[PATCH v5 33/33] riscv: Add Sipeed Maix support
Rick Chen
rickchen36 at gmail.com
Wed Mar 4 07:04:20 CET 2020
Hi Sean
> The Sipeed Maix series is a collection of boards built around the RISC-V
> Kendryte K210 processor. This processor contains several peripherals to
> accelerate neural network processing and other "ai" tasks. This includes a
> "KPU" neural network processor, an audio processor supporting beamforming
> reception, and a digital video port supporting capture and output at VGA
> resolution. Other peripherals include 8M of sram (accessible with and
> without caching); remappable pins, including 40 GPIOs; AES, FFT, and SHA256
> accelerators; a DMA controller; and I2C, I2S, and SPI controllers. Maix
> peripherals vary, but include spi flash; on-board usb-serial bridges; ports
> for cameras, displays, and sd cards; and ESP32 chips. Currently, only the
> Sipeed Maix Bit V2.0 (bitm) is supported, but the boards are fairly
> similar.
>
> Documentation for Maix boards is located at
> <http://dl.sipeed.com/MAIX/HDK/>. Documentation for the Kendryte K210 is
> located at <https://kendryte.com/downloads/>. However, hardware details are
> rather lacking, so most technical reference has been taken from the
> standalone sdk located at
> <https://github.com/kendryte/kendryte-standalone-sdk>.
>
> Signed-off-by: Sean Anderson <seanga2 at gmail.com>
> ---
Please check patch, it can not apply
Applying: riscv: Add Sipeed Maix support
.git/rebase-apply/patch:344: trailing whitespace.
.git/rebase-apply/patch:346: trailing whitespace.
.git/rebase-apply/patch:368: trailing whitespace.
.git/rebase-apply/patch:370: trailing whitespace.
.git/rebase-apply/patch:377: trailing whitespace.
Bytes Sent:2478208 BPS:72937
error: patch failed: doc/board/index.rst:16
error: doc/board/index.rst: patch does not apply
Patch failed at 0001 riscv: Add Sipeed Maix support
Thanks,
Rick
>
> Changes in v5:
> - Configure relocation location with CONFIG_SYS_SDRAM_*
> - Enable ram clocks
> - Add pinmux/gpio/led support
> - Remove (broken) MMC support
> - Store the environment in flash
> - Add partitions
> - Add bootcmd
> - Add docs for pinctrl and booting
>
> Changes in v4:
> - Rework documentation to be organized by board mfg not cpu mfg
> - Update docs to reflect working SPI support
> - Add proper spi support
> - Don't define unneecessary macros in config.h
> - Lower the default stack so it isn't clobbered on relocation
> - Update MAINTAINERS
> - Update copyright
>
> Changes in v3:
> - Reorder to be last in the patch series
> - Add documentation for the board
> - Generate defconfig with "make savedefconfig"
> - Update Kconfig to imply most features we need
> - Update MAINTAINERS
>
> Changes in v2:
> - Select CONFIG_SYS_RISCV_NOCOUNTER
> - Imply CONFIG_CLK_K210
> - Remove spurious references to CONFIG_ARCH_K210
> - Remove many configs from defconfig where the defaults were fine
> - Add a few "not set" lines to suppress unneeded defaults
> - Reduce pre-reloc malloc space, now that clocks initialization happens
> later
>
> arch/riscv/Kconfig | 4 +
> board/sipeed/maix/Kconfig | 72 ++++++++++
> board/sipeed/maix/MAINTAINERS | 11 ++
> board/sipeed/maix/Makefile | 5 +
> board/sipeed/maix/maix.c | 54 +++++++
> configs/sipeed_maix_bitm_defconfig | 16 +++
> doc/board/index.rst | 1 +
> doc/board/sipeed/index.rst | 9 ++
> doc/board/sipeed/maix.rst | 223 +++++++++++++++++++++++++++++
> include/configs/sipeed-maix.h | 24 ++++
> 10 files changed, 419 insertions(+)
> create mode 100644 board/sipeed/maix/Kconfig
> create mode 100644 board/sipeed/maix/MAINTAINERS
> create mode 100644 board/sipeed/maix/Makefile
> create mode 100644 board/sipeed/maix/maix.c
> create mode 100644 configs/sipeed_maix_bitm_defconfig
> create mode 100644 doc/board/sipeed/index.rst
> create mode 100644 doc/board/sipeed/maix.rst
> create mode 100644 include/configs/sipeed-maix.h
>
> diff --git a/arch/riscv/Kconfig b/arch/riscv/Kconfig
> index b7a5757584..d016dd75d7 100644
> --- a/arch/riscv/Kconfig
> +++ b/arch/riscv/Kconfig
> @@ -20,6 +20,9 @@ config TARGET_QEMU_VIRT
> config TARGET_SIFIVE_FU540
> bool "Support SiFive FU540 Board"
>
> +config TARGET_SIPEED_MAIX
> + bool "Support Sipeed Maix Board"
> +
> endchoice
>
> config SYS_ICACHE_OFF
> @@ -53,6 +56,7 @@ source "board/AndesTech/ax25-ae350/Kconfig"
> source "board/emulation/qemu-riscv/Kconfig"
> source "board/microchip/mpfs_icicle/Kconfig"
> source "board/sifive/fu540/Kconfig"
> +source "board/sipeed/maix/Kconfig"
>
> # platform-specific options below
> source "arch/riscv/cpu/ax25/Kconfig"
> diff --git a/board/sipeed/maix/Kconfig b/board/sipeed/maix/Kconfig
> new file mode 100644
> index 0000000000..939eb4829a
> --- /dev/null
> +++ b/board/sipeed/maix/Kconfig
> @@ -0,0 +1,72 @@
> +# SPDX-License-Identifier: GPL-2.0+
> +# Copyright (C) 2019-20 Sean Anderson <seanga2 at gmail.com>
> +
> +if TARGET_SIPEED_MAIX
> +
> +config SYS_BOARD
> + default "maix"
> +
> +config SYS_VENDOR
> + default "sipeed"
> +
> +config SYS_CPU
> + default "generic"
> +
> +config SYS_CONFIG_NAME
> + default "sipeed-maix"
> +
> +config SYS_TEXT_BASE
> + default 0x80000000
> +
> +config DEFAULT_DEVICE_TREE
> + default "k210-maix-bit"
> +
> +config NR_CPUS
> + default 2
> +
> +config NR_DRAM_BANKS
> + default 3
> +
> +config SF_DEFAULT_BUS
> + default 3
> +
> +config BOARD_SPECIFIC_OPTIONS
> + def_bool y
> + select GENERIC_RISCV
> + select RISCV_PRIV_1_9
> + imply SMP
> + imply OF_BOARD_SETUP
> + imply DM_SERIAL
> + imply SIFIVE_SERIAL
> + imply SIFIVE_CLINT
> + imply POWER_DOMAIN
> + imply SIMPLE_PM_BUS
> + imply CLK_CCF
> + imply CLK_COMPOSITE_CCF
> + imply CLK_K210
> + imply DM_RESET
> + imply RESET_SYSCON
> + imply SYSRESET
> + imply SYSRESET_SYSCON
> + imply PINCTRL
> + imply PINCONF
> + imply PINCTRL_K210
> + imply DM_GPIO
> + imply DWAPB_GPIO
> + imply SIFIVE_GPIO
> + imply CMD_GPIO
> + imply LED
> + imply LED_GPIO
> + imply SPI
> + imply DESIGNWARE_SPI
> + imply SPI_FLASH_WINBOND
> + imply DM_MTD
> + imply SPI_FLASH_MTD
> + imply CMD_MTD
> + imply ENV_IS_IN_SPI_FLASH
> + imply MMC
> + imply MMC_BROKEN_CD
> + imply MMC_SPI
> + imply WDT
> + imply DESIGNWARE_WATCHDOG
> +endif
> diff --git a/board/sipeed/maix/MAINTAINERS b/board/sipeed/maix/MAINTAINERS
> new file mode 100644
> index 0000000000..1f33882e1e
> --- /dev/null
> +++ b/board/sipeed/maix/MAINTAINERS
> @@ -0,0 +1,11 @@
> +Sipeed Maix BOARD
> +M: Sean Anderson <seanga2 at gmail.com>
> +S: Maintained
> +F: arch/riscv/dts/k210.dtsi
> +F: arch/riscv/dts/k210-maix-bit.dts
> +F: board/sipeed/maix/
> +F: configs/sipeed_maix_defconfig
> +F: doc/board/sipeed/
> +F: include/configs/sipeed-maix.h
> +F: include/dt-bindings/*/k210-sysctl.h
> +F: test/dm/k210_pll.c
> diff --git a/board/sipeed/maix/Makefile b/board/sipeed/maix/Makefile
> new file mode 100644
> index 0000000000..4acff5b31e
> --- /dev/null
> +++ b/board/sipeed/maix/Makefile
> @@ -0,0 +1,5 @@
> +# SPDX-License-Identifier: GPL-2.0+
> +#
> +# Copyright (c) 2019 Western Digital Corporation or its affiliates.
> +
> +obj-y += maix.o
> diff --git a/board/sipeed/maix/maix.c b/board/sipeed/maix/maix.c
> new file mode 100644
> index 0000000000..c126cb5d67
> --- /dev/null
> +++ b/board/sipeed/maix/maix.c
> @@ -0,0 +1,54 @@
> +// SPDX-License-Identifier: GPL-2.0+
> +/*
> + * Copyright (C) 2019 Sean Anderson <seanga2 at gmail.com>
> + */
> +
> +#include <common.h>
> +#include <clk.h>
> +#include <dm.h>
> +#include <fdt_support.h>
> +
> +phys_size_t get_effective_memsize(void)
> +{
> + return CONFIG_SYS_SDRAM_SIZE;
> +}
> +
> +int board_init(void)
> +{
> + int ret;
> + ofnode bank = ofnode_null();
> +
> + /* Enable RAM clocks */
> + while (true) {
> + struct clk clk;
> +
> + bank = ofnode_by_prop_value(bank, "device_type", "memory",
> + sizeof("memory"));
> + if (ofnode_equal(bank, ofnode_null()))
> + break;
> +
> + ret = clk_get_by_index_nodev(bank, 0, &clk);
> + if (ret)
> + continue;
> +
> + ret = clk_enable(&clk);
> + clk_free(&clk);
> + if (ret)
> + return ret;
> + }
> + return 0;
> +}
> +
> +int ft_board_setup(void *blob, bd_t *bd)
> +{
> + int i;
> + u64 base[CONFIG_NR_DRAM_BANKS];
> + u64 size[CONFIG_NR_DRAM_BANKS];
> +
> + for (i = 0; i < CONFIG_NR_DRAM_BANKS; i++) {
> + base[i] = bd->bi_dram[i].start;
> + size[i] = bd->bi_dram[i].size;
> + }
> +
> + return fdt_fixup_memory_banks(blob, base, size, CONFIG_NR_DRAM_BANKS);
> +}
> diff --git a/configs/sipeed_maix_bitm_defconfig b/configs/sipeed_maix_bitm_defconfig
> new file mode 100644
> index 0000000000..7f644e7a37
> --- /dev/null
> +++ b/configs/sipeed_maix_bitm_defconfig
> @@ -0,0 +1,16 @@
> +CONFIG_RISCV=y
> +CONFIG_ENV_SIZE=0x2000
> +CONFIG_ENV_SECT_SIZE=0x1000
> +CONFIG_ENV_OFFSET=0x7C000
> +CONFIG_ENV_OFFSET_REDUND=0x7E000
> +CONFIG_TARGET_SIPEED_MAIX=y
> +CONFIG_ARCH_RV64I=y
> +CONFIG_USE_BOOTCOMMAND=y
> +CONFIG_BOOTCOMMAND="sf probe;mtd read kernel 80000000;go 80000000"
> +CONFIG_MTDIDS_DEFAULT="nor0=spi3.0"
> +CONFIG_MTDPARTS_DEFAULT="spi3.0:496k(u-boot),16k(env),5632k(kernel),10240k(data)"
> +CONFIG_SYS_REDUNDAND_ENVIRONMENT=y
> +# CONFIG_NET is not set
> +# CONFIG_INPUT is not set
> +# CONFIG_DM_ETH is not set
> +# CONFIG_EFI_LOADER is not set
> diff --git a/doc/board/index.rst b/doc/board/index.rst
> index b8b956d730..54cbc5c874 100644
> --- a/doc/board/index.rst
> +++ b/doc/board/index.rst
> @@ -16,4 +16,5 @@ Board-specific doc
> renesas/index
> rockchip/index
> sifive/index
> + sipeed/index
> xilinx/index
> diff --git a/doc/board/sipeed/index.rst b/doc/board/sipeed/index.rst
> new file mode 100644
> index 0000000000..92da47fddd
> --- /dev/null
> +++ b/doc/board/sipeed/index.rst
> @@ -0,0 +1,9 @@
> +.. SPDX-License-Identifier: GPL-2.0+
> +
> +Kendryte
> +========
> +
> +.. toctree::
> + :maxdepth: 2
> +
> + maix
> diff --git a/doc/board/sipeed/maix.rst b/doc/board/sipeed/maix.rst
> new file mode 100644
> index 0000000000..c5c2e24ea5
> --- /dev/null
> +++ b/doc/board/sipeed/maix.rst
> @@ -0,0 +1,223 @@
> +.. SPDX-License-Identifier: GPL-2.0+
> +.. Copyright (C) 2020 Sean Anderson <seanga2 at gmail.com>
> +
> +Maix Bit
> +========
> +
> +Several of the Sipeed Maix series of boards cotain the Kendryte K210 processor,
> +a 64-bit RISC-V CPU. This processor contains several peripherals to accelerate
> +neural network processing and other "ai" tasks. This includes a "KPU" neural
> +network processor, an audio processor supporting beamforming reception, and a
> +digital video port supporting capture and output at VGA resolution. Other
> +peripherals include 8M of SRAM (accessible with and without caching); remappable
> +pins, including 40 GPIOs; AES, FFT, and SHA256 accelerators; a DMA controller;
> +and I2C, I2S, and SPI controllers. Maix peripherals vary, but include spi flash;
> +on-board usb-serial bridges; ports for cameras, displays, and sd cards; and
> +ESP32 chips. Currently, only the Sipeed Maix Bit V2.0 (bitm) is supported, but
> +the boards are fairly similar.
> +
> +Documentation for Maix boards is available from
> +`Sipeed's website <http://dl.sipeed.com/MAIX/HDK/>`_.
> +Documentation for the Kendryte K210 is available from
> +`Kendryte's website <https://kendryte.com/downloads/>`_. However, hardware
> +details are rather lacking, so most technical reference has been taken from the
> +`standalone sdk <https://github.com/kendryte/kendryte-standalone-sdk>`_.
> +
> +Build and boot steps
> +--------------------
> +
> +To build u-boot, run
> +
> +.. code-block:: none
> +
> + make sipeed_maix_bitm_defconfig
> + make CROSS_COMPILE=<your cross compile prefix>
> +
> +To flash u-boot to a maix bit, run
> +
> +.. code-block:: none
> +
> + kflash -tp /dev/<your tty here> -B bit_mic u-boot-dtb.bin
> +
> +Boot output should look like the following:
> +
> +.. code-block:: none
> +
> +
> + U-Boot 2020.04-rc2-00087-g2221cc09c1-dirty (Feb 28 2020 - 13:53:09 -0500)
> +
> + DRAM: 8 MiB
> + WDT: Started with servicing (60s timeout)
> + MMC: spi at 53000000:slot at 0: 0
> + In: serial at 38000000
> + Out: serial at 38000000
> + Err: serial at 38000000
> + Hit any key to stop autoboot: 0
> + SF: Detected w25q128fw with page size 256 Bytes, erase size 4 KiB, total 16 MiB
> + Reading 5242880 byte(s) at offset 0x00000000
> + ## Starting application at 0x80000000 ...
> +
> +Flashing Images
> +---------------
> +
> +To flash a kernel, transfer it over serial, then write it to the kernel
> +partition.
> +
> +.. code-block:: none
> +
> + => loady 80000000 1500000
> + ## Switch baudrate to 1500000 bps and press ENTER ...
> +
> + *** baud: 1500000
> +
> + *** baud: 1500000 ***
> + ## Ready for binary (ymodem) download to 0x80000000 at 1500000 bps...
> + C
> + *** file: loader.bin
> + $ sz -vv loader.bin
> + Sending: loader.bin
> + Bytes Sent:2478208 BPS:72937
> + Sending:
> + Ymodem sectors/kbytes sent: 0/ 0k
> + Transfer complete
> +
> + *** exit status: 0 ***
> + ## Total Size = 0x0025d052 = 2478162 Bytes
> + ## Switch baudrate to 115200 bps and press ESC ...
> +
> + *** baud: 115200
> +
> + *** baud: 115200 ***
> + => sf probe
> + SF: Detected w25q128fw with page size 256 Bytes, erase size 4 KiB, total 16 MiB
> + => mtd write kernel 80000000 0 25d052
> + Writing 2478162 byte(s) at offset 0x00000000
> +
> +**NB:** kflash adds a 5-byte header to payloads (and a 32-byte trailer) to all
> +payloads it flashes. If you use kflash to flash your payload, you will need to
> +account for this header when specifying what offset in spi flash to load from.
> +
> +Partition Scheme
> +^^^^^^^^^^^^^^^^
> +
> +There is no partition scheme specified by the manufacturer. The only requirement
> +imposed by the firmware is that offset 0 will be loaded and ran. The default
> +partition scheme is
> +
> +========= ======== ======
> +Partition Offset Size
> +========= ======== ======
> +u-boot 0x000000 496k
> +env 0x07C000 16k
> +kernel 0x080000 5M
> +data 0x580000 10.5M
> +========= ======== ======
> +
> +Pin Assignment
> +--------------
> +
> +The K210 contains a Fully Programmable I/O Array (FPIOA), which can remap any of
> +its 256 input functions to any any of 48 output pins. The following table has
> +the default pin assignments for the BitM.
> +
> +===== ========== =======
> +Pin Function Comment
> +===== ========== =======
> +IO_0 JTAG_TCLK
> +IO_1 JTAG_TDI
> +IO_2 JTAG_TMS
> +IO_3 JTAG_TDO
> +IO_4 UARTHS_RX
> +IO_5 UARTHS_TX
> +IO_6 GPIOHS_1
> +IO_7 GPIOHS_2
> +IO_8 GPIO_0
> +IO_9 GPIO_1
> +IO_10 GPIO_2
> +IO_11 GPIO_3
> +IO_12 GPIO_4 Green LED
> +IO_13 GPIO_5 Red LED
> +IO_14 GPIO_6 Blue LED
> +IO_15 GPIO_7
> +IO_16 GPIOHS_0 ISP
> +IO_17 GPIOHS_3
> +IO_18 I2S0_SCLK MIC CLK
> +IO_19 I2S0_WS MIC WS
> +IO_20 I2S0_IN_D0 MIC SD
> +IO_21 GPIOHS_4
> +IO_22 GPIOHS_5
> +IO_23 GPIOHS_6
> +IO_24 GPIOHS_7
> +IO_25 GPIOHS_8
> +IO_26 SPI1_D1 MMC MISO
> +IO_27 SPI1_SCLK MMC CLK
> +IO_28 SPI1_D0 MMC MOSI
> +IO_29 GPIOHS_31 MMC CS
> +IO_30 GPIOHS_9
> +IO_31 GPIOHS_10
> +IO_32 GPIOHS_11
> +IO_33 GPIOHS_12
> +IO_34 GPIOHS_13
> +IO_35 GPIOHS_14
> +IO_36 GPIOHS_28 Panel CS
> +IO_37 GPIOHS_29 Panel RST
> +IO_38 GPIOHS_30 Panel DC
> +IO_39 SPI0_SCK Panel WR
> +IO_40 SCCP_SDA
> +IO_41 SCCP_SCLK
> +IO_42 DVP_RST
> +IO_43 DVP_VSYNC
> +IO_44 DVP_PWDN
> +IO_45 DVP_HSYNC
> +IO_46 DVP_XCLK
> +IO_47 DVP_PCLK
> +===== ========== =======
> +
> +Over- and Under-clocking
> +------------------------
> +
> +To change the clock speed of the K210, you will need to enable
> +``CONFIG_CLK_K210_SET_RATE`` and edit the board's device tree. To do this, add a
> +section to ``arch/riscv/arch/riscv/dts/k210-maix-bit.dts`` like the following:
> +
> +.. code-block:: dts
> +
> + &sysclk {
> + assigned-clocks = <&sysclk K210_CLK_PLL0>;
> + assigned-clock-rates = <800000000>;
> + };
> +
> +There are three PLLs on the K210: PLL0 is the parent of most of the components,
> +including the CPU and RAM. PLL1 is the parent of the neural network coprocessor.
> +PLL2 is the parent of the sound processing devices. Note that child clocks of
> +PLL0 and PLL2 run at *half* the speed of the PLLs. For example, if PLL0 is
> +running at 800 MHz, then the CPU will run at 400 MHz. This is the example given
> +above. The CPU can be overclocked to around 600 MHz, and underclocked to 26 MHz.
> +
> +It is possible to set PLL2's parent to PLL0. The plls are more accurate when
> +converting between similar frequencies. This makes it easier to get an accurate
> +frequency for I2S. As an example, consider sampling an I2S device at 44.1 kHz.
> +On this device, the I2S serial clock runs at 64 times the sample rate.
> +Therefore, we would like to run PLL2 at an even multiple of 2.8224 MHz. If
> +PLL2's parent is IN0, we could use a frequency of 390 MHz (the same as the CPU's
> +default speed). Dividing by 138 yields a serial clock of about 2.8261 MHz. This
> +results in a sample rate of 44.158 kHz---around 50 Hz or .1% too fast. If,
> +instead, we set PLL2's parent to PLL1 running at 390 MHz, and request a rate of
> +2.8224 * 136 = 383.8464 MHz, the achieved rate is 383.90625 MHz. Dividing by 136
> +yields a serial clock of about 2.8228 MHz. This results in a sample rate of
> +44.107 kHz---just 7 Hz or .02% too fast. This configuration is shown in the
> +following example:
> +
> +.. code-block:: dts
> +
> + &sysclk {
> + assigned-clocks = <&sysclk K210_CLK_PLL1>, <&sysclk K210_CLK_PLL2>;
> + assigned-clock-parents = <0>, <&sysclk K210_CLK_PLL1>;
> + assigned-clock-rates = <390000000>, <383846400>;
> + };
> +
> +There are a couple of quirks to the PLLs. First, there are more frequency ratios
> +just above and below 1.0, but there is a small gap around 1.0. To be explicit,
> +if the input frequency is 100 MHz, it would be impossible to have an output of
> +99 or 101 MHz. In addition, there is a maximum frequency for the internal VCO,
> +so higher input/output frequencies will be less accurate than lower ones.
> diff --git a/include/configs/sipeed-maix.h b/include/configs/sipeed-maix.h
> new file mode 100644
> index 0000000000..a46473fc78
> --- /dev/null
> +++ b/include/configs/sipeed-maix.h
> @@ -0,0 +1,24 @@
> +/* SPDX-License-Identifier: GPL-2.0+ */
> +/*
> + * Copyright (C) 2019-20 Sean Anderson <seanga2 at gmail.com>
> + */
> +
> +#ifndef CONFIGS_SIPEED_MAIX_H
> +#define CONFIGS_SIPEED_MAIX_H
> +
> +#include <linux/sizes.h>
> +
> +#define CONFIG_SYS_LOAD_ADDR 0x80000000
> +/* Start just below the second bank so we don't clobber it during reloc */
> +#define CONFIG_SYS_INIT_SP_ADDR 0x803FFFFF
> +#define CONFIG_SYS_MALLOC_LEN SZ_128K
> +#define CONFIG_SYS_CACHELINE_SIZE 64
> +
> +#define CONFIG_SYS_SDRAM_BASE 0x80000000
> +/* Don't relocate into AI ram since it isn't set up yet */
> +#define CONFIG_SYS_SDRAM_SIZE (SZ_4M + SZ_2M)
> +
> +/* For early init */
> +#define K210_SYSCTL_BASE 0x50440000
> +
> +#endif /* CONFIGS_SIPEED_MAIX_H */
> --
> 2.25.0
>
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