[PATCH 18/18] board: rockchip: add Theobroma-Systems RK3588 Jaguar SBC

From: Quentin Schulz quentin.schulz@theobroma-systems.com

JAGUAR is a Single-Board Computer (SBC) based around the rk3588 SoC and is targeting Autonomous Mobile Robots (AMR).

It features: * LPDDR4X (up to 16GB) * 1Gbps Ethernet on RJ45 connector (KSZ9031 or KSZ9131) * PCIe 3.0 4-lane on M.2 M-key connector * PCIe 2.1 1-lane on M.2 E-key * USB 2.0 on M.2 E-key * 2x USB3 OTG type-c ports with DP Alt-Mode * USB2 host port * HDMI output * 2x camera connectors, each exposing: * 2-lane MIPI-CSI * 1v2, 1v8, 2v8 power rails * I2C bus * GPIOs * PPS input * CAN * RS485 UART * FAN connector * SD card slot * eMMC (up to 256GB) * RTC backup battery * Companion microcontroller * ISL1208 RTC emulation * AMC6821 PWM emulation * On/off buzzer control * Secure Element * 80-pin Mezzanine connector for daughterboards: * GPIOs * 1Gbps Ethernet * PCIe 2.1 1-lane * 2x 2-lane MIPI-CSI * ADC channel * I2C bus * PWM * UART * SPI * SDIO * CAN * I2S * 1v8, 3v3, 5v0, dc-in (12-24V) power rails

The Device Tree comes from next-20240110 Linux kernel.

Cc: Quentin Schulz foss+uboot@0leil.net Signed-off-by: Quentin Schulz quentin.schulz@theobroma-systems.com --- arch/arm/dts/rk3588-jaguar-u-boot.dtsi | 32 + arch/arm/dts/rk3588-jaguar.dts | 803 +++++++++++++++++++++ arch/arm/mach-rockchip/rk3588/Kconfig | 28 + board/theobroma-systems/jaguar_rk3588/Kconfig | 16 + board/theobroma-systems/jaguar_rk3588/MAINTAINERS | 12 + board/theobroma-systems/jaguar_rk3588/Makefile | 10 + board/theobroma-systems/jaguar_rk3588/README | 118 +++ .../jaguar_rk3588/jaguar_rk3588.c | 52 ++ configs/jaguar-rk3588_defconfig | 115 +++ include/configs/jaguar_rk3588.h | 15 + 10 files changed, 1201 insertions(+)

diff --git a/arch/arm/dts/rk3588-jaguar-u-boot.dtsi b/arch/arm/dts/rk3588-jaguar-u-boot.dtsi new file mode 100644 index 00000000000..59a3f9b41a9 --- /dev/null +++ b/arch/arm/dts/rk3588-jaguar-u-boot.dtsi @@ -0,0 +1,32 @@ +// SPDX-License-Identifier: (GPL-2.0+ OR MIT) +/* + * Copyright (c) 2023 Theobroma Systems Design und Consulting GmbH + */ + +#include "rk3588-u-boot.dtsi" +#include <dt-bindings/pinctrl/rockchip.h> +#include <dt-bindings/input/input.h> +#include <dt-bindings/gpio/gpio.h> +#include <dt-bindings/usb/pd.h> + +/ { + chosen { + u-boot,spl-boot-order = "same-as-spl", &sdhci, &sdmmc; + }; +}; + +&emmc_pwrseq { + bootph-all; +}; + +&emmc_reset { + bootph-all; +}; + +&gpio0 { + bootph-all; +}; + +&gpio2 { + bootph-all; +}; diff --git a/arch/arm/dts/rk3588-jaguar.dts b/arch/arm/dts/rk3588-jaguar.dts new file mode 100644 index 00000000000..4ce70fb75a3 --- /dev/null +++ b/arch/arm/dts/rk3588-jaguar.dts @@ -0,0 +1,803 @@ +// SPDX-License-Identifier: (GPL-2.0+ OR MIT) +/* + * Copyright (c) 2023 Theobroma Systems Design und Consulting GmbH + */ + +/dts-v1/; +#include <dt-bindings/gpio/gpio.h> +#include <dt-bindings/input/input.h> +#include <dt-bindings/leds/common.h> +#include <dt-bindings/pinctrl/rockchip.h> +#include <dt-bindings/usb/pd.h> +#include "rk3588.dtsi" + +/ { + model = "Theobroma Systems RK3588-SBC Jaguar"; + compatible = "tsd,rk3588-jaguar", "rockchip,rk3588"; + + adc-keys { + compatible = "adc-keys"; + io-channels = <&saradc 0>; + io-channel-names = "buttons"; + keyup-threshold-microvolt = <1800000>; + poll-interval = <100>; + + /* Can be controlled through SW2 but also GPIO1 on CP2102 on P20 */ + button-bios-disable { + label = "BIOS_DISABLE"; + linux,code = <KEY_VENDOR>; + press-threshold-microvolt = <0>; + }; + }; + + aliases { + ethernet0 = &gmac0; + mmc0 = &sdhci; + mmc1 = &sdmmc; + rtc0 = &rtc_twi; + }; + + chosen { + stdout-path = "serial2:115200n8"; + }; + + /* DCIN is 12-24V but standard is 12V */ + dc_12v: dc-12v-regulator { + compatible = "regulator-fixed"; + regulator-name = "dc_12v"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <12000000>; + regulator-max-microvolt = <12000000>; + }; + + emmc_pwrseq: emmc-pwrseq { + compatible = "mmc-pwrseq-emmc"; + pinctrl-0 = <&emmc_reset>; + pinctrl-names = "default"; + reset-gpios = <&gpio2 RK_PA3 GPIO_ACTIVE_HIGH>; + }; + + leds { + compatible = "gpio-leds"; + pinctrl-names = "default"; + pinctrl-0 = <&led1_pin>; + status = "okay"; + + /* LED1 on PCB */ + led-1 { + gpios = <&gpio1 RK_PD4 GPIO_ACTIVE_HIGH>; + function = LED_FUNCTION_HEARTBEAT; + linux,default-trigger = "heartbeat"; + color = <LED_COLOR_ID_AMBER>; + }; + }; + + pps { + compatible = "pps-gpio"; + gpios = <&gpio0 RK_PD5 GPIO_ACTIVE_HIGH>; + }; + + vcc_1v1_nldo_s3: vcc-1v1-nldo-s3-regulator { + compatible = "regulator-fixed"; + regulator-name = "vcc_1v1_nldo_s3"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <1100000>; + regulator-max-microvolt = <1100000>; + vin-supply = <&vcc5v0_sys>; + }; + + vcc_1v2_s3: vcc-1v2-s3-regulator { + compatible = "regulator-fixed"; + regulator-name = "vcc_1v2_s3"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <1200000>; + regulator-max-microvolt = <1200000>; + vin-supply = <&vcc5v0_sys>; + }; + + /* Exposed on P14 and P15 */ + vcc_2v8_s3: vcc-2v8-s3-regulator { + compatible = "regulator-fixed"; + regulator-name = "vcc_2v8_s3"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <2800000>; + regulator-max-microvolt = <2800000>; + vin-supply = <&vcc_3v3_s3>; + }; + + vcc_5v0_usb_a: vcc-5v0-usb-a-regulator { + compatible = "regulator-fixed"; + regulator-name = "usb_a_vcc"; + regulator-min-microvolt = <5000000>; + regulator-max-microvolt = <5000000>; + vin-supply = <&vcc5v0_sys>; + gpio = <&gpio1 RK_PB4 GPIO_ACTIVE_HIGH>; + enable-active-high; + }; + + vcc_5v0_usb_c1: vcc-5v0-usb-c1-regulator { + compatible = "regulator-fixed"; + regulator-name = "5v_usbc1"; + regulator-min-microvolt = <5000000>; + regulator-max-microvolt = <5000000>; + vin-supply = <&vcc5v0_usb>; + gpio = <&gpio4 RK_PB5 GPIO_ACTIVE_HIGH>; + enable-active-high; + }; + + vcc_5v0_usb_c2: vcc-5v0-usb-c2-regulator { + compatible = "regulator-fixed"; + regulator-name = "5v_usbc2"; + regulator-min-microvolt = <5000000>; + regulator-max-microvolt = <5000000>; + vin-supply = <&vcc5v0_usb>; + gpio = <&gpio4 RK_PB6 GPIO_ACTIVE_HIGH>; + enable-active-high; + }; + + vcc3v3_mdot2: vcc3v3-mdot2-regulator { + compatible = "regulator-fixed"; + regulator-name = "vcc3v3_mdot2"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <3300000>; + regulator-max-microvolt = <3300000>; + vin-supply = <&dc_12v>; + }; + + vcc5v0_sys: vcc5v0-sys-regulator { + compatible = "regulator-fixed"; + regulator-name = "vcc5v0_sys"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <5000000>; + regulator-max-microvolt = <5000000>; + vin-supply = <&dc_12v>; + }; + + vcc5v0_usb: vcc5v0-usb-regulator { + compatible = "regulator-fixed"; + regulator-name = "vcc5v0_usb"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <5000000>; + regulator-max-microvolt = <5000000>; + vin-supply = <&vcc5v0_sys>; + }; +}; + +&combphy1_ps { + status = "okay"; +}; + +&cpu_b0 { + cpu-supply = <&vdd_cpu_big0_s0>; +}; + +&cpu_b1 { + cpu-supply = <&vdd_cpu_big0_s0>; +}; + +&cpu_b2 { + cpu-supply = <&vdd_cpu_big1_s0>; +}; + +&cpu_b3 { + cpu-supply = <&vdd_cpu_big1_s0>; +}; + +&cpu_l0 { + cpu-supply = <&vdd_cpu_lit_s0>; +}; + +&cpu_l1 { + cpu-supply = <&vdd_cpu_lit_s0>; +}; + +&cpu_l2 { + cpu-supply = <&vdd_cpu_lit_s0>; +}; + +&cpu_l3 { + cpu-supply = <&vdd_cpu_lit_s0>; +}; + +&gmac0 { + clock_in_out = "output"; + phy-handle = <&rgmii_phy>; + phy-mode = "rgmii"; + phy-supply = <&vcc_1v2_s3>; + pinctrl-names = "default"; + pinctrl-0 = <&gmac0_miim + &gmac0_rx_bus2 + &gmac0_tx_bus2 + &gmac0_rgmii_clk + &gmac0_rgmii_bus + &eth0_pins + &eth_reset>; + tx_delay = <0x10>; + rx_delay = <0x10>; + snps,reset-gpio = <&gpio4 RK_PC3 GPIO_ACTIVE_LOW>; + snps,reset-active-low; + snps,reset-delays-us = <0 10000 100000>; + + status = "okay"; +}; + +&gpio1 { + mdot2e-w-disable1-n-hog { + gpios = <RK_PB1 GPIO_ACTIVE_LOW>; + output-low; + line-name = "m.2 E-key W_DISABLE1#"; + gpio-hog; + }; +}; + +&gpio4 { + mdot2e-w-disable2-n-hog { + gpios = <RK_PC1 GPIO_ACTIVE_LOW>; + output-low; + line-name = "m.2 E-key W_DISABLE2#"; + gpio-hog; + }; +}; + +&i2c0 { + pinctrl-0 = <&i2c0m2_xfer>; + status = "okay"; + + fan@18 { + compatible = "ti,amc6821"; + reg = <0x18>; + }; + + vdd_npu_s0: regulator@42 { + compatible = "rockchip,rk8602"; + reg = <0x42>; + fcs,suspend-voltage-selector = <1>; + regulator-name = "vdd_npu_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <550000>; + regulator-max-microvolt = <950000>; + regulator-ramp-delay = <2300>; + vin-supply = <&vcc5v0_sys>; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; + + vdd_cpu_big1_s0: regulator@43 { + compatible = "rockchip,rk8603", "rockchip,rk8602"; + reg = <0x43>; + fcs,suspend-voltage-selector = <1>; + regulator-name = "vdd_cpu_big1_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <550000>; + regulator-max-microvolt = <1050000>; + regulator-ramp-delay = <2300>; + vin-supply = <&vcc5v0_sys>; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; + + rtc_twi: rtc@6f { + compatible = "isil,isl1208"; + reg = <0x6f>; + }; +}; + +&i2c1 { + pinctrl-0 = <&i2c1m4_xfer>; +}; + +&i2c6 { + pinctrl-0 = <&i2c6m4_xfer>; +}; + +&i2c7 { + status = "okay"; + + /* SE050 Secure Element at 0x48; GPIO1_A4 for enable pin */ + + /* Also on 0x55 */ + eeprom@54 { + compatible = "st,24c04", "atmel,24c04"; + reg = <0x54>; + pagesize = <16>; + vcc-supply = <&vcc_3v3_s3>; + }; +}; + +&i2c8 { + pinctrl-0 = <&i2c8m2_xfer>; + status = "okay"; + + vdd_cpu_big0_s0: regulator@42 { + compatible = "rockchip,rk8602"; + reg = <0x42>; + fcs,suspend-voltage-selector = <1>; + regulator-name = "vdd_cpu_big0_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <550000>; + regulator-max-microvolt = <1050000>; + regulator-ramp-delay = <2300>; + vin-supply = <&vcc5v0_sys>; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; +}; + +&mdio0 { + rgmii_phy: ethernet-phy@6 { + /* KSZ9031 or KSZ9131 */ + compatible = "ethernet-phy-ieee802.3-c22"; + reg = <0x6>; + clocks = <&cru REFCLKO25M_ETH0_OUT>; + }; +}; + +&pcie2x1l0 { + reset-gpios = <&gpio4 RK_PB3 GPIO_ACTIVE_HIGH>; /* WIFI_PERST0# */ + vpcie3v3-supply = <&vcc3v3_mdot2>; + status = "okay"; +}; + +&pinctrl { + emmc { + emmc_reset: emmc-reset { + rockchip,pins = <2 RK_PA3 RK_FUNC_GPIO &pcfg_pull_none>; + }; + }; + + ethernet { + eth_reset: eth-reset { + rockchip,pins = <4 RK_PC3 RK_FUNC_GPIO &pcfg_pull_none>; + }; + }; + + leds { + led1_pin: led1-pin { + rockchip,pins = <1 RK_PD4 RK_FUNC_GPIO &pcfg_pull_none>; + }; + }; +}; + +&saradc { + vref-supply = <&vcc_1v8_s0>; + status = "okay"; +}; + +&sdhci { + bus-width = <8>; + cap-mmc-highspeed; + mmc-ddr-1_8v; + mmc-hs200-1_8v; + mmc-hs400-1_8v; + mmc-hs400-enhanced-strobe; + mmc-pwrseq = <&emmc_pwrseq>; + no-sdio; + no-sd; + non-removable; + pinctrl-names = "default"; + pinctrl-0 = <&emmc_bus8 &emmc_cmd &emmc_clk &emmc_data_strobe>; + supports-cqe; + vmmc-supply = <&vcc_3v3_s3>; + vqmmc-supply = <&vcc_1v8_s3>; + status = "okay"; +}; + +&sdmmc { + broken-cd; + bus-width = <4>; + cap-sd-highspeed; + disable-wp; + max-frequency = <150000000>; + pinctrl-names = "default"; + pinctrl-0 = <&sdmmc_bus4 &sdmmc_cmd &sdmmc_clk>; + sd-uhs-sdr12; + sd-uhs-sdr25; + sd-uhs-sdr50; + sd-uhs-ddr50; + sd-uhs-sdr104; + vmmc-supply = <&vcc_3v3_s3>; + vqmmc-supply = <&vccio_sd_s0>; + status = "okay"; +}; + +&spi2 { + assigned-clocks = <&cru CLK_SPI2>; + assigned-clock-rates = <200000000>; + num-cs = <1>; + pinctrl-names = "default"; + pinctrl-0 = <&spi2m2_cs0 &spi2m2_pins>; + status = "okay"; + + pmic@0 { + compatible = "rockchip,rk806"; + reg = <0x0>; + interrupt-parent = <&gpio0>; + interrupts = <7 IRQ_TYPE_LEVEL_LOW>; + gpio-controller; + #gpio-cells = <2>; + pinctrl-names = "default"; + pinctrl-0 = <&pmic_pins>, <&rk806_dvs1_null>, + <&rk806_dvs2_null>, <&rk806_dvs3_null>; + spi-max-frequency = <1000000>; + system-power-controller; + vcc1-supply = <&vcc5v0_sys>; + vcc2-supply = <&vcc5v0_sys>; + vcc3-supply = <&vcc5v0_sys>; + vcc4-supply = <&vcc5v0_sys>; + vcc5-supply = <&vcc5v0_sys>; + vcc6-supply = <&vcc5v0_sys>; + vcc7-supply = <&vcc5v0_sys>; + vcc8-supply = <&vcc5v0_sys>; + vcc9-supply = <&vcc5v0_sys>; + vcc10-supply = <&vcc5v0_sys>; + vcc11-supply = <&vcc_2v0_pldo_s3>; + vcc12-supply = <&vcc5v0_sys>; + vcc13-supply = <&vcc_1v1_nldo_s3>; + vcc14-supply = <&vcc_1v1_nldo_s3>; + vcca-supply = <&vcc5v0_sys>; + + rk806_dvs1_null: dvs1-null-pins { + pins = "gpio_pwrctrl2"; + function = "pin_fun0"; + }; + + rk806_dvs2_null: dvs2-null-pins { + pins = "gpio_pwrctrl2"; + function = "pin_fun0"; + }; + + rk806_dvs3_null: dvs3-null-pins { + pins = "gpio_pwrctrl3"; + function = "pin_fun0"; + }; + + regulators { + vdd_gpu_s0: dcdc-reg1 { + regulator-boot-on; + regulator-min-microvolt = <550000>; + regulator-max-microvolt = <950000>; + regulator-ramp-delay = <12500>; + regulator-name = "vdd_gpu_s0"; + regulator-enable-ramp-delay = <400>; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; + + vdd_cpu_lit_s0: dcdc-reg2 { + regulator-name = "vdd_cpu_lit_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <550000>; + regulator-max-microvolt = <950000>; + regulator-ramp-delay = <12500>; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; + + vdd_log_s0: dcdc-reg3 { + regulator-name = "vdd_log_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <675000>; + regulator-max-microvolt = <750000>; + regulator-ramp-delay = <12500>; + + regulator-state-mem { + regulator-off-in-suspend; + regulator-suspend-microvolt = <750000>; + }; + }; + + vdd_vdenc_s0: dcdc-reg4 { + regulator-name = "vdd_vdenc_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <550000>; + regulator-max-microvolt = <950000>; + regulator-ramp-delay = <12500>; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; + + vdd_ddr_s0: dcdc-reg5 { + regulator-name = "vdd_ddr_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <675000>; + regulator-max-microvolt = <900000>; + regulator-ramp-delay = <12500>; + + regulator-state-mem { + regulator-off-in-suspend; + regulator-suspend-microvolt = <850000>; + }; + }; + + vdd2_ddr_s3: dcdc-reg6 { + regulator-name = "vdd2_ddr_s3"; + regulator-always-on; + regulator-boot-on; + + regulator-state-mem { + regulator-on-in-suspend; + }; + }; + + vcc_2v0_pldo_s3: dcdc-reg7 { + regulator-name = "vdd_2v0_pldo_s3"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <2000000>; + regulator-max-microvolt = <2000000>; + regulator-ramp-delay = <12500>; + + regulator-state-mem { + regulator-on-in-suspend; + regulator-suspend-microvolt = <2000000>; + }; + }; + + vcc_3v3_s3: dcdc-reg8 { + regulator-name = "vcc_3v3_s3"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <3300000>; + regulator-max-microvolt = <3300000>; + + regulator-state-mem { + regulator-on-in-suspend; + regulator-suspend-microvolt = <3300000>; + }; + }; + + vddq_ddr_s0: dcdc-reg9 { + regulator-name = "vddq_ddr_s0"; + regulator-always-on; + regulator-boot-on; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; + + vcc_1v8_s3: dcdc-reg10 { + regulator-name = "vcc_1v8_s3"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <1800000>; + regulator-max-microvolt = <1800000>; + + regulator-state-mem { + regulator-on-in-suspend; + regulator-suspend-microvolt = <1800000>; + }; + }; + + vcca_1v8_s0: pldo-reg1 { + regulator-name = "vcca_1v8_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <1800000>; + regulator-max-microvolt = <1800000>; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; + + vcc_1v8_s0: pldo-reg2 { + regulator-name = "vcc_1v8_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <1800000>; + regulator-max-microvolt = <1800000>; + + regulator-state-mem { + regulator-off-in-suspend; + regulator-suspend-microvolt = <1800000>; + }; + }; + + vdda_1v2_s0: pldo-reg3 { + regulator-name = "vdda_1v2_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <1200000>; + regulator-max-microvolt = <1200000>; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; + + vcca_3v3_s0: pldo-reg4 { + regulator-name = "vcca_3v3_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <3300000>; + regulator-max-microvolt = <3300000>; + regulator-ramp-delay = <12500>; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; + + vccio_sd_s0: pldo-reg5 { + regulator-name = "vccio_sd_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <1800000>; + regulator-max-microvolt = <3300000>; + regulator-ramp-delay = <12500>; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; + + pldo6_s3: pldo-reg6 { + regulator-name = "pldo6_s3"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <1800000>; + regulator-max-microvolt = <1800000>; + + regulator-state-mem { + regulator-on-in-suspend; + regulator-suspend-microvolt = <1800000>; + }; + }; + + vdd_0v75_s3: nldo-reg1 { + regulator-name = "vdd_0v75_s3"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <750000>; + regulator-max-microvolt = <750000>; + + regulator-state-mem { + regulator-on-in-suspend; + regulator-suspend-microvolt = <750000>; + }; + }; + + vdda_ddr_pll_s0: nldo-reg2 { + regulator-name = "vdda_ddr_pll_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <850000>; + regulator-max-microvolt = <850000>; + + regulator-state-mem { + regulator-off-in-suspend; + regulator-suspend-microvolt = <850000>; + }; + }; + + vdda_0v75_s0: nldo-reg3 { + regulator-name = "vdda_0v75_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <750000>; + regulator-max-microvolt = <750000>; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; + + vdda_0v85_s0: nldo-reg4 { + regulator-name = "vdda_0v85_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <850000>; + regulator-max-microvolt = <850000>; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; + + vdd_0v75_s0: nldo-reg5 { + regulator-name = "vdd_0v75_s0"; + regulator-always-on; + regulator-boot-on; + regulator-min-microvolt = <750000>; + regulator-max-microvolt = <750000>; + + regulator-state-mem { + regulator-off-in-suspend; + }; + }; + }; + }; +}; + +&tsadc { + status = "okay"; +}; + +&u2phy2 { + status = "okay"; +}; + +&u2phy2_host { + phy-supply = <&vcc_5v0_usb_a>; + status = "okay"; +}; + +&u2phy3 { + status = "okay"; +}; + +&u2phy3_host { + status = "okay"; +}; + +/* Mule-ATtiny debug UART; typically baudrate 9600 */ +&uart0 { + pinctrl-0 = <&uart0m0_xfer>; + status = "okay"; +}; + +/* Main debug interface on P20 micro-USB B port and P21 header */ +&uart2 { + pinctrl-0 = <&uart2m0_xfer>; + status = "okay"; +}; + +/* RS485 on P19 */ +&uart3 { + pinctrl-0 = <&uart3m2_xfer &uart3_rtsn>; + linux,rs485-enabled-at-boot-time; + status = "okay"; +}; + +/* Mule-ATtiny UPDI flashing UART */ +&uart7 { + pinctrl-0 = <&uart7m0_xfer>; + status = "okay"; +}; + +/* host0 on P10 USB-A */ +&usb_host0_ehci { + status = "okay"; +}; + +/* host0 on P10 USB-A */ +&usb_host0_ohci { + status = "okay"; +}; + +/* host1 on M.2 E-key */ +&usb_host1_ehci { + status = "okay"; +}; + +/* host1 on M.2 E-key */ +&usb_host1_ohci { + status = "okay"; +}; diff --git a/arch/arm/mach-rockchip/rk3588/Kconfig b/arch/arm/mach-rockchip/rk3588/Kconfig index a2193fbd41f..34adb91335c 100644 --- a/arch/arm/mach-rockchip/rk3588/Kconfig +++ b/arch/arm/mach-rockchip/rk3588/Kconfig @@ -6,6 +6,33 @@ config TARGET_EVB_RK3588 help RK3588 EVB is a evaluation board for Rockchp RK3588.

+config TARGET_JAGUAR_RK3588 + bool "Theobroma Systems SBC-RK3588-AMR (Jaguar)" + select BOARD_LATE_INIT + help + The SBC-RK3588-AMR is a Single Board Computer designed by + Theobroma Systems for autonomous mobile robots. + + It provides the following features: + * up to 32GB LDDR4 + * up to 128GB on-module eMMC (with 8-bit 1.8V interface) + * SD card + * Gigabit Ethernet + * 1x USB-A 2.0 host + * PCIe M.2 2230 Key M (Gen 2 1-lane) for WiFI+BT + * PCIe M.2 2280 Key M (Gen 3 4-lane) for NVMe + * CAN + * RS485 UART + * 2x USB Type-C 3.1 host/device + * HDMI output + * 2x camera connectors (MIPI-CSI 2-lane + I2C/SPI for IMUs + GPIOs) + * EEPROM + * Secure Element + * ATtiny companion controller implementing: + - low-power RTC functionality (ISL1208 emulation) + - fan controller (AMC6821 emulation) + * 80-pin Mezzanine connector + config TARGET_NANOPCT6_RK3588 bool "FriendlyElec NanoPC-T6 RK3588 board" select BOARD_LATE_INIT @@ -174,5 +201,6 @@ source board/turing/turing-rk1-rk3588/Kconfig source board/rockchip/evb_rk3588/Kconfig source board/radxa/rock5a-rk3588s/Kconfig source board/radxa/rock5b-rk3588/Kconfig +source board/theobroma-systems/jaguar_rk3588/Kconfig

endif diff --git a/board/theobroma-systems/jaguar_rk3588/Kconfig b/board/theobroma-systems/jaguar_rk3588/Kconfig new file mode 100644 index 00000000000..0ff417af4dd --- /dev/null +++ b/board/theobroma-systems/jaguar_rk3588/Kconfig @@ -0,0 +1,16 @@ +if TARGET_JAGUAR_RK3588 + +config SYS_BOARD + default "jaguar_rk3588" + +config SYS_VENDOR + default "theobroma-systems" + +config SYS_CONFIG_NAME + default "jaguar_rk3588" + +config BOARD_SPECIFIC_OPTIONS # dummy + def_bool y + select ENV_IS_NOWHERE + +endif diff --git a/board/theobroma-systems/jaguar_rk3588/MAINTAINERS b/board/theobroma-systems/jaguar_rk3588/MAINTAINERS new file mode 100644 index 00000000000..9eb6effe5d4 --- /dev/null +++ b/board/theobroma-systems/jaguar_rk3588/MAINTAINERS @@ -0,0 +1,12 @@ +JAGUAR-RK3588 (SBC-RK3588-AMR Single Board Computer) +M: Klaus Goger klaus.goger@theobroma-systems.com +M: Quentin Schulz quentin.schulz@theobroma-systems.com +M: Heiko Stuebner heiko.stuebner@cherry.de +S: Maintained +F: board/theobroma-systems/jaguar_rk3588 +F: board/theobroma-systems/common +F: include/configs/jaguar_rk3588.h +F: arch/arm/dts/rk3588-jaguar* +F: configs/jaguar-rk3588_defconfig +W: https://theobroma-systems.com/product/jaguar-sbc-rk3588/ +T: git git://git.theobroma-systems.com/jaguar-u-boot.git diff --git a/board/theobroma-systems/jaguar_rk3588/Makefile b/board/theobroma-systems/jaguar_rk3588/Makefile new file mode 100644 index 00000000000..532aab01532 --- /dev/null +++ b/board/theobroma-systems/jaguar_rk3588/Makefile @@ -0,0 +1,10 @@ +# +# Copyright (c) 2023 Theobroma Systems Design und Consulting GmbH +# +# SPDX-License-Identifier: GPL-2.0+ +# + +obj-y += jaguar_rk3588.o +ifneq ($(CONFIG_SPL_BUILD),y) +obj-y += ../common/common.o +endif diff --git a/board/theobroma-systems/jaguar_rk3588/README b/board/theobroma-systems/jaguar_rk3588/README new file mode 100644 index 00000000000..bb0fd11ed8c --- /dev/null +++ b/board/theobroma-systems/jaguar_rk3588/README @@ -0,0 +1,118 @@ +Here is the step-by-step to boot to U-Boot on SBC-RK3588-AMR + +Get the TF-A and DDR init (TPL) binaries +======================================== + + > git clone https://github.com/rockchip-linux/rkbin + > cd rkbin + > export RKBIN=$(pwd) + > export BL31=$RKBIN/bin/rk35/rk3588_bl31_v1.38.elf + > export ROCKCHIP_TPL=$RKBIN/bin/rk35/rk3588_ddr_lp4_2112MHz_lp5_2736MHz_v1.11.bin + > sed -i 's/uart baudrate=/uart baudrate=115200/' tools/ddrbin_param.txt + > ./tools/ddrbin_tool tools/ddrbin_param.txt "$ROCKCHIP_TPL" + > ./tools/boot_merger RKBOOT/RK3588MINIALL.ini + > export RKDB=$RKBIN/rk3588_spl_loader_v1.11.112.bin + +Configure U-Boot +================ + + > cd ../u-boot + > make CROSS_COMPILE=aarch64-linux-gnu- jaguar-rk3588_defconfig all + +Flash the image +=============== + +Copy u-boot-rockchip.bin to offset 32k for SD/eMMC. + +SD-Card +------- + + > dd if=u-boot-rockchip.bin of=/dev/sdb seek=64 + +eMMC +---- + +rkdeveloptool allows to flash the on-board eMMC via the USB OTG interface with +help of the Rockchip loader binary. + +To enter the USB flashing mode, remove any SD card, insert a USB-C cable in the +DOWNLOAD USB Type-C connector (P11) and then power cycle or reset the board +while pressing the BIOS (SW2) button. A new USB device should have appeared on +your PC (check with `lsusb -d 2207:350b`). + +To flash U-Boot on the eMMC with rkdeveloptool: + + > git clone https://github.com/rockchip-linux/rkdeveloptool + > cd rkdeveloptool + > autoreconf -i && CPPFLAGS=-Wno-format-truncation ./configure && make + > ./rkdeveloptool db "$RKDB" + > ./rkdeveloptool wl 64 ../u-boot-rockchip.bin + + +If everything went according to plan, you should see the following +output on P20 micro-USB port (baudrate 115200): + +DDR V1.11 f1474cf52f cym 23/05/09-11:02:36 +LPDDR4X, 2112MHz +channel[0] BW=16 Col=10 Bk=8 CS0 Row=16 CS=1 Die BW=16 Size=1024MB +channel[1] BW=16 Col=10 Bk=8 CS0 Row=16 CS=1 Die BW=16 Size=1024MB +channel[2] BW=16 Col=10 Bk=8 CS0 Row=16 CS=1 Die BW=16 Size=1024MB +channel[3] BW=16 Col=10 Bk=8 CS0 Row=16 CS=1 Die BW=16 Size=1024MB +Manufacturer ID:0x1 +CH0 RX Vref:27.1%, TX Vref:21.8%,0.0% +CH1 RX Vref:30.5%, TX Vref:20.8%,0.0% +CH2 RX Vref:27.9%, TX Vref:21.8%,0.0% +CH3 RX Vref:31.4%, TX Vref:19.8%,0.0% +change to F1: 528MHz +change to F2: 1068MHz +change to F3: 1560MHz +change to F0: 2112MHz +out + +U-Boot SPL 2024.01-00028-gbe8ef1601aa-dirty (Jan 17 2024 - 19:56:41 +0100) +Trying to boot from MMC1 +## Checking hash(es) for config config-1 ... OK +## Checking hash(es) for Image atf-1 ... sha256+ OK +## Checking hash(es) for Image u-boot ... sha256+ OK +## Checking hash(es) for Image fdt-1 ... sha256+ OK +## Checking hash(es) for Image atf-2 ... sha256+ OK +## Checking hash(es) for Image atf-3 ... sha256+ OK +INFO: Preloader serial: 2 +NOTICE: BL31: v2.3():v2.3-589-g3389cfdda:derrick.huang +NOTICE: BL31: Built : 10:14:29, May 9 2023 +INFO: spec: 0x1 +INFO: ext 32k is not valid +INFO: ddr: stride-en 4CH +INFO: GICv3 without legacy support detected. +INFO: ARM GICv3 driver initialized in EL3 +INFO: valid_cpu_msk=0xff bcore0_rst = 0x0, bcore1_rst = 0x0 +INFO: system boots from cpu-hwid-0 +INFO: idle_st=0x21fff, pd_st=0x11fff9, repair_st=0xfff70001 +INFO: dfs DDR fsp_params[0].freq_mhz= 2112MHz +INFO: dfs DDR fsp_params[1].freq_mhz= 528MHz +INFO: dfs DDR fsp_params[2].freq_mhz= 1068MHz +INFO: dfs DDR fsp_params[3].freq_mhz= 1560MHz +INFO: BL31: Initialising Exception Handling Framework +INFO: BL31: Initializing runtime services +WARNING: No OPTEE provided by BL2 boot loader, Booting device without OPTEE initialization. SMC`s destined for OPTEE will return SMC_UNK +ERROR: Error initializing runtime service opteed_fast +INFO: BL31: Preparing for EL3 exit to normal world +INFO: Entry point address = 0xa00000 +INFO: SPSR = 0x3c9 + + +U-Boot 2024.01-00028-gbe8ef1601aa-dirty (Jan 17 2024 - 19:56:41 +0100) + +Model: Theobroma Systems RK3588-SBC Jaguar +DRAM: 4 GiB (effective 3.7 GiB) +Core: 348 devices, 29 uclasses, devicetree: separate +MMC: mmc@fe2c0000: 1, mmc@fe2e0000: 0 +Loading Environment from MMC... *** Warning - bad CRC, using default environment + +In: serial@feb50000 +Out: serial@feb50000 +Err: serial@feb50000 +Model: Theobroma Systems RK3588-SBC Jaguar +Net: eth0: ethernet@fe1b0000 +Hit any key to stop autoboot: 0 +=> diff --git a/board/theobroma-systems/jaguar_rk3588/jaguar_rk3588.c b/board/theobroma-systems/jaguar_rk3588/jaguar_rk3588.c new file mode 100644 index 00000000000..3f96c4c500f --- /dev/null +++ b/board/theobroma-systems/jaguar_rk3588/jaguar_rk3588.c @@ -0,0 +1,52 @@ +// SPDX-License-Identifier: GPL-2.0+ +/* + * (C) Copyright 2023 Theobroma Systems Design und Consulting GmbH + */ + +#include <asm/types.h> +#include <asm-generic/u-boot.h> +#include <phy.h> +#include <eth_phy.h> +#include <dm/uclass-id.h> +#include <dm/device.h> +#include <asm/arch-rockchip/cru_rk3588.h> +#include <asm/arch-rockchip/ioc_rk3588.h> +#include <asm/arch-rockchip/hardware.h> +#include "../common/common.h" + +#define GPIO2C3_SEL_OFFSET 12 +#define GPIO2C3_SEL_MASK GENMASK(15, GPIO2C3_SEL_OFFSET) +#define GPIO2C3_ETH0_REFCLKO_25M (0x1 << GPIO2C3_SEL_OFFSET) + +#define REFCLKO25M_ETH0_OUT_SEL_MASK BIT(15) +#define REFCLKO25M_ETH0_OUT_SEL_CPLL BIT(15) +#define REFCLKO25M_ETH0_OUT_DIV_OFFSET 8 +#define REFCLKO25M_ETH0_OUT_DIV_MASK GENMASK(14, REFCLKO25M_ETH0_OUT_DIV_OFFSET) +#define REFCLKO25M_ETH0_OUT_DIV(x) ((((x) - 1) << REFCLKO25M_ETH0_OUT_DIV_OFFSET) & REFCLKO25M_ETH0_OUT_DIV_MASK) + +#define REFCLKO25M_ETH0_OUT_EN BIT(4) + +void setup_eth0refclko(void) +{ + /* Configure and enable ETH0_REFCLKO_25MHz */ + static struct rk3588_bus_ioc * const bus_ioc = (void *)BUS_IOC_BASE; + static struct rk3588_cru * const cru = (void *)CRU_BASE; + + /* 1. Pinmux */ + rk_clrsetreg(&bus_ioc->gpio2c_iomux_sel_l, GPIO2C3_SEL_MASK, GPIO2C3_ETH0_REFCLKO_25M); + /* 2. Parent clock selection + divider => CPLL (1.5GHz) / 60 => 25MHz */ + rk_clrsetreg(&cru->clksel_con[15], + REFCLKO25M_ETH0_OUT_SEL_MASK | REFCLKO25M_ETH0_OUT_DIV_MASK, + REFCLKO25M_ETH0_OUT_SEL_CPLL | REFCLKO25M_ETH0_OUT_DIV(60)); + /* 3. Enable clock */ + rk_clrreg(&cru->clkgate_con[5], REFCLKO25M_ETH0_OUT_EN); +} + +int rockchip_early_misc_init_r(void) +{ + setup_boottargets(); + + setup_eth0refclko(); + + return 0; +} diff --git a/configs/jaguar-rk3588_defconfig b/configs/jaguar-rk3588_defconfig new file mode 100644 index 00000000000..ab550f16263 --- /dev/null +++ b/configs/jaguar-rk3588_defconfig @@ -0,0 +1,115 @@ +CONFIG_ARM=y +CONFIG_SKIP_LOWLEVEL_INIT=y +CONFIG_COUNTER_FREQUENCY=24000000 +CONFIG_ARCH_ROCKCHIP=y +CONFIG_TEXT_BASE=0x00a00000 +CONFIG_SPL_GPIO=y +CONFIG_SPL_LIBCOMMON_SUPPORT=y +CONFIG_SPL_LIBGENERIC_SUPPORT=y +CONFIG_NR_DRAM_BANKS=2 +CONFIG_HAS_CUSTOM_SYS_INIT_SP_ADDR=y +CONFIG_CUSTOM_SYS_INIT_SP_ADDR=0xc00000 +CONFIG_SF_DEFAULT_SPEED=24000000 +CONFIG_SF_DEFAULT_MODE=0x2000 +CONFIG_ENV_SIZE=0x1f000 +CONFIG_DEFAULT_DEVICE_TREE="rk3588-jaguar" +CONFIG_ROCKCHIP_RK3588=y +CONFIG_SPL_ROCKCHIP_COMMON_BOARD=y +CONFIG_SPL_SERIAL=y +CONFIG_SPL_STACK_R_ADDR=0x600000 +CONFIG_TARGET_JAGUAR_RK3588=y +CONFIG_SPL_STACK=0x400000 +CONFIG_DEBUG_UART_BASE=0xfeb50000 +CONFIG_DEBUG_UART_CLOCK=24000000 +CONFIG_SYS_LOAD_ADDR=0xc00800 +CONFIG_DEBUG_UART=y +CONFIG_FIT=y +CONFIG_FIT_VERBOSE=y +CONFIG_SPL_FIT_SIGNATURE=y +CONFIG_SPL_LOAD_FIT=y +# CONFIG_BOOTMETH_VBE is not set +CONFIG_LEGACY_IMAGE_FORMAT=y +CONFIG_DEFAULT_FDT_FILE="rockchip/rk3588-jaguar.dtb" +# CONFIG_DISPLAY_CPUINFO is not set +CONFIG_DISPLAY_BOARDINFO_LATE=y +CONFIG_CYCLIC=y +CONFIG_SPL_MAX_SIZE=0x40000 +CONFIG_SPL_PAD_TO=0x7f8000 +CONFIG_SPL_HAS_BSS_LINKER_SECTION=y +CONFIG_SPL_BSS_START_ADDR=0x4000000 +CONFIG_SPL_BSS_MAX_SIZE=0x4000 +# CONFIG_SPL_RAW_IMAGE_SUPPORT is not set +# CONFIG_SPL_SHARES_INIT_SP_ADDR is not set +CONFIG_SPL_STACK_R=y +CONFIG_SPL_ATF=y +# CONFIG_BOOTM_NETBSD is not set +# CONFIG_BOOTM_PLAN9 is not set +# CONFIG_BOOTM_RTEMS is not set +# CONFIG_BOOTM_VXWORKS is not set +# CONFIG_CMD_ELF is not set +CONFIG_CMD_GPIO=y +CONFIG_CMD_GPT=y +CONFIG_CMD_I2C=y +# CONFIG_CMD_LOADB is not set +# CONFIG_CMD_LOADS is not set +CONFIG_CMD_MMC=y +# CONFIG_CMD_SF is not set +CONFIG_CMD_USB=y +# CONFIG_CMD_SETEXPR is not set +# CONFIG_CMD_MII is not set +# CONFIG_CMD_BLOCK_CACHE is not set +# CONFIG_CMD_EFICONFIG is not set +CONFIG_CMD_REGULATOR=y +CONFIG_CMD_EROFS=y +CONFIG_CMD_SQUASHFS=y +# CONFIG_SPL_DOS_PARTITION is not set +CONFIG_SPL_OF_CONTROL=y +CONFIG_OF_LIVE=y +# CONFIG_OF_TAG_MIGRATE is not set +CONFIG_OF_SPL_REMOVE_PROPS="interrupt-parent assigned-clocks assigned-clock-rates assigned-clock-parents" +CONFIG_ENV_OVERWRITE=y +CONFIG_ENV_IS_IN_MMC=y +CONFIG_SYS_RELOC_GD_ENV_ADDR=y +CONFIG_SPL_DM_SEQ_ALIAS=y +CONFIG_SPL_REGMAP=y +CONFIG_SPL_SYSCON=y +# CONFIG_SARADC_ROCKCHIP is not set +CONFIG_SPL_CLK=y +CONFIG_CLK_GPIO=y +CONFIG_ROCKCHIP_GPIO=y +CONFIG_SYS_I2C_ROCKCHIP=y +CONFIG_MISC=y +CONFIG_SUPPORT_EMMC_RPMB=y +CONFIG_MMC_IO_VOLTAGE=y +CONFIG_SPL_MMC_IO_VOLTAGE=y +CONFIG_MMC_UHS_SUPPORT=y +CONFIG_SPL_MMC_UHS_SUPPORT=y +CONFIG_MMC_HS400_ES_SUPPORT=y +CONFIG_SPL_MMC_HS400_ES_SUPPORT=y +CONFIG_MMC_HS400_SUPPORT=y +CONFIG_SPL_MMC_HS400_SUPPORT=y +CONFIG_MMC_DW=y +CONFIG_MMC_DW_ROCKCHIP=y +CONFIG_MMC_SDHCI=y +CONFIG_MMC_SDHCI_SDMA=y +CONFIG_MMC_SDHCI_ROCKCHIP=y +# CONFIG_SPI_FLASH is not set +CONFIG_SF_DEFAULT_BUS=5 +CONFIG_PHY_MICREL=y +CONFIG_PHY_MICREL_KSZ90X1=y +CONFIG_DWC_ETH_QOS=y +CONFIG_DWC_ETH_QOS_ROCKCHIP=y +CONFIG_PHY_ROCKCHIP_INNO_USB2=y +CONFIG_SPL_PINCTRL=y +CONFIG_SPL_RAM=y +CONFIG_SCSI=y +CONFIG_DM_SCSI=y +CONFIG_DEBUG_UART_SHIFT=2 +CONFIG_SYS_NS16550_MEM32=y +CONFIG_SYSRESET=y +CONFIG_USB=y +CONFIG_USB_EHCI_HCD=y +CONFIG_USB_EHCI_GENERIC=y +CONFIG_USB_OHCI_HCD=y +CONFIG_USB_OHCI_GENERIC=y +CONFIG_ERRNO_STR=y diff --git a/include/configs/jaguar_rk3588.h b/include/configs/jaguar_rk3588.h new file mode 100644 index 00000000000..843028c5385 --- /dev/null +++ b/include/configs/jaguar_rk3588.h @@ -0,0 +1,15 @@ +/* SPDX-License-Identifier: GPL-2.0+ */ +/* + * Copyright (c) 2023 Theobroma Systems Design und Consulting GmbH + */ + +#ifndef __JAGUAR_RK3588_H +#define __JAGUAR_RK3588_H + +#define ROCKCHIP_DEVICE_SETTINGS \ + "stdout=serial,vidconsole\0" \ + "stderr=serial,vidconsole\0" + +#include <configs/rk3588_common.h> + +#endif /* __JAGUAR_RK3588_H */