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+Upsilon docker development environment setup.
+
+# Dockerfile style guide
+
+Dockerfiles should be simple. The Dockerfiles should be readable to a
+beginner.
+
+# Setup steps
+
+Do all of the following in the `build` folder.
+
+## Installing OpenFPGALoader
+
+Install [openFPGALoader][1]. If this program is not in your repositories,
+run `make openFPGALoader` to fetch and build the program. This will install
+openFPGALoader locally.
+
+Even if you install openFPGALoader locally, there are some files (udev rules)
+that must be installed with administrative privleges. Check the documentation
+for openFPGALoader.
+
+[1]: https://trabucayre.github.io/openFPGALoader/index.html
+
+## Setup Rootless Docker
+
+Docker allows you to run programs in containers, which are isolated
+environments. Build environments can be set up automatically, and re-setup
+whenever needed.
+
+If you have issues with docker, try adding to `~/.config/docker/daemon.json`
+
+    {
+       "storage-driver": "fuse-overlayfs"
+    }
+
+
+## Download and Install Python3
+
+Install `python3` and `python3-pip`.
+
+## Clone External Repositories
+
+Run `make clone`. You may need to download the upsilon repositories
+and put them in the same folder as the Makefile.
+
+## Setup Network
+
+Plug in your router/switch to an ethernet port on your computer. If your
+computer is usually wired to the network, you will need another ethernet
+port (a PCI card is ideal, but a USB-Ethernet port works).
+
+Set the ethernet port to static ip `192.168.1.100/24`, netmask `255.255.255.0`,
+gateway `192.168.1.1`. Make sure this is not the default route. Make sure
+to adjust your firewall to allow traffic on the 192.168.1.0/24 range.
+
+If your local network already uses the 192.168.1.0/24 range, then you must
+modify `upsilon/firmware/soc.py` to use different IPs. You must rebuild the
+SoC after doing this.
+
+## Setup Images
+
+Run `make images` to create all docker images.
+
+## Setup and Run Containers
+
+For `NAME` in `hardware`, `opensbi`, `buildroot`:
+
+1. Run `make $NAME-container` to build the container. You usually only need
+   to do this once.
+2. If the container already exists, do `docker container start upsilon-$NAME`.
+3. Run `make $NAME-copy` to copy Upsilon's code into the container.
+4. Run `make $NAME-execute` to build the data.
+5. Run `make $NAME-get` to retrieve the build artefacts.
+
+If you do not delete the container you can run
+
+	make $NAME-copy $NAME-execute $NAME-get
+
+when you need to rebuild. If you need shell access, run `make $NAME-shell`.
+
+## Launch TFTP Server
+
+Install py3tftp (`pip3 install --user py3tftp`). Then run `make tftp` to
+launch the TFTP server. Keep this terminal open.
+
+## Flash FPGA
+
+Plug in your FPGA into the USB slot. If you have installed openFPGALoader
+by your package manager, run `make OPENFPGALOADER=openfpgaloader flash`.
+If you installed it using `make openFPGALoader`, then just run `make flash`.
+
+In a second you should see messages in the TFTP terminal. This means your
+controller is sucessfully connected to your computer.
+
+## SSH Access
+
+Add the following to your SSH config:
+
+	Host upsilon
+		HostName 192.168.1.50
+		StrictHostKeyChecking no
+		UserKnownHostsFile /dev/null
+		IdentityFile upsilon_key
+		User root
+		LogLevel QUIET
+
+Then copy the file `build/upsilon_key` to `$HOME/.ssh`.
+
+When the FPGA is connected you can access it with `ssh upsilon` (password
+`upsilon`).
+
+Wait about a minute for Linux to boot.
+
+## Launch FPGA Shell (Optional)
+
+If you cannot access the FPGA through SSH, you can launch a shell through
+UART.
+
+You will need to install [LiteX](https://github.com/enjoy-digital/litex).
+Download and run `litex_setup.py`.
+
+Run `litex_term /dev/ttyUSB1`. You should get messages in the window with
+the TFTP server that the FPGA has connected to the server. Eventually you
+will get a login prompt (username `root` password `upsilon`).
+
+## Copy Library
+
+Run `make copy` to copy the Micropython Upsilon library to the FPGA. After
+this the modules `comm` and `mmio` are available when running scripts in
+`/root`.