流程
一张比较经典的流程图
dtc编译的命令
make dtbs
dtsi: 一个SOC可能会有不同的board/machine, 把公用部分或者多个machine共同的部分提炼成.dtsi(公共提炼), 差异部分放进.dts, 然后.dts中include相应的.dtsi文件即可, 如果有同一节点的不同设置, dts中的配置会覆盖.dtsi的配置(最后生效)
dtc: dtc是编译dts的工具，可以在Ubuntu系统上通过指令apt-get install device-tree-compiler安装dtc工具，在内核源码scripts/dtc路径下已经包含了dtc工具
dtb: dtb(Device Tree Blob)，dts经过dtc编译之后会得到dtb文件，dtb通过Bootloader引导程序(如U-Boot)加载到内核。所以Bootloader需要支持设备树才行；Kernel也需要加入设备树的支持
目录
一些不在主线内核的可能有自己的目录, 其它的一般会在默认目录.
DT文件默认目录: arch/*/boot/dts, 其中*代表架构arm/arm64//mips/riscv/x86等, 如stm32mp157a-dk1相关的设备树为arch/arm/boot/dts目录下的:
# 倒着推
stm32mp157a-dk1.dts # dk1板子独有的描述, 比stm32mp157c-dk2少了触摸屏/蓝牙/WiFi等的描述
- stm32mp157.dtsi # gpu 和 dsi(显示接口) 描述
- stm32mp153.dtsi # cpu1, arm-pmu, can 描述
- stm32mp151.dtsi # cpu0, arm-pmu, psci, intc, gpio/timer等外设, clocks, booster, mlahb...
- dt-bindings/interrupt-controller/arm-gic.h
- dt-bindings/clock/stm32mp1-clks.h
- dt-bindings/reset/stm32mp1-resets.h
- stm32mp15-pinctrl.dtsi # PINMUX描述
- dt-bindings/pinctrl/stm32-pinfunc.h
- stm32mp15xxac-pinctrl.dtsi # pinctrl, gpioa~gpioi, gpioz 描述
- stm32mp15xx-dkx.dtsi # dk1/dk2 板子的共有硬件描述
- dt-bindings/gpio/gpio.h
- dt-bindings/mfd/st,stpmic1.h
格式
Devicetree 节点是使用节点名称和单元地址(可选)定义的, 大括号标记节点定义的开始和结束. 它们前面可以有一个标签. 节点的基本格式:
[label:] node-name[@unit-address] {
[properties definitions]
[child nodes]
};
# []可选
# [label:], 标签, 1~31个字符(字母,数字,下划线_), 不得以数字开头
# 通过在label前加上&符号来创建引用, 如 interrupt-affinity = <&cpu0>, <&cpu1>;
# 以前定义的节点/标签/属性可能被删除
# /delete-node/ node-name;
# /delete-node/ &label;
# /delete-property/ property-name;
# 属性的常见类型
# text string: 双引号, 如 compatible = "arm,cortex-a7";
# cells, 尖括号, u32类型, 64bit值用两个32位cell表示, 如 clock-frequency = <0x00000001 0x00000000>;
# binary data, 方括号, 如 local-mac-address = [00 00 12 34 56 78]; 等效 [000012345678]
# phandle, 是properties handle的缩写么? 值是一种引用设备树中另一个节点的方法, 简单的理解为句柄
# 引用一个节点的完整路径, 用大括号括起来
# interrupt-parent = < &{/soc/interrupt-controller@40000} >;
# 标签也可能出现在属性值的任何组件之前或之后，或者在元胞数组的元胞之间，或者在字节串的字节之间
# reg = reglabel: <0 sizelabel: 0x1000000>;
# prop = [ab cd ef byte4: 00 ff fe];
# str = start: "string value" end: ;
# 支持 C 样式 (/* ... */) 和 C++ 样式 (//) 注释
# 通过指定从根节点到所有后代节点到所需节点的完整路径，可以唯一标识设备树中的节点
# 如 /cpus/cpu@0
# compatible = "fsl,mpc8641", "ns16550";
# 在此示例中，操作系统将首先尝试查找支持 fsl，mpc8641 的设备驱动程序
# 如果未找到驱动程序，它将尝试找到支持更通用的 ns16550 设备类型的驱动程序
提取
以STM32MP157为例, STM32 MPU的产品系列如下
SOC公共部分提取出来:
-
STM32MP157/153有两个Cortex-A7, STM32MP151有一个Cortex-A7, 所以可以把公共的一个Cortex-A7和所有公共的外设提取出来, 做成
stm32mp151.dtsi文件, 这个文件内容是最多的. -
STM32MP157/153比151多了一个A7和CANFD, 可以把这个Cortex-A7以及公共外设(如CANFD等)提取出来, 做成
stm32mp153.dtsi, 这个里面是157/153都有, 151没有的 -
STM32MP157比153多了3D GPU-DSI, 所以, 多出来的
gpu和dtsi就组成了stm32mp157.dtsi, 这个里面是157独有的
板子(dk1和dk2)公共部分提取出来:
stm32mp15xx-dkx.dtsi- dk1的描述构成
stm32mp157a-dk1.dts,dk2独有的(多出蓝牙/WiFi/DSI等)构成stm32mp157c-dk2.dts
描述
根据实例注释说明部分常见的设备树语法
/* ==============================================================================
* stm32mp157x-dk1.dts
* ============================================================================*/
/dts-v1/; // 将文件标识为version 1的DTS, 没有此标记的将被dtc视为version 0
#include "stm32mp157.dtsi" // 类似C语言, 展开
#include "stm32mp15-pinctrl.dtsi"
#include "stm32mp15xxac-pinctrl.dtsi"
#include "stm32mp15xx-dkx.dtsi"
/ { // 每个dts或dtsi文件由一个root根节点"/{};"组成
// model 指定制造商和设备型号, 推荐格式"manufacturer, model"
model = "STMicroelectronics STM32MP157A-DK1 Discovery Board";
// compatible指定系统名称, 包括"manufacturer, model"形式的字符串, 避免命名空间冲突
compatible = "st,stm32mp157a-dk1", "st,stm32mp157";
aliases { // 别名, 小写字母/数字/-
ethernet0 = ðernet0;
serial0 = &uart4;
serial1 = &usart3;
serial2 = &uart7;
};
// chosen, 运行时选择或指定的参数, 控制台的输入输出等
// bootargs: 指定引导参数, 如 bootargs = "root=/dev/nfs rw nfsroot=192.168.1.1 console=ttyS0,115200";
// stdout-path: 指定引导控制台输出的设备
// stdin-path: 指定引导控制台输入的设备
chosen {
stdout-path = "serial0:115200n8"; // serial0就是上面的&uart4, 115200-N-8
};
};
/* ==============================================================================
* stm32mp157x-dk1.dts 节选
* ============================================================================*/
/ {
// 基地址, 片选号 等绝对地址所占字长, 单位u32, 64bit系统为2?
#address-cells = <1>;
// 长度所占字长, 单位u32, 32bit系统为1, 64bit系统为2?
#size-cells = <1>;
cpus {
#address-cells = <1>;
// cpus的size-cells应为0, 子节点属性中不需要大小, 则CPU地址按0,1...
#size-cells = <0>;
cpu0: cpu@0 {
compatible = "arm,cortex-a7";
clock-frequency = <650000000>; //650MHz
device_type = "cpu";
// reg 属性的第一个值必须包括[unit-address], 也就是 cpu@0 中的0
reg = <0>;
};
};
...
};
/* ==============================================================================
* stm32mp157xx-dkx.dtsi 节选
* ============================================================================*/
/ {
memory@c0000000 {
device_type = "memory";
//起始地址0xc0000000, 大小0x20000000(512MB), 最大支持1GB内存
reg = <0xc0000000 0x20000000>;
};
};
//一些外设的例子
//spi
spi1: spi@44004000 {
#address-cells = <1>;
#size-cells = <0>;
compatible = "st,stm32h7-spi";
reg = <0x44004000 0x400>;
interrupts = <GIC_SPI 35 IRQ_TYPE_LEVEL_HIGH>;
clocks = <&rcc SPI1_K>;
resets = <&rcc SPI1_R>;
dmas = <&dmamux1 37 0x400 0x05>,
<&dmamux1 38 0x400 0x05>;
dma-names = "rx", "tx";
status = "disabled";
};
//spi 使用示例
//cs-gpios表示用作芯片选择的 GPIO 列表, 如cs-gpios = <&gpioz 3 0>;
//dmas：默认情况下，为所有 SPI 实例指定DMA
//&spi1 {
// pinctrl-names = "default", "sleep";
// pinctrl-0 = <&spi1_pins_a>; //引脚配置
// pinctrl-1 = <&spi1_sleep_pins_a>;
// status = "okay";
//
// foo@0 {
// compatible = "spi-foo"; //spi设备驱动程序的名称
// reg = <0>; /* CS #0 */ //spi器件关联的gpio芯片的索引
// spi-max-frequency = <10000000>; //spi最大时钟速度Hz
// };
//};
//adc
//IIO（工业 I/O）是用于模数转换器 （ADC）、数模转换器 （DAC） 和各种类型传感器的子系统。
//由ADC Linux驱动程序使用，该驱动程序在IIO框架中注册相关信息
//分辨率设置 assigned-resolution-bits = <12>
adc: adc@48003000 { //soc配置, 勿修改
compatible = "st,stm32mp1-adc-core";
reg = <0x48003000 0x400>; //起始地址0x48003000, 大小0x400(1KB)
interrupts = <GIC_SPI 18 IRQ_TYPE_LEVEL_HIGH>,
<GIC_SPI 90 IRQ_TYPE_LEVEL_HIGH>;
clocks = <&rcc ADC12>, <&rcc ADC12_K>;
clock-names = "bus", "adc";
interrupt-controller;
st,syscfg = <&syscfg>;
#interrupt-cells = <1>;
#address-cells = <1>;
#size-cells = <0>;
status = "disabled"; //以上是adc1和adc2的公共资源
adc1: adc@0 {
compatible = "st,stm32mp1-adc";
#io-channel-cells = <1>;
reg = <0x0>;
interrupt-parent = <&adc>;
interrupts = <0>;
dmas = <&dmamux1 9 0x400 0x01>;
dma-names = "rx";
status = "disabled";
};
adc2: adc@100 {
compatible = "st,stm32mp1-adc";
#io-channel-cells = <1>;
reg = <0x100>;
interrupt-parent = <&adc>;
interrupts = <1>;
dmas = <&dmamux1 10 0x400 0x01>;
dma-names = "rx";
status = "disabled";
};
};
&adc { //板级配置
pinctrl-names = "default";
pinctrl-0 = <&adc12_ain_pins_a>, <&adc12_usb_cc_pins_a>; //配置使用的引脚
vdd-supply = <&vdd>;
vdda-supply = <&vdd>;
vref-supply = <&vrefbuf>;
status = "disabled";
adc1: adc@0 {
/*
* Type-C USB_PWR_CC1 & USB_PWR_CC2 on in18 & in19.
* Use at least 5 * RC time, e.g. 5 * (Rp + Rd) * C:
* 5 * (56 + 47kOhms) * 5pF => 2.5us.
* Use arbitrary margin here (e.g. 5us).
*/
st,min-sample-time-nsecs = <5000>; // 最小采样时间, 5us
/* AIN connector, USB Type-C CC1 & CC2 */
st,adc-channels = <0 1 6 13 18 19>; //adc通道, 参见 stm32mp15-pinctrl.dtsi
status = "okay"; //启用adc1
};
adc2: adc@100 {
/* AIN connector, USB Type-C CC1 & CC2 */
st,adc-channels = <0 1 2 6 18 19>;
st,min-sample-time-nsecs = <5000>;
status = "okay"; //启用adc2
};
};
//canfd
m_can1: can@4400e000 {
compatible = "bosch,m_can"; //博世的M_CAN控制器
// message_ram 其实地址0x44011000, 大小0x1400(5KB)
reg = <0x4400e000 0x400>, <0x44011000 0x1400>;
reg-names = "m_can", "message_ram";
interrupts = <GIC_SPI 19 IRQ_TYPE_LEVEL_HIGH>,
<GIC_SPI 21 IRQ_TYPE_LEVEL_HIGH>;
interrupt-names = "int0", "int1";
clocks = <&rcc CK_HSE>, <&rcc FDCAN_K>;
clock-names = "hclk", "cclk";
bosch,mram-cfg = <0x0 0 0 32 0 0 2 2>;
status = "disabled";
};
m_can2: can@4400f000 {
compatible = "bosch,m_can";
reg = <0x4400f000 0x400>, <0x44011000 0x2800>; //10KB
reg-names = "m_can", "message_ram";
interrupts = <GIC_SPI 20 IRQ_TYPE_LEVEL_HIGH>,
<GIC_SPI 22 IRQ_TYPE_LEVEL_HIGH>;
interrupt-names = "int0", "int1";
clocks = <&rcc CK_HSE>, <&rcc FDCAN_K>;
clock-names = "hclk", "cclk";
bosch,mram-cfg = <0x1400 0 0 32 0 0 2 2>;
status = "disabled";
};
&m_can1 { //用法举例
pinctrl-names = "default", "sleep"; /* configure pinctrl modes for m_can1 */
pinctrl-0 = <&m_can1_pins_a>; /* configure m_can1_pins_a as default pinctrl configuration for m_can1 */
pinctrl-1 = <&m_can1_sleep_pins_a>; /* configure m_can1_sleep_pins_a as sleep pinctrl configuration for m_can1 */
status = "okay"; /* enable m_can1 */
};
//eth
//address-bits, 指定 MAC 地址中的位数, 如果未指定, 默认48, 如address-bits = <48>;
//local-mac-address, 指定分配给包含此属性的节点所描述的网络设备的 MAC 地址, 如local-mac-address = [ 00 00 12 34 56 78 ];
//mac-address, 指定启动程序上次使用的 MAC 地址, 若与local-mac不同, 使用此值, 如mac-address = [ 01 02 03 04 05 06 ];
//max-frame-size, 指定物理接口可以发送和接收的最大数据包长度（以字节为单位）, 如max-frame-size = <1518>;
//phy-connection-type, 指定以太网设备和物理层 (PHY) 设备之间的接口类型, 如phy-connection-type = "mii";
//https://wiki.stmicroelectronics.cn/stm32mpu/wiki/Ethernet_device_tree_configuration
//3.3.5 RGMII，ETH _CLK（无PHY晶体）上具有25MHz，来自PHY的CLK125（参考时钟（标准RGMII时钟名称）由RCC SoC内部时钟提供）
ethernet0: ethernet@5800a000 {
compatible = "st,stm32mp1-dwmac", "snps,dwmac-4.20a";
reg = <0x5800a000 0x2000>; //起始地址0x5800a000, 大小0x2000(8KB)
reg-names = "stmmaceth";
interrupts-extended = <&intc GIC_SPI 61 IRQ_TYPE_LEVEL_HIGH>;
interrupt-names = "macirq";
clock-names = "stmmaceth",
"mac-clk-tx",
"mac-clk-rx",
"eth-ck",
"ethstp";
clocks = <&rcc ETHMAC>,
<&rcc ETHTX>,
<&rcc ETHRX>,
<&rcc ETHCK_K>,
<&rcc ETHSTP>;
st,syscon = <&syscfg 0x4>;
snps,mixed-burst;
snps,pbl = <2>;
snps,en-tx-lpi-clockgating;
snps,axi-config = <&stmmac_axi_config_0>;
snps,tso;
status = "disabled";
};
ðernet0 {
status = "okay"; //状态OK, 启动以太网
pinctrl-0 = <ðernet0_rgmii_pins_a>; //见下面的pinmux映射(TX/RX/SMI接口)
pinctrl-1 = <ðernet0_rgmii_sleep_pins_a>; //让rgmii所有引脚sleep
pinctrl-names = "default", "sleep";
phy-mode = "rgmii-id"; // rgmii, id 0
max-speed = <1000>; // max-speed: 指定设备支持的最大速度(Mbit/s)
phy-handle = <&phy0>; // phy-handle: 指定对表示连接到此以太网设备的物理层 (PHY) 设备的节点的引用
mdio0 {
#address-cells = <1>;
#size-cells = <0>;
compatible = "snps,dwmac-mdio"; //drivers/net/ethernet/stmicro/stmmac/stmmac_platform.c, mdio总会释放
phy0: ethernet-phy@0 {
reg = <0>;
};
};
};
ethernet0_rgmii_pins_a: rgmii-0 { //和原理图的引脚对上
pins1 {
pinmux = <STM32_PINMUX('G', 5, AF11)>, /* ETH_RGMII_CLK125 */
<STM32_PINMUX('G', 4, AF11)>, /* ETH_RGMII_GTX_CLK */
<STM32_PINMUX('G', 13, AF11)>, /* ETH_RGMII_TXD0 */
<STM32_PINMUX('G', 14, AF11)>, /* ETH_RGMII_TXD1 */
<STM32_PINMUX('C', 2, AF11)>, /* ETH_RGMII_TXD2 */
<STM32_PINMUX('E', 2, AF11)>, /* ETH_RGMII_TXD3 */
<STM32_PINMUX('B', 11, AF11)>, /* ETH_RGMII_TX_CTL */
<STM32_PINMUX('C', 1, AF11)>; /* ETH_MDC */
bias-disable;
drive-push-pull;
slew-rate = <2>;
};
pins2 {
pinmux = <STM32_PINMUX('A', 2, AF11)>; /* ETH_MDIO */
bias-disable;
drive-push-pull;
slew-rate = <0>;
};
pins3 {
pinmux = <STM32_PINMUX('C', 4, AF11)>, /* ETH_RGMII_RXD0 */
<STM32_PINMUX('C', 5, AF11)>, /* ETH_RGMII_RXD1 */
<STM32_PINMUX('B', 0, AF11)>, /* ETH_RGMII_RXD2 */
<STM32_PINMUX('B', 1, AF11)>, /* ETH_RGMII_RXD3 */
<STM32_PINMUX('A', 1, AF11)>, /* ETH_RGMII_RX_CLK */
<STM32_PINMUX('A', 7, AF11)>; /* ETH_RGMII_RX_CTL */
bias-disable;
};
};
ethernet0_rgmii_sleep_pins_a: rgmii-sleep-0 { // 让rgmii所有引脚sleep
pins1 {
pinmux = <STM32_PINMUX('G', 5, ANALOG)>, /* ETH_RGMII_CLK125 */
<STM32_PINMUX('G', 4, ANALOG)>, /* ETH_RGMII_GTX_CLK */
<STM32_PINMUX('G', 13, ANALOG)>, /* ETH_RGMII_TXD0 */
<STM32_PINMUX('G', 14, ANALOG)>, /* ETH_RGMII_TXD1 */
<STM32_PINMUX('C', 2, ANALOG)>, /* ETH_RGMII_TXD2 */
<STM32_PINMUX('E', 2, ANALOG)>, /* ETH_RGMII_TXD3 */
<STM32_PINMUX('B', 11, ANALOG)>, /* ETH_RGMII_TX_CTL */
<STM32_PINMUX('A', 2, ANALOG)>, /* ETH_MDIO */
<STM32_PINMUX('C', 1, ANALOG)>, /* ETH_MDC */
<STM32_PINMUX('C', 4, ANALOG)>, /* ETH_RGMII_RXD0 */
<STM32_PINMUX('C', 5, ANALOG)>, /* ETH_RGMII_RXD1 */
<STM32_PINMUX('B', 0, ANALOG)>, /* ETH_RGMII_RXD2 */
<STM32_PINMUX('B', 1, ANALOG)>, /* ETH_RGMII_RXD3 */
<STM32_PINMUX('A', 1, ANALOG)>, /* ETH_RGMII_RX_CLK */
<STM32_PINMUX('A', 7, ANALOG)>; /* ETH_RGMII_RX_CTL */
};
};
compatable的值是和驱动里面的程序对的上的, 如mdio0的compatible = "snps,dwmac-mdio";, 在 drivers/net/ethernet/stmicro/stmmac/stmmac_platform.c 里面
/**
* stmmac_dt_phy - parse device-tree driver parameters to allocate PHY resources
* @plat: driver data platform structure
* @np: device tree node
* @dev: device pointer
* Description:
* The mdio bus will be allocated in case of a phy transceiver is on board;
* it will be NULL if the fixed-link is configured.
* If there is the "snps,dwmac-mdio" sub-node the mdio will be allocated
* in any case (for DSA, mdio must be registered even if fixed-link).
* The table below sums the supported configurations:
* -------------------------------
* snps,phy-addr | Y
* -------------------------------
* phy-handle | Y
* -------------------------------
* fixed-link | N
* -------------------------------
* snps,dwmac-mdio |
* even if | Y
* fixed-link |
* -------------------------------
*
* It returns 0 in case of success otherwise -ENODEV.
*/
static int stmmac_dt_phy(struct plat_stmmacenet_data *plat,
struct device_node *np, struct device *dev)
{
bool mdio = !of_phy_is_fixed_link(np);
static const struct of_device_id need_mdio_ids[] = {
{ .compatible = "snps,dwc-qos-ethernet-4.10" },
{},
};
if (of_match_node(need_mdio_ids, np)) {
plat->mdio_node = of_get_child_by_name(np, "mdio");
} else {
/**
* If snps,dwmac-mdio is passed from DT, always register
* the MDIO
*/
for_each_child_of_node(np, plat->mdio_node) {
if (of_device_is_compatible(plat->mdio_node,
"snps,dwmac-mdio"))
break;
}
}
if (plat->mdio_node) {
dev_dbg(dev, "Found MDIO subnode\n");
mdio = true;
}
if (mdio) {
plat->mdio_bus_data =
devm_kzalloc(dev, sizeof(struct stmmac_mdio_bus_data),
GFP_KERNEL);
if (!plat->mdio_bus_data)
return -ENOMEM;
plat->mdio_bus_data->needs_reset = true;
}
return 0;
}
整体内存映射
在设备树中的映射举例
// stm32mp151.dtsi
dma-ranges = <0x00000000 0x38000000 0x10000>, // RETRAM 64KB映射
<0x10000000 0x10000000 0x60000>, // MCU SRAM 384KB映射
<0x30000000 0x30000000 0x60000>;
还有中断映射等, 此处略…
参考
- 6. Devicetree Source (DTS) Format (version 1) — Devicetree Specification v0.3-dirty documentation (devicetree-specification.readthedocs.io)
- Microprocessors - STM32 Arm Cortex 32-bit MPU - STMicroelectronics
- STM32MP157A-DK1 - Discovery kit with STM32MP157A MPU - STMicroelectronics
- STM32MP157C-DK2 - Discovery kit with STM32MP157C MPU - STMicroelectronics
- Device Tree Reference - eLinux.org
- 设备树 Linux - eLinux.org
- linux设备树的解释 - 总览_音视频开发者-CSDN博客
- 设备树详解 - 华清远见研发中心 (farsightdev.com)
- dm00287601-dsi-host-on-stm32f469479-stm32f7x8x9-and-stm32l4r9s9-mcus-stmicroelectronics.pdf
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