1: [[!meta title="NetBSD/evbarm on NVIDIA Tegra"]]
2:
3: **The Tegra port is work in progress**
4:
5: [[!toc levels=2]]
6:
7:
8: # Supported hardware
9: - CPU: Cortex-A15: NVIDIA Tegra K1 (T124) (4-core)
10: - VFP / NEON
11: - CPU frequency scaling
12: - GIC
13: - ARM generic timer
14: - Clock and reset controller
15: - GPIO controller
16: - MPIO / pinmux controller
17: - Memory controller
18: - Power management controller
19: - I2C controller
20: - UART [[!template id=man name="com" section="4"]] serial console
21: - RTC
22: - Watchdog timer
23: - SDMMC [[!template id=man name="sdhc" section="4"]] controller
24: - USB 2.0 [[!template id=man name="ehci" section="4"]] controller
25: - PCI express
26: - SATA [[!template id=man name="ahcisata" section="4"]] controller
27: - HDMI
28: - Framebuffer console
29: - HDMI Audio [[!template id=man name="hdaudio" section="4"]] controller
30: - HDMI CEC
31: - Jetson TK1
32: - On-board Realtek 8111G [[!template id=man name="re" section="4"]] gigabit ethernet
33: - EEPROM [[!template id=man name="seeprom" section="4"]] (on I2C)
34: - TMP451 [[!template id=man name="titemp" section="4"]] temperature sensor (on I2C)
35: - RF kill switch
36: - Power button
37: - AS3722 power management unit
38:
39:
40: # TODO
41: - Analog audio output (I2S, Audio codec, APB DMA)
42: - GPU (nouveau)
43: - USB 3.0 [[!template id=man name="xhci" section="4"]] controller
44: - SPI controller
45: - PWM controller
46: - PCIe MSI support
47:
48: # Generating a boot script
49:
50: [[!template id=programlisting text="""
51: $ cat boot.txt
52: setenv bootargs root=ld1a
53: fatload mmc 1:1 0x90000000 netbsd.ub
54: bootm 0x90000000
55: $ mkubootimage -A arm -C none -O netbsd -T script -a 0 -n "NetBSD/tegra boot" boot.txt boot.scr
56: """]]
57:
58: # Getting U-Boot
59:
60: 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).
61:
62: # Modesetting
63:
64: 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:
65:
66: [[!template id=programlisting text="""
67: Section "Device"
68: Identifier "DRM Modesetting"
69: Driver "modesetting"
70: EndSection
71: """]]
72:
73: # dmesg
74:
75: [[!template id=programlisting text="""
76: Copyright (c) 1996, 1997, 1998, 1999, 2000, 2001, 2002, 2003, 2004, 2005,
77: 2006, 2007, 2008, 2009, 2010, 2011, 2012, 2013, 2014, 2015
78: The NetBSD Foundation, Inc. All rights reserved.
79: Copyright (c) 1982, 1986, 1989, 1991, 1993
80: The Regents of the University of California. All rights reserved.
81:
82: NetBSD 7.99.21 (JETSONTK1) #258: Thu Nov 12 06:45:09 AST 2015
83: jmcneill@megatron.local:/Users/jmcneill/netbsd/src/sys/arch/evbarm/compile/obj/JETSONTK1
84: total memory = 2047 MB
85: avail memory = 2021 MB
86: sysctl_createv: sysctl_create(machine_arch) returned 17
87: timecounter: Timecounters tick every 10.000 msec
88: mainbus0 (root)
89: cpu0 at mainbus0 core 0: 2292 MHz Cortex-A15 r3p3 (Cortex V7A core)
90: cpu0: DC enabled IC enabled WB disabled EABT branch prediction enabled
91: cpu0: 32KB/64B 2-way L1 PIPT Instruction cache
92: cpu0: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
93: cpu0: 2048KB/64B 16-way write-through L2 PIPT Unified cache
94: vfp0 at cpu0: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
95: cpu1 at mainbus0 core 1
96: cpu2 at mainbus0 core 2
97: cpu3 at mainbus0 core 3
98: armperiph0 at mainbus0
99: armgic0 at armperiph0: Generic Interrupt Controller, 192 sources (183 valid)
100: armgic0: 32 Priorities, 160 SPIs, 7 PPIs, 16 SGIs
101: armgtmr0 at armperiph0: ARMv7 Generic 64-bit Timer (12000 kHz)
102: armgtmr0: interrupting on irq 27
103: timecounter: Timecounter "armgtmr0" frequency 12000000 Hz quality 500
104: tegraio0 at mainbus0: Tegra K1 (T124)
105: tegracar0 at tegraio0: CAR
106: tegracar0: PLLX = 2292000000 Hz
107: tegracar0: PLLC = 88000000 Hz
108: tegracar0: PLLE = 292968 Hz
109: tegracar0: PLLU = 480000000 Hz
110: tegracar0: PLLP0 = 408000000 Hz
111: tegracar0: PLLD2 = 594000000 Hz
112: tegragpio0 at tegraio0: GPIO
113: gpio0 at tegragpio0 (A): 8 pins
114: gpio1 at tegragpio0 (B): 8 pins
115: gpio2 at tegragpio0 (C): 8 pins
116: gpio3 at tegragpio0 (D): 8 pins
117: gpio4 at tegragpio0 (E): 8 pins
118: gpio5 at tegragpio0 (F): 8 pins
119: gpio6 at tegragpio0 (G): 8 pins
120: gpio7 at tegragpio0 (H): 8 pins
121: gpio8 at tegragpio0 (I): 8 pins
122: gpio9 at tegragpio0 (J): 8 pins
123: gpio10 at tegragpio0 (K): 8 pins
124: gpio11 at tegragpio0 (L): 8 pins
125: gpio12 at tegragpio0 (M): 8 pins
126: gpio13 at tegragpio0 (N): 8 pins
127: gpio14 at tegragpio0 (O): 8 pins
128: gpio15 at tegragpio0 (P): 8 pins
129: gpio16 at tegragpio0 (Q): 8 pins
130: gpiobutton0 at gpio16 pins 0: Power button
131: gpio17 at tegragpio0 (R): 8 pins
132: gpio18 at tegragpio0 (S): 8 pins
133: gpio19 at tegragpio0 (T): 8 pins
134: gpio20 at tegragpio0 (U): 8 pins
135: gpio21 at tegragpio0 (V): 8 pins
136: gpio22 at tegragpio0 (W): 8 pins
137: gpio23 at tegragpio0 (X): 8 pins
138: gpiorfkill0 at gpio23 pins 7
139: gpio24 at tegragpio0 (Y): 8 pins
140: gpio25 at tegragpio0 (Z): 8 pins
141: gpio26 at tegragpio0 (AA): 8 pins
142: gpio27 at tegragpio0 (BB): 8 pins
143: gpio28 at tegragpio0 (CC): 8 pins
144: gpio29 at tegragpio0 (DD): 8 pins
145: gpio30 at tegragpio0 (EE): 8 pins
146: tegratimer0 at tegraio0: Timers
147: tegratimer0: default watchdog period is 10 seconds
148: tegramc0 at tegraio0: MC
149: tegrapmc0 at tegraio0: PMC
150: tegraxusbpad0 at tegraio0: XUSB PADCTL
151: tegrampio0 at tegraio0: MPIO
152: tegrai2c0 at tegraio0 port 0: I2C1
153: tegrai2c0: interrupting on irq 70
154: iic0 at tegrai2c0: I2C bus
155: seeprom0 at iic0 addr 0x56: AT24Cxx or compatible EEPROM: size 256
156: titemp0 at iic0 addr 0x4c: TMP451
157: tegrai2c1 at tegraio0 port 1: I2C2
158: tegrai2c1: interrupting on irq 116
159: iic1 at tegrai2c1: I2C bus
160: tegrai2c2 at tegraio0 port 2: I2C3
161: tegrai2c2: interrupting on irq 124
162: iic2 at tegrai2c2: I2C bus
163: tegrai2c3 at tegraio0 port 3: I2C4
164: tegrai2c3: interrupting on irq 152
165: iic3 at tegrai2c3: I2C bus
166: ddc0 at iic3 addr 0x50: DDC
167: tegrai2c4 at tegraio0 port 4: I2C5
168: tegrai2c4: interrupting on irq 85
169: iic4 at tegrai2c4: I2C bus
170: as3722pmic0 at iic4 addr 0x40: AMS AS3822
171: com3 at tegraio0 port 3: ns16550a, working fifo
172: com3: console
173: tegrartc0 at tegraio0: RTC
174: sdhc2 at tegraio0 port 2: SDMMC3
175: sdhc2: interrupting on irq 51
176: sdhc2: 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
177: sdmmc2 at sdhc2 slot 0
178: sdhc3 at tegraio0 port 3: SDMMC4
179: sdhc3: interrupting on irq 63
180: sdhc3: 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
181: sdmmc3 at sdhc3 slot 0
182: ahcisata0 at tegraio0: SATA
183: ahcisata0: interrupting on irq 55
184: ahcisata0: AHCI revision 1.31, 2 ports, 32 slots, CAP 0xe620ff01<PSC,SSC,PMD,ISS=0x2=Gen2,SAL,SALP,SSNTF,SNCQ,S64A>
185: atabus0 at ahcisata0 channel 0
186: hdaudio0 at tegraio0: HDA
187: hdaudio0: interrupting on irq 113
188: hdafg0 at hdaudio0: NVIDIA Tegra124 HDMI
189: hdafg0: HDMI00 8ch: Digital Out [Jack]
190: hdafg0: 8ch/0ch 44100Hz PCM16*
191: audio0 at hdafg0: full duplex, playback, capture, mmap, independent
192: tegracec0 at tegraio0: HDMI CEC
193: tegracec0: interrupting on irq 35
194: hdmicec0 at tegracec0
195: tegrausbphy0 at tegraio0 port 0: USB PHY1
196: ehci0 at tegraio0 port 0: USB1
197: ehci0: interrupting on irq 52
198: ehci0: EHCI version 1.10
199: ehci0: switching to host mode
200: usb0 at ehci0: USB revision 2.0
201: tegrausbphy1 at tegraio0 port 1: USB PHY2
202: ehci1 at tegraio0 port 1: USB2
203: ehci1: interrupting on irq 53
204: ehci1: EHCI version 1.10
205: ehci1: switching to host mode
206: usb1 at ehci1: USB revision 2.0
207: tegrausbphy2 at tegraio0 port 2: USB PHY3
208: ehci2 at tegraio0 port 2: USB3
209: ehci2: interrupting on irq 129
210: ehci2: EHCI version 1.10
211: ehci2: switching to host mode
212: usb2 at ehci2: USB revision 2.0
213: tegrahost1x0 at tegraio0: HOST1X
214: tegradrm0 at tegraio0
215: drm: Supports vblank timestamp caching Rev 2 (21.10.2013).
216: drm: No driver support for vblank timestamp query.
217: tegrafb0 at tegradrm0
218: tegrafb0: framebuffer at 0x9ab00000, size 1280x720, depth 32, stride 5120
219: wsdisplay0 at tegrafb0 kbdmux 1
220: wsmux1: connecting to wsdisplay0
221: wsdisplay0: screen 0-3 added (default, vt100 emulation)
222: tegradrm0: info: registered panic notifier
223: tegradrm0: initialized tegra 0.1.0 20151108 on minor 0
224: tegrapcie0 at tegraio0: PCIE
225: tegrapcie0: interrupting on irq 130
226: pci0 at tegrapcie0 bus 0
227: pci0: memory space enabled, rd/line, rd/mult, wr/inv ok
228: ppb0 at pci0 dev 0 function 0: vendor 10de product 0e12 (rev. 0xa1)
229: ppb0: PCI Express capability version 2 <Root Port of PCI-E Root Complex> x2 @ 5.0GT/s
230: ppb0: link is x1 @ 2.5GT/s
231: pci1 at ppb0 bus 1
232: pci1: memory space enabled, rd/line, wr/inv ok
233: athn0 at pci1 dev 0 function 0athn0: Atheros AR9285
234: athn0: rev 2 (1T1R), ROM rev 13, address 00:17:c4:d7:d0:58
235: athn0: interrupting at irq 130
236: athn0: 11b rates: 1Mbps 2Mbps 5.5Mbps 11Mbps
237: athn0: 11g rates: 1Mbps 2Mbps 5.5Mbps 11Mbps 6Mbps 9Mbps 12Mbps 18Mbps 24Mbps 36Mbps 48Mbps 54Mbps
238: ppb1 at pci0 dev 1 function 0: vendor 10de product 0e13 (rev. 0xa1)
239: ppb1: PCI Express capability version 2 <Root Port of PCI-E Root Complex> x1 @ 5.0GT/s
240: ppb1: link is x1 @ 2.5GT/s
241: pci2 at ppb1 bus 2
242: pci2: memory space enabled, rd/line, wr/inv ok
243: re0 at pci2 dev 0 function 0: RealTek 8168/8111 PCIe Gigabit Ethernet (rev. 0x0c)
244: re0: interrupting at irq 130
245: re0: Ethernet address 00:04:4b:2f:51:a2
246: re0: using 512 tx descriptors
247: rgephy0 at re0 phy 7: RTL8251 1000BASE-T media interface, rev. 0
248: rgephy0: 10baseT, 10baseT-FDX, 100baseTX, 100baseTX-FDX, 1000baseT-FDX, auto
249: timecounter: Timecounter "clockinterrupt" frequency 100 Hz quality 0
250: cpu2: 2292 MHz Cortex-A15 r3p3 (Cortex V7A core)
251: cpu2: DC enabled IC enabled WB disabled EABT branch prediction enabled
252: cpu2: 32KB/64B 2-way L1 PIPT Instruction cache
253: cpu2: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
254: cpu2: 2048KB/64B 16-way write-through L2 PIPT Unified cache
255: vfp2 at cpu2: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
256: cpu1: 2292 MHz Cortex-A15 r3p3 (Cortex V7A core)
257: cpu1: DC enabled IC enabled WB disabled EABT branch prediction enabled
258: cpu1: 32KB/64B 2-way L1 PIPT Instruction cache
259: cpu1: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
260: cpu1: 2048KB/64B 16-way write-through L2 PIPT Unified cache
261: vfp1 at cpu1: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
262: cpu3: 2292 MHz Cortex-A15 r3p3 (Cortex V7A core)
263: cpu3: DC enabled IC enabled WB disabled EABT branch prediction enabled
264: cpu3: 32KB/64B 2-way L1 PIPT Instruction cache
265: cpu3: 32KB/64B 2-way write-back-locking-C L1 PIPT Data cache
266: cpu3: 2048KB/64B 16-way write-through L2 PIPT Unified cache
267: vfp3 at cpu3: NEON MPE (VFP 3.0+), rounding, NaN propagation, denormals
268: uhub0 at usb0: Tegra EHCI root hub, class 9/0, rev 2.00/1.00, addr 1
269: uhub0: 1 port with 1 removable, self powered
270: uhub1 at usb1: Tegra EHCI root hub, class 9/0, rev 2.00/1.00, addr 1
271: uhub1: 1 port with 1 removable, self powered
272: uhub2 at usb2: Tegra EHCI root hub, class 9/0, rev 2.00/1.00, addr 1
273: uhub2: 1 port with 1 removable, self powered
274: sdhc3: cmd timeout error
275: IPsec: Initialized Security Association Processing.
276: ahcisata0 port 0: device present, speed: 3.0Gb/s
277: ld0 at sdmmc3: <0x45:0x0100:SEM16G:0x00:0x0301ff34:0x000>
278: ld0: 15028 MB, 7633 cyl, 64 head, 63 sec, 512 bytes/sect x 30777344 sectors
279: ld0: GPT GUID: a81e231f-7b1c-c564-1473-5ac55e4b7963
280: dk0 at ld0: "APP", 29360128 blocks at 94208, type: <unknown>
281: ld1 at sdmmc2: <0x27:0x5048:SD64G:0x30:0x01ce4def:0x0dc>
282: dk1 at ld0: "DTB", 8192 blocks at 29454336, type: <unknown>
283: dk2 at ld0: "EFI", 131072 blocks at 29462528, type: <unknown>
284: dk3 at ld0: "USP", 8192 blocks at 29593600, type: <unknown>
285: dk4 at ld0: "TP1", 8192 blocks at 29601792, type: <unknown>
286: dk5 at ld0: "TP2", 8192 blocks at 29609984, type: <unknown>
287: dk6 at ld0: "TP3", 8192 blocks at 29618176, type: <unknown>
288: dk7 at ld0: "WB0", 4096 blocks at 29626368, type: <unknown>
289: dk8 at ld0: "UDA", 1142784 blocks at 29630464, type: <unknown>
290: ld0: 8-bit width, HS200, 200.000 MHz
291: ld1: 59504 MB, 7585 cyl, 255 head, 63 sec, 512 bytes/sect x 121864192 sectors
292: ld1: 4-bit width, SDR104, 204.000 MHz
293: wd0 at atabus0 drive 0
294: wd0: <OCZ-AGILITY3>
295: wd0: drive supports 16-sector PIO transfers, LBA48 addressing
296: wd0: 111 GB, 232581 cyl, 16 head, 63 sec, 512 bytes/sect x 234441648 sectors
297: wd0: drive supports PIO mode 4, DMA mode 2, Ultra-DMA mode 6 (Ultra/133)
298: wd0(ahcisata0:0:0): using PIO mode 4, DMA mode 2, Ultra-DMA mode 6 (Ultra/133) (using DMA)
299: uhidev0 at uhub2 port 1 configuration 1 interface 0
300: uhidev0: Logitech USB Receiver, rev 2.00/29.00, addr 2, iclass 3/1
301: ukbd0 at uhidev0: 8 modifier keys, 6 key codes
302: wskbd0 at ukbd0 mux 1
303: wskbd0: connecting to wsdisplay0
304: uhidev1 at uhub2 port 1 configuration 1 interface 1
305: uhidev1: Logitech USB Receiver, rev 2.00/29.00, addr 2, iclass 3/1
306: uhidev1: 17 report ids
307: ums0 at uhidev1 reportid 2: 16 buttons, W and Z dirs
308: wsmouse0 at ums0 mux 0
309: uhid0 at uhidev1 reportid 3: input=4, output=0, feature=0
310: uhid1 at uhidev1 reportid 4: input=1, output=0, feature=0
311: uhid2 at uhidev1 reportid 16: input=6, output=6, feature=0
312: uhid3 at uhidev1 reportid 17: input=19, output=19, feature=0
313: boot device: wd0
314: root on wd0a dumps on wd0b
315: root file system type: ffs
316: kern.module.path=/stand/evbarm/7.99.21/modules
317: WARNING: preposterous TOD clock time
318: WARNING: using filesystem time
319: WARNING: CHECK AND RESET THE DATE!
320: """]]
321:
322: # Links
323:
324: - [NVIDIA Jetson TK1 development kit](https://developer.nvidia.com/jetson-tk1)
325: - [Hardware documentation](https://developer.nvidia.com/hardware-design-and-development)
326: - [Linux For Tegra](https://developer.nvidia.com/linux-tegra)
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