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Add support for NXP MR-VMU-Tropic board (#25845)
* rt106x: Use platform SPI hal layer * rt106x: Add romapi support and reboot to isp/bootloader * bootloader: imxrt_common: Add rt106x support * NXP MR-Tropic initial commit * Add missing file for mr-tropic bootloader * nxp-mr-tropic:Bootloader Alow Assertion debugging & Keep Ram Vectors * nxp-mr-tropic: Firmware Boot from bootloader * nxp-mr-tropic:Add Bootloader bin file * mr-tropic: Update config and linker Fixes enet issues with write-back and some code cleanup. Furthermore increase NOR LittleFS to 256kB to reflect on linker * Update NuttX * mr-tropic: fix itcm apping and add mr-tropic to itcm check --------- Co-authored-by: David Sidrane <David.Sidrane@NscDg.com>
This commit is contained in:
Peter van der Perk
co-authored by
David Sidrane
David Sidrane
parent
5f0d222e1b
commit
1250563ed1
@@ -9,9 +9,19 @@
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#include "hw_config.h"
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#include <px4_arch/imxrt_flexspi_nor_flash.h>
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#include <px4_arch/imxrt_romapi.h>
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#include <hardware/rt117x/imxrt117x_ocotp.h>
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#include <hardware/rt117x/imxrt117x_anadig.h>
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#include <hardware/rt117x/imxrt117x_snvs.h>
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#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
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# include <hardware/rt117x/imxrt117x_ocotp.h>
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# include <hardware/rt117x/imxrt117x_anadig.h>
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# include <hardware/rt117x/imxrt117x_snvs.h>
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#else
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# include <chip.h>
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# include <hardware/imxrt_usb_analog.h>
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# include <hardware/imxrt_snvs.h>
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# include <hardware/imxrt_ocotp.h>
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# include "hardware/imxrt_ccm.h"
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# include "imxrt_periphclks.h"
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# define SNVS_LPCR_GPR_Z_DIS (1 << 24) /* Bit 24: General Purpose Registers Zeroization Disable */
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#endif
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#include <hardware/imxrt_usb_analog.h>
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#include "imxrt_clockconfig.h"
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@@ -30,14 +40,31 @@
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#define APP_SIZE_MAX (BOARD_FLASH_SIZE - (BOOTLOADER_RESERVATION_SIZE + APP_RESERVATION_SIZE))
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#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
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#define CHIP_TAG "i.MX RT11?0,r??"
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#define CHIP_TAG_LEN sizeof(CHIP_TAG)-1
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#define SI_REV(n) ((n & 0x7000000) >> 24)
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#define DIFPROG_TYPE(n) ((n & 0xF000) >> 12)
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#define DIFPROG_REV_MAJOR(n) ((n & 0xF0) >> 4)
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#define DIFPROG_REV_MINOR(n) ((n & 0xF))
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#elif defined(CONFIG_ARCH_FAMILY_IMXRT106x)
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#define CHIP_TAG "i.MX RT10?? r?.?"
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#define DIGPROG_MINOR_SHIFT 0
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#define DIGPROG_MINOR_MASK (0xff << DIGPROG_MINOR_SHIFT)
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#define DIGPROG_MINOR(info) (((info) & DIGPROG_MINOR_MASK) >> DIGPROG_MINOR_SHIFT)
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#define DIGPROG_MAJOR_LOWER_SHIFT 8
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#define DIGPROG_MAJOR_LOWER_MASK (0xff << DIGPROG_MAJOR_LOWER_SHIFT)
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#define DIGPROG_MAJOR_LOWER(info) (((info) & DIGPROG_MAJOR_LOWER_MASK) >> DIGPROG_MAJOR_LOWER_SHIFT)
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#define DIGPROG_MAJOR_UPPER_SHIFT 16
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#define DIGPROG_MAJOR_UPPER_MASK (0xff << DIGPROG_MAJOR_UPPER_SHIFT)
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#define DIGPROG_MAJOR_UPPER(info) (((info) & DIGPROG_MAJOR_UPPER_MASK) >> DIGPROG_MAJOR_UPPER_SHIFT)
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#endif
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#define CHIP_TAG_LEN sizeof(CHIP_TAG)-1
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#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
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#define FLASH_BASE IMXRT_FLEXSPI1_CIPHER_BASE
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#elif defined(CONFIG_ARCH_CHIP_MIMXRT1064DVL6A)
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#define FLASH_BASE IMXRT_FLEX2CIPHER_BASE
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#endif
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/* context passed to cinit */
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#if INTERFACE_USART
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@@ -287,6 +314,27 @@ board_deinit(void)
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px4_arch_configgpio(MK_GPIO_INPUT(BOARD_PIN_LED_BOOTLOADER));
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#endif
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#ifdef CONFIG_ARCH_FAMILY_IMXRT106x
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// Restore CCM registers to ROM state
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putreg32(0x00000001, IMXRT_CCM_CACRR);
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putreg32(0x000A8200, IMXRT_CCM_CBCDR);
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putreg32(0x06490B03, IMXRT_CCM_CSCDR1);
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putreg32(0x75AE8104, IMXRT_CCM_CBCMR);
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putreg32(0x67930001, IMXRT_CCM_CSCMR1);
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imxrt_clockoff_lpuart3();
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imxrt_clockoff_usboh3();
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imxrt_clockoff_timer3();
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imxrt_clockoff_xbar1();
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imxrt_clockoff_xbar3();
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up_disable_icache();
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up_disable_dcache();
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#endif
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#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
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const uint32_t dnfw[] = {
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CCM_CR_M7,
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CCM_CR_BUS,
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@@ -309,6 +357,8 @@ board_deinit(void)
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putreg32(CCM_CR_CTRL_OFF, IMXRT_CCM_CR_CTRL(i));
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}
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}
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#endif
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}
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inline void arch_systic_init(void)
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@@ -365,7 +415,7 @@ ssize_t arch_flash_write(uintptr_t address, const void *buffer, size_t buflen)
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j++;
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}
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uintptr_t offset = ((uintptr_t) address) - IMXRT_FLEXSPI1_CIPHER_BASE;
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uintptr_t offset = ((uintptr_t) address) - FLASH_BASE;
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volatile uint32_t status = ROM_FLEXSPI_NorFlash_ProgramPage(1, pConfig, offset, (const uint32_t *)buffer);
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up_invalidate_dcache((uintptr_t)address,
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@@ -400,7 +450,7 @@ flash_func_sector_size(unsigned sector)
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ssize_t up_progmem_ispageerased(unsigned sector)
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{
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const uint32_t bytes_per_sector = flash_func_sector_size(sector);
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uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector));
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uint32_t *address = (uint32_t *)(FLASH_BASE + (sector * bytes_per_sector));
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const uint32_t uint32_per_sector = bytes_per_sector / sizeof(*address);
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int blank = 0; /* Assume it is Bank */
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@@ -437,9 +487,9 @@ flash_func_erase_sector(unsigned sector, bool force)
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struct flexspi_nor_config_s *pConfig = &g_bootConfig;
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const uint32_t bytes_per_sector = flash_func_sector_size(sector);
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uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector));
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uint32_t *address = (uint32_t *)(FLASH_BASE + (sector * bytes_per_sector));
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uintptr_t offset = ((uintptr_t) address) - IMXRT_FLEXSPI1_CIPHER_BASE;
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uintptr_t offset = ((uintptr_t) address) - FLASH_BASE;
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irqstate_t flags;
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flags = enter_critical_section();
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volatile uint32_t status = ROM_FLEXSPI_NorFlash_Erase(1, pConfig, (uintptr_t) offset, bytes_per_sector);
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@@ -473,6 +523,8 @@ flash_func_read_otp(uintptr_t address)
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return 0;
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}
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#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
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uint32_t get_mcu_id(void)
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{
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// ??? is DEBUGMCU get able
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@@ -499,6 +551,36 @@ int get_mcu_desc(int max, uint8_t *revstr)
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return strp - revstr;
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}
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#elif defined(CONFIG_ARCH_FAMILY_IMXRT106x)
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uint32_t get_mcu_id(void)
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{
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return getreg32(IMXRT_OCOTP_UNIQUE_ID_LSB);
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}
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int get_mcu_desc(int max, uint8_t *revstr)
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{
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uint32_t info = getreg32(IMXRT_USB_ANALOG_DIGPROG);
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// CHIP_TAG "i.MX RT10?? r?.?"
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static uint8_t chip[sizeof(CHIP_TAG) + 1] = CHIP_TAG;
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chip[CHIP_TAG_LEN - 1] = '0' + DIGPROG_MINOR(info);
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chip[CHIP_TAG_LEN - 3] = '1' + DIGPROG_MAJOR_LOWER(info);
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chip[CHIP_TAG_LEN - 6] = getreg32(0x401F867C) == 0x10 ? '4' : '2';
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chip[CHIP_TAG_LEN - 7] = DIGPROG_MAJOR_UPPER(info) == 0x6a ? '5' : '6';
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uint8_t *endp = &revstr[max - 1];
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uint8_t *strp = revstr;
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uint8_t *des = chip;
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while (strp < endp && *des) {
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*strp++ = *des++;
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}
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return strp - revstr;
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}
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#endif
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int check_silicon(void)
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{
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@@ -717,6 +799,7 @@ bootloader_main(void)
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* Returns - 0 if connected.
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*
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************************************************************************************/
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#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
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#undef IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT
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#define USB1_VBUS_DET_STAT_OFFSET 0xd0
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#define IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT (IMXRT_USBPHY1_BASE + USB1_VBUS_DET_STAT_OFFSET)
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@@ -727,6 +810,17 @@ bootloader_main(void)
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try_boot = false;
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}
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#elif defined(CONFIG_ARCH_FAMILY_IMXRT106x)
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#undef IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT
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#define IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT (IMXRT_ANATOP_BASE + IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT_OFFSET)
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if ((getreg32(IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT) & USB_ANALOG_USB_VBUS_DETECT_STAT_VBUS_VALID) != 0) {
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usb_connected = true;
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/* don't try booting before we set up the bootloader */
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try_boot = false;
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}
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#endif
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#endif
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#if INTERFACE_USART
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@@ -0,0 +1,34 @@
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############################################################################
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#
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# Copyright (c) 2023 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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add_subdirectory(../imxrt_common arch_bootloader)
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