doc: esp32: Update the building instruction

Cover the sysbuild directions for application build.

Signed-off-by: Marek Matej <marek.matej@espressif.com>

boards/riscv/esp32c3_devkitm/doc/index.rst

@@ -52,6 +52,67 @@ below to retrieve those files.
 Building & Flashing
 -------------------
 
+The board is using the MCUboot bootloader as the default 2nd stage bootloader.
+Therefore, the bootloader must be build and flashed at least once.
+
+Users has two options while building their applications:
+
+Sysbuild
+========
+
+The sysbuild makes possible to build and flash all necessary images needed to
+bootstrap the board with the EPS32 SoC.
+
+To build the sample application using sysbuild use the command:
+
+.. zephyr-app-commands::
+   :tool: west
+   :app: samples/hello_world
+   :board: esp32c3_devkitm
+   :goals: build
+   :west-args: --sysbuild
+   :compact:
+
+By default, the ESP32 sysbuild creates bootloader (MCUboot) and application
+images. But it can be configured to create other kind of images, for ex.
+the ULP coprocessor images.
+
+Build directory structure created by Sysbuild is different from traditional
+Zephyr build. Output is structured by the domain subdirectories:
+
+.. code-block::
+
+  build/
+  ├── hello_world
+  │   └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  ├── mcuboot
+  │    └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  └── domains.yaml
+
+.. note::
+
+   With ``--sysbuild`` option the bootloader will be re-build and re-flash
+   every time we clean the build or use pristine build.
+
+For more information about the system build please read the :ref:`sysbuild` documentation.
+
+Manual build
+============
+
+During application development, we would like to build & flash as quickly possible.
+For that reason, we can still prepare our images one at a time using traditional build.
+
+The instructions following are relevant for both manual build and sysbuild.
+The only difference is the structure of the build directory.
+
+.. note::
+
+   Remember that bootloader (MCUboot) needs to be flash at least once.
+
 Build and flash applications as usual (see :ref:`build_an_application` and
 :ref:`application_run` for more details).
 

boards/riscv/icev_wireless/doc/index.rst

@@ -98,6 +98,67 @@ incredibly easy 🎉 following the steps below.
 Building and Flashing
 =====================
 
+The board is using the MCUboot bootloader as the default 2nd stage bootloader.
+Therefore, the bootloader must be build and flashed at least once.
+
+Users has two options while building their applications:
+
+Sysbuild
+========
+
+The sysbuild makes possible to build and flash all necessary images needed to
+bootstrap the board with the EPS32 SoC.
+
+To build the sample application using sysbuild use the command:
+
+.. zephyr-app-commands::
+   :tool: west
+   :app: samples/hello_world
+   :board: icev_wireless
+   :goals: build
+   :west-args: --sysbuild
+   :compact:
+
+By default, the ESP32 sysbuild creates bootloader (MCUboot) and application
+images. But it can be configured to create other kind of images, for ex.
+the ULP coprocessor images.
+
+Build directory structure created by Sysbuild is different from traditional
+Zephyr build. Output is structured by the domain subdirectories:
+
+.. code-block::
+
+  build/
+  ├── hello_world
+  │   └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  ├── mcuboot
+  │    └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  └── domains.yaml
+
+.. note::
+
+   With ``--sysbuild`` option the bootloader will be re-build and re-flash
+   every time we clean the build or use pristine build.
+
+For more information about the system build please read the :ref:`sysbuild` documentation.
+
+Manual build
+============
+
+During application development, we would like to build & flash as quickly possible.
+For that reason, we can still prepare our images one at a time using traditional build.
+
+The instructions following are relevant for both manual build and sysbuild.
+The only difference is the structure of the build directory.
+
+.. note::
+
+   Remember that bootloader (MCUboot) needs to be flash at least once.
+
 For the :code:`Hello, world!` application, follow the instructions below.
 
 .. zephyr-app-commands::

boards/riscv/stamp_c3/doc/index.rst

@@ -56,6 +56,67 @@ below to retrieve those files.
 Building & Flashing
 -------------------
 
+The board is using the MCUboot bootloader as the default 2nd stage bootloader.
+Therefore, the bootloader must be build and flashed at least once.
+
+Users has two options while building their applications:
+
+Sysbuild
+========
+
+The sysbuild makes possible to build and flash all necessary images needed to
+bootstrap the board with the EPS32 SoC.
+
+To build the sample application using sysbuild use the command:
+
+.. zephyr-app-commands::
+   :tool: west
+   :app: samples/hello_world
+   :board: stamp_c3
+   :goals: build
+   :west-args: --sysbuild
+   :compact:
+
+By default, the ESP32 sysbuild creates bootloader (MCUboot) and application
+images. But it can be configured to create other kind of images, for ex.
+the ULP coprocessor images.
+
+Build directory structure created by Sysbuild is different from traditional
+Zephyr build. Output is structured by the domain subdirectories:
+
+.. code-block::
+
+  build/
+  ├── hello_world
+  │   └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  ├── mcuboot
+  │    └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  └── domains.yaml
+
+.. note::
+
+   With ``--sysbuild`` option the bootloader will be re-build and re-flash
+   every time we clean the build or use pristine build.
+
+For more information about the system build please read the :ref:`sysbuild` documentation.
+
+Manual build
+============
+
+During application development, we would like to build & flash as quickly possible.
+For that reason, we can still prepare our images one at a time using traditional build.
+
+The instructions following are relevant for both manual build and sysbuild.
+The only difference is the structure of the build directory.
+
+.. note::
+
+   Remember that bootloader (MCUboot) needs to be flash at least once.
+
 Build and flash applications as usual (see :ref:`build_an_application` and
 :ref:`application_run` for more details).
 

boards/riscv/xiao_esp32c3/doc/index.rst

@@ -80,6 +80,67 @@ below to retrieve those files.
 Building & Flashing
 -------------------
 
+The board is using the MCUboot bootloader as the default 2nd stage bootloader.
+Therefore, the bootloader must be build and flashed at least once.
+
+Users has two options while building their applications:
+
+Sysbuild
+========
+
+The sysbuild makes possible to build and flash all necessary images needed to
+bootstrap the board with the EPS32 SoC.
+
+To build the sample application using sysbuild use the command:
+
+.. zephyr-app-commands::
+   :tool: west
+   :app: samples/hello_world
+   :board: xiao_esp32c3
+   :goals: build
+   :west-args: --sysbuild
+   :compact:
+
+By default, the ESP32 sysbuild creates bootloader (MCUboot) and application
+images. But it can be configured to create other kind of images, for ex.
+the ULP coprocessor images.
+
+Build directory structure created by Sysbuild is different from traditional
+Zephyr build. Output is structured by the domain subdirectories:
+
+.. code-block::
+
+  build/
+  ├── hello_world
+  │   └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  ├── mcuboot
+  │    └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  └── domains.yaml
+
+.. note::
+
+   With ``--sysbuild`` option the bootloader will be re-build and re-flash
+   every time we clean the build or use pristine build.
+
+For more information about the system build please read the :ref:`sysbuild` documentation.
+
+Manual build
+============
+
+During application development, we would like to build & flash as quickly possible.
+For that reason, we can still prepare our images one at a time using traditional build.
+
+The instructions following are relevant for both manual build and sysbuild.
+The only difference is the structure of the build directory.
+
+.. note::
+
+   Remember that bootloader (MCUboot) needs to be flash at least once.
+
 For the :code:`Hello, world!` application, follow the instructions below.
 
 .. zephyr-app-commands::

boards/xtensa/esp32/doc/index.rst

@@ -61,6 +61,67 @@ below to retrieve those files.
 Building & Flashing
 -------------------
 
+The board is using the MCUboot bootloader as the default 2nd stage bootloader.
+Therefore, the bootloader must be build and flashed at least once.
+
+Users has two options while building their applications:
+
+Sysbuild
+========
+
+The sysbuild makes possible to build and flash all necessary images needed to
+bootstrap the board with the EPS32 SoC.
+
+To build the sample application using sysbuild use the command:
+
+.. zephyr-app-commands::
+   :tool: west
+   :app: samples/hello_world
+   :board: esp32
+   :goals: build
+   :west-args: --sysbuild
+   :compact:
+
+By default, the ESP32 sysbuild creates bootloader (MCUboot) and application
+images. But it can be configured to create other kind of images, for ex.
+the ULP coprocessor images.
+
+Build directory structure created by Sysbuild is different from traditional
+Zephyr build. Output is structured by the domain subdirectories:
+
+.. code-block::
+
+  build/
+  ├── hello_world
+  │   └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  ├── mcuboot
+  │    └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  └── domains.yaml
+
+.. note::
+
+   With ``--sysbuild`` option the bootloader will be re-build and re-flash
+   every time we clean the build or use pristine build.
+
+For more information about the system build please read the :ref:`sysbuild` documentation.
+
+Manual build
+============
+
+During application development, we would like to build & flash as quickly possible.
+For that reason, we can still prepare our images one at a time using traditional build.
+
+The instructions following are relevant for both manual build and sysbuild.
+The only difference is the structure of the build directory.
+
+.. note::
+
+   Remember that bootloader (MCUboot) needs to be flash at least once.
+
 Build and flash applications as usual (see :ref:`build_an_application` and
 :ref:`application_run` for more details).