[[PageOutline]]

= Device Tree =
The modern linux kernel as well as the modern U-Boot bootloader use a system called 'devicetree' to describe hardware in a consistent fashion to avoid needing custom 'board support' files (compiled code) for boards.

For a device-tree controlled U-Boot (newport/venice) the Secondary Program Loader (SPL) is in charge of choosing a dtb (flattened device tree binary) to pass to U-Boot.

For a device-tree controlled Linux kernel the bootloader will load a dtb, modify it where necessary, and pass it to Linux.

Because board specific details such as memory size, MAC addresses and serial numbers are relied to the kernel via device-tree the bootloader will modify the device-tree with these details before passing it to the kernel.

== Device Tree Terminology ==
The following terminology is commonly used:
 * dt - device tree
 * fdt - Flattened device tree (binary image)
 * dtc - device tree compiler (the tool used to compile and de-compile device-tree)

The following file extensions are typically used:
 * dts - Board level definitions
 * dtsi - SoC level definitions
 * dtb - Binary blob of device tree loaded by bootloader
 * dtbo - Binary blob of device tree overlay (aka fragment) loaded and applied by bootloader


== Example Device Tree File ==
Device tree files exist in:
 * Linux kernel tree:
  - arch/arm/boot/dts for 32bit ARM
  - arch/arm64/boot/dts for 64bit ARM
 * U-Boot bootloader:
  - arch/arm/dts for ARM

For Gateworks Kernels:
 - Venice: [https://github.com/Gateworks/linux-venice/tree/v5.10.76-venice/arch/arm64/boot/dts/freescale arch/arm64/boot/dts/freescale] imx8*-venice-*.dts*
 - Newport: [https://github.com/Gateworks/dts-newport dts-newport] gw*.dts* (Note Newport dt source is not in the Mainline Linux kernel)
 - Ventana: [https://github.com/Gateworks/linux-imx6/tree/gateworks_5.4.45/arch/arm/boot/dts/ arch/arm/boot/dts] imx6*-gw-*.dts*


== Accessing devicetree from the Bootloader ==
The U-Boot bootloader is responsible for Loading a device-tree, making any adjustments necessary, and passing it to the kernel.

If desired during this process you can use the {{{ftd}}} U-boot command to access/modify the devicetree before the kernel is booted. How and where to do this would depend greatly on the U-Boot bootscript used to boot your OS.

Examples:
 * Venice: disable PCI:
{{{
setenv fsload 'load mmc 2:1'
run loadfdt && fdt addr $fdt_addr_r
fdt resize
fdt set /soc@0/pcie@33800000 status disabled
}}}
 * Ventana: display the fdt on a NAND flash board:
{{{#!bash
setenv fsload 'ubifsload'
ubi part rootfs && ubifsmount ubi0:rootfs
run loadfdt && fdt addr ${fdt_addr} && fdt boardsetup
fdt print
}}}
 * Ventana: disable PCI:
{{{#!bash
setenv fsload 'ubifsload'
ubi part rootfs && ubifsmount ubi0:rootfs
run loadfdt && fdt addr ${fdt_addr} && fdt boardsetup
fdt resize
fdt set /soc/pcie@0x01000000 status disabled
}}}

Important notes regarding the 'fdt set' command 'value' parameter:
 * numbers can be represented as decimal or as hex with a '0x' prefix
 * an array of cells is specified as a list of numbers enclosed in < and >, ie <0x00112233 4 05>
 * a byte stream can be represented as a list of numbers enclosed in [ and ], ie [00 11 22 .. nn]
 * a 32bit integer is a 4-byte MSB stream so a hex value of 0x1 would be represented as [00 00 00 01]
 * if the value does not start with a < or a [ it is treated as a string (quotes are stripped if present)


[=#fixfdt]
=== fixfdt script
If using the Gateworks BSP's the {{{fixfdt}}} env variable if set will be run as a script during the process as a feature of the Gateworks boot scripts.

Examples:
 * Venice: The {{{loadfdt}}} script will load the dt to the address specified in the {{{fdt_addr_r}}} env var
  - disable PCI via {{{fixfdt}}} script:
{{{
setenv fixfdt 'fdt addr $fdt_addr_r; fdt resize; fdt set /soc@0/pcie@33800000 status disabled'
saveenv
}}}
  - limit PCI link to Gen 1 (default is Gen2 for Venice)
{{{
setenv fixfdt 'fdt addr $fdt_addr_r; fdt resize; fdt set /soc@0/pcie@33800000 fsl,max-link-speed [00 00 00 01]'
saveenv
}}}
 * Newport: U-Boot uses a live dt which is also passed to the kernel (dtb is not loaded) so you can alter the dt before running your normal bootscript
  - Disable PEM2 (PEM0=pci@87e0c0000000, PEM1=pci@87e0c1000000, PEM2=pci@87e0c2000000)
{{{
setenv bootscript 'fdt /soc@0/pci@87e0c2000000 status disabled; run distro_bootcmd'
saveenv
}}}
 * Ventana: The {{{loadfdt}}} script will load the dt to the address specified in the {{{fdt_addr}}} env var
  - disable PCI via {{{fixfdt}}} script:
{{{
setenv fixfdt 'fdt addr ${fdt_addr}; fdt resize; fdt set /soc/pcie@0x01000000 status disabled'
saveenv
}}}

You can verify your changes took effect by checking the values in Linux via {{{/proc/device-tree}}} or by using {{{dtc}}} to de-compile the dt from {{{/sys/firmware/devicetree/base}}}:
{{{#!bash
# de-compile dt via dtc
dtc -I fs -O dts /sys/firmware/devicetree/base
# hexdump prop from /proc/device-tree 
hexdump -C /proc/device-tree/soc\@0/pcie\@33800000/fsl\,max-link-speed
}}}

=== dt overlay
Note also that some bootloader environments such as Venice offer dt overlay support where the bootloader can apply overlays to a dt to alter it before passing it to the kernel. In the case of venice you can set the {{{fdt_overlay}}} env variable to a list of files to load and apply as an overlay to modify the base fdt which is typically used for adding features from an add-on board like a display or camera.

See [#overlay below]

== Accessing devicetree from Linux ==
If the kernel is configured with CONFIG_PROC_DEVICETREE and procfs is enabled (both are enabled on Gateworks default kernels), you can access the devicetree via {{{/proc/device-tree}}}. This can be useful to obtain information about the board that the bootloader configured, such as board model and serial number.

Additionally the {{{/sys/firmware/devicetree/base}}} sysfs file represents the binary devicetree which you can use with the [wiki:#dtc device tree compiler].

Examples:
 * show board model:
{{{#!bash
echo $(cat /proc/device-tree/board)
}}}
 * show board serialnumber
{{{#!bash
echo $(cat /proc/device-tree/serial-number)
}}}
 * show devicetree compatible node (this describes which device-tree was used as there is one per base-board design):
{{{#!bash
echo $(cat /proc/device-tree/compatible)
}}}
 * show chosen bootargs (the bootargs passed in by the bootloader, same as /proc/cmdline):
{{{#!bash
echo $(cat /proc/device-tree/chosen/bootargs)
}}}


[=#overlay]
== Device Tree Overlays (aka Fragments) ==
The device-tree compiler and the U-Boot bootloader support the concept of applying changes to a base device-tree to make it easy to implement add-on boards such as a touchscreen display or camera that require dt bindings.

Some specific requirements:
 - requires '/plugin/' specified
 - requires '&{/} { compatible };' node that specifies the board this fragment is compatible with
 - requires using handles of nodes that are defined in the base devicetree
 - requires compiling with the-@ flag

To provide a simple example consider adding a simple SPI NOR flash device on an off-board SPI connector. Such a device has a Linux kernel driver and requires using device-tree bindings:
{{{
/dts-v1/;
/plugin/;

&{/} {
        compatible = "gw,imx8mm-gw73xx-0x", "fsl,imx8mm";
};

/* off-board header */
&ecspi2 {
       flash@0 {
               compatible = "spansion,m25p128", "jedec,spi-nor";
               spi-max-frequency = <30000000>;
               reg = <0>;
               #address-cells = <1>;
               #size-cells = <1>;
               m25p,fast-read;

               partition@0 {
                       label = "data";
                       reg = <0x0 0x1000000>;
               };
       };
};
}}}
 - Note the compatible string specifies the board this is compatible with
 - Note the board in question's base dt specifies the ecspi2 handle which we modify here

To compile this fragment:
{{{#!bash
dtc -@ -I dts -O dtb -o imx8mm-gw73xx-0x-spinor.dtbo imx8mm-gw73xx-0x-spinor.dts
}}}

And to use it on a Venice imx8mm-gw73xx-0x make sure the dtbo exits alongside the kernel in the directory the bootscript resides (ie /boot)
{{{#!bash
setenv fdt_overlays "imx8mm-gw73xx-0x-spinor.dtbo"
saveenv
}}}

Notes:
 * Support for compiling dtbo files appeared in the Linux kernel somewhere between 5.10 and 5.15
 * Gateworks uses dtbo's to provide support for adding a RaspberryPi v2.0 camera module and a RaspberryPi DFROBOT touchscreen display to a gw72xx/gw73xx baseboard for example. 


== Gateworks Product family notes

[=#venice]
=== Venice
For Venice:
 * U-Boot is controlled by device-tree, the DTB used is decided upon by the SPL based on EEPROM contents describing the board model, exists in a FIT image along with the ARM Trusted Firmware (ATF) and U-Boot proper and is specified by a 'DTB' banner before the SPL boots U-Boot proper.
 * The Linux device-tree comes from the kernel source tree (arch/arm64/boot/dts/freescale) and is loaded and modified by the bootloader. The {{{loadfdt}}} script is used to load the device-tree blob (dtb) and will attempt to load several board dtb files starting with the most specific names possible including board PCB revisions and ending with a generic file represending the baseboard.
 * A list of optional files specified by {{{fdt_overlays}}} will be loaded and applied as overlays and if defined {{{fixfdt}}} will be run as well.


[=#newport]
=== Newport
For Newport:
 * U-Boot is controlled by device-tree, the dtb used is loaded by BDK from the embedded FATFS based on the model from the board EEPROM.
 * DTS source files are in the [https://github.com/Gateworks/dts-newport dts-newport] repo and built by the BSP Makefile and populated in the FATFS
 * The bootscript uses the U-Boot 'live' device-tree used by U-Boot for Linux as well (by passing the bootm command '$fdtcontroladdr'). This is not required and if needed you could load your own dtb and pass the address instead however note that the DTS files for CN80xx do not exist in the kernel tree.


[=#ventana]
=== Ventana
For Ventana:
 * The latest Gateworks gateworks_v2017.05 U-Boot is not controlled by device tree and instead board support in U-Boot is handled by code based off the board model from the EEPROM
 * DTS source files are in the Linux kernel in the arch/arm/boot/dts directory and placed with the kernel uImage in the same directory as the bootscript in the root filesystem (ie /boot)
 * The bootloader {{{loadfdt}}} script is used to load the device-tree blob (dtb) in all standard boot cases for the Gateworks bootloader. This script attempts to load a dtb three times, each time with a more generic filename (from the {{{fdt_file}}}, {{{fdt_file1}}}, and {{{fdt_file2}}}) env variable which if not set (overridden) will get set per the board model defined in the Gateworks EEPROM. For example a GW5400-C would have the following:
{{{#!bash
Ventana >  print fdt_file
fdt_file=imx6q-gw5400-c.dtb
Ventana >  print fdt_file1
fdt_file1=imx6q-gw5400.dtb
Ventana >  print fdt_file2
fdt_file2=imx6q-gw54xx.dtb
}}}


=== Laguna
The Laguna bootloader and Linux kernel do not use device-tree for board configuration.


== Adding New Devices to the Device Tree
For customers interested in adding a new device to a board's device-tree (for example something connected to an off-board header) see the following examples:
 * [wiki:/SPI SPI]


[=#dtc]
== Device Tree Compiler

=== Compiling the Device Tree
If you need to change the device-tree you can easily compile it on a Linux system using the dtc app from the device-tree-compiler package:
{{{#!bash
apt-get install device-tree-compiler
dtc -O dtb -o imx6dl-gw51xx.dtb imqx6dl-gw51xx.dts
}}}

=== De-Compiling the Device Tree
You can also de-compile a dtb back to a dts:
{{{#!bash
dtc -I dtb -O dts imx6dl-gw51xx.dtb > imx6dl-gw51xx.dts
}}}
You can also decompile the device tree of a running system:
{{{#!bash
dtc -I fs -O dts /sys/firmware/devicetree/base > MySBC.dts
}}}