0001 // SPDX-License-Identifier: GPL-2.0-only
0002 /*
0003 * Device tree for LEGO MINDSTORMS EV3
0004 *
0005 * Copyright (C) 2017 David Lechner <david@lechnology.com>
0006 */
0007
0008 /dts-v1/;
0009 #include <dt-bindings/gpio/gpio.h>
0010 #include <dt-bindings/input/linux-event-codes.h>
0011 #include <dt-bindings/pwm/pwm.h>
0012
0013 #include "da850.dtsi"
0014
0015 / {
0016 compatible = "lego,ev3", "ti,da850";
0017 model = "LEGO MINDSTORMS EV3";
0018
0019 aliases {
0020 serial1 = &serial1;
0021 };
0022
0023 memory@c0000000 {
0024 device_type = "memory";
0025 reg = <0xc0000000 0x04000000>;
0026 };
0027
0028 /*
0029 * The buttons on the EV3 are mapped to keyboard keys.
0030 */
0031 gpio_keys {
0032 compatible = "gpio-keys";
0033 label = "EV3 Brick Buttons";
0034 pinctrl-names = "default";
0035 pinctrl-0 = <&button_bias>;
0036
0037 center {
0038 label = "Center";
0039 linux,code = <KEY_ENTER>;
0040 gpios = <&gpio 29 GPIO_ACTIVE_HIGH>;
0041 };
0042
0043 left {
0044 label = "Left";
0045 linux,code = <KEY_LEFT>;
0046 gpios = <&gpio 102 GPIO_ACTIVE_HIGH>;
0047 };
0048
0049 back {
0050 label = "Back";
0051 linux,code = <KEY_BACKSPACE>;
0052 gpios = <&gpio 106 GPIO_ACTIVE_HIGH>;
0053 };
0054
0055 right {
0056 label = "Right";
0057 linux,code = <KEY_RIGHT>;
0058 gpios = <&gpio 124 GPIO_ACTIVE_HIGH>;
0059 };
0060
0061 down {
0062 label = "Down";
0063 linux,code = <KEY_DOWN>;
0064 gpios = <&gpio 126 GPIO_ACTIVE_HIGH>;
0065 };
0066
0067 up {
0068 label = "Up";
0069 linux,code = <KEY_UP>;
0070 gpios = <&gpio 127 GPIO_ACTIVE_HIGH>;
0071 };
0072 };
0073
0074 /*
0075 * The EV3 has two built-in bi-color LEDs behind the buttons.
0076 */
0077 leds {
0078 compatible = "gpio-leds";
0079
0080 left_green {
0081 label = "led0:green:brick-status";
0082 /* GP6[13] */
0083 gpios = <&gpio 103 GPIO_ACTIVE_HIGH>;
0084 linux,default-trigger = "default-on";
0085 };
0086
0087 right_red {
0088 label = "led1:red:brick-status";
0089 /* GP6[7] */
0090 gpios = <&gpio 108 GPIO_ACTIVE_HIGH>;
0091 linux,default-trigger = "default-on";
0092 };
0093
0094 left_red {
0095 label = "led0:red:brick-status";
0096 /* GP6[12] */
0097 gpios = <&gpio 109 GPIO_ACTIVE_HIGH>;
0098 linux,default-trigger = "default-on";
0099 };
0100
0101 right_green {
0102 label = "led1:green:brick-status";
0103 /* GP6[14] */
0104 gpios = <&gpio 110 GPIO_ACTIVE_HIGH>;
0105 linux,default-trigger = "default-on";
0106 };
0107 };
0108
0109 /*
0110 * The EV3 is powered down by turning off the main 5V supply.
0111 */
0112 gpio-poweroff {
0113 compatible = "gpio-poweroff";
0114 gpios = <&gpio 107 GPIO_ACTIVE_LOW>;
0115 };
0116
0117 sound {
0118 compatible = "pwm-beeper";
0119 pinctrl-names = "default";
0120 pinctrl-0 = <&ehrpwm0b_pins>;
0121 pwms = <&ehrpwm0 1 1000000 0>;
0122 amp-supply = <&>;
0123 };
0124
0125 cvdd: regulator0 {
0126 compatible = "regulator-fixed";
0127 regulator-name = "cvdd";
0128 regulator-min-microvolt = <1200000>;
0129 regulator-max-microvolt = <1200000>;
0130 regulator-always-on;
0131 regulator-boot-on;
0132 };
0133
0134 /*
0135 * This is a 5V current limiting regulator that is shared by USB,
0136 * the sensor (input) ports, the motor (output) ports and the A/DC.
0137 */
0138 vcc5v: regulator1 {
0139 compatible = "regulator-fixed";
0140 regulator-name = "vcc5v";
0141 regulator-min-microvolt = <5000000>;
0142 regulator-max-microvolt = <5000000>;
0143 gpio = <&gpio 101 0>;
0144 over-current-gpios = <&gpio 99 GPIO_ACTIVE_LOW>;
0145 enable-active-high;
0146 regulator-boot-on;
0147 };
0148
0149 /*
0150 * This is a simple voltage divider on VCC5V to provide a 2.5V
0151 * reference signal to the ADC.
0152 */
0153 adc_ref: regulator2 {
0154 compatible = "regulator-fixed";
0155 regulator-name = "adc ref";
0156 regulator-min-microvolt = <2500000>;
0157 regulator-max-microvolt = <2500000>;
0158 regulator-boot-on;
0159 vin-supply = <&vcc5v>;
0160 };
0161
0162 /*
0163 * This is the amplifier for the speaker.
0164 */
0165 amp: regulator3 {
0166 compatible = "regulator-fixed";
0167 regulator-name = "amp";
0168 gpio = <&gpio 111 GPIO_ACTIVE_HIGH>;
0169 enable-active-high;
0170 };
0171
0172 /*
0173 * The EV3 can use 6-AA batteries or a rechargeable Li-ion battery pack.
0174 */
0175 battery {
0176 compatible = "lego,ev3-battery";
0177 io-channels = <&adc 4>, <&adc 3>;
0178 io-channel-names = "voltage", "current";
0179 rechargeable-gpios = <&gpio 136 GPIO_ACTIVE_LOW>;
0180 };
0181
0182 bt_slow_clk: bt-clock {
0183 pinctrl-names = "default";
0184 pinctrl-0 = <&ecap2_pins>, <&bt_clock_bias>;
0185 compatible = "pwm-clock";
0186 #clock-cells = <0>;
0187 clock-frequency = <32768>;
0188 pwms = <&ecap2 0 30518 0>;
0189 };
0190
0191 /* ARM local RAM */
0192 memory@ffff0000 {
0193 compatible = "syscon", "simple-mfd";
0194 reg = <0xffff0000 0x2000>; /* 8k */
0195
0196 /*
0197 * The I2C bootloader looks for this magic value to either
0198 * boot normally or boot into a firmware update mode.
0199 */
0200 reboot-mode {
0201 compatible = "syscon-reboot-mode";
0202 offset = <0x1ffc>;
0203 mode-normal = <0x00000000>;
0204 mode-loader = <0x5555aaaa>;
0205 };
0206 };
0207 };
0208
0209 &ref_clk {
0210 clock-frequency = <24000000>;
0211 };
0212
0213 &cpu {
0214 cpu-supply = <&cvdd>;
0215 };
0216
0217 /* since we have a fixed regulator, we can't run at these points */
0218 &opp_100 {
0219 status = "disabled";
0220 };
0221
0222 &opp_200 {
0223 status = "disabled";
0224 };
0225
0226 /*
0227 * The SoC is actually the 456MHz version, but because of the fixed regulator
0228 * This is the fastest we can go.
0229 */
0230 &opp_375 {
0231 status = "okay";
0232 };
0233
0234 &pmx_core {
0235 status = "okay";
0236
0237 ev3_lcd_pins: pinmux_lcd {
0238 pinctrl-single,bits = <
0239 /* SIMO, CLK */
0240 0x14 0x00100100 0x00f00f00
0241 >;
0242 };
0243 };
0244
0245 &pinconf {
0246 status = "okay";
0247
0248 /* Buttons have external pulldown resistors */
0249 button_bias: button-bias-groups {
0250 disable {
0251 groups = "cp5", "cp24", "cp25", "cp28";
0252 bias-disable;
0253 };
0254 };
0255
0256 bt_clock_bias: bt-clock-bias-groups {
0257 disable {
0258 groups = "cp2";
0259 bias-disable;
0260 };
0261 };
0262
0263 bt_pic_bias: bt-pic-bias-groups {
0264 disable {
0265 groups = "cp20";
0266 bias-disable;
0267 };
0268 };
0269 };
0270
0271 /* Input port 1 */
0272 &serial1 {
0273 status = "okay";
0274 pinctrl-names = "default";
0275 pinctrl-0 = <&serial1_rxtx_pins>;
0276 };
0277
0278 &serial2 {
0279 pinctrl-names = "default";
0280 pinctrl-0 = <&serial2_rxtx_pins>, <&serial2_rtscts_pins>, <&bt_pic_bias>;
0281 status = "okay";
0282
0283 bluetooth {
0284 compatible = "ti,cc2560";
0285 clocks = <&bt_slow_clk>;
0286 clock-names = "ext_clock";
0287 enable-gpios = <&gpio 73 GPIO_ACTIVE_HIGH>;
0288 max-speed = <2000000>;
0289 nvmem-cells = <&bdaddr>;
0290 nvmem-cell-names = "bd-address";
0291 };
0292 };
0293
0294 &rtc0 {
0295 status = "okay";
0296 };
0297
0298 &i2c0 {
0299 status = "okay";
0300 clock-frequency = <400000>;
0301 pinctrl-names = "default";
0302 pinctrl-0 = <&i2c0_pins>;
0303
0304 /*
0305 * EEPROM contains the first stage bootloader, HW ID and Bluetooth MAC.
0306 */
0307 eeprom@50 {
0308 compatible = "microchip,24c128", "atmel,24c128";
0309 pagesize = <64>;
0310 read-only;
0311 reg = <0x50>;
0312 #address-cells = <1>;
0313 #size-cells = <1>;
0314
0315 bdaddr: bdaddr@3f06 {
0316 reg = <0x3f06 0x06>;
0317 };
0318 };
0319 };
0320
0321 &wdt {
0322 status = "okay";
0323 };
0324
0325 &mmc0 {
0326 status = "okay";
0327 max-frequency = <50000000>;
0328 bus-width = <4>;
0329 cd-gpios = <&gpio 94 GPIO_ACTIVE_LOW>;
0330 pinctrl-names = "default";
0331 pinctrl-0 = <&mmc0_pins>;
0332 };
0333
0334 &spi0 {
0335 status = "okay";
0336 pinctrl-names = "default";
0337 pinctrl-0 = <&spi0_pins>, <&spi0_cs0_pin>, <&spi0_cs3_pin>;
0338
0339 flash@0 {
0340 compatible = "n25q128a13", "jedec,spi-nor";
0341 reg = <0>;
0342 spi-max-frequency = <50000000>;
0343 ti,spi-wdelay = <8>;
0344
0345 /* Partitions are based on the official firmware from LEGO */
0346 partitions {
0347 compatible = "fixed-partitions";
0348 #address-cells = <1>;
0349 #size-cells = <1>;
0350
0351 partition@0 {
0352 label = "U-Boot";
0353 reg = <0 0x40000>;
0354 };
0355
0356 partition@40000 {
0357 label = "U-Boot Env";
0358 reg = <0x40000 0x10000>;
0359 };
0360
0361 partition@50000 {
0362 label = "Kernel";
0363 reg = <0x50000 0x200000>;
0364 };
0365
0366 partition@250000 {
0367 label = "Filesystem";
0368 reg = <0x250000 0xa50000>;
0369 };
0370
0371 partition@cb0000 {
0372 label = "Storage";
0373 reg = <0xcb0000 0x2f0000>;
0374 };
0375 };
0376 };
0377
0378 adc: adc@3 {
0379 compatible = "ti,ads7957";
0380 reg = <3>;
0381 #io-channel-cells = <1>;
0382 spi-max-frequency = <1000000>;
0383 ti,spi-wdelay = <63>;
0384 vref-supply = <&adc_ref>;
0385 };
0386 };
0387
0388 &spi1 {
0389 status = "okay";
0390 pinctrl-0 = <&ev3_lcd_pins>;
0391 pinctrl-names = "default";
0392 cs-gpios = <&gpio 44 GPIO_ACTIVE_LOW>;
0393
0394 display@0{
0395 compatible = "lego,ev3-lcd";
0396 reg = <0>;
0397 spi-max-frequency = <10000000>;
0398 a0-gpios = <&gpio 43 GPIO_ACTIVE_HIGH>;
0399 reset-gpios = <&gpio 80 GPIO_ACTIVE_HIGH>;
0400 };
0401 };
0402
0403 &ecap2 {
0404 status = "okay";
0405 };
0406
0407 &ehrpwm0 {
0408 status = "okay";
0409 };
0410
0411 &gpio {
0412 status = "okay";
0413
0414 /* Don't pull down battery voltage adc io channel */
0415 batt_volt_en {
0416 gpio-hog;
0417 gpios = <6 GPIO_ACTIVE_HIGH>;
0418 output-high;
0419 };
0420
0421 /* Don't impede Bluetooth clock signal */
0422 bt_clock_en {
0423 gpio-hog;
0424 gpios = <5 GPIO_ACTIVE_HIGH>;
0425 input;
0426 };
0427
0428 /*
0429 * There is a PIC microcontroller for interfacing with an Apple MFi
0430 * chip. This interferes with normal Bluetooth operation, so we need
0431 * to make sure it is turned off. Note: The publicly available
0432 * schematics from LEGO don't show that these pins are connected to
0433 * anything, but they are present in the source code from LEGO.
0434 */
0435
0436 bt_pic_en {
0437 gpio-hog;
0438 gpios = <51 GPIO_ACTIVE_HIGH>;
0439 output-low;
0440 };
0441
0442 bt_pic_rst {
0443 gpio-hog;
0444 gpios = <78 GPIO_ACTIVE_HIGH>;
0445 output-high;
0446 };
0447
0448 bt_pic_cts {
0449 gpio-hog;
0450 gpios = <87 GPIO_ACTIVE_HIGH>;
0451 input;
0452 };
0453 };
0454
0455 &usb_phy {
0456 status = "okay";
0457 };
0458
0459 &usb0 {
0460 status = "okay";
0461 };
0462
0463 &usb1 {
0464 status = "okay";
0465 vbus-supply = <&vcc5v>;
0466 };
