1. 前言
问题：
基于nvidia xavier核心板，设计载板，但是USB功能无法使用；
硬件：
OTG连接器使用Micro B VBUS_ID=GPIO30(B55) pin VBUS Detect=GPIO10(A62) 检查了USB端口VBUS pin保持5V在我们携带的板上
咨询nvidia技术人员，说是没有PD控制器，所以需要对dts进行修改调试
2. 参考修改对于类型A，没有OTG，如果没有PD控制器，需要删除xhci和xudc下的extcon-*属性。
还需要添加一个调节器“vbus-supply”下的xusb_pad_ctl一些usb2端口伴随USB3.0端口。
必须在设备树中编写自己的extcon(如果需要使用OTG)。
vbus_id_extcon: extcon@1 { compatible = “extcon-gpio-states”; extcon-gpio,name = “VBUS_ID”; extcon-gpio,wait-for-gpio-scan = <0>; extcon-gpio,cable-states = <0x3 0x0 0x0 0x2 0x1 0x2 0x2 0x1>; gpios = <&tegra_main_gpio TEGRA194_MAIN_GPIO(M, 3) 0 &tegra_main_gpio TEGRA194_MAIN_GPIO(Q, 0) 0>; //GPIO_M3 is VBUS_DETECT pin and GPIO_Q0 is ID pin. extcon-gpio,out-cable-names = <EXTCON_USB EXTCON_USB_HOST EXTCON_NONE>; #extcon-cells = <1>; };对于extcon节点， 可参考“kernel/kernel-4.9/Documentation/devicetree/bindings/extcon/extcon-gpio-states.txt”
创建这个节点后，在xhci/xudc下的属性节点下面设置
extcon-cables = <&vbus_id_extcon 1>; extcon-cable-names = “id”; #extcon-cells = <1>; under xudc extcon-cables = <&vbus_id_extcon 0>; extcon-cable-names = “vbus”; #extcon-cells = <1>;注意事项:
（1）extcon-cables: OTG支持。必须包含一个检测USB ID pin的extconcable入口。当extcon线缆状态为0时，OTG端口将转换为主机模式。 （2）xhci必须为“id”，xudc必须为“vbus”。 （3）#extcon-cells: extcon说明符中的单元数。总是应该是1。 如果不需要OTG，删除xhci/xudc下的extcon相关属性
3. dts具体修改 1. under ucsi_ccg ucsi_ccg: ucsi_ccg@8 { – status = “okay”; + status = “disabled”; 2. under xusb_padctl@3520000, make sure mode is set to “host” and usb3 ports need its companion usb2 port. xusb_padctl: xusb_padctl@3520000 { …… ports { usb2-0 { mode = “host”; status = “okay”; }; usb3-0 { status = “okay”; nvidia,usb2-companion = <0x0>; //it means the port is coupled with usb2-0 }; }; 3. add regulator for vbus-supply //I dont know how is your hw design this part. You need to add those regulators for them. + vdd_usb20_5v0: regulator@115 { + compatible = “regulator-fixed”; + reg = <115>; + regulator-name = “vdd-usb20-5v0”; + regulator-min-microvolt = <5000000>; + regulator-max-microvolt = <5000000>; + enable-active-high; + gpio = <&tegra_main_gpio TEGRA194_MAIN_GPIO(Z, 1) 0>; + vin-supply = <&battery_reg>; + }; ports { usb2-0 { – vbus-supply = <&battery_reg>; + vbus-supply = <&vdd_usb20_5v0>; }; 4. remove all “extcon*” property under xhci@3610000 and xudc@3550000.<
4. 修改后完整dts如下
/ {
nvidia,dtsfilename = __FILE__;
nvidia,dtbbuildtime = __DATE__, __TIME__;
nvidia,fastboot-usb-vid = <0x0955>;
nvidia,fastboot-usb-pid = <0xee1e>;
model = “jetson-xavier”;
compatible = “nvidia,jetson-xavier”, “nvidia,tegra194″;
chosen {
bootargs =”console=ttyTCU0,115200”;
board-has-eeprom;
};
firmware {
android {
compatible = “android,firmware”;
hardware = “jetson-xavier”;
fstab {
compatible = “android,fstab”;
vendor {
compatible = “android,vendor”;
dev = “/dev/block/platform/3460000.sdhci/by-name/vendor”;
type = “ext4”;
mnt_flags = “ro”;
fsmgr_flags = “wait”;
};
odm {
compatible = “android,odm”;
dev = “/dev/block/platform/3460000.sdhci/by-name/odm”;
type = “ext4”;
mnt_flags = “ro”;
fsmgr_flags = “wait”;
};
};
};
};
arm64_ras {
status = “okay”;
};
carmel_ras {
status = “okay”;
};
spi@3270000 {
status = “disabled”;
};
spi@3300000 {
status = “disabled”;
};
pmc@c370000 {
nvidia,invert-interrupt;
};
i2c@c240000 {
ucsi_ccg: ucsi_ccg@8 {
status = “disabled”;
typec-extcon {
typec_port0: port-0 {
status = “okay”;
#extcon-cells = <1>;
};
typec_port1: port-1 {
status = “okay”;
#extcon-cells = <1>;
};
};
typec-pd {
typec_pd: pd {
status = “okay”;
#extcon-cells = <1>;
};
};
};
};
#if TEGRA_XUSB_PADCONTROL_VERSION >= DT_VERSION_2
xusb_padctl: xusb_padctl@3520000 {
status = “okay”;
pads {
usb2 {
lanes {
usb2-0 {
nvidia,function = “xusb”;
status = “okay”;
};
usb2-1 {
nvidia,function = “xusb”;
status = “okay”;
};
usb2-2 {
nvidia,function = “xusb”;
status = “okay”;
};
usb2-3 {
nvidia,function = “xusb”;
status = “okay”;
};
};
};
usb3 {
lanes {
usb3-0 {
nvidia,function = “xusb”;
status = “okay”;
};
usb3-2 {
nvidia,function = “xusb”;
status = “okay”;
};
usb3-3 {
nvidia,function = “xusb”;
status = “okay”;
};
};
};
};
ports {
usb2-0 {
mode = “host”;
//vbus-supply = <&battery_reg>;
status = “okay”;
};
usb2-1 {
mode = “host”;
status = “okay”;
};
usb2-2 {
mode = “host”;
status = “okay”;
};
usb2-3 {
mode = “host”;
status = “okay”;
};
usb3-0 {
nvidia,usb2-companion = <0x0>;
status = “okay”;
};
usb3-2 {
nvidia,usb2-companion = <0>;
status = “okay”;
};
usb3-3 {
nvidia,usb2-companion = <3>;
nvidia,usb3-gen1-only= <1>;
status = “okay”;
};
};
};
#endif
tegra_xudc: xudc@3550000 {
/*extcon-cables = <&typec_port0 0>;
extcon-cable-names = “vbus”;
#extcon-cells = <1>;*/
#if TEGRA_XUSB_PADCONTROL_VERSION >= DT_VERSION_2
phys = <&{/xusb_padctl@3520000/pads/usb2/lanes/usb2-0}>,
<&{/xusb_padctl@3520000/pads/usb3/lanes/usb3-2}>;
phy-names = “usb2”, “usb3”;
nvidia,xusb-padctl = <&xusb_padctl>;
#endif
status = “okay”;
};
tegra_xhci: xhci@3610000 {
/*extcon-cables = <&typec_port0 1>;
extcon-cable-names = “id”;
#extcon-cells = <1>;*/
#if TEGRA_XUSB_PADCONTROL_VERSION >= DT_VERSION_2
phys = <&{/xusb_padctl@3520000/pads/usb2/lanes/usb2-0}>,
<&{/xusb_padctl@3520000/pads/usb2/lanes/usb2-1}>,
<&{/xusb_padctl@3520000/pads/usb2/lanes/usb2-3}>,
<&{/xusb_padctl@3520000/pads/usb2/lanes/usb2-2}>,
<&{/xusb_padctl@3520000/pads/usb3/lanes/usb3-2}>,
<&{/xusb_padctl@3520000/pads/usb3/lanes/usb3-0}>,
<&{/xusb_padctl@3520000/pads/usb3/lanes/usb3-3}>;
phy-names = “usb2-0”, “usb2-1”, “usb2-3”, “usb2-2”,
“usb3-2”, “usb3-0”, “usb3-3”;
nvidia,xusb-padctl = <&xusb_padctl>;
#endif
status = “okay”;
};
arm-pmu {
status = “okay”;
};
power-domain {
status = “disabled”;
};
interrupt-controller {
status = “disabled”;
};
mods-simple-bus {
status = “disabled”;
};
eeprom-manager {
status = “disabled”;
};
cpuidle {
compatible = “nvidia,tegra19x-cpuidle”;
status = “okay”;
};
thermal-zones {
status = “disabled”;
};
reserved-memory {
ramoops_carveout {
status = “okay”;
};
};
mttcan@c310000 {
status = “okay”;
};
mttcan@c320000 {
status = “okay”;
};
serial@3110000 {
status = “okay”;
};
pwm@32c0000 {
status = “okay”;
};
pwm@32f0000 {
status = “okay”;
};
i2c@31e0000 {
pinctrl-names = “default”;
pinctrl-0 = <&dpaux_default>;
bmi160@69 {
compatible = “bmi,bmi160”;
reg = <0x69>;
accelerometer_matrix = [01 00 00 00 01 00 00 00 01];
gyroscope_matrix = [01 00 00 00 01 00 00 00 01];
status = “okay”;
};
};
host1x {
dpaux@155F0000 {
status = “okay”;
compatible = “nvidia,tegra194-dpaux3-padctl”;
/delete-property/ power-domains;
dpaux_default: pinmux@0 {
dpaux3_pins {
pins = “dpaux3-3”;
function = “i2c”;
};
};
};
};
hardwood {
compatible = “nvidia,denver-hardwood”;
interrupts = <0 24 0x4>;
};
ufshci@2450000 {
nvidia,enable-hs-mode;
};
};
/*
&head0 {
extcon-cables = <&typec_port0 2 &typec_port1 2>;
extcon-cable-names = “typec0”, “typec1”;
#extcon-cells = <1>;
};
&head1 {
extcon-cables = <&typec_port0 2 &typec_port1 2>;
extcon-cable-names = “typec0”, “typec1”;
#extcon-cells = <1>;
};
&head2 {
extcon-cables = <&typec_port0 2 &typec_port1 2>;
extcon-cable-names = “typec0”, “typec1”;
#extcon-cells = <1>;
};
*/
&sor0 {
nvidia,typec-port = /bits/ 8 <0>;
};
&sor1 {
nvidia,typec-port = /bits/ 8 <1>;
};
#if LINUX_VERSION >= 414
#include <tegra194-linux-4.14.dtsi>
#endif<
5. 调试记录
修改完后，系统一直报错，如下：
[ 468.481055] usb usb2-port4: cannot disable (err = -32) [ 469.968830] tegra-xusb 3610000.xhci: Cannot set link state. [ 469.969036] usb usb2-port4: cannot disable (err = -32) [ 469.969195] tegra-xusb 3610000.xhci: Cannot set link state. [ 469.969313] usb usb2-port4: cannot disable (err = -32) [ 472.313439] usb 2-4: Device not responding to setup address. [ 472.521413] usb 2-4: Device not responding to setup address. [ 472.728640] usb 2-4: device not accepting address 66, error -71 [ 472.728848] tegra-xusb 3610000.xhci: Cannot set link state. [ 472.728994] usb usb2-port4: cannot disable (err = -32) [ 474.216900] tegra-xusb 3610000.xhci: Cannot set link state. [ 474.217099] usb usb2-port4: cannot disable (err = -32) [ 474.217261] tegra-xusb 3610000.xhci: Cannot set link state. [ 474.217378] usb usb2-port4: cannot disable (err = -32) nvidia@jetson-0424418058605:~$ [ 476.561449] usb 2-4: Device not responding to setup address. [ 476.769406] usb 2-4: Device not responding to setup address. [ 476.976634] usb 2-4: device not accepting address 68, error -71 [ 476.976859] tegra-xusb 3610000.xhci: Cannot set link state. [ 476.977018] usb usb2-port4: cannot disable (err = -32) nvidia@jetson-0424418058605:~$ [ 478.464874] tegra-xusb 3610000.xhci: Cannot set link state. [ 478.465153] usb usb2-port4: cannot disable (err = -32) [ 478.465334] tegra-xusb 3610000.xhci: Cannot set link state. [ 478.465456] usb usb2-port4: cannot disable (err = -32)<
查看usb设备信息
nvidia@jetson-0424218031082:~$ lsusb Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 003: ID 8087:0a2b Intel Corp. Bus 001 Device 005: ID 1c4f:000e SiGma Micro Genius KB-120 Keyboard Bus 001 Device 004: ID 093a:2510 Pixart Imaging, Inc. Optical Mouse Bus 001 Device 002: ID 8564:4100 Transcend Information, Inc. Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub nvidia@jetson-0424218031082:~$ nvidia@jetson-0424218031082:~$ nvidia@jetson-0424218031082:~$ lsusb -t /: Bus 02.Port 1: Dev 1, Class=root_hub, Driver=tegra-xusb/4p, 10000M /: Bus 01.Port 1: Dev 1, Class=root_hub, Driver=tegra-xusb/4p, 480M |__ Port 2: Dev 2, If 0, Class=Hub, Driver=hub/4p, 480M |__ Port 1: Dev 4, If 0, Class=Human Interface Device, Driver=usbhid, 1.5M |__ Port 2: Dev 5, If 0, Class=Human Interface Device, Driver=usbhid, 1.5M |__ Port 2: Dev 5, If 1, Class=Human Interface Device, Driver=usbhid, 1.5M |__ Port 3: Dev 3, If 0, Class=Wireless, Driver=btusb, 12M |__ Port 3: Dev 3, If 1, Class=Wireless, Driver=btusb, 12M nvidia@jetson-0424218031082:~$ 6. 调试方法这里包含xhci日志的完整内核消息，可以方便进一步调试
echo ‘module usbcore +p’ > /sys/kernel/debug/dynamic_debug/control echo ‘module xhci_hcd +p’ > /sys/kernel/debug/dynamic_debug/control echo 8 > /proc/sys/kernel/printk 7. 修改usb2-companion通过进一步排查发现是如下设置出现问题
usb3-0 { nvidia,usb2-companion = <0x0>; status = “okay”; }; usb3-2 { nvidia,usb2-companion = <0>; status = “okay”; ｝；这里表示usb3-0和usb3-2都使用相同的usb2-0端口0； 与实际硬件是不符合的
修改如下：
usb3-0 { nvidia,usb2-companion = <0x0>; status = “okay”; }; usb3-2 { nvidia,usb2-companion = <1>; status = “okay”; }; usb3-3 { nvidia,usb2-companion = <3>; nvidia,usb3-gen1-only= <1>; status = “okay”; };至此调过PD控制器， USB接口可正常使用
