--- wikisrc/ports/evbarm/tegra.mdwn 2015/05/30 15:47:08 1.14 +++ wikisrc/ports/evbarm/tegra.mdwn 2017/04/14 11:11:38 1.42 @@ -1,10 +1,9 @@ [[!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]] - # Supported hardware - CPU: Cortex-A15: NVIDIA Tegra K1 (T124) (4-core) - VFP / NEON @@ -22,39 +21,380 @@ - Watchdog timer - SDMMC [[!template id=man name="sdhc" section="4"]] controller - USB 2.0 [[!template id=man name="ehci" section="4"]] controller + - USB 3.0 [[!template id=man name="xhci" section="4"]] controller + - Requires the [sysutils/tegra-firmware](http://pkgsrc.se/sysutils/tegra-firmware) package to be installed. - PCI express - SATA [[!template id=man name="ahcisata" section="4"]] controller - - [[!template id=man name="hdaudio" section="4"]] (needs HDMI) + - HDMI + - Framebuffer console + - HDMI Audio [[!template id=man name="hdaudio" section="4"]] controller + - HDMI CEC - Jetson TK1 - On-board Realtek 8111G [[!template id=man name="re" section="4"]] gigabit ethernet - EEPROM [[!template id=man name="seeprom" section="4"]] (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 - - SMP stability - - eMMC support - - SD/MMC UHS-I support (needs [[!template id=man name="sdmmc" section="4"]] changes) - - Framebuffer console - - HDMI - - I2S - - Audio codec - - AS3722 power management unit + - Memory controller SMMU support + - APB DMA + - Audio Hub (AHUB) - GPU (nouveau) + - SPI controller + - PWM controller + - PCIe MSI support + - CL-DVFS + - LVDS/eDP display output # Generating a boot script +The Tegra kernels need a .dtb for your board to boot. The dtb here was updated on 2017-04-13 and is generated from a Linux 4.10.10 source tree. [NVIDIA Jetson TK1 .dtb](http://ftp.netbsd.org/pub/NetBSD/misc/jmcneill/tegra/tegra124-jetson-tk1.dtb) + [[!template id=programlisting text=""" $ cat boot.txt setenv bootargs root=ld1a 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 """]] +# 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 +"""]] + +# GPU (nouveau) + +To enable the GPU, add the following before the ''bootm'' command in the boot script: + +[[!template id=programlisting text=""" +fdt set /gpu@0,57000000 status okay +"""]] + +For the nouveau driver to load successfully, firmware is required: + - Install the [sysutils/tegra-firmware](http://pkgsrc.se/sysutils/tegra-firmware) package from pkgsrc. + - Extract the contents of [tegra-nouveau-firmware.tar.gz](http://cdn.netbsd.org/pub/NetBSD/misc/jmcneill/tegra/tegra-nouveau-firmware.tar.gz) to ''/libdata/firmware/nouveau''. + +You should see the following messages at boot: + +[[!template id=programlisting text=""" +nouveau0 at fdt0: GPU +drm kern info: nouveau [ DEVICE][nouveau0] BOOT0 : 0x0ea000a1 +drm kern info: nouveau [ DEVICE][nouveau0] Chipset: GK20A (NVEA) +drm kern info: nouveau [ DEVICE][nouveau0] Family : NVE0 +drm kern info: nouveau [ PFB][nouveau0] RAM type: stolen system memory +drm kern info: nouveau [ PFB][nouveau0] RAM size: 2019 MiB +drm kern info: nouveau [ PFB][nouveau0] ZCOMP: 0 tags +drm kern info: nouveau [ PGRAPH][nouveau0] using external firmware +drm kern info: nouveau [ DRM] VRAM: 2019 MiB +drm kern info: nouveau [ DRM] GART: 1048576 MiB +drm kern error: nouveau E[ PFIFO][nouveau0] unsupported engines 0x00000030 +drm kern error: nouveau E[ DRM] failed to create ce channel, -22 +drm kern info: nouveau [ DRM] MM: using GRCE for buffer copies +nouveau0: initialized nouveau 1.1.1 20120801 on minor 1 +"""]] + +# 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 - [NVIDIA Jetson TK1 development kit](https://developer.nvidia.com/jetson-tk1) - [Hardware documentation](https://developer.nvidia.com/hardware-design-and-development) - [Linux For Tegra](https://developer.nvidia.com/linux-tegra) +- [Device Tree](http://www.devicetree.org) + +.