Dobrica Pavlinušić's random unstructured stuff
Milk-V Duo: Revision 15
Contents


https://milkv.io/docs/duo/overview

Duo S

https://milkv.io/docs/duo/getting-started/duos

[Thu Jan 23 16:32:35 2025] usb 3-3.3.4.4: new high-speed USB device number 28 using xhci_hcd
[Thu Jan 23 16:32:36 2025] usb 3-3.3.4.4: device descriptor read/64, error -71
[Thu Jan 23 16:32:36 2025] usb 3-3.3.4.4: New USB device found, idVendor=3346, idProduct=1009, bcdDevice= 5.10
[Thu Jan 23 16:32:36 2025] usb 3-3.3.4.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[Thu Jan 23 16:32:36 2025] usb 3-3.3.4.4: Product: RNDIS
[Thu Jan 23 16:32:36 2025] usb 3-3.3.4.4: Manufacturer: Cvitek
[Thu Jan 23 16:32:36 2025] usb 3-3.3.4.4: SerialNumber: 0123456789
[Thu Jan 23 16:32:36 2025] rndis_host 3-3.3.4.4:1.0 eth0: register 'rndis_host' at usb-0000:00:14.0-3.3.4.4, RNDIS device, 7a:f4:9f:e4:50:82
[Thu Jan 23 16:32:36 2025] usbcore: registered new interface driver rndis_host
[Thu Jan 23 16:32:36 2025] rndis_host 3-3.3.4.4:1.0 enx7af49fe45082: renamed from eth0

dpavlin@nuc:/nuc/milkv-duo$ sudo dhclient enx7af49fe45082

dpavlin@nuc:/nuc/milkv-duo$ /sbin/ifconfig enx7af49fe45082
enx7af49fe45082: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 192.168.42.94  netmask 255.255.255.0  broadcast 192.168.42.255
        inet6 fe80::78f4:9fff:fee4:5082  prefixlen 64  scopeid 0x20<link>
        ether 7a:f4:9f:e4:50:82  txqueuelen 1000  (Ethernet)
        RX packets 7  bytes 816 (816.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 31  bytes 6008 (5.8 KiB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

dpavlin@nuc:/nuc/milkv-duo$ ssh root@192.168.42.1.
The authenticity of host '192.168.42.1. (192.168.42.1)' can't be established.
ED25519 key fingerprint is SHA256:sfqq5/VjPb++J6gD4Q8/JxUn6u2geewQcqPwIjJHiF4.
This host key is known by the following other names/addresses:
    ~/.ssh/known_hosts:809: [hashed name]
Are you sure you want to continue connecting (yes/no/[fingerprint])? yes
Warning: Permanently added '192.168.42.1.' (ED25519) to the list of known hosts.
root@192.168.42.1.'s password: ### milkv
[root@milkv-duo]~#

[root@milkv-duo]~# cat /proc/cpuinfo
processor	: 0
hart		: 0
isa		: rv64imafdvcsu
mmu		: sv39

[root@milkv-duo]~# uname -a
Linux milkv-duo 5.10.4-tag- #1 PREEMPT Thu Jun 6 14:28:13 CEST 2024 riscv64 GNU/Linux
[root@milkv-duo]~# free
              total        used        free      shared  buff/cache   available
Mem:         330960       22516      296692         148       11752      300580
Swap:             0           0           0

buildroot

dpavlin@nuc:/nuc/milkv-duo/duo-buildroot-sdk$ ./build.sh milkv-duos-sd

...

 create partition mounting points and move sytems to read-write partitions
  [TARGET] br-rootfs-pack
make -C /nuc/milkv-duo/duo-buildroot-sdk/buildroot-2021.05 milkv-duos-sd_musl_riscv64_defconfig BR2_TOOLCHAIN_EXTERNAL_PATH=/nuc/milkv-duo/duo-buildroot-sdk/host-tools/gcc/riscv64-linux-musl-x86_64
make[1]: Entering directory '/nuc/milkv-duo/duo-buildroot-sdk/buildroot-2021.05'
  GEN     /nuc/milkv-duo/duo-buildroot-sdk/buildroot-2021.05/output/milkv-duos-sd_musl_riscv64/Makefile
#
# configuration written to /nuc/milkv-duo/duo-buildroot-sdk/buildroot-2021.05/output/milkv-duos-sd_musl_riscv64/.config
#
make[1]: Leaving directory '/nuc/milkv-duo/duo-buildroot-sdk/buildroot-2021.05'
/nuc/milkv-duo/duo-buildroot-sdk/buildroot-2021.05/utils/brmake -j16 -C /nuc/milkv-duo/duo-buildroot-sdk/buildroot-2021.05
2025-01-24T13:36:30 >>> host-util-linux 2.36.2 Building
Done in 10s  (error code: 2)
make: *** [Makefile:597: br-rootfs-pack] Error 2
Error: Build board milkv-duos-sd failed!
dpavlin@nuc:/nuc/milkv-duo/duo-buildroot-sdk$

huh, Debian sid build doesn't work. Build with docker and Ubuntu 22.04 works.

docker run --privileged -itd --name duodocker -v $(pwd):/home/work milkvtech/milkv-duo:latest /bin/bash

docker exec -it duodocker /bin/bash -c "cd /home/work && cat /etc/issue && ./build.sh milkv-duos-musl-riscv64-sd"

Duo 256M

debian

https://community.milkv.io/t/debian-images-for-duo256-duos/1715

https://github.com/Fishwaldo/sophgo-sg200x-debian

persisatnt cdc ncm mac address

[root@milkv-duos]~# grep -C 2 c0:ff /etc/run_usb.sh
  if [ "$CLASS" = "ncm" ] ; then
    # FIXME dpavlin
    echo c0:ff:e0:00:00:44 >$CVI_GADGET/functions/$CLASS.usb$FUNC_NUM/host_addr
    ln -s $CVI_FUNC/ncm.usb$FUNC_NUM $CVI_GADGET/configs/c.1
  fi

  • isb rom mode
dpavlin@nuc:/nuc/milkv-duo/duo-buildroot-sdk-v2/build$ ./tools/cv181x/usb_dl/rom_usb_dl/cv181x_rom_usb_download.py
fip_path: /nuc/milkv-duo/duo-buildroot-sdk-v2/build/fip.bin
CV181X USB download start
Connecting to ROM

camera

raspberry pi camera

It does not work as well as gc2083

[root@milkv-duo]/mnt/data# uname -a
Linux milkv-duo 5.10.4-tag- #1 SMP PREEMPT Mon Dec 9 10:20:52 CST 2024 aarch64 GNU/Linux
[root@milkv-duo]/mnt/data# ls -al
total 28
drwxr-xr-x 2 root root 4096 Dec  6  2024 .
drwxr-xr-x 6 root root 4096 Dec  6  2024 ..
lrwxrwxrwx 1 root root   21 Dec  6  2024 sensor_cfg.ini -> sensor_cfg_GC2083.ini
-rw-r--r-- 1 root root  262 Dec  6  2024 sensor_cfg_GC2083.ini
-rw-r--r-- 1 root root  259 Dec  6  2024 sensor_cfg_OV5647_J1.ini
-rw-r--r-- 1 root root  259 Dec  6  2024 sensor_cfg_OV5647_J2.ini
-rw-r--r-- 1 root root  263 Dec  6  2024 sensor_cfg_SC035HGS.ini
-rw-r--r-- 1 root root  259 Dec  6  2024 sensor_cfg_SC200AI.ini


root@milkv-duo]~# i2cdetect -y 1
Warning: Can't use SMBus Quick Write command, will skip some addresses
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:
10:
20:
30: -- -- -- -- -- -- -- --
40:
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60:
70:
[root@milkv-duo]~# i2cdetect -y 2
Warning: Can't use SMBus Quick Write command, will skip some addresses
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:
10:
20:
30: -- -- -- -- -- -- 36 --
40:
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60:
70:
[root@milkv-duo]~# cd /mnt/data/
[root@milkv-duo]/mnt/data# ls
sensor_cfg.ini         sensor_cfg_OV5647_J1.ini  sensor_cfg_SC035HGS.ini
sensor_cfg_GC2083.ini  sensor_cfg_OV5647_J2.ini  sensor_cfg_SC200AI.ini
[root@milkv-duo]/mnt/data# grep 36 *
sensor_cfg_OV5647_J1.ini:sns_i2c_addr = 36
sensor_cfg_OV5647_J2.ini:sns_i2c_addr = 36

# this is error prodced on v2 sdk which doesn't work

[root@milkv-duo]/mnt/system/usr/bin# ./sample_sensor_test
[sys_vi_init]-59: MMF Version:7d0dea0a1-64bit
[SAMPLE_COMM_SNS_ParseIni]-2168: Parse /mnt/data/sensor_cfg.ini
[parse_source_devnum]-1761: devNum =  1
[parse_sensor_name]-1842: sensor =  OV_OV5647_MIPI_2M_30FPS_10BIT
[parse_sensor_busid]-1871: bus_id =  3
[parse_sensor_i2caddr]-1882: sns_i2c_addr =  36
[parse_sensor_mipidev]-1893: mipi_dev =  0
[parse_sensor_laneid]-1904: Lane_id =  2, 0, 1, -1, -1
[parse_sensor_pnswap]-1915: pn_swap =  0, 0, 0,  0,  0
[sys_vi_init]-70: Parse complete
[sys_vi_init]-129: set VBpool [0] 1920:1080, BlkCnt= 3, Size = 3133440
family ID request : receive error
ISP Vipipe(0) Allocate pa(0x962f1000) va(0x0x7f9bba3000) size(284104)
stSnsrMode.u16Width 1920 stSnsrMode.u16Height 1080 30.000000 wdrMode 0 pstSnsObj 0x5dcd00
[SAMPLE_COMM_VI_StartMIPI]-494: sensor 0 stDevAttr.devno 0
[sys_vi_init]-163: vi init failed. s32Ret: 0xffffffff !

[root@milkv-duo]/mnt/data# ln -sf sensor_cfg_OV5647_J2.ini sensor_cfg.ini

# this is working output on v1 sdk

[root@milkv-duo]~# /mnt/system/usr/bin/sensor_test
[sys_vi_init]-41: MMF Version:7e0cc6a08-musl_riscv64
[SAMPLE_COMM_SNS_ParseIni]-1950: Parse /mnt/data/sensor_cfg.ini
[parse_source_devnum]-1605: devNum =  1
[parse_sensor_name]-1686: sensor =  OV_OV5647_MIPI_2M_30FPS_10BIT
[parse_sensor_busid]-1714: bus_id =  2
[parse_sensor_i2caddr]-1725: sns_i2c_addr =  36
[parse_sensor_mipidev]-1736: mipi_dev =  0
[parse_sensor_laneid]-1747: Lane_id =  5, 3, 4, -1, -1
[parse_sensor_pnswap]-1758: pn_swap =  0, 0, 0,  0,  0
[SAMPLE_PLAT_SYS_INIT]-72: common pool[0] BlkSize 3133440
ISP Vipipe(0) Allocate pa(0x97b1f000) va(0x0x3fda046000) size(291120)
stSnsrMode.u16Width 1920 stSnsrMode.u16Height 1080 30.000000 wdrMode 0 pstSnsObj 0xef898
[SAMPLE_COMM_VI_StartMIPI]-483: sensor 0 stDevAttr.devno 0
awbInit ver 6.8@2021500
0 R:1400 B:3100 CT:2850
1 R:1500 B:2500 CT:3900
2 R:2300 B:1600 CT:6500
Golden 1024 1024 1024
WB Quadratic:0
isWdr:0
19700101 02:29:34.620 2892 E isp setNoiseProfile:3460 Noise profile get fail. Please check
ViPipe:0,===OV5647 1080P 30fps 10bit LINE Init OK!
********************************************************************************
cvi_bin_isp message
gerritId:      36403          commitId:      c69c5863e
md5:           cab880835a2ad5184de5ed7762404b84
sensorNum      1
sensorName0    22087

PQBIN message
gerritId:      80171          commitId:      5c9d8fc5d
md5:           ba5a510e093ad42db6788e6c2d13169e
sensorNum      3
sensorName0    2053

author:        wanqiang.he    desc:          思博慧CV1812H_GC2083_RGB_mode_V1.0.0
createTime:    2023-08-04 16:48:08version:       V1.1
tool Version:       v3.0.5.24           mode:
********************************************************************************
sensorName(0) mismatch, mwSns:22087 != pqBinSns:2053
[SAMPLE_COMM_ISP_Thread]-95: ISP Dev 0 running!
0 R:1165 B:3087 CT:2688
1 R:1464 B:2327 CT:3937
2 R:1974 B:1613 CT:7225
Golden 1464 1024 2327
wdrLEOnly:1
[main]-578: ---Basic------------------------------------------------
[main]-579: 1: dump vi raw frame
[main]-580: 2: dump vi yuv frame
[main]-581: 3: set chn flip/mirror
[main]-582: 4: linear wdr switch
[main]-583: 5: AE debug
[main]-584: 6: sensor dump
[main]-585: 7: sensor proc
[main]-586: 255: exit
[main]-587: input your choice: 255
ISP Vipipe(0) Free pa(0x97b1f000) va(0x0x3fda046000)

[root@milkv-duo]~# camera-test.sh

This only works with original v1 version of sdk https://github.com/milkv-duo/duo-buildroot-sdk/releases

gc2083

[root@milkv-duos]~# i2cdetect -y 3
Warning: Can't use SMBus Quick Write command, will skip some addresses
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:
10:
20:
30: -- -- -- -- -- -- -- 37
40:
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60:
70:

[root@milkv-duos]~# ls -al /mnt/data/sensor_cfg.ini
lrwxrwxrwx 1 root root 21 Jan  1 00:01 /mnt/data/sensor_cfg.ini -> sensor_cfg_GC2083.ini

[root@milkv-duos]~# which camera-test.sh
/mnt/system/usr/bin/camera-test.sh

[root@milkv-duos]~# cat /mnt/system/usr/bin/camera-test.sh
#!/bin/sh

export LD_LIBRARY_PATH=/mnt/system/lib

sample_vi_fd /mnt/cvimodel/scrfd_768_432_int8_1x.cvimodel

run yolo model

[root@milkv-duos]~# ./sample_vi_od yolov3 yolov3.cvimodel

[SAMPLE_COMM_SNS_ParseIni]-1950: Parse /mnt/data/sensor_cfg.ini
[parse_source_devnum]-1605: devNum =  1
[parse_sensor_name]-1686: sensor =  GCORE_GC2083_MIPI_2M_30FPS_10BIT
[parse_sensor_busid]-1714: bus_id =  3
[parse_sensor_i2caddr]-1725: sns_i2c_addr =  37
[parse_sensor_mipidev]-1736: mipi_dev =  0
[parse_sensor_laneid]-1747: Lane_id =  2, 0, 1, -1, -1
[parse_sensor_pnswap]-1758: pn_swap =  0, 0, 0,  0,  0
MMF Version:7e0cc6a08-musl_riscv64
Create VBPool[0], size: (3110400 * 3) = 9331200 bytes
Create VBPool[1], size: (3110400 * 3) = 9331200 bytes
Create VBPool[2], size: (2359296 * 1) = 2359296 bytes
Total memory of VB pool: 21021696 bytes
Initialize SYS and VB
Initialize VI
ISP Vipipe(0) Allocate pa(0x9680e000) va(0x0x3fbd57e000) size(291120)
stSnsrMode.u16Width 1920 stSnsrMode.u16Height 1080 25.000000 wdrMode 0 pstSnsObj 0x3fbe3d0860
[SAMPLE_COMM_VI_StartMIPI]-483: sensor 0 stDevAttr.devno 0
awbInit ver 6.8@2021500
0 R:1400 B:3100 CT:2850
1 R:1500 B:2500 CT:3900
2 R:2300 B:1600 CT:6500
Golden 1024 1024 1024
WB Quadratic:0
isWdr:0
ViPipe:0,===GC2083 1080P 30fps 10bit LINE Init OK!===
********************************************************************************
cvi_bin_isp message
gerritId:      36403          commitId:      c69c5863e      
md5:           cab880835a2ad5184de5ed7762404b84
sensorNum      1              
sensorName0    2083           

PQBIN message
gerritId:      80171          commitId:      5c9d8fc5d      
md5:           ba5a510e093ad42db6788e6c2d13169e
sensorNum      3              
sensorName0    2053           

author:        wanqiang.he    desc:          思博慧CV1812H_GC2083_RGB_mode_V1.0.0
createTime:    2023-08-04 16:48:08version:       V1.1           
tool Version:       v3.0.5.24           mode:      
********************************************************************************
sensorName(0) mismatch, mwSns:2083 != pqBinSns:2053
[SAMPLE_COMM_ISP_Thread]-95: ISP Dev 0 running!
Initialize VPSS
---------VPSS[0]---------
Input size: (1920x1080)
Input format: (19)
VPSS physical device number: 1
Src Frame Rate: -1
Dst Frame Rate: -1
    --------CHN[0]-------
    Output size: (1920x1080)
    Depth: 1
    Do normalization: 0
        Src Frame Rate: -1
        Dst Frame Rate: -1
    ----------------------
    --------CHN[1]-------
    Output size: (1920x1080)
    Depth: 1
    Do normalization: 0
        Src Frame Rate: -1
        Dst Frame Rate: -1
    ----------------------
------------------------
Bind VI with VPSS Grp(0), Chn(0)
Attach VBPool(0) to VPSS Grp(0) Chn(0)
Attach VBPool(1) to VPSS Grp(0) Chn(1)
Initialize VENC
venc codec: h264
venc frame size: 1920x1080
Initialize RTSP
rtsp://169.254.72.208/h264
prio:0
version: 1.4.0
yolove416opt Build at 2024-12-03 01:10:02 For platform cv181x
Max SharedMem size:8306688
Enter TDL thread
Enter encoder thread
0 R:1165 B:3087 CT:2688
1 R:1464 B:2327 CT:3937
2 R:1974 B:1613 CT:7225
Golden 1464 1024 2327
wdrLEOnly:1
obj count: 0, take 473.42,width:1920 ms
obj count: 2, take 474.43,width:1920 ms
^Chandle signal, signo: 2
Exit encoder thread
Exit TDL thread
destroy middleware
ISP Vipipe(0) Free pa(0x9680e000) va(0x0x3fbd57e000)
stop VPSS (0)
[root@milkv-duos]~#

tdl

https://milkv.io/docs/duo/application-development/tdl-sdk/tdl-sdk-introduction