[Buildroot] [PATCH 1/1] lego: ev3: use mainline kernel

[David Lechner <david@lechnology.com>]

It is finally possible to boot LEGO MINDSTORMS EV3 from the mainline
Linux kernel. This patch updates the defconfg to use the mainline kernel
instead of the custom ev3dev kernel.

Signed-off-by: David Lechner <david@lechnology.com>
---
 board/lego/ev3/busybox.fragment                    |  3 +
 board/lego/ev3/genimage.cfg                        |  2 +-
 board/lego/ev3/linux.fragment                      | 49 +++++++++++++
 .../patches/linux/0001-adc-device-tree-node.patch  | 56 ++++++++++++++
 .../linux/0002-sound-device-tree-node.patch        | 85 ++++++++++++++++++++++
 board/lego/ev3/post-image.sh                       |  2 +
 board/lego/ev3/readme.txt                          |  9 +--
 configs/lego_ev3_defconfig                         | 20 +++--
 8 files changed, 210 insertions(+), 16 deletions(-)
 create mode 100644 board/lego/ev3/busybox.fragment
 create mode 100644 board/lego/ev3/patches/linux/0001-adc-device-tree-node.patch
 create mode 100644 board/lego/ev3/patches/linux/0002-sound-device-tree-node.patch

diff --git a/board/lego/ev3/busybox.fragment b/board/lego/ev3/busybox.fragment
new file mode 100644
index 0000000..901274d
--- /dev/null
+++ b/board/lego/ev3/busybox.fragment
@@ -0,0 +1,3 @@
+CONFIG_BEEP=y
+CONFIG_FEATURE_BEEP_FREQ=440
+CONFIG_FEATURE_BEEP_LENGTH_MS=250
diff --git a/board/lego/ev3/genimage.cfg b/board/lego/ev3/genimage.cfg
index 6b8546c..3568295 100644
--- a/board/lego/ev3/genimage.cfg
+++ b/board/lego/ev3/genimage.cfg
@@ -19,7 +19,7 @@ image flash.bin {
 		size = 320K
 	}
 	partition uimage {
-		image = "uImage"
+		image = "uImage.da850-lego-ev3"
 		size = 3M
 		offset = 0x50000
 	}
diff --git a/board/lego/ev3/linux.fragment b/board/lego/ev3/linux.fragment
index 5593636..439cccf 100644
--- a/board/lego/ev3/linux.fragment
+++ b/board/lego/ev3/linux.fragment
@@ -1,6 +1,55 @@
+CONFIG_ARCH_DAVINCI_DM644x=n
+CONFIG_ARCH_DAVINCI_DM355=n
+CONFIG_ARCH_DAVINCI_DM646x=n
+CONFIG_ARCH_DAVINCI_DA830=n
+CONFIG_ARCH_DAVINCI_DM365=n
+CONFIG_MACH_SFFSDR=n
+CONFIG_MACH_NEUROS_OSD2=n
+CONFIG_MACH_DM355_LEOPARD=n
+CONFIG_MACH_MITYOMAPL138=n
+CONFIG_MACH_OMAPL138_HAWKBOARD=n
+CONFIG_MACH_DAVINCI_DA850_EVM=n
+CONFIG_ATA=n
+CONFIG_MTD=y
+CONFIG_MTD_BLOCK=y
+CONFIG_MTD_M25P80=y
+CONFIG_MTD_SPI_NOR=y
+CONFIG_MTD_UBI=y
 CONFIG_BLK_DEV_RAM=y
 CONFIG_BLK_DEV_RAM_COUNT=1
 CONFIG_BLK_DEV_RAM_SIZE=32768
+CONFIG_INPUT_EVDEV=y
+CONFIG_INPUT_PWM_BEEPER=y
+CONFIG_SPI_DAVINCI=y
+CONFIG_PINCTRL_DA850_PUPD=y
+CONFIG_V4L_PLATFORM_DRIVERS=n
+CONFIG_SOUND=n
+CONFIG_SND=n
+CONFIG_SND_SOC=n
+CONFIG_SND_EDMA_SOC=n
+CONFIG_SND_DAVINCI_SOC_MCASP=n
+CONFIG_SND_SOC_TLV320AIC3X=n
+CONFIG_SND_SIMPLE_CARD=n
+CONFIG_DAVINCI_WATCHDOG=y
+CONFIG_USB=y
+CONFIG_USB_OHCI_HCD=y
+CONFIG_USB_OHCI_HCD_DAVINCI=y
+CONFIG_USB_MUSB_HDRC=y
+CONFIG_USB_MUSB_GADGET=y
+CONFIG_USB_MUSB_DA8XX=y
+CONFIG_NOP_USB_XCEIV=y
+CONFIG_USB_GADGET=y
+CONFIG_LEDS_CLASS=y
+CONFIG_LEDS_GPIO=y
+CONFIG_LEDS_TRIGGER_MTD=y
+CONFIG_LEDS_TRIGGER_HEARTBEAT=y
+CONFIG_LEDS_TRIGGER_CPU=y
+CONFIG_LEDS_TRIGGER_DEFAULT_ON=y
+CONFIG_RTC_DRV_OMAP=y
+CONFIG_IIO=y
+CONFIG_TI_ADS7950=y
+CONFIG_PWM_TIECAP=y
+CONFIG_PWM_TIEHRPWM=y
 CONFIG_SQUASHFS=y
 CONFIG_SQUASHFS_LZ4=y
 CONFIG_SQUASHFS_LZO=y
diff --git a/board/lego/ev3/patches/linux/0001-adc-device-tree-node.patch b/board/lego/ev3/patches/linux/0001-adc-device-tree-node.patch
new file mode 100644
index 0000000..dabda1e
--- /dev/null
+++ b/board/lego/ev3/patches/linux/0001-adc-device-tree-node.patch
@@ -0,0 +1,56 @@
+From 8a81ff173c5c9a0ab1df84fab17971dbcce8490a Mon Sep 17 00:00:00 2001
+From: David Lechner <david@lechnology.com>
+Date: Tue, 7 Feb 2017 13:22:07 -0600
+Subject: ARM: da850-lego-ev3: Add device tree node for A/DC
+
+This adds a node for the TI ADS7957 analog/digital converter on LEGO
+MINDSTORMS EV3 as well as a regulator node that is used by the A/DC node.
+
+Signed-off-by: David Lechner <david@lechnology.com>
+Signed-off-by: Sekhar Nori <nsekhar@ti.com>
+---
+ arch/arm/boot/dts/da850-lego-ev3.dts | 21 +++++++++++++++++++++
+ 1 file changed, 21 insertions(+)
+
+diff --git a/arch/arm/boot/dts/da850-lego-ev3.dts b/arch/arm/boot/dts/da850-lego-ev3.dts
+index 112ec92..0309537 100644
+--- a/arch/arm/boot/dts/da850-lego-ev3.dts
++++ b/arch/arm/boot/dts/da850-lego-ev3.dts
+@@ -139,6 +139,19 @@
+ 		enable-active-high;
+ 		regulator-boot-on;
+ 	};
++
++	/*
++	 * This is a simple voltage divider on VCC5V to provide a 2.5V
++	 * reference signal to the ADC.
++	 */
++	adc_ref: regulator2 {
++		compatible = "regulator-fixed";
++		regulator-name = "adc ref";
++		regulator-min-microvolt = <2500000>;
++		regulator-max-microvolt = <2500000>;
++		regulator-boot-on;
++		vin-supply = <&vcc5v>;
++	};
+ };
+ 
+ &pmx_core {
+@@ -293,6 +306,14 @@
+ 			};
+ 		};
+ 	};
++
++	adc: adc at 3 {
++		compatible = "ti,ads7957";
++		reg = <3>;
++		#io-channel-cells = <1>;
++		spi-max-frequency = <10000000>;
++		vref-supply = <&adc_ref>;
++	};
+ };
+ 
+ &gpio {
+-- 
+cgit v1.1
+
diff --git a/board/lego/ev3/patches/linux/0002-sound-device-tree-node.patch b/board/lego/ev3/patches/linux/0002-sound-device-tree-node.patch
new file mode 100644
index 0000000..a095222
--- /dev/null
+++ b/board/lego/ev3/patches/linux/0002-sound-device-tree-node.patch
@@ -0,0 +1,85 @@
+From 7723d70bebd749ef24fef19db52d827c7fd7f858 Mon Sep 17 00:00:00 2001
+From: David Lechner <david@lechnology.com>
+Date: Tue, 7 Feb 2017 13:22:09 -0600
+Subject: ARM: da850-lego-ev3: Add device tree node for sound
+
+This adds a device tree node for sound on LEGO MINDSTORMS EV3. The EV3
+uses one of the SoC PWMs connected to an amplifier to create sound from
+a speaker.
+
+The PWM is passed through a low-pass filter, so it is actually possible
+to do PCM playback, but there is no existing driver, so just using
+pwm-beeper for now, since it is also a compatible mode of operation.
+
+Signed-off-by: David Lechner <david@lechnology.com>
+Signed-off-by: Sekhar Nori <nsekhar@ti.com>
+---
+ arch/arm/boot/dts/da850-lego-ev3.dts | 31 +++++++++++++++++++++++++++++++
+ 1 file changed, 31 insertions(+)
+
+diff --git a/arch/arm/boot/dts/da850-lego-ev3.dts b/arch/arm/boot/dts/da850-lego-ev3.dts
+index 0309537..c20580a 100644
+--- a/arch/arm/boot/dts/da850-lego-ev3.dts
++++ b/arch/arm/boot/dts/da850-lego-ev3.dts
+@@ -123,6 +123,14 @@
+ 		pinctrl-0 = <&system_power_pin>;
+ 	};
+ 
++	sound {
++		compatible = "pwm-beeper";
++		pinctrl-names = "default";
++		pinctrl-0 = <&ehrpwm0b_pins>;
++		pwms = <&ehrpwm0 1 1000000 0>;
++		amp-supply = <&amp>;
++	};
++
+ 	/*
+ 	 * This is a 5V current limiting regulator that is shared by USB,
+ 	 * the sensor (input) ports, the motor (output) ports and the A/DC.
+@@ -152,6 +160,18 @@
+ 		regulator-boot-on;
+ 		vin-supply = <&vcc5v>;
+ 	};
++
++	/*
++	 * This is the amplifier for the speaker.
++	 */
++	amp: regulator3 {
++		pinctrl-names = "default";
++		pinctrl-0 = <&amp_pins>;
++		compatible = "regulator-fixed";
++		regulator-name = "amp";
++		gpio = <&gpio 111 GPIO_ACTIVE_HIGH>;
++		enable-active-high;
++	};
+ };
+ 
+ &pmx_core {
+@@ -208,6 +228,13 @@
+ 			0x4c 0x00008000 0x0000f000
+ 		>;
+ 	};
++
++	amp_pins: pinmux_amp_pins {
++		pinctrl-single,bits = <
++			/* GP6[15] */
++			0x34 0x00000008 0x0000000f
++		>;
++	};
+ };
+ 
+ &pinconf {
+@@ -316,6 +343,10 @@
+ 	};
+ };
+ 
++&ehrpwm0 {
++	status = "okay";
++};
++
+ &gpio {
+ 	status = "okay";
+ };
+-- 
+cgit v1.1
+
diff --git a/board/lego/ev3/post-image.sh b/board/lego/ev3/post-image.sh
index 81626dc..553d27a 100755
--- a/board/lego/ev3/post-image.sh
+++ b/board/lego/ev3/post-image.sh
@@ -4,6 +4,8 @@ BOARD_DIR="$(dirname $0)"
 GENIMAGE_CFG="${BOARD_DIR}/genimage.cfg"
 GENIMAGE_TMP="${BUILD_DIR}/genimage.tmp"
 
+ln -sf "uImage.da850-lego-ev3" "${BINARIES_DIR}/uImage"
+
 rm -rf "${GENIMAGE_TMP}"
 
 genimage \
diff --git a/board/lego/ev3/readme.txt b/board/lego/ev3/readme.txt
index c40907c..8df91ac 100644
--- a/board/lego/ev3/readme.txt
+++ b/board/lego/ev3/readme.txt
@@ -13,12 +13,6 @@ See:
 - http://www.lego.com/en-us/mindstorms/products/ev3/31313-mindstorms-ev3/
 - http://www.ti.com/product/am1808
 
-The buildroot configuration uses the Linux kernel of the ev3dev project.
-See:
-- https://github.com/ev3dev/ev3-kernel/
-- https://github.com/ev3dev/lego-linux-drivers/
-- http://www.ev3dev.org/
-
 How it works
 ============
 
@@ -65,7 +59,8 @@ After building, you should obtain this tree:
     ??? rootfs.squashfs
     ??? sdcard.img
     ??? u-boot.bin
-    ??? uImage
+    ??? uImage -> uImage.da850-lego-ev3
+    ??? uImage.da850-lego-ev3
 
 Installation
 ============
diff --git a/configs/lego_ev3_defconfig b/configs/lego_ev3_defconfig
index 543a227..0996b8c 100644
--- a/configs/lego_ev3_defconfig
+++ b/configs/lego_ev3_defconfig
@@ -2,22 +2,26 @@
 BR2_arm=y
 BR2_arm926t=y
 
+# Build options
+BR2_GLOBAL_PATCH_DIR="board/lego/ev3/patches"
+
 # system
 BR2_TARGET_GENERIC_GETTY=y
 BR2_TARGET_GENERIC_GETTY_PORT="ttyS1"
 BR2_ROOTFS_POST_IMAGE_SCRIPT="board/lego/ev3/post-image.sh"
-# Linux headers same as kernel, a 4.4 series
-BR2_PACKAGE_HOST_LINUX_HEADERS_CUSTOM_4_4=y
 
 # Kernel
 BR2_LINUX_KERNEL=y
-BR2_LINUX_KERNEL_CUSTOM_GIT=y
-BR2_LINUX_KERNEL_CUSTOM_REPO_URL="https://github.com/ev3dev/ev3dev-kernel.git"
-BR2_LINUX_KERNEL_CUSTOM_REPO_VERSION="v4.4.19-15-ev3dev-ev3_1"
-BR2_LINUX_KERNEL_DEFCONFIG="ev3dev"
+BR2_LINUX_KERNEL_CUSTOM_VERSION=y
+BR2_LINUX_KERNEL_CUSTOM_VERSION_VALUE="4.11"
+BR2_LINUX_KERNEL_DEFCONFIG="davinci_all"
 BR2_LINUX_KERNEL_CONFIG_FRAGMENT_FILES="board/lego/ev3/linux.fragment"
-BR2_LINUX_KERNEL_UIMAGE=y
-BR2_LINUX_KERNEL_EXT_EV3DEV_LINUX_DRIVERS=y
+BR2_LINUX_KERNEL_UIMAGE_LOADADDR="0xc0008000"
+BR2_LINUX_KERNEL_APPENDED_UIMAGE=y
+BR2_LINUX_KERNEL_INTREE_DTS_NAME="da850-lego-ev3"
+
+# Target packages
+BR2_PACKAGE_BUSYBOX_CONFIG_FRAGMENT_FILES="board/lego/ev3/busybox.fragment"
 
 # filesystem
 BR2_TARGET_ROOTFS_EXT2=y
-- 
2.7.4