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Jetson Sensor Processing Engine (SPE) Developer Guider35.6 Release |
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Jetson Sensor Processing Engine (SPE) Developer Guider35.6 Release |
GPIO application demonstrates how to access/manipulate Always On (AON) GPIOs from the SPE/AON processor.
Pinmux changes are necessary in order for this demo to function correctly. These changes relate to the MB1 bootloader. The recommended method for changing pinmux settings is to download the device-specific pinmux spreadsheet and generate an updated set of pinmux configuration files. In the steps below some updates to various configuration files will be shown. While the preferred method is to leverage the pinmux spreadsheet, manually modifying the files will also work for the purpose of quickly demonstrating GPIO functionality.
The following pins from the 40 pin header (J30) should be connected together:
In order to access a AON GPIO from the Cortex-R5 SPE/AON for AGX Xavier, the GPIO interrupt map and pinmux settings need to be updated as described in below steps.
soc/t19x/target_specific.mk, set ENABLE_GPIO_APP := 1 and rebuild the application. Copy the output to ${L4T}/bootloader/spe_t194.bin.${L4T}/bootloader/t186ref/BCT/tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg: --- a/tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg
+++ b/tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg
@@ -17,7 +17,7 @@ gpio-intmap.port.AA.pin.5 = 4; # GPIO AA5 to INT4
gpio-intmap.port.AA.pin.6 = 4; # GPIO AA6 to INT4
gpio-intmap.port.AA.pin.7 = 4; # GPIO AA7 to INT4
gpio-intmap.port.BB.pin.0 = 4; # GPIO BB0 to INT4
-gpio-intmap.port.BB.pin.1 = 4; # GPIO BB1 to INT4
+gpio-intmap.port.BB.pin.1 = 2; # GPIO BB1 to INT2
gpio-intmap.port.BB.pin.2 = 4; # GPIO BB2 to INT4
gpio-intmap.port.BB.pin.3 = 4; # GPIO BB3 to INT4
gpio-intmap.port.CC.pin.0 = 4; # GPIO CC0 to INT4
${L4T}/bootloader/t186ref/BCT/tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg: --- a/tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg
+++ b/tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg
@@ -67,8 +67,6 @@ pinmux.0x0c2f16c0 = 0x00000001; # CONFIG AA6
pinmux.0x0c303030 = 0x00000000; # GPIO can0_wake_paa6
pinmux.0x0c2f16e0 = 0x00000001; # CONFIG AA7
pinmux.0x0c303038 = 0x00000000; # GPIO can0_err_paa7
-pinmux.0x0c2f1800 = 0x00000001; # CONFIG BB0
-pinmux.0x0c303040 = 0x00000000; # GPIO can1_stb_pbb0
pinmux.0x0c2f1820 = 0x00000001; # CONFIG BB1
pinmux.0x0c303048 = 0x00000000; # GPIO can1_en_pbb1
pinmux.0x0c2f1840 = 0x00000001; # CONFIG BB2
@@ -150,6 +148,10 @@ pinmux.0x0c2f16a0 = 0x00000003; # CONFIG AA5
pinmux.0x0c2f16ac = 0x00000000; # CONTROL AA5
pinmux.0x0c2f16b0 = 0x00000000; # OUTPUT AA5
pinmux.0x0c303028 = 0x00000000; # GPIO can0_en_paa5
+pinmux.0x0c2f1800 = 0x00000003; # CONFIG BB0
+pinmux.0x0c2f180c = 0x00000000; # CONTROL BB0
+pinmux.0x0c2f1810 = 0x00000000; # OUTPUT BB0
+pinmux.0x0c303040 = 0x00000000; # GPIO can1_stb_pbb0
pinmux.0x02212c80 = 0x00000003; # CONFIG Q4
pinmux.0x02212c8c = 0x00000000; # CONTROL Q4
pinmux.0x02212c90 = 0x00000000; # OUTPUT Q4
@@ -360,7 +362,7 @@ pinmux.0x0c303020 = 0x0000c000; # can0_stb_paa4: rsvd0, tristate-disable, input-
pinmux.0x0c303028 = 0x0000c000; # can0_en_paa5: rsvd0, tristate-disable, input-disable
pinmux.0x0c303030 = 0x0000c058; # can0_wake_paa6: rsvd0, pull-up, tristate-enable, input-enable
pinmux.0x0c303038 = 0x0000c048; # can0_err_paa7: rsvd0, pull-up, tristate-disable, input-enable
-pinmux.0x0c303040 = 0x0000c054; # can1_stb_pbb0: rsvd0, pull-down, tristate-enable, input-enable
+pinmux.0x0c303040 = 0x0000c000; # can1_stb_pbb0: rsvd0, tristate-disable, input-disable
pinmux.0x0c303048 = 0x0000c054; # can1_en_pbb1: rsvd0, pull-down, tristate-enable, input-enable
pinmux.0x0c303050 = 0x0000c058; # can1_wake_pbb2: rsvd0, pull-up, tristate-enable, input-enable
pinmux.0x02430078 = 0x00000000; # soc_gpio05_pp5: rsvd0, tristate-disable, input-disable, lpdr-disable
gpio_app_task - Setting GPIO_APP_OUT to 1 - IRQ should trigger can_gpio_irq_handler - gpio irq triggered - setting GPIO_APP_OUT to 0
The following pins from the 40 pin header (J30) should be connected together:
In order to access a AON GPIO from the Cortex-R5 SPE/AON for AGX Orin, the GPIO interrupt map and pinmux settings need to be updated as described in below steps.
soc/t23x/target_specific.mk, set ENABLE_GPIO_APP := 1 and rebuild the application. Copy the output to ${L4T}/bootloader/spe_t234.bin.${L4T}/bootloader/t186ref/BCT/tegra234-mb1-bct-gpioint-p3701-0000.dts: --- a/t186ref/BCT/tegra234-mb1-bct-gpioint-p3701-0000.dts
+++ b/t186ref/BCT/tegra234-mb1-bct-gpioint-p3701-0000.dts
@@ -234,7 +234,7 @@
pin-7-int-line = <4>; // GPIO AA7 to INT0
};
port@BB {
- pin-0-int-line = <4>; // GPIO BB0 to INT0
+ pin-0-int-line = <2>; // GPIO BB0 to INT2
pin-1-int-line = <4>; // GPIO BB1 to INT0
pin-2-int-line = <4>; // GPIO BB2 to INT0
pin-3-int-line = <4>; // GPIO BB3 to INT0
${L4T}/bootloader/tegra234-mb1-bct-gpio-p3701-0000-a04.dtsi: --- a/tegra234-mb1-bct-gpio-p3701-0000-a04.dtsi
+++ b/tegra234-mb1-bct-gpio-p3701-0000-a04.dtsi
@@ -118,12 +118,12 @@
TEGRA234_AON_GPIO(AA, 2)
TEGRA234_AON_GPIO(AA, 3)
TEGRA234_AON_GPIO(BB, 0)
- TEGRA234_AON_GPIO(BB, 1)
TEGRA234_AON_GPIO(BB, 3)
>;
gpio-output-low = <
TEGRA234_AON_GPIO(CC, 2)
TEGRA234_AON_GPIO(CC, 3)
+ TEGRA234_AON_GPIO(BB, 1)
>;
gpio-output-high = <
>;
${L4T}/bootloader/t186ref/BCT/tegra234-mb1-bct-pinmux-p3701-0000-a04.dtsi: --- a/t186ref/BCT/tegra234-mb1-bct-pinmux-p3701-0000-a04.dtsi
+++ b/t186ref/BCT/tegra234-mb1-bct-pinmux-p3701-0000-a04.dtsi
@@ -1000,9 +1000,9 @@
can1_en_pbb1 {
nvidia,pins = "can1_en_pbb1";
nvidia,function = "rsvd0";
- nvidia,pull = <TEGRA_PIN_PULL_DOWN>;
- nvidia,tristate = <TEGRA_PIN_ENABLE>;
- nvidia,enable-input = <TEGRA_PIN_ENABLE>;
+ nvidia,pull = <TEGRA_PIN_PULL_NONE>;
+ nvidia,tristate = <TEGRA_PIN_DISABLE>;
+ nvidia,enable-input = <TEGRA_PIN_DISABLE>;
};
gpio_app_task - Setting GPIO_APP_OUT to 1 - IRQ should trigger can_gpio_irq_handler - gpio irq triggered - setting GPIO_APP_OUT to 0
The following pins from the 40 pin header (J12) should be connected together:
In order to access a AON GPIO from the Cortex-R5 SPE/AON for Orin Nano, the GPIO interrupt map and pinmux settings need to be updated as described in below steps.
soc/t23x/target_specific.mk, set ENABLE_GPIO_APP := 1 and ENABLE_SPE_FOR_ORIN_NANO := 1. Rebuild the application. Copy the output to${L4T}/bootloader/spe_t234.bin`.${L4T}/bootloader/t186ref/BCT/tegra234-mb1-bct-gpioint-p3767-0000.dts: --- a/bootloader/t186ref/BCT/tegra234-mb1-bct-gpioint-p3767-0000.dts
+++ b/bootloader/t186ref/BCT/tegra234-mb1-bct-gpioint-p3767-0000.dts
@@ -252,7 +252,7 @@
port@DD {
pin-0-int-line = <4>; // GPIO DD0 to INT0
pin-1-int-line = <4>; // GPIO DD1 to INT0
- pin-2-int-line = <4>; // GPIO DD2 to INT0
+ pin-2-int-line = <2>; // GPIO DD2 to INT2
};
${L4T}/bootloader/tegra234-mb1-bct-gpio-p3767-dp-a03.dtsi: --- a/bootloader/tegra234-mb1-bct-gpio-p3767-dp-a03.dtsi
+++ b/bootloader/tegra234-mb1-bct-gpio-p3767-dp-a03.dtsi
@@ -89,8 +89,10 @@
gpio-input = <
TEGRA234_AON_GPIO(EE, 2)
TEGRA234_AON_GPIO(EE, 4)
+ TEGRA234_AON_GPIO(DD, 2)
>;
gpio-output-low = <
+ TEGRA234_AON_GPIO(DD, 1)
TEGRA234_AON_GPIO(CC, 0)
${L4T}/bootloader/t186ref/BCT/tegra234-mb1-bct-pinmux-p3767-dp-a03.dtsi: --- a/bootloader/t186ref/BCT/tegra234-mb1-bct-pinmux-p3767-dp-a03.dtsi
+++ b/bootloader/t186ref/BCT/tegra234-mb1-bct-pinmux-p3767-dp-a03.dtsi
@@ -134,19 +134,18 @@
gen8_i2c_scl_pdd1 {
nvidia,pins = "gen8_i2c_scl_pdd1";
- nvidia,function = "i2c8";
+ nvidia,function = "rsvd1";
nvidia,pull = <TEGRA_PIN_PULL_NONE>;
nvidia,tristate = <TEGRA_PIN_DISABLE>;
- nvidia,enable-input = <TEGRA_PIN_ENABLE>;
+ nvidia,enable-input = <TEGRA_PIN_DISABLE>;
nvidia,io-high-voltage = <TEGRA_PIN_ENABLE>;
nvidia,lpdr = <TEGRA_PIN_DISABLE>;
};
gen8_i2c_sda_pdd2 {
nvidia,pins = "gen8_i2c_sda_pdd2";
- nvidia,function = "i2c8";
- nvidia,pull = <TEGRA_PIN_PULL_NONE>;
- nvidia,tristate = <TEGRA_PIN_DISABLE>;
+ nvidia,function = "rsvd1";
+ nvidia,pull = <TEGRA_PIN_PULL_DOWN>;
+ nvidia,tristate = <TEGRA_PIN_ENABLE>;
nvidia,enable-input = <TEGRA_PIN_ENABLE>;
nvidia,io-high-voltage = <TEGRA_PIN_ENABLE>;
nvidia,lpdr = <TEGRA_PIN_DISABLE>;
gpio_app_task - Setting GPIO_APP_OUT to 1 - IRQ should trigger can_gpio_irq_handler - gpio irq triggered - setting GPIO_APP_OUT to 0