Hi! I just started building a mobile sensor plattform/robot based on the beaglebone. Besides sensors which use I2C and UARTs, I intend using DC motors with attached encoders for moving.
Being used to the overlays of 3.8.x (and having a supported cape, thanks RCN), and did some recompiling/patching for 3.14, I thought this would be a good oppotunity for trying the "new" dtb-rebuilder concept, which I think by the way is a clean but yet not so well documented approach. Attached are the device tree files/includes dts/dtsi which I made for use with the 3.16+ kernels. Starting with the ADC (4-6) was successful. Then I moved on to eqep. The excellent work at https://github.com/Teknoman117/beaglebot got me going. I compiled the driver and converted the overlay-dts to includes (see attached patch to dtb-rebuilder-repo). After loading "insmod tieqep.ko" is could get the reading "less /sys/devices/ocp/48304000.epwmss/48304180.eqep/position". For PWM I also added two includes based on what I found at https://github.com/SaadAhmad/beaglebone-black-cpp-PWM &am33xx_pinmux { pinctrl_ehrpwm2A: pinctrl_ehrpwm2A_pins { pinctrl-single,pins = <0x020 0x4>; /* P8_19 (ZCZ ball U10) | MODE 4 */ }; }; &ocp { P8_19_pinmux { status = "disabled"; }; pwm_test_P8_19 { compatible = "pwm_test"; pwms = <&ehrpwm2 0 0 1>; pwm-names = "PWM_P8_19"; pinctrl-names = "default"; pinctrl-0 = <&pinctrl_ehrpwm2A>; enabled = <0>; duty = <0>; status = "okay"; }; }; &epwmss2 { status = "okay"; }; &ehrpwm2 { status = "okay"; }; I compiled "pwm_test.ko" and insmod it but it complains [ 9872.259095] pwm_test ocp:pwm_test_P8_19: unable to request PWM > [ 9872.265429] pwm_test ocp:pwm_test_P8_13: unable to request PWM > When I "modprobe pwm-tiehrpwm" nothing happens. Consequently, the "pwm_test_P8_19" dir does not show any "period" or "duty" entries. What am I supposed to do? Thanks BR Robert -- For more options, visit http://beagleboard.org/discuss --- You received this message because you are subscribed to the Google Groups "BeagleBoard" group. To unsubscribe from this group and stop receiving emails from it, send an email to beagleboard+unsubscr...@googlegroups.com. For more options, visit https://groups.google.com/d/optout.
diff --git a/src/arm/am335x-bone-cape-bone-robot.dts b/src/arm/am335x-bone-cape-bone-robot.dts index e69de29..637ffa6 100644 --- a/src/arm/am335x-bone-cape-bone-robot.dts +++ b/src/arm/am335x-bone-cape-bone-robot.dts @@ -0,0 +1,53 @@ +/* + * Copyright (C) 2012 Texas Instruments Incorporated - http://www.ti.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/; + +#include "am33xx.dtsi" +#include "am335x-bone-common.dtsi" +#include "am335x-bone-common-pinmux.dtsi" + +/ { + model = "TI AM335x BeagleBone"; + compatible = "ti,am335x-bone", "ti,am33xx"; +}; + +&ldo3_reg { + regulator-min-microvolt = <1800000>; + regulator-max-microvolt = <3300000>; + regulator-always-on; +}; + +&ocp { + /* clkout2 */ + P9_41_pinmux { + status = "disabled"; + }; + /* mmc1 */ + P9_92_pinmux { + status = "disabled"; + }; +}; + +&mmc1 { + vmmc-supply = <&ldo3_reg>; +}; + +&am33xx_pinmux { + pinctrl-names = "default"; + /* pinctrl-0 = <&clkout2_pin>; */ +}; + +&sham { + status = "okay"; +}; + +&aes { + status = "okay"; +}; + +#include "am335x-bone-robot.dtsi" diff --git a/src/arm/am335x-bone-ehrpwm2A.dtsi b/src/arm/am335x-bone-ehrpwm2A.dtsi index e69de29..507ecb2 100644 --- a/src/arm/am335x-bone-ehrpwm2A.dtsi +++ b/src/arm/am335x-bone-ehrpwm2A.dtsi @@ -0,0 +1,41 @@ +/* + * Copyright (C) 2013 CircuitCo + * Copyright (C) 2013 Texas Instruments + * + * 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. + */ + +&am33xx_pinmux { + pinctrl_ehrpwm2A: pinctrl_ehrpwm2A_pins { + pinctrl-single,pins = <0x020 0x4>; /* P8_19 (ZCZ ball U10) | MODE 4 */ + }; +}; + +&ocp { + P8_19_pinmux { + status = "disabled"; + }; + + pwm_test_P8_19 { + compatible = "pwm_test"; + pwms = <&ehrpwm2 0 0 1>; + pwm-names = "PWM_P8_19"; + + pinctrl-names = "default"; + pinctrl-0 = <&pinctrl_ehrpwm2A>; + + enabled = <0>; + duty = <0>; + status = "okay"; + }; +}; + +&epwmss2 { + status = "okay"; +}; + +&ehrpwm2 { + status = "okay"; +}; diff --git a/src/arm/am335x-bone-ehrpwm2B.dtsi b/src/arm/am335x-bone-ehrpwm2B.dtsi index e69de29..07d686a 100644 --- a/src/arm/am335x-bone-ehrpwm2B.dtsi +++ b/src/arm/am335x-bone-ehrpwm2B.dtsi @@ -0,0 +1,41 @@ +/* + * Copyright (C) 2013 CircuitCo + * Copyright (C) 2013 Texas Instruments + * + * 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. + */ + +&am33xx_pinmux { + pinctrl_ehrpwm2B: pinctrl_ehrpwm2B_pins { + pinctrl-single,pins = <0x024 0x4>; /* P8_13 (ZCZ ball T10) | MODE 4 */ + }; +}; + +&ocp { + P8_13_pinmux { + status = "disabled"; + }; + + pwm_test_P8_13 { + compatible = "pwm_test"; + pwms = <&ehrpwm2 1 0 1>; + pwm-names = "PWM_P8_13"; + + pinctrl-names = "default"; + pinctrl-0 = <&pinctrl_ehrpwm2B>; + + enabled = <0>; + duty = <0>; + status = "okay"; + }; +}; + +&epwmss2 { + status = "okay"; +}; + +&ehrpwm2 { + status = "okay"; +}; diff --git a/src/arm/am335x-bone-eqep0.dtsi b/src/arm/am335x-bone-eqep0.dtsi index e69de29..2c677b3 100644 --- a/src/arm/am335x-bone-eqep0.dtsi +++ b/src/arm/am335x-bone-eqep0.dtsi @@ -0,0 +1,64 @@ +/* + * Copyright (C) 2013 Nathaniel R. Lewis - http://nathanielrlewis.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. + * + * Enable eQEP0 on the Beaglebone Black - incompatible with BB White because + * most of the eQEP0 pins on Beaglebone white are not broken out. + */ + +/ { + model = "TI AM335x BeagleBone Black"; + compatible = "ti,am335x-bone-black", "ti,am335x-bone", "ti,am33xx"; +}; + +&ocp { + P9_41_pinmux { + status = "disabled"; + }; + P9_25_pinmux { + status = "disabled"; + }; + P9_42_pinmux { + status = "disabled"; + }; + P9_27_pinmux { + status = "disabled"; + }; +}; + +&am33xx_pinmux { + pinctrl_eqep0: pinctrl_eqep0_pins { + pinctrl-single,pins = < + 0x1A8 (PIN_INPUT_PULLDOWN | MUX_MODE1) /* P9_41 = GPIO3_20 = EQEP0_index, MODE1 */ + 0x1AC (PIN_INPUT_PULLDOWN | MUX_MODE1) /* P9_25 = GPIO3_21 = EQEP0_strobe, MODE1 */ + 0x1A0 (PIN_INPUT_PULLDOWN | MUX_MODE1) /* P9_42 = GPIO3_18 = EQEP0A_in, MODE1 */ + 0x1A4 (PIN_INPUT_PULLDOWN | MUX_MODE1) /* P9_27 = GPIO3_19 = EQEP0B_in, MODE1 */ + >; + }; +}; + +&epwmss0 { + status = "okay"; + + eqep0: eqep@0x48300180 { + compatible = "ti,am33xx-eqep"; + reg = <0x48300180 0x80>; + interrupt-parent = <&intc>; + interrupts = <79>; + ti,hwmods = "eqep0"; + status = "okay"; + + pinctrl-names = "default"; + pinctrl-0 = <&pinctrl_eqep0>; + + count_mode = <0>; /* 0 - Quadrature mode, normal 90 phase offset cha & chb. 1 - Direction mode. cha input = clock, chb input = direction */ + swap_inputs = <0>; /* Are channel A and channel B swapped? (0 - no, 1 - yes) */ + invert_qa = <1>; /* Should we invert the channel A input? */ + invert_qb = <1>; /* Should we invert the channel B input? I invert these because my encoder outputs drive transistors that pull down the pins */ + invert_qi = <0>; /* Should we invert the index input? */ + invert_qs = <0>; /* Should we invert the strobe input? */ + }; +}; diff --git a/src/arm/am335x-bone-eqep1.dtsi b/src/arm/am335x-bone-eqep1.dtsi index e69de29..7258762 100644 --- a/src/arm/am335x-bone-eqep1.dtsi +++ b/src/arm/am335x-bone-eqep1.dtsi @@ -0,0 +1,58 @@ +/* + * Copyright (C) 2013 Nathaniel R. Lewis - http://nathanielrlewis.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. + * + * Enable eQEP1 on the Beaglebone White and Black + */ + +&ocp { + P8_31_pinmux { + status = "disabled"; + }; + P8_32_pinmux { + status = "disabled"; + }; + P8_33_pinmux { + status = "disabled"; + }; + P8_35_pinmux { + status = "disabled"; + }; +}; + +&am33xx_pinmux { + pinctrl_eqep1: pinctrl_eqep1_pins { + pinctrl-single,pins = < + 0x0D8 (PIN_INPUT_PULLDOWN | MUX_MODE2) /* P8_31 = GPIO0_10 = EQEP1_index, MODE2 */ + 0x0DC (PIN_INPUT_PULLDOWN | MUX_MODE2) /* P8_32 = GPIO0_11 = EQEP1_strobe, MODE2 */ + 0x0D4 (PIN_INPUT_PULLDOWN | MUX_MODE2) /* P8_33 = GPIO0_9 = EQEP1B_in, MODE2 */ + 0x0D0 (PIN_INPUT_PULLDOWN | MUX_MODE2) /* P8_35 = GPIO0_8 = EQEP1A_in, MODE2 */ + >; + }; +}; + +&epwmss1 { + status = "okay"; + + eqep1: eqep@0x48302180 { + compatible = "ti,am33xx-eqep"; + reg = <0x48302180 0x80>; + interrupt-parent = <&intc>; + interrupts = <88>; + ti,hwmods = "eqep1"; + status = "okay"; + + pinctrl-names = "default"; + pinctrl-0 = <&pinctrl_eqep1>; + + count_mode = <0>; /* 0 - Quadrature mode, normal 90 phase offset cha & chb. 1 - Direction mode. cha input = clock, chb input = direction */ + swap_inputs = <0>; /* Are channel A and channel B swapped? (0 - no, 1 - yes) */ + invert_qa = <1>; /* Should we invert the channel A input? */ + invert_qb = <1>; /* Should we invert the channel B input? I invert these because my encoder outputs drive transistors that pull down the pins */ + invert_qi = <0>; /* Should we invert the index input? */ + invert_qs = <0>; /* Should we invert the strobe input? */ + }; +}; diff --git a/src/arm/am335x-bone-eqep2.dtsi b/src/arm/am335x-bone-eqep2.dtsi index e69de29..3ebca8f 100644 --- a/src/arm/am335x-bone-eqep2.dtsi +++ b/src/arm/am335x-bone-eqep2.dtsi @@ -0,0 +1,58 @@ +/* + * Copyright (C) 2013 Nathaniel R. Lewis - http://nathanielrlewis.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. + * + * Enable eQEP2 on the Beaglebone White and Black + */ + +&ocp { + P8_39_pinmux { + status = "disabled"; + }; + P8_40_pinmux { + status = "disabled"; + }; + P8_41_pinmux { + status = "disabled"; + }; + P8_42_pinmux { + status = "disabled"; + }; +}; + +&am33xx_pinmux { + pinctrl_eqep2: pinctrl_eqep2_pins { + pinctrl-single,pins = < + 0x0B8 (PIN_INPUT_PULLDOWN | MUX_MODE3) /* P8_39 = GPIO2_12 = EQEP2_index, MODE3 */ + 0x0BC (PIN_INPUT_PULLDOWN | MUX_MODE3) /* P8_40 = GPIO2_13 = EQEP2_strobe, MODE3 */ + 0x0B0 (PIN_INPUT_PULLDOWN | MUX_MODE3) /* P8_41 = GPIO2_10 = EQEP2A_in, MODE3 */ + 0x0B4 (PIN_INPUT_PULLDOWN | MUX_MODE3) /* P8_42 = GPIO2_11 = EQEP2B_in, MODE3 */ + >; + }; +}; + +&epwmss2 { + status = "okay"; + + eqep2: eqep@0x48304180 { + compatible = "ti,am33xx-eqep"; + reg = <0x48304180 0x80>; + interrupt-parent = <&intc>; + interrupts = <89>; + ti,hwmods = "eqep2"; + status = "okay"; + + pinctrl-names = "default"; + pinctrl-0 = <&pinctrl_eqep2>; + + count_mode = <0>; /* 0 - Quadrature mode, normal 90 phase offset cha & chb. 1 - Direction mode. cha input = clock, chb input = direction */ + swap_inputs = <0>; /* Are channel A and channel B swapped? (0 - no, 1 - yes) */ + invert_qa = <1>; /* Should we invert the channel A input? */ + invert_qb = <1>; /* Should we invert the channel B input? I invert these because my encoder outputs drive transistors that pull down the pins */ + invert_qi = <0>; /* Should we invert the index input? */ + invert_qs = <0>; /* Should we invert the strobe input? */ + }; +}; diff --git a/src/arm/am335x-bone-eqep2b.dtsi b/src/arm/am335x-bone-eqep2b.dtsi index e69de29..adef9eb 100644 --- a/src/arm/am335x-bone-eqep2b.dtsi +++ b/src/arm/am335x-bone-eqep2b.dtsi @@ -0,0 +1,59 @@ +/* + * Copyright (C) 2013 Nathaniel R. Lewis - http://nathanielrlewis.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. + * + * Enable eQEP2 on the Beaglebone White and Black + * These pins don't conflict with the HDMI + */ + +&ocp { + P8_16_pinmux { + status = "disabled"; + }; + P8_15_pinmux { + status = "disabled"; + }; + P8_12_pinmux { + status = "disabled"; + }; + P8_11_pinmux { + status = "disabled"; + }; +}; + +&am33xx_pinmux { + pinctrl_eqep2: pinctrl_eqep2_pins { + pinctrl-single,pins = < + 0x038 (PIN_INPUT_PULLDOWN | MUX_MODE4) /* P8_16 = GPIO1_14 = EQEP2_index, MODE4 */ + 0x03C (PIN_INPUT_PULLDOWN | MUX_MODE4) /* P8_15 = GPIO1_15 = EQEP2_strobe, MODE4 */ + 0x030 (PIN_INPUT_PULLDOWN | MUX_MODE4) /* P8_12 = GPIO1_12 = EQEP2A_in, MODE4 */ + 0x034 (PIN_INPUT_PULLDOWN | MUX_MODE4) /* P8_11 = GPIO1_13 = EQEP2B_in, MODE4 */ + >; + }; +}; + +&epwmss2 { + status = "okay"; + + eqep2: eqep@0x48304180 { + compatible = "ti,am33xx-eqep"; + reg = <0x48304180 0x80>; + interrupt-parent = <&intc>; + interrupts = <89>; + ti,hwmods = "eqep2"; + status = "okay"; + + pinctrl-names = "default"; + pinctrl-0 = <&pinctrl_eqep2>; + + count_mode = <0>; /* 0 - Quadrature mode, normal 90 phase offset cha & chb. 1 - Direction mode. cha input = clock, chb input = direction */ + swap_inputs = <0>; /* Are channel A and channel B swapped? (0 - no, 1 - yes) */ + invert_qa = <1>; /* Should we invert the channel A input? */ + invert_qb = <1>; /* Should we invert the channel B input? I invert these because my encoder outputs drive transistors that pull down the pins */ + invert_qi = <0>; /* Should we invert the index input? */ + invert_qs = <0>; /* Should we invert the strobe input? */ + }; +}; diff --git a/src/arm/am335x-bone-robot.dtsi b/src/arm/am335x-bone-robot.dtsi index e69de29..88aa460 100644 --- a/src/arm/am335x-bone-robot.dtsi +++ b/src/arm/am335x-bone-robot.dtsi @@ -0,0 +1,20 @@ +/* + * Copyright (C) 2012 Texas Instruments Incorporated - http://www.ti.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. + */ + +&tscadc { + status = "okay"; + adc { + ti,adc-channels = <4 5 6>; + }; +}; + +#include "am335x-bone-eqep1.dtsi" +#include "am335x-bone-eqep2.dtsi" + +#include "am335x-bone-ehrpwm2A.dtsi" +#include "am335x-bone-ehrpwm2B.dtsi" diff --git a/src/arm/am335x-boneblack-cape-bone-robot.dts b/src/arm/am335x-boneblack-cape-bone-robot.dts index e69de29..2ee446c 100644 --- a/src/arm/am335x-boneblack-cape-bone-robot.dts +++ b/src/arm/am335x-boneblack-cape-bone-robot.dts @@ -0,0 +1,58 @@ +/* + * Copyright (C) 2012 Texas Instruments Incorporated - http://www.ti.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/; + +#include "am33xx.dtsi" +#include "am335x-bone-common.dtsi" +#include "am335x-bone-common-pinmux.dtsi" + +/ { + model = "TI AM335x BeagleBone Black"; + compatible = "ti,am335x-bone-black", "ti,am335x-bone", "ti,am33xx"; +}; + +&dcdc1_reg { + /* VDD_DDR3 voltage 1.35V */ + regulator-name = "vdd_ddr3"; + regulator-min-microvolt = <1350000>; + regulator-max-microvolt = <1350000>; + regulator-boot-on; + regulator-always-on; +}; + +&ldo3_reg { + regulator-min-microvolt = <1800000>; + regulator-max-microvolt = <1800000>; + regulator-always-on; +}; + +&ocp { + /* clkout2 */ + P9_41_pinmux { + status = "disabled"; + }; + /* mmc1 */ + P9_92_pinmux { + status = "disabled"; + }; +}; + +&mmc1 { + vmmc-supply = <&vmmcsd_fixed>; +}; + +&am33xx_pinmux { + pinctrl-names = "default"; + /* pinctrl-0 = <&clkout2_pin>; */ +}; + +#include "am335x-boneblack-emmc.dtsi" +/* bu: removed to free encoder inputs */ +//#include "am335x-boneblack-nxp-hdmi-audio.dtsi" + +#include "am335x-bone-robot.dtsi"
