# 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>;
};
};
...