| Message ID | 1477075018-20176-6-git-send-email-david@lechnology.com (mailing list archive) |
|---|---|
| State | New, archived |
| Headers | show |
David Lechner <david@lechnology.com> writes: > This adds a device tree definition file for LEGO MINDSTORMS EV3. > > What is working: > > * Pin muxing > * MicroSD card reader > * UART on input port 1 > > What is partially working: > > * Buttons - working after GPIO fix > * LEDs - working after GPIO fix > * Poweroff/reset - working after GPIO fix > * Flash memory - driver loads but can't read the block devices - this is > probably due to the fact that we are not able to configure the SPI to > use DMA via device tree > * EEPROM - there seems to be a hardware bug that causes the first byte > read to be corrupted - this can be worked around by adding an I2C stop > between writing the register and reading the data, but the at24 driver > does not have an option to do this > > What is not working/to be added later: > > * Display - waiting for "tiny DRM" to be mainlined > * Speaker - needs new PWM sound driver > * USB - waiting for OHCI and MUSB device tree support to be mainlined > * ADC - needs new iio driver > * GPIOs - broken because of recent changes to core gpio driver > * Bluetooth - needs new driver for sequencing power/enable/clock > * Input and output ports - need some sort of new phy or extcon driver > * Battery - needs new power supply driver (depends on ADC iio driver) > > Signed-off-by: David Lechner <david@lechnology.com> > --- > arch/arm/boot/dts/Makefile | 3 +- > arch/arm/boot/dts/lego-ev3.dts | 454 +++++++++++++++++++++++++++++++++++++++++ nit: can you name this da850-lego-ev3.dts Though it's not very strictly enforced, we *try* to use the form <soc>-<board>.dts. Kevin
On Saturday 22 October 2016 12:06 AM, David Lechner wrote: > This adds a device tree definition file for LEGO MINDSTORMS EV3. Thanks for the patch! > > What is working: > > * Pin muxing > * MicroSD card reader > * UART on input port 1 > > What is partially working: > > * Buttons - working after GPIO fix > * LEDs - working after GPIO fix > * Poweroff/reset - working after GPIO fix Is the GPIO fix something that will go in v4.9-rc cycle ? > * Flash memory - driver loads but can't read the block devices - this is > probably due to the fact that we are not able to configure the SPI to > use DMA via device tree Hmm, I would not have expected PIO mode to be so inefficient that you are unable to even read the block device. > * EEPROM - there seems to be a hardware bug that causes the first byte > read to be corrupted - this can be worked around by adding an I2C stop > between writing the register and reading the data, but the at24 driver > does not have an option to do this > > What is not working/to be added later: > > * Display - waiting for "tiny DRM" to be mainlined > * Speaker - needs new PWM sound driver > * USB - waiting for OHCI and MUSB device tree support to be mainlined > * ADC - needs new iio driver > * GPIOs - broken because of recent changes to core gpio driver > * Bluetooth - needs new driver for sequencing power/enable/clock > * Input and output ports - need some sort of new phy or extcon driver > * Battery - needs new power supply driver (depends on ADC iio driver) > > Signed-off-by: David Lechner <david@lechnology.com> > --- > arch/arm/boot/dts/Makefile | 3 +- > arch/arm/boot/dts/lego-ev3.dts | 454 +++++++++++++++++++++++++++++++++++++++++ > 2 files changed, 456 insertions(+), 1 deletion(-) > create mode 100644 arch/arm/boot/dts/lego-ev3.dts > > diff --git a/arch/arm/boot/dts/Makefile b/arch/arm/boot/dts/Makefile > index f80f5b7..5f91c1a 100644 > --- a/arch/arm/boot/dts/Makefile > +++ b/arch/arm/boot/dts/Makefile > @@ -116,7 +116,8 @@ dtb-$(CONFIG_ARCH_CLPS711X) += \ > dtb-$(CONFIG_ARCH_DAVINCI) += \ > da850-lcdk.dtb \ > da850-enbw-cmc.dtb \ > - da850-evm.dtb > + da850-evm.dtb \ > + lego-ev3.dtb > dtb-$(CONFIG_ARCH_DIGICOLOR) += \ > cx92755_equinox.dtb > dtb-$(CONFIG_ARCH_EFM32) += \ > diff --git a/arch/arm/boot/dts/lego-ev3.dts b/arch/arm/boot/dts/lego-ev3.dts > new file mode 100644 > index 0000000..a6b4c7d > --- /dev/null > +++ b/arch/arm/boot/dts/lego-ev3.dts > @@ -0,0 +1,454 @@ > +/* > + * Device tree for LEGO MINDSTORMS EV3 > + * > + * Copyright (C) 2016 David Lechner <david@lechnology.com> > + * > + * This program is free software; you can redistribute it and/or modify it > + * under the terms of the GNU General Public License as published by the > + * Free Software Foundation, version 2. > + */ > + > +/dts-v1/; > +#include <dt-bindings/gpio/gpio.h> > +#include <dt-bindings/input/linux-event-codes.h> > +#include <dt-bindings/pwm/pwm.h> > + > +#include "da850.dtsi" > + > +/ { > + compatible = "lego,ev3", "ti,da850"; > + model = "LEGO MINDSTORMS EV3"; > + > + soc@1c00000 { > + /* > + * (ab)using pinctrl-single to disable all internal pullups/ > + * pulldowns on I/O. > + */ > + pinmux@22c00c { > + compatible = "pinctrl-single"; > + reg = <0x22c00c 0x4>; > + #address-cells = <1>; > + #size-cells = <0>; > + pinctrl-single,bit-per-mux; > + pinctrl-single,register-width = <32>; > + pinctrl-single,function-mask = <0xf>; > + /* > + * There is a bug in pinctrl-single that prevents us > + * from setting function-mask to 1, so doing things > + * in groups of 4. Doesn't really matter since we are > + * disabling all at once anyway. > + */ > + > + pinctrl-names = "default"; > + pinctrl-0 = <&pupu_disable>; > + > + pupu_disable: pinmux_all_pins { > + pinctrl-single,bits = < > + 0x0 0x00000000 0xffffffff > + >; > + }; Sigh. This is quite an abuse :) I know we don't have a good way to configure this in kernel today. And I am surprised we never had to care about disabling pullups so far. Can you clarify why you need it? I assume there is some contention you want to avoid, but on which interface? I dont think this can be done this way using pinctrl-single. A small driver to handle pullup/down control for da850 may have to be added to drivers/pinctrl. It will be better to check with Linus Walleij on his thoughts using a new thread ccing the pinctrl subsystem list as well. [...] > + in1_pins: pinmux_in1_pins { > + pinctrl-single,bits = < > + /* GP0[15] */ > + 0x0 0x00000008 0x0000000f > + /* GP0[2] */ > + 0x4 0x00800000 0x00f00000 > + /* GP2[2] */ > + 0x18 0x00800000 0x00f00000 > + /* GP8[10], GP8[11] */ > + 0x48 0x88000000 0xff000000 > + >; > + }; I see that this is not really used. Can you add these when you actually use them. Looks like that applies to some other definitions like this below. > +&ehrpwm1 { > + status = "disabled"; Hmm, disabled? Can you add this node when you actually use it? > + pinctrl-names = "default"; > + /* MBPWM, MAPWM */ > + pinctrl-0 = <&ehrpwm1a_pins>, <&ehrpwm1b_pins>; > +}; > + > +&ecap1 { > + status = "disabled"; same here and other places below. > + pinctrl-names = "default"; > + /* MDPWM */ > + pinctrl-0 = <&ecap1_pins>; > +}; > + > +&spi0 { > + status = "okay"; > + pinctrl-names = "default"; > + pinctrl-0 = <&spi0_pins>, <&spi0_cs0_pin>, <&spi0_cs3_pin>; > + dmas = <&edma0 14 0>, <&edma0 15 0>; > + dma-names = "rx", "tx"; > + > + spi-flash@0 { > + #address-cells = <1>; > + #size-cells = <1>; > + compatible = "n25q128a13", "jedec,spi-nor"; > + reg = <0>; > + spi-max-frequency = <50000000>; > + ti,spi-wdelay = <8>; > + > + partition@0 { > + label = "U-Boot"; > + reg = <0 0x40000>; Thats 256KB for U-Boot and MLO (I assume in concatenated AIS image). Is that sufficient for future too? Moving partitions later is tough ask because that means users will lose data when they upgrade the kernel because of partitions moving around. Just a suggestion to keep future U-Boot bloat in mind and not use a "just fits" number. > + }; > + > + partition@40000 { > + label = "U-Boot Env"; > + reg = <0x40000 0x10000>; > + }; > + > + partition@50000 { > + label = "Kernel"; > + reg = <0x50000 0x200000>; > + }; > + > + partition@250000 { > + label = "Filesystem"; > + reg = <0x250000 0xa50000>; > + }; > + > + partition@cb0000 { > + label = "Storage"; > + reg = <0xcb0000 0x2f0000>; > + }; > + }; > + > + /* TODO: ADC goes here */ I would drop this comment. > +}; > + > +&spi1 { > + status = "okay"; > + pinctrl-names = "default"; > + pinctrl-0 = <&spi1_pins>, <&spi1_cs0_pin>; > + > + /* TODO: LCD Display goes here */ Add this node when you actually have display working. Thanks, Sekhar
On 10/24/2016 06:58 AM, Sekhar Nori wrote: > On Saturday 22 October 2016 12:06 AM, David Lechner wrote: >> This adds a device tree definition file for LEGO MINDSTORMS EV3. > > Thanks for the patch! > >> >> What is working: >> >> * Pin muxing >> * MicroSD card reader >> * UART on input port 1 >> >> What is partially working: >> >> * Buttons - working after GPIO fix >> * LEDs - working after GPIO fix >> * Poweroff/reset - working after GPIO fix > > Is the GPIO fix something that will go in v4.9-rc cycle ? Not sure. This is still being discussed. http://www.gossamer-threads.com/lists/linux/kernel/2550178 > >> * Flash memory - driver loads but can't read the block devices - this is >> probably due to the fact that we are not able to configure the SPI to >> use DMA via device tree > > Hmm, I would not have expected PIO mode to be so inefficient that you > are unable to even read the block device. I am getting a -EIO error. I haven't been able to trace down exactly what is causing it yet though. > ... >> +/ { >> + compatible = "lego,ev3", "ti,da850"; >> + model = "LEGO MINDSTORMS EV3"; >> + >> + soc@1c00000 { >> + /* >> + * (ab)using pinctrl-single to disable all internal pullups/ >> + * pulldowns on I/O. >> + */ >> + pinmux@22c00c { >> + compatible = "pinctrl-single"; >> + reg = <0x22c00c 0x4>; >> + #address-cells = <1>; >> + #size-cells = <0>; >> + pinctrl-single,bit-per-mux; >> + pinctrl-single,register-width = <32>; >> + pinctrl-single,function-mask = <0xf>; >> + /* >> + * There is a bug in pinctrl-single that prevents us >> + * from setting function-mask to 1, so doing things >> + * in groups of 4. Doesn't really matter since we are >> + * disabling all at once anyway. >> + */ >> + >> + pinctrl-names = "default"; >> + pinctrl-0 = <&pupu_disable>; >> + >> + pupu_disable: pinmux_all_pins { >> + pinctrl-single,bits = < >> + 0x0 0x00000000 0xffffffff >> + >; >> + }; > > Sigh. This is quite an abuse :) > > I know we don't have a good way to configure this in kernel today. And I > am surprised we never had to care about disabling pullups so far. Can > you clarify why you need it? I assume there is some contention you want > to avoid, but on which interface? The EV3 was designed with external pullup/pulldown everywhere. I know for certain that it breaks one of the buttons if you do not disable the internal ones. I imagine that it would have subtle effects elsewhere if they are not disabled. I have not gone through each pullup/pulldown bank individually, but it would not surprise me at all if there was at least one thing on most of them that would be adversely affected. > > I dont think this can be done this way using pinctrl-single. A small > driver to handle pullup/down control for da850 may have to be added to > drivers/pinctrl. It will be better to check with Linus Walleij on his > thoughts using a new thread ccing the pinctrl subsystem list as well. I will be glad to try to make a driver, but when I ran into this problem I could not find much information on how to handle banks of pullup/pulldown. Most of what I saw was for ones that can be individually controlled. If anyone knows something like this already that I could look at, it would be helpful to me. > [...] > >> + in1_pins: pinmux_in1_pins { >> + pinctrl-single,bits = < >> + /* GP0[15] */ >> + 0x0 0x00000008 0x0000000f >> + /* GP0[2] */ >> + 0x4 0x00800000 0x00f00000 >> + /* GP2[2] */ >> + 0x18 0x00800000 0x00f00000 >> + /* GP8[10], GP8[11] */ >> + 0x48 0x88000000 0xff000000 >> + >; >> + }; > > I see that this is not really used. Can you add these when you actually > use them. Looks like that applies to some other definitions like this below. It will be possible to uses these gpios via sysfs (until a proper driver for input and output ports is merged). So how about I attach these to the gpio node for now? > >> +&ehrpwm1 { >> + status = "disabled"; > > Hmm, disabled? Can you add this node when you actually use it? Not sure why I have this disabled. Like the gpios, the pwms can be used via sysfs, so I would like to leave them. > >> + pinctrl-names = "default"; >> + /* MBPWM, MAPWM */ >> + pinctrl-0 = <&ehrpwm1a_pins>, <&ehrpwm1b_pins>; >> +}; >> + >> +&ecap1 { >> + status = "disabled"; > > same here and other places below. > >> + pinctrl-names = "default"; >> + /* MDPWM */ >> + pinctrl-0 = <&ecap1_pins>; >> +}; >> + >> +&spi0 { >> + status = "okay"; >> + pinctrl-names = "default"; >> + pinctrl-0 = <&spi0_pins>, <&spi0_cs0_pin>, <&spi0_cs3_pin>; >> + dmas = <&edma0 14 0>, <&edma0 15 0>; >> + dma-names = "rx", "tx"; >> + >> + spi-flash@0 { >> + #address-cells = <1>; >> + #size-cells = <1>; >> + compatible = "n25q128a13", "jedec,spi-nor"; >> + reg = <0>; >> + spi-max-frequency = <50000000>; >> + ti,spi-wdelay = <8>; >> + >> + partition@0 { >> + label = "U-Boot"; >> + reg = <0 0x40000>; > > Thats 256KB for U-Boot and MLO (I assume in concatenated AIS image). Is > that sufficient for future too? Moving partitions later is tough ask > because that means users will lose data when they upgrade the kernel > because of partitions moving around. Just a suggestion to keep future > U-Boot bloat in mind and not use a "just fits" number. The MLO is on an EEPROM in the EV3, so the U-Boot partition is just U-boot. The SoC boots from I2C, which then runs whatever is as 0x0 on the flash memory. This partition table matches the partition scheme used on the official LEGO firmware that ships with the devices. Most people running their own kernel will probably be loading it from a microSD card, leaving the official firmware intact and therefore will always have this partition table. My thinking is that if someone does want to use a different partitioning scheme, they can build their own U-Boot and configure it to modify the device tree with a new partition table. The way the LEGO firmware flashing utility works, it wipes out the entire flash memory each time you flash the firmware. So, data loss is not a concern - you will loose your data anyway. > >> + }; >> + >> + partition@40000 { >> + label = "U-Boot Env"; >> + reg = <0x40000 0x10000>; >> + }; >> + >> + partition@50000 { >> + label = "Kernel"; >> + reg = <0x50000 0x200000>; >> + }; >> + >> + partition@250000 { >> + label = "Filesystem"; >> + reg = <0x250000 0xa50000>; >> + }; >> + >> + partition@cb0000 { >> + label = "Storage"; >> + reg = <0xcb0000 0x2f0000>; >> + }; >> + }; >> + >> + /* TODO: ADC goes here */ > > I would drop this comment. ack > >> +}; >> + >> +&spi1 { >> + status = "okay"; >> + pinctrl-names = "default"; >> + pinctrl-0 = <&spi1_pins>, <&spi1_cs0_pin>; >> + >> + /* TODO: LCD Display goes here */ > > Add this node when you actually have display working. What if we set this up as a spidev node instead? This way the display could be used from userspace without a driver.
On 10/24/2016 10:50 AM, David Lechner wrote: > On 10/24/2016 06:58 AM, Sekhar Nori wrote: >> On Saturday 22 October 2016 12:06 AM, David Lechner wrote: >> >>> +&ehrpwm1 { >>> + status = "disabled"; >> >> Hmm, disabled? Can you add this node when you actually use it? > > Not sure why I have this disabled. Like the gpios, the pwms can be used > via sysfs, so I would like to leave them. > Now I remember why these are disabled. The clock matching is broken. Only the first ehrpwm and the first ecap get clocks. The others fail. I can change these to "okay". It will just result in a kernel error message until the clocks are fixed.
On 10/24/2016 02:50 PM, David Lechner wrote: > On 10/24/2016 10:50 AM, David Lechner wrote: >> On 10/24/2016 06:58 AM, Sekhar Nori wrote: >>> On Saturday 22 October 2016 12:06 AM, David Lechner wrote: >>> >>>> +&ehrpwm1 { >>>> + status = "disabled"; >>> >>> Hmm, disabled? Can you add this node when you actually use it? >> >> Not sure why I have this disabled. Like the gpios, the pwms can be used >> via sysfs, so I would like to leave them. >> > > Now I remember why these are disabled. The clock matching is broken. > Only the first ehrpwm and the first ecap get clocks. The others fail. > > I can change these to "okay". It will just result in a kernel error > message until the clocks are fixed. > correction: it is not the clocks that are broken. it is the device names. In arch/arm/mach-davinci/da8xx-dt.c, we have... OF_DEV_AUXDATA("ti,da850-ehrpwm", 0x01f00000, "ehrpwm", NULL), OF_DEV_AUXDATA("ti,da850-ehrpwm", 0x01f02000, "ehrpwm", NULL), OF_DEV_AUXDATA("ti,da850-ecap", 0x01f06000, "ecap", NULL), OF_DEV_AUXDATA("ti,da850-ecap", 0x01f07000, "ecap", NULL), OF_DEV_AUXDATA("ti,da850-ecap", 0x01f08000, "ecap", NULL), Which causes each device to have the same device node name. This causes sysfs errors because it is trying to register a second device at the same sysfs path. If you change the names here, then the device do not work because the clock lookup fails.
On 10/24/2016 10:50 AM, David Lechner wrote: > On 10/24/2016 06:58 AM, Sekhar Nori wrote: >> On Saturday 22 October 2016 12:06 AM, David Lechner wrote: >>> +}; >>> + >>> +&spi1 { >>> + status = "okay"; >>> + pinctrl-names = "default"; >>> + pinctrl-0 = <&spi1_pins>, <&spi1_cs0_pin>; >>> + >>> + /* TODO: LCD Display goes here */ >> >> Add this node when you actually have display working. > > What if we set this up as a spidev node instead? This way the display > could be used from userspace without a driver. > To answer my own question, it seems that specifying "spidev" in devicetree is frowned upon since it does not "describe the hardware".
On Tuesday 25 October 2016 02:50 AM, David Lechner wrote: > On 10/24/2016 02:50 PM, David Lechner wrote: >> On 10/24/2016 10:50 AM, David Lechner wrote: >>> On 10/24/2016 06:58 AM, Sekhar Nori wrote: >>>> On Saturday 22 October 2016 12:06 AM, David Lechner wrote: >>>> >>>>> +&ehrpwm1 { >>>>> + status = "disabled"; >>>> >>>> Hmm, disabled? Can you add this node when you actually use it? >>> >>> Not sure why I have this disabled. Like the gpios, the pwms can be used >>> via sysfs, so I would like to leave them. >>> >> >> Now I remember why these are disabled. The clock matching is broken. >> Only the first ehrpwm and the first ecap get clocks. The others fail. >> >> I can change these to "okay". It will just result in a kernel error >> message until the clocks are fixed. >> > > correction: it is not the clocks that are broken. it is the device names. > > In arch/arm/mach-davinci/da8xx-dt.c, we have... > > > OF_DEV_AUXDATA("ti,da850-ehrpwm", 0x01f00000, "ehrpwm", NULL), > OF_DEV_AUXDATA("ti,da850-ehrpwm", 0x01f02000, "ehrpwm", NULL), > OF_DEV_AUXDATA("ti,da850-ecap", 0x01f06000, "ecap", NULL), > OF_DEV_AUXDATA("ti,da850-ecap", 0x01f07000, "ecap", NULL), > OF_DEV_AUXDATA("ti,da850-ecap", 0x01f08000, "ecap", NULL), > > > Which causes each device to have the same device node name. This causes > sysfs errors because it is trying to register a second device at the > same sysfs path. > > If you change the names here, then the device do not work because the > clock lookup fails. Yeah, this is incorrect (I should have caught it in review). The device id should have been present in the lookup. Can you fix auxdata and clock lookup too and send a separate patch? Its probably a v4.9-rc candidate. Thanks, Sekhar
On 10/25/2016 05:58 AM, Sekhar Nori wrote: > On Tuesday 25 October 2016 02:50 AM, David Lechner wrote: >> On 10/24/2016 02:50 PM, David Lechner wrote: >>> On 10/24/2016 10:50 AM, David Lechner wrote: >>>> On 10/24/2016 06:58 AM, Sekhar Nori wrote: >>>>> On Saturday 22 October 2016 12:06 AM, David Lechner wrote: >>>>> >>>>>> +&ehrpwm1 { >>>>>> + status = "disabled"; >>>>> >>>>> Hmm, disabled? Can you add this node when you actually use it? >>>> >>>> Not sure why I have this disabled. Like the gpios, the pwms can be used >>>> via sysfs, so I would like to leave them. >>>> >>> >>> Now I remember why these are disabled. The clock matching is broken. >>> Only the first ehrpwm and the first ecap get clocks. The others fail. >>> >>> I can change these to "okay". It will just result in a kernel error >>> message until the clocks are fixed. >>> >> >> correction: it is not the clocks that are broken. it is the device names. >> >> In arch/arm/mach-davinci/da8xx-dt.c, we have... >> >> >> OF_DEV_AUXDATA("ti,da850-ehrpwm", 0x01f00000, "ehrpwm", NULL), >> OF_DEV_AUXDATA("ti,da850-ehrpwm", 0x01f02000, "ehrpwm", NULL), >> OF_DEV_AUXDATA("ti,da850-ecap", 0x01f06000, "ecap", NULL), >> OF_DEV_AUXDATA("ti,da850-ecap", 0x01f07000, "ecap", NULL), >> OF_DEV_AUXDATA("ti,da850-ecap", 0x01f08000, "ecap", NULL), >> >> >> Which causes each device to have the same device node name. This causes >> sysfs errors because it is trying to register a second device at the >> same sysfs path. >> >> If you change the names here, then the device do not work because the >> clock lookup fails. > > Yeah, this is incorrect (I should have caught it in review). The device > id should have been present in the lookup. Can you fix auxdata and clock > lookup too and send a separate patch? Its probably a v4.9-rc candidate. > > Thanks, > Sekhar > Yes, I can do this.
On 10/24/2016 06:58 AM, Sekhar Nori wrote: > On Saturday 22 October 2016 12:06 AM, David Lechner wrote: >> This adds a device tree definition file for LEGO MINDSTORMS EV3. > > Thanks for the patch! > >> >> What is working: >> >> * Pin muxing >> * MicroSD card reader >> * UART on input port 1 >> >> What is partially working: >> >> * Buttons - working after GPIO fix >> * LEDs - working after GPIO fix >> * Poweroff/reset - working after GPIO fix > > Is the GPIO fix something that will go in v4.9-rc cycle ? > FYI, the fix is in linux-gpio/fixes now.
On Monday 24 October 2016 09:20 PM, David Lechner wrote: > On 10/24/2016 06:58 AM, Sekhar Nori wrote: >> On Saturday 22 October 2016 12:06 AM, David Lechner wrote: >>> This adds a device tree definition file for LEGO MINDSTORMS EV3. >> >> Thanks for the patch! >> >>> >>> What is working: >>> >>> * Pin muxing >>> * MicroSD card reader >>> * UART on input port 1 >>> >>> What is partially working: >>> >>> * Buttons - working after GPIO fix >>> * LEDs - working after GPIO fix >>> * Poweroff/reset - working after GPIO fix >> >> Is the GPIO fix something that will go in v4.9-rc cycle ? > > Not sure. This is still being discussed. > > http://www.gossamer-threads.com/lists/linux/kernel/2550178 > >> >>> * Flash memory - driver loads but can't read the block devices - this is >>> probably due to the fact that we are not able to configure the SPI to >>> use DMA via device tree >> >> Hmm, I would not have expected PIO mode to be so inefficient that you >> are unable to even read the block device. > > I am getting a -EIO error. I haven't been able to trace down exactly > what is causing it yet though. Okay. Seems unrelated to DMA though. Will check the status of SPI on my DA850 EVM once I get the chance. > >> > ... >>> +/ { >>> + compatible = "lego,ev3", "ti,da850"; >>> + model = "LEGO MINDSTORMS EV3"; >>> + >>> + soc@1c00000 { >>> + /* >>> + * (ab)using pinctrl-single to disable all internal pullups/ >>> + * pulldowns on I/O. >>> + */ >>> + pinmux@22c00c { >>> + compatible = "pinctrl-single"; >>> + reg = <0x22c00c 0x4>; >>> + #address-cells = <1>; >>> + #size-cells = <0>; >>> + pinctrl-single,bit-per-mux; >>> + pinctrl-single,register-width = <32>; >>> + pinctrl-single,function-mask = <0xf>; >>> + /* >>> + * There is a bug in pinctrl-single that prevents us >>> + * from setting function-mask to 1, so doing things >>> + * in groups of 4. Doesn't really matter since we are >>> + * disabling all at once anyway. >>> + */ >>> + >>> + pinctrl-names = "default"; >>> + pinctrl-0 = <&pupu_disable>; >>> + >>> + pupu_disable: pinmux_all_pins { >>> + pinctrl-single,bits = < >>> + 0x0 0x00000000 0xffffffff >>> + >; >>> + }; >> >> Sigh. This is quite an abuse :) >> >> I know we don't have a good way to configure this in kernel today. And I >> am surprised we never had to care about disabling pullups so far. Can >> you clarify why you need it? I assume there is some contention you want >> to avoid, but on which interface? > > The EV3 was designed with external pullup/pulldown everywhere. I know > for certain that it breaks one of the buttons if you do not disable the > internal ones. I imagine that it would have subtle effects elsewhere if > they are not disabled. > > I have not gone through each pullup/pulldown bank individually, but it > would not surprise me at all if there was at least one thing on most of > them that would be adversely affected. > >> >> I dont think this can be done this way using pinctrl-single. A small >> driver to handle pullup/down control for da850 may have to be added to >> drivers/pinctrl. It will be better to check with Linus Walleij on his >> thoughts using a new thread ccing the pinctrl subsystem list as well. > > I will be glad to try to make a driver, but when I ran into this problem > I could not find much information on how to handle banks of > pullup/pulldown. Most of what I saw was for ones that can be > individually controlled. If anyone knows something like this already > that I could look at, it would be helpful to me. pinctrl-single supports a different compatible "pinconf-single" which supports the pinconf interface that can be used to set pullup and pulldown bias. Unfortunately, in case of AM18x, there are two registers to touch: PUPD_ENA and PUPD_SEL. So I believe the pinctrl-single driver cannot be used. There are pinconf operations pin_config_group_{set|get}(). Based on documentation these are meant to act on a group of pins. There are quite a few drivers implementing this interface. Perhaps they can be used as an example. Also, this needs to be done in a way that can be used by other boards too, so please move the common properties to da850.dtsi. Only the board specific pullup/down configuration should be in this file. > > >> [...] >> >>> + in1_pins: pinmux_in1_pins { >>> + pinctrl-single,bits = < >>> + /* GP0[15] */ >>> + 0x0 0x00000008 0x0000000f >>> + /* GP0[2] */ >>> + 0x4 0x00800000 0x00f00000 >>> + /* GP2[2] */ >>> + 0x18 0x00800000 0x00f00000 >>> + /* GP8[10], GP8[11] */ >>> + 0x48 0x88000000 0xff000000 >>> + >; >>> + }; >> >> I see that this is not really used. Can you add these when you actually >> use them. Looks like that applies to some other definitions like this >> below. > > It will be possible to uses these gpios via sysfs (until a proper driver > for input and output ports is merged). So how about I attach these to > the gpio node for now? pins are usually attached to the node that consumes the GPIO pins, not to the gpio node itself. If the pins are not connected to anything and can be used via gpio sysfs, then "pinctrl hog" or "board level pinmux" is to be used. Something like below: +&pmx_core { + pinctrl-names = "default"; + pinctrl-0 = <&in1_pins>; + + in1_pins: pinmux_in1_pins { + pinctrl-single,bits = < + 0x0 0x00000008 0x0000000f + ... + >; + }; +}; That said, device tree is supposed to describe hardware and not change depend on current driver support. So I would wait for the driver to get merged before merging the pins that are used by it. It looks like you wont be able to use the support in a meaningful way till then anyway. > >> >>> +&ehrpwm1 { >>> + status = "disabled"; >> >> Hmm, disabled? Can you add this node when you actually use it? > > Not sure why I have this disabled. Like the gpios, the pwms can be used > via sysfs, so I would like to leave them. Okay, then please keep the node enabled. > >> >>> + pinctrl-names = "default"; >>> + /* MBPWM, MAPWM */ >>> + pinctrl-0 = <&ehrpwm1a_pins>, <&ehrpwm1b_pins>; >>> +}; >>> + >>> +&ecap1 { >>> + status = "disabled"; >> >> same here and other places below. >> >>> + pinctrl-names = "default"; >>> + /* MDPWM */ >>> + pinctrl-0 = <&ecap1_pins>; >>> +}; >>> + >>> +&spi0 { >>> + status = "okay"; >>> + pinctrl-names = "default"; >>> + pinctrl-0 = <&spi0_pins>, <&spi0_cs0_pin>, <&spi0_cs3_pin>; >>> + dmas = <&edma0 14 0>, <&edma0 15 0>; >>> + dma-names = "rx", "tx"; >>> + >>> + spi-flash@0 { >>> + #address-cells = <1>; >>> + #size-cells = <1>; >>> + compatible = "n25q128a13", "jedec,spi-nor"; >>> + reg = <0>; >>> + spi-max-frequency = <50000000>; >>> + ti,spi-wdelay = <8>; >>> + >>> + partition@0 { >>> + label = "U-Boot"; >>> + reg = <0 0x40000>; >> >> Thats 256KB for U-Boot and MLO (I assume in concatenated AIS image). Is >> that sufficient for future too? Moving partitions later is tough ask >> because that means users will lose data when they upgrade the kernel >> because of partitions moving around. Just a suggestion to keep future >> U-Boot bloat in mind and not use a "just fits" number. > > The MLO is on an EEPROM in the EV3, so the U-Boot partition is just > U-boot. The SoC boots from I2C, which then runs whatever is as 0x0 on > the flash memory. okay. > This partition table matches the partition scheme used on the official > LEGO firmware that ships with the devices. Most people running their own > kernel will probably be loading it from a microSD card, leaving the > official firmware intact and therefore will always have this partition > table. > > My thinking is that if someone does want to use a different partitioning > scheme, they can build their own U-Boot and configure it to modify the > device tree with a new partition table. > > The way the LEGO firmware flashing utility works, it wipes out the > entire flash memory each time you flash the firmware. So, data loss is > not a concern - you will loose your data anyway. Alright, thanks for the detailed explanation. Thanks, Sekhar
On Thursday 27 October 2016 07:00 AM, David Lechner wrote: > On 10/24/2016 06:58 AM, Sekhar Nori wrote: >> On Saturday 22 October 2016 12:06 AM, David Lechner wrote: >>> This adds a device tree definition file for LEGO MINDSTORMS EV3. >> >> Thanks for the patch! >> >>> >>> What is working: >>> >>> * Pin muxing >>> * MicroSD card reader >>> * UART on input port 1 >>> >>> What is partially working: >>> >>> * Buttons - working after GPIO fix >>> * LEDs - working after GPIO fix >>> * Poweroff/reset - working after GPIO fix >> >> Is the GPIO fix something that will go in v4.9-rc cycle ? >> > > FYI, the fix is in linux-gpio/fixes now. Thanks, I added the patch to my 'acked' branch which has stuff useful for testing on davinci but not going through my tree. It gets merged into my master branch so that branch can be used for all mach-davinci development. Thanks, Sekhar
diff --git a/arch/arm/boot/dts/Makefile b/arch/arm/boot/dts/Makefile index f80f5b7..5f91c1a 100644 --- a/arch/arm/boot/dts/Makefile +++ b/arch/arm/boot/dts/Makefile @@ -116,7 +116,8 @@ dtb-$(CONFIG_ARCH_CLPS711X) += \ dtb-$(CONFIG_ARCH_DAVINCI) += \ da850-lcdk.dtb \ da850-enbw-cmc.dtb \ - da850-evm.dtb + da850-evm.dtb \ + lego-ev3.dtb dtb-$(CONFIG_ARCH_DIGICOLOR) += \ cx92755_equinox.dtb dtb-$(CONFIG_ARCH_EFM32) += \ diff --git a/arch/arm/boot/dts/lego-ev3.dts b/arch/arm/boot/dts/lego-ev3.dts new file mode 100644 index 0000000..a6b4c7d --- /dev/null +++ b/arch/arm/boot/dts/lego-ev3.dts @@ -0,0 +1,454 @@ +/* + * Device tree for LEGO MINDSTORMS EV3 + * + * Copyright (C) 2016 David Lechner <david@lechnology.com> + * + * This program is free software; you can redistribute it and/or modify it + * under the terms of the GNU General Public License as published by the + * Free Software Foundation, version 2. + */ + +/dts-v1/; +#include <dt-bindings/gpio/gpio.h> +#include <dt-bindings/input/linux-event-codes.h> +#include <dt-bindings/pwm/pwm.h> + +#include "da850.dtsi" + +/ { + compatible = "lego,ev3", "ti,da850"; + model = "LEGO MINDSTORMS EV3"; + + soc@1c00000 { + /* + * (ab)using pinctrl-single to disable all internal pullups/ + * pulldowns on I/O. + */ + pinmux@22c00c { + compatible = "pinctrl-single"; + reg = <0x22c00c 0x4>; + #address-cells = <1>; + #size-cells = <0>; + pinctrl-single,bit-per-mux; + pinctrl-single,register-width = <32>; + pinctrl-single,function-mask = <0xf>; + /* + * There is a bug in pinctrl-single that prevents us + * from setting function-mask to 1, so doing things + * in groups of 4. Doesn't really matter since we are + * disabling all at once anyway. + */ + + pinctrl-names = "default"; + pinctrl-0 = <&pupu_disable>; + + pupu_disable: pinmux_all_pins { + pinctrl-single,bits = < + 0x0 0x00000000 0xffffffff + >; + }; + }; + }; + + /* + * The buttons on the EV3 are mapped to keyboard keys. + */ + gpio_keys { + compatible = "gpio-keys"; + #address-cells = <1>; + #size-cells = <0>; + label = "EV3 buttons"; + pinctrl-names = "default"; + pinctrl-0 = <&button_pins>; + + enter { + label = "EV3 Button ENTER"; + linux,code = <KEY_ENTER>; + gpios = <&gpio 29 GPIO_ACTIVE_HIGH>; + }; + left { + label = "EV3 Button LEFT"; + linux,code = <KEY_LEFT>; + gpios = <&gpio 102 GPIO_ACTIVE_HIGH>; + }; + back { + label = "EV3 Button BACK"; + linux,code = <KEY_BACKSPACE>; + gpios = <&gpio 106 GPIO_ACTIVE_HIGH>; + }; + right { + label = "EV3 Button RIGHT"; + linux,code = <KEY_RIGHT>; + gpios = <&gpio 124 GPIO_ACTIVE_HIGH>; + }; + down { + label = "EV3 Button DOWN"; + linux,code = <KEY_DOWN>; + gpios = <&gpio 126 GPIO_ACTIVE_HIGH>; + }; + up { + label = "EV3 Button UP"; + linux,code = <KEY_UP>; + gpios = <&gpio 127 GPIO_ACTIVE_HIGH>; + }; + }; + + /* + * The EV3 has two built-in bi-color LEDs behind the buttons. + */ + leds { + compatible = "gpio-leds"; + pinctrl-names = "default"; + pinctrl-0 = <&led_pins>; + + left_red { + label = "led1:red:brick-status"; + /* GP6[13] */ + gpios = <&gpio 103 GPIO_ACTIVE_HIGH>; + linux,default-trigger = "default-on"; + }; + left_green { + label = "led1:green:brick-status"; + /* GP6[7] */ + gpios = <&gpio 108 GPIO_ACTIVE_HIGH>; + linux,default-trigger = "default-on"; + }; + right_red { + label = "led2:red:brick-status"; + /* GP6[12] */ + gpios = <&gpio 109 GPIO_ACTIVE_HIGH>; + linux,default-trigger = "default-on"; + }; + right_green { + label = "led2:green:brick-status"; + /* GP6[14] */ + gpios = <&gpio 110 GPIO_ACTIVE_HIGH>; + linux,default-trigger = "default-on"; + }; + }; + + /* + * The EV3 is powered down by turning off the main 5V supply. + */ + gpio-poweroff { + compatible = "gpio-poweroff"; + /* low signal powers off the board */ + gpios = <&gpio 107 GPIO_ACTIVE_LOW>; + pinctrl-names = "default"; + pinctrl-0 = <&system_power_pin>; + }; + + /* + * The Bluetooth chip requires a clock at 32768Hz. One of the PWMs + * is used to generate this signal. + */ + bt-slow-clock { + status = "disabled"; + compatible = "pwm-clock"; + #clock-cells = <0>; + clock-frequency = <32768>; + clock-output-names = "slow_clk"; + pwms = <&ecap2 0 30517>; + }; +}; + +&pmx_core { + status = "okay"; + + spi0_cs3_pin: pinmux_spi0_cs3_pin { + pinctrl-single,bits = < + /* CS3 */ + 0xc 0x01000000 0x0f000000 + >; + }; + mmc0_cd_pin: pinmux_mmc0_cd { + pinctrl-single,bits = < + /* GP5[14] */ + 0x2C 0x00000080 0x000000f0 + >; + }; + button_pins: pinmux_button_pins { + pinctrl-single,bits = < + /* GP1[13] */ + 0x8 0x00000800 0x00000f00 + /* GP6[10] */ + 0x34 0x00800000 0x00f00000 + /* GP6[6] */ + 0x38 0x00000080 0x000000f0 + /* GP7[12], GP7[14], GP7[15] */ + 0x40 0x00808800 0x00f0ff00 + >; + }; + led_pins: pinmux_led_pins { + pinctrl-single,bits = < + /* GP6[12], GP6[13], GP6[14] */ + 0x34 0x00008880 0x0000fff0 + /* GP6[7] */ + 0x38 0x00000008 0x0000000f + >; + }; + system_power_pin: pinmux_system_power { + pinctrl-single,bits = < + /* GP6[11] */ + 0x34 0x00080000 0x000f0000 + >; + }; + in1_pins: pinmux_in1_pins { + pinctrl-single,bits = < + /* GP0[15] */ + 0x0 0x00000008 0x0000000f + /* GP0[2] */ + 0x4 0x00800000 0x00f00000 + /* GP2[2] */ + 0x18 0x00800000 0x00f00000 + /* GP8[10], GP8[11] */ + 0x48 0x88000000 0xff000000 + >; + }; + in2_pins: pinmux_in2_pins { + pinctrl-single,bits = < + /* GP0[13], GP0[14] */ + 0x0 0x00000880 0x00000ff0 + /* GP8[12], GP8[14], GP8[15] */ + 0x48 0x00808800 0x00f0ff00 + >; + }; + in3_pins: pinmux_in3_pins { + pinctrl-single,bits = < + /* GP0[12] */ + 0x0 0x00008000 0x0000f000 + /* GP1[14] */ + 0x8 0x00000080 0x000000f0 + /* GP7[11] */ + 0x40 0x08000000 0x0f000000 + /* GP7[9] */ + 0x44 0x00000008 0x0000000f + /* GP8[9] */ + 0x4c 0x00000008 0x0000000f + >; + }; + in4_pins: pinmux_in4_pins { + pinctrl-single,bits = < + /* GP0[1] */ + 0x4 0x08000000 0x0f000000 + /* GP1[15] */ + 0x8 0x00000008 0x0000000f + /* GP7[10] */ + 0x40 0x80000000 0xf0000000 + /* GP7[8] */ + 0x44 0x00000080 0x000000f0 + /* GP6[4] */ + 0x4c 0x00000800 0x00000f00 + >; + }; + outa_pins: pinmux_outa_pins { + pinctrl-single,bits = < + /* GP0[4] */ + 0x4 0x00008000 0x0000f000 + /* GP3[15] */ + 0x1c 0x00000008 0x0000000f + /* GP3[6] */ + 0x20 0x00000080 0x000000f0 + /* GP5[11] */ + 0x2c 0x00080000 0x000f0000 + /* GP5[4] */ + 0x30 0x00008000 0x0000f000 + >; + }; + outb_pins: pinmux_outb_pins { + pinctrl-single,bits = < + /* GP0[3] */ + 0x4 0x00080000 0x000f0000 + /* GP2[9] */ + 0x14 0x08000000 0x0f000000 + /* GP2[1], GP2[5] */ + 0x18 0x08000800 0x0f000f00 + /* GP5[11] */ + 0x2c 0x80000000 0xf0000000 + >; + }; + outc_pins: pinmux_outc_pins { + pinctrl-single,bits = < + /* GP3[8], GP3[14] */ + 0x1c 0x80000080 0xf00000f0 + /* GP5[9], GP5[13] */ + 0x2c 0x08000800 0x0f000f00 + /* GP6[8] */ + 0x34 0x80000000 0xf0000000 + >; + }; + outd_pins: pinmux_outd_pins { + pinctrl-single,bits = < + /* GP2[8] */ + 0x14 0x80000000 0xf0000000 + /* GP5[10], GP5[15] */ + 0x2c 0x00800008 0x00f0000f + /* GP5[3] */ + 0x30 0x00080000 0x000f0000 + /* GP6[9] */ + 0x34 0x08000000 0x0f000000 + >; + }; + sound_pins: pinmux_sound_pins { + pinctrl-single,bits = < + /* GP6[15] */ + 0x34 0x00000008 0x0000000f + >; + }; + usb11_pins: pinmux_usb11_pins { + pinctrl-single,bits = < + /* GP6[5] */ + 0x40 0x00000080 0x000000f0 + /* GP6[3] */ + 0x4c 0x00008000 0x0000f000 + >; + }; +}; + +/* Input port 2 */ +&serial0 { + status = "okay"; + pinctrl-names = "default"; + pinctrl-0 = <&serial0_rxtx_pins>; +}; + +/* Input port 1 */ +&serial1 { + status = "okay"; + pinctrl-names = "default"; + pinctrl-0 = <&serial1_rxtx_pins>; +}; + +/* Bluetooth */ +&serial2 { + status = "okay"; + pinctrl-names = "default"; + pinctrl-0 = <&serial2_rxtx_pins>, <&serial2_rtscts_pins>; +}; + +&rtc0 { + status = "okay"; +}; + +&i2c0 { + status = "okay"; + clock-frequency = <400000>; + pinctrl-names = "default"; + pinctrl-0 = <&i2c0_pins>; + + /* + * EEPROM contains the first stage bootloader, HW ID and Bluetooth MAC. + */ + eeprom@50 { + compatible = "at24,24c128"; + pagesize = <64>; + read-only; + reg = <0x50>; + }; +}; + +&wdt { + status = "okay"; +}; + +&mmc0 { + status = "okay"; + max-frequency = <50000000>; + bus-width = <4>; + cd-gpios = <&gpio 94 GPIO_ACTIVE_LOW>; + cap-sd-highspeed; + cap-mmc-highspeed; + pinctrl-names = "default"; + pinctrl-0 = <&mmc0_pins>, <&mmc0_cd_pin>; +}; + +&ehrpwm0 { + status = "okay"; + pinctrl-names = "default"; + /* SOUND_ARMA */ + pinctrl-0 = <&ehrpwm0b_pins>; +}; + +&ehrpwm1 { + status = "disabled"; + pinctrl-names = "default"; + /* MBPWM, MAPWM */ + pinctrl-0 = <&ehrpwm1a_pins>, <&ehrpwm1b_pins>; +}; + +&ecap0 { + status = "okay"; + pinctrl-names = "default"; + /* MCPWM */ + pinctrl-0 = <&ecap0_pins>; +}; + +&ecap1 { + status = "disabled"; + pinctrl-names = "default"; + /* MDPWM */ + pinctrl-0 = <&ecap1_pins>; +}; + +&ecap2 { + status = "disabled"; + pinctrl-names = "default"; + /* BTSLOWCLK */ + pinctrl-0 = <&ecap2_pins>; +}; + +&spi0 { + status = "okay"; + pinctrl-names = "default"; + pinctrl-0 = <&spi0_pins>, <&spi0_cs0_pin>, <&spi0_cs3_pin>; + dmas = <&edma0 14 0>, <&edma0 15 0>; + dma-names = "rx", "tx"; + + spi-flash@0 { + #address-cells = <1>; + #size-cells = <1>; + compatible = "n25q128a13", "jedec,spi-nor"; + reg = <0>; + spi-max-frequency = <50000000>; + ti,spi-wdelay = <8>; + + partition@0 { + label = "U-Boot"; + reg = <0 0x40000>; + }; + + partition@40000 { + label = "U-Boot Env"; + reg = <0x40000 0x10000>; + }; + + partition@50000 { + label = "Kernel"; + reg = <0x50000 0x200000>; + }; + + partition@250000 { + label = "Filesystem"; + reg = <0x250000 0xa50000>; + }; + + partition@cb0000 { + label = "Storage"; + reg = <0xcb0000 0x2f0000>; + }; + }; + + /* TODO: ADC goes here */ +}; + +&spi1 { + status = "okay"; + pinctrl-names = "default"; + pinctrl-0 = <&spi1_pins>, <&spi1_cs0_pin>; + + /* TODO: LCD Display goes here */ +}; + +&gpio { + status = "okay"; +};
This adds a device tree definition file for LEGO MINDSTORMS EV3. What is working: * Pin muxing * MicroSD card reader * UART on input port 1 What is partially working: * Buttons - working after GPIO fix * LEDs - working after GPIO fix * Poweroff/reset - working after GPIO fix * Flash memory - driver loads but can't read the block devices - this is probably due to the fact that we are not able to configure the SPI to use DMA via device tree * EEPROM - there seems to be a hardware bug that causes the first byte read to be corrupted - this can be worked around by adding an I2C stop between writing the register and reading the data, but the at24 driver does not have an option to do this What is not working/to be added later: * Display - waiting for "tiny DRM" to be mainlined * Speaker - needs new PWM sound driver * USB - waiting for OHCI and MUSB device tree support to be mainlined * ADC - needs new iio driver * GPIOs - broken because of recent changes to core gpio driver * Bluetooth - needs new driver for sequencing power/enable/clock * Input and output ports - need some sort of new phy or extcon driver * Battery - needs new power supply driver (depends on ADC iio driver) Signed-off-by: David Lechner <david@lechnology.com> --- arch/arm/boot/dts/Makefile | 3 +- arch/arm/boot/dts/lego-ev3.dts | 454 +++++++++++++++++++++++++++++++++++++++++ 2 files changed, 456 insertions(+), 1 deletion(-) create mode 100644 arch/arm/boot/dts/lego-ev3.dts