Subversion Repositories neorv32

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# The NEORV32 RISC-V Processor

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1. [Overview](#1-Overview)
   1. [Key Features](#Project-Key-Features)
2. [Processor/SoC Features](#2-NEORV32-Processor-Features)
   1. [FPGA Implementation Results](#FPGA-Implementation-Results---Processor)
3. [CPU Features](#3-NEORV32-CPU-Features)
   1. [Available ISA Extensions](#Available-ISA-Extensions)
   2. [FPGA Implementation Results](#FPGA-Implementation-Results---CPU)
   3. [Performance](#Performance)
4. [Software Framework & Tooling](#4-Software-Framework-and-Tooling)
5. [**Getting Started**](#5-Getting-Started) :rocket:



## 1. Overview

![neorv32 Overview](https://raw.githubusercontent.com/stnolting/neorv32/master/docs/figures/neorv32_processor.png)

The NEORV32 Processor is a customizable microcontroller-like system on chip (SoC) that is based on the RISC-V NEORV32 CPU.
The project is intended as auxiliary processor in larger SoC designs or as *ready-to-go* stand-alone
custom / customizable microcontroller.

Special focus is paid on **execution safety** to provide defined and predictable behavior at any time.
Therefore, the CPU ensures that all memory access are acknowledged and no invalid/malformed instructions
are executed. Whenever an unexpected situation occurs, the application code is informed via hardware exceptions.

:thinking: Want to know more? Check out the [project's rationale](https://stnolting.github.io/neorv32/#_rationale).

:books: For detailed information take a look at the [NEORV32 documentation (online at GitHub-pages)](https://stnolting.github.io/neorv32/).
The *doxygen*-based documentation of the *software framework* is also available online
at [GitHub-pages](https://stnolting.github.io/neorv32/sw/files.html).

:label: The project's change log is available in [`CHANGELOG.md`](https://github.com/stnolting/neorv32/blob/master/CHANGELOG.md).
To see the changes between *official* releases visit the project's [release page](https://github.com/stnolting/neorv32/releases).

:package: The [`setups`](https://github.com/stnolting/neorv32/tree/master/setups) folder provides exemplary setups targeting
various FPGA boards and toolchains to get you started. Several example programs (including a FreeRTOS port) to be run on your setup
can be found in [`sw/example`](https://github.com/stnolting/neorv32/tree/master/sw/example).

:kite: Supported by upstream [Zephyr OS](https://docs.zephyrproject.org/latest/boards/riscv/neorv32/doc/index.html).

:bulb: Feel free to open a [new issue](https://github.com/stnolting/neorv32/issues) or start a
[new discussion](https://github.com/stnolting/neorv32/discussions) if you have questions, comments, ideas or if something is
not working as expected. Or have a chat on our [gitter channel](https://gitter.im/neorv32/community).

:rocket: Check out the [quick links below](#5-Getting-Started) or directly jump to the
[*User Guide*](https://stnolting.github.io/neorv32/ug/) to get started
setting up your NEORV32 setup!


### Project Key Features

- [x] all-in-one: [CPU](#3-NEORV32-CPU-Features) plus [SoC](#2-NEORV32-Processor-Features) plus [Software Framework & Tooling](#4-Software-Framework-and-Tooling)
- [x] completely described in behavioral, platform-independent VHDL - no primitives, macros, etc.
- [x] fully synchronous design, no latches, no gated clocks
- [x] be as small as possible while being as RISC-V-compliant as possible – but with a reasonable size-performance trade-off:
the processor (CPU _including_ privileged architecture) fits into a Lattice iCE40 UltraPlus 5k low-power FPGA running at 24 MHz
- [x] from zero to `printf("hello world!");` - completely open source and documented
- [x] easy to use even for FPGA/RISC-V starters – intended to work *out of the box*

[[back to top](#The-NEORV32-RISC-V-Processor)]



## 2. NEORV32 Processor Features

The NEORV32 Processor (top entity: [`rtl/core/neorv32_top.vhd`](https://github.com/stnolting/neorv32/blob/master/rtl/core/neorv32_top.vhd))
provides a full-featured SoC build around the NEORV32 CPU. It is highly configurable via generics
to allow a flexible customization according to your needs. Note that all modules listed below are _optional_.

**Memory**

* processor-internal data and instruction memories ([DMEM](https://stnolting.github.io/neorv32/#_data_memory_dmem) /
[IMEM](https://stnolting.github.io/neorv32/#_instruction_memory_imem)) &
cache ([iCACHE](https://stnolting.github.io/neorv32/#_processor_internal_instruction_cache_icache))
* bootloader ([BOOTLDROM](https://stnolting.github.io/neorv32/#_bootloader_rom_bootrom)) with serial user interface
  * allows booting application code via UART or from external SPI flash

**Timers**

* machine system timer, 64-bit ([MTIME](https://stnolting.github.io/neorv32/#_machine_system_timer_mtime)), RISC-V spec. compatible
* general purpose 32-bit timer ([GPTMR](https://stnolting.github.io/neorv32/#_general_purpose_timer_gptmr))
* watchdog timer ([WDT](https://stnolting.github.io/neorv32/#_watchdog_timer_wdt))

**IO**

* standard serial interfaces
([UART](https://stnolting.github.io/neorv32/#_primary_universal_asynchronous_receiver_and_transmitter_uart0),
[SPI](https://stnolting.github.io/neorv32/#_serial_peripheral_interface_controller_spi),
[TWI / I²C](https://stnolting.github.io/neorv32/#_two_wire_serial_interface_controller_twi))
* general purpose [GPIO](https://stnolting.github.io/neorv32/#_general_purpose_input_and_output_port_gpio) and
[PWM](https://stnolting.github.io/neorv32/#_pulse_width_modulation_controller_pwm)
* smart LED interface ([NEOLED](https://stnolting.github.io/neorv32/#_smart_led_interface_neoled)) to directly drive _NeoPixel(TM)_ LEDs

**SoC Connectivity and Integration**

* 32-bit external bus interface, Wishbone b4 compatible
([WISHBONE](https://stnolting.github.io/neorv32/#_processor_external_memory_interface_wishbone_axi4_lite))
  * [wrapper](https://github.com/stnolting/neorv32/blob/master/rtl/system_integration/neorv32_SystemTop_axi4lite.vhd) for AXI4-Lite master interface
  * [wrapper](https://github.com/stnolting/neorv32/blob/master/rtl/system_integration/neorv32_SystemTop_AvalonMM.vhd) for Avalon-MM master interface
* 32-bit stream link interface with up to 8 independent RX and TX links
([SLINK](https://stnolting.github.io/neorv32/#_stream_link_interface_slink))
  * AXI4-Stream compatible
* external interrupt controller with up to 32 channels
([XIRQ](https://stnolting.github.io/neorv32/#_external_interrupt_controller_xirq))
* custom functions subsystem ([CFS](https://stnolting.github.io/neorv32/#_custom_functions_subsystem_cfs))
for tightly-coupled custom co-processor extensions

**Advanced**

* _true random_ number generator ([TRNG](https://stnolting.github.io/neorv32/#_true_random_number_generator_trng))
* on-chip debugger ([OCD](https://stnolting.github.io/neorv32/#_on_chip_debugger_ocd)) accessible via JTAG interface - implementing
the [*Minimal RISC-V Debug Specification Version 0.13.2*](https://github.com/riscv/riscv-debug-spec)
and compatible with *OpenOCD* and *gdb*
* bus keeper to monitor the CPU's bus transactions ([BUSKEEPER](https://stnolting.github.io/neorv32/#_internal_bus_monitor_buskeeper))

[[back to top](#The-NEORV32-RISC-V-Processor)]


### FPGA Implementation Results - Processor

The hardware resources used by a specific processor setup is defined by the implemented CPU extensions,
the configuration of the peripheral modules and some "glue logic".
Section [_FPGA Implementation Results - Processor Modules_](https://stnolting.github.io/neorv32/#_processor_modules)
of the online datasheet shows the resource utilization of each optional processor module to allow an
estimation of the actual setup's hardware requirements.

:information_source: The [`setups`](https://github.com/stnolting/neorv32/tree/master/setups) folder provides exemplary FPGA
setups targeting various FPGA boards and toolchains. These setups also provide resource utilization reports for different
SoC configurations

[[back to top](#The-NEORV32-RISC-V-Processor)]



## 3. NEORV32 CPU Features

The CPU (top entity: [`rtl/core/neorv32_cpu.vhd`](https://github.com/stnolting/neorv32/blob/master/rtl/core/neorv32_cpu.vhd))
implements the RISC-V 32-bit `rv32` ISA with optional extensions (see below). It is compatible to subsets of the
*Unprivileged ISA Specification* [(Version 2.2)](https://github.com/stnolting/neorv32/blob/master/docs/references/riscv-spec.pdf)
and the *Privileged Architecture Specification* [(Version 1.12-draft)](https://github.com/stnolting/neorv32/blob/master/docs/references/riscv-privileged.pdf).
Compatibility is checked by passing the [official RISC-V architecture tests](https://github.com/riscv/riscv-arch-test)
(see [`sim/README`](sim/README.md)).

The core is a little-endian Von-Neumann machine implemented as multi-cycle architecture.
However, the CPU's _front end_ (instruction fetch) and _back end_ (instruction execution) can work independently to increase performance.
Currently, three privilege levels (`machine` and optional `user` and `debug_mode`) are supported. The CPU implements all three standard RISC-V machine
interrupts (`MTI`, `MEI`, `MSI`) plus 16 _fast interrupt requests_ as custom extensions.
It also supports **all** standard RISC-V exceptions (instruction/load/store misaligned address & bus access fault, illegal
instruction, breakpoint, environment calls).

:books: In-depth detailed information regarding the CPU can be found in the
[_Data Sheet: NEORV32 Central Processing Unit_](https://stnolting.github.io/neorv32/#_neorv32_central_processing_unit_cpu).


### Available ISA Extensions

Currently, the following _optional_ RISC-V-compatible ISA extensions are implemented (linked to the according
documentation section). Note that the `X` extension is always enabled.

**RV32
[[`I`](https://stnolting.github.io/neorv32/#_i_base_integer_isa)/
[`E`](https://stnolting.github.io/neorv32/#_e_embedded_cpu)]
[[`A`](https://stnolting.github.io/neorv32/#_a_atomic_memory_access)]
[[`B`](https://stnolting.github.io/neorv32/#_b_bit_manipulation_operations)]
[[`C`](https://stnolting.github.io/neorv32/#_c_compressed_instructions)]
[[`M`](https://stnolting.github.io/neorv32/#_m_integer_multiplication_and_division)]
[[`U`](https://stnolting.github.io/neorv32/#_u_less_privileged_user_mode)]
[[`X`](https://stnolting.github.io/neorv32/#_x_neorv32_specific_custom_extensions)]
[[`Zfinx`](https://stnolting.github.io/neorv32/#_zfinx_single_precision_floating_point_operations)]
[[`Zicsr`](https://stnolting.github.io/neorv32/#_zicsr_control_and_status_register_access_privileged_architecture)]
[[`Zicntr`](https://stnolting.github.io/neorv32/#_zicntr_cpu_base_counters)]
[[`Zihpm`](https://stnolting.github.io/neorv32/#_zihpm_hardware_performance_monitors)]
[[`Zifencei`](https://stnolting.github.io/neorv32/#_zifencei_instruction_stream_synchronization)]
[[`Zmmul`](https://stnolting.github.io/neorv32/#_zmmul_integer_multiplication)]
[[`PMP`](https://stnolting.github.io/neorv32/#_pmp_physical_memory_protection)]
[[`DEBUG`](https://stnolting.github.io/neorv32/#_cpu_debug_mode)]**

:warning: The `B`, `Zfinx` and `Zmmul` RISC-V extensions are frozen but not officially ratified yet. Hence, there is no
upstream gcc support. To circumvent this, the NEORV32 software framework provides _intrinsic_ libraries for these extensions.

[[back to top](#The-NEORV32-RISC-V-Processor)]


### FPGA Implementation Results - CPU

Implementation results for _exemplary_ CPU configuration generated for an **Intel Cyclone IV EP4CE22F17C6N FPGA**
using **Intel Quartus Prime Lite 20.1** ("balanced implementation"). The timing information is derived
from the Timing Analyzer / Slow 1200mV 0C Model. No constraints were used at all.

Results generated for hardware version [`1.5.7.10`](https://github.com/stnolting/neorv32/blob/master/CHANGELOG.md).

| CPU Configuration                                 | LEs  | FFs  | Memory bits | DSPs (9-bit) | f_max   |
|:--------------------------------------------------|:----:|:----:|:-----------:|:------------:|:-------:|
| `rv32i`                                           |  806 |  359 |        1024 |            0 | 125 MHz |
| `rv32i_Zicsr_Zicntr`                              | 1729 |  813 |        1024 |            0 | 124 MHz |
| `rv32imac_Zicsr_Zicntr`                           | 2511 | 1074 |        1024 |            0 | 124 MHz |

:information_source: An incremental list of CPU extension's hardware utilization can found in the
[_Data Sheet: FPGA Implementation Results - CPU_](https://stnolting.github.io/neorv32/#_cpu).

:information_source: The CPU (and also the SoC) provides advanced options to optimize for performance, area or energy.
See [_User Guide: Application-Specific Processor Configuration_](https://stnolting.github.io/neorv32/ug/#_application_specific_processor_configuration)
for more information.

[[back to top](#The-NEORV32-RISC-V-Processor)]


### Performance

The NEORV32 CPU is based on a two-stages pipelined architecture. Since both stage use a multi-cycle processing scheme,
each instruction requires several clock cycles to execute (2 cycles for ALU operations, up to 40 cycles for divisions).
The average CPI (cycles per instruction) depends on the instruction mix of a specific applications and also on the
available CPU extensions.

The following table shows the performance results (relative CoreMark score and average cycles per instruction) for
_exemplary_ CPU configuration running 2000 iterations of the CoreMark CPU benchmark.
The source files are available in [`sw/example/coremark`](https://github.com/stnolting/neorv32/blob/master/sw/example/coremark).
A simple(!) port of the **Dhrystone** benchmark is also available in
[`sw/example/dhrystone`](https://github.com/stnolting/neorv32/blob/master/sw/example/dhrystone).

Results generated for hardware version [`1.5.7.10`](https://github.com/stnolting/neorv32/blob/master/CHANGELOG.md).

| CPU Configuration                               | CoreMark Score | CoreMarks/MHz | Average CPI |
|:------------------------------------------------|:--------------:|:-------------:|:-----------:|
| _small_ (`rv32i_Zicsr`)                         |          33.89 | **0.3389**    | **4.04**    |
| _medium_ (`rv32imc_Zicsr`)                      |          62.50 | **0.6250**    | **5.34**    |
| _performance_ (`rv32imc_Zicsr` + perf. options) |          95.23 | **0.9523**    | **3.54**    |

:information_source: More information regarding the CPU performance can be found in the
[_Data Sheet: CPU Performance_](https://stnolting.github.io/neorv32/#_cpu_performance).

[[back to top](#The-NEORV32-RISC-V-Processor)]



## 4. Software Framework and Tooling

:books: In-depth detailed information regarding the software framework can be found in the
[_Data Sheet: Software Framework_](https://stnolting.github.io/neorv32/#_software_framework).

* [core libraries](https://github.com/stnolting/neorv32/tree/master/sw/lib) for high-level usage of the provided functions and peripherals
* application compilation based on GNU makefiles
* gcc-based toolchain ([pre-compiled toolchains available](https://github.com/stnolting/riscv-gcc-prebuilt))
* bootloader with UART interface console
* runtime environment for handling traps
* several [example programs](https://github.com/stnolting/neorv32/tree/master/sw/example) to get started including CoreMark, FreeRTOS and Conway's Game of Life
* `doxygen`-based documentation, available on :books: [GitHub pages](https://stnolting.github.io/neorv32/sw/files.html)
* supports implementation using open source tooling (GHDL, Yosys and nextpnr; in the future Verilog-to-Routing); both, software and hardware can be
developed and debugged with open source tooling
* [continuous integration](https://github.com/stnolting/neorv32/actions) :octocat: is available for:
  * allowing users to see the expected execution/output of the tools
  * ensuring specification compliance
  * catching regressions
  * providing ready-to-use and up-to-date bitstreams and documentation

[[back to top](#The-NEORV32-RISC-V-Processor)]



## 5. Getting Started

This overview provides some *quick links* to the most important sections of the
[online Data Sheet](https://stnolting.github.io/neorv32) and the
[online User Guide](https://stnolting.github.io/neorv32/ug).

### :electric_plug: Hardware Overview

* [Rationale](https://stnolting.github.io/neorv32/#_rationale) - NEORV32: why, how come, what for

* [NEORV32 Processor](https://stnolting.github.io/neorv32/#_neorv32_processor_soc) - the SoC
  * [Top Entity - Signals](https://stnolting.github.io/neorv32/#_processor_top_entity_signals) - how to connect to the processor
  * [Top Entity - Generics](https://stnolting.github.io/neorv32/#_processor_top_entity_generics) - configuration options
  * [Address Space](https://stnolting.github.io/neorv32/#_address_space) - memory layout and boot configuration
  * [SoC Modules](https://stnolting.github.io/neorv32/#_processor_internal_modules) - available IO/peripheral modules and memories
  * [On-Chip Debugger](https://stnolting.github.io/neorv32/#_on_chip_debugger_ocd) - online & in-system debugging of the processor via JTAG

* [NEORV32 CPU](https://stnolting.github.io/neorv32/#_neorv32_central_processing_unit_cpu) - the CPU
  * [RISC-V compatibility](https://stnolting.github.io/neorv32/#_risc_v_compatibility) - what is compatible to the specs. and what is not
  * [Full Virtualization](https://stnolting.github.io/neorv32/#_full_virtualization) - hardware execution safety
  * [ISA and Extensions](https://stnolting.github.io/neorv32/#_instruction_sets_and_extensions) - available RISC-V ISA extensions
  * [CSRs](https://stnolting.github.io/neorv32/#_control_and_status_registers_csrs) - control and status registers
  * [Traps](https://stnolting.github.io/neorv32/#_traps_exceptions_and_interrupts) - interrupts and exceptions

### :floppy_disk: Software Overview

* [Core Libraries](https://stnolting.github.io/neorv32/#_core_libraries) - high-level functions for accessing the processor's peripherals
  * [Software Framework Documentation](https://stnolting.github.io/neorv32/sw/files.html) - `doxygen`-based documentation
* [Application Makefiles](https://stnolting.github.io/neorv32/#_application_makefile) - turning your application into an executable
* [Bootloader](https://stnolting.github.io/neorv32/#_bootloader) - the build-in NEORV32 bootloader

### :rocket: User Guide

* [Toolchain Setup](https://stnolting.github.io/neorv32/ug/#_toolchain_setup) - install and setup RISC-V gcc
* [General Hardware Setup](https://stnolting.github.io/neorv32/ug/#_general_hardware_setup) - setup a new NEORV32 EDA project
* [General Software Setup](https://stnolting.github.io/neorv32/ug/#_general_software_framework_setup) - configure the software framework
* [Application Compilation](https://stnolting.github.io/neorv32/ug/#_application_program_compilation) - compile an application using `make`
* [Upload via Bootloader](https://stnolting.github.io/neorv32/ug/#_uploading_and_starting_of_a_binary_executable_image_via_uart) - upload and execute executables
* [Application-Specific Processor Configuration](https://stnolting.github.io/neorv32/ug/#_application_specific_processor_configuration) - tailor the processor to your needs
* [Adding Custom Hardware Modules](https://stnolting.github.io/neorv32/ug/#_adding_custom_hardware_modules) - add _your_ custom hardware
* [Debugging via the On-Chip Debugger](https://stnolting.github.io/neorv32/ug/#_debugging_using_the_on_chip_debugger) - step through code *online* and *in-system*
* [Simulation](https://stnolting.github.io/neorv32/ug/#_simulating_the_processor) - simulate the whole SoC
  * [Hello World!](https://stnolting.github.io/neorv32/ug/index.html#_hello_world) - run a quick _"hello world"_ simulation

### :copyright: Legal

* [Overview](https://stnolting.github.io/neorv32/#_legal) - license, disclaimer, proprietary notice, ...
* [Citing](https://stnolting.github.io/neorv32/#_citing) - citing information (DOI)
* [Impressum](https://github.com/stnolting/neorv32/blob/master/docs/impressum.md) - imprint (:de:)

[[back to top](#The-NEORV32-RISC-V-Processor)]



## Acknowledgements

**A big shout-out to the community and all [contributors](https://github.com/stnolting/neorv32/graphs/contributors), who helped improving this project! :heart:**

[RISC-V](https://riscv.org/) - Instruction Sets Want To Be Free!

Continuous integration provided by [:octocat: GitHub Actions](https://github.com/features/actions) and powered by [GHDL](https://github.com/ghdl/ghdl).