xref: /kernel/linux/linux-6.6/Documentation/devicetree/bindings/soc/ti/ti,pruss.yaml

# 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
    additionalProperties: false

    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>;
        };
    };

...