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+# 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,am625-pruss # for K3 AM62x SoC family
+ - ti,am642-icssg # for K3 AM64x SoC family
+ - ti,am654-icssg # for K3 AM65x SoC family
+ - ti,j721e-icssg # for K3 J721E SoC family
+ - ti,k2g-pruss # for 66AK2G 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.
+ $ref: /schemas/interrupt-controller/ti,pruss-intc.yaml#
+ type: object
+
+ mdio@[a-f0-9]+$:
+ 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.
+ $ref: /schemas/net/ti,davinci-mdio.yaml#
+ type: object
+
+ "^(pru|rtu|txpru)@[0-9a-f]+$":
+ 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.
+ $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>;
+ };
+ };
+
+...