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| <li class="toctree-l4"><a class="reference internal" href="#second-stage-bootloader-and-partition-table">Second stage bootloader and partition table</a></li> |
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| |
| <section id="espressif-esp32-c6"> |
| <h1>Espressif ESP32-C6<a class="headerlink" href="#espressif-esp32-c6" title="Permalink to this heading"></a></h1> |
| <p>The ESP32-C6 is an ultra-low-power and highly integrated SoC with a RISC-V |
| core and supports 2.4 GHz Wi-Fi 6, Bluetooth 5 (LE) and the 802.15.4 protocol.</p> |
| <ul class="simple"> |
| <li><p>Address Space |
| - 800 KB of internal memory address space accessed from the instruction bus |
| - 560 KB of internal memory address space accessed from the data bus |
| - 1016 KB of peripheral address space |
| - 8 MB of external memory virtual address space accessed from the instruction bus |
| - 8 MB of external memory virtual address space accessed from the data bus |
| - 480 KB of internal DMA address space</p></li> |
| <li><p>Internal Memory |
| - 320 KB ROM |
| - 512 KB SRAM (16 KB can be configured as Cache) |
| - 16 KB of SRAM in RTC</p></li> |
| <li><p>External Memory |
| - Up to 16 MB of external flash</p></li> |
| <li><p>Peripherals |
| - 35 peripherals</p></li> |
| <li><p>GDMA |
| - 7 modules are capable of DMA operations.</p></li> |
| </ul> |
| <section id="esp32-c6-toolchain"> |
| <h2>ESP32-C6 Toolchain<a class="headerlink" href="#esp32-c6-toolchain" title="Permalink to this heading"></a></h2> |
| <p>A generic RISC-V toolchain can be used to build ESP32-C6 projects. It’s recommended to use the same |
| toolchain used by NuttX CI. Please refer to the Docker |
| <a class="reference external" href="https://github.com/apache/nuttx/tree/master/tools/ci/docker/linux/Dockerfile">container</a> and |
| check for the current compiler version being used. For instance:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>############################################################################### |
| # Build image for tool required by RISCV builds |
| ############################################################################### |
| FROM nuttx-toolchain-base AS nuttx-toolchain-riscv |
| # Download the latest RISCV GCC toolchain prebuilt by xPack |
| RUN mkdir riscv-none-elf-gcc && \ |
| curl -s -L "https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack/releases/download/v12.3.0-2/xpack-riscv-none-elf-gcc-12.3.0-2-linux-x64.tar.gz" \ |
| | tar -C riscv-none-elf-gcc --strip-components 1 -xz |
| </pre></div> |
| </div> |
| <p>It uses the xPack’s prebuilt toolchain based on GCC 12.3.0.</p> |
| <section id="installing"> |
| <h3>Installing<a class="headerlink" href="#installing" title="Permalink to this heading"></a></h3> |
| <p>First, create a directory to hold the toolchain:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>mkdir<span class="w"> </span>-p<span class="w"> </span>/path/to/your/toolchain/riscv-none-elf-gcc |
| </pre></div> |
| </div> |
| <p>Download and extract toolchain:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>curl<span class="w"> </span>-s<span class="w"> </span>-L<span class="w"> </span><span class="s2">"https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack/releases/download/v12.3.0-2/xpack-riscv-none-elf-gcc-12.3.0-2-linux-x64.tar.gz"</span><span class="w"> </span><span class="se">\</span> |
| <span class="p">|</span><span class="w"> </span>tar<span class="w"> </span>-C<span class="w"> </span>/path/to/your/toolchain/riscv-none-elf-gcc<span class="w"> </span>--strip-components<span class="w"> </span><span class="m">1</span><span class="w"> </span>-xz |
| </pre></div> |
| </div> |
| <p>Add the toolchain to your <cite>PATH</cite>:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span><span class="nb">echo</span><span class="w"> </span><span class="s2">"export PATH=/path/to/your/toolchain/riscv-none-elf-gcc/bin:</span><span class="nv">$PATH</span><span class="s2">"</span><span class="w"> </span>>><span class="w"> </span>~/.bashrc |
| </pre></div> |
| </div> |
| <p>You can edit your shell’s rc files if you don’t use bash.</p> |
| </section> |
| </section> |
| <section id="second-stage-bootloader-and-partition-table"> |
| <h2>Second stage bootloader and partition table<a class="headerlink" href="#second-stage-bootloader-and-partition-table" title="Permalink to this heading"></a></h2> |
| <p>The NuttX port for now relies on IDF’s second stage bootloader to carry on some hardware |
| initializations. The binaries for the bootloader and the partition table can be found in |
| this repository: <a class="reference external" href="https://github.com/espressif/esp-nuttx-bootloader">https://github.com/espressif/esp-nuttx-bootloader</a> |
| That repository contains a dummy IDF project that’s used to build the bootloader and |
| partition table, these are then presented as Github assets and can be downloaded |
| from: <a class="reference external" href="https://github.com/espressif/esp-nuttx-bootloader/releases">https://github.com/espressif/esp-nuttx-bootloader/releases</a> |
| Download <code class="docutils literal notranslate"><span class="pre">bootloader-esp32c6.bin</span></code> and <code class="docutils literal notranslate"><span class="pre">partition-table-esp32c6.bin</span></code> and place them |
| in a folder, the path to this folder will be used later to program them. This |
| can be: <code class="docutils literal notranslate"><span class="pre">../esp-bins</span></code></p> |
| </section> |
| <section id="building-and-flashing"> |
| <h2>Building and flashing<a class="headerlink" href="#building-and-flashing" title="Permalink to this heading"></a></h2> |
| <p>First make sure that <code class="docutils literal notranslate"><span class="pre">esptool.py</span></code> is installed. This tool is used to convert |
| the ELF to a compatible ESP32-C6 image and to flash the image into the board. |
| It can be installed with: <code class="docutils literal notranslate"><span class="pre">pip</span> <span class="pre">install</span> <span class="pre">esptool</span></code>.</p> |
| <p>Configure the NuttX project: <code class="docutils literal notranslate"><span class="pre">./tools/configure.sh</span> <span class="pre">esp32c6-devkit:nsh</span></code> |
| Run <code class="docutils literal notranslate"><span class="pre">make</span></code> to build the project. Note that the conversion mentioned above is |
| included in the build process. |
| The <code class="docutils literal notranslate"><span class="pre">esptool.py</span></code> command to flash all the binaries is:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>esptool.py --chip esp32c6 --port /dev/ttyUSBXX --baud 921600 write_flash 0x0 bootloader.bin 0x8000 partition-table.bin 0x10000 nuttx.bin |
| </pre></div> |
| </div> |
| <p>However, this is also included in the build process and we can build and flash with:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>make flash ESPTOOL_PORT=<port> ESPTOOL_BINDIR=../esp-bins |
| </pre></div> |
| </div> |
| <p>Where <code class="docutils literal notranslate"><span class="pre"><port></span></code> is typically <code class="docutils literal notranslate"><span class="pre">/dev/ttyUSB0</span></code> or similar and <code class="docutils literal notranslate"><span class="pre">../esp-bins</span></code> is |
| the path to the folder containing the bootloader and the partition table |
| for the ESP32-C6 as explained above. |
| Note that this step is required only one time. Once the bootloader and partition |
| table are flashed, we don’t need to flash them again. So subsequent builds |
| would just require: <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">flash</span> <span class="pre">ESPTOOL_PORT=/dev/ttyUSBXX</span></code></p> |
| </section> |
| <section id="peripheral-support"> |
| <h2>Peripheral Support<a class="headerlink" href="#peripheral-support" title="Permalink to this heading"></a></h2> |
| <p>The following list indicates the state of peripherals’ support in NuttX:</p> |
| <table class="docutils align-default"> |
| <thead> |
| <tr class="row-odd"><th class="head"><p>Peripheral</p></th> |
| <th class="head"><p>Support</p></th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr class="row-even"><td><p>ADC</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>AES</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>Bluetooth</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>CAN/TWAI</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>DMA</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>ECC</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>eFuse</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>GPIO</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>HMAC</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>I2C</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>I2S</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>Int. Temp.</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>LED</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>LED_PWM</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>MCPWM</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>Pulse Counter</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>RMT</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>RNG</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>RSA</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>RTC</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>SD/MMC</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>SDIO</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>SHA</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>SPI</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>SPIFLASH</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>Timers</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-even"><td><p>UART</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>Watchdog</p></td> |
| <td><p>Yes</p></td> |
| </tr> |
| <tr class="row-even"><td><p>Wifi</p></td> |
| <td><p>No</p></td> |
| </tr> |
| <tr class="row-odd"><td><p>XTS</p></td> |
| <td><p>No</p></td> |
| </tr> |
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