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@xxxxxxxxxxxxxx>
---
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@xxxxxxxxxxxxxx>
+ *
+ * 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";
+};
--
2.7.4
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