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Grant Likely31134ef2011-11-04 11:51:22 -04001Linux and the Device Tree
2-------------------------
3The Linux usage model for device tree data
4
5Author: Grant Likely <grant.likely@secretlab.ca>
6
7This article describes how Linux uses the device tree. An overview of
8the device tree data format can be found on the device tree usage page
9at devicetree.org[1].
10
11[1] http://devicetree.org/Device_Tree_Usage
12
13The "Open Firmware Device Tree", or simply Device Tree (DT), is a data
14structure and language for describing hardware. More specifically, it
15is a description of hardware that is readable by an operating system
16so that the operating system doesn't need to hard code details of the
17machine.
18
19Structurally, the DT is a tree, or acyclic graph with named nodes, and
20nodes may have an arbitrary number of named properties encapsulating
21arbitrary data. A mechanism also exists to create arbitrary
22links from one node to another outside of the natural tree structure.
23
24Conceptually, a common set of usage conventions, called 'bindings',
25is defined for how data should appear in the tree to describe typical
26hardware characteristics including data busses, interrupt lines, GPIO
27connections, and peripheral devices.
28
29As much as possible, hardware is described using existing bindings to
30maximize use of existing support code, but since property and node
31names are simply text strings, it is easy to extend existing bindings
32or create new ones by defining new nodes and properties. Be wary,
33however, of creating a new binding without first doing some homework
34about what already exists. There are currently two different,
35incompatible, bindings for i2c busses that came about because the new
36binding was created without first investigating how i2c devices were
37already being enumerated in existing systems.
38
391. History
40----------
41The DT was originally created by Open Firmware as part of the
42communication method for passing data from Open Firmware to a client
43program (like to an operating system). An operating system used the
44Device Tree to discover the topology of the hardware at runtime, and
45thereby support a majority of available hardware without hard coded
46information (assuming drivers were available for all devices).
47
48Since Open Firmware is commonly used on PowerPC and SPARC platforms,
49the Linux support for those architectures has for a long time used the
50Device Tree.
51
52In 2005, when PowerPC Linux began a major cleanup and to merge 32-bit
53and 64-bit support, the decision was made to require DT support on all
54powerpc platforms, regardless of whether or not they used Open
55Firmware. To do this, a DT representation called the Flattened Device
56Tree (FDT) was created which could be passed to the kernel as a binary
57blob without requiring a real Open Firmware implementation. U-Boot,
58kexec, and other bootloaders were modified to support both passing a
59Device Tree Binary (dtb) and to modify a dtb at boot time. DT was
60also added to the PowerPC boot wrapper (arch/powerpc/boot/*) so that
61a dtb could be wrapped up with the kernel image to support booting
62existing non-DT aware firmware.
63
64Some time later, FDT infrastructure was generalized to be usable by
65all architectures. At the time of this writing, 6 mainlined
66architectures (arm, microblaze, mips, powerpc, sparc, and x86) and 1
67out of mainline (nios) have some level of DT support.
68
692. Data Model
70-------------
71If you haven't already read the Device Tree Usage[1] page,
72then go read it now. It's okay, I'll wait....
73
742.1 High Level View
75-------------------
76The most important thing to understand is that the DT is simply a data
77structure that describes the hardware. There is nothing magical about
78it, and it doesn't magically make all hardware configuration problems
79go away. What it does do is provide a language for decoupling the
80hardware configuration from the board and device driver support in the
81Linux kernel (or any other operating system for that matter). Using
82it allows board and device support to become data driven; to make
83setup decisions based on data passed into the kernel instead of on
84per-machine hard coded selections.
85
86Ideally, data driven platform setup should result in less code
87duplication and make it easier to support a wide range of hardware
88with a single kernel image.
89
90Linux uses DT data for three major purposes:
911) platform identification,
922) runtime configuration, and
933) device population.
94
952.2 Platform Identification
96---------------------------
97First and foremost, the kernel will use data in the DT to identify the
98specific machine. In a perfect world, the specific platform shouldn't
99matter to the kernel because all platform details would be described
100perfectly by the device tree in a consistent and reliable manner.
101Hardware is not perfect though, and so the kernel must identify the
102machine during early boot so that it has the opportunity to run
103machine-specific fixups.
104
105In the majority of cases, the machine identity is irrelevant, and the
106kernel will instead select setup code based on the machine's core
107CPU or SoC. On ARM for example, setup_arch() in
108arch/arm/kernel/setup.c will call setup_machine_fdt() in
Robert P. J. Dayb6f42872013-05-30 07:49:59 -0400109arch/arm/kernel/devtree.c which searches through the machine_desc
Grant Likely31134ef2011-11-04 11:51:22 -0400110table and selects the machine_desc which best matches the device tree
111data. It determines the best match by looking at the 'compatible'
112property in the root device tree node, and comparing it with the
Robert P. J. Dayb6f42872013-05-30 07:49:59 -0400113dt_compat list in struct machine_desc (which is defined in
114arch/arm/include/asm/mach/arch.h if you're curious).
Grant Likely31134ef2011-11-04 11:51:22 -0400115
116The 'compatible' property contains a sorted list of strings starting
117with the exact name of the machine, followed by an optional list of
118boards it is compatible with sorted from most compatible to least. For
119example, the root compatible properties for the TI BeagleBoard and its
Robert P. J. Dayb6f42872013-05-30 07:49:59 -0400120successor, the BeagleBoard xM board might look like, respectively:
Grant Likely31134ef2011-11-04 11:51:22 -0400121
122 compatible = "ti,omap3-beagleboard", "ti,omap3450", "ti,omap3";
123 compatible = "ti,omap3-beagleboard-xm", "ti,omap3450", "ti,omap3";
124
125Where "ti,omap3-beagleboard-xm" specifies the exact model, it also
126claims that it compatible with the OMAP 3450 SoC, and the omap3 family
127of SoCs in general. You'll notice that the list is sorted from most
128specific (exact board) to least specific (SoC family).
129
130Astute readers might point out that the Beagle xM could also claim
131compatibility with the original Beagle board. However, one should be
132cautioned about doing so at the board level since there is typically a
133high level of change from one board to another, even within the same
134product line, and it is hard to nail down exactly what is meant when one
135board claims to be compatible with another. For the top level, it is
136better to err on the side of caution and not claim one board is
137compatible with another. The notable exception would be when one
138board is a carrier for another, such as a CPU module attached to a
139carrier board.
140
141One more note on compatible values. Any string used in a compatible
142property must be documented as to what it indicates. Add
143documentation for compatible strings in Documentation/devicetree/bindings.
144
145Again on ARM, for each machine_desc, the kernel looks to see if
146any of the dt_compat list entries appear in the compatible property.
147If one does, then that machine_desc is a candidate for driving the
148machine. After searching the entire table of machine_descs,
149setup_machine_fdt() returns the 'most compatible' machine_desc based
150on which entry in the compatible property each machine_desc matches
151against. If no matching machine_desc is found, then it returns NULL.
152
153The reasoning behind this scheme is the observation that in the majority
154of cases, a single machine_desc can support a large number of boards
155if they all use the same SoC, or same family of SoCs. However,
156invariably there will be some exceptions where a specific board will
157require special setup code that is not useful in the generic case.
158Special cases could be handled by explicitly checking for the
159troublesome board(s) in generic setup code, but doing so very quickly
160becomes ugly and/or unmaintainable if it is more than just a couple of
161cases.
162
163Instead, the compatible list allows a generic machine_desc to provide
164support for a wide common set of boards by specifying "less
Robert P. J. Dayb6f42872013-05-30 07:49:59 -0400165compatible" values in the dt_compat list. In the example above,
Grant Likely31134ef2011-11-04 11:51:22 -0400166generic board support can claim compatibility with "ti,omap3" or
167"ti,omap3450". If a bug was discovered on the original beagleboard
168that required special workaround code during early boot, then a new
169machine_desc could be added which implements the workarounds and only
170matches on "ti,omap3-beagleboard".
171
172PowerPC uses a slightly different scheme where it calls the .probe()
173hook from each machine_desc, and the first one returning TRUE is used.
174However, this approach does not take into account the priority of the
175compatible list, and probably should be avoided for new architecture
176support.
177
1782.3 Runtime configuration
179-------------------------
180In most cases, a DT will be the sole method of communicating data from
181firmware to the kernel, so also gets used to pass in runtime and
182configuration data like the kernel parameters string and the location
183of an initrd image.
184
185Most of this data is contained in the /chosen node, and when booting
186Linux it will look something like this:
187
188 chosen {
189 bootargs = "console=ttyS0,115200 loglevel=8";
190 initrd-start = <0xc8000000>;
191 initrd-end = <0xc8200000>;
192 };
193
194The bootargs property contains the kernel arguments, and the initrd-*
Uwe Kleine-Königa2b9ea72013-04-25 14:27:57 +0200195properties define the address and size of an initrd blob. Note that
196initrd-end is the first address after the initrd image, so this doesn't
197match the usual semantic of struct resource. The chosen node may also
198optionally contain an arbitrary number of additional properties for
199platform-specific configuration data.
Grant Likely31134ef2011-11-04 11:51:22 -0400200
201During early boot, the architecture setup code calls of_scan_flat_dt()
202several times with different helper callbacks to parse device tree
203data before paging is setup. The of_scan_flat_dt() code scans through
204the device tree and uses the helpers to extract information required
205during early boot. Typically the early_init_dt_scan_chosen() helper
206is used to parse the chosen node including kernel parameters,
207early_init_dt_scan_root() to initialize the DT address space model,
208and early_init_dt_scan_memory() to determine the size and
209location of usable RAM.
210
211On ARM, the function setup_machine_fdt() is responsible for early
212scanning of the device tree after selecting the correct machine_desc
213that supports the board.
214
2152.4 Device population
216---------------------
217After the board has been identified, and after the early configuration data
218has been parsed, then kernel initialization can proceed in the normal
219way. At some point in this process, unflatten_device_tree() is called
220to convert the data into a more efficient runtime representation.
221This is also when machine-specific setup hooks will get called, like
222the machine_desc .init_early(), .init_irq() and .init_machine() hooks
223on ARM. The remainder of this section uses examples from the ARM
224implementation, but all architectures will do pretty much the same
225thing when using a DT.
226
227As can be guessed by the names, .init_early() is used for any machine-
228specific setup that needs to be executed early in the boot process,
229and .init_irq() is used to set up interrupt handling. Using a DT
230doesn't materially change the behaviour of either of these functions.
231If a DT is provided, then both .init_early() and .init_irq() are able
232to call any of the DT query functions (of_* in include/linux/of*.h) to
233get additional data about the platform.
234
235The most interesting hook in the DT context is .init_machine() which
236is primarily responsible for populating the Linux device model with
237data about the platform. Historically this has been implemented on
238embedded platforms by defining a set of static clock structures,
239platform_devices, and other data in the board support .c file, and
240registering it en-masse in .init_machine(). When DT is used, then
241instead of hard coding static devices for each platform, the list of
242devices can be obtained by parsing the DT, and allocating device
243structures dynamically.
244
245The simplest case is when .init_machine() is only responsible for
246registering a block of platform_devices. A platform_device is a concept
247used by Linux for memory or I/O mapped devices which cannot be detected
248by hardware, and for 'composite' or 'virtual' devices (more on those
249later). While there is no 'platform device' terminology for the DT,
250platform devices roughly correspond to device nodes at the root of the
251tree and children of simple memory mapped bus nodes.
252
253About now is a good time to lay out an example. Here is part of the
254device tree for the NVIDIA Tegra board.
255
256/{
257 compatible = "nvidia,harmony", "nvidia,tegra20";
258 #address-cells = <1>;
259 #size-cells = <1>;
260 interrupt-parent = <&intc>;
261
262 chosen { };
263 aliases { };
264
265 memory {
266 device_type = "memory";
267 reg = <0x00000000 0x40000000>;
268 };
269
270 soc {
271 compatible = "nvidia,tegra20-soc", "simple-bus";
272 #address-cells = <1>;
273 #size-cells = <1>;
274 ranges;
275
276 intc: interrupt-controller@50041000 {
277 compatible = "nvidia,tegra20-gic";
278 interrupt-controller;
279 #interrupt-cells = <1>;
280 reg = <0x50041000 0x1000>, < 0x50040100 0x0100 >;
281 };
282
283 serial@70006300 {
284 compatible = "nvidia,tegra20-uart";
285 reg = <0x70006300 0x100>;
286 interrupts = <122>;
287 };
288
289 i2s1: i2s@70002800 {
290 compatible = "nvidia,tegra20-i2s";
291 reg = <0x70002800 0x100>;
292 interrupts = <77>;
293 codec = <&wm8903>;
294 };
295
296 i2c@7000c000 {
297 compatible = "nvidia,tegra20-i2c";
298 #address-cells = <1>;
299 #size-cells = <0>;
300 reg = <0x7000c000 0x100>;
301 interrupts = <70>;
302
303 wm8903: codec@1a {
304 compatible = "wlf,wm8903";
305 reg = <0x1a>;
306 interrupts = <347>;
307 };
308 };
309 };
310
311 sound {
312 compatible = "nvidia,harmony-sound";
313 i2s-controller = <&i2s1>;
314 i2s-codec = <&wm8903>;
315 };
316};
317
Richard Genoud5d781102012-06-29 12:44:46 +0200318At .init_machine() time, Tegra board support code will need to look at
Grant Likely31134ef2011-11-04 11:51:22 -0400319this DT and decide which nodes to create platform_devices for.
320However, looking at the tree, it is not immediately obvious what kind
321of device each node represents, or even if a node represents a device
322at all. The /chosen, /aliases, and /memory nodes are informational
323nodes that don't describe devices (although arguably memory could be
324considered a device). The children of the /soc node are memory mapped
325devices, but the codec@1a is an i2c device, and the sound node
326represents not a device, but rather how other devices are connected
327together to create the audio subsystem. I know what each device is
328because I'm familiar with the board design, but how does the kernel
329know what to do with each node?
330
331The trick is that the kernel starts at the root of the tree and looks
332for nodes that have a 'compatible' property. First, it is generally
333assumed that any node with a 'compatible' property represents a device
334of some kind, and second, it can be assumed that any node at the root
335of the tree is either directly attached to the processor bus, or is a
336miscellaneous system device that cannot be described any other way.
337For each of these nodes, Linux allocates and registers a
338platform_device, which in turn may get bound to a platform_driver.
339
340Why is using a platform_device for these nodes a safe assumption?
341Well, for the way that Linux models devices, just about all bus_types
342assume that its devices are children of a bus controller. For
343example, each i2c_client is a child of an i2c_master. Each spi_device
344is a child of an SPI bus. Similarly for USB, PCI, MDIO, etc. The
345same hierarchy is also found in the DT, where I2C device nodes only
346ever appear as children of an I2C bus node. Ditto for SPI, MDIO, USB,
347etc. The only devices which do not require a specific type of parent
348device are platform_devices (and amba_devices, but more on that
349later), which will happily live at the base of the Linux /sys/devices
350tree. Therefore, if a DT node is at the root of the tree, then it
351really probably is best registered as a platform_device.
352
Chaiken, Alison155dd0c2012-11-15 23:32:51 +0000353Linux board support code calls of_platform_populate(NULL, NULL, NULL, NULL)
Grant Likely31134ef2011-11-04 11:51:22 -0400354to kick off discovery of devices at the root of the tree. The
355parameters are all NULL because when starting from the root of the
356tree, there is no need to provide a starting node (the first NULL), a
357parent struct device (the last NULL), and we're not using a match
358table (yet). For a board that only needs to register devices,
359.init_machine() can be completely empty except for the
360of_platform_populate() call.
361
362In the Tegra example, this accounts for the /soc and /sound nodes, but
363what about the children of the SoC node? Shouldn't they be registered
364as platform devices too? For Linux DT support, the generic behaviour
365is for child devices to be registered by the parent's device driver at
366driver .probe() time. So, an i2c bus device driver will register a
367i2c_client for each child node, an SPI bus driver will register
368its spi_device children, and similarly for other bus_types.
369According to that model, a driver could be written that binds to the
370SoC node and simply registers platform_devices for each of its
371children. The board support code would allocate and register an SoC
372device, a (theoretical) SoC device driver could bind to the SoC device,
373and register platform_devices for /soc/interrupt-controller, /soc/serial,
374/soc/i2s, and /soc/i2c in its .probe() hook. Easy, right?
375
376Actually, it turns out that registering children of some
377platform_devices as more platform_devices is a common pattern, and the
378device tree support code reflects that and makes the above example
379simpler. The second argument to of_platform_populate() is an
380of_device_id table, and any node that matches an entry in that table
Robert P. J. Dayb6f42872013-05-30 07:49:59 -0400381will also get its child nodes registered. In the Tegra case, the code
Grant Likely31134ef2011-11-04 11:51:22 -0400382can look something like this:
383
384static void __init harmony_init_machine(void)
385{
386 /* ... */
387 of_platform_populate(NULL, of_default_bus_match_table, NULL, NULL);
388}
389
390"simple-bus" is defined in the ePAPR 1.0 specification as a property
391meaning a simple memory mapped bus, so the of_platform_populate() code
392could be written to just assume simple-bus compatible nodes will
393always be traversed. However, we pass it in as an argument so that
394board support code can always override the default behaviour.
395
396[Need to add discussion of adding i2c/spi/etc child devices]
397
398Appendix A: AMBA devices
399------------------------
400
401ARM Primecells are a certain kind of device attached to the ARM AMBA
402bus which include some support for hardware detection and power
403management. In Linux, struct amba_device and the amba_bus_type is
404used to represent Primecell devices. However, the fiddly bit is that
405not all devices on an AMBA bus are Primecells, and for Linux it is
406typical for both amba_device and platform_device instances to be
407siblings of the same bus segment.
408
409When using the DT, this creates problems for of_platform_populate()
410because it must decide whether to register each node as either a
411platform_device or an amba_device. This unfortunately complicates the
412device creation model a little bit, but the solution turns out not to
413be too invasive. If a node is compatible with "arm,amba-primecell", then
414of_platform_populate() will register it as an amba_device instead of a
415platform_device.