docs/system: riscv: Add documentation for sifive_u machine

This adds detailed documentation for RISC-V `sifive_u` machine,
including the following information:

- Supported devices
- Hardware configuration information
- Boot options
- Machine-specific options
- Running Linux kernel
- Running VxWorks kernel
- Running U-Boot, and with an alternate configuration

Signed-off-by: Bin Meng <bin.meng@windriver.com>
Reviewed-by: Alistair Francis <alistair.francis@wdc.com>
Reviewed-by: Palmer Dabbelt <palmerdabbelt@google.com>
Message-id: 20210126060007.12904-10-bmeng.cn@gmail.com
Signed-off-by: Alistair Francis <alistair.francis@wdc.com>

2 files changed, 346 insertions, 0 deletions

diff --git a/docs/system/riscv/sifive_u.rst b/docs/system/riscv/sifive_u.rst
new file mode 100644
index 0000000000..98e7562848
--- /dev/null
+++ b/docs/system/riscv/sifive_u.rst
@@ -0,0 +1,336 @@
+SiFive HiFive Unleashed (``sifive_u``)
+======================================
+
+SiFive HiFive Unleashed Development Board is the ultimate RISC-V development
+board featuring the Freedom U540 multi-core RISC-V processor.
+
+Supported devices
+-----------------
+
+The ``sifive_u`` machine supports the following devices:
+
+ * 1 E51 / E31 core
+ * Up to 4 U54 / U34 cores
+ * Core Level Interruptor (CLINT)
+ * Platform-Level Interrupt Controller (PLIC)
+ * Power, Reset, Clock, Interrupt (PRCI)
+ * L2 Loosely Integrated Memory (L2-LIM)
+ * DDR memory controller
+ * 2 UARTs
+ * 1 GEM Ethernet controller
+ * 1 GPIO controller
+ * 1 One-Time Programmable (OTP) memory with stored serial number
+ * 1 DMA controller
+ * 2 QSPI controllers
+ * 1 ISSI 25WP256 flash
+ * 1 SD card in SPI mode
+
+Please note the real world HiFive Unleashed board has a fixed configuration of
+1 E51 core and 4 U54 core combination and the RISC-V core boots in 64-bit mode.
+With QEMU, one can create a machine with 1 E51 core and up to 4 U54 cores. It
+is also possible to create a 32-bit variant with the same peripherals except
+that the RISC-V cores are replaced by the 32-bit ones (E31 and U34), to help
+testing of 32-bit guest software.
+
+Hardware configuration information
+----------------------------------
+
+The ``sifive_u`` machine automatically generates a device tree blob ("dtb")
+which it passes to the guest. This provides information about the addresses,
+interrupt lines and other configuration of the various devices in the system.
+Guest software should discover the devices that are present in the generated
+DTB instead of using a DTB for the real hardware, as some of the devices are
+not modeled by QEMU and trying to access these devices may cause unexpected
+behavior.
+
+Boot options
+------------
+
+The ``sifive_u`` machine can start using the standard -kernel functionality
+for loading a Linux kernel, a VxWorks kernel, a modified U-Boot bootloader
+(S-mode) or ELF executable with the default OpenSBI firmware image as the
+-bios. It also supports booting the unmodified U-Boot bootloader using the
+standard -bios functionality.
+
+Machine-specific options
+------------------------
+
+The following machine-specific options are supported:
+
+- serial=nnn
+
+  The board serial number. When not given, the default serial number 1 is used.
+
+  SiFive reserves the first 1 KiB of the 16 KiB OTP memory for internal use.
+  The current usage is only used to store the serial number of the board at
+  offset 0xfc. U-Boot reads the serial number from the OTP memory, and uses
+  it to generate a unique MAC address to be programmed to the on-chip GEM
+  Ethernet controller. When multiple QEMU ``sifive_u`` machines are created
+  and connected to the same subnet, they all have the same MAC address hence
+  it creates an unusable network. In such scenario, user should give different
+  values to serial= when creating different ``sifive_u`` machines.
+
+- start-in-flash
+
+  When given, QEMU's ROM codes jump to QSPI memory-mapped flash directly.
+  Otherwise QEMU will jump to DRAM or L2LIM depending on the msel= value.
+  When not given, it defaults to direct DRAM booting.
+
+- msel=[6|11]
+
+  Mode Select (MSEL[3:0]) pins value, used to control where to boot from.
+
+  The FU540 SoC supports booting from several sources, which are controlled
+  using the Mode Select pins on the chip. Typically, the boot process runs
+  through several stages before it begins execution of user-provided programs.
+  These stages typically include the following:
+
+  1. Zeroth Stage Boot Loader (ZSBL), which is contained in an on-chip mask
+     ROM and provided by QEMU. Note QEMU implemented ROM codes are not the
+     same as what is programmed in the hardware. The QEMU one is a simplified
+     version, but it provides the same functionality as the hardware.
+  2. First Stage Boot Loader (FSBL), which brings up PLLs and DDR memory.
+     This is U-Boot SPL.
+  3. Second Stage Boot Loader (SSBL), which further initializes additional
+     peripherals as needed. This is U-Boot proper combined with an OpenSBI
+     fw_dynamic firmware image.
+
+  msel=6 means FSBL and SSBL are both on the QSPI flash. msel=11 means FSBL
+  and SSBL are both on the SD card.
+
+Running Linux kernel
+--------------------
+
+Linux mainline v5.10 release is tested at the time of writing. To build a
+Linux mainline kernel that can be booted by the ``sifive_u`` machine in
+64-bit mode, simply configure the kernel using the defconfig configuration:
+
+.. code-block:: bash
+
+  $ export ARCH=riscv
+  $ export CROSS_COMPILE=riscv64-linux-
+  $ make defconfig
+  $ make
+
+To boot the newly built Linux kernel in QEMU with the ``sifive_u`` machine:
+
+.. code-block:: bash
+
+  $ qemu-system-riscv64 -M sifive_u -smp 5 -m 2G \
+      -display none -serial stdio \
+      -kernel arch/riscv/boot/Image \
+      -initrd /path/to/rootfs.ext4 \
+      -append "root=/dev/ram"
+
+To build a Linux mainline kernel that can be booted by the ``sifive_u`` machine
+in 32-bit mode, use the rv32_defconfig configuration. A patch is required to
+fix the 32-bit boot issue for Linux kernel v5.10.
+
+.. code-block:: bash
+
+  $ export ARCH=riscv
+  $ export CROSS_COMPILE=riscv64-linux-
+  $ curl https://patchwork.kernel.org/project/linux-riscv/patch/20201219001356.2887782-1-atish.patra@wdc.com/mbox/ > riscv.patch
+  $ git am riscv.patch
+  $ make rv32_defconfig
+  $ make
+
+Replace ``qemu-system-riscv64`` with ``qemu-system-riscv32`` in the command
+line above to boot the 32-bit Linux kernel. A rootfs image containing 32-bit
+applications shall be used in order for kernel to boot to user space.
+
+Running VxWorks kernel
+----------------------
+
+VxWorks 7 SR0650 release is tested at the time of writing. To build a 64-bit
+VxWorks mainline kernel that can be booted by the ``sifive_u`` machine, simply
+create a VxWorks source build project based on the sifive_generic BSP, and a
+VxWorks image project to generate the bootable VxWorks image, by following the
+BSP documentation instructions.
+
+A pre-built 64-bit VxWorks 7 image for HiFive Unleashed board is available as
+part of the VxWorks SDK for testing as well. Instructions to download the SDK:
+
+.. code-block:: bash
+
+  $ wget https://labs.windriver.com/downloads/wrsdk-vxworks7-sifive-hifive-1.01.tar.bz2
+  $ tar xvf wrsdk-vxworks7-sifive-hifive-1.01.tar.bz2
+  $ ls bsps/sifive_generic_1_0_0_0/uboot/uVxWorks
+
+To boot the VxWorks kernel in QEMU with the ``sifive_u`` machine, use:
+
+.. code-block:: bash
+
+  $ qemu-system-riscv64 -M sifive_u -smp 5 -m 2G \
+      -display none -serial stdio \
+      -nic tap,ifname=tap0,script=no,downscript=no \
+      -kernel /path/to/vxWorks \
+      -append "gem(0,0)host:vxWorks h=192.168.200.1 e=192.168.200.2:ffffff00 u=target pw=vxTarget f=0x01"
+
+It is also possible to test 32-bit VxWorks on the ``sifive_u`` machine. Create
+a 32-bit project to build the 32-bit VxWorks image, and use exact the same
+command line options with ``qemu-system-riscv32``.
+
+Running U-Boot
+--------------
+
+U-Boot mainline v2021.01 release is tested at the time of writing. To build a
+U-Boot mainline bootloader that can be booted by the ``sifive_u`` machine, use
+the sifive_fu540_defconfig with similar commands as described above for Linux:
+
+.. code-block:: bash
+
+  $ export CROSS_COMPILE=riscv64-linux-
+  $ export OPENSBI=/path/to/opensbi-riscv64-generic-fw_dynamic.bin
+  $ make sifive_fu540_defconfig
+
+You will get spl/u-boot-spl.bin and u-boot.itb file in the build tree.
+
+To start U-Boot using the ``sifive_u`` machine, prepare an SPI flash image, or
+SD card image that is properly partitioned and populated with correct contents.
+genimage_ can be used to generate these images.
+
+A sample configuration file for a 128 MiB SD card image is:
+
+.. code-block:: bash
+
+  $ cat genimage_sdcard.cfg
+  image sdcard.img {
+          size = 128M
+
+          hdimage {
+                  gpt = true
+          }
+
+          partition u-boot-spl {
+                  image = "u-boot-spl.bin"
+                  offset = 17K
+                  partition-type-uuid = 5B193300-FC78-40CD-8002-E86C45580B47
+          }
+
+          partition u-boot {
+                  image = "u-boot.itb"
+                  offset = 1041K
+                  partition-type-uuid = 2E54B353-1271-4842-806F-E436D6AF6985
+          }
+  }
+
+SPI flash image has slightly different partition offsets, and the size has to
+be 32 MiB to match the ISSI 25WP256 flash on the real board:
+
+.. code-block:: bash
+
+  $ cat genimage_spi-nor.cfg
+  image spi-nor.img {
+          size = 32M
+
+          hdimage {
+                  gpt = true
+          }
+
+          partition u-boot-spl {
+                  image = "u-boot-spl.bin"
+                  offset = 20K
+                  partition-type-uuid = 5B193300-FC78-40CD-8002-E86C45580B47
+          }
+
+          partition u-boot {
+                  image = "u-boot.itb"
+                  offset = 1044K
+                  partition-type-uuid = 2E54B353-1271-4842-806F-E436D6AF6985
+          }
+  }
+
+Assume U-Boot binaries are put in the same directory as the config file,
+we can generate the image by:
+
+.. code-block:: bash
+
+  $ genimage --config genimage_<boot_src>.cfg --inputpath .
+
+Boot U-Boot from SD card, by specifying msel=11 and pass the SD card image
+to QEMU ``sifive_u`` machine:
+
+.. code-block:: bash
+
+  $ qemu-system-riscv64 -M sifive_u,msel=11 -smp 5 -m 8G \
+      -display none -serial stdio \
+      -bios /path/to/u-boot-spl.bin \
+      -drive file=/path/to/sdcard.img,if=sd
+
+Changing msel= value to 6, allows booting U-Boot from the SPI flash:
+
+.. code-block:: bash
+
+  $ qemu-system-riscv64 -M sifive_u,msel=6 -smp 5 -m 8G \
+      -display none -serial stdio \
+      -bios /path/to/u-boot-spl.bin \
+      -drive file=/path/to/spi-nor.img,if=mtd
+
+Note when testing U-Boot, QEMU automatically generated device tree blob is
+not used because U-Boot itself embeds device tree blobs for U-Boot SPL and
+U-Boot proper. Hence the number of cores and size of memory have to match
+the real hardware, ie: 5 cores (-smp 5) and 8 GiB memory (-m 8G).
+
+Above use case is to run upstream U-Boot for the SiFive HiFive Unleashed
+board on QEMU ``sifive_u`` machine out of the box. This allows users to
+develop and test the recommended RISC-V boot flow with a real world use
+case: ZSBL (in QEMU) loads U-Boot SPL from SD card or SPI flash to L2LIM,
+then U-Boot SPL loads the combined payload image of OpenSBI fw_dynamic
+firmware and U-Boot proper. However sometimes we want to have a quick test
+of booting U-Boot on QEMU without the needs of preparing the SPI flash or
+SD card images, an alternate way can be used, which is to create a U-Boot
+S-mode image by modifying the configuration of U-Boot:
+
+.. code-block:: bash
+
+  $ make menuconfig
+
+then manually select the following configuration in U-Boot:
+
+  Device Tree Control > Provider of DTB for DT Control > Prior Stage bootloader DTB
+
+This lets U-Boot to use the QEMU generated device tree blob. During the build,
+a build error will be seen below:
+
+.. code-block:: none
+
+  MKIMAGE u-boot.img
+  ./tools/mkimage: Can't open arch/riscv/dts/hifive-unleashed-a00.dtb: No such file or directory
+  ./tools/mkimage: failed to build FIT
+  make: *** [Makefile:1440: u-boot.img] Error 1
+
+The above errors can be safely ignored as we don't run U-Boot SPL under QEMU
+in this alternate configuration.
+
+Boot the 64-bit U-Boot S-mode image directly:
+
+.. code-block:: bash
+
+  $ qemu-system-riscv64 -M sifive_u -smp 5 -m 2G \
+      -display none -serial stdio \
+      -kernel /path/to/u-boot.bin
+
+It's possible to create a 32-bit U-Boot S-mode image as well.
+
+.. code-block:: bash
+
+  $ export CROSS_COMPILE=riscv64-linux-
+  $ make sifive_fu540_defconfig
+  $ make menuconfig
+
+then manually update the following configuration in U-Boot:
+
+  Device Tree Control > Provider of DTB for DT Control > Prior Stage bootloader DTB
+  RISC-V architecture > Base ISA > RV32I
+  Boot images > Text Base > 0x80400000
+
+Use the same command line options to boot the 32-bit U-Boot S-mode image:
+
+.. code-block:: bash
+
+  $ qemu-system-riscv32 -M sifive_u -smp 5 -m 2G \
+      -display none -serial stdio \
+      -kernel /path/to/u-boot.bin
+
+.. _genimage: https://github.com/pengutronix/genimage
diff --git a/docs/system/target-riscv.rst b/docs/system/target-riscv.rst
index 9f4b7586e5..94d99c4c82 100644
--- a/docs/system/target-riscv.rst
+++ b/docs/system/target-riscv.rst
@@ -58,5 +58,15 @@ undocumented; you can get a complete list by running
 ``qemu-system-riscv64 --machine help``, or
 ``qemu-system-riscv32 --machine help``.
 
+..
+   This table of contents should be kept sorted alphabetically
+   by the title text of each file, which isn't the same ordering
+   as an alphabetical sort by filename.
+
+.. toctree::
+   :maxdepth: 1
+
+   riscv/sifive_u
+
 RISC-V CPU features
 -------------------