[Datasheet] The NEORV32 RISC-V Processor

1. Overview

The NEORV32^[1] is an open-source RISC-V compatible processor system that is intended as ready-to-go auxiliary processor within a larger SoC designs or as stand-alone custom / customizable microcontroller.

The system is highly configurable and provides optional common peripherals like embedded memories, timers, serial interfaces, general purpose IO ports and an external bus interface to connect custom IP like memories, NoCs and other peripherals. On-line and in-system debugging is supported by an OpenOCD/gdb compatible on-chip debugger accessible via JTAG.

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

The software framework of the processor comes with application makefiles, software libraries for all CPU and processor features, a bootloader, a runtime environment and several example programs - including a port of the CoreMark MCU benchmark and the official RISC-V architecture test suite. RISC-V GCC is used as default toolchain (prebuilt toolchains are also provided).

Check out the processor’s online User Guide that provides hands-on tutorials to get you started.

Structure

NEORV32 Processor (SoC)
NEORV32 Central Processing Unit (CPU)
Software Framework
On-Chip Debugger (OCD)
Legal

Annotations

Warning

Important

Note

Tip

1.1. Rationale

Why did you make this?

Processor and CPU architecture designs are fascinating things: they are the magic frontier where software meets hardware. This project started as something like a journey into this magic realm to understand how things actually work down on this very low level and evolved over time to a capable system on chip.

But there is more: when I started to dive into the emerging RISC-V ecosystem I felt overwhelmed by the complexity. As a beginner it is hard to get an overview - especially when you want to setup a minimal platform to tinker with… Which core to use? How to get the right toolchain? What features do I need? How does booting work? How do I create an actual executable? How to get that into the hardware? How to customize things? Where to start???

This project aims to provide a simple to understand and easy to use yet powerful and flexible platform that targets FPGA and RISC-V beginners as well as advanced users.

Why a soft-core processor?

As a matter of fact soft-core processors cannot compete with discrete (like FPGA hard-macro) processors in terms of performance, energy efficiency and size. But they do fill a niche in FPGA design space: for example, soft-core processors allow to implement the control flow part of certain applications (e.g. communication protocol handling) using software like plain C. This provides high flexibility as software can be easily changed, re-compiled and re-uploaded again.

Furthermore, the concept of flexibility applies to all aspects of a soft-core processor. The user can add exactly the features that are required by the application: additional memories, custom interfaces, specialized co-processors and even user-defined instructions.

Why RISC-V?

RISC-V is a free and open ISA enabling a new era of processor innovation through open standard collaboration.

— RISC-V International
https://riscv.org/about/

Open-source is a great thing! While open-source has already become quite popular in software, hardware-focused projects still need to catch up. Admittedly, there has been quite a development, but mainly in terms of platforms and applications (so schematics, PCBs, etc.). Although processors and CPUs are the heart of almost every digital system, having a true open-source silicon is still a rarity. RISC-V aims to change that - and even it is just one approach, it helps paving the road for future development.

Furthermore, I highly appreciate the community aspect of RISC-V. The ISA and everything beyond is developed in direct contact with the community: this includes businesses and professionals but also hobbyist, amateurs and people that are just curious. Everyone can join discussions and contribute to RISC-V in their very own way.

Finally, I really like the RISC-V ISA itself. It aims to be a clean, orthogonal and "intuitive" ISA that resembles with the basic concepts of RISC: simple yet effective.

Yet another RISC-V core? What makes it special?

The NEORV32 is not based on another RISC-V core. It was build entirely from ground up (just following the official ISA specs). The project does not intend to replace certain RISC-V cores or just beat existing ones like VexRISC in terms of performance or SERV in terms of size. It was build having a different design goal in mind.

The project aims to provide another option in the RISC-V / soft-core design space with a different performance vs. size trade-off and a different focus: embrace concepts like documentation, platform-independence / portability, RISC-V compatibility, extensibility & customization and ease of use (see the Project Key Features below).

Furthermore, the NEORV32 pays special focus on execution safety using Full Virtualization. The CPU aims to provide fall-backs for everything that could go wrong. This includes malformed instruction words, privilege escalations and even memory accesses that are checked for address space holes and deterministic response times of memory-mapped devices. Precise exceptions allow a defined and fully-synchronized state of the CPU at every time an in every situation.

A multi-cycle architecture?!?!

Most mainstream CPUs out there are pipelined architectures to increase throughput. In contrast, most CPUs used for teaching are single-cycle designs since they are probably the most easiest to understand. But what about the multi-cycle architectures?

In terms of energy, throughput, area and maximal clock frequency multi-cycle architectures are somewhere in between single-cycle and fully-pipelined designs: they provide higher throughput and clock speed when compared to their single-cycle counterparts while having less hardware complexity (= area) then a fully-pipelined designs. I decided to use the multi-cycle approach because of the following reasons:

Multi-cycle architecture are quite small! There is no need for pipeline hazard detection and resolution logic (e.g. forwarding). Furthermore, you can "re-use" parts of the core to do several tasks (e.g. the ALU is used for the actual data processing, but also for address generation, branch condition check and branch target computation).
Single-cycle architectures require memories that can be read asynchronously - a thing that is not feasible to implement in real world applications (i.e. FPGA block RAM is entirely synchronous). Furthermore, such design usually have a very (very!!!) long critical path tremendously reducing maximal operating frequency.
Pipelined designs increase performance by having several instruction "in fly" at the same time. But this also means there is some kind of "out-of-order" behavior: if an instruction at the end of the pipeline causes an exception all the instructions in earlier stages have to be invalidated. Potential architecture state changes have to be made undone requiring additional (exception-handling) logic. In a multi-cycle architecture this situation cannot occur because only a single instruction is "in fly" at a time.
Having only a single instruction in fly does not only reduce hardware costs, it also simplifies simulation/verification/debugging, state preservation/restoring during exceptions and extensibility (no need to care about pipeline hazards) - but of course at the cost of reduced throughput.

To counteract the loss of performance implied by a pure multi-cycle architecture, the NEORV32 CPU uses a mixed approach: instruction fetch (front-end) and instruction execution (back-end) are de-coupled to operate independently of each other. Data is interchanged via a queue building a simple 2-stage pipeline. Each "pipeline" stage in terms is implemented as multi-cycle architecture to simplify the hardware and to provide precise state control (e.g. during exceptions).

CPU Architecture Details

Want to know more? Check out the description in the CPU’s Architecture section.

1.2. Project Key Features

all-in-one package: CPU + SoC + Software Framework & Tooling
completely described in behavioral, platform-independent VHDL - no vendor- or technology-specific primitives, attributed, macros, libraries, etc. are used at all
extensive configuration options for adapting the processor to the requirements of the application
highly (extensible hardware - on CPU, SoC and system level
aims to be as small as possible while being as RISC-V-compliant as possible - with a reasonable area-performance trade-off
FPGA friendly (e.g. all internal memories can be mapped to block RAM - including the register file)
optimized for high clock frequencies to ease timing closure and integration
from zero to "hello world!" - completely open source and documented
easy to use even for FPGA/RISC-V starters – intended to work out of the box
NEORV32 CPU: 32-bit rv32i RISC-V CPU
- fully RISC-V compatible: passes the official architecture tests
- base ISA + privileged ISA (optional) + several ISA extensions (optional)
- option to add custom RISC-V instructions as custom ISA extension
- rich set of customization options (ISA extensions, design goal: performance / area (/ energy), …)
- aims to support Full Virtualization capabilities to increase execution safety
- official RISC-V open source architecture ID
NEORV32 Processor (SoC): highly-configurable full-scale microcontroller-like processor system
- based on the NEORV32 CPU
- optional serial interfaces (UARTs, TWI, SPI)
- optional timers and counters (watchdog, system timer)
- optional general purpose IO and PWM; a native NeoPixel(c)-compatible smart LED interface
- optional embedded memories / caches for data, instructions and bootloader
- optional external memory interface (Wishbone / AXI4-Lite) and stream link interface (AXI4-Stream) for custom connectivity
- optional execute_in_place (XIP) module to execute code directly form external SPI flash
- on-chip debugger compatible with OpenOCD and gdb including hardware trigger module
Software framework
- GCC-based toolchain - prebuilt toolchains available; application compilation based on GNU makefiles
- internal bootloader with serial user interface (via UART)
- core libraries and HAL for high-level usage of the provided functions and peripherals
- processor-specific runtime environment and several example programs
- doxygen-based documentation of the software framework; a deployed version is available at https://stnolting.github.io/neorv32/sw/files.html
- FreeRTOS port + demos available

For more in-depth details regarding the feature provided by he hardware see the according sections: NEORV32 Central Processing Unit (CPU) and NEORV32 Processor (SoC).

Extensibility and Customization

The NEORV32 processor was designed to ease customization and extensibility and provides several options for adding application-specific custom hardware modules and accelerators. The three most common options for adding custom on-chip modules are listed below.

Processor-External Memory Interface (WISHBONE) (AXI4-Lite) for processor-external modules
Custom Functions Subsystem (CFS) for tightly-coupled processor-internal co-processors
Custom Functions Unit (CFU) for custom RISC-V instructions

A more detailed comparison of the extension/customization options can be found in section Adding Custom Hardware Modules of the user guide.

1.3. Project Folder Structure

neorv32                - Project home folder
│
├docs                  - Project documentation
│├datasheet            - AsciiDoc sources for the NEORV32 data sheet
│├figures              - Figures and logos
│├icons                - Misc. symbols
│├references           - Data sheets and RISC-V specs.
│└userguide            - AsciiDoc sources for the NEORV32 user guide
│
├rtl                   - VHDL sources
│├core                 - Core sources of the CPU & SoC
││└mem                 - SoC-internal memories (default architectures)
│├processor_templates  - Pre-configured SoC wrappers
│├system_integration   - System wrappers for advanced connectivity
│└test_setups          - Minimal test setup "SoCs" used in the User Guide
│
├sim                   - Simulation files (see User Guide)
│
└sw                    - Software framework
 ├bootloader           - Sources of the processor-internal bootloader
 ├common               - Linker script, crt0.S start-up code and central makefile
 ├example              - Various example programs
 │└...
 ├lib                  - Processor core library
 │├include             - Header files (*.h)
 │└source              - Source files (*.c)
 ├image_gen            - Helper program to generate NEORV32 executables^
 ├ocd_firmware         - Source code for on-chip debugger's "park loop"
 ├openocd              - OpenOCD on-chip debugger configuration files
 └svd                  - Processor system view description file (CMSIS-SVD)

1.4. VHDL File Hierarchy

All necessary VHDL hardware description files are located in the project’s rtl/core folder. The top entity of the entire processor including all the required configuration generics is neorv32_top.vhd.

All core VHDL files from the list below have to be assigned to a new design library named neorv32. Additional files, like alternative top entities, can be assigned to any library.

neorv32_top.vhd                  - NEORV32 Processor top entity
│
├neorv32_fifo.vhd                - General purpose FIFO component
├neorv32_package.vhd             - Processor/CPU main VHDL package file
│
├neorv32_cpu.vhd                 - NEORV32 CPU top entity
│├neorv32_cpu_alu.vhd            - Arithmetic/logic unit
││├neorv32_cpu_cp_bitmanip.vhd   - Bit-manipulation co-processor (B ext.)
││├neorv32_cpu_cp_cfu.vhd        - Custom functions (instruction) co-processor (Zxcfu ext.)
││├neorv32_cpu_cp_fpu.vhd        - Floating-point co-processor (Zfinx ext.)
││├neorv32_cpu_cp_muldiv.vhd     - Mul/Div co-processor (M ext.)
││└neorv32_cpu_cp_shifter.vhd    - Bit-shift co-processor (base ISA)
│├neorv32_cpu_bus.vhd            - Load/store unit + physical memory protection
│├neorv32_cpu_control.vhd        - CPU control, exception system and CSRs
││└neorv32_cpu_decompressor.vhd  - Compressed instructions decoder
│└neorv32_cpu_regfile.vhd        - Data register file
│
├neorv32_boot_rom.vhd            - Bootloader ROM
│└neorv32_bootloader_image.vhd   - Bootloader ROM memory image
├neorv32_busswitch.vhd           - Processor bus switch for CPU buses (I&D)
├neorv32_bus_keeper.vhd          - Processor-internal bus monitor
├neorv32_cfs.vhd                 - Custom functions subsystem
├neorv32_debug_dm.vhd            - on-chip debugger: debug module
├neorv32_debug_dtm.vhd           - on-chip debugger: debug transfer module
├neorv32_dmem.entity.vhd         - Processor-internal data memory (entity-only!)
├neorv32_gpio.vhd                - General purpose input/output port unit
├neorv32_gptmr.vhd               - General purpose 32-bit timer
├neorv32_icache.vhd              - Processor-internal instruction cache
├neorv32_imem.entity.vhd         - Processor-internal instruction memory (entity-only!)
│└neor32_application_image.vhd   - IMEM application initialization image
├neorv32_mtime.vhd               - Machine system timer
├neorv32_neoled.vhd              - NeoPixel (TM) compatible smart LED interface
├neorv32_pwm.vhd                 - Pulse-width modulation controller
├neorv32_slink.vhd               - Stream link controller
├neorv32_spi.vhd                 - Serial peripheral interface controller
├neorv32_sysinfo.vhd             - System configuration information memory
├neorv32_trng.vhd                - True random number generator
├neorv32_twi.vhd                 - Two wire serial interface controller
├neorv32_uart.vhd                - Universal async. receiver/transmitter
├neorv32_wdt.vhd                 - Watchdog timer
├neorv32_wishbone.vhd            - External (Wishbone) bus interface
├neorv32_xip.vhd                 - Execute in place module
├neorv32_xirq.vhd                - External interrupt controller
│
├mem/neorv32_dmem.default.vhd    - _Default_ data memory (architecture-only)
└mem/neorv32_imem.default.vhd    - _Default_ instruction memory (architecture-only)

The processor-internal instruction and data memories (IMEM and DMEM) are split into two design files each: a plain entity definition (neorv32_*mem.entity.vhd) and the actual architecture definition (mem/neorv32_*mem.default.vhd). The *.default.vhd architecture definitions from rtl/core/mem provide a generic and platform independent memory design that (should) infers embedded memory blocks. You can replace/modify the architecture source file in order to use platform-specific features (like advanced memory resources) or to improve technology mapping and/or timing.

1.5. FPGA Implementation Results

This section shows exemplary FPGA implementation results for the NEORV32 CPU and NEORV32 Processor modules. Note that certain configuration options might also have an impact on other configuration options. Furthermore, this report cannot cover all possible option combinations. Hence, the presented implementation results are just exemplary. If not otherwise mentioned all implementations use the default generic configurations.

1.5.1. CPU

HW version:

1.6.9.8

Top entity:

rtl/core/neorv32_cpu.vhd

FPGA:

Intel Cyclone IV E EP4CE22F17C6

Toolchain:

Quartus Prime Lite 21.1

Constraints:

no timing constraints, "balanced optimization", f_max from "Slow 1200mV 0C Model"

CPU ISA Configuration	LEs	FFs	MEM bits	DSPs	f_max
`rv32e`	830	400	512	0	129 MHz
`rv32i`	834	400	1024	0	129 MHz
`rv32i_Zicsr`	1328	678	1024	0	128 MHz
`rv32i_Zicsr_Zicntr`	1614	808	1024	0	128 MHz
`rv32im_Zicsr_Zicntr`	2087	983	1024	0	128 MHz
`rv32imc_Zicsr_Zicntr`	2338	992	1024	0	128 MHz
`rv32imcb_Zicsr_Zicntr`	3175	1247	1024	0	128 MHz
`rv32imcbu_Zicsr_Zicntr`	3186	1254	1024	0	128 MHz
`rv32imcbu_Zicsr_Zicntr_Zifencei`	3187	1254	1024	0	128 MHz
`rv32imcbu_Zicsr_Zicntr_Zifencei_Zfinx`	4450	1906	1024	7	123 MHz
`rv32imcbu_Zicsr_Zicntr_Zifencei_Zfinx_DebugMode`	4825	2018	1024	7	123 MHz

RISC-V Compliance

The Zicsr ISA extension implements the privileged machine architecture (see Zicsr Control and Status Register Access / Privileged Architecture). The Zicntr ISA extension implements the basic counters and timers (see Zicntr CPU Base Counters). Both extensions are mandatory in order to comply with the RISC-V architecture specifications.

The table above does not show all CPU ISA extensions. More sophisticated and application-specific options like PMP and HMP are not included in this overview.

Goal-Driven Optimization

The CPU provides further options to reduce the area footprint (for example by constraining the CPU-internal counter sizes) or to increase performance (for example by using a barrel-shifter; at cost of extra hardware). See section Processor Top Entity - Generics for more information. Also, take a look at the User Guide section Application-Specific Processor Configuration.

1.5.2. Processor - Modules

HW version:

1.6.8.3

Top entity:

rtl/core/neorv32_top.vhd

FPGA:

Intel Cyclone IV E EP4CE22F17C6

Toolchain:

Quartus Prime Lite 21.1

Constraints:

no timing constraints, "balanced optimization"

Table 1. Hardware utilization by processor module (mandatory modules highlighted in **bold**)
Module	Description	LEs	FFs	MEM bits	DSPs
Boot ROM	Bootloader ROM (4kB)	3	2	32768	0
BUSKEEPER	Processor-internal bus monitor	28	15	0	0
BUSSWITCH	Bus multiplexer for CPU instr. and data interface	69	8	0	0
CFS	Custom functions subsystem ^[2]	-	-	-	-
DM	On-chip debugger - debug module	473	240	0	0
DTM	On-chip debugger - debug transfer module (JTAG)	259	221	0	0
DMEM	Processor-internal data memory (8kB)	18	2	65536	0
GPIO	General purpose input/output ports	102	98	0	0
GPTMR	General Purpose Timer	153	105	0	0
iCACHE	Instruction cache (2x4 blocks, 64 bytes per block)	417	297	4096	0
IMEM	Processor-internal instruction memory (16kB)	12	2	131072	0
MTIME	Machine system timer	345	166	0	0
NEOLED	Smart LED Interface (NeoPixel/WS28128) (FIFO_depth=1)	227	184	0	0
PWM	Pulse_width modulation controller (8 channels)	128	117	0	0
SLINK	Stream link interface (2xRX, 2xTX, FIFO_depth=1)	136	116	0	0
SPI	Serial peripheral interface	114	94	0	0
SYSINFO	System configuration information memory	13	11	0	0
TRNG	True random number generator	89	79	0	0
TWI	Two-wire interface	77	43	0	0
UART0, UART1	Universal asynchronous receiver/transmitter 0/1 (FIFO_depth=1)	195	143	0	0
WDT	Watchdog timer	61	46	0	0
WISHBONE	External memory interface	120	112	0	0
XIP	Execute in place module	318	244	0	0
XIRQ	External interrupt controller (32 channels)	245	200	0	0

Note that not all IOs were actually connected to FPGA pins (for example some GPIO inputs and outputs) when generating these reports.

1.5.3. Exemplary Setups

Check out the neorv32-setups repository (@GitHub: https://github.com/stnolting/neorv32-setups), which provides several demo setups for various FPGA boards and toolchains.

1.6. CPU Performance

The performance of the NEORV32 was tested and evaluated using the Core Mark CPU benchmark. This benchmark focuses on testing the capabilities of the CPU core itself rather than the performance of the whole system. The according sources can be found in the sw/example/coremark folder.

Dhrystone

A simple port of the Dhrystone benchmark is also available in sw/example/dhrystone.

The resulting CoreMark score is defined as CoreMark iterations per second. The execution time is determined via the RISC-V [m]cycle[h] CSRs. The relative CoreMark score is defined as CoreMark score divided by the CPU’s clock frequency in MHz.

Table 2. Configuration
HW version:	`1.5.7.10`
Hardware:	32kB int. IMEM, 16kB int. DMEM, no caches, 100MHz clock
CoreMark:	2000 iterations, MEM_METHOD is MEM_STACK
Compiler:	RISCV32-GCC 10.2.0
Compiler flags:	default, see makefile

Table 3. CoreMark results
CPU	CoreMark Score	CoreMarks/MHz	Average CPI
small (`rv32i_Zicsr`)	33.89	0.3389	4.04
medium (`rv32imc_Zicsr`)	62.50	0.6250	5.34
performance (`rv32imc_Zicsr` + perf. options)	95.23	0.9523	3.54

The CoreMark results were generated using a rv32i toolchain. This toolchain supports standard extensions like M and C but the built-in libraries only use the base I ISA.

The "performance" CPU configuration uses the FAST_MUL_EN and FAST_SHIFT_EN options.

The NEORV32 CPU is based on a multi-cycle architecture. Each instruction is executed in a sequence of several consecutive micro operations. The average CPI (cycles per instruction) depends on the instruction mix of a specific applications and also on the available CPU extensions. The average CPI is computed by dividing the total number of required clock cycles (only the timed core to avoid distortion due to IO wait cycles) by the number of executed instructions ([m]instret[h] CSRs). More information regarding the execution time of each implemented instruction can be found in chapter Instruction Timing.

2. NEORV32 Processor (SoC)

The NEORV32 Processor is based on the NEORV32 CPU. Together with common peripheral interfaces and embedded memories it provides a RISC-V-based full-scale microcontroller-like SoC platform.

Section Structure

Processor Top Entity - Signals and Processor Top Entity - Generics
Processor Clocking and Processor Reset
Processor Interrupts
Address Space and Boot Configuration
Processor-Internal Modules

Key Features

optional processor-internal data and instruction memories (DMEM/IMEM) + cache (iCACHE)
optional internal bootloader (BOOTROM) with UART console & SPI flash boot option
optional machine system timer (MTIME), RISC-V-compatible
optional two independent universal asynchronous receivers and transmitters (UART0, UART1) with optional hardware flow control (RTS/CTS) and optional RX/TX FIFOs
optional 8/16/24/32-bit serial peripheral interface controller (SPI) with 8 dedicated CS lines
optional two wire serial interface controller (TWI), compatible to the I²C standard
optional general purpose parallel IO port (GPIO), 64xOut, 64xIn
optional 32-bit external bus interface, Wishbone b4 / AXI4-Lite compatible (WISHBONE)
optional 32-bit stream link interface with up to 8 independent links, AXI4-Stream compatible (SLINK)
optional watchdog timer (WDT)
optional PWM controller with up to 60 channels & 8-bit duty cycle resolution (PWM)
optional ring-oscillator-based true random number generator (TRNG)
optional custom functions subsystem for custom co-processor extensions (CFS)
optional NeoPixel™/WS2812-compatible smart LED interface (NEOLED)
optional external interrupt controller with up to 32 channels (XIRQ)
optional general purpose 32-bit timer (GPTMR)
optional execute in place module (XIP)
optional on-chip debugger with JTAG TAP (OCD)
bus keeper to monitor processor-internal bus transactions (BUSKEEPER)
system configuration information memory to check HW configuration via software (SYSINFO)

2.1. Processor Top Entity - Signals

The following table shows all interface signals of the processor top entity (rtl/core/neorv32_top.vhd). The type of all signals is std_ulogic or std_ulogic_vector (or arrays of those) - only the TWI signals are of type std_logic.

Default Values of Inputs

All input signals provide default values in case they are not explicitly assigned during instantiation. For control signals the value L (weak pull-down) is used. For serial and parallel data signals the value U (unknown) is used.

Configurable Amount of Channels

Some peripherals allow to configure the number of channels to-be-implemented by a generic (for example the number of PWM channels). The according input/output signals have a fixed sized regardless of the actually configured amount of channels. If less than the maximum number of channels is configured, only the LSB-aligned channels are used: in case of an input port the remaining bits/channels are left unconnected; in case of an output port the remaining bits/channels are hardwired to zero.

Name Width Direction Function

Name	Width	Direction	Function
Global Control (Processor Clocking and Processor Reset)
`clk_i`	1	in	global clock line, all registers triggering on rising edge
`rstn_i`	1	in	global reset, asynchronous, low-active
JTAG Access Port for On-Chip Debugger (OCD)
`jtag_trst_i`	1	in	TAP reset, low-active (optional ^[3])
`jtag_tck_i`	1	in	serial clock
`jtag_tdi_i`	1	in	serial data input
`jtag_tdo_o`	1	out	serial data output ^[4]
`jtag_tms_i`	1	in	mode select
External Bus Interface (WISHBONE)
`wb_tag_o`	3	out	tag (access type identifier)
`wb_adr_o`	32	out	destination address
`wb_dat_i`	32	in	write data
`wb_dat_o`	32	out	read data
`wb_we_o`	1	out	write enable ('0' = read transfer)
`wb_sel_o`	4	out	byte enable
`wb_stb_o`	1	out	strobe
`wb_cyc_o`	1	out	valid cycle
`wb_lock_o`	1	out	exclusive access request
`wb_ack_i`	1	in	transfer acknowledge
`wb_err_i`	1	in	transfer error
Advanced Memory Control Signals
`fence_o`	1	out	indicates an executed fence instruction
`fencei_o`	1	out	indicates an executed fencei instruction
Execute In Place Interface (XIP)
`xip_csn_o`	1	out	chi select, low-active
`xip_clk_o`	1	out	serial clock
`xip_sdi_i`	1	in	serial data input
`xip_sdo_o`	1	out	serial data output
Stream Link Interface (SLINK)
`slink_tx_dat_o`	8x32	out	TX link i data
`slink_tx_val_o`	8	out	TX link i data valid
`slink_tx_rdy_i`	8	in	TX link i allowed to send
`slink_tx_lst_o`	8	in	TX link i end of packet
`slink_rx_dat_i`	8x32	in	RX link i data
`slink_rx_val_i`	8	in	RX link i data valid
`slink_rx_rdy_o`	8	out	RX link i ready to receive
`slink_rx_lst_i`	8	out	RX link i end of packet
General Purpose Inputs & Outputs (GPIO)
`gpio_o`	64	out	general purpose parallel output
`gpio_i`	64	in	general purpose parallel input
Primary Universal Asynchronous Receiver/Transmitter (UART0)
`uart0_txd_o`	1	out	serial transmitter
`uart0_rxd_i`	1	in	serial receiver
`uart0_rts_o`	1	out	RX ready to receive new char
`uart0_cts_i`	1	in	TX allowed to start sending
Primary Universal Asynchronous Receiver/Transmitter (UART1)
`uart1_txd_o`	1	out	serial transmitter
`uart1_rxd_i`	1	in	serial receiver
`uart1_rts_o`	1	out	RX ready to receive new char
`uart1_cts_i`	1	in	TX allowed to start sending
Serial Peripheral Interface Controller (SPI)
`spi_sck_o`	1	out	controller clock line
`spi_sdo_o`	1	out	serial data output
`spi_sdi_i`	1	in	serial data input
`spi_csn_o`	8	out	dedicated chip select (low-active)
Two-Wire Interface Controller (TWI)
`twi_sda_io`	1	inout	serial data line
`twi_scl_io`	1	inout	serial clock line
Pulse-Width Modulation Channels (PWM)
`pwm_o`	60	out	pulse-width modulated channels
Custom Functions Subsystem (CFS)
`cfs_in_i`	32	in	custom CFS input signal conduit
`cfs_out_o`	32	out	custom CFS output signal conduit
Smart LED Interface - NeoPixel™ compatible (NEOLED)
`neoled_o`	1	out	asynchronous serial data output
System time (MTIME)
`mtime_i`	64	in	machine timer time from external MTIME unit if the processor-internal MTIME unit is not implemented
`mtime_o`	64	out	machine timer time from internal MTIME unit if the processor-internal MTIME unit is implemented
External Interrupts (XIRQ)
`xirq_i`	32	in	external interrupt requests
RISC-V Machine-Level CPU Interrupts
`mtime_irq_i`	1	in	machine timer interrupt (RISC-V), high-level-active
`msw_irq_i`	1	in	machine software interrupt (RISC-V), high-level-active
`mext_irq_i`	1	in	machine external interrupt (RISC-V), high-level-active

Global Control (Processor Clocking and Processor Reset)

clk_i

global clock line, all registers triggering on rising edge

rstn_i

global reset, asynchronous, low-active

JTAG Access Port for On-Chip Debugger (OCD)

jtag_trst_i

TAP reset, low-active (optional ^[3])

jtag_tck_i

serial clock

jtag_tdi_i

serial data input

jtag_tdo_o

out

serial data output ^[4]

jtag_tms_i

mode select

External Bus Interface (WISHBONE)

wb_tag_o

out

tag (access type identifier)

wb_adr_o

out

destination address

wb_dat_i

write data

wb_dat_o

out

read data

wb_we_o

out

write enable ('0' = read transfer)

wb_sel_o

out

byte enable

wb_stb_o

out

strobe

wb_cyc_o

out

valid cycle

wb_lock_o

out

exclusive access request

wb_ack_i

transfer acknowledge

wb_err_i

transfer error

Advanced Memory Control Signals

fence_o

out

indicates an executed fence instruction

fencei_o

out

indicates an executed fencei instruction

Execute In Place Interface (XIP)

xip_csn_o

out

chi select, low-active

xip_clk_o

out

serial clock

xip_sdi_i

serial data input

xip_sdo_o

out

serial data output

Stream Link Interface (SLINK)

slink_tx_dat_o

8x32

out

TX link i data

slink_tx_val_o

out

TX link i data valid

slink_tx_rdy_i

TX link i allowed to send

slink_tx_lst_o

TX link i end of packet

slink_rx_dat_i

8x32

RX link i data

slink_rx_val_i

RX link i data valid

slink_rx_rdy_o

out

RX link i ready to receive

slink_rx_lst_i

out

RX link i end of packet

General Purpose Inputs & Outputs (GPIO)

gpio_o

out

general purpose parallel output

gpio_i

general purpose parallel input

Primary Universal Asynchronous Receiver/Transmitter (UART0)

uart0_txd_o

out

serial transmitter

uart0_rxd_i

serial receiver

uart0_rts_o

out

RX ready to receive new char

uart0_cts_i

TX allowed to start sending

Primary Universal Asynchronous Receiver/Transmitter (UART1)

uart1_txd_o

out

serial transmitter

uart1_rxd_i

serial receiver

uart1_rts_o

out

RX ready to receive new char

uart1_cts_i

TX allowed to start sending

Serial Peripheral Interface Controller (SPI)

spi_sck_o

out

controller clock line

spi_sdo_o

out

serial data output

spi_sdi_i

serial data input

spi_csn_o

out

dedicated chip select (low-active)

Two-Wire Interface Controller (TWI)

twi_sda_io

inout

serial data line

twi_scl_io

inout

serial clock line

Pulse-Width Modulation Channels (PWM)

pwm_o

out

pulse-width modulated channels

Custom Functions Subsystem (CFS)

cfs_in_i

custom CFS input signal conduit

cfs_out_o

out

custom CFS output signal conduit

Smart LED Interface - NeoPixel™ compatible (NEOLED)

neoled_o

out

asynchronous serial data output

System time (MTIME)

mtime_i

machine timer time from external MTIME unit if the processor-internal MTIME unit is not implemented

mtime_o

out

machine timer time from internal MTIME unit if the processor-internal MTIME unit is implemented

External Interrupts (XIRQ)

xirq_i

external interrupt requests

RISC-V Machine-Level CPU Interrupts

mtime_irq_i

machine timer interrupt (RISC-V), high-level-active

msw_irq_i

machine software interrupt (RISC-V), high-level-active

mext_irq_i

machine external interrupt (RISC-V), high-level-active

2.2. Processor Top Entity - Generics

This section lists all configuration generics of the NEORV32 processor top entity (rtl/neorv32_top.vhd).

The NEORV32 generics allow to configure the system according to your needs. The generics are used to control implementation of certain CPU extensions and peripheral modules and even allow to optimize the system for certain design goals like minimal area or maximum performance.

More information can be found in the user guide section Application-Specific Processor Configuration.

Software can determine the actual CPU and processor configuration via the misa and mxisa CSRs (CPU) and the SYSINFO memory-mapped registers (processor).

If optional modules (like CPU extensions or peripheral devices) are not enabled the according circuitry will not be synthesized at all. Hence, the disabled modules do not increase area and power requirements and do not impact the timing.

Not all configuration combinations are valid. The processor RTL code provides sanity checks to inform the user during synthesis/simulation if an invalid combination has been detected.

Run a quick simulation using the provided simulation/GHDL scripts (https://stnolting.github.io/neorv32/ug/#_hello_world) to verify the configuration of the processor generics is valid.

Generic Description

The description of each generic uses the following scheme:

Table 4. Generic description
Generic name	type	default value
Short description and link(s) for further information.

2.2.1. General

CLOCK_FREQUENCY

CLOCK_FREQUENCY

natural

none

The clock frequency of the processor’s clk_i input port in Hertz (Hz). Software can retrieve this value from the System Configuration Information Memory (SYSINFO) module to make clock-specific configurations (like timer values, interface timing).

INT_BOOTLOADER_EN

INT_BOOTLOADER_EN

boolean

false

Implement the processor-internal Bootloader ROM (BOOTROM), pre-initialized with the default Bootloader image when true This will also change the CPU’s boot address. See section Boot Configuration for more information.

HW_THREAD_ID

HW_THREAD_ID

natural

The hart ID of the CPU. Software can retrieve this value from the mhartid CSR.

CUSTOM_ID

CUSTOM_ID

std_ulogic_vector(31 downto 0)

0x00000000

User-defined identifier to identify a certain setup or to pass user-defined flags. Software can retrieve this value from the System Configuration Information Memory (SYSINFO) module.

ON_CHIP_DEBUGGER_EN

ON_CHIP_DEBUGGER_EN

boolean

false

CPU_EXTENSION_RISCV_Zxcfu

boolean

false

Implement the NEORV32-specific Zxcfu "custom RISC-V" ISA extension when true. See section Zxcfu Custom Instructions Extension (CFU) for more information.

2.2.3. Tuning Options

FAST_MUL_EN

FAST_MUL_EN

boolean

false

If this generic is enabled, the multiplier of the M extension is implemented using DSPs blocks instead of an iterative bit-serial approach. Performance will be increased and LUT utilization will be reduced at the cost of DSP slice utilization. This generic is only relevant when a hardware multiplier CPU extension is enabled (CPU_EXTENSION_RISCV_M or CPU_EXTENSION_RISCV_Zmmul is true). Note that the multipliers of the Zfinx Single-Precision Floating-Point Operations extension are always mapped to DSP block (if available). The state of this generic can be retrieved by software via the mxisa CSR.

FAST_SHIFT_EN

FAST_SHIFT_EN

boolean

false

If this generic is enabled, the shifter unit of the CPU’s ALU is implemented as fast barrel shifter (requiring more hardware resources but completing within two clock cycles). If disabled, the CPU uses a serial shifter that only performs a single bit shift per cycle (requiring less hardware resources, but requires up to 32 clock cycles). Note that this option also implements barrel shifters for all shift-related operations of the B - Bit-Manipulation Operations extension. The state of this generic can be retrieved by software via the mxisa CSR.

CPU_CNT_WIDTH

CPU_CNT_WIDTH

natural

This generic configures the total size of the CPU’s mcycle[h] and minstret[h] CSRs (low word + high word). The maximum value is 64, the minimum value is 0. See section (Machine) Counter and Timer CSRs for more information. This generic is only relevant if the Zicntr ISa extension is enabled (CPU_EXTENSION_RISCV_Zicntr). Note: configurations with a counter width of less than 64 bits do not comply to the RISC-V specs.

CPU_IPB_ENTRIES

CPU_IPB_ENTRIES

HPM_NUM_CNTS

HPM_NUM_CNTS

natural

Total number of implemented hardware performance monitor counters (0..29). If this generics is zero, no hardware performance monitor logic will be implemented at all. Only relevant if CPU_EXTENSION_RISCV_Zihpm is enabled. See section Zihpm Hardware Performance Monitors for more information.

ICACHE_NUM_BLOCKS

natural

Number of blocks (cache "pages" or "lines") in the instruction cache. Has to be a power of two. Has no effect when ICACHE_EN is false. Software can retrieve this value from the System Configuration Information Memory (SYSINFO) module.

ICACHE_BLOCK_SIZE

boolen

false

By default, MEM_EXT_ASYNC_RX = false implements a registered read-back path (RX) for incoming data in the bus interface in order to shorten the critical path. By setting MEM_EXT_ASYNC_RX = true an asynchronous ("direct") read-back path is implemented reducing access latency by one cycle but eventually increasing the critical path.

MEM_EXT_ASYNC_TX

MEM_EXT_ASYNC_TX

boolen

false

By default, MEM_EXT_ASYNC_TX = false implements register for all outgoing (TX) signals in order to shorten the critical path. By setting MEM_EXT_ASYNC_TX = true an asynchronous ("direct") path is implemented reducing access latency by one cycle but eventually increasing the critical path.

2.2.10. Stream Link Interface

SLINK_NUM_TX

SLINK_NUM_TX

natural

Number of TX (send) Stream Link Interface (SLINK) channels to implement. Valid values are 0..8.

SLINK_NUM_RX

SLINK_NUM_RX

natural

Number of RX (receive) Stream Link Interface (SLINK) channels to implement. Valid values are 0..8.

SLINK_TX_FIFO

SLINK_TX_FIFO

natural

Internal FIFO depth for all implemented TX links. Valid values are 1..32k and have to be a power of two.

SLINK_RX_FIFO

SLINK_RX_FIFO

natural

Internal FIFO depth for all implemented RX links. Valid values are 1..32k and have to be a power of two.

2.2.11. External Interrupt Controller

XIRQ_NUM_CH

XIRQ_NUM_CH

natural

Number of channels of the External Interrupt Controller (XIRQ). Valid values are 0..32.

XIRQ_TRIGGER_TYPE

XIRQ_TRIGGER_TYPE

std_ulogic_vector(31 downto 0)

0xFFFFFFFF

Interrupt trigger type configuration (one bit for each IRQ channel): 0 = level-triggered, '1' = edge triggered. XIRQ_TRIGGER_POLARITY generic is used to specify the actual level (high/low) or edge (falling/rising).

XIRQ_TRIGGER_POLARITY

XIRQ_TRIGGER_POLARITY

std_ulogic_vector(31 downto 0)

0xFFFFFFFF

Interrupt trigger polarity configuration (one bit for each IRQ channel): 0 = low-level/falling-edge, '1' = high-level/rising-edge. XIRQ_TRIGGER_TYPE generic is used to specify the actual type (level or edge).

2.2.12. Processor Peripheral/IO Modules

IO_GPIO_EN

IO_GPIO_EN

boolean

false

Implement General Purpose Input and Output Port (GPIO) module when true.

IO_MTIME_EN

IO_MTIME_EN

boolean

false

Implement Machine System Timer (MTIME) module when true.

IO_UART0_EN

IO_UART0_EN

boolean

false

Implement Primary Universal Asynchronous Receiver and Transmitter (UART0) module when true.

IO_UART0_RX_FIFO

IO_UART0_RX_FIFO

natural

UART0 receiver FIFO depth, has to be a power of two, minimum value is 1 (implementing simple double-buffering).

IO_UART0_TX_FIFO

IO_UART0_TX_FIFO

natural

UART0 transmitter FIFO depth, has to be a power of two, minimum value is 1 (implementing simple double-buffering).

IO_UART1_EN

IO_UART1_EN

boolean

false

Implement Secondary Universal Asynchronous Receiver and Transmitter (UART1) module when true.

IO_WDT_EN

boolean

false

Implement Watchdog Timer (WDT) module when true,

IO_TRNG_EN

2.3. Processor Clocking

The processor is implemented as fully-synchronous logic design using a single clock domain that is driven by the top’s clk_i signal. This clock signal is used by all internal registers and memories, which trigger on the rising edge of this clock signal. External "clocks" like the OCD’s JTAG clock or the TWI’s serial clock are synchronized into the processor’s clock domain before being further processed.

The registers of the Processor Reset system trigger on a falling clock edge.

Many processor modules like the UARTs or the timers require a programmable time base for operations. In order to simplify the hardware, the processor implements a global "clock generator" that provides clock enables for certain frequencies. These clock enable signals are synchronous to the system’s main clock and will be high for only a single cycle of this main clock. Hence, processor modules can use these signals for sub-main-clock operations while still having a single clock domain only.

In total, 8 sub-main-clock signals are available. All processor modules, which feature a time-based configuration, provide a programmable three-bit prescaler select in their according control register to select one of the 8 available clocks. The mapping of the prescaler select bits to the according clock source is shown in the table below. Here, f represents the processor main clock from the top entity’s clk_i signal.

Prescaler bits:

0b000

0b001

0b010

0b011

0b100

0b101

0b110

0b111

Resulting clock:

f/2

f/4

f/8

f/64

f/128

f/1024

f/2048

f/4096

The software framework provides pre-defined aliases for the prescaler select bits:

Listing 1. Prescaler Aliases from neorv32.h

enum NEORV32_CLOCK_PRSC_enum {
  CLK_PRSC_2    = 0, /**< CPU_CLK (from clk_i top signal) / 2 */
  CLK_PRSC_4    = 1, /**< CPU_CLK (from clk_i top signal) / 4 */
  CLK_PRSC_8    = 2, /**< CPU_CLK (from clk_i top signal) / 8 */
  CLK_PRSC_64   = 3, /**< CPU_CLK (from clk_i top signal) / 64 */
  CLK_PRSC_128  = 4, /**< CPU_CLK (from clk_i top signal) / 128 */
  CLK_PRSC_1024 = 5, /**< CPU_CLK (from clk_i top signal) / 1024 */
  CLK_PRSC_2048 = 6, /**< CPU_CLK (from clk_i top signal) / 2048 */
  CLK_PRSC_4096 = 7  /**< CPU_CLK (from clk_i top signal) / 4096 */
};

If no peripheral modules requires a clock signal from the internal generator (all available modules disabled by clearing the enable bit in the according module’s control register), it is automatically deactivated to reduce dynamic power consumption.

2.4. Processor Reset

The processor provides two reset systems: an external one and an internal one. The external reset is triggered by the asynchronous, low-active rstn_i top entity signal. The internal reset is a synchronous, low-active reset that can be triggered by the external reset, the On-Chip Debugger (OCD) and the Watchdog Timer (WDT).

If the external hardware reset (rstn_i) is active it will be asynchronously applied to all processor modules. An internal shift register ensures that the system wide reset will be active for at least 4 clock cycles. After that, the system wide reset is de-asserted synchronously at a falling edge of the main clock to ensure there are no meta-stable situation (like de-asserting reset at a rising edge).

If one of the internal reset sources trigger a reset, this will be applied synchronously to all processor modules at a rising edge. This signal is also extended to be active for at least 4 clock cycles. After that, the system wide reset is also de-asserted synchronously at a falling edge.

The EE Times provided a nice article about FPGA resets. The reset system of the NEORV32 is loosely based on this article: https://www.eetimes.com/how-do-i-reset-my-fpga/

The system-wide reset will reset the CPU, the Processor Clocking system and the IO/peripheral devices.

Note that the system reset will NOT reset all PCU register by default. See section CPU Hardware Reset for more information.

The system reset will only reset the control registers of each implemented IO/peripheral module. This will also reset the according "module enable flag" to zero, which - in turn - will cause a synchronous and module-internal reset of the remaining logic.

2.5. Processor Interrupts

The NEORV32 Processor provides several interrupt request signals (IRQs) for custom platform use.

2.5.1. RISC-V Standard Interrupts

The processor setup features the standard machine-level RISC-V interrupt lines for "machine timer interrupt", "machine software interrupt" and "machine external interrupt". Their usage is defined by the RISC-V privileged architecture specifications. However, bare-metal system can also repurpose these interrupts. See CPU section Traps, Exceptions and Interrupts for more information.

Top signal Width Description

mtime_irq_i

Machine timer interrupt from processor-external MTIME unit (MTI). This IRQ is only available if the processor-internal MTIME unit is not used (IO_MTIME_EN = false).

msw_irq_i

Machine software interrupt (MSI). This interrupt is used for inter-processor interrupts in multi-core systems. However, it can also be used for any custom purpose.

mext_irq_i

Machine external interrupt (MEI). This interrupt is used for any processor-external interrupt source (like a platform interrupt controller).

Trigger Type

The RISC-V standard interrupts are level-triggered and high-active. Once set the signal has to stay high until the interrupt request is explicitly acknowledged (e.g. writing to a memory-mapped register). The RISC-V standard interrupts can NOT be acknowledged by writing zero to the according mip CSR bit.

2.5.2. NEORV32-Specific Fast Interrupt Requests

As part of the NEORV32-specific CPU extensions, the CPU core features 16 fast interrupt request signals (FIRQ0 - FIRQ15) with dedicated bits in the mip and mie CSRs and custom mcause trap codes. The FIRQ signals are reserved for processor-internal modules only (for example for the communication interfaces to signal "available incoming data" or "ready to send new data").

The mapping of the 16 FIRQ channels and the according processor-internal modules is shown in the following table (the channel number also corresponds to the according FIRQ priority: 0 = highest, 15 = lowest):

Table 5. NEORV32 Fast Interrupt Request (FIRQ) Mapping
Channel	Source	Description
0	WDT	watchdog timeout interrupt
1	CFS	custom functions subsystem (CFS) interrupt (user-defined)
2	UART0	UART0 data received interrupt (RX complete)
3	UART0	UART0 sending done interrupt (TX complete)
4	UART1	UART1 data received interrupt (RX complete)
5	UART1	UART1 sending done interrupt (TX complete)
6	SPI	SPI transmission done interrupt
7	TWI	TWI transmission done interrupt
8	XIRQ	External interrupt controller interrupt
9	NEOLED	NEOLED TX buffer interrupt
10	SLINK	RX data buffer interrupt
11	SLINK	TX data buffer interrupt
12	GPTMR	General purpose timer interrupt
13:15	-	reserved, will never fire

Trigger Type

The fast interrupt request channels become pending after being triggering by a rising edge. A pending FIRQ has to be explicitly cleared by writing zero to the according mip CSR bit.

2.5.3. Platform External Interrupts

The processor provides an optional interrupt controller for up to 32 user-defined external interrupts (see section External Interrupt Controller (XIRQ)). These external IRQs are mapped to a single CPU fast interrupt request so a software handler is required to differentiate / prioritize these interrupts.

Top signal Width Description

xirq_i

up to 32

External platform interrupts (user-defined).

Trigger Type

The trigger for these interrupt can be defined via generics. See section External Interrupt Controller (XIRQ) for more information. Depending on the trigger type, users can implement custom acknowledge mechanisms. All external interrupts are mapped to a single processor-internal fast interrupt request (see below).

2.6. Address Space

As a 32-bit architecture the NEORV32 provides a 4GB physical address space. By default, this address space is divided into five main regions with each region having a specific function:

Instruction address space: memory address space for instructions (=code) and constants. A configurable section of this address space can used by the instruction memory (Instruction Memory (IMEM)).
Data address space: memory address space for application runtime data (heap, stack, etc.). A configurable section of this address space can be used by the data memory (Data Memory (DMEM)).
Bootloader address space: a fixed section of this address space is used by the internal bootloader memory (BOOTLDROM).
On-Chip Debugger address space: this fixed section is entirely used by the processor’s On-Chip Debugger (OCD).
IO/peripheral address space: also a fixed section used for the processor-internal memory-mapped IO/peripheral devices (e.g., UART).

Figure 1. NEORV32 processor - address space (default configuration)

Region Overlap

By default, there is no overlap between the different regions. However, the NEORV32 is a modified Harvard Architecture (same address space for instructions and data) so the instruction and data address spaces may also overlap. See section Address Space Layout.

RAM Layout - Usage of the Data Address Space

The actual usage of the data address space by the software/executables (stack, heap, …) is illustrated in section RAM Layout.

2.6.1. Physical Memory Attributes (PMAs)

Each default region of the NEORV32 address space provides specific physical memory attributes that define the allowed access types to each of these regions. These "access permission" are enforced by the hardware and cannot be changed. If an access violates the PMA’s permissions an exception is raised. The access permissions can be further constrained using the CPU’s PMP Physical Memory Protection.

The following access types are checked by the hardware (if an access type is present in a region’s PMA the access is permitted):

r - data read access
w - data write access
x - instruction fetch access ("execute")

# Region Description PMAs Note

Instruction address space

r(w)x

Write accesses to the the internal Instruction Memory (IMEM) can be disabled.

Data address space

rwx

Code can also be executed from data memory.

Bootloader address space

r-x

Read-only memory.

On-Chip Debugger address space

---

Not accessible at all by "normal" software - accessible only when the CPU is in CPU Debug Mode.

IO/peripheral address space

rw-

Read/write accesses only.

2.6.2. CPU Data and Instruction Access

The CPU can access all of the 32-bit address space from the instruction fetch interface (I) and also from the data access interface (D). These two CPU interfaces are multiplexed by a simple bus switch (rtl/core/neorv32_busswitch.vhd) into a single processor-internal bus. All processor-internal memories, peripherals and also the external memory interface are connected to this bus. Hence, both CPU interfaces (instruction fetch & data access) have access to the same (identical!) address space making the setup a modified von-Neumann architecture.

Figure 2. Processor-internal bus architecture

The internal processor bus might appear as bottleneck. In order to reduce traffic jam on this bus (when instruction fetch and data interface access the bus at the same time) the instruction fetch of the CPU is equipped with a prefetch buffer. Instruction fetches can be further buffered using the i-cache. Furthermore, data accesses (loads and stores) have higher priority than instruction fetch accesses.

See sections Architecture and Bus Interface for more information regarding the CPU bus accesses.

2.6.3. Address Space Layout

The general address space layout consists of two main configuration constants: ispace_base_c defining the base address of the instruction memory address space and dspace_base_c defining the base address of the data memory address space. Both constants are defined in the NEORV32 VHDL package file rtl/core/neorv32_package.vhd:

-- Architecture Configuration ----------------------------------------------------
-- ----------------------------------------------------------------------------------
constant ispace_base_c : std_ulogic_vector(31 downto 0) := x"00000000";
constant dspace_base_c : std_ulogic_vector(31 downto 0) := x"80000000";

The default configuration assumes the instruction memory address space starting at address 0x00000000 and the data memory address space starting at 0x80000000. Both values can be modified for a specific setup and the address space may overlap or can be completely identical. Make sure that both base addresses are aligned to a 4-byte boundary.

The base address of the internal bootloader (at 0xFFFF0000) and the internal IO region (at 0xFFFFFE00) for peripheral devices are also defined in the package and are fixed. These address regions cannot not be used for other applications - even if the bootloader or all IO devices are not implemented - without modifying the core’s hardware sources.

2.6.4. Memory Configuration

The NEORV32 Processor was designed to provide maximum flexibility for the memory configuration. The processor can populate the instruction address space and/or the data address space with internal memories for instructions (IMEM) and data (DMEM). Processor external memories can be used as an alternative or even in combination with the internal ones. The figure below show some exemplary memory configurations.

Figure 3. Exemplary memory configurations

Internal Memories

The processor-internal memories (Instruction Memory (IMEM) and Data Memory (DMEM)) are enabled (=implemented) via the MEM_INT_IMEM_EN and MEM_INT_DMEM_EN generics. Their sizes are configures via the according MEM_INT_IMEM_SIZE and MEM_INT_DMEM_SIZE generics.

If the processor-internal IMEM is implemented, it is located right at the base address of the instruction address space (default ispace_base_c = 0x00000000). Vice versa, the processor-internal data memory is located right at the beginning of the data address space (default dspace_base_c = 0x80000000) when implemented.

If the IMEM (internal or external) is less than the (default) maximum size (2GB), there is a "dead address space" between it and the DMEM. This provides an additional safety feature since data corrupting scenarios like stack overflow cannot directly corrupt the content of the IMEM: any access to the "dead address space" in between will raise an exception that can be caught by the runtime environment.

External Memories

If external memories (or further IP modules) shall be connected via the processor’s external bus interface, the interface has to be enabled via MEM_EXT_EN generic (=true). More information regarding this interface can be found in section Processor-External Memory Interface (WISHBONE) (AXI4-Lite).

Any CPU access (data or instructions), which does not fulfill at least one of the following conditions, is forwarded via the processor’s bus interface to external components:

access to the processor-internal IMEM and processor-internal IMEM is implemented
access to the processor-internal DMEM and processor-internal DMEM is implemented
access to the bootloader ROM and beyond → addresses >= BOOTROM_BASE (default 0xFFFF0000) will never be forwarded to the external memory interface

If the Execute In Place module (XIP) is implemented accesses map to this module are not forwarded to the external memory interface. See section Execute In Place Module (XIP) for more information.

If no (or not all) processor-internal memories are implemented, the according base addresses are mapped to external memories. For example, if the processor-internal IMEM is not implemented (MEM_INT_IMEM_EN = false), the processor will forward any access to the instruction address space (starting at ispace_base_c) via the external bus interface to the external memory system.

If the external interface is deactivated, any access exceeding the internal memory address space (instruction, data, bootloader) or the internal peripheral address space will trigger a bus access fault exception.

2.6.5. Boot Configuration

Due to the flexible memory configuration concept, the NEORV32 Processor provides several different boot concepts. The figure below shows the exemplary concepts for the two most common boot scenarios.

Figure 4. NEORV32 boot configurations

The configuration of internal or external data memory (DMEM; MEM_INT_DMEM_EN = true / false) is not further relevant for the boot configuration itself. Hence, it is not further illustrated here.

There are two general boot scenarios: Indirect Boot (1a and 1b) and Direct Boot (2a and 2b) configured via the INT_BOOTLOADER_EN generic If this generic is set true the indirect boot scenario is used. This is also the default boot configuration of the processor. If INT_BOOTLOADER_EN is set false the direct boot scenario is used.

Please note that the provided boot scenarios are just exemplary setups that (should) fit most common requirements. Much more sophisticated boot scenarios are possible by combining internal and external memories. For example, the default internal bootloader could be used as first-level bootloader that loads (from extern SPI flash) a second-level bootloader that is placed and execute in internal IMEM. This second-level bootloader could then fetch the actual application and store it to external data memory and transfers CPU control to that.

Indirect Boot

The indirect boot scenarios 1a and 1b use the processor-internal Bootloader. This boot setup is enabled by setting the INT_BOOTLOADER_EN generic to true, which will implement the processor-internal Bootloader ROM (BOOTROM). This read-only memory is pre-initialized during synthesis with the default bootloader firmware. The bootloader provides several options to upload an executable (via UART or from external SPI flash) and copies it to the beginning of the instruction address space so the CPU can execute it.

Boot scenario 1a uses the processor-internal IMEM (MEM_INT_IMEM_EN = true). This scenario implements the internal Instruction Memory (IMEM) as non-initialized RAM so the bootloader can copy the actual executable to it.

Boot scenario 1b uses a processor-external IMEM (MEM_INT_IMEM_EN = false) that is connected via the processor’s bus interface. In this scenario the internal Instruction Memory (IMEM) is not implemented at all and the bootloader will copy the executable to the processor-external memory. Hence, the external memory has to be implemented as RAM.

Direct Boot

The direct boot scenarios 2a and 2b do not use the processor-internal bootloader since the INT_BOOTLOADER_EN generic is set false. In this configuration the Bootloader ROM (BOOTROM) is not implemented at all and the CPU will directly begin executing code from the beginning of the instruction address space after reset. An application-specific "pre-initialization" mechanism is required in order to provide an executable in memory.

Boot scenario 2a uses the processor-internal IMEM (MEM_INT_IMEM_EN = true) that is implemented as read-only memory in this scenario. It is pre-initialized (by the bitstream) with the actual application executable during synthesis.

In contrast, boot scenario 2b uses a processor-external IMEM (MEM_INT_IMEM_EN = false). In this scenario the system designer is responsible for providing an initialized external memory that contains the actual application to be executed. If the external memory is not already initialized after reset, a simple ROM containing a "polling loop" can be implemented that is exited as soon as the application logic has finished initializing the memory with the actual application code.

2.7. Processor-Internal Modules

Basically, the NEORV32 processor is a SoC consisting of the NEORV32 CPU, peripheral/IO devices, embedded memories, an external memory interface and a bus infrastructure to interconnect all units. Additionally, the system implements an internal reset generator (→ Processor Reset) and a global clock system (→ Processor Clocking).

Peripheral / IO Devices

The processor-internal peripheral/IO devices are located at the end of the 32-bit address space at base address 0xFFFFFE00. A region of 512 bytes is reserved for this devices. Hence, all peripheral/IO devices are accessed using a memory-mapped scheme. A special linker script as well as the NEORV32 core software library abstract the specific memory layout for the user.

Module Address Space Mapping

The base address of each component/module has to be aligned to the total size of the module’s occupied address space! The occupied address space has to be a power of two (minimum 4 bytes)! Address spaces must not overlap!

Full-Word Write Accesses Only

All peripheral/IO devices can only be written in full-word mode (i.e. 32-bit). Byte or half-word (8/16-bit) writes will trigger a store access fault exception. Read accesses are not size constrained. Processor-internal memories as well as modules connected to the external memory interface can still be written with a byte-wide granularity.

Unimplemented Modules / "Address Holes"

When accessing an IO device that hast not been implemented (disabled via the according generic) or when accessing an address that is unused, a load or store access fault exception is raise.

Module Reset

All processor-internal modules provide a dedicated hardware reset, which is triggered by the Processor Reset system. When active, the system-wide reset will reset all module’s control registers to all-zero. Note that this hardware reset does not directly reset the remaining module’s logic - the internal logic is reset synchronously when the enable bit in the according unit’s control register is cleared. Software can trigger a module reset by clearing the enable bit of the module’s control register. See section Processor Reset for more information.

Software Access

Use the provided Core Libraries to interact with the peripheral devices. This prevents incompatibilities with future versions, since the hardware driver functions handle all the register and register bit accesses.

CMSIS System Description View (SVD)

A CMSIS-SVD-compatible System View Description (SVD) file including all peripherals is available in sw/svd.

Interrupts of Processor-Internal Modules

Most peripheral/IO devices provide some kind of interrupt (for example to signal available incoming data). These interrupts are entirely mapped to the CPU’s Custom Fast Interrupt Request Lines. Note that all these interrupt lines are high-active and are permanently triggered until the IRQ-causing condition is resolved. See section Processor Interrupts for more information.

Nomenclature for Peripheral / IO Devices Listing

Each peripheral device chapter features a register map showing accessible control and data registers of the according device including the implemented control and status bits. C-language code can directly interact with these registers via pre-defined struct. Each IO/peripheral module provides a unique struct. All accessible interface registers of this module are defined as members of this struct. The pre-defined struct are defined int the main processor core library include file sw/lib/include/neorv32.h.

The naming scheme of these low-level hardware access structs is NEORV32_<module_name>.<register_name>.

Listing 2. Low-level hardware access example in C using the pre-defined struct

// Read from SYSINFO "CLK" register
uint32_t temp = NEORV32_SYSINFO.CLK;

The registers and/or register bits, which can be accessed directly using plain C-code, are marked with a "[C]". Not all registers or register bits can be arbitrarily read/written. The following read/write access types are available:

r/w registers / bits can be read and written
r/- registers / bits are read-only; any write access to them has no effect
-/w these registers / bits are write-only; they auto-clear in the next cycle and are always read as zero

Bits / registers that are not listed in the register map tables are not (yet) implemented. These registers / bits are always read as zero. A write access to them has no effect, but user programs should only write zero to them to keep compatible with future extension.

When writing to read-only registers, the access is nevertheless acknowledged, but no actual data is written. When reading data from a write-only register the result is undefined.

2.7.1. Instruction Memory (IMEM)

Hardware source file(s):

neorv32_imem.entity.vhd

entity-only definition

mem/neorv32_imem.default.vhd

default platform-agnostic memory architecture

Software driver file(s):

none

implicitly used

Top entity port:

none

Configuration generics:

MEM_INT_IMEM_EN

implement processor-internal IMEM when true

MEM_INT_IMEM_SIZE

IMEM size in bytes

INT_BOOTLOADER_EN

use internal bootloader when true (implements IMEM as uninitialized RAM, otherwise the IMEM is implemented an pre-intialized ROM)

CPU interrupts:

none

Implementation of the processor-internal instruction memory is enabled via the processor’s MEM_INT_IMEM_EN generic. The size in bytes is defined via the MEM_INT_IMEM_SIZE generic. If the IMEM is implemented, the memory is mapped into the instruction memory space and located right at the beginning of the instruction memory space (default ispace_base_c = 0x00000000).

By default the IMEM is implemented as true RAM so the content can be modified during run time. This is required when using a bootloader that can update the content of the IMEM at any time. If you do not need the bootloader anymore - since your application development has completed and you want the program to permanently reside in the internal instruction memory - the IMEM is automatically implemented as pre-intialized ROM when the processor-internal bootloader is disabled (INT_BOOTLOADER_EN = false).

When the IMEM is implemented as ROM, it will be initialized during synthesis (actually, by the bitstream) with the actual application program image. The compiler toolchain will generate a VHDL initialization file rtl/core/neorv32_application_image.vhd, which is automatically inserted into the IMEM. If the IMEM is implemented as RAM (default), the memory will not be initialized at all.

VHDL Source File

The actual IMEM is split into two design files: a plain entity definition (neorv32_imem.entity.vhd) and the actual architecture definition (mem/neorv32_imem.default.vhd). This default architecture provides a generic and platform independent memory design that (should) infers embedded memory block. You can replace/modify the architecture source file in order to use platform-specific features (like advanced memory resources) or to improve technology mapping and/or timing.

Read-Only Access

If the IMEM is implemented as true ROM any write attempt to it will raise a store access fault exception.

2.7.2. Data Memory (DMEM)

Hardware source file(s):

neorv32_dmem.entity.vhd

entity-only definition

mem/neorv32_dmem.default.vhd

default platform-agnostic memory architecture

Software driver file(s):

none

implicitly used

Top entity port:

none

Configuration generics:

MEM_INT_DMEM_EN

implement processor-internal DMEM when true

MEM_INT_DMEM_SIZE

DMEM size in bytes

CPU interrupts:

none

Implementation of the processor-internal data memory is enabled via the processor’s MEM_INT_DMEM_EN generic. The size in bytes is defined via the MEM_INT_DMEM_SIZE generic. If the DMEM is implemented, the memory is mapped into the data memory space and located right at the beginning of the data memory space (default dspace_base_c = 0x80000000). The DMEM is always implemented as true RAM.

VHDL Source File

The actual DMEM is split into two design files: a plain entity definition (neorv32_dmem.entity.vhd) and the actual architecture definition (mem/neorv32_dmem.default.vhd). This default architecture provides a generic and platform independent memory design that (should) infers embedded memory block. You can replace/modify the architecture source file in order to use platform-specific features (like advanced memory resources) or to improve technology mapping and/or timing.

Execute from RAM

The CPU is capable of executing code also from DMEM.

2.7.3. Bootloader ROM (BOOTROM)

Hardware source file(s):

neorv32_boot_rom.vhd

Software driver file(s):

none

implicitly used

Top entity port:

none

Configuration generics:

INT_BOOTLOADER_EN

implement processor-internal bootloader when true

CPU interrupts:

none

The default neorv32_boot_rom.vhd HDL source file provides a generic memory design that infers embedded memory for larger memory configurations. You might need to replace/modify the source file in order to use platform-specific features (like advanced memory resources) or to improve technology mapping and/or timing.

This HDL modules provides a read-only memory that contain the executable code image of the bootloader. If the INT_BOOTLOADER_EN generic is true this module will be implemented and the CPU boot address is modified to directly execute the code from the bootloader ROM after reset.

The bootloader ROM is located at address 0xFFFF0000 and can occupy a address space of up to 32kB. The base address as well as the maximum address space size are fixed and cannot (should not!) be modified as this might address collision with other processor modules.

The bootloader memory is read-only and is automatically initialized with the bootloader executable image rtl/core/neorv32_bootloader_image.vhd during synthesis. The actual physical size of the ROM is also determined via synthesis and expanded to the next power of two. For example, if the bootloader code requires 10kB of storage, a ROM with 16kB will be generated. The maximum size must not exceed 32kB.

Any write access to the BOOTROM will raise a store access fault exception.

Bootloader - Software

See section Bootloader for more information regarding the actual bootloader software/executable itself.

Boot Configuration

See section Boot Configuration for more information regarding the processor’s different boot scenarios.

2.7.4. Processor-Internal Instruction Cache (iCACHE)

Hardware source file(s):

neorv32_icache.vhd

Software driver file(s):

none

implicitly used

Top entity port:

none

Configuration generics:

ICACHE_EN

implement processor-internal instruction cache when true

ICACHE_NUM_BLOCKS

number of cache blocks (pages/lines)

ICACHE_BLOCK_SIZE

size of a cache block in bytes

ICACHE_ASSOCIATIVITY

associativity / number of sets

CPU interrupts:

none

The processor features an optional cache for instructions to improve performance when using memories with high access latencies. The cache is directly connected to the CPU’s instruction fetch interface and provides full-transparent buffering of instruction fetch accesses to the entire address space.

The cache is implemented if the ICACHE_EN generic is true. The size of the cache memory is defined via ICACHE_BLOCK_SIZE (the size of a single cache block/page/line in bytes; has to be a power of two and >= 4 bytes), ICACHE_NUM_BLOCKS (the total amount of cache blocks; has to be a power of two and >= 1) and the actual cache associativity ICACHE_ASSOCIATIVITY (number of sets; 1 = direct-mapped, 2 = 2-way set-associative, has to be a power of two and >= 1).

If the cache associativity (ICACHE_ASSOCIATIVITY) is greater than 1 the LRU replacement policy (least recently used) is used.

Cache Memory HDL

The default neorv32_icache.vhd HDL source file provides a generic memory design that infers embedded memory. You might need to replace/modify the source file in order to use platform-specific features (like advanced memory resources) or to improve technology mapping and/or timing. Also, keep the features of the targeted FPGA’s memory resources (block RAM) in mind when configuring the cache size/layout to maximize and optimize resource utilization.

Caching Internal Memories

The instruction cache is intended to accelerate instruction fetches from processor-external memories (via the external bus interface or via the XIP module). Since all processor-internal memories provide an access latency of one cycle (by default), caching internal memories does not bring a relevant performance gain. However, it will slightly reduce traffic on the processor-internal bus.

Manual Cache Clear/Reload

By executing the ifence.i instruction (Zifencei CPU extension) the cache is cleared and a reload from main memory is triggered. This also allows to implement self-modifying code.

Retrieve Cache Configuration from Software

Software can retrieve the cache configuration/layout from the SYSINFO - Cache Configuration register.

Bus Access Fault Handling

The cache always loads a complete cache block (ICACHE_BLOCK_SIZE bytes) aligned to it’s size every time a cache miss is detected. If any of the accessed addresses within a single block do not successfully acknowledge the transfer (i.e. issuing an error signal or timing out) the whole cache block is invalidated and any access to an address within this cache block will raise an instruction fetch bus error exception.

2.7.5. Processor-External Memory Interface (WISHBONE) (AXI4-Lite)

Hardware source file(s):

neorv32_wishbone.vhd

Software driver file(s):

none

implicitly used

Top entity port:

wb_tag_o

request tag output (3-bit)

wb_adr_o

address output (32-bit)

wb_dat_i

data input (32-bit)

wb_dat_o

data output (32-bit)

wb_we_o

write enable (1-bit)

wb_sel_o

byte enable (4-bit)

wb_stb_o

strobe (1-bit)

wb_cyc_o

valid cycle (1-bit)

wb_ack_i

acknowledge (1-bit)

wb_err_i

bus error (1-bit)

fence_o

an executed fence instruction

fencei_o

an executed fence.i instruction

Configuration generics:

MEM_EXT_EN

enable external memory interface when true

MEM_EXT_TIMEOUT

number of clock cycles after which an unacknowledged external bus access will auto-terminate (0 = disabled)

MEM_EXT_PIPE_MODE

when false (default): classic/standard Wishbone protocol; when true: pipelined Wishbone protocol

MEM_EXT_BIG_ENDIAN

byte-order (Endianness) of external memory interface; true=BIG, false=little (default)

MEM_EXT_ASYNC_RX

use registered RX path when false (default); use async/direct RX path when true

MEM_EXT_ASYNC_TX

use registered TX path when false (default); use async/direct TX path when true

CPU interrupts:

none

The external memory interface provides a Wishbone b4-compatible on-chip bus interface. The bus interface is implemented if the MEM_EXT_EN generic is true. This interface can be used to attach external memories, custom hardware accelerators, additional IO devices or all other kinds of IP blocks to the processor.

The external interface is not mapped to a specific address space region. Instead, all CPU memory accesses that do not target a processor-internal module are delegated to the external memory interface. In summary, a CPU load/store access is delegated via the external bus interface if…

it does not target the internal instruction memory IMEM (if implemented at all).
and it does not target the internal data memory DMEM (if implemented at all).
and it does not target the internal bootloader ROM or any of the IO devices - regardless if one or more of these components are actually implemented or not.

Address Space Layout

See section Address Space for more information.

Execute-in-Place Module

If the Execute In Place module (XIP) is implemented accesses targeting the XIP memory-mapped-region will not be forwarded to the external memory interface. See section Execute In Place Module (XIP) for more information.

Wishbone Bus Protocol

The external memory interface either uses the standard (also called "classic") Wishbone protocol (default) or pipelined Wishbone protocol. The protocol to be used is configured via the MEM_EXT_PIPE_MODE generic:

If MEM_EXT_PIPE_MODE is false, all bus control signals including wb_stb_o are active and remain stable until the transfer is acknowledged/terminated.
If MEM_EXT_PIPE_MODE is true, all bus control except wb_stb_o are active and remain until the transfer is acknowledged/terminated. In this case, wb_stb_o is asserted only during the very first bus clock cycle.

Table 6. Exemplary Wishbone bus accesses using "classic" and "pipelined" protocol

Classic Wishbone read access	Pipelined Wishbone write access

Wishbone Specs.

A detailed description of the implemented Wishbone bus protocol and the according interface signals can be found in the data sheet "Wishbone B4 - WISHBONE System-on-Chip (SoC) Interconnection Architecture for Portable IP Cores". A copy of this document can be found in the docs folder of this project.

Bus Access

The NEORV32 Wishbone gateway does not support burst transfer yet, so there is always just a single transfer in "in fly". Hence, the Wishbone STALL signal is not implemented. An accessed Wishbone device does not have to respond immediately to a bus request by sending an ACK. Instead, there is a time window where the device has to acknowledge the transfer. This time window id configured by the MEM_EXT_TIMEOUT top generic that defines the maximum time (in clock cycles) a bus access can be pending before it is automatically terminated with an error condition. If MEM_EXT_TIMEOUT is set to zero, the timeout disabled an a bus access can take an arbitrary number of cycles to complete (this is not recommended!).

When MEM_EXT_TIMEOUT is greater than zero, the Wishbone gateway starts an internal countdown whenever the CPU accesses an address via the external memory interface. If the accessed device does not acknowledge (via wb_ack_i) or terminate (via wb_err_i) the transfer within MEM_EXT_TIMEOUT clock cycles, the bus access is automatically canceled setting wb_cyc_o low again and a CPU load/store/instruction fetch bus access fault exception is raised.

External "Address Space Holes"

Setting MEM_EXT_TIMEOUT to zero will permanently stall the CPU if the targeted Wishbone device never responds. Hence, MEM_EXT_TIMEOUT should be always set to a value greater than zero.

This feature can be used as safety guard if the external memory system does not check for "address space holes". That means that accessing addresses, which do not belong to a certain memory or device, do not permanently stall the processor due to an unacknowledged/unterminated bus access. If the external memory system can guarantee to acknowledge any bus accesses (even if targeting an unimplemented address) the timeout feature can be safely disabled (MEM_EXT_TIMEOUT = 0).

Wishbone Tag

The 3-bit wishbone wb_tag_o signal provides additional information regarding the access type. This signal is compatible to the AXI4 AxPROT signal.

wb_tag_o(0) 1: privileged access (CPU is in machine mode); 0: unprivileged access (CPU is not in machine mode)
wb_tag_o(1) always zero (indicating "secure access")
wb_tag_o(2) 1: instruction fetch access, 0: data access

Endianness

The NEORV32 CPU and the Processor setup are little-endian architectures. To allow direct connection to a big-endian memory system the external bus interface provides an Endianness configuration. The Endianness of the external memory interface can be configured via the MEM_EXT_BIG_ENDIAN generic. By default, the external memory interface uses little-endian byte-order.

Application software can check the Endianness configuration of the external bus interface via the SYSINFO module (see section System Configuration Information Memory (SYSINFO) for more information).

Access Latency

By default, the Wishbone gateway introduces two additional latency cycles: processor-outgoing (*_o) and processor-incoming (*_i) signals are fully registered. Thus, any access from the CPU to a processor-external devices via Wishbone requires 2 additional clock cycles. This can ease timing closure when using large (combinatorial) Wishbone interconnection networks.

Optionally, the latency of the Wishbone gateway can be reduced by removing the input and output register stages. Enabling the MEM_EXT_ASYNC_RX option will remove the input register stage; enabling MEM_EXT_ASYNC_TX option will remove the output register stages. Each enabled option reduces access latency by 1 cycle.

Output Gating

All outgoing Wishbone signals use a "gating mechanism" so they only change if there is a actual Wishbone transaction being in progress. This can reduce dynamic switching activity in the external bus system and also simplifies simulation-based inspection of the Wishbone transactions. Note that this output gating is only available if the output register buffer is not disabled (MEM_EXT_ASYNC_TX = false).

AXI4-Lite Connectivity

The AXI4-Lite wrapper (rtl/system_integration/neorv32_SystemTop_axi4lite.vhd) provides a Wishbone-to- AXI4-Lite bridge, compatible with Xilinx Vivado (IP packager and block design editor). All entity signals of this wrapper are of type std_logic or std_logic_vector, respectively. See The USer Guide for more information: https://stnolting.github.io/neorv32/ug/#_packaging_the_processor_as_ip_block_for_xilinx_vivado_block_designer

Using the auto-termination timeout feature (MEM_EXT_TIMEOUT greater than zero) is not AXI4 compliant as the AXI protocol does not support "aborting" bus transactions. Therefore, the NEORV32 top wrapper with AXI4-Lite interface (rtl/system_integration/neorv32_SystemTop_axi4lite) configures MEM_EXT_TIMEOUT = 0 by default.

2.7.6. Internal Bus Monitor (BUSKEEPER)

Hardware source file(s):

neorv32_buskeeper.vhd

Software driver file(s):

none

Top entity port:

none

Configuration generics:

none

Package constants:

max_proc_int_response_time_c

Access time window (#cycles)

CPU interrupts:

none

Theory of Operation

The Bus Keeper is a fundamental component of the processor’s internal bus system that ensures correct bus operations to maintain execution safety. The Bus Keeper monitors every single bus transactions that is intimated by the CPU. If an accessed device responds with an error condition or do not respond within a specific access time window, the according bus access fault exception is raised. The following exceptions can be raised by the Bus Keeper (see section NEORV32 Trap Listing for all CPU exceptions):

TRAP_CODE_I_ACCESS: error during instruction fetch bus access
TRAP_CODE_S_ACCESS: error during data store bus access
TRAP_CODE_L_ACCESS: error during data load bus access

The access time window, in which an accessed device has to respond, is defined by the max_proc_int_response_time_c constant from the processor’s VHDL package file (rtl/neorv32_package.vhd). The default value is 15 clock cycles.

In case of a bus access fault exception application software can evaluate the Bus Keeper’s control register NEORV32_BUSKEEPER.CTRL to retrieve further details of the bus exception. The BUSKEEPER_ERR_FLAG bit indicates that an actual bus access fault has occurred. The bit is sticky once set and is automatically cleared when reading or writing the NEORV32_BUSKEEPER.CTRL register. The BUSKEEPER_ERR_TYPE bit defines the type of the bus fault:

0 - "Device Error": The bus access exception was cause by the memory-mapped device that has been accessed (the device asserted it’s err_o).
1 - "Timeout Error": The bus access exception was caused by the Bus Keeper because the accessed memory-mapped device did not respond within the access time window. Note that this error type can also be raised by the optional timeout feature of the Processor-External Memory Interface (WISHBONE) (AXI4-Lite)).

Bus access fault exceptions are also raised if a physical memory protection (PMP) rule is violated. In this case the BUSKEEPER_ERR_FLAG bit remains zero (since the error signal is not triggered by the BUSKEEPER but by the CPU’s PMP logic).

Register Map

Table 7. BUSKEEPER register map (`struct NEORV32_BUSKEEPER`)
Address	Name [C]	Bit(s), Name [C]	R/W	Function
`0xffffff7C`	`NEORV32_BUSKEEPER.CTRL`	`0` BUSKEEPER_ERR_TYPE	r/-	Bus error type, valid if BUSKEEPER_ERR_FLAG
`0xffffff7C`	`NEORV32_BUSKEEPER.CTRL`	`31` BUSKEEPER_ERR_FLAG	r/c	Sticky error flag, clears after read or write access

2.7.7. Stream Link Interface (SLINK)

Hardware source file(s):

neorv32_slink.vhd

Software driver file(s):

neorv32_slink.c

neorv32_slink.h

Top entity port:

slink_tx_dat_o

TX link data (8x32-bit)

slink_tx_val_o

TX link data valid (8x1-bit)

slink_tx_rdy_i

TX link allowed to send (8x1-bit)

slink_tx_lst_o

TX link end of packet (8x1-bit)

slink_rx_dat_i

RX link data (8x32-bit)

slink_rx_val_i

RX link data valid (8x1-bit)

slink_rx_rdy_o

RX link ready to receive (8x1-bit)

slink_rx_lst_i

RX link end of packet (8x1-bit)

Configuration generics:

SLINK_NUM_TX

Number of TX links to implement (0..8)

SLINK_NUM_RX

Number of RX links to implement (0..8)

SLINK_TX_FIFO

FIFO depth (1..32k) of TX links, has to be a power of two

SLINK_RX_FIFO

FIFO depth (1..32k) of RX links, has to be a power of two

CPU interrupts:

fast IRQ channel 10

SLINK RX IRQ (see Processor Interrupts)

fast IRQ channel 11

SLINK TX IRQ (see Processor Interrupts)

Overview

The SLINK component provides up to 8 independent RX (receiving) and TX (sending) links for moving stream data. The interface provides higher bandwidth and less latency than the external memory bus interface, which makes it ideally suited to couple custom stream processing units.

Each link provides an individual internal FIFO for data buffering. The FIFO depth is globally defined for all TX links via the SLINK_TX_FIFO generic and for all RX links via the SLINK_RX_FIFO generic. The FIFO depth has to be at least 1, which will implement a simple input/output register. The maximum value is limited to 32768 entries. Note that the FIFO depth has to be a power of two.

The actual number of implemented RX/TX links is configured by the SLINK_NUM_RX and SLINK_NUM_TX generics, respectively. The SLINK module will be synthesized only if at least one of these generics is greater than zero. All unimplemented links are internally terminated and their according output signals are set to zero.

The NEORV32 stream link interfaces are compatible to the AXI Stream specs.

Example Program

An example program for the SLINK module is available in sw/example/demo_slink.

Theory of Operation

The SLINK provides eight data registers (DATA[i]) to access the links (read accesses will access the RX link FIFOs, write accesses will access the TX link FIFOs), one control register (CTRL), one interrupt configuration register (IRQ) and two status registers - one for the RX links (RX_STATUS) and one for the TX links (TX_STATUS).

The SLINK is globally activated by setting the control register’s enable bit SLINK_CTRL_EN. Clearing this bit will reset all internal logic and will also clear all FIFOs. The actual data links are accessed by reading or writing the according link data registers DATA[0] to DATA[7]. For example, writing to DATA[0] will put the according data into the FIFO of TX link 0. Accordingly, reading from DATA[0] will return one data word from the FIFO of RX link 0.

The current link status of each RX and TX channel is accessible via the *X_STATUS registers. The FIFO’s status signals that represent the fill level (empty, at least half full, full) are exposed as read-only flags via those two registers.

Writing to a TX link’s FIFO that is full will have no effect. Reading data from a RX link’s FIFO that is empty will have no effect and will return the last valid data word.

The TX link’s "end of packet" signal slink_tx_lst_o is controlled by the TX_STATUS register’s SLINK_TX_STATUS_LAST bits. Note that these bits are also buffered by the internal TX FIFOs, so setting one of these bits before writing data to DATA will set the slink_tx_lst_o signal when the written data word is actually send from the FIFO. Vice versa, the SLINK_RX_STATUS_LAST bits in RX_STATUS represent the level of the according slink_rx_lst_i input when a new data word was samples. These bits are also buffered in the internal RX FIFOs.

Data Transmission

To send (TX) data the program should ensure there is at least one left in the according link’s FIFO by checking SLINK_CTRL_TX_FREE. To mark the current data word to-be-send as "end of packet" the according SLINK_TX_STATUS_LAST bit has to be set before writing DATA.

Received data (RX) is available when the according link’s SLINK_RX_STATUS_EMPTY bit is cleared. To check if the received data is marked as "end of packet" the according SLINK_RX_STATUS_LAST bit has to be examined before reading DATA.

Interface & Protocol

The SLINK interface consists of four signals dat, val, rdy and lst for each RX and TX link. Each signal is constructed as an "array" with eight entries - one for each link. Note that an entry in slink_*x_dat is 32-bit wide while entries in slink_*x_val, slink_*x_rdy and slink_*x_lst are are just 1-bit wide.

dat contains the actual data word
val marks the current transmission cycle as valid
rdy indicates that the receiving part is ready to receive
lst marks the current data word as "end of packet"

Figure 5. Exemplary Stream Link Transfer (transferring 5 elements, element "E" is marked as "end of packet")

SLINK Interrupts

The stream interface provides two independent CPU interrupt channels - one for RX conditions and one for TX conditions. These IRQs can be used to signal specific FIFO conditions (e.g. "data available") to the CPU. The specific interrupt conditions are programmed per-link via the IRQ register. A 2-bit-coded value is used to enable the according link’s interrupt and to specify the actual condition.

Note that all enabled interrupt configurations are logically OR-ed for the CPU RX and TX interrupts, respectively. Hence, if any link fulfills the according interrupt configuration the according RX/TX interrupt request is sent to the CPU.

For the TX links (in IRQ SLINK_IRQ_TX) the following interrupt conditions are supported:

0-: off, no interrupt from link
10: interrupt fires if FIFO becomes not empty
11: interrupt fires if FIFO becomes at least half full

For the RX links (in IRQ SLINK_IRQ_RX) the following interrupt conditions are supported:

0-: off, no interrupt from link
10: interrupt fires if FIFO becomes empty
11: interrupt fires if FIFO becomes less than half full

Once the SLINK’s RX or TX CPU interrupt has become pending, it has to be explicitly cleared again by writing zero to the according mip CSR bit(s).

Register Map

Table 8. SLINK register map (`struct NEORV32_SLINK`)
Address	Name [C]	Bit(s)	R/W	Function
`0xfffffec0`	`NEORV32_SLINK.CTRL`	`0` SLINK_CTRL_EN	r/w	SLINK global enable/reset
		`7:1` reserved	r/-	reserved, returns zero
		`19:16` SLINK_CTRL_RX_NUM_MSB : SLINK_CTRL_RX_NUM_LSB	r/-	Number of RX links (SLINK_NUM_RX)
		`23:20` SLINK_CTRL_TX_NUM_MSB : SLINK_CTRL_TX_NUM_LSB	r/-	Number of TX links (SLINK_NUM_TX)
		`27:24` SLINK_CTRL_RX_FIFO_MSB : SLINK_CTRL_RX_FIFO_LSB	r/-	RX FIFO depth, log2(SLINK_RX_FIFO)
		`31:28` SLINK_CTRL_TX_FIFO_MSB : SLINK_CTRL_TX_FIFO_MSB	r/-	TX FIFO depth, log2(SLINK_TX_FIFO)
`0xfffffec4`	`NEORV32_SLINK.IRQ`	`15:0` SLINK_IRQ_RX_MSB : SLINK_IRQ_RX_LSB	r/w	RX link i interrupt configuration (2 bits per link)
`0xfffffec4`	`NEORV32_SLINK.IRQ`	`31:16` SLINK_IRQ_TX_MSB : SLINK_IRQ_TX_LSB	r/w	TX link i interrupt configuration (2 bits per link)
`0xfffffec8`	`NEORV32_SLINK.RX_STATUS`	`7:0` SLINK_RX_STATUS_EMPTY_MSB : SLINK_RX_STATUS_EMPTY_LSB	r/-	RX link i FIFO empty
		`15:8` SLINK_RX_STATUS_HALF_MSB : SLINK_RX_STATUS_HALF_LSB	r/-	RX link i FIFO at least half full
		`23:16` SLINK_RX_STATUS_FULL_MSB : SLINK_RX_STATUS_FULL_LSB	r/-	RX link i FIFO full
		`31:24` SLINK_RX_STATUS_LAST_MSB : SLINK_RX_STATUS_LAST_LSB	r/-	Current data word of RX link i is marked as "end of packet"
`0xfffffecc`	`NEORV32_SLINK.TX_STATUS`	`7:0` SLINK_TX_STATUS_EMPTY_MSB : SLINK_TX_STATUS_EMPTY_LSB	r/-	TX link i FIFO empty
		`15:8` SLINK_TX_STATUS_HALF_MSB : SLINK_TX_STATUS_HALF_LSB	r/-	TX link i FIFO at least half full
		`23:16` SLINK_TX_STATUS_FULL_MSB : SLINK_TX_STATUS_FULL_LSB	r/-	TX link i FIFO full
		`31:24` SLINK_TX_STATUS_LAST_MSB : SLINK_TX_STATUS_LAST_LSB	r/w	Set to mark next data word of TX link i is "end of packet"
`0xfffffed0` : `0xfffffedf`	-	`31:0`	r/-	reserved, returns zero
`0xfffffee0`	`NEORV32_SLINK.DATA[0]`	`31:0`	r/w	Link 0 RX/TX data
`0xfffffee4`	`NEORV32_SLINK.DATA[1]`	`31:0`	r/w	Link 1 RX/TX data
`0xfffffee8`	`NEORV32_SLINK.DATA[2]`	`31:0`	r/w	Link 2 RX/TX data
`0xfffffeec`	`NEORV32_SLINK.DATA[3]`	`31:0`	r/w	Link 3 RX/TX data
`0xfffffef0`	`NEORV32_SLINK.DATA[4]`	`31:0`	r/w	Link 4 RX/TX data
`0xfffffef4`	`NEORV32_SLINK.DATA[5]`	`31:0`	r/w	Link 5 RX/TX data
`0xfffffef8`	`NEORV32_SLINK.DATA[6]`	`31:0`	r/w	Link 6 RX/TX data
`0xfffffefc`	`NEORV32_SLINK.DATA[7]`	`31:0`	r/w	Link 7 RX/TX data

2.7.8. General Purpose Input and Output Port (GPIO)

Hardware source file(s):

neorv32_gpio.vhd

Software driver file(s):

neorv32_gpio.c

neorv32_gpio.h

Top entity port:

gpio_o

64-bit parallel output port

gpio_i

64-bit parallel input port

Configuration generics:

IO_GPIO_EN

implement GPIO port when true

CPU interrupts:

none

The general purpose parallel IO port unit provides a simple 64-bit parallel input port and a 64-bit parallel output port. These ports can be used chip-externally (for example to drive status LEDs, connect buttons, etc.) or chip-internally to provide control signals for other IP modules. The component is disabled for implementation when the IO_GPIO_EN generic is set false. In this case the GPIO output port gpio_o is tied to all-zero.

Access Atomicity

The GPIO modules uses two memory-mapped registers (each 32-bit) each for accessing the input and output signals. Since the CPU can only process 32-bit "at once" updating the entire output cannot be performed within a single clock cycle.

INPUT is read-only

Write accesses to the NEORV32_GPIO.INPUT_LO and NEORV32_GPIO.INPUT_HI registers will raise a store bus error exception. The BUSKEEPER will indicate a "DEVICE_ERR" in this case.

Register Map

Table 9. GPIO unit register map (`struct NEORV32_GPIO`)
Address	Name [C]	Bit(s)	R/W	Function
`0xffffffc0`	`NEORV32_GPIO.INPUT_LO`	31:0	r/-	parallel input port pins 31:0
`0xffffffc4`	`NEORV32_GPIO.INPUT_HI`	31:0	r/-	parallel input port pins 63:32
`0xffffffc8`	`NEORV32_GPIO.OUTPUT_LO`	31:0	r/w	parallel output port pins 31:0
`0xffffffcc`	`NEORV32_GPIO.OUTPUT_HI`	31:0	r/w	parallel output port pins 63:32

2.7.9. Watchdog Timer (WDT)

Hardware source file(s):

neorv32_wdt.vhd

Software driver file(s):

neorv32_wdt.c

neorv32_wdt.h

Top entity port:

none

Configuration generics:

IO_WDT_EN

implement watchdog when true

CPU interrupts:

fast IRQ channel 0

watchdog timer overflow (see Processor Interrupts)

Theory of Operation

The watchdog (WDT) provides a last resort for safety-critical applications. The WDT provides an internal 20-bit wide counter that needs to be reset every now and then by the user program. If the counter overflows, either a system reset or an interrupt is generated depending on the configured operation mode.

Access Password

Whenever the watchdog control register NEORV32_WDT.CTRL shall be written the upper-most (MSB-aligned) 16 bit of the write data have to contain the "watchdog access password". If the password is incorrect the write access is entirely ignored and the watchdog hardware module will not acknowledge the bus write access leading to a store access fault exception. Read accesses are not affected by the access password at all.

Watchdog access password (write_data[31:16]) = 0xCA36

Timeout Configuration

The watchdog is enabled by setting the control register’s `WDT_CTRL_EN_ bit. The clock used to increment the internal counter is selected via the 3-bit WDT_CTRL_CLK_SELx prescaler:

`WDT_CTRL_CLK_SELx`	Main clock prescaler	Timeout period in clock cycles
`0b000`	2	2 097 152
`0b001`	4	4 194 304
`0b010`	8	8 388 608
`0b011`	64	67 108 864
`0b100`	128	134 217 728
`0b101`	1024	1 073 741 824
`0b110`	2048	2 147 483 648
`0b111`	4096	4 294 967 296

The WDT_CTRL_HALF flag of the control register CTRL indicates that at least half of the maximum timeout value has already been reached. The watchdog is "fed" by setting the WDT_CTRL_RESET control register bit, which will reset the timeout counter.

Watchdog Action

Whenever the internal counter overflows the watchdog executes one of two possible actions: either a hard processor reset is triggered or an interrupt is requested via the CPU’s fast interrupt channel #0. The WDT_CTRL_MODE bit defines the action to be taken on an overflow: when cleared, the watchdog will assert an IRQ, when set the WDT will cause a system wide reset. The configured action can also be triggered manually at any time by setting the WDT_CTRL_FORCE bit.

The cause of the last system reset can be determined via the WDT_CTRL_RCAUSE flag. If this flag is zero, the processor has been reset via the external reset signal (or the on-chip debugger). If this flag is set the last system reset was caused by the watchdog itself.

Watchdog Interrupt

A watchdog interrupt can only occur if the watchdog is enabled and interrupt mode is enabled. A triggered interrupt has to be cleared again by writing zero to the according mip CSR bit.

Watchdog Operation during Debugging

By default the watchdog stops operation when the CPU enters debug mode and will resume normal operation after the CPU has left debug mode again. This will prevent an unintended watchdog timeout (and a hardware reset if configured) during a debug session. However, the watchdog can also be configured to keep operating even when the CPU is in debug mode by setting the control register’s WDT_CTRL_DBEN bit.

Watchdog Operation during CPU Sleep Mode

By default the watchdog keeps operating when the CPU enters sleep mode. However, the watchdog can also be paused while the CPU is sleeping by setting the WDT_CTRL_PAUSE control register bit.

Configuration Lock

The watchdog control register can be locked to protect the current configuration from being modified. The lock is activated by setting the WDT_CTRL_LOCK bit. In the locked state any write access to the control register’s configuration flags is ignored (see table below, "writable if locked"). Read accesses to the control register as well as watchdog resets (WDT_CTRL_RESET) and forced watchdog actions (WDT_CTRL_FORCE) are not affected.

The lock is removed by a system reset, which can be triggered via the external hardware reset signal, the on-chip debugger or the watchdog itself (if WDT_CTRL_MODE is set).

Register Map

Table 10. WDT register map (`struct NEORV32_WDT`)
Address	Name [C]	Bit(s), Name [C]	R/W	Reset value	Writable if locked	Function
`0xffffffbc`	`NEORV32_WDT.CTRL`	`0` WDT_CTRL_EN	r/w	`0`	no	watchdog enable
		`1` WDT_CTRL_CLK_SEL0	r/w	`0`	no	3-bit clock prescaler select
		`2` WDT_CTRL_CLK_SEL1	r/w	`0`	no
		`3` WDT_CTRL_CLK_SEL2	r/w	`0`	no
		`4` WDT_CTRL_MODE	r/w	`0`	no	overflow action: `1`=reset, `0`=IRQ
		`5` WDT_CTRL_RCAUSE	r/-	`0`	-	cause of last system reset: `0`=caused by external reset signal, `1`=caused by watchdog
		`6` WDT_CTRL_RESET	-/w	-	yes	reset watchdog when set, auto-clears
		`7` WDT_CTRL_FORCE	-/w	-	yes	force configured watchdog action when set, auto-clears
		`8` WDT_CTRL_LOCK	r/w	`0`	no	lock access to configuration when set, clears only on system reset (via external reset signal OR watchdog reset action = reset)
		`9` WDT_CTRL_DBEN	r/w	`0`	no	allow WDT to continue operation even when CPU is in debug mode
		`10` WDT_CTRL_HALF	r/-	`0`	-	set if at least half of the max. timeout counter value has been reached
		`11` WDT_CTRL_PAUSE	r/w	`0`	no	pause WDT when CPU is in sleep mode
		`15:12` -	r/-	-	-	reserved, reads as zero
		`31:16` WDT_CTRL_PWD	-/w	-	-	watchdog write access password, has to be `0xCA36`, reads as zero

2.7.10. Machine System Timer (MTIME)

Hardware source file(s):

neorv32_mtime.vhd

Software driver file(s):

neorv32_mtime.c

neorv32_mtime.h

Top entity port:

mtime_i

System time input from external MTIME

mtime_o

System time output (64-bit) for SoC

mtime_irq_i

RISC-V machine time IRQ if MTIME is not implemented

Configuration generics:

IO_MTIME_EN

implement MTIME when true

CPU interrupts:

MTI

machine timer interrupt (see Processor Interrupts)

The MTIME module implements the memory-mapped MTIME machine timer from the official RISC-V specifications. This module features a 64-bit system timer incrementing with the primary processor clock. Besides accessing the MTIME register via memory operation the current system time can also be obtained using the time[h] CSRs. Furthermore, the current system time is made available for processor-external usage via the top’s mtime_o signal.

The 64-bit system time can be accessed via the TIME_LO and TIME_HI memory-mapped registers (read/write) and also via the CPU’s time[h] CSRs (read-only). A 64-bit time compare register - accessible via the memory-mapped TIMECMP_LO and TIMECMP_HI registers - is used to configure the CPU’s MTI (machine timer interrupt). The interrupt is triggered whenever TIME (high & low part) is greater than or equal to TIMECMP (high & low part). The interrupt remain active (=pending) until TIME becomes less TIMECMP again (either by modifying TIME or TIMECMP).

Reset

After a hardware reset the TIME register is reset to all-zero and the TIMECMP register is reset to all-one to prevent accidental interrupt requests during early boot phase.

External MTIME Input

If the processor-internal MTIME module is NOT implemented, the top’s mtime_i input signal is used to update the time[h] CSRs and the MTI machine timer CPU interrupt (MTI) is directly connected to the top’s mtime_irq_i input. The mtime_o signal is hardwired to zero in this case.

External MTIME Interrupt

The mtime_irq_i signal is level-triggered and high-active. Once set the signal has to stay high until the interrupt request is explicitly acknowledged (e.g. writing to a memory-mapped register). All RISC-V standard interrupts can NOT be acknowledged by writing zero to the according mip CSR bit.

Register Map

Table 11. MTIME register map (`struct NEORV32_MTIME`)
Address	Name [C]	Bits	R/W	Function
`0xffffff90`	`NEORV32_MTIME.TIME_LO`	31:0	r/w	machine system time, low word
`0xffffff94`	`NEORV32_MTIME.TIME_HI`	31:0	r/w	machine system time, high word
`0xffffff98`	`NEORV32_MTIME.TIMECMP_LO`	31:0	r/w	time compare, low word
`0xffffff9c`	`NEORV32_MTIME.TIMECMP_HI`	31:0	r/w	time compare, high word

2.7.11. Primary Universal Asynchronous Receiver and Transmitter (UART0)

Hardware source file(s):

neorv32_uart.vhd

Software driver file(s):

neorv32_uart.c

neorv32_uart.h

Top entity port:

uart0_txd_o

serial transmitter output UART0

uart0_rxd_i

serial receiver input UART0

uart0_rts_o

flow control: RX ready to receive

uart0_cts_i

flow control: TX allowed to send

Configuration generics:

IO_UART0_EN

implement UART0 when true

UART0_RX_FIFO

RX FIFO depth (power of 2, min 1)

UART0_TX_FIFO

TX FIFO depth (power of 2, min 1)

CPU interrupts:

fast IRQ channel 2

RX interrupt

fast IRQ channel 3

TX interrupt (see Processor Interrupts)

The UART is a standard serial interface mainly used to establish a communication channel between a host computer computer/user and an application running on the embedded processor.

The NEORV32 UARTs feature independent transmitter and receiver with a fixed frame configuration of 8 data bits, an optional parity bit (even or odd) and a fixed stop bit. The actual transmission rate - the Baudrate - is programmable via software. Optional FIFOs with custom sizes can be configured for the transmitter and receiver independently.

The UART features two memory-mapped registers CTRL and DATA, which are used for configuration, status check and data transfer.

Standard Console(s)

Please note that all default example programs and software libraries of the NEORV32 software framework (including the bootloader and the runtime environment) use the primary UART (UART0) as default user console interface. Furthermore, UART0 is used to implement all the standard input, output and error consoles (STDIN, STDOUT and STDERR).

Theory of Operation

UART0 is enabled by setting the UART_CTRL_EN bit in the UART0 control register CTRL. The Baud rate is configured via a 12-bit UART_CTRL_BAUDxx baud prescaler (baud_prsc) and a 3-bit UART_CTRL_PRSCx clock prescaler (clock_prescaler) that scales the processor’s primary clock (f_main).

Table 12. UART0 prescaler configuration
`UART_CTRL_PRSCx`	`0b000`	`0b001`	`0b010`	`0b011`	`0b100`	`0b101`	`0b110`	`0b111`
Resulting `clock_prescaler`	2	4	8	64	128	1024	2048	4096

Baud rate = (f_main[Hz] / clock_prescaler) / (baud_prsc + 1)

A new transmission is started by writing the data byte to be send to the lowest byte of the DATA register. The transfer is completed when the UART_CTRL_TX_BUSY control register flag returns to zero. A new received byte is available when the UART_DATA_AVAIL flag of the DATA register is set. A "frame error" in a received byte (invalid stop bit) is indicated via the UART_DATA_FERR flag in the DATA register. The flag is cleared by reading the DATA register.

A transmission (RX or TX) can be terminated at any time by disabling the UART module by clearing the UART_CTRL_EN control register bit.

RX and TX FIFOs

UART0 provides optional FIFO buffers for the transmitter and the receiver. The UART0_RX_FIFO generic defines the depth of the RX FIFO (for receiving data) while the UART0_TX_FIFO defines the depth of the TX FIFO (for sending data). Both generics have to be a power of two with a minimal allowed value of 1. This minimal value will implement simple "double-buffering" instead of full-featured FIFOs. Both FIFOs are cleared whenever UART0 is disabled (clearing UART_CTRL_EN in CTRL).

The state of both FIFO (empty, at lest half-full, full) is available via the UART_CTRL?X_EMPTY_, UART_CTRL?X_HALF_ and UART_CTRL*X_FULL_ flags in the CTRL register.

If the RX FIFO is already full and new data is received by the receiver unit, the UART_DATA_OVERR flag in the DATA register is set indicating an "overrun". This flag is cleared by reading the DATA register.

In contrast to other FIFO-equipped peripherals, software cannot determine the UART’s FIFO size configuration by reading specific control register bits (simply because there are no bits left in the control register).

Hardware Flow Control - RTS/CTS

UART0 supports optional hardware flow control using the standard CTS (clear to send) and/or RTS (ready to send / ready to receive "RTR") signals. Both hardware control flow mechanisms can be enabled individually.

If RTS hardware flow control is enabled by setting the UART_CTRL_RTS_EN control register flag, the UART will pull the uart0_rts_o signal low if the UART’s receiver is ready to receive new data. As long as this signal is low the connected device can send new data. uart0_rts_o is always LOW if the UART is disabled. The RTS line is de-asserted (going high) as soon as the start bit of a new incoming char has been detected.
If CTS hardware flow control is enabled by setting the UART_CTRL_CTS_EN control register flag, the UART’s transmitter will not start sending a new data until the uart0_cts_i signal goes low. During this time, the UART busy flag UART_CTRL_TX_BUSY remains set. If uart0_cts_i is asserted, no new data transmission will be started by the UART. The state of the uart0_cts_i signal has no effect on a transmission being already in progress. Application software can check the current state of the uart0_cts_o input signal via the UART_CTRL_CTS control register flag.

Parity Modes

An optional parity bit can be added to the data stream if the UART_CTRL_PMODE1 flag is set. When UART_CTRL_PMODE0 is zero, the UART operates in "even parity" mode. If this flag is set, the UART operates in "odd parity" mode. Parity errors in received data are indicated via the UART_DATA_PERR flag in the DATA register. This flag is updated with each new received character and is cleared by reading the DATA register.

UART Interrupts

UART0 features two independent interrupt for signaling certain RX and TX conditions. The behavior of these conditions differs based on the configured FIFO sizes. If the according FIFO size is greater than 1, the UART_CTRL_RX_IRQ and UART_CTRL_TX_IRQ CTRL flags allow a more fine-grained IRQ configuration. An interrupt can only become pending if the according interrupt condition is fulfilled and the UART is enabled at all.

If UART0_RX_FIFO is exactly 1, the RX interrupt goes pending when data becomes available in the RX FIFO (→ UART_CTRL_RX_EMPTY clears). UART_CTRL_RX_IRQ is hardwired to 0 in this case.
If UART0_TX_FIFO is exactly 1, the TX interrupt goes pending when at least one entry in the TX FIFO becomes free (→ UART_CTRL_TX_FULL clears). UART_CTRL_TX_IRQ is hardwired to 0 in this case.
If UART0_RX_FIFO is greater than 1: If UART_CTRL_RX_IRQ is 0 the RX interrupt goes pending when data becomes available in the RX FIFO (→ UART_CTRL_RX_EMPTY clears). If UART_CTRL_RX_IRQ is 1 the RX interrupt becomes pending the RX FIFO becomes at least half-full (→ UART_CTRL_RX_HALF sets).
If UART0_TX_FIFO is greater than 1: If UART_CTRL_TX_IRQ is 0 the TX interrupt goes pending when at least one entry in the TX FIFO becomes free (→ UART_CTRL_TX_FULL clears). If UART_CTRL_TX_IRQ is 1 the TX interrupt goes pending when the RX FIFO becomes less than half-full (→ UART_CTRL_TX_HALF clears).

Once the RX or TX interrupt has become pending, it has to be explicitly cleared again by writing zero to the according mip CSR bit.

Simulation Mode

The default UART0 operation will transmit any data written to the DATA register via the serial TX line at the defined baud rate via the physical link. To accelerate UART0 output during simulation (and also to dump large amounts of data) the UART0 features a simulation mode.

Simulation mode is enabled by setting the UART_CTRL_SIM_MODE bit in the UART0’s control register CTRL. Any other UART0 configuration bits are irrelevant for this mode but UART0 has to be enabled via the UART_CTRL_EN bit. There will be no physical UART0 transmissions via uart0_txd_o at all when simulation mode is enabled. Furthermore, no interrupts (RX & TX) will be triggered.

When the simulation mode is enabled any data written to DATA[7:0] is directly output as ASCII char to the simulator console. Additionally, all chars are also stored to a text file neorv32.uart0.sim_mode.text.out in the simulation home folder.

Furthermore, the whole 32-bit word written to DATA[31:0] is stored as plain 8-char hexadecimal value to a second text file neorv32.uart0.sim_mode.data.out also located in the simulation home folder.

More information regarding the simulation-mode of the UART0 can be found in the User Guide section Simulating the Processor.

Register Map

Table 13. UART0 register map (`struct NEORV32_UART0`)
Address	Name [C]	Bit(s), Name [C]	R/W	Function
`0xffffffa0`	`NEORV32_UART0.CTRL`	`11:0` UART_CTRL_BAUDxx	r/w	12-bit BAUD value configuration value
		`12` UART_CTRL_SIM_MODE	r/w	enable simulation mode
		`13` UART_CTRL_RX_EMPTY	r/-	RX FIFO is empty
		`14` UART_CTRL_RX_HALF	r/-	RX FIFO is at least half-full
		`15` UART_CTRL_RX_FULL	r/-	RX FIFO is full
		`16` UART_CTRL_TX_EMPTY	r/-	TX FIFO is empty
		`17` UART_CTRL_TX_HALF	r/-	TX FIFO is at least half-full
		`18` UART_CTRL_TX_FULL	r/-	TX FIFO is full
		`19` -	r/-	reserved, read as zero
		`20` UART_CTRL_RTS_EN	r/w	enable RTS hardware flow control
		`21` UART_CTRL_CTS_EN	r/w	enable CTS hardware flow control
		`22` UART_CTRL_PMODE0	r/w	parity bit enable and configuration (`00`/`01`= no parity; `10`=even parity; `11`=odd parity)
		`23` UART_CTRL_PMODE1	r/w
		`24` UART_CTRL_PRSC0	r/w	3-bit baudrate clock prescaler select
		`25` UART_CTRL_PRSC1	r/w
		`26` UART_CTRL_PRSC2	r/w
		`27` UART_CTRL_CTS	r/-	current state of UART’s CTS input signal
		`28` UART_CTRL_EN	r/w	UART enable
		`29` UART_CTRL_RX_IRQ	r/w	RX IRQ mode: `1`=FIFO at least half-full; `0`=FIFO not empty
		`30` UART_CTRL_TX_IRQ	r/w	TX IRQ mode: `1`=FIFO less than half-full; `0`=FIFO not full
		`31` UART_CTRL_TX_BUSY	r/-	transmitter busy flag
`0xffffffa4`	`NEORV32_UART0.DATA`	`7:0` UART_DATA_MSB : UART_DATA_LSB	r/w	receive/transmit data (8-bit)
		`31:0` -	-/w	simulation data output
		`28` UART_DATA_PERR	r/-	RX parity error
		`29` UART_DATA_FERR	r/-	RX data frame error (stop bit nt set)
		`30` UART_DATA_OVERR	r/-	RX data overrun
		`31` UART_DATA_AVAIL	r/-	RX data available when set

2.7.12. Secondary Universal Asynchronous Receiver and Transmitter (UART1)

Hardware source file(s):

neorv32_uart.vhd

Software driver file(s):

neorv32_uart.c

neorv32_uart.h

Top entity port:

uart1_txd_o

serial transmitter output UART1

uart1_rxd_i

serial receiver input UART1

uart1_rts_o

flow control: RX ready to receive

uart1_cts_i

flow control: TX allowed to send

Configuration generics:

IO_UART1_EN

implement UART1 when true

UART1_RX_FIFO

RX FIFO depth (power of 2, min 1)

UART1_TX_FIFO

TX FIFO depth (power of 2, min 1)

CPU interrupts:

fast IRQ channel 4

RX interrupt

fast IRQ channel 5

TX interrupt (see Processor Interrupts)

Theory of Operation

The secondary UART (UART1) is functional identical to the primary UART (Primary Universal Asynchronous Receiver and Transmitter (UART0)). Obviously, UART1 has different addresses for the control register (CTRL) and the data register (DATA) - see the register map below. The register’s bits/flags use the same bit positions and naming as for the primary UART. The RX and TX interrupts of UART1 are mapped to different CPU fast interrupt (FIRQ) channels.

Simulation Mode

The secondary UART (UART1) provides the same simulation options as the primary UART. However, output data is written to UART1-specific files: neorv32.uart1.sim_mode.text.out is used to store plain ASCII text and neorv32.uart1.sim_mode.data.out is used to store full 32-bit hexadecimal data words.

Register Map

Table 14. UART1 register map (`struct NEORV32_UART1`)
Address	Name [C]	Bit(s), Name [C]	R/W	Function
`0xffffffd0`	`NEORV32_UART1.CTRL`	`11:0` UART_CTRL_BAUDxx	r/w	12-bit BAUD value configuration value
		`12` UART_CTRL_SIM_MODE	r/w	enable simulation mode
		`13` UART_CTRL_RX_EMPTY	r/-	RX FIFO is empty
		`14` UART_CTRL_RX_HALF	r/-	RX FIFO is at least half-full
		`15` UART_CTRL_RX_FULL	r/-	RX FIFO is full
		`16` UART_CTRL_TX_EMPTY	r/-	TX FIFO is empty
		`17` UART_CTRL_TX_HALF	r/-	TX FIFO is at least half-full
		`18` UART_CTRL_TX_FULL	r/-	TX FIFO is full
		`19` -	r/-	reserved, read as zero
		`20` UART_CTRL_RTS_EN	r/w	enable RTS hardware flow control
		`21` UART_CTRL_CTS_EN	r/w	enable CTS hardware flow control
		`22` UART_CTRL_PMODE0	r/w	parity bit enable and configuration (`00`/`01`= no parity; `10`=even parity; `11`=odd parity)
		`23` UART_CTRL_PMODE1	r/w
		`24` UART_CTRL_PRSC0	r/w	3-bit baudrate clock prescaler select
		`25` UART_CTRL_PRSC1	r/w
		`26` UART_CTRL_PRSC2	r/w
		`27` UART_CTRL_CTS	r/-	current state of UART’s CTS input signal
		`28` UART_CTRL_EN	r/w	UART enable
		`29` UART_CTRL_RX_IRQ	r/w	RX IRQ mode: `1`=FIFO at least half-full; `0`=FIFO not empty; hardwired to zero if UART0_RX_FIFO = 1
		`30` UART_CTRL_TX_IRQ	r/w	TX IRQ mode: `1`=FIFO less than half-full; `0`=FIFO not full; hardwired to zero if UART0_TX_FIFO = 1
		`31` UART_CTRL_TX_BUSY	r/-	transmitter busy flag
`0xffffffd4`	`NEORV32_UART1.DATA`	`7:0` UART_DATA_MSB : UART_DATA_LSB	r/w	receive/transmit data (8-bit)
		`31:0` -	-/w	simulation data output
		`28` UART_DATA_PERR	r/-	RX parity error
		`29` UART_DATA_FERR	r/-	RX data frame error (stop bit nt set)
		`30` UART_DATA_OVERR	r/-	RX data overrun
		`31` UART_DATA_AVAIL	r/-	RX data available when set

2.7.13. Serial Peripheral Interface Controller (SPI)

Hardware source file(s):

neorv32_spi.vhd

Software driver file(s):

neorv32_spi.c

neorv32_spi.h

Top entity port:

spi_sck_o

1-bit serial clock output

spi_sdo_o

1-bit serial data output

spi_sdi_i

1-bit serial data input

spi_csn_i

8-bit dedicated chip select (low-active)

Configuration generics:

IO_SPI_EN

implement SPI controller when true

IO_SPI_FIFO

data FIFO size, has to be zero or a power of two

CPU interrupts:

fast IRQ channel 6

transmission done interrupt (see Processor Interrupts)

Overview

SPI is a synchronous serial transmission interface for fast on-board communications. The NEORV32 SPI transceiver module supports 8-, 16-, 24- and 32-bit wide transmissions, all 4 standard clock mode and 8 dedicated chip select signals via the top entity’s spi_csn_o signal, which are directly controlled by the SPI module (no additional GPIO required). An optional FIFO can be implemented via the IO_SPI_FIFO generic to support block-based transmissions without CPU interaction.

The NEORV32 SPI module only supports host mode. Transmission are initiated only by the processor’s SPI module and not by any external SPI module.

The SPI module provides a single control register CTRL used to configure the module and to check its status and a data register DATA for receiving/transmitting data. If the data FIFO is implemented, this register is used to interface the FIFO.

Theory of Operation

The SPI module is enabled by setting the SPI_CTRL_EN bit in the CTRL control register. No transfer can be initiated and no interrupt request will be triggered if this bit is cleared. Clearing this bit will reset the module (also clearing any FIFOs if implemented) and will also terminate any a transfer being in process.

The data quantity to be transferred within a single data transmission is defined via the SPI_CTRL_SIZEx bits. The SPI module supports 8-bit (00), 16-bit (01), 24-bit (10) and 32-bit (11) transfers.

A transmission is started when writing data to the DATA register. The data must be LSB-aligned. So if the SPI transceiver is configured for less than 32-bit transfer data quantity, the transmit data must be placed into the lowest 8/16/24 bits of DATA. Vice versa, the received data is also always LSB-aligned. Application software should only process the amount of bits that was configured using SPI_CTRL_SIZEx when reading DATA.

The SPI operation is completed as soon as the SPI_CTRL_BUSY flag clears. If a FIFO size greater than zero is configured, the busy flag clears when the current serial engine operation is completed and there is no data left in send buffer.

The NEORV32 SPI module only support MSB-first mode. Data can be reversed before writing DATA (for TX) / after reading DATA (for RX) to implement LSB-first transmissions. Note that in both cases data in DATA still needs to be LSB-aligned.

The total transmission length, which can be an arbitrary number of individual data transfers, is left to the user: after asserting chip-select an arbitrary amount of transmission with arbitrary data quantity (SPI_CTRL_SIZEx) can be made before de-asserting chip-select again.

The SPI controller features 8 dedicated chip-select lines. These lines are controlled via the control register’s SPI_CTRL_CSx bits. When a specific SPI_CTRL_CSx bit is set, the according chip-select line spi_csn_o(x) goes low (low-active chip-select lines).

The dedicated SPI chip-select signals can be seen as general purpose outputs. These are intended to control the accessed device’s chip-select signal but can also be use for controlling other shift register signals (like data strobe or output-enables).

SPI Clock Configuration

The SPI module supports all standard SPI clock modes (0, 1, 2, 3), which are configured via the two control register bits SPI_CTRL_CPHA and SPI_CTRL_CPOL. The SPI_CTRL_CPHA bit defines the clock phase and the SPI_CTRL_CPOL bit defines the clock polarity.

Figure 6. SPI clock modes; image from https://en.wikipedia.org/wiki/File:SPI_timing_diagram2.svg (license: (Wikimedia) Creative Commons Attribution-Share Alike 3.0 Unported)

Table 15. SPI standard clock modes
	Mode 0	Mode 1	Mode 2	Mode 3
SPI_CTRL_CPOL	`0`	`0`	`1`	`1`
SPI_CTRL_CPHA	`0`	`1`	`0`	`1`

The SPI clock frequency (spi_sck_o) is programmed by the 3-bit SPI_CTRL_PRSCx clock prescaler. The following pre-scalers are available:

Table 16. SPI prescaler configuration
`SPI_CTRL_PRSCx`	`0b000`	`0b001`	`0b010`	`0b011`	`0b100`	`0b101`	`0b110`	`0b111`
Resulting `clock_prescaler`	2	4	8	64	128	1024	2048	4096

Based on the SPI_CTRL_PRSCx configuration, the actual SPI clock frequency f_SPI is derived from the processor’s main clock f_main and is determined by:

f_SPI = f_main[Hz] / (2 * clock_prescaler)

Hence, the maximum SPI clock is f_main / 4.

High-Speed SPI mode

The module provides a "high-speed" SPI mode. In this mode the clock prescaler configuration (SPI_CTRL_PRSCx) is ignored and the SPI clock operates at f_main / 2 (half of the processor’s main clock). High speed SPI mode is enabled by setting the control register’s SPI_CTRL_HIGHSPEED bit.

SPI FIFO

An optional FIFO buffer can be implemented by setting IO_SPI_FIFO to a value greater than zero. Having a data FIFO allows (more) CPU-independent operation of the SPI module.

Internally, two FIFOs are implemented: one for TX data and one for RX data. However, those two FIFOs are transparent for the software and operate as a single, unified "ring buffer". The status signals of the TX FIFO (empty, at least half full, full) are exposed as read-only signals via the SPI control register. In contrast, the RX FIFO only provides a "data available" flag (= RX FIFO not empty) via the SPI control register.

Application programs can implement "double buffering" when using the "FIFO less than half full" interrupt configuration option (see below).

SPI Interrupt

The SPI module provides a single interrupt that can be used to signal certain transmission states to the CPU. The actual interrupt condition is configured by the two SPI_CTRL_IRQx in the SPI module’s control register:

00, 01 : trigger interrupt when SPI serial engine completes current transmission
10 : trigger interrupt when TX FIFO becomes less than half full, not available if IO_SPI_FIFO is zero
11 : trigger interrupt when TX FIFO becomes empty, not available if IO_SPI_FIFO is zero

Once the SPI CPU is triggered it has to be explicitly cleared again by writing zero to the according mip CSR bit inside the SPI trap handler.

If not FIFO is implemented (IO_SPI_FIFO = 0) the SPI_CTRL_IRQx are hardwired to 00 statically configuring "SPI serial engine completes current transmission" as interrupt condition.

Register Map

Table 17. SPI register map (`struct NEORV32_SPI`)
Address	Name [C]	Bit(s), Name [C]	R/W	Function
`0xffffffa8`	`NEORV32_SPI.CTRL`	`7:0` SPI_CTRL_CS7 : SPI_CTRL_CS0	r/w	Direct chip-select 0..7; setting `spi_csn_o(x)` low when set
		`8` SPI_CTRL_EN	r/w	SPI module enable
		`9` SPI_CTRL_CPHA	r/w	clock phase (`0`=sample RX on rising edge & update TX on falling edge; `1`=sample RX on falling edge & update TX on rising edge)
		`12:10` SPI_CTRL_PRSC2 : SPI_CTRL_PRSC0	r/w	3-bit clock prescaler select
		`14:13` SPI_CTRL_SIZE1 : SPI_CTRL_SIZE0	r/w	transfer size (`00`=8-bit, `01`=16-bit, `10`=24-bit, `11`=32-bit)
		`15` SPI_CTRL_CPOL	r/w	clock polarity
		`16` SPI_CTRL_HIGHSPEED	r/w	enable SPI high-speed mode (ignoring SPI_CTRL_PRSC)
		`18:17` SPI_CTRL_IRQ1 : SPI_CTRL_IRQ0	r/w	interrupt configuration (`0-` = SPI serial engine becomes idle, `10` = TX FIFO become less than half full, `11` = TX FIFO becomes empty)
		`22:19` SPI_CTRL_FIFO_MSB : SPI_CTRL_FIFO_LSB	r/-	FIFO depth; log2(IO_SPI_FIFO)
		`23:26` reserved	r/-	reserved, read as zero
		`27` SPI_CTRL_RX_AVAIL	r/-	RX FIFO data available (RX FIFO not empty); zero if FIFO not implemented
		`28` SPI_CTRL_TX_EMPTY	r/-	TX FIFO empty; zero if FIFO not implemented
		`29` SPI_CTRL_TX_HALF	r/-	TX FIFO at least half full; zero if FIFO not implemented
		`30` SPI_CTRL_TX_FULL	r/-	TX FIFO full; zero if FIFO not implemented
		`31` SPI_CTRL_BUSY	r/-	SPI module busy when set (serial engine operation in progress and TX FIFO not empty yet)
`0xffffffac`	`NEORV32_SPI.DATA`	`31:0`	r/w	receive/transmit data (FIFO), LSB-aligned

2.7.14. Two-Wire Serial Interface Controller (TWI)

Hardware source file(s):

neorv32_twi.vhd

Software driver file(s):

neorv32_twi.c

neorv32_twi.h

Top entity port:

twi_sda_io

1-bit bi-directional serial data

twi_scl_io

1-bit bi-directional serial clock

Configuration generics:

IO_TWI_EN

implement TWI controller when true

CPU interrupts:

fast IRQ channel 7

transmission done interrupt (see Processor Interrupts)

Theory of Operation

The two wire interface - also called "I²C" - is a quite famous interface for connecting several on-board components. Since this interface only needs two signals (the serial data line twi_sda_io and the serial clock line twi_scl_io) - despite of the number of connected devices - it allows easy interconnections of several peripheral nodes.

The NEORV32 TWI implements a TWI controller. It supports "clock so a slow peripheral can halt the transmission by pulling the SCL line low. Currently, no multi-controller support is available. Also, the NEORV32 TWI unit cannot operate in peripheral mode.

The serial clock (SCL) and the serial data (SDA) lines can only be actively driven low by the controller. Hence, external pull-up resistors are required for these lines.

TWI Clock Speed

The TWI clock frequency is defined via the 3-bit TWI_CTRL_PRSCx clock prescaler. The following prescalers are available:

Table 18. TWI prescaler configuration
`TWI_CTRL_PRSCx`	`0b000`	`0b001`	`0b010`	`0b011`	`0b100`	`0b101`	`0b110`	`0b111`
Resulting `clock_prescaler`	2	4	8	64	128	1024	2048	4096

Based on the TWI_CTRL_PRSCx configuration, the actual TWI clock frequency f_SCL is derived from the processor main clock f_main and is determined by:

f_SCL = f_main[Hz] / (4 * clock_prescaler)

TWI Transfers

The TWI is enabled via the TWI_CTRL_EN bit in the CTRL control register. The user program can start / stop a transmission by issuing a START or STOP condition. These conditions are generated by setting the according bits (TWI_CTRL_START or TWI_CTRL_STOP) in the control register.

Data is transferred via the TWI bus by writing a byte to the DATA register. The written byte is send via the TWI bus and the received byte from the bus is also available in this register after the transmission is completed. The TWI operation (transmitting data or performing a START or STOP condition) is in progress as long as the TWI_CTRL_BUSY bit in the control register is set.

TWI ACK/NACK and MACK

An accessed TWI peripheral can acknowledge each transferred byte. When the TWI_CTRL_ACK bit is set after a completed transmission the accessed peripheral has send an acknowledge. If it is cleared after a transmission, the peripheral has send a not-acknowledge (NACK).

The NEORV32 TWI controller can also send an ACK by itself ("controller acknowledge MACK") right after transmitting a byte by pulling SDA low during the ACK time slot. Many TWI devices require this MACK to acknowledge a data read operation. Set the control register’s TWI_CTRL_MACK bit to activate this feature. If this bit is cleared, the ACK/NACK generated by the peripheral is sampled in this time slot instead (normal mode).

TWI Bus Status

The TWI controller can check if the TWI bus is currently claimed (SCL and SDA both low). The bus can be claimed by the NEORV32 TWI itself or by any other controller. Bit TWI_CTRL_CLAIMED of the control register will be set if the bus is currently claimed.

Summary

In summary, the following independent TWI operations can be triggered by the application program to conduct a TWI transfer:

generate START condition by setting TWI_CTRL_START
transfer one byte while also sampling one byte from the bus (this also samples ACK/NACK or generates a controller ACK "MACK" if TWI_CTRL_MACK is set) by writing data to NEORV32_TWI.DATA; this step can be repeated to send/receive an arbitrary number of bytes
optionally generate another START condition (as REPEATED-START condition) by setting TWI_CTRL_START
generate STOP condition by setting TWI_CTRL_STOP

A transmission can be terminated at any time by disabling the TWI module by clearing the TWI_CTRL_EN control register bit. This will also reset the whole module.

When reading data from a device, all-one (0xFF) has to be written to TWI data register NEORV32_TWI.DATA so the accessed device can actively pull-down SDA when required.

TWI Interrupt

The TWI module provides a single interrupt to signal "transmission done" to the CPU. Whenever the TWI module completes the current transmission of one byte the interrupt is triggered. Note the the interrupt is not triggered when completing a START or STOP condition. Once triggered, the interrupt has to be explicitly cleared again by writing zero to the according mip CSR bit.

Register Map

Table 19. TWI register map (`struct NEORV32_TWI`)
Address	Name [C]	Bit(s), Name [C]	R/W	Function
`0xffffffb0`	`NEORV32_TWI.CTRL`	`0` TWI_CTRL_EN	r/w	TWI enable, reset if cleared
		`1` TWI_CTRL_START	-/w	generate START condition, auto-clears
		`2` TWI_CTRL_STOP	-/w	generate STOP condition, auto-clears
		`3` TWI_CTRL_PRSC0	r/w	3-bit clock prescaler select
		`4` TWI_CTRL_PRSC1	r/w
		`5` TWI_CTRL_PRSC2	r/w
		`6` TWI_CTRL_MACK	r/w	generate controller-ACK for each transmission ("MACK")
		`29` TWI_CTRL_CLAIMED	r/-	set if the TWI bus is claimed by any controller
		`30` TWI_CTRL_ACK	r/-	ACK received when set, NACK received when cleared
		`31` TWI_CTRL_BUSY	r/-	transfer/START/STOP in progress when set
`0xffffffb4`	`NEORV32_TWI.DATA`	`7:0` TWI_DATA_MSB : TWI_DATA_LSB_	r/w	receive/transmit data

2.7.15. Pulse-Width Modulation Controller (PWM)

Hardware source file(s):

neorv32_pwm.vhd

Software driver file(s):

neorv32_pwm.c

neorv32_pwm.h

Top entity port:

pwm_o

up to 60 PWM output channels (60-bit, fixed)

Configuration generics:

IO_PWM_NUM_CH

number of PWM channels to implement (0..60)

CPU interrupts:

none

The PWM controller implements a pulse-width modulation controller with up to 60 independent channels and 8- bit resolution per channel. The actual number of implemented channels is defined by the IO_PWM_NUM_CH generic. Setting this generic to zero will completely remove the PWM controller from the design.

The pwm_o has a static size of 60-bit. Is less than 60 PWM channels are configured, only the LSB-aligned channels (bits) are used while the remaining bits are hardwired to zero.

The PWM controller is based on an 8-bit base counter with a programmable threshold comparators for each channel that defines the actual duty cycle. The controller can be used to drive fancy RGB-LEDs with 24- bit true color, to dim LCD back-lights or even for "analog" control. An external integrator (RC low-pass filter) can be used to smooth the generated "analog" signals.

Theory of Operation

The PWM controller is activated by setting the PWM_CTRL_EN bit in the module’s control register CTRL. When this bit is cleared, the unit is reset and all PWM output channels are set to zero. The 8-bit duty cycle for each channel, which represents the channel’s "intensity", is defined via an 8-bit value. The module provides up to 15 duty cycle registers DUTY[0] to DUTY[14] (depending on the number of implemented channels). Each register contains the duty cycle configuration for 4 consecutive channels. For example, the duty cycle of channel 0 is defined via bits 7:0 in DUTY[0]. The duty cycle of channel 2 is defined via bits 15:0 in DUTY[0]. Channel 4’s duty cycle is defined via bits 7:0 in DUTY[1] and so on.

Regardless of the configuration of IO_PWM_NUM_CH all module registers can be accessed without raising an exception. Software can discover the number of available channels by writing 0xff to all duty cycle configuration bytes and reading those values back. The duty-cycle of channels that were not implemented always reads as zero.

Based on the configured duty cycle the according intensity of the channel can be computed by the following formula:

Intensity_x = DUTY[y](i*8+7 downto i*8) / (2⁸)

The base frequency of the generated PWM signals is defined by the PWM core clock. This clock is derived from the main processor clock and divided by a prescaler via the 3-bit PWM_CTRL_PRSCx in the unit’s control register. The following pre-scalers are available:

Table 20. PWM prescaler configuration
`PWM_CTRL_PRSCx`	`0b000`	`0b001`	`0b010`	`0b011`	`0b100`	`0b101`	`0b110`	`0b111`
Resulting `clock_prescaler`	2	4	8	64	128	1024	2048	4096

The resulting PWM base frequency is defined by:

f_PWM = f_main[Hz] / (2⁸ * clock_prescaler)

Register Map

Table 21. PWM register map (`struct neorv32_pwm_t`)
Address	Name [C]	Bit(s), Name [C]	R/W	Function
`0xfffffe80`	`NEORV32_PWM.CTRL`	`0` PWM_CTRL_EN	r/w	PWM enable
		`1` PWM_CTRL_PRSC0	r/w	3-bit clock prescaler select
		`2` PWM_CTRL_PRSC1	r/w
		`3` PWM_CTRL_PRSC2	r/w
`0xfffffe84`	`NEORV32_PWM.DUTY[0]`	`7:0`	r/w	8-bit duty cycle for channel 0
		`15:8`	r/w	8-bit duty cycle for channel 1
		`23:16`	r/w	8-bit duty cycle for channel 2
		`31:24`	r/w	8-bit duty cycle for channel 3
…	…	…	r/w	…
`0xfffffebc`	`NEORV32_PWM.DUTY[14]`	`7:0`	r/w	8-bit duty cycle for channel 56
		`15:8`	r/w	8-bit duty cycle for channel 57
		`23:16`	r/w	8-bit duty cycle for channel 58
		`31:24`	r/w	8-bit duty cycle for channel 59

2.7.16. True Random-Number Generator (TRNG)

Hardware source file(s):

neorv32_trng.vhd

Software driver file(s):

neorv32_trng.c

neorv32_trng.h

Top entity port:

none

Configuration generics:

IO_TRNG_EN

implement TRNG when true

IO_TRNG_FIFO

data FIFO depth, min 1, has to be a power of two

CPU interrupts:

none

Theory of Operation

The NEORV32 true random number generator provides physical true random numbers. Instead of using a pseudo RNG like a LFSR, the TRNG uses a simple, straight-forward ring oscillator concept as physical entropy source. Hence, voltage, thermal and also semiconductor manufacturing fluctuations are used to provide a true physical entropy source.

The TRNG features a platform independent architecture without FPGA-specific primitives, macros or attributes so it can be synthesized for any FPGA.

The TRNG is based on the neoTRNG V2, which is a "spin-off project" of the NEORV32 processor. More detailed information about the neoTRNG, it’s architecture and a detailed evaluation of the random number quality can be found it it’s repository: https://github.com/stnolting/neoTRNG

Inferring Latches

The synthesis tool might emit a warning like "inferring latches for … neorv32_trng …". This is no problem as this is what we actually want: the TRNG is based on latches, which implement the inverters of the ring oscillators.

Simulation

When simulating the processor the TRNG is automatically set to "simulation mode". In this mode, the physical entropy sources (= the ring oscillators) are replaced by a simple pseudo RNG (LFSR) providing very weak random data only. The TRNG_CTRL_SIM_MODE flag of the control register is set if simulation mode is active.

Using the TRNG

The TRNG features a single register for status and data access. When the TRNG_CTRL_EN control register (CTRL) bit is set, the TRNG is enabled and starts operation. As soon as the TRNG_CTRL_VALID bit is set a random data byte is available and can be obtained from the lowest 8 bits of the CTRL register (TRNG_CTRL_DATA_MSB : TRNG_CTRL_DATA_LSB).

An optional random data FIFO can be configured using the IO_TRNG_FIFO generic. This FIFO automatically samples new random data from the TRNG to provide some kind of random data pool for applications, which require a large number of RND data in a short time. The minimal and default value for IO_TRNG_FIFO is 1 (implementing a register rather than a real FIFO); the generic has to be a power of two.

The random data FIFO can be cleared at any time either by disabling the TRNG via the TRNG_CTRL_EN flag or by setting the TRNG_CTRL_FIFO_CLR flag. Note that this falg is write-only and auto clears after being set.

TRNG Reset

The TRNG core does not provide a dedicated reset. In order to ensure correct operations, the TRNG should be disabled (=reset) by clearing the TRNG_CTRL_EN and waiting some 1000s clock cycles before re-enabling it.

Register Map

Table 22. TRNG register map (`struct NEORV32_TRNG`)
Address	Name [C]	Bit(s), Name [C]	R/W	Function
`0xffffffb8`	`NEORV32_TRNG.CTRL`	`7:0` TRNG_CTRL_DATA_MSB : TRNG_CTRL_DATA_MSB	r/-	8-bit random data
		`28` TRNG_CTRL_FIFO_CLR	-/w	clear data FIFO when set (auto clears)
		`29` TRNG_CTRL_SIM_MODE	r/-	simulation mode (PRNG!)
		`30` TRNG_CTRL_EN	r/w	TRNG enable
		`31` TRNG_CTRL_VALID	r/-	random data is valid when set

2.7.17. Custom Functions Subsystem (CFS)

Hardware source file(s):

neorv32_gfs.vhd

Software driver file(s):

neorv32_gfs.c

neorv32_gfs.h

Top entity port:

cfs_in_i

custom input conduit

cfs_out_o

custom output conduit

Configuration generics:

IO_CFS_EN

implement CFS when true

IO_CFS_CONFIG

custom generic conduit

IO_CFS_IN_SIZE

size of cfs_in_i

IO_CFS_OUT_SIZE

size of cfs_out_o

CPU interrupts:

fast IRQ channel 1

CFS interrupt (see Processor Interrupts)

Theory of Operation

The custom functions subsystem is meant for implementing custom and application-specific logic. The CFS provides up to 32x 32-bit memory-mapped read/write registers (REG, see register map below) that can be accessed by the CPU via normal load/store operations. The actual functionality of these register has to be defined by the hardware designer. Furthermore, the CFS provides two IO conduits to implement custom on-chip or off-chip interfaces.

In contrast to connecting custom hardware accelerators via external memory interfaces (like SPI or the processor’s external bus interface), the CFS provide a convenient, low-latency and tightly-coupled extension and customization option.

Just like any other externally-connected IP, logic implemented within the custom functions subsystem can operate independently of the CPU providing true parallel processing capabilities. Potential use cases might include dedicated hardware accelerators for en-/decryption (AES), signal processing (FFT) or AI applications (CNNs) as well as custom IO systems like fast memory interfaces (DDR) and mass storage (SDIO), networking (CAN) or real-time data transport (I2S).

If you like to implement custom instructions that are executed right within the CPU’s ALU see the Zxcfu Custom Instructions Extension (CFU) and the according Custom Functions Unit (CFU).

Take a look at the template CFS VHDL source file (rtl/core/neorv32_cfs.vhd). The file is highly commented to illustrate all aspects that are relevant for implementing custom CFS-based co-processor designs.

CFS Software Access

The CFS memory-mapped registers can be accessed by software using the provided C-language aliases (see register map table below). Note that all interface registers are declared as 32-bit words of type uint32_t.

Listing 3. CFS Software Access Example

// C-code CFS usage example
NEORV32_CFS.REG[0] = (uint32_t)some_data_array(i); // write to CFS register 0
int temp = (int)NEORV32_CFS.REG[20]; // read from CFS register 20

A very simple example program that uses the default CFS hardware module can be found in sw/example/cfs_demo.

CFS Interrupt

The CFS provides a single high-level-triggered interrupt request signal mapped to the CPU’s fast interrupt channel 1. Once triggered, the interrupt becomes pending (if enabled in the mis CSR) and has to be explicitly cleared again by writing zero to the according mip CSR bit. See section Processor Interrupts for more information.

CFS Configuration Generic

By default, the CFS provides a single 32-bit std_(u)logic_vector configuration generic IO_CFS_CONFIG that is available in the processor’s top entity. This generic can be used to pass custom configuration options from the top entity directly down to the CFS. The actual definition of the generic and it’s usage inside the CFS is left to the hardware designer.

CFS Custom IOs

By default, the CFS also provides two unidirectional input and output conduits cfs_in_i and cfs_out_o. These signals are directly propagated to the processor’s top entity. These conduits can be used to implement application-specific interfaces like memory or peripheral connections. The actual use case of these signals has to be defined by the hardware designer.

The size of the input signal conduit cfs_in_i is defined via the top’s IO_CFS_IN_SIZE configuration generic (default = 32-bit). The size of the output signal conduit cfs_out_o is defined via the top’s IO_CFS_OUT_SIZE configuration generic (default = 32-bit). If the custom function subsystem is not implemented (IO_CFS_EN = false) the cfs_out_o signal is tied to all-zero.

Register Map

Table 23. CFS register map (`struct NEORV32_CFS`)
Address	Name [C]	Bit(s)	R/W	Function
`0xfffffe00`	`NEORV32_CFS.REG[0]`	`31:0`	(r)/(w)	custom CFS interface register 0
`0xfffffe04`	`NEORV32_CFS.REG[1]`	`31:0`	(r)/(w)	custom CFS interface register 1
…	…	`31:0`	(r)/(w)	…
`0xfffffe78`	`NEORV32_CFS.REG[30]`	`31:0`	(r)/(w)	custom CFS interface register 30
`0xfffffe7c`	`NEORV32_CFS.REG[31]`	`31:0`	(r)/(w)	custom CFS interface register 31

2.7.18. Smart LED Interface (NEOLED)

Hardware source file(s):

neorv32_neoled.vhd

Software driver file(s):

neorv32_neoled.c

neorv32_neoled.h

Top entity port:

neoled_o

1-bit serial data output

Configuration generics:

IO_NEOLED_EN

implement NEOLED when true

IO_NEOLED_TX_FIFO

TX FIFO depth (1..32k, has to be a power of two)

CPU interrupts:

fast IRQ channel 9

NEOLED interrupt (see Processor Interrupts)

Theory of Operation

The NEOLED module provides a dedicated interface for "smart RGB LEDs" like the WS2812 or WS2811. These LEDs provide a single interface wire that uses an asynchronous serial protocol for transmitting color data. Basically, data is transferred via LED-internal shift registers, which allows to cascade an unlimited number of smart LEDs. The protocol provides a RESET command to strobe the transmitted data into the LED PWM driver registers after data has shifted throughout all LEDs in a chain.

The NEOLED interface is compatible to the "Adafruit Industries NeoPixel" products, which feature WS2812 (or older WS2811) smart LEDs (see link:https://learn.adafruit.com/adafruit-neopixel-uberguide).

The interface provides a single 1-bit output neoled_o to drive an arbitrary number of cascaded LEDs. Since the NEOLED module provides 24-bit and 32-bit operating modes, a mixed setup with RGB LEDs (24-bit color) and RGBW LEDs (32-bit color including a dedicated white LED chip) is possible.

Theory of Operation - NEOLED Module

The NEOLED modules provides two accessible interface registers: the control register CTRL and the TX data register DATA. The NEOLED module is globally enabled via the control register’s NEOLED_CTRL_EN bit. Clearing this bit will terminate any current operation, clear the TX buffer, reset the module and set the neoled_o output to zero. The precise timing (implementing the WS2812 protocol) and transmission mode are fully programmable via the CTRL register to provide maximum flexibility.

RGB / RGBW Configuration

NeoPixel are available in two "color" version: LEDs with three chips providing RGB color and LEDs with four chips providing RGB color plus a dedicated white LED chip (= RGBW). Since the intensity of every LED chip is defined via an 8-bit value the RGB LEDs require a frame of 24-bit per module and the RGBW LEDs require a frame of 32-bit per module.

The data transfer quantity of the NEOLED module can be configured via the NEOLED_MODE_EN control register bit. If this bit is cleared, the NEOLED interface operates in 24-bit mode and will transmit bits 23:0 of the data written to DATA to the LEDs. If NEOLED_MODE_EN is set, the NEOLED interface operates in 32-bit mode and will transmit bits 31:0 of the data written to DATA to the LEDs.

The mode bit can be configured before writing each new data word in order to support an arbitrary setup of RGB and RGBW LEDs.

Protocol

The interface of the WS2812 LEDs uses an 800kHz carrier signal. Data is transmitted in a serial manner starting with LSB-first. The intensity for each R, G & B (& W) LED chip (= color code) is defined via an 8-bit value. The actual data bits are transferred by modifying the duty cycle of the signal (the timings for the WS2812 are shown below). A RESET command is "send" by pulling the data line LOW for at least 50μs.

Figure 7. WS2812 bit-level protocol - taken from the "Adafruit NeoPixel Überguide"

Table 24. WS2812 interface timing
T_total (T_carrier)	1.25μs +/- 300ns	period for a single bit
T_0H	0.4μs +/- 150ns	high-time for sending a `1`
T_0L	0.8μs +/- 150ns	low-time for sending a `1`
T_1H	0.85μs +/- 150ns	high-time for sending a `0`
T_1L	0.45μs +/- 150 ns	low-time for sending a `0`
RESET	Above 50μs	low-time for sending a RESET command

Timing Configuration

The basic carrier frequency (800kHz for the WS2812 LEDs) is configured via a 3-bit main clock prescaler (NEOLED_CTRL_PRSCx, see table below) that scales the main processor clock f_main and a 5-bit cycle multiplier NEOLED_CTRL_T_TOT_x.

Table 25. NEOLED prescaler configuration
`NEOLED_CTRL_PRSCx`	`0b000`	`0b001`	`0b010`	`0b011`	`0b100`	`0b101`	`0b110`	`0b111`
Resulting `clock_prescaler`	2	4	8	64	128	1024	2048	4096

The duty-cycles (or more precisely: the high- and low-times for sending either a '1' bit or a '0' bit) are defined via the 5-bit NEOLED_CTRL_T_ONE_H_x and NEOLED_CTRL_T_ZERO_H_x values, respectively. These programmable timing constants allow to adapt the interface for a wide variety of smart LED protocol (for example WS2812 vs. WS2811).

Timing Configuration - Example (WS2812)

Generate the base clock f_TX for the NEOLED TX engine:

processor clock f_main = 100 MHz
NEOLED_CTRL_PRSCx = 0b001 = f_main / 4

f_TX = f_main[Hz] / clock_prescaler = 100MHz / 4 = 25MHz

T_TX = 1 / f_TX = 40ns

Generate carrier period (T_carrier) and high-times (duty cycle) for sending 0 (T_0H) and 1 (T_1H) bits:

NEOLED_CTRL_T_TOT = 0b11110 (= decimal 30)
NEOLED_CTRL_T_ZERO_H = 0b01010 (= decimal 10)
NEOLED_CTRL_T_ONE_H = 0b10100 (= decimal 20)

T_carrier = T_TX * NEOLED_CTRL_T_TOT = 40ns * 30 = 1.4µs

T_0H = T_TX * NEOLED_CTRL_T_ZERO_H = 40ns * 10 = 0.4µs

T_1H = T_TX * NEOLED_CTRL_T_ONE_H = 40ns * 20 = 0.8µs

The NEOLED SW driver library (neorv32_neoled.h) provides a simplified configuration function that configures all timing parameters for driving WS2812 LEDs based on the processor clock frequency.

TX Data FIFO

The interface features a TX data buffer (a FIFO) to allow more CPU-independent operation. The buffer depth is configured via the IO_NEOLED_TX_FIFO top generic (default = 1 entry). The FIFO size configuration can be read via the NEOLED_CTRL_BUFS_x control register bits, which result log2(IO_NEOLED_TX_FIFO).

When writing data to the DATA register the data is automatically written to the TX buffer. Whenever data is available in the buffer the serial transmission engine will take it and transmit it to the LEDs. The data transfer size (NEOLED_MODE_EN) can be modified at every time since this control register bit is also buffered in the FIFO. This allows to arbitrarily mixing RGB and RGBW LEDs in the chain.

Software can check the FIFO fill level via the control register’s NEOLED_CTRL_TX_EMPTY, NEOLED_CTRL_TX_HALF and NEOLED_CTRL_TX_FULL flags. The NEOLED_CTRL_TX_BUSY flags provides additional information if the the TX unit is still busy sending data.

Please note that the timing configurations (NEOLED_CTRL_PRSCx, NEOLED_CTRL_T_TOT_x, NEOLED_CTRL_T_ONE_H_x and NEOLED_CTRL_T_ZERO_H_x) are NOT stored to the buffer. Changing these value while the buffer is not empty or the TX engine is still busy will cause data corruption.

Strobe Command ("RESET")

According to the WS2812 specs the data written to the LED’s shift registers is strobed to the actual PWM driver registers when the data line is low for 50μs ("RESET" command, see table above). This can be implemented using busy-wait for at least 50μs. Obviously, this concept wastes a lot of processing power.

To circumvent this, the NEOLED module provides an option to automatically issue an idle time for creating the RESET command. If the NEOLED_CTRL_STROBE control register bit is set, all data written to the data FIFO (via DATA, the actually written data is irrelevant) will trigger an idle phase (neoled_o = zero) of 127 periods (= T_carrier). This idle time will cause the LEDs to strobe the color data into the PWM driver registers.

Since the NEOLED_CTRL_STROBE flag is also buffered in the TX buffer, the RESET command is treated just as another data word being written to the TX buffer making busy wait concepts obsolete and allowing maximum refresh rates.

NEOLED Interrupt

The NEOLED modules features a single interrupt that becomes pending based on the current TX buffer fill level. The interrupt can only become pending if the NEOLED module is enabled. The specific interrupt condition is configured via the NEOLED_CTRL_IRQ_CONF bit in the unit’s control register.

If NEOLED_CTRL_IRQ_CONF is cleared, an interrupt is generated whenever the TX FIFO becomes less than half-full. In this case software can write up to IO_NEOLED_TX_FIFO/2 new data words to DATA without checking the FIFO status flags. If NEOLED_CTRL_IRQ_CONF is set, an interrupt is generated whenever the TX FIFO becomes empty.

One the NEOLED interrupt has been triggered and became pending, it has to explicitly cleared again by writing zero to according mip CSR bit.

The NEOLED_CTRL_IRQ_CONF is hardwired to one if IO_NEOLED_TX_FIFO = 1 (→ IRQ if FIFO is empty). If the FIFO is configured to contain only a single entry (IO_NEOLED_TX_FIFO = 1) the interrupt will become pending if the FIFO (which is just a single register providing simple double-buffering) is empty.

Register Map

Table 26. NEOLED register map (`struct NEORV32_NEOLED`)
Address	Name [C]	Bit(s), Name [C]	R/W	Function
`0xffffffd8`	`NEORV32_NEOLED.CTRL`	`0` NEOLED_CTRL_EN	r/w	NEOLED enable
		`1` NEOLED_CTRL_MODE	r/w	data transfer size; `0`=24-bit; `1`=32-bit
		`2` NEOLED_CTRL_STROBE	r/w	`0`=send normal color data; `1`=send RESET command on data write access
		`3` NEOLED_CTRL_PRSC0	r/w	3-bit clock prescaler, bit 0
		`4` NEOLED_CTRL_PRSC1	r/w	3-bit clock prescaler, bit 1
		`5` NEOLED_CTRL_PRSC2	r/w	3-bit clock prescaler, bit 2
		`6` NEOLED_CTRL_BUFS0	r/-	4-bit log2(IO_NEOLED_TX_FIFO)
		`7` NEOLED_CTRL_BUFS1	r/-
		`8` NEOLED_CTRL_BUFS2	r/-
		`9` NEOLED_CTRL_BUFS3	r/-
		`10` NEOLED_CTRL_T_TOT_0	r/w	5-bit pulse clock ticks per total single-bit period (T_total)
		`11` NEOLED_CTRL_T_TOT_1	r/w
		`12` NEOLED_CTRL_T_TOT_2	r/w
		`13` NEOLED_CTRL_T_TOT_3	r/w
		`14` NEOLED_CTRL_T_TOT_4	r/w
		`15` NEOLED_CTRL_T_ZERO_H_0	r/w	5-bit pulse clock ticks per high-time for sending a zero-bit (T_0H)
		`16` NEOLED_CTRL_T_ZERO_H_1	r/w
		`17` NEOLED_CTRL_T_ZERO_H_2	r/w
		`18` NEOLED_CTRL_T_ZERO_H_3	r/w
		`19` NEOLED_CTRL_T_ZERO_H_4	r/w
		`20` NEOLED_CTRL_T_ONE_H_0	r/w	5-bit pulse clock ticks per high-time for sending a one-bit (T_1H)
		`21` NEOLED_CTRL_T_ONE_H_1	r/w
		`22` NEOLED_CTRL_T_ONE_H_2	r/w
		`23` NEOLED_CTRL_T_ONE_H_3	r/w
		`24` NEOLED_CTRL_T_ONE_H_4	r/w
		`27` NEOLED_CTRL_IRQ_CONF	r/w	TX FIFO interrupt configuration: `0`=IRQ if FIFO is less than half-full, `1`=IRQ if FIFO is empty
		`28` NEOLED_CTRL_TX_EMPTY	r/-	TX FIFO is empty
		`29` NEOLED_CTRL_TX_HALF	r/-	TX FIFO is at least half full
		`30` NEOLED_CTRL_TX_FULL	r/-	TX FIFO is full
		`31` NEOLED_CTRL_TX_BUSY	r/-	TX serial engine is busy when set
`0xffffffdc`	`NEORV32_NEOLED.DATA`	`31:0` / `23:0`	-/w	TX data (32-/24-bit)

2.7.19. External Interrupt Controller (XIRQ)

Hardware source file(s):

neorv32_xirq.vhd

Software driver file(s):

neorv32_xirq.c

neorv32_xirq.h

Top entity port:

xirq_i

IRQ input (32-bit, fixed)

Configuration generics:

XIRQ_NUM_CH

Number of IRQs to implement (0..32)

XIRQ_TRIGGER_TYPE

IRQ trigger type configuration

XIRQ_TRIGGER_POLARITY

IRQ trigger polarity configuration

CPU interrupts:

fast IRQ channel 8

XIRQ (see Processor Interrupts)

The eXternal interrupt controller provides a simple mechanism to implement up to 32 processor-external interrupt request signals. The external IRQ requests are prioritized, queued and signaled to the CPU via a single CPU fast interrupt request.

Theory of Operation

The XIRQ provides up to 32 interrupt channels (configured via the XIRQ_NUM_CH generic). Each bit in the xirq_i input signal vector represents one interrupt channel. If less than 32 channels are configure, only the LSB-aligned channels are used while the remaining bits are left unconnected. An interrupt channel is enabled by setting the according bit in the interrupt enable register IER.

If the configured trigger (see below) of an enabled channel fires, the request is stored into an internal buffer. This buffer is available via the interrupt pending register IPR. A 1 in this register indicates that the corresponding interrupt channel has fired but has not yet been serviced (so it is pending). An interrupt channel can become pending if the according IER bit is set. Pending IRQs can be cleared by writing 0 to the according IPR bit. As soon as there is a least one pending interrupt in the buffer, an interrupt request is send to the CPU.

A disabled interrupt channel can still be pending if it has been triggered before clearing the according IER bit.

The CPU can determine active external interrupt request either by checking the bits in the IPR register, which show all pending interrupt channels, or by reading the interrupt source register SCR. This register provides a 5-bit wide ID (0..31) that shows the interrupt request with highest priority. Interrupt channel xirq_i(0) has highest priority and xirq_i(XIRQ_NUM_CH-1) has lowest priority. This priority assignment is fixed and cannot be altered by software. The CPU can use the ID from SCR to service IRQ according to their priority. To acknowledge the according interrupt the CPU can write 1 << SCR to IPR.

In order to clear a pending FIRQ interrupt from the external interrupt controller again, the according mip CSR bit has to be cleared. Additionally, the XIRQ interrupt has to be acknowledged by writing any value to the interrupt source register SRC.

An interrupt handler should clear the interrupt pending bit that caused the interrupt first before acknowledging the interrupt by writing the SCR register.

IRQ Trigger Configuration

The controller does not provide a configuration option to define the IRQ triggers during runtime. Instead, two generics are provided to configure the trigger of each interrupt channel before synthesis: the XIRQ_TRIGGER_TYPE and XIRQ_TRIGGER_POLARITY generic. Both generics are 32 bit wide representing one bit per interrupt channel. If less than 32 interrupt channels are implemented the remaining configuration bits are ignored.

XIRQ_TRIGGER_TYPE is used to define the general trigger type. This can be either level-triggered (0) or edge-triggered (1). XIRQ_TRIGGER_POLARITY is used to configure the polarity of the trigger: a 0 defines low-level or falling-edge and a 1 defines high-level or rising-edge.

Listing 4. Example trigger configuration: channel 0 for rising-edge, IRQ channels 1 to 31 for high-level

XIRQ_TRIGGER_TYPE     => x"00000001";
XIRQ_TRIGGER_POLARITY => x"ffffffff";

Register Map

Table 27. XIRQ register map (`struct NEORV32_XIRQ`)
Address	Name [C]	Bit(s)	R/W	Function
`0xffffff80`	`NEORV32_XIRQ.IER`	`31:0`	r/w	Interrupt enable register (one bit per channel, LSB-aligned)
`0xffffff84`	`NEORV32_XIRQ.IPR`	`31:0`	r/w	Interrupt pending register (one bit per channel, LSB-aligned); writing 0 to a bit clears according pending interrupt
`0xffffff88`	`NEORV32_XIRQ.SCR`	`4:0`	r/w	Channel id (0..31) of firing IRQ (prioritized!); writing any value will acknowledge the current interrupt
`0xffffff8c`	-	`31:0`	r/-	reserved, read as zero

2.7.20. General Purpose Timer (GPTMR)

Hardware source file(s):

neorv32_gptmr.vhd

Software driver file(s):

neorv32_gptmr.c

neorv32_gptmr.h

Top entity port:

none

Configuration generics:

IO_GPTMR_EN

implement general purpose timer when true

CPU interrupts:

fast IRQ channel 12

timer interrupt (see Processor Interrupts)

Theory of Operation

The general purpose timer module provides a simple yet universal 32-bit timer. The timer is implemented if IO_GPTMR_EN top generic is set true. It provides a 32-bit counter register (COUNT) and a 32-bit threshold register (THRES). An interrupt is generated whenever the value of the counter registers matches the one from threshold register.

The timer is enabled by setting the GPTMR_CTRL_EN bit in the device’s control register CTRL. The COUNT register will start incrementing at a programmable rate, which scales the main processor clock. The pre-scaler value is configured via the three GPTMR_CTRL_PRSCx control register bits:

Table 28. GPTMR prescaler configuration
`GPTMR_CTRL_PRSCx`	`0b000`	`0b001`	`0b010`	`0b011`	`0b100`	`0b101`	`0b110`	`0b111`
Resulting `clock_prescaler`	2	4	8	64	128	1024	2048	4096

The timer provides two operation modes that are configured by the GPTMR_CTRL_MODE control register bit: if GPTMR_CTRL_MODE is cleared (0) the timer operates in single-shot mode. As soon as COUNT matches THRES an interrupt request is generated and the timer stops operation (i.e. it stops incrementing). If GPTMR_CTRL_MODE is set (1) the timer operates in continuous mode. When COUNT matches THRES an interrupt request is generated and COUNT is automatically reset to all-zero before continuing to increment.

Disabling the timer will not clear the COUNT register. However, it can be manually reset at any time by writing zero to it.

Timer Interrupt

The timer interrupt is triggered when the timer is enabled and COUNT matches THRES. The interrupt remains pending until explicitly cleared by writing zero to the according mip CSR bit.

Register Map

Table 29. GPTMR register map (`struct NEORV32_GPTMR`)
Address	Name [C]	Bit(s), Name [C]	R/W	Function
`0xffffff60`	`NEORV32_GPTMR.CTRL`	`0` GPTMR_CTRL_EN	r/w	Timer enable flag
		`1` GPTMR_CTRL_PRSC0	r/w	3-bit clock prescaler select
		`2` GPTMR_CTRL_PRSC1	r/w
		`3` GPTMR_CTRL_PRSC2	r/w
		`4` GPTMR_CTRL_MODE	r/w	Counter mode: `0`=single-shot, `1`=continuous
`0xffffff64`	`NEORV32_GPTMR.THRES`	`31:0`	r/w	Threshold value register
`0xffffff68`	`NEORV32_GPTMR.COUNT`	`31:0`	r/w	Counter register

2.7.21. Execute In Place Module (XIP)

Hardware source file(s):

neorv32_xip.vhd

Software driver file(s):

neorv32_xip.c

neorv32_xip.h

Top entity port:

xip_csn_o

1-bit chip select, low-active

xip_clk_o

1-bit serial clock output

xip_sdi_i

1-bit serial data input

xip_sdo_o

1-bit serial data output

Configuration generics:

IO_XIP_EN

implement XIP module when true

CPU interrupts:

none

Overview

The execute in place (XIP) module is probably one of the more complicated modules of the NEORV32. The module allows to execute code (and read constant data) directly from a SPI flash memory. Hence, it uses the standard serial peripheral interface (SPI) as transfer protocol under the hood.

The XIP flash is not mapped to a specific region of the processor’s address space. Instead, the XIP module provides a programmable mapping scheme to allow a flexible user-defined mapping of the flash to any section of the address space.

From the CPU side, the modules provides two different interfaces: one for transparently accessing the XIP flash and another one for accessing the module’s control and status registers. The first interface provides a transparent gateway to the SPI flash, so the CPU can directly fetch and execute instructions (and/or read constant data). Note that this interface is read-only. Any write access will raise a bus error exception. The second interface is mapped to the processor’s IO space and allows data accesses to the XIP module’s configuration registers.

Example Program

An example program for the XIP module is available in sw/example/demo_xip.

Compiling a Program for XIP Execution

If you want to compile a program that shall be executed using the XIP module, the default NEORV32 linker script (sw/common/neorv32.ld) has to be modified: the ORIGIN attribute of the rom section needs to be adapted to the XIP page base address and the flash base address. For example if the XIP page is set to 0x20000000 and the executable is placed in the flash as offset 0x00400000 the ORIGIN attribute has to be set to the sum of both address offsets (0x20000000 + 0x00400000 = 0x20400000 → rom (rx) : ORIGIN = DEFINED(make_bootloader) ? 0xFFFF0000 : 0x20400000). See sections Linker Script, Application Makefile and Executable Image Generator for more information.

SPI Protocol

The XIP module accesses external flash using the standard SPI protocol. The module always sends data MSB-first and provides all of the standard four clock modes (0..3), which are configured via the XIP_CTRL_CPOL (clock polarity) and XIP_CTRL_CPHA (clock phase) control register bits, respectively. The clock speed of the interface (xip_clk_o) is defined by a three-bit clock pre-scaler configured using the XIP_CTRL_PRSCx bits:

Table 30. XIP prescaler configuration
`XIP_CTRL_PRSCx`	`0b000`	`0b001`	`0b010`	`0b011`	`0b100`	`0b101`	`0b110`	`0b111`
Resulting `clock_prescaler`	2	4	8	64	128	1024	2048	4096

Based on the XIP_CTRL_PRSCx configuration the actual XIP SPI clock frequency f_XIP is derived from the processor’s main clock f_main and is determined by:

f_XIP = f_main[Hz] / (2 * clock_prescaler)

Hence, the maximum XIP clock speed is f_main / 4.

High-Speed SPI mode

The module provides a "high-speed" SPI mode. In this mode the clock prescaler configuration (XIP_CTRL_PRSCx) is ignored and the SPI clock operates at f_main / 2 (half of the processor’s main clock). High speed SPI mode is enabled by setting the control register’s XIP_CTRL_HIGHSPEED bit.

The flash’s "read command", which initiates a read access, is defined by the XIP_CTRL_RD_CMD control register bits. For most SPI flash memories this is 0x03 for normal SPI mode.

Direct SPI Access

The XIP module allows to initiate direct SPI transactions. This feature can be used to configure the attached SPI flash or to perform direct read and write accesses to the flash memory. Two data registers NEORV32_XIP.DATA_LO and NEORV32_XIP.DATA_HI are provided to send up to 64-bit of SPI data. The NEORV32_XIP.DATA_HI register is write-only, so a total of 32-bit receive data is provided. Note that the module handles the chip-select line (xip_csn_o) by itself so it is not possible to construct larger consecutive transfers.

The actual data transmission size in bytes is defined by the control register’s XIP_CTRL_SPI_NBYTES bits. Any configuration from 1 byte to 8 bytes is valid. Other value will result in unpredictable behavior.

Since data is always transferred MSB-first, the data in DATA_HI:DATA_LO also has to be MSB-aligned. Receive data is available in DATA_LO only - DATA_HI is write-only. Writing to DATA_HI triggers the actual SPI transmission. The XIP_CTRL_PHY_BUSY control register flag indicates a transmission being in progress.

The chip-select line of the XIP module (xip_csn_o) will only become asserted (enabled, pulled low) if the XIP_CTRL_SPI_CSEN control register bit is set. If this bit is cleared, xip_csn_o is always disabled (pulled high).

Direct SPI mode is only possible when the module is enabled (setting XIP_CTRL_EN) but before the actual XIP mode is enabled via XIP_CTRL_XIP_EN.

When the XIP mode is not enabled, the XIP module can also be used as additional general purpose SPI controller with a transfer size of up to 64 bits per transmission.

Address Mapping

The address mapping of the XIP flash is not fixed by design. It can be mapped to any section within the processor’s address space. A section refers to one out of 16 naturally aligned 256MB wide memory segments. This segment is defined by the four most significant bits of the address (31:28) and the XIP’s segment is programmed by the four XIP_CTRL_XIP_PAGE bits in the unit’s control register. All accesses within this page will be mapped to the XIP flash.

Care must be taken when programming the page mapping to prevent access collisions with other modules (like internal memories or modules attached to the external memory interface).

Example: to map the XIP flash to the address space starting at 0x20000000 write a "2" (0b0010) to the XIP_CTRL_XIP_PAGE control register bits. Any access within 0x20000000 .. 0x2fffffff will be forwarded to the XIP flash. Note that the SPI access address might wrap around.

Using the FPGA Bitstream Flash also for XIP

You can also use the FPGA’s bitstream SPI flash for storing XIP programs. To prevent overriding the bitstream, a certain offset needs to be added to the executable (which might require linker script modifications). To execute the program stored in the SPI flash simply jump to the according base address. For example if the executable starts at flash offset 0x8000 and the XIP flash is mapped to the base address 0x20000000 then add the offset to the base address and use that as jump/call destination (=0x20008000).

Using the XIP Mode

The XIP module is globally enabled by setting the XIP_CTRL_EN bit in the device’s CTRL control register. Clearing this bit will reset the whole module and will also terminate any pending SPI transfer.

Since there is a wide variety of SPI flash components with different sizes, the XIP module allows to specify the address width of the flash: the number of address bytes used for addressing flash memory content has to be configured using the control register’s XIP_CTRL_XIP_ABYTES bits. These two bits contain the number of SPI address bytes (minus one). For example for a SPI flash with 24-bit addresses these bits have to be set to 0b10.

The transparent XIP accesses are transformed into SPI transmissions with the following format (starting with the MSB):

8-bit command: configured by the XIP_CTRL_RD_CMD control register bits ("SPI read command")
8 to 32 bits address: defined by the XIP_CTRL_XIP_ABYTES control register bits ("number of address bytes")
32-bit data: sending zeros and receiving the according flash word (32-bit)

Hence, the maximum XIP transmission size is 72-bit, which has to be configured via the XIP_CTRL_SPI_NBYTES control register bits. Note that the 72-bit transmission size is only available in XIP mode. The transmission size of the direct SPI accesses is limited to 64-bit.

When using four SPI flash address bytes, the most significant 4 bits of the address are always hardwired to zero allowing a maximum accessible flash size of 256MB.

The XIP module always fetches a full naturally aligned 32-bit word from the SPI flash. Any sub-word data masking or alignment will be performed by the CPU core logic.

The XIP mode requires the 4-byte data words in the flash to be ordered in little-endian byte order.

After the SPI properties (including the amount of address bytes and the total amount of SPI transfer bytes) and XIP address mapping are configured, the actual XIP mode can be enabled by setting the control register’s XIP_CTRL_XIP_EN bit. This will enable the "transparent SPI access port" of the module and thus, the transparent conversion of access requests into proper SPI flash transmissions. Make sure XIP_CTRL_SPI_CSEN is also set so the module can actually select/enable the attached SPI flash. No more direct SPI accesses via DATA_HI:DATA_LO are possible when the XIP mode is enabled. However, the XIP mode can be disabled at any time.

If the XIP module is disabled (XIP_CTRL_EN = 0) any accesses to the programmed XIP memory segment are ignored by the module and might be forwarded to the processor’s external memory interface (if implemented) or will cause a bus exception. If the XIP module is enabled (XIP_CTRL_EN = 1) but XIP mode is not enabled yet (XIP_CTRL_XIP_EN = '0') any access to the programmed XIP memory segment will raise a bus exception.

It is highly recommended to enable the Processor-Internal Instruction Cache (iCACHE) to cover some of the SPI access latency.

XIP Burst Mode

By default, every XIP access to the flash transmits the read command and the word-aligned address before reading four consecutive data bytes. Obviously, this introduces a certain transmission overhead. To reduces this overhead, the XIP mode allows to utilize the flash’s incrmental read function, which will return consecutive bytes when continuing to send clock cycles after a read command. Hence, the XIP module provides an optional "burst mode" to accelerate consecutive read accesses.

The XIP burst mode is enabled by setting the XIP_CTRL_BURST_EN bit in the module’s control register. The burst mode only affects the actual XIP mode and not the direct SPI mode. Hence, it should be enabled right before enabling XIP mode only. By using the XIP burst mode flash read accesses can be accelerated by up to 50%.

Register Map

Table 31. XIP Register Map (`struct NEORV32_XIP`)
Address	Name [C]	Bit(s), Name [C]	R/W	Function
`0xffffff40`	`NEORV32_XIP.CTRL`	`0` XIP_CTRL_EN	r/w	XIP module enable
		`1` XIP_CTRL_PRSC0	r/w	3-bit SPI clock prescaler select
		`2` XIP_CTRL_PRSC1	r/w
		`3` XIP_CTRL_PRSC2	r/w
		`4` XIP_CTRL_CPOL	r/w	SPI clock polarity
		`5` XIP_CTRL_CPHA	r/w	SPI clock phase
		`9:6` XIP_CTRL_SPI_NBYTES_MSB : XIP_CTRL_SPI_NBYTES_LSB	r/w	Number of bytes in SPI transaction (1..9)
		`10` XIP_CTRL_XIP_EN	r/w	XIP mode enable
		`12:11` XIP_CTRL_XIP_ABYTES_MSB : XIP_CTRL_XIP_ABYTES_LSB	r/w	Number of address bytes for XIP flash (minus 1)
		`20:13` XIP_CTRL_RD_CMD_MSB : XIP_CTRL_RD_CMD_LSB	r/w	Flash read command
		`24:21` XIP_CTRL_XIP_PAGE_MSB : XIP_CTRL_XIP_PAGE_LSB	r/w	XIP memory page
		`25` XIP_CTRL_SPI_CSEN	r/w	Allow SPI chip-select to be actually asserted when set
		`26` XIP_CTRL_HIGHSPEED	r/w	enable SPI high-speed mode (ignoring XIP_CTRL_PRSC)
		`27` XIP_CTRL_BURST_EN	r/w	Enable XIP burst mode
		`29:28`	r/-	reserved, read as zero
		`30` XIP_CTRL_PHY_BUSY	r/-	SPI PHY busy when set
		`31` XIP_CTRL_XIP_BUSY	r/-	XIP access in progress when set
`0xffffff44`	reserved	`31:0`	r/-	reserved, read as zero
`0xffffff48`	`NEORV32_XIP.DATA_LO`	`31:0`	r/w	Direct SPI access - data register low
`0xffffff4C`	`NEORV32_XIP.DATA_HI`	`31:0`	-/w	Direct SPI access - data register high; write access triggers SPI transfer

2.7.22. System Configuration Information Memory (SYSINFO)

Hardware source file(s):

neorv32_sysinfo.vhd

Software driver file(s):

neorv32.h

Top entity port:

none

Configuration generics:

most of the top’s configuration generics

CPU interrupts:

none

Theory of Operation

The SYSINFO allows the application software to determine the setting of most of the processor’s top entity generics that are related to processor/SoC configuration. All registers of this unit are read-only.

This device is always implemented - regardless of the actual hardware configuration. The bootloader as well as the NEORV32 software runtime environment require information from this device (like memory layout and default clock speed) for correct operation.

Any write access to the SYSINFO module will raise a store bus error exception. The Internal Bus Monitor (BUSKEEPER) will signal a "DEVICE ERROR" in this case.

Register Map

Table 32. SYSINFO register map (`struct NEORV32_SYSINFO`)
Address	Name [C]	Function
`0xffffffe0`	`NEORV32_SYSINFO.CLK`	clock speed in Hz (via top’s CLOCK_FREQUENCY generic)
`0xffffffe4`	`NEORV32_SYSINFO.CUSTOM_ID	custom user-defined ID (via top’s CUSTOM_ID generic)
`0xffffffe8`	`NEORV32_SYSINFO.SOC`	specific SoC configuration (see SYSINFO - SoC Configuration)
`0xffffffec`	`NEORV32_SYSINFO.CACHE`	cache configuration information (see SYSINFO - Cache Configuration)
`0xfffffff0`	`NEORV32_SYSINFO.ISPACE_BASE`	instruction address space base (via package’s `ispace_base_c` constant)
`0xfffffff4`	`NEORV32_SYSINFO.IMEM_SIZE`	internal IMEM size in bytes (via top’s MEM_INT_IMEM_SIZE generic)
`0xfffffff8`	`NEORV32_SYSINFO.DSPACE_BASE`	data address space base (via package’s `sdspace_base_c` constant)
`0xfffffffc`	`NEORV32_SYSINFO.DMEM_SIZE`	internal DMEM size in bytes (via top’s MEM_INT_DMEM_SIZE generic)

SYSINFO - SoC Configuration

Table 33. *SYSINFO_SOC* bits
Bit	Name [C]	Function
`0`	SYSINFO_SOC_BOOTLOADER	set if the processor-internal bootloader is implemented (via top’s INT_BOOTLOADER_EN generic)
`1`	SYSINFO_SOC_MEM_EXT	set if the external Wishbone bus interface is implemented (via top’s MEM_EXT_EN generic)
`2`	SYSINFO_SOC_MEM_INT_IMEM	set if the processor-internal DMEM implemented (via top’s MEM_INT_DMEM_EN generic)
`3`	SYSINFO_SOC_MEM_INT_DMEM	set if the processor-internal IMEM is implemented (via top’s MEM_INT_IMEM_EN generic)
`4`	SYSINFO_SOC_MEM_EXT_ENDIAN	set if external bus interface uses BIG-endian byte-order (via top’s MEM_EXT_BIG_ENDIAN generic)
`5`	SYSINFO_SOC_ICACHE	set if processor-internal instruction cache is implemented (via top’s ICACHE_EN generic)
`13`	SYSINFO_SOC_IS_SIM	set if processor is being simulated (⚠️ not guaranteed)
`14`	SYSINFO_SOC_OCD	set if on-chip debugger implemented (via top’s ON_CHIP_DEBUGGER_EN generic)
`15`	SYSINFO_SOC_HW_RESET	set if a dedicated hardware reset of all core registers is implemented (via package’s `dedicated_reset_c` constant)
`16`	SYSINFO_SOC_IO_GPIO	set if the GPIO is implemented (via top’s IO_GPIO_EN generic)
`17`	SYSINFO_SOC_IO_MTIME	set if the MTIME is implemented (via top’s IO_MTIME_EN generic)
`18`	SYSINFO_SOC_IO_UART0	set if the primary UART0 is implemented (via top’s IO_UART0_EN generic)
`19`	SYSINFO_SOC_IO_SPI	set if the SPI is implemented (via top’s IO_SPI_EN generic)
`20`	SYSINFO_SOC_IO_TWI	set if the TWI is implemented (via top’s IO_TWI_EN generic)
`21`	SYSINFO_SOC_IO_PWM	set if the PWM is implemented (via top’s IO_PWM_NUM_CH generic)
`22`	SYSINFO_SOC_IO_WDT	set if the WDT is implemented (via top’s IO_WDT_EN generic)
`23`	SYSINFO_SOC_IO_CFS	set if the custom functions subsystem is implemented (via top’s IO_CFS_EN generic)
`24`	SYSINFO_SOC_IO_TRNG	set if the TRNG is implemented (via top’s IO_TRNG_EN generic)
`25`	SYSINFO_SOC_IO_SLINK	set if the SLINK is implemented (via top’s SLINK_NUM_TX and/or SLINK_NUM_RX generics)
`26`	SYSINFO_SOC_IO_UART1	set if the secondary UART1 is implemented (via top’s IO_UART1_EN generic)
`27`	SYSINFO_SOC_IO_NEOLED	set if the NEOLED is implemented (via top’s IO_NEOLED_EN generic)
`28`	SYSINFO_SOC_IO_XIRQ	set if the XIRQ is implemented (via top’s XIRQ_NUM_CH generic)
`29`	SYSINFO_SOC_IO_GPTMR	set if the GPTMR is implemented (via top’s IO_GPTMR_EN generic)
`30`	SYSINFO_SOC_IO_XIP	set if the XIP module is implemented (via top’s IO_XIP_EN generic)

SYSINFO - Cache Configuration

Bit fields in this register are set to all-zero if the according cache is not implemented.

Table 34. *SYSINFO_CACHE* bits
Bit	Name [C]	Function
`3:0`	SYSINFO_CACHE_IC_BLOCK_SIZE_3 : SYSINFO_CACHE_IC_BLOCK_SIZE_0	log2(i-cache block size in bytes), via top’s ICACHE_BLOCK_SIZE generic
`7:4`	SYSINFO_CACHE_IC_NUM_BLOCKS_3 : SYSINFO_CACHE_IC_NUM_BLOCKS_0	log2(i-cache number of cache blocks), via top’s ICACHE_NUM_BLOCKS generic
`11:9`	SYSINFO_CACHE_IC_ASSOCIATIVITY_3 : SYSINFO_CACHE_IC_ASSOCIATIVITY_0	log2(i-cache associativity), via top’s ICACHE_ASSOCIATIVITY generic
`15:12`	SYSINFO_CACHE_IC_REPLACEMENT_3 : SYSINFO_CACHE_IC_REPLACEMENT_0	i-cache replacement policy (`0001` = LRU if associativity > 0)
`32:16`	-	zero, reserved for d-cache

3. NEORV32 Central Processing Unit (CPU)

Section Structure

Architecture, Full Virtualization and RISC-V Compatibility
CPU Top Entity - Signals and CPU Top Entity - Generics
Instruction Sets and Extensions, Custom Functions Unit (CFU) and Instruction Timing
Control and Status Registers (CSRs)
Traps, Exceptions and Interrupts
Bus Interface

Key Features

32-bit little-endian, multi-cycle, in-order rv32 RISC-V CPU
Compatible to the RISC-V. Privileged Architecture - Machine ISA Version 1.13 specifications
Available Instruction Sets and Extensions:
- B - bit-manipulation instructions
- C - 16-bit compressed instructions
- I - integer base ISA (always enabled)
- E - embedded CPU version (reduced register file size)
- M - integer multiplication and division hardware
- U - less-privileged user mode
- Zfinx - single-precision floating-point unit
- Zicsr - control and status register access (privileged architecture)
- Zicntr - CPU base counters
- Zihpm - hardware performance monitors
- Zifencei - instruction stream synchronization
- Zmmul - integer multiplication hardware
- Zxcfu - custom instructions extension
- PMP - physical memory protection
- Debug - CPU Debug Mode (part of the on.chip debugger) including hardware Trigger Module
RISC-V Compatibility: Compatible to the RISC-V user specifications and a subset of the RISC-V privileged architecture specifications - passes the official RISC-V Architecture Tests (v2+)
Official RISC-V open-source architecture ID
Supports all of the machine-level Traps, Exceptions and Interrupts from the RISC-V specifications (including bus access exceptions and all unimplemented/illegal/malformed instructions)
- This is a special aspect on execution safety by Full Virtualization
- Standard RISC-V interrupts (external, timer, software) plus 16 custom fast interrupts
Optional physical memory configuration (PMP)
Optional hardware performance monitors (HPM) for application benchmarking
Separated Bus Interfaces for instruction fetch and data access

It is recommended to use the NEORV32 Processor as default top instance even if you only want to use the actual CPU. Simply disable all the processor-internal modules via the generics and you will get a "CPU wrapper" that provides a minimal CPU environment and an external bus interface (like AXI4). This setup also allows to further use the default bootloader and software framework. From this base you can start building your own SoC. Of course you can also use the CPU in it’s true stand-alone mode.

This documentation assumes the reader is familiar with the official RISC-V "User" and "Privileged Architecture" specifications.

3.1. RISC-V Compatibility

The NEORV32 CPU passes the tests of the official RISC-V Architecture Test Framework (v2.x). This framework is used to check RISC-V implementations for compatibility with the official RISC-V ISA specifications. The NEORV32 port of this test framework has been moved to a separate repository: https://github.com/stnolting/neorv32-verif

3.1.1. RISC-V Incompatibility Issues and Limitations

This list shows the currently identified issues regarding full RISC-V-compatibility.

Read-Only "Read-Write" CSRs

The NEORV32 misa and mtval CSRs are read-only - the RISC-V specs. declares these registers to be read/write. Any machine-mode write access to them is ignored and will not cause any exceptions or side-effects to maintain RISC-V compatibility.

Physical Memory Protection (PMP)

The RISC-V-compatible NEORV32 Machine Physical Memory Protection CSRs only implements the TOR (top of region) mode and only up to 16 PMP regions.

No Hardware Support of Misaligned Memory Accesses

The CPU does not support the resolution of unaligned memory access by the hardware. This is not a RISC-V-compatibility issue but an important thing to know. Any kind of unaligned memory access will raise an exception to allow a software-based emulation provided by the application.

3.2. Architecture

The NEORV32 CPU was designed from scratch based only on the official base and privileged ISA specifications. The following figure shows the simplified data path of the CPU.

The CPU implements a pipelined multi-cycle architecture: each instruction is executed as a series of consecutive micro-operations. In order to increase performance, the CPU’s front-end (instruction fetch) and back-end (instruction execution) are de-couples via a FIFO. Therefore, the front-end can already fetch new instructions while the back-end is still processing the previously-fetched instruction.

Basically, the NEORV32 CPU is somewhere between a classical pipelined architecture, where each stage requires exactly one processing cycle (if not stalled) and a classical multi-cycle architecture, which executes every single instruction (including fetch) in a series of consecutive micro-operations. The combination of these two classical design paradigms allows an increased instruction execution in contrast to a pure multi-cycle approach (due to overlapping operation of fetch and execute) at a reduced hardware footprint (due to the multi-cycle concept).

As a Von-Neumann machine, the CPU provides independent interfaces for instruction fetch and data access. However, these two bus interfaces are merged into a single processor-internal bus via a prioritizing bus switch (data accesses have higher priority). Hence, all memory addresses including peripheral devices are mapped to a single unified 32-bit address space.

3.2.1. CPU Register File

The data register file contains the general purpose “x” architecture registers. For rv32i ISA there are 32 32-bit registers (= 1024 bit total capacity) and for the rv32e ISA there are 16 32-bit registers (= 512 bit total capacity). Register zero (x0/zero) always read as zero and any write access to it is discarded.

The register file is implemented as synchronous memory with synchronous read and write accesses. Register zero is also mapped to a physical memory in the register file. By this, there is no need to add a further multiplexer to "insert" zero if reading from zero reducing logic requirements and shortening the critical path. Furthermore, the whole register file can be mapped to FPGA block RAM(s).

The memory of the register file uses two access ports: a read-only port for reading register rs2 (second source operand) and a read/write port reading registers rs1 (first source operand) or for writing processing results to register rd (destination register). Hence, a simple dual-port RAM can be used to implement the register file. From a functional point of view, read and write accesses to the register file do never occur in the same clock cycle, so no bypass logic is required at all.

3.2.2. CPU Arithmetic Logic Unit

The arithmetic/logic unit (ALU) is used for processing data from the register file and also for memory and branch address computations. All simple <<_i_base_integer_isa> data processing operations (add, and, …) are implemented as combinatorial logic requiring only a single cycle to complete. More sophisticated instructions (shift operations from the base ISA and all further ISA extensions) are processed by so-called "ALU co-processors".

The co-processors are implemented as iterative units that require several cycles to complete processing. Besides the base ISA’s shift instructions, the co-processors are used to implement all further processing-based ISA extensions (e.g. M - Integer Multiplication and Division and B - Bit-Manipulation Operations). Custom RISC-V instructions (Custom Functions Unit (CFU)) are also implemented as ALU co-processor.

3.2.3. CPU Bus Unit

The bus unit takes care of handling data memory accesses via the load and store instructions. It handles data adjustment when accessing sub-word (16-bit or 8-bit) and performs sign-extension for singed load operations. The bus unit also includes the optional includes PMP Physical Memory Protection that performs permission checks for any data and instruction (!) access.

A list of the bus interface signals and a detailed description of the protocol can be found in section Bus Interface. All bus interface signals are driven/buffered by registers; so even a complex SoC interconnection bus network will not effect maximal operation frequency.

Unaligned Accesses

The CPU does not support a hardware-based handling of unaligned memory accesses! Any unaligned access will raise a bus load/store unaligned address exception. The exception handler can be used to emulate unaligned memory accesses in software.

3.2.4. CPU Control Unit

The CPU control unit is the actual brain of the processor core as it generated all the control signals for the different CPU modules. The control unit is based on several modules (also called "engines").

Front-End

The front-end is responsible for fetching instruction data in chunks of 32-bits. This can be one aligned 32-bit instruction, two aligned 16-bit instructions or a mixture if 32-bit instructions are not aligned to 32-bit boundaries. The instruction data including control and exception information is stored to a FIFO queue - the instruction prefetch buffer (IPB). The depth of this FIFO can be configured by the CPU_IPB_ENTRIES top generic.

The FIFO allows the front-end to do "speculative" instruction fetches, as it keeps fetching the next consecutive instruction all the time. This also allows to decouple front-end (instruction fetch) and back-end (instruction execution) so both modules can operate in parallel to increase performance.

Branch Prediction

The front-end implements a very simple branch prediction (predict = always taken) that stops fetching further instruction while a branch/jump/call operation is in progress.

Back-End

Instruction data from the instruction prefetch buffer is decompressed (if the C ISA extension is enabled) and sent to the CPU back-end for actual execution. Execution is conducted by a state-machine that controls all of the CPU modules. The execution time of a instruction depends on the complexity of required operations. The minimal time for executing is 2 cycles (simple ALU operations) but can be significantly higher. The table in section Instruction Timing list the required execution times for all instructions and extensions.

Trap Controller

The trap controller handles all synchronous exceptions (caused by an instruction; e.g. an illegal instruction word) and asynchronous exceptions (= interrupts). A full list of all supported exceptions can be found in section NEORV32 Trap Listing.

CSR System

The CSR system implements all the control and status registers and also all hardware counters. See section Control and Status Registers (CSRs) for a full overview of all available CSRs.

3.3. Sleep Mode

The NEORV32 CPU provides a single sleep mode that can be entered to power-down the core by reducing dynamic switching activity.

Sleep mode in entered by executing the wfi instruction from the Zicsr Control and Status Register Access / Privileged Architecture ISA extension. When the CPU is in sleep mode, all CPU-internal operations are stopped (execution, instruction fetch, …). Note that this does not affect the operation of any peripheral/IO modules like interfaces and timers. Furthermore, the CPU will continue to buffer/enqueue all incoming interrupt requests.

The CPU will leave sleep mode as soon as any interrupt source becomes pending. This requires that interrupts are globally enabled by setting mstatus.mie and that at least one interrupt source is enabled in mie.

If sleep mode is entered without at least one enabled interrupt source the CPU will be permanently halted.

The CPU automatically wakes up from sleep mode if a debug session via the on-chip debugger is started.

3.4. Full Virtualization

Just like the RISC-V ISA the NEORV32 aims to provide maximum virtualization capabilities on CPU and SoC level to allow a high standard of execution safety. The CPU supports all traps specified by the official RISC-V specifications. ^[5] Thus, the CPU provides defined hardware fall-backs via traps for any expected and unexpected situation (e.g. executing a malformed instruction or accessing a non-allocated memory address). For any kind of trap the core is always in a defined and fully synchronized state throughout the whole architecture (i.e. there are no out-of-order operations that might have to be reverted). This allows a defined and predictable execution behavior at any time improving overall execution safety.

Execution Safety - NEORV32 Virtualization Features

Due to the acknowledged memory accesses the CPU is always sync with the memory system (i.e. there is no speculative execution / no out-of-order states).
The CPU supports all RISC-V compatible bus exceptions including access exceptions, which are triggered if an accessed address does not respond or encounters an internal device error during access.
Accessed memory addresses (plain memory, but also memory-mapped devices) need to respond within a fixed time window. Otherwise a bus access exception is raised.
The RISC-V specs. state that executing an malformed instruction results in unpredictable behavior. As an additional execution safety feature the NEORV32 CPU ensures that all unimplemented/malformed/illegal instructions do raise an illegal instruction exceptions and do not commit any state-changing operation (like writing registers or triggering memory operations).
To be continued…

3.5. CPU Top Entity - Signals

The following table shows all interface signals of the CPU top entity rtl/core/neorv32_cpu.vhd. The type of all signals is std_ulogic or std_ulogic_vector, respectively. The "Dir." column shows the signal direction seen from the CPU.

Table 35. NEORV32 CPU top entity signals
Signal	Width	Dir.	Description
Global Signals
`clk_i`	1	in	global clock line, all registers triggering on rising edge
`rstn_i`	1	in	global reset, low-active
`sleep_o`	1	out	CPU is in sleep mode when set
`debug_o`	1	out	CPU is in debug mode when set
Instruction Bus Interface
`i_bus_addr_o`	32	out	access address
`i_bus_rdata_i`	32	in	read data
`i_bus_re_o`	1	out	read request (one-shot)
`i_bus_ack_i`	1	in	bus transfer acknowledge from accessed peripheral
`i_bus_err_i`	1	in	bus transfer terminate from accessed peripheral
`i_bus_fence_o`	1	out	indicates an executed `fence.i` instruction
`i_bus_priv_o`	1	out	current effective CPU privilege level (`0` = user, `1` = machine)
Data Bus Interface
`d_bus_addr_o`	32	out	access address
`d_bus_rdata_i`	32	in	read data
`d_bus_wdata_o`	32	out	write data
`d_bus_ben_o`	4	out	byte enable
`d_bus_we_o`	1	out	write request (one-shot)
`d_bus_re_o`	1	out	read request (one-shot)
`d_bus_ack_i`	1	in	bus transfer acknowledge from accessed peripheral
`d_bus_err_i`	1	in	bus transfer terminate from accessed peripheral
`d_bus_fence_o`	1	out	indicates an executed `fence` instruction
`d_bus_priv_o`	1	out	current effective CPU privilege level (`0` = user, `1` = machine)
System Time (for `time[h]` CSR)
`time_i`	64	in	system time input from Machine System Timer (MTIME)
Interrupts, RISC-V-compatible (Traps, Exceptions and Interrupts)
`msw_irq_i`	1	in	RISC-V machine software interrupt
`mext_irq_i`	1	in	RISC-V machine external interrupt
`mtime_irq_i`	1	in	RISC-V machine timer interrupt
Interrupts, NEORV32-specific (Traps, Exceptions and Interrupts)
`firq_i`	16	in	fast interrupt request signals
Enter Debug Mode Request (On-Chip Debugger (OCD))
`db_halt_req_i`	1	in	request CPU to halt and enter debug mode

Protocol

See section Bus Interface for the instruction fetch and data access protocol.

3.6. CPU Top Entity - Generics

Most of the CPU configuration generics are a subset of the actual Processor configuration generics (see section Processor Top Entity - Generics). and are not listed here. However, the CPU provides some specific generics that are used to configure the CPU for the NEORV32 processor setup. These generics are assigned by the processor setup only and are not available for user defined configuration. The specific generics are listed below.

CPU_BOOT_ADDR

std_ulogic_vector(31 downto 0)

no default value

This address defines the reset address at which the CPU starts fetching instructions after reset. In terms of the NEORV32 processor, this generic is configured with the base address of the bootloader ROM (default) or with the base address of the processor-internal instruction memory (IMEM) if the bootloader is disabled (INT_BOOTLOADER_EN = false). See section Address Space for more information.

CPU_DEBUG_ADDR

std_ulogic_vector(31 downto 0)

no default value

This address defines the entry address for the "execution based" on-chip debugger. By default, this generic is configured with the base address of the debugger memory. See section On-Chip Debugger (OCD) for more information.

CPU_EXTENSION_RISCV_DEBUG

boolean

no default value

Implement RISC-V-compatible "debug" CPU operation mode. See section CPU Debug Mode for more information.

3.7. Instruction Sets and Extensions

The basic NEORV32 is a RISC-V rv32i architecture that provides several optional RISC-V CPU and ISA (instruction set architecture) extensions. For more information regarding the RISC-V ISA extensions please see the the RISC-V Instruction Set Manual - Volume I: Unprivileged ISA and The RISC-V Instruction Set Manual Volume II: Privileged Architecture, which are available in the projects docs/references folder.

Discovering ISA Extensions

The CPU can discover available ISA extensions via the misa & mxisa CSRs or by executing an instruction and checking for an illegal instruction exception (→ Full Virtualization).

Executing an instruction from an extension that is not supported yet or that is currently not enabled (via the according top entity generic) will raise an illegal instruction exception.

3.7.1. `B` - Bit-Manipulation Operations

The B ISA extension adds instructions for bit-manipulation operations. This extension is enabled if the CPU_EXTENSION_RISCV_B configuration generic is true. The official RISC-V specifications can be found here: https://github.com/riscv/riscv-bitmanip A copy of the spec is also available in docs/references.

The NEORV32 B ISA extension includes the following sub-extensions (according to the RISC-V bit-manipulation spec. v.093) and their corresponding instructions:

Zba - Address-generation instructions
- sh1add sh2add sh3add
Zbb - Basic bit-manipulation instructions
- andn orn xnor
- clz ctz cpop
- max maxu min minu
- sext.b sext.h zext.h
- rol ror rori
- orc.b rev8
Zbc - Carry-less multiplication instructions
- clmul clmulh clmulr
Zbs - Single-bit instructions
- bclr bclri
- bext bexti
- bext binvi
- bset bseti

By default, the bit-manipulation unit uses an iterative approach to compute shift-related operations like clz and rol. To increase performance (at the cost of additional hardware resources) the FAST_SHIFT_EN generic can be enabled to implement full-parallel logic (like barrel shifters) for all shift-related B instructions.

The B extension is frozen and officially ratified. However, there is no software support for this extension in the upstream GCC RISC-V port yet. An intrinsic library is provided to utilize the provided B extension features from C-language code (see sw/example/bitmanip_test) to circumvent this.

3.7.2. `C` - Compressed Instructions

The compressed ISA extension provides 16-bit encodings of commonly used instructions to reduce code space size. The C extension is available when the CPU_EXTENSION_RISCV_C configuration generic is true. In this case the following instructions are available:

c.addi4spn c.lw c.sw c.nop c.addi c.jal c.li c.addi16sp c.lui c.srli c.srai c.andi c.sub c.xor c.or c.and c.j c.beqz c.bnez c.slli c.lwsp c.jr c.mv c.ebreak c.jalr c.add c.swsp

When the compressed instructions extension is enabled, branches to an unaligned and uncompressed instruction require an additional instruction fetch to load the according second half-word of that instruction. The performance can be increased again by forcing a 32-bit alignment of branch target addresses. By default, this is enforced via the GCC -falign-functions=4, -falign-labels=4, -falign-loops=4 and -falign-jumps=4 compile flags (via the makefile).

3.7.3. `E` - Embedded CPU

The embedded CPU extensions reduces the size of the general purpose register file from 32 entries to 16 entries to decrease physical hardware requirements (for example block RAM). This extensions is enabled when the CPU_EXTENSION_RISCV_E configuration generic is true. Accesses to registers beyond x15 will raise and illegal instruction exception. This extension does not add any additional instructions or features.

Due to the reduced register file size an alternate toolchain ABI (ilp32e) is required.

3.7.4. `I` - Base Integer ISA

The CPU always supports the complete rv32i base integer instruction set. This base set is always enabled regardless of the setting of the remaining exceptions. The base instruction set includes the following instructions:

immediate: lui auipc
jumps: jal jalr
branches: beq bne blt bge bltu bgeu
memory: lb lh lw lbu lhu sb sh sw
alu: addi slti sltiu xori ori andi slli srli srai add sub sll slt sltu xor srl sra or and
environment: ecall ebreak fence

In order to keep the hardware footprint low, the CPU’s shift unit uses a bit-serial approach. Hence, shift operations take up to 32 cycles (plus overhead) depending on the actual shift amount. Alternatively, the shift operations can be processed completely in parallel by a fast (but large) barrel shifter if the FAST_SHIFT_EN generic is true. In that case, shift operations complete within 2 cycles (plus overhead) regardless of the actual shift amount.

Internally, the fence instruction does not perform any operation inside the CPU. It only sets the top’s d_bus_fence_o signal high for one cycle to inform the memory system a fence instruction has been executed. Any flags within the fence instruction word are ignore by the hardware.

3.7.5. `M` - Integer Multiplication and Division

Hardware-accelerated integer multiplication and division operations are available when the CPU_EXTENSION_RISCV_M configuration generic is true. In this case the following instructions are available:

multiplication: mul mulh mulhsu mulhu
division: div divu rem remu

By default, multiplication and division operations are executed in a bit-serial approach. Alternatively, the multiplier core can be implemented using DSP blocks if the FAST_MUL_EN generic is true allowing faster execution. Multiplications and divisions always require a fixed amount of cycles to complete - regardless of the input operands.

Regardless of the setting of the FAST_MUL_EN generic multiplication and division instructions operate independently of the input operands. Hence, there is no early completion of multiply by one/zero and divide by zero operations.

3.7.6. `Zmmul` - Integer Multiplication

This is a sub-extension of the M ISA extension. It implements the multiplication-only operations of the M extensions and is intended for size-constrained setups that require hardware-based integer multiplications but not hardware-based divisions, which will be computed entirely in software. This extension requires only ~50% of the hardware utilization of the "full" M extension. It is implemented if the CPU_EXTENSION_RISCV_Zmmul configuration generic is true.

multiplication: mul mulh mulhsu mulhu

If Zmmul is enabled, executing any division instruction from the M ISA extension (div, divu, rem, remu) will raise an illegal instruction exception.

Note that M and Zmmul extensions cannot be enabled at the same time.

If your RISC-V GCC toolchain does not (yet) support the _Zmmul ISA extensions, it can be "emulated" using a rv32im machine architecture and setting the -mno-div compiler flag (example $ make MARCH=rv32im USER_FLAGS+=-mno-div clean_all exe).

3.7.7. `U` - Less-Privileged User Mode

In addition to the basic (and highest-privileged) machine-mode, the user-mode ISA extensions adds a second less-privileged operation mode. It is implemented if the CPU_EXTENSION_RISCV_U configuration generic is true. Code executed in user-mode cannot access machine-mode CSRs. Furthermore, user-mode access to the address space (like peripheral/IO devices) can be constrained via the physical memory protection (PMP). Any kind of privilege rights violation will raise an exception to allow Full Virtualization.

Additional CSRs:

mcounteren - machine counter enable to constrain user-mode access to timer/counter CSRs

3.7.8. `X` - NEORV32-Specific (Custom) Extensions

The NEORV32-specific extensions are always enabled and are indicated by the set X bit in the misa CSR.

The most important points of the NEORV32-specific extensions are: * The CPU provides 16 fast interrupt interrupts (FIRQ), which are controlled via custom bits in the mie and mip CSRs. These extensions are mapped to CSR bits, that are available for custom use according to the RISC-V specs. Also, custom trap codes for mcause are implemented. * All undefined/unimplemented/malformed/illegal instructions do raise an illegal instruction exception (see Full Virtualization). * There are NEORV32-Specific CSRs.

3.7.9. `Zfinx` Single-Precision Floating-Point Operations

The Zfinx floating-point extension is an alternative of the standard F floating-point ISA extension. The Zfinx extensions also uses the integer register file x to store and operate on floating-point data instead of a dedicated floating-point register file (hence, F-in-x). Thus, the Zfinx extension requires less hardware resources and features faster context changes. This also implies that there are NO dedicated f register file-related load/store or move instructions. The official RISC-V specifications can be found here: https://github.com/riscv/riscv-zfinx

The NEORV32 floating-point unit used by the Zfinx extension is compatible to the IEEE-754 specifications.

The Zfinx extensions only supports single-precision (.s instruction suffix), so it is a direct alternative to the F extension. The Zfinx extension is implemented when the CPU_EXTENSION_RISCV_Zfinx configuration generic is true. In this case the following instructions and CSRs are available:

conversion: fcvt.s.w fcvt.s.wu fcvt.w.s fcvt.wu.s
comparison: fmin.s fmax.s feq.s flt.s fle.s
computational: fadd.s fsub.s fmul.s
sign-injection: fsgnj.s fsgnjn.s fsgnjx.s
number classification: fclass.s
compressed instructions: c.flw c.flwsp c.fsw c.fswsp

Additional CSRs:

fcsr - FPU control register
frm - rounding mode control
fflags - FPU status flags

Fused multiply-add instructions f[n]m[add/sub].s are not supported! Division fdiv.s and square root fsqrt.s instructions are not supported yet!

Subnormal numbers ("de-normalized" numbers) are not supported by the NEORV32 FPU. Subnormal numbers (exponent = 0) are flushed to zero setting them to +/- 0 before entering the FPU’s processing core. If a computational instruction (like fmul.s) generates a subnormal result, the result is also flushed to zero during normalization.

The Zfinx extension is not yet officially ratified, but is expected to stay unchanged. There is no software support for the Zfinx extension in the upstream GCC RISC-V port yet. However, an intrinsic library is provided to utilize the provided Zfinx floating-point extension from C-language code (see sw/example/floating_point_test).

3.7.10. `Zicsr` Control and Status Register Access / Privileged Architecture

The CSR access instructions as well as the exception and interrupt system (= the privileged architecture) is implemented when the CPU_EXTENSION_RISCV_Zicsr configuration generic is true.

If the Zicsr extension is disabled the CPU does not provide any privileged architecture features at all! In order to provide the full set of privileged functions that are required to run more complex tasks like operating system and to allow a secure execution environment the Zicsr extension should be always enabled.

In this case the following instructions are available:

CSR access: csrrw csrrs csrrc csrrwi csrrsi csrrci
environment: mret wfi

If rd=x0 for the csrrw[i] instructions there will be no actual read access to the according CSR. However, access privileges are still enforced so these instruction variants do cause side-effects (the RISC-V spec. state that these combinations "shall not cause any side-effects").

wfi Instruction

The wfi instruction is used to enter Sleep Mode. Executing the wfi instruction in user-mode will raise an illegal instruction exception if mstatus`.TW` is set.

3.7.11. `Zicntr` CPU Base Counters

The Zicntr ISA extension adds the basic cycle [m]cycle[h]), instruction-retired ([m]instret[h]) and time (time[h]) counters. This extensions is stated as mandatory by the RISC-V spec. However, size-constrained setups may remove support for these counters. Section (Machine) Counter and Timer CSRs shows a list of all Zicntr-related CSRs. These are available if the Zicntr ISA extensions is enabled via the CPU_EXTENSION_RISCV_Zicntr generic.

Additional CSRs:

cycle[h], mcycle[h] - cycle counter
instret[h], minstret[h] - instructions-retired counter
time[h] - system wall-clock time

Disabling the Zicntr extension does not remove the time[h]-driving MTIME unit.

If the Zicntr ISA extension is disabled, all accesses to the according counter CSRs will raise an illegal instruction exception.

3.7.12. `Zihpm` Hardware Performance Monitors

In additions to the base cycle, instructions-retired and time counters the NEORV32 CPU provides up to 29 hardware performance monitors (HPM 3..31), which can be used to benchmark applications. Each HPM consists of an N-bit wide counter (split in a high-word 32-bit CSR and a low-word 32-bit CSR), where N is defined via the top’s HPM_CNT_WIDTH generic (0..64-bit) and a corresponding event configuration CSR. The event configuration CSR defines the architectural events that lead to an increment of the associated HPM counter. See the HPM_NUM_CNTS documentation for a list of available trigger events.

The HPM counters are available if the Zihpm ISA extensions is enabled via the CPU_EXTENSION_RISCV_Zihpm generic. The actual number of implemented HPM counters is defined by the HPM_NUM_CNTS generic.

Additional CSRs:

mhpmevent 3..31 (depending on HPM_NUM_CNTS) - event configuration CSRs
mhpmcounter[h] 3..31 (depending on HPM_NUM_CNTS) - counter CSRs

The HPM counter CSRs can only be accessed in machine-mode. Hence, the according mcounteren CSR bits are always zero and read-only. Any access from less-privileged modes will raise an illegal instruction exception.

Auto-increment of the HPMs can be deactivated individually via the mcountinhibit CSR.

3.7.13. `Zifencei` Instruction Stream Synchronization

The Zifencei CPU extension is implemented if the CPU_EXTENSION_RISCV_Zifencei configuration generic is true. It allows manual synchronization of the instruction stream via the following instruction:

fence.i

The fence.i instruction resets the CPU’s front-end (instruction fetch) and flushes the prefetch buffer. This allows a clean re-fetch of modified instructions from memory. Also, the top’s i_bus_fencei_o signal is set high for one cycle to inform the memory system (like the i-cache to perform a flush/reload. Any additional flags within the fence.i instruction word are ignore by the hardware.

3.7.14. `Zxcfu` Custom Instructions Extension (CFU)

The Zxcfu presents a NEORV32-specific custom RISC-V ISA extension (Z = sub-extension, x = platform-specific custom extension, cfu = name of the custom extension). When enabled via the CPU_EXTENSION_RISCV_Zxcfu configuration generic, this ISA extensions adds the Custom Functions Unit (CFU) to the CPU core. The CFU is a module that allows to add custom RISC-V instructions to the processor core.

The CPU is implemented as ALU co-processor and is integrated right into the CPU’s pipeline providing minimal data transfer latency as it has direct access to the core’s register file. Up to 1024 custom instructions can be implemented within the CFU. These instructions are mapped to an OPCODE space that has been explicitly reserved by the RISC-V spec for custom extensions.

Software can utilize the custom instructions by using intrinsic functions, which are inline assembly functions that behave like "regular" C functions.

For more information regarding the CFU see section Custom Functions Unit (CFU).

The CFU / Zxcfu ISA extension is intended for application-specific instructions. If you like to add more complex accelerators or interfaces that can also operate independently of the CPU take a look at the memory-mapped Custom Functions Subsystem (CFS).

3.7.15. `PMP` Physical Memory Protection

The NEORV32 physical memory protection (PMP) provides an elementary memory protection mechanism that can be used to constrain read, write and execute rights of arbitrary memory regions. The NEORV32 PMP is partly compatible to the RISC-V Privileged Architecture Specifications.

In general, the PMP can grant permissions to U mode, which by default have none, and can revoke permissions from M-mode, which by default has full permissions.

The NEORV32 PMP only supports TOR (top of region) mode, which basically is a "base-and-bound" concept, and only up to 16 PMP regions.

The physical memory protection logic is implemented if the PMP_NUM_REGIONS configuration generic is greater than zero. This generic also defines the total number of implemented configurable region registers. The minimal granularity of a protected region is defined by the PMP_MIN_GRANULARITY generic. Larger granularity will reduce hardware complexity but will also decrease the resolution. The default value is 4 bytes, which allows a minimal region size of 4 bytes.

If implemented the PMP provides the following additional CSRs:

pmpcfg 0..3 (depending on configuration) - PMP configuration registers, 4 entries per CSR
pmpaddr 0..15 (depending on configuration) - PMP address registers

PMP Example Program

A simple PMP example program can be found in sw/example/demo_pmp.

Hardware Optimization

Reducing the minimal PMP region size / granularity via the PMP_MIN_GRANULARITY top entity generic will reduce hardware utilization and also reduces impact on critical path.

3.8. Custom Functions Unit (CFU)

The Custom Functions Unit is the central part of the Zxcfu Custom Instructions Extension (CFU) and represents the actual hardware module, which is used to implement custom RISC-V instructions. The concept of the NEORV32 CFU has been highly inspired by google’s CFU-Playground.

The CFU is intended for operations that are inefficient in terms of performance, latency, energy consumption or program memory requirements when implemented in pure software. Some potential application fields and exemplary use-cases might include:

AI: sub-word / vector / SIMD operations like adding all four bytes of a 32-bit data word
Cryptographic: bit substitution and permutation
Communication: conversions like binary to gray-code
Image processing: look-up-tables for color space transformations
implementing instructions from other RISC-V ISA extensions that are not yet supported by the NEORV32

The CFU is not intended for complex and autonomous functional units that implement complete accelerators like block-based AES de-/encoding). Such accelerator can be implemented within the Custom Functions Subsystem (CFS). A comparison of all chip-internal hardware extension options is provided in the user guide section Adding Custom Hardware Modules.

3.8.1. Custom CFU Instructions - General

The custom instruction utilize a specific instruction space that has been explicitly reserved for user-defined extensions by the RISC-V specifications ("Guaranteed Non-Standard Encoding Space"). The NEORV32 CFU uses the CUSTOM0 opcode to identify custom instructions. The binary encoding of this opcode is 0001011.

The custom instructions processed by the CFU use the 32-bit R2-type RISC-V instruction format, which consists of six bit-fields:

funct7: 7-bit immediate
rs2: address of second source register
rs1: address of first source register
funct3: 3-bit immediate
rd: address of destination register
opcode: always 0001011 to identify custom instructions

Figure 8. CFU instruction format (RISC-V R2-type)

Obviously, all bit-fields including the immediates have to be static at compile time.

Custom Instructions - Exceptions

The CPU control logic can only check the CUSTOM0 opcode of the custom instructions to check if the instruction word is valid. It cannot check the funct3 and funct7 bit-fields since they are implementation-defined. Hence, a custom CFU instruction can never raise an illegal instruction exception. However, custom will raise an illegal instruction exception if the CFU is not enabled/implemented (i.e. Zxcfu ISA extension is not enabled).

The CFU operates on the two source operands and return the processing result to the destination register. The actual instruction to be performed can be defined by using the funct7 and funct3 bit fields. These immediate bit-fields can also be used to pass additional data to the CFU like offsets, look-up-tables addresses or shift-amounts. However, the actual functionality is completely user-defined.

3.8.2. Using Custom Instructions in Software

The custom instructions provided by the CFU are included into plain C code by using intrinsics. Intrinsics behave like "normal" functions but under the hood they are a set of macros that hide the complexity of inline assembly. Using such intrinsics removes the need to modify the compiler, built-in libraries and the assembler when including custom instructions.

The NEORV32 software framework provides 8 pre-defined custom instructions macros, which are defined in sw/lib/include/neorv32_cpu_cfu.h. Each intrinsic provides an implicit definition of the instruction word’s funct3 bit-field:

Listing 5. CFU instruction prototypes

neorv32_cfu_cmd0(funct7, rs1, rs2) // funct3 = 000
neorv32_cfu_cmd1(funct7, rs1, rs2) // funct3 = 001
neorv32_cfu_cmd2(funct7, rs1, rs2) // funct3 = 010
neorv32_cfu_cmd3(funct7, rs1, rs2) // funct3 = 011
neorv32_cfu_cmd4(funct7, rs1, rs2) // funct3 = 100
neorv32_cfu_cmd5(funct7, rs1, rs2) // funct3 = 101
neorv32_cfu_cmd6(funct7, rs1, rs2) // funct3 = 110
neorv32_cfu_cmd7(funct7, rs1, rs2) // funct3 = 111

Each intrinsic functions always returns a 32-bit value (the processing result). Furthermore, each intrinsic function requires three arguments:

funct7 - 7-bit immediate
rs2 - source operand 2, 32-bit
rs1 - source operand 1, 32-bit

The funct7 bit-field is used to pass a 7-bit literal to the CFU. The rs1 and rs2 arguments to pass the actual data to the CFU. These arguments can be populated with variables or literals. The following example show how to pass arguments when executing neorv32_cfu_cmd6: funct7 is set to all-zero, rs1 is given the literal 2751 and rs2 is given a variable that contains the return value from some_function().

Listing 6. CFU instruction usage example

uint32_t opb = some_function();
uint32_t res = neorv32_cfu_cmd6(0b0000000, 2751, opb);

CFU Example Program

There is a simple example program for the CFU, which shows how to use the default CFU hardware module. The example program is located in sw/example/demo_cfu.

3.8.3. Custom Instructions Hardware

The actual functionality of the CFU’s custom instruction is defined by the logic in the CFU itself. It is the responsibility of the designer to implement this logic within the CFU hardware module rtl/core/neorv32_cpu_cp_cfu.vhd.

The CFU hardware module receives the data from instruction word’s immediate bit-fields and also the operation data, which is fetched from the CPU’s register file.

Listing 7. CFU instruction data passing example

uint32_t opb = 0x12345678UL;
uint32_t res = neorv32_cfu_cmd6(0b0100111, 0x00cafe00, opb);

In this example the CFU hardware module receives the two source operands as 32-bit signal and the immediate values as 7-bit and 3-bit signals:

rs1_i (32-bit) contains the data from the rs1 register (here = 0x00cafe00)
rs2_i (32-bit) contains the data from the rs2 register (here = 0x12345678)
control.funct3 (3-bit) contains the immediate value from the funct3 bit-field (here = 0b110; "cmd6")
control.funct7 (7-bit) contains the immediate value from the funct7 bit-field (here = 0b0100111)

The CFU executes the according instruction (for example this is selected by the control.funct3 signal) and provides the operation result in the 32-bit control.result signal. The processing can be entirely combinatorial, so the result is available at the end of the current clock cycle. Processing can also take several clock cycles and may also include internal states and memories. As soon as the CFU has completed operations it sets the control.done signal high.

CFU Hardware Example & More Details

The default CFU module already implement some exemplary instructions that are used for illustration by the CFU example program. See the CFU’s VHDL source file (rtl/core/neorv32_cpu_cp_cfu.vhd), which is highly commented to explain the available signals and the handshake with the CPU pipeline.

CFU Execution Time

The CFU is not required to finish processing within a bound time. However, the designer should keep in mind that the CPU is stalled until the CFU has finished processing. This also means the CPU cannot react to pending interrupts. Nevertheless, interrupt requests will still be queued.

3.9. Instruction Timing

The instruction timing listed in the table below shows the required clock cycles for executing a certain instruction. These instruction cycles assume a bus access without additional wait states and a filled pipeline.

Average CPI (cycles per instructions) values for "real applications" like for executing the CoreMark benchmark for different CPU configurations are presented in CPU Performance.

Table 36. Clock cycles per instruction
Class	ISA	Instruction(s)	Execution cycles
ALU	`I/E`	`addi` `slti` `sltiu` `xori` `ori` `andi` `add` `sub` `slt` `sltu` `xor` `or` `and` `lui` `auipc`	2
ALU	`C`	`c.addi4spn` `c.nop` `c.addi` `c.li` `c.addi16sp` `c.lui` `c.andi` `c.sub` `c.xor` `c.or` `c.and` `c.add` `c.mv`	2
ALU	`I/E`	`slli` `srli` `srai` `sll` `srl` `sra`	3 + SA^[6]/4 + SA%4; FAST_SHIFT^[7]: 4; TINY_SHIFT^[8]: 2..32
ALU	`C`	`c.srli` `c.srai` `c.slli`	3 + SA^[9]; FAST_SHIFT^[10]:
Branches	`I/E`	`beq` `bne` `blt` `bge` `bltu` `bgeu`	Taken: 5 + (ML-1)^[11]; Not taken: 3
Branches	`C`	`c.beqz` `c.bnez`	Taken: 5 + (ML-1); Not taken: 3
Jumps / Calls	`I/E`	`jal` `jalr`	5 + (ML-1)
Jumps / Calls	`C`	`c.jal` `c.j` `c.jr` `c.jalr`	5 + (ML-1)
Memory access	`I/E`	`lb` `lh` `lw` `lbu` `lhu` `sb` `sh` `sw`	5 + (ML-2)
Memory access	`C`	`c.lw` `c.sw` `c.lwsp` `c.swsp`	5 + (ML-2)
Memory access	`A`	`lr.w` `sc.w`	5 + (ML-2)
MulDiv	`M`	`mul` `mulh` `mulhsu` `mulhu`	2+32+2; FAST_MUL^[12]: 4
MulDiv	`M`	`div` `divu` `rem` `remu`	2+32+2
System	`Zicsr`	`csrrw` `csrrs` `csrrc` `csrrwi` `csrrsi` `csrrci`	3
System	`Zicsr`	`ecall` `ebreak`	3
System	`Zicsr`+`C`	`c.break`	3
System	`Zicsr`	`wfi`	3
System	`Zicsr`	`mret` `dret`	5
Fence	`I/E`	`fence`	4 + ML
Fence	`Zifencei`	`fence.i`	4 + ML
Floating-point - artihmetic	`Zfinx`	`fadd.s`	110
Floating-point - artihmetic	`Zfinx`	`fsub.s`	112
Floating-point - artihmetic	`Zfinx`	`fmul.s`	22
Floating-point - compare	`Zfinx`	`fmin.s` `fmax.s` `feq.s` `flt.s` `fle.s`	13
Floating-point - misc	`Zfinx`	`fsgnj.s` `fsgnjn.s` `fsgnjx.s` `fclass.s`	12
Floating-point - conversion	`Zfinx`	`fcvt.w.s` `fcvt.wu.s`	47
Floating-point - conversion	`Zfinx`	`fcvt.s.w` `fcvt.s.wu`	48
Bit-manipulation - arithmetic/logic	`B(Zbb)`	`min[u]` `max[u]` `sext.b` `sext.h` `andn` `orn` `xnor` `zext`(pack) `rev8`(grevi) `orc.b`(gorci)	4
Bit-manipulation - shifts	`B(Zbb)`	`clz` `ctz`	4 + 1..32; FAST_SHIFT: 4
Bit-manipulation - shifts	`B(Zbb)`	`cpop`	4 + 32; FAST_SHIFT: 4
Bit-manipulation - shifts	`B(Zbb)`	`rol` `ror[i]`	4 + SA; FAST_SHIFT: 4
Bit-manipulation - shifted-add	`B(Zba)`	`sh1add` `sh2add` `sh3add`	4
Bit-manipulation - single-bit	`B(Zbs)`	`sbset[i]` `sbclr[i]` `sbinv[i]` `sbext[i]`	4
Bit-manipulation - carry-less multiply	`B(Zbc)`	`clmul` `clmulh` `clmulr`	4 + 32
Custom instructions (CFU)	`Zxcfu`	-	min. 4

Illegal instructions	`Zicsr`	-	min. 2

The presented values of the floating-point execution cycles are average values - obtained from 4096 instruction executions using pseudo-random input values. The execution time for emulating the instructions (using pure-software libraries) is ~17..140 times higher.

3.10. Control and Status Registers (CSRs)

The following table shows a summary of all available NEORV32 CSRs. The address field defines the CSR address for the CSR access instructions. The [ASM] name can be used for (inline) assembly code and is directly understood by the assembler/compiler. The [C] names are defined by the NEORV32 core library and can be used as immediate in plain C code. The R/W column shows whether the CSR can be read and/or written.

CSR Reset Value

Please note that some CSRs do not provide a dedicated reset. Hence, these CSRs are not initialized by a hardware reset and provide an UNDEFINED state after reset. In general, all CSRs should be explicitly initialized by software before being used.

Not Implemented CSRs / Bits

All CSR bits that are unused / not implemented / not shown are hardwired to zero. All CSRs that are not implemented (not supported or disabled) will raise an illegal instruction exception if accessed.

Debug-Mode CSRs

The CSRs related to the CPU’s debug mode (used by the On-Chip Debugger (OCD)) are not listed here as they are not accessible by "normal" software. See sections CPU Debug Mode CSRs and Trigger Module CSRs for more information about those CSRs.

Table 37. NEORV32 Control and Status Registers (CSRs)
Address	Name [ASM]	Name [C]	R/W	Function
Floating-Point CSRs
0x001	`fflags`	CSR_FFLAGS	r/w	Floating-point accrued exceptions
0x002	`frm`	CSR_FRM	r/w	Floating-point dynamic rounding mode
0x003	`fcsr`	CSR_FCSR	r/w	Floating-point control and status (`frm` + `fflags`)
Machine Configuration CSRs
0x30a	`menvcfg`	CSR_MENVCFG	r/-	Machine environment configuration register - low word
0x31a	`menvcfgh`	CSR_MENVCFGH	r/-	Machine environment configuration register - low word
Machine Trap Setup CSRs
0x300	`mstatus`	CSR_MSTATUS	r/w	Machine status register - low word
0x301	`misa`	CSR_MISA	r/-	Machine CPU ISA and extensions
0x304	`mie`	CSR_MIE	r/w	Machine interrupt enable register
0x305	`mtvec`	CSR_MTVEC	r/w	Machine trap-handler base address for ALL traps
0x306	`mcounteren`	CSR_MCOUNTEREN	r/w	Machine counter-enable register
0x310	`mstatush`	CSR_MSTATUSH	r/-	Machine status register - high word
Machine Trap Handling CSRs
0x340	`mscratch`	CSR_MSCRATCH	r/w	Machine scratch register
0x341	`mepc`	CSR_MEPC	r/w	Machine exception program counter
0x342	`mcause`	CSR_MCAUSE	r/w	Machine trap cause
0x343	`mtval`	CSR_MTVAL	r/-	Machine bad address or instruction
0x344	`mip`	CSR_MIP	r/w	Machine interrupt pending register
Machine Physical Memory Protection CSRs
0x3a0	`pmpcfg0`	CSR_PMPCFG0	r/w	Physical memory protection configuration for region 0-3
…
0x3a3	`pmpcfg3`	CSR_PMPCFG3	r/w	Physical memory protection configuration for region 11..15
0x3b0	`pmpaddr0`	CSR_PMPADDR0	r/w	Physical memory protection address register region 0
…
0x3ef	`pmpaddr15`	CSR_PMPADDR15	r/w	Physical memory protection address register region 15
(Machine) Counter and Timer CSRs
0xb00	`mcycle`	CSR_MCYCLE	r/w	Machine cycle counter low word
0xb02	`minstret`	CSR_MINSTRET	r/w	Machine instruction-retired counter low word
0xb80	`mcycle[h]`	CSR_MCYCLE	r/w	Machine cycle counter high word
0xb82	`minstret[h]`	CSR_MINSTRET	r/w	Machine instruction-retired counter high word
0xc00	`cycle`	CSR_CYCLE	r/-	Cycle counter low word
0xc01	`time`	CSR_TIME	r/-	System time (from MTIME) low word
0xc02	`instret`	CSR_INSTRET	r/-	Instruction-retired counter low word
0xc80	`cycle[h]`	CSR_CYCLEH	r/-	Cycle counter high word
0xc81	`time[h]`	CSR_TIMEH	r/-	System time (from MTIME) high word
0xc82	`instret[h]`	CSR_INSTRETH	r/-	Instruction-retired counter high word
Hardware Performance Monitors (HPM) CSRs
0x323	`mhpmevent3`	CSR_MHPMEVENT3	r/w	Machine performance-monitoring event select for counter 3
…
0x33f	`mhpmevent31`	CSR_MHPMEVENT31	r/w	Machine performance-monitoring event select for counter 31
0xb03	`mhpmcounter3`	CSR_MHPMCOUNTER3	r/w	Machine performance-monitoring counter 3 low word
…
0xb1f	`mhpmcounter31`	CSR_MHPMCOUNTER31	r/w	Machine performance-monitoring counter 31 low word
0xb83	`mhpmcounter3h`	CSR_MHPMCOUNTER3H	r/w	Machine performance-monitoring counter 3 high word
…
0xb9f	`mhpmcounter31h`	CSR_MHPMCOUNTER31H	r/w	Machine performance-monitoring counter 31 high word
Machine Counter Setup CSRs
0x320	`mcountinhibit`	CSR_MCOUNTINHIBIT	r/w	Machine counter-enable register
Machine Information CSRs
0xf11	`mvendorid`	CSR_MVENDORID	r/-	Vendor ID
0xf12	`marchid`	CSR_MARCHID	r/-	Architecture ID
0xf13	`mimpid`	CSR_MIMPID	r/-	Machine implementation ID / version
0xf14	`mhartid`	CSR_MHARTID	r/-	Machine thread ID
0xf15	`mconfigptr`	CSR_MCONFIGPTR	r/-	Machine configuration pointer register
NEORV32-Specific CSRs
0xfc0	`mxisa`	CSR_MXISA	r/-	NEORV32-specific "extended" machine CPU ISA and extensions

The following CSR sections provide a "headline" for each CSRs. It shows the 12-bit CSR address, the assembly name of the CSR, a short description and the ISA extension(s) that are required for implementing the according CSR.

3.10.1. Floating-Point CSRs

`fflags`

0x001

fflags - Floating-point accrued exceptions

Zicsr + Zfinx

Reset value: 0x00000000

Bit

R/W

Function

31:5

r/-

reserved, writes are ignored; reads always return 0

r/w

NV: invalid operation

r/w

DZ: division by zero

r/w

OF: overflow

r/w

UF: underflow

r/w

NX: inexact

`frm`

0x002

frm - Floating-point dynamic rounding mode

Zicsr + Zfinx

Reset value: 0x00000000

Bit

R/W

Function

31:3

r/-

reserved, writes are ignored; reads always return 0

2:0

r/w

Rounding mode

`fcsr`

0x003

fcsr - Floating-point control and status register

Zicsr + Zfinx

Reset value: 0x00000000

Bit R/W Function

31:6

r/-

reserved, writes are ignored; reads always return 0

7:5

r/w

Rounding mode (frm)

4:0

r/w

Accrued exception flags (fflags)

3.10.2. Machine Configuration CSRs

`menvcfg`

0x30a

menvcfg - Machine environment configuration register

Zicsr + U

Reset value: 0x00000000

The features of this CSR are not implemented yet. The register is read-only and always returns zero.

`menvcfgh`

0x31a

menvcfgh - Machine environment configuration register - high word

Zicsr + U

Reset value: 0x00000000

The features of this CSR are not implemented yet. The register is read-only and always returns zero.

3.10.3. Machine Trap Setup CSRs

`mstatus`

0x300

mstatus - Machine status register

Zicsr

Reset value: 0x00000000

Bit Name [C] R/W Function

CSR_MSTATUS_TW

r/w

TW: Trap on execution of wfi instruction in user mode when set; hardwired to zero if user-mode not implemented

CSR_MSTATUS_MPRV

r/w

MPRV: Effective privilege level for load/stores in machine mode; use `MPP’s as effective privilege level when set; hardwired to zero if user-mode not implemented

12:11

CSR_MSTATUS_MPP_H : CSR_MSTATUS_MPP_L

r/w

MPP: Previous machine privilege level, 11 = machine (M) level, 00 = user (U) level

CSR_MSTATUS_MPIE

r/w

MPIE: Previous machine global interrupt enable flag state

CSR_MSTATUS_MIE

r/w

MIE: Machine global interrupt enable flag

`misa`

0x301

misa - ISA and extensions

Zicsr

Reset value: defined

The NEORV32 misa CSR is read-only. Hence, active CPU extensions are entirely defined by pre-synthesis configurations and cannot be switch on/off during runtime. For compatibility reasons any write access to this CSR is simply ignored and will not cause an illegal instruction exception.

Bit

Name [C]

R/W

Function

31:30

CSR_MISA_MXL_HI_EXT : CSR_MISA_MXL_LO_EXT

r/-

MXL: 32-bit architecture indicator (always 01)

CSR_MISA_X_EXT

r/-

X: extension bit is always set to indicate custom non-standard extensions

CSR_MISA_U_EXT

r/-

U: CPU extension (user mode) available, set when CPU_EXTENSION_RISCV_U enabled

CSR_MISA_M_EXT

r/-

M: CPU extension (mul/div) available, set when CPU_EXTENSION_RISCV_M enabled

CSR_MISA_I_EXT

r/-

I: CPU base ISA, cleared when CPU_EXTENSION_RISCV_E enabled

CSR_MISA_E_EXT

r/-

E: CPU extension (embedded) available, set when CPU_EXTENSION_RISCV_E enabled

CSR_MISA_C_EXT

r/-

C: CPU extension (compressed instruction) available, set when CPU_EXTENSION_RISCV_C enabled

Machine-mode software can discover available Z* sub-extensions (like Zicsr or Zfinx) by checking the NEORV32-specific mxisa CSR.

`mie`

0x304

mie - Machine interrupt-enable register

Zicsr

Reset value: 0x00000000

Bit

Name [C]

R/W

Function

31:16

CSR_MIE_FIRQ15E : CSR_MIE_FIRQ0E

r/w

Fast interrupt channel 15..0 enable

CSR_MIE_MEIE

r/w

MEIE: Machine external interrupt enable

CSR_MIE_MTIE

r/w

MTIE: Machine timer interrupt enable (from Machine System Timer (MTIME))

CSR_MIE_MSIE

r/w

MSIE: Machine software interrupt enable

`mtvec`

0x305

mtvec - Machine trap-handler base address

Zicsr

Reset value: 0x00000000

Bit

R/W

Function

31:2

r/w

BASE: 4-byte aligned base address of trap base handler

1:0

r/-

MODE: always zero; BASE defines entry for all traps

`mcounteren`

0x306

mcounteren - Machine counter enable

Zicsr + U

Reset value: 0x00000000

Bit Name [C] R/W Function

31:3

r/-

Always zero: user-level code is not allowed to read HPM counters

CSR_MCOUNTEREN_IR

r/w

IR: User-level code is allowed to read cycle[h] CSRs when set

CSR_MCOUNTEREN_TM

r/w

TM: User-level code is allowed to read time[h] CSRs when set

CSR_MCOUNTEREN_CY

r/w

CY: User-level code is allowed to read instret[h] CSRs when set

HPM Access

Bits 3 to 31 are used to control user-level access to the Hardware Performance Monitors (HPM) CSRs. In the NEORV32 CPU these bits are hardwired to zero. Hence, user-level software cannot access the HPMs. Accordingly, the hpmcounter*[h] CSRs are not implemented and any access will raise an illegal instruction exception.

`mstatush`

0x310

mstatush - Machine status register - high word

0x342

mcause - Machine trap cause

Zicsr

Reset value: 0x00000000

Bit R/W Function

r/w

Interrupt: 1 if the trap is caused by an interrupt (0 if the trap is caused by an exception)

30:5

r/-

Reserved, read as zero

4:0

r/w

Exception code: see NEORV32 Trap Listing

See section NEORV32 Trap Listing for more information.

`mtval`

0x343

mtval - Machine bad address or instruction

Zicsr

Reset value: 0x00000000

The NEORV32 mtval CSR is read-only. However, a write access will not raise an illegal instruction exception.

Trap cause mtval content

misaligned instruction fetch address or instruction fetch access fault

address of faulting instruction fetch

misaligned load address, load access fault, misaligned store address or store access fault

program counter (= address) of faulting instruction

illegal instruction

actual instruction word of faulting instruction (decoded 32-bit instruction word if caused by a compressed instruction)

anything else including interrupts

0x00000000 (always zero)

In case an invalid compressed instruction raised an illegal instruction exception, mtval will show the according de-compressed instruction word. To get the "real" 16-bit instruction that caused the exception perform a memory load using the address stored in mepc.

See section NEORV32 Trap Listing for more information.

`mip`

0x344

mip - Machine interrupt pending

Zicsr

Reset value: 0x00000000

The mip CSR shows the currently pending interrupts. The bits for the standard RISC-V interrupts are read-only. Hence, these interrupts cannot be cleared using the mip register and must be cleared/acknowledged within the according interrupt-generating device. The upper 16 bits represent the status of the CPU’s fast interrupt request lines (FIRQ). Once triggered, these bit have to be cleared manually by writing zero to the according mip bits (in the interrupt handler routine) to clear the current interrupt request.

Bit

Name [C]

R/W

Function

31:16

CSR_MIP_FIRQ15P : CSR_MIP_FIRQ0P

r/c

FIRQxP: Fast interrupt channel 15..0 pending; has to be cleared manually by writing zero

CSR_MIP_MEIP

r/-

MEIP: Machine external interrupt pending; cleared by platform-defined mechanism

CSR_MIP_MTIP

r/-

MTIP: Machine timer interrupt pending; cleared by platform-defined mechanism

CSR_MIP_MSIP

r/-

MSIP: Machine software interrupt pending; cleared by platform-defined mechanism

RISC-V Standard Interrupts

Pending RISC-V standard machine interrupts (MEI, MTI, MSI) cannot be acknowledged/cleared by clearing the according mip bit. The interrupt source has to keep the interrupt request signal high until explicitly acknowledged (e.g. by writing to a specific memory-mapped register). However, the RISC-V standard interrupts can be cleared at any time by clearing the according mip bit(s).

FIRQ Channel Mapping

See section NEORV32-Specific Fast Interrupt Requests for the mapping of the FIRQ channels and the according interrupt-triggering processor module.

3.10.5. Machine Physical Memory Protection CSRs

The available physical memory protection logic is configured via the PMP_NUM_REGIONS and PMP_MIN_GRANULARITY top entity generics. PMP_NUM_REGIONS defines the number of implemented protection regions and thus, the implementation of the available PMP entries. See section PMP Physical Memory Protection for more information.

If trying to access an PMP-related CSR beyond PMP_NUM_REGIONS no illegal instruction exception is triggered. The according CSRs are read-only (writes are ignored) and always return zero. However, any access beyond pmpcfg3 or pmpaddr15, which are the last physically implemented registers if PMP_NUM_REGIONS == 16, will raise an illegal instruction exception as these CSRs are not implemented at all.

`pmpcfg`

0x3a0

pmpcfg0 - Physical memory protection configuration register (region 0-3)

Zicsr + PMP

…

0x3a3

pmpcfg3 - Physical memory protection configuration register (region 12-15)

Zicsr + PMP

Reset value: 0x00000000

Bit Name [C] R/W Function

PMPCFG_L

r/w

L: Lock bit, prevents further write accesses, also enforces access rights in machine-mode, can only be cleared by CPU reset

6:5

r/-

reserved, read as zero

PMPCFG_A_MSB

r/-

A: Mode configuration; only OFF (00) and TOR (01) modes are supported, any other value will map back to OFF/TOR as the MSB is hardwired to zero

PMPCFG_A_LSB

r/w

PMPCFG_X

r/w

X: Execute permission

PMPCFG_W

r/w

W: Write permission

PMPCFG_R

r/w

R: Read permission

Setting the lock bit L and setting TOR mode in pmpcfg(i) will also lock write access to pmpaddr(i-1). See the RISC-V specs. for more information.

`pmpaddr`

0x3b0

pmpaddr0 - Physical memory protection address registers (region 0)

Zicsr + PMP

…

0x3bf

pmpaddr15 - Physical memory protection address registers (region 15)

Zicsr + PMP

The actual number of implemented hardware performance monitors is configured via the HPM_NUM_CNTS top entity generic, Note that always all 28 HPM counter and configuration registers (mhpmcounter*[h] and mhpmevent*) are implemented, but only the actually configured ones are implemented as "real" physical registers - the remaining ones will be hardwired to zero.

If trying to access an HPM-related CSR beyond HPM_NUM_CNTS no illegal instruction exception is triggered. These CSRs are read-only (writes are ignored) and always return zero.

Access Privilege

The HPM system only allows machine-mode access. Hence, hpmcounter*[h] CSR are not implemented and any access (even from machine mode) will raise an illegal instruction exception. Furthermore, the according bits of mcounteren used to configure user-mode access to hpmcounter*[h] are hardwired to zero.

The total counter width of the HPMs can be configured before synthesis via the HPM_CNT_WIDTH generic (0..64-bit). If HPM_NUM_CNTS is less than 64, all remaining MSB-aligned bits are hardwired to zero.

`mhpmevent`

0x232

mhpmevent3 - Machine hardware performance monitor event select (counter 3)

Zicsr + Zihpm

…

0x33f

mhpmevent31 - Machine hardware performance monitor event select (counter 31)

Zicsr + Zihpm

Reset value: 0x00000000

The value in these CSRs define the architectural events that cause an increment of the according mhpmcounter*[h] counter(s). All available events are listed in the table below. If more than one event is selected, the according counter will increment if any of the enabled events is observed (logical OR). Note that the counter will only increment by 1 step per clock cycle even if more than one trigger event is observed.

Bit

Name [C]

R/W

Event

31:15

r/-

reserved, writes are ignored, read always return zero

HPMCNT_EVENT_ILLEGAL

r/w

illegal instruction exception

HPMCNT_EVENT_TRAP

r/w

entered trap (synchronous exception or interrupt)

HPMCNT_EVENT_TBRANCH

r/w

taken conditional branch

HPMCNT_EVENT_BRANCH

r/w

conditional branch (taken or not taken)

HPMCNT_EVENT_JUMP

r/w

unconditional jump

HPMCNT_EVENT_WAIT_LS

r/w

load/store memory wait cycle: if more than 1 cycle memory latency or high bus traffic

HPMCNT_EVENT_STORE

r/w

memory data store operation

HPMCNT_EVENT_LOAD

r/w

memory data load operation

HPMCNT_EVENT_WAIT_MC

r/w

multi-cycle ALU operation wait cycle (like iterative shift operation)

HPMCNT_EVENT_WAIT_II

r/w

instruction issue pipeline wait cycle: if more than 1 cycle latency, pipelines flush (like taken branches) / cache miss or high bus traffic

HPMCNT_EVENT_WAIT_IF

r/w

instruction fetch memory wait cycle: if more than 1 cycle memory latency, cache miss or high bus traffic

HPMCNT_EVENT_CIR

r/w

retired compressed instruction

HPMCNT_EVENT_IR

r/w

retired instruction (compressed or uncompressed)

r/-

not implemented, always read as zero

HPMCNT_EVENT_CY

r/w

active clock cycle (CPU not in sleep mode)

`mhpmcounter[h]`

0xb03

mhpmcounter3 - Machine hardware performance monitor - counter 3 low

Zicsr + Zihpm

…

0xb1f

mhpmcounter31 - Machine hardware performance monitor - counter 31 low

Zicsr + Zihpm

0xb83

mhpmcounter3h - Machine hardware performance monitor - counter 3 high

Zicsr + Zihpm

…

0xb9f

mhpmcounter31h - Machine hardware performance monitor - counter 31 high

Zicsr + Zihpm

Reset value: UNDEFINED

3.10.8. Machine Counter Setup CSRs

`mcountinhibit`

0x320

mcountinhibit - Machine counter-inhibit register

Zicsr

Reset value: 0x00000000

Bit Name [C] R/W Event

3:31

CSR_MCOUNTINHIBIT_HPM3 : CSR_MCOUNTINHIBIT_HPM31

r/w

HPMx: The mhpmcount*[h] CSRs will auto-increment according to the configured mhpmevent* selector

CSR_MCOUNTINHIBIT_CY

r/w

CY: The [m]cycle[h] CSRs will auto-increment with each clock cycle (if CPU is not in sleep state) when set

All NEORV32-specific CSRs are mapped to addresses that are explicitly reserved for custom Machine-Mode, read-only CSRs (assured by the RISC-V privileged specifications). Hence, these CSRs can only be accessed when in machine-mode. Any access outside of machine-mode will raise an illegal instruction exception.

`mxisa`

0x7c0

mxisa - Machine EXTENDED ISA and Extensions register

Zicsr + X

Reset value: defined

NEORV32-specific read-only CSR that helps machine-mode software to discover Z* sub-extensions and CPU options.

Bit Name [C] R/W Function

CSR_MXISA_FASTSHIFT

r/-

fast shifts available when set (via top’s FAST_SHIFT_EN generic)

CSR_MXISA_FASTMUL

r/-

fast multiplication available when set (via top’s FAST_MUL_EN generic)

31:22

r/-

reserved, read as zero

CSR_MXISA_HW_RESET

r/-

set if a dedicated hardware reset of all core registers is implemented (via package’s dedicated_reset_c constant)

CSR_MXISA_IS_SIM

r/-

set if CPU is being simulated (⚠️ not guaranteed)

19:11

r/-

reserved, read as zero

CSR_MXISA_DEBUGMODE

r/-

RISC-V CPU debug_mode available when set (via top’s ON_CHIP_DEBUGGER_EN generic)

CSR_MXISA_ZIHPM

r/-

Zihpm (hardware performance monitors) extension available when set (via top’s CPU_EXTENSION_RISCV_Zihpm generic)

CSR_MXISA_PMP

r/-

PMP` (physical memory protection) extension available when set (via top’s PMP_NUM_REGIONS generic)

CSR_MXISA_ZICNTR

r/-

Zicntr extension (I sub-extension) available when set - [m]cycle, [m]instret and [m]time CSRs available when set (via top’s CPU_EXTENSION_RISCV_Zicntr generic)

CSR_MXISA_ZXSCNT

r/-

Custom extension - Small CPU counters: [m]cycle & [m]instret CSRs have less than 64-bit when set (via top’s CPU_CNT_WIDTH generic)

CSR_MXISA_ZFINX

r/-

Zfinx extension (F sub-/alternative-extension: FPU using x registers) available when set (via top’s CPU_EXTENSION_RISCV_Zfinx generic)

r/-

reserved, read as zero

CSR_MXISA_ZXCFU

r/-

Zxcfu extension (custom functions unit for custom RISC-V instructions) available when set (via top’s CPU_EXTENSION_RISCV_Zxcfu generic)

CSR_MXISA_ZMMUL

r/-

Zmmul extension (M sub-extension) available when set (via top’s CPU_EXTENSION_RISCV_Zmmul generic)

CSR_MXISA_ZIFENCEI

r/-

Zifencei extension (I sub-extension) available when set (via top’s CPU_EXTENSION_RISCV_Zifencei generic)

CSR_MXISA_ZICSR

r/-

Zicsr extension (I sub-extension) available when set (via top’s CPU_EXTENSION_RISCV_Zicsr generic)

3.10.11. Traps, Exceptions and Interrupts

In this document the following nomenclature regarding traps is used:

interrupts = asynchronous exceptions
exceptions = synchronous exceptions
traps = exceptions + interrupts (synchronous or asynchronous exceptions)

Whenever an exception or interrupt is triggered, the CPU transfers control to the address stored in mtvec CSR. The cause of the according interrupt or exception can be determined via the content of mcause CSR. The address that reflects the current program counter when a trap was taken is stored to mepc CSR. Additional information regarding the cause of the trap can be retrieved from mtval CSR and the processor’s Internal Bus Monitor (BUSKEEPER) (for memory access exceptions)

The traps are prioritized. If several synchronous exceptions occur at once only the one with highest priority is triggered while all remaining exceptions are ignored. If several asynchronous exceptions (interrupts) trigger at once, the one with highest priority is serviced first while the remaining ones stay pending. After completing the interrupt handler the interrupt with the second highest priority will get serviced and so on until no further interrupts are pending.

Interrupt Signal Requirements - Standard RISC-V Interrupts

All standard RISC-V interrupts request signals are high-active. A request has to stay at high-level (=asserted) until it is explicitly acknowledged by the CPU software (for example by writing to a specific memory-mapped register).

Interrupt Signal Requirements - Fast Interrupt Requests

The NEORV32-specific FIRQ request lines are triggered by a one-shot high-level (i.e. rising edge). Each request is buffered in the CPU control unit until the channel is either disabled (by clearing the according mie CSR bit) or the request is explicitly cleared (by writing zero to the according mip CSR bit).

Instruction Atomicity

All instructions execute as atomic operations - interrupts can only trigger between two instructions. So even if there is a permanent interrupt request, exactly one instruction from the interrupt program will be executed before another interrupt handler can start. This allows program progress even if there are permanent interrupt requests.

Memory Access Exceptions

If a load operation causes any exception, the instruction’s destination register is not written at all. Load exceptions caused by a misalignment or a physical memory protection fault do not trigger a bus/memory read-operation at all. Vice versa, exceptions caused by a store address misalignment or a store physical memory protection fault do not trigger a bus/memory write-operation at all.

Custom Fast Interrupt Request Lines

As a custom extension, the NEORV32 CPU features 16 fast interrupt request (FIRQ) lines via the firq_i CPU top entity signals. These interrupts have custom configuration and status flags in the mie and mip CSRs and also provide custom trap codes in mcause. These FIRQs are reserved for NEORV32 processor-internal usage only.

NEORV32 Trap Listing

The following table shows all traps that are currently supported by the NEORV32 CPU. It also shows the prioritization and the CSR side-effects. A more detailed description of the actual trap triggering events is provided in a further table.

Asynchronous exceptions (= interrupts) set the MSB of mcause while synchronous exception (= "software exception") clear the MSB.

Table Annotations

The "Prio." column shows the priority of each trap. The highest priority is 1. The “mcause” column shows the cause ID of the according trap that is written to mcause CSR. The "[RISC-V]" columns show the interrupt/exception code value from the official RISC-V privileged architecture spec. The "ID [C]" names are defined by the NEORV32 core library (the runtime environment RTE) and can be used in plain C code. The “mepc” and “mtval” columns show the value written to mepc and mtval CSRs when a trap is triggered:

IPC - address of interrupted instruction (instruction has not been executed yet)
PC - address of instruction that caused the trap
ADR - bad memory access address that caused the trap
INST - the faulting instruction word itself
0 - zero

Table 38. NEORV32 Trap Listing
Prio.	`mcause`	[RISC-V]	ID [C]	Cause	`mepc`	`mtval`
Synchronous Exceptions
1	`0x00000000`	0.0	TRAP_CODE_I_MISALIGNED	instruction address misaligned	PC	ADR
2	`0x00000001`	0.1	TRAP_CODE_I_ACCESS	instruction access bus fault	PC	ADR
3	`0x00000002`	0.2	TRAP_CODE_I_ILLEGAL	illegal instruction	PC	INST
4	`0x0000000B`	0.11	TRAP_CODE_MENV_CALL	environment call from M-mode (`ecall`)	PC	0
5	`0x00000008`	0.8	TRAP_CODE_UENV_CALL	environment call from U-mode (`ecall`)	PC	0
6	`0x00000003`	0.3	TRAP_CODE_BREAKPOINT	software breakpoint (`ebreak`)	PC	0
7	`0x00000006`	0.6	TRAP_CODE_S_MISALIGNED	store address misaligned	PC	ADR
8	`0x00000004`	0.4	TRAP_CODE_L_MISALIGNED	load address misaligned	PC	ADR
9	`0x00000007`	0.7	TRAP_CODE_S_ACCESS	store access bus fault	PC	ADR
10	`0x00000005`	0.5	TRAP_CODE_L_ACCESS	load access bus fault	PC	ADR
Asynchronous Exceptions (Interrupts)
11	`0x80000010`	1.16	TRAP_CODE_FIRQ_0	fast interrupt request channel 0	IPC	0
12	`0x80000011`	1.17	TRAP_CODE_FIRQ_1	fast interrupt request channel 1	IPC	0
13	`0x80000012`	1.18	TRAP_CODE_FIRQ_2	fast interrupt request channel 2	IPC	0
14	`0x80000013`	1.19	TRAP_CODE_FIRQ_3	fast interrupt request channel 3	IPC	0
15	`0x80000014`	1.20	TRAP_CODE_FIRQ_4	fast interrupt request channel 4	IPC	0
16	`0x80000015`	1.21	TRAP_CODE_FIRQ_5	fast interrupt request channel 5	IPC	0
17	`0x80000016`	1.22	TRAP_CODE_FIRQ_6	fast interrupt request channel 6	IPC	0
18	`0x80000017`	1.23	TRAP_CODE_FIRQ_7	fast interrupt request channel 7	IPC	0
19	`0x80000018`	1.24	TRAP_CODE_FIRQ_8	fast interrupt request channel 8	IPC	0
20	`0x80000019`	1.25	TRAP_CODE_FIRQ_9	fast interrupt request channel 9	IPC	0
21	`0x8000001a`	1.26	TRAP_CODE_FIRQ_10	fast interrupt request channel 10	IPC	0
22	`0x8000001b`	1.27	TRAP_CODE_FIRQ_11	fast interrupt request channel 11	IPC	0
23	`0x8000001c`	1.28	TRAP_CODE_FIRQ_12	fast interrupt request channel 12	IPC	0
24	`0x8000001d`	1.29	TRAP_CODE_FIRQ_13	fast interrupt request channel 13	IPC	0
25	`0x8000001e`	1.30	TRAP_CODE_FIRQ_14	fast interrupt request channel 14	IPC	0
26	`0x8000001f`	1.31	TRAP_CODE_FIRQ_15	fast interrupt request channel 15	IPC	0
27	`0x8000000B`	1.11	TRAP_CODE_MEI	machine external interrupt (MEI)	IPC	0
28	`0x80000003`	1.3	TRAP_CODE_MSI	machine software interrupt (MSI)	IPC	0
29	`0x80000007`	1.7	TRAP_CODE_MTI	machine timer interrupt (MTI)	IPC	0

The following table provides a summarized description of the actual events for triggering a specific trap.

Table 39. NEORV32 Trap Description
Trap ID [C]	Triggered when …
TRAP_CODE_I_MISALIGNED	fetching a 32-bit instruction word that is not 32-bit-aligned (see note below!)
TRAP_CODE_I_ACCESS	bus timeout or bus error during instruction word fetch
TRAP_CODE_I_ILLEGAL	trying to execute an invalid instruction word (malformed or not supported) or on a privilege violation
TRAP_CODE_MENV_CALL	executing `ecall` instruction in machine-mode
TRAP_CODE_UENV_CALL	executing `ecall` instruction in user-mode
TRAP_CODE_BREAKPOINT	executing `ebreak` instruction
TRAP_CODE_S_MISALIGNED	storing data to an address that is not naturally aligned to the data size (byte, half, word) being stored
TRAP_CODE_L_MISALIGNED	loading data from an address that is not naturally aligned to the data size (byte, half, word) being loaded
TRAP_CODE_S_ACCESS	bus timeout or bus error during load data operation
TRAP_CODE_L_ACCESS	bus timeout or bus error during store data operation
TRAP_CODE_FIRQ_0 … TRAP_CODE_FIRQ_15	caused by interrupt-condition of processor-internal modules, see NEORV32-Specific Fast Interrupt Requests
TRAP_CODE_MEI	user-defined processor-external source (via dedicated top-entity signal)
TRAP_CODE_MSI	user-defined processor-external source (via dedicated top-entity signal)
TRAP_CODE_MTI	processor-internal machine timer overflow OR user-defined processor-external source (via dedicated top-entity signal)

Misaligned Instruction Address Exception

For 32-bit-only instructions (= no C extension) the misaligned instruction exception is raised if bit 1 of the fetch address is set (i.e. not on a 32-bit boundary). If the C extension is implemented there will never be a misaligned instruction exception at all. In both cases bit 0 of the program counter (and all related CSRs) is hardwired to zero.

Trigger Type

The RISC-V standard interrupts (MEI, MSI and MTI) are level-triggered and high-active. Once set the signal has to stay high until the interrupt request is explicitly acknowledged (e.g. writing to a memory-mapped register). The RISC-V standard interrupts can NOT be acknowledged by writing zero to the according mip CSR bit.

+ In contrast, the NEORV32 fast interrupt request channels become pending after being triggering by a rising edge. A pending FIRQ has to be explicitly cleared by writing zero to the according mip CSR bit.

3.10.12. Bus Interface

The NEORV32 CPU implements a 32-bit machine with separated instruction and data interfaces making the CPU a Harvard Architecture: the instruction fetch interface (i_bus_*) is used for fetching instructions and the data access interface (d_bus_*) is used to access data via load and store operations. Each of this interfaces can access an address space of up to 2³² bytes (4GB). The following table shows the signals of the data and instruction interfaces as seen from the CPU (*_o signals are driven by the CPU / outputs, *_i signals are read by the CPU / inputs). Both interfaces use the same protocol.

Table 40. CPU Bus Interface Signals
Signal	Width	Direction	Description
`i/d_bus_addr_o`	32	out	access address
`i/d_bus_rdata_i`	32	in	data input for read operations
`d_bus_wdata_o`	32	out	data output for write operations
`d_bus_ben_o`	4	out	byte enable signal for write operations
`d_bus_we_o`	1	out	bus write access request (one-shot)
`i/d_bus_re_o`	1	out	bus read access request (one-shot)
`i/d_bus_ack_i`	1	in	accessed peripheral indicates a successful completion of the bus transaction
`i/d_bus_err_i`	1	in	accessed peripheral indicates an error during the bus transaction
`i/d_bus_fence_o`	1	out	this signal is set for one cycle when the CPU executes an instruction/data fence operation
`i/d_bus_priv_o`	1	out	shows the effective privilege level of the bus access

Pipelined Transfers

Currently, there a no pipelined or overlapping operations implemented within the same bus interface. So only a single transfer request can be "on the fly" (pending) at once. However, this is no real drawback. The minimal possible latency for a single access is two cycles, which equals the CPU’s minimal execution latency for a single instruction.

Unaligned Memory Accesses

Please note, that the NEORV32 CPU does not support the handling of unaligned memory accesses in hardware. Any unaligned memory access will raise an exception that can can be used to handle such accesses in software.

Protocol

An actual bus request is triggered either by the *_bus_re_o signal (for reading data) or by the *_bus_we_o signal (for writing data). In case of a request, one of these signals is high for exactly one cycle. The transaction is completed when the accessed peripheral/memory either sets the *_bus_ack_i signal (→ successful completion) or the *_bus_err_i signal (→ failed completion). These bus response signal are also set only for one cycle active. An error indicated by the *_bus_err_i signal will raise the according "instruction bus access fault" or "load/store bus access fault" exception.

Minimal Response Latency

The transfer can be completed directly in the same cycle as it was initiated (via the *_bus_re_o or *_bus_we_o signal) if the peripheral sets *_bus_ack_i or *_bus_err_i high for one cycle. However, in order to shorten the critical path such "asynchronous" completion should be avoided. The default NEORV32 processor-internal modules provide exactly one cycle delay between initiation and completion of transfers.

Maximal Response Latency

Processor-internal peripherals or memories do not have to respond within one cycle after a bus request has been initiated. However, the bus transaction has to be completed (= acknowledged) within a certain response time window. This time window is defined by the global max_proc_int_response_time_c constant (default = 15 cycles; processor’s VHDL package file rtl/neorv32_package.vhd). It defines the maximum number of cycles after which an unacknowledged (*bus_ack_i or *_bus_err_i signal from the processor-internal bus both not set) processor-internal bus transfer will time out and raises a bus fault exception. The Internal Bus Monitor (BUSKEEPER) keeps track of all _internal bus transactions to enforce this time window.

If any bus operations times out (for example when accessing "address space holes") the BUSKEEPER will issue a bus error to the CPU that will raise the according instruction fetch or data access bus exception. Note that the bus keeper does not track external accesses via the external memory bus interface. However, the external memory bus interface also provides an optional bus timeout (see section Processor-External Memory Interface (WISHBONE) (AXI4-Lite)).

Interface Response

Please note that any CPU access via the data or instruction interface has to be terminated either by asserting the CPU’s *_bus_ack_i` or *_bus_err_i signal. Otherwise the CPU will be stalled permanently. The BUSKEEPER ensures that any kind of access is always properly terminated.

Exemplary Bus Accesses

Table 41. Example bus accesses: see read/write access description below

Read access	Write access

Write Access

For a write access, the access address (bus_addr_o), the data to be written (bus_wdata_o) and the byte enable signals (bus_ben_o) are set when bus_we_o goes high. These three signals are kept stable until the transaction is completed. In the example the accessed peripheral cannot answer directly in the next cycle after issuing. Here, the transaction is successful and the peripheral sets the bus_ack_i signal several cycles after issuing.

Read Access

For a read access, the accessed address (bus_addr_o) is set when bus_re_o goes high. The address is kept stable until the transaction is completed. In the example the accessed peripheral cannot answer directly in the next cycle after issuing. The peripheral hast to apply the read data right in the same cycle as the bus transaction is completed (here, the transaction is successful and the peripheral sets the bus_ack_i signal).

Access Boundaries

The instruction interface will always access memory on word (= 32-bit) boundaries even if fetching compressed (16-bit) instructions. The data interface can access memory on byte (= 8-bit), half-word (= 16- bit) and word (= 32-bit) boundaries.

Memory Barriers

Whenever the CPU executes a fence instruction, the according interface signal is set high for one cycle (d_bus_fence_o for a fence instruction; i_bus_fence_o for a fencei instruction). It is the task of the memory system to perform the necessary operations (for example a cache flush and refill).

3.10.13. CPU Hardware Reset

In order to reduce routing constraints (and by this the actual hardware requirements), most uncritical registers of the NEORV32 CPU as well as most register of the whole NEORV32 Processor do not use a dedicated hardware reset. "Uncritical registers" in this context means that the initial value of these registers after power-up/reset is not relevant for a defined CPU boot process.

Rationale

A good example to illustrate the concept of uncritical registers is a pipelined processing engine. Each stage of the engine features an N-bit data register and a 1-bit status register. The status register is set when the data in the according data register is valid. At the end of the pipeline the status register might trigger a write-back of the processing result to some kind of memory. The initial status of the data registers after power-up is irrelevant as long as the status registers are all reset to a defined value that indicates there is no valid data in the pipeline’s data register. Therefore, the pipeline data register do no require a dedicated reset as they do not control the actual operation (in contrast to the status register). This makes the pipeline data registers from this example "uncritical registers".

NEORV32 CPU Reset

In terms of the NEORV32 CPU, there are several pipeline registers, state machine registers and even some status and control registers (CSRs) that do not require a defined initial state to ensure a correct boot process. The pipeline register will get initialized by the CPU’s internal state machines, which are initialized from the main control engine that actually features a defined reset.

Reset Configuration

Most CPU-internal register do provide an asynchronous reset in the VHDL code, but the "don’t care" value (VHDL '-') is used for initialization of all uncritical registers - effectively generating a flip-flop without a reset. However, certain applications or situations (like advanced gate-level / timing simulations) might require a more deterministic reset state. For this case, a defined reset level (reset-to-low) of most CPU registers can be configured by enabling a constant in the main VHDL package file (rtl/core/neorv32_package.vhd):

-- use dedicated hardware reset value for UNCRITICAL registers --
-- FALSE=reset value is irrelevant (might simplify HW), default; TRUE=defined LOW reset value
constant dedicated_reset_c : boolean := false;

4. Software Framework

To make actual use of the NEORV32 processor, the project comes with a complete software ecosystem. This ecosystem is based on the RISC-V port of the GCC GNU Compiler Collection and consists of the following elementary parts:

Compiler Toolchain
Core Libraries
Application Makefile
Executable Image Format
Bootloader
NEORV32 Runtime Environment

A summarizing list of the most important elements of the software framework and their according files and folders is shown below:

Application start-up code

sw/common/crt0.S

Application linker script

sw/common/neorv32.ld

Core hardware driver libraries ("HAL")

sw/lib/include/ & sw/lib/source/

Central application makefile

sw/common/common.mk

Tool for generating NEORV32 executables

sw/image_gen/

Default bootloader

sw/bootloader/bootloader.c

Example programs

sw/example

Software Documentation

All core libraries and example programs are documented "in-code" using Doxygen. The documentation is automatically built and deployed to GitHub pages and is available online at https://stnolting.github.io/neorv32/sw/files.html.

Example Programs

A collection of annotated example programs, which show how to use certain CPU functions and peripheral/IO modules, can be found in sw/example.

4.1. Compiler Toolchain

The toolchain for this project is based on the free RISC-V GCC-port. You can find the compiler sources and build instructions on the official RISC-V GNU toolchain GitHub page: https://github.com/riscv/riscv-gnutoolchain.

The NEORV32 implements a 32-bit RISC-V architecture and uses a 32-bit integer and soft-float ABI by default. Make sure the toolchain / toolchain build is configured accordingly.

MARCH=rv32i
MABI=ilp32
RISCV_PREFIX=riscv32-unknown-elf-

These default configurations can be override at any times using Application Makefile variables.

More information regarding the toolchain (building from scratch or downloading the prebuilt ones) can be found in the user guides' section Software Toolchain Setup.

4.2. Core Libraries

The NEORV32 project provides a set of pre-defined C libraries that allow an easy integration of the processor/CPU features (also called "HAL" - hardware abstraction layer). All driver and runtime-related files are located in sw/lib. These are automatically included and linked by adding the following include statement:

#include <neorv32.h> // NEORV32 HAL, core and runtime libraries

C source file C header file Description

neorv32.h

main NEORV32 definitions and library file

neorv32_cfs.c

neorv32_cfs.h

HW driver (stubs) functions for the custom functions subsystem ^[13]

neorv32_cpu.c

neorv32_cpu.h

HW driver functions for the NEORV32 CPU

neorv32_cpu_cfu.c

neorv32_cpu_cfu.h

HW driver functions for the NEORV32 CFU (custom instructions)

neorv32_gpio.c

neorv32_gpio.h

HW driver functions for the GPIO

neorv32_gptmr.c

neorv32_gptmr.h

HW driver functions for the GPTRM

neorv32_intrinsics.h

macros for intrinsics & custom instructions

neorv32_mtime.c

neorv32_mtime.h

HW driver functions for the MTIME

neorv32_neoled.c

neorv32_neoled.h

HW driver functions for the NEOLED

neorv32_pwm.c

neorv32_pwm.h

HW driver functions for the PWM

neorv32_rte.c

neorv32_rte.h

NEORV32 runtime environment and helper functions

neorv32_slink.c

neorv32_slink.h

HW driver functions for the SLINK

neorv32_spi.c

neorv32_spi.h

HW driver functions for the SPI

neorv32_trng.c

neorv32_trng.h

HW driver functions for the TRNG

neorv32_twi.c

neorv32_twi.h

HW driver functions for the TWI

neorv32_uart.c

neorv32_uart.h

HW driver functions for the UART0 and UART1

neorv32_wdt.c

neorv32_wdt.h

HW driver functions for the WDT

neorv32_xip.c

neorv32_xip.h

HW driver functions for the XIP

neorv32_xirq.c

neorv32_xirq.h

HW driver functions for the XIRQ

syscalls.c

newlib "system calls"

Core Library Documentation

The doxygen-based documentation of the software framework including all core libraries is available online at https://stnolting.github.io/neorv32/sw/files.html.

CMSIS System View Description File (SVD)

A CMSIS-SVD-compatible System View Description (SVD) file including all peripherals is available in sw/svd.

4.3. Application Makefile

Application compilation is based on a single, centralized GNU makefile (sw/common/common.mk). Each project in the sw/example folder provides a makefile that just includes this central makefile.

When creating a new project, copy an existing project folder or at least the makefile to the new project folder. It is recommended to create new projects also in sw/example to keep the file dependencies. However, these dependencies can be manually configured via makefile variables if the new project is located somewhere else.

Before the makefile can be used to compile applications, the RISC-V GCC toolchain needs to be installed and the compiler’s bin folder has to be added to the system’s PATH variable. More information can be found in User Guide: Software Toolchain Setup.

The makefile is invoked by simply executing make in the console. For example:

neorv32/sw/example/blink_led$ make

4.3.1. Targets

Just executing make (or executing make help) will show the help menu listing all available targets.

$ make
<<< NEORV32 SW Application Makefile >>>
Make sure to add the bin folder of RISC-V GCC to your PATH variable.

== Targets ==
 help         - show this text
 check        - check toolchain
 info         - show makefile/toolchain configuration
 exe          - compile and generate <neorv32_exe.bin> executable for upload via default bootloader (binary file, with header)
 bin          - compile and generate <neorv32_raw_exe.bin> RAW executable file (hex char file, no header)
 hex          - compile and generate <neorv32_raw_exe.hex> RAW executable file (binary file, no header)
 image        - compile and generate VHDL IMEM boot image (for application, no header) in local folder
 install      - compile, generate and install VHDL IMEM boot image (for application, no header)
 sim          - in-console simulation using default/simple testbench and GHDL
 all          - exe + install + hex + bin
 elf_info     - show ELF layout info
 clean        - clean up project home folder
 clean_all    - clean up whole project, core libraries and image generator
 bl_image     - compile and generate VHDL BOOTROM boot image (for bootloader only, no header) in local folder
 bootloader   - compile, generate and install VHDL BOOTROM boot image (for bootloader only, no header)

== Variables ==
 USER_FLAGS   - Custom toolchain flags [append only], default ""
 EFFORT       - Optimization level, default "-Os"
 MARCH        - Machine architecture, default "rv32i"
 MABI         - Machine binary interface, default "ilp32"
 APP_INC      - C include folder(s) [append only], default "-I ."
 ASM_INC      - ASM include folder(s) [append only], default "-I ."
 RISCV_PREFIX - Toolchain prefix, default "riscv32-unknown-elf-"
 NEORV32_HOME - NEORV32 home folder, default "../../.."

4.3.2. Configuration

The compilation flow is configured via variables right at the beginning of the central makefile (sw/common/common.mk):

The makefile configuration variables can be overridden or extended directly when invoking the makefile. For example $ make MARCH=rv32ic clean_all exe overrides the default MARCH variable definitions. Permanent modifications/definitions can be made in the project-local makefile (e.g., sw/example/blink_led/makefile).

Listing 8. Default Makefile Configuration

# *****************************************************************************
# USER CONFIGURATION
# *****************************************************************************
# User's application sources (*.c, *.cpp, *.s, *.S); add additional files here
APP_SRC ?= $(wildcard ./*.c) $(wildcard ./*.s) $(wildcard ./*.cpp) $(wildcard ./*.S)
# User's application include folders (don't forget the '-I' before each entry)
APP_INC ?= -I .
# User's application include folders - for assembly files only (don't forget the '-I' before each
entry)
ASM_INC ?= -I .
# Optimization
EFFORT ?= -Os
# Compiler toolchain
RISCV_PREFIX ?= riscv32-unknown-elf-
# CPU architecture and ABI
MARCH ?= rv32i
MABI  ?= ilp32
# User flags for additional configuration (will be added to compiler flags)
USER_FLAGS ?=
# Relative or absolute path to the NEORV32 home folder
NEORV32_HOME ?= ../../..
# *****************************************************************************

Table 42. Variables Description
`APP_SRC`	The source files of the application (`.c`, `.cpp`, `.S` and `.s` files are allowed; files of these types in the project folder are automatically added via wild cards). Additional files can be added separated by white spaces
`APP_INC`	Include file folders; separated by white spaces; must be defined with `-I` prefix
`ASM_INC`	Include file folders that are used only for the assembly source files (`.S`/`.s`).
`EFFORT`	Optimization level, optimize for size (`-Os`) is default; legal values: `-O0`, `-O1`, `-O2`, `-O3`, `-Os`, `-Ofast`, …
`RISCV_PREFIX`	The toolchain prefix to be used; follows the triplet naming convention `[architecture]-[host_system]-[output]-…`
`MARCH`	The targeted RISC-V architecture/ISA; enable compiler support of optional CPU extension by adding the according extension name (e.g. `rv32im` for `M` CPU extension; see User Guide: Enabling RISC-V CPU Extensions for more information
`MABI`	Application binary interface (default: 32-bit integer ABI `ilp32`)
`USER_FLAGS`	Additional flags that will be forwarded to the compiler tools
`NEORV32_HOME`	Relative or absolute path to the NEORV32 project home folder; adapt this if the makefile/project is not in the project’s default `sw/example` folder

4.3.3. Default Compiler Flags

The following default compiler flags are used for compiling an application. These flags are defined via the CC_OPTS variable.

-Wall

Enable all compiler warnings.

-ffunction-sections

Put functions and data segment in independent sections. This allows a code optimization as dead code and unused data can be easily removed.

-nostartfiles

Do not use the default start code. Instead, the NEORV32-specific start-up code (sw/common/crt0.S) is used (pulled-in by the linker script).

-Wl,--gc-sections

Make the linker perform dead code elimination.

-lm

Include/link with math.h.

-lc

Search for the standard C library when linking.

-lgcc

Make sure we have no unresolved references to internal GCC library subroutines.

-mno-fdiv

Use built-in software functions for floating-point divisions and square roots (since the according instructions are not supported yet).

4.3.4. Custom (Compiler) Flags

Custom flags can be appended to the USER_FLAGS variable. This allows to customize the entire software framework while calling make without the need to change the makefile(s) or the linker script.

The following example will add debug symbols to the executable (-g) and will also define the linker script’s __neorv32_heap_size setting the maximal heap size to 4096 bytes:

Listing 9. Example: using the USER_FLAGS variable for customization

$ make USER_FLAGS+="-g -Wl,--__neorv32_heap_size,__heap_size=4096" clean_all exe

4.4. Executable Image Format

In order to generate an executable for th processors all source files have to be compiled, linked and packed into a final executable.

4.4.1. Linker Script

After all the application sources have been compiled, they need to be linked. For this purpose the makefile uses the NEORV32-specific linker script sw/common/neorv32.ld for linking all object files that were generated during compilation. In general, the linker script defines three memory sections: rom, ram and iodev.

Table 43. Linker script - memory sections
Memory section	Description
`ram`	Data memory address space (processor-internal/external DMEM)
`rom`	Instruction memory address space (processor-internal/external IMEM) or internal bootloader ROM
`iodev`	Processor-internal memory-mapped IO/peripheral devices address space

The iodev section is entirely defined by the processor hardware layout and should not be modified at all.

The rom section is automatically re-mapped to the processor-internal Bootloader ROM (BOOTROM) when (re-)compiling the bootloader

Each section has two main attributes: ORIGIN and LENGTH. ORIGIN defines the base address of the according section while LENGTH defines its size in bytes. The attributes are configured indirectly via variables that provide default values.

Listing 10. Linker script - section configuration

/* Default rom/ram (IMEM/DMEM) sizes */
__neorv32_rom_size = DEFINED(__neorv32_rom_size) ? __neorv32_rom_size : 2048M;
__neorv32_ram_size = DEFINED(__neorv32_ram_size) ? __neorv32_ram_size : 8K;

/* Default section base addresses - do not change this unless the hardware-defined address space layout is changed! */
__neorv32_rom_base = DEFINED(__neorv32_rom_base) ? __neorv32_rom_base : 0x00000000; /* = VHDL package's "ispace_base_c" */
__neorv32_ram_base = DEFINED(__neorv32_ram_base) ? __neorv32_ram_base : 0x80000000; /* = VHDL package's "dspace_base_c" */

Only the region sizes should be modified by the user. The base addresses are defined by the processor’s hardware (see section Address Space) and should not be altered at all. The size (and base) configuration can be edited by the user - either by explicitly changing the default values in the linker script or by overriding them when invoking make:

Listing 11. Overriding default rom size configuration (setting 4096 bytes)

$ make USER_FLAGS+="-Wl,--defsym,__neorv32_rom_size=4096" clean_all exe

neorv32_rom_base (= ORIGIN of the ram section) has to be always identical to the processor’s dspace_base_c hardware configuration. Also, neorv32_ram_base (= ORIGIN of the rom section) has to be always identical to the processor’s ispace_base_c hardware configuration.

The default configuration for the rom section assumes a maximum of 2GB logical memory address space. This size does not have to reflect the actual physical size of the instruction memory (internal IMEM and/or processor-external memory). It just provides a maximum limit. When uploading a new executable via the bootloader, the bootloader itself checks if sufficient physical instruction memory is available. If a new executable is embedded right into the internal-IMEM the synthesis tool will check, if the configured instruction memory size is sufficient (e.g., via the MEM_INT_IMEM_SIZE generic).

The linker maps all the regions from the compiled object files into five final sections: .text, .rodata, .data, .bss and .heap. These regions contain everything required for the application to run:

Table 44. Linker script - memory regions
Region	Description
`.text`	Executable instructions generated from the start-up code and all application sources.
`.rodata`	Constants (like strings) from the application; also the initial data for initialized variables.
`.data`	This section is required for the address generation of fixed (= global) variables only.
`.bss`	This section is required for the address generation of dynamic memory constructs only.
`.heap`	This section is required for the address generation of dynamic memory constructs only.

The .text and .rodata sections are mapped to processor’s instruction memory space and the .data, .bss and heap sections are mapped to the processor’s data memory space. Finally, the .text, .rodata and .data sections are extracted and concatenated into a single file main.bin.

Section Alignment

The default NEORV32 linker script aligns all regions so they start and end on a 32-bit (word) boundary. The default NEORV32 start-up code (crt0) makes use of this alignment by using word-level memory instructions to initialize the .data section and to clear the .bss section (faster!).

4.4.2. RAM Layout

The default NEORV32 linker script uses all of the defined RAM (linker script memory section ram) to create four areas. Note that depending on the application some areas might not be existent at all.

Figure 9. Default RAM Layout

Constant data (.data): The constant data section is placed right at the beginning of the RAM. For example, this section contains explicitly initialized global variables. This section is initialized by the executable.
Dynamic data (.bss): The constant data section is followed by the dynamic data section, which contains uninitialized data like global variables without explicit initialization. This section is cleared by the start-up code crt0.S.
Heap (.heap): The heap is used for dynamic memory that is managed by functions like malloc() and free(). The heap grows upwards. This section is not initialized at all.
Stack: The stack starts at the very end of the RAM at address ORIGIN(ram) + LENGTH(ram) - 4. The stack grows downwards.

There is no explicit limit for the maximum stack size as this is hard to check. However, a physical memory protection rule could be used to configure a maximum size by adding a "protection area" between stack and heap (a PMP region without any access rights).

Heap Size

The maximum size of the heap is defined by the linker script’s neorv32_heap_size variable. This variable has to be explicitly defined in order to define a heap size (and to use dynamic memory allocation at all) other than zero. The user can define the heap size while invoking the application makefile: $ USER_FLAGS+="-Wl,--defsym,neorv32_heap_size=4k" make clean_all exe (defines a heap size of 4*1024 bytes).

Heap-Stack Collisions

Take care when using dynamic memory to avoid collision of the heap and stack memory areas. There is no compile-time protection mechanism available as the actual heap and stack size are defined by runtime data. Also beware of fragmentation when using dynamic memory allocation.

4.4.3. C Standard Library

The NEORV32 is a processor for embedded applications, which is not capable of running desktop OSs like Linux (at least not without emulation). Hence, the default software framework relies on newlib as default C standard library.

RTOS Support

The NEORV32 CPU and processor do support embedded RTOS like FreeRTOS and Zephyr. See the User guide section Zephyr RTOS Support and FreeRTOS Support for more information.

Newlib provides stubs for common "system calls" (like file handling and standard input/output) that are used by other C libraries like stdio. These stubs are available in sw/source/syscalls.c and were adapted for the NEORV32 processor.

Standard Console(s)

UART0 is used to implement all the standard input, output and error consoles (STDIN, STDOUT and STDERR).

Constructors and Destructors

Constructors and destructors for plain C code or for C++ applications are supported by the software framework. See sw/example/hellp_cpp for a minimal example.

Newlib Test/Demo Program

A simple test and demo program, which uses some of newlib’s core functions (like malloc/free and read/write) is available in sw/example/demo_newlib

4.4.4. Executable Image Generator

The main.bin file is packed by the NEORV32 image generator (sw/image_gen) to generate the final executable file. The image generator can generate several types of executables selected by a flag when calling the generator:

-app_bin

Generates an executable binary file neorv32_exe.bin (including header) for UART uploading via the bootloader.

-app_img

Generates an executable VHDL memory initialization image (no header) for the processor-internal IMEM. This option generates the rtl/core/neorv32_application_image.vhd file.

-raw_hex

Generates a plain ASCII hex-char file neorv32_raw_exe.hex (no header) for custom purpose.

-raw_bin

Generates a plain binary file neorv32_raw_exe.bin (no header) for custom purpose.

-bld_img

Generates an executable VHDL memory initialization image (no header) for the processor-internal BOOT ROM. This option generates the rtl/core/neorv32_bootloader_image.vhd file.

All these options are managed by the makefile. The "normal application2 compilation flow will generate the neorv32_exe.bin executable for uploading via UART to the default NEORV32 bootloader.

Image Generator Compilation

The sources of the image generator are automatically compiled when invoking the makefile (requiring a native GCC installation).

Executable Header

The image generator add a small header to the neorv32_exe.bin executable, which consists of three 32-bit words located right at the beginning of the file. The first word of the executable is the signature word and is always 0x4788cafe. Based on this word the bootloader can identify a valid image file. The next word represents the size in bytes of the actual program image in bytes. A simple "complement" checksum of the actual program image is given by the third word. This provides a simple protection against data transmission or storage errors. Note that this executable format cannot be used for direct execution (e.g. via XIP or direct memory access).

4.4.5. Start-Up Code (crt0)

The CPU and also the processor require a minimal start-up and initialization code to bring the CPU (and the SoC) into a stable and initialized state and to initialize the C runtime environment before the actual application can be executed. This start-up code is located in sw/common/crt0.S and is automatically linked every application program and placed right before the actual application code so it gets executed right after reset.

The crt0.S start-up performs the following operations:

Disable interrupts globally by clearing mstatus (including mie).
Initialize all integer registers x1 - x31 (or just x1 - x15 when using the E CPU extension is enabled) to a defined value.
Initialize all CPU core CSRs and also install a default "dummy" trap handler for all exceptions. This is used for the very early boot phase where the application might not provide a trap handling yet.
- Set mstatus`.mpp` to 11; previous mode is machine mode.
- All interrupt sources are disabled and all pending interrupts are cleared.
Initialize the global pointer gp and the stack pointer sp according to the RAM Layout provided by the linker script. during the early boot phase.
Clear all counter CSRs and stop auto-increment.
Clear the .bss section defined by the linker script.
Copy read-only data from the .text section to the .data section to set initialized variables.
Call and execute all constructors (if there are any)
Call the application’s main function (with no arguments: argc = argv = 0).
If main returns:
- interrupts are globally disabled by clearing mstatus`.mie`.
- the return value is copied to the mscratch CSR to allow inspection by the on-chip debugger.
- call and execute all destructors (if there are any).
- an optional After-Main Handler is called (if defined at all).
- the CPU enters sleep mode (using the wfi instruction) or remains in an endless loop (if wfi "returns").

Bootloader Start-Up Code

The bootloader uses the same start-up code as any "usual" application. However, certain parts are omitted when compiling crt0 for the bootloader (like calling constructors and destructors). See the crt0 source code for more information.

After-Main Handler

If the application’s main() function actually returns, an after main handler can be executed. This handler is a "normal" function as the C runtime is still available when executed. If this handler uses any kind of peripheral/IO modules make sure these are already initialized within the application. Otherwise you have to initialize them inside the handler.

Listing 12. After-main handler - function prototype

void __neorv32_crt0_after_main(int32_t return_code);

The function has exactly one argument (return_code) that provides the return value of the application’s main function. For instance, this variable contains -1 if the main function returned with return -1;. The after-main handler itself does not provide a return value.

A simple UART output can be used to inform the user when the application’s main function returns (this example assumes that UART0 has been already properly configured in the actual application):

Listing 13. After-main handler - simple example

void __neorv32_crt0_after_main(int32_t return_code) {

  neorv32_uart0_printf("\n<RTE> main function returned with exit code %i. </RTE>\n", return_code); (1)
}

1	Use `<RTE>` here to make clear this is a message comes from the runtime environment.

The after-main handler is executed after executing all destructor functions (if there are any at all).

4.5. Bootloader

This section refers to the default bootloader from the repository. The bootloader can be customized to target application-specific scenarios using pre-defined options (see User Guide section Customizing the Internal Bootloader ) or it can be completely rewritten/replaced for custom purpose.

The NEORV32 bootloader (source code sw/bootloader/bootloader.c) provides an optional build-in firmware that allows to upload new application executables at any time without the need to re-synthesize the FPGA’s bitstream. A UART connection is used to provide a simple text-based user interface that allows to upload executables.

Furthermore, the bootloader provides options to store an executable to a processor-external SPI flash. An "auto boot" feature can optionally fetch this executable right after reset if there is no user interaction via UART. This allows to build processor setups with non-volatile application storage, which can still be updated at any time.

4.5.1. Bootloader SoC/CPU Requirements

The bootloader relies on certain CPU and SoC extensions and modules to be enabled to allow full functionality.

REQUIRED

The bootloader is implemented only if the INT_BOOTLOADER_EN is true (default). This will automatically select the CPU’s Indirect Boot boot configuration.

REQUIRED

The bootloader requires the privileged architecture CPU extension (Zicsr Control and Status Register Access / Privileged Architecture) to be enabled.

REQUIRED

At least 512 bytes of data memory (processor-internal DMEM or processor-external DMEM) are required for the bootloader’s stack.

RECOMMENDED

For user interaction via UART (like uploading executables) the primary UART (Primary Universal Asynchronous Receiver and Transmitter (UART0)) has to be implemented. Without UART0 the auto-boot via SPI is still supported but the bootloader should be customized (see User Guide).

RECOMMENDED

The default bootloader uses bit 0 of the General Purpose Input and Output Port (GPIO) output port to drive a high-active "heart beat" status LED.

RECOMMENDED

The Machine System Timer (MTIME) is used to control blinking of the status LED and also to automatically trigger the auto-boot sequence.

OPTIONAL

The SPI controller (Serial Peripheral Interface Controller (SPI)) is needed to store/load executable from external flash (for the auto boot feature).

OPTIONAL

The XIP controller (Execute In Place Module (XIP)) is needed to execute code directly from a pre-programmed SPI flash.

4.5.2. Bootloader Flash Requirements

The bootloader can access an SPI-compatible flash via the processor’s top entity SPI port. By default, the flash chip-select line is driven by spi_csn_o(0) and the SPI clock uses 1/8 of the processor’s main clock as clock frequency. The SPI flash has to support single-byte read and write operations, 24-bit addresses and at least the following standard commands:

0x02: Program page (write byte)
0x03: Read data (byte)
0x04: Write disable (for volatile status register)
0x05: Read (first) status register
0x06: Write enable (for volatile status register)
0xD8: Block erase (64kB)

Custom Configuration

Most properties (like chip select line, flash address width, SPI clock frequency, …) of the default bootloader can be reconfigured without the need to change the source code. Custom configuration can be made using command line switches when recompiling the bootloader. See the User Guide https://stnolting.github.io/neorv32/ug/#_customizing_the_internal_bootloader for more information.

4.5.3. Bootloader Console

To interact with the bootloader, connect the primary UART (UART0) signals (uart0_txd_o and uart0_rxd_o) of the processor’s top entity via a serial port (-adapter) to your computer (hardware flow control is not used so the according interface signals can be ignored.), configure your terminal program using the following settings and perform a reset of the processor.

Terminal console settings (19200-8-N-1):

19200 Baud
8 data bits
no parity bit
1 stop bit
newline on \r\n (carriage return, newline)
no transfer protocol / control flow protocol - just raw bytes

Any terminal program that can connect to a serial port should work. However, make sure the program can transfer data in raw byte mode without any protocol overhead (e.g. XMODEM). Some terminal programs struggle with transmitting files larger than 4kB (see https://github.com/stnolting/neorv32/pull/215). Try a different terminal program if uploading of a binary does not work.

The bootloader uses the LSB of the top entity’s gpio_o output port as high-active status LED. All other output pins are set to low level and won’t be altered. After reset, the status LED will start blinking at 2Hz and the following intro screen shows up:

<< NEORV32 Bootloader >>

BLDV: Jul 11 2022
HWV:  0x01070307
CID:  0x00000000
CLK:  0x05f5e100
ISA:  0x40901104 + 0xc0000783
SOC:  0x7c5f400f
IMEM: 0x00004000 bytes @0x00000000
DMEM: 0x00002000 bytes @0x80000000

Autoboot in 8s. Press any key to abort.

The start-up screen gives some brief information about the bootloader and several system configuration parameters:

BLDV

Bootloader version (built date).

HWV

Processor hardware version (the mimpid CSR); in BCD format; example: 0x01040606 = v1.4.6.6).

CID

Custom user-defined ID (via the CUSTOM_ID register from System Configuration Information Memory (SYSINFO); defined by the CUSTOM_ID generic).

CLK

Processor clock speed in Hz (via the CLK register from System Configuration Information Memory (SYSINFO); defined by the CLOCK_FREQUENCY generic).

ISA

CPU extensions (misa CSR + mxisa CSR).

SOC

Processor configuration (via the SOC register from the System Configuration Information Memory (SYSINFO); mainly defined by the IO_* and MEM_* configuration generics).

IMEM

IMEM memory base address and size in byte (via the IMEM_SIZE and ISPACE_BASE registers from the System Configuration Information Memory (SYSINFO); defined by the MEM_INT_IMEM_SIZE generic).

DMEM

DMEM memory base address and size in byte (via the DMEM_SIZE and DSPACE_BASE registers from the System Configuration Information Memory (SYSINFO); defined by the MEM_INT_DMEM_SIZE generic).

Now you have 8 seconds to press any key. Otherwise, the bootloader starts the Auto Boot Sequence. When you press any key within the 8 seconds, the actual bootloader user console starts:

<< NEORV32 Bootloader >>

BLDV: Jul 11 2022
HWV:  0x01070307
CLK:  0x05f5e100
ISA:  0x40901104 + 0xc0000783
SOC:  0x7c5f400f
IMEM: 0x00004000 bytes @0x00000000
DMEM: 0x00002000 bytes @0x80000000

Autoboot in 8s. Press any key to abort.
Aborted. (1)

Available commands:
 h: Help
 r: Restart
 u: Upload
 s: Store to flash
 l: Load from flash
 x: Boot from flash (XIP)
 e: Execute
CMD:>

1	Auto boot sequence aborted due to user console input.

The auto boot countdown is stopped and the bootloader’s user console is ready to receive one of the following commands:

h: Show the help text (again)
r: Restart the bootloader and the auto-boot sequence
u: Upload new program executable (neorv32_exe.bin) via UART into the instruction memory
s: Store executable to SPI flash at spi_csn_o(0) (little-endian byte order)
l: Load executable from SPI flash at spi_csn_o(0) (little-endian byte order)
x: Boot program directly from flash via XIP (requires a pre-programmed image)
e: Start the application, which is currently stored in the instruction memory (IMEM)

A new executable can be uploaded via UART by executing the u command. After that, the executable can be directly executed via the e command. To store the recently uploaded executable to an attached SPI flash press s. To directly load an executable from the SPI flash press l. The bootloader and the auto-boot sequence can be manually restarted via the r command.

Booting via XIP

The bootloader allows to execute an application right from flash using the Execute In Place Module (XIP) module. This requires a pre-programmed flash. The bootloader’s "store" option can not be used to program an XIP image.

Default Configuration

More information regarding the default SPI, GPIO, XIP, etc. configuration can be found in the User Guide section https://stnolting.github.io/neorv32/ug/#_customizing_the_internal_bootloader.

SPI Flash Programming

For detailed information on using an SPI flash for application storage see User Guide section Programming an External SPI Flash via the Bootloader.

4.5.4. Auto Boot Sequence

When you reset the NEORV32 processor, the bootloader waits 8 seconds for a UART console input before it starts the automatic boot sequence. This sequence tries to fetch a valid boot image from the external SPI flash, connected to SPI chip select spi_csn_o(0). If a valid boot image is found that can be successfully transferred into the instruction memory, it is automatically started. If no SPI flash is detected or if there is no valid boot image found, and error code will be shown.

4.5.5. Bootloader Error Codes

If something goes wrong during bootloader operation an error code and a short message is shown. In this case the processor is halted, the bootloader status LED is permanently activated and the processor has to be reset manually.

In many cases the error source is just temporary (like some HF spike during an UART upload). Just try again.

ERR_EXE

If you try to transfer an invalid executable (via UART or from the external SPI flash), this error message shows up. There might be a transfer protocol configuration error in the terminal program or maybe just the wrong file was selected. Also, if no SPI flash was found during an auto-boot attempt, this message will be displayed.

ERR_SIZE

Your program is way too big for the internal processor’s instructions memory. Increase the memory size or reduce your application code.

ERR_CHKS

This indicates a checksum error. Something went wrong during the transfer of the program image (upload via UART or loading from the external SPI flash). If the error was caused by a UART upload, just try it again. When the error was generated during a flash access, the stored image might be corrupted.

ERR_FLSH

This error occurs if the attached SPI flash cannot be accessed. Make sure you have the right type of flash and that it is properly connected to the NEORV32 SPI port using chip select #0.

ERR_EXC

The bootloader encountered an unexpected exception during operation. This might be caused when it tries to access peripherals that were not implemented during synthesis. Example: executing commands l or s (SPI flash operations) without the SPI module being implemented.

If an unexpected exception has been raised the bootloader prints hexadecimal debug information showing the mcause, mepc and mtval CSR values.

4.6. NEORV32 Runtime Environment

The NEORV32 software framework provides a minimal runtime environment (RTE) that takes care of a stable and safe execution environment by handling all traps (= exceptions & interrupts). The RTE simplifies trap handling by wrapping the CPU’s privileged architecture (i.e. trap-related CSRs) into a unified software API. The NEORV32 RTE is a software library (sw/lib/source/neorv32_rte.c) that is part of the default processor library set. It provides public functions via sw/lib/include/neorv32_rte.h for application interaction.

Once initialized, the RTE provides Default RTE Trap Handlers that catch all possible exceptions. These default handlers just output a message via UART to inform the user when a certain trap has been triggered. The default handlers can be overridden by the application code to install application-specific handler functions for each trap.

Using the RTE is optional but highly recommended. The RTE provides a simple and comfortable way of delegating traps to application-specific handlers while making sure that all traps (even though they are not explicitly used by the application) are handled correctly. Performance-optimized applications or embedded operating systems should not use the RTE for delegating traps.

For the C standard runtime library see section [c_standard_library].

4.6.1. RTE Operation

The RTE handles the trap-related CSRs of the CPU’s privileged architecture (Machine Trap Handling CSRs). It initializes the mtvec CSR, which provides the base entry point for all trap handlers. The address stored to this register reflects the first-level exception handler, which is provided by the NEORV32 RTE. Whenever an exception or interrupt is triggered this first-level handler is executed.

The first-level handler performs a complete context save, analyzes the source of the exception/interrupt and calls the according second-level exception handler, which takes care of the actual exception/interrupt handling. For this, the RTE manages a private look-up table to store the addresses of the according trap handlers.

After the initial RTE setup, each entry in the RTE’s trap handler’s look-up table is initialized with a Default RTE Trap Handlers. These default handler do not execute any trap-related operations - they just output a message via the primary UART (UART0) to inform the user that a trap has occurred, that is not handled by the actual application. After sending this message, the RTE tries to continue executing the user program.

4.6.2. Using the RTE

The NEORV32 is enabled by calling the RTE’s setup function:

Listing 14. Function Prototype: RTE Setup

void neorv32_rte_setup(void);

The RTE should be enabled right at the beginning of the application’s main function.

As mentioned above, all traps will only trigger execution of the RTE’s Default RTE Trap Handlers. To use application-specific handlers, which actually handle a trap, the default handlers can be overridden by installing user-defined ones:

Listing 15. Function Prototype: Installing an Application-Specific Trap Handler

int neorv32_rte_exception_install(uint8_t id, void (*handler)(void));

The first argument id defines the "trap ID" (for example a certain interrupt request) that shall be handled by the user-defined handler. The second argument *handler is the actual function that implements the trap handler. The function return zero on success and a non-zero value if an error occurred (invalid id). In this case no modifications to the RTE’s trap look-up-table will be made.

The custom handler functions need to have a specific format without any arguments an with no return value:

Listing 16. Function Prototype: Custom Trap Handler

void custom_trap_handler_xyz(void) {

  // handle exception/interrupt...
}

Custom Trap Handler Attributes

Do NOT use the interrupt attribute for the application exception handler functions! This will place a mret instruction to the end of it making it impossible to return to the first-level exception handler of the RTE core, which will cause stack corruption.

The trap identifier id specifies the according trap cause. These can be an asynchronous trap like an interrupt from one of the processor modules or a synchronous trap triggered by software-caused events like an illegal instruction or an environment call instruction. The sw/lib/include/neorv32_rte.h library files provides aliases for trap events supported by the CPU (see NEORV32 Trap Listing) that can be used when installing custom trap handler functions:

Table 45. RTE Trap ID List
ID alias [C]	Description / trap causing event
`RTE_TRAP_I_MISALIGNED`	instruction address misaligned
`RTE_TRAP_I_ACCESS`	instruction (bus) access fault
`RTE_TRAP_I_ILLEGAL`	illegal instruction
`RTE_TRAP_BREAKPOINT`	breakpoint (`ebreak` instruction)
`RTE_TRAP_L_MISALIGNED`	load address misaligned
`RTE_TRAP_L_ACCESS`	load (bus) access fault
`RTE_TRAP_S_MISALIGNED`	store address misaligned
`RTE_TRAP_S_ACCESS`	store (bus) access fault
`RTE_TRAP_MENV_CALL`	environment call from machine mode (`ecall` instruction)
`RTE_TRAP_UENV_CALL`	environment call from user mode (`ecall` instruction)
`RTE_TRAP_MTI`	machine timer interrupt
`RTE_TRAP_MEI`	machine external interrupt
`RTE_TRAP_MSI`	machine software interrupt
`RTE_TRAP_FIRQ_0`	fast interrupt channel 0
`RTE_TRAP_FIRQ_1`	fast interrupt channel 1
`RTE_TRAP_FIRQ_2`	fast interrupt channel 2
`RTE_TRAP_FIRQ_3`	fast interrupt channel 3
`RTE_TRAP_FIRQ_4`	fast interrupt channel 4
`RTE_TRAP_FIRQ_5`	fast interrupt channel 5
`RTE_TRAP_FIRQ_6`	fast interrupt channel 6
`RTE_TRAP_FIRQ_7`	fast interrupt channel 7
`RTE_TRAP_FIRQ_8`	fast interrupt channel 8
`RTE_TRAP_FIRQ_9`	fast interrupt channel 9
`RTE_TRAP_FIRQ_10`	fast interrupt channel 10
`RTE_TRAP_FIRQ_11`	fast interrupt channel 11
`RTE_TRAP_FIRQ_12`	fast interrupt channel 12
`RTE_TRAP_FIRQ_13`	fast interrupt channel 13
`RTE_TRAP_FIRQ_14`	fast interrupt channel 14
`RTE_TRAP_FIRQ_15`	fast interrupt channel 15

The following example shows how to install a custom handler (custom_mtime_irq_handler) for handling the RISC-V machine timer (MTIME) interrupt:

Listing 17. Example: Installing the MTIME IRQ Handler

neorv32_rte_exception_install(RTE_TRAP_MTI, custom_mtime_irq_handler);

User-defined trap handlers can also be un-installed. This will remove the users trap handler from the RTE core and will re-install the Default RTE Trap Handlers for the specific trap.

Listing 18. Function Prototype: Installing an Application-Specific Trap Handler

int neorv32_rte_exception_uninstall(uint8_t id);

The argument id defines the identifier of the according trap that shall be un-installed. The function return zero on success and a non-zero value if an error occurred (invalid id). In this case no modifications to the RTE’s trap look-up-table will be made.

The following example shows how to un-install the custom handler custom_mtime_irq_handler from the RISC-V machine timer (MTIME) interrupt:

Listing 19. Example: Removing the Custom MTIME IRQ Handler

neorv32_rte_exception_uninstall(RTE_TRAP_MTI);

4.6.3. Default RTE Trap Handlers

The default RTE trap handlers are executed when a certain trap is triggered that is not handled by a user-defined application-specific trap handler. These default handler will just output a message giving additional debug information via UART0 to inform the user and will try to resume normal execution of the application.

Continuing Execution

In most cases the RTE can successfully continue operation when it catches an interrupt request, which is not handled by the actual application program. However, if the RTE catches an un_handled exception like a bus access fault continuing execution will most likely fail and the CPU will crash.

Listing 20. RTE Default Trap Handler Output Example (Illegal Instruction)

<RTE> Illegal instruction @ PC=0x000002d6, MTVAL=0x00001537 </RTE>

In this example the "Illegal instruction" message describes the cause of the trap, which is an illegal instruction exception here. PC shows the current program counter value when the trap occurred and MTVAL shows additional debug information from the mtval CSR. In this case it shows the encoding of the illegal instruction.

The specific message corresponds to the trap code from the mcause CSR (see NEORV32 Trap Listing). A full list of all messages and the according mcause trap codes are shown below.

Table 46. RTE Default Trap Handler Messages and According `mcause` Values
Trap identifier	According `mcause` CSR value
"Instruction address misaligned"	`0x00000000`
"Instruction access fault"	`0x00000001`
"Illegal instruction"	`0x00000002`
"Breakpoint"	`0x00000003`
"Load address misaligned"	`0x00000004`
"Load access fault"	`0x00000005`
"Store address misaligned"	`0x00000006`
"Store access fault"	`0x00000007`
"Environment call from U-mode"	`0x00000008`
"Environment call from M-mode"	`0x0000000b`
"Machine software interrupt"	`0x80000003`
"Machine timer interrupt"	`0x80000007`
"Machine external interrupt"	`0x8000000b`
"Fast interrupt 0"	`0x80000010`
"Fast interrupt 1"	`0x80000011`
"Fast interrupt 2"	`0x80000012`
"Fast interrupt 3"	`0x80000013`
"Fast interrupt 4"	`0x80000014`
"Fast interrupt 5"	`0x80000015`
"Fast interrupt 6"	`0x80000016`
"Fast interrupt 7"	`0x80000017`
"Fast interrupt 8"	`0x80000018`
"Fast interrupt 9"	`0x80000019`
"Fast interrupt a"	`0x8000001a`
"Fast interrupt b"	`0x8000001b`
"Fast interrupt c"	`0x8000001c`
"Fast interrupt d"	`0x8000001d`
"Fast interrupt e"	`0x8000001e`
"Fast interrupt f"	`0x8000001f`
"Unknown trap cause"	not defined

Bus Access Faults

For bus access faults the RTE default trap handlers also output the error code from the Internal Bus Monitor (BUSKEEPER) to show the cause of the bus fault. One example is shown below.

Listing 21. RTE Default Trap Handler Output Example (Load Access Bus Fault)

<RTE> Load access fault [TIMEOUT_ERR] @ PC=0x00000150, MTVAL=0xFFFFFF70 </RTE>

The additional message encapsulated in [ ] shows the actual cause of the bus access fault. Three different messages are possible here:

[TIMEOUT_ERR]: The accessed memory-mapped module did not respond within the valid access time window. In Most cases this is caused by accessing a module that has not been implemented or when accessing "address space holes" (unused/unmapped addresses).
[DEVICE_ERR]: The accesses memory-mapped module asserted it’s error signal to indicate an invalid access. For example this can be caused by trying to write to read-only registers or by writing data quantities (like a byte) to devices that do not support sub-word write accesses.
[PMP_ERR]: This indicates an access right violation caused by the PMP Physical Memory Protection.

5. On-Chip Debugger (OCD)

The NEORV32 Processor features an on-chip debugger (OCD) implementing execution-based debugging that is compatible to the Minimal RISC-V Debug Specification Version 0.13.2. Please refer to this spec for in-deep information. A copy of the specification is available in docs/references/riscv-debug-release.pdf.

The NEORV32 OCD provides the following key features:

JTAG access port
run-control of the CPU: halting, single-stepping and resuming
executing arbitrary programs during debugging
accessing core registers
indirect access to the whole processor address space (via program buffer)
trigger module for hardware breakpoints
compatible with upstream OpenOCD

OCD Security Note

Access via the OCD is always authenticated (dmstatus.authenticated == 1). Hence, the whole system can always be accessed via the on-chip debugger. Currently, there is no option to disable the OCD via software. The OCD can only be disabled by disabling implementation (setting ON_CHIP_DEBUGGER_EN generic to false).

Hands-On Tutorial

A simple example on how to use NEORV32 on-chip debugger in combination with OpenOCD and the GNU debugger is shown in section Debugging using the On-Chip Debugger of the User Guide.

The NEORV32 on-chip debugger complex is based on four hardware modules:

Figure 10. NEORV32 on-chip debugger complex

Debug Transport Module (DTM) (rtl/core/neorv32_debug_dtm.vhd): External JTAG access tap to allow an external adapter to interface with the debug module(DM) using the debug module interface (dmi).
Debug Module (DM) (rtl/core/neorv32_debug_tm.vhd): Debugger control unit that is configured by the DTM via the the dmi. Form the CPU’s "point of view" this module behaves as a memory-mapped "peripheral" that can be accessed via the processor-internal bus. The memory-mapped registers provide an internal data buffer for data transfer from/to the DM, a code ROM containing the "park loop" code, a program buffer to allow the debugger to execute small programs defined by the DM and a status register that is used to communicate halt, resume and execute requests/acknowledges from/to the DM.
CPU CPU Debug Mode extension (part of`rtl/core/neorv32_cpu_control.vhd`): This extension provides the "debug execution mode" which executes the "park loop" code from the DM. The mode also provides additional CSRs.
(CPU Trigger Module (also part of`rtl/core/neorv32_cpu_control.vhd`): This module provides a single hardware breakpoint, which allows to debug code executed from ROM.)

Theory of Operation

When debugging the system using the OCD, the debugger issues a halt request to the CPU (via the CPU’s db_halt_req_i signal) to make the CPU enter debug mode. In this state, the application-defined architectural state of the system/CPU is "frozen" so the debugger can monitor and even modify it. While in debug mode, the CPU executes the "park loop" code from the code ROM of the DM. This park loop implements an endless loop, in which the CPU polls the memory-mapped status register that is controlled by the debug module (DM). The flags of these register are used to communicate requests from the DM and to acknowledge them by the CPU: trigger execution of the program buffer or resume the halted application.

5.1. Debug Transport Module (DTM)

The debug transport module (VHDL module: rtl/core/neorv32_debug_dtm.vhd) provides a JTAG test access port (TAP). The DTM is the first entity in the debug system, which connects and external debugger via JTAG to the next debugging entity: the debug module (DM). External JTAG access is provided by the following top-level ports.

Table 47. JTAG top level signals
Name	Width	Direction	Description
`jtag_trst_i`	1	in	TAP reset (low-active); this signal is optional, make sure to pull it high if it is not used
`jtag_tck_i`	1	in	serial clock
`jtag_tdi_i`	1	in	serial data input
`jtag_tdo_o`	1	out	serial data output
`jtag_tms_i`	1	in	mode select

Maximum JTAG Clock

All JTAG signals are synchronized to the processor clock domain by oversampling them in DTM. Hence, no additional clock domain is required for the DTM. However, this constraints the maximal JTAG clock frequency (jtag_tck_i) to be less than or equal to 1/5 of the processor clock frequency (clk_i).

If the on-chip debugger is disabled (ON_CHIP_DEBUGGER_EN = false) the JTAG serial input jtag_tdi_i is directly connected to the JTAG serial output jtag_tdo_o to maintain the JTAG chain.

The NEORV32 JTAG TAP does not provide a boundary check function (yet?). Hence, physical device pins cannot be accessed.

The DTM uses the "debug module interface (dmi)" to access the actual debug module (DM). These accesses are controlled by TAP-internal registers. Each registers is selected by the JTAG instruction register (IR) and accessed through the JTAG data register (DR).

The DTM’s instruction and data registers can be accessed using OpenOCDs irscan and drscan commands. The RISC-V port of OpenOCD also provides low-level command (riscv dmi_read & riscv dmi_write) to access the dmi debug module interface.

JTAG access is conducted via the instruction register IR, which is 5 bit wide, and several data registers DR with different sizes. The data registers are accessed by writing the according address to the instruction register. The following table shows the available data registers:

Table 48. JTAG TAP registers
Address (via `IR`)	Name	Size [bits]	Description
`00001`	`IDCODE`	32	identifier, default: `0x0CAFE001` (configurable via package’s `jtag_tap_idcode_*` constants)
`10000`	`DTMCS`	32	debug transport module control and status register
`10001`	`DMI`	41	debug module interface (dmi); 7-bit address, 32-bit read/write data, 2-bit operation (`00` = NOP; `10` = write; `01` = read)
others	`BYPASS`	1	default JTAG bypass register

Table 49. `DTMCS` - DTM Control and Status Register
Bit(s)	Name	r/w	Description
31:18	-	r/-	reserved, hardwired to zero
17	`dmihardreset`	r/w	setting this bit will reset the DM interface; this bit auto-clears
16	`dmireset`	r/w	setting this bit will clear ste sticky error state; this bit auto-clears
15	-	r/-	reserved, hardwired to zero
14:12	`idle`	r/-	recommended idle states (= 0, no idle states required)
11:10	`dmistat`	r/-	DMI statu: `00` = no error, `01` = reserved, `10` = operation failed, `11` = failed operation during pending DMI operation
9:4	`abits`	r/-	number of DMI address bits (= 7)
3:0	`version`	r/-	`0001` = spec version 0.13

See the RISC-V debug specification for more information regarding the data registers and operations. A local copy can be found in docs/references.

5.2. Debug Module (DM)

According to the RISC-V debug specification, the DM (VHDL module: rtl/core/neorv32_debug_dm.vhd) acts as a translation interface between abstract operations issued by the debugger and the platform-specific debugger implementation. It supports the following features (excerpt from the debug spec):

Gives the debugger necessary information about the implementation.
Allows the hart to be halted and resumed and provides status of the current state.
Provides abstract read and write access to the halted hart’s GPRs.
Provides access to a reset signal that allows debugging from the very first instruction after reset.
Provides a mechanism to allow debugging the hart immediately out of reset. (still experimental)
Provides a Program Buffer to force the hart to execute arbitrary instructions.
Allows memory access from a hart’s point of view.

The NEORV32 DM follows the "Minimal RISC-V External Debug Specification" to provide full debugging capabilities while keeping resource (area) requirements at a minimum level. It implements the execution based debugging scheme for a single hart and provides the following hardware features:

program buffer with 2 entries and implicit ebreak instruction afterwards
no direct bus access (indirect bus access via the CPU)
abstract commands: "access register" plus auto-execution
no dedicated halt-on-reset capabilities yet (but can be emulated)

The DM provides two "sides of access": access from the DTM via the debug module interface (dmi) and access from the CPU via the processor-internal bus. From the DTM’s point of view, the DM implements a set of DM Registers that are used to control and monitor the actual debugging. From the CPU’s point of view, the DM implements several memory-mapped registers (within the normal address space) that are used for communicating debugging control and status (DM CPU Access).

5.2.1. DM Registers

The DM is controlled via a set of registers that are accessed via the DTM’s dmi. The "Minimal RISC-V Debug Specification" requires only a subset of the registers specified in the spec. The following registers are implemented. Write accesses to any other registers are ignored and read accesses will always return zero. Register names that are encapsulated in "( )" are not actually implemented; however, they are listed to explicitly show their functionality.

Table 50. Available DM registers
Address	Name	Description
`0x04`	`data0`	Abstract data 0, used for data transfer between debugger and processor
`0x10`	`dmcontrol`	Debug module control
`0x11`	`dmstatus`	Debug module status
`0x12`	`hartinfo`	Hart information
`0x16`	`abstracts`	Abstract control and status
`0x17`	`command`	Abstract command
`0x18`	`abstractauto`	Abstract command auto-execution
`0x1d`	(`nextdm`)	Base address of next DM; read as zero to indicate there is only one DM
`0x20`	`progbuf0`	Program buffer 0
`0x21`	`progbuf1`	Program buffer 1
`0x38`	(`sbcs`)	System bus access control and status; read as zero to indicate there is no direct system bus access
`0x40`	`haltsum0`	Halt summary 0

`data`

0x04

Abstract data 0

data0

Reset value: UNDEFINED

Basic read/write registers to be used with abstract command (for example to read/write data from/to CPU GPRs).

`dmcontrol`

0x10

Debug module control register

dmcontrol

Reset value: 0x00000000

Control of the overall debug module and the hart. The following table shows all implemented bits. All remaining bits/bit-fields are configures as "zero" and are read-only. Writing '1' to these bits/fields will be ignored.

Table 51. `dmcontrol` - debug module control register bits
Bit	Name [RISC-V]	R/W	Description
31	`haltreq`	-/w	set/clear hart halt request
30	`resumereq`	-/w	request hart to resume
28	`ackhavereset`	-/w	write `1` to clear `*havereset` flags
1	`ndmreset`	r/w	put whole processor into reset when `1`
0	`dmactive`	r/w	DM enable; writing `0`-`1` will reset the DM

`dmstatus`

0x11

Debug module status register

dmstatus

Reset value: 0x00400082

Current status of the overall debug module and the hart. The entire register is read-only.

Table 52. `dmstatus` - debug module status register bits
Bit	Name [RISC-V]	Description
31:23	reserved	reserved; always zero
22	`impebreak`	always `1`; indicates an implicit `ebreak` instruction after the last program buffer entry
21:20	reserved	reserved; always zero
19	`allhavereset`	`1` when the hart is in reset
18	`anyhavereset`	`1` when the hart is in reset
17	`allresumeack`	`1` when the hart has acknowledged a resume request
16	`anyresumeack`	`1` when the hart has acknowledged a resume request
15	`allnonexistent`	always zero to indicate the hart is always existent
14	`anynonexistent`	always zero to indicate the hart is always existent
13	`allunavail`	`1` when the DM is disabled to indicate the hart is unavailable
12	`anyunavail`
11	`allrunning`	`1` when the hart is running
10	`anyrunning`	`1` when the hart is running
9	`allhalted`	`1` when the hart is halted
8	`anyhalted`	`1` when the hart is halted
7	`authenticated`	always `1`; there is no authentication
6	`authbusy`	always `0`; there is no authentication
5	`hasresethaltreq`	always `0`; halt-on-reset is not supported (directly)
4	`confstrptrvalid`	always `0`; no configuration string available
3:0	`version`	`0010` - DM is compatible to version 0.13

`hartinfo`

0x12

Hart information

hartinfo

Reset value: see below

This register gives information about the hart. The entire register is read-only.

Table 53. `hartinfo` - hart information register bits
Bit	Name [RISC-V]	Description
31:24	reserved	reserved; always zero
23:20	`nscratch`	`0001`, number of `dscratch*` CPU registers = 1
19:17	reserved	reserved; always zero
16	`dataccess`	`0`, the `data` registers are shadowed in the hart’s address space
15:12	`datasize`	`0001`, number of 32-bit words in the address space dedicated to shadowing the `data` registers (1 register)
11:0	`dataaddr`	= `dm_data_base_c(11:0)`, signed base address of `data` words (see address map in DM CPU Access)

`abstracts`

0x16

Abstract control and status

abstracts

Reset value: see below

Command execution info and status.

Table 54. `abstracts` - abstract control and status register bits
Bit	Name [RISC-V]	R/W	Description
31:29	reserved	r/-	reserved; always zero
28:24	`progbufsize`	r/-	`0010`; size of the program buffer (`progbuf`) = 2 entries
23:11	reserved	r/-	reserved; always zero
12	`busy`	r/-	`1` when a command is being executed
11	reserved	r/-	reserved; always zero
10:8	`cmerr`	r/w	error during command execution (see below); has to be cleared by writing `111`
7:4	reserved	r/-	reserved; always zero
3:0	`datacount`	r/-	`0001`; number of implemented `data` registers for abstract commands = 1

Error codes in cmderr (highest priority first):

000 - no error
100 - command cannot be executed since hart is not in expected state
011 - exception during command execution
010 - unsupported command
001 - invalid DM register read/write while command is/was executing

`command`

0x17

Abstract command

command

Reset value: 0x00000000

Writing this register will trigger the execution of an abstract command. New command can only be executed if cmderr is zero. The entire register in write-only (reads will return zero).

The NEORV32 DM only supports Access Register abstract commands. These commands can only access the hart’s GPRs (abstract command register index 0x1000 - 0x101f).

Table 55. `command` - abstract command register - "access register" commands only
Bit	Name [RISC-V]	R/W	Description / required value
31:24	`cmdtype`	-/w	`00000000` to indicate "access register" command
23	reserved	-/w	reserved, has to be `0` when writing
22:20	`aarsize`	-/w	`010` to indicate 32-bit accesses
21	`aarpostincrement`	-/w	`0`, post-increment is not supported
18	`postexec`	-/w	if set the program buffer is executed after the command
17	`transfer`	-/w	if set the operation in `write` is conducted
16	`write`	-/w	`1`: copy `data0` to `[regno]`, `0`: copy `[regno]` to `data0`
15:0	`regno`	-/w	GPR-access only; has to be `0x1000` - `0x101f`

`abstractauto`

0x18

Abstract command auto-execution

abstractauto

Reset value: 0x00000000

Table 56. `abstractauto` - Abstract command auto-execution register bits
Bit	Name [RISC-V]	R/W	Description
17	`autoexecprogbuf[1]`	r/w	when set reading/writing from/to `progbuf1` will execute `command` again
16	`autoexecprogbuf[0]`	r/w	when set reading/writing from/to `progbuf0` will execute `command` again
0	`autoexecdata[0]`	r/w	when set reading/writing from/to `data0` will execute `command` again

`progbuf`

0x20

Program buffer 0

progbuf0

0x21

Program buffer 1

progbuf1

Reset value: NOP-instruction

General purpose program buffer (two entries) for the DM.

`haltsum0`

0x40

Halt summary 0

haltsum0

Reset value: UNDEFINED

Bit 0 of this register is set if the hart is halted (all remaining bits are always zero). The entire register is read-only.

5.2.2. DM CPU Access

From the CPU’s point of view, the DM behaves as a memory-mapped peripheral that includes

a small ROM that contains the code for the "park loop", which is executed when the CPU is in debug mode.
a program buffer populated by the debugger host to execute small programs
a data buffer to transfer data between the processor and the debugger host
a status register to communicate debugging requests

DM Register Access

All memory-mapped registers of the DM can only be accessed by the CPU if it is actually in debug mode. Hence, the DM registers are not "visible" for normal CPU operations. Any access outside of debug mode will raise a bus error exception.

Park Loop Code Sources

The assembly sources of the park loop code are available in sw/ocd-firmware/park_loop.S. Please note, that these sources are not intended to be changed by the used. Hence, the makefile does not provide an automatic option to compile and "install" the debugger ROM code into the HDL sources and require a manual copy (see sw/ocd-firmware/README.md).

The DM uses a total address space of 128 words of the CPU’s address space (= 512 bytes) divided into four sections of 32 words (= 128 bytes) each. Please note, that the program buffer, the data buffer and the status register only uses a few effective words in this address space. However, these effective addresses are mirrored to fill up the whole 128 bytes of the section. Hence, any CPU access within this address space will succeed.

Table 57. DM CPU access - address map (divided into four sections)
Base address	Name [VHDL package]	Actual size	Description
`0xfffff800`	`dm_code_base_c` (= `dm_base_c`)	128 bytes	Code ROM for the "park loop" code
`0xfffff880`	`dm_pbuf_base_c`	16 bytes	Program buffer, provided by DM
`0xfffff900`	`dm_data_base_c`	4 bytes	Data buffer (`dm.data0`)
`0xfffff980`	`dm_sreg_base_c`	4 bytes	Control and status register

From the CPU’s point of view, the DM is mapped to an "unused" address range within the processor’s Address Space right between the bootloader ROM (BOOTROM) and the actual processor-internal IO space at addresses 0xfffff800 - 0xfffff9ff

When the CPU enters or re-enters (for example via ebreak in the DM’s program buffer) debug mode, it jumps to the beginning of the DM’s "park loop" code ROM at dm_code_base_c. This is the normal entry point for the park loop code. If an exception is encountered during debug mode, the CPU jumps to dm_code_base_c + 4, which is the exception entry point.

Status Register

The status register provides a direct communication channel between the CPU executing the park loop and the host-controlled controller of the DM. Note that all bits that can be written by the CPU (acknowledge flags) cause a single-shot (1-cycle) signal to the DM controller and auto-clear (always read as zero). The bits that are driven by the DM controller and are read-only to the CPU and keep their state until the CPU acknowledges the according request.

Table 58. DM CPU access - status register
Bit	Name	CPU access	Description
0	`halt_ack`	-/w	Set by the CPU to indicate that the CPU is halted and keeps iterating in the park loop
1	`resume_req`	r/-	Set by the DM to tell the CPU to resume normal operation (leave parking loop and leave debug mode via `dret` instruction)
2	`resume_ack`	-/w	Set by the CPU to acknowledge that the CPU is now going to leave parking loop & debug mode
3	`execute_req`	r/-	Set by the DM to tell the CPU to leave debug mode and execute the instructions from the program buffer; CPU will re-enter parking loop afterwards
4	`execute_ack`	-/w	Set by the CPU to acknowledge that the CPU is now going to execute the program buffer
5	`exception_ack`	-/w	Set by the CPU to inform the DM that an exception occurred during execution of the park loop or during execution of the program buffer

5.3. CPU Debug Mode

The NEORV32 CPU Debug Mode DB or DEBUG (part of rtl/core/neorv32_cpu_control.vhd) is compatible to the "Minimal RISC-V Debug Specification 0.13.2". It is enabled/implemented by setting the CPU generic CPU_EXTENSION_RISCV_DEBUG to "true" (done by setting processor generic ON_CHIP_DEBUGGER_EN). It provides a new operation mode called "debug mode". When enabled, three additional CSRs are available (section CPU Debug Mode CSRs) and the "return from debug mode" instruction dret are available.

The CPU debug mode requires the Zicsr and Zifencei CPU extension to be implemented (top generics CPU_EXTENSION_RISCV_Zicsr and CPU_EXTENSION_RISCV_Zifencei = true).

The CPU debug-mode is entered when one of the following events appear:

executing the ebreak instruction (when in machine-mode and dcsr.ebreakm is set OR when in user-mode and dcsr.ebreaku is set)
debug halt request from external DM (via CPU signal db_halt_req_i, high-active, triggering on rising-edge)
finished executing of a single instruction while in single-step debugging mode (enabled via dcsr.step)
hardware trigger by the Trigger Module

From a hardware point of view, these "entry conditions" are special synchronous (e.g. ebreak instruction) and asynchronous (e.g. halt request "interrupt") traps, that are handled invisibly by the control logic.

Whenever the CPU enters debug-mode it performs the following operations:

wake-up CPU if it was send to sleep mode by the wfi instruction
move pc to dpc
copy the hart’s current privilege level to dcsr.prv
set dcrs.cause according to the cause why debug mode is entered
no update of mtval, mcause, mtval and mstatus CSRs
load the address configured via the CPU’s CPU_DEBUG_ADDR generic to the pc to jump to the "debugger park loop" code stored in the debug module (DM)

When the CPU is in debug-mode the following things are important:

while in debug mode, the CPU executes the parking loop and the program buffer provided by the DM if requested
effective CPU privilege level is machine mode, any active physical memory protection (PMP) configuration is bypassed
the wfi instruction acts as a nop (also during single-stepping)
if an exception occurs:
- if the exception was caused by any debug-mode entry action the CPU jumps to the normal entry point (= CPU_DEBUG_ADDR) of the park loop again (for example when executing ebreak in debug-mode)
- for all other exception sources the CPU jumps to the exception entry point ( = CPU_DEBUG_ADDR + 4) to signal an exception to the DM; the CPU restarts the park loop again afterwards
interrupts are disabled; however, they will remain pending and will get executed after the CPU has left debug mode
if the DM makes a resume request, the park loop exits and the CPU leaves debug mode (executing dret)
the standard counters (Machine) Counter and Timer CSRs [m]cycle[h] and [m]instret[h] are stopped; note that the Machine System Timer (MTIME) keep running as well as it’s shadowed copies in the [m]time[h] CSRs
all Hardware Performance Monitors (HPM) CSRs are stopped

Debug mode is left either by executing the dret instruction ^[14] (in debug mode) or by performing a hardware reset of the CPU. Executing dret outside of debug mode will raise an illegal instruction exception.

Whenever the CPU leaves debug mode it performs the following operations:

set the hart’s current privilege level according to dcsr.prv
restore pc from dpcs
resume normal operation at pc

5.3.1. CPU Debug Mode CSRs

Two additional CSRs are required by the Minimal RISC-V Debug Specification: The debug mode control and status register dcsr and the program counter dpc. Providing a general purpose scratch register for debug mode (dscratch0) allows faster execution of program provided by the debugger, since one general purpose register can be backup-ed and directly used.

The debug-mode control and status registers (CSRs) are only accessible when the CPU is in debug mode. If these CSRs are accessed outside of debug mode (for example when in machine mode) an illegal instruction exception is raised.

`dcsr`

0x7b0

Debug control and status register

dcsr

Reset value: 0x40000413

The dcsr CSR is compatible to the RISC-V debug spec. It is used to configure debug mode and provides additional status information. The following bits are implemented. The reaming bits are read-only and always read as zero.

Table 59. Debug control and status register `dcsr` bits
Bit	Name [RISC-V]	R/W	Description
31:28	`xdebugver`	r/-	`0100` - indicates external debug support exists
27:16	-	r/-	`000000000000` - reserved
15	`ebereakm`	r/w	`ebreak` instructions in `machine` mode will enter debug mode when set
14	`ebereakh`	r/-	`0` - hypervisor mode not supported
13	`ebereaks`	r/-	`0` - supervisor mode not supported
12	`ebereaku`	r/w	`ebreak` instructions in `user` mode will enter debug mode when set
11	`stepie`	r/-	`0` - IRQs are disabled during single-stepping
10	`stopcount`	r/-	`1` - standard counters and HPMs are stopped when in debug mode
9	`stoptime`	r/-	`0` - timers increment as usual
8:6	`cause`	r/-	cause identifier - why debug mode was entered (see below)
5	-	r/-	`0` - reserved
4	`mprven`	r/-	`1` - `mstatus``.mprv` is also evaluated when in debug mode
3	`nmip`	r/-	`0` - non-maskable interrupt is pending
2	`step`	r/w	enable single-stepping when set
1:0	`prv`	r/w	CPU privilege level before/after debug mode

Cause codes in dcsr.cause (highest priority first):

010 - trigger by hardware Trigger Module
001 - executed EBREAK instruction
011 - external halt request (from DM)
100 - return from single-stepping

`dpc`

0x7b1

Debug program counter

dpc

Reset value: 0x00000000

The dcsr CSR is compatible to the RISC-V debug spec. It is used to store the current program counter when debug mode is entered. The dret instruction will return to dpc by moving dpc to pc.

`dscratch0`

0x7b2

Debug scratch register 0

dscratch0

Reset value: 0x00000000

The dscratch0 CSR is compatible to the RISC-V debug spec. It provides a general purpose debug mode-only scratch register.

5.4. Trigger Module

The NEORV32 trigger module implements a subset of the features described in the "RISC-V Debug Specification / Trigger Module". It is always implemented when the CPU debug mode / the on-chip debugger is implemented.

The trigger module only provides a single trigger of instruction address match type. This trigger will fire after the instruction at the specific address has been executed.

The trigger module only provides a single trigger supporting only the "instruction address match" type. This limitation is granted by the RISC-V specs. and is sufficient to debug code executed from read-only memory (ROM). "Normal" software breakpoints (using gdb’s b/break command) are implemented by temporarily replacing the according instruction word by a BREAK instruction. This is not possible when debugging code that is executed from read-only memory (for example when debugging programs that are executed via the Execute In Place Module (XIP)). Therefore, the NEORV32 trigger module provides a single "instruction address match" trigger to enter debug mode when executing the instruction at a specific address. These "hardware-assisted breakpoints" are used by gdb’s hb/hbreak command.

5.4.1. Trigger Module CSRs

The trigger module provides 8 additional CSRs, which accessible in debug mode and also in machine-mode. Since the trigger module does not support native mode writes from machine-mode software to those CSRs are ignored. Hence, the CSRs of this module are only relevant for the debugger.

`tselect`

0x7a0

Trigger select register

tselect

Reset value: 0x00000000

This CSR is hardwired to zero indicating there is only one trigger available. Any write access is ignored.

`tdata1`

0x7a1

Trigger data register 1 / match control register

tdata1 / mcontrol

Reset value: 0x28041048

This CSR is used to configure the address match trigger. Only one bit is writable, the remaining bits are hardwired (see table below). Write attempts to the hardwired bits are ignored.

Table 60. Match control CSR (`tdata1`) bits
Bit	Name [RISC-V]	R/W	Description
31:28	`type`	r/-	`0010` - address match trigger
27	`dmode`	r/-	`1` - only debug-mode can write to the `tdata*` CSRs
26:21	`maskmax`	r/-	`000000` - only exact values
20	`hit`	r/-	`0` - feature not supported
19	`select`	r/-	`0` - fire trigger on address match
18	`timing`	r/-	`1` - trigger after executing the triggering instruction
17:16	`sizelo`	r/-	`00` - match against an access of any size
15:12	`action`	r/-	`0001` - enter debug mode on trigger fire
11	`chain`	r/-	`0` - chaining is not supported - there is only one trigger
10:6	`match`	r/-	`0000` - only full-address match
6	`m`	r/-	`1` - trigger enabled when in machine-mode
5	`h`	r/-	`0` - hypervisor-mode not supported
4	`s`	r/-	`0` - supervisor-mode not supported
3	`u`	r/-	trigger enabled when in user-mode, set when `U` ISA extension is enabled
2	`exe`	r/w	set to enable trigger
1	`store`	r/-	`0` - store address/data matching not supported
0	`load`	r/-	`0` - load address/data matching not supported

6. Legal

License

BSD 3-Clause License

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

The NEORV32 RISC-V Processor
HQ: https://github.com/stnolting/neorv32
By Dipl.-Ing. Stephan Nolting
European Union, Germany
Contact: stnolting@gmail.com

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Disclaimer

This project is released under the BSD 3-Clause license. No copyright infringement intended. Other implied or used projects might have different licensing – see their documentation to get more information.

Limitation of Liability for External Links

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Citing

This is an open-source project that is free of charge. Use this project in any way you like (as long as it complies to the permissive license). Please cite it appropriately. 👍

Contributors ❤️

Please add as many contributors as possible to the author field.
This project would not be where it is without them.

If you are using the NEORV32 or parts of the project in some kind of publication, please cite it as follows:

Listing 22. BibTeX

@misc{nolting22,
  author       = {Nolting, S. and ...},
  title        = {The NEORV32 RISC-V Processor},
  year         = {2022},
  publisher    = {GitHub},
  journal      = {GitHub repository},
  howpublished = {\url{https://github.com/stnolting/neorv32}}
}

DOI

This project also provides a digital object identifier provided by zenodo:

Acknowledgments

A big shout-out to the community and all contributors, who helped improving this project! ❤️

RISC-V - instruction sets want to be free!

Continuous integration provided by GitHub Actions and powered by GHDL.

1. Pronounced "neo-R-V-thirty-two" or "neo-risc-five-thirty-two" in its long form.

2. Resource utilization depends on custom design logic.

3. Pull high if not used.

4. If the on-chip debugger is not implemented (ON_CHIP_DEBUGGER_EN = false) jtag_tdi_i is directly forwarded to jtag_tdo_o to maintain the JTAG chain.

5. If the Zicsr CPU extension is enabled (implementing the full set of the privileged architecture).

6. Shift amount.

7. Barrel shift when FAST_SHIFT_EN is enabled.

8. Serial shift when TINY_SHIFT_EN is enabled.

9. Shift amount (0..31).

10. Barrel shifter when FAST_SHIFT_EN is enabled.

11. Memory latency.

12. DSP-based multiplication; enabled via FAST_MUL_EN.

13. This driver file only represents a stub, since the real CFS drivers are defined by the actual CFS implementation.

14. dret should only be executed inside the debugger "park loop" code (→ code ROM in the debug module (DM).)

The NEORV32 RISC-V Processor: Datasheet

1. Overview

1.1. Rationale

1.2. Project Key Features

1.3. Project Folder Structure

1.4. VHDL File Hierarchy

1.5. FPGA Implementation Results

1.5.1. CPU

1.5.2. Processor - Modules

1.5.3. Exemplary Setups

1.6. CPU Performance

2. NEORV32 Processor (SoC)

2.1. Processor Top Entity - Signals

2.2. Processor Top Entity - Generics

2.2.1. General

CLOCK_FREQUENCY

INT_BOOTLOADER_EN

HW_THREAD_ID

CUSTOM_ID

ON_CHIP_DEBUGGER_EN

2.2.2. RISC-V CPU Extensions

CPU_EXTENSION_RISCV_B

CPU_EXTENSION_RISCV_C

CPU_EXTENSION_RISCV_E

CPU_EXTENSION_RISCV_M

CPU_EXTENSION_RISCV_U

CPU_EXTENSION_RISCV_Zfinx

CPU_EXTENSION_RISCV_Zicsr

CPU_EXTENSION_RISCV_Zicntr

CPU_EXTENSION_RISCV_Zihpm

CPU_EXTENSION_RISCV_Zifencei

CPU_EXTENSION_RISCV_Zmmul

CPU_EXTENSION_RISCV_Zxcfu

2.2.3. Tuning Options

FAST_MUL_EN

FAST_SHIFT_EN

CPU_CNT_WIDTH

CPU_IPB_ENTRIES

2.2.4. Physical Memory Protection (PMP)

PMP_NUM_REGIONS

PMP_MIN_GRANULARITY

2.2.5. Hardware Performance Monitors (HPM)

HPM_NUM_CNTS

HPM_CNT_WIDTH

2.2.6. Internal Instruction Memory

MEM_INT_IMEM_EN

MEM_INT_IMEM_SIZE

2.2.7. Internal Data Memory

MEM_INT_DMEM_EN

MEM_INT_DMEM_SIZE

2.2.8. Internal Cache Memory

ICACHE_EN

ICACHE_NUM_BLOCKS

ICACHE_BLOCK_SIZE

ICACHE_ASSOCIATIVITY

2.2.9. External Memory Interface

MEM_EXT_EN

MEM_EXT_TIMEOUT

MEM_EXT_PIPE_MODE

MEM_EXT_BIG_ENDIAN

MEM_EXT_ASYNC_RX

MEM_EXT_ASYNC_TX

2.2.10. Stream Link Interface

SLINK_NUM_TX

SLINK_NUM_RX

SLINK_TX_FIFO

SLINK_RX_FIFO

2.2.11. External Interrupt Controller

XIRQ_NUM_CH

XIRQ_TRIGGER_TYPE

XIRQ_TRIGGER_POLARITY

2.2.12. Processor Peripheral/IO Modules

IO_GPIO_EN

IO_MTIME_EN

IO_UART0_EN

IO_UART0_RX_FIFO

IO_UART0_TX_FIFO

IO_UART1_EN

IO_UART1_RX_FIFO

IO_UART1_TX_FIFO

3.7.1. `B` - Bit-Manipulation Operations