On 2024/2/21 18:37, Quentin Schulz wrote:
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
Reviewed-by: Kever Yang kever.yang@rock-chips.com
Thanks, - Kever
arch/arm/dts/Makefile | 1 + arch/arm/dts/rk3588-jaguar-u-boot.dtsi | 33 + 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 | 13 + board/theobroma-systems/jaguar_rk3588/Makefile | 10 + .../jaguar_rk3588/jaguar_rk3588.c | 53 ++ configs/jaguar-rk3588_defconfig | 114 +++ doc/board/index.rst | 1 + doc/board/rockchip/rockchip.rst | 1 + doc/board/theobroma-systems/index.rst | 9 + doc/board/theobroma-systems/jaguar_rk3588.rst | 100 +++ include/configs/jaguar_rk3588.h | 15 + 14 files changed, 1197 insertions(+)
diff --git a/arch/arm/dts/Makefile b/arch/arm/dts/Makefile index d9725030d5a..dbca55f06e5 100644 --- a/arch/arm/dts/Makefile +++ b/arch/arm/dts/Makefile @@ -194,6 +194,7 @@ dtb-$(CONFIG_ROCKCHIP_RK3588) += \ rk3588-edgeble-neu6a-io.dtb \ rk3588-edgeble-neu6b-io.dtb \ rk3588-evb1-v10.dtb \
- rk3588-jaguar.dtb \ rk3588-nanopc-t6.dtb \ rk3588s-orangepi-5.dtb \ rk3588-orangepi-5-plus.dtb \
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..dcda4f99d6e --- /dev/null +++ b/arch/arm/dts/rk3588-jaguar-u-boot.dtsi @@ -0,0 +1,33 @@ +// SPDX-License-Identifier: (GPL-2.0+ OR MIT) +/*
- Copyright (c) 2023 Theobroma Systems Design und Consulting GmbH
- */
+#include "rk3588-u-boot.dtsi"
+/ {
- chosen {
u-boot,spl-boot-order = "same-as-spl", &sdhci, &sdmmc;- };
+};
+&emmc_pwrseq {
- bootph-pre-ram;
- bootph-some-ram;
+};
+&emmc_reset {
- bootph-pre-ram;
- bootph-some-ram;
+};
+&gpio2 {
- bootph-pre-ram;
- bootph-some-ram;
+};
+&sdhci {
- /* U-Boot currently cannot handle anything below HS200 for eMMC on RK3588 */
- /delete-property/ mmc-ddr-1_8v;
- /delete-property/ cap-mmc-highspeed;
+}; 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_busð0_pinsð_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..c6b79b6cd75 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 byTheobroma 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..28fae4b479f --- /dev/null +++ b/board/theobroma-systems/jaguar_rk3588/MAINTAINERS @@ -0,0 +1,13 @@ +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: doc/board/theobroma-systems/ +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/jaguar_rk3588.c b/board/theobroma-systems/jaguar_rk3588/jaguar_rk3588.c new file mode 100644 index 00000000000..a6d44f10db3 --- /dev/null +++ b/board/theobroma-systems/jaguar_rk3588/jaguar_rk3588.c @@ -0,0 +1,53 @@ +// SPDX-License-Identifier: GPL-2.0+ +/*
- (C) Copyright 2023 Theobroma Systems Design und Consulting GmbH
- */
+#include <phy.h> +#include <eth_phy.h>
+#include <asm/types.h> +#include <asm/arch-rockchip/cru_rk3588.h> +#include <asm/arch-rockchip/hardware.h> +#include <asm/arch-rockchip/ioc_rk3588.h> +#include <asm-generic/u-boot.h> +#include <dm/device.h> +#include <dm/uclass-id.h> +#include <linux/bitfield.h>
+#include "../common/common.h"
+#define GPIO2C3_SEL_MASK GENMASK(15, 12) +#define GPIO2C3_ETH0_REFCLKO_25M FIELD_PREP(GPIO2C3_SEL_MASK, 1)
+#define REFCLKO25M_ETH0_OUT_SEL_MASK BIT(15) +#define REFCLKO25M_ETH0_OUT_SEL_CPLL FIELD_PREP(REFCLKO25M_ETH0_OUT_SEL_MASK, 1) +#define REFCLKO25M_ETH0_OUT_DIV_MASK GENMASK(14, 8) +#define REFCLKO25M_ETH0_OUT_DIV(x) FIELD_PREP(REFCLKO25M_ETH0_OUT_DIV_MASK, (x) - 1)
+#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..f55bfb1c82b --- /dev/null +++ b/configs/jaguar-rk3588_defconfig @@ -0,0 +1,114 @@ +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_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/doc/board/index.rst b/doc/board/index.rst index 62357c99388..f0a11f84ccc 100644 --- a/doc/board/index.rst +++ b/doc/board/index.rst @@ -53,6 +53,7 @@ Board-specific doc ste/index tbs/index thead/index
- theobroma-systems/index ti/index toradex/index variscite/index
diff --git a/doc/board/rockchip/rockchip.rst b/doc/board/rockchip/rockchip.rst index e23ca4231cc..1d5451183be 100644 --- a/doc/board/rockchip/rockchip.rst +++ b/doc/board/rockchip/rockchip.rst @@ -120,6 +120,7 @@ List of mainline supported Rockchip boards: - Turing Machines RK1 (turing-rk1-rk3588) - Radxa ROCK 5A (rock5a-rk3588s) - Radxa ROCK 5B (rock5b-rk3588)
- Theobroma Systems RK3588-SBC Jaguar (jaguar-rk3588) - Xunlong Orange Pi 5 (orangepi-5-rk3588s) - Xunlong Orange Pi 5 Plus (orangepi-5-plus-rk3588)diff --git a/doc/board/theobroma-systems/index.rst b/doc/board/theobroma-systems/index.rst new file mode 100644 index 00000000000..945f7a2f976 --- /dev/null +++ b/doc/board/theobroma-systems/index.rst @@ -0,0 +1,9 @@ +.. SPDX-License-Identifier: GPL-2.0+
+Theobroma Systems +=================
+.. toctree::
- :maxdepth: 2
- jaguar_rk3588
diff --git a/doc/board/theobroma-systems/jaguar_rk3588.rst b/doc/board/theobroma-systems/jaguar_rk3588.rst new file mode 100644 index 00000000000..db15f945d3b --- /dev/null +++ b/doc/board/theobroma-systems/jaguar_rk3588.rst @@ -0,0 +1,100 @@ +.. SPDX-License-Identifier: GPL-2.0+
+SBC-RK3588-AMR Jaguar +=====================
+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
+Here is the step-by-step to boot to U-Boot on SBC-RK3588-AMR Jaguar from Theobroma +Systems.
+Get the TF-A and DDR init (TPL) binaries +----------------------------------------
+.. prompt:: bash
- 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
+This will setup all required external dependencies for compiling U-Boot. This will +be updated in the future once upstream Trusted-Firmware-A supports RK3588 or U-Boot +gains support for open-source DRAM initialization in TPL.
+Build U-Boot +------------
+.. prompt:: bash
- cd ../u-boot
- make CROSS_COMPILE=aarch64-linux-gnu- jaguar-rk3588_defconfig all
+This will build ``u-boot-rockchip.bin`` which can be written to an MMC device +(eMMC or SD card).
+Flash the image +---------------
+Copy ``u-boot-rockchip.bin`` to offset 32k for SD/eMMC.
+SD-Card +~~~~~~~
+.. prompt:: bash
- dd if=u-boot-rockchip.bin of=/dev/sdX seek=64
+.. note::
- Replace ``/dev/sdX`` to match your SD card kernel device.
+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``:
+.. prompt:: bash
- 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
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 */