aea4762fb4
Due to the electrical design of the A/DC circuits on LEGO MINDSTORMS EV3, if we are reading analog values as fast as possible (i.e. using DMA to service the SPI) the A/DC chip will read incorrect values - as much as 0.1V off when the SPI is running at 10MHz. (This has to do with the capacitor charge time when channels are muxed in the A/DC.) This patch slows down the SPI as much as possible (if CPU is at 456MHz, SPI runs at 1/2 of that, so 228MHz and has a max prescalar of 256, so we could get ~891kHz, but we're just rounding it to 1MHz). We also use the max allowable value for WDELAY to slow things down even more. These changes reduce the error of the analog values to about 5mV, which is tolerable. Commitsa3762b13a5("spi: spi-davinci: Add support for SPI_CS_WORD") ande2540da86e("iio: adc: ti-ads7950: use SPI_CS_WORD to reduce CPU usage") introduce changes that allow DMA transfers to be used, so this slow down is needed now. Signed-off-by: David Lechner <david@lechnology.com> Signed-off-by: Sekhar Nori <nsekhar@ti.com>
440 lines
8.2 KiB
Plaintext
440 lines
8.2 KiB
Plaintext
/*
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* Device tree for LEGO MINDSTORMS EV3
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*
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* Copyright (C) 2017 David Lechner <david@lechnology.com>
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*
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* This program is free software; you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, version 2.
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*/
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/dts-v1/;
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#include <dt-bindings/gpio/gpio.h>
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#include <dt-bindings/input/linux-event-codes.h>
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#include <dt-bindings/pwm/pwm.h>
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#include "da850.dtsi"
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/ {
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compatible = "lego,ev3", "ti,da850";
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model = "LEGO MINDSTORMS EV3";
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aliases {
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serial1 = &serial1;
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};
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memory@c0000000 {
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device_type = "memory";
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reg = <0xc0000000 0x04000000>;
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};
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/*
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* The buttons on the EV3 are mapped to keyboard keys.
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*/
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gpio_keys {
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compatible = "gpio-keys";
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label = "EV3 Brick Buttons";
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pinctrl-names = "default";
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pinctrl-0 = <&button_bias>;
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center {
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label = "Center";
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linux,code = <KEY_ENTER>;
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gpios = <&gpio 29 GPIO_ACTIVE_HIGH>;
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};
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left {
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label = "Left";
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linux,code = <KEY_LEFT>;
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gpios = <&gpio 102 GPIO_ACTIVE_HIGH>;
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};
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back {
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label = "Back";
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linux,code = <KEY_BACKSPACE>;
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gpios = <&gpio 106 GPIO_ACTIVE_HIGH>;
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};
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right {
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label = "Right";
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linux,code = <KEY_RIGHT>;
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gpios = <&gpio 124 GPIO_ACTIVE_HIGH>;
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};
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down {
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label = "Down";
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linux,code = <KEY_DOWN>;
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gpios = <&gpio 126 GPIO_ACTIVE_HIGH>;
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};
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up {
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label = "Up";
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linux,code = <KEY_UP>;
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gpios = <&gpio 127 GPIO_ACTIVE_HIGH>;
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};
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};
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/*
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* The EV3 has two built-in bi-color LEDs behind the buttons.
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*/
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leds {
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compatible = "gpio-leds";
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left_green {
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label = "led0:green:brick-status";
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/* GP6[13] */
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gpios = <&gpio 103 GPIO_ACTIVE_HIGH>;
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linux,default-trigger = "default-on";
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};
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right_red {
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label = "led1:red:brick-status";
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/* GP6[7] */
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gpios = <&gpio 108 GPIO_ACTIVE_HIGH>;
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linux,default-trigger = "default-on";
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};
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left_red {
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label = "led0:red:brick-status";
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/* GP6[12] */
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gpios = <&gpio 109 GPIO_ACTIVE_HIGH>;
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linux,default-trigger = "default-on";
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};
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right_green {
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label = "led1:green:brick-status";
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/* GP6[14] */
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gpios = <&gpio 110 GPIO_ACTIVE_HIGH>;
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linux,default-trigger = "default-on";
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};
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};
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/*
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* The EV3 is powered down by turning off the main 5V supply.
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*/
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gpio-poweroff {
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compatible = "gpio-poweroff";
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gpios = <&gpio 107 GPIO_ACTIVE_LOW>;
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};
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sound {
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compatible = "pwm-beeper";
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pinctrl-names = "default";
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pinctrl-0 = <&ehrpwm0b_pins>;
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pwms = <&ehrpwm0 1 1000000 0>;
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amp-supply = <&>;
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};
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/*
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* This is a 5V current limiting regulator that is shared by USB,
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* the sensor (input) ports, the motor (output) ports and the A/DC.
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*/
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vcc5v: regulator1 {
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compatible = "regulator-fixed";
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regulator-name = "vcc5v";
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regulator-min-microvolt = <5000000>;
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regulator-max-microvolt = <5000000>;
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gpio = <&gpio 101 0>;
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over-current-gpios = <&gpio 99 GPIO_ACTIVE_LOW>;
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enable-active-high;
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regulator-boot-on;
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};
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/*
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* This is a simple voltage divider on VCC5V to provide a 2.5V
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* reference signal to the ADC.
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*/
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adc_ref: regulator2 {
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compatible = "regulator-fixed";
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regulator-name = "adc ref";
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regulator-min-microvolt = <2500000>;
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regulator-max-microvolt = <2500000>;
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regulator-boot-on;
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vin-supply = <&vcc5v>;
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};
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/*
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* This is the amplifier for the speaker.
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*/
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amp: regulator3 {
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compatible = "regulator-fixed";
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regulator-name = "amp";
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gpio = <&gpio 111 GPIO_ACTIVE_HIGH>;
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enable-active-high;
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};
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/*
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* The EV3 can use 6-AA batteries or a rechargeable Li-ion battery pack.
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*/
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battery {
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compatible = "lego,ev3-battery";
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io-channels = <&adc 4>, <&adc 3>;
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io-channel-names = "voltage", "current";
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rechargeable-gpios = <&gpio 136 GPIO_ACTIVE_LOW>;
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};
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bt_slow_clk: bt-clock {
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pinctrl-names = "default";
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pinctrl-0 = <&ecap2_pins>, <&bt_clock_bias>;
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compatible = "pwm-clock";
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#clock-cells = <0>;
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clock-frequency = <32768>;
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pwms = <&ecap2 0 30518 0>;
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};
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/* ARM local RAM */
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memory@ffff0000 {
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compatible = "syscon", "simple-mfd";
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reg = <0xffff0000 0x2000>; /* 8k */
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/*
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* The I2C bootloader looks for this magic value to either
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* boot normally or boot into a firmware update mode.
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*/
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reboot-mode {
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compatible = "syscon-reboot-mode";
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offset = <0x1ffc>;
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mode-normal = <0x00000000>;
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mode-loader = <0x5555aaaa>;
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};
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};
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};
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&ref_clk {
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clock-frequency = <24000000>;
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};
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&pmx_core {
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status = "okay";
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ev3_lcd_pins: pinmux_lcd {
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pinctrl-single,bits = <
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/* SIMO, CLK */
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0x14 0x00100100 0x00f00f00
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>;
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};
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};
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&pinconf {
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status = "okay";
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/* Buttons have external pulldown resistors */
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button_bias: button-bias-groups {
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disable {
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groups = "cp5", "cp24", "cp25", "cp28";
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bias-disable;
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};
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};
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bt_clock_bias: bt-clock-bias-groups {
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disable {
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groups = "cp2";
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bias-disable;
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};
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};
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bt_pic_bias: bt-pic-bias-groups {
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disable {
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groups = "cp20";
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bias-disable;
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};
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};
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};
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/* Input port 1 */
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&serial1 {
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status = "okay";
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pinctrl-names = "default";
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pinctrl-0 = <&serial1_rxtx_pins>;
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};
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&serial2 {
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pinctrl-names = "default";
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pinctrl-0 = <&serial2_rxtx_pins>, <&serial2_rtscts_pins>, <&bt_pic_bias>;
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status = "okay";
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bluetooth {
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compatible = "ti,cc2560";
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clocks = <&bt_slow_clk>;
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clock-names = "ext_clock";
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enable-gpios = <&gpio 73 GPIO_ACTIVE_HIGH>;
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max-speed = <2000000>;
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nvmem-cells = <&bdaddr>;
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nvmem-cell-names = "bd-address";
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};
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};
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&rtc0 {
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status = "okay";
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};
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&i2c0 {
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status = "okay";
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clock-frequency = <400000>;
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pinctrl-names = "default";
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pinctrl-0 = <&i2c0_pins>;
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/*
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* EEPROM contains the first stage bootloader, HW ID and Bluetooth MAC.
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*/
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eeprom@50 {
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compatible = "microchip,24c128", "atmel,24c128";
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pagesize = <64>;
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read-only;
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reg = <0x50>;
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#address-cells = <1>;
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#size-cells = <1>;
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bdaddr: bdaddr@3f06 {
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reg = <0x3f06 0x06>;
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};
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};
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};
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&wdt {
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status = "okay";
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};
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&mmc0 {
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status = "okay";
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max-frequency = <50000000>;
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bus-width = <4>;
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cd-gpios = <&gpio 94 GPIO_ACTIVE_LOW>;
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pinctrl-names = "default";
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pinctrl-0 = <&mmc0_pins>;
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};
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&spi0 {
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status = "okay";
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pinctrl-names = "default";
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pinctrl-0 = <&spi0_pins>, <&spi0_cs0_pin>, <&spi0_cs3_pin>;
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flash@0 {
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compatible = "n25q128a13", "jedec,spi-nor";
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reg = <0>;
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spi-max-frequency = <50000000>;
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ti,spi-wdelay = <8>;
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/* Partitions are based on the official firmware from LEGO */
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partitions {
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compatible = "fixed-partitions";
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#address-cells = <1>;
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#size-cells = <1>;
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partition@0 {
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label = "U-Boot";
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reg = <0 0x40000>;
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};
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partition@40000 {
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label = "U-Boot Env";
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reg = <0x40000 0x10000>;
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};
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partition@50000 {
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label = "Kernel";
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reg = <0x50000 0x200000>;
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};
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partition@250000 {
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label = "Filesystem";
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reg = <0x250000 0xa50000>;
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};
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partition@cb0000 {
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label = "Storage";
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reg = <0xcb0000 0x2f0000>;
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};
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};
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};
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adc: adc@3 {
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compatible = "ti,ads7957";
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reg = <3>;
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#io-channel-cells = <1>;
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spi-max-frequency = <1000000>;
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ti,spi-wdelay = <63>;
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vref-supply = <&adc_ref>;
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};
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};
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&spi1 {
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status = "okay";
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pinctrl-0 = <&ev3_lcd_pins>;
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pinctrl-names = "default";
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cs-gpios = <&gpio 44 GPIO_ACTIVE_LOW>;
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display@0{
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compatible = "lego,ev3-lcd";
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reg = <0>;
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spi-max-frequency = <10000000>;
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a0-gpios = <&gpio 43 GPIO_ACTIVE_HIGH>;
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reset-gpios = <&gpio 80 GPIO_ACTIVE_HIGH>;
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};
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};
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&ecap2 {
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status = "okay";
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};
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&ehrpwm0 {
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status = "okay";
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};
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&gpio {
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status = "okay";
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/* Don't pull down battery voltage adc io channel */
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batt_volt_en {
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gpio-hog;
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gpios = <6 GPIO_ACTIVE_HIGH>;
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output-high;
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};
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/* Don't impede Bluetooth clock signal */
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bt_clock_en {
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gpio-hog;
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gpios = <5 GPIO_ACTIVE_HIGH>;
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input;
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};
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/*
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* There is a PIC microcontroller for interfacing with an Apple MFi
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* chip. This interferes with normal Bluetooth operation, so we need
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* to make sure it is turned off. Note: The publicly available
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* schematics from LEGO don't show that these pins are connected to
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* anything, but they are present in the source code from LEGO.
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*/
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bt_pic_en {
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gpio-hog;
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gpios = <51 GPIO_ACTIVE_HIGH>;
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output-low;
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};
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bt_pic_rst {
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gpio-hog;
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gpios = <78 GPIO_ACTIVE_HIGH>;
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output-high;
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};
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bt_pic_cts {
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gpio-hog;
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gpios = <87 GPIO_ACTIVE_HIGH>;
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input;
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};
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};
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&usb_phy {
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status = "okay";
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};
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&usb0 {
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status = "okay";
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};
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&usb1 {
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status = "okay";
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vbus-supply = <&vcc5v>;
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};
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