虽然本文讲的是开启PWM功能，但是其他模块的使用也是一样的，很有参考价值，百度搜不到，用必应bing才能更好的搜索外文，使用BBB好久了，才发现很多dts都有现成的，直接加载就好了(安装到slots槽中即可)。我是用最新的Debian系统，跟本文有点差异，但是本文很有参考价值。
另外备注：在将cape-universaln插入槽中(slots)后，在root@beaglebone:/sys/devices/platform/ocp/ocp:P9_14_pinmux中将P9_14设置为pwm模式(#config-pin
P9.14 pwm)后，需要在/sys/class/pwm/pwmchip2中echo 0 >
export，这里为什么是pwmchip2，因为pwmchip2的地址0x4830_2000对应的是PWM1，echo
0是开启EHRPWM1A，echo
1是开启EHRPWM1B。具体地址映射可参见AM335x参考手册memory
map部分。
EHRPWM0A
P9_22,
P9_31
EHRPWM0B
P9_21,
P9_29
EHRPWM1A
P9_14,
P8_36
EHRPWM1B
P9_16,
P8_34
EHRPWM2A
P8_19,
P8_45
EHRPWM2B
P8_13,
P8_46
周期1秒，频率1Hz，注意单位都是ns。这样就成功了。
root@beaglebone:/sys/class/pwm/pwmchip2# echo 0
> export
root@beaglebone:/sys/class/pwm/pwmchip2# cd
pwm0/
root@beaglebone:/sys/class/pwm/pwmchip2/pwm0#
echo 1000000000 > period
root@beaglebone:/sys/class/pwm/pwmchip2/pwm0#
echo 500000000 > duty_cycle
root@beaglebone:/sys/class/pwm/pwmchip2/pwm0#
echo 1 > enable
These notes are based on the
3.8.13-bone70 complete installation as described over
at
Contents
Selecting Overlays to
use
Having being reading
numerous pages about Device Tree Overlays I finally came up with a
couple of solutions for how to enable the AM355 pinmux and setting
the correct modes in order to enable PWM output.
If you just need one or a
few PWM outputs you can generate overlay files over
at
If you want to enable a
complete set of facilities on the BBB you can jump down to
the
A common
preparation
If you frequently access the
/sys/devices/bone_capemgr.9/slots file it is highly recommended
that yo prepare an environment variable
called SLOTS.
In you ~/.bashrc add these
lines
export
SLOTS=/sys/devices/bone_capemgr.9/slots
export
PINS=/sys/kernel/debug/pinctrl/44e10800.pinmux/pins
The former set the
environment variable SLOTS to point to the slots file and the
latter sets the PINS environment variable to point to the file that
lists the pins assigned in the pinmux.
In order to immediately gain
effect of the new setting issue
root@beaglebone$] .
~/.bashrc
which will read the .bashrc
file from the home directory and execute whatever in there in the
current shell. Don't try to execute the .bashrc file because the
changes will only be seen shortly in the new shell (bash) that
executes the script.
At every login hereafter
SLOTS is set to point the correct directory.
Single PWM
Setup
Over
at this
page you can generate a device overlay file
for each PWM channel you want to use.
Giving Input to the
Configurator
For example in order to
enable PWM on P9 pin 14. See the figure below how to setup the
configurator where the output is pulled up - you may want to selct
a pull down instead.
From the generator you will
get an output like this:
/dts-v1/;
/plugin/;
/
{
compatible = "ti,beaglebone",
"ti,beaglebone-black";
part-number =
"BS_PWM_P9_14_0x16";
exclusive-use
=
"P9.14",
"ehrpwm1A";
fragment@0 {
target = ;
__overlay__ {
bs_pwm_P9_14_0x16: pinmux_bs_pwm_P9_14_0x16 {
pinctrl-single,pins = <0x048 0x16>;
};
};
};
fragment@1 {
target = ;
__overlay__ {
bs_pwm_test_P9_14 {
compatible = "pwm_test";
pwms = ;
pwm-names =
"PWM_P9_14";
pinctrl-names =
"default";
pinctrl-0 = ;
enabled = <1>;
duty = <0>;
status = "okay";
};
};
};
};
Save this in a file name as
suggested: bspwm_P9_14_16-00A0.dts
If you want the polarity to
initially set to 0 change the 1 to 0 in the line pwms so it looks
like this
pwms = ;
Compile and
Test
Compile it using this
command:
root@begalebone $]
dtc -O dtb -o bspwm_P9_14_16-00A0.dtbo -b 0 -@
bspwm_P9_14_16-00A0.dts
Copy the .dtbo file to
/lib/firmware
As instructed on the
generator page you can enable this ovelay by issuing these
commands:
root@beaglebone $]
grep -q am33xx_pwm $SLOTS || echo am33xx_pwm >
$SLOTS
root@beaglebone $]
echo bspwm_P9_14_16 > $SLOTS
Check if this works and you
can see the PWM device by issuing
root@beaglebone:~$]
ll /sys/devices/ocp.3/bs_pwm_test_P9_14.15/
and get this
output
total
0
drwxr-xr-x 3 root
root 0 May 31
09:34 .
drwxr-xr-x 42 root
root 0
Mar 1 21:19 ..
lrwxrwxrwx 1 root
root 0 May 31
09:37 driver ->
../../../bus/platform/drivers/pwm_test
-rw------- 1 root root 4096
May 31 09:37 duty
-r--r--r-- 1 root root 4096
May 31 09:37 modalias
-rw------- 1 root root 4096
May 31 09:37 period
-rw------- 1 root root 4096
May 31 09:37 polarity
drwxr-xr-x 2 root
root 0 May 31
09:37 power
-rw------- 1 root root 4096
May 31 09:37 run
lrwxrwxrwx 1 root
root 0 May 31
09:34 subsystem -> ../../../bus/platform
-rw-r--r-- 1 root root 4096
May 31 09:34 uevent
Finally create an
ini-script that will perform the enabling every times the BBB
boots.
In /etc/init.d
create a file enable-pwm with
this content
#!
/bin/sh
### BEGIN INIT
INFO
# Provides:
enable-pwm
# Required-Start:
$all
# Required-Stop:
$all
# Default-Start: 2
3 4 5
# Default-Stop: 0 1
6
#
Short-Description: Enables the PWM chips and connects it through
the pinmux
# Description:
Conneting the pwm output through the pinmux and enables the PWM
chip on board
### END INIT
INFO
case "$1"
in
start)
echo "Enabling PWM on P9 Pin 14"
grep -q am33xx_pwm /sys/devices/bone_capemgr.9/slots || echo
"am33xx_pwm" >
/sys/devices/bone_capemgr.9/slots
echo bspwm_P9_14_16 >
/sys/devices/bone_capemgr.9/slots
;;
stop)
#no-op
;;
*)
#no-op
;;
esac
exit
0
After creating the
file execute
root@beaglebone $]
chmod 755 enable-pwm
root@beaglebone $]
update-rc.d enable-pwm defaults
The first command set the
file permissions and the second updates the init system to execute
the file at a correct time depending on the information given in
the first part of the script.
Complete
Setup
This section describes a
setup of the complete - almost - IO system on the
BBB.
Preparing
In
/opt/source/beaglebone-universal-io you'll find some general device
drivers for the BBB.
Since BBB uses the FDT
(Flattened Device Tree), where a general driver performs the most
of the work, no special driver is needed for PWM.
There are two steps in
enabling a device:
1. Setup the multiplexing of
the pins (i.e. connect the internal device to a pin accessible on
the outside)
2. Setup the peripheral (the
internal device such as PWM, GPIO, etc.) to the pin assigned
above
Ensure that your general
pinmux is setup for defaults by ensuring that
the /sys/devices/ocp.N (with N
currently showing 3) exists. If not then perform:
root@beaglebone$]
cd /opt/source/beaglebone-universal-io
root@beaglebone$]
echo cape-universaln >
/sys/devices/bone_capemgr.*/slots
expect an output
with this included:
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_07_pinmux.15
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_08_pinmux.16
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_09_pinmux.17
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_10_pinmux.18
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_11_pinmux.19
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_12_pinmux.20
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_13_pinmux.21
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_14_pinmux.22
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_15_pinmux.23
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_16_pinmux.24
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_17_pinmux.25
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_18_pinmux.26
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_19_pinmux.27
drwxr-xr-x 3 root
root 0 May 24
09:24 P8_26_pinmux.28
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_11_pinmux.29
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_12_pinmux.30
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_13_pinmux.31
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_14_pinmux.32
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_15_pinmux.33
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_16_pinmux.34
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_17_pinmux.35
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_18_pinmux.36
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_21_pinmux.37
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_22_pinmux.38
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_23_pinmux.39
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_24_pinmux.40
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_26_pinmux.41
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_27_pinmux.42
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_30_pinmux.43
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_41_pinmux.44
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_42_pinmux.46
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_91_pinmux.45
drwxr-xr-x 3 root
root 0 May 24
09:24 P9_92_pinmux.47
Connecting pins to the PWM
Chip
Now in order to connect the
PWM to a pin look up what pin PWM can be output to in the
cape-universaln-00A0.dts file. You'll find that you can connect
them to for instance P9.14, P9.16, P9.21, and
P9.22.
To convince yourself on your
choice issue this command:
root@beagelbone$]
config-pin -l P9.14
expect this
output:
default gpio
gpio_pu gpio_pd pwm
Now in order to enable the
pwm to the P9.14 pin issue:
root@begalebone$]
config-pin P9.14 pwm
To ensure yourself that
you've got the PWM connected to the pin issue
root@beaglebone$]
cat /sys/devices/ocp.3/P9_14_pinmux.32/state
expect this
output
pwm
Locate the PWM control
files
Now where are the
PWM?
Issue
root@beaglebone$]
ll /sys/class/pwm/
and expect
this
total 0
drwxr-xr-x 2 root
root 0
Jan 1 2000 .
drwxr-xr-x 59 root
root 0
Jan 1 2000 ..
--w------- 1 root root 4096
Jan 1 2000
export
lrwxrwxrwx 1 root
root 0 May 24
09:30 pwmchip0 ->
../../devices/ocp.3/48300000.epwmss/48300200.ehrpwm/pwm/pwmchip0
lrwxrwxrwx 1 root
root 0 May 24
09:30 pwmchip2 ->
../../devices/ocp.3/48300000.epwmss/48300100.ecap/pwm/pwmchip2
lrwxrwxrwx 1 root
root 0 May 24
09:30 pwmchip3 ->
../../devices/ocp.3/48302000.epwmss/48302200.ehrpwm/pwm/pwmchip3
lrwxrwxrwx 1 root
root 0 May 24
09:30 pwmchip5 ->
../../devices/ocp.3/48304000.epwmss/48304200.ehrpwm/pwm/pwmchip5
lrwxrwxrwx 1 root
root 0 May 24
09:30 pwmchip7 ->
../../devices/ocp.3/48304000.epwmss/48304100.ecap/pwm/pwmchip7
--w------- 1 root root 4096
Jan 1 2000
unexport
How to interpret this
output. First we'll have to look into this technical
document over the AM335x Sitara Processors.
(If the document is not available search for AM335 Sitara Processor
Technical Reference Manual - it's a ~22 MB
document).
Looking for address 48300000
in the memory map, you'll find this is in the L4_PER block, and
this is listed as the “PWM subsystem 0″, and 48300200 is the EHR0
PWM channel and 48300100 the eCAP0 PWM. Also, address 4830200 is
the “PWM subsystem 1″, and address 4830400 is the “PWM subsystem
2″.
Now, using the pin names
found from the BeagleBoard.org –
bone101 page served from the board, and
deductive reasoning you'll come up with the following maping of pin
to export number:
export number
pin name
pins
0
EHRPWM0A
P9.22,P9.31
1
EHRPWM0B
P9.21,P9.29
2
ECAPPWM0
P9.42
3
EHRPWM1A
P9.14,P8.36
4
EHRPWM1B
P9.16,P8.34
5
EHRPWM2A
P8.19,P8.45
6
EHRPWM2B
P8.13,P8.46
7
ECAPPWM2
P9.28
Enable the pin for the
PWM
Now we're ready to enable a
pwm for instance P9_14. This is done by looking up P9.14 in the
table above and see that it is export number 3. So
perform
root@beaglebone$]
echo 3 > /sys/class/pwm/export
NOTE here there needs to be
a space between 3 and >!
root@beaglebone$]
ls /sys/class/pwm/
will give you
this
export pwm3 pwmchip0 pwmchip2 pwmchip3 pwmchip5 pwmchip7 unexport
No issuing
root@begalebone$]
ll /sys/class/pwm/pwm3/
will
output
total 0
drwxr-xr-x 3 root
root 0 May 24
09:52 .
drwxr-xr-x 4 root
root 0 May 24
09:24 ..
lrwxrwxrwx 1 root
root 0 May 24
09:57 device -> ../../../48302200.ehrpwm
-rw-r--r-- 1 root
root 4096 May 24 09:57 duty_ns
-rw-r--r-- 1 root
root 4096 May 24 09:57 period_ns
-rw-r--r-- 1 root
root 4096 May 24 09:57 polarity
drwxr-xr-x 2 root
root 0 May 24
09:57 power
-rw-r--r-- 1 root
root 4096 May 24 09:57 run
lrwxrwxrwx 1 root
root 0 May 24
09:52 subsystem -> ../../../../../../class/pwm
-rw-r--r-- 1 root
root 4096 May 24 09:52 uevent
The files of interest here
are
the duty_ns, period_ns and polarity.
The polarity sets
the polarity of the output signal. Typically setup once at
initialisation.
The period_ns sets
the period time active for the PWM signal. In nano seconds.
Typically setup once at initialisation.
The duty_ns sets
the duty cycle for the PWM signal - i.e. the length of the period
time the PWM signal is active. In nano seconds. This one is
constantly updated with the desired duty cycle.
Control the
PWM
No you can control the PWM
from the command line or you can write a C/C++ program that will
open, write and close the above mentioned files in order to control
the PWM.
Set the Pinmux and Enable at
boot
If you want to enable the
PWM in a quick way create a script in /etc/init.d
called enable-pwm and put in this
text into the file
#! /bin/sh
### BEGIN INIT
INFO
# Provides:
enable-pwm
# Required-Start:
$all
# Required-Stop:
$all
# Default-Start: 2
3 4 5
# Default-Stop: 0 1
6
#
Short-Description: Enables the PWM chips and connects it through
the pinmux
# Description:
Connecting the pwm output through the pinmux and enables the PWM
chip on board
### END INIT
INFO
case “$1″
in
start)
# Add the BeagleBone overlay to the default setup
echo cape-universaln >
/sys/devices/bone_capemgr.9/slots
# Connect the P9.14 to the PWM
config-pin P9.14 pwm
# Now we are ready to enable the PWM chip
echo 3 > /sys/class/pwm/export
;;
stop)
#no-op
;;
*)
#no-op
;;
esac
exit
0
The first part after the
#!/bin/sh tells the systemd information about your
service.
Next comes the actual code
part, where the case switches on the first parameter to the script.
It can
be start or stop.
The start command will be handled in the
section start). Likewise goes for the stop
command.
In order to insert this as a
service in the systemd execute these
instructions:
root@beaglebone$]
chmod +x
enable-pwm ##
Give execute rights to the script
root@beaglebone$]
insserv -n enable-pwm ## Checks the
script
root@beaglebone$]
insserv
enable-pwm ## Actually inserts the script
Now reboot the system and
check if your PWM has be enables and routed to
P9_14.
Removing an entry from
slots
In the previous sections
echo'ing a value into /sys/devices/bone_capemgr.9/slots (typically
refered to as $SLOTS) enabled the device overlay. If the overlay
should be removed without rebooting then issue this
command
root@beaglebone$] cat
$SLOTS
This is a typical
output
0:
54:PF---
1:
55:PF---
2:
56:PF---
3:
57:PF---
4: ff:P-O-L
Bone-LT-eMMC-2G,00A0,Texas
Instrument,BB-BONE-EMMC-2G
5: ff:P-O-L
Bone-Black-HDMI,00A0,Texas
Instrument,BB-BONELT-HDMI
7: ff:P-O-L
Override Board Name,00A0,Override Manuf,DS1820
8: ff:P-O-L
Override Board Name,00A0,Override
Manuf,am33xx_pwm
9: ff:P-O-L
Override Board Name,00A0,Override
Manuf,bspwm_P9_14_16
If the bspwm_P9_14_16 is to
be removed issue
root@beaglebone$]
echo -9 > $SLOTS
root@beaglebone$]
cat $SLOTS
with this
result
0:
54:PF---
1:
55:PF---
2:
56:PF---
3:
57:PF---
4: ff:P-O-L
Bone-LT-eMMC-2G,00A0,Texas
Instrument,BB-BONE-EMMC-2G
5: ff:P-O-L
Bone-Black-HDMI,00A0,Texas
Instrument,BB-BONELT-HDMI
7: ff:P-O-L
Override Board Name,00A0,Override Manuf,DS1820
8: ff:P-O-L
Override Board Name,00A0,Override
Manuf,am33xx_pwm
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