面方便 review，另一方面方便回溯和 rollback。

原先的 bsp/k230 支持的是 evb 评估版，并不适合社区，现在改为 canmv-k230，并默认支持目前市面上比较常见的 01Studio CanMV-K230 这款板子。

其他是一些代码清理以及和最新的主线同步，为后面增加支持更多的驱动做准备。

更新了 README，详细描述了如何快速烧写。

拉取/合并请求描述：(PR description)

[

为什么提交这份PR (why to submit this PR)

你的解决方案是什么 (what is your solution)

请提供验证的bsp和config (provide the config and bsp)

BSP:

.config:

action:

]

当前拉取/合并请求的状态 Intent for your PR

必须选择一项 Choose one (Mandatory):

本拉取/合并请求是一个草稿版本 This PR is for a code-review and is intended to get feedback
本拉取/合并请求是一个成熟版本 This PR is mature, and ready to be integrated into the repo

代码质量 Code Quality：

我在这个拉取/合并请求中已经考虑了 As part of this pull request, I've considered the following:

已经仔细查看过代码改动的对比 Already check the difference between PR and old code
代码风格正确，包括缩进空格，命名及其他风格 Style guide is adhered to, including spacing, naming and other styles
没有垃圾代码，代码尽量精简，不包含#if 0代码，不包含已经被注释了的代码 All redundant code is removed and cleaned up
所有变更均有原因及合理的，并且不会影响到其他软件组件代码或BSP All modifications are justified and not affect other components or BSP
对难懂代码均提供对应的注释 I've commented appropriately where code is tricky
代码是高质量的 Code in this PR is of high quality
已经使用formatting 等源码格式化工具确保格式符合RT-Thread代码规范 This PR complies with RT-Thread code specification
如果是新增bsp, 已经添加ci检查到.github/workflows/bsp_buildings.yml 详细请参考链接BSP自查

Copilot

Pull Request Overview

This PR updates the BSP for the K230 platform to support the more widely used CanMV-K230 board, along with various code cleanups and synchronizations with the latest mainline. Key changes include:

Modification of toolchain and build configuration in rtconfig.py, including enhanced RTT_ROOT resolution and updated compiler paths.
Updates to kernel configuration settings in rtconfig.h (e.g. version, memory layout, and new driver options).
Driver updates (especially in the UART driver) and board memory map adjustments to better reflect the CanMV-K230 hardware.
Enhancements in the SConstruct build script to generate the linker script automatically.

Reviewed Changes

Copilot reviewed 8 out of 12 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
bsp/k230/rtconfig.py	Updates to toolchain paths, environment variable fallback, and build configuration logic
bsp/k230/rtconfig.h	Kernel configuration updates and new options for klibc, memory management, and drivers
bsp/k230/drivers/interdrv/uart/drv_uart.c	Improvements in UART initialization, hardware mapping, and safety checks in ISR
bsp/k230/board/mem_layout.h	Addition of detailed memory layout definitions for the board
bsp/k230/board/board.h & board.c	Expanded board hardware definitions and a modified static assert check with a FIXME hint
bsp/k230/SConstruct	Revised linker script generation logic replacing the manual stack linker script generation
bsp/k230/README.md	Detailed and updated user instructions for building and flashing the BSP for different setups

Files not reviewed (4)

bsp/k230/.config: Language not supported
bsp/k230/.gitignore: Language not supported
bsp/k230/link.lds: Language not supported
bsp/k230/link_stacksize.lds: Language not supported

Comments suppressed due to low confidence (1)

bsp/k230/drivers/interdrv/uart/drv_uart.c:142

[nitpick] The condition enforcing a minimum value for 'dll' is critical for baud rate calculation but may not be immediately clear. Consider extracting the minimum value condition into a well-named constant or helper function for improved clarity.

if((dlh == 0) && (dll < 1))

Copilot · 2025-04-23T09:40:53Z

bsp/k230/board/board.c

+RT_STATIC_ASSERT(kmem_region, (KERNEL_VADDR_START + MEM_OPENSBI_SIZE) == 0xffffffc000020000);



The static assert now uses a hack (with a FIXME comment) to bypass proper bootloader alignment validation. Consider revisiting this check to implement a robust validation that accurately reflects the production board requirements.

Suggested change

RT_STATIC_ASSERT(kmem_region, (KERNEL_VADDR_START + MEM_OPENSBI_SIZE) == 0xffffffc000020000);

#define EXPECTED_BOOTLOADER_ALIGNMENT 0xffffffc000020000 /* Replace with dynamic calculation if possible */

RT_STATIC_ASSERT(kmem_region, (KERNEL_VADDR_START + MEM_OPENSBI_SIZE) == EXPECTED_BOOTLOADER_ALIGNMENT);

这个 ASSERT 没有必要，可以删除。

Copilot · 2025-04-23T09:40:54Z

bsp/k230/SConstruct

+            child = subprocess.Popen(gcc_cmd + f' -E -P -x c {input} -o {output}', stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True)
+


Consider using a list of arguments for subprocess.Popen instead of string concatenation with shell=True to improve cross-platform reliability and reduce potential security risks.

Suggested change

child = subprocess.Popen(gcc_cmd + f' -E -P -x c {input} -o {output}', stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True)

child = subprocess.Popen([gcc_cmd, '-E', '-P', '-x', 'c', input, '-o', output], stdout=subprocess.PIPE, stderr=subprocess.PIPE)

这么改无法解决问题，这个问题以前也提过，see #10202 (comment)

Copilot · 2025-04-23T09:40:54Z

bsp/k230/rtconfig.py


 # toolchains options
 ARCH        ='risc-v'
 VENDOR      ='t-head'
 CPU         ='c908'
 CROSS_TOOL  ='gcc'

-RTT_ROOT = os.getenv('RTT_ROOT', r'../..')
+RTT_ROOT = os.getenv('RTT_ROOT', r'../..') or os.path.join(os.getcwd(),'..','..')


[nitpick] Using os.getcwd() as a fallback for RTT_ROOT may lead to inconsistent paths if the current working directory isn’t as expected. Consider adding documentation or explicit error handling when RTT_ROOT is not set.

Suggested change

RTT_ROOT = os.getenv('RTT_ROOT', r'../..') or os.path.join(os.getcwd(),'..','..')

RTT_ROOT = os.getenv('RTT_ROOT')

if not RTT_ROOT:

raise EnvironmentError("RTT_ROOT environment variable is not set. Please set it to the root directory of the project.")

这行代码的修改有问题，已经恢复原来的写法。

Some changes to support canmv board, such as: - Address constant, some may need be set as configuration later. - link script - build script Signed-off-by: Wang Chen <unicorn_wang@outlook.com>

Signed-off-by: Wang Chen <unicorn_wang@outlook.com>

KERNEL_VADDR_START changed to 0xffffffc000020000. __STACKSIZE__ changed to 65536. Signed-off-by: Chen Wang <unicorn_wang@outlook.com>

For linker script, use constant macro defined from rtconfig.h, not immediate value. Also cleanup the link_statksize.lds, it is also not needed when using new mechanism. Signed-off-by: Chen Wang <unicorn_wang@outlook.com>

BernardXiong · 2025-04-23T12:21:11Z

不同的板卡是否用不同的设备树即可？

The original code used immediate values directly when it came to memory layout, which was not a good programming habit. Now we use macros and try to be compatible with SDK configuration values in the SDK compilation environment. The main changes are to clean up board.h, and extract some memory layout constants to define a new header file mem_layout.h. Also update KERNEL_VADDR_START to the default value for Smart, so we can use it as base to calculate other mapping address. Signed-off-by: Chen Wang <unicorn_wang@outlook.com>

Signed-off-by: Chen Wang <unicorn_wang@outlook.com>

BernardXiong · 2025-04-23T12:25:41Z

有好几种板卡，
K230-Edu，CanMV-K230（还有庐山派 CanMV-K230，不知道是否完全一致），K230 Box

unicornx · 2025-04-23T12:29:31Z

不同的板卡是否用不同的设备树即可？

暂时没有精力支持设备树，目前主要的精力是希望先将 canaan 内部的 vendor bsp 先移植升级到最新的主线，他们的代码没有实现设备树，所以对设备树的支持要计划放在下一阶段考虑了。

另外对于不同 canmv-k230 的板卡支持，目前的方案实际上是有计划兼容 canaan 的 rtos-only sdk 的，具体看 commit “bsp: k230: use configuration instead of immediate value” 的描述。或者看 bsp/k230/board/mem_layout.h 中的注释。等 rtt 主线支持好后， canaan 的 rtos-only sdk 可以集成 RTT 的主线代码，然后通过 SDK 的配置导入 rtconfig.h 后就可以通过配置支持不同的 canmv 板卡了，这也是现阶段 SDK 的做法，只不过现在 SDK 中集成的还是老版本的 RTT。

在没有和 SDK 集成之前，和 canaan 开发组讨论后，决定在 RTT 主线仓库中先只支持默认的 01Studio 512MB。

github-actions bot added the BSP label Apr 23, 2025

unicornx added BSP: K230 BSP related with K230 Arch: RISC-V BSP related with risc-v RT-Smart RT-Thread Smart related PR or issues labels Apr 23, 2025

unicornx force-pushed the dev-canmv-basic branch from 651d29e to 255edf0 Compare April 23, 2025 08:54

unicornx requested a review from Rbb666 April 23, 2025 08:59

supperthomas requested a review from Copilot April 23, 2025 09:39

Copilot AI reviewed Apr 23, 2025

View reviewed changes

unicornx added 4 commits April 23, 2025 20:19

bsp: k230: support canmv board

f6fb25f

Some changes to support canmv board, such as: - Address constant, some may need be set as configuration later. - link script - build script Signed-off-by: Wang Chen <unicorn_wang@outlook.com>

bsp: k230: update uart driver

f29dcf3

Signed-off-by: Wang Chen <unicorn_wang@outlook.com>

bsp: k230: updated config

6058c90

KERNEL_VADDR_START changed to 0xffffffc000020000. __STACKSIZE__ changed to 65536. Signed-off-by: Chen Wang <unicorn_wang@outlook.com>

bsp: k230: use rtconfig.h for linkscript

7ee48b2

For linker script, use constant macro defined from rtconfig.h, not immediate value. Also cleanup the link_statksize.lds, it is also not needed when using new mechanism. Signed-off-by: Chen Wang <unicorn_wang@outlook.com>

unicornx added 3 commits April 23, 2025 20:22

bsp: canmv: update README

8ce4bf2

Signed-off-by: Chen Wang <unicorn_wang@outlook.com>

bsp: k230: fix some cpp_check warnings

d5cca2a

Signed-off-by: Chen Wang <unicorn_wang@outlook.com>

unicornx force-pushed the dev-canmv-basic branch from 255edf0 to d5cca2a Compare April 23, 2025 12:27

Rbb666 approved these changes Apr 24, 2025

View reviewed changes

Rbb666 merged commit 283c2fb into RT-Thread:master Apr 24, 2025
33 checks passed

unicornx deleted the dev-canmv-basic branch April 24, 2025 06:51

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bsp: k230: support canmv-k230 #10221

bsp: k230: support canmv-k230 #10221

unicornx commented Apr 23, 2025 •

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BernardXiong commented Apr 23, 2025

BernardXiong commented Apr 23, 2025

unicornx commented Apr 23, 2025 •

edited

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		RT_STATIC_ASSERT(kmem_region, (KERNEL_VADDR_START + MEM_OPENSBI_SIZE) == 0xffffffc000020000);

	RT_STATIC_ASSERT(kmem_region, (KERNEL_VADDR_START + MEM_OPENSBI_SIZE) == 0xffffffc000020000);
	#define EXPECTED_BOOTLOADER_ALIGNMENT 0xffffffc000020000 /* Replace with dynamic calculation if possible */
	RT_STATIC_ASSERT(kmem_region, (KERNEL_VADDR_START + MEM_OPENSBI_SIZE) == EXPECTED_BOOTLOADER_ALIGNMENT);

		child = subprocess.Popen(gcc_cmd + f' -E -P -x c {input} -o {output}', stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True)

	child = subprocess.Popen(gcc_cmd + f' -E -P -x c {input} -o {output}', stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True)
	child = subprocess.Popen([gcc_cmd, '-E', '-P', '-x', 'c', input, '-o', output], stdout=subprocess.PIPE, stderr=subprocess.PIPE)

-RTT_ROOT = os.getenv('RTT_ROOT', r'../..') or os.path.join(os.getcwd(),'..','..')
+RTT_ROOT = os.getenv('RTT_ROOT')
+if not RTT_ROOT:
+    raise EnvironmentError("RTT_ROOT environment variable is not set. Please set it to the root directory of the project.")

bsp: k230: support canmv-k230 #10221

bsp: k230: support canmv-k230 #10221

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unicornx commented Apr 23, 2025 • edited Loading

拉取/合并请求描述：(PR description)

为什么提交这份PR (why to submit this PR)

你的解决方案是什么 (what is your solution)

请提供验证的bsp和config (provide the config and bsp)

当前拉取/合并请求的状态 Intent for your PR

代码质量 Code Quality：

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Pull Request Overview

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BernardXiong commented Apr 23, 2025

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