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version 1.10, 2015/05/24 22:31:17 version 1.36, 2015/12/13 18:07:52
Line 1 Line 1
 [[!meta title="NetBSD/evbarm on NVIDIA Tegra"]]  [[!meta title="NetBSD/evbarm on NVIDIA Tegra"]]
   
 **The Tegra port is work in progress**  The NetBSD tegra port currently supports the NVIDIA Tegra K1 (32-bit) system-on-a-chip. The [NVIDIA Jetson TK1 development kit](https://developer.nvidia.com/jetson-tk1) is a board based on the Tegra K1 SoC.
   
 [[!toc levels=2]]  [[!toc levels=2]]
   
   
 # Supported hardware  # Supported hardware
  - CPU: Cortex-A15: NVIDIA Tegra K1 (T124) (4-core)   - CPU: Cortex-A15: NVIDIA Tegra K1 (T124) (4-core)
    - VFP / NEON     - VFP / NEON
Line 19 Line 18
  - I2C controller   - I2C controller
  - UART [[!template id=man name="com" section="4"]] serial console   - UART [[!template id=man name="com" section="4"]] serial console
  - RTC   - RTC
    - Watchdog timer
  - SDMMC [[!template id=man name="sdhc" section="4"]] controller   - SDMMC [[!template id=man name="sdhc" section="4"]] controller
  - USB 2.0 [[!template id=man name="ehci" section="4"]] controller   - USB 2.0 [[!template id=man name="ehci" section="4"]] controller
  - PCI express   - PCI express
  - SATA [[!template id=man name="ahcisata" section="4"]] controller   - SATA [[!template id=man name="ahcisata" section="4"]] controller
    - HDMI
      - Framebuffer console
      - HDMI Audio [[!template id=man name="hdaudio" section="4"]] controller
      - HDMI CEC
  - Jetson TK1   - Jetson TK1
    - On-board Realtek 8111G [[!template id=man name="re" section="4"]] gigabit ethernet      - On-board Realtek 8111G [[!template id=man name="re" section="4"]] gigabit ethernet 
    - EEPROM [[!template id=man name="seeprom" section="4"]] (on I2C)     - EEPROM [[!template id=man name="seeprom" section="4"]] (on I2C)
    - TMP451 [[!template id=man name="titemp" section="4"]] temperature sensor (on I2C)     - TMP451 [[!template id=man name="titemp" section="4"]] temperature sensor (on I2C)
      - RF kill switch
      - Power button
    - AS3722 power management unit
    - eFUSE
    - SoC thermal sensors
   
   
 # TODO  # TODO
  - SMP stability   - Memory controller SMMU support
  - eMMC support   - APB DMA
  - SD/MMC UHS-I support (needs [[!template id=man name="sdmmc" section="4"]] changes)   - Audio Hub (AHUB)
  - Framebuffer console   - GPU (nouveau)
  - HDMI   - USB 3.0 [[!template id=man name="xhci" section="4"]] controller
  - [[!template id=man name="hdaudio" section="4"]] (for HDMI audio)   - SPI controller
  - I2S   - PWM controller
  - Audio codec   - PCIe MSI support
  - AS3722 power management unit   - CL-DVFS
  - Watchdog timer   - LVDS/eDP display output
   
 # Generating a boot script  # Generating a boot script
   
   The Tegra kernels need a .dtb for your board to boot. [NVIDIA Jetson TK1 .dtb](http://ftp.netbsd.org/pub/NetBSD/misc/jmcneill/tegra/tegra124-jetson-tk1.dtb)
   
 [[!template  id=programlisting text="""  [[!template  id=programlisting text="""
 $ cat boot.txt  $ cat boot.txt
 setenv bootargs root=ld1a  setenv bootargs root=ld1a
 fatload mmc 1:1 0x90000000 netbsd.ub  fatload mmc 1:1 0x90000000 netbsd.ub
 bootm 0x90000000  fatload mmc 1:1 ${fdt_addr_r} tegra124-jetson-tk1.dtb
   fdt addr ${fdt_addr_r}
   bootm 0x90000000 - ${fdt_addr_r}
 $ mkubootimage -A arm -C none -O netbsd -T script -a 0 -n "NetBSD/tegra boot" boot.txt boot.scr  $ mkubootimage -A arm -C none -O netbsd -T script -a 0 -n "NetBSD/tegra boot" boot.txt boot.scr
 """]]  """]]
   
   # Getting U-Boot
   
   Jetson TK1 boards come with Linux4Tegra R19.x installed, which doesn't use U-Boot. The easiest way to get U-Boot is to upgrade to Linux4Tegra R21.x (Linux PC or VM required) following the [quick start guide](http://developer.download.nvidia.com/embedded/L4T/r21_Release_v4.0/l4t_quick_start_guide.txt).
   
   # Modesetting
   
   ## Console
   
   To override the default video mode (auto-detected from display EDID), use the *video* kernel command-line parameter:
   
   [[!template  id=programlisting text="""
   video=<xres>x<yres>[M][R][-<bpp>][@<refresh>][i][m][eDd]
   """]]
   
   ## Xorg
   
   To be able to use the mode setting features of the Tegra DRM driver, you must use the xf86-video-modesetting driver. Put this in xorg.conf:
   
   [[!template  id=programlisting text="""
   Section "Device"
       Identifier "DRM Modesetting"
       Driver "modesetting"
   EndSection
   """]]
   
   # dmesg
   
   [[!template  id=programlisting text="""
   Copyright (c) 1996, 1997, 1998, 1999, 2000, 2001, 2002, 2003, 2004, 2005,
       2006, 2007, 2008, 2009, 2010, 2011, 2012, 2013, 2014, 2015
       The NetBSD Foundation, Inc.  All rights reserved.
   Copyright (c) 1982, 1986, 1989, 1991, 1993
       The Regents of the University of California.  All rights reserved.
   
   NetBSD 7.99.23 (JETSONTK1) #657: Sun Dec 13 12:33:17 AST 2015
           jmcneill@megatron.local:/Users/jmcneill/netbsd/src/sys/arch/evbarm/compile/obj/JETSONTK1
   total memory = 2047 MB
   avail memory = 2020 MB
   sysctl_createv: sysctl_create(machine_arch) returned 17
   timecounter: Timecounters tick every 10.000 msec
   mainbus0 (root)
   cpu0 at mainbus0 core 0: 2316 MHz Cortex-A15 r3p3 (Cortex V7A core)
   cpu0: DC enabled IC enabled WB disabled EABT branch prediction enabled
   cpu0: 32KB/64B 2-way L1 PIPT Instruction cache
   cpu0: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
   cpu0: 2048KB/64B 16-way write-through L2 PIPT Unified cache
   vfp0 at cpu0: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
   cpu1 at mainbus0 core 1
   cpu2 at mainbus0 core 2
   cpu3 at mainbus0 core 3
   armperiph0 at mainbus0
   armgic0 at armperiph0: Generic Interrupt Controller, 192 sources (183 valid)
   armgic0: 32 Priorities, 160 SPIs, 7 PPIs, 16 SGIs
   armgtmr0 at armperiph0: ARMv7 Generic 64-bit Timer (12000 kHz)
   armgtmr0: interrupting on irq 27
   timecounter: Timecounter "armgtmr0" frequency 12000000 Hz quality 500
   tegrafdt0 at mainbus0
   fdt0 at tegrafdt0: NVIDIA Tegra124 Jetson TK1
   gic0 at fdt0: GIC
   tegralic0 at fdt0: LIC
   tegracar0 at fdt0: CAR
   clock at fdt0 not configured
   tegrampio0 at fdt0: MPIO
   tegragpio0 at fdt0: GPIO
   gpio0 at tegragpio0 (A): 8 pins
   gpio1 at tegragpio0 (B): 8 pins
   gpio2 at tegragpio0 (C): 8 pins
   gpio3 at tegragpio0 (D): 8 pins
   gpio4 at tegragpio0 (E): 8 pins
   gpio5 at tegragpio0 (F): 8 pins
   gpio6 at tegragpio0 (G): 8 pins
   gpio7 at tegragpio0 (H): 8 pins
   gpio8 at tegragpio0 (I): 8 pins
   gpio9 at tegragpio0 (J): 8 pins
   gpio10 at tegragpio0 (K): 8 pins
   gpio11 at tegragpio0 (L): 8 pins
   gpio12 at tegragpio0 (M): 8 pins
   gpio13 at tegragpio0 (N): 8 pins
   gpio14 at tegragpio0 (O): 8 pins
   gpio15 at tegragpio0 (P): 8 pins
   gpio16 at tegragpio0 (Q): 8 pins
   gpio17 at tegragpio0 (R): 8 pins
   gpio18 at tegragpio0 (S): 8 pins
   gpio19 at tegragpio0 (T): 8 pins
   gpio20 at tegragpio0 (U): 8 pins
   gpio21 at tegragpio0 (V): 8 pins
   gpio22 at tegragpio0 (W): 8 pins
   gpio23 at tegragpio0 (X): 8 pins
   gpio24 at tegragpio0 (Y): 8 pins
   gpio25 at tegragpio0 (Z): 8 pins
   gpio26 at tegragpio0 (AA): 8 pins
   gpio27 at tegragpio0 (BB): 8 pins
   gpio28 at tegragpio0 (CC): 8 pins
   gpio29 at tegragpio0 (DD): 8 pins
   gpio30 at tegragpio0 (EE): 8 pins
   simplebus0 at fdt0: regulators
   fdt1 at simplebus0
   fregulator0 at fdt1: +VDD_MUX
   fregulator1 at fdt1: +5V_SYS
   fregulator2 at fdt1: +3.3V_SYS
   fregulator3 at fdt1: +3.3V_RUN
   fregulator4 at fdt1: +3.3V_AVDD_HDMI_AP_GATED
   fregulator5 at fdt1: +USB0_VBUS_SW
   fregulator6 at fdt1: +5V_USB_HS
   fregulator7 at fdt1: +3.3V_LP0
   fregulator8 at fdt1: +1.05V_RUN_AVDD_HDMI_PLL
   fregulator9 at fdt1: +5V_HDMI_CON
   fregulator10 at fdt1: +5V_SATA
   fregulator11 at fdt1: +12V_SATA
   dma at fdt0 not configured
   tegrapmc0 at fdt0: PMC
   tegramc0 at fdt0: MC
   tegramc0: interrupting on LIC irq 109
   tegrai2c0 at fdt0: I2C1
   tegrai2c0: interrupting on LIC irq 70
   iic0 at tegrai2c0: I2C bus
   audio-codec at iic0 addr 0x1c not configured
   titemp0 at iic0 addr 0x4c: TMP451
   seeprom0 at iic0 addr 0x56: eeprom: size 256
   tegrai2c1 at fdt0: I2C2
   tegrai2c1: interrupting on LIC irq 116
   iic1 at tegrai2c1: I2C bus
   tegrai2c2 at fdt0: I2C3
   tegrai2c2: interrupting on LIC irq 124
   iic2 at tegrai2c2: I2C bus
   tegrai2c3 at fdt0: I2C4
   tegrai2c3: interrupting on LIC irq 152
   iic3 at tegrai2c3: I2C bus
   tegrai2c4 at fdt0: I2C5
   tegrai2c4: interrupting on LIC irq 85
   iic4 at tegrai2c4: I2C bus
   as3722pmic0 at iic4 addr 0x40: AMS AS3822
   as3722pmic0: default watchdog period is 10 seconds
   tegrausbphy0 at fdt0: USB PHY2
   tegrausbphy1 at fdt0: USB PHY3
   tegrapcie0 at fdt0: PCIE
   tegrapcie0: interrupting on LIC irq 130
   pci0 at tegrapcie0 bus 0
   pci0: i/o space, memory space enabled, rd/line, rd/mult, wr/inv ok
   ppb0 at pci0 dev 0 function 0: vendor 10de product 0e12 (rev. 0xa1)
   ppb0: PCI Express capability version 2 <Root Port of PCI-E Root Complex> x2 @ 5.0GT/s
   ppb0: link is x1 @ 2.5GT/s
   pci1 at ppb0 bus 1
   pci1: i/o space, memory space enabled, rd/line, wr/inv ok
   athn0 at pci1 dev 0 function 0: Atheros AR9285
   athn0: rev 2 (1T1R), ROM rev 13, address 00:17:c4:d7:d0:58
   athn0: interrupting at LIC irq 130
   athn0: 11b rates: 1Mbps 2Mbps 5.5Mbps 11Mbps
   athn0: 11g rates: 1Mbps 2Mbps 5.5Mbps 11Mbps 6Mbps 9Mbps 12Mbps 18Mbps 24Mbps 36Mbps 48Mbps 54Mbps
   ppb1 at pci0 dev 1 function 0: vendor 10de product 0e13 (rev. 0xa1)
   ppb1: PCI Express capability version 2 <Root Port of PCI-E Root Complex> x1 @ 5.0GT/s
   ppb1: link is x1 @ 2.5GT/s
   pci2 at ppb1 bus 2
   pci2: i/o space, memory space enabled, rd/line, wr/inv ok
   re0 at pci2 dev 0 function 0: RealTek 8168/8111 PCIe Gigabit Ethernet (rev. 0x0c)
   re0: interrupting at LIC irq 130
   re0: Ethernet address 00:04:4b:2f:51:a2
   re0: using 512 tx descriptors
   rgephy0 at re0 phy 7: RTL8251 1000BASE-T media interface, rev. 0
   rgephy0: 10baseT, 10baseT-FDX, 100baseTX, 100baseTX-FDX, 1000baseT-FDX, auto
   tegradrm0 at fdt0
   drm: Supports vblank timestamp caching Rev 2 (21.10.2013).
   drm: No driver support for vblank timestamp query.
   tegrafb0 at tegradrm0
   tegrafb0: framebuffer at 0x9bc00000, size 1920x1080, depth 32, stride 7680
   wsdisplay0 at tegrafb0 kbdmux 1
   wsmux1: connecting to wsdisplay0
   wsdisplay0: screen 0-3 added (default, vt100 emulation)
   tegradrm0: info: registered panic notifier
   tegradrm0: initialized tegra 0.1.0 20151108 on minor 0
   tegratimer0 at fdt0: Timers
   tegratimer0: default watchdog period is 10 seconds
   flow-controller at fdt0 not configured
   actmon at fdt0 not configured
   apbmisc at fdt0 not configured
   com0 at fdt0: ns16550a, working fifo
   com0: console
   com0: interrupting on LIC irq 122
   spi at fdt0 not configured
   spi at fdt0 not configured
   tegrartc0 at fdt0: RTC
   tegrafuse0 at fdt0: FUSE
   emc at fdt0 not configured
   ahcisata0 at fdt0: SATA
   ahcisata0: couldn't acquire vddio-supply
   ahcisata0: couldn't acquire avdd-supply
   ahcisata0: interrupting on LIC irq 55
   ahcisata0: AHCI revision 1.31, 2 ports, 32 slots, CAP 0xe620ff01<PSC,SSC,PMD,ISS=0x2=Gen2,SAL,SALP,SSNTF,SNCQ,S64A>
   atabus0 at ahcisata0 channel 0
   hdaudio0 at fdt0: HDA
   hdaudio0: interrupting on LIC irq 113
   hdafg0 at hdaudio0: NVIDIA Tegra124 HDMI
   hdafg0: HDMI00 8ch: Digital Out [Jack]
   hdafg0: 8ch/0ch 44100Hz PCM16*
   audio0 at hdafg0: full duplex, playback, capture, mmap, independent
   tegraxusbpad0 at fdt0: XUSB PADCTL
   sdhc0 at fdt0: SDMMC3
   sdhc0: interrupting on LIC irq 51
   sdhc0: SDHC 4.0, rev 3, 32-bit ADMA2, 204000 kHz, HS SDR50 SDR104 HS200 1.8V 3.0V 3.3V, re-tuning mode 1, 4096 byte blocks
   sdmmc0 at sdhc0 slot 0
   sdhc1 at fdt0: SDMMC4
   sdhc1: interrupting on LIC irq 63
   sdhc1: SDHC 4.0, rev 3, 32-bit ADMA2, 204000 kHz, HS SDR50 SDR104 HS200 1.8V 3.0V 3.3V, re-tuning mode 1, 4096 byte blocks
   sdmmc1 at sdhc1 slot 0
   tegrasoctherm0 at fdt0: SOC_THERM
   ahub at fdt0 not configured
   ehci0 at fdt0: USB2
   ehci0: interrupting on LIC irq 53
   ehci0: EHCI version 1.10
   ehci0: switching to host mode
   usb0 at ehci0: USB revision 2.0
   ehci1 at fdt0: USB3
   ehci1: interrupting on LIC irq 129
   ehci1: EHCI version 1.10
   ehci1: switching to host mode
   usb1 at ehci1: USB revision 2.0
   pmu at fdt0 not configured
   timer at fdt0 not configured
   simplebus1 at fdt0: clocks
   fdt2 at simplebus1
   clock at fdt2 not configured
   gpio-keys at fdt0 not configured
   sound at fdt0 not configured
   timecounter: Timecounter "clockinterrupt" frequency 100 Hz quality 0
   cpu3: 2316 MHz Cortex-A15 r3p3 (Cortex V7A core)
   cpu3: DC enabled IC enabled WB disabled EABT branch prediction enabled
   cpu3: 32KB/64B 2-way L1 PIPT Instruction cache
   cpu3: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
   cpu3: 2048KB/64B 16-way write-through L2 PIPT Unified cache
   vfp3 at cpu3: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
   cpu1: 2316 MHz Cortex-A15 r3p3 (Cortex V7A core)
   cpu1: DC enabled IC enabled WB disabled EABT branch prediction enabled
   cpu1: 32KB/64B 2-way L1 PIPT Instruction cache
   cpu1: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
   cpu1: 2048KB/64B 16-way write-through L2 PIPT Unified cache
   vfp1 at cpu1: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
   cpu2: 2316 MHz Cortex-A15 r3p3 (Cortex V7A core)
   cpu2: DC enabled IC enabled WB disabled EABT branch prediction enabled
   cpu2: 32KB/64B 2-way L1 PIPT Instruction cache
   cpu2: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
   cpu2: 2048KB/64B 16-way write-through L2 PIPT Unified cache
   vfp2 at cpu2: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
   uhub0 at usb0: Tegra EHCI root hub, class 9/0, rev 2.00/1.00, addr 1
   uhub0: 1 port with 1 removable, self powered
   ahcisata0 port 0: device present, speed: 3.0Gb/s
   uhub1 at usb1: Tegra EHCI root hub, class 9/0, rev 2.00/1.00, addr 1
   uhub1: 1 port with 1 removable, self powered
   sdhc1: cmd timeout error
   IPsec: Initialized Security Association Processing.
   ld0 at sdmmc1: <0x45:0x0100:SEM16G:0x00:0x0301ff34:0x000>
   ld0: 15028 MB, 7633 cyl, 64 head, 63 sec, 512 bytes/sect x 30777344 sectors
   ld0: GPT GUID: a81e231f-7b1c-c564-1473-5ac55e4b7963
   dk0 at ld0: "APP", 29360128 blocks at 94208, type: <unknown>
   dk1 at ld0: "DTB", 8192 blocks at 29454336, type: <unknown>
   ld1 at sdmmc0dk2 at ld0: "EFI", 131072 blocks at 29462528, type: <unknown>
   : <0x27:0x5048:SD64G:0x30:0x01ce4def:0x0dc>
   dk3 at ld0: "USP", 8192 blocks at 29593600, type: <unknown>
   dk4 at ld0: "TP1", 8192 blocks at 29601792, type: <unknown>
   dk5 at ld0: "TP2", 8192 blocks at 29609984, type: <unknown>
   dk6 at ld0: "TP3", 8192 blocks at 29618176, type: <unknown>
   dk7 at ld0: "WB0", 4096 blocks at 29626368, type: <unknown>
   dk8 at ld0: "UDA", 1142784 blocks at 29630464, type: <unknown>
   ld0: 8-bit width, HS200, 200.000 MHz
   ld1: 59504 MB, 7585 cyl, 255 head, 63 sec, 512 bytes/sect x 121864192 sectors
   ld1: 4-bit width, SDR104, 204.000 MHz
   wd0 at atabus0 drive 0
   wd0: <OCZ-AGILITY3>
   wd0: drive supports 16-sector PIO transfers, LBA48 addressing
   wd0: 111 GB, 232581 cyl, 16 head, 63 sec, 512 bytes/sect x 234441648 sectors
   wd0: drive supports PIO mode 4, DMA mode 2, Ultra-DMA mode 6 (Ultra/133)
   wd0(ahcisata0:0:0): using PIO mode 4, DMA mode 2, Ultra-DMA mode 6 (Ultra/133) (using DMA)
   uhidev0 at uhub1 port 1 configuration 1 interface 0
   uhidev0: Logitech USB Receiver, rev 2.00/29.00, addr 2, iclass 3/1
   ukbd0 at uhidev0: 8 modifier keys, 6 key codes
   wskbd0 at ukbd0 mux 1
   wskbd0: connecting to wsdisplay0
   uhidev1 at uhub1 port 1 configuration 1 interface 1
   uhidev1: Logitech USB Receiver, rev 2.00/29.00, addr 2, iclass 3/1
   uhidev1: 17 report ids
   ums0 at uhidev1 reportid 2: 16 buttons, W and Z dirs
   wsmouse0 at ums0 mux 0
   uhid0 at uhidev1 reportid 3: input=4, output=0, feature=0
   uhid1 at uhidev1 reportid 4: input=1, output=0, feature=0
   uhid2 at uhidev1 reportid 16: input=6, output=6, feature=0
   uhid3 at uhidev1 reportid 17: input=19, output=19, feature=0
   boot device: wd0
   root on wd0a dumps on wd0b
   root file system type: ffs
   kern.module.path=/stand/evbarm/7.99.23/modules
   WARNING: preposterous TOD clock time
   WARNING: using filesystem time
   WARNING: CHECK AND RESET THE DATE!
   """]]
   
 # Links  # Links
   
 - [NVIDIA Jetson TK1 development kit](https://developer.nvidia.com/jetson-tk1)  - [NVIDIA Jetson TK1 development kit](https://developer.nvidia.com/jetson-tk1)
 - [Hardware documentation](https://developer.nvidia.com/hardware-design-and-development)  - [Hardware documentation](https://developer.nvidia.com/hardware-design-and-development)
 - [Linux For Tegra](https://developer.nvidia.com/linux-tegra)  - [Linux For Tegra](https://developer.nvidia.com/linux-tegra)
   - [Device Tree](http://www.devicetree.org)
Removed from v.1.10  
changed lines
  Added in v.1.36

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