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

/*
* 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 */
				};
			};
		};
	};
};