Introduction
The default SDK for the Duo series boards is built based on buildroot and is used to generate Duo firmware. Currently, the SDK has two versions: V1 and V2.
- SDK V1 only supports RISC-V core. (This version is recommended for Duo 64M)
- SDK V2 supports both RISC-V and ARM cores. (This version is recommended for Duo256M and DuoS)
It is recommended that Duo 64M use the V1 version of the SDK, mainly because its memory is small. The related AI applications in the V2 version of the SDK cannot currently run normally in Duo 64M.
Buildroot SDK V1
The SDK mainly contains the following parts:
- u-boot: 2021.10
- linux kernel: 5.10.4
- buildroot: 2021.05
- opensbi: 89182b2
Source code: https://github.com/milkv-duo/duo-buildroot-sdk
SDK Directory Structure:
├── build compilation scripts and board configs
├── build.sh one-click compilation script
├── buildroot-2021.05 buildroot source code
├── freertos freertos system
├── fsbl fsbl firmware in prebuilt form
├── install temporary images stored here
├── isp_tuning camera effect parameters
├── linux_5.10 linux kernel
├── middleware self-developed multimedia framework
├── device configuration files for milkv
├── opensbi opensbi library
├── out image generated by Milk-V
├── ramdisk prebuilt ramdisk
└── u-boot-2021.10 u-boot source code
Buildroot SDK V2
The SDK mainly contains the following parts:
- u-boot: 2021.10
- linux kernel: 5.10.4
- buildroot: 2025.02
- opensbi: 89182b2
Source code: https://github.com/milkv-duo/duo-buildroot-sdk-v2
SDK Directory Structure:
├── build compilation scripts and board configs
├── build.sh one-click compilation script
├── buildroot buildroot source code
├── cvi_mpi sophgo multimedia framework
├── device configuration files for milkv
├── freertos freertos system
├── fsbl fsbl firmware in prebuilt form
├── install temporary images stored here
├── isp_tuning camera effect parameters
├── linux_5.10 linux kernel
├── osdrv some peripheral driver source code
├── opensbi opensbi library
├── out image generated by Milk-V
├── tdl_sdk sophgo turnkey deep learning sdk
└── u-boot-2021.10 u-boot source code
Build image
Prepare the Compilation Environment. Using a local Ubuntu system, the officially supported compilation environment is Ubuntu Jammy 22.04.x amd64
only!
If you are using other Linux distributions, we strongly recommend that you use the Docker environment to compile to reduce the probability of compilation errors.
The following describes the compilation methods in the two environments.
In addition, the compilation methods of the V1 and V2 SDKs are basically the same. The following takes the V2 SDK as an example to introduce the SDK compilation steps.
1. Compiled using Ubuntu 22.04
Packages to be installed
Install the packages that compile dependencies:
sudo apt install -y pkg-config build-essential ninja-build automake autoconf libtool wget curl git gcc libssl-dev bc slib squashfs-tools android-sdk-libsparse-utils jq python3-distutils scons parallel tree python3-dev python3-pip device-tree-compiler ssh cpio fakeroot libncurses5 flex bison libncurses5-dev genext2fs rsync unzip dosfstools mtools tcl openssh-client cmake expect python-is-python3
For duo-buildroot-sdk-v2, you also need to install the following tool packages:
sudo pip install jinja2
Get SDK Source Code
git clone https://github.com/milkv-duo/duo-buildroot-sdk-v2.git --depth=1
During the compilation process, Buildroot will automatically download some source packages. SDK V1 has integrated some common source packages and can be compiled directly. In SDK V2, to avoid download failures due to network reasons, you can download the dl.tar
package in advance and extract it to the buildroot
directory:
wget https://github.com/milkv-duo/duo-buildroot-sdk-v2/releases/download/dl/dl.tar
tar xvf ./dl.tar -C ./duo-buildroot-sdk-v2/buildroot/
After extraction, the dl
directory structure in buildroot
of duo-buildroot-sdk-v2
is as follows:
└── buildroot
└── dl
├── acl
├── alsa-lib
├── alsa-utils
├── attr
├── ...
1). One-click Compilation
Execute one-click compilation script build.sh
:
cd duo-buildroot-sdk/
./build.sh
You will see tips on how to use the compiled script:
$ ./build.sh
Usage:
./build.sh - Show this menu
./build.sh lunch - Select a board to build
./build.sh [board] - Build [board] directly, supported boards as follows:
milkv-duo-musl-riscv64-sd
milkv-duo256m-glibc-arm64-sd
milkv-duo256m-musl-riscv64-sd
milkv-duos-glibc-arm64-emmc
milkv-duos-glibc-arm64-sd
milkv-duos-musl-riscv64-emmc
milkv-duos-musl-riscv64-sd
Listed at the bottom is the list of currently supported target versions.
As shown in the prompt, there are two ways to compile the target version.
The first method is to execute ./build.sh lunch
to bring up the interactive menu, select the version number to be compiled, and press Enter:
$ ./build.sh lunch
Select a target to build:
1. milkv-duo-musl-riscv64-sd
2. milkv-duo256m-glibc-arm64-sd
3. milkv-duo256m-musl-riscv64-sd
4. milkv-duos-glibc-arm64-emmc
5. milkv-duos-glibc-arm64-sd
6. milkv-duos-musl-riscv64-emmc
7. milkv-duos-musl-riscv64-sd
Which would you like:
- Duo (64M-DDR) only has RISC-V core, and the default is the SD card image compiled based on musl libc.
- Duo256M supports RISC-V and ARM cores (choose one of the two). The RISC-V core firmware is compiled based on musl libc, and the ARM core firmware is compiled based on glibc. Only the SD card image is configured.
- DuoS supports RISC-V and ARM cores (choose one of the two). The RISC-V core firmware is compiled based on musl libc, and the ARM core firmware is compiled based on glibc. SD card and eMMC images are configured.
The second method is to put the name of the target version after the script and compile it directly. For example, if you need to compile the image of milkv-duos-musl-riscv64-sd
, the command is as follows:
$ ./build.sh milkv-duos-musl-riscv64-sd
After successful compilation, you can see the generated image in the out
directory. The image with the *.img
suffix is the image burned to the SD card, and the image with the *.zip
suffix is the image burned to the eMMC.
Note: The first compilation will automatically download the required toolchain, which is approximately 840MB in size. Once downloaded, it will be automatically extracted to the host-tools
directory in the SDK directory. For subsequent compilations, if the host-tools
directory is detected, the download will not be performed again.
2). Step-by-step Compilation
If you have not executed the one-click compilation script, you need to manually download the tool chain host-tools and then copy or move it to the SDK root directory:
git clone https://github.com/milkv-duo/host-tools.git
cp -a host-tools duo-buildroot-sdk-v2/
Source environment:
source build/envsetup_milkv.sh
If it is the first time to compile, you will be prompted to select the target to compile:
Select a target to build:
1. milkv-duo-musl-riscv64-sd
2. milkv-duo256m-glibc-arm64-sd
3. milkv-duo256m-musl-riscv64-sd
4. milkv-duos-glibc-arm64-emmc
5. milkv-duos-glibc-arm64-sd
6. milkv-duos-musl-riscv64-emmc
7. milkv-duos-musl-riscv64-sd
Which would you like:
After selecting the corresponding number, press Enter. After the environment variable is successfully loaded, some information about the current target will be displayed, such as:
Target Board: milkv-duos-musl-riscv64-sd
Target Board Storage: sd
Target Board Config: /build/duo-buildroot-sdk-v2/device/target/boardconfig.sh
Target Image Config: /build/duo-buildroot-sdk-v2/device/target/genimage.cfg
Build tdl-sdk: 1
Output dir: /build/duo-buildroot-sdk-v2/install/soc_sg2000_milkv_duos_musl_riscv64_sd
After the environment is loaded, a link named target
will be created in the device
directory, linking to the compilation target directory. The next time you source the environment, when the target
link is detected, you will no longer be prompted to select a target. If you need to change the compilation target, you can add the lunch
parameter to re-call the interactive menu for selection:
source build/envsetup_milkv.sh lunch
After the environment is loaded successfully, enter the following commands in sequence to complete the step-by-step compilation:
clean_all
build_all
If you are compiling an SD card image, you also need to execute the following command to generate the *.img
image:
pack_sd_image
For example, if you need to compile the image of milkv-duos-musl-riscv64-sd
, the step-by-step compilation commands are as follows:
source build/envsetup_milkv.sh milkv-duos-musl-riscv64-sd
clean_all
build_all
pack_sd_image
Generated firmware location:
install/soc_sg2000_milkv_duos_musl_riscv64_sd/milkv-duos-musl-riscv64-sd.img
Note that the SD card image is *.img
and the eMMC image is upgrade.zip
.
In addition to using build_all
for a complete compilation, you can also compile a module separately. Generally speaking, you should first execute clean_xxx
to clean the intermediate files, and then execute build_xxx
to recompile. For supported modules, you can enter clean_
or build_
and then double-click the tab
key to view them. The following lists some common module compilation methods:
- fsbl:
clean_fsbl
,build_fsbl
- uboot:
clean_uboot
,build_uboot
- kernel:
clean_kernel
,build_kernel
- osdrv:
clean_osdrv
,build_osdrv
- cvi_mpi:
clean_middleware
,build_middleware
- tdl-sdk:
clean_tdl_sdk
,build_tdl_sdk
2. Compiled using Docker
Docker support is required on hosts running Linux systems. For how to use Docker, please refer to the official documentation or other tutorials.
We put the SDK source code on the Linux host system and call the Docker image environment provided by Milk-V to compile it.
Pull SDK code on Linux host
git clone https://github.com/milkv-duo/duo-buildroot-sdk-v2.git --depth=1
During the compilation process, Buildroot will automatically download some source packages. SDK V1 has integrated some common source packages and can be compiled directly. In SDK V2, to avoid download failures due to network reasons, you can download the dl.tar
package in advance and extract it to the buildroot
directory:
wget https://github.com/milkv-duo/duo-buildroot-sdk-v2/releases/download/dl/dl.tar
tar xvf ./dl.tar -C ./duo-buildroot-sdk-v2/buildroot/
After extraction, the dl
directory structure in buildroot
of duo-buildroot-sdk-v2
is as follows:
└── buildroot
└── dl
├── acl
├── alsa-lib
├── alsa-utils
├── attr
├── ...
Enter the SDK code directory
cd duo-buildroot-sdk-v2
Pull the Docker image and run
docker run --privileged -itd --name duodocker -v "$(pwd)":/home/work milkvtech/milkv-duo:latest /bin/bash
Description of some parameters in the command:
--privileged
starts the container in privileged mode.duodocker
Docker name, you can use the name you want to use.$(pwd)
The current directory, here is the duo-buildroot-sdk directory that was 'cd' to in the previous step.-v $(pwd):/home/work
Bind the current code directory to the /home/work directory in the Docker image.milkvtech/milkv-duo:latest
The Docker image provided by Milk-V will be automatically downloaded from hub.docker.com for the first time.
After Docker runs successfully, you can use the docker ps -a
command to view the running status:
$ docker ps -a
CONTAINER ID IMAGE COMMAND CREATED STATUS PORTS NAMES
8edea33c2239 milkvtech/milkv-duo:latest "/bin/bash" 2 hours ago Up 2 hours duodocker
If the image on the Docker server is updated, you can use the docker pull milkvtech/milkv-duo:latest
command to synchronize the latest image.
1). One-click compilation using Docker
docker exec -it duodocker /bin/bash -c "cd /home/work && cat /etc/issue && export FORCE_UNSAFE_CONFIGURE=1 && ./build.sh [board]"
Note that the ./build.sh [board]
at the end of the command is the same as the previous usage in the one-click compilation instructions in Ubuntu 22.04. Use ./build.sh
can see how to use the command, use ./ build.sh lunch
can bring up the interactive selection menu, use ./build.sh [board]
to directly compile the target version, [board]
can be replaced with:
milkv-duo-musl-riscv64-sd
milkv-duo256m-glibc-arm64-sd
milkv-duo256m-musl-riscv64-sd
milkv-duos-glibc-arm64-emmc
milkv-duos-glibc-arm64-sd
milkv-duos-musl-riscv64-emmc
milkv-duos-musl-riscv64-sd
Description of some parameters in the command:
duodocker
The name of the running Docker must be consistent with the name set in the previous step."*"
In quotes is the shell command to be run in the Docker image.cd /home/work
Switch to the /home/work directory. Since this directory has been bound to the host's code directory during runtime, the /home/work directory in Docker is the source code directory of the SDK.cat /etc/issue
Displays the version number of the image used by Docker. It is currently Ubuntu 22.04.3 LTS and is used for debugging.export FORCE_UNSAFE_CONFIGURE=1
By default, Docker uses the root user to compile. You need to use this environment variable../build.sh [board]
Execute one-click compilation script.
For example, if you need to compile the image of milkv-duos-musl-riscv64-sd
, the command is as follows:
docker exec -it duodocker /bin/bash -c "cd /home/work && cat /etc/issue && export FORCE_UNSAFE_CONFIGURE=1 && ./build.sh milkv-duos-musl-riscv64-sd"
After successful compilation, you can see the generated SD card burning image *.img
in the out
directory.
2). Compile step by step using Docker
If you have not executed the one-click compilation script, you need to manually download the tool chain host-tools and then copy or move it to the SDK root directory:
git clone https://github.com/milkv-duo/host-tools.git
cp -a host-tools duo-buildroot-sdk-v2/
Step-by-step compilation requires logging into Docker to operate. Use the command docker ps -a
to view and record the ID number of the container, such as 8edea33c2239
.
If duodocker
is not in the list, the container may have been stopped. You need to rerun it and then check the ID number in the window:
cd duo-buildroot-sdk-v2/
docker run --privileged -itd --name duodocker -v $(pwd):/home/work milkvtech/milkv-duo:latest /bin/bash
docker ps -a
Enter Docker:
docker exec -it 8edea33c2239 /bin/bash
Enter the code directory bound in Docker:
root@8edea33c2239:/# cd /home/work/
Set environment variables. By default, Docker is compiled as the root user. You need to configure the environment variables:
export FORCE_UNSAFE_CONFIGURE=1
Source environment:
source build/envsetup_milkv.sh