Add support for SOPHGO SoCs and Milk-V boards

MAINTAINERS.yml

@@ -3701,6 +3701,25 @@ Gardena Platforms:
   description: >-
     Gardena board(s).
 
+SOPHGO Platforms:
+  status: maintained
+  maintainers:
+    - xingrz
+  collaborators:
+    - lenghonglin
+  files:
+    - boards/common/cvi-fiptool.board.cmake
+    - boards/milkv/duo/
+    - boards/milkv/duos/
+    - dts/riscv/sophgo/
+    - dts/bindings/*/sophgo,*
+    - drivers/*/*.sophgo
+    - drivers/*/*_sophgo_*.c
+    - scripts/west_commands/runners/cvi-fiptool.py
+    - soc/sophgo/
+  labels:
+    - "platform: SOPHGO"
+
 Intel Platforms (X86):
   status: maintained
   maintainers:

boards/common/cvi-fiptool.board.cmake

@@ -0,0 +1,4 @@
+# SPDX-License-Identifier: Apache-2.0
+
+board_set_flasher_ifnset(cvi-fiptool)
+board_finalize_runner_args(cvi-fiptool)

boards/milkv/duo/Kconfig.milkv_duo

@@ -0,0 +1,6 @@
+# Copyright (c) 2023-2024 Chen Xingyu <hi@xingrz.me>
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_MILKV_DUO
+	select SOC_CV1800B if BOARD_MILKV_DUO_CV1800B_C906_1
+	select SOC_SG2002 if BOARD_MILKV_DUO_SG2002_C906_1

boards/milkv/duo/board.cmake

@@ -0,0 +1,3 @@
+# SPDX-License-Identifier: Apache-2.0
+
+include(${ZEPHYR_BASE}/boards/common/cvi-fiptool.board.cmake)

boards/milkv/duo/board.yml

@@ -0,0 +1,7 @@
+board:
+  name: milkv_duo
+  full_name: Duo
+  vendor: milkv
+  socs:
+  - name: cv1800b
+  - name: sg2002

boards/milkv/duo/doc/index.rst

@@ -0,0 +1,62 @@
+.. zephyr:board:: milkv_duo
+
+Overview
+********
+
+See https://milkv.io/duo
+
+Supported Features
+==================
+
+.. zephyr:board-supported-hw::
+
+Programming and Debugging
+*************************
+
+Prepare a TF card and follow the instructions in the `official SDK`_ to build
+and flash the image.
+
+After that, you will get a ``fip.bin`` file at the root of the TF card, where
+the RTOS image is packed.
+
+The following steps demonstrate how to build the blinky sample and update the
+``fip.bin`` file on the TF card.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/basic/blinky
+   :board: milkv_duo/cv1800b/c906_1
+   :goals: build flash
+   :flash-args: --fiptool /path/to/duo-buildroot-sdk/fsbl/plat/cv180x/fiptool.py --fip-bin /path/to/tfcard/fip.bin
+
+Eject the TF card and insert it into the board. Power on the board and you will
+see the LED blinking.
+
+.. note::
+
+   Notes for the official buildroot SDK
+
+   1. The Linux running on the big core uses UART0 (GP12/GP13) for the console,
+      while to avoid conflict, the Zephyr application (in the default board
+      configuration) uses UART1 (GP0/GP1).
+   2. Pin multiplexing can be handled either by U-Boot or Zephyr. To utilize
+      Zephyr's pin multiplexing, enable :kconfig:option:`CONFIG_PINCTRL` and
+      recompile U-Boot without the PINMUX configs. The source code for the
+      PINMUX configs varies by SoC:
+
+      * For Duo (CV1800B), see `PINMUX configs (Duo)`_
+      * For Duo 256M (SG2002), see `PINMUX configs (Duo 256M)`_
+
+      Note that U-Boot boots several seconds after Zephyr.
+   3. By default, the Linux running on the big core will blink the LED on the
+      board. To demonstrate Zephyr (specifically, the ``samples/basic/blinky``
+      sample), you should remove the script from the Linux filesystem located at
+      ``/mnt/system/blink.sh``.
+
+.. _official SDK:
+   https://github.com/milkv-duo/duo-buildroot-sdk
+
+.. _PINMUX configs (Duo):
+   https://github.com/milkv-duo/duo-buildroot-sdk/blob/develop/build/boards/cv180x/cv1800b_milkv_duo_sd/u-boot/cvi_board_init.c
+
+.. _PINMUX configs (Duo 256M):
+   https://github.com/milkv-duo/duo-buildroot-sdk/blob/develop/build/boards/cv181x/cv1812cp_milkv_duo256m_sd/u-boot/cvi_board_init.c

boards/milkv/duo/milkv_duo-pinctrl.dtsi

@@ -0,0 +1,13 @@
+/*
+ * Copyright (c) 2023-2024 Chen Xingyu <hi@xingrz.me>
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+&pinctrl {
+	uart1_default: uart1_default {
+		group1 {
+			pinmux = <CVI_PINMUX(IIC0_SCL, UART1_TX)>,  /* GP0 */
+				 <CVI_PINMUX(IIC0_SDA, UART1_RX)>;  /* GP1 */
+		};
+	};
+};

boards/milkv/duo/milkv_duo_cv1800b_c906_1.dts

@@ -0,0 +1,60 @@
+/*
+ * Copyright (c) 2023-2024 Chen Xingyu <hi@xingrz.me>
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <sophgo/cv180x.dtsi>
+#include <zephyr/dt-bindings/gpio/gpio.h>
+
+#include "milkv_duo-pinctrl.dtsi"
+
+/ {
+	model = "Milk-V Duo coprocessor";
+	compatible = "milkv,duo";
+
+	chosen {
+		zephyr,sram = &sram;
+		zephyr,console = &uart1;
+		zephyr,shell-uart = &uart1;
+	};
+
+	aliases {
+		led0 = &led;
+	};
+
+	leds {
+		compatible = "gpio-leds";
+
+		led: led {
+			gpios = <&gpioc 24 GPIO_ACTIVE_HIGH>;
+		};
+	};
+
+	soc {
+		/*
+		 * Memory region reserved for the RTOS core.
+		 *
+		 * Keep in sync with FREERTOS_ADDR and FREERTOS_SIZE in
+		 * build/boards/cv180x/cv1800b_milkv_duo_sd/memmap.py
+		 *
+		 * see: https://github.com/milkv-duo/duo-buildroot-sdk
+		 */
+		sram: memory@83f40000 {
+			compatible = "mmio-sram";
+			reg = <0x83f40000 DT_SIZE_K(768)>;
+		};
+	};
+};
+
+&gpioc {
+	status = "okay";
+};
+
+&uart1 {
+	status = "okay";
+	pinctrl-0 = <&uart1_default>;
+	pinctrl-names = "default";
+	current-speed = <115200>;
+};

boards/milkv/duo/milkv_duo_cv1800b_c906_1.yaml

@@ -0,0 +1,15 @@
+identifier: milkv_duo/cv1800b/c906_1
+name: Milk-V Duo coprocessor
+type: mcu
+arch: riscv
+toolchain:
+  - zephyr
+ram: 768
+supported:
+  - clock
+  - gpio
+  - interrupt-controller
+  - mailbox
+  - pinctrl
+  - pwm
+  - serial

boards/milkv/duo/milkv_duo_cv1800b_c906_1_defconfig

@@ -0,0 +1,10 @@
+# Copyright (c) 2023-2024 Chen Xingyu <hi@xingrz.me>
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_XIP=n
+
+CONFIG_GPIO=y
+CONFIG_SERIAL=y
+
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y

boards/milkv/duo/milkv_duo_sg2002_c906_1.dts

@@ -0,0 +1,60 @@
+/*
+ * Copyright (c) 2024 Chen Xingyu <hi@xingrz.me>
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <sophgo/cv181x.dtsi>
+#include <zephyr/dt-bindings/gpio/gpio.h>
+
+#include "milkv_duo-pinctrl.dtsi"
+
+/ {
+	model = "Milk-V Duo 256M coprosessor";
+	compatible = "milkv,duo";
+
+	chosen {
+		zephyr,sram = &sram;
+		zephyr,console = &uart1;
+		zephyr,shell-uart = &uart1;
+	};
+
+	aliases {
+		led0 = &led;
+	};
+
+	leds {
+		compatible = "gpio-leds";
+
+		led: led {
+			gpios = <&pwr_gpio 2 GPIO_ACTIVE_HIGH>;
+		};
+	};
+
+	soc {
+		/*
+		 * Memory region reserved for the RTOS core.
+		 *
+		 * Keep in sync with FREERTOS_ADDR and FREERTOS_SIZE in
+		 * build/boards/cv181x/cv1812cp_milkv_duo256m_sd/memmap.py
+		 *
+		 * see: https://github.com/milkv-duo/duo-buildroot-sdk
+		 */
+		sram: memory@8fe00000 {
+			compatible = "mmio-sram";
+			reg = <0x8fe00000 DT_SIZE_M(2)>;
+		};
+	};
+};
+
+&pwr_gpio {
+	status = "okay";
+};
+
+&uart1 {
+	status = "okay";
+	pinctrl-0 = <&uart1_default>;
+	pinctrl-names = "default";
+	current-speed = <115200>;
+};

boards/milkv/duo/milkv_duo_sg2002_c906_1.yaml

@@ -0,0 +1,15 @@
+identifier: milkv_duo/sg2002/c906_1
+name: Milk-V Duo 256M coprocessor
+type: mcu
+arch: riscv
+toolchain:
+  - zephyr
+ram: 2048
+supported:
+  - clock
+  - gpio
+  - interrupt-controller
+  - mailbox
+  - pinctrl
+  - pwm
+  - serial

boards/milkv/duo/milkv_duo_sg2002_c906_1_defconfig

@@ -0,0 +1,10 @@
+# Copyright (c) 2024 Chen Xingyu <hi@xingrz.me>
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_XIP=n
+
+CONFIG_GPIO=y
+CONFIG_SERIAL=y
+
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y

boards/milkv/duos/Kconfig.milkv_duos

@@ -0,0 +1,5 @@
+# Copyright (c) 2024 Chen Xingyu <hi@xingrz.me>
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_MILKV_DUOS
+	select SOC_SG2000 if BOARD_MILKV_DUOS_SG2000_C906_1

boards/milkv/duos/board.cmake

@@ -0,0 +1,3 @@
+# SPDX-License-Identifier: Apache-2.0
+
+include(${ZEPHYR_BASE}/boards/common/cvi-fiptool.board.cmake)

boards/milkv/duos/board.yml

@@ -0,0 +1,6 @@
+board:
+  name: milkv_duos
+  full_name: Duo S
+  vendor: milkv
+  socs:
+  - name: sg2000

boards/milkv/duos/doc/index.rst

@@ -0,0 +1,50 @@
+.. zephyr:board:: milkv_duos
+
+Overview
+********
+
+See https://milkv.io/duo-s
+
+Supported Features
+==================
+
+.. zephyr:board-supported-hw::
+
+Programming and Debugging
+*************************
+
+Prepare a TF card and follow the instructions in the `official SDK`_ to build
+and flash the image.
+
+After that, you will get a ``fip.bin`` file at the root of the TF card, where
+the RTOS image is packed.
+
+The following steps demonstrate how to build the blinky sample and update the
+``fip.bin`` file on the TF card.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/basic/blinky
+   :board: milkv_duos/sg2000/c906_1
+   :goals: build flash
+   :flash-args: --fiptool /path/to/duo-buildroot-sdk/fsbl/plat/cv181x/fiptool.py --fip-bin /path/to/tfcard/fip.bin
+
+Eject the TF card and insert it into the board. Power on the board and you will
+see the LED blinking.
+
+.. note::
+
+   Notes for the official buildroot SDK
+
+   1. The Linux running on the big core uses UART0 (A16/A17) for the console,
+      while to avoid conflict, the Zephyr application (in the default board
+      configuration) uses UART2 (A19/A18).
+   2. Pin multiplexing can be handled either by U-Boot or Zephyr. To utilize
+      Zephyr's pin multiplexing, enable :kconfig:option:`CONFIG_PINCTRL` and
+      recompile U-Boot without the `PINMUX configs`_. Note that U-Boot boots
+      several seconds after Zephyr.
+
+.. _official SDK:
+   https://github.com/milkv-duo/duo-buildroot-sdk
+
+.. _PINMUX configs:
+   https://github.com/milkv-duo/duo-buildroot-sdk/blob/develop/build/boards/cv181x/cv1813h_milkv_duos_sd/u-boot/cvi_board_init.c

boards/milkv/duos/milkv_duos-pinctrl.dtsi

@@ -0,0 +1,13 @@
+/*
+ * Copyright (c) 2024 Chen Xingyu <hi@xingrz.me>
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+&pinctrl {
+	uart1_default: uart1_default {
+		group1 {
+			pinmux = <CVI_PINMUX(JTAG_CPU_TMS, UART1_TX)>,  /* A19 */
+				 <CVI_PINMUX(JTAG_CPU_TCK, UART1_RX)>;  /* A18 */
+		};
+	};
+};