Warning We inform you that big RTL modifications are in process to better parametrize CVA6. For deeper information, please refer to the openhwgroup#1233 github issue ⚠️

These changes will impact CVA6 interfaces (and top-level parameters). They will be performed progressively with several pull requests over a few weeks. To avoid integrating a moving target in their design, CVA6 users can therefore consider pointing to a specific GitHub hash during the changes (or investigate vendorization).

CVA6 RISC-V CPU

CVA6 is a 6-stage, single-issue, in-order CPU which implements the 64-bit RISC-V instruction set. It fully implements I, M, A and C extensions as specified in Volume I: User-Level ISA V 2.3 as well as the draft privilege extension 1.10. It implements three privilege levels M, S, U to fully support a Unix-like operating system. Furthermore, it is compliant to the draft external debug spec 0.13.

It has a configurable size, separate TLBs, a hardware PTW and branch-prediction (branch target buffer and branch history table). The primary design goal was on reducing critical path length.

Directory Structure:

The directory structure separates the CVA6 RISC-V CPU core from the CORE-V-APU FPGA Emulation Platform. Files, directories and submodules under cva6 are for the core only and should not have any dependencies on the APU. Files, directories and submodules under corev_apu are for the FPGA Emulation platform. The CVA6 core can be compiled stand-alone, and obviously the APU is dependent on the core.

The top-level directories of this repo:

• ci: Scriptware for CI.
• common: Source code used by both the CVA6 Core and the COREV APU. Subdirectories from here are local for common files that are hosted in this repo and submodules that are hosted in other repos.
• core: Source code for the CVA6 Core only. There should be no sources in this directory used to build anything other than the CVA6 core.
• corev_apu: Source code for the CVA6 APU, exclusive of the CVA6 core. There should be no sources in this directory used to build the CVA6 core.
• docs: Documentation.
• pd: Example and CI scripts to synthesis CVA6.
• util: General utility scriptware.
• vendor: Third-party IP maintained outside the repository.
• verif: Verification environment for the CVA6. The verification files shared with other cores are in the core-v-verif repository on GitHub. core-v-verif is defined as a cva6 submodule.

Contributing

We highly appreciate community contributions.

To ease the work of reviewing contributions, please review CONTRIBUTING.

Issues and Troubleshooting

If you find any problems or issues with CVA6 or the documentation, please check out the issue tracker and create a new issue if your problem is not yet tracked.

Publication

If you use CVA6 in your academic work you can cite us:

CVA6 Publication

@article{zaruba2019cost,
   author={F. {Zaruba} and L. {Benini}},
   journal={IEEE Transactions on Very Large Scale Integration (VLSI) Systems},
   title={The Cost of Application-Class Processing: Energy and Performance Analysis of a Linux-Ready 1.7-GHz 64-Bit RISC-V Core in 22-nm FDSOI Technology},
   year={2019},
   volume={27},
   number={11},
   pages={2629-2640},
   doi={10.1109/TVLSI.2019.2926114},
   ISSN={1557-9999},
   month={Nov},
}

CVA6 User Documentation

• CVA6 RISC-V CPU
  • Directory Structure:
  • Verification
  • Contributing
  • Issues and Troubleshooting
  • Publication
• CVA6 User Documentation
  • Getting Started
    • Checkout Repo
    • Build Model and Run Simulations with verif directory
      • Directories
      • Prerequisites
      • Environent setup
      • Test execution
    • Running User-Space Applications
  • Physical Implementation
    • ASIC Synthesis
    • ASIC Gate Simulation with core-v-verif repository
  • COREV-APU FPGA Emulation
    • Programming the Memory Configuration File
    • Preparing the SD Card
    • Generating a Bitstream
    • Debugging
    • Preliminary Support for OpenPiton Cache System
  • Planned Improvements
  • Going Beyond
    • CI Testsuites and Randomized Constrained Testing with Torture
    • Memory Preloading
    • Re-generating the Bootcode (ZSBL)
• Contributing
• Acknowledgements

Created by gh-md-toc

Getting Started

The following instructions will allow you to compile and run a Verilator model of the CVA6 APU (which instantiates the CVA6 core) within the CVA6 APU testbench (corev_apu/tb).

Checkout Repo

Checkout the repository and initialize all submodules

git clone https://github.com/openhwgroup/cva6.git
cd cva6
git submodule update --init --recursive

Build Model and Run Simulations with verif directory

verif Directories

• bsp: board support package for test-programs compiled/assembled/linked for the CVA6. This BSP is used by both core testbench and uvmt_cva6 UVM verification environment.
• regress: scripts to install tools, test suites, CVA6 code and to execute tests
• sim: simulation environment (e.g. riscv-dv)
• tb: testbench module instancing the core
• tests: source of test cases and test lists

There are README files in each directory with additional information.

Prerequisites

To execute tests on CVA6 core, you need a RISC-V toolchain.

To build and install RISC-V GCC compiler locally, you can use the toolchain generation scripts located under util/gcc-toolchain-builder.

# Set environment variables. The toolchain can be installed
# in any user-writable directory.
export RISCV=/path/to/toolchain/installation/directory
export CV_SW_PREFIX=riscv-none-elf-
export RISCV_PREFIX=$RISCV/bin/$CW_SW_PREFIX
export RISCV_GCC=$RISCV_PREFIXgcc

# Get the source code of toolchain components from public repositiories.
cd util/gcc-toolchain-builder
bash ./get-toolchain.sh

# For the build prerequisites, see the local README.md.

# Build and install the GCC toolchain.
bash ./build-toolchain.sh $RISCV

# Return to the toplevel CVA6 directory.
cd -

These four variables will ensure you use correctly the new gcc compiler you have just installed. You will now be able to run the test scripts.

Environent setup

To run simulation, several tools and repositories are needed:

• Gcc as compiler,
• Spike as instruction set simulator,
• Verilator as simulator (if used as simulator to simulate),
• riscv-dv as simulation environment.

If you would like to use a precompiled Verilator, please setup the path to the installation directory

export VERILATOR_INSTALL_DIR=/path/to/installation/directory

The smoke_tests execution will end up the installation by installing Verilator, Spike, tests from regression suites as arch-test, riscv-dv. Then it runs the smoke_tests test.

Three simulation types are supported:

• veri-testharness: verilator with corev_apu/testharness testbench,
• vcs-testharness: vcs with corev_apu/testharness testbench,
• vcs-uvm: vcs with UVM testbench. To check the RTL cva6 behaviour, the RTL simulation trace is compared to spike trace. DV_SIMULATORS need to be setup to define which simulators are used.

export DV_SIMULATORS=veri-testharness,spike
bash verif/regress/smoke-tests.sh

Test execution

Run one of the shell scripts:

# riscv-compliance (https://github.com/riscv/riscv-compliance) test suite:
bash verif/regress/dv-riscv-compliance.sh
# riscv-tests (https://github.com/riscv/riscv-tests) test suite:
bash verif/regress/dv-riscv-tests.sh

Running User-Space Applications

⚠️ Warning: this chapter needs to be updated. See Github issue openhwgroup#1358.

It is possible to run user-space binaries on CVA6 with (RISC-V Proxy Kernel and Boot Loader). RISC-V PK can be installed by running: ./ci/install-riscvpk.sh

mkdir build
cd build
../configure --prefix=$RISCV --host=riscv64-unknown-elf
make
make install

Then to run a RISC-V ELF using the Verilator model do:

echo '
#include <stdio.h>

int main(int argc, char const *argv[]) {
    printf("Hello CVA6!\\n");
    return 0;
}' > hello.c
riscv64-unknown-elf-gcc hello.c -o hello.elf

make verilate
work-ver/Variane_testharness $RISCV/riscv64-unknown-elf/bin/pk hello.elf

If you want to use QuestaSim to run it you can use the following command:

make sim elf-bin=$RISCV/riscv64-unknown-elf/bin/pk target-options=hello.elf  batch-mode=1

Be patient! RTL simulation is way slower than Spike. If you think that you ran into problems you can inspect the trace files.

Physical Implementation

ASIC Synthesis

How to make cva6 synthesis ?

make -C pd/synth cva6_synth FOUNDRY_PATH=/your/techno/basepath/ TECH_NAME=yourTechnoName TARGET_LIBRARY_FILES="yourLib1.db\ yourLib2.db" PERIOD=10 NAND2_AREA=650 TARGET=cv64a6_imafdc_sv39 ADDITIONAL_SEARCH_PATH="others/libs/paths/one\ others/libs/paths/two"

Don't forget to escape spaces in lists. Reports are under: pd/synth/ariane/reports

ASIC Gate Simulation with core-v-verif repository

⚠️ Warning: this chapter needs to be updated. See Github issue openhwgroup#1358.

export DV_SIMULATORS=veri-testharness,spike
cva6/regress/smoke-tests.sh
make -C pd/synth cva6_synth FOUNDRY_PATH=/your/techno/basepath/ TECH_NAME=yourTechnoName TARGET_LIBRARY_FILES="yourLib1.db\ yourLib2.db" PERIOD=10 NAND2_AREA=650 TARGET=cv64a6_imafdc_sv39 ADDITIONAL_SEARCH_PATH="others/libs/paths/one\ others/libs/paths/two"
sed 's/module SyncSpRamBeNx64_1/module SyncSpRamBeNx64_2/' pd/synth/ariane_synth.v > pd/synth/ariane_synth_modified.v
cd cva6/sim
make vcs_clean
python3 cva6.py --testlist=../tests/testlist_riscv-tests-cv64a6_imafdc_sv39-p.yaml --test rv64ui-p-ld --iss_yaml cva6.yaml --target cv64a6_imafdc_sv39 --iss=spike,vcs-core-gate $DV_OPTS

COREV-APU FPGA Emulation

We currently only provide support for the Genesys 2 board. We provide pre-build bitstream and memory configuration files for the Genesys 2 here.

Tested on Vivado 2018.2. The FPGA currently contains the following peripherals:

• DDR3 memory controller
• SPI controller to conncet to an SDCard
• Ethernet controller
• JTAG port (see debugging section below)
• Bootrom containing zero stage bootloader and device tree.

The ethernet controller and the corresponding network connection is still work in progress and not functional at the moment. Expect some updates soon-ish.

Programming the Memory Configuration File

• Open Vivado
• Open the hardware manager and open the target board (Genesys II - xc7k325t)
• Tools - Add Configuration Memory Device
• Select the following Spansion SPI flash s25fl256xxxxxx0
• Add ariane_xilinx.mcs
• Press Ok. Flashing will take a couple of minutes.
• Right click on the FPGA device - Boot from Configuration Memory Device (or press the program button on the FPGA)

Preparing the SD Card

The first stage bootloader will boot from SD Card by default. Get yourself a suitable SD Card (we use this one). Either grab a pre-built Linux image from here or generate the Linux image yourself following the README in the ariane-sdk repository. Prepare the SD Card by following the "Booting from SD card" section in the ariane-sdk repository.

Connect a terminal to the USB serial device opened by the FTDI chip e.g.:

screen /dev/ttyUSB0 115200

Default baudrate set by the bootlaoder and Linux is 115200.

After you've inserted the SD Card and programmed the FPGA you can connect to the serial port of the FPGA and should see the bootloader and afterwards Linux booting. Default username is root, no password required.

Generating a Bitstream

To generate the FPGA bitstream (and memory configuration) yourself for the Genesys II board run:

make fpga

This will produce a bitstream file and memory configuration file (in fpga/work-fpga) which you can permanently flash by running the above commands.

Debugging

You can debug (and program) the FPGA using OpenOCD. We provide two example scripts for OpenOCD below.

To get started, connect the micro USB port that is labeled with JTAG to your machine. This port is attached to the FTDI 2232 USB-to-serial chip on the Genesys 2 board, and is usually used to access the native JTAG interface of the Kintex-7 FPGA (e.g. to program the device using Vivado). However, the FTDI chip also exposes a second serial link that is routed to GPIO pins on the FPGA, and we leverage this to wire up the JTAG from the RISC-V debug module.

If you are on an Ubuntu based system you need to add the following udev rule to /etc/udev/rules.d/99-ftdi.rules

SUBSYSTEM=="usb", ACTION=="add", ATTRS{idProduct}=="6010", ATTRS{idVendor}=="0403", MODE="664", GROUP="plugdev"

Once attached to your system, the FTDI chip should be listed when you type lsusb:

Bus 005 Device 019: ID 0403:6010 Future Technology Devices International, Ltd FT2232C/D/H Dual UART/FIFO IC

If this is the case, you can go on and start openocd with the fpga/ariane.cfg configuration file:

openocd -f fpga/ariane.cfg

Open On-Chip Debugger 0.10.0+dev-00195-g933cb87 (2018-09-14-19:32)
Licensed under GNU GPL v2
For bug reports, read
    http://openocd.org/doc/doxygen/bugs.html
adapter speed: 1000 kHz
Info : auto-selecting first available session transport "jtag". To override use 'transport select <transport>'.
Info : clock speed 1000 kHz
Info : TAP riscv.cpu does not have IDCODE
Info : datacount=2 progbufsize=8
Info : Examined RISC-V core; found 1 harts
Info :  hart 0: XLEN=64, misa=0x8000000000141105
Info : Listening on port 3333 for gdb connections
Ready for Remote Connections
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : accepting 'gdb' connection on tcp/3333

Then you will be able to either connect through telnet or with gdb:

riscv64-unknown-elf-gdb /path/to/elf

(gdb) target remote localhost:3333
(gdb) load
Loading section .text, size 0x6508 lma 0x80000000
Loading section .rodata, size 0x900 lma 0x80006508
(gdb) b putchar
(gdb) c
Continuing.

Program received signal SIGTRAP, Trace/breakpoint trap.
0x0000000080009126 in putchar (s=72) at lib/qprintf.c:69
69    uart_sendchar(s);
(gdb) si
0x000000008000912a  69    uart_sendchar(s);
(gdb) p/x $mepc
$1 = 0xfffffffffffdb5ee

You can read or write device memory by using:

(gdb) x/i 0x1000
    0x1000: lui t0,0x4
(gdb) set {int} 0x1000 = 22
(gdb) set $pc = 0x1000

Preliminary Support for OpenPiton Cache System

CVA6 has preliminary support for the OpenPiton distributed cache system from Princeton University. To this end, a different L1 cache subsystem (src/cache_subsystem/wt_cache_subsystem.sv) has been developed that follows a write-through protocol and that has support for cache invalidations and atomics.

The corresponding integration patches will be released on OpenPiton GitHub repository. Check the README in that repository to see how to use CVA6 in the OpenPiton setting.

To activate the different cache system, compile your code with the macro DCACHE_TYPE.

Planned Improvements

Check-out the issue tab which also loosely tracks planned improvements.

Going Beyond

The core has been developed with a full licensed version of QuestaSim. If you happen to have this simulator available yourself here is how you could run the core with it.

To specify the test to run use (e.g.: you want to run rv64ui-p-sraw inside the tmp/risc-tests/build/isa folder:

make sim elf-bin=path/to/rv64ui-p-sraw

If you call sim with batch-mode=1 it will run without the GUI. QuestaSim uses riscv-fesvr for communication as well.

CI Testsuites and Randomized Constrained Testing with Torture

We provide two CI configuration files for Travis CI and GitLab CI that run the RISCV assembly tests, the RISCV benchmarks and a randomized RISCV Torture test. The difference between the two is that Travis CI runs these tests only on Verilator, whereas GitLab CI runs the same tests on QuestaSim and Verilator.

If you would like to run the CI test suites locally on your machine, follow any of the two scripts ci/travis-ci-emul.sh and ci/travis-ci-emul.sh (depending on whether you have QuestaSim or not). In particular, you have to get the required packages for your system, the paths in ci/path-setup.sh to match your setup, and run the installation and build scripts prior to running any of the tests suites.

Once everything is set up and installed, you can run the tests suites as follows (using Verilator):

make verilate
make run-asm-tests-verilator
make run-benchmarks-verilator

In order to run randomized Torture tests, you first have to generate the randomized program prior to running the simulation:

./ci/get-torture.sh
make torture-gen
make torture-rtest-verilator

This runs the randomized program on Spike and on the RTL target, and checks whether the two signatures match. The random instruction mix can be configured in the ./tmp/riscv-torture/config/default.config file.

CVA6 can dump a trace-log in Questa which can be easily diffed against Spike with commit log enabled. In include/ariane_pkg.sv set:

localparam bit ENABLE_SPIKE_COMMIT_LOG = 1'b1;

This runs the randomized program on Spike and on the RTL target, and checks whether the two signatures match. The random instruction mix can be configured in the ./tmp/riscv-torture/config/default.config file. This will dump a file called trace_hart_*_*_commit.log.

This can be helpful for debugging long traces (e.g.: torture traces). To compile Spike with the commit log feature do:

apt-get install device-tree-compiler
mkdir build
cd build
../configure --prefix=$RISCV --with-fesvr=$RISCV --enable-commitlog
make
make install

Memory Preloading

In standard configuration the debug module will take care of loading the memory content. It will also handle communication with riscv-fesvr. Depending on the scenario this might not be diserable (e.g.: preloading of a large elf or linux boot in simulation). You can use the preload elf flag to specify the path to a binary which will be preloaded.

You will loose all riscv-fesvr communcation like sytemcalls and eoc capabilities.

make sim preload=elf

Re-generating the Bootcode (ZSBL)

The zero stage bootloader (ZSBL) for RTL simulation lives in bootrom/ while the bootcode for the FPGA is in fpga/src/bootrom. The RTL bootcode simply jumps to the base of the DRAM where the FSBL takes over. For the FPGA the ZSBL performs additional housekeeping. Both bootloader pass the hartid as well as address to the device tree in argumen register a0 and a1 respectively.

To re-generate the bootcode you can use the existing makefile within those directories. To generate the SystemVerilog files you will need the bitstring python package installed on your system.

Contributing

Check out the contribution guide

Acknowledgements

Thanks to Gian Marti, Thomas Kramer and Thomas E. Benz for implementing the PLIC.