Information for RiscvRV32FreeRTOS

This page provides detailed information about the imperas.ovpworld.org RiscvRV32FreeRTOS Virtual Platform / Virtual Prototype.

Licensing
Open Source Apache 2.0

Description
Example platform to instance RISCV RV32I processor core with extensions M and SU. Peripherals and memory address layout to boot pre-compiled FreeRTOS operating system.

Reference
https://github.com/RISCV-on-Microsemi-FPGA/FreeRTOS/tree/master/FreeRTOS_on_Mi-V_Processor

Limitations
Created to executed the specific software

Location
The RiscvRV32FreeRTOS virtual platform is located in an Imperas/OVP installation at the VLNV: imperas.ovpworld.org / module / RiscvRV32FreeRTOS / 1.0.

Platform Summary

Table 1: Components in platform

TypeInstanceVendorComponent
Processorcpu0riscv.ovpworld.orgriscvRVB32I
Peripheraluart0microsemi.ovpworld.orgCoreUARTapb
Peripheralplic0riscv.ovpworld.orgPLIC
Peripheralprci0riscv.ovpworld.orgCLINT
Memorynvramovpworld.orgram
Memoryddrovpworld.orgram
Busbus0(builtin)address width:32


Platform Simulation Attributes

Table 2: Platform Simulation Attributes

AttributeValueDescription
stoponctrlcstoponctrlcStop on control-C



Processor [riscv.ovpworld.org/processor/riscv/1.0] instance: cpu0

Processor model type: 'riscv' variant 'RVB32I' definition
Imperas OVP processor models support multiple variants and details of the variants implemented in this model can be found in:
- the Imperas installation located at ImperasLib/source/riscv.ovpworld.org/processor/riscv/1.0/doc
- the OVP website: OVP_Model_Specific_Information_riscv_RVB32I.pdf

Description
RISC-V RVB32I 32-bit processor model

Licensing
This Model is released under the Open Source Apache 2.0

Extensions
The model has the following architectural extensions enabled, and the following bits in the misa CSR Extensions field will be set upon reset:
misa bit 8: RV32I/64I/128I base ISA
To specify features that can be dynamically enabled or disabled by writes to the misa register in addition to those listed above, use parameter "add_Extensions_mask". This is a string parameter containing the feature letters to add; for example, value "DV" indicates that double-precision floating point and the Vector Extension can be enabled or disabled by writes to the misa register.
Legacy parameter "misa_Extensions_mask" can also be used. This Uns32-valued parameter specifies all writable bits in the misa Extensions field, replacing any value defined in the base variant.
Note that any features that are indicated as present in the misa mask but absent in the misa will be ignored. See the next section.
Legacy parameter "misa_Extensions" can also be used. This Uns32-valued parameter specifies the reset value for the misa CSR Extensions field, replacing any value defined in the base variant.

Available (But Not Enabled) Extensions
The following extensions are supported by the model, but not enabled by default in this variant:
misa bit 0: extension A (atomic instructions) (NOT ENABLED)
misa bit 1: extension B (bit manipulation extension) (NOT ENABLED)
misa bit 2: extension C (compressed instructions) (NOT ENABLED)
misa bit 3: extension D (double-precision floating point) (NOT ENABLED)
misa bit 4: RV32E base ISA (NOT ENABLED)
misa bit 5: extension F (single-precision floating point) (NOT ENABLED)
misa bit 12: extension M (integer multiply/divide instructions) (NOT ENABLED)
misa bit 13: extension N (user-level interrupts) (NOT ENABLED)
misa bit 18: extension S (Supervisor mode) (NOT ENABLED)
misa bit 20: extension U (User mode) (NOT ENABLED)
misa bit 21: extension V (vector extension) (NOT ENABLED)
misa bit 23: extension X (non-standard extensions present) (NOT ENABLED)
To add features from this list to the base variant, use parameter "add_Extensions". This is a string parameter containing the feature letters to add; for example, value "DV" indicates that double-precision floating point and the Vector Extension should be enabled, if they are absent.

General Features
On this variant, the Machine trap-vector base-address register (mtvec) is writable. It can instead be configured as read-only using parameter "mtvec_is_ro".
Values written to "mtvec" are masked using the value 0xfffffffd. A different mask of writable bits may be specified using parameter "mtvec_mask" if required. In addition, when Vectored interrupt mode is enabled, parameter "tvec_align" may be used to specify additional hardware-enforced base address alignment. In this variant, "tvec_align" defaults to 0, implying no alignment constraint.
The initial value of "mtvec" is 0x0. A different value may be specified using parameter "mtvec" if required.
On reset, the model will restart at address 0x0. A different reset address may be specified using parameter "reset_address" if required.
On an NMI, the model will restart at address 0x0. A different NMI address may be specified using parameter "nmi_address" if required.
WFI will halt the processor until an interrupt occurs. It can instead be configured as a NOP using parameter "wfi_is_nop". WFI timeout wait is implemented with a time limit of 0 (i.e. WFI causes an Illegal Instruction trap in Supervisor mode when mstatus.TW=1).
The "cycle" CSR is implemented in this variant. Set parameter "cycle_undefined" to True to instead specify that "cycle" is unimplemented and reads of it should trap to Machine mode.
The "time" CSR is implemented in this variant. Set parameter "time_undefined" to True to instead specify that "time" is unimplemented and reads of it should trap to Machine mode. Usually, the value of the "time" CSR should be provided by the platform - see notes below about the artifact "CSR" bus for information about how this is done.
The "instret" CSR is implemented in this variant. Set parameter "instret_undefined" to True to instead specify that "instret" is unimplemented and reads of it should trap to Machine mode.
Unaligned memory accesses are not supported by this variant. Set parameter "unaligned" to "T" to enable such accesses.
A PMP unit is not implemented by this variant. Set parameter "PMP_registers" to indicate that the unit should be implemented with that number of PMP entries.

CLIC
The model can be configured to implement a Core Local Interrupt Controller (CLIC) using parameter "CLICLEVELS"; when non-zero, the CLIC is present with the specified number of interrupt levels (2-256), as described in the RISC-V Core-Local Interrupt Controller specification (see references). When "CLICLEVELS" is non-zero, further parameters are made available to configure other aspects of the CLIC, as described below.
The model can configured either to use an internal CLIC model (if parameter "externalCLIC" is False) or to present a net interface to allow the CLIC to be implemented externally in a platform component (if parameter "externalCLIC" is True). When the CLIC is implemented internally, net ports for standard interrupts and additional local interrupts are available. When the CLIC is implemented externally, a net port interface allowing the highest-priority pending interrupt to be delivered is instead present. This is described below.

CLIC Common Parameters
This section describes parameters applicable whether the CLIC is implemented internally or externally. These are:
"CLICANDBASIC": this Boolean parameter indicates whether both CLIC and basic interrupt controller are present (if True) or whether only the CLIC is present (if False).
"CLICXNXTI": this Boolean parameter indicates whether xnxti CSRs are implemented (if True) or unimplemented (if False).
"CLICXCSW": this Boolean parameter indicates whether xscratchcsw and xscratchcswl CSRs registers are implemented (if True) or unimplemented (if False).
"mclicbase": this parameter specifies the CLIC base address in physical memory.
"tvt_undefined": this Boolean parameter indicates whether xtvt CSRs registers are implemented (if True) or unimplemented (if False). If the registers are unimplemented then the model will use basic mode vectored interrupt semantics based on the xtvec CSRs instead of Selective Hardware Vectoring semantics described in the specification.
"intthresh_undefined": this Boolean parameter indicates whether xintthresh CSRs registers are implemented (if True) or unimplemented (if False).
"mclicbase_undefined": this Boolean parameter indicates whether the mclicbase CSR register is implemented (if True) or unimplemented (if False).

CLIC Internal-Implementation Parameters
This section describes parameters applicable only when the CLIC is implemented internally. These are:
"CLICCFGMBITS": this Uns32 parameter indicates the number of bits implemented in cliccfg.nmbits, and also indirectly defines CLICPRIVMODES. For cores which implement only Machine mode, or which implement Machine and User modes but not the N extension, the parameter is absent ("CLICCFGMBITS" must be zero in these cases).
"CLICCFGLBITS": this Uns32 parameter indicates the number of bits implemented in cliccfg.nlbits.
"CLICSELHVEC": this Boolean parameter indicates whether Selective Hardware Vectoring is supported (if True) or unsupported (if False).

CLIC External-Implementation Net Port Interface
When the CLIC is externally implemented, net ports are present allowing the external CLIC model to supply the highest-priority pending interrupt and to be notified when interrupts are handled. These are:
"irq_id_i": this input should be written with the id of the highest-priority pending interrupt.
"irq_lev_i": this input should be written with the highest-priority interrupt level.
"irq_sec_i": this 2-bit input should be written with the highest-priority interrupt security state (00:User, 01:Supervisor, 11:Machine).
"irq_shv_i": this input port should be written to indicate whether the highest-priority interrupt should be direct (0) or vectored (1). If the "tvt_undefined parameter" is False, vectored interrupts will use selective hardware vectoring, as described in the CLIC specification. If "tvt_undefined" is True, vectored interrupts will behave like basic mode vectored interrupts.
"irq_id_i": this input should be written with the id of the highest-priority pending interrupt.
"irq_i": this input should be written with 1 to indicate that the external CLIC is presenting an interrupt, or 0 if no interrupt is being presented.
"irq_ack_o": this output is written by the model on entry to the interrupt handler (i.e. when the interrupt is taken). It will be written as an instantaneous pulse (i.e. written to 1, then immediately 0).
"irq_id_o": this output is written by the model with the id of the interrupt currently being handled. It is valid during the instantaneous irq_ack_o pulse.
"sec_lvl_o": this output signal indicates the current secure status of the processor, as a 2-bit value (00=User, 01:Supervisor, 11=Machine).

Interrupts
The "reset" port is an active-high reset input. The processor is halted when "reset" goes high and resumes execution from the reset address specified using the "reset_address" parameter when the signal goes low. The "mcause" register is cleared to zero.
The "nmi" port is an active-high NMI input. The processor resumes execution from the address specified using the "nmi_address" parameter when the NMI signal goes high. The "mcause" register is cleared to zero.
All other interrupt ports are active high. For each implemented privileged execution level, there are by default input ports for software interrupt, timer interrupt and external interrupt; for example, for Machine mode, these are called "MSWInterrupt", "MTimerInterrupt" and "MExternalInterrupt", respectively. When the N extension is implemented, ports are also present for User mode. Parameter "unimp_int_mask" allows the default behavior to be changed to exclude certain interrupt ports. The parameter value is a mask in the same format as the "mip" CSR; any interrupt corresponding to a non-zero bit in this mask will be removed from the processor and read as zero in "mip", "mie" and "mideleg" CSRs (and Supervisor and User mode equivalents if implemented).
Parameter "external_int_id" can be used to enable extra interrupt ID input ports on each hart. If the parameter is True then when an external interrupt is applied the value on the ID port is sampled and used to fill the Exception Code field in the "mcause" CSR (or the equivalent CSR for other execution levels). For Machine mode, the extra interrupt ID port is called "MExternalInterruptID".
The "deferint" port is an active-high artifact input that, when written to 1, prevents any pending-and-enabled interrupt being taken (normally, such an interrupt would be taken on the next instruction after it becomes pending-and-enabled). The purpose of this signal is to enable alignment with hardware models in step-and-compare usage.

Debug Mode
The model can be configured to implement Debug mode using parameter "debug_mode". This implements features described in Chapter 4 of the RISC-V External Debug Support specification (see References). Some aspects of this mode are not defined in the specification because they are implementation-specific; the model provides infrastructure to allow implementation of a Debug Module using a custom harness. Features added are described below.
Parameter "debug_mode" can be used to specify three different behaviors, as follows:
1. If set to value "vector", then operations that would cause entry to Debug mode result in the processor jumping to the address specified by the "debug_address" parameter. It will execute at this address, in Debug mode, until a "dret" instruction causes return to non-Debug mode. Any exception generated during this execution will cause a jump to the address specified by the "dexc_address" parameter.
2. If set to value "interrupt", then operations that would cause entry to Debug mode result in the processor simulation call (e.g. opProcessorSimulate) returning, with a stop reason of OP_SR_INTERRUPT. In this usage scenario, the Debug Module is implemented in the simulation harness.
3. If set to value "halt", then operations that would cause entry to Debug mode result in the processor halting. Depending on the simulation environment, this might cause a return from the simulation call with a stop reason of OP_SR_HALT, or debug mode might be implemented by another platform component which then restarts the debugged processor again.

Debug State Entry
The specification does not define how Debug mode is implemented. In this model, Debug mode is enabled by a Boolean pseudo-register, "DM". When "DM" is True, the processor is in Debug mode. When "DM" is False, mode is defined by "mstatus" in the usual way.
Entry to Debug mode can be performed in any of these ways:
1. By writing True to register "DM" (e.g. using opProcessorRegWrite) followed by simulation of at least one cycle (e.g. using opProcessorSimulate);
2. By writing a 1 then 0 to net "haltreq" (using opNetWrite) followed by simulation of at least one cycle (e.g. using opProcessorSimulate);
3. By writing a 1 to net "resethaltreq" (using opNetWrite) while the "reset" signal undergoes a negedge transition, followed by simulation of at least one cycle (e.g. using opProcessorSimulate);
4. By executing an "ebreak" instruction when Debug mode entry for the current processor mode is enabled by dcsr.ebreakm, dcsr.ebreaks or dcsr.ebreaku.
In all cases, the processor will save required state in "dpc" and "dcsr" and then perform actions described above, depending in the value of the "debug_mode" parameter.

Debug State Exit
Exit from Debug mode can be performed in any of these ways:
1. By writing False to register "DM" (e.g. using opProcessorRegWrite) followed by simulation of at least one cycle (e.g. using opProcessorSimulate);
2. By executing an "dret" instruction when Debug mode.
In both cases, the processor will perform the steps described in section 4.6 (Resume) of the Debug specification.

Debug Registers
When Debug mode is enabled, registers "dcsr", "dpc", "dscratch0" and "dscratch1" are implemented as described in the specification. These may be manipulated externally by a Debug Module using opProcessorRegRead or opProcessorRegWrite; for example, the Debug Module could write "dcsr" to enable "ebreak" instruction behavior as described above, or read and write "dpc" to emulate stepping over an "ebreak" instruction prior to resumption from Debug mode.

Debug Mode Execution
The specification allows execution of code fragments in Debug mode. A Debug Module implementation can cause execution in Debug mode by the following steps:
1. Write the address of a Program Buffer to the program counter using opProcessorPCSet;
2. If "debug_mode" is set to "halt", write 0 to pseudo-register "DMStall" (to leave halted state);
3. If entry to Debug mode was handled by exiting the simulation callback, call opProcessorSimulate or opRootModuleSimulate to resume simulation.
Debug mode will be re-entered in these cases:
1. By execution of an "ebreak" instruction; or:
2. By execution of an instruction that causes an exception.
In both cases, the processor will either jump to the debug exception address, or return control immediately to the harness, with stopReason of OP_SR_INTERRUPT, or perform a halt, depending on the value of the "debug_mode" parameter.

Debug Single Step
When in Debug mode, the processor or harness can cause a single instruction to be executed on return from that mode by setting dcsr.step. After one non-Debug-mode instruction has been executed, control will be returned to the harness. The processor will remain in single-step mode until dcsr.step is cleared.

Debug Ports
Port "DM" is an output signal that indicates whether the processor is in Debug mode
Port "haltreq" is a rising-edge-triggered signal that triggers entry to Debug mode (see above).
Port "resethaltreq" is a level-sensitive signal that triggers entry to Debug mode after reset (see above).

Debug Mask
It is possible to enable model debug messages in various categories. This can be done statically using the "override_debugMask" parameter, or dynamically using the "debugflags" command. Enabled messages are specified using a bitmask value, as follows:
Value 0x002: enable debugging of PMP and virtual memory state;
Value 0x004: enable debugging of interrupt state.
All other bits in the debug bitmask are reserved and must not be set to non-zero values.

Integration Support
This model implements a number of non-architectural pseudo-registers and other features to facilitate integration.

CSR Register External Implementation
If parameter "enable_CSR_bus" is True, an artifact 16-bit bus "CSR" is enabled. Slave callbacks installed on this bus can be used to implement modified CSR behavior (use opBusSlaveNew or icmMapExternalMemory, depending on the client API). A CSR with index 0xABC is mapped on the bus at address 0xABC0; as a concrete example, implementing CSR "time" (number 0xC01) externally requires installation of callbacks at address 0xC010 on the CSR bus.

Limitations
Instruction pipelines are not modeled in any way. All instructions are assumed to complete immediately. This means that instruction barrier instructions (e.g. fence.i) are treated as NOPs, with the exception of any Illegal Instruction behavior, which is modeled.
Caches and write buffers are not modeled in any way. All loads, fetches and stores complete immediately and in order, and are fully synchronous. Data barrier instructions (e.g. fence) are treated as NOPs, with the exception of any Illegal Instruction behavior, which is modeled.
Real-world timing effects are not modeled: all instructions are assumed to complete in a single cycle.
Hardware Performance Monitor and Debug registers are not implemented and hardwired to zero.

Verification
All instructions have been extensively tested by Imperas, using tests generated specifically for this model and also reference tests from https://github.com/riscv/riscv-tests.
Also reference tests have been used from various sources including:
https://github.com/riscv/riscv-tests
https://github.com/ucb-bar/riscv-torture
The Imperas OVPsim RISC-V models are used in the RISC-V Foundations Compliance Framework as a functional Golden Reference:
https://github.com/riscv/riscv-compliance
where the simulated model is used to provide the reference signatures for compliance testing. The Imperas OVPsim RISC-V models are used as reference in both open source and commercial instruction stream test generators for hardware design verification, for example:
http://valtrix.in/sting/ from Valtrix
https://github.com/google/riscv-dv from Google
The Imperas OVPsim RISC-V models are also used by commercial and open source RISC-V Core RTL developers as a reference to ensure correct functionality of their IP.

References
The Model details are based upon the following specifications:
RISC-V Instruction Set Manual, Volume I: User-Level ISA (User Architecture Version 20190305-Base-Ratification)
RISC-V Instruction Set Manual, Volume II: Privileged Architecture (Privileged Architecture Version 20190405-Priv-MSU-Ratification)
RISC-V Core-Local Interrupt Controller (CLIC) Version 0.9-draft-20191208
RISC-V External Debug Support Version 0.14.0-DRAFT

Instance Parameters
Several parameters can be specified when a processor is instanced in a platform. For this processor instance 'cpu0' it has been instanced with the following parameters:

Table 3: Processor Instance 'cpu0' Parameters (Configurations)

ParameterValueDescription
simulateexceptionssimulateexceptionsCauses the processor simulate exceptions instead of halting
mips50The nominal MIPS for the processor

Table 4: Processor Instance 'cpu0' Parameters (Attributes)

Parameter NameValueType
variantRVB32Ienum
add_ExtensionsMSUstring


Memory Map for processor 'cpu0' bus: 'bus0'
Processor instance 'cpu0' is connected to bus 'bus0' using master port 'INSTRUCTION'.

Processor instance 'cpu0' is connected to bus 'bus0' using master port 'DATA'.

Table 5: Memory Map ( 'cpu0' / 'bus0' [width: 32] )

Lo AddressHi AddressInstanceComponent
0x400000000x43FFFFFFplic0PLIC
0x440000000x4400BFFFprci0CLINT
0x600000000x6003FFFFnvramram
0x700010000x70001017uart0CoreUARTapb
0x800000000x8FFFFFFFddrram


Net Connections to processor: 'cpu0'

Table 6: Processor Net Connections ( 'cpu0' )

Net PortNetInstanceComponent
MExternalInterrupteipplic0PLIC
MTimerInterruptMTimerInterruptprci0CLINT
MSWInterruptMSWInterruptprci0CLINT



Peripheral Instances


Peripheral [microsemi.ovpworld.org/peripheral/CoreUARTapb/1.0] instance: uart0

Reference
CoreUARTapb handbook v5.2 https://www.microsemi.com/document-portal/doc_view/130958-coreuartapb-handbook

Limitations
Basic functionality for transmit and receive

Licensing
Open Source Apache 2.0

Description
Microsemi CoreUARTapb

There are no configuration options set for this peripheral instance.


Peripheral [riscv.ovpworld.org/peripheral/PLIC/1.0] instance: plic0

Reference
SiFive Freedom U540-C000 Manual FU540-C000-v1.0.pdf (https://www.sifive.com/documentation/chips/freedom-u540-c000-manual)
The RISC-V Instruction Set Manual Volume II: Privileged Architecture Version 1.10 (https://riscv.org/specifications/privileged-isa)

Limitations
Sufficient functionality to boot Virtio BusyBear Linux Kernel. The num_priorities parameter is currently ignored. All 32 bits of priority registers are supported.

Licensing
Open Source Apache 2.0

Description
PLIC Interrupt Controller

Table 7: Configuration options (attributes) set for instance 'plic0'

AttributesValue
num_sources256
num_targets1



Peripheral [riscv.ovpworld.org/peripheral/CLINT/1.0] instance: prci0

Limitations
Writes to mtime register are not supported

Reference
SiFive Freedom U540-C000 Manual FU540-C000-v1.0.pdf (https://www.sifive.com/documentation/chips/freedom-u540-c000-manual)

Licensing
Open Source Apache 2.0

Description
Risc-V Core Local Interruptor (CLINT). Use the num_harts parameter to specify the number of harts suported (default 1). For each supported hart there will be an MTimerInterruptN and MSWInterruptN net port, plus msipN and mtimecmpN registers implemented, where N is a value from 0..num_harts-1 There is also a single mtime register.

Table 8: Configuration options (attributes) set for instance 'prci0'

AttributesValue
clockMHz1.0



Other Sites/Pages with similar information

Information on the RiscvRV32FreeRTOS Virtual Platform can also be found on other web sites :
www.ovpworld.org has the library pages http://www.ovpworld.org/library/wikka.php?wakka=CategoryPlatform
www.imperas.com has more information on the model library

A couple of documents (from other related sites that might be of interest)
http://www.ovpworld.org: Creating Behavioral (Peripheral) components using BHM/PPM APIs and adding them to Platforms
http://www.ovpworld.org: Debugging Applications with INSIGHT running on OVP platforms

Two Videos on these models (from other sites)
http://www.ovpworld.org: PowerPC Bare Metal Video Presentation
http://www.ovpworld.org: ARC Demo Video Presentation


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