tagtagtag-ears-overlay.dts

/dts-v1/;
/plugin/;

/ {
    compatible = "brcm,bcm2708";

	fragment@0 {
		target = <&gpio>;
		__overlay__ {
			gpio_encoder_left_pin: gpio_encoder_left_pin@24 {
				brcm,pins = <24>;
				brcm,function = <0>;	// in
			};
			gpio_encoder_right_pin: gpio_encoder_right_pin@23 {
				brcm,pins = <23>;
				brcm,function = <0>;	// in
			};
                        // left: when looking at the rabbit (matching hardware spec)
                        // forward: for the rabbit's left ear (right), counter-clock-wise
                        // for the rabbit's right ear (left below), clock-wise
			gpio_motor_left_forward_pin: gpio_motor_left_forward_pin@12 {
				brcm,pins = <12>;
				brcm,function = <1>;	// out
			};
			gpio_motor_left_backward_pin: gpio_motor_left_backward_pin@11 {
				brcm,pins = <11>;
				brcm,function = <1>;	// out
			};
			gpio_motor_right_forward_pin: gpio_motor_right_forward_pin@10 {
				brcm,pins = <10>;
				brcm,function = <1>;	// out
			};
			gpio_motor_right_backward_pin: gpio_motor_right_backward_pin@9 {
				brcm,pins = <9>;
				brcm,function = <1>;	// out
			};
		};
	};
    fragment@1 {
        target-path="/";
        __overlay__ {
            tagtagtag_ears: tagtagtag-ears {
                compatible = "linux,tagtagtag-ears";
                left-encoder-gpio = <&gpio 24 0>;
                left-motor-gpios = <&gpio 12 0 &gpio 11 0>;
                right-encoder-gpio = <&gpio 23 0>;
                right-motor-gpios = <&gpio 10 0 &gpio 9 0>;

                // Declare a single pinctrl state (referencing the one declared above) and name it
                // default, so it is activated automatically.
                pinctrl-names = "default";
                pinctrl-0 = <&gpio_encoder_left_pin &gpio_motor_left_forward_pin &gpio_motor_left_backward_pin &gpio_encoder_right_pin &gpio_motor_right_forward_pin &gpio_motor_right_backward_pin>;
            };
        };
    };
};