See original article by Thomas Petazzoni at bootlin.com
Important - Preparing Buildroot
For this tutorial to work as outlined in the text below we need to set up a new copy of buildroot and switch to a specific earlier version buildroot it. There's
a strong dependence between buildroot, the linux kernel and kernel additions and modifications by ST Microelectronics. On top there's also
a dependency regarding the build tools involved (gcc in particular) on the build host. In case of the current version of Lab Assignment 3 we need
a gcc version not newer than nine (gcc-9). Otherwise we'll run into problems when buildroot tries to compile the device tree parser.
- make sure your on a host with gcc-9 compiler (eda1, zaphod)
- consider using multiple host / spreading across servers - the build process will take a lot of time
- zaphod is faster than eda1 and has more memory
Create a new directory and clone the buildroot repository and switch to version 2020.05.3:
mkdir lab3 cd lab3 git clone git://git.buildroot.net/buildroot cd buildroot git checkout -b bme280 2020.05.3 make stm32mp157a_dk1_defconfig make menuconfig make
Enabling the I2C bus
An introduction to the Device Tree
In order to enable the I2C bus, we’ll need to modify the Device Tree, so we’ll first need to give a few details about what Device Tree is. If you read again our previous blog post in this series, we already mentioned the Device Tree. As part of the Buildroot build process, a file called stm32mp157c-dk2.dtb is produced, and this file is used at boot time by the Linux kernel: it is the Device Tree.
On most embedded architectures, devices are connected using buses that do not provide any dynamic enumeration capabilities. While buses like USB or PCI provide such capabilities, popular buses used on embedded architectures like memory-mapped buses, I2C, SPI and several others do not allow the operating system to ask the hardware: what peripherals are connected ? what are their characteristics ?. The operating system needs to know which devices are available and what their characteristics are. This is where the Device Tree comes into play: it is a data structure that describes in the form of a tree all the devices that we have in our hardware platform, so that the Linux kernel knows the topology of the hardware.
On ARM platforms, each particular board is described by its own Device Tree file. In our case, the STM32MP157 Discovery Kit 2 is described by the Device Tree file arch/arm/boot/dts/stm32mp157c-dk2.dts in the Linux kernel source code. This human-readable source file, with a .dts extension, is compiled during the Linux kernel build process into a machine-readable binary file, with a .dtb extension.
This stm32mp157c-dk2.dts describes the hardware of our Discovery Kit 2 platform. In fact, it only describes what is specific to the Discovery Kit 2: the display panel, the touchscreen, the WiFi and Bluetooth chip. Everything else is common with the Discovery Kit 1 platform, which is why the stm32mp157c-dk2.dts file includes the arm/boot/dts/stm32mp157a-dk1.dts file. Indeed, stm32mp157a-dk1.dts describes the hardware on the Discovery Kit 1, which is the same as the Discovery Kit 2, without the display, touchscreen and WiFi/Bluetooth chip.
In turn, the stm32mp157a-dk1.dts includes three other Device Tree files:
- arm/boot/dts/stm32mp157c.dtsi, which describes all the devices inside the STM32MP157 system-on-chip. It will be used by all Device Tree files describing boards based on the STM32MP157 processor.
- arm/boot/dts/stm32mp157c-m4-srm.dtsi, which describes the Cortex-M4 resources, which we are not going to discuss further for the moment
- arm/boot/dts/stm32mp157cac-pinctrl.dtsi, which provides some pin-muxing related details, which are specific to the SoC package being used.
I2C controllers in the Device Tree
Zooming in to the topic of I2C, we can see that arm/boot/dts/stm32mp157c.dtsi describes 6 I2C controllers through six different nodes in the Device Tree:
i2c1: i2c@40012000i2c2: i2c@40013000i2c3: i2c@40014000i2c4: i2c@5c002000i2c5: i2c@40015000i2c6: i2c@5c009000
This list of six I2C controllers nice matches the list of I2C controllers in the STM32MP157 datasheet, and their base address in the memory map, section 2.5.2:
In the file arm/boot/dts/stm32mp157a-dk1.dts, we can see that the I2C1 bus is enabled, and that a cs42l51 audio codec (I2C address 0x4a) and a sii9022 HDMI transceiver (I2C address 0x39) are connected to it:
&i2c1 {
status = "okay";
cs42l51: cs42l51@4a {
compatible = "cirrus,cs42l51";
reg = <0x4a>;
};
hdmi-transmitter@39 {
compatible = "sil,sii9022";
reg = <0x39>;
};
};
Also, on the I2C4 bus, we can see the USB-C controller (I2C address 0x28) and the PMIC (I2C address 0x33):
&i2c4 {
status = "okay";
typec: stusb1600@28 {
compatible = "st,stusb1600";
reg = <0x28>;
};
pmic: stpmic@33 {
compatible = "st,stpmic1";
reg = <0x33>;
};
};
So, to enable our I2C5 bus, we will simply need to add:
&i2c5 {
status = "okay";
clock-frequency = <100000>;
pinctrl-names = "default", "sleep";
pinctrl-0 = <&i2c5_pins_a>;
pinctrl-1 = <&i2c5_pins_sleep_a>;
};
to enable the bus. This piece of code adds the following Device Tree properties to the I2C5 Device Tree node:
status = "okay"which simply tells the Linux kernel: I really intend to use this device, so please enable whatever driver is needed to use this deviceclock-frequency = <100000>tells Linux at which frequency we want to operate the I2C bus: in this case, 100 kHz- The
pinctrlproperties configure the pin muxing, so that the pins are configured in the I2C function when the system is running (thedefaultstate) and into a different state to preserve power when the system is in suspend to RAM (sleepstate). Bothi2c5_pins_aandi2c5_pins_sleep_aare already defined in arch/arm/boot/dts/stm32mp157-pinctrl.dtsi.
For now, this doesn’t describe any device on the bus, but should be sufficient to have the bus enabled in Linux. The question now is how to make this modification in our Device Tree in the proper way ?
Changing the Linux kernel source code
When Buildroot builds each package, it extracts its source code in output/build/<package>-<version>, so the source code of our Linux kernel has been extracted in output/build/linux-custom/. One could therefore be tempted to make his code changes directory in output/build/linux-custom/, but this has a number of major drawbacks:
output/build/linux-custom/is not under version control: it is not part of a Linux kernel Git repository, so you can’t version control your changes, which is really not greatoutput/build/linux-custom/is a temporary folder: if you do amake cleanin Buildroot, this folder will be entirely removed, and re-created during the next Buildroot build
So, while doing a change directly in output/build/linux-custom/ is perfectly fine for quick/temporary changes, it’s not a good option to make changes that will be permanent.
To do this in a proper way, we will use a feature of Buildroot called pkg_OVERRIDE_SRCDIR, which is documented in section 8.12.6 Using Buildroot during development of the Buildroot manual. This feature allows to tell Buildroot: for a given package, please don’t download it from the usual location, but instead take the source code from a specific location on my system. This specific location will of course be under version control, and located outside of Buildroot, which allows to solve the two issues mentioned above.
So, let’s get set this up for the Linux kernel source code:
- Start in the parent folder of Buildroot, so that the Linux kernel source code ends up being side-by-side with Buildroot
- Clone the official upstream Linux kernel repository. Even though we could directly clone the STMicro Linux kernel repository, your author always finds it nicer to have the
originGit remote set up to the official upstream Git repository.git clone git://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git
- Move inside this Git repository
cd linux/
- Add the STMicro Linux kernel repository as a remote:
git remote add stmicro https://github.com/STMicroelectronics/linux.git
- Fetch all the changes from the STMicro Linux kernel repository:
git fetch stmicro
- Create a new branch, called
bme280, based on the tagv4.19-stm32mp-r1.2. This tag is the one used by our Buildroot configuration as the version of the Linux kernel. The following command also moves to this new branch as the same time:git checkout -b bme280 v4.19-stm32mp-r1.2
At this point, our linux/ folder contains the exact same source code as what Buildroot has retrieved. It is time to make our Device Tree change by editing arch/arm/boot/dts/stm32mp157a-dk1.dts and at the end of it, add:
&i2c5 {
status = "okay";
clock-frequency = <100000>;
pinctrl-names = "default", "sleep";
pinctrl-0 = <&i2c5_pins_a>;
pinctrl-1 = <&i2c5_pins_sleep_a>;
};
Once done, we need to tell Buildroot to use our kernel source code, using the pkg_OVERRIDE_SRCDIR mechanism. To this, create a file called local.mk, in the top-level Buildroot source directory, which contains:
LINUX_OVERRIDE_SRCDIR = $(TOPDIR)/../linux
This tells Buildroot to pick the Linux kernel source from $(TOPDIR)/../linux. We’ll now ask Buildroot to wipe out its Linux kernel build, and do a build again:
$ make linux-dirclean $ make
If you look closely at what Buildroot will do, it will do a rsync of the Linux kernel source code from your linux/ Git repository to output/build/linux-custom in Buildroot, and then do the build. You can check output/build/linux-custom/arch/arm/boot/dts/stm32mp157c-dk2.dtsto make sure that your I2C5 change is there!
If that is the case, then reflash output/images/sdcard.img on your SD card, and run the new system on the board. It’s now time to test the I2C bus!
Testing the I2C bus
After booting the new system on your Discovery board and logging in as root, let’s have a look at all I2C related devices:
# ls -l /sys/bus/i2c/devices/ total 0 lrwxrwxrwx 0-002a -> ../../../devices/platform/soc/40012000.i2c/i2c-0/0-002a lrwxrwxrwx 0-0038 -> ../../../devices/platform/soc/40012000.i2c/i2c-0/0-0038 lrwxrwxrwx 0-0039 -> ../../../devices/platform/soc/40012000.i2c/i2c-0/0-0039 lrwxrwxrwx 0-004a -> ../../../devices/platform/soc/40012000.i2c/i2c-0/0-004a lrwxrwxrwx 2-0028 -> ../../../devices/platform/soc/5c002000.i2c/i2c-2/2-0028 lrwxrwxrwx 2-0033 -> ../../../devices/platform/soc/5c002000.i2c/i2c-2/2-0033 lrwxrwxrwx i2c-0 -> ../../../devices/platform/soc/40012000.i2c/i2c-0 lrwxrwxrwx i2c-1 -> ../../../devices/platform/soc/40015000.i2c/i2c-1 lrwxrwxrwx i2c-2 -> ../../../devices/platform/soc/5c002000.i2c/i2c-2 lrwxrwxrwx i2c-3 -> ../../../devices/platform/soc/40012000.i2c/i2c-0/i2c-3
This folder is part of the sysfs filesystem, which is used by the Linux kernel to expose to user-space applications all sort of details about the hardware devices connected to the system. More specifically, in this folder, we have symbolic links for two types of devices:
- The I2C busses:
i2c-0,i2c-1,i2c-2andi2c-3. It is worth mentioning that the bus numbers do not match the datasheet: they are simply numbered from 0 to N. However, thei2c-0symbolic link shows it’s the I2C controller at base address0x40012000, so it’s I2C1 in the datasheet,i2c-1is at base address0x40015000so it’s I2C5 in the datasheet, andi2c-2at base address0x5c002000is I2C4 in the datasheet.i2c-3is special as it’s not an I2C bus provided by the SoC itself, but the I2C bus provided by the HDMI transmitter to talk with the remote HDMI device (since this is unrelated to our discussion, we won’t go into more details on this). - The I2C devices:
0-002a,0-0038,0-0039,0-004a,2-0028,2-033. These entries have the formB-SSSSwhereBis the bus number andSSSSis the I2C address of the device. So you can see that for example0-004acorresponds to the cs42l51 audio codec we mentioned earlier.
In our case, we are interested by I2C5, which is known by Linux as i2c-1. We will use the i2cdetect utility, provided by Busybox, to probe the different devices on this bus:
# i2cdetect -y 1
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- 76 --
Interesting, we have a device at address 0x76! Try to disconnect VIN of your I2C sensor, and repeat the command:
# i2cdetect -y 1
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --
The device at 0x76 has disappeared, so it looks like our sensor is at I2C address 0x76. To confirm this, let’s have a look at what the BME280 datasheet says about the I2C address of the device, in section 6.2 I2C Interface:
So, the I2C address is indeed 0x76 when the SDO pin of the sensor is connected to GND, which is probably what our BME280 break-out board is doing. It matches the address we have detected with i2cdetect!
Now, let’s talk to our device. According to section 5.4 Register description of the datasheet, there is a Chip ID register, at offset 0xD0that is supposed to contain 0x60:
We can read this register using the i2cget command:
# i2cget -y 1 0x76 0xd0 0x60
Good, this matches the expected value according to the BME280 datasheet, so it seems like communication with our I2C device is working, let’s move on to enabling the BME280 sensor driver.
Enabling the sensor driver
As discussed earlier, this BME280 sensor already has a driver in the upstream Linux kernel, in the IIO subsystem. IIO stands for Industrial Input/Output, and this subsystems contains a lot of drivers for various ADCs, sensors and other types of measurement/acquisition devices. In order to use this driver for our BME280 device, we will essentially have to do two things:
- Enable the driver in our Linux kernel configuration, so that the driver code gets built as part of our kernel image
- Describe the BME280 device in our Device Tree so that the Linux kernel knows we have one such device, and how it is connected to the system
Adjusting the kernel configuration
In the previous blog post, we explained that the Linux kernel configuration used to build the kernel for the STM32 Discovery board was located at board/stmicroelectronics/stm32mp157-dk/linux.config. Obviously, we are not going to edit this file manually: we need to run the standard Linux kernel configuration tools.
It turns out that Buildroot has convenient shortcuts to manipulate the Linux kernel configuration. We can run the Linux kernel menuconfigconfiguration tool by running:
$ make linux-menuconfig
At this point, it is really important to not be confused by the fact that both Buildroot and the Linux kernel use the same configuration utility, but each have its own configuration. The Buildroot configuration describes your overall system (target architecture, which software components you want, which type of filesystem you want, etc.) while the Linux kernel configuration describes the kernel configuration itself (which drivers you want, which kernel features you need, etc.). So make sure to not confuse the menuconfig of Buildroot with the menuconfig of the Linux kernel!
Once you have run make linux-menuconfig, the menuconfig of the Linux kernel will show up. You will then enable the following option:
Device Drivers
+- Industrial I/O support
+- Pressure sensors
+- Bosch Sensortec BMP180/BMP280 pressure sensor I2C driver
Make sure to enable this option with a star <*> so that the driver is compiled inside the kernel image itself and not as a separate kernel module. You can then exit the menuconfig utility, and confirm that you want to save the configuration.
At this point, the Linux kernel configuration file in output/build/linux-custom/.config has been changed. You can confirm it by running:
$ grep CONFIG_BMP280 output/build/linux-custom/.config CONFIG_BMP280=y CONFIG_BMP280_I2C=y CONFIG_BMP280_SPI=y
However, as we explained earlier, the output/build/linux-custom/ folder is temporary: it would be removed when doing a Buildroot make clean. We would like to permanently keep our Linux kernel configuration. Once again, Buildroot provides a nice shortcut to do this:
$ make linux-update-defconfig
After running this command, the kernel configuration file board/stmicroelectronics/stm32mp157-dk/linux.config has been updated, and this file is not temporary, and is under version control. If you run git diff, you can see the change on this file:
$ git diff [...] index 878a0c39f1..12f3e22647 100644 --- a/board/stmicroelectronics/stm32mp157-dk/linux.config +++ b/board/stmicroelectronics/stm32mp157-dk/linux.config @@ -169,6 +169,7 @@ CONFIG_STM32_LPTIMER_CNT=y CONFIG_STM32_DAC=y CONFIG_IIO_HRTIMER_TRIGGER=y CONFIG_IIO_STM32_LPTIMER_TRIGGER=y +CONFIG_BMP280=y CONFIG_PWM=y CONFIG_PWM_STM32=y CONFIG_PWM_STM32_LP=y
We’re all set for the kernel configuration!
Describing the BME280 in the Device Tree
We now need to tell the Linux kernel that we have a BME280 sensor and how it is connected to the system, which is done by adding more details into our Device Tree. We have already enabled the I2C5 bus, and we now need to describe one device connected to it: this gets done by creating a child node of the I2C controller node.
How do we know what to write in the Device Tree node describing the BME280 ? Using Device Tree bindings. Those bindings are specification documents that describe how a given device should be represented in the Device Tree: which properties are available, what are their possible values, etc. All Device Tree bindings supported by the Linux kernel are documented in Documentation/devicetree/bindings in the Linux kernel source code. For our BME280 device, the binding is at Documentation/devicetree/bindings/iio/pressure/bmp085.yaml.
This document tells us that we have one required property, the compatible property, with the range of possible values. Since we have a BME280 sensor, we’ll use bosch,bme280. The other properties are optional, so we’ll ignore them for now. This binding also documents a reg property, which is used to provide to the Linux kernel the I2C address of the device.
So, we’ll go back to our linux/ directory outside of Buildroot, where we cloned the Linux kernel repository, and we’ll adjust our Device Tree file arch/arm/boot/dts/stm32mp157c-dk2.dts so that it contains:
&i2c5 {
status = "okay";
clock-frequency = <100000>;
pinctrl-names = "default", "sleep";
pinctrl-0 = <&i2c5_pins_a>;
pinctrl-1 = <&i2c5_pins_sleep_a>;
pressure@76 {
compatible = "bosch,bme280";
reg = <0x76>;
};
};
Re-building the kernel
Let’s now ask Buildroot to rebuild the Linux kernel, with our Device Tree change and kernel configuration change. Instead of rebuilding from scratch, we’ll just ask Buildroot to restart the build of the Linux kernel, which will be much faster:
$ make linux-rebuild
As part of this, Buildroot will re-run rsync from our linux/ kernel Git repository to output/build/linux-custom/, so that we really build the latest version of our code, which includes our Device Tree change.
However, this just rebuilds the Linux kernel, and not the complete SD card image, so also run:
$ make
To regenerate the SD card image, write it on your SD card, and boot your system.
Testing the sensor
After booting the system, if we check /sys/bus/i2c/devices, a new entry has appeared:
lrwxrwxrwx 1-0076 -> ../../../devices/platform/soc/40015000.i2c/i2c-1/1-0076
If we following this symbolic link, we can see a number of interesting information:
# ls -l /sys/bus/i2c/devices/1-0076/ total 0 lrwxrwxrwx driver -> ../../../../../../bus/i2c/drivers/bmp280 drwxr-xr-x iio:device2 -r--r--r-- modalias -r--r--r-- name lrwxrwxrwx of_node -> ../../../../../../firmware/devicetree/base/soc/i2c@40015000/pressure@76 drwxr-xr-x power lrwxrwxrwx subsystem -> ../../../../../../bus/i2c -rw-r--r-- uevent
Here we can see that this device is bound with the device driver named bmp280, and that its Device Tree node is base/soc/i2c@40015000/pressure@76.
Now, to actually use the sensor, we need to understand what is the user-space interface provided by IIO devices. The kernel documentation gives some hints:
There are two ways for a user space application to interact with an IIO driver.
- /sys/bus/iio/iio:deviceX/, this represents a hardware sensor and groups together the data channels of the same chip.
- /dev/iio:deviceX, character device node interface used for buffered data transfer and for events information retrieval.
So, we’ll try to explore the /sys/bus/iio/ option:
# ls -l /sys/bus/iio/devices/ total 0 lrwxrwxrwx iio:device0 -> ../../../devices/platform/soc/48003000.adc/48003000.adc:adc@0/iio:device0 lrwxrwxrwx iio:device1 -> ../../../devices/platform/soc/48003000.adc/48003000.adc:adc@100/iio:device1 lrwxrwxrwx iio:device2 -> ../../../devices/platform/soc/40015000.i2c/i2c-1/1-0076/iio:device2 lrwxrwxrwx iio:device3 -> ../../../devices/platform/soc/48003000.adc/48003000.adc:temp/iio:device3 lrwxrwxrwx trigger0 -> ../../../devices/platform/soc/40004000.timer/trigger0
Here we can see a number of IIO devices: our IIO device is iio:device2, as can be seen by looking at the target of the symbolic links. The other ones are IIO devices related to the ADC on the STM32 processor. Let’s check what we have inside /sys/bus/iio/devices/iio:device2/:
# ls -l /sys/bus/iio/devices/iio\:device2/ total 0 -r--r--r-- dev -rw-r--r-- in_humidityrelative_input -rw-r--r-- in_humidityrelative_oversampling_ratio -rw-r--r-- in_pressure_input -rw-r--r-- in_pressure_oversampling_ratio -r--r--r-- in_pressure_oversampling_ratio_available -rw-r--r-- in_temp_input -rw-r--r-- in_temp_oversampling_ratio -r--r--r-- in_temp_oversampling_ratio_available -r--r--r-- name lrwxrwxrwx of_node -> ../../../../../../../firmware/devicetree/base/soc/i2c@40015000/pressure@76 drwxr-xr-x power lrwxrwxrwx subsystem -> ../../../../../../../bus/iio -rw-r--r-- uevent
This is becoming interesting! We have a number of files that we can read to get the humidity, pressure, and temperature:
# cat /sys/bus/iio/devices/iio\:device2/in_humidityrelative_input 49147 # cat /sys/bus/iio/devices/iio\:device2/in_pressure_input 101.567167968 # cat /sys/bus/iio/devices/iio\:device2/in_temp_input 24380
Now, let’s check the kernel documentation at Documentation/ABI/testing/sysfs-bus-iio to understand the units used in these files:
What: /sys/bus/iio/devices/iio:deviceX/in_tempX_input Description: Scaled temperature measurement in milli degrees Celsius. What: /sys/bus/iio/devices/iio:deviceX/in_pressure_input Description: Scaled pressure measurement from channel Y, in kilopascal. What: /sys/bus/iio/devices/iio:deviceX/in_humidityrelative_input Description: Scaled humidity measurement in milli percent.
So here we are: we are able to read the data from our sensor, and the Linux kernel driver does all the conversion work to convert the raw values from the sensors into usable values in meaningful units.