Embedded BBB：如何在linux 3.14上打开编码器和PWM设备

我在我的BeagleBone Black板上安装了一个新的Ubuntu映像（14.04.2 LTS）。我发现cape manager不再受支持，所以

echo bone_eqep2b > /sys/devices/bone_capemgr.*/slots

不起作用。 据我所知，要加载设备树覆盖，我需要以下内容：

安装RSCM

修复am335x boneblack.dts文件

运行build.sh

重新启动电路板

因此，我对第2项表示怀疑。如何正确合并

bone\u eqep2b.dts

和

am335x boneblack.dts

我想，要启用eqep2b，我只需要更改这段代码：

epwmss@48304000 {
        compatible = "ti,am33xx-pwmss";
        reg = <0x48304000 0x10>;
        ti,hwmods = "epwmss2";
        #address-cells = <0x1>;
        #size-cells = <0x1>;
        status = "disabled";
        ranges = <0x48304100 0x48304100 0x80 0x48304180 0x48304180 0x80 0x48304200 0x4
8304200 0x80>;

        ecap@48304100 {
                compatible = "ti,am33xx-ecap";
                #pwm-cells = <0x3>;
                reg = <0x48304100 0x80>;
                ti,hwmods = "ecap2";
                status = "disabled";
        };

        ehrpwm@48304200 {
                compatible = "ti,am33xx-ehrpwm";
                #pwm-cells = <0x3>;
                reg = <0x48304200 0x80>;
                ti,hwmods = "ehrpwm2";
                status = "disabled";
        };
};

epwmss@48304000 {
compatible=“ti，am33xx pwmss”；
reg=；
ti，hwmods=“epwmss2”；
#地址单元=；
#大小单元格=；
status=“disabled”；
范围=；
ecap@48304100 {
compatible=“ti，am33xx ecap”；
#pwm单元=；
reg=；
ti，hwmods=“ecap2”；
status=“disabled”；
};
ehrpwm@48304200 {
compatible=“ti，am33xx ehrpwm”；
#pwm单元=；
reg=；
ti，hwmods=“ehrpwm2”；
status=“disabled”；
};
};

大概是

epwmss@48304000 {
        compatible = "ti,am33xx-pwmss";
        reg = <0x48304000 0x10>;
        ti,hwmods = "epwmss2";
        #address-cells = <0x1>;
        #size-cells = <0x1>;
        status = "okay";

        count_mode = <0>;  /* 0 - Quadrature mode, normal 90 phase offset cha & chb.  1 - Direction mode.  cha input = clock, chb input = direction */
        swap_inputs = <0>; /* Are channel A and channel B swapped? (0 - no, 1 - yes) */
        invert_qa = <1>;   /* Should we invert the channel A input?  */
        invert_qb = <1>;   /* Should we invert the channel B input? I invert these because my encoder outputs drive transistors that pull down the pins */
        invert_qi = <0>;   /* Should we invert the index input? */
        invert_qs = <0>;   /* Should we invert the strobe input? */

        status = "okay";


        ranges = <0x48304100 0x48304100 0x80 0x48304180 0x48304180 0x80 0x48304200 0x4
8304200 0x80>;

        ecap@48304100 {
                compatible = "ti,am33xx-ecap";
                #pwm-cells = <0x3>;
                reg = <0x48304100 0x80>;
                ti,hwmods = "ecap2";
                status = "okay";
        };

        ehrpwm@48304200 {
                compatible = "ti,am33xx-ehrpwm";
                #pwm-cells = <0x3>;
                reg = <0x48304200 0x80>;
                ti,hwmods = "ehrpwm2";
                status = "okay";
        };
};

epwmss@48304000 {
compatible=“ti，am33xx pwmss”；
reg=；
ti，hwmods=“epwmss2”；
#地址单元=；
#大小单元格=；
status=“好”；
计数模式=；/*0-正交模式，正常90相位偏移cha和chb.1-方向模式。cha输入=时钟，chb输入=方向*/
交换_输入=；/*通道A和通道B是否交换？（0-否，1-是）*/
反转_qa=；/*我们应该反转通道A输入吗*/
反转_qb=；/*我们应该反转通道B输入吗？我反转这些，因为我的编码器输出驱动晶体管拉下管脚*/
反转_qi=；/*我们应该反转索引输入吗*/
反转_qs=；/*我们应该反转选通输入吗*/
status=“好”；
范围=；
ecap@48304100 {
compatible=“ti，am33xx ecap”；
#pwm单元=；
reg=；
ti，hwmods=“ecap2”；
status=“好”；
};
ehrpwm@48304200 {
compatible=“ti，am33xx ehrpwm”；
#pwm单元=；
reg=；
ti，hwmods=“ehrpwm2”；
status=“好”；
};
};

对吗

---

我找不到一个现成的版本，如果有人已经修复并可以共享它，那就太好了。

在内核v3.14中，您可以通过在Robert C Nelson的dtb重建项目的am33xx.dtsi下将epwmssx、ecapx和ehrpwmx的状态设置为“OK”来启用PWM。但是，这将仅启用子系统，而不会多路复用管脚或启用PWMXTBCLK寄存器

要多路复用PWM引脚，请使用GitHub上cdsteinkuehler的Universal IO项目中的“配置引脚”

要启用PWMXTBCLK寄存器，您需要编写一个简单的内核模块。（我还不知道如何在设备树中执行此操作）

编辑：更新过期的引用： 在内核模块中，需要写入以下寄存器：

0x44E10664

该寄存器也称为

控制模块.pwmss\u ctrl

---

如SPRUH73H-2011年10月-2013年4月修订版AM335X技术参考手册第796页所示，写入0x01可启用pwm子系统1，0x02可启用子系统2，0x04可启用子系统3，以及三者的任意组合（例如0x07可启用它们：0x01 | 0x02 | 0x04=0x07）.

我使用的是内核3.18，为了能够使用eqep模块，我已将这些模块添加到am335x-bone-common-pinmux.dtsi文件中，以正确设置pinmux

...
/* eHRPWM0 module */
pinctrl_ehrpwm0: pinctrl_ehrpwm0 {
    pinctrl-single,pins = <
        0x150 0x23  /* P9_22 = GPIO0_2 = eHRPWM0A, MODE3 */
        0x190 0x21  /* P9_31 = GPIO3_14 = eHRPWM0A, MODE1 */
        0x154 0x23  /* P9_21 = GPIO0_3 = eHRPWM0B, MODE3 */
        /*0x0a4 0x23     This is not OK P8_46 = GPIO2_7 = eHRPWM0B, MODE3 */
    >;
};

/* eCAP0 module ?????*/
pinctrl_ecap0: pinctrl_ecap0 {
    pinctrl-single,pins = <
        0x164 0x20  /* P9_42A (?) = GPIO0_7 = eCAP0, MODE0 */
    >;
};

/* eQEP0 module */
pinctrl_eqep0: pinctrl_eqep0 {
    pinctrl-single,pins = <
        0x1a8 0x21  /* P9_41B = GPIO3_20 = eQEP0_index, MODE1 */
        0x1ac 0x21  /* P9_25 = GPIO3_21 = eQEP0_strobe, MODE1 */
        0x1a4 0x31  /* P9_27 = GPIO3_19 = eQEP0B_in, MODE1 */
        0x1a0 0x31  /* P9_42B = GPIO3_18 = eQEP0A_in, MODE1 */
    >;
};


/* eHRPWM1 module */
pinctrl_ehrpwm1: pinctrl_ehrpwm1 {
    pinctrl-single,pins = <
        0x048 0x26  /* P9_14 = GPIO1_18 = eHRPWM1A, MODE6 */
        0x0c8 0x22  /* P8_36 = GPIO2_16 = eHRPWM1A, MODE2 */
        0x04c 0x26  /* P9_16 = GPIO1_19 = eHRPWM1B, MODE6 */
        0x0cc 0x22  /* P8_34 = GPIO2_17 = eHRPWM1B, MODE2 */
    >;
};

/* eQEP1 module */
pinctrl_eqep1: pinctrl_eqep1 {
    pinctrl-single,pins = <
        /*0x0d8 0x22     P8_31 = GPIO0_10 = eQEP1_index, MODE2, USED FOR PHOTOCELLS */
        /*0x0dc 0x22     P8_32 = GPIO0_11 = eQEP1_strobe, MODE2 USED FOR PHOTOCELLS */
        0x0d4 0x32  /* P8_33 = GPIO0_09 = eQEP1B_in, MODE2 */
        0x0d0 0x32  /* P8_35 = GPIO0_08 = eQEP1A_in, MODE2 */
    >;
};


/* eHRPWM2 module */
pinctrl_ehrpwm2: pinctrl_ehrpwm2 {
    pinctrl-single,pins = <
        0x020 0x24  /* P8_19 = GPIO0_22 = eHRPWM2A, MODE4*/
        0x0a0 0x23  /* P8_45 = GPIO2_6 = eHRPWM2A, MODE3 */
        0x024 0x24  /* P8_13 = GPIO0_23 = eHRPWM2B, MODE4 */
        0x0a4 0x23  /* P8_46 = GPIO2_7 = eHRPWM2B, MODE3 */
    >;
};

/* eCAP2 module */
pinctrl_ecap2: pinctrl_ecap2 {
    pinctrl-single,pins = <
        0x19c 0x24  /* P9_28 = GPIO3_17 = eCAP2, MODE4 */
    >;
};

/* eQEP2 module */
pinctrl_eqep2: pinctrl_eqep2 {
    pinctrl-single,pins = <
        0x038 0x0F  /* P8_16 = GPIO1_14 = eQEP2_index, MODE4 --- STOLEN FOR MOTOR DIRECTION, ORIGINAL HEX value was 0x24*/
        0x03c 0x0F  /* P8_15 = GPIO1_15 = eQEP2_strobe, MODE4 --- STOLEN FOR MOTOR DIRECTION, ORIGINAL HEX value was 0x24*/
        0x034 0x34  /* P8_11 = GPIO1_13 = eQEP2B_in, MODE4 */
        0x030 0x34  /* P8_12 = GPIO1_12 = eQEP2A_in, MODE4 */
    >;
};
...

。。。
/*eHRPWM0模块*/
pinctrl_ehrpwm0:pinctrl_ehrpwm0{
pinctrl单端，引脚=<
0x150 0x23/*P9_22=GPIO0_2=eHRPWM0A，模式3*/
0x190 0x21/*P9_31=GPIO3_14=eHRPWM0A，模式1*/
0x154 0x23/*P9_21=GPIO0_3=eHRPWM0B，模式3*/
/*0x0a4 0x23这不正常P8_46=GPIO2_7=eHRPWM0B，模式3*/
>;
};
/*eCAP0模块*/
pinctrl_ecap0:pinctrl_ecap0{
pinctrl单端，引脚=<
0x164 0x20/*P9_42A（？）=GPIO0_7=eCAP0，模式0*/
>;
};
/*eQEP0模块*/
pinctrl_eqep0:pinctrl_eqep0{
pinctrl单端，引脚=<
0x1a8 0x21/*P9_41B=GPIO3_20=eQEP0_索引，模式1*/
0x1ac 0x21/*P9_25=GPIO3_21=eQEP0_选通，模式1*/
0x1a4 0x31/*P9_27=GPIO3_19=eQEP0B_in，模式1*/
0x1a0 0x31/*P9_42B=GPIO3_18=eQEP0A_in，模式1*/
>;
};
/*eHRPWM1模块*/
pinctrl_ehrpwm1:pinctrl_ehrpwm1{
pinctrl单端，引脚=<
0x048 0x26/*P9_14=GPIO1_18=eHRPWM1A，模式6*/
0x0c8 0x22/*P8_36=GPIO2_16=eHRPWM1A，模式2*/
0x04c 0x26/*P9_16=GPIO1_19=eHRPWM1B，模式6*/
0x0cc 0x22/*P8_34=GPIO2_17=eHRPWM1B，模式2*/
>;
};
/*eQEP1模块*/
pinctrl_eqep1：pinctrl_eqep1{
pinctrl单端，引脚=<
/*0x0d8 0x22 P8_31=GPIO0_10=eQEP1_索引，模式2，用于光电池*/
/*0x0dc 0x22 P8_32=GPIO0_11=eQEP1_选通，用于光电池的模式2*/
0x0d4 0x32/*P8_33=GPIO0_09=eQEP1B_输入，模式2*/
0x0d0 0x32/*P8_35=GPIO0_08=eQEP1A_输入，模式2*/
>;
};
/*eHRPWM2模块*/
pinctrl_ehrpwm2:pinctrl_ehrpwm2{
pinctrl单端，引脚=<
0x020 0x24/*P8_19=GPIO0_22=eHRPWM2A，模式4*/
0x0a0 0x23/*P8_45=GPIO2_6=eHRPWM2A，模式3*/
0x024 0x24/*P8_13=GPIO0_23=eHRPWM2B，模式4*/
0x0a4 0x23/*P8_46=GPIO2_7=eHRPWM2B，模式3*/
>;
};
/*eCAP2模块*/
pinctrl_ecap2：pinctrl_ecap2{
pinctrl单端，引脚=<
0x19c 0x24/*P9_28=GPIO3_17=eCAP2，模式4*/
>;
};
/*eQEP2模块*/
pinctrl_eqep2：pinctrl_eqep2{
平克特尔
    epwmss0: epwmss@48300000 {
        compatible = "ti,am33xx-pwmss";
        reg = <0x48300000 0x10>;
        ti,hwmods = "epwmss0";
        #address-cells = <1>;
        #size-cells = <1>;
        status = "disabled";
        ranges = <0x48300100 0x48300100 0x80   /* ECAP */
              0x48300180 0x48300180 0x80   /* EQEP */
              0x48300200 0x48300200 0x80>; /* EHRPWM */

        ecap0: ecap@48300100 {
            compatible = "ti,am33xx-ecap";
            #pwm-cells = <3>;
            reg = <0x48300100 0x80>;
            interrupts = <31>;
            interrupt-names = "ecap0";
            ti,hwmods = "ecap0";
            status = "disabled";
        };

        eqep0: eqep@48300180 {
            /* pinctrl-names = "default";
            pinctrl-0 = <&pinctrl_eqep0>;*/
            compatible = "ti,am33xx-eqep";
            reg = <0x48300180 0x80>;
            ti,hwmods = "eqep0";
            interrupt-parent = <&intc>;
            interrupts = <79>;
            status = "disabled";
        };


        ehrpwm0: ehrpwm@48300200 {
            compatible = "ti,am33xx-ehrpwm";
            #pwm-cells = <3>;
            reg = <0x48300200 0x80>;
            ti,hwmods = "ehrpwm0";
            status = "disabled";
        };
    };

    epwmss1: epwmss@48302000 {
        compatible = "ti,am33xx-pwmss";
        reg = <0x48302000 0x10>;
        ti,hwmods = "epwmss1";
        #address-cells = <1>;
        #size-cells = <1>;
        status = "okay";
        ranges = <0x48302100 0x48302100 0x80   /* ECAP */
              0x48302180 0x48302180 0x80   /* EQEP */
              0x48302200 0x48302200 0x80>; /* EHRPWM */

        ecap1: ecap@48302100 {
            compatible = "ti,am33xx-ecap";
            #pwm-cells = <3>;
            reg = <0x48302100 0x80>;
            interrupts = <47>;
            interrupt-names = "ecap1";
            ti,hwmods = "ecap1";
            status = "disabled";
        };

        eqep1: eqep@48302180 {
            pinctrl-names = "default";
            pinctrl-0 = <&pinctrl_eqep1>;
            compatible = "ti,am33xx-eqep";
            reg = <0x48302180 0x80>;
            ti,hwmods = "eqep1";
            interrupt-parent = <&intc>;
            interrupts = <88>;
            status = "okay";
        };


        ehrpwm1: ehrpwm@48302200 {
            pinctrl-names = "default";
            pinctrl-0 = <&pinctrl_ehrpwm1>;
            compatible = "ti,am33xx-ehrpwm";
            #pwm-cells = <3>;
            reg = <0x48302200 0x80>;
            ti,hwmods = "ehrpwm1";
            status = "okay";
        };
    };

    epwmss2: epwmss@48304000 {
        compatible = "ti,am33xx-pwmss";
        reg = <0x48304000 0x10>;
        ti,hwmods = "epwmss2";
        #address-cells = <1>;
        #size-cells = <1>;
        status = "okay";
        ranges = <0x48304100 0x48304100 0x80   /* ECAP */
              0x48304180 0x48304180 0x80   /* EQEP */
              0x48304200 0x48304200 0x80>; /* EHRPWM */

        ecap2: ecap@48304100 {
            pinctrl-names = "default";
            pinctrl-0 = <&pinctrl_ecap2>;
            compatible = "ti,am33xx-ecap";
            #pwm-cells = <3>;
            reg = <0x48304100 0x80>;
            interrupts = <61>;
            interrupt-names = "ecap2";
            ti,hwmods = "ecap2";
            status = "okay";
        };

        eqep2: eqep@48304180 {
            pinctrl-names = "default";
            pinctrl-0 = <&pinctrl_eqep2>;
            compatible = "ti,am33xx-eqep";
            reg = <0x48304180 0x80>;
            ti,hwmods = "eqep2";
            interrupt-parent = <&intc>;
            interrupts = <89>;
            status = "okay";
        };

        ehrpwm2: ehrpwm@48304200 {
            pinctrl-names = "default";
            pinctrl-0 = <&pinctrl_ehrpwm2>;
            compatible = "ti,am33xx-ehrpwm";
            #pwm-cells = <3>;
            reg = <0x48304200 0x80>;
            ti,hwmods = "ehrpwm2";
            status = "okay";
        };
    };