ardupilot/Tools/Linux_HAL_Essentials/devicetree/pxf/BB-PXF-01-00A0.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-PXF-01";
	version = "00A0";

	/* state the resources this cape uses */
	exclusive-use =
		/* the pin header uses */

		/* PRU RCInput */
		"P8.11",	/* pru0: pr1_pru0_pru_r30_15 */
		"P8.15",	/* pru0: pr1_pru0_pru_r31_15, PPM-sum, SBUS, DSM */
	
        /* PRU RCOutput */
		"P8.27",	/* pru1: pr1_pru1_pru_r30_8, CH_2 */
		"P8.28",	/* pru1: pr1_pru1_pru_r30_10, CH_1 */
		"P8.29",	/* pru1: pr1_pru1_pru_r30_9, CH_4 */
		"P8.30",	/* pru1: pr1_pru1_pru_r30_11, CH_3 */
		"P8.39",	/* pru1: pr1_pru1_pru_r30_6, CH_6 */
		"P8.40",	/* pru1: pr1_pru1_pru_r30_7, CH_5 */
		"P8.41",	/* pru1: pr1_pru1_pru_r30_4, CH_8 */
		"P8.42",	/* pru1: pr1_pru1_pru_r30_5, CH_7 */
		"P8.43",	/* pru1: pr1_pru1_pru_r30_2, CH_10 */
		"P8.44",	/* pru1: pr1_pru1_pru_r30_3, CH_9 */
		"P8.45",	/* pru1: pr1_pru1_pru_r30_0, CH_12 */
		"P8.46",	/* pru1: pr1_pru1_pru_r30_1, CH_11 */

		/* SPI0 */
		"P9.22",	/* SPI0_SCLK */
		"P9.21",	/* SPI0_MOSI */
		"P9.18",	/* SPI0_MISO */
		"P9.17",	/* LSM9DSO_AM CS */
		"P8.9",		/* LSM9DSO_G CS  */
        
		/* SPI1 */
		"P9.31",	/* SPI1_SCLK */
		"P9.29",	/* SPI1_MOSI */
		"P9.30",	/* SPI1_MISO */
		"P9.42",	/* MS5611 CS */
		"P9.28",	/* MPU6000 CS */
		"P9.23",	/* MPU9250 CS */
		"P8.12",	/* FRAM CS */
        
		/* Buzzer PWM */
		"P8.36",	/* pwm: ehrpwm1A */
		
		/* the hardware IP uses */
		"pru0",
		"pru1",
		"spi0",
		"spi1",
		"ehrpwm1A";

	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 = <
					0x034 0x26	/* gpmc_ad13.pr1_pru0_pru_r30_15, MODE6 | OUTPUT | PRU */
					0x03c 0x2e	/* gpmc_ad15.pr1_pru0_pru_r31_15, MODE6 | INPUT | PRU, PPM-sum, SBUS, DSM  */

					0x0e0 0x25	/* lcd_vsync.pr1_pru1_pru_r30_8, MODE5 | OUTPUT | PRU, CH_2 */
					0x0e8 0x25	/* lcd_pclk.pr1_pru1_pru_r30_10, MODE5 | OUTPUT | PRU, CH_1 */
					0x0e4 0x25	/* lcd_hsync.pr1_pru1_pru_r30_9, MODE5 | OUTPUT | PRU, CH_4 */
					0x0ec 0x25	/* lcd_ac_bias_en.pr1_pru1_pru_r30_11, MODE5 | OUTPUT | PRU, CH_3 */
					0x0b8 0x25	/* lcd_data6.pr1_pru1_pru_r30_6, MODE5 | OUTPUT | PRU, CH_6 */
					0x0bc 0x25	/* lcd_data7.pr1_pru1_pru_r30_7, MODE5 | OUTPUT | PRU, CH_5 */
					0x0b0 0x25	/* lcd_data4.pr1_pru1_pru_r30_4, MODE5 | OUTPUT | PRU, CH_8 */
					0x0b4 0x25	/* lcd_data5.pr1_pru1_pru_r30_5, MODE5 | OUTPUT | PRU, CH_7 */
					0x0a8 0x25	/* lcd_data2.pr1_pru1_pru_r30_2, MODE5 | OUTPUT | PRU, CH_10 */
					0x0ac 0x25	/* lcd_data3.pr1_pru1_pru_r30_3, MODE5 | OUTPUT | PRU, CH_9 */
					0x0a0 0x25	/* lcd_data0.pr1_pru1_pru_r30_0, MODE5 | OUTPUT | PRU, CH_12 */
					0x0a4 0x25	/* lcd_data1.pr1_pru1_pru_r30_1, MODE5 | OUTPUT | PRU, CH_11 */
				>;
			};
			spi0_pins_s0: spi0_pins_s0 {
				pinctrl-single,pins = <
					0x150 0x30	/* spi0_sclk, SPI0_SCLK P9_22 */
					0x154 0x10	/* spi0_d0, SPI0_MOSI  P9_21 */
					0x158 0x30	/* spi0_d1, SPI0_MISO P9_18 */
					
							/* setup a dummy CS for the SPI driver to use, then
							setup pin modes for the two real CS lines to
							set them pull-up */

					0x054 0x07	/* led pin, dummy CS */
					0x15C 0x37	/* LSM9DSO_AM CS P9_17 */
					0x09C 0x37	/* LSM9DSO_G CS P8_9 */
				>;
			};
			spi1_pins_s0: spi1_pins_s0 {
				pinctrl-single,pins = <
					0x190 0x33	/* mcasp0_aclkx.spi1_sclk, SPI1_SCLK P9_31 */
					0x194 0x13	/* mcasp0_fsx.spi1_d0, SPI1_MOSI P9_29 */
					0x198 0x33	/* mcasp0_axr0.spi1_d1, SPI1_MISO P9_30 */
				
					/* setup a dummy CS for the SPI driver to use, then
					setup pin modes for the four real CS lines to
					set them pull-up */
				
					0x058 0x07	/* dummy CS */
					0x164 0x37	/* P9_42 MS5611 CS */
					0x19C 0x37	/* P9_28 MPU6000 CS */
					0x044 0x37	/* P9_23 MPU9250 CS */
					0x030 0x37	/* P8_12 FRAM CS */
				>;
			};
			pwm_P8_36: pinmux_pwm_P8_36_pins {
				pinctrl-single,pins = <
					0x0C8 0x02	/* P8_36 (ZCZ ball U3) | MODE 2 */
				>; 
			};
		};
	};
	fragment@2 {
		target = <&spi0>;
		__overlay__ {
			#address-cells = <1>;
			#size-cells = <0>;
			status = "okay";
			pinctrl-names = "default";
			pinctrl-0 = <&spi0_pins_s0>;
			ti,pindir-d0-out-d1-in = <1>;
  
			spidev@0 {
				spi-max-frequency = <24000000>;
				reg = <0>;
				compatible = "linux,spidev";
			};
		};
	};
	fragment@3{
		target = <&spi1>;
		__overlay__ {
			#address-cells = <1>;
			#size-cells = <0>;
			status = "okay";
			pinctrl-names = "default";
			pinctrl-0 = <&spi1_pins_s0>;
			ti,pindir-d0-out-d1-in = <1>;

			spidev@1 {
				spi-max-frequency = <24000000>;
				reg = <0>;
				compatible = "linux,spidev";
			};
		};
	};
	fragment@4 {
		target = <&epwmss1>;
		__overlay__ {
			status = "okay";
		};
	};
	fragment@5 {
		target = <&ehrpwm1>;
		__overlay__ {
			status = "okay";
		};
	};
	fragment@6 {
		target = <&ocp>;
		__overlay__ {
			pwm_test_P8_36 {
				compatible	= "pwm_test";
				pwms 		= <&ehrpwm1 0 500000 1>;
				pwm-names 	= "PWM_P8_36";
				pinctrl-names	= "default";
				pinctrl-0	= <&pwm_P8_36>;
				enabled		= <1>;
				duty		= <0>;
				status 		= "okay";
			};
		};
	};
	fragment@7 {
		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 = "testpru0";

					/* 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>;
						};


					};
				};

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