QEMU_DOARMPI

一、简介

QEMU_DOARMPI是个人学习而搭建，基于QEMU官方源码，定制开发的ARM架构的多核异构开发板。其根本目的是为方便开发人员能够在QEMU虚拟环境下模拟多核异构开发环境从而进行相关开发学习。

QEMU_DOARMPI理论上可用于移植任意操作系统（例如：Linux、RT-Thread、HarmonyOS、FreeRTOS、uCOS等），并模拟各类硬件开发相关驱动程序和应用程序，现已支持的硬件外设有：LCD、以太网卡、I2C设备、触摸屏、SD卡、SPI设备、CAN设备、LED、BUTTON、SWITCH_KEY等一系列外设资源。

由于该项目的代码参考各类开源项目，由本人移植、编写、构建，其功可能会存在一些问题，希望通过对应联系和沟通方式友好交流，谢谢各位支持！

二、目录构成

QEMU_DOARMPI目录结构如下图所示(git repo同步相关代码后)：

名称	描述
QEMU_VirtualBoard	基于QEMU源码定制开发的ARM相关内容支持GUI界面
Software	qemu软件目录和开发环境
SYSTEM_DOARMPI	各类操作系统源码

目前QEMU_DOARMPI已经移植RT-Thread、RT-Nano、Linux、FreeRTOS操作系统。

三、环境搭建(Windows x64系统)

1. EmDevTool工具(集成开发工具)

EmDevTool是Windows X64平台嵌入式开发工具，基于ConEmu终端程序，集成了ARM交叉编译工具，包含：FreeRTOS、RT-Thread、RT-Smart系统、QEMU、Linux应用、RT-Thread动态模块和RT-Smart用户态程序的编译环境等。

下载部署EmDevTool工具则无需执行2、3相关操作，但需要完整功能可在工具命令行执行repoconfig.exe，详情参考README.md文件。后续相关操作基本都是在这个工具执行命令。

2. git和git-repo环境搭建

打开Git - Install for Windows下载x64版的git，并安装

打开下载 – 阿里git客户端工具下载x64版的git-repo，并将其放在XXX\Git\bin目录下

将XXX\Git\bin目录加入环境变量

3. mingw环境搭建

打开msys2官网下载x64版的msys2，安装到目录D:\msys64

参考QMEU Windows环境搭建的Native builds with MSYS2，网址为：Hosts/W32 - QEMU

msys2增加国内源

# 进入目录D:\msys64\etc\pacman.d
# 在mirrorlist.msys的前面插入
    Server = https://mirrors.tuna.tsinghua.edu.cn/msys2/msys/$arch/
    Server = http://mirrors.ustc.edu.cn/msys2/msys/$arch/
    Server = http://mirror.bit.edu.cn/msys2/msys/$arch/
# 在mirrorlist.mingw32的前面插入
    Server = https://mirrors.tuna.tsinghua.edu.cn/msys2/mingw/i686/
    Server = http://mirrors.ustc.edu.cn/msys2/mingw/i686/
    Server = http://mirror.bit.edu.cn/msys2/mingw/i686/
# 在mirrorlist.mingw64的前面插入
    Server = https://mirrors.tuna.tsinghua.edu.cn/msys2/mingw/x86_64/
    Server = http://mirrors.ustc.edu.cn/msys2/mingw/x86_64/
    Server = http://mirror.bit.edu.cn/msys2/mingw/x86_64/

msys2更新源

# 双击运行D:\msys64\msys2.exe
$ pacman -Syu
$ pacman -Su

msys2安装mingw，并安装mingw和相关库

$ pacman -S base-devel mingw-w64-x86_64-toolchain git python ninja
$ pacman -S mingw-w64-x86_64-glib2 mingw-w64-x86_64-pixman python-setuptools
$ pacman -S mingw-w64-x86_64-gtk3 mingw-w64-x86_64-SDL2 mingw-w64-x86_64-libslirp

四、操作系统运行(EmDevTool环境运行)

# 切换到软件目录下
$ cd Software

1. 查看支持的系统, 支持telent连接，访问的地址和端口为127.0.0.1:3333

$ qemu-doarmpi.bat
QEMU-DOARMPI Information
System:
Display:
Serial:
Debug:

"help: qemu-doarmpi.bat [baremetal_r|baremetal_m|freertos_r|freertos_m|rtthread_r|rtthread_m|rnano_r|rnano_m|linux|linux_rtt_freertos] [gui|nogui] [stdio|telnet]"

2. 运行裸机

CORTEX-R裸机(qemu-doarmpi.bat baremetal_r nogui stdio)：

$ qemu-doarmpi.bat baremetal_r nogui stdio
QEMU-DOARMPI Information
System:  baremetal_r
Display: nogui
Serial:  stdio
Debug:

Run Cmd:F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\bin\qemu-system-aarch64.exe -M doarmpi -cpu cortex-r52 -smp 1 -m 128M -kernel F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\baremetal\baremetal-doarmpi-cortex-r.elf -append "console=ttyAMA0,115200 rootfstype=ext4 root=/dev/mmcblk0 rw rootwait init=/linuxrc loglevel=8 nokaslr" -serial mon:telnet::4444,server,nowait -serial mon:stdio -serial mon:telnet::5555,server,nowait -monitor telnet::2222,server,nowait -nographic -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\rootfs.ext4,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\baremetal\sd_r.bin,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\baremetal\sd_r.bin,format=raw -net nic,model=lan9118,netdev=hub0port0 -netdev hubport,id=hub0port0,hubid=0 -net nic,model=lan9118,netdev=hub0port1 -netdev hubport,id=hub0port1,hubid=0 -net nic,model=lan9118,netdev=hub0port2 -netdev hubport,id=hub0port2,hubid=0 -net user -readconfig F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\etc\cortex_r.conf -s

   ___  ___   ___  ______  ________________   __
  / _ )/ _ | / _ \/ __/  |/  / __/_  __/ _ | / /
 / _  / __ |/ , _/ _// /|_/ / _/  / / / __ |/ /__
/____/_/ |_/_/|_/___/_/  /_/___/ /_/ /_/ |_/____/
Build:             Oct 29 2025 15:20:12
CPU Type:          cortex-r
SDK Version:       1.0.0

[E/SDK][main.c:27][main]: This is error print
[W/SDK][main.c:28][main]: This is warn print
[I/SDK][main.c:29][main]: This is info print
[D/SDK][main.c:30][main]: This is debug print
DataType:
[I/SDK][main.c:33][main]: float:3.140000
[I/SDK][main.c:34][main]: uint32_t:4294967295
[I/SDK][main.c:35][main]: uint64_t:9223372036854775807
driver test menu:
        t: test timer driver
        r: test rtc driver
        g: test gpio driver
        i: test i2c driver
        s: test spi driver
        e: test enet driver
        c: test can driver
        m: test mci driver
        l: test lcd driver
        o: test ts driver
        v: show version
        q: quit test
input test driver:

CORTEX-M裸机(qemu-doarmpi.bat baremetal_m nogui stdio)：

$ qemu-doarmpi.bat baremetal_m nogui stdio
QEMU-DOARMPI Information
System:  baremetal_m
Display: nogui
Serial:  stdio
Debug:

Run Cmd:F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\bin\qemu-system-aarch64.exe -M doarmpi -cpu cortex-m33 -smp 1 -m 2M -kernel F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\baremetal\baremetal-doarmpi-cortex-m.elf -append "console=ttyAMA0,115200 rootfstype=ext4 root=/dev/mmcblk0 rw rootwait init=/linuxrc loglevel=8 nokaslr" -serial mon:telnet::5555,server,nowait -serial mon:telnet::4444,server,nowait -serial mon:stdio -monitor telnet::2222,server,nowait -nographic -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\rootfs.ext4,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\baremetal\sd_m.bin,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\baremetal\sd_m.bin,format=raw -net nic,model=lan9118,netdev=hub0port0 -netdev hubport,id=hub0port0,hubid=0 -net nic,model=lan9118,netdev=hub0port1 -netdev hubport,id=hub0port1,hubid=0 -net nic,model=lan9118,netdev=hub0port2 -netdev hubport,id=hub0port2,hubid=0 -net user -readconfig F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\etc\cortex_m.conf -s

   ___  ___   ___  ______  ________________   __
  / _ )/ _ | / _ \/ __/  |/  / __/_  __/ _ | / /
 / _  / __ |/ , _/ _// /|_/ / _/  / / / __ |/ /__
/____/_/ |_/_/|_/___/_/  /_/___/ /_/ /_/ |_/____/
Build:             Oct 29 2025 15:20:59
CPU Type:          cortex-m
SDK Version:       1.0.0

[E/SDK][main.c:27][main]: This is error print
[W/SDK][main.c:28][main]: This is warn print
[I/SDK][main.c:29][main]: This is info print
[D/SDK][main.c:30][main]: This is debug print
DataType:
[I/SDK][main.c:33][main]: float:3.140000
[I/SDK][main.c:34][main]: uint32_t:4294967295
[I/SDK][main.c:35][main]: uint64_t:9223372036854775807
driver test menu:
        t: test timer driver
        r: test rtc driver
        g: test gpio driver
        i: test i2c driver
        s: test spi driver
        e: test enet driver
        c: test can driver
        m: test mci driver
        l: test lcd driver
        o: test ts driver
        v: show version
        q: quit test
input test driver:

3. 运行FreeRTOS操作系统

CORTEX-R FreeRTOS操作系统(qemu-doarmpi.bat freertos_r nogui stdio)：

$ qemu-doarmpi.bat freertos_r nogui stdio
QEMU-DOARMPI Information
System:  freertos_r
Display: nogui
Serial:  stdio
Debug:

Run Cmd:F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\bin\qemu-system-aarch64.exe -M doarmpi -cpu cortex-r52 -smp 1 -m 128M -kernel F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\freertos\freertos-doarmpi-cortex-r.elf -append "console=ttyAMA0,115200 rootfstype=ext4 root=/dev/mmcblk0 rw rootwait init=/linuxrc loglevel=8 nokaslr" -serial mon:telnet::4444,server,nowait -serial mon:stdio -serial mon:telnet::5555,server,nowait -monitor telnet::2222,server,nowait -nographic -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\rootfs.ext4,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\freertos\sd_r.bin,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\freertos\sd_r.bin,format=raw -net nic,model=lan9118,netdev=hub0port0 -netdev hubport,id=hub0port0,hubid=0 -net nic,model=lan9118,netdev=hub0port1 -netdev hubport,id=hub0port1,hubid=0 -net nic,model=lan9118,netdev=hub0port2 -netdev hubport,id=hub0port2,hubid=0 -net user -readconfig F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\etc\cortex_r.conf -s

   ____            ___  __________  ____
  / __/______ ___ / _ \/_  __/ __ \/ __/
 / _// __/ -_) -_) , _/ / / / /_/ /\ \
/_/ /_/  \__/\__/_/|_| /_/  \____/___/
Build:             Oct 31 2025 15:48:20
CPU Type:          cortex-r
System Version:    1.0.0
SDK Version:       1.0.0
HAL Version:       1.0.0
Shell Version:     3.1.2
LWIP Version:      2.1.3
LVGL Version:      8.3.11
Copyright:         (c) 2023-2025 David

2025-11-03 17:14:21 [I/DRV][drv_rtc.c:145][DrvRtcInit]: Register rtc device succeed!
2025-11-03 17:14:21 [I/DRV][drv_gpio.c:428][DrvGpioInit]: Register pin device succeed!
2025-11-03 17:14:21 [I/DRV][drv_i2c.c:130][DrvI2cInit]: Register i2c0 bus succeed!
2025-11-03 17:14:21 [I/DRV][drv_spi.c:152][DrvSpiInit]: Register spi0 bus succeed!
2025-11-03 17:14:21 [I/DRV][drv_can.c:572][DrvCANInit]: Register can0 device succeed!
2025-11-03 17:14:21 [I/DRV][drv_enet.c:220][DrvENETInit]: Register en0 device success!
2025-11-03 17:14:21 [I/DRV][drv_mci.c:365][DrvMCIInit]: Register mci0 device succeed!
2025-11-03 17:14:21 [I/DEV][led.c:139][LedInit]: Register led device succeed!
2025-11-03 17:14:21 [I/DEV][button.c:137][ButtonInit]: Register button device succeed!
2025-11-03 17:14:21 [I/DEV][switch_key.c:74][SwitchKeyInit]: Register switch-key device succeed!
2025-11-03 17:14:21 [I/DEV][at24cxx.c:50][At24cXXInit]: Register at24cxx device succeed!
2025-11-03 17:14:21 [I/DEV][qemu_spi.c:38][QemuSpiInit]: Register qemu-spidev device succeed!
2025-11-03 17:14:21 [I/DEV][lan9118.c:217][Lan9118Init]: Initialize e0 device succeed!
2025-11-03 17:14:21 [I/DEV][lan9118.c:262][Lan9118NetLwipInit]: Initialize e0 lwip device succeed!
2025-11-03 17:14:21 [I/DEV][dev_lcd.c:73][LcdInit]: Register lcd device succeed!
2025-11-03 17:14:21 [I/DEV][dev_lcd.c:88][LcdInit]: Initialize lcd device succeed!
2025-11-03 17:14:21 [I/DEV][sd.c:229][SDInit]: Register sd0 device succeed!
2025-11-03 17:14:21 [I/APP][user_app.c:152][UserAppStart]: User application start!
2025-11-03 17:14:22 [I/APP][user_app.c:111][MntInit]: f_mount succeeded!

freertos-doarmpi(cortex-r):/$

CORTEX-M FreeRTOS操作系统(qemu-doarmpi.bat freertos_m nogui stdio)：

$ qemu-doarmpi.bat freertos_m nogui stdio
QEMU-DOARMPI Information
System:  freertos_m
Display: nogui
Serial:  stdio
Debug:

Run Cmd:F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\bin\qemu-system-aarch64.exe -M doarmpi -cpu cortex-m33 -smp 1 -m 2M -kernel F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\freertos\freertos-doarmpi-cortex-m.elf -append "console=ttyAMA0,115200 rootfstype=ext4 root=/dev/mmcblk0 rw rootwait init=/linuxrc loglevel=8 nokaslr" -serial mon:telnet::5555,server,nowait -serial mon:telnet::4444,server,nowait -serial mon:stdio -monitor telnet::2222,server,nowait -nographic -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\rootfs.ext4,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\freertos\sd_m.bin,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\freertos\sd_m.bin,format=raw -net nic,model=lan9118,netdev=hub0port0 -netdev hubport,id=hub0port0,hubid=0 -net nic,model=lan9118,netdev=hub0port1 -netdev hubport,id=hub0port1,hubid=0 -net nic,model=lan9118,netdev=hub0port2 -netdev hubport,id=hub0port2,hubid=0 -net user -readconfig F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\etc\cortex_m.conf -s

   ____            ___  __________  ____
  / __/______ ___ / _ \/_  __/ __ \/ __/
 / _// __/ -_) -_) , _/ / / / /_/ /\ \
/_/ /_/  \__/\__/_/|_| /_/  \____/___/
Build:             Oct 31 2025 15:40:41
CPU Type:          cortex-m
System Version:    1.0.0
SDK Version:       1.0.0
HAL Version:       1.0.0
Shell Version:     3.1.2
LWIP Version:      2.1.3
LVGL Version:      8.3.11
Copyright:         (c) 2023-2025 David

2025-11-03 17:15:56 [I/DRV][drv_rtc.c:145][DrvRtcInit]: Register rtc device succeed!
2025-11-03 17:15:56 [I/DRV][drv_gpio.c:428][DrvGpioInit]: Register pin device succeed!
2025-11-03 17:15:56 [I/DRV][drv_i2c.c:130][DrvI2cInit]: Register i2c0 bus succeed!
2025-11-03 17:15:56 [I/DRV][drv_spi.c:152][DrvSpiInit]: Register spi0 bus succeed!
2025-11-03 17:15:56 [I/DRV][drv_can.c:572][DrvCANInit]: Register can0 device succeed!
2025-11-03 17:15:56 [I/DRV][drv_enet.c:220][DrvENETInit]: Register en0 device success!
2025-11-03 17:15:56 [I/DRV][drv_mci.c:365][DrvMCIInit]: Register mci0 device succeed!
2025-11-03 17:15:56 [I/DEV][led.c:139][LedInit]: Register led device succeed!
2025-11-03 17:15:56 [I/DEV][button.c:137][ButtonInit]: Register button device succeed!
2025-11-03 17:15:56 [I/DEV][switch_key.c:74][SwitchKeyInit]: Register switch-key device succeed!
2025-11-03 17:15:56 [I/DEV][at24cxx.c:50][At24cXXInit]: Register at24cxx device succeed!
2025-11-03 17:15:56 [I/DEV][qemu_spi.c:38][QemuSpiInit]: Register qemu-spidev device succeed!
2025-11-03 17:15:56 [I/DEV][lan9118.c:217][Lan9118Init]: Initialize e0 device succeed!
2025-11-03 17:15:56 [I/DEV][lan9118.c:262][Lan9118NetLwipInit]: Initialize e0 lwip device succeed!
2025-11-03 17:15:56 [I/DEV][dev_lcd.c:73][LcdInit]: Register lcd device succeed!
2025-11-03 17:15:56 [I/DEV][dev_lcd.c:88][LcdInit]: Initialize lcd device succeed!
2025-11-03 17:15:56 [I/DEV][sd.c:229][SDInit]: Register sd0 device succeed!
2025-11-03 17:15:56 [I/APP][user_app.c:152][UserAppStart]: User application start!
2025-11-03 17:15:56 [I/APP][user_app.c:111][MntInit]: f_mount succeeded!

freertos-doarmpi(cortex-m):/$

4. 运行RTThread操作系统

CORTEX-R RTThread操作系统(qemu-doarmpi.bat rtthread_r nogui stdio)：

$ qemu-doarmpi.bat rtthread_r nogui stdio
QEMU-DOARMPI Information
System:  rtthread_r
Display: nogui
Serial:  stdio
Debug:

Run Cmd:F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\bin\qemu-system-aarch64.exe -M doarmpi -cpu cortex-r52 -smp 1 -m 128M -kernel F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtthread\rtthread-doarmpi-cortex-r.elf -append "console=ttyAMA0,115200 rootfstype=ext4 root=/dev/mmcblk0 rw rootwait init=/linuxrc loglevel=8 nokaslr" -serial mon:telnet::4444,server,nowait -serial mon:stdio -serial mon:telnet::5555,server,nowait -monitor telnet::2222,server,nowait -nographic -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\rootfs.ext4,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtthread\sd_r.bin,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtthread\sd_r.bin,format=raw -net nic,model=lan9118,netdev=hub0port0 -netdev hubport,id=hub0port0,hubid=0 -net nic,model=lan9118,netdev=hub0port1 -netdev hubport,id=hub0port1,hubid=0 -net nic,model=lan9118,netdev=hub0port2 -netdev hubport,id=hub0port2,hubid=0 -net user -readconfig F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\etc\cortex_r.conf -s


 \ | /
- RT -     Thread Operating System
 / | \     5.2.1 build Oct 31 2025 15:18:46
 2006 - 2024 Copyright by RT-Thread team
lwIP-2.1.2 initialized!
2025-11-03 17:17:11 [I/DRV][drv_i2c.c:111][rt_hw_drv_i2c_init]: Register i2c0 bus succeed!
2025-11-03 17:17:11 [I/DRV][drv_spi.c:130][rt_hw_drv_spi_init]: Register spi0 bus succeed!
2025-11-03 17:17:11 [I/DRV][drv_gpio.c:474][rt_hw_drv_pin_init]: Register pin device succeed!
2025-11-03 17:17:11 [I/DRV][drv_mci.c:412][rt_hw_drv_mci_init]: Register mci0 device succeed!
2025-11-03 17:17:11 [I/DRV][drv_can.c:635][rt_hw_drv_can_init]: Register can0 device succeed!
2025-11-03 17:17:11 [I/DRV][drv_enet.c:196][rt_hw_drv_enet_init]: Register en0 device succeed!
2025-11-03 17:17:11 [I/DEV][button.c:146][rt_hw_dev_button_init]: Register button device succeed!
2025-11-03 17:17:11 [I/DEV][at24cxx.c:229][rt_hw_dev_at24cxx_init]: Register at24cxx device succeed!
2025-11-03 17:17:11 [I/DEV][dev_lcd.c:160][rt_hw_dev_lcd_init]: Register lcd device succeed!
2025-11-03 17:17:11 [I/DEV][dev_lcd.c:169][rt_hw_dev_lcd_init]: Initialize lcd device succeed!
2025-11-03 17:17:11 [I/DEV][led.c:142][rt_hw_dev_led_init]: Register led device succeed!
2025-11-03 17:17:11 [I/DEV][pl181.c:240][rt_hw_dev_pl181_init]: Initialize sd0 device succeed!
2025-11-03 17:17:11 [I/DEV][qemu_spi.c:24][rt_hw_dev_qemu_spi_init]: Register qemu-spidev device succeed!
2025-11-03 17:17:11 [I/DEV][switch_key.c:101][rt_hw_dev_switch_key_init]: Register switch-key device succeed!
[I/touch] rt_touch init success
2025-11-03 17:17:11 [I/DEV][dev_ts.c:221][rt_hw_dev_ts_init]: Register ts device succeed!
[I/sal.skt] Socket Abstraction Layer initialize success.
2025-11-03 17:17:11 [E/DRV][drv_mci.c:169][rt_hw_mci_transfer_cmd]: MCI_SendCmdNoBlocking timeout!
[I/SDIO] SD card capacity 65536 KB.
[I/SDIO] sd: switch to High Speed / SDR25 mode

2025-11-03 17:17:12 [I/APP][mnt.c:33][mnt_init]: File system initialization done!
2025-11-03 17:17:12 [I/DEV][lan9118.c:184][rt_hw_dev_lan9118_init]: Initialize e0 device succeed!
RTThread main function!
rtthread-doarmpi(cortex-r):/>

CORTEX-M RTThread操作系统(qemu-doarmpi.bat rtthread_m nogui stdio)：

$ qemu-doarmpi.bat rtthread_m nogui stdio
QEMU-DOARMPI Information
System:  rtthread_m
Display: nogui
Serial:  stdio
Debug:

Run Cmd:F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\bin\qemu-system-aarch64.exe -M doarmpi -cpu cortex-m33 -smp 1 -m 2M -kernel F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtthread\rtthread-doarmpi-cortex-m.elf -append "console=ttyAMA0,115200 rootfstype=ext4 root=/dev/mmcblk0 rw rootwait init=/linuxrc loglevel=8 nokaslr" -serial mon:telnet::5555,server,nowait -serial mon:telnet::4444,server,nowait -serial mon:stdio -monitor telnet::2222,server,nowait -nographic -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\rootfs.ext4,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtthread\sd_m.bin,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtthread\sd_m.bin,format=raw -net nic,model=lan9118,netdev=hub0port0 -netdev hubport,id=hub0port0,hubid=0 -net nic,model=lan9118,netdev=hub0port1 -netdev hubport,id=hub0port1,hubid=0 -net nic,model=lan9118,netdev=hub0port2 -netdev hubport,id=hub0port2,hubid=0 -net user -readconfig F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\etc\cortex_m.conf -s


 \ | /
- RT -     Thread Operating System
 / | \     5.2.1 build Oct 31 2025 15:21:11
 2006 - 2024 Copyright by RT-Thread team
lwIP-2.1.2 initialized!
2025-11-03 17:18:19 [I/DRV][drv_i2c.c:111][rt_hw_drv_i2c_init]: Register i2c0 bus succeed!
2025-11-03 17:18:19 [I/DRV][drv_spi.c:130][rt_hw_drv_spi_init]: Register spi0 bus succeed!
2025-11-03 17:18:19 [I/DRV][drv_gpio.c:474][rt_hw_drv_pin_init]: Register pin device succeed!
2025-11-03 17:18:19 [I/DRV][drv_mci.c:412][rt_hw_drv_mci_init]: Register mci0 device succeed!
2025-11-03 17:18:19 [I/DRV][drv_can.c:635][rt_hw_drv_can_init]: Register can0 device succeed!
2025-11-03 17:18:19 [I/DRV][drv_enet.c:196][rt_hw_drv_enet_init]: Register en0 device succeed!
2025-11-03 17:18:19 [I/DEV][button.c:146][rt_hw_dev_button_init]: Register button device succeed!
2025-11-03 17:18:19 [I/DEV][at24cxx.c:229][rt_hw_dev_at24cxx_init]: Register at24cxx device succeed!
2025-11-03 17:18:19 [I/DEV][dev_lcd.c:160][rt_hw_dev_lcd_init]: Register lcd device succeed!
2025-11-03 17:18:19 [I/DEV][dev_lcd.c:169][rt_hw_dev_lcd_init]: Initialize lcd device succeed!
2025-11-03 17:18:19 [I/DEV][led.c:142][rt_hw_dev_led_init]: Register led device succeed!
2025-11-03 17:18:19 [I/DEV][pl181.c:240][rt_hw_dev_pl181_init]: Initialize sd0 device succeed!
2025-11-03 17:18:19 [I/DEV][qemu_spi.c:24][rt_hw_dev_qemu_spi_init]: Register qemu-spidev device succeed!
2025-11-03 17:18:19 [I/DEV][switch_key.c:101][rt_hw_dev_switch_key_init]: Register switch-key device succeed!
[I/touch] rt_touch init success
2025-11-03 17:18:19 [I/DEV][dev_ts.c:221][rt_hw_dev_ts_init]: Register ts device succeed!
[I/sal.skt] Socket Abstraction Layer initialize success.
[I/SDIO] SD card capacity 65536 KB.
[I/SDIO] sd: switch to High Speed / SDR25 mode

2025-11-03 17:18:20 [I/APP][mnt.c:33][mnt_init]: File system initialization done!
2025-11-03 17:18:20 [I/DEV][lan9118.c:184][rt_hw_dev_lan9118_init]: Initialize e0 device succeed!
RTThread main function!
rtthread-doarmpi(cortex-m):/>

5. 运行RTNano操作系统

CORTEX-R RTNano操作系统(qemu-doarmpi.bat rtnano_r nogui stdio)：

$ qemu-doarmpi.bat rtnano_r nogui stdio
QEMU-DOARMPI Information
System:  rtnano_r
Display: nogui
Serial:  stdio
Debug:

Run Cmd:F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\bin\qemu-system-aarch64.exe -M doarmpi -cpu cortex-r52 -smp 1 -m 128M -kernel F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtnano\rtnano-doarmpi-cortex-r.elf -append "console=ttyAMA0,115200 rootfstype=ext4 root=/dev/mmcblk0 rw rootwait init=/linuxrc loglevel=8 nokaslr" -serial mon:telnet::4444,server,nowait -serial mon:stdio -serial mon:telnet::5555,server,nowait -monitor telnet::2222,server,nowait -nographic -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\rootfs.ext4,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtnano\sd_r.bin,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtnano\sd_r.bin,format=raw -net nic,model=lan9118,netdev=hub0port0 -netdev hubport,id=hub0port0,hubid=0 -net nic,model=lan9118,netdev=hub0port1 -netdev hubport,id=hub0port1,hubid=0 -net nic,model=lan9118,netdev=hub0port2 -netdev hubport,id=hub0port2,hubid=0 -net user -readconfig F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\etc\cortex_r.conf -s

2025-11-03 17:19:12 [I/DRV][drv_rtc.c:324][rt_hw_drv_rtc_init]: Register rtc device succeed!

 \ | /
- RT -     Thread Nano Operating System
 / | \     5.2.1 build Oct 31 2025 15:15:58
 2006 - 2024 Copyright by RT-Thread team
2025-11-03 17:19:12 [I/DRV][drv_i2c.c:205][rt_hw_drv_i2c_init]: Register i2c0 bus succeed!
2025-11-03 17:19:12 [I/DRV][drv_spi.c:249][rt_hw_drv_spi_init]: Register spi0 bus succeed!
2025-11-03 17:19:12 [I/DRV][drv_gpio.c:957][rt_hw_drv_pin_init]: Register pin device succeed!
2025-11-03 17:19:12 [I/DRV][drv_mci.c:753][rt_hw_drv_mci_init]: Register mci0 device succeed!
2025-11-03 17:19:12 [I/DRV][drv_can.c:1197][rt_hw_drv_can_init]: Register can0 device succeed!
2025-11-03 17:19:12 [I/DRV][drv_enet.c:406][rt_hw_drv_enet_init]: Register en0 device success!
2025-11-03 17:19:12 [I/DEV][button.c:265][rt_hw_dev_button_init]: Register button device succeed!
2025-11-03 17:19:12 [I/DEV][at24cxx.c:262][rt_hw_dev_at24cxx_init]: Register at24cxx device succeed!
2025-11-03 17:19:12 [I/DEV][dev_lcd.c:196][rt_hw_dev_lcd_init]: Register lcd device succeed!
2025-11-03 17:19:12 [I/DEV][dev_lcd.c:211][rt_hw_dev_lcd_init]: Initialize lcd device succeed!
2025-11-03 17:19:12 [I/DEV][led.c:263][rt_hw_dev_led_init]: Register led device succeed!
2025-11-03 17:19:12 [I/DEV][pl181.c:460][rt_hw_dev_pl181_init]: Register sd0 device succeed!
2025-11-03 17:19:12 [I/DEV][qemu_spi.c:45][rt_hw_dev_qemu_spi_init]: Register qemu-spidev device succeed!
2025-11-03 17:19:12 [I/DEV][switch_key.c:166][rt_hw_dev_switch_key_init]: Register switch-key device succeed!
2025-11-03 17:19:12 [I/DEV][dev_ts.c:387][rt_hw_dev_ts_init]: Register ts device succeed!
2025-11-03 17:19:12 [I/APP][mnt.c:86][mnt_init]: f_mount succeeded!
2025-11-03 17:19:12 [I/DEV][lan9118.c:404][rt_hw_dev_lan9118_init]: Initialize e0 device succeed!
RTNano main function!
rtnano-doarmpi(cortex-r):>

CORTEX-M RTNano操作系统(qemu-doarmpi.bat rtnano_m nogui stdio)：

$ qemu-doarmpi.bat rtnano_m nogui stdio
QEMU-DOARMPI Information
System:  rtnano_m
Display: nogui
Serial:  stdio
Debug:

Run Cmd:F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\bin\qemu-system-aarch64.exe -M doarmpi -cpu cortex-m33 -smp 1 -m 2M -kernel F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtnano\rtnano-doarmpi-cortex-m.elf -append "console=ttyAMA0,115200 rootfstype=ext4 root=/dev/mmcblk0 rw rootwait init=/linuxrc loglevel=8 nokaslr" -serial mon:telnet::5555,server,nowait -serial mon:telnet::4444,server,nowait -serial mon:stdio -monitor telnet::2222,server,nowait -nographic -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\rootfs.ext4,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtnano\sd_m.bin,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtnano\sd_m.bin,format=raw -net nic,model=lan9118,netdev=hub0port0 -netdev hubport,id=hub0port0,hubid=0 -net nic,model=lan9118,netdev=hub0port1 -netdev hubport,id=hub0port1,hubid=0 -net nic,model=lan9118,netdev=hub0port2 -netdev hubport,id=hub0port2,hubid=0 -net user -readconfig F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\etc\cortex_m.conf -s

2025-11-03 17:19:52 [I/DRV][drv_rtc.c:324][rt_hw_drv_rtc_init]: Register rtc device succeed!

 \ | /
- RT -     Thread Nano Operating System
 / | \     5.2.1 build Oct 31 2025 15:28:45
 2006 - 2024 Copyright by RT-Thread team
2025-11-03 17:19:52 [I/DRV][drv_i2c.c:205][rt_hw_drv_i2c_init]: Register i2c0 bus succeed!
2025-11-03 17:19:52 [I/DRV][drv_spi.c:249][rt_hw_drv_spi_init]: Register spi0 bus succeed!
2025-11-03 17:19:52 [I/DRV][drv_gpio.c:957][rt_hw_drv_pin_init]: Register pin device succeed!
2025-11-03 17:19:52 [I/DRV][drv_mci.c:753][rt_hw_drv_mci_init]: Register mci0 device succeed!
2025-11-03 17:19:52 [I/DRV][drv_can.c:1197][rt_hw_drv_can_init]: Register can0 device succeed!
2025-11-03 17:19:52 [I/DRV][drv_enet.c:406][rt_hw_drv_enet_init]: Register en0 device success!
2025-11-03 17:19:52 [I/DEV][button.c:265][rt_hw_dev_button_init]: Register button device succeed!
2025-11-03 17:19:52 [I/DEV][at24cxx.c:262][rt_hw_dev_at24cxx_init]: Register at24cxx device succeed!
2025-11-03 17:19:52 [I/DEV][dev_lcd.c:196][rt_hw_dev_lcd_init]: Register lcd device succeed!
2025-11-03 17:19:52 [I/DEV][dev_lcd.c:211][rt_hw_dev_lcd_init]: Initialize lcd device succeed!
2025-11-03 17:19:52 [I/DEV][led.c:263][rt_hw_dev_led_init]: Register led device succeed!
2025-11-03 17:19:52 [I/DEV][pl181.c:460][rt_hw_dev_pl181_init]: Register sd0 device succeed!
2025-11-03 17:19:52 [I/DEV][qemu_spi.c:45][rt_hw_dev_qemu_spi_init]: Register qemu-spidev device succeed!
2025-11-03 17:19:52 [I/DEV][switch_key.c:166][rt_hw_dev_switch_key_init]: Register switch-key device succeed!
2025-11-03 17:19:52 [I/DEV][dev_ts.c:387][rt_hw_dev_ts_init]: Register ts device succeed!
2025-11-03 17:19:52 [I/APP][mnt.c:86][mnt_init]: f_mount succeeded!
2025-11-03 17:19:52 [I/DEV][lan9118.c:404][rt_hw_dev_lan9118_init]: Initialize e0 device succeed!
RTNano main function!
rtnano-doarmpi(cortex-m):>

6. 运行Linux操作系统（A核）

Linux Kernel启动Linux系统(qemu-doarmpi.bat linux nogui stdio)：

# username:root
# password:123456
$ qemu-doarmpi.bat linux nogui stdio
QEMU-DOARMPI Information
System:  linux
Display: nogui
Serial:  stdio
Debug:

Run Cmd:F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\bin\qemu-system-aarch64.exe -M doarmpi -smp 2 -m 2048M -kernel F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\Image -append "console=ttyAMA0,115200 rootfstype=ext4 root=/dev/mmcblk0 rw rootwait init=/linuxrc loglevel=8 nokaslr" -serial mon:stdio -serial mon:telnet::4444,server,nowait -serial mon:telnet::5555,server,nowait -monitor telnet::2222,server,nowait -nographic -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\rootfs.ext4,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\rootfs.ext4,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\rootfs.ext4,format=raw -net nic,model=lan9118,netdev=hub0port0 -netdev hubport,id=hub0port0,hubid=0 -net nic,model=lan9118,netdev=hub0port1 -netdev hubport,id=hub0port1,hubid=0 -net nic,model=lan9118,netdev=hub0port2 -netdev hubport,id=hub0port2,hubid=0 -net user,hostfwd=tcp::23-:22 -readconfig F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\etc\cortex_a.conf -s

[    0.000000] Booting Linux on physical CPU 0x0000000000 [0x412fd471]
[    0.000000] Linux version 6.6.44 (work@95fdfbed1d58) (aarch64-linux-gcc.br_real (Buildroot 2024.02.6) 12.4.0, GNU ld (GNU Binutils) 2.40) #18 SMP PREEMPT Wed Dec 25 10:21:08 CST 2024
[    0.000000] Machine model: linux,doarmpi-board
[    0.000000] efi: UEFI not found.
[    0.000000] NUMA: No NUMA configuration found
[    0.000000] NUMA: Faking a node at [mem 0x00000000a0000000-0x000000011fffffff]
[    0.000000] NUMA: NODE_DATA [mem 0x11fbee9c0-0x11fbf0fff]
[    0.000000] Zone ranges:
[    0.000000]   DMA      [mem 0x00000000a0000000-0x00000000ffffffff]
[    0.000000]   DMA32    empty
[    0.000000]   Normal   [mem 0x0000000100000000-0x000000011fffffff]
[    0.000000] Movable zone start for each node
[    0.000000] Early memory node ranges
[    0.000000]   node   0: [mem 0x00000000a0000000-0x000000011fffffff]
[    0.000000] Initmem setup node 0 [mem 0x00000000a0000000-0x000000011fffffff]
[    0.000000] cma: Reserved 32 MiB at 0x00000000fe000000 on node -1
[    0.000000] psci: probing for conduit method from DT.
[    0.000000] psci: PSCIv1.1 detected in firmware.
[    0.000000] psci: Using standard PSCI v0.2 function IDs
[    0.000000] psci: Trusted OS migration not required
[    0.000000] psci: SMC Calling Convention v1.0
[    0.000000] percpu: Embedded 22 pages/cpu s50792 r8192 d31128 u90112
[    0.000000] pcpu-alloc: s50792 r8192 d31128 u90112 alloc=22*4096
[    0.000000] pcpu-alloc: [0] 0 [0] 1
[    0.000000] Detected PIPT I-cache on CPU0
[    0.000000] CPU features: detected: Address authentication (architected QARMA5 algorithm)
[    0.000000] CPU features: detected: GIC system register CPU interface
[    0.000000] CPU features: detected: Hardware dirty bit management
[    0.000000] CPU features: detected: Spectre-v4
[    0.000000] CPU features: detected: Spectre-BHB
[    0.000000] CPU features: detected: ARM erratum 2067961 or 2054223
[    0.000000] alternatives: applying boot alternatives
[    0.000000] Kernel command line: console=ttyAMA0,115200 rootfstype=ext4 root=/dev/mmcblk0 rw rootwait init=/linuxrc loglevel=8 nokaslr
[    0.000000] Dentry cache hash table entries: 262144 (order: 9, 2097152 bytes, linear)
[    0.000000] Inode-cache hash table entries: 131072 (order: 8, 1048576 bytes, linear)
[    0.000000] Fallback order for Node 0: 0
[    0.000000] Built 1 zonelists, mobility grouping on.  Total pages: 516096
[    0.000000] Policy zone: Normal
[    0.000000] mem auto-init: stack:all(zero), heap alloc:off, heap free:off
[    0.000000] software IO TLB: area num 2.
[    0.000000] software IO TLB: mapped [mem 0x00000000fa000000-0x00000000fe000000] (64MB)
[    0.000000] Memory: 1915208K/2097152K available (16832K kernel code, 4282K rwdata, 10616K rodata, 9152K init, 605K bss, 149176K reserved, 32768K cma-reserved)
[    0.000000] SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=2, Nodes=1
[    0.000000] rcu: Preemptible hierarchical RCU implementation.
[    0.000000] rcu:     RCU event tracing is enabled.
[    0.000000] rcu:     RCU restricting CPUs from NR_CPUS=256 to nr_cpu_ids=2.
[    0.000000]  Trampoline variant of Tasks RCU enabled.
[    0.000000]  Tracing variant of Tasks RCU enabled.
[    0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 25 jiffies.
[    0.000000] rcu: Adjusting geometry for rcu_fanout_leaf=16, nr_cpu_ids=2
[    0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
[    0.000000] GICv3: 160 SPIs implemented
[    0.000000] GICv3: 0 Extended SPIs implemented
[    0.000000] Root IRQ handler: gic_handle_irq
[    0.000000] GICv3: GICv3 features: 16 PPIs
[    0.000000] GICv3: CPU0: found redistributor 0 region 0:0x0000000009020000
[    0.000000] ITS [mem 0x0d021000-0x0d220fff]
[    0.000000] ITS@0x000000000d021000: allocated 8192 Devices @100040000 (indirect, esz 8, psz 64K, shr 1)
[    0.000000] ITS@0x000000000d021000: allocated 8192 Interrupt Collections @100050000 (flat, esz 8, psz 64K, shr 1)
[    0.000000] GICv3: using LPI property table @0x0000000100060000
[    0.000000] GICv3: CPU0: using allocated LPI pending table @0x0000000100070000
[    0.000000] rcu: srcu_init: Setting srcu_struct sizes based on contention.
[    0.000000] clocksource: arm,sp804: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 79635851949 ns [    0.000006] sched_clock: 32 bits at 24MHz, resolution 41ns, wraps every 89478484971ns
[    0.000170] arch_timer: cp15 timer(s) running at 62.50MHz (virt).
[    0.000179] clocksource: arch_sys_counter: mask: 0x1ffffffffffffff max_cycles: 0x1cd42e208c, max_idle_ns: 881590405314 ns
[    0.000192] sched_clock: 57 bits at 63MHz, resolution 16ns, wraps every 4398046511096ns
[    0.028867] Console: colour dummy device 80x25
[    0.036924] Calibrating delay loop (skipped), value calculated using timer frequency.. 125.00 BogoMIPS (lpj=250000)
[    0.038405] pid_max: default: 32768 minimum: 301
[    0.042383] LSM: initializing lsm=capability,integrity
[    0.048418] Mount-cache hash table entries: 4096 (order: 3, 32768 bytes, linear)
[    0.048650] Mountpoint-cache hash table entries: 4096 (order: 3, 32768 bytes, linear)
[    0.129224] RCU Tasks: Setting shift to 1 and lim to 1 rcu_task_cb_adjust=1.
[    0.130772] RCU Tasks Trace: Setting shift to 1 and lim to 1 rcu_task_cb_adjust=1.
[    0.136640] rcu: Hierarchical SRCU implementation.
[    0.136747] rcu:     Max phase no-delay instances is 1000.
[    0.146878] Platform MSI: msi-controller@d021000 domain created
[    0.149539] PCI/MSI: /interrupt-controller@9000000/msi-controller@d021000 domain created
[    0.150849] fsl-mc MSI: msi-controller@d021000 domain created
[    0.165244] EFI services will not be available.
[    0.168984] smp: Bringing up secondary CPUs ...
[    0.182140] Detected PIPT I-cache on CPU1
[    0.188987] GICv3: CPU1: found redistributor 1 region 0:0x0000000009040000
[    0.190958] GICv3: CPU1: using allocated LPI pending table @0x0000000100080000
[    0.195672] CPU1: Booted secondary processor 0x0000000001 [0x412fd471]
[    0.203343] smp: Brought up 1 node, 2 CPUs
[    0.203504] SMP: Total of 2 processors activated.
[    0.203753] CPU features: detected: Branch Target Identification
[    0.203888] CPU features: detected: 32-bit EL0 Support
[    0.203964] CPU features: detected: ARMv8.4 Translation Table Level
[    0.204058] CPU features: detected: Data cache clean to the PoU not required for I/D coherence
[    0.204180] CPU features: detected: Common not Private translations
[    0.204242] CPU features: detected: CRC32 instructions
[    0.204300] CPU features: detected: Data independent timing control (DIT)
[    0.204356] CPU features: detected: E0PD
[    0.204426] CPU features: detected: Enhanced Virtualization Traps
[    0.204586] CPU features: detected: Generic authentication (architected QARMA5 algorithm)
[    0.204651] CPU features: detected: RCpc load-acquire (LDAPR)
[    0.204707] CPU features: detected: LSE atomic instructions
[    0.204844] CPU features: detected: Privileged Access Never
[    0.204905] CPU features: detected: RAS Extension Support
[    0.204967] CPU features: detected: Speculation barrier (SB)
[    0.205023] CPU features: detected: Stage-2 Force Write-Back
[    0.205088] CPU features: detected: TLB range maintenance instructions
[    0.205220] CPU features: detected: Speculative Store Bypassing Safe (SSBS)
[    0.205279] CPU features: detected: Scalable Vector Extension
[    0.225158] SVE: maximum available vector length 16 bytes per vector
[    0.234037] SVE: default vector length 16 bytes per vector
[    0.240880] CPU: All CPU(s) started at EL1
[    0.241317] alternatives: applying system-wide alternatives
[    0.326082] devtmpfs: initialized
[    0.412440] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 7645041785100000 ns
[    0.413465] futex hash table entries: 512 (order: 3, 32768 bytes, linear)
[    0.423243] pinctrl core: initialized pinctrl subsystem
[    0.457056] DMI not present or invalid.
[    0.479849] NET: Registered PF_NETLINK/PF_ROUTE protocol family
[    0.509432] DMA: preallocated 256 KiB GFP_KERNEL pool for atomic allocations
[    0.510791] DMA: preallocated 256 KiB GFP_KERNEL|GFP_DMA pool for atomic allocations
[    0.511942] DMA: preallocated 256 KiB GFP_KERNEL|GFP_DMA32 pool for atomic allocations
[    0.512731] audit: initializing netlink subsys (disabled)
[    0.516572] audit: type=2000 audit(0.416:1): state=initialized audit_enabled=0 res=1
[    0.537883] thermal_sys: Registered thermal governor 'step_wise'
[    0.538072] thermal_sys: Registered thermal governor 'power_allocator'
[    0.541064] cpuidle: using governor menu
[    0.545354] hw-breakpoint: found 6 breakpoint and 4 watchpoint registers.
[    0.546750] ASID allocator initialised with 65536 entries
[    0.584191] Serial: AMBA PL011 UART driver
[    0.631477] 2000000.pl011: ttyAMA0 at MMIO 0x2000000 (irq = 14, base_baud = 0) is a PL011 rev1
[    0.633925] printk: console [ttyAMA0] enabled
[    1.170128] 2001000.pl011: ttyAMA1 at MMIO 0x2001000 (irq = 15, base_baud = 0) is a PL011 rev1
[    1.188476] 2002000.pl011: ttyAMA2 at MMIO 0x2002000 (irq = 16, base_baud = 0) is a PL011 rev1
[    1.208704] 2003000.pl011: ttyAMA3 at MMIO 0x2003000 (irq = 17, base_baud = 0) is a PL011 rev1
[    1.375147] Modules: 22352 pages in range for non-PLT usage
[    1.375274] Modules: 513872 pages in range for PLT usage
[    1.391113] HugeTLB: registered 1.00 GiB page size, pre-allocated 0 pages
[    1.401233] HugeTLB: 0 KiB vmemmap can be freed for a 1.00 GiB page
[    1.405048] HugeTLB: registered 32.0 MiB page size, pre-allocated 0 pages
[    1.409855] HugeTLB: 0 KiB vmemmap can be freed for a 32.0 MiB page
[    1.414269] HugeTLB: registered 2.00 MiB page size, pre-allocated 0 pages
[    1.420742] HugeTLB: 0 KiB vmemmap can be freed for a 2.00 MiB page
[    1.424496] HugeTLB: registered 64.0 KiB page size, pre-allocated 0 pages
[    1.430602] HugeTLB: 0 KiB vmemmap can be freed for a 64.0 KiB page
[    1.466804] ACPI: Interpreter disabled.
[    1.504572] iommu: Default domain type: Translated
[    1.507824] iommu: DMA domain TLB invalidation policy: strict mode
[    1.516965] SCSI subsystem initialized
[    1.523454] libata version 3.00 loaded.
[    1.528448] ssp-pl022 2040000.spi0: ARM PL022 driver, device ID: 0x00041022
[    1.536169] ssp-pl022 2040000.spi0: mapped registers from 0x0000000002040000 to (____ptrval____)
[    1.558606] ssp-pl022 2044000.spi1: ARM PL022 driver, device ID: 0x00041022
[    1.564613] ssp-pl022 2044000.spi1: mapped registers from 0x0000000002044000 to (____ptrval____)
[    1.581784] ssp-pl022 2048000.spi2: ARM PL022 driver, device ID: 0x00041022
[    1.588481] ssp-pl022 2048000.spi2: mapped registers from 0x0000000002048000 to (____ptrval____)
[    1.607127] usbcore: registered new interface driver usbfs
[    1.610870] usbcore: registered new interface driver hub
[    1.615090] usbcore: registered new device driver usb
[    1.625665] imx-i2c 2030000.i2c0: can't get pinctrl, bus recovery not supported
[    1.635147] i2c i2c-0: IMX I2C adapter registered
[    1.641470] imx-i2c 2034000.i2c1: can't get pinctrl, bus recovery not supported
[    1.648940] i2c i2c-1: IMX I2C adapter registered
[    1.654863] imx-i2c 2038000.i2c2: can't get pinctrl, bus recovery not supported
[    1.662596] i2c i2c-2: IMX I2C adapter registered
[    1.672163] pps_core: LinuxPPS API ver. 1 registered
[    1.675177] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <giometti@linux.it>
[    1.682350] PTP clock support registered
[    1.686756] EDAC MC: Ver: 3.0.0
[    1.698873] scmi_core: SCMI protocol bus registered
[    1.712623] FPGA manager framework
[    1.717822] Advanced Linux Sound Architecture Driver Initialized.
[    1.749646] vgaarb: loaded
[    1.759788] clocksource: Switched to clocksource arch_sys_counter
[    1.770945] VFS: Disk quotas dquot_6.6.0
[    1.774922] VFS: Dquot-cache hash table entries: 512 (order 0, 4096 bytes)
[    1.782740] pnp: PnP ACPI: disabled
[    1.922472] NET: Registered PF_INET protocol family
[    1.928324] IP idents hash table entries: 32768 (order: 6, 262144 bytes, linear)
[    1.946010] tcp_listen_portaddr_hash hash table entries: 1024 (order: 2, 16384 bytes, linear)
[    1.952302] Table-perturb hash table entries: 65536 (order: 6, 262144 bytes, linear)
[    1.957197] TCP established hash table entries: 16384 (order: 5, 131072 bytes, linear)
[    1.962812] TCP bind hash table entries: 16384 (order: 7, 524288 bytes, linear)
[    1.968274] TCP: Hash tables configured (established 16384 bind 16384)
[    1.974422] UDP hash table entries: 1024 (order: 3, 32768 bytes, linear)
[    1.979978] UDP-Lite hash table entries: 1024 (order: 3, 32768 bytes, linear)
[    1.986710] NET: Registered PF_UNIX/PF_LOCAL protocol family
[    1.998910] RPC: Registered named UNIX socket transport module.
[    2.004227] RPC: Registered udp transport module.
[    2.007305] RPC: Registered tcp transport module.
[    2.010548] RPC: Registered tcp-with-tls transport module.
[    2.014009] RPC: Registered tcp NFSv4.1 backchannel transport module.
[    2.017846] PCI: CLS 0 bytes, default 64
[    2.023587] kvm [1]: HYP mode not available
[    2.041915] Initialise system trusted keyrings
[    2.049210] workingset: timestamp_bits=42 max_order=19 bucket_order=0
[    2.060845] squashfs: version 4.0 (2009/01/31) Phillip Lougher
[    2.070179] NFS: Registering the id_resolver key type
[    2.074458] Key type id_resolver registered
[    2.076958] Key type id_legacy registered
[    2.080359] nfs4filelayout_init: NFSv4 File Layout Driver Registering...
[    2.085473] nfs4flexfilelayout_init: NFSv4 Flexfile Layout Driver Registering...
[    2.092255] 9p: Installing v9fs 9p2000 file system support
[    2.545229] Key type asymmetric registered
[    2.548656] Asymmetric key parser 'x509' registered
[    2.553314] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 245)
[    2.557933] io scheduler mq-deadline registered
[    2.562371] io scheduler kyber registered
[    2.566139] io scheduler bfq registered
[    2.669994] pl061_gpio 2020000.gpio0: PL061 GPIO chip registered
[    2.678883] pl061_gpio 2021000.gpio1: PL061 GPIO chip registered
[    2.690077] pl061_gpio 2022000.gpio2: PL061 GPIO chip registered
[    2.700659] pl061_gpio 2023000.gpio3: PL061 GPIO chip registered
[    2.741950] drivers/video/fbdev/qemu_custom_lcdcfb.c qemu_lcd_fb_probe 68 qemu lcd init
[    2.804314] Console: switching to colour frame buffer device 77x43
[    2.818820] EINJ: ACPI disabled.
[    3.103850] Serial: 8250/16550 driver, 4 ports, IRQ sharing enabled
[    3.152906] SuperH (H)SCI(F) driver initialized
[    3.160080] msm_serial: driver initialized
[    3.169410] STM32 USART driver initialized
[    3.329274] brd: module loaded
[    3.430221] loop: module loaded
[    3.445201] megasas: 07.725.01.00-rc1
[    3.470234] SPI driver spidev has no spi_device_id for rohm,bh2228fv
[    3.551145] tun: Universal TUN/TAP device driver, 1.6
[    3.557425] CAN device driver interface
[    3.599812] thunder_xcv, ver 1.0
[    3.603136] thunder_bgx, ver 1.0
[    3.606161] nicpf, ver 1.0
[    3.620788] hns3: Hisilicon Ethernet Network Driver for Hip08 Family - version
[    3.626251] hns3: Copyright (c) 2017 Huawei Corporation.
[    3.630912] hclge is initializing
[    3.633225] e1000: Intel(R) PRO/1000 Network Driver
[    3.636094] e1000: Copyright (c) 1999-2006 Intel Corporation.
[    3.639942] e1000e: Intel(R) PRO/1000 Network Driver
[    3.642546] e1000e: Copyright(c) 1999 - 2015 Intel Corporation.
[    3.647036] igb: Intel(R) Gigabit Ethernet Network Driver
[    3.650494] igb: Copyright (c) 2007-2014 Intel Corporation.
[    3.654276] igbvf: Intel(R) Gigabit Virtual Function Network Driver
[    3.657908] igbvf: Copyright (c) 2009 - 2012 Intel Corporation.
[    3.665002] sky2: driver version 1.30
[    3.744774] smsc911x 2050000.ethernet eth0: MAC Address: 52:54:00:12:34:56
[    3.797288] smsc911x 2054000.ethernet eth1: MAC Address: 52:54:00:12:34:57
[    3.849987] smsc911x 2058000.ethernet eth2: MAC Address: 52:54:00:12:34:58
[    3.865596] VFIO - User Level meta-driver version: 0.3
[    3.902894] usbcore: registered new interface driver usb-storage
[    3.932119] input: Qemu Touchscreen Controller as /devices/platform/2090000.ts/input/input0
[    3.968237] rtc-pl031 201a000.pl031: registered as rtc0
[    3.973490] rtc-pl031 201a000.pl031: setting system clock to 2025-11-03T09:22:44 UTC (1762161764)
[    3.986557] rtc-pl031 201b000.pl031: registered as rtc1
[    3.997888] rtc-pl031 201c000.pl031: registered as rtc2
[    4.012268] i2c_dev: i2c /dev entries driver
[    4.103259] sdhci: Secure Digital Host Controller Interface driver
[    4.107572] sdhci: Copyright(c) Pierre Ossman
[    4.118641] Synopsys Designware Multimedia Card Interface Driver
[    4.130681] mmci-pl18x 2070000.mci: mmc1: PL181 manf 41 rev0 at 0x02070000 irq 38,39 (pio)
[    4.139070] sdhci-pltfm: SDHCI platform and OF driver helper
[    4.144432] mmci-pl18x 2071000.mci: mmc0: PL181 manf 41 rev0 at 0x02071000 irq 40,41 (pio)
[    4.167382] ledtrig-cpu: registered to indicate activity on CPUs
[    4.209661] usbcore: registered new interface driver usbhid
[    4.213876] usbhid: USB HID core driver
[    4.223202] mmc0: host does not support reading read-only switch, assuming write-enable
[    4.229191] mmc1: host does not support reading read-only switch, assuming write-enable
[    4.236504] mmc0: new SD card at address 4567
[    4.240728] mmc1: new SD card at address 4567
[    4.255833] mmcblk0: mmc0:4567 QEMU! 64.0 MiB
[    4.260682] mmcblk1: mmc1:4567 QEMU! 64.0 MiB
[    4.346680] NET: Registered PF_PACKET protocol family
[    4.350167] can: controller area network core
[    4.353827] NET: Registered PF_CAN protocol family
[    4.357028] can: raw protocol
[    4.359541] can: broadcast manager protocol
[    4.362327] can: netlink gateway - max_hops=1
[    4.369430] 9pnet: Installing 9P2000 support
[    4.373874] Key type dns_resolver registered
[    4.590373] registered taskstats version 1
[    4.595956] Loading compiled-in X.509 certificates
[    4.803614] clk: Disabling unused clocks
[    4.806878] ALSA device list:
[    4.808751]   No soundcards found.
[    4.816839] uart-pl011 2000000.pl011: no DMA platform data
[    5.282667] EXT4-fs (mmcblk0): recovery complete
[    5.292219] EXT4-fs (mmcblk0): mounted filesystem ee84d967-a012-46a2-b795-4f4e92b7d530 r/w with ordered data mode. Quota mode: none.
[    5.301956] VFS: Mounted root (ext4 filesystem) on device 179:32.
[    5.311845] devtmpfs: mounted
[    5.386726] Freeing unused kernel memory: 9152K
[    5.391338] Run /linuxrc as init process
[    5.393546]   with arguments:
[    5.395460]     /linuxrc
[    5.397565]   with environment:
[    5.400192]     HOME=/
[    5.401966]     TERM=linux
[    7.167150] random: crng init done
[   10.021929] EXT4-fs (mmcblk0): re-mounted ee84d967-a012-46a2-b795-4f4e92b7d530 r/w. Quota mode: none.
Seeding 256 bits without crediting
Saving 256 bits of creditable seed for next boot
Starting syslogd: OK
Starting klogd: OK
Running sysctl: OK
Starting network: [   12.893224] Generic PHY 2050000.ethernet-ffffffff:01: attached PHY driver (mii_bus:phy_addr=2050000.ethernet-ffffffff:01, irq=POLL)
[   12.917114] smsc911x 2050000.ethernet eth0: SMSC911x/921x identified at 0xffff800084914000, IRQ: 31
udhcpc: started, v1.36.1
udhcpc: broadcasting discover
udhcpc: broadcasting select for 10.0.2.15, server 10.0.2.2
udhcpc: lease of 10.0.2.15 obtained from 10.0.2.2, lease time 86400
deleting routers
adding dns 10.0.2.3
OK
Starting dropbear sshd: OK

Welcome to Buildroot
buildroot login: [   14.878324] amba 2072000.mci: deferred probe pending
[   14.882252] amba 2088000.clcd2: deferred probe pending
[   14.885218] amba 2084000.clcd1: deferred probe pending

Welcome to Buildroot
buildroot login: root
Password:
#

7. 运行Linux+RTThread+FreeRTOS操作系统（A+R+M核）

多核启动操作系统需要多个串口，采用telnet方式可以将三个串口分别映射到不同端口上交互，telnet ip:port对应操作系统表如下：

Telnet(ip:port)	操作系统	架构
127.0.0.1:3333	Linux操作系统	CORTEX-A
127.0.0.1:4444	RTThread操作系统	CORTEX-R
127.0.0.1:5555	FreeRTOS操作系统	CORTEX-M

$ qemu-doarmpi.bat linux_rtt_freertos nogui telnet
QEMU-DOARMPI Information
System:  linux_rtt_freertos
Display: nogui
Serial:  telnet
Debug:

Run Cmd:F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\bin\qemu-system-aarch64.exe -M doarmpi -smp 5 -m 2048M -kernel F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\Image -device loader,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtthread\rtthread-doarmpi-cortex-r.elf -device loader,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\freertos\freertos-doarmpi-cortex-m.elf -append "console=ttyAMA0,115200 rootfstype=ext4 root=/dev/mmcblk0 rw rootwait init=/linuxrc loglevel=8 nokaslr" -serial mon:telnet::3333,server,wait -serial mon:telnet::4444,server,nowait -serial mon:telnet::5555,server,nowait -monitor telnet::2222,server,nowait -nographic -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\linux\rootfs.ext4,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\rtthread\sd_r.bin,format=raw -drive if=sd,file=F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\freertos\sd_m.bin,format=raw -net nic,model=lan9118,netdev=hub0port0 -netdev hubport,id=hub0port0,hubid=0 -net nic,model=lan9118,netdev=hub0port1 -netdev hubport,id=hub0port1,hubid=0 -net nic,model=lan9118,netdev=hub0port2 -netdev hubport,id=hub0port2,hubid=0 -net user,hostfwd=tcp::23-10.0.2.16:22 -readconfig F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\etc\default.conf -s

F:\Gitee\DOARMPI\QEMU_DOARMPI\Software\\bin\qemu-system-aarch64.exe: -serial mon:telnet::3333,server,wait: info: QEMU waiting for connection on: disconnected:telnet::::3333,server=on

Linux操作系统终端（CORTEX-A）：

$ telnet 127.0.0.1 3333
Trying 127.0.0.1...
Connected to 127.0.0.1.
Escape character is '^]'.
[    0.000000] Booting Linux on physical CPU 0x0000000000 [0x412fd471]
[    0.000000] Linux version 6.6.44 (work@95fdfbed1d58) (aarch64-linux-gcc.br_real (Buildroot 2024.02.6) 12.4.0, GNU ld (GNU Binutils) 2.40) #18 SMP PREEMPT Wed Dec 25 10:21:08 CST 2024
[    0.000000] Machine model: linux,doarmpi-board
[    0.000000] efi: UEFI not found.
[    0.000000] NUMA: No NUMA configuration found
[    0.000000] NUMA: Faking a node at [mem 0x00000000a0000000-0x000000011fffffff]
[    0.000000] NUMA: NODE_DATA [mem 0x11fbf39c0-0x11fbf5fff]
[    0.000000] Zone ranges:
[    0.000000]   DMA      [mem 0x00000000a0000000-0x00000000ffffffff]
[    0.000000]   DMA32    empty
[    0.000000]   Normal   [mem 0x0000000100000000-0x000000011fffffff]
[    0.000000] Movable zone start for each node
[    0.000000] Early memory node ranges
[    0.000000]   node   0: [mem 0x00000000a0000000-0x000000011fffffff]
[    0.000000] Initmem setup node 0 [mem 0x00000000a0000000-0x000000011fffffff]
[    0.000000] cma: Reserved 32 MiB at 0x00000000fe000000 on node -1
[    0.000000] psci: probing for conduit method from DT.
[    0.000000] psci: PSCIv1.1 detected in firmware.
[    0.000000] psci: Using standard PSCI v0.2 function IDs
[    0.000000] psci: Trusted OS migration not required
[    0.000000] psci: SMC Calling Convention v1.0
[    0.000000] percpu: Embedded 22 pages/cpu s50792 r8192 d31128 u90112
[    0.000000] pcpu-alloc: s50792 r8192 d31128 u90112 alloc=22*4096
[    0.000000] pcpu-alloc: [0] 0 [0] 1
[    0.000000] Detected PIPT I-cache on CPU0
[    0.000000] CPU features: detected: Address authentication (architected QARMA5 algorithm)
[    0.000000] CPU features: detected: GIC system register CPU interface
[    0.000000] CPU features: detected: Hardware dirty bit management
[    0.000000] CPU features: detected: Spectre-v4
[    0.000000] CPU features: detected: Spectre-BHB
[    0.000000] CPU features: detected: ARM erratum 2067961 or 2054223
[    0.000000] alternatives: applying boot alternatives
[    0.000000] Kernel command line: console=ttyAMA0,115200 rootfstype=ext4 root=/dev/mmcblk0 rw rootwait init=/linuxrc loglevel=8 nokaslr
[    0.000000] Dentry cache hash table entries: 262144 (order: 9, 2097152 bytes, linear)
[    0.000000] Inode-cache hash table entries: 131072 (order: 8, 1048576 bytes, linear)
[    0.000000] Fallback order for Node 0: 0
[    0.000000] Built 1 zonelists, mobility grouping on.  Total pages: 516096
[    0.000000] Policy zone: Normal
[    0.000000] mem auto-init: stack:all(zero), heap alloc:off, heap free:off
[    0.000000] software IO TLB: area num 2.
[    0.000000] software IO TLB: mapped [mem 0x00000000fa000000-0x00000000fe000000] (64MB)
[    0.000000] Memory: 1915224K/2097152K available (16832K kernel code, 4282K rwdata, 10616K rodata, 9152K init, 605K bss, 149160K reserved, 32768K cma-reserved)
[    0.000000] SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=2, Nodes=1
[    0.000000] rcu: Preemptible hierarchical RCU implementation.
[    0.000000] rcu:     RCU event tracing is enabled.
[    0.000000] rcu:     RCU restricting CPUs from NR_CPUS=256 to nr_cpu_ids=2.
[    0.000000]  Trampoline variant of Tasks RCU enabled.
[    0.000000]  Tracing variant of Tasks RCU enabled.
[    0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 25 jiffies.
[    0.000000] rcu: Adjusting geometry for rcu_fanout_leaf=16, nr_cpu_ids=2
[    0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
[    0.000000] GICv3: 160 SPIs implemented
[    0.000000] GICv3: 0 Extended SPIs implemented
[    0.000000] Root IRQ handler: gic_handle_irq
[    0.000000] GICv3: GICv3 features: 16 PPIs
[    0.000000] GICv3: CPU0: found redistributor 0 region 0:0x0000000009020000
[    0.000000] ITS [mem 0x0d021000-0x0d220fff]
[    0.000000] ITS@0x000000000d021000: allocated 8192 Devices @100040000 (indirect, esz 8, psz 64K, shr 1)
[    0.000000] ITS@0x000000000d021000: allocated 8192 Interrupt Collections @100050000 (flat, esz 8, psz 64K, shr 1)
[    0.000000] GICv3: using LPI property table @0x0000000100060000
[    0.000000] GICv3: CPU0: using allocated LPI pending table @0x0000000100070000
[    0.000000] rcu: srcu_init: Setting srcu_struct sizes based on contention.
[    0.000000] clocksource: arm,sp804: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 79635851949 ns
[    0.000006] sched_clock: 32 bits at 24MHz, resolution 41ns, wraps every 89478484971ns
[    0.000167] arch_timer: cp15 timer(s) running at 62.50MHz (virt).
[    0.000178] clocksource: arch_sys_counter: mask: 0x1ffffffffffffff max_cycles: 0x1cd42e208c, max_idle_ns: 881590405314 ns
[    0.000192] sched_clock: 57 bits at 63MHz, resolution 16ns, wraps every 4398046511096ns
[    0.041022] Console: colour dummy device 80x25
[    0.052314] Calibrating delay loop (skipped), value calculated using timer frequency.. 125.00 BogoMIPS (lpj=250000)
[    0.054716] pid_max: default: 32768 minimum: 301
[    0.060391] LSM: initializing lsm=capability,integrity
[    0.070160] Mount-cache hash table entries: 4096 (order: 3, 32768 bytes, linear)
[    0.070476] Mountpoint-cache hash table entries: 4096 (order: 3, 32768 bytes, linear)
[    0.178192] RCU Tasks: Setting shift to 1 and lim to 1 rcu_task_cb_adjust=1.
[    0.180298] RCU Tasks Trace: Setting shift to 1 and lim to 1 rcu_task_cb_adjust=1.
[    0.185440] rcu: Hierarchical SRCU implementation.
[    0.185549] rcu:     Max phase no-delay instances is 1000.
[    0.198701] Platform MSI: msi-controller@d021000 domain created
[    0.199871] PCI/MSI: /interrupt-controller@9000000/msi-controller@d021000 domain created
[    0.201057] fsl-mc MSI: msi-controller@d021000 domain created
[    0.210130] EFI services will not be available.
[    0.213948] smp: Bringing up secondary CPUs ...
[    0.228550] Detected PIPT I-cache on CPU1
[    0.234633] GICv3: CPU1: found redistributor 1 region 0:0x0000000009040000
[    0.236668] GICv3: CPU1: using allocated LPI pending table @0x0000000100080000
[    0.241082] CPU1: Booted secondary processor 0x0000000001 [0x412fd471]
[    0.248302] smp: Brought up 1 node, 2 CPUs
[    0.248442] SMP: Total of 2 processors activated.
[    0.248689] CPU features: detected: Branch Target Identification
[    0.248822] CPU features: detected: 32-bit EL0 Support
[    0.248915] CPU features: detected: ARMv8.4 Translation Table Level
[    0.249009] CPU features: detected: Data cache clean to the PoU not required for I/D coherence
[    0.249131] CPU features: detected: Common not Private translations
[    0.249193] CPU features: detected: CRC32 instructions
[    0.249251] CPU features: detected: Data independent timing control (DIT)
[    0.249307] CPU features: detected: E0PD
[    0.249383] CPU features: detected: Enhanced Virtualization Traps
[    0.249540] CPU features: detected: Generic authentication (architected QARMA5 algorithm)
[    0.249605] CPU features: detected: RCpc load-acquire (LDAPR)
[    0.249661] CPU features: detected: LSE atomic instructions
[    0.249802] CPU features: detected: Privileged Access Never
[    0.249864] CPU features: detected: RAS Extension Support
[    0.249925] CPU features: detected: Speculation barrier (SB)
[    0.249981] CPU features: detected: Stage-2 Force Write-Back
[    0.250050] CPU features: detected: TLB range maintenance instructions
[    0.250182] CPU features: detected: Speculative Store Bypassing Safe (SSBS)
[    0.250242] CPU features: detected: Scalable Vector Extension
[    0.274729] SVE: maximum available vector length 16 bytes per vector
[    0.280667] SVE: default vector length 16 bytes per vector
[    0.283872] CPU: All CPU(s) started at EL1
[    0.284231] alternatives: applying system-wide alternatives
[    0.378074] devtmpfs: initialized
[    0.464958] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 7645041785100000 ns
[    0.466200] futex hash table entries: 512 (order: 3, 32768 bytes, linear)
[    0.476401] pinctrl core: initialized pinctrl subsystem
[    0.509681] DMI not present or invalid.
[    0.535115] NET: Registered PF_NETLINK/PF_ROUTE protocol family
[    0.564489] DMA: preallocated 256 KiB GFP_KERNEL pool for atomic allocations
[    0.566062] DMA: preallocated 256 KiB GFP_KERNEL|GFP_DMA pool for atomic allocations
[    0.567888] DMA: preallocated 256 KiB GFP_KERNEL|GFP_DMA32 pool for atomic allocations
[    0.568815] audit: initializing netlink subsys (disabled)
[    0.573200] audit: type=2000 audit(0.408:1): state=initialized audit_enabled=0 res=1
[    0.595357] thermal_sys: Registered thermal governor 'step_wise'
[    0.595553] thermal_sys: Registered thermal governor 'power_allocator'
[    0.599575] cpuidle: using governor menu
[    0.604433] hw-breakpoint: found 6 breakpoint and 4 watchpoint registers.
[    0.605945] ASID allocator initialised with 65536 entries
[    0.645339] Serial: AMBA PL011 UART driver
[    0.699589] 2000000.pl011: ttyAMA0 at MMIO 0x2000000 (irq = 14, base_baud = 0) is a PL011 rev1
[    0.702509] printk: console [ttyAMA0] enabled
[    0.898340] 2003000.pl011: ttyAMA1 at MMIO 0x2003000 (irq = 15, base_baud = 0) is a PL011 rev1
[    0.991495] Modules: 22352 pages in range for non-PLT usage
[    0.991625] Modules: 513872 pages in range for PLT usage
[    1.009611] HugeTLB: registered 1.00 GiB page size, pre-allocated 0 pages
[    1.012273] HugeTLB: 0 KiB vmemmap can be freed for a 1.00 GiB page
[    1.013511] HugeTLB: registered 32.0 MiB page size, pre-allocated 0 pages
[    1.015070] HugeTLB: 0 KiB vmemmap can be freed for a 32.0 MiB page
[    1.016285] HugeTLB: registered 2.00 MiB page size, pre-allocated 0 pages
[    1.017908] HugeTLB: 0 KiB vmemmap can be freed for a 2.00 MiB page
[    1.019366] HugeTLB: registered 64.0 KiB page size, pre-allocated 0 pages
[    1.020650] HugeTLB: 0 KiB vmemmap can be freed for a 64.0 KiB page
[    1.055289] ACPI: Interpreter disabled.
[    1.084018] iommu: Default domain type: Translated
[    1.085270] iommu: DMA domain TLB invalidation policy: strict mode
[    1.092555] SCSI subsystem initialized
[    1.096628] libata version 3.00 loaded.
[    1.102047] ssp-pl022 2040000.spi0: ARM PL022 driver, device ID: 0x00041022
[    1.105033] ssp-pl022 2040000.spi0: mapped registers from 0x0000000002040000 to (____ptrval____)
[    1.128591] usbcore: registered new interface driver usbfs
[    1.131018] usbcore: registered new interface driver hub
[    1.132837] usbcore: registered new device driver usb
[    1.142209] imx-i2c 2030000.i2c0: can't get pinctrl, bus recovery not supported
[    1.148528] i2c i2c-0: IMX I2C adapter registered
[    1.154471] pps_core: LinuxPPS API ver. 1 registered
[    1.155756] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <giometti@linux.it>
[    1.158237] PTP clock support registered
[    1.161777] EDAC MC: Ver: 3.0.0
[    1.173048] scmi_core: SCMI protocol bus registered
[    1.184390] FPGA manager framework
[    1.188182] Advanced Linux Sound Architecture Driver Initialized.
[    1.220671] vgaarb: loaded
[    1.231098] clocksource: Switched to clocksource arch_sys_counter
[    1.238207] VFS: Disk quotas dquot_6.6.0
[    1.239544] VFS: Dquot-cache hash table entries: 512 (order 0, 4096 bytes)
[    1.246134] pnp: PnP ACPI: disabled
[    1.400578] NET: Registered PF_INET protocol family
[    1.406258] IP idents hash table entries: 32768 (order: 6, 262144 bytes, linear)
[    1.423120] tcp_listen_portaddr_hash hash table entries: 1024 (order: 2, 16384 bytes, linear)
[    1.425745] Table-perturb hash table entries: 65536 (order: 6, 262144 bytes, linear)
[    1.428160] TCP established hash table entries: 16384 (order: 5, 131072 bytes, linear)
[    1.430171] TCP bind hash table entries: 16384 (order: 7, 524288 bytes, linear)
[    1.432440] TCP: Hash tables configured (established 16384 bind 16384)
[    1.436445] UDP hash table entries: 1024 (order: 3, 32768 bytes, linear)
[    1.438470] UDP-Lite hash table entries: 1024 (order: 3, 32768 bytes, linear)
[    1.442944] NET: Registered PF_UNIX/PF_LOCAL protocol family
[    1.453189] RPC: Registered named UNIX socket transport module.
[    1.455381] RPC: Registered udp transport module.
[    1.456508] RPC: Registered tcp transport module.
[    1.457685] RPC: Registered tcp-with-tls transport module.
[    1.458803] RPC: Registered tcp NFSv4.1 backchannel transport module.
[    1.460525] PCI: CLS 0 bytes, default 64
[    1.464901] kvm [1]: HYP mode not available
[    1.483074] Initialise system trusted keyrings
[    1.488183] workingset: timestamp_bits=42 max_order=19 bucket_order=0
[    1.496374] squashfs: version 4.0 (2009/01/31) Phillip Lougher
[    1.502693] NFS: Registering the id_resolver key type
[    1.504744] Key type id_resolver registered
[    1.506404] Key type id_legacy registered
[    1.508240] nfs4filelayout_init: NFSv4 File Layout Driver Registering...
[    1.509786] nfs4flexfilelayout_init: NFSv4 Flexfile Layout Driver Registering...
[    1.514143] 9p: Installing v9fs 9p2000 file system support
[    2.016282] Key type asymmetric registered
[    2.018243] Asymmetric key parser 'x509' registered
[    2.021633] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 245)
[    2.023868] io scheduler mq-deadline registered
[    2.025136] io scheduler kyber registered
[    2.027340] io scheduler bfq registered
[    2.135670] pl061_gpio 2020000.gpio0: PL061 GPIO chip registered
[    2.144631] pl061_gpio 2021000.gpio1: PL061 GPIO chip registered
[    2.154025] pl061_gpio 2022000.gpio2: PL061 GPIO chip registered
[    2.165003] pl061_gpio 2023000.gpio3: PL061 GPIO chip registered
[    2.212850] drivers/video/fbdev/qemu_custom_lcdcfb.c qemu_lcd_fb_probe 68 qemu lcd init
[    2.290891] Console: switching to colour frame buffer device 77x43
[    2.304041] EINJ: ACPI disabled.
[    2.562448] Serial: 8250/16550 driver, 4 ports, IRQ sharing enabled
[    2.610372] SuperH (H)SCI(F) driver initialized
[    2.616521] msm_serial: driver initialized
[    2.622406] STM32 USART driver initialized
[    2.801167] brd: module loaded
[    2.898888] loop: module loaded
[    2.916110] megasas: 07.725.01.00-rc1
[    2.941939] SPI driver spidev has no spi_device_id for rohm,bh2228fv
[    3.020852] tun: Universal TUN/TAP device driver, 1.6
[    3.026393] CAN device driver interface
[    3.053463] thunder_xcv, ver 1.0
[    3.055610] thunder_bgx, ver 1.0
[    3.057413] nicpf, ver 1.0
[    3.071823] hns3: Hisilicon Ethernet Network Driver for Hip08 Family - version
[    3.073627] hns3: Copyright (c) 2017 Huawei Corporation.
[    3.076146] hclge is initializing
[    3.077749] e1000: Intel(R) PRO/1000 Network Driver
[    3.078736] e1000: Copyright (c) 1999-2006 Intel Corporation.
[    3.081296] e1000e: Intel(R) PRO/1000 Network Driver
[    3.082919] e1000e: Copyright(c) 1999 - 2015 Intel Corporation.
[    3.085219] igb: Intel(R) Gigabit Ethernet Network Driver
[    3.086490] igb: Copyright (c) 2007-2014 Intel Corporation.
[    3.088789] igbvf: Intel(R) Gigabit Virtual Function Network Driver
[    3.090057] igbvf: Copyright (c) 2009 - 2012 Intel Corporation.
[    3.094838] sky2: driver version 1.30
[    3.180511] smsc911x 2050000.ethernet eth0: MAC Address: 52:54:00:12:34:56
[    3.196081] VFIO - User Level meta-driver version: 0.3
[    3.225582] usbcore: registered new interface driver usb-storage
[    3.250466] input: Qemu Touchscreen Controller as /devices/platform/2090000.ts/input/input0
[    3.285517] rtc-pl031 201a000.pl031: registered as rtc0
[    3.288039] rtc-pl031 201a000.pl031: setting system clock to 2025-11-03T09:33:55 UTC (1762162435)
[    3.297728] i2c_dev: i2c /dev entries driver
[    3.370149] sdhci: Secure Digital Host Controller Interface driver
[    3.371815] sdhci: Copyright(c) Pierre Ossman
[    3.379946] Synopsys Designware Multimedia Card Interface Driver
[    3.389301] mmci-pl18x 2070000.mci: mmc0: PL181 manf 41 rev0 at 0x02070000 irq 26,27 (pio)
[    3.392311] sdhci-pltfm: SDHCI platform and OF driver helper
[    3.413813] ledtrig-cpu: registered to indicate activity on CPUs
[    3.447548] usbcore: registered new interface driver usbhid
[    3.449347] usbhid: USB HID core driver
[    3.459042] mmc0: host does not support reading read-only switch, assuming write-enable
[    3.462868] mmc0: new SD card at address 4567
[    3.473021] mmcblk0: mmc0:4567 QEMU! 64.0 MiB
[    3.526502] NET: Registered PF_PACKET protocol family
[    3.527814] can: controller area network core
[    3.530191] NET: Registered PF_CAN protocol family
[    3.531266] can: raw protocol
[    3.532626] can: broadcast manager protocol
[    3.533950] can: netlink gateway - max_hops=1
[    3.538388] 9pnet: Installing 9P2000 support
[    3.540932] Key type dns_resolver registered
[    3.778179] registered taskstats version 1
[    3.784504] Loading compiled-in X.509 certificates
[    4.009407] clk: Disabling unused clocks
[    4.012241] ALSA device list:
[    4.013579]   No soundcards found.
[    4.021370] uart-pl011 2000000.pl011: no DMA platform data
[    4.603424] EXT4-fs (mmcblk0): recovery complete
[    4.610126] EXT4-fs (mmcblk0): mounted filesystem ee84d967-a012-46a2-b795-4f4e92b7d530 r/w with ordered data mode. Quota mode: none.
[    4.614203] VFS: Mounted root (ext4 filesystem) on device 179:0.
[    4.622055] devtmpfs: mounted
[    4.761583] Freeing unused kernel memory: 9152K
[    4.765289] Run /linuxrc as init process
[    4.766400]   with arguments:
[    4.767708]     /linuxrc
[    4.768549]   with environment:
[    4.769374]     HOME=/
[    4.769948]     TERM=linux
[    6.857219] random: crng init done
[   10.686550] EXT4-fs (mmcblk0): re-mounted ee84d967-a012-46a2-b795-4f4e92b7d530 r/w. Quota mode: none.
Seeding 256 bits and crediting
Saving 256 bits of creditable seed for next boot
Starting syslogd: OK
Starting klogd: OK
Running sysctl: OK
Starting network: [   14.116560] Generic PHY 2050000.ethernet-ffffffff:01: attached PHY driver (mii_bus:phy_addr=2050000.ethernet-ffffffff:01, irq=POLL)
[   14.132149] smsc911x 2050000.ethernet eth0: SMSC911x/921x identified at 0xffff800084874000, IRQ: 23
udhcpc: started, v1.36.1
udhcpc: broadcasting discover
udhcpc: broadcasting select for 10.0.2.17, server 10.0.2.2
udhcpc: lease of 10.0.2.17 obtained from 10.0.2.2, lease time 86400
deleting routers
adding dns 10.0.2.3
OK
Starting dropbear sshd: OK

Welcome to Buildroot
buildroot login:

RTThread操作系统终端（CORTEX-R）：

$ telnet 127.0.0.1 4444
Trying 127.0.0.1...
Connected to 127.0.0.1.
Escape character is '^]'.

 \ | /
- RT -     Thread Operating System
 / | \     5.2.1 build Oct 31 2025 15:18:46
 2006 - 2024 Copyright by RT-Thread team
lwIP-2.1.2 initialized!
2025-11-03 17:33:51 [I/DRV][drv_i2c.c:111][rt_hw_drv_i2c_init]: Register i2c0 bus succeed!
2025-11-03 17:33:51 [I/DRV][drv_spi.c:130][rt_hw_drv_spi_init]: Register spi0 bus succeed!
2025-11-03 17:33:51 [I/DRV][drv_gpio.c:474][rt_hw_drv_pin_init]: Register pin device succeed!
2025-11-03 17:33:51 [I/DRV][drv_mci.c:412][rt_hw_drv_mci_init]: Register mci0 device succeed!
2025-11-03 17:33:51 [I/DRV][drv_can.c:635][rt_hw_drv_can_init]: Register can0 device succeed!
2025-11-03 17:33:51 [I/DRV][drv_enet.c:196][rt_hw_drv_enet_init]: Register en0 device succeed!
2025-11-03 17:33:51 [I/DEV][button.c:146][rt_hw_dev_button_init]: Register button device succeed!
2025-11-03 17:33:51 [I/DEV][at24cxx.c:229][rt_hw_dev_at24cxx_init]: Register at24cxx device succeed!
2025-11-03 17:33:51 [I/DEV][dev_lcd.c:160][rt_hw_dev_lcd_init]: Register lcd device succeed!
2025-11-03 17:33:51 [I/DEV][dev_lcd.c:169][rt_hw_dev_lcd_init]: Initialize lcd device succeed!
2025-11-03 17:33:51 [I/DEV][led.c:142][rt_hw_dev_led_init]: Register led device succeed!
2025-11-03 17:33:51 [I/DEV][pl181.c:240][rt_hw_dev_pl181_init]: Initialize sd0 device succeed!
2025-11-03 17:33:51 [I/DEV][qemu_spi.c:24][rt_hw_dev_qemu_spi_init]: Register qemu-spidev device succeed!
2025-11-03 17:33:51 [I/DEV][switch_key.c:101][rt_hw_dev_switch_key_init]: Register switch-key device succeed!
[I/touch] rt_touch init success
2025-11-03 17:33:51 [I/DEV][dev_ts.c:221][rt_hw_dev_ts_init]: Register ts device succeed!
[I/sal.skt] Socket Abstraction Layer initialize success.
2025-11-03 17:33:51 [E/DRV][drv_mci.c:169][rt_hw_mci_transfer_cmd]: MCI_SendCmdNoBlocking timeout!
[I/SDIO] SD card capacity 65536 KB.
[I/SDIO] sd: switch to High Speed / SDR25 mode

2025-11-03 17:33:52 [I/APP][mnt.c:33][mnt_init]: File system initialization done!
2025-11-03 17:33:52 [I/DEV][lan9118.c:184][rt_hw_dev_lan9118_init]: Initialize e0 device succeed!
RTThread main function!
rtthread-doarmpi(cortex-r):/>

FreeRTOS操作系统终端（CORTEX-M）：

$ telnet 127.0.0.1 5555
Trying 127.0.0.1...
Connected to 127.0.0.1.
Escape character is '^]'.
   ____            ___  __________  ____
  / __/______ ___ / _ \/_  __/ __ \/ __/
 / _// __/ -_) -_) , _/ / / / /_/ /\ \
/_/ /_/  \__/\__/_/|_| /_/  \____/___/
Build:             Oct 31 2025 15:40:41
CPU Type:          cortex-m
System Version:    1.0.0
SDK Version:       1.0.0
HAL Version:       1.0.0
Shell Version:     3.1.2
LWIP Version:      2.1.3
LVGL Version:      8.3.11
Copyright:         (c) 2023-2025 David

2025-11-03 17:33:51 [I/DRV][drv_rtc.c:145][DrvRtcInit]: Register rtc device succeed!
2025-11-03 17:33:51 [I/DRV][drv_gpio.c:428][DrvGpioInit]: Register pin device succeed!
2025-11-03 17:33:51 [I/DRV][drv_i2c.c:130][DrvI2cInit]: Register i2c0 bus succeed!
2025-11-03 17:33:51 [I/DRV][drv_spi.c:152][DrvSpiInit]: Register spi0 bus succeed!
2025-11-03 17:33:51 [I/DRV][drv_can.c:572][DrvCANInit]: Register can0 device succeed!
2025-11-03 17:33:51 [I/DRV][drv_enet.c:220][DrvENETInit]: Register en0 device success!
2025-11-03 17:33:51 [I/DRV][drv_mci.c:365][DrvMCIInit]: Register mci0 device succeed!
2025-11-03 17:33:51 [I/DEV][led.c:139][LedInit]: Register led device succeed!
2025-11-03 17:33:51 [I/DEV][button.c:137][ButtonInit]: Register button device succeed!
2025-11-03 17:33:51 [I/DEV][switch_key.c:74][SwitchKeyInit]: Register switch-key device succeed!
2025-11-03 17:33:51 [I/DEV][at24cxx.c:50][At24cXXInit]: Register at24cxx device succeed!
2025-11-03 17:33:51 [I/DEV][qemu_spi.c:38][QemuSpiInit]: Register qemu-spidev device succeed!
2025-11-03 17:33:51 [I/DEV][lan9118.c:217][Lan9118Init]: Initialize e0 device succeed!
2025-11-03 17:33:51 [I/DEV][lan9118.c:262][Lan9118NetLwipInit]: Initialize e0 lwip device succeed!
2025-11-03 17:33:51 [I/DEV][dev_lcd.c:73][LcdInit]: Register lcd device succeed!
2025-11-03 17:33:51 [I/DEV][dev_lcd.c:88][LcdInit]: Initialize lcd device succeed!
2025-11-03 17:33:51 [I/DEV][sd.c:229][SDInit]: Register sd0 device succeed!
2025-11-03 17:33:51 [I/APP][user_app.c:152][UserAppStart]: User application start!
2025-11-03 17:33:51 [I/APP][user_app.c:111][MntInit]: f_mount succeeded!

freertos-doarmpi(cortex-m):/$

五、硬件资源描述

1. 芯片资源描述

硬件	基地址	大小	描述
DDR	0xa0000000	16GB	CORTEX-A核内存
RAM1	0x60000000	128MB	CORTEX-R核内存
RAM2	0x20000000	4MB	CORTEX-M核内存
FLASH	0x08000000	4MB	CORTEX-M核FLASH
GIC1	0x09000000(DIST) 0x09020000(REDIST) 0x0d021000(ITS)	0x00010000(DIST) 0x00200000(REDIST) 0x00200000(ITS)	CORTEX-A核GICv3中断控制器
GIC2	0x19000000(DIST) 0x19020000(REDIST) 0x1d021000(ITS)	0x00010000(DIST) 0x00200000(REDIST) 0x00200000(ITS)	CORTEX-R核GICv3中断控制器

2. 控制器资源描述

硬件	基地址	中断号	控制器
UART	0x02000000(UART1) 0x02001000(UART2) 0x02002000(UART3) 0x02003000(UART4)	20(UART1) 21(UART2) 22(UART3) 23(UART4)	pl011
TIMER	0x02010000(TIMER01) 0x02011000(TIMER23) 0x02012000(TIMER45)	30(TIMER01) 31(TIMER23) 32(TIMER45)	sp804
RTC	0x0201a000(RTC1) 0x0201b000(RTC2) 0x0201c000(RTC3)	37(RTC1) 38(RTC2) 39(RTC3)	pl031
GPIO	0x02020000(GPIO1) 0x02021000(GPIO2) 0x02022000(GPIO3) 0x02023000(GPIO4)	40(GPIO1) 41(GPIO2) 42(GPIO3) 43(GPIO4)	pl061
I2C	0x02030000(I2C1) 0x02034000(I2C2) 0x02038000(I2C3)	50(I2C1) 51(I2C2) 52(I2C3)	imx-i2c
SPI	0x02040000(SPI1) 0x02044000(SPI2) 0x02048000(SPI3)	60(SPI1) 61(SPI2) 62(SPI3)	pl022
ENET	0x02050000(ENET1) 0x02054000(ENET2) 0x02058000(ENET3)	70(ENET1) 71(ENET2) 72(ENET3)	lan9118
CAN	0x02060000(CAN1) 0x02064000(CAN2) 0x02068000(CAN3)	80(CAN1) 81(CAN2) 82(CAN3)	imx-flexcan
MCI	0x02070000(MCI1) 0x02071000(MCI2) 0x02072000(MCI3)	90、91(MCI1) 92、93(MCI2) 94、95(MCI3)	pl181
LCD	0x02080000(LCD1) 0x02084000(LCD2) 0x02088000(LCD3)	100(LCD1) 101(LCD2) 102(LCD3)	custom-fb(LCD1) pl111(LCD2、LCD3)
TS	0x02090000(TS)	110(TS)	custom-ts

3. 外设资源描述

硬件	引脚/控制器	备注
LED	GPIO1_0(LED1) GPIO1_1(LED2) GPIO1_2(LED3) GPIO1_3(LED4)	4个LED灯
BUTTON	GPIO2_0(BUTTON1) GPIO2_1(BUTTON2) GPIO2_2(BUTTON3) GPIO2_3(BUTTON4)	4个BUTTON按键
SWITCH_KEY	GPIO2_4	1个开关
LCD1	custom-fb	custom-fb虚拟物理设备宽x高：620x348 寄存器： 0x00: BASE_PHYS 0x04: XRES 0x08: YRES 0x0c: BPP 0x10: LCDW 0x14: LCDH 0x18:BPP_DEF
LCD2、LCD3	pl111	PL111 是一款由 ARM 设计的彩色 LCD 控制器 IP 核
AT24C-EEPROM	I2C1(0x03) I2C2(0x03) I2C3(0x03)	AT24C-EEPROM挂载在I2C1、I2C2、I2C3的0x03地址上 AT24C-EEPROM大小为：256字节
SPI	SPI1(loopback) SPI2(loopback) SPI3(loopback	SPI1、SPI2、SPI3为回环模式
ETH	lan9118	LAN9118 是一款由 Microchip Technology（收购 SMSC 后继承）生产的高性能、单芯片 10/100 Mbps 以太网控制器，主要面向嵌入式应用
CAN	imx-flexcan	CAN1、CAN2和CAN3互相连接，可接收到其他CAN设备数据，并且支持上海同星 TSMaster的虚拟硬件TS Virtual Device收发 CAN硬件连接关系： CAN1<-->CAN2 CAN1<-->CAN3 CAN2<-->CAN3 TSMaster的虚拟硬件TS Virtual Device与CAN硬件连接关系： CAN1<-->通道1 CAN2<-->通道2
eMMC/SD	pl181	存储设备
TS	custom-ts	custom-fb虚拟物理设备宽x高：620x348 寄存器： 0x00: PRESS(Touch Points register) 0x04: X(Touch X register) 0x08: Y(Touch Y register) 0x0c: IMSC(Interrupt mask and set register) 0x10: RIS(Raw interrupt status register) 0x14: MIS(Masked interrupt status register) 0x18: ICR(Interrupt clear register)

六、QEMU和系统源码下载（默认不开放权限，需申请）

1. qemu源码

# 下载qemu源码
$ git repo init -u https://gitee.com/CustomQemu/mainfest.git -m QEMU.xml
remote: Enumerating objects: 18, done.
remote: Counting objects: 100% (6/6), done.
remote: Compressing objects: 100% (6/6), done.
remote: Total 18 (delta 1), reused 0 (delta 0), pack-reused 12 (from 1)
Unpacking objects: 100% (18/18), 2.23 KiB | 2.00 KiB/s, done.
From https://gitee.com/CustomQemu/mainfest
 * [new branch]      master     -> origin/master
Note: switching to 'XXX'.
...
Switched to a new branch 'default'
NOTE: Your identity is: XXX <XXX>
NOTE: If you want to change this, please re-run 'git repo init' with --config-name
NOTE: repo has been initialized in XXX\QEMU_DOARMPI
$ git repo sync
remote: Enumerating objects: 77404, done.
remote: Total 77404 (delta 0), reused 0 (delta 0), pack-reused 77404 (from 1)
Receiving objects: 100% (77404/77404), 155.10 MiB | 7.58 MiB/s, done.
Resolving deltas: 100% (10792/10792), done.
From https://gitee.com/CustomQemu/QEMU_VirtualBoard
 * [new branch]          master     -> origin/master
Updating files: 100% (73850/73850), done.
...
Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at XXX XXX

# 编译qemu源码，打开msys2或EmDevTool工具选择{Bash}->{Msys2}
$ cd QEMU_VirtualBoard
$ mkdir build
$ cd build
$ ../configure --prefix=$PWD/exe/ --target-list="aarch64-softmmu" --disable-debug-info --enable-sdl --disable-docs
python determined to be '/mingw64/bin/python3'
python version: Python 3.10.8
mkvenv: Creating non-isolated virtual environment at 'pyvenv'
...
$ make -j8
ninja: no work to do.
/f/Gitee/DOARMPI/QEMU_DOARMPI/QEMU_VirtualBoard/build/pyvenv/bin/meson introspect --targets --tests --benchmarks | F:/Gitee/DOARMPI/QEMU_DOARMPI/QEMU_VirtualBoard/build/pyvenv/bin/python3.exe -B scripts/mtest2make.py > Makefile.mtest
[1/2416] Generating version.rc with a custom command
...
[2414/2416] Linking target tests/qtest/qos-test.exe
[2415/2416] Linking target tests/qtest/readconfig-test.exe
[2416/2416] Linking target tests/qtest/netdev-socket.exe
$ make -j8 install
[1/51] Generating tests/include/QAPI test (include) with a custom command
[2/19] Generating qemu-version.h with a custom command (wrapped by meson to capture output)
[3/4] Generating subprojects/dtc/version_gen.h with a custom command
[3/4] Installing files.
...
Installing F:/Gitee/DOARMPI/QEMU_DOARMPI/QEMU_VirtualBoard/pc-bios/keymaps/sl to F:/Gitee/DOARMPI/QEMU_DOARMPI/QEMU_VirtualBoard/build/exe/share/keymaps
Installing F:/Gitee/DOARMPI/QEMU_DOARMPI/QEMU_VirtualBoard/pc-bios/keymaps/sv to F:/Gitee/DOARMPI/QEMU_DOARMPI/QEMU_VirtualBoard/build/exe/share/keymaps
$ ls exe/
include  qemu-edid.exe  qemu-img.exe  qemu-nbd.exe             qemu-system-aarch64.exe   share
lib      qemu-ga.exe    qemu-io.exe   qemu-storage-daemon.exe  qemu-system-aarch64w.exe

# 更新qemu-system-aarch64.exe，XXX为项目QEMU_DOARMPI存放目录，注意msys2环境下，磁盘C可以用/c/代替
# 绝对路径拷贝和执行命令
$ cp XXX/QEMU_VirtualBoard/build/exe/qemu-system-aarch64.exe XXX/Software/bin/qemu-system-aarch64.exe
$ XXX/Software/bin/qemu-system-aarch64.exe --version
QEMU emulator version 9.0.2
Copyright (c) 2003-2024 Fabrice Bellard and the QEMU Project developers
# 相对路径拷贝和执行命令
$ cp exe/qemu-system-aarch64.exe ../../Software/bin/qemu-system-aarch64.exe
$ $ ../../Software/bin/qemu-system-aarch64.exe --version
QEMU emulator version 9.0.2
Copyright (c) 2003-2024 Fabrice Bellard and the QEMU Project developers

2. 裸机源码

# 下载裸机源码
$ git repo init -u https://gitee.com/CustomQemu/mainfest.git -m Baremetal.xml
remote: Enumerating objects: 18, done.
remote: Counting objects: 100% (6/6), done.
remote: Compressing objects: 100% (6/6), done.
remote: Total 18 (delta 1), reused 0 (delta 0), pack-reused 12 (from 1)
Unpacking objects: 100% (18/18), 2.23 KiB | 2.00 KiB/s, done.
From https://gitee.com/CustomQemu/mainfest
 * [new branch]      master     -> origin/master
Note: switching to 'XXX'.
...
Switched to a new branch 'default'
NOTE: Your identity is: XXX <XXX>
NOTE: If you want to change this, please re-run 'git repo init' with --config-name
NOTE: repo has been initialized in XXX\QEMU_DOARMPI
$ git repo sync
remote: Enumerating objects: 573, done.
remote: Total 573 (delta 0), reused 0 (delta 0), pack-reused 573 (from 1)
Receiving objects:  87% (499/573), 12.01 MiB | 2.35 MiB/s
Receiving objects: 100% (573/573), 13.44 MiB | 2.04 MiB/s, done.
Resolving deltas: 100% (305/305), done.
...
Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at XXX XXX

编译参考裸机源码的README文档。

3. FreeRTOS操作系统源码

# 下载FreeRTOS源码
$ git repo init -u https://gitee.com/CustomQemu/mainfest.git -m FreeRTOS.xml
remote: Enumerating objects: 18, done.
remote: Counting objects: 100% (6/6), done.
remote: Compressing objects: 100% (6/6), done.
remote: Total 18 (delta 1), reused 0 (delta 0), pack-reused 12 (from 1)
Unpacking objects: 100% (18/18), 2.23 KiB | 2.00 KiB/s, done.
From https://gitee.com/CustomQemu/mainfest
* [new branch]      master     -> origin/master
Note: switching to 'XXX'.
...
Switched to a new branch 'default'
NOTE: Your identity is: XXX <XXX>
NOTE: If you want to change this, please re-run 'git repo init' with --config-name
NOTE: repo has been initialized in XXX\QEMU_DOARMPI
$ git repo sync
remote: Enumerating objects: 850, done.
remote: Enumerating objects: 573, done.
remote: Enumerating objects: 753, done.
...
Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at XXX XXX

编译参考FreeRTOS操作系统源码的README文档。

4. RTThread操作系统源码

# 下载RTThread源码
$ git repo init -u https://gitee.com/CustomQemu/mainfest.git -m FreeRTOS.xml
remote: Enumerating objects: 18, done.
remote: Counting objects: 100% (6/6), done.
remote: Compressing objects: 100% (6/6), done.
remote: Total 18 (delta 1), reused 0 (delta 0), pack-reused 12 (from 1)
Unpacking objects: 100% (18/18), 2.23 KiB | 2.00 KiB/s, done.
From https://gitee.com/CustomQemu/mainfest
 * [new branch]      master     -> origin/master
Note: switching to 'XXX'.
...
Switched to a new branch 'default'
NOTE: Your identity is: XXX <XXX>
NOTE: If you want to change this, please re-run 'git repo init' with --config-name
NOTE: repo has been initialized in XXX\QEMU_DOARMPI
$ git repo sync
remote: Enumerating objects: 6438, done.
remote: Counting objects: 100% (53/53), done.
remote: Compressing objects: 100% (48/48), done.
...
Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at XXX XXX

编译参考RTThread操作系统源码的README文档。

5. Linux操作系统源码

待补充

CustomQemu

QEMU_DOARMPI

QEMU_DOARMPI

一、简介

二、目录构成

三、环境搭建(Windows x64系统)

1. EmDevTool工具(集成开发工具)

2. git和git-repo环境搭建

3. mingw环境搭建

四、操作系统运行(EmDevTool环境运行)

1. 查看支持的系统, 支持telent连接，访问的地址和端口为127.0.0.1:3333

2. 运行裸机

3. 运行FreeRTOS操作系统

4. 运行RTThread操作系统

5. 运行RTNano操作系统

6. 运行Linux操作系统（A核）

7. 运行Linux+RTThread+FreeRTOS操作系统（A+R+M核）

五、硬件资源描述

1. 芯片资源描述

2. 控制器资源描述

3. 外设资源描述

六、QEMU和系统源码下载（默认不开放权限，需申请）

1. qemu源码

2. 裸机源码

3. FreeRTOS操作系统源码

4. RTThread操作系统源码

5. Linux操作系统源码

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