TexasInstruments · jmenti · Jul 7, 2026
@@ -56,6 +56,7 @@ linux/Foundational_Components/Kernel/Kernel_Drivers/Audio
 linux/Foundational_Components/Kernel/Kernel_Drivers/Camera/CSI2RX_AM62AX
 linux/Foundational_Components/Kernel/Kernel_Drivers/Crypto/SA2UL_OMAP
 linux/Foundational_Components/Kernel/Kernel_Drivers/DDR
+linux/Foundational_Components/Kernel/Kernel_Drivers/ECAP
 linux/Foundational_Components/Kernel/Kernel_Drivers/Display/DSS7
 linux/Foundational_Components/Kernel/Kernel_Drivers/DM-Timer
 linux/Foundational_Components/Kernel/Kernel_Drivers/EQEP

@@ -49,6 +49,7 @@ linux/Foundational_Components_Kernel_Drivers
 linux/Foundational_Components/Kernel/Kernel_Drivers/Audio
 linux/Foundational_Components/Kernel/Kernel_Drivers/Crypto/DTHEv2
 linux/Foundational_Components/Kernel/Kernel_Drivers/Display/DSS7
+linux/Foundational_Components/Kernel/Kernel_Drivers/ECAP
 linux/Foundational_Components/Kernel/Kernel_Drivers/EQEP
 linux/Foundational_Components/Kernel/Kernel_Drivers/GPIO
 linux/Foundational_Components/Kernel/Kernel_Drivers/I2C

@@ -57,6 +57,7 @@ linux/Foundational_Components/Kernel/Kernel_Drivers/Audio
 linux/Foundational_Components/Kernel/Kernel_Drivers/Camera/CSI2RX_AM62PX
 linux/Foundational_Components/Kernel/Kernel_Drivers/Crypto/SA2UL_OMAP
 linux/Foundational_Components/Kernel/Kernel_Drivers/DDR
+linux/Foundational_Components/Kernel/Kernel_Drivers/ECAP
 linux/Foundational_Components/Kernel/Kernel_Drivers/Display/DSS7
 linux/Foundational_Components/Kernel/Kernel_Drivers/DM-Timer
 linux/Foundational_Components/Kernel/Kernel_Drivers/EQEP

@@ -56,6 +56,7 @@ linux/Foundational_Components/Kernel/Kernel_Drivers/Audio
 linux/Foundational_Components/Kernel/Kernel_Drivers/Camera/CSI2RX_AM62X
 linux/Foundational_Components/Kernel/Kernel_Drivers/Crypto/SA2UL_OMAP
 linux/Foundational_Components/Kernel/Kernel_Drivers/DDR
+linux/Foundational_Components/Kernel/Kernel_Drivers/ECAP
 linux/Foundational_Components/Kernel/Kernel_Drivers/Display/DSS7
 linux/Foundational_Components/Kernel/Kernel_Drivers/DM-Timer
 linux/Foundational_Components/Kernel/Kernel_Drivers/EQEP

@@ -0,0 +1,360 @@
+#######################
+Enhanced capture (eCAP)
+#######################
+
+************
+Introduction
+************
+
+eCAP is a dual-mode hardware module:
+
+- **Auxiliary pulse-width modulator (APWM) Mode**: Generates pulse-width modulated (PWM) signals with configurable period and duty cycle
+- **Capture Mode**: Records timestamp when input signal transitions occur, used for pulse measurement and event timing
+
+*****************
+Hardware overview
+*****************
+
+eCAP provides a 32-bit free-running counter with up to 4 capture event registers.
+Key features include:
+
+- Single PWM output channel (*APWM* mode)
+- Up to 4 capture events per instance
+- Counter overflow detection
+- Configurable edge polarity (rising/falling)
+- Programmable interrupt generation
+
+****************
+Device instances
+****************
+
+.. ifconfig:: CONFIG_part_variant in ('AM62X', 'AM62AX', 'AM62PX', 'AM62LX')
+
+   |__PART_FAMILY_DEVICE_NAMES__| family provides 3 eCAP instances:
+
+   - ecap0 @ 0x23100000
+   - ecap1 @ 0x23110000
+   - ecap2 @ 0x23120000
+
+   Each instance is independently configurable for *APWM* or *Capture* mode.
+
+.. ifconfig:: CONFIG_part_variant not in ('AM62X', 'AM62AX', 'AM62PX', 'AM62LX')
+
+   Device instances documentation is pending for |__PART_FAMILY_DEVICE_NAMES__|,
+   reach out to: `Help e2e <https://e2e.ti.com//>`__ for additional information.
+
+*************
+Linux drivers
+*************
+
+eCAP hardware module supports dual-mode operation. The DT compatible string determines
+which driver loads for the eCAP instance. PWM compatible exposes the eCAP instance through
+the PWM subsystem while capture compatible exposes the eCAP instance through the counter
+subsystem. Both drivers are enabled by default in TI Linux kernel.
+
+**APWM Mode:**
+
+- Subsystem: `PWM <https://www.kernel.org/doc/html/latest/driver-api/pwm.html>`__
+- DT Compatible: ``ti,am3352-ecap``
+- Driver: :file:`drivers/pwm/pwm-tiecap.c`
+- Menuconfig driver selection:
+
+   .. code-block:: menuconfig
+
+      Device Drivers --->
+         <*> Pulse-Width Modulation (PWM) Support --->
+            <*> ECAP PWM support
+
+**Capture Mode:**
+
+- Subsystem: `Counter <https://www.kernel.org/doc/html/latest/driver-api/generic-counter.html>`__
+- DT Compatible: ``ti,am62-ecap-capture``
+- Driver: :file:`drivers/counter/ti-ecap-capture.c`
+- Menuconfig driver selection:
+
+   .. code-block:: menuconfig
+
+      Device Drivers --->
+         <M> Counter support --->
+            <M> TI eCAP capture driver
+
+****************
+Device tree node
+****************
+
+**APWM Mode:**
+
+.. code-block:: dts
+
+   ecap2: pwm@23120000 {
+      compatible = "ti,am3352-ecap";
+      #pwm-cells = <3>;
+      reg = <0x00 0x23120000 0x00 0x100>;
+      power-domains = <&k3_pds 53 TI_SCI_PD_EXCLUSIVE>;
+      clocks = <&k3_clks 53 0>;
+      clock-names = "fck";
+      pinctrl-names = "default";
+      pinctrl-0 = <&main_ecap2_pwm_pins_default>;
+      status = "okay";
+   };
+
+**Capture Mode:**
+
+.. code-block:: dts
+
+   ecap2: pwm@23120000 {
+      compatible = "ti,am62-ecap-capture";
+      #pwm-cells = <3>;
+      reg = <0x00 0x23120000 0x00 0x100>;
+      power-domains = <&k3_pds 53 TI_SCI_PD_EXCLUSIVE>;
+      clocks = <&k3_clks 53 0>;
+      clock-names = "fck";
+      interrupt-parent = <&gic500>;
+      interrupts = <GIC_SPI 115 IRQ_TYPE_EDGE_RISING>;
+      pinctrl-names = "default";
+      pinctrl-0 = <&main_ecap2_capture_pins_default>;
+      status = "okay";
+   };
+
+The ``pinctrl`` node is not included here. Refer to the TI device tree overlay for your
+platform for an example of how to set ``pincltrl`` node for eCAP in *APWM* or *Capture* mode.
+
+*****************
+Pin configuration
+*****************
+
+TI Overlays set the following pin configuration for an eCAP instance in *APWM*
+or *Capture* mode:
+
+.. ifconfig:: CONFIG_part_variant in ('AM62X', 'AM62AX', 'AM62PX', 'AM62LX')
+
+   **APWM Mode:**
+
+   .. ifconfig:: CONFIG_part_variant in ('AM62X')
+
+      PWM overlay: :file:`k3-am62x-sk-pwm.dtso`
+
+         - eCAP0: J3 header : pin 26
+         - eCAP1: J3 header : pin 38
+         - eCAP2: J3 header : pin 11
+
+   .. ifconfig:: CONFIG_part_variant in ('AM62AX')
+
+      PWM overlay: :file:`k3-am62x-sk-pwm.dtso`
+
+         - eCAP0: J3 header : pin 26
+         - eCAP1: J3 header : pin 40
+         - eCAP2: J3 header : pin 11
+
+   .. ifconfig:: CONFIG_part_variant in ('AM62PX')
+
+      DTS: :file:`k3-am62p5-sk.dts` (no separate overlay)
+
+         - eCAP1: J4 header : pin 36
+         - eCAP2: J4 header : pin 11
+
+   .. ifconfig:: CONFIG_part_variant in ('AM62LX')
+
+      PWM overlay: :file:`k3-am62l3-evm-pwm.dtso`
+
+         - eCAP0: J2 header : pin 24
+         - eCAP1: J2 header : pin 26
+         - eCAP2: J3 header : pin 9
+
+   **Capture Mode:**
+
+   .. ifconfig:: CONFIG_part_variant in ('AM62X', 'AM62AX')
+
+      Capture overlay: :file:`k3-am62x-ecap-capture.dtso`
+
+         - eCAP2: J3 header : pin 11
+
+   .. ifconfig:: CONFIG_part_variant in ('AM62PX')
+
+      Capture overlay: :file:`k3-am62p5-ecap-capture.dtso`
+
+      - eCAP1: J4 header : pin 36
+      - eCAP2: J4 header : pin 11
+
+   .. ifconfig:: CONFIG_part_variant in ('AM62LX')
+
+      Capture overlay: :file:`k3-am62l3-ecap-capture.dtso`
+
+      - eCAP2: J6 header : pin 2
+
+   .. warning::
+
+      Enabling eCAP pins may require disabling peripherals (UART, audio) that use the
+      same pins as eCAP.
+
+.. ifconfig:: CONFIG_part_variant not in ('AM62X', 'AM62AX', 'AM62PX', 'AM62L')
+
+   eCAP pin configuration is not defined for this device variant. Please refer to the device
+   datasheet for eCAP pin definitions and configure Linux device tree accordingly.
+
+*********
+APWM mode
+*********
+
+eCAP uses the standard PWM sysfs interface. See :ref:`PWM <Using_PWM_with_sysfs>` guide for
+sysfs usage (export, period, duty cycle, polarity, enable).
+
+**eCAP differences:**
+
+- Single channel per instance (compared to 2 channels for ePWM)
+
+************
+Capture mode
+************
+
+*Capture* mode records input signal transitions. The module timestamps each edge and optionally
+generates interrupts.
+
+eCAP capture driver exposes counters through the generic counter sysfs interface at
+:file:`/sys/bus/counter/devices/`.
+
+**Verify counter device availability:**
+
+.. code-block:: console
+
+   $ ls /sys/bus/counter/devices/
+   counter0  counter1  ...
+
+**Identify eCAP device:**
+
+.. code-block:: console
+
+   $ cat /sys/bus/counter/devices/counter0/name
+   ecap
+   $ cat /sys/bus/counter/devices/counter0/uevent
+   MAJOR=237
+   MINOR=0
+   DEVNAME=counter0
+   DEVTYPE=counter_device
+   OF_NAME=pwm
+   OF_FULLNAME=/bus@f0000/pwm@23120000
+   OF_COMPATIBLE_0=ti,am62-ecap-capture
+   OF_COMPATIBLE_N=1
+
+**Check counter0 attributes:**
+
+.. code-block:: console
+
+   $ ls /sys/bus/counter/devices/counter0/count0/
+   capture0           function           signal0_action
+   capture1           num_overflows      signal1_action
+   capture2           ceiling            enable
+   capture3           count              function_available
+
+**Check function and signal actions:**
+
+.. code-block:: console
+
+   $ cat /sys/bus/counter/devices/counter0/count0/function
+   increase
+   $ cat /sys/bus/counter/devices/counter0/signal0/name
+   Clock Signal
+   $ cat /sys/bus/counter/devices/counter0/count0/signal0_action
+   rising edge
+   $ cat /sys/bus/counter/devices/counter0/signal1/name
+   Input Signal
+   $ cat /sys/bus/counter/devices/counter0/signal1/polarity0
+   positive
+
+- :file:`function`: Counter increments on clock signal
+- :file:`signal0`: Clock signal driving counter with rising edge action
+- :file:`signal1`: Action configurable input signal driving capture events
+- :file:`polarity0`: Sets edge polarity for capture event on input signal
+
+When the Input Signal :file:`signal1` edge detection occurs, eCAP automatically
+captures the current :file:`count` (TSCNT) value to the next available capture
+register. Configure capture event edge type through :file:`polarity0-3`.
+
+**Check counter0 ceiling:**
+
+.. code-block:: console
+
+   $ cat /sys/bus/counter/devices/counter0/count0/ceiling
+   4294967295
+
+Note that 32 bit :file:`ceiling` is the maximum value of the counter.
+
+**Enable capture:**
+
+.. code-block:: console
+
+   $ echo 1 > /sys/bus/counter/devices/counter0/count0/enable
+
+**Read count:**
+
+.. code-block:: console
+
+   $ cat /sys/bus/counter/devices/counter0/count0/count
+   1313052346
+
+Note that :file:`count` (TSCNT) is a free-running timestamp counter that increments
+from module clock according to clock signal action. Every rising increments the counter
+by one.
+
+**Read captured timestamps:**
+
+.. code-block:: console
+
+   $ cat /sys/bus/counter/devices/counter0/count0/capture[0-3]
+   3008643764
+   3008591266
+   3008612306
+   3008612768
+
+On each edge, eCAP captures current counter value to circular buffer (4 registers):
+
+   - :file:`capture0` (CEVT1): 1st edge timestamp
+   - :file:`capture1` (CEVT2): 2nd edge timestamp
+   - :file:`capture2` (CEVT3): 3rd edge timestamp
+   - :file:`capture3` (CEVT4): 4th edge timestamp
+
+On 5th edge, :file:`capture0` is overwritten with a new timestamp. On 6th edge,
+:file:`capture1` is overwritten, and so on.
+
+**Read overflow count:**
+
+.. code-block:: console
+
+   $ cat /sys/bus/counter/devices/counter0/count0/num_overflows
+   2
+
+Attribute :file:`num_overflows` increments when counter wraps around
+(0xFFFFFFFF -> 0x00000000).
+
+**Disable capture:**
+
+.. code-block:: console
+
+   $ echo 0 > /sys/bus/counter/devices/counter0/count0/enable
+
+********************
+Troubleshooting eCAP
+********************
+
+**Verify PWM functionality:**
+
+See troubleshooting in :ref:`PWM <troubleshoot_the_pwm_setup>` guide and monitor eCAP PWM
+through :file:`/sys/kernel/debug/pwm`.
+
+**Verify Capture mode enumeration:**
+
+.. code-block:: console
+
+   $ cat /sys/bus/counter/devices/counterX/name
+
+If not present, verify the overlay applied and check for pin conflicts reported in ``dmesg`` log.
+
+**Verify capture interrupts are firing:**
+
+.. code-block:: console
+
+   $ cat /proc/interrupts | grep pwm
+   409:      36506          0          0          0    GICv3 147 Edge      23120000.pwm
+
+Interrupt count will increment on each capture event or overflow. A high count on
+the active signal indicates interrupts are working correctly.