Merge pull request #169 from sifive/documentation

Add initial documentation

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+# Documentation Generation
+
+## Requirements
+
+You'll need the following software:
+- [Sphinx](http://www.sphinx-doc.org/en/master/index.html)
+
+### Ubuntu
+
+You can install the required software on Ubuntu with the following:
+
+```
+sudo apt install python3-sphinx
+```
+
+The second line can be omitted if you don't intend to build the PDF.
+
+### MacOS
+
+You can install the required software on MacOS with the following:
+
+```
+brew install sphinx-doc
+```
+
+The second line can be omitted if you don't intend to build the PDF.
+
+## Building the Docs
+
+You can generate the HTML documentation with
+```
+make
+```
+
+You can clean the build files and outputs with
+
+```
+make clean
+```
+
+