1 // SPDX-License-Identifier: GPL-2.0-only
2 /*
3 * Device tree for LEGO MINDSTORMS EV3
4 *
5 * Copyright (C) 2017 David Lechner <david@lechnology.com>
6 */
7
8 /dts-v1/;
9 #include <dt-bindings/gpio/gpio.h>
10 #include <dt-bindings/input/linux-event-codes.h>
11 #include <dt-bindings/pwm/pwm.h>
12
13 #include "da850.dtsi"
14
15 / {
16 compatible = "lego,ev3", "ti,da850";
17 model = "LEGO MINDSTORMS EV3";
18
19 aliases {
20 serial1 = &serial1;
21 };
22
23 memory@c0000000 {
24 device_type = "memory";
25 reg = <0xc0000000 0x04000000>;
26 };
27
28 /*
29 * The buttons on the EV3 are mapped to keyboard keys.
30 */
31 gpio_keys {
32 compatible = "gpio-keys";
33 label = "EV3 Brick Buttons";
34 pinctrl-names = "default";
35 pinctrl-0 = <&button_bias>;
36
37 center {
38 label = "Center";
39 linux,code = <KEY_ENTER>;
40 gpios = <&gpio 29 GPIO_ACTIVE_HIGH>;
41 };
42
43 left {
44 label = "Left";
45 linux,code = <KEY_LEFT>;
46 gpios = <&gpio 102 GPIO_ACTIVE_HIGH>;
47 };
48
49 back {
50 label = "Back";
51 linux,code = <KEY_BACKSPACE>;
52 gpios = <&gpio 106 GPIO_ACTIVE_HIGH>;
53 };
54
55 right {
56 label = "Right";
57 linux,code = <KEY_RIGHT>;
58 gpios = <&gpio 124 GPIO_ACTIVE_HIGH>;
59 };
60
61 down {
62 label = "Down";
63 linux,code = <KEY_DOWN>;
64 gpios = <&gpio 126 GPIO_ACTIVE_HIGH>;
65 };
66
67 up {
68 label = "Up";
69 linux,code = <KEY_UP>;
70 gpios = <&gpio 127 GPIO_ACTIVE_HIGH>;
71 };
72 };
73
74 /*
75 * The EV3 has two built-in bi-color LEDs behind the buttons.
76 */
77 leds {
78 compatible = "gpio-leds";
79
80 left_green {
81 label = "led0:green:brick-status";
82 /* GP6[13] */
83 gpios = <&gpio 103 GPIO_ACTIVE_HIGH>;
84 linux,default-trigger = "default-on";
85 };
86
87 right_red {
88 label = "led1:red:brick-status";
89 /* GP6[7] */
90 gpios = <&gpio 108 GPIO_ACTIVE_HIGH>;
91 linux,default-trigger = "default-on";
92 };
93
94 left_red {
95 label = "led0:red:brick-status";
96 /* GP6[12] */
97 gpios = <&gpio 109 GPIO_ACTIVE_HIGH>;
98 linux,default-trigger = "default-on";
99 };
100
101 right_green {
102 label = "led1:green:brick-status";
103 /* GP6[14] */
104 gpios = <&gpio 110 GPIO_ACTIVE_HIGH>;
105 linux,default-trigger = "default-on";
106 };
107 };
108
109 /*
110 * The EV3 is powered down by turning off the main 5V supply.
111 */
112 gpio-poweroff {
113 compatible = "gpio-poweroff";
114 gpios = <&gpio 107 GPIO_ACTIVE_LOW>;
115 };
116
117 sound {
118 compatible = "pwm-beeper";
119 pinctrl-names = "default";
120 pinctrl-0 = <&ehrpwm0b_pins>;
121 pwms = <&ehrpwm0 1 1000000 0>;
122 amp-supply = <&>;
123 };
124
125 cvdd: regulator0 {
126 compatible = "regulator-fixed";
127 regulator-name = "cvdd";
128 regulator-min-microvolt = <1200000>;
129 regulator-max-microvolt = <1200000>;
130 regulator-always-on;
131 regulator-boot-on;
132 };
133
134 /*
135 * This is a 5V current limiting regulator that is shared by USB,
136 * the sensor (input) ports, the motor (output) ports and the A/DC.
137 */
138 vcc5v: regulator1 {
139 compatible = "regulator-fixed";
140 regulator-name = "vcc5v";
141 regulator-min-microvolt = <5000000>;
142 regulator-max-microvolt = <5000000>;
143 gpio = <&gpio 101 0>;
144 over-current-gpios = <&gpio 99 GPIO_ACTIVE_LOW>;
145 enable-active-high;
146 regulator-boot-on;
147 };
148
149 /*
150 * This is a simple voltage divider on VCC5V to provide a 2.5V
151 * reference signal to the ADC.
152 */
153 adc_ref: regulator2 {
154 compatible = "regulator-fixed";
155 regulator-name = "adc ref";
156 regulator-min-microvolt = <2500000>;
157 regulator-max-microvolt = <2500000>;
158 regulator-boot-on;
159 vin-supply = <&vcc5v>;
160 };
161
162 /*
163 * This is the amplifier for the speaker.
164 */
165 amp: regulator3 {
166 compatible = "regulator-fixed";
167 regulator-name = "amp";
168 gpio = <&gpio 111 GPIO_ACTIVE_HIGH>;
169 enable-active-high;
170 };
171
172 /*
173 * The EV3 can use 6-AA batteries or a rechargeable Li-ion battery pack.
174 */
175 battery {
176 compatible = "lego,ev3-battery";
177 io-channels = <&adc 4>, <&adc 3>;
178 io-channel-names = "voltage", "current";
179 rechargeable-gpios = <&gpio 136 GPIO_ACTIVE_LOW>;
180 };
181
182 bt_slow_clk: bt-clock {
183 pinctrl-names = "default";
184 pinctrl-0 = <&ecap2_pins>, <&bt_clock_bias>;
185 compatible = "pwm-clock";
186 #clock-cells = <0>;
187 clock-frequency = <32768>;
188 pwms = <&ecap2 0 30518 0>;
189 };
190
191 /* ARM local RAM */
192 memory@ffff0000 {
193 compatible = "syscon", "simple-mfd";
194 reg = <0xffff0000 0x2000>; /* 8k */
195
196 /*
197 * The I2C bootloader looks for this magic value to either
198 * boot normally or boot into a firmware update mode.
199 */
200 reboot-mode {
201 compatible = "syscon-reboot-mode";
202 offset = <0x1ffc>;
203 mode-normal = <0x00000000>;
204 mode-loader = <0x5555aaaa>;
205 };
206 };
207 };
208
209 &ref_clk {
210 clock-frequency = <24000000>;
211 };
212
213 &cpu {
214 cpu-supply = <&cvdd>;
215 };
216
217 /* since we have a fixed regulator, we can't run at these points */
218 &opp_100 {
219 status = "disabled";
220 };
221
222 &opp_200 {
223 status = "disabled";
224 };
225
226 /*
227 * The SoC is actually the 456MHz version, but because of the fixed regulator
228 * This is the fastest we can go.
229 */
230 &opp_375 {
231 status = "okay";
232 };
233
234 &pmx_core {
235 status = "okay";
236
237 ev3_lcd_pins: lcd-pins {
238 pinctrl-single,bits = <
239 /* SIMO, CLK */
240 0x14 0x00100100 0x00f00f00
241 >;
242 };
243 };
244
245 &pinconf {
246 status = "okay";
247
248 /* Buttons have external pulldown resistors */
249 button_bias: button-bias-groups {
250 disable {
251 groups = "cp5", "cp24", "cp25", "cp28";
252 bias-disable;
253 };
254 };
255
256 bt_clock_bias: bt-clock-bias-groups {
257 disable {
258 groups = "cp2";
259 bias-disable;
260 };
261 };
262
263 bt_pic_bias: bt-pic-bias-groups {
264 disable {
265 groups = "cp20";
266 bias-disable;
267 };
268 };
269 };
270
271 /* Input port 1 */
272 &serial1 {
273 status = "okay";
274 pinctrl-names = "default";
275 pinctrl-0 = <&serial1_rxtx_pins>;
276 };
277
278 &serial2 {
279 pinctrl-names = "default";
280 pinctrl-0 = <&serial2_rxtx_pins>, <&serial2_rtscts_pins>, <&bt_pic_bias>;
281 status = "okay";
282
283 bluetooth {
284 compatible = "ti,cc2560";
285 clocks = <&bt_slow_clk>;
286 clock-names = "ext_clock";
287 enable-gpios = <&gpio 73 GPIO_ACTIVE_HIGH>;
288 max-speed = <2000000>;
289 nvmem-cells = <&bdaddr>;
290 nvmem-cell-names = "bd-address";
291 };
292 };
293
294 &rtc0 {
295 status = "okay";
296 };
297
298 &i2c0 {
299 status = "okay";
300 clock-frequency = <400000>;
301 pinctrl-names = "default";
302 pinctrl-0 = <&i2c0_pins>;
303
304 /*
305 * EEPROM contains the first stage bootloader, HW ID and Bluetooth MAC.
306 */
307 eeprom@50 {
308 compatible = "microchip,24c128", "atmel,24c128";
309 pagesize = <64>;
310 read-only;
311 reg = <0x50>;
312 #address-cells = <1>;
313 #size-cells = <1>;
314
315 bdaddr: bdaddr@3f06 {
316 reg = <0x3f06 0x06>;
317 };
318 };
319 };
320
321 &wdt {
322 status = "okay";
323 };
324
325 &mmc0 {
326 status = "okay";
327 max-frequency = <50000000>;
328 bus-width = <4>;
329 cd-gpios = <&gpio 94 GPIO_ACTIVE_LOW>;
330 pinctrl-names = "default";
331 pinctrl-0 = <&mmc0_pins>;
332 };
333
334 &spi0 {
335 status = "okay";
336 pinctrl-names = "default";
337 pinctrl-0 = <&spi0_pins>, <&spi0_cs0_pin>, <&spi0_cs3_pin>;
338
339 flash@0 {
340 compatible = "n25q128a13", "jedec,spi-nor";
341 reg = <0>;
342 spi-max-frequency = <50000000>;
343 ti,spi-wdelay = <8>;
344
345 /* Partitions are based on the official firmware from LEGO */
346 partitions {
347 compatible = "fixed-partitions";
348 #address-cells = <1>;
349 #size-cells = <1>;
350
351 partition@0 {
352 label = "U-Boot";
353 reg = <0 0x40000>;
354 };
355
356 partition@40000 {
357 label = "U-Boot Env";
358 reg = <0x40000 0x10000>;
359 };
360
361 partition@50000 {
362 label = "Kernel";
363 reg = <0x50000 0x200000>;
364 };
365
366 partition@250000 {
367 label = "Filesystem";
368 reg = <0x250000 0xa50000>;
369 };
370
371 partition@cb0000 {
372 label = "Storage";
373 reg = <0xcb0000 0x2f0000>;
374 };
375 };
376 };
377
378 adc: adc@3 {
379 compatible = "ti,ads7957";
380 reg = <3>;
381 #io-channel-cells = <1>;
382 spi-max-frequency = <1000000>;
383 ti,spi-wdelay = <63>;
384 vref-supply = <&adc_ref>;
385 };
386 };
387
388 &spi1 {
389 status = "okay";
390 pinctrl-0 = <&ev3_lcd_pins>;
391 pinctrl-names = "default";
392 cs-gpios = <&gpio 44 GPIO_ACTIVE_LOW>;
393
394 display@0 {
395 compatible = "lego,ev3-lcd";
396 reg = <0>;
397 spi-max-frequency = <10000000>;
398 a0-gpios = <&gpio 43 GPIO_ACTIVE_HIGH>;
399 reset-gpios = <&gpio 80 GPIO_ACTIVE_HIGH>;
400 };
401 };
402
403 &ecap2 {
404 status = "okay";
405 };
406
407 &ehrpwm0 {
408 status = "okay";
409 };
410
411 &gpio {
412 status = "okay";
413
414 /* Don't pull down battery voltage adc io channel */
415 batt_volt_en {
416 gpio-hog;
417 gpios = <6 GPIO_ACTIVE_HIGH>;
418 output-high;
419 };
420
421 /* Don't impede Bluetooth clock signal */
422 bt_clock_en {
423 gpio-hog;
424 gpios = <5 GPIO_ACTIVE_HIGH>;
425 input;
426 };
427
428 /*
429 * There is a PIC microcontroller for interfacing with an Apple MFi
430 * chip. This interferes with normal Bluetooth operation, so we need
431 * to make sure it is turned off. Note: The publicly available
432 * schematics from LEGO don't show that these pins are connected to
433 * anything, but they are present in the source code from LEGO.
434 */
435
436 bt_pic_en {
437 gpio-hog;
438 gpios = <51 GPIO_ACTIVE_HIGH>;
439 output-low;
440 };
441
442 bt_pic_rst {
443 gpio-hog;
444 gpios = <78 GPIO_ACTIVE_HIGH>;
445 output-high;
446 };
447
448 bt_pic_cts {
449 gpio-hog;
450 gpios = <87 GPIO_ACTIVE_HIGH>;
451 input;
452 };
453 };
454
455 &usb_phy {
456 status = "okay";
457 };
458
459 &usb0 {
460 status = "okay";
461 };
462
463 &usb1 {
464 status = "okay";
465 vbus-supply = <&vcc5v>;
466 };
Linux® is a registered trademark of Linus Torvalds in the United States and other countries.
TOMOYO® is a registered trademark of NTT DATA CORPORATION.