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fix BBB servo cape overlay #174

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fix BBB servo cape overlay #174

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1c2341f
fix BBB servo cape overlay
lorforlinux Jun 13, 2020
aec6f34
fix naming
lorforlinux Jun 21, 2020
7feb52b
fix naming and pwm-cells value
lorforlinux Jun 23, 2020
64606c5
Make servoCape compatible with BBB and BBAI
lorforlinux Jul 13, 2020
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110 changes: 37 additions & 73 deletions src/arm/BBORG_SERVO-00A2.dts
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Original file line number Diff line number Diff line change
Expand Up @@ -9,10 +9,6 @@
/dts-v1/;
/plugin/;

#include <dt-bindings/board/am335x-bbw-bbb-base.h>
#include <dt-bindings/gpio/gpio.h>
#include <dt-bindings/pinctrl/am33xx.h>

/*
* Helper to show loaded overlays under: /proc/device-tree/chosen/overlays/
*/
Expand All @@ -35,85 +31,53 @@

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Can you add some comments above about the overall function and resources. I think I know now, but a summary in the comments would be nice.

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Sure thing 👍

P9_19_pinmux { status = "disabled"; }; /* i2c2.scl */
P9_20_pinmux { status = "disabled"; }; /* i2c2.sda */
P8_10_pinmux { status = "disabled"; }; /* servo.enable */
P8_10_pinmux { status = "disabled"; }; /* pca9685.enable */
};

&am33xx_pinmux {

bborg_servo_input_pins: pinmux_bborg_servo_input_pins {
pinctrl-single,pins = <
BONE_P8_12 (PIN_OUTPUT_PULLDOWN | MUX_MODE7) /* P8_12: gpio1_12 */
BONE_P8_11 (PIN_OUTPUT_PULLDOWN | MUX_MODE7) /* P8_11: gpio1_13 */
BONE_P9_30 (PIN_OUTPUT_PULLDOWN | MUX_MODE7) /* P9_30: gpio3_16 */
BONE_P9_27 (PIN_OUTPUT_PULLDOWN | MUX_MODE7) /* P9_27: gpio3_19 */
BONE_P9_41 (PIN_OUTPUT_PULLDOWN | MUX_MODE7) /* P9_41: gpio3_20 */
BONE_P9_42 (PIN_OUTPUT_PULLDOWN | MUX_MODE7) /* P9_42: gpio0_7 */
>;
};


bborg_servo_pca9685_i2c_pins: bborg_servo_pca9685_i2c_pins {
pinctrl-single,pins = <
BONE_P9_19 (PIN_OUTPUT_PULLDOWN | MUX_MODE3) /* P9_19: i2c2.scl */
BONE_P9_20 (PIN_OUTPUT_PULLDOWN | MUX_MODE3) /* P9_20: i2c2.sda */
>;
};

/*
* Enable and Update the default state of the pins
* For pinctrl-0 values see these file
* BeagleBoard-DeviceTrees/src/arm/am572x-bone-common-univ.dtsi
* BeagleBoard-DeviceTrees/src/arm/am335x-bone-common-univ.dtsi
*/
&ocp {
P8_12_pinmux { status = "okay"; pinctrl-0 = <&P8_12_gpio_input_pin>; }; /* IN1 */
P8_11_pinmux { status = "okay"; pinctrl-0 = <&P8_11_gpio_input_pin>; }; /* IN2 */
P9_30_pinmux { status = "okay"; pinctrl-0 = <&P9_30_gpio_input_pin>; }; /* IN3 */
P9_27_pinmux { status = "okay"; pinctrl-0 = <&P9_27_gpio_input_pin>; }; /* IN4 */
P9_41_pinmux { status = "okay"; pinctrl-0 = <&P9_41_gpio_input_pin>; }; /* IN5 */
P9_42_pinmux { status = "okay"; pinctrl-0 = <&P9_42_gpio_input_pin>; }; /* IN6 */

bborg_servo_pca9685_en_pins: pinmux_bborg_servo_pca9685_en_pins {
pinctrl-single,pins = <
BONE_P8_10 (PIN_OUTPUT_PULLDOWN | MUX_MODE7) /* P9_20: servo.en */
>;
};
P9_19_pinmux { status = "okay"; pinctrl-0 = <&P9_19_i2c_pin>; }; /* i2c_scl */
P9_20_pinmux { status = "okay"; pinctrl-0 = <&P9_20_i2c_pin>; }; /* i2c_sda */
P8_10_pinmux { status = "okay"; pinctrl-0 = <&P8_10_gpio_pin>; }; /* pca9685.enable */
};

&i2c2 {
pinctrl-names = "default";
pinctrl-0 = <&bborg_servo_pca9685_i2c_pins>;
status = "okay";
clock-frequency = <100000>;
#address-cells = <1>;
#size-cells = <0>;
&bone_i2c_2 {
// bone_i2c_2 is enabled by default on BBB and BBAI for cape EEPROM
// status = "okay";
// clock-frequency = <100000>;
// #address-cells = <1>;
// #size-cells = <0>;

pca9685_servo: pca9685_serve@7f {
compatible = "nxp, pca9685";
lable = "pca9685_servo";
pinctrl-names = "default";
pinctrl-0 = <&bborg_servo_pca9685_en_pins>;
enable-gpios = <&gpio2 4 GPIO_ACTIVE_HIGH>;
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Is there or is there not an enable gpio? I'd think you'd need that.

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There is but we handle it separately not, I tried using it this way but I was not able to make it work out.

reg = <0x7f>;
pca: pca@70 {
compatible = "nxp,pca9685-pwm";
#pwm-cells = <2>;
reg = <0x70>;
label = "pca9685_servo";
/* invert; */
/* open-drain; */
};
};

&{/} {
gpio_inputs {
compatible = "gpio-keys";
pinctrl-names = "default";
pinctrl-0 = <&bborg_servo_input_pins>;

input@1 {
lable = "in1";
gpios = <&gpio1 12 GPIO_ACTIVE_HIGH>;
};
input@2 {
lable = "in2";
gpios = <&gpio1 13 GPIO_ACTIVE_HIGH>;
};
input@3 {
lable = "in3";
gpios = <&gpio3 16 GPIO_ACTIVE_HIGH>;
};
input@4 {
lable = "in4";
gpios = <&gpio3 19 GPIO_ACTIVE_HIGH>;
};
input@5 {
lable = "in5";
gpios = <&gpio3 20 GPIO_ACTIVE_HIGH>;
};
input@6 {
lable = "in6";
gpios = <&gpio0 7 GPIO_ACTIVE_HIGH>;
leds {
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Why is this called leds?

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I was a different person back then, didn't knew as much as I know now. I will update this accordingly 👍

led_P8_10 {
status = "okay";
label = "pca9685-enable";
// pca9685 Chip enable is ACTIVE-LOW but LEDs are set to ACTIVE-HIGH
// Set default-state to "off" to enable the pca9685 chip by default.
default-state = "off";
};
};
};