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ardupilot/Tools/Linux_HAL_Essentials/BB-BONE-PRU-05-00A0.dts

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/*
* Copyright (C) 2013 Pantelis Antoniou <panto@antoniou-consulting.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*/
/dts-v1/;
/plugin/;
/ {
compatible = "ti,beaglebone", "ti,beaglebone-black";
/* identification */
part-number = "BB-BONE-PRU-04";
version = "00A0";
/* state the resources this cape uses */
exclusive-use =
/* the pin header uses */
// "P9.27", /* pru0: pr1_pru0_pru_r30_5 */
"P8.15", /* pru0: pr1_pru0_pru_r30_15 */
// "P8.12", /* pru0: pr1_pru0_pru_r30_14 */
// "P9.25", /* pru0: pr1_pru0_pru_r30_7 */
// "P9.41", /* pru0: pr1_pru0_pru_r30_6 */
// "P9.42", /* pru0: pr1_pru0_pru_r30_4 */
// "P9.28", /* pru0: pr1_pru0_pru_r30_3 */
// "P9.30", /* pru0: pr1_pru0_pru_r30_2 */
// "P9.29", /* pru0: pr1_pru0_pru_r30_1 */
// "P9.31", /* pru0: pr1_pru0_pru_r30_0 */
/* pru0: pr1_pru0_pru_r30_13 is on MMC0_CMD */
/* pru0: pr1_pru0_pru_r30_12 is on MMC0_CLK */
/* pru0: pr1_pru0_pru_r30_11 is on MMC0_DAT0 */
/* pru0: pr1_pru0_pru_r30_10 is on MMC0_DAT1 */
/* pru0: pr1_pru0_pru_r30_9 is on MMC0_DAT2 */
/* pru0: pr1_pru0_pru_r30_8 is on MMC0_DAT3 */
//"P8.20", /* pru1: pr1_pru1_pru_r30_13 */
//"P8.21", /* pru1: pr1_pru1_pru_r30_12 */
"P8.27", /* pru1: pr1_pru1_pru_r30_8 */
"P8.28", /* pru1: pr1_pru1_pru_r30_10 */
"P8.29", /* pru1: pr1_pru1_pru_r30_9 */
"P8.30", /* pru1: pr1_pru1_pru_r30_11 */
"P8.39", /* pru1: pr1_pru1_pru_r30_6 */
"P8.40", /* pru1: pr1_pru1_pru_r30_7 */
"P8.41", /* pru1: pr1_pru1_pru_r30_4 */
"P8.42", /* pru1: pr1_pru1_pru_r30_5 */
"P8.43", /* pru1: pr1_pru1_pru_r30_2 */
"P8.44", /* pru1: pr1_pru1_pru_r30_3 */
"P8.45", /* pru1: pr1_pru1_pru_r30_0 */
"P8.46", /* pru1: pr1_pru1_pru_r30_1 */
/* pru1: pr1_pru1_pru_r30_14 is on UART0_RXD */
/* pru1: pr1_pru1_pru_r30_15 is on UART0_TXD */
/* the hardware IP uses */
"pru0",
"pru1";
fragment@0 {
target = <&am33xx_pinmux>;
__overlay__ {
pru_gpio_pins: pinmux_pru_gpio_pins {
pinctrl-single,pins = <
0x1a4 0x0f /* P9 27 GPIO3_19: mcasp0_fsr.gpio3[19] | MODE7 | OUTPUT */
>;
};
pru_pru_pins: pinmux_pru_pru_pins {
pinctrl-single,pins = <
// 0x1a4 0x25 /* mcasp0_fsr.pr1_pru0_pru_r30_5, MODE5 | OUTPUT | PRU */
0x03c 0x26 /* gpmc_ad13.pr1_pru0_pru_r30_15, MODE6 | OUTPUT | PRU */
// 0x030 0x26 /* gpmc_ad12.pr1_pru0_pru_r30_14, MODE6 | OUTPUT | PRU */
// 0x1ac 0x25 /* mcasp0_ahclkx.pr1_pru0_pru_r30_7, MODE5 | OUTPUT | PRU */
// 0x1a8 0x25 /* mcasp0_axr1.pr1_pru0_pru_r30_6, MODE5 | OUTPUT | PRU */
// 0x1a0 0x25 /* mcasp0_aclkr.pr1_pru0_pru_r30_4, MODE5 | OUTPUT | PRU */
// 0x19c 0x25 /* mcasp0_ahclkr.pr1_pru0_pru_r30_3, MODE5 | OUTPUT | PRU */
// 0x198 0x25 /* mcasp0_axr0.pr1_pru0_pru_r30_2, MODE5 | OUTPUT | PRU */
// 0x194 0x25 /* mcasp0_fsx.pr1_pru0_pru_r30_1, MODE5 | OUTPUT | PRU */
// 0x190 0x25 /* mcasp0_aclkx.pr1_pru0_pru_r30_0, MODE5 | OUTPUT | PRU */
//0x084 0x25 /* gpmc_csn2.pr1_pru1_pru_r30_13, MODE5 | OUTPUT | PRU */
//0x080 0x25 /* gpmc_csn1.pr1_pru1_pru_r30_12, MODE5 | OUTPUT | PRU */
0x0e0 0x25 /* lcd_vsync.pr1_pru1_pru_r30_8, MODE5 | OUTPUT | PRU */
0x0e8 0x25 /* lcd_pclk.pr1_pru1_pru_r30_10, MODE5 | OUTPUT | PRU */
0x0e4 0x25 /* lcd_hsync.pr1_pru1_pru_r30_9, MODE5 | OUTPUT | PRU */
0x0ec 0x25 /* lcd_ac_bias_en.pr1_pru1_pru_r30_11, MODE5 | OUTPUT | PRU */
0x0b8 0x25 /* pr1_pru1_pru_r30_6, MODE5 | OUTPUT | PRU */
0x0bc 0x25 /* lcd_data7.pr1_pru1_pru_r30_7, MODE5 | OUTPUT | PRU */
0x0b0 0x25 /* lcd_data4.pr1_pru1_pru_r30_4, MODE5 | OUTPUT | PRU */
0x0b4 0x25 /* lcd_data5.pr1_pru1_pru_r30_5, MODE5 | OUTPUT | PRU */
0x0a8 0x25 /* pr1_pru1_pru_r31_2, MODE5 | OUTPUT | PRU */
0x0ac 0x25 /* lcd_data3.pr1_pru1_pru_r30_3, MODE5 | OUTPUT | PRU */
0x0a0 0x25 /* lcd_data0.pr1_pru1_pru_r30_0, MODE5 | OUTPUT | PRU */
0x0a4 0x25 /* lcd_data1.pr1_pru1_pru_r30_1, MODE5 | OUTPUT | PRU */
>;
};
};
};
fragment@2 {
target = <&ocp>;
__overlay__ {
/* avoid stupid warning */
#address-cells = <1>;
#size-cells = <1>;
prurproc {
compatible = "ti,pru-rproc";
pinctrl-names = "default";
pinctrl-0 = <&pru_pru_pins>;
reg = <0x4a300000 0x080000>;
status = "okay";
ti,hwmods = "pruss";
ti,deassert-hard-reset = "pruss", "pruss";
interrupt-parent = <&intc>;
/* interrupts on the host */
interrupts = <20 21 22 23 24 25 26 27>;
/* events these interrupts map to (host interrupt) */
events = <2 3 4 5 6 7 8 9>;
/* PRU interrupt controller offset */
pintc = <0x20000>;
/* 12K Shared Data RAM global, size, local */
pdram = <0x10000 0x03000 0x10000>;
/*
* SYSEVENT ids
*
* - PRU/ARM communication
* PRU0_PRU1 17
* PRU1_PRU0 18
* PRU0_ARM 19
* PRU1_ARM 20
* ARM_PRU0 21
* ARM_PRU1 22
*
* Full SYSEVENT list
*
* parity_err_intr_pend 0
* pru0_r31_status_cnt16 1
* pru1_r31_status_cnt16 2
* uart_urxevt_intr_req 4
* uart_utxevt_intr_req 5
* uart_uint_intr_req 6
* iep_tim_cap_cmp_pend 7
* ecap_intr_req 15
* pru_mst_intr[0-15]_intr_req 16-31
* nirq 32 (UART1)
* mcasp_x_intr_pend 33 (MCASP1)
* mcasp_r_intr_pend 34 (MCASP1)
* ecap_intr_intr_pend 35 (ECAP1)
* ecap_intr_intr_pend 36 (ECAP2)
* epwm_intr_intr_pend 37 (eHRPWM2)
* dcan_uerr 38 (DCAN0)
* dcan_int1 39 (DCAN0)
* dcan_intr 40 (DCAN0)
* POINTRPEND 41 (I2C0)
* ecap_intr_intr_pend 42 (ECAP0)
* epwm_intr_intr_pend 43 (eHRPWM0)
* SINTERRUPTN 44 (McSPI0)
* eqep_intr_intr_pend 45 (eQEP0)
* epwm_intr_intr_pend 46 (eHRPWM1)
* c0_misc_pend 47 3PGSW (GEMAC)
* c0_tx_pend 48 3PGSW (GEMAC)
* c0_rx_pend 49 3PGSW (GEMAC)
* c0_rx_thresh_pend 50 3PGSW (GEMAC)
* nirq 51 (UART0)
* nirq 52 (UART2)
* gen_intr_pend 53 (ADC_TSC)
* mcasp_r_intr_pend 54 (McASP0)
* mcasp_x_intr_pend 55 (McASP1)
* pwm_trip_zone 56 (eHRPWM0/eHRPWM1/eHRP WM2)
* POINTRPEND1 57 (GPIO0)
* Emulation Suspend Signal 58 (Debugss)
* initiator_sinterrupt_q_n2 59 (Mbox0 - mail_u2_irq (mailbox interrupt for pru1))
* initiator_sinterrupt_q_n1 60 (Mbox0 - mail_u1_irq (mailbox interrupt for pru0))
* tptc_erint_pend_po 61 (TPTC0 (EDMA))
* tpcc_errint_pend_po 62 (TPCC (EDMA))
* tpcc_int_pend_po1 63 (TPCC (EDMA))
*
* HOST interrupt ids
*
* PRU0 0
* PRU1 1
* EVTOUT0-7 2-9
*/
/* sysevent map to intc channel */
sysevent-to-channel-map =
<17 1>, /* PRU0_PRU1 -> CH1 */
<18 0>, /* PRU1_PRU0 -> CH0 */
<19 2>, /* PRU0_ARM -> CH2 */
<20 3>, /* PRU1_ARM -> CH3 */
<21 0>, /* ARM_PRU0 -> CH0 */
<22 1>, /* ARM_PRU1 -> CH1 */
<24 4>, /* VRING Host->PRU0 -> CH4 */
<25 5>, /* VRING PRU0->Host -> CH5 */
<26 6>, /* VRING Host->PRU1 -> CH6 */
<27 7>; /* VRING PRU1->Host -> CH7 */
/* channel to host interrupt map */
channel-to-host-interrupt-map =
<0 0>, /* CH0 -> PRU0 */
<1 1>, /* CH1 -> PRU1 */
<2 2>, /* CH2 -> EVTOUT0 */
<3 3>, /* CH3 -> EVTOUT1 */
<4 0>, /* CH4 -> PRU0 */
<5 6>, /* CH5 -> EVTOUT4 */
<6 1>, /* CH6 -> PRU1 */
<7 7>; /* CH7 -> EVTOUT5 */
/* indices are ARM=0, PRU0=1, PRU1=2 */
target-to-sysevent-map =
<0xffffffff 21 22>, /* ARM: DONTCARE, ARM_PRU0, ARM_PRU1 */
< 19 0xffffffff 17>, /* PRU0: PRU0_ARM, DONTCARE, PRU0_PRU1 */
< 20 18 0xffffffff>; /* PRU1: PRU1_ARM, PRU1_PRU0, DONTCARE */
/* both the PRUs have 200MHz frequency so period is 5ns */
clock-freq = <200000000>;
/* the linux pwms we support */
pru-pwm-channels = <0 1 2 3 4 5 6 7 8 9 10 11 12 13 21>;
/* first PRU controls the PWMs */
pru-pwm-controller = <0>;
/* the IDs of the downcalls the firmware expects for PWMs */
/* CONFIG=0, ENABLE=1, DISABLE=2 */
pru-pwm-dc-ids = <0 1 2>;
/* definition for the first PRU */
pru0 {
pru-index = <0>;
/* offset, size, local */
iram = <0x34000 0x02000 0x00000>; /* code ram (8K) */
/* offset, size, local, other */
dram = <0x00000 0x02000 0x00000 0x10000>; /* data ram (8K) */
pctrl = <0x22000>;
pdbg = <0x22400>;
firmware-elf;
firmware = "rcinpru0";
/* sysevents signaling ring activity (host, pru)*/
vring-sysev = <24 25>;
resource_table {
resource-table;
version = <1>;
pru0_rproc_serial: pru0_vdev_rproc_serial {
vdev-rproc-serial;
/* notification IDs are totally bogus */
/* rproc will idr_alloc anyway */
notifyid = <8>; /* <- bogus */
/* da align num notifyid */
vring-0 = <0 16 8 0>;
vring-1 = <0 16 8 0>;
};
// pru0_rproc_rpmsg: pru0_vdev_rproc_rpmsg {
// vdev-rpmsg;
//
// /* notification IDs are totally bogus */
// /* rproc will idr_alloc anyway */
//
// notifyid = <9>; /* <- bogus */
// /* da align num notifyid */
// vring-0 = <0 16 512 0>;
// vring-1 = <0 16 512 0>;
// };
};
};
/* definition for the second PRU */
pru1 {
pru-index = <1>;
/* offset, size, local */
iram = <0x38000 0x02000 0x00000>; /* code ram (8K) */
/* offset, size, local, other */
dram = <0x02000 0x02000 0x00000 0x10000>; /* data ram (8K) */
pctrl = <0x24000>;
pdbg = <0x24400>;
firmware-elf;
firmware = "pwmpru1";
/* NOTE: no resource table, no vrings for this one */
};
};
};
};
};