[PATCH v5 3/3] arm: dts: ti: Add device tree support for PRU-ICSS on AM335x

From: Parvathi Pudi

Date: Sat Mar 07 2026 - 07:28:54 EST

From: Roger Quadros <rogerq@xxxxxx>

The TI Sitara AM335x ICE-V2 consists of single PRU-ICSS instance,
This patch adds the new device tree overlay file in-order to enable
PRU-ICSS instance, along with makefile changes.

PRU-ICSS instance consists of two PRU cores along with various
peripherals such as the Interrupt Controller (PRU_INTC), the Industrial
Ethernet Peripheral(IEP), the Real Time Media Independent Interface
controller (MII_RT), and the Enhanced Capture (eCAP) event module.

am33xx-l4.dtsi - Adds IEP and eCAP peripheral as child nodes
of the PRUSS subsystem node.

am335x-icev2-prueth.dtso - Adds PRU-ICSS instance node along with PRU
eth port information and corresponding port configuration. It includes
interrupt mapping for packet reception, HW timestamp collection, and PRU
Ethernet ports in MII mode,

GPIO configuration, boot strapping along with delay configuration for
individual PRU Ethernet port and other required nodes.

Signed-off-by: Roger Quadros <rogerq@xxxxxx>
Signed-off-by: Andrew F. Davis <afd@xxxxxx>
Signed-off-by: Murali Karicheri <m-karicheri2@xxxxxx>
Signed-off-by: Basharath Hussain Khaja <basharath@xxxxxxxxxxx>
Signed-off-by: Parvathi Pudi <parvathi@xxxxxxxxxxx>
---
arch/arm/boot/dts/ti/omap/Makefile | 5 +
.../ti/omap/am335x-icev2-prueth-overlay.dtso | 149 ++++++++++++++++++
arch/arm/boot/dts/ti/omap/am33xx-l4.dtsi | 11 ++
3 files changed, 165 insertions(+)
create mode 100644 arch/arm/boot/dts/ti/omap/am335x-icev2-prueth-overlay.dtso

diff --git a/arch/arm/boot/dts/ti/omap/Makefile b/arch/arm/boot/dts/ti/omap/Makefile
index 4c577214f512..6fb58fe51648 100644
--- a/arch/arm/boot/dts/ti/omap/Makefile
+++ b/arch/arm/boot/dts/ti/omap/Makefile
@@ -84,6 +84,10 @@ dtb-$(CONFIG_ARCH_OMAP4) += \
omap4-samsung-espresso10.dtb \
omap4-xyboard-mz609.dtb \
omap4-xyboard-mz617.dtb
+
+am335x-icev2-prueth-dtbs := am335x-icev2.dtb \
+ am335x-icev2-prueth-overlay.dtbo
+
dtb-$(CONFIG_SOC_AM33XX) += \
am335x-baltos-ir2110.dtb \
am335x-baltos-ir3220.dtb \
@@ -101,6 +105,7 @@ dtb-$(CONFIG_SOC_AM33XX) += \
am335x-evmsk.dtb \
am335x-guardian.dtb \
am335x-icev2.dtb \
+ am335x-icev2-prueth.dtb \
am335x-lxm.dtb \
am335x-mba335x.dtb \
am335x-moxa-uc-2101.dtb \
diff --git a/arch/arm/boot/dts/ti/omap/am335x-icev2-prueth-overlay.dtso b/arch/arm/boot/dts/ti/omap/am335x-icev2-prueth-overlay.dtso
new file mode 100644
index 000000000000..3b82cf719671
--- /dev/null
+++ b/arch/arm/boot/dts/ti/omap/am335x-icev2-prueth-overlay.dtso
@@ -0,0 +1,149 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * DT overlay for IDK AM335x
+ *
+ * Copyright (C) 2018 Texas Instruments Incorporated - http://www.ti.com/
+ */
+
+/*
+ * AM335x ICE V2 board
+ * http://www.ti.com/tool/tmdsice3359
+ */
+
+/dts-v1/;
+/plugin/;
+
+#include <dt-bindings/bus/ti-sysc.h>
+#include <dt-bindings/gpio/gpio.h>
+#include <dt-bindings/pinctrl/am33xx.h>
+#include <dt-bindings/clock/am3.h>
+
+&{/} {
+ /* Dual-MAC Ethernet application node on PRU-ICSS */
+ pruss_eth: pruss-eth {
+ compatible = "ti,am3359-prueth";
+ ti,prus = <&pru0>, <&pru1>;
+ sram = <&ocmcram>;
+ ti,mii-rt = <&pruss_mii_rt>;
+ ti,iep = <&pruss_iep>;
+ ti,ecap = <&pruss_ecap>;
+ interrupts = <20 2 2>, <21 3 3>;
+ interrupt-names = "rx_hp", "rx_lp";
+ interrupt-parent = <&pruss_intc>;
+
+ pinctrl-0 = <&pruss_eth_default>;
+ pinctrl-names = "default";
+
+ ethernet-ports {
+ #address-cells = <1>;
+ #size-cells = <0>;
+ pruss_emac0: ethernet-port@0 {
+ reg = <0>;
+ phy-handle = <&pruss_eth0_phy>;
+ phy-mode = "mii";
+ interrupts = <20 2 2>, <26 6 6>, <23 6 6>;
+ interrupt-names = "rx", "emac_ptp_tx",
+ "hsr_ptp_tx";
+ /* Filled in by bootloader */
+ local-mac-address = [00 00 00 00 00 00];
+ };
+
+ pruss_emac1: ethernet-port@1 {
+ reg = <1>;
+ phy-handle = <&pruss_eth1_phy>;
+ phy-mode = "mii";
+ interrupts = <21 3 3>, <27 9 7>, <24 9 7>;
+ interrupt-names = "rx", "emac_ptp_tx",
+ "hsr_ptp_tx";
+ /* Filled in by bootloader */
+ local-mac-address = [00 00 00 00 00 00];
+ };
+ };
+ };
+};
+
+&am33xx_pinmux {
+ /* MDIO node for PRU-ICSS */
+ pruss_mdio_default: pruss-mdio-default {
+ pinctrl-single,pins = <
+ AM33XX_IOPAD(0x88c, PIN_OUTPUT | MUX_MODE5) /* (V12) gpmc_clk.pr1_mdio_mdclk */
+ AM33XX_IOPAD(0x888, PIN_INPUT | MUX_MODE5) /* (T13) gpmc_csn3.pr1_mdio_data */
+ >;
+ };
+
+ /* Pinmux configuration for PRU-ICSS */
+ pruss_eth_default: pruss-eth-default {
+ pinctrl-single,pins = <
+ AM33XX_IOPAD(0x8a0, PIN_INPUT | MUX_MODE2) /* (R1) lcd_data0.pr1_mii_mt0_clk */
+ AM33XX_IOPAD(0x8b4, PIN_OUTPUT | MUX_MODE2) /* (T2) lcd_data5.pr1_mii0_txd0 */
+ AM33XX_IOPAD(0x8b0, PIN_OUTPUT | MUX_MODE2) /* (T1) lcd_data4.pr1_mii0_txd1 */
+ AM33XX_IOPAD(0x8ac, PIN_OUTPUT | MUX_MODE2) /* (R4) lcd_data3.pr1_mii0_txd2 */
+ AM33XX_IOPAD(0x8a8, PIN_OUTPUT | MUX_MODE2) /* (R3) lcd_data2.pr1_mii0_txd3 */
+ AM33XX_IOPAD(0x8cc, PIN_INPUT | MUX_MODE5) /* (U4) lcd_data11.pr1_mii0_rxd0 */
+ AM33XX_IOPAD(0x8c8, PIN_INPUT | MUX_MODE5) /* (U3) lcd_data10.pr1_mii0_rxd1 */
+ AM33XX_IOPAD(0x8c4, PIN_INPUT | MUX_MODE5) /* (U2) lcd_data9.pr1_mii0_rxd2 */
+ AM33XX_IOPAD(0x8c0, PIN_INPUT | MUX_MODE5) /* (U1) lcd_data8.pr1_mii0_rxd3 */
+ AM33XX_IOPAD(0x8a4, PIN_OUTPUT | MUX_MODE2) /* (R2) lcd_data1.pr1_mii0_txen */
+ AM33XX_IOPAD(0x8d8, PIN_INPUT | MUX_MODE5) /* (V4) lcd_data14.pr1_mii_mr0_clk */
+ AM33XX_IOPAD(0x8dc, PIN_INPUT | MUX_MODE5) /* (T5) lcd_data15.pr1_mii0_rxdv */
+ AM33XX_IOPAD(0x8d4, PIN_INPUT | MUX_MODE5) /* (V3) lcd_data13.pr1_mii0_rxer */
+ AM33XX_IOPAD(0x8d0, PIN_INPUT | MUX_MODE5) /* (V2) lcd_data12.pr1_mii0_rxlink */
+ AM33XX_IOPAD(0x8e8, PIN_INPUT | MUX_MODE2) /* (V5) lcd_pclk.pr1_mii0_crs */
+
+ AM33XX_IOPAD(0x840, PIN_INPUT | MUX_MODE5) /* (R13) gpmc_a0.pr1_mii_mt1_clk */
+ AM33XX_IOPAD(0x850, PIN_OUTPUT | MUX_MODE5) /* (R14) gpmc_a4.pr1_mii1_txd0 */
+ AM33XX_IOPAD(0x84c, PIN_OUTPUT | MUX_MODE5) /* (T14) gpmc_a3.pr1_mii1_txd1 */
+ AM33XX_IOPAD(0x848, PIN_OUTPUT | MUX_MODE5) /* (U14) gpmc_a2.pr1_mii1_txd2 */
+ AM33XX_IOPAD(0x844, PIN_OUTPUT | MUX_MODE5) /* (V14) gpmc_a1.pr1_mii1_txd3 */
+ AM33XX_IOPAD(0x860, PIN_INPUT | MUX_MODE5) /* (V16) gpmc_a8.pr1_mii1_rxd0 */
+ AM33XX_IOPAD(0x85c, PIN_INPUT | MUX_MODE5) /* (T15) gpmc_a7.pr1_mii1_rxd1 */
+ AM33XX_IOPAD(0x858, PIN_INPUT | MUX_MODE5) /* (U15) gpmc_a6.pr1_mii1_rxd2 */
+ AM33XX_IOPAD(0x854, PIN_INPUT | MUX_MODE5) /* (V15) gpmc_a5.pr1_mii1_rxd3 */
+ AM33XX_IOPAD(0x874, PIN_OUTPUT | MUX_MODE5) /* (U17) gpmc_wpn.pr1_mii1_txen */
+ AM33XX_IOPAD(0x864, PIN_INPUT | MUX_MODE5) /* (U16) gpmc_a9.pr1_mii_mr1_clk */
+ AM33XX_IOPAD(0x868, PIN_INPUT | MUX_MODE5) /* (T16) gpmc_a10.pr1_mii1_rxdv */
+ AM33XX_IOPAD(0x86c, PIN_INPUT | MUX_MODE5) /* (V17) gpmc_a11.pr1_mii1_rxer */
+ AM33XX_IOPAD(0x878, PIN_INPUT | MUX_MODE5) /* (U18) gpmc_be1n.pr1_mii1_rxlink */
+ AM33XX_IOPAD(0x8ec, PIN_INPUT | MUX_MODE2) /* (R6) lcd_ac_bias_en.pr1_mii1_crs */
+ >;
+ };
+};
+
+&gpio3 {
+ mux-mii-hog {
+ /* ETH1 mux: Low for MII-PRU, high for RMII-CPSW */
+ output-low;
+ };
+};
+
+/*
+ * Disable CPSW switch node and
+ * MDIO configuration to prevent
+ * conflict with PRU-ICSS
+ */
+&mac_sw {
+ status = "disable";
+};
+
+&davinci_mdio_sw {
+ status = "disable";
+};
+
+/* PRU-ICSS MDIO configuration */
+&pruss_mdio {
+ pinctrl-0 = <&pruss_mdio_default>;
+ pinctrl-names = "default";
+ reset-gpios = <&gpio2 5 GPIO_ACTIVE_LOW>;
+ reset-delay-us = <2>; /* PHY datasheet states 1uS min */
+ status = "okay";
+ #address-cells = <1>;
+ #size-cells = <0>;
+
+ pruss_eth0_phy: ethernet-phy@1 {
+ reg = <1>;
+ };
+
+ pruss_eth1_phy: ethernet-phy@3 {
+ reg = <3>;
+ };
+};
diff --git a/arch/arm/boot/dts/ti/omap/am33xx-l4.dtsi b/arch/arm/boot/dts/ti/omap/am33xx-l4.dtsi
index 89d16fcc773e..a63ef307d918 100644
--- a/arch/arm/boot/dts/ti/omap/am33xx-l4.dtsi
+++ b/arch/arm/boot/dts/ti/omap/am33xx-l4.dtsi
@@ -896,6 +896,17 @@ pruss_mii_rt: mii-rt@32000 {
reg = <0x32000 0x58>;
};

+ pruss_iep: iep@2e000 {
+ compatible = "ti,am3356-icss-iep";
+ reg = <0x2e000 0x31c>;
+ clocks = <&pruss_iepclk_mux>;
+ };
+
+ pruss_ecap: ecap@30000 {
+ compatible = "ti,pruss-ecap";
+ reg = <0x30000 0x60>;
+ };
+
pruss_intc: interrupt-controller@20000 {
compatible = "ti,pruss-intc";
reg = <0x20000 0x2000>;
--
2.43.0