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bbaipilot.dts
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/*
* Copyright (C) 2021 - Vinicius Juvinski - [email protected]
*
* 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.
*/
#include "bbaipilot_inc.dts"
/ {
rcleds {
compatible = "gpio-leds";
pinctrl-names = "default";
pinctrl-0 = <&cape_pins_rc>;
/* Ardupilot lets */
amber_led {
label = "amber";
gpios = <&gpio6 18 GPIO_ACTIVE_HIGH>;
default-state = "off";
};
blue_led {
label = "blue";
gpios = <&gpio6 4 GPIO_ACTIVE_HIGH>;
default-state = "off";
};
red_led {
label = "red";
gpios = <&gpio3 11 GPIO_ACTIVE_HIGH>;
default-state = "off";
};
/* Ardupilot Safety Swith */
safety_sw {
label = "safety";
gpios = <&gpio8 30 GPIO_ACTIVE_HIGH>;
default-state = "off";
};
/* Relay pins */
relay1_pin {
label = "relay1";
gpios = <&gpio8 18 GPIO_ACTIVE_HIGH>;
default-state = "off";
};
relay2_pin {
label = "relay2";
gpios = <&gpio4 9 GPIO_ACTIVE_HIGH>;
default-state = "off";
};
relay3_pin {
label = "relay3";
gpios = <&gpio4 10 GPIO_ACTIVE_HIGH>;
default-state = "off";
};
relay4_pin {
label = "relay4";
gpios = <&gpio8 11 GPIO_ACTIVE_HIGH>;
default-state = "off";
};
relay5_pin {
label = "relay5";
gpios = <&gpio4 11 GPIO_ACTIVE_HIGH>;
default-state = "off";
};
relay6_pin {
label = "relay6";
gpios = <&gpio4 13 GPIO_ACTIVE_HIGH>;
default-state = "off";
};
};
};
&cape_pins {
status = "disabled";
};
&dra7_pmx_core {
cape_pins_rc: cape_pins_rc {
pinctrl-single,pins = <
DRA7XX_CORE_IOPAD(0x3698, PIN_OUTPUT | MUX_MODE14) /* E17: P8.9: gpio6_18 - LED 1 */
DRA7XX_CORE_IOPAD(0x36E8, PIN_OUTPUT | MUX_MODE14) /* A13: P8.10: gpio6_4 - LED 2 */
DRA7XX_CORE_IOPAD(0x36EC, PIN_OUTPUT | MUX_MODE14) /* G14: P8.7: gpio6_5 - LED 3 */
DRA7XX_CORE_IOPAD(0x36F0, PIN_OUTPUT | MUX_MODE14) /* F14: P8.8: gpio6_6 - BUZZER */
DRA7XX_CORE_IOPAD(0x3624, PIN_OUTPUT | MUX_MODE14) /* A7: P8.17: gpio8_18 - RELAY 1 */
DRA7XX_CORE_IOPAD(0x3588, PIN_OUTPUT | MUX_MODE14) /* F5: P8.18: gpio4_9 - RELAY 2 */
DRA7XX_CORE_IOPAD(0x358C, PIN_OUTPUT | MUX_MODE14) /* E6: P8.19: gpio4_10 - RELAY 3 */
DRA7XX_CORE_IOPAD(0x3608, PIN_OUTPUT | MUX_MODE14) /* D8: P8.34: gpio8_11 - RELAY 4 */
DRA7XX_CORE_IOPAD(0x3590, PIN_OUTPUT | MUX_MODE14) /* D3: P8.13: gpio4_11 - RELAY 5 */
DRA7XX_CORE_IOPAD(0x3598, PIN_OUTPUT | MUX_MODE14) /* D5: P8.14: gpio4_13 - RELAY 6 */
DRA7XX_CORE_IOPAD(0x372C, PIN_INPUT | MUX_MODE4) /* B19: P9.11a: uart5_rxd - UART5_RX */
DRA7XX_CORE_IOPAD(0x3730, PIN_OUTPUT | MUX_MODE4) /* C17: P9.13: uart5_txd - UART5_TX */
DRA7XX_CORE_IOPAD(0x37CC, PIN_OUTPUT | MUX_MODE0) /* B24: P9.17a: spi2_cs0 - SPI2 CS0*/
DRA7XX_CORE_IOPAD(0x37C8, PIN_OUTPUT | MUX_MODE0) /* G17: P9.18a: spi2_d0 - SPI2_MOSI */
DRA7XX_CORE_IOPAD(0x37C4, PIN_INPUT | MUX_MODE0) /* B22: P9.21b: spi2_d1 - SPI2_MISO */
DRA7XX_CORE_IOPAD(0x37C0, PIN_OUTPUT | MUX_MODE0) /* A26: P9.22b: spi2_sclk - SPI2_SCLK */
DRA7XX_CORE_IOPAD(0x3440, PIN_INPUT_PULLUP | MUX_MODE7) /* R6: P9.19a: i2c4_scl - I2C2_SCL */
DRA7XX_CORE_IOPAD(0x3444, PIN_INPUT_PULLUP | MUX_MODE7) /* T9: P9.20a: i2c4_sda - I2C2_SDA */
DRA7XX_CORE_IOPAD(0x368C, PIN_INPUT_PULLUP | MUX_MODE2) /* F20: P9.24: dcan2_rx - CAN2_RX */
DRA7XX_CORE_IOPAD(0x3688, PIN_OUTPUT_PULLUP | MUX_MODE2) /* E21: P9.26a: dcan2_tx - CAN2_TX */
DRA7XX_CORE_IOPAD(0x36E0, PIN_OUTPUT_PULLUP | MUX_MODE3) /* A12: P9.28: spi3_cs0 - SPI3_CS0 */
DRA7XX_CORE_IOPAD(0x36D8, PIN_INPUT_PULLUP | MUX_MODE3) /* A11: P9.29a: spi3_d1 - SPI3_MISO */
DRA7XX_CORE_IOPAD(0x36DC, PIN_OUTPUT_PULLUP | MUX_MODE3) /* B13: P9.30:spi3_d0 - SPI3_MOSI */
DRA7XX_CORE_IOPAD(0x36D4, PIN_INPUT_PULLUP | MUX_MODE3) /* B12: P9.31 a: spi3_sclk - SPI3_SCK */
DRA7XX_CORE_IOPAD(0x36E4, PIN_OUTPUT_PULLUP | MUX_MODE3) /* E14: P9.42a: spi3_cs1 - SPI3_CS1 */
DRA7XX_CORE_IOPAD(0x35B4, MUX_MODE15) /* A3: P8.15a: pr1_ecap0_ecap_capin_apwm_o = RCIN DISABLE */
DRA7XX_CORE_IOPAD(0x3570, PIN_INPUT_PULLUP | MUX_MODE11) /* D1: P8.15b: pr1_ecap0_ecap_capin_apwm_o = RCIN */
DRA7XX_CORE_IOPAD(0x3740, MUX_MODE15) /* D17: P8.32a: pr2_ecap0_ecap_capin_apwm_o = RCIN */
DRA7XX_CORE_IOPAD(0x3618, PIN_INPUT_PULLUP | MUX_MODE10) /* C7: P8.32a: pr2_ecap0_ecap_capin_apwm_o = RCIN */
DRA7XX_CORE_IOPAD(0x3738, PIN_OUTPUT | MUX_MODE3) /* A21: P8.37b: uart8_txd - UART8_TX */
DRA7XX_CORE_IOPAD(0x3734, PIN_INPUT | MUX_MODE3) /* C18: P8.38b: uart8_rxd - UART8_RX */
/* PRU OUTPUT */
/* pr2_pru0_gpo17 C9/A16 P8_28 MODE 13 - RCOUT 1*/
DRA7XX_CORE_IOPAD(0x362C, PIN_OUTPUT | MUX_MODE13) /* C9: P8.28b: pr2_pru0_gpo17 - RCOUT 1 */
DRA7XX_CORE_IOPAD(0x35C8, MUX_MODE15) /* D11: P8.28a: spi3_cs0 - DISABLE */
/* pr2_pru0_gpo16 A8/C15 P8_27 MODE13 - RCOUT 2*/
DRA7XX_CORE_IOPAD(0x3628, PIN_OUTPUT | MUX_MODE13) /* A8: P8.27b: pr2_pru0_gpo16 - RCOUT 2 */
DRA7XX_CORE_IOPAD(0x35D8, MUX_MODE15) /* E11: P8.27a: spi3_sclk - DISABLE */
/* pr2_pru0_gpo19 B9/A18 P8_30 MODE13 - RCOUT 3*/
DRA7XX_CORE_IOPAD(0x3634, PIN_OUTPUT | MUX_MODE13) /* B9: P8.30b: pr2_pru0_gpo19 - RCOUT 3 */
DRA7XX_CORE_IOPAD(0x35CC, MUX_MODE15) /* B10: P8.30a: spi3_d1 - DISABLE */
/* pr2_pru0_gpo18 A9/A19 P8_29 MODE13 - RCOUT 4*/
DRA7XX_CORE_IOPAD(0x3630, PIN_OUTPUT | MUX_MODE13) /* A9: P8.29b: pr2_pru0_gpo18 - RCOUT 4 */
DRA7XX_CORE_IOPAD(0x35D4, MUX_MODE15) /* C11: P8.29a: spi3_d0 - DISABLE */
/* pr2_pru0_gpo4 E7/AC7 P8_40 MODE13 - RCOUT 5 */
DRA7XX_CORE_IOPAD(0x35F8, PIN_OUTPUT | MUX_MODE13) /* E7: P8.40: pr2_pru0_gpo4 - RCOUT 5 */
/* pr2_pru0_gpo3 F8/AC4 P8_39 MODE13 - RCOUT 6 */
DRA7XX_CORE_IOPAD(0x35F4, PIN_OUTPUT | MUX_MODE13) /* F8: P8.39: pr2_pru0_gpo3 - RCOUT 6 */
/* pr2_pru0_gpo2 F9/AD4 P8_42 MODE13 - RCOUT 7 */
DRA7XX_CORE_IOPAD(0x35F0, PIN_OUTPUT | MUX_MODE13) /* F9: P8.42: pr2_pru0_gpo2 - RCOUT 7 */
/* pr2_pru0_gpo1 E9/AB4 P8_41 MODE13 - RCOUT 8 */
DRA7XX_CORE_IOPAD(0x35EC, PIN_OUTPUT | MUX_MODE13) /* E9: P8.41: pr2_pru0_gpo1 - RCOUT 8 */
/* pr2_pru0_gpo0 G11/AC5 P8_44 MODE13 - RCOUT 9 */
DRA7XX_CORE_IOPAD(0x35E8, PIN_OUTPUT | MUX_MODE13) /* G11: P8.44: pr2_pru0_gpo0 - RCOUT 9 */
/* pr2_pru1_gpo20 F10 P8_43 MODE13 - RCOUT 10 */
DRA7XX_CORE_IOPAD(0x35E4, PIN_OUTPUT | MUX_MODE13) /* F10: P8.43: pr2_pru1_gpo20 - RCOUT 10 */
/* pr2_pru1_gpo19 G10 P8_46 MODE13 - RCOUT 11 */
DRA7XX_CORE_IOPAD(0x35E0, PIN_OUTPUT | MUX_MODE13) /* G10: P8.46: pr2_pru1_gpo19 - RCOUT 11 */
/* pr2_pru1_gpo18 F11 P8_45 MODE13 - RCOUT 12 */
DRA7XX_CORE_IOPAD(0x35DC, PIN_OUTPUT | MUX_MODE13) /* F11: P8.45: pr2_pru0_gpo18 - RCOUT 12 */
>;
};
};
&uart8 {
status = "okay";
};
&uart5 {
status = "okay";
};
&i2c4 {
status = "okay";
clock-frequency = <400000>;
pinctrl-names = "default";
};
&dcan2 {
status = "okay";
};
&mcspi2 {
#address-cells = <1>;
#size-cells = <0>;
status = "okay";
ti,pindir-d0-out-d1-in = <1>;
channel@0 {
#address-cells = <1>;
#size-cells = <0>;
compatible = "spidev";
symlink = "spi/0.0";
reg = <0>;
spi-max-frequency = <24000000>;
};
channel@1 {
#address-cells = <1>;
#size-cells = <0>;
compatible = "spidev";
symlink = "spi/0.1";
reg = <1>;
spi-max-frequency = <24000000>;
};
};
&mcspi3 {
#address-cells = <1>;
#size-cells = <0>;
status = "okay";
ti,pindir-d0-out-d1-in = <1>;
channel@0 {
#address-cells = <1>;
#size-cells = <0>;
compatible = "spidev";
symlink = "spi/1.0";
reg = <0>;
spi-max-frequency = <24000000>;
};
channel@1 {
#address-cells = <1>;
#size-cells = <0>;
compatible = "spidev";
symlink = "spi/1.1";
reg = <1>;
spi-max-frequency = <24000000>;
};
};
/* &tscadc {
adc {
ti,adc-channels = <0 1>;
};
}; */
/* &epwmss0 { */
/* status = "okay"; */
/* }; */
/* &epwmss1 { */
/* status = "okay"; */
/* }; */
/* &epwmss2 { */
/* status = "okay"; */
/* }; */
/* &ehrpwm1 { */
/* status = "okay"; */
/* }; */
/* &ehrpwm2 { */
/* status = "okay"; */
/* }; */
/* &pruss_soc_bus1 { */
/* status = "okay"; */
/* }; */
/* &pruss1 { */
/* status = "okay"; */
/* }; */
&pruss_soc_bus2 {
pinctrl-names = "default";
status = "okay";
};
&pruss2 {
pinctrl-names = "default";
status = "okay";
};