doc/board/sipeed/maix.rst

.. SPDX-License-Identifier: GPL-2.0+
.. Copyright (C) 2020 Sean Anderson <seanga2@gmail.com>

MAIX
====

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) and Sipeed MAIXDUINO are
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 <defconfig>
    make CROSS_COMPILE=<your cross compile prefix>

To flash U-Boot, run

.. code-block:: none

    kflash -tp /dev/<your tty here> -B <board_id> u-boot-dtb.bin

The board provides two serial devices, e.g.

* /dev/serial/by-id/usb-Kongou_Hikari_Sipeed-Debug_12345678AB-if00-port0
* /dev/serial/by-id/usb-Kongou_Hikari_Sipeed-Debug_12345678AB-if01-port0

Which one is used for flashing depends on the board.

Currently only a small subset of the board features are supported. So we can
use the same default configuration and device tree. In the long run we may need
separate settings.

======================== ========================== ========== ==========
Board                    defconfig                  board_id   TTY device
======================== ========================== ========== ==========
Sipeed MAIX BiT          sipeed_maix_bitm_defconfig bit        first
Sipeed MAIX BiT with Mic sipeed_maix_bitm_defconfig bit_mic    first
Sipeed MAIXDUINO         sipeed_maix_bitm_defconfig maixduino  first
Sipeed MAIX GO                                      goE        second
Sipeed MAIX ONE DOCK                                dan        first
======================== ========================== ========== ==========

Flashing causes a reboot of the device. Parameter -t specifies that the serial
console shall be opened immediately. 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
    In:    serial@38000000
    Out:   serial@38000000
    Err:   serial@38000000
    =>

OpenSBI
^^^^^^^

OpenSBI is an open source supervisor execution environment implementing the
RISC-V Supervisor Binary Interface Specification [1]. One of its features is
to intercept run-time exceptions, e.g. for unaligned access or illegal
instructions, and to emulate the failing instructions.

The OpenSBI source can be downloaded via:

.. code-block:: bash

    git clone https://github.com/riscv/opensbi

As OpenSBI will be loaded at 0x80000000 we have to adjust the U-Boot text base.
Furthermore we have to enable building U-Boot for S-mode::

    CONFIG_SYS_TEXT_BASE=0x80020000
    CONFIG_RISCV_SMODE=y

Both settings are contained in sipeed_maix_smode_defconfig so we can build
U-Boot with:

.. code-block:: bash

    make sipeed_maix_smode_defconfig
    make

To build OpenSBI with U-Boot as a payload:

.. code-block:: bash

    cd opensbi
    make \
    PLATFORM=kendryte/k210 \
    FW_PAYLOAD=y \
    FW_PAYLOAD_OFFSET=0x20000 \
    FW_PAYLOAD_PATH=<path to U-Boot>/u-boot-dtb.bin

The value of FW_PAYLOAD_OFFSET must match CONFIG_SYS_TEXT_BASE - 0x80000000.

The file to flash is build/platform/kendryte/k210/firmware/fw_payload.bin.

Loading Images
^^^^^^^^^^^^^^

To load a kernel, transfer it over serial.

.. 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 ***
    =>

Running Programs
^^^^^^^^^^^^^^^^

Binaries
""""""""

To run a bare binary, use the ``go`` command:

.. code-block:: none

    => loady
    ## Ready for binary (ymodem) download to 0x80000000 at 115200 bps...
    C
    *** file: ./examples/standalone/hello_world.bin
    $ sz -vv ./examples/standalone/hello_world.bin
    Sending: hello_world.bin
    Bytes Sent:   4864   BPS:649
    Sending:
    Ymodem sectors/kbytes sent:   0/ 0k
    Transfer complete

    *** exit status: 0 ***
    (CAN) packets, 5 retries
    ## Total Size      = 0x000012f8 = 4856 Bytes
    => go 80000000
    ## Starting application at 0x80000000 ...
    Example expects ABI version 9
    Actual U-Boot ABI version 9
    Hello World
    argc = 1
    argv[0] = "80000000"
    argv[1] = "<NULL>"
    Hit any key to exit ...

Legacy Images
"""""""""""""

To run legacy images, use the ``bootm`` command:

.. code-block:: none

    $ tools/mkimage -A riscv -O u-boot -T standalone -C none -a 80000000 -e 80000000 -d examples/standalone/hello_world.bin hello_world.img
    Image Name:
    Created:      Thu Mar  5 12:04:10 2020
    Image Type:   RISC-V U-Boot Standalone Program (uncompressed)
    Data Size:    4856 Bytes = 4.74 KiB = 0.00 MiB
    Load Address: 80000000
    Entry Point:  80000000

    $ picocom -b 115200 /dev/ttyUSB0i
    => loady
    ## Ready for binary (ymodem) download to 0x80000000 at 115200 bps...
    C
    *** file: hello_world.img
    $ sz -vv hello_world.img
    Sending: hello_world.img
    Bytes Sent:   4992   BPS:665
    Sending:
    Ymodem sectors/kbytes sent:   0/ 0k
    Transfer complete

    *** exit status: 0 ***
    CAN) packets, 3 retries
    ## Total Size      = 0x00001338 = 4920 Bytes
    => bootm
    ## Booting kernel from Legacy Image at 80000000 ...
       Image Name:
       Image Type:   RISC-V U-Boot Standalone Program (uncompressed)
       Data Size:    4856 Bytes = 4.7 KiB
       Load Address: 80000000
       Entry Point:  80000000
       Verifying Checksum ... OK
       Loading Standalone Program
    Example expects ABI version 9
    Actual U-Boot ABI version 9
    Hello World
    argc = 0
    argv[0] = "<NULL>"
    Hit any key to exit ...

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:: none

    &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:: none

    &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.

Technical Details
-----------------

Boot Sequence
^^^^^^^^^^^^^

1. ``RESET`` pin is deasserted. The pin is connected to the ``RESET`` button. It
   can also be set to low via either the ``DTR`` or the ``RTS`` line of the
   serial interface (depending on the board).
2. Both harts begin executing at ``0x00001000``.
3. Both harts jump to firmware at ``0x88000000``.
4. One hart is chosen as a boot hart.
5. Firmware reads the value of pin ``IO_16`` (ISP). This pin is connected to the
   ``BOOT`` button. The pin can equally be set to low via either the ``DTR`` or
   ``RTS`` line of the serial interface (depending on the board).

   * If the pin is low, enter ISP mode. This mode allows loading data to ram,
     writing it to flash, and booting from specific addresses.
   * If the pin is high, continue boot.
6. Firmware reads the next stage from flash (SPI3) to address ``0x80000000``.

   * If byte 0 is 1, the next stage is decrypted using the built-in AES
     accelerator and the one-time programmable, 128-bit AES key.
   * Bytes 1 to 4 hold the length of the next stage.
   * The SHA-256 sum of the next stage is automatically calculated, and verified
     against the 32 bytes following the next stage.
7. The boot hart sends an IPI to the other hart telling it to jump to the next
   stage.
8. The boot hart jumps to ``0x80000000``.

Debug UART
^^^^^^^^^^

The Debug UART is provided with the following settings::

    CONFIG_DEBUG_UART=y
    CONFIG_DEBUG_UART_SIFIVE=y
    CONFIG_DEBUG_UART_BASE=0x38000000
    CONFIG_DEBUG_UART_CLOCK=390000000

Resetting the board
^^^^^^^^^^^^^^^^^^^

The MAIX boards can be reset using the DTR and RTS lines of the serial console.
How the lines are used depends on the specific board. See the code of kflash.py
for details.

This is the reset sequence for the MAXDUINO and MAIX BiT with Mic:

.. code-block:: python

   def reset(self):
        self.device.setDTR(False)
        self.device.setRTS(False)
        time.sleep(0.1)
        self.device.setDTR(True)
        time.sleep(0.1)
        self.device.setDTR(False)
        time.sleep(0.1)

and this for the MAIX Bit:

.. code-block:: python

   def reset(self):
        self.device.setDTR(False)
        self.device.setRTS(False)
        time.sleep(0.1)
        self.device.setRTS(True)
        time.sleep(0.1)
        self.device.setRTS(False)
        time.sleep(0.1)

Memory Map
^^^^^^^^^^

========== ========= ===========
Address    Size      Description
========== ========= ===========
0x00000000 0x1000    debug
0x00001000 0x1000    rom
0x02000000 0xC000    clint
0x0C000000 0x4000000 plic
0x38000000 0x1000    uarths
0x38001000 0x1000    gpiohs
0x40000000 0x400000  sram0 (non-cached)
0x40400000 0x200000  sram1 (non-cached)
0x40600000 0x200000  airam (non-cached)
0x40800000 0xC00000  kpu
0x42000000 0x400000  fft
0x50000000 0x1000    dmac
0x50200000 0x200000  apb0
0x50200000 0x80      gpio
0x50210000 0x100     uart0
0x50220000 0x100     uart1
0x50230000 0x100     uart2
0x50240000 0x100     spi slave
0x50250000 0x200     i2s0
0x50250200 0x200     apu
0x50260000 0x200     i2s1
0x50270000 0x200     i2s2
0x50280000 0x100     i2c0
0x50290000 0x100     i2c1
0x502A0000 0x100     i2c2
0x502B0000 0x100     fpioa
0x502C0000 0x100     sha256
0x502D0000 0x100     timer0
0x502E0000 0x100     timer1
0x502F0000 0x100     timer2
0x50400000 0x200000  apb1
0x50400000 0x100     wdt0
0x50410000 0x100     wdt1
0x50420000 0x100     otp control
0x50430000 0x100     dvp
0x50440000 0x100     sysctl
0x50450000 0x100     aes
0x50460000 0x100     rtc
0x52000000 0x4000000 apb2
0x52000000 0x100     spi0
0x53000000 0x100     spi1
0x54000000 0x200     spi3
0x80000000 0x400000  sram0 (cached)
0x80400000 0x200000  sram1 (cached)
0x80600000 0x200000  airam (cached)
0x88000000 0x20000   otp
0x88000000 0xC200    firmware
0x8801C000 0x1000    riscv priv spec 1.9 config
0x8801D000 0x2000    flattened device tree (contains only addresses and
                     interrupts)
0x8801f000 0x1000    credits
========== ========= ===========

Links
-----

[1] https://github.com/riscv/riscv-sbi-doc
    RISC-V Supervisor Binary Interface Specification