| # SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) |
| %YAML 1.2 |
| --- |
| $id: http://devicetree.org/schemas/soc/ti/ti,pruss.yaml# |
| $schema: http://devicetree.org/meta-schemas/core.yaml# |
| |
| title: |+ |
| TI Programmable Real-Time Unit and Industrial Communication Subsystem |
| |
| maintainers: |
| - Suman Anna <s-anna@ti.com> |
| |
| description: |+ |
| |
| The Programmable Real-Time Unit and Industrial Communication Subsystem |
| (PRU-ICSS a.k.a. PRUSS) is present on various TI SoCs such as AM335x, AM437x, |
| Keystone 66AK2G, OMAP-L138/DA850 etc. A PRUSS consists of dual 32-bit RISC |
| cores (Programmable Real-Time Units, or PRUs), shared RAM, data and |
| instruction RAMs, some internal peripheral modules to facilitate industrial |
| communication, and an interrupt controller. |
| |
| The programmable nature of the PRUs provide flexibility to implement custom |
| peripheral interfaces, fast real-time responses, or specialized data handling. |
| The common peripheral modules include the following, |
| - an Ethernet MII_RT module with two MII ports |
| - an MDIO port to control external Ethernet PHYs |
| - an Industrial Ethernet Peripheral (IEP) to manage/generate Industrial |
| Ethernet functions |
| - an Enhanced Capture Module (eCAP) |
| - an Industrial Ethernet Timer with 7/9 capture and 16 compare events |
| - a 16550-compatible UART to support PROFIBUS |
| - Enhanced GPIO with async capture and serial support |
| |
| A PRU-ICSS subsystem can have up to three shared data memories. A PRU core |
| acts on a primary Data RAM (there are usually 2 Data RAMs) at its address |
| 0x0, but also has access to a secondary Data RAM (primary to the other PRU |
| core) at its address 0x2000. A shared Data RAM, if present, can be accessed |
| by both the PRU cores. The Interrupt Controller (INTC) and a CFG module are |
| common to both the PRU cores. Each PRU core also has a private instruction |
| RAM, and specific register spaces for Control and Debug functionalities. |
| |
| Various sub-modules within a PRU-ICSS subsystem are represented as individual |
| nodes and are defined using a parent-child hierarchy depending on their |
| integration within the IP and the SoC. These nodes are described in the |
| following sections. |
| |
| |
| PRU-ICSS Node |
| ============== |
| Each PRU-ICSS instance is represented as its own node with the individual PRU |
| processor cores, the memories node, an INTC node and an MDIO node represented |
| as child nodes within this PRUSS node. This node shall be a child of the |
| corresponding interconnect bus nodes or target-module nodes. |
| |
| See ../../mfd/syscon.yaml for generic SysCon binding details. |
| |
| |
| properties: |
| $nodename: |
| pattern: "^(pruss|icssg)@[0-9a-f]+$" |
| |
| compatible: |
| enum: |
| - ti,am3356-pruss # for AM335x SoC family |
| - ti,am4376-pruss0 # for AM437x SoC family and PRUSS unit 0 |
| - ti,am4376-pruss1 # for AM437x SoC family and PRUSS unit 1 |
| - ti,am5728-pruss # for AM57xx SoC family |
| - ti,k2g-pruss # for 66AK2G SoC family |
| - ti,am654-icssg # for K3 AM65x SoC family |
| - ti,j721e-icssg # for K3 J721E SoC family |
| - ti,am642-icssg # for K3 AM64x SoC family |
| |
| reg: |
| maxItems: 1 |
| |
| "#address-cells": |
| const: 1 |
| |
| "#size-cells": |
| const: 1 |
| |
| ranges: |
| maxItems: 1 |
| |
| dma-ranges: |
| maxItems: 1 |
| |
| dma-coherent: true |
| |
| power-domains: |
| description: | |
| This property is as per sci-pm-domain.txt. |
| |
| patternProperties: |
| |
| memories@[a-f0-9]+$: |
| description: | |
| The various Data RAMs within a single PRU-ICSS unit are represented as a |
| single node with the name 'memories'. |
| |
| type: object |
| |
| properties: |
| reg: |
| minItems: 2 # On AM437x one of two PRUSS units don't contain Shared RAM. |
| items: |
| - description: Address and size of the Data RAM0. |
| - description: Address and size of the Data RAM1. |
| - description: | |
| Address and size of the Shared Data RAM. Note that on AM437x one |
| of two PRUSS units don't contain Shared RAM, while the second one |
| has it. |
| |
| reg-names: |
| minItems: 2 |
| items: |
| - const: dram0 |
| - const: dram1 |
| - const: shrdram2 |
| |
| required: |
| - reg |
| - reg-names |
| |
| additionalProperties: false |
| |
| cfg@[a-f0-9]+$: |
| description: | |
| PRU-ICSS configuration space. CFG sub-module represented as a SysCon. |
| |
| type: object |
| |
| properties: |
| compatible: |
| items: |
| - const: ti,pruss-cfg |
| - const: syscon |
| |
| "#address-cells": |
| const: 1 |
| |
| "#size-cells": |
| const: 1 |
| |
| reg: |
| maxItems: 1 |
| |
| ranges: |
| maxItems: 1 |
| |
| clocks: |
| type: object |
| |
| properties: |
| "#address-cells": |
| const: 1 |
| |
| "#size-cells": |
| const: 0 |
| |
| patternProperties: |
| coreclk-mux@[a-f0-9]+$: |
| description: | |
| This is applicable only for ICSSG (K3 SoCs). The ICSSG modules |
| core clock can be set to one of the 2 sources: ICSSG_CORE_CLK or |
| ICSSG_ICLK. This node models this clock mux and should have the |
| name "coreclk-mux". |
| |
| type: object |
| |
| properties: |
| '#clock-cells': |
| const: 0 |
| |
| clocks: |
| items: |
| - description: ICSSG_CORE Clock |
| - description: ICSSG_ICLK Clock |
| |
| assigned-clocks: |
| maxItems: 1 |
| |
| assigned-clock-parents: |
| maxItems: 1 |
| description: | |
| Standard assigned-clocks-parents definition used for selecting |
| mux parent (one of the mux input). |
| |
| reg: |
| maxItems: 1 |
| |
| required: |
| - clocks |
| |
| additionalProperties: false |
| |
| iepclk-mux@[a-f0-9]+$: |
| description: | |
| The IEP module can get its clock from 2 sources: ICSSG_IEP_CLK or |
| CORE_CLK (OCP_CLK in older SoCs). This node models this clock |
| mux and should have the name "iepclk-mux". |
| |
| type: object |
| |
| properties: |
| '#clock-cells': |
| const: 0 |
| |
| clocks: |
| items: |
| - description: ICSSG_IEP Clock |
| - description: Core Clock (OCP Clock in older SoCs) |
| |
| assigned-clocks: |
| maxItems: 1 |
| |
| assigned-clock-parents: |
| maxItems: 1 |
| description: | |
| Standard assigned-clocks-parents definition used for selecting |
| mux parent (one of the mux input). |
| |
| reg: |
| maxItems: 1 |
| |
| required: |
| - clocks |
| |
| additionalProperties: false |
| |
| additionalProperties: false |
| |
| iep@[a-f0-9]+$: |
| description: | |
| Industrial Ethernet Peripheral to manage/generate Industrial Ethernet |
| functions such as time stamping. Each PRUSS has either 1 IEP (on AM335x, |
| AM437x, AM57xx & 66AK2G SoCs) or 2 IEPs (on K3 AM65x, J721E & AM64x SoCs). |
| IEP is used for creating PTP clocks and generating PPS signals. |
| |
| type: object |
| |
| mii-rt@[a-f0-9]+$: |
| description: | |
| Real-Time Ethernet to support multiple industrial communication protocols. |
| MII-RT sub-module represented as a SysCon. |
| |
| type: object |
| |
| properties: |
| compatible: |
| items: |
| - const: ti,pruss-mii |
| - const: syscon |
| |
| reg: |
| maxItems: 1 |
| |
| additionalProperties: false |
| |
| mii-g-rt@[a-f0-9]+$: |
| description: | |
| The Real-time Media Independent Interface to support multiple industrial |
| communication protocols (G stands for Gigabit). MII-G-RT sub-module |
| represented as a SysCon. |
| |
| type: object |
| |
| properties: |
| compatible: |
| items: |
| - const: ti,pruss-mii-g |
| - const: syscon |
| |
| reg: |
| maxItems: 1 |
| |
| additionalProperties: false |
| |
| interrupt-controller@[a-f0-9]+$: |
| description: | |
| PRUSS INTC Node. Each PRUSS has a single interrupt controller instance |
| that is common to all the PRU cores. This should be represented as an |
| interrupt-controller node. |
| |
| allOf: |
| - $ref: /schemas/interrupt-controller/ti,pruss-intc.yaml# |
| |
| type: object |
| |
| mdio@[a-f0-9]+$: |
| description: | |
| MDIO Node. Each PRUSS has an MDIO module that can be used to control |
| external PHYs. The MDIO module used within the PRU-ICSS is an instance of |
| the MDIO Controller used in TI Davinci SoCs. |
| |
| allOf: |
| - $ref: /schemas/net/ti,davinci-mdio.yaml# |
| |
| type: object |
| |
| "^(pru|rtu|txpru)@[0-9a-f]+$": |
| description: | |
| PRU Node. Each PRUSS has dual PRU cores, each represented as a RemoteProc |
| device through a PRU child node each. Each node can optionally be rendered |
| inactive by using the standard DT string property, "status". The ICSSG IP |
| present on K3 SoCs have additional auxiliary PRU cores with slightly |
| different IP integration. |
| |
| allOf: |
| - $ref: /schemas/remoteproc/ti,pru-rproc.yaml# |
| |
| type: object |
| |
| required: |
| - compatible |
| - reg |
| - ranges |
| |
| additionalProperties: false |
| |
| # Due to inability of correctly verifying sub-nodes with an @address through |
| # the "required" list, the required sub-nodes below are commented out for now. |
| |
| #required: |
| # - memories |
| # - interrupt-controller |
| # - pru |
| |
| allOf: |
| - if: |
| properties: |
| compatible: |
| contains: |
| enum: |
| - ti,k2g-pruss |
| - ti,am654-icssg |
| - ti,j721e-icssg |
| - ti,am642-icssg |
| then: |
| required: |
| - power-domains |
| |
| - if: |
| properties: |
| compatible: |
| contains: |
| enum: |
| - ti,k2g-pruss |
| then: |
| required: |
| - dma-coherent |
| |
| examples: |
| - | |
| |
| /* Example 1 AM33xx PRU-ICSS */ |
| pruss: pruss@0 { |
| compatible = "ti,am3356-pruss"; |
| reg = <0x0 0x80000>; |
| #address-cells = <1>; |
| #size-cells = <1>; |
| ranges; |
| |
| pruss_mem: memories@0 { |
| reg = <0x0 0x2000>, |
| <0x2000 0x2000>, |
| <0x10000 0x3000>; |
| reg-names = "dram0", "dram1", "shrdram2"; |
| }; |
| |
| pruss_cfg: cfg@26000 { |
| compatible = "ti,pruss-cfg", "syscon"; |
| #address-cells = <1>; |
| #size-cells = <1>; |
| reg = <0x26000 0x2000>; |
| ranges = <0x00 0x26000 0x2000>; |
| |
| clocks { |
| #address-cells = <1>; |
| #size-cells = <0>; |
| |
| pruss_iepclk_mux: iepclk-mux@30 { |
| reg = <0x30>; |
| #clock-cells = <0>; |
| clocks = <&l3_gclk>, /* icss_iep */ |
| <&pruss_ocp_gclk>; /* icss_ocp */ |
| }; |
| }; |
| }; |
| |
| pruss_mii_rt: mii-rt@32000 { |
| compatible = "ti,pruss-mii", "syscon"; |
| reg = <0x32000 0x58>; |
| }; |
| |
| pruss_intc: interrupt-controller@20000 { |
| compatible = "ti,pruss-intc"; |
| reg = <0x20000 0x2000>; |
| interrupt-controller; |
| #interrupt-cells = <3>; |
| interrupts = <20 21 22 23 24 25 26 27>; |
| interrupt-names = "host_intr0", "host_intr1", |
| "host_intr2", "host_intr3", |
| "host_intr4", "host_intr5", |
| "host_intr6", "host_intr7"; |
| }; |
| |
| pru0: pru@34000 { |
| compatible = "ti,am3356-pru"; |
| reg = <0x34000 0x2000>, |
| <0x22000 0x400>, |
| <0x22400 0x100>; |
| reg-names = "iram", "control", "debug"; |
| firmware-name = "am335x-pru0-fw"; |
| }; |
| |
| pru1: pru@38000 { |
| compatible = "ti,am3356-pru"; |
| reg = <0x38000 0x2000>, |
| <0x24000 0x400>, |
| <0x24400 0x100>; |
| reg-names = "iram", "control", "debug"; |
| firmware-name = "am335x-pru1-fw"; |
| }; |
| |
| pruss_mdio: mdio@32400 { |
| compatible = "ti,davinci_mdio"; |
| reg = <0x32400 0x90>; |
| clocks = <&dpll_core_m4_ck>; |
| clock-names = "fck"; |
| bus_freq = <1000000>; |
| #address-cells = <1>; |
| #size-cells = <0>; |
| }; |
| }; |
| |
| - | |
| |
| /* Example 2 AM43xx PRU-ICSS with PRUSS1 node */ |
| #include <dt-bindings/interrupt-controller/arm-gic.h> |
| pruss1: pruss@0 { |
| compatible = "ti,am4376-pruss1"; |
| reg = <0x0 0x40000>; |
| #address-cells = <1>; |
| #size-cells = <1>; |
| ranges; |
| |
| pruss1_mem: memories@0 { |
| reg = <0x0 0x2000>, |
| <0x2000 0x2000>, |
| <0x10000 0x8000>; |
| reg-names = "dram0", "dram1", "shrdram2"; |
| }; |
| |
| pruss1_cfg: cfg@26000 { |
| compatible = "ti,pruss-cfg", "syscon"; |
| #address-cells = <1>; |
| #size-cells = <1>; |
| reg = <0x26000 0x2000>; |
| ranges = <0x00 0x26000 0x2000>; |
| |
| clocks { |
| #address-cells = <1>; |
| #size-cells = <0>; |
| |
| pruss1_iepclk_mux: iepclk-mux@30 { |
| reg = <0x30>; |
| #clock-cells = <0>; |
| clocks = <&sysclk_div>, /* icss_iep */ |
| <&pruss_ocp_gclk>; /* icss_ocp */ |
| }; |
| }; |
| }; |
| |
| pruss1_mii_rt: mii-rt@32000 { |
| compatible = "ti,pruss-mii", "syscon"; |
| reg = <0x32000 0x58>; |
| }; |
| |
| pruss1_intc: interrupt-controller@20000 { |
| compatible = "ti,pruss-intc"; |
| reg = <0x20000 0x2000>; |
| interrupt-controller; |
| #interrupt-cells = <3>; |
| interrupts = <GIC_SPI 20 IRQ_TYPE_LEVEL_HIGH>, |
| <GIC_SPI 21 IRQ_TYPE_LEVEL_HIGH>, |
| <GIC_SPI 22 IRQ_TYPE_LEVEL_HIGH>, |
| <GIC_SPI 23 IRQ_TYPE_LEVEL_HIGH>, |
| <GIC_SPI 24 IRQ_TYPE_LEVEL_HIGH>, |
| <GIC_SPI 26 IRQ_TYPE_LEVEL_HIGH>, |
| <GIC_SPI 27 IRQ_TYPE_LEVEL_HIGH>; |
| interrupt-names = "host_intr0", "host_intr1", |
| "host_intr2", "host_intr3", |
| "host_intr4", |
| "host_intr6", "host_intr7"; |
| ti,irqs-reserved = /bits/ 8 <0x20>; /* BIT(5) */ |
| }; |
| |
| pru1_0: pru@34000 { |
| compatible = "ti,am4376-pru"; |
| reg = <0x34000 0x3000>, |
| <0x22000 0x400>, |
| <0x22400 0x100>; |
| reg-names = "iram", "control", "debug"; |
| firmware-name = "am437x-pru1_0-fw"; |
| }; |
| |
| pru1_1: pru@38000 { |
| compatible = "ti,am4376-pru"; |
| reg = <0x38000 0x3000>, |
| <0x24000 0x400>, |
| <0x24400 0x100>; |
| reg-names = "iram", "control", "debug"; |
| firmware-name = "am437x-pru1_1-fw"; |
| }; |
| |
| pruss1_mdio: mdio@32400 { |
| compatible = "ti,davinci_mdio"; |
| reg = <0x32400 0x90>; |
| clocks = <&dpll_core_m4_ck>; |
| clock-names = "fck"; |
| bus_freq = <1000000>; |
| #address-cells = <1>; |
| #size-cells = <0>; |
| }; |
| }; |
| |
| ... |
