1: [[!meta title="NetBSD/evbarm on NVIDIA Tegra"]]
2:
3: 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.
4:
5: [[!toc levels=2]]
6:
7: # Supported hardware
8: - CPU: Cortex-A15: NVIDIA Tegra K1 (T124) (4-core)
9: - VFP / NEON
10: - CPU frequency scaling
11: - GIC
12: - ARM generic timer
13: - Clock and reset controller
14: - GPIO controller
15: - MPIO / pinmux controller
16: - Memory controller
17: - Power management controller
18: - I2C controller
19: - UART [[!template id=man name="com" section="4"]] serial console
20: - RTC
21: - Watchdog timer
22: - SDMMC [[!template id=man name="sdhc" section="4"]] controller
23: - USB 2.0 [[!template id=man name="ehci" section="4"]] controller
24: - USB 3.0 [[!template id=man name="xhci" section="4"]] controller
25: - Requires the [sysutils/tegra-firmware](http://pkgsrc.se/sysutils/tegra-firmware) package to be installed.
26: - PCI express
27: - SATA [[!template id=man name="ahcisata" section="4"]] controller
28: - HDMI
29: - Framebuffer console
30: - HDMI Audio [[!template id=man name="hdaudio" section="4"]] controller
31: - HDMI CEC
32: - Jetson TK1
33: - On-board Realtek 8111G [[!template id=man name="re" section="4"]] gigabit ethernet
34: - EEPROM [[!template id=man name="seeprom" section="4"]] (on I2C)
35: - TMP451 [[!template id=man name="titemp" section="4"]] temperature sensor (on I2C)
36: - RF kill switch
37: - Power button
38: - AS3722 power management unit
39: - eFUSE
40: - SoC thermal sensors
41:
42:
43: # TODO
44: - Memory controller SMMU support
45: - APB DMA
46: - Audio Hub (AHUB)
47: - GPU (nouveau)
48: - SPI controller
49: - PWM controller
50: - PCIe MSI support
51: - CL-DVFS
52: - LVDS/eDP display output
53:
54: # Generating a boot script
55:
56: 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)
57:
58: [[!template id=programlisting text="""
59: $ cat boot.txt
60: setenv bootargs root=ld1a
61: fatload mmc 1:1 0x90000000 netbsd.ub
62: fatload mmc 1:1 ${fdt_addr_r} tegra124-jetson-tk1.dtb
63: fdt addr ${fdt_addr_r}
64: bootm 0x90000000 - ${fdt_addr_r}
65: $ mkubootimage -A arm -C none -O netbsd -T script -a 0 -n "NetBSD/tegra boot" boot.txt boot.scr
66: """]]
67:
68: # Getting U-Boot
69:
70: 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).
71:
72: # Modesetting
73:
74: ## Console
75:
76: To override the default video mode (auto-detected from display EDID), use the *video* kernel command-line parameter:
77:
78: [[!template id=programlisting text="""
79: video=<xres>x<yres>[M][R][-<bpp>][@<refresh>][i][m][eDd]
80: """]]
81:
82: ## Xorg
83:
84: 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:
85:
86: [[!template id=programlisting text="""
87: Section "Device"
88: Identifier "DRM Modesetting"
89: Driver "modesetting"
90: EndSection
91: """]]
92:
93: # dmesg
94:
95: [[!template id=programlisting text="""
96: Copyright (c) 1996, 1997, 1998, 1999, 2000, 2001, 2002, 2003, 2004, 2005,
97: 2006, 2007, 2008, 2009, 2010, 2011, 2012, 2013, 2014, 2015
98: The NetBSD Foundation, Inc. All rights reserved.
99: Copyright (c) 1982, 1986, 1989, 1991, 1993
100: The Regents of the University of California. All rights reserved.
101:
102: NetBSD 7.99.23 (JETSONTK1) #657: Sun Dec 13 12:33:17 AST 2015
103: jmcneill@megatron.local:/Users/jmcneill/netbsd/src/sys/arch/evbarm/compile/obj/JETSONTK1
104: total memory = 2047 MB
105: avail memory = 2020 MB
106: sysctl_createv: sysctl_create(machine_arch) returned 17
107: timecounter: Timecounters tick every 10.000 msec
108: mainbus0 (root)
109: cpu0 at mainbus0 core 0: 2316 MHz Cortex-A15 r3p3 (Cortex V7A core)
110: cpu0: DC enabled IC enabled WB disabled EABT branch prediction enabled
111: cpu0: 32KB/64B 2-way L1 PIPT Instruction cache
112: cpu0: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
113: cpu0: 2048KB/64B 16-way write-through L2 PIPT Unified cache
114: vfp0 at cpu0: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
115: cpu1 at mainbus0 core 1
116: cpu2 at mainbus0 core 2
117: cpu3 at mainbus0 core 3
118: armperiph0 at mainbus0
119: armgic0 at armperiph0: Generic Interrupt Controller, 192 sources (183 valid)
120: armgic0: 32 Priorities, 160 SPIs, 7 PPIs, 16 SGIs
121: armgtmr0 at armperiph0: ARMv7 Generic 64-bit Timer (12000 kHz)
122: armgtmr0: interrupting on irq 27
123: timecounter: Timecounter "armgtmr0" frequency 12000000 Hz quality 500
124: tegrafdt0 at mainbus0
125: fdt0 at tegrafdt0: NVIDIA Tegra124 Jetson TK1
126: gic0 at fdt0: GIC
127: tegralic0 at fdt0: LIC
128: tegracar0 at fdt0: CAR
129: clock at fdt0 not configured
130: tegrampio0 at fdt0: MPIO
131: tegragpio0 at fdt0: GPIO
132: gpio0 at tegragpio0 (A): 8 pins
133: gpio1 at tegragpio0 (B): 8 pins
134: gpio2 at tegragpio0 (C): 8 pins
135: gpio3 at tegragpio0 (D): 8 pins
136: gpio4 at tegragpio0 (E): 8 pins
137: gpio5 at tegragpio0 (F): 8 pins
138: gpio6 at tegragpio0 (G): 8 pins
139: gpio7 at tegragpio0 (H): 8 pins
140: gpio8 at tegragpio0 (I): 8 pins
141: gpio9 at tegragpio0 (J): 8 pins
142: gpio10 at tegragpio0 (K): 8 pins
143: gpio11 at tegragpio0 (L): 8 pins
144: gpio12 at tegragpio0 (M): 8 pins
145: gpio13 at tegragpio0 (N): 8 pins
146: gpio14 at tegragpio0 (O): 8 pins
147: gpio15 at tegragpio0 (P): 8 pins
148: gpio16 at tegragpio0 (Q): 8 pins
149: gpio17 at tegragpio0 (R): 8 pins
150: gpio18 at tegragpio0 (S): 8 pins
151: gpio19 at tegragpio0 (T): 8 pins
152: gpio20 at tegragpio0 (U): 8 pins
153: gpio21 at tegragpio0 (V): 8 pins
154: gpio22 at tegragpio0 (W): 8 pins
155: gpio23 at tegragpio0 (X): 8 pins
156: gpio24 at tegragpio0 (Y): 8 pins
157: gpio25 at tegragpio0 (Z): 8 pins
158: gpio26 at tegragpio0 (AA): 8 pins
159: gpio27 at tegragpio0 (BB): 8 pins
160: gpio28 at tegragpio0 (CC): 8 pins
161: gpio29 at tegragpio0 (DD): 8 pins
162: gpio30 at tegragpio0 (EE): 8 pins
163: simplebus0 at fdt0: regulators
164: fdt1 at simplebus0
165: fregulator0 at fdt1: +VDD_MUX
166: fregulator1 at fdt1: +5V_SYS
167: fregulator2 at fdt1: +3.3V_SYS
168: fregulator3 at fdt1: +3.3V_RUN
169: fregulator4 at fdt1: +3.3V_AVDD_HDMI_AP_GATED
170: fregulator5 at fdt1: +USB0_VBUS_SW
171: fregulator6 at fdt1: +5V_USB_HS
172: fregulator7 at fdt1: +3.3V_LP0
173: fregulator8 at fdt1: +1.05V_RUN_AVDD_HDMI_PLL
174: fregulator9 at fdt1: +5V_HDMI_CON
175: fregulator10 at fdt1: +5V_SATA
176: fregulator11 at fdt1: +12V_SATA
177: dma at fdt0 not configured
178: tegrapmc0 at fdt0: PMC
179: tegramc0 at fdt0: MC
180: tegramc0: interrupting on LIC irq 109
181: tegrai2c0 at fdt0: I2C1
182: tegrai2c0: interrupting on LIC irq 70
183: iic0 at tegrai2c0: I2C bus
184: audio-codec at iic0 addr 0x1c not configured
185: titemp0 at iic0 addr 0x4c: TMP451
186: seeprom0 at iic0 addr 0x56: eeprom: size 256
187: tegrai2c1 at fdt0: I2C2
188: tegrai2c1: interrupting on LIC irq 116
189: iic1 at tegrai2c1: I2C bus
190: tegrai2c2 at fdt0: I2C3
191: tegrai2c2: interrupting on LIC irq 124
192: iic2 at tegrai2c2: I2C bus
193: tegrai2c3 at fdt0: I2C4
194: tegrai2c3: interrupting on LIC irq 152
195: iic3 at tegrai2c3: I2C bus
196: tegrai2c4 at fdt0: I2C5
197: tegrai2c4: interrupting on LIC irq 85
198: iic4 at tegrai2c4: I2C bus
199: as3722pmic0 at iic4 addr 0x40: AMS AS3822
200: as3722pmic0: default watchdog period is 10 seconds
201: tegrausbphy0 at fdt0: USB PHY2
202: tegrausbphy1 at fdt0: USB PHY3
203: tegrapcie0 at fdt0: PCIE
204: tegrapcie0: interrupting on LIC irq 130
205: pci0 at tegrapcie0 bus 0
206: pci0: i/o space, memory space enabled, rd/line, rd/mult, wr/inv ok
207: ppb0 at pci0 dev 0 function 0: vendor 10de product 0e12 (rev. 0xa1)
208: ppb0: PCI Express capability version 2 <Root Port of PCI-E Root Complex> x2 @ 5.0GT/s
209: ppb0: link is x1 @ 2.5GT/s
210: pci1 at ppb0 bus 1
211: pci1: i/o space, memory space enabled, rd/line, wr/inv ok
212: athn0 at pci1 dev 0 function 0: Atheros AR9285
213: athn0: rev 2 (1T1R), ROM rev 13, address 00:17:c4:d7:d0:58
214: athn0: interrupting at LIC irq 130
215: athn0: 11b rates: 1Mbps 2Mbps 5.5Mbps 11Mbps
216: athn0: 11g rates: 1Mbps 2Mbps 5.5Mbps 11Mbps 6Mbps 9Mbps 12Mbps 18Mbps 24Mbps 36Mbps 48Mbps 54Mbps
217: ppb1 at pci0 dev 1 function 0: vendor 10de product 0e13 (rev. 0xa1)
218: ppb1: PCI Express capability version 2 <Root Port of PCI-E Root Complex> x1 @ 5.0GT/s
219: ppb1: link is x1 @ 2.5GT/s
220: pci2 at ppb1 bus 2
221: pci2: i/o space, memory space enabled, rd/line, wr/inv ok
222: re0 at pci2 dev 0 function 0: RealTek 8168/8111 PCIe Gigabit Ethernet (rev. 0x0c)
223: re0: interrupting at LIC irq 130
224: re0: Ethernet address 00:04:4b:2f:51:a2
225: re0: using 512 tx descriptors
226: rgephy0 at re0 phy 7: RTL8251 1000BASE-T media interface, rev. 0
227: rgephy0: 10baseT, 10baseT-FDX, 100baseTX, 100baseTX-FDX, 1000baseT-FDX, auto
228: tegradrm0 at fdt0
229: drm: Supports vblank timestamp caching Rev 2 (21.10.2013).
230: drm: No driver support for vblank timestamp query.
231: tegrafb0 at tegradrm0
232: tegrafb0: framebuffer at 0x9bc00000, size 1920x1080, depth 32, stride 7680
233: wsdisplay0 at tegrafb0 kbdmux 1
234: wsmux1: connecting to wsdisplay0
235: wsdisplay0: screen 0-3 added (default, vt100 emulation)
236: tegradrm0: info: registered panic notifier
237: tegradrm0: initialized tegra 0.1.0 20151108 on minor 0
238: tegratimer0 at fdt0: Timers
239: tegratimer0: default watchdog period is 10 seconds
240: flow-controller at fdt0 not configured
241: actmon at fdt0 not configured
242: apbmisc at fdt0 not configured
243: com0 at fdt0: ns16550a, working fifo
244: com0: console
245: com0: interrupting on LIC irq 122
246: spi at fdt0 not configured
247: spi at fdt0 not configured
248: tegrartc0 at fdt0: RTC
249: tegrafuse0 at fdt0: FUSE
250: emc at fdt0 not configured
251: ahcisata0 at fdt0: SATA
252: ahcisata0: couldn't acquire vddio-supply
253: ahcisata0: couldn't acquire avdd-supply
254: ahcisata0: interrupting on LIC irq 55
255: ahcisata0: AHCI revision 1.31, 2 ports, 32 slots, CAP 0xe620ff01<PSC,SSC,PMD,ISS=0x2=Gen2,SAL,SALP,SSNTF,SNCQ,S64A>
256: atabus0 at ahcisata0 channel 0
257: hdaudio0 at fdt0: HDA
258: hdaudio0: interrupting on LIC irq 113
259: hdafg0 at hdaudio0: NVIDIA Tegra124 HDMI
260: hdafg0: HDMI00 8ch: Digital Out [Jack]
261: hdafg0: 8ch/0ch 44100Hz PCM16*
262: audio0 at hdafg0: full duplex, playback, capture, mmap, independent
263: tegraxusbpad0 at fdt0: XUSB PADCTL
264: sdhc0 at fdt0: SDMMC3
265: sdhc0: interrupting on LIC irq 51
266: 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
267: sdmmc0 at sdhc0 slot 0
268: sdhc1 at fdt0: SDMMC4
269: sdhc1: interrupting on LIC irq 63
270: 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
271: sdmmc1 at sdhc1 slot 0
272: tegrasoctherm0 at fdt0: SOC_THERM
273: ahub at fdt0 not configured
274: ehci0 at fdt0: USB2
275: ehci0: interrupting on LIC irq 53
276: ehci0: EHCI version 1.10
277: ehci0: switching to host mode
278: usb0 at ehci0: USB revision 2.0
279: ehci1 at fdt0: USB3
280: ehci1: interrupting on LIC irq 129
281: ehci1: EHCI version 1.10
282: ehci1: switching to host mode
283: usb1 at ehci1: USB revision 2.0
284: pmu at fdt0 not configured
285: timer at fdt0 not configured
286: simplebus1 at fdt0: clocks
287: fdt2 at simplebus1
288: clock at fdt2 not configured
289: gpio-keys at fdt0 not configured
290: sound at fdt0 not configured
291: timecounter: Timecounter "clockinterrupt" frequency 100 Hz quality 0
292: cpu3: 2316 MHz Cortex-A15 r3p3 (Cortex V7A core)
293: cpu3: DC enabled IC enabled WB disabled EABT branch prediction enabled
294: cpu3: 32KB/64B 2-way L1 PIPT Instruction cache
295: cpu3: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
296: cpu3: 2048KB/64B 16-way write-through L2 PIPT Unified cache
297: vfp3 at cpu3: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
298: cpu1: 2316 MHz Cortex-A15 r3p3 (Cortex V7A core)
299: cpu1: DC enabled IC enabled WB disabled EABT branch prediction enabled
300: cpu1: 32KB/64B 2-way L1 PIPT Instruction cache
301: cpu1: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
302: cpu1: 2048KB/64B 16-way write-through L2 PIPT Unified cache
303: vfp1 at cpu1: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
304: cpu2: 2316 MHz Cortex-A15 r3p3 (Cortex V7A core)
305: cpu2: DC enabled IC enabled WB disabled EABT branch prediction enabled
306: cpu2: 32KB/64B 2-way L1 PIPT Instruction cache
307: cpu2: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
308: cpu2: 2048KB/64B 16-way write-through L2 PIPT Unified cache
309: vfp2 at cpu2: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
310: uhub0 at usb0: Tegra EHCI root hub, class 9/0, rev 2.00/1.00, addr 1
311: uhub0: 1 port with 1 removable, self powered
312: ahcisata0 port 0: device present, speed: 3.0Gb/s
313: uhub1 at usb1: Tegra EHCI root hub, class 9/0, rev 2.00/1.00, addr 1
314: uhub1: 1 port with 1 removable, self powered
315: sdhc1: cmd timeout error
316: IPsec: Initialized Security Association Processing.
317: ld0 at sdmmc1: <0x45:0x0100:SEM16G:0x00:0x0301ff34:0x000>
318: ld0: 15028 MB, 7633 cyl, 64 head, 63 sec, 512 bytes/sect x 30777344 sectors
319: ld0: GPT GUID: a81e231f-7b1c-c564-1473-5ac55e4b7963
320: dk0 at ld0: "APP", 29360128 blocks at 94208, type: <unknown>
321: dk1 at ld0: "DTB", 8192 blocks at 29454336, type: <unknown>
322: ld1 at sdmmc0dk2 at ld0: "EFI", 131072 blocks at 29462528, type: <unknown>
323: : <0x27:0x5048:SD64G:0x30:0x01ce4def:0x0dc>
324: dk3 at ld0: "USP", 8192 blocks at 29593600, type: <unknown>
325: dk4 at ld0: "TP1", 8192 blocks at 29601792, type: <unknown>
326: dk5 at ld0: "TP2", 8192 blocks at 29609984, type: <unknown>
327: dk6 at ld0: "TP3", 8192 blocks at 29618176, type: <unknown>
328: dk7 at ld0: "WB0", 4096 blocks at 29626368, type: <unknown>
329: dk8 at ld0: "UDA", 1142784 blocks at 29630464, type: <unknown>
330: ld0: 8-bit width, HS200, 200.000 MHz
331: ld1: 59504 MB, 7585 cyl, 255 head, 63 sec, 512 bytes/sect x 121864192 sectors
332: ld1: 4-bit width, SDR104, 204.000 MHz
333: wd0 at atabus0 drive 0
334: wd0: <OCZ-AGILITY3>
335: wd0: drive supports 16-sector PIO transfers, LBA48 addressing
336: wd0: 111 GB, 232581 cyl, 16 head, 63 sec, 512 bytes/sect x 234441648 sectors
337: wd0: drive supports PIO mode 4, DMA mode 2, Ultra-DMA mode 6 (Ultra/133)
338: wd0(ahcisata0:0:0): using PIO mode 4, DMA mode 2, Ultra-DMA mode 6 (Ultra/133) (using DMA)
339: uhidev0 at uhub1 port 1 configuration 1 interface 0
340: uhidev0: Logitech USB Receiver, rev 2.00/29.00, addr 2, iclass 3/1
341: ukbd0 at uhidev0: 8 modifier keys, 6 key codes
342: wskbd0 at ukbd0 mux 1
343: wskbd0: connecting to wsdisplay0
344: uhidev1 at uhub1 port 1 configuration 1 interface 1
345: uhidev1: Logitech USB Receiver, rev 2.00/29.00, addr 2, iclass 3/1
346: uhidev1: 17 report ids
347: ums0 at uhidev1 reportid 2: 16 buttons, W and Z dirs
348: wsmouse0 at ums0 mux 0
349: uhid0 at uhidev1 reportid 3: input=4, output=0, feature=0
350: uhid1 at uhidev1 reportid 4: input=1, output=0, feature=0
351: uhid2 at uhidev1 reportid 16: input=6, output=6, feature=0
352: uhid3 at uhidev1 reportid 17: input=19, output=19, feature=0
353: boot device: wd0
354: root on wd0a dumps on wd0b
355: root file system type: ffs
356: kern.module.path=/stand/evbarm/7.99.23/modules
357: WARNING: preposterous TOD clock time
358: WARNING: using filesystem time
359: WARNING: CHECK AND RESET THE DATE!
360: """]]
361:
362: # Links
363:
364: - [NVIDIA Jetson TK1 development kit](https://developer.nvidia.com/jetson-tk1)
365: - [Hardware documentation](https://developer.nvidia.com/hardware-design-and-development)
366: - [Linux For Tegra](https://developer.nvidia.com/linux-tegra)
367: - [Device Tree](http://www.devicetree.org)
368:
369: .
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