This repository builds debian images for Sophgo cv181x/sg200x based boards such as MilkV Duo256/DuoS and Sipeed LicheeRvNano/NanoKVM.
(Note, we don't support the MilkV Duo, as it does not have enough ram to run Debian)
The images aim to be as close to possible to debian best practices as possible
To flash from linux, either build your own image and then run the following command:
sudo dd if=image/(board)_sd.img of=/dev/sdX bs=4M status=progress
... or download a image from the releases page, and then run the following command:
lz4 -cd (board)_sd.img.lz4 | sudo dd of=/dev/sdX bs=4M status=progress
From windows, you can use tools such as balena etcher
where the (board)_sd.img is the image file you want to flash, and /dev/sdX is the device you want to flash to. (if you build for a different board, the image file name will be different)
To flash the DuoS with EMMC, you need to use the vendor tools to flash the image to the EMMC. You can follow the instructions at https://milkv.io/docs/duo/getting-started/duos#emmc-version-firmware-burning but instead of downloading the milkv-duos-emmc-v1.1.0-2024-0410.zip file, you download the duos_emmc.zip from the releases on this repository.
if you already have a image installed, but wish to upgrade, when u-boot loads up, interupt the boot process by pressing any key and typing the following commands:
cvi_update
The flashing should then continue
Logins: root/rv and debian/rv
(root login is disabled via SSH, login via debian, and SU to root if needed)
by default, a rndis interface is started on the USB port, and the IP address is 10.x.y.1 - It also starts a DHCP Server on that interface, so your PC should automatically get an IP address in the 10.x.y.z range
To Disable the rndis interface, you can run the following command:
rm /boot/usb.rndis
There is also a option to start a serial port (ACM) interface instead of the rndis interface, to do this, you can run the following command:
rm /boot/usb.rndis
touch /boot/usb.GS0
After executing these commands, you need to reboot.
After disabling the usb-gadgets, if you want to use the USB Type A Ports, then you need to turn them on:
rm /boot/usb.dev
systemctl enable usb-switch
and reboot afterwards.
For the LicheeRVNano/DuoS board, WiFi is enabled. To connect to your wifi network, execute the following command (example, use ssid and password of your wifi network):
touch /boot/wifi.sta
echo "My WiFi" | tee /boot/wifi.ssid
echo "Pa$$w0rd" /boot/wifi.pass
For Boards with ethernet, they should automatically get a IP address if your network has a DHCP Server. You can configure the ethernet port in /etc/network/interfaces.d/end0
The images are based on the vendor 5.10 kernel and osdrv, also including the following drivers:
- mipi-rx/csi drivers
- mipi-tx/dsi drivers
- TPU Drivers
- Any of the Video Encoding Drivers
The extra drivers are build on a separate package called cvitek-osdrv-(board), they will be installed to /mnt/system/ko
The libs and samples are build on a separate package called cvitek-middleware-(board), they will be installed to /mnt/system/usr
The images, by default, allocate minimum amount of memory for the ION heap to use vi/venc, so you get more memory for the OS
Support is disabled on my images because the small C906 core is used by ISP.
If you have a LCD panel connected you can install the matching bootloader.
LicheeRV Nano
- cvitek-fsbl-licheervnano (no LCD)
- cvitek-fsbl-licheervnano-d240si31 (2.4 inch, hynitron cst7xx touchscreen, a.k.a st7701_lct024bsi20)
- cvitek-fsbl-licheervnano-lt9611-1024x768-60hz (dsi to hdmi)
- cvitek-fsbl-licheervnano-lt9611-1280x720-60hz (dsi to hdmi)
- cvitek-fsbl-licheervnano-mtd700920b (7 inch)
- cvitek-fsbl-licheervnano-st7701-d300fpc9307a (3 inch)
- cvitek-fsbl-licheervnano-st7701-d310t9362v1 (3.1 inch)
- cvitek-fsbl-licheervnano-st7701-dxq5d0019b480854 (5 inch)
- cvitek-fsbl-licheervnano-st7701-dxq5d0019-v0 (5 inch)
- cvitek-fsbl-licheervnano-st7701-hd228001c31 (2.28 inch, hynitron cst3xx touchscreen)
- cvitek-fsbl-licheervnano-st7701-hd228001c31-alt0 (2.28 inch)
- cvitek-fsbl-licheervnano-zct2133v1 (7 inch)
Milk-V DuoS
- cvitek-fsbl-duos (no LCD)
- cvitek-fsbl-duos-milkv-8hd (8 inch)
Example if you have a st7701_hd228001c31 connected:
apt-get install cvitek-fsbl-licheervnano-st7701-hd228001c31
apt-get remove cvitek-fsbl-licheervnano
You may also want to enable the FB driver:
touch /boot/fb
This image also adds the debian repository for board-related packages so you can install additional repositories. The debian repository is hosted at https://scpcom.github.io/deb which pulls down the compiled debian packages from the above github repository occasionally.
Available debian packages:
- cvi-pinmux-cv181x
Contains a tool named cvi_pinmux which allows to change the function of the pins (GPIO, SPI etc.). - firmware-aic8800-cv181x
Firmware for the on-board WiFi. - firmware-vcodec-cv181x
Firmware for the video encoder/decoder running on the small C906 core.
…and board-specific packages like:
- board-support-licheervnano-kvm
Meta package, installs all board-specific packages. - cvitek-fsbl-licheervnano
The boot loader (including opensbi and u-boot). - cvitek-middleware-licheervnano
Libs and samples for the ISP (vi/vo/venc/vdec etc.). - cvitek-osdrv-licheervnano-kvm
Additional kernel drivers (required for camera support etc.). - cvitek-tpusdk-licheervnano
Libs and samples for the TPU (AI) - device-key-licheervnano
Startup script that sets the Ethernet MAC address and hostname based on the hash off the device uuid. - duo-pinmux-duos
Same as cvi-pinmux but customized for Milk-V Duo series boards. - ethernet-leds-duos
Startup script to enable ethernet LED triggers. - gadget-nic-licheervnano
Startup script to setup USB Gadget NCM/RNDIS networking. - hciattach-uart-duos
Startup script to attach bluetooth to UART. - linux-headers-licheervnano-kvm
The kernel headers for the board. - linux-image-licheervnano-kvm
The kernel customized for the board. - load-systemko-licheervnano
Startup script that loads the additional drivers (see cvitek-osdrv-licheervnano-kvm). - maixapp-licheervnano
App(s) built with MaixCDK. - nanokvm-licheervnano
NanoKVM Server that provides the web interface to control your device. - sensor-config-licheervnano
Configuration files and parameters required to initialize the camera sensor. - usb-device-licheervnano
Startup script to setup USB gadget devices. - usb-switch-duos
Startup script to enable the USB switch. - wifi-builtin-licheervnano
Startup scripts to initialize the on-board WiFi. - zram-config-licheervnano
Scripts to setup compressed ZRAM devices for overlayfs and zswap.
The package names are depending on the board you are using (licheervnano, duo256 or duos) and the variant (kvm = NanoKVM, e = all others). For example if you want the kernel for Milk-V Duo256 the package is called linux-image-duo256-e.
To build a stock image with no modifications:
podman run --privileged -it --rm -v ./configs/:/configs -v ./image:/output ghcr.io/scpcom/sophgo-sg200x-debian:debian make BOARD=licheervnano image
Replace the licheervnano with the board you want to build for:
- duo256
- duos
- licheervnano
If you want to create a image for the DuoS with EMMC, you can add "STORAGE_TYPE=emmc" to the make command:
podman run --privileged -it --rm -v ./configs/:/configs -v ./image:/output ghcr.io/scpcom/sophgo-sg200x-debian:debian make BOARD=duos STORAGE_TYPE=emmc image
If you want to create a image for the NanoKVM, you can add "VARIANT=kvm" to the make command:
podman run --privileged -it --rm -v ./configs/:/configs -v ./image:/output ghcr.io/scpcom/sophgo-sg200x-debian:debian make BOARD=licheervnano VARIANT=kvm image
The Docker image will build the image and place it in the image directory
addition make targets are available when building:
- image - builds the image
- clean - cleans the build directory
- linux - build a kernel debian package
- fsbl - build the fsbl debain package (that includes cvitek-fsbl, opensbi and u-boot)
The configs directory contains patches, configuration and device tree files that are used to build the image.
The configs/common directory contains the common configuration for all boards, and the configs/licheervnano and configs/duo256 directories contain the board specific configuration.
To add packages to the image, either add the package name in PACKAGES variable of configs/settings.mk or if the packae is specific to a board, add it to the configs/<board>/settings.mk file
Patches for the kernel, opensbi, u-boot or fsbl can be placed in configs/common/patches/ or configs/<board>/patches/ depending what they are for.
To assist with developing the image, you can get a shell in the docker container by running:
docker run --privileged -it --rm -v ./configs/:/configs -v ./image:/output -v ./scripts/:/builder builder /bin/bash
inside the container, packages are build in the /builder/ directory, and the rootfs is placed at /rootfs/ directory
If the A53 CPU core is enabled on your board you can build the matching arm64 images.
Use podman/docker run like described above and choose one of the supported boards:
make BOARD=duos ARCH=arm64 image
make BOARD=duo256 ARCH=arm64 image
make BOARD=licheea53nano ARCH=arm64 image
You can replace ARCH=arm64 with ARCH=arm to get 32 bit (armhf) images.
- DeviceTree Overlay Support
- Possibly mainline kernel support via the sophgo linux for-next repositories