diff --git a/boards/capes/cape-interface-spec.rst b/boards/capes/cape-interface-spec.rst
index a0106f3056bff7d513348d0aeb32709d3f2525d0..1934971863bfd824c8802e87199e1e907cd2a137 100644
--- a/boards/capes/cape-interface-spec.rst
+++ b/boards/capes/cape-interface-spec.rst
@@ -33,88 +33,102 @@ The udev rules used to create the userspace symlinks for the BeagleBone Cape Com
More details can be found in :ref:`bone-methodology`.
-.. table:: Overall
-
- +-----------------------------------------------+-----+--------------------------------------+
- | .. centered:: P9 | | .. centered:: P8 |
- +===============+=====+======+==================+=====+============+=====+======+============+
- | Functions | odd | even | Functions | | Functions | odd | even | Functions |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | USB D+ | E1 | E2 | USB D- | | | | | |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | 5V OUT | E3 | E4 | GND | | | | | |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | GND | 1 | 2 | GND | | GND | 1 | 2 | GND |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | 3V3 OUT | 3 | 4 | 3V3 OUT | | D M | 3 | 4 | D M |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | 5V IN | 5 | 6 | 5V IN | | D M C4t | 5 | 6 | D M C4r |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | 5V OUT | 7 | 8 | 5V OUT | | D C2r | 7 | 8 | D C2t |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | PWR BUT | 9 | 10 | RESET | | D C3r | 9 | 10 | D C3t |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | D U4r | 11 | 12 | D | | D P0o | 11 | 12 | D Q2a P0o |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | D U4t | 13 | 14 | D E1a | | D E2b | 13 | 14 | D |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | D | 15 | 16 | D E1b | | D P0i | 15 | 16 | D P0i |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | D I1c S00 | 17 | 18 | D I1d S0o | | D | 17 | 18 | D |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | C0r D I2c | 19 | 20 | C0t D I2d | | D E2a | 19 | 20 | D M P1 |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | D E0b S0i U2t | 21 | 22 | D E0a S0c U2r | | D M P1 | 21 | 22 | D M Q2b |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | D S01 | 23 | 24 | C1r D I3c U1t | | D M | 23 | 24 | D M |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | D P0 | 25 | 26 | C1t D I3d U1r | | D M | 25 | 26 | D |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | D P0 Q0b | 27 | 28 | D P0 S10 | | D L P1 | 27 | 28 | D L P1 U6r |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | D E S1i P0 | 29 | 30 | D P0 S1o | | D L P1 U6t | 29 | 30 | D L P1 |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | D E S1c P0 | 31 | 32 | ADC VDD | | D L | 31 | 32 | D L |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | A4 | 33 | 34 | ADC GND | | D L Q1b | 33 | 34 | D E L |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | A6 | 35 | 36 | A5 | | D L Q1a | 35 | 36 | D E L |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | A2 | 37 | 38 | A3 | | D L U5t | 37 | 38 | D L U5r |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | A0 | 39 | 40 | A1 | | D L P1 | 39 | 40 | D L P1 |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | D P0 | 41 | 42 | D Q0a S11 U3t P0 | | D L P1 | 41 | 42 | D L P1 |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | GND | 43 | 44 | GND | | D L P1 | 43 | 44 | D L P1 |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
- | GND | 45 | 46 | GND | | D E L P1 | 45 | 46 | D E L P1 |
- +---------------+-----+------+------------------+-----+------------+-----+------+------------+
+.. |A| replace:: :ref:`A <bone-analog>`
+.. |B| replace:: :ref:`B <bone-i2s>`
+.. |C| replace:: :ref:`C <bone-can>`
+.. |D| replace:: :ref:`D <bone-gpio>`
+.. |E| replace:: :ref:`E <bone-pwm>`
+.. |I| replace:: :ref:`I <bone-i2c>`
+.. |L| replace:: :ref:`L <bone-lcd>`
+.. |M| replace:: :ref:`M <bone-mmc>`
+.. |P| replace:: :ref:`P <bone-pru>`
+.. |Q| replace:: :ref:`Q <bone-capture>`
+.. |S| replace:: :ref:`S <bone-spi>`
+.. |U| replace:: :ref:`U <bone-uart>`
+.. |Y| replace:: :ref:`Y <bone-ecap>`
.. note::
Legend
- * A: :ref:`bone-analog`
- * B: :ref:`bone-i2s`
- * C: :ref:`bone-can`
- * D: :ref:`bone-gpio`
- * E: :ref:`bone-pwm`
- * I: :ref:`bone-i2c`
- * L: :ref:`bone-lcd`
- * M: :ref:`bone-mmc`
- * P: :ref:`bone-pru`
- * Q: :ref:`bone-capture`
- * S: :ref:`bone-spi`
- * U: :ref:`bone-uart`
- * Y: :ref:`bone-ecap`
+ * |D|: Digital general purpose input and output (GPIO)
+ * |I|: Inter-integrated circuit bus (|I2C|) ports
+ * |S|: Serial peripheral interface (SPI) ports
+ * |U|: Universal asynchronous reciever/transmitter (UART) serial ports
+ * |C|: CAN
+ * |A|: Analog inputs
+ * |E|: PWM
+ * |Q|: Capture/EQEP
+ * |M|: MMC/SD/SDIO
+ * |B|: I2S/audio serial ports
+ * |L|: LCD
+ * |P|: PRU
+ * |Y|: ECAP
-.. _bone-gpio:
-
-Digital GPIO
-************
+.. table:: Overall
-The compatibility layer comes with simple reference nodes for attaching the Linux gpio-leds or gpio-keys to any cape header GPIO pin. This provides simple userspace general purpose input or output with various trigger modes.
+ +------------------------------------------------------+---+-------------------------------------------------+
+ | .. centered:: P9 | | .. centered:: P8 |
+ +===================+=====+======+=====================+===+==================+=====+======+=================+
+ | Functions | odd | even | Functions | | Functions | odd | even | Functions |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | USB D+ | E1 | E2 | USB D- | | | | | |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | 5V OUT | E3 | E4 | GND | | | | | |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | GND | 1 | 2 | GND | | GND | 1 | 2 | GND |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | 3V3 OUT | 3 | 4 | 3V3 OUT | | |D| |M| | 3 | 4 | |D| |M| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | 5V IN | 5 | 6 | 5V IN | | |D| |M| |C| | 5 | 6 | |D| |M| |C| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | 5V OUT | 7 | 8 | 5V OUT | | |D| |C| | 7 | 8 | |D| |C| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | PWR BUT | 9 | 10 | RESET | | |D| |C| | 9 | 10 | |D| |C| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |D| |U| | 11 | 12 | |D| | | |D| |P| | 11 | 12 | |D| |Q| |P| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |D| |U| | 13 | 14 | |D| |E| | | |D| |E| | 13 | 14 | |D| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |D| | 15 | 16 | |D| |E| | | |D| |P| | 15 | 16 | |D| |P| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |D| |I| |S| | 17 | 18 | |D| |I| |S| | | |D| | 17 | 18 | |D| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |D| |I| |C| | 19 | 20 | |D| |I| |C| | | |D| |E| | 19 | 20 | |D| |M| |P| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |D| |E| |S| |U| | 21 | 22 | |D| |E| |S| |U| | | |D| |M| |P| | 21 | 22 | |D| |M| |Q| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |D| |S| | 23 | 24 | |D| |I| |U| |C| | | |D| |M| | 23 | 24 | |D| |M| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |D| |P| | 25 | 26 | |D| |I| |U| |C| | | |D| |M| | 25 | 26 | |D| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |D| |P| |Q| | 27 | 28 | |D| |S| |P| | | |D| |L| |P| | 27 | 28 | |D| |L| |P| |U| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |D| |E| |S| |P| | 29 | 30 | |D| |S| |P| | | |D| |L| |P| |U| | 29 | 30 | |D| |L| |P| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |D| |E| |S| |P| | 31 | 32 | ADC VDD REF OUT | | |D| |L| | 31 | 32 | |D| |L| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |A| | 33 | 34 | ADC GND | | |D| |L| |Q| | 33 | 34 | |D| |E| |L| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |A| | 35 | 36 | |A| | | |D| |L| |Q| | 35 | 36 | |D| |E| |L| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |A| | 37 | 38 | |A| | | |D| |L| |U| | 37 | 38 | |D| |L| |U| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |A| | 39 | 40 | |A| | | |D| |L| |P| | 39 | 40 | |D| |L| |P| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | |D| |P| | 41 | 42 | |D| |Q| |S| |U| |P| | | |D| |L| |P| | 41 | 42 | |D| |L| |P| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | GND | 43 | 44 | GND | | |D| |L| |P| | 43 | 44 | |D| |L| |P| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+ | GND | 45 | 46 | GND | | |D| |E| |L| |P| | 45 | 46 | |D| |E| |L| |P| |
+ +-------------------+-----+------+---------------------+---+------------------+-----+------+-----------------+
+
+.. _bone-gpio:
+
+Digital GPIO
+************
+
+The compatibility layer comes with simple reference nodes for attaching the Linuuux gpio-leds or gpio-keys to any cape header GPIO pin. This provides simple userspace general purpose input or output with various trigger modes.
The format followed for the gpio-leds nodes is **bone_led_P8_## / bone_led_P9_##**. The **gpio-leds** driver is used by these reference nodes internally and allows users to easily create compatible led nodes in overlays for Black, AI and AI-64.
@@ -135,6 +149,60 @@ In :ref:`bone_cape_spec_led_example`, it is possible to redefine the default lab
and other properties defined in the
`gpio-leds schema <https://elixir.bootlin.com/linux/v5.10/source/Documentation/devicetree/bindings/leds/leds-gpio.yaml>`_.
+.. table:: GPIO pins
+
+ +---------------------------------------------------+-----+--------------------------------------+
+ | .. centered:: P9 | | .. centered:: P8 |
+ +===================+=====+======+==================+=====+============+=====+======+============+
+ | Functions | odd | even | Functions | | Functions | odd | even | Functions |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 1 | 2 | GND | | GND | 1 | 2 | GND |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 3V3 OUT | 3 | 4 | 3V3 OUT | | D M | 3 | 4 | D M |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V IN | 5 | 6 | 5V IN | | D M C4t | 5 | 6 | D M C4r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V OUT | 7 | 8 | 5V OUT | | D C2r | 7 | 8 | D C2t |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | PWR BUT | 9 | 10 | RESET | | D C3r | 9 | 10 | D C3t |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D U4r | 11 | 12 | D | | D P0o | 11 | 12 | D Q2a P0o |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D U4t | 13 | 14 | D E1a | | D E2b | 13 | 14 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D | 15 | 16 | D E1b | | D P0i | 15 | 16 | D P0i |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D I1c S00 | 17 | 18 | D I1d S0o | | D | 17 | 18 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | C0r D I2c | 19 | 20 | C0t D I2d | | D E2a | 19 | 20 | D M P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E0b S0i U2t | 21 | 22 | D E0a S0c U2r | | D M P1 | 21 | 22 | D M Q2b |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D S01 | 23 | 24 | C1r D I3c U1t | | D M | 23 | 24 | D M |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 | 25 | 26 | C1t D I3d U1r | | D M | 25 | 26 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 Q0b | 27 | 28 | D P0 S10 | | D L P1 | 27 | 28 | D L P1 U6r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E S1i P0 | 29 | 30 | D P0 S1o | | D L P1 U6t | 29 | 30 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E S1c P0 | 31 | 32 | ADC VDD | | D L | 31 | 32 | D L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 4 | 33 | 34 | ADC GND | | D L Q1b | 33 | 34 | D E L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 6 | 35 | 36 | |A| 5 | | D L Q1a | 35 | 36 | D E L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 2 | 37 | 38 | |A| 3 | | D L U5t | 37 | 38 | D L U5r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 0 | 39 | 40 | |A| 1 | | D L P1 | 39 | 40 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 | 41 | 42 | D Q0a S11 U3t P0 | | D L P1 | 41 | 42 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 43 | 44 | GND | | D L P1 | 43 | 44 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 45 | 46 | GND | | D E L P1 | 45 | 46 | D E L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+
.. table:: Bone GPIO LEDs interface
+------------------------+-------------+----------+-----------+-----------+
@@ -298,22 +366,45 @@ and other properties defined in the
Compatibility layer provides simple I2C bone bus nodes for creating compatible overlays for Black, AI and AI-64. The format followed for these nodes is **bone_i2c_#**.
-.. table:: Bone I2C
-
- +------------------+--------------+--------+-------+------------+-----------------+--------+-----------+
- | SYSFS | DT symbol | Black | AI | AI-64 | SCL | SDA | Overlay |
- +==================+==============+========+=======+============+=================+========+===========+
- | /dev/bone/i2c/0 | bone_i2c_0 | I2C0 | I2C1 | TBD | .. centered:: N/A (On-board) |
- +------------------+--------------+--------+-------+------------+-----------------+--------+-----------+
- | /dev/bone/i2c/1 | bone_i2c_1 | I2C1 | I2C5 | MAIN_I2C6 | P9.17 | P9.18 | BONE-I2C1 |
- +------------------+--------------+--------+-------+------------+-----------------+--------+-----------+
- | /dev/bone/i2c/2 | bone_i2c_2 | I2C2 | I2C4 | MAIN_I2C3 | P9.19 | P9.20 | BONE-I2C2 |
- +------------------+--------------+--------+-------+------------+-----------------+--------+-----------+
- | /dev/bone/i2c/3 | bone_i2c_3 | I2C1 | I2C3 | MAIN_I2C4 | P9.24 | P9.26 | BONE-I2C3 |
- +------------------+--------------+--------+-------+------------+-----------------+--------+-----------+
- | /dev/bone/i2c/4 | bone_i2c_4 | I2C2 | - | MAIN_I2C3 | P9.21 | P9.22 | BONE-I2C4 |
- +------------------+--------------+--------+-------+------------+-----------------+--------+-----------+
-
+.. table:: I2C pins
+
+ +---------------------------------------------------+
+ | .. centered:: P9 |
+ +===================+=====+======+==================+
+ | Functions | odd | even | Functions |
+ +-------------------+-----+------+------------------+
+ | 1 SCL | 17 | 18 | 1 SDA |
+ +-------------------+-----+------+------------------+
+ | 2 SCL | 19 | 20 | 2 SDA |
+ +-------------------+-----+------+------------------+
+ | 4 SCL [4]_ [5]_ | 21 | 22 | 4 SDA [4]_ [5]_ |
+ +-------------------+-----+------+------------------+
+ | | 23 | 24 | 3 SCL [3]_ |
+ +-------------------+-----+------+------------------+
+ | | 25 | 26 | 3 SDA [3]_ |
+ +-------------------+-----+------+------------------+
+
+.. [3] Mutually exclusive with port 1 on Black
+
+.. [4] Mutually exclusive with port 2 on Black
+
+.. [5] On Black and AI-64 only
+
+.. table:: I2C port mapping
+
+ +------------------+--------------+--------+-------+------------+-------+--------+-----------+
+ | SYSFS | DT symbol | Black | AI | AI-64 | SCL | SDA | Overlay |
+ +==================+==============+========+=======+============+=======+========+===========+
+ | /dev/bone/i2c/0 | bone_i2c_0 | I2C0 | I2C1 | TBD | On-board |
+ +------------------+--------------+--------+-------+------------+-------+--------+-----------+
+ | /dev/bone/i2c/1 | bone_i2c_1 | I2C1 | I2C5 | MAIN_I2C6 | P9.17 | P9.18 | BONE-I2C1 |
+ +------------------+--------------+--------+-------+------------+-------+--------+-----------+
+ | /dev/bone/i2c/2 | bone_i2c_2 | I2C2 | I2C4 | MAIN_I2C3 | P9.19 | P9.20 | BONE-I2C2 |
+ +------------------+--------------+--------+-------+------------+-------+--------+-----------+
+ | /dev/bone/i2c/3 | bone_i2c_3 | I2C1 | I2C3 | MAIN_I2C4 | P9.24 | P9.26 | BONE-I2C3 |
+ +------------------+--------------+--------+-------+------------+-------+--------+-----------+
+ | /dev/bone/i2c/4 | bone_i2c_4 | I2C2 | *n/a* | MAIN_I2C3 | P9.21 | P9.22 | BONE-I2C4 |
+ +------------------+--------------+--------+-------+------------+-------+--------+-----------+
.. important::
@@ -348,18 +439,62 @@ SPI
SPI bone bus nodes allow creating compatible overlays for Black, AI and AI-64.
-.. table:: Bone bus SPI
+.. table:: SPI pins
+
+ +---------------------------------------------------+
+ | .. centered:: P9 |
+ +===================+=====+======+==================+
+ | Functions | odd | even | Functions |
+ +-------------------+-----+------+------------------+
+ | 0 CS0 | 17 | 18 | 0 SDO |
+ +-------------------+-----+------+------------------+
+ | | 19 | 20 | |
+ +-------------------+-----+------+------------------+
+ | 0 SDI | 21 | 22 | 0 CLK |
+ +-------------------+-----+------+------------------+
+ | 0 CS1 | 23 | 24 | |
+ +-------------------+-----+------+------------------+
+ | | 25 | 26 | |
+ +-------------------+-----+------+------------------+
+ | | 27 | 28 | 1 CS0 |
+ +-------------------+-----+------+------------------+
+ | 1 SDI | 29 | 30 | 1 SDO |
+ +-------------------+-----+------+------------------+
+ | 1 CLK | 31 | 32 | |
+ +-------------------+-----+------+------------------+
+ | | 33 | 34 | |
+ +-------------------+-----+------+------------------+
+ | | 35 | 36 | |
+ +-------------------+-----+------+------------------+
+ | | 37 | 38 | |
+ +-------------------+-----+------+------------------+
+ | | 39 | 40 | |
+ +-------------------+-----+------+------------------+
+ | | 41 | 42 | 1 CS1 [2]_ |
+ +-------------------+-----+------+------------------+
+
+.. table:: SPI port mapping
+
+ +--------------------+------------+-------+------+-----------+-------+-------+-------+------------------+-------------+
+ | Bone bus | DT symbol | Black | AI | AI-64 | SDO | SDI | CLK | CS | Overlay |
+ +====================+============+=======+======+===========+=======+=======+=======+==================+=============+
+ | /dev/bone/spi/0.0 | bone_spi_0 | SPI0 | SPI2 | MAIN_SPI6 | P9.18 | P9.21 | P9.22 | P9.17 (CS0) | BONE-SPI0_0 |
+ +--------------------+ + + + + + + +------------------+-------------+
+ | /dev/bone/spi/0.1 | | | | | | | | P9.23 (CS1) [2]_ | BONE-SPI0_1 |
+ +--------------------+------------+-------+------+-----------+-------+-------+-------+------------------+-------------+
+ | /dev/bone/spi/1.0 | bone_spi_1 | SPI1 | SPI3 | MAIN_SPI7 | P9.30 | P9.29 | P9.31 | P9.28 (CS0) | BONE-SPI1_0 |
+ +--------------------+ + + + + + + +------------------+-------------+
+ | /dev/bone/spi/1.1 | | | | | | | | P9.42 (CS1) | BONE-SPI1_1 |
+ +--------------------+------------+-------+------+-----------+-------+-------+-------+------------------+-------------+
+
+.. [2] Only available on AI and AI-64
- +--------------------+------------+--------+-------+------------+--------+--------+--------+---------------------------------------+---------------+
- | Bone bus | DT symbol | Black | AI | AI-64 | SDO | SDI | CLK | CS | Overlays |
- +====================+============+========+=======+============+========+========+========+=======================================+===============+
- | /dev/bone/spi/0.x | bone_spi_0 | SPI0 | SPI2 | MAIN_SPI6 | P9.18 | P9.21 | P9.22 | - P9.17 (CS0) | - BONE-SPI0_0 |
- | | | | | | | | | - P9.23 (CS1 - BBAI and BBAI64 only) | - BONE-SPI0_1 |
- +--------------------+------------+--------+-------+------------+--------+--------+--------+---------------------------------------+---------------+
- | /dev/bone/spi/1.x | bone_spi_1 | SPI1 | SPI3 | MAIN_SPI7 | P9.30 | P9.29 | P9.31 | - P9.28 (CS0) | - BONE-SPI1_0 |
- | | | | | | | | | - P9.42 (CS1) | - BONE-SPI1_1 |
- +--------------------+------------+--------+-------+------------+--------+--------+--------+---------------------------------------+---------------+
+.. note::
+ The provided pre-compiled overlays enable the "spidev" driver using the "rohm,dh2228fv" compatible string.
+ See https://stackoverflow.com/questions/53634892/linux-spidev-why-it-shouldnt-be-directly-in-devicetree for
+ more background. A custom overlay is required to overload the compatible string to load a non-spidev driver.
+.. note:: #TODO# figure out if BONE-SPI0_0 and BONE-SPI0_1 can be loaded at the same time
.. code-block:: c
:linenos:
@@ -390,28 +525,71 @@ UART
UART bone bus nodes allow creating compatible overlays for Black, AI and AI-64.
-.. table:: Bone bus UART
-
- +-------------------+--------------+--------+--------+-----------------------+--------+--------+---------------------------------------------+---------------------------------------------+------------+
- | Bone bus | DT symbol | Black | AI | AI-64 | TX | RX | RTSn | CTSn | Overlays |
- +===================+==============+========+========+=======================+========+========+=============================================+=============================================+============+
- | /dev/bone/uart/0 | bone_uart_0 | UART0 | UART1 | MAIN_UART0 | .. centered:: NA (console debug header pins) |
- +-------------------+--------------+--------+--------+-----------------------+--------+--------+---------------------------------------------+---------------------------------------------+------------+
- | /dev/bone/uart/1 | bone_uart_1 | UART1 | UART10 | MAIN_UART2 | P9.24 | P9.26 | P9.19 P8.4 (N/A on AM3358) | P9.20 P8.3 (N/A on AM3358) | BONE-UART1 |
- +-------------------+--------------+--------+--------+-----------------------+--------+--------+---------------------------------------------+---------------------------------------------+------------+
- | /dev/bone/uart/2 | bone_uart_2 | UART2 | UART3 | *n/a* | P9.21 | P9.22 | P8.38 (N/A on AM5729) | P8.37 (N/A on AM5729) | BONE-UART2 |
- +-------------------+--------------+--------+--------+-----------------------+--------+--------+---------------------------------------------+---------------------------------------------+------------+
- | /dev/bone/uart/3 | bone_uart_3 | UART3 | *n/a* | *n/a* | P9.42 | *n/a* | *n/a* | *n/a* | BONE-UART3 |
- +-------------------+--------------+--------+--------+-----------------------+--------+--------+---------------------------------------------+---------------------------------------------+------------+
- | /dev/bone/uart/4 | bone_uart_4 | UART4 | UART5 | MAIN_UART0 (console) | P9.13 | P9.11 | P8.33 (N/A on AM5729) P8.6 (N/A on AM3358) | P8.35 (N/A on AM5729) P8.5 (N/A on AM3358) | BONE-UART4 |
- +-------------------+--------------+--------+--------+-----------------------+--------+--------+---------------------------------------------+---------------------------------------------+------------+
- | /dev/bone/uart/5 | bone_uart_5 | UART5 | UART8 | MAIN_UART5 | P8.37 | P8.38 | P8.32 | P8.31 | BONE-UART5 |
- +-------------------+--------------+--------+--------+-----------------------+--------+--------+---------------------------------------------+---------------------------------------------+------------+
- | /dev/bone/uart/6 | bone_uart_6 | *n/a* | *n/a* | MAIN_UART8 | P8.29 | P8.28 | *n/a* | *n/a* | BONE-UART6 |
- +-------------------+--------------+--------+--------+-----------------------+--------+--------+---------------------------------------------+---------------------------------------------+------------+
- | /dev/bone/uart/7 | bone_uart_7 | *n/a* | *n/a* | MAIN_UART2 | P8.34 | P8.22 | *n/a* | *n/a* | BONE-UART7 |
- +-------------------+--------------+--------+--------+-----------------------+--------+--------+---------------------------------------------+---------------------------------------------+------------+
+.. table:: UART pins
+
+ +---------------------------------------------------+-----+--------------------------------------+
+ | .. centered:: P9 | | .. centered:: P8 |
+ +===================+=====+======+==================+=====+============+=====+======+============+
+ | Functions | odd | even | Functions | | Functions | odd | even | Functions |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 4 RX | 11 | 12 | | | | 11 | 12 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 4 TX | 13 | 14 | | | | 13 | 14 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 15 | 16 | | | | 15 | 16 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 17 | 18 | | | | 17 | 18 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 19 | 20 | | | | 19 | 20 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 2 TX | 21 | 22 | 2 RX | | | 21 | 22 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 23 | 24 | 1 TX | | | 23 | 24 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 25 | 26 | 1 RX | | | 25 | 26 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 27 | 28 | | | | 27 | 28 | 6 RX |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 29 | 30 | | | 6 TX | 29 | 30 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 31 | 32 | | | | 31 | 32 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 33 | 34 | | | | 33 | 34 | 7 TX |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 35 | 36 | | | | 35 | 36 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 37 | 38 | | | 5 TX | 37 | 38 | 5 RX |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 39 | 40 | | | | 39 | 40 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 41 | 42 | 3 TX | | | 41 | 42 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+.. important::
+ RTSn and CTSn mappings are not compatible across boards in the family and are therefore not part of the
+ cape specification.
+
+.. table:: UART port mapping
+
+ +-------------------+--------------+--------+--------+-----------------------+--------+--------+------------+
+ | Bone bus | DT symbol | Black | AI | AI-64 | TX | RX | Overlay |
+ +===================+==============+========+========+=======================+========+========+============+
+ | /dev/bone/uart/0 | bone_uart_0 | UART0 | UART1 | MAIN_UART0 | Console debug header pins |
+ +-------------------+--------------+--------+--------+-----------------------+--------+--------+------------+
+ | /dev/bone/uart/1 | bone_uart_1 | UART1 | UART10 | MAIN_UART2 | P9.24 | P9.26 | BONE-UART1 |
+ +-------------------+--------------+--------+--------+-----------------------+--------+--------+------------+
+ | /dev/bone/uart/2 | bone_uart_2 | UART2 | UART3 | *n/a* | P9.21 | P9.22 | BONE-UART2 |
+ +-------------------+--------------+--------+--------+-----------------------+--------+--------+------------+
+ | /dev/bone/uart/3 | bone_uart_3 | UART3 | *n/a* | *n/a* | P9.42 | *n/a* | BONE-UART3 |
+ +-------------------+--------------+--------+--------+-----------------------+--------+--------+------------+
+ | /dev/bone/uart/4 | bone_uart_4 | UART4 | UART5 | MAIN_UART0 (console) | P9.13 | P9.11 | BONE-UART4 |
+ +-------------------+--------------+--------+--------+-----------------------+--------+--------+------------+
+ | /dev/bone/uart/5 | bone_uart_5 | UART5 | UART8 | MAIN_UART5 | P8.37 | P8.38 | BONE-UART5 |
+ +-------------------+--------------+--------+--------+-----------------------+--------+--------+------------+
+ | /dev/bone/uart/6 | bone_uart_6 | *n/a* | *n/a* | MAIN_UART8 | P8.29 | P8.28 | BONE-UART6 |
+ +-------------------+--------------+--------+--------+-----------------------+--------+--------+------------+
+ | /dev/bone/uart/7 | bone_uart_7 | *n/a* | *n/a* | MAIN_UART2 | P8.34 | P8.22 | BONE-UART7 |
+ +-------------------+--------------+--------+--------+-----------------------+--------+--------+------------+
.. _bone-can:
@@ -420,21 +598,53 @@ CAN
CAN bone bus nodes allow creating compatible overlays for Black, AI and AI-64.
-.. table:: Bone bus CAN
-
- +------------------+--------+--------------------------+------------+--------+--------+-----------+
- | Bone bus | Black | AI | AI-64 | TX | RX | Overlays |
- +==================+========+==========================+============+========+========+===========+
- | /dev/bone/can/0 | CAN0 | - | MAIN_MCAN0 | P9.20 | P9.19 | BONE-CAN0 |
- +------------------+--------+--------------------------+------------+--------+--------+-----------+
- | /dev/bone/can/1 | CAN1 | CAN2 | MAIN_MCAN4 | P9.26 | P9.24 | BONE-CAN1 |
- +------------------+--------+--------------------------+------------+--------+--------+-----------+
- | /dev/bone/can/2 | - | CAN1 (rev A2 and later) | MAIN_MCAN5 | P8.08 | P8.07 | BONE-CAN2 |
- +------------------+--------+--------------------------+------------+--------+--------+-----------+
- | /dev/bone/can/3 | - | - | MAIN_MCAN6 | P8.10 | P8.09 | BONE-CAN3 |
- +------------------+--------+--------------------------+------------+--------+--------+-----------+
- | /dev/bone/can/4 | - | - | MAIN_MCAN7 | P8.05 | P8.06 | BONE-CAN4 |
- +------------------+--------+--------------------------+------------+--------+--------+-----------+
+.. table:: CAN pins
+
+ +---------------------------------------------------+-----+--------------------------------------+
+ | .. centered:: P9 | | .. centered:: P8 |
+ +===================+=====+======+==================+=====+============+=====+======+============+
+ | Functions | odd | even | Functions | | Functions | odd | even | Functions |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 5 | 6 | | | 4 TX | 5 | 6 | 4 RX |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 7 | 8 | | | 2 RX | 7 | 8 | 2 TX |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 9 | 10 | | | 3 RX | 9 | 10 | 3 TX |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 11 | 12 | | | | 11 | 12 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 13 | 14 | | | | 13 | 14 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 15 | 16 | | | | 15 | 16 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 17 | 18 | | | | 17 | 18 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 0 RX | 19 | 20 | 0 TX | | | 19 | 20 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 21 | 22 | | | | 21 | 22 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 23 | 24 | 1 RX | | | 23 | 24 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | | 25 | 26 | 1 TX | | | 25 | 26 | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+
+.. table:: CAN port mapping
+
+ +------------------+--------+-----------+------------+--------+--------+-----------+
+ | Bone bus | Black | AI | AI-64 | TX | RX | Overlays |
+ +==================+========+===========+============+========+========+===========+
+ | /dev/bone/can/0 | CAN0 | *n/a* | MAIN_MCAN0 | P9.20 | P9.19 | BONE-CAN0 |
+ +------------------+--------+-----------+------------+--------+--------+-----------+
+ | /dev/bone/can/1 | CAN1 | CAN2 | MAIN_MCAN4 | P9.26 | P9.24 | BONE-CAN1 |
+ +------------------+--------+-----------+------------+--------+--------+-----------+
+ | /dev/bone/can/2 | *n/a* | CAN1 [1]_ | MAIN_MCAN5 | P8.08 | P8.07 | BONE-CAN2 |
+ +------------------+--------+-----------+------------+--------+--------+-----------+
+ | /dev/bone/can/3 | *n/a* | *n/a* | MAIN_MCAN6 | P8.10 | P8.09 | BONE-CAN3 |
+ +------------------+--------+-----------+------------+--------+--------+-----------+
+ | /dev/bone/can/4 | *n/a* | *n/a* | MAIN_MCAN7 | P8.05 | P8.06 | BONE-CAN4 |
+ +------------------+--------+-----------+------------+--------+--------+-----------+
+
+.. [1] BeagleBone AI rev A2 and later only
.. _bone-analog:
@@ -445,6 +655,64 @@ ADC
* TODO: We need a udev rule to make sure the ADC shows up at /dev/bone/adc! There's nothing for sure that IIO devices will show up in the same place.
* TODO: I think we can also create symlinks for each channel based on which device is there, such that we can do /dev/bone/adc/Px_y
+.. table:: ADC pins
+
+ +---------------------------------------------------+-----+--------------------------------------+
+ | .. centered:: P9 | | .. centered:: P8 |
+ +===================+=====+======+==================+=====+============+=====+======+============+
+ | Functions | odd | even | Functions | | Functions | odd | even | Functions |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | USB D+ | E1 | E2 | USB D- | | | | | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V OUT | E3 | E4 | GND | | | | | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 1 | 2 | GND | | GND | 1 | 2 | GND |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 3V3 OUT | 3 | 4 | 3V3 OUT | | D M | 3 | 4 | D M |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V IN | 5 | 6 | 5V IN | | D M C4t | 5 | 6 | D M C4r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V OUT | 7 | 8 | 5V OUT | | D C2r | 7 | 8 | D C2t |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | PWR BUT | 9 | 10 | RESET | | D C3r | 9 | 10 | D C3t |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D U4r | 11 | 12 | D | | D P0o | 11 | 12 | D Q2a P0o |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D U4t | 13 | 14 | D E1a | | D E2b | 13 | 14 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D | 15 | 16 | D E1b | | D P0i | 15 | 16 | D P0i |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D I1c S00 | 17 | 18 | D I1d S0o | | D | 17 | 18 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | C0r D I2c | 19 | 20 | C0t D I2d | | D E2a | 19 | 20 | D M P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E0b S0i U2t | 21 | 22 | D E0a S0c U2r | | D M P1 | 21 | 22 | D M Q2b |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D S01 | 23 | 24 | C1r D I3c U1t | | D M | 23 | 24 | D M |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 | 25 | 26 | C1t D I3d U1r | | D M | 25 | 26 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 Q0b | 27 | 28 | D P0 S10 | | D L P1 | 27 | 28 | D L P1 U6r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E S1i P0 | 29 | 30 | D P0 S1o | | D L P1 U6t | 29 | 30 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E S1c P0 | 31 | 32 | ADC VDD | | D L | 31 | 32 | D L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 4 | 33 | 34 | ADC GND | | D L Q1b | 33 | 34 | D E L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 6 | 35 | 36 | |A| 5 | | D L Q1a | 35 | 36 | D E L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 2 | 37 | 38 | |A| 3 | | D L U5t | 37 | 38 | D L U5r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 0 | 39 | 40 | |A| 1 | | D L P1 | 39 | 40 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 | 41 | 42 | D Q0a S11 U3t P0 | | D L P1 | 41 | 42 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 43 | 44 | GND | | D L P1 | 43 | 44 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 45 | 46 | GND | | D E L P1 | 45 | 46 | D E L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+
.. table:: Bone ADC
+--------+-------------+------------------+------------------+
@@ -480,6 +748,64 @@ PWM
PWM bone bus nodes allow creating compatible overlays for Black, AI and AI-64. For the definitions, you can see `bbai-bone-buses.dtsi#L415 <https://github.com/lorforlinux/BeagleBoard-DeviceTrees/blob/97a6f0daa9eab09633a2064f68a53b107d6e3968/src/arm/bbai-bone-buses.dtsi#L415>`_ & `bbb-bone-buses.dtsi#L432 <https://github.com/lorforlinux/BeagleBoard-DeviceTrees/blob/97a6f0daa9eab09633a2064f68a53b107d6e3968/src/arm/bbb-bone-buses.dtsi#L432>`_
+.. table:: PWM pins
+
+ +---------------------------------------------------+-----+--------------------------------------+
+ | .. centered:: P9 | | .. centered:: P8 |
+ +===================+=====+======+==================+=====+============+=====+======+============+
+ | Functions | odd | even | Functions | | Functions | odd | even | Functions |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | USB D+ | E1 | E2 | USB D- | | | | | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V OUT | E3 | E4 | GND | | | | | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 1 | 2 | GND | | GND | 1 | 2 | GND |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 3V3 OUT | 3 | 4 | 3V3 OUT | | D M | 3 | 4 | D M |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V IN | 5 | 6 | 5V IN | | D M C4t | 5 | 6 | D M C4r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V OUT | 7 | 8 | 5V OUT | | D C2r | 7 | 8 | D C2t |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | PWR BUT | 9 | 10 | RESET | | D C3r | 9 | 10 | D C3t |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D U4r | 11 | 12 | D | | D P0o | 11 | 12 | D Q2a P0o |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D U4t | 13 | 14 | D E1a | | D E2b | 13 | 14 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D | 15 | 16 | D E1b | | D P0i | 15 | 16 | D P0i |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D I1c S00 | 17 | 18 | D I1d S0o | | D | 17 | 18 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | C0r D I2c | 19 | 20 | C0t D I2d | | D E2a | 19 | 20 | D M P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E0b S0i U2t | 21 | 22 | D E0a S0c U2r | | D M P1 | 21 | 22 | D M Q2b |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D S01 | 23 | 24 | C1r D I3c U1t | | D M | 23 | 24 | D M |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 | 25 | 26 | C1t D I3d U1r | | D M | 25 | 26 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 Q0b | 27 | 28 | D P0 S10 | | D L P1 | 27 | 28 | D L P1 U6r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E S1i P0 | 29 | 30 | D P0 S1o | | D L P1 U6t | 29 | 30 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E S1c P0 | 31 | 32 | ADC VDD | | D L | 31 | 32 | D L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 4 | 33 | 34 | ADC GND | | D L Q1b | 33 | 34 | D E L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 6 | 35 | 36 | |A| 5 | | D L Q1a | 35 | 36 | D E L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 2 | 37 | 38 | |A| 3 | | D L U5t | 37 | 38 | D L U5r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 0 | 39 | 40 | |A| 1 | | D L P1 | 39 | 40 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 | 41 | 42 | D Q0a S11 U3t P0 | | D L P1 | 41 | 42 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 43 | 44 | GND | | D L P1 | 43 | 44 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 45 | 46 | GND | | D E L P1 | 45 | 46 | D E L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+
.. table:: Bone bus PWM
+------------------+--------+-------+--------+--------+--------+--------------------------------------------------------------------------------------------------------+
@@ -515,12 +841,151 @@ TIMER PWM bone bus uses ti,omap-dmtimer-pwm driver, and timer nodes that allow c
| /sys/bus/platform/devices/bone_timer_pwm_5/ | P9.22 | - | timer15 | `BONE-TIMER_PWM_5.dts <https://github.com/lorforlinux/bb.org-overlays/blob/bone_timer/src/arm/BONE-TIMER_PWM_5.dts>`_ |
+----------------------------------------------+-------------+--------+----------+-------------------------------------------------------------------------------------------------------------------------+
+.. _bone-capture:
+
+eQEP
+********
+
+.. table:: eQEP pins
+
+ +---------------------------------------------------+-----+--------------------------------------+
+ | .. centered:: P9 | | .. centered:: P8 |
+ +===================+=====+======+==================+=====+============+=====+======+============+
+ | Functions | odd | even | Functions | | Functions | odd | even | Functions |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | USB D+ | E1 | E2 | USB D- | | | | | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V OUT | E3 | E4 | GND | | | | | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 1 | 2 | GND | | GND | 1 | 2 | GND |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 3V3 OUT | 3 | 4 | 3V3 OUT | | D M | 3 | 4 | D M |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V IN | 5 | 6 | 5V IN | | D M C4t | 5 | 6 | D M C4r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V OUT | 7 | 8 | 5V OUT | | D C2r | 7 | 8 | D C2t |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | PWR BUT | 9 | 10 | RESET | | D C3r | 9 | 10 | D C3t |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D U4r | 11 | 12 | D | | D P0o | 11 | 12 | D Q2a P0o |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D U4t | 13 | 14 | D E1a | | D E2b | 13 | 14 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D | 15 | 16 | D E1b | | D P0i | 15 | 16 | D P0i |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D I1c S00 | 17 | 18 | D I1d S0o | | D | 17 | 18 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | C0r D I2c | 19 | 20 | C0t D I2d | | D E2a | 19 | 20 | D M P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E0b S0i U2t | 21 | 22 | D E0a S0c U2r | | D M P1 | 21 | 22 | D M Q2b |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D S01 | 23 | 24 | C1r D I3c U1t | | D M | 23 | 24 | D M |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 | 25 | 26 | C1t D I3d U1r | | D M | 25 | 26 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 Q0b | 27 | 28 | D P0 S10 | | D L P1 | 27 | 28 | D L P1 U6r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E S1i P0 | 29 | 30 | D P0 S1o | | D L P1 U6t | 29 | 30 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E S1c P0 | 31 | 32 | ADC VDD | | D L | 31 | 32 | D L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 4 | 33 | 34 | ADC GND | | D L Q1b | 33 | 34 | D E L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 6 | 35 | 36 | |A| 5 | | D L Q1a | 35 | 36 | D E L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 2 | 37 | 38 | |A| 3 | | D L U5t | 37 | 38 | D L U5r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 0 | 39 | 40 | |A| 1 | | D L P1 | 39 | 40 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 | 41 | 42 | D Q0a S11 U3t P0 | | D L P1 | 41 | 42 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 43 | 44 | GND | | D L P1 | 43 | 44 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 45 | 46 | GND | | D E L P1 | 45 | 46 | D E L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+
+On BeagleBone's without an eQEP on specific pins, consider using the PRU to perform a software counter function.
+
+.. table:: Bone eQEP
+
+ +----------------------+--------+--------+--------+--------+--------+-------------------------------+-------------------------------+----------+
+ | Bone bus | Black | AI | AI-64 | A | B | strobe | index | overlay |
+ +======================+========+========+========+========+========+===============================+===============================+==========+
+ | /dev/bone/counter/0 | eQEP0 | eQEP2 | eQEP0 | P9.42 | P9.27 | - Black/AI-64: P9.25 | - Black/AI-64: P9.41 | |
+ | | | | | | | - AI: P8.06 | - AI: P8.05 | |
+ +----------------------+--------+--------+--------+--------+--------+-------------------------------+-------------------------------+----------+
+ | /dev/bone/counter/1 | eQEP1 | eQEP0 | eQEP1 | P8.35 | P8.33 | - Black/AI-64: P8.32 | - Black/AI-64: P8.31 | |
+ | | | | | | | - AI: P9.21 | - AI: ‒ | |
+ +----------------------+--------+--------+--------+--------+--------+-------------------------------+-------------------------------+----------+
+ | /dev/bone/counter/2 | eQEP2 | eQEP1 | ‒ | P8.12 | P8.22 | - Black: P8.15 | - Black: P8.16 | |
+ | | | | | | | - AI: P8.18 | - AI: P9.15 | |
+ +----------------------+--------+--------+--------+--------+--------+-------------------------------+-------------------------------+----------+
+
+
eCAP
-------
#TODO: This doesn't include any abstraction yet.
+.. table:: ECAP pins
+
+ +---------------------------------------------------+-----+--------------------------------------+
+ | .. centered:: P9 | | .. centered:: P8 |
+ +===================+=====+======+==================+=====+============+=====+======+============+
+ | Functions | odd | even | Functions | | Functions | odd | even | Functions |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | USB D+ | E1 | E2 | USB D- | | | | | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V OUT | E3 | E4 | GND | | | | | |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 1 | 2 | GND | | GND | 1 | 2 | GND |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 3V3 OUT | 3 | 4 | 3V3 OUT | | D M | 3 | 4 | D M |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V IN | 5 | 6 | 5V IN | | D M C4t | 5 | 6 | D M C4r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | 5V OUT | 7 | 8 | 5V OUT | | D C2r | 7 | 8 | D C2t |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | PWR BUT | 9 | 10 | RESET | | D C3r | 9 | 10 | D C3t |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D U4r | 11 | 12 | D | | D P0o | 11 | 12 | D Q2a P0o |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D U4t | 13 | 14 | D E1a | | D E2b | 13 | 14 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D | 15 | 16 | D E1b | | D P0i | 15 | 16 | D P0i |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D I1c S00 | 17 | 18 | D I1d S0o | | D | 17 | 18 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | C0r D I2c | 19 | 20 | C0t D I2d | | D E2a | 19 | 20 | D M P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E0b S0i U2t | 21 | 22 | D E0a S0c U2r | | D M P1 | 21 | 22 | D M Q2b |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D S01 | 23 | 24 | C1r D I3c U1t | | D M | 23 | 24 | D M |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 | 25 | 26 | C1t D I3d U1r | | D M | 25 | 26 | D |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 Q0b | 27 | 28 | D P0 S10 | | D L P1 | 27 | 28 | D L P1 U6r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E S1i P0 | 29 | 30 | D P0 S1o | | D L P1 U6t | 29 | 30 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D E S1c P0 | 31 | 32 | ADC VDD | | D L | 31 | 32 | D L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 4 | 33 | 34 | ADC GND | | D L Q1b | 33 | 34 | D E L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 6 | 35 | 36 | |A| 5 | | D L Q1a | 35 | 36 | D E L |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 2 | 37 | 38 | |A| 3 | | D L U5t | 37 | 38 | D L U5r |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | |A| 0 | 39 | 40 | |A| 1 | | D L P1 | 39 | 40 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | D P0 | 41 | 42 | D Q0a S11 U3t P0 | | D L P1 | 41 | 42 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 43 | 44 | GND | | D L P1 | 43 | 44 | D L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+ | GND | 45 | 46 | GND | | D E L P1 | 45 | 46 | D E L P1 |
+ +-------------------+-----+------+------------------+-----+------------+-----+------+------------+
+
.. table:: Black eCAP PWMs
+-----------------------------------------------+-------------+--------------------+---------------------------------------------------------------------------------------------------------------------------------------------+
@@ -644,27 +1109,6 @@ LCD
+--------+-----+----------+
-eQEP
---------
-
-On BeagleBone's without an eQEP on specific pins, consider using the PRU to perform a software counter function.
-
-.. table:: Bone eQEP
-
- +----------------------+--------+--------+--------+--------+--------+-------------------------------+-------------------------------+----------+
- | Bone bus | Black | AI | AI-64 | A | B | strobe | index | overlay |
- +======================+========+========+========+========+========+===============================+===============================+==========+
- | /dev/bone/counter/0 | eQEP0 | eQEP2 | eQEP0 | P9.42 | P9.27 | - Black/AI-64: P9.25 | - Black/AI-64: P9.41 | |
- | | | | | | | - AI: P8.06 | - AI: P8.05 | |
- +----------------------+--------+--------+--------+--------+--------+-------------------------------+-------------------------------+----------+
- | /dev/bone/counter/1 | eQEP1 | eQEP0 | eQEP1 | P8.35 | P8.33 | - Black/AI-64: P8.32 | - Black/AI-64: P8.31 | |
- | | | | | | | - AI: P9.21 | - AI: ‒ | |
- +----------------------+--------+--------+--------+--------+--------+-------------------------------+-------------------------------+----------+
- | /dev/bone/counter/2 | eQEP2 | eQEP1 | ‒ | P8.12 | P8.22 | - Black: P8.15 | - Black: P8.16 | |
- | | | | | | | - AI: P8.18 | - AI: P9.15 | |
- +----------------------+--------+--------+--------+--------+--------+-------------------------------+-------------------------------+----------+
-
-
McASP
---------