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+Sipeed MAIX-Dock Board
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+======================
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+
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+The Sipeed MAXI-Dock board is a dual-core RISC-V 64-bits board based on the
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+Canaan Kendryte K210 SoC.
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+
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+Prerequisite
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+------------
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+
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+In order to use the kflash utility to program this board, the user must have
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+access to the board USB serial device file. The simplest way to do this is to
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+add your user to the same group as this device file. Assume the device file is
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+/dev/ttyUSB0, first identify the device group name. In most cases, it is
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+either "dialout" or "uucp". Also verify that read-write access is enabled for
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+the group:
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+
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+```
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+$ ls -l /dev/ttyUSB0
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+crw-rw---- 1 root dialout 188, 0 May 26 13:48 /dev/ttyUSB0
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+```
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+
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+Then add yourself to that group (dialout in this example):
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+
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+```
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+$ sudo usermod -a -G dialout $(whoami)
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+```
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+
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+To enable the above, it is sometimes necessary to logout and login again.
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+
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+Buildroot Configuration
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+-----------------------
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+
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+Two buildroot configuration files are provided:
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+
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+(1) Direct Linux Kernel Boot
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+
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+This is defined by the sipeed_maix_dock_defconfig configuration. This
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+configuration allows building a bootable kernel image with a built-in initramfs
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+root file system (the board SD card is not used). The built kernel image can be
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+flashed directly to the board ROM for direct booting. No boot loader is
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+required.
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+
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+(2) U-Boot SD-Card Boot
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+
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+The sipeed_maix_dock_sdcard_defconfig configuration allows building a kernel
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+image with the root file system on the board SD card. U-Boot is used as the
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+boot loader.
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+
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+Note: U-Boot does not natively support the Sipeed MAIX-Dock board. However, the
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+board and device tree differences with the Sipeed MAIX-Bit board are small
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+enough for U-Boot to work.
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+
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+Both configuration files will also compile the pyserial-miniterm host tool open
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+a serial terminal console for the board.
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+
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+Direct Linux Kernel Boot
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+-------------------------
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+
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+Using the sipeed_maix_dock_defconfig configuration, the bootable kernel binary
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+image is built as follows.
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+
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+```
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+$ make sipeed_maix_dock_defconfig
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+$ make
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+```
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+
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+Both configuration files will also compile and install the kflash and
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+pyserial-miniterm host utilities to program bootable image files to the board
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+and open a serial terminal console.
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+
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+```
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+$ output/host/bin/kflash -b 1500000 -p /dev/ttyUSB0 -t output/images/loader.bin
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+```
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+
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+Once the kernel image file is fully programmed, a terminal console is open and
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+the board can be rebooted by pressing the reset button on the board (if it does
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+not reboot automatically).
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+
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+The output will be similar to the following.
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+
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+```
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+[ 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
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+[ 0.000000] Machine model: SiPeed MAIX Dock
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+[ 0.000000] earlycon: sifive0 at MMIO 0x0000000038000000 (options '115200n8')
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+[ 0.000000] printk: bootconsole [sifive0] enabled
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+[ 0.000000] Zone ranges:
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+[ 0.000000] DMA32 [mem 0x0000000080000000-0x00000000807fffff]
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+[ 0.000000] Normal empty
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+[ 0.000000] Movable zone start for each node
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+[ 0.000000] Early memory node ranges
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+[ 0.000000] node 0: [mem 0x0000000080000000-0x00000000807fffff]
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+[ 0.000000] Initmem setup node 0 [mem 0x0000000080000000-0x00000000807fffff]
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+[ 0.000000] riscv: ISA extensions acdfim
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+[ 0.000000] riscv: ELF capabilities acdfim
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+[ 0.000000] percpu: max_distance=0x16000 too large for vmalloc space 0x0
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+[ 0.000000] percpu: Embedded 11 pages/cpu s15264 r0 d29792 u45056
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+[ 0.000000] percpu: wasting 10 pages per chunk
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+[ 0.000000] Built 1 zonelists, mobility grouping off. Total pages: 2020
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+[ 0.000000] Kernel command line: earlycon console=ttySIF0
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+[ 0.000000] Dentry cache hash table entries: 1024 (order: 1, 8192 bytes, linear)
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+[ 0.000000] Inode-cache hash table entries: 512 (order: 0, 4096 bytes, linear)
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+[ 0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off
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+[ 0.000000] Memory: 5980K/8192K available (964K kernel code, 137K rwdata, 205K rodata, 546K init, 66K bss, 2212K reserved, 0K cma-reserved)
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+[ 0.000000] rcu: Hierarchical RCU implementation.
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+[ 0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 25 jiffies.
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+[ 0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
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+[ 0.000000] riscv-intc: 64 local interrupts mapped
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+[ 0.000000] plic: interrupt-controller@c000000: mapped 65 interrupts with 2 handlers for 4 contexts.
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+[ 0.000000] k210-clk: clock-controller: CPU running at 390 MHz
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+[ 0.000000] clint: timer@2000000: timer running at 7800000 Hz
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+[ 0.000000] clocksource: clint_clocksource: mask: 0xffffffffffffffff max_cycles: 0x3990be68b, max_idle_ns: 881590404272 ns
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+[ 0.000001] sched_clock: 64 bits at 7MHz, resolution 128ns, wraps every 4398046511054ns
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+[ 0.008187] Calibrating delay loop (skipped), value calculated using timer frequency.. 15.60 BogoMIPS (lpj=31200)
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+[ 0.018250] pid_max: default: 4096 minimum: 301
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+[ 0.022859] Mount-cache hash table entries: 512 (order: 0, 4096 bytes, linear)
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+[ 0.029971] Mountpoint-cache hash table entries: 512 (order: 0, 4096 bytes, linear)
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+[ 0.040238] rcu: Hierarchical SRCU implementation.
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+[ 0.045110] smp: Bringing up secondary CPUs ...
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+[ 0.050215] smp: Brought up 1 node, 2 CPUs
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+[ 0.054345] devtmpfs: initialized
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+[ 0.071112] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 7645041785100000 ns
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+[ 0.080182] pinctrl core: initialized pinctrl subsystem
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+[ 0.120689] clocksource: Switched to clocksource clint_clocksource
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+[ 0.133165] workingset: timestamp_bits=62 max_order=11 bucket_order=0
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+[ 0.181750] k210-sysctl 50440000.syscon: K210 system controller
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+[ 0.198612] k210-rst 50440000.syscon:reset-controller: K210 reset controller
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+[ 0.206644] cacheinfo: Unable to detect cache hierarchy for CPU 0
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+[ 0.216569] i2c_dev: i2c /dev entries driver
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+[ 0.225905] k210-fpioa 502b0000.pinmux: K210 FPIOA pin controller
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+[ 0.238866] 38000000.serial: ttySIF0 at MMIO 0x38000000 (irq = 1, base_baud = 115200) is a SiFive UART v0
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+[ 0.247778] printk: console [ttySIF0] enabled
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+[ 0.247778] printk: console [ttySIF0] enabled
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+[ 0.256459] printk: bootconsole [sifive0] disabled
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+[ 0.256459] printk: bootconsole [sifive0] disabled
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+[ 0.268225] panel@0 enforce active low on chipselect handle
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+[ 0.285238] Freeing unused kernel image (initmem) memory: 540K
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+[ 0.290372] This architecture does not have kernel memory protection.
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+[ 0.296807] Run /init as init process
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+ __ _
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+ / / (_) ____ _ _ __ __
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+ / / | || _ \ | | | |\ \/ /
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+ / /___| || | | || |_| | > <
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+ /_____/|_||_| |_| \____|/_/\_\
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+ 64-bits RISC-V Kendryte K210 NOMMU
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+
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+/ #
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+```
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+
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+To open a terminal console without re-flashing the board, the pyserial-miniterm
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+host tool can be used.
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+
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+```
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+$ output/host/bin/pyserial-miniterm --raw --eol=LF /dev/ttyUSB0 115200
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+```
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+
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+The options "--raw" and "--eol=LF" are added here to avoid a double carriage
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+return each time a command is entered.
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+
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+
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+U-Boot SD-Card Boot
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+-------------------
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+
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+The build procedure is similar to the built-in initramfs case.
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+
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+```
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+$ make sipeed_maix_dock_sdcard_defconfig
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+$ make
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+```
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+
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+The build process will generate two files under the output/images directory.
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+
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+* sdcard.img: The image file for the SD card filesystem. This image has 2
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+ partitions. The first partition is a vfat partition containing the kernel
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+ uImage and the board device tree binary. The second partition is the root
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+ filesystem with busybox installed. The second partition is formatted using
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+ ext2 (rev1).
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+
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+* uboot.bin: U-Boot bootable binary to load and boot the kernel from the SD
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+ card.
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+
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+The SD card can be prepared by writing the sdcard.img file, as follows.
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+
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+```
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+$ sudo dd if=output/images/sdcard.img of=/dev/sdX bs=1M
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+$ sync
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+$ eject /dev/sdX
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+```
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+
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+Where /dev/sdX is the device file name of the SD card. Once completed, the SD
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+card can be inserted into the board and the U-Boot binary image written to the
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+board boot flash using the kflash utility.
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+
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+```
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+$ output/host/bin/kflash -b 1500000 -p /dev/ttyUSB0 -t output/images/u-boot.bin
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+```
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+
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+The above command will program U-Boot image to the board boot ROM and open a
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+terminal console once the u-boot.bin file is fully programmed. Reboot into the
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+newly programmed environment by pressing the board reset button if it does not
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+reboot automatically.
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+
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+The output will be similar to the following.
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+
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+```
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+U-Boot 2022.04 (Apr 21 2022 - 15:59:50 +0900)
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+
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+DRAM: 8 MiB
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+Core: 34 devices, 17 uclasses, devicetree: separate
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+WDT: Not starting watchdog@50400000
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+MMC: spi@53000000:slot@0: 0
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+Loading Environment from SPIFlash... SF: Detected w25q128fw with page size 256 Bytes, erase size 4 KiB, total 16 MiB
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+*** Warning - bad CRC, using default environment
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+
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+In: serial@38000000
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+Out: serial@38000000
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+Err: serial@38000000
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+Hit any key to stop autoboot: 0
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+1717730 bytes read in 957 ms (1.7 MiB/s)
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+10382 bytes read in 11 ms (920.9 KiB/s)
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+## Booting kernel from Legacy Image at 80060000 ...
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+ Image Name: Linux
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+ Image Type: RISC-V Linux Kernel Image (uncompressed)
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+ Data Size: 1717666 Bytes = 1.6 MiB
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+ Load Address: 80000000
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+ Entry Point: 80000000
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+ Verifying Checksum ... OK
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+## Flattened Device Tree blob at 80400000
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+ Booting using the fdt blob at 0x80400000
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+ Loading Kernel Image
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+ Loading Device Tree to 00000000803fa000, end 00000000803ff88d ... OK
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+
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+Starting kernel ...
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+
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+[ 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
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+[ 0.000000] Machine model: SiPeed MAIX Dock
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+[ 0.000000] earlycon: sifive0 at MMIO 0x0000000038000000 (options '115200n8')
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+[ 0.000000] printk: bootconsole [sifive0] enabled
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+[ 0.000000] Zone ranges:
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+[ 0.000000] DMA32 [mem 0x0000000080000000-0x00000000807fffff]
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+[ 0.000000] Normal empty
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+[ 0.000000] Movable zone start for each node
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+[ 0.000000] Early memory node ranges
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+[ 0.000000] node 0: [mem 0x0000000080000000-0x00000000807fffff]
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+[ 0.000000] Initmem setup node 0 [mem 0x0000000080000000-0x00000000807fffff]
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+[ 0.000000] riscv: ISA extensions acdfim
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+[ 0.000000] riscv: ELF capabilities acdfim
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+[ 0.000000] percpu: max_distance=0x16000 too large for vmalloc space 0x0
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+[ 0.000000] percpu: Embedded 11 pages/cpu s15392 r0 d29664 u45056
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+[ 0.000000] percpu: wasting 10 pages per chunk
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+[ 0.000000] Built 1 zonelists, mobility grouping off. Total pages: 2020
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+[ 0.000000] Kernel command line: earlycon console=ttySIF0 root=/dev/mmcblk0p2 rootwait ro
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+[ 0.000000] Dentry cache hash table entries: 1024 (order: 1, 8192 bytes, linear)
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+[ 0.000000] Inode-cache hash table entries: 512 (order: 0, 4096 bytes, linear)
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+[ 0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off
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+[ 0.000000] Memory: 6156K/8192K available (1180K kernel code, 151K rwdata, 239K rodata, 102K init, 69K bss, 2036K reserved, 0K cma-reserved)
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+[ 0.000000] rcu: Hierarchical RCU implementation.
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+[ 0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 25 jiffies.
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+[ 0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
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+[ 0.000000] riscv-intc: 64 local interrupts mapped
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+[ 0.000000] plic: interrupt-controller@c000000: mapped 65 interrupts with 2 handlers for 4 contexts.
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+[ 0.000000] k210-clk: clock-controller: CPU running at 390 MHz
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+[ 0.000000] clint: timer@2000000: timer running at 7800000 Hz
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+[ 0.000000] clocksource: clint_clocksource: mask: 0xffffffffffffffff max_cycles: 0x3990be68b, max_idle_ns: 881590404272 ns
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+[ 0.000001] sched_clock: 64 bits at 7MHz, resolution 128ns, wraps every 4398046511054ns
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+[ 0.008196] Calibrating delay loop (skipped), value calculated using timer frequency.. 15.60 BogoMIPS (lpj=31200)
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+[ 0.018256] pid_max: default: 4096 minimum: 301
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+[ 0.022876] Mount-cache hash table entries: 512 (order: 0, 4096 bytes, linear)
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+[ 0.029980] Mountpoint-cache hash table entries: 512 (order: 0, 4096 bytes, linear)
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+[ 0.040401] rcu: Hierarchical SRCU implementation.
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+[ 0.045379] smp: Bringing up secondary CPUs ...
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+[ 0.050494] smp: Brought up 1 node, 2 CPUs
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+[ 0.054656] devtmpfs: initialized
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+[ 0.072338] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 7645041785100000 ns
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+[ 0.081415] pinctrl core: initialized pinctrl subsystem
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+[ 0.123902] clocksource: Switched to clocksource clint_clocksource
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+[ 0.136898] workingset: timestamp_bits=62 max_order=11 bucket_order=0
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+[ 0.182570] k210-sysctl 50440000.syscon: K210 system controller
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+[ 0.198158] k210-rst 50440000.syscon:reset-controller: K210 reset controller
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+[ 0.207473] cacheinfo: Unable to detect cache hierarchy for CPU 0
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+[ 0.219724] i2c_dev: i2c /dev entries driver
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+[ 0.230080] k210-fpioa 502b0000.pinmux: K210 FPIOA pin controller
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+[ 0.243091] 38000000.serial: ttySIF0 at MMIO 0x38000000 (irq = 1, base_baud = 115200) is a SiFive UART v0
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+[ 0.252034] printk: console [ttySIF0] enabled
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+[ 0.252034] printk: console [ttySIF0] enabled
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+[ 0.260656] printk: bootconsole [sifive0] disabled
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+[ 0.260656] printk: bootconsole [sifive0] disabled
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+[ 0.272546] panel@0 enforce active low on chipselect handle
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+[ 0.308098] mmc_spi spi3.0: SD/MMC host mmc0, no WP, no poweroff, cd polling
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+[ 0.320197] Waiting for root device /dev/mmcblk0p2...
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+[ 0.344667] mmc0: host does not support reading read-only switch, assuming write-enable
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+[ 0.352020] mmc0: new SDHC card on SPI
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+[ 0.358566] mmcblk0: mmc0:0000 SA16G 14.5 GiB
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+[ 0.366866] random: fast init done
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+[ 0.371439] mmcblk0: p1 p2
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+[ 0.391314] random: get_random_bytes called from 0x000000008009b7d2 with crng_init=1
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+[ 0.400977] VFS: Mounted root (ext2 filesystem) readonly on device 179:2.
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+[ 0.410966] devtmpfs: mounted
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+[ 0.413521] Freeing unused kernel image (initmem) memory: 96K
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+[ 0.418944] This architecture does not have kernel memory protection.
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+[ 0.425370] Run /sbin/init as init process
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+[ 0.633502] random: crng init done
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+ __ _
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+ / / (_) ____ _ _ __ __
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+ / / | || _ \ | | | |\ \/ /
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+ / /___| || | | || |_| | > <
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+ /_____/|_||_| |_| \____|/_/\_\
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+ 64-bits RISC-V Kendryte K210 NOMMU
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+
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+/ #
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+```
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+
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+Of note is that the kernel mounts the SD card as read-only by default to avoid
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+corruptions of the ext2 root file system when the board is powered down. This
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+is recommended as this board does not support clean shutdown or halt.
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+
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+Similarly to the initramfs build case, a console can be open without
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+re-flashing the board using the host tool pyserial-miniterm.
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+
|
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+```
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+$ output/host/bin/pyserial-miniterm --raw --eol=LF /dev/ttyUSB0 115200
|
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+```
|
Damien Le Moal