The Emcraft Systems NavQ+ kit is a mobile robotics platform
based on NXP i.MX8 MPlus SoC.
The following interfaces and devices are enabled:
- eMMC
- Gigabit Ethernet
- RTC
- SD-Card
- UART console
Signed-off-by: Gilles Talis <gilles.talis@xxxxxxxxx>
---
arch/arm64/boot/dts/freescale/Makefile | 1 +
.../arm64/boot/dts/freescale/imx8mp-navqp.dts | 435 ++++++++++++++++++
2 files changed, 436 insertions(+)
create mode 100644 arch/arm64/boot/dts/freescale/imx8mp-navqp.dts
diff --git a/arch/arm64/boot/dts/freescale/Makefile b/arch/arm64/boot/dts/freescale/Makefile
index 045250d0a040..bf99864c0bc4 100644
--- a/arch/arm64/boot/dts/freescale/Makefile
+++ b/arch/arm64/boot/dts/freescale/Makefile
@@ -166,6 +166,7 @@ dtb-$(CONFIG_ARCH_MXC) += imx8mp-dhcom-pdk3.dtb
dtb-$(CONFIG_ARCH_MXC) += imx8mp-evk.dtb
dtb-$(CONFIG_ARCH_MXC) += imx8mp-icore-mx8mp-edimm2.2.dtb
dtb-$(CONFIG_ARCH_MXC) += imx8mp-msc-sm2s-ep1.dtb
+dtb-$(CONFIG_ARCH_MXC) += imx8mp-navqp.dtb
dtb-$(CONFIG_ARCH_MXC) += imx8mp-phyboard-pollux-rdk.dtb
dtb-$(CONFIG_ARCH_MXC) += imx8mp-skov-revb-hdmi.dtb
dtb-$(CONFIG_ARCH_MXC) += imx8mp-skov-revb-lt6.dtb
diff --git a/arch/arm64/boot/dts/freescale/imx8mp-navqp.dts b/arch/arm64/boot/dts/freescale/imx8mp-navqp.dts
new file mode 100644
index 000000000000..8182e71008f8
--- /dev/null
+++ b/arch/arm64/boot/dts/freescale/imx8mp-navqp.dts
@@ -0,0 +1,435 @@
+// SPDX-License-Identifier: (GPL-2.0+ OR MIT)
+/*
+ * Copyright 2021 Emcraft Systems
+ * Copyright 2024 Gilles Talis <gilles.talis@xxxxxxxxx>
+ */
+
+/dts-v1/;
+
+#include <dt-bindings/gpio/gpio.h>
+#include "imx8mp.dtsi"
+
+/ {
+ model = "Emcraft Systems i.MX8MPlus NavQ+ Kit";
+ compatible = "emcraft,imx8mp-navqp", "fsl,imx8mp";
+
+ chosen {
+ stdout-path = &uart2;
+ };
+
+ leds {
+ compatible = "gpio-leds";
+ pinctrl-names = "default";
+ pinctrl-0 = <&pinctrl_gpio_led>;
+
+ status {
+ label = "status";
+ gpios = <&gpio3 16 GPIO_ACTIVE_HIGH>;
+ default-state = "on";
+ };
+ };
+
+ reg_usdhc2_vmmc: regulator-usdhc2 {
+ compatible = "regulator-fixed";
+ pinctrl-names = "default";
+ pinctrl-0 = <&pinctrl_reg_usdhc2_vmmc>;
+ regulator-name = "VSD_3V3";
+ regulator-min-microvolt = <3300000>;
+ regulator-max-microvolt = <3300000>;
+ gpio = <&gpio2 19 GPIO_ACTIVE_HIGH>;
+ enable-active-high;
+ startup-delay-us = <100>;
+ off-on-delay-us = <12000>;
+ };
+};
+
+&A53_0 {
+ cpu-supply = <&buck2>;
+};
+
+&A53_1 {
+ cpu-supply = <&buck2>;
+};
+
+&A53_2 {
+ cpu-supply = <&buck2>;
+};
+
+&A53_3 {
+ cpu-supply = <&buck2>;
+};
+
+&eqos {
+ pinctrl-names = "default";
+ pinctrl-0 = <&pinctrl_eqos>;
+ phy-mode = "rgmii-id";
+ phy-handle = <ðphy0>;
+ status = "okay";
+
+ mdio {
+ compatible = "snps,dwmac-mdio";
+ #address-cells = <1>;
+ #size-cells = <0>;
+
+ ethphy0: ethernet-phy@0 {
+ compatible = "ethernet-phy-ieee802.3-c22";
+ reg = <0>;
+ reset-gpios = <&gpio4 22 GPIO_ACTIVE_LOW>;
+ reset-assert-us = <1000>;
+ reset-deassert-us = <10000>;
+ qca,disable-smarteee;
+ qca,disable-hibernation-mode;
+ vddio-supply = <&vddio>;
+
+ vddio: vddio-regulator {
+ regulator-min-microvolt = <1800000>;
+ regulator-max-microvolt = <1800000>;
+ };
+ };
+ };
+};
+
+&i2c1 {
+ clock-frequency = <400000>;
+ pinctrl-names = "default";
+ pinctrl-0 = <&pinctrl_i2c1>;
+ status = "okay";
+
+ pmic@25 {
+ compatible = "nxp,pca9450c";
+ reg = <0x25>;
+ pinctrl-names = "default";
+ pinctrl-0 = <&pinctrl_pmic>;
+ interrupt-parent = <&gpio1>;
+ interrupts = <3 IRQ_TYPE_LEVEL_LOW>;
+
+ regulators {
+ BUCK1 {
+ regulator-name = "BUCK1";
+ regulator-min-microvolt = <600000>;
+ regulator-max-microvolt = <2187500>;
+ regulator-boot-on;
+ regulator-always-on;
+ regulator-ramp-delay = <3125>;
+ };
+
+ buck2: BUCK2 {
+ regulator-name = "BUCK2";
+ regulator-min-microvolt = <600000>;
+ regulator-max-microvolt = <2187500>;
+ regulator-boot-on;
+ regulator-always-on;
+ regulator-ramp-delay = <3125>;
+ nxp,dvs-run-voltage = <950000>;
+ nxp,dvs-standby-voltage = <850000>;
+ };
+
+ BUCK4 {
+ regulator-name = "BUCK4";
+ regulator-min-microvolt = <600000>;
+ regulator-max-microvolt = <3400000>;
+ regulator-boot-on;
+ regulator-always-on;
+ };
+
+ BUCK5 {
+ regulator-name = "BUCK5";
+ regulator-min-microvolt = <600000>;
+ regulator-max-microvolt = <3400000>;
+ regulator-boot-on;
+ regulator-always-on;
+ };
+
+ BUCK6 {
+ regulator-name = "BUCK6";
+ regulator-min-microvolt = <600000>;
+ regulator-max-microvolt = <3400000>;
+ regulator-boot-on;
+ regulator-always-on;
+ };
+
+ LDO1 {
+ regulator-name = "LDO1";
+ regulator-min-microvolt = <1600000>;
+ regulator-max-microvolt = <3300000>;
+ regulator-boot-on;
+ regulator-always-on;
+ };
+
+ LDO2 {
+ regulator-name = "LDO2";
+ regulator-min-microvolt = <800000>;
+ regulator-max-microvolt = <1150000>;
+ regulator-boot-on;
+ regulator-always-on;
+ };
+
+ LDO3 {
+ regulator-name = "LDO3";
+ regulator-min-microvolt = <800000>;
+ regulator-max-microvolt = <3300000>;
+ regulator-boot-on;
+ regulator-always-on;
+ };
+
+ LDO4 {
+ regulator-name = "LDO4";
+ regulator-min-microvolt = <800000>;
+ regulator-max-microvolt = <3300000>;
+ regulator-boot-on;
+ regulator-always-on;
+ };
+
+ LDO5 {
+ regulator-name = "LDO5";
+ regulator-min-microvolt = <1800000>;
+ regulator-max-microvolt = <3300000>;
+ regulator-boot-on;
+ regulator-always-on;
+ };
+ };
+ };
+};
+
+&i2c2 {
+ clock-frequency = <400000>;
+ pinctrl-names = "default";
+ pinctrl-0 = <&pinctrl_i2c2>;
+ status = "okay";
+};
+
+&i2c3 {
+ clock-frequency = <400000>;
+ pinctrl-names = "default";
+ pinctrl-0 = <&pinctrl_i2c3>;
+ status = "okay";
+};
+
+&i2c4 {
+ clock-frequency = <400000>;
+ pinctrl-names = "default";
+ pinctrl-0 = <&pinctrl_i2c4>;
+ status = "okay";
+
+ rtc@53 {
+ compatible = "nxp,pcf2131";
+ reg = <0x53>;
+ };
+};
+
+&uart2 {
+ /* console */
+ pinctrl-names = "default";
+ pinctrl-0 = <&pinctrl_uart2>;
+ status = "okay";
+};
+
+/* SD Card */
+&usdhc2 {
+ pinctrl-names = "default", "state_100mhz", "state_200mhz";
+ pinctrl-0 = <&pinctrl_usdhc2>, <&pinctrl_usdhc2_gpio>;
+ pinctrl-1 = <&pinctrl_usdhc2_100mhz>, <&pinctrl_usdhc2_gpio>;
+ pinctrl-2 = <&pinctrl_usdhc2_200mhz>, <&pinctrl_usdhc2_gpio>;
+ cd-gpios = <&gpio2 12 GPIO_ACTIVE_LOW>;
+ vmmc-supply = <®_usdhc2_vmmc>;
+ bus-width = <4>;
+ status = "okay";
+};
+
+/* eMMC */
+&usdhc3 {
+ assigned-clocks = <&clk IMX8MP_CLK_USDHC3>;
+ assigned-clock-rates = <400000000>;
+ pinctrl-names = "default", "state_100mhz", "state_200mhz";
+ pinctrl-0 = <&pinctrl_usdhc3>;
+ pinctrl-1 = <&pinctrl_usdhc3_100mhz>;
+ pinctrl-2 = <&pinctrl_usdhc3_200mhz>;
+ bus-width = <8>;
+ non-removable;
+ status = "okay";
+};
+
+&wdog1 {
+ pinctrl-names = "default";
+ pinctrl-0 = <&pinctrl_wdog>;
+ fsl,ext-reset-output;
+ status = "okay";
+};
+
+&iomuxc {
+ pinctrl_eqos: eqosgrp {
+ fsl,pins = <
+ MX8MP_IOMUXC_ENET_MDC__ENET_QOS_MDC 0x3
+ MX8MP_IOMUXC_ENET_MDIO__ENET_QOS_MDIO 0x3
+ MX8MP_IOMUXC_ENET_RD0__ENET_QOS_RGMII_RD0 0x91
+ MX8MP_IOMUXC_ENET_RD1__ENET_QOS_RGMII_RD1 0x91
+ MX8MP_IOMUXC_ENET_RD2__ENET_QOS_RGMII_RD2 0x91
+ MX8MP_IOMUXC_ENET_RD3__ENET_QOS_RGMII_RD3 0x91
+ MX8MP_IOMUXC_ENET_RXC__CCM_ENET_QOS_CLOCK_GENERATE_RX_CLK 0x91
+ MX8MP_IOMUXC_ENET_RX_CTL__ENET_QOS_RGMII_RX_CTL 0x91
+ MX8MP_IOMUXC_ENET_TD0__ENET_QOS_RGMII_TD0 0x1f
+ MX8MP_IOMUXC_ENET_TD1__ENET_QOS_RGMII_TD1 0x1f
+ MX8MP_IOMUXC_ENET_TD2__ENET_QOS_RGMII_TD2 0x1f
+ MX8MP_IOMUXC_ENET_TD3__ENET_QOS_RGMII_TD3 0x1f
+ MX8MP_IOMUXC_ENET_TX_CTL__ENET_QOS_RGMII_TX_CTL 0x1f
+ MX8MP_IOMUXC_ENET_TXC__CCM_ENET_QOS_CLOCK_GENERATE_TX_CLK 0x1f
+ MX8MP_IOMUXC_SAI2_RXC__GPIO4_IO22 0x110
+ >;
+ };
+
+ pinctrl_gpio_led: gpioledgrp {
+ fsl,pins = <
+ MX8MP_IOMUXC_NAND_READY_B__GPIO3_IO16 0x19
+ >;
+ };
+
+ pinctrl_i2c1: i2c1grp {
+ fsl,pins = <
+ MX8MP_IOMUXC_I2C1_SCL__I2C1_SCL 0x400001c3
+ MX8MP_IOMUXC_I2C1_SDA__I2C1_SDA 0x400001c3
+ >;
+ };
+
+ pinctrl_i2c2: i2c2grp {
+ fsl,pins = <
+ MX8MP_IOMUXC_I2C2_SCL__I2C2_SCL 0x400001c3
+ MX8MP_IOMUXC_I2C2_SDA__I2C2_SDA 0x400001c3
+ >;
+ };
+
+ pinctrl_i2c3: i2c3grp {
+ fsl,pins = <
+ MX8MP_IOMUXC_I2C3_SCL__I2C3_SCL 0x400001c3
+ MX8MP_IOMUXC_I2C3_SDA__I2C3_SDA 0x400001c3
+ >;
+ };
+
+ pinctrl_i2c4: i2c4grp {
+ fsl,pins = <
+ MX8MP_IOMUXC_I2C4_SCL__I2C4_SCL 0x400001c3
+ MX8MP_IOMUXC_I2C4_SDA__I2C4_SDA 0x400001c3
+ >;
+ };
+
+ pinctrl_i2c6: i2c6grp {
+ fsl,pins = <
+ MX8MP_IOMUXC_UART4_RXD__I2C6_SCL 0x400001c3
+ MX8MP_IOMUXC_UART4_TXD__I2C6_SDA 0x400001c3
+ >;
+ };
+
+ pinctrl_pmic: pmicirq {
+ fsl,pins = <
+ MX8MP_IOMUXC_GPIO1_IO03__GPIO1_IO03 0x41
+ >;
+ };
+
+ pinctrl_reg_usdhc2_vmmc: regusdhc2vmmcgrp {
+ fsl,pins = <
+ MX8MP_IOMUXC_SD2_RESET_B__GPIO2_IO19 0x41
+ >;
+ };
+
+ pinctrl_uart2: uart2grp {
+ fsl,pins = <
+ MX8MP_IOMUXC_UART2_RXD__UART2_DCE_RX 0x49
+ MX8MP_IOMUXC_UART2_TXD__UART2_DCE_TX 0x49
+ >;
+ };
+
+ pinctrl_usdhc2: usdhc2grp {
+ fsl,pins = <
+ MX8MP_IOMUXC_SD2_CLK__USDHC2_CLK 0x190
+ MX8MP_IOMUXC_SD2_CMD__USDHC2_CMD 0x1d0
+ MX8MP_IOMUXC_SD2_DATA0__USDHC2_DATA0 0x1d0
+ MX8MP_IOMUXC_SD2_DATA1__USDHC2_DATA1 0x1d0
+ MX8MP_IOMUXC_SD2_DATA2__USDHC2_DATA2 0x1d0
+ MX8MP_IOMUXC_SD2_DATA3__USDHC2_DATA3 0x1d0
+ MX8MP_IOMUXC_GPIO1_IO04__USDHC2_VSELECT 0xc1
+ >;
+ };
+
+ pinctrl_usdhc2_100mhz: usdhc2grp-100mhz {
+ fsl,pins = <
+ MX8MP_IOMUXC_SD2_CLK__USDHC2_CLK 0x194
+ MX8MP_IOMUXC_SD2_CMD__USDHC2_CMD 0x1d4
+ MX8MP_IOMUXC_SD2_DATA0__USDHC2_DATA0 0x1d4
+ MX8MP_IOMUXC_SD2_DATA1__USDHC2_DATA1 0x1d4
+ MX8MP_IOMUXC_SD2_DATA2__USDHC2_DATA2 0x1d4
+ MX8MP_IOMUXC_SD2_DATA3__USDHC2_DATA3 0x1d4
+ MX8MP_IOMUXC_GPIO1_IO04__USDHC2_VSELECT 0xc1
+ >;
+ };
+
+ pinctrl_usdhc2_200mhz: usdhc2grp-200mhz {
+ fsl,pins = <
+ MX8MP_IOMUXC_SD2_CLK__USDHC2_CLK 0x196
+ MX8MP_IOMUXC_SD2_CMD__USDHC2_CMD 0x1d6
+ MX8MP_IOMUXC_SD2_DATA0__USDHC2_DATA0 0x1d6
+ MX8MP_IOMUXC_SD2_DATA1__USDHC2_DATA1 0x1d6
+ MX8MP_IOMUXC_SD2_DATA2__USDHC2_DATA2 0x1d6
+ MX8MP_IOMUXC_SD2_DATA3__USDHC2_DATA3 0x1d6
+ MX8MP_IOMUXC_GPIO1_IO04__USDHC2_VSELECT 0xc1
+ >;
+ };
+
+ pinctrl_usdhc2_gpio: usdhc2grp-gpio {
+ fsl,pins = <
+ MX8MP_IOMUXC_SD2_CD_B__GPIO2_IO12 0x1c4
+ >;
+ };
+
+ pinctrl_usdhc3: usdhc3grp {
+ fsl,pins = <
+ MX8MP_IOMUXC_NAND_WE_B__USDHC3_CLK 0x190
+ MX8MP_IOMUXC_NAND_WP_B__USDHC3_CMD 0x1d0
+ MX8MP_IOMUXC_NAND_DATA04__USDHC3_DATA0 0x1d0
+ MX8MP_IOMUXC_NAND_DATA05__USDHC3_DATA1 0x1d0
+ MX8MP_IOMUXC_NAND_DATA06__USDHC3_DATA2 0x1d0
+ MX8MP_IOMUXC_NAND_DATA07__USDHC3_DATA3 0x1d0
+ MX8MP_IOMUXC_NAND_RE_B__USDHC3_DATA4 0x1d0
+ MX8MP_IOMUXC_NAND_CE2_B__USDHC3_DATA5 0x1d0
+ MX8MP_IOMUXC_NAND_CE3_B__USDHC3_DATA6 0x1d0
+ MX8MP_IOMUXC_NAND_CLE__USDHC3_DATA7 0x1d0
+ MX8MP_IOMUXC_NAND_CE1_B__USDHC3_STROBE 0x190
+ >;
+ };
+
+ pinctrl_usdhc3_100mhz: usdhc3grp-100mhz {
+ fsl,pins = <
+ MX8MP_IOMUXC_NAND_WE_B__USDHC3_CLK 0x194
+ MX8MP_IOMUXC_NAND_WP_B__USDHC3_CMD 0x1d4
+ MX8MP_IOMUXC_NAND_DATA04__USDHC3_DATA0 0x1d4
+ MX8MP_IOMUXC_NAND_DATA05__USDHC3_DATA1 0x1d4
+ MX8MP_IOMUXC_NAND_DATA06__USDHC3_DATA2 0x1d4
+ MX8MP_IOMUXC_NAND_DATA07__USDHC3_DATA3 0x1d4
+ MX8MP_IOMUXC_NAND_RE_B__USDHC3_DATA4 0x1d4
+ MX8MP_IOMUXC_NAND_CE2_B__USDHC3_DATA5 0x1d4
+ MX8MP_IOMUXC_NAND_CE3_B__USDHC3_DATA6 0x1d4
+ MX8MP_IOMUXC_NAND_CLE__USDHC3_DATA7 0x1d4
+ MX8MP_IOMUXC_NAND_CE1_B__USDHC3_STROBE 0x194
+ >;
+ };
+
+ pinctrl_usdhc3_200mhz: usdhc3grp-200mhz {
+ fsl,pins = <
+ MX8MP_IOMUXC_NAND_WE_B__USDHC3_CLK 0x196
+ MX8MP_IOMUXC_NAND_WP_B__USDHC3_CMD 0x1d6
+ MX8MP_IOMUXC_NAND_DATA04__USDHC3_DATA0 0x1d6
+ MX8MP_IOMUXC_NAND_DATA05__USDHC3_DATA1 0x1d6
+ MX8MP_IOMUXC_NAND_DATA06__USDHC3_DATA2 0x1d6
+ MX8MP_IOMUXC_NAND_DATA07__USDHC3_DATA3 0x1d6
+ MX8MP_IOMUXC_NAND_RE_B__USDHC3_DATA4 0x1d6
+ MX8MP_IOMUXC_NAND_CE2_B__USDHC3_DATA5 0x1d6
+ MX8MP_IOMUXC_NAND_CE3_B__USDHC3_DATA6 0x1d6
+ MX8MP_IOMUXC_NAND_CLE__USDHC3_DATA7 0x1d6
+ MX8MP_IOMUXC_NAND_CE1_B__USDHC3_STROBE 0x196
+ >;
+ };
+
+ pinctrl_wdog: wdoggrp {
+ fsl,pins = <
+ MX8MP_IOMUXC_GPIO1_IO02__WDOG1_WDOG_B 0xc6
+ >;
+ };
+};
--
2.39.2
