Sipeed MAIX-Dock Board
======================

The Sipeed MAXI-Dock board is a dual-core RISC-V 64-bits board based on the
Canaan Kendryte K210 SoC.

Prerequisite
------------

In order to use the kflash utility to program this board, the user must have
access to the board USB serial device file. The simplest way to do this is to
add your user to the same group as this device file. Assume the device file is
/dev/ttyUSB0, first identify the device group name. In most cases, it is
either "dialout" or "uucp". Also verify that read-write access is enabled for
the group:

```
$ ls -l /dev/ttyUSB0
crw-rw---- 1 root dialout 188, 0 May 26 13:48 /dev/ttyUSB0
```

Then add yourself to that group (dialout in this example):

```
$ sudo usermod -a -G dialout $(whoami)
```

To enable the above, it is sometimes necessary to logout and login again.

Buildroot Configuration
-----------------------

Two buildroot configuration files are provided:

(1) Direct Linux Kernel Boot

This is defined by the sipeed_maix_dock_defconfig configuration. This
configuration allows building a bootable kernel image with a built-in initramfs
root file system (the board SD card is not used). The built kernel image can be
flashed directly to the board ROM for direct booting. No boot loader is
required.

(2) U-Boot SD-Card Boot

The sipeed_maix_dock_sdcard_defconfig configuration allows building a kernel
image with the root file system on the board SD card. U-Boot is used as the
boot loader.

Note: U-Boot does not natively support the Sipeed MAIX-Dock board. However, the
board and device tree differences with the Sipeed MAIX-Bit board are small
enough for U-Boot to work.

Both configuration files will also compile the pyserial-miniterm host tool open
a serial terminal console for the board.

Direct Linux Kernel Boot
-------------------------

Using the sipeed_maix_dock_defconfig configuration, the bootable kernel binary
image is built as follows.

```
$ make sipeed_maix_dock_defconfig
$ make
```

Both configuration files will also compile and install the kflash and
pyserial-miniterm host utilities to program bootable image files to the board
and open a serial terminal console.

```
$ output/host/bin/kflash -b 1500000 -p /dev/ttyUSB0 -t output/images/loader.bin
```

Once the kernel image file is fully programmed, a terminal console is open and
the board can be rebooted by pressing the reset button on the board (if it does
not reboot automatically).

The output will be similar to the following.

```
[    0.000000] Linux version 5.18.0 (foo@bar.com) (riscv64-buildroot-linux-uclibc-gcc.br_real (Buildroot 2022.02-560-g6a2b542a09-dirty) 10.3.0, GNU ld (GNU Binutils) 2.32) #2 SMP Thu Apr 21 15:47:42 JST 2022
[    0.000000] Machine model: SiPeed MAIX Dock
[    0.000000] earlycon: sifive0 at MMIO 0x0000000038000000 (options '115200n8')
[    0.000000] printk: bootconsole [sifive0] enabled
[    0.000000] Zone ranges:
[    0.000000]   DMA32    [mem 0x0000000080000000-0x00000000807fffff]
[    0.000000]   Normal   empty
[    0.000000] Movable zone start for each node
[    0.000000] Early memory node ranges
[    0.000000]   node   0: [mem 0x0000000080000000-0x00000000807fffff]
[    0.000000] Initmem setup node 0 [mem 0x0000000080000000-0x00000000807fffff]
[    0.000000] riscv: ISA extensions acdfim
[    0.000000] riscv: ELF capabilities acdfim
[    0.000000] percpu: max_distance=0x16000 too large for vmalloc space 0x0
[    0.000000] percpu: Embedded 11 pages/cpu s15264 r0 d29792 u45056
[    0.000000] percpu: wasting 10 pages per chunk
[    0.000000] Built 1 zonelists, mobility grouping off.  Total pages: 2020
[    0.000000] Kernel command line: earlycon console=ttySIF0
[    0.000000] Dentry cache hash table entries: 1024 (order: 1, 8192 bytes, linear)
[    0.000000] Inode-cache hash table entries: 512 (order: 0, 4096 bytes, linear)
[    0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off
[    0.000000] Memory: 5980K/8192K available (964K kernel code, 137K rwdata, 205K rodata, 546K init, 66K bss, 2212K reserved, 0K cma-reserved)
[    0.000000] rcu: Hierarchical RCU implementation.
[    0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 25 jiffies.
[    0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
[    0.000000] riscv-intc: 64 local interrupts mapped
[    0.000000] plic: interrupt-controller@c000000: mapped 65 interrupts with 2 handlers for 4 contexts.
[    0.000000] k210-clk: clock-controller: CPU running at 390 MHz
[    0.000000] clint: timer@2000000: timer running at 7800000 Hz
[    0.000000] clocksource: clint_clocksource: mask: 0xffffffffffffffff max_cycles: 0x3990be68b, max_idle_ns: 881590404272 ns
[    0.000001] sched_clock: 64 bits at 7MHz, resolution 128ns, wraps every 4398046511054ns
[    0.008187] Calibrating delay loop (skipped), value calculated using timer frequency.. 15.60 BogoMIPS (lpj=31200)
[    0.018250] pid_max: default: 4096 minimum: 301
[    0.022859] Mount-cache hash table entries: 512 (order: 0, 4096 bytes, linear)
[    0.029971] Mountpoint-cache hash table entries: 512 (order: 0, 4096 bytes, linear)
[    0.040238] rcu: Hierarchical SRCU implementation.
[    0.045110] smp: Bringing up secondary CPUs ...
[    0.050215] smp: Brought up 1 node, 2 CPUs
[    0.054345] devtmpfs: initialized
[    0.071112] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 7645041785100000 ns
[    0.080182] pinctrl core: initialized pinctrl subsystem
[    0.120689] clocksource: Switched to clocksource clint_clocksource
[    0.133165] workingset: timestamp_bits=62 max_order=11 bucket_order=0
[    0.181750] k210-sysctl 50440000.syscon: K210 system controller
[    0.198612] k210-rst 50440000.syscon:reset-controller: K210 reset controller
[    0.206644] cacheinfo: Unable to detect cache hierarchy for CPU 0
[    0.216569] i2c_dev: i2c /dev entries driver
[    0.225905] k210-fpioa 502b0000.pinmux: K210 FPIOA pin controller
[    0.238866] 38000000.serial: ttySIF0 at MMIO 0x38000000 (irq = 1, base_baud = 115200) is a SiFive UART v0
[    0.247778] printk: console [ttySIF0] enabled
[    0.247778] printk: console [ttySIF0] enabled
[    0.256459] printk: bootconsole [sifive0] disabled
[    0.256459] printk: bootconsole [sifive0] disabled
[    0.268225] panel@0 enforce active low on chipselect handle
[    0.285238] Freeing unused kernel image (initmem) memory: 540K
[    0.290372] This architecture does not have kernel memory protection.
[    0.296807] Run /init as init process
          __  _
         / / (_) ____   _   _ __  __
        / /  | ||  _ \ | | | |\ \/ /
       / /___| || | | || |_| | >  <
      /_____/|_||_| |_| \____|/_/\_\
    64-bits RISC-V Kendryte K210 NOMMU

/ #
```

To open a terminal console without re-flashing the board, the pyserial-miniterm
host tool can be used.

```
$ output/host/bin/pyserial-miniterm --raw --eol=LF /dev/ttyUSB0 115200
```

The options "--raw" and "--eol=LF" are added here to avoid a double carriage
return each time a command is entered.


U-Boot SD-Card Boot
-------------------

The build procedure is similar to the built-in initramfs case.

```
$ make sipeed_maix_dock_sdcard_defconfig
$ make
```

The build process will generate two files under the output/images directory.

* sdcard.img: The image file for the SD card filesystem. This image has 2
  partitions. The first partition is a vfat partition containing the kernel
  uImage and the board device tree binary. The second partition is the root
  filesystem with busybox installed. The second partition is formatted using
  ext2 (rev1).

* uboot.bin: U-Boot bootable binary to load and boot the kernel from the SD
  card.

The SD card can be prepared by writing the sdcard.img file, as follows.

```
$ sudo dd if=output/images/sdcard.img of=/dev/sdX bs=1M
$ sync
$ eject /dev/sdX
```

Where /dev/sdX is the device file name of the SD card. Once completed, the SD
card can be inserted into the board and the U-Boot binary image written to the
board boot flash using the kflash utility.

```
$ output/host/bin/kflash -b 1500000 -p /dev/ttyUSB0 -t output/images/u-boot.bin
```

The above command will program U-Boot image to the board boot ROM and open a
terminal console once the u-boot.bin file is fully programmed. Reboot into the
newly programmed environment by pressing the board reset button if it does not
reboot automatically.

The output will be similar to the following.

```
U-Boot 2022.04 (Apr 21 2022 - 15:59:50 +0900)

DRAM:  8 MiB
Core:  34 devices, 17 uclasses, devicetree: separate
WDT:   Not starting watchdog@50400000
MMC:   spi@53000000:slot@0: 0
Loading Environment from SPIFlash... SF: Detected w25q128fw with page size 256 Bytes, erase size 4 KiB, total 16 MiB
*** Warning - bad CRC, using default environment

In:    serial@38000000
Out:   serial@38000000
Err:   serial@38000000
Hit any key to stop autoboot:  0
1717730 bytes read in 957 ms (1.7 MiB/s)
10382 bytes read in 11 ms (920.9 KiB/s)
## Booting kernel from Legacy Image at 80060000 ...
   Image Name:   Linux
   Image Type:   RISC-V Linux Kernel Image (uncompressed)
   Data Size:    1717666 Bytes = 1.6 MiB
   Load Address: 80000000
   Entry Point:  80000000
   Verifying Checksum ... OK
## Flattened Device Tree blob at 80400000
   Booting using the fdt blob at 0x80400000
   Loading Kernel Image
   Loading Device Tree to 00000000803fa000, end 00000000803ff88d ... OK

Starting kernel ...

[    0.000000] Linux version 5.18.0 (foo@bar.com) (riscv64-buildroot-linux-uclibc-gcc.br_real (Buildroot 2022.02-560-g6a2b542a09-dirty) 10.3.0, GNU ld (GNU Binutils) 2.32) #1 SMP Thu Apr 21 16:00:03 JST 2022
[    0.000000] Machine model: SiPeed MAIX Dock
[    0.000000] earlycon: sifive0 at MMIO 0x0000000038000000 (options '115200n8')
[    0.000000] printk: bootconsole [sifive0] enabled
[    0.000000] Zone ranges:
[    0.000000]   DMA32    [mem 0x0000000080000000-0x00000000807fffff]
[    0.000000]   Normal   empty
[    0.000000] Movable zone start for each node
[    0.000000] Early memory node ranges
[    0.000000]   node   0: [mem 0x0000000080000000-0x00000000807fffff]
[    0.000000] Initmem setup node 0 [mem 0x0000000080000000-0x00000000807fffff]
[    0.000000] riscv: ISA extensions acdfim
[    0.000000] riscv: ELF capabilities acdfim
[    0.000000] percpu: max_distance=0x16000 too large for vmalloc space 0x0
[    0.000000] percpu: Embedded 11 pages/cpu s15392 r0 d29664 u45056
[    0.000000] percpu: wasting 10 pages per chunk
[    0.000000] Built 1 zonelists, mobility grouping off.  Total pages: 2020
[    0.000000] Kernel command line: earlycon console=ttySIF0 root=/dev/mmcblk0p2 rootwait ro
[    0.000000] Dentry cache hash table entries: 1024 (order: 1, 8192 bytes, linear)
[    0.000000] Inode-cache hash table entries: 512 (order: 0, 4096 bytes, linear)
[    0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off
[    0.000000] Memory: 6156K/8192K available (1180K kernel code, 151K rwdata, 239K rodata, 102K init, 69K bss, 2036K reserved, 0K cma-reserved)
[    0.000000] rcu: Hierarchical RCU implementation.
[    0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 25 jiffies.
[    0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
[    0.000000] riscv-intc: 64 local interrupts mapped
[    0.000000] plic: interrupt-controller@c000000: mapped 65 interrupts with 2 handlers for 4 contexts.
[    0.000000] k210-clk: clock-controller: CPU running at 390 MHz
[    0.000000] clint: timer@2000000: timer running at 7800000 Hz
[    0.000000] clocksource: clint_clocksource: mask: 0xffffffffffffffff max_cycles: 0x3990be68b, max_idle_ns: 881590404272 ns
[    0.000001] sched_clock: 64 bits at 7MHz, resolution 128ns, wraps every 4398046511054ns
[    0.008196] Calibrating delay loop (skipped), value calculated using timer frequency.. 15.60 BogoMIPS (lpj=31200)
[    0.018256] pid_max: default: 4096 minimum: 301
[    0.022876] Mount-cache hash table entries: 512 (order: 0, 4096 bytes, linear)
[    0.029980] Mountpoint-cache hash table entries: 512 (order: 0, 4096 bytes, linear)
[    0.040401] rcu: Hierarchical SRCU implementation.
[    0.045379] smp: Bringing up secondary CPUs ...
[    0.050494] smp: Brought up 1 node, 2 CPUs
[    0.054656] devtmpfs: initialized
[    0.072338] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 7645041785100000 ns
[    0.081415] pinctrl core: initialized pinctrl subsystem
[    0.123902] clocksource: Switched to clocksource clint_clocksource
[    0.136898] workingset: timestamp_bits=62 max_order=11 bucket_order=0
[    0.182570] k210-sysctl 50440000.syscon: K210 system controller
[    0.198158] k210-rst 50440000.syscon:reset-controller: K210 reset controller
[    0.207473] cacheinfo: Unable to detect cache hierarchy for CPU 0
[    0.219724] i2c_dev: i2c /dev entries driver
[    0.230080] k210-fpioa 502b0000.pinmux: K210 FPIOA pin controller
[    0.243091] 38000000.serial: ttySIF0 at MMIO 0x38000000 (irq = 1, base_baud = 115200) is a SiFive UART v0
[    0.252034] printk: console [ttySIF0] enabled
[    0.252034] printk: console [ttySIF0] enabled
[    0.260656] printk: bootconsole [sifive0] disabled
[    0.260656] printk: bootconsole [sifive0] disabled
[    0.272546] panel@0 enforce active low on chipselect handle
[    0.308098] mmc_spi spi3.0: SD/MMC host mmc0, no WP, no poweroff, cd polling
[    0.320197] Waiting for root device /dev/mmcblk0p2...
[    0.344667] mmc0: host does not support reading read-only switch, assuming write-enable
[    0.352020] mmc0: new SDHC card on SPI
[    0.358566] mmcblk0: mmc0:0000 SA16G 14.5 GiB
[    0.366866] random: fast init done
[    0.371439]  mmcblk0: p1 p2
[    0.391314] random: get_random_bytes called from 0x000000008009b7d2 with crng_init=1
[    0.400977] VFS: Mounted root (ext2 filesystem) readonly on device 179:2.
[    0.410966] devtmpfs: mounted
[    0.413521] Freeing unused kernel image (initmem) memory: 96K
[    0.418944] This architecture does not have kernel memory protection.
[    0.425370] Run /sbin/init as init process
[    0.633502] random: crng init done
          __  _
         / / (_) ____   _   _ __  __
        / /  | ||  _ \ | | | |\ \/ /
       / /___| || | | || |_| | >  <
      /_____/|_||_| |_| \____|/_/\_\
    64-bits RISC-V Kendryte K210 NOMMU

/ #
```

Of note is that the kernel mounts the SD card as read-only by default to avoid
corruptions of the ext2 root file system when the board is powered down. This
is recommended as this board does not support clean shutdown or halt.

Similarly to the initramfs build case, a console can be open without
re-flashing the board using the host tool pyserial-miniterm.

```
$ output/host/bin/pyserial-miniterm --raw --eol=LF /dev/ttyUSB0 115200
```