[PATCH v3 0/5] Add initial Milk-V Duo S board support

[PATCH v3 0/5] Add initial Milk-V Duo S board support

[Joshua Milas]

This adds an initial device tree for the Milk-V Duo S board
with support for reading from the SD card and network over
Ethernet. This is continued work from Michael Opdenacker's
v6 series [1] on the ARM64 and RISCV side. It has been
tested with ARM64 and RISCV64 to boot from an SD card, have
networking, and read I2C slave devices over i2c4.

v3
- Added sg2000 interrupt controller and timer to documentation
- Added sg2000.dtsi for RISCV and moved DTS over to use it
- remove devices from DTS's to match what is available in the
  default pinmux config. spi0-2, i2c0-3, uart1-4
- Added i2c4 and spi3 aliases

v2: http
s://lore.kernel.org/sophgo/20251011014811.28521-1-josh.milas@gmail.com/
- Made new entry in docs to avoid DTC error
- "Milk-V DuoS" -> "Milk-V Duo S"
- Sorting of aliases
- Added uart*, emmc, mdio, gmac0, i2c*, spi*, dmac, saradc
  to device tree matching what is available on the pinout [2]
- Added riscv device tree

v1: https://lore.kernel.org/sophgo/20250927173619.89768-1-josh.milas@gmail.com/

Link: https://lore.kernel.org/linux-riscv/20240421055710.143617-1-michael.opdenacker@bootlin.com/ [1]
Link: https://milkv.io/duo-s/duos-pinout.webp [2]

Joshua Milas (5):
  dt-bindings: soc: sophgo: add Milk-V Duo S board compatibles
  arm64: dts: sophgo: add initial Milk-V Duo S board support
  dt-bindings: soc: sophgo: add sg2000 plic and clint documentation
  riscv64: dts: sophgo: add SG2000 dtsi
  riscv64: dts: sophgo: add initial Milk-V Duo S board support

 .../sifive,plic-1.0.0.yaml                    |  1 +
 .../bindings/soc/sophgo/sophgo.yaml           |  4 +
 .../bindings/timer/sifive,clint.yaml          |  1 +
 arch/arm64/boot/dts/sophgo/Makefile           |  1 +
 .../boot/dts/sophgo/sg2000-milkv-duo-s.dts    | 80 +++++++++++++++++++
 arch/riscv/boot/dts/sophgo/Makefile           |  1 +
 .../boot/dts/sophgo/sg2000-milkv-duo-s.dts    | 80 +++++++++++++++++++
 arch/riscv/boot/dts/sophgo/sg2000.dtsi        | 53 ++++++++++++
 8 files changed, 221 insertions(+)
 create mode 100644 arch/arm64/boot/dts/sophgo/sg2000-milkv-duo-s.dts
 create mode 100644 arch/riscv/boot/dts/sophgo/sg2000-milkv-duo-s.dts
 create mode 100644 arch/riscv/boot/dts/sophgo/sg2000.dtsi


base-commit: 0251a1deaec78252cb311fc8305d3670bc5eee0e
-- 
2.51.1


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[PATCH v3 1/5] dt-bindings: soc: sophgo: add Milk-V Duo S board compatibles

[Joshua Milas]

Document the compatible strings for the Milk-V Duo S board [1]
which uses the SOPHGO SG2000 SoC [2].

Link: https://milkv.io/duo-s [1]
Link: https://en.sophgo.com/sophon-u/product/introduce/sg200x.html [2]

Signed-off-by: Joshua Milas <josh.milas@gmail.com>
---
 Documentation/devicetree/bindings/soc/sophgo/sophgo.yaml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/Documentation/devicetree/bindings/soc/sophgo/sophgo.yaml b/Documentation/devicetree/bindings/soc/sophgo/sophgo.yaml
index 1c502618de51f..0b6fbab48b743 100644
--- a/Documentation/devicetree/bindings/soc/sophgo/sophgo.yaml
+++ b/Documentation/devicetree/bindings/soc/sophgo/sophgo.yaml
@@ -31,6 +31,10 @@ properties:
               - milkv,duo-module-01-evb
           - const: milkv,duo-module-01
           - const: sophgo,sg2000
+      - items:
+          - enum:
+              - milkv,duo-s
+          - const: sophgo,sg2000
       - items:
           - enum:
               - sipeed,licheerv-nano-b
-- 
2.51.1


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[PATCH v3 2/5] arm64: dts: sophgo: add initial Milk-V Duo S board support

[Joshua Milas]

Adds initial arm64 support for the Milk-V Duo S board
[1] making it possible to boot Linux to the command line.

Link: https://milkv.io/duo-s [1]

Signed-off-by: Joshua Milas <josh.milas@gmail.com>
---
 arch/arm64/boot/dts/sophgo/Makefile           |  1 +
 .../boot/dts/sophgo/sg2000-milkv-duo-s.dts    | 80 +++++++++++++++++++
 2 files changed, 81 insertions(+)
 create mode 100644 arch/arm64/boot/dts/sophgo/sg2000-milkv-duo-s.dts

diff --git a/arch/arm64/boot/dts/sophgo/Makefile b/arch/arm64/boot/dts/sophgo/Makefile
index 94f52cd7d994b..68aace728223a 100644
--- a/arch/arm64/boot/dts/sophgo/Makefile
+++ b/arch/arm64/boot/dts/sophgo/Makefile
@@ -1,2 +1,3 @@
 # SPDX-License-Identifier: GPL-2.0
 dtb-$(CONFIG_ARCH_SOPHGO) += sg2000-milkv-duo-module-01-evb.dtb
+dtb-$(CONFIG_ARCH_SOPHGO) += sg2000-milkv-duo-s.dtb
diff --git a/arch/arm64/boot/dts/sophgo/sg2000-milkv-duo-s.dts b/arch/arm64/boot/dts/sophgo/sg2000-milkv-duo-s.dts
new file mode 100644
index 0000000000000..174c194e1301d
--- /dev/null
+++ b/arch/arm64/boot/dts/sophgo/sg2000-milkv-duo-s.dts
@@ -0,0 +1,80 @@
+// SPDX-License-Identifier: (GPL-2.0 OR MIT)
+
+/dts-v1/;
+
+#include "sg2000.dtsi"
+
+/ {
+	model = "Milk-V Duo S";
+	compatible = "milkv,duo-s", "sophgo,sg2000";
+
+	aliases {
+		i2c4 = &i2c4;
+		mmc0 = &sdhci0;
+		serial0 = &uart0;
+		spi3 = &spi3;
+	};
+
+	chosen {
+		stdout-path = "serial0:115200n8";
+	};
+};
+
+&osc {
+	clock-frequency = <25000000>;
+};
+
+&dmac {
+	status = "okay";
+};
+
+&emmc {
+	bus-width = <4>;
+	no-1-8-v;
+	cap-mmc-hw-reset;
+	no-sd;
+	no-sdio;
+	non-removable;
+	status = "okay";
+};
+
+&gmac0 {
+	status = "okay";
+};
+
+&i2c4 {
+	status = "okay";
+};
+
+&mdio {
+	status = "okay";
+};
+
+&saradc {
+	status = "okay";
+};
+
+&sdhci0 {
+	bus-width = <4>;
+	no-1-8-v;
+	disable-wp;
+	status = "okay";
+};
+
+&sdhci1 {
+	bus-width = <4>;
+	cap-sdio-irq;
+	no-mmc;
+	no-sd;
+	non-removable;
+	status = "okay";
+};
+
+&spi3 {
+	status = "okay";
+};
+
+&uart0 {
+	status = "okay";
+};
+
-- 
2.51.1


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[PATCH v3 3/5] dt-bindings: soc: sophgo: add sg2000 plic and clint documentation

[Joshua Milas]

Document the compatible strings for the sg2000 [1] interrupt
controller and timer.

Link: https://en.sophgo.com/sophon-u/product/introduce/sg200x.html [1]

Signed-off-by: Joshua Milas <josh.milas@gmail.com>
---
 .../bindings/interrupt-controller/sifive,plic-1.0.0.yaml         | 1 +
 Documentation/devicetree/bindings/timer/sifive,clint.yaml        | 1 +
 2 files changed, 2 insertions(+)

diff --git a/Documentation/devicetree/bindings/interrupt-controller/sifive,plic-1.0.0.yaml b/Documentation/devicetree/bindings/interrupt-controller/sifive,plic-1.0.0.yaml
index 5b827bc243011..122d622d20a57 100644
--- a/Documentation/devicetree/bindings/interrupt-controller/sifive,plic-1.0.0.yaml
+++ b/Documentation/devicetree/bindings/interrupt-controller/sifive,plic-1.0.0.yaml
@@ -69,6 +69,7 @@ properties:
               - allwinner,sun20i-d1-plic
               - sophgo,cv1800b-plic
               - sophgo,cv1812h-plic
+              - sophgo,sg2000-plic
               - sophgo,sg2002-plic
               - sophgo,sg2042-plic
               - sophgo,sg2044-plic
diff --git a/Documentation/devicetree/bindings/timer/sifive,clint.yaml b/Documentation/devicetree/bindings/timer/sifive,clint.yaml
index d85a1a088b35d..42cbfb4d46a17 100644
--- a/Documentation/devicetree/bindings/timer/sifive,clint.yaml
+++ b/Documentation/devicetree/bindings/timer/sifive,clint.yaml
@@ -48,6 +48,7 @@ properties:
               - allwinner,sun20i-d1-clint
               - sophgo,cv1800b-clint
               - sophgo,cv1812h-clint
+              - sophgo,sg2000-clint
               - sophgo,sg2002-clint
               - thead,th1520-clint
           - const: thead,c900-clint
-- 
2.51.1


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[PATCH v3 4/5] riscv64: dts: sophgo: add SG2000 dtsi

[Joshua Milas]

Adds sg2000.dtsi on the RISCV side.

Signed-off-by: Joshua Milas <josh.milas@gmail.com>
---
 arch/riscv/boot/dts/sophgo/sg2000.dtsi | 53 ++++++++++++++++++++++++++
 1 file changed, 53 insertions(+)
 create mode 100644 arch/riscv/boot/dts/sophgo/sg2000.dtsi

diff --git a/arch/riscv/boot/dts/sophgo/sg2000.dtsi b/arch/riscv/boot/dts/sophgo/sg2000.dtsi
new file mode 100644
index 0000000000000..412adacc00576
--- /dev/null
+++ b/arch/riscv/boot/dts/sophgo/sg2000.dtsi
@@ -0,0 +1,53 @@
+// SPDX-License-Identifier: (GPL-2.0 OR MIT)
+
+#define SOC_PERIPHERAL_IRQ(nr)	((nr) + 16)
+
+#include <dt-bindings/interrupt-controller/irq.h>
+#include <dt-bindings/pinctrl/pinctrl-sg2000.h>
+#include "cv180x-cpus.dtsi"
+#include "cv180x.dtsi"
+#include "cv181x.dtsi"
+
+/ {
+	compatible = "sophgo,sg2000";
+
+	memory@80000000 {
+		device_type = "memory";
+		reg = <0x80000000 0x10000000>;
+	};
+
+	soc {
+		interrupt-parent = <&plic>;
+		dma-noncoherent;
+
+		pinctrl: pinctrl@3001000 {
+			compatible = "sophgo,sg2000-pinctrl";
+			reg = <0x03001000 0x1000>,
+			      <0x05027000 0x1000>;
+			reg-names = "sys", "rtc";
+		};
+
+		clk: clock-controller@3002000 {
+			compatible = "sophgo,sg2000-clk";
+			reg = <0x03002000 0x1000>;
+			clocks = <&osc>;
+			#clock-cells = <1>;
+		};
+
+		plic: interrupt-controller@70000000 {
+			compatible = "sophgo,sg2000-plic", "thead,c900-plic";
+			reg = <0x70000000 0x4000000>;
+			interrupts-extended = <&cpu0_intc 11>, <&cpu0_intc 9>;
+			interrupt-controller;
+			#address-cells = <0>;
+			#interrupt-cells = <2>;
+			riscv,ndev = <101>;
+		};
+
+		clint: timer@74000000 {
+			compatible = "sophgo,sg2000-clint", "thead,c900-clint";
+			reg = <0x74000000 0x10000>;
+			interrupts-extended = <&cpu0_intc 3>, <&cpu0_intc 7>;
+		};
+	};
+};
-- 
2.51.1


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[PATCH v3 5/5] riscv64: dts: sophgo: add initial Milk-V Duo S board support

[Joshua Milas]

This adds initial riscv support for the Milk-V Duo S board
[1] making it possible to boot Linux to the command line.

Link: https://milkv.io/duo-s [1]

Signed-off-by: Joshua Milas <josh.milas@gmail.com>
---
 arch/riscv/boot/dts/sophgo/Makefile           |  1 +
 .../boot/dts/sophgo/sg2000-milkv-duo-s.dts    | 80 +++++++++++++++++++
 2 files changed, 81 insertions(+)
 create mode 100644 arch/riscv/boot/dts/sophgo/sg2000-milkv-duo-s.dts

diff --git a/arch/riscv/boot/dts/sophgo/Makefile b/arch/riscv/boot/dts/sophgo/Makefile
index 6f65526d4193b..58cc6b70d8de4 100644
--- a/arch/riscv/boot/dts/sophgo/Makefile
+++ b/arch/riscv/boot/dts/sophgo/Makefile
@@ -1,6 +1,7 @@
 # SPDX-License-Identifier: GPL-2.0
 dtb-$(CONFIG_ARCH_SOPHGO) += cv1800b-milkv-duo.dtb
 dtb-$(CONFIG_ARCH_SOPHGO) += cv1812h-huashan-pi.dtb
+dtb-$(CONFIG_ARCH_SOPHGO) += sg2000-milkv-duo-s.dtb
 dtb-$(CONFIG_ARCH_SOPHGO) += sg2002-licheerv-nano-b.dtb
 dtb-$(CONFIG_ARCH_SOPHGO) += sg2042-milkv-pioneer.dtb
 dtb-$(CONFIG_ARCH_SOPHGO) += sg2042-evb-v1.dtb
diff --git a/arch/riscv/boot/dts/sophgo/sg2000-milkv-duo-s.dts b/arch/riscv/boot/dts/sophgo/sg2000-milkv-duo-s.dts
new file mode 100644
index 0000000000000..174c194e1301d
--- /dev/null
+++ b/arch/riscv/boot/dts/sophgo/sg2000-milkv-duo-s.dts
@@ -0,0 +1,80 @@
+// SPDX-License-Identifier: (GPL-2.0 OR MIT)
+
+/dts-v1/;
+
+#include "sg2000.dtsi"
+
+/ {
+	model = "Milk-V Duo S";
+	compatible = "milkv,duo-s", "sophgo,sg2000";
+
+	aliases {
+		i2c4 = &i2c4;
+		mmc0 = &sdhci0;
+		serial0 = &uart0;
+		spi3 = &spi3;
+	};
+
+	chosen {
+		stdout-path = "serial0:115200n8";
+	};
+};
+
+&osc {
+	clock-frequency = <25000000>;
+};
+
+&dmac {
+	status = "okay";
+};
+
+&emmc {
+	bus-width = <4>;
+	no-1-8-v;
+	cap-mmc-hw-reset;
+	no-sd;
+	no-sdio;
+	non-removable;
+	status = "okay";
+};
+
+&gmac0 {
+	status = "okay";
+};
+
+&i2c4 {
+	status = "okay";
+};
+
+&mdio {
+	status = "okay";
+};
+
+&saradc {
+	status = "okay";
+};
+
+&sdhci0 {
+	bus-width = <4>;
+	no-1-8-v;
+	disable-wp;
+	status = "okay";
+};
+
+&sdhci1 {
+	bus-width = <4>;
+	cap-sdio-irq;
+	no-mmc;
+	no-sd;
+	non-removable;
+	status = "okay";
+};
+
+&spi3 {
+	status = "okay";
+};
+
+&uart0 {
+	status = "okay";
+};
+
-- 
2.51.1


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Re: [PATCH v3 0/5] Add initial Milk-V Duo S board support

[Krzysztof Kozlowski]

On Tue, Oct 28, 2025 at 08:10:47PM -0400, Joshua Milas wrote:
> This adds an initial device tree for the Milk-V Duo S board
> with support for reading from the SD card and network over
> Ethernet. This is continued work from Michael Opdenacker's
> v6 series [1] on the ARM64 and RISCV side. It has been
> tested with ARM64 and RISCV64 to boot from an SD card, have
> networking, and read I2C slave devices over i2c4.
> 
> v3
> - Added sg2000 interrupt controller and timer to documentation
> - Added sg2000.dtsi for RISCV and moved DTS over to use it
> - remove devices from DTS's to match what is available in the
>   default pinmux config. spi0-2, i2c0-3, uart1-4
> - Added i2c4 and spi3 aliases

How did you resolve previous comments on bindings? Nothing mentioned
here.

Best regards,
Krzysztof


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Re: [PATCH v3 1/5] dt-bindings: soc: sophgo: add Milk-V Duo S board compatibles

[Krzysztof Kozlowski]

On Tue, Oct 28, 2025 at 08:10:48PM -0400, Joshua Milas wrote:
> Document the compatible strings for the Milk-V Duo S board [1]
> which uses the SOPHGO SG2000 SoC [2].
> 
> Link: https://milkv.io/duo-s [1]
> Link: https://en.sophgo.com/sophon-u/product/introduce/sg200x.html [2]

Drop second link, not relevant. You are not adding new SoC here, are
you?

> 
> Signed-off-by: Joshua Milas <josh.milas@gmail.com>
> ---

No changes against v2? You received comments, didn't you?

Best regards,
Krzysztof


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Re: [PATCH v3 2/5] arm64: dts: sophgo: add initial Milk-V Duo S board support

[Michael Opdenacker]

Hi Joshua

Many thanks for this update! I'd love to have this board supported in 
mainline, and when this happens, I'll add it to Yocto's meta-riscv layer 
to make it easy to use.

On 10/29/25 01:10, Joshua Milas wrote:
> Adds initial arm64 support for the Milk-V Duo S board
> [1] making it possible to boot Linux to the command line.
>
> Link: https://milkv.io/duo-s [1]
>
> Signed-off-by: Joshua Milas <josh.milas@gmail.com>
> ---
>   arch/arm64/boot/dts/sophgo/Makefile           |  1 +
>   .../boot/dts/sophgo/sg2000-milkv-duo-s.dts    | 80 +++++++++++++++++++
>   2 files changed, 81 insertions(+)
>   create mode 100644 arch/arm64/boot/dts/sophgo/sg2000-milkv-duo-s.dts
>
> diff --git a/arch/arm64/boot/dts/sophgo/Makefile b/arch/arm64/boot/dts/sophgo/Makefile
> index 94f52cd7d994b..68aace728223a 100644
> --- a/arch/arm64/boot/dts/sophgo/Makefile
> +++ b/arch/arm64/boot/dts/sophgo/Makefile
> @@ -1,2 +1,3 @@
>   # SPDX-License-Identifier: GPL-2.0
>   dtb-$(CONFIG_ARCH_SOPHGO) += sg2000-milkv-duo-module-01-evb.dtb
> +dtb-$(CONFIG_ARCH_SOPHGO) += sg2000-milkv-duo-s.dtb
> diff --git a/arch/arm64/boot/dts/sophgo/sg2000-milkv-duo-s.dts b/arch/arm64/boot/dts/sophgo/sg2000-milkv-duo-s.dts
> new file mode 100644
> index 0000000000000..174c194e1301d
> --- /dev/null
> +++ b/arch/arm64/boot/dts/sophgo/sg2000-milkv-duo-s.dts
> @@ -0,0 +1,80 @@
> +// SPDX-License-Identifier: (GPL-2.0 OR MIT)
> +
> +/dts-v1/;
> +
> +#include "sg2000.dtsi"
> +
> +/ {
> +	model = "Milk-V Duo S";
> +	compatible = "milkv,duo-s", "sophgo,sg2000";
> +
> +	aliases {
> +		i2c4 = &i2c4;
> +		mmc0 = &sdhci0;
> +		serial0 = &uart0;
> +		spi3 = &spi3;
> +	};
> +
> +	chosen {
> +		stdout-path = "serial0:115200n8";
> +	};
> +};
> +
> +&osc {
> +	clock-frequency = <25000000>;
> +};
> +
> +&dmac {
> +	status = "okay";
> +};
> +
> +&emmc {
> +	bus-width = <4>;
> +	no-1-8-v;
> +	cap-mmc-hw-reset;
> +	no-sd;
> +	no-sdio;
> +	non-removable;
> +	status = "okay";
> +};
> +
> +&gmac0 {
> +	status = "okay";
> +};
> +
> +&i2c4 {
> +	status = "okay";
> +};
> +
> +&mdio {
> +	status = "okay";
> +};
> +
> +&saradc {
> +	status = "okay";
> +};
> +
> +&sdhci0 {
> +	bus-width = <4>;
> +	no-1-8-v;
> +	disable-wp;
> +	status = "okay";
> +};
> +
> +&sdhci1 {
> +	bus-width = <4>;
> +	cap-sdio-irq;
> +	no-mmc;
> +	no-sd;
> +	non-removable;
> +	status = "okay";
> +};
> +
> +&spi3 {
> +	status = "okay";
> +};
> +
> +&uart0 {
> +	status = "okay";
> +};
> +


I managed to boot the board and run tests:

Tested successfully:

  * uart0: boot console
  * mmc0 (sdhci0?): root filesystem

Issues

  *

    eth0:

    ifconfig eth0 172.24.0.2
    [ 48.893725] stmmaceth 4070000.ethernet eth0: Register
    MEM_TYPE_PAGE_POOL RxQ-0
    [ 48.903077] stmmaceth 4070000.ethernet eth0: cannot attach to PHY
    (error: -ENODEV)
    ifconfig: SIOCSIFFLAGS: No such device

    I believe I have all drivers enabled though...

  * emmc:

    [ 2.730194] mmc2: Failed to initialize a non-removable card
    [ 2.764843] mmc1: Failed to initialize a non-removable card

    I tested with a board that has an eMMC

  * i2c4: detected by "i2cdetect -l"
    but no devices found by "i2cdetect -r 4"
    I tried both pins 3/4 and pins 50/48, with two different devices
    connected to the bus.
    Which pins did you use? I could check the SoC pin muxing, but your
    answer will save me time :D

Would you mind sharing your defconfig file ("make savedefconfig") via a 
private message or through a link (to avoid sending the entire file to 
the list)?
Thanks again
Cheers
Michael.


-- 
Michael Opdenacker
Root Commit
Yocto Project and OpenEmbedded Training course - Learn by doing:
https://rootcommit.com/training/yocto/


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Re: [PATCH v3 2/5] arm64: dts: sophgo: add initial Milk-V Duo S board support

[Michael Opdenacker]

Greetings,

On 10/29/25 13:35, Michael Opdenacker wrote:
>
> I managed to boot the board and run tests:
>
> Tested successfully:
>
>  * uart0: boot console
>  * mmc0 (sdhci0?): root filesystem
>
> Issues


...
I realize I replied to the arm64 part of the thread, but indeed I ran my 
tests on riscv.
Michael.

-- 
Michael Opdenacker
Root Commit
Yocto Project and OpenEmbedded Training course - Learn by doing:
https://rootcommit.com/training/yocto/


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